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1.发明授权Posture estimation device, posture estimation method, and posture estimation program 有权姿势估计装置，姿势评估方法和姿势评估程序公开(公告)号：US09412010B2
公开(公告)日：2016-08-09
申请号：US14131836
申请日：2012-07-02
申请人： Kyoko Kawaguchi , Tateaki Nogami , Masamoto Tanabiki , Yuji Sato , Kazuhiko Iwai , Mitsuko Fujita
发明人： Kyoko Kawaguchi , Tateaki Nogami , Masamoto Tanabiki , Yuji Sato , Kazuhiko Iwai , Mitsuko Fujita
CPC分类号： G06K9/00335 , G06K9/00348 , G06K9/00362 , G06T7/75 , G06T2207/30196
摘要： A posture estimation device, which is able to estimate the posture of a humanoid articulated body with high precision, has: a head estimation unit (120) that estimates the position of a person's head from image information for an image that contains a person; a foot estimation unit (130) that, from the image information, estimates the position of the person's foot for which the sole of the foot is parallel to the floor surface; and a posture estimation unit (140) that estimates the posture of the person on the basis of the relative positional relationship between the estimated head position and the estimated foot position. For example, the posture estimation unit (140) estimates the side on which the foot is located, with respect to the head, as the front side of the person.
摘要翻译： 能够高精度地估计人形关节体的姿态的姿势估计装置具有：头部估计单元，其根据包含人的图像的图像信息估计人的头部的位置; 足部估计单元，其从所述图像信息估计所述脚的底部平行于所述地板表面的所述人的脚的位置; 以及姿势估计单元，其基于所估计的头位置与所估计的脚位置之间的相对位置关系来估计所述人的姿态。 例如，作为人的前侧，姿势估计单元（140）相对于头部估计脚所在的一侧。
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2.发明申请POSTURE ESTIMATION DEVICE, POSTURE ESTIMATION METHOD, AND POSTURE ESTIMATION PROGRAM 有权姿态估计装置，姿态估计方法和姿态估计程序公开(公告)号：US20140140596A1
公开(公告)日：2014-05-22
申请号：US14131836
申请日：2012-07-02
申请人： Kyoko Kawaguchi , Tateaki Nogami , Masamoto Tanabiki , Yuji Sato , Kazuhiko Iwai , Mitsuko Fujita
发明人： Kyoko Kawaguchi , Tateaki Nogami , Masamoto Tanabiki , Yuji Sato , Kazuhiko Iwai , Mitsuko Fujita
IPC分类号： G06K9/00
CPC分类号： G06K9/00335 , G06K9/00348 , G06K9/00362 , G06T7/75 , G06T2207/30196
摘要： A posture estimation device, which is able to estimate the posture of a humanoid articulated body with high precision, has: a head estimation unit (120) that estimates the position of a person's head from image information for an image that contains a person; a foot estimation unit (130) that, from the image information, estimates the position of the person's foot for which the sole of the foot is parallel to the floor surface; and a posture estimation unit (140) that estimates the posture of the person on the basis of the relative positional relationship between the estimated head position and the estimated foot position. For example, the posture estimation unit (140) estimates the side on which the foot is located, with respect to the head, as the front side of the person.
摘要翻译： 能够高精度地估计人形关节体的姿态的姿势估计装置具有：头部估计单元，其根据包含人的图像的图像信息估计人的头部的位置; 足部估计单元，其从所述图像信息估计所述脚的底部平行于所述地板表面的所述人的脚的位置; 以及姿势估计单元，其基于所估计的头位置与所估计的脚位置之间的相对位置关系来估计所述人的姿态。 例如，作为人的前侧，姿势估计单元（140）相对于头部估计脚所在的一侧。
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公开(公告)号：US20130259391A1
公开(公告)日：2013-10-03
申请号：US13820206
申请日：2012-01-10
IPC分类号： G06T7/00
CPC分类号： G06T7/75 , G06K9/6215 , G06T7/73 , G06T2207/10016 , G06T2207/10024 , G06T2207/20076 , G06T2207/30196
摘要： This posture state estimation device is capable of estimating with high accuracy the posture state of an object. The posture state estimation device (100) is a device for estimating the posture state of an object having a plurality of sections connected by joints on the basis of image data that images the object, and has a section candidate extraction unit (140) for extracting a section candidate for a section from the image data, a complementary section candidate extraction unit (160) which estimates that a portion of an unextracted section for which a section candidate has not been extracted is being shadowed by an already extracted section for which a section candidate has been extracted in order to extract a section candidate of the unextracted section, and a posture state estimation unit (170) for estimating the posture state of the object on the basis of the extracted section candidate.
