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公开(公告)号：KR1020140061823A
公开(公告)日：2014-05-22
申请号：KR1020120128921
申请日：2012-11-14
Applicant: 한국과학기술연구원
IPC: G06T7/20
Abstract: The present invention relates to an apparatus and a method for tracking an atypical object based on selected feature points and selectively-expected course estimation based on image, which comprises (a) a step of detecting an object; (b) a step of setting up an object area and a peripheral area by dividing an area based on the detected object into the object area and the peripheral area; (c) a step of extracting feature points from the object and a peripheral area, respectively; (d) a step of judging discernment of object feature points based on the feature points extracted from the object and the peripheral area; (e) a step of generating and updating a change map of the peripheral area based on the extracted and updated feature points of the object and the feature area; (f) a step of limiting and extracting a transferable area of the object based on the degrees of the changing feature points in the peripheral area; and (g) a step of tracking the object inside the limited and extracted transferable area of the object by adaptively selecting the feature points of the object which is determined to have discernment.
Abstract translation: 本发明涉及一种基于所选择的特征点和基于图像的有选择地预期的路线估计来跟踪非典型物体的装置和方法，其包括：（a）检测对象的步骤; （b）通过将基于检测对象的区域划分为对象区域和周边区域来建立对象区域和周边区域的步骤; （c）分别从对象和外围区域提取特征点的步骤; （d）基于从对象和周边区域提取的特征点来判断对象特征点的识别的步骤; （e）基于对象和特征区域的提取和更新的特征点来生成和更新外围区域的改变图的步骤; （f）基于周边区域中的改变特征点的程度来限制和提取对象的可转移区域的步骤; 以及（g）通过自适应地选择被确定为具有辨别力的对象的特征点来跟踪对象的受限和提取的可转移区域内的对象的步骤。
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公开(公告)号：KR101394270B1
公开(公告)日：2014-05-13
申请号：KR1020120128922
申请日：2012-11-14
Applicant: 한국과학기술연구원
IPC: G06T7/20 , G06T7/40 , G08B13/196
CPC classification number: G06T7/246 , G06K9/00771 , G08B13/196 , H04N7/18
Abstract: The present invention relates to an image detection method for behavior recognition and abnormal situation automatic detection based on an event comprises the following steps of: (a) detecting an object; (b) tracking the detected object; (c) analyzing the behavior of the tracked object; (d) recognizing whether the object behaves typically or atypically based on the behavior analysis; (e) extracting the order of situation/activity priorities from the typical and atypical behavior recognition result according to a predetermined rule, and setting countermeasures according to the order of priorities; and (f) activating an alarm for each countermeasure based on the set countermeasures according to the order of priorities, wherein the atypical behavior recognition is determined based on a relationship between consecutive behaviors.
Abstract translation: 本发明涉及一种基于事件的行为识别和异常情况自动检测的图像检测方法，包括以下步骤：（a）检测对象; （b）跟踪检测到的物体; （c）分析跟踪对象的行为; （d）基于行为分析来识别对象是否典型地或不典型地行为; （e）根据预定规则从典型和非典型行为识别结果中提取情况/活动优先顺序，并根据优先顺序设置对策; 和（f）基于根据优先级顺序的所设置的对策来激活每个对策的警报，其中基于连续行为之间的关系来确定非典型行为识别。
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公开(公告)号：KR101342950B1
公开(公告)日：2013-12-18
申请号：KR1020120060344
申请日：2012-06-05
Applicant: 한국과학기술연구원
Abstract: 본발명의일 측면에따르면, 송전선의길이방향을따라이동하며선로의상태를검사하는선로검사로봇으로서, 복수의제1연결부가상단에형성된몸체와, 상기제1연결부에체결가능한제2연결부가하단에형성된지지암 및상기지지암의상부에회전가능하게연결되는롤러를포함하고, 상기제1연결부와상기제2연결부를결합또는분리하여상기지지암이상기몸체와탈부착가능한로봇이제공된다.
