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公开(公告)号：US4703344A
公开(公告)日：1987-10-27
申请号：US843390
申请日：1986-03-24
申请人： Atushi Hisano , Yoshinori Yamaguchi , Toshimichi Masaki , Kazuhiko Saka , Nobuo Nakatsuka , Mitsutaka Kato
发明人： Atushi Hisano , Yoshinori Yamaguchi , Toshimichi Masaki , Kazuhiko Saka , Nobuo Nakatsuka , Mitsutaka Kato
CPC分类号： G06K9/2036 , B25J19/04 , B25J9/1697 , G06K9/2018
摘要： A digital control color illumination system is disclosed for use in a visual system of an industrial robot or the like. This system comprises: image memories to store the color data regarding illumination patterns of three primary colors of red, green, and blue; video signal producing circuits each for reading out the data from the image memory and converting it to the video signal indicative of the illumination pattern; video projectors each for projecting the light of the illumination pattern represented by the video signal onto an object to be illuminated; and a color TV camera to pick up the object image. The image data picked up is processed by a computer system to produce the data which is stored into the image memories. With this illumination system, the scanning of the illumination patterns, and the change, adjustment, storage, and the like of the illumination patterns can be executed by software in accordance with programs preliminarily stored in the program memory in the computer system.
摘要翻译： 公开了用于工业机器人等的视觉系统中的数字控制彩色照明系统。 该系统包括：存储有关红色，绿色和蓝色三原色的照明图案的颜色数据的图像存储器; 每个视频信号产生电路用于从图像存储器读出数据并将其转换成指示照明图案的视频信号; 每个用于将由视频信号表示的照明图案的光投射到被照明物体上的视频投影仪; 和彩色电视摄像机来拾取物体图像。 拾取的图像数据由计算机系统处理以产生存储到图像存储器中的数据。 利用该照明系统，可以通过软件根据预先存储在计算机系统中的程序存储器中的程序来执行照明图案的扫描以及照明图案的改变，调整，存储等。
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公开(公告)号：US4776027A
公开(公告)日：1988-10-04
申请号：US699597
申请日：1985-02-08
CPC分类号： G06K9/52 , G05D1/0246
摘要： The position and orientation of a geometric figure are detected by sequentially producing the coordinates with respect to an orthogonal coordinate system of pixels which make up an image of the geometric figure, by singling out from these sequentially produced coordinates of these pixels the coordinates of certain characteristic pixels of these pixels which make up an image of the geometric figure, and by comparing these coordinates of these certain characteristic pixels with stored information. Preferably, the certain characteristic pixels are: that pixel, of those which have the least value of one coordinate, which has the least value of the other coordinate; that pixel, of those which have the greatest value of the one coordinate, which has the least value of the other coordinate; that pixel, of those which have the least value of the other coordinate, which has the least value of the one coordinate; and that pixel, of those which have the greatest value of the other coordinate, which has the least value of the one coordinate. A device is also disclosed for performing this method.
摘要翻译： 通过从构成几何图像的图像的像素的正交坐标系中顺序产生坐标来检测几何图形的位置和取向，通过从这些像素的这些顺序产生的坐标中选出特定特征的坐标 这些像素的像素构成几何图形的图像，并且将这些特定像素的这些坐标与存储的信息进行比较。 优选地，某些特征像素是：具有最小值的一个坐标的那个像素具有另一个坐标的最小值; 那个具有最大值的一个坐标的那个像素具有另一个坐标的最小值; 那些具有最小值的另一个坐标值的那个像素具有最小的一个坐标值; 以及那个具有最小值的另一个坐标值的那个像素，它具有最小的一个坐标值。 还公开了一种用于执行该方法的装置。
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公开(公告)号：US4654872A
公开(公告)日：1987-03-31
申请号：US634043
申请日：1984-07-24
申请人： Atushi Hisano , Kazuhiko Saka , Noriyuki Tsukiyama
发明人： Atushi Hisano , Kazuhiko Saka , Noriyuki Tsukiyama
CPC分类号： G06T7/0065 , G06K9/209 , H04N13/0221 , H04N13/0239 , H04N13/0296 , G06K2209/40 , G06T2207/10012 , G06T2207/20088 , H04N2013/0081
摘要： A system for recognizing a three-dimensional object includes a plurality of image pickup apparatus, e.g. TV cameras, by which images of the object are picked up from at least three directions. Feature points are extracted from each of at least three images obtained. Two sets of feature points on epipolarly lines are formed which lines are formed on at least two of the images by a feature point on another image. A set of feature points is selected which satisfy a restricting condition determined by the relationship of the image picking-up direction.