摘要翻译： 该姿势状态估计装置能够高精度地估计被摄体的姿势状态。 姿势状态估计装置（100）是用于基于对被摄体进行成像的图像数据来估计具有由关节连接的多个部分的物体的姿势状态的装置，并具有用于提取的部分候选提取部（140） 来自图像数据的部分候选者，补充部分候选提取单元（160），其估计尚未提取部分候选的未提取部分的一部分被已经提取的部分遮蔽， 已经提取候选者以提取未提取部分的部分候选，以及姿势状态估计单元（170），用于基于所提取的部分候选来估计对象的姿势状态。
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公开(公告)号：US08934674B2
公开(公告)日：2015-01-13
申请号：US13885900
申请日：2011-10-05
CPC分类号： G06K9/00369 , G06K9/00362 , G06T7/75 , G06T2207/20096 , G06T2207/30196
摘要： Provided is a person detection device with which it is possible to estimate a state of a part of a person from an image. A person detection device (100) comprises: an evaluation unit (430) which acquires a prescribed outline of a person from an evaluation image; and a shoulder position calculation unit (440) and an orientation estimation unit (500) which estimate a state of a prescribed part of a person which is included in the evaluation image from the prescribed outline of the person which is acquired from the evaluation image, on the basis of an estimation model which denotes a relation between the prescribed outline and the state of the prescribed part of the person.
摘要翻译： 提供了一种可以从图像估计人的一部分的状态的人物检测装置。 人检测装置（100）包括：评估单元（430），其从评估图像获取人的规定轮廓; 以及肩部位置计算单元（440）和姿势估计单元（500），其从评估图像获取的人的规定轮廓中估计包括在评估图像中的人的规定部分的状态， 基于表示规定轮廓与人的规定部位的状态之间的关系的估计模型。
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5.发明申请POSTURE ESTIMATION DEVICE, POSTURE ESTIMATION SYSTEM, AND POSTURE ESTIMATION METHOD 有权姿态估计装置，姿态估计系统和姿态估计方法公开(公告)号：US20140163424A1
公开(公告)日：2014-06-12
申请号：US13819784
申请日：2012-02-20
CPC分类号： A61B5/1128 , A61B5/0077 , A61B5/1116 , A61B5/7207 , G06T7/74 , G06T2207/30196
摘要： Provided is a posture estimation device with which it is possible to estimate the posture of an object having joints with a high degree of precision. A posture estimation device (100) carries out an estimation of a posture of an object on the basis of image data wherein an object having a plurality of sites which are connected by joints is photographed. The device comprises: a reference model storage unit (140) which stores a reference model, which defines the locations of the sites, for each posture; a weighting computation unit (150) which carries out weighting on the sites for each posture such that the weighting of concentrated parts is reduced; and a posture estimation unit (160) which estimates the posture of the object by applying the weighting and comparing the reference model with the object.
摘要翻译： 提供了一种可以以高精度估计具有关节的物体的姿势的姿势估计装置。 姿势估计装置（100）基于图像数据进行物体的姿势的估计，其中拍摄了具有由关节连接的多个位置的物体。 该装置包括：参考模型存储单元，其存储针对每个姿势定义站点的位置的参考模型; 加权计算单元，其对每个姿势的站点执行加权，使得集中部分的权重减小; 以及姿势估计单元，其通过应用加权并将所述参考模型与所述对象进行比较来估计所述对象的姿态。
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公开(公告)号：US20130251203A1
公开(公告)日：2013-09-26
申请号：US13885900
申请日：2011-10-05
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , G06K9/00362 , G06T7/75 , G06T2207/20096 , G06T2207/30196
摘要： Provided is a person detection device with which it is possible to estimate a state of a part of a person from an image. A person detection device (100) comprises: an evaluation unit (430) which acquires a prescribed outline of a person from an evaluation image; and a shoulder position calculation unit (440) and an orientation estimation unit (500) which estimate a state of a prescribed part of a person which is included in the evaluation image from the prescribed outline of the person which is acquired from the evaluation image, on the basis of an estimation model which denotes a relation between the prescribed outline and the state of the prescribed part of the person.
摘要翻译： 提供了一种可以从图像估计人的一部分的状态的人物检测装置。 人检测装置（100）包括：评估单元（430），其从评估图像获取人的规定轮廓; 以及肩部位置计算单元（440）和姿势估计单元（500），其从评估图像获取的人的规定轮廓中估计包括在评估图像中的人的规定部分的状态， 基于表示规定轮廓与人的规定部位的状态之间的关系的估计模型。
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公开(公告)号：US09355305B2
公开(公告)日：2016-05-31
申请号：US13878093
申请日：2011-09-15
申请人： Masamoto Tanabiki , Kensuke Maruya , Mitsuko Fujita , Kyoko Kawaguchi , Yuji Sato , Yoshimitsu Aoki
发明人： Masamoto Tanabiki , Kensuke Maruya , Mitsuko Fujita , Kyoko Kawaguchi , Yuji Sato , Yoshimitsu Aoki
CPC分类号： G06K9/00342 , G06T7/75 , G06T2207/20076 , G06T2207/30196
摘要： The present invention is a posture estimation device for estimating a wide variety of 3-dimensional postures by using a skeletal model. The posture estimation device (200) has: a skeletal backbone estimation unit (230) for estimating the position of a feature location of a person within an acquired image; a location extraction unit (240) which generates a likelihood map indicating the certainty that a location other than the feature location of the person exists in the acquired image based on the position of the feature location of the person; and a skeletal model evaluation unit (250) for evaluating, based on the likelihood map, a candidate group which includes a plurality of 2-dimensional skeletal models as candidates and such that each 2-dimensional skeletal model is configured from a line group representing each location and a point group representing coupling between each location and corresponds to one posture of the person.
