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1. 发明授权

US08600603B2 Apparatus and method of localization of mobile robot 有权
标题翻译：移动机器人定位装置及方法
公开(公告)号：US08600603B2
公开(公告)日：2013-12-03
申请号：US12588956
申请日：2009-11-03
申请人： Ji-young Park , Hyoung-ki Lee , Ki-wan Choi
发明人： Ji-young Park , Hyoung-ki Lee , Ki-wan Choi
IPC分类号： G01C22/00 , G05D1/00
CPC分类号： G06K9/00691 , G06T7/75
摘要： A localization method and localization device of a mobile robot is provided. In one aspect, characteristic information of a reference object is stored in advance to be used as a landmark for localization, and reference characteristic information is defined by utilizing the stored characteristic information and characteristic information obtained at an initial location of the mobile robot. Therefore, the accuracy of localization can be increased without the use of additional artificial landmarks.
摘要翻译：提供了移动机器人的定位方法和定位装置。在一个方面，预先存储参考对象的特征信息以用作定位的标记，并且通过利用在移动机器人的初始位置获得的所存储的特征信息和特征信息来定义参考特征信息。因此，可以增加本地化的准确性，而无需使用额外的人造地标。

2. 发明申请

US20100094460A1 Method and apparatus for simultaneous localization and mapping of robot 有权
标题翻译：机器人同时定位和映射的方法和装置
公开(公告)号：US20100094460A1
公开(公告)日：2010-04-15
申请号：US12458786
申请日：2009-07-22
申请人： Ki-wan Choi , Hyoung-ki Lee , Ji-young Park
发明人： Ki-wan Choi , Hyoung-ki Lee , Ji-young Park
IPC分类号： G05B19/04
CPC分类号： B25J9/1692 , G05B2219/37563 , G05B2219/39388 , G05D1/0246 , G05D1/0274 , G05D2201/0203 , G06T2207/20076 , G06T2207/30244 , G06T2207/30252
摘要： A SLAM of a robot is provided. The position of a robot and the position of feature data may be estimated by acquiring an image of the robot's surroundings, extracting feature data from the image, and matching the extracted feature data with registered feature data. Furthermore, measurement update is performed in a camera coordinate system and an appropriate assumption is added upon coordinate conversion, thereby reducing non-linear components and thus improving the SLAM performance.
摘要翻译：提供机器人的SLAM。机器人的位置和特征数据的位置可以通过获取机器人周围的图像，从图像中提取特征数据，并将所提取的特征数据与登记的特征数据进行匹配来估计。此外，在相机坐标系中执行测量更新，并且在坐标转换时添加适当的假设，从而减少非线性分量，从而改善SLAM性能。

3. 发明授权

US08855819B2 Method and apparatus for simultaneous localization and mapping of robot 有权
标题翻译：机器人同时定位和映射的方法和装置
公开(公告)号：US08855819B2
公开(公告)日：2014-10-07
申请号：US12458786
申请日：2009-07-22
申请人： Ki-wan Choi , Hyoung-ki Lee , Ji-young Park
发明人： Ki-wan Choi , Hyoung-ki Lee , Ji-young Park
IPC分类号： G05B19/04 , G05B19/18 , G05D1/02 , B25J9/16
CPC分类号： B25J9/1692 , G05B2219/37563 , G05B2219/39388 , G05D1/0246 , G05D1/0274 , G05D2201/0203 , G06T2207/20076 , G06T2207/30244 , G06T2207/30252
摘要： A SLAM of a robot is provided. The position of a robot and the position of feature data may be estimated by acquiring an image of the robot's surroundings, extracting feature data from the image, and matching the extracted feature data with registered feature data. Furthermore, measurement update is performed in a camera coordinate system and an appropriate assumption is added upon coordinate conversion, thereby reducing non-linear components and thus improving the SLAM performance.
摘要翻译：提供机器人的SLAM。机器人的位置和特征数据的位置可以通过获取机器人周围的图像，从图像中提取特征数据，并将所提取的特征数据与登记的特征数据进行匹配来估计。此外，在相机坐标系中执行测量更新，并且在坐标转换时添加适当的假设，从而减少非线性分量，从而改善SLAM性能。

4. 发明申请

US20100152945A1 Apparatus and method of localization of mobile robot 有权
标题翻译：移动机器人定位装置及方法
公开(公告)号：US20100152945A1
公开(公告)日：2010-06-17
申请号：US12588956
申请日：2009-11-03
申请人： Ji-young Park , Hyoung-ki Lee , Ki-wan Choi
发明人： Ji-young Park , Hyoung-ki Lee , Ki-wan Choi
IPC分类号： G05D1/00
CPC分类号： G06K9/00691 , G06T7/75
摘要： A localization method and localization device of a mobile robot is provided. In one aspect, characteristic information of a reference object is stored in advance to be used as a landmark for localization, and reference characteristic information is defined by utilizing the stored characteristic information and characteristic information obtained at an initial location of the mobile robot. Therefore, the accuracy of localization can be increased without the use of additional artificial landmarks.
摘要翻译：提供了移动机器人的定位方法和定位装置。在一个方面，预先存储参考对象的特征信息以用作定位的标记，并且通过利用在移动机器人的初始位置获得的所存储的特征信息和特征信息来定义参考特征信息。因此，可以增加本地化的准确性，而无需使用额外的人造地标。

