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21. 发明授权

US09179191B2 Information processing apparatus, 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：US09179191B2
公开(公告)日：2015-11-03
申请号：US12646214
申请日：2009-12-23
申请人： Masaki Fukuchi , Takayuki Yoshigahara
发明人： Masaki Fukuchi , Takayuki Yoshigahara
IPC分类号： H04N21/466 , H04N21/4223 , H04N21/442 , H04H60/33
CPC分类号： H04N21/44218 , H04H60/33 , H04N21/4223 , H04N21/44213 , H04N21/4667 , H04N21/4668 , H04N21/8133
摘要： An information processing apparatus includes a sight line detecting unit configured to detect a sight line of a viewer who is viewing content data and output sight line information which is a result of the detection, a viewing condition estimating unit configured to estimate a viewing condition of the viewer based on the output sight line information and visual attention information relating to the content data, and a content suggesting unit configured to make various suggestions with respect to the content data for the viewer based on the estimated viewing condition.
摘要翻译：一种信息处理设备，包括：视线检测单元，被配置为检测正在观看内容数据的观看者的视线，并输出作为检测结果的视线信息;观察条件估计单元，基于输出视线信息和与内容数据相关的视觉注意信息，以及内容提示单元，被配置为基于估计的观看条件，针对观看者的内容数据提供各种建议。

22. 发明申请

US20120243739A1 INFORMATION PROCESSING DEVICE, OBJECT RECOGNITION METHOD, PROGRAM, AND TERMINAL DEVICE 有权
标题翻译：信息处理设备，对象识别方法，程序和终端设备
公开(公告)号：US20120243739A1
公开(公告)日：2012-09-27
申请号：US13368816
申请日：2012-02-08
申请人： Masaki Fukuchi , Takayuki Yoshigahara
发明人： Masaki Fukuchi , Takayuki Yoshigahara
IPC分类号： G06K9/62
CPC分类号： G06K9/00671 , G06F17/30247 , G06F17/3087 , G06K9/4661
摘要： There is provided an information processing device including a database that stores feature quantities of two or more images, the database being configured such that identification information for identifying an object in each image and an attribute value related to a lighting condition under which the object was imaged are associated with a feature quantity of each image, an acquisition unit configured to acquire an input image captured by an imaging device, and a recognition unit configured to recognize an object in the input image by checking a feature quantity determined from the input image against the feature quantity of each image stored in the database. The feature quantities stored in the database include feature quantities of a plurality of images of an identical object captured under different lighting conditions.
摘要翻译：提供了一种信息处理装置，包括存储两个或更多个图像的特征量的数据库，该数据库被配置为使得用于识别每个图像中的对象的识别信息和与成像对象的照明条件相关的属性值与每个图像的特征量相关联，获取单元，被配置为获取由成像装置捕获的输入图像;以及识别单元，被配置为通过根据输入图像确定的特征量来检测输入图像中的对象存储在数据库中的每个图像的特征量。存储在数据库中的特征量包括在不同照明条件下捕获的相同对象的多个图像的特征量。

23. 发明申请

US20070257910A1 Method and Apparatus for Detecting Plane, and Robot Apparatus Having Apparatus for Detecting Plane 失效
标题翻译：用于检测平面的方法和装置，以及具有用于检测平面的装置的机器人装置
公开(公告)号：US20070257910A1
公开(公告)日：2007-11-08
申请号：US10593150
申请日：2005-03-17
申请人： Steffen Gutmann , Masaki Fukuchi , Kotaro Sabe , Kenta Kawamoto
发明人： Steffen Gutmann , Masaki Fukuchi , Kotaro Sabe , Kenta Kawamoto
IPC分类号： G06T17/00
CPC分类号： G06K9/00664 , B62D57/024 , G06K9/00201 , G06T7/13 , G06T7/73 , G06T2207/30252
摘要： In a plane detection apparatus, a plane detection unit (3) includes a line fitting block (4) to select a group of distance data points being in one plane from distance data forming an image and extract lines from the distance data point group, and a region growing block (5) to detect one or more planar regions existing in the image from a group of all lines included in the image and extracted by the line fitting block (4). The line fitting block (4) first draws a line D1 connecting end points of the distance data point group, searches a point of interest brk whose distance to the line L1 is largest, segments the data point group by the point of interest brk when the distance is larger than a predetermined threshold, and determines a line L2 by the least-squares method when the distance is smaller than the predetermined threshold. In case there exists a larger number of data points than a predetermine number on one side of the line L2, the data point group is determined to be in a zig-zag shape, the data point group is segmented by the point of interest brk. These operations are done repeatedly. Thus, a plurality of planes robust against noises is detected simultaneously and accurately from distance data including measurement noises.
摘要翻译：在平面检测装置中，平面检测装置（3）包括线拟合块（4），用于从形成图像的距离数据中选择位于一个平面中的一组距离数据点，并从距离数据点组提取线，区域生长块（5），用于检测图像中存在的一个或多个平面区域，所述平面区域包括在所述图像中并由所述线拟合块（4）提取。线拟合块（4）首先画出连接距离数据点组的端点的线D1，搜索距离线L 1最大的距离的兴趣点brk，将数据点组划分为兴趣点brk 当距离大于预定阈值时，并且当距离小于预定阈值时，通过最小二乘法确定线路L 2。在线L2的一侧存在比预定数量多的数据点的情况下，数据点组被确定为Z字形，数据点组被兴趣点分割。这些操作重复完成。因此，从包括测量噪声的距离数据同时且准确地检测到抵抗噪声的多个平面。

