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    Robot and electronic device for performing hand-eye calibration
    31.
    发明授权
    Robot and electronic device for performing hand-eye calibration 有权

    公开(公告)号：US10780585B2

    公开(公告)日：2020-09-22

    申请号：US15860071

    申请日：2018-01-02

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Soon Yong Park ,  Kyung Shik Roh ,  Sung Hwan Ahn ,  Suk June Yoon ,  So Hee Lee ,  Young Pil Jeon

    IPC: B25J9/02 ,  B25J9/16 ,  G06T7/70 ,  G06T7/80

    Abstract: A robot for performing hand-eye calibration is provided. The robot includes a robot arm including a plurality of joints, a plurality of arm sections, and an end effector, a communication interface, and a control circuit. The control circuit controls the robot arm to place the external object on a worktable after the external object is grasped by the end effector, acquires coordinates of a central point of the external object in a coordinate system of the camera from an image of the external object, and calculates a calibration parameter for defining a relation between a coordinate system of the end effector and the coordinate system of the camera, based on coordinates of the end effector in a base coordinate system of the robot and coordinates of the central point of the external object in the coordinate system of the camera when the external object is placed on the worktable.

    Mobile robot and method for controlling the same
    32.
    发明授权
    Mobile robot and method for controlling the same 有权

    公开(公告)号：US10229501B2

    公开(公告)日：2019-03-12

    申请号：US15340496

    申请日：2016-11-01

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Bo Young Kim ,  No San Kwak ,  Kyung Shik Roh ,  Soon Yong Park ,  Suk June Yoon ,  So Hee Lee ,  Min Yong Choi

    IPC: G06K9/00 ,  G06T7/00

    Abstract: A mobile robot and method for controlling the same are provided creating patches in images captured by a camera while the mobile robot is moving, estimating motion blur of the patches, and correcting the position of the mobile robot based on the patch from which the motion blur is eliminated, thereby increasing precision in tracking and reliability through accurate mapping. The mobile robot includes a main body, a traveler to move the main body, a camera combined with the main body to capture an image of a surrounding of the main body, a position detector to create a patch in the image captured by the camera, estimate a motion blur of the patch, and track a position of the main body based on the created patch from which the motion blur is eliminated, and a controller to control the traveler based on the position of the main body.

    Mobile apparatus and localization method thereof
    36.
    发明授权
    Mobile apparatus and localization method thereof 有权
    移动装置及其定位方法

    公开(公告)号：US09563528B2

    公开(公告)日：2017-02-07

    申请号：US13723459

    申请日：2012-12-21

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Sung Hwan Ahn ,  No San Kwak ,  Kyung Shik Roh ,  Suk June Yoon ,  Seung Yong Hyung

    IPC: G06F11/30 ,  G05D1/02

    CPC classification number: G06F11/30 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0217 ,  G06F11/3013 ,  G06F11/3058

    Abstract: A mobile apparatus and a localization method thereof which perform localization of the mobile apparatus using a distributed filter system including a plurality of local filters independently operated and one fusion filter integrating results of localization performed through the respective local filters, and additionally apply accurate topological absolute position information to the distributed filter system to improve localization performance (accuracy, convergence and speed in localization, etc.) of the mobile apparatus on a wide space. The mobile apparatus includes at least one sensor, at least one first distribution filter generating current relative position information using a value detected by the at least one sensor, at least one second distribution filter generating current absolute position information using the value detected by the at least one sensor, and a fusion filter integrating the relative position information and the absolute position information to perform localization.

