Abstract: A system and method for identifying objects using a robotic system are disclosed. Briefly described, one embodiment is a method that captures a first image of at least one object with an image capture device that is moveable with respect to the object, processes the first captured image to determine a first pose of at least one feature the object, determines a first hypothesis that predicts a predicted pose of the identified feature based upon the determined first pose, moves the image capture device, captures a second image of the object, processes the captured second image to identify a second pose of the feature, and compares the second pose of the object with the predicted pose of the object.

Abstract: The present invention provides a land mark detecting apparatus simultaneously used with a land mark comprising plural mark primitives. The land mark detecting apparatus comprises a set of cameras and a land mark detector which includes an image signal interface unit, a pre-processing unit, a straight line detector to and a mark specifying unit.

Abstract: The automatic work apparatus extracts the target image of which photos are taken by the left and right CCD cameras, specifies the spatial position of the target and executes an operation to the target by the arm. Two regions, the central region and the peripheral ones, allocated to the image taken by the CCD camera so that if the target image stays in the peripheral region of the image then the cameras are rotated to take the target image in the central portion and the position determining module determines the spatial position of the target and then tasks are done for the targets. The relative distance from the target is adjusted by transfer equipment. This invention is applicable to an automatic work apparatus that can operate a predetermined operation for moving target and an automatic operation control program to carry out such operation.

Abstract: A first masking image of an input image is created by assuming that pixels in an area including the area of a target in all sample images are valid pixels while pixels in the remaining area are invalid pixels. The first masking image is used in a first comparison between the input image and each sample image to select an image that provides a best match as a provisionally selected sample image. In a second comparison, a second masking image corresponding to the provisionally selected sample image is used to select a final sample image. The second masking image is created from an individual sample image by assuming that pixels in an area including the area of the target are valid pixels while pixels in the remaining area invalid pixels.

Abstract: A stereo imaging based vision system to monitor the area on the two sides of either a door and control door motion according to the motion of 3D objects in the viewing area. The system calibrated to provide heights above the ground plane for any point in the field of view. Therefore, when any object enters the field of view, it generates interest points called “features”, the heights of which are measured relative to the ground plane. These points are then clustered in 3D space to provide “objects”. These objects are then tracked in multiple frames to provide “trajectories”. Such a system could then control the door motion (open, close, stall) based on the various pieces of information generated about the object.

Abstract: A stereo imaging based vision system is calibrated to provide heights above the ground plane for any point in the field of view. Therefore, when any object enters the field of view, it generates interest points called “features,” the heights of which are measured relative to the ground plane. These points are then clustered in 3D space to provide “objects.” These objects are then tracked in multiple frames to provide “trajectories.” Such a system could then control alarm signals or actuate gates or motion control devices, for example, based on the various pieces of information generated about the object.

Abstract: A vehicle running state judging apparatus calculates the edge detecting position of the first pixel group detected by the first gray value detection section, the edge detecting position of the second pixel group based on the gray value at that position, and the gray value at that position and judges meandering of a vehicle by comparing the edge detecting position of the second pixel group detected by the second gray value detection section and the gray value at that position, with the edge detecting position of the second pixel group calculated by the calculation section and the gray value at that position.

Abstract: An obstacle recognition apparatus is provided which can recognize an obstacle by accurately extracting a floor surface. It includes a distance image generator (222) to produce a distance image using a disparity image and homogeneous transform matrix, a plane detector (223) to detect plane parameters on the basis of the distance image from the distance image generator (222), a coordinate transformer (224) to transform the homogeneous transform matrix into a coordinate of a ground-contact plane of a robot apparatus (1), and a floor surface detector (225) to detect a floor surface using the plane parameters from the plane detector (223) and result of coordinate transformation from the coordinate transformer (224) and supply the plane parameters to an obstacle recognition block (226).

Abstract: A movable body circumstance monitoring apparatus includes element for capturing an image of a surrounding of a movable body depending upon movement of the movable body, deriving at least four feature points in a specified flat at the image, tracking the feature points in response to movement of the movable body from a first state to a second state, and specifying relative position and posture of the element for capturing the image at the first and second states in response to first flat coordinates of the feature points at the first state and second flat coordinates of the feature points at the second state based upon a tracking result.

