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1. 发明授权

US11288828B2 Object recognition system based on machine learning and method thereof 有权
公开(公告)号：US11288828B2
公开(公告)日：2022-03-29
申请号：US16745640
申请日：2020-01-17
申请人： INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
发明人： Ming Wu , Kun-Lung Tseng
IPC分类号： G06T7/00 , G06T7/593 , G06K9/00 , G06T7/11 , G06N20/00
摘要： An object recognition system based on machine learning includes a 2D image capture module, a 3D space capture module, a data selection module, a data alignment module, a feature capture module and a detection module. The 2D image capture module captures a 2D image. The 3D space capture module captures 3D point cloud data. The data selection module performs object segmentation and depth recognition to select at least one region of interest (ROI). The data alignment module maps coordinates of the at least one ROI to coordinates of the 2D image. The feature capture module calculates features of the 2D image and extracts at least one feature of interest corresponding to the coordinates of the ROI from the features of the 2D image. The detection module obtains the feature of interest and identifies at least one object in the 2D image according to the feature of interest.

2. 发明授权

US10210625B2 Measurement system comprising angle adjustment module 有权
公开(公告)号：US10210625B2
公开(公告)日：2019-02-19
申请号：US14927488
申请日：2015-10-30
申请人： Industrial Technology Research Institute
发明人： Kun-Lung Tseng , Ming-Hui Lin , Shih-Wen Yang
IPC分类号： H04N7/18 , G06T7/60 , G01B11/02 , G06T7/00 , G01B11/24
摘要： A measurement system comprises an illumination module, an image pickup device, an angle adjustment module, and a control unit. The illumination module is configured to illuminate an object. The image pickup device is configured to pick up an image of the object. The angle adjustment module is configured to adjust an relative angle between the object and the image pickup device. The control unit is electrically connected to the image pickup device and the angle adjustment module and configured to receive an image signal from the image pickup device. The control unit is configured to command the angle adjustment module to adjust the relative angle to at least three values. The image pickup device is configured to pick up images of the object respectively corresponding to the at least three values. The control unit is configured to calculate the relative angle between the object and the image pickup device.

3. 发明授权

US09547802B2 System and method for image composition thereof 有权
标题翻译：用于图像组成的系统和方法
公开(公告)号：US09547802B2
公开(公告)日：2017-01-17
申请号：US14261211
申请日：2014-04-24
申请人： INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
发明人： Kun-Lung Tseng , Wei-Jia Huang , An-Chun Luo
IPC分类号： G06K9/46 , G06T15/50 , G06T17/00 , G06T7/20 , G06K9/00
CPC分类号： G06K9/4604 , G06K9/00335 , G06K9/00369 , G06T7/20 , G06T15/503 , G06T17/00 , G06T2207/10028 , G06T2207/20076 , G06T2207/30241 , G06T2207/30244
摘要： This disclosure provides an image composition system and its method. The system includes: an image capturing unit configured for capturing at least one first image of a real object; a depth information generating unit disposed on the image capturing unit and configured for measuring a depth information between the depth information generating unit and the real object; a computing unit receiving the at least one first image and the depth information, performing the computation of removing a noise caused by a moving object other than the real object from the received depth information, and computing a moving trajectory of the image capturing unit; and a composition unit compositing the at least one first image and a second image of a virtual scene, and display the composited result on a display unit.
摘要翻译：本公开提供了一种图像组合系统及其方法。该系统包括：图像拍摄单元，被配置为捕获真实物体的至少一个第一图像; 深度信息生成单元，其设置在所述图像拍摄单元上，并且被配置为测量所述深度信息生成单元和所述真实对象之间的深度信息; 接收所述至少一个第一图像和所述深度信息的计算单元，从所接收的深度信息执行去除由所述真实物体以外的移动物体引起的噪声的计算，以及计算所述图像拍摄单元的移动轨迹; 以及组合单元，将所述至少一个第一图像和所述虚拟场景的第二图像合成，并将所述合成结果显示在显示单元上。

4. 发明授权

US09958267B2 Apparatus and method for dual mode depth measurement 有权
公开(公告)号：US09958267B2
公开(公告)日：2018-05-01
申请号：US14977628
申请日：2015-12-21
申请人： INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
发明人： Ludovic Angot , Kun-Lung Tseng , Yi-Heng Chou
IPC分类号： G01C3/08 , G06T7/571 , H04N5/232
CPC分类号： G01C3/08 , G01B11/026 , G01B11/0608 , G02B21/36 , G06T7/571 , G06T2207/10028 , G06T2207/10148 , H04N5/23245
摘要： An apparatus and a method for dual mode depth measurement are provided. The apparatus is used for measuring a depth information of a specular surface in a depth from defocus (DFD) mode or measuring a depth information of a textured surface in a depth from focus (DFF) mode. The apparatus includes a light source, a controller, a processor, a lighting optical system, an imaging optical system, a beam splitter and a camera. The controller is for switching between the depth from defocus mode and the depth from focus mode. The lighting optical system is used to focus a light from the light source on an object surface in the depth from defocus mode, and the lighting optical system is used to illuminate the object surface with a uniform irradiance in the depth from focus mode.

