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31.发明授权
公开(公告)号：KR100834577B1
公开(公告)日：2008-06-02
申请号：KR1020060124036
申请日：2006-12-07
Applicant: 한국전자통신연구원
CPC classification number: G06K9/3241 , B25J9/0003 , B25J9/1666 , B25J9/1697 , B25J19/04
Abstract: A method and an apparatus for searching and following a target by using stereo vision is provided to detect objects close to a service robot, to present accurate shape of a target with image processing processed by a hardware chip, to reach the target without being collided with other objects by using collected information on surroundings, and to reach the target in a stable manner by matching information collected by stereo vision with original image processing. A method of searching and following a target for an intelligent home service robot includes a step(S110) of collecting commands issued externally; a step(S120) of processing visions for taking images through more than one camera, extracting a distance by calculating a disparity map about objects in the images taken by cameras, and extracting horizontal and vertical sizes on the objects with the extracted distance to sort out a target from objects; and a step(S160) of moving toward a target based on the result of processing visions.
Abstract translation: 提供了一种通过使用立体视觉来搜索和跟踪目标的方法和装置，用于检测靠近服务机器人的物体，通过由硬件芯片处理的图像处理来呈现目标的准确形状，以到达目标而不与其相冲突 通过使用收集的环境信息，通过将立体视觉收集的信息与原始图像处理相匹配来稳定地达到目标，从而实现其他目的。 智能家庭服务机器人的搜索和跟踪目标的方法包括收集外部发出的命令的步骤（S110） 处理通过多于一个相机拍摄图像的愿景的步骤（S120），通过计算由相机拍摄的图像中的对象的视差图提取距离，并且提取具有提取的距离的对象上的水平和垂直尺寸以进行整理 来自物体的目标 以及基于处理视觉的结果向目标移动的步骤（S160）。
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32.发明授权
公开(公告)号：KR100776805B1
公开(公告)日：2007-11-19
申请号：KR1020060096569
申请日：2006-09-29
Applicant: 한국전자통신연구원
IPC: H04N7/18
CPC classification number: G06T7/593 , G06T2207/10012 , H04N13/10 , H04N13/194 , H04N13/239
Abstract: An apparatus and a method for efficient image information transmission of an intelligent service robot system through using stereo vision processing are provided to transmit information, collected by a robot, to a server party for processing the collected information in consideration of loads of a network. A vision processor(100) collects videos photographed through cameras. With respect to the collected videos, the vision processor performs video processing for minimizing the amount of information about regions except an active region necessary for video processing in a robot server(20) for processing data transmitted from a robot terminal in a ubiquitous robot system. A communication unit(300) performs communication with the robot server, transmits the video information processed by the vision processor to the robot server and receives the processed result information from the robot server. A controller(200) controls the video processing by the vision processor, transmission of the processed video and operations of the robot terminal corresponding to the result information received from the robot server.
Abstract translation: 提供了一种通过使用立体视觉处理来实现智能服务机器人系统的有效图像信息传输的装置和方法，用于将由机器人收集的信息传送到服务器端，以便考虑到网络的负载来处理所收集的信息。 视觉处理器（100）收集通过相机拍摄的视频。 对于所收集的视频，视觉处理器执行用于最小化除了机器人服务器（20）中用于处理在无处不在的机器人系统中的机器人终端发送的数据的机器人服务器（20）所需的有效区域以外的区域的信息量的视频处理。 通信单元（300）执行与机器人服务器的通信，将由视觉处理器处理的视频信息发送到机器人服务器，并从机器人服务器接收处理结果信息。 控制器（200）控制视觉处理器的视频处理，处理的视频的传输和机器人终端的对应于从机器人服务器接收到的结果信息的操作。
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公开(公告)号：KR1020170047780A
公开(公告)日：2017-05-08
申请号：KR1020150148266
申请日：2015-10-23
Applicant: 한국전자통신연구원
IPC: H04N13/02 , H04N1/44 , H04N21/431
CPC classification number: G06T7/40 , G06K9/6203 , G06K2009/6213 , G06T7/41 , G06T7/44 , G06T7/593 , G06T2207/10012 , G06T2207/20021 , G06T2207/20228
Abstract: 본발명은스테레오영상을매칭하여하나의영상으로결합하기위하여필요한로우코스트(Raw cost)를계산하기위한장치및 그방법에관한것으로, 영상정보획득부, 윈도우생성부, 윈도우마스크생성부, 윈도우마스킹부, 로우코스트계산부를포함할수 있으며, 이를통해스테레오영상을매칭하여영상을결합할때 얇은물체의경계선부분에서도정교한 3D 정보를획득하기위하여필요한로우코스트(Raw cost)를적응적윈도우마스크를이용하여계산하는것을그 목적이있다.
