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71. 发明授权

US08527434B2 Information processing device, information processing method, and program 有权
标题翻译：信息处理装置，信息处理方法和程序
公开(公告)号：US08527434B2
公开(公告)日：2013-09-03
申请号：US12791275
申请日：2010-06-01
申请人： Kuniaki Noda , Kohtaro Sabe , Yukiko Yoshiike , Kenta Kawamoto , Kenichi Hidai
发明人： Kuniaki Noda , Kohtaro Sabe , Yukiko Yoshiike , Kenta Kawamoto , Kenichi Hidai
IPC分类号： G06N5/00
CPC分类号： G06N3/006 , G06K9/00335 , G06K9/00664 , G06K9/6297
摘要： An information processing device includes: a learning section configured to learn a state transition probability model defined by state transition probability for each action of a state making a state transition due to an action performed by an agent capable of performing action and observation probability of a predetermined observed value being observed from the state, using an action performed by the agent and an observed value observed in the agent when the agent has performed the action.
摘要翻译：一种信息处理装置，包括：学习部，其被配置为：由于能够执行动作的代理和所述预定的行为的观察概率而进行的状态转换的状态的每个动作，学习由状态转移概率定义的状态转移概率模型观察到的值是从状态观察到的，使用由试剂进行的作用和在试剂进行作用时在试剂中观察到的观察值。

72. 发明授权

US08447708B2 Method and apparatus that carries out self-organizing of internal states of a state transition prediction model, and obtains a maximum likelihood sequence 有权
标题翻译：执行状态转换预测模型的内部状态的自组织的方法和装置，并且获得最大似然序列
公开(公告)号：US08447708B2
公开(公告)日：2013-05-21
申请号：US12915616
申请日：2010-10-29
申请人： Kohtaro Sabe
发明人： Kohtaro Sabe
IPC分类号： G06F11/00
CPC分类号： G06N99/005
摘要： An information processing device includes a model learning unit that carries out learning for self-organization of internal states of a state transition prediction model which is a learning model having internal states, a transition model of the internal states, and an observation model where observed values are generated from the internal states, by using first time series data, wherein the model learning unit learns the observation model of the state transition prediction model after the learning using the first time series data, by fixing the transition model and using second time series data different from the first time series data, thereby obtaining the state transition prediction model having a first observation model where each sample value of the first time series data is observed and a second observation model where each sample value of the second time series data is observed.
摘要翻译：信息处理装置包括：模型学习单元，其执行作为具有内部状态的学习模型的状态转换预测模型的内部状态的自组织学习，内部状态的转换模型以及观测值是通过使用第一时间序列数据从第一时间序列数据生成的，其中模型学习单元通过固定转换模型并使用第二时间序列数据来学习使用第一时间序列数据的学习之后的状态转换预测模型的观察模型与第一时间序列数据不同，从而获得具有观察第一时间序列数据的每个样本值的第一观察模型的状态转变预测模型和观察第二时间序列数据的每个样本值的第二观察模型。

73. 发明申请

US20110137834A1 LEARNING APPARATUS AND METHOD, PREDICTION APPARATUS AND METHOD, AND PROGRAM 有权
标题翻译：学习装置和方法，预测装置和方法以及程序
公开(公告)号：US20110137834A1
公开(公告)日：2011-06-09
申请号：US12954264
申请日：2010-11-24
申请人： Naoki IDE , Masato Ito , Kohtaro Sabe
发明人： Naoki IDE , Masato Ito , Kohtaro Sabe
IPC分类号： G06F15/18 , G06N5/02
CPC分类号： G06N99/005
摘要： A learning apparatus includes: a location acquiring section for acquiring time series data on locations of a user; a time acquiring section for acquiring time series data on times; and learning section for learning an activity model indicating an activity state of the user as a probabilistic state transition model, using the respective acquired time series data on the locations and the times as an input.
摘要翻译：学习装置包括：位置获取部分，用于获取关于用户位置的时间序列数据; 时间获取部分，用于获取时间序列数据; 以及学习部分，用于将使用相应的获取的时间序列数据作为输入来学习指示用户的活动状态的活动模型作为概率状态转换模型。

