WO2021087692A1

WO2021087692A1 - Speckle image matching method and apparatus, and storage medium

Info

Publication number: WO2021087692A1
Application number: PCT/CN2019/115435
Authority: WO
Inventors: 毛一杰; 刘川熙; 詹洁琼
Original assignee: 深圳市汇顶科技股份有限公司
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2021-05-14
Also published as: CN113168681A

Abstract

A speckle image matching method and apparatus, and a storage medium. The speckle image matching method comprises: performing single-step matching on a first speckle in a target speckle image and a speckle in a preset speckle image; after single-step matching between the first speckle in the target speckle image and the second speckle in the preset speckle image is successful, adjusting a pre-matching result of the first speckle, wherein the pre-matching result indicates a matching result of single-step matching of the first speckle for zero times or at least once, and the pre-matching result indicates a pre-matching speckle successfully pre-matched with the first speckle, and a confidence score between the first speckle and the pre-matching speckle; and when the pre-matching result of the first speckle indicates that the confidence score between the first speckle and the pre-matching speckle is greater than or equal to a preset confidence score, marking the first speckle and the pre-matching speckle as a successfully matched speckle pair.

Description

Speckle image matching method, device and storage medium

Technical field

The embodiments of the present application relate to the field of image processing technology, and in particular, to a speckle image matching method, device, and storage medium.

Background technique

In the three-dimensional reconstruction technology, a camera device is used to photograph a target object to obtain a two-dimensional image, and a projector is used to obtain a speckle image of the target object, and the speckle image of the target object is processed to obtain the pixel points in the two-dimensional image. Depth information to construct a three-dimensional image. In the process of determining the depth information through the speckle image of the target object, the speckle image of the target object is locally matched with the preset speckle image. After the local matching is successful, the local area is in the speckle image of the target object. The offset of the position relative to the position in the preset speckle image can determine the depth of the center point of the local area. However, in the local area matching process, if the local area is too small, the matching result is not accurate enough. If the local area is too large, the matching may not succeed, resulting in mismatching or missing matching.

Summary of the invention

In view of this, one of the technical problems solved by the embodiments of the present application is to provide a speckle image matching method, device, and storage medium to overcome the defects in the prior art that speckle image matching easily leads to mismatching and missing matching .

In the first aspect, an embodiment of the present application provides a speckle image matching method, including:

Single-step matching the first speckle in the target speckle image with the speckle in the preset speckle image;

After the first speckle in the target speckle image is successfully matched with the second speckle in the preset speckle image, the pre-matching result of the first speckle is adjusted, and the pre-matching result indicates that the first speckle is performed 0 times Or the matching result after at least one single-step matching, the pre-matching result indicates the pre-matched speckles that are successfully pre-matched with the first speckles, and the confidence level between the first speckles and the pre-matched speckles;

When the pre-matching result of the first speckle indicates that the confidence between the first speckle and the pre-matched speckle is greater than or equal to the preset reliability, the first speckle and the pre-matched speckle are marked as successfully matched speckles Correct.

Optionally, in an embodiment of the present application, the single-step matching of the first speckle in the target speckle image with the speckle in the preset speckle image includes:

The matching range corresponding to the first speckle is determined in the preset speckle image; the first speckle is matched with the speckle in the matching range in a single step.

Optionally, in an embodiment of the present application, the single-step matching of the first speckle with the speckles in the matching range includes:

Determine the first area around the first speckle according to the first speckle, and determine the second area around the second speckle according to the second speckle, and the second speckle is in the matching range;

When the number of speckles corresponding to the positions in the first area and the second area is greater than or equal to the preset number, it is determined that the first speckle and the second speckle are successfully matched in a single step.

Determine the third area around the third speckle according to the third speckle in the target speckle image, determine the fourth area around the fourth speckle according to the fourth speckle in the preset speckle image, the third speckle and The fourth speckle is a pair of speckles with successful mark matching;

When the first speckle in the third area corresponds to the position of the second speckle in the fourth area, it is determined that the first speckle and the second speckle are successfully matched in a single step.

Optionally, in an embodiment of the present application, adjusting the pre-matching result of the first speckle includes:

When the pre-matched speckle indicated by the pre-matching result of the first speckle is the second speckle, the confidence between the first speckle and the pre-matched speckle is increased by a step length.

When the pre-matching result of the first speckle indicates that the first speckle has no pre-matched speckle, the second speckle is determined as the pre-matched speckle, and the confidence between the first speckle and the pre-matched speckle is increased The second step length.

When the pre-matching result of the first speckle indicates that the pre-matched speckle is different from the second speckle, and the confidence of the first speckle and the pre-matched speckle is less than or equal to the first threshold, the second speckle is determined as the pre-matched speckle. Match the speckle and increase the confidence between the first speckle and the pre-matched speckle by a third step.

When the pre-matching result of the first speckle indicates that the pre-matched speckle is different from the second speckle, and the confidence of the first speckle and the pre-matched speckle is greater than the second threshold, the first speckle and the pre-matched speckle are combined The confidence between is reduced by the fourth step.

Determining the target speckle matrix of the target speckle image according to the target speckle image, and determining the preset speckle matrix of the preset speckle image according to the preset speckle image;

The matrix elements in the target speckle matrix are matched with the matrix elements in the preset speckle matrix in a single step.

