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公开(公告)号：US09724061B2
公开(公告)日：2017-08-08
申请号：US14498554
申请日：2014-09-26
发明人： Seung Yong Hyung , Ji Yeun Kim , Kyung Shik Roh , Jong Won Lee , Ju Suk Lee , Won Jun Hwang , Hyo Seok Hwang
CPC分类号： A61B6/469 , A61B6/06 , A61B6/12 , A61B6/405 , A61B6/4441 , A61B6/481 , A61B6/482 , A61B6/486 , A61B6/487 , A61B6/503 , A61B6/504 , A61B6/5211 , A61B6/542 , A61B6/547 , A61B2034/2046 , A61B2090/376
摘要： Provided are an X-ray imaging apparatus that is capable of tracking a position of an object of interest using a Kalman filter so as to reduce the amount of X-ray radiation exposure of a subject, calculating covariance indicative of accuracy of the tracing, and controlling a collimator so that the position of the object of interest and calculated covariance may be correlated with a position and an area of a region into which X-rays are radiated, and a method of controlling the X-ray imaging apparatus.
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公开(公告)号：US09615890B2
公开(公告)日：2017-04-11
申请号：US13965460
申请日：2013-08-13
发明人： Won Jun Hwang , Kyung Shik Roh , Suk June Yoon , Seung Yong Hyung
CPC分类号： A61B34/37 , A61B34/30 , A61B90/361 , A61B2090/364 , A61B2090/367
摘要： 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.
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公开(公告)号：US09275296B2
公开(公告)日：2016-03-01
申请号：US13845889
申请日：2013-03-18
发明人： Hyo Seok Hwang , Huang Xiangsheng , Dong Soo Kim , Kyung Shik Roh , Young Bo Shim , Suk June Yoon , Seung Yong Hyung , Won Jun Hwang
CPC分类号： G06K9/46 , G06K9/00201 , G06K9/00362
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US09997269B2
公开(公告)日：2018-06-12
申请号：US14533873
申请日：2014-11-05
发明人： Kyung Shik Roh , Seung Yong Hyung , Ji Yeun Kim , Jong Won Lee , Ju Suk Lee , Won Jun Hwang , Hyo Seok Hwang
CPC分类号： G21K5/10 , A61B6/06 , A61B6/405 , A61B6/4441 , A61B6/461 , A61B6/482 , A61B6/504 , A61B6/5217 , A61B6/542 , G01N23/04
摘要： A radiographic apparatus may comprise: a radiation irradiating module configured to irradiate radiation to an object; and/or a processing module configured to automatically set a part of a region to which the radiation irradiating module is able to irradiate the radiation, to a region of interest, and further configured to determine at least one of a radiation irradiation position and a radiation irradiation zone of the radiation irradiating module based on the region of interest.
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公开(公告)号：US08903161B2
公开(公告)日：2014-12-02
申请号：US13723540
申请日：2012-12-21
发明人： No San Kwak , Kyung Shik Roh , Sung Hwan Ahn , Suk June Yoon , Seung Yong Hyung
IPC分类号： G06T7/00
CPC分类号： G06T7/0042 , G06T7/73 , G06T2207/10024 , G06T2207/10028 , G06T2207/20164 , G06T2207/30244 , Y10S901/47
摘要： A method for estimating a location of a device uses a color image and a depth image. The method includes matching the color image to the depth image, generating a 3D reference image based on the matching, generating a 3D object image based on the matching, extracting a 2D reference feature point from the reference image, extracting a 2D reference feature point from the object image, matching the extracted reference feature point from the reference image to the extracted reference feature point from the object image, extracting a 3D feature point from the object image using the matched 2D reference feature point, and estimating the location of the device based on the extracted 3D feature point.
