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1. 发明授权

US07873447B2 Position estimation apparatus, position estimation method and program recording medium 有权
标题翻译：位置估计装置，位置估计方法和程序记录介质
公开(公告)号：US07873447B2
公开(公告)日：2011-01-18
申请号：US11745947
申请日：2007-05-08
申请人： Kenichiro Oi , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
发明人： Kenichiro Oi , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F17/00
CPC分类号： G01C21/12 , G01C22/02
摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.
摘要翻译：本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或基于正确位置预测的移动物体的姿态。

2. 发明申请

US20070265741A1 Position Estimation Apparatus, Position Estimation Method and Program Recording Medium 有权
标题翻译：位置估计装置，位置估计方法和程序记录介质
公开(公告)号：US20070265741A1
公开(公告)日：2007-11-15
申请号：US11745947
申请日：2007-05-08
申请人： Kenichiro OI , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
发明人： Kenichiro OI , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F17/10
CPC分类号： G01C21/12 , G01C22/02
摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.
摘要翻译：本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或基于正确位置预测的移动物体的姿态。

3. 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。

4. 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。

5. 发明授权

US07251606B2 Robot device with changing dialogue and control method therefor and storage medium 失效
标题翻译：具有改变对话和控制方法的机器人装置和存储介质
公开(公告)号：US07251606B2
公开(公告)日：2007-07-31
申请号：US10296403
申请日：2002-03-26
申请人： Rika Horinaka , Masahiro Fujita , Atsushi Okubo , Kenta Kawamoto , Gabriel Costa , Masaki Fukuchi , Osamu Hanagata , Kotaro Sabe
发明人： Rika Horinaka , Masahiro Fujita , Atsushi Okubo , Kenta Kawamoto , Gabriel Costa , Masaki Fukuchi , Osamu Hanagata , Kotaro Sabe
IPC分类号： G10L15/22
CPC分类号： G06N3/008 , B25J13/003 , G10L15/22 , G10L17/26
摘要： Sentences corresponding to internal statuses of a robot device or the like are created and uttered, thereby expressing the internal statuses. The robot device or the like comprise means for recognizing an external status, and means for generating an emotion based on the internals status, whereby a change in the emotion is reflected upon a dialogue. The internal status is not associated with a sentence, but it exists independently of the system and is always varied depending on various external inputs and internal changes of the system. Accordingly, even when the same question is made on the robot device or the like, the contents of a reply are changed depending on the internal status at that time, and a manner of providing a reply also differs depending on the internal status.
摘要翻译：创建并发出对应于机器人装置等的内部状态的句子，从而表示内部状态。机器人装置等包括用于识别外部状态的装置，以及用于基于内部状态产生情绪的装置，由此在对话中反映情绪的改变。内部状态与句子不相关，但它与系统无关，并且总是根据系统的各种外部输入和内部变化而变化。因此，即使在机器人装置等上进行同样的问题时，答复的内容根据当时的内部状态而变化，提供答复的方式也根据内部状态而不同。

6. 发明授权

US07216082B2 Action teaching apparatus and action teaching method for robot system, and storage medium 失效
标题翻译：机器人系统和存储介质的动作教学仪器和动作教学方法
公开(公告)号：US07216082B2
公开(公告)日：2007-05-08
申请号：US10296269
申请日：2002-03-26
申请人： Atsushi Okubo , Gabriel Costa , Kenta Kawamoto , Rika Horinaka , Masaki Fukuchi , Masahiro Fujita
发明人： Atsushi Okubo , Gabriel Costa , Kenta Kawamoto , Rika Horinaka , Masaki Fukuchi , Masahiro Fujita
IPC分类号： G10L15/22
CPC分类号： B25J13/003 , G10L15/26 , G10L2015/088 , G10L2015/223
摘要： A robot system includes a speech recognition unit for converting speech information into text information, and a database retrieval unit for extracting a keyword included in the text information from a database. By designating a plurality of basic actions on a speech basis, and storing an action record, a combined action formed by combining the plurality of basic actions in time-series order can be named as a new action only in voice-based interaction. A user can designate complicated continuous actions by using only one word, and can easily have a conversation with the robot.
摘要翻译：机器人系统包括用于将语音信息转换为文本信息的语音识别单元，以及用于从数据库中提取包含在文本信息中的关键字的数据库检索单元。通过在语音基础上指定多个基本动作，并且存储动作记录，通过以时间序列顺序组合多个基本动作形成的组合动作可以仅在基于语音的交互中被命名为新动作。用户可以通过仅使用一个字来指定复杂的连续动作，并且可以容易地与机器人通话。

7. 发明授权

US08405712B2 Gesture recognition apparatus and method thereof 有权
标题翻译：手势识别装置及其方法
公开(公告)号：US08405712B2
公开(公告)日：2013-03-26
申请号：US12233693
申请日：2008-09-19
申请人： Tsukasa Ike , Yasukazu Okamoto , Satoru Ishigaki , Kei Sakamoto , Masahiro Fujita , Hisashi Kazama
发明人： Tsukasa Ike , Yasukazu Okamoto , Satoru Ishigaki , Kei Sakamoto , Masahiro Fujita , Hisashi Kazama
IPC分类号： H04N7/18 , G06K9/00
CPC分类号： G06F3/017 , G06F3/012 , G06K9/00355
摘要： A gesture recognition apparatus including a detector, a controller and a gesture recognizer, and is able to detect a portion to be detected using an image captured at a first resolution without reducing the number of images to be entered per unit of time to an object detector by detecting an auxiliary portion instead when the portion to be detected is not detected at a second resolution, estimating the position of the auxiliary portion based on the position of the auxiliary portion, and extracting the periphery thereof from the image captured at the first resolution.
摘要翻译：一种手势识别装置，包括检测器，控制器和手势识别器，并且能够使用以第一分辨率捕获的图像来检测要检测的部分，而不会将每单位时间输入的图像数量减少到对象检测器通过在第二分辨率下未检测到要检测的部分的情况下检测辅助部分，基于辅助部分的位置估计辅助部分的位置，并且从以第一分辨率捕获的图像中提取其外围。

