公开(公告)号：US20050248654A1

公开(公告)日：2005-11-10

申请号：US10624786

申请日：2003-07-21

申请人： Hiroshi Tsujino ,  Hiroshi Kondo ,  Shinichi Nagai ,  Koji Akatsuka ,  Atsushi Miura

发明人： Hiroshi Tsujino ,  Hiroshi Kondo ,  Shinichi Nagai ,  Koji Akatsuka ,  Atsushi Miura

IPC分类号： B60R1/00 ,  G06T1/00 ,  G06T7/00 ,  G06T7/20 ,  H04N7/18 ,  H04N5/225

CPC分类号： G06T7/0002 ,  G06T7/0008 ,  G06T7/215 ,  G06T7/254 ,  G06T7/269

摘要： An object detection apparatus and method capable of detecting objects based on visual images captured by a self-moving unit. A sequential images output section makes a train of a first input image and a second input image sequential to the first input image and outputs said train. A local area image processor calculates local flows based on said first input image and said second input image. An inertia information acquiring section measures self-motion of the unit to calculate inertia information thereof. A global area image processor uses said inertia information to estimate global flow, which is a motion field of the entire view associated to the self-motion, using said global flow and said first input image and creates a predictive image of said second input image. The global area image processor then calculates differential image data, which is a difference between said predictive image and said second input image. A figure-ground segregation section uses said differential image data to refine said local flows and compares the refined local flows with a predetermined threshold value to extract a figure candidate area, which is the area having a high probability of an object existing in the input image. An object presence/absence determination section determines presence/absence of objects in said figure candidate area.

摘要翻译： 一种能够基于由自动移动单元捕获的视觉图像来检测物体的物体检测装置和方法。 顺序图像输出部分构成与第一输入图像顺序的第一输入图像和第二输入图像的列，并输出所述列。 局部区域图像处理器基于所述第一输入图像和所述第二输入图像来计算局部流。 惯性信息获取部分测量该单元的自动运动以计算其惯性信息。 全局区域图像处理器使用所述惯性信息来估计使用所述全局流和所述第一输入图像并创建所述第二输入图像的预测图像的全自动运动的全局流动，其是与自动运动相关联的整个视图的运动场。 然后，全局区域图像处理器计算作为所述预测图像和所述第二输入图像之间的差的差分图像数据。 图形分离部分使用所述差分图像数据来细化所述本地流并将精细局部流与预定阈值进行比较，以提取图形候选区域，其是存在于输入图像中的对象的概率高的区域 。 对象存在/不存在确定部分确定所述图形候选区域中的对象的存在/不存在。

公开(公告)号：US07062071B2

公开(公告)日：2006-06-13

申请号：US10322307

申请日：2002-12-17

申请人： Hiroshi Tsujino ,  Hiroshi Kondo ,  Atsushi Miura ,  Shinichi Nagai ,  Koji Akatsuka

发明人： Hiroshi Tsujino ,  Hiroshi Kondo ,  Atsushi Miura ,  Shinichi Nagai ,  Koji Akatsuka

IPC分类号： G06K9/00

CPC分类号： G06T7/269 ,  G06T7/215 ,  G06T7/262 ,  G06T7/74 ,  G06T2207/30241

摘要： An object detection apparatus is provided for detecting both stationary objects and moving objects accurately from an image captured from a moving mobile unit.The object detection apparatus of the present invention applies Gabor filter to two or more input images captured by an imaging device such as CCD camera mounted on a mobile unit, and calculates optical flow of local areas in the input images. Then the object detection apparatus closely removes optical flow produced by motion of the mobile unit by estimating optical flow produced from background of the input images. In other words, the object detection apparatus clarifies the area where object is not present (“ground”) in the input images. By removing such “ground” part, the area where objects seems to be present (“feature”) is extracted from the input images. Finally, the object detection apparatus determines whether objects are present or not using flow information of the extracted “feature” part.

