CN112564713A - High-efficiency low-time-delay kinesthetic signal coder-decoder and coding-decoding method - Google Patents
High-efficiency low-time-delay kinesthetic signal coder-decoder and coding-decoding method Download PDFInfo
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Abstract
The invention provides a high-efficiency low-time-delay kinesthetic signal coder-decoder and a coding-decoding method, wherein an encoder consists of a signal amplifier, a discrete cosine transform module, a quantizer, a run length coding module and an entropy encoder; the decoder consists of an entropy decoder, a run length decoding module, an inverse quantizer, an inverse discrete cosine transform module and an inverse amplifier. Compared with the existing advanced touch coding method, the high-efficiency low-time-delay kinesthetic signal codec design has the advantages that the compression rate is averagely reduced by 50% compared with the dead zone-based touch coding standard algorithm, and meanwhile, the distortion degree and the time delay are smaller.
Description
Technical Field
The invention belongs to the technical field of tactile signal coding, and particularly relates to a high-efficiency low-time-delay kinesthetic signal coder-decoder and a coding-decoding method.
Background
The audio and video is common multimedia interactive content and acts on various physiological senses of human beings. The scope of multimedia is not limited to only auditory and visual. Most users prefer multimedia interactive contents in which audio, video and tactile senses are integrated. Because of the stimulation of more sensory dimensions, such as the sense of touch, an immersive experience can be constructed. In addition, studies have shown that there is a correlation between visual and tactile, and that tactile patterns have an impact on auditory and visual media perception.
With the development of multimedia services, haptic signals are becoming one of the non-negligible carriers of multimedia. Kinesthetic (Kinesthetic) is one of the two main components of the tactile signal. Position, velocity, angular velocity, force and torque are all within the scope of kinesthetic signals. The information can help the user judge the viscosity, hardness and inertia of the object by acting on the tactile sense of human beings.
The current kinesthetic signals have the statistical characteristics of high sampling frequency and multiple degrees of freedom. High sampling rates are a necessary condition for ensuring performance and stability of the control loop of a touch sensing device and are also an objective requirement for significantly enhancing the realism of a touch sensing system. The sampling rate of kinesthetic signals is typically higher than 1000 Hz. Haptic devices are now commonly three degrees of freedom. With the rapid development of multimedia technology, touch sensing devices are easily developed with more degrees of freedom and transmit larger amounts of data. In order to facilitate data transmission of the haptic signals and avoid network congestion, the haptic encoding technology is very important. The current research on the tactile perception signals does not reach the same high quality level of vision and hearing. Especially the problem of the codec of the tactile signal has yet to be further studied.
Disclosure of Invention
In order to fill the blank of the prior art, different influence factors need to be considered in the establishment of the touch coding method, and the invention creatively provides the touch coding method which has high efficiency, low time delay and lossless perception. High efficiency ensures better rate-distortion R-D performance, the corresponding index amount being the compression rate, i.e. the value of the "number of bits of haptic signal after encoding" divided by the "number of bits of haptic signal before encoding", and the signal-to-noise ratio SNR. The low delay guarantees a lower coding delay, and the corresponding index quantities are the buffering delay and the calculation delay. Perceptual lossless means that lossy is allowed, but not user-perceptible, the corresponding index quantity is the haptic structural similarity HSSIM.
The invention specifically adopts the following technical scheme:
a high efficiency, low delay kinesthetic signal codec, comprising: the encoder consists of a signal amplifier, a discrete cosine transform module, a quantizer, a run length coding module and an entropy encoder; the decoder consists of an entropy decoder, a run length decoding module, an inverse quantizer, an inverse discrete cosine transform module and an inverse amplifier.
