公开(公告)号：US08116908B2

公开(公告)日：2012-02-14

申请号：US12134078

申请日：2008-06-05

申请人： Victor Ng-Thow-Hing ,  Kris Hauser ,  Hector Gonzalez-Banos

发明人： Victor Ng-Thow-Hing ,  Kris Hauser ,  Hector Gonzalez-Banos

IPC分类号： G06F19/00

CPC分类号： B25J9/1664

摘要： Multi-modal planning method and system that search a path for the most constrained mode first, and then expands the searches for path in a less constrained mode. By searching the path for the most constrained mode first, less resource are wasted on searching for paths that does not result in a feasible path in the most constrained mode. Multi-modal planning is performed by precomputing feasibility and utility of transition configurations of two adjacent modes. The feasibility is used to exclude non-feasible transition configurations in the most constrained mode from being sampled. The utility is used to bias sampling of the transition configuration so that transition configurations with higher utility are sampled with higher probability. Paths of configurations with higher utility and efficiency are obtained by biasing the sampling of the transition configurations.

摘要翻译： 首先搜索最受约束模式的路径的多模态规划方法和系统，然后以较少限制的模式扩展路径搜索。 通过首先搜索最受约束模式的路径，在搜索不会导致最受约束模式中的可行路径的路径时，浪费较少的资源。 多模式规划通过预计算可行性和两种相邻模式的转换配置的实用性来执行。 可行性用于排除最受约束模式的不可行过渡配置以进行采样。 该实用程序用于偏移过渡配置的采样，以便更高效率的转换配置以更高的概率进行采样。 通过偏置过渡配置的采样获得具有更高效用和效率的配置路径。

公开(公告)号：US08013852B2

公开(公告)日：2011-09-06

申请号：US10284798

申请日：2002-10-30

申请人： Victor Ng-Thow-Hing ,  Jianbo Peng

发明人： Victor Ng-Thow-Hing ,  Jianbo Peng

IPC分类号： G06T17/00 ,  G06T15/00

CPC分类号： G06K9/00369 ,  G06K9/3216 ,  G06K2009/3225 ,  G06K2209/055 ,  G06T7/251 ,  G06T13/40 ,  G06T2207/10016 ,  G06T2207/30204

摘要： An efficient technique to build subject-specific skeleton models from external measurements is provided. A generic human skeleton model is manipulated and deformed using marker positional data from human motion-captured sequences. The joint and bone geometry parameters are optimized to construct an estimate of the specific skeleton model of the human subject that originally performed the motion sequence. The scope of the fitting procedure can be adjusted to coincide with a series of smaller optimizations over local bone regions or expanded to a single global optimization over all skeleton geometry and joint parameters simultaneously.

摘要翻译： 提供了一种从外部测量构建主题特定骨架模型的有效技术。 使用来自人类运动捕获序列的标记位置数据来操纵和变形通用人类骨骼模型。 优化关节和骨几何参数以构建最初执行运动序列的人类受试者的特定骨架模型的估计。 可以调整拟合程序的范围，使其与局部骨骼区域的一系列较小的优化相一致，或者同时扩展到所有骨架几何形状和关节参数的单个全局优化。

公开(公告)号：US20090105879A1

公开(公告)日：2009-04-23

申请号：US12252628

申请日：2008-10-16

申请人： Victor Ng-Thow-Hing ,  Thor List ,  Kristinn R. Thorisson ,  Joel Wormer

发明人： Victor Ng-Thow-Hing ,  Thor List ,  Kristinn R. Thorisson ,  Joel Wormer

IPC分类号： G06F19/00

CPC分类号： B25J9/1656 ,  G05B2219/33149 ,  G05B2219/39251 ,  G05B2219/39252 ,  G06N5/043

摘要： A publish-subscribe architecture based blackboard system for selecting and exchanging selected information among a plurality of processing modules using filters for implementing conditions described in a procedural language to reduce the amount of information transmitted between the processing modules. More than one filter may be dynamically installed in a message hub to select and collect the published information to be sent to a certain subscribing module. By using the procedural language to describe the filters, the message hub can more intelligently select the information to be sent to the subscribing module. This reduces the amount of information transmitted via communication channels. Further, the subscribing module may be relieved from the task of filtering the information received from the message hub, allowing the subscribing module to devote more resources to other operations.

