WO2014058136A1 - Procédé de mesure de taille à l'aide d'une image, et appareil de robot mobile - Google Patents

Procédé de mesure de taille à l'aide d'une image, et appareil de robot mobile Download PDF

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Publication number
WO2014058136A1
WO2014058136A1 PCT/KR2013/006422 KR2013006422W WO2014058136A1 WO 2014058136 A1 WO2014058136 A1 WO 2014058136A1 KR 2013006422 W KR2013006422 W KR 2013006422W WO 2014058136 A1 WO2014058136 A1 WO 2014058136A1
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WIPO (PCT)
Prior art keywords
height
user
image
camera
reference line
Prior art date
Application number
PCT/KR2013/006422
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English (en)
Korean (ko)
Inventor
이영훈
김영수
박은정
Original Assignee
주식회사 케이티
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Publication of WO2014058136A1 publication Critical patent/WO2014058136A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1072—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring distances on the body, e.g. measuring length, height or thickness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

Definitions

  • the present invention relates to a method for measuring a height of a user, and more particularly, to a height measuring method and a mobile robot device for measuring a height of a user by analyzing a user image photographed through a camera.
  • the user measures the height of himself or another person using a measuring tool such as a tape measure.
  • a measuring tool such as a tape measure.
  • the measurement method of height using a tape measure is not only inaccurate, but also inconvenient in terms of convenience.
  • Korean Laid-Open Patent Publication No. 10-2009-0093248 discloses a measuring device for simultaneously measuring the height and weight of the user.
  • a height measuring device is formed to a considerable height to accommodate the height of the user.
  • cabin measuring devices have a height of at least 2 m, which places space constraints in their installation.
  • the conventional height measuring device is suitable to be installed in a hospital, school, etc., but is not suitable for home use.
  • the present invention has been proposed to solve such a conventional problem, and an object thereof is to provide a height measuring method and a mobile robot device for measuring a height of a user through an image of a user photographed through a camera without limitation of an installation space. .
  • another object of the present invention is to provide a height measuring method and a mobile robot device, in which a user can measure his / her height alone.
  • the mobile robot device for achieving the above object, the camera; A display unit for outputting a real-time video screen obtained through the camera; A storage unit for storing the actual height from the reference line to the top of the captured image; And displaying the baseline on the real-time video screen, taking an image of the user located at the baseline, recognizing the user's head in this image, and then raising the head height relative to the height from the baseline to the top of the captured image.
  • the ratio of the characterized in that it comprises a height measuring unit for measuring the height of the user, based on the confirmed ratio and the actual height from the reference line stored in the storage to the top of the photographed image.
  • a method for measuring a height of a user including: displaying a reference line on a real-time image screen obtained through the camera; A photographing step of capturing an image of a user located at a reference line of the real-time video screen; A recognition step of recognizing a user's head in the captured image of the user; A ratio checking step of checking a ratio of the height of the head end to the height from the reference line to the top of the photographed image; And a height measuring step of measuring the height of the user based on the checked ratio and the actual height from the baseline being stored to the top of the captured image.
  • the present invention measures the height of the user by analyzing the image of the user taken through the camera provided in the mobile robot device without using a tool such as a rod, a rod, a tape measure, and the like. There is a measurable advantage.
  • the present invention proposes an algorithm for measuring the height of a user based on an image of the user photographed by one camera, thereby minimizing additional components necessary for measuring height.
  • the user has the advantage of measuring his height alone without the help of others, using a mobile robot.
  • the present invention has the advantage of contributing to the physical development of the user by storing and managing the growth information for each period of the user, and providing information necessary for the user's growth.
  • FIG. 1 is a view showing the configuration of a growth management system according to an embodiment of the present invention.
  • FIG. 2 is a view showing the configuration of a mobile robot device according to an embodiment of the present invention.
  • FIG. 3 is a flowchart illustrating a method of measuring a height of a user based on a captured image in a mobile robot device according to an embodiment of the present invention.
  • FIG. 4 is a diagram illustrating a user image photographed by a mobile robot apparatus according to an exemplary embodiment.
