公开(公告)号：US07330567B2

公开(公告)日：2008-02-12

申请号：US11241968

申请日：2005-10-04

申请人： Youngjin Hong ,  Sangmin Yoon ,  Hyoungki Lee

发明人： Youngjin Hong ,  Sangmin Yoon ,  Hyoungki Lee

IPC分类号： G06K9/00

CPC分类号： G06T7/20 ,  G06K9/00335 ,  G06K9/00369 ,  G06T7/246 ,  G06T2207/30241

摘要： A human tracking apparatus and a human tracking method, a storing medium storing a program for executing the method, and a mobile electronic system including the apparatus. The human tracking apparatus includes: an upper body location detection module detecting at least one piece of upper body location for a human; a leg location detection module detecting at least one piece of leg location for a human; a tracking object selection module selecting a tracking object based on the at least one piece of upper body location and the at least one piece of leg location; a tracking speed and orientation calculator calculating tracking speed and orientation of the mobile electronic system for tracking the tracking object selected by the tracking object selection module; a module operating the mobile electronic system; and a motor controller controlling the motor based on the calculated tracking speed and orientation.

摘要翻译： 人体跟踪装置和人体跟踪方法，存储用于执行该方法的程序的存储介质和包括该装置的移动电子系统。 人体跟踪装置包括：上身体位置检测模块，用于检测人的至少一个上身体位置; 腿位置检测模块，用于检测人的至少一条腿部位置; 跟踪对象选择模块，基于所述至少一个上身体位置和所述至少一个腿部位置来选择跟踪对象; 跟踪速度和姿态计算器计算用于跟踪由跟踪对象选择模块选择的跟踪对象的移动电子系统的跟踪速度和方位; 操作移动电子系统的模块; 以及基于所计算的跟踪速度和取向来控制马达的马达控制器。

公开(公告)号：US20060140450A1

公开(公告)日：2006-06-29

申请号：US11241968

申请日：2005-10-04

申请人： Youngjin Hong ,  Sangmin Yoon ,  Hyoungki Lee

发明人： Youngjin Hong ,  Sangmin Yoon ,  Hyoungki Lee

IPC分类号： G01P3/36 ,  G06K9/00

CPC分类号： G06T7/20 ,  G06K9/00335 ,  G06K9/00369 ,  G06T7/246 ,  G06T2207/30241

摘要： A human tracking apparatus and a human tracking method, a storing medium storing a program for executing the method, and a mobile electronic system including the apparatus. The human tracking apparatus includes: an upper body location detection module detecting at least one piece of upper body location for a human; a leg location detection module detecting at least one piece of leg location for a human; a tracking object selection module selecting a tracking object based on the at least one piece of upper body location and the at least one piece of leg location; a tracking speed and orientation calculator calculating tracking speed and orientation of the mobile electronic system for tracking the tracking object selected by the tracking object selection module; a module operating the mobile electronic system; and a motor controller controlling the motor based on the calculated tracking speed and orientation.

摘要翻译： 人类跟踪装置和人类跟踪方法，存储用于执行该方法的程序的存储介质和包括该装置的移动电子系统。 人体跟踪装置包括：上身体位置检测模块，用于检测人的至少一个上身体位置; 腿位置检测模块，用于检测人的至少一条腿部位置; 跟踪对象选择模块，基于所述至少一个上身体位置和所述至少一个腿部位置来选择跟踪对象; 跟踪速度和姿态计算器计算用于跟踪由跟踪对象选择模块选择的跟踪对象的移动电子系统的跟踪速度和方位; 操作移动电子系统的模块; 以及基于所计算的跟踪速度和取向来控制马达的马达控制器。

公开(公告)号：US20060039587A1

公开(公告)日：2006-02-23

申请号：US11207713

申请日：2005-08-22

申请人： Sangmin Yoon ,  Changkyu Choi ,  Hyoungki Lee

发明人： Sangmin Yoon ,  Changkyu Choi ,  Hyoungki Lee

IPC分类号： G06K9/00

CPC分类号： G06K9/00234

摘要： A person tracking method and apparatus using a robot. The person tracking method includes: detecting a person in a first window of a current input image using a skin color of the person; and setting a plurality of second windows in a next input image, correlating the first window and the second windows and tracking the detected person in the next input image using the correlated results.

摘要翻译： 使用机器人的人追踪方法和装置。 所述人物跟踪方法包括：使用所述人的肤色来检测当前输入图像的第一窗口中的人; 以及在下一个输入图像中设置多个第二窗口，使所述第一窗口和所述第二窗口相关联，并且使用所述相关结果跟踪所述下一个输入图像中检测到的人物。

公开(公告)号：US07668338B2

公开(公告)日：2010-02-23

申请号：US11207713

申请日：2005-08-22

申请人： Sangmin Yoon ,  Changkyu Choi ,  Hyoungki Lee

发明人： Sangmin Yoon ,  Changkyu Choi ,  Hyoungki Lee

IPC分类号： G06K9/00

CPC分类号： G06K9/00234

摘要： A person tracking method and apparatus using a robot. The person tracking method includes: detecting a person in a first window of a current input image using a skin color of the person; and setting a plurality of second windows in a next input image, correlating the first window and the second windows and tracking the detected person in the next input image using the correlated results.

