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41. 发明授权

US5694483A Measurement face extraction apparatus and method 失效
标题翻译：测量面提取装置及方法
公开(公告)号：US5694483A
公开(公告)日：1997-12-02
申请号：US469417
申请日：1995-06-06
申请人： Kazunori Onoguchi
发明人： Kazunori Onoguchi
IPC分类号： G01B11/00 , G01C11/06 , G06T1/00 , G06T7/00 , G06K9/32 , G01B9/00 , G01N21/86 , G06K9/62
CPC分类号： G06T7/0075 , G01C11/06
摘要： A measurement face extraction apparatus extracts a measurement face such as a road area in three-dimensional space. The measurement face is continuously located in the three-dimensional space. In the apparatus, two cameras input two images each of which includes the measurement face. A conversion unit calculates an equation of a projection plane corresponding to the measurement face and projects each position of each image onto the projection plane. A memory stores image information of each position of the two images by unit of projected position on the projection plane. An extraction unit, extracts each projected position for which the image information of the two images are similar from each projected position of the memory as the measurement face on the projection plane.
摘要翻译：测量面部提取装置在三维空间中提取诸如道路面积的测量面。测量面连续地位于三维空间中。在该装置中，两个摄像机输入两个图像，每个图像包括测量面。转换单元计算与测量面对应的投影平面的等式，并将每个图像的每个位置投影到投影平面上。存储器通过投影平面上的投影位置的单位来存储两个图像的每个位置的图像信息。提取单元从投影平面上的作为测量面的存储器的每个投影位置提取两个图像的图像信息相似的每个投影位置。

42. 发明授权

US06205242B1 Image monitor apparatus and a method 有权
标题翻译：图像监视装置及方法
公开(公告)号：US06205242B1
公开(公告)日：2001-03-20
申请号：US09161428
申请日：1998-09-24
申请人： Kazunori Onoguchi
发明人： Kazunori Onoguchi
IPC分类号： G06K900
CPC分类号： G08G1/04 , G06K9/3241
摘要： In the image monitor apparatus, a plurality of images are respectively inputted through a plurality of TV camera from each view position. An image projection section projects each of the plurality of images onto a predetermined plane in three-dimensional space. A comparison section compares the projected image data of two images by unit of predetermined area on the plane, and extracts the predetermined areas, each of which two projected image data are different, from the plane. An extraction section extracts an existence position of a monitored object from the predetermined areas extracted. An integration section integrates the existence positions of the monitored object extracted for the projected image data of all of two images in the plurality of images as all existence positions of the monitored objects on the plane.
摘要翻译：在图像监视装置中，通过多个TV摄像机从各视点位置分别输入多个图像。图像投影部将多个图像中的每一个投影到三维空间中的预定平面上。比较部分将平面上的预定区域的单位的两个图像的投影图像数据进行比较，并从平面中提取其两个投影图像数据不同的预定区域。提取部分从提取的预定区域中提取被监视对象的存在位置。集成部分将为多个图像中的所有两个图像的投影图像数据提取的被监视对象的存在位置整合为平面上被监视对象的所有存在位置。

43. 发明授权

US5400244A Running control system for mobile robot provided with multiple sensor information integration system 失效
标题翻译：运动控制系统为移动机器人提供了多个传感器信息集成系统
公开(公告)号：US5400244A
公开(公告)日：1995-03-21
申请号：US904039
申请日：1992-06-25
申请人： Mutsumi Watanabe , Kazunori Onoguchi , In S. Kweon
发明人： Mutsumi Watanabe , Kazunori Onoguchi , In S. Kweon
IPC分类号： G05D1/02 , G06F15/50
CPC分类号： G05D1/0242 , G05D1/0246 , G05D1/0255
摘要： A running control system for a mobile robot has the functions necessary for motion clustered into a danger avoidance portion, a safe region advance portion and an interest region follow portion, and these are coupled to a motion actuator control portion which directly controls each movement of the robot, and fused in the motion actuator control portion. Operation commands are configured from a moving distance and a moving direction of the mobile robot. In addition, there is also a coupling in the direction of the safe region advance portion from the danger avoidance portion but internal situations such as the failure and end of processing and like are transmitted using these couplings of portions. Interference between intelligent behavior and reflexive behavior is basically performed via the motion actuator control portion. The control amount for the motion actuator is determined by fusing a plural number of types of operation commands relating to the various types of behavior of the mobile robot, and it is possible to have real-time running of the mobile robot. In addition, when there is a failure in the various types of processing and which can occur in a dynamic environment, the inducing of a operation command of an auxiliary function portion enables the positive escape from a status of failure.
摘要翻译：用于移动机器人的运行控制系统具有聚集到危险回避部分，安全区域提前部分和兴趣区域跟随部分中的运动所必需的功能，并且它们耦合到运动致动器控制部分，其直接控制机器人，并且熔化在运动致动器控制部分中。操作命令由移动机器人的移动距离和移动方向构成。此外，在避险部分的安全区域前进部分的方向上还有联接，但是使用这些部件联接件传送诸如故障和处理结束等内部情况。智能行为与反身行为之间的干扰基本上通过运动执行器控制部分进行。通过融合与移动机器人的各种行为相关的多种类型的操作命令来确定运动致动器的控制量，并且可以实现移动机器人的实时运行。此外，当在各种类型的处理中出现故障并且可能在动态环境中发生故障时，诱导辅助功能部分的操作命令使得能够从故障状态正向逃逸。