Abstract: A system for further enhancing speed, i.e. improving throughput in a SEM-type inspection apparatus is provided. An inspection apparatus for inspecting a surface of a substrate produces a crossover from electrons emitted from an electron beam source 25•1, then forms an image under a desired magnification in the direction of a sample W to produce a crossover. When the crossover is passed, electrons as noises are removed from the crossover with an aperture, an adjustment is made so that the crossover becomes a parallel electron beam to irradiate the substrate in a desired sectional form. The electron beam is produced such that the unevenness of illuminance is 10% or less. Electrons emitted from the sample W are detected by a detector 25•11.

Abstract: A gesture recognition system enabling control of a robotic device through gesture command by a user is provided, comprising a robotic unit, a video or infrared camera affixed to the robotic unit, computing means, and high and low level of control gesture recognition application code capable of enabling the system to locate points of left hand, right hand, upper torso and lower torso of the user in the video imagery and convert it to waveform data, correlate the waveform data to user command data, and form corresponding control voltage command(s) for production of electric current voltage(s) to drive one or more of the electric motors or actuators of the robotic device to thereby control same. In addition, a computer software program is provided for use in the gesture recognition system described above.

Abstract: A device and method for the automated storage and retrieval of trays holding subject matter. A computer system is programmed to control a storage gantry to move the trays between a storage rack and an automated machine. In a preferred embodiment, the subject matter in the trays is a plurality of micro-well plates in which microscopic crystals may be growing and the automated machine is configured to inspect and classify microscopic crystals. The automated machine has an indexing device for sequentially placing microscopic crystals in camera-view of a camera and a control computer is programmed to control the indexing device and to cause the camera to take images of the microscopic crystals and then transfer the images to a classifying processor where the images are classified. In a preferred embodiment, the microscopic crystals are protein crystals that have been grown in the wells of micro-well plates.

Abstract: A vision-controlled system and method thereof for detecting changes in a monitoring environment are disclosed. The system includes an image-capturing device for capturing an image; an image analyzer for receiving the captured image and analyzing the same to provide a control signal; and a controller coupled to the image analyzer for receiving the control signal and processing the same.

Abstract: A method to determine the location of a robot using an omni-directional image, the method including acquiring an omni-directional image from a robot, extracting a predetermined current line from the acquired omni-directional image, calculating a correlation coefficient between the extracted current line of the robot and each landmark line of pre-stored nodes using a Fast Fourier Transform (FFT), and performing a stochastic approach method of a particle filtering process on a basis of the calculated correlation coefficient to recognize a location of the robot.

Abstract: An image capturing method and apparatus for pattern recognition of an electronic device are provided in which an electronic device is moved relative to a vision system for positioning the vision system over a target position on the electronic device, and when the vision system is positioned to view the target position, the vision system is operative to capture an image of the target position while the electronic device is undergoing relative motion with respect to the vision system without stopping. Thus, the time taken for pattern recognition can be significantly reduced.

Abstract: A simulation device displays a three-dimensional model of a robot system on a display device and simulates a robot system including a robot and an image pickup camera. The simulation device includes a display device for displaying a three-dimensional virtual space on a screen, a camera position determination unit for determining an installation position of the image pickup camera based on an image pickup range designated by the operator, optical characteristic information of the used image pickup camera, and required measurement precision, and a virtual image generator unit for generating a virtual image to be obtained by the image pickup camera based on the position of the image pickup camera in the three-dimensional virtual space and the optical characteristic information, thereby facilitating the determination of the suitable position of the image pickup camera and adjustment of the detection parameters.

Abstract: The present invention has been made to obtain a coordinate acquisition apparatus for test of a printed board that can automatically generate coordinates required for performing the clip test from a predetermined target object formed in a printed board to thereby automate the clip test. A coordinate acquisition apparatus for test of a printed board comprises: a camera that photographs a printed board; a target object detection section that uses pattern matching to detect a predetermined target object formed in the printed board from image data photographed by the camera; and a coordinate position acquisition section that acquires the coordinate position of the target object detected by the target object detection section with respect to the printed board.

