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1. 发明授权

US09014483B2 Information processing method and apparatus 有权
标题翻译：信息处理方法和装置
公开(公告)号：US09014483B2
公开(公告)日：2015-04-21
申请号：US12873159
申请日：2010-08-31
申请人： Yoshinori Ito , Takahisa Yamamoto , Masami Kato
发明人： Yoshinori Ito , Takahisa Yamamoto , Masami Kato
IPC分类号： G06K9/56 , G06K9/62 , G06K9/00 , G06K9/46
CPC分类号： G06K9/6257 , G06K9/00973 , G06K9/4614 , G06K9/4642
摘要： Input information of a multidimensional array is divided into a plurality of divided areas, accumulated information is generated by calculating accumulated values at respective element positions of the input information from a corresponding reference location for each of the plurality of divided areas, and the generated accumulated information is held in a memory for each divided area. Calculation using the accumulated information is executed for a predetermined processing range. The input information is divided into the plurality of divided areas so that two neighboring divided areas have an overlapping area, and the overlapping area has a size at least in which the whole processing range fits.
摘要翻译：多维阵列的输入信息被划分为多个分割区域，通过从多个分割区域中的每一个的相应参考位置计算输入信息的各个元素位置处的累积值来生成累积信息，并且生成累积信息被保存在每个划分区域的存储器中。在预定的处理范围内执行使用累积信息的计算。输入信息被分成多个分割区域，使得两个相邻分割区域具有重叠区域，并且重叠区域具有至少整个处理范围适合的尺寸。

2. 发明授权

US08594432B2 Image processing apparatus and image processing method 有权
标题翻译：图像处理装置和图像处理方法
公开(公告)号：US08594432B2
公开(公告)日：2013-11-26
申请号：US12966725
申请日：2010-12-13
申请人： Takahisa Yamamoto , Masami Kato , Yoshinori Ito
发明人： Takahisa Yamamoto , Masami Kato , Yoshinori Ito
IPC分类号： G06K9/46 , G06K9/54 , H04N1/60
CPC分类号： G06K9/4604 , G06K2009/4666
摘要： An image processing apparatus includes a comparison unit that selects a pixel of interest in a processing image, and compare magnitudes of luminance value of the pixel of interest and luminance value of each of a plurality of neighboring pixels having a predetermined positional relationship with the pixel of interest; a calculation unit that calculates a feature amount of the pixel of interest based on the predetermined positional relationship between the pixel of interest and each of the plurality of neighboring pixels and a comparison result obtained by the comparison unit. For two neighboring pixels at positions which are point symmetrical with respect to the pixel of interest, the comparison unit sets that only one of the two neighboring pixels has the predetermined positional relationship.
摘要翻译：一种图像处理装置，包括：比较单元，其选择处理图像中的感兴趣像素，并将感兴趣像素的亮度值的大小与具有预定位置关系的多个相邻像素的亮度值与利益; 计算单元，其基于所述关注像素和所述多个相邻像素中的每一个之间的预定位置关系以及由所述比较单元获得的比较结果来计算所述感兴趣像素的特征量。对于相对于感兴趣像素点对称的位置处的两个相邻像素，比较单元设置两个相邻像素中只有一个具有预定的位置关系。

3. 发明授权

US07937346B2 Calculation processing apparatus and method 有权
标题翻译：计算处理装置及方法
公开(公告)号：US07937346B2
公开(公告)日：2011-05-03
申请号：US12663687
申请日：2008-06-11
申请人： Masami Kato , Takahisa Yamamoto , Yoshinori Ito
发明人： Masami Kato , Takahisa Yamamoto , Yoshinori Ito
IPC分类号： G06N3/04
CPC分类号： G06N3/08
摘要： A calculation processing apparatus for executing network calculations defined by hierarchically connecting a plurality of logical processing nodes that apply calculation processing to input data, sequentially designates a processing node which is to execute calculation processing based on sequence information that specifies an execution order of calculations of predetermined processing units to be executed by the plurality of processing nodes, so as to implement the network calculations, and executes the calculation processing of the designated processing node in the processing unit to obtain a calculation result. The calculation apparatus allocates partial areas of a memory to the plurality of processing nodes as ring buffers, and writes the calculation result in the memory while circulating a write destination of data to have a memory area corresponding to the amount of the calculation result of the processing unit as a unit.
摘要翻译：一种用于执行网络计算的计算处理装置，所述计算处理装置执行通过将应用计算处理的多个逻辑处理节点分层连接到输入数据而定义的网络计算，依次指定执行计算处理的处理节点，该处理节点是基于指定预定的要由多个处理节点执行的处理单元，以便实现网络计算，并且执行处理单元中的指定处理节点的计算处理以获得计算结果。计算装置将多个处理节点的存储器的部分区域分配为环形缓冲器，并将计算结果写入存储器，同时循环数据的写入目的地以具有对应于处理的计算结果的量的存储区域单位为单位。