  • FIG. 5 is a diagram exemplarily illustrating a method of calculating a vertical height from a baseline to an upper end of an image through a captured image.
  • FIG. 1 is a view showing the configuration of a growth management system according to an embodiment of the present invention.
  • a growth management system includes a weight measuring apparatus 100, a mobile robot apparatus 200, and an application server 400.
  • the weight measuring device 100 and the mobile robot device 200 performs near field communication
  • the mobile robot device 200 and the application server 400 communicate with each other through the network 300.
  • the network 300 includes a broadband wired communication network and a mobile communication network. Since the network 300 corresponds to well-known conventional techniques in the present invention, a detailed description thereof will be omitted.
  • the weight measuring apparatus 100 is a device capable of short-range communication, and measures a user's weight and transmits the measured weight information to the mobile robot apparatus 200 through short-range communication.
  • the application server 400 communicates with the mobile robot device 200 and performs a function of providing various information to help the user (eg, a child) grow. Specifically, the application server 400 stores the user's growth information received from the mobile robot device 200 for each period and moves the eating habit information and exercise information to help the user's physical development based on the user's age. To the device 200. In addition, the application server 400 may transmit the eating habit information and the exercise information suitable for improving the user's body shape to the mobile robot device 200 based on the user's body information received from the mobile robot device 200. In addition, the application server 400 may transmit expert advice information and consulting information to the mobile robot device 200.
  • the mobile robot apparatus 200 is a movable robot and includes a moving means for performing a movement process.
  • the mobile robot apparatus 200 includes a camera, and measures the height of the user by analyzing an image of the user photographed through the camera.
  • the mobile robot apparatus 200 controls the camera lens to maintain the original magnification (ie, 1: 1 magnification) without zooming in or zooming out, and also controls the position of the camera rotated up and down. Temporary fixation to the set position (ie key measurement position).
  • the mobile robot device 200 measures the height of the user by inducing a user to move to a designated location through a voice guidance message, photographing an image of the user located at the designated location, and analyzing the photographed image. .
  • the mobile robot apparatus 200 may move back and forth so that the user is located at a designated place on the captured image.
  • the mobile robot device 200 is in close communication with the weight measuring device 100, and obtains the weight information of the user measured by the weight measuring device 100.
  • the mobile robot device 200 transmits the body information including the height and weight of the user to the application server 400.
  • the mobile robot device 200 may receive eating habit information or motion information suitable for improving a user's body shape from the application server 400.
  • FIG. 2 is a view showing the configuration of a mobile robot device according to an embodiment of the present invention.
  • the mobile robot device 200 includes a camera 210, a storage unit 220, a short range communication unit 230, a display unit 240, and a weight checking unit 250. ), Height measuring unit 260, height measuring unit 270 and growth management unit 280.
  • the camera 210 is a photographing means for photographing a subject, and includes a lens to photograph the subject by enlarging or reducing the subject. In addition, the camera 210 is rotated up and down and has a constant angle of view. The camera 210 may be mounted on the head of the mobile robot device 200.
  • the storage unit 220 is a storage means such as a memory or a disk device, and stores the height information and the weight information for each period of the user. In addition, the storage unit 220 stores the eating habits information and exercise information received from the application server 400. In addition, the storage unit 220 stores the body measurement schedule in which the body measurement cycle is recorded. In particular, the storage unit 220 stores the actual vertical height from the reference line to the top of the captured image.
  • the short range communication unit 230 performs short range wireless communication with the weight measuring apparatus 100 through a short range wireless communication protocol such as Bluetooth and Zigbee.
  • a short range wireless communication protocol such as Bluetooth and Zigbee.
  • the short-range communication unit 230 receives the weight of the user from the weight measuring device 100.
  • the short range communication unit 230 is activated or deactivated by the control of the weight checker 250.