Preferably, the formula of the signal amplifier is as follows:
S'ori(i)＝Sori(i)M,
wherein SoriRepresenting the input, S 'of the signal amplifier'oriRepresents the output of the signal amplifier, and M represents the amplification factor of the signal;
the discrete cosine transform module adopts a 1-dimensional discrete cosine transform algorithm to transform the signal from a time domain to a frequency domain to obtain a direct current coefficient and an alternating current coefficient; the current direct current coefficient is obtained by predicting the direct current coefficient of the previous coding sequence, the difference value of the current direct current coefficient and the previous coding sequence is used for carrying out quantization operation, and the current value of the alternating current coefficient is directly used for carrying out quantization operation;
the formula of the quantizer is as follows:
quantization value is DCT coefficient/Q;
wherein Q is a quantization parameter;
the run-length coding module performs run-length coding on the quantized alternating current coefficient AC, and the run-length coding is represented as: AC (Run, Bits, Value), where Run represents the number of zero-valued AC coefficients between two nearest non-zero-valued AC coefficients, i.e., the Run length, and Bits represents the number of Bits required to store Value; value represents the amplitude Value of the current non-zero Value AC coefficient or the amplitude Value of the DC coefficient;
the output direct current coefficient DC is: DC (Bits, Value);
the entropy coder adopts arithmetic coding, wherein Run and Bits adopt 4 bit fixed length to carry out arithmetic coding, and Value adopts variable length arithmetic coding;
the entropy decoder adopts an inverse algorithm of arithmetic coding, wherein Run and Bits both use 4 bit fixed length to execute the inverse algorithm of arithmetic coding, and Value adopts an inverse algorithm of variable length arithmetic coding;
the run decoding module restores (Bits, Value) of the intermediate state into Value and executes an inverse algorithm for run coding;
the formula of the inverse quantizer is as follows:
DCT coefficient × Q;
the inverse discrete cosine transform module adopts a 1-dimensional inverse discrete cosine transform algorithm;
the formula of the inverse amplifier is as follows:
wherein S'recRepresenting the input of an inverse amplifier, SrecRepresenting the output of the inverse amplifier.
Preferably, the sampling frequency of the encoder to the kinesthetic signal is 1000HZ, each set of coding sequence takes 8 sampling points, and each sampling point takes 6 decimal places; the kinesthetic signal is a position signal or a force signal.
Preferably, in the signal amplifier, the position signal amplification factor Mp is 200, and the force signal amplification factor Mf is 50;
in the discrete cosine transform module, the number N of time domain sampling points of a 1-dimensional discrete cosine transform algorithm is 8, the first DCT coefficient obtained is a direct current coefficient, and the last seven DCT coefficients are alternating current coefficients;
the quantization parameter Q is (4,4,16,32,48,64,80, 96).
Preferably, the encoding parameters are determined by kinesthetic signal characteristics and the encoding delay is determined by a user perception threshold.
And, a high-efficiency low-delay kinesthetic signal coding and decoding method, characterized in that: comprises an encoding process and a decoding process;
the encoding process comprises the steps of:
step A1: sampling the kinesthesia signal, and amplifying the signal obtained by sampling through a signal amplifier;
step A2: performing time domain to frequency domain conversion on the signal by adopting a 1-dimensional discrete cosine transform algorithm to obtain a direct current coefficient and an alternating current coefficient;
step A3: quantizing the output value transformed in the step A2;
step A4: run-length coding is performed on the quantized alternating current coefficient AC, and is represented as: AC (Run, Bits, Value), where Run represents the number of zero-valued AC coefficients between two nearest non-zero-valued AC coefficients, i.e., the Run length, and Bits represents the number of Bits required to store Value; value represents the amplitude Value of the current non-zero Value AC coefficient or the amplitude Value of the DC coefficient;
the output direct current coefficient DC is: DC (Bits, Value);
step A5: performing arithmetic coding by adopting an entropy coder, wherein Run and Bits adopt 4 bit fixed lengths to perform arithmetic coding, and Value adopts variable length arithmetic coding;
the decoding process comprises the steps of:
step B1: entropy decoding the information obtained by encoding by using an inverse algorithm of arithmetic encoding;
step B2: reducing the intermediate state (Bits, Value) to Value, and executing the inverse algorithm for run-length coding;
step B3: performing inverse quantization processing on the signal by adopting an inverse quantizer;
step B4: transforming the signal from a frequency domain to a time domain by adopting a 1-dimensional inverse discrete cosine transform algorithm;
step B5: the signal is reconstructed using an inverse amplifier.
