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1. 发明授权

US10957100B2 Method and apparatus for generating 3D map of indoor space 有权
公开(公告)号：US10957100B2
公开(公告)日：2021-03-23
申请号：US16269649
申请日：2019-02-07
申请人： Korea University Research and Business Foundation
发明人： Nak Ju Doh
IPC分类号： G06T15/00 , G06T17/05 , G06T7/194 , G06T7/50 , G06T7/70 , G01C11/04
摘要： According to an exemplary embodiment of the present disclosure, a three-dimensional map generating method of an indoor space, includes: obtaining at least one indoor space image which is an image for an indoor space; distinguishing a background area corresponding to a structure of the indoor space from a non-background area corresponding to objects located in the indoor space in the at least one indoor space image; generating at least one expanded indoor space image by expanding the background area to the non-background area in the at least one indoor space image; generating depth-image associated information based on at least one expanded indoor space image and geographic information including information of a depth value for the indoor space; and generating a three-dimensional map for the indoor space using the at least one expanded indoor space image, the geographic information, and the depth-image associated information.

2. 发明授权

US10349033B2 Three-dimensional map generating and displaying apparatus and method 有权
公开(公告)号：US10349033B2
公开(公告)日：2019-07-09
申请号：US15742206
申请日：2016-07-07
申请人： Korea University Research and Business Foundation
发明人： Nak Ju Doh , In Sik Baek , Keon Yong Lee
IPC分类号： G09G5/00 , H04N13/117 , H04N13/122 , H04N13/361 , H04N13/383 , G06T7/73 , G06T7/579 , G06F3/01 , G06F3/0481 , G06T3/00 , G06T7/00 , G06T17/05 , G06T17/20 , G06T19/00 , G06F3/0346 , H04N13/344 , H04N13/282 , H04N13/271 , H04N5/232 , H04N13/00
摘要： A three-dimensional map generating and displaying apparatus according to an exemplary embodiment of the present invention includes an acquiring unit which acquires pose information including position and rotation information on photographing points at which three-dimensional information on a three-dimensional space is acquired with respect to a global coordinate system; a generating unit which generates a plurality of local coordinate systems for the three-dimensional space according to at least one of a spatial contiguity and a temporal contiguity of the photographing points, based on the acquired pose information; and a display unit which when an observer of a virtual reality is located in the three-dimensional space, finds the photographing point corresponding to a point at which the observer is located using the plurality of local coordinate system and generates and displays the three-dimensional map using the three-dimensional information acquired from the photographing point.

3. 发明申请

US20180205925A1 THREE-DIMENSIONAL MAP GENERATING AND DISPLAYING APPARATUS AND METHOD 审中-公开
公开(公告)号：US20180205925A1
公开(公告)日：2018-07-19
申请号：US15742206
申请日：2016-07-07
申请人： Korea University Research and Business Foundation
发明人： Nak Ju Doh , In Sik Baek , Keon Yong Lee
IPC分类号： H04N13/00
CPC分类号： H04N13/117 , G06F3/01 , G06F3/0346 , G06F3/0481 , G06T3/00 , G06T7/00 , G06T7/579 , G06T7/74 , G06T17/05 , G06T17/20 , G06T19/00 , G06T2207/10012 , G06T2207/10028 , G06T2207/20076 , G06T2207/30201 , G06T2207/30244 , H04N5/23238 , H04N13/122 , H04N13/271 , H04N13/282 , H04N13/344 , H04N13/361 , H04N13/383 , H04N2013/0081 , H04N2013/0096
摘要： A three-dimensional map generating and displaying apparatus according to an exemplary embodiment of the present invention includes an acquiring unit which acquires pose information including position and rotation information on photographing points at which three-dimensional information on a three-dimensional space is acquired with respect to a global coordinate system; a generating unit which generates a plurality of local coordinate systems for the three-dimensional space according to at least one of a spatial contiguity and a temporal contiguity of the photographing points, based on the acquired pose information; and a display unit which when an observer of a virtual reality is located in the three-dimensional space, finds the photographing point corresponding to a point at which the observer is located using the plurality of local coordinate system and generates and displays the three-dimensional map using the three-dimensional information acquired from the photographing point.