74. 发明申请

US20110137831A1 LEARNING APPARATUS, LEARNING METHOD AND PROGRAM 审中-公开
标题翻译：学习设备，学习方法和程序
公开(公告)号：US20110137831A1
公开(公告)日：2011-06-09
申请号：US12917853
申请日：2010-11-02
申请人： Naoki IDE , Masato Ito , Kohtaro Sabe
发明人： Naoki IDE , Masato Ito , Kohtaro Sabe
IPC分类号： G06F15/18
CPC分类号： G08G1/0133 , G06K9/6297 , G06N20/00 , G08G1/0112
摘要： A learning apparatus includes: an interpolating section which interpolates data missing in time series data; an estimating section which estimates a Hidden Markov Model from the time series data; and a likelihood calculating section which calculates the likelihood of the estimated Hidden Markov Model. The likelihood calculating section calculates the likelihood for normal data which does not have missing data and the likelihood for interpolation data which is interpolated data in different conditions and calculates the likelihood of the Hidden Markov Model for the time series data in which the data is interpolated. The estimating section updates the Hidden Markov Model so that the likelihood calculated by the likelihood calculating section becomes high.
摘要翻译：学习装置包括：插入时间序列数据中丢失的数据的内插部分; 估计部分，根据时间序列数据估计隐马尔可夫模型; 以及计算估计隐马尔科夫模型的可能性的似然度计算部分。似然度计算部分计算不具有缺失数据的正常数据的可能性以及在不同条件下被内插数据的内插数据的可能性，并计算隐藏马尔可夫模型对于其中内插数据的时间序列数据的可能性。估计部分更新隐马尔可夫模型，使得由似然度计算部分计算的似然率变高。

75. 发明申请

US20110112997A1 INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND PROGRAM 有权
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：US20110112997A1
公开(公告)日：2011-05-12
申请号：US12915616
申请日：2010-10-29
申请人： Kohtaro SABE
发明人： Kohtaro SABE
IPC分类号： G06F15/18
CPC分类号： G06N99/005
摘要： An information processing device includes a model learning unit that carries out learning for self-organization of internal states of a state transition prediction model which is a learning model having internal states, a transition model of the internal states, and an observation model where observed values are generated from the internal states, by using first time series data, wherein the model learning unit learns the observation model of the state transition prediction model after the learning using the first time series data, by fixing the transition model and using second time series data different from the first time series data, thereby obtaining the state transition prediction model having a first observation model where each sample value of the first time series data is observed and a second observation model where each sample value of the second time series data is observed.
摘要翻译：信息处理装置包括：模型学习单元，其执行作为具有内部状态的学习模型的状态转换预测模型的内部状态的自组织学习，内部状态的转换模型以及观测值是通过使用第一时间序列数据从第一时间序列数据生成的，其中模型学习单元通过固定转换模型并使用第二时间序列数据来学习使用第一时间序列数据的学习之后的状态转换预测模型的观察模型与第一时间序列数据不同，从而获得具有观察第一时间序列数据的每个样本值的第一观察模型的状态转变预测模型和观察第二时间序列数据的每个样本值的第二观察模型。

