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1.发明授权Diagnosing device for stereo camera mounted on robot, and diagnostic method of stereo camera mounted on robot apparatus 有权立体摄像机安装在机器人上的诊断装置，以及安装在机器人装置上的立体摄像机的诊断方法公开(公告)号：US07373270B2
公开(公告)日：2008-05-13
申请号：US10808947
申请日：2004-03-25
IPC分类号： G01C9/00
CPC分类号： B25J19/023 , H04N13/246
摘要： A diagnostic mat has a texture, which enables avoiding mismatching in diagnosis and calibration, such as uniform and unduplicated patterns, for example, random dot patterns, fractal, natural images, and the like. A robot apparatus placed on the diagnostic mat assumes a stance suitable for taking images of the diagnostic mat, creates a distance image from an image acquired by the stereo camera, and verifies the performance of the stereo camera based on the flatness of the diagnostic mat obtained from this distance image. This assists in diagnosing the offset of the stereo camera mounted on the robot apparatus due to the deterioration over time of the stereo camera, falling of the robot apparatus, and the like.
摘要翻译： 诊断垫具有纹理，其能够避免诊断和校准中的不匹配，例如均匀和未重复的图案，例如随机点图案，分形，自然图像等。 放置在诊断垫上的机器人装置采取适合拍摄诊断垫的姿势，从由立体摄像机获得的图像产生距离图像，并且基于获得的诊断垫的平坦度来验证立体摄像机的性能 从这个距离图像。 这有助于诊断安装在机器人装置上的立体照相机的偏移，这是由于立体照相机的劣化，机器人装置的落下等。
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公开(公告)号：US20090232363A1
公开(公告)日：2009-09-17
申请号：US12369241
申请日：2009-02-11
申请人： Takeshi OHASHI , Kohtaro Sabe , Kenichi Hidai
发明人： Takeshi OHASHI , Kohtaro Sabe , Kenichi Hidai
IPC分类号： G06K9/00
CPC分类号： G06K9/00281
摘要： An information processing apparatus includes: face detecting means for detecting the orientation of a face in a face image; weight distribution generating means for generating a weight distribution based on a statistical distribution of the position of a predetermined feature of the face in the face image according to the orientation of the face; first calculation means for calculating a first evaluation value for evaluating each of predetermined regions of the face image to determine whether the region is the predetermined feature of the face; and face feature identifying means for identifying the predetermined region as the predetermined feature of the face based on the first evaluation value and the weight distribution.
摘要翻译： 信息处理装置包括：面部检测装置，用于检测面部图像中的脸部的取向; 权重分布生成单元，根据面部的取向，根据脸部的脸部的规定特征的位置的统计分布生成体重分布; 第一计算装置，用于计算用于评估面部图像的每个预定区域的第一评估值，以确定该区域是否是面部的预定特征; 以及面部特征识别装置，用于基于第一评估值和重量分布，将预定区域识别为面部的预定特征。
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3.发明授权公开(公告)号：US08401283B2
公开(公告)日：2013-03-19
申请号：US12816779
申请日：2010-06-16
申请人： Kohtaro Sabe , Atsushi Okubo , Kenichi Hidai
发明人： Kohtaro Sabe , Atsushi Okubo , Kenichi Hidai
IPC分类号： G06K9/00
CPC分类号： G06K9/6256 , G06K9/00288 , G06K9/4614
摘要： An information processing apparatus includes the following elements. A learning unit is configured to perform Adaptive Boosting Error Correcting Output Coding learning using image feature values of a plurality of sample images each being assigned a class label to generate a multi-class classifier configured to output a multi-dimensional score vector corresponding to an input image. A registration unit is configured to input a register image to the multi-class classifier, and to register a multi-dimensional score vector corresponding to the input register image in association with identification information about the register image. A determination unit is configured to input an identification image to be identified to the multi-class classifier, and to determine a similarity between a multi-dimensional score vector corresponding to the input identification image and the registered multi-dimensional score vector corresponding to the register image.
