Note: Descriptions are shown in the official language in which they were submitted.
CA 02237886 1998-0~-13 ~L 96/00 1
I~WS O 6 F~ t9
,
COMPUTER STE~EO VISION SYSTEM ANI~ METHO~
Fleld of Invenffon
T~is i~ention relates to computer vision ~ ification seen in real time by
mear~ of c~ x, a computer, etc. in ~r~r~l and 3-D co~r~uter v~sion ~y means
of 2 or more "stereo" c ~ '7~ in pa~cular.
R~q~around of ~e InYenffon
The need for c~7"~uL~l ~is~on is an eYery day necessity for Iesol~ing problems ~for use by man p~ tically in all fields: From research, astronoaIy, robo~cs,
in~stIy, agciculture7 ..~...-r,.~ture, services, dnv~, seclmty, assistance to the
blir~, detectionofrl~.n...~.~ etc.
Today, as the volnme of both ir~ l ar~ extemal con~?uter memory is
la~sr~ ths phy~ical (li.~.xinn of c~ yuLt;r co~nents is bemg c~irmlusly
reduced, aml vali~us typss of h~gh speed processors exi~t. Conse~uently, if one
could create a system and a method for co~uter ~risi~ that would iderfi~y
yLhil~, it sees in real time, then e~re~ uld becoqne easier and more si~ple.
Present Situa~on
Present co~ uter v~sic~n, w~ch makes use of one o~ two ~ , focuses on the
vision of individual, def~ned, knDwn and ~ r static object(s) ~d their
i~lP.ltifi~ationis le~y, co...l~.-,.livt; ~pictu~e -~;.~t pictuIe), paItial and focused
~y~ and does not ~lyze and ider~ify ev~ryt~ng that is seen at the speed of
slx~oti~ It re~ ; and uses ma~y devices such as: sensors, li~ltir~ me~iL~
~n~?~ etc., and is cumbersome, limit~1, insllffici~r~ly efficiP~ and does not
provide satisfacto~y solllti~
O~iecffves of the Invenffon
The puIpose of this inver~on is to E~ovide a system and a method ~ to
aDalyze and iderfify all the foIms viswsd cf~n~P.~rq)oIaneously and at tl~ paCB of
filmir~ by mans of ~;~II~.I.1X conr~cte~l to a computer, means for CV~ ; of
<l; . l ~ lT~ti~ l other perceptible R~tln~s.
Tru re, the pu~pose of ~his invention is to enable ~my ~llt~ted device
(robots, tools, c~ll~uLel~" etc.) to see by means of vaIied and ~3~r~Liate means of
vision, any t~r~ble tl~, ~1~ ~n, ~imilznly to the way man can see and
ider$i~ ~m, to teach ~em basic tB~ of ~tifici~l i~.lli~.n~e they nsed in order
to c.~.. ~;c~e ~th their e~i~ the way man c~.. ~i.. ;~ates wqth 1;
AMENDE0 SI~E~T
A CA 02237886 1998-0~-13 ~ ~ ~ 96J0~ 1 45
~WS O 6 F~B ~gg8
to perfoIm alm~st aTy acti~n, tas3~: and w03:k that man dk~es but more accuIately,
effi~ tly, f~eter, better, etc., around the clock, a~ e~ l ~n places ~ch are
physically ~ifficult to access~ or ~ ulls~ ir~cces~ihle~ bonr~, etc.
, the ~pose of t~ ~erfion is to allow stoIage, b~a~cast~ng a~/or
i~ via r~ lZ-t~ inn lines, I~a~ TLR 3-D pi-iLLu~s, so that a
person can'~see" that picture f~rn a remote loca~o~, by me~Js of a decodir~g
so~cware progcam an~Jor ~lti-media, ~lasses aT~for special devices ~Rsi~LRd for
~i-D v~sioql, ~ection, y~ sn an~l eYen enl~
Ths o~ective of this Dention is to allow for t~R cor~truction of dev~ces accordir~,
to i~, ~le ~ e~ , systerns, ~ a~ elflC~t; c~lT~r~ basic
so~ware etc., e~stir~ on the "~.k~t in one foml o~ ~thP.r, SO that by their
c~nnRct-7~n, cq---l7i-~ n, ~t~tion, ext~ n~ etc., de~Aces canbe CIe~R~ ar~or
-ds:ie~ led according to this i~en~on, i~ln~ir~ th~s ability of ada~tion to
~llllr~ 8S. ~ aY~rage elecb~nics Rry~n~er, cor~puter e~n~er~ ~ystem
ar~lyzer, etc, will be able to design, ~cll~le and cons~uct de~ices acc~ g, to
t}~s i~enti~
0~ of ~e ad-v~ ps ofthis in~en~ionis its ~ 71i~ity, aUowir~ it to be used ~th
,..i.,i..~l 1imits~ti~, this iTrventiononlY canfillfiU U t~r o~ectives.
The Inven1ion
The Dention consists of an ..I~lL7v-~ e system and mthod for steIeo computer
v~on
A}y m~teri~1 wiitten as e~71~tinn to the software and u~ich does not form
paIt of the iIn~ention~cess as a whole, is a sample proposal or~y. l~s ~ose
is to iUustrate the ~rocess of ope~ti~7n of coIr~puter ~ion, and does not
~RJ~tR f~m the essence of the i~ention.
2. The e~71~n~tinn g~ren below is ~.nP.~l, s~nce there vv~U be vaIious types,
models and sizes of computer ~ systems (e.~ ge, smalL medi~TI,
Phi~lips, etc.), in accor~nce with the d;~ta that the coq~uter ~ision w~U haYe to
...il to ~e customer it seIves, but the basic Opk~ti~ ~ R ill all of
them is identical.
3. Computer vision is a means of offer~r~g a service of CCYie~' . Its task is to see
a section in space, to collect d~, defin~ti~ an~l terms in ~o~ectio~ with it,
AME~ 3ED SHEET
CA 02237886 1998-0~-13 ~L 9 6 / O ~ 1 4 ~
II~WS O 6 F~ ~gg8
-3 -
w~le p$~eservi~ the pictLlre of the view an~ w~le c1~ ths ~iewed
Enct~ into codes ar~ d~a, to decip~er it as necess~y, to store in a regi~3ter
whatever needed and to l~ ~il filrt~r the ol~ect it has seen or relevar~ ~a
3-D data and ~lltimRdia may be stored, by stonng the ~ , data at aIy
sh~ pace.
The~ is llifF~n~e between the tw~ systsms aT~ msthods in the
trs~tmP.nf~ but in l..; . ,~;;l~le, they are identical.
~n the system and me~d of pictu~e stC ~, the co~r~son picturs must be a
spa~l p3ctu~ th part of the collected tl~t~ refèmng to aach and e~rery dot
such as color, Wr ( difference befween the two c~ ~J~ to the
same dot), etc, the piGtures of the e~ are updated ~th the photog~a~
coordi~es and the Scillll~ly~ of the ~ pictu~ as ~ t the space picture
relates to Co~l~t~ and relies o~ the location of the space picture co~rdinates
as c~ d to tha callJl~ ~ict~e.