Optionally, in an embodiment of the present application, determining the target speckle matrix of the target speckle image according to the target speckle image includes:

In the target speckle matrix, the matrix element corresponding to the position of the speckle in the target speckle image is set to 1, and the remaining matrix elements are set to 0.

Optionally, in an embodiment of the present application, determining the preset speckle matrix of the preset speckle image according to the preset speckle image includes:

In the preset speckle matrix, the matrix element corresponding to the position of the speckle in the preset speckle image is set to 1, and the matrix element within the preset range of the matrix element corresponding to the position of the speckle is set to 1, and the remaining matrices The element is set to 0.

In a second aspect, an embodiment of the present application provides a speckle image matching device, including: a pre-matching module, a result processing module, and a speckle matching module;

Wherein, the pre-matching module is used for single-step matching the first speckle in the target speckle image with the speckle in the preset speckle image;

The result processing module is used to adjust the pre-matching result of the first speckle after the first speckle in the target speckle image is successfully matched with the second speckle in the preset speckle image, and the pre-matching result indicates the first speckle The matching result of a scatter spot after 0 times or at least one single-step matching. The pre-matching result indicates the pre-matched spot that is successfully pre-matched with the first spot, and the confidence level between the first spot and the pre-matched spot ；

The speckle matching module is used to combine the first speckle with the pre-matched speckle when the pre-matching result of the first speckle indicates that the confidence between the first speckle and the pre-matched speckle is greater than or equal to the preset reliability A pair of scattered spots marked as a successful match.

In a third aspect, an embodiment of the present application provides an electronic device, including: at least one processor and a memory, and at least one processor and the memory are electrically connected;

Memory for storing at least one program;

When at least one processor executes at least one program, the method as described in the first aspect or any one of the embodiments of the first aspect is implemented.

In a fourth aspect, an embodiment of the present application provides a storage medium, characterized in that a computer program is stored on the storage medium, and when the processor executes the computer program, the implementation is as described in the first aspect or any one of the embodiments of the first aspect. Described method.

In the embodiment of the present application, the first speckle in the target speckle image is matched with the speckle in the preset speckle image in a single step, and the pre-matching of the speckle in the target speckle image is adjusted according to the result of the single step matching. As a result, moreover, when the confidence is greater than or equal to the preset confidence, it is determined which speckle in the target speckle image matches with which speckle in the preset speckle image, and the speckles are fully pre-matched. And adjust the pre-matching results, and then determine the matching speckles according to the final pre-matching results, reducing the impact of too large or too small local areas on the matching results, and improving the accuracy and success rate of speckle image matching.

Description of the drawings

Hereinafter, some specific embodiments of the embodiments of the present application will be described in detail in an exemplary but not restrictive manner with reference to the accompanying drawings. The same reference numerals in the drawings indicate the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the attached picture:

FIG. 1 is a flowchart of a speckle image matching method in Embodiment 1 of this application;

FIG. 2 is a schematic diagram of a speckle image provided by an embodiment of the application;

FIG. 3 is a schematic diagram of a speckle matrix diffusion effect provided by an embodiment of the application;

FIG. 4 is a schematic diagram of another speckle matrix diffusion effect provided by an embodiment of the application;

FIG. 5 is a schematic diagram of a matching effect provided by an embodiment of the application;

FIG. 6 is a structural diagram of a speckle image matching device provided by an embodiment of the application;

FIG. 7 is a structural diagram of an electronic device provided by an embodiment of the application.

Detailed ways

The implementation of any technical solution of the embodiments of the present application does not necessarily need to achieve all the above advantages at the same time.

In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the description The embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art should fall within the protection scope of the embodiments of the present application.

The specific implementation of the embodiments of the present application will be further described below in conjunction with the drawings of the embodiments of the present application.

Example one,

An embodiment of the present application provides a speckle image matching method. As shown in FIG. 1, FIG. 1 is a flowchart of a speckle image matching method provided by an embodiment of the present application. The speckle image matching method includes the following steps:

Step 101: Perform a single-step matching of the first speckle in the target speckle image with the speckle in the preset speckle image.

The target speckle image is any speckle image to be matched. In this application, the term "target" is only used to indicate a singular number and is not used to make any limitation. The preset speckle image is a reference image used to match the target speckle image. For example, in the application scene of face recognition, the speckle projector projects a plane at a preset distance to obtain a preset speckle image, and for each speckle projector, the speckle distribution in the obtained speckle image has Certain characteristics, for the speckle images collected by the same speckle projector for different objects, the local speckle distribution is similar. Therefore, first obtain the speckle image collected by a speckle projector for a plane as the pre- Set the speckle image, and then obtain the target speckle image obtained by the speckle projector projecting the face to be verified (or called the target face, target object), and separate the target speckle image with the preset speckle image. Step matching.

When performing single-step matching between the target speckle image and the preset speckle image, the target speckle image and the preset speckle image can be converted into a speckle matrix, and then the speckle matrix is used as the basis for matching. For example, in an embodiment of the present application, the single-step matching of the first speckle in the target speckle image with the speckle in the preset speckle image includes:

Determine the target speckle matrix of the target speckle image according to the target speckle image, determine the preset speckle matrix of the preset speckle image according to the preset speckle image; combine the matrix elements in the target speckle matrix with the preset speckle matrix The matrix elements in are matched in a single step.

