CN110175607A - A kind of laser pen external member and its tracking implementation method of drawing - Google Patents
A kind of laser pen external member and its tracking implementation method of drawing Download PDFInfo
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- CN110175607A CN110175607A CN201910362144.4A CN201910362144A CN110175607A CN 110175607 A CN110175607 A CN 110175607A CN 201910362144 A CN201910362144 A CN 201910362144A CN 110175607 A CN110175607 A CN 110175607A
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- laser pen
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03542—Light pens for emitting or receiving light
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/10—Character recognition
- G06V30/14—Image acquisition
- G06V30/142—Image acquisition using hand-held instruments; Constructional details of the instruments
- G06V30/1423—Image acquisition using hand-held instruments; Constructional details of the instruments the instrument generating sequences of position coordinates corresponding to handwriting
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B17/00—Teaching reading
- G09B17/02—Line indicators or other guides or masks
Abstract
The present invention provides a kind of laser pen external member and its tracking implementation methods of drawing, the present invention is combined using Kinect device with AR interactive algorithm and laser pen button, only needing to do movement before Kinect device can be realized long-range any operation for drawing straight line or curve, in addition it also can be chosen, rotate and translation, when selecting object, laser pen can issue laser, to know which object selected, it realizes the drafting for carrying out mathematic graph in a simple manner, facilitates remote teaching.On picture tracing algorithm, detection, five frame difference algorithms and mixed Gauss model based on color characteristic are combined.Three results detected are subjected to logic "and" operation, then complete moving target is obtained by detection of connectivity.To the phenomenon efficiently against illumination variation noise jamming, cavity, there is robustness and accuracy.
Description
Technical field
The present invention relates to laser pen technical field, especially a kind of laser pen external member and its tracking implementation method of drawing.
Background technique
Laser pen is often used to be directed toward at a distance in education with hot spot eye-catching as one in the demonstration of business.
Laser is a kind of light of directional lighting, and the laser of laser pen transmitting can only issue in one direction, the degree of the beam divergence of laser
Number only has about 0.001 radian, substantially close to parallel, it is believed that it is the light not dissipated substantially.And laser pen is bright
Degree is very high, so it can be mapped to and refer to bright remote object, indicates remote object.What the wavelength of laser was covered
Narrow range, so the color of laser is very pure.
Instantly teaching laser pen on the market is mainly used in switching PowerPoint, only up and down page turning, volume adjustment,
A small amount of function such as laser display can only be write if thinking one figure of picture in mathematical education by connecing contact screen straight or using
The mode of letter stencil, but such mode is reacted slowly, brings trouble to teaching instead.Also there is portion of techniques using sharp in the prior art
Light and extraneous camera carry out human-computer interaction to realize remote teaching, but such mode is too big by extraneous illumination effect.
Summary of the invention
The object of the present invention is to provide a kind of laser pen external member and its tracking implementation methods of drawing, it is intended to solve the prior art
In using laser stroke pattern or can not draw be illuminated by the light and influence big problem, realize and carried out in a simple manner using laser pen
The drafting of mathematic graph, facilitates remote teaching.
To reach above-mentioned technical purpose, the present invention provides a kind of laser pen external member, the laser pen external member includes:
4 buttons, 1 scaling slider, resistance, ammeter, power supply, laser lamp and single-chip microcontroller；
The button includes select button, spin button, straight line button and curve button；
The select button is connected with laser lamp, and simultaneously with scaling slider, spin button, straight line button and curve button
Connection, and be formed into a loop with other component, when different buttons are pressed, different circuits is formed, and the electricity in different circuit
Flow valuve is different；
The single-chip microcontroller judges current value size, and result is wirelessly transmitted to computer equipment, the calculating
Machine equipment executes operation accordingly according to the selection of the size of current value, and passes data to AR and show equipment.
Preferably, when the select button is pressed, laser lamp is lighted.
Preferably, the laser anterior end of pen is particular color.
