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1. 发明申请

WO2013006649A2 A METHOD AND APPARATUS FOR PROJECTIVE VOLUME MONITORING 审中-公开
标题翻译：投射式体积监测的方法和设备
公开(公告)号：WO2013006649A2
公开(公告)日：2013-01-10
申请号：PCT/US2012/045463
申请日：2012-07-03
申请人： OMRON CORPORATION , DRINKARD, John , TYAGI, Ambrish , TANI, Yoshiharu , KINOSHITA, Koichi
发明人： DRINKARD, John , TYAGI, Ambrish , TANI, Yoshiharu , KINOSHITA, Koichi
IPC分类号： G06T7/00
CPC分类号： H04N7/181 , G06T7/596 , G06T2207/10012 , G06T2207/10021
摘要： According to one aspect of the teachings presented herein, a machine vision system includes one or more sensor units that are each advantageously configured to use different pairings among a set of spaced-apart image sensors, to provide redundant object detection for a primary monitoring zone, while simultaneously providing for the detection of objects that may shadow the primary monitoring zone. Further, a plurality of "mitigations" and enhancements provide safety-of-design and robust operation. Such mitigations and enhancements include, for example, bad-pixel detection and mapping, cluster-based pixel processing for improved object detection, test-image injection for fault detection, dual-channel, redundant processing for safety-critical object detection, temporal filtering to reduce false detections, and the use of high dynamic range (HDR) images, for improved operation over variable ambient lighting conditions.
摘要翻译：根据本文给出的教导的一个方面，机器视觉系统包括一个或多个传感器单元，其中每个传感器单元有利地被配置为使用一组间隔开的图像传感器中的不同配对来提供冗余用于主监视区域的对象检测，同时提供可能影响主监视区域的对象的检测。此外，多个“缓解” 和增强功能提供了安全设计和强大的操作。这种缓解和增强包括例如坏像素检测和映射，用于改进目标检测的基于簇的像素处理，用于故障检测的测试图像注入，用于安全关键目标检测的双通道冗余处理，时间滤波减少错误检测以及使用高动态范围（HDR）图像，以改善对可变环境照明条件的操作。

2. 发明申请

WO2015143037A1 METHOD AND APPARATUS FOR DETECTING AND MITIGATING OPTICAL IMPAIRMENTS IN AN OPTICAL SYSTEM 审中-公开
标题翻译：用于检测和减轻光学系统中的光学偏差的方法和装置
公开(公告)号：WO2015143037A1
公开(公告)日：2015-09-24
申请号：PCT/US2015/021256
申请日：2015-03-18
申请人： OMRON CORPORATION , DRINKARD, John , TYAGI, Ambrish
发明人： DRINKARD, John , TYAGI, Ambrish , SHOJI, Takeshi
IPC分类号： G06T7/00 , H04N13/02
CPC分类号： H04N13/246 , G06T7/80 , G06T7/85 , G06T2207/10012 , G06T2207/30108 , G06T2207/30204 , H04N13/239 , H04N13/296 , H04N2013/0096
摘要： According to one aspect of the teachings herein, a method and apparatus detect mechanical misalignments in a machine vision system during run-time operation of the machine vision system, and compensate image processing based on the detected misalignments, unless the detected misalignments are excessive. Excessive misalignments may be detected by determining a worst-case error based on them. If the worst-case error exceeds a defined limit, the machine vision system transitions to a fault state. The fault state may include disrupting operation of a hazardous machine or performing one or more other fault-state operations. Among the detected misalignments are internal misalignments within individual cameras used for imaging, and relative misalignments between cameras. The method and apparatus may further perform run-time verifications of focus and transition the machine vision system to a fault state responsive to detecting insufficient focal quality.
摘要翻译：根据本文的教导的一个方面，一种方法和装置在机器视觉系统的运行时操作期间检测机器视觉系统中的机械未对准，并且基于检测到的未对准来补偿图像处理，除非检测到的对准过大。可能通过根据它们确定最坏情况的错误来检测到过度的错位。如果最坏情况错误超出了定义的限制，则机器视觉系统将转换到故障状态。故障状态可能包括中断危险机器的操作或执行一个或多个其他故障状态操作。在检测到的未对准中，是用于成像的单个相机内部的内部错位，以及相机之间的相对不对准。该方法和装置可以响应于检测到不充分的焦点质量而进行焦点的运行时验证并将机器视觉系统转换到故障状态。