Specifically, in an embodiment of the present application, determining the target speckle matrix of the target speckle image according to the target speckle image includes:

In the target speckle matrix, the matrix element corresponding to the position of the speckle in the target speckle image is set to 1, and the rest of the matrix elements are set to 0. It should be noted that an image point in the target speckle image corresponds to a matrix element in the target speckle matrix, and an image point in the preset speckle image corresponds to a matrix element in the preset speckle matrix The image point can be a pixel point or an image area formed by at least two pixel points. A pixel point can correspond to an array element in an image sensor array (an array element can be a photodiode). This application There is no restriction on this. Taking the image point as a pixel point as an example, for example, if the target speckle image is an image of m×n pixels, the target speckle matrix is a matrix with a size of m×n.

As shown in Figure 2, Figure 2 is a schematic diagram of a speckle image provided by an embodiment of the application. A white dot in the speckle image is a speckle. The matrix element corresponding to the position of the speckle is set to 1, and the rest of the matrix elements are Set to 0. Optionally, the matrix elements around the speckles can also be set to 1, to improve the tolerance for speckle changes.

Of course, this is only an exemplary description, which does not mean that the application is limited to this. Here, two implementation manners are listed to illustrate how to perform a single-step matching of the first speckle in the target speckle image with the speckle in the preset speckle image.

Optionally, in the first implementation manner, the single-step matching of the first speckle in the target speckle image with the speckle in the preset speckle image includes:

The matching range corresponding to the first speckle is determined in the preset speckle image; the first speckle is matched with the speckle in the matching range in a single step. It should be noted that the matching range corresponding to the first speckle is the range of points that are preliminarily determined in the preset speckle image to match the first speckle. The matching range may be preset, for example, the first speckle The position in the target speckle image is (a, b), then the area from line (ak) to line (a+k) in the preset speckle image is used as the matching range, and k can be 3 or 5 or 10. Etc., this is only an exemplary description, and this application does not limit it.

Specifically, in an embodiment of the present application, the single-step matching of the first speckle with the speckles in the matching range includes:

The first area around the first speckle is determined according to the first speckle, and the second area around the second speckle is determined according to the second speckle. The second speckle is the speckle in the preset speckle image, and the second speckle is the speckle in the preset speckle image. The spots are in the matching range; when the number of speckles corresponding to the positions in the first area and the second area is greater than or equal to the preset number, it is determined that the first speckle and the second speckle are successfully matched in a single step.

In the first implementation manner, the first area around the first speckle spot is matched with the second area around the second speckle spot. It should be noted that the first area around the first speckle refers to a point whose distance from the first speckle is less than or equal to the first distance, or the first area around the first speckle refers to The first speckle is an area with a preset shape and a preset size with the first speckle as the reference point (for example, taking the first speckle as the center). For example, the first area may be a square area with the first speckle as the center, which may be A square area with a size of 19×19, that is, a square area with a number of image points of 19 rows×19 columns and a center of the first speckle can also be a size of 35×35, which is not limited in this application. In the same way, the second area and the first area are arranged in the same manner, and the second area can be different in size from the first area or the same size, which is not limited in this application. In an optional embodiment, the first area and the second area have the same size. For example, the first area and the second area are both 19×19 square areas, and the coordinates of the image points in the first area may be the image The number of rows and columns of the point in the first area. Each image point in the first area has a corresponding image point in the second area. If the two image points in the first area and the second area correspond to the positions And both are speckles, then these two speckles are regarded as a speckle pair. If the number of speckle pairs in the first area and the second area is greater than or equal to the preset number, then the first speckle and the second speckle The single-step matching is successful.

Optionally, in the second implementation manner, the single-step matching of the first speckle in the target speckle image with the speckle in the preset speckle image includes:

Determine the third area around the third speckle according to the third speckle in the target speckle image, determine the fourth area around the fourth speckle according to the fourth speckle in the preset speckle image, the third speckle and The fourth speckle is a pair of speckles with successful mark matching; when the first speckle in the third area corresponds to the position of the second speckle in the fourth area, it is determined that the first speckle and the second speckle are matched in a single step success.

For a pair of speckle spots with successful mark matching, it means that the two speckle spots are finally matched successfully, and no subsequent matching is performed. The pair of speckles with successful mark matching includes two speckles with successful mark matching, one is the speckle with successful mark matching in the target speckle image, and the other is the speckle with successful mark matching in the pre-matched speckle image. spot.

In the second implementation manner, the third speckle and the fourth speckle are pairs of speckles that have successfully marked matching, that is, the pre-matching result of the third speckle indicates the confidence level between the third speckle and the fourth speckle. Greater than or equal to the preset reliability. At this time, the third area around the third speckle spot and the fourth area around the fourth speckle spot are determined. The third area and the fourth area can be determined in the same manner as the first area. Optionally, the third area and the fourth area may have the same size. For example, the third area and the fourth area are both 19×19 square areas, and the positions in the third area and the fourth area are corresponding and both scattered. The two image points of the spot confirm that the single-step matching is successful. The first speckle and the second speckle are both speckles, and the position of the first speckle in the third area corresponds to the position of the second speckle in the fourth area, then the first speckle and the second speckle The single-step matching is successful. For example, the position of the first speckle in the third area is (6,6), that is, the first speckle is located in the sixth row and sixth column in the third area, and the position of the second speckle in the fourth area is also (6,6), it is determined that the first speckle and the second speckle are successfully matched in a single step.

