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1. 发明授权

US08271204B2 Human recognition apparatus and human recognition method 有权
标题翻译：人类识别装置和人体识别方法
公开(公告)号：US08271204B2
公开(公告)日：2012-09-18
申请号：US12362992
申请日：2009-01-30
申请人： Seung Min Choi , Ji Ho Chang , Jae Il Cho , Dae Hwan Hwang , Jae Yeon Lee , Do Hyung Kim , Eul Gyoon Lim , Ho Chul Shin
发明人： Seung Min Choi , Ji Ho Chang , Jae Il Cho , Dae Hwan Hwang , Jae Yeon Lee , Do Hyung Kim , Eul Gyoon Lim , Ho Chul Shin
IPC分类号： G06F19/00
CPC分类号： G01H17/00 , G06K9/00348 , G06K9/0053
摘要： Provided are a human recognition apparatus and a human recognition method identifying a user based on a walking pattern. The human recognition apparatus includes a detecting unit detecting a vibration according to a user's walking, and outputting an electric signal, a pattern calculating unit acquiring a walker's walking pattern from the electric signal, and a user determining unit comparing the walking pattern with a previously measured reference data by user and identifying the user based on the comparison result. The human recognition apparatus and the human recognition method are robust against peripheral noise and can increase an acceptance rate through a simple structure and procedure by using the waling pattern, which is one-dimensional time information requiring no vast data throughput, as the user identification data.
摘要翻译：提供了基于步行模式识别用户的人类识别装置和人类识别方法。人体识别装置包括检测单元，用于根据用户的步行检测振动，并从电信号中输出电信号，图案计算单元获取步行模式;以及用户确定单元，将步行模式与先前测量用户参考数据，并根据比较结果识别用户。人类识别装置和人类识别方法对于外围噪声是鲁棒的，并且可以通过使用作为用户识别数据的不需要大量数据吞吐量的一维时间信息的波动模式，通过简单的结构和过程来提高接受率。

2. 发明申请

US20100070187A1 HUMAN RECOGNITION APPARATUS AND HUMAN RECOGNITION METHOD 有权
标题翻译：人类识别装置和人类识别方法
公开(公告)号：US20100070187A1
公开(公告)日：2010-03-18
申请号：US12362992
申请日：2009-01-30
申请人： Seung Min CHOI , Ji Ho Chang , Jae II Cho , Dae Hwan Hwang , Jae Yeon Lee , Do Hyung Kim , Eul Gyoon Lim , Ho Chul Shin
发明人： Seung Min CHOI , Ji Ho Chang , Jae II Cho , Dae Hwan Hwang , Jae Yeon Lee , Do Hyung Kim , Eul Gyoon Lim , Ho Chul Shin
IPC分类号： G06F19/00
CPC分类号： G01H17/00 , G06K9/00348 , G06K9/0053
摘要： Provided are a human recognition apparatus and a human recognition method identifying a user based on a walking pattern. The human recognition apparatus includes a detecting unit detecting a vibration according to a user's walking, and outputting an electric signal, a pattern calculating unit acquiring a walker's walking pattern from the electric signal, and a user determining unit comparing the walking pattern with a previously measured reference data by user and identifying the user based on the comparison result. The human recognition apparatus and the human recognition method are robust against peripheral noise and can increase an acceptance rate through a simple structure and procedure by using the waling pattern, which is one-dimensional time information requiring no vast data throughput, as the user identification data.
摘要翻译：提供了基于步行模式识别用户的人类识别装置和人类识别方法。人体识别装置包括检测单元，用于根据用户的步行检测振动，并从电信号中输出电信号，图案计算单元获取步行模式;以及用户确定单元，将步行模式与先前测量用户参考数据，并根据比较结果识别用户。人类识别装置和人类识别方法对于外围噪声是鲁棒的，并且可以通过使用作为用户识别数据的不需要大量数据吞吐量的一维时间信息的波动模式，通过简单的结构和过程来提高接受率。