With t~s met}~ the pixels of one of the c~ are adjusted by means of the
dev~ces aT~ y a~ of the coor~ t~s, in an ordsrly ..~...~., at the pace
of shoating aT~or other, as against the p~xels of a p~evious pictuIe storad in the
sp~ti~l m.qmnTy register, as long as there is id~y ~nd c~respo~ance
ev~lyl~ , cn.- ;IlllRc~ an~ new movemer~ s}~e in ths video registered
p~cture c~atss t~ck of ca~respo~snce an~ llpft~hr~ and thsn ~ ~ls of the
two li~..~r~ are co~ d, pi~cel against pi~CBL the data of t~R identical pixels
is recordedinthe spa~ y fo$ eachcolarpixeL Wr llilT~;.t;~e, etc., the
dots of non-coT~espc,~lPnce in the picture stored in the sp~ial mRlT~y aIe
reg~stersd as depthlines inthe s~ picture and the dots of ~e second picture
are }egistered sepaIately in ~onnectioql, aml ag~in, m~t~ ~;-~ ths spa~ial
"~ s-y begins ag~n, etc.
FuIther l~ L"~~ is si~lar and car~ Rs accordirlg to the same pl;l~ le of
encoded data detectlon and corr~t~on as detailed in ~e abo~e preferred
ex~rnple, but wi~h a di~ lce ~ttihl~lR, ad~usted to t}~R ~.~...~. of S~ , and
a collection
LR tl51tZ- collection p~ocess takes place in two ways: A Cu~ of t~R dots
of one pi~ture as ~ t ~e do~s of the o~her picture of ~he same pace and/o~
,l~t~ as ~ t a dah~n among the d~a of two conss~ re pictures7 fio.r
puIposR of detection of the Wr, "c~t.~ of coord~r~tes, mntinn,
co~respondence, i~rtification7 etc. B. CollectiM~detection of data among thc
A~AENDED SHE~
CA 02237886 1998-0~-13 ~/IL ~ U 1 4 ~
I~A/IJS ~ ~ FEB ~gg8
existing da~a of the same pic,ture, such as ~ames, geomRtrical lines, geome~cal.sha~es ~fiamesl etc., and based on all ~e d~a an~Jor a part t~LRreof,
c~ are dIawn, as well as definition~, etc., for fuIther l~ , for
~rtific~ p~lli~.T~e~ for a ~-~lchir~ and i~Rnlifica~oIL key, an~l ~or
cl,.. ~ .. ~i ca~io~L
6. Eneeded, pa:[t of the v~s~o~ phases may be used for data f-~ ~-;c~i~n, for
ex~ple in 3-D ~roadcasti~, by d viding each type of da~a in a~e mavemer~
and d~a connpos~ion a~d ~he 1-~ -;5~ band ~d~h an~Uor al~ks n~Iy be
reduced, and in ~n~*~P.r pla~e the codes ~1 da~ r~ to them m~ be
t~n~1~te-1/de~ )1~J~d and displayed and projected in va~ous ways so as to
obtain a 3-D ~icture, w~ich ma~ even be enl~d.
';~ 7. SiIlCB c~T~lter ~on is su~possd to senre a cll~tfmRr and th~ customer is
supposed to ~lr~ limited opP,~ti~n~, his wo~k space is usually confin~A
therefors, ~ con~er vision system ~ l for tl~ cnst~nnRr ~11 lElve to
~ovide ~n ~th the slt~ he n~eds for fillfillir~ his task
8. Connputer vision and/or the robot ~refer bly) nnay use ~ liti~l PxtPrr~l aids(also for puIpose of de~ , such as tlhe ll~n~l~r system, the cn~tf~ l's
nrle~ s, an~3io, touch ~eat, ~iLlL~ S~ , wind ~low, etc.~, taste,
s~ n, etc, ~ich nnay be extemal to the s~em or the cll~tC~ r
~etween tl~ cll~tnm~r~s CW~ el vision systsm and the aids the~ ~11 be
~Bci~ n7~e~ corr~i~i~y, ~r~ncc, C~lPT~ti~, rwi~t~, d~a
inn, etc., as maybe req~re~
9. The system canbe c~"-.l,;.~.-l with a robot and own ar~Jor s~ Le C~
,de~ce which~v.ides the r~bot ~h d~, etc.
1~. ~um~g da~a collection, basic te~ns in ~Ttifici~l intP.lli~n~e a~e dete-,ted These
basic tenns are intRnfl~d to assist the deG;l~l~.;.y, system and the robot
coIr~uter to decipher pictures, phP.nmT~n~ etc., as well as to infnrm and
cnm-.~ tP ~th the env~--~----~-~ in w~ich the robot operates, such as other
robots ~ike ar~or lnlm~n beings.
List of F~ures
Fi~-l is a schRlT~ti~: sketch of a Elreferred system iTrlll~ pos~ih1P c~nRcti~
in the ~n of a colu~r~ ~li~rn;
AMEN~ED SHE~T
CA 02237886 1998-0~-13 ~L 96/0~ 1 4
l~lS ~ g ~ g~
-- 5 --
Fi~-2 is a ~ow chaIt of a prefe~ed system for co~ re l~ of data
ecei~ed ~om ths ~ and their l . ~ sion to the ~ s, encoded with the
detected (1
Fi~-~ is a ll~nz~ OSS section that ill ~ .~ qs schRms.ti~lly the cer~al vie~
axes, the fields of si~ nd the paIallel c~ , lines of the fields of si~ht and the
optic im~s of the system descnbed in Fi~-l.
Fi~-Af3 (x4 er~ is the parallel optic images of Fig-3.
F~g ~ is a ltnti7nnt~1 cross section ~a$ shows sch~mz *c~1ly the fields of si~ and
the shapes viewed ~of ths system desc~bed in F~g-1~ m va~ous sizes an~l at
v~ious ~ t~es
Fig-A,~4 (x4 er~ re~resents pictures of ~e sha~es v~ewed in 3~
v~ewed sin~llt~ously by bo~h the ~ht an~l the left c~ of ~e system
described inFi~-1.
Phot~r~l 'n~ ~Imin~) ~nd the Camera~
1. A ~ of identical ~ 4 ( Fi~ , co~rriin~ted in s~ an~e
in~ln~liT~ va~able aml enl~.~..lf.-lreduction, c~ , fo~ the ~ x op~ical
p~ll~l fields of si~ Flg.-3) CU~ 1 a co~... o.- plane ~ n~l
refem~d to as the ~nTi7nnt~1 plans, in o~r wo~ds, ~e h ri7nnt~1 distanc~ with
Ie~rd to sach field of sig~ lins is alw~s i~lRTfi~.s~ ~, bo~ ~ x ~m {0 0~
and up to ~ ), and is a fixed ~lixt~Tlrs of devia~ion M (F~g.-3, At3) at aIy
pl~o~ xt:~rre. The veItical ll~v~ el~licularto ~e l~..i~..~;.
plane) of ~e c,.. . ~.l nx is Cu~ and identical.
The rl~t~rlls: takenbythe ~ x i~ recei~edinanir~-..~..~.y P-O and
P-l ~Fi~-l) in a~co~e with the spsed of ph~o~ aT~or other) m
fo~ of d~al da~a tn~ te~l either by the ~ or by a~y other e4 -;~
5, ~i~-l) ths ~ will be p~ysical upon ll~llllr~ tu~ inct~ n
andfor a~ a~ other ~ven mnm~Tt ~ef~T~h1y by the rohot).
