CN107332612A - Visible ray blind guiding system and hidden method based on temporal psycho-visual modulation - Google Patents
Visible ray blind guiding system and hidden method based on temporal psycho-visual modulation Download PDFInfo
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- CN107332612A CN107332612A CN201710370427.4A CN201710370427A CN107332612A CN 107332612 A CN107332612 A CN 107332612A CN 201710370427 A CN201710370427 A CN 201710370427A CN 107332612 A CN107332612 A CN 107332612A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/50—Transmitters
- H04B10/516—Details of coding or modulation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3179—Video signal processing therefor
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Abstract
The invention discloses a kind of visible ray blind guiding system and hidden method based on temporal psycho-visual modulation, wherein：Image projection module, for earthward projecting visible ray, forms projected spot, hot spot normal eye does not almost see；Scene Recognition module, the information of road surface for analyzing image projection module projecting direction obtains projected image by sampling, judges surface conditions by parser, and information of road surface is transferred into information feedback module；Information feedback module, user is fed back to for the information of road surface that obtains scene Recognition module by voice signal and/or vibration signal.The present invention passes through the different information of road surface of the hot spot change identification of visible ray, reduce the cost of blind guiding system and build difficulty, by graphical analysis, this identification method reduces the complexity of algorithm, the influence of visible ray that system sends to external world is concealed by temporal psycho-visual modulation, while guarantee system can collect the facula information of needs.
Description
Technical field
The present invention relates to blind man navigation field, more particularly to a kind of visible ray guide system based on temporal psycho-visual modulation
System and hidden method.
Background technology
Blind person is a specific group in society, due to being limited by visual defect, and they directly can not pass through eye
Eyeball obtains the visual information of surrounding environment, there is inconvenience on the living conditions, especially can not judge information of road surface in trip, hold
Easily fall down.
Current blind person's trip relies primarily on seeing-eye dog or blind man's stick, and the training cost of seeing-eye dog is too high, expensive；It is blind
Cane needs to tap ground always, it is necessary to which blind person carries out substantial amounts of information processing and analysis.
Some existing preferable products of guide effect, generally feed back road surface letter by substantial amounts of sensor on the market
Breath, price is costly.
The content of the invention
For deficiency of the prior art, it is an object of the invention to provide a kind of base that can be detected information of road surface and feed back
In the visible ray blind guiding system and hidden method of temporal psycho-visual modulation, the problem of existing guide equipment cost is high is solved.
To achieve the above object, present invention employs following technical scheme：
According to one side of the present invention there is provided a kind of visible ray blind guiding system based on temporal psycho-visual modulation,
Including image projection module, scene Recognition module, information feedback module, wherein：
Described image projection module, for earthward projecting visible ray, forms projected spot, the hot spot normal eye is several
It is invisible；
The scene Recognition module, the information of road surface for analyzing image projection module projecting direction is obtained by sampling
Projected image, judges surface conditions, and information of road surface is transferred into information feedback module by parser；
Described information feedback module, the information of road surface for the scene Recognition module to be obtained passes through voice signal
And/or vibration signal feeds back to user.
Preferably, described image projection module includes a visible light emitter, and light is earthward launched with 120Hz frequency
Spot.
It is highly preferred that the hot spot of described image projection module projection is linearly and identical with the system detection direction.
Preferably, the hot spot of described image projection module projection, through temporal psycho-visual modulation, to reach hiding hot spot
Effect.
Preferably, the scene Recognition module includes scene collection submodule and graphical analysis submodule, wherein：
The scene acquisition module includes a digital camera and block is internally cached, and the digital camera is with 60Hz frequency
Rate is sampled to projected picture, and by the information of sampling be stored to described piece it is internally cached in；
Described image analyzes submodule, reads described piece of internally cached sample information, and judge by parser
Information of road surface, while the information of road surface that will determine that out is output to described information feedback module.
It is highly preferred that described image analyzes submodule by analyzing the hot spot true form that described image projection module is projected
Judge information of road surface.
Preferably, described information feedback module includes control module, sound generation module and shock module, wherein：
The control module, obtains the information of road surface of described image analysis submodule input, and exports corresponding signal to institute
State sound and occur module and the shock module；
The sound sends sound after occurring module, the signal for receiving the control module, to point out information of road surface situation；
The shock module, receives when road surface is not level road in the control module and produces vibrations.
