CN114625244A - Fingerprint image-based three-dimensional object relative pose control method and device - Google Patents

Fingerprint image-based three-dimensional object relative pose control method and device Download PDF

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Publication number
CN114625244A
CN114625244A CN202210113999.5A CN202210113999A CN114625244A CN 114625244 A CN114625244 A CN 114625244A CN 202210113999 A CN202210113999 A CN 202210113999A CN 114625244 A CN114625244 A CN 114625244A
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dimensional
fingerprint
finger
verification
control
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冯建江
周杰
段永杰
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Tsinghua University
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Tsinghua University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
    • G06F3/0383—Signal control means within the pointing device

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  • Physics & Mathematics (AREA)
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Abstract

The invention provides a relative pose control method and a relative pose control device of a three-dimensional object based on a fingerprint image, wherein the method comprises the steps of collecting a fingerprint sequence image in real time; preprocessing the fingerprint sequence image, removing background noise and enhancing fingerprint ridges; according to the preprocessed fingerprint sequence image, the gesture information of the current finger in the three-dimensional space is deduced; and mapping the attitude information into a three-dimensional control signal, and controlling the relative pose of the target object in the three-dimensional space according to the three-dimensional control signal. The three-dimensional relative pose control method can effectively develop the existing man-machine interaction mode and provides convenience for controlling the pose of the object in the three-dimensional space.

Description

Fingerprint image-based three-dimensional object relative pose control method and device
Technical Field
The invention relates to the field of human-computer interaction, in particular to a three-dimensional attitude control problem.
Background
With the continuous development of the field of human-computer interaction, the interaction mode between human beings and machines has continuous change and sufficient development. In the fields of games, Virtual Reality (VR), security monitoring, three-dimensional design, vehicle control, robot control, spacecraft control, and the like, objects such as cameras, 3D models, mechanical arms, automobiles, airplanes, and the like, are often required to be operated, and such target objects are mostly located in a three-dimensional space, so that a three-dimensional control signal needs to be input to accurately control the pose thereof. In the prior art, a few pose control systems for directly inputting three-dimensional signals are used, a conventional control input device is a traditional mouse, the position and the pose of a target object are controlled to change by controlling the moving speed and the displacement of the mouse on a two-dimensional plane, the operated target object is often located in a three-dimensional space, and the two-dimensional input signals and the three-dimensional pose need to be subjected to complex mapping. And the direct use of the three-dimensional signals to carry out pose control on the target object better accords with the visual feeling of human beings, and can further improve the efficiency and the accuracy degree of the pose control.
There have been some solutions for controlling the pose of a three-dimensional target object, but these control methods still have the following limitations and disadvantages:
three-dimensional pose control based on 2D input signals is not in line with human intuitive feelings, requires a user to practice for a certain time before use, and monitors pose changes of a target object constantly during use to obtain control feedback;
besides the traditional mouse, a 3D mouse specially designed for three-dimensional pose control is also provided to deal with a complex three-dimensional pose control scene, and most of the devices need complex mechanical structure design, are expensive in manufacturing cost and are not beneficial to large-area popularization.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, a first object of the present invention is to provide a fingerprint image-based relative pose control method for three-dimensional objects, which is used to facilitate object pose control in three-dimensional space.
The invention also provides a relative pose control device of the three-dimensional object based on the fingerprint image.
A third object of the invention is to propose a computer device.
A fourth object of the invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling a relative pose of a three-dimensional object based on a fingerprint image, including: collecting a fingerprint sequence image in real time; preprocessing the fingerprint sequence image, removing background noise and enhancing fingerprint ridges; according to the preprocessed fingerprint sequence image, the gesture information of the current finger in the three-dimensional space is deduced; and mapping the attitude information into a three-dimensional control signal, and controlling the relative pose of the target object in the three-dimensional space according to the three-dimensional control signal.
