Target object detection apparatus and robot provided with the same

• US 7,769,203 B2
• Filed: 12/13/2005
• Issued: 08/03/2010
• Est. Priority Date: 12/14/2004
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Oohashi, Takahiro, Ogawa, Naohide
• Primary Examiner(s): Ahmed; Samir A.
• Assistant Examiner(s): Fitzpatrick; Atiba O
• Application Number:
  US11/301,114
• Publication Number:
  US 20060126918A1
• Time in Patent Office: 1,694 Days
• Field of Search: 382/100, 382/103, 382115-118, 382/181, 901/1, 704/200, 704231-255, 704258-269
• US Class Current: 382/103
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593

Abstract

A target object detection apparatus for identifying a target object by using at least a camera and a wireless tag provided on the target object which exists outside of the target object detection apparatus, comprising: a target detector for reading a first identification information documented in the wireless tag; an image processor for extracting a first image information of the target object imaged by the camera; a personal identifier for identifying an imaged target object by comparing the first image information extracted by the image processor and a second image information specific to the target object; and an integration processor for determining a third identification information of the target object based on at least a second identification information identified by the personal identifier and the first identification information read by the target detector.

Claims

1. A target object detection apparatus for identifying a target object by using at least a camera and a wireless tag provided on the target object which exists at outside of the target object detection apparatus, comprising:

a target detector for reading first identification information documented in the wireless tag;

an image processor for extracting first image information of the target object imaged by the camera;

a personal identifier for identifying an imaged target object by comparing the first image information extracted by the image processor and second image information specific to the target object;

an integration processor for determining third identification information of the target object based on at least second identification information identified by the personal identifier and the first identification information read by the target detector; and

a certainty computer for computing a first certainty of the first identification information read by the target detector,

wherein the personal identifier computes a second certainty of the second identification information identified by the personal identifier, and

wherein when the second identification information identified by the personal identifier and the first identification information read by the target detector for a single target object are different, the integration processor determines the third identification information of the target object based on the second certainty computed by the personal identifier and the first certainty computed by the certainty computer.

2. The target object detection apparatus according to claim 1, further comprising:

a voice source determiner for extracting a voice source position from a voice of the target object,

wherein the integration processor determines the third identification information of the target object based on the second identification information identified by the personal identifier, the first identification information read by the target detector, and the voice source position extracted by the voice source determiner.

3. The target object detection apparatus according to claim 2, further comprising:

a certainty computer for computing a first certainty of the first identification information read by the target detector,

wherein the personal identifier computes a second certainty of the second identification information identified by the personal identifier, and

wherein when the second identification information identified by the personal identifier and the first identification information read by the target detector for a single target object are different, the integration processor determines the third identification information of the target object based on the second certainty computed by the personal identifier and the first certainty computed by the certainty computer.

4. The target object detection apparatus according to claim 1, further comprising:

a storage for storing position information of the target object which is identified from the first image information extracted by the image processor and the third identification information determined by the integration processor, by time and target objects.

5. The target object detection apparatus according to claim 2, further comprising:

a storage for storing position information of the target object which is identified from the first image information extracted by the image processor and the third identification information determined by the integration processor, by time and target objects.

6. The target object detection apparatus according to claim 1, further comprising:

a storage for storing position information of the target object which is identified from the first image information extracted by the image processor and the third identification information determined by the integration processor, by time and target objects.

7. The target object detection apparatus according to claims 2, further comprising:

a storage for storing position information of the target object which is identified from the first image information extracted by the image processor and the third identification information determined by the integration processor, by time and target objects.

8. The target object detection apparatus according to claim 1, further comprising:

one or more than one database for storing image information corresponding to the second identification information which identifies the target object,

wherein the personal identifier comprises

specific face image data obtainer for obtaining the image information from the one or more than one database as the second image information specific to the target object, and

an imaged face image candidate identifier for comparing at least one image information obtained by the specific face image data obtainer and the first image information extracted by the image processor, and based on a comparison of both the image information, prioritizing the second identification information corresponding to the at least one image information obtained, and identifying prioritized second identification information as a candidate of the imaged target object.