4. 发明申请

US20100223219A1 CALCULATION PROCESSING APPARATUS AND METHOD 有权
标题翻译：计算处理装置和方法
公开(公告)号：US20100223219A1
公开(公告)日：2010-09-02
申请号：US12663687
申请日：2008-06-11
申请人： Masami Kato , Takahisa Yamamoto , Yoshinori Ito
发明人： Masami Kato , Takahisa Yamamoto , Yoshinori Ito
IPC分类号： G06F9/30 , G06N3/04 , G06N3/06 , G06F15/76 , G06F9/06 , G06F12/00
CPC分类号： G06N3/08
摘要： A calculation processing apparatus for executing network calculations defined by hierarchically connecting a plurality of logical processing nodes that apply calculation processing to input data, sequentially designates a processing node which is to execute calculation processing based on sequence information that specifies an execution order of calculations of predetermined processing units to be executed by the plurality of processing nodes, so as to implement the network calculations, and executes the calculation processing of the designated processing node in the processing unit to obtain a calculation result. The calculation apparatus allocates partial areas of a memory to the plurality of processing nodes as ring buffers, and writes the calculation result in the memory while circulating a write destination of data to have a memory area corresponding to the amount of the calculation result of the processing unit as a unit.
摘要翻译：一种用于执行网络计算的计算处理装置，所述计算处理装置执行通过将应用计算处理的多个逻辑处理节点分层连接到输入数据而定义的网络计算，依次指定执行计算处理的处理节点，该处理节点是基于指定预定的要由多个处理节点执行的处理单元，以便实现网络计算，并且执行处理单元中的指定处理节点的计算处理以获得计算结果。计算装置将多个处理节点的存储器的部分区域分配为环形缓冲器，并将计算结果写入存储器，同时循环数据的写入目的地以具有对应于处理的计算结果的量的存储区域单位为单位。

5. 发明申请

US20100215253A1 CALCULATION PROCESSING APPARATUS AND CONTROL METHOD THEREOF 有权
标题翻译：计算处理装置及其控制方法
公开(公告)号：US20100215253A1
公开(公告)日：2010-08-26
申请号：US12602628
申请日：2008-06-11
申请人： Takahisa Yamamoto , Masami Kato , Yoshinori Ito
发明人： Takahisa Yamamoto , Masami Kato , Yoshinori Ito
IPC分类号： G06K9/62
CPC分类号： G06N3/08
摘要： A calculation processing apparatus, which executes calculation processing based on a network composed by hierarchically connecting a plurality of processing nodes, assigns a partial area of a memory to each of the plurality of processing nodes, stores a calculation result of a processing node in a storable area of the partial area assigned to that processing node, and sets, as storable areas, areas that store the calculation results whose reference by all processing nodes connected to the subsequent stage of that processing node is complete. The apparatus determines, based on the storage states of calculation results in partial areas of the memory assigned to the processing node designated to execute the calculation processing of the processing nodes, and to processing nodes connected to the previous stage of the designated processing node, whether or not to execute a calculation of the designated processing node.
摘要翻译：执行基于通过分层连接多个处理节点组成的网络的计算处理的计算处理装置，将多个处理节点中的每个处理节点的存储器的部分区域分配，将处理节点的计算结果存储在可存储分配给该处理节点的部分区域的区域，并且存储存储连接到该处理节点的后续阶段的所有处理节点的参考的计算结果的存储区域。该装置基于分配给指定用于执行处理节点的计算处理的处理节点的存储器的部分区域中的计算结果的存储状态以及连接到指定处理节点的前一级的处理节点，确定是否或者不执行指定的处理节点的计算。