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公开(公告)号：KR1020130136827A
公开(公告)日：2013-12-13
申请号：KR1020120060529
申请日：2012-06-05
Applicant: 한국과학기술연구원
IPC: A61B5/0476 , A61B5/11
Abstract: The present invention relates to an apparatus and a method for storing brain activity data using image and distance information, which are capable of automatically correct noises that are generated when a subject moves in a bio-signal detection system. To this end, the apparatus for storing brain activity data using image and distance information is configured to comprise: a brain activity measuring sensor for measuring brain activity; an image measuring unit for measuring image and distance information; a movement detecting unit for detecting movement of the subject using the image and distance information measured by the image measuring unit; and a brain activity data storing unit for storing brain activity data measured by the brain activity measuring sensor, wherein the brain activity data storing unit stores the brain activity data excluding a part of the brain activity data in a range where the movement of the subject is detected by the movement detecting unit. [Reference numerals] (AA) Subject;(BB) Measure image and distance information;(CC) Measure brain waves;(DD) sense a movement;(EE) Trigger generated;(FF) Store the trigger;(GG) Store the brain waves;(HH) Eliminate noises
Abstract translation: 本发明涉及一种使用图像和距离信息存储脑活动数据的装置和方法，其能够自动校正当对象在生物信号检测系统中移动时产生的噪声。 为此，用于使用图像和距离信息存储脑活动数据的装置被配置为包括：用于测量脑活动的脑活动测量传感器; 用于测量图像和距离信息的图像测量单元; 移动检测单元，用于使用图像检测被摄体的移动和由图像测量单元测量的距离信息; 以及脑活动数据存储单元，用于存储由脑活动测量传感器测量的脑活动数据，其中脑活动数据存储单元将除了一部分脑活动数据之外的大脑活动数据存储在受试者的运动范围内 由运动检测单元检测。 （AA）主题;（BB）测量图像和距离信息;（CC）测量脑波;（DD）感测运动;（EE）触发生成;（FF）存储触发;（GG） 脑波;（HH）消除噪音
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公开(公告)号：KR1020130136826A
公开(公告)日：2013-12-13
申请号：KR1020120060528
申请日：2012-06-05
Applicant: 한국과학기술연구원
Abstract: The present invention relates to an apparatus and a method for correcting the position of an MEG sensor and the position of the head of a person under test by using image and distance information and, more in detail, to an apparatus for enhancing the accuracy of measured MEG data by correcting automatically the position of the sensor and the head of the person under test in the case that the MEG sensor attached to the head of the person under test moves because the person moves. For this, the apparatus for correcting the position of an MEG sensor and the position of the head of a person under test by using image and distance information comprises: the MEG sensor for measuring activities of the brain; an initial position storing part for prestoring the position of the head of the person under test relative the position of the MEG sensor at an initial stage of sensing in the MEG sensor; an image measuring part for measuring the image and distance information; a position correcting part for detecting a movement of the person under test by using the image and the distance information measured from the image measuring part and correcting the position of the MEG sensor based on the position of the head relative to the position of the MEG sensor; and an MEG data storing part for storing MEG data measured from the MEG sensor. [Reference numerals] (10) MEG sensor;(20) Image measuring part;(30) Initial position storing part;(40) Trigger generating part;(50) Position correcting part;(60) MEG data storing part;(70) Display part