The fingerprint image-based three-dimensional object relative pose control method provided by the embodiment of the invention can predict the three-dimensional pose of a certain finger given the fingerprint image of the finger collected on certain interaction equipment, and is used as a novel human-computer interaction system for controlling a target object in a real world or a virtual world. In the invention, the three-dimensional posture of the current finger is predicted according to the 2D fingerprint image, and then the three-dimensional posture of the finger is used as an input signal to control a target object in the real world or the virtual world. In the invention, the input of the three-dimensional relative posture control system is a 2D fingerprint image, and the output is the three-dimensional posture of the current finger, which is used for controlling the three-dimensional relative posture of the target object. The three-dimensional relative pose control system can effectively expand the existing man-machine interaction mode and provides convenience for controlling the pose of an object in a three-dimensional space.
In addition, the method for controlling the relative pose of the three-dimensional object based on the fingerprint image according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, a mapping manner between the current three-dimensional gesture of the finger and the three-dimensional control signal is separately designed according to different applications, including:
mapping the three-dimensional gesture of the finger into a three-dimensional gesture control signal of a target object;
mapping the gesture of the finger to a three-dimensional displacement control signal of a target object;
and mapping the finger gestures to pose control signals of the target object, wherein the operation of a plurality of fingers is mixed, part of the finger gestures are mapped to displacement control signals, and the other part of the finger gestures are mapped to pose control signals.
Further, in an embodiment of the present invention, before controlling the relative pose of the target object in the three-dimensional space according to the three-dimensional control signal, the method further includes:
performing fingerprint identification verification on the fingerprint image, including frame-by-frame verification and first frame verification; the frame-by-frame verification comprises that each frame of fingerprint image is required to be subjected to fingerprint identification and verification, and subsequent object pose control is allowed to be carried out only after the fingerprint identification and verification are passed; the first frame of verification comprises fingerprint identification of the first frame of image of the fingerprint image, and after verification is passed, the finger is kept from leaving the control equipment, so that subsequent object pose control is continuously carried out.
Further, in an embodiment of the present invention, the method further includes:
setting respective angle mapping functions for different fingerprint images, and calling the corresponding angle mapping functions based on the fingerprint identification result.
In order to achieve the above object, a second aspect of the present invention provides a fingerprint image-based three-dimensional object relative pose control apparatus, including: the acquisition module is used for acquiring a fingerprint sequence image in real time; the preprocessing module is used for preprocessing the fingerprint sequence image, removing background noise and enhancing fingerprint ridges; the prediction module is used for inferring the posture information of the current finger in the three-dimensional space according to the preprocessed fingerprint sequence image; and the control module is used for mapping the attitude information into a three-dimensional control signal and controlling the relative pose of the target object in the three-dimensional space according to the three-dimensional control signal.
Further, in an embodiment of the present invention, the control module is further configured to design a mapping manner between the current three-dimensional gesture of the finger and the input signal separately according to different applications, including:
mapping the three-dimensional gesture of the finger into a three-dimensional gesture control signal of a target object;
mapping the finger gesture into a three-dimensional displacement control signal of a target object;
and mapping the finger gestures to pose control signals of the target object, wherein the operation of a plurality of fingers is mixed, part of the finger gestures are mapped to displacement control signals, and the other part of the finger gestures are mapped to pose control signals.
Further, in an embodiment of the present invention, the apparatus further includes a verification module, configured to:
before controlling the relative pose of a target object in a three-dimensional space according to a three-dimensional control signal, carrying out fingerprint identification verification on a fingerprint image, wherein the fingerprint identification verification comprises frame-by-frame verification and first frame verification; the frame-by-frame verification comprises that each frame of fingerprint image is required to be subjected to fingerprint identification and verification, and then subsequent object pose control is allowed to be carried out; the first frame of verification comprises fingerprint identification of the first frame of image of the fingerprint image, and after verification is passed, the finger is kept from leaving the control equipment, so that subsequent object pose control is continuously carried out.