摘要翻译： 一种基于发布订阅架构的黑板系统，用于使用用于实现以过程语言描述的条件的滤波器来选择和交换多个处理模块中的选定信息，以减少处理模块之间传输的信息量。 可以在消息集线器中动态地安装多于一个的过滤器，以选择和收集要发送到某个订阅模块的已发布信息。 通过使用过程语言来描述过滤器，消息中心可以更智能地选择要发送到订阅模块的信息。 这减少了通过通信信道发送的信息量。 此外，订阅模块可以从过滤从消息集线器接收的信息的任务中消除，从而允许订阅模块将更多资源用于其他操作。

公开(公告)号：US07409322B2

公开(公告)日：2008-08-05

申请号：US10877713

申请日：2004-06-24

申请人： Victor Ng-Thow-Hing

发明人： Victor Ng-Thow-Hing

IPC分类号： G06F17/50

CPC分类号： G06F17/5018 ,  G06T7/62 ,  G06T7/66 ,  G06T2207/30061

摘要： A system and method for object modeling. A compositing module embeds geometric shapes to model varying densities of an object. The compositing module represents each volume domain of constant density within a segment with a separate geometric shape. A mass set properties module in the system calculates estimates of mass set properties such as center of mass by first subtracting integrals related, for example, to the lungs from an integral related to the total chest cavity. A deforming module in the system provides a geometric shape that is deformable to more closely match data points from the object. The deforming module adjusts a B-spline solid having control points to fit an irregularly shaped object. Movement and location of the control points locally adjust the B-spline solid's surface. These variation can be used to determine mass set properties including mass, volume, center of mass, inertia tensors, principal moments, and the like.

摘要翻译： 一种用于对象建模的系统和方法。 合成模块嵌入几何形状来模拟物体的不同密度。 合成模块表示具有单独几何形状的段内具有恒定密度的每个体积域。 系统中的质量组属性模块通过首先从与总体胸腔相关的整体相关的例如肺相关的积分来计算诸如质心的质量组属性的估计。 系统中的变形模块提供几何形状，其可变形以更接近地匹配来自对象的数据点。 变形模块调整具有控制点的B样条固体，以适应不规则形状的物体。 控制点的移动和位置局部调整B样条固体表面。 这些变化可用于确定质量组合质量，包括质量，体积，质心，惯性张量，主矩等。

公开(公告)号：US20060271239A1

公开(公告)日：2006-11-30

申请号：US11406483

申请日：2006-04-17

申请人： Hector Gonzalez-Banos ,  Victor Ng-Thow-Hing

发明人： Hector Gonzalez-Banos ,  Victor Ng-Thow-Hing

IPC分类号： G06F19/00

CPC分类号： B25J9/1664 ,  G05B2219/39001 ,  G05B2219/40564

摘要： Systems and methods are presented that enable robot commands to be determined based on the pose of an object. A method is described for determining the orientation and pose of an object using indistinguishable points. The resolution of the pose detection is based on the robot'command vocabulary. A system is described for controlling a robot by pose detection using unlabelled points.

