公开(公告)号：US20090154769A1

公开(公告)日：2009-06-18

申请号：US12153530

申请日：2008-05-20

申请人： Sukjune Yoon ,  Seung Ki Min ,  Kyung Shik Roh ,  Chil Woo Lee ,  Chi Min Oh

发明人： Sukjune Yoon ,  Seung Ki Min ,  Kyung Shik Roh ,  Chil Woo Lee ,  Chi Min Oh

IPC分类号： G06K9/00 ,  H04N7/18

CPC分类号： G06K9/32 ,  G06T7/246 ,  G06T2207/10016 ,  G06T2207/20021

摘要： A moving robot and moving object detecting method and medium thereof is disclosed. The moving object detecting method includes transforming an omni-directional image captured in the moving robot to a panoramic image, comparing the panoramic image with a previous panoramic image and estimating a movement region of the moving object based on the comparison, and recognizing that a movement of the moving object exist in the estimated movement region when the area of the estimated movement region exceeds the reference area.

摘要翻译： 公开了一种移动机器人及其移动体检测方法及其介质。 所述移动物体检测方法包括将所述移动机器人中捕获的全方位图像变换为全景图像，将所述全景图像与先前全景图像进行比较，并且基于所述比较估计所述移动物体的移动区域，并且识别所述移动物体的运动 当估计移动区域的面积超过参考区域时，存在于估计运动区域中。

公开(公告)号：US20070223911A1

公开(公告)日：2007-09-27

申请号：US11710492

申请日：2007-02-26

申请人： Sukjune Yoon ,  Kyung Shik Roh ,  Woosup Han ,  Seung Ki Min

发明人： Sukjune Yoon ,  Kyung Shik Roh ,  Woosup Han ,  Seung Ki Min

IPC分类号： G03B41/00

CPC分类号： G08B13/19626 ,  H04N13/239

摘要： An omni-directional stereo camera and a control method thereof. The omni-directional stereo camera includes two or more omni-directional cameras, and a supporting member installed within a shooting range between the omni-directional cameras to interconnect the omni-directional cameras and including compensation patterns formed at the surfaces.

摘要翻译： 全方向立体摄像机及其控制方法。 全方向立体摄像机包括两个或更多个全方位摄像机，以及安装在全方向摄像机之间的拍摄范围内的支撑构件，用于互连全向摄像机并且包括形成在表面处的补偿图案。

公开(公告)号：US09298194B2

公开(公告)日：2016-03-29

申请号：US13317999

申请日：2011-11-02

申请人： Kwang Kyu Lee ,  San Lim ,  Kyung Won Moon ,  Kyung Shik Roh

发明人： Kwang Kyu Lee ,  San Lim ,  Kyung Won Moon ,  Kyung Shik Roh

IPC分类号： G05B19/04 ,  A61B6/10 ,  G05D15/01 ,  A61B6/00

CPC分类号： G05D15/01 ,  A61B6/102 ,  A61B6/107 ,  A61B6/4441 ,  A61B6/4447 ,  A61B6/4452

摘要： A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment may be moved.

摘要翻译： 提供了一种控制沿着至少一个轴线移动或执行关节运动的医疗设备的方法。 当医疗设备由操作者操作被动地移动时，使用力传感器，扭矩传感器等来确定操作者的操作意图，并且考虑所确定的操作意图来执行电动机控制以减轻负载（ 或驱动功率）。 为了实现这一点，该方法确定了操作者施加到医疗设备以移动医疗设备的力的方向和大小，并产生具有与操作者施加的力成比例的大小的辅助力，并且具有与方向相同的方向 由操作者施加的力使得医疗设备可以移动。

公开(公告)号：US09254571B2

公开(公告)日：2016-02-09

申请号：US13307169

申请日：2011-11-30

申请人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

发明人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

IPC分类号： B25J9/10 ,  B25J9/16 ,  G05D1/02

CPC分类号： B25J9/1666 ,  G05B2219/40442 ,  G05B2219/40475 ,  G05D1/024 ,  G05D1/0274

摘要： A robot and a method for creating a robot path. The method for planning the robot path includes generating a depth map including a plurality of cells by measuring a distance to an object, dividing a boundary among the plurality of cells into a plurality of partitions according to individual depth values of the cells, and extracting a single closed loop formed by the divided boundary, obtaining a position and shape of the object located at a first time through the extracted single closed loop, calculating a probability that the object is located at a second time after t seconds on the basis of the obtained position and shape of the object located at the first time, and creating a moving path simultaneously while avoiding the object according to the calculated probability, thereby creating an optimum path without colliding with the object.

