公开(公告)号：US08787678B2

公开(公告)日：2014-07-22

申请号：US12941706

申请日：2010-11-08

Applicant: Simon Melikian

Inventor： Simon Melikian

IPC: G06K9/48

CPC classification number: G06K9/3275 ,  G06K9/00798 ,  G06K9/00818 ,  G06K9/3241 ,  G06K9/48 ,  G06K9/6204

Abstract: Disclosed is method of visual search for objects that include straight lines. A two-step process is used, which includes detecting straight line segments in an image. The lines are generally characterized by their length, midpoint location, and orientation. Hypotheses that a particular straight line segment belongs to a known object are generated and tested. The set of hypotheses is constrained by spatial relationships in the known objects. The speed and robustness of the method and apparatus disclosed makes it immediately applicable to many computer vision applications.

Abstract translation: 公开了对包括直线的物体进行视觉搜索的方法。 使用两步过程，其包括检测图像中的直线段。 线条通常以其长度，中点位置和方向为特征。 生成并测试特定直线段属于已知对象的假设。 该组假设受到已知对象中的空间关系的约束。 所公开的方法和装置的速度和鲁棒性使其立即适用于许多计算机视觉应用。

公开(公告)号：US20100201803A1

公开(公告)日：2010-08-12

申请号：US12367967

申请日：2009-02-09

Applicant: Simon Melikian

Inventor： Simon Melikian

IPC: H04N7/18

CPC classification number: B23K9/32 ,  B23K31/125 ,  G05B19/41875 ,  G05B2219/37074 ,  G05B2219/37212 ,  G05B2219/37559 ,  G05B2219/42337 ,  G05B2219/45135 ,  G06T7/74 ,  G06T2207/30164 ,  G06T2207/30204

Abstract: A system and method of visual monitoring of a work implement (e.g., a welding torch) while a task is being performed (e.g., forming a welding joint) to train workers (e.g., apprentices, inexperienced workers) in proper welding technique, for example) and/or to evaluate the worker's use of a particular work implement (e.g., to determine if the welding torch was held in a desired relationship to the items being welded together, determine if the welding torch formed the joint at the current speed, etc.). In general, one or more cameras may acquire images of a target secured to and/or formed on the work implement. The images may be analyzed to provide feedback to the user, to be evaluated for weld integrity purposes; and/or may be used to compare the performance of a task (e.g., forming a welding joint) with a database of one or more profiles made by experienced and/or expert craftsmen.

Abstract translation: 例如，在正在执行任务（例如，形成焊接接头）的情况下，对工件（例如，焊炬）进行视觉监控的系统和方法，以适当的焊接技术来训练工人（例如学徒，无经验的工人） ）和/或评估工人对特定工作工具的使用（例如，确定焊炬是否与焊接在一起的物品保持期望的关系，确定焊炬是否以当前速度形成接头等 。）。 通常，一个或多个相机可以获取固定到和/或形成在作业工具上的目标的图像。 可以分析图像以向用户提供反馈，以评估焊接完整性目的; 和/或可用于将任务（例如，形成焊接接头）的性能与由有经验的和/或专家技术人员制成的一个或多个简档的数据库进行比较。

公开(公告)号：US20100021051A1

公开(公告)日：2010-01-28

申请号：US12177529

申请日：2008-07-22

Applicant: Simon Melikian ,  Maximiliano A. Falcone ,  Joseph Cyrek

Inventor： Simon Melikian ,  Maximiliano A. Falcone ,  Joseph Cyrek

IPC: G06K9/00

CPC classification number: B25J9/1697 ,  G05B2219/37555 ,  G05B2219/37561 ,  G05B2219/39397 ,  G05B2219/40003 ,  G06K9/4609 ,  G06K9/4671 ,  G06K9/6202 ,  G06K2209/29

Abstract: Disclosed herein are embodiments and methods of a visual guidance and recognition system requiring no calibration. One embodiment of the system comprises a servo actuated manipulator configured to perform a function, a camera mounted on the face plate of the manipulator, and a recognition controller configured to acquire a two dimensional image of the work piece. The manipulator controller is configured to receive and store the face plate position at a distance “A” between the reference work piece and the manipulator along an axis of the reference work piece when the reference work piece is in the camera's region of interest. The recognition controller is configured to learn the work piece from the image and the distance “A”. During operation, a work piece is recognized with the system, and the manipulator is accurately positioned with respect to the work piece so that the manipulator can accurately perform its function.

