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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
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。
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2.发明授权公开(公告)号：US09053540B2
公开(公告)日：2015-06-09
申请号：US13326794
申请日：2011-12-15
申请人： Ji Ho Chang , Eul Gyoon Lim , Ho Chul Shin , Jae Il Cho
发明人： Ji Ho Chang , Eul Gyoon Lim , Ho Chul Shin , Jae Il Cho
IPC分类号： G06T7/00
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。
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公开(公告)号：US08271204B2
公开(公告)日：2012-09-18
申请号：US12362992
申请日：2009-01-30
申请人： Seung Min Choi , Ji Ho Chang , Jae Il 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 Il 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 。
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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。
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公开(公告)号：US20090060280A1
公开(公告)日：2009-03-05
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。
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公开(公告)号：US08331617B2
公开(公告)日：2012-12-11
申请号：US12265365
申请日：2008-11-05
申请人： Eul Gyoon Lim , Jae Il Cho , Dae Hwan Hwang
发明人： Eul Gyoon Lim , Jae Il Cho , Dae Hwan Hwang
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。
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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 。
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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。
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9.发明授权Device for improving stereo matching results, method of improving stereo matching results using the device, and system for receiving stereo matching results 失效用于改善立体匹配结果的装置，使用该装置提高立体匹配结果的方法以及用于接收立体匹配结果的系统公开(公告)号：US08401280B2
公开(公告)日：2013-03-19
申请号：US12971793
申请日：2010-12-17
申请人： Eul Gyoon Lim , Ji Ho Chang , Ho Chul Shin , Dae Hwan Hwang
发明人： Eul Gyoon Lim , Ji Ho Chang , Ho Chul Shin , Dae Hwan Hwang
CPC分类号： G06K9/00
摘要： Provided is a device for improving stereo matching results. The device for improving stereo matching results includes: a stereo camera unit outputting binocular disparity images by using binocular disparity between two images preprocessed according to a plurality of preprocessing conditions; a discrete cosine transform (DCT) unit generating DCT coefficients by performing DCT on the binocular disparity images; a streak estimation unit receiving the DCT coefficients and estimating amounts of streaks distributed on a screen by using AC coefficients, including streak patterns, of the DCT coefficients; a condition estimation unit estimating a preprocessing condition, corresponding to the smallest amount of streaks of the estimated amounts of streaks, of the plurality of preprocessing conditions, as an optimal condition, and a streak removal unit generating binocular disparity images without the streaks by changing predetermined AC coefficients of the DCT coefficients and performing inverse DCT on the changed DCT coefficients.
摘要翻译： 提供了一种用于改善立体匹配结果的设备。 用于改善立体匹配结果的装置包括：立体相机单元，通过使用根据多个预处理条件预处理的两个图像之间的双目视差来输出双目视差图像; 离散余弦变换（DCT）单元，通过对双目视差图像执行DCT生成DCT系数; 条纹估计单元，通过使用DCT系数的包括条纹图案的AC系数来接收DCT系数并估计分布在屏幕上的条纹的数量; 条件估计单元，估计对应于多个预处理条件中的条纹的条纹的最小量的预处理条件作为最佳条件，以及条纹去除单元，通过改变预定的条件来生成没有条纹的双目视差图像 对DCT系数的AC系数进行DCT系数的DCT变换。
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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.
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