Abstract translation: 本发明涉及一种用于通过使用图像和距离信息来校正MEG传感器的位置和被测试者的头部的位置的装置和方法，并且更详细地涉及一种用于增强测量的准确度的装置 MEG数据通过自动校正传感器的位置和被测试人员的头部，因为附着在被测试人员的头部的MEG传感器因人的移动而移动。 为此，用于通过使用图像和距离信息来校正MEG传感器的位置和被测试者的头部的位置的装置包括：用于测量脑的活动的MEG传感器; 初始位置存储部分，用于在MEG传感器的感测的初始阶段相对于MEG传感器的位置预先测试被测试者的头部的位置; 用于测量图像和距离信息的图像测量部分; 位置校正部分，用于通过使用图像和从图像测量部分测量的距离信息来检测被测试者的移动，并且基于头部相对于MEG传感器的位置的位置来校正MEG传感器的位置; ; 以及用于存储从MEG传感器测量的MEG数据的MEG数据存储部分。 （10）MEG传感器;（20）图像测量部;（30）初始位置存储部;（40）触发生成部;（50）位置校正部;（60）MEG数据存储部;（70） 显示部分
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Patent Agency Ranking
公开(公告)号：KR101260367B1
公开(公告)日：2013-05-07
申请号：KR1020110096764
申请日：2011-09-26
Applicant: 한국과학기술연구원
IPC: G06T7/00
Abstract: 본발명은 (1) 대상물체의영상데이터수신및 3D 윤곽을획득하는단계와 (2) 상기영상데이터및 상기 3D 윤곽을이용하여상기대상물체의기본파지타입및 기능파지타입을탐색하는단계와 (3) 상기설정된각각의파지타입에대하여파지큐(Grasping Cue)를추출하고, 이를통해 1 이상의후보파지영역(Grasping Region)을생성하는단계와 (4) 상기각각의후보파지영역별로파지점후보쌍들을추출하는단계및 (5) 상기각각의파지타입별로상기후보파지영역중에서하나의파지영역을선택하고, 상기선택된파지영역내의후보쌍들중에서하나의파지점쌍을선택하는단계를포함하는범주인식에의한파지점생성방법및 그방법에대한프로그램을기록한컴퓨터로읽을수 있는기록매체에관한것으로서본 발명에따르면로봇스스로동일한범주에속하나형상이다른다양한물체를인식하여파지할수 있게되는효과가있다.
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公开(公告)号：KR1020130032990A
公开(公告)日：2013-04-03
申请号：KR1020110096764
申请日：2011-09-26
Applicant: 한국과학기술연구원
IPC: G06T7/00
CPC classification number: G06T1/0014 , B25J19/023 , G06T7/13
Abstract: PURPOSE: A method for generating a nip point by range recognition and a computer-readable recording medium including a program for the method are provided to recognize and grip objects in various shapes in the same range by generating a nip point by recognizing the objects in the same range. CONSTITUTION: A CPU(Central Processing Unit) explores an object gripping direction after obtaining a 3D outline from image data(S10,S20). The CPU extracts a gripping cue for each set gripping cue and generates a candidate gripping area for each gripping cue(S30). The CPU selects one of candidate pairs in an optimal gripping area after the points of nip point candidate pairs are extracted(S40,S50). The CPU generates a nip point manifold(S60). [Reference numerals] (AA) Start; (BB) End; (S10) Step of obtaining a 3D outline from image data; (S20) Step of searching a basic or function grasping type; (S30) Step of generating a candidate grasping area; (S40) Step of extracting grasping point candidate pairs; (S50) Step of selecting a grasping point pair; (S60) Step of generating a grasping point manifold;
Abstract translation: 目的：提供一种用于通过范围识别产生夹点的方法和包括用于该方法的程序的计算机可读记录介质，以通过生成夹点来识别和夹持在相同范围内的各种形状的对象， 相同范围 构成：CPU（中央处理单元）从图像数据中获取3D轮廓后，探索对象夹持方向（S10，S20）。 CPU为每个夹持提示提取夹持线索，并为每个夹持线索产生候选夹持区域（S30）。 在提取夹点候选对的点之后，CPU在最佳夹持区域中选择候选对中的一个（S40，S50）。 CPU产生压点歧管（S60）。 （附图标记）（AA）开始; （BB）结束; （S10）从图像数据获取3D轮廓的步骤; （S20）搜索基本或功能抓取类型的步骤; （S30）生成候选抓取区域的步骤; （S40）提取抓取候选对的步骤; （S50）选择对位点对的步骤; （S60）产生把持歧管的步骤;
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公开(公告)号：KR101081495B1
公开(公告)日：2011-11-09
申请号：KR1020090107598
申请日：2009-11-09
Applicant: 한국과학기술연구원
IPC: G06T1/00
Abstract: 본발명은이동로봇이위치추정및 주행을위해서환경에대한혼합지도를작성하는방법에있어서, 로봇의환경지도작성단계를사용자안내단계(User's Guidance), 로봇의지도수정단계(Robot's Map Revision), 로봇의지도완성단계(Robot's Map Completion)로구분하고, 이를위해서위상학적지도상의노드를사용자노드(User Node 혹은 U-node)와로봇노드(Robot Node)로구분하는것을특징으로하는이동로봇의혼합지도를작성하는방법이제시된다.