Further, in an embodiment of the present invention, the apparatus further includes a personalization control module, configured to:
setting respective angle mapping functions for different fingerprint images, and calling the corresponding angle mapping functions based on the fingerprint identification result.
To achieve the above object, a third aspect of the present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the fingerprint image-based three-dimensional object relative pose control method as described above when executing the computer program.
To achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the fingerprint image-based three-dimensional object relative pose control method as described above.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a three-dimensional relative pose control method based on a fingerprint image according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart of a three-dimensional relative pose control device based on a fingerprint image according to an embodiment of the present invention.
Fig. 3 is a flowchart of a three-dimensional relative pose control system based on a fingerprint image according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating a finger gesture definition according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a coverage area of a common finger gesture provided in an embodiment of the present invention.
Fig. 6 is a schematic diagram of a control signal curve according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a pose control system for frame-by-frame verification according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a pose control system for first frame verification according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of an adaptive gesture control system based on fingerprint verification according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a three-dimensional object relative pose control method and apparatus based on fingerprint images according to an embodiment of the present invention with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for controlling a relative pose of a three-dimensional object based on a fingerprint image according to an embodiment of the present invention.
As shown in fig. 1, the method for controlling the relative pose of the three-dimensional object based on the fingerprint image comprises the following steps:
s1: collecting a fingerprint sequence image in real time;
with the continuous development of fingerprint sensing technology, besides the traditional optical fingerprint collection mode, fingerprint image data can also be acquired from various existing touch screen devices. The ridge information in the fingerprint image contains rich finger gesture information, so that the three-dimensional gesture of the current finger can be estimated according to the fingerprint image, and the finger gesture is used as a three-dimensional input signal, so that the three-dimensional gesture of a target object can be conveniently and visually controlled, wherein the target object comprises a camera, a 3D model, a mechanical arm, a spacecraft and other objects needing multi-degree-of-freedom control. Meanwhile, the finger gesture signal based on the fingerprint image can be combined with the gesture signal based on the touch screen, the diversity of gesture operation is further expanded, and the control system combined with the fingerprint identity information also has higher safety and personalized setting.
The invention is integrally divided into three stages, namely fingerprint image acquisition, finger gesture acquisition and target object pose control. In the first stage, acquiring a fingerprint sequence image in acquisition equipment, namely acquiring a fingerprint image in real time; in the second stage, predicting the three-dimensional posture of the current finger based on the acquired fingerprint sequence image, and inputting the three-dimensional posture as a subsequent control signal; in the third stage, the obtained three-dimensional gesture of the finger is used as an input signal for controlling the relative pose of the target object in the three-dimensional space. The first stage is the basic step of the invention, and the acquired fingerprint image contains the three-dimensional posture information of the current finger; the second stage estimates the three-dimensional posture of the current finger according to the fingerprint sequence image; and in the third stage, the three-dimensional gesture of the finger is used as a gesture control signal of a control system, so that the pose change of the target object in the three-dimensional space is controlled. The method comprises the steps of fingerprint image acquisition, finger three-dimensional posture estimation based on the fingerprint image and three-dimensional relative pose control of a target object. The flow chart of the invention is shown in figure 3. The invention also provides a method for realizing the security and individuation of control by combining fingerprint identification and attitude control.
Compared with a capacitive image in the traditional touch screen equipment, the fingerprint sequence image acquisition method has the advantages that the fingerprint sequence image is required to be acquired, and the fingerprint image contains more finger shapes and posture information, so that the method can be used for accurately estimating the posture of the finger in a three-dimensional space. There are many sensing technologies for acquiring fingerprint images, such as an optical fingerprint acquirer, an optical underscreen fingerprint acquirer, and an ultrasonic underscreen fingerprint acquirer, and the present invention is applicable to various fingerprint sensing technologies. Because the three-dimensional gesture of the finger needs to be estimated in real time according to the fingerprint image to control the motion of the target object, the fingerprint image data needs to be collected in real time, namely, the fingerprint sequence image data is collected.