摘要翻译： 信息处理装置包括以下要素。 学习单元被配置为使用多个样本图像的图像特征值来执行自适应提升误差校正输出编码学习，每个样本图像被分配类别标签，以生成被配置为输出与输入相对应的多维得分向量的多类分类器 图片。 注册单元被配置为将注册图像输入到多类分类器，并且与关于注册图像的识别信息相关联地注册与输入注册图像相对应的多维分数向量。 确定单元被配置为将要识别的识别图像输入到多类分类器，并且确定与输入的标识图像相对应的多维得分向量与对应于寄存器的登记的多维得分向量之间的相似度 图片。
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公开(公告)号：US20120072141A1
公开(公告)日：2012-03-22
申请号：US13231591
申请日：2011-09-13
申请人： Kenichi Hidai , Kohtaro Sabe , Takashi Hasuo , Naoki Ide
发明人： Kenichi Hidai , Kohtaro Sabe , Takashi Hasuo , Naoki Ide
IPC分类号： G06F19/00
CPC分类号： G06F17/18 , G01R19/2506 , G01R19/2516 , G01R21/001 , G01R22/10 , G06N7/005
摘要： A data processing device includes: a data obtaining section obtaining time series data on a total value of current consumed by a plurality of electric apparatuses; and a parameter estimating section obtaining a model parameter when states of operation of the plurality of electric apparatuses are modeled by a factorial HMM on a basis of the obtained time series data.
摘要翻译： 数据处理装置包括：数据获取部分，获得关于由多个电气设备消耗的电流总值的时间序列数据; 以及参数估计部，其基于所获得的时间序列数据，通过阶乘型HMM对多台电气设备的运转状态进行建模，得到模型参数。
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5.发明授权公开(公告)号：US07844108B2
公开(公告)日：2010-11-30
申请号：US11717019
申请日：2007-03-13
申请人： Kohtaro Sabe , Kenichi Hidai , Kei Koya
发明人： Kohtaro Sabe , Kenichi Hidai , Kei Koya
CPC分类号： G06K9/00228 , G06K9/6202 , G06K9/6257
摘要： An information processing apparatus includes a higher node having a plurality of weak discriminators that have learned a learning sample of a first label and a learning sample of a second label that has a predetermined coordinate relationship with the learning sample of the first label, a first lower node having a plurality of weak discriminators that have learned the learning sample of the first label based on the discrimination result of the higher node and a second lower node that has no weak discriminator.
摘要翻译： 信息处理装置包括具有多个弱识别器的较高节点，所述多个弱识别器已经学习了第一标签的学习样本和与第一标签的学习样本具有预定坐标关系的第二标签的学习样本，第一下部 节点具有基于较高节点的识别结果和不具有弱鉴别器的第二较低节点已经学习了第一标签的学习样本的多个弱鉴别器。
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公开(公告)号：US07783585B2
公开(公告)日：2010-08-24
申请号：US11697238
申请日：2007-04-05
申请人： Kohtaro Sabe , Kazumi Aoyama , Jun Yokono , Kenichi Hidai , Kuniaki Noda
发明人： Kohtaro Sabe , Kazumi Aoyama , Jun Yokono , Kenichi Hidai , Kuniaki Noda
CPC分类号： G06F15/18 , G06N3/0454 , G06N3/088
摘要： A data processing device for processing time-sequence data includes a learning unit for performing self-organizing learning of a SOM (self-organization map) making up a hierarchical SOM in which a plurality of SOMs are connected so as to construct a hierarchical structure, using, as SOM input data which is input to the SOM, a time-sequence of node information representing a winning node of a lower-order SOM which is at a lower hierarchical level from the SOM.
摘要翻译： 一种用于处理时间序列数据的数据处理装置，包括：学习单元，用于执行构成其中连接有多个SOM的层次化SOM的SOM（自组织图）的自组织学习，以构建层次结构， 使用作为输入到SOM的SOM输入数据，表示代表来自SOM的较低层级的低阶SOM的获胜节点的节点信息的时间序列。
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公开(公告)号：US20070250461A1
公开(公告)日：2007-10-25
申请号：US11697238
申请日：2007-04-05
申请人： Kohtaro Sabe , Kazumi Aoyama , Jun Yokono , Kenichi Hidai , Kuniaki Noda
发明人： Kohtaro Sabe , Kazumi Aoyama , Jun Yokono , Kenichi Hidai , Kuniaki Noda
IPC分类号： G06F15/18
CPC分类号： G06F15/18 , G06N3/0454 , G06N3/088
摘要： A data processing device for processing time-sequence data includes a learning unit for performing self-organizing learning of a SOM (self-organization map) making up a hierarchical SOM in which a plurality of SOMs are connected so as to construct a hierarchical structure, using, as SOM input data which is input to the SOM, a time-sequence of node information representing a winning node of a lower-order SOM which is at a lower hierarchical level from the SOM.