摘要翻译： 机器人和创建机器人路径的方法。 用于规划机器人路径的方法包括：通过测量到对象的距离来生成包括多个单元的深度图，根据单元的各个深度值将多个单元之间的边界划分成多个分区，并且提取 通过分割边界形成的单个闭环，通过提取的单个闭环获得位于第一时间的对象的位置和形状，基于获得的计算在t秒之后的第二时间计算对象位于的概率 位于第一时间的对象的位置和形状，并且根据所计算的概率同时避免对象创建移动路径，从而创建最佳路径而不与对象相冲突。

公开(公告)号：US09037292B2

公开(公告)日：2015-05-19

申请号：US12926078

申请日：2010-10-25

申请人： Bok Man Lim ,  Kyung Shik Roh ,  San Lim ,  Myung Hee Kim

发明人： Bok Man Lim ,  Kyung Shik Roh ,  San Lim ,  Myung Hee Kim

IPC分类号： G06F19/00 ,  B62D57/032

CPC分类号： B62D57/032

摘要： A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.

摘要翻译： 公开了一种机器人及其控制方法。 机器人使用机器人的执行器的规格来获得最大的动态性能。 所述控制方法包括响应于所述机器人的运动的开始时间和结束时间来形成第一钟形速度分布，根据钟形速度分布计算具有有限状况的目标函数的值，以及 响应于使具有有限条件的目标函数最小化的第二钟形速度分布来驱动关节。

公开(公告)号：US08837786B2

公开(公告)日：2014-09-16

申请号：US13293459

申请日：2011-11-10

申请人： Won Jun Hwang ,  Kyung Shik Roh

发明人： Won Jun Hwang ,  Kyung Shik Roh

IPC分类号： G06K9/00 ,  G06K9/46 ,  G06K9/62

CPC分类号： G06K9/00288 ,  G06K9/00281 ,  G06K9/4619 ,  G06K9/6234 ,  G06K9/6297

摘要： A face recognition apparatus and method. Sub-images having different face sizes are generated using a received face image of a person to be identified. Feature vectors of the sub-images are generated and observation nodes are generated based on the feature vectors. The observation nodes corresponding to the sub-images are compared with stored reference nodes of sub-images of a registered person on a face size by face size basis to calculate similarity scores between the observation nodes and the reference nodes. State nodes are generated based on the respective similarity scores of the face sizes, the observation and state nodes are compared, and the state nodes are compared to perform face recognition. This improves face recognition performance and face recognition speed. Face recognition performance robust to facial expression variation or type information is achieved by performing I-shaped curvature Gabor filtering on a plurality of sub-images based on the eye distance.

摘要翻译： 人脸识别装置及方法。 使用要识别的人的接收的脸部图像来生成具有不同脸部尺寸的子图像。 生成子图像的特征向量，并且基于特征向量生成观察节点。 将与子图像相对应的观测节点按照面部大小与存储的登记人物的子图像的参考节点进行比较，以计算观察节点和参考节点之间的相似度分数。 基于面部大小的各自的相似度得分来生成状态节点，比较观察和状态节点，并比较状态节点进行面部识别。 这提高了人脸识别性能和人脸识别速度。 通过基于眼睛距离对多个子图像执行I形曲率Gabor滤波来实现对面部表情变化或类型信息的鲁棒性的人脸识别性能。

公开(公告)号：US08791960B2

公开(公告)日：2014-07-29

申请号：US12905649

申请日：2010-10-15

申请人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwa Ahn

发明人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwa Ahn

IPC分类号： G09G5/00

CPC分类号： G06T19/006 ,  G06T7/246 ,  G06T2207/10016

摘要： Disclosed herein are a markerless augmented reality system and method for extracting feature points within an image and providing augmented reality using a projective invariant of the feature points. The feature points are tracked in two images photographed while varying the position of an image unit, a set of feature points satisfying a plane projective invariant is obtained from the feature points, and augmented reality is provided based on the set of feature points. Accordingly, since the set of feature points satisfies the plane projective invariant even when the image unit is moved and functions as a marker, a separate marker is unnecessary. In addition, since augmented reality is provided based on the set of feature points, a total computation amount is decreased and augmented reality is more efficiently provided.