Abstract: A scanning apparatus and method for generating computer models of three-dimensional objects comprising means for scanning the object to capture data from a plurality of points on the surface of the object so that the scanning means may capture data from two or more points simultaneously, sensing the position of the scanning means, generating intermediate data structures from the data, combining intermediate data structures to provide the model; display, and manually operating the scanning apparatus. The signal generated is structured light in the form of a stripe or an area from illumination sources such as a laser diode or bulbs which enable data for the position and color of the surface to be determined. The object may be on a turntable and may be viewed in real time as rendered polygons on a monitor as the object is scanned.

Abstract: A robot having an imaging capability includes: an imaging device, and at least one actuator separate from the imaging device for moving at least a portion of the robot. The at least one actuator is controllable in response to a control command, the imaging device being responsive to the control command to modify characteristics of image data produced.

Abstract: This invention overcomes the disadvantages of the prior art by providing a human/machine interface (HMI) for use with machine vision systems (MVSs) that provides the machine vision system processing functionality at the sensor end of the system, and uses a communication interface to exchange control, image and analysis information with a standardized, preferably portable device that can be removed from the MVS during runtime. In an illustrative embodiment, this portable device can be a web-browser equipped computer (handheld, laptop or fixed PC) or a Personal Digital Assistant (PDA). The communication interface on the sensor-end of the system is adapted to communicate over a cable or wireless communication link (for example infrared (IR) or radio frequency (RF)), with a corresponding communication interface in the portable device.

Abstract: The entire region of variation in the viewing range of the attitude of a workpiece is divided roughly, and images of the workpiece are captured from each direction. The images are stored together with imaging direction data as a first teaching model. Images captured by varying the imaging direction at a narrow pitch within a predetermined range of attitude variation in the workpiece are then stored together with imaging direction data as a second teaching model. Images of the workpiece are captured and compared with the teaching models. The position and attitude of the workpiece are determined by the imaging direction and imaging position of the selected teaching model.

Abstract: A mobile apparatus is provided, which includes a plurality of imaging devices, a measurement device for measuring a current position and direction of the imaging devices, a map data storing section which stores map data including at least registered information on positions of stationary objects, a recognized distance calculating section which obtains a parallax for a plurality of images, a reference distance calculating section which calculates a reference distance from the imaging devices to a front border of each stationary object, a retracting section for determining a range of image processing, which selects a set of pixels to be processed so as to generate a retracted image, a detecting section for detecting objects from the retracted image, a transport device, and a transport controller for controlling movement of the transport device according to information about the objects detected by the detecting section.

Abstract: The present invention includes in a system and method for estimating and tracking an orientation of a user's face by combining head tracking and face detection techniques. The orientation of the face, or facial pose, can be expressed in terms of pitch, roll and yaw of the user's head. Facial pose information can be used, for example, to ascertain in which direction the user is looking. In general, the facial pose estimation method obtains a position of the head and a position of the face and compares the two to obtain the facial pose. In particular, a camera is used to obtain an image containing a user's head. Any movement of the user's head is tracked and the head position is determined. A face then is detected on the head and the face position is determined. The head and face positions then are compared.

Abstract: A robot system that includes a robot and a remote station. The remote station includes a head worn device worn on the head of a user. The head worn device senses movement of the user's head and generates corresponding input signals. The input signals are processed into robot movement commands and transmitted to the robot, typically through a broadband network. The robot movement commands move a camera of the robot. The camera movement tracks movement of the user's head so that the user can scan the visual field without having to generate separate input commands for the robot.

Abstract: A workpiece picking device capable of correctly detecting the size of a workpiece. The picking device has a robot capable of picking the same kind of workpieces contained in a work container, a robot controller for controlling the robot, a video camera positioned above the work container so as to widely image the workpieces and an image processor for processing an image obtained by the video camera. The three-dimensional position and posture of each workpiece is measured by a three-dimensional vision sensor arranged on a wrist element of the robot.

