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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. 发明申请

US20130108108A1 Information Processing Apparatus, Information Processing Method, and Computer Program 有权
标题翻译：信息处理装置，信息处理方法和计算机程序
公开(公告)号：US20130108108A1
公开(公告)日：2013-05-02
申请号：US13664834
申请日：2012-10-31
申请人： Kenichiro OI , Steffen Gutmann , Takayuki Yoshigahara
发明人： Kenichiro OI , Steffen Gutmann , Takayuki Yoshigahara
IPC分类号： G06T7/00
CPC分类号： G06K9/00664 , G06K9/72 , G06T7/70
摘要： An information processing apparatus that executes processing for creating an environmental map includes a camera that photographs an image, a self-position detecting unit that detects a position and a posture of the camera on the basis of the image, an image-recognition processing unit that detects an object from the image, a data constructing unit that is inputted with information concerning the position and the posture of the camera and information concerning the object and executes processing for creating or updating the environmental map, and a dictionary-data storing unit storing dictionary data in which object information is registered. The image-recognition processing unit executes processing for detecting an object from the image with reference to the dictionary data. The data constructing unit applies the three-dimensional shape data to the environmental map and executes object arrangement on the environmental map.
摘要翻译：执行用于创建环境地图的处理的信息处理装置包括拍摄图像的照相机，基于图像检测照相机的位置和姿势的自身位置检测单元，图像识别处理单元，从图像检测对象，输入有关于摄像机的位置和姿势的信息的数据构成单元以及关于对象的信息，并且执行用于创建或更新环境地图的处理，以及字典数据存储单元，存储字典记录了对象信息的数据。图像识别处理单元参照字典数据执行从图像检测对象的处理。数据构成单元将三维形状数据应用于环境地图，并在环境地图上执行对象排列。

4. 发明授权

US08073200B2 Information processing apparatus, information processing method, and computer program 有权
标题翻译：信息处理装置，信息处理方法和计算机程序
公开(公告)号：US08073200B2
公开(公告)日：2011-12-06
申请号：US12134354
申请日：2008-06-06
申请人： Kenichiro Oi , Steffen Gutmann , Takayuki Yoshigahara
发明人： Kenichiro Oi , Steffen Gutmann , Takayuki Yoshigahara
IPC分类号： G06K9/00 , G06F17/30
CPC分类号： G06K9/00664 , G06K9/72 , G06T7/70
摘要： An information processing apparatus that executes processing for creating an environmental map includes a camera that photographs an image, a self-position detecting unit that detects a position and a posture of the camera on the basis of the image, an image-recognition processing unit that detects an object from the image, a data constructing unit that is inputted with information concerning the position and the posture of the camera and information concerning the object and executes processing for creating or updating the environmental map, and a dictionary-data storing unit having stored therein dictionary data in which object information is registered. The image-recognition processing unit executes processing for detecting an object from the image acquired by the camera with reference to the dictionary data. The data constructing unit applies the three-dimensional shape data registered in the dictionary data to the environmental map and executes object arrangement on the environmental map.
摘要翻译：执行用于创建环境地图的处理的信息处理装置包括拍摄图像的照相机，基于图像检测照相机的位置和姿势的自身位置检测单元，图像识别处理单元，从图像检测对象，输入有关于相机的位置和姿势的信息的数据构成单元以及关于对象的信息，并且执行用于创建或更新环境地图的处理，以及具有存储的字典数据存储单元其中注册了对象信息的字典数据。图像识别处理单元参照字典数据执行从摄像机获取的图像中检测物体的处理。数据构成单元将登录在字典数据中的三维形状数据应用于环境地图，并在环境地图上执行对象排列。

