Abstract: A robot includes: a moving mechanism; an elevating mechanism including columnar members; a table which is configured to be elevated and lowered by the elevating mechanism; an arm base which is configured to be elevated and lowered by the elevating mechanism; an arm which is attached to the arm base; a sensor which is configured to detect an object placed on the table and the surrounding area of the robot; and a controller. A circumscribed space circumscribing the robot except for the arm is in the shape of a cuboid having a bottom face that is a face of a quadrilateral that circumscribes, in a top view, the shape of the robot except for the arm. The arm has a structure capable of accessing the outside of the circumscribed space.

Abstract: A robot includes: a moving mechanism; an elevating mechanism including columnar members; a table which is elevated and lowered by the elevating mechanism and on which various objects can be placed; an arm base which is elevated and lowered by the elevating mechanism; arms attached to the arm base; a sensor which detects an object placed on the table and the surrounding area of the robot; and a controller. A circumscribed space circumscribing the robot except for the arms is in the shape of a cuboid having a bottom face that is a face of a quadrilateral that circumscribes, in a top view, the shape of the robot except for the arms. The arms have a structure capable of accessing the outside of the circumscribed space.

Abstract: A robot control device is configured to control a robot and includes: a machine learning (ML) model for describing ranges of environments, or in other words, situations in each of which control for a control routine (operation control) executing an operation to achieve an operation objective is achievable; an operation control selector configured to select, based on an output value from the ML model, the operation control which is appropriate for the present situation; and an operation control executor configured to execute the operation control which has been selected. The operation control is a control routine for a robot to achieve an operation objective by the robot sensing a first object with interaction with a second object.

Abstract: A robot control device that controls a robot and includes: a machine learning (ML) model that is used to describe ranges of environments, or in other words, situations in each of which control for a control routine (operation control) executing an operation to achieve an operation objective is achievable; an operation control selector that selects, based on an output value from the ML model, an appropriate operation control for the present situation; and an operation control executor that executes the operation control selected. The operation control is a control routine for a robot to achieve an operation objective by the robot sensing an object in the vicinity of the robot with interaction with another object.

Abstract: An image processing apparatus acquires a detection area in an image coordinate system expressing an area of a target object acquired from within an image, and derives a target spatial area in which the detection area is transformed to a corresponding position in a spatial coordinate system that simulates actual space in which the target object is present. In addition, the image processing apparatus identifies a reference physical model that simulates characteristics related to behavior and shape of the target object in the spatial coordinate system. Next, the image processing apparatus compares the target spatial area and the reference physical model on the spatial coordinate system, and corrects position and shape of the target spatial area based on the comparison result. Then, the image processing apparatus transforms the corrected target spatial area to a corresponding position in the image coordinate system, and outputs corrected area information expressing the corrected area.

Abstract: An image processing apparatus acquires a detection area in an image coordinate system expressing an area of a target object acquired from within an image, and derives a target spatial area in which the detection area is transformed to a corresponding position in a spatial coordinate system that simulates actual space in which the target object is present. In addition, the image processing apparatus identifies a reference physical model that simulates characteristics related to behavior and shape of the target object in the spatial coordinate system. Next, the image processing apparatus compares the target spatial area and the reference physical model on the spatial coordinate system, and corrects position and shape of the target spatial area based on the comparison result. Then, the image processing apparatus transforms the corrected target spatial area to a corresponding position in the image coordinate system, and outputs corrected area information expressing the corrected area.

Abstract: An object detection apparatus for detecting a target object in an input image. The apparatus includes a storage storing, for each of a plurality of part areas forming an area subject to image recognition processing, image recognition dictionaries used to recognize a target object and typed according to variations in appearance of a part of the target object to be detected in the part area. A part score calculator calculates, for each of the part areas, a part score indicative of a degree of similarity between the part area and each of at least some of the image recognition dictionaries. An integrated score calculator calculates an integrated score that is a weighted sum of the part scores for the respective part areas. A determiner determines, on the basis of the integrated score, whether or not the target object is present in the subject area.

Abstract: An object detection apparatus mounted in a system for detecting a target object in various changing environmental conditions. In the apparatus, an acquirer acquires either or both of information indicative of an external environment around the system and information indicative of an operating state of the system. A determiner determines an environmental condition with respect to an input image according to the acquired information. A setter sets, for each of plural image recognition methods each being a combination of one of the plural image recognition dictionaries and one of the plural image recognition techniques, a weighting factor according to the environmental condition determined by the determiner. A detector detects the object in the input image by applying each of the plural image recognition methods to the input image to obtain recognition results reflecting the weighting factors, and collectively evaluating the recognition results.

Abstract: An object detection apparatus mounted in a vehicle for detecting a target object in various changing environmental conditions. In the apparatus, a storage prestores plural image recognition dictionaries each describing reference data for the target object, and plural image recognition techniques each used to detect the target object from an input image with use of one of the plural image recognition dictionaries. A first acquirer acquires an operating state of a lighting device of the vehicle. A selector selects, according to the acquired operating state of the lighting device, one of the plural of image recognition dictionaries and one of the plural of image recognition techniques. A detector detects the target object in the input image by applying image recognition processing thereto with use of the selected image recognition dictionary and technique.

Abstract: An object detection apparatus includes a storage section storing a plurality of selection patterns as combinations of one of a plurality of recognition dictionaries and one of a plurality of image recognition algorithms, a specifying means for specifying at least one of a distance from a position at which an input image is taken and a target corresponding to the detection object within the input image and a state of light of the input image, a selection means for selecting one from the plurality of the selection patterns based on at least one of the distance and the state of the light specified by the specifying means, and a detection means for detecting the detection object within the input image by performing an image recognition process using the image recognition dictionary and the image recognition algorithm included in the selection pattern selected by the selection means.

