专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US06804396B2 Gesture recognition system 有权
标题翻译：手势识别系统
公开(公告)号：US06804396B2
公开(公告)日：2004-10-12
申请号：US09820130
申请日：2001-03-28
申请人： Nobuo Higaki , Yuichi Yoshida , Kikuo Fujimura
发明人： Nobuo Higaki , Yuichi Yoshida , Kikuo Fujimura
IPC分类号： G06K900
CPC分类号： G06K9/00335 , B25J11/0005 , B25J13/003 , G06F3/017 , G06F3/167 , G10L15/26
摘要： The present invention provides a system for recognizing gestures made by a moving subject. The system comprises a sound detector for detecting sound, one or more image sensors for capturing an image of the moving subject, a human recognizer for recognizing a human being from the image captured by said one or more image sensors, and a gesture recognizer, activated when human voice is identified by said sound detector, for recognizing a gesture of the human being. In a preferred embodiment, the system includes a hand recognizer for recognizing a hand of the human being. The gesture recognizer recognizes a gesture of the human being based on movement of the hand identified by the hand recognizer. The system may further include a voice recognizer that recognizes human voice and determines words from human voice input to the sound detector. The gesture recognizer is activated when the voice recognizer recognizes one of a plurality of predetermined keywords such as “hello!”, “bye”, and “move”.
摘要翻译：本发明提供了一种用于识别由移动的被摄体制作的手势的系统。该系统包括用于检测声音的声音检测器，用于捕获移动被摄体的图像的一个或多个图像传感器，用于从由所述一个或多个图像传感器捕获的图像中识别人的人类识别器，以及手势识别器，被激活当由所述声音检测器识别人声时，用于识别人的手势。在优选实施例中，该系统包括用于识别人的手的手识别器。手势识别器基于由手识别器识别的手的移动来识别人的手势。该系统还可以包括语音识别器，其识别人类语音并且确定从人声输入到声音检测器的单词。当语音识别器识别诸如“你好”，“再见”和“移动”的多个预定关键字之一时，手势识别器被激活。

2. 发明授权

US08170287B2 Real-time self collision and obstacle avoidance 有权
标题翻译：实时自身碰撞和避障
公开(公告)号：US08170287B2
公开(公告)日：2012-05-01
申请号：US12257664
申请日：2008-10-24
申请人： Behzad Dariush , Youding Zhu , Kikuo Fujimura
发明人： Behzad Dariush , Youding Zhu , Kikuo Fujimura
IPC分类号： G06K9/00
CPC分类号： G11C11/5621 , G11C16/349
摘要： A system, method, and computer program product for avoiding collision of a body segment with unconnected structures in an articulated system are described. A virtual surface is constructed surrounding an actual surface of the body segment. Distances between the body segment and unconnected structures are monitored. Responding to an unconnected structure penetrating the virtual surface, a redirected joint motion that prevents the unconnected structure from penetrating deeper into the virtual surface is determined. The body segment is redirected based on the redirected joint motion to avoid colliding with the unconnected structure.
摘要翻译：描述了一种系统，方法和计算机程序产品，用于避免关节系统中的主体段与未连接结构的碰撞。围绕身体部分的实际表面构造虚拟表面。监测身体段与未连接结构之间的距离。响应穿透虚拟表面的未连接的结构，确定防止未连接结构深入虚拟表面的重定向关节运动。基于重定向的关节运动，主体部分被重定向，以避免与未连接的结构相冲突。

