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1. 发明授权

US07693514B2 Information gathering robot 有权
标题翻译：信息采集机器人
公开(公告)号：US07693514B2
公开(公告)日：2010-04-06
申请号：US10915535
申请日：2004-08-11
申请人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
发明人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
IPC分类号： H04Q7/20
CPC分类号： H04W4/02 , G05D1/0246 , G05D1/0274 , G05D2201/0207 , H04L67/12
摘要： In an event site or the like, a visitor may waste time and effort trying to find a spot where an event of interest may be taking place because the visitor is unable to look through the entire site from any particular spot. An information gathering robot roams in such an event site typically along a prescribed route, and notes spots of interest to transmit this information to a data server. The visitor can access the data server to find a spot of interest of his or her choice substantially on a real time basis.
摘要翻译：在事件现场等中，访客可能会浪费时间和精力去尝试寻找可能发生的兴趣事件的地点，因为访问者无法从任何特定的地点查看整个站点。信息收集机器人通常沿着规定的路线在这样的事件站点中漫游，并且记录将该信息发送到数据服务器的感兴趣点。访问者可以访问数据服务器，实质上基于实时地查找他或她选择的兴趣点。

2. 发明申请

US20050054332A1 Information gathering robot 有权
标题翻译：信息采集机器人
公开(公告)号：US20050054332A1
公开(公告)日：2005-03-10
申请号：US10915535
申请日：2004-08-11
申请人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
发明人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
IPC分类号： G06F19/00 , G05D1/02 , G06F1/00 , H04L29/08 , H04W4/02 , H04Q7/20
CPC分类号： H04W4/02 , G05D1/0246 , G05D1/0274 , G05D2201/0207 , H04L67/12
摘要： In an event site or the like, a visitor may waste time and effort trying to find a spot where an event of interest may be taking place because the visitor is unable to look through the entire site from any particular spot. An information gathering robot roams in such an event site typically along a prescribed route, and notes spots of interest to transmit this information to a data server. The visitor can access the data server to find a spot of interest of his or her choice substantially on a real time basis.
摘要翻译：在事件现场等中，访客可能会浪费时间和精力去尝试寻找可能发生的兴趣事件的地点，因为访问者无法从任何特定的地点查看整个站点。信息收集机器人通常沿着规定的路线在这样的事件站点中漫游，并且记录将该信息发送到数据服务器的感兴趣点。访问者可以访问数据服务器，实质上基于实时地查找他或她选择的兴趣点。

3. 发明授权

US07756322B2 Picture taking mobile robot 有权
标题翻译：图片拍摄移动机器人
公开(公告)号：US07756322B2
公开(公告)日：2010-07-13
申请号：US10914338
申请日：2004-08-10
申请人： Youko Saitou , Koji Kawabe , Yoshiaki Sakagami , Tomonobu Gotou , Takamichi Shimada
发明人： Youko Saitou , Koji Kawabe , Yoshiaki Sakagami , Tomonobu Gotou , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： H04N1/00127 , H04N1/00137 , H04N1/00164 , H04N1/00244 , H04N1/00307 , H04N2201/0084
摘要： A mobile robot that is fitted with a camera and can be controlled from a remote terminal such as a mobile phone moves about in an event site to detect and track a moving object such as a visitor and entertainer. Because the camera along with the robot itself can change its position freely autonomously and/or according to a command from the mobile terminal, a desired frame layout can be accomplished by moving the position of the robot. Therefore, the operator is not required to execute a complex image trimming process or other adjustment of the obtained picture image so that a desired picture can be obtained quickly and without any difficulty. If the user is allowed access the managing server, the user can download the desired picture images and have them printed out at will. Also, because the selected picture images can be transmitted to the managing server, the robot is prevented from running out of memory for storing the picture images.
摘要翻译：装有摄像机的移动机器人可以由移动电话等远程终端进行控制，在事件现场进行移动，以检测和跟踪诸如访客和艺人之类的移动物体。因为照相机和机器人本身可以自由地和/或根据来自移动终端的命令改变其位置，所以可以通过移动机器人的位置来实现期望的帧布局。因此，不需要操作者对所获得的图像图像执行复杂的图像修整处理或其他调整，使得可以快速且毫无困难地获得期望的图像。如果用户被允许访问管理服务器，则用户可以下载所需的图片图像并随意打印出来。此外，由于所选择的图像图像可以被发送到管理服务器，所以防止了机器人用尽存储图像图像的存储器。

