CN103632340A - Object tracking apparatus and operating method thereof - Google Patents

Object tracking apparatus and operating method thereof Download PDF

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CN103632340A
CN103632340A CN 201210307139 CN201210307139A CN103632340A CN 103632340 A CN103632340 A CN 103632340A CN 201210307139 CN201210307139 CN 201210307139 CN 201210307139 A CN201210307139 A CN 201210307139A CN 103632340 A CN103632340 A CN 103632340A
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object
image
background
tracking apparatus
information
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CN 201210307139
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CN103632340B (en )
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高铭璨
杨恕先
程瀚平
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原相科技股份有限公司
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Abstract

The invention relates to an object tracking apparatus comprising a light source, an image sensor and a processing unit. The light source gives out light at a luminescence frequency. The image sensor outputs an operation image when the light source is lightened and outputs a background image when the light source is turned off. And the processing unit is used for solving background information of the background image, calculating a difference image of the operation image and the background image, solving object information of the difference image and comparing the background information with the object information to eliminate background noises.

Description

物体追踪装置及其操作方法 Object tracking apparatus and operating method

技术领域 FIELD

[0001] 本发明涉及一种人机界面装置,特别是涉及一种可消除移动背景噪声的光学物体追踪装置及其操作方法。 [0001] The present invention relates to a human-machine interface device, particularly to a moving object to eliminate background noise optical apparatus and method for tracking operation.

背景技术 Background technique

[0002] 已知光学物体追踪装置通常包括光源、图像传感器及处理单元;其中,所述光源用以照明接近物体;所述图像传感器用以获取包括所述物体的复数图像帧;所述处理单元则根据所述这些图像帧追踪所述物体的动作。 [0002] Known optical object tracking apparatus generally includes a light source, an image sensor and a processing unit; wherein the light source for illuminating the object proximity; the image sensor to acquire the complex image frame comprises an object; the processing unit the tracking operation of the object based on the image frames.

[0003] 然而,所述图像传感器所获取的所述这些图像帧中,除了所述物体图像外,常会另包括有环境光源图像。 [0003] However, the image sensor of the image frames acquired in addition to the object image, the regular image further comprises ambient light. 已知技术中,为了消除所述环境光源图像,所述图像传感器可获取相对所述光源点亮的亮图像帧以及相对所述光源熄灭的暗图像帧,所述处理单元则计算所述亮图像帧及所述暗图像帧的差分图像以消除所述环境光源图像。 Known in the art, in order to eliminate the ambient light source image, the image sensor may obtain the bright image of the light source is turned relative to the frame, and the dark image frame relative to the light source turned off, the processing unit of the bright image is calculated difference image frame and the darker the image frame to eliminate ambient light source image. 此种噪声消除方法虽可消除固定环境光源所造成的噪声,然而当所述环境光源的位置随时间改变时,仅单纯计算亮暗图像帧间的差分图像并无法有效消除背景噪声,因而所述处理单元则无法根据所述差分图像正确追踪所述物体的动作。 Although this method can eliminate noise cancellation noise caused by ambient light source is fixed, however, when the position of the ambient light source changes with time, only the simple calculation of bright and dark image frames and differential image can not effectively eliminate background noise, and thus the the processing unit can not correct tracking operation of the object based on the difference image.

[0004] 鉴于此,本发明另提出一种物体追踪装置及其操作方法,其可有效消除移动背景所造成的噪声。 [0004] In view of this, the present invention further provides a method for tracking an object and an operating device, which can effectively remove noise caused by the moving background.

发明内容 SUMMARY

[0005] 本发明的目的在于提供一种可消除移动背景噪声的物体追踪装置及其操作方法。 [0005] The object of the present invention to provide an object to eliminate the background noise of the mobile device and an operating method for tracking.

[0006] 本发明提供一种物体追踪装置,包括光源、图像传感器以及处理单元。 [0006] The present invention provides an object tracking device comprising a light source, an image sensor and a processing unit. 所述光源以一发光频率发光。 The light source emits light to a light emission frequency. 所述图像传感器相对所述光源点亮时输出操作图像且相对所述光源熄灭时输出背景图像。 The image output operation of the image sensor relative to the light source is turned relative to the background image is output, and when the light source is off. 所述处理单元用以求出所述背景图像的背景信息、计算所述操作图像与所述背景图像的差分图像、识别所述差分图像中至少一物体及移除所述差分图像中与所述背景信息相关且小于尺寸阈值的无效物体。 The processing unit is configured to obtain background information of the background image, and calculates the operation of the differential image and the background image, the at least one object identification and removal of the difference image in the difference image with the background information related to a size smaller than the threshold value and the object is invalid.

[0007] 本发明还提供一种物体追踪装置,包括光源、图像传感器以及处理单元。 [0007] The present invention also provides an object tracking device comprising a light source, an image sensor and a processing unit. 所述光源以一发光频率发光。 The light source emits light to a light emission frequency. 所述图像传感器相对所述光源点亮时输出操作图像且相对所述光源熄灭时输出背景图像。 The image output operation of the image sensor relative to the light source is turned relative to the background image is output, and when the light source is off. 所述处理单元用以求出所述背景图像的背景信息、计算所述操作图像与所述背景图像的差分图像、求出所述差分图像的物体信息以及比较所述背景信息与所述物体信息以移除背景噪声。 The processing unit is configured to obtain background information of the background image, and calculates the operation of the differential image and the background image, obtains information of the object and comparing the differential image information and the background object information to remove background noise.