S2: preprocessing the fingerprint sequence image, removing background noise and enhancing fingerprint ridges;
according to the information such as the trend of ridge lines in the fingerprint image, the shape of a fingerprint area and the like, the posture information of the current finger in the three-dimensional space can be estimated. Only a typical finger pose estimation algorithm is described below to aid in understanding the phase algorithm of the present invention. Specifically, according to the acquired fingerprint image, the three-dimensional posture of the current finger is estimated to serve as a subsequent control signal.
Because the fingerprint image modalities and qualities obtained by different sensors have great difference, the acquired images need to be preprocessed firstly, background noise is removed, and fingerprint ridges are enhanced. And after preprocessing the fingerprint image, estimating the three-dimensional posture of the current finger according to the fingerprint image. In the invention, the gesture estimation algorithm based on deep learning is taken as an example, the input of the algorithm is a fingerprint image after the image preprocessing step, the predicted three-dimensional gesture of the finger is output, the three-dimensional gesture of the finger is defined as the attached figure 4 and is represented by three angles, namely a roll angle alpha, a pitch angle beta and a yaw angle gamma.
S3: according to the preprocessed fingerprint sequence image, the gesture information of the current finger in the three-dimensional space is deduced;
s4: and mapping the attitude information into a three-dimensional control signal, and controlling the relative pose of the target object in the three-dimensional space according to the three-dimensional control signal.
Further, in an embodiment of the present invention, a mapping manner between the current three-dimensional gesture of the finger and the three-dimensional control signal is separately designed according to different applications, including:
mapping the three-dimensional gesture of the finger into a three-dimensional gesture control signal of a target object;
mapping the finger gesture into a three-dimensional displacement control signal of a target object;
and mapping the finger gestures to pose control signals of the target object, wherein the operation of a plurality of fingers is mixed, part of the finger gestures are mapped to displacement control signals, and the other part of the finger gestures are mapped to pose control signals.
Obtaining the three-dimensional gesture P ═ P (P) of the finger according to the fingerprint imageα，pβ，pγ) This pose may then be mapped into a three-dimensional control signal used to control the pose of a target object (e.g., a camera, a 3D model, etc.) in three-dimensional space. Because the gestures that can be conveniently made by the fingers are limited (see the attached figure 5), in order to completely and fully control the three-dimensional pose of the target object, the finger gesture zero point P needs to be appointed firstly0The definition of the zero point may be various, the finger gesture of the first frame image at the beginning of the interaction may be selected, or may be set to a fixed value, where the roll angle is 0 °, the pitch angle is-45 °, and the yaw angle is 0 °, for example, the zero point P of the relative gesture of the finger gesture obtained from the fingerprint image at the first stage of the computation is taken as the example0Relative posture of
P′＝(p′α，p′β，p′γ)，
And maps it to a control signal. The mapping mode between the three-dimensional gesture of the finger and the control signal can be independently designed according to different specific applications, and three typical mapping modes are taken as examples in the invention to explain a relative pose control system.
And mapping the three-dimensional gesture of the finger into a three-dimensional gesture control signal of the target object. Setting Sα、SβAnd SγAttitude control signals of the target object at roll, pitch and yaw angles are respectively:
Sα＝g(α′)
Sβ＝g(β′)
Sγ＝g(γ′)
the g (-) function defines a control signal curve representing the mapping manner from the finger gesture to the object gesture control signal, and one control signal curve is defined as shown in fig. 6, wherein theta is the three-dimensional gesture of the finger, and S is the control signal. Controlling the signal S according to the mapped attitudeα、SβAnd SγThe current pose Q of the target object is (Q)x，qy，qz，q，α，qβ，qγ) Is changed to obtain a new pose Q '═ (Q'x，q′y，q′z，q′α，q′β，q′γ)：
q′α＝qα+Δt·Sα
q′β＝qβ+Δt·Sβq′γ＝qγ+Δt·SγWhere at is the adjacent frame time interval.