. Said tw~ or more ~ l, x, in a sir~le enclosure or in separate p~l,kZ~T~" are
si~lar to video c;~ tx, in~1nAir~ CCD ~ x and inf~h1 liry~ c~ x ~
ir~e~d means fo~ coqrve~ data received in the pictures to dy~ital d~a and
;T~111~1;T~ one or mo~ of ~e follo~r~:
a) A~aptation to colo~ photo~ s at var~ous speeds and at aly li~ such
as IR, Yisible and at any li~;hir~ c~rulitinn~ such as poor, by means of li~ht
:~lifil~ati~S
A~AENDED S~T
~ CA 02237886 1998-05-13 ~ ~ f ~
ll~qlllS ~ g FE~ 1998
_ ~ _
b) Fnk~or ~dllction devices, i~l~lAi~ telescop~c or m~croscopqc
c~ Optic i~ in.. lllAi~the des~redres~.lntinn whether s~
co~ex~ or concav~.
Calcula~on of disl -~s~ rlim~n~ons:
1. Based oql ths dE~n Wr - ~e difference between the loca~ion of a coD~esp~
d~t in the ~icture of the two ~ on the X a~s (Wr--Xb-X~) ~Fig -2), and
~ased on the fixed d~um M - t~he paIallel deviation ~fixed distance ~i~-3)
between parallel lines at aTy shootiIlg distance~ the s~ze of the ~nxel
Ie~reser t~ti~n can be calculated Q~lWr.
:~ 2. The calc~ ti~n of the dist~ce L between ~he C~ and aTy dot is based oql
the ide~ity of the two e;1..~,J-.lx ~i~e~i~l shoo~g ar~e in the c~...s..-~ (in
Cit~ l a~ ve~cal ~~)l,onthep~ysicalsi2e(theu~dthof
the optic iITE~ge 1), the i~ced resnlllti~n of the optic ilrE~ XY, on ~;
Rnl~ fre~ian, M, and Wr and ~e c...~l;..-~. K~, Kl, K~, K3 m ev~ry
v~e~g system
B~sic formul~s
(ocp~ aT~le for a sir~e En~L ~U) ~ ler of the circle in E~ucels (op~c image),
(CPn) size of pi~fel ~ $~ n in the c~ u~-~e ~lanel, (C~d) size of ~el
reE~reser~ti~n for st~i~rd ~ U~ d in foqm A and pLxels' Xd in d~
1. ap~~f~X*
2. U~ ~~O~a~
~. C~
4. Q~.
Dlst~nce c~lcul~tion formula~
rO - ~istam;e~ From the circle Ia~us u~ to the op~c ~rr~ge.
5. rO----~4*360f2~*~~'~l*Ko~*K
K0=3~0l2*7c*a~
Kl~*Ko
r - Ths Ia~us u~ to an~ p~t.
6. r~U*~f. *7~{{Z~*360fa~3~*{MfWr}]~*~
~ Wr3( M*X*300J2*lc*a~)~Wr~K~
K3~M*X*3~f2*~*a~~*K2
AMENDED SHEET
CA 02237886 1998-0~-13 ~T~L 96100 145
~IS O 5 F~ tg~8
L -- The dist~e i~om the QptiC ~ U~) to aIy point.
7. ~=r-rO~YWr~K3-Z*KI~3JWr~KI]
La -- The dista~e u~ to the i~1Rr~ifiR.l s~e A (i~ el calc~ t
8. IF(Qd*U~f2*7c-rO={(dl~X*36012*~*a~~]-Z~KI=
~dlX~X*KD-2;*KI--~;[K2(dlXd)-K,]
K2=X*3~f'~*7c*a~=X*KO
The co~e plane ~s the ~X~e ~n the tw~ c~... ,n.~.~ in ~ch the paIallel
~t~hiT~ d~ is ~ihl~te/1 inthe same locatioq~ the X axis.
If Wro~ then~ Q~2M ~the computer ~vill know), ~tance calculation
will ~e according to: I~Z(14*M-Kl)
3. The calclll~ti~n of the si ze of d4x repr~sRnt~tif~n allaws to calcula~e si~e, leng~h,
u~i~h, hei~, ~ uce area, etc.
4. T~ ord~r of d~s wi~ a~ gi~en i~me ar~or ~etwGe~L ad~acer~ ~mes etc.,
an~l the Ia~o of char~e of their loca~ioqL b~tw~el~ ~e X and Y ax~s allows to
~etect ths an~ linss and shz~s for e.~l~le: a strzn~ line -
is a c~ penodic~y in the cha~e of X and Y and ~he~r si~ do not c~e.
The aT~Le of the line - the ~io of change ~le~c. ~ the (tangsfcob~nz~3 a~le
of the line, for e~ple: at e~rery step in the periodici~y the dots chan~e by
~(~13 fi~ced s~s3, the a~e is - 45~, etc
5. Ths calcll~ n of the mavement velocity V is based on ~ (the s~otin~
r ~ 3 an~l T [T is the ~ti~n of a sin~le frequency (Fi~-2~ ~r w~ich a
te~n of time exists inthe co~uter].
. ~ will also help in ~ uducing 3-D ~ctures and intime.
7. ~ ~ow chaIt 101 (Fi~-2) ~ere ~s a f~ctor U (~h rnlmh~r S that I have cl~s~n
registered next to it~, this is the lo~ atio of ch~se for a change between
two af~jacent points (inthe cha~t it is 1.25).
SamPle of a System and Pre~erred Method OPer~tin~ Accordin~ to the
InYention
All th~ s~ c, video clips, ~law chaIt, etc., ~e ~y a~l ex~r~ple ~lich, althou~h
an excelle~ one, may irK 1~ el~ as in ty~ t~r~ ti~n, etc.~, inacc
AhlENDED SHE~
CA 02237886 1998-05-13 ~r~L 9 6 / 0 0 7 4 5
IPE~JS ~ g FEB t~g8
g
co~lectios, a~ ls to ci~ tances, etc. 1~ is e...~ i7~d ~ the ~rocess that
every processor pe. r~....~ a ceItain oper~ n(s), ~his ~s an exan~ple for the ~rwess
p~sses and it is depen~s upon t}~ E~rocessing speed (~?rocessors), and ~n~he order of
the process phases there may also occur ceItain IT~cations.
The Process of Plcture InPut
1. AIY picture ~ir~luding color picture) received ~om arry camera t~1~ted ir~o
com~uter l~ ~, will enter to one of the l~ I;R~ PO;Pl ~i~-l) to its
de~i~ted place, once to line O and once to line 1 (sa~ing of space), and so O~L
Tl~ line will be ~ rtefl to the ler~ of X inthe c~ nesn111ti~>n
2. Each codes table will be given gFr~r~1 data like a hf~ er, part of ~ich
received fi~n the ro~ot coIr~uter and a part fiom l~he ne~ng cull~uLer, for
e~ple: in the C~ S Z - enl;~ tre~l~ti~n and C - ths a~le of
in~tinn of the axes towards the hnn7~ will be given by the robots ~ich
c~ols the ïno~rement ~n~ ~e cS... ~..~ ). Tt is pos~ibl~ that aU fc~ur a~les of ~e
o~ical imlge fiame dots (resnlllti~ n) in every pict~e will be m~tchRd to the
robot m~ l coord~nates and to ths ~ , namely, thsre u~l be da~a
defir~ng their loca~io~ in space as a basis for m*f~.hiT~ and ~ tiry~ of the
cou~ ;;s f~ther aqL I~keuise, there will be a d~tum of the system the
rlllml~Ar of beat t [ilow ch~t ~ 2)].
