3212 results about "Vision sensor" patented technology

In parallel with a substrate heating step, a liquid surface sensor is used to monitor the raising of an IPA liquid film. An organic solvent removing step is started in response to the raising of the IPA liquid film over the upper surface of the substrate. At the end of the organic solvent removing step, a visual sensor is used to determine whether or not IPA droplets remain on the upper surface of the substrate.

The invention relates to a visual recognition and positioning method for robot intelligent capture application. According to the method, an RGB-D scene image is collected, a supervised and trained deep convolutional neural network is utilized to recognize the category of a target contained in a color image and a corresponding position region, the pose state of the target is analyzed in combinationwith a deep image, pose information needed by a controller is obtained through coordinate transformation, and visual recognition and positioning are completed. Through the method, the double functions of recognition and positioning can be achieved just through a single visual sensor, the existing target detection process is simplified, and application cost is saved. Meanwhile, a deep convolutional neural network is adopted to obtain image features through learning, the method has high robustness on multiple kinds of environment interference such as target random placement, image viewing anglechanging and illumination background interference, and recognition and positioning accuracy under complicated working conditions is improved. Besides, through the positioning method, exact pose information can be further obtained on the basis of determining object spatial position distribution, and strategy planning of intelligent capture is promoted.

Universal Video Computer Vision Input Virtual Space Mouse-Keyboard Control Panel Robot has computer system use video vision camera sensors, logical vision sensor programming as trainable computer vision seeing objects movements X, Y, Z dimensions' definitions to recognize users commands by their Hands gestures and/or enhance symbols, colors objects combination actions to virtually input data, and commands to operate computer, and machines. The robot has automatically calibrated working space into Space Mouse Zone, Space Keyboard zone, and Hand-Sign Languages Zone between user and itself. The robot automatically translate the receiving coordination users' hand gesture actions combinations on the customizable puzzle-cell positions of working space and mapping to its software mapping lists for each of the puzzle-cell position definition and calibrate these user hand and/or body gestures' virtual space actions into entering data and commands to computer meaningful computer, machine, home appliances operations.

A flexible medical intubation instrument provided for placement into an animal or human patient comprises a catheter with at least a pair of longitudinally extending lumens or channels including a sensor and/or actuator channel and a working channel. In the sensor/actuator channel is provided a fixed or slideably removable sensor cable having a sensor for sensing a characteristic or condition including any of the following: a visual sensor for optical viewing, a chemical sensor, a pH sensor, a pressure sensor, an infection sensor, an audio sensor, or a temperature sensor. The sensors are coupled by the sensor/actuator cable through light transmission, electric current, or radio transmission to a viewing instrument or other output device such as a meter or video screen for displaying the condition that is sensed within the body of the patient while the flexibility of the composite structure comprising the catheter and cable enable the entire instrument to flex laterally as it moves through curved passages or around obstructions during insertion or removal. While making observations through the sensor channel, the working channel simultaneously functions as a drain or an irrigation duct, a feeding tube, or to provide a passage for the insertion of one or a succession of surgical devices such that the catheter serves as a protective artificial tract or liner as surgical devices are inserted and removed through it in succession so as to minimize tissue trauma, infection, and pain experienced by the patient. The instrument can be used in urology, as well as a visually directed nasogastric tube, as a visually directed external gastrostomy tube, or as a visually directed internal gastric tube or percutaneous endoscopic gastrostomy tube and in other applications.

Methods and computer readable media for recognizing and identifying items located on the belt of a counter and/or in a shopping cart of a store environment for the purpose of reducing/preventing bottom-of-the-basket loss, checking out the items automatically, reducing the checkout time, preventing consumer fraud, increasing revenue and replacing a conventional UPC scanning system to enhance the checking out speed. The images of the items taken by visual sensors may be analyzed to extract features using the scale-invariant feature-transformation (SIFT) method. Then, the extracted features are compared to those of trained images stored in a database to find a set of matches. Based on the set of matches, the items are recognized and associated with one or more instructions, commands or actions without the need for personnel to visually see the items, such as by having to come out from behind a check out counter or peering over a check out counter.

Collision detection and estimation from a monocular visual sensor is an important enabling technology for safe navigation of small or micro air vehicles in near earth flight. In this paper, we introduce a new approach called expansion segmentation, which simultaneously detects “collision danger regions” of significant positive divergence in inertial aided video, and estimates maximum likelihood time to collision (TTC) in a correspondenceless framework within the danger regions. This approach was motivated from a literature review which showed that existing approaches make strong assumptions about scene structure or camera motion, or pose collision detection without determining obstacle boundaries, both of which limit the operational envelope of a deployable system. Expansion segmentation is based on a new formulation of 6-DOF inertial aided TTC estimation, and a new derivation of a first order TTC uncertainty model due to subpixel quantization error and epipolar geometry uncertainty. Proof of concept results are shown in a custom designed urban flight simulator and on operational flight data from a small air vehicle.

