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    IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING METHOD
    1.
    发明申请
    IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING METHOD 有权
    图像处理装置和图像处理方法

    公开(公告)号：US20130148853A1

    公开(公告)日：2013-06-13

    申请号：US13706936

    申请日：2012-12-06

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Won Jun HWANG ,  Dong Soo KIM ,  Kyung Shik ROH ,  Young Bo SHIM ,  Xiangsheng HUANG

    IPC: G06K9/00

    CPC classification number: G06K9/00268 ,  G06K9/00369

    Abstract: An image processing apparatus and method may accurately separate only humans among moving objects, and also accurately separate even humans who have no motion via human segmentation using a depth data and face detection technology. The apparatus includes a face detecting unit to detect a human face in an input color image, a background model producing/updating unit to produce a background model using a depth data of an input first frame and face detection results, a candidate region extracting unit to produce a candidate region as a human body region by comparing the background model with a depth data of an input second or subsequent frame, and to extract a final candidate region by removing a region containing a moving object other than a human from the candidate region, and a human body region extracting unit to extract the human body region from the candidate region.

    Abstract translation: 图像处理装置和方法可以精确地分离移动物体中的人，并且还可以使用深度数据和面部检测技术，通过人类分割精确地分离甚至没有运动的人。 该装置包括：检测输入彩色图像中的人脸的脸部检测单元，使用输入的第一帧的深度数据和面部检测结果来生成背景模型的背景模型生成/更新单元;候选区域提取单元， 通过将背景模型与输入的第二帧或后续帧的深度数据进行比较来产生作为人体区域的候选区域，并且通过从候选区域移除包含除人之外的移动对象的区域来提取最终候选区域， 以及人体区域提取单元，用于从候选区域提取人体区域。

    WEARABLE ROBOT AND CONTROL METHOD THEOROF
    3.
    发明申请
    WEARABLE ROBOT AND CONTROL METHOD THEOROF 有权
    可靠的机器人和控制方法理论

    公开(公告)号：US20150158175A1

    公开(公告)日：2015-06-11

    申请号：US14565156

    申请日：2014-12-09

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Gyung Rock KIM ,  Ji Min KIM ,  Young Bo SHIM ,  Jong Do CHOI ,  Tae Sin HA

    IPC: B25J9/00 ,  B25J9/16

    CPC classification number: B25J9/0006 ,  G05B2219/40305 ,  G05B2219/40413

    Abstract: Disclosed herein is a wearable robot for assisting a wearer's intended motion, including: one or more links configured to support the wearer; one or more joints unit configured to connect the links to each other; a controller configured to determine the wearer's intended motion, and to calculate at least one torque based on the wearer's intended motion; and a driver configured to generate the calculated torque in the joints. According to the wearable robot, a wearer's intended motion may be determined in real time based on a velocity of the wearer's center of gravity. At this time, by using a pressure sensor, reliability of the motion determination may increase. Also, joint movements may be effectively controlled according to the wearer's intended motion.

    Abstract translation: 本文公开了一种用于辅助穿戴者预期运动的可佩戴机器人，包括：一个或多个构造成支撑佩戴者的连杆; 一个或多个接头单元，被配置为将链节彼此连接; 控制器，其被配置为确定穿着者的预期运动，并且基于穿着者的预期运动来计算至少一个扭矩; 以及配置成在关节中产生计算出的转矩的驾驶员。 根据穿戴机器人，可以基于穿戴者重心的速度实时地确定佩戴者的预期运动。 此时，通过使用压力传感器，运动判定的可靠性可能增加。 此外，可以根据佩戴者的预期运动有效地控制关节运动。

    IMAGE PROCESSING APPARATUS AND METHOD THEREOF
    4.
    发明申请
    IMAGE PROCESSING APPARATUS AND METHOD THEREOF 有权
    图像处理装置及其方法

    公开(公告)号：US20130243337A1

    公开(公告)日：2013-09-19

    申请号：US13845889

    申请日：2013-03-18

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Hyo Seok HWANG ,  Huang Xiangsheng ,  Dong Soo KIM ,  Kyung Shik ROH ,  Young Bo SHIM ,  Suk June YOON ,  Seung Yong HYUNG ,  Won Jun HWANG

    IPC: G06K9/46

    CPC classification number: G06K9/46 ,  G06K9/00201 ,  G06K9/00362

    Abstract: An image processing apparatus for searching for a feature point by use of a depth image and a method thereof are provided. The image processing apparatus includes an input unit configured to input a three-dimensional image having depth information, a feature point extraction unit configured to obtain a designated point from an object image extracted from the depth image to obtain a feature point that is located at a substantially farthest distance from the designated point, and to obtain other feature points that are located at substantially farthest distances from feature points that are previously obtained as well as the designated point. The apparatus includes a control unit configured to control the input unit and the feature point extraction unit so that time in estimating a structure of the object is reduced, and a recognition result is enhanced.

