公开(公告)号：US07317817B2

公开(公告)日：2008-01-08

申请号：US11656115

申请日：2007-01-22

申请人： Atsushi Okubo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Masaki Fukuchi

发明人： Atsushi Okubo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Masaki Fukuchi

IPC分类号： G06K9/00

CPC分类号： G06K9/00228 ,  G06K9/00221 ,  G06T7/246 ,  G06T7/90

摘要： A robot apparatus includes face includes a face tracking module (M2) for tracking a face in an image photographed by a CCD camera, a face detecting module (M1) for detecting face data of the face in the image photographed by the image pickup device, based on the face tracking information by the face tracking module (M2) and a face identification module (M3) for identifying a specified face based on the face data as detected by the face data detecting module (M1).

摘要翻译： 一种机器人装置，包括面部跟踪模块（M 2），用于跟踪由CCD照相机拍摄的图像中的脸部，面部检测模块（M 1），用于检测由图像拾取器拍摄的图像中的脸部的脸部数据 基于面部追踪模块（M 2）的脸部跟踪信息和面部识别模块（M 3），根据脸部数据检测模块（M 1）检测到的脸部数据，识别指定脸部的装置。

公开(公告)号：US20070239644A1

公开(公告)日：2007-10-11

申请号：US11732773

申请日：2007-04-04

申请人： Katsuki Minamino ,  Masato Ito ,  Kenta Kawamoto ,  Yukiko Yoshiike ,  Hirotaka Suzuki

发明人： Katsuki Minamino ,  Masato Ito ,  Kenta Kawamoto ,  Yukiko Yoshiike ,  Hirotaka Suzuki

IPC分类号： G06N3/00

CPC分类号： G06N99/005 ,  G06N3/0445 ,  G06N3/0454 ,  G06N3/084

摘要： A learning apparatus includes a storage unit configured to store a network formed by a plurality of nodes each holding dynamics; a learning unit configured to learn the dynamics of the network in a self-organizing manner on the basis of observed time-series data; a winner-node determiner configured to determine a winner node, the winner node being a node having dynamics that best match the time-series data; and a weight determiner configured to determine learning weights for the dynamics held by the individual nodes according to distances of the individual nodes from the winner node. The learning unit is configured to learn the dynamics of the network in a self-organizing manner by degrees corresponding to the learning weights.

摘要翻译： 学习装置包括：存储单元，被配置为存储由保持动态的多个节点形成的网络; 学习单元，被配置为基于观察到的时间序列数据以自组织的方式学习网络的动态; 获胜者节点确定器，被配置为确定胜者节点，胜者节点是具有与时间序列数据最佳匹配的动态的节点; 以及权重确定器，被配置为根据各个节点与胜利者节点的距离来确定由各个节点保持的动态的学习权重。 学习单元被配置为以自组织的方式以对应于学习权重的度学习网络的动态。

公开(公告)号：US07200249B2

公开(公告)日：2007-04-03

申请号：US10181279

申请日：2001-11-19

申请人： Atsushi Okubo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Masaki Fukuchi

发明人： Atsushi Okubo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Masaki Fukuchi

IPC分类号： G06K9/00

CPC分类号： G06K9/00228 ,  G06K9/00221 ,  G06T7/246 ,  G06T7/90

摘要： A robot apparatus includes face includes a face tracking module (M2) for tracking a face in an image photographed by a CCD camera, a face detecting module (M1) for detecting face data of the face in the image photographed by the image pickup device, based on the face tracking information by the face tracking module (M2) and a face identification module (M3) for identifying a specified face based on the face data as detected by the face data detecting module (M1).