Abstract translation: 本发明涉及用于计算匹配立体图像并将它们组合成单个图像所需的原始成本的设备和方法，更具体地涉及用于计算原始成本的设备和方法， 通过使用自适应窗口掩模，当立体图像匹配并且图像被组合时，通过使用自适应窗口掩模，获取在薄对象的边界部分处的复杂3D信息所需的Raw成本 目的是要计算。
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公开(公告)号：KR1020160030664A
公开(公告)日：2016-03-21
申请号：KR1020140120080
申请日：2014-09-11
Applicant: 한국전자통신연구원
IPC: H04N21/472 , H04N13/02 , H04N21/45
CPC classification number: H04N21/235
Abstract: 감정정보결정장치및 방법은피사체에대응하는영상및 깊이맵을이용하여비음성적으로표현되는사용자의감정정보를결정하고, 결정된사용자의감정정보를가공하는것으로, 가공된사용자의감정정보는실시간으로변화하는사용자의감정정보에대응하여콘텐츠서비스를통해사용자에게제공하는것이다.
Abstract translation: 本发明涉及一种用于确定情感信息的装置和方法。 本发明的方法包括以下步骤：通过使用与被摄体对应的图像和深度图来确定非口头表达的用户情感信息; 并处理确定的用户情绪信息。 经处理的用户情绪信息通过内容服务响应于实时改变的用户情绪信息被提供给用户。
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公开(公告)号：KR1020150129990A
公开(公告)日：2015-11-23
申请号：KR1020140056919
申请日：2014-05-13
Applicant: 한국전자통신연구원
IPC: H04N13/00
CPC classification number: H04N13/139 , H04N13/204
Abstract: 본발명은효율적인스테레오매칭의수행장치및 방법에관한것이다. 이러한본 명세서는장면에대한좌영상과우영상을각각획득하는단계, 상기좌영상및 상기우영상각각에서사람을검출하는단계, 상기검출된사람의위치를기반으로정해지는스테레오매칭영역을설정하는단계, 미리정해진해상도에맞게상기스테레오매칭영역의크기를조정하는단계, 및상기크기가조정된스테레오매칭영역에대해스테레오매칭을수행하는단계를포함하는스테레오매칭방법을개시한다.
Abstract translation: 本发明涉及一种用于执行有效的立体匹配的装置及其方法。 公开了本说明书的立体匹配方法，其包括以下步骤：获得关于场景的右图像和左图像; 从右图像和左图像中检测人物; 基于检测到的人的位置设置立体匹配区域; 调整立体匹配区域的大小以适合预设分辨率; 并且对于尺寸被调整的立体匹配区域进行立体匹配。
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Patent Agency Ranking
公开(公告)号：KR101081973B1
公开(公告)日：2011-11-09
申请号：KR1020080124073
申请日：2008-12-08
Applicant: 한국전자통신연구원
IPC: G06T7/20
Abstract: 본발명은센싱정보를이용하여입력영상에서관심영상영역(Region Of IntereSt, ROI)를추출하는장치및 그관심영상영역을이용하여효율적으로얼굴검출을수행할수 있는얼굴검출시스템및 그방법에관한것으로, 본발명의일면에따른관심영상영역검출장치는, 마이크로부터수신된음향으로부터음원의위치를추정하는음원추정부와, 상기음원의위치로추정된부분을촬영하는카메라와, 상기촬영된영상으로부터대상체의움직임을검출하는움직임검출부및 상기추정된음원의위치에대한정보와상기대상체의움직임에대한정보를이용하여상기영상으로부터얼굴검출을위한관심영상영역을추출하는관심영상영역추출부를포함하는것을특징으로한다.
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公开(公告)号：KR1020110071207A
公开(公告)日：2011-06-29
申请号：KR1020090127711
申请日：2009-12-21
Applicant: 한국전자통신연구원
CPC classification number: H04N13/161 , H04N13/167 , H04N13/327
Abstract: PURPOSE: A camera image evaluation and correction method for stereo matching and a stereo camera system using the same are provided to offer right/left images for stereo matching which is properly controlled on the basis of the human. CONSTITUTION: A right and left motion vector separator(360) separates right and left motion vectors. A human detector(370) creates a left ROI(Region Of Interest) area and a right ROI area in a left image motion vector and a right image motion vector. An ROI representative value extractor(380) extracts a representative value in the left ROI image of the left ROI area and the right ROI image of the right ROI area.