3. 发明申请

WO2011123483A1 METHOD AND APPARATUS FOR GENERATING TEXTURE IN A THREE-DIMENSIONAL SCENE 审中-公开
标题翻译：用于在三维场景中生成纹理的方法和装置
公开(公告)号：WO2011123483A1
公开(公告)日：2011-10-06
申请号：PCT/US2011/030413
申请日：2011-03-30
申请人： OMRON SCIENTIFIC TECHNOLOGIES, INC , TYAGI, Ambrish , DRINKARD, John
发明人： TYAGI, Ambrish , DRINKARD, John
IPC分类号： G01B11/25 , G06T7/00
CPC分类号： G01B11/2545 , G06T7/521 , G06T7/593 , G06T2207/10012 , G06T2207/10152
摘要： In one aspect of the teachings herein, a 3D imaging apparatus uses a "texture tool" or facilitates the use of such a tool by an operator, to add artificial texture to a scene being imaged, for 3D imaging of surfaces or background regions in the scene that otherwise lack sufficient texture for determining sufficiently dense 3D range data. In at least one embodiment, the 3D imaging apparatus provides for iterative or interactive imaging, such as by dynamically indicating that one or more regions of the scene require artificial texturing via the texture tool for accurate 3D imaging, and then indicating whether or not the addition of artificial texture cured the texture deficiency and/or whether any other regions within the image require additional texture.
摘要翻译：在本文的教导的一个方面，3D成像设备使用“纹理工具”或促进操作者使用这样的工具，以将人造纹理添加到被成像的场景中，以用于3D图像中的表面或背景区域的3D成像否则缺乏足够的纹理来确定足够密集的3D范围数据。在至少一个实施例中，3D成像装置提供迭代或交互式成像，例如通过动态地指示场景的一个或多个区域需要经过纹理工具的人造纹理以进行精确的3D成像，然后指示是否添加的人造纹理固化了纹理缺陷和/或图像中的任何其他区域是否需要额外的纹理。

4. 发明申请

WO2022197544A1 METHOD AND APPARATUS FOR UPDATING AN ENVIRONMENT MAP USED BY ROBOTS FOR SELF-LOCALIZATION 审中-公开
公开(公告)号：WO2022197544A1
公开(公告)日：2022-09-22
申请号：PCT/US2022/019925
申请日：2022-03-11
申请人： OMRON CORPORATION , DRINKARD, John , VARADARAJAN, Karthik Mahesh
发明人： DRINKARD, John , VARADARAJAN, Karthik Mahesh
IPC分类号： G05D1/02 , G01C21/00 , G01C21/20
摘要： A map updating technique offers the performance advantages gained by robots (16) using a good-quality static map (12) for autonomous navigation within an environment (14), while providing the convenience of automatic updating. In particular, one or more robots (16) log data (22) while performing autonomous navigation in the environment (14) according to the static map (12), and a computer appliance (10), such as a centralized server, collects the logged data (22) as historic logged data (23), and performs a map update process using the historic logged data (23). Such operations provide for periodic or as needed updating of the static map (12), based on observational data from the robot(s) (16) that capture changes in the environment, without need for taking the robot(s) (16) offline for the computation.