[0008] 本发明还提供一种物体追踪装置的操作方法,包括下列步骤:以图像传感器相对光源熄灭时获取背景图像;以所述图像传感器相对所述光源点亮时获取操作图像;以处理单元求出所述背景图像的背景信息;以所述处理单元计算所述操作图像与所述背景图像的差分图像;以所述处理单元求出所述差分图像的物体信息;以及比较所述背景信息与所述物体信息以移除所述差分图像的背景噪声。 [0008] The present invention further provides a method for operating an object tracking apparatus, comprising the steps of: acquiring the background image to the image sensor relative to the light source is off; when the image capturing operation of the image sensor relative to the light source lighting; to the processing unit obtaining information of the background image of the background; to the operation processing unit calculates the difference image and the background image; to the object information processing unit obtains the difference image; and comparing the context and the object information remove background noise to the difference image.

[0009] 本发明的物体追踪装置还包括第一储存单元用以储存所述背景图像、所述差分图像、所述背景信息、所述物体信息及/或所述尺寸阈值。 [0009] The object tracking apparatus according to the present invention further includes a first storage unit for storing the background image, the differential image, the background information, the object information and / or the size threshold.

[0010] 本发明的物体追踪装置及其操作方法中,所述背景信息为至少一背景物体位于所述背景图像的背景物体位置;所述物体信息为至少一物体位于所述差分图像的物体位置。 [0010] The object of the present invention, the tracking device and method of operation, the contextual information is in the position of the background image of the background object is at least one background object; object located at the object position information is the difference image at least one object .

[0011] 本发明的物体追踪装置及其操作方法中,还包括第二储存单元储存预设背景图像,其中所述处理单元于计算所述差分图像前先计算所述背景图像与所述预设背景图像的差分背景图像以作为所述背景图像;所述预设背景图像为所述物体追踪装置于开机程序、接受更新命令或检测异常物体时所获取者。 [0011] The object tracking apparatus and operating method of the present invention, further comprising a second storage unit stores preset background image, wherein the first processing unit for calculating the difference calculation of the front image and the predetermined background image bACKGROUND difference image as a background image to the background image; the preset background image of the object tracking apparatus is switched on, and acceptance of the acquired update command or by detecting an abnormal object.

[0012] 本发明的物体追踪装置及其操作方法中,所述处理单元将所述差分图像中亮度大于亮度阈值的至少一象素区域识别为所述至少一物体;并将所述背景图像中亮度大于亮度阈值的象素区域识别为所述背景物体。 Identifying at least one pixel area [0012] The object tracking apparatus and operating method of the present invention, the processing unit in the image brightness is larger than the brightness threshold difference is at least one of said objects; and in the background image identifying pixel region is larger than the luminance brightness threshold as the background object.

[0013] 本发明的物体追踪装置及其操作方法中,当物体的所述物体位置距离所述背景物体位置小于距离阈值且大小小于尺寸阈值时,所述处理单元将所述物体识别为背景噪声或无效物体。 When the [0013] object tracking apparatus and operating method of the present invention, when the object distance of the object position is less than the background object position size is less than the distance threshold and the size threshold, the processing unit will identify the object as the background noise or invalid object.

[0014] 本发明的物体追踪装置及其操作方法中,所述处理单元还根据已移除所述无效物体的所述差分图像进行物体追踪;也就是,根据所述物体位置距离所述背景物体位置大于所述距离阈值的物体进行物体追踪。 [0014] The object tracking apparatus and operating method of the present invention, the object tracking processing unit is also removed in accordance with the differential image of the invalid object; i.e., the position of the object according to the background object distance object position is greater than the distance threshold is object tracking.

[0015] 本发明实施例的物体追踪装置由于是用以消除移动背景所造成的噪声,因此其优点在于可装设于移动中操作的装置或设备,例如设置于交通工具或可携式电子装置。 [0015] The object tracking apparatus of the embodiment of the present invention is to eliminate the noise due to the movement caused by background, there is an advantage that the device or apparatus may be mounted in a mobile operating in, for example, provided in a vehicle or portable electronic device .

附图说明 BRIEF DESCRIPTION

[0016] 图1A及IB显示本发明实施例的物体追踪装置的应用示意图; [0016] FIGS. 1A and IB show a schematic view of the application object tracking apparatus of the embodiment of the embodiment of the present invention;

[0017] 图2显示本发明实施例的物体追踪装置的方块示意图; [0017] FIG. 2 shows a schematic block diagram of an object tracking apparatus of the embodiment of the present invention;

[0018] 图3显示本发明实施例的物体追踪装置的操作法的流程图; [0018] FIG. 3 shows a flowchart of the operation method of the object tracking device of the present embodiment of the invention;

[0019] 图4显示本发明实施例的物体追踪装置的图像获取及光源点亮的示意图; [0019] FIG. 4 shows a schematic view of an object image acquisition and tracking apparatus according to the embodiment of the present invention, the light source lighting;

[0020] 图5A-®显示本发明实施例的物体追踪装置的操作方法的示意图。 [0020] FIGS. 5A-® show a schematic example of a method of object tracking device operating embodiment of the present invention.

