Behavior control apparatus and method

• US 7,054,724 B2
• Filed: 07/16/2002
• Issued: 05/30/2006
• Est. Priority Date: 07/16/2001
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Tsujino, Hiroshi, Koshizen, Takamasa, Ono, Hideaki
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US10/484,147
• Publication Number:
  US 20040162647A1
• Time in Patent Office: 1,414 Days
• Field of Search: 701 1- 4, 700/30, 700/85, 244/189, 244/195, 244/197
• US Class Current: 701/1
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

The invention relates to a behavior control apparatus and method for autonomously controlling a mobile unit based on visual information in practical application without the needs of a greatdeal of preparation or computational cost and limiting the type of target object. According to one aspect of the invention, a method for controlling behavior of a mobile unit using behavior command is provided. First, sensory inputs are captured and then the motion of the mobile unit is estimated. The portion which includes a target object to be target for behavior of the mobile unit is segregated from the sensory inputs. The target objects extracted from the segregated portion and the location of the target object is acquired. Finally, the mobile unit is controlled based on the location of target object.

Claims

1. A behavior control apparatus wherein a target object to be used as a control reference is extracted from captured sensory inputs and behavior of a mobile unit is controlled using a location of the target object as the control reference, the apparatus comprising:

sensory input capturing means for capturing sensory inputs including a target object;

motion estimating means for estimating motion of the mobile unit;

target segregation means for segregating from the sensory input the portion thereof in which the target object to be a target for behavior of the mobile unit is located;

target object matching means for extracting the target object from said segregated portion;

target location acquiring means for acquiring the location of the target object; and

behavior decision means for deciding behavior command for controlling the mobile unit based on the location of the target object.

2. The behavior control apparatus claimed in claim 1, said motion estimating means comprising:

behavior command output means for outputting said behavior command;

behavior evaluation means for evaluating the result of the behavior of the mobile unit;

learning means for learning the motion of the mobile unit using the relationship between said sensory inputs and said behavior result; and

storage means for storing the learning result.

3. The behavior control apparatus claimed in claim 2, wherein said learning result is probabilistic density distribution.

4. The behavior control apparatus claimed in claim 1, wherein said target segregation means segregates said portion by comparing the sensory inputs and said estimated motion.

5. The behavior control apparatus claimed in claim 4, wherein said segregation is done by utilizing optical flow.

6. The behavior control apparatus claimed in claim 1 wherein said target location acquiring means defines the center of the target object as the location of said target object;

said behavior decision means outputs the behavior command to move the mobile unit toward said location of the target object.

7. The behavior control apparatus claimed in claim 6, wherein said behavior decision means calculates the distance between the mobile unit and the location of said target object, said behavior decision means deciding the behavior command to decrease the calculated distance.

8. The behavior control apparatus claimed in claim 7, wherein if the calculated distance is greater than a predetermined value, said target segregation means repeats segregating said portion which includes a target object.

9. The behavior control apparatus claimed in claim 1, wherein said sensory input capturing means captures images of the external environment of the mobile unit as the sensory inputs.

10. The behavior control apparatus claimed in claim 1, wherein said target object matching means extracts target object by pattern matching between the sensory inputs and predetermined templates.

11. The behavior control apparatus claimed in claim 1, wherein said sensory inputs capturing means is a gyroscope which captures motion of the mobile unit.

12. A method for controlling behavior of a mobile unit using behavior command wherein a target object to be used as a control reference is extracted from captured sensory inputs and behavior of the mobile unit is controlled using a location of the target object as the control reference, the method, comprising the steps for:

capturing sensory inputs including a target object;

estimating motion of the mobile unit;

segregating the portion of the sensory inputs which includes a target object to be target for behavior of the mobile unit;

extracting the target object from said segregated portion;

acquiring the location of said target object; and

controlling the mobile unit based on the location of target object.

13. The method claimed in claim 12, wherein said estimating step further comprises:

outputting said behavior command;

evaluating the result of the behavior of the mobile unit;

learning the motion of the mobile unit using the relationship between said sensory inputs and said behavior result; and

storing the learning result.

14. The method claimed in claim 13, wherein said learning result is probabilistic density distribution.

15. The method claimed in claim 12, wherein said segregating is done by comparing the sensory inputs and said estimated motion.

16. The method claimed in claim 15, wherein said segregation is done by utilizing optical flow.

17. The method claimed in claim 12, wherein center of the target object is defined as the location of said target object;

said behavior command being determined so as to move the mobile unit toward said location of the target object.

18. The method claimed in claim 17, wherein the distance between the mobile unit and the location of the center of said target object is calculated, and then the behavior command is determined to decrease the calculated distance.

19. The method claimed in claim 18, wherein if the calculated distance is greater than a predetermined value, said segregating step is repeated.

20. The method claimed in claim 12, wherein said sensory inputs are images of the external environment of the mobile unit.

21. The method claimed in claim 12, wherein said extracting is done by pattern matching between the sensory inputs and predetermined templates.

22. The method claimed in claim 12, wherein motion of the mobile unit is captured using a gyroscope.

23. Computer program for implementing computer controlled behavior of a mobile unit by:

capturing sensory inputs including a target object;

estimating motion of the mobile unit;

segregating the portion of the sensory inputs which includes a target object to be target for behavior of the mobile unit from sensory inputs;

extracting the target object from said segregated portion;

acquiring the location of said target object; and

controlling the mobile unit based on the location of target object.

24. A computer-readable recording medium containing a program for controlling behavior of a mobile unit by implementing a computer for:

capturing sensory inputs including a target object;

estimating motion of the mobile unit;

segregating the portion of the sensory inputs which includes a target object to be target for behavior of the mobile unit from sensory inputs;

extracting the target object from said segregated portion;

acquiring the location of said target object; and

controlling the mobile unit based on the location of target object.