5. 发明授权

US08903159B2 Method and apparatus for tracking image patch considering scale 有权
标题翻译：考虑尺度跟踪图像补丁的方法和装置
公开(公告)号：US08903159B2
公开(公告)日：2014-12-02
申请号：US12662528
申请日：2010-04-21
申请人： Ki-wan Choi , Hyoung-ki Lee , Ji-young Park
发明人： Ki-wan Choi , Hyoung-ki Lee , Ji-young Park
IPC分类号： G06K9/00 , G06T7/20
CPC分类号： G06T7/204 , G06T7/248 , G06T2207/10016 , G06T2207/20012
摘要： A method and apparatus for tracking an image considering scale are provided. A registered image patch may be divided into a scale-invariant image patch and a scale-variant image patch according to a predetermined scale invariance index (SII). If a registered image patch within an image is a scale-invariant image patch, the scale-invariant image patch is tracked by adjusting its position, while if the registered image patch is a scale-variant image patch, the scale-invariant image patch is tracked by adjusting its position and scale.
摘要翻译：提供了一种考虑规模跟踪图像的方法和装置。可以根据预定的尺度不变性指数（SII）将注册的图像补丁划分为比例不变图像补丁和缩放变量图像补丁。如果图像内的注册图像补丁是比例不变的图像补丁，则通过调整其位置来跟踪比例不变的图像补丁，而如果注册的图像补丁是缩放变体图像补丁，则不等式的图像补丁是通过调整其位置和比例来跟踪。

6. 发明申请

US20110085699A1 Method and apparatus for tracking image patch considering scale 有权
标题翻译：考虑尺度跟踪图像补丁的方法和装置
公开(公告)号：US20110085699A1
公开(公告)日：2011-04-14
申请号：US12662528
申请日：2010-04-21
申请人： Ki-wan Choi , Hyoung-ki Lee , Ji-young Park
发明人： Ki-wan Choi , Hyoung-ki Lee , Ji-young Park
IPC分类号： G06K9/00
CPC分类号： G06T7/204 , G06T7/248 , G06T2207/10016 , G06T2207/20012
摘要： A method and apparatus for tracking an image considering scale are provided. A registered image patch may be divided into a scale-invariant image patch and a scale-variant image patch according to a predetermined scale invariance index (SII). If a registered image patch within an image is a scale-invariant image patch, the scale-invariant image patch is tracked by adjusting its position, while if the registered image patch is a scale-variant image patch, the scale-invariant image patch is tracked by adjusting its position and scale.
摘要翻译：提供了一种考虑规模跟踪图像的方法和装置。可以根据预定的尺度不变性指数（SII）将注册的图像补丁划分为比例不变图像补丁和缩放变量图像补丁。如果图像内的注册图像补丁是比例不变的图像补丁，则通过调整其位置来跟踪比例不变的图像补丁，而如果注册的图像补丁是缩放变体图像补丁，则不等式的图像补丁是通过调整其位置和比例来跟踪。

7. 发明申请

US20130079681A1 FOCUSED ULTRASOUND THERAPY APPARATUS AND FOCAL POINT CONTROLLING METHOD THEREOF 审中-公开
标题翻译：聚焦超声治疗装置及其焦点控制方法
公开(公告)号：US20130079681A1
公开(公告)日：2013-03-28
申请号：US13479813
申请日：2012-05-24
申请人： Ji-young Park , Hyoung-ki Lee , Jun-ho Park
发明人： Ji-young Park , Hyoung-ki Lee , Jun-ho Park
IPC分类号： A61N7/00
CPC分类号： A61N7/02 , A61B2090/3762
摘要： A focal point controlling method and a focused ultrasound therapy apparatus may be used in the treatment and removal of a lesion in a noninvasive surgical procedure by focusing ultrasonic waves. A focal point may be controlled by acquiring tissue characteristic information including physical characteristic values affecting propagation of an ultrasonic wave from a pre-diagnostic image that is a medical image obtained by capturing tissues on a path through which the ultrasonic wave propagates from a position from which the ultrasonic wave is generated to a target position on which a focal point is desired to be formed. The position at which the focal point is formed may be controlled by using the acquired tissue characteristic information.
摘要翻译：焦点控制方法和聚焦超声治疗装置可以用于通过聚焦超声波来治疗和去除非侵入性外科手术中的病变。可以通过获取组织特征信息来控制焦点，所述组织特征信息包括影响来自预诊断图像的超声波的传播的物理特性值，所述预诊断图像是通过在超声波从其位置传播的路径上捕获组织而获得的医学图像将超声波产生到希望形成焦点的目标位置。可以通过使用所获取的组织特征信息来控制形成焦点的位置。