[0021] 附图标记说明 [0021] REFERENCE NUMERALS

[0022] I物体追踪装置 10触控面 [0022] I touch surface 10 of the object tracking apparatus

[0023] 11光源 12图像传感器 [0023] The light source 12 of the image sensor 11

[0024] 13第一储存单元 14处理单元 [0024] The first storage unit 13 the processing unit 14

[0025] 15第二储存单元 20背景物体 [0025] The second storage unit 15 a background object 20

[0026] 21背景物体的位置 2(V无效物体 [0026] Background of the position of the object 21 2 (V invalid object

[0027] 21'无效物体的位置 30物体 [0027] 21 'inactive position of the object 30 the object

[0028] 31物体的位置 7手指 Position [0028] 31 finger object 7

[0029] 8可携式电子装置 9交通工具 [0029] 8 9 vehicle portable electronic device

[0030] TH1^TH2亮度阈值 1操作图像 [0030] TH1 ^ TH2 operation image brightness threshold 1

[0031] Ib背景图像 (I-Ib )、(I-Ib) '差分图像 [0031] Ib background image (I-Ib), (I-Ib) 'difference image

[0032] S11-S17 步骤。 [0032] S11-S17 steps.

具体实施方式[0033] 为了让本发明的上述和其他目的、特征、和优点能更明显,下文将配合附图,作详细说明如下。 DETAILED DESCRIPTION [0033] To make the above and other objects, features, and advantages of the more obvious below in connection with the accompanying drawings, described in detail below. 于本发明的说明中,相同的构件是以相同的符号表示,于此预先说明。 In the description of the invention, the same components are represented by the same reference numerals, previously described herein.

[0034] 如图1A及IB所示,其显示本发明实施例的物体追踪装置的应用示意图。 [0034] As shown in FIG. 1A and IB, a schematic view showing the application example of the object tracking apparatus embodiment of the present invention. 由于本发明实施例的物体追踪装置I可用以消除移动背景噪声,因此优选应用于可移动的装置或设备上;例如物体追踪装置I可装设于交通工具9 (如图1A)或设置于可携式电子装置8 (如图1B);其中,图1A及IB中所述物体追踪装置I的设置位置仅为例示性。 Since the embodiment of the present invention the object tracking apparatus I may be used to eliminate the moving background noise, it is preferably applied to the movable means or device; for example, an object tracking apparatus I may be mounted to the vehicle 9 (FIG. 1A) or may be provided in portable electronic device 8 (FIG. IB); wherein, in FIGS. 1A and IB of the object tracking apparatus I is provided as an example only illustrative position. 当然,所述物体追踪装置I同样可应用于位置固定的装置或设备上,并不限于图1A及IB所示者。 Of course, the object tracking apparatus I may be equally applied to the stationary apparatus, or device, is not limited to those shown in FIGS. 1A and IB.

[0035] 如图2所示,其显示本发明实施例的物体追踪装置的方块示意图。 [0035] As shown in FIG 2, which shows a block schematic diagram of an object tracking apparatus according to an embodiment of the present invention. 物体追踪装置I包括触控面10、光源11、图像传感器12、第一储存单元13、处理单元14及第二储存单元 I object tracking apparatus 10 comprises a light source 11, an image sensor 12, the first storage unit 13, the processing unit 14 and the second storage unit touch surface

15。 15. 所述物体追踪装置I是用以针对靠近或接触所述触控面10的至少一物体进行物体追踪并输出追踪信号;其中,所述物体例如可为手指7或触控笔等。 I is the object tracking means for performing at least one object for tracking the object approaches or contacts the touch surface 10 and outputs the tracking signal; wherein, for example, the object may be a finger or a touch pen 7. 所述物体追踪装置I另可包括传输界面用以将所述追踪信号输出至相对应电子装置或设备。 The object tracking apparatus I further may comprise an electronic device or apparatus for the transmission interface to the tracking signal to the corresponding output.

[0036] 所述触控面10可由适当材质所制成,其优选相对所述光源11所发出的光为透明。 [0036] The touch surface 10 may be made of a suitable material, which is preferably transparent relative to the light source 11 is emitted. 其他实施例中,所述触控面10还可包括滤光器(片),其优选为带通滤光器(bandpassfilter),而仅允许所述光源11所发出光的光谱通过,以避免环境光的干扰。 In other embodiments, the touch surface 10 may further include a filter (sheet), which is preferably a bandpass filter (bandpassfilter), allow only the spectrum of light emitted by the light source 11, to avoid environmental interference of light.

[0037] 所述光源11例如可为至少一发光二极管、激光二极管或其他适当光源,优选以一发光频率发出红光、红外光或其他不可见光,以照明所述手指7。 [0037] The light source 11 may be, for example, a laser diode or other suitable light source preferably emits red light, infrared light or other non-visible light is at least one light emitting diode emitting at a frequency, to illuminate the finger 7.

[0038] 所述图像传感器12例如可为CXD图像传感器、CMOS图像传感器或其他可用以感测光能量的感测器,用以感测反射自所述手指7并穿透所述触控面10的光能量,并相对所述光源11点亮时输出操作图像1且相对所述光源11熄灭时输出背景图像Ib (在下文详述)。 [0038] The image sensor 12 may for example be CXD image sensor, CMOS image sensors may be used to sense light or other energy sensor for sensing the reflection from the finger 7 and penetrates the touch surface 10 It outputs the background image Ib (detailed below) at the time of image output operation when the light energy, relative to the light source 11 and a lighting of the light source 11 and opposite off.

[0039] 所述第一储存单元11用以储存所述图像传感器12输出的背景图像Ib以及所述处理单元14输出的图像资料及运算过程中所需的各种参数,例如差分图像、背景信息、物体信息、尺寸阈值、距离阈值及至少一亮度阈值等(在下文详述)。 [0039] The first storage unit 11 the various parameters necessary for the background image Ib 12 and the image data output from the operation process and the processing output unit 14 in the image sensor for storing, for example difference image, background information, , object information, size threshold, the distance threshold luminance threshold and at least one other (detailed below).