Preferably, the sampling frequency of the kinesthetic signal is 1000HZ, 8 sampling points are taken by each group of coding sequences, and 6 decimal points are reserved for the value of each sampling point; the kinesthetic signal is a position signal or a force signal; in the signal amplifier, the position signal amplification factor Mp is 200, and the force signal amplification factor Mf is 50; in the discrete cosine transform module, the number N of time domain sampling points of a 1-dimensional discrete cosine transform algorithm is 8, the first DCT coefficient obtained is a direct current coefficient, and the last seven DCT coefficients are alternating current coefficients; in the quantization process and the inverse quantization process, the quantization parameter Q is (4,4,16,32,48,64,80, 96).
Compared with the prior art, the invention and the preferred scheme thereof have the following beneficial effects:
1. the invention provides an end-to-end touch coding method for the first time. The statistical characteristics of the tactile signals provide theoretical basis for the proposed codec. Based on these characteristics, the method of achieving end-to-end haptic encoding is redesigned and optimized.
2. The invention realizes high efficiency, low time delay and lossless perception of the touch coding for the first time. High efficiency guarantees better rate-distortion R-D performance, the corresponding index amount being the compression rate, i.e. the value of the "number of haptic signal bits after encoding" divided by the "number of haptic signal bits before encoding", and the signal-to-noise ratio SNR. The low delay guarantees a lower coding delay, and the corresponding index quantities are the buffering delay and the calculation delay. Perceptual lossless means that lossy is allowed, but not user-perceptible, the corresponding index quantity is the haptic structural similarity HSSIM.
3. Compared with the existing advanced touch coding method, the high-efficiency low-time-delay kinesthetic signal codec design provided by the invention has the advantages that the compression rate is averagely reduced by 50 percent compared with a touch coding standard algorithm based on a dead zone, and simultaneously, the distortion degree and the time delay are smaller.
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The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic diagram of a codec structure and a working flow according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a touch-sensing kinesthetic signal encoder according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a touch-sensing kinesthetic signal decoder according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a comparison between a source sequence and a decoded sequence according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a range (section) of a position signal of a source touch test sequence according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a range (section) of a force signal of a source tactile test sequence according to an embodiment of the present invention;
FIG. 7 is a graph illustrating compression ratio-SNR for a position signal and a force signal according to an embodiment of the present invention;
FIG. 8 is a diagram of compression ratio-HSSIM for a position signal and a force signal according to an embodiment of the present invention.
Detailed Description
In order to make the features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail as follows:
as shown in fig. 1, the present embodiment provides a high-efficiency low-delay kinesthetic signal codec and a coding and decoding method, which are composed of an encoder and a decoder:
the modules of the encoder are divided into a signal amplifier, Discrete Cosine Transform (DCT), a quantizer, run length coding and entropy coding. The code stream generated by the signal passing through each module is shown in fig. 2.
The modules of the decoder are divided into entropy decoding, run length decoding, inverse quantizer, Inverse Discrete Cosine Transform (IDCT), and inverse amplifier.
In this embodiment, three evaluation indexes are adopted for the codec, namely high efficiency, low delay and perceptual lossless.
Specifically, as shown in fig. 2, the work flow of the encoder is as follows:
step a 1: for Kinesthetic (Kinesthetic) signals, the sampling frequency is 1000HZ, 8 sampling points are taken for each set of coded sequences, and 6 decimal points are reserved for each sampling point. The kinesthetic signal employed in this embodiment is either a position signal or a force signal. The amplitude values of the two kinesthetic signals are small in range, and large distortion is caused by direct encoding and decoding. To solve this problem, the present embodiment introduces a signal amplifier. The formula of the signal amplifier is shown as (1):
S'ori(i)＝Sori(i)M,(I)
wherein SoriRepresenting the input of the signal amplifier, i.e. the original signal, S'oriRepresenting the output of the signal amplifier, M representing the amplification of the signal, this embodimentIn the middle, the position signal amplification Mp takes a value of 200, and the force signal amplification Mf takes a value of 50.
