Robot apparatus and control method therefor, and robot character discriminating method
    61.
    发明申请
    Robot apparatus and control method therefor, and robot character discriminating method 审中-公开
    机器人装置及其控制方法和机器人字符识别方法

    公开(公告)号:US20060041332A1

    公开(公告)日:2006-02-23

    申请号:US11244341

    申请日:2005-10-05

    IPC分类号: G06F19/00

    CPC分类号: G06N3/008 G05B2219/39162

    摘要: In a robot apparatus and a control method therefor, firstly, partial or whole state space of a behavioral model is expanded or reduced, secondly, transition to a predetermined node in the behavioral model is described as transition to a virtual node and a node group to be allotted to the virtual node is sequentially changed, thirdly, the number of emotions and/or desires which are used for generating actions is gradually increased, and fourthly, an environment is evaluated to update each sensitivity corresponding to each emotion and desire, on the basis of the evaluated. In the robot apparatus and the character discriminating method for the robot apparatus, a pet robot is provided with: detecting means for detecting outputs from other pet robots; character discriminating means for discriminating characters of the pet robots on the basis of the result detected by the detecting means; and character changing means for changing the character on the basis of the result judged by the character discriminating means.

    摘要翻译: 在机器人装置及其控制方法中,首先,行为模型的部分或全部状态空间被扩展或缩小,其次,将行为模型中的预定节点的转换描述为向虚拟节点和节点组转换 分配给虚拟节点的顺序变化,第三,逐渐增加用于生成动作的情绪和/或欲望的数量,第四,评估环境以更新与每种情感和愿望对应的每种灵敏度,在 评估的基础。 在机器人装置和机器人装置的字符鉴别方法中,宠物机器人设置有:检测来自其他宠物机器人的输出的检测装置; 字符识别装置,用于根据检测装置检测到的结果来识别宠物机器人的字符; 以及字符改变装置,用于根据由字符识别装置判断的结果改变字符。

    Environment map building method, environment map building apparatus and mobile robot apparatus
    62.
    发明申请
    Environment map building method, environment map building apparatus and mobile robot apparatus 有权
    环境地图构建方法,环境地图建筑装置和移动机器人装置

    公开(公告)号:US20060025888A1

    公开(公告)日:2006-02-02

    申请号:US11165047

    申请日:2005-06-24

    IPC分类号: G06F19/00

    CPC分类号: G06K9/00664 G06T7/593

    摘要: An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises. The present invention provides an environment map building apparatus for building a three-dimensional environment map to be used for three-dimensionally determining a region allowing a moving body to move therein according to external environment conditions, which comprises an external environment conditions detecting section that detects external environment conditions, a three-dimensional map building section that builds a three-dimensional map showing the state of occupancy of a three-dimensional grid on the basis of the external environment conditions detected by the external environment conditions detecting section, a relative-to-base-plane height map building section that builds a relative-to-base-plane height map showing heights from a two-dimensional base plane on the basis of the external environment conditions detected by the external environment conditions detecting section, and a height map information modifying section that modifies the information of the relative-to-base-plane height map on the basis of the information on the three-dimensional map.

    摘要翻译: 环境地图构建方法和环境地图构建装置可以以相对于观察噪声鲁棒的方式在高度方向上以高分辨率表达周围的实施例。 本发明提供了一种用于构建三维环境图的环境地图构建装置,其用于三维地确定允许移动体根据外部环境条件在其中移动的区域,该外部环境条件包括外部环境条件检测部分,其检测 外部环境条件,基于由外部环境条件检测部检测到的外部环境条件构建表示三维网格的占有状态的三维地图的三维地图构建部,相对于 - 基平面高度图构建部,其基于由外部环境条件检测部检测到的外部环境条件,构建从二维基面显示高度的相对基准面高度图,以及高度图 信息修改部分,其修改相对于基站的信息, 平面高度图基于三维地图上的信息。

    Image recognition device and method, and robot device
    64.
    发明申请
    Image recognition device and method, and robot device 有权
    图像识别装置及方法及机器人装置

    公开(公告)号:US20050213818A1

    公开(公告)日:2005-09-29

    申请号:US10517615

    申请日:2004-04-22

    摘要: In an image recognition apparatus (1), feature point extraction sections (10a) and (10b) extract feature points from a model image and an object image. Feature quantity retention sections (11a) and (11b) extract a feature quantity for each of the feature points and retain them along with positional information of the feature points. A feature quantity comparison section (12) compares the feature quantities with each other to calculate the similarity or the dissimilarity and generates a candidate-associated feature point pair having a high possibility of correspondence. A model attitude estimation section (13) repeats an operation of projecting an affine transformation parameter determined by three pairs randomly selected from the candidate-associated feature point pair group onto a parameter space. The model attitude estimation section (13) assumes each member in a cluster having the largest number of members formed in the parameter space to be an inlier. The model attitude estimation section (13) finds the affine transformation parameter according to the least squares estimation using the inlier and outputs a model attitude determined by this affine transformation parameter.