[0040] 所述处理单元14用以求出所述背景图像Ib的背景信息、计算所述操作图像1与所述背景图像Ib的差分图像(1-1b)、求出所述差分图像(1-1b)的物体信息据此识别所述差分图像(1-1b)中的至少一物体以及比较所述背景信息与所述物体信息以移除背景噪声,例如移除所述差分图像(1-1b)中与所述背景信息相关且小于尺寸阈值的无效物体(也就是所述无效物体将被识别为背景噪声);其中,所述背景信息为至少一背景物体位于所述背景图像Ib的背景物体位置;所述物体信息为至少一物体位于所述差分图像(1-1b)的物体位置。 [0040] Background information for the processing of the background image Ib obtaining unit 14, the operation calculates a difference image and the background image Ib (1-1b), obtains the difference image (1 comparing the at least one object and the background information and the object information -1b) identifying the object information whereby the difference image (1-1b) in order to remove background noise, such as removing the difference image (1- 1b) the information related to the background threshold value and smaller than the size of an invalid object (i.e. the object to be identified as invalid background noise); wherein the context information is located in the background image Ib background of at least a background object object position; the object information in said at least one differential image object (1-1b) object positions. 本实施例中,所述处理单元14将所述差分图像(1-1b)中亮度大于亮度阈值的至少一象素区域识别为所述至少一物体;或将所述差分图像(1-1b)中亮度大于亮度阈值且大于预设尺寸(例如,但不限于3个象素)的至少一象素区域识别为所述至少一物体,而将亮度大于亮度阈值的至少一象素区域且小于所述预设尺寸的象素区域识别为噪声。 Identifying at least one pixel region in the present embodiment, the processing unit 14 the difference image (1-1b) the brightness is greater than a brightness threshold for the at least one object; or the differential image (1-1b) identifying at least one pixel region is larger than the luminance brightness threshold value and greater than a preset size (e.g., but not limited to three pixels) of the at least one object and at least a pixel region is larger than the luminance brightness threshold and less than the said predetermined size of a pixel area is identified as noise. 当所述至少一物体识别出后,所述处理单元14再比较所述背景信息与所述物体信息以将移动背景噪声移除。 When said at least one identified object, the processing unit 14 and then comparing the object information and the background information is removed to move the background noise.

[0041] 本实施例中,由于背景物体在连续图像间会移动,因此仅计算所述操作图像1与所述背景图像Ib的差分图像(1-1b)并无法完全消除移动背景噪声。 [0041] In this embodiment, since the background object moves between successive images, so only the operation image is calculated and a difference image of the background image Ib (1-1b) and can not be moved completely eliminate background noise. 因此,本实施例中当一物体的所述物体位置距离所述背景物体位置小于距离阈值且大小小于尺寸阈值时,所述处理单元14则将所述物体识别为所述背景噪声来移除。 Accordingly, in this embodiment when the position of an object from the object position is less than said background object distance is smaller than the threshold and the size of the size threshold, the processing unit 14 will identify the object as the background noise removed. 换句话说,当一物体的所述物体位置距离所述背景物体位置小于距离阈值则定义为与所述背景信息相关,并将所述物体视为无效物体。 In other words, when the object is a background object said object position from a position less than a threshold value is defined as the distance information relating to the background, and objects of the object as invalid.

[0042] 当所述无效物体移除后,所述处理单元14则可根据已移除所述无效物体的所述差分图像进行物体追踪,例如根据所述物体位置距离所述背景物体位置大于所述距离阈值的所述物体进行物体追踪。 [0042] After removal of the invalid object, the processing unit 14 can perform image object tracking in accordance with the difference of the invalid object has been removed, for example, a distance greater than the background object according to the position of the object position said threshold distance of the object is object tracking. 由此,由于可完全移除移动背景物体所造成的噪声,故可有效提升物体追踪的正确性。 Thus, the noise can be completely removed since the movement caused by the background object, it can effectively improve the accuracy of object tracking.

[0043] 所述第二储存单元15用以储存预设背景图像,所述预设背景图像为所述物体追踪装置I于开机程序、接受更新(背景图像)命令或检测异常物体时所获取的背景图像;也就是,这些程序所获取图像中所包括的物体是为背景噪声,因此所述处理单元14于计算所述差分图像前先计算所述背景图像与所述预设背景图像的差分背景图像以作为所述背景图像。 [0043] The second storage unit 15 for storing a preset background image, the background image of the predetermined object tracking apparatus I in the booting process, to accept updates (background image) object detection command when an abnormality or acquired background image; that is, these programs are included in the object image is acquired as the background noise, the processing unit 14 calculates the difference in the preset background image and background image prior to calculating the first difference image background the image as the background image. 必须说明的是,其他实施例中所述物体追踪装置I可不包括所述第二储存单元15,因此所述处理单元14也不需于计算所述差分图像前先计算所述背景图像与所述预设背景图像的所述差分背景图像。 It must be noted, in this embodiment the object tracking apparatus I may not include the second storage unit 15 to other embodiments, and therefore the first calculation processing unit 14 before the calculation of the difference image without the background image with the the difference preset background image background image. 另一实施例中,所述第一储存单元13及所述第二储存单元15可合并为单一储存单兀。 In another embodiment, the first storage unit 13 and the second storage unit 15 may be combined into a single storage single Wu.