Step a 2: the signal is transformed from the time domain to the frequency domain, and most of the energy of the signal is concentrated on a small number of frequencies. The time-frequency domain transform of this embodiment adopts a 1-dimensional Discrete Cosine Transform (DCT) algorithm, and the formula is shown in (2), where the number N of time-domain sampling points is 8:
after DCT transformation, the first DCT coefficient obtained is called a direct current coefficient (i.e., DC coefficient), and the last seven DCT coefficients are called alternating current coefficients (i.e., AC coefficients). The current DC coefficient is predicted from the DC coefficient of the previous coding sequence, and the difference between the two is used for the subsequent quantization operation. And directly taking a current value to carry out quantization operation without predicting the alternating current coefficient.
Step a 3: the DCT transformed output values are quantized to maintain a high compression ratio with little distortion. The formula of the quantizer of the present embodiment is shown in (4):
quantization value as DCT coefficient/Q, (4)
Wherein the quantization parameter Q is (4,4,16,32,48,64,80, 96).
Step a 4: the main idea of run-length coding for quantized AC coefficients is to replace a continuous string of identical values by a string length and a representative value. Therefore, it is applicable to the case where the alternating current coefficient AC has a continuous 0 value, and can be expressed as: (Run, Value), where Run represents the number of zero-valued AC coefficients between two nearest non-zero-valued AC coefficients, i.e., the Run length, and Value represents the amplitude Value of the current non-zero-valued AC coefficient.
In order to represent the encoded sequence as a bitstream and to be able to identify the encoded length of Value when decoding, it is necessary to rewrite Value to an intermediate state (or a transition state), and the formula is shown in (5):
Value＝(Bits,Value), (5)
where Bits represents the number of Bits required to store Value. The output DC coefficients and AC coefficients are of the form: DC (Bits, Value) and AC (Run, Bits, Value).
Step a 5: in order to take into account two indexes of compression ratio and time delay, the entropy encoder of this embodiment uses arithmetic coding, where Run and Bits use a fixed length of 4 Bits to perform arithmetic coding, and Value uses variable length arithmetic coding. Decimal to binary conversion is performed, taking DC (0,0) and AC (0,1, -1) as examples. For DC (0,0), the first 0 is coded as 0000, the second 0 does not need to be coded, and is directly 'null'; for AC (0,1, -1), the first 0 is encoded as 0000, the second 1 is encoded as 0001, and the third-1 is encoded as 0. Integrating the binary DC coefficient and the binary AC coefficient to obtain an encoder output code stream: 0000000000010.
specifically, as shown in fig. 3, the work flow of the decoder is as follows:
step b 1: the entropy decoding employs an inverse algorithm of arithmetic coding, wherein Run and Bits both use an inverse algorithm of 4-bit fixed length for arithmetic coding, and Value uses an inverse algorithm of variable length arithmetic coding.
Step b 2: reducing the intermediate state, as shown in formula (6):
(Bits,Value)＝Value, (6)
where Bits represents the number of Bits required to store the Value.
The inverse algorithm for Run-length coding takes the form (Run, Value), where Run represents the number of zero-valued AC coefficients between two adjacent non-zero-valued AC coefficients, and Value represents the amplitude Value of the current non-zero-valued AC coefficient.
Step b 3: the formula of the inverse quantizer is shown in (7):
DCT coefficient (7) is quantized value × Q
Wherein the quantization parameter Q is (4,4,16,32,48,64,80, 96).
Step b 4: the formula of the 1-dimensional inverse discrete cosine transform IDCT algorithm is shown as (8):
where N is 8 and c (u) is shown in formula (3).
Step b 5: the formula of the inverse amplifier is shown in (9):
wherein S'recRepresenting the input of an inverse amplifier, SrecRepresenting the output of the inverse amplifier, i.e. the reconstructed signal, M represents the amplification of the signal, in this embodiment, the position signal amplification Mp takes the value 200 and the force signal amplification Mf takes the value 50.