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109.发明授权거리센서로부터 얻은 주변환경의 거리정보를 바탕으로 한 이동로봇탐사시스템 및 이를 이용한 탐사방법 有权移动机器人探测系统建立了距离传感器所需的周围环境距离信息，采用移动机器人探测系统建立探测方法
公开(公告)号：KR101037379B1
公开(公告)日：2011-05-27
申请号：KR1020080129195
申请日：2008-12-18
Applicant: 한국과학기술연구원
Abstract: 본 발명은 거리센서로부터 얻은 주변환경의 거리정보를 바탕으로 한 이동로봇탐사시스템을 이용한 탐사방법에 관한 것으로, 이동 이동로봇탐사시스템이 거리 센서를 통해 지형 정보를 획득하여, 스스로 위상 지도를 생성하면서 이동하는 탐사 방법에 관한 것이다.
본 발명에 따른 거리센서로부터 얻은 주변환경의 거리정보를 바탕으로 한 이동로봇탐사시스템을 이용한 탐사방법은 거리센서부로부터 주위 환경의 거리 정보를 입력을 받는 거리 정보 입력 단계와, 지도생성부가 거리 정보 입력 단계에서 입력된 정보에서 노드 정보를 획득하는 노드 추출 단계와, 지도 생성부의 노드 추출단계에서 입력된 노드 정보 중에서 일차연결노드(first child node)를 찾아내는 일차연결노드(first child node) 추출 단계와 일차연결노드(first child node) 중에서 컨케이브노드(concave node)를 찾아내는 컨케이브노드(concave node) 추출 단계와, 일차연결노드(first child node)에서 위상지도로 사용할 노드들을 선정하고 위상지도를 생성하는 전역적 위상지도 생성 단계와 위상지도에서 이동로봇탐사시스템이 이동할 노드(node)를 선택하는 타겟포인트(ta rget point) 선정 단계를 포함한다.
이동로봇탐사시스템, 위상지도, 컨케이브노드(concave node), 탐 사(exploration), 거리센서-
公开(公告)号：KR1020090088516A
公开(公告)日：2009-08-20
申请号：KR1020080013832
申请日：2008-02-15
Applicant: 한국과학기술연구원
CPC classification number: B25J19/023 , B25J5/00 , G01C21/00 , G05D1/0251 , G05D1/0274 , G06T7/80 , G06T2207/10021 , G06T2207/30252
Abstract: A self-location estimating method of a robot based on surrounding environment information is provided to enable a movable robot to recognize individual objects through a vision sensor, analyze the recognized object based on a given map and then estimate its position. A camera obtains images around a robot(S110). A location calculating unit recognizes individual objects within the obtained images. Camera coordinate position values of a local feature point of each individual object and a local feature point of the surrounding environment including the individual objects are generated(S120). The position of the robot is estimated based on the camera coordinate position values of the local feature point of the surrounding environment(S130).
Abstract translation: 提供了一种基于周围环境信息的机器人的自定位估计方法，以使可移动机器人能够通过视觉传感器识别各个物体，并基于给定的映射来分析识别的对象，然后估计其位置。 相机获取机器人周围的图像（S110）。 位置计算单元识别所获得的图像内的各个对象。 生成每个单独对象的局部特征点和包括各个对象的周围环境的局部特征点的相机坐标位置值（S120）。 基于周围环境的局部特征点的摄像机坐标位置值来估计机器人的位置（S130）。
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