The present invention also provides a kind of pictures of laser pen external member to track implementation method, the described method comprises the following steps:
S1, it is based on color characteristic, identifies that specific color carries out Preliminary detection to the position of laser pen by camera；
S2, the laser pen by five frame difference algorithms to front end with particular color carry out dynamic motion detection；
S3, context update is carried out using mixed Gaussian background modeling, extracts target；
S4, the result of three color identification, five frame differences and mixed Gaussian method detections is subjected to logic and operation, passed through
Connected region obtains complete laser pen target.
Preferably, the step S2 concrete operations are as follows:
S201,5 adjacent frame images are continuously chosen:
fk-2(x, y), fk-1(x, y), fk(x, y), fk+1(x, y), fk+2(x, y)
Convert thereof into corresponding grayscale image:
Ik-2(x, y), Ik-1(x, y), Ik(x, y), Ik+1(x, y), Ik+2(x, y)；
S202, frame difference operation is carried out to 5 frame gray level images, obtains difference result di(x, y) (i=1,2,3,4):
d1(x, y)=| Ik(x, y)-Ik-2(x, y) |
d2(x, y)=| Ik(x, y)-Ik-1(x, y) |
d2(x, y)=| Ik(x, y)-Ik+1(x, y) |
d4(x, y)=| Ik(x, y)-Ik+2(x, y) |；
S203, binary conversion treatment is carried out:
S204, logical "or" operation is carried out to binarization result:
S205, logic "and" operation is carried out, obtains the laser pen profile of k-th frame image:
Preferably, the step S3 concrete operations are as follows:
S301, with each pixel the t=1 moment pixel value XtMean μ as the 1st Gaussian Profile1, and assign
Give a variances sigma1；
S302、XtIt is compared according to the following equation with current K Gauss model, finds matched distributed model:
|Xt-μI, t-1|≤2.5*σI, t-1；
If S303, the matched model of institute meet context request, which belongs to background, otherwise belongs to prospect；
S304, the Gaussian Profile weight in model is adjusted according to the following equation:
ωK, t=(1- α) * ωK, t-1+α*MK, t
Wherein α is learning rate, for matched model MK, t=1, otherwise its value is 0；
S305, mean value and variance are updated:
μt=(1- ρ) * μt-1+ρ*Xt
σt 2=(1- ρ) * σt-1 2+ρ*(Xt-μt)T(Xt-μt)；
S306, each model are arranged according to ω/σ descending, and the model that weight is big, standard deviation is small comes front；
S307, select before B model as background, the height for expressing background image is determined to according to following formula
This distribution number, parameter T indicate background proportion, as long as preceding B Gaussian Profile in detected pixel value and background model
Any one match, then it is assumed that the pixel belongs to background, otherwise it is assumed that being prospect:
Preferably, the method also includes first carrying out median filter process to image.
It is preferably, described that by connected region to obtain complete laser pen target concrete operations as follows:
The area of each connected region is calculated, contour area threshold value is set, area is less than abandoning as noise for threshold value,
Area is greater than the positioning target connected domain of threshold value, is filled with foreground to contoured interior, obtains complete moving target.
The effect provided in summary of the invention is only the effect of embodiment, rather than invents all whole effects, above-mentioned
A technical solution in technical solution have the following advantages that or the utility model has the advantages that
Compared with prior art, the invention proposes a kind of design scheme of laser pen external member, using Kinect device with
AR interactive algorithm and laser pen button combine, it is only necessary to which movement is done before Kinect device can be realized long-range any picture directly
In addition the operation of line or curve also can be chosen, rotate and translation, when selecting object, laser pen can issue sharp
Light realizes the drafting for carrying out mathematic graph in a simple manner, facilitates remote teaching to know which object selected.?
On picture tracing algorithm, detection, five frame difference algorithms and mixed Gauss model based on color characteristic are combined.By three
The result detected carries out logic "and" operation, then obtains complete moving target by detection of connectivity.To effectively gram
The phenomenon of illumination variation noise jamming, cavity is taken, there is robustness and accuracy.
