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61. 发明授权

US07761692B2 Processor, compiler and compilation method 有权
标题翻译：处理器，编译器和编译方法
公开(公告)号：US07761692B2
公开(公告)日：2010-07-20
申请号：US11452282
申请日：2006-06-14
申请人： Taketo Heishi , Shuichi Takayama , Tetsuya Tanaka , Hajime Ogawa , Nobuo Higaki
发明人： Taketo Heishi , Shuichi Takayama , Tetsuya Tanaka , Hajime Ogawa , Nobuo Higaki
IPC分类号： G06F9/38 , G06F9/45
CPC分类号： G06F9/3853 , G06F9/30072 , G06F9/3822
摘要： In order to overcome the problem that conditionally executed instructions are executed as no-operation instructions if their condition is not fulfilled, leading to poor utilization efficiency of the hardware and lowering the effective performance, the processor decodes a number of instructions that is greater than the number of provided computing units and judges their execution conditions with an instruction issue control portion before the execution stage, Instructions for which the condition is false are invalidated, and subsequent valid instructions are assigned so that the computing units (hardware) is used efficiently. A compiler performs scheduling such that the number of instructions whose execution condition is true does not exceed the upper limit of the degree of parallelism of the hardware. The number of instructions arranged in parallel at each cycle may exceed the degree of parallelism of the hardware.
摘要翻译：为了克服有条件执行的指令如果不满足条件而被执行为无操作指令的问题，导致硬件的利用效率差并且降低了有效性能，则处理器解码大于提供的计算单元的数量并且在执行阶段之前用指令发布控制部分判断其执行条件，条件为假的指令被无效，并且分配后续的有效指令，使得有效地使用计算单元（硬件）。编译器执行调度，使得执行条件为真的指令数量不超过硬件的并行度的上限。在每个周期上平行布置的指令数可能超过硬件的并行程度。

62. 发明授权

US07756299B2 Face region estimating device, face region estimating method, and face region estimating program 有权
标题翻译：面部区域估计装置，面部区域估计方法和面部区域估计程序
公开(公告)号：US07756299B2
公开(公告)日：2010-07-13
申请号：US11301117
申请日：2005-12-13
申请人： Nobuo Higaki
发明人： Nobuo Higaki
IPC分类号： G06K9/00 , H04N7/18 , G01P3/36
CPC分类号： G06K9/00234 , G06K9/00201 , G06K9/00369 , G06T7/11 , G06T7/136 , G06T7/254 , G06T2207/30201
摘要： The invention provides a face region estimating device capable of extracting a person's face region even when an illumination environment, for example, is changed and persons with different skin colors are contained in a picked-up image taken by a camera. The face region estimating device includes: a mobile body detecting unit for extracting the outline of a mobile body from the picked-up image and for generating an object distance image composed of pixels corresponding to a distance in which the mobile body exists; a head region setting unit for setting a head region based on the pixel distribution in the object distance image corresponding to a predetermined range on the basis of a pixel position at the upper part of the outline; and a face region extracting unit for extracting the person's face region from the picked-up image based on the color distribution in the picked-up image corresponding to the head region.
摘要翻译：本发明提供一种即使在照相机拍摄的拍摄图像中例如改变照明环境并且具有不同肤色的人被包含的人也能够提取人脸部区域的面部区域估计装置。面部区域估计装置包括：移动体检测单元，用于从拍摄图像中提取移动体的轮廓，并且生成由与移动体存在的距离对应的像素构成的物体距离图像; 一个头部区域设置单元，用于根据轮廓上部的像素位置，根据与预定范围对应的物体距离图像中的像素分布来设置头部区域; 以及面部区域提取单元，用于根据与头部区域对应的拍摄图像中的颜色分布，从拍摄图像中提取人脸部区域。

