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1. 发明申请

WO2009057416A2 GRIPPING APPARATUS AND GRIPPING APPARATUS CONTROL METHOD 审中-公开
标题翻译：抓斗装置和抓斗装置控制方法
公开(公告)号：WO2009057416A2
公开(公告)日：2009-05-07
申请号：PCT/JP2008/067978
申请日：2008-09-26
申请人： CANON KABUSHIKI KAISHA , AOBA, Masato , MATSUGU, Masakazu , TAKIMOTO, Masafumi
发明人： AOBA, Masato , MATSUGU, Masakazu , TAKIMOTO, Masafumi
CPC分类号： B25J9/1612 , B25J9/1697 , G05B2219/39391 , G05B2219/39568 , G05B2219/40032 , G05B2219/40087
摘要： A gripping apparatus comprises an information acquisition unit configured to acquire information about a position and orientation of an object to be gripped by a gripper, a movement path generating unit configured to acquire a target state suitable for gripping the object, based on the acquired information, and generate a movement path of the gripper toward the target state, and a controller configured to move the gripper along the generated movement path and cause the gripper to grip the object.
摘要翻译：夹持装置包括：信息获取单元，被配置为获取关于由夹持器夹持的对象的位置和方位的信息;移动路径生成单元，被配置为基于获取的信息获取适于夹持对象的目标状态，并且产生夹持器朝向目标状态的移动路径，以及控制器，其构造成沿着所产生的移动路径移动夹持器，并使夹持器夹持物体。

2. 发明申请

WO2009028377A1 MEASUREMENT APPARATUS AND METHOD FOR MEASURING SURFACE SHAPE AND ROUGHNESS 审中-公开
标题翻译：测量装置和测量表面形状和粗糙度的方法
公开(公告)号：WO2009028377A1
公开(公告)日：2009-03-05
申请号：PCT/JP2008/064859
申请日：2008-08-14
申请人： CANON KABUSHIKI KAISHA , OTA, Kazuyuki , YOSHIKAWA, Hiroshi , MITARAI, Yusuke , TAKIMOTO, Masafumi , OKUDOMI, Kazunori , SHINBATA, Hiroyuki , SAITOH, Kenji , MATSUGU, Masakazu
发明人： OTA, Kazuyuki , YOSHIKAWA, Hiroshi , MITARAI, Yusuke , TAKIMOTO, Masafumi , OKUDOMI, Kazunori , SHINBATA, Hiroyuki , SAITOH, Kenji , MATSUGU, Masakazu
IPC分类号： G01B11/24 , G01B11/30 , G01N21/00
CPC分类号： G01B11/24 , G01B11/30
摘要： A measurement apparatus includes an illumination light setting unit which sets illumination light having an optical characteristic corresponding to a microstructure which is formed on the surface of a measurement target and is to be measured, a measurement unit which measures reflected light when the measurement target is irradiated with the illumination light, and an extraction unit which extracts, from the measured reflected light, information about the surface shape of the measurement target and the microstructure formed on the surface.
摘要翻译：测量装置包括照明光设定单元，其设置具有对应于形成在测量对象物的表面上并要被测量的微结构的光学特性的照明光，测量单元，其在测量对象被照射时测量反射光以及从测量的反射光中提取关于测量对象的表面形状和形成在表面上的微结构的信息的提取单元。

3. 发明申请

WO2010150515A1 INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM 审中-公开
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：WO2010150515A1
公开(公告)日：2010-12-29
申请号：PCT/JP2010/004130
申请日：2010-06-21
申请人： CANON KABUSHIKI KAISHA , SARUTA, Takayuki , AOBA, Masato , MATSUGU, Masakazu
发明人： SARUTA, Takayuki , AOBA, Masato , MATSUGU, Masakazu
IPC分类号： G01B11/24 , G01B11/25
CPC分类号： G01B11/002
摘要： An information processing apparatus for matching a position and/or orientation of a measurement object with that of a model of the measurement object includes an acquisition unit configured to acquire a captured image of the measurement object, a calculation unit configured to calculate information indicating a surface shape of the measurement object based on the captured image, and a limitation unit configured to limit a position and/or orientation of the model based on the information indicating the surface shape.
摘要翻译：用于将测量对象的位置和/或取向与测量对象的模型进行匹配的信息处理设备包括：获取单元，被配置为获取测量对象的拍摄图像;计算单元，被配置为计算指示表面的信息基于拍摄图像的测量对象的形状;以及限制单元，被配置为基于指示表面形状的信息来限制模型的位置和/或取向。

