公开(公告)号：US07009197B2

公开(公告)日：2006-03-07

申请号：US10723618

申请日：2003-11-25

申请人： Changsoo Kwak ,  Eul Gyoon Lim ,  Dae Yong Kim

发明人： Changsoo Kwak ,  Eul Gyoon Lim ,  Dae Yong Kim

IPC分类号： G01V8/00 ,  G01N21/86

CPC分类号： G03F9/703 ,  G01B11/14 ,  G03F9/7038

摘要： An apparatus for measuring a gap between a mask and a substrate and a method thereof are provided. The apparatus includes a laser displacement sensor, which is placed on a mask and a substrate spaced apart from each other by a predetermined gap, emits laser beams while moving onto the mask and the substrate in a horizontal direction and measures a gap between the mask and the substrate using a variation in distance values measured based on light-receiving positions of the laser beams that are reflected from the mask and the substrate and return to their original positions, respectively.

摘要翻译： 提供了一种用于测量掩模和基板之间的间隙的装置及其方法。 该装置包括放置在掩模上的激光位移传感器和彼此间隔开预定间隙的基板，同时在水平方向上移动到掩模和基板上时发射激光束并测量掩模和 基板使用基于从掩模和基板反射的激光束的光接收位置测量的距离值的变化，并分别返回到其原始位置。

公开(公告)号：US07283254B2

公开(公告)日：2007-10-16

申请号：US10731557

申请日：2003-12-08

申请人： Changsoo Kwak ,  Eul Gyoon Lim

发明人： Changsoo Kwak ,  Eul Gyoon Lim

IPC分类号： G01B11/14

CPC分类号： G01B11/0608

摘要： An apparatus for shifting a reference distance of a laser displacement sensor is capable of extending the measuring range in a laser displacement sensor having a fixed reference distance and a fixed measurement range by smoothly changing the traveling path of the laser beam by selectively inserting the transparent members having a refraction index different from that of the air into the optical path of the laser beam. The apparatus mounted on the laser displacement sensor provided with a laser beam source for generating a laser beam and a laser beam reception member, includes a transparent member having a refraction index being different from a refraction index of an air and a holder for supporting the transparent member in such a way that the transparent member is placed in an optical path of the laser beam. The transparent member changes a reference distance of the laser displacement sensor by changing the optical path of the laser beam.

摘要翻译： 用于移动激光位移传感器的参考距离的装置能够通过选择性地插入透明构件来平滑地改变激光束的行进路径来扩展具有固定基准距离和固定测量范围的激光位移传感器中的测量范围 具有与进入激光束的光路的空气的折射率不同的折射率。 安装在激光位移传感器上的设备具有用于产生激光束的激光束源和激光束接收部件，包括具有与空气的折射率不同的折射率的透明部件和用于支撑透明 构件，使得透明构件被放置在激光束的光路中。 透明构件通过改变激光束的光路来改变激光位移传感器的参考距离。

公开(公告)号：US07112939B2

公开(公告)日：2006-09-26

申请号：US11289077

申请日：2005-11-29

申请人： Eul Gyoon Lim ,  Dae-Hwan Hwang

发明人： Eul Gyoon Lim ,  Dae-Hwan Hwang

IPC分类号： B25J5/00

CPC分类号： B25J9/162 ,  G05B2219/37435

摘要： The present invention relates to a mobile system and a moving method of the mobile system. According to the present invention, a natural period is measured from a vibration component signal generated by a force due to acceleration/deceleration of wheels, and the mobile system moves by applying an acceleration profile containing an acceleration period or a deceleration period based on the natural period. Therefore, the acceleration profile based on the natural period is applied such that vibration that is visible to a user is not generated during acceleration and deceleration of the mobile system. As a result, quality of the mobile system is improved.

公开(公告)号：US20100157057A1

公开(公告)日：2010-06-24

申请号：US12508176

申请日：2009-07-23

申请人： Eul Gyoon Lim ,  Dae Hwan Hwang

发明人： Eul Gyoon Lim ,  Dae Hwan Hwang

IPC分类号： H04N7/18

CPC分类号： H04N7/18

摘要： Provided is a person detecting apparatus and method in an intelligent mobile robot. The person detecting apparatus includes a camera, an observation system status input unit, an encoding unit, a decoding unit, and a person detection unit. The camera is mounted on a robot to output image information. The observation system status input unit determines whether the robot or the camera is in motion. The encoding unit receives the image information to output a bit stream including mode information. The decoding unit decodes the bit stream, extracts a block mode value of each macro block, and stores the same in a two-dimensional array. The person detection unit outputs detection information about a moving person using the determination information provided from the observation system status input unit and the block-mode two-dimensional array provided from the decoding unit.

