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1. 发明授权

US07895201B2 Information processing apparatus, methods, and program for searching sets for an element 有权
标题翻译：用于搜索元素的集合的信息处理设备，方法和程序
公开(公告)号：US07895201B2
公开(公告)日：2011-02-22
申请号：US11324562
申请日：2006-01-04
申请人： Akira Nakamura , Hirotaka Suzuki , Takayuki Yoshigahara
发明人： Akira Nakamura , Hirotaka Suzuki , Takayuki Yoshigahara
IPC分类号： G06F7/00
CPC分类号： G06F17/30247 , G06K9/6271 , G06K9/6276
摘要： The present invention is intended to provide a quick search of a plurality of sets. A common representative point setting block sets a common representative point common to sets on the basis of a feature vector stored in a vector information storage block and stores the set point into a common representative point information storage block. A neighborhood table group creation block creates a neighborhood table for each set on the basis of the vector information and common representative point information and stores the created table in a neighborhood table group storage block. A nearest neighborhood vector group search block, upon acquisition of an input vector, searches each set for a nearest neighborhood vector of the input vector on the basis of the vector information, the common representative point information, and the neighborhood table group and outputs the retrieved nearest neighborhood vector as a comparison result. The present invention is applicable to image processing apparatuses.
摘要翻译：本发明旨在提供对多组的快速搜索。公共代表点设定块基于存储在向量信息存储块中的特征向量来设定公共的公共代表点，并将设定点存储到公共代表点信息存储块中。邻域表组创建块基于向量信息和公共代表点信息为每一组创建邻域表，并将创建的表存储在邻域表组存储块中。最近的邻域向量组搜索块，在获取输入向量后，根据向量信息，公共代表点信息和邻域表组，对输入向量的最近邻域向量进行搜索，并输出检索到的最近邻域向量作为比较结果。本发明可应用于图像处理装置。

2. 发明申请

US20090041340A1 Image Processing System, Learning Device and Method, and Program 有权
标题翻译：图像处理系统，学习装置和方法以及程序
公开(公告)号：US20090041340A1
公开(公告)日：2009-02-12
申请号：US11813404
申请日：2005-12-26
申请人： Hirotaka Suzuki , Akira Nakamura , Takayuki Yoshigahara , Kohtaro Sabe , Masahiro Fujita
发明人： Hirotaka Suzuki , Akira Nakamura , Takayuki Yoshigahara , Kohtaro Sabe , Masahiro Fujita
IPC分类号： G06K9/46
CPC分类号： G06K9/00288 , G06K9/6211 , G06K9/623 , G06T7/00
摘要： The present invention relates to an image processing system, a learning device and method, and a program which enable easy extraction of feature amounts to be used in a recognition process. Feature points are extracted from a learning-use model image, feature amounts are extracted based on the feature points, and the feature amounts are registered in a learning-use model dictionary registration section 23. Similarly, feature points are extracted from a learning-use input image containing a model object contained in the learning-use model image, feature amounts are extracted based on these feature points, and these feature amounts are compared with the feature amounts registered in a learning-use model registration section 23. A feature amount that has formed a pair the greatest number of times as a result of the comparison is registered in the model dictionary registration section 12 as the feature amount to be used in the recognition process. The present invention is applicable to a robot.
摘要翻译：本发明涉及图像处理系统，学习装置和方法以及能够容易地提取在识别处理中使用的特征量的程序。从学习用模型图像提取特征点，基于特征点提取特征量，并且将特征量登记在学习用模型字典注册部23中。同样，从学习用途中提取特征点基于这些特征点提取含有包含在学习用模型图像中的模型对象的输入图像，并将这些特征量与在学习用模型登记部23中登记的特征量进行比较。特征量作为比较的结果，在模型字典登记部12中登记了作为识别处理中使用的特征量的最大次数的对。本发明可应用于机器人。

