Patents by Inventor Norimasa Kobori

Norimasa Kobori has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 10909717
    Abstract: A viewpoint recommendation apparatus includes image feature extraction means for extracting an image feature from the acquired image at a first viewpoint, pose estimation means for calculating a first likelihood map indicating a relation between the estimated pose of the object and a likelihood of this estimated pose, second storage means for storing a second likelihood map indicating a relation between the true first viewpoint and a likelihood of this first viewpoint in the estimated pose, third storage means for storing a third likelihood map indicating a relation between the pose of the object when the object is observed at the first and the second viewpoints and a likelihood of this pose, and viewpoint estimation means for estimating the second viewpoint so that a value of an evaluation function of the first, second, and third likelihood maps becomes the maximum or minimum.
    Type: Grant
    Filed: June 27, 2019
    Date of Patent: February 2, 2021
    Assignees: National University Corporation Nagoya University, Toyota Jidosha Kabushiki Kaisha
    Inventors: Hiroshi Murase, Yasutomo Kawanishi, Daisuke Deguchi, Nik Mohd Zarifie bin Hashim, Yusuke Nakano, Norimasa Kobori
  • Patent number: 10783218
    Abstract: The present disclosure is applied to a variable group calculation apparatus for calculating an undetermined variable group that simultaneously minimizes a difference value and a data value. The difference value is a difference between an added composite value, which is obtained by adding and combining the undetermined variable group and a dictionary data group, and an observation data group. The data value includes the difference value and a regularization term of the undetermined variable group. The variable group calculation apparatus of the present disclosure includes a convolution unit configured to convert the regularization term to a convolution value for an L1 norm using the undetermined variable group and a mollifier function, and a calculation unit configured to perform the calculation using the regularization term, which is converted to the convolution value by the convolution unit.
    Type: Grant
    Filed: May 24, 2018
    Date of Patent: September 22, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Shintaro Yoshizawa, Norimasa Kobori
  • Patent number: 10534974
    Abstract: Provided is an image area extraction method for extracting an image area of an object from a color image of obtained color image data. The image data extraction method includes converting RGB values of each pixel in the color image data into HSV values, performing threshold processing to binarize at least one of the converted S and V values of each pixel so that it will be converted into HS?V? values, generating composite image data including an X value, a Y value, and a Z value for each pixel, the X value, the Y value, and the Z value being obtained by adding values according to predetermined one-to-one combinations between any one of an R value, a G value, and a B value and any one of an H value, an S? value, and a V? value, and extracting the image area using the composite image data.
    Type: Grant
    Filed: January 8, 2018
    Date of Patent: January 14, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Norimasa Kobori
  • Publication number: 20200005480
    Abstract: A viewpoint recommendation apparatus includes image feature extraction means for extracting an image feature from the acquired image at a first viewpoint, pose estimation means for calculating a first likelihood map indicating a relation between the estimated pose of the object and a likelihood of this estimated pose, second storage means for storing a second likelihood map indicating a relation between the true first viewpoint and a likelihood of this first viewpoint in the estimated pose, third storage means for storing a third likelihood map indicating a relation between the pose of the object when the object is observed at the first and the second viewpoints and a likelihood of this pose, and viewpoint estimation means for estimating the second viewpoint so that a value of an evaluation function of the first, second, and third likelihood maps becomes the maximum or minimum.
    Type: Application
    Filed: June 27, 2019
    Publication date: January 2, 2020
    Inventors: Hiroshi Murase, Yasutomo Kawanishi, Daisuke Deguchi, Nik Mohd Zarifie bin Hashim, Yusuke Nakano, Norimasa Kobori
  • Patent number: 10452950
    Abstract: An object recognition apparatus includes image information acquisition means for acquiring image information of an object to be recognized, storage means for storing detection profile information associating an object candidate with a detector capable of detecting the object candidate, and model image information of the object candidate associated with the object candidate and object detection means including detectors defined in the detection profile information, the object detection means detecting the object to be recognized by using the detector from the image information acquired by the image information acquisition means. The detector of the object detection means detects the object candidate by comparing the model image information of the object candidate associated with the detector in the detection profile information with the image information of the object to be recognized acquired by the image information acquisition means, and outputs the detected object candidate as the object to be recognized.
