CN107817614B - It is a kind of for hiding blind person's auxiliary eyeglasses of the water surface and barrier - Google Patents
It is a kind of for hiding blind person's auxiliary eyeglasses of the water surface and barrier Download PDFInfo
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- CN107817614B CN107817614B CN201710771692.3A CN201710771692A CN107817614B CN 107817614 B CN107817614 B CN 107817614B CN 201710771692 A CN201710771692 A CN 201710771692A CN 107817614 B CN107817614 B CN 107817614B
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- G—PHYSICS
- G02—OPTICS
- G02C—SPECTACLES; SUNGLASSES OR GOGGLES INSOFAR AS THEY HAVE THE SAME FEATURES AS SPECTACLES; CONTACT LENSES
- G02C11/00—Non-optical adjuncts; Attachment thereof
- G02C11/10—Electronic devices other than hearing aids
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
Abstract
The invention discloses a kind of for hiding blind person's auxiliary eyeglasses of the water surface and barrier, for guiding blind person to go to the passage region of no barrier and the water surface.Glasses include the devices such as the red speckle projector, two infrared cameras, attitude angle transducer, processor and two bone conduction earphones.The present invention has been significantly increased blind person's avoiding obstacles and the water surface and has selected the safety and convenience in current direction, the water surface and barrier zone are avoided in trip conducive to blind person, find correct access, with good environmental adaptability, user suitability is high, be not take up blind person's ears, can use under motion conditions, wearable property is good, the low advantage of learning cost.
Description
Technical field
The present invention relates to a kind of for hiding blind person's auxiliary eyeglasses of the water surface and barrier.
Background technique
According to the data of the World Health Organization, the whole world is there are about 2.85 hundred million visually impaired peoples, wherein blind person up to 39,000,000.It is blind
People can not effectively distinguish the landform in front due to lacking normal vision, predict barrier and the water surface and selection can pass through road
Line.Depth transducer based on laser speckle coding or binocular vision technology, the color data stream and depth of available high-speed
Data flow is spent, therefore is sprawled using applying of being detected of these sensors in blind visual field of auxiliary.
However, the depth transducer based on laser speckle coding, calculates depth letter according to the change in location for receiving speckle
Breath can not calculate depth information according to the variation of speckle, therefore in outdoor failure since speckle is flooded in outdoor by sunlight.And
Depth transducer based on binocular vision technology carries out images match according to two images and calculates depth information, however indoors
White wall that many textures lack can not calculate depth information at floor, therefore usually in the outside work of texture-rich.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of for hiding the blind person of the water surface and barrier
Auxiliary eyeglasses.
The purpose of the present invention is what is be achieved through the following technical solutions: a kind of blind person for hiding the water surface and barrier is auxiliary
Help glasses, including lens body, attitude angle transducer, two linear polarizers, two infrared cameras, the infrared speckle projector, two
A bone conduction earphone, battery and processor；Two infrared cameras are embedded in respectively in the frame above the eyeglass of left and right, two linear polarizations
The polarization direction of piece is mutually perpendicular to (one is parallel to horizontal plane, another is perpendicular to horizontal plane), is separately fixed at two infrared
Before camera；The infrared speckle projector and attitude angle transducer are located between two infrared cameras in frame, described two
Bone conduction earphone is separately positioned on temple end；In temple, frame is provided with temple side wall for the battery and processor
Heat release hole.The infrared speckle projector is for the infrared speckle of scene simulation forwards；Scene under infrared projection is through linear polarization
It after piece filtering, is acquired by two infrared cameras, obtains two infrared images respectively；Attitude angle transducer is two infrared for obtaining
The pitch angle of camera is a, roll angle b；Processor carries out Air conduct measurement according to infrared image, and in the form of stereo sound,
Blind person is passed to by bone conduction earphone, carries out current auxiliary.