摘要翻译： 一种机器人装置，包括面部跟踪模块（M 2），用于跟踪由CCD照相机拍摄的图像中的脸部，面部检测模块（M 1），用于检测由图像拾取器拍摄的图像中的脸部的脸部数据 基于面部追踪模块（M 2）的脸部跟踪信息和面部识别模块（M 3），根据脸部数据检测模块（M 1）检测到的脸部数据，识别指定脸部的装置。

公开(公告)号：US20050036649A1

公开(公告)日：2005-02-17

申请号：US10399740

申请日：2002-08-21

申请人： Jun Yokono ,  Kohtaro Sabe ,  Kenta Kawamoto

发明人： Jun Yokono ,  Kohtaro Sabe ,  Kenta Kawamoto

IPC分类号： G06K9/00

CPC分类号： G06K9/00288 ,  G06K9/00221 ,  G06K9/00228

摘要： A robot includes a face extracting section for extracting features of a face included in an image captured by a CCD camera, and a face recognition section for recognizing the face based on a result of face extraction by the face extracting section. The face extracting section is implemented by Gabor filters that filter images using a plurality of filters that have orientation selectivity and that are associated with different frequency components. The face recognition section is implemented by a support vector machine that maps the result of face recognition to a non-linear space and that obtains a hyperplane that separates in that space to discriminate a face from a non-face. The robot is allowed to recognize a face of a user within a predetermined time under a dynamically changing environment.

摘要翻译： 机器人包括：面部提取部，用于提取由CCD照相机拍摄的图像中包含的面部的特征;以及面部识别部，其基于面部提取部的面部提取的结果识别脸部。 人脸提取部分由Gabor滤波器实现，该滤波器使用具有取向选择性并且与不同频率分量相关联的多个滤波器对图像进行滤波。 脸部识别部分由支持向量机实现，该支持向量机将人脸识别的结果映射到非线性空间，并获得在该空间中分离的超平面，以将脸部与非脸部区分开。 允许机器人在动态变化的环境下在预定时间内识别用户的脸部。

公开(公告)号：US06850818B2

公开(公告)日：2005-02-01

申请号：US10451331

申请日：2002-10-22

申请人： Kohtaro Sabe ,  Kenta Kawamoto

发明人： Kohtaro Sabe ,  Kenta Kawamoto

IPC分类号： G05B19/4097 ,  G06N3/00 ,  G05B19/04 ,  G05B19/18

CPC分类号： G06N3/008 ,  G05B19/4097 ,  G05B2219/33051

摘要： A robot apparatus integrates individual recognition results received asynchronously and then passes the integrated information to a behavior module. Thus, handling of information in the behavior module is facilitated. Since information regarding recognized observation results is held as a memory, even if observation results are temporarily missing, it appears to an upper module that items are constantly there in perception. Accordingly, insusceptibility against recognizer errors and sensor noise is improved, so that a stable system that is not dependent on timing of notifications by recognizers is implemented. Thus, the robot apparatus integrates a plurality of recognition results from external environment and handles the integrated information as meaningful symbol information, allowing sophisticated behavior control.

摘要翻译： 机器人装置将异步收集的各个识别结果进行集成，然后将综合信息传递给行为模块。 因此，促进了行为模块中的信息的处理。 由于有关识别观察结果的信息作为记忆保存，即使观察结果暂时缺失，上层模块也看到物品在感知中不断存在。 因此，提高了对识别器误差和传感器噪声的不敏感性，从而实现了不依赖于识别器的通知定时的稳定系统。 因此，机器人装置将来自外部环境的多个识别结果进行集成，并将集成信息作为有意义的符号信息进行处理，从而允许复杂的行为控制。

公开(公告)号：US08797385B2

公开(公告)日：2014-08-05

申请号：US13070066

申请日：2011-03-23

申请人： Toshimitsu Tsuboi ,  Kenta Kawamoto ,  Yasunori Kawanami ,  Atsushi Miyamoto

发明人： Toshimitsu Tsuboi ,  Kenta Kawamoto ,  Yasunori Kawanami ,  Atsushi Miyamoto

IPC分类号： H04N13/02

CPC分类号： H04N13/254

摘要： There is provided a robot device including an irradiation unit that irradiates pattern light to an external environment, an imaging unit that acquires an image by imaging the external environment, an external environment recognition unit that recognizes the external environment, an irradiation determining unit that controls the irradiation unit to be turned on when it is determined that irradiation of the pattern light is necessary based on an acquisition status of the image, and a light-off determining unit that controls the irradiation unit to be turned off when it is determined that irradiation of the pattern light is unnecessary or that irradiation of the pattern light is necessary to be forcibly stopped, based on the external environment.

