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1. 发明授权

US08588471B2 Method and device of mapping and localization method using the same 有权
标题翻译：使用该方法和设备的映射和定位方法
公开(公告)号：US08588471B2
公开(公告)日：2013-11-19
申请号：US12699900
申请日：2010-02-04
申请人： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
发明人： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
IPC分类号： G06K9/00 , G06K9/36
CPC分类号： G06K9/00664 , G06K9/00201 , G06T7/73 , G06T2207/10016 , G06T2207/10028
摘要： A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.
摘要翻译：提供了一种映射方法。扫描环境以获得环境障碍物的深度信息。拍摄环境的图像以生成图像平面。将环境障碍物的深度信息投影到图像平面上，以获得投影位置。从每个投影位置周围的预定范围计算至少一个特征向量。合并环境障碍物深度信息和环境特征向量，以在特定时间点生成子地图。组合所有时间点的子地图以生成地图。此外，还提供了使用该图的定位方法。

2. 发明授权

US08395663B2 Positioning system and method thereof 有权
标题翻译：定位系统及其方法
公开(公告)号：US08395663B2
公开(公告)日：2013-03-12
申请号：US12372708
申请日：2009-02-17
申请人： Hsiang-Wen Hsieh , Jwu-Sheng Hu , Shyh-Haur Su , Chin-Chia Wu
发明人： Hsiang-Wen Hsieh , Jwu-Sheng Hu , Shyh-Haur Su , Chin-Chia Wu
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G01S5/16 , G06T1/00
摘要： A positioning system and a method thereof are provided. In the positioning method, a first and a second pose information of a moving device are obtained by a first positioning device and a second positioning device respectively, wherein the first pose information corresponds to the second pose information. In addition, a plurality of first candidacy pose information is generated in an error range of the first pose information. Furthermore, a plurality of second candidacy pose information is generated according to the first pose information respectively. One of the second candidacy pose information having a smallest error derived from the second pose information is selected for updating the pose information of the first positioning device and parameter information of the second positioning device. Thereby, pose information of the moving device is updated and parameter information of the second orientation devices is calibrated simultaneously.
摘要翻译：提供了一种定位系统及其方法。在定位方法中，分别通过第一定位装置和第二定位装置获得移动装置的第一姿态信息和第二姿势信息，其中第一姿态信息对应于第二姿势信息。另外，在第一姿态信息的误差范围内生成多个第一候选人姿势信息。此外，分别根据第一姿态信息生成多个第二候选人姿势信息。为了更新第一定位装置的姿态信息和第二定位装置的参数信息，选择从第二姿势信息导出的具有最小误差的第二轮候姿态信息中的一个。由此，更新移动装置的姿势信息，同时对第二取向装置的参数信息进行校准。

3. 发明申请

US20100157048A1 POSITIONING SYSTEM AND METHOD THEREOF 有权
标题翻译：定位系统及其方法
公开(公告)号：US20100157048A1
公开(公告)日：2010-06-24
申请号：US12372708
申请日：2009-02-17
申请人： Hsiang-Wen Hsieh , Jwu-Sheng Hu , Shyh-Haur Su , Chin-Chia Wu
发明人： Hsiang-Wen Hsieh , Jwu-Sheng Hu , Shyh-Haur Su , Chin-Chia Wu
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G01S5/16 , G06T1/00
摘要： A positioning system and a method thereof are provided. In the positioning method, a first and a second pose information of a moving device are obtained by a first positioning device and a second positioning device respectively, wherein the first pose information corresponds to the second pose information. In addition, a plurality of first candidacy pose information is generated in an error range of the first pose information. Furthermore, a plurality of second candidacy pose information is generated according to the first pose information respectively. One of the second candidacy pose information having a smallest error derived from the second pose information is selected for updating the pose information of the first positioning device and parameter information of the second positioning device. Thereby, pose information of the moving device is updated and parameter information of the second orientation devices is calibrated simultaneously.
摘要翻译：提供了一种定位系统及其方法。在定位方法中，分别通过第一定位装置和第二定位装置获得移动装置的第一姿态信息和第二姿势信息，其中第一姿态信息对应于第二姿势信息。另外，在第一姿态信息的误差范围内生成多个第一候选人姿势信息。此外，分别根据第一姿态信息生成多个第二候选人姿势信息。为了更新第一定位装置的姿态信息和第二定位装置的参数信息，选择从第二姿势信息导出的具有最小误差的第二轮候姿态信息中的一个。由此，更新移动装置的姿势信息，同时校准第二取向装置的参数信息。

4. 发明申请

US20100165116A1 CAMERA WITH DYNAMIC CALIBRATION AND METHOD THEREOF 审中-公开
标题翻译：相机具有动态校准及其方法
公开(公告)号：US20100165116A1
公开(公告)日：2010-07-01
申请号：US12391264
申请日：2009-02-24
申请人： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Wei-Han Wang , Chin-Chia Wu
发明人： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Wei-Han Wang , Chin-Chia Wu
IPC分类号： H04N17/02
CPC分类号： H04N5/2224 , G06T7/73 , G06T2207/10016 , G06T2207/30204 , G06T2207/30232 , G06T2207/30244
摘要： A camera with dynamic calibration and a method thereof is provided. The camera is first subject to an initial calibration. Then, a motion amount of the camera is calculated, and a plurality of motion amount estimation samples of the camera is generated according to the motion amount. Then, a weight of each of the motion amount estimation samples is calculated. Thereafter, the plurality of motion amount estimation samples is re-sampled based on the weights, and the camera is calibrated by the re-sampled estimated motion samples.
摘要翻译：提供具有动态校准的相机及其方法。首先对相机进行初始校准。然后，计算摄像机的运动量，并根据运动量产生摄像机的多个运动量估计样本。然后，计算每个运动量估计样本的权重。此后，基于权重对多个运动量估计样本进行重新采样，并且通过重新采样的估计运动样本校准摄像机。