摘要翻译： 提供一种物体检测装置，用于从移动的移动单元捕获的图像中精确地检测静止物体和移动物体。 本发明的对象检测装置将Gabor滤波器应用于由安装在移动单元上的CCD摄像机等摄像装置拍摄的两个以上的输入图像，并计算输入图像中局部区域的光流。 然后，物体检测装置通过估计从输入图像的背景产生的光流来紧密地去除由移动单元的运动产生的光流。 换句话说，对象检测装置说明输入图像中不存在对象（“接地”）的区域。 通过移除这样的“地面”部分，从输入图像中提取对象似乎存在的区域（“特征”）。 最后，对象检测装置使用提取的“特征”部分的流信息来确定对象是否存在。

公开(公告)号：US07295684B2

公开(公告)日：2007-11-13

申请号：US10624786

申请日：2003-07-21

申请人： Hiroshi Tsujino ,  Hiroshi Kondo ,  Shinichi Nagai ,  Koji Akatsuka ,  Atsushi Miura

发明人： Hiroshi Tsujino ,  Hiroshi Kondo ,  Shinichi Nagai ,  Koji Akatsuka ,  Atsushi Miura

IPC分类号： G06K9/00

CPC分类号： G06T7/0002 ,  G06T7/0008 ,  G06T7/215 ,  G06T7/254 ,  G06T7/269

摘要： An object detection apparatus and method capable of detecting objects based on visual images captured by a self-moving unit. A sequential images output section makes a train of a first input image and a second input image sequential to the first input image and outputs said train. A local area image processor calculates local flows based on said first input image and said second input image. An inertia information acquiring section measures self-motion of the unit to calculate inertia information thereof. A global area image processor uses said inertia information to estimate global flow, which is a motion field of the entire view associated to the self-motion, using said global flow and said first input image and creates a predictive image of said second input image. The global area image processor then calculates differential image data, which is a difference between said predictive image and said second input image. A figure-ground segregation section uses said differential image data to refine said local flows and compares the refined local flows with a predetermined threshold value to extract a figure candidate area, which is the area having a high probability of an object existing in the input image. An object presence/absence determination section determines presence/absence of objects in said figure candidate area.

摘要翻译： 一种能够基于由自动移动单元捕获的视觉图像来检测物体的物体检测装置和方法。 顺序图像输出部分构成与第一输入图像顺序的第一输入图像和第二输入图像的列，并输出所述列。 局部区域图像处理器基于所述第一输入图像和所述第二输入图像来计算局部流。 惯性信息获取部分测量该单元的自动运动以计算其惯性信息。 全局区域图像处理器使用所述惯性信息来估计使用所述全局流和所述第一输入图像并创建所述第二输入图像的预测图像的全自动运动的全局流动，其是与自动运动相关联的整个视图的运动场。 然后，全局区域图像处理器计算作为所述预测图像和所述第二输入图像之间的差的差分图像数据。 图形分离部分使用所述差分图像数据来细化所述本地流并将精细局部流与预定阈值进行比较，以提取图形候选区域，其是存在于输入图像中的对象的概率高的区域 。 对象存在/不存在确定部分确定所述图形候选区域中的对象的存在/不存在。

公开(公告)号：US20050105771A1

公开(公告)日：2005-05-19

申请号：US10930566

申请日：2004-08-30

申请人： Shinichi Nagai ,  Hiroshi Tsujino ,  Tetsuya Ido ,  Takamasa Koshizen ,  Koji Akatsuka ,  Hiroshhi Kondo ,  Atsushi Miura

发明人： Shinichi Nagai ,  Hiroshi Tsujino ,  Tetsuya Ido ,  Takamasa Koshizen ,  Koji Akatsuka ,  Hiroshhi Kondo ,  Atsushi Miura

IPC分类号： G01V8/10 ,  G06K9/00 ,  G06K9/46 ,  G06K9/52 ,  G06K9/62 ,  G06K9/66 ,  G06T1/00 ,  G06T7/20

CPC分类号： G06K9/4619 ,  G06K9/3241 ,  G06T1/0014 ,  G06T7/215

摘要： The object detection apparatus according to the invention detects an object based on input images that are captured sequentially in time in a moving unit. The apparatus generates an action command to be sent to the moving unit, calculates flow information for each local area in the input image, and estimates an action of the moving unit based on the flow information. The apparatus calculates a difference between the estimated action and the action command and then determines a specific local area as a figure area when such difference in association with that specific local area exhibits an error larger than a predetermined value. The apparatus determines presence/absence of an object in the figure area.

