CN102508578A - Projection positioning device and method as well as interaction system and method - Google Patents
Projection positioning device and method as well as interaction system and method Download PDFInfo
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- CN102508578A CN102508578A CN2011103026391A CN201110302639A CN102508578A CN 102508578 A CN102508578 A CN 102508578A CN 2011103026391 A CN2011103026391 A CN 2011103026391A CN 201110302639 A CN201110302639 A CN 201110302639A CN 102508578 A CN102508578 A CN 102508578A
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- 230000003993 interaction Effects 0.000 title abstract description 13
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- 201000009310 astigmatism Diseases 0.000 claims description 3
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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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
- G06F3/0425—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means using a single imaging device like a video camera for tracking the absolute position of a single or a plurality of objects with respect to an imaged reference surface, e.g. video camera imaging a display or a projection screen, a table or a wall surface, on which a computer generated image is displayed or projected
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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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/0304—Detection arrangements using opto-electronic means
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Abstract
The invention discloses a projection positioning device, comprising a projector, a camera and a processing device, wherein the projector is used for projecting regularly-set strip patterns on the surface of an object to be detected; the camera is used for shooting a modulated and deformed strip image according to the shape of the surface of the object to be detected; and the processing device is used for determining a space position and/or a position change of the object to be detected according to the deformed strip image. Furthermore, the invention discloses a corresponding projection positioning method, an interaction system and an interaction method. By projecting the strip patterns on the surface of the object to be detected and capturing and analyzing the deformed strip image modulated by the evenness of the surface of the object to be detected, the higher-precise position and the faster-speed real-time trace are carried out on the object to be detected, such as a human hand with complex three-dimensional postures, so that the accurate and smooth motion sensing or touch operation are realized.
Description
Technical field
The present invention relates to carry out the technology of man-machine interaction, the interactive system and the method that particularly relate to projection locating device and method and locate based on projection.
Background technology
The develop rapidly of Along with computer technology, People more and more are showed more colourful content through multimedia equipment widely, like sound, image, literal and video.The projector equipment that accordingly, can demonstrate the large format picture has also obtained increasingly extensive application and development fast.Yet early stage optical projection system can't realize the direct interactive operation between people and projection screen, has limited its range of application greatly, like occasions such as classroom instruction, Entertainments; Can't satisfy people and pursue natural more, as to have more feeling of immersion man-machine interaction experience.
At present both at home and abroad ripe interactive projection system makes up based on electronic whiteboard mostly, mainly comprises the type of skills such as touch-screen type, infrared array formula, induction and laser scan type.Its advantage is that reliability of positioning and precision are higher, and tracking velocity is very fast; Shortcoming is all need rely on special projection screen, can't be implemented in the interactive function on the aphylactic map projection plane, installs and the use inconvenience, and cost is higher.Another kind of interactive projection system then adopts special mutual pen type equipment; Like ultrasound wave pen, infrared light electroprobe, optical mouse pen etc.; Cooperate special-purpose receiving sensor, can accurately locate pen tip position, be implemented in writing and touch control operation on the aphylactic map projection plane.But the user must can't realize free-hand interactive function by interaction pen when using this kind equipment, this brings certain constraint to the user, has weakened the interactive experience of " nature ".
In recent years, as the research direction in the field of human-computer interaction, interactive mode intuitively is provided naturally, and interactive experience easily true to nature, has become the focus of research rapidly based on the Gesture Recognition of visual pattern.Present research work concentrates on the hand-shaped characteristic extraction algorithm mostly, and based on pattern-recognition dynamically or the static gesture recognizer, it all is two-dimensional process and parsing to images of gestures in essence.And free-hand interactive function, then need be to the three-dimensional information of images of gestures, particularly the locus of finger tip and/or change in location are accurately measured and real-time follow-up, for example free-hand touch-control, free-hand write etc.To this problem, existing solution is mainly based on the stereovision technique of one or more detector, with finger tip locus, location and/or change in location.Yet, extracting image three-dimensional information based on monocular or multi-eye stereo visual theory, spatial positioning accuracy is limited, is difficult to realize meticulous " touch-control " operation.In addition, visual pattern contains much information, and be subject to disturb, thereby image processing algorithm is comparatively complicated, is difficult to realize real time location tracking, and especially for the situation of multi-point touch, calculated amount is multiplied especially.Therefore, also be difficult to satisfy the practical requirement of people's " accurately touch-control " at present based on the interaction technique of visual pattern.