24. 发明申请

US20060241827A1 Obstacle avoiding apparatus, obstacle avoiding method, obstacle avoiding program and mobile robot apparatus 失效
标题翻译：避障装置，避障方法，避障程序和移动机器人装置
公开(公告)号：US20060241827A1
公开(公告)日：2006-10-26
申请号：US11363178
申请日：2006-02-28
申请人： Masaki Fukuchi , Steffen Gutmann
发明人： Masaki Fukuchi , Steffen Gutmann
IPC分类号： G08G1/16
CPC分类号： G05D1/0251 , G05D1/027 , G05D1/0274 , G05D2201/0217
摘要： The present invention provides an obstacle avoiding apparatus, an obstacle avoiding method, an obstacle avoiding program, and a mobile robot apparatus that can accurately model a robot apparatus and plan a highly precise moving route for the robot apparatus that avoids obstacles. The obstacle avoiding apparatus, to be used for a mobile robot apparatus to avoid obstacles, includes an obstacle environment map drawing section that divides the range of height from the reference surface for the mobile robot apparatus to move thereon to the height of the mobile robot apparatus into a plurality of layers corresponding to predetermined respective ranges of height and draws obstacle environment maps, each showing the condition of being occupied by one or more than one obstacles existing in the corresponding layer, and a route planning section that plans a route for the robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps as a function of the cross sectional profile of the mobile robot apparatus in each of the layers.
摘要翻译：本发明提供一种能够精确地建模机器人装置并设计用于避免障碍物的机器人装置的高精度移动路线的障碍物避障装置，障碍物避障方法，障碍物避免程序和移动机器人装置。用于移动机器人装置以避免障碍物的障碍物避免装置包括障碍物环境地图绘制部分，其将与移动机器人装置的参考表面的高度范围分开以移动到移动机器人装置的高度分成对应于预定的各个高度范围的多个层，并且绘制各自示出由相应层中存在的一个或多个障碍物占据的状况的障碍物环境图;以及路线规划部，其计划机器人的路线根据通过在障碍物环境地图中扩大障碍物或障碍物所占据的面积而制定的放大的环境地图作为每个层中的可移动机器人装置的横截面轮廓的函数来移动的装置。

25. 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。

26. 发明授权

US09256796B2 Terminal device, information processing device, object identifying method, program, and object identifying system 有权
标题翻译：终端设备，信息处理设备，对象识别方法，程序和对象识别系统
公开(公告)号：US09256796B2
公开(公告)日：2016-02-09
申请号：US13424114
申请日：2012-03-19
申请人： Takayuki Yoshigahara , Masaki Fukuchi
发明人： Takayuki Yoshigahara , Masaki Fukuchi
IPC分类号： G06K9/22
CPC分类号： G06K9/6231 , G06K9/22 , G06K9/228 , G06K9/46 , G06K9/6202 , G06K9/78 , G06T19/006
摘要： A device, apparatus, and method provide logic for processing information. In one implementation, a device may include an image acquisition unit configured to acquire an image, and a transmission unit configured to transmit information associated with the image to an information processing apparatus, such as a server. The server may be associated with a first feature quantity dictionary. The device also may include a receiving unit configured to receive a second feature quantity dictionary from the server in response to the transmission. The second feature quantity dictionary may include less information than the first feature quantity dictionary, and the server may generate the second feature quantity dictionary based on the image information and the first feature quantity dictionary. The device may include an identification unit configured to identify an object within the image using the second feature quantity dictionary.
摘要翻译：设备，装置和方法提供用于处理信息的逻辑。在一个实现中，设备可以包括被配置为获取图像的图像获取单元和被配置为将与图像相关联的信息发送到诸如服务器的信息处理设备的传输单元。服务器可以与第一特征量词典相关联。该设备还可以包括被配置为响应于该传输从服务器接收第二特征量字典的接收单元。第二特征量词典可以包括比第一特征量词典少的信息，并且服务器可以基于图像信息和第一特征量词典生成第二特征量词典。设备可以包括被配置为使用第二特征量字典来识别图像内的对象的识别单元。