It should be noted that the first implementation manner and the second implementation manner here are two different pre-matching manners, which can be used in combination or separately, and this application does not limit this.

Step 102: After the first speckle in the target speckle image is successfully matched with the second speckle in the preset speckle image, adjust the pre-matching result of the first speckle.

It should be noted that the pre-matching result indicates the matching result of the first speckle spot after zero or at least one single-step matching. Specifically, if the first scatter spot has not undergone single-step matching, the pre-matching result is empty; if the first scatter spot has been single-step matched at least once, the pre-matching result indicates the matching after at least one single-step matching As a result, after each single-step matching, the pre-matching result will be updated according to the result of the single-step matching. The matching process between the target speckle image and the preset speckle image may be referred to as a pre-matching process, and the pre-matching process may include at least one single-step matching process. For a speckle, taking the first speckle as an example, the first speckle can be single-step matched at least once. After each single-step matching, the pre-matching of the first speckle is adjusted according to the result of the single-step matching. result.

The pre-matching result indicates the pre-matched speckles that are successfully pre-matched with the first speckles, and the confidence level between the first speckles and the pre-matched speckles. Here, four examples are listed to specifically illustrate how to adjust the pre-matching result when the first speckle and the second speckle are successfully matched in a single step.

Optionally, in the first example, adjusting the pre-matching result of the first speckle includes:

It should be noted that in this application, the confidence between two speckles is used to indicate the accuracy of the matching of the two speckles. The higher the confidence, the more accurate the two speckles are matched. If pre-matching The result indicates that the pre-matched speckle is the second speckle. This time the first speckle and the second speckle are matched again in a single step, indicating that the matching accuracy of the first speckle and the second speckle is greater, so , Increase the confidence between the first speckle and the second speckle by a step length.

Optionally, in the second example, adjusting the pre-matching result of the first speckle includes:

If the pre-matching result indicates that the first speckle has no pre-matched speckles, it means that the successful single-step matching of the first speckle and the second speckle is the first single-step matching of the first speckle. You can change the second speckle. The spot is used as a pre-matched scatter, and the confidence is increased by a second step. When there is no pre-matched scatter, the confidence is 0, and the second step can be the initial value of the confidence.

Optionally, in the third example, adjusting the pre-matching result of the first speckle includes:

If the pre-matched speckle is not the second speckle, it means that the first speckle has been successfully matched with other speckles in a single step, and the confidence is less than or equal to the first threshold, indicating that there is a gap between the first speckle and the pre-matched speckle. The accuracy of the first and second speckles is not high, and the successful single-step matching of the first and second speckles can also prove that the previous pre-matching results are not accurate. Therefore, the pre-matching of the first and pre-matched speckles The matching result is invalidated, the second speckle is used as a new pre-matched speckle, and the confidence between the first speckle and the second speckle is increased by a third step. The third step can be equal to the second , Or the third step length can be smaller than the second step length.

Optionally, in the fourth example, adjusting the pre-matching result of the first speckle includes:

If the pre-matched speckle is not the second speckle, and the confidence is greater than the second threshold, it means that the accuracy of the match between the first speckle and the pre-matched speckle is relatively high, and this time the first and second speckles The successful single-step matching of the speckles may be because the matching is not accurate, or the previous matching is not very accurate. At this time, the previous pre-matched speckles are not changed, and the gap between the first speckle and the pre-matched speckles is reduced. The confidence level of can be further adjusted in the subsequent matching process to determine the final result.

It should be noted that the first step length, the second step length, the third step length and the fourth step length may be the same or different. In this application, “first”, “second”, “third”, "Fourth" is only used for distinction, not for any limitation. Here, adjusting the pre-matching result and the two pre-matching methods in step 101 can be used in combination, and different pre-matching methods can correspond to different step sizes. For example, after the single-step matching is successful through the first implementation method of pre-matching in step 101, the increased first step length may be the same or different from the second step length increased after the single-step matching through the second implementation method. This application does not limit this.

Step 103: When the pre-matching result of the first speckle indicates that the confidence between the first speckle and the pre-matched speckle is greater than or equal to the preset reliability, mark the first speckle and the pre-matched speckle as a successful match The speckled pairs.

If the confidence is greater than or equal to the preset confidence, it indicates that the matching accuracy of the first speckle and the pre-matched speckle is relatively high, and the first speckle and the pre-matched speckle can be formally marked as a successfully matched pair of speckles. For each speckle in the target speckle image, a single-step matching can be performed according to the pre-matching mode of the first speckle, and finally a speckle that matches each speckle in the preset speckle image is determined.

Embodiment two

Based on the speckle image matching method described in the first embodiment, the second embodiment of the present application uses a specific application scenario as an example to describe in detail the specific implementation process of the speckle image matching method.

In this embodiment, the matrix element corresponding to the spot position in the target speckle image is set to 1, and the remaining matrix elements are set to 0, and the matrix M corresponding to the target speckle image is obtained as the target speckle matrix. Set the matrix element corresponding to the spot position in the preset speckle image to 1, and set the rest of the matrix elements to 0 to obtain matrix C. Perform the first expansion of matrix C. For the matrix elements that are not 0 in matrix C, Adjacent points spread, and the spread radius is less than 1/2 point pitch (the distance between two adjacent speckle spots), that is to say, if speckle A and B are adjacent to each other in the preset speckle image, then speckle 1/2 of the distance from A to speckle B is taken as the diffusion radius, and the image points with a distance less than or equal to the diffusion radius from speckle A are regarded as points within the preset range. The matrix elements corresponding to these image points can be set as 1. Use the diffused matrix C ₁ as the preset speckle matrix. As shown in FIG. 3, FIG. 3 is a schematic diagram of the diffusion effect of a speckle matrix provided by an embodiment of the application. In FIG. 3, in a preset speckle image, 8 image points adjacent to the speckle are divided into As the points within the preset range, the matrix elements corresponding to these 8 image points are all set to 1. Of course, FIG. 3 is only an exemplary illustration, and does not mean that the application is limited to this.