摘要翻译： 用于识别三维物体的系统包括多个图像拾取装置，例如， 从至少三个方向拾取物体的图像的电视摄像机。 从获得的至少三个图像中的每一个提取特征点。 形成在双极线上的两组特征点，其中通过另一图像上的特征点在至少两个图像上形成这些线。 选择满足由图像拾取方向的关系确定的限制条件的一组特征点。
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4.发明授权
公开(公告)号：US5506936A
公开(公告)日：1996-04-09
申请号：US378870
申请日：1995-01-24
申请人： Atushi Hisano
发明人： Atushi Hisano
CPC分类号： G06N7/04 , Y10S706/90
摘要： An input variable and a category of pattern are combined in antecedent of a fuzzy rule. Input pattern data of the input variable is stored in a pattern memory. An extracting program proper to the category is read out from a library by a category signal in combination with the input variable, feature quantity of input pattern data is extracted in a feature extracting unit according to the program, and a feature vector is computed. A feature vector of standard pattern is read out from library by the category signal. In a distance computing section, a distance between feature vector and standard vector is computed, and an adaptation degree about category of input pattern data is generated based on the distance in an adaptation degree generator.
摘要翻译： 输入变量和模式类别在模糊规则的前提下组合。 输入变量的输入模式数据存储在模式存储器中。 通过类别信号与输入变量组合，从库中读出适合于该类别的提取程序，根据程序在特征提取单元中提取输入模式数据的特征量，并计算特征向量。 通过类别信号从库中读出标准模式的特征向量。 在距离计算部分中，计算特征向量与标准向量之间的距离，并且基于适应度生成器中的距离生成关于输入模式数据的类别的适应度。
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公开(公告)号：US5201012A
公开(公告)日：1993-04-06
申请号：US712189
申请日：1991-06-05
CPC分类号： G06K9/38 , G06T7/0081 , G06T7/0083 , G06T2207/20148 , G06T2207/30108 , Y10S706/90
摘要： This invention relates to an image binarization threshold computing apparatus comprising a window scanning means for setting a window of predetermined area over a multilevel image and scanning the same image, a first information generating means for generating a first data on brightness of the image within the window, a second information generating means for generating a second data on fitness of the image within the window with respect to a preset pattern, a third information generating means for generating a third data serving as a picture quality assessment criterion from the first and second data, and an optimal threshold computing means for calculating the optimal threshold value providing the best picture quality according to the third data.
摘要翻译： 本发明涉及一种图像二值化阈值计算装置，包括用于设置多级图像上的预定区域的窗口并扫描相同图像的窗口扫描装置，用于产生窗口内图像亮度的第一数据的第一信息产生装置 第二信息产生装置，用于相对于预设模式产生关于窗口内的图像的适应度的第二数据;第三信息产生装置，用于从第一和第二数据生成用作图像质量评估标准的第三数据， 以及最优阈值计算装置，用于根据第三数据计算提供最佳图像质量的最佳阈值。
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公开(公告)号：USRE36421E
公开(公告)日：1999-11-30
申请号：US751950
申请日：1996-11-19
申请人： Yutaka Ohtsubo , Kazuaki Urasaki , Yoshiro Tasaka , Atushi Hisano
发明人： Yutaka Ohtsubo , Kazuaki Urasaki , Yoshiro Tasaka , Atushi Hisano
CPC分类号： G06N7/043 , G05B13/0275 , G06N7/023 , Y10S706/90
摘要： In a fuzzy controller comprising a fuzzy inference device for subjecting one or a plurality of input signals to fuzzy inference operations using membership functions in accordance with a predetermined rule and outputting a non-fuzzy value determined on the basis of the results of the inferences, there are provided an input signal level converter for converting signal levels of the input signals on the input side of the fuzzy inference device and an output signal level converter for converting a signal level of the output signal on the output side of the fuzzy inference device.
