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51. 发明申请

US20110091073A1 MOVING OBJECT DETECTION APPARATUS AND MOVING OBJECT DETECTION METHOD 有权
标题翻译：移动物体检测装置和移动物体检测方法
公开(公告)号：US20110091073A1
公开(公告)日：2011-04-21
申请号：US12976169
申请日：2010-12-22
申请人： Masahiro Iwasaki , Kunio Nobori
发明人： Masahiro Iwasaki , Kunio Nobori
IPC分类号： G06K9/00
CPC分类号： G06T7/292 , G06T7/215 , G06T2207/10016 , G06T2207/20021 , G06T2207/30196 , G06T2207/30241
摘要： To provide a moving object detection apparatus which accurately performs region extraction, regardless of the pose or size of a moving object. The moving object detection apparatus includes: an image receiving unit receiving the video sequence; a motion analysis unit calculating movement trajectories based on motions of the image; a segmentation unit performing segmentation so as to divide the movement trajectories into subsets, and setting a part of the movement trajectories as common points shared by the subsets; a distance calculation unit calculating a distance representing a similarity between a pair of movement trajectories, for each of the subsets; a geodesic distance calculation unit transforming the calculated distance into a geodesic distance; an approximate geodesic distance calculation unit calculating an approximate geodesic distance bridging over the subsets, by integrating geodesic distances including the common points; and a region extraction unit performing clustering on the calculated approximate geodesic distance.
摘要翻译：提供一种移动物体检测装置，其能够精确地执行区域提取，而不管移动物体的姿态或尺寸如何。移动物体检测装置包括：图像接收单元，接收视频序列; 运动分析单元，基于图像的运动来计算运动轨迹; 分割单元，其执行分割，以将所述移动轨迹划分为子集，并将所述移动轨迹的一部分设置为由所述子集共享的共同点; 距离计算单元，对于每个子集，计算表示一对移动轨迹之间的相似度的距离; 测距距离计算单元，将计算出的距离变换为测地距离; 近似测地距离计算单元，通过集成包括公共点的测地距离来计算桥接在子集上的近似测地距离; 以及区域提取单元，对计算出的近似测距距离进行聚类。

52. 发明授权

US07916899B2 Monitoring system and vehicle surrounding monitoring system 有权
标题翻译：监控系统和车辆周边监控系统
公开(公告)号：US07916899B2
公开(公告)日：2011-03-29
申请号：US12704738
申请日：2010-02-12
申请人： Kunio Nobori , Masaki Sato , Kazufumi Mizusawa , Hirofumi Ishii
发明人： Kunio Nobori , Masaki Sato , Kazufumi Mizusawa , Hirofumi Ishii
IPC分类号： G06K9/00 , H04N5/225
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/105 , B60R2300/302 , B60R2300/303 , B60R2300/607 , B60R2300/802 , B60R2300/806 , B60R2300/8086
摘要： A parameter selection section selects one from a plurality of image synthesis parameters stored in a parameter storage section according to an output of a vehicle state detection section. An image synthesis section reads out camera images from frame memories according to the selected image synthesis parameter and generates a synthesized image showing a state of vehicle surroundings. A moving object detection section detects, in the thus generated synthetic image, a moving object region estimated as a region where a moving object is present.
摘要翻译：参数选择部根据车辆状态检测部的输出，从存储在参数存储部中的多个图像合成参数中选择一个。图像合成部根据所选择的图像合成参数从帧存储器读出摄像机图像，并生成表示车辆周围环境的合成图像。移动物体检测部在如此生成的合成图像中检测被推定为存在移动物体的区域的移动物体区域。

53. 发明授权

US07747104B2 Image generating method, object detecting method, object detecting equipment, and image generating program 有权
标题翻译：图像生成方法，物体检测方法，物体检测设备和图像生成程序
公开(公告)号：US07747104B2
公开(公告)日：2010-06-29
申请号：US11503891
申请日：2006-08-14
申请人： Kazutoyo Takata , Kunio Nobori
发明人： Kazutoyo Takata , Kunio Nobori
IPC分类号： G06K9/36
CPC分类号： G06T7/254
摘要： A small region panorama image group (I1P, I2P, I3P) is generated in advance. The small region panorama image group (I1P, I2P, I3P) includes images including a common shooting range, being composed of a plurality of common partially overlapped regions (A, B, C, D), and having independency from each other in each partially overlapped region (A, B, C, D). With the use of the small region panorama image group (I1P, I2P, I3P), a predicted background image is generated in which light source environment is the same as that of a shot target image.
摘要翻译：预先生成小区域全景图像组（I1P，I2P，I3P）。小区域全景图像组（I1P，I2P，I3P）包括由多个公共部分重叠区域（A，B，C，D）组成的共同拍摄范围的图像，并且在每个部分地区域中彼此具有独立性重叠区域（A，B，C，D）。通过使用小区域全景图像组（I1P，I2P，I3P），产生预测的背景图像，其中光源环境与拍摄目标图像的相同。