3. 发明授权

US08031906B2 Target orientation estimation using depth sensing 有权
标题翻译：使用深度感测的目标姿态估计
公开(公告)号：US08031906B2
公开(公告)日：2011-10-04
申请号：US12572619
申请日：2009-10-02
申请人： Kikuo Fujimura , Youding Zhu
发明人： Kikuo Fujimura , Youding Zhu
IPC分类号： G06K9/00
CPC分类号： G06K9/00228 , G06F3/012 , G06K9/00201 , G06K9/00241 , G06K9/00845 , G06K9/32 , G06K9/6203 , G06K9/6214 , G06T7/74 , G06T2200/04 , G06T2207/10028 , G06T2207/30201 , G08B21/06
摘要： A system for estimating orientation of a target based on real-time video data uses depth data included in the video to determine the estimated orientation. The system includes a time-of-flight camera capable of depth sensing within a depth window. The camera outputs hybrid image data (color and depth). Segmentation is performed to determine the location of the target within the image. Tracking is used to follow the target location from frame to frame. During a training mode, a target-specific training image set is collected with a corresponding orientation associated with each frame. During an estimation mode, a classifier compares new images with the stored training set to determine an estimated orientation. A motion estimation approach uses an accumulated rotation/translation parameter calculation based on optical flow and depth constrains. The parameters are reset to a reference value each time the image corresponds to a dominant orientation.
摘要翻译：用于基于实时视频数据估计目标的方向的系统使用包括在视频中的深度数据来确定估计的取向。该系统包括能够在深度窗口内进行深度感测的飞行时间相机。相机输出混合图像数据（颜色和深度）。执行分割以确定图像内的目标的位置。跟踪用于从帧到帧跟随目标位置。在训练模式期间，以与每个帧相关联的对应取向收集目标特定训练图像集合。在估计模式期间，分类器将新图像与存储的训练集进行比较以确定估计的方位。运动估计方法使用基于光流和深度约束的累积旋转/平移参数计算。每次图像对应于主导方向时，参数将重置为参考值。

4. 发明授权

US07366325B2 Moving object detection using low illumination depth capable computer vision 有权
标题翻译：使用低照度深度的计算机视觉进行移动物体检测
公开(公告)号：US07366325B2
公开(公告)日：2008-04-29
申请号：US10964299
申请日：2004-10-12
申请人： Kikuo Fujimura , Xia Liu
发明人： Kikuo Fujimura , Xia Liu
IPC分类号： G06K9/00
CPC分类号： G06K9/2018 , G06K9/00369 , G06K9/00805
摘要： Moving object detection is based on low illumination image data that includes distance or depth information. The vision system operates on a platform with a dominant translational motion and with a small amount of rotational motion. Detection of moving objects whose motions are not consistent with the movement of the background is complementary to shape-based approaches. For low illumination computer-based vision assistance a two-stage technique is used for simultaneous and subsequent frame blob correspondence. Using average scene disparity, motion is detected without explicit ego-motion calculation. These techniques make use of characteristics of infrared sensitive video data, in which heat emitting objects appear as hotspots.
摘要翻译：移动物体检测是基于包括距离或深度信息的低照度图像数据。视觉系统在具有主要平移运动和少量旋转运动的平台上运行。运动与背景运动不一致的运动物体的检测与基于形状的方法是互补的。对于低照度基于计算机的视觉辅助，两级技术用于同时和随后的帧间通信。使用平均场景差异，在没有显式自我运动计算的情况下检测到运动。这些技术利用红外敏感视频数据的特性，其中发热物体表现为热点。

5. 发明申请

US20140268353A1 3-DIMENSIONAL (3-D) NAVIGATION 审中-公开
标题翻译：三维（3-D）导航
公开(公告)号：US20140268353A1
公开(公告)日：2014-09-18
申请号：US14041614
申请日：2013-09-30
申请人： Kikuo Fujimura , Victor Ng-Thow-Hing
发明人： Kikuo Fujimura , Victor Ng-Thow-Hing
IPC分类号： G02B27/01
CPC分类号： G02B27/01 , G02B27/0101 , G02B2027/0127 , G02B2027/0134
摘要： One or more embodiments of techniques or systems for 3-dimensional (3-D) navigation are provided herein. A heads-up display (HUD) component can project graphic elements on focal planes around an environment surrounding a vehicle. The HUD component can cause these graphic elements to appear volumetric or 3-D by moving or adjusting a distance between a focal plane and the vehicle. Additionally, a target position for graphic elements can be adjusted. This enables the HUD component to project graphic elements as moving avatars. In other words, adjusting the focal plane distance and the target position enables graphic elements to be projected in three dimensions along an x, y, and z axis. Further, a moving avatar can be ‘animated’ by sequentially projecting the avatar on different focal planes, thereby providing an occupant with the perception that the avatar is moving towards or away from the vehicle.
摘要翻译：本文提供了用于三维（3-D）导航的技术或系统的一个或多个实施例。平视显示器（HUD）组件可以围绕车辆周围的环境在焦平面上投影图形元素。 HUD组件可以通过移动或调整焦平面和车辆之间的距离来使这些图形元素显示为体积或3-D。此外，可以调整图形元素的目标位置。这使得HUD组件可以将图形元素投影为移动头像。换句话说，调整焦平面距离和目标位置可使图形元素沿x，y和z轴三维投影。此外，可以通过在不同的焦平面上顺序地投影化身，从而为乘客提供头像朝向或远离车辆移动的感觉，可以“移动”动画。

