KR102672302B1 - APPARATUS AND METHOD FOR CALIBRATION USING 3D ToF SENSOR AND LINE SLIT - Google Patents

Abstract

A calibration method performed by a calibration device according to an embodiment of the present invention includes the steps of recognizing a screen displayed by a project using a 3D sensor; Converting, in the recognized screen, three-dimensional coordinates of the position of a reference point set to perform calibration into two-dimensional coordinates; When a pointer is input around the reference point by a user, converting three-dimensional coordinates of the position of the input pointer into two-dimensional coordinates; and calculating a rotation angle of the 3D sensor by comparing two-dimensional coordinates for the location of the reference point and two-dimensional coordinates for the location of the pointer. It may be a calibration method that includes controlling the rotation of the 3D sensor according to the calculated rotation angle.

Description

Calibration method and device using 3D ToF sensor {APPARATUS AND METHOD FOR CALIBRATION USING 3D ToF SENSOR AND LINE SLIT}

The present invention relates to a calibration method and device using a 3D ToF sensor. More specifically, a method and device for converting a screen recognized through a 3D ToF sensor into two-dimensional coordinates and performing calibration through rotation of the 3D ToF sensor. It's about.

Currently, keyboards, mice, touch panels, etc. are being used as input devices that help interact between computers and humans. When a mouse and touch panel are manufactured, calibration is performed at the time of manufacture and no separate adjustment by the user is required.

The screen displayed by the project, etc., unlike a computer laptop, requires separate adjustment by the user to calibrate an input device such as a mouse.

The present invention provides a calibration method and device for adjusting an input device such as a mouse on a screen displayed by a project, etc.

The present invention provides a calibration method and device for adjusting an input device such as a mouse by recognizing the screen using a 3D ToF sensor.

As an embodiment of the present invention, a calibration method performed by a calibration device includes the steps of recognizing a screen displayed by a project using a 3D sensor; Converting, in the recognized screen, three-dimensional coordinates of the position of a reference point set to perform calibration into two-dimensional coordinates; When a pointer is input around the reference point by a user, converting three-dimensional coordinates of the position of the input pointer into two-dimensional coordinates; and calculating a rotation angle of the 3D sensor by comparing two-dimensional coordinates for the location of the reference point and two-dimensional coordinates for the location of the pointer. It may be a calibration method that includes controlling the rotation of the 3D sensor according to the calculated rotation angle.

The conversion to 2D coordinates may be a calibration method of converting to 2D coordinates using a 2D Line Slit installed inside the 3D sensor through a 3D sensor using a ToF method located at the upper left or upper right of the screen.

The conversion to 2D coordinates may be a calibration method of converting to 2D coordinates using a 2D Line Slit installed outside the 3D sensor through a 3D sensor using a ToF method located at the upper left or upper right of the screen.

The reference point of the calibration may be a calibration method that sets four reference points.

In an embodiment of the present invention, in a calibration device, the calibration device includes a processor, and the processor recognizes the displayed screen using a 3D sensor on a screen displayed by a project, and displays the recognized screen. In, 3D coordinates for the location of the reference point set to perform calibration are converted into 2D coordinates, and when a pointer is input around the reference point by the user, 3D coordinates for the location of the input pointer Convert to two-dimensional coordinates, calculate the rotation angle of the 3D sensor by comparing the two-dimensional coordinates for the location of the reference point and the two-dimensional coordinates for the location of the pointer, and rotate the 3D sensor according to the calculated rotation angle. It may be a calibration device that controls .

The conversion to 2D coordinates may be a calibration device that converts to 2D coordinates using a 2D Line Slit installed inside the 3D sensor through a 3D sensor using a ToF method located at the top left or top right of the screen.

The conversion to 2D coordinates can be done through a 3D sensor using a ToF method located at the top left or top right of the screen, and a calibration device that converts to 2D coordinates using a 2D Line Slit installed outside the 3D sensor.

The reference point of the calibration may be a calibration device that sets four reference points.

According to one embodiment of the present invention, a calibration method and device for adjusting an input device such as a mouse on a screen displayed by a project, etc. can be provided.

According to an embodiment of the present invention, a calibration method and device for adjusting an input device such as a mouse can be provided by recognizing the screen using a 3D ToF sensor.

