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11. 发明申请

US20050267634A1 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：US20050267634A1
公开(公告)日：2005-12-01
申请号：US11133403
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： B25J5/00 , B25J9/16 , G06F19/00 , H04J3/00 , H04J3/02 , H04L12/43 , H04L29/06 , H04N7/08 , H04N7/081 , H04N7/173 , H04N7/18
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 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 means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.
摘要翻译：图像传输装置和方法，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的方式形成的现有系统来有效地发送多个信道的图像数据图像数据通过单一传输线。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复用图像数据输出到相应的信道是基于分析结果提供的。

12. 发明授权

US07050884B2 Image transmission device and method, transmitting device and method, receiving device and method, and robot apparatus 有权
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：US07050884B2
公开(公告)日：2006-05-23
申请号：US10390143
申请日：2003-03-17
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 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 means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.
摘要翻译：图像传输装置和方法，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的方式形成的现有系统来有效地发送多个信道的图像数据图像数据通过单一传输线。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复用图像数据输出到相应的通道是基于分析结果提供的。

13. 发明申请

US20050259677A1 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：US20050259677A1
公开(公告)日：2005-11-24
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： B25J5/00 , B25J9/16 , G06F19/00 , H04J3/00 , H04J3/02 , H04L12/43 , H04L29/06 , H04N7/08 , H04N7/081 , H04N7/173 , H04N7/18
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 means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means 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复用图像数据输出到相应的通道是基于分析结果提供的。

14. 发明申请

US20070265741A1 Position Estimation Apparatus, Position Estimation Method and Program Recording Medium 有权
标题翻译：位置估计装置，位置估计方法和程序记录介质
公开(公告)号：US20070265741A1
公开(公告)日：2007-11-15
申请号：US11745947
申请日：2007-05-08
申请人： Kenichiro OI , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
发明人： Kenichiro OI , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F17/10
CPC分类号： G01C21/12 , G01C22/02
摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.
摘要翻译：本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或基于正确位置预测的移动物体的姿态。

15. 发明授权

US07873447B2 Position estimation apparatus, position estimation method and program recording medium 有权
标题翻译：位置估计装置，位置估计方法和程序记录介质
公开(公告)号：US07873447B2
公开(公告)日：2011-01-18
申请号：US11745947
申请日：2007-05-08
申请人： Kenichiro Oi , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
发明人： Kenichiro Oi , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F17/00
CPC分类号： G01C21/12 , G01C22/02
摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.
摘要翻译：本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或基于正确位置预测的移动物体的姿态。

16. 发明授权

US08254690B2 Information processing apparatus, information processing method, and program 失效
标题翻译：信息处理装置，信息处理方法和程序
公开(公告)号：US08254690B2
公开(公告)日：2012-08-28
申请号：US12234777
申请日：2008-09-22
申请人： Akira Nakamura , Yoshiaki Iwai , Takayuki Yoshigahara
发明人： Akira Nakamura , Yoshiaki Iwai , Takayuki Yoshigahara
IPC分类号： G06K9/62
CPC分类号： G06K9/4671 , G06K9/6203
摘要： An information processing apparatus that compares a query image and a model image and provides support information for discriminating a subject of the model image from a subject of the query image is disclosed. The information processing apparatus includes: a feature point extracting unit extracting one or more feature points from the model image; a feature describing unit describing features of the one or more feature points extracted by the feature point extracting unit; and a discrimination capability value calculating unit generating correlation images among the features described by the feature describing unit, the extracted model image, and one or more other model images for the one or more feature points extracted by the feature point extracting unit, and calculating a discrimination capability value indicating the degree of contribution to discriminating the subject of the model image on the basis of the correlation images.
摘要翻译：公开了一种信息处理装置，其将查询图像和模型图像进行比较，并且提供用于从所述查询图像的对象识别所述模型图像的对象的支持信息。信息处理装置包括：特征点提取单元，从模型图像提取一个或多个特征点; 特征描述单元，描述由特征点提取单元提取的一个或多个特征点的特征; 以及识别能力值计算单元，生成由特征描述单元描述的特征，提取的模型图像和由特征点提取单元提取的一个或多个特征点的一个或多个其他模型图像之间的相关图像，并且计算识别能力值，其指示基于相关图像来区分模型图像的被摄体的贡献程度。

17. 发明授权

US08160366B2 Object recognition device, object recognition method, program for object recognition method, and recording medium having recorded thereon program for object recognition method 失效
标题翻译：对象识别装置，对象识别方法，对象识别方法的程序，以及在其上记录有用于对象识别方法的程序的记录介质
公开(公告)号：US08160366B2
公开(公告)日：2012-04-17
申请号：US12488099
申请日：2009-06-19
申请人： Akira Nakamura , Yoshiaki Iwai , Takayuki Yoshigahara
发明人： Akira Nakamura , Yoshiaki Iwai , Takayuki Yoshigahara
IPC分类号： G06K9/46 , H04N5/225
CPC分类号： G06K9/4671 , G06K9/6211
摘要： An object recognition device includes: a model image processing unit having a feature point set decision unit setting a feature point set in a model image, and detecting the feature quantity of the feature point set, and a segmentation unit segmenting the model image; a processing-target image processing unit having a feature point setting unit setting a feature point in a processing-target image and detecting the feature quantity of the feature point; a matching unit comparing the feature quantities of the feature points set in the model image and in the processing-target image so as to detect the feature point corresponding to the feature point set, and executes a matching; and a determination unit determining the processing result in the matching unit so as to determine presence/absence of a model object in the processing-target image.
摘要翻译：一种物体识别装置，包括：模型图像处理单元，具有设置模型图像中设定的特征点的特征点集决定单元，检测特征点集的特征量;分割单元，分割模型图像; 处理对象图像处理单元，具有设置处理对象图像中的特征点的特征点设定单元，并检测特征点的特征量; 比较模型图像中设置的特征点的特征量和处理对象图像中的特征量，以便检测与特征点集相对应的特征点，并执行匹配; 以及确定单元，确定所述匹配单元中的处理结果，以便确定所述处理对象图像中的模型对象的存在/不存在。

