CN110289909A - Outdoor visible light communication target signal source based on optical flow method tracks extracting method - Google Patents
Outdoor visible light communication target signal source based on optical flow method tracks extracting method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/50—Transmitters
- H04B10/516—Details of coding or modulation
- H04B10/54—Intensity modulation
- H04B10/541—Digital intensity or amplitude modulation
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Abstract
The invention discloses a kind of, and the outdoor visible light communication target signal source based on optical flow method tracks extracting method, comprising the following steps: the LED array signal of the transmitting terminal under outdoor scene is carried out OOK modulation；The high speed imaging sensor of receiving end captures picture with high frame per second, and the track algorithm using optical flow method as target signal source tracks signal source；OTSU binary conversion treatment is carried out to the target area of tracking；The decoder of receiving end demodulates original LED modulation data based on obtained pixelated array value, realizes communication.The invention tracks target signal source using optical flow method, using OTSU binary processing method, overcome the moire effect generated by transmitting terminal and receiving end distance, improve the demodulation rate of decoder, more traditional processing method bit error rate based on threshold value is lower, this method is applied to outdoor visible light communication system, enhances the practicability of outdoor visible light communication.
Description
Technical field
The present invention relates to visible light communications and technical field of computer vision, and in particular to a kind of outdoor based on optical flow method
Visible light communication target signal source tracks extracting method.
Background technique
In recent years, the semiconductor devices LED for being known as " green illumination " is rapidly developed.It is shone compared to traditional incandescent lamp etc.
Mingguang City source, LED low energy consumption, service life are long, environmentally protective.Meanwhile LED also has that modulating performance is good, response sensitivity is high, without electromagnetism
The advantages that interference, can be transmitted signal with the unrecognized high frequency of human eye, and the optical frequencies that LED is issued does not need to permit to award
The high broadband of low cost and the high wireless telecommunications of transmission rate may be implemented in power, therefore have expedited the emergence of one and can be realized illumination and logical
Believe integrated technology --- visible light communication technology.
Visible light communication technology has very wide application field, and application can be divided into indoor application and outdoor utility two major classes.
Wherein it can be used between intelligent transportation system, including vehicle and vehicle in outdoor utility, between the infrastructure such as vehicle and street lamp
The transmitting of information, in such applications, communication are generated in the scene being mutually shifted and are carried out in sending and receiving end under conditions of outdoor
, therefore, it is seen that optic communication needs the auxiliary and support of excellent target following technology.
Target following is one of the hot spot in computer vision research field.The technology is detected in each frame image by analysis
The resemblance and motion feature of each pinpoint target out determine the motion profile of target, realize the behavior to moving target
Understanding and real-time tracking.If visible light communication technology is applied to outdoor mobile communication, then outdoor target following technology is especially
It is important.
Therefore, seek one kind reliably just becomes extremely must depending on outer visible light communication target signal source tracking extracting method
It wants, so as to the bit error rate for accurately detecting identification target, improving the tracking ability to target, reducing data transmission, enhances visible
The actual availability of optic communication.
Summary of the invention
The purpose of the present invention is to solve drawbacks described above in the prior art, providing a kind of outdoor based on optical flow method can
Light-exposed communication target signal source tracks extracting method.
The purpose of the present invention can be reached by adopting the following technical scheme that:
A kind of outdoor visible light communication target signal source tracking extracting method based on optical flow method, the outdoor visible light
Communication target signal source track extracting method the following steps are included:
S1, the LED array signal of the transmitting terminal under outdoor scene is subjected to OOK modulation；
S2, receiving end high speed imaging sensor with high frame per second capture picture, signal source is tracked using optical flow method；
S3, OTSU binary conversion treatment is carried out to the target area of tracking；
S4, receiving end decoder original LED modulation data is demodulated based on obtained pixelated array value, realize communication.
Further, the step S1 includes:
S11, transmitting terminal encoder use OOK to count line number for the be positive LED light array of Integer N of positive integer M, columns
According to modulation；
S12, the LED region as composed by every 4 adjacent LED light will be distributed to by the modulated data information of OOK,
To realize that data are transmitted.