The processor carries out Air conduct measurement by following steps:
(1) binocular solid matching is carried out to two width infrared images, obtains a width disparity map Disparity；
(2) disparity map Disparity is utilized, any point (u, v) corresponded in left infrared figure is found in right view
Corresponding points (u', v), meet u'-u=disparity, and disparity is the view of pixel (u, v) in disparity map Disparity
Difference；Then by the infrared gray value IR of any point (u, v) in left infrared figureL(u,v)With corresponding points (u', v) in right infrared figure
Infrared gray value IRL(u',v)It makes the difference, obtains polarization differential figure Polarization, wherein polarization differential figure Polarization
In, the value (polarization differential value polarization) of pixel (u, v) is | IRL(u,v)-IRL(u',v)|；
(3) disparity map Disparity is utilized, pixel (u, v) in width a depth map Depth, depth map Depth is obtained
Depth value depth is depth=f × Baseline/disparity, wherein f is the focal length of two infrared cameras, Baseline
For the parallax range between two infrared cameras；
(4) calculate depth map Depth in every bit (u, v) relative to left infrared camera optical center (u0,v0) three-dimensional coordinate
(x, y, z), to obtain a width height map Height；In height map Height, the height value height of pixel (u, v) are as follows:
Height=x × sin (b)+y × cos (a) × cos (b)-z × sin (a) × cos (b)；
Wherein x=(u-u0) × depth/f, y=(v-v0) × depth/f, z=depth；Depth is depth map Depth
The depth value of middle pixel (u, v)；
(5) each column for traversing depth map Depth, find out and meet corresponding points in each column in height map Height
Height value CorrHeight is less than the minimum depth value MinDepthObs of threshold value HeightThreshold, while finding out each
Column meet height value CorrHeight of the corresponding points in height map Height greater than threshold value HeightThreshold and are polarizing
Polarization differential value CorrPolarization in difference diagram Polarization is greater than threshold value PolarizationThreshold
Minimum depth value MinDepthWat.Lesser value MinDepth in MinDepthObs and MinDepthWat is taken in each column,
Constitute the distance Curve MinTraversableLine that can pass through recently.
(6) the highest point Peak that can be passed through on distance Curve MinTraversableLine recently is searched, while from highest
Point Peak to two-sided search, search can pass through two nearest half height point HalfLeft that distance is highest point half with
HalfRight, taking the midpoint Mid of two half height points, midpoint Mid is that can pass through relative to the direction of left infrared camera optical center
Direction.
Further, the threshold value HeightThreshold is equal to the height h of infrared camera；Threshold value
PolarizationThreshold is adjusted according to the maximum brightness of infrared image, generally the 0.75~0.8 of maximum brightness
Times.
Further, if the highest point Peak that can be passed through on distance Curve MinTraversableLine recently in step 6
Have multiple, then searches for half height point HalfLeft to the left from leftmost highest point, searched for the right from the highest point of rightmost
Half height point HalfRight.
The beneficial effects of the present invention are:
1. good environmental adaptability.The invention patent is due to calculating environment using the binocular camera of infrared speckle encoding enhancing
Three-dimensional information, indoors or texture can be enhanced in the region of night texture missing, infrared speckle, on outdoor or daytime, due to having
The irradiation of sunlight, the near-infrared ingredient in sunlight can also allow collected infrared image to have texture abundant.It is outdoor indoors,
Day and night, infrared camera can obtain the infrared image of texture-rich, this is conducive to processor and obtains dense three-dimensional letter
Breath, to guarantee that blind person's auxiliary eyeglasses have good environmental suitability.In addition, the invention patent can detect simultaneously the water surface with
Barrier, therefore it is also adapted to the trip of the different weathers such as fine day, rainy days, it can help blind person's to avoid the water surface, barrier
Hinder the danger zones such as object.
2. being not take up blind person's ears.The invention patent is not take up the double of blind person due to interacting using bone conduction earphone
Ear does not influence the sound that their the sharp sense of hearings obtain external environment.
3. can be used under motion conditions.The invention patent is due to using attitude angle transducer, the appearance of available glasses
State angle information can help distinguish between the ground in case of motion so as to obtain the actual height of every bit in scene in real time
Face and barrier are adapted to the use of blind person.
4. wearable property is good.The devices such as camera and bone conduction earphone are integrated on pair of eyeglasses by the invention patent, and
Small-sized processing can be placed in pocket in use process, and wearable property is good, be adapted to the daily trip of blind person, be not take up blind person's
Both hands.
5. learning cost is low.The invention patent is that the most concerned current scene of blind person is most adapted to lead to due to what is transmitted every time
Capable direction helps blind person's avoiding obstacles, guides them to go on correct access, will not transmit the information of redundancy, therefore
Learning cost is low, and blind person can put on one's glasses after the study of short time completes trip.
Detailed description of the invention
Fig. 1 and 2 is the structural schematic diagram of blind person's auxiliary eyeglasses, wherein 1 is cooling fin, and 2 be right infrared camera, and 3 be right avertence
Positive, 4 be the infrared speckle projector, and 5 be left avertence positive, and 6 be left infrared camera, and 7 be attitude angle transducer, and 8 be left osteoacusis
Earphone, 9 be left eyeglass, and 10 be right eyeglass, and 11 be right bone conduction earphone；
Fig. 3 is depth map；
The face clear region and water-surface areas that Fig. 4 is indicated；
Fig. 5 can pass through distance Curve figure recently, and the height of dotted line indicates the distance of passing through of each column.