  • the display unit 240 includes a liquid crystal display device and the like, and outputs various information processed by the mobile robot device 200. In addition, when the height measurement of the user starts, the display unit 240 outputs the image acquired through the camera 210 in real time. In particular, the display unit 240 displays a reference line to which the user's foot line should be located in the image acquired through the camera 210. Preferably, the display unit 240 is a touch screen, and receives touch information of a user.
  • the weight checking unit 250 communicates with the weight measuring apparatus 100 in a short range through the short range communication unit 230 to obtain a user's weight. Specifically, when the weight check time 250 arrives, the user activates the short-range communication unit 230 and outputs a voice guidance message for notifying the start of weight measurement to the speaker (not shown), and then the user weighs the weight. Guide to stand on measuring device 100. For example, the weight checking unit 250 may output a voice guidance message such as "Start weight measurement. Please stand on the scale.” In addition, the weight checker 250 measures the user's weight using the weight measuring device 100, and after receiving the user's weight from the weight measuring device 100 through the short-range communication unit 230, the short-range communication unit Deactivate 230.
  • the height measuring unit 260 measures the actual vertical height from the baseline of the captured image to the top of the captured image based on the height of the camera 210, the angle of view of the camera 210, and the distance from the mobile robot device 200 to the reference line. Calculate and store in the storage unit 220. That is, the height measuring unit 260 captures the height of the camera 210, the angle of view of the camera 210, and the linear distance between the mobile robot apparatus 200 and the reference line by using a proportional or trigonometric function to capture from the reference line of the captured image. Calculate the actual vertical height to the top of the image. How the height measuring unit 260 calculates the actual vertical height from the reference line to the top of the image will be described in detail with reference to FIGS. 3 to 5.
  • the height measuring unit 270 captures an image of a user standing at a designated position through the camera 210, and analyzes the captured image to measure the height of the user. Specifically, when the height measuring unit 270 checks whether the body measurement cycle arrives or arrives, the height measuring unit 270 checks whether the lens of the camera 210 is zoomed in or zoomed out, When the lens of the lens 210 is enlarged or reduced, the camera 210 is controlled so that the magnification of the camera 210 becomes the original magnification, and the camera 210 is controlled to temporarily fix the camera 210 that can be rotated up and down at a designated position. do.
  • the height measuring unit 270 outputs the image acquired through the camera 210 to the display unit 240 in real time, and displays the reference line to be located by the user in the real-time output image, if the user is located on the reference line
  • the camera 210 photographs the user's image.
  • the height measuring unit 270 may move back and forth of the mobile robot device 200 so that the user's foot line is located at the reference line in the real time image. That is, the height measuring unit 270 recognizes an image of the end point of the user's foot in the real time image output to the display unit 240, and moves the mobile robot device 200 in all directions or so that the end point of the user is located at the reference line. Can be moved in the backward direction.
  • the height measuring unit 270 recognizes the user's head end from the user's photographed image, and checks the ratio of the height of the head height and the vertical height from the reference line to the top of the photographed image. In this case, the height measuring unit 270 may recognize the user's head image on the photographed image, and recognize where the head portion exists in the photographed image. Alternatively, the height measuring unit 270 may output a voice guidance message to touch the end of the head in the photographed image to the speaker, and recognize the point touched by the user on the display unit 240 as the end of the head. The height measuring unit 270 measures the actual height of the user based on a ratio of the vertical height from the baseline to the top of the captured image and the vertical height of the head and the actual vertical height from the storage unit 220 to the top of the stored image. do.
  • the growth manager 280 communicates with the application server 400 through the network 300, and analyzes the weight and height of the user identified through the height measurer 270 and the weight checker 250, and then measures the body of the user. Determine your body type. That is, when the growth management unit 280 measures the height and weight of the user in the height measuring unit 270 and the weight checking unit 250, respectively, the current date (that is, the measurement date), the height and weight by mapping the storage unit ( 220). In addition, the growth management unit 280 determines whether the user's body shape is obese, normal or skinny based on the height and weight of the user, and also stores the body shape information in the storage unit 220. In addition, the growth manager 280 transmits the weight, height, and body shape information of the user to the application server 400 through the network 300.