Detailed description of the invention
Fig. 1 is a kind of laser pen external member structure side view provided in the embodiment of the present invention；
Fig. 2 is a kind of laser pen external member structure top view provided in the embodiment of the present invention；
Laser pen internal circuit diagram when Fig. 3 is a kind of picture straight line provided in the embodiment of the present invention or curve；
Laser pen internal circuit diagram when Fig. 4 is a kind of pair of object selection provided in the embodiment of the present invention or translation；
Fig. 5 is laser pen internal circuit diagram when a kind of pair of object provided in the embodiment of the present invention rotates；
Fig. 6 is laser pen internal circuit diagram when a kind of pair of object provided in the embodiment of the present invention zooms in and out；
Fig. 7 is a kind of picture tracking implementation method flow chart of laser pen external member provided in the embodiment of the present invention.
Specific embodiment
In order to clearly illustrate the technical characterstic of this programme, below by specific embodiment, and its attached drawing is combined, to this
Invention is described in detail.Following disclosure provides many different embodiments or example is used to realize different knots of the invention
Structure.In order to simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.In addition, the present invention can be with
Repeat reference numerals and/or letter in different examples.This repetition is that for purposes of simplicity and clarity, itself is not indicated
Relationship between various embodiments and/or setting is discussed.It should be noted that illustrated component is not necessarily to scale in the accompanying drawings
It draws.Present invention omits the descriptions to known assemblies and treatment technology and process to avoid the present invention is unnecessarily limiting.
It is provided for the embodiments of the invention a kind of laser pen external member and its tracking implementation method of drawing with reference to the accompanying drawing
It is described in detail.
As shown in Figure 1, 2, the embodiment of the invention discloses a kind of laser pen external member, the laser pen external member includes:
4 buttons, 1 scaling slider, resistance, ammeter, power supply, laser lamp and single-chip microcontroller；
The button includes select button, spin button, straight line button and curve button；
It connects after the select button is in parallel with spin button with laser lamp, and in parallel with curve button with straight line button,
And be formed into a loop with other component, when different buttons are pressed, different circuits is formed, and the current value in different circuit
It is different；
The single-chip microcontroller judges current value size, and result is wirelessly transmitted to computer equipment, the calculating
Machine equipment executes operation accordingly according to the selection of the size of current value, and passes data to AR and show equipment.
The single-chip microcontroller is STM32 development board, handles current data, judges current current value.And by electric current
Value is the modes such as WIFI, GPRS communication by being wirelessly transmitted to calculating equipment, the wireless transmission.Computer equipment is according to electric current
Value size judges which kind of operation needed to be implemented, and can be operation, the computer equipment such as to choose, rotate, drawing straight line or trace
The operational order needed to be implemented is sent to AR and shows equipment.
When user needs picture straight line, screen need to draw lines position one end pin straight line button and be dragged to setting-out position
The other end obtains institute's drawing beeline according to the position of beginning and end.When user presses straight line button, straight line button is corresponding
Touch panel contact resistance forms closed circuit, has electric current to pass through in circuit, and resistance sizes are 10 ohm in circuit at this time, ammeter
Obtain data be uploaded to computer equipment, computer equipment passes the result to AR equipment after being calculated analytically, similarly, when with
When family needs trace, press lower curve button and operated, at this time loop resistance size be 1 ohm, rear camera track pen
The track of point, draws arbitrary curve.Laser pen internal circuit diagram when Fig. 3 is picture straight line or curve.
When user selects object, by select button, then launch laser in front of laser pen, inside forms and closes
Circuit is closed, resistance sizes are 8 ohm in circuit at this time, and ammeter passes data to computer equipment, then passes to AR equipment,
Equipment determines be in contact with which object in virtual scene by identifying the position of style of writing laser, then which object is selected,
It also would indicate that the selected prompt of which object on AR device screen.When user is when carrying out translation, selection is pinned
Button translates object, and the track of laser pen is the track of object translation, while will also be known by algorithm in AR equipment
Not Chu laser pen motion profile, unclamp select button, the translation of object is completed, and the process is high-visible in AR equipment.Fig. 4
Laser pen internal circuit diagram when to select object or translate.