Summary of the invention
One object of the present invention is exactly the deficiency to prior art; A kind of projection locating device and method are provided; Can for example have a staff of complex three-dimensional gesture to testee and carry out location, degree of precision ground and fast speed ground real-time follow-up, thereby realize precisely the body sense or the touch control operation of smoothness.
Another object of the present invention provides a kind of interactive system and exchange method based on the projection location, can obtain accurately quick, natural and tripping man-machine interaction and experience.
For realizing above-mentioned purpose, the present invention adopts following technical scheme:
A kind of projection localization method may further comprise the steps:
A. it is surperficial to testee to have the stripe pattern projection that sets rule;
B. absorb the deforming stripe image of being modulated by the testee surface configuration;
C. confirm the locus and/or the change in location of testee according to said deforming stripe image.
Preferably, said method is used in projector in projection screen projected image process, and said candy strip is to project to the testee surface in every time slot between a frame or every separated multiple image.
Preferably; The locus of said testee and/or change in location are to confirm through the data reconstruction that the topography measurement algorithm obtains object surface tri-dimensional profile, and said topography measurement algorithm is selected from Fourier transform topography measurement method FTP, phase shift topography measurement method PSP, modulation and measures among topography measurement method MMP, the space phase detection method SPD one or more.
Preferably, said candy strip comprises: the striped combination on the space that adapts with the different parts characteristic of testee, and/or the striped combination on the sequential that adapts with the posture changing characteristic of testee.
Preferably, the factor of said setting rule comprises shape, thickness, spacing, gray scale, brightness, contrast and the projecting direction of striped.
Preferably, striped be shaped as ring-type or linearity is wavy or latticed.
Preferably, said step c comprises: implement coarse positioning earlier to lock the testee region substantially, it is accurately located again; And/or utilize fringe gray level information to carry out stripe subdividing and handle.
Preferably; Said testee is a staff; Before the step a,, choose multi-form candy strip respectively and carry out simulation calculating through setting up the staff three-dimensional model; Analyze the adaptive faculty of every kind of candy strip, preestablish the candy strip that can supply projection different hand shapes, gesture, hand position, the colour of skin and motor pattern.
Preferably, said candy strip is the non-visible light candy strip, for example the infrared ray candy strip.
Preferably, the locus of testee and/or change in location is definite through Error processing among the step c, and said Error processing comprises:
To the physical location and the measuring position analytical error source of testee, set up error model;
Analyze the influence of the optical property factor of projection lens and pick-up lens to error, and/or analytic system whole geometry structure is to the influence of error, said optical property factor comprises optical distortion and astigmatism at least;
Through setting up the error correction table or drawing the error correction curve and carry out error correction and compensation.
A kind of exchange method based on the projection location is used for carrying out comprising alternately with the system that provides image to show:
The step of display image on display screen;
According to aforementioned any projection localization method with respect to the step that is shown the framing testee;
According to the step of positioning result to said system feedback control information.
A kind of projection locating device comprises:
Projector is used for having the stripe pattern projection that sets rule surperficial to testee;
Video camera is used to absorb the deforming stripe image of being modulated by the testee surface configuration;
Treating apparatus is used for confirming according to said deforming stripe image the locus and/or the change in location of testee.
Preferably, said projector also is used for to the projection screen projected image, and said candy strip is to project to the testee surface in every time slot between a frame or every separated multiple image.
Preferably, said testee is staff or touching control.
