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1. 发明授权

US07036094B1 Behavior recognition system 有权
标题翻译：行为识别系统
公开(公告)号：US07036094B1
公开(公告)日：2006-04-25
申请号：US09540461
申请日：2000-03-31
申请人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
发明人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
IPC分类号： G09G5/00
CPC分类号： G06F3/017 , G06K9/00348 , G06K9/00355
摘要： A system for recognizing various human and creature motion gaits and behaviors is presented. These behaviors are defined as combinations of “gestures” identified on various parts of a body in motion. For example, the leg gestures generated when a person runs are different than when a person walks. The system described here can identify such differences and categorize these behaviors. Gestures, as previously defined, are motions generated by humans, animals, or machines. Where in the previous patent only one gesture was recognized at a time, in this system, multiple gestures on a body (or bodies) are recognized simultaneously and used in determining behaviors. If multiple bodies are tracked by the system, then overall formations and behaviors (such as military goals) can be determined.
摘要翻译：提出了一种用于识别各种人类和生物运动步态和行为的系统。这些行为被定义为在运动的身体的各个部分上识别的“手势”的组合。例如，当人运行时产生的腿姿势与人走路时不同。这里描述的系统可以识别这些差异并对这些行为进行分类。如前所述，手势是由人，动物或机器产生的动作。在以前的专利中，一次只能识别出一个手势，在该系统中，身体（或身体）上的多个手势被同时识别并用于确定行为。如果系统跟踪多个物体，则可以确定整体形成和行为（如军事目标）。

2. 发明授权

US06950534B2 Gesture-controlled interfaces for self-service machines and other applications 有权
标题翻译：用于自助服务机器和其他应用的手势控制接口
公开(公告)号：US06950534B2
公开(公告)日：2005-09-27
申请号：US10759459
申请日：2004-01-16
申请人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
发明人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
IPC分类号： G06F3/00 , G06F3/01 , G06K9/00 , G06T7/20
CPC分类号： G06K9/00355 , A63F2300/1093 , A63F2300/6045 , G06F3/017 , G06T7/246
摘要： A gesture recognition interface for use in controlling self-service machines and other devices is disclosed. A gesture is defined as motions and kinematic poses generated by humans, animals, or machines. Specific body features are tracked, and static and motion gestures are interpreted. Motion gestures are defined as a family of parametrically delimited oscillatory motions, modeled as a linear-in-parameters dynamic system with added geometric constraints to allow for real-time recognition using a small amount of memory and processing time. A linear least squares method is preferably used to determine the parameters which represent each gesture. Feature position measure is used in conjunction with a bank of predictor bins seeded with the gesture parameters, and the system determines which bin best fits the observed motion. Recognizing static pose gestures is preferably performed by localizing the body/object from the rest of the image, describing that object, and identifying that description. The disclosure details methods for gesture recognition, as well as the overall architecture for using gesture recognition to control of devices, including self-service machines.
摘要翻译：公开了一种用于控制自助服务机器和其他设备的手势识别界面。手势被定义为人类，动物或机器产生的运动和运动姿态。跟踪特定身体特征，并解释静态和运动手势。运动手势被定义为参数定界的振荡运动系列，被建模为参数线性参数动态系统，附加的几何约束允许使用少量的存储器和处理时间进行实时识别。优选使用线性最小二乘法来确定表示每个姿态的参数。特征位置测量结合使用手势参数种子的预测器仓组，并且系统确定哪个箱最适合观察到的运动。识别静态姿势手势优选地通过将来自图像的其余部分的身体/物体定位，描述该对象并识别该描述来执行。本公开详细描述了用于手势识别的方法，以及用于使用手势识别来控制设备（包括自助服务机器）的整体架构。