63. 发明授权

US07716391B2 Data transfer apparatus, data transfer method, and program 有权
标题翻译：数据传输装置，数据传输方法和程序
公开(公告)号：US07716391B2
公开(公告)日：2010-05-11
申请号：US11382379
申请日：2006-05-09
申请人： Kazuya Furukawa , Nobuo Higaki , Hideyo Tsuruta , Kazushi Kurata , Shigeki Fujii , Kousuke Yoshioka , Hiroyuki Morishita
发明人： Kazuya Furukawa , Nobuo Higaki , Hideyo Tsuruta , Kazushi Kurata , Shigeki Fujii , Kousuke Yoshioka , Hiroyuki Morishita
IPC分类号： G06F3/00
CPC分类号： G06F3/0221 , G06F13/28 , Y02D10/14
摘要： A data transfer apparatus according to the present invention has; a DMAC and another DMAC which transfer data by direct memory access among a plurality of buses; a command queue which holds, as a queue, commands for instructing the data transfer; a bus information obtainment unit which obtains the commands from the command queue; a grouping unit which groups the held commands, based on a source and a destination designated in each of the obtained commands; a schedule unit which decides an order of issuing the commands sequentially from a group having more command, as a priority; and a selector which selects a command to be issued according to the decided order.
摘要翻译：根据本发明的数据传送装置具有： DMAC和另一个DMAC，其通过多个总线之间的直接存储器访问来传送数据; 作为队列保存用于指示数据传送的命令的命令队列; 总线信息获取单元，其从命令队列获取命令; 分组单元，其基于在每个所获得的命令中指定的源和目的地对保持的命令进行分组; 作为优先级，从具有更多命令的组中顺序地确定发出命令的顺序的调度单元; 以及选择器，其根据所决定的顺序选择要发出的命令。

64. 发明授权

US07593552B2 Gesture recognition apparatus, gesture recognition method, and gesture recognition program 有权
标题翻译：手势识别装置，手势识别方法和手势识别程序
公开(公告)号：US07593552B2
公开(公告)日：2009-09-22
申请号：US10805392
申请日：2004-03-22
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： G06F3/017 , G06K9/00375
摘要： A gesture recognition apparatus for recognizing postures or gestures of an object person based on images of the object person captured by cameras. The gesture recognition apparatus includes: a face/fingertip position detection means which detects a face position and a fingertip position of the object person in three-dimensional space based on contour information and human skin region information of the object person to be produced by the images captured; and a posture/gesture recognition means which operates to detect changes of the fingertip position by a predetermined method, to process the detected results by a previously stored method, to determine a posture or a gesture of the object person, and to recognize a posture or a gesture of the object person.
摘要翻译：一种手势识别装置，用于基于由相机拍摄的对象人物的图像来识别对象人的姿势或手势。手势识别装置包括：面部/指尖位置检测装置，其基于由图像生成的对象人的轮廓信息和人体皮肤区域信息来检测被摄体人在三维空间中的脸部位置和指尖位置被捕以及姿势/手势识别装置，其操作以通过预定方法检测指尖位置的变化，以通过先前存储的方法处理检测结果，以确定对象人的姿势或手势，以及识别姿势或姿势对象人的姿态。

65. 发明授权

US07551980B2 Apparatus, process, and program for controlling movable robot control 有权
标题翻译：用于控制可移动机器人控制的装置，过程和程序
公开(公告)号：US07551980B2
公开(公告)日：2009-06-23
申请号：US10814782
申请日：2004-04-01
申请人： Yoshiaki Sakagami , Shinichi Matsunaga , Nobuo Higaki , Naoaki Sumida , Takahiro Oohashi
发明人： Yoshiaki Sakagami , Shinichi Matsunaga , Nobuo Higaki , Naoaki Sumida , Takahiro Oohashi
IPC分类号： G06K9/32 , G06F3/01
CPC分类号： G06N3/008 , G05D1/0251 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0217
摘要： An apparatus 1 for controlling a movable robot recognizes the person to be followed up from an image taken by a camera C by an image processing portion 20, controls leg portions R1 of a movable robot A so as to keep a prescribed interval between the movable robot A and the person by a portion 50 for detecting an action, and notify the degree of the distance between the movable robot A and the person to the person by a voice from a voice outputting portion 62.
摘要翻译：用于控制可移动机器人的装置1通过图像处理部分20识别由照相机C拍摄的图像跟踪的人，控制可移动机器人A的腿部R1，以便在可移动机器人之间保持规定的间隔 A和通过用于检测动作的部分50的人员，并且从语音输出部分62通过语音通知可移动机器人A与人对人之间的距离的程度。