In light of the above design of codecs and methods, the present embodiment provides the following evaluation and verification:
step c 1: the high efficiency corresponds to the objective performance indicators being the compression ratio (η) and the distortion ratio. The compression ratio (η) is shown by equation (10):
wherein B isafterNumber of bits of encoded tactile signal, BbeforeRefers to the number of bits of the haptic signal before encoding.
The distortion rate is measured as the signal-to-noise ratio, SNR, as shown by equation (11):
where S refers to signal power and B is noise power.
Step c 2: low latency corresponds to the objective performance index being latency. Wherein, the buffering time delay and the calculating time delay of the coding and decoding algorithm are selected as the measuring standard of the time delay.
Step c 3: perceptual lossless corresponds to structural similarity to the objective performance index. The HSSIM formula is referred to as Rania Hassen and Eckehard Steinbach.2018, HSSIM, and objective textual Quality assessment measure for feedback signals, in 2018Tenth International Conference on Quality of Multimedia Experience (QOMEX), IEEE, 1-6.
Step c 4: three evaluation indexes, namely high efficiency, low time delay and lossless perception, are balanced. Coding parameters are designed according to the characteristics of the kinesthetic signals, coding time delay is designed according to the perception threshold of a user, and balance is carried out among three evaluation indexes, so that balance of compression ratio and reconstruction quality is realized, and a tactile signal codec most suitable for application scenes is formed.
In order to verify the evaluation index, the present embodiment adopts the standard data set of the touch sensation test sequence, selects the standard data set provided by IEEE p1918.1.1 happy codes Task Group as the source touch sensation test sequence, has 6 segments in total, and respectively represents different touch sensation operations, such as push, pull, drag, and beat, and the test data results are shown in tables 1 to 6 and correspond to the test result graphs of fig. 4 to 8.
TABLE 1
TABLE 2
TABLE 3
TABLE 4
TABLE 5
TABLE 6
The present invention is not limited to the above-mentioned preferred embodiments, and any other various types of high-efficiency low-delay kinesthetic signal codecs and codecs can be obtained according to the teaching of the present invention, and all equivalent changes and modifications made according to the claims of the present invention shall fall within the scope of the present invention.
Claims (7)
1. A high efficiency, low delay kinesthetic signal codec, comprising: the encoder consists of a signal amplifier, a discrete cosine transform module, a quantizer, a run length coding module and an entropy encoder; the decoder consists of an entropy decoder, a run length decoding module, an inverse quantizer, an inverse discrete cosine transform module and an inverse amplifier.
2. The high efficiency, low latency kinesthetic signal codec of claim 1, wherein:
the formula of the signal amplifier is as follows:
S′ori(i)＝Sori(i)M，
wherein SoriRepresenting the input, S 'of the signal amplifier'oriRepresenting the output of a signal amplifier, M representing the signalMagnification of the sign;
the discrete cosine transform module adopts a 1-dimensional discrete cosine transform algorithm to transform the signal from a time domain to a frequency domain to obtain a direct current coefficient and an alternating current coefficient; the current direct current coefficient is obtained by predicting the direct current coefficient of the previous coding sequence, the difference value of the current direct current coefficient and the previous coding sequence is used for carrying out quantization operation, and the current value of the alternating current coefficient is directly used for carrying out quantization operation;
the formula of the quantizer is as follows:
quantization value is DCT coefficient/Q;
wherein Q is a quantization parameter;
the run-length coding module performs run-length coding on the quantized alternating current coefficient AC, and the run-length coding is represented as: AC (Run, Bits, Value), where Run represents the number of zero-valued AC coefficients between two nearest non-zero-valued AC coefficients, i.e., the Run length, and Bits represents the number of Bits required to store Value; value represents the amplitude Value of the current non-zero Value AC coefficient or the amplitude Value of the DC coefficient;
the output direct current coefficient DC is: DC (Bits, Value);
the entropy coder adopts arithmetic coding, wherein Run and Bits adopt 4 bit fixed length to carry out arithmetic coding, and Value adopts variable length arithmetic coding;
the entropy decoder adopts an inverse algorithm of arithmetic coding, wherein Run and Bits both use 4 bit fixed length to execute the inverse algorithm of arithmetic coding, and Value adopts an inverse algorithm of variable length arithmetic coding;
the run decoding module restores (Bits, Value) of the intermediate state into Value and executes an inverse algorithm for run coding;
the formula of the inverse quantizer is as follows:
DCT coefficient × Q;
the inverse discrete cosine transform module adopts a 1-dimensional inverse discrete cosine transform algorithm;
the formula of the inverse amplifier is as follows:
wherein S'recRepresenting the input of an inverse amplifier, SrecRepresenting the output of the inverse amplifier.