5. 发明申请

US20060025888A1 Environment map building method, environment map building apparatus and mobile robot apparatus 有权
标题翻译：环境地图构建方法，环境地图建筑装置和移动机器人装置
公开(公告)号：US20060025888A1
公开(公告)日：2006-02-02
申请号：US11165047
申请日：2005-06-24
申请人： Steffen Gutmann , Masaki Fukuchi , Kohtaro Sabe , James Bruce
发明人： Steffen Gutmann , Masaki Fukuchi , Kohtaro Sabe , James Bruce
IPC分类号： G06F19/00
CPC分类号： G06K9/00664 , G06T7/593
摘要： An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises. The present invention provides an environment map building apparatus for building a three-dimensional environment map to be used for three-dimensionally determining a region allowing a moving body to move therein according to external environment conditions, which comprises an external environment conditions detecting section that detects external environment conditions, a three-dimensional map building section that builds a three-dimensional map showing the state of occupancy of a three-dimensional grid on the basis of the external environment conditions detected by the external environment conditions detecting section, a relative-to-base-plane height map building section that builds a relative-to-base-plane height map showing heights from a two-dimensional base plane on the basis of the external environment conditions detected by the external environment conditions detecting section, and a height map information modifying section that modifies the information of the relative-to-base-plane height map on the basis of the information on the three-dimensional map.
摘要翻译：环境地图构建方法和环境地图构建装置可以以相对于观察噪声鲁棒的方式在高度方向上以高分辨率表达周围的实施例。本发明提供了一种用于构建三维环境图的环境地图构建装置，其用于三维地确定允许移动体根据外部环境条件在其中移动的区域，该外部环境条件包括外部环境条件检测部分，其检测外部环境条件，基于由外部环境条件检测部检测到的外部环境条件构建表示三维网格的占有状态的三维地图的三维地图构建部，相对于 - 基平面高度图构建部，其基于由外部环境条件检测部检测到的外部环境条件，构建从二维基面显示高度的相对基准面高度图，以及高度图信息修改部分，其修改相对于基站的信息，平面高度图基于三维地图上的信息。

6. 发明申请

US20060064202A1 Environment identification device, environment identification method, and robot device 审中-公开
标题翻译：环境识别装置，环境识别方法和机器人装置
公开(公告)号：US20060064202A1
公开(公告)日：2006-03-23
申请号：US10525431
申请日：2003-08-22
申请人： Steffen Gutmann , Masaki Fukuchi
发明人： Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F19/00
CPC分类号： G06K9/00664 , G05D1/0221 , G05D1/0234 , G05D1/0251 , G05D1/0274 , G05D2201/0214 , G05D2201/0217
摘要： An environment identifying apparatus (400) is adapted to be mounted in a robot apparatus that moves in an identifiable unique environment in which a plurality of landmarks are located so as to identify the current environment by means of a plurality of registered environments. The environment identifying apparatus comprises an environment map building section (402) for recognizing the landmarks in the current environment, computing the movement/state quantity of the robot apparatus itself and building an environment map of the current environment containing information on the positions of the landmarks in the current environment on the basis of the landmarks and the movement/state quantity, an environment map storage section (403) having a data base of registered environment maps containing positional information on the landmarks and environment IDs, an environment identifying section (404) for identifying the current environment on the basis of the degree of similarity between the environment map of the current environment and each of the registered environment maps and an environment exploring section (405) for exploring a new environment.
摘要翻译：环境识别装置（400）适于安装在机器人装置中，该机器人装置在可识别的独特环境中移动多个地标，以便通过多个注册环境识别当前环境。环境识别装置包括用于识别当前环境中的地标的环境地图建立部分（402），计算机器人装置自身的移动/状态量并构建包含关于地标位置的信息的当前环境的环境地图在当前环境中，基于地标和移动/状态量，具有包含有关地标和环境ID的位置信息的注册环境地图的数据库的环境地图存储部（403），环境识别部（404）用于基于当前环境的环境地图和每个注册环境地图之间的相似程度以及用于探索新环境的环境探索部分（405）来识别当前环境。