Each matrix element in the matrix C ₂ represents the index value of the scattered spot coordinates. In practical applications, the coordinates of each scattered spot in the preset speckle image are stored, and each piece of stored information is assigned an index. Value, the coordinates of the corresponding speckle can be obtained according to the index value. Carry out the second expansion of matrix C. For points whose value is not 0, diffuse to adjacent points, with a diffusion radius less than 1/3 of the dot pitch (the distance between two adjacent speckle spots), and save the diffused matrix C ₂ . As shown in FIG. 4, FIG. 4 is a schematic diagram of another speckle matrix diffusion effect provided by an embodiment of the application.

Set matrix C ₃ and matrix C ₄ as auxiliary matrices. _{The sizes of matrix C 3} and matrix C ₄ are the same as C ₁ and C ₂ and all values are 0. C _{3 is} used to record the confidence of the speckle corresponding to the position (can Represents the number of successful single-step matching), C _{4 is} used to record the index value of the pre-matched speckle of the speckle corresponding to the position.

Flag is set matrix C _5, C ₅ same matrix initial value matrix M, i.e., the matrix M C ₅ copy obtained, whether the recording matrix C ₅ spots scattered successful match has been successfully matched point no further single step match.

1) For the pre-matching of a first implementation, the matrix C _5, all values of the points p 1 subsequent steps, in the present embodiment, the p-point as the first scattered spots, the point q as the Take two scattered spots as an example to illustrate:

The matching range L is calculated according to the coordinates of the point p in the matrix M. It should be noted that the matching range L is the range corresponding to the point P in the preset speckle matrix. M w window is determined around the p-size matrix R × R ₁ (i.e., a first region of a first embodiment of a scattered spot embodiment), calculates the value of the window ₁ w n ₁ is the number 1 (i.e., the first region The number of speckles); traverse the matching range L of matrix C, and perform single-step matching of all points in matrix C whose values are greater than 0 (that is, the speckles in matrix C) with p points. Take the q point in the matrix C as an example, the matching method is to take the R×R size window w ₂ _{around the q point in the matrix C 1} (ie the second area), and calculate the _{corresponding positions of w 1} and w _{2 that} are not 0 at the same time The number of points n ₂ (that is, the number of scattered spots corresponding to the positions in the first area and the second area), within the matching range L, if the n ₂ value of the q point is greater than or equal to (n ₁ -T ₁ ), (n _1- T ₁ ) is the preset number, and T ₁ is the preset parameter, then the point p and q are successfully matched in a single step. In the actual implementation process, in the matching range L, there may be multiple points and p points that satisfy _{the condition that the value of n 2} is greater than or equal to (n ₁ -T ₁ ), and there may be no point that satisfies the _{value of n 2} greater than or equal to (n ₁ -T ₁ _{), the point with the largest n 2} value can be determined as the q point and whether the single-step matching with the p point is successful. In the point q and the point p after the single-step matching succeeds, comparison matrix C ₄ p-point value corresponding to whether the point q in the matrix C corresponding to index value _{2 are} the same (i.e., determining the pre-match scatter dot p point whether the point q ), if the matrix C ₄ corresponding to the point p and the q value corresponding to the point C ₂ in the matrix of the same index value, the value of C ₃ plus matrix point p 2 (here, the first step size is 2);

If the matrix C ₄ p and q values corresponding to the point C ₂ dot matrix index corresponding to different values, the matrix C ₃ determines the value p corresponding to the point, if the matrix C ₃ corresponding to the point p is 0, previously described If point p has not been successfully matched in a single step, _{add 2 to the value of point p in matrix C 3} (here the second step is 2), and set _{the value corresponding to point p in matrix C 4} as the index value of point q; The value corresponding to point p in matrix C ₃ is 1 (the confidence is less than or equal to the first threshold), indicating that the accuracy of the pre-matched speckles that is successfully pre-matched before point p is not high, and the pre-matching result can be invalidated. Change matrix C ₃ The value corresponding to point p in the middle is increased by 1 (here the third step is 1), and _{the value corresponding to point p in matrix C 4} is set to the index value of point q; if the value corresponding to point p in _{matrix C 3 is greater than 1} (The confidence level is greater than the second threshold. Here, the first threshold and the second threshold are equal to 1), then _{the value corresponding to the point p in the matrix C 3} is subtracted by 2 (here the fourth step is 2).

