CN109884588B - Distance measurement method and system for pulse sequence - Google Patents
Distance measurement method and system for pulse sequence Download PDFInfo
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- CN109884588B CN109884588B CN201910040980.0A CN201910040980A CN109884588B CN 109884588 B CN109884588 B CN 109884588B CN 201910040980 A CN201910040980 A CN 201910040980A CN 109884588 B CN109884588 B CN 109884588B
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Abstract
A method and system for measuring the distance of pulse sequence. Wherein the method comprises the following steps: calculating the time difference between every two adjacent pulse signals in the pulse sequence; obtaining light intensity information corresponding to the pulse sequence according to the time difference; the distance between the pulse sequences is measured according to the difference of the light intensity information between the pulse sequences. The system comprises: a pulse sensor array and a processor; wherein, the processor specifically includes: the device comprises an illumination intensity calculation module and a pulse sequence calculation module. The invention converts the two pulse sequences into corresponding changes of illumination intensity by analyzing the pulse sequence signal generation mode obtained based on the pulse sequence sensor, thereby accurately estimating the distance between the two pulse sequences, and further providing a basis for the design of algorithms such as detection, tracking, compression and the like, and the subsequent analysis and coding work of pulse array signals.
Description
Technical Field
The invention relates to the technical field of information processing, in particular to a method and a system for measuring the distance of a pulse sequence.
Background
A conventional image sensor samples a scene at a certain frequency and outputs a video in units of frames. The sampling mode utilizes the persistence principle of the human nervous system, and continuous videos can be formed in the human visual system. At present, artificial intelligence based on a machine learning algorithm is rapidly developing, and the rapid development is achieved in many fields, such as video monitoring, automatic driving, intelligent security, military application and the like. In fact, since there is no human persistence of vision effect in the computer system, this sampling method is constrained by the sampling frequency, cannot give a continuous signal input, and cannot record objects moving at high speed. Therefore, the video obtained by this sampling method is not favorable for the implementation of the algorithm and is not the optimal input.
In recent years, a sensor based on a pulse array has been proposed, which can sample light intensity information of a scene more efficiently with extremely high time resolution by simulating a neural network structure of a biological retina, and output the light intensity information as a pulse signal which is continuous in a time domain. The Sensor based on the pulse array includes, but is not limited to, a Sensor (e.g., Dynamic Vision Sensor (DVS)) that emits a pulse signal based on a change in illumination intensity (e.g., Asynchronous Time-based image Sensor (ATIS)), a Sensor (e.g., Dynamic and Active Pixel Vision Sensor, DAVIS), etc.) that emits a pulse signal based on a change in illumination intensity (e.g., Dynamic Vision Sensor, DVS), an Asynchronous Time-based image Sensor (ATIS), a Sensor (e.g., Dynamic and Active Pixel Vision Sensor, DAVIS), etc.). These sampling methods enable high-speed, full-time capture of information in a scene and storage in the form of a pulse array. Compared with the traditional video with a fixed frame rate, the pulse data recording information is more comprehensive and more consistent with biological mechanisms.
In summary, the pulse array signal is completely different from the conventional video data, and in order to analyze and encode the pulse array signal to design a more complicated detection, tracking, and compression algorithm, the similarity between different signals needs to be evaluated. Therefore, a measurement method capable of reasonably characterizing the nature of the pulse array signal is an urgent problem to be solved.
Disclosure of Invention
The pulse array signal is very different from the image sequence in units of frames of the conventional video output. In order to analyze and encode the pulse array signal to design a more complex detection, tracking and compression algorithm, the similarity between different signals needs to be evaluated. Therefore, a measurement method capable of reasonably characterizing a pulse array signal is an urgent problem to be solved. The invention aims to provide a distance measurement method of a pulse sequence, which is realized by the following technical scheme.
According to one aspect of the invention, a method for distance measurement of a pulse sequence is disclosed, which is characterized by comprising: calculating the time difference between every two adjacent pulse signals in the pulse sequence; obtaining light intensity information corresponding to the pulse sequence according to the time difference; the distance between the pulse sequences is measured according to the difference of the light intensity information between the pulse sequences.
Further, the pulse signal is obtained by a pulse array based sensor, wherein the pulse array based sensor comprises: a dynamic vision sensor, an asynchronous time based image sensor, or a sensor that emits a signal based on the cumulative intensity of illumination.
Further, the pulse signal is generated by the sensor based on the pulse array when the light intensity signal is accumulated to reach an accumulation threshold value.
Further, the obtaining the corresponding light intensity information according to the time difference includes: obtaining corresponding light intensity information according to the reciprocal of the time difference, specifically:
wherein, thetaTFor corresponding light intensity, ITIs the time difference between adjacent pulse signals, and phi is a parameter for adjusting the light intensity.