There is provided a kind of visible ray hidden method based on temporal psycho-visual modulation, institute according to the second aspect of the invention
The hot spot progress temporal psycho-visual modulation that method is projected to image projection device is stated, to reach the effect of hiding hot spot, wherein：
The hiding hot spot refers to the difference using image-forming principle between human eye and imaging sensor, can not see for human eye any
Hot spot, and can obtain clearly hot spot in the image of the intake of the image-pickup device including imaging sensor.
Modern optical projection device provides the refreshing frequency of 120Hz even more highs, and human visual system can not differentiate and exceed
The optical signalling of critical flicker frequency (about 60Hz).And simultaneously for the image sensing that CCD in camera or CMOS etc. is commonly used
Device, can not completely recorded all optical signals sent from display device in time domain.Therefore, when forming image, human eye and figure
Picture sensor applies different time convolution kernels on light source, and in human visual system, a stable image is in light field
It is upper to be formed by continuously integration, and semiconductor image sensor can be formed by discrete sampling under continuous light source and schemed in good time
Picture.
The hiding principle of the present invention is in order that the hot spot in fusion picture obtained by human eye continuous sampling is almost seen not
See, and the single frames picture obtained by camera sampling is recognizable.
Further, the background that the 120Hz light sources that image projection device of the present invention is used are launched is grey, straight
Wire spot area, odd-numbered frame is in RGB channel, and G and channel B are equal to zero, and even frame is in RGB channel, and R is equal to zero, human eye
It is grey to merge obtained hot spot, and the picture that camera sampling is obtained is that R passages are not zero.
Continuous improvement of the invention according to the high refresh rate of current display device, and the fusion characteristics of human visual system and figure
As the difference between capturing apparatus discrete sampling, the projection arrangement of a high refresh rate is employed, for wanting projection result to carry out
Specific temporal psycho-visual modulation, it is grey to make the result that human eye is sampled, and can have been obtained using camera collection simultaneously
The hot spot of effect, realizes hiding for visible ray.
Compared with prior art, the invention has the advantages that：
1st, the present invention does not use sensor, alleviates prior art and a large amount of of sensor are asked using the high cost caused
Topic；
2nd, the present invention conceals projection hot spot using human eye vision fusion characteristics, mitigates the influence of system external circle；
3rd, the present invention completes complex process of the prior art to sensor signal, whole technology letter by graphical analysis
Single, hardware setting is less demanding, substantially reduces cost.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the principle scene graph of one embodiment of the present invention；
(a) in Fig. 2, (b) are respectively the projection arrangement odd-numbered frame and even frame that are sent of one embodiment of the present invention
Schematic diagram；
The timing diagram that Fig. 3 samples for light sources project, the human eye sampling and camera of one embodiment of the present invention；
Fig. 4 for one embodiment of the present invention under different surface conditions human eye sampled result, camera sampled result and
The pre-processed results of image analysis module.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
Embodiment 1
As Figure 1-Figure 4, a kind of preferred embodiment of the visible ray blind guiding system based on temporal psycho-visual modulation, institute
Stating system includes image projection module, scene Recognition module, information feedback module, wherein：
Described image projection module, for earthward launch (a) in the hot spot that frequency is 120Hz, particular content such as Fig. 2,
(b) shown in, odd-numbered frame and even frame are alternately shown, the picture that human eye sampling is obtained is the result that two frames are merged on gray scale domain,
And camera sampling only obtains the picture of odd-numbered frame by controlling exposure and interrupting the time of exposure, specific effect such as Fig. 4's is most left
Shown in row and middle column.
The scene Recognition module, the information of road surface for analyzing projecting direction obtains projected image by camera sampling,
Surface conditions are judged by parser simultaneously；Submodule and graphical analysis submodule are gathered including scene, wherein：
The scene acquisition module includes a digital camera and block is internally cached, and digital camera is with 60Hz frequency pair
Projected picture sampled and by sample information be stored to block it is internally cached in；
Described image analysis submodule reads the internally cached sample information of block and judges that road surface is believed by parser
Breath, while information of road surface is output into information feedback module.