Specific embodiment
As described in Figure 1, a kind of blind person's auxiliary eyeglasses can evade the water surface and barrier, realize Air conduct measurement.Including glasses sheet
Body, attitude angle transducer, two linear polarizers, two infrared cameras, the infrared speckle projector, two bone conduction earphones, batteries
And processor；Two infrared cameras are embedded in respectively in the frame above the eyeglass of left and right, and the polarization direction of two linear polarizers is mutual
Vertically (one is parallel to horizontal plane, another is perpendicular to horizontal plane), before being separately fixed at two infrared cameras；Infrared speckle is thrown
Emitter and attitude angle transducer are located between two infrared cameras in frame, and described two bone conduction earphones are set respectively
It sets in temple end；In temple, frame and temple side wall are provided with heat release hole for the battery and processor.It is described infrared scattered
The spot projector is for the infrared speckle of scene simulation forwards；Scene under infrared projection is red by two after linear polarizer filters
Outer camera acquisition, obtains two infrared images respectively；The pitch angle that attitude angle transducer is used to obtain two infrared cameras is a,
Roll angle is b；Processor carries out Air conduct measurement according to infrared image, and in the form of stereo sound, is passed by bone conduction earphone
Blind person is passed, current auxiliary is carried out.
The processor carries out Air conduct measurement by following steps:
(1) binocular solid matching is carried out to two width infrared images, obtains a width disparity map Disparity；
(2) disparity map Disparity is utilized, any point (u, v) corresponded in left infrared figure is found in right view
Corresponding points (u', v), meet u'-u=disparity, and disparity is the view of pixel (u, v) in disparity map Disparity
Difference；Then by the infrared gray value IR of any point (u, v) in left infrared figureL(u,v)With corresponding points (u', v) in right infrared figure
Infrared gray value IRL(u',v)It makes the difference, obtains polarization differential figure Polarization, wherein polarization differential figure Polarization
In, the value (polarization differential value polarization) of pixel (u, v) is | IRL(u,v)-IRL(u',v)|；
(3) disparity map Disparity is utilized, a width depth map Depth is obtained, as shown in figure 3, picture in depth map Depth
The depth value depth of vegetarian refreshments (u, v) is depth=f × Baseline/disparity, wherein f is the coke of two infrared cameras
Away from Baseline is the parallax range between two infrared cameras；
(4) calculate depth map Depth in every bit (u, v) relative to left infrared camera optical center (u0,v0) three-dimensional coordinate
(x, y, z), to obtain a width height map Height；In height map Height, the height value height of pixel (u, v) are as follows:
Height=x × sin (b)+y × cos (a) × cos (b)-z × sin (a) × cos (b)；
Wherein x=(u-u0) × depth/f, y=(v-v0) × depth/f, z=depth；Depth is depth map Depth
The depth value of middle pixel (u, v)；
(5) each column for traversing depth map Depth, find out and meet corresponding points in each column in height map Height
Height value CorrHeight is less than the minimum depth value MinDepthObs of threshold value HeightThreshold, while finding out each
Column meet height value CorrHeight of the corresponding points in height map Height greater than threshold value HeightThreshold and are polarizing
Polarization differential value CorrPolarization in difference diagram Polarization is greater than threshold value PolarizationThreshold
Minimum depth value MinDepthWat.Lesser value MinDepth in MinDepthObs and MinDepthWat is taken in each column,
Composition can pass through distance Curve MinTraversableLine recently, as shown in figure 5, it can be seen from the figure that testing result with
Actually it is consistent.
(6) the highest point Peak that can be passed through on distance Curve MinTraversableLine recently is searched, while from highest
Point Peak to two-sided search, search can pass through two nearest half height point HalfLeft that distance is highest point half with
HalfRight, taking the midpoint Mid of two half height points, midpoint Mid is that can pass through relative to the direction of left infrared camera optical center
Direction.
Above-mentioned threshold value HeightThreshold is equal to the height h of infrared camera；Threshold value PolarizationThreshold
It is adjusted according to the maximum brightness of infrared image, generally the 0.75~0.8 of maximum brightness times.