. ln the flow chart (~i~-2), P.C.U-l (~i~-l) processor h~ntllAs ths co~r~ison of da~ (such as: ~l a as ~ t pixel b (Fig-2) received ~n the c~ x,
detects from am~g them new ~ta that can be deduced from the cr~ data
and registers them in a n~tl~.hin~ table for codes: Ql;Q2;Q3, with each such code
beir~g a ~ as reg~stered ne~¢ to it) in a 4-b~ts la~,e byte. The codes are
1 acco~ng to their appe~ e in the Y colu~ and the X row (Ci~
B), and the da~a for each code dle ~ .d ~n the ~ ,hi~ tab~e ~n the same
order an~llor in a~y other f~mili~r order
The P.C.U-l p~ocessor h~lles the P~;P-l every time in the free line and at a
pace adjusted to the pace of sh~ and it inseIts the data irrl~ the codes
to PP-O;PP-l ~Fig -l), eveIy shDoting cycle to an~ther location
a ln the ~low chart ~ 2~ rectan~le 1 - ~'start", rects~ e 2 - "read Ya, Yb",
llP~ - "go ba~
b. Circle [lOl ~ -2)~ detects the fiIst ide~ical dot in the data of the tu~
c~m~
AME~DED St~EET
CA 02237886 1998-0~-13 P~L 96/oO 1 4
I~IS O 6 FE~ tgg8
c. Ci~le ~102 (Fi~-2)] detects on the X axis the codes Q2 - color ar~ Q3 -
alea and the relevant data:
Q2:p;Wr,~Y:Xcn);~ Xx) Q3:Wr,(Y:~);q;u;(Y:X~c~
~h p bs~ color, Wr the di~erence with reg~rds to the same dDt in the two
c.~ x, (n, cn) in~calion of the ~ x) - ir~ication of the
dot w~th regard~ to ~ color/line dep~sur~e, f - the rnlmher of
dots of the same color~ q - the ~ ~r of dots in an area, u - the ~er of
colo$s in t}~ area and (Y~cn)~ the .. ~; .. i .. and ~ dots
Circle [103 ~ig-2)] detsGts on the X axis ths code Ql - t}~ depth lins and
data ~n ~ tic~n to it: Ql:~p);~Y:~);f~;+);~Y:Xx) ~eIr (Y:Xn~ is the
,--i--i-.. - poir~, ~(-;+) t}~ rn~l~r of do~s on the X a~as ~nsga~ve: Xa ed~ d
A, pos~ive: ~ c~ B, 3-D d~ta~, the ~ sign in~3icates 'l~eeping
away", the plus sign in~icates ~yl~C~' ~basic terrns in ~T~ific~
ir~lli~n~e], Y:~c - the ll~ullLIlu po~nts (due to lack of space in th~ chart,
the depthline ha~e n~ beRniclR~ifiRd)
e. Circle [104 ( Fi~-2)3 ill~LL~Les ~e c~ sL~,. ~P.:r~e of the ~cessor ~Mth the
f. Circle [105 (Fig-2)] ~ t~Htes the distIibulion of the data to the vanous
mRm~nes for fi~rther l~n~lli~
4. The da~ of each pace, in w~e or in paIt' such as: Q2:(WrX~,f, Q1:(E~ 3
the s~, Fulses) a~ ren ~y mo~ng ~ a~le of each da~um -Hn~l
c~on uith the code d~si~te~l to be ~ lt;df~oadcast, for exa~ple
in TV e~nnP.l~ - 3-D b~oadcastir~ and sa~i~ of I ...ix~,ion b~s, etc. In
~thRr pl~ce the ~ . H. ~ s~ wïll be received, ~e~ Hl Rd, ~ lHted an~l it ~11
be possible to enl~ it seveIal times by .. l~ i~ all the f data on the X
axis ~ y rnm~er, and to retum on each column (row) Y the same tn~nl~er of
times, thlL~ the ~cture ~11 be prc~ected an~ r re~resented in aIy other way as
a 3-D p~cture and in t~me.
~kewise, it wil3 be possible to store these .l~tH an~l proJectt'preser~ them in
~t~.r time or place, in any war whatsoever.
Sample o~ }?r~me Polnfs Detecffon Me~hod:
1. The p~cessol(s) P.C.U-2 (Fi~-1) }~les the detection of d~ fou~ in one of
the l.~.,.~. ;es PPO;PPl the da~a for which have been c~rnrlete-l, and its t~sk is
to detect in a fixed order the ~ame dots for every eQ1Or, dep~h line and area~
AMEN~ED SHEET
CA 02237886 1998-OS-13 ~L 961~ 1 4
~RJS O 6 FEB
based on ~ enco~ and th~ existir~ en~o~ ~1~t~, an~l to ~cord a header
~or the frame d~a an~l the frame dots ln~ ne afler the other. Fr~nn
ious SCa~ /T~tChi~ we k~w ths ~ point on t~ X axis, ths
~er of pc~ and the ll~illlllll~ poir~, ~ile ~ reg~l to axis Y these data
a~e n~X av~ hle, the~fore, du~g detectio¢~ of the conto~ poirfs, wl~;l~sr
possible, these 11~t~ st be in~icated.
The pos~ihlR coq~tour poir~ are the ~o~lo~ng:
l).Yx,f,Yu$ 2).Yx,f,X~ 3).Yx,f.~cn)~i~q); 4).Y,~(cn),f~q3,
53 Y,Xic, o3.Yn~cn3,X~ 73.Yr~cnl X ~, 8).Yn(cn3, ~ (Cn3,f~q3
2. A~'7UUIU1~ that SC~Iu~ is ~.r...... ~ fi~nn le~ to right arYl fin~nn the tcq?
d~JWlLWCl~, al~l the direc~c~l of co¢~ou~ nhfi~h ~ is aTii-clockn~ise, the
E~ocessor ~xasses throny~h the codes t ~13 to colcqF, de~ nes al~l ar~as or
accord~q~ to the order of their l~c~n or aCc~r~Ty~ to tylpe an~Uor ~n al~y o~herway w~atsoe~er. E~ry code enc~ d for the r-sL tim is 1TR~A and the
co~leour of i~RTti~l colo~ is ~PtpcteA~ as we31 as id~iical codes am~lfolr
a~jacent codes in ~e ~icturR, and a ylV~l~iiV~ head~r and r~ns are 1~ ,.J
for it (AAn;AB~ACn), for e~ lR: far the colo¢ ~ r,~,Wr,S, fc~ ths dept~h
l~ne ABr~S, for the area AC~r,Wr,S. Fa-~h heacl~r will ~3 a l~d of c~nn in
~ich aU the a~e,~ contour dots will be ~:~tP~, ths on3 a~er ths ot~er,
ir~lllllin~ the da~mn f~) for axis X and ax~s Y u~ to the iIitial poir~ (cl~r~ of
the co~our~, wi~ le~u.l~- to ths ~h lines o~ an area fioun~l wi~n the dept~h
lines, the po~rt of t~. ..-;.~l;~rl (closing of the ccrto~) can also be the e~
axes [(O:O~Y:~] of the ~ct~e coq~our (C~ B)- ~ ~ 1 P" the
n for each dot ~11 be c~ 1 out a~er j~1~tific~hnn of the adjacer~
d~t.