    Abstract translation: 提供了一种通过使用深度图像来搜索特征点的图像处理装置及其方法。 图像处理装置包括：输入单元，被配置为输入具有深度信息的三维图像;特征点提取单元，被配置为从从深度图像提取的对象图像中获取指定点，以获得位于 距离指定点基本上最远的距离，并且获得位于距先前获得的特征点基本上最远的距离以及指定点的其他特征点。 该装置包括：控制单元，被配置为控制输入单元和特征点提取单元，从而减少估计对象结构的时间，增强识别结果。

    METHOD AND APPARATUS FOR POSE RECOGNITION
    5.
    发明申请
    METHOD AND APPARATUS FOR POSE RECOGNITION 审中-公开
    用于识别的方法和装置

    公开(公告)号：US20130238295A1

    公开(公告)日：2013-09-12

    申请号：US13785396

    申请日：2013-03-05

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Seung Yong HYUNG ,  Dong Soo KIM ,  Kyung Shik ROH ,  Young Bo SHIM ,  Suk June YOON ,  Won Jun HWANG ,  Hyo Seok HWANG

    IPC: G06F17/50

    CPC classification number: G06F17/5009 ,  G06T7/251 ,  G06T7/75 ,  G06T2207/10028 ,  G06T2207/30196

    Abstract: An apparatus and a method for pose recognition, the method for pose recognition including generating a model of a human body in a virtual space, predicting a next pose of the model of the human body based on a state vector having an angle and an angular velocity of each part of the human body as a state variable, predicting a depth image about the predicted pose, and recognizing a pose of a human in a depth image captured in practice, based on a similarity between the predicted depth image and the depth image captured in practice, wherein the next pose is predicted based on the state vector having an angular velocity as a state variable, thereby reducing the number of pose samples to be generated and improving the pose recognition speed.

    Abstract translation: 一种用于姿势识别的装置和方法，所述姿态识别方法包括在虚拟空间中生成人体的模型，基于具有角度和角速度的状态向量来预测人体的模型的下一姿态 根据所预测的深度图像和所拍摄的深度图像之间的相似度，预测人体的每个部分作为状态变量，预测关于预测姿态的深度图像，以及在实际捕获的深度图像中识别人的姿态 在实践中，其中基于具有作为状态变量的角速度的状态矢量来预测下一个姿势，从而减少要产生的姿势样本的数量并提高姿势识别速度。

    SURGICAL ROBOT SYSTEM AND CONTROL METHOD THEREOF
    8.
    发明申请
    SURGICAL ROBOT SYSTEM AND CONTROL METHOD THEREOF 有权
    外科手术系统及其控制方法

    公开(公告)号：US20140046128A1

    公开(公告)日：2014-02-13

    申请号：US13943962

    申请日：2013-07-17

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Min Hyung LEE ,  Young Bo SHIM ,  Byung June CHOI ,  Young Do KWON ,  Kyung Shik ROH

    IPC: A61B19/00 ,  A61B5/055 ,  A61B1/04 ,  A61B6/03 ,  A61B17/04 ,  A61B1/00

    CPC classification number: A61B34/37 ,  A61B1/00009 ,  A61B1/00149 ,  A61B1/04 ,  A61B5/055 ,  A61B5/11 ,  A61B5/1124 ,  A61B5/7264 ,  A61B5/742 ,  A61B6/032 ,  A61B17/0469 ,  A61B17/062 ,  A61B34/30

    Abstract: A control method may be applied to a surgical robot system including a slave robot having a robot arm to which a main surgical tool and an auxiliary surgical tool are coupled, and a master robot having a master manipulator to manipulate the robot arm. The control method includes acquiring data regarding a motion of the master manipulator, predicting a basic motion to be performed by an operator based on the acquired motion data and results of learning a plurality of motions constituting a surgical task, and adjusting the auxiliary surgical tool so as to correspond to the operator basic motion based on the predicted basic motion. The control method allows an operator to perform surgery more comfortably and to move or fix all required surgical tools to or at an optimized surgical position.

    Abstract translation: 控制方法可以应用于包括具有主外科手术工具和辅助外科手术工具的机器人臂的从动机器人的外科手术机器人系统，以及具有操纵机器人手臂的主操作器的主机器人。 所述控制方法包括获取关于主操纵器的运动的数据，基于所获取的运动数据和学习构成手术任务的多个运动的结果来预测操作者将执行的基本运动，以及调整辅助外科手术工具 对应于基于预测的基本运动的操作者基本运动。 控制方法允许操作者更舒适地进行手术，并且将所有所需的手术工具移动或固定到优化的外科手术位置。

    ENDOSCOPE AND IMAGE PROCESSING APPARATUS USING THE SAME
    9.
    发明申请
    ENDOSCOPE AND IMAGE PROCESSING APPARATUS USING THE SAME 审中-公开
    使用相同的内窥镜和图像处理装置

    公开(公告)号：US20170071457A1

    公开(公告)日：2017-03-16

    申请号：US15361932

    申请日：2016-11-28

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Won Jun HWANG ,  Kyung Shik ROH ,  Young Bo SHIM ,  Suk June YOON

    IPC: A61B1/00 ,  A61B1/313 ,  A61B1/05

    CPC classification number: A61B1/00193 ,  A61B1/00009 ,  A61B1/00096 ,  A61B1/00177 ,  A61B1/00179 ,  A61B1/00181 ,  A61B1/00183 ,  A61B1/051 ,  A61B1/0623 ,  A61B1/0676 ,  A61B1/3132 ,  A61B2034/301

    Abstract: An endoscope to acquire a 3D image and a wide view-angle image and an image processing apparatus using the endoscope includes a front image acquirer to acquire a front image and a lower image acquirer to acquire a lower image in a downward direction of the front image acquirer. The front image acquirer includes a first objective lens and a second objective lens arranged side by side in a horizontal direction. The lower image acquirer includes a third objective lens located below the first objective lens and inclined from the first objective lens and a fourth objective lens located below the second objective lens and inclined from the second objective lens.

    Abstract translation: 用于获取3D图像和宽视角图像的内窥镜和使用该内窥镜的图像处理装置包括：前摄像获取器，用于获取前图像和下图像获取器，以获取前图像的向下方向的下图像; 收购。 前摄像装置包括沿水平方向并排设置的第一物镜和第二物镜。 下部图像获取器包括位于第一物镜下方并从第一物镜倾斜的第三物镜和位于第二物镜下方并从第二物镜倾斜的第四物镜。

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