76. 发明授权

US07865267B2 Environment recognizing device, environment recognizing method, route planning device, route planning method and robot 有权
标题翻译：环境识别装置，环境识别方法，路线规划装置，路线规划方法和机器人
公开(公告)号：US07865267B2
公开(公告)日：2011-01-04
申请号：US10941813
申请日：2004-09-16
申请人： Kohtaro Sabe , Steffen Gutmann
发明人： Kohtaro Sabe , Steffen Gutmann
IPC分类号： G06F19/00
CPC分类号： G06K9/00691 , G05D1/0251 , G05D1/0274 , G05D2201/0217 , G06K9/00201
摘要： An environment recognizing device and an environment recognizing method can draw an environment map for judging if it is possible to move a region where one or more than one steps are found above or below a floor, a route planning device and a route planning method that can appropriately plan a moving route, using such an environment map and a robot equipped with such an environment recognizing device and a route planning device. The robot comprises an environment recognizing section including a plurality of plane extracting section 401 adapted to compute plane parameters from a parallax image or a distance image and extract a plurality of planes including the floor surface, an obstacle recognizing section 402 adapted to recognize obstacles on the plurality of planes including the floor surface and an environment map updating section 403 adapted to draw an environment map (obstacle map) for each of the planes on the basis of the result of recognition of the obstacle recognizing section 402 and update the existing environment maps and a route planning section 404 adapted to plan a route on the basis of the environment maps. The route planning section 404 selects a plane as route coordinate when an obstacle is found on it in the environment map of the floor surface but not found in the environment map of the plane.
摘要翻译：环境识别装置和环境识别方法可以画出用于判断是否可能移动在地板上方或下方发现一个或多个步骤的区域的环境地图，路线规划装置和路线规划方法，其可以使用这样的环境地图和配备有这样的环境识别装置的机器人以及路径规划装置，适当地规划移动路线。机器人包括环境识别部分，其包括适于从视差图像或距离图像计算平面参数的多个平面提取部分401，并且提取包括地面的多个平面;障碍物识别部分402，适于识别包括地面的多个平面和适于根据障碍物识别部402的识别结果绘制每个平面的环境地图（障碍图）的环境地图更新部403，并且更新现有的环境地图和路线规划部404，其适于基于环境图来规划路线。路线规划部404在平面的环境地图中没有发现在地面的环境地图中发现障碍物时，选择平面作为路线坐标。

77. 发明申请

US20100329544A1 INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM 有权
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：US20100329544A1
公开(公告)日：2010-12-30
申请号：US12816779
申请日：2010-06-16
申请人： Kohtaro Sabe , Atsushi Okubo , Kenichi Hidai
发明人： Kohtaro Sabe , Atsushi Okubo , Kenichi Hidai
IPC分类号： G06K9/62
CPC分类号： G06K9/6256 , G06K9/00288 , G06K9/4614
摘要： An information processing apparatus includes the following elements. A learning unit is configured to perform Adaptive Boosting Error Correcting Output Coding learning using image feature values of a plurality of sample images each being assigned a class label to generate a multi-class classifier configured to output a multi-dimensional score vector corresponding to an input image. A registration unit is configured to input a register image to the multi-class classifier, and to register a multi-dimensional score vector corresponding to the input register image in association with identification information about the register image. A determination unit is configured to input an identification image to be identified to the multi-class classifier, and to determine a similarity between a multi-dimensional score vector corresponding to the input identification image and the registered multi-dimensional score vector corresponding to the register image.
摘要翻译：信息处理装置包括以下要素。学习单元被配置为使用多个样本图像的图像特征值来执行自适应提升误差校正输出编码学习，每个样本图像被分配类别标签，以生成被配置为输出与输入相对应的多维得分向量的多类分类器图片。注册单元被配置为将注册图像输入到多类分类器，并且与关于注册图像的识别信息相关联地注册与输入注册图像相对应的多维分数向量。确定单元被配置为将要识别的识别图像输入到多类分类器，并且确定与输入的标识图像相对应的多维得分向量与对应于寄存器的登记的多维得分向量之间的相似度图片。