    Abstract translation: 一种移动装置及其定位方法，其使用包括独立操作的多个局部滤波器的分布式滤波器系统来执行移动装置的定位，并且一个融合滤波器集成通过各个局部滤波器执行的定位结果，并且另外应用精确的拓扑绝对位置 向分布式滤波器系统提供信息，从而在宽广的空间上提高移动设备的定位性能（定位精度，收敛速度和定位速度等）。 所述移动装置包括至少一个传感器，至少一个第一分布滤波器，使用由所述至少一个传感器检测的值产生电流相对位置信息;至少一个第二分布滤波器，使用至少由所述至少一个传感器检测到的值产生当前绝对位置信息 一个传感器，以及集成了相对位置信息和绝对位置信息以进行定位的融合滤波器。

    Mobile apparatus and method for controlling the same
    37.
    发明授权
    Mobile apparatus and method for controlling the same 有权
    移动装置及其控制方法

    公开(公告)号：US09082016B2

    公开(公告)日：2015-07-14

    申请号：US13645860

    申请日：2012-10-05

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Suk June Yoon ,  Kyung Shik Roh ,  Sang Il Hong ,  Seung Yong Hyung ,  Hyo Seok Hwang ,  Sung Hwan Ahn

    IPC: G06K9/00 ,  G06K9/46

    CPC classification number: G06K9/00664 ,  G06K9/4671

    Abstract: A method of controlling a mobile apparatus includes acquiring a first original image and a second original image, extracting a first feature point of the first original image and a second feature point of the second original image, generating a first blurring image and a second blurring image by blurring the first original image and the second original image, respectively, calculating a similarity between at least two images of the first original image, the second original image, the first blurring image, and the second blurring image, determining a change in scale of the second original image based on the calculated similarity, and controlling at least one of an object recognition and a position recognition by matching the second feature point of the second original image to the first feature point of the first original image based on the change in scale.

    Abstract translation: 一种控制移动装置的方法包括获取第一原始图像和第二原始图像，提取第一原始图像的第一特征点和第二原始图像的第二特征点，生成第一模糊图像和第二模糊图像 通过分别模糊第一原始图像和第二原始图像，计算第一原始图像，第二原始图像，第一模糊图像和第二模糊图像的至少两个图像之间的相似度，确定第一原始图像和第二原始图像的尺度变化 基于所计算出的相似度的第二原始图像，并且基于尺度变化将第二原始图像的第二特征点与第一原始图像的第一特征点进行匹配来控制对象识别和位置识别中的至少一个 。

    SURGICAL ROBOT SYSTEM AND METHOD OF CONTROLLING THE SAME
    38.
    发明申请
    SURGICAL ROBOT SYSTEM AND METHOD OF CONTROLLING THE SAME 有权
    外科手术系统及其控制方法

    公开(公告)号：US20140288413A1

    公开(公告)日：2014-09-25

    申请号：US13965460

    申请日：2013-08-13

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Won Jun Hwang ,  Kyung Shik Roh ,  Suk June Yoon ,  Seung Yong Hyung

    IPC: A61B19/00 ,  A61B5/06

    CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B90/361 ,  A61B2090/364 ,  A61B2090/367

    Abstract: A surgical robot system includes a slave system to perform a surgical operation on a patient and an imaging system that includes an image capture unit including a plurality of cameras to acquire a plurality of affected area images, an image generator detecting an occluded region in each of the affected area images acquired by the plurality of cameras, removing the occluded region therefrom, warping each of the affected area images from which the occluded region is removed, and matching the affected area images to generate a final image, and a controller driving each of the plurality of cameras of the image capture unit to acquire the plurality of affected area images and inputting the acquired plurality of affected area images to the image generator to generate a final image.

    Abstract translation: 外科手术机器人系统包括对患者执行外科手术的从属系统和成像系统，所述成像系统包括：图像捕获单元，所述成像系统包括：多个摄像机，用于获取多个影响区域图像;图像生成器，其检测每个所述受影响区域的遮挡区域; 由多个照相机获取的受影响区域图像，从其中去除遮挡区域，使从其中去除遮挡区域的每个受影响区域图像翘曲，并匹配受影响区域图像以产生最终图像，以及控制器驱动每个 所述图像捕获单元的多个摄像机获取所述多个影响区域图像，并将所获取的多个影响区域图像输入到所述图像生成器以生成最终图像。

