公开(公告)号：US08649557B2

公开(公告)日：2014-02-11

申请号：US12857076

申请日：2010-08-16

申请人： Seung Yong Hyung ,  Sung Hwan Ahn ,  Kyung Shik Roh ,  Suk June Yoon

发明人： Seung Yong Hyung ,  Sung Hwan Ahn ,  Kyung Shik Roh ,  Suk June Yoon

IPC分类号： G06K9/00

CPC分类号： G06T7/277 ,  G06T2207/10028 ,  G06T2207/30252

摘要： Disclosed herein is a computer-readable medium and method of a mobile platform detecting and tracking dynamic objects in an environment having the dynamic objects. The mobile platform acquires a three-dimensional (3D) image using a time-of-flight (TOF) sensor, removes a floor plane from the acquired 3D image using a random sample consensus (RANSAC) algorithm, and individually separates objects from the 3D image. Movement of the respective separated objects is estimated using a joint probability data association filter (JPDAF).

摘要翻译： 本文公开了一种在具有动态对象的环境中检测和跟踪动态对象的移动平台的计算机可读介质和方法。 移动平台使用飞行时间（TOF）传感器获取三维（3D）图像，使用随机抽样共识（RANSAC）算法从所获取的3D图像中移除平面图，并将对象与3D 图片。 使用联合概率数据关联过滤器（JPDAF）来估计各分离对象的移动。

公开(公告)号：US08428343B2

公开(公告)日：2013-04-23

申请号：US13137832

申请日：2011-09-15

申请人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

发明人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

IPC分类号： G06K9/00 ,  G06T15/00

CPC分类号： G06T7/74 ,  G06T7/55 ,  G06T2207/10028 ,  G06T2207/20076 ,  H04N13/25 ,  H04N13/254 ,  H04N13/271

摘要： A volume cell (VOXEL) map generation apparatus includes an inertia measurement unit to calculate inertia information by calculating inertia of a volume cell (VOXEL) map generator, a Time of Flight (TOF) camera to capture an image of an object, thereby generating a depth image of the object and a black-and-white image of the object, an estimation unit to calculate position and posture information of the VOXEL map generator by performing an Iterative Closest Point (ICP) algorithm on the basis of the depth image of the object, and to recursively estimate a position and posture of the VOXEL map generator on the basis of VOXEL map generator inertia information calculated by the inertia measurement unit and VOXEL map generator position and posture information calculated by the ICP algorithm, and a grid map construction unit to configure a grid map based on the recursively estimated VOXEL map generator position and posture.

摘要翻译： 音量单元（VOXEL）地图生成装置包括惯性测量单元，其通过计算体积单元（VOXEL）图生成器的惯性，飞行时间（TOF）照相机来捕获对象的图像的惯量来计算惯性信息，从而生成 物体的深度图像和物体的黑白图像;估计单元，其通过基于所述对象的深度图像执行迭代最近点（ICP）算法来计算所述VOXEL图生成器的位置和姿势信息; 并且基于由惯性测量单元计算的VOXEL图生成器惯性信息和由ICP算法计算的VOXEL映射发生器位置和姿势信息，以及网格图构造单元递归地估计VOXEL映射生成器的位置和姿势 基于递归估计的VOXEL映射生成器位置和姿势来配置网格图。

公开(公告)号：US08401783B2

公开(公告)日：2013-03-19

申请号：US12654037

申请日：2009-12-08

申请人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

发明人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

IPC分类号： G06F17/00

CPC分类号： G06T17/00 ,  G05D1/0253 ,  G05D1/0274 ,  G06T7/215 ,  G06T7/246 ,  G06T2207/10028 ,  G06T2207/30252

摘要： Disclosed herein is a method of building a map of a mobile platform moving in a dynamic environment and detecting an object using a 3D camera sensor, e.g., an IR TOF camera sensor, for localization. A localization technology to separate and map a dynamic object and a static object is applied to a mobile platform, such as an unmanned vehicle or a mobile robot. Consequently, the present method is capable of accurately building map information based on the static object in a dynamic environment having a large number of dynamic objects and achieving a dynamic object avoidance or chasing function using position information acquired to build the map.

摘要翻译： 本文公开了一种构建在动态环境中移动的移动平台的地图的方法，并且使用3D摄像机传感器（例如IR TOF摄像机传感器）来检测物体用于定位。 用于分离和映射动态对象和静态对象的定位技术被应用于诸如无人驾驶车辆或移动机器人的移动平台。 因此，本方法能够在具有大量动态对象的动态环境中基于静态对象准确地构建地图信息，并且使用获取的用于构建地图的位置信息来实现动态对象回避或追逐功能。

公开(公告)号：US20120089295A1

公开(公告)日：2012-04-12

申请号：US13236050

申请日：2011-09-19

申请人： Sung Hwan AHN ,  Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon

发明人： Sung Hwan AHN ,  Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon

IPC分类号： G05D1/00

CPC分类号： G05D1/0274 ,  G05D1/0242 ,  G05D2201/0217

摘要： A moving robot and a method to build a map for the same, wherein a 3D map for an ambient environment of the moving robot may be built using a Time of Flight (TOF) camera that may acquire 3D distance information in real time. The method acquires 3D distance information of an object present in a path along which the moving robot moves, accumulates the acquired 3D distance information to construct a map of a specific level and stores the map in a database, and then hierarchically matches maps stored in the database to build a 3D map for a set space. This method may quickly and accurately build a 3D map for an ambient environment of the moving robot.