In the preferred embodiment of part, the picture that camera is sampled is entered row of channels first and extracted by the parser, is only stayed
The information of lower R passages, particular content is as shown in Fig. 4 right columns.
Further, the information of road surface that the parser can determine that has five classes：Level road, metope, upstairs, it is downstairs and prominent
The obstacle so occurred；In frame identification, different information of road surface are classified using the decision tree of ID3 algorithms.The ID3 algorithms
Core concept information is to filter and obtain the function that each node needs in tree, the maximum information characteristics of selection generation.Certainly,
The judgement of information of road surface can also be realized using other algorithms in the prior art, as long as it is above-mentioned to realize or obtain the present invention
Required information of road surface, this is on the present invention without substantial influence.
In the preferred embodiment of part, described information feedback module, for information of road surface to be passed through into voice signal and vibrations
Signal feeds back to user；Wherein described information feedback module includes control module, sound generation module and shock module, its
In：
The control module obtains the information of road surface of graphical analysis submodule input, and exports corresponding signal and occur to sound
Module and shock module；
The sound generation module, which is received, to be sent sound to point out information of road surface situation after the signal of control module；
The shock module receives when road surface is not level road in control module and produces vibrations.
System described in above-described embodiment is marched forward by described image projection arrangement in use, carried with by user
Direction or the ground projected spot in required direction, then by the cooperation of scene Recognition module, information feedback module, inform and use
The information of road surface on ground where person's hot spot, such as level road, metope, upstairs, downstairs with one kind in emergent obstacle so that
Realize guiding function.
In a preferred system：Image projection module earthward launches the hot spot that frequency is 120Hz, alternately display two
Two frames are handled by different frames by temporal psycho-visual modulation so that human eye sampling obtains gray image, it is difficult to from picture
Distinguished in face, and camera sampling obtains red channel image, is conducive to the extraction of light spot shape；Scene Recognition module passes through
Camera sampling obtains projected image, while judging surface conditions by parser, this algorithm is the decision tree by ID3 algorithms
Surface conditions are classified as five major classes；Information feedback module, which feeds back to information of road surface by voice signal and vibration signal, to be used
Person.
Described from above-mentioned technology as can be seen that the present embodiment system passes through the different road surface of the hot spot change identification of visible ray
Information, has given up substantial amounts of sensor, reduces the cost of blind guiding system and builds difficulty, passes through this identification side of graphical analysis
Formula reduces the complexity of algorithm.
Embodiment 2
Based on embodiment 1 above-mentioned system there is provided it is a kind of for said system based on temporal psycho-visual modulation can
Light hidden method is seen, for hiding the hot spot that described image projection arrangement is transmitted, it is to avoid environment is impacted when using.
Specifically, the visible ray hidden method, is to carry out time domain psychology to the hot spot that described image projection arrangement is projected
Vision is modulated, to reach the effect of hiding hot spot, i.e.,：The hiding hot spot, which refers to utilize between human eye and imaging sensor, to be imaged
The difference of principle, can not see any hot spot for human eye, and the figure of the intake of the image-pickup device including imaging sensor
Clearly hot spot can be obtained as in.
In the present embodiment, described image projection device provides 120Hz or higher refreshing frequency, and the back of the body launched
Scape is grey, in linear spot area, and odd-numbered frame is in RGB channel, and G and channel B are equal to zero, even frame in RGB channel,
R is equal to zero, and the hot spot that human eye fusion is obtained is grey, and the picture that camera sampling is obtained is that R passages are not zero.
Described image projection module, for earthward launching the hot spot that frequency is 120Hz, odd-numbered frame and even frame are alternately aobvious
Show, the picture that human eye sampling is obtained is the result that two frames are merged on gray scale domain.
Based on principle set forth above, according to the continuous improvement of the high refresh rate of current display device, and human visual system
Fusion characteristics and image-pickup device discrete sampling between difference, employ the projection arrangement of a high refresh rate, for
Want projection result to carry out specific temporal psycho-visual modulation, it is grey to make the result that human eye is sampled, and utilize camera simultaneously
Collection can obtain effective hot spot, realize hiding for visible ray.
