JPWO2011142051A1 - Marker detection system, detection method, program, and computer-readable medium storing the program - Google Patents

Abstract

An inexpensive and highly accurate marker detection system, a marker detection method using the same, a program, and a computer-readable medium are provided. The marker detection system 100 includes a marker set, an infrared camera 1, and an infrared strobe 2. The marker set includes an identification marker, a switch marker, and an auxiliary marker, and a retroreflective material is used for each marker. Furthermore, the marker detection system 100 includes a time-series image input unit 10 to which a time-series image of a marker set is input from the infrared camera 1, a binary image processing unit 20 that binarizes the time-series image by a frame difference method, An identification marker detection unit 30 that detects a large change portion from the obtained binary image as a marker, an operation recognition unit 50 that recognizes an operation of a switch marker and an auxiliary marker by comparing with an operation pattern sample, and an operation recognition unit And a command issuing / outputting unit 60 for outputting the result determined at 50.

Description

  The present invention relates to a marker detection system for detecting a marker operation of a person, a marker detection method using the same, a program, and a computer-readable medium.

  In remote control operation of various devices, the conventional device operation detection system uses switches, touch panels, light blocking sensors, etc., and some wiring is required. However, in recent years, techniques for substituting these with markers and image processing have become widespread. Yes.

  Patent Document 1 discloses a technique for recognizing a switch operation by detecting the shape and movement of a finger photographed by a camera.

  On the other hand, Patent Document 2 discloses an invention in which a point designated by an operator is detected by image processing and a cursor is displayed at the detected location.

  Further, Patent Document 3 discloses a system that binarizes image data obtained based on the frame difference method in order to detect the presence or absence of a moving object in a specific area.

JP 2004-171476 A JP 11-345085 A JP2007-164375

  In conventional detection systems based on image processing, there are concerns about individual recognition of the shape and movement of fingers, and misrecognition of operations due to shadows. Accordingly, an object of the present invention is to provide an inexpensive and highly accurate marker detection system, a marker detection method using the same, and a computer-readable medium.

  The marker detection system of the present invention created to solve the above-described problems is at least one marker set, at least one imaging device arranged at a position where the marker set can be imaged, and blinks in synchronization with the imaging device. A marker detection system comprising a light emitting device, wherein the marker set is arranged at any position from (A) a function of the marker set, an identification marker that defines a reference position in the marker set, and (B) an identification marker. And (C) an auxiliary marker that assists in detecting only the operation by human will by being simultaneously hidden by any combination of switch markers. , (A), (B), and (C) are made of a retroreflective material, and the light emitting device uses marker sets. A means for capturing a time-series image in which an image at the time of irradiation and an image at the time of non-appearance appear alternately with an imaging device and a time-series image input to the imaging device are binarized by a frame difference method to obtain The switch marker and the auxiliary marker corresponding to the switch marker are operated based on a predetermined relative position between the identification marker and a means for detecting the identification marker that detects a large change portion from the obtained binary image as a marker. The operation recognition means for comparing with the operation pattern samples of the switch marker and auxiliary marker set in advance and means for outputting the result determined by the operation recognition means.

  Further, an auxiliary marker may be arranged so as to surround the switch marker, and operation from multiple directions can be made possible.

  Furthermore, the switch marker may be provided with irregularities to make it easier to recognize the touch point.

  Also, in the operation of the marker set, it is recognized by combining the operation of the switch marker of one marker set and the corresponding auxiliary marker with the operation of the switch marker of the other marker set of different type and the corresponding auxiliary marker. The number of operation selection patterns can be increased.

  Furthermore, in the operation of the marker set, the operation can be recognized by tracking the ratio at which the switch marker and the corresponding auxiliary marker are hidden.

  In the marker detection method of the present invention, the marker set is irradiated with the light emitting means, the reflected light is imaged, and the time series image is imaged, and the time series image captured in the imaging stage is binarized by the frame difference method. A binarization process stage for converting to an image, an identification marker detection stage for detecting an identification marker from the binary image, a switch marker position is detected from the detected identification marker, and the switch marker is operated from the binary image. Compared with preset switch marker and auxiliary marker operation pattern samples to determine if switch marker operation is detected at the switch marker state confirmation stage and switch marker state confirmation stage. If the switch marker operation is not detected, the process returns to the imaging stage. Provided with a door.

  The program of the present invention is a program that causes a computer to execute the marker detection method described above.

  The computer readable medium of the present invention is a computer readable medium storing the above program.

  According to the present invention, the operation of the marker set including the identification marker, the switch marker, and the auxiliary marker using the retroreflective material is not only required for wiring by image processing using irradiation with an infrared strobe, but also the processing amount. This makes it possible to switch various types of equipment with low cost and high accuracy.

