公开(公告)号：US20140140576A1

公开(公告)日：2014-05-22

申请号：US14130093

申请日：2012-06-29

申请人： Hiroo Ikeda

发明人： Hiroo Ikeda

IPC分类号： G06T7/00

CPC分类号： G06T7/136 ,  G06K9/00771 ,  G06T7/50

摘要： [Problem] In object detection on a three-dimensional space using a back projection of an object area extracted from a plurality of camera images, influence by a precision decline (such as lack of an object area) of object area extraction from a camera image is reduced, and it enables to detect a robust object.[Solution method] An object detection apparatus includes an overlapping area acquisition unit that acquires the value of the overlapping area which indicates that a possibility of the object on the three-dimensional space is high using the data to which has been performed a back projection of an object area on a three-dimensional space, an overlapping quantity acquisition unit which acquires the integral quantity of the value of the overlapping area in the shape model which is a three-dimensional target, an overlapping distribution acquisition unit which acquires the distribution degree of the value of the overlapping area in the shape model of the detection target and an object determination unit which determines whether the internal of the shape model of a detection target is an object or non-object using the integral quantity and the distribution degree.

摘要翻译： [问题]在使用从多个摄像机图像提取的对象区域的反投影的三维空间中的对象检测中，来自摄像机图像的对象区域提取的精度下降（诸如缺少对象区域）的影响 被减少，并且它能够检测鲁棒的对象。 [解决方案]一种物体检测装置，包括重叠区域获取单元，其使用已经执行了背投影的数据来获取表示三维空间中的对象的可能性高的重叠区域的值 在三维空间中的对象区域，重叠量获取单元，其获取作为三维目标的形状模型中的重叠区域的值的积分量;重叠分布获取单元，其获取分布度 检测对象的形状模型中的重叠区域的值和使用积分量和分布度来判定检测对象的形状模型的内部是对象还是非对象的对象确定单元。

公开(公告)号：US08135209B2

公开(公告)日：2012-03-13

申请号：US11988543

申请日：2006-07-18

申请人： Hiroo Ikeda

发明人： Hiroo Ikeda

IPC分类号： G06K9/00

CPC分类号： G06K9/00369 ,  G06T7/75

摘要： An object is to provide an articulated object position and posture estimation device with reduced calculation cost of model fitting for estimating position and posture and with improved estimation speed. A posture model storage section 2 stores data concerning to a posture model with low-dimensional parameters under movement restraint. The low-dimensional parameters are obtained by performing a principal component analysis on time-series postures of an articulated object frame model corresponding to a predetermined limited movement of an articulated object such as human body. A human body position and posture estimation device 101 generates a image of each posture of the articulated object frame model within postures which can be taken by the posture model in a human body model image generating section 4, performs a matching with an estimation target articulated object image in a position and posture estimation section 10, and thus, estimates a posture.

摘要翻译： 目的是提供一种具有关节的物体位置和姿势估计装置，其具有用于估计位置和姿势以及改善的估计速度的模型拟合的计算成本。 姿势模型存储部2在运动限制下存储与具有低维参数的姿势模型有关的数据。 通过对与诸如人体的关节物体的预定的有限运动相对应的铰接对象框架模型的时间序列姿态执行主成分分析来获得低维度参数。 人体姿势和姿势估计装置101在人体模型图像生成部4中，通过姿势模型生成姿势内的关节运动对象框架模型的各姿势的图像，进行与估计对象关节对象的匹配 姿势估计部10中的图像，从而估计姿势。

公开(公告)号：US09652857B2

公开(公告)日：2017-05-16

申请号：US14130093

申请日：2012-06-29

申请人： Hiroo Ikeda

发明人： Hiroo Ikeda

IPC分类号： G06T7/136 ,  G06K9/00 ,  G06T7/50

CPC分类号： G06T7/136 ,  G06K9/00771 ,  G06T7/50

摘要： An object detection apparatus acquires the value of an overlapping area which indicates a high probability that an object is located within a three dimensional space using data including a back projection of an object area on a three-dimensional space, acquires the integral quantity of the value of the overlapping area in a shape model including a three-dimensional target, and acquires the distribution degree of the value of the overlapping area in the shape model of the detection target. The apparatus further determines whether the inside of the shape model is an object or non-object using the integral quantity and the distribution degree.

公开(公告)号：US20140098397A1

公开(公告)日：2014-04-10

申请号：US14115468

申请日：2012-04-27

申请人： Ryoma Oami ,  Hiroo Ikeda

发明人： Ryoma Oami ,  Hiroo Ikeda

IPC分类号： G06K15/00

CPC分类号： G06K15/4055 ,  G06Q10/06 ,  H04L12/2829

摘要： Provided is an equipment control device capable of performing more appropriate equipment control in accordance with detection by a user.The present invention includes: an equipment layout information storage unit for storing equipment layout information including positional information of control-target equipment to be controlled within a managed space; related ID information storage unit for storing related ID information representing the correspondence relationship between the control-target equipment and IDs given to users of the control-target equipment; an ID-affixed motion line information acquisition unit for acquiring ID-affixed motion line information, in which the ID of a user is associated with the time series of the positional information of the user in the managed space; and an equipment controller for acquiring, on the basis of the related ID information, the control-target equipment associated with the ID in the ID-affixed motion line information, generating control information for controlling, on the basis of the ID-affixed motion line information and equipment layout information, the state of the control-target equipment, and outputting the control information to the control-target equipment.