Further, the step S2 includes:
S21, a continuous sequence of frames of video is handled, for each sequence of frames of video, is carried out at gray processing
Reason, detects the LED queue of appearance；
If LED pixel point occur in S22, a certain video frame, the angle point of LED queue is found, as characteristic point；
S23, the position prediction that next video frame is carried out to this feature point, if this feature point is f in the gray value of t moment
(x, y, t), wherein x, y are respectively the row coordinate and column coordinate of pixel, It is gray scale respectively
Value f (x, y, t) is to x, the partial derivative of y, t, and pixel value when subsequent time t+dt is f (x+dx, y+dy, t+dt), and u is x to t's
Partial derivative, v are partial derivative of the y to t, and dx is the differential of x, and dy is the differential of y, and dt is the differential of t, it is assumed that light stream campaign is small,
Then have
Ix*dx+Iy*dy+It* dt=0
Ix*u+Iy* v=-It
Assuming thatA small field comprising m pixel in, IxnFor the gray value f of nth pixel pointn(x,y,
T) to the partial derivative of x, IynFor the gray value f of nth pixel pointnThe partial derivative of (x, y, t) to y, ItnFor n-th point to the inclined of t
Derivative, brightness is constant in field, then
It enables
Then have
S24, makeMinimum obtains the optimum position of next video frame this feature point；To any two later
A adjacent video frames find the optimum position of the characteristic point occurred in previous frame in the current frame, exist to obtain foreground target
Position coordinates in present frame；
S25, such iteration carry out, and realize the tracking of target.
Further, the step S3 includes:
S31, the subregion that the gray level image obtained in the step s 21 is divided into multiple N row N column；
S32, to each subregion, two classes, the ratio w of prospect occupied area area image are divided into according to threshold value T1(T),μ1(T) it is
Prospect gray average.The ratio w of background occupied area area image2(T), μ2It (T) is background gray average, μ is that total gray scale in the region is flat
Mean value,For inter-class variance.Column write out inter-class variance equation:
μ=μ1(T)*w1(T)+μ2(T)*w2(T)
S33, according to inter-class variance equation, seek threshold value T, makeObtain maximum value；
S34, binary conversion treatment is carried out to the region according to the threshold value t of all subregion, wherein luminous diode is corresponding
Pixel value is set as 255, and non-luminous diode pair answers pixel value to be set as 0.
Further, the step S4 includes:
S41, decoder read the pixel data of bianry image all subregion, obtain LED sequence brightness information, are decoded
Data；
S42, decoding data is carried out in raw modulation data set to similarity-rough set, chooses the maximum modulation number of similarity
Communication is realized according to according to rule.
The present invention has the following advantages and effects with respect to the prior art:
(1) present invention consider because transmitting terminal and receiving end distance generate moire effect, by local OTSU algorithm into
Row optimization, improves the success rate of demodulation.
(2) present invention combines target tracking algorism with outdoor visible light communication technology, and it is logical to improve outdoor visible light
The practicability of letter technology.
Detailed description of the invention
Fig. 1 is the outdoor visible light communication target signal source tracking extracting method disclosed in the present invention based on optical flow method
Flow chart；
Fig. 2 is the outdoor visible light communication system structure chart in the embodiment of the present invention based on optical flow method；
Fig. 3 is the mobile schematic diagram of optical flow method characteristic point applied in the embodiment of the present invention；
Fig. 4 is the Optical-flow Feature vectogram for the optical flow method applied in the embodiment 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
The outdoor visible light communication target signal source based on optical flow method that present embodiment discloses a kind of tracks extracting method, tool
Body referring to Fig. 1, Fig. 1 be disclosed in the present embodiment it is a kind of based on optical flow method outdoor visible light communication target signal source tracking mention
Take the flow chart of method.Fig. 2 is the present embodiment visible light communication system course of work schematic diagram.This embodiment illustrates visible lights
The feasibility and novelty of communication.With Wi-Fi communication and infrared communication compared with, using visible light carry out communication can it is more convenient with
Safety.The problem of side frequency interferes with each other is substantially not present in visible light communication, while also with the ability of high data capacity.Benefit
It is tracked with target tracking algorism, realize communication can in a dynamic condition.