54. 发明授权

US07714887B2 Image processor and monitoring system 有权
标题翻译：图像处理器和监控系统
公开(公告)号：US07714887B2
公开(公告)日：2010-05-11
申请号：US10800941
申请日：2004-03-15
申请人： Kunio Nobori , Masamichi Nakagawa , Hirofumi Ishii , Shusaku Okamoto
发明人： Kunio Nobori , Masamichi Nakagawa , Hirofumi Ishii , Shusaku Okamoto
IPC分类号： H04N7/18 , H04N9/47
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/302 , B60R2300/607 , B60R2300/8093 , G06T3/4038 , G06T5/50 , G06T7/97 , G06T11/00 , G06T2207/20228 , H04N7/181
摘要： The image processor of the present invention generates a more natural synthesized image from camera images taken with a plurality of cameras capturing the surroundings of a vehicle. A parameter storage section stores a plurality of image synthesis parameter groups representing the correspondence between the camera images and the synthesized image and having different spatial or temporal resolution relations. A parameter selection section selects the image synthesis parameter group according to the output of a vehicle motion detection section for detecting the motion of the vehicle such as the driving speed and direction. An image synthesis section generates the synthesized image from the camera images according to the selected image synthesis parameter group.
摘要翻译：本发明的图像处理器从捕获车辆周围环境的多个照相机拍摄的照相机图像生成更自然的合成图像。参数存储部分存储表示相机图像和合成图像之间的对应关系且具有不同空间或时间分辨率关系的多个图像合成参数组。参数选择部根据用于检测车辆的运动的车辆运动检测部的输出，如行驶速度和方向，选择图像合成参数组。图像合成部根据所选择的图像合成参数组从相机图像生成合成图像。

55. 发明授权

US07706918B2 Article holding system, robot, and method of controlling robot 有权
标题翻译：物品保持系统，机器人和控制机器人的方法
公开(公告)号：US07706918B2
公开(公告)日：2010-04-27
申请号：US11653470
申请日：2007-01-12
申请人： Satoshi Sato , Masamichi Nakagawa , Kunio Nobori , Mikiya Nakata , Kenji Kondo
发明人： Satoshi Sato , Masamichi Nakagawa , Kunio Nobori , Mikiya Nakata , Kenji Kondo
IPC分类号： B25J15/00
CPC分类号： B25J9/1612
摘要： An article holding system includes a recognizing device for recognizing the state of the holding object, a holding method specifying means for specifying the holding method according to the state recognized by the recognizing device, and a holding device for holding the holding object according to the holding method specified by the holding method specifying means.
摘要翻译：物品保持系统包括用于识别保持对象的状态的识别装置，根据识别装置识别的状态指定保持方法的保持方法指定装置，以及根据保持对象的保持对象的保持装置方法由保持方法指定装置指定。

56. 发明授权

US07542834B2 Mobile unit motion calculating method, apparatus and navigation system 有权
标题翻译：移动单元运动计算方法，装置和导航系统
公开(公告)号：US07542834B2
公开(公告)日：2009-06-02
申请号：US10540135
申请日：2004-10-15
申请人： Kunio Nobori , Satoshi Sato
发明人： Kunio Nobori , Satoshi Sato
IPC分类号： G06F7/00 , G06F19/00
CPC分类号： B60R1/00 , B60R2300/30 , B60R2300/302 , B60R2300/305 , B60R2300/307 , B60R2300/806 , B60R2300/8086 , B60R2300/8093 , G05D1/0253 , G05D2201/0213 , G06K9/00791 , G06T7/246 , G06T7/579
摘要： In a mobile body motion calculation apparatus (100), a corresponding point calculation section (101) calculates corresponding points between images captured by a camera 120. A first motion calculation section (102) calculates a first motion (Ma) of a mobile body using the corresponding points, assuming a predetermined plane in the images. A second motion calculation section (103) calculates a second motion (Mb) using the first motion (Ma) and the corresponding points.
摘要翻译：在移动体运动计算装置（100）中，对应点计算部（101）计算由照相机120拍摄的图像之间的对应点。第一运动计算部（102）使用以下方式计算移动体的第一动作（Ma）相应的点，假设图像中的预定平面。第二运动计算部（103）使用第一运动（Ma）和对应点计算第二运动（Mb）。

