CN101581989B - Image Capture Positioning System - Google Patents

Abstract

The invention discloses an image capturing and positioning system which comprises an infrared positioning point, an upper computer, a camera and an infrared filtering lampshade. The method comprises the following steps: the upper computer firstly obtains a picture as a reference picture through a camera to obtain infrared interference information of the external environment; and continuously shooting by using the camera, calculating image information acquired by each shooting to obtain an average coordinate of the infrared positioning point, and converting the coordinate value into required positioning data by adopting a certain conversion method according to different upper computers, wherein the conversion process is determined by different requirements of users. The system has the characteristics of cost saving, space saving, strong anti-interference capability, more accurate positioning and the like, and is particularly suitable for being widely popularized in the field of image capturing and positioning systems.

Description

Image Capture Positioning System

technical field

The invention relates to an image capturing and positioning system, in particular to an image capturing and positioning system which uses a fixed camera to photograph moving infrared positioning points for positioning.

Background technique

With the development of electronic equipment, image capture and positioning systems are used more and more widely. For example, the photoelectric mouse technology has a light-emitting diode inside the photoelectric mouse, and the light emitted by the light-emitting diode illuminates the bottom surface of the photoelectric mouse. Then part of the light reflected back from the bottom surface of the photoelectric mouse is transmitted to an optical sensing device (micro imager) for imaging through a set of optical lenses. In this way, when the photoelectric mouse moves, its moving track will be recorded as a set of coherent images shot at high speed. Finally, a dedicated image analysis chip (DSP, digital microprocessor) inside the photoelectric mouse is used to analyze and process a series of images captured on the moving track, and to judge the position of the mouse by analyzing the changes in the position of the feature points on these images. Move the direction and distance to complete the positioning of the cursor. However, the technical limitation of the photoelectric mouse is that it must rely on an uneven plane that can reflect infrared light, so it is hindered in expanding its functions and then widely applying it.

Later, Nintendo designed the Wii positioning technology: the Wii game console includes a console, a gamepad, and an infrared light strip. Several infrared light-emitting tubes are installed on the infrared light-emitting strip, and an infrared filter and a camera are installed on the wireless game handle. The infrared light strip emits two beams of infrared light, which are filtered by the infrared filter on the handle to allow the infrared light to pass through, and the camera captures the external infrared information, which is then calculated by the MCU on the game handle to take the middle value of the distance between the two infrared light points , to complete the positioning. But make the camera move, that is, bind the camera to the object to be positioned for positioning. The defect of this positioning method is that it has relatively high requirements for the external environment. Due to the movement of the camera, if there is any infrared interference (sunlight or object reflection) Sunlight), will bring difficulty to the internal calculation, resulting in inaccurate positioning. So a more effective image capture positioning system needs to be developed urgently.

Contents of the invention

In view of the above problems, the present invention develops a novel image capturing and positioning system that uses a fixed camera to photograph moving infrared positioning points for positioning. The concrete technical means that the present invention adopts is as follows:

An infrared positioning image capture device is characterized in that it includes an infrared positioning point, a host computer, a camera and an infrared filter lampshade;

The infrared positioning point is bound to the captured object as an infrared light source;

The infrared filter lampshade is placed at the front end of the camera to filter out light rays other than the infrared spectrum, so that only infrared light passes through the infrared filter lampshade;

The host computer collects the motion trajectory information of the infrared positioning point in real time through the camera, and then transmits the information to the MCU or CPU of the host computer for analysis, and obtains the current position of the captured object.

A method for image capture utilizing infrared positioning, characterized in that it comprises the following steps:

(1), the upper computer first obtains a picture through the camera as a reference picture;

(2), read the picture data taken in the previous step, save the coordinates of non-black pixels in the array Pixel1, and obtain the infrared information of the external environment;

(3), continue to acquire pictures through the camera within a relatively short interval of time, read the color data of the acquired pictures this time, and obtain the coordinates of the non-black pixels in the picture this time with the coordinate array Pixel1 saved in the previous step For comparison, the same coordinates are saved in the array Pixel, which is the infrared interference information of the external environment, and the x and y coordinates are summed separately, and the number of coordinates in the array Pixel is recorded at the same time, so as to determine whether there is an external environment Infrared interference;

(4) The camera continues to take photos, and performs the following calculations for each photo;

(5), if the number of coordinates in the array Pixel is zero, then there is no infrared interference from the external environment, in the absence of external infrared interference, color detection is carried out pixel by pixel to the image obtained in step (4), if detected To a non-black pixel point, its coordinate information is stored in the array stickPixel, and the average coordinate StickX=pStickX/pStickCount, StickY=pStickY/pStickCount of the infrared positioning point is obtained by calculation, wherein pStickX is the sum of all x coordinates in the array stickPixel, pStickY is the sum of all y coordinates in the array stickPixel, and pStickCount obtains the number of non-black pixels in the image for step (4);