To sum up, the present invention is by the different information of road surface of the hot spot of visible ray change identification, reduce blind guiding system into
This and build difficulty, by graphical analysis, this identification method reduces the complexity of algorithm, further, it is possible to pass through the time domain heart
Reason vision modulation conceals the influence of visible ray that system sends to external world, while guarantee system can collect the hot spot of needs
Information.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (10)
1. a kind of visible ray blind guiding system based on temporal psycho-visual modulation, it is characterised in that including image projection module, field
Scape identification module, information feedback module, wherein：
Described image projection module, for earthward projecting visible ray, forms projected spot, the hot spot normal eye almost sees
Lose；
The scene Recognition module, the information of road surface for analyzing image projection module projecting direction obtains projection by sampling
Image, judges surface conditions, and information of road surface is transferred into information feedback module by parser；
Described information feedback module, for the information of road surface that obtains the scene Recognition module by voice signal and/
Or vibration signal feeds back to user.
2. a kind of visible ray blind guiding system based on temporal psycho-visual modulation according to claim 1, it is characterised in that
Described image projection module includes a visible light emitter, and hot spot is earthward launched with 120Hz frequency.
3. a kind of visible ray blind guiding system based on temporal psycho-visual modulation according to claim 2, it is characterised in that
The hot spot of described image projection module projection is linearly and identical with the system detection direction.
4. a kind of visible ray blind guiding system based on temporal psycho-visual modulation according to claim 1, it is characterised in that
The scene Recognition module includes scene and gathers submodule and graphical analysis submodule, wherein：
The scene acquisition module includes a digital camera and block is internally cached, and digital camera is with 60Hz frequency to projection
Picture is sampled, and by sample information be stored to block it is internally cached in；
Described image analyzes submodule, reads the internally cached sample information of block, and judges information of road surface by parser,
Information of road surface is output to information feedback module simultaneously.
5. a kind of visible ray blind guiding system based on temporal psycho-visual modulation according to claim 4, it is characterised in that
Described image is analyzed the different road surface of hot spot change identification of the submodule by analyzing the visible ray that image projection module is projected and believed
Breath；
Information of road surface at least five classes that the parser judges：Level road, metope, upstairs, downstairs with emergent obstacle；
In frame identification, different information of road surface are classified using the decision tree of ID3 algorithms.
6. a kind of visible ray blind guiding system based on temporal psycho-visual modulation according to claim 4, it is characterised in that
Described information feedback module includes control module, sound and occurs module and shock module, wherein：
The control module, obtains the information of road surface of described image analysis submodule input, and exports corresponding signal to the sound
Module and the shock module occur for sound；
The sound sends sound after occurring module, the signal for receiving the control module, to point out information of road surface situation；
The shock module, receives when road surface is not level road in the control module and produces vibrations.
7. a kind of visible ray blind guiding system based on temporal psycho-visual modulation according to claim any one of 1-6, its
It is characterised by, the hot spot of described image projection module projection, through temporal psycho-visual modulation, to reach the effect of hiding hot spot.
8. a kind of visible ray hidden method for any one of the claim 1-7 system, it is characterised in that：
Temporal psycho-visual modulation is carried out to the hot spot that described image projection arrangement is projected, to reach the effect of hiding hot spot, its
In：The hiding hot spot refers to the difference using image-forming principle between human eye and imaging sensor, can not see for human eye
Any hot spot, and can obtain clearly hot spot in the image of the intake of the image-pickup device including imaging sensor.
9. a kind of visible ray hidden method based on temporal psycho-visual modulation according to claim 8, it is characterised in that
Described image projection device provides 120Hz or higher refreshing frequency, and the background launched is grey, in straight line shaped laser spot
Region, odd-numbered frame is in RGB channel, and G and channel B are equal to zero, and even frame is in RGB channel, and R is equal to zero, and human eye fusion is obtained
Hot spot be grey, and the obtained picture of camera sampling is that R passages are not zero.
10. a kind of visible ray hidden method based on temporal psycho-visual modulation according to claim 9, its feature exists
In, described image projection module, for earthward launching the hot spot that frequency is 120Hz, odd-numbered frame and even frame are alternately shown, people
The picture that eye sampling is obtained is the result that two frames are merged on gray scale domain.
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Application publication date: 20171107 |