摘要翻译： 提供了能够根据用户的检测进行更适当的设备控制的设备控制装置。 本发明包括：设备布局信息存储单元，用于存储包括被管理空间内要控制的控制目标设备的位置信息的设备布局信息; 相关ID信息存储单元，用于存储表示控制对象设备与给予控制对象设备的用户的ID之间的对应关系的相关ID信息; ID固定运动线信息获取单元，用于获取ID所附加的运动线信息，其中用户的ID与所述管理空间中的用户的位置信息的时间序列相关联; 以及设备控制器，用于根据相关的ID信息，获取与ID相关联的运动线信息中与ID相关联的控制对象设备，生成控制信息，用于根据ID附加的运动线 信息和设备布局信息，控制目标设备的状态，并将控制信息输出到控制对象设备。

公开(公告)号：US08311273B2

公开(公告)日：2012-11-13

申请号：US11806778

申请日：2007-06-04

申请人： Hiroo Ikeda

发明人： Hiroo Ikeda

IPC分类号： G06K9/00 ,  G06K9/34

CPC分类号： G06K9/38 ,  G06T7/254 ,  G06T2207/10016

摘要： An object detecting apparatus and method includes a pixel state determining unit that derives variance value for temporal properties of pixel characteristics of an input image, background model generating unit that adaptively generates a background model from characteristics in the characteristic storing unit and characteristic storing unit for background model generation using the characteristic distance and the pixel state determined as conditions, and an object judging unit that judges an object based on a characteristic distance indicative of a degree of similarity between a generated background model and pixel characteristics of an input image.

摘要翻译： 对象检测装置和方法包括：像素状态确定单元，导出输入图像的像素特性的时间特性的方差值;背景模型生成单元，其根据特征存储单元的特性和背景特征存储单元自适应地生成背景模型; 使用以条件确定的特征距离和像素状态的模型生成;以及对象判断单元，其基于表示生成的背景模型与输入图像的像素特性之间的相似度的特征距离来判断对象。

公开(公告)号：US20110026812A1

公开(公告)日：2011-02-03

申请号：US12922053

申请日：2009-04-06

申请人： Hiroo Ikeda

发明人： Hiroo Ikeda

IPC分类号： G06K9/62 ,  G06K9/68 ,  G06K9/48

CPC分类号： G06K9/38 ,  G06K9/3241 ,  G06T7/11 ,  G06T7/143

摘要： In order to improve object detection precision, an object detection apparatus includes a posterior probability calculation portion utilizing an occurrence probability of a background and a foreground acquired by utilizing a characteristic quantity extracted from each pixel of an input image and a probability density function, a posterior probability of the previous background and foreground, and a conditional probability indicating a relation of an event (background or foreground) to the vicinity of an attentive pixel in a spatial direction and a relation of an event to the vicinity of the attentive pixel in a temporal direction so as to calculate a posterior probability of the background and the foreground from a probability model utilizing a tendency that the same event appears together in the vicinity of the attentive pixel in the spatial and temporal directions; and an object determination portion for determining an object from comparison between the posterior probabilities of the background and the foreground.

摘要翻译： 为了提高对象检测精度，对象检测装置包括利用从输入图像的每个像素提取的特征量和概率密度函数获取的背景的发生概率和获取的前景的后验概率计算部， 前一个背景和前景的概率，以及表示事件（背景或前景）与空间方向上的注意像素附近的关系的条件概率以及事件与时间上的注意像素附近的关系 方向，以便利用在空间和时间方向上在注意像素附近出现相同事件的趋势的概率模型来计算背景和前景的后验概率; 以及对象确定部分，用于通过背景和前景的后验概率之间的比较来确定对象。

公开(公告)号：US09875542B2

公开(公告)日：2018-01-23

申请号：US14373726

申请日：2012-11-29

申请人： Hiroo Ikeda

发明人： Hiroo Ikeda

IPC分类号： H04N17/00 ,  G06T7/00 ,  G06T7/80

CPC分类号： G06T7/80 ,  G06T2207/10004 ,  G06T2207/30244 ,  H04N17/002

摘要： There is provided a camera calibration device capable of highly precisely and easily estimating camera parameters without installing a piece of special calibration equipment or measuring 3D coordinates of reference points employed for calibration. A normal vector acquisition unit acquires normal vectors perpendicular to a reference horizontal plane from an image of a camera to be calibrated. A rotation matrix estimation unit projects the acquired normal vectors on a projection virtual plane perpendicular to the reference horizontal plane and evaluates that the projected normal vectors are perpendicular to the reference horizontal plane thereby to estimate a rotation matrix employed for calibrating the camera.