44. 发明授权

US07612800B2 Image processing apparatus and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US07612800B2
公开(公告)日：2009-11-03
申请号：US10607045
申请日：2003-06-27
申请人： Ryuzo Okada , Kazunori Onoguchi
发明人： Ryuzo Okada , Kazunori Onoguchi
IPC分类号： H04N5/225 , G06K9/00
CPC分类号： G06K9/00805 , G06T7/215 , G06T7/248 , G06T7/74 , G06T2207/10016 , G06T2207/30248 , G06T2207/30252
摘要： An image processing apparatus includes an image input unit that receives time-series images, and a candidate area tracking unit that extracts a line segment in a specific direction, sets an obstacle candidate area in a vicinity of the detected line segment, and searches the vicinity of the line segment extracted in each frame, thus tracking the obstacle candidate area with low computational cost. Using the tracking result of tracking a group of three or more candidate areas, a plane assumption verifier determines to which of the preset planes these candidate areas belong. On the basis of the result by the plane assumption verifier, an obstacle detector detects an obstacle and estimates the position of the obstacle.
摘要翻译：图像处理装置包括接收时间序列图像的图像输入单元和提取特定方向的线段的候补区域跟踪单元，设置检测出的线段附近的障碍物候补区域，并对其附近进行搜索在每个帧中提取的线段，从而以低计算成本跟踪障碍物候选区域。使用跟踪一组三个或更多个候选区域的跟踪结果，平面假设验证器确定这些候选区域属于哪个预设平面。基于平面假设验证器的结果，障碍物检测器检测障碍物并估计障碍物的位置。

45. 发明申请

US20050152580A1 Obstacle detecting apparatus and method 审中-公开
标题翻译：障碍物检测装置及方法
公开(公告)号：US20050152580A1
公开(公告)日：2005-07-14
申请号：US11007209
申请日：2004-12-09
申请人： Kenji Furukawa , Ryuzo Okada , Kazunori Onoguchi
发明人： Kenji Furukawa , Ryuzo Okada , Kazunori Onoguchi
IPC分类号： B60R21/00 , B60R1/00 , G06K9/00 , G06K9/32 , G06T7/20 , G08G1/16
CPC分类号： G06T7/20 , G06K9/00805 , G06K9/2054 , G06K9/3241 , G06K2209/23
摘要： An apparatus that detects an obstacle using images shot by an image shooting device mounted on a mobile object on a plane, the apparatus comprising: an image receiving unit configured to receive time-series images shot by the image shooting device; an area setting unit configured to set a plurality of processing areas in the images received by the image receiving unit; an object motion detector configured to detect objects moving within the areas set by the area setting unit and to detect motion trajectories of the objects; an obstacle candidate detector configured to detect the respective objects as obstacle candidates if a direction of a line connecting between the objects is a predetermined direction; and an obstacle determining unit configured to compare the motion trajectories of the respective obstacle candidates and to determine the obstacle candidates as an obstacle if the motion trajectories of the obstacle candidates satisfy a predetermined similarity condition.
摘要翻译：一种使用安装在平面上的移动物体上的图像拍摄装置拍摄的图像来检测障碍物的装置，所述装置包括：图像接收单元，被配置为接收由所述图像拍摄装置拍摄的时间序列图像; 区域设定单元，被配置为在图像接收单元接收的图像中设置多个处理区域; 对象运动检测器，被配置为检测由所述区域设置单元设置的区域内移动的物体，并检测物体的运动轨迹; 障碍物候选检测器，被配置为如果所述对象之间的线的方向是预定方向，则检测各个对象作为候选候选; 以及障碍物确定单元，被配置为比较各个障碍物候选的运动轨迹，并且如果障碍物候选的运动轨迹满足预定的相似性条件，则确定障碍物候选作为障碍物。

