公开(公告)号：US20140288413A1

公开(公告)日：2014-09-25

申请号：US13965460

申请日：2013-08-13

Applicant: Samsung Electronics Co., Ltd.

Inventor： Won Jun Hwang ,  Kyung Shik Roh ,  Suk June Yoon ,  Seung Yong Hyung

IPC: A61B19/00 ,  A61B5/06

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B90/361 ,  A61B2090/364 ,  A61B2090/367

Abstract: A surgical robot system includes a slave system to perform a surgical operation on a patient and an imaging system that includes an image capture unit including a plurality of cameras to acquire a plurality of affected area images, an image generator detecting an occluded region in each of the affected area images acquired by the plurality of cameras, removing the occluded region therefrom, warping each of the affected area images from which the occluded region is removed, and matching the affected area images to generate a final image, and a controller driving each of the plurality of cameras of the image capture unit to acquire the plurality of affected area images and inputting the acquired plurality of affected area images to the image generator to generate a final image.

Abstract translation: 外科手术机器人系统包括对患者执行外科手术的从属系统和成像系统，所述成像系统包括：图像捕获单元，所述成像系统包括：多个摄像机，用于获取多个影响区域图像;图像生成器，其检测每个所述受影响区域的遮挡区域; 由多个照相机获取的受影响区域图像，从其中去除遮挡区域，使从其中去除遮挡区域的每个受影响区域图像翘曲，并匹配受影响区域图像以产生最终图像，以及控制器驱动每个 所述图像捕获单元的多个摄像机获取所述多个影响区域图像，并将所获取的多个影响区域图像输入到所述图像生成器以生成最终图像。

公开(公告)号：US20130204435A1

公开(公告)日：2013-08-08

申请号：US13758467

申请日：2013-02-04

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kyung Won Moon ,  Young Do Kwon ,  Kyung Shik Roh

IPC: G06F17/00

CPC classification number: G06F17/00 ,  B25J15/0009 ,  G06F3/014 ,  G09B19/00 ,  G09B19/0007 ,  G09B19/06 ,  G09B21/008

Abstract: A wearable robot may be worn by a user to record or teach a motion, including a motion such as sign language. The wearable robot includes a mode to record sign language data in a system by a sign language expert wearing the wearable robot and a mode to teach the sign language data recorded in the system to a sign language learner wearing the wearable robot. A user who wishes to learn sign language may easily learn sign language. In particular, a disabled person, who has poor eyesight and is unable to watch a video that teaches sign language, may learn sign language very intuitively using the wearable robot. Further, a user who has normal eyesight may also learn sign language more easily than from using a video which teaches sign language or from a sign language expert.

Abstract translation: 用户可佩戴穿戴式机器人来记录或教导包括诸如手语的动作的运动。 可穿戴机器人包括通过佩戴可穿戴机器人的手语专家在系统中记录手语数据的模式，以及将记录在该系统中的手语数据教导到佩戴可穿戴机器人的手语学习者的模式。 希望学习手语的用户可以轻松学习手语。 特别是，视力差，无法观看手语教学的残疾人士，可以用穿戴式机器人非常直观地学习手语。 此外，具有正常视力的用户也可以比使用教学手语或手语专家的视频更容易学习手语。

公开(公告)号：US20130170744A1

公开(公告)日：2013-07-04

申请号：US13729739

申请日：2012-12-28

Applicant: Samsung Electronics Co., Ltd.

Inventor： Hyo Seok HWANG ,  Kyung Shik Roh ,  Suk June Yoon

IPC: G06K9/46

CPC classification number: G06K9/4652 ,  G06K9/00214 ,  G06K9/4671 ,  G06K9/6211 ,  G06K2009/4666

Abstract: An object recognition method, a descriptor generating method for object recognition, and a descriptor for object recognition capable of extracting feature points using the position relationship and color information relationship between points in a group that are sampled from an image of an object, and capable of recognizing the object using the feature points, the object recognition method including extracting feature components of a point cloud using the position information and the color information of the points that compose the point cloud of the three-dimensional (3D) image of an object, generating a descriptor configured to recognize the object using the extracted feature components; and performing the object recognition based on the descriptor.

Abstract translation: 一种对象识别方法，用于对象识别的描述符生成方法，以及能够使用从对象的图像采样的组中的点之间的位置关系和颜色信息关系来提取特征点的对象识别的描述符，并且能够 使用特征点识别对象，所述对象识别方法包括使用位置信息提取点云的特征成分和构成对象的三维（3D）图像的点云的点的颜色信息，生成 描述符，其被配置为使用所提取的特征成分来识别对象; 以及基于描述符执行对象识别。

公开(公告)号：US20130166137A1

公开(公告)日：2013-06-27

申请号：US13723459

申请日：2012-12-21

Applicant: Samsung Electronics Co., Ltd.