4. 发明申请

WO2009096592A2 INFORMATION PROCESSING APPARATUS AND METHOD 审中-公开
标题翻译：信息处理装置和方法
公开(公告)号：WO2009096592A2
公开(公告)日：2009-08-06
申请号：PCT/JP2009/051829
申请日：2009-01-28
申请人： CANON KABUSHIKI KAISHA , YOSHIKAWA, Hiroshi , MITARAI, Yusuke , TAKIMOTO, Masafumi , OTA, Kazuyuki , SAITOH, Kenji , MATSUGU, Masakazu
发明人： YOSHIKAWA, Hiroshi , MITARAI, Yusuke , TAKIMOTO, Masafumi , OTA, Kazuyuki , SAITOH, Kenji , MATSUGU, Masakazu
IPC分类号： G01N21/47
CPC分类号： G01N21/57 , G01N21/4738 , G01N2021/4735
摘要： An information processing apparatus includes an obtaining unit configured to obtain first information regarding a distribution of reflected light from a target to be measured and second information regarding geometrical-optics components of the reflected light, a calculating unit configured to calculate third information on the basis of the first information and the second information, the third information indicating an approximation of the distribution of reflected light, and an output unit configured to output information regarding wave-optics components of the reflected light on the basis of the third information.
摘要翻译：一种信息处理设备，包括：获取单元，被配置为获得关于来自待测目标的反射光的分布的第一信息和关于反射光的几何光学分量的第二信息;计算单元，被配置为基于所述第一信息和所述第二信息，所述第三信息指示反射光的分布的近似值;以及输出单元，被配置为基于所述第三信息输出关于所述反射光的波长成分的信息。

5. 发明申请

WO2005119620A1 SITUATION MONITORING DEVICE AND SITUATION MONITORING SYSTEM 审中-公开
标题翻译：情况监测装置和状况监测系统
公开(公告)号：WO2005119620A1
公开(公告)日：2005-12-15
申请号：PCT/JP2005/010724
申请日：2005-06-06
申请人： CANON KABUSHIKI KAISHA , KATO, Masami , MATSUGU, Masakazu , MORI, Katsuhiko , SATO, Hiroshi , MITARAI, Yusuke , KANEDA, Yuji
发明人： KATO, Masami , MATSUGU, Masakazu , MORI, Katsuhiko , SATO, Hiroshi , MITARAI, Yusuke , KANEDA, Yuji
IPC分类号： G08B25/04
CPC分类号： G08B13/1968 , G08B13/19613 , G08B13/19656 , G08B13/19682 , G08B13/19684 , G08B13/19691 , G08B21/0423 , G08B21/0476
摘要： A situation monitoring device which enables monitoring of a variety of situations and reporting in response to the situation using a single device is provided. The situation monitoring device is easy to install and to use and a system therefore can be implemented inexpensively. The situation monitoring device recognizes a place of installation where the device is installed (step S102), holds relational information correlating the place of installation and the situation to be recognized and determines a predetermined situation to be recognized according to place of installation recognition results and the relational information (step S104), recognizes a determined predetermined situation (step S106), and reports the result of the predetermined situation to a user (step S108).
摘要翻译：提供一种能够使用单个设备响应于情况监视各种情况和报告的情况监视设备。情况监视装置易于安装和使用，因此可以廉价地实现系统。情况监视装置识别安装设备的安装地点（步骤S102），保存与安装地点相关的关系信息和要识别的情况，并根据安装识别结果的位置确定要识别的预定情况，关系信息（步骤S104）识别确定的预定情况（步骤S106），并向用户报告预定情况的结果（步骤S108）。