3. Whene~er the X ~s ~-~;--;.-....-- ~;cn), the ~-...-~ of dots f~q) is copied~re~ te~1
ns~¢ to it un~l the lll~Llll~IIL onthat axis, wi~h lt;~'~]S to that c~aar. W1~ ;V~L
Y iS lll~illlllll- (X), ILR~t to it will be registered (~ ~ously o~ later ~en the
Y of that X is ~ - -; ~ -; . - .... - -~, the ~lmhPr of dots u~ to the ...; ..; .... ~ that sams
a~s, cnn~erJ~iT~ tha~ same L~IG.
4. ~ order to ~-aqd that ~n furthsr S~;~1UJ1~ ths 3ins a~or ~7sn sc~ull~il~ othGr
lines the same code is r~t h~tell twice, Wll~ll~V~l there is need to tIea~ codes makes us~ o~ lP~ifica~ion code), ~n order to av~d
MAEN~EQ SHEEr
CA 02237886 1998-05-13 ~ 9 6 /0 0 1 4 5
I~JS ~ 6 FE~ 8
"
di~Lu~ ce dunr~s treahnent, the code will be changed ir~o the coqEecu~ive
code ~as a loop~ c~ y (~ = change to):
Q~ ~ Q~
Q~ Q6 ~~ ~Q14
Q~ ~Q7 ~ Ql~
T}~s meth~d allows se~e~al pr~cesso~s w~ on the same ~latsl base in c~n,
each of them pelrv~ , its pa~, aTld ~en i~ fir~s ~s ne~ one C~~ Rs,
etc., and t}ms, by tlG~ accol~li,~ to the si7e of Wr two ~cessors can
~rocess ~i~nllt~nRously, the one from the laIgest ar~l the o~er ~om the
~llf~st.
5 ~hen s~ , for ~pose of detsction of a coQnto~ for a color, ths a~acent
dot of ~e same color mllst bs (letect~ ta bass of ~hat cods, or ~
conse~ve code. W~en s-ja."~.,~, for ~ose of ~1~tRcti~n of a cor~o~ of a
depth line or for an area, the adjacent dot of ths sams code or of the
consecutive code ~t be dete ted.
CI. ~e dot is ~cn) the f~ el of do~s ill the X axis L',! added to S
[S is the total Tnlml~er of dDts in that contour S=S+~o~], and ths code ~l ~. ~sin acco~ ce ~th t~x list of codes and thslr consecu~ivs codss.
~les for Contour Detec~on:
1. Accor~g to the ~revious sections, the codss ars scannsd and ~Mth lt~ ~ ~, to
each code ths data are copied into a tç~r~y location DDD. the ~ dahun of
the cod~ w~ e the be~ , dot of the contour, ~is da~n is also the Yx of
the coq~o~, the dot will be recorded and will bs ~no. 1). The datum f of Y will
be mi~ and will bs c~T~lP.te~1 later. A~e51WdlJ~i, each pQir~ in the f~) LS
lly3 passed ~ough and the dot is reg~ste~ad acc~ ~ly ~in. the first
line it will be (no. 2)~, one a~er the other up to the .. ;.. ;~.. ~ point Xn(cn), the
d~a are co~ned fo~n the DDD and it ~11 be ~no. 33, the Y will be m~ed and
~ere u~ space for its f~ ~en the f~q3 of the X a~s is added to the S
tsee fiIrther (c)].
a st~ t line movement ~n~ l, veItical), one of the axes ~Y:X3 lt~
c~r~t~t (static), ~ile the other a~ ces (1) step m CQ~ (~,-3. The
detection of an adjacent dot wi~l be camed ou~ on the right of ~e movemer~
a~s (a~ gO~ an~e), as follows~ r~vement ax~s ~ static and ~le axis
was sta~ic adv~ces by (1) step (see fi~er a, c, e, g), until the dot fb~er
AhlF~l~ED St~E~T
, CA 02237886 1998-05-13 ~ ~ ~ 96100 1 4 5
~Vs ~ ~ FrB ~998
-- 12 --
down the st~ai~ line does n~t bel~, arymol:e to the sams contour. Fr~m th~s
poirt (ou~side the cor~our3 acc~ ly (see co~ l ~e al: b~ h).
In the m~Yt~ll~l~ on a ~ e ~at adjacer~ poir~s or~y ~he follou~
pos~ibiliti~s e~st: l~. 13~~, 2~.225~, 3).315~, 4).45~3 ~le two axes (Y:X)
advar~e ea~h time by ~1) step. Detection of an adjacer~ dot and on the n~ht of
the movement direction there are two, the one (at 45~ ar~le) and Ihe other
90~ ar~e) [~m heIe o~ see ~i k m, o)3, nT~il the po~ ther down the
~i~l line no lo~er bel~r~ to the same co~o~. Flu~ll t~is poirt (ou~side
the con~our) [see filIlher on (j, L n, p~3.
Y~X-1 ) 1 ¦IY~ X~(?~ I
¦(Y+ 1 )(X~;~?~ I
2 ~Y+ 1 )(X) I ~Y+ 1 )(X)
~Y 1 )~X) J
(Y-1~X~ I
3 ~Y~X+ 1 ) ¦ 1~1
1~1
~Y~X 1~;~?}
(Y)(X+1~;~?~
~Y~(X+ 1 ~
(Y)~X-1 )
a) (Yx)~X-1);(7-lPb);~y-lx~;~7-y~;(y+l)~;~
b3 ~ l);(?-y~i~,(Y+2~X(?-y~kx~ x+l~;(?-y~c~;(y-l)~pe
Y+lxxn(cn));(?-Ipd~;~y~-l);(?-y~a~;~y~+l);>c
d) ~Y+lXX~ ?-y~k);~+2k(?-Y~m~;~Y-lX~;~?-y~e
e) (Yn)ÇX+l);(?-~ Y+l)~,~?-Y~);~ >e
f~ (Y+~ ?-y~m);~y-2)~;(?-y~o);~-l);(?-y~;~+l)(xpa
7-rph);(y~+lk(?-y~e);~y)~-l);~g
h) (~+l~;~?-y~o~,~Y)~-2);(?-y~i~,~Y+l)~k(?-y~a);~+l~
j) ~Y)~+l~;~?-y~;~Y+lX;X-l);(?-y >aX(Y+l)( X);(?-y~k);(Y-l~ÇX+13~m
k) cyx+lx~cn~l);(?~ '-lx~;(?-y~ -l);(?-y~i);(y+l~x+lpk
1) ~Y-l)~;(?-y~a);~+l)~x+l);(?-y~c);cy)t~+l);(?-y~m);~-l)(x-lpo
m3~yn+l)~cn~+l);(?-rpn~;(~x-l)s~?-y~a);(y+~ ?-y~k)~ x~+l~m
n) ~')(X-1);(?-y~c);~-1)~+1);(?-y~e);(Y-1)~;(?-Y~ y+lxx-lpi
o) ~ ~+l~;~?~ y+~ ?-y~c~ x+l);(?-y~m~;(y-l3~-l~o
p) ~Y+1)~;(?-y~e);~ -1);(?-y~s(Y)~-l)~(7-y~ y+lx~pk
At each cluesffon mark ~?) if it is ~ti~e and if needed the req~red dahmL
r~st ~e ~e~ste~d (in I~ ti~l to that dot an~ ths ~ ~aus ~ns,
~go to, ~D,y~yes).