  • the growth management unit 280 receives from the application server 400 eating habits information and exercise information recommended for the age of the user or eating habits information and exercise information recommended for the user's body type to store in the storage unit 220,
  • the eating habit information and exercise information may be output to the display unit 240 at a designated time.
  • FIG. 3 is a flowchart illustrating a method of measuring a height of a user based on a captured image in a mobile robot device according to an embodiment of the present invention.
  • the height measuring unit 270 continuously checks whether the height measurement time of the user has arrived based on the body measurement schedule of the storage unit 220 (S301). Next, when the height measurement time of the user arrives, the height measurement unit 270 outputs the height measurement voice guidance message to the speaker to induce the user to prepare for the height measurement in advance (S303). For example, the height measuring unit 270 may output a voice guidance message, such as "Start measuring the key. When the preparation is completed, click the key recover button.”
  • the height measuring unit 270 checks whether the magnification of the camera 210 is enlarged or reduced, If there is, the camera 210 is controlled to set the magnification of the camera 210 to the original magnification (ie, 1: 1 magnification) (S305). Subsequently, the height measuring unit 270 moves the camera 210 to temporarily fix the position of the camera 210 rotatable in the up and down direction to a preset position (that is, the height measuring position) (S307). . In this case, the height measuring unit 270 may rotate the camera 210 such that the lens of the camera 210 faces downward (ie, bottom) or upward.
  • the height measurement unit 270 may output a voice guidance message so that the user moves the camera 210 to a directly designated location.
  • the height measuring unit 270 may output a voice guidance message such as “Please place the camera at the bottom” to induce a user to directly move the camera 210 to the designated position.
  • the height measuring unit 270 outputs the image obtained through the camera 210 to the display unit 240 in real time, and displays a reference line in the real-time output image (S309).
  • the reference line is a line displayed on the floor spaced apart from the mobile robot apparatus 200 by a set distance d in the image output on the display unit 240.
  • the height measuring unit 270 has a magnification of the camera 210 as the original magnification. When the camera 210 is temporarily fixed to the designated position, the reference line is displayed on the real-time image being output to the display unit 240.
  • the height measuring unit 270 outputs a movement guide message so that the sole of the user is located at the reference line (S311).
  • the height measuring unit 270 may output a movement guidance message such as "Measure the key after 5 seconds. Please adjust the foot to the reference line below the screen" to the speaker. Accordingly, while the user watches his image and the reference line displayed on the display unit 240 of the mobile robot device 200, the user moves so that his sole is located at the reference line output to the display unit 240, and then at this position. Stands upright
  • the height measuring unit 270 recognizes the image of the position of the foot line of the user in the image output on the display unit 240, the mobile robot device 200 so that the foot line of the user is located on the reference line.
  • Control means eg, wheels. That is, the height measuring unit 270 may move the mobile robot device 200 in the forward direction or the backward direction so that the user's tip line is positioned on the reference line of the image output on the display unit 240.
  • the height measuring unit 270 captures an image of the user using the camera 210 (S313).
  • FIG. 4 is a diagram illustrating a user image photographed by a mobile robot apparatus according to an exemplary embodiment.
  • the height measuring unit 270 of the mobile robot device 200 displays the reference line 410 in an image output in real time through the display unit 240, the user stands on the reference line 410. Take your image.
  • the distance between the mobile robot apparatus 200 and the reference line 410 is 'd'.
  • the height measuring unit 270 checks whether the actual vertical height from the reference line 410 to the upper end of the captured image is stored in the storage unit 220, and if it is not stored, the height measuring unit 260. Instructs the height measurement (S315).
  • the height measuring unit 260 is based on the height of the camera 210, the angle of view ( ⁇ 2 ), the separation distance (d) to the reference line 410, from the reference line 410 of the captured image to the upper end of the captured image
  • the actual height X is calculated (S317).
  • FIG. 5 is a diagram exemplarily illustrating a method of calculating a vertical height from a baseline to an upper end of an image through a captured image.