Figure 1 is a diagram showing a 3D sensor recognizing a screen by a project according to an embodiment of the present invention.
Figure 2 is a diagram showing the results of normal calibration in a state where the 3D sensor is not tilted according to an embodiment of the present invention.
Figure 3 is a diagram showing the results of performing calibration with the 3D sensor tilted according to an embodiment of the present invention.
Figure 4 is a diagram illustrating rotation of an inclined 3D sensor according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a diagram showing a 3D sensor recognizing a screen by a project according to an embodiment of the present invention.

Calibration may mean that characteristics such as screen position are adjusted and executed consistently on the device. As an example, calibration may be performed for a positioned input device such as a mouse. Mouse calibration can adjust the difference between the position input by the mouse and the user's desired position.

A projector may be a device that is connected to a video output device and projects the screen displayed on the video output device to any other location selected by the user. Additionally, the projector may be a device that projects a beam remotely and displays the screen of an image output device such as a monitor. For example, the projector 107 may be a device that is connected to an image output device and projects a beam remotely to display a screen displayed on an image output device such as a monitor in a random location. So, screen 100 can be displayed by project 107.

A 3D sensor may be a device that recognizes the screen displayed by the project. A 3D sensor may be a device that helps obtain information in a 3D form with a three-dimensional effect and analyze and process it according to the purpose. For example, the 3D sensor 106 may be a device that obtains information from the screen 100 displayed by the projector 107 in a 3D form with a three-dimensional effect.

The calibration device can compare the position of the set reference point with the position of the pointer input by the user. At this time, if the comparison results are different, the 3D sensor 106 can be rotated and then calibration can be performed again. For example, the calibration device can set the positions of the X1 to X4 reference points (101 to 104) on the screen 100. The pointer 105 may indicate a location input by the user. The calibration device can compare the position of the set reference point with the position of the pointer 105. At this time, if the comparison results are different, the 3D sensor 106 can be rotated according to the comparison results and calibration can be performed again.

Figure 2 is a diagram showing the results of normal calibration in a state where the 3D sensor is not tilted according to an embodiment of the present invention.

The screen 100 can be recognized through a 3D ToF sensor, which is one of the 3D sensors. The 3D ToF sensor can be implemented by implementing a transmitter that transmits a signal and a receiver that receives the signal within the same device. The transmitter of the 3D ToF sensor can transmit a signal modulated with a specific frequency (f). The receiver of the 3D ToF sensor can receive signals that are reflected on the screen and returned. At this time, the 3D ToF sensor can detect the phase change due to the time it takes for the signal to travel back and forth to the screen, and calculate the distance between the 3D ToF sensor and the screen as shown in Equation 1.

는 수신한 신호의 위상을 의미할 수 있다. d is the measurement distance, c is the speed of light, f is the frequency of the modulated signal, n is a constant resulting from the repetition of the phase cycle,

may mean the phase of the received signal.

등을 이용하여 계산될 수 있다. 그래서, 3D ToF 센서는 프로젝트에 의해 표시되는 화면(100)을 인지할 수 있다.For example, the signal may be modulated and transmitted at a specific frequency (f) from the transmitter of the 3D ToF sensor, which is one of the 3D sensors 106, and reflected on the screen 100 to be received at the receiver of the 3D ToF sensor. Then, the distance from the 3D ToF sensor to the screen 100 is the frequency f of the modulated signal and the phase of the received signal.

It can be calculated using, etc. So, the 3D ToF sensor can recognize the screen 100 displayed by the projector.

In the screen recognized by the 3D sensor 106, the two-dimensional coordinates of the location set as the reference point may be the same as the two-dimensional coordinates of the location of the pointer 105. At this time, the pointer may be a sign indicating input by the user. So, the 3D sensor 106 may not be rotated by the calibration device. For example, the position of the pointer (201 to 204) by the user is displayed as a circle (201 to 204) to easily distinguish it from the X1 to X4 reference points. The calibration device can display set X1 to X4 reference points (101 to 104) on the screen 100. The two-dimensional coordinates for the position of the pointer (201 to 204) may be the same as the two-dimensional coordinates for the positions of the X1 to X4 reference points (101 to 104). Then, the 3D sensor 106 may not be rotated by the calibration device.

As mentioned above, the number of reference points can be set to multiple. For example, the number of reference points may be set to four. Therefore, the calibration device can compare the two-dimensional coordinates of the positions of the four X1 to X4 reference points (101 to 104) and the two-dimensional coordinates of the pointer positions, respectively. At this time, the calibration device may control not to perform rotation of the 3D sensor 106 when all two-dimensional coordinates match.

Figure 3 is a diagram showing the results of performing calibration with the 3D sensor tilted according to an embodiment of the present invention.