摘要翻译： 提供了一种机器人装置，其包括：将图案光照射到外部环境的照射单元，通过对外部环境进行摄像而获取图像的摄像单元，识别外部环境的外部环境识别单元，照射判定单元， 基于图像的获取状态确定需要照射图案光的照射单元，以及当确定照射单元被照射时控制照射单元被关闭的点灯确定单元 基于外部环境，不需要图案光或者模式光的照射被强制停止。

公开(公告)号：US08738555B2

公开(公告)日：2014-05-27

申请号：US13248296

申请日：2011-09-29

申请人： Takashi Hasuo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Yukiko Yoshiike

发明人： Takashi Hasuo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Yukiko Yoshiike

IPC分类号： G06F15/18

CPC分类号： G06N3/006 ,  G06N99/005

摘要： A data processing device includes a state value calculation unit which calculates a state value of which the value increases as much as a state with a high transition probability for each state of the state transition model, an action value calculation unit which calculates an action value, of which the value increases as a transition probability increases for each state of the state transition model and each action that the agent can perform, a target state setting unit which sets a state with great unevenness in the action value among states of the state transition model to a target state that is the target to reach by action performed by the agent, and an action selection unit which selects an action of the agent so as to move toward the target state.

摘要翻译： 数据处理装置包括状态值计算单元，其计算与状态转移模型的每个状态的转移概率高的状态一起增加的状态值，动作值计算单元，其计算动作值， 其中该值随状态转换模型的每个状态和代理可以执行的每个动作的转移概率增加而增加;目标状态设置单元，其在状态转换模型的状态之间设置动作值中具有很大不均匀性的状态 到作为由代理执行的动作达到的目标的目标状态;以及动作选择单元，其选择代理人的动作以朝向目标状态移动。

公开(公告)号：US08289321B2

公开(公告)日：2012-10-16

申请号：US10593150

申请日：2005-03-17

申请人： Steffen Gutmann ,  Masaki Fukuchi ,  Kohtaro Sabe ,  Kenta Kawamoto

发明人： Steffen Gutmann ,  Masaki Fukuchi ,  Kohtaro Sabe ,  Kenta Kawamoto

IPC分类号： G06T15/30

CPC分类号： G06K9/00664 ,  B62D57/024 ,  G06K9/00201 ,  G06T7/13 ,  G06T7/73 ,  G06T2207/30252

摘要： In a plane detection apparatus, a plane detection unit (3) includes a line fitting block (4) to select a group of distance data points being in one plane from distance data forming an image and extract lines from the distance data point group, and a region growing block (5) to detect one or more planar regions existing in the image from a group of all lines included in the image and extracted by the line fitting block (4). The line fitting block (4) first draws a line D1 connecting end points of the distance data point group, searches a point of interest brk whose distance to the line L1 is largest, segments the data point group by the point of interest brk when the distance is larger than a predetermined threshold, and determines a line L2 by the least-squares method when the distance is smaller than the predetermined threshold. In case there exists a larger number of data points than a predetermine number on one side of the line L2, the data point group is determined to be in a zig-zag shape, the data point group is segmented by the point of interest brk. These operations are done repeatedly. Thus, a plurality of planes robust against noises is detected simultaneously and accurately from distance data including measurement noises.