Abstract translation: 这里公开了不需要校准的视觉指导和识别系统的实施例和方法。 该系统的一个实施例包括被配置为执行功能的伺服驱动的操纵器，安装在操纵器的面板上的照相机以及被配置为获取工件的二维图像的识别控制器。 操纵器控制器构造成当参考工件处于相机的感兴趣区域中时，沿着参考工件的轴线接收并存储面板位置在参考工件和操纵器之间的距离“A”处。 识别控制器被配置为从图像学习工件和距离“A”。 在操作期间，系统识别出工件，并且操纵器相对于工件被精确地定位，使得操纵器能够准确地执行其功能。

公开(公告)号：US20090257655A1

公开(公告)日：2009-10-15

申请号：US12101583

申请日：2008-04-11

Applicant: Simon Melikian

Inventor： Simon Melikian

IPC: G06K9/46

CPC classification number: G06K9/4671 ,  G06K9/4609 ,  G06K9/6202 ,  G06K2209/29

Abstract: A method for visual recognition of an object in an electronic image includes extracting unique points of an object to be learned and/or a target object. The unique points are obtained by cross-correlating the image with a structure. Generally, the structure and/or the size of the structure may vary to detect extremum information associated with the learned object and/or target object. An icon corresponding to each of the unique points is extracted. The size of the icon corresponds to the scale of the unique point. After extraction of the various icons, an object becomes a collection of icons. Each of these icons is un-rotated and normalized or resized to a constant size so it can be compared with other icons. One of the unique properties of these icons is their stability over scale and angle. Thus, this invention allows the recognition of an image(s) or object(s) from large number of trained images or objects very quickly.

Abstract translation: 一种用于电子图像中的对象的视觉识别的方法包括提取待学习对象和/或目标对象的唯一点。 通过将图像与结构相互关联获得独特的点。 通常，结构的结构和/或尺寸可以变化以检测与被学习的对象和/或目标对象相关联的极值信息。 提取与每个唯一点对应的图标。 图标的大小对应于唯一点的比例。 提取各种图标后，对象将成为图标的集合。 这些图标中的每一个都是未旋转的，并被归一化或调整到一个恒定的大小，所以它可以与其他图标进行比较。 这些图标的独特属性之一是它们在尺度和角度上的稳定性。 因此，本发明允许非常快速地从大量训练的图像或物体识别图像或物体。

公开(公告)号：US20150197009A1

公开(公告)日：2015-07-16

申请号：US14152512

申请日：2014-01-10

Applicant: Simon Melikian

Inventor： Simon Melikian

IPC: B25J9/16 ,  B25J9/08 ,  B25J19/02

CPC classification number: B25J9/1664 ,  B23Q3/15546 ,  B25J9/08 ,  B25J9/1669 ,  B25J19/023 ,  G05B2219/36362 ,  G05B2219/39468 ,  G05B2219/39484 ,  G05B2219/39571 ,  G05B2219/40284 ,  G05B2219/40538 ,  G05B2219/50276 ,  Y10S901/02 ,  Y10S901/47

Abstract: A method for picking up an article using a robot arm includes capturing images with a camera and processing the captured images to locate a machine-readable symbol affixed to the article. The machine-readable symbol includes an orientation pattern and encoded information pertaining to the article. The orientation pattern provides information to determine x, y, and z coordinates and Rx, Ry and Rz of a gripping tool attached to the robot arm. The encoded information provides information to determine the appropriate gripping tool, gripping location and gripping motion path.

Abstract translation: 使用机器人手臂拾取物品的方法包括用相机拍摄图像并处理所捕获的图像以定位附着在物品上的机读符号。 机器可读符号包括定向模式和与文章有关的编码信息。 定向图案提供了确定附接到机器人手臂的夹持工具的x，y和z坐标以及Rx，Ry和Rz的信息。 编码信息提供信息以确定适当的夹持工具，夹持位置和夹持运动路径。

公开(公告)号：US08842191B2

公开(公告)日：2014-09-23

申请号：US12793339

申请日：2010-06-03

Applicant: Simon Melikian

Inventor： Simon Melikian

IPC: H04N5/228 ,  G06K9/46 ,  G06K9/66

CPC classification number: G06K9/4628 ,  G06K9/4671

Abstract: A method for generating a signal based on a visual image includes photographing a target object with a digital camera to obtain a target image; receiving the target image into a processor that is in communication with the camera; cross-correlating the target image with a structure having a variety of scales across the target image; and based on cross-correlating the target image, generating a signal for output on a device associated with the camera. A visual recognition system is also disclosed.

Abstract translation: 基于视觉图像生成信号的方法包括用数字照相机拍摄目标物体以获得目标图像; 将目标图像接收到与相机通信的处理器中; 将目标图像与目标图像上具有各种尺度的结构互相关联; 并且基于对目标图像的互相关，产生用于在与相机相关联的设备上输出的信号。 还公开了一种视觉识别系统。

公开(公告)号：US20120213444A1

公开(公告)日：2012-08-23

申请号：US13437370

申请日：2012-04-02

Applicant: Simon Melikian

Inventor： Simon Melikian

IPC: G06K9/46

CPC classification number: G06K9/4671 ,  G06K9/4609 ,  G06K9/6202 ,  G06K2209/29

Abstract: A method for visual recognition of an object in an electronic image includes extracting unique points of an object to be learned and/or a target object. The unique points are obtained by cross-correlating the image with a structure. Generally, the structure and/or the size of the structure may vary to detect extremum information associated with the learned object and/or target object. An icon corresponding to each of the unique points is extracted. The size of the icon corresponds to the scale of the unique point. After extraction of the various icons, an object becomes a collection of icons. Each of these icons is un-rotated and normalized or resized to a constant size so it can be compared with other icons.