3. 发明申请

US20060153457A1 Information processing apparatus and method, and program 有权
标题翻译：信息处理装置和方法，程序
公开(公告)号：US20060153457A1
公开(公告)日：2006-07-13
申请号：US11324562
申请日：2006-01-04
申请人： Akira Nakamura , Hirotaka Suzuki , Takayuki Yoshigahara
发明人： Akira Nakamura , Hirotaka Suzuki , Takayuki Yoshigahara
IPC分类号： G06K9/46 , G06F17/30
CPC分类号： G06F17/30247 , G06K9/6271 , G06K9/6276
摘要： The present invention is intended to provide quick search of a plurality if any of sets subject to search for desired members. A common representative point setting block sets a common representative point common to sets on the basis of a feature vector stored in a vector information storage block and stores the set point into a common representative point information storage block. A neighborhood table group creation block creates a neighborhood table for each set on the basis of the vector information and common representative point information and stores the created table in a neighborhood table group storage block. A nearest neighborhood vector group search block, upon acquisition of an input vector, searches each set for a nearest neighborhood vector of the input vector on the basis of the vector information, the common representative point information, and the neighborhood table group and outputs the retrieved nearest neighborhood vector as a comparison result. The present invention is applicable to image processing apparatuses.
摘要翻译：本发明旨在提供快速搜索多个，如果有任何一组可以搜索期望的成员。公共代表点设定块基于存储在向量信息存储块中的特征向量来设定公共的公共代表点，并将设定点存储到公共代表点信息存储块中。邻域表组创建块基于向量信息和公共代表点信息为每一组创建邻域表，并将创建的表存储在邻域表组存储块中。最近的邻域向量组搜索块，在获取输入向量后，根据向量信息，公共代表点信息和邻域表组，对输入向量的最近邻域向量进行搜索，并输出检索到的最近邻域向量作为比较结果。本发明可应用于图像处理装置。

4. 发明授权

US08582887B2 Image processing system, learning device and method, and program 有权
标题翻译：图像处理系统，学习装置和方法，程序
公开(公告)号：US08582887B2
公开(公告)日：2013-11-12
申请号：US11813404
申请日：2005-12-26
申请人： Hirotaka Suzuki , Akira Nakamura , Takayuki Yoshigahara , Kohtaro Sabe , Masahiro Fujita
发明人： Hirotaka Suzuki , Akira Nakamura , Takayuki Yoshigahara , Kohtaro Sabe , Masahiro Fujita
IPC分类号： G06K9/00
CPC分类号： G06K9/00288 , G06K9/6211 , G06K9/623 , G06T7/00
摘要： The present invention relates to an image processing system, a learning device and method, and a program which enable easy extraction of feature amounts to be used in a recognition process. Feature points are extracted from a learning-use model image, feature amounts are extracted based on the feature points, and the feature amounts are registered in a learning-use model dictionary registration section 23. Similarly, feature points are extracted from a learning-use input image containing a model object contained in the learning-use model image, feature amounts are extracted based on these feature points, and these feature amounts are compared with the feature amounts registered in a learning-use model registration section 23. A feature amount that has formed a pair the greatest number of times as a result of the comparison is registered in the model dictionary registration section 12 as the feature amount to be used in the recognition process. The present invention is applicable to a robot.
摘要翻译：本发明涉及图像处理系统，学习装置和方法以及能够容易地提取在识别处理中使用的特征量的程序。从学习用模型图像提取特征点，基于特征点提取特征量，并且将特征量登记在学习用模型字典注册部23中。同样，从学习用途中提取特征点基于这些特征点提取含有包含在学习用模型图像中的模型对象的输入图像，并将这些特征量与在学习用模型登记部23中登记的特征量进行比较。特征量作为比较的结果，在模型字典登记部12中登记了作为识别处理中使用的特征量的最大次数的对。本发明可应用于机器人。

5. 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。

6. 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。

7. 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。

8. 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。

9. 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。

10. 发明授权

US08103115B2 Information processing apparatus, method, and program 失效
标题翻译：信息处理装置，方法和程序
公开(公告)号：US08103115B2
公开(公告)日：2012-01-24
申请号：US12070956
申请日：2008-02-22
申请人： Yoshiaki Iwai , Takayuki Yoshigahara , Akira Nakamura
发明人： Yoshiaki Iwai , Takayuki Yoshigahara , Akira Nakamura
IPC分类号： G06K9/46
CPC分类号： G06K9/48 , G06K9/50
摘要： An information processing apparatus that compares an input image with a model image to identify the subject of the input image with the subject of the model image. The apparatus includes feature value extraction means for setting feature points, each of which is on an edge of the model image and provided to extract a model image feature value, which is the feature value of the model image, and extracting the model image feature value from each of a plurality of feature value extraction areas in the neighborhood of each of the feature points, and matching means for checking if an input image feature value, which is the feature value of the input image, at the point that is on an edge of the input image and corresponds to the feature point matches any of the plurality of model image feature values at the feature point.
摘要翻译：一种信息处理装置，其将输入图像与模型图像进行比较，以识别具有模型图像的对象的输入图像的对象。该装置包括用于设置特征点的特征值提取装置，每个特征点位于模型图像的边缘上，并被提供以提取作为模型图像的特征值的模型图像特征值，并且提取模型图像特征值每个特征点附近的多个特征值提取区域中的每一个，以及用于检查作为输入图像的特征值的输入图像特征值是否位于边缘上的点的匹配装置并且对应于特征点与特征点处的多个模型图像特征值中的任何一个匹配。

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