Abstract: The knowledge that “the color of a vehicle body or guard rail is uniform” applies to the detection of a human, improving the detection performance of the human of which a part of the body is hidden. That is, it is determined whether or not a human candidate area specified based on the ordinary human recognition model has a specific part, e.g., an area corresponding to a lower body, exhibiting the high degree of color uniformity. When affirmed, the human candidate area is understood to be “a human of which a part of the body is hidden by a hood or a trunk” and recognized as a human, same as in the case where the body is not hidden.

Abstract: A person detection apparatus determines a weather condition such as rain and solar radiation based on a variety of information from a weather information input portion. Then, based on a determination result of the weather condition, the umbrella ratio showing the ratio of persons with umbrellas is calculated. The person detection apparatus uses a no-umbrella recognition model describing a person with no umbrella and an umbrella-hold recognition model describing a person with umbrella in order to perform pattern recognition to an input image to derive recognition scores based on the respective recognition models. Then, the umbrella ratio depending on the weather condition is used to correct the respective recognition scores based on the pattern recognition using the no-umbrella model and the recognition score based on the pattern recognition using the umbrella-hold model; the corrected recognition scores are output as a final detection result.

Abstract: The knowledge that “the color of a vehicle body or guard rail is uniform” applies to the detection of a human, improving the detection performance of the human of which a part of the body is hidden. That is, it is determined whether or not a human candidate area specified based on the ordinary human recognition model has a specific part, e.g., an area corresponding to a lower body, exhibiting the high degree of color uniformity. When affirmed, the human candidate area is understood to be “a human of which a part of the body is hidden by a hood or a trunk” and recognized as a human, same as in the case where the body is not hidden.

Abstract: A person detection apparatus determines a weather condition such as rain and solar radiation based on a variety of information from a weather information input portion. Then, based on a determination result of the weather condition, the umbrella ratio showing the ratio of persons with umbrellas is calculated. The person detection apparatus uses a no-umbrella recognition model describing a person with no umbrella and an umbrella-hold recognition model describing a person with umbrella in order to perform pattern recognition to an input image to derive recognition scores based on the respective recognition models. Then, the umbrella ratio depending on the weather condition is used to correct the respective recognition scores based on the pattern recognition using the no-umbrella model and the recognition score based on the pattern recognition using the umbrella-hold model; the corrected recognition scores are output as a final detection result.

Abstract: An object detection apparatus for detecting a target object in an input image. The apparatus includes a storage storing, for each of a plurality of part areas forming an area subject to image recognition processing, image recognition dictionaries used to recognize a target object and typed according to variations in appearance of a part of the target object to be detected in the part area. A part score calculator calculates, for each of the part areas, a part score indicative of a degree of similarity between the part area and each of at least some of the image recognition dictionaries. An integrated score calculator calculates an integrated score that is a weighted sum of the part scores for the respective part areas. A determiner determines, on the basis of the integrated score, whether or not the target object is present in the subject area.

Abstract: An object detection apparatus includes a storage section storing a plurality of selection patterns as combinations of one of a plurality of recognition dictionaries and one of a plurality of image recognition algorithms, a specifying means for specifying at least one of a distance from a position at which an input image is taken and a target corresponding to the detection object within the input image and a state of light of the input image, a selection means for selecting one from the plurality of the selection patterns based on at least one of the distance and the state of the light specified by the specifying means, and a detection means for detecting the detection object within the input image by performing an image recognition process using the image recognition dictionary and the image recognition algorithm included in the selection pattern selected by the selection means.

Abstract: An object detection apparatus mounted in a system for detecting a target object in various changing environmental conditions. In the apparatus, an acquirer acquires either or both of information indicative of an external environment around the system and information indicative of an operating state of the system. A determiner determines an environmental condition with respect to an input image according to the acquired information. A setter sets, for each of plural image recognition methods each being a combination of one of the plural image recognition dictionaries and one of the plural image recognition techniques, a weighting factor according to the environmental condition determined by the determiner. A detector detects the object in the input image by applying each of the plural image recognition methods to the input image to obtain recognition results reflecting the weighting factors, and collectively evaluating the recognition results.

Abstract: An object detection apparatus mounted in a vehicle for detecting a target object in various changing environmental conditions. In the apparatus, a storage prestores plural image recognition dictionaries each describing reference data for the target object, and plural image recognition techniques each used to detect the target object from an input image with use of one of the plural image recognition dictionaries. A first acquirer acquires an operating state of a lighting device of the vehicle. A selector selects, according to the acquired operating state of the lighting device, one of the plural of image recognition dictionaries and one of the plural of image recognition techniques. A detector detects the target object in the input image by applying image recognition processing thereto with use of the selected image recognition dictionary and technique.

Abstract: Apparatus for inserting an IC, which has a package member and at least one lead projecting to the exterior of this package member, into an IC socket for testing and measurement. The apparatus includes a depressing member which is supported in a direction of moving of depression of the IC and its lead towards the IC socket for insertion, as well as movement in the direction opposite to the direction of depression. There is a heating member for heating the package member supported by the depressing member in a mutually movable manner which moves in the same direction as the depressing member, a first elastic member provided between the heating member and depressing member which deforms depending on a mutual displacement of the heating member and depressing member, and a second elastic member for pushing the heating member in a direction opposite that of the deformation of the first elastic member by movement of the depressing member in the direction of depression of insertion of the IC into the socket.