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1. 发明授权

US09911191B2 State estimation apparatus, state estimation method, and integrated circuit with calculation of likelihood data and estimation of posterior probability distribution data 有权
公开(公告)号：US09911191B2
公开(公告)日：2018-03-06
申请号：US14881652
申请日：2015-10-13
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Norikazu Ikoma , Hiromu Hasegawa
IPC分类号： G06T7/77 , G06T7/73 , G06K9/46 , G06T7/20 , G06K9/32 , G06T7/00 , G06K9/00
CPC分类号： G06T7/77 , G06K9/00771 , G06K9/4609 , G06K9/4652 , G06K2009/3291 , G06T7/20 , G06T7/73 , G06T2207/10016 , G06T2207/20024 , G06T2207/20076
摘要： The purpose of the present invention is to provide a state estimation apparatus that appropriately estimates the internal state of an observation target by determining likelihoods from a plurality of observations. An observation obtaining unit of the state estimation system obtains, at given time intervals, a plurality of observation data obtained from an observable event. The observation selecting unit selects a piece of observation data from the plurality of pieces of observation data obtained by the observation obtaining unit based on a posterior probability distribution data obtained at a preceding time t−1. The likelihood obtaining unit obtains likelihood data based on the observation data selected by the observation selecting unit and predicted probability distribution data obtained through prediction processing using the posterior probability distribution data. The posterior probability distribution estimation unit estimates posterior probability distribution data representing a state of the observable event based on the predicted probability distribution data obtained by the likelihood obtaining unit and the likelihood data. The prior probability distribution output unit outputs prior probability distribution data based on the posterior probability distribution data estimated by the posterior probability distribution estimation unit as prior probability distribution data at a next time t+1.

2. 发明申请

US20160171717A1 STATE ESTIMATION APPARATUS, STATE ESTIMATION METHOD, INTEGRATED CIRCUIT, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM 审中-公开
标题翻译：状态估计装置，状态估计方法，集成电路和非终端计算机可读存储介质
公开(公告)号：US20160171717A1
公开(公告)日：2016-06-16
申请号：US14950302
申请日：2015-11-24
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Hiromu HASEGAWA , Norikazu Ikoma
IPC分类号： G06T7/20 , H04N7/18
CPC分类号： H04N7/181 , G06T7/277 , G06T7/292 , G06T2207/10016 , G06T2207/20076 , G06T2207/30244
摘要： A state estimation apparatus obtains observation data sets for a tracking target object, and estimates an internal state of the object using likelihoods obtained from the observation data sets and the reliability of each observation data set. A first observation obtaining unit obtains first observation data. A second observation obtaining unit obtains second observation data. A first likelihood obtaining unit obtains a first likelihood based on the first observation data. A second likelihood obtaining unit obtains a second likelihood based on the second observation data. A likelihood combining unit obtains a combined likelihood based on the first and second likelihoods, first reliability data indicating the reliability of the first observation data, and second reliability data indicating the reliability of the second observation data. A posterior probability distribution obtaining unit obtains posterior probability distribution data indicating a probability distribution of the internal state of the observation target at current time t from the combined likelihood and predictive probability distribution data.
摘要翻译：状态估计装置获取跟踪目标对象的观测数据集，并且使用从观测数据集获得的似然性和每个观测数据集的可靠性来估计对象的内部状态。第一观察获取单元获得第一观测数据。第二观察获取单元获得第二观察数据。第一可能性获取单元基于第一观察数据获得第一似然。第二可能性获取单元基于第二观察数据获得第二似然。似然组合单元基于第一和第二似然性获得组合似然，表示第一观测数据的可靠性的第一可靠性数据和表示第二观测数据的可靠性的第二可靠性数据。后验概率分布获取单元从组合似然和预测概率分布数据获得表示当前时刻t观察对象的内部状态的概率分布的后验概率分布数据。

3. 发明授权

US10902610B2 Moving object controller, landmark, and moving object control method 有权
公开(公告)号：US10902610B2
公开(公告)日：2021-01-26
申请号：US16224858
申请日：2018-12-19
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Kenta Nagamine , Norikazu Ikoma , Fumiya Shingu , Hiromu Hasegawa
IPC分类号： G06T7/20 , G06K9/00 , G06K9/62 , G06T7/60 , G05D1/02 , G06T7/73 , G06T7/50 , G05D1/00
摘要： The position of a moving object is estimated with high accuracy using landmark information, and highly accurate state estimation is performed appropriately at high speed. A landmark detection unit obtains a distance between the moving object and each of two or more landmarks as landmark distance information based on observation data obtained by an observation obtaining unit. A candidate area obtaining unit determines a candidate area for a position of the moving object based on the landmark distance information obtained by the landmark detection unit, and obtains candidate area information indicating the determined candidate area. A state estimation unit estimates an internal state of the moving object based on the observation data, the landmark distance information, and the candidate area information to obtain moving object internal state estimation data, and estimates the environmental map based on the candidate area information and the landmark distance information to obtain environmental map data.

