公开(公告)号：US20100007756A1

公开(公告)日：2010-01-14

申请号：US12443262

申请日：2007-09-21

申请人： Yuichi Kawakami

发明人： Yuichi Kawakami

IPC分类号： H04N5/228

CPC分类号： G06T7/593

摘要： An apparatus received input of a base image and a reference image that are images picked up by two cameras provided on left and right. A window setting portion determines a size of a window based on an edge value of an image around a gaze point in the base image. A position deviation operation portion operates deviation between the image in the window of the base image and the image in the window of the reference image. A three-dimensional coordinate operation unit portion operates a three-dimensional coordinate of a surface of an object based on deviation between the images.

摘要翻译： 接收输入基本图像和参考图像的输入，该参考图像是由左右两个摄像机拾取的图像。 窗口设置部分基于基本图像中的凝视点周围的图像的边缘值来确定窗口的大小。 位置偏移操作部分操作基本图像的窗口中的图像与参考图像的窗口中的图像之间的偏差。 三维坐标操作单元部分基于图像之间的偏差来操作物体表面的三维坐标。

公开(公告)号：US07298918B2

公开(公告)日：2007-11-20

申请号：US10601965

申请日：2003-06-23

申请人： Hironori Sumitomo ,  Yuichi Kawakami

发明人： Hironori Sumitomo ,  Yuichi Kawakami

IPC分类号： G06K9/40

CPC分类号： G06T5/50 ,  G06T7/12 ,  G06T2207/10024

摘要： An image processing apparatus first forms an edge image of an input image using, for example, SOBEL operator, and performs a smoothing process on the formed edge image by using an average filter. Thereafter, the image processing apparatus calculates a difference between the edge image and the edge smoothed image, and binarizes the edge image based on the difference.

摘要翻译： 图像处理装置首先使用例如SOBEL算子形成输入图像的边缘图像，并使用平均滤波器对形成的边缘图像进行平滑处理。 此后，图像处理装置计算边缘图像和边缘平滑图像之间的差异，并且基于该差异来二值化边缘图像。

公开(公告)号：US20070046662A1

公开(公告)日：2007-03-01

申请号：US11507351

申请日：2006-08-21

申请人： Yuichi Kawakami ,  Yuusuke Nakano

发明人： Yuichi Kawakami ,  Yuusuke Nakano

IPC分类号： G06T15/00

CPC分类号： G06K9/00275

摘要： An authentication apparatus comprises a first acquiring part for acquiring three-dimensional shape information of a face of a target person to be authenticated, a compressing part for compressing said three-dimensional shape information by using a predetermined mapping relation, thereby generating three-dimensional shape feature information, and an authenticating part for performing an operation of authenticating said target person by using said three-dimensional shape feature information. When a vector space expressing said three-dimensional shape information is virtually separated into a first subspace in which the influence of a change in facial expression is relatively small and which is suitable for discrimination among persons and a second subspace in which the influence of a change in facial expression is relatively large and which is not suitable for discrimination among persons, said predetermined mapping relation is decided so as to transform an arbitrary vector in said vector space into a vector in said first subspace.

摘要翻译： 认证装置包括：第一获取部，用于获取要认证的目标人物的面部的三维形状信息;压缩部分，用于通过使用预定的映射关系来压缩所述三维形状信息，从而产生三维形状 特征信息，以及用于通过使用所述三维形状特征信息执行认证所述目标人物的操作的认证部分。 当将表示所述三维形状信息的向量空间实际上分成第一子空间，其中面部变化的影响相对较小并且适合于人与第二子空间之间的区别，其中变化的影响 在面部表情相对较大并且不适合于人之间的区分时，所述预定映射关系被确定为将所述向量空间中的任意向量变换成所述第一子空间中的向量。

公开(公告)号：US5903124A

公开(公告)日：1999-05-11

申请号：US937732

申请日：1997-09-25

申请人： Yuichi Kawakami

发明人： Yuichi Kawakami

IPC分类号： B25J5/00 ,  B64C13/18 ,  G05D1/02

CPC分类号： G05D1/0227 ,  A47L2201/04 ,  G05D1/0238 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0203

摘要： When a running vehicle moves backward and a right back portion of the robot, which is one end of it touches a wall, the robot is rotated to the left until a left back portion of the robot touches the wall. The angle of rotation .beta. at this time is measured and the value .beta./2 is represented by .alpha.. The robot is rotated to the right by the angle .beta.-.alpha.. Therefore, the robot is positioned perpendicular to the wall. Thereafter, the robot is moved backward until the back portion of the robot touches the wall. As a result, an apparatus for positioning the running robot relative to the wall is provided.