4. 发明申请

US20050041839A1 Picture taking mobile robot 有权
标题翻译：图片拍摄移动机器人
公开(公告)号：US20050041839A1
公开(公告)日：2005-02-24
申请号：US10914338
申请日：2004-08-10
申请人： Youko Saitou , Koji Kawabe , Yoshiaki Sakagami , Tomonobu Gotou , Takamichi Shimada
发明人： Youko Saitou , Koji Kawabe , Yoshiaki Sakagami , Tomonobu Gotou , Takamichi Shimada
IPC分类号： G06F19/00 , G06K9/00 , H04N1/00
CPC分类号： H04N1/00127 , H04N1/00137 , H04N1/00164 , H04N1/00244 , H04N1/00307 , H04N2201/0084
摘要： A mobile robot that is fitted with a camera and can be controlled from a remote terminal such as a mobile phone moves about in an event site to detect and track a moving object such as a visitor and entertainer. Because the camera along with the robot itself can change its position freely autonomously and/or according to a command from the mobile terminal, a desired frame layout can be accomplished by moving the position of the robot. Therefore, the operator is not required to execute a complex image trimming process or other adjustment of the obtained picture image so that a desired picture can be obtained quickly and without any difficulty. If the user is allowed access the managing server, the user can download the desired picture images and have them printed out at will. Also, because the selected picture images can be transmitted to the managing server, the robot is prevented from running out of memory for storing the picture images.
摘要翻译：装有摄像机的移动机器人可以由移动电话等远程终端进行控制，在事件现场进行移动，以检测和跟踪诸如访客和艺人之类的移动物体。因为照相机和机器人本身可以自由地和/或根据来自移动终端的命令改变其位置，所以可以通过移动机器人的位置来实现期望的帧布局。因此，不需要操作者对所获得的图像图像执行复杂的图像修整处理或其他调整，使得可以快速且毫无困难地获得期望的图像。如果用户被允许访问管理服务器，则用户可以下载所需的图片图像并随意打印出来。此外，由于所选择的图像图像可以被发送到管理服务器，所以防止了机器人用尽存储图像图像的存储器。

5. 发明授权

US08026955B2 Camera exposure controller including imaging devices for capturing an image using stereo-imaging 有权
标题翻译：相机曝光控制器包括用于使用立体成像拍摄图像的成像装置
公开(公告)号：US08026955B2
公开(公告)日：2011-09-27
申请号：US12230129
申请日：2008-08-25
申请人： Takamichi Shimada , Nobuo Higaki
发明人： Takamichi Shimada , Nobuo Higaki
IPC分类号： H04N5/235
CPC分类号： H04N5/2351 , B25J19/022 , G03B7/093 , G03B35/08 , H04N5/2353 , H04N13/239 , H04N13/296
摘要： In an exposure controller of a camera mounted on a robot for taking an image utilizing incident light from external world in which an object such as a human being is present, a brightness histogram of the image is generated and exposure parameters are set based on the generated histogram. Then, it is determined whether the set exposure parameters are within a predetermined range and when they are out of the range and if a high-brightness imaging region is present in the image due to high-brightness incident light, it is again determined whether it is necessary to remove the high-brightness imaging region. When it is determined to be necessary, the high-brightness imaging region is extracted and is removed from the image, thereby enabling the camera to image the object with suitable brightness even when a bright light source such as the sun is within the camera angle of view.
摘要翻译：在安装在机器人上的摄像机的曝光控制器中，利用来自外部世界的入射光（其中存在诸如人的物体），生成图像的亮度直方图，并且基于产生的曝光参数来设置曝光参数直方图。然后，确定设定的曝光参数是否在预定范围内，并且当它们在超出该范围时，并且如果由于高亮度入射光而在图像中存在高亮度成像区域，则再次确定是否是去除高亮度成像区域所必需的。当确定需要时，提取高亮度成像区域并从图像中去除，从而即使当诸如太阳的明亮光源在相机角度内时，相机也可以以适当的亮度对对象进行成像视图。