6. 发明申请

WO2011111362A2 INFORMATION PROCESSING APPARATUS AND METHOD FOR CONTROLLING THE SAME 审中-公开
标题翻译：信息处理装置及其控制方法
公开(公告)号：WO2011111362A2
公开(公告)日：2011-09-15
申请号：PCT/JP2011/001318
申请日：2011-03-07
申请人： CANON KABUSHIKI KAISHA , NOMURA, Osamu , MATSUGU, Masakazu
发明人： NOMURA, Osamu , MATSUGU, Masakazu
IPC分类号： B25J9/16
CPC分类号： B25J9/1671
摘要： An information processing apparatus includes an imaging unit and is capable of setting arrangement of a structural member of a robot system which works based on an image captured by the imaging unit. The information processing apparatus includes an arrangement unit configured to arrange a virtual object corresponding to the structural member in a virtual space corresponding to a working space of the robot system, a first acquisition unit configured to acquire a virtual space image in the virtual space which corresponds to the captured image and in which the virtual object is arranged, and a second acquisition unit configured to acquire an evaluation value indicating adaptation of arrangement of the virtual object to the work of the robot system based on the virtual space image.
摘要翻译：信息处理设备包括成像单元，并且能够基于由成像单元捕获的图像来设置机器人系统的结构构件的布置。该信息处理装置包括：配置单元，被配置为将与结构构件相对应的虚拟对象布置在与机器人系统的工作空间对应的虚拟空间中;第一获取单元，被配置为获取虚拟空间中的虚拟空间图像以及第二获取单元，被配置为基于虚拟空间图像获取指示虚拟对象的布置适应于机器人系统的工作的评估值。

7. 发明申请

WO2005074145A1 CODING METHOD AND APPARATUS, AND COMPUTER PROGRAM AND COMPUTER-READABLE STORAGE MEDIUM 审中-公开
标题翻译：编码方法和装置，以及计算机程序和计算机可读存储介质
公开(公告)号：WO2005074145A1
公开(公告)日：2005-08-11
申请号：PCT/JP2005/001289
申请日：2005-01-24
申请人： CANON KABUSHIKI KAISHA , MITARAI, Yusuke , MATSUGU, Masakazu , MORI, Katsuhiko , MORIE, Takashi
发明人： MITARAI, Yusuke , MATSUGU, Masakazu , MORI, Katsuhiko , MORIE, Takashi
IPC分类号： H03M7/30
CPC分类号： H04N19/192 , H04N19/119 , H04N19/136 , H04N19/172 , H04N19/50 , H04N19/60
摘要： Data in multidimensional space such as a two-dimensional image is encoded with high efficiency. Further, as two-dimensional data can be decomposed to one-dimensional bases, the problem of wiring for two-dimensional parallelizing in a convolution arithmetic unit can be solved. For this purpose, two-dimensional image data f(x,y) to be encoded is inputted, and one-dimensional adaptive bases X(x),Y(y) representing the two-dimensional image are obtained. Next, a reconstructed image is generated based on the one-dimensional adaptive bases, and the one-dimensional adaptive bases are corrected based on an error E between the reconstructed image and the input image. The correction is repeated until the error E is reduced.
摘要翻译：多维空间中的数据（如二维图像）以高效率进行编码。此外，由于二维数据可以分解为一维的基础，因此可以解决卷积运算单元中二维并行化的布线问题。为此，输入要编码的二维图像数据f（x，y），并且获得表示二维图像的一维自适应基准X（x），Y（y）。接下来，基于一维自适应基底生成重建图像，并且基于重构图像和输入图像之间的误差E来校正一维自适应基准。重复校正直到误差E减小。