3. 发明授权

US08407625B2 Behavior recognition system 有权
标题翻译：行为识别系统
公开(公告)号：US08407625B2
公开(公告)日：2013-03-26
申请号：US11412252
申请日：2006-04-25
申请人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
发明人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
IPC分类号： G06F3/048
CPC分类号： G06F3/017 , G06K9/00348 , G06K9/00355
摘要： A system for recognizing various human and creature motion gaits and behaviors is presented. These behaviors are defined as combinations of “gestures” identified on various parts of a body in motion. For example, the leg gestures generated when a person runs are different than when a person walks. The system described here can identify such differences and categorize these behaviors. Gestures, as previously defined, are motions generated by humans, animals, or machines. Multiple gestures on a body (or bodies) are recognized simultaneously and used in determining behaviors. If multiple bodies are tracked by the system, then overall formations and behaviors (such as military goals) can be determined.
摘要翻译：提出了一种用于识别各种人类和生物运动步态和行为的系统。这些行为被定义为在运动的身体的各个部分上识别的手势的组合。例如，当人运行时产生的腿姿势与人走路时不同。这里描述的系统可以识别这些差异并对这些行为进行分类。如前所述，手势是由人，动物或机器产生的动作。身体（或身体）上的多个手势被同时识别并用于确定行为。如果系统跟踪多个物体，则可以确定整体形成和行为（如军事目标）。

4. 发明申请

US20090074248A1 GESTURE-CONTROLLED INTERFACES FOR SELF-SERVICE MACHINES AND OTHER APPLICATIONS 有权
标题翻译：用于自助服务机器和其他应用程序的控制接口
公开(公告)号：US20090074248A1
公开(公告)日：2009-03-19
申请号：US12326540
申请日：2008-12-02
申请人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
发明人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
IPC分类号： G06K9/00
CPC分类号： G06K9/00355 , A63F2300/1093 , A63F2300/6045 , G06F3/017 , G06T7/246
摘要： A gesture recognition interface for use in controlling self-service machines and other devices is disclosed. A gesture is defined as motions and kinematic poses generated by humans, animals, or machines. Specific body features are tracked, and static and motion gestures are interpreted. Motion gestures are defined as a family of parametrically delimited oscillatory motions, modeled as a linear-in-parameters dynamic system with added geometric constraints to allow for real-time recognition using a small amount of memory and processing time. A linear least squares method is preferably used to determine the parameters which represent each gesture. Feature position measure is used in conjunction with a bank of predictor bins seeded with the gesture parameters, and the system determines which bin best fits the observed motion. Recognizing static pose gestures is preferably performed by localizing the body/object from the rest of the image, describing that object, and identifying that description. The disclosure details methods for gesture recognition, as well as the overall architecture for using gesture recognition to control of devices, including self-service machines.
摘要翻译：公开了一种用于控制自助服务机器和其他设备的手势识别界面。手势被定义为人类，动物或机器产生的运动和运动姿态。跟踪特定身体特征，并解释静态和运动手势。运动手势被定义为参数定界的振荡运动系列，被建模为参数线性参数动态系统，附加的几何约束允许使用少量的存储器和处理时间进行实时识别。优选使用线性最小二乘法来确定表示每个姿态的参数。特征位置测量结合使用手势参数种子的预测器仓组，并且系统确定哪个箱最适合观察到的运动。识别静态姿势手势优选地通过将来自图像的其余部分的身体/物体定位，描述该对象并识别该描述来执行。本公开详细描述了用于手势识别的方法，以及用于使用手势识别来控制设备（包括自助服务机器）的整体架构。

5. 发明授权

US06681031B2 Gesture-controlled interfaces for self-service machines and other applications 有权
标题翻译：用于自助服务机器和其他应用的手势控制接口
公开(公告)号：US06681031B2
公开(公告)日：2004-01-20
申请号：US09371460
申请日：1999-08-10
申请人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
发明人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
IPC分类号： G06K900
CPC分类号： G06F3/017 , A63F2300/1093 , A63F2300/6045 , G06K9/00355 , G06T7/246 , G07F9/023
摘要： A gesture recognition interface for use in controlling self-service machines and other devices is disclosed. A gesture is defined as motions and kinematic poses generated by humans, animals, or machines. Specific body features are tracked, and static and motion gestures are interpreted. Motion gestures are defined as a family of parametrically delimited oscillatory motions, modeled as a linear-in-parameters dynamic system with added geometric constraints to allow for real-time recognition using a small amount of memory and processing time. A linear least squares method is preferably used to determine the parameters which represent each gesture. Feature position measure is used in conjunction with a bank of predictor bins seeded with the gesture parameters, and the system determines which bin best fits the observed motion. Recognizing static pose gestures is preferably performed by localizing the body/object from the rest of the image, describing that object, and identifying that description. The disclosure details methods for gesture recognition, as well as the overall architecture for using gesture recognition to control of devices, including self-service machines.
摘要翻译：公开了一种用于控制自助服务机器和其他设备的手势识别界面。手势被定义为人类，动物或机器产生的运动和运动姿态。跟踪特定身体特征，并解释静态和运动手势。运动手势被定义为参数定界的振荡运动系列，被建模为参数线性参数动态系统，附加的几何约束允许使用少量的存储器和处理时间进行实时识别。优选使用线性最小二乘法来确定表示每个姿态的参数。特征位置测量结合使用手势参数种子的预测器仓组，并且系统确定哪个箱最适合观察到的运动。识别静态姿势手势优选地通过将来自图像的其余部分的身体/物体定位，描述该对象并识别该描述来执行。本公开详细描述了用于手势识别的方法，以及用于使用手势识别来控制设备（包括自助服务机器）的整体架构。

