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1. 发明授权

US11305428B2 Robot motion planning device, robotic system, and method 有权
公开(公告)号：US11305428B2
公开(公告)日：2022-04-19
申请号：US16567033
申请日：2019-09-11
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Toshimitsu Kaneko , Tatsuya Tanaka , Ryosuke Nonaka , Nao Mishima , Tatsuo Kozakaya
IPC分类号： B25J9/16
摘要： According to one embodiment, a robot motion planning device includes processing circuitry. The processing circuitry receives observation information obtained by observing at least part of a movable range of a robot. The processing circuitry determines, in a case where first observation information is received, a target position to which the robot is to make a motion, using an action-value function and the first observation information. The processing circuitry receives measurement information obtained by measuring a state of the robot, calculates a difference corresponding to the first observation information, using the measurement information, and determines a motion plan of a force-controlled motion of the robot, based on the target position and the difference.

2. 发明申请

US20180268297A1 NETWORK TRAINING DEVICE, NETWORK TRAINING SYSTEM, NETWORK TRAINING METHOD, AND COMPUTER PROGRAM PRODUCT 审中-公开
公开(公告)号：US20180268297A1
公开(公告)日：2018-09-20
申请号：US15688316
申请日：2017-08-28
申请人： Kabushiki Kaisha Toshiba
发明人： Tomoya OKAZAKI , Marco Visentini Scarzanella , Toshimitsu Kaneko , Yasunori Taguchi , Wataru Watanabe
IPC分类号： G06N3/08
CPC分类号： G06N3/084 , G06K9/00248 , G06N3/0454 , G06N3/088 , G06T7/0002 , G06T2207/20084
摘要： According to an embodiment, a network training device includes a first training unit that trains a first network that converts an input signal to a first signal, a second training unit that trains a second network that converts the first signal to a second signal, and a third training unit that trains a third network that converts the second signal to an output signal. The first training unit trains the first network as an encoder of a first autoencoder. The second training unit trains the second network by backpropagation by using a second signal for training corresponding to the first signal for training as supervised data. The second signal for training is generated by an encoder of a second autoencoder that encodes a third signal for training into the second signal for training, and decodes the second signal for training into the third signal for training.

3. 发明授权

US09092693B2 Image processing apparatus and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US09092693B2
公开(公告)日：2015-07-28
申请号：US13920478
申请日：2013-06-18
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Yusuke Moriuchi , Toshimitsu Kaneko , Kanako Saito
IPC分类号： G06K9/46 , G06K9/00
CPC分类号： G06K9/4661 , G06K9/00362
摘要： According to one embodiment, an image processing apparatus includes following units. The extraction unit extracts, from image data including a plurality of pixels, wavelength signal values of the plurality of pixels. The light attenuation amount calculation unit calculates a light attenuation amount based on a ratio of a wavelength signal value of a target pixel to a representative signal value obtained from wavelength signal values of a local region around the target pixel. The pigment amount calculation unit calculates a pigment amount of a predetermined pigment component at the target pixel by resolving the light attenuation amount using an absorbance base of the predetermined pigment component.
摘要翻译：根据一个实施例，图像处理装置包括以下单元。提取单元从包括多个像素的图像数据中提取多个像素的波长信号值。光衰减量计算单元基于目标像素的波长信号值与由目标像素周围的局部区域的波长信号值获得的代表信号值的比率来计算光衰减量。颜料量计算单元通过使用预定颜料成分的吸光度基分辨光衰减量来计算目标像素处的预定颜料成分的颜料量。

4. 发明申请

US20220297298A1 DATA GENERATION DEVICE, DATA GENERATION METHOD, CONTROL DEVICE, CONTROL METHOD, AND COMPUTER PROGRAM PRODUCT 有权
公开(公告)号：US20220297298A1
公开(公告)日：2022-09-22
申请号：US17446319
申请日：2021-08-30
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Tatsuya Tanaka , Toshimitsu Kaneko
IPC分类号： B25J9/16
摘要： A control device according to the embodiment includes a deciding unit, a reward generating unit, a simulating unit, and a next-state generating unit. The deciding unit decides on an action based on the state for the present time step. The reward generating unit generates reward based on the state for the present time step and the action. According to a simulated state for the present time step set based on the state for the present time step and according to the action, the simulating unit generates a simulated state for the next time step. The next-state generating unit generates the state for the next time step according to the state for the present time step, the action, and the simulated state for the next time step.