6. 发明授权

US08351646B2 Human pose estimation and tracking using label assignment 有权
标题翻译：使用标签分配进行人体姿态估计和跟踪
公开(公告)号：US08351646B2
公开(公告)日：2013-01-08
申请号：US11869435
申请日：2007-10-09
申请人： Kikuo Fujimura , Youding Zhu
发明人： Kikuo Fujimura , Youding Zhu
IPC分类号： G06K9/00
CPC分类号： G06K9/00214 , G06K9/00375 , G06T7/75 , G06T2207/10016 , G06T2207/30196
摘要： A method and apparatus for estimating poses of a subject by grouping data points generated by a depth image into groups representing labeled parts of the subject, and then fitting a model representing the subject to the data points using the grouping of the data points. The grouping of the data points is performed by grouping the data points to segments based on proximity of the data points, and then using constraint conditions to assign the segments to the labeled parts. The model is fitted to the data points by using the grouping of the data points to the labeled parts.
摘要翻译：一种用于通过将由深度图像生成的数据点分组成表示所述对象的标记部分的组来估计被摄体姿势的方法和装置，然后使用所述数据点的分组将表示所述对象的模型拟合到所述数据点。通过基于数据点的接近度将数据点分组到段来执行数据点的分组，然后使用约束条件将段分配给标记的部分。通过使用数据点到标记部分的分组，将模型拟合到数据点。

7. 发明申请

US20100034427A1 TARGET ORIENTATION ESTIMATION USING DEPTH SENSING 有权
标题翻译：使用深度感测的目标定位估计
公开(公告)号：US20100034427A1
公开(公告)日：2010-02-11
申请号：US12572619
申请日：2009-10-02
申请人： Kikuo Fujimura , Youding Zhu
发明人： Kikuo Fujimura , Youding Zhu
IPC分类号： G06K9/00
CPC分类号： G06K9/00228 , G06F3/012 , G06K9/00201 , G06K9/00241 , G06K9/00845 , G06K9/32 , G06K9/6203 , G06K9/6214 , G06T7/74 , G06T2200/04 , G06T2207/10028 , G06T2207/30201 , G08B21/06
摘要： A system for estimating orientation of a target based on real-time video data uses depth data included in the video to determine the estimated orientation. The system includes a time-of-flight camera capable of depth sensing within a depth window. The camera outputs hybrid image data (color and depth). Segmentation is performed to determine the location of the target within the image. Tracking is used to follow the target location from frame to frame. During a training mode, a target-specific training image set is collected with a corresponding orientation associated with each frame. During an estimation mode, a classifier compares new images with the stored training set to determine an estimated orientation. A motion estimation approach uses an accumulated rotation/translation parameter calculation based on optical flow and depth constrains. The parameters are reset to a reference value each time the image corresponds to a dominant orientation.
摘要翻译：用于基于实时视频数据估计目标的方向的系统使用包括在视频中的深度数据来确定估计的取向。该系统包括能够在深度窗口内进行深度感测的飞行时间相机。相机输出混合图像数据（颜色和深度）。执行分割以确定图像内的目标的位置。跟踪用于从帧到帧跟随目标位置。在训练模式期间，以与每个帧相关联的对应取向收集目标特定训练图像集合。在估计模式期间，分类器将新图像与存储的训练集进行比较以确定估计的方位。运动估计方法使用基于光流和深度约束的累积旋转/平移参数计算。每次图像对应于主导方向时，参数将重置为参考值。