摘要翻译： 在平面检测装置中，平面检测装置（3）包括线拟合块（4），用于从形成图像的距离数据中选择位于一个平面中的一组距离数据点，并从距离数据点组提取线， 区域生长块（5），用于检测图像中存在的一个或多个平面区域，所述平面区域包括在所述图像中并由所述线拟合块（4）提取。 线拟合块（4）首先画出连接距离数据点组的端点的线D1，搜索距离线L1的距离最大的兴趣点brk，当数据点组的距离为 距离大于预定阈值，并且当距离小于预定阈值时，通过最小二乘法确定线路L2。 在线L2的一侧存在比预定数更多的数据点的情况下，数据点组被确定为Z字形，数据点组被兴趣点brk分割。 这些操作重复完成。 因此，从包括测量噪声的距离数据同时且准确地检测到抵抗噪声的多个平面。

公开(公告)号：US07437214B2

公开(公告)日：2008-10-14

申请号：US10515854

申请日：2004-03-24

申请人： Kohtaro Sabe ,  Takeshi Ohashi ,  Kenta Kawamoto

发明人： Kohtaro Sabe ,  Takeshi Ohashi ,  Kenta Kawamoto

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： A legged mobile robot can calculate the movement amount between a portion of the robot apparatus that had been in contact with a floor up to now and a next portion of the robot apparatus in contact with the floor using kinematics and to switch transformation to a coordinate system serving as an observation reference as a result of the switching between the floor contact portions.

摘要翻译： 腿式移动机器人可以计算出与现在的地板接触的机器人装置的一部分与使用运动学与地板接触的机器人装置的下一部分之间的移动量，并将变换切换到坐标系 作为地板接触部之间的切换的结果作为观察参考。

公开(公告)号：US07386163B2

公开(公告)日：2008-06-10

申请号：US10387647

申请日：2003-03-13

申请人： Kohtaro Sabe ,  Kenta Kawamoto ,  Takeshi Ohashi ,  Masaki Fukuchi ,  Atsushi Okubo ,  Steffen Gutmann

发明人： Kohtaro Sabe ,  Kenta Kawamoto ,  Takeshi Ohashi ,  Masaki Fukuchi ,  Atsushi Okubo ,  Steffen Gutmann

IPC分类号： G06K9/00 ,  H04N15/00 ,  H04N7/00 ,  H04N7/18 ,  G06F19/00 ,  G06F17/10 ,  G01C22/00

CPC分类号： G06K9/00664 ,  G06T7/97

摘要： An obstacle recognition apparatus is provided which can recognize an obstacle by accurately extracting a floor surface. It includes a distance image generator (222) to produce a distance image using a disparity image and homogeneous transform matrix, a plane detector (223) to detect plane parameters on the basis of the distance image from the distance image generator (222), a coordinate transformer (224) to transform the homogeneous transform matrix into a coordinate of a ground-contact plane of a robot apparatus (1), and a floor surface detector (225) to detect a floor surface using the plane parameters from the plane detector (223) and result of coordinate transformation from the coordinate transformer (224) and supply the plane parameters to an obstacle recognition block (226). The obstacle recognition block (226) selects one of points on the floor surface using the plane parameters of the floor surface detected by the floor surface detector (225) and recognizes an obstacle on the basis of the selected point.

摘要翻译： 提供了能够通过精确地提取地板面来识别障碍物的障碍物识别装置。 它包括使用视差图像和均匀变换矩阵产生距离图像的距离图像生成器（222），基于距离图像生成器（222）的距离图像检测平面参数的平面检测器（223）， 将所述均匀变换矩阵变换为机器人装置（1）的接地面的坐标的坐标变换器（224）和使用来自所述平面检测器的平面参数来检测地板面的地板面检测器（225） 223）和从坐标变换器（224）的坐标变换的结果，并将平面参数提供给障碍物识别块（226）。 障碍物识别块（226）使用由地板表面检测器（225）检测到的地板表面的平面参数来选择地板表面上的一个点，并基于所选择的点识别障碍物。