A kind of interactive system based on projection location comprises display screen and according to aforementioned any projection locating device.
Preferably, said display screen is LCD display or LED display or projection screen.
Beneficial technical effects of the present invention is:
Stripe pattern projection through having certain rule is surperficial to testee; The deforming stripe image that picked-up is modulated by the testee surface undulation; And the deforming stripe image handled and analyze, promptly can confirm locus and/or the change in location of detected object, thus with respect to screen display content; The present invention overcome traditional limited based on the visible sensation image processing process bearing accuracy, be subject to disturb, shortcoming that False Rate is higher; Can obtain high orientation precision and real-time follow-up speed faster, the free-hand body sense that especially can be implemented in the accurate smoothness on any display panel is controlled, and has remarkable advantages such as speed is fast, precision is high, measurement range is big; Obtained accurately smooth man-machine interaction effect directly perceived naturally, and well controlled experience for the user provides.The present invention can be applicable to like various man-machine interaction occasions such as classroom instruction, Entertainments, reaches the man-machine interaction that has more feeling of immersion and experiences.
Under preferred embodiment; The present invention can be used on and carries out the projection location in the reciprocal process of user and projection display system; Through candy strip is projected to the testee surface in every time slot between a frame or every separated multiple image, can make projector be used for the projection of projection screen imaging and candy strip simultaneously.
Description of drawings
Fig. 1 is the structural representation of a projection locating device of the present invention and an embodiment of interactive system;
Fig. 2 is the functional block diagram of an embodiment of projection locating device of the present invention;
Fig. 3 is the process flow diagram of an embodiment of projection localization method of the present invention;
Fig. 4 is the synoptic diagram of stripe pattern projection and capture process among the embodiment;
Fig. 5 implements coarse positioning and pinpoint synoptic diagram among the embodiment.
Embodiment
Below combine accompanying drawing that the present invention is further specified through embodiment.
Referring to Fig. 1 and Fig. 2; In one embodiment, the projection locating device comprises projector, projector and treating apparatus, wherein; Projector is used for having the stripe pattern projection that sets rule surperficial to testee; Video camera is used to absorb the deforming stripe image of being modulated by the testee surface configuration, and sends obtaining image information to treating apparatus for example computing machine, and treating apparatus is used for confirming according to said deforming stripe image the locus and/or the change in location of testee.Testee can be staff or use touching control alternately; To the deforming stripe image that absorbs; Corresponding topography measurement algorithm capable of using is handled and is obtained the data reconstruction of object surface tri-dimensional profile, thereby confirms staff or use the locus and/or the change in location of touching control alternately.
In a preferred embodiment, said projector also is used for to the projection screen projected image, and said candy strip is to project to the testee surface in every time slot between a frame or every separated multiple image.Therefore, present embodiment projection locating device is the man-machine interaction that is used for optical projection system, and the projecting function of shared projector is located in the projection of projection screen imaging and candy strip.The interactive system that the optical projection system that constitutes is thus promptly located based on projection.
With reference to Fig. 1, the each several part of the interactive system of a preferred embodiment is explained as follows:
Projector is used for to the projection screen projected image, and is used between picture frame, projecting the candy strip of setting rule.Projector comprises optical system and driving circuit, can launch candy strip in the gap that normal picture shows.
Video camera is used to take digital striped, and the striped after will changing is transferred to computing machine.Video camera preferably adopts high-speed camera, like ccd detector.
Can adopt ultrashort apart from projector and wide-angle camera to avoid being blocked of testee as far as possible.
Projection screen can be the screen that can be used for projection arbitrarily.
Computing machine is as the control core of total system; Be responsible for control projector work and analyze the deforming stripe pattern that video camera is taken; It obtains the data reconstruction of object surface tri-dimensional profile through certain algorithm, analyzes and confirm the locus and/or the change in location of mutual object.Preferably, computing machine adopts certain error model to reduce positioning error.