And mapping the finger gesture into a three-dimensional position control signal of the target object. Setting Sx、SyAnd SzX, Y for the position control signal of the target object in the Z direction:
Sx＝g(α′)
Sy＝g(β′)
Sz＝g(γ′)
one control signal curve is defined as shown in fig. 6, but the control signal curve may be set differently from the attitude control signal map. Controlling signal S according to the mapped positionx、SyAnd SzThe current pose Q of the target object is (Q)x，qy，qz，qα，qβ，qγ) Is changed to obtain a new pose Q '═ Q'x，q′y，q′z，q′α，q′β，q′γ)：
q′x＝qx+Δt·Sx
q′y＝qy+Δt·Sy
q′z＝qz+Δt·Sz
The finger gestures are mapped to pose control signals of a target object, namely, the operation of a plurality of fingers is mixed, part of the finger gestures are mapped to position control signals, and the other part of the finger gestures are mapped to pose control signals. A typical application scenario is where one finger controls the three-dimensional orientation of an object and the other finger controls the three-dimensional displacement of the object.
Several common target object control applications of the three-dimensional relative pose control system of the present invention are exemplified below. For vehicle control, the roll angle of the fingers can be mapped into left and right steering control of the vehicle, and the pitch angle can be mapped into acceleration and deceleration control; for camera control, the roll angle of the fingers can be mapped into left-right rotation of the camera, the pitch angle can be mapped into up-down pitching of the camera, and the yaw angle can be mapped into focal length control of the camera; for quad-rotor aircraft control, the roll angle of the fingers can be mapped as the left-right roll and displacement of the aircraft, the pitch angle can be mapped as the front-back roll and displacement of the aircraft, and the yaw angle can be mapped as the up-down displacement of the aircraft; for fixed wing aircraft control, the mapping mode is more direct, and the roll angle of the fingers can be mapped into roll control, the pitch angle can be mapped into pitch control, the yaw angle can be mapped into acceleration and deceleration control and the like of the aircraft.
Further, in an embodiment of the present invention, before controlling the relative pose of the target object in the three-dimensional space according to the three-dimensional control signal, the method further includes:
performing fingerprint identification verification on the fingerprint image, including frame-by-frame verification and first frame verification; the frame-by-frame verification comprises that each frame of fingerprint image is required to be subjected to fingerprint identification and verification, and subsequent object pose control is allowed to be carried out only after the fingerprint identification and verification are passed; the first frame of verification comprises fingerprint identification of the first frame of image of the fingerprint image, and after verification is passed, the finger is kept from leaving the control equipment, so that subsequent object pose control is continuously carried out.
In addition to the three-dimensional object pose control based on the finger gesture, the method can be combined with gesture signals based on a touch screen or a fingerprint image, and the diversity of three-dimensional object control modes is further expanded. In addition, the safety and privacy authority control of the control system can be further widened by combining the existing fingerprint identification technology with a fingerprint-based three-dimensional object relative pose control system. For example, in a highly confidential control system, only legitimate registered users are allowed to perform control. Two methods of introducing fingerprint recognition are described below. Fig. 7 is a schematic diagram of a frame-by-frame verification method, in which each frame of image is verified by the fingerprint identification system before subsequent object pose control is allowed. Fig. 8 is a schematic diagram of a first frame of verification mode, at this time, fingerprint identification is only required to be performed on a first frame of image when a finger is pressed down, subsequent object pose control can be continuously performed as long as the finger does not leave the control device after verification is passed, and once the finger leaves, identity verification needs to be performed again.
Further, in an embodiment of the present invention, the method further includes:
setting respective angle mapping functions for different fingerprint images, and calling the corresponding angle mapping functions based on the fingerprint identification result.