It is the schematic which shows the structure of embodiment of the marker detection system of this invention. It is a figure which shows the example of operation of a switch marker and an auxiliary marker. It is a figure which shows the example of operation of a switch marker and an auxiliary marker. It is sectional drawing of the switch marker which provided the unevenness | corrugation. It is a figure which shows the example which operates two marker sets simultaneously. It is a figure which detects the slide operation of a switch marker and an auxiliary marker.

  An embodiment of a marker detection system according to the present invention will be described below with reference to the accompanying drawings. In the present invention, the marker detection system is a system that detects an operation by capturing a time-series image of a marker set captured using a light emitting device from an imaging device. In addition, each marker set includes an identification marker that defines the function of the marker set and a reference position in the marker set, a plurality of switch markers that are arranged at arbitrary positions from the identification marker, and are directly targeted by human operation, and a switch By being concealed simultaneously by an arbitrary combination with a marker, it consists of an auxiliary marker that assists in detecting only a human willing operation.

  Furthermore, the imaging device in the present invention is an infrared camera, and the light emitting device is an infrared strobe. By using infrared rays, the influence of disturbance light is reduced, and only a target marker can be detected particularly in a dark place.

  FIG. 1 is a schematic diagram showing a configuration of a marker detection system 100 of the present invention, FIG. 2 is a diagram showing an example of operation of a switch marker and an auxiliary marker, and FIG. 3 is another diagram of a switch marker and an auxiliary marker. FIG. 4 is a cross-sectional view of a switch marker with projections and depressions, FIG. 5 is a diagram showing an example of operating two marker sets simultaneously, and FIG. 6 is a diagram showing a switch marker. FIG. 6 is a diagram for detecting the sliding operation of the auxiliary marker based on the ratio at which each marker is hidden.

  First, the marker detection system 100 of the present invention will be described with reference to FIG. The marker set is arranged at a position that can be imaged by the infrared camera 1 and captures a time-series image in which an image when the marker set is irradiated with the infrared strobe 2 and an image when the marker set is not irradiated appear alternately. The time-series image input from the infrared camera 1 to the time-series image input unit 10 is binarized by the frame difference method in the binary image processing unit 20, and a portion having a large change is detected from the obtained binary image as a marker. To do. At this time, the identification marker that defines the characteristics of the marker set is first detected by the identification marker detector 30. Next, the switch marker and auxiliary marker detection unit 40 checks whether or not each switch marker and auxiliary marker are visible from a predetermined relative position with respect to the identification marker. Thereafter, the operation recognition unit 50 compares the detected switch marker and auxiliary marker operations with preset switch marker and auxiliary marker operation pattern samples to recognize the operation. If the operation matches the operation pattern sample, the command issue / output unit 60 outputs the determined command. If the operation does not match, the process returns to the time-series image input unit 10 and the process is repeated.

  Among the functional elements described above, the binarization processing technique based on the frame difference method of time-series images is known in Patent Document 3 and the like, and thus detailed description thereof is omitted.

  In addition, by creating each marker including an identification marker, a switch marker, and an auxiliary marker using a known retroreflective material, it is possible to detect an operation even with a relatively weak infrared strobe. Each marker using the retroreflective material irradiated by the infrared strobe 2 is reflected in the same direction as the incident angle and is detected as a blinking portion in synchronization with the infrared camera 1, but disturbance such as sunlight The light source is always an image or an image portion that is not synchronized.

  The function of the marker detection system 100 of the present invention has been described above. Next, an arrangement example and an operation example of the marker set will be described.

  In the figure which shows the operation example of the switch marker and auxiliary marker of FIG. 2, the switch marker and the auxiliary marker corresponding to it are each arrange | positioned to AC, and represents the case where the operator selects B switch marker. At this time, since the auxiliary marker B is also hidden at the same time, it can be determined that the operation is intentionally performed. For example, even if the switch marker B is hidden, if the auxiliary marker A or C is simultaneously hidden or if the auxiliary marker is not hidden at all, it is not determined that the marker B is selected.

  In another operation example of the switch marker and the auxiliary marker shown in FIG. 3, the switch marker is surrounded by the auxiliary marker. For example, when the marker set is arranged on the table or the like, the operation from multiple directions is performed. It becomes possible.

  In the example in which the switch marker shown in FIG. 4 is uneven, by arranging in this way, it becomes easier to recognize the center of the switch marker, and erroneous recognition of operations due to individual differences can be prevented. For example, when the switch marker is surrounded by the auxiliary marker as shown in FIG. 3 and the switch marker is a flat surface, even if it is a conscious operation, the fingertip can easily be placed on the auxiliary marker beyond the switch marker. Although there is a possibility that the operation is not recognized, if there are irregularities, it is easy to recognize the place where the fingertip should be placed, and the probability of erroneous recognition is reduced.