5. 发明授权

US07651909B2 Method for fabricating metal-insulator-metal capacitor 有权
标题翻译：金属绝缘体金属电容器制造方法
公开(公告)号：US07651909B2
公开(公告)日：2010-01-26
申请号：US11377160
申请日：2006-03-15
申请人： Ping-Wei Lin , Chin-Chia Wu , Chao-Sheng Chiang
发明人： Ping-Wei Lin , Chin-Chia Wu , Chao-Sheng Chiang
IPC分类号： H01L21/8242
CPC分类号： H01L28/40
摘要： A method for fabricating a metal-insulator-metal capacitor is described. A first metal layer is formed on a substrate. A plasma treatment is performed on the surface of the first metal layer. Then, a first oxide layer, a nitride layer and a second oxide layer are formed in sequence over the first metal layer. Thereafter, a second metal layer is formed on the second oxide layer. The second metal layer, the second oxide layer, the nitride layer, the first oxide layer and the first metal layer are defined to form the metal-insulator-metal capacitor.
摘要翻译：描述了用于制造金属 - 绝缘体 - 金属电容器的方法。在基板上形成第一金属层。在第一金属层的表面进行等离子体处理。然后，依次在第一金属层上形成第一氧化物层，氮化物层和第二氧化物层。此后，在第二氧化物层上形成第二金属层。第二金属层，第二氧化物层，氮化物层，第一氧化物层和第一金属层被定义为形成金属 - 绝缘体 - 金属电容器。

6. 发明申请

US20110123135A1 METHOD AND DEVICE OF MAPPING AND LOCALIZATION METHOD USING THE SAME 有权
标题翻译：使用该方法和本地化方法的方法和装置
公开(公告)号：US20110123135A1
公开(公告)日：2011-05-26
申请号：US12699900
申请日：2010-02-04
申请人： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
发明人： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
IPC分类号： G06K9/36 , G01C3/08
CPC分类号： G06K9/00664 , G06K9/00201 , G06T7/73 , G06T2207/10016 , G06T2207/10028
摘要： A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.
摘要翻译：提供了一种映射方法。扫描环境以获得环境障碍物的深度信息。拍摄环境的图像以生成图像平面。将环境障碍物的深度信息投影到图像平面上，以获得投影位置。从每个投影位置周围的预定范围计算至少一个特征向量。合并环境障碍物深度信息和环境特征向量，以在特定时间点生成子地图。组合所有时间点的子地图，生成地图。此外，还提供了使用该图的定位方法。

7. 发明申请

US20080090020A1 METHOD FOR FABRICATING METAL-INSULATOR-METAL CAPACITOR 审中-公开
标题翻译：金属绝缘体 - 金属电容器制造方法
公开(公告)号：US20080090020A1
公开(公告)日：2008-04-17
申请号：US11951244
申请日：2007-12-05
申请人： Ping-Wei Lin , Chin-Chia Wu , Chao-Sheng Chiang
发明人： Ping-Wei Lin , Chin-Chia Wu , Chao-Sheng Chiang
IPC分类号： B05D3/04 , C23C14/35
CPC分类号： H01L28/40
摘要： A method for fabricating a metal-insulator-metal capacitor is described. A first metal layer is formed on a substrate. A plasma treatment is performed on the surface of the first metal layer. Then, a first oxide layer, a nitride layer and a second oxide layer are formed in sequence over the first metal layer. Thereafter, a second metal layer is formed on the second oxide layer. The second metal layer, the second oxide layer, the nitride layer, the first oxide layer and the first metal layer are defined to form the metal-insulator-metal capacitor.
摘要翻译：描述了用于制造金属 - 绝缘体 - 金属电容器的方法。在基板上形成第一金属层。在第一金属层的表面进行等离子体处理。然后，依次在第一金属层上形成第一氧化物层，氮化物层和第二氧化物层。此后，在第二氧化物层上形成第二金属层。第二金属层，第二氧化物层，氮化物层，第一氧化物层和第一金属层被定义为形成金属 - 绝缘体 - 金属电容器。

8. 发明申请

US20070218626A1 Method for fabricating metal-insulator-metal capacitor 有权
标题翻译：金属绝缘体金属电容器制造方法
公开(公告)号：US20070218626A1
公开(公告)日：2007-09-20
申请号：US11377160
申请日：2006-03-15
申请人： Ping-Wei Lin , Chin-Chia Wu , Chao-Sheng Chiang
发明人： Ping-Wei Lin , Chin-Chia Wu , Chao-Sheng Chiang
IPC分类号： H01L21/8242
CPC分类号： H01L28/40
摘要： A method for fabricating a metal-insulator-metal capacitor is described. A first metal layer is formed on a substrate. A plasma treatment is performed on the surface of the first metal layer. Then, a first oxide layer, a nitride layer and a second oxide layer are formed in sequence over the first metal layer. Thereafter, a second metal layer is formed on the second oxide layer. The second metal layer, the second oxide layer, the nitride layer, the first oxide layer and the first metal layer are defined to form the metal-insulator-metal capacitor.
摘要翻译：描述了用于制造金属 - 绝缘体 - 金属电容器的方法。在基板上形成第一金属层。在第一金属层的表面进行等离子体处理。然后，依次在第一金属层上形成第一氧化物层，氮化物层和第二氧化物层。此后，在第二氧化物层上形成第二金属层。第二金属层，第二氧化物层，氮化物层，第一氧化物层和第一金属层被定义为形成金属 - 绝缘体 - 金属电容器。

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