CN108809423B - ITS-VLC information source detection method based on Region Matching Algorithm - Google Patents
ITS-VLC information source detection method based on Region Matching Algorithm Download PDFInfo
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- CN108809423B CN108809423B CN201810578890.2A CN201810578890A CN108809423B CN 108809423 B CN108809423 B CN 108809423B CN 201810578890 A CN201810578890 A CN 201810578890A CN 108809423 B CN108809423 B CN 108809423B
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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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
Abstract
The ITS-VLC information source detection method based on Region Matching Algorithm that the invention discloses a kind of, the ITS-VLC information source detection method is visible light communication (VLC) process of the intelligent transportation system (ITS) based on transmitting terminal and receiving end, transmitting terminal includes more LED arrays of the more LED arrays and vehicular in the infrastructure of intelligent transportation system, and receiving end includes the high speed imaging sensor of the vehicular of intelligent transportation system.Information source detection method is a kind of new-type more LED array acquisition methods based on Region Matching Algorithm, wherein Region Matching Algorithm is used to find the corresponding position between two successive frames.The present invention is based on more LED arrays and high speed imaging sensors to be effectively increased the accuracy and robustness of information source testing result, be had broad application prospects using the ITS-VLC information source detection method based on Region Matching Algorithm.
Description
Technical field
The present invention relates to intelligent transportation system and technical field of visible light communication, and in particular to one kind is calculated based on Region Matching
The ITS-VLC information source detection method of method.
Background technique
In recent years, LED (light emitting diode) becomes a kind of novel revolutionary light source by feat of plurality of advantages, such as
Energy conservation, long-lived and good visibility.In addition, the luminous intensity of LED can be controlled in the high speed that human eye is difficult to perceive
State.Based on the above advantage, the communications field starts with LED and realizes visible light communication (VLC).Visible light communication is a kind of novel
The wireless light communication technology of environmental protection, can not only provide illumination, can be communicated with propagation data.
LED light transit equipment be widely used and the growing interests of intelligent transportation system (ITS) be it is visible
The application of optic communication provides a huge opportunity.The visible light communication system of typical intelligent transportation system is broadly divided into two
Kind, it is the visible light communication system between highway infrastructures and vehicle, the visible light communication system between vehicle and vehicle respectively.It
Can play the role of exchanging safety information in intelligent transportation system.
In transmitting terminal based in the intelligent transportation system of LED array, receiving end based on the high speed imaging sensor of vehicular,
The LED light of transmitting terminal flashing is by wireless optical channel and reaches in the receiving end of vehicular.Receiving end turns the LED light received
It changes image into, and initial data is restored by the brightness value of the extraction LED from image.High speed imaging sensor has many excellent
Point, especially when transmitting terminal is made of LED multi-path light source, the ability that is spatially separating that it can use itself knows them respectively
It does not come out.Therefore, if distributing a data bit to each LED, transmitted data amount will be with LED light number on transmitting terminal
Amount increases and increases.After having modulated each LED respectively, parallel data transmission can be implemented.
In the traffic system of reality, the receiving end of vehicular is the capture light source under mobile condition.In order to keep steady
Fixed visible light communication link, receiving end need to detect each light source respectively in each capture image to realize each respective counts
According to reception.
Traditionally, two continuous capture frames are often calculated by using frame difference method to the detection of single LED array information source
Difference, to obtain the position of the LED array of high speed scintillation.However, this method is highly prone to move vehicle vibration bring
It influences, the accuracy of information source testing result is relatively low, and is easy that false negative (losing target LED array) and false positive is presented
(by non-targeted LED array wrong identification at target LED array).
Therefore, extremely a kind of for efficient ITS-VLC information source detection method it is necessary to develop, improve information source testing result
Accuracy and robustness.
Summary of the invention
The purpose of the present invention is to solve drawbacks described above in the prior art, provide a kind of based on Region Matching Algorithm
ITS-VLC information source detection method.
The purpose of the present invention can be reached by adopting the following technical scheme that:
A kind of ITS-VLC information source detection method based on Region Matching Algorithm, the detection method include the following steps:
S1, transmitting terminal modulate the LED illumination template of different illumination according to input data, and emit with two dimension LED mould
The optical signal of plate form；
S2, at receiving end, high speed imaging sensor receive signal after, head image processing unit by capture image split into
M × n region, and image scanning is carried out to each region, wherein m is the line number of m × n area arrangement, and n is m × n region
The columns of arrangement；
S3, the candidate region that LED array is extracted from m × n region, and detection includes the region of LED array, is passed through
Region Matching Algorithm obtains the corresponding position between two successive frames；
S4, data and image processing unit carry out tracking and location estimation to LED array；
S5, decoder are decoded the output result of data image processing unit respectively, and export be resumed it is original
Data.
