公开(公告)号：US07050884B2

公开(公告)日：2006-05-23

申请号：US10390143

申请日：2003-03-17

申请人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

发明人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

IPC分类号： G06F19/00

CPC分类号： H04N21/4345 ,  H04L29/06027 ,  H04L65/602 ,  H04L65/604 ,  H04N21/2187 ,  H04N21/2362 ,  H04N21/2365 ,  H04N21/4347 ,  Y10S707/99945 ,  Y10S707/99948

摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.

摘要翻译： 图像传输装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在发送和接收的方式形成的现有系统来有效地发送多个信道的图像数据 图像数据通过单一传输线。 在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。 在接收侧，对从发送装置分别发送的每帧的每个图像数据添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的复用图像数据输出到相应的通道 是基于分析结果提供的。

公开(公告)号：US20060041332A1

公开(公告)日：2006-02-23

申请号：US11244341

申请日：2005-10-05

申请人： Kohtaro Sabe ,  Rika Hasegawa ,  Makoto Inoue

发明人： Kohtaro Sabe ,  Rika Hasegawa ,  Makoto Inoue

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。

公开(公告)号：US20060025888A1

公开(公告)日：2006-02-02

申请号：US11165047

申请日：2005-06-24

申请人： Steffen Gutmann ,  Masaki Fukuchi ,  Kohtaro Sabe ,  James Bruce

发明人： Steffen Gutmann ,  Masaki Fukuchi ,  Kohtaro Sabe ,  James Bruce

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。

公开(公告)号：US20050259677A1

公开(公告)日：2005-11-24

申请号：US11132573

申请日：2005-05-19

申请人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

发明人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

IPC分类号： B25J5/00 ,  B25J9/16 ,  G06F19/00 ,  H04J3/00 ,  H04J3/02 ,  H04L12/43 ,  H04L29/06 ,  H04N7/08 ,  H04N7/081 ,  H04N7/173 ,  H04N7/18

CPC分类号： H04N21/4345 ,  H04L29/06027 ,  H04L65/602 ,  H04L65/604 ,  H04N21/2187 ,  H04N21/2362 ,  H04N21/2365 ,  H04N21/4347 ,  Y10S707/99945 ,  Y10S707/99948

摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.

摘要翻译： 图像发送装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在图像的发送和接收的前提下形成的现有系统来有效地发送多个信道的图像数据 数据通过单传输线。 在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。 在接收侧，对从发送装置分别发送的每帧的每个图像数据添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的复用图像数据输出到相应的通道 是基于分析结果提供的。

公开(公告)号：US20050102246A1

公开(公告)日：2005-05-12

申请号：US10871494

申请日：2004-06-17

申请人： Javier Movellan ,  Marian Bartlett ,  Gwendolen Littlewort ,  John Hershey ,  Ian Fasel ,  Eric Carlson ,  Josh Susskind ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Kenichi Hidai

发明人： Javier Movellan ,  Marian Bartlett ,  Gwendolen Littlewort ,  John Hershey ,  Ian Fasel ,  Eric Carlson ,  Josh Susskind ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Kenichi Hidai

IPC分类号： G06T1/00 ,  G06K9/00 ,  G06K9/62 ,  G06N3/00 ,  G06T7/00 ,  G06F19/00 ,  G06F15/18 ,  G06N3/08

CPC分类号： G06K9/00248 ,  G06K9/00308 ,  G06K9/6256 ,  G06N3/004

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。

公开(公告)号：US10049325B2

公开(公告)日：2018-08-14

申请号：US13561704

申请日：2012-07-30

申请人： Hideki Shimomura ,  Kenta Kawamoto ,  Kohtaro Sabe

发明人： Hideki Shimomura ,  Kenta Kawamoto ,  Kohtaro Sabe

IPC分类号： G06F15/18 ,  G06N7/00

摘要： Provided is an information processing apparatus including a learning part performing learning of a model of an environment in which an agent performs action, using an observed value observed in the agent when the agent capable of action performs action, an action determining part determining action to be performed by the agent, based on the model, and a user instruction output part outputting instruction information representing an instruction from a user according to the instruction from the user, wherein the action determining part determines the action performed by the agent according to the instruction information when there is an instruction from the user.

公开(公告)号：US08725510B2

公开(公告)日：2014-05-13

申请号：US12829984

申请日：2010-07-02

申请人： Yukiko Yoshiike ,  Kenta Kawamoto ,  Kuniaki Noda ,  Kohtaro Sabe

发明人： Yukiko Yoshiike ,  Kenta Kawamoto ,  Kuniaki Noda ,  Kohtaro Sabe

IPC分类号： G10L15/14

CPC分类号： G06N99/005

摘要： An HMM (Hidden Markov Model) learning device includes: a learning unit for learning a state transition probability as the function of actions that an agent can execute, with learning with HMM performed based on actions that the agent has executed, and time series information made up of an observation signal; and a storage unit for storing learning results by the learning unit as internal model data including a state-transition probability table and an observation probability table; with the learning unit calculating frequency variables used for estimation calculation of HMM state-transition and HMM observation probabilities; with the storage unit holding the frequency variables corresponding to each of state-transition probabilities and each of observation probabilities respectively, of the state-transition probability table; and with the learning unit using the frequency variables held by the storage unit to perform learning, and estimating the state-transition probability and the observation probability based on the frequency variables.