3. 发明申请

US20100158387A1 SYSTEM AND METHOD FOR REAL-TIME FACE DETECTION USING STEREO VISION 审中-公开
标题翻译：使用立体视觉实时表面检测的系统和方法
公开(公告)号：US20100158387A1
公开(公告)日：2010-06-24
申请号：US12546169
申请日：2009-08-24
申请人： Seung Min CHOI , Jae Il Cho , Ji Ho Chang , Dae Hwan Hwang , Do Hyung Kim
发明人： Seung Min CHOI , Jae Il Cho , Ji Ho Chang , Dae Hwan Hwang , Do Hyung Kim
IPC分类号： G06K9/46
CPC分类号： G06K9/4642 , G06K9/00228
摘要： A system and a method for detecting a face are provided. The system includes a vision processing unit and a face detection unit. The vision processing unit calculates distance information using a plurality of images including a face pattern, and discriminates between a foreground image including the face pattern and a background image not including the face pattern, using the distance information. The face detection unit scales the foreground image according to the distance information, and detects the face pattern from the scaled foreground image.
摘要翻译：提供了一种用于检测脸部的系统和方法。该系统包括视觉处理单元和面部检测单元。视觉处理单元使用包括脸部图案的多个图像来计算距离信息，并且使用距离信息来区分包括脸部图案的前景图像和不包括面部图案的背景图像。面部检测单元根据距离信息对前景图像进行缩放，并从缩放的前景图像中检测出面部图案。

4. 发明授权

US08208716B2 Stereo vision system and stereo vision processing method 有权
标题翻译：立体视觉系统和立体视觉处理方法
公开(公告)号：US08208716B2
公开(公告)日：2012-06-26
申请号：US12203583
申请日：2008-09-03
申请人： Seung Min Choi , Eul Gyoon Lim , Jae Il Cho , Dae Hwan Hwang
发明人： Seung Min Choi , Eul Gyoon Lim , Jae Il Cho , Dae Hwan Hwang
IPC分类号： G06K9/00
CPC分类号： G06T7/593
摘要： A stereo vision system includes an image pre-processing unit for pre-processing the right and left images, and a stereo matching unit for carrying out stereo matching of the right and left images to acquire low-resolution distance information of the right and left images and high-resolution distance information of the right and left images upon detection of an object within a distance range through the low-resolution distance information.
摘要翻译：立体视觉系统包括用于预处理右图像和左图像的图像预处理单元和用于执行左和右图像的立体匹配的立体匹配单元，以获取右图像和左图像的低分辨率距离信息以及通过低分辨率距离信息检测距离范围内的对象的左右图像的高分辨率距离信息。

5. 发明申请

US20090060280A1 STEREO VISION SYSTEM AND STEREO VISION PROCESSING METHOD 有权
标题翻译：立体视觉系统和立体视觉处理方法
公开(公告)号：US20090060280A1
公开(公告)日：2009-03-05
申请号：US12203583
申请日：2008-09-03
申请人： Seung Min Choi , Eul Gyoon Lim , Jae Il Cho , Dae Hwan Hwang
发明人： Seung Min Choi , Eul Gyoon Lim , Jae Il Cho , Dae Hwan Hwang
IPC分类号： G06K9/00
CPC分类号： G06T7/593
摘要： A stereo vision system includes an image pre-processing unit for pre-processing the right and left images, and a stereo matching unit for carrying out stereo matching of the right and left images to acquire low-resolution distance information of the right and left images and high-resolution distance information of the right and left images upon detection of an object within a distance range through the low-resolution distance information.
摘要翻译：立体视觉系统包括用于预处理右图像和左图像的图像预处理单元和用于执行左和右图像的立体匹配的立体匹配单元，以获取右图像和左图像的低分辨率距离信息以及通过低分辨率距离信息检测距离范围内的对象的左右图像的高分辨率距离信息。

