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1. 发明申请

US20120121126A1 METHOD AND APPARATUS FOR ESTIMATING FACE POSITION IN 3 DIMENSIONS 有权
标题翻译：用于估计3维尺度位置的方法和装置
公开(公告)号：US20120121126A1
公开(公告)日：2012-05-17
申请号：US13218850
申请日：2011-08-26
申请人： Won Jun Hwang , Ji Hyo Lee , Kyung Shik Roh , Suk June Yoon
发明人： Won Jun Hwang , Ji Hyo Lee , Kyung Shik Roh , Suk June Yoon
IPC分类号： G06K9/00
CPC分类号： G06K9/00228 , G06T7/593 , G06T7/62 , G06T2207/10012 , G06T2207/10028 , G06T2207/10048 , G06T2207/20081 , G06T2207/30201
摘要： An apparatus and method for estimating a three-dimensional face position. The method of estimating the three-dimensional face position includes acquiring two-dimensional image information from a single camera, detecting a face region of a user from the two-dimensional image information, calculating the size of the detected face region, estimating a distance between the single camera and the user's face using the calculated size of the face region, and obtaining positional information of the user's face in a three-dimensional coordinate system using the estimated distance between the single camera and the user's face. Accordingly, it is possible to estimate the distance between the user and the single camera using the size of the face region of the user in the image information acquired by the single camera so as to acquire the three-dimensional position coordinates of the user.
摘要翻译：一种用于估计三维脸部位置的装置和方法。估计三维脸部位置的方法包括从单个照相机获取二维图像信息，从二维图像信息中检测用户的脸部区域，计算检测到的脸部区域的尺寸，估计检测到的脸部区域的距离使用计算出的面部区域的尺寸的单个照相机和用户的脸部，并且使用单个照相机和用户脸部之间的估计距离来获得三维坐标系中的用户脸部的位置信息。因此，可以使用由单个照相机获取的图像信息中的用户的脸部区域的大小来估计用户和单个照相机之间的距离，以获得用户的三维位置坐标。

2. 发明申请

US20120063673A1 METHOD AND APPARATUS TO GENERATE OBJECT DESCRIPTOR USING EXTENDED CURVATURE GABOR FILTER 有权
标题翻译：使用扩展的弯曲滤波器生成对象描述符的方法和装置
公开(公告)号：US20120063673A1
公开(公告)日：2012-03-15
申请号：US13204933
申请日：2011-08-08
申请人： Won Jun HWANG , Kyung Shik Roh , Suk June Yoon
发明人： Won Jun HWANG , Kyung Shik Roh , Suk June Yoon
IPC分类号： G06K9/62 , G06K9/46
CPC分类号： G06K9/4619 , G06K9/00268 , G06K9/6234 , G06T7/42 , G06T2207/20081 , G06T2207/30201
摘要： A method and apparatus to generate an object descriptor using extended curvature gabor filters. The method and apparatus may increase a recognition rate of even a relatively small image with use of an extended number of curvature gabor filters having controllable curvatures and may reduce the amount of calculation required for face recognition by performing the face recognition using only some of the extended curvature gabor filters which have a great effect on the recognition rate. The object descriptor generating method includes extracting gabor features from an input object image by applying a plurality of curvature gabor filters, generated via combination of a plurality of curvatures and a plurality of Gaussian magnitudes, to the object image, and generating an object descriptor for object recognition by projecting the extracted features onto a predetermined base vector.
摘要翻译：使用扩展曲率gabor滤波器生成对象描述符的方法和装置。该方法和装置可以通过使用具有可控曲率的扩展数量的曲率加倍滤波器来增加甚至相对小的图像的识别率，并且可以通过仅使用一些扩展的部分来执行人脸识别来减少面部识别所需的计算量曲率gabor滤波器对识别率有很大的影响。对象描述符生成方法包括：通过将多个曲率和多个高斯幅度的组合产生的多个曲率加倍滤波器应用于对象图像，从输入对象图像中提取出gabor特征，并生成对象的对象描述符通过将提取的特征投影到预定的基本向量上来进行识别。

