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公开(公告)号：US07443115B2
公开(公告)日：2008-10-28
申请号：US10694116
申请日：2003-10-27
IPC分类号： H02P1/54
CPC分类号： B25J9/1612 , B25J13/083
摘要： A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.
摘要翻译： 机器人臂设置有用于抓握物体的末端执行器和用于检测作用在末端执行器上的力的力传感器。 在末端执行器抓住物体的状态下，当由力传感器检测到的作用在末端执行器上的力的变化时，输出的是用于释放抓住物体的末端执行器的力的信号。 终端执行者掌握的物体可以被拿走，好像物体由人转移到人身上。
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公开(公告)号：US20090018700A1
公开(公告)日：2009-01-15
申请号：US12233079
申请日：2008-09-18
IPC分类号： B25J13/02
CPC分类号： B25J9/1612 , B25J13/083
摘要： A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.
摘要翻译： 机器人臂设置有用于抓握物体的末端执行器和用于检测作用在末端执行器上的力的力传感器。 在末端执行器抓住物体的状态下，当由力传感器检测到的作用在末端执行器上的力的变化时，输出用于释放抓住物体的末端执行器的力的信号。 终端执行者掌握的物体可以被拿走，好像物体由人转移到人身上。
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公开(公告)号：US07888900B2
公开(公告)日：2011-02-15
申请号：US12233079
申请日：2008-09-18
IPC分类号： G05B19/04
CPC分类号： B25J9/1612 , B25J13/083
摘要： A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.
摘要翻译： 机器人臂设置有用于抓握物体的末端执行器和用于检测作用在末端执行器上的力的力传感器。 在末端执行器抓住物体的状态下，当由力传感器检测到的作用在末端执行器上的力的变化时，输出用于释放抓住物体的末端执行器的力的信号。 终端执行者掌握的物体可以被拿走，好像物体由人转移到人身上。
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公开(公告)号：US07277123B1
公开(公告)日：2007-10-02
申请号：US09581004
申请日：1999-10-06
IPC分类号： H04N7/18
CPC分类号： B62D15/02 , B60R1/00 , B60R2300/102 , B60R2300/105 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/307 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , B62D15/027 , B62D15/028 , G06T17/05 , H04N7/181
摘要： A vehicle-operation assist includes a circumferential-state imager for imaging a circumferential state of a vehicle with a camera and generating a circumferential-state image; a synthetic-image generator for generating a synthetic image by superimposing on the circumferential-state image, an assumed-movement pattern of the vehicle performing a predetermined series of driving operations; and a display for displaying the synthetic image. The circumferential-state imager has at least one camera and a camera parameter table for storing characteristics of the camera and generating the circumferential-state image on the basis of the camera characteristics.
摘要翻译： 车辆操作辅助包括周向状态成像器，用于利用照相机对车辆的周向状态进行成像并产生周向状态图像; 合成图像生成器，用于通过叠加在周向状态图像上，执行执行预定的一系列驾驶操作的车辆的假想移动模式来产生合成图像; 以及用于显示合成图像的显示器。 圆周状态成像器具有至少一个照相机和照相机参数表，用于存储照相机的特性并基于照相机特征产生圆周状态图像。
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公开(公告)号：US07266219B2
公开(公告)日：2007-09-04
申请号：US10088606
申请日：2001-07-19
申请人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura , Nobuhiko Yasui , Akira Ishida , Atsushi Iisaka , Takashi Yoshida
发明人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura , Nobuhiko Yasui , Akira Ishida , Atsushi Iisaka , Takashi Yoshida
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/105 , B60R2300/207 , B60R2300/30 , B60R2300/305 , B60R2300/404 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , G06T15/10
摘要： For supporting a complicated driving operation, a synthesized image is presented to the driver. The driver can view this image and thus drive with a sense of security. The synthesized image may include an image of at least one tire and may have an enlargement/reduction ratio that is relatively higher in a nearby area of the vehicle, including a grounding portion of at least one tire of the vehicle, as compared with a peripheral area of the vehicle.
摘要翻译： 为了支持复杂的驾驶操作，向驾驶员呈现合成图像。 司机可以查看此图像，从而以安全感驱动。 合成图像可以包括至少一个轮胎的图像，并且可以具有在车辆的附近区域中相对较高的放大/缩小比率，包括车辆的至少一个轮胎的接地部分，与外围设备相比 车辆区域。
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公开(公告)号：US06181806B2
公开(公告)日：2001-01-30
申请号：US09318823
申请日：1999-05-26
申请人： Yoshiyasu Kado , Masamichi Nakagawa , Kunio Nobori
发明人： Yoshiyasu Kado , Masamichi Nakagawa , Kunio Nobori
IPC分类号： G06K900
CPC分类号： G06K9/00255 , G06K9/00268 , G06K9/00281
摘要： The present invention inputs a face image through an image input section, extracts feature points of face components such as an eye, nose, mouth from the input face image, and divides the face image into many patches according to predetermined rules to describe the face image as a set of patches. Then the present invention extracts a feature amount for each patch to describe the face image as a set of feature amounts to identify a person.