In addition, by combining fingerprint identification technology with fingerprint-based gesture control, individualized control parameters can be achieved. For example, for a plurality of registered fingerprints (fingerprints of different users or different fingerprints of one user), respective angle mapping functions are set. The corresponding angle mapping function is called based on the result of fingerprint recognition, and the default angle mapping function is used for the unregistered finger (as shown in fig. 9).
The fingerprint image-based three-dimensional object relative pose control method provided by the embodiment of the invention can predict the three-dimensional pose of a certain finger given the fingerprint image of the finger collected on certain interaction equipment, and is used as a novel human-computer interaction system for controlling a target object in a real world or a virtual world. In the invention, the three-dimensional posture of the current finger is predicted according to the 2D fingerprint image, and then the three-dimensional posture of the finger is used as an input signal to control a target object in the real world or the virtual world. In the invention, the input of the three-dimensional relative posture control system is a 2D fingerprint image, and the output is the three-dimensional posture of the current finger, which is used for controlling the three-dimensional relative posture of the target object. The three-dimensional relative pose control system can effectively expand the existing man-machine interaction mode and provides convenience for controlling the pose of an object in a three-dimensional space.
In order to realize the embodiment, the invention further provides a three-dimensional object relative pose control device based on the fingerprint image.
Fig. 2 is a schematic structural diagram of a three-dimensional object relative pose control device based on a fingerprint image according to an embodiment of the present invention.
As shown in fig. 2, the fingerprint image-based three-dimensional object relative pose control apparatus includes: the system comprises an acquisition module 10, a preprocessing module 20, a prediction module 30 and a control module 40, wherein the acquisition module is used for acquiring a fingerprint sequence image in real time; the preprocessing module is used for preprocessing the fingerprint sequence image, removing background noise and enhancing fingerprint ridges; the prediction module is used for inferring the posture information of the current finger in the three-dimensional space according to the preprocessed fingerprint sequence image; and the control module is used for mapping the attitude information into a three-dimensional control signal and controlling the relative pose of the target object in a three-dimensional space according to the three-dimensional control signal.
Further, in an embodiment of the present invention, the control module is further configured to design a mapping manner between the current three-dimensional gesture of the finger and the input signal separately according to different applications, including:
mapping the three-dimensional gesture of the finger into a three-dimensional gesture control signal of a target object;
mapping the finger gesture into a three-dimensional displacement control signal of a target object;
and mapping the finger postures into pose control signals of the target object, wherein the operation of a plurality of fingers is mixed, part of the finger postures are mapped into displacement control signals, and the other part of the finger postures are mapped into posture control signals.
Further, in an embodiment of the present invention, the apparatus further includes a verification module, configured to:
before controlling the relative pose of a target object in a three-dimensional space according to a three-dimensional control signal, carrying out fingerprint identification verification on a fingerprint image, wherein the fingerprint identification verification comprises frame-by-frame verification and first frame verification; the frame-by-frame verification comprises that each frame of fingerprint image is required to be subjected to fingerprint identification and verification, and subsequent object pose control is allowed to be carried out only after the fingerprint identification and verification are passed; the first frame of verification comprises fingerprint identification of the first frame of image of the fingerprint image, and after verification is passed, the finger is kept from leaving the control equipment, so that subsequent object pose control is continuously carried out.
Further, in an embodiment of the present invention, the apparatus further includes a personalization control module, configured to:
setting respective angle mapping functions for different fingerprint images, and calling the corresponding angle mapping functions based on the fingerprint identification result.
To achieve the above object, a third aspect of the present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the fingerprint image-based three-dimensional object relative pose control method as described above when executing the computer program.