Abstract: A robot for marking an interface surface is provided. The interface surface has coded data identifying a plurality of locations on the interface surface printed thereon. The robot comprises: an image sensor for sensing at least some of the coded data; a processor for generating indicating data using the sensed coded data, the indicating data comprising data regarding a position of the robot on the interface surface; communication means for transmitting the indicating data to a computer system and receiving instructions from the computer system; a steerable drive system for moving the robot over the interface surface in response to movement instructions received from the computer system; and a marking device for selectively marking the interface surface in response to marking instructions received from the computer system.

Abstract: A position detection apparatus that is able to easily detect self-position during autonomous movement by a humanoid robot that moves by the use of legs or automobile.

Abstract: A workpiece W serving as an object for detection is fixed in place. A camera 20 is mounted to the end of a robot RB. The camera is turned about an axis, which passes through the center position of the workpiece W and is perpendicular to the optical axis of the camera, to take an image of the workpiece W at a plurality of positions in different directions. A teaching model is generated on the basis of each produced image data. The relative position and posture of the workpiece to the camera 20 is also stored in association with the teaching model. Thus, it is possible to easily generate the teaching model of the workpiece regardless of three-dimensional variations in posture.

Abstract: A location mark detecting method of a robot cleaner capable of accurately detecting location marks from an image captured by an upwardly looking camera. The location mark detecting method comprises the steps of obtaining from the image object marks to be compared with the reference location marks, determining whether shapes of the object marks are identical to those of the reference location marks, determining whether a distance separating the object marks is identical to that between the reference location marks if it is determined that the shapes are identical, determining whether a surrounding image of the object marks is identical to that of the reference location marks if it is determined that the distances are identical, and identifying the object marks as the location marks if it is determined that the surrounding images are identical.

Abstract: A robot system having an image processing function capable of detecting position and/or posture of individual workpieces randomly arranged in a stack to determine posture, or posture and position of a robot operation suitable for the detected position and/or posture of the workpiece. Reference models are created from two-dimensional images of a reference workpiece captured in a plurality of directions by a first visual sensor and stored. Also, the relative positions/postures of the first visual sensor with respect to the workpiece at the respective image capturing, and relative position/posture of a second visual sensor to be situated with respect to the workpiece are stored. Matching processing between an image of a stack of workpieces captured by the camera and the reference models are performed and an image of a workpiece matched with one reference model is selected.

Abstract: The invention is related to methods and apparatus that detect motion by monitoring images from a video camera mounted on a mobile robot, such as an autonomously navigated mobile robot. Examples of such robots include automated vacuum floor sweepers. Advantageously, embodiments of the invention can automatically sense a robot's motional state in a relatively reliable and cost-efficient manner. Many configurations of robots are configured to include at least one video camera. Embodiments of the invention permit the use of a video camera onboard a robot to determine a motional state for the robot. This can advantageously permit the motional state of a robot to be determined at a fraction of the cost of additional sensors, such as a laser, an infrared, an ultrasonic, or a contact sensor.

Abstract: A system for further enhancing speed, i.e. improving throughput in a SEM-type inspection apparatus is provided. An inspection apparatus for inspecting a surface of a substrate produces a crossover from electrons emitted from an electron beam source 25•1, then forms an image under a desired magnification in the direction of a sample W to produce a crossover. When the crossover is passed, electrons as noises are removed from the crossover with an aperture, an adjustment is made so that the crossover becomes a parallel electron beam to irradiate the substrate in a desired sectional form. The electron beam is produced such that the unevenness of illuminance is 10% or less. Electrons emitted from the sample W are detected by a detector 25•11.

Abstract: Apparatus and methods for monitoring, analyzing, and/or discriminating molecular species, preferably a biomolecule, within a medium using a multisensor array (MSA) and multivariate processing. Biological compounds such as nucleotides and polynucleotides can be detected and analyzed. A reaction process such as an accumulation cycle of nucleic acids can be monitored, analyzed, and controlled using a multisensor array (MSA) and multivariate processing. Monitoring a biomolecule includes interrogating the medium, and preferably its gas phase, by coupling a sensor responsive to any changes of the medium and or biomolecule and its secondary products when, for example, an amplification reaction is proceeded. It is also a scope of the present invention to use direct detection and monitoring of biomolecular reactions in real-time without radioactive or fluorescent labeling. A preferred application is real-time polymerase chain reaction (PCR) detection.

