CN103632340B - Object tracking device and its operating method - Google Patents
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Abstract
A kind of object tracking device, including light source, imaging sensor and processing unit.The light source is lighted with a glow frequency.Described image sensor relatively the light source igniting when export operation diagram picture and export background image when the light source extinguishes relatively.The processing unit to obtain the background information of the background image, calculate the operation diagram as the difference image with the background image, obtain the difference image object information and comparison described in background information and the object information to remove ambient noise.
Description
Technical field
The present invention relates to a kind of human-computer interface device, more particularly to a kind of optical object for eliminating mobile ambient noise
Follow-up mechanism and its operating method.
Background technology
Known optical object tracking device generally includes light source, imaging sensor and processing unit；Wherein, the light source is used
To illuminate close to object；Described image sensor is obtaining the complex image frame including the object；The processing unit is then
The action of the object is followed the trail of according to these described picture frames.
However, in these described picture frames acquired in described image sensor, in addition to the subject image, Chang Huiling
Include environment light source image.In known technology, in order to eliminate the environment light source image, described image sensor can obtain phase
The dark picture frame that bright picture frame and relatively described light source to the light source igniting extinguish, the processing unit then calculates described
The difference image of bright picture frame and the dark picture frame is to eliminate the environment light source image.Though such a noise cancellation method can disappear
Except the noise caused by fixed environment light source, but when the position of the environment light source changes over time, only calculate merely bright
The difference image of dark image interframe simultaneously can not effectively eliminate ambient noise, thus the processing unit then can not be according to the difference
Image correctly follows the trail of the action of the object.
In consideration of it, the present invention separately proposes a kind of object tracking device and its operating method, it can effectively eliminate mobile background
Caused noise.
The content of the invention
It is an object of the invention to provide a kind of object tracking device for eliminating mobile ambient noise and its operating method.
The present invention provides a kind of object tracking device, including light source, imaging sensor and processing unit.The light source with
One glow frequency lights.Described image sensor relatively the light source igniting when export operation diagram picture and the light source extinguishes relatively
When export background image.The processing unit to obtain the background information of the background image, calculate the operation diagram picture with
In the difference image of the background image, the identification difference image an at least object and remove in the difference image with it is described
Background information is related and is less than the invalid object of dimension threshold.
The present invention also provides a kind of object tracking device, including light source, imaging sensor and processing unit.The light source
Lighted with a glow frequency.Described image sensor relatively the light source igniting when export operation diagram picture and relatively described light source and put out
Background image is exported when going out.The processing unit is obtaining the background information of the background image, calculate the operation diagram picture
Difference image with the background image, the object information for obtaining the difference image and background information described in comparison with it is described
Object information is to remove ambient noise.
The present invention also provides a kind of operating method of object tracking device, comprises the following steps：Image taking sensor is relative
Light source obtains background image when extinguishing；With described image sensor relatively the light source igniting when obtain operation diagram picture；With processing
Unit obtains the background information of the background image；With the processing unit calculate the operation diagram as with the background image
Difference image；The object information of the difference image is obtained with the processing unit；And the background information with it is described
Object information is to remove the ambient noise of the difference image.
The object tracking device of the present invention also includes the first storage element to store the background image, the difference diagram
Picture, the background information, the object information and/or the dimension threshold.
In the object tracking device and its operating method of the present invention, the background information is that an at least background object is located at institute
State the background object position of background image；The object information is the object space that an at least object is located at the difference image.
In the object tracking device and its operating method of the present invention, in addition to the default Background of the second storage element storage
Picture, wherein the processing unit first calculates the background image and the default background image before the difference image is calculated
Substracting background image is to be used as the background image；The default background image be the object tracking be installed on boot program,
Acquired person when receiving more newer command or detecting abnormal object.
In the object tracking device and its operating method of the present invention, the processing unit is big by brightness in the difference image
An at least object is identified as in an at least pixel area for luminance threshold；And brightness in the background image is more than brightness
The pixel area of threshold value is identified as the background object.
