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1. 发明申请

US20090190798A1 SYSTEM AND METHOD FOR REAL-TIME OBJECT RECOGNITION AND POSE ESTIMATION USING IN-SITU MONITORING 有权
标题翻译：用于现场监测的实时对象识别和位置估计的系统和方法
公开(公告)号：US20090190798A1
公开(公告)日：2009-07-30
申请号：US12032427
申请日：2008-02-15
申请人： Sukhan LEE , Seung-Min BAEK , Jeihun LEE , Jangwon LEE
发明人： Sukhan LEE , Seung-Min BAEK , Jeihun LEE , Jangwon LEE
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G06K9/6292 , G06T7/35 , G06T7/73 , G06T7/77 , G06T2207/10028
摘要： Provided are a system and method for real-time object recognition and pose estimation using in-situ monitoring. The method includes the steps of: a) receiving 2D and 3D image information, extracting evidences from the received 2D and 3D image information, recognizing an object by comparing the evidences with model, and expressing locations and poses by probabilistic particles; b) probabilistically fusing various locations and poses and finally determining a location and a pose by filtering inaccurate information; c) generating ROI by receiving 2D and 3D image information and the location and pose from the step b) and collecting and calculating environmental information; d) selecting an evidence or a set of evidences probabilistically by receiving the information from the step c) and proposing a cognitive action of a robot for collecting additional evidence; and e) repeating the steps a) and b) and the steps c) and d) in parallel until a result of object recognition and pose estimation is probabilistically satisfied.
摘要翻译：提供了使用现场监测的实时对象识别和姿态估计的系统和方法。该方法包括以下步骤：a）接收2D和3D图像信息，从接收到的2D和3D图像信息中提取证据，通过将证据与模型进行比较来识别对象，并通过概率粒子表示位置和姿态; b）概率地融合各种位置和姿势，并最终通过过滤不准确的信息来确定位置和姿势; c）通过从步骤b）接收2D和3D图像信息以及位置和姿势来生成ROI并收集和计算环境信息; d）通过接收步骤c）中的信息并提出机器人的收集附加证据的认知行动来概率地选择证据或一组证据; 和e）并行地重复步骤a）和b）和步骤c）和d），直到概率地满足对象识别和姿态估计的结果。

2. 发明申请

US20120327430A1 MEASURING METHOD OF 3D IMAGE DEPTH AND A SYSTEM FOR MEASURING 3D IMAGE DEPTH USING BOUNDARY INHERITANCE BASED HIERARCHICAL ORTHOGONAL CODING 有权
标题翻译： 3D图像深度的测量方法和使用基于边界入侵的分层正交编码测量3D图像深度的系统
公开(公告)号：US20120327430A1
公开(公告)日：2012-12-27
申请号：US13530221
申请日：2012-06-22
申请人： Sukhan LEE , Quang Lam Bui
发明人： Sukhan LEE , Quang Lam Bui
IPC分类号： G01B11/22
CPC分类号： G01B11/2513 , G06T7/521 , G06T2207/10152
摘要： A method of decoding hierarchically orthogonal structured light and a 3-D depth measurement system using the same include a step of detecting boundary lines encoded at an identical position between layers and a boundary line inheritance step of converting the detected boundary lines into identical boundary lines. The present invention relates to a method of precisely searching for the boundary line of a pattern of radiated structured light based on the real coordinate system of an image plane, and an object thereof is to search for a boundary line irrespective of the reflection of a surface of an object, clearly classify a true boundary line and a false boundary line in a poor radiance environment, and increase the accuracy of a boundary line placed in another layer through inheritance.
摘要翻译：解码分层正交结构光的方法和使用其的3-D深度测量系统包括检测在层之间相同位置编码的边界线的步骤和将检测到的边界线转换成相同边界线的边界线继承步骤。本发明涉及一种基于图像平面的实际坐标系精确搜索辐射结构光图案的边界线的方法，其目的是搜索边界线，而不考虑表面的反射在不良辐射环境中明确分类真正的边界线和虚假边界线，并通过继承增加放置在另一层中的边界线的精度。

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