57. 发明授权

US07515990B2 Article control system, article control server, article control method 有权
标题翻译：物品控制系统，物品控制服务器，物品控制方法
公开(公告)号：US07515990B2
公开(公告)日：2009-04-07
申请号：US10532157
申请日：2004-05-21
申请人： Satoshi Sato , Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Osamu Yamada , Tomonobu Naruoka , Yoshihiko Matsukawa , Yasuhiro Morinaka , Katsuji Aoki , Mikiya Nakata
发明人： Satoshi Sato , Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Osamu Yamada , Tomonobu Naruoka , Yoshihiko Matsukawa , Yasuhiro Morinaka , Katsuji Aoki , Mikiya Nakata
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , B25J5/007 , G05B2219/39107 , G05B2219/40298 , G05D1/0238 , G05D1/028
摘要： The system includes a sensor for detecting a state of a space; a robot for executing a handling job for an article; an article identifying part for identifying, when an article is handled by a movable body, the article in response to a detection result obtained by the sensor; and an article handling subject identifying part for identifying an article handling subject that handles the article. When the movable body that handles the article is the robot, the article handling subject identifying part identifies a subject having issued a job instruction to the robot as the article handling subject.
摘要翻译：该系统包括用于检测空间状态的传感器; 用于执行物品的处理作业的机器人; 物品识别部件，用于当物品被移动体处理时，根据由传感器获得的检测结果来识别物品; 以及用于识别处理该物品的物品处理对象的物品处理主体识别部件。当处理物品的可移动体是机器人时，物品处理对象识别部件将作为物品处理对象的向机器人发出作业指示的被摄体标识。

58. 发明授权

US07512251B2 Monitoring system and vehicle surrounding monitoring system 有权
标题翻译：监控系统和车辆周边监控系统
公开(公告)号：US07512251B2
公开(公告)日：2009-03-31
申请号：US11326922
申请日：2006-01-06
申请人： Kunio Nobori , Masaki Sato , Kazufumi Mizusawa , Hirofumi Ishii
发明人： Kunio Nobori , Masaki Sato , Kazufumi Mizusawa , Hirofumi Ishii
IPC分类号： G06K9/00 , H04N5/33
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/105 , B60R2300/302 , B60R2300/303 , B60R2300/607 , B60R2300/802 , B60R2300/806 , B60R2300/8086
摘要： A parameter selection section selects one from a plurality of image synthesis parameters stored in a parameter storage section according to an output of a vehicle state detection section. An image synthesis section reads out camera images from frame memories according to the selected image synthesis parameter and generates a synthesized mage showing a state of vehicle surroundings. A moving object detection section detects, in the thus generated synthetic image, a moving object region estimated as a region where a moving object is present.
摘要翻译：参数选择部根据车辆状态检测部的输出，从存储在参数存储部中的多个图像合成参数中选择一个。图像合成部根据所选择的图像合成参数从帧存储器读出摄像机图像，并生成表示车辆周围环境的合成法师。移动物体检测部在如此生成的合成图像中检测被推定为存在移动物体的区域的移动物体区域。

59. 发明申请

US20070239315A1 Article holding system, robot, and method of controlling robot 有权
标题翻译：物品保持系统，机器人和控制机器人的方法
公开(公告)号：US20070239315A1
公开(公告)日：2007-10-11
申请号：US11653470
申请日：2007-01-12
申请人： Satoshi Sato , Masamichi Nakagawa , Kunio Nobori , Mikiya Nakata , Kenji Kondo
发明人： Satoshi Sato , Masamichi Nakagawa , Kunio Nobori , Mikiya Nakata , Kenji Kondo
IPC分类号： G06F19/00
CPC分类号： B25J9/1612
摘要： An article holding system includes a recognizing device for recognizing the state of the holding object, a holding method specifying means for specifying the holding method according to the state recognized by the recognizing device, and a holding device for holding the holding object according to the holding method specified by the holding method specifying means.
摘要翻译：物品保持系统包括用于识别保持对象的状态的识别装置，根据识别装置识别的状态指定保持方法的保持方法指定装置，以及根据保持对象的保持对象的保持装置方法由保持方法指定装置指定。

60. 发明授权

US07110021B2 Vehicle surroundings monitoring device, and image production method/program 有权
标题翻译：车辆环境监控装置，图像制作方法/程序
公开(公告)号：US07110021B2
公开(公告)日：2006-09-19
申请号：US10447523
申请日：2003-05-29
申请人： Kunio Nobori , Masamichi Nakagawa , Satoshi Sato , Mikiya Nakata
发明人： Kunio Nobori , Masamichi Nakagawa , Satoshi Sato , Mikiya Nakata
IPC分类号： H04N7/18 , H04N9/47
CPC分类号： H04N7/181 , G01S5/16 , G01S11/12 , G06T7/74 , G06T7/97
摘要： A synthesized image showing the situation around a vehicle is produced from images taken with cameras capturing the surroundings of the vehicle and presented to a display. A position computation section computes position information and the reliability of the position information, for a plurality of points in the camera images. An image variable-synthesis section produces a first synthesized image from the camera images using the position information. An image fixed-synthesis section produces a second synthesized image by road surface projection, for example, without use of the position information. A synthesis scheme selection section selects either one of the first and second synthesized images according to the reliability as the synthesized image to be presented.
摘要翻译：显示车辆周围情况的合成图像是从拍摄车辆周围的摄像机拍摄的图像产生的，呈现给显示器。位置计算部分计算相机图像中的多个点的位置信息和位置信息的可靠性。图像可变合成部分使用位置信息从照相机图像产生第一合成图像。图像固定合成部，例如不使用位置信息，通过路面投影产生第二合成图像。合成方案选择部根据可靠性选择第一和第二合成图像中的任一个作为要呈现的合成图像。

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