As a result of the calibration being performed with the 3D sensor tilted compared to FIG. 2, it can be seen that, unlike FIG. 2, the position of the reference point and the user's pointer are slightly different. Specifically, the user's pointer positions (301 to 304) may be displayed as circles (301 to 304) to easily distinguish them from the X1 to X4 reference points. The position set as the reference point for calibration may be displayed as the X1 to X4 reference point (101 to 104). Figure 3 shows calibration performed with the 3D sensor tilted compared to Figure 2. Therefore, the X1~X4 reference points (101~104) and the pointer positions (301~304) may exist in slightly different positions.

The position that becomes the reference point for calibration can be set arbitrarily. For example, in the screen 100, the positions of the X1 to X4 reference points 101 to 104 may be set to arbitrary positions on the screen recognized by the 3D sensor 106.

Figure 4 is a diagram illustrating rotation of an inclined 3D sensor according to an embodiment of the present invention.

The calibration device can calculate the tilt angle of the 3D sensor 106 by comparing the two-dimensional coordinates of the reference point and the pointer. So, the calibration device can rotate the 3D sensor 106 according to the calculated result. For example, the rotation angle of the 3D sensor 106 is the difference between the two-dimensional coordinates for the positions of the X1 to It can be calculated based on So, if the calculation results are different, the 3D sensor 106 may be rotated according to the calculated results.

For example, the rotation angle of the 3D sensor 106 with respect to the position of the X3 reference point 103 can be calculated using Equation 2.

는 3D 센서(106)의 기울어진 각도를 의미하고, y는 3D 센서(106)에서 X3 기준점(103)까지의 거리를 의미하며,

는 X3 기준점(103)과 원형(403)의 거리 차이를 의미할 수 있다.

means the tilt angle of the 3D sensor 106, y means the distance from the 3D sensor 106 to the X3 reference point 103,

may mean the distance difference between the X3 reference point 103 and the circle 403.

값만큼 3D 센서를 좌우로 회전시킬 수 있다. 일례로, 3D 센서가 왼쪽으로 기울어진 경우, 3D 센서는 오른쪽으로

만큼 회전할 수 있다. 일례로, 3D 센서가 오른쪽으로 기울어진 경우, 3D 센서는 왼쪽으로

만큼 회전할 수 있다.For example, according to the difference between the coordinates of the pointer and the coordinates of the X3 reference point (103), the calibration device calculates the

The 3D sensor can be rotated left and right by the value. For example, if the 3D sensor is tilted to the left, the 3D sensor will tilt to the right.

It can rotate as much as For example, if the 3D sensor is tilted to the right, the 3D sensor will tilt to the left.

It can rotate as much as

Meanwhile, the method according to the present invention is written as a program that can be executed on a computer and can be implemented in various recording media such as magnetic storage media, optical read media, and digital storage media.

Implementations of the various techniques described herein may be implemented in digital electronic circuitry, or in computer hardware, firmware, software, or combinations thereof. Implementations may include a computer program product, i.e., an information carrier, e.g., machine-readable storage, for processing by or controlling the operation of a data processing device, e.g., a programmable processor, a computer, or multiple computers. It may be implemented as a computer program tangibly embodied in a device (computer-readable medium) or a radio signal. Computer programs, such as the computer program(s) described above, may be written in any form of programming language, including compiled or interpreted languages, and may be written as a stand-alone program or as a module, component, subroutine, or part of a computing environment. It can be deployed in any form, including as other units suitable for use. The computer program may be deployed for processing on one computer or multiple computers at one site or distributed across multiple sites and interconnected by a communications network.

Processors suitable for processing computer programs include, by way of example, both general-purpose and special-purpose microprocessors, and any one or more processors of any type of digital computer. Typically, a processor will receive instructions and data from read-only memory or random access memory, or both. Elements of a computer may include at least one processor that executes instructions and one or more memory devices that store instructions and data. Generally, a computer may include one or more mass storage devices that store data, such as magnetic, magneto-optical disks, or optical disks, receive data from, transmit data to, or both. It can also be combined to make . Information carriers suitable for embodying computer program instructions and data include, for example, semiconductor memory devices, magnetic media such as hard disks, floppy disks, and magnetic tapes, and Compact Disk Read Only Memory (CD-ROM). ), optical media such as DVD (Digital Video Disk), magneto-optical media such as Floptical Disk, ROM (Read Only Memory), RAM , Random Access Memory), flash memory, EPROM (Erasable Programmable ROM), and EEPROM (Electrically Erasable Programmable ROM). The processor and memory may be supplemented by or included in special purpose logic circuitry.