(6), if the number of coordinates in the array Pixel is not zero, there is infrared interference in the external environment, and the color detection is performed pixel by pixel of the image obtained in step (4), if a non-black pixel is detected, its coordinate information Stored in the array stickPixel, the average coordinates of the infrared positioning point StickX=(pStickX-pixelX)/(pStickCount-pCount), StickY=(pStickY-pixelY)/(pStickCount-pCount), where pStickX is all in the array stickPixel The sum of x coordinates, pStickY is the sum of all y coordinates in the array stickPixel, the sum of the coordinates X and coordinates Y of the infrared information of the external environment obtained in pixelX and pixelY step (3), pStickCount is the non- The quantity of black pixel point, pCount is the quantity of the non-black pixel point in the external infrared information in the step (3);

(7), according to different upper computers, adopt a certain conversion method to convert the average coordinate value obtained in step (5) or step (6) into required positioning data, and this conversion process is determined by different requirements of users.

3. A method for image capture using infrared positioning according to claim 2, characterized in that it also includes judging whether the environmental image taken last time is greater than the specified time, if greater than the return step (1), if not greater than then Return to the procedure of step (3).

4. A method for image capture using infrared positioning according to claim 2, characterized in that said step (5) also includes predicting the next range of movement of the infrared positioning point, and then obtaining the infrared positioning point by calculation The method of average coordinates, the specific steps are as follows:

1) First judge whether it is the first shooting after step (3): if yes, the search range of pixels is set to full screen; SearchBound is calculated by the structure PreBound and the structure CurBound. The specific calculation method of SearchBound is as follows: SearchBound.maxX=CurBound.maxX+(CurBound.maxX-PreBound.maxX)*2; SearchBound.minX=CurBound.minX+(CurBound.minX-PreBound .minX)*2; SearchBound.maxY＝CurBound.maxY+(CurBound.maxY-PreBound.maxY)*2; SearchBound.minY＝CurBound.minY+(CurBound.minY-PreBound.minY)*2; The structure PreBound is a To store the structure of the range of infrared pixels in the previous frame, the x maximum value PreBound.maxX, minimum value PreBound.minX and y maximum value PreBound.maxY, minimum value of the coordinates of all non-black pixel points in the previous frame value PreBound.minY, that is, the range of all non-black pixels in the picture taken last time. The structure CurBound is a structure used to store the range of infrared pixels in the current frame. It is composed of all the pixels in the picture taken this time. The coordinates of non-black pixels consist of the maximum value of x CurBound.maxX, the minimum value of CurBound.minX, the maximum value of y CurBound.maxY, and the minimum value of CurBound.minY, that is, the range of all non-black pixels in the picture taken this time ;

2) Assign CurBound to PreBound;

3) Within the search range, perform color detection on a pixel-by-pixel basis. If a non-black pixel is detected, its coordinate information is stored in the array stickPixel. pStickX is the sum of all x coordinates in the array stickPixel, and pStickY is in the array stickPixel The sum of all y coordinates, use the variable pStickCount to record the number of non-black pixel points in the image obtained in step (4), and use CurBound to record the coordinate area of all non-black pixels;

4) calculate and obtain the average coordinate StickX=pStickX/pStickCount of the infrared positioning point, StickY=pStickY/pStickCount;

5) Based on the PreBound and CurBound obtained above, the moving range of the non-black pixels on the screen can be basically judged, and the search range SearchBound of the next frame can be obtained by using the most suitable parameters according to the programmer's own needs.

The invention point of the present invention is to use a fixed camera to shoot a moving infrared positioning point for positioning, which can save a separate infrared light-emitting strip for positioning, saving cost and space, and because the camera is fixed, the infrared light of the external environment Interference generally does not change too much, which reduces the difficulty of analyzing the camera image signal, more accurate positioning, and higher work efficiency. In addition, the algorithm of the present invention is divided into two parts: external interference and non-interference. In this way, the operating efficiency of the system will be improved, and the infrared light source (mainly sunlight, and object reflection) in the external environment will be effectively removed. The interference caused by sunlight) makes the positioning more accurate.

Description of drawings

Fig. 1 is a block diagram of hardware structure of the present invention;

Fig. 2 is the main flowchart of the present invention;

Fig. 3 is a working flow diagram of a specific embodiment of the present invention.