78. 发明申请

US20100318479A1 INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND PROGRAM 有权
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：US20100318479A1
公开(公告)日：2010-12-16
申请号：US12791275
申请日：2010-06-01
申请人： Kuniaki NODA , Kohtaro Sabe , Yukiko Yoshiike , Kenta Kawamoto , Kenichi Hidai
发明人： Kuniaki NODA , Kohtaro Sabe , Yukiko Yoshiike , Kenta Kawamoto , Kenichi Hidai
IPC分类号： G06F15/18 , G06N5/02
CPC分类号： G06N3/006 , G06K9/00335 , G06K9/00664 , G06K9/6297
摘要： An information processing device includes: a learning section configured to learn a state transition probability model defined by state transition probability for each action of a state making a state transition due to an action performed by an agent capable of performing action and observation probability of a predetermined observed value being observed from the state, using an action performed by the agent and an observed value observed in the agent when the agent has performed the action.
摘要翻译：一种信息处理装置，包括：学习部，其被配置为：由于能够执行动作的代理以及预定的行为的观察概率，进行状态转换的状态的状态转移概率而定义的状态转移概率模型观察到的值是从状态观察到的，使用由试剂进行的作用和在试剂进行作用时在试剂中观察到的观察值。

79. 发明授权

US07783086B2 Information processing apparatus and method, recording medium, and program 有权
标题翻译：信息处理装置和方法，记录介质和程序
公开(公告)号：US07783086B2
公开(公告)日：2010-08-24
申请号：US12366792
申请日：2009-02-06
申请人： Kohtaro Sabe , Kenichi Hidai
发明人： Kohtaro Sabe , Kenichi Hidai
IPC分类号： G06K9/00 , G06K9/62
CPC分类号： G06K9/6256 , G06K9/00248 , G06K9/6282
摘要： In an information processing apparatus, such as a robot that discriminates human faces, nodes are hierarchically arranged in a tree structure. Each of the nodes has a number of weak classifiers. Each terminal node learns face images associated with one label. An upper node learns learning samples of all labels learned by lower nodes. When a window image to be classified is input, discrimination is performed sequentially from upper nodes to lower nodes. When it is determined that the window image does not correspond to a human face, discrimination by lower nodes is not performed, and discrimination proceeds to sibling nodes.
摘要翻译：在诸如识别人脸的机器人等信息处理装置中，以树结构分层地布置节点。每个节点都有一些弱分类器。每个终端节点学习与一个标签相关联的脸部图像。上级节点学习下层节点学习的所有标签的学习样本。当输入要分类的窗口图像时，从上层节点到下层节点依次进行鉴别。当确定窗口图像不对应于人脸时，不执行下位节点的鉴别，并且歧视进行到兄弟节点。

80. 发明申请

US20100021066A1 INFORMATION PROCESSING APPARATUS AND METHOD, PROGRAM, AND RECORDING MEDIUM 有权
标题翻译：信息处理装置和方法，程序和记录介质
公开(公告)号：US20100021066A1
公开(公告)日：2010-01-28
申请号：US12572306
申请日：2009-10-02
申请人： Kohtaro SABE
发明人： Kohtaro SABE
IPC分类号： G06K9/46
CPC分类号： G06K9/00221 , G06F17/30256 , G06F17/3028 , G06K9/00664 , G06K9/72
摘要： An information processing apparatus includes a face detecting unit configured to detect a face in an image; a discriminating unit configured to discriminate an attribute of the face detected by the face detecting unit; a generating unit configured to generate, from the face detected by the face detecting unit and the attribute discriminated by the discriminating unit, a feature amount of the image; and a learning unit configured to learn, from the feature amount generated by the generating unit, information for discriminating whether the image corresponds to a predetermined scene.
摘要翻译：一种信息处理设备，包括：面部检测单元，被配置为检测图像中的脸部; 鉴别单元，被配置为区分由脸部检测单元检测到的脸部的属性; 生成单元，被配置为从面部检测单元检测到的面部和由识别单元识别的属性生成图像的特征量; 以及学习单元，被配置为从所述生成单元生成的特征量学习用于识别图像是否对应于预定场景的信息。

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