4. 发明申请

US20140025201A1 METHOD FOR PLANNING PATH FOR AUTONOMOUS WALKING HUMANOID ROBOT 有权
标题翻译：自动人行道人机界面规划方法
公开(公告)号：US20140025201A1
公开(公告)日：2014-01-23
申请号：US13731719
申请日：2012-12-31
申请人： Korea University Research and Business Foundation , Center of Human-Centered Interaction for Coexistence
发明人： Soo Hyun Ryu , Nak Ju Doh , Yeon Sik Kang , Bum Jae You
IPC分类号： G05D1/02
CPC分类号： G05D1/02 , G05D1/0214 , G05D1/0217 , G05D1/024 , G05D1/0274 , G05D2201/0217 , Y10S901/01
摘要： The present invention provides a method for planning a path for an autonomous walking humanoid robot that takes an autonomous walking step using environment map information, the method comprising: an initialization step of initializing path input information of the autonomous walking humanoid robot using origin information, destination information, and the environment map information; an input information conversion step of forming a virtual robot including information on the virtual robot obtained by considering the radius and the radius of gyration of the autonomous walking humanoid robot based on the initialized path input information; a path generation step of generating a path of the virtual robot using the virtual robot information, the origin information S, the destination information G, and the environment map information; and an output information conversion step of converting the path of the autonomous walking humanoid robot based on the virtual robot path generated in the path generation step.
摘要翻译：本发明提供了一种用于规划自主行走人形机器人的路径的方法，所述路径采用环境地图信息进行自主步行步骤，所述方法包括：初始化步骤，使用原始信息初始化自主行走人形机器人的路径输入信息，目的地信息和环境地图信息; 输入信息转换步骤，基于初始化的路径输入信息，形成包含通过考虑自主行走类人机器人的半径和回转半径而获得的虚拟机器人的信息的虚拟机器人; 使用虚拟机器人信息，原始信息S，目的地信息G和环境地图信息生成虚拟机器人的路径的路径生成步骤; 以及输出信息转换步骤，其基于在路径生成步骤中生成的虚拟机器人路径来转换自主行走人形机器人的路径。

5. 发明授权

US11516448B2 Method and apparatus for compensating projection images 有权
公开(公告)号：US11516448B2
公开(公告)日：2022-11-29
申请号：US16672664
申请日：2019-11-04
申请人： Korea University Research and Business Foundation
发明人： Nak Ju Doh , Hyung A Choi , Bum Chul Jang , Sang Min Ahn
IPC分类号： H04N9/31 , G03B21/13
摘要： The projection image compensating method according to an embodiment of the present disclosure includes acquiring mesh data, at least one representative image, at least one supplementary image, and position information which is information about an obtaining pose of each image for an indoor space; adding an index of each of the plurality of faces to a matrix corresponding to a size of the at least one representative image in accordance with a result of projecting the plurality of faces which configures the mesh data to the at least one representative image; detecting at least one occluded face among the plurality of faces, using an index added to the matrix; and extracting pixel information which is information of a pixel value corresponding to the at least one occluded face from the at least one supplementary image.

6. 发明授权

US10602115B2 Method and apparatus for generating projection image, method for mapping between image pixel and depth value 有权
公开(公告)号：US10602115B2
公开(公告)日：2020-03-24
申请号：US15515315
申请日：2016-06-29
申请人： Korea University Research and Business Foundation
发明人： Nak Ju Doh
IPC分类号： H04N13/117 , H04N13/122 , H04N13/361 , H04N13/383 , G06T7/579 , G06F3/01 , G06F3/0481 , G06T3/00 , G06T7/00 , G06T17/05 , G06T17/20 , G06T19/00 , G06F3/0346 , H04N13/344 , H04N13/282 , H04N13/271 , G06T7/73 , H04N5/232 , H04N13/00
摘要： Disclosed is a projection image generating method for a 3D space. An exemplary embodiment of the present disclosure provides a projection image generating method, including: estimating a plurality of image obtaining poses and a plurality of depth obtaining poses including obtaining positions and obtaining angles of a plurality of obtained images and a plurality of obtained depth values obtained in an actual 3D space, respectively, with respect to a reference coordinate system; obtaining a user pose including a location and an angle of the user in a virtual 3D space corresponding to the actual 3D space with respect to the reference coordinate system; and generating a projection image obtained by projecting the plurality of obtained depth values into at least one of the plurality of obtained images, based on the corresponding image obtaining pose corresponding to the user pose and at least one corresponding depth obtaining pose.