The outdoor visible light communication target signal source track extracting method specifically includes the following steps:
S1, the LED array signal of the transmitting terminal under outdoor scene is subjected to OOK modulation；
Wherein, the process of step S1 is as follows:
S11, transmitting terminal encoder use OOK to count line number for the be positive LED light array of Integer N of positive integer M, columns
According to modulation；
S12, the LED region as composed by every 4 adjacent LED light will be distributed to by the modulated data information of OOK,
To realize that data are transmitted.
S2, receiving end high speed imaging sensor with high frame per second capture picture, using optical flow method as target signal source
Track algorithm tracks signal source；
Wherein, the process of step S2 is as follows:
S21, a continuous sequence of frames of video is handled, for each sequence of frames of video, is carried out at gray processing
Reason, detects the LED queue of appearance；
If LED pixel point occur in S22, a certain video frame, the angle point of LED queue is found, as characteristic point；
S23, the position prediction that next video frame is carried out to this feature point, if this feature point is f in the gray value of t moment
(x, y, t), wherein x, y are respectively the row coordinate and column coordinate of pixel, It is gray scale respectively
Value f (x, y, t) is to x, the partial derivative of y, t.Pixel value when subsequent time t+dt is f (x+dx, y+dy, t+dt).U is x to t's
Partial derivative, v are partial derivative of the y to t, and dx is the differential of x, and dy is the differential of y, and dt is the differential of t.Assuming that light stream campaign is small,
Then have
Ix*dx+Iy*dy+It* dt=0
Ix*u+Iy* v=-It
Assuming thatA small field comprising m pixel in, IxnFor the gray value f of nth pixel pointn(x,
Y, t) to the partial derivative of x, IynFor the gray value f of nth pixel pointnThe partial derivative of (x, y, t) to y, ItnFor n-th point to t's
Partial derivative, brightness is constant in field, then
It enables
Then have
S24, makeMinimum obtains the optimum position of next video frame this feature point；To any two later
A adjacent video frames find the optimum position of the characteristic point occurred in previous frame in the current frame, exist to obtain foreground target
Position coordinates in present frame；Fig. 3 is the light stream vector figure for the single feature point that the step obtains.
S25, as shown in figure 4, so iteration carry out, the light stream vector figure of all characteristic points can be obtained, realize target with
Track.
S3, OTSU binary conversion treatment is carried out to the target area of tracking；
Wherein, the process of step S3 is as follows:
S31, the subregion that the gray level image obtained in the step s 21 is divided into multiple N row N column；
S32, to each subregion, two classes, the ratio w of prospect occupied area area image are divided into according to threshold value T1(T),μ1(T) it is
Prospect gray average.The ratio w of background occupied area area image2(T), μ2It (T) is background gray average, μ is that total gray scale in the region is flat
Mean value,For inter-class variance.Column write out inter-class variance equation:
μ=μ1(T)*w1(T)+μ2(T)*w2(T)
S33, according to inter-class variance equation, seek threshold value T, makeObtain maximum value；
S34, binary conversion treatment is carried out to the region according to the threshold value t of all subregion, wherein luminous diode is corresponding
Pixel value is set as 255, and non-luminous diode pair answers pixel value to be set as 0.
S4, receiving end decoder original LED modulation data is demodulated based on obtained pixelated array value, realize communication.
Wherein, the process of step S4 is as follows:
S41, decoder read the pixel data of bianry image all subregion, obtain LED sequence brightness information, are decoded
Data；
S42, decoding data is carried out in raw modulation data set to similarity-rough set, chooses the maximum modulation number of similarity
Communication is realized according to according to rule.
Existing visible light communication application mostly carries out in a static condition, and the present embodiment is innovatively by target tracking algorism
It is combined with visible light communication technology, visible light communication is enable to carry out in a dynamic condition.By transmitting terminal modulation intelligence on LED area
Domainization distribution, and receiving end uses the high speed imaging sensor that picture is captured with high frame per second, has ensured visible light communication matter
Amount.
