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    Movable object and method for controlling the same
    21.
    发明授权
    Movable object and method for controlling the same 有权

    公开(公告)号：US10860033B2

    公开(公告)日：2020-12-08

    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: G05B19/04 ,  G05B19/18 ,  G05D1/02 ,  G06N3/04 ,  A47L11/40 ,  G06N3/00

    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.

    Mobile robot having friction coefficient estimation function and friction coefficient estimation method
    25.
    发明授权
    Mobile robot having friction coefficient estimation function and friction coefficient estimation method 有权
    具有摩擦系数估计功能和摩擦系数估计方法的移动机器人

    公开(公告)号：US09283966B2

    公开(公告)日：2016-03-15

    申请号：US14187924

    申请日：2014-02-24

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Hyun Do Choi ,  Suk June Yoon

    IPC: G06F19/00 ,  B60W40/068 ,  B60T8/1763 ,  B60T8/172

    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性估计单元，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。

    Image processing apparatus and method thereof
    26.
    发明授权
    Image processing apparatus and method thereof 有权
    图像处理装置及其方法

    公开(公告)号：US09275296B2

    公开(公告)日：2016-03-01

    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: G06K9/50 ,  G06K9/00 ,  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。

    FACE RECOGNITION APPARATUS AND METHOD FOR CONTROLLING THE SAME
    28.
    发明申请
    FACE RECOGNITION APPARATUS AND METHOD FOR CONTROLLING THE SAME 有权
    脸部识别装置及其控制方法

    公开(公告)号：US20130108123A1

    公开(公告)日：2013-05-02

    申请号：US13666168

    申请日：2012-11-01

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Won Jun HWANG ,  Kyung Shik Roh ,  Young Bo Shim ,  Suk June Yoon

    IPC: G06K9/00

    CPC classification number: G06K9/00268 ,  G06K9/00288 ,  G06K9/4619 ,  G06K9/6297

    Abstract: A face recognition apparatus and face recognition method perform face recognition of a face by comparing an image of the face to be identified with target images for identification. The face recognition apparatus includes an image input unit to receive an image of a face to be identified, a sub-image production unit to produce a plurality of sub-images of the input face image using a plurality of different face models, a storage unit to store a plurality of target images, and a face recognition unit to set the sub-images to observed nodes of a Markov network, to set the target images to hidden nodes of the Markov network, and to recognize the presence of a target image corresponding to the face images to be identified using a first relationship between the observed nodes and the hidden nodes and a second relationship between the hidden nodes.

    Abstract translation: 面部识别装置和面部识别方法通过将要识别的脸部的图像与用于识别的目标图像进行比较来执行脸部的脸部识别。 面部识别装置包括用于接收要识别的脸部的图像的图像输入单元，使用多个不同脸部模型产生输入面部图像的多个子图像的子图像生成单元;存储单元 存储多个目标图像，以及面部识别单元，将子图像设置为马尔科夫网络的观察节点，将目标图像设置为马尔可夫网络的隐藏节点，并识别对应的目标图像的存在 使用观察到的节点和隐藏节点之间的第一关系来识别要被识别的面部图像，以及隐藏节点之间的第二关系。

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