  • the height measuring unit 260 generates a hypotenuse hypotenuse 501 that extends to the rear of the mobile robot apparatus 200 at an angle ⁇ 2 at which the camera 210 forms an angle of view, and bottoms out.
  • a line (base) creates a virtual base 503 that extends to the rear of the mobile robot device 200, and the virtual hypotenuse 501, the virtual base 503, and the height of the camera 210 ( Form a small triangle with three sides a).
  • the height measuring unit 260 checks the magnitude of the elevation angle ⁇ 3 formed at the angle of view ⁇ 2 and uses the mathematical principle that the sum of the angles of the right angle triangles is 180 °, and the hypotenuse and height of the right triangle. The angle ⁇ 1 of is calculated.
  • the height measuring unit 260 may check the elevation angle ⁇ 3 formed at the angle of view ⁇ 2 , and calculate the angle of ⁇ 1 by subtracting the elevation angle ⁇ 3 at 90 °.
  • the elevation angle ⁇ 3 is an angle formed by a horizontal line 505 and a horizontal line among two lines forming the angle of view ⁇ 2 , and is previously set based on a fixed position of the camera 210. Stored at 200.
  • the height measuring unit 260 calculates the base z of the small right triangle using a trigonometric function.
  • the height measuring unit 260 may calculate the base side z of the small right triangle using Equation 1 below.
  • ⁇ 1 angle between hypotenuse and height
  • the height measuring unit 260 is stored in advance through the height of the camera 210, and ⁇ 1 angle of the small triangle through ⁇ 1 formed by the height 505 and the height X of the right triangle. Recognize That is, according to the mathematical principle, the angle of ⁇ 1 of the large triangle is the same as the angle of ⁇ 1 of the small triangle.
  • the height measuring unit 260 may calculate the base z of the small right triangle through another trigonometric function.
  • the height measuring unit 260 may calculate the base z of the small right triangle through a trigonometric function of 'a ⁇ tan ( ⁇ 3 )'.
  • the height measuring unit 260 calculates the height of the large triangle (that is, the height from the reference line to the top of the image) based on the calculated base of the small right triangle z and the distance d from the reference line 410. Calculate X) (S317).
  • the height measuring unit 260 substitutes the lower side z of the small triangle, the height of the camera 210, and the lower side Y of the large triangle into the following proportional expression (ie, Equation 2).
  • the height X ie, the height from the baseline to the top of the image
  • X the height of the large triangle (ie, the vertical height from the baseline to the top of the captured image)
  • the height measuring unit 260 has a small triangle base (z) of 33.0525 cm, a height of the camera 210 of 30.5 cm, and a distance d between the mobile robot device 200 and the reference line 410 is 150 cm.
  • the height X of the large triangle ie, the actual vertical height from the baseline to the top of the captured image
  • the height measuring unit 260 may calculate the height X of the large triangle through a trigonometric function.
  • the height measuring unit 260 that calculates the actual vertical height X from the reference line to the top of the captured image stores the calculated height in the storage unit 220.
  • the vertical height from the reference line 410 to the top of the captured image. (X) becomes 168.9 cm, and the height measuring unit 260 stores this 168.9 cm in the storage unit 220 as the actual vertical height from the reference line 410 to the top of the image.
  • the height measuring unit 270 recognizes the user's head in the captured image (S319). In this case, the height measuring unit 270 recognizes the user's head on the photographed image by using an image recognition technique, and then checks at which position on the photographed image the head end of the recognized head. For example, the height measuring unit 270 may store the user's hair color and recognize the uppermost point indicated by the user's hair color in the photographed image as the user's hair.
  • the height measuring unit 270 may output a voice guidance message to touch the tip of the head in the captured image, and recognize the point touched by the user as the tip of the head in the captured image of the display unit 240.
  • the height measuring unit 270 may output a voice guidance message, such as "Please touch the head point on the screen" to the speaker, and recognize the point touched by the user as the head end.