6. 发明申请

US20090220155A1 IMAGE PROCESSING METHOD, PATTERN DETECTION METHOD, PATTERN RECOGNITION METHOD, AND IMAGE PROCESSING DEVICE 有权
标题翻译：图像处理方法，图案检测方法，图案识别方法和图像处理装置
公开(公告)号：US20090220155A1
公开(公告)日：2009-09-03
申请号：US12394593
申请日：2009-02-27
申请人： Takahisa Yamamoto , Yoshinori Ito , Masao Yamanaka
发明人： Takahisa Yamamoto , Yoshinori Ito , Masao Yamanaka
IPC分类号： G06K9/66
CPC分类号： G06K9/00221
摘要： An image processing device clips a plurality of partial images from an image, and calculates difference values of pixel values between a target pixel and surrounding pixels surrounding the target pixel in the partial images. Then, the image processing device decides parameter values corresponding to respective surrounding pixels based on identification information that identifies the partial image from among the plurality of the partial images and the difference values, and calculates a feature amount corresponding to the target pixel using the parameter value decided. Then, the image processing device obtains a feature amount of the partial images by calculating the feature amount with the above-described steps, using each pixel in the partial images as the target pixels.
摘要翻译：图像处理装置从图像剪辑多个部分图像，并且计算目标像素与部分图像中的目标像素周围的周围像素之间的像素值的差分值。然后，图像处理装置基于从多个部分图像和差分值中识别出部分图像的识别信息来决定与各周围像素对应的参数值，并使用参数值计算与目标像素对应的特征量决定了然后，图像处理装置使用部分图像中的每个像素作为目标像素，通过利用上述步骤计算特征量来获得部分图像的特征量。

7. 发明申请

US20090157707A1 PATTERN IDENTIFICATION UNIT GENERATION METHOD, INFORMATION PROCESSING APPARATUS, COMPUTER PROGRAM, AND STORAGE MEDIUM 有权
标题翻译：模式识别单元生成方法，信息处理装置，计算机程序和存储介质
公开(公告)号：US20090157707A1
公开(公告)日：2009-06-18
申请号：US12330514
申请日：2008-12-09
申请人： Yoshinori Ito , Masami Kato , Takahisa Yamamoto , Katsuhiko Mori , Osamu Nomura
发明人： Yoshinori Ito , Masami Kato , Takahisa Yamamoto , Katsuhiko Mori , Osamu Nomura
IPC分类号： G06F17/30
CPC分类号： G06K9/6256 , G06K9/00973
摘要： A pattern identification unit generation method of generating a pattern identification unit in which a weak discriminator array obtained by cascade-connecting a plurality of weak discriminators branches, and weak discriminator arrays are connected to respective arms after branching, evaluates based on a processing result obtained by inputting a set of evaluation data to the weak discriminator array whether or not a weak discriminator array after branching reaches the number of stages to be connected. The number of stages of weak discriminators to be connected without branching as the weak discriminator array is determined based on this evaluation result.
摘要翻译：一种图案识别单元产生方法，其产生一个模式识别单元，其中通过级联连接多个弱鉴别器分支而获得的弱鉴别器阵列和弱鉴别器阵列在分支之后连接到相应的臂，根据由向微弱鉴别器阵列输入一组评估数据，判断分支后的弱鉴别器阵列是否达到要连接的级数。基于该评估结果确定要连接无分支的弱鉴别器的级数作为弱鉴别器阵列的级数。