6. 发明授权

US07460690B2 Gesture-controlled interfaces for self-service machines and other applications 有权
标题翻译：用于自助服务机器和其他应用的手势控制接口
公开(公告)号：US07460690B2
公开(公告)日：2008-12-02
申请号：US11226831
申请日：2005-09-14
申请人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
发明人： Charles J. Cohen , Glenn Beach , Brook Cavell , Gene Foulk , Charles J. Jacobus , Jay Obermark , George Paul
IPC分类号： G06K9/00 , G06K9/36 , G06F3/033
CPC分类号： G06K9/00355 , A63F2300/1093 , A63F2300/6045 , G06F3/017 , G06T7/246
摘要： A gesture recognition interface for use in controlling self-service machines and other devices is disclosed. A gesture is defined as motions and kinematic poses generated by humans, animals, or machines. Specific body features are tracked, and static and motion gestures are interpreted. Motion gestures are defined as a family of parametrically delimited oscillatory motions, modeled as a linear-in-parameters dynamic system with added geometric constraints to allow for real-time recognition using a small amount of memory and processing time. A linear least squares method is preferably used to determine the parameters which represent each gesture. Feature position measure is used in conjunction with a bank of predictor bins seeded with the gesture parameters, and the system determines which bin best fits the observed motion. Recognizing static pose gestures is preferably performed by localizing the body/object from the rest of the image, describing that object, and identifying that description. The disclosure details methods for gesture recognition, as well as the overall architecture for using gesture recognition to control of devices, including self-service machines.
摘要翻译：公开了一种用于控制自助服务机器和其他设备的手势识别界面。手势被定义为人类，动物或机器产生的运动和运动姿态。跟踪特定身体特征，并解释静态和运动手势。运动手势被定义为参数定界的振荡运动系列，被建模为参数线性参数动态系统，附加的几何约束允许使用少量的存储器和处理时间进行实时识别。优选使用线性最小二乘法来确定表示每个姿态的参数。特征位置测量结合使用手势参数种子的预测器仓组，并且系统确定哪个箱最适合观察到的运动。识别静态姿势手势优选地通过将来自图像的其余部分的身体/物体定位，描述该对象并识别该描述来执行。本公开详细描述了用于手势识别的方法，以及用于使用手势识别来控制设备（包括自助服务机器）的整体架构。

