CN109697735A - Visible light image processing method for positioning in faced chamber under intelligent lamp - Google Patents
Visible light image processing method for positioning in faced chamber under intelligent lamp Download PDFInfo
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Abstract
The visible light image processing method for positioning in a kind of faced chamber under intelligent lamp is claimed in the present invention, belongs to Communication Network Technique field, the image Fuzzy Processing algorithm being related under tunable optical lamp.On the basis of this algorithm image that cell phone cameras acquires under adjustable lamp light generates blurring effect, propose suitable for the image blurring effect Processing Algorithm under visible light-seeking.Algorithm desalinates blurring effect using second order polynomial fit, improves the light and shade striped resolution of image；The extinction ratio that image is improved using histogram equalization, increases the contrast of the light and shade striped of image；Further using Sobel filtering enhancing image border, the decoding rate of the light and shade striped of image is improved.The present invention has comprehensively considered the visible light location algorithm photographs under intelligent lamp and the image processing algorithm of blurring effect has occurred, it enables to visible light positioning system still can be correctly decoded beacon after photographing to blurred picture, compensates for the blank that cannot handle blurred picture in visible light location algorithm.
Description
Technical field
The invention belongs to technical field of communication network, visible light-seeking (the Visible Light that is related under indoor intelligent lamp
Positioning) image processing algorithm.
Background technique
Intelligent LED lamp refers to using technologies such as power electronics, information processing, sensor and communications, forms intelligent lighting
A technology.Intelligent lighting controls mode is light modulation and the time set of the environmental information and user according to sensor detection,
Controller is analyzed and is responded, and data is transferred to the lamps and lanterns to be controlled by the communication technology, if necessary to corresponding knot
Fruit stored or shown, by such control flow, reaches lighting environment required by user, while can also be with
It realizes and saves electric energy.Demand of the people to intelligent lamp is also higher and higher, an urgent demand intelligent LED lamp industry fast development and it is strong
Greatly.And the rapid development of intelligent LED lighting and popularizing for visible light communication technology provide opportunity for location technology, by direct
The mode of room lighting LED device is transformed to construct transmitting terminal, and realizes in receiving end Design Orientation algorithm for receiving end
The estimation of position, here it is visible light indoor positioning technologies (Visible Light Positioning).
Location technology will be used wider and wider general at present, such as grind in common business activity, geological prospecting, science
Study carefully and the various fields such as search and rescue of speedily carrying out rescue work have important application.Global positioning system (Global Positioning System,
GPS), already oneself warp is widely used GPS technology in outdoor environment.But it is the most frequent in some mankind's activities
Indoor environment in, due to the decaying of wireless signal and the influence of multipath effect, the positioning accuracy of GPS is extremely limited, therefore nothing
Method provides reliable location-based service for user.In addition, wireless communication technique is to be limited use in certain specific occasions
, such as the places such as hospital, aircraft cabin, mine and gas station.Based on above analysis reason, interior utilizes visible light-seeking
The research of technology just seems increasingly be important.This technology has positioning accuracy relative to wireless location technology in conventional chamber
Height, add-on module are few, good confidentiality, take into account the advantages that communication and illumination.It is existing in some occasions without wireless signal covering
Wireless communication indoor locating system can not work.Therefore, realize that positioning is an effective scheme using visible light.
Although visible light positioning system can provide high-precision, real-time indoor positioning scheme is (adjustable in intelligent lamp
Light) under conditions of, the picture of smart phone shooting will appear blurring effect, and such blurring effect will lead to receiving terminal system and exist
During carrying out image decoding, beacon message representated by bright fringe and dark fringe can not be clearly come out, further results in and connects
Receiving end system cannot recognize that world coordinate system representated by intelligent LED lamp, eventually lead to entire positioning system failure.Therefore,
Design a kind of blurring effect for smart phone institute captured image image processing algorithm have important theory significance and
Application value.