Additionally, computer-readable media can be any available media that can be accessed by a computer, and can include both computer storage media and transmission media.

Although this specification contains details of numerous specific implementations, these should not be construed as limitations on the scope of any invention or what may be claimed, but rather as descriptions of features that may be unique to particular embodiments of particular inventions. It must be understood. Certain features described herein in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination. Furthermore, although features may be described as operating in a particular combination and initially claimed as such, one or more features from a claimed combination may in some cases be excluded from that combination, and the claimed combination may be a sub-combination. It can be changed to a variant of a sub-combination.

Likewise, although operations are depicted in the drawings in a particular order, this should not be construed as requiring that those operations be performed in the particular order or sequential order shown or that all of the depicted operations must be performed to obtain desirable results. In certain cases, multitasking and parallel processing may be advantageous. Additionally, the separation of various device components in the above-described embodiments should not be construed as requiring such separation in all embodiments, and the described program components and devices may generally be integrated together into a single software product or packaged into multiple software products. You must understand that it is possible.

Meanwhile, the embodiments of the present invention disclosed in the specification and drawings are merely provided as specific examples to aid understanding, and are not intended to limit the scope of the present invention. It is obvious to those skilled in the art that in addition to the embodiments disclosed herein, other modifications based on the technical idea of the present invention can be implemented.

100: screen
101~104: Reference point
105: pointer
106: 3D sensor
107: Project

Claims (8)

In the calibration method performed by the calibration device,
On a screen displayed by a project, recognizing the displayed screen using a 3D sensor;
Converting, in the recognized screen, three-dimensional coordinates of the position of a reference point set to perform calibration into two-dimensional coordinates;
When a pointer is input around the reference point by a user, converting three-dimensional coordinates of the position of the input pointer into two-dimensional coordinates;
Comparing the two-dimensional coordinates of the location of the reference point and the two-dimensional coordinates of the pointer to calculate the rotation angle of the 3D sensor; and
Controlling the rotation of the 3D sensor according to the calculated rotation angle
Including,
The step of calculating the rotation angle of the 3D sensor is,
A calibration method that calculates the rotation angle of a 3D sensor using Equation 2.
[Equation 2]

At this time, is the tilt angle of the 3D sensor, y is the distance from the 3D sensor to the two-dimensional coordinate of the location of the reference point, is the distance difference between the two-dimensional coordinates of the location of the reference point and the location of the pointer. According to paragraph 1,
The step of converting to two-dimensional coordinates is,
A calibration method that converts to 2D coordinates using a 2D Line Slit installed inside a 3D sensor using the ToF method located at the top left or top right of the screen. According to paragraph 1,
The conversion to the two-dimensional coordinates is,
A calibration method that converts to 2D coordinates using a 2D Line Slit installed outside of a 3D sensor using the ToF method located at the top left or top right of the screen. According to paragraph 1,
The reference point of the calibration is a calibration method that sets four reference points. In the calibration device,
On the screen displayed by the project, the displayed screen is recognized using a 3D sensor, and in the recognized screen, the 3D coordinates of the position of the reference point set to perform calibration are converted into 2D coordinates, and the user When a pointer is input around the reference point, the 3D coordinates for the input location of the pointer are converted into 2D coordinates, and the 2D coordinates for the location of the reference point and the 2D coordinates for the location of the pointer are converted into two-dimensional coordinates for the location of the reference point. A processor that compares coordinates to calculate the rotation angle of the 3D sensor and controls the rotation of the 3D sensor according to the calculated rotation angle.
Including,
The processor,
A calibration device that calculates the rotation angle of a 3D sensor using Equation 2.
[Equation 2]

At this time, is the tilt angle of the 3D sensor, y is the distance from the 3D sensor to the two-dimensional coordinate of the location of the reference point, is the distance difference between the two-dimensional coordinates of the location of the reference point and the location of the pointer. According to clause 5,
The processor,
A calibration device that converts to 2D coordinates using a 2D Line Slit installed inside a 3D sensor using the ToF method located at the top left or top right of the screen. According to clause 5,
The processor,
A calibration device that converts to 2D coordinates using a 2D Line Slit installed on the outside of a 3D sensor using the ToF method located at the top left or top right of the screen. According to clause 5,
The reference point of the calibration is a calibration device that sets four reference points.