公开(公告)号：US08289321B2

公开(公告)日：2012-10-16

申请号：US10593150

申请日：2005-03-17

申请人： Steffen Gutmann ,  Masaki Fukuchi ,  Kohtaro Sabe ,  Kenta Kawamoto

发明人： Steffen Gutmann ,  Masaki Fukuchi ,  Kohtaro Sabe ,  Kenta Kawamoto

IPC分类号： G06T15/30

CPC分类号： G06K9/00664 ,  B62D57/024 ,  G06K9/00201 ,  G06T7/13 ,  G06T7/73 ,  G06T2207/30252

摘要： In a plane detection apparatus, a plane detection unit (3) includes a line fitting block (4) to select a group of distance data points being in one plane from distance data forming an image and extract lines from the distance data point group, and a region growing block (5) to detect one or more planar regions existing in the image from a group of all lines included in the image and extracted by the line fitting block (4). The line fitting block (4) first draws a line D1 connecting end points of the distance data point group, searches a point of interest brk whose distance to the line L1 is largest, segments the data point group by the point of interest brk when the distance is larger than a predetermined threshold, and determines a line L2 by the least-squares method when the distance is smaller than the predetermined threshold. In case there exists a larger number of data points than a predetermine number on one side of the line L2, the data point group is determined to be in a zig-zag shape, the data point group is segmented by the point of interest brk. These operations are done repeatedly. Thus, a plurality of planes robust against noises is detected simultaneously and accurately from distance data including measurement noises.

摘要翻译： 在平面检测装置中，平面检测装置（3）包括线拟合块（4），用于从形成图像的距离数据中选择位于一个平面中的一组距离数据点，并从距离数据点组提取线， 区域生长块（5），用于检测图像中存在的一个或多个平面区域，所述平面区域包括在所述图像中并由所述线拟合块（4）提取。 线拟合块（4）首先画出连接距离数据点组的端点的线D1，搜索距离线L1的距离最大的兴趣点brk，当数据点组的距离为 距离大于预定阈值，并且当距离小于预定阈值时，通过最小二乘法确定线路L2。 在线L2的一侧存在比预定数更多的数据点的情况下，数据点组被确定为Z字形，数据点组被兴趣点brk分割。 这些操作重复完成。 因此，从包括测量噪声的距离数据同时且准确地检测到抵抗噪声的多个平面。

公开(公告)号：US07386163B2

公开(公告)日：2008-06-10

申请号：US10387647

申请日：2003-03-13

申请人： Kohtaro Sabe ,  Kenta Kawamoto ,  Takeshi Ohashi ,  Masaki Fukuchi ,  Atsushi Okubo ,  Steffen Gutmann

发明人： Kohtaro Sabe ,  Kenta Kawamoto ,  Takeshi Ohashi ,  Masaki Fukuchi ,  Atsushi Okubo ,  Steffen Gutmann

IPC分类号： G06K9/00 ,  H04N15/00 ,  H04N7/00 ,  H04N7/18 ,  G06F19/00 ,  G06F17/10 ,  G01C22/00

CPC分类号： G06K9/00664 ,  G06T7/97

摘要： An obstacle recognition apparatus is provided which can recognize an obstacle by accurately extracting a floor surface. It includes a distance image generator (222) to produce a distance image using a disparity image and homogeneous transform matrix, a plane detector (223) to detect plane parameters on the basis of the distance image from the distance image generator (222), a coordinate transformer (224) to transform the homogeneous transform matrix into a coordinate of a ground-contact plane of a robot apparatus (1), and a floor surface detector (225) to detect a floor surface using the plane parameters from the plane detector (223) and result of coordinate transformation from the coordinate transformer (224) and supply the plane parameters to an obstacle recognition block (226). The obstacle recognition block (226) selects one of points on the floor surface using the plane parameters of the floor surface detected by the floor surface detector (225) and recognizes an obstacle on the basis of the selected point.

摘要翻译： 提供了能够通过精确地提取地板面来识别障碍物的障碍物识别装置。 它包括使用视差图像和均匀变换矩阵产生距离图像的距离图像生成器（222），基于距离图像生成器（222）的距离图像检测平面参数的平面检测器（223）， 将所述均匀变换矩阵变换为机器人装置（1）的接地面的坐标的坐标变换器（224）和使用来自所述平面检测器的平面参数来检测地板面的地板面检测器（225） 223）和从坐标变换器（224）的坐标变换的结果，并将平面参数提供给障碍物识别块（226）。 障碍物识别块（226）使用由地板表面检测器（225）检测到的地板表面的平面参数来选择地板表面上的一个点，并基于所选择的点识别障碍物。