摘要翻译： 一种移动机器人和用于构建其的地图的方法，其中可以使用可以实时获取3D距离信息的飞行时间（TOF）相机来构建移动机器人的周围环境的3D地图。 该方法获取存在于移动机器人移动的路径中的对象的3D距离信息，累积获取的3D距离信息以构建特定级别的地图，并将该地图存储在数据库中，然后分层地匹配存储在 数据库构建一个集合空间的3D地图。 该方法可以快速且准确地构建移动机器人的周围环境的3D地图。

公开(公告)号：US09254571B2

公开(公告)日：2016-02-09

申请号：US13307169

申请日：2011-11-30

申请人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

发明人： Seung Yong Hyung ,  Kyung Shik Roh ,  Suk June Yoon ,  Sung Hwan Ahn

IPC分类号： B25J9/10 ,  B25J9/16 ,  G05D1/02

CPC分类号： B25J9/1666 ,  G05B2219/40442 ,  G05B2219/40475 ,  G05D1/024 ,  G05D1/0274

摘要： A robot and a method for creating a robot path. The method for planning the robot path includes generating a depth map including a plurality of cells by measuring a distance to an object, dividing a boundary among the plurality of cells into a plurality of partitions according to individual depth values of the cells, and extracting a single closed loop formed by the divided boundary, obtaining a position and shape of the object located at a first time through the extracted single closed loop, calculating a probability that the object is located at a second time after t seconds on the basis of the obtained position and shape of the object located at the first time, and creating a moving path simultaneously while avoiding the object according to the calculated probability, thereby creating an optimum path without colliding with the object.

摘要翻译： 机器人和创建机器人路径的方法。 用于规划机器人路径的方法包括：通过测量到对象的距离来生成包括多个单元的深度图，根据单元的各个深度值将多个单元之间的边界划分成多个分区，并且提取 通过分割边界形成的单个闭环，通过提取的单个闭环获得位于第一时间的对象的位置和形状，基于获得的计算在t秒之后的第二时间计算对象位于的概率 位于第一时间的对象的位置和形状，并且根据所计算的概率同时避免对象创建移动路径，从而创建最佳路径而不与对象相冲突。

公开(公告)号：US08824775B2

公开(公告)日：2014-09-02

申请号：US12654160

申请日：2009-12-11

申请人： Suk June Yoon ,  Kyung Shik Roh ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Sung Hwan Ahn

发明人： Suk June Yoon ,  Kyung Shik Roh ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Sung Hwan Ahn

IPC分类号： G06K9/00

CPC分类号： G06T7/248 ,  G06T7/55 ,  G06T2207/10016 ,  G06T2207/10028

摘要： Disclosed herein are a feature point used to localize an image-based robot and build a map of the robot and a method of extracting and matching an image patch of a three-dimensional (3D) image, which is used as the feature point. It is possible to extract the image patch converted into the reference image using the position information of the robot and the 3D position information of the feature point. Also, it is possible to obtain the 3D surface information with the brightness values of the image patches to obtain the match value with the minimum error by a 3D surface matching method of matching the 3D surface information of the image patches converted into the reference image through the ICP algorithm.

摘要翻译： 这里公开的是用于本地化基于图像的机器人并构建机器人的映射的特征点以及用于提取和匹配用作特征点的三维（3D）图像的图像块的方法。 可以使用机器人的位置信息和特征点的3D位置信息来提取转换为参考图像的图像块。 另外，可以利用图像斑块的亮度值获得3D表面信息，以通过3D图像匹配方法获得具有最小误差的匹配值，该3D表面匹配方法通过匹配转换成参考图像的图像斑块的3D表面信息 ICP算法。

公开(公告)号：US08791960B2

公开(公告)日：2014-07-29

申请号：US12905649

申请日：2010-10-15

申请人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwa Ahn

发明人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwa Ahn

IPC分类号： G09G5/00

CPC分类号： G06T19/006 ,  G06T7/246 ,  G06T2207/10016

摘要： Disclosed herein are a markerless augmented reality system and method for extracting feature points within an image and providing augmented reality using a projective invariant of the feature points. The feature points are tracked in two images photographed while varying the position of an image unit, a set of feature points satisfying a plane projective invariant is obtained from the feature points, and augmented reality is provided based on the set of feature points. Accordingly, since the set of feature points satisfies the plane projective invariant even when the image unit is moved and functions as a marker, a separate marker is unnecessary. In addition, since augmented reality is provided based on the set of feature points, a total computation amount is decreased and augmented reality is more efficiently provided.

