公开(公告)号：WO2012116198A2

公开(公告)日：2012-08-30

申请号：PCT/US2012026348

申请日：2012-02-23

Applicant: UNIV JOHNS HOPKINS ,  HAGER GREGORY DONALD ,  PADOY NICOLAS

Inventor： HAGER GREGORY DONALD ,  PADOY NICOLAS

IPC: A61B19/00 ,  B25J9/02 ,  B25J13/08 ,  B25J18/00 ,  B25J19/04

CPC classification number: G06K9/3241 ,  A61B34/30 ,  A61B34/70 ,  A61B2034/2057 ,  A61B2034/2065 ,  B25J9/1697 ,  G05B2219/39123 ,  G05B2219/4705 ,  G06T7/40 ,  G06T7/70 ,  Y10S901/46 ,  Y10S901/47

Abstract: A system for detecting and tracking a curvilinear object in a three-dimensional space includes an image acquisition system including a video camera arranged to acquire a video image of the curvilinear object and output a corresponding video signal, the video image comprising a plurality n of image frames each at a respective time ti, where i=1, 2,..., n; and a data processing system adapted to communicate with the image acquisition system to receive the video signal. The data processing system is configured to determine a position, orientation and shape of the curvilinear object in the three-dimensional space at each time ti by forming a computational model of the curvilinear object at each time ti such that a projection of the computation model of the curvilinear object at each time ti onto a corresponding frame of the plurality of image frames of the video image matches a curvilinear image in the frame to a predetermined accuracy to thereby detect and track the curvilinear object from time t1 to time tn.

Abstract translation: 一种用于检测和跟踪三维空间中的曲线对象的系统包括：图像采集系统，包括摄像机，被配置为获取曲线对象的视频图像并输出相应的视频信号，所述视频图像包括多个n个图像 在各自的时间t i，其中i = 1,2，...，n; 以及适于与图像采集系统通信以接收视频信号的数据处理系统。 数据处理系统被配置为通过在每个时刻ti形成曲线对象的计算模型来确定每个时刻ti的三维空间中的曲线对象的位置，方位和形状，使得计算模型的投影 视频图像的多个图像帧中的每个时间ti的曲线对象与帧中的曲线图像匹配到预定的精度，从而从时间t1到时间tn检测和跟踪曲线对象。

公开(公告)号：WO2012065175A3

公开(公告)日：2012-07-19

申请号：PCT/US2011060638

申请日：2011-11-14

Applicant: UNIV JOHNS HOPKINS ,  HAGER GREGORY ,  PADOY NICOLAS

Inventor： HAGER GREGORY ,  PADOY NICOLAS

IPC: A61B19/00 ,  B25J9/00 ,  B25J13/08 ,  G09B9/00 ,  G09B23/28

CPC classification number: B25J9/163 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00203 ,  B25J9/1671 ,  B25J9/1689 ,  G05B19/427 ,  G05B2219/35472 ,  G05B2219/39004 ,  G05B2219/39025 ,  G05B2219/40116 ,  G05B2219/40399 ,  G05B2219/40413 ,  G09B23/28

Abstract: A semi-automatic, interactive robotic system for performing and/or simulating a multi-step task includes a user interface system, a recognition system adapted to communicate with the user interface system, a control system adapted to communicate with the recognition system, and a sensor-actuator system adapted to communicate with the control system. The recognition system is configured to recognize actions taken by a user while the user operates the user interface system and to selectively instruct the control system to cause the sensor-actuator system to perform, and/or simulate, one of an automatic step, a semi-automatic step or direct step of the multi-step task based on the recognized actions and a task model of the multi-step task.

Abstract translation: 用于执行和/或模拟多步骤任务的半自动交互式机器人系统包括用户界面系统，适于与用户界面系统通信的识别系统，适于与识别系统通信的控制系统，以及 传感器致动器系统适于与控制系统通信。 识别系统被配置为识别用户在用户操作用户界面系统时所采取的动作并且选择性地指示控制系统使得传感器致动器系统执行和/或模拟自动步骤，半自动步骤 - 基于所识别的动作和多步骤任务的任务模型的多步骤任务的自动步骤或直接步骤。

公开(公告)号：WO2012065175A2

公开(公告)日：2012-05-18

申请号：PCT/US2011060638

申请日：2011-11-14

Applicant: UNIV JOHNS HOPKINS ,  HAGER GREGORY ,  PADOY NICOLAS

Inventor： HAGER GREGORY ,  PADOY NICOLAS

IPC: A61B19/00 ,  B25J9/00 ,  B25J13/08 ,  G09B9/00 ,  G09B23/28

CPC classification number: B25J9/163 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00203 ,  B25J9/1671 ,  B25J9/1689 ,  G05B19/427 ,  G05B2219/35472 ,  G05B2219/39004 ,  G05B2219/39025 ,  G05B2219/40116 ,  G05B2219/40399 ,  G05B2219/40413 ,  G09B23/28

Abstract: A semi-automatic, interactive robotic system for performing and/or simulating a multi-step task includes a user interface system, a recognition system adapted to communicate with the user interface system, a control system adapted to communicate with the recognition system, and a sensor-actuator system adapted to communicate with the control system. The recognition system is configured to recognize actions taken by a user while the user operates the user interface system and to selectively instruct the control system to cause the sensor-actuator system to perform, and/or simulate, one of an automatic step, a semi-automatic step or direct step of the multi-step task based on the recognized actions and a task model of the multi-step task.

Abstract translation: 用于执行和/或模拟多步骤任务的半自动交互式机器人系统包括用户界面系统，适于与用户界面系统通信的识别系统，适于与识别系统通信的控制系统，以及 适于与控制系统通信的传感器 - 致动器系统。 识别系统被配置为识别用户在用户操作用户界面系统时采取的动作，并且选择性地指示控制系统使得传感器 - 致动器系统执行和/或模拟自动步骤，半 - 基于多步骤任务的识别动作和任务模型的多步骤任务的自动步骤或直接步骤。