8. 发明申请

US20080131787A1 OXETANE-CONTAINING COMPOUND, PHOTORESIST COMPOSITION HAVING THE SAME, METHOD OF PREPARING PATTERN USING THE PHOTORESIST COMPOSITION, AND INKJET PRINT HEAD INCLUDING POLYMERIZATION PRODUCTS OF THE OXETANE-CONTAINING COMPOUND 失效
标题翻译：含有含氧化合物的化合物，具有该组合物的光电组合物，使用光电组合物制备图案的方法，以及包含含OCOE组合物的聚合产物的喷墨印刷头
公开(公告)号：US20080131787A1
公开(公告)日：2008-06-05
申请号：US11768632
申请日：2007-06-26
申请人： Kyu-sik Kim , Jin-baek Kim , Young-ung Ha , Byung-ha Park , Ji-young Park , Su-min Kim
发明人： Kyu-sik Kim , Jin-baek Kim , Young-ung Ha , Byung-ha Park , Ji-young Park , Su-min Kim
IPC分类号： G03C5/00 , C07D305/06
CPC分类号： C07D305/06 , C08L61/06 , G03F7/038 , Y10S430/115
摘要： An oxetane-containing compound, a photoresist composition including the same, a method of preparing patterns using the photoresist composition, and an inkjet print head including polymerization products of the oxetane-containing compound.
摘要翻译：含有氧杂环丁烷的化合物，包含其的光致抗蚀剂组合物，使用光致抗蚀剂组合物制备图案的方法，以及包含含氧杂环丁烷化合物的聚合产物的喷墨打印头。

9. 发明授权

US08521329B2 Obstruction-determining apparatus for preventing mobile robot from becoming obstructed and boundary-estimation method and medium using the obstruction-determining apparatus 失效
标题翻译：用于防止移动机器人被阻挡的障碍物确定装置和使用障碍物确定装置的边界估计方法和介质
公开(公告)号：US08521329B2
公开(公告)日：2013-08-27
申请号：US11898060
申请日：2007-09-07
申请人： Ji-young Park , Seok-won Bang , Eun-Young Choi
发明人： Ji-young Park , Seok-won Bang , Eun-Young Choi
IPC分类号： G05B19/418 , G06F19/00
CPC分类号： G05D1/0227 , A47L11/4061 , A47L11/4072 , A47L2201/04
摘要： An obstruction-determining apparatus for preventing a mobile robot from being obstructed in a niche and a boundary-estimation method and medium using the obstruction-determining apparatus are disclosed. More particularly, an obstruction-determining apparatus which can determine whether a mobile robot is obstructed in a niche, and enable a mobile robot to easily escape from an obstacle if the mobile robot is determined to be obstructed in the niche, and a boundary-estimation method and medium for estimating the boundaries of an obstacle with a niche using the obstruction-determining apparatus. The obstruction-determining apparatus includes a contact module which collides with an obstacle above the mobile robot, a contact-operating module which rotates or moves linearly as a result of the collision between the contact module and the obstacle, and a sensing module which detects the rotation or the linear movement of the contact-operating module and determines whether the mobile robot is obstructed in a niche.
摘要翻译：公开了一种用于防止移动机器人在利基中被阻碍的障碍物确定装置和使用障碍物确定装置的边界估计方法和介质。更具体地，涉及一种障碍物判定装置，其能够判断移动机器人是否受到利基的阻碍，并且如果移动机器人被确定为在利基中被阻碍，则能够使移动机器人容易地从障碍物逃脱，并且边界估计方法和介质，用于使用障碍物确定装置估计具有利基的障碍物的边界。障碍物确定装置包括与移动机器人上方的障碍物相撞的接触模块，由于接触模块与障碍物之间的碰撞而线性旋转或移动的接触操作模块，以及检测模块旋转或接触操作模块的线性移动，并确定移动机器人是否在利基中被阻挡。

10. 发明授权

US07524610B2 Oxetane-containing compound, photoresist composition having the same, method of preparing pattern using the photoresist composition, and inkjet print head including polymerization products of the oxetane-containing compound 失效
标题翻译：含有氧杂环丁烷的化合物，具有相同的光致抗蚀剂组合物，使用光致抗蚀剂组合物制备图案的方法，以及包含含氧杂环丁烷化合物的聚合产物的喷墨打印头
公开(公告)号：US07524610B2
公开(公告)日：2009-04-28
申请号：US11768632
申请日：2007-06-26
申请人： Kyu-sik Kim , Jin-baek Kim , Young-ung Ha , Byung-ha Park , Ji-young Park , Su-min Kim
发明人： Kyu-sik Kim , Jin-baek Kim , Young-ung Ha , Byung-ha Park , Ji-young Park , Su-min Kim
IPC分类号： G03C1/73 , G03F7/004 , G03F7/20 , G03F7/30 , C07D305/00
CPC分类号： C07D305/06 , C08L61/06 , G03F7/038 , Y10S430/115
摘要： An oxetane-containing compound, a photoresist composition including the same, a method of preparing patterns using the photoresist composition, and an inkjet print head including polymerization products of the oxetane-containing compound.
摘要翻译：含有氧杂环丁烷的化合物，包含其的光致抗蚀剂组合物，使用光致抗蚀剂组合物制备图案的方法，以及包含含氧杂环丁烷化合物的聚合产物的喷墨打印头。

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