When user rotates object, select button is pressed first, the object to be operated is chosen, at this time in AR equipment
Object can be prompted to be operated in selected state, spin button is pressed later, form closed circuit, resistance value in circuit at this time
It is 6 ohm, after current data passes to AR equipment, user can rotate object.Fig. 5 is when rotating to object
Laser pen internal circuit diagram.
When user zooms in and out object, select button is pressed first, the object to be operated is chosen, at this time in AR equipment
Object can be prompted to be operated in selected state, user adjusts scaling slider later, and forward slip is that object is chosen in diminution, to
Sliding chooses object for amplification afterwards, and the resistance in sliding process in circuit changes in a certain range, and resistance is at 1-6 ohm
Between change, default normal size be 4 ohm.After current data passes to AR equipment, user can be in AR equipment freely
Scaling chooses object.Fig. 6 is laser pen internal circuit diagram when zooming in and out to object.
The Front-end Design of the laser pen is to have specific color, identifies this specific color by camera, thus
Preliminary detection is carried out to the position of laser pen, and the virtual point model for replacing pen is presented in AR equipment.It is poor using five frames
Laser pen of the algorithm to front end with particular color is divided to carry out dynamic motion detection；It is carried out simultaneously using mixed Gaussian background modeling
Context update, to extract target；The result of color identification, the detection of three methods of five frame differences and mixed Gaussian is patrolled
AND operation is collected, then complete laser pen target is obtained by connected region.
The invention proposes a kind of design schemes of laser pen external member, using Kinect device and AR interactive algorithm and swash
Light pen button combines, it is only necessary to and movement is done before Kinect device can be realized long-range any operation for drawing straight line or curve,
In addition it also can be chosen, rotate and translation, when selecting object, laser pen can issue laser, to know selection
Which object realizes the drafting for carrying out mathematic graph in a simple manner, facilitates remote teaching.
As shown in fig. 7, the embodiment of the invention also discloses a kind of pictures of laser pen external member to track implementation method, the side
Method the following steps are included:
S1, it is based on color characteristic, identifies that specific color carries out Preliminary detection to the position of laser pen by camera；
S2, the laser pen by five frame difference algorithms to front end with particular color carry out dynamic motion detection；
S3, context update is carried out using mixed Gaussian background modeling, extracts target；
S4, the result of three color identification, five frame differences and mixed Gaussian method detections is subjected to logic and operation, passed through
Connected region obtains complete laser pen target.
Laser pen of the embodiment of the present invention by five frame difference algorithms to front end with particular color carries out dynamic motion inspection
It surveys；Context update is carried out using mixed Gaussian background modeling simultaneously, to extract target；By color identification, five frame differences and
The result of three method detections of mixed Gaussian carries out logic "and" operation, then obtains complete laser pen mesh by connected region
Mark.
In order to avoid the influence of picture noise, median filter process first is carried out to image, picture quality is guaranteed with this.
It is primarily based on color characteristic, identifies that specific color carries out Preliminary detection to the position of laser pen by camera,
This method identification quickly, but due to will receive extraneous illumination effect, changes colour so as to cause particular color, so that in detection movement
When occurring the situation of inaccuracy when laser pen, therefore solving to be used only based on color identification method by five frame difference algorithms due to
It is uncertain caused by the variation of background perturbation and illumination.