3. 发明授权

US08977040B2 Method and apparatus to generate object descriptor using extended curvature gabor filter 有权
标题翻译：使用扩展曲率gabor过滤器生成对象描述符的方法和装置
公开(公告)号：US08977040B2
公开(公告)日：2015-03-10
申请号：US13204933
申请日：2011-08-08
申请人： Won Jun Hwang , Kyung Shik Roh , Suk June Yoon
发明人： Won Jun Hwang , Kyung Shik Roh , Suk June Yoon
IPC分类号： G06K9/46 , G06K9/54 , G06K9/62 , G06K9/60 , G06F17/30 , G06T7/40 , G06K9/00
CPC分类号： G06K9/4619 , G06K9/00268 , G06K9/6234 , G06T7/42 , G06T2207/20081 , G06T2207/30201
摘要： A method and apparatus to generate an object descriptor using extended curvature gabor filters. The method and apparatus may increase a recognition rate of even a relatively small image with use of an extended number of curvature gabor filters having controllable curvatures and may reduce the amount of calculation required for face recognition by performing the face recognition using only some of the extended curvature gabor filters which have a great effect on the recognition rate. The object descriptor generating method includes extracting gabor features from an input object image by applying a plurality of curvature gabor filters, generated via combination of a plurality of curvatures and a plurality of Gaussian magnitudes, to the object image, and generating an object descriptor for object recognition by projecting the extracted features onto a predetermined base vector.
摘要翻译：使用扩展曲率gabor滤波器生成对象描述符的方法和装置。该方法和装置可以通过使用具有可控曲率的扩展数量的曲率加倍滤波器来增加甚至相对小的图像的识别率，并且可以通过仅使用一些扩展的部分来执行面部识别来减少面部识别所需的计算量曲率gabor滤波器对识别率有很大的影响。对象描述符生成方法包括：通过将多个曲率和多个高斯幅度的组合产生的多个曲率加倍滤波器应用于对象图像，从输入对象图像中提取出gabor特征，并生成对象的对象描述符通过将提取的特征投影到预定的基本向量上来进行识别。

4. 发明授权

US08805021B2 Method and apparatus for estimating face position in 3 dimensions 有权
标题翻译：用于估计三维面部位置的方法和装置
公开(公告)号：US08805021B2
公开(公告)日：2014-08-12
申请号：US13218850
申请日：2011-08-26
申请人： Won Jun Hwang , Ji Hyo Lee , Kyung Shik Roh , Suk June Yoon
发明人： Won Jun Hwang , Ji Hyo Lee , Kyung Shik Roh , Suk June Yoon
IPC分类号： G06K9/00
CPC分类号： G06K9/00228 , G06T7/593 , G06T7/62 , G06T2207/10012 , G06T2207/10028 , G06T2207/10048 , G06T2207/20081 , G06T2207/30201
摘要： An apparatus and method for estimating a three-dimensional face position. The method of estimating the three-dimensional face position includes acquiring two-dimensional image information from a single camera, detecting a face region of a user from the two-dimensional image information, calculating the size of the detected face region, estimating a distance between the single camera and the user's face using the calculated size of the face region, and obtaining positional information of the user's face in a three-dimensional coordinate system using the estimated distance between the single camera and the user's face. Accordingly, it is possible to estimate the distance between the user and the single camera using the size of the face region of the user in the image information acquired by the single camera so as to acquire the three-dimensional position coordinates of the user.
摘要翻译：一种用于估计三维脸部位置的装置和方法。估计三维脸部位置的方法包括从单个照相机获取二维图像信息，从二维图像信息中检测用户的脸部区域，计算检测到的脸部区域的尺寸，估计检测到的脸部区域的距离使用计算出的面部区域的尺寸的单个照相机和用户的脸部，并且使用单个照相机和用户脸部之间的估计距离来获得三维坐标系中的用户脸部的位置信息。因此，可以使用由单个照相机获取的图像信息中的用户的脸部区域的大小来估计用户和单个照相机之间的距离，以获得用户的三维位置坐标。

5. 发明授权

US08737686B2 3D object tracking method and apparatus 有权
标题翻译： 3D物体跟踪方法和装置
公开(公告)号：US08737686B2
公开(公告)日：2014-05-27
申请号：US13204888
申请日：2011-08-08
申请人： Suk June Yoon , Kyung Shik Roh , Won Jun Hwang , Seung Yong Hyung , Sung Hwan Ahn
发明人： Suk June Yoon , Kyung Shik Roh , Won Jun Hwang , Seung Yong Hyung , Sung Hwan Ahn
IPC分类号： G06K9/00
CPC分类号： G06T7/251
摘要： A 3D object tracking method and apparatus in which a model of an object to be tracked is divided into a plurality of polygonal planes and the object is tracked using texture data of the respective planes and geometric data between the respective planes to enable more precise tracking. The 3D object tracking method includes modeling the object to be tracked to generate a plurality of planes, and tracking the plurality of planes, respectively. The modeling of the object includes selecting points from among the plurality of planes, respectively, and calculating projective invariants using the selected points.
摘要翻译：一种3D对象跟踪方法和装置，其中要跟踪的对象的模型被划分为多个多边形平面，并且使用各个平面之间的纹理数据和各个平面之间的几何数据来跟踪对象，以使得能够进行更精确的跟踪。 3D对象跟踪方法包括对要跟踪的对象进行建模以生成多个平面，并分别跟踪多个平面。对象的建模分别包括从多个平面中选择点，并使用所选择的点来计算投影不变量。