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。

公开(公告)号：US07912583B2

公开(公告)日：2011-03-22

申请号：US11165047

申请日：2005-06-24

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

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

IPC分类号： G06F19/00 ,  G01C21/00

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。

公开(公告)号：US20070122012A1

公开(公告)日：2007-05-31

申请号：US11656115

申请日：2007-01-22

申请人： Atsushi Okubo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Masaki Fukuchi

发明人： Atsushi Okubo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Masaki Fukuchi

IPC分类号： G06K9/00

CPC分类号： G06K9/00228 ,  G06K9/00221 ,  G06T7/246 ,  G06T7/90

摘要： A robot apparatus includes face includes a face tracking module (M2) for tracking a face in an image photographed by a CCD camera, a face detecting module (M1) for detecting face data of the face in the image photographed by the image pickup device, based on the face tracking information by the face tracking module (M2) and a face identification module (M3) for identifying a specified face based on the face data as detected by the face data detecting module (M1).

摘要翻译： 一种机器人装置，包括面部跟踪模块（M 2），用于跟踪由CCD照相机拍摄的图像中的脸部，面部检测模块（M 1），用于检测由图像拾取器拍摄的图像中的脸部的脸部数据 基于面部追踪模块（M 2）的脸部跟踪信息和面部识别模块（M 3），根据面部数据检测模块（M1）检测到的面部数据，识别指定脸部的装置。

公开(公告)号：US07317817B2

公开(公告)日：2008-01-08

申请号：US11656115

申请日：2007-01-22

申请人： Atsushi Okubo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Masaki Fukuchi

发明人： Atsushi Okubo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Masaki Fukuchi

IPC分类号： G06K9/00

CPC分类号： G06K9/00228 ,  G06K9/00221 ,  G06T7/246 ,  G06T7/90

摘要： A robot apparatus includes face includes a face tracking module (M2) for tracking a face in an image photographed by a CCD camera, a face detecting module (M1) for detecting face data of the face in the image photographed by the image pickup device, based on the face tracking information by the face tracking module (M2) and a face identification module (M3) for identifying a specified face based on the face data as detected by the face data detecting module (M1).

摘要翻译： 一种机器人装置，包括面部跟踪模块（M 2），用于跟踪由CCD照相机拍摄的图像中的脸部，面部检测模块（M 1），用于检测由图像拾取器拍摄的图像中的脸部的脸部数据 基于面部追踪模块（M 2）的脸部跟踪信息和面部识别模块（M 3），根据脸部数据检测模块（M 1）检测到的脸部数据，识别指定脸部的装置。

公开(公告)号：US07200249B2

公开(公告)日：2007-04-03

申请号：US10181279

申请日：2001-11-19

申请人： Atsushi Okubo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Masaki Fukuchi

发明人： Atsushi Okubo ,  Kohtaro Sabe ,  Kenta Kawamoto ,  Masaki Fukuchi

IPC分类号： G06K9/00

CPC分类号： G06K9/00228 ,  G06K9/00221 ,  G06T7/246 ,  G06T7/90

摘要： A robot apparatus includes face includes a face tracking module (M2) for tracking a face in an image photographed by a CCD camera, a face detecting module (M1) for detecting face data of the face in the image photographed by the image pickup device, based on the face tracking information by the face tracking module (M2) and a face identification module (M3) for identifying a specified face based on the face data as detected by the face data detecting module (M1).

摘要翻译： 一种机器人装置，包括面部跟踪模块（M 2），用于跟踪由CCD照相机拍摄的图像中的脸部，面部检测模块（M 1），用于检测由图像拾取器拍摄的图像中的脸部的脸部数据 基于面部追踪模块（M 2）的脸部跟踪信息和面部识别模块（M 3），根据脸部数据检测模块（M 1）检测到的脸部数据，识别指定脸部的装置。

公开(公告)号：US07865267B2

公开(公告)日：2011-01-04

申请号：US10941813

申请日：2004-09-16

申请人： Kohtaro Sabe ,  Steffen Gutmann

发明人： Kohtaro Sabe ,  Steffen Gutmann

IPC分类号： G06F19/00

CPC分类号： G06K9/00691 ,  G05D1/0251 ,  G05D1/0274 ,  G05D2201/0217 ,  G06K9/00201

摘要： An environment recognizing device and an environment recognizing method can draw an environment map for judging if it is possible to move a region where one or more than one steps are found above or below a floor, a route planning device and a route planning method that can appropriately plan a moving route, using such an environment map and a robot equipped with such an environment recognizing device and a route planning device. The robot comprises an environment recognizing section including a plurality of plane extracting section 401 adapted to compute plane parameters from a parallax image or a distance image and extract a plurality of planes including the floor surface, an obstacle recognizing section 402 adapted to recognize obstacles on the plurality of planes including the floor surface and an environment map updating section 403 adapted to draw an environment map (obstacle map) for each of the planes on the basis of the result of recognition of the obstacle recognizing section 402 and update the existing environment maps and a route planning section 404 adapted to plan a route on the basis of the environment maps. The route planning section 404 selects a plane as route coordinate when an obstacle is found on it in the environment map of the floor surface but not found in the environment map of the plane.