Further, measuring the distance between two pulse sequences according to the light intensity information comprises: measuring the distance between the two pulse sequences according to the Euclidean distance of the corresponding light intensity information of the two pulse sequences, which specifically comprises the following steps:
wherein K is the time length of the pulse signal,
and
respectively corresponding to the light intensity information of the two pulse sequences.
Further, the processing according to the distance between the two pulse sequences includes: analysis or encoding of the signal; designing a detection algorithm, a tracking algorithm or a compression algorithm.
According to another aspect of the present invention, there is disclosed a system using the above-mentioned distance measuring method of a pulse sequence, the system comprising: the pulse sensor array is used for acquiring a light intensity signal and outputting a pulse array signal; a processor, specifically comprising: the device comprises an illumination intensity calculation module and a pulse sequence calculation module; the illumination intensity calculation module is used for calculating a time difference value between every two adjacent pulse signals in the pulse sequence and obtaining corresponding light intensity information according to the time difference value; the pulse sequence distance calculation module is used for measuring the distance between the two pulse sequences according to the light intensity information; wherein the pulse array signal comprises a plurality of pulse sequences corresponding to a plurality of spatial locations.
Preferably, the obtaining, by the illumination intensity calculating module, corresponding light intensity information according to the time difference includes: obtaining corresponding light intensity information according to the reciprocal of the time difference, specifically:
wherein, thetaTFor corresponding light intensity, ITIs the time difference between adjacent pulse signals, and phi is a parameter for adjusting the light intensity.
Preferably, the measuring the distance between two pulse sequences by the pulse sequence distance calculating module according to the light intensity information includes: measuring the distance between the two pulse sequences according to the Euclidean distance of the corresponding light intensity information of the two pulse sequences, which specifically comprises the following steps:
wherein K is the time length of the pulse signal,
and
respectively corresponding to the light intensity information of the two pulse sequences.
The invention has the advantages that: the invention converts the two pulse sequences into corresponding changes of illumination intensity by analyzing the pulse sequence signal generation mode obtained based on the pulse sequence sensor, thereby accurately estimating the distance between the two pulse sequences, and further providing a basis for realizing the design of algorithms such as detection, tracking, compression and the like, and the subsequent analysis and coding work of pulse array signals.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flow chart of a method for distance measurement of a pulse sequence according to an embodiment of the invention.
Fig. 2 shows a schematic diagram of a pulse sequence generation process according to an embodiment of the invention.
Fig. 3 shows a schematic diagram of a process for generating two pulse sequences according to an embodiment of the invention.
FIG. 4 is a schematic diagram of a range-metric system for a pulse train, according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The data processed by the invention is derived from a sensor based on a pulse array, the sampling principle of the sensor is to accumulate the light intensity signals of each spatial position to obtain a signal accumulated intensity value, and when the accumulated intensity exceeds a set threshold value, a pulse signal is sent out; in a certain time, a pulse array is formed by pulse signals emitted from all spatial positions. In order to make better use of the pulse array, the invention proposes to measure the distance between the pulse sequences corresponding to each spatial position in the pulse array. Wherein the magnitude of the distance is used to measure the magnitude of the difference between the two pulse sequences. The specific method of the invention is as follows:
fig. 1 is a flowchart illustrating a method for measuring distance of a pulse sequence according to an embodiment of the present invention. Wherein the distance measurement method comprises the following steps: s1, calculating the time difference between every two adjacent pulse signals in the pulse sequence; s2, obtaining light intensity information corresponding to the pulse sequence according to the time difference; and S3, measuring the distance between the pulse sequences according to the difference of the light intensity information between the pulse sequences. Wherein the pulse signal is obtained by a pulse array based sensor, and the pulse signal is generated when the pulse array based sensor accumulates light intensity signals to reach an accumulation threshold value.
Specifically, the pulse array based sensor includes: a dynamic vision sensor, an asynchronous time based image sensor, or a sensor that emits a signal based on the cumulative intensity of illumination. The obtaining of the corresponding light intensity information according to the time difference includes: obtaining corresponding light intensity information according to the reciprocal of the time difference, specifically:
wherein, thetaTFor corresponding light intensity, ITIs the time difference between adjacent pulse signals and phi is a parameter for adjusting the light intensity, optionally 255. Measuring the distance between two pulse sequences according to the light intensity information comprises: obtaining a distance measure of the two pulse sequences based on the Euclidean distance of the corresponding light intensity information of the two pulse sequencesThe body is as follows:
wherein K is the time length of the pulse signal,
and
respectively corresponding to the light intensity information of the two pulse sequences. The distance measure of the two pulse sequences is used for analysis or encoding of a pulse array signal, or for designing a detection algorithm, a tracking algorithm and/or a compression algorithm, wherein the pulse array is obtained from a plurality of pulse sequences corresponding to a plurality of spatial positions.
