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1. 发明申请

US20060283943A1 Systems and methods for merchandise checkout 有权
标题翻译：商品结帐的系统和方法
公开(公告)号：US20060283943A1
公开(公告)日：2006-12-21
申请号：US11466371
申请日：2006-08-22
申请人： Jim Ostrowski , Luis Goncalves , Micheal Cremean , Alex Simonini , Alec Hudnut
发明人： Jim Ostrowski , Luis Goncalves , Micheal Cremean , Alex Simonini , Alec Hudnut
IPC分类号： G06K15/00 , G06K7/10
CPC分类号： G07F7/02 , A47F9/045 , G06Q20/343 , G07G1/0036 , G07G1/0063 , G07G3/00 , G07G3/003 , G08B13/1961 , G08B13/19671
摘要： Systems and methods for recognizing and identifying items located on the lower shelf of a shopping cart in a checkout lane of a retail store environment for the purpose of reducing or preventing loss or fraud and increasing the efficiency of a checkout process. The system includes one or more visual sensors that can take images of items and a computer system that receives the images from the one or more visual sensors and automatically identifies the items. The system can be trained to recognize the items using images taken of the items. The system relies on matching visual features from training images to match against features extracted from images taken at the checkout lane. Using the scale-invariant feature transformation (SIFT) method, for example, the system can compare the visual features of the images to the features stored in a database to find one or more matches, where the found one or more matches are used to identify the items.
摘要翻译：为了减少或防止丢失或欺诈以及增加结帐过程的效率，识别和识别位于零售商店环境的结帐通道中的购物车的下架上的物品的系统和方法。该系统包括可以拍摄物品图像的一个或多个视觉传感器和从一个或多个视觉传感器接收图像并自动识别物品的计算机系统。可以使用拍摄的项目的图像来训练系统来识别物品。系统依赖于训练图像的匹配视觉特征，以匹配从结帐通道上拍摄的图像提取的特征。使用比例不变特征变换（SIFT）方法，例如，系统可以将图像的视觉特征与存储在数据库中的特征进行比较，以找到一个或多个匹配，其中发现的一个或多个匹配用于识别的项目。

2. 发明申请

US20130018741A1 SYSTEMS AND METHODS FOR MERCHANDISE CHECKOUT 审中-公开
标题翻译：用于商品检验的系统和方法
公开(公告)号：US20130018741A1
公开(公告)日：2013-01-17
申请号：US13610783
申请日：2012-09-11
申请人： Jim Ostrowski , Luis Goncalves , Michael Cremean , Alex Simonini , Alec Hudnut
发明人： Jim Ostrowski , Luis Goncalves , Michael Cremean , Alex Simonini , Alec Hudnut
IPC分类号： G06Q20/20
CPC分类号： G07F7/02 , A47F9/045 , G06Q20/343 , G07G1/0036 , G07G1/0063 , G07G3/00 , G07G3/003 , G08B13/1961 , G08B13/19671
摘要： Systems and methods for recognizing and identifying items located on the lower shelf of a shopping cart in a checkout lane of a retail store environment for reducing or preventing loss or fraud and increasing the efficiency of a checkout process efficiency. The system includes one or more visual sensors that can take images of items and a computer system that receives the images and automatically identifies the items. The system can be trained to recognize the items using images taken of the items. The system relies on matching visual features from training images to match against features extracted from images taken at the checkout lane. Using the scale-invariant feature transformation (SIFT) method, for example, the system can compare extracted visual features of the images to the features stored in a database to find one or more matches, where the found one or more matches are used to identify the items.
摘要翻译：用于识别和识别位于零售商店环境的结帐通道中的购物车的下架上的物品的系统和方法，用于减少或防止损失或欺诈，并提高结算过程效率的效率。该系统包括可以拍摄物品图像的一个或多个视觉传感器和接收图像并自动识别物品的计算机系统。可以使用拍摄的项目的图像来训练系统来识别物品。系统依赖于训练图像的匹配视觉特征，以匹配从结帐通道上拍摄的图像提取的特征。使用比例不变特征变换（SIFT）方法，例如，系统可以将图像的提取的视觉特征与存储在数据库中的特征进行比较，以找到一个或多个匹配，其中发现的一个或多个匹配用于识别的项目。

