CN105607764A - Track input device and track input method - Google Patents
Track input device and track input method Download PDFInfo
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- CN105607764A CN105607764A CN201510971483.4A CN201510971483A CN105607764A CN 105607764 A CN105607764 A CN 105607764A CN 201510971483 A CN201510971483 A CN 201510971483A CN 105607764 A CN105607764 A CN 105607764A
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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
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03545—Pens or stylus
-
- 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
Abstract
The invention provides a track input device and a track input method. The track input device comprises an attitude sensor (101), a displacement sensor (102) and a processing unit (103), wherein the attitude sensor (101) is used for obtaining the attitude of the track input device (10); the displacement sensor (102) is used for obtaining a movement track of the track input device (10) when the track input device (10) moves on input media; and the processing unit (103) uses the attitude, which is obtained by the attitude sensor (101), of the track input device (10) to correct the movement track, which is obtained by the displacement sensor (102), of the track input device (10) on the input media.
Description
Technical field
The present invention relates to technical field of information processing, relate in particular to a kind of trace input device and track input method.
Background technology
Nowadays,, along with popularizing of computer, people write and use more keyboard, mouse etc. inputs, go out again afterwardsShow phonetic entry. These novel modes bring more convenient really, but some content and be not suitable for keyboard andVoice are inputted, such as calligraphy, signature etc.
The appearance of writing pencil has solved the problems referred to above. Sensor in writing pencil obtains the motion track of nib, thereby reallySurely to input to the data of computer.
Current writing pencil on the market need to coordinate special writing medium to work mostly. For example enterprising at handwriting padRunning hand is write. By contrast, mouse can be at mouse pad, desktop, thereby even the dielectric surface of other general planar movesControl the movement of cursor.
But, utilizing mouse to carry out for example,, in the process of track input (, writing), should keeping mouse translation, and asHaving there is change in the attitude of fruit mouse, cannot correctly input displacement information.
Visible, existing trace input device or input media that need to be special, or due to attitude in moving processChange and cause input inaccurate.
Summary of the invention
In view of the above problems, the invention provides a kind of trace input device and track input method, its can proofread and correct byAttitude in trace input device changes the error causing, and it is special can to input whenever and wherever possible thus, not needInput media.
On the one hand, the embodiment of the present invention provides a kind of trace input device, comprising: attitude transducer, it is for obtainingThe attitude of described trace input device; Displacement transducer, it moves on input media for obtaining described trace input deviceTime motion track; Processing unit, it utilizes the attitude of the described trace input device that described attitude transducer obtains, to describedThe motion track of the described trace input device that displacement transducer obtains on input media revised.
Further, described trace input device is writing pencil, described attitude transducer comprise gyroscope, accelerometer andMagnetometer, described displacement transducer comprises photoelectric sensor, described attitude comprises the angle of pitch, the roll angle and inclined to one side of described writing pencilBoat angle.
Further, described writing pencil comprises: the penholder with inner space; Be positioned at the nib of described penholder one end; ItsIn, described gyroscope, described accelerometer, described magnetometer and described photoelectric sensor are contained in the described inside of described penholderIn space and coaxial with described writing pencil; And described processing unit obtains attitude according to the described attitude of described writing pencil and shiftsMatrix, utilize described attitude transfer matrix to described nib the motion track on described input media revise.
Further, the described correction that described processing unit carries out comprises: by described accelerometer and described magnetic strengthThe data that the data that meter obtains and described gyroscope obtain merge, and obtain the attitude of described writing pencil.
Further, described processing unit utilizes complementary filter algorithm to carry out described fusion.
Further, described processing unit utilizes Kalman filtering algorithm to carry out described fusion.
Further, described input media is paper.
On the other hand, the embodiment of the present invention provides a kind of track input method of utilizing trace input device, comprise withLower step: step a, in the time that described trace input device moves on input media, obtains the attitude of described trace input deviceMotion track with described trace input device; Step b, utilizes the attitude of described trace input device, to described track inputThe motion track of device on described input media revised.