摘要翻译： 用于估计设备的位置的方法使用彩色图像和深度图像。 该方法包括将彩色图像与深度图像进行匹配，基于匹配生成3D参考图像，基于匹配生成3D对象图像，从参考图像中提取2D参考特征点，从参考图像中提取2D参考特征点 所述对象图像将所提取的参考特征点与所述参考图像相对于所提取的参考特征点与所述对象图像匹配，使用所述匹配的2D参考特征点从所述对象图像提取3D特征点，以及基于所述对象图像的位置估计 在提取的3D特征点上。
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公开(公告)号：US09563528B2
公开(公告)日：2017-02-07
申请号：US13723459
申请日：2012-12-21
发明人： Sung Hwan Ahn , No San Kwak , Kyung Shik Roh , Suk June Yoon , Seung Yong Hyung
CPC分类号： G06F11/30 , G05D1/0246 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0217 , G06F11/3013 , G06F11/3058
摘要： 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.
摘要翻译： 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。
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7.发明授权Method of tracking moving object, method of determining display state of moving object, and control apparatus for tracking moving object 有权跟踪运动物体的方法，确定运动物体的显示状态的方法以及跟踪运动物体的控制装置公开(公告)号：US09349048B2
公开(公告)日：2016-05-24
申请号：US14162879
申请日：2014-01-24
发明人： No San Kwak , Seung Yong Hyung , Woong Kwon , Ji Young Kim , Kwang Kyu Lee
CPC分类号： G06K9/00624 , G06K2209/057 , G06T7/277 , G06T7/73 , G06T2207/10068 , G06T2207/30021
摘要： A method of tracking a moving object includes measuring displacement of an object to be tracked, obtaining a particle of the object to be tracked using the measured displacement, and tracking the object using pose information of the object in an image thereof and the obtained particle. A control apparatus includes an imaging module to perform imaging of an object and generates an image, and a tracking unit to acquire displacement and pose information of the object using the generated image of the object, to set a particle of the object using the acquired displacement of the object, and to track the object using the pose information of the object and the particle.
摘要翻译： 跟踪运动物体的方法包括测量待跟踪对象的位移，使用所测量的位移获得待跟踪对象的粒子，并使用其图像中的对象的姿态信息和所获得的粒子来跟踪对象。 控制装置包括：成像模块，用于对物体进行成像并生成图像;跟踪单元，使用所生成的对象的图像获取位移并构图物体的信息;使用获取的位移来设定物体的粒子; 并且使用对象和粒子的姿势信息来跟踪对象。
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公开(公告)号：US09254568B2
公开(公告)日：2016-02-09
申请号：US14153302
申请日：2014-01-13
发明人： Ji Young Kim , Kwang Kyu Lee , Woong Kwon , Kyung Shik Roh , Ju Suk Lee , Seung Yong Hyung
CPC分类号： B25J9/1625 , G05B2219/40299 , Y10S901/16
摘要： A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle.
摘要翻译： 控制机器人的机器人控制方法包括：测量平移运动距离，平移运动角度和俯仰角度的柔性模块，该柔性模块包括参与平移运动的第一节点和第n节点参与倾斜运动 柔性模块的运动角度; 使用测量的平移运动距离计算'n'个第一节点和'n'个第二节点的状态向量; 使用“n”个第一节点的计算状态矢量和“n”个第二节点的计算状态向量来计算'n'个第一节点的运行角分布率和'n'个第二节点的操作角分布率; 和/或使用所计算的操作角分布速率和测量的平移运动角度和倾斜运动角度来计算'n'个第一节点的运动角度和'n'个第二节点的操作角度。
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公开(公告)号：US09082016B2
公开(公告)日：2015-07-14
申请号：US13645860
申请日：2012-10-05
发明人： Suk June Yoon , Kyung Shik Roh , Sang Il Hong , Seung Yong Hyung , Hyo Seok Hwang , Sung Hwan Ahn
CPC分类号： G06K9/00664 , G06K9/4671
摘要： 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.
摘要翻译： 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 。
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公开(公告)号：US20140288413A1
公开(公告)日：2014-09-25
申请号：US13965460
申请日：2013-08-13
发明人： Won Jun Hwang , Kyung Shik Roh , Suk June Yoon , Seung Yong Hyung
CPC分类号： A61B34/37 , A61B34/30 , A61B90/361 , A61B2090/364 , A61B2090/367
摘要： 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.
摘要翻译： 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。
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