3. The high efficiency low latency kinesthetic signal codec of claim 2, wherein: the encoder has the sampling frequency of the kinesthetic signals of 1000HZ, each group of coding sequences takes 8 sampling points, and each sampling point takes 6 decimal places; the kinesthetic signal is a position signal or a force signal.
4. A high efficiency low latency kinesthetic signal codec as recited in claim 3, wherein:
in the signal amplifier, the position signal amplification factor Mp is 200, and the force signal amplification factor Mf is 50;
in the discrete cosine transform module, the number N of time domain sampling points of a 1-dimensional discrete cosine transform algorithm is 8, the first DCT coefficient obtained is a direct current coefficient, and the last seven DCT coefficients are alternating current coefficients;
the quantization parameter Q is (4,4,16,32,48,64,80, 96).
5. The high efficiency low latency kinesthetic signal codec of claim 2, wherein: and determining coding parameters through the characteristics of the kinesthetic signals, and determining coding time delay through a user perception threshold.
6. A high-efficiency low-delay kinesthetic signal coding and decoding method is characterized in that: comprises an encoding process and a decoding process;
the encoding process comprises the steps of:
step A1: sampling the kinesthesia signal, and amplifying the signal obtained by sampling through a signal amplifier;
step A2: performing time domain to frequency domain conversion on the signal by adopting a 1-dimensional discrete cosine transform algorithm to obtain a direct current coefficient and an alternating current coefficient;
step A3: quantizing the output value transformed in the step A2;
step A4: run-length coding is performed on the quantized alternating current coefficient AC, and is represented as: AC (Run, Bits, Value), where Run represents the number of zero-valued AC coefficients between two nearest non-zero-valued AC coefficients, i.e., the Run length, and Bits represents the number of Bits required to store Value; value represents the amplitude Value of the current non-zero Value AC coefficient or the amplitude Value of the DC coefficient;
the output direct current coefficient DC is: DC (Bits, Value);
step A5: performing arithmetic coding by adopting an entropy coder, wherein Run and Bits adopt 4 bit fixed lengths to perform arithmetic coding, and Value adopts variable length arithmetic coding;
the decoding process comprises the steps of:
step B1: entropy decoding the information obtained by encoding by using an inverse algorithm of arithmetic encoding;
step B2: reducing the intermediate state (Bits, Value) to Value, and executing the inverse algorithm for run-length coding;
step B3: performing inverse quantization processing on the signal by adopting an inverse quantizer;
step B4: transforming the signal from a frequency domain to a time domain by adopting a 1-dimensional inverse discrete cosine transform algorithm;
step B5: the signal is reconstructed using an inverse amplifier.
7. The method according to claim 5, wherein the method comprises: the sampling frequency of the kinesthetic signals is 1000HZ, 8 sampling points are taken by each group of coding sequences, and 6 decimal points are reserved for each sampling point; the kinesthetic signal is a position signal or a force signal; in the signal amplifier, the position signal amplification factor Mp is 200, and the force signal amplification factor Mf is 50; in the discrete cosine transform module, the number N of time domain sampling points of a 1-dimensional discrete cosine transform algorithm is 8, the first DCT coefficient obtained is a direct current coefficient, and the last seven DCT coefficients are alternating current coefficients; in the quantization process and the inverse quantization process, the quantization parameter Q is (4,4,16,32,48,64,80, 96).
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