Further, described trace input device is writing pencil, described attitude transducer comprise gyroscope, accelerometer andMagnetometer, described displacement transducer comprises photoelectric sensor, described attitude comprises the angle of pitch, the roll angle and inclined to one side of described writing pencilBoat angle.
Further, described writing pencil comprises: the penholder with inner space; Be positioned at the nib of described penholder one end; ItsIn, described gyroscope, described accelerometer, described magnetometer and described photoelectric sensor are contained in the described inside of described penholderIn space and coaxial with described writing pencil; And described step b comprises: described processing unit obtains according to the attitude of described writing pencilTo attitude transfer matrix, utilize described attitude transfer matrix to described nib the motion track on described input media repairJust.
Further, described step b also comprises: described processing unit is by obtaining described accelerometer and described magnetometerThe data that the data of getting and described gyroscope obtain merge, and obtain the attitude of described writing pencil.
Further, described processing unit utilization utilizes complementary filter algorithm to carry out described fusion.
Further, described processing unit utilizes Kalman filtering algorithm to carry out described fusion.
Further, described input media is paper.
The present invention can obtain the displacement information of trace input device by displacement transducer (photoelectric sensor), pass through appearanceState sensor (gyroscope, accelerometer, magnetometer) can obtain the attitude of trace input device, then shifts square by attitudeBattle array is revised the displacement information of trace input device, thereby is inputted data accurately.
Brief description of the drawings
Fig. 1 shows the schematic diagram of trace input device of the present invention.
(a) of Fig. 2 is the front view of the writing pencil of an embodiment of the invention.
(b) of Fig. 2 is the rear view of the writing pencil of this embodiment.
Fig. 3 is the flow chart of the input method of writing pencil of the present invention.
Fig. 4 is the schematic diagram of complementary filter of the present invention.
Detailed description of the invention
For making those skilled in the art understand better technical scheme of the present invention, below in conjunction with accompanying drawing and specific embodiment partyFormula is described in detail trace input device provided by the invention and track input method. In these accompanying drawings, for identicalOr suitable inscape, mark same numeral. Below be only the best of input unit of the present invention and track input methodEmbodiment, the present invention is not limited in following content.
Below in conjunction with Fig. 1, trace input device of the present invention is described.
Fig. 1 shows the schematic diagram of trace input device of the present invention. As shown in Figure 1, trace input device 10 comprises: appearanceState sensor 101, it is for obtaining the attitude of trace input device 10; Displacement transducer 102, it is for obtaining track input dressPut 10 motion tracks while moving on input media; Processing unit 103, its track that utilizes attitude transducer 101 to obtain is defeatedEnter the attitude of device 10, the motion track of the trace input device 10 that displacement transducer 102 is obtained on input media carries outRevise.
Conventional attitude transducer comprises gyroscope, accelerometer and magnetometer at present. But, the attitude of this three typesSensor all has weak point obtaining aspect attitude.
For example, the angular speed of gyroscope output is instantaneous flow, needs angular speed to calculate angle to time integral, obtainsAngle variable quantity and initial angle be added, just obtain angle on target. The time of integration is less, and output angle is more accurate, but gyroscopePrinciple determined that its measuring basis is self, the not absolute object of reference outside system, adds that the time of integration can not nothingLimit littlely, so the accumulated error of integration will increase sharply along with the time, finally cause output angle not conform to the actual conditions, so topSpiral shell instrument can only be operated in relatively short time scale.
Accelerometer measures be the acceleration of gravity direction, have the outer definitely object of reference " gravity axis " of system, without external forceIn the situation of acceleration, can accurately export roll angle and the angle of pitch, and this angle do not have accumulated error, in the longer timeIn yardstick, be all accurately. But accelerometer measuring angle also has shortcoming. Accelerometer is actually to be used to by MEMS technology for detectionProperty the power miniature deformation that causes, and inertia force is identical with gravity essence, accelerates so accelerometer just can not be distinguished gravityDegree and external force acceleration. When system is in the time that three dimensions does speed change and moves, the output of accelerometer has just produced error.