In the object tracking device and its operating method of the present invention, when the object space of object is apart from the background objects
When body position is less than distance threshold and size and is less than dimension threshold, the processing unit by the object identification for ambient noise or
Invalid object.
In the object tracking device and its operating method of the present invention, the processing unit is always according to having removed the invalid thing
The difference image of body carries out object tracking；It is, it is more than according to the object space apart from the background object position
The object of the distance threshold carries out object tracking.
The object tracking device of the embodiment of the present invention is due to being the noise caused by eliminating mobile background, therefore its is excellent
Point in can be installed in it is mobile in the device that operates or equipment, such as be arranged at the vehicles or portable electronic devices.
Brief description of the drawings
Figure 1A and 1B shows the application schematic diagram of the object tracking device of the embodiment of the present invention；
Fig. 2 shows the block schematic diagram of the object tracking device of the embodiment of the present invention；
Fig. 3 shows the flow chart of the maneuver of the object tracking device of the embodiment of the present invention；
Fig. 4 shows image acquisition and the schematic diagram of light source igniting of the object tracking device of the embodiment of the present invention；
Fig. 5 A-5D show the schematic diagram of the operating method of the object tracking device of the embodiment of the present invention.
Description of reference numerals
The touch surface of 1 object tracking device 10
The imaging sensor of 11 light source 12
The processing unit of 13 first storage element 14
The background object of 15 second storage element 20
The invalid object in position 20 ' of 21 background objects
The object of position 30 of 21 ' invalid objects
The finger of position 7 of 31 objects
The vehicles of 8 portable electronic devices 9
TH1、TH2Luminance threshold Io operation diagram pictures
Ib background images（Io-Ib）、（Io-Ib）' difference image
S11-S17Step.
Embodiment
It in order to which above and other purpose, feature and the advantage of the present invention can be become apparent from, will hereafter coordinate accompanying drawing, make detailed
Carefully it is described as follows.In the explanation of the present invention, identical component is represented with identical symbol, in this advance explanation.
As illustrated by figures 1 a and 1b, the application schematic diagram of its object tracking device for showing the embodiment of the present invention.Due to this hair
The object tracking device 1 of bright embodiment can be used to eliminate mobile ambient noise, therefore is preferably applied to moveable device or sets
It is standby upper；Such as object tracking device 1 can be installed in the vehicles 9（Such as Figure 1A）Or it is arranged at portable electronic devices 8（Such as figure
1B）；Wherein, the set location of object tracking device 1 is only exemplary described in Figure 1A and 1B.Certainly, the object tracking dress
Put in 1 device for being similarly applied to position fixation or equipment, however it is not limited to Figure 1A and 1B those shown.
As shown in Fig. 2 the block schematic diagram of its object tracking device for showing the embodiment of the present invention.Object tracking device 1
Including touch surface 10, light source 11, imaging sensor 12, the first storage element 13, the storage element 15 of processing unit 14 and second.Institute
It is to for coming close to or in contact with least object progress object tracking of the touch surface 10 and exporting to state object tracking device 1
Trace signals；Wherein, the object is such as can be finger 7 or stylus.The object tracking device 1 separately may include to transmit boundary
Face is the trace signals are exported to corresponding electronic installation or equipment.
The touch surface 10 can be as made by appropriate material, and the light that its preferably relatively described light source 11 is sent is transparent.
In other embodiment, the touch surface 10 may also include filter（Piece）, it is preferably bandpass optical filter（bandpass
filter）, and only allow the light source 11 to send the spectrum of light by avoid the interference of ambient light.
The light source 11 for example can be an at least light emitting diode, laser diode or other appropriate light sources, preferably with one
Glow frequency sends feux rouges, infrared light or other black lights, to illuminate the finger 7.
Described image sensor 12 for example can be ccd image sensor, cmos image sensor or other can be used to sense
The sensor of light energy, to sense reflection from the finger 7 and penetrate the light energy of the touch surface 10, and relatively described light
Exported when source 11 is lighted when as the Io and relatively described light source 11 of operation diagram extinguishes and export background image Ib（It is described below）.