6. 发明授权

US08401280B2 Device for improving stereo matching results, method of improving stereo matching results using the device, and system for receiving stereo matching results 失效
标题翻译：用于改善立体匹配结果的装置，使用该装置提高立体匹配结果的方法以及用于接收立体匹配结果的系统
公开(公告)号：US08401280B2
公开(公告)日：2013-03-19
申请号：US12971793
申请日：2010-12-17
申请人： Eul Gyoon Lim , Ji Ho Chang , Ho Chul Shin , Dae Hwan Hwang
发明人： Eul Gyoon Lim , Ji Ho Chang , Ho Chul Shin , Dae Hwan Hwang
IPC分类号： G06K9/00 , G06K9/40
CPC分类号： G06K9/00
摘要： Provided is a device for improving stereo matching results. The device for improving stereo matching results includes: a stereo camera unit outputting binocular disparity images by using binocular disparity between two images preprocessed according to a plurality of preprocessing conditions; a discrete cosine transform (DCT) unit generating DCT coefficients by performing DCT on the binocular disparity images; a streak estimation unit receiving the DCT coefficients and estimating amounts of streaks distributed on a screen by using AC coefficients, including streak patterns, of the DCT coefficients; a condition estimation unit estimating a preprocessing condition, corresponding to the smallest amount of streaks of the estimated amounts of streaks, of the plurality of preprocessing conditions, as an optimal condition, and a streak removal unit generating binocular disparity images without the streaks by changing predetermined AC coefficients of the DCT coefficients and performing inverse DCT on the changed DCT coefficients.
摘要翻译：提供了一种用于改善立体匹配结果的设备。用于改善立体匹配结果的装置包括：立体相机单元，通过使用根据多个预处理条件预处理的两个图像之间的双目视差来输出双目视差图像; 离散余弦变换（DCT）单元，通过对双目视差图像执行DCT生成DCT系数; 条纹估计单元，通过使用DCT系数的包括条纹图案的AC系数来接收DCT系数并估计分布在屏幕上的条纹的数量; 条件估计单元，估计对应于多个预处理条件中的条纹的条纹的最小量的预处理条件作为最佳条件，以及条纹去除单元，通过改变预定的条件来生成没有条纹的双目视差图像对DCT系数的AC系数进行DCT系数的DCT变换。

7. 发明申请

US20110188740A1 DEVICE FOR IMPROVING STEREO MATCHING RESULTS, METHOD OF IMPROVING STEREO MATCHING RESULTS USING THE DEVICE, AND SYSTEM FOR RECEIVING STEREO MATCHING RESULTS 失效
标题翻译：用于改善立体匹配结果的装置，使用装置改进立体匹配结果的方法以及用于接收立体匹配结果的系统
公开(公告)号：US20110188740A1
公开(公告)日：2011-08-04
申请号：US12971793
申请日：2010-12-17
申请人： Eul Gyoon LIM , Ji Ho Chang , Ho Chul Shin , Dae Hwan Hwang
发明人： Eul Gyoon LIM , Ji Ho Chang , Ho Chul Shin , Dae Hwan Hwang
IPC分类号： G06K9/00
CPC分类号： G06K9/00
摘要： Provided is a device for improving stereo matching results. The device for improving stereo matching results includes: a stereo camera unit outputting binocular disparity images by using binocular disparity between two images preprocessed according to a plurality of preprocessing conditions; a discrete cosine transform (DCT) unit generating DCT coefficients by performing DCT on the binocular disparity images; a streak estimation unit receiving the DCT coefficients and estimating amounts of streaks distributed on a screen by using AC coefficients, including streak patterns, of the DCT coefficients; a condition estimation unit estimating a preprocessing condition, corresponding to the smallest amount of streaks of the estimated amounts of streaks, of the plurality of preprocessing conditions, as an optimal condition, and a streak removal unit generating binocular disparity images without the streaks by changing predetermined AC coefficients of the DCT coefficients and performing inverse DCT on the changed DCT coefficients.
摘要翻译：提供了一种用于改善立体匹配结果的设备。用于改善立体匹配结果的装置包括：立体相机单元，通过使用根据多个预处理条件预处理的两个图像之间的双目视差来输出双目视差图像; 离散余弦变换（DCT）单元，通过对双目视差图像执行DCT生成DCT系数; 条纹估计单元，通过使用DCT系数的包括条纹图案的AC系数来接收DCT系数并估计分布在屏幕上的条纹的数量; 条件估计单元，估计对应于多个预处理条件中的条纹的条纹的最小量的预处理条件作为最佳条件，以及条纹去除单元，通过改变预定的条件来生成没有条纹的双目视差图像对DCT系数的AC系数进行DCT系数的DCT变换。