AMENDED SHEET
CA 02237886 1998-0~-13 ~/IL ~ ~/ V U 1 4 ~
1~A/US ~ g~8
-- 13 --
2. ~ a return mo~emer~ on a line (uith ~ ~l lines, the previous recordirlg of
the c~tour dots ~st be taken ir~o cnn~:idP~ and to ad~ust the q ~es!inns:~,
the cor~our dots will be registered tuice, once fo~ ar~ once back and the
necessary o$~tinr~ are camed ou~ ~e~..l;-~, the code m~fication, ~ 1~h~n
of a dot to the sum (S), 1ll;ll;lll--lll, ll~x~ll~ull, etc., all in a~cor~1~rr,e ~th the
prev~ous rules.
3. Du~g sc,~ , ~ile detecti~g the cor~our for a depth line or area, or in ordiernot to get out from the depth line, the code sho~d be asked (in ln;.l~ l
moYement on the Y~cn) dot OqL the s.;-,.. .;.~ code and in movemer~ on ~e
dots on the consecuti~e code) an~l SO both, one a$er the other.
4. The corfour of an a~a is found wit~n and ac~acent to the corfour of a depth
~'~ line, o~ betweenthe corltours of two depth l~s and aL~acent to them, and af~er
detection of the depth line it if possible to detect ths cor~our dots t~le
(;n~R1T~1 and e~errEII).
g c~our ~let~ct~ ~en on ths consecutiYe codle, one sh~llld ask
~r the next dot is the inLtial point, in depth lines and areas found wi~n the
depth lines, e~en if the dot is not an end dot in the p~cture da~a (it colild be an
end d~t of a cor~our~.
6. The rules in~icated here are an example for cortour (letec*~n and they do notin~luAe fiill ~lP.t~, some of ~n are ~ncc~ ete and ~}erefore ~st be
co~eted, and if ~e color fi~ne cantains in it i~rlA~tinr~ ames of o~her
coaa~, ~AAiti~l r~es mllst be adde~
7. DuIi~g this an~or other ~cesses, Aat7~ and basic temP, of ~Ttifi~
intP.lli~n~e are detected fo the de~ lfor ro~ot systems tha~ ~11 help
in decoding and c~ection. For e~ample, when one of ~ axes X or Y in aly
fian~ is n~ mzn~cRA ~lh t~LR l.. ;.,;..... and ~ , it IILans t}~t u~ ha~e a
st~ht line ~in~ iT~ the ~ and l~ end pc~ s). M~eover, ~e
basic terms will be defined b~sed ontl~ da~a as follows: l) X is n~t defirLd forthose dots for w~ich Yx is, so there is an 'b~er hn. ;"..~1 strai~ line"; 2~ X
L~ nLX defined for th~se dots for ~ich Yn is, ~erefore there is a '~lower
h~ri~ ti~l strai~ lin_". 3) Y is r~ defined for those dots for vs~ich X~ is~
~erefore there is a'~3t veItical s~ ~ine". 4) Y is nDt def~ned for those
dots for w~ch ~(cn) is, theref~re therR is a "lefl: vertical st~ line" .
~3. At the end of each tre~t~RT~ 3tor in the course thereof, the codes table, the
d~ the co~ours~ t~ definiti~r~ and th basic terms for ?~Ttifi~ qlli~n ~e
AMENDED SHE~T
. CA 02237886 1998-0~-13 ~T~L ~/00 1 4 5
11~4qlS O ~ FEB lg98
wi~l be ~ dto the M~;M~ 2 "~n"~ 1) -~yl~yliate for each
~se, ~orfi~thertrea~ner~byP.C.U-(3;4)~cessols.
P.C.U.~3:4~ Detect l~$DvemetnJM~tlon, Geome~ l Lines, Geometric~l
Shapes~ c Telms in Artiffc~l Tntf~ ence, etc.
The P C U-~ processor h~rullRs the movement~'m~il)n ~n a c~ e way
betweentwo (consecutive paces) ou~ oft~ three followir~ ..~ .s inreg;~rds of
~ich the M~;M-l;M-~ d~ta h~ been cn~ tR~l and wi~ t~.hi~ of
coor&tes.
1. On~ of the pos~ ilitiRs is: conrllin~tRs entered ir~o the first EnctuIe ~11
c~ uLe ~e basis for coordinates f~r ~L
. The sec~ possihi1i~y is: t~t the robot u~ll calry out c~lc~ t~ for ~e
coc~ s accord~g to its ~ and ths deviatioql of the e-
~
~31 te~po~ly u~ e the c~ ' shootir~ data
3. The co~e~ vision de~'lc8 Call also ~ , fo~ e~l~le? th~t in ths f;rstp3ct~e, the h~i7~ ne~s fiIst point on a strai~ht east pl~ne an~for a~y poir~ is
the O point, u~ ar~ ri~ beiT~g ~ive and down and le~ being nsg;~live? ~1
each and every pQxel at "~x;".,..., Rnl~ is a COf~ line, and so it
will updats t~Le coor~in~tes fi~n ths data of a E~svious picture to ~e d;~ta of a
cl ." ~ e picturs.
~, 4. h~ of the coM~tes and their ~ lio~ in ths hsader, may be c~u~edout f~n ~Le co~l.lil~Ls dal:a of a previous picb~rR to t~R data of a pictllre
u~ch ~s iT~R~.C to p~ onn movementJmnti~n detection? by m~tchir~ of a
sir~ls ~sIr~ll~ mobile icl~Ttified contour w~ich, acc~ng to the data of the
robot and the C~l l ~l i'l?; mov~IrLert is ~md in t~LR data of both paces.
5. Based on ths d~ta ~ered u~ ur~l t~is phase, a cll".~ e t~ P.rt is
p~. r~ .d bet~sen two mRlT~nes re~; each contQur, dep~ lins and color
sepa~ely, between ths changs in the length of Y and X aml ~ls cor~esporllling
values in the sec~d previous . . ~. . ~. y, for moveme~lmotion detectioqL
6. The c~s in the data may be ~l~tecte-l r~lly, accor~ing to their order of
appea~nce from left to ri~f an~ from high to low an~or acco}ding to the order
of their vicil~ty to t~Le c~~ , n~nely, ~m the la~est Wr up ur~l the end of
the cor~our in the ~ the ~ st Wr), and they may be detected by two
or more processo~s, sho~d it be requ~led.