It is described by five frame difference algorithms to front end with particular color laser pen carry out dynamic motion detection include with
Lower step:
S201,5 adjacent frame images are continuously chosen:
fk-2(x, y), fk-1(x, y), fk(x, y), fk+1(x, y), fk+2(x, y)
Convert thereof into corresponding grayscale image:
Ik-2(x, y), Ik-1(x, y), Ik(x, y), Ik+1(x, y), Ik+2(x, y)
S202, frame difference operation is carried out to 5 frame gray level images, obtains difference result di(x, y)=(i=1,2,3,4):
d1(x, y)=| Ik(x, y)-Ik-2(x, y) |
d2(x, y)=| Ik(x, y)-Ik-1(x, y) |
d2(x, y)=| Ik(x, y)-Ik+1(x, y) |
d4(x, y)=| Ik(x, y)-Ik+2(x, y) |
S203, binary conversion treatment is carried out:
S204, logical "or" operation is carried out to binarization result:
S205, due to will appear target overlapping phenomenon after logical "or" operation, for eliminate overlapping, carry out logical "and" fortune
It calculates, obtains the laser pen profile of k-th frame image:
It is described using mixed Gaussian background modeling carry out context update the following steps are included:
S301, with each pixel the t=1 moment pixel value XtMean μ as the 1st Gaussian Profile1, and assign
Give a biggish variances sigma1；
S302、XtIt is compared according to the following equation with current K Gauss model, finds matched distributed model:
|Xt-μI, t-1|≤2.5*σI, t-1
If S303, the matched model of institute meet context request, which belongs to background, otherwise belongs to prospect；
S304, the Gaussian Profile weight in model is adjusted according to the following equation:
ωK, t=(1- α) * ωK, t-1+α*MK, t
Wherein α is learning rate, for matched model MK, t=1, otherwise its value is 0；
S305, mean value and variance are updated:
μt=(1- ρ) * μt-1+ρ*Xt
σt 2=(1- ρ) * σt-1 2+ρ*(Xt-μt)T(Xt-μt)
S306, each model are arranged according to ω/σ descending, and the model that weight is big, standard deviation is small comes front；
S307, select before B model as background, the height for expressing background image is determined to according to following formula
This distribution number, parameter T indicate background proportion, as long as preceding B Gaussian Profile in detected pixel value and background model
Any one match, then it is assumed that the pixel belongs to background, otherwise it is assumed that being prospect:
Detection, five frame difference algorithms and mixed Gauss model based on color characteristic are combined, three detections are tied
Fruit carries out logic "and" operation.
The area of each connected region is calculated, contour area threshold value is set, area is less than abandoning as noise for threshold value,
Area is greater than the positioning target connected domain of threshold value, is filled with foreground to contoured interior, complete moving target is obtained, to have
Effect overcomes the phenomenon of illumination variation noise jamming, cavity, has robustness and accuracy.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of laser pen external member, which is characterized in that the laser pen external member includes:
4 buttons, 1 scaling slider, resistance, ammeter, power supply, laser lamp and single-chip microcontroller；
The button includes select button, spin button, straight line button and curve button；
The select button is connected with laser lamp, and in parallel with curve button with scaling slider, spin button, straight line button, and
It is formed into a loop with other component, when different buttons are pressed, forms different circuits, and the current value in different circuit is not
Together；
The single-chip microcontroller judges current value size, and result is wirelessly transmitted to computer equipment, and the computer is set
It is standby that operation is executed accordingly according to the selection of the size of current value, and pass data to AR and show equipment.
2. a kind of laser pen external member according to claim 1, which is characterized in that when the select button is pressed, swash
Light lamp lights.
3. a kind of laser pen external member according to claim 1, which is characterized in that the laser anterior end of pen is particular color.
4. a kind of picture of laser pen external member tracks implementation method, which is characterized in that the described method comprises the following steps:
S1, it is based on color characteristic, identifies that specific color carries out Preliminary detection to the position of laser pen by camera；
S2, the laser pen by five frame difference algorithms to front end with particular color carry out dynamic motion detection；
S3, context update is carried out using mixed Gaussian background modeling, extracts target；
S4, the result of three color identification, five frame differences and mixed Gaussian method detections is subjected to logic and operation, passes through connection
Region obtains complete laser pen target.