8. 发明授权

US07317836B2 Pose estimation based on critical point analysis 有权
标题翻译：基于临界点分析的姿态估计
公开(公告)号：US07317836B2
公开(公告)日：2008-01-08
申请号：US11378573
申请日：2006-03-17
申请人： Kikuo Fujimura , Youding Zhu
发明人： Kikuo Fujimura , Youding Zhu
IPC分类号： G06K9/00 , G06K9/36 , G06K9/46 , G06K9/62 , G06K9/66
CPC分类号： G06K9/00362 , G06K9/00375 , G06T7/75 , G06T2207/30196
摘要： Methods and systems for estimating a pose of a subject. The subject can be a human, an animal, a robot, or the like. A camera receives depth information associated with a subject, a pose estimation module to determine a pose or action of the subject from images, and an interaction module to output a response to the perceived pose or action. The pose estimation module separates portions of the image containing the subject into classified and unclassified portions. The portions can be segmented using k-means clustering. The classified portions can be known objects, such as a head and a torso, that are tracked across the images. The unclassified portions are swept across an x and y axis to identify local minimums and local maximums. The critical points are derived from the local minimums and local maximums. Potential joint sections are identified by connecting various critical points, and the joint sections having sufficient probability of corresponding to an object on the subject are selected.
摘要翻译：用于估计受试者姿势的方法和系统。受试者可以是人，动物，机器人等。相机接收与被摄体相关联的深度信息，姿势估计模块，用于根据图像确定被摄体的姿势或动作，以及交互模块，以输出对所感知的姿势或动作的响应。姿态估计模块将包含被摄体的图像的部分分成分类的和未分类的部分。可以使用k均值聚类来分割这些部分。分类部分可以是跨越图像被跟踪的已知对象，例如头部和躯干。未分类的部分扫过x和y轴以识别局部最小值和局部最大值。关键点是从局部最小值和局部最大值得出。通过连接各种临界点来识别潜在的接合部分，并且选择具有与被检体上的物体相对应的足够概率的关节部分。

9. 发明申请

US20050031166A1 Visual tracking using depth data 有权
标题翻译：使用深度数据进行视觉跟踪
公开(公告)号：US20050031166A1
公开(公告)日：2005-02-10
申请号：US10857581
申请日：2004-05-28
申请人： Kikuo Fujimura , Harsh Nanda
发明人： Kikuo Fujimura , Harsh Nanda
IPC分类号： G06K9/00 , G06T1/00 , G06T7/20
CPC分类号： G06K9/00375 , G06K9/00369 , G06K9/32 , G06T7/20
摘要： Real-time visual tracking using depth sensing camera technology, results in illumination-invariant tracking performance. Depth sensing (time-of-flight) cameras provide real-time depth and color images of the same scene. Depth windows regulate the tracked area by controlling shutter speed. A potential field is derived from the depth image data to provide edge information of the tracked target. A mathematically representable contour can model the tracked target. Based on the depth data, determining a best fit between the contour and the edge of the tracked target provides position information for tracking. Applications using depth sensor based visual tracking include head tracking, hand tracking, body-pose estimation, robotic command determination, and other human-computer interaction systems.
摘要翻译：使用深度感测相机技术实时视觉跟踪，导致照明不变跟踪性能。深度感测（飞行时间）相机提供相同场景的实时深度和彩色图像。深度窗口通过控制快门速度来调节跟踪区域。从深度图像数据导出势场，以提供跟踪的目标的边缘信息。可数学表示的轮廓可以对跟踪的目标进行建模。基于深度数据，确定跟踪目标的轮廓和边缘之间的最佳拟合提供用于跟踪的位置信息。使用基于深度传感器的视觉跟踪的应用包括头跟踪，手跟踪，身体姿态估计，机器人命令确定以及其他人机交互系统。

10. 发明授权

US09122916B2 Three dimensional fingertip tracking 有权
标题翻译：三维指尖跟踪
公开(公告)号：US09122916B2
公开(公告)日：2015-09-01
申请号：US13826986
申请日：2013-03-14
申请人： Kikuo Fujimura
发明人： Kikuo Fujimura
IPC分类号： G06K9/00 , G06F3/033 , G06F3/01 , G06K9/44
CPC分类号： G06K9/00355 , G06F3/017 , G06K9/44
摘要： Systems and methods for detecting, tracking the presence, location, orientation and/or motion of a hand or hand segments visible to an input source are disclosed herein. Hand, hand segment and fingertip location and tracking can be performed using ball fit methods. Analysis of hand, hand segment and fingertip location and tracking data can be used as input for a variety of systems and devices.
摘要翻译：本文公开了用于检测，跟踪输入源可见的手或手段的存在，位置，取向和/或运动的系统和方法。手，手段和指尖位置和跟踪可以使用球配合方法进行。手，手段和指尖位置和跟踪数据的分析可以用作各种系统和设备的输入。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式