    OBJECT RECOGNITION METHOD, DESCRIPTOR GENERATING METHOD FOR OBJECT RECOGNITION, AND DESCRIPTOR FOR OBJECT RECOGNITION
    39.
    发明申请
    OBJECT RECOGNITION METHOD, DESCRIPTOR GENERATING METHOD FOR OBJECT RECOGNITION, AND DESCRIPTOR FOR OBJECT RECOGNITION 有权
    对象识别方法，用于对象识别的描述符生成方法和用于对象识别的描述符

    公开(公告)号：US20130170744A1

    公开(公告)日：2013-07-04

    申请号：US13729739

    申请日：2012-12-28

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Hyo Seok HWANG ,  Kyung Shik Roh ,  Suk June Yoon

    IPC: G06K9/46

    CPC classification number: G06K9/4652 ,  G06K9/00214 ,  G06K9/4671 ,  G06K9/6211 ,  G06K2009/4666

    Abstract: An object recognition method, a descriptor generating method for object recognition, and a descriptor for object recognition capable of extracting feature points using the position relationship and color information relationship between points in a group that are sampled from an image of an object, and capable of recognizing the object using the feature points, the object recognition method including extracting feature components of a point cloud using the position information and the color information of the points that compose the point cloud of the three-dimensional (3D) image of an object, generating a descriptor configured to recognize the object using the extracted feature components; and performing the object recognition based on the descriptor.

    Abstract translation: 一种对象识别方法，用于对象识别的描述符生成方法，以及能够使用从对象的图像采样的组中的点之间的位置关系和颜色信息关系来提取特征点的对象识别的描述符，并且能够 使用特征点识别对象，所述对象识别方法包括使用位置信息提取点云的特征成分和构成对象的三维（3D）图像的点云的点的颜色信息，生成 描述符，其被配置为使用所提取的特征成分来识别对象; 以及基于描述符执行对象识别。

    MOBILE APPARATUS AND LOCALIZATION METHOD THEREOF
    40.
    发明申请
    MOBILE APPARATUS AND LOCALIZATION METHOD THEREOF 有权
    移动设备及其本地化方法

    公开(公告)号：US20130166137A1

    公开(公告)日：2013-06-27

    申请号：US13723459

    申请日：2012-12-21

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Sung Hwan AHN ,  No San Kwak ,  Kyung Shik Roh ,  Suk June Yoon ,  Seung Yong Hyung

    IPC: G06F11/30

    CPC classification number: G06F11/30 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0217 ,  G06F11/3013 ,  G06F11/3058

    Abstract: A mobile apparatus and a localization method thereof which perform localization of the mobile apparatus using a distributed filter system including a plurality of local filters independently operated and one fusion filter integrating results of localization performed through the respective local filters, and additionally apply accurate topological absolute position information to the distributed filter system to improve localization performance (accuracy, convergence and speed in localization, etc.) of the mobile apparatus on a wide space. The mobile apparatus includes at least one sensor, at least one first distribution filter generating current relative position information using a value detected by the at least one sensor, at least one second distribution filter generating current absolute position information using the value detected by the at least one sensor, and a fusion filter integrating the relative position information and the absolute position information to perform localization.

    Abstract translation: 一种移动装置及其定位方法，其使用包括独立操作的多个局部滤波器的分布式滤波器系统来执行移动装置的定位，并且一个融合滤波器集成通过各个局部滤波器执行的定位结果，并且另外应用精确的拓扑绝对位置 向分布式滤波器系统提供信息，从而在宽广的空间上提高移动设备的定位性能（定位精度，收敛速度和定位速度等）。 所述移动装置包括至少一个传感器，至少一个第一分布滤波器，使用由所述至少一个传感器检测的值产生电流相对位置信息;至少一个第二分布滤波器，使用至少由所述至少一个传感器检测的值产生当前绝对位置信息 一个传感器，以及集成了相对位置信息和绝对位置信息以进行定位的融合滤波器。

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