摘要翻译： 提出了基于对象的姿态来确定机器人命令的系统和方法。 描述了一种用于使用不可区分点来确定对象的取向和姿态的方法。 姿态检测的分辨率是基于机器人的命令词汇。 描述了一种通过使用未标记点的姿态检测来控制机器人的系统。

公开(公告)号：US20060061574A1

公开(公告)日：2006-03-23

申请号：US10425122

申请日：2003-04-25

申请人： Victor Ng-Thow-Hing ,  Wei Shao

发明人： Victor Ng-Thow-Hing ,  Wei Shao

IPC分类号： G06T15/70 ,  G06T13/00

CPC分类号： G06T13/40 ,  G06T19/00 ,  G06T2210/41 ,  G06T2213/04

摘要： A general joint component framework that is capable of exhibiting complex behaviors of joints in articulated figures is provided. A network of joint components is used to model the kinematics of a joint. A joint builder can specify parameters for each of the joint components and join the joint components to form a joint set function that captures the biomechanical dependencies between the components. The joint function has fewer inputs than the total number of possible articulations yielding both simple control and biomechanically accurate joint movement.

摘要翻译： 提供了一种能够在铰接图中显示关节的复杂行为的通用联合组件框架。 联合组件网络用于建模关节的运动学。 联合构建器可以指定每个关节部件的参数并且连接关节部件以形成捕获部件之间的生物力学依赖性的联合集合函数。 关节功能的输入少于可能的关节的总数，其产生简单的控制和生物力学上精确的关节运动。

公开(公告)号：US20160003636A1

公开(公告)日：2016-01-07

申请号：US14856596

申请日：2015-09-17

申请人： Victor Ng-Thow-Hing ,  Cuong Tran ,  Karlin Bark

发明人： Victor Ng-Thow-Hing ,  Cuong Tran ,  Karlin Bark

IPC分类号： G01C21/36 ,  G08G1/16 ,  G05D1/02

CPC分类号： G01C21/3658 ,  G02B27/01 ,  G02B2027/0127 ,  G02B2027/0138 ,  G02B2027/014 ,  G02B2027/0187 ,  G06K9/00315 ,  G06K9/00791 ,  G06K9/00798 ,  G08G1/167 ,  H04N7/188

摘要： Multi-level navigation monitoring and control is provided. A system includes a lane marking manager determining a first boundary line, a second boundary line, and a centerline of a current lane of travel. The system also includes a confidence level determiner assigning a first confidence level to the first boundary line, a second confidence level to the second boundary line, and a third confidence level to the centerline. Further, the system includes a user interface outputting representations of the first boundary line, the second boundary line, and the centerline based, at least in part, on the first confidence level, the second confidence level, and the third confidence level.

摘要翻译： 提供多级导航监控。 系统包括确定当前行车道的第一边界线，第二边界线和中心线的车道标记管理器。 该系统还包括置信水平确定器，其将第一置信水平分配给第一边界线，向第二边界线分配第二置信水平，并将第三置信水平分配给中心线。 此外，系统包括至少部分地基于第一置信水平，第二置信水平和第三置信水平输出第一边界线，第二边界线和中心线的表示的用户界面。

公开(公告)号：US09135754B2

公开(公告)日：2015-09-15

申请号：US13887155

申请日：2013-05-03

申请人： Victor Ng-Thow-Hing ,  Srinath Sridhar

发明人： Victor Ng-Thow-Hing ,  Srinath Sridhar

IPC分类号： G09G5/00 ,  G06T19/00 ,  G06T17/00 ,  B60R1/00 ,  G06T7/00

CPC分类号： G06T19/006 ,  B60R1/00 ,  B60R2300/305 ,  G06T7/73 ,  G06T17/00 ,  G06T2207/10016 ,  G06T2207/20061 ,  G06T2207/30256 ,  G06T2207/30261

摘要： Generating a virtual model of environment in front of a vehicle based on images captured using an image capturing. The Images captured on an image capturing device of a vehicle are processed to extract features of interest. Based on the extracted features, a virtual model of the environment is constructed. The virtual model includes one or more surfaces. Each of the surfaces may be used as a reference surface to attach and move graphical elements generated to implement augmented reality (AR). As the vehicle moves, the graphical elements move as if the graphical elements are affixed to the one of the surfaces. By presenting the graphical elements to move together with real objects in front of the vehicle, a driver perceives the graphical elements as being part of the actual environment and reduces distraction or confusion associated with the graphical elements.