6. 发明授权

US07254253B2 Moving object detection system 有权
标题翻译：移动物体检测系统
公开(公告)号：US07254253B2
公开(公告)日：2007-08-07
申请号：US10808327
申请日：2004-03-25
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： G06K9/00335 , G06T7/246 , G06T7/254 , G06T7/285
摘要： In a moving object detection system, an edge image is generated from captured images taken by CCD cameras and a moving object distance image indicative of a distance to a moving object (such as a human being) is generated by extracting pixel corresponding thereto. Then, pixels in the moving object distance image are summed to generate a histogram and a profile extraction region is set in the moving object distance image with its center line focusing on a position whose histogram is greatest, while the edge image is superposed on the moving object distance image to correct the center line of the profile extraction region such that the moving object is detected by extracting its profile in the region. With this, it becomes possible to detect the moving objects respectively even when the two or more objects are present in neighborhood.
摘要翻译：在运动物体检测系统中，由CCD照相机拍摄的图像产生边缘图像，并且通过提取与其相对应的像素来生成指示到运动物体（例如人类）的距离的移动物体距离图像。然后，将运动对象距离图像中的像素相加以生成直方图，并且在运动对象距离图像中设置轮廓提取区域，其中心线聚焦在直方图最大的位置，而边缘图像叠加在移动物体距离图像上物体距离图像以校正轮廓提取区域的中心线，使得通过在该区域中提取其轮廓来检测移动物体。由此，即使当两个或更多个物体在附近存在时，也可以分别检测移动物体。

7. 发明授权

US07593552B2 Gesture recognition apparatus, gesture recognition method, and gesture recognition program 有权
标题翻译：手势识别装置，手势识别方法和手势识别程序
公开(公告)号：US07593552B2
公开(公告)日：2009-09-22
申请号：US10805392
申请日：2004-03-22
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： G06F3/017 , G06K9/00375
摘要： A gesture recognition apparatus for recognizing postures or gestures of an object person based on images of the object person captured by cameras. The gesture recognition apparatus includes: a face/fingertip position detection means which detects a face position and a fingertip position of the object person in three-dimensional space based on contour information and human skin region information of the object person to be produced by the images captured; and a posture/gesture recognition means which operates to detect changes of the fingertip position by a predetermined method, to process the detected results by a previously stored method, to determine a posture or a gesture of the object person, and to recognize a posture or a gesture of the object person.
摘要翻译：一种手势识别装置，用于基于由相机拍摄的对象人物的图像来识别对象人的姿势或手势。手势识别装置包括：面部/指尖位置检测装置，其基于由图像生成的对象人的轮廓信息和人体皮肤区域信息来检测被摄体人在三维空间中的脸部位置和指尖位置被捕以及姿势/手势识别装置，其操作以通过预定方法检测指尖位置的变化，以通过先前存储的方法处理检测结果，以确定对象人的姿势或手势，以及识别姿势或姿势对象人的姿态。