5. 发明授权

US10008005B2 Measurement system and method for measuring multi-dimensions 有权
公开(公告)号：US10008005B2
公开(公告)日：2018-06-26
申请号：US15353704
申请日：2016-11-16
申请人： Industrial Technology Research Institute
发明人： Yueh-Yi Lai , Kun-Lung Tseng , Zih-Jian Jhang
IPC分类号： H04N13/02 , G06T7/60 , G06T7/00
CPC分类号： G06T7/62 , G01B11/24 , G01B11/245 , G01B11/2545 , G06T7/55 , G06T2207/10004 , G06T2207/10028 , G06T2207/10056 , G06T2207/20016 , G06T2207/20081 , G06T2207/30164 , H04N5/232 , H04N13/275
摘要： Measurement system and method for measuring multi-dimensions of an object are provided. A two-dimensional (2D) image capturing device captures at least one macro-2D image of the object. A three-dimensional (3D) information acquisition device acquires micro-3D measured data of the object. A integration and estimation device performs 2D and 3D image correction on macro-2D image and micro-3D measured data to map micro-3D measured data into macro-2D image to output 3D-topography data corresponding to macro-2D image of the object, and based on machine learning mechanism, performs matching procedure on at least one connection feature between any two positions in 3D-topography data with a database to elect an adapted model. Based on its corresponding to at least one fitting function, the integration and estimation device estimates the connection features of 3D-topography data to output at least one estimated feature amount, thereby obtaining measurement results corresponding to the object.

6. 发明申请

US20170124724A1 MEASUREMENT SYSTEM 审中-公开
公开(公告)号：US20170124724A1
公开(公告)日：2017-05-04
申请号：US14927488
申请日：2015-10-30
申请人： Industrial Technology Research Institute
发明人： Kun-Lung Tseng , Ming-Hui Lin , Shih-Wen Yang
IPC分类号： G06T7/60 , G01B11/02 , G06T7/00
CPC分类号： G06T7/60 , G01B11/02 , G01B11/24 , G06T7/0004 , G06T2207/10152 , G06T2207/30164
摘要： A measurement system comprises an illumination module, an image pickup device, an angle adjustment module, and a control unit. The illumination module is configured to illuminate an object. The image pickup device is configured to pick up an image of the object. The angle adjustment module is configured to adjust an relative angle between the object and the image pickup device. The control unit is electrically connected to the image pickup device and the angle adjustment module and configured to receive an image signal from the image pickup device. The control unit is configured to command the angle adjustment module to adjust the relative angle to at least three values. The image pickup device is configured to pick up images of the object respectively corresponding to the at least three values. The control unit is configured to calculate the relative angle between the object and the image pickup device.

7. 发明授权

US09445080B2 Stereo camera apparatus, self-calibration apparatus and calibration method 有权
标题翻译：立体相机装置，自校准装置和校准方法
公开(公告)号：US09445080B2
公开(公告)日：2016-09-13
申请号：US13945931
申请日：2013-07-19
申请人： Industrial Technology Research Institute
发明人： An-Chun Luo , Hong-Tu Yu , Chih-Hsiang Yu , Kun-Lung Tseng , Chung-Wei Lin , Wei-Hao Huang
IPC分类号： H04N13/02
CPC分类号： H04N13/246 , H04N13/239
摘要： A stereo camera apparatus including an image capturing device, an optical axis controlling module and a calculating module is provided. The image capturing device is suitable for obtaining a stereo image, and the image capturing device includes a plurality of image capturing units. The optical axis controlling module is coupled to the image capturing device. The calculating module is coupled to the image capturing device and the optical axis controlling module, wherein the calculating module calculates a calibration condition according to the stereo image. The optical axis controlling module adjusts directions of imaging optical axes of the image capturing units. After being adjusted by the optical axis controlling modules, the imaging optical axes of the image capturing units are aligned. Besides, a self-calibration apparatus and a method of calibration are also provided.
摘要翻译：提供了包括图像捕获装置，光轴控制模块和计算模块的立体相机装置。图像捕获装置适用于获得立体图像，并且图像捕获装置包括多个图像捕获单元。光轴控制模块耦合到图像捕获装置。计算模块耦合到图像捕获装置和光轴控制模块，其中计算模块根据立体图像计算校准条件。光轴控制模块调整摄像单元的成像光轴的方向。在通过光轴控制模块调节之后，图像捕获单元的成像光轴对齐。此外，还提供了自校准装置和校准方法。

8. 发明申请

US20140118503A1 STEREO CAMERA APPARATUS, SELF-CALIBRATION APPARATUS AND CALIBRATION METHOD 有权
标题翻译：立体相机设备，自校准设备和校准方法
公开(公告)号：US20140118503A1
公开(公告)日：2014-05-01
申请号：US13945931
申请日：2013-07-19
申请人： Industrial Technology Research Institute
发明人： An-Chun Luo , Hong-Tu Yu , Chih-Hsiang Yu , Kun-Lung Tseng , Chung-Wei Lin , Wei-Hao Huang
IPC分类号： H04N13/02
CPC分类号： H04N13/246 , H04N13/239
摘要： A stereo camera apparatus including an image capturing device, an optical axis controlling module and a calculating module is provided. The image capturing device is suitable for obtaining a stereo image, and the image capturing device includes a plurality of image capturing units. The optical axis controlling module is coupled to the image capturing device. The calculating module is coupled to the image capturing device and the optical axis controlling module, wherein the calculating module calculates a calibration condition according to the stereo image. The optical axis controlling module adjusts directions of imaging optical axes of the image capturing units. After being adjusted by the optical axis controlling modules, the imaging optical axes of the image capturing units are aligned. Besides, a self-calibration apparatus and a method of calibration are also provided.
摘要翻译：提供了包括图像捕获装置，光轴控制模块和计算模块的立体相机装置。图像捕获装置适用于获得立体图像，并且图像捕获装置包括多个图像捕获单元。光轴控制模块耦合到图像捕获装置。计算模块耦合到图像捕获装置和光轴控制模块，其中计算模块根据立体图像计算校准条件。光轴控制模块调整摄像单元的成像光轴的方向。在通过光轴控制模块调节之后，图像捕获单元的成像光轴对齐。此外，还提供了自校准装置和校准方法。

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