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1. 发明授权

US09911191B2 State estimation apparatus, state estimation method, and integrated circuit with calculation of likelihood data and estimation of posterior probability distribution data 有权
公开(公告)号：US09911191B2
公开(公告)日：2018-03-06
申请号：US14881652
申请日：2015-10-13
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Norikazu Ikoma , Hiromu Hasegawa
IPC分类号： G06T7/77 , G06T7/73 , G06K9/46 , G06T7/20 , G06K9/32 , G06T7/00 , G06K9/00
CPC分类号： G06T7/77 , G06K9/00771 , G06K9/4609 , G06K9/4652 , G06K2009/3291 , G06T7/20 , G06T7/73 , G06T2207/10016 , G06T2207/20024 , G06T2207/20076
摘要： The purpose of the present invention is to provide a state estimation apparatus that appropriately estimates the internal state of an observation target by determining likelihoods from a plurality of observations. An observation obtaining unit of the state estimation system obtains, at given time intervals, a plurality of observation data obtained from an observable event. The observation selecting unit selects a piece of observation data from the plurality of pieces of observation data obtained by the observation obtaining unit based on a posterior probability distribution data obtained at a preceding time t−1. The likelihood obtaining unit obtains likelihood data based on the observation data selected by the observation selecting unit and predicted probability distribution data obtained through prediction processing using the posterior probability distribution data. The posterior probability distribution estimation unit estimates posterior probability distribution data representing a state of the observable event based on the predicted probability distribution data obtained by the likelihood obtaining unit and the likelihood data. The prior probability distribution output unit outputs prior probability distribution data based on the posterior probability distribution data estimated by the posterior probability distribution estimation unit as prior probability distribution data at a next time t+1.

2. 发明授权

US10902610B2 Moving object controller, landmark, and moving object control method 有权
公开(公告)号：US10902610B2
公开(公告)日：2021-01-26
申请号：US16224858
申请日：2018-12-19
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Kenta Nagamine , Norikazu Ikoma , Fumiya Shingu , Hiromu Hasegawa
IPC分类号： G06T7/20 , G06K9/00 , G06K9/62 , G06T7/60 , G05D1/02 , G06T7/73 , G06T7/50 , G05D1/00
摘要： The position of a moving object is estimated with high accuracy using landmark information, and highly accurate state estimation is performed appropriately at high speed. A landmark detection unit obtains a distance between the moving object and each of two or more landmarks as landmark distance information based on observation data obtained by an observation obtaining unit. A candidate area obtaining unit determines a candidate area for a position of the moving object based on the landmark distance information obtained by the landmark detection unit, and obtains candidate area information indicating the determined candidate area. A state estimation unit estimates an internal state of the moving object based on the observation data, the landmark distance information, and the candidate area information to obtain moving object internal state estimation data, and estimates the environmental map based on the candidate area information and the landmark distance information to obtain environmental map data.

3. 发明授权

US10248131B2 Moving object controller, landmark, and moving object control method 有权
公开(公告)号：US10248131B2
公开(公告)日：2019-04-02
申请号：US15076778
申请日：2016-03-22
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Kenta Nagamine , Norikazu Ikoma , Fumiya Shingu , Hiromu Hasegawa
IPC分类号： G05D1/00 , G05D1/02 , G06K9/00 , G06K9/62 , G06T7/60 , G06T7/20 , G06T7/73 , G06T7/50
摘要： The position of a moving object is estimated with high accuracy based on landmark information, and highly accurate state estimation is performed appropriately at high speed. A landmark detection unit obtains a distance between the moving object and each of two or more landmarks as landmark distance information based on observation data obtained by an observation obtaining unit. A candidate area obtaining unit determines a candidate area for a position of the moving object based on the landmark distance information obtained by the landmark detection unit, and obtains candidate area information indicating the determined candidate area. A state estimation unit estimates an internal state of the moving object based on the observation data, the landmark distance information, and the candidate area information to obtain moving object internal state estimation data, and estimates the environmental map based on the candidate area information and the landmark distance information to obtain environmental map data.

4. 发明授权

US10375360B2 State estimation apparatus, state estimation method, integrated circuit, and non-transitory computer-readable storage medium 有权
公开(公告)号：US10375360B2
公开(公告)日：2019-08-06
申请号：US14950302
申请日：2015-11-24
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Hiromu Hasegawa , Norikazu Ikoma
IPC分类号： H04N7/18 , G06T7/277 , G06T7/292
摘要： A state estimation apparatus obtains observation data sets for a tracking target object, and estimates an internal state of the object using likelihoods obtained from the observation data sets and the reliability of each observation data set. A first observation obtaining unit obtains first observation data. A second observation obtaining unit obtains second observation data. A first likelihood obtaining unit obtains a first likelihood based on the first observation data. A second likelihood obtaining unit obtains a second likelihood based on the second observation data. A likelihood combining unit obtains a combined likelihood based on the first and second likelihoods, first reliability data indicating the reliability of the first observation data, and second reliability data indicating the reliability of the second observation data. A posterior probability distribution obtaining unit obtains posterior probability distribution data indicating a probability distribution of the internal state of the observation target at current time t from the combined likelihood and predictive probability distribution data.