    Type: Grant
    Filed: May 10, 2017
    Date of Patent: October 22, 2019
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Norimasa Kobori, Kunimatsu Hashimoto, Minoru Yamauchi
  • Publication number: 20180349318
    Abstract: The present disclosure is applied to a variable group calculation apparatus for calculating an undetermined variable group that simultaneously minimizes a difference value and a data value. The difference value is a difference between an added composite value, which is obtained by adding and combining the undetermined variable group and a dictionary data group, and an observation data group. The data value includes the difference value and a regularization term of the undetermined variable group. The variable group calculation apparatus of the present disclosure includes a convolution unit configured to convert the regularization term to a convolution value for an L1 norm using the undetermined variable group and a mollifier function, and a calculation unit configured to perform the calculation using the regularization term, which is converted to the convolution value by the convolution unit.
    Type: Application
    Filed: May 24, 2018
    Publication date: December 6, 2018
    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Shintaro Yoshizawa, Norimasa Kobori
  • Publication number: 20180225543
    Abstract: Provided is an image area extraction method for extracting an image area of an object from a color image of obtained color image data. The image data extraction method includes converting RGB values of each pixel in the color image data into HSV values, performing threshold processing to binarize at least one of the converted S and V values of each pixel so that it will be converted into HS?V? values, generating composite image data including an X value, a Y value, and a Z value for each pixel, the X value, the Y value, and the Z value being obtained by adding values according to predetermined one-to-one combinations between any one of an R value, a G value, and a B value and any one of an H value, an S? value, and a V? value, and extracting the image area using the composite image data.
    Type: Application
    Filed: January 8, 2018
    Publication date: August 9, 2018
    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Norimasa KOBORI
  • Publication number: 20170344850
    Abstract: An object recognition apparatus includes image information acquisition means for acquiring image information of an object to be recognized, storage means for storing detection profile information associating an object candidate with a detector capable of detecting the object candidate, and model image information of the object candidate associated with the object candidate and object detection means including detectors defined in the detection profile information, the object detection means detecting the object to be recognized by using the detector from the image information acquired by the image information acquisition means. The detector of the object detection means detects the object candidate by comparing the model image information of the object candidate associated with the detector in the detection profile information with the image information of the object to be recognized acquired by the image information acquisition means, and outputs the detected object candidate as the object to be recognized.
    Type: Application
    Filed: May 10, 2017
    Publication date: November 30, 2017
    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Norimasa KOBORI, Kunimatsu HASHIMOTO, Minoru YAMAUCHI
  • Patent number: 9704082
    Abstract: A marker generation apparatus includes code acquisition means for acquiring N-bit code information (N is a natural number no less than two) for superimposing the code information on a marker defined in a plurality of areas, multiplication means for multiplying each bit value of the code information acquired by the code acquisition means by an M-sequence matrix respectively, color information calculation means for calculating color information by adding up multiplication results obtained by the multiplication means, the color information being used for performing a color arrangement for each area of the marker, and color arrangement means for performing a color arrangement for each area of the marker based on the color information calculated by the color information calculation means.
    Type: Grant
    Filed: November 18, 2015
    Date of Patent: July 11, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Norimasa Kobori
  • Publication number: 20160155037
    Abstract: A marker generation apparatus includes code acquisition means for acquiring N-bit code information (N is a natural number no less than two) for superimposing the code information on a marker defined in a plurality of areas, multiplication means for multiplying each bit value of the code information acquired by the code acquisition means by an M-sequence matrix respectively, color information calculation means for calculating color information by adding up multiplication results obtained by the multiplication means, the color information being used for performing a color arrangement for each area of the marker, and color arrangement means for performing a color arrangement for each area of the marker based on the color information calculated by the color information calculation means.