7. 发明申请

US20170230633A1 METHOD AND APPARATUS FOR GENERATING PROJECTION IMAGE, METHOD FOR MAPPING BETWEEN IMAGE PIXEL AND DEPTH VALUE 审中-公开
公开(公告)号：US20170230633A1
公开(公告)日：2017-08-10
申请号：US15515315
申请日：2016-06-29
申请人： Korea University Research and Business Foundation
发明人： Nak Ju Doh
IPC分类号： H04N13/00 , H04N13/04 , G06T7/73
CPC分类号： H04N13/117 , G06F3/01 , G06F3/0346 , G06F3/0481 , G06T3/00 , G06T7/00 , G06T7/579 , G06T7/74 , G06T17/05 , G06T17/20 , G06T19/00 , G06T2207/10012 , G06T2207/10028 , G06T2207/20076 , G06T2207/30201 , G06T2207/30244 , H04N5/23238 , H04N13/122 , H04N13/271 , H04N13/282 , H04N13/344 , H04N13/361 , H04N13/383 , H04N2013/0081 , H04N2013/0096
摘要： Disclosed is a projection image generating method for a 3D space. An exemplary embodiment of the present disclosure provides a projection image generating method, including: estimating a plurality of image obtaining poses and a plurality of depth obtaining poses including obtaining positions and obtaining angles of a plurality of obtained images and a plurality of obtained depth values obtained in an actual 3D space, respectively, with respect to a reference coordinate system; obtaining a user pose including a location and an angle of the user in a virtual 3D space corresponding to the actual 3D space with respect to the reference coordinate system; and generating a projection image obtained by projecting the plurality of obtained depth values into at least one of the plurality of obtained images, based on the corresponding image obtaining pose corresponding to the user pose and at least one corresponding depth obtaining pose.

8. 发明授权

US09069354B2 Method for planning path for autonomous walking humanoid robot 有权
标题翻译：自动行走人形机器人路径规划方法
公开(公告)号：US09069354B2
公开(公告)日：2015-06-30
申请号：US13731719
申请日：2012-12-31
申请人： KOREA UNIVERSITY RESEARCH AND BUSINESS FOUNDATION , CENTER OF HUMAN-CENTERED INTERACTION FOR COEXISTENCE
发明人： Soo Hyun Ryu , Nak Ju Doh , Yeon Sik Kang , Bum Jae You
IPC分类号： G06F19/00 , G05D1/02
CPC分类号： G05D1/02 , G05D1/0214 , G05D1/0217 , G05D1/024 , G05D1/0274 , G05D2201/0217 , Y10S901/01
摘要： The present invention provides a method for planning a path for an autonomous walking humanoid robot that takes an autonomous walking step using environment map information, the method comprising: an initialization step of initializing path input information of the autonomous walking humanoid robot using origin information, destination information, and the environment map information; an input information conversion step of forming a virtual robot including information on the virtual robot obtained by considering the radius and the radius of gyration of the autonomous walking humanoid robot based on the initialized path input information; a path generation step of generating a path of the virtual robot using the virtual robot information, the origin information S, the destination information G, and the environment map information; and an output information conversion step of converting the path of the autonomous walking humanoid robot based on the virtual robot path generated in the path generation step.
摘要翻译：本发明提供了一种用于规划自主行走人形机器人的路径的方法，所述路径采用环境地图信息进行自主步行步骤，所述方法包括：初始化步骤，使用原始信息初始化自主行走人形机器人的路径输入信息，目的地信息和环境地图信息; 输入信息转换步骤，基于初始化的路径输入信息，形成包含通过考虑自主行走类人机器人的半径和回转半径而获得的虚拟机器人的信息的虚拟机器人; 使用虚拟机器人信息，原始信息S，目的地信息G和环境地图信息生成虚拟机器人的路径的路径生成步骤; 以及输出信息转换步骤，其基于在路径生成步骤中生成的虚拟机器人路径来转换自主行走人形机器人的路径。

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