摘要翻译： 使用机器人的人追踪方法和装置。 所述人物跟踪方法包括：使用所述人的肤色来检测当前输入图像的第一窗口中的人; 以及在下一个输入图像中设置多个第二窗口，使所述第一窗口和所述第二窗口相关联，并且使用所述相关结果跟踪所述下一个输入图像中检测到的人物。

公开(公告)号：US20050215913A1

公开(公告)日：2005-09-29

申请号：US11086412

申请日：2005-03-23

申请人： Hyoungki Lee ,  Kiwan Choi ,  Sookwon Bang

发明人： Hyoungki Lee ,  Kiwan Choi ,  Sookwon Bang

IPC分类号： A61B5/0245 ,  A61B5/02 ,  A61B5/024

CPC分类号： A61B5/02416

摘要： A method, medium, and apparatus for measuring a heart rate from blood flow in a blood vessel of a human body part, including: an amplifying circuit receiving a light signal reflected or penetrated from a human body part and generating a multi-stage amplified signal made up of a plurality of signals with a corresponding different gains; and a processor separating the multi-stage amplified signal into a plurality of channel signals having corresponding gains, reconfiguring the light signal using a channel signal selected among the plurality of channel signals and calculating the heart rate from the reconfigured light signal. Accordingly, it is possible to make an accurate measurement of a heart rate by minimizing effects of measuring environments. In addition, the apparatus, method, and medium are resistive to noise resulting from a movement of a human body part by comparing an optimum signal pattern and a correlation coefficient.

摘要翻译： 一种用于测量人体部位血管中的血流的心率的方法，介质和装置，包括：放大电路，接收从人体部分反射或穿透的光信号，并产生多级放大信号 由具有相应不同增益的多个信号组成; 以及处理器，将所述多级放大信号分离成具有相应增益的多个信道信号，使用在所述多个信道信号中选择的信道信号重新配置所述光信号，并从所述重新配置的光信号计算所述心率。 因此，可以通过最小化测量环境的影响来准确地测量心率。 此外，装置，方法和介质通过比较最佳信号图案和相关系数来抵抗由人体部分的运动引起的噪声。

公开(公告)号：US09649038B2

公开(公告)日：2017-05-16

申请号：US11086412

申请日：2005-03-23

申请人： Hyoungki Lee ,  Kiwan Choi ,  Sookwon Bang

发明人： Hyoungki Lee ,  Kiwan Choi ,  Sookwon Bang

IPC分类号： A61B5/02 ,  A61B5/024

CPC分类号： A61B5/02416

摘要： A method, medium, and apparatus for measuring a heart rate from blood flow in a blood vessel of a human body part, including: an amplifying circuit receiving a light signal reflected or penetrated from a human body part and generating a multi-stage amplified signal made up of a plurality of signals with a corresponding different gains; and a processor separating the multi-stage amplified signal into a plurality of channel signals having corresponding gains, reconfiguring the light signal using a channel signal selected among the plurality of channel signals and calculating the heart rate from the reconfigured light signal. Accordingly, it is possible to make an accurate measurement of a heart rate by minimizing effects of measuring environments. In addition, the apparatus, method, and medium are resistive to noise resulting from a movement of a human body part by comparing an optimum signal pattern and a correlation coefficient.

公开(公告)号：US20060178815A1

公开(公告)日：2006-08-10

申请号：US11177316

申请日：2005-07-11

申请人： Kiwan Choi ,  Hyoungki Lee

发明人： Kiwan Choi ,  Hyoungki Lee

IPC分类号： G01C21/36

CPC分类号： G05D1/0272 ,  G05D1/0225 ,  G05D1/0242 ,  G05D2201/0203

摘要： There is provided an apparatus and method for correcting location information of a mobile body and a computer-readable recording medium storing at least a computer program for controlling the apparatus. The apparatus for correcting the location information of the mobile body, the location information regarding at least one of a location and an azimuth angle of the mobile body, includes a beam generator generating at least one beam; and a location information correcting unit receiving measured location information, sensing the generated beam, and correcting the received measured location information using the sensed beam, wherein the location information correcting unit is installed in the mobile body. Therefore, it is possible to easily correct location information of a mobile body using beams and more accurately correct the location information without accumulating errors, differently from a conventional dead reckoning system. Also, it is possible to correct the location information without an artificial landmark, even at night, or when no lighting exists, since the location information is corrected using an infrared ray, and to more accurately correct the location information of a mobile body by increasing the number of the beams. Further, it is possible to flexibly provide a trade-off between the number of the beams and accuracy in correcting of the location information, and to allow the mobile body to sense beams and accurately correct its location information, when the mobile body is picked up and moved to a different location. Therefore, it is possible to accurately correct at least one of a location and an azimuth angle measured by the dead reckoning system, for example, in a home robot having a home base.