    Type: Application
    Filed: November 18, 2015
    Publication date: June 2, 2016
    Inventor: Norimasa KOBORI
  • Publication number: 20160155013
    Abstract: A marker recognition device includes: an image acquisition unit that acquires an image including a marker having a predetermined feature value; a detection unit that generates scale-space image groups by applying a disturbance to the image including the marker acquired by the image acquisition unit, and detects a key point in the image including the marker by detecting the predetermined feature value based on a difference between the generated scale-space image groups; and a recognition unit that recognizes a position of the marker based on the key point detected by the detection unit.
    Type: Application
    Filed: November 27, 2015
    Publication date: June 2, 2016
    Inventor: Norimasa KOBORI
  • Publication number: 20150191121
    Abstract: A display control method of a display unit for a rider provided in an inverted vehicle, the inverted vehicle controlling a traveling state according to a change in a posture of the rider, in which display control is carried out according to procedures including the following steps by a control apparatus included in the inverted vehicle: a determination step that determines which of a plurality of traveling state patterns the traveling state according to the change in the posture of the inverted vehicle corresponds to, the plurality of traveling state patterns defined in advance as the patterns the inverted vehicle may take when the rider has a specific intention; and a display step that displays information according to the rider's intention corresponding to the traveling state pattern that is determined to correspond to the traveling state of the inverted vehicle on the display unit of the inverted vehicle.
    Type: Application
    Filed: December 2, 2014
    Publication date: July 9, 2015
    Inventors: Yusuke KIDA, Norimasa KOBORI
  • Patent number: 8913855
    Abstract: A getting-on/off determination apparatus determines rider's getting-on/off for an inverted two-wheel vehicle that travels while maintaining the inverted state. The getting-on/off determination apparatus includes an optical fiber laid in a step portion that a rider gets on/off, a light emitting unit that emits detection light and is connected to one end of the optical fiber, a light receiving unit that receives the detection light emitted from the light emitting unit and is connected to another end of the optical fiber, at least one transmitted light varying portion that varies an amount of transmitted light of the detection light passing through the optical fiber in conjunction with a vertical displacement of the step portion that occurs when the rider gets on/off the inverted two-wheel vehicle, and a determination unit that determines getting-on/off of the rider based on an amount of the detection light received by the light receiving unit.
    Type: Grant
    Filed: August 27, 2010
    Date of Patent: December 16, 2014
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Norimasa Kobori, Takahiro Nakayama, Kazuhiro Mima, Hitoshi Yamada
  • Patent number: 8725412
    Abstract: A positioning device includes a map data storing unit configured to store map data; autonomous sensors configured to detect behavior information of a moving object; an inertial positioning unit configured to detect an estimated position of the moving object by applying the behavior information detected by the autonomous sensors to positioning results obtained by an electronic navigation positioning unit such as a GPS; a planimetric feature detecting unit configured to detect a planimetric feature located around a road; a planimetric feature position identifying unit configured to identify a position of the planimetric feature; a planimetric feature reference positioning unit configured to estimate a planimetric feature estimated position of the moving object by using the position of the planimetric feature as a reference; and a position estimating unit configured to estimate a position of the moving object by applying the estimated position and the planimetric feature estimated position to a Kalman filter.
    Type: Grant
    Filed: June 8, 2007
    Date of Patent: May 13, 2014
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Norimasa Kobori, Kazunori Kagawa
  • Patent number: 8532159
    Abstract: A transmitter has a portion that sets a parameter about the transmitter itself based on a parameter made to correspond to a condition for selecting a receiver with which the transmitter communicate with, a portion that generates a spread code based on the set parameter, and a sending portion that spreads transmit-data to form a spread signal by the generated spread code, and that sends the spread signal. The receiver has a portion that receives the signal transmitted by the transmitter, a portion that sets a parameter about the receiver itself based on the parameter made to correspond to the condition, a portion that generates a despread code based on the set parameter, a portion that performs a correlation computation of the received signal and the generated despread code, and a portion that selects a transmitter with which the receiver communicates, based on a result of the correlation computation.