66. 发明申请

US20090059033A1 Camera exposure controller 有权
标题翻译：相机曝光控制器
公开(公告)号：US20090059033A1
公开(公告)日：2009-03-05
申请号：US12230129
申请日：2008-08-25
申请人： Takamichi Shimada , Nobuo Higaki
发明人： Takamichi Shimada , Nobuo Higaki
IPC分类号： H04N5/235
CPC分类号： H04N5/2351 , B25J19/022 , G03B7/093 , G03B35/08 , H04N5/2353 , H04N13/239 , H04N13/296
摘要： In an exposure controller of a camera mounted on a robot for taking an image utilizing incident light from external world in which an object such as a human being is present, a brightness histogram of the image is generated and exposure parameters are set based on the generated histogram. Then, it is determined whether the set exposure parameters are within a predetermined range and when they are out of the range and if a high-brightness imaging region is present in the image due to high-brightness incident light, it is again determined whether it is necessary to remove the high-brightness imaging region. When it is determined to be necessary, the high-brightness imaging region is extracted and is removed from the image, thereby enabling the camera to image the object with suitable brightness even when a bright light source such as the sun is within the camera angle of view.
摘要翻译：在安装在机器人上的摄像机的曝光控制器中，利用来自外部世界的入射光（其中存在诸如人的物体），生成图像的亮度直方图，并且基于产生的曝光参数来设置曝光参数直方图。然后，确定设定的曝光参数是否在预定范围内，并且当它们在超出该范围时，并且如果由于高亮度入射光而在图像中存在高亮度成像区域，则再次确定是否是去除高亮度成像区域所必需的。当确定需要时，提取高亮度成像区域并从图像中去除，从而即使当诸如太阳的明亮光源在相机角度内时，相机也可以以适当的亮度对对象进行成像视图。

67. 发明申请

US20090037696A1 PROCESSOR 审中-公开
标题翻译：处理器
公开(公告)号：US20090037696A1
公开(公告)日：2009-02-05
申请号：US11908002
申请日：2006-03-07
申请人： Tetsuya Tanaka , Nobuo Higaki , Taketo Heishi
发明人： Tetsuya Tanaka , Nobuo Higaki , Taketo Heishi
IPC分类号： G06F9/312
CPC分类号： G06F9/381 , G06F9/30047 , G06F9/30054 , G06F9/3804 , G06F9/3808
摘要： A processor (100) includes an ordinary instruction buffer (122) for storing and supplying one or more instructions fetched from an instruction cache (10), a TAR instruction buffer (123) for storing the one or more instructions fetched from the instruction cache (10) and supplying them secondarily, a selector (121) for selecting either the ordinary instruction buffer (122) or the TAR instruction buffer (123) as an instruction supplying source, and an instruction fetch control unit (102) for fetching, when a TAR filling instruction is executed, one or more instructions specified by the TAR filling instruction, and for controlling the selector (121) to select the TAR instruction buffer (123), in the case where case one or more fetched instructions are repeatedly supplied, thereby to supply an instruction through the selector (121) from the TAR instruction buffer (123).
摘要翻译：处理器（100）包括用于存储和提供从指令高速缓存（10）取出的一个或多个指令的普通指令缓冲器（122），用于存储从指令高速缓冲存储器（10）提取的一个或多个指令的TAR指令缓冲器（123） 10），并且二次供给，用于选择普通指令缓冲器（122）或TAR指令缓冲器（123）作为指令提供源的选择器（121），以及用于取指令的指令获取控制单元（102），当在情况下重复提供一个或多个获取的指令的情况下，执行TAR填充指令，由TAR填充指令指定的一个或多个指令，以及用于控制选择器（121）选择TAR指令缓冲器（123）以从TAR指令缓冲器（123）通过选择器（121）提供指令。