5. 发明授权

US11449801B2 Learning method and program 有权
公开(公告)号：US11449801B2
公开(公告)日：2022-09-20
申请号：US16812497
申请日：2020-03-09
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Ryosuke Nonaka , Toshimitsu Kaneko , Norihiro Nakamura
IPC分类号： G06N20/00 , B60W30/18 , B60W30/188 , G05D1/02 , B60W50/00
摘要： According to one embodiment, a learning method, comprises receiving a first signal including a previous auxiliary variable value, previous action information regarding a previous action, or a set of previous scores, receiving current sensor data, selecting a current action of the control target based on the first signal, the current sensor data, and a parameter for obtaining a score from sensor data, causing the control target to execute the current action, receiving next sensor data and a reward, and updating the parameter based on the current sensor data, current action information regarding the current action, the next sensor data, and the reward. A degree of selecting a previous action as the current action is increased.

6. 发明授权

US09317902B2 Device and method of image processing for denoising based on degree of concentration of contribution ratios of basis patterns 有权
标题翻译：基于模式的贡献率浓度的去噪图像处理装置和方法
公开(公告)号：US09317902B2
公开(公告)日：2016-04-19
申请号：US14136455
申请日：2013-12-20
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Satoshi Kawata , Nao Mishima , Toshimitsu Kaneko
IPC分类号： G06K9/40 , G06T5/00
CPC分类号： G06T5/002 , G06K9/40
摘要： An image processing device includes processing circuitry configured to acquire a plurality of basis patterns for converting a first region and a second region in a target image, calculate a contribution ratio of each basis pattern, and select one or more basis patterns from higher contribution ratio to lower contribution ratio until a sum of contribution ratios of the selected one or more basis patterns reaches a specific first threshold. The processing circuitry is further configured to generate a control signal of an intensity that increases with a number of the one or more selected basis patterns, project a third region in the target image to the basis patterns to obtain a projection coefficient, reduce noise of the projection coefficient based on the intensity of the control signal, and reconstruct the third region using the projection coefficient after the noise is reduced.
摘要翻译：图像处理装置包括：处理电路，其被配置为获取用于转换目标图像中的第一区域和第二区域的多个基本图案，计算每个基本图案的贡献率，并且从较高的贡献比选择一个或多个基础图案较低的贡献率，直到所选择的一个或多个基本模式的贡献率之和达到特定的第一阈值。所述处理电路还被配置为产生强度的控制信号，所述强度随所述一个或多个所选择的基本图案的数量而增加，将所述目标图像中的第三区域投影到所述基本图案以获得投影系数，基于控制信号的强度的投影系数，并且在噪声减小之后使用投影系数重建第三区域。

7. 发明申请

US20150055874A1 IMAGE ANALYZING APPARATUS AND METHOD 审中-公开
标题翻译：图像分析装置和方法
公开(公告)号：US20150055874A1
公开(公告)日：2015-02-26
申请号：US14244012
申请日：2014-04-03
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Takuma YAMAMOTO , Yasunori Taguchi , Toshimitsu Kaneko
IPC分类号： G06T5/00
CPC分类号： G06T5/003 , G06T2207/20012 , G06T2207/20201
摘要： An image analyzing apparatus includes computer. The computer is programmed to obtain a motion vector from a first image toward a second image and calculate an evaluation value depending on a magnitude of frequency components. The frequency components have a higher frequency than a first frequency determined based on the motion vector. The computer is also programmed to detect a particular area from the first image based on the evaluation value.
摘要翻译：图像分析装置包括计算机。计算机被编程为从第一图像到第二图像获得运动矢量，并且根据频率分量的大小来计算评估值。频率分量具有比基于运动矢量确定的第一频率更高的频率。计算机还被编程为基于评估值从第一图像检测特定区域。