Except adopting the projection interactive system of projection screen, interactive system also can be to adopt the interactive system of other types display screen, and these display screens for example are LCD display or LED display, can be touch-screen or non-touch-screen.Through to testee staff projected fringe pattern for example; Can realize testee with respect to the display screen especially location of the displaying contents on it; Thereby user's Three-Dimensional Dynamic gesture is fed back to the treating apparatus of interactive system; Treating apparatus identifies these Three-Dimensional Dynamic gestures and converts the control command of system to, realizes that human body temperature type is mutual.
With reference to Fig. 3, the projection localization method of a kind of embodiment may further comprise the steps:
It is surperficial to testee that step a. will have the stripe pattern projection that sets rule;
The deforming stripe image that step b. picked-up is modulated by the testee surface configuration;
Step c is confirmed the locus and/or the change in location of testee according to said deforming stripe image.
In more excellent embodiment, this method is to be used in the process of optical projection system projection imaging, and the projector that can use optical projection system is whenever at a distance from a frame or every surperficial to testee at a distance from the time slot projected fringe pattern between the multiple image.More preferably, in each work period, projector is at first launched a two field picture, before the next frame image projection, launches candy strip on screen and testee.Gap at every two field picture all projects candy strip, can follow the tracks of the variation of gesture rapidly, is located quickly and accurately.
The for example thin rod of object of can hand or being used for interactive identification carries out interactive operation.During as testee, its measurand can be the variation of finger position, gesture motion and body gesture etc. for human body.
Candy strip can be realized through programming setting and changing, and projector is in the gap that picture frame is launched, and the digital candy strip that programming is good is thrown into screen and is used to carry out mutual object.
From in shape, candy strip can be ring-shaped stripe, rectangle striped, wire striped etc., also can adopt the localization method of multiple candy strip combination.Candy strip preferably invisible light constitutes, for example infrared digital striped.
According to the characteristic of testee and the performance of different candy strips, can be through make up the mode of locating with striped, to obtain higher bearing accuracy and response speed.In preferred embodiment, said candy strip comprises the striped combination on the space that adapts with the different parts of testee (like finger fingertip, refer to body and the back of the hand) characteristic.
As shown in Figure 4, the candy strip that projects in each picture frame gap can also be the striped combination on the sequential that adapts with the posture changing characteristic of testee such as gesture change, motor pattern.For example; Go out R (redness), G (green), B different colours such as (bluenesss) in projection respectively; After forming colour projection's image, at the striped 1 of a time slot projection twill formula, at the striped 2 of next time slot projection skewed crossing grid type; At the striped 3 of next time slot projection square node formula again, thereby better testee is implemented the location.
In some preferred embodiments, adopt high-speed camera to take the deforming stripe image that the testee surface undulation is modulated, the candy strip after each distortion of synchronous acquisition is delivered to computing machine.Computing machine to adopt image carry out analyzing and processing through certain algorithm, according to the staff three-dimensional model of setting up in advance, obtain the three-D profile and the fingertip location information of staff.Utilize corresponding topography measurement algorithm, can obtain the variation stripe pattern that body surface rises and falls and modulated.The topography measurement algorithm can be a kind of or combination in Fourier transform topography measurement method (FTP), phase shift topography measurement method (PSP), modulation measurement topography measurement method (MMP), the space phase detection method (SPD) etc.
When setting up the staff three-dimensional model; Can choose multi-form striped respectively and carry out simulation calculating; Through parameters such as adjustment fringe spacing, projecting directions, analyze the adaptive faculty of every kind of candy strip to different hand shapes, confirm performance parameters such as bearing accuracy, tracking velocity.Through studying different stripeds to different hand shape adaptive facultys, project suitable striped, can improve bearing accuracy and sensitivity.During test, can be through on projection screen, choosing some standard points, measuring system is in the static immobilization precision and the dynamic responding speed at diverse location place.For example, can point or thin rod carries out touch control operation, check touch-control success ratio and bearing accuracy: fast moving finger or thin rod, travel through whole projection screen, detect its tracking velocity; Test hand shape, the colour of skin, hand position (like finger tip), change the influence of factors such as hand, hand posture and motor pattern to system performance, employing can obtain the striped of located higher performance or the projective patterns of striped combination.