摘要翻译： 基于使用图像捕获捕获的图像来生成车辆前方的环境虚拟模型。 处理在车辆的图像捕获装置上捕获的图像以提取感兴趣的特征。 基于提取的特征，构建了环境的虚拟模型。 虚拟模型包括一个或多个表面。 每个表面可以用作参考表面以附接和移动生成的用于实现增强现实（AR）的图形元素。 当车辆移动时，图形元素移动，就像图形元素固定在其中一个表面上一样。 通过呈现图形元素以与车辆前面的真实物体一起移动，驾驶员将图形元素视为实际环境的一部分，并减少与图形元素相关联的分心或混乱。

公开(公告)号：US09064420B2

公开(公告)日：2015-06-23

申请号：US13803288

申请日：2013-03-14

申请人： Lee Beckwith ,  Victor Ng-Thow-Hing

发明人： Lee Beckwith ,  Victor Ng-Thow-Hing

IPC分类号： G09G5/00 ,  G08G1/16 ,  G06T19/00 ,  G02B27/01 ,  G06K9/00

CPC分类号： G08G1/166 ,  G02B27/01 ,  G02B2027/014 ,  G06T19/006 ,  G08G1/167

摘要： An augmented reality driver system, device, and method safely guide a vehicle driver to yield to pedestrians. A vehicle navigator determines a turn lane based upon proximity to a vehicle. A target sensor detects a pedestrian entering the turn lane and to determine a crosswalk path across the turn lane. An augmented reality controller three dimensionally maps a forward view including the pedestrian, and spatially overlays an augmented reality display on the volumetric heads up display for a driver of the vehicle by projecting a yielding indication adjacent to the crosswalk path.

摘要翻译： 增强的现实驾驶员系统，装置和方法可安全地引导车辆驾驶员向行人发放。 车辆导航器基于与车辆的接近度来确定转弯车道。 目标传感器检测进入转弯车道的行人，并确定横过车道的人行横道路径。 增强现实控制器三维地映射包括行人的前视图，并且通过投影靠近人行横道路径的屈服指示，空间地覆盖车辆驾驶员的体积抬头显示器上的增强现实显示。

公开(公告)号：US20120191460A1

公开(公告)日：2012-07-26

申请号：US13352182

申请日：2012-01-17

申请人： Victor Ng-Thow-Hing ,  Pengcheng Luo

发明人： Victor Ng-Thow-Hing ,  Pengcheng Luo

IPC分类号： G10L11/00

CPC分类号： G10L21/10 ,  G10L13/043 ,  G10L13/08 ,  G10L15/265

摘要： A system or method for generating gestures in a robot during generation of a speech output by the robot by analyzing a speech text and selecting appropriate gestures from a plurality of candidate gestures. The speech text is analyzed and tagged with information relevant to generating of the gestures. Based on the speech text, the tagged information and other relevant information, a gesture identifier is selected. A gesture template corresponding to the gesture identifier is retrieved and then processed by adding relevant parameter to generate a gesture descriptor representing a gesture to be taken by the robot. A gesture motion is planned based on the gesture descriptor and analysis of timing associated with the speech. Actuator signals for controlling the actuators such as arms and hands are generated based on the planned gesture motion.

摘要翻译： 一种用于在通过分析语音文本并从多个候选手势中选择适当手势的机器人产生语音输出期间在机器人中产生手势的系统或方法。 用与生成手势相关的信息来分析和标记语音文本。 基于语音文本，标记信息和其他相关信息，选择手势标识符。 检索对应于手势标识符的手势模板，然后通过添加相关参数来处理，以生成表示由机器人拍摄的手势的手势描述符。 基于手势描述符和与语音相关联的定时的分析来计划手势运动。 基于计划的手势运动产生用于控制诸如手臂和手的致动器的致动器信号。