Magnetometer survey be magnetic field intensity and the direction in earth's magnetic field, similar to accelerometer, can not export not accumulationThe data of error are all accurately, and can obtain yaw angle in longer time scale. But its shortcoming is little modelEnclose measurement accurate not, for such as the little object of the such relative movement distance of writing pencil, can not provide enough high-precisionMeasurement result, and be easily interfered.
So the present invention utilizes accelerometer and magnetometer to revise gyrostatic measurement data. For example,, becauseIn short time, gyrostatic measurement data is more accurate, but has accumulated error, and next inaccurate in the long period; On the contrary,The measurement data of magnetometer and accelerometer is inaccurate in short period, but accumulated error not, in the long period comparativelyAccurately. Based on this fact, three's measurement data is carried out to data fusion, thus set three's advantage.
Further describe trace input device of the present invention below in conjunction with Fig. 2.
(a) of Fig. 2 is the front view of the writing pencil of an embodiment of trace input device of the present invention. Fig. 2's(b) be the rear view of the writing pencil of this embodiment.
It should be noted that trace input device of the present invention is not limited to carry out the writing pencil of two-dimensional movement, also canTo carry out three-dimensional mobile any trace input device.
As shown in Fig. 2 (a), writing pencil 20 comprises: the penholder 201 with inner space; Be positioned at described penholder 201 one endNib 202; Described attitude transducer comprises gyroscope 206a, accelerometer 206b and magnetometer 207, described displacement transducerComprise photoelectric sensor 208, described attitude comprises the angle of pitch, roll angle and the yaw angle of described writing pencil 20.
Gyroscope 206a, accelerometer 206b, magnetometer 207 and photoelectric sensor 208 are contained in the inside sky of penholder 201Between in and coaxial with writing pencil 20.
Processing unit 103 obtains attitude transfer matrix according to the attitude of writing pencil 20, utilizes attitude transfer matrix to nib202 motion tracks on input media are revised.
In addition, power supply unit 203 and PMU 204 are also installed in the inner space of penholder 201. Nib 202Near be provided with and tap switch 205, whether touch paper for identifying nib, whether started to write.
Here, power supply unit 203 can be 3.7V lithium battery, for giving whole writing pencil power supply. PMU 204Can be chip Tp4056, for lithium battery is carried out to Charge Management.
In addition, the function of accelerometer 206b and gyroscope 206a can integrate, for example chip Mpu6050. MagneticStrong meter 207 is for example HMC5883L. Here, gyroscope 206a obtains three axis angular rates of writing pencil 20, and accelerometer 206b obtainsGet the 3-axis acceleration of writing pencil 20, magnetometer 207 obtains the three-axle magnetic field intensity of writing pencil 20.
In addition, photoelectric sensor 208, is arranged in the inner space of penholder 201 near nib 202 places, for obtaining nib202 motion track. Photoelectric sensor 208 is by the irradiation input media surface of LED (not shown), reverberation scioptics209 collected imagings, by contrasting the image before and after mobile, can determine the moving direction of nib 202 on input media andDisplacement, thus determine motion track.
It should be noted that gyroscope 206a, accelerometer 206b, magnetometer 207 and photoelectric sensor 208 must installationsOn the axis of penholder 201, that is, coaxial with penholder 201, as shown in Figure 2. And photoelectric sensor 208 is with respect to nib202 distance should be determined according to the depth of field of lens 209. Because it is just passable only to remain on movement in lens field depthClearly at photoelectric transducer sheet surface imaging, thereby detect movement.
As shown in Fig. 2 (b), in the inner space of penholder 201, be also provided with: turning and press chip 212, can be RT9193,Being used for the voltage step-down of power supply unit 203 is whole writing pencil power supply to 3.3V; Data acquisition unit 211, for preserve and/Or send the data that detect. Particularly, data acquisition unit 211 can comprise TF draw-in groove and/or communication module, wherein TF cardGroove stores TF draw-in groove into for the data that attitude transducer and displacement transducer are collected, and communication module is for by described numberBe kept at high in the clouds according to sending to host computer. Described communication module can be bluetooth module.
In addition, be arranged on processing unit 103 in the inner space of penholder 201 for above-mentioned parts being carried out to entirety controlSystem, and carry out data processing.