[0044] 接着,以下说明本发明实施例的物体追踪装置的操作方法的详细实施方式,其包括下列步骤:以图像传感器相对光源熄灭时获取背景图像(步骤S11);以所述图像传感器相对所述光源点亮时获取操作图像(步骤S12);以处理单元求出所述背景图像的背景信息(步骤S13);以所述处理单元计算所述操作图像与所述背景图像的差分图像(步骤S14);以所述处理单元求出所述差分图像的物体信息(步骤S15);比较所述背景信息与所述物体信息以移除所述差分图像的背景噪声(步骤S16);以及根据已移除所述背景噪声的所述差分图像进行物体追踪(步骤S17);其中,所述背景图像及所述差分图像可被储存于储存单元。 [0044] Next, the following detailed description of embodiments of the method of operation of the object tracking apparatus according to an embodiment of the present invention, comprising the steps of: acquiring the background image (step S11) when the image sensor relative to the light source is off; the image sensor relative to the operating said light source is turned acquires the image (step S12); context to the processing unit obtains the background image (step S13); to the operation processing unit calculates the difference image and the background image (step S14); to the processing unit obtains the difference image of an object (step S15); comparing said background information and the object information to remove the background noise differential image (step S16); and is in accordance with removing the background noise of the object tracking difference image (step S17); wherein the background image and the differential image may be stored in the storage unit.

[0045] 如图2至所示,图4显示本发明实施例1物体追踪装置的图像获取及光源点亮的示意图;图5A-®显示本发明实施例1物体追踪装置的操作方法的示意图。 [0045] shown in FIG. 2 to FIG. 4 is a schematic image of an object tracking apparatus according to Example 1 of the present invention a display light source is turned and acquired; FIG. 5A-® Example 1 show a schematic diagram of an object tracking apparatus operating method of the present embodiment of the invention.

[0046] 本实施例中,所述光源11以一发光频率发光且所述图像传感器12以一取样频率依序获取图像。 [0046] In this embodiment, the light source 11 emit light in a light emission frequency and the image sensor 12 are sequentially acquired at a sampling frequency of video. 为了消除环境光源的影响,所述取样频率选择高于所述发光频率,以使所述图像传感器12可相对所述光源11点亮及熄灭时获取图像,例如相对所述光源11点亮时获取并输出操作图像1 (例如图4中以实线箭头表示者)且相对所述光源11熄灭时获取并输出背景图像Ib (例如图4中以虚线箭头表示者)。 To eliminate the influence of ambient light, the selected sampling frequency is higher than the emission frequency so that the image sensor 12 can acquire an image relative to the turning on and off the light source 11, such as access relative to the light source 11 is lit and an image output operation (e.g., FIG. 4 shows by solid line arrows) and opposite said acquiring and outputs the background image Ib when off the light source 11 (e.g., in Figure 4 represented by dashed arrows).

[0047] 步骤S11:所述图像传感器12相对所述光源11熄灭时获取并输出背景图像Ib (如图5A所示),其可先被储存于所述第一储存单元13中;其中,此处假设所述背景图像Ib仅包括背景物体20。 [0047] Step S11: The image sensor 12 acquires and outputs the background relative to the image Ib (FIG. 5A) extinguishing the light source 11, which may be first stored in the first storage unit 13; wherein this at the background image Ib is assumed that only the object 20 includes a background.

[0048] 步骤S12:所述图像传感器12接着相对所述光源11点亮时获取并输出操作图像1(如图5B所示);其中,此处假设所述操作图像1包括所述背景物体20及物体30。 [0048] Step S12: The image sensor 12 then acquires the lighting relative to the light source 11 and an image output operation (FIG. 5B); wherein 1 is assumed here that the operation image of the background object 20 comprises and the object 30. 由于所述图像传感器12是以顺序传输图像资料,所述操作图像1则不需储存于所述第一储存单元13而直接被传送至所述处理单元14进行后处理。 Since the image sensor 12 are sequentially transmitted image data, an image of the operation need not stored in the first storage unit 13 is directly transmitted to the post-processing unit 14 for processing.

[0049] 步骤S13:所述处理单元14求出储存于所述第一储存单元13中所述背景图像Ib的背景信息并储存于所述第一储存单元13 ;其中,所述背景信息可为至少一背景物体位于所述背景图像Ib的背景物体位置。 [0049] Step S13: The processing unit 14 obtains Context stored in the background image Ib 13 in the first storage unit and stored in the first storage unit 13; wherein, the background information may be at least one background object the background object located at a position of the background image Ib. 例如,所述处理单元14将所述背景图像Ib中亮度大于亮度阈值TH1 (可事先储存于所述第一储存单元13)的象素区域识别为背景物体20,其具有背景物体位置21。 For example, the background image 14 to the luminance processing unit Ib is larger than a brightness threshold TH1 (may be previously stored in the first storage unit 13) pixel area identified as a background object 20, 21 having background object position. 所述背景物体位置21例如可为所述背景物体20的中心位置、重心位置、边缘位置或其他预设位置。 The background object position 21 may be, for example, the center position of a background object 20, the position of the center of gravity, the edge position or other predetermined position. 必须说明的是,步骤S13可早于、晚于或与步骤S12同时进行。 It must be noted that step S13 may be earlier than or later than simultaneously with step S12.

[0050] 步骤S14:所述处理单元14接着计算所述操作图像1与所述背景图像Ib的差分图像(1-1b)并储存于所述第一储存单元13。 [0050] Step S14: The processing unit 14 then computes the difference image 1 and the operation of the background image Ib (1-1b) and stored in the first storage unit 13. 一种实施例中,所述差分图像(1-1b)优选复写(overwrite)于所述背景图像Ib在所述第一储存单元13中的储存空间,藉以降低所述第一储存单元13的记忆体容量,但并不以此为限。 In one embodiment, the differential image memory (1-1b) is preferably replication (Overwrite) in the background image Ib in the storage space of the first storage unit 13, thereby reducing the first storage unit 13 body capacity, but not limited thereto. 本实施例中,当所述背景物体20位置固定时,藉由计算所述差分图像(1-1b)则可完全消除所述背景物体20 (如第5C图所示)而仅剩下所述物体30 ;然而,当所述背景物体20的位置随时间改变时,所述差分图像(1-1b)'中仍会包括一部分背景物体20'(如第图所示);其中,所述部分背景物体20'的形状仅为例示性。 In this embodiment, when the fixed position of the background object 20, by calculating the difference image (1-1b) can completely eliminate the background object 20 (as shown in FIG. 5C) leaving only the objects 30; however, when the position of the background object 20 changes with time, the difference image (1-1b) 'includes a portion of the still background object 20' (as shown on FIG.); wherein said portion the shape of the background object 20 'is shown as an example only exemplary.

[0051] 步骤S15:所述处理单元14求出所述第一储存单元13中所述差分图像(1-1b)'的物体信息并储存于所述第一储存单元13中;其中,所述物体信息可为至少一物体位于所述差分图像(1-1b)'的物体位置。 [0051] Step S15: 13 in the differential image of the processing unit 14 obtains a first storage unit (1-1b) 'and the object information stored in the first storage unit 13; wherein said object information may be located in the difference image (1-1b) 'is at least one object position of the object. 例如,所述处理单元14将所述差分图像(1-1b)'中亮度大于亮度阈值TH2 (可事先储存于所述第一储存单元13)的象素区域识别为物体,此时包括物体30及20'且分别具有物体位置31及21',其中所述物体位置31及21'例如可分别为所述物体30及21'的中心位置、重心位置、边缘位置或其他预设位置。 For example, the image processing unit 14 the difference (1-1b) 'the brightness is greater than a brightness threshold TH2 (may be previously stored in the first storage unit 13) for identifying the object pixel area, this time including an object 30 and 20 ', respectively, and having position 31 and the object 21', wherein the object position 31 and 21 'may be, for example, the object 30 and 21', respectively center position, center of gravity position, the edge position or other predetermined position. 如前所述,若所述物体追踪装置另包括第二储存单元15储存预设背景图像,所述处理单元14于计算所述差分图像(1-1b)'前,先计算所述背景图像Ib与所述预设背景图像的差分背景图像以作为所述背景图像。 As described above, if the object tracking apparatus further comprises a second storage unit storing predetermined background image 15, 14 of the processing unit to calculate the difference image (1-1b) 'before the first calculating the background image Ib the difference with the preset background image as a background image to the background image.

[0052] 步骤S16:所述处理单元14接着比较所述背景信息与所述物体信息以移除背景噪声。 [0052] Step S16: The processing unit 14 then compares the information and the background object information to remove background noise. 本实施例中,当物体(例如20')与所述背景信息相关,例如所述物体20'的所述物体位置(例如21')距离所述背景物体位置(例如21)小于距离阈值且所述物体20'的大小小于尺寸阈值时,所述处理单元14将所述物体识别为与所述物体信息相关而属于背景噪声或无效物体而予以移除;其中,所述距离阈值及所述尺寸阈值均可事先储存于所述第一储存单元13中。 In this embodiment, when an object (e.g., 20 ') with the background information related to, for example, the object 20' the position of the object (e.g., 21 ') from the position of the background object (e.g. 21) smaller than the distance threshold and the the size of said object 20 'is smaller than the size threshold, the processing unit 14 as the object identification information associated with the object belonging to the object and the background noise be removed or disabled; wherein said distance threshold value and the size threshold may be stored beforehand in the first storage unit 13.

[0053] 步骤S17:所述处理单元14最后根据已移除所述背景噪声(或称无效物体)的所述差分图像进行物体追踪;也就是,所述处理单元14根据所述物体位置(例如31)距离所述背景物体位置(例如21)大于距离阈值的所述物体(例如30)进行物体追踪,由此消除移动背景噪声的干扰以提高物体追踪的正确性。 [0053] Step S17: Finally, the processing unit 14 based on the differential image object tracking of the background noise has been removed (or invalid objects); that is, the processing unit 14 according to the position of the object (e.g. 31) from the position of the background object (e.g. 21) is greater than the threshold value of the object distance (e.g., 30) for tracking an object, thereby eliminating interfering mobile background noise to improve the accuracy of object tracking. 本发明实施例中,当物体的物体位置距离所述背景物体位置大于距离阈值时则识别为所述手指图像。 Embodiment of the present invention, the position of the object when the object distance position is greater than the background object distance threshold is identified as the finger image.

[0054] 可以了解的是,图5A-5D中,所述背景物体20、无效物体2(V及物体30的高度仅用以示意其亮度,以便与所述等亮度阈值TH1及TH2相比较。所述背景物体20、无效物体20'及物体30可具有不同亮度、面积、形状及位置等,并不限于第5A-5D图所示者。此外,所述等亮度阈值TH1及TH2可相同或不同。 [0054] It is appreciated that, in FIGS. 5A-5D, the background object 20, an invalid object 2 (the height of 30 V and the object brightness only schematic, and the like for comparison with the luminance threshold value TH1 and TH2. the background object 20, an invalid 20 'and a different brightness, area, shape, and location of the object 30 may have objects, not limited to those shown on FIG. 5A-5D. Further, the other luminance threshold TH1 and TH2 may be the same or different.

[0055] 综上所述,已知光学物体追踪装置由于无法完全消除移动背景光源的影响而仅适用于使用位置固定的装置。 [0055] In summary, conventional optical object tracking apparatus can not completely eliminate the effects due to the movement of the back light but only to the use position fixing means. 而本发明提出的一种物体追踪装置(图2)及其操作方法(图3),即使装设于交通工具或可携式电子装置等使用位置会改变的装置或设备上,仍可有效消除移动背景光源的影响以增加物体追踪的正确性。 An object of the proposed apparatus of the present invention (FIG. 2) and an operation method (FIG. 3) track, even if the position of use mounted on the vehicle or the like portable electronic device changes the apparatus or device, still effective to eliminate Effect moving background light source in order to increase the accuracy of object tracking. [0056] 虽然本发明通过以前述实施例披露,但是其并非用以限定本发明,任何本发明所属技术领域中具有通常知识的技术人员,在不脱离本发明的精神和范围内,当可作各种的更动与修改。 [0056] While the embodiment disclosed by the present invention in the foregoing embodiments, but not intended to limit the present invention, any disclosure in the art having ordinary knowledge in the art generally, without departing from the spirit and scope of the present invention, it is to be various modifications and changes. 因此本发明的保护范围当视后附的申请专利范围所界定的范围为准。 Thus the scope of the appended invention is best defined by the scope of the patent scope of equivalents.

Claims (22)

  1. 1.一种物体追踪装置,该物体追踪装置包括: 光源,以一发光频率发光; 图像传感器,相对所述光源点亮时输出操作图像且相对所述光源熄灭时输出背景图像;以及处理单元,用以求出所述背景图像的背景信息、计算所述操作图像与所述背景图像的差分图像、识别所述差分图像中的至少一物体以及移除所述差分图像中与所述背景信息相关的且小于尺寸阈值的无效物体。 An object tracking apparatus, the object tracking apparatus comprising: a light source for emitting a light emission frequency; an image sensor, the image output operation of the light source is turned relative and relative to the background image is output when the light source is off; and a processing unit, context for obtaining the background image, and calculates the operation of the differential image and the background image, removing the at least one object and the image recognition of the difference in the differential image information related to the background and smaller than the object size threshold is invalid.
  2. 2.根据权利要求1所述的物体追踪装置,其中所述背景信息为至少一背景物体位于所述背景图像的背景物体位置。 2. The object according to tracking apparatus according to claim 1, wherein said background object positioned Context position of the background image of at least a background object.
  3. 3.根据权利要求2所述的物体追踪装置,其中所述与背景信息相关是指距离所述背景物体位置小于距离阈值。 3. The object tracking apparatus according to claim 2, wherein said background information related to the distance is smaller than the position of the background object distance threshold.
  4. 4.根据权利要求1所述的物体追踪装置,其中所述物体追踪装置设置在交通工具或设置在可携式电子装置。 4. The object tracking apparatus according to claim 1, in a vehicle or portable electronic device is provided wherein the apparatus is provided in the object tracking.
  5. 5.根据权利要求1所述的物体追踪装置,其中所述处理单元还根据已移除了所述无效物体的所述差分图像进行物体追踪。 The said object tracking apparatus according to claim 1, wherein the processing unit further has been removed in accordance with the difference of the invalid object image of an object be tracked.
  6. 6.根据权利要求1所述的物体追踪装置,该物体追踪装置还包括第一储存单元,该第一储存单元用以储存所述背景图像、所述差分图像、所述背景信息及所述尺寸阈值。 6. The object tracking apparatus according to claim 1, the object tracking apparatus further comprises a first storage unit, the first storage means for storing the background image, the differential image, the background information and the size threshold.
  7. 7.根据权利要求1所述的物体追踪装置,该物体追踪装置还包括第二储存单元,该第二储存单元储存预设背景图像,其中所述处理单元在计算所述差分图像之前先计算所述背景图像与所述预设背景图像的差分背景图像以作为所述背景图像。 7. The object tracking apparatus according to claim 1, the object tracking apparatus further comprises a second storage unit, the second storage unit stores a predetermined background image, wherein the processing unit prior to calculating the first difference image calculated said preset background image and the background image as a background image of the difference of the background image.
  8. 8.根据权利要求7所述的物体追踪装置,其中所述预设背景图像是所述物体追踪装置在开机程序、接受更新命令或检测异常物体时获取的。 8. The object tracking apparatus according to claim 7, wherein the predetermined background image of the object tracking apparatus is in the boot program, when the update command or the abnormality detection object acquired accepted.
  9. 9.根据权利要求1所述的物体追踪装置,其中所述处理单元将所述差分图像中亮度大于亮度阈值的至少一象素区域识别为所述至少一物体。 Identifying at least one pixel region 9. The object tracking device of claim 1, wherein the processing unit sets the luminance difference image is larger than the brightness threshold is at least one object.
  10. 10.一种物体追踪装置,该物体追踪装置包括: 光源,以一发光频率发光; 图像传感器,相对所述光源点亮时输出操作图像且相对所述光源熄灭时输出背景图像;以及处理单元,用以求出所述背景图像的背景信息、计算所述操作图像与所述背景图像的差分图像、求出所述差分图像的物体信息以及比较所述背景信息与所述物体信息以移除背景噪声。 10. An object tracking apparatus, the object tracking apparatus comprising: a light source for emitting a light emission frequency; an image sensor, the image output operation of the light source is turned relative and relative to the background image is output when the light source is off; and a processing unit, context for obtaining the background image, and calculates the operation of the differential image and the background image, obtains information of the object and comparing the differential image information and the background object information to remove background noise.
  11. 11.根据权利要求10所述的物体追踪装置,其中所述背景信息为至少一背景物体位于所述背景图像的背景物体位置;所述物体信息为至少一物体位于所述差分图像的物体位置。 11. The object tracking apparatus according to claim 10, wherein said background object positioned Context position of the background image of at least a background object; the object information is at least one object in said object position difference image.
  12. 12.根据权利要求11所述的物体追踪装置,其中当物体的所述物体位置距离所述背景物体位置小于距离阈值且所述物体的大小小于尺寸阈值时,所述处理单元将所述物体识别为所述背景噪声。 12. When the size of the object tracking apparatus according to claim 11, wherein the position of the object when the object distance smaller than the distance of the background object position threshold and the size of the object is less than the threshold value, the processing unit the identified object said background noise.
  13. 13.根据权利要求11所述的物体追踪装置,其中所述处理单元还根据所述物体位置距离所述背景物体位置大于距离阈值的所述物体进行物体追踪。 13. The object tracking apparatus according to claim 11, wherein the processing unit further background object from the object position is greater than the distance threshold is object tracking according to the object position.
  14. 14.根据权利要求10所述的物体追踪装置,其中所述物体追踪装置设置在交通工具或设置在可携式电子装置。 14. The object tracking apparatus according to claim 10, in a vehicle or portable electronic device is provided wherein the apparatus is provided in the object tracking.
  15. 15.根据权利要求10所述的物体追踪装置,该物体追踪装置还包括第一储存单元,该第一储存单元用以储存所述背景图像、所述差分图像、所述背景信息及所述物体信息。 15. The object according to tracking apparatus according to claim 10, the object tracking apparatus further comprises a first storage unit, the first storage means for storing the background image, the differential image, the background information and the object information.
  16. 16.根据权利要求10所述的物体追踪装置,该物体追踪装置还包括第二储存单元,该第二储存单元储存预设背景图像,其中所述处理单元在计算所述差分图像之前先计算所述背景图像与所述预设背景图像的差分背景图像以作为所述背景图像。 16. The object tracking apparatus according to claim 10, the object tracking apparatus further comprises a second storage unit, the second storage unit stores a predetermined background image, wherein the processing unit prior to calculating the first difference image calculated said preset background image and the background image as a background image of the difference of the background image.
  17. 17.根据权利要求16所述的物体追踪装置,其中所述预设背景图像是所述物体追踪装置在开机程序、接受更新命令或检测异常物体时获取的。 17. The object according to tracking apparatus according to claim 16, wherein the predetermined background image of the object tracking apparatus is in the boot program, when the update command or the abnormality detection object acquired accepted.
  18. 18.—种物体追踪装置的操作方法,该操作方法包括下列步骤: 以图像传感器相对光源熄灭时获取背景图像; 以所述图像传感器相对所述光源点亮时获取操作图像; 以处理单元求出所述背景图像的背景信息; 以所述处理单元计算所述操作图像与所述背景图像的差分图像; 以所述处理单元求出所述差分图像的物体信息;以及比较所述背景信息与所述物体信息,以移除所述差分图像的背景噪声。 18.- method of operation of the object tracking apparatus, the operating method comprising the steps of: acquiring the background image to the image sensor relative to the light source is off; the image capturing operation of the light source is turned relative to the image sensor; a processing unit to obtain background information on the background image; calculating the operation image and the background image to the difference image processing unit; obtaining the differential image to the object information processing unit; and comparing the information with the background said object information, in order to remove the background noise of the difference image.
  19. 19.根据权利要求18所述的操作方法,其中所述背景信息为至少一背景物体位于所述背景图像的背景物体位置;所述物体信息为至少一物体位于所述差分图像的物体位置。 19. The operation method of claim 18, wherein at least one of the background information to the background object located in the position of the background image of the background object; object position information is located in the object image is the difference of the at least one object.
  20. 20.根据权利要求19所述的操作方法,其中当物体的所述物体位置距离所述背景物体位置小于距离阈值且所述物体的大小小于尺寸阈值时,所述处理单元将所述物体识别为所述背景噪声。 20. The operation method of claim 19, wherein the position of the object when the object distance smaller than the distance of the background object position threshold and the size of the object is smaller than the size threshold, the processing unit will identify the object as the the background noise.
  21. 21.根据权利要求18所述的操作方法,该操作方法还包括: 以所述处理单元根据已移除了所述背景噪声的所述差分图像进行物体追踪。 21. The operation method of claim 18, the operating method further comprises: according to the processing unit have been removed the background noise differential image of the object is tracked.
  22. 22.根据权利要求18所述的操作方法,其中在计算所述差分图像的步骤之前还包括: 计算所述背景图像与预设背景图像的差分背景图像作为所述背景图像。 22. The operation method of claim 18, wherein prior to said step of calculating a difference image further comprises: calculating the difference with a preset background image of the background image as a background image of the background image.
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