摘要翻译： 提供了一种智能移动机器人中的人物检测装置和方法。 人物检测装置包括摄像机，观察系统状态输入单元，编码单元，解码单元和人物检测单元。 相机安装在机器人上以输出图像信息。 观察系统状态输入单元确定机器人或相机是否运动。 编码单元接收图像信息以输出包括模式信息的比特流。 解码单元解码比特流，提取每个宏块的块模式值，并将其存储在二维阵列中。 人员检测单元使用从观察系统状态输入单元提供的确定信息和从解码单元提供的块模式二维阵列输出关于移动人物的检测信息。

公开(公告)号：US07468592B2

公开(公告)日：2008-12-23

申请号：US11633179

申请日：2006-12-04

申请人： Eul Gyoon Lim ,  Seung Min Choi ,  Dae Hwan Hwang

发明人： Eul Gyoon Lim ,  Seung Min Choi ,  Dae Hwan Hwang

IPC分类号： B25J5/00

CPC分类号： B25J5/007 ,  B62D37/04 ,  Y10S180/907

摘要： An apparatus for moving the center of gravity of a robot, and a system and method using the apparatus are provided. The apparatus includes a weight conveyor with a conveyed weight weighing a predetermined amount and disposed within the main body of the robot. The conveyed weight is conveyed in a predetermined direction to move the center of gravity of the robot, thus allowing a non-driven caster of the robot to surmount obstacles in its path and not become stuck while the robot is moving.

摘要翻译： 提供了一种用于移动机器人的重心的装置，以及使用该装置的系统和方法。 该装置包括具有称重预定量的输送重量并设置在机器人主体内的重量输送机。 传送的重量沿预定方向传送以移动机器人的重心，从而允许机器人的非驱动脚轮在其路径中超越障碍物，并且在机器人移动时不会卡住。

公开(公告)号：US20100070187A1

公开(公告)日：2010-03-18

申请号：US12362992

申请日：2009-01-30

申请人： Seung Min CHOI ,  Ji Ho Chang ,  Jae II Cho ,  Dae Hwan Hwang ,  Jae Yeon Lee ,  Do Hyung Kim ,  Eul Gyoon Lim ,  Ho Chul Shin

发明人： Seung Min CHOI ,  Ji Ho Chang ,  Jae II Cho ,  Dae Hwan Hwang ,  Jae Yeon Lee ,  Do Hyung Kim ,  Eul Gyoon Lim ,  Ho Chul Shin

IPC分类号： G06F19/00

CPC分类号： G01H17/00 ,  G06K9/00348 ,  G06K9/0053

摘要： Provided are a human recognition apparatus and a human recognition method identifying a user based on a walking pattern. The human recognition apparatus includes a detecting unit detecting a vibration according to a user's walking, and outputting an electric signal, a pattern calculating unit acquiring a walker's walking pattern from the electric signal, and a user determining unit comparing the walking pattern with a previously measured reference data by user and identifying the user based on the comparison result. The human recognition apparatus and the human recognition method are robust against peripheral noise and can increase an acceptance rate through a simple structure and procedure by using the waling pattern, which is one-dimensional time information requiring no vast data throughput, as the user identification data.

摘要翻译： 提供了基于步行模式识别用户的人类识别装置和人类识别方法。 人体识别装置包括检测单元，用于根据用户的步行检测振动，并从电信号中输出电信号，图案计算单元获取步行模式;以及用户确定单元，将步行模式与先前测量 用户参考数据，并根据比较结果识别用户。 人类识别装置和人类识别方法对于外围噪声是鲁棒的，并且可以通过使用作为用户识别数据的不需要大量数据吞吐量的一维时间信息的波动模式，通过简单的结构和过程来提高接受率 。

公开(公告)号：US20090141938A1

公开(公告)日：2009-06-04

申请号：US12265365

申请日：2008-11-05

申请人： Eul Gyoon Lim ,  Jae II Cho ,  Dae Hwan Hwang

发明人： Eul Gyoon Lim ,  Jae II Cho ,  Dae Hwan Hwang

IPC分类号： G06K9/00 ,  H04N11/02 ,  H04N7/18

CPC分类号： H04N7/18 ,  G06K9/00664 ,  G06T7/593 ,  G06T2207/10021 ,  G06T2207/20021 ,  G06T2207/20052 ,  G06T2207/30196 ,  G06T2207/30261

摘要： A robot vision system for outputting a disparity map includes a stereo camera for receiving left and right images and outputting a disparity map between the two images; an encoder for encoding either the left image or the right image into a motion compensation-based video bit-stream; and a decoder for extracting an encoding type of an image block, a motion vector, and a DCT coefficient from the video bit-stream. Further, the system includes a person detector for detecting and labeling person blocks in the image using the disparity map between the left image and the right image, the block encoding type, and the motion vector, and detecting a distance from the labeled person to the camera; and an obstacle detector for detecting a closer obstacle than the person using the block encoding type, the motion vector, and the DCT coefficient extracted from the video bit-stream, and the disparity map.