Further, the step S1 process is as follows:
S101, encoder carry out channel coding to input data；
The inversion LED template insertion unit generation of S102, transmitting terminal are transmitted for tracking the inverted signal of LED array
To pulse-width modulator；
S103, pulse-width modulator modulate signals into the LED illumination template of different illumination；
S104, pulse width modulating signal are converted into 2D signal, after the luminosity by individually modulating each LED,
Each LED light transmitted in parallel data-signal.
Further, the step S2 process is as follows:
S201, receiving end high speed imaging sensor receive signal after, transmit a signal to an image processing unit；
Image segmentation unit in S202, head image processing unit splits into m × n region for image is captured, and to each
Region carries out image scanning, wherein the size in each region is N × N number of pixel, and N is the line number and columns of pixel arrangement.
Further, the step S3 process is as follows:
S301, LED array extraction and detection unit extract the candidate region of LED array from m × n region, with area
Domain matching detection goes out frame ftIn a row b column region (a, b) and frame ft-1In any same size region between movement
Vector, wherein 0 < a≤m, 0 < b≤n；
S302, by following standard come calculation of motion vectors in frame ftSearch range and in frame ft-1Search range
Similarity:
Wherein, (p, q)a,bIt is the candidate motion vector in region (a, b), ia,bAnd ja,bIt is region (a, b) top left corner pixel
Coordinate, ft() and ft-1() is frame f respectivelytWith frame ft-1The pixel value of middle respective coordinates, D (p, q)a,bIt is the total of absolute distance
With；
By lower column operations it can be concluded that optimal motion vector (pmin,qmin)a,b:
(pmin,qmin)a,b=arg minD (p, q) (2)
Wherein, (p, q) is in motion vector search ranges, (pmin,qmin)a,bSo that D (p, q) is minimized；
S303, it is based on any D (pmin,qmin)a,bValue indicate the brightness value of LED array or part LED array, by sentencing
Whether disconnected the following conditions meet determine it is inner whether the LED array or part LED array are comprised in region (a, b):
Wherein, T is for judging whether the LED array or part LED array are comprised in the inner threshold in region (a, b)
Value；
S304, LED array cut unit and LED array extracts the region (a, b) extracted with detection unit and its is neighbouring
It is associated to extract region, if region area is less than the area of LED array in capture image, is then connected to multiple be extracted
Region (a, b), and until each connected region is expanded to restricted area, and then extended area is formed, finally by extended area
Area be cut to the area of LED array.
Further, the step S4 process is as follows:
S401, by the inclusion of have transmitting LED flashing template based on Baker mapping sequence, data and image processing unit
From the beginning LED array is detected in the processing result of image processing unit；
S402, LED template and its inversion LED template by receiving, generate tracking LED template, and then pass through tracking
LED template and simple template matching realize the tracking to LED array；
S403, after carrying out LED location estimation, the position of each LED is exported, and extract each LED's from estimated location
Brightness value.
The present invention has the following advantages and effects with respect to the prior art:
1. the present invention can obtain the opposite position between two successive frames by sub-pix estimation, thus multiple logical
The false negative (losing target LED array) and false positive that testing result is significantly avoided within the scope of communication distance (will be LED gusts non-targeted
Column wrong identification is at target LED array).
2. it is of the invention can be complete and LED array is accurately identified in image capturing, to realize the letter of high robust
Source detection.
3. present invention effectively prevents the shadows by the variation of pixel to pixel between vehicle two successive frames caused by mobile
It rings, substantially increases the accuracy of information source testing result.
Detailed description of the invention
Fig. 1 is that the ITS-VLC information source detection method based on Region Matching Algorithm of more LED array receiving ends of vehicular is shown
It is intended to；
Fig. 2 is the schematic diagram of Region Matching of the present invention；
Fig. 3 is the operation schematic diagram of the cutting of LED array of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment
As shown in Fig. 1, the ITS-VLC information source detection method based on Region Matching Algorithm that present embodiment discloses a kind of,
The following steps are included:
S1, transmitting terminal modulate the LED illumination template of different illumination according to input data, and emit with two dimension LED mould
The optical signal of plate form.