As shown in fig. 2, a schematic diagram of a pulse sequence generation process according to an embodiment of the present invention. Wherein the pulse sequence is generated by a pulse array based sensor unit in a period of time, and the pulse array is generated by a unit array composed of pulse array based sensor units in different spatial positions in the same period of time. Wherein each of the cells accumulates the light intensity signal at the spatial location to produce a light intensity integrated intensity, and a pulse signal is emitted when the light intensity integrated intensity exceeds a light intensity threshold.
In particular, the light intensity signal may be understood as the number of photons reaching the cell per unit time, the cell is generally made of a photoelectric material, and the photons are absorbed to release electrons, and when the voltage formed by the collected electrons exceeds a threshold value, the electrons are discharged to generate a pulse signal. Therefore, in a pulse sequence, the time interval between every two pulse signals can indirectly reflect the light intensity in the period of time. It is easy to see that the time interval and the illumination intensity are in inverse proportion, so that the pulse sequence at the opposite end is converted into the change of the illumination intensity in the period of time through reverse thinking, and the Euclidean distance is constructed with the other pulse sequence so as to estimate the distance between the two pulse sequences. Wherein the Euclidean distance between two pulse sequences reflects the similarity of the two pulse sequences.
Fig. 3 is a schematic diagram illustrating a process of generating two pulse sequences according to an embodiment of the present invention. Wherein the two pulse sequences are generated by the pulse array based sensor unit at two different spatial positions, respectively. When the two sensor units are not used for a period of time, when the illumination intensity sensed by the two sensor units is different and the light intensity threshold value is the same, the speed of the accumulated light intensity is different, so that the number of the generated pulse signals is different, and the method is optional and can discard redundant pulse signals; preferably, the weight is constructed by calculating the proportion of the redundant pulse signals to the total number of pulse signals in the pulse sequence, and the weight is further used as a reference for distance estimation between two pulse sequences.
In a specific embodiment, the method for calculating the light intensity information corresponding to each adjacent pulse signal in a pulse sequence according to the time difference between every two adjacent pulse signals in the pulse sequence may also be one or a combination of several of the following embodiments. Combinations of one or more of the above and other alternatives are within the scope of the invention.
Example 1
And calculating the reciprocal of the weighted average value of the time difference values to obtain the light intensity information corresponding to the pulse sequence. The light intensity information can be represented as:
wherein, the thetaT1N is the number of pulse signals in the pulse sequence, delta t, for the corresponding illumination intensitynFor the time interval between the nth pulse signal and the n-1 st signal, the value ωnAnd the weight is corresponding to the nth pulse signal, wherein the weight can be determined according to the strength of the generated pulse signal, and phi is a parameter for adjusting the light intensity.
Example 2
And obtaining the light intensity information corresponding to the pulse sequence by carrying out logarithm on the time difference. The light intensity information can be represented as:
θT2＝φ·log(tn-tn-1)
wherein, the thetaT2For corresponding illumination intensity, phi is a parameter for adjusting light intensity, tnIs the occurrence time of the nth pulse signal. The advantage of this approach is that the logarithm value can be constrained to be between 0 and 1 by selecting the corresponding base number, thereby facilitating the analysis.
Example 3
And obtaining the light intensity information corresponding to the pulse sequence by performing an exponentiation function on the time difference. The light intensity information can be represented as:
wherein, the thetaT2For corresponding illumination intensity, phi is a parameter for adjusting light intensity, tnIs the occurrence time of the nth pulse signal.
In a specific implementation manner, the obtaining of the distance measure between the two pulse sequences by the light intensity information obtained by one or more of the above embodiments further includes one of the following embodiments.
Example 4
And calculating the weighted average light intensity information corresponding to the pulse sequences according to the pulse sequences, and calculating the distance between the two pulse sequences according to the weighted average light intensity information corresponding to the two pulse sequences.
Example 5
An overall estimate is made from the time-domain distribution of the light intensity information over a period of time to obtain a measure of the distance between the two pulse sequences.
Example 6
Fig. 4 is a schematic diagram of a distance measurement system for a pulse sequence according to an embodiment of the present invention. Wherein the system comprises: the pulse sensor array is used for acquiring a light intensity signal and outputting a pulse array signal; a processor, specifically comprising: the device comprises an illumination intensity calculation module and a pulse sequence calculation module; the illumination intensity calculation module is used for calculating a time difference value between every two adjacent pulse signals in the pulse sequence and obtaining corresponding light intensity information according to the time difference value.