2) For the first implementation of pre-matching, the _{point p 1 is} regarded as the first speckle, the _{point q 1 is} regarded as the second speckle, the _{point p 2 is} regarded as the third speckle, and the _{point q 2 is} regarded as the third speckle. Speckle, give an exemplary explanation:

Determine whether the value corresponding to point p _{2 in} _{matrix C 3} is greater than or equal to T ₂ (T _{2 is} the preset reliability), if _{the value corresponding to point p 2} is greater than or equal to T ₂ , then mark p _{2 in} _{matrix C 5} The value corresponding to the point is set to 0 (that means that p ₂ no longer needs to be matched in a single step). If the point that matches the point _{p 2} _{is the q 2} point, the value corresponding to the _{p 2} point in the matrix M can also be set to ( 1+q ₂ index value), the value corresponding to point p _{2 in} _{matrix C 4} is the index value of _{q 2.} Usually the index value starts from 0. After adding 1 to the index value, the point with the index value of 0 can be prevented from being judged as the background.

Take the window w _{3 of} R ₁ × R ₁ _{around p 2 in the} matrix M (ie the third region), take the window w _{4 of} R ₁ × R ₁ around q _{2 in the} _{matrix C 2} (ie the fourth region), and traverse w at the same time _For the points corresponding to the positions in 3 and w ₄ , if the matrix value of the point p ₁ _{in w 3} (that is, the first speckle) and the point q ₁ _{(that is, the second speckle) in w 4} are not 0 (that is, the point p ₁ and point q _{1 are} successfully matched in a single step), compare whether the value corresponding to p _{1 in} _{matrix C 4} is the same as the value corresponding to q _{1 in} _{matrix C 2} (that is, to determine whether the _{point p 1} has been successfully matched in a single step Is q ₁ point), if the value corresponding to p ₁ _{point in matrix C 4} is the same as the value corresponding to q ₁ _{point in matrix C 2} _{, indicating that p 1} point has been _{successfully matched with q 1} point in a single step, then matrix C ₃ The value corresponding to the p ₁ point is increased by 1 (here, the first step has a length of 1).

Different values of q corresponding to ₁ dot matrix C ₄ if the value corresponding to the point p ₁ matrix C _2, ₃ to determine the corresponding value of p ₁ dot matrix C, if the matrix C ₃ corresponding to the point p ₁ is 0, It means that no single-step matching is successful before _{p 1} point, then the value corresponding to p ₁ _{point in matrix C 3} is increased by 1 (here, the second step is 1), and the value corresponding to p ₁ _{point in matrix C 4} Set it to the _{corresponding value in matrix C 2} (that is, _{point q 1} is used as the pre-matched scatter spot of _{point p 1} ), if the value corresponding to point p _{1 in} _{matrix C 3} is other (that is, the confidence of point _{p 1 is greater than the second threshold} , Where the second threshold is 0), then the value corresponding to point p _{1 in the} _{matrix C 3} is reduced by 1 (here, the fourth step is 1).

In this embodiment, you can first use the first implementation to obtain a part of the matched speckles (that is, the speckles with confidence greater than or equal to the preset confidence), and then use the second implementation to compare the matched speckles The surrounding speckles are matched in a single step. In the process of single-step matching using the second implementation method, the first implementation method can also be used to continue to perform single-step matching on the remaining speckles. In the single-step matching process of the implementation method and/or the second implementation method, the confidence of each speckle can be judged, and the speckle with the confidence greater than or equal to the preset confidence can be determined as the new matched one. For speckle, continue to use the second implementation method to perform single-step matching of the speckles around the new matched speckles. In this way, starting from one point, the matched radiation can be achieved, and the speckle prediction will be continuously updated during the radiation process. Match results. As shown in Fig. 5, Fig. 5 is a schematic diagram of a matching effect provided by an embodiment of the application. In Fig. 5, the black dots indicate the speckles that have been successfully matched, and the dots filled with slashes are the speckles in the pre-matching ( That is, the speckles with confidence less than the preset confidence), the second implementation method is used to perform a single-step matching on the speckles around the speckles that have been marked and matched successfully, and the two speckles that have been marked and matched are radiated outward, Four speckles that have been marked for successful matching are obtained. Of course, Fig. 5 is only an illustration of the matching effect and does not represent any limitation.

Traverse the matrix M, complete the matching of all the points with the value of 1, and subtract 1 from the value of each matrix element in the matrix M, which is the index value of the point that matches the point. According to the index value, the coordinate information of the speckle can be obtained, and the offset of the position of the speckle in the target speckle image relative to the position of the matching speckle in the preset speckle image can be determined, and the point can be determined according to the offset depth. In the speckle image projected by each device, the distribution of the speckle is similar in the local area. When the depth of the object surface changes, the local distribution of the speckle changes less, and the entire speckle position in this area will have an offset, according to the offset The amount to determine the depth of the site.

In the second embodiment, the matrix C ₃ , the matrix C ₄ , and the matrix C _{5 are taken} as examples for description. The functions implemented by these matrices can also be integrated into one matrix, which is not limited in this application.

Embodiment three

Based on the speckle image matching method described in the first embodiment, an embodiment of the present application provides a speckle image matching device for executing the speckle image matching method described in the first and second embodiments, refer to FIG. 6 As shown, FIG. 6 is a structural diagram of a speckle image matching device provided by an embodiment of the application. The speckle image matching device 60 includes: a pre-matching module 601, a result processing module 602, and a speckle matching module 603;

Wherein, the pre-matching module 601 is used for single-step matching the first speckle in the target speckle image with the speckle in the preset speckle image;

The result processing module 602 is used to adjust the pre-matching result of the first speckle after the first speckle in the target speckle image is successfully matched with the second speckle in the preset speckle image, and the pre-matching result indicates The matching result after the first speckle is matched 0 times or at least once. The pre-matching result indicates the pre-matched speckle that is successfully pre-matched with the first speckle, and the confidence between the first speckle and the pre-matched speckle degree;

The speckle matching module 603 is configured to scatter the first speckle and the pre-match when the pre-match result of the first speckle indicates that the confidence between the first speckle and the pre-matched speckle is greater than or equal to the preset reliability The spot is marked as a pair of scattered spots that match successfully.