Concrete application implement in, step S1 the following steps are included:
S101, encoder carry out channel coding to input data；
The inversion LED template insertion unit generation of S102, transmitting terminal are transmitted for tracking the inverted signal of LED array
To pulse-width modulator；
S103, pulse-width modulator modulate signals into the LED illumination template of different illumination；
S104, finally, pulse width modulating signal is converted into 2D signal, by individually modulating shining for each LED
After degree, each LED light transmitted in parallel data-signal.
S2, at receiving end, high speed imaging sensor receive signal after, head image processing unit by capture image split into
M × n region, and image scanning is carried out to each region, wherein m is the line number of m × n area arrangement, and n is m × n region
The columns of arrangement；
Concrete application implement in, step S2 the following steps are included:
S201, receiving end high speed imaging sensor receive signal after, transmit a signal to an image processing unit；
Image segmentation unit in S202, head image processing unit splits into m × n region for image is captured, and to each
Region carries out image scanning, wherein the size in each region is N × N number of pixel, and N is the line number and columns of pixel arrangement.
S3, the candidate region that LED array is extracted from m × n region, and detection includes the region of LED array, is passed through
Region Matching Algorithm obtains the corresponding position between two successive frames.
Concrete application implement in, step S3 the following steps are included:
S301, as shown in Fig. 2, LED array is extracted and detection unit extracts the candidate of LED array from m × n region
Region detects frame f with Region MatchingtIn a row b column region (a, b) and frame ft-1In any same size region
Between motion vector, wherein 0 < a≤m, 0 < b≤n；
S302, by following standard come calculation of motion vectors in frame ftSearch range and in frame ft-1Search range
Similarity:
Wherein, (p, q)a,bIt is the candidate motion vector in region (a, b), ia,bAnd ja,bIt is region (a, b) top left corner pixel
Coordinate, ft() and ft-1() is frame f respectivelytWith frame ft-1The pixel value of middle respective coordinates, D (p, q)a,bIt is the total of absolute distance
With；
By lower column operations it can be concluded that optimal motion vector (pmin,qmin)a,b:
(pmin,qmin)a,b=arg minD (p, q) (2)
Wherein, (p, q) is in motion vector search ranges, (pmin,qmin)a,bSo that D (p, q) is minimized.
S303, it is based on any D (pmin,qmin)a,bValue indicate the brightness value of LED array or part LED array, by sentencing
Whether disconnected the following conditions meet determine it is inner whether the LED array or part LED array are comprised in region (a, b).
Wherein, T is for judging whether the LED array or part LED array are comprised in the inner threshold in region (a, b)
Value.
S304, as shown in Fig. 3, LED array cut unit and LED array extract extracted with detection unit region (a,
B) and its neighbouring region of extracting is associated.If region area is less than the area of LED array in capture image, then it is connected to
Multiple regions (a, b) being extracted, and until each connected region is expanded to restricted area, and then extended area is formed, most
The area of extended area is cut to the area of LED array afterwards.
S4, data and image processing unit carry out tracking and location estimation to LED array.
Concrete application implement in, step S4 the following steps are included:
S401, by the inclusion of have transmitting LED flashing template based on Baker mapping sequence, data and image processing unit
From the beginning LED array is detected in the processing result of image processing unit；
S402, LED template and its inversion LED template by receiving, generate tracking LED template, and then pass through tracking
LED template and simple template matching realize the tracking to LED array；
S403, after carrying out LED location estimation, the position of each LED is exported, and extract each LED's from estimated location
Brightness value.