摘要翻译： HMM（隐马尔可夫模型）学习装置包括：用于学习作为代理可以执行的动作的函数的状态转移概率的学习单元，基于代理已经执行的动作执行的HMM的学习以及作出的时间序列信息 观察信号; 以及存储单元，用于将所述学习单元的学习结果存储为包括状态转换概率表和观察概率表的内部模型数据; 学习单元计算用于HMM状态转换和HMM观察概率的估计计算的频率变量; 存储单元保持状态转移概率表中分别对应于状态转换概率和每个观察概率的频率变量; 并且所述学习单元使用由所述存储单元保持的频率变量来执行学习，并且基于所述频率变量来估计所述状态转换概率和观察概率。

公开(公告)号：US20110305384A1

公开(公告)日：2011-12-15

申请号：US13097288

申请日：2011-04-29

申请人： Kazumi AOYAMA ,  Kohtaro Sabe

发明人： Kazumi AOYAMA ,  Kohtaro Sabe

IPC分类号： G06K9/62

CPC分类号： G06K9/00281 ,  G10L15/25 ,  G10L25/78

摘要： An information processing apparatus includes a first generation unit that generates learning images corresponding to a learning moving image, a first synthesis unit that generates a synthesized learning image such that a plurality of the learning images is arranged at a predetermined location and synthesized, a learning unit that computes a feature amount of the generated synthesized learning image, and performs statistical learning using the feature amount to generate a classifier, a second generation unit that generates determination images, a second synthesis unit that generates a synthesized determination image such that a plurality of the determination images is arranged at a predetermined location and synthesized, a feature amount computation unit that computes a feature amount of the generated synthesized determination image, and a determination unit that determines whether or not the determination image corresponds to a predetermined movement.

摘要翻译： 一种信息处理设备，包括：产生与学习运动图像相对应的学习图像的第一生成单元;生成合成学习图像的第一合成单元，使得多个学习图像被布置在预定位置并合成;第一合成单元， 其计算所生成的合成学习图像的特征量，并且使用特征量进行统计学习以生成分类器，产生确定图像的第二生成单元，生成合成确定图像的第二合成单元， 确定图像被布置在预定位置并被合成，计算所生成的合成确定图像的特征量的特征量计算单元和确定判定图像是否对应于预定移动的确定单元。

公开(公告)号：US20110249863A1

公开(公告)日：2011-10-13

申请号：US13071951

申请日：2011-03-25

申请人： Takeshi OHASHI ,  Kohtaro Sabe

发明人： Takeshi OHASHI ,  Kohtaro Sabe

IPC分类号： G06K9/00

CPC分类号： G06T11/001 ,  G06K9/00234 ,  G06K9/00308 ,  G06T7/11 ,  G06T2207/30201 ,  H04N1/62

摘要： An information processing device includes a face detection unit that detects a face area from a target image, a feature point detection unit that detects a feature point of the detected face area, a determination unit that determines an attention area that is an area to which attention is paid in the face area based on the detected feature point, a reference color extraction unit that extracts a reference color that is color setting obtained from the target image in the determined attention area, an adjustment unit that adjusts the extracted reference color to a color setting for a modified image generated from the target image as a base, and a generation unit that generates the modified image from the target image by drawing the attention area using the color setting for the modified image.

摘要翻译： 一种信息处理装置，包括从目标图像检测面部区域的面部检测单元，检测检测到的面部区域的特征点的特征点检测单元，确定作为关注区域的关注区域的判定单元 基于检测到的特征点在面部区域中支付参考颜色提取单元，提取从所确定的关注区域中的目标图像获得的作为颜色设置的参考颜色的参照颜色提取单元，将提取的参考颜色调整为颜色的调整单元 从作为基准的目标图像生成的修改图像的设置，以及生成单元，其通过使用修改图像的颜色设置绘制注意区域，从目标图像生成修改图像。

公开(公告)号：US07979364B2

公开(公告)日：2011-07-12

申请号：US12357917

申请日：2009-01-22

申请人： Kenichi Hidai ,  Kohtaro Sabe

发明人： Kenichi Hidai ,  Kohtaro Sabe

IPC分类号： G06E1/00 ,  G06F15/18

CPC分类号： G05B13/0265

摘要： A learning control apparatus for an autonomous agent including a functional module having a function of multiple inputs and multiple outputs, the function receiving at least one variable and outputting at least one value, includes an estimating unit for estimating a causal relationship of at least one variable, a grouping unit for grouping at least one variable into a variable group in accordance with the estimated causal relationship, a determining for determining a behavior variable corresponding to each of the variable groups, and a layering unit for layering, in accordance with the variable group and the behavior variable, the function corresponding to each variable group, the function receiving the variable grouped into the variable group and outputting the behavior variable.

摘要翻译： 一种用于包括具有多个输入和多个输出的功能的功能模块的自主代理的学习控制装置，所述功能接收至少一个变量并输出至少一个值，所述学习控制装置包括：估计单元，用于估计至少一个变量 ，分组单元，用于根据估计的因果关系将至少一个变量分组成变量组，确定用于确定与每个可变组相对应的行为变量，以及分层单元，用于根据变量组 和行为变量，对应于每个变量组的函数，接收变量的函数分组到变量组中并输出行为变量。