Detailed ways

As shown in Figure 1, the whole system is composed of infrared positioning point (infrared light-emitting device), host computer, camera, and infrared filter lampshade. The infrared positioning point is the infrared light source, which can be any device that emits enough infrared light; the host computer is the control and monitoring device, which can be a computer, game console and other equipment; the camera can be a built-in camera or an external pluggable Camera; the infrared lampshade is made of an infrared filter, which can be fixed on the host computer or on the camera. Cover the camera with an infrared filter cover, connect the camera to the host computer, and bind the infrared light source to the captured object.

The present invention is described below with the game machine as an example. First, the game machine (host computer) is connected to a TV or a display, and the camera is connected to the game machine (host computer), which can be inserted through an external interface, or the camera is directly connected internally and Fix it on the game console; cover the camera with an infrared filter cover; install the infrared positioning point (infrared light source) inside the wireless game controller. The infrared positioning point (infrared light source) on the wireless game controller emits a certain intensity of infrared light; the infrared light passes through the infrared filter cover and enters the camera, which is captured by the camera to form a picture, and the camera sends the picture data to the inside of the game machine. MCU (CPU), the MCU (CPU) inside the game machine analyzes and processes the image data sent by the camera according to the following algorithm to obtain the average coordinates of the infrared positioning point (infrared light source), and then converts the infrared positioning point (infrared light source) Convert the average coordinates of the cursor to the coordinates of the cursor on the display screen to control the movement of the cursor on the screen.

Embodiment 1: as shown in Figure 2, the specific implementation method of this image capture positioning system is as follows:

(1), the host computer first obtains a picture through the camera as a reference picture; cover the camera with infrared light, the camera captures the infrared information of the external environment, and sends the infrared picture information data to the MCU inside the game machine (host computer) ( CPU), and the calculation is performed by the MCU (CPU).

(2), read the picture data taken in the previous step, save the coordinates of the non-black pixels in the array Pixel1, and obtain the infrared information of the external environment, if the color of the pixel is black (this color is judged according to different host devices , judged by different color detection methods, generally can be judged by the RGB value of the pixel), the coordinate value of this pixel point will not be recorded, if the color of this pixel point is not black, the coordinate value of this pixel point will be recorded;

(3) Continue to obtain two pictures through the camera within a short interval of time (the specific time can be determined according to the performance of the camera or computer, usually less than 3 seconds, because there may be some infrared interference sources in the external environment , if there is a changing infrared interference source, if it is not eliminated in time, the infrared positioning will be inaccurate), read the color data of the image obtained this time, and the coordinates of the non-black pixels in the image obtained this time are the same as those saved in the previous step The array Pixel1 is compared, and the same coordinates are saved in the array Pixel, which is the infrared interference information of the external environment, because the infrared positioning point is a mobile device, so the position changes in a short period of time, and the infrared information of the external environment, usually It comes from fixed equipment such as sunlight or sunlight reflected by mirrors, so other non-black pixels that do not change their positions are infrared information that exists in the external environment, that is, infrared interference that exists outside. Use the integer variable pCount to record the number of non-black pixels in the array Pixel, that is, pCount records the number of pixels of infrared information existing in the external environment, the integer variable pixelX is the sum of all x coordinates in the array Pixel, integer The variable pixelY is the sum of all y coordinates in the array Pixel.

(4), the camera continues to take pictures, and performs the following calculations for each photo (entering the main loop part of the program);

(5), if pCount is 0, that is, the number of infrared information pixels of the environment obtained in step 3 is 0, that is, the picture taken is black, and there is no external infrared interference; in the case of no external infrared interference , the MCU (CPU) processes the infrared image information sent by the camera as follows:

Carry out color detection pixel by pixel to the image that step (4) obtains, if detect non-black pixel point, just its coordinate information is stored in the array stickPixel, obtain the average coordinate StickX=pStickX/pStickCount of infrared anchor point by computing, StickY=pStickY/pStickCount, wherein pStickX is the sum of all x coordinates in the array stickPixel, pStickY is the sum of all y coordinates in the array stickPixel, and pStickCount is the quantity of non-black pixel points in the captured image of step (4).

(6), pCount is not 0, that is, the same coordinate point in the first frame and the second frame is a non-black pixel, because the infrared positioning point itself is moving, so if there is no external environmental interference, in the In the two pictures taken within a relatively short period of time, the non-black pixels should have moved, which is represented by a change in their coordinates. That is, there is infrared interference from the external environment, and the MCU (CPU) processes the infrared image information sent by the camera as follows:

Carry out color detection pixel by pixel to the image that step (4) obtains, if detect non-black pixel point, its coordinate information is stored in the array stickPixel, obtains the average coordinate StickX=(pStickX-pixelX) of infrared positioning point by operation /(pStickCount-pCount), StickY=(pStickY-pixelY)/(pStickCount-pCount), wherein pStickX is the sum of all x coordinates in the array stickPixel, pStickY is the sum of all y coordinates in the array stickPixel, pixelX and pixelY step (3 ), pStickCount is the number of non-black pixels in the image obtained in step (4), pCount is the non-black pixels in the external infrared information in step (3) quantity.