First storage element 11 to store described image sensor 12 output background image Ib and the place
Manage the various parameters needed for image document and calculating process that unit 14 exports, such as difference image, background information, object letter
Breath, dimension threshold, distance threshold and at least luminance threshold etc.（It is described below）.
The processing unit 14 is obtaining the background information of the background image Ib, calculate the operation diagram as Io and institute
State background image Ib difference image（Io-Ib）, obtain the difference image（Io-Ib）Object information identify the difference accordingly
Partial image（Io-Ib）In an at least object and comparison described in background information and the object information to remove ambient noise,
Such as remove the difference image（Io-Ib）In it is related to the background information and less than dimension threshold invalid object（Also
It is that the invalid object will be identified that ambient noise）；Wherein, the background information is that an at least background object is located at the back of the body
Scape image Ib background object position；The object information is that an at least object is located at the difference image（Io-Ib）Object
Position.In the present embodiment, the processing unit 14 is by the difference image（Io-Ib）Middle brightness is more than at least the one of luminance threshold
Pixel area is identified as an at least object；Or by the difference image（Io-Ib）Middle brightness is more than luminance threshold and is more than
Pre-set dimension（Such as, but not limited to 3 pixels）An at least pixel area be identified as an at least object, it is and brightness is big
In luminance threshold an at least pixel area and be identified as noise less than the pixel area of the pre-set dimension.When described at least one
After object identification goes out, the processing unit 14 again with the object information with that will move ambient noise moved by the background information
Remove.
In the present embodiment, because background object can move between consecutive image, therefore only calculate the operation diagram as Io with
The difference image of the background image Ib（Io-Ib）And mobile ambient noise can not be completely eliminated.Therefore, when one in the present embodiment
When the object space of object is less than distance threshold and size apart from the background object position and is less than dimension threshold, the place
The object identification is then that the ambient noise removes by reason unit 14.In other words, when the object space of an object
Then it is defined as less than distance threshold apart from the background object position related to the background information, and the object is considered as nothing
Imitate object.
After the invalid object removes, the processing unit 14 then can be according to the difference for having removed the invalid object
Partial image carries out object tracking, such as is more than the distance threshold apart from the background object position according to the object space
The object carries out object tracking.Thus, the noise caused by it can remove mobile background object completely, therefore can effectively be lifted
The correctness of object tracking.
For second storage element 15 to store default background image, the default background image is the object tracking
Device 1 in boot program, receive renewal（Background image）Order or detect background image acquired during abnormal object；Also
It is that included object is for ambient noise in these program acquired images, therefore the processing unit 14 is in described in calculating
The background image is first calculated before difference image with the substracting background image of the default background image to be used as the Background
Picture.It should be noted that object tracking device described in other embodiment 1 may not include second storage element 15, therefore
The processing unit 14 is also not required to first calculate the background image and the default background image before the difference image is calculated
The substracting background image.In another embodiment, first storage element 13 and second storage element 15 can merge
For single storage element.
Then, the detailed embodiment of the operating method of the object tracking device of the embodiment of the present invention is illustrated below, it is wrapped
Include the following steps：Image taking sensor facing light sources obtain background image when extinguishing（Step S11）；With described image sensor phase
Operation diagram picture is obtained during to the light source igniting（Step S12）；The background information of the background image is obtained with processing unit（Step
Rapid S13）；The difference image of the operation diagram picture and the background image is calculated with the processing unit（Step S14）；With described
Processing unit obtains the object information of the difference image（Step S15）；Compare the background information with the object information to move
Except the ambient noise of the difference image（Step S16）；And carried out according to the difference image for having removed the ambient noise
Object tracking（Step S17）；Wherein, the background image and the difference image can be stored in storage element.
As shown in Fig. 2 to 5D, Fig. 4 shows that the image of the embodiment of the present invention 1 object tracking device obtains and light source igniting
Schematic diagram；Fig. 5 A-5D show the schematic diagram of the operating method of the object tracking device of the embodiment of the present invention 1.
