公开(公告)号：US07873447B2

公开(公告)日：2011-01-18

申请号：US11745947

申请日：2007-05-08

申请人： Kenichiro Oi ,  Masahiro Fujita ,  Takayuki Yoshigahara ,  Steffen Gutmann ,  Masaki Fukuchi

发明人： Kenichiro Oi ,  Masahiro Fujita ,  Takayuki Yoshigahara ,  Steffen Gutmann ,  Masaki Fukuchi

IPC分类号： G06F17/00

CPC分类号： G01C21/12 ,  G01C22/02

摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.

摘要翻译： 本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。 位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测 错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或 基于正确位置预测的移动物体的姿态。

公开(公告)号：US20070265741A1

公开(公告)日：2007-11-15

申请号：US11745947

申请日：2007-05-08

申请人： Kenichiro OI ,  Masahiro Fujita ,  Takayuki Yoshigahara ,  Steffen Gutmann ,  Masaki Fukuchi

发明人： Kenichiro OI ,  Masahiro Fujita ,  Takayuki Yoshigahara ,  Steffen Gutmann ,  Masaki Fukuchi

IPC分类号： G06F17/10

CPC分类号： G01C21/12 ,  G01C22/02

摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.

摘要翻译： 本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。 位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测 错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或 基于正确位置预测的移动物体的姿态。

公开(公告)号：US20100169905A1

公开(公告)日：2010-07-01

申请号：US12646214

申请日：2009-12-23

申请人： Masaki Fukuchi ,  Takayuki Yoshigahara

发明人： Masaki Fukuchi ,  Takayuki Yoshigahara

IPC分类号： H04H60/33

CPC分类号： H04N21/44218 ,  H04H60/33 ,  H04N21/4223 ,  H04N21/44213 ,  H04N21/4667 ,  H04N21/4668 ,  H04N21/8133

摘要： An information processing apparatus includes a sight line detecting unit configured to detect a sight line of a viewer who is viewing content data and output sight line information which is a result of the detection, a viewing condition estimating unit configured to estimate a viewing condition of the viewer based on the output sight line information and visual attention information relating to the content data, and a content suggesting unit configured to make various suggestions with respect to the content data for the viewer based on the estimated viewing condition.

摘要翻译： 一种信息处理设备，包括：视线检测单元，被配置为检测正在观看内容数据的观看者的视线，并输出作为检测结果的视线信息;观察条件估计单元， 基于输出视线信息和与内容数据相关的视觉注意信息，以及内容提示单元，被配置为基于估计的观看条件，针对观看者的内容数据提供各种建议。

公开(公告)号：US07373270B2

公开(公告)日：2008-05-13

申请号：US10808947

申请日：2004-03-25

申请人： Takeshi Ohashi ,  Takayuki Yoshigahara ,  Masaki Fukuchi ,  Kenichi Hidai

发明人： Takeshi Ohashi ,  Takayuki Yoshigahara ,  Masaki Fukuchi ,  Kenichi Hidai

IPC分类号： G01C9/00

CPC分类号： B25J19/023 ,  H04N13/246

摘要： A diagnostic mat has a texture, which enables avoiding mismatching in diagnosis and calibration, such as uniform and unduplicated patterns, for example, random dot patterns, fractal, natural images, and the like. A robot apparatus placed on the diagnostic mat assumes a stance suitable for taking images of the diagnostic mat, creates a distance image from an image acquired by the stereo camera, and verifies the performance of the stereo camera based on the flatness of the diagnostic mat obtained from this distance image. This assists in diagnosing the offset of the stereo camera mounted on the robot apparatus due to the deterioration over time of the stereo camera, falling of the robot apparatus, and the like.

摘要翻译： 诊断垫具有纹理，其能够避免诊断和校准中的不匹配，例如均匀和未重复的图案，例如随机点图案，分形，自然图像等。 放置在诊断垫上的机器人装置采取适合拍摄诊断垫的姿势，从由立体摄像机获得的图像产生距离图像，并且基于获得的诊断垫的平坦度来验证立体摄像机的性能 从这个距离图像。 这有助于诊断安装在机器人装置上的立体照相机的偏移，这是由于立体照相机的劣化，机器人装置的落下等。

公开(公告)号：US07050884B2

公开(公告)日：2006-05-23

申请号：US10390143

申请日：2003-03-17

申请人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

发明人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

IPC分类号： G06F19/00

CPC分类号： H04N21/4345 ,  H04L29/06027 ,  H04L65/602 ,  H04L65/604 ,  H04N21/2187 ,  H04N21/2362 ,  H04N21/2365 ,  H04N21/4347 ,  Y10S707/99945 ,  Y10S707/99948

摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.

摘要翻译： 图像传输装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在发送和接收的方式形成的现有系统来有效地发送多个信道的图像数据 图像数据通过单一传输线。 在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。 在接收侧，对从发送装置分别发送的每帧的每个图像数据添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的复用图像数据输出到相应的通道 是基于分析结果提供的。

公开(公告)号：US20050259677A1

公开(公告)日：2005-11-24

申请号：US11132573

申请日：2005-05-19

申请人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

发明人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

IPC分类号： B25J5/00 ,  B25J9/16 ,  G06F19/00 ,  H04J3/00 ,  H04J3/02 ,  H04L12/43 ,  H04L29/06 ,  H04N7/08 ,  H04N7/081 ,  H04N7/173 ,  H04N7/18

CPC分类号： H04N21/4345 ,  H04L29/06027 ,  H04L65/602 ,  H04L65/604 ,  H04N21/2187 ,  H04N21/2362 ,  H04N21/2365 ,  H04N21/4347 ,  Y10S707/99945 ,  Y10S707/99948

摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.

