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公开(公告)号：US20120136604A1
公开(公告)日：2012-05-31
申请号：US13190636
申请日：2011-07-26
Applicant: Hsiang-Wen Hsieh , Yu-Kuen Tsai , Chia-Lin Kuo , Hung-Hsiu Yu
Inventor： Hsiang-Wen Hsieh , Yu-Kuen Tsai , Chia-Lin Kuo , Hung-Hsiu Yu
CPC classification number: G01C25/005
Abstract: A method and an apparatus for estimating 3D attitude are disclosed. The method comprises following steps. A set of current angular velocity, a set of current magnetic flux and a set of acceleration of a carrier are sensed. A set of estimated attitude angles are estimated according to the set of current angular velocities, a set of history attitude angles and a motion model. A disturbance parameter is calculated according the set of current magnetic flux and a set of history magnetic flux. It is determined whether the disturbance parameter is more than a disturbance threshold or not. If yes, the set of estimated attitude angles are updated according to the set of current accelerations not the set of current magnetic flux. If not, the set of estimated attitude angles are updated according to the set of current accelerations and the set of current magnetic flux.
Abstract translation: 公开了一种用于估计3D姿态的方法和装置。 该方法包括以下步骤。 检测一组当前角速度，一组当前磁通量和载体的一组加速度。 根据当前角速度的集合，一组历史姿态角度和运动模型来估计一组估计姿态角度。 根据电流磁通的集合和一组历史磁通量计算扰动参数。 确定干扰参数是否大于干扰阈值。 如果是，则根据当前加速度的集合而不是当前磁通量的集合来更新估计姿态角的集合。 如果不是，则根据当前加速度的集合和当前磁通量的集合来更新估计姿态角的集合。
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2.发明授权公开(公告)号：US08044780B2
公开(公告)日：2011-10-25
申请号：US12019975
申请日：2008-01-25
Applicant: Kuo-Shih Tseng , Hsiang-Wen Hsieh , Wei-Han Wang
Inventor： Kuo-Shih Tseng , Hsiang-Wen Hsieh , Wei-Han Wang
Abstract: The invention relates to a method and apparatus for predicting/alarming the moving of hidden objects. The apparatus comprises: a distance sensing unit, for obtaining a distance data detected within a specific sensing range and thus outputting the distance data; a speed sensing unit, for measuring the movement of a carrier to obtain a real-time speed data of the carrier and thus output the speed data; a control unit, for receiving and analyzing the distance data and the speed data to obtain information relating to the position of the carrier, the environment surrounding the carrier and positions of objects moving in the blind spots of the carrier, and thus to perform an evaluation based upon the aforesaid information to determine a danger level for issuing a control signal accordingly; and an alarm unit, for issuing an alarm signal according to the control signal.
Abstract translation: 本发明涉及一种用于预测/警报隐藏物体移动的方法和装置。 该装置包括：距离感测单元，用于获得在特定感测范围内检测到的距离数据，从而输出距离数据; 速度检测单元，用于测量载波的移动以获得载波的实时速度数据，从而输出速度数据; 控制单元，用于接收和分析距离数据和速度数据，以获得与载体的位置，载体周围的环境以及在载体的盲点中移动的物体的位置相关的信息，从而进行评估 基于上述信息来确定相应地发出控制信号的危险等级; 以及报警单元，用于根据控制信号发出报警信号。
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公开(公告)号：US20110123135A1
公开(公告)日：2011-05-26
申请号：US12699900
申请日：2010-02-04
Applicant: Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
Inventor： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
CPC classification number: G06K9/00664 , G06K9/00201 , G06T7/73 , G06T2207/10016 , G06T2207/10028
Abstract: A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.
Abstract translation: 提供了一种映射方法。 扫描环境以获得环境障碍物的深度信息。 拍摄环境的图像以生成图像平面。 将环境障碍物的深度信息投影到图像平面上，以获得投影位置。 从每个投影位置周围的预定范围计算至少一个特征向量。 合并环境障碍物深度信息和环境特征向量，以在特定时间点生成子地图。 组合所有时间点的子地图，生成地图。 此外，还提供了使用该图的定位方法。
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Patent Agency Ranking
4.发明申请公开(公告)号：US20090058677A1
公开(公告)日：2009-03-05
申请号：US12019975
申请日：2008-01-25
Applicant: KUO-SHIH TSENG , HSIANG-WEN HSIEH , WEI-HAN WANG
Inventor： KUO-SHIH TSENG , HSIANG-WEN HSIEH , WEI-HAN WANG
IPC: G08C17/00
Abstract: The invention relates to a method and apparatus for predicting/alarming the moving of hidden objects. The apparatus comprises: a distance sensing unit, for obtaining a distance data detected within a specific sensing range and thus outputting the distance data; a speed sensing unit, for measuring the movement of a carrier to obtain a real-time speed data of the carrier and thus output the speed data; a control unit, for receiving and analyzing the distance data and the speed data to obtain information relating to the position of the carrier, the environment surrounding the carrier and positions of objects moving in the blind spots of the carrier, and thus to perform an evaluation based upon the aforesaid information to determine a danger level for issuing a control signal accordingly; and an alarm unit, for issuing an alarm signal according to the control signal.