    摘要翻译: 在图像识别装置(1)中,特征点提取部(10a)和(10b)从模型图像和对象图像中提取特征点。 特征量保留部分(11a)和(11b)提取每个特征点的特征量并将它们与特征点的位置信息一起保留。 特征量比较部分(12)将特征量彼此进行比较,以计算相似度或相似性,并且生成具有高对应可能性的候选关联特征点对。 模型姿态估计部(13)重复将从候选关联特征点对组中随机选择的三对决定的仿射变换参数投影到参数空间的动作。 模型姿态估计部(13)假设具有在参数空间中形成的最大数量的成员的簇中的每个成员是一个较早的。 模型姿态估计部(13)根据使用该误差的最小二乘估计求出仿射变换参数,并输出由该仿射变换参数确定的模型姿态。

    Weak hypothesis generation apparatus and method, learning apparatus and method, detection apparatus and method, facial expression learning apparatus and method, facial expression recognition apparatus and method, and robot apparatus
    65.
    发明申请
    Weak hypothesis generation apparatus and method, learning apparatus and method, detection apparatus and method, facial expression learning apparatus and method, facial expression recognition apparatus and method, and robot apparatus 有权
    弱假设产生装置和方法,学习装置和方法,检测装置和方法,面部表情学习装置和方法,面部表情识别装置和方法以及机器人装置

    公开(公告)号:US20050102246A1

    公开(公告)日:2005-05-12

    申请号:US10871494

    申请日:2004-06-17

    摘要: A facial expression recognition system that uses a face detection apparatus realizing efficient learning and high-speed detection processing based on ensemble learning when detecting an area representing a detection target and that is robust against shifts of face position included in images and capable of highly accurate expression recognition, and a learning method for the system, are provided. When learning data to be used by the face detection apparatus by Adaboost, processing to select high-performance weak hypotheses from all weak hypotheses, then generate new weak hypotheses from these high-performance weak hypotheses on the basis of statistical characteristics, and select one weak hypothesis having the highest discrimination performance from these weak hypotheses, is repeated to sequentially generate a weak hypothesis, and a final hypothesis is thus acquired. In detection, using an abort threshold value that has been learned in advance, whether provided data can be obviously judged as a non-face is determined every time one weak hypothesis outputs the result of discrimination. If it can be judged so, processing is aborted. A predetermined Gabor filter is selected from the detected face image by an Adaboost technique, and a support vector for only a feature quantity extracted by the selected filter is learned, thus performing expression recognition.

    摘要翻译: 一种面部表情识别系统,其使用面部检测装置,当检测到表示检测对象的区域时,基于整体学习实现有效的学习和高速检测处理,并且对于包括在图像中的面部位置的移动是鲁棒的,并且能够高度准确地表达 识别和系统的学习方法。 当通过Adaboost的面部检测装置学习数据时,从所有弱假设中选择高性能弱假设的处理,然后根据统计特征从这些高性能弱假设产生新的弱假设,并选择一个弱 重复具有这些弱假设的最高判别性能的假设,以依次产生弱假设,从而获得最终假设。 在检测中,使用预先学习的中止阈值,每当一个弱假设输出鉴别结果时,确定提供的数据是否可以被明确地判断为非面。 如果可以判断,则处理中止。 通过Adaboost技术从检测到的脸部图像中选择预定的Gabor滤波器,并且仅学习由所选择的滤波器提取的特征量的支持向量,从而执行表达式识别。

    Reducing electric energy consumption based on energy usage pattern

    公开(公告)号:US10346855B2

    公开(公告)日:2019-07-09

    申请号:US13538286

    申请日:2012-06-29

    IPC分类号: G06Q30/00 G06Q30/02 G06F1/26

    摘要: An information processing apparatus includes an electric power related information obtaining unit mounted on or connected to equipment and configured to obtain electric power related information with regard to the equipment and a communication unit configured to transmit the electric power related information obtained by the electric power related information obtaining unit to a rebate processing apparatus connected via a network. A rebate processing apparatus includes a communication unit configured to receive electric power related information transmitted from an information processing apparatus mounted on or connected to equipment via the network, a rebate reference calculation unit configured to calculate a rebate reference functioning as a reference for a rebate processing on the basis of the electric power related information, and a rebate processing unit configured to perform a predetermined rebate processing on the basis of the rebate reference.