8. 发明授权

US09044858B2 Target object gripping apparatus, method for controlling the same and storage medium 有权
标题翻译：目标物体夹持装置，其控制方法和存储介质
公开(公告)号：US09044858B2
公开(公告)日：2015-06-02
申请号：US13523234
申请日：2012-06-14
申请人： Yoshinori Ito , Takahisa Yamamoto
发明人： Yoshinori Ito , Takahisa Yamamoto
IPC分类号： G05B15/00 , B25J9/16 , G05B19/00
CPC分类号： B25J9/1612 , G05B2219/39476 , G05B2219/39527 , G05B2219/39543 , G05B2219/40053
摘要： A target object gripping apparatus comprises: an estimation unit configured to estimate an orientation of a target object based on orientation estimation parameters; a gripping unit configured to grip the target object based on the orientation of the target object estimated by the estimation unit; a detection unit configured to detect a failure of gripping by the gripping unit; and a modifying unit configured to modify the orientation estimation parameters based on the orientation of the target object when the detection unit detects a gripping failure.
摘要翻译：目标物体夹持装置包括：估计单元，被配置为基于取向估计参数来估计目标对象的取向; 夹持单元，其被配置为基于由所述估计单元估计的所述目标对象的取向来夹持所述目标对象; 检测单元，其构造成检测由所述夹持单元夹持的失败; 以及修改单元，被配置为当所述检测单元检测到夹紧故障时，基于所述目标对象的取向来修改所述定向估计参数。

9. 发明授权

US08401313B2 Image processing apparatus and image processing method 有权
标题翻译：图像处理装置和图像处理方法
公开(公告)号：US08401313B2
公开(公告)日：2013-03-19
申请号：US12262052
申请日：2008-10-30
申请人： Takahisa Yamamoto , Masami Kato , Yoshinori Ito , Katsuhiko Mori
发明人： Takahisa Yamamoto , Masami Kato , Yoshinori Ito , Katsuhiko Mori
IPC分类号： G06K9/68 , G06K9/70
CPC分类号： G06K9/00228 , G06K9/6256 , G06K9/6282
摘要： An image processing method is provided for an image processing apparatus which executes processing by allocating a plurality of weak discriminators to form a tree structure having branches corresponding to types of objects so as to detect objects included in image data. Each weak discriminator calculates a feature amount to be used in a calculation of an evaluation value of the image data, and discriminates whether or not the object is included in the image data by using the evaluation value. The weak discriminator allocated to a branch point in the tree structure further selects a branch destination using at least some of the feature amounts calculated by weak discriminators included in each branch destination.
摘要翻译：为图像处理装置提供一种图像处理方法，该图像处理装置通过分配多个弱鉴别器来形成具有与对象类型相对应的分支的树结构，从而检测包括在图像数据中的对象来执行处理。每个弱识别器计算要在图像数据的评估值的计算中使用的特征量，并且通过使用评估值来区分对象是否包括在图像数据中。分配给树结构中的分支点的弱鉴别器还使用由每个分支目的地中包括的弱鉴别器计算的特征量中的至少一些特征量来选择分支目的地。

10. 发明授权

US08385649B2 Information processing apparatus and method for detecting object in image data 有权
标题翻译：用于检测图像数据中的对象的信息处理装置和方法
公开(公告)号：US08385649B2
公开(公告)日：2013-02-26
申请号：US12765190
申请日：2010-04-22
申请人： Masami Kato , Yoshinori Ito , Osamu Nomura , Takahisa Yamamoto
发明人： Masami Kato , Yoshinori Ito , Osamu Nomura , Takahisa Yamamoto
IPC分类号： G06K9/62
CPC分类号： G06K9/6257 , G06K9/00986 , G06K9/4604 , G06K9/4614
摘要： Learning is sequentially executed with respect to weak discriminators based on learning data held in a storage device. Upon learning, an evaluation value for the weak discriminator is calculated. It is discriminated, based on a shift of the evaluation value, whether or not the learning is overlearning. If it is discriminated that the learning is overlearning, new learning data is added. Thus, the overlearning is easily detected and the learning is efficiently executed.
摘要翻译：基于保存在存储装置中的学习数据，相对于弱识别器依次执行学习。在学习时，计算弱鉴别器的评估值。基于评估值的转移，是否对学习过度学习进行歧视。如果歧视学习过度学习，则添加新的学习数据。因此，容易检测到过度学习，并且有效地执行学习。

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