Abstract: Provided is a method for sequencing DNA, which comprises: (a) obtaining a target DNA population comprising one or more single-stranded DNAs to be sequenced, each of which is present in a unique amount and bears a primer to provide a double-stranded portion of the DNA for ligation thereto; (b) contacting the DNA population with an array of hybridisation probes, each probe comprising a label cleavably attached to a known base sequence of predetermined length, the array containing all possible base sequences of that predetermined length; (c) removing all unligated probes; followed by the steps of: (d) cleaving the ligated probes to release each label; (e) recording the quantity of each label; and (f) activating the extended double-stranded portion to enable ligation thereto; wherein (g) steps (b) to (f) are repeated in a cycle for a sufficient number of times to determine the sequence of the or each single-stranded DNA by determining the sequence of release of each label.

Abstract: A plural number of letters or characters, inferred from the results of letter/character recognition of an image photographed by a CCD camera (20), a plural number of kana readings inferred from the letters or characters and the way of pronunciation corresponding to the kana readings are generated in an pronunciation information generating unit (150) and the plural readings obtained are matched to the pronunciation from the user acquired by a microphone (23) to specify one kana reading and the way of pronunciation (reading) from among the plural generated candidates.

Abstract: An object detection apparatus is provided for detecting both stationary objects and moving objects accurately from an image captured from a moving mobile unit. The object detection apparatus of the present invention applies Gabor filter to two or more input images captured by an imaging device such as CCD camera mounted on a mobile unit, and calculates optical flow of local areas in the input images. Then the object detection apparatus closely removes optical flow produced by motion of the mobile unit by estimating optical flow produced from background of the input images. In other words, the object detection apparatus clarifies the area where object is not present (“ground”) in the input images. By removing such “ground” part, the area where objects seems to be present (“feature”) is extracted from the input images. Finally, the object detection apparatus determines whether objects are present or not using flow information of the extracted “feature” part.

Abstract: The present invention relates to methods and compositions for analyzing nucleic acids, and in particular, methods and compositions for detection and characterization of nucleic acid sequences and sequence changes. The present invention also provides methods and compositions for identifying oligonucleotides with desired hybridization properties to nucleic acid targets containing secondary structure.

Abstract: The present invention features a method whereby the vacuum nozzle of each extendable vacuum spindle in a multi-head component placement machine may be calibrated during component pick/place cycles. Calibration of each vacuum nozzle ensures accurate location of the vacuum nozzle over a component at a component pick station. This is particularly important with extremely small components where a slight misalignment of a vacuum nozzle with a component to be picked could result in a missed pick. Because of the vacuum nozzle inspection and calibration on the fly during the placement cycle, there is no slowdown of the placement machine cycle rate.

Abstract: A method of representing spatial relations among objects in the environment uses a Delaunay triangulation as the data structure to store the spatial relations when the objects are represented in the form of simplified objects such as cuboids. The method receives image data corresponding to the environment and recognizes the objects in the image data, and updates the Delaunay triangulation so that the Delaunay triangulation is consistent with the recognized objects. Furthermore, a proximity query can be carried out using the Delaunay triangulation.

Abstract: Disclosed are methods for determining the presence or absence of a target nucleic acid (e.g. DNA) sequence in a sample nucleic acid, the method comprising: (a) exposing the sample to a detection agent comprising a colloid metal surface associated with a SER(R)S active species (SAS) such as an azo dye and with a target binding species (TBS) which may be PNA which is complementary to the target, and (b) observing the sample agent mixture using SER(R)S to detect any surface enhancement of the label wherein the binding of the TBS to the target sequence causes surface enhancement SAS.

Abstract: The present invention relates to a method for typing a sample of a prion or spongiform encephalopathy disease, a kit suitable for use in such a typing method, a method for identifying infection in an animal and/or tissue of bovine spongiform encephalopathy (BSE), a method for assessing and/or predicting the susceptibility of an animal to BSE, a kit for use in such an assessment and/or prediction method, a method for the treatment of a prion disease, and compounds suitable for such a method.