公开(公告)号：US09342770B2

公开(公告)日：2016-05-17

申请号：US14115468

申请日：2012-04-27

申请人： Ryoma Oami ,  Hiroo Ikeda

发明人： Ryoma Oami ,  Hiroo Ikeda

IPC分类号： G06K15/00 ,  G06Q10/06 ,  H04L12/28

CPC分类号： G06K15/4055 ,  G06Q10/06 ,  H04L12/2829

摘要： Provided is an equipment control device capable of performing more appropriate equipment control in accordance with detection by a user.The present invention includes: an equipment layout information storage unit for storing equipment layout information including positional information of control-target equipment to be controlled within a managed space; related ID information storage unit for storing related ID information representing the correspondence relationship between the control-target equipment and IDs given to users of the control-target equipment; an ID-affixed motion line information acquisition unit for acquiring ID-affixed motion line information, in which the ID of a user is associated with the time series of the positional information of the user in the managed space; and an equipment controller for acquiring, on the basis of the related ID information, the control-target equipment associated with the ID in the ID-affixed motion line information, generating control information for controlling, on the basis of the ID-affixed motion line information and equipment layout information, the state of the control-target equipment, and outputting the control information to the control-target equipment.

摘要翻译： 提供了能够根据用户的检测进行更适当的设备控制的设备控制装置。 本发明包括：设备布局信息存储单元，用于存储包括被管理空间内要控制的控制目标设备的位置信息的设备布局信息; 相关ID信息存储单元，用于存储表示控制对象设备与给予控制对象设备的用户的ID之间的对应关系的相关ID信息; ID固定运动线信息获取单元，用于获取ID所附加的运动线信息，其中用户的ID与所述管理空间中的用户的位置信息的时间序列相关联; 以及设备控制器，用于根据相关的ID信息，获取与ID相关联的运动线信息中与ID相关联的控制对象设备，生成控制信息，用于根据ID附加的运动线 信息和设备布局信息，控制目标设备的状态，并将控制信息输出到控制对象设备。

公开(公告)号：US08885879B2

公开(公告)日：2014-11-11

申请号：US13265486

申请日：2010-04-21

申请人： Hiroo Ikeda

发明人： Hiroo Ikeda

IPC分类号： G06K9/00 ,  G06T17/00 ,  G01B7/00 ,  G01B9/00 ,  G06T7/20 ,  G01B11/00

CPC分类号： G01B11/002 ,  G06T7/285 ,  G06T2207/10021

摘要： In a technology of acquiring an object position by a visual cone intersection method, an object position estimation device which reduces estimation of incorrect position due to ghost image objects is provided, wherein an object candidate acquisition means estimates an object position by a visual cone intersection method and acquires a candidate object, an object candidate information storage means which stores information on overlap among the candidate objects for the visual cone of the object which is acquired based on the captured image, a degree of co-movement acquisition means acquires an index as a degree of co-movement which is calculated based on number of visual cones including other candidate objects which co-move with a movement of the candidate object and indicates interrelation among candidate objects for candidate objects, and a candidate object determination means identifies said candidate object as either an object or a non-object by a posteriori probability based on the acquired index and outputs position of said candidate object which is determined as an object.

摘要翻译： 在通过视锥交叉法获取对象位置的技术中，提供了减少由于重像图像对象造成的不正确位置的估计的对象位置估计装置，其中，目标候选获取装置通过视锥交叉法估计对象位置 并且获取候选对象，对象候补信息存储装置，其存储关于基于所拍摄的图像获取的对象的视锥的候选对象之间的重叠的信息，共同移动获取装置的程度获取索引为 基于包括与候选对象的移动共同移动并指示候选对象的候选对象之间的相互关系的其他候选对象的视觉锥体的数量计算的协同运动程度和候选对象确定装置将所述候选对象标识为 一个对象或一个非对象的后验概率基于 获取的索引和输出被确定为对象的所述候选对象的位置。

公开(公告)号：US08588466B2

公开(公告)日：2013-11-19

申请号：US12665802

申请日：2008-07-04

申请人： Hiroo Ikeda

发明人： Hiroo Ikeda

IPC分类号： G06K9/00

CPC分类号： G06T7/254 ,  G06T2207/10016

摘要： To enable detection of an overlying object distinctively even if a stationary object is overlaid with another stationary object or a moving object. A data processing device includes a first unit which detects an object area in a plurality of time-series continuous input images, a second unit which detects a stationary area in the object area from the plurality of continuous input images, a third unit which stores information of the stationary area as time-series background information, and a fourth unit which compares the time-series background information with the object area to thereby detect each object included in the object area.

摘要翻译： 即使固定物体与另一个静止物体或移动物体重叠，也可以区别地检测上覆物体。 数据处理装置包括检测多个时间序列连续输入图像中的对象区域的第一单元，从多个连续输入图像检测对象区域中的静止区域的第二单元，存储信息的第三单元 作为时间序列背景信息，以及第四单元，其将时间序列背景信息与对象区域进行比较，从而检测包括在对象区域中的每个对象。