摘要翻译： 本发明通过图像输入部输入面部图像，从输入面部图像中提取诸如眼睛，鼻子，口部等面部成分的特征点，并根据预定规则将面部图像划分成多个贴片，以描述脸部图像 作为一组补丁。 然后，本发明提取每个贴片的特征量，以将脸部图像描述为用于识别人的一组特征量。
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公开(公告)号：US6166746A
公开(公告)日：2000-12-26
申请号：US505607
申请日：1995-07-21
CPC分类号： G06T13/40
摘要： An image processing apparatus has a three-dimensional joint position storing circuit for storing a three-dimensional coordinate position for each of available joints of an object at each frame for a standard action; a geometric data storing circuit for storing geometric data for at least a portion of the object based on unique coordinate systems for each of the available joints; a unique coordinate system determining circuit for determining the unique coordinate system for each of the available joints based on the stored three-dimensional coordinate positions; a three-dimensional joint angle computing circuit for computing a three-dimensional joint angle for at least one of the available joints based on a desired mode of action modification and the determined unique coordinate systems; a joint angle displacing circuit for displacing the three-dimensional joint angle for at least one of the available joints; a unique coordinate system generating circuit for generating the unique coordinate system for at least one of the available joints; and an action synthesizing circuit for assigning the geometric data corresponding to each of the available joints.
摘要翻译： 一种图像处理装置具有三维关节位置存储电路，用于存储用于标准动作的每个帧处的对象的每个可用关节的三维坐标位置; 几何数据存储电路，用于基于每个可用关节的唯一坐标系存储用于至少一部分对象的几何数据; 一个独特的坐标系确定电路，用于基于存储的三维坐标位置确定每个可用关节的唯一坐标系; 三维关节角度计算电路，用于基于期望的作用修改模式和确定的唯一坐标系统计算至少一个可用关节的三维关节角度; 关节角位移电路，用于移位用于至少一个可用接头的三维关节角; 唯一的坐标系生成电路，用于为至少一个可用关节产生独特的坐标系; 以及动作合成电路，用于分配对应于每个可用关节的几何数据。
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公开(公告)号：US5479529A
公开(公告)日：1995-12-26
申请号：US158636
申请日：1993-11-29
IPC分类号： A63F9/06 , A63F13/00 , G06T1/00 , H05K1/00 , H05K1/02 , H05K1/09 , H05K1/11 , H05K1/18 , H05K3/00 , H05K3/24 , H05K3/28 , H05K3/34 , H05K3/36 , H05K3/38 , H05K3/42 , H05K3/46 , G06K9/00
CPC分类号： G06K9/00268
摘要： A character and fortune telling apparatus for hobby use comprises an input unit for generating a two-dimensional image based on a person's face, a feature extraction unit for extracting the coordinates and distances expressing the shapes and positions of the features of the face, from the two-dimensional image, and an output unit for producing personal information about a person from the extracted features, and for outputting the information on an appropriate output device.
摘要翻译： 一种用于爱好使用的角色和命运装置包括：用于基于人的脸部生成二维图像的输入单元，用于从表面的特征提取表示脸部特征的形状和位置的坐标和距离的特征提取单元 二维图像和用于从提取的特征产生关于人的个人信息的输出单元，以及用于在适当的输出设备上输出信息。
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公开(公告)号：US5410609A
公开(公告)日：1995-04-25
申请号：US926914
申请日：1992-08-07
CPC分类号： G06K9/00288 , G06K9/00315
摘要： In an apparatus for identification of individuals, a facial image of an individual to be identified is inputted into a visual image input unit and characteristic points of the inputted facial image are extracted by a characteristics extracting unit. Characteristic points of expressionless facial images of individuals to be identified are stored in a data base. The difference between the characteristic points from the data base of individuals and the characteristic points from the inputted facial image is detected by a difference detecting unit. Further, the apparatus is equipped with a database of expression muscles wherein expression muscle movement vectors to form facial expressions are described. The apparatus is also equipped with an information processing unit whereby the difference information obtained from the difference detecting unit and the information as described in the data base of expression muscles are processed. By this processed information, coupled with the facial image inputted from the visual image input unit, the subject in question is identified.
摘要翻译： 在用于识别个体的装置中，要识别的个体的面部图像被输入到视觉图像输入单元，并且通过特征提取单元提取输入的面部图像的特征点。 要识别的个体的无表情面部图像的特征点存储在数据库中。 来自个人数据库的特征点与来自输入的面部图像的特征点之间的差异由差异检测单元检测。 此外，该装置配备有表达肌肉的数据库，其中描述了形成面部表情的表达肌肉运动向量。 该装置还配备有信息处理单元，由此处理从差异检测单元获得的差异信息和表达肌肉的数据库中描述的信息。 通过该处理的信息，与从视觉图像输入单元输入的面部图像相结合，识别出所讨论的被摄体。
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公开(公告)号：US20120218413A1
公开(公告)日：2012-08-30
申请号：US13468661
申请日：2012-05-10
IPC分类号： H04N7/18
CPC分类号： G06T15/20 , B60R1/00 , B60R2300/207 , B60R2300/30 , B60R2300/60 , B60R2300/8066 , G06T5/006 , H04N7/181
摘要： A camera for taking a state behind a vehicle is installed in a position laterally shifted from the rear center of the vehicle. An image processing unit generates a rear image from a camera image by shifting merely a rectangular area of the camera image so that a vertical center line thereof can substantially accord with the center line along the lengthwise direction of the vehicle. Furthermore, processing for correcting lens distortion may be performed. As a result, when the vehicle is moved straight backward, an object present on the center line of the vehicle moves vertically in substantially the center of the screen, so that a user can be prevented from having an odd feeling to see the image.
摘要翻译： 在车辆后方拍摄状态的照相机安装在从车辆后方侧向偏移的位置。 图像处理单元仅通过仅移动摄像机图像的矩形区域从而使其垂直中心线基本上与沿着车辆的长度方向的中心线一致，从摄像机图像生成后方图像。 此外，可以执行用于校正透镜失真的处理。 结果，当车辆向后移动时，存在于车辆的中心线上的物体在屏幕的大致中心处垂直移动，从而可以防止用户看到图像的奇怪的感觉。
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