In the time that writing pencil 20 is write on writing medium (not shown), gyroscope 206a, accelerometer 206b, magnetometer207 obtain an attitude of writing pencil 20, and photoelectric sensor 208 obtains the motion track of nib 202 on writing medium. Process singleUnit 103 utilize attitude transfer matrix to nib 202 motion track on writing medium revise, inputted accurately numberAccording to.
Below with reference to Fig. 3, input method of the present invention is described.
Fig. 3 is the flow chart of the track input method of trace input device of the present invention.
Be under the condition of writing pencil 20 at trace input device, this track input method starts from processing unit 103 basesThe signal that taps switch 205 judges whether nib 202 has contacted input media (step S30). If so, obtain writing pencil 20Attitude transducer 206a, 206b and 207 output data (step S31).
In step S31, by 3 axis angular rates, 3 axles of IIC data protocol read sensor 206a, 206b, 207 outputsThe value of acceleration and 3 axle magnetic field intensities.
3 axis angular rates refer to the angular speed that rotates around penholder 201 directions (being made as z axle), in vertical penholder 201 planesThe angular speed that two mutually orthogonal directions (being made as x, y axle) are rotated.
3 axle magnetic field intensities refer to along the magnetic field intensity of three axles of above-mentioned x, y, z.
3 axle accelerations refer to along the acceleration of three axles of above-mentioned x, y, z.
3 axis angular rates, 3 axle accelerations and the 3 axle magnetic field intensities obtained by sensor 206a, 206b and 207, can obtainTo the attitude information of writing pencil 20.
In the output data (step S31) of having obtained attitude transducer afterwards, processing unit 103 is to the output data of obtainingProofread and correct (step S32).
The reason of carrying out Data correction is that the data of sensor output exist certain error, first needs each sensingThe basic data of device is carried out independent correction, obtains relatively accurate data, could and then it be carried out to data processing.
The method of 3 axle magnetic field intensities being carried out to Data correction can be least square method. 3 axis angular rates and 3 axles are acceleratedThe method that degree carries out Data correction can be to deduct side-play amount. Describe respectively below.
(1) about 3 axle magnetic field intensities
Carry out based on least square ratio juris a kind of method that data fitting is magnetic field for correcting intensity data, can make placeData after reason are more accurate.
According to error model and collection mass data, can go out the coefficient in model by offline simulation, as correction model.
Next, utilize the yalmip tool box of matlab, do data fitting according to least square method.
(2) about 3 axis angular rates
It is zero inclined to one side that inactive state obtains, and only needs to eliminate zero inclined to one side impact.
(3) about 3 axle accelerations
Identical with 3 axis angular rates, only need to eliminate zero inclined to one side impact.
The output data of obtaining are proofreaied and correct to (step S32) afterwards, and processing unit 103 calculates the attitude number of writing pencilAccording to (step S33).
In step S33, processing unit 103 is by data and gyro that accelerometer 206b and magnetometer 207 are obtainedThe data that instrument 206a obtains merge, and obtain the attitude of writing pencil 20.
For example, processing unit 103 utilizes complementary filter algorithm to carry out above-mentioned fusion.
Thus, obtained an attitude data of writing pencil 20.
Calculating the attitude data of writing pencil (step S33) afterwards, processing unit 103 according to the angle of pitch, roll angle andYaw angle is determined attitude transfer matrix (step S34).
In step S34, processing unit 103 can use inertial navigation algorithm to determine that attitude transfer matrix is as shown in the formula (1)Shown in, wherein, θ, φ and ψ represent respectively pitch angle, roll angle and the course angle of writing pencil 20.
(formula 1)
Then, processing unit 103 obtains the output data (step S35) of displacement transducer 102. Here displacement transducer,102 is for example photoelectric sensor 208, and it obtains nib 202 displacements in x direction and y direction. Because writing pencil 20 is only for exampleOn the writing medium of paper, carry out two-dimensional movement, so photoelectric sensor 208 only obtains the displacement of both direction. For carrying out threeThe trace input device that dimension is mobile, displacement transducer need to obtain the displacement of three directions of x, y, z.
