公开(公告)号：US20170083023A1

公开(公告)日：2017-03-23

申请号：US15203079

申请日：2016-07-06

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Soon Yong PARK ,  No San KWAK ,  Kyung Shik ROH ,  Suk June YOON ,  So Hee LEE ,  Min Yong CHOI

IPC: G05D1/02

Abstract: A cleaning robot includes a data acquisition unit that acquires actual sensor data by measuring a distance from a current position to an object to be measured; a local map acquisition unit that acquires a local map by scanning the vicinity of the current position based on an environmental map stored in advance; and a processor that determines coordinates of the current position for the local map by performing matching between the local map and the actual sensor data, and determines a traveling direction based on the current position by calculating a main segment angle of a line segment existing in the local map.

公开(公告)号：US20150019103A1

公开(公告)日：2015-01-15

申请号：US14187924

申请日：2014-02-24

Applicant: Samsung Electronics Co., Ltd.

Inventor： Hyun Do CHOI ,  Suk June YOON

IPC: B60W40/068 ,  B60T8/1763

CPC classification number: B60W40/068 ,  B60T8/172 ,  B60T8/1763 ,  B60T2210/12 ,  B60W2550/148 ,  Y10S901/01

Abstract: A mobile robot configured to move on a ground. The mobile robot including a contact angle estimation unit estimating contact angles between wheels of the mobile robot and the ground and uncertainties associated with the contact angles, a traction force estimation unit estimating traction forces applied to the wheels and traction force uncertainties, a normal force estimation unit estimating normal forces applied to the wheels and normal force uncertainties, a friction coefficient estimation unit estimating friction coefficients between the wheels and the ground, a friction coefficient uncertainty estimation unit estimating friction coefficient uncertainties, and a controller determining the maximum friction coefficient from among the friction coefficients such that the maximum friction coefficient has an uncertainty less than a threshold and at a point of time when the torque applied to each of the wheels changes from an increasing state to a decreasing state, among the estimated friction coefficients.

Abstract translation: 配置为在地面上移动的移动机器人。 移动机器人包括估计移动机器人的车轮与地面之间的接触角的接触角估计单元以及与接触角相关的不确定性，牵引力估计单元估计施加到车轮的牵引力和牵引力不确定性，法向力估计 估计施加到车轮的法向力和法向力不确定度的摩擦系数估计单元，估计车轮与地面之间的摩擦系数的摩擦系数估计单元，估计摩擦系数不确定性的摩擦系数不确定度估计单元，以及从摩擦系数估计单元 摩擦系数使得最大摩擦系数具有小于阈值的不确定度，并且在施加到每个车轮的转矩从估计摩擦系数中的增加状态改变到减小状态的时间点。

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。

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。

公开(公告)号：US20210400430A1

公开(公告)日：2021-12-23

申请号：US17468071

申请日：2021-09-07

Applicant: Samsung Electronics Co., Ltd. ,  Korea Advanced Institute of Science and Technology

Inventor： Sung Hwan AHN ,  Byeong Cheol MOON ,  Suk Hoon JUNG ,  Dong Soo HAN ,  Kyung Shik ROH ,  Suk June YOON

IPC: H04W4/02 ,  H04B17/318 ,  H04W64/00 ,  H04W88/08

Abstract: A server may include a communication circuit communicating with a user terminal, storage including a fingerprint DB storing fingerprints corresponding to a plurality of points and a signal fluctuation probability DB, and a processor electrically connected to the communication circuit and the storage. The processor may be configured to store similarity between first signal strength and second signal strength, which are determined based on a probability that a pair of the first signal strength and the second signal strength received from a first AP occurs with respect to fingerprints corresponding to a first point, in the signal fluctuation probability DB, to obtain a fingerprint including signal strength received from the first AP, from the user terminal, and to determine a location of the user terminal based on the obtained fingerprint and the signal fluctuation probability DB.

公开(公告)号：US20180173243A1

公开(公告)日：2018-06-21

申请号：US15837096

申请日：2017-12-11

Applicant: Samsung Electronics Co., Ltd.