摘要翻译： 环境识别装置和环境识别方法可以画出用于判断是否可能移动在地板上方或下方发现一个或多个步骤的区域的环境地图，路线规划装置和路线规划方法，其可以 使用这样的环境地图和配备有这样的环境识别装置的机器人以及路径规划装置，适当地规划移动路线。 机器人包括环境识别部分，其包括适于从视差图像或距离图像计算平面参数的多个平面提取部分401，并且提取包括地面的多个平面;障碍物识别部分402，适于识别 包括地面的多个平面和适于根据障碍物识别部402的识别结果绘制每个平面的环境地图（障碍图）的环境地图更新部403，并且更新现有的环境地图和 路线规划部404，其适于基于环境图来规划路线。 路线规划部404在平面的环境地图中没有发现在地面的环境地图中发现障碍物时，选择平面作为路线坐标。

公开(公告)号：US09104980B2

公开(公告)日：2015-08-11

申请号：US13429130

申请日：2012-03-23

申请人： Kuniaki Noda ,  Takashi Hasuo ,  Kenta Kawamoto ,  Kohtaro Sabe

发明人： Kuniaki Noda ,  Takashi Hasuo ,  Kenta Kawamoto ,  Kohtaro Sabe

IPC分类号： G06K9/00 ,  G06N99/00

CPC分类号： G06N99/005

摘要： An information processing device includes a learning unit that performs, using an action performed by an object and an observation value of an image as learning data, learning of a separation learning model that includes a background model that is a model of the background of the image and one or more foreground model(s) that is a model of a foreground of the image, which can move on the background, in which the background model includes a background appearance model indicating the appearance of the background, and at least one among the one or more foreground model(s) includes a transition probability, with which a state corresponding to the position of the foreground on the background is transitioned by an action performed by the object corresponding to the foreground, for each action, and a foreground appearance model indicating the appearance of the foreground.

摘要翻译： 信息处理装置包括：学习单元，其使用由对象执行的动作和图像的观察值作为学习数据;学习包括作为图像的背景的模型的背景模型的分离学习模型; 以及一个或多个前景模型，其是可以在背景上移动的图像的前景的模型，其中背景模型包括指示背景的外观的背景外观模型，以及至少一个背景模型 一个或多个前景模型包括转移概率，对于每个动作，通过由对应于前景的对象执行的动作来转换对应于背景上的前景的位置的状态，以及前景外观模型 指示前景的外观。

公开(公告)号：USRE43873E1

公开(公告)日：2012-12-25

申请号：US13208123

申请日：2011-08-11

申请人： Kenichi Hidai ,  Kohtaro Sabe ,  Kenta Kawamoto

发明人： Kenichi Hidai ,  Kohtaro Sabe ,  Kenta Kawamoto

IPC分类号： G06K9/62 ,  G06K9/00

CPC分类号： G06K9/6282 ,  G06K9/00248 ,  G06K9/6256

摘要： An object detecting device for detecting an object in a given gradation image. A scaling section generates scaled images by scaling down a gradation image input from an image output section. A scanning section sequentially manipulates the scaled images and cutting out window images from them and a discriminator judges if each window image is an object or not. The discriminator includes a plurality of weak discriminators that are learned in a group by boosting and an adder for making a weighted majority decision from the outputs of the weak discriminators. Each of the weak discriminators outputs an estimate of the likelihood of a window image to be an object or not by using the difference of the luminance values between two pixels. The discriminator suspends the operation of computing estimates for a window image that is judged to be a non-object, using a threshold value that is learned in advance.

摘要翻译： 一种用于检测给定灰度图像中的物体的物体检测装置。 缩放部分通过缩小从图像输出部分输入的灰度图像来生成缩放图像。 扫描部分顺序地操纵缩放图像并从中切出窗口图像，并且鉴别器判断每个窗口图像是否是对象。 鉴别器包括通过升压在一组中学习的多个弱识别器和用于从弱识别器的输出进行加权多数决定的加法器。 每个弱识别器通过使用两个像素之间的亮度值的差异来输出窗口图像成为对象的可能性的估计。 鉴别器使用预先学习的阈值暂停对被判断为非对象的窗口图像的计算估计的操作。