5. 发明申请

WO2015130570A1 METHOD AND APPARATUS FOR DETECTION OF ADDRESSING FAULTS IN AN IMAGE SENSOR 审中-公开
标题翻译：用于检测图像传感器中寻址故障的方法和装置
公开(公告)号：WO2015130570A1
公开(公告)日：2015-09-03
申请号：PCT/US2015/016888
申请日：2015-02-20
申请人： OMRON CORPORATION , DRINKARD, John
发明人： DRINKARD, John , TANI, Yoshiharu
IPC分类号： H04N17/00 , H04N5/217
CPC分类号： H04N5/3658 , H04N17/002
摘要： The teachings herein provide a method and apparatus for detecting erroneous pixel addressing in an imaging sensor. The method and apparatus advantageously use the characteristic "fixed pattern noise" of the sensor to detect addressing errors. Broadly, pixel addressing errors are detected based on comparing the pattern noise seen in data read outs from a targeted row or column of the sensor with characteristic fixed pattern noise known for the sensor.
摘要翻译：本文的教导提供了用于检测成像传感器中的错误像素寻址的方法和装置。该方法和装置有利地使用传感器的特征“固定模式噪声”来检测寻址误差。广泛地，基于将传感器的目标行或列的数据读出中看到的模式噪声与传感器已知的特征固定模式噪声进行比较来检测像素寻址误差。

6. 发明申请

WO2009137743A3 METHOD AND APPARATUS FOR ZONE SELECTION IN AREA MONITORING DEVICES 审中-公开
公开(公告)号：WO2009137743A3
公开(公告)日：2009-11-12
申请号：PCT/US2009/043238
申请日：2009-05-08
申请人： OMRON SCIENTIFIC TECHNOLOGIES, INC. , SCHLEIFER, Fred , DUMS, Christopher, Alan , SANCHEZ, Alejandro, Ruiz , DRINKARD, John
发明人： SCHLEIFER, Fred , DUMS, Christopher, Alan , SANCHEZ, Alejandro, Ruiz , DRINKARD, John
IPC分类号： G01V8/20
摘要： Zone selection logic in an area monitoring device increases the number of unique monitoring zone selections that can be selected using a limited number of discrete zone selection inputs, without compromising the safety critical operation of zone selection. The device monitors the logical state of each input in a set of individual inputs and recognizes each unique logical combination of zone selection inputs as a different zone selection. For example, each of two or more configured monitoring zones is associated with a different combinatorial zone selection pattern of asserted zone selection input signals. Correspondingly, a control circuit within the area monitoring device is configured to monitor the discrete zone selection inputs and activate a given one of the configured monitoring zones based on recognizing the associated combinatorial zone selection pattern of asserted zone selection signals.

7. 发明申请

WO2009042805A1 CLUTTER REJECTION IN ACTIVE OBJECT DETECTION SYSTEMS 审中-公开
标题翻译：活动物体检测系统中的离合器抑制
公开(公告)号：WO2009042805A1
公开(公告)日：2009-04-02
申请号：PCT/US2008/077745
申请日：2008-09-25
申请人： OMRON SCIENTIFIC TECHNOLOGIES, INC. , DRINKARD, John
发明人： DRINKARD, John
IPC分类号： G06K9/00
CPC分类号： G01S7/4812 , G01S7/4813 , G01S7/4817 , G01S7/4873 , G01S7/4876 , G01S17/42
摘要： According to a method and apparatus taught herein an active object detection system performs reliable object detection based on light pulse emissions and corresponding and time-of-flight based distance determination, while advantageously rejecting clutter. While not limiting, the method and apparatus taught herein may be particularly advantageous for safety-critical object detection applications, such as where the active object detection system, e.g., a laser scanner, monitors for objects of at least a specified size within a predetermined monitoring radius or contour.
摘要翻译：根据本文教导的方法和装置，主动对象检测系统基于光脉冲发射和相应的基于时间的距离确定执行可靠的物体检测，同时有利地排除杂波。尽管不是限制，但是本文教导的方法和装置对于安全关键的物体检测应用尤其有利，例如，诸如激光扫描仪的主动物体检测系统在预定监视中监视至少指定尺寸的物体半径或轮廓。