8. 发明申请

US20140185956A1 DEVICE AND METHOD OF IMAGE PROCESSING 有权
标题翻译：图像处理装置和方法
公开(公告)号：US20140185956A1
公开(公告)日：2014-07-03
申请号：US14136455
申请日：2013-12-20
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Satoshi Kawata , Nao Mishima , Toshimitsu Kaneko
IPC分类号： G06T5/00
CPC分类号： G06T5/002 , G06K9/40
摘要： A device according to embodiments comprises an acquisition unit, a calculation unit, a selection unit, a generation unit, a projection unit, a denoising unit and a reconstruction unit. The acquisition unit may acquire a plurality of basis pattern for converting a first region and a second region in a target image. The calculation unit may calculate a contribution ratio of each basis pattern. The selection unit may select one or more basis patterns from higher contribution ratio to lower contribution ratio until a sum of selected contribution ratios reaches a specific first threshold. The generation unit may generate a control signal increasing with the number of the basis pattern selected by the selection unit. The projection unit may project a third region in the target image to the basis patterns to obtain a projection coefficient. The denoising unit may reduce noise of the projection coefficient in accordance with an intensity of the control signal so that the higher the intensity of the control signal is, the stronger the denoising becomes. The reconstruction unit may reconstruct the third region using the denoised projection coefficient.
摘要翻译：根据实施例的装置包括获取单元，计算单元，选择单元，生成单元，投影单元，去噪单元和重构单元。获取单元可以获取用于转换目标图像中的第一区域和第二区域的多个基本图案。计算单元可以计算每个基本模式的贡献率。选择单元可以从较高的贡献率到较低的贡献率选择一个或多个基本模式，直到所选择的贡献率之和达到特定的第一阈值。生成单元可以生成随着由选择单元选择的基本模式的数量而增加的控制信号。投影单元可以将目标图像中的第三区域投影到基图，以获得投影系数。去噪单元可以根据控制信号的强度降低投影系数的噪声，使得控制信号的强度越高，去噪变得越强。重建单元可以使用去噪的投影系数来重构第三区域。

9. 发明申请

US20140176760A1 Image Processing Apparatus, Image Processing Method, and Imaging Apparatus 有权
标题翻译：图像处理装置，图像处理方法和成像装置
公开(公告)号：US20140176760A1
公开(公告)日：2014-06-26
申请号：US14136880
申请日：2013-12-20
申请人： Kabushiki Kaisha Toshiba
发明人： Yasunori TAGUCHI , Toshimitsu Kaneko
IPC分类号： H04N9/73 , G06T5/00
CPC分类号： H04N5/3572 , G06T5/002 , G06T5/20 , G06T2207/10024 , G06T2207/20012 , G06T2207/20081 , H04N9/045 , H04N2209/046
摘要： According to an image processing apparatus includes an acquisition unit, a storage unit, and a convolution unit. The acquisition unit is configured to acquire an input image captured via an optical system. The storage unit is configured to store therein a coefficient designed through learning for each of positions of respective pixel sets referred to in a convolution such that a result of the convolution of a second image with the coefficient is brought nearer to a first image, the second image being obtained by deteriorating the first image through a predetermined deterioration process. The convolution unit is configured to read the coefficient from the storage unit correspondingly to a position of a pixel set referred to in the input image, and generate an output image by convoluting the pixel set with the coefficient.
摘要翻译：根据图像处理装置，包括获取单元，存储单元和卷积单元。获取单元被配置为获取经由光学系统捕获的输入图像。存储单元被配置为在其中存储通过学习为卷积中涉及的各个像素组的每个位置设计的系数，使得第二图像与系数的卷积的结果更接近于第一图像，第二图像通过预定的劣化处理使第一图像劣化而获得图像。卷积单元被配置为对应于输入图像中所参照的像素组的位置从存储单元读取系数，并且通过对具有系数的像素组进行卷积来生成输出图像。

10. 发明授权

US09607359B2 Electronic device, method, and computer program product 有权
公开(公告)号：US09607359B2
公开(公告)日：2017-03-28
申请号：US14842030
申请日：2015-09-01
申请人： Kabushiki Kaisha Toshiba
发明人： Yukie Takahashi , Kei Imada , Go Ito , Toshimitsu Kaneko , Kanako Saito
IPC分类号： G06K9/40 , G06T3/40 , G06T5/00 , G06T5/20 , G06T7/00 , H04N5/232
CPC分类号： G06T3/4053 , G06K9/40 , G06K9/4604 , G06K9/4642 , G06T5/002 , G06T5/003 , G06T5/20 , G06T2207/10024 , G06T2207/20182 , G06T2207/20192 , G06T2207/20204 , H04N5/23251
摘要： According to one embodiment, an electronic device includes circuitry. The circuitry is configured to: receive first image data for displaying a first image that comprises a plurality of regions, modify a first region of the first image by adding at least a high-frequency component based on second image data, the first region of the first image including fewer noise components than a first threshold, and output third image data for displaying the first image that comprises the plurality of regions and the modified first region.

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