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：US20100172571A1

公开(公告)日：2010-07-08

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表面匹配方法将经过参考图像转换成参考图像的图像斑块的3D表面信息匹配 ICP算法。

公开(公告)号：US09058521B2

公开(公告)日：2015-06-16

申请号：US13218844

申请日：2011-08-26

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

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

IPC分类号： G06K9/00 ,  G05D1/02 ,  G06T7/00

CPC分类号： G06K9/00664 ,  G05D1/0253 ,  G05D1/0274 ,  G05D2201/0207 ,  G06T7/77 ,  G06T2207/10016 ,  G06T2207/20076 ,  G06T2207/30244 ,  G06T2207/30252

摘要： A simultaneous localization and map building method of a mobile robot including an omni-directional camera. The method includes acquiring an omni-directional image from the omni-directional camera, dividing the obtained omni-directional image into upper and lower images according to a preset reference to generate a first image, which is the lower image, and a second image, which is the upper image, extracting feature points from the first image and calculating visual odometry information calculating visual odometry information to track locations of the extracted feature points based on a location of the omni-directional camera, and performing localization and map building of the mobile robot using the calculated visual odometry information and the second image as an input of an extended Kalman filter.

摘要翻译： 包括全向摄像机的移动机器人的同时定位和地图构建方法。 该方法包括从全向摄像机获取全方位图像，根据预设参考将所获得的全方位图像划分为上下图像，以生成作为较低图像的第一图像和第二图像， 其是上图像，从第一图像提取特征点并计算视觉测距信息，计算视觉测距信息，以基于全向相机的位置跟踪提取的特征点的位置，以及执行移动台的定位和地图构建 机器人使用计算的视觉测距信息，第二个图像作为扩展卡尔曼滤波器的输入。

公开(公告)号：US08553980B2

公开(公告)日：2013-10-08

申请号：US12844259

申请日：2010-07-27

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

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

IPC分类号： G06K9/34

CPC分类号： G06K9/4671 ,  G06T7/11 ,  G06T2207/30252

摘要： Disclosed herein are a method and apparatus for extracting feature points using hierarchical image segmentation and an image based localization method using the extracted feature points. An image is segmented using an affinity degree obtained using information observed during position estimation, new feature points are extracted from segmented areas in which registered feature points are not included, and position estimation is performed based on the new feature points. Accordingly, stable and reliable localization may be performed.

摘要翻译： 本文公开了一种使用分层图像分割提取特征点的方法和装置，以及使用提取的特征点的基于图像的定位方法。 使用在位置估计期间观察到的信息获得的亲和度对图像进行分割，从不包括登记特征点的分割区域提取新的特征点，并且基于新的特征点进行位置估计。 因此，可以执行稳定和可靠的定位。

公开(公告)号：US08406484B2

公开(公告)日：2013-03-26

申请号：US12980913

申请日：2010-12-29

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 ,  G06T15/00 ,  G06T11/20

CPC分类号： G06K9/00214 ,  G06K9/00288 ,  G06K9/00899

摘要： Two-dimensional image information and three-dimensional image information of a subject are acquired, facial recognition is performed using the two-dimensional image information to determine whether a recognized face is a registered user's face, an elliptical model of the user is matched to the three-dimensional image information to calculate an error if it is determined that the recognized face is the user's face, and it is determined whether the user's face is improperly used based on the error. The subject's face is determined using the two-dimensional image information and the three-dimensional image information of the subject and it is determined whether the recognized face is improperly used, thereby improving facial recognition reliability. Thus, information security is improved.

摘要翻译： 获取对象的二维图像信息和三维图像信息，使用二维图像信息进行面部识别，以确定识别的脸部是否是注册用户的脸部，将用户的椭圆形模型与 三维图像信息，如果确定识别的脸部是用户的脸部，则根据错误确定用户的脸部是否被不正确地使用来计算错误。 使用二维图像信息和被摄体的三维图像信息确定被检者的脸部，并且确定识别的脸部是否被不正确地使用，从而提高面部识别可靠性。 因此，信息安全得到改善。

公开(公告)号：US20120155775A1

公开(公告)日：2012-06-21

申请号：US13326680

申请日：2011-12-15

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

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

IPC分类号： G06K9/46

CPC分类号： G06T7/0042 ,  G05D1/0248 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0217 ,  G06T7/73

摘要： A walking robot and a simultaneous localization and mapping method thereof in which odometry data acquired during movement of the walking robot are applied to image-based SLAM technology so as to improve accuracy and convergence of localization of the walking robot. The simultaneous localization and mapping method includes acquiring image data of a space about which the walking robot walks and rotational angle data of rotary joints relating to walking of the walking robot, calculating odometry data using kinematic data of respective links constituting the walking robot and the rotational angle data, and localizing the walking robot and mapping the space about which the walking robot walks using the image data and the odometry data.

摘要翻译： 一种步行机器人及其同步定位和映射方法，其中将行走机器人移动期间获取的测距数据应用于基于图像的SLAM技术，以提高步行机器人的定位精度和收敛性。 同步定位和映射方法包括获取步行机器人行走的空间的图像数据和与步行机器人的步行相关的旋转接头的旋转角度数据，使用构成步行机器人的各个链接的运动学数据和旋转的计算数据 角度数据，并定位步行机器人，并使用图像数据和测距数据绘制步行机器人走路的空间。

公开(公告)号：US20120134537A1

公开(公告)日：2012-05-31

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：US20120114174A1

公开(公告)日：2012-05-10

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

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：US20110165893A1

公开(公告)日：2011-07-07

申请号：US12977536

申请日：2010-12-23

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： H04W64/00 ,  G06T7/00

CPC分类号： H04W4/04 ,  G01S5/0252 ,  G06T7/73 ,  G06T2207/30244

摘要： An augmented reality (AR) service apparatus includes a camera to capture an actual image, a controller to receive feature point information about the captured image from at least one of a plurality of base stations (BSs), detect a location of the camera by matching data of feature points with data of the image, and provide location-based information in a same direction as the captured image according to the location of the camera, and a display to realize an AR service by combining the captured image with the location-based information under control of the controller.

摘要翻译： 增强现实（AR）服务设备包括用于捕获实际图像的相机，控制器，用于从多个基站（BS）中的至少一个接收关于所捕获的图像的特征点信息，通过匹配来检测相机的位置 特征点的数据与图像的数据相关联，并且根据相机的位置以与捕获的图像相同的方向提供基于位置的信息，以及通过将捕获的图像与基于位置的方式相结合来实现AR服务的显示器 控制器控制下的信息。

公开(公告)号：US20100161225A1

公开(公告)日：2010-06-24

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： G06F7/00 ,  G06T17/00

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。