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91. 发明申请

US20070280006A1 Data processing device, data processing method, and program 失效
标题翻译：数据处理装置，数据处理方法和程序
公开(公告)号：US20070280006A1
公开(公告)日：2007-12-06
申请号：US11732644
申请日：2007-04-04
申请人： Kazumi Aoyama , Kohtaro Sabe , Hideki Shimomura
发明人： Kazumi Aoyama , Kohtaro Sabe , Hideki Shimomura
IPC分类号： G11C7/10
CPC分类号： G06F17/30551 , G06K9/0057 , G06K9/6251
摘要： A data processing device for processing time-sequence data includes a data extracting unit operable to extract time-sequence data for a predetermined time unit from time-sequence data; and a processing unit operable to obtain scores for nodes of an SOM configured from multiple nodes provided with a spatial array configuration, the scores showing applicability to time-sequence data for a predetermined time unit thereof, wherein the node with the best score thereof is determined to be the winning node which is the node most applicable; wherein the processing unit obtains scores as to the time-sequence data for one predetermined time unit, regarding a distance-restricted node wherein distance from the winning node as to the time-sequence for a predetermined time unit immediately preceding the time-sequence data of one predetermined time unit is within a predetermined distance; and wherein the distance-restricted node with the best the score is determined to be the winning node thereof.
摘要翻译：一种用于处理时间序列数据的数据处理装置，包括数据提取单元，用于从时间序列数据中提取预定时间单位的时间序列数据; 以及处理单元，其可操作以获得由具有空间阵列配置的多个节点配置的SOM的节点的分数，所述分数显示对于其预定时间单位的时间序列数据的适用性，其中确定具有最佳分数的节点作为最适用节点的获胜节点; 其中处理单元获得关于一个预定时间单位的时间序列数据的分数，关于距离受限节点的距离限制节点，其中距离获胜节点的距离与时间序列的时间顺序紧邻在时间序列数据之前的预定时间单位一个预定时间单位在预定距离内; 并且其中具有最佳分数的距离限制节点被确定为其获胜节点。

92. 发明申请

US20070242876A1 Image Processing Apparatus, Image Processing Method, and Program 审中-公开
标题翻译：图像处理装置，图像处理方法和程序
公开(公告)号：US20070242876A1
公开(公告)日：2007-10-18
申请号：US11697203
申请日：2007-04-05
申请人： Kohtaro Sabe , Jun Yokono
发明人： Kohtaro Sabe , Jun Yokono
IPC分类号： G06K9/00
CPC分类号： G06K9/4652 , G06K9/6203 , G06K2009/6213
摘要： The present invention provides an image processing apparatus to recognize a predetermined model whose surface has a plurality of colors from an input color image that is obtained by capturing an image of a color object whose surface has a plurality of colors. The image processing apparatus includes a detecting unit configured to detect color areas from the input color image, each color area including adjoining pixels of the same color; and a recognizing unit configured to determine whether the color areas on the input color image detected by the detecting unit correspond to parts of the model to which color areas on a reference color image obtained by capturing an image of the model correspond, and determine whether the color object in the input color image is the model on the basis of the determination result.
摘要翻译：本发明提供了一种图像处理装置，其从通过捕获其表面具有多种颜色的彩色对象的图像而获得的输入彩色图像来识别其表面具有多种颜色的预定模型。所述图像处理装置包括检测单元，其被配置为从所述输入彩色图像检测颜色区域，每个颜色区域包括相同颜色的相邻像素; 以及识别单元，其被配置为确定由所述检测单元检测到的输入彩色图像上的颜色区域是否对应于通过捕获所述模型的图像而获得的参考彩色图像上的颜色区域对应的模型的部分，并且确定是否输入彩色图像中的彩色对象是基于确定结果的模型。