S5, decoder are decoded the output result of data image processing unit one by one, and export be resumed it is original
Data.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (2)
1. a kind of ITS-VLC information source detection method based on Region Matching Algorithm, wherein ITS-VLC is the intelligence of visible light communication
Energy traffic system, which is characterized in that the detection method includes the following steps:
S1, transmitting terminal modulate the LED illumination template of different illumination according to input data, and emit with two-dimentional LED illumination mould
The optical signal of plate form；Wherein, the step S1 process is as follows:
S101, encoder carry out channel coding to input data, the signal after generating channel coding；
S102, transmitting terminal inversion LED illumination template insertion unit using the signal after channel coding, generate for tracking LED
The inverted signal of array, and it is transferred to pulse-width modulator；
S103, pulse-width modulator utilize the signal after channel coding and the inverted signal for tracking LED array, generate arteries and veins
Bandwidth modulation signals are rushed, to generate the LED illumination template of different illumination and be inverted LED illumination template；
S104, pulse width modulating signal be converted by LED illumination template and be inverted LED illumination template in the form of existing for two
Dimensional signal, after the luminosity by individually modulating each LED, each LED light transmitted in parallel data-signal；
S2, at receiving end, high speed imaging sensor receive signal after, head image processing unit by capture image split into m × n
A region, and image scanning is carried out to each region, wherein m is the line number of m × n area arrangement, and n is m × n area arrangement
Columns；
S3, the candidate region that LED array is extracted from m × n region, and detection includes the region of LED array, passes through region
Matching algorithm obtains the corresponding position between two successive frames；Wherein, the step S3 process is as follows:
The time of LED array is extracted in LED array extraction and detection unit in S301, head image processing unit from m × n region
Favored area detects frame f with Region MatchingtIn a row b column region (a, b) and frame ft-1In any same size area
Motion vector between domain, wherein 0 < a≤m, 0 < b≤n；
S302, by following standard come calculation of motion vectors in frame ftSearch range and in frame ft-1Search range it is similar
Degree:
Wherein, (p, q)a,bIt is the candidate motion vector in region (a, b), ia,bAnd ja,bIt is the seat of region (a, b) top left corner pixel
Mark, ft() and ft-1() is frame f respectivelytWith frame ft-1The pixel value of middle respective coordinates, D (p, q)a,bIt is the summation of absolute distance；
By lower column operations it can be concluded that optimal motion vector (pmin,qmin)a,b:
(pmin,qmin)a,b=arg min D (p, q) (2)
Wherein, (p, q) is in motion vector search ranges, (pmin,qmin)a,bSo that D (p, q) is minimized；
S303, it is based on any D (pmin,qmin)a,bValue indicate the brightness value of LED array or part LED array, by judge with
Whether lower condition meets determine it is inner whether the LED array or part LED array are comprised in region (a, b):
Wherein, T is for judging whether the LED array or part LED array are comprised in the inner threshold value in region (a, b)；
LED array in S304, head image processing unit cuts unit and LED array extracts the region extracted with detection unit
(a, b) and its neighbouring region of extracting are associated, if region area is less than the area of LED array in capture image, then connect
Lead to multiple regions (a, b) being extracted, and until each connected region is expanded to restricted area, and then form extended area,
The area of extended area is finally cut to the area of LED array；
S4, data and image processing unit carry out tracking and location estimation to LED array；Wherein, the step S4 process is as follows:
S401, by the inclusion of have transmitting LED flashing template based on Baker mapping sequence, data and image processing unit is from the beginning
LED array is detected in the processing result of image processing unit；
S402, LED illumination template and its inversion LED illumination template by receiving, generate tracking LED illumination template, in turn
Using tracking LED illumination template, simple template matching is carried out to data image, realizes the tracking to LED array；
After the completion of S403, tracking, LED location estimation is carried out, the position of each LED is exported, and extracted each from estimated location
The brightness value of LED；
The position for each LED that S5, decoder export data image processing unit and its brightness value result are decoded respectively,
And export the initial data being resumed.
2. the ITS-VLC information source detection method according to claim 1 based on Region Matching Algorithm, which is characterized in that institute
The step S2 process stated is as follows:
S201, receiving end high speed imaging sensor receive signal after, transmit a signal to an image processing unit；
Image segmentation unit in S202, head image processing unit splits into m × n region for image is captured, and to each region
Carry out image scanning, wherein the size in each region is N × N number of pixel, and N is the line number and columns of pixel arrangement.
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| TW201417519A (en) * | 2012-10-26 | 2014-05-01 | Hai-Han Lu | 10m/500Mbps WDM visible light communication systems |
| CN106230505A (en) * | 2016-07-19 | 2016-12-14 | 中国科学技术大学 | Optimum input distribution acquiring method in a kind of intelligent transportation system based on visible light communication |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201417519A (en) * | 2012-10-26 | 2014-05-01 | Hai-Han Lu | 10m/500Mbps WDM visible light communication systems |
| CN106230505A (en) * | 2016-07-19 | 2016-12-14 | 中国科学技术大学 | Optimum input distribution acquiring method in a kind of intelligent transportation system based on visible light communication |
Non-Patent Citations (1)
| Title |
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