8. 发明申请

US20100004784A1 Apparatus and method for effectively transmitting image through stereo vision processing in intelligent service robot system 审中-公开
标题翻译：在智能服务机器人系统中通过立体视觉处理有效传输图像的装置和方法
公开(公告)号：US20100004784A1
公开(公告)日：2010-01-07
申请号：US11903086
申请日：2007-09-20
申请人： Ji Ho Chang , Seung Min Choi , Jae Il Cho , Dae Hwan Hwang
发明人： Ji Ho Chang , Seung Min Choi , Jae Il Cho , Dae Hwan Hwang
IPC分类号： G05B15/00
CPC分类号： G06T7/593 , G06T2207/10012 , H04N13/10 , H04N13/194 , H04N13/239
摘要： A data transmission apparatus of an intelligent robot system and a method thereof are provided. The data transmission apparatus includes a vision processor collector, a communicating unit, and a controller. The vision processor collects images captured through a camera, and performs an image process on the collected image to minimize a quantity of information about unnecessary regions in the collected image. The communicating unit communicates with the robot server, transmits the processed image data from the vision processor to the robot server, and receives corresponding result data from the robot server. The controller controls the image process and the transmission of the processed image data in the vision processor, and a corresponding operation of the robot terminal performed according to result data received from the robot server.
摘要翻译：提供一种智能机器人系统的数据传输装置及其方法。数据传输装置包括视觉处理器收集器，通信单元和控制器。视觉处理器收集通过相机拍摄的图像，并且对所收集的图像执行图像处理以最小化关于所收集图像中的不必要区域的信息量。通信单元与机器人服务器通信，将处理后的图像数据从视觉处理器发送到机器人服务器，并从机器人服务器接收相应的结果数据。控制器控制视觉处理器中的处理图像数据的图像处理和传输，以及根据从机器人服务器接收的结果数据执行的机器人终端的相应操作。

9. 发明授权

US08243124B2 Face detection apparatus and distance measurement method using the same 有权
标题翻译：脸部检测装置及使用其的距离测量方法
公开(公告)号：US08243124B2
公开(公告)日：2012-08-14
申请号：US12546156
申请日：2009-08-24
申请人： Seung Min Choi , Ji Ho Chang , Jae Il Cho , Dae Hwan Hwang
发明人： Seung Min Choi , Ji Ho Chang , Jae Il Cho , Dae Hwan Hwang
IPC分类号： H04N13/02
CPC分类号： G06K9/00255 , G06T7/593 , G06T7/74 , G06T2207/10012 , G06T2207/30201
摘要： Provided are a face detection apparatus and a distance measurement method using the same. The face detection apparatus detects a face using left and right images which are acquired from a stereo camera. The face detection apparatus measures distance from the stereo camera to the face using an image frame which is provided from the stereo camera without a stereo matching process. Accordingly, the face detection apparatus simultaneously performs face detection and distance measurement even in a low-performance system.
摘要翻译：提供了一种脸部检测装置和使用其的距离测量方法。面部检测装置使用从立体摄像机获取的左右图像来检测脸部。面部检测装置使用从立体摄像机提供的没有立体匹配处理的图像帧来测量从立体摄像机到脸部的距离。因此，脸部检测装置即使在低性能系统中也同时执行面部检测和距离测量。

10. 发明申请

US20080215184A1 Method for searching target object and following motion thereof through stereo vision processing and home intelligent service robot using the same 审中-公开
标题翻译：通过立体视觉处理和家用智能服务机器人搜索目标对象及其运动的方法
公开(公告)号：US20080215184A1
公开(公告)日：2008-09-04
申请号：US11981940
申请日：2007-10-31
申请人： Seung Min Choi , Ji Ho Chang , Jae Il Cho , Dae Hwan Hwang
发明人： Seung Min Choi , Ji Ho Chang , Jae Il Cho , Dae Hwan Hwang
IPC分类号： G05B19/02
CPC分类号： G06K9/3241
摘要： A home intelligent service robot for recognizing a user and following the motion of a user and a method thereof are provided. The home intelligent service robot includes a driver, a vision processor, and a robot controller. The driver moves an intelligent service robot according to an input moving instruction. The vision processor captures images through at least two or more cameras in response to a capturing instruction for following a target object, minimizes the information amount of the captured image, and discriminates objects in the image into the target object and obstacles. The robot controller provides the capturing instruction for following the target object in a direction of collecting instruction information to the vision processor when the instruction information is collected from outside, and controls the intelligent service robot to follow and move the target object while avoiding obstacles based on the discriminating information from the vision processor.
摘要翻译：提供了一种用于识别用户并跟随用户运动的家庭智能服务机器人及其方法。家庭智能服务机器人包括驾驶员，视觉处理器和机器人控制器。驾驶员根据输入移动指令移动智能服务机器人。视觉处理器响应于用于跟踪目标对象的捕获指令，通过至少两个或更多个摄像机捕获图像，使得捕获图像的信息量最小化，并将图像中的对象区分为目标对象和障碍物。当从外部收集指示信息时，机器人控制器向远程处理器收集指令信息的方向提供跟踪目标对象的捕获指令，并且控制智能服务机器人跟踪并移动目标对象，同时避免基于来自视觉处理器的识别信息。

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