93. 发明授权

US07269477B2 Image transmission device and method, transmitting device and method, receiving device and method, and robot apparatus 失效
标题翻译：图像传输装置及方法，发送装置及方法，接收装置及方法及机器人装置
公开(公告)号：US07269477B2
公开(公告)日：2007-09-11
申请号：US11133011
申请日：2005-05-19
申请人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
发明人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
IPC分类号： G06F19/00
CPC分类号： H04N21/4345 , H04L29/06027 , H04L65/602 , H04L65/604 , H04N21/2187 , H04N21/2362 , H04N21/2365 , H04N21/4347 , Y10S707/99945 , Y10S707/99948
摘要： An image transmission device and methods a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting device are analyzed, and dividing device for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting device to the corresponding channels is provided based on the analysis result.
摘要翻译：图像发送装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在发送和接收图像的前提下形成的现有系统来有效地发送多个信道的图像数据数据通过单传输线。在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。在接收侧，对从发送装置分别发送的每帧的每个图像数据中添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的复用图像数据输出到对应的信道是基于分析结果提供的。

94. 发明授权

US07110860B2 Image transmission device and method, transmitting device and method, receiving device and method, and robot apparatus 失效
标题翻译：图像传输装置及方法，发送装置及方法，接收装置及方法及机器人装置
公开(公告)号：US07110860B2
公开(公告)日：2006-09-19
申请号：US11132573
申请日：2005-05-19
申请人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
发明人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
IPC分类号： G06F19/00
CPC分类号： H04N21/4345 , H04L29/06027 , H04L65/602 , H04L65/604 , H04N21/2187 , H04N21/2362 , H04N21/2365 , H04N21/4347 , Y10S707/99945 , Y10S707/99948
摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting device are analyzed, and dividing device for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting device to the corresponding channels is provided based on the analysis result.
摘要翻译：图像发送装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在图像的发送和接收的前提下形成的现有系统来有效地发送多个信道的图像数据数据通过单传输线。在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。在接收侧，对从发送装置分别发送的每帧的每个图像数据添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的多路复用图像数据输出到对应的频道是基于分析结果提供的。

95. 发明申请

US20050222709A1 Robot device and method of controlling the same 有权
标题翻译：机器人装置及其控制方法
公开(公告)号：US20050222709A1
公开(公告)日：2005-10-06
申请号：US10515854
申请日：2004-03-24
申请人： Kohtaro Sabe , Takeshi Ohashi , Kenta Kawamoto
发明人： Kohtaro Sabe , Takeshi Ohashi , Kenta Kawamoto
IPC分类号： B25J13/08 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032
摘要： The present invention is applied to, for example, a legged mobile robot and makes it possible to calculate the movement amount between a portion of the robot apparatus that had been in contact with a floor up to now and a next portion of the robot apparatus in contact with the floor using kinematics and to switch transformation to a coordinate system serving as an observation reference as a result of the switching between the floor contact portions.
摘要翻译：本发明应用于例如腿式移动机器人，并且可以计算到现在与现在的地板接触的机器人装置的一部分与机器人装置的下一部分之间的移动量使用运动学与地板接触，并且由于地板接触部分之间的切换而将变换切换到用作观测参考的坐标系。