In some preferred embodiments; The analyzing and processing of computing machine also comprises the processing to error effect; This processing can comprise: come the analytical error source to actual position (can obtain the physical location of object with corresponding surveying instrument) and measuring position, set up error model; Factors such as the optical distortion of analysis projection lens and pick-up lens, astigmatism are to the influence of error, and analytic system whole geometry structure is to the influence of error; Methods such as use error table, Error Curve Fitting, estimation of error are carried out error correction and compensation.Through eliminating the influence of error as much as possible, can access more accurate in locating and tracking.According to these embodiment; At first set up error model, include numerous factors that cause error in the error model, find out and cause main error according to source of error; An error effect factor normally need considering of optical property factor wherein; Thereby can set up the error correction table or draw the error correction curve, in order to error is proofreaied and correct and compensated according to causing main error.If source of error in the cause of projective patterns, then can be changed the projective patterns type.
Further, especially can adopt following better locator meams.In these preferred embodiments, according to the candy strip information that collects, " the thick smart two-stage " stage of adopting implements the location and follows the tracks of, and at first the quick lock in fingertip area is accurately located it again.Adopt " thick smart two-stage " location tracking mode as shown in Figure 5, for the staff as testee, at first the approximate region A of quick lock in finger tip accurately locatees it and confirms finger tip precise region B.
In some preferred embodiments, also can carry out stripe subdividing and handle through fringe gray level information, further improve measuring accuracy and tracking velocity.
Above content is to combine concrete preferred implementation to the further explain that the present invention did, and can not assert that practical implementation of the present invention is confined to these explanations.For the those of ordinary skill of technical field under the present invention, under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace, all should be regarded as belonging to protection scope of the present invention.
Claims (16)
1. a projection localization method is characterized in that, may further comprise the steps:
A. it is surperficial to testee to have the stripe pattern projection that sets rule;
B. absorb the deforming stripe image of being modulated by the testee surface configuration;
C. confirm the locus and/or the change in location of testee according to said deforming stripe image.
2. the method for claim 1 is characterized in that, said method is used in projector in projection screen projected image process, and said candy strip is to project to the testee surface in every time slot between a frame or every separated multiple image.
3. the method for claim 1; It is characterized in that; The locus of said testee and/or change in location are to confirm through the data reconstruction that the topography measurement algorithm obtains object surface tri-dimensional profile, and said topography measurement algorithm is selected from Fourier transform topography measurement method FTP, phase shift topography measurement method PSP, modulation and measures among topography measurement method MMP, the space phase detection method SPD one or more.
4. like each described method of claim 1-3; It is characterized in that; Said candy strip comprises: the striped combination on the space that adapts with the different parts characteristic of testee, and/or the striped combination on the sequential that adapts with the posture changing characteristic of testee.
5. method as claimed in claim 4 is characterized in that, the factor of said setting rule comprises the shape of striped, thickness, spacing, gray scale, brightness, contrast and projecting direction.
6. like each described method of claim 1-3, it is characterized in that, striped be shaped as ring-type or linearity is wavy or latticed.
7. like each described method of claim 1-3, it is characterized in that said step c comprises: implement coarse positioning earlier to lock the testee region substantially, again it is accurately located; And/or utilize fringe gray level information to carry out stripe subdividing and handle.
8. like each described method of claim 1-3; It is characterized in that said testee is a staff, before the step a; Through setting up the staff three-dimensional model; Choose multi-form candy strip respectively and carry out simulation calculating, analyze the adaptive faculty of every kind of candy strip, preestablish the candy strip that can supply projection different hand shapes, gesture, hand position, the colour of skin and motor pattern.
9. each described method of claim 1-3 is characterized in that, said candy strip is the for example candy strip of infrared ray formation of non-visible light.