9. The target object detection apparatus according to claim 1, further comprising:

one or more than one database for storing image information corresponding to the second identification information identifying the target object,

wherein the personal identifier comprises

a specific face image data obtainer for obtaining the image information from the one or more than one database as the second image information specific to the target object, and

an imaged face image candidate identifier for comparing at least one image information obtained by the specific face image data obtainer and the first image information extracted by the image processor, and based on a comparison of both the image information, prioritizing the second identification information corresponding to the at least one image information obtained, and identifying prioritized second identification information as a candidate of the imaged target object.

10. The target object detection apparatus according to claim 2, further comprising:

one or more than one database for storing image information corresponding to the second identification information identifying the target object,

wherein the personal identifier comprises

a specific face image data obtainer for obtaining the image information from the one or more than one database as the second image information specific to the target object, and

an imaged face image candidate identifier for comparing at least one image information obtained by the specific face image data obtainer and the first image information extracted by the image processor, and based on a comparison of both the image information, prioritizing the second identification information corresponding to the at least one image information obtained, and identifying prioritized second identification information as a candidate of the imaged target object.

11. The target object detection apparatus according to claim 8, further comprising:

a target detector for detecting first position information of the wireless tag; and

a storage for storing second position information of a target object identified by the imaged face image candidate identifier, the second identification information prioritized by the personal identifier, the first identification information read by the target detector, and the third identification information determined by the integration processor, by time and target objects,

wherein the personal identifier, further comprises

an RFID number obtainer for obtaining at least one first identification information which is read by the target detector from the storage, based on the second position information of the target object identified by the first image information extracted by the image processor,

wherein the specific face image data obtainer obtains the second image information corresponding to the first identification information obtained by the RFID number obtainer, as the second image information specific to the target object.

12. The target object detection apparatus according to claim 9, further comprising:

a target detector for detecting first position information of the wireless tag; and

a storage for storing second position information of a target object identified by the imaged face image candidate identifier, the second identification information prioritized by the personal identifier, the first identification information read by the target detector, and the third identification information determined by the integration processor, by time and by target objects,

wherein the personal identifier, further comprises

an RFID number obtainer for obtaining at least one first identification information which is read by the target detector from the storage, based on the second position information of the target object identified by the first image information extracted by the image processor,

wherein the specific face image data obtainer obtains the second image information corresponding to the first identification information obtained by the RFID number obtainer, as the second image information specific to the target object.

13. The target object detection apparatus according to claim 10, further comprising:

a target detector for detecting first position information of the wireless tag; and

a storage for storing second position information of a target object identified by the imaged face image candidate identifier, the second identification information prioritized by the personal identifier, the first identification information read by the target detector, and the third identification information determined by the integration processor, by time and target objects,

wherein the personal identifier, further comprises

an RFID number obtainer for obtaining at least one first identification information which is read by the target detector from the storage, based on the second position information of the target object identified by the first image information extracted by the image processor,

wherein the specific face image data obtainer obtains the second image information corresponding to the first identification information obtained by the RFID number obtainer, as the second image information specific to the target object.

14. The target object detection apparatus according to claim 11,

wherein the personal identifier, further comprises:

a group composer for obtaining all of the first identification information read by the target detector, and dividing all of the first identification information into a first group which comprise the second identification information of the imaged target object and a second group which comprise information other than the second identification information of the imaged target object,

wherein the specific face image data obtainer obtains the second image information corresponding to the first identification information by each identification information which belong to each group formed by the group composer as the second image information specific to the target object, and

wherein the imaged face image candidate identifier compares the second image information obtained by the specific face image data obtainer and the first image information extracted by the image processor by groups grouped by the group composer.

15. A robot provided with the target object detection apparatus according to claim 1, wherein the robot is capable of autonomous traveling control according to a target object identified by the third identification information of the target object detection apparatus, as well as conducting a predetermined traveling based on an external command.

16. The robot provided with the target object detection apparatus according to claim 15,

wherein a content of the external command comprises identification information and position information of a requester requesting a delivery of goods, and identification information and position information of an addressee who receives the goods, and

wherein the predetermined traveling comprises a search and identification of the requester, a reception of the good from the requester, a search and an identification of the addressee, and handing of the good received from the requester to the addressee.

17. The robot provided with the target object detection apparatus according to claim 16, further comprising:

a voice synthesizer for producing voices based on conversation data specific to the requester and the addressee, respectively, when one of the requester and the addressee is identified; and

a voice identifier for identifying a personal voice.