Inventor： Soon Yong PARK ,  No San KWAK ,  Kyung Shik ROH ,  Sung Hwan AHN ,  Suk June YOON ,  Min Yong CHOI

IPC: G05D1/02 ,  G06N3/04 ,  A47L11/40

CPC classification number: G05D1/0274 ,  A47L11/4011 ,  A47L2201/04 ,  G05D1/0088 ,  G05D1/0221 ,  G05D1/0238 ,  G05D2201/0215 ,  G06N3/008 ,  G06N3/04

Abstract: Embodiments of the present disclosure relate to a movable object and a method for controlling the same. A method for controlling a movable object may include acquiring virtual data representing distances between each of a plurality of positions within an area and surfaces in the area, in a plurality of directions, respectively, based on a map of the area. An algorithm, such as a machine learning algorithm, may be executed that outputs positions corresponding to the virtual data. Actual distance data between the movable object and a plurality of surfaces in the vicinity of the movable object may be acquired. An actual position of the movable object may then be estimated corresponding to the actual distance data by executing the algorithm using the actual distance data. The movable object may be controlled based on the estimated actual position.

公开(公告)号：US20150197008A1

公开(公告)日：2015-07-16

申请号：US14532166

申请日：2014-11-04

Applicant: Samsung Electronics Co., Ltd.

Inventor： Suk June YOON ,  Young Do KWON ,  Kyung Shik ROH ,  Sung Hwan AHN

IPC: B25J9/16

CPC classification number: B25J9/0006 ,  G05B2219/40305 ,  Y10S901/01 ,  Y10S901/46

Abstract: Disclosed herein is a control method of a robot including: calculating hardness information about the ground on which a wearer moves; and controlling the robot according to the calculated hardness information.

Abstract translation: 这里公开了一种机器人的控制方法，包括：计算关于穿着者移动的地面的硬度信息; 并根据计算的硬度信息来控制机器人。

公开(公告)号：US20140243596A1

公开(公告)日：2014-08-28

申请号：US14134415

申请日：2013-12-19

Applicant: Samsung Electronics Co., Ltd.

Inventor： Suk June YOON ,  No San KWAK ,  Kyung Shik ROH ,  Sung Hwan AHN ,  Won Jun HWANG

IPC: A61B1/00 ,  A61B1/04

CPC classification number: A61B1/00193 ,  A61B1/00009 ,  A61B1/31 ,  G06T7/593 ,  G06T2207/10012

Abstract: Disclosed herein are an endoscope system and a control method thereof. The control method includes acquiring plural omnidirectional images of the surroundings of an endoscope using a stereo omnidirectional camera mounted on the endoscope, calculating distances between the endoscope and an object around the endoscope using the acquired plural omnidirectional images, and executing an operation to avoid collision between the endoscope and the object around the endoscope based on the calculated distances, thus facilitating safe operation of the endoscope.

Abstract translation: 这里公开了一种内窥镜系统及其控制方法。 所述控制方法包括使用安装在所述内窥镜上的立体全向摄像机来获取内窥镜周围的多个全向图像，使用所获取的多个全向图像计算所述内窥镜与所述内窥镜周围的物体之间的距离，并执行操作以避免 内窥镜和内窥镜周围的物体，从而便于内窥镜的安全操作。

公开(公告)号：US20130089235A1

公开(公告)日：2013-04-11

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

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 。

公开(公告)号：US20170165843A1

公开(公告)日：2017-06-15

申请号：US15248189

申请日：2016-08-26

Applicant: Samsung Electronics Co., Ltd.

Inventor： So Hee LEE ,  Won Ho SHIN ,  No San KWAK ,  Kyung Shik ROH ,  Joong Kyung PARK ,  Suk June YOON

IPC: B25J11/00 ,  G06K9/00 ,  B25J9/16 ,  H04N7/18

CPC classification number: B25J9/1697 ,  G06K9/00228 ,  G06K9/3216 ,  H04N7/185

Abstract: An electronic device to be put on a cradle may include a housing including a part in a hemispherical shape and physically coming into contact with the cradle in an arbitrary position when the electronic device is put on the cradle, a display arranged on another part of the housing, a camera module to obtain an image in a direction that the display faces, a sensor module to sense an orientation of the electronic device; and a processor to determine a target orientation of the electronic device based on the obtained image, and create control data to change the orientation of the electronic device based on the sensed orientation and the target orientation of the electronic device.