In the present embodiment, the light source 11 with a glow frequency is luminous and described image sensor 12 with a sampling frequency according to
Sequence obtains image.In order to eliminate the influence of environment light source, the sampling frequency is selected above the glow frequency, so that the figure
As sensor 12 can relatively described light source 11 light and obtain image when extinguishing, such as obtain simultaneously when relatively described light source 11 is lighted
Operation diagram is exported as Io（Such as with solid arrow signifier in Fig. 4）And obtain when the light source 11 extinguishes relatively and export background
Image Ib（Such as with dotted arrow signifier in Fig. 4）.
Step S11：The relatively described light source 11 of described image sensor 12 obtains when extinguishing and exports background image Ib（Such as figure
Shown in 5A）, it can be first stored in first storage element 13；Wherein, it is assumed herein that the background image Ib only includes
Background object 20.
Step S12：Described image sensor 12 obtains when then relatively described light source 11 is lighted and exports operation diagram as Io
（As shown in Figure 5 B）；Wherein, it is assumed herein that the operation diagram includes the background object 20 and object 30 as Io.Due to the figure
As sensor 12 be with sequential delivery image document, the operation diagram be then not required to be stored in first storage element 13 as Io and
The processing unit 14 is delivered directly to be post-processed.
Step S13：The processing unit 14 obtains the back of the body for being stored in background image Ib described in first storage element 13
Scape information is simultaneously stored in first storage element 13；Wherein, the background information can be an at least background object positioned at described
Background image Ib background object position.For example, brightness in the background image Ib is more than luminance threshold by the processing unit 14
Value TH1（First storage element 13 can be stored in advance）Pixel area be identified as background object 20, it has background objects
Body position 21.The background object position 21 can be for example the center of the background object 20, position of centre of gravity, marginal position
Or other predeterminated positions.It should be noted that step S13Can earlier than, be later than or with step S12Carry out simultaneously.
Step S14：The processing unit 14 then calculates difference image of the operation diagram as the Io and background image Ib
（Io-Ib）And it is stored in first storage element 13.In a kind of embodiment, the difference image（Io-Ib）It is preferred that make carbon copies
（overwrite）In storage areas of the background image Ib in first storage element 13, reduction described first is used
The memory capacity of storage element 13, but be not limited thereto.In the present embodiment, when the position of background object 20 is fixed,
By the calculating difference image（Io-Ib）The background object 20 is then completely eliminated（As shown in 5C figures）And only remaining institute
State object 30；However, when the position of the background object 20 changes over time, the difference image（Io-Ib）' in can still wrap
Include a part of background object 20 '（As shown in 5D figures）；Wherein, the shape of the part background object 20 ' is only exemplary.
Step S15：The processing unit 14 obtains difference image described in first storage element 13（Io-Ib）' thing
Body information is simultaneously stored in first storage element 13；Wherein, the object information can be that an at least object is located at the difference
Partial image（Io-Ib）' object space.For example, the processing unit 14 is by the difference image（Io-Ib）' middle brightness is more than
Luminance threshold TH2（First storage element 13 can be stored in advance）Pixel area be identified as object, now including object
30 and 20 ' and there is object space 31 and 21 ' respectively, wherein the object space 31 and 21 ' for example can be respectively the object
30 and 21 ' center, position of centre of gravity, marginal position or other predeterminated positions.If the as it was previously stated, object tracking device
Separately include the default background image of the second storage element 15 storage, the processing unit 14 is in the calculating difference image（Io-Ib）′
Before, the background image Ib is first calculated with the substracting background image of the default background image to be used as the background image.
Step S16：The processing unit 14 then with the object information with removing background made an uproar by the background information
Sound.In the present embodiment, work as object（Such as 20 '）It is related to the background information, such as the object space of the object 20 '
（Such as 21 '）Apart from the background object position（Such as 21）It is less than size less than the size of distance threshold and the object 20 '
During threshold value, the object identification is belonged to ambient noise or invalid thing by the processing unit 14 to be related to the object information
Body and removed；Wherein, the distance threshold and the dimension threshold can be stored in first storage element 13 in advance
In.