96. 发明申请

US20050131581A1 Environment recognizing device, environment recognizing method, route planning device, route planning method and robot 有权
标题翻译：环境识别装置，环境识别方法，路线规划装置，路线规划方法和机器人
公开(公告)号：US20050131581A1
公开(公告)日：2005-06-16
申请号：US10941813
申请日：2004-09-16
申请人： Kohtaro Sabe , Steffen Gutmann
发明人： Kohtaro Sabe , Steffen Gutmann
IPC分类号： B25J5/00 , B25J13/08 , G05D1/02 , G06K9/00 , G06T1/00 , G06T7/00 , G06F19/00
CPC分类号： G06K9/00691 , G05D1/0251 , G05D1/0274 , G05D2201/0217 , G06K9/00201
摘要： An environment recognizing device and an environment recognizing method can draw an environment map for judging if it is possible to move a region where one or more than one steps are found above or below a floor, a route planning device and a route planning method that can appropriately plan a moving route, using such an environment map and a robot equipped with such an environment recognizing device and a route planning device. The robot comprises an environment recognizing section including a plurality of plane extracting section 401 adapted to compute plane parameters from a parallax image or a distance image and extract a plurality of planes including the floor surface, an obstacle recognizing section 402 adapted to recognize obstacles on the plurality of planes including the floor surface and an environment map updating section 403 adapted to draw an environment map (obstacle map) for each of the planes on the basis of the result of recognition of the obstacle recognizing section 402 and update the existing environment maps and a route planning section 404 adapted to plan a route on the basis of the environment maps. The route planning section 404 selects a plane as route coordinate when an obstacle is found on it in the environment map of the floor surface but not found in the environment map of the plane.
摘要翻译：环境识别装置和环境识别方法可以画出用于判断是否可能移动在地板上方或下方发现一个或多个步骤的区域的环境地图，路线规划装置和路线规划方法，其可以使用这样的环境地图和配备有这样的环境识别装置的机器人以及路径规划装置，适当地规划移动路线。机器人包括环境识别部分，其包括适于从视差图像或距离图像计算平面参数的多个平面提取部分401，并且提取包括地面的多个平面;障碍物识别部分402，适于识别包括地面的多个平面和适于根据障碍物识别部402的识别结果绘制每个平面的环境地图（障碍图）的环境地图更新部403，并且更新现有的环境地图和路线规划部404，其适于基于环境图来规划路线。路线规划部404在平面的环境地图中没有发现在地面的环境地图中发现障碍物时，选择平面作为路线坐标。

97. 发明授权

US10049325B2 Information processing to provide entertaining agent for a game character 有权
公开(公告)号：US10049325B2
公开(公告)日：2018-08-14
申请号：US13561704
申请日：2012-07-30
申请人： Hideki Shimomura , Kenta Kawamoto , Kohtaro Sabe
发明人： Hideki Shimomura , Kenta Kawamoto , Kohtaro Sabe
IPC分类号： G06F15/18 , G06N7/00
摘要： Provided is an information processing apparatus including a learning part performing learning of a model of an environment in which an agent performs action, using an observed value observed in the agent when the agent capable of action performs action, an action determining part determining action to be performed by the agent, based on the model, and a user instruction output part outputting instruction information representing an instruction from a user according to the instruction from the user, wherein the action determining part determines the action performed by the agent according to the instruction information when there is an instruction from the user.

98. 发明授权

US08849017B2 Image processing apparatus, image processing method, program, and recording medium for learning from moving images 有权
标题翻译：图像处理装置，图像处理方法，程序和用于从运动图像学习的记录介质
公开(公告)号：US08849017B2
公开(公告)日：2014-09-30
申请号：US13427199
申请日：2012-03-22
申请人： Masato Ito , Kohtaro Sabe , Jun Yokono
发明人： Masato Ito , Kohtaro Sabe , Jun Yokono
IPC分类号： G06K9/62 , G06T7/00
CPC分类号： G06T7/0042 , G06T7/12 , G06T7/174 , G06T7/194 , G06T7/73 , G06T2207/20081 , G06T2207/20164
摘要： An image processing apparatus includes: an image feature outputting unit that outputs each of image features in correspondence with a time of the frame; a foreground estimating unit that estimates a foreground image at a time s by executing a view transform as a geometric transform on a foreground view model and outputs an estimated foreground view; a background estimating unit that estimates a background image at the time s by executing a view transform as a geometric transform on a background view model and outputs an estimated background view; a synthesized view generating unit that generates a synthesized view by synthesizing the estimated foreground and background views; a foreground learning unit that learns the foreground view model based on an evaluation value; and a background learning unit that learns the background view model based on the evaluation value by updating the parameter of the foreground view model.
摘要翻译：一种图像处理装置包括：图像特征输出单元，其与帧的时间相对应地输出每个图像特征; 前景估计单元，其通过在前景视图模型上执行视角变换作为几何变换来估计时间s的前景图像，并输出估计的前景视图; 背景估计单元，其通过在背景视图模型上执行视图变换作为几何变换来估计在时间s的背景图像，并输出估计的背景视图; 合成视图生成单元，其通过合成估计的前景和背景视图来生成合成视图; 前景学习单元，其基于评估值学习前景视图模型; 以及背景学习单元，通过更新前景视图模型的参数，基于评估值来学习背景视图模型。