摘要翻译： 图像发送装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在图像的发送和接收的前提下形成的现有系统来有效地发送多个信道的图像数据 数据通过单传输线。 在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。 在接收侧，对从发送装置分别发送的每帧的每个图像数据添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的复用图像数据输出到相应的通道 是基于分析结果提供的。

公开(公告)号：US09256796B2

公开(公告)日：2016-02-09

申请号：US13424114

申请日：2012-03-19

申请人： Takayuki Yoshigahara ,  Masaki Fukuchi

发明人： Takayuki Yoshigahara ,  Masaki Fukuchi

IPC分类号： G06K9/22

CPC分类号： G06K9/6231 ,  G06K9/22 ,  G06K9/228 ,  G06K9/46 ,  G06K9/6202 ,  G06K9/78 ,  G06T19/006

摘要： A device, apparatus, and method provide logic for processing information. In one implementation, a device may include an image acquisition unit configured to acquire an image, and a transmission unit configured to transmit information associated with the image to an information processing apparatus, such as a server. The server may be associated with a first feature quantity dictionary. The device also may include a receiving unit configured to receive a second feature quantity dictionary from the server in response to the transmission. The second feature quantity dictionary may include less information than the first feature quantity dictionary, and the server may generate the second feature quantity dictionary based on the image information and the first feature quantity dictionary. The device may include an identification unit configured to identify an object within the image using the second feature quantity dictionary.

摘要翻译： 设备，装置和方法提供用于处理信息的逻辑。 在一个实现中，设备可以包括被配置为获取图像的图像获取单元和被配置为将与图像相关联的信息发送到诸如服务器的信息处理设备的传输单元。 服务器可以与第一特征量词典相关联。 该设备还可以包括被配置为响应于该传输从服务器接收第二特征量字典的接收单元。 第二特征量词典可以包括比第一特征量词典少的信息，并且服务器可以基于图像信息和第一特征量词典生成第二特征量词典。 设备可以包括被配置为使用第二特征量字典来识别图像内的对象的识别单元。

公开(公告)号：US07346430B2

公开(公告)日：2008-03-18

申请号：US11133403

申请日：2005-05-19

申请人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

发明人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

IPC分类号： G06F19/00

CPC分类号： H04N21/4345 ,  H04L29/06027 ,  H04L65/602 ,  H04L65/604 ,  H04N21/2187 ,  H04N21/2362 ,  H04N21/2365 ,  H04N21/4347 ,  Y10S707/99945 ,  Y10S707/99948

摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting device are analyzed, and dividing device for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting device to the corresponding channels is provided based on the analysis result.

摘要翻译： 图像传输装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在发送和接收的方式形成的现有系统来有效地发送多个信道的图像数据 图像数据通过单一传输线。 在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。 在接收侧，对从发送装置分别发送的每帧的每个图像数据中添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的复用图像数据输出到对应的信道 是基于分析结果提供的。

公开(公告)号：US07269478B2

公开(公告)日：2007-09-11

申请号：US11137081

申请日：2005-05-25

申请人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

发明人： Masaki Fukuchi ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Takeshi Ohashi

IPC分类号： G06F19/00

CPC分类号： H04N21/4345 ,  H04L29/06027 ,  H04L65/602 ,  H04L65/604 ,  H04N21/2187 ,  H04N21/2362 ,  H04N21/2365 ,  H04N21/4347 ,  Y10S707/99945 ,  Y10S707/99948

摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting are analyzed, and dividing for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting to the corresponding channels is provided based on the analysis result.

摘要翻译： 图像传输装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在发送和接收的方式形成的现有系统来有效地发送多个信道的图像数据 图像数据通过单一传输线。 在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。 在接收侧，分别添加到从发送分别发送的每帧的每个图像数据中的图像信息，并且基于每个帧划分并将从发送发送的多路复用图像数据输出到相应的信道，基于 对分析结果。

公开(公告)号：US20060025888A1

公开(公告)日：2006-02-02

申请号：US11165047

申请日：2005-06-24

申请人： Steffen Gutmann ,  Masaki Fukuchi ,  Kohtaro Sabe ,  James Bruce

发明人： Steffen Gutmann ,  Masaki Fukuchi ,  Kohtaro Sabe ,  James Bruce

IPC分类号： G06F19/00

CPC分类号： G06K9/00664 ,  G06T7/593

摘要： An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises. The present invention provides an environment map building apparatus for building a three-dimensional environment map to be used for three-dimensionally determining a region allowing a moving body to move therein according to external environment conditions, which comprises an external environment conditions detecting section that detects external environment conditions, a three-dimensional map building section that builds a three-dimensional map showing the state of occupancy of a three-dimensional grid on the basis of the external environment conditions detected by the external environment conditions detecting section, a relative-to-base-plane height map building section that builds a relative-to-base-plane height map showing heights from a two-dimensional base plane on the basis of the external environment conditions detected by the external environment conditions detecting section, and a height map information modifying section that modifies the information of the relative-to-base-plane height map on the basis of the information on the three-dimensional map.

摘要翻译： 环境地图构建方法和环境地图构建装置可以以相对于观察噪声鲁棒的方式在高度方向上以高分辨率表达周围的实施例。 本发明提供了一种用于构建三维环境图的环境地图构建装置，其用于三维地确定允许移动体根据外部环境条件在其中移动的区域，该外部环境条件包括外部环境条件检测部分，其检测 外部环境条件，基于由外部环境条件检测部检测到的外部环境条件构建表示三维网格的占有状态的三维地图的三维地图构建部，相对于 - 基平面高度图构建部，其基于由外部环境条件检测部检测到的外部环境条件，构建从二维基面显示高度的相对基准面高度图，以及高度图 信息修改部分，其修改相对于基站的信息， 平面高度图基于三维地图上的信息。