18. 发明授权

US08401308B2 Information processing device, information processing method, and program 有权
标题翻译：信息处理装置，信息处理方法和程序
公开(公告)号：US08401308B2
公开(公告)日：2013-03-19
申请号：US11764449
申请日：2007-06-18
申请人： Akira Nakamura , Takayuki Yoshigahara , Yoshiaki Iwai
发明人： Akira Nakamura , Takayuki Yoshigahara , Yoshiaki Iwai
IPC分类号： G06K9/62 , G06K9/46 , G06K9/64
CPC分类号： G06K9/4642 , G06K9/6211 , G06K9/6857
摘要： Disclosed herein an information processing device that compares an input image with a model image, the device including: a storage; an object feature point extractor; and a feature comparator.
摘要翻译：这里公开了一种将输入图像与模型图像进行比较的信息处理装置，该装置包括：存储装置; 一个对象特征点提取器; 和特征比较器。

19. 发明申请

US20090141984A1 Information Processing Apparatus, Information Processing Method, Image Identifying Apparatus, Image Identifying Method, and Program 有权
标题翻译：信息处理装置，信息处理方法，图像识别装置，图像识别方法和程序
公开(公告)号：US20090141984A1
公开(公告)日：2009-06-04
申请号：US12261190
申请日：2008-10-30
申请人： Akira NAKAMURA , Yoshiaki Iwai , Takayuki Yoshigahara
发明人： Akira NAKAMURA , Yoshiaki Iwai , Takayuki Yoshigahara
IPC分类号： G06K9/46
CPC分类号： G06K9/6228 , G06K9/6211
摘要： An information processing apparatus includes a model image obtaining unit configured to obtain a plurality of model images; a model image feature quantity extracting unit configured to extract feature quantities of the model images obtained by the model image obtaining unit; a matching unit configured to perform matching on the feature quantities of the model images extracted by the model image feature quantity extracting unit; and an identifying feature point extracting unit configured to extract, as a result of the matching performed by the matching unit, feature points having a low correlation with a predetermined model image in similar model images that are the model images having a predetermined number or more of the feature quantities that match feature quantities of the predetermined model image, the extracted feature points being regarded as identifying feature points used for identification of the respective similar model images.
摘要翻译：信息处理设备包括：模型图像获取单元，被配置为获得多个模型图像; 模型图像特征量提取单元，被配置为提取由模型图像获取单元获得的模型图像的特征量; 配置为对由模型图像特征量提取单元提取的模型图像的特征量进行匹配的匹配单元; 以及识别特征点提取单元，被配置为作为所述匹配单元执行的匹配的结果，提取具有与预定数量或更多个的模型图像相似的模型图像中与预定模型图像具有低相关性的特征点与预定模型图像的特征量匹配的特征量，所提取的特征点被认为是用于识别各个相似模型图像的识别特征点。

20. 发明申请

US20070269107A1 Object Recognition Device, Object Recognition Method, Object Recognition Program, Feature Registration Device, Feature Registration Method, and Feature Registration Program 失效
标题翻译：对象识别装置，对象识别方法，对象识别程序，特征登记装置，特征登记方法和特征登记方案
公开(公告)号：US20070269107A1
公开(公告)日：2007-11-22
申请号：US11693614
申请日：2007-03-29
申请人： Yoshiaki IWAI , Akira Nakamura , Weiguo Wu , Takayuki Yoshigahara
发明人： Yoshiaki IWAI , Akira Nakamura , Weiguo Wu , Takayuki Yoshigahara
IPC分类号： G06K9/00 , G06K9/48
CPC分类号： G06K9/50 , G06K9/6211
摘要： Disclosed herein is an object recognition device for recognition of an object that exists in an image, the device including: an edge image creator configured to create an edge image from a target image; a local feature extractor configured to extract a feature of each edge point on an edge image, and determine a base point and a support point from edge points in a local area defined for the edge image; a feature matching unit configured to implement, with reference to a memory, feature matching of a base point and a support point to thereby acquire a matching pair; and a matching pair determiner configured to determine final matching pairs by employing matching pairs having a highest matching cost among matching pairs obtained by the feature matching unit, wherein an object in a target image is identified based on matching pairs determined by the matching pair determiner.
摘要翻译：这里公开了一种用于识别存在于图像中的对象的对象识别装置，该装置包括：边缘图像创建器，被配置为从目标图像创建边缘图像; 局部特征提取器，被配置为提取边缘图像上的每个边缘点的特征，并且从为边缘图像定义的局部区域中的边缘点确定基点和支持点; 特征匹配单元，被配置为参照存储器实现基点和支持点的特征匹配，从而获取匹配对; 以及匹配对确定器，被配置为通过使用由所述特征匹配单元获得的匹配对中具有最高匹配成本的匹配对来确定最终匹配对，其中，基于由所述匹配对确定器确定的匹配对来识别目标图像中的对象。

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