摘要翻译： 根据本发明的对象检测装置基于在移动单元中及时地顺序地捕获的输入图像来检测对象。 该装置生成要发送到移动单元的动作命令，计算输入图像中的每个局部区域的流量信息，并基于流信息来估计移动单元的动作。 该装置计算估计动作和动作命令之间的差，然后当与该特定局部区域相关联的这种差异表现出大于预定值的误差时，将特定局部区域确定为图形区域。 该装置确定图形区域中的对象的存在/不存在。

公开(公告)号：US07221797B2

公开(公告)日：2007-05-22

申请号：US10133114

申请日：2002-04-26

申请人： Takamasa Koshizen ,  Koji Akatsuka ,  Hiroshi Tsujino

发明人： Takamasa Koshizen ,  Koji Akatsuka ,  Hiroshi Tsujino

IPC分类号： G06K9/46

CPC分类号： G06K9/00335 ,  G05D1/0253

摘要： An image recognizing apparatus and method is provided for recognizing behavior of a mobile unit accurately with an image of external environment acquired during the mobile unit is moving.Behavior command output block 12 outputs behavior commands to cause the mobile unit 32 move. Local feature extraction block 16 extracts features of local areas of the image from the image of external environment acquired on the mobile unit 32 when the behavior command is output. Global feature extraction block 18 extracts feature of global area of the image using the features of local areas. Learning block 20 calculates probability models for recognizing behavior given to the mobile unit 32 based on the feature of global area of the image. After learning is finished, behavior of the mobile unit 32 may be recognized rapidly and accurately by applying the probability models to an image of external environment acquired in mobile unit 32 afresh.

摘要翻译： 提供一种图像识别装置和方法，用于在移动单元移动期间获取的外部环境的图像精确地识别移动单元的行为。 行为命令输出块12输出行为命令以使移动单元32移动。 局部特征提取块16当输出行为命令时，从移动单元32上获取的外部环境的图像中提取图像的局部区域的特征。 全局特征提取块18使用局部区域的特征提取图像的全局区域的特征。 学习块20基于图像的全局区域的特征来计算用于识别给予移动单元32的行为的概率模型。 在完成学习之后，通过将概率模型应用于移动单元32中获取的外部环境的图像，可以快速且准确地识别移动单元32的行为。

公开(公告)号：US08774968B2

公开(公告)日：2014-07-08

申请号：US13004517

申请日：2011-01-11

申请人： Chyon Hae Kim ,  Hiroshi Tsujino

发明人： Chyon Hae Kim ,  Hiroshi Tsujino

IPC分类号： G05B19/04

CPC分类号： B25J9/1666 ,  G05B2219/40446

摘要： A trajectory planning system obtains a trajectory for controlling a state of an object toward a goal state. The system includes a search tree generating section which registers a state of the object as a root of a search tree in a state space, registers a next state of the object after a lapse of a predetermined time interval obtained through dynamical relationships during the time interval as a branch of the search tree in the state space. The system further includes a known-state registration tree storing section which stores a known-state registration tree and a known-state registration tree generating section which determines a cell to which the next state belongs among a plurality of cells previously prepared by segmenting the state space, determines whether or not a state which belongs to the cell has already been registered as a branch of the known-state registration tree, discards the next state when a state which belongs to the cell has been registered, and registers the next step as a branch of the known-state registration tree when a state which belongs to the cell has not been registered. The system further includes a trajectory generating section which selects a state whose distance to the goal state is minimum among states registered as branches of the known-state registration tree and obtains a trajectory using a sequence of states in a backward direction from the state toward the root of the known-state registration tree.