Abstract translation: 本发明涉及一种用于预测/警报隐藏物体移动的方法和装置。 该装置包括：距离感测单元，用于获得在特定感测范围内检测到的距离数据，从而输出距离数据; 速度检测单元，用于测量载波的移动以获得载波的实时速度数据，从而输出速度数据; 控制单元，用于接收和分析距离数据和速度数据，以获得与载体的位置，载体周围的环境以及在载体的盲点中移动的物体的位置相关的信息，从而进行评估 基于上述信息来确定相应地发出控制信号的危险等级; 以及报警单元，用于根据控制信号发出报警信号。
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公开(公告)号：US20100165116A1
公开(公告)日：2010-07-01
申请号：US12391264
申请日：2009-02-24
Applicant: Hsiang-Wen Hsieh , Hung-Hsiu Yu , Wei-Han Wang , Chin-Chia Wu
Inventor： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Wei-Han Wang , Chin-Chia Wu
IPC: H04N17/02
CPC classification number: H04N5/2224 , G06T7/73 , G06T2207/10016 , G06T2207/30204 , G06T2207/30232 , G06T2207/30244
Abstract: A camera with dynamic calibration and a method thereof is provided. The camera is first subject to an initial calibration. Then, a motion amount of the camera is calculated, and a plurality of motion amount estimation samples of the camera is generated according to the motion amount. Then, a weight of each of the motion amount estimation samples is calculated. Thereafter, the plurality of motion amount estimation samples is re-sampled based on the weights, and the camera is calibrated by the re-sampled estimated motion samples.
Abstract translation: 提供具有动态校准的相机及其方法。 首先对相机进行初始校准。 然后，计算摄像机的运动量，并根据运动量产生摄像机的多个运动量估计样本。 然后，计算每个运动量估计样本的权重。 此后，基于权重对多个运动量估计样本进行重新采样，并且通过重新采样的估计运动样本校准摄像机。
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公开(公告)号：US08588471B2
公开(公告)日：2013-11-19
申请号：US12699900
申请日：2010-02-04
Applicant: Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
Inventor： Hsiang-Wen Hsieh , Hung-Hsiu Yu , Yu-Kuen Tsai , Wei-Han Wang , Chin-Chia Wu
CPC classification number: G06K9/00664 , G06K9/00201 , G06T7/73 , G06T2207/10016 , G06T2207/10028
Abstract: A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.
Abstract translation: 提供了一种映射方法。 扫描环境以获得环境障碍物的深度信息。 拍摄环境的图像以生成图像平面。 将环境障碍物的深度信息投影到图像平面上，以获得投影位置。 从每个投影位置周围的预定范围计算至少一个特征向量。 合并环境障碍物深度信息和环境特征向量，以在特定时间点生成子地图。 组合所有时间点的子地图以生成地图。 此外，还提供了使用该图的定位方法。
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公开(公告)号：US08395663B2
公开(公告)日：2013-03-12
申请号：US12372708
申请日：2009-02-17
Applicant: Hsiang-Wen Hsieh , Jwu-Sheng Hu , Shyh-Haur Su , Chin-Chia Wu
Inventor： Hsiang-Wen Hsieh , Jwu-Sheng Hu , Shyh-Haur Su , Chin-Chia Wu
IPC: H04N7/18
Abstract: A positioning system and a method thereof are provided. In the positioning method, a first and a second pose information of a moving device are obtained by a first positioning device and a second positioning device respectively, wherein the first pose information corresponds to the second pose information. In addition, a plurality of first candidacy pose information is generated in an error range of the first pose information. Furthermore, a plurality of second candidacy pose information is generated according to the first pose information respectively. One of the second candidacy pose information having a smallest error derived from the second pose information is selected for updating the pose information of the first positioning device and parameter information of the second positioning device. Thereby, pose information of the moving device is updated and parameter information of the second orientation devices is calibrated simultaneously.
Abstract translation: 提供了一种定位系统及其方法。 在定位方法中，分别通过第一定位装置和第二定位装置获得移动装置的第一姿态信息和第二姿势信息，其中第一姿态信息对应于第二姿势信息。 另外，在第一姿态信息的误差范围内生成多个第一候选人姿势信息。 此外，分别根据第一姿态信息生成多个第二候选人姿势信息。 为了更新第一定位装置的姿态信息和第二定位装置的参数信息，选择从第二姿势信息导出的具有最小误差的第二轮候姿态信息中的一个。 由此，更新移动装置的姿势信息，同时对第二取向装置的参数信息进行校准。
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公开(公告)号：US20100157048A1
公开(公告)日：2010-06-24
申请号：US12372708
申请日：2009-02-17
Applicant: Hsiang-Wen Hsieh , Jwu-Sheng Hu , Shyh-Haur Su , Chin-Chia Wu
Inventor： Hsiang-Wen Hsieh , Jwu-Sheng Hu , Shyh-Haur Su , Chin-Chia Wu
IPC: H04N7/18
Abstract: A positioning system and a method thereof are provided. In the positioning method, a first and a second pose information of a moving device are obtained by a first positioning device and a second positioning device respectively, wherein the first pose information corresponds to the second pose information. In addition, a plurality of first candidacy pose information is generated in an error range of the first pose information. Furthermore, a plurality of second candidacy pose information is generated according to the first pose information respectively. One of the second candidacy pose information having a smallest error derived from the second pose information is selected for updating the pose information of the first positioning device and parameter information of the second positioning device. Thereby, pose information of the moving device is updated and parameter information of the second orientation devices is calibrated simultaneously.
Abstract translation: 提供了一种定位系统及其方法。 在定位方法中，分别通过第一定位装置和第二定位装置获得移动装置的第一姿态信息和第二姿势信息，其中第一姿态信息对应于第二姿势信息。 另外，在第一姿态信息的误差范围内生成多个第一候选人姿势信息。 此外，分别根据第一姿态信息生成多个第二候选人姿势信息。 为了更新第一定位装置的姿态信息和第二定位装置的参数信息，选择从第二姿势信息导出的具有最小误差的第二轮候姿态信息中的一个。 由此，更新移动装置的姿势信息，同时校准第二取向装置的参数信息。
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