The invention discloses a positioning method and system based on visual inertial navigation information fusion. The method comprises steps as follows: acquired sensor information is preprocessed, wherein the sensor information comprises an RGB image and depth image information of a depth vision sensor and IMU (inertial measurement unit) data; external parameters of a system which the depth visionsensor and an IMU belong to are acquired; the pre-processed sensor information and external parameters are processed with an IMU pre-integration model and a depth camera model, and pose information isacquired; the pose information is corrected on the basis of a loop detection mode, and the corrected globally uniform pose information is acquired. The method has good robustness in the positioning process and the positioning accuracy is improved.

The auxiliary safety operation equipment based on omnibearing computer vision includes an omnibearing vision sensor for acquiring omnibearing video information outside and inside the vehicle, and an auxiliary safety operation controller for detecting fatigue operation and warning on fatigue operation. The omnibearing vision sensor installed in the right of the driver's seat and connected to the auxiliary safety operation controller detects the facial state, eye state and mouth state of the driver and the steering wheel state, monitors the vehicle direction, speed, etc, and warns the fatigue operation in case of detecting fatigue operation state. The present invention detects the characteristic parameter of fatigue operation state, and has high judgment precision and high measurement precision.

A method and apparatus for providing three-dimensional navigation for a node comprising an inertial measurement unit for providing gyroscope, acceleration and velocity information (collectively IMU information); a ranging unit for providing distance information relative to at least one reference node; at least one visual sensor for providing images of an environment surrounding the node; a preprocessor, coupled to the inertial measurement unit, the ranging unit and the plurality of visual sensors, for generating error states for the IMU information, the distance information and the images; and an error-state predictive filter, coupled to the preprocessor, for processing the error states to produce a three-dimensional pose of the node.

Systems and methods for recognizing and identifying items located on the lower shelf of a shopping cart in a checkout lane of a retail store environment for the purpose of reducing or preventing loss or fraud and increasing the efficiency of a checkout process. The system includes one or more visual sensors that can take images of items and a computer system that receives the images from the one or more visual sensors and automatically identifies the items. The system can be trained to recognize the items using images taken of the items. The system relies on matching visual features from training images to match against features extracted from images taken at the checkout lane. Using the scale-invariant feature transformation (SIFT) method, for example, the system can compare the visual features of the images to the features stored in a database to find one or more matches, where the found one or more matches are used to identify the items.

The invention discloses a safe state recognition system for people on the basis of machine vision, aiming to solve the problem that the corresponding intelligent control decision for the vehicle driving behaviour can not be formulated according to the safe state of the people in the prior art. The method comprises the following steps: collecting a vehicle-mounted dynamic video image; detecting and recognizing a pedestrian in an interested area in front of a vehicle; tracking a moving pedestrian; detecting and calculating the distance of pedestrian in front of the vehicle; and obtaining vehicle real-time speed; and recognizing the safe state of the pedestrian. The process of recognizing the safe state of the pedestrian comprises the following steps: building a critical conflict area; judging the safe state when the pedestrian is out of the conflict area in the relative moving process; and judging the safe state when the pedestrian is in the conflict area in the relative moving process. Whether the pedestrian enters a dangerous area can be predicted by the relative speed and the relative position of a motor vehicle and the pedestrian, which are obtained by a vision sensor in the above steps. The safe state recognition system can assist drivers in adopting measures to avoid colliding pedestrians.

A robot system having an image processing function capable of detecting position and/or posture of individual workpieces randomly arranged in a stack to determine posture, or posture and position of a robot operation suitable for the detected position and/or posture of the workpiece. Reference models are created from two-dimensional images of a reference workpiece captured in a plurality of directions by a first visual sensor and stored. Also, the relative positions/postures of the first visual sensor with respect to the workpiece at the respective image capturing, and relative position/posture of a second visual sensor to be situated with respect to the workpiece are stored. Matching processing between an image of a stack of workpieces captured by the camera and the reference models are performed and an image of a workpiece matched with one reference model is selected. A three-dimensional position/posture of the workpiece is determined from the image of the selected workpiece, the selected reference model and position/posture information associated with the reference model. The position/posture of the second visual sensor to be situated for measurement is determined based on the determined position/posture of the workpiece and the stored relative position/posture of the second visual sensor, and precise position/posture of the workpiece is measured by the second visual sensor at the determined position/posture of the second visual sensor. A picking operation for picking out a respective workpiece from a randomly arranged stack can be performed by a robot based on the measuring results of the second visual sensor.