摘要翻译： 轨迹规划系统获得用于控制物体朝向目标状态的状态的轨迹。 该系统包括搜索树生成部分，其将对象的状态作为搜索树的根登记在状态空间中，在经过在时间间隔期间通过动态关系获得的预定时间间隔之后登记对象的下一状态 作为状态空间中搜索树的分支。 该系统还包括已知状态注册树存储部分，其存储已知状态注册树和已知状态注册树生成部分，该已知状态注册树生成部分通过分割状态来确定先前准备的多个小区中下一状态所属的小区 空间，确定属于小区的状态是否已经被注册为已知状态注册树的分支，当属于小区的状态已被注册时，丢弃下一状态，并将下一步骤注册为 当属于小区的状态尚未被注册时，已知状态注册树的分支。 该系统还包括：轨迹生成部，其选择在已知状态登记树的分支中登记为状态的目标状态的距离为最小的状态，并使用从状态朝向状态的向后方向的状态序列获取轨迹 已知状态注册树的根。

公开(公告)号：US08131542B2

公开(公告)日：2012-03-06

申请号：US12133691

申请日：2008-06-05

申请人： Hirofumi Nakajima ,  Kazuhiro Nakadai ,  Yuji Hasegawa ,  Hiroshi Tsujino

发明人： Hirofumi Nakajima ,  Kazuhiro Nakadai ,  Yuji Hasegawa ,  Hiroshi Tsujino

IPC分类号： G10L19/00 ,  H03F1/26

CPC分类号： G06K9/6242 ,  G06K9/6245 ,  G10L21/028 ,  G10L2021/02166

摘要： A system capable of separating sound source signals with high precision while improving a convergence rate and convergence precision. A process of updating a current separation matrix Wk to a next separation matrix Wk+1 such that a next value J(Wk+1) of a cost function is closer to a minimum value J(W0) than a current value J(Wk) is iteratively performed. An update amount ΔWk of the separation matrix is increased as the current value J(Wk) of the cost function is increased and is decreased as a current gradient ∂J(Wk)/∂W of the cost function is rapid. On the basis of input signals x from a plurality of microphones Mi and an optimal separation matrix W0, it is possible to separate sound source signals y(=W0·x) with high precision while improving a convergence rate and convergence precision.

摘要翻译： 一种能够在提高收敛速度和收敛精度的同时高精度地分离声源信号的系统。 将当前分离矩阵Wk更新为下一个分离矩阵Wk + 1的过程，使得成本函数的下一个值J（Wk + 1）比当前值J（Wk）更接近最小值J（W0） 被迭代地执行。 随着成本函数的当前值J（Wk）增加，并且随着成本函数的当前梯度∂J（Wk）/∂W）快速地减小，分离矩阵的更新量＆Dgr; Wk增加。 基于来自多个麦克风Mi的输入信号x和最优分离矩阵W0，可以在提高收敛速度和收敛精度的同时高精度地分离声源信号y（= W0·x）。

公开(公告)号：US20090018828A1

公开(公告)日：2009-01-15

申请号：US10579235

申请日：2004-11-12

申请人： Kazuhiro Nakadai ,  Hiroshi Tsujino ,  Hiroshi Okuno

发明人： Kazuhiro Nakadai ,  Hiroshi Tsujino ,  Hiroshi Okuno

IPC分类号： G10L19/14

CPC分类号： G10L15/20 ,  G10L21/028 ,  G10L2021/02166

摘要： An automatic speech recognition system includes: a sound source localization module for localizing a sound direction of a speaker based on the acoustic signals detected by the plurality of microphones; a sound source separation module for separating a speech signal of the speaker from the acoustic signals according to the sound direction; an acoustic model memory which stores direction-dependent acoustic models that are adjusted to a plurality of directions at intervals; an acoustic model composition module which composes an acoustic model adjusted to the sound direction, which is localized by the sound source localization module, based on the direction-dependent acoustic models, the acoustic model composition module storing the acoustic model in the acoustic model memory; and a speech recognition module which recognizes the features extracted by a feature extractor as character information using the acoustic model composed by the acoustic model composition module.