AMENDED SHEET
CA 02237886 1998-05-13 ~ ~ ~ 9 6 /0 ~ 1 4
M~JS ~ 6 ~B
15 --
The P.C.U~ ~cessor ~~ contou~s accordir~ to va~ous cnten~, such as
rr~ca~on of the~r distance ~om the er~ or a lmif~m ~T~vement
direction, belnrq~r~ to a defined detected genTnP.trical sh~e, etc, ~nd accordillg
to the order of their vici~y to the Cdl~ and Y~ch 1~ not yet been
i~1ertifi~,d rthey ha~e no name ~ the spa~ial .~..~.~ MM~ ~-1), nor p~or
j~lR~tfi ;~ti~>n ~loca~ion of the name in the MM~ ~1 be Ir~e accordir~, to the
coo~din~es of the two contours), ar~ gives them defim~ ;, if pos~ihl~, such
as:
a) A~acent contours ~aTea~" coloIs and depth lin~s) irL ~ich thers has been
~ no movement ~soe~r, the ove~l contour wi~l be iflP.tt~ifiad as anadditional cor~our ~ h~ l~RT$), and it will be given a tsIr~y
name BAIL The si~ific~:e ~th reg~ls to ~tifici~l it~f'.ni~t~e i~
b3 A~acer~ contouls ~ }7ad lmtf~m mo~ in SlZe ~ direction - their
contour ~11 be ~1~tecte~l and registered as an s~ inrRl contour (il~
the hea~ler) and ~I:t be given a t~TT~ny name BBn. The ~i~r~ificance ~uth
ls to ~tifici~ lli~t'r8 iS "mobile".
c) The coItour of BBn inside ~ich there was ~ ~ll (or inside ~ich a~y
c~r~s occurred) differer~ ~oqn the ~ l in size an~ in
~ection ~11 b~ gi~en a tel~l~y namB BC~L The ~i~ific~e wil~
to ~r~ifiGi~ s~e is "alive".
d) A~acent caq~ours with (~i~ificant) Wr di~ LC8 between them and their
~ enbl8 en~"--""~,- Wi~ be g~venthe ten~porary nErne BD~ The si~cance
~hre~s to ~rtifi~i~l i~e11i~R~e is "floa~'.
~f ths~ ~s movement wi~n the contour (and it~ ;nn ~ n the given
~) it will be g~ven the tRTrl~ name BEn and ~he ~i~ific~e is
~ed ~
e~ ~n ~he eve~ that this processor has some time left an~lor aTy other
liti~l p~cessor~s) will han~31e with~u~ ~e the same ~..r~y
M~;M~ 3, and it ~11 detect definiti~ in the contours' dots and
between the ~.aqkours that foIm a c~rq~l~te f~ame ~sha~e~, stIai~ lines,
concave lines, arched (con~x) lines, ~ ~ral lines (irnluf~ le), and
aIy other i~lan~ifi~hle g,s. mRtTical line, it ~1 also detect geometIical
shapes such as: rectan~e, square, tri~n~la, circle, ellipse, etc. and it ~11
est~bli~ for them hasic te~ns of ~tifici~ p.nce.
AMENDED SHEET
CA 02237886 1998-0~-13 ~L 9~100 1 45
~ FEB 199~
-- ~0
f~ l~s, co~ours~ etc. for w~ch no ge-~ntP.tncal definiti~ t; kr~wn, or the
detectioll of u~ich is ler~y, ~1 bs mz~tl~.~A ~ n~t a Ieg~ster of ~asic
a~ lmown s~es~corfo~s MM4 ~ig.-l) ada~ted to any coIr~puter v~sion
in accordance with its filrr.ti~n and aim (in rin~irl~, not excesding 256~,
by n~tcl~r~ the si~:e of ~he contours to the basic co~ours saved in order to
~ix a definitif~n for the above ~ fconto~s.
. ~ga~l/oru~?ontt,~ ;cn ofthe rr~c~ md detec~on ofthe IT~vemen~,
te vaIious ca~ou~s etc., the dsc~rhPTi~ system an~o~ ths robot ~11 lmow
.l.liti~T~l basic terms in ~tificis~l intP.lli~n~e, such as the follo~nng
C~nBS:
a Ths leng~h Y has ~ l cu~ aIld has moved ~ch~r~ location)
u~w.~ e ci~ifi~e - "ascen~
b. I}1B ler~h Y has ~ dd c~ l~l and has moved ~ch~ged location)
duw lwd~ , the ~i~7ificance - "descsmled".
c. The len~Y becarne ~rr~ll~r, the ~i~r~ific~ e -"go~ shoIteI".
~ Thsleng~hXbecsnnR ~ller~ the ~nificance -"got~l;..,.-~.l".
e. The len~hY bec~ns l~er, the ~i~ificance - "got ~eI?'.
~ X an~Y becams laIgsr, t~a ~i~ifif:ance "a~ru
~ X and Y becams ~ll~r, the si~Tificance - ~ 2.1-- ul~h".
g. D~ir~ g~ ar~or at any o~}er time, Ir~y basic terms in ~Ttificiz~l
;n~R11j~n~e may be ~1atRCtR~1/deriVed aS may be needed, ~ATich may help in
deco~ t~he s~es aT~or the pllRm~mRn~ an~ r the terms a~Jo¢
c..... ;c~ etc., ~nm~yways, suchas hllTr~n lsn~
10. A~ ~ and of each l .t;~ an~Jor ~Tnr~ it~ t~a t~le of co~as~ a, conto
definiti~ and the basic temF of ~rtifici~ alli~en~e ~11 be sent to
y MM~ (sp~ial malT~ny3 according to ~heir bel~ and their locatio~
accor~g to coordir~es, for ~er l Pr~ificatic~nby
p¢ocessors P.C.U~5;6...) ~Fi~-l).
11. ThB spa~ial IrLamory - ~ J will co~rer a ceIt~in space, ~o~ e~r~ple: a~
h~n7r~ nLa 180~ and at ve~ical line 120~ an~lor a full spa~al ~e, all as
desiled
AMENl~ED SHE~T
CA 02237886 1998-0~-13 ~T~L 9 ~/o O 14 ~
R~US a 6 F~B 7g~
-17-
Shape Identi~cation
Key, Idenliflcalion
The data, contou~s, c~cteristics, ~ ~, de~nih~, ct~rrln~ion~, etc.
d du~ a~ detectiMl are ~ ~d ~n the va~ous tables acc~ding
to their b~ ar~ loca~an ~n the spa~ mRm~Ty MM~ in a speci~ order,
~ted to the same order in w~ich t~ d~a of the sto$~d shapes R~e ;~ ~d) and
they r~ 1~RY factors foq mR~lnnE nd id~ Rtion (da~a R~7in~t d ta) an~ r
acc~ng to the '~tr~' table~ 8tc.
The nT~lR~ifi~d areas ~contours) are Yery few at each s}~oti~ ~e and ar8 usuallyat the mR~;in of the picture. The d~:a of lmi(1Rr~ified s}~es".. . ~. ~ ;1 in a special
order, c~ R key f ctors, ~ich aUow, by all or part of the means, as we~l _s by
fi~quency, the"tru~' table, etc., like aw~rdinadictionaIy, ~enthe cl~ification
is l~ R and t~R order of the key co~poqler~s are the order of letteIs and ths
o¢d as a whole is the key, to detect, match ~1 identify a EnctuIeJrecord ~ilc
c~ , it to o~her pichlres/~cords an~Jor da~a cll..q~.~l to data of known and
stored shapes ~ i in the same special order, adgusted according to ths key
co~nents, acc~&lg to 'certain'5 '~etween and between', 'reasor~le' ar~
'possible',
1. The ;~1R~t;fi~t;~n is p~. fil....~1 betweenthe ~ta of the viewed sha3?es register
MM~ and the d~a of the ~l~t~ register of the constan~, lcnown, stor~d sha~es
M~I-l ~E;~-l~, inthe ~ IL~ taMM-O, the s~ze, aIl~lB andandshooting
e lT~t~hirg will be p~. r~,. ..~1 according to ths distance an~or
en~ hll~,ti~ t~ and accor~ ng to the l~ of s~e
sh~otir~reco~di~gar~e ofthe (l;.l~l~;nn~ dataofthe sta~eds}E~e.