6. 发明授权

US08649557B2 Method of mobile platform detecting and tracking dynamic objects and computer-readable medium thereof 有权
标题翻译：移动平台检测和跟踪动态对象及其计算机可读介质的方法
公开(公告)号：US08649557B2
公开(公告)日：2014-02-11
申请号：US12857076
申请日：2010-08-16
申请人： Seung Yong Hyung , Sung Hwan Ahn , Kyung Shik Roh , Suk June Yoon
发明人： Seung Yong Hyung , Sung Hwan Ahn , Kyung Shik Roh , Suk June Yoon
IPC分类号： G06K9/00
CPC分类号： G06T7/277 , G06T2207/10028 , G06T2207/30252
摘要： Disclosed herein is a computer-readable medium and method of a mobile platform detecting and tracking dynamic objects in an environment having the dynamic objects. The mobile platform acquires a three-dimensional (3D) image using a time-of-flight (TOF) sensor, removes a floor plane from the acquired 3D image using a random sample consensus (RANSAC) algorithm, and individually separates objects from the 3D image. Movement of the respective separated objects is estimated using a joint probability data association filter (JPDAF).
摘要翻译：本文公开了一种在具有动态对象的环境中检测和跟踪动态对象的移动平台的计算机可读介质和方法。移动平台使用飞行时间（TOF）传感器获取三维（3D）图像，使用随机抽样共识（RANSAC）算法从所获取的3D图像中移除平面图，并将对象与3D 图片。使用联合概率数据关联过滤器（JPDAF）来估计各分离对象的移动。

7. 发明授权

US08428343B2 VOXEL map generator and method thereof 有权
标题翻译： VOXEL地图生成器及其方法
公开(公告)号：US08428343B2
公开(公告)日：2013-04-23
申请号：US13137832
申请日：2011-09-15
申请人： Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon , Sung Hwan Ahn
发明人： Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon , Sung Hwan Ahn
IPC分类号： G06K9/00 , G06T15/00
CPC分类号： G06T7/74 , G06T7/55 , G06T2207/10028 , G06T2207/20076 , H04N13/25 , H04N13/254 , H04N13/271
摘要： A volume cell (VOXEL) map generation apparatus includes an inertia measurement unit to calculate inertia information by calculating inertia of a volume cell (VOXEL) map generator, a Time of Flight (TOF) camera to capture an image of an object, thereby generating a depth image of the object and a black-and-white image of the object, an estimation unit to calculate position and posture information of the VOXEL map generator by performing an Iterative Closest Point (ICP) algorithm on the basis of the depth image of the object, and to recursively estimate a position and posture of the VOXEL map generator on the basis of VOXEL map generator inertia information calculated by the inertia measurement unit and VOXEL map generator position and posture information calculated by the ICP algorithm, and a grid map construction unit to configure a grid map based on the recursively estimated VOXEL map generator position and posture.
摘要翻译：音量单元（VOXEL）地图生成装置包括惯性测量单元，其通过计算体积单元（VOXEL）图生成器的惯性，飞行时间（TOF）照相机来捕获对象的图像的惯量来计算惯性信息，从而生成物体的深度图像和物体的黑白图像;估计单元，其通过基于所述对象的深度图像执行迭代最近点（ICP）算法来计算所述VOXEL图生成器的位置和姿势信息; 并且基于由惯性测量单元计算的VOXEL图生成器惯性信息和由ICP算法计算的VOXEL映射发生器位置和姿势信息，以及网格图构造单元递归地估计VOXEL映射生成器的位置和姿势基于递归估计的VOXEL映射生成器位置和姿势来配置网格图。