7. 发明授权

US07668340B2 Gesture-controlled interfaces for self-service machines and other applications 有权
标题翻译：用于自助服务机器和其他应用的手势控制接口
公开(公告)号：US07668340B2
公开(公告)日：2010-02-23
申请号：US12326540
申请日：2008-12-02
申请人： Charles J. Cohen , Glenn J. Beach , Brook Cavell , Eugene Foulk , Charles J. Jacobus , Jay Obermark , George V. Paul
发明人： Charles J. Cohen , Glenn J. Beach , Brook Cavell , Eugene Foulk , Charles J. Jacobus , Jay Obermark , George V. Paul
IPC分类号： G06K9/00 , G06F3/033
CPC分类号： G06K9/00355 , A63F2300/1093 , A63F2300/6045 , G06F3/017 , G06T7/246
摘要： A gesture recognition interface for use in controlling self-service machines and other devices is disclosed. A gesture is defined as motions and kinematic poses generated by humans, animals, or machines. Specific body features are tracked, and static and motion gestures are interpreted. Motion gestures are defined as a family of parametrically delimited oscillatory motions, modeled as a linear-in-parameters dynamic system with added geometric constraints to allow for real-time recognition using a small amount of memory and processing time. A linear least squares method is preferably used to determine the parameters which represent each gesture. Feature position measure is used in conjunction with a bank of predictor bins seeded with the gesture parameters, and the system determines which bin best fits the observed motion. Recognizing static pose gestures is preferably performed by localizing the body/object from the rest of the image, describing that object, and identifying that description. The disclosure details methods for gesture recognition, as well as the overall architecture for using gesture recognition to control of devices, including self-service machines.
摘要翻译：公开了一种用于控制自助服务机器和其他设备的手势识别界面。手势被定义为人类，动物或机器产生的运动和运动姿态。跟踪特定身体特征，并解释静态和运动手势。运动手势被定义为参数定界的振荡运动系列，被建模为参数线性参数动态系统，附加的几何约束允许使用少量的存储器和处理时间进行实时识别。优选使用线性最小二乘法来确定表示每个姿态的参数。特征位置测量结合使用手势参数种子的预测器仓组，并且系统确定哪个箱最适合观察到的运动。识别静态姿势手势优选地通过将来自图像的其余部分的身体/物体定位，描述该对象并识别该描述来执行。本公开详细描述了用于手势识别的方法，以及用于使用手势识别来控制设备（包括自助服务机器）的整体架构。

8. 发明申请

US20170154459A1 ORIENTATION INVARIANT OBJECT IDENTIFICATION USING MODEL-BASED IMAGE PROCESSING 审中-公开
公开(公告)号：US20170154459A1
公开(公告)日：2017-06-01
申请号：US15340519
申请日：2016-11-01
申请人： Douglas Haanpaa , Charles J. Cohen , Glenn J. Beach , Charles J. Jacobus
发明人： Douglas Haanpaa , Charles J. Cohen , Glenn J. Beach , Charles J. Jacobus
IPC分类号： G06T15/20 , G06F3/048 , G06T3/60 , G06T7/20 , G06K9/62 , G06T3/20
CPC分类号： G06T15/20 , G06F3/048 , G06K9/0063 , G06K9/3241 , G06K9/6202 , G06T3/20 , G06T3/60 , G06T7/20 , G06T15/00 , G06T15/10 , G06T2207/10012 , G06T2207/30212 , G06T2207/30248
摘要： A system for performing object identification combines pose determination, EO/IR sensor data, and novel computer graphics rendering techniques. A first module extracts the orientation and distance of a target in a truth chip given that the target type is known. A second is a module identifies the vehicle within a truth chip given the known distance and elevation angle from camera to target. Image matching is based on synthetic image and truth chip image comparison, where the synthetic image is rotated and moved through a 3-Dimensional space. To limit the search space, it is assumed that the object is positioned on relatively flat ground and that the camera roll angle stays near zero. This leaves three dimensions of motion (distance, heading, and pitch angle) to define the space in which the synthetic target is moved. A graphical user interface (GUI) front end allows the user to manually adjust the orientation of the target within the synthetic images. The system also includes the generation of shadows and allows the user to manipulate the sun angle to approximate the lighting conditions of the test range in the provided video.