(7), according to different upper computers, adopt a certain conversion method to convert the average coordinate value obtained in step (5) or step (6) into required positioning data, and this conversion process is determined by different requirements of users. According to the resolution of the display screen connected to the host computer, the average coordinates StickX and StickY of the above positioning points are mapped to the coordinate values of the cursor on the screen for output. Due to the different resolutions and performances of the connected monitors, the mapping methods are different, and some do not need to be mapped, and some can be directly output according to StickX and StickY. For example, on a computer, assign the obtained average coordinates to the mouse cursor, and bind a small infrared light source to the hand, so that the movement of the mouse cursor can be manipulated directly by hand changes.

(8). Determine whether the time since the last time the external environment information was obtained is greater than 2s. If it is greater than 2s, it will loop to the very beginning <shooting the environment image>, that is, step (1). If it is less than 2s, it will loop to <camera photoshoot>. Step (4).

Embodiment 2: as shown in Figure 3, other steps are no longer explained one by one here with the embodiment, and the present embodiment only further explains to the step (5) that processing step differs to some extent:

(5), if pCount is 0, that is, the number of infrared information pixels of the environment obtained in step 3 is 0, that is, the picture taken is black, and there is no external infrared interference; in the case of no external infrared interference , the MCU (CPU) processes the infrared picture information sent by the camera.

1) Determine whether the preflag is 0. Define an integer variable preflag. Preflag is used to mark whether it is the first shooting after entering the main loop. If it is the first shooting, preflag is 0. If it is not the first shooting, preflag is 1. If preflag is 0, it means that it is the first shot, and the search range of pixels is set to full screen; if preflag is 1, it means that it is not the first shot to enter the main loop, if it is not the first shot, it means that there is PreBound . The structure PreBound is a structure used to store the range of infrared pixels in the previous frame. The x maximum value PreBound.maxX, the minimum value PreBound.minX and the y maximum value of the coordinates of all non-black pixel points in the picture taken last time The value PreBound.maxY and the minimum value PreBound.minY are composed of the range of all non-black pixels in the picture taken last time. The structure CurBound is a structure used to store the range of infrared pixels in the current frame. The x maximum value CurBound.maxX, the minimum value CurBound.minX, the y maximum value CurBound.maxY, and the minimum value CurBound.minY of the coordinates of all non-black pixels in the picture taken this time, that is, all non-black pixels in the picture taken this time The range of pixels. Finally, SearchBound is calculated by PreBound and CurBound; the specific calculation method of SearchBound is as follows: SearchBound.maxX=CurBound.maxX+(CurBound.maxX-PreBound.maxX)*2; SearchBound.minX=CurBound.minX+(CurBound.minX-PreBound. minX)*2; SearchBound.maxY=CurBound.maxY+(CurBound.maxY-PreBound.maxY)*2; SearchBound.minY=CurBound.minY+(CurBound.minY-PreBound.minY)*2. The structure SearchBound is a structure used to store the search range, which is the search range of the predicted infrared pixels. The purpose of calculating this search range is to search within the SearchBound area when searching for infrared pixels, instead of searching in full screen, which can improve search efficiency.

2) The purpose of assigning CurBound to PreBound is to predict the motion of the anchor point in the next frame through the operation of these two values.

3) Within the search range, perform color detection on a pixel-by-pixel basis. If a non-black pixel is detected, its coordinate information is stored in the array stickPixel. pStickX is the sum of all x coordinates in the array stickPixel, and pStickY is in the array stickPixel The sum of all y coordinates, use the variable pStickCount to record the number of non-black pixels, and use CurBound to record the coordinate area of all non-black pixels.

4) Calculate and obtain the average coordinates StickX=pStickX/pStickCount, StickY=pStickY/pStickCount of the infrared positioning point.