3. 发明授权

US08267316B2 Systems and methods for merchandise checkout 有权
标题翻译：商品结帐的系统和方法
公开(公告)号：US08267316B2
公开(公告)日：2012-09-18
申请号：US11466371
申请日：2006-08-22
申请人： Jim Ostrowski , Luis Goncalves , Michael Cremean , Alex Simonini , Alec Hudnut
发明人： Jim Ostrowski , Luis Goncalves , Michael Cremean , Alex Simonini , Alec Hudnut
IPC分类号： G06K15/00
CPC分类号： G07F7/02 , A47F9/045 , G06Q20/343 , G07G1/0036 , G07G1/0063 , G07G3/00 , G07G3/003 , G08B13/1961 , G08B13/19671
摘要： Systems and methods for recognizing and identifying items located on the lower shelf of a shopping cart in a checkout lane of a retail store environment for the purpose of reducing or preventing loss or fraud and increasing the efficiency of a checkout process. The system includes one or more visual sensors that can take images of items and a computer system that receives the images from the one or more visual sensors and automatically identifies the items. The system can be trained to recognize the items using images taken of the items. The system relies on matching visual features from training images to match against features extracted from images taken at the checkout lane. Using the scale-invariant feature transformation (SIFT) method, for example, the system can compare the visual features of the images to the features stored in a database to find one or more matches, where the found one or more matches are used to identify the items.
摘要翻译：为了减少或防止丢失或欺诈以及增加结帐过程的效率，识别和识别位于零售商店环境的结帐通道中的购物车的下架上的物品的系统和方法。该系统包括可以拍摄物品图像的一个或多个视觉传感器和从一个或多个视觉传感器接收图像并自动识别物品的计算机系统。可以使用拍摄的项目的图像来训练系统来识别物品。系统依赖于训练图像的匹配视觉特征，以匹配从结帐通道上拍摄的图像提取的特征。使用比例不变特征变换（SIFT）方法，例如，系统可以将图像的视觉特征与存储在数据库中的特征进行比较，以找到一个或多个匹配，其中发现的一个或多个匹配用于识别的项目。

4. 发明申请

US20050189411A1 Systems and methods for merchandise checkout 有权
标题翻译：商品结帐的系统和方法
公开(公告)号：US20050189411A1
公开(公告)日：2005-09-01
申请号：US11023004
申请日：2004-12-27
申请人： Jim Ostrowski , Luis Goncalves , Michael Cremean , Alex Simonini , Alec Hudnut
发明人： Jim Ostrowski , Luis Goncalves , Michael Cremean , Alex Simonini , Alec Hudnut
IPC分类号： A47F9/04 , G07F7/02 , G07G1/00 , G07G3/00 , G08B13/194 , G08B13/196 , G06K15/00
CPC分类号： G07F7/02 , A47F9/045 , G06Q20/343 , G07G1/0036 , G07G1/0063 , G07G3/00 , G07G3/003 , G08B13/1961 , G08B13/19671
摘要： Systems and methods for recognizing and identifying items located on the lower shelf of a shopping cart in a checkout lane of a retail store environment for the purpose of reducing or preventing loss or fraud and increasing the efficiency of a checkout process. The system includes one or more visual sensors that can take images of items and a computer system that receives the images from the one or more visual sensors and automatically identifies the items. The system can be trained to recognize the items using images taken of the items. The system relies on matching visual features from training images to match against features extracted from images taken at the checkout lane. Using the scale-invariant feature transformation (SIFT) method, for example, the system can compare the visual features of the images to the features stored in a database to find one or more matches, where the found one or more matches are used to identify the items.
摘要翻译：为了减少或防止丢失或欺诈以及增加结帐过程的效率，识别和识别位于零售商店环境的结帐通道中的购物车的下架上的物品的系统和方法。该系统包括可以拍摄物品图像的一个或多个视觉传感器和从一个或多个视觉传感器接收图像并自动识别物品的计算机系统。可以使用拍摄的项目的图像来训练系统来识别物品。系统依赖于训练图像的匹配视觉特征，以匹配从结帐通道上拍摄的图像提取的特征。使用比例不变特征变换（SIFT）方法，例如，系统可以将图像的视觉特征与存储在数据库中的特征进行比较，以找到一个或多个匹配，其中发现的一个或多个匹配用于识别的项目。