摘要翻译： 一种模糊控制器，包括：模糊推理装置，用于根据预定规则使用隶属度函数对一个或多个输入信号进行模糊推理操作，并输出基于推理结果确定的非模糊值， 设置有用于转换模糊推理装置的输入侧的输入信号的信号电平的输入信号电平转换器和用于转换模糊推理装置的输出侧的输出信号的信号电平的输出信号电平转换器。
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公开(公告)号：US5367610A
公开(公告)日：1994-11-22
申请号：US412936
申请日：1989-09-26
申请人： Yutaka Ohtsubo , Kazuaki Urasaki , Yoshiro Tasaka , Atushi Hisano
发明人： Yutaka Ohtsubo , Kazuaki Urasaki , Yoshiro Tasaka , Atushi Hisano
CPC分类号： G06N7/043 , G05B13/0275 , G06N7/023 , Y10S706/90
摘要： In a fuzzy controller comprising a fuzzy inference device for subjecting one or a plurality of input signals to fuzzy inference operations using membership functions in accordance with a predetermined rule and outputting a non-fuzzy value determined on the basis of the results of the inferences, there are provided an input signal level converter for converting signal levels of the input signals on the input side of the fuzzy inference device and an output signal level converter for converting a signal level of the output signal on the output side of the fuzzy inference device.
摘要翻译： 一种模糊控制器，包括：模糊推理装置，用于根据预定规则使用隶属度函数对一个或多个输入信号进行模糊推理操作，并输出基于推理结果确定的非模糊值， 设置有用于转换模糊推理装置的输入侧的输入信号的信号电平的输入信号电平转换器和用于转换模糊推理装置的输出侧的输出信号的信号电平的输出信号电平转换器。
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公开(公告)号：US4630225A
公开(公告)日：1986-12-16
申请号：US536508
申请日：1983-09-28
申请人： Atushi Hisano
发明人： Atushi Hisano
IPC分类号： B25J19/04 , B23Q15/22 , B25J9/16 , G01B11/03 , G06K9/46 , G06T1/00 , G06T7/00 , G06T7/60 , H04N7/18 , G01B11/02 , G06K9/28
CPC分类号： G06T7/0042 , B23Q15/225 , B25J9/1697 , G06K9/46 , G06T2207/30164
摘要： Data relating to the distances between each of all the feature points of the article to be checked and the other feature points thereof is stored in a memory in advance. The image of the article is picked up by a camera, and the resulting image data is stored in another memory. With use of a computer, data relating to the distances of at least two of the feature points of the article from other feature points thereof is obtained from the image data. The two feature points are identified by checking the data relating to the distances of the two feature points from other feature points with reference to the stored data relating to the distances between each feature point and the other feature points. The orientation of the article is determined based on the direction through the two identified feature points.
摘要翻译： 将要检查的物品的所有特征点的每一个和其它特征点之间的距离相关的数据预先存储在存储器中。 物品的图像由相机拾取，并且所得到的图像数据被存储在另一个存储器中。 使用计算机，从图像数据获得与物品的其他特征点的至少两个特征点的距离有关的数据。 通过参考与每个特征点与其他特征点之间的距离相关的存储的数据，通过检查与两个特征点的距离相关的数据来识别两个特征点。 基于通过两个识别的特征点的方向来确定物品的取向。
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公开(公告)号：US4591918A
公开(公告)日：1986-05-27
申请号：US601530
申请日：1984-04-18
申请人： Atushi Hisano
发明人： Atushi Hisano
CPC分类号： H04N5/57 , H04N5/2354
摘要： The image sensor system includes an image sensing means for producing an image signal by sensing a field of view. This image signal is sent to a means which reproduces an image of the field. An optical projection means forms an optical image of this image of the field reproduced by the image reproducing means, at the same size as and in registration with the field itself and illuminating the field. Thereby contrast of the image of the field is improved by an optical feedback process.
摘要翻译： 图像传感器系统包括用于通过感测视场来产生图像信号的图像感测装置。 该图像信号被发送到再现场的图像的装置。 光学投影装置形成由图像再现装置再现的场的该图像的光学图像，其尺寸与场本身相同并且与场本身对准并照亮场。 因此，通过光学反馈过程改善了场的图像的对比度。
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