公开(公告)号：US20060165276A1

公开(公告)日：2006-07-27

申请号：US11331058

申请日：2006-01-13

申请人： Sungi Hong ,  Hyoungki Lee ,  Hyeon Myeong

发明人： Sungi Hong ,  Hyoungki Lee ,  Hyeon Myeong

IPC分类号： G06K9/00

CPC分类号： G05D1/0253 ,  G05D1/0272 ,  G05D1/0274

摘要： An apparatus and method for estimating a location of a mobile body and generating a map of a mobile body environment using an upper image of the mobile body environment, and a computer readable recording medium storing a computer program for controlling the apparatus. The apparatus includes: a landmark generating unit observing corner points from the upper image obtained by photographing in an upper vertical direction in the mobile body environment and respectively generating landmarks from the observed corner points; and a location and map operation unit estimating the location of the mobile body and generating the map of the mobile body environment from the landmarks.

摘要翻译： 一种用于估计移动体的位置并使用移动体环境的上部图像生成移动体环境的图的装置和方法，以及存储用于控制该装置的计算机程序的计算机可读记录介质。 所述装置包括：地标生成单元，其从所述移动体环境中的上下垂直方向拍摄得到的上方图像中观察角点，并从所述观察角点分别生成地标; 以及位置和地图操作单元，估计移动体的位置并从地标生成移动体环境的地图。

公开(公告)号：US20050105076A1

公开(公告)日：2005-05-19

申请号：US10986986

申请日：2004-11-15

申请人： Myungjin Jung ,  Seokwon Bang ,  Hyoungki Lee ,  Ilhwan Kim

发明人： Myungjin Jung ,  Seokwon Bang ,  Hyoungki Lee ,  Ilhwan Kim

IPC分类号： G01B11/00 ,  G01C3/32 ,  G01S7/481 ,  G01S17/42 ,  G02B7/182 ,  G02B26/08 ,  G02B26/10 ,  G01C3/08 ,  G01S3/52 ,  G01S5/02

CPC分类号： G02B26/0833 ,  G01C3/32 ,  G01S7/481 ,  G01S17/42 ,  G02B7/1821

摘要： A three-dimensional location measurement sensor including first and second rotation plates to rotate about a fixed axial member independently of each other, a camera, formed inside the fixed axial member in the middle of the second rotation plate, a mirror, to be supported by a mirror supporting unit so as to be disposed over the camera, the mirror supporting unit being fixed to the first rotation plate, at least one light source, to be supported by a light source supporting unit so as to be disposed between the mirror and the second rotation plate, the light source supporting unit being fixed to the first rotation plate, a mark, to be supported by a mark supporting unit so as to be disposed between the mirror and the second rotation plate, the mark supporting unit being formed on the second rotation plate, and a gear unit, which is formed at an outer circumference of the second rotation plate and adjusts an inclination angle of the mirror. Accordingly, relatively easily determining the location of a target object by using the three-dimensional location measurement sensor is possible.

摘要翻译： 一种三维位置测量传感器，包括彼此独立地围绕固定轴向构件旋转的第一和第二旋转板，形成在第二旋转板的中间的固定轴向构件内部的照相机，由第二旋转板 反射镜支撑单元，设置在相机上，镜支撑单元固定到第一旋转板，至少一个光源，由光源支撑单元支撑，以便设置在反射镜和 第二旋转板，光源支撑单元固定到第一旋转板，标记，由标记支撑单元支撑以便设置在反射镜和第二旋转板之间，标记支撑单元形成在第二旋转板上 第二旋转板和齿轮单元，其形成在第二旋转板的外周并调节反射镜的倾斜角度。 因此，可以通过使用三维位置测量传感器相对容易地确定目标对象的位置。

公开(公告)号：US08831872B2

公开(公告)日：2014-09-09

申请号：US11331058

申请日：2006-01-13

申请人： Sungi Hong ,  Hyoungki Lee ,  Hyeon Myeong

发明人： Sungi Hong ,  Hyoungki Lee ,  Hyeon Myeong

IPC分类号： G01C21/00 ,  G08G1/123 ,  G06K9/00 ,  G05D1/02

CPC分类号： G05D1/0253 ,  G05D1/0272 ,  G05D1/0274

摘要： An apparatus and method for estimating a location of a mobile body and generating a map of a mobile body environment using an upper image of the mobile body environment, and a computer readable recording medium storing a computer program for controlling the apparatus. The apparatus includes: a landmark generating unit observing corner points from the upper image obtained by photographing in an upper vertical direction in the mobile body environment and respectively generating landmarks from the observed corner points; and a location and map operation unit estimating the location of the mobile body and generating the map of the mobile body environment from the landmarks.

摘要翻译： 一种用于估计移动体的位置并使用移动体环境的上部图像生成移动体环境的图的装置和方法，以及存储用于控制该装置的计算机程序的计算机可读记录介质。 所述装置包括：地标生成单元，其从所述移动体环境中的上下垂直方向拍摄得到的上方图像中观察角点，并从所述观察角点分别生成地标; 以及位置和地图操作单元，估计移动体的位置并从地标生成移动体环境的地图。