7. 发明授权

US07263412B2 Robot self-position identification system and self-position identification method 失效
标题翻译：机器人自我定位识别系统和自我定位识别方法
公开(公告)号：US07263412B2
公开(公告)日：2007-08-28
申请号：US10470456
申请日：2002-11-27
申请人： Steffen Gutmann , Masaki Fukuchi
发明人： Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F19/00
CPC分类号： G06K9/00664 , G05D1/0231 , G05D1/0246 , G05D1/0272
摘要： A self-localization system uses both of a global search apparatus, which is based on grid-based Markov localization, and a local search apparatus, which uses an extended Kalman filter. If an observation result by the global search apparatus is valid, then updating of an observation result by the local search apparatus is permitted, but if the observation result is not valid, then updating of the observation result by the local search apparatus is not performed. On the other hand, if the observation result by the local search apparatus is valid, then a state of the local search is outputted, but if the observation result is not valid, then the local search apparatus is re-initialized. Accordingly, the self-localization of a robot can be performed based on sensor information of the robot and motion information performed by the robot in an environment including artificial landmarks.
摘要翻译：自定位系统使用基于网格的马尔可夫定位的全局搜索装置和使用扩展卡尔曼滤波器的本地搜索装置。如果全局搜索装置的观察结果有效，则允许由本地搜索装置更新观察结果，但是如果观察结果无效，则不进行本地搜索装置的观察结果的更新。另一方面，如果本地搜索装置的观察结果有效，则输出本地搜索的状态，但是如果观察结果无效，则本地搜索装置被重新初始化。因此，可以基于机器人的传感器信息和机器人在包括人造地标的环境中执行的运动信息来执行机器人的自定位。

8. 发明申请

US20070257910A1 Method and Apparatus for Detecting Plane, and Robot Apparatus Having Apparatus for Detecting Plane 失效
标题翻译：用于检测平面的方法和装置，以及具有用于检测平面的装置的机器人装置
公开(公告)号：US20070257910A1
公开(公告)日：2007-11-08
申请号：US10593150
申请日：2005-03-17
申请人： Steffen Gutmann , Masaki Fukuchi , Kotaro Sabe , Kenta Kawamoto
发明人： Steffen Gutmann , Masaki Fukuchi , Kotaro Sabe , Kenta Kawamoto
IPC分类号： G06T17/00
CPC分类号： G06K9/00664 , B62D57/024 , G06K9/00201 , G06T7/13 , G06T7/73 , G06T2207/30252
摘要： In a plane detection apparatus, a plane detection unit (3) includes a line fitting block (4) to select a group of distance data points being in one plane from distance data forming an image and extract lines from the distance data point group, and a region growing block (5) to detect one or more planar regions existing in the image from a group of all lines included in the image and extracted by the line fitting block (4). The line fitting block (4) first draws a line D1 connecting end points of the distance data point group, searches a point of interest brk whose distance to the line L1 is largest, segments the data point group by the point of interest brk when the distance is larger than a predetermined threshold, and determines a line L2 by the least-squares method when the distance is smaller than the predetermined threshold. In case there exists a larger number of data points than a predetermine number on one side of the line L2, the data point group is determined to be in a zig-zag shape, the data point group is segmented by the point of interest brk. These operations are done repeatedly. Thus, a plurality of planes robust against noises is detected simultaneously and accurately from distance data including measurement noises.
摘要翻译：在平面检测装置中，平面检测装置（3）包括线拟合块（4），用于从形成图像的距离数据中选择位于一个平面中的一组距离数据点，并从距离数据点组提取线，区域生长块（5），用于检测图像中存在的一个或多个平面区域，所述平面区域包括在所述图像中并由所述线拟合块（4）提取。线拟合块（4）首先画出连接距离数据点组的端点的线D1，搜索距离线L 1最大的距离的兴趣点brk，将数据点组划分为兴趣点brk 当距离大于预定阈值时，并且当距离小于预定阈值时，通过最小二乘法确定线路L 2。在线L2的一侧存在比预定数量多的数据点的情况下，数据点组被确定为Z字形，数据点组被兴趣点分割。这些操作重复完成。因此，从包括测量噪声的距离数据同时且准确地检测到抵抗噪声的多个平面。