Example 7
A lossy pulse coding system is characterized in that the system uses the distance measurement method or the system of the pulse sequence disclosed by the invention for modules such as motion estimation, rate distortion decision, coding effect evaluation and the like.
Example 8
The system is characterized in that the system uses the pulse sequence distance measurement method or system disclosed by the invention to measure the pulse distance between a target and a region to be matched and find a matching region with the highest similarity.
Example 9
The method is characterized in that the method utilizes the distance measurement method of the pulse sequence disclosed by the invention to measure and evaluate the distance between the pulse signal to be evaluated and the original signal.
Finally, it should be noted that, by the methods of obtaining the corresponding light intensity information in embodiments 1 to 4 and the embodiments of the present invention, a combination of the distance measuring method for two pulse sequences according to the light intensity information in embodiment 5 and the embodiments is also within the scope of the present invention.
In addition, the method for measuring the distance between two pulse sequences according to the light intensity information includes, but is not limited to, gaussian kernel convolution, correlation coefficient, pearson coefficient, and the like.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (7)
1. A method for distance measurement of a pulse sequence, comprising:
calculating the time difference between every two adjacent pulse signals in the pulse sequence;
obtaining light intensity information corresponding to the pulse sequence according to the time difference;
measuring the distance between the pulse sequences according to the difference of the light intensity information between the pulse sequences, wherein the measuring of the distance between the two pulse sequences according to the Euclidean distance of the light intensity information corresponding to the two pulse sequences comprises the following specific steps:
wherein K is the time length of the pulse signal,
and
light intensity information, f, corresponding to the two pulse sequences, respectivelys1Representing one of the pulse sequences, fs2Is represented bys1Adjacent to another pulse train.
2. The method for distance measurement of a pulse sequence according to claim 1, wherein the pulse signal is obtained based on a sensor of a pulse array, wherein,
the pulse array based sensor comprises: a dynamic vision sensor, an asynchronous time based image sensor, or a sensor that emits a signal based on the cumulative intensity of illumination.
3. The method of distance measurement of a pulse train according to claim 2, wherein said pulse signal is generated by said pulse array based sensor accumulating light intensity signals up to an accumulation threshold.
4. The method of claim 1, wherein obtaining the corresponding light intensity information according to the time difference comprises:
obtaining corresponding light intensity information according to the reciprocal of the time difference, specifically:
wherein, thetaTFor corresponding light intensity, ITIs the time difference between adjacent pulse signals, and phi is a parameter for adjusting the light intensity.
5. The method for distance measurement of pulse sequences according to any of claims 1 or 4, wherein the performing according to the distance measure of the two pulse sequences comprises:
analysis or encoding of the signal;
designing a detection algorithm, a tracking algorithm or a compression algorithm.
6. A system using a method of distance measurement of a pulse sequence according to any of the preceding claims 1 to 5, the system comprising:
the pulse sensor array is used for acquiring a light intensity signal and outputting a pulse array signal;
a processor, specifically comprising: the device comprises an illumination intensity calculation module and a pulse sequence calculation module; wherein the content of the first and second substances,
the illumination intensity calculation module is used for calculating a time difference value between every two adjacent pulse signals in the pulse sequence and obtaining corresponding light intensity information according to the time difference value;
the pulse sequence distance calculating module is used for measuring the distance between two pulse sequences according to the light intensity information, and comprises:
measuring the distance between the two pulse sequences according to the Euclidean distance of the corresponding light intensity information of the two pulse sequences, which specifically comprises the following steps:
wherein K is the time length of the pulse signal,
and
light intensity information, f, corresponding to the two pulse sequences, respectivelys1Representing one of the pulse sequences, fs2Is represented bys1Another adjacent pulse train, wherein the pulse array signal comprises a plurality of pulse trains corresponding to a plurality of spatial locations.
7. The system of claim 6, wherein the illumination intensity calculating module obtains the corresponding light intensity information according to the time difference, and comprises:
obtaining corresponding light intensity information according to the reciprocal of the time difference, specifically:
wherein, thetaTFor corresponding light intensity, ITIs the time difference between adjacent pulse signals, and phi is a parameter for adjusting the light intensity.
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Effective date of registration: 20220126 Address after: 100084 b501b-2, 5th floor, building 8, yard 1, Zhongguancun East Road, Haidian District, Beijing Patentee after: Pulse vision (Beijing) Technology Co.,Ltd. Address before: 100871 No. 5, the Summer Palace Road, Beijing, Haidian District Patentee before: Peking University |