5. 发明授权

US07819314B2 Systems and methods for merchandise checkout 有权
公开(公告)号：US07819314B2
公开(公告)日：2010-10-26
申请号：US11466371
申请日：2006-08-22
申请人： Jim Ostrowski , Luis Goncalves , Michael Cremean , Alex Simonini , Alec Hudnut
发明人： Jim Ostrowski , Luis Goncalves , Michael Cremean , Alex Simonini , Alec Hudnut
IPC分类号： G06K15/00
摘要： Systems and methods for recognizing and identifying items located on the lower shelf of a shopping cart in a checkout lane of a retail store environment for the purpose of reducing or preventing loss or fraud and increasing the efficiency of a checkout process. The system includes one or more visual sensors that can take images of items and a computer system that receives the images from the one or more visual sensors and automatically identifies the items. The system can be trained to recognize the items using images taken of the items. The system relies on matching visual features from training images to match against features extracted from images taken at the checkout lane. Using the scale-invariant feature transformation (SIFT) method, for example, the system can compare the visual features of the images to the features stored in a database to find one or more matches, where the found one or more matches are used to identify the items.

6. 发明授权

US07100824B2 System and methods for merchandise checkout 有权
标题翻译：商品结帐的系统和方法
公开(公告)号：US07100824B2
公开(公告)日：2006-09-05
申请号：US11023004
申请日：2004-12-27
申请人： Jim Ostrowski , Luis Goncalves , Michael Cremean , Alex Simonini , Alec Hudnut
发明人： Jim Ostrowski , Luis Goncalves , Michael Cremean , Alex Simonini , Alec Hudnut
IPC分类号： G06K15/00
CPC分类号： G07F7/02 , A47F9/045 , G06Q20/343 , G07G1/0036 , G07G1/0063 , G07G3/00 , G07G3/003 , G08B13/1961 , G08B13/19671
摘要： Systems and methods for recognizing and identifying items located on the lower shelf of a shopping cart in a checkout lane of a retail store environment for the purpose of reducing or preventing loss or fraud and increasing the efficiency of a checkout process. The system includes one or more visual sensors that can take images of items and a computer system that receives the images from the one or more visual sensors and automatically identifies the items. The system can be trained to recognize the items using images taken of the items. The system relies on matching visual features from training images to match against features extracted from images taken at the checkout lane. Using the scale-invariant feature transformation (SIFT) method, for example, the system can compare the visual features of the images to the features stored in a database to find one or more matches, where the found one or more matches are used to identify the items.
摘要翻译：为了减少或防止丢失或欺诈以及增加结帐过程的效率，识别和识别位于零售商店环境的结帐通道中的购物车的下架上的物品的系统和方法。该系统包括可以拍摄物品图像的一个或多个视觉传感器和从一个或多个视觉传感器接收图像并自动识别物品的计算机系统。可以使用拍摄的项目的图像来训练系统来识别物品。系统依赖于训练图像的匹配视觉特征，以匹配从结帐通道上拍摄的图像提取的特征。使用比例不变特征变换（SIFT）方法，例如，系统可以将图像的视觉特征与存储在数据库中的特征进行比较，以找到一个或多个匹配，其中发现的一个或多个匹配用于识别的项目。

7. 发明授权

US08448859B2 System and method for preventing cashier and customer fraud at retail checkout 有权
公开(公告)号：US08448859B2
公开(公告)日：2013-05-28
申请号：US12554630
申请日：2009-09-04
申请人： Luis Goncalves , Justin Beghtol , Isaac Gremmer , Jim Ostrowski
发明人： Luis Goncalves , Justin Beghtol , Isaac Gremmer , Jim Ostrowski
IPC分类号： G06K15/00
CPC分类号： G06K5/00 , G06K9/00771 , G07G1/0054 , G07G3/003 , G08B13/248
摘要： Systems and methods for preventing fraud during retail checkout are described. A system includes: item identifier acquisition devices to acquire identifiers (e.g., barcodes) of items to be transacted; cameras or imagers to acquire images of the items to be transacted; an object recognition component to perform visual recognition of the acquired items through comparison of the acquired images of the items with a database and obtain identifiers of items represented in the database that correspond to an acquired image according to a correspondence criterion; a comparison component to compare a set of identifiers acquired through the item identifier acquisition devices with a set of identifiers obtained through the object recognition component; and an alerting component to provide an alert in case of discrepancies between the two sets.