Finally, processing unit 103 utilize attitude transfer matrix to nib 202 motion track on writing medium repairJust (step S36).
After step S36, processing unit 103 judges whether nib 202 has contacted input media again, if do not had,Suspend and process, until nib 202 has contacted input media again, just continue the operation of repeating step S30 to step S36.
If the displacement of the nib 202 that photoelectric sensor 208 obtains is (x, y, z), revised displacement (x ', y ', z ')Shown in (2):
(formula 2)
Thus, the attitude variation occurring in writing process through revising writing pencil 20, can obtain defeated more accuratelyEnter data.
It should be noted that in Fig. 3, first obtain the output data of attitude transducer 101, after obtain displacement transducer 102Output data. But the present invention is not limited to this order, also can first obtain the output data of displacement transducer 102, after obtainGet the output data of attitude transducer 101.
In the present invention, adopt complementary filter to carry out data fusion. Weight coefficient need to according to different occasion change withError is diminished. According to accelerometer and gyroscope, the response situation of magnetometer to the different measuring time, long-time in accelerationMeter 206b, magnetometer 207 is accurate to the measurement of angle, can increase its weight coefficient, and in the short time, gyroscope 206a measures accurateReally, can increase its weight coefficient.
Describe complementary filter in detail below in conjunction with Fig. 4.
Fig. 4 shows the schematic diagram of complementary filter of the present invention.
If the data that magnetometer 207 is exported are mx、myAnd mz, the data of gyroscope 206a output are (p, q, r)T, accelerationThe data of meter 206b output are ax、ayAnd az. Pitch angle, roll angle and the course angle of writing pencil 20 are designated as respectively θ, φ and ψ.
According to the known following differential equation of the operation principle of gyroscope 206a:
(formula 3)
Wherein,Represent respectively the angular speed of roll angle, pitch angle and course angle.
In addition, according to the known following formula of the operation principle of accelerometer 206b:
Wherein, θaccAnd φaccBe respectively the angle of pitch and roll angle that accelerometer 206b estimates.
Then, utilize the angle of pitch and the roll angle that in formula 4, obtain to compensate the output valve of magnetometer 207, can obtainThe course angle of estimating to magnetometer 207:
Then the angle of pitch and roll that the angle of pitch of, accelerometer 206b being estimated and roll angle and gyroscope 206 are estimatedComplementary filter is carried out at angle, obtains pitching angle theta and roll angle φ after merging.
On the other hand, the course angle that the course angle that magnetometer 207 is estimated and gyroscope 206 are estimated is carried out complementary filter,Obtain the course angle ψ after merging.
The rule of as mentioned above, carrying out complementary filter is: the power of increased acceleration meter 206b, magnetometer 207 when long-timeWeigh coefficient, when the short time, increase the weight coefficient of gyroscope 206a. In embodiments of the present invention, can be according to processing unit 103The control cycle of writing pencil 20 is determined to the described long-time and short time, for example: with a control cycle of processing unit 103As the short time, using 20 treatment cycles of processing unit 103 as for a long time, this control cycle can be 6ms, long-timeFor 120ms, the short time is 6ms. Concrete long-time, short time and weight coefficient can be adjusted by experiment.
Alternatively, processing unit 103 can also utilize Kalman filtering algorithm to gyroscope 206a, accelerometer 206bThe data that obtain with magnetometer 207 merge, and obtain roll angle, the angle of pitch and the yaw angle of the writing pencil 2 after merging.
As an example of writing pencil 20 example, trace input device of the present invention and track input method are had been described in detail above.By writing pencil 20 of the present invention, can on arbitrary medium, write whenever and wherever possible, and accurately obtain writing pencil 20 and writing JieMotion track in matter, thereby to accurate information of input such as computers.
In addition, the in the situation that of writing pencil 20, input media is paper. But the present invention is not limited to paper, such two dimension is defeatedEnter medium, but can be Arbitrary 3 D input media.