To achieve the above object, a fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method for controlling relative pose of a three-dimensional object based on fingerprint images as described above.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A three-dimensional object relative pose control method based on fingerprint images is characterized by comprising the following steps:
collecting a fingerprint sequence image in real time;
preprocessing the fingerprint sequence image, removing background noise and enhancing fingerprint ridges;
according to the preprocessed fingerprint sequence image, the gesture information of the current finger in the three-dimensional space is deduced;
and mapping the attitude information into a three-dimensional control signal, and controlling the relative pose of the target object in a three-dimensional space according to the three-dimensional control signal.
2. The method of claim 1, wherein the mapping between the current three-dimensional gesture of the finger and the three-dimensional control signal is designed individually according to different applications, and comprises:
mapping the three-dimensional gesture of the finger into a three-dimensional gesture control signal of a target object;
mapping the finger gesture into a three-dimensional displacement control signal of a target object;
and mapping the finger gestures to pose control signals of the target object, wherein the operation of a plurality of fingers is mixed, part of the finger gestures are mapped to displacement control signals, and the other part of the finger gestures are mapped to pose control signals.
3. The method of claim 1, further comprising, prior to controlling the relative pose of the target object in three-dimensional space according to the three-dimensional control signals:
performing fingerprint identification verification on the fingerprint image, including frame-by-frame verification and first frame verification; the frame-by-frame verification comprises that each frame of fingerprint image is required to be subjected to fingerprint identification and verification, and subsequent object pose control is allowed to be carried out only after the fingerprint identification and verification are passed; the first frame verification comprises fingerprint identification of the first frame image of the fingerprint image, and after the verification is passed, the finger is kept from leaving the control equipment, so that subsequent object pose control is continuously carried out.
4. The method of claim 1 or 3, further comprising:
setting respective angle mapping functions for different fingerprint images, and calling corresponding angle mapping functions based on the fingerprint identification result.
5. A three-dimensional object relative pose control device based on fingerprint images is characterized by comprising:
the acquisition module is used for acquiring a fingerprint sequence image in real time;
the preprocessing module is used for preprocessing the fingerprint sequence image, removing background noise and enhancing fingerprint ridges;
the prediction module is used for inferring the posture information of the current finger in the three-dimensional space according to the preprocessed fingerprint sequence image;
and the control module is used for mapping the attitude information into a three-dimensional control signal and controlling the relative pose of the target object in a three-dimensional space according to the three-dimensional control signal.
6. The apparatus of claim 5, wherein the control module is further configured to individually design a mapping between the current three-dimensional gesture of the finger and the input signal according to different applications, and the mapping comprises:
mapping the three-dimensional gesture of the finger into a three-dimensional gesture control signal of a target object;
mapping the finger gesture into a three-dimensional displacement control signal of a target object;
and mapping the finger postures into pose control signals of the target object, wherein the operation of a plurality of fingers is mixed, part of the finger postures are mapped into displacement control signals, and the other part of the finger postures are mapped into posture control signals.
7. The apparatus of claim 5, further comprising a verification module to:
before controlling the relative pose of a target object in a three-dimensional space according to the three-dimensional control signal, performing fingerprint identification verification on the fingerprint image, wherein the fingerprint identification verification comprises frame-by-frame verification and first frame verification; the frame-by-frame verification comprises that each frame of fingerprint image is required to be subjected to fingerprint identification and verification, and subsequent object pose control is allowed to be carried out only after the fingerprint identification and verification are passed; the first frame of verification comprises fingerprint identification of the first frame of image of the fingerprint image, and after verification is passed, the finger is kept from leaving the control equipment, so that subsequent object pose control is continuously carried out.
8. The apparatus of claim 5, further comprising a personalization control module to:
setting respective angle mapping functions for different fingerprint images, and calling corresponding angle mapping functions based on the fingerprint identification result.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the fingerprint image based three-dimensional object relative pose control method according to any one of claims 1 to 4.
10. A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the fingerprint image-based three-dimensional object relative pose control method according to any one of claims 1 to 4.
CN202210113999.5A 2022-01-30 2022-01-30 Fingerprint image-based three-dimensional object relative pose control method and device Pending CN114625244A (en)

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