46. 发明授权

US6067164A Method and apparatus for automatic adjustment of electron optics system and astigmatism correction in electron optics device 失效
标题翻译：电子光学装置自动调整方法及装置及散光校正
公开(公告)号：US6067164A
公开(公告)日：2000-05-23
申请号：US928662
申请日：1997-09-12
申请人： Kazunori Onoguchi , Hiroaki Nakai
发明人： Kazunori Onoguchi , Hiroaki Nakai
IPC分类号： G01Q20/04 , G01Q30/04 , H01J37/26 , H01J37/28 , G01B11/00 , G01N23/00
CPC分类号： H01J37/265 , H01J37/28 , H01J2237/1501 , H01J2237/216
摘要： A scheme for realizing the automatic adjustment of the electron optics system in an electron optics device such as scanning electron microscope, in which a prescribed number of images sequentially obtained by the electron optics device at sequentially adjusted focal points are stored; a moving amount of a sample image in the stored images is calculated; whether an adjustment of the electron optics system of the electron optics device is necessary or not is judged according to the calculated moving amount of the sample image; and the electron optics system of the electron optics device is adjusted according to the moving amount of the sample image when it is judged that the adjustment of the electron optics system of the electron optics device is necessary. A scheme for realizing the astigmatism correction in a charged particle beam optical system of an electron optics device such as scanning electron microscope is also disclosed.
摘要翻译：一种用于实现电子光学装置如扫描电子显微镜中的电子光学系统的自动调整的方案，其中存储依次由电子光学装置在顺序调节的焦点上顺序获得的规定数量的图像; 计算所存储的图像中的样本图像的移动量; 根据计算出的样本图像的移动量判断电子光学装置的电子光学系统的调整是否需要; 并且当判断需要电子光学器件的电子光学系统的调整时，根据样品图像的移动量来调整电子光学器件的电子光学系统。还公开了一种用于在诸如扫描电子显微镜的电子光学器件的带电粒子束光学系统中实现像散校正的方案。

47. 发明授权

US5793041A Method for correcting astigmatism and focusing in charged particle optical lens-barrel 失效
标题翻译：用于校正散光和聚焦在带电粒子光学镜片镜筒中的方法
公开(公告)号：US5793041A
公开(公告)日：1998-08-11
申请号：US711263
申请日：1996-09-09
申请人： Munehiro Ogasawara , Shuichi Tamamushi , Kazunori Onoguchi , Hideo Wakamori
发明人： Munehiro Ogasawara , Shuichi Tamamushi , Kazunori Onoguchi , Hideo Wakamori
IPC分类号： G01R31/302 , H01J37/153 , H01J37/21 , H01J37/28 , H01J37/10
CPC分类号： H01J37/21 , H01J37/153 , H01J37/28 , H01J2237/223
摘要： In a method for correcting astigmatism and focusing in a charged particle optical lens-barrel, according to the invention, Fourier transformation data items are obtained, which indicate images obtained by scanning a sample with a charged particle beam when the focal distance of an objective lens is set to each of at least two different values. Then, the configuration of the section of the beam is determined on the basis of the difference between the data items, thereby performing astigmatism correction and focusing. As a result, a charged particle microscope can perform highly accurate astigmatism correction and focusing during observation, irrespective of the surface configuration of the sample or the beam section on the sample.
摘要翻译：在根据本发明的用于校正散光和聚焦的方法中，根据本发明，获得傅立叶变换数据项，其表示当物镜的焦距被扫描时带有带电粒子束的样本获得的图像被设置为至少两个不同值中的每一个。然后，基于数据项之间的差来确定光束的部分的配置，从而执行散光校正和聚焦。结果，带电粒子显微镜可以在观察期间执行高精度的像散校正和聚焦，而不管样品的表面构型或样品上的光束部分如何。

48. 发明授权

US5748778A Image processing apparatus and method 失效
标题翻译：图像处理装置及方法
公开(公告)号：US5748778A
公开(公告)日：1998-05-05
申请号：US523428
申请日：1995-09-05
申请人： Kazunori Onoguchi
发明人： Kazunori Onoguchi
IPC分类号： G06T7/60 , G06K9/38 , G06T7/00 , G06K9/00 , G06K9/48
CPC分类号： G06K9/38
摘要： An image processing apparatus of the present invention extracts a boundary point between a white pixel area and a black pixel area on a binary image. In the image processing apparatus, a scan line set section sets a scan line on the binary image. A cumulative histogram creation section examines each pixel on the scan line and creates a cumulative histogram, a predetemined value being added whenever one of a black pixel and a white pixel is extracted, corresponding to pixel position of the scan line. A boundary point extraction section extracts a point from the binary image corresponding to a point on the histogram where the display moves from a relatively flat part to a monotone increasing part and determines the pixel position corresponding to the extracted point on the scan line as a boundary point which indicates a transition from one pixel area to the other pixel area.
摘要翻译：本发明的图像处理装置提取二值图像上的白色像素区域和黑色像素区域之间的边界点。在图像处理装置中，扫描线集合部分对二值图像设置扫描线。累积直方图创建部分检查扫描线上的每个像素并创建累积直方图，每当提取与黑色像素和白色像素有关的每一像素时，相应于扫描线的像素位置添加预定值。边界点提取部分从对应于直方图上的点的二进制图像中提取点，其中显示器从相对平坦的部分移动到单调递增部分，并将与扫描线上的提取点对应的像素位置确定为边界指示从一个像素区域到另一个像素区域的转变的点。

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