Above embodiment is only used to principle of the present invention is described and the illustrative embodiments that adopts, but thisBrightly be not limited to this. For those skilled in the art, in the feelings that do not depart from spirit of the present invention and essenceUnder condition, can make various modification and improvement. These modification and improvement are also considered as protection scope of the present invention.
Claims (14)
1. a trace input device (10), is characterized in that, comprising:
Attitude transducer (101), it is for obtaining the attitude of described trace input device (10);
Displacement transducer (102), moving rail when it moves on input media for obtaining described trace input device (10)Mark;
Processing unit (103), it utilizes the attitude of the described input unit (10) that described attitude transducer (101) obtains, to instituteThe motion track of the described trace input device (10) that rheme displacement sensor (102) obtains on input media revised.
2. trace input device according to claim 1 (10), is characterized in that, described trace input device is writing pencil(20), described attitude transducer comprises gyroscope (206a), accelerometer (206b) and magnetometer (207), described displacement sensingDevice comprises photoelectric sensor (208), and described attitude comprises the angle of pitch, roll angle and the yaw angle of described writing pencil (20).
3. trace input device according to claim 2 (10), wherein, described writing pencil (20) comprising: have inner emptyBetween penholder (201); Be positioned at the nib (202) of described penholder (201) one end; Wherein,
Described gyroscope (206a), described accelerometer (206b), described magnetometer (207) and described photoelectric sensor (208)Be contained in the described inner space of described penholder (201) and coaxial with described writing pencil (20); And
Described processing unit (103) obtains attitude transfer matrix according to the described attitude of described writing pencil (20), utilizes described appearanceState transfer matrix to described nib (202) motion track on described input media revise.
4. trace input device according to claim 3 (10), wherein, described processing unit (103) carry out described in repairJust comprise: by data and described gyroscope (206a) that described accelerometer (206b) and described magnetometer (207) are obtainedThe data of obtaining merge, and obtain the attitude of described writing pencil (20).
5. trace input device according to claim 4 (10), wherein, described processing unit (103) utilizes complementary filterAlgorithm carries out described fusion.
6. trace input device according to claim 4 (10), wherein, described processing unit (103) utilizes Kalman to filterRipple algorithm carries out described fusion.
7. according to the trace input device (10) described in any one in claim 2-6, wherein, described input media is paper.
8. a track input method of utilizing trace input device (10) to carry out, comprises the following steps:
Step a, in the time that described trace input device (10) moves on input media, obtains the attitude of described trace input deviceMotion track with described trace input device;
Step b, utilizes the attitude of described trace input device (10), to described trace input device (10) at described input mediaOn motion track revise.
9. track input method according to claim 8, wherein, described trace input device (10) is writing pencil (20),Described attitude transducer comprises gyroscope (206a), accelerometer (206b) and magnetometer (207), and described displacement transducer comprisesPhotoelectric sensor (208), described attitude comprises the angle of pitch, roll angle and the yaw angle of described writing pencil (20).
10. track input method according to claim 9, wherein, described writing pencil (20) comprising: have inner spacePenholder (201); Be positioned at the nib (202) of described penholder (201) one end; Wherein,
Described gyroscope (206a), described accelerometer (206b), described magnetometer (207) and described photoelectric sensor (208)Be contained in the described inner space of described penholder (201) and coaxial with described writing pencil (20); And
Described step b comprises:
Described processing unit (103) obtains attitude transfer matrix according to the attitude of described writing pencil (20), utilizes described attitude to turnMove matrix to described nib (202) motion track on described input media revise.
11. track input methods according to claim 10, wherein, described step b also comprises:
Described processing unit (103) is by data and institute that described accelerometer (206b) and described magnetometer (207) are obtainedState the data that gyroscope (206a) obtains and merge, obtain the attitude of described writing pencil (20).
12. track input methods according to claim 11, wherein, described processing unit (103) utilization is utilized complementary filterRipple algorithm carries out described fusion.
13. track input methods according to claim 11, wherein, described processing unit (103) utilizes Kalman filteringAlgorithm carries out described fusion.
Track input method in 14. according to Claim 8-13 described in any one, wherein, described input media is paper.
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