Inventor： Sung Hwan AHN ,  No San Kwak ,  Kyung Shik Roh ,  Suk June Yoon ,  Seung Yong Hyung

IPC: G06F11/30

CPC classification number: G06F11/30 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0217 ,  G06F11/3013 ,  G06F11/3058

Abstract: A mobile apparatus and a localization method thereof which perform localization of the mobile apparatus using a distributed filter system including a plurality of local filters independently operated and one fusion filter integrating results of localization performed through the respective local filters, and additionally apply accurate topological absolute position information to the distributed filter system to improve localization performance (accuracy, convergence and speed in localization, etc.) of the mobile apparatus on a wide space. The mobile apparatus includes at least one sensor, at least one first distribution filter generating current relative position information using a value detected by the at least one sensor, at least one second distribution filter generating current absolute position information using the value detected by the at least one sensor, and a fusion filter integrating the relative position information and the absolute position information to perform localization.

Abstract translation: 一种移动装置及其定位方法，其使用包括独立操作的多个局部滤波器的分布式滤波器系统来执行移动装置的定位，并且一个融合滤波器集成通过各个局部滤波器执行的定位结果，并且另外应用精确的拓扑绝对位置 向分布式滤波器系统提供信息，从而在宽广的空间上提高移动设备的定位性能（定位精度，收敛速度和定位速度等）。 所述移动装置包括至少一个传感器，至少一个第一分布滤波器，使用由所述至少一个传感器检测的值产生电流相对位置信息;至少一个第二分布滤波器，使用至少由所述至少一个传感器检测的值产生当前绝对位置信息 一个传感器，以及集成了相对位置信息和绝对位置信息以进行定位的融合滤波器。

公开(公告)号：US20130163853A1

公开(公告)日：2013-06-27

申请号：US13723540

申请日：2012-12-21

Applicant: Samsung Electronics Co., Ltd.

Inventor： No San KWAK ,  Kyung Shik Roh ,  Sung Hwan Ahn ,  Suk June Yoon ,  Seung Yong Hyung

IPC: G06T7/00

CPC classification number: G06T7/0042 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20164 ,  G06T2207/30244 ,  Y10S901/47

Abstract: A method for estimating a location of a device uses a color image and a depth image. The method includes matching the color image to the depth image, generating a 3D reference image based on the matching, generating a 3D object image based on the matching, extracting a 2D reference feature point from the reference image, extracting a 2D reference feature point from the object image, matching the extracted reference feature point from the reference image to the extracted reference feature point from the object image, extracting a 3D feature point from the object image using the matched 2D reference feature point, and estimating the location of the device based on the extracted 3D feature point.

Abstract translation: 用于估计设备的位置的方法使用彩色图像和深度图像。 该方法包括将彩色图像与深度图像进行匹配，基于匹配生成3D参考图像，基于匹配生成3D对象图像，从参考图像中提取2D参考特征点，从参考图像中提取2D参考特征点 所述对象图像将所提取的参考特征点与所述参考图像相对于所提取的参考特征点与所述对象图像匹配，使用所述匹配的2D参考特征点从所述对象图像提取3D特征点，以及基于所述对象图像的位置估计 在提取的3D特征点上。

公开(公告)号：US20130158712A1

公开(公告)日：2013-06-20

申请号：US13685836

申请日：2012-11-27

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Ju Suk Lee ,  Kyung Shik Roh

IPC: G05B19/04

CPC classification number: G05B19/04 ,  B62D57/032 ,  Y10S901/01

Abstract: A walking robot includes hip joints of plural legs, a pose detector to detect a pose, a walking state judger to judge a walking state from the pose, a target angle trajectory generator to judge support and swing legs based on the walking state, to judge whether or not the swing leg contacts a surface prior to a prestored time, to shorten the next support cycle executed by the swing leg upon judging that the swing leg contacts a surface prior to the prestored time, and to generate target angle trajectories of the hip joints based on the shortened support cycle, a torque calculator to calculate torques tracking the target angle trajectories, and a controller to output the torques to the hip joint to control walking of the walking robot.