Step S17：Finally basis has removed the ambient noise to the processing unit 14（Or invalid object）The difference
Partial image carries out object tracking；It is, the processing unit 14 is according to the object space（Such as 31）Apart from the background
Object space（Such as 21）More than the object of distance threshold（Such as 30）Object tracking is carried out, mobile background is thus eliminated and makes an uproar
The interference of sound is to improve the correctness of object tracking.In the embodiment of the present invention, when the object space of object is apart from the background objects
Body position is then identified as the finger-image when being more than distance threshold.
It will be appreciated that in Fig. 5 A-5D, the height of the background object 20, invalid object 20 ' and object 30 only to
Illustrate its brightness, to wait luminance threshold TH with described1And TH2Compare.The background object 20, invalid object 20 ' and object
30 can have different brightness, area, shape and position etc., however it is not limited to which 5A-5D schemes those shown.In addition, described wait luminance threshold
Value TH1And TH2It may be the same or different.
In summary, it is known that optical object follow-up mechanism is only suitable due to the influence of mobile background light source can not be completely eliminated
For the device fixed using position.A kind of and object tracking device proposed by the present invention（Fig. 2）And its operating method（Fig. 3）,
Even if being installed on the device or equipment that the vehicles or portable electronic devices etc. can change using position, still can effectively eliminate
The influence of mobile background light source is to increase the correctness of object tracking.
Although for the present invention by being disclosed with previous embodiment, it is not limited to the present invention, any institute of the present invention
Belonging to has the technical staff of usual knowledge in technical field, without departing from the spirit and scope of the present invention, various when that can make
Change and change.Therefore protection scope of the present invention is worked as and is defined depending on the scope that appended claims are defined.
Claims (21)
1. a kind of object tracking device, the object tracking device includes：
Light source, lighted with a glow frequency；
Background is exported when operation diagram picture and relatively the light source extinguishing are exported during imaging sensor, the relatively light source igniting
Picture；And
Processing unit, to obtain the background information of the background object position of an at least background object in the background image, meter
Calculate difference image, the multiple objects in the identification difference image and the removal institute of the operation diagram picture and the background image
Invalid object related to the background information in difference image and less than dimension threshold is stated, wherein, the background image is only
Including an at least background object and the operation diagram picture is also including the object beyond an at least background object, the place
The pixel area that brightness in the background image is more than luminance threshold by reason unit is identified as the background object.
2. object tracking device according to claim 1, related to background information refer to wherein described apart from the background
Object space is less than distance threshold.
3. object tracking device according to claim 1, wherein the object tracking device is arranged on the vehicles or set
Put in portable electronic devices.
4. object tracking device according to claim 1, wherein the processing unit is described invalid always according to having removed
The difference image of object carries out object tracking.
5. object tracking device according to claim 1, the object tracking device also includes the first storage element, and this first
Storage element is storing the background image, the difference image, the background information and the dimension threshold.
6. object tracking device according to claim 1, the object tracking device also includes the second storage element, and this second
The default background image of storage element storage, wherein the processing unit first calculates the background before the difference image is calculated
The substracting background image of image and the default background image is to be used as the background image.
7. object tracking device according to claim 6, wherein the default background image is the object tracking device
Obtained in boot program, receiving more newer command or the abnormal object of detection.
8. object tracking device according to claim 1, wherein the processing unit is big by brightness in the difference image
The multiple object is identified as in multiple pixel areas of luminance threshold.
9. a kind of object tracking device, the object tracking device includes：
Light source, lighted with a glow frequency；
Background is exported when operation diagram picture and relatively the light source extinguishing are exported during imaging sensor, the relatively light source igniting
Picture；And
Processing unit, to obtain the background information of the background object position of an at least background object in the background image, meter
Calculate the operation diagram as the difference image with the background image, obtain described in object information and the comparison of the difference image
Background information and the object information to remove ambient noise, wherein, the background image only includes an at least background objects
Body and the operation diagram picture also include the object beyond an at least background object, and the processing unit is by the background image
The pixel area that middle brightness is more than luminance threshold is identified as the background object.