Summary of the invention
Present invention seek to address that the above problem of the prior art.It proposes a kind of in the real-time for guaranteeing system location algorithm
Under the premise of the high-precision requirement of location algorithm, the ability of enhancing smart phone receiving end processing image blurring effect towards
Visible light image processing method for positioning under indoor intelligent lamp.Technical scheme is as follows:
A kind of visible light image processing method for positioning in faced chamber under intelligent lamp comprising following steps:
Step 1, first under the irradiation of intelligent LED lamp, the acquisition of smart phone camera has the image of blurring effect, makes
Image procossing is carried out with second order polynomial fit, second order polynomial fit acts in each column pixel of blurred picture, leads to
It crosses after carrying out second order polynomial fit to a column pixel, forms second-order fit function, the ordered series of numbers of second-order fit function is risen
Then sequence arrangement sets a specified threshold value and is filtered to functional value；
Step 2, when blurring effect by second order polynomial fit correct after, increased in image using histogram equalization
The extinction ratio of bright fringe and dark fringe；
Step 3, after second order polynomial fit and histogram equalization, Sobel filtering, Sobel filtering included 2 is added
A weight operator carries out convolution by weight operator and image column pixel, extracts the information of the beacon of intelligent LED lamp, at image
Adjustment method terminates.
Further, it before the step 1 obtains the image with blurring effect that smart phone camera acquires, also wraps
It includes and intelligently changes brightness using intelligent LED lamp, Image Reversal and gray processing, use are carried out to the image of smart phone acquisition
The step of motion operator Fuzzy Processing, binary conversion treatment, edge extracting.
It is further, described that using intelligent LED lamp, intelligently change brightness is specifically included:
Sequence programming is carried out to transmitting terminal using Manchester coding mode, so that human eye perception is less than intelligent LED
Flashing；In addition to this, transmitting terminal changes the light levels of intelligent LED lamp according to ambient enviroment, by change logical zero with
The ratio of logical one changes the brightness of intelligent LED lamp；
Image Reversal and gray processing are carried out to the image of smart phone acquisition, specifically included: when smart phone passes through certainly
After body camera carries out Image Acquisition, Image Reversal is first carried out, to guarantee to remove mirror effect；After Image Reversal, need to figure
As carrying out gray processing processing, color three dimensional image is become greyscale two-dimension plots picture by gray processing processing；
After Image Reversal and gray processing, " motion " operator Fuzzy Processing is carried out to image, is extracted in entire LED
Heart point, the i.e. centre point of LED；
After Fuzzy Processing, binary conversion treatment is carried out to picture, intelligent LED lamp and background are efficiently separated；
By the picture after binary conversion treatment, edge extracting is carried out using Canny operator；It is found by edge extracting
The center of circle of intelligent LED lamp obtains coordinate of the LED under smart phone camera coordinate system by the center of circle of intelligent LED lamp.
Further, the picture of step 2 histogram equalization is indicated by following equation:
SkIndicate that the pixel value for passing through histogram equalization, k indicate the resolution number of gray scale, n is the pixel number of entire picture
Mesh, njIt is the number of current gray level, it is usually 255 that L, which is the sum of entire picture gray processing,.
Further, the step 3 uses Sobel filtering method after the picture after histogram equalization processing
Enhance the edge of each intelligent LED lamp, Sobel operator is the kernel of 2 3*3, band has weight hxAnd hy, Sobel operator is
It is used as carrying out convolution with image, kernel indicates are as follows:
Because target second order polynomial fit function of the invention is an one-dimensional data i.e. column pixel, cannot be with 3*3's
Sobel kernel carries out convolution, it that case, carrying out convolution, Sobel filter to column pixel addition 0 to form 3 dimension matrixes
Wave is only operated at a column pixel, h every timeyIt can be omitted, by the filtered output image G of SobelxIt is expressed as capture figure
As f and hxBetween convolution；
Gx=f*hx。
Further, the visible light positioning system under intelligent lamp is made of three main modulars, Dimmable LED beacon conduct
Transmitting terminal, smart phone carry out data processing as receiving end, Cloud Server, and Dimmable LED can be adjusted according to the light of surrounding
The front camera of brightness, smart phone periodically captures image as receiver, includes at least two LED in each image, connects
Get off and these image transmittings to Cloud Server are subjected to localization process, when captured image is transferred to Cloud Server, system pair
Beacon in image is decoded.
It advantages of the present invention and has the beneficial effect that:
The present invention is solved because intelligent lamp is under conditions of changing brightness, and smart phone captures the figure with blurring effect
Piece and can not carry out beacon extract with positioning the problem of.After image processing algorithm, blurring effect is effectively alleviated, picture
Beacon can be correctly demodulated, and then realizes high accuracy positioning.
In order to reduce the influence of blurring effect, method carries out image procossing using second order polynomial fit first.Second order
Fitting of a polynomial needs to act in each column pixel of blurred picture.By carrying out second order polynomial fit to a column pixel
Afterwards, second-order fit function is formed.Ascending order arrangement is carried out to the ordered series of numbers of second-order fit function, then sets a specified threshold value pair
Functional value is filtered, and after above-mentioned process, the bright fringe generated because of photon supersaturation is transitioned into dark fringe
Problem will be corrected.