Example four

Based on the speckle image matching method described in the first embodiment, an embodiment of the present application provides an electronic device for executing the speckle image matching method described in the first and second embodiments. The embodiment of the present application provides one An electronic device, as shown in FIG. 7, FIG. 7 is a structural diagram of an electronic device provided by an embodiment of the application. The electronic device 70 includes: at least one processor 701, a memory 702, at least one processor 701, and The memory 702 is electrically connected;

The memory 702 is configured to store at least one program 712;

The memory 702, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the (Method for Determining Touch Position of Capacitive Screen) in the embodiment of the present application ) Corresponding program instructions/modules. The processor 810 executes various functional applications and data processing of the server by running non-volatile software programs, instructions, and modules stored in the memory 702, that is, implementing the above method embodiment (method for determining the touch position of the capacitive screen).

The memory 702 may include a storage program area and a storage data area, where the storage program area can store an operating system and an application program required by at least one function; the storage data area can store data created based on the use of (the device for determining the touch position of the capacitive screen) Data etc. In addition, the memory 702 may include a high-speed random access memory 702, and may also include a non-volatile memory 702, such as 702 pieces of at least one disk storage, flash memory device, or 702 other non-volatile solid-state memories. In some embodiments, the memory 702 may optionally include a memory 702 remotely provided with respect to the processor 810, and these remote memories 702 may be connected to (device for determining a touch position of a capacitive screen) via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

When at least one processor 701 executes at least one program 712, the method as described in the first embodiment and the second embodiment is implemented.

Embodiment five

Based on the speckle image matching method described in the first embodiment, an embodiment of the present application provides a storage medium, which is characterized in that a computer program is stored on the storage medium, and when the processor executes the computer program, the implementation is as follows: The method described in the second embodiment.

The above-mentioned products can execute the methods provided in the embodiments of the present application, and have functional modules and beneficial effects corresponding to the execution methods. For technical details that are not described in detail in this embodiment, please refer to the method provided in the embodiment of this application.

The electronic devices in the embodiments of this application exist in various forms, including but not limited to:

(1) Mobile communication equipment: This type of equipment is characterized by mobile communication functions, and its main goal is to provide voice and data communications. Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.

(2) Ultra-mobile personal computer equipment: This type of equipment belongs to the category of personal computers, has calculation and processing functions, and generally also has mobile Internet features. Such terminals include: PDA, MID and UMPC devices, such as iPad.

(3) Portable entertainment equipment: This type of equipment can display and play multimedia content. Such devices include: audio, video players (such as iPod), handheld game consoles, e-books, as well as smart toys and portable car navigation devices.

(4) Server: A device that provides computing services. The composition of a server includes a processor 810, hard disk, memory, system bus, etc. The server is similar to a general computer architecture, but because it needs to provide highly reliable services, it has High requirements in terms of performance, reliability, security, scalability, and manageability.

(5) Other electronic equipment with data interaction function.

So far, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown in order to achieve the desired result. In certain embodiments, multitasking and parallel processing may be advantageous.

In the 1990s, the improvement of a technology can be clearly distinguished between hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to method flow). However, with the development of technology, the improvement of many methods and processes of today can be regarded as a direct improvement of the hardware circuit structure. Designers almost always get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by the hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (for example, a Field Programmable Gate Array (Field Programmable Gate Array, FPGA)) is such an integrated circuit whose logic function is determined by the user's programming of the device. It is programmed by the designer to "integrate" a digital system on a PLD, without requiring the chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly realized with "logic compiler" software, which is similar to the software compiler used in program development and writing, but before compilation The original code must also be written in a specific programming language, which is called Hardware Description Language (HDL), and there is not only one type of HDL, but many types, such as ABEL (Advanced Boolean Expression Language) , AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description), etc., currently most commonly used It is VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. It should also be clear to those skilled in the art that just a little bit of logic programming of the method flow in the above-mentioned hardware description languages and programming into an integrated circuit can easily obtain the hardware circuit that implements the logic method flow.

The systems, devices, modules, or units explained in the above embodiments may be implemented by computer chips or entities, or implemented by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cell phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or Any combination of these devices.

For the convenience of description, when describing the above device, the functions are divided into various units and described separately. Of course, when implementing this application, the functions of each unit can be implemented in the same one or more software and/or hardware.

Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

This application is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of this application. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

In a typical configuration, the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.

Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or equipment including a series of elements not only includes those elements, but also includes Other elements that are not explicitly listed, or they also include elements inherent to such processes, methods, commodities, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, commodity, or equipment that includes the element.

This application may be described in the general context of computer-executable instructions executed by a computer, such as a program module. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific transactions or implement specific abstract data types. This application can also be practiced in distributed computing environments. In these distributed computing environments, transactions are executed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the partial description of the method embodiment.

The foregoing descriptions are only examples of the present application, and are not used to limit the present application. For those skilled in the art, this application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the scope of the claims of this application.