5. a kind of picture of laser pen external member according to claim 4 tracks implementation method, which is characterized in that the step
S2 concrete operations are as follows:
S201,5 adjacent frame images are continuously chosen:
fk-2(x, y), fk-1(x, y), fk(x, y), fk+1(x, y), fk+2(x, y)
Convert thereof into corresponding grayscale image:
Ik-2(x, y), Ik-1(x, y), Ik(x, y), Ik+1(x, y), Ik+2(x, y)；
S202, frame difference operation is carried out to 5 frame gray level images, obtains difference result d1(x, y) (i=1,2,3,4):
d1(x, y)=| Ik(x, y)-Ik-2(x, y) |
d2(x, y)=| Ik(x, y)-Ik-1(x, y) |
d3(x, y)=| Ik(x, y)-Ik+1(x, y) |
d4(x, y)=| Ik(x, y)-Ik+2(x, y) |；
S203, binary conversion treatment is carried out:
S204, logical "or" operation is carried out to binarization result:
S205, logic "and" operation is carried out, obtains the laser pen profile of k-th frame image:
6. a kind of picture of laser pen external member according to claim 4 tracks implementation method, which is characterized in that the step
S3 concrete operations are as follows:
S301, with each pixel the t=1 moment pixel value XtMean μ as the 1st Gaussian Profile1, and assign one
A variances sigma1；
S302、XtIt is compared according to the following equation with current K Gauss model, finds matched distributed model:
|Xt-μI, t-1|≤2.5*σI, t-1；
If S303, the matched model of institute meet context request, which belongs to background, otherwise belongs to prospect；
S304, the Gaussian Profile weight in model is adjusted according to the following equation:
ωK, t=(1- α) * ωK, t-1+α*MK, t
Wherein α is learning rate, for matched model MK, t=1, otherwise its value is 0；
S305, mean value and variance are updated:
μt=(1- ρ) * μt-1+ρ*Xt
σt 2=(1- ρ) * σt-1 2+ρ*(Xt-μt)T(Xt-μt)；
S306, each model are arranged according to ω/σ descending, and the model that weight is big, standard deviation is small comes front；
S307, select before B model as background, the Gauss point for expressing background image is determined to according to following formula
Cloth number, parameter T indicate background proportion, as long as preceding B Gaussian Profile appoints in detected pixel value and background model
What one matches, then it is assumed that the pixel belongs to background, otherwise it is assumed that being prospect:
7. a kind of picture of laser pen external member according to claim 4 tracks implementation method, which is characterized in that the method
It further include that median filter process first is carried out to image.
8. a kind of picture of laser pen external member according to claim 4 tracks implementation method, which is characterized in that described to pass through
It is as follows that connected region obtains complete laser pen target concrete operations:
The area of each connected region is calculated, contour area threshold value is set, area is less than abandoning as noise for threshold value, area
Greater than the positioning target connected domain of threshold value, contoured interior is filled with foreground, obtains complete moving target.
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|---|---|---|---|
| CN201910362144.4A CN110175607B (en) | 2019-04-30 | 2019-04-30 | Laser pen external member and drawing tracking implementation method thereof |
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|---|---|---|---|
| CN201910362144.4A CN110175607B (en) | 2019-04-30 | 2019-04-30 | Laser pen external member and drawing tracking implementation method thereof |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6573887B1 (en) * | 1996-04-22 | 2003-06-03 | O'donnell, Jr. Francis E. | Combined writing instrument and digital documentor |
| CN102073395A (en) * | 2011-02-25 | 2011-05-25 | 上海交通大学 | Wireless laser pen interaction system based on field programmable gate array (FPGA) |
-
2019
- 2019-04-30 CN CN201910362144.4A patent/CN110175607B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6573887B1 (en) * | 1996-04-22 | 2003-06-03 | O'donnell, Jr. Francis E. | Combined writing instrument and digital documentor |
| CN102073395A (en) * | 2011-02-25 | 2011-05-25 | 上海交通大学 | Wireless laser pen interaction system based on field programmable gate array (FPGA) |
Non-Patent Citations (1)
| Title |
|---|
| 刘波等: "基于五帧帧差和混合高斯模型的运动目标检测", 《嘉应学院学报》 * |
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