5. 发明授权

US09805285B2 State estimation apparatus, state estimation method, and integrated circuit 有权
公开(公告)号：US09805285B2
公开(公告)日：2017-10-31
申请号：US15355532
申请日：2016-11-18
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Norikazu Ikoma , Hiromu Hasegawa
IPC分类号： G06K9/00 , G06K9/46 , G06T7/277
CPC分类号： G06K9/4671 , G06T7/277 , G06T2207/10004 , G06T2207/10016 , G06T2207/20076
摘要： Provided is a state estimation apparatus that enables more accurate and robust detection and tracking of an object by obtaining a plurality of sets of observation data for a tracking target object and estimating the internal state of the object using a plurality of likelihoods calculated from the obtained sets of observation data. The state estimation apparatus obtains first observation data and second observation data, each of which is composed of a plurality of pieces of observation data, and obtains possibility measurement data and necessity measurement data from the obtained plurality of pieces of observation data. In the state estimation apparatus, a likelihood obtaining unit obtains a first likelihood wp and a second likelihood wn from the possibility measurement data and the necessity measurement data. Using the obtained first likelihood wp and second likelihood wn enables the internal state of the object to be estimated.

6. 发明授权

US11574221B2 State determination apparatus, state determination method, and integrated circuit 有权
公开(公告)号：US11574221B2
公开(公告)日：2023-02-07
申请号：US15498006
申请日：2017-04-26
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Norikazu Ikoma , Hiromu Hasegawa
IPC分类号： G06N7/00 , G06N20/00
摘要： Provided is a state determination apparatus that appropriately performs pattern classification processing and/or pattern determination processing even when a map generated by the SOM technique includes discontinuous image regions. In the state determination apparatus, the matching processing unit obtains adaptability data indicating a correlation degree between template data indicating a state and the SOM output data. The state determination unit obtains a state evaluation value based on an activity value obtained by the activity value obtaining unit and the adaptability value. The time series estimation unit determines a state of an input data based on the state evaluation value and state transition probability between states. This allows for appropriately performing pattern classification processing and/or pattern determination processing even when a map generated by the SOM technique includes discontinuous image regions.

7. 发明授权

US09958868B2 Moving object controller, moving object control method, and integrated circuit 有权
公开(公告)号：US09958868B2
公开(公告)日：2018-05-01
申请号：US15076813
申请日：2016-03-22
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Fumiya Shingu , Norikazu Ikoma , Kenta Nagamine , Hiromu Hasegawa
IPC分类号： G05D1/02 , G05D1/00 , G06K9/00 , G06T7/579 , G06T7/246 , G06T7/277
CPC分类号： G06K9/00664 , G06K9/00791 , G06T7/246 , G06T7/277 , G06T7/579
摘要： A moving object controller efficiently generates an environmental map and performs highly accurate state estimation in a short time to appropriately control a moving object. An observation obtaining unit obtains observation data from an observable event. A landmark prediction unit generates a landmark prediction signal including predictive information about a landmark at a current time. A landmark detection unit detects information about the landmark at the current time, and generates a landmark detection signal indicating the detection result. A state estimation unit estimates an internal state of the moving object to obtain data indicating an estimated internal state of the moving object at the current time, and estimates the environmental map based on the landmark detection signal to obtain data indicating an estimated environmental map at the current time.

8. 发明授权

US09749637B2 Transcoder for conversion by obtaining a period conversion factor from a bit rate ratio 有权
公开(公告)号：US09749637B2
公开(公告)日：2017-08-29
申请号：US14706126
申请日：2015-05-07
申请人： MegaChips Corporation
发明人： Hiromu Hasegawa , Nobuyuki Takasu , Makoto Saito
IPC分类号： H04N7/12 , H04N19/146 , H04N19/177 , H04N19/40 , H04N19/124
CPC分类号： H04N19/146 , H04N19/114 , H04N19/115 , H04N19/124 , H04N19/126 , H04N19/15 , H04N19/157 , H04N19/162 , H04N19/169 , H04N19/177 , H04N19/40 , H04N19/61
摘要： If the number of frames in a GOP of an input stream is not less than 15, the GOP is determined as a control unit time. If the number of frames in the GOP is less than 15, the following GOP is connected thereto until the number of frames becomes not less than 15 and the connected GOPs are determined as a control unit time. After correcting the control unit time, the average input bit rate Sn in each control unit time is obtained, and by using information on the input stream including the average input bit rate Sn, a quantization step value of an output stream is calculated.