An autonomous navigation and man-machine coordination picking operating system of a picking robot comprises a travelling unit of the picking robot, a picking robot arm, an Agent, a wireless sensor network, a computer and a panoramic stereoscopic visual sensor. The Agent has functions of autonomous navigation, obstacle avoidance, positioning and path planning and the like, the wireless sensor network is used for completing man-machine coordination picking information interaction, the computer is used for providing long-distance intervention and management for picking administrators during man-machine coordination picking operation, and the panoramic stereoscopic visual sensor is used for acquiring panoramic stereoscopic video images in a picking area. The autonomous navigation and man-machine coordination picking operating system of the picking robot is fine in natural flexibility, simple in mechanism, low in control complexity, limited intelligent, high in picking efficiency, fine in environmental adaptation, and low in manufacturing and maintenance costs., Picking objects and crop are not damaged during picking.

The invention discloses an autonomous location and navigation method and an autonomous location and navigation system of a robot. The method comprises the following steps: acquiring the RGB image of the robot in the current position; carrying out characteristic point matching on the RGB image of the current position and an indoor three-dimensional point cloud map, and determining the current position of the robot in the indoor 3D point cloud map; carrying out characteristic point matching on a pre-stored RGB image of a destination and the indoor three-dimensional point cloud map, and determining the position of the destination in the indoor 3D point cloud map; and searching an optimal path from the current position to the destination position in the indoor 3D point cloud map, and driving the robot to run according to the optimal path. The method and the system have the advantages of completion of autonomous location and navigation through using a visual sensor, simple device structure, low cost, simplicity in operation, and high path planning real-time property, and can be used in the fields of unmanned driving and indoor location and navigation.

A motor vehicle crash sensor system for activating an external safety system such as an airbag in response to the detection of an impending collision target. The system includes a radar sensor carried by the vehicle providing a radar output related to the range and relative velocity of the target. A vision sensor is carried by the vehicle which provides a vision output related to the bearing and bearing rate of the target. An electronic control module receives the radar output and the vision output for producing a deployment signal for the safety system.

The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Systems and methods for automatically checking out items located on a moving conveyor belt for the purpose of increasing the efficiency of a checkout process and revenue at a point-of-sale. The system includes a conveyor subsystem for moving the items, a housing that enclosed a portion of the conveyor subsystem, a lighting subsystem that illuminates an area within the housing, visual sensors that can take images of the items including UPCs, and a checkout system that receives the images from the visual sensors and automatically identifies the items. The system may include a scale subsystem located under the conveyor subsystem to measure the weights of the items, where the weight of each item is used to check if the corresponding item is identified correctly. The system relies on matching visual features from images stored in a database to match against features extracted from images taken by the visual sensors.

The invention discloses a man-machine interactive system and a real-time gesture tracking processing method for the same. The method comprises the following steps of: obtaining image information of user side, executing gesture detection by a gesture detection unit to finish separation of a gesture and a background, and automatically determining a smaller rectangular frame which surrounds the hand as a region of interest in the image information through a vision algorithm; calculating the hand profile state of each frame in a video sequence by a gesture tracking unit; executing validity check on hand actions according to the calculated hand profile state, and determining the gesture action finished by the user; and generating a corresponding gesture action control instruction according to the determined gesture action, and making corresponding feedbacks by a three-dimensional user interface according to the gesture action control instruction. In the system and the method, all or part of gesture actions of the user are sensed so as to finish accurate tracking on the gesture, thus, a real-time robust solution is provided for an effective gesture man-machine interface port based on a common vision sensor.

A system and method are disclosed for enhancing the visibility and ensuring the correctness of terrain and navigation information on aircraft displays, such as, for example, continuous, three-dimensional perspective view aircraft displays conformal to the visual environment. More specifically, an aircraft display system is disclosed that includes a processing unit, a navigation system, a database for storing high resolution terrain data, a graphics display generator, and a visual display. One or more independent, higher precision databases with localized position data, such as navigation data or position data is onboard. Also, one or more onboard vision sensor systems associated with the navigation system provides real-time spatial position data for display, and one or more data links is available to receive precision spatial position data from ground-based stations. Essentially, before terrain and navigational objects (e.g., runways) are displayed, a real-time correction and augmentation of the terrain data is performed for those regions that are relevant and/or critical to flight operations, in order to ensure that the correct terrain data is displayed with the highest possible integrity. These corrections and augmentations performed are based upon higher precision, but localized onboard data, such as navigational object data, sensor data, or up-linked data from ground stations. Whenever discrepancies exist, terrain data having a lower integrity can be corrected in real-time using data from a source having higher integrity data. A predictive data loading approach is used, which substantially reduces computational workload and thus enables the processing unit to perform such augmentation and correction operations in real-time.