    Data processing device, data processing method, and program
    67.
    发明授权
    Data processing device, data processing method, and program 有权
    数据处理装置,数据处理方法和程序

    公开(公告)号:US08738555B2

    公开(公告)日:2014-05-27

    申请号:US13248296

    申请日:2011-09-29

    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。

    Information processing apparatus, information processing method, and program
    68.
    发明授权
    Information processing apparatus, information processing method, and program 有权
    信息处理装置,信息处理方法和程序

    公开(公告)号:US08625859B2

    公开(公告)日:2014-01-07

    申请号:US12902744

    申请日:2010-10-12

    IPC分类号: G06K9/00

    摘要: An information processing apparatus including an image acquisition unit that acquires a target image; a face part extraction unit that extracts a face region including a face part from the target image; an identification unit that identifies a model face part by comparing the face part to a plurality of model face parts stored in a storage unit; and an illustration image determination unit that determines an illustration image corresponding to the identified model face part.

    摘要翻译: 一种信息处理设备,包括:获取目标图像的图像获取单元; 面部部分提取单元,从目标图像中提取包括脸部的面部区域; 识别单元,通过将所述面部部件与存储在存储单元中的多个模型面部部件进行比较来识别模型面部部件; 以及图像确定单元,其确定与所识别的模型脸部部分相对应的图示图像。

    Learning apparatus and method, prediction apparatus and method, and program
    69.
    发明授权
    Learning apparatus and method, prediction apparatus and method, and program 有权
    学习装置及方法,预测装置及方法及程序

    公开(公告)号:US08572008B2

    公开(公告)日:2013-10-29

    申请号:US12954264

    申请日:2010-11-24

    IPC分类号: G06N5/00

    CPC分类号: G06N99/005

    摘要: A learning apparatus includes: a location acquiring section for acquiring time series data on locations of a user; a time acquiring section for acquiring time series data on times; and learning section for learning an activity model indicating an activity state of the user as a probabilistic state transition model, using the respective acquired time series data on the locations and the times as an input.

    摘要翻译: 学习装置包括:位置获取部分,用于获取关于用户位置的时间序列数据; 时间获取部分,用于获取时间序列数据; 以及学习部分,用于将使用相应的获取的时间序列数据作为输入来学习指示用户的活动状态的活动模型作为概率状态转换模型。

    Information processing device, information processing method, and program
    70.
    发明授权
    Information processing device, information processing method, and program 有权
    信息处理装置,信息处理方法和程序

    公开(公告)号:US08494984B2

    公开(公告)日:2013-07-23

    申请号:US12954381

    申请日:2010-11-24

    IPC分类号: G06F15/18

    摘要: An information processing device includes an acquisition unit acquiring a viewing log including information representing content of an operation for viewing content and time of the operation, a learning unit learning, based on the viewing log acquired by the acquisition unit, a viewing behavior model which is a stochastic state transition model representing a viewing behavior of a user, a recognition unit recognizing, using the viewing behavior model obtained through learning by the learning unit, a current viewing state of the user, a prediction unit predicting, using the viewing behavior model, the viewing behavior of the user after a predetermined period of time with the current viewing state of the user recognized by the recognition unit as a starting point, and a display control unit displaying information relating to content predicted to be viewed through the viewing behavior predicted by the prediction unit.

    摘要翻译: 一种信息处理设备,包括:获取单元,其获取包括表示用于观看内容和操作时间的操作的内容的信息的观看日志;基于由所述获取单元获取的观看日志的学习单元学习观看行为模型,所述观看行为模型是 表示用户的观看行为的随机状态转换模型,识别单元,使用通过学习单元的学习获得的观看行为模型识别用户的当前观看状态,预测单元,使用观看行为模型, 在由识别单元识别的用户的当前观看状态作为起点的预定时间段之后的用户的观看行为,以及显示控制单元,显示与通过由 预测单元。