8. 发明授权

US08185336B2 Test apparatus, test method, program, and recording medium reducing the influence of variations 失效
标题翻译：测试装置，测试方法，程序和记录介质减少变化的影响
公开(公告)号：US08185336B2
公开(公告)日：2012-05-22
申请号：US12261062
申请日：2008-10-30
申请人： Yasuo Furukawa , Goerschwin Fey , Satoshi Komatsu , Masahiro Fujita
发明人： Yasuo Furukawa , Goerschwin Fey , Satoshi Komatsu , Masahiro Fujita
IPC分类号： G01R31/00 , G01R31/14 , G01R31/28
CPC分类号： G01R31/318307 , G01R31/3008 , G01R31/318342
摘要： Provided is a test apparatus that tests a device under test, including a vector expanding section that sequentially generates a plurality of test vectors; a predicting section that calculates a predicted value for each test vector by simulating an operation of the device under test, the predicted value indicating a prescribed characteristic value of the device under test to be measured while the device under test is supplied with a test signal corresponding to the test vector; a measuring section that obtains a measured value for each test vector by measuring the prescribed characteristic value of the device under test each time the device under test is supplied with a test vector; and a judging section that judges whether the device under test is defective based on a ratio between the predicted value and the measured value corresponding to each test vector.
摘要翻译：提供了一种测试被测设备的测试设备，包括顺序地产生多个测试向量的向量扩展部分; 预测部，其通过模拟被测设备的动作来计算各测试矢量的预测值，所述预测值表示被测设备被测试设备的规定特征值，所述预测值被提供有对应的测试信号到测试矢量; 测量部，其通过在每次向被测试装置供给测试矢量时，测量被测设备的规定特征值，求出各测试矢量的测量值; 以及判断部，其基于预测值和与各测试矢量对应的测量值之间的比率来判定被测设备是否有缺陷。

9. 发明授权

US06983231B2 Information processing device and method, data holding device, and program 失效
公开(公告)号：US06983231B2
公开(公告)日：2006-01-03
申请号：US09958244
申请日：2001-02-09
申请人： Hideki Noma , Masahiro Fujita , Makoto Inoue , Noritoshi Inoue , Katsuya Muramatsu , Masashi Takeda
发明人： Hideki Noma , Masahiro Fujita , Makoto Inoue , Noritoshi Inoue , Katsuya Muramatsu , Masashi Takeda
IPC分类号： G06G7/48
CPC分类号： G06N3/006 , G06N3/126
摘要： In an information processing device and method, and programs, firstly, new second inheritance data is created based on first inheritance data regulating the shape and/or behaviors of a virtual creature and secondly, the gene data of the virtual creature is diagnosed and a given value added is applied to the virtual creature when it is determined based on the diagnostic result that the gene data satisfies predetermined conditions and thirdly, information on parents of virtual creatures which are sequentially created by mixing and registered, is stored and a pedigree of a designated virtual creature is inquired into based on the information. On the other hand, a data storing device is provided with a first storage means for storing inheritance data to regulate the shape and/or behaviors of a virtual creature, a communication means for transmitting/receiving inheritance data to/from the outside, and a second storing means for storing the inheritance data of other virtual creatures via the communication means.

10. 发明申请

US20050240412A1 Robot behavior control system and method, and robot apparatus 失效
标题翻译：机器人行为控制系统和方法以及机器人装置
公开(公告)号：US20050240412A1
公开(公告)日：2005-10-27
申请号：US11101257
申请日：2005-04-06
申请人： Masahiro Fujita
发明人： Masahiro Fujita
IPC分类号： A63H11/00 , G06F3/16 , G06N3/00 , G10L13/00 , G10L13/04 , G10L13/08 , G10L15/00 , G10L15/02 , G10L15/16 , G10L19/14
CPC分类号： G10L15/16 , G10L13/00 , G10L2015/025
摘要： A behavior control system of a robot for learning a phoneme sequence includes a sound inputting device inputting a phoneme sequence, a sound signal learning unit operable to convert the phoneme sequence into a sound synthesis parameter and to learn or evaluate a relationship between a sound synthesis parameter of a phoneme sequence that is generated by the robot and a sound synthesis parameter used for sound imitation, and a sound synthesizer operable to generate a phoneme sequence based on the sound synthesis parameter obtained by the sound signal learning unit.
摘要翻译：用于学习音素序列的机器人的行为控制系统包括输入音素序列的声音输入装置，声音信号学习单元，其可操作以将音素序列转换成声音合成参数，并且学习或评估声音合成参数由机器人产生的音素序列和用于声音模拟的声音合成参数;以及声音合成器，其可操作以基于由声音信号学习单元获得的声音合成参数产生音素序列。

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