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 (5)
1. a kind of outdoor visible light communication target signal source based on optical flow method tracks extracting method, which is characterized in that described
Outdoor visible light communication target signal source tracking extracting method the following steps are included:
S1, the LED array signal of the transmitting terminal under outdoor scene is subjected to OOK modulation；
S2, receiving end high speed imaging sensor with high frame per second capture picture, signal source is tracked using optical flow method；
S3, OTSU binary conversion treatment is carried out to the target area of tracking；
S4, receiving end decoder original LED modulation data is demodulated based on obtained pixelated array value, realize communication.
2. the outdoor visible light communication target signal source according to claim 1 based on optical flow method tracks extracting method,
It is characterized in that, the step S1 includes:
S11, transmitting terminal encoder use OOK to line number for positive integer M, columns be positive Integer N LED light array carry out data tune
System；
S12, the LED region as composed by every 4 adjacent LED light will be distributed to by the modulated data information of OOK, with reality
Existing data transmission.
3. the outdoor visible light communication target signal source according to claim 1 based on optical flow method tracks extracting method,
It is characterized in that, the step S2 includes:
S21, a continuous sequence of frames of video is handled, for each sequence of frames of video, carries out gray processing processing, inspection
Measure existing LED queue；
If LED pixel point occur in S22, a certain video frame, the angle point of LED queue is found, as characteristic point；
S23, the position prediction that next video frame is carried out to this feature point, if this feature point t moment gray value be f (x, y,
T), wherein x, y are respectively the row coordinate and column coordinate of pixel, It is gray value f respectively
(x, y, t) to x, the partial derivative of y, t, pixel value when subsequent time t+dt is f (x+dx, y+dy, t+dt), and u is x to the inclined of t
Derivative, v are partial derivative of the y to t, and dx is the differential of x, and dy is the differential of y, and dt is the differential of t, it is assumed that light stream campaign is small, then
Have
Ix*dx+Iy*dy+It* dt=0
Ix*u+Iy* v=-It
Assuming thatA small field comprising m pixel in, IxnFor the gray value f of nth pixel pointn(x, y, t) is right
The partial derivative of x, IynFor the gray value f of nth pixel pointnThe partial derivative of (x, y, t) to y, ItnFor the n-th point of partial derivative to t,
Brightness is constant in field, then
It enables
Then have
S24, makeMinimum obtains the optimum position of next video frame this feature point；To any two phase later
Adjacent video frame finds the optimum position of the characteristic point occurred in previous frame in the current frame, to obtain foreground target current
Position coordinates in frame；
S25, such iteration carry out, and realize the tracking of target.
4. the outdoor visible light communication target signal source according to claim 3 based on optical flow method tracks extracting method,
It is characterized in that, the step S3 includes:
S31, the subregion that the gray level image obtained in the step s 21 is divided into multiple N row N column；
S32, to each subregion, two classes, the ratio w of prospect occupied area area image are divided into according to threshold value T1(T),μ1It (T) is prospect
Gray average.The ratio w of background occupied area area image2(T), μ2It (T) is background gray average, μ is that total gray scale in the region is average
Value,For inter-class variance.Column write out inter-class variance equation:
μ=μ1(T)*w1(T)+μ2(T)*w2(T)
S33, according to inter-class variance equation, seek threshold value T, makeObtain maximum value；
S34, binary conversion treatment is carried out to the region according to the threshold value t of all subregion, wherein the corresponding pixel of luminous diode
Value is set as 255, and non-luminous diode pair answers pixel value to be set as 0.
5. the outdoor visible light communication target signal source according to claim 1 based on optical flow method tracks extracting method,
It is characterized in that, the step S4 includes:
S41, decoder read the pixel data of bianry image all subregion, obtain LED sequence brightness information, obtain solution yardage
According to；
S42, decoding data is carried out in raw modulation data set to similarity-rough set, chooses the maximum modulation data of similarity and presses
Communication is realized according to rule.
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