Abstract: A method of detecting a mutation or a difference of one or more nucleotides between a nucleic acid molecule to be tested and a reference nucleic acid molecule, said method comprising subjecting the test nucleic acid molecule to base specific cleavage to generate oligonucleotide fragments, separating the resulting oligonucleotide fragments based on mass by MALDI-ATOF MS and/or other equivalent procedure to produce a fingerprint of then oligonucleotide fragments comprising one or more peaks wherein a peak represents the mass of each fragment and identifying an altered peak relative to a reference nucleic acid molecule subjected to the same procedure wherein the presence of an altered peak is indicative of a difference of one or more nucleotides in said tested nucleic acid molecule.

Abstract: This invention provides in vitro processes for producing copies of specific nucleic acids using protein-nucleic acid constructs which are part of conjugates which are introduced into cells. Illustrative of the elements useful in these constructs for producing copies of specific nucleic acids are promoters, sequences coding for proteins or providing templates for transcription, and RNA polymerases.

Abstract: An apparatus for assaying specific binding of a probe to a target, includes: a sample support; a light source; an optical train; a light detector; an electricity source; an electrical property detector; and a data analysis device adapted to: (a) compare an optical determination of binding with an electrical determination of binding, or (b) compare a pre-electrification determination of binding with a post-electrification determination of binding.

Abstract: A method and apparatus for dynamic thresholding of grayscale images to delineate image attributes is disclosed. The system includes a picker assembly, an imager disposed on picker assembly, illumination sources disposed at the picker assembly and a processor, coupled to the imager and illumination sources, for processing image data obtained from the imager and for controlling the illumination sources, wherein the processor applies dynamic image thresholding to the image to select an optimum gray scale level of the image, the image expected to include a desired physical feature.

Abstract: The present invention relates to a system and a method for recognizing a prescribed object, having a storage device for storing attribute information relating to the prescribed object, detecting means for detecting attributes in a detection range and for outputting corresponding detection information, first processing means for processing, in parallel and separately for each possible attribute type, the detection information for the detection means by using the attribute information from the storage device and for outputting corresponding processing information, and second processing means for processing the process information from the first processing means and for outputting the information for determining the position of the prescribed object in the detection range.

Abstract: The present invention relates to an oligonucleotide having a novel structure and a method of synthesizing nucleic acid by using the same as a primer. This oligonucleotide is provided at the 5?-side of the primer with a nucleotide sequence substantially the same as a region synthesized with this primer as the origin of synthesis. The present invention realizes synthesis of nucleic acid based on an isothermal reaction with a simple constitution of reagents. Further, the present invention provides a method of synthesizing highly specific nucleic acid on the basis of this method of synthesizing nucleic acid.

Abstract: The present invention describes a method for separating or partially separating heteroduplex and homoduplex DNA molecules in a mixture. In the method, the mixture is applied to an anion-exchange chromatography medium. The heteroduplex and homoduplex molecules are eluted with a mobile phase containing an eluting salt, including an anion and a cation, a buffer, and preferably including an organic solvent. The eluting is carried out under conditions effective to at least partially denature the heteroduplexes (e.g., thermal or chemical denaturing) resulting in the separation of the heteroduplexes from the homoduplexes. The method has many applications including, but not limited to, detecting mutations and comparative DNA sequencing.

Abstract: The invention features a method for multiplexed analysis of a plurality of target nucleic acid sequences in a sample. The method provides a derivative nucleic acid for each target sequence analyzed and present in the sample.

Abstract: A method of inhibiting the self-splicing of a Group I intron is disclosed. The method uses an oligonucleotide having a sequence essentially identical to a guide sequence found in the 5? flanking exon and terminates with a 3? ribonucleoside. Usually the oligonucleotide has N3??P5? phosphoramidate or N3??P5? thiophiosphoramidate linkages rather than phosphodiester linkages. A method of inhibiting the growth of organisms having Group I intron, particularly certain pathogenic fungi including P. carinii, C. albicans, and A. nidulans using the oglionucleotide is also provided.