8. 发明申请

WO2011105044A1 INFORMATION PROCESSING METHOD AND INFORMATION PROCESSING APPARATUS 审中-公开
标题翻译：信息处理方法和信息处理装置
公开(公告)号：WO2011105044A1
公开(公告)日：2011-09-01
申请号：PCT/JP2011/000965
申请日：2011-02-22
申请人： CANON KABUSHIKI KAISHA , MITARAI, Yusuke , MATSUGU, Masakazu , YOSHII, Hiroto
发明人： MITARAI, Yusuke , MATSUGU, Masakazu , YOSHII, Hiroto
IPC分类号： G06T1/00 , G01B11/00 , G01B11/26 , G06T19/00
CPC分类号： G01B11/03 , G01B11/26 , G06T7/73 , G06T15/205 , G06T2207/30204 , G06T2207/30244
摘要： A multi view-point image composed of a great number of images according to a shape of an object is generated or an information processing method used for generating a three-dimensional model or performing image processing of arbitrary view-point object recognition is provided, and based on a plurality of captured images obtained by imaging of the object from a plurality of view points by an imaging means, a relative position and orientation with respect to the object relative to the imaging means for each of the plurality of view points is calculated, and based on the calculated plurality of relative positions and orientations, a missing position and orientation of the imaging means in a direction in which imaging by the imaging means is missing is calculated, and an image used for displaying the calculated missing position and orientation on a display means is generated.
摘要翻译：产生由根据对象的形状的大量图像构成的多视点图像，或者提供用于生成三维模型或执行任意视点对象识别的图像处理的信息处理方法，以及基于通过成像装置对来自多个视点的对象进行成像而获得的多个捕获图像，计算出多个视点中的每一个相对于成像装置相对于对象的相对位置和取向，并且基于计算出的多个相对位置和取向，计算成像装置在由成像装置的成像缺失的方向上的缺失位置和取向，并且将用于显示所计算的丢失位置和取向的图像生成显示装置。

9. 发明申请

WO2006046723A1 ESTIMATION APPARATUS AND ITS CONTROL METHOD 审中-公开
标题翻译：估计装置及其控制方法
公开(公告)号：WO2006046723A1
公开(公告)日：2006-05-04
申请号：PCT/JP2005/019941
申请日：2005-10-25
申请人： CANON KABUSHIKI KAISHA , ISHII, Mie , MATSUGU, Masakazu , MORI, Katsuhiko , MITARAI, Yusuke
发明人： ISHII, Mie , MATSUGU, Masakazu , MORI, Katsuhiko , MITARAI, Yusuke
IPC分类号： G06N5/04 , A61B5/16
CPC分类号： G06F19/3418 , A61B5/167 , G06F19/00 , G16H50/20 , Y10S128/92
摘要： ABSTRACT A condition analysis unit (1302) estimates a surrounding environment and psychological state of the user on the basis of image data, voice data, and living body information. When the estimated psychological state is a predetermined state, a cause estimation unit (1303) estimates based on the living body information whether or not the physical condition of the user is bad. When the estimated psychological state is the predetermined state, the cause estimation unit estimates a cause of the psychological state on the basis of the surrounding environment.
摘要翻译：摘要条件分析单元（1302）基于图像数据，语音数据和生物体信息来估计用户的周围环境和心理状态。当估计心理状态是预定状态时，原因估计单元（1303）基于生物体信息估计用户的身体状况是否不良。当估计的心理状态是预定状态时，原因估计单元基于周围环境来估计心理状态的原因。

10. 发明申请

WO2006001525A1 OBJECT RECOGNITION METHOD AND APPARATUS THEREFOR 审中-公开
标题翻译：对象识别方法及其设备
公开(公告)号：WO2006001525A1
公开(公告)日：2006-01-05
申请号：PCT/JP2005/012258
申请日：2005-06-27
申请人： CANON KABUSHIKI KAISHA , SUZUKI, Takashi , MORI, Katsuhiko , MATSUGU, Masakazu
发明人： SUZUKI, Takashi , MORI, Katsuhiko , MATSUGU, Masakazu
IPC分类号： G06T7/00
CPC分类号： G06K9/00281 , G06K9/00275 , G06K9/4628
摘要： A feature extraction unit (23) extracts features of an object of interest included in an image. A local region setting unit (24) sets a local region that includes a feature group required to obtain the shape of the object and a local region that includes a feature group required to obtain the positional relationship. A feature vector generation unit (25) calculates feature vector data in the set local regions. An object recognition unit (26) determines which of different objects the object of interest is, on the basis of the feature vectors.
摘要翻译：特征提取单元（23）提取包括在图像中的感兴趣对象的特征。局部区域设定单元（24）设定包含获取对象形状所需要的特征组的局部区域和包含获取位置关系所需特征组的局部区域。特征向量生成单元（25）计算设定的局部区域中的特征向量数据。基于特征向量，对象识别单元（26）确定感兴趣对象的哪个不同对象。

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