摘要翻译： 当行驶的车辆向后移动时，机器人的一端的右后部接触壁时，机器人向左旋转直到机器人的左后部接触到壁。 测量此时的旋转角β并用α表示β/ 2值。 机器人向右旋转角度β-α。 因此，机器人垂直于墙壁定位。 此后，机器人向后移动直到机器人的后部接触到壁。 结果，提供了一种用于使行进机器人相对于壁定位的装置。

公开(公告)号：US20070098230A1

公开(公告)日：2007-05-03

申请号：US11588025

申请日：2006-10-26

申请人： Toshio Norita ,  Yuichi Kawakami

发明人： Toshio Norita ,  Yuichi Kawakami

IPC分类号： G06K9/00

CPC分类号： G06K9/00288 ,  G06K9/00214

摘要： An authentication system comprises: a generating part for generating face information including at least one of three-dimensional shape information and two-dimensional information in the face of a first person to be authenticated on the basis of measurement information of the first person; a model modifying part for modifying a standard model of a human face by using the face information, thereby generating an individual model of the face of the first person; a calculating part for calculating a first model perfection level as a perfection level of the individual model on the basis of reliability of the face information; an extracting part for extracting first feature information as feature information of the first person from the individual model; an obtaining part for obtaining second feature information as feature information of a second person to be compared which is pre-registered; and an authenticating part for performing an authenticating operation on the first person by using the first model perfection level in addition to similarity between the first feature information and the second feature information.

摘要翻译： 认证系统包括：产生部件，用于基于第一人的测量信息，生成面对面信息，该面部信息包括面对要认证的第一人的三维形状信息和二维信息中的至少一个; 用于通过使用面部信息来修改人脸的标准模型的模型修改部分，从而生成第一人的面部的个人模型; 计算部分，用于基于面部信息的可靠性计算第一模型完成水平作为个体模型的完美水平; 提取部，用于从所述个人模型中提取作为所述第一人的特征信息的第一特征信息; 获取部分，用于获得第二特征信息作为预先注册的待比较的第二人的特征信息; 以及用于通过使用第一模型完成级别除了第一特征信息和第二特征信息之间的相似性来对第一人员执行认证操作的认证部分。

公开(公告)号：US6038501A

公开(公告)日：2000-03-14

申请号：US31041

申请日：1998-02-26

申请人： Yuichi Kawakami

发明人： Yuichi Kawakami

IPC分类号： A47L11/00 ,  G05D1/02 ,  G06F165/00

CPC分类号： G05D1/0272 ,  G05D1/0227 ,  G05D1/027 ,  G05D2201/0203

摘要： An autonomous vehicle capable of traveling and stopping parallel to a wall includes right and left driving wheels receiving driving force to be driven independently, a dependent wheel for supporting the autonomous vehicle together with the driving wheels for a straightforward movement and a U-turn, a motor for driving the right and left driving wheels, a coupling mechanism for transmitting the rotation of the motor to the driving wheels, an encoder for detecting the rotation amount and velocity of the motor, a gyro sensor for detecting the direction of the autonomous vehicle, a distance measurement sensor for measuring the distance to a right or left object of interest, and a controller for controlling the autonomous vehicle through the motor and the driving wheels. The controller receives the output of the encoder, calculates a control value for the driving wheels based on the rotation amount and rotation velocity of the motor, and determines that the autonomous vehicle travels parallel to the wall if the ratios of a time period to turn the autonomous vehicle rightward and a time period to turn the vehicle leftward in a prescribed time period are equal based on the control value.

摘要翻译： 能够平行于墙壁行进和停止的自主车辆包括左右驱动轮，其接收独立驱动的驱动力，用于支撑自主车辆的从动轮与驱动轮一起用于直接运动和U形转弯， 用于驱动左右驱动轮的电动机，用于将电动机的旋转传递到驱动轮的联接机构，用于检测电动机的旋转量和速度的编码器，用于检测自主车辆的方向的陀螺仪传感器， 用于测量与感兴趣的左右物体的距离的距离测量传感器，以及通过马达和驱动轮来控制自主车辆的控制器。 控制器接收编码器的输出，根据马达的旋转量和旋转速度来计算驱动轮的控制值，并且如果自动车辆平行于墙壁行驶，则确定自动车辆转动时间段的比率 自主车辆在规定时间段内向左转动车辆的时间段基于控制值相等。

公开(公告)号：US5652489A

公开(公告)日：1997-07-29

申请号：US518819

申请日：1995-08-24

申请人： Yuichi Kawakami

发明人： Yuichi Kawakami

IPC分类号： A47L11/00 ,  G05D1/02

CPC分类号： G05D1/0255 ,  G05D1/0242 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0289 ,  G05D2201/0203 ,  G05D2201/0208

摘要： A mobile robot control system with plural mobile robots each of which moves along a predetermined route in the same area. One mobile robot gives way to the other mobile robot when the mobile robot receives a signal emitted by the other mobile robot. A mobile robot moving on a predetermined route has a sensor which senses whether or not an obstacle exists on the route. The sensor senses again after a predetermined time from the first sensing whether the sensor still detects the obstacle existing on the route at the first sensing.