68. 发明申请

US20080215858A1 PROCESSOR AND PROGRAM EXECUTION METHOD CAPABLE OF EFFICIENT PROGRAM EXECUTION 有权
标题翻译：能够有效执行计划的执行者和计划执行方法
公开(公告)号：US20080215858A1
公开(公告)日：2008-09-04
申请号：US12110539
申请日：2008-04-28
申请人： Kazuya Furukawa , Tetsuya Tanaka , Nobuo Higaki , Kunihiko Hayashi , Hiroshi Kadota , Tokuzo Kiyohara , Kozo Kimura , Hideshi Nishida , Kazushi Kurata , Shigeki Fujii , Toshio Sugimura
发明人： Kazuya Furukawa , Tetsuya Tanaka , Nobuo Higaki , Kunihiko Hayashi , Hiroshi Kadota , Tokuzo Kiyohara , Kozo Kimura , Hideshi Nishida , Kazushi Kurata , Shigeki Fujii , Toshio Sugimura
IPC分类号： G06F9/30
CPC分类号： G06F9/4881 , G06F9/3851 , G06F9/3867 , G06F9/462
摘要： A processor for sequentially executing a plurality of programs using a plurality of register value groups stored in a memory that correspond one-to-one with the programs. The processor includes a plurality of register groups; a select/switch unit operable to select one of the plurality of register groups as an execution target register group on which a program execution is based, and to switch the selection target every time a first predetermined period elapses; a restoring unit operable to restore, every time the switching is performed, one of the register value groups into one of the register groups that is not selected as the execution target register group; a saving unit operable to save, prior to the restoring, register values in the register group targeted for restoring, by overwriting a register value group in the memory that corresponds to the register values; and a program execution unit operable to execute, every time the switching is performed, a program corresponding to a register value group in the execution target register group.
摘要翻译：一种处理器，用于使用存储在与所述程序一对一的存储器中的多个寄存器值组来顺序地执行多个程序。处理器包括多个寄存器组; 选择/切换单元，其可操作以选择所述多个寄存器组中的一个作为程序执行所基于的执行目标寄存器组，并且每当经过第一预定时间时切换所述选择目标; 恢复单元，其可操作以在每次执行切换时将所述寄存器值组中的一个恢复为未被选择为所述执行目标寄存器组的寄存器组之一; 保存单元，其可操作以通过重写与寄存器值相对应的存储器中的寄存器值组来在恢复之前保存用于恢复的寄存器组中的值; 以及程序执行单元，其可操作以在每次执行切换时执行与执行目标寄存器组中的寄存器值组相对应的程序。

69. 发明授权

US07398136B2 Biped robot control system 有权
标题翻译：双机器人控制系统
公开(公告)号：US07398136B2
公开(公告)日：2008-07-08
申请号：US10808336
申请日：2004-03-25
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G05D1/02 , B25J9/16 , B25J13/00 , B25J19/00
CPC分类号： G06N3/008 , G06K9/00348
摘要： In a biped robot control system, stereoscopic images captured by CCD cameras are analyzed, the analyzed images are then utilized to detect presence of any moving object around the robot and if it present, to calculate moving object information, and based on the calculated moving object information, it is determined whether or not walking of the robot needs to be stopped. If it is determined to be stopped, the robot is controlled to stop within a period that brings the travel distance at stopping (distance moved between image capture by the CCD cameras and stopping of robot walking) to within a predetermined distance. With this, when the robot approaches a moving object during walking, it can be stopped within the predetermined distance to avoid collision with the moving object.
摘要翻译：在双足机器人控制系统中，分析由CCD摄像机拍摄的立体图像，然后利用分析的图像来检测机器人周围的任何运动物体的存在，如果存在，则计算移动物体信息，并且基于计算的移动物体信息，确定是否需要停止机器人的行走。如果确定停止，则机器人被控制为在使停止行驶距离（CCD相机拍摄的图像与停止机器人步行之间移动的距离）到预定距离内的时间段内停止。这样，当行走过程中机器人接近运动物体时，可以在预定距离内停止运动物体，以避免与运动物体的碰撞。

70. 发明授权

US07376250B2 Apparatus, method and program for moving object detection 有权
标题翻译：用于移动物体检测的装置，方法和程序
公开(公告)号：US07376250B2
公开(公告)日：2008-05-20
申请号：US11015796
申请日：2004-12-20
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： G06K9/00362 , G06T7/251 , G06T7/254 , G06T7/285 , G06T2207/10016 , G06T2207/10028 , G06T2207/30196
摘要： The present invention detects a moving object by generating the distance information of the moving object, detecting the object motion, determining the object distance, detecting the object image area and the object contour from the video image that includes the object image and contour, and provides a moving object detection apparatus to carry out such detection as well as detecting a contour of the specific moving object by detecting the center of the moving object in high precision.
摘要翻译：本发明通过从包括对象图像和轮廓的视频图像生成运动对象的距离信息，检测对象运动，确定对象距离，检测对象图像区域和对象轮廓来检测移动对象，并且提供移动物体检测装置，通过以高精度检测移动物体的中心，进行这种检测以及检测特定移动物体的轮廓。

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