摘要翻译： 用于输出视差图的机器人视觉系统包括用于接收左图像和右图像并在两个图像之间输出视差图的立体相机; 用于将左图像或右图像编码为基于运动补偿的视频比特流的编码器; 以及用于从视频比特流中提取图像块的编码类型，运动矢量和DCT系数的解码器。 此外，该系统包括人物检测器，用于使用左图像和右图像之间的视差图，块编码类型和运动矢量来检测和标记图像中的人物块，并且检测从标记的人到 相机; 以及用于检测比使用从视频比特流提取的块编码类型，运动矢量和DCT系数的人和视差图更接近的障碍物的障碍物检测器。

公开(公告)号：US08755592B2

公开(公告)日：2014-06-17

申请号：US13324456

申请日：2011-12-13

申请人： Eul Gyoon Lim ,  Ji Ho Chang ,  Jae Il Cho

发明人： Eul Gyoon Lim ,  Ji Ho Chang ,  Jae Il Cho

IPC分类号： G06K9/36 ,  G06T15/00

CPC分类号： G06T5/50 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/20072 ,  G06T2207/30252

摘要： Disclosed is a stereo matching system and method using a dynamic programming scheme. The stereo matching system and method using a dynamic programming scheme according to the present invention may perform viterbi type stereo matching using at least two different penalty of disparity discontinuity (PD) values and synthesize the performed stereo matching results, thereby outputting a disparity map.

摘要翻译： 公开了使用动态规划方案的立体匹配系统和方法。 使用根据本发明的动态规划方案的立体匹配系统和方法可以使用视差不连续（PD）值的至少两个不同的惩罚来执行维特比型立体匹配，并且合成所执行的立体匹配结果，从而输出视差图。

公开(公告)号：US20120163704A1

公开(公告)日：2012-06-28

申请号：US13326794

申请日：2011-12-15

申请人： Ji Ho Chang ,  Eul Gyoon Lim ,  Ho Chul Shin ,  Jae II Cho

发明人： Ji Ho Chang ,  Eul Gyoon Lim ,  Ho Chul Shin ,  Jae II Cho

IPC分类号： G06K9/68

CPC分类号： G06T7/0022 ,  G06T7/593 ,  G06T7/97 ,  G06T2207/20028

摘要： An image matching apparatus includes a bilateral filter that filters a left image and a right image to output a second left image and a second right image; a census cost calculation unit performing census transform on a window based on a first pixel of the second left image and a window based on a second pixel of the second right image to calculate a census cost corresponding to a pair of pixels of the first and second pixels; a support weight calculation unit obtaining support weights of the left and right images or the second left and second right images; a cost aggregation unit obtaining energy values of nodes corresponding to the pair of pixels of the first and second pixels using the census cost and the support weights; and a dynamic programming unit performing image matching using dynamic programming by the energy values of each node obtained.

摘要翻译： 图像匹配装置包括对左图像和右图像进行滤波以输出第二左图像和第二右图像的双边滤波器; 人口普查成本计算单元，基于第二左图像的第一像素在窗口上执行普查变换，并且基于第二右图像的第二像素执行窗口，以计算与第一和第二图像的一对像素对应的人口普查成本 像素; 支持权重计算单元获得左图像或右图像或第二左右图像的支持权重; 成本聚合单元，使用所述普查成本和所述支持权重来获得与所述第一和第二像素的所述像素对对应的节点的能量值; 以及动态编程单元，通过使用所获得的每个节点的能量值，使用动态规划来执行图像匹配。

公开(公告)号：US08208716B2

公开(公告)日：2012-06-26

申请号：US12203583

申请日：2008-09-03

申请人： Seung Min Choi ,  Eul Gyoon Lim ,  Jae Il Cho ,  Dae Hwan Hwang

发明人： Seung Min Choi ,  Eul Gyoon Lim ,  Jae Il Cho ,  Dae Hwan Hwang

IPC分类号： G06K9/00

CPC分类号： G06T7/593

摘要： A stereo vision system includes an image pre-processing unit for pre-processing the right and left images, and a stereo matching unit for carrying out stereo matching of the right and left images to acquire low-resolution distance information of the right and left images and high-resolution distance information of the right and left images upon detection of an object within a distance range through the low-resolution distance information.

摘要翻译： 立体视觉系统包括用于预处理右图像和左图像的图像预处理单元和用于执行左和右图像的立体匹配的立体匹配单元，以获取右图像和左图像的低分辨率距离信息 以及通过低分辨率距离信息检测距离范围内的对象的左右图像的高分辨率距离信息。