Abstract translation: 目的：提供用于立体匹配的相机图像评估和校正方法以及使用其的立体相机系统，以提供基于人类适当控制的立体匹配的右/左图像。 构成：右和左运动矢量分离器（360）分离左右运动矢量。 人类检测器（370）在左图像运动矢量和右图像运动矢量中创建左ROI（感兴趣区域）区域和右ROI区域。 ROI代表值提取器（380）提取左ROI区域的左ROI图像和右ROI区域的右ROI图像中的代表值。
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公开(公告)号：KR1020100072772A
公开(公告)日：2010-07-01
申请号：KR1020080131279
申请日：2008-12-22
Applicant: 한국전자통신연구원
CPC classification number: G06K9/4642 , G06K9/00228
Abstract: PURPOSE: A method and an apparatus for real-time face detection using a stereo vision are provided to perform face detection in foreground including face pattern from whole video by stereo vision processor thereby widely reducing face detection processing time. CONSTITUTION: A vision processing unit(320) calculates distance information by usage of a plurality of images including face pattern. Based on the distance information, the vision processing unit divides foreground image including the face pattern and background image not including the face pattern. According to distance information, a face detection unit(330) adjusts video size of the foreground image. The face detection unit detects the face pattern from adjusted foreground image.
Abstract translation: 目的：提供一种使用立体视觉进行实时脸部检测的方法和装置，用于在前景执行面部检测，包括立体视觉处理器的整个视频的脸部图案，从而大大减少脸部检测处理时间。 构成：视觉处理单元（320）通过使用包括脸部图案的多个图像来计算距离信息。 基于距离信息，视觉处理单元将包括脸部图案的前景图像和不包括脸部图案的背景图像分割开。 根据距离信息，面部检测单元（330）调整前景图像的视频大小。 面部检测单元从调整前景图像检测脸部图案。
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公开(公告)号：KR100951637B1
公开(公告)日：2010-04-09
申请号：KR1020070132691
申请日：2007-12-17
Applicant: 한국전자통신연구원
Abstract: 본 발명은 스테레오 비전 시스템의 영상 처리 방법에 관한 것으로, 이를 위하여 본 발명은, 스테레오 영상 입력에 대한 전처리 과정을 수행하고, 동일한 물체로 판단되는 좌측 및 우측 영상의 픽셀간 양안차(disparity)를 생성하는 스테레오 매칭을 수행하여 스테레오 영상 정보를 획득하는 종래 방법과는 달리, 스테레오 비전 시스템에서 스테레오 영상이 입력되면, 영상 압축 모듈을 통해 저해상도 거리 정보를 획득하거나 스테레오 매칭 모듈을 이용하여 고해상도 거리 정보를 획득한 후, 저해상도 거리 정보 또는 고해상도 거리 정보에 대응하는 영상의 움직임 벡터를 이용하여 영상 노이즈를 제거함으로써, 움직임 벡터를 이용하여 영상 노이즈를 효과적으로 제거하여 스테레오 영상에 대한 정확한 거리 정보를 획득할 수 있는 것이다.
스테레오 비전 시스템, 스테레오 매칭(Stereo Matching)-
公开(公告)号：KR1020100015167A
公开(公告)日：2010-02-12
申请号：KR1020080076098
申请日：2008-08-04
Applicant: 한국전자통신연구원
CPC classification number: G01H17/00 , G06K9/00348 , G06K9/0053
Abstract: PURPOSE: A user recognition device and a user recognition method are provided to use a walking pattern as ID information of a user, thereby improving a recognition rate of the user through simple configuration. CONSTITUTION: A sensing unit(110) senses vibration due to walking of a user to output an electrical signal. A pattern calculator(130) obtains a walking pattern of a pedestrian from the electrical signal. A user decider(150) compares the walking pattern with reference date. The user decider identifies a user based on the comparison result.
Abstract translation: 目的：提供用户识别装置和用户识别方法以使用步行模式作为用户的ID信息，从而通过简单的配置提高用户的识别率。 构成：感测单元（110）感测由于用户的行走而产生的振动以输出电信号。 图案计算器（130）从电信号中获取行人的步行图案。 用户决定器（150）将步行模式与参考日期进行比较。 用户决定器基于比较结果识别用户。
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