27. 发明授权

US07346430B2 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：US07346430B2
公开(公告)日：2008-03-18
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： 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 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。

28. 发明授权

US07317817B2 Robot apparatus, face identification method, image discriminating method and apparatus 有权
标题翻译：机器人装置，面部识别方法，图像识别方法和装置
公开(公告)号：US07317817B2
公开(公告)日：2008-01-08
申请号：US11656115
申请日：2007-01-22
申请人： Atsushi Okubo , Kohtaro Sabe , Kenta Kawamoto , Masaki Fukuchi
发明人： Atsushi Okubo , Kohtaro Sabe , Kenta Kawamoto , Masaki Fukuchi
IPC分类号： G06K9/00
CPC分类号： G06K9/00228 , G06K9/00221 , G06T7/246 , G06T7/90
摘要： A robot apparatus includes face includes a face tracking module (M2) for tracking a face in an image photographed by a CCD camera, a face detecting module (M1) for detecting face data of the face in the image photographed by the image pickup device, based on the face tracking information by the face tracking module (M2) and a face identification module (M3) for identifying a specified face based on the face data as detected by the face data detecting module (M1).
摘要翻译：一种机器人装置，包括面部跟踪模块（M 2），用于跟踪由CCD照相机拍摄的图像中的脸部，面部检测模块（M 1），用于检测由图像拾取器拍摄的图像中的脸部的脸部数据基于面部追踪模块（M 2）的脸部跟踪信息和面部识别模块（M 3），根据脸部数据检测模块（M 1）检测到的脸部数据，识别指定脸部的装置。

29. 发明授权

US07269478B2 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：US07269478B2
公开(公告)日：2007-09-11
申请号：US11137081
申请日：2005-05-25
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 are analyzed, and dividing for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting 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，分别添加到从发送分别发送的每帧的每个图像数据中的图像信息，并且基于每个帧划分并将从发送发送的多路复用图像数据输出到相应的信道，基于对分析结果。

30. 发明授权

US07263412B2 Robot self-position identification system and self-position identification method 失效
标题翻译：机器人自我定位识别系统和自我定位识别方法
公开(公告)号：US07263412B2
公开(公告)日：2007-08-28
申请号：US10470456
申请日：2002-11-27
申请人： Steffen Gutmann , Masaki Fukuchi
发明人： Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F19/00
CPC分类号： G06K9/00664 , G05D1/0231 , G05D1/0246 , G05D1/0272
摘要： A self-localization system uses both of a global search apparatus, which is based on grid-based Markov localization, and a local search apparatus, which uses an extended Kalman filter. If an observation result by the global search apparatus is valid, then updating of an observation result by the local search apparatus is permitted, but if the observation result is not valid, then updating of the observation result by the local search apparatus is not performed. On the other hand, if the observation result by the local search apparatus is valid, then a state of the local search is outputted, but if the observation result is not valid, then the local search apparatus is re-initialized. Accordingly, the self-localization of a robot can be performed based on sensor information of the robot and motion information performed by the robot in an environment including artificial landmarks.
摘要翻译：自定位系统使用基于网格的马尔可夫定位的全局搜索装置和使用扩展卡尔曼滤波器的本地搜索装置。如果全局搜索装置的观察结果有效，则允许由本地搜索装置更新观察结果，但是如果观察结果无效，则不进行本地搜索装置的观察结果的更新。另一方面，如果本地搜索装置的观察结果有效，则输出本地搜索的状态，但是如果观察结果无效，则本地搜索装置被重新初始化。因此，可以基于机器人的传感器信息和机器人在包括人造地标的环境中执行的运动信息来执行机器人的自定位。

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