9. 发明授权

US08150101B2 Orientation invariant object identification using model-based image processing 有权
标题翻译：使用基于模型的图像处理的方向不变对象识别
公开(公告)号：US08150101B2
公开(公告)日：2012-04-03
申请号：US11938484
申请日：2007-11-12
申请人： Douglas Haanpaa , Charles J. Cohen , Glenn J. Beach , Charles J. Jacobus
发明人： Douglas Haanpaa , Charles J. Cohen , Glenn J. Beach , Charles J. Jacobus
IPC分类号： G06K9/00
CPC分类号： G06T15/20 , G06F3/048 , G06K9/0063 , G06K9/3241 , G06K9/6202 , G06T3/20 , G06T3/60 , G06T7/20 , G06T15/00 , G06T15/10 , G06T2207/10012 , G06T2207/30212 , G06T2207/30248
摘要： A system for performing object identification combines pose determination, EO/IR sensor data, and novel computer graphics rendering techniques. A first module extracts the orientation and distance of a target in a truth chip given that the target type is known. A second is a module identifies the vehicle within a truth chip given the known distance and elevation angle from camera to target. Image matching is based on synthetic image and truth chip image comparison, where the synthetic image is rotated and moved through a 3-Dimensional space. To limit the search space, it is assumed that the object is positioned on relatively flat ground and that the camera roll angle stays near zero. This leaves three dimensions of motion (distance, heading, and pitch angle) to define the space in which the synthetic target is moved. A graphical user interface (GUI) front end allows the user to manually adjust the orientation of the target within the synthetic images. The system also includes the generation of shadows and allows the user to manipulate the sun angle to approximate the lighting conditions of the test range in the provided video.
摘要翻译：用于执行对象识别的系统结合了姿态确定，EO / IR传感器数据和新颖的计算机图形渲染技术。鉴于目标类型是已知的，第一模块提取目标在真芯片中的方向和距离。第二个是模块识别真实芯片内的车辆，给定从相机到目标的已知距离和仰角。图像匹配基于合成图像和真值芯片图像比较，其中合成图像被旋转并移动通过三维空间。为了限制搜索空间，假设物体位于相对平坦的地面上，并且摄像机倾斜角保持接近零。这将留下三维运动（距离，航向和俯仰角）来定义合成目标移动的空间。图形用户界面（GUI）前端允许用户手动调整合成图像内目标的方位。该系统还包括产生阴影并且允许用户操纵太阳角以近似所提供的视频中的测试范围的照明条件。

10. 发明申请

US20110102419A1 ORIENTATION INVARIANT OBJECT IDENTIFICATION USING MODEL-BASED IMAGE PROCESSING 有权
标题翻译：使用基于模型的图像处理的方位无形目标识别
公开(公告)号：US20110102419A1
公开(公告)日：2011-05-05
申请号：US11938484
申请日：2007-11-12
申请人： Douglas Haanpaa , Charles J. Cohen , Glenn J. Beach , Charles J. Jacobus
发明人： Douglas Haanpaa , Charles J. Cohen , Glenn J. Beach , Charles J. Jacobus
IPC分类号： G06T15/00
CPC分类号： G06T15/20 , G06F3/048 , G06K9/0063 , G06K9/3241 , G06K9/6202 , G06T3/20 , G06T3/60 , G06T7/20 , G06T15/00 , G06T15/10 , G06T2207/10012 , G06T2207/30212 , G06T2207/30248
摘要： A system for performing object identification combines pose determination, EO/IR sensor data, and novel computer graphics rendering techniques. A first module extracts the orientation and distance of a target in a truth chip given that the target type is known. A second is a module identifies the vehicle within a truth chip given the known distance and elevation angle from camera to target. Image matching is based on synthetic image and truth chip image comparison, where the synthetic image is rotated and moved through a 3-Dimensional space. To limit the search space, it is assumed that the object is positioned on relatively flat ground and that the camera roll angle stays near zero. This leaves three dimensions of motion (distance, heading, and pitch angle) to define the space in which the synthetic target is moved. A graphical user interface (GUI) front end allows the user to manually adjust the orientation of the target within the synthetic images. The system also includes the generation of shadows and allows the user to manipulate the sun angle to approximate the lighting conditions of the test range in the provided video.
摘要翻译：用于执行对象识别的系统结合了姿态确定，EO / IR传感器数据和新颖的计算机图形渲染技术。鉴于目标类型是已知的，第一模块提取目标在真芯片中的方向和距离。第二个是模块识别真实芯片内的车辆，给定从相机到目标的已知距离和仰角。图像匹配基于合成图像和真值芯片图像比较，其中合成图像被旋转并移动通过三维空间。为了限制搜索空间，假设物体位于相对平坦的地面上，并且摄像机倾斜角保持接近零。这将留下三维运动（距离，航向和俯仰角）来定义合成目标移动的空间。图形用户界面（GUI）前端允许用户手动调整合成图像内目标的方位。该系统还包括产生阴影并且允许用户操纵太阳角以近似所提供的视频中的测试范围的照明条件。

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