摘要翻译： 这里公开了一种无标记增强现实系统和方法，用于提取图像内的特征点，并使用特征点的投影不变量提供增强现实。 在改变图像单元的位置的同时拍摄的两幅图像中跟踪特征点，从特征点获得满足平面投影不变性的一组特征点，并且基于该特征点集提供增强现实。 因此，即使当图像单元被移动并用作标记时，由于特征点集合满足平面投影不变性，因此不需要单独的标记。 此外，由于基于特征点集合提供增强现实，所以总计算量减少，增强现实更有效地提供。

公开(公告)号：US08718326B2

公开(公告)日：2014-05-06

申请号：US13298834

申请日：2011-11-17

申请人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwan Ahn

发明人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwan Ahn

IPC分类号： G06K9/00

CPC分类号： G06T7/593 ,  G06T2207/10012 ,  G06T2207/10028

摘要： A system and method for extracting 3D coordinates, the method includes obtaining, by a stereoscopic image photographing unit, two images of a target object, and obtaining 3D coordinates of the object on the basis of coordinates of each pixel of the two images, measuring, by a Time of Flight (TOF) sensor unit, a value of a distance to the object, and obtaining 3D coordinates of the object on the basis of the measured distance value, mapping pixel coordinates of each image to the 3D coordinates obtained through the TOF sensor unit, and calibrating the mapped result, determining whether each set of pixel coordinates and the distance value to the object measured through the TOF sensor unit are present, calculating a disparity value on the basis of the distance value or the pixel coordinates, and calculating 3D coordinates of the object on the basis of the calculated disparity value.

摘要翻译： 一种用于提取3D坐标的系统和方法，所述方法包括：通过立体图像拍摄单元获取目标对象的两个图像，并且基于两个图像的每个像素的坐标来获得对象的3D坐标， 通过飞行时间（TOF）传感器单元，到物体的距离的值，并且基于测量的距离值获得对象的3D坐标，将每个图像的像素坐标映射到通过TOF获得的3D坐标 传感器单元，并且校准映射结果，确定是否存在通过TOF传感器单元测量的每组像素坐标和距离值，基于距离值或像素坐标计算视差值，并计算 基于计算出的视差值对象的3D坐标。

公开(公告)号：US08498472B2

公开(公告)日：2013-07-30

申请号：US12979036

申请日：2010-12-27

申请人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwan Ahn

发明人： Suk June Yoon ,  Kyung Shik Roh ,  Seung Yong Hyung ,  Sung Hwan Ahn

IPC分类号： G06K9/32 ,  G06T15/10

CPC分类号： G06T7/73 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20164 ,  G06T2207/30248

摘要： An image-based localization feature point registration apparatus includes a camera to capture an image, a feature point extractor to extract a feature point from the captured image, a calculator to calculate depth information about the feature point according to whether the feature point is one of two-dimensional (2D) and a three-dimensional (3D) corner, and a feature point register to register 3D coordinates of the feature point based on the depth information about the feature point and image coordinates of the feature point.

摘要翻译： 基于图像的定位特征点注册装置包括拍摄图像的相机，从拍摄图像提取特征点的特征点提取器，计算器，根据特征点是否是其中之一来计算关于特征点的深度信息 二维（2D）和三维（3D）角，以及特征点寄存器，用于基于关于特征点的特征点和图像坐标的深度信息来注册特征点的3D坐标。

公开(公告)号：US20120158178A1

公开(公告)日：2012-06-21

申请号：US13307169

申请日：2011-11-30

申请人： Seung Yong HYUNG ,  Kyung Shik Roh ,  Suk June Yoon

发明人： Seung Yong HYUNG ,  Kyung Shik Roh ,  Suk June Yoon

IPC分类号： B25J9/10

CPC分类号： B25J9/1666 ,  G05B2219/40442 ,  G05B2219/40475 ,  G05D1/024 ,  G05D1/0274

摘要： A robot and a method for creating a robot path. The method for planning the robot path includes generating a depth map including a plurality of cells by measuring a distance to an object, dividing a boundary among the plurality of cells into a plurality of partitions according to individual depth values of the cells, and extracting a single closed loop formed by the divided boundary, obtaining a position and shape of the object located at a first time through the extracted single closed loop, calculating a probability that the object is located at a second time after t seconds on the basis of the obtained position and shape of the object located at the first time, and creating a moving path simultaneously while avoiding the object according to the calculated probability, thereby creating an optimum path without colliding with the object.

摘要翻译： 机器人和创建机器人路径的方法。 用于规划机器人路径的方法包括：通过测量到对象的距离来生成包括多个单元的深度图，根据单元的各个深度值将多个单元之间的边界划分成多个分区，并且提取 通过分割边界形成的单个闭环，通过提取的单个闭环获得位于第一时间的对象的位置和形状，基于获得的计算在t秒之后的第二时间计算对象位于的概率 位于第一时间的对象的位置和形状，并且根据所计算的概率同时避免对象创建移动路径，从而创建最佳路径而不与对象相冲突。