5) Based on the PreBound and CurBound obtained above, the moving range of the non-black pixels on the screen can be basically judged, and the search range SearchBound of the next frame can be obtained by using the most suitable parameters according to the programmer's own needs.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (3)

1. A method for image capture utilizing infrared positioning, characterized in that it may further comprise the steps: (1), the upper computer first obtains a picture through the camera as a reference picture; (2), read the picture data taken in the previous step, save the coordinates of non-black pixels in the array Pixel 1, and obtain the infrared information of the external environment; (3), continue to acquire pictures through the camera within a relatively short interval of time, read the color data of the acquired pictures this time, and obtain the coordinates of the non-black pixels in the picture this time with the coordinate array Pixel1 saved in the previous step For comparison, the same coordinates are saved in the array Pixel, which is the infrared interference information of the external environment, and the x and y coordinates are summed separately, and the number of coordinates in the array Pixel is recorded at the same time, so as to determine whether there is an external environment Infrared interference; (4) The camera continues to take photos, and performs the following calculations for each photo; (5), if the number of coordinates in the array Pixel is zero, then there is no infrared interference from the external environment, in the absence of external infrared interference, color detection is carried out pixel by pixel to the image obtained in step (4), if detected To a non-black pixel point, its coordinate information is stored in the array stickPixel, and the average coordinate StickX=pStickX/pStickCount, StickY=pStickY/pStickCount of the infrared positioning point is obtained by calculation, wherein pStickX is the sum of all x coordinates in the array stickPixel, pStickY is the sum of all y coordinates in the array stickPixel, and pStickCount obtains the number of non-black pixels in the image for step (4); (6), if the number of coordinates in the array Pixel is not zero, there is infrared interference in the external environment, and the color detection is performed pixel by pixel of the image obtained in step (4), if a non-black pixel is detected, its coordinate information Stored in the array stickPixel, the average coordinates of the infrared positioning point StickX=(pStickX-pixelX)/(pStickCount-pCount), StickY=(pStickY-pixelY)/(pStickCount-pCount), where pStickX is all in the array stickPixel The sum of the x coordinates, pStickY is the sum of all y coordinates in the array stickPixel, pixelX and pixelY are the sum of the coordinates x and coordinates y of the infrared information of the external environment obtained in step (3), and pStickCount is the photograph taken by step (4) The number of non-black pixels in the image, pCount is the number of non-black pixels in the external infrared information in step (3); (7) According to different host computers, the average coordinate value obtained in step (5) or step (6) is converted into required positioning data by using a conversion method, and the conversion process is determined by the user. 2. A kind of method utilizing infrared positioning to carry out image capturing according to claim 1, it is characterized in that it also includes judging at last whether it is greater than the specified time from the last shot of the environmental image, if it is greater than the specified time, return to step (1), if not If greater than, return to step (3). 3. a kind of method utilizing infrared positioning to carry out image capture according to claim 1, it is characterized in that also comprising predicting the next range of motion of infrared positioning point in the described step (5), obtains the infrared positioning point by computing again The method of average coordinates, the specific steps are as follows: 1) First judge whether it is the first shooting after step (3): if yes, the search range of pixels is set to full screen; SearchBound is calculated by the structure PreBound and the structure CurBound. The specific calculation method of SearchBound is as follows: SearchBound.maxX=CurBound.maxX+(CurBound.maxX-PreBound.maxX)*2; SearchBound.minX=CurBound.minX+(CurBound.minX-PreBound .minX)*2; SearchBound.maxY＝CurBound.maxY+(CurBound.maxY-PreBound.maxY)*2; SearchBound.minY＝CurBound.minY+(CurBound.minY-PreBound.minY)*2; The structure PreBound is a To store the structure of the range of infrared pixels in the previous frame, the x maximum value PreBound.maxX, minimum value PreBound.minX and y maximum value PreBound.maxY, minimum value of the coordinates of all non-black pixel points in the previous frame value PreBound.minY, that is, the range of all non-black pixels in the picture taken last time. The structure CurBound is a structure used to store the range of infrared pixels in the current frame. It is composed of all the pixels in the picture taken this time. The coordinates of non-black pixels consist of the maximum value of x CurBound.maxX, the minimum value of CurBound.minX, the maximum value of y CurBound.maxY, and the minimum value of CurBound.minY, that is, the range of all non-black pixels in the picture taken this time ; 2) Assign CurBound to PreBound; 3) Within the search range, perform color detection on a pixel-by-pixel basis. If a non-black pixel is detected, its coordinate information is stored in the array stickPixel. pStickX is the sum of all x coordinates in the array stickPixel, and pStickY is in the array stickPixel The sum of all y coordinates, use the variable pStickCount to record the number of non-black pixel points in the image obtained in step (4), and use CurBound to record the coordinate area of all non-black pixels; 4) calculate and obtain the average coordinate StickX=pStickX/pStickCount of the infrared positioning point, StickY=pStickY/pStickCount; 5) Based on the PreBound and CurBound obtained above, the moving range of the non-black pixels on the screen can be basically judged.

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