Abstract translation: 一种用于电子图像中的对象的视觉识别的方法包括提取待学习对象和/或目标对象的唯一点。 通过将图像与结构相互关联获得独特的点。 通常，结构的结构和/或尺寸可以变化以检测与被学习的对象和/或目标对象相关联的极值信息。 提取与每个唯一点对应的图标。 图标的大小对应于唯一点的比例。 提取各种图标后，对象将成为图标的集合。 这些图标中的每一个都是未旋转的，并被归一化或调整到一个恒定的大小，所以它可以与其他图标进行比较。

公开(公告)号：US20110298939A1

公开(公告)日：2011-12-08

申请号：US12793339

申请日：2010-06-03

Applicant: Simon Melikian

Inventor： Simon Melikian

IPC: H04N5/14

CPC classification number: G06K9/4628 ,  G06K9/4671

Abstract: A method for generating a signal based on a visual image includes photographing a target object with a digital camera to obtain a target image; receiving the target image into a processor that is in communication with the camera; cross-correlating the target image with a structure having a variety of scales across the target image; and based on cross-correlating the target image, generating a signal for output on a device associated with the camera. A visual recognition system is also disclosed.

Abstract translation: 基于视觉图像生成信号的方法包括用数字照相机拍摄目标物体以获得目标图像; 将目标图像接收到与相机通信的处理器中; 将目标图像与目标图像上具有各种尺度的结构互相关联; 并且基于对目标图像的互相关，产生用于在与相机相关联的设备上输出的信号。 还公开了一种视觉识别系统。

公开(公告)号：US08150165B2

公开(公告)日：2012-04-03

申请号：US12101583

申请日：2008-04-11

Applicant: Simon Melikian

Inventor： Simon Melikian

IPC: G06K9/46

CPC classification number: G06K9/4671 ,  G06K9/4609 ,  G06K9/6202 ,  G06K2209/29

Abstract: A method for visual recognition of an object in an electronic image includes extracting unique points of an object to be learned and/or a target object. The unique points are obtained by cross-correlating the image with a structure. Generally, the structure and/or the size of the structure may vary to detect extremum information associated with the learned object and/or target object. An icon corresponding to each of the unique points is extracted. The size of the icon corresponds to the scale of the unique point. After extraction of the various icons, an object becomes a collection of icons. Each of these icons is un-rotated and normalized or resized to a constant size so it can be compared with other icons. One of the unique properties of these icons is their stability over scale and angle. Thus, this invention allows the recognition of an image(s) or object(s) from large number of trained images or objects very quickly.

Abstract translation: 一种用于电子图像中的对象的视觉识别的方法包括提取待学习对象和/或目标对象的唯一点。 通过将图像与结构相互关联获得独特的点。 通常，结构的结构和/或尺寸可以变化以检测与被学习的对象和/或目标对象相关联的极值信息。 提取与每个唯一点对应的图标。 图标的大小对应于唯一点的比例。 提取各种图标后，对象将成为图标的集合。 这些图标中的每一个都是未旋转的，并被归一化或调整到一个恒定的大小，所以它可以与其他图标进行比较。 这些图标的独特属性之一是它们在尺度和角度上的稳定性。 因此，本发明允许非常快速地从大量训练的图像或物体识别图像或物体。

公开(公告)号：US08144193B2

公开(公告)日：2012-03-27

申请号：US12367967

申请日：2009-02-09

Applicant: Simon Melikian

Inventor： Simon Melikian

IPC: H04N7/18

CPC classification number: B23K9/32 ,  B23K31/125 ,  G05B19/41875 ,  G05B2219/37074 ,  G05B2219/37212 ,  G05B2219/37559 ,  G05B2219/42337 ,  G05B2219/45135 ,  G06T7/74 ,  G06T2207/30164 ,  G06T2207/30204

Abstract: A system and method of visual monitoring of a work implement (e.g., a welding torch) while a task is being performed (e.g., forming a welding joint) to train workers (e.g., apprentices, inexperienced workers) in proper welding technique, for example) and/or to evaluate the worker's use of a particular work implement (e.g., to determine if the welding torch was held in a desired relationship to the items being welded together, determine if the welding torch formed the joint at the current speed, etc.). In general, one or more cameras may acquire images of a target secured to and/or formed on the work implement. The images may be analyzed to provide feedback to the user, to be evaluated for weld integrity purposes; and/or may be used to compare the performance of a task (e.g., forming a welding joint) with a database of one or more profiles made by experienced and/or expert craftsmen.

Abstract translation: 例如，在正在执行任务（例如，形成焊接接头）的情况下，对工件（例如，焊炬）进行视觉监控的系统和方法，以适当的焊接技术来训练工人（例如学徒，没有经验的工人） ）和/或评估工人对特定工作工具的使用（例如，确定焊炬是否与焊接在一起的物品保持期望的关系，确定焊炬是否以当前速度形成接头等 。）。 通常，一个或多个相机可以获取固定到和/或形成在作业工具上的目标的图像。 可以分析图像以向用户提供反馈，以评估焊接完整性目的; 和/或可用于将任务（例如，形成焊接接头）的性能与由有经验的和/或专家技术人员制成的一个或多个简档的数据库进行比较。