摘要翻译： 一种具有多个移动机器人的移动机器人控制系统，每个移动机器人沿同一区域中的预定路线移动。 当移动机器人接收到另一个移动机器人发出的信号时，一个移动机器人让位给另一个移动机器人。 在预定路线上移动的移动机器人具有感测路径上是否存在障碍物的传感器。 传感器在从第一感测开始的预定时间之后再次感测到传感器是否仍然检测到在第一感测处存在于路线上的障碍物。

公开(公告)号：US5032769A

公开(公告)日：1991-07-16

申请号：US455627

申请日：1989-12-22

申请人： Yuichi Kawakami

发明人： Yuichi Kawakami

IPC分类号： H01J9/42 ,  H04N9/28 ,  H04N17/04

CPC分类号： H01J9/42 ,  H04N17/04 ,  H04N9/28

摘要： A device for measuring convergence of a color CRT periodically generating a test pattern in a predetermined portion of a screen of the color CRT including signal output means for outputting a signal corresponding to glow timing of the test pattern generated on the screen, image pickup means for picking up the test pattern on the screen to output an image signal, control means responsive to output of the signal output means for controlling the image pickup means so as to output the image signal during the time that the test pattern is not generated in the predetermined portion of the screen, and calculation means for calculating a convergence assessment value of the color CRT based on the image signal.

摘要翻译： 一种用于测量在彩色CRT的屏幕的预定部分中周期性地产生测试图案的彩色CRT的会聚的装置，包括用于输出对应于在屏幕上产生的测试图案的发光定时的信号的信号输出装置，用于 在屏幕上拾取测试图案以输出图像信号，控制装置响应于信号输出装置的输出，用于控制图像拾取装置，以便在预定的时间内不产生测试图案的时间期间输出图像信号 屏幕的部分，以及用于基于图像信号计算彩色CRT的会聚评估值的计算装置。

公开(公告)号：US5028849A

公开(公告)日：1991-07-02

申请号：US258178

申请日：1988-10-14

申请人： Yuichi Kawakami ,  Teruo Ichikawa ,  Hiroshi Furukawa

发明人： Yuichi Kawakami ,  Teruo Ichikawa ,  Hiroshi Furukawa

IPC分类号： H01J9/44 ,  H01J9/42 ,  H04N17/04

CPC分类号： H01J9/42 ,  H04N17/04 ,  Y10S358/906

摘要： A device for measuring convergence of color cathode ray tube including means for producing a white measurement pattern on a viewing screen of the color cathode ray tube, a color image pickup device for picking up the white measurement pattern on the viewing screen, a memory unit for storing color signals transmitted from the color image pickup device, a discrimination unit for discriminating which of blue, green, and red phosphors glows every picture elements of the color image pickup device based on signals from adjacent picture elements, and a calculation unit for a finding out a misconvergence from discriminated results assures an accurate convergence measurement by one time of image pickup only.

摘要翻译： 一种用于测量彩色阴极射线管会聚的装置，包括用于在彩色阴极射线管的观察屏幕上产生白色测量图案的装置，用于拾取观察屏幕上的白色测量图案的彩色图像拾取装置，用于 存储从彩色图像拾取装置发送的彩色信号;识别单元，用于鉴别蓝色，绿色和红色荧光体中的哪一种，基于来自相邻像素的信号，使彩色图像拾取装置的每个图像元素发光，以及用于发现的计算单元 从辨别出的结果出来的会聚误差确保了仅仅一次摄像的准确的会聚测量。

公开(公告)号：US07583271B2

公开(公告)日：2009-09-01

申请号：US09798968

申请日：2001-03-06

申请人： Yuichi Kawakami ,  Yuusuke Nakano

发明人： Yuichi Kawakami ,  Yuusuke Nakano

IPC分类号： G09G5/02

CPC分类号： G06K9/00275 ,  G06K9/00208 ,  G06K9/6206

摘要： In order to generate a three-dimensional shape model corresponding to a two-dimensional image easily, a data processing apparatus includes a three-dimensional shape generating section and a texture image generating section generating a three-dimensional shape and a texture image, respectively, upon application of a model parameter, a two-dimensional image input section receiving an input two-dimensional image, a modulating section for modulating the input two-dimensional image to the three-dimensional shape, and a parameter transforming section calculating a parameter of the modulated two-dimensional image and applying the calculated parameter to the three-dimensional shape generating section and to the texture image generating section.

摘要翻译： 为了容易地生成与二维图像对应的三维形状模型，数据处理装置包括分别产生三维形状和纹理图像的三维形状生成部和纹理图像生成部， 在应用模型参数时，接收输入的二维图像的二维图像输入部分，用于将输入的二维图像调制成三维形状的调制部分，以及计算参数的参数变换部分 调制二维图像并将计算出的参数应用于三维形状生成部和纹理图像生成部。