摘要翻译： 本发明是一种通过使用骨架模型来估计各种各样的3维姿势的姿势估计装置。 姿势估计装置（200）具有：骨骼骨干估计部（230），用于估计所获取的图像内的人物的特征位置的位置; 位置提取单元（240），其基于人的特征位置的位置生成表示确定性的可靠性图，所述确定性指示所述人物的特征位置以外的位置存在于所获取的图像中; 以及骨骼模型评价单元（250），用于基于所述似然图来评估包括多个二维骨架模型作为候选的候选组，并且使得每个二维骨骼模型由表示每个 位置和点组，表示每个位置之间的耦合并且对应于该人的一个姿势。
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公开(公告)号：US09031286B2
公开(公告)日：2015-05-12
申请号：US13989192
申请日：2011-11-22
CPC分类号： G06K9/00375 , G06K9/00369 , G06K9/3241 , G06T2207/10016
摘要： Disclosed is an object detection method capable of detecting with high precision information relating to a jointed object from image data. An object detection device (160) detects information relating to an object from image data of images captured of an object having multiple parts connected by joints. The disclosed object detection device (160) is provided with a joint angle extraction unit (161) which extracts the angle of a joint connecting two parts from candidates of the positions of two neighboring parts obtained from the image data, and a part length ratio estimation unit (165) which uses the joint angle to perform the detection described above.
摘要翻译： 公开了一种能够从图像数据检测与关节物体有关的高精度信息的物体检测方法。 物体检测装置（160）根据通过关节连接的具有多个部分的物体的图像的图像数据的图像数据检测与物体有关的信息。 所公开的物体检测装置（160）设置有关节角度提取单元（161），其从从图像数据获得的两个相邻部分的位置的候选中提取连接两个部分的关节的角度，以及部分长度比估计 单元（165），其使用关节角度来执行上述检测。
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公开(公告)号：US09646381B2
公开(公告)日：2017-05-09
申请号：US13820206
申请日：2012-01-10
CPC分类号： G06T7/75 , G06K9/6215 , G06T7/73 , G06T2207/10016 , G06T2207/10024 , G06T2207/20076 , G06T2207/30196
摘要： This posture state estimation device is capable of estimating with high accuracy the posture state of an object. The posture state estimation device (100) is a device for estimating the posture state of an object having a plurality of sections connected by joints on the basis of image data that images the object, and has a section candidate extraction unit (140) for extracting a section candidate for a section from the image data, a complementary section candidate extraction unit (160) which estimates that a portion of an unextracted section for which a section candidate has not been extracted is being shadowed by an already extracted section for which a section candidate has been extracted in order to extract a section candidate of the unextracted section, and a posture state estimation unit (170) for estimating the posture state of the object on the basis of the extracted section candidate.
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10.发明授权Posture estimation device, posture estimation system, and posture estimation method 有权姿势估计装置，姿势估计系统和姿势估计方法公开(公告)号：US09480417B2
公开(公告)日：2016-11-01
申请号：US13819784
申请日：2012-02-20
CPC分类号： A61B5/1128 , A61B5/0077 , A61B5/1116 , A61B5/7207 , G06T7/74 , G06T2207/30196
摘要： Provided is a posture estimation device with which it is possible to estimate the posture of an object having joints with a high degree of precision. A posture estimation device (100) carries out an estimation of a posture of an object on the basis of image data. An object having a plurality of sites which are connected by joints is photographed. The posture estimation device includes a reference model storage unit (140) which stores a reference model, which defines the locations of the sites, for each posture. A weighting computation unit (150) carries out weighting on the sites for each posture such that the weighting of concentrated parts is reduced. A posture estimation unit (160) estimates the posture of the object by applying the weighting and comparing the reference model with the object.
摘要翻译： 提供了一种可以以高精度估计具有关节的物体的姿势的姿势估计装置。 姿势估计装置（100）基于图像数据进行物体的姿势的估计。 拍摄具有通过关节连接的多个位置的物体。 姿势估计装置包括：参考模型存储单元，其存储针对每个姿势定义站点的位置的参考模型。 加权计算单元（150）对每个姿势的站点执行加权，使得集中部件的加权减小。 姿态估计单元（160）通过应用加权并将参考模型与对象进行比较来估计对象的姿势。
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