8. 发明申请

US20100059589A1 SYSTEM AND METHOD FOR PREVENTING CASHIER AND CUSTOMER FRAUD AT RETAIL CHECKOUT 有权
标题翻译：系统和方法，用于防止零售商和顾客在零售店检查
公开(公告)号：US20100059589A1
公开(公告)日：2010-03-11
申请号：US12554630
申请日：2009-09-04
申请人： Luis Goncalves , Justin Beghtol , Isaac Gremmer , Jim Ostrowski
发明人： Luis Goncalves , Justin Beghtol , Isaac Gremmer , Jim Ostrowski
IPC分类号： G06K15/00 , G06K9/68
CPC分类号： G06K5/00 , G06K9/00771 , G07G1/0054 , G07G3/003 , G08B13/248
摘要： Systems and methods for preventing fraud during retail checkout are described. A system includes: item identifier acquisition devices to acquire identifiers (e.g., barcodes) of items to be transacted; cameras or imagers to acquire images of the items to be transacted; an object recognition component to perform visual recognition of the acquired items through comparison of the acquired images of the items with a database and obtain identifiers of items represented in the database that correspond to an acquired image according to a correspondence criterion; a comparison component to compare a set of identifiers acquired through the item identifier acquisition devices with a set of identifiers obtained through the object recognition component; and an alerting component to provide an alert in case of discrepancies between the two sets.
摘要翻译：描述了在零售结帐期间防止欺诈的系统和方法。系统包括：项目标识符获取装置，用于获取要处理的项目的标识符（例如条形码）; 摄像机或摄像机获取要处理的物品的图像; 对象识别部件，通过将所获取的图像与数据库进行比较来进行所获取的项目的视觉识别，并根据对应标准获得与所获取的图像对应的数据库中表示的项目的标识符; 比较组件，用于将通过所述项目标识符获取设备获取的一组标识符与通过所述对象识别组件获得的一组标识符进行比较; 以及在两组之间的差异的情况下提供警报的警报组件。

9. 发明申请

US20070262884A1 SYSTEMS AND METHODS FOR CONTROLLING A DENSITY OF VISUAL LANDMARKS IN A VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING SYSTEM 有权
标题翻译：用于控制视觉同时定位和映射系统中的视觉地名密度的系统和方法
公开(公告)号：US20070262884A1
公开(公告)日：2007-11-15
申请号：US11562877
申请日：2006-11-22
申请人： Luis Goncalves , L. Karlsson , Paolo Pirjanian , Enrico Di Bernardo
发明人： Luis Goncalves , L. Karlsson , Paolo Pirjanian , Enrico Di Bernardo
IPC分类号： G08G1/123 , G06F17/30 , G06F19/00
CPC分类号： G05D1/0246 , G01C21/12 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0215 , G06T7/55 , G06T7/70 , G06T7/74 , G06T2207/30204 , Y10S901/01 , Y10S901/46 , Y10S901/47 , Y10S901/50
摘要： The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
摘要翻译：本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。这些技术可用于机器人导航。有利地，可以使用这种可视化技术来自主地生成和更新地图。与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

10. 发明申请

US20070090973A1 SYSTEMS AND METHODS FOR USING MULTIPLE HYPOTHESES IN A VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING SYSTEM 有权
标题翻译：在视觉同时定位和映射系统中使用多个假设的系统和方法
公开(公告)号：US20070090973A1
公开(公告)日：2007-04-26
申请号：US11559359
申请日：2006-11-13
申请人： L. Karlsson , Paolo Pirjanian , Luis Goncalves , Enrico Bernardo
发明人： L. Karlsson , Paolo Pirjanian , Luis Goncalves , Enrico Bernardo
IPC分类号： G08G1/123
CPC分类号： G05D1/0246 , G01C21/12 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0215 , G06T7/55 , G06T7/70 , G06T7/74 , G06T2207/30204 , Y10S901/01 , Y10S901/46 , Y10S901/47 , Y10S901/50
摘要： The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
摘要翻译：本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。这些技术可用于机器人导航。有利地，可以使用这种可视化技术来自主地生成和更新地图。与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

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