If the highest point Peak that can be passed through on distance Curve MinTraversableLine recently in step 6 have it is multiple,
Half height point HalfLeft is searched for the left from leftmost highest point, searches for half height point to the right from the highest point of rightmost
HalfRight。
Claims (3)
1. a kind of for hiding blind person's auxiliary eyeglasses of the water surface and barrier, including lens body, attitude angle transducer, two lines
Polarizing film, two infrared cameras, the infrared speckle projector, two bone conduction earphones, battery and processor；Two infrared cameras point
Qian Yu not be in the frame above the eyeglass of left and right, the polarization direction of two linear polarizers is mutually perpendicular to, and is separately fixed at two infrared
Before camera；The infrared speckle projector and attitude angle transducer are located between two infrared cameras in frame, described two
Bone conduction earphone is separately positioned on temple end；In temple, frame is provided with temple side wall for the battery and processor
Heat release hole；The infrared speckle projector is for the infrared speckle of scene simulation forwards；Scene under infrared projection is through linear polarization
It after piece filtering, is acquired by two infrared cameras, obtains two infrared images respectively；Attitude angle transducer is two infrared for obtaining
The pitch angle of camera is a, roll angle b；Processor carries out Air conduct measurement according to infrared image, and in the form of stereo sound,
Blind person is passed to by bone conduction earphone, carries out current auxiliary；
The processor carries out Air conduct measurement by following steps:
(1) binocular solid matching is carried out to two width infrared images, obtains a width disparity map Disparity；
(2) disparity map Disparity is utilized, the correspondence of any point (u, v) corresponded in left infrared figure is found in right view
Point (u', v), meets u'-u=disparity, and disparity is the parallax value of pixel (u, v) in disparity map Disparity；
Then by the infrared gray value IR of any point (u, v) in left infrared figureL(u,v)With in right infrared figure corresponding points (u', v) it is infrared
Gray value IRL(u',v)It makes the difference, obtains polarization differential figure Polarization, wherein in polarization differential figure Polarization, as
The value of vegetarian refreshments (u, v) is | IRL(u,v)-IRL(u',v)|；
(3) disparity map Disparity is utilized, the depth of pixel (u, v) in width a depth map Depth, depth map Depth is obtained
Value depth is depth=f × Baseline/disparity, wherein f is the focal length of two infrared cameras, Baseline two
Parallax range between a infrared camera；
(4) calculate depth map Depth in every bit (u, v) relative to left infrared camera optical center (u0,v0) three-dimensional coordinate (x, y,
Z), to obtain a width height map Height；In height map Height, the height value height of pixel (u, v) are as follows:
Height=x × sin (b)+y × cos (a) × cos (b)-z × sin (a) × cos (b)；
Wherein x=(u-u0) × depth/f, y=(v-v0) × depth/f, z=depth；Depth is picture in depth map Depth
The depth value of vegetarian refreshments (u, v)；
(5) each column for traversing depth map Depth, find out and meet height of the corresponding points in height map Height in each column
Value CorrHeight is less than the minimum depth value MinDepthObs of threshold value HeightThreshold, while it is full to find out each column
Height value CorrHeight of the sufficient corresponding points in height map Height is greater than threshold value HeightThreshold and in polarization differential
The polarization differential value CorrPolarization schemed in Polarization is greater than threshold value PolarizationThreshold most
Small depth value MinDepthWat；Lesser value MinDepth in MinDepthObs and MinDepthWat is taken in each column, is constituted
Can pass through distance Curve MinTraversableLine recently；
(6) the highest point Peak that can be passed through on distance Curve MinTraversableLine recently is searched, while from highest point
Peak to two-sided search, search can pass through two nearest half height point HalfLeft that distance is highest point half with
HalfRight, taking the midpoint Mid of two half height points, midpoint Mid is that can pass through relative to the direction of left infrared camera optical center
Direction.
2. glasses according to claim 1, which is characterized in that the threshold value HeightThreshold is equal to infrared camera
Height h；Threshold value PolarizationThreshold is adjusted according to the maximum brightness of infrared image.
3. glasses according to claim 1, which is characterized in that if distance Curve can be passed through in step 6 recently
Highest point Peak on MinTraversableLine has multiple, then searches for half height point to the left from leftmost highest point
HalfLeft searches for half height point HalfRight from the highest point of rightmost to the right.
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| CN108761843B (en) * | 2018-05-29 | 2019-11-22 | 杭州视氪科技有限公司 | A kind of blind person's auxiliary eyeglasses detected for the water surface and puddle |
| CN109998873A (en) * | 2019-04-12 | 2019-07-12 | 赖振龙 | A kind of wearable blindmen intelligent positioning and blind guiding system |
| CN110898404B (en) * | 2019-12-19 | 2021-02-26 | 北京联合大学 | Deep vision anti-collision swimming goggles |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104000709A (en) * | 2014-05-09 | 2014-08-27 | 京东方科技集团股份有限公司 | Glasses for blind people |
| CN106214437A (en) * | 2016-07-22 | 2016-12-14 | 杭州视氪科技有限公司 | A kind of intelligent blind auxiliary eyeglasses |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2086632B1 (en) * | 2006-10-19 | 2017-05-03 | Second Sight Medical Products, Inc. | Visual prosthesis |
| EP3189514A1 (en) * | 2014-09-02 | 2017-07-12 | Baylor College Of Medicine | Altered vision via streamed optical remapping |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104000709A (en) * | 2014-05-09 | 2014-08-27 | 京东方科技集团股份有限公司 | Glasses for blind people |
| CN106214437A (en) * | 2016-07-22 | 2016-12-14 | 杭州视氪科技有限公司 | A kind of intelligent blind auxiliary eyeglasses |
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