4. 发明授权

US10248131B2 Moving object controller, landmark, and moving object control method 有权
公开(公告)号：US10248131B2
公开(公告)日：2019-04-02
申请号：US15076778
申请日：2016-03-22
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Kenta Nagamine , Norikazu Ikoma , Fumiya Shingu , Hiromu Hasegawa
IPC分类号： G05D1/00 , G05D1/02 , G06K9/00 , G06K9/62 , G06T7/60 , G06T7/20 , G06T7/73 , G06T7/50
摘要： The position of a moving object is estimated with high accuracy based on landmark information, and highly accurate state estimation is performed appropriately at high speed. A landmark detection unit obtains a distance between the moving object and each of two or more landmarks as landmark distance information based on observation data obtained by an observation obtaining unit. A candidate area obtaining unit determines a candidate area for a position of the moving object based on the landmark distance information obtained by the landmark detection unit, and obtains candidate area information indicating the determined candidate area. A state estimation unit estimates an internal state of the moving object based on the observation data, the landmark distance information, and the candidate area information to obtain moving object internal state estimation data, and estimates the environmental map based on the candidate area information and the landmark distance information to obtain environmental map data.

5. 发明授权

US11574221B2 State determination apparatus, state determination method, and integrated circuit 有权
公开(公告)号：US11574221B2
公开(公告)日：2023-02-07
申请号：US15498006
申请日：2017-04-26
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Norikazu Ikoma , Hiromu Hasegawa
IPC分类号： G06N7/00 , G06N20/00
摘要： Provided is a state determination apparatus that appropriately performs pattern classification processing and/or pattern determination processing even when a map generated by the SOM technique includes discontinuous image regions. In the state determination apparatus, the matching processing unit obtains adaptability data indicating a correlation degree between template data indicating a state and the SOM output data. The state determination unit obtains a state evaluation value based on an activity value obtained by the activity value obtaining unit and the adaptability value. The time series estimation unit determines a state of an input data based on the state evaluation value and state transition probability between states. This allows for appropriately performing pattern classification processing and/or pattern determination processing even when a map generated by the SOM technique includes discontinuous image regions.

6. 发明授权

US09958868B2 Moving object controller, moving object control method, and integrated circuit 有权
公开(公告)号：US09958868B2
公开(公告)日：2018-05-01
申请号：US15076813
申请日：2016-03-22
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Fumiya Shingu , Norikazu Ikoma , Kenta Nagamine , Hiromu Hasegawa
IPC分类号： G05D1/02 , G05D1/00 , G06K9/00 , G06T7/579 , G06T7/246 , G06T7/277
CPC分类号： G06K9/00664 , G06K9/00791 , G06T7/246 , G06T7/277 , G06T7/579
摘要： A moving object controller efficiently generates an environmental map and performs highly accurate state estimation in a short time to appropriately control a moving object. An observation obtaining unit obtains observation data from an observable event. A landmark prediction unit generates a landmark prediction signal including predictive information about a landmark at a current time. A landmark detection unit detects information about the landmark at the current time, and generates a landmark detection signal indicating the detection result. A state estimation unit estimates an internal state of the moving object to obtain data indicating an estimated internal state of the moving object at the current time, and estimates the environmental map based on the landmark detection signal to obtain data indicating an estimated environmental map at the current time.

7. 发明授权

US10375360B2 State estimation apparatus, state estimation method, integrated circuit, and non-transitory computer-readable storage medium 有权
公开(公告)号：US10375360B2
公开(公告)日：2019-08-06
申请号：US14950302
申请日：2015-11-24
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Hiromu Hasegawa , Norikazu Ikoma
IPC分类号： H04N7/18 , G06T7/277 , G06T7/292
摘要： A state estimation apparatus obtains observation data sets for a tracking target object, and estimates an internal state of the object using likelihoods obtained from the observation data sets and the reliability of each observation data set. A first observation obtaining unit obtains first observation data. A second observation obtaining unit obtains second observation data. A first likelihood obtaining unit obtains a first likelihood based on the first observation data. A second likelihood obtaining unit obtains a second likelihood based on the second observation data. A likelihood combining unit obtains a combined likelihood based on the first and second likelihoods, first reliability data indicating the reliability of the first observation data, and second reliability data indicating the reliability of the second observation data. A posterior probability distribution obtaining unit obtains posterior probability distribution data indicating a probability distribution of the internal state of the observation target at current time t from the combined likelihood and predictive probability distribution data.

8. 发明授权

US09805285B2 State estimation apparatus, state estimation method, and integrated circuit 有权
公开(公告)号：US09805285B2
公开(公告)日：2017-10-31
申请号：US15355532
申请日：2016-11-18
申请人： MegaChips Corporation , Kyushu Institute of Technology
发明人： Norikazu Ikoma , Hiromu Hasegawa
IPC分类号： G06K9/00 , G06K9/46 , G06T7/277
CPC分类号： G06K9/4671 , G06T7/277 , G06T2207/10004 , G06T2207/10016 , G06T2207/20076
摘要： Provided is a state estimation apparatus that enables more accurate and robust detection and tracking of an object by obtaining a plurality of sets of observation data for a tracking target object and estimating the internal state of the object using a plurality of likelihoods calculated from the obtained sets of observation data. The state estimation apparatus obtains first observation data and second observation data, each of which is composed of a plurality of pieces of observation data, and obtains possibility measurement data and necessity measurement data from the obtained plurality of pieces of observation data. In the state estimation apparatus, a likelihood obtaining unit obtains a first likelihood wp and a second likelihood wn from the possibility measurement data and the necessity measurement data. Using the obtained first likelihood wp and second likelihood wn enables the internal state of the object to be estimated.

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