10. object tracking device according to claim 9, wherein the object information, which is multiple objects, is located at the difference
The object space of image.
11. object tracking device according to claim 10, wherein when the object of the object in the multiple object
When background object position described in positional distance is less than dimension threshold less than the size of distance threshold and the object, the processing is single
The object identification is the ambient noise by member.
12. object tracking device according to claim 10, wherein the processing unit always according to the object space away from
The object being more than from the background object position in the multiple object of distance threshold carries out object tracking.
13. object tracking device according to claim 9, wherein the object tracking device is arranged on the vehicles or set
Put in portable electronic devices.
14. object tracking device according to claim 9, the object tracking device also includes the first storage element, and this
One storage element is storing the background image, the difference image, the background information and the object information.
15. object tracking device according to claim 9, the object tracking device also includes the second storage element, and this
The default background image of two storage elements storage, wherein the processing unit first calculates the back of the body before the difference image is calculated
The substracting background image of scape image and the default background image is to be used as the background image.
16. object tracking device according to claim 15, wherein the default background image is the object tracking dress
Put what is obtained in boot program, receiving more newer command or the abnormal object of detection.
17. a kind of operating method of object tracking device, the operating method comprise the following steps：
Image taking sensor facing light sources obtain background image when extinguishing；
With described image sensor relatively the light source igniting when obtain operation diagram picture, wherein, the background image only include extremely
A few background object and the operation diagram picture also include the object beyond an at least background object；
The background information of the background object position of an at least background object described in the background image is obtained with processing unit, its
In, the pixel area that brightness in the background image is more than luminance threshold by the processing unit is identified as the background object；
The difference image of the operation diagram picture and the background image is calculated with the processing unit；
The object information of the difference image is obtained with the processing unit；And
Compare the background information and the object information, to remove the ambient noise of the difference image.
18. operating method according to claim 17, wherein the object information, which is multiple objects, is located at the difference diagram
The object space of picture.
19. operating method according to claim 18, wherein when the object space of the object in the multiple object
When being less than dimension threshold less than the size of distance threshold and the object apart from the background object position, the processing unit will
The object identification is the ambient noise.
20. operating method according to claim 17, the operating method also includes：
Object tracking is carried out according to the difference image for having removed the ambient noise with the processing unit.
21. operating method according to claim 17, wherein also including before the step of calculating the difference image：
The background image is calculated with the substracting background image of default background image as the background image.
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| CN113992841A (en) * | 2021-09-27 | 2022-01-28 | 青岛小鸟看看科技有限公司 | Controller optical tracking method and system under outdoor strong light |
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| CN101617535A (en) * | 2007-03-28 | 2009-12-30 | 富士通株式会社 | Image processing apparatus, image processing method, image processing program |
| CN101916448A (en) * | 2010-08-09 | 2010-12-15 | 云南清眸科技有限公司 | Moving object detecting method based on Bayesian frame and LBP (Local Binary Pattern) |
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| US6349113B1 (en) * | 1997-11-03 | 2002-02-19 | At&T Corp. | Method for detecting moving cast shadows object segmentation |
| US6421462B1 (en) * | 1998-02-06 | 2002-07-16 | Compaq Computer Corporation | Technique for differencing an image |
| EP1704510A4 (en) * | 2003-12-31 | 2009-09-09 | Lockheed Martin Missiles & Fir | A method and system for adaptive target detection |
| CN102568005B (en) * | 2011-12-28 | 2014-10-22 | 江苏大学 | Moving object detection method based on Gaussian mixture model |
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| CN101617535A (en) * | 2007-03-28 | 2009-12-30 | 富士通株式会社 | Image processing apparatus, image processing method, image processing program |
| CN101916448A (en) * | 2010-08-09 | 2010-12-15 | 云南清眸科技有限公司 | Moving object detecting method based on Bayesian frame and LBP (Local Binary Pattern) |
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