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公开(公告)号：US11614719B2
公开(公告)日：2023-03-28
申请号：US16742542
申请日：2020-01-14
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Xiaopeng Chen , Yang Xu , Zhangguo Yu , Xuechao Chen , Weimin Zhang
IPC: B25J9/16 , H04N5/232 , G05B19/4155 , G05B13/04 , B25J17/02 , H04N23/695 , H04N23/68
Abstract: The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot includes: establishing a linear model according to a bionic eye robot; establishing a full state feedback control system on the basis of the linear model; in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; the method further includes: adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye. The present application achieves the optimal control of the target tracking.
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2.发明申请公开(公告)号：US20210192271A1
公开(公告)日：2021-06-24
申请号：US16725357
申请日：2019-12-23
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Xiaopeng Chen , Wei Cheng , Zhangguo Yu , Xuechao Chen , Junyao Gao , Yang Xu
Abstract: The present application provides a method and apparatus for pose planar constraining on the basis of planar feature extraction, wherein the method includes: inputting the acquired RGB color image and point cloud image into spatial transformation network to obtain two-dimensional and three-dimensional affine transformation matrixes; extracting the planar features of the transformed two-dimensional affine transformation matrix and three-dimensional affine transformation matrix; inputting the acquired planar features into the decoder and obtain the pixel classification of the planar features; clustering the vectors corresponding to the planar pixels to obtain the segmentation result of the planar sample; using planar fitted by the segmentation result to make planar constraint to the pose calculated by vision algorithm. The application combines RGB-D information to perform plane extraction, and designs a new spatial transformation network to transform two-dimensional color image and three-dimensional point cloud image.
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3.发明授权公开(公告)号：US11037035B2
公开(公告)日：2021-06-15
申请号：US16431546
申请日：2019-06-04
Applicant: BEIJING INSTITUTE OF TECHNOLOGY
Inventor： Qiang Huang , Xiaopeng Chen , Di Fan , Hyunwoo Kim , Xuechao Chen
Abstract: The application discloses a multi-task learning incorporating dependencies method for bionic eye's face attribute recognition, which is as follows: Determine the first face attribute and the second face attribute for attribute recognition of facial image. Obtain the first recognition task branch and the second recognition task branch. Establish the task dependency between the first recognition task branch and the second recognition task branch to obtain the first transformed face attribute fully connected layer related to the second face attribute. and the second transformed face attribute fully connected layer related to the first face attribute. Feed the first transformed face attribute fully connected layer into the prediction layer to predict the first face attribute of facial image. And feed the second transformed face attribute fully connected layer into the prediction layer to predict the second face attribute of facial image. The multi-task learning incorporating dependencies method for bionic eye's face attribute recognition will be obtained according to the above steps.
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4.发明授权公开(公告)号：US11182644B2
公开(公告)日：2021-11-23
申请号：US16725357
申请日：2019-12-23
Applicant: Beijing Institute of Technology
Inventor： Xiaopeng Chen , Qiang Huang , Siyuan Gou , Zhangguo Yu , Xuechao Chen , Junyao Gao , Yang Xu
Abstract: The present application provides a method and apparatus for pose planar constraining on the basis of planar feature extraction, wherein the method includes: inputting the acquired RGB color image and point cloud image into spatial transformation network to obtain two-dimensional and three-dimensional affine transformation matrixes; extracting the planar features of the transformed two-dimensional affine transformation matrix and three-dimensional affine transformation matrix; inputting the acquired planar features into the decoder and obtain the pixel classification of the planar features; clustering the vectors corresponding to the planar pixels to obtain the segmentation result of the planar sample; using planar fitted by the segmentation result to make planar constraint to the pose calculated by vision algorithm. The application combines RGB-D information to perform plane extraction, and designs a new spatial transformation network to transform two-dimensional color image and three-dimensional point cloud image.
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