Abstract translation: 行走机器人包括多个腿的髋关节，用于检测姿势的姿势检测器，用于判断姿势的行走状态的步行状态判断器，基于步行状态判断支撑和摆动腿的目标角度轨迹发生器，判断 在预先存储的时间之前摇摆腿是否接触表面，以便在判断出摇摆腿在预先存储的时间之前接触表面时缩短由摆动腿执行的下一个支撑周期，并且产生臀部的目标角度轨迹 基于缩短的支撑周期的关节，用于计算跟踪目标角度轨迹的扭矩的扭矩计算器，以及用于将扭矩输出到髋关节以控制步行机器人的行走的控制器。

公开(公告)号：US20130138431A1

公开(公告)日：2013-05-30

申请号：US13685221

申请日：2012-11-26

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Byung Kwon CHOI ,  Young Do Kwon ,  Dong Soo Kim ,  Kyung Shik Roh

IPC: G10L19/008

CPC classification number: G10L19/008 ,  G10L25/21

Abstract: A speech signal transmission apparatus includes an extractor to extract speech signals from speech source signals collected by a plurality of microphones, a power calculator to calculate powers of speech signals of multiple channels and set any one of the speech signals of the multiple channels as a reference speech signal, a synchronization adjustor to adjust synchronization of the other speech signals based on the reference speech signal, a signal generator to generate extraction signals by offsetting the reference speech signal from the other synchronization-adjusted speech signals, an encryptor to compress and encrypt the reference speech signal and the extraction signals, and a transmitter to transmit the compressed and encrypted reference speech signal and extraction signals.

Abstract translation: 语音信号发送装置包括从多个麦克风收集的语音源信号中提取语音信号的提取器，功率计算器，计算多个声道的语音信号的功率，并设定多声道的任意一个语音信号作为参照 语音信号，同步调整器，用于基于参考语音信号调整其他语音信号的同步;信号发生器，通过将参考语音信号与其他同步调整的语音信号相抵消来产生提取信号;加密器，用于压缩和加密 参考语音信号和提取信号，以及发送器，用于发送压缩和加密的参考语音信号和提取信号。

公开(公告)号：US20130116706A1

公开(公告)日：2013-05-09

申请号：US13723688

申请日：2012-12-21

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Kwang Kyu LEE ,  Woong Kwon ,  Kyung Shik Roh

IPC: A61B19/00

CPC classification number: G05B6/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76

Abstract: A method for controlling a surgical robot includes calculating an external force acting on a robot arm mounted with a surgical instrument, filtering the external force acting on the robot arm when a central point of an incision is set, calculating a virtual force to enable the surgical instrument which is positioned away from the central point of the incision to return to the central point of the incision, and applying the calculated virtual force to the filtered external force, to control movement of the robot arm. As a result, it is possible to compactly design the surgical robot and thereby reduce the volume of the surgical robot.

Abstract translation: 一种外科手术机器人的控制方法，其特征在于，计算作用在安装有外科手术器械的机器人手臂上的外力，当设置切口的中心点时，过滤作用在机器人手臂上的外力，计算虚拟力以使手术 远离切口的中心点定位以返回到切口的中心点的仪器，并将计算出的虚拟力施加到经过滤的外力上，以控制机器人手臂的运动。 结果，可以紧凑地设计外科手术机器人，从而减小手术机器人的体积。

公开(公告)号：US20130089235A1

公开(公告)日：2013-04-11

申请号：US13645860

申请日：2012-10-05

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Suk June YOON ,  Kyung Shik Roh ,  Sang Il Hong ,  Seung Yong Hyung ,  Hyo Seok Hwang ,  Sung Hwan Ahn

IPC: G06K9/00

CPC classification number: G06K9/00664 ,  G06K9/4671

Abstract: A method of controlling a mobile apparatus includes acquiring a first original image and a second original image, extracting a first feature point of the first original image and a second feature point of the second original image, generating a first blurring image and a second blurring image by blurring the first original image and the second original image, respectively, calculating a similarity between at least two images of the first original image, the second original image, the first blurring image, and the second blurring image, determining a change in scale of the second original image based on the calculated similarity, and controlling at least one of an object recognition and a position recognition by matching the second feature point of the second original image to the first feature point of the first original image based on the change in scale.

Abstract translation: 一种控制移动装置的方法包括获取第一原始图像和第二原始图像，提取第一原始图像的第一特征点和第二原始图像的第二特征点，生成第一模糊图像和第二模糊图像 通过分别模糊第一原始图像和第二原始图像，计算第一原始图像，第二原始图像，第一模糊图像和第二模糊图像的至少两个图像之间的相似度，确定第一原始图像和第二原始图像的尺度变化 基于所计算出的相似度的第二原始图像，并且基于尺度变化将第二原始图像的第二特征点与第一原始图像的第一特征点进行匹配来控制对象识别和位置识别中的至少一个 。