摘要翻译： 一种自动语音识别系统，包括：声源定位模块，用于基于由所述多个麦克风检测到的声信号来定位扬声器的声音方向; 声源分离模块，用于根据声音方向将扬声器的语音信号与声学信号分离; 声学模型存储器，其存储以间隔被调整到多个方向的方向相关的声学模型; 声学模型合成模块，其基于所述方向相关的声学模型，将声学模型组合模块存储在所述声学模型存储器中;声学模型组合模块，其将声学模型组合模块存储在所述声学模型存储器中; 以及语音识别模块，其使用由声学模型组合模块组成的声学模型识别由特征提取器提取的特征作为字符信息。

公开(公告)号：US20080306739A1

公开(公告)日：2008-12-11

申请号：US12133691

申请日：2008-06-05

申请人： Hirofumi Nakajima ,  Kazuhiro Nakadai ,  Yuji Hasegawa ,  Hiroshi Tsujino

发明人： Hirofumi Nakajima ,  Kazuhiro Nakadai ,  Yuji Hasegawa ,  Hiroshi Tsujino

IPC分类号： G10L11/00

CPC分类号： G06K9/6242 ,  G06K9/6245 ,  G10L21/028 ,  G10L2021/02166

摘要： A system capable of separating sound source signals with high precision while improving a convergence rate and convergence precision. A process of updating a current separation matrix Wk to a next separation matrix Wk+1 such that a next value J(Wk+1) of a cost function is closer to a minimum value J(W0) than a current value J(Wk) is iteratively performed. An update amount ΔWk of the separation matrix is increased as the current value J(Wk) of the cost function is increased and is decreased as a current gradient ∂J(Wk)/∂W of the cost function is rapid. On the basis of input signals x from a plurality of microphones Mi and an optimal separation matrix W0, it is possible to separate sound source signals y(=W0·x) with high precision while improving a convergence rate and convergence precision.

摘要翻译： 一种能够在提高收敛速度和收敛精度的同时高精度地分离声源信号的系统。 将当前分离矩阵Wk更新为下一个分离矩阵Wk + 1的过程，使得成本函数的下一个值J（Wk + 1）比当前值J（Wk）更接近最小值J（W0） 被迭代地执行。 随着成本函数的当前值J（Wk）增加，并且随着成本函数的当前梯度∂J（Wk）/∂W）快速地减小，分离矩阵的更新量DeltaWk增加。 基于来自多个麦克风Mi和最佳分离矩阵W0的输入信号x，可以在提高收敛速度和收敛精度的同时高精度地分离声源信号y（= W0.x）。

公开(公告)号：US20070183618A1

公开(公告)日：2007-08-09

申请号：US10588801

申请日：2005-02-10

申请人： Masamitsu Ishii ,  Shinichi Sakai ,  Hiroshi Okuno ,  Kazuhiro Nakadai ,  Hiroshi Tsujino

发明人： Masamitsu Ishii ,  Shinichi Sakai ,  Hiroshi Okuno ,  Kazuhiro Nakadai ,  Hiroshi Tsujino

IPC分类号： H04R1/02 ,  H04R3/00

CPC分类号： H04R3/12 ,  H04R1/323 ,  H04R27/00 ,  H04R2201/401 ,  H04R2217/03 ,  H04R2430/20

摘要： An ultra-directional speaker having a modulator 33 for modulating an ultrasonic carrier signal with an input electric signal from an audible sound signal source, and an emitter 44 for emitting an output of the modulator 33 is mounted in a moving object 1 having a target tracking system for sensing a target in a surrounding space in real time using the above-mentioned emitter 44. The moving object equipped with ultra-directional speaker can therefore transmit a voice only to a specific target through parametric action caused by the nonlinearity of finite amplitude of ultrasonic wave.

摘要翻译： 具有调制器33的超方向扬声器安装在具有目标跟踪的移动物体1中，调制器33用于从可听见的声音信号源输入电信号调制超声波载波信号，发射器44用于发射调制器33的输出。 系统，用于使用上述发射器44实时地感测周围空间中的目标。 因此，配备有超声波扬声器的移动物体可以通过由超声波的有限幅度的非线性引起的参数化动作将声音传输到特定目标。