The extinction ratio of bright fringe and dark fringe is still very after blurring effect is corrected by second order polynomial fit, in image
Low, this receives progress data decoding for smart phone and can have an impact.The present invention increases image using histogram equalization
The extinction ratio of middle bright fringe and dark fringe.It is substantially: Nonlinear extension is carried out to image, redistributes image picture elements value,
Keep the quantity of pixel value in certain tonal range roughly equal.In this way, the crest portion contrast originally among histogram obtains
Enhancing, and the lowest point part contrast of two sides reduces, the histogram for exporting image is a more flat segmentation histogram.By straight
Side's figure equalization, can obviously increase the contrast between bright fringe and dark fringe.
After the picture with blurring effect of second order polynomial fit and histogram equalization processing, fuzzy graph
Piece has been able to obviously distinguish dark fringe and bright fringes.But when smart phone receives image, there are excessive optical noises
Under situation, although after having used second order polynomial fit and histogram equalization, the side of bright fringes and dark fringe in picture
Edge is not still obviously, so that image decoding will appear problem.It that case, this algorithm second order polynomial fit with
And Sobel filtering is added after histogram equalization.Sobel, which is filtered, carries 2 weight operators, passes through weight operator and image column picture
Element carries out convolution to achieve the effect that enhance edge.
Step 1: method carries out image procossing using second order polynomial fit first.Second order polynomial fit needs to make
With in each column pixel of blurred picture.After carrying out second order polynomial fit to a column pixel, second-order fit letter is formed
Number.Ascending order arrangement is carried out to the ordered series of numbers of second-order fit function, a specified threshold value is then set and functional value is filtered, pass through
After crossing above-mentioned process, the problem of bright fringe generated because of photon supersaturation is transitioned into dark fringe, will be corrected.
Step 2: the present invention increases the extinction ratio of bright fringe and dark fringe in image using histogram equalization.
Step 3: Sobel filtering is added after second order polynomial fit and histogram equalization.Sobel filtering included 2
A weight operator carries out convolution by weight operator and image column pixel to achieve the effect that enhance edge.
Detailed description of the invention
Fig. 1 is the system tray towards the visible light positioning system under intelligent lamp that the present invention provides that preferred embodiment is based on
Composition；
Fig. 2 is the transmission sequence chart of blurring effect produced by system transmitting terminal of the invention；
Fig. 3 is overturning and gray processing figure in present invention extraction subgraph process；
Fig. 4 is the Fuzzy Processing fate map in present invention extraction subgraph process；
Fig. 5 is the binary conversion treatment figure in present invention extraction subgraph process；
Fig. 6 is the contours extract figure during present invention extraction subgraph；
Fig. 7 is the practical figure for the blurring effect that smart phone of the present invention receives；
Fig. 8 is that the present invention is based on second order polynomial fit figure is applied in fuzzy image processing technology；
Fig. 9 is that the present invention is based on histogram equalization figure is applied in fuzzy image processing technology；
Figure 10 is that the present invention is based on histogram equalization and Sobel filtering figure are applied in fuzzy image processing technology；
Figure 11 is that the present invention is based on the system flow charts of fuzzy image processing technology；
Figure 12 is that the present invention and classical way decode discrimination comparison chart under blurring effect；
Figure 13 is that the present invention and fixed frequency method decode discrimination comparison chart under blurring effect.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, detailed
Carefully describe.Described embodiment is only a part of the embodiments of the present invention.
The technical solution that the present invention solves above-mentioned technical problem is:
The present invention considers that the architecture diagram of the visible light positioning system under intelligent lamp is as shown in Figure 1.Under intelligent lamp of the invention
Visible light positioning system be made of three main modulars: Dimmable LED beacon is as transmitting terminal, and smart phone is as receiving
End, Cloud Server carry out data processing, and Dimmable LED can adjust brightness according to the light of surrounding.The preposition camera shooting of smart phone
Head periodically captures image as receiver.Two LED are included at least in each image.Next these image transmittings to cloud are taken
Business device carries out localization process, and when captured image is transferred to Cloud Server, system is decoded the beacon in image.Its is right
Include three kinds of primary operationals: second order polynomial fit, histogram equalization and Sobel filtering in the critical process of Fuzzy Processing,
These three operations can handle the blooming in capture image well.After successfully decoded, the present invention will be searched according to beacon
Tables of data is to obtain the world coordinates of each LED.According to world coordinate system and camera coordinates system, the present invention can be by using
The principle of visual analysis and scale factor algorithm is realized under the conditions of only needing the value using gravity sensor for smart phone
Positioning.Once it is determined that the position of smart phone, it can be applied to a series of indoor positioning service.
