CN104754237A - Image brightness regulating method, object tracking method and object tracking device - Google Patents
Image brightness regulating method, object tracking method and object tracking device Download PDFInfo
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- CN104754237A CN104754237A CN201310746863.9A CN201310746863A CN104754237A CN 104754237 A CN104754237 A CN 104754237A CN 201310746863 A CN201310746863 A CN 201310746863A CN 104754237 A CN104754237 A CN 104754237A
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Abstract
The invention discloses an image brightness regulating method, an object tracking method and an object tracking device. The image brightness regulating method includes that calculating the background brightness information of an image; calculating the first brightness information difference between the brightness information of the pixel in the first row of image in the image and the background brightness information corresponding to the first row of image; regulating the brightness information of the pixel in the second row of image in the image according to the first brightness information difference.
Description
Technical field
The present invention relates to a kind of image brilliance method of adjustment, object tracking method and object tracing device, the difference particularly relating to a kind of monochrome information according at least one pixel and background luminance information compensates the image brilliance method of adjustment of other pixel intensity, object tracking method and object tracing device.
Background technology
When Fig. 1 depicts in prior art and uses object tracing device, object forms the schematic diagram of dark space.As shown in Figure 1, object tracing device 100 contains contact panel 101, Image sensor apparatus 102, strip light guide 105,109 and light-emitting diode 103,107,111,113.Strip light guide 105,109 is located at the both sides of contact panel 101.Light, at the end of strip light guide 105,109, is projected to contact panel 101 by strip light guide 105,109 by light-emitting diode 103,107,111,113 respectively position.Image sensor apparatus 102 is arranged relative to strip light guide 105,109.When an object Ob (such as: the finger of user) moves on contact panel 101, Image sensor apparatus 102 can sense the projection of object Ob, namely this projection is the dark space that light that object Ob covers strip light guide 105,109 causes, and calculates the position of object Ob according to this.In FIG, namely dark space curve D C represents the monochrome information curve (such as: the mean flow rate of multiple pixel) that dark space is formed, object tracing device 100 can calculate position or the center of gravity of object Ob according to this dark space curve D C, wherein numerical value of each point of this dark space curve D C is to capturing in the image of this object Ob at least one brightness value of each row's pixel by Image sensor apparatus 102, such as can with the brightness summation of multiple pixel or the numerical value being on average used as corresponding points on the curve D C of this dark space.For the X point on dark space curve D C in Fig. 1, the monochrome information of X point can be X in object image arrange the brightness summation of pixel or brightness average.Background luminance information curve B G represents the background luminance information (such as background luminance average) that Image sensor apparatus 102 senses, and the acquisition mode of this background luminance information curve B G also can as the acquisition mode of this dark space curve D C.Such as, for the Y point on background luminance information curve B G in Fig. 1, the monochrome information of Y point can be Y in Image sensor apparatus 102 arrange the brightness summation of pixel or brightness average.
When Fig. 2 depicts in prior art and uses object tracing device, multiple object forms the schematic diagram of dark space jointly.As shown in Figure 2, when two object Ob_1, Ob_2 (such as two finger) cooperating contact contact panel 101 (or when distance contact panel 101 is less than a preset distance), two different dark space curve D C_1 and DC_2 should be able to be formed ideally.If but in fact two objects too close to time, neighborhood pixels can interact, and therefore can form mixing dark space curve D C_M as shown in Figure 2.If object tracing device 100 direct basis mixing dark space curve D C_M comes center of gravity or the position of calculating object Ob_1 and Ob_2 in this situation, then may there is the situation of mistake in computation, and then have influence on the accuracy of object tracing.
Summary of the invention
Therefore, an object of the present invention is openly a kind of image brilliance information method of adjustment, object tracking method and object tracing device compensating mixing dark space curve.
An object of the present invention is open one and can calculate the more accurate position of object and center of gravity, so as to implementing image brilliance information method of adjustment, object tracking method and the object tracing device of more accurately following the trail of action.