99. 发明授权

US08725510B2 HMM learning device and method, program, and recording medium 有权
标题翻译： HMM学习装置和方法，程序和记录介质
公开(公告)号：US08725510B2
公开(公告)日：2014-05-13
申请号：US12829984
申请日：2010-07-02
申请人： Yukiko Yoshiike , Kenta Kawamoto , Kuniaki Noda , Kohtaro Sabe
发明人： Yukiko Yoshiike , Kenta Kawamoto , Kuniaki Noda , Kohtaro Sabe
IPC分类号： G10L15/14
CPC分类号： G06N99/005
摘要： An HMM (Hidden Markov Model) learning device includes: a learning unit for learning a state transition probability as the function of actions that an agent can execute, with learning with HMM performed based on actions that the agent has executed, and time series information made up of an observation signal; and a storage unit for storing learning results by the learning unit as internal model data including a state-transition probability table and an observation probability table; with the learning unit calculating frequency variables used for estimation calculation of HMM state-transition and HMM observation probabilities; with the storage unit holding the frequency variables corresponding to each of state-transition probabilities and each of observation probabilities respectively, of the state-transition probability table; and with the learning unit using the frequency variables held by the storage unit to perform learning, and estimating the state-transition probability and the observation probability based on the frequency variables.
摘要翻译： HMM（隐马尔可夫模型）学习装置包括：用于学习作为代理可以执行的动作的函数的状态转移概率的学习单元，基于代理已经执行的动作执行的HMM的学习以及作出的时间序列信息观察信号; 以及存储单元，用于将所述学习单元的学习结果存储为包括状态转换概率表和观察概率表的内部模型数据; 学习单元计算用于HMM状态转换和HMM观察概率的估计计算的频率变量; 存储单元保持状态转移概率表中分别对应于状态转换概率和每个观察概率的频率变量; 并且所述学习单元使用由所述存储单元保持的频率变量来执行学习，并且基于所述频率变量来估计所述状态转换概率和观察概率。

100. 发明申请

US20140012495A1 INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND PROGRAM 有权
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：US20140012495A1
公开(公告)日：2014-01-09
申请号：US14005648
申请日：2012-03-16
申请人： Naoki Ide , Yoshiyuki Kobayashi , Masato Ito , Kohtaro Sabe
发明人： Naoki Ide , Yoshiyuki Kobayashi , Masato Ito , Kohtaro Sabe
IPC分类号： G01C21/36
CPC分类号： G01C21/3617 , G01C21/3484
摘要： The present technique relates to an information processing device, an information processing method and a program which can accumulate sufficient movement history data with a little power consumption. A similarity search unit searches for a past route similar to the immediate movement history which is acquired by a position sensor unit and which has time series position data, from the search data stored in a past history DB. A fitness determination unit determines whether or not goodness of fit of the past route searched by the similarity search unit and the immediate movement history is a predetermined threshold or more. A sensor control unit controls an acquisition interval of the position data of the position sensor unit according to a determination result of the fitness determination unit. The technique of this disclosure is applicable to a prediction device which, for example, acquires position data and predicts a predicted route.
摘要翻译：本技术涉及一种信息处理装置，信息处理方法和程序，其能够以少量功耗累积足够的运动历史数据。相似度搜索单元从存储在过去历史DB中的搜索数据中搜索类似于由位置传感器单元获取并具有时间序列位置数据的即时移动历史的过去路线。适应度确定单元确定由相似性搜索单元搜索的过去路线的适合度和即时移动历史是否为预定阈值以上。传感器控制单元根据适应度判定单元的确定结果控制位置传感器单元的位置数据的采集间隔。本公开的技术可应用于例如获取位置数据并预测预测路线的预测装置。

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