    Type: Grant
    Filed: August 28, 2008
    Date of Patent: September 10, 2013
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Kazunori Kagawa, Norimasa Kobori, Yukinori Fujita
  • Publication number: 20120243822
    Abstract: A getting-on/off determination apparatus determines rider's getting-on/off for an inverted two-wheel vehicle that travels while maintaining the inverted state. The getting-on/off determination apparatus includes an optical fiber laid in a step portion that a rider gets on/off, a light emitting unit that emits detection light and is connected to one end of the optical fiber, a light receiving unit that receives the detection light emitted from the light emitting unit and is connected to another end of the optical fiber, at least one transmitted light varying portion that varies an amount of transmitted light of the detection light passing through the optical fiber in conjunction with a vertical displacement of the step portion that occurs when the rider gets on/off the inverted two-wheel vehicle, and a determination unit that determines getting-on/off of the rider based on an amount of the detection light received by the light receiving unit.
    Type: Application
    Filed: August 27, 2010
    Publication date: September 27, 2012
    Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Norimasa Kobori, Takahiro Nakayama, Kazuhiro Mima, Hitoshi Yamada
  • Patent number: 8244470
    Abstract: A navigation apparatus that detects a position of a movable body includes map data storage means for storing map data; an autonomous sensor that detects information on behavior of the movable body; inertial position determination means for detecting an inertial position-determination position of the movable body, by accumulating the information detected by the autonomous sensor on a result of position determination performed using radio navigation; characteristic position detection means for detecting a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; correction amount detection means for extracting positional information on a road position corresponding to the characteristic position, by referring to the map data storage means; and position correction means for correcting the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position.
    Type: Grant
    Filed: July 11, 2007
    Date of Patent: August 14, 2012
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Norimasa Kobori, Kazunori Kagawa
  • Patent number: 8041472
    Abstract: A positioning device that detects a position of a mobile body with a radio navigation positioning unit includes: first and second autonomous sensors obtaining behavioral information on the mobile body; a position detecting unit obtaining an estimated position and an estimated direction by updating a detection result based on the behavioral information from the first autonomous sensor; a map data positioning unit that refers to a map data storage unit based on the estimated position and obtains a map data linked position at a predetermined distance away from a link; a direction detecting unit obtaining a cumulative estimated direction by updating the detection result based on the behavioral information from the second autonomous sensor; and a most probable position estimating unit estimating the position of the mobile body from the estimated positions and directions using the Kalman filter.
    Type: Grant
    Filed: June 8, 2007
    Date of Patent: October 18, 2011
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Norimasa Kobori, Kazunori Kagawa
  • Patent number: 7994973
    Abstract: A disclosed vehicle control device includes a first ionospheric state information receiving unit receiving information of a predicted ionospheric state at a time point later than a current time point; a second ionospheric state information receiving unit receiving information of an ionospheric state at the current time point; an ionospheric delay error estimating unit estimating an ionospheric delay error by correcting a first ionospheric delay error based on a second ionospheric delay error, the first ionospheric delay error being derived based on the first ionospheric state information, and the second ionospheric delay error being derived based on the second ionospheric state information; and a positioning unit locating a position of a moving body based on a receiving result of a radio wave from a satellite and the estimated ionospheric delay error.
    Type: Grant
    Filed: November 26, 2007
    Date of Patent: August 9, 2011
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Norimasa Kobori, Naoto Hasegawa
  • Publication number: 20100225536
    Abstract: A disclosed vehicle control device includes a first ionospheric state information receiving unit 70 receiving information of a predicted ionospheric state at a time point later than a current time point; a second ionospheric state information receiving unit 20 receiving information of an ionospheric state at the current time point; an ionospheric delay error estimating unit 50 estimating an ionospheric delay error by correcting a first ionospheric delay error based on a second ionospheric delay error, the first ionospheric delay error being derived based on the first ionospheric state information, and the second ionospheric delay error being derived based on the second ionospheric state information; and a positioning unit 40 locating a position of a moving body based on a receiving result of a radio wave from a satellite and the estimated ionospheric delay error.
    Type: Application
    Filed: November 26, 2007
    Publication date: September 9, 2010
    Applicant: Toyota Jidosha Kabushiki Kaisha
    Inventors: Norimasa Kobori, Naoto Hasegawa