8. 发明授权

US08401783B2 Method of building map of mobile platform in dynamic environment 有权
标题翻译：在动态环境下构建移动平台地图的方法
公开(公告)号：US08401783B2
公开(公告)日：2013-03-19
申请号：US12654037
申请日：2009-12-08
申请人： Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon , Sung Hwan Ahn
发明人： Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon , Sung Hwan Ahn
IPC分类号： G06F17/00
CPC分类号： G06T17/00 , G05D1/0253 , G05D1/0274 , G06T7/215 , G06T7/246 , G06T2207/10028 , G06T2207/30252
摘要： Disclosed herein is a method of building a map of a mobile platform moving in a dynamic environment and detecting an object using a 3D camera sensor, e.g., an IR TOF camera sensor, for localization. A localization technology to separate and map a dynamic object and a static object is applied to a mobile platform, such as an unmanned vehicle or a mobile robot. Consequently, the present method is capable of accurately building map information based on the static object in a dynamic environment having a large number of dynamic objects and achieving a dynamic object avoidance or chasing function using position information acquired to build the map.
摘要翻译：本文公开了一种构建在动态环境中移动的移动平台的地图的方法，并且使用3D摄像机传感器（例如IR TOF摄像机传感器）来检测物体用于定位。用于分离和映射动态对象和静态对象的定位技术被应用于诸如无人驾驶车辆或移动机器人的移动平台。因此，本方法能够在具有大量动态对象的动态环境中基于静态对象准确地构建地图信息，并且使用获取的用于构建地图的位置信息来实现动态对象回避或追逐功能。

9. 发明申请

US20120089295A1 MOVING ROBOT AND METHOD TO BUILD MAP FOR THE SAME 有权
标题翻译：移动机器人和建立地图的方法
公开(公告)号：US20120089295A1
公开(公告)日：2012-04-12
申请号：US13236050
申请日：2011-09-19
申请人： Sung Hwan AHN , Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon
发明人： Sung Hwan AHN , Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon
IPC分类号： G05D1/00
CPC分类号： G05D1/0274 , G05D1/0242 , G05D2201/0217
摘要： A moving robot and a method to build a map for the same, wherein a 3D map for an ambient environment of the moving robot may be built using a Time of Flight (TOF) camera that may acquire 3D distance information in real time. The method acquires 3D distance information of an object present in a path along which the moving robot moves, accumulates the acquired 3D distance information to construct a map of a specific level and stores the map in a database, and then hierarchically matches maps stored in the database to build a 3D map for a set space. This method may quickly and accurately build a 3D map for an ambient environment of the moving robot.
摘要翻译：一种移动机器人和用于构建其的地图的方法，其中可以使用可以实时获取3D距离信息的飞行时间（TOF）相机来构建移动机器人的周围环境的3D地图。该方法获取存在于移动机器人移动的路径中的对象的3D距离信息，累积获取的3D距离信息以构建特定级别的地图，并将该地图存储在数据库中，然后分层地匹配存储在数据库构建一个集合空间的3D地图。该方法可以快速且准确地构建移动机器人的周围环境的3D地图。

10. 发明授权

US09254571B2 Robot and method for creating path of the robot 有权
标题翻译：用于创建机器人路径的机器人和方法
公开(公告)号：US09254571B2
公开(公告)日：2016-02-09
申请号：US13307169
申请日：2011-11-30
申请人： Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon , Sung Hwan Ahn
发明人： Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon , Sung Hwan Ahn
IPC分类号： B25J9/10 , B25J9/16 , G05D1/02
CPC分类号： B25J9/1666 , G05B2219/40442 , G05B2219/40475 , G05D1/024 , G05D1/0274
摘要： A robot and a method for creating a robot path. The method for planning the robot path includes generating a depth map including a plurality of cells by measuring a distance to an object, dividing a boundary among the plurality of cells into a plurality of partitions according to individual depth values of the cells, and extracting a single closed loop formed by the divided boundary, obtaining a position and shape of the object located at a first time through the extracted single closed loop, calculating a probability that the object is located at a second time after t seconds on the basis of the obtained position and shape of the object located at the first time, and creating a moving path simultaneously while avoiding the object according to the calculated probability, thereby creating an optimum path without colliding with the object.
摘要翻译：机器人和创建机器人路径的方法。用于规划机器人路径的方法包括：通过测量到对象的距离来生成包括多个单元的深度图，根据单元的各个深度值将多个单元之间的边界划分成多个分区，并且提取通过分割边界形成的单个闭环，通过提取的单个闭环获得位于第一时间的对象的位置和形状，基于获得的计算在t秒之后的第二时间计算对象位于的概率位于第一时间的对象的位置和形状，并且根据所计算的概率同时避免对象创建移动路径，从而创建最佳路径而不与对象相冲突。

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