10. each described method of claim 1-3 is characterized in that, the locus of testee and/or change in location is definite through Error processing among the step c, and said Error processing comprises:
To the physical location and the measuring position analytical error source of testee, set up error model;
Analyze the influence of the optical property factor of projection lens and pick-up lens to error, and/or analytic system whole geometry structure is to the influence of error, said optical property factor comprises optical distortion and astigmatism at least;
Through setting up the error correction table or drawing the error correction curve and carry out error correction and compensation.
11. the exchange method based on the projection location is used for carrying out it is characterized in that alternately with the system that provides image to show, comprising:
The step of display image on display screen;
Be shown the step of framing testee relatively according to each described projection localization method of claim 1-10;
According to the step of positioning result to said system feedback control information.
12. a projection locating device is characterized in that, comprising:
Projector is used for having the stripe pattern projection that sets rule surperficial to testee;
Video camera is used to absorb the deforming stripe image of being modulated by the testee surface configuration;
Treating apparatus is used for confirming according to said deforming stripe image the locus and/or the change in location of testee.
13. projection locating device as claimed in claim 12 is characterized in that, said projector also is used for to the projection screen projected image, and said candy strip is to project to the testee surface in every time slot between a frame or every separated multiple image.
14., it is characterized in that said testee is staff or touching control like claim 12 or 13 described projection locating devices.
15. the interactive system based on projection location is characterized in that, comprises display screen and according to each described projection locating device of claim 12-14.
16. interactive system as claimed in claim 15 is characterized in that, said display screen is LCD display or LED display or projection screen.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110302639.1A CN102508578B (en) | 2011-10-09 | 2011-10-09 | Projection positioning device and method as well as interaction system and method |
| HK12108794.7A HK1168166A1 (en) | 2011-10-09 | 2012-09-07 | Projection positioning device and method, interactive system and interactive method |
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| CN201110302639.1A CN102508578B (en) | 2011-10-09 | 2011-10-09 | Projection positioning device and method as well as interaction system and method |
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| CN103902035A (en) * | 2012-12-24 | 2014-07-02 | 财团法人工业技术研究院 | Three-dimensional interaction device and control method thereof |
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| CN111788433A (en) * | 2018-03-07 | 2020-10-16 | Bsh家用电器有限公司 | Interaction module |
| CN111788432A (en) * | 2018-03-07 | 2020-10-16 | Bsh家用电器有限公司 | Interaction module |
| CN113758437A (en) * | 2021-11-05 | 2021-12-07 | 北京创米智汇物联科技有限公司 | Non-contact deformation monitoring system and method |
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| CN107632744A (en) * | 2017-09-09 | 2018-01-26 | 深圳大学 | A kind of desktop alternative projection system and control method |
| CN107786816A (en) * | 2017-09-14 | 2018-03-09 | 天津大学 | Adaptive projecting method based on exposure compensating |
| CN111788433A (en) * | 2018-03-07 | 2020-10-16 | Bsh家用电器有限公司 | Interaction module |
| CN111788432A (en) * | 2018-03-07 | 2020-10-16 | Bsh家用电器有限公司 | Interaction module |
| CN111788433B (en) * | 2018-03-07 | 2022-12-27 | Bsh家用电器有限公司 | Interaction module |
| CN109591033A (en) * | 2018-09-28 | 2019-04-09 | 广州智伴人工智能科技有限公司 | A kind of non-contact type human-machine interaction system |
| CN113758437A (en) * | 2021-11-05 | 2021-12-07 | 北京创米智汇物联科技有限公司 | Non-contact deformation monitoring system and method |
| CN114820670A (en) * | 2022-03-23 | 2022-07-29 | 合肥嘉石科普服务有限公司 | Laser projection interaction method, system and device |
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| Publication number | Publication date |
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| CN102508578B (en) | 2015-07-22 |
| HK1168166A1 (en) | 2012-12-21 |
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