2. The d~ ~or shapes stored in the MM-l may be obt~ned fr~n decir~r~ ~e
d~ta ~ each ~nd eveIy sha~e by preser~g the sha~es for com~uter visior~
accordi~, to s~ ze and distance adjusted to ~e m~tclliT~E, key, an~l/or they may be
deiined by meaTls of logical analysis, under the same cor~itinn~.
The sh~pes will be defined and ;~ pd accord~ng to a ceItain ord~r
r7ion~ such as color, ~,~.~tn~ l shape, etc., that c~...r~....~ to ~he
ds~irl~Tiry~ key ar~l they will be ~ C~ifi~d as 'certain', 'between and between',
'reasonable', and'possible'.
3. There will be a movemer~ MM-2 ~Fi~-l~ ~: will store, for e~T~le,
th~ a of all ~he c~s of"alive" sha~es QT~y and~or u~ to a certain distance
AMENDED S~IE~T
~ CA 02237886 1998-0~-13 P~L 96/~0 1 45
IPE~US ~, 6 FEB Igg8
- 18 -
or~y as desired, every pulse, eveIy tenth pulse, every secor~, etc., for a ceItain
tilrs def~I}ed in secon~s, hours, etc., for yllIpOSB of movementJmo~on speed
calc~ i~n
4. It is possible that ~n ~is mP.mh~Ty or ~n ~n~1~r, all the cl~r~ of
moYemer~motion at each pulse and pulse uill be stored~ ar~ thlls it ~11 ~e
possible to obtain sto~ge of 3-D data an~or lTnllf~m~dia which, it wi31 be
po~sible to display aT~or proiect, etc., in ~ r time and place, after
ti~n anddecodin~ar~e~renen1~
5. It is also possible to have ~ teA Illr~ 3 ~ig-l) which will
coIr~se the contouls of the space in w~ch the ro~ot 7 ÇFi~-l) wi~l fimction,
irEide the space cor~ours the important s}~es and the sp~ce contours will be
in~1ic~t.s~1 in the location w~sre they are ~n focm of contour ~h few ider~ri~
details7 such as: name ~w~th the ~AAitinn of one or two data an~Jor o~e or two
words), ~n~l eveIy t~me t}ELt the robot is in some place it u~ll know the locatioql,
and in any case of cha~ge of loca~ 7 it will knc~w that there has ~een a ch~ge
of location (~ich change and whes to?3 in the coa~tours, in the location of the
~l~es7 etc., an~ ~11 u~ e the ~ te~ space in acc~lJ~de wi~h the new
reality and ~th the si~le methDd of re~ an~ e will be a PM
"~~ r(Fi~_l) ~or~cei~exter~ d~a
vl ' ~ r~
1. The C~ IIIHI v~sio~ system sh~l be ~uu~liately protected ~E~iT~t h
1i~7 fl~ hts of any 1~1 wha~7oever i~.1n~ laser and an~ere it
may ~e situated - ~in~t aly other possible p~ysical i~ury, as ~ar as po~sih1~
. The c~uter vision system will be coqr~tible aT~ ll opeIate in accordance
~h the user7s in~ needs.
3 The computer ~ion system will corr~?~ise sofl:~re p~ns 6 (Fig-l),
electr~ic and ~n~r~1 c~rcles by w~ich the system ~11 function7 aml a so~wa~
pro~am ~ich w~ll ad~ust the size :~n~l phot~ ffilmir~ ar~e of the
viewed sha~e in accordance with the distance ar~for ~nl~ Jreduction
data a~ in accordance with the st~ rds of si ze and fil l l l; l ~1~;cord~ng of ~he
stoIed sha~e's (l;~ data, as well as any other so~ware ~n for
the requ~red da~a u~Lw~ls such as for b~adcast~ 3-D
present~tion and ~nlltin~dia, and any o~her so~cware pro~L that ~ht be
necessaIy
AMENDED SHEEr
CA 02237886 1998-05-13 ~ML ~6 / o ~ i L~ '~
IPE4/lJs n ~ rr~ l9g8
,9
4. The receivedpictures, codes, data, calc~ ior~, ~ictuIes inthe spatial-..~..~.~r
ar~ any other i~rU~ i~ concermn~, the received p3ctures or m~s or d~:a
stored in aly of the sy~tem mp~ es m~y ~ ser~ out as ~re, irr.lllf1ir~ the
da~ c~r~y the codes ar~ d~a, an~ in~ or sp~ti~l stereo ~ictures, to aly
user such as a ro~ot, accordi~ to re~ , design and ~th a~ thod,
and ~ user ~11 bc able to dIaw d~ as he wishes ~nd in ccordance wi~h the
system desigrL
5. All ~le abo~ r~nT~d ope3~ti~ ~11 be camed out by ~rocessors and
~l~tinr~l means of ~rocessir~g for m~tf~hir~ (1Rtectif~n pr~cess~g and
calcnl~tinn They will use C~ ~uLt~l de~ces, coIT~poner~s, ons or ~
elecb~oqic circles and aliks, and any c~ inn thereof req!I~red fior and
t~ to the puIpose O~Cv~ly~ulBl v~on
The work dis~bution aTr~g them will be such, ~hat each cr~er~, p~t,
elec~nic circle, system, etc., will ~lr~ its task ~hou~ R- rn- ;~ ~ one
1 there will be full coolrl;.~1ifm and cf~T~hhili~ r~g a;ll of them,
~or e~rl~, prwessor no. i;.. r.. ~ ~rOCBSSa~ no. ~ by means of a af~nponer~'
electr~nic circle, etc., that it has firrch~ s paIt in oq?Rl~h-nll A and that
p¢ocessf~r no. 2 may Cf -~ R C~1ing 01~ its p~t in Cf~lRX Opf~tif~ A, etc.
Commercial ~mr~-~en~ation
l . Co$r~lter vision may be used
$~ a As aviewer(watches, analyzes, dscodes, reports, I.;t.~l.. ;lx, etc ~.
b. As a viewer that collects data and preserves them in aly da~ base or
re~ t~r in any way (fi~ly, pa~ly, by aTy form of cl~x~ififa~i~ or
so~ etc ~.
. Du7e to the ~ )l;city of posxi~ilities of use of co~puter Vi~lf~l, seveIal
1 computer vision systems may be used~ ~ere each ~ l system is
~-l~tRd so as to pro~ide ceItain services and perform ce~ain tasks, and thus it
will be a~able '~on the shel~er", w~le for special ~ r-~t~7 a coqT~er
vision system adapted to specific needs U~ll be ~RSi~R!l
3. Each c~11~uLe1 v~sion systemwi~l ~e ~x~i~;nad standard and specific ~l~lities.
4. It is possible to adapt the colTqnlter v~sion system to the specific needs aT~l
r~4L il~11~1~i of aly user w~o is a designer or a constructor duI~ng ths sta~e of
design, ~ to integrate it as palt of the user, or as a se~i~Le u~t tha~ serves
the user
AMENDED SHEET