  • the height measuring unit 270 checks the ratio of the height of the head end to the vertical height X from the reference line 410 to the upper end of the captured image (S321). That is, the height measuring unit 270 checks the ratio of the height of the user's head to the height from the reference line 410 to the upper end of the captured image. The height measuring unit 270 measures the height of the user based on the calculated ratio and the actual vertical height from the reference line 410 stored in the storage unit 220 to the top of the image (S323).
  • the short-range communication unit 230 When the weight measuring unit 250 completes the measurement of the height of the user in the height measuring unit 270, the short-range communication unit 230 is activated and outputs a voice guidance message indicating the start of the weight measurement to the speaker, and the short-range communication unit 230 Activate (S325).
  • the weight checking unit 250 may output a voice guidance message such as "Start weight measurement. Please stand on the scale.”
  • the weight checking unit 250 receives and confirms the weight of the user from the weight measuring apparatus 100 through the activated short-range communication unit 230.
  • the local area communication unit 230 In operation S327, the local area communication unit 230 is deactivated.
  • the growth management unit 280 maps and stores the current date (that is, the measurement date) and the measured height and weight of the user. Stored in the unit 220.
  • the growth manager 280 checks whether the body shape of the user is obese, normal or skinny based on the height and weight of the user, and stores the body shape information in the storage unit 220 and outputs it to the display unit 240. do.
  • the growth management unit 280 transmits the weight, height, and body shape information of the user to the application server 400 through the network 300, and the eating habits information recommended for the user's body shape from the application server 400. Receive and store the exercise information in the storage unit 220.
  • the growth management unit 280 outputs the corresponding eating habit information and exercise information to the display unit 240 at the set time, so that the user can watch the information.
  • the present invention is not limited to the installation space by measuring the height of the user by analyzing the image of the user taken through the camera provided in the compact device, without using a tool such as a rod, rod, tape measure, etc.
  • the height of the user can be measured without.
  • the present invention may contribute to physical development of a user (eg, a child) by storing and managing growth information of a user and providing information necessary for the user's growth.
  • the user can measure his height by himself or herself without the help of the mobile robot device 200.
  • the device for measuring the height of the user has been described as the mobile robot device 200.
  • the present invention is not limited thereto, and the height of the user may be measured through various devices having a camera. Make it clear.
  • the method of the present invention as described above may be implemented as a program and stored in a recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.) in a computer-readable form. Since this process can be easily implemented by those skilled in the art will not be described in more detail.
  • a recording medium CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.

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Abstract

La présente invention concerne un procédé de mesure de taille d'un utilisateur par analyse d'une image d'un utilisateur capturée par un appareil photographique, et un appareil correspondant. Un appareil de robot mobile selon la présente invention comprend : un appareil photographique ; une unité d'affichage pour afficher un écran d'image en temps réel, l'image étant acquise au moyen de l'appareil photographique ; une unité de stockage pour stocker la taille réelle de l'image capturée d'une ligne de référence à l'extrémité supérieure de l'image capturée ; et une unité de mesure de taille pour afficher la ligne de référence sur l'écran d'image en temps réel, capturer l'image d'un utilisateur positionné sur la ligne de référence et identifier le dessus de la tête de l'utilisateur à partir de l'image, confirmer le rapport de la taille par rapport au dessus de la tête sur la taille entre la ligne de référence et le dessus de l'image capturée, puis mesurer la taille de l'utilisateur sur la base du rapport confirmé et de la taille réelle entre la ligne de référence et le dessus de l'image capturée stockée dans l'unité de stockage.
PCT/KR2013/006422 2012-10-10 2013-07-18 Procédé de mesure de taille à l'aide d'une image, et appareil de robot mobile WO2014058136A1 (fr)

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KR10-2012-0112582 2012-10-10
KR1020120112582A KR101500651B1 (ko) 2012-10-10 2012-10-10 이미지를 이용한 신장 측정 방법 및 이동 로봇 장치

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Cited By (2)

* Cited by examiner, † Cited by third party
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WO2020071823A1 (fr) * 2018-10-02 2020-04-09 Samsung Electronics Co., Ltd. Dispositif électronique et son procédé de reconnaissance de geste
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