摘要翻译： 这里公开了一种无标记增强现实系统和方法，用于提取图像内的特征点，并使用特征点的投影不变量提供增强现实。 在改变图像单元的位置的同时拍摄的两幅图像中跟踪特征点，从特征点获得满足平面投影不变性的一组特征点，并且基于该特征点集提供增强现实。 因此，即使当图像单元被移动并用作标记时，由于特征点集合满足平面投影不变性，因此不需要单独的标记。 此外，由于基于特征点集合提供增强现实，所以总计算量减少，增强现实更有效地提供。

公开(公告)号：US08731326B2

公开(公告)日：2014-05-20

申请号：US13197114

申请日：2011-08-03

申请人： Ji Hyo Lee ,  Kyung Shik Roh

发明人： Ji Hyo Lee ,  Kyung Shik Roh

IPC分类号： G06K9/66 ,  G06K9/36

CPC分类号： G06K9/4609 ,  G06K9/4614

摘要： An object recognition system including an image data storage unit to store a captured image, a feature extraction unit to extract an image having a predetermined rotational component among rotational components of the image stored in the image data storage unit and to extract feature vectors based on the extracted image, a database unit to store object information, a recognition unit to determine whether an object corresponding to the captured image is present in the database unit through comparison between the feature vectors extracted by the feature extraction unit and the object information stored in the database unit and to recognize information on the object stored in the database unit based on determination as to whether the object corresponding to the captured image is present in the database unit, and a system administration unit to receive the information on the object recognized by the recognition unit.

摘要翻译： 一种对象识别系统，包括：图像数据存储单元，用于存储捕获的图像;特征提取单元，用于提取在图像数据存储单元中存储的图像的旋转分量中具有预定旋转分量的图像，并且基于 提取图像，用于存储对象信息的数据库单元，识别单元，用于通过比较由特征提取单元提取的特征矢量与存储在数据库中的对象信息来确定与捕获图像相对应的对象是否存在于数据库单元中 基于对应于所述拍摄图像的对象是否存在于所述数据库单元中的确定来识别存储在所述数据库单元中的对象的信息;以及系统管理单元，用于接收由所述识别单元识别的对象的信息 。

公开(公告)号：US08718326B2

公开(公告)日：2014-05-06

申请号：US13298834

申请日：2011-11-17

申请人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwan Ahn

发明人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwan Ahn

IPC分类号： G06K9/00

CPC分类号： G06T7/593 ,  G06T2207/10012 ,  G06T2207/10028

摘要： A system and method for extracting 3D coordinates, the method includes obtaining, by a stereoscopic image photographing unit, two images of a target object, and obtaining 3D coordinates of the object on the basis of coordinates of each pixel of the two images, measuring, by a Time of Flight (TOF) sensor unit, a value of a distance to the object, and obtaining 3D coordinates of the object on the basis of the measured distance value, mapping pixel coordinates of each image to the 3D coordinates obtained through the TOF sensor unit, and calibrating the mapped result, determining whether each set of pixel coordinates and the distance value to the object measured through the TOF sensor unit are present, calculating a disparity value on the basis of the distance value or the pixel coordinates, and calculating 3D coordinates of the object on the basis of the calculated disparity value.

摘要翻译： 一种用于提取3D坐标的系统和方法，所述方法包括：通过立体图像拍摄单元获取目标对象的两个图像，并且基于两个图像的每个像素的坐标来获得对象的3D坐标， 通过飞行时间（TOF）传感器单元，到物体的距离的值，并且基于测量的距离值获得对象的3D坐标，将每个图像的像素坐标映射到通过TOF获得的3D坐标 传感器单元，并且校准映射结果，确定是否存在通过TOF传感器单元测量的每组像素坐标和距离值，基于距离值或像素坐标计算视差值，并计算 基于计算出的视差值对象的3D坐标。

公开(公告)号：US08498472B2

公开(公告)日：2013-07-30

申请号：US12979036

申请日：2010-12-27

申请人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwan Ahn

发明人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwan Ahn

IPC分类号： G06K9/32 ,  G06T15/10

CPC分类号： G06T7/73 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20164 ,  G06T2207/30248

摘要： An image-based localization feature point registration apparatus includes a camera to capture an image, a feature point extractor to extract a feature point from the captured image, a calculator to calculate depth information about the feature point according to whether the feature point is one of two-dimensional (2D) and a three-dimensional (3D) corner, and a feature point register to register 3D coordinates of the feature point based on the depth information about the feature point and image coordinates of the feature point.

摘要翻译： 基于图像的定位特征点注册装置包括拍摄图像的相机，从拍摄图像提取特征点的特征点提取器，计算器，根据特征点是否是其中之一来计算关于特征点的深度信息 二维（2D）和三维（3D）角，以及特征点寄存器，用于基于关于特征点的特征点和图像坐标的深度信息来注册特征点的3D坐标。