9. 发明授权

US09294743B2 Pixel interpolation apparatus, image capture apparatus, storage medium, and integrated circuit 有权
标题翻译：像素插值装置，图像捕获装置，存储介质和集成电路
公开(公告)号：US09294743B2
公开(公告)日：2016-03-22
申请号：US14556535
申请日：2014-12-01
申请人： MegaChips Corporation
发明人： Junji Moriguchi , Hiromu Hasegawa
IPC分类号： H04N9/04 , H04N9/67 , H04N9/68 , G06T3/40
CPC分类号： H04N9/045 , H04N9/67 , H04N9/68
摘要： An image capture apparatus 1000 includes an image capture unit C1, a signal processor unit C2, and a pixel interpolation unit 100. In the image capture apparatus 1000, with respect to an image signal captured by the image capture unit C1 which includes a single image sensor having three-color filters in arbitrary colors, a plurality of pairs of correlation degrees of two directions which are perpendicular to each other are obtained using image data of pixels provided around an observed pixel, and a pixel interpolation process is carried out using the correlation degrees as a reference for determination. Then, in the image capture apparatus 1000, even if a color component pixel in the same color as a color component pixel on which the pixel interpolation process is to be carried out is not provided in a direction where there is strong correlation, a rate of change in a direction perpendicular to the direction where there is strong correlation is obtained using a pixel value which is obtained though color space conversion in the direction perpendicular to the direction where there is strong correlation. Thus, a pixel interpolation process is carried out based on the obtained rate of change.
摘要翻译：图像捕获装置1000包括图像捕获单元C1，信号处理器单元C2和像素内插单元100.在图像捕获装置1000中，对于由包括单个图像的图像捕获单元C1捕获的图像信号使用设置在观察像素周围的像素的图像数据，获得具有任意颜色的三色滤光片的传感器，使用彼此垂直的两对方向的多个相关度对，并使用相关性进行像素内插处理度作为测定的参考。然后，在图像捕获装置1000中，即使在与要进行像素插值处理的颜色分量像素相同颜色的颜色分量像素不具有强相关性的方向上，使用通过在与强相关方向垂直的方向上的颜色空间转换而获得的像素值来获得与强相关方向垂直的方向的变化。因此，基于获得的变化率来进行像素内插处理。

10. 发明申请

US20150278601A1 STATE ESTIMATION APPARATUS, STATE ESTIMATION METHOD, AND INTEGRATED CIRCUIT 有权
标题翻译：状态估计装置，状态估计方法和集成电路
公开(公告)号：US20150278601A1
公开(公告)日：2015-10-01
申请号：US14614800
申请日：2015-02-05
申请人： MegaChips Corporation
发明人： Kenta Nagamine , Hiromu Hasegawa
IPC分类号： G06K9/00 , G06K9/46
CPC分类号： G06T7/277 , G06T2207/10016 , G06T2207/20076
摘要： A state estimation apparatus appropriately estimates the internal state of an observation target by calculating a likelihood from observation data, and tracks, for example, multiple objects in a moving image and detects a new object and adds the object as a tracking target in an appropriate manner. A labeling unit detects a closed area from an observation image, and adds a label number to the closed area to generate a label image. A likelihood obtaining unit generates an object-erased image for new object detection by erasing image areas corresponding to all the currently-tracked objects. The apparatus performs the process for detecting a new object using the object-erased image for new object detection based on label numbers. The apparatus is appropriately prevented from erroneously determining that an area of the object-erased image for new object detection corresponding to the currently-tracked object and remaining after the erasure corresponds to a new object.
摘要翻译：状态估计装置通过从观测数据计算似然率来适当地估计观察对象的内部状态，并且跟踪例如运动图像中的多个对象并检测新对象，并以适当的方式添加对象作为跟踪目标。标签单元从观察图像检测封闭区域，并将标签号添加到封闭区域以生成标签图像。可能性获取单元通过擦除与所有当前跟踪对象相对应的图像区域来生成用于新对象检测的对象擦除图像。该装置使用基于标签号的用于新的对象检测的对象擦除图像来执行用于检测新对象的处理。适当地防止该装置错误地确定与当前跟踪的对象相对应并且在擦除之后剩余的用于新对象检测的对象擦除图像的区域对应于新对象。

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