8. 发明申请

WO2012068329A1 A METHOD AND APPARATUS FOR MONITORING ZONES 审中-公开
标题翻译：一种用于监测区域的方法和装置
公开(公告)号：WO2012068329A1
公开(公告)日：2012-05-24
申请号：PCT/US2011/061121
申请日：2011-11-17
申请人： OMRON SCIENTIFIC TECHNOLOGIES, INC. , DRINKARD, John
发明人： DRINKARD, John
IPC分类号： G08B13/196 , F16P3/14 , H04N7/18
CPC分类号： H04N7/181 , F16P3/142 , F16P3/144 , G08B13/19641 , G08B13/19652 , G08B13/1968 , H04N7/185
摘要： The present invention comprises an apparatus and method for monitoring a zone, which is a contiguous or non-contiguous, two-dimensional (2D) area or three-dimensional (3D) volume. Among its several advantages, the apparatus includes a plurality of sensors that monitor portions of the zone and report intrusion status to a control unit that provides monitoring boundary information to each of the sensors based on user input and further maps or otherwise associates each sensor to control unit outputs in accordance with user-defined behaviors. Still further, as a meaningful aid for configuring monitoring boundaries used by the sensors for objection intrusion detection, in one or more embodiments of the apparatus and method, at least a subset of sensors use a common coordinate frame of reference, based on a common origin located within overlapping sensor fields of view.
摘要翻译：本发明包括用于监视区域的装置和方法，该区域是连续的或不连续的二维（2D）区域或三维（3D）体积。在其几个优点中，该装置包括多个传感器，其监测区域的部分并将入侵状态报告给控制单元，该控制单元基于用户输入向每个传感器提供监控边界信息，并且进一步映射或以其他方式将每个传感器相关联以控制单位输出根据用户定义的行为。此外，作为用于配置传感器用于异常入侵检测的监视边界的有意义的帮助，在装置和方法的一个或多个实施例中，传感器的至少一个子集基于公共原点使用公共坐标参考系位于重叠传感器视场内。

9. 发明申请

WO2013056016A1 A METHOD AND APPARATUS FOR PROJECTIVE VOLUME MONITORING 审中-公开
标题翻译：一种用于投影体积监测的方法和装置
公开(公告)号：WO2013056016A1
公开(公告)日：2013-04-18
申请号：PCT/US2012/059906
申请日：2012-10-12
申请人： OMRON CORPORATION
发明人： DRINKARD, John , TYAGI, Ambrish , KINOSHITA, Koichi , TANI, Yoshiharu
IPC分类号： G06T7/00
CPC分类号： G06K9/00369 , F16P3/142 , F16P3/144 , G06K9/00348 , G06K9/00771 , G06K9/52 , G06K2009/4666 , G06T7/0022 , G06T7/2033 , G06T7/593 , G06T7/60 , G06T7/97 , G06T2200/04 , G06T2207/10012 , G06T2207/10021 , G06T2207/10144 , G06T2207/20016 , G06T2207/20208 , G06T2207/30196 , G06T2207/30232
摘要： According to one aspect of the teachings presented herein, a projective volume monitoring apparatus is configured to detect objects intruding into a monitoring zone. The projective volume monitoring apparatus is configured to detect the intrusion of objects of a minimum object size relative to a protection boundary, based on an advantageous processing technique that represents range pixels obtained from stereo correlation processing in spherical coordinates and maps those range pixels to a two-dimensional histogram that is defined over the projective coordinate space associated with capturing the stereo images used in correlation processing. The histogram quantizes the horizontal and vertical solid angle ranges of the projective coordinate space into a grid of cells. The apparatus flags range pixels that are within the protection boundary and accumulates them into corresponding cells of the histogram, and then performs clustering on the histogram cells to detect object intrusions.
摘要翻译：根据本文提供的教导的一个方面，投影体积监视装置被配置为检测侵入到监视区域中的对象。投影体积监视装置被配置为基于表示从球面坐标的立体相关处理获得的范围像素的有利的处理技术来检测相对于保护边界的最小对象尺寸的对象的入侵，并将这些范围像素映射到两个在与捕获在相关处理中使用的立体图像相关联的投影坐标空间上定义的维度直方图。直方图将投影坐标空间的水平和垂直立体角范围量化为单元格。设备标记范围在保护边界内的像素，并将其累加到直方图的相应单元格中，然后对直方图单元进行聚类以检测对象入侵。

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