摘要翻译： 一种用于处理时间序列数据的数据处理装置，包括：学习单元，用于执行构成其中连接有多个SOM的层次化SOM的SOM（自组织图）的自组织学习，以构建层次结构， 使用作为输入到SOM的SOM输入数据，表示代表来自SOM的较低层级的低阶SOM的获胜节点的节点信息的时间序列。
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8.发明申请公开(公告)号：US20060195409A1
公开(公告)日：2006-08-31
申请号：US11350048
申请日：2006-02-09
申请人： Kohtaro Sabe , Kenichi Hidai
发明人： Kohtaro Sabe , Kenichi Hidai
IPC分类号： G06F15/18
CPC分类号： G05B13/0265
摘要： A learning control apparatus for controlling a learning operation of an apparatus sensing a state of an environment and selecting a behavior based on the sensed content, includes a predictor for learning the behavior and a change in the state of the environment, and predicting a change in the state of the environment in response to a predetermined behavior, a goal state setting unit for setting a goal state in the behavior, a planner for planning a behavior sequence from a current state to the goal state set by the goal state setting unit based on a prediction of the predictor, and a controller for controlling the behavior in the behavior sequence planned by the planning unit and learning an input and output relationship in the behavior.
摘要翻译： 一种学习控制装置，用于控制感测环境状态的装置的学习操作，并且基于感测到的内容选择行为，包括用于学习行为和环境状态变化的预测器，以及预测变化 响应于预定行为的环境状态，用于设置行为中的目标状态的目标状态设置单元，用于根据目标状态设置单元基于目标状态设置单元设置的目标状态来规划行为序列的计划器 预测器的预测，以及用于控制由规划单元计划的行为序列中的行为并且学习行为中的输入和输出关系的控制器。
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公开(公告)号：US20060195227A1
公开(公告)日：2006-08-31
申请号：US11350825
申请日：2006-02-10
申请人： Kohtaro Sabe , Kenichi Hidai
发明人： Kohtaro Sabe , Kenichi Hidai
IPC分类号： G06F19/00
CPC分类号： G06N99/005 , G05B13/021 , G05B13/026 , G05B13/0265 , G05B13/027
摘要： A behavior control apparatus to control behavior of a device capable of sensing a state of an environment and selecting an action on the basis of a sensing result is provided. The behavior control apparatus includes a predicting unit configured to learn the action and change in the state of the environment and predict change in the state of the environment caused by a predetermined action on the basis of the learning; a planning unit configured to plan a behavior sequence to achieve a goal state from a present state on the basis of the prediction made by the predicting unit; and a control unit configured to control each action of the behavior sequence planed by the planning unit and learn an input/output relationship if the goal state is achieved through the action.
摘要翻译： 提供了一种用于控制能够感测环境状态并且基于感测结果选择动作的装置的行为的行为控制装置。 行为控制装置包括：预测单元，被配置为基于学习来学习环境状态的动作和变化，并且预测由预定动作引起的环境状态的变化; 计划单元，被配置为基于由所述预测单元进行的预测来规划行为序列以从当前状态实现目标状态; 以及控制单元，被配置为控制由规划单元规划的行为序列的每个动作，并且如果通过动作实现目标状态，则学习输入/输出关系。
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10.发明授权公开(公告)号：US08571315B2
公开(公告)日：2013-10-29
申请号：US13288231
申请日：2011-11-03
申请人： Kohtaro Sabe , Kenichi Hidai , Kiyoto Ichikawa
发明人： Kohtaro Sabe , Kenichi Hidai , Kiyoto Ichikawa
CPC分类号： G06K9/4614 , G06K9/6256
摘要： An information processing apparatus includes: a distinguishing unit which, by using an ensemble classifier, which includes a plurality of weak classifiers outputting weak hypotheses which indicates whether a predetermined subject is shown in an image in response to inputs of a plurality of features extracted from the image, and a plurality of features extracted from an input image, sequentially integrates the weak hypotheses output by the weak classifiers in regard to the plurality of features and distinguishes whether the predetermined subject is shown in the input image based on the integrated value. The weak classifier classifies each of the plurality of features to one of three or more sub-divisions based on threshold values, calculates sum divisions of the sub-divisions of the plurality of features as whole divisions into which the plurality of features is classified, and outputs, as the weak hypothesis, a reliability degree of the whole divisions.
摘要翻译： 一种信息处理装置，包括：识别单元，其使用整体分类器，其包括输出弱假设的多个弱分类器，所述弱分类器指示响应于从所述图像提取的多个特征的输入，是否在图像中示出预定对象 图像和从输入图像提取的多个特征，顺序地对由弱分类器输出的关于多个特征的弱假设进行积分，并且基于积分值区分输入图像中是否显示预定对象。 所述弱分类器基于阈值将所述多个特征中的每一个分类为三个或更多个子分割中的一个，并且将所述多个特征的子分割的和除作为将所述多个特征分类成的整个分割，以及 作为弱假设的输出是整个分区的可靠性程度。
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