9. 发明申请

US20060241827A1 Obstacle avoiding apparatus, obstacle avoiding method, obstacle avoiding program and mobile robot apparatus 失效
标题翻译：避障装置，避障方法，避障程序和移动机器人装置
公开(公告)号：US20060241827A1
公开(公告)日：2006-10-26
申请号：US11363178
申请日：2006-02-28
申请人： Masaki Fukuchi , Steffen Gutmann
发明人： Masaki Fukuchi , Steffen Gutmann
IPC分类号： G08G1/16
CPC分类号： G05D1/0251 , G05D1/027 , G05D1/0274 , G05D2201/0217
摘要： The present invention provides an obstacle avoiding apparatus, an obstacle avoiding method, an obstacle avoiding program, and a mobile robot apparatus that can accurately model a robot apparatus and plan a highly precise moving route for the robot apparatus that avoids obstacles. The obstacle avoiding apparatus, to be used for a mobile robot apparatus to avoid obstacles, includes an obstacle environment map drawing section that divides the range of height from the reference surface for the mobile robot apparatus to move thereon to the height of the mobile robot apparatus into a plurality of layers corresponding to predetermined respective ranges of height and draws obstacle environment maps, each showing the condition of being occupied by one or more than one obstacles existing in the corresponding layer, and a route planning section that plans a route for the robot apparatus to move along according to an enlarged environment map prepared by enlarging the area occupied by the obstacle or obstacles in the obstacle environment maps as a function of the cross sectional profile of the mobile robot apparatus in each of the layers.
摘要翻译：本发明提供一种能够精确地建模机器人装置并设计用于避免障碍物的机器人装置的高精度移动路线的障碍物避障装置，障碍物避障方法，障碍物避免程序和移动机器人装置。用于移动机器人装置以避免障碍物的障碍物避免装置包括障碍物环境地图绘制部分，其将与移动机器人装置的参考表面的高度范围分开以移动到移动机器人装置的高度分成对应于预定的各个高度范围的多个层，并且绘制各自示出由相应层中存在的一个或多个障碍物占据的状况的障碍物环境图;以及路线规划部，其计划机器人的路线根据通过在障碍物环境地图中扩大障碍物或障碍物所占据的面积而制定的放大的环境地图作为每个层中的可移动机器人装置的横截面轮廓的函数来移动的装置。

10. 发明授权

US08289321B2 Method and apparatus for detecting plane, and robot apparatus having apparatus for detecting plane 失效
标题翻译：用于检测平面的方法和装置，以及具有用于检测平面的装置的机器人装置
公开(公告)号：US08289321B2
公开(公告)日：2012-10-16
申请号：US10593150
申请日：2005-03-17
申请人： Steffen Gutmann , Masaki Fukuchi , Kohtaro Sabe , Kenta Kawamoto
发明人： Steffen Gutmann , Masaki Fukuchi , Kohtaro Sabe , Kenta Kawamoto
IPC分类号： G06T15/30
CPC分类号： G06K9/00664 , B62D57/024 , G06K9/00201 , G06T7/13 , G06T7/73 , G06T2207/30252
摘要： In a plane detection apparatus, a plane detection unit (3) includes a line fitting block (4) to select a group of distance data points being in one plane from distance data forming an image and extract lines from the distance data point group, and a region growing block (5) to detect one or more planar regions existing in the image from a group of all lines included in the image and extracted by the line fitting block (4). The line fitting block (4) first draws a line D1 connecting end points of the distance data point group, searches a point of interest brk whose distance to the line L1 is largest, segments the data point group by the point of interest brk when the distance is larger than a predetermined threshold, and determines a line L2 by the least-squares method when the distance is smaller than the predetermined threshold. In case there exists a larger number of data points than a predetermine number on one side of the line L2, the data point group is determined to be in a zig-zag shape, the data point group is segmented by the point of interest brk. These operations are done repeatedly. Thus, a plurality of planes robust against noises is detected simultaneously and accurately from distance data including measurement noises.
摘要翻译：在平面检测装置中，平面检测装置（3）包括线拟合块（4），用于从形成图像的距离数据中选择位于一个平面中的一组距离数据点，并从距离数据点组提取线，区域生长块（5），用于检测图像中存在的一个或多个平面区域，所述平面区域包括在所述图像中并由所述线拟合块（4）提取。线拟合块（4）首先画出连接距离数据点组的端点的线D1，搜索距离线L1的距离最大的兴趣点brk，当数据点组的距离为距离大于预定阈值，并且当距离小于预定阈值时，通过最小二乘法确定线路L2。在线L2的一侧存在比预定数更多的数据点的情况下，数据点组被确定为Z字形，数据点组被兴趣点brk分割。这些操作重复完成。因此，从包括测量噪声的距离数据同时且准确地检测到抵抗噪声的多个平面。

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