8. 发明申请

US20090059033A1 Camera exposure controller 有权
标题翻译：相机曝光控制器
公开(公告)号：US20090059033A1
公开(公告)日：2009-03-05
申请号：US12230129
申请日：2008-08-25
申请人： Takamichi Shimada , Nobuo Higaki
发明人： Takamichi Shimada , Nobuo Higaki
IPC分类号： H04N5/235
CPC分类号： H04N5/2351 , B25J19/022 , G03B7/093 , G03B35/08 , H04N5/2353 , H04N13/239 , H04N13/296
摘要： In an exposure controller of a camera mounted on a robot for taking an image utilizing incident light from external world in which an object such as a human being is present, a brightness histogram of the image is generated and exposure parameters are set based on the generated histogram. Then, it is determined whether the set exposure parameters are within a predetermined range and when they are out of the range and if a high-brightness imaging region is present in the image due to high-brightness incident light, it is again determined whether it is necessary to remove the high-brightness imaging region. When it is determined to be necessary, the high-brightness imaging region is extracted and is removed from the image, thereby enabling the camera to image the object with suitable brightness even when a bright light source such as the sun is within the camera angle of view.
摘要翻译：在安装在机器人上的摄像机的曝光控制器中，利用来自外部世界的入射光（其中存在诸如人的物体），生成图像的亮度直方图，并且基于产生的曝光参数来设置曝光参数直方图。然后，确定设定的曝光参数是否在预定范围内，并且当它们在超出该范围时，并且如果由于高亮度入射光而在图像中存在高亮度成像区域，则再次确定是否是去除高亮度成像区域所必需的。当确定需要时，提取高亮度成像区域并从图像中去除，从而即使当诸如太阳的明亮光源在相机角度内时，相机也可以以适当的亮度对对象进行成像视图。

9. 发明授权

US07398136B2 Biped robot control system 有权
标题翻译：双机器人控制系统
公开(公告)号：US07398136B2
公开(公告)日：2008-07-08
申请号：US10808336
申请日：2004-03-25
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G05D1/02 , B25J9/16 , B25J13/00 , B25J19/00
CPC分类号： G06N3/008 , G06K9/00348
摘要： In a biped robot control system, stereoscopic images captured by CCD cameras are analyzed, the analyzed images are then utilized to detect presence of any moving object around the robot and if it present, to calculate moving object information, and based on the calculated moving object information, it is determined whether or not walking of the robot needs to be stopped. If it is determined to be stopped, the robot is controlled to stop within a period that brings the travel distance at stopping (distance moved between image capture by the CCD cameras and stopping of robot walking) to within a predetermined distance. With this, when the robot approaches a moving object during walking, it can be stopped within the predetermined distance to avoid collision with the moving object.
摘要翻译：在双足机器人控制系统中，分析由CCD摄像机拍摄的立体图像，然后利用分析的图像来检测机器人周围的任何运动物体的存在，如果存在，则计算移动物体信息，并且基于计算的移动物体信息，确定是否需要停止机器人的行走。如果确定停止，则机器人被控制为在使停止行驶距离（CCD相机拍摄的图像与停止机器人步行之间移动的距离）到预定距离内的时间段内停止。这样，当行走过程中机器人接近运动物体时，可以在预定距离内停止运动物体，以避免与运动物体的碰撞。

10. 发明授权

US07376250B2 Apparatus, method and program for moving object detection 有权
标题翻译：用于移动物体检测的装置，方法和程序
公开(公告)号：US07376250B2
公开(公告)日：2008-05-20
申请号：US11015796
申请日：2004-12-20
申请人： Nobuo Higaki , Takamichi Shimada
发明人： Nobuo Higaki , Takamichi Shimada
IPC分类号： G06K9/00
CPC分类号： G06K9/00362 , G06T7/251 , G06T7/254 , G06T7/285 , G06T2207/10016 , G06T2207/10028 , G06T2207/30196
摘要： The present invention detects a moving object by generating the distance information of the moving object, detecting the object motion, determining the object distance, detecting the object image area and the object contour from the video image that includes the object image and contour, and provides a moving object detection apparatus to carry out such detection as well as detecting a contour of the specific moving object by detecting the center of the moving object in high precision.
摘要翻译：本发明通过从包括对象图像和轮廓的视频图像生成运动对象的距离信息，检测对象运动，确定对象距离，检测对象图像区域和对象轮廓来检测移动对象，并且提供移动物体检测装置，通过以高精度检测移动物体的中心，进行这种检测以及检测特定移动物体的轮廓。

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