Claims

A speckle image matching method, characterized in that it comprises:

Single-step matching the first speckle in the target speckle image with the speckle in the preset speckle image;

After the first speckle in the target speckle image is successfully matched with the second speckle in the preset speckle image in a single step, the pre-matching result of the first speckle is adjusted, and the pre-matching result Indicate the matching result after the first speckle is matched 0 times or at least once, the pre-matching result indicates the pre-matched speckle that is successfully pre-matched with the first speckle, and the first speckle The confidence level with the pre-matched speckles;

When the pre-matching result of the first speckle indicates that the confidence between the first speckle and the pre-matched speckle is greater than or equal to the preset confidence, compare the first speckle with the pre-matched speckle. The matched speckles are marked as a pair of speckles that are successfully matched.
The method according to claim 1, wherein the step of matching the first speckle in the target speckle image with the speckle in the preset speckle image comprises:

Determine the matching range corresponding to the first speckle in the preset speckle image; perform the single-step matching between the first speckle and the speckle in the matching range.
The method according to claim 2, wherein performing the single-step matching of the first speckle with the speckles in the matching range comprises:

The first area around the first speckle is determined according to the first speckle, the second area around the second speckle is determined according to the second speckle, and the second speckle is in the matching In scope

When the number of speckles corresponding to the positions in the first area and the second area is greater than or equal to a preset number, it is determined that the first speckle and the second speckle are successfully matched in a single step.
The method according to claim 1, wherein the step of matching the first speckle in the target speckle image with the speckle in the preset speckle image comprises:

Determine the third area around the third speckle according to the third speckle in the target speckle image, and determine the first area around the fourth speckle according to the fourth speckle in the preset speckle image Four regions, the third speckle and the fourth speckle are a pair of speckles with successful mark matching;

When the first speckle in the third area corresponds to the position of the second speckle in the fourth area, it is determined that the first speckle and the second speckle are successfully matched in a single step .
The method of claim 1, wherein adjusting the pre-matching result of the first speckles comprises:

When the pre-matched speckle indicated by the pre-matching result of the first speckle is the second speckle, the confidence between the first speckle and the pre-matched speckle is increased by the first Stride.
The method of claim 1, wherein adjusting the pre-matching result of the first speckles comprises:

When the pre-matching result of the first speckle indicates that the first speckle has no pre-matched speckle, the second speckle is determined to be the pre-matched speckle, and the first speckle is combined with The confidence between the pre-matched speckles is increased by a second step size.
The method of claim 1, wherein adjusting the pre-matching result of the first speckles comprises:

The pre-matching result of the first speckle indicates that the pre-matched speckle is different from the second speckle, and the confidence of the first speckle and the pre-matched speckle is less than or equal to a first threshold When the second speckle is determined to be the pre-matched speckle, the confidence between the first speckle and the pre-matched speckle is increased by a third step.
The method of claim 1, wherein adjusting the pre-matching result of the first speckles comprises:

When the pre-matching result of the first speckle indicates that the pre-matched speckle is different from the second speckle, and the confidence of the first speckle and the pre-matched speckle is greater than a second threshold, The confidence level between the first speckle and the pre-matched speckle is reduced by a fourth step.
The method according to any one of claims 1-8, wherein the single-step matching of the first speckle in the target speckle image with the speckle in the preset speckle image comprises:

Determining a target speckle matrix of the target speckle image according to the target speckle image, and determining a preset speckle matrix of the preset speckle image according to the preset speckle image;

Single-step matching is performed on the matrix elements in the target speckle matrix and the matrix elements in the preset speckle matrix.
The method according to claim 9, wherein determining the target speckle matrix of the target speckle image according to the target speckle image comprises:

In the target speckle matrix, the matrix element corresponding to the position of the speckle in the target speckle image is set to 1, and the remaining matrix elements are set to 0.
The method according to claim 9, wherein determining the preset speckle matrix of the preset speckle image according to the preset speckle image comprises:

In the preset speckle matrix, the matrix element corresponding to the position of the speckle in the preset speckle image is set to 1, and the matrix element within the preset range of the matrix element corresponding to the position of the speckle is set to 1, the rest of the matrix elements are set to 0.
A speckle image matching device, characterized by comprising: a pre-matching module, a result processing module, and a speckle matching module;

Wherein, the pre-matching module is used for single-step matching the first speckle in the target speckle image with the speckle in the preset speckle image;

The result processing module is configured to adjust the pre-speckle of the first speckle after the first speckle in the target speckle image is successfully matched with the second speckle in the preset speckle image. The matching result, the pre-matching result indicating the matching result after the first speckle is matched 0 times or at least one single-step matching, and the pre-matching result indicating the pre-matching speckles that are successfully pre-matched with the first speckle , And the confidence level between the first speckle and the pre-matched speckle;

The speckle matching module is configured to: when the pre-matching result of the first speckle indicates that the confidence between the first speckle and the pre-matched speckle is greater than or equal to a preset confidence, The first speckle and the pre-matched speckle are marked as a pair of speckles that are successfully matched.
An electronic device, comprising: at least one processor and a memory, the at least one processor and the memory are electrically connected;

Memory for storing at least one program;

When the at least one processor executes the at least one program, the method according to any one of claims 1-11 is implemented.
A storage medium, characterized in that a computer program is stored on the storage medium, and when a processor executes the computer program, the method according to any one of claims 1-11 is implemented.