Fig. 2 is that the transmitting terminal that the present invention designs sends sequence chart.Due to using intelligent LED lamp (tunable optical lamp), brightness
It can change with the variation of outside ambient brightness.The present invention carries out sequence to transmitting terminal using Manchester coding mode
Column programming can make human eye perception less than the flashing of intelligent LED in this way.In addition to this, transmitting terminal changes according to ambient enviroment
Become the light levels of intelligent LED lamp.The present invention changes the bright of intelligent LED lamp by changing the ratio of logical zero and logical one
Degree.Fig. 2 is the example for changing logical zero and logical one according to ambient enviroment.Wherein logical zero occupies ratio 75%, logic
" 1 " occupies ratio 25%.The duration of sequence head is 400us, and the tail frame duration is 80us.
Fig. 3 is overturning and gray processing figure in present invention extraction subgraph process.When smart phone passes through itself camera
After carrying out Image Acquisition.It needs to carry out a series of processing to the picture of capture, then be decoded from the picture after final process
Associated Beacon realizes positioning.The image of smart phone acquisition needs first to carry out Image Reversal, before reason is smart phone
Setting camera itself has image feature, and algorithm needs first to overturn, to guarantee that decoding data is correct.After Image Reversal, need pair
Image carries out gray processing processing, and color three dimensional image can be become greyscale two-dimension plots picture, can be improved visible by gray processing processing
The real-time of light-seeking image processing algorithm reduces algorithm complexity.
Fig. 4 is the Fuzzy Processing fate map in present invention extraction subgraph process.After Image Reversal and gray processing,
The present invention needs to carry out " motion " operator Fuzzy Processing to image.This step is the central point in order to extract entire LED, i.e.,
The centre point of LED.If without Fuzzy Processing, LED by being formed by light and shade striped, entire intelligent LED lamp
The center of circle will can not find.The reason of can not find intelligent LED will lead to the world coordinates of intelligent LED lamp and camera coordinate can not be right
It answers, influences the precision of positioning.
Fig. 5 is the binary conversion treatment figure in present invention extraction subgraph process.Picture after Fuzzy Processing, needs pair
Picture carries out binary conversion treatment.The effect of value processing is to prevent from carrying on the back to efficiently separate intelligent LED lamp and background
Scape light interferes data decoding.
Fig. 6 is the contours extract figure during present invention extraction subgraph.By the picture after binary conversion treatment, picture
Background and intelligent LED lamp difference are obvious, and the present invention carries out edge extracting using Canny operator, the purpose of edge extracting be for
The center of circle of intelligent LED lamp is found, the center of circle for finding intelligent LED lamp can obtain LED under smart phone camera coordinate system
Coordinate, be the key that realize visible light location algorithm.
The present invention is other than the camera coordinate for needing to find intelligent LED lamp, it is also desirable to find the figure of smart phone capture
Its coordinate in world coordinate system corresponding to intelligent LED lamp as in.That is, the present invention needs to decode intelligent LED lamp is included
Beacon message, be compared by the LED beacon in the beacon and database to the intelligent LED lamp decoded, the two is complete
After identical, visible light location algorithm processing can be carried out.
Fig. 7 is the practical figure for the blurring effect that smart phone of the present invention receives.When intelligent LED lamp adjusts its luminance
Fuzzy corresponding (blurring effect) will occur in the picture of degree, smart phone capture.Blurring effect is for finding intelligent LED
The centre point of lamp will not have an impact because needing to carry out Fuzzy Processing during finding the center of circle, but blurring effect for
It decodes the beacon that intelligent LED lamp represents and generates detrimental effects.It is shown as more in picture by the intelligent LED lamp that smart phone captures
The alternating composition of group light and shade striped.Due to blurring effect, the dark fringe of script can be because the excessive of bright fringe photon be satisfied
With and become bright fringe.