One embodiment of the invention discloses a kind of image brilliance information method of adjustment, comprises: the background luminance information calculating image; Calculate the first monochrome information difference of the monochrome information of pixel in first row image in this image and this background luminance information corresponding to first row image; And the monochrome information of pixel in second row image in this image is adjusted according to this first monochrome information difference.
Another embodiment of the present invention discloses a kind of object tracking method, be used on object tracing device, this object tracing device comprises contact panel and Image sensor apparatus, and when this contact panel of object contact, this Image sensor apparatus produces the image comprising the object image that this object produces.This object tracking method comprises: the background luminance information calculating this image; Calculate the first monochrome information difference of the monochrome information of first row image in this image and this background luminance information corresponding to this first row image; The monochrome information adjusting pixel in second row image in this image according to this first monochrome information difference is to produce monochrome information after the first adjustment, and this second row image and this first row image all correspond to the position of the plurality of this contact panel of object contact; And calculate the position of this object according to monochrome information after this first adjustment or center of gravity follows the trail of this object.
Further embodiment of this invention discloses a kind of object tracing device, comprises: contact panel; Image sensor apparatus, when this contact panel of object contact, this Image sensor apparatus produces the image comprising the object image that this object produces; And control unit, calculate the first monochrome information difference of the monochrome information of first row image in this image and this background luminance information corresponding to this first row image.This control unit more adjusts pixel in second row image in this image monochrome information according to this first monochrome information difference is to produce monochrome information after the first adjustment, wherein this second row image and this first row image all correspond to the position of the plurality of this contact panel of object contact, and calculate the position of this object according to monochrome information after this first adjustment or center of gravity follows the trail of this object.
According to previous embodiment, mixed dark space curve can be adjusted to comparatively close to the dark space curve of script two objects.The more accurate position of object and center of gravity can being calculated by means of this, following the trail of action more accurately so as to implementing.
Accompanying drawing explanation
When Fig. 1 depicts in prior art and uses object tracing device, object forms the schematic diagram of dark space.
When Fig. 2 depicts in prior art and uses object tracing device, plural reference forms the schematic diagram of dark space jointly.
Fig. 3 depicts the schematic diagram of image brilliance information method of adjustment according to an embodiment of the invention.
Fig. 4 depicts the flow chart of image brilliance information method of adjustment according to an embodiment of the invention.
Fig. 5 depicts the schematic diagram used according to the object tracing device of the image brilliance information method of adjustment of the embodiment of the present invention.
Fig. 6 depicts the flow chart of the object tracking method according to the embodiment of the present invention.
Wherein, description of reference numerals is as follows:
100,500 object tracing devices
101,501 contact panels
102,503 Image sensor apparatus
105,109 strip light guides
103,107,111,113 light-emitting diodes
401-405,601-607 step
Ob object
BG background luminance information curve
DC_M mixing dark space curve
DC DC_1DC_2 dark space curve
Embodiment
Fig. 3 depicts the schematic diagram of image brilliance information method of adjustment according to an embodiment of the invention.Please notice for the ease of understanding, the example with monochrome information being mean flow rate illustrates by following embodiment, but does not limit monochrome information necessarily mean flow rate.In figure 3, the background luminance information curve B G in background luminance information curve B G and Fig. 1 and Fig. 2, and namely mix dark space curve D C_M be mixing dark space curve D C_M in Fig. 2.The brightness that LD (x-1), LD (x), LD (x+1) represent Image sensor apparatus (Image sensor apparatus 102 as in Fig. 1) row pixel is average.For example, LD (x-1) represents xth-1 on Image sensor apparatus and arranges the mean flow rate of pixel, and LD (x) represents the mean flow rate of xth row pixel on Image sensor apparatus.So please notice, mean flow rate herein is not limited to the mean value of the brightness of all pixels in row's pixel, can be only the mean value of the brightness of partial pixel in row's pixel yet.LB (x-1), LB (x), LB (x+1) represent the average of the background luminance of Image sensor apparatus (Image sensor apparatus 102 as in a Fig. 1) row corresponding to pixel.For example, LB (x-1) represents xth-1 on Image sensor apparatus and arranges the mean flow rate of the background luminance corresponding to pixel, and LB (x) represents the mean flow rate of the background luminance of xth row corresponding to pixel on Image sensor apparatus.Aforesaid row's pixel row pixel or one-row pixels.For convenience of description, following embodiment for a row pixel, but will not represent that mechanism disclosed in this invention is limited in row or multiple row pixel.
As previously mentioned, if two objects too close to time, neighborhood pixels can interact, and therefore the present invention is when the mean flow rate of calculating one row pixel, and the mean flow rate of the pixel of adjacent column can be utilized to compensate the mean flow rate of this row pixel.In one embodiment, when wish calculates the mean flow rate of xth-1 row pixel, can compensate according to the mean flow rate of xth row pixel, its compensation method can as shown in formula ().
LD [p] '=LD [p]+comp [p+1] formula ()
Wherein LD [p] ' is the mean flow rate of the p row pixel after compensating, and LD [p] is the mean flow rate of the p row pixel before compensating, and comp [p+1] is then the compensating parameter produced according to the mean flow rate of p+1 row pixel.During mean flow rate therefore for xth-1 row pixel after calculation compensation, then p=x-1, can obtain LD [x-1] '=LD [x-1]+comp [x].
In one embodiment, adjustment parameter can be produced by a Tuning function, and Tuning function can as shown in formula (two).
Comp [q]=(LB [q]-LD [q]) * α formula (two)
The average background brightness that what wherein LB [q] represented is corresponding to q row pixel, and LD [q] is the mean flow rate of q row pixel.Therefore LB [q]-LD [q] is a mean flow rate difference (may also be other monochrome information difference).α is a regulation coefficient, its with use the object tracing device of image brilliance information method of adjustment of the present invention or a modulation transfer function (modulation transferfunction of Image sensor apparatus, MTF) relevant, be 1 at most perfect condition α.Therefore, if for trying to achieve the compensating parameter according to the mean flow rate of xth row pixel time, q=x, can try to achieve comp [x]=(LB [x]-LD [x]) * α.But please notice, compensating parameter is not limited to be produced by aforementioned formula (two).
Modulation transfer function is the quantitative measuring value of one of the quality of image, with an arrangement of mirrors head system, after and minimal penetration rate maximum by one are the sinusoidal grating imaging of T_max and T_min respectively, the brightness corresponding to this image greatly and minimum be I_max and I_min respectively.Be similar to the definition of striped resolution, the modulation (modulation) of this grating and image thereof is defined as respectively: namely the modulation transfer function of this system is export the ratio with the modulation of input.In general, modulation transfer function is the function of spatial frequency, its value is between 0 ~ 1, its relation curve claims to be modulation transfer function curve, be widely used the situation assessing various optical element, system and environment at present, can be used in less object or device as camera lens, tape, egative film etc., and larger object or device are as telescope, human eye and air situation etc.For a system, the modulation transfer function of total system equals the product of the modulation transfer function of each element, and in geometric optics, modulation transfer function is very responsive to the measurement of the quality of image, therefore through being commonly used in the ability determining an image system.Know this those skilled in the art when definition and the account form that can understand modulation transfer function, therefore here repeat no more.
Each row pixel is not limit and is being used an only row pixel to compensate, and it can utilize multiple row pixel to compensate.For previous embodiment, compensation method can as shown in formula (three).
LD [p] '=LD [p]+comp [p+1]+comp [p+2] formula (three)
And according to formula (three) for trying to achieve LD [x-1] ' time, p=x-1, and LD [x-1] '=LD [x-1]+comp [x]+comp [x+1].
Comp [x] as previously mentioned=(LB [x]-LD [x]) * α, and according to aforementioned formula (two), the compensating parameter that can obtain (x+1)th row pixel is comp [x+1]=(LB [x+1]-LD [x+1]) * α.
So please notice, image brilliance information method of adjustment disclosed by the invention does not limit the compensating parameter producing with a row pixel or two row pixels to adjust.For example, LD [x-1] ' can equal LD [x-1]+comp [x]+comp [x+1]+comp [x+2]+com [x+3] .....
In addition, compensation way disclosed in this invention do not limit with the pixel of adjacent column to produce compensating parameter, its can later N row pixel produce compensating parameter, therefore formula () can change as formula (four):
LD [p] '=LD [p]+comp [p+N] formula (four)
Wherein N is positive integer, if when N equals 1, then formula (four) is equal to formula ().According to same concept, its can later N row pixel and rear N arrange after rear M row pixel produce compensating parameter, therefore formula (three) can change as formula (five).
LD [p] '=LD [p]+comp [p+N]+comp [p+N+M] formula (five)
Wherein N, M are all positive integers, if when N and M is equal to 1, then formula (five) is equal to formula (three).
Aforesaid embodiment is all to adjust for adjustment row for the rank rear of adjustment row, but image brilliance information method of adjustment disclosed by the invention also can adjust for adjustment row according to the prostatitis for adjustment row.
Therefore, formula () can be modified to formula (six)
LD [p] '=LD [p]+comp [p-1] formula (six)
For example, during for adjustment (x+1)th row pixel, LD [x+1] '=LD [x+1]+comp [x] can be obtained
And formula (three) can be modified to formula (seven)
LD [p] '=LD [p]+comp [p-1]+comp [p-2] formula (seven)
Therefore, during for adjustment (x+1)th row pixel, LD [x+1] '=LD [x+1]+comp [x]+comp [x-1] can be obtained
Same, formula (four) and formula (five) can be modified to formula (eight) and formula (nine) respectively
LD [p] '=LD [p]+comp [p-N] formula (eight)
LD [p] '=LD [p]+comp [p-N]+comp [p-N-M] formula (nine)
After trying to achieve the mean flow rate after adjustment via aforesaid mode, mean flow rate originally can be updated to the mean flow rate after adjustment.For Fig. 3, the mean flow rate of xth-1 row pixel, xth row pixel and (x+1)th row pixel can be updated to LD ' (x-1), LD ' (x), LD ' (x+1) from LD (x-1), LD (x), LD (x+1).Foregoing teachings is mentioned, when two objects comparatively close to time neighborhood pixels can interact, therefore can be formed mixing dark space curve D C_M.And as can be seen from Figure 2, dark space curve D C_M is compared to dark space curve D C_1 and DC_2 in mixing, the mean flow rate of dark space curve D C_1 and DC_2 intersection (namely mixing curve D C_M middle, dark space) can be dragged down.And according to Fig. 3, the mean flow rate of mixing curve D C_M middle, dark space can be driven high, when therefore can reduce multi-object, the interactive situation of dark space pixel.
As previously mentioned, mean flow rate can be replaced by other monochrome information, such as, added up by the brightness value of partial pixel in same row pixel, for example, get first three the brightest pixel addition.Also can be the brightness value sum total brightness value of the Part I pixel of same row sum total being deducted Part II pixel in addition, wherein Part I be such as first three the brightest pixel, and Part II is such as first three the darkest pixel.And aforesaid row can be replaced by row.In addition, under preceding method is not limited to the situation of two objects, the state only having single object can be also used in.
According to previous embodiment, the image brilliance information method of adjustment according to the embodiment of the present invention can represent as Fig. 4, it comprises
Step 401
Calculate a background luminance information (the background mean flow rate that in such as Fig. 3, background luminance information curve B G represents) of an image.
Step 403
Calculate a first monochrome information difference of the monochrome information of at least one pixel and the background luminance information corresponding to first row image in a first row image in this image, such as, LB [q]-LD [q] in formula (two).
Step 405
The monochrome information of at least one pixel in a second row image is adjusted according to the first monochrome information difference.
Other detailed steps can push away according to previous embodiment, therefore here repeat no more.
Fig. 5 depicts the schematic diagram used according to the object tracing device of the image brilliance information method of adjustment of the embodiment of the present invention.As shown in Figure 5, object tracing device 500 contains a contact panel 501, Image sensor apparatus 503 and a control unit 505.When at least one object (such as a finger) contact contact panel, Image sensor apparatus produces the image comprising the object image that this object produces.Control unit 505 calculates a first monochrome information difference (LB [the q]-LD [q] in such as formula (two)) of the monochrome information of a first row image in image and the background luminance information corresponding to first row image.Wherein second row image and first row image all correspond to the position of object contact contact panel 501, for example, first row image and second row image are xth-1 row pixel in Fig. 3 and xth row pixel respectively, and xth-1 row pixel and xth row pixel all belong to mixing dark space curve D C_M and mixing dark space curve D C_M produced by dark space curve D C_1 and DC_2.Therefore second row image and first row image all correspond to the position of object contact contact panel 501.Control unit 505 more adjusts at least one pixel in this second row image monochrome information according to the first monochrome information difference to produce monochrome information after one first adjustment, and carrys out tracing object according to the position of monochrome information calculating object after the first adjustment or center of gravity.Please notice, the object tracing device 500 of Fig. 5 can utilize the strip light guide 105,109 of Fig. 2 and light-emitting diode 103,107,111,113 as light source, but also can utilize the light source of other forms.
Other detailed actions can push away according to previous embodiment, therefore here repeat no more.
According to previous embodiment, can obtain object tracking method as shown in Figure 6, it comprises the following step:
Step 601
Calculate a background luminance information of an image.
Step 603
Calculate a first monochrome information difference (LB [the q]-LD [q] in such as formula (two)) of the monochrome information of a first row image and this background luminance information corresponding to first row image in image.
Step 605
The monochrome information of at least one pixel in a second row image is adjusted to produce one the first rear monochrome information of adjustment according to the first monochrome information difference.And second row image and first row image all correspond to the position of the plurality of this contact panel of object contact.
Step 607
Tracing object is carried out according to the position of monochrome information calculating object or center of gravity after the first adjustment.
Other detailed steps can push away according to previous embodiment, therefore here repeat no more.
According to previous embodiment, mixed dark space curve can be adjusted to comparatively close to the dark space curve of script two objects.The more accurate position of object and center of gravity can being calculated by means of this, following the trail of action more accurately so as to implementing.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (29)
1. an image brilliance information method of adjustment, is characterized in that, comprises:
Calculate the background luminance information of image;
Calculate the first monochrome information difference of the monochrome information of pixel in first row image in this image and this background luminance information corresponding to first row image; And
The monochrome information of pixel in second row image is adjusted according to this first monochrome information difference.
2. image brilliance information method of adjustment as claimed in claim 1, is characterized in that, wherein this first row image is the rear N row image of this second row image, and wherein this N is positive integer.
3. image brilliance information method of adjustment as claimed in claim 2, is characterized in that, comprise further:
The monochrome information and the 3rd calculating pixel in the 3rd row's image in this image arranges the second monochrome information difference of this background luminance information of image, and wherein the 3rd row's image is the rear M row image of this first row image, and wherein this M is positive integer; And
This monochrome information of pixel in this second row image is adjusted according to this first monochrome information difference and this second monochrome information difference.
4. image brilliance information method of adjustment as claimed in claim 3, is characterized in that, comprise further:
This monochrome information of this first row image is adjusted according to this second monochrome information difference.
5. image brilliance information method of adjustment as claimed in claim 1, is characterized in that, wherein this first row image is the front N row image of this second row image, and wherein this N is positive integer.
6. image brilliance information method of adjustment as claimed in claim 5, is characterized in that, comprise further:
The monochrome information and the 3rd calculating the 3rd row's image in this image arranges the second monochrome information difference of this background luminance information of image, and wherein the 3rd row's image is the front M row image of this first row image, and wherein this M is positive integer; And
This monochrome information of pixel in this second row image is adjusted according to this first monochrome information difference and this second monochrome information difference.
7. image brilliance information method of adjustment as claimed in claim 6, is characterized in that, comprise further:
This monochrome information of pixel in this first row image is adjusted according to this second monochrome information difference.
8. image brilliance information method of adjustment as claimed in claim 1, it is characterized in that, be used on Image sensor apparatus, the step wherein adjusting the monochrome information of pixel in this second row image according to this first monochrome information difference comprises:
Regulation coefficient is multiplied by produce Tuning function with this first monochrome information difference; And
This monochrome information of pixel in this second row image is adjusted with this Tuning function;
Wherein this regulation coefficient is relevant with the modulation transfer function of this Image sensor apparatus.
9. image brilliance information method of adjustment as claimed in claim 1, it is characterized in that, wherein this background luminance information is background luminance, in this first row image, the monochrome information of pixel is the mean flow rate of pixel in this first row image, this the first monochrome information difference is the luminance difference of this mean flow rate of the plurality of pixel in this background luminance and this first row image, and in this second row image, this monochrome information of pixel is the mean flow rate of pixel in this second row image.
10. an object tracking method, be used on object tracing device, this object tracing device comprises contact panel and Image sensor apparatus, when this contact panel of object contact, this Image sensor apparatus produces the image comprising the object image that this object produces, it is characterized in that, this object tracking method comprises:
Calculate the background luminance information of this image;
Calculate the first monochrome information difference of the monochrome information of first row image in this image and this background luminance information corresponding to this first row image;
The monochrome information adjusting pixel in second row image in this image according to this first monochrome information difference is to produce monochrome information after the first adjustment, and this second row image and this first row image all correspond to the position of the plurality of this contact panel of object contact; And
The position of this object is calculated or center of gravity follows the trail of this object according to monochrome information after this first adjustment.
11. object tracking methods as claimed in claim 10, is characterized in that, wherein this first row image is the rear N row image of this second row image, and wherein this N is positive integer.
12. object tracking methods as claimed in claim 11, is characterized in that, comprise further:
The monochrome information and the 3rd calculating the 3rd row's image in this image arranges the second monochrome information difference of this background luminance information of image, and wherein the 3rd row's image is the rear M row image of this first row image, and wherein this M is positive integer;
The rear monochrome information of this first adjustment is produced according to this first monochrome information difference and this second monochrome information difference; And
The center of gravity of this object is calculated according to monochrome information after this first adjustment.
13. object tracking methods as claimed in claim 12, is characterized in that, comprise further:
This monochrome information adjusting pixel in this first row image according to this second monochrome information difference is to produce monochrome information after the second adjustment; And
The center of gravity of this object is calculated according to monochrome information after monochrome information after this first adjustment and this second adjustment.
14. object tracking methods as claimed in claim 10, is characterized in that, wherein this first row image is the front N row image of this second row image, and wherein this N is positive integer.
15. object tracking methods as claimed in claim 14, is characterized in that, comprise further:
The monochrome information and the 3rd calculating the 3rd row's image in this image arranges the second monochrome information difference of this background luminance information of image, and wherein the 3rd row's image is the front M row image of this first row image, and wherein this M is positive integer; And
The rear monochrome information of this first adjustment is produced according to this first monochrome information difference and this second monochrome information difference; And
The center of gravity of this object is calculated according to monochrome information after this first adjustment.
16. object tracking methods as claimed in claim 15, is characterized in that, comprise further:
This monochrome information adjusting pixel in this first row image according to this second monochrome information difference is to produce monochrome information after the second adjustment; And
The center of gravity of this object is calculated according to monochrome information after monochrome information after this first adjustment and this second adjustment.
17. object tracking methods as claimed in claim 10, is characterized in that, the step wherein adjusting the monochrome information of pixel in this second row image according to this first monochrome information difference comprises:
Regulation coefficient is multiplied by produce Tuning function with this first monochrome information difference; And
This monochrome information of pixel in this second row image is adjusted with this Tuning function;
Wherein this regulation coefficient is relevant with the modulation transfer function of this Image sensor apparatus.
18. object tracking methods as claimed in claim 10, it is characterized in that, wherein this background luminance information is background luminance, in this first row image, the monochrome information of pixel is the mean flow rate of the plurality of pixel in this first row image, this the first monochrome information difference is the luminance difference of this mean flow rate of the plurality of pixel in this background luminance and this first row image, and in this second row image, this monochrome information of pixel is the mean flow rate of pixel in this second row image.
19. object tracking methods as claimed in claim 10, it is characterized in that, wherein the number of this object is at least 2, and can calculate the center of gravity of the plurality of object according to monochrome information after this first adjustment according to the step that monochrome information after this first adjustment calculates the center of gravity of this object.
20. 1 kinds of object tracing devices, is characterized in that, comprise:
Contact panel;
Image sensor apparatus, when this contact panel of object contact, this Image sensor apparatus produces the image comprising the object image that this object produces; And
Control unit, calculate the first monochrome information difference of the monochrome information of first row image in this image and this background luminance information corresponding to this first row image, this control unit more adjusts pixel in second row image in this image monochrome information according to this first monochrome information difference to produce monochrome information after the first adjustment, and calculates the position of this object according to monochrome information after this first adjustment or center of gravity follows the trail of this object;
Wherein this second row image and this first row image all correspond to the position of the plurality of this contact panel of object contact.
21. object tracing devices as claimed in claim 20, is characterized in that, wherein this first row image is the rear N row image of this second row image, and wherein this N is positive integer.
22. object tracing devices as claimed in claim 21, it is characterized in that, wherein this control unit also calculates the 3rd monochrome information and the 3rd of arranging image in this image and arranges the second monochrome information difference of this background luminance information of image, wherein the 3rd row's image is the rear M row image of this first row image, wherein this M is positive integer, produce the rear monochrome information of this first adjustment according to this first monochrome information difference and this second monochrome information difference, and calculate the center of gravity of this object according to monochrome information after this first adjustment.
23. object tracing devices as claimed in claim 22, it is characterized in that, this control unit more adjusts pixel in this first row image this monochrome information according to this second monochrome information difference to produce monochrome information after the second adjustment, and calculates the center of gravity of this object according to monochrome information after monochrome information after this first adjustment and this second adjustment.
24. object tracing devices as claimed in claim 20, is characterized in that, wherein this first row image is the front N row image of this second row image, and wherein this N is positive integer.
25. object tracing devices as claimed in claim 24, it is characterized in that, wherein this control unit also calculates the 3rd monochrome information and the 3rd of arranging image in this image and arranges the second monochrome information difference of this background luminance information of image, wherein the 3rd row's image is the front M row image of this first row image, wherein this M is positive integer, produce the rear monochrome information of this first adjustment according to this first monochrome information difference and this second monochrome information difference, and calculate the center of gravity of this object according to monochrome information after this first adjustment.
26. object tracing devices as claimed in claim 25, it is characterized in that, wherein this control unit this monochrome information of adjusting pixel in this first row image according to this second monochrome information difference is to produce monochrome information after the second adjustment, and calculates the center of gravity of this object according to monochrome information after monochrome information after this first adjustment and this second adjustment.
27. object tracing devices as claimed in claim 20, is characterized in that, wherein this control unit adjusts this monochrome information of pixel in this second row image according to the following step:
Regulation coefficient is multiplied by produce Tuning function with this first monochrome information difference; And
This monochrome information of pixel in this second row image is adjusted with this Tuning function;
Wherein this regulation coefficient is relevant with the modulation transfer function of this Image sensor apparatus.
28. object tracing devices as claimed in claim 20, it is characterized in that, wherein this background luminance information is background luminance, in this first row image, the monochrome information of pixel is the mean flow rate of the plurality of pixel in this first row image, this the first monochrome information difference is the luminance difference of this mean flow rate of the plurality of pixel in this background luminance and this first row image, and in this second row image, this monochrome information of pixel is the mean flow rate of pixel in this second row image.
29. object tracing devices as claimed in claim 20, it is characterized in that, wherein the number of this object is at least 2, and can calculate the center of gravity of the plurality of object according to monochrome information after this first adjustment according to the step that monochrome information after this first adjustment calculates the center of gravity of this object.
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| WO2020010532A1 (en) * | 2018-07-10 | 2020-01-16 | Hangzhou Taro Positioning Technology Co., Ltd. | Detecting dual band infrared light source for object tracking |
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| CN112292686B (en) * | 2018-07-10 | 2023-11-07 | 杭州他若定位科技有限公司 | Detecting dual band infrared light sources for object tracking |
| US11881018B2 (en) | 2018-07-10 | 2024-01-23 | Hangzhou Taro Positioning Technology Co., Ltd. | Detecting dual band infrared light source for object tracking |
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