  In the example in which the two marker sets shown in FIG. 5 are operated simultaneously, it is possible to select a function with marker set A and then select another function with marker set B by arranging a plurality of marker sets. . As a result, the number of operation selection patterns can be increased. For example, after selecting a device such as a television or a stereo in the marker set A, a more detailed function such as channel change can be selected in the marker set B.

  In the figure for detecting the slide operation of the switch marker and the auxiliary marker shown in FIG. 6, the operation is detected by tracking the ratio at which each marker is hidden. In this case, based on the history from the time when the switch marker and the auxiliary marker were initially hidden, operation recognition is performed by comparing with a preset change pattern. In FIG. 6, the switch marker and the auxiliary markers A to D corresponding to the switch marker are sequentially hidden, so that the function such as the volume of the audio device can be changed.

  Furthermore, since the function of each marker set is detected by the shape of the identification marker that is not always hidden, the marker set should be installed on the movable part as long as it is within a range that can be imaged with the infrared camera 1 and the infrared strobe 2 at a resolution higher than a specified resolution. Is possible.

  As mentioned above, although this invention was demonstrated using embodiment shown in drawing, these are only an illustration and those skilled in this technical field can variously be within the range which does not deviate from the range and the meaning of this invention. Modifications and variations are possible. Accordingly, the scope of the invention should not be determined by the described embodiments, but by the technical spirit described in the claims.

DESCRIPTION OF SYMBOLS 1 Infrared camera 2 Infrared strobe 10 Time series image input part 20 Binary image processing part 30 Identification marker detection part 40 Switch marker and auxiliary marker detection part 50 Operation confirmation part 60 Command issue / output part 100 Marker detection system

Claims (8)

A marker detection system comprising: at least one marker set; at least one imaging device disposed at a position where the marker set can be imaged; and a light emitting device that blinks in synchronization with the imaging device,
The marker set is
(A) a function of the marker set, an identification marker that defines a reference position in the marker set,
(B) a plurality of switch markers that are arranged at arbitrary positions from the identification marker and are directly targeted by a human operation;
(C) an auxiliary marker that assists in detecting only an operation by a human will by being simultaneously hidden by any combination with the switch marker;
Consists of
A retroreflective material is used for each of the markers (A), (B), and (C),
Means for capturing, with the imaging device, an image when the marker set is irradiated with the light emitting device and a time series image in which an image when the marker set is not irradiated with the light emitting device are alternately displayed;
Means for detecting the identification marker, binarizing the time-series image input to the imaging device by a frame difference method, and detecting a large change portion from the obtained binary image as a marker;
The switch marker and the operation of the auxiliary marker corresponding to the switch marker are compared with a predetermined switch marker and an operation pattern sample of the auxiliary marker and recognized from a predetermined relative position with respect to the identification marker. Operation recognition means;
Means for outputting a result determined by the operation recognition means;
A marker detection system comprising:   The marker detection system according to claim 1, wherein the auxiliary marker is arranged so as to surround the switch marker and can be operated from multiple directions.   3. The marker detection system according to claim 1, wherein the switch marker is provided with unevenness so that a touch point can be easily recognized. 4. In the operation of the marker set,
Recognized operations by combining the operation of the switch marker of one marker set and the auxiliary marker corresponding to the switch marker with the operation of the switch marker of the other marker set of the different type and the auxiliary marker corresponding to the switch marker The marker detection system according to any one of claims 1 to 3, wherein a selection pattern increases. In the operation of the marker set,
The marker detection system according to claim 1, wherein an operation is recognized by tracking a ratio at which the switch marker and the auxiliary marker corresponding to the switch marker are hidden. An imaging step of irradiating the marker set consisting of (A), (B), and (C) with a light emitting means, imaging reflected light from the marker set, and imaging a time-series image;
A binarization processing step of converting the time-series image captured by the imaging step into a binary image by a frame difference method;
An identification marker detection step of detecting the identification marker from the binary image;
The position of the switch marker is detected from the detected identification marker, and whether or not an operation is performed on the switch marker from the binary image is compared with a preset switch marker and auxiliary marker operation pattern sample, Switch marker status confirmation stage to judge,
If an operation of the switch marker is detected in the switch marker state confirmation step, the determined result is output; if an operation of the switch marker is not detected, a step of returning to the imaging step;
A marker detection method comprising:   The program which makes a computer perform the marker detection method of Claim 6.   A computer-readable medium storing the program according to claim 7.

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