Fig. 8 is that the present invention is based on second order polynomial fit figure is applied in fuzzy image processing technology；The present invention executes second order
Each column pixel of the fitting of a polynomial in picture.(xi,yi) represent a pixel and its corresponding gray scale in each column pixel
Value.Second order polynomial fit curve is named as f (x by the present inventioni).By establishing threshold condition | yi-f(xi) | < 3 is found out full
The y of sufficient above-mentioned conditioni.Then, image processing algorithm is by these yiAscending order arrangement is re-started, rear 25% value is selected to leave
To be handled.When handling dark fringe, the value of selection will be judged as 0.When processing bright fringe is that these values will be retained.
Blurring effect will be greatly improved in this way.
Fig. 9 is that the present invention is based on histogram equalization figure is applied in fuzzy image processing technology.When blurring effect picture quilt
After second order polynomial fit is processed, present invention discover that disappearing between bright fringe and dark fringe in smart phone captured image
Light ratio (extinction ratio) is still very low.The present invention improves the extinction ratio of image using histogram equalization.
Increase extinction ratio to the range of entire pixel by extending original pixels, the purpose for the arrangement is that in order to increase the comparison of image
Degree.The picture of histogram equalization can be indicated by following equation:
SkIndicate that the pixel value for passing through histogram equalization, k indicate the resolution number of gray scale, n is the pixel number of entire picture
Mesh, njIt is the number of current gray level, it is usually 255 that L, which is the sum of entire picture gray processing,.It is equal by using histogram
After weighing apparatusization, the grey value difference between bright fringe and dark fringe significantly increases.
Figure 10 is that the present invention is based on histogram equalization and Sobel filtering figure are applied in fuzzy image processing technology.By
After picture after histogram equalization processing, the present invention enhances the side of each intelligent LED lamp using Sobel filtering method
Edge.Sobel operator is the kernel of 2 3*3, and band has weight hxAnd hy.Sobel operator is used as carrying out convolution with image.Its
Kernel can indicate are as follows:
Because target second order polynomial fit function of the invention is one-dimensional data (a column pixel), cannot be with 3*3's
Sobel kernel carries out convolution.It that case, the present invention, which forms 3 dimension matrixes to column pixel addition 0, carries out convolution.
Sobel filtering is only operated at a column pixel, h every timeyIt can be omitted.By the filtered output image G of SobelxIt is expressed as
Capture image f and hxBetween convolution.
Gx=f*hx
Figure 11 is that the present invention is based on the system flow charts of fuzzy image processing technology.Detailed description are as follows for specific steps:
Step 1: using the picture of smart phone capture intelligent LED.
Step 2: horizontal mirror image switch and gray level image are carried out to image.
Step 3: Fuzzy Processing is carried out to image.
Step 4: binary conversion treatment is carried out to image.
Step 5: edge detection and contours extract being carried out to bianry image, and obtain the picture of intelligent LED lamp centroid in image
Plain coordinate.
Step 6: by above-mentioned steps, treated whether picture has blurring effect for judgement, if there is blurring effect, just
Enter step 7.If just entering step 10 without blurring effect.
Step 7: second order polynomial fit processing being carried out to blurred picture, increases the discrimination of bright fringe and dark fringe.
Step 8: histogram equalization processing being carried out to step 7 treated image, is increased between bright fringe and dark fringe
Extinction ratio.
Step 9: Sobel filtering processing being carried out to step 8 treated image, increases the edge of bright fringe and dark fringe.
Step 10: extracting the information of the beacon of intelligent LED lamp, image processing algorithm terminates.
Figure 12 is that the present invention and Classical Solutions tune localization method decode discrimination comparison chart under blurring effect.Intelligent LED lamp
The ratio between transmitting terminal bright fringe and dark fringe can be changed according to external luminous environment.In this figure, logical one and logical zero
The ratio occupied within each unit time is respectively 70% and 30%.Blurring effect occurs at this moment.This figure compares the present invention
The decoding discrimination of the fuzzy image processing algorithm of proposition and classical decoding algorithm in terms of decoding modulated signal.It can by picture
To see as drawn a conclusion: image processing algorithm proposed by the present invention can correctly solve code beacon, and classical way fails.
Figure 13 is that the present invention and fixed frequency method decode discrimination comparison chart under blurring effect.In decoding frequency signal
Aspect, image processing method of the invention can correctly obtain the frequency of the LED in image, and, it is solved using fft algorithm
Analyse the method failure of frequency.It is similar to Figure 12, blurring effect image processing method proposed by the present invention can effectively decode frequency
Rate signal, and fft algorithm cannot handle blurring effect.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limit the scope of the invention.?
After the content for having read record of the invention, technical staff can be made various changes or modifications the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (6)
1. the visible light image processing method for positioning in a kind of faced chamber under intelligent lamp, which comprises the following steps:
Step 1, first under the irradiation of intelligent LED lamp, the acquisition of smart phone camera has the image of blurring effect, uses two
Rank multinomial is fitted to carry out image procossing, and second order polynomial fit acts in each column pixel of blurred picture, by right
After one column pixel carries out second order polynomial fit, second-order fit function is formed, ascending order row is carried out to the ordered series of numbers of second-order fit function
Then column set a specified threshold value and are filtered to functional value；
Step 2, when blurring effect by second order polynomial fit correct after, increase bright item in image using histogram equalization
The extinction ratio of line and dark fringe；
Step 3, after second order polynomial fit and histogram equalization, Sobel filtering, included 2 power of Sobel filtering is added
It reruns son, convolution is carried out by weight operator and image column pixel, extract the information of the beacon of intelligent LED lamp, image procossing is calculated
Method terminates.
2. the visible light image processing method for positioning in faced chamber according to claim 1 under intelligent lamp, which is characterized in that
It further include using intelligent LED lamp intelligence before the step 1 obtains the image with blurring effect of smart phone camera acquisition
Can change brightness, the image of smart phone acquisition is carried out Image Reversal and gray processing, using motion operator Fuzzy Processing,
The step of binary conversion treatment, edge extracting.
3. the visible light image processing method for positioning in faced chamber according to claim 2 under intelligent lamp, which is characterized in that
It is described intelligently to change brightness using intelligent LED lamp and specifically include:
Sequence programming is carried out to transmitting terminal using Manchester coding mode, so that sudden strain of a muscle of the human eye perception less than intelligent LED
It is bright；In addition to this, transmitting terminal changes the light levels of intelligent LED lamp according to ambient enviroment, by changing logical zero and logic
The ratio of " 1 " changes the brightness of intelligent LED lamp；
Image Reversal and gray processing are carried out to the image of smart phone acquisition, specifically included: when smart phone is shone by itself
After camera carries out Image Acquisition, Image Reversal is first carried out, to guarantee to remove mirror effect；After Image Reversal, need to image into
Color three dimensional image is become greyscale two-dimension plots picture by the processing of row gray processing, gray processing processing；
After Image Reversal and gray processing, " motion " operator Fuzzy Processing is carried out to image, extracts the center of entire LED
Point, the i.e. centre point of LED；
After Fuzzy Processing, binary conversion treatment is carried out to picture, intelligent LED lamp and background are efficiently separated；
By the picture after binary conversion treatment, edge extracting is carried out using Canny operator；Intelligence is found by edge extracting
The center of circle of LED light obtains coordinate of the LED under smart phone camera coordinate system by the center of circle of intelligent LED lamp.
4. the visible light image processing method for positioning in faced chamber according to claim 1 under intelligent lamp, which is characterized in that
The picture of step 2 histogram equalization is indicated by following equation:
SkIndicate that the pixel value for passing through histogram equalization, k indicate the resolution number of gray scale, n is the number of pixels of entire picture, nj
It is the number of current gray level, it is usually 255 that L, which is the sum of entire picture gray processing,.
5. the visible light image processing method for positioning in faced chamber according to claim 4 under intelligent lamp, which is characterized in that
The step 3 enhances each intelligent LED using Sobel filtering method after the picture after histogram equalization processing
The edge of lamp, Sobel operator are the kernels of 2 3*3, and band has weight hxAnd hy, Sobel operator be used as and image carry out
Convolution, kernel indicate are as follows:
Because target second order polynomial fit function of the invention is an one-dimensional data i.e. column pixel, cannot be with the Sobel of 3*3
Kernel carries out convolution, it that case, carrying out convolution to column pixel addition 0 to form 3 dimension matrixes, Sobel filtering is every
It is secondary to be only operated at a column pixel, hyIt can be omitted, by the filtered output image G of SobelxBe expressed as capture image f with
hxBetween convolution；
Gx=f*hx。
6. the visible light image processing method for positioning in faced chamber described in one of -5 under intelligent lamp according to claim 1, special
Sign is that the visible light positioning system under intelligent lamp is made of three main modulars, and Dimmable LED beacon is as transmitting terminal, intelligence
For energy mobile phone as receiving end, Cloud Server carries out data processing, and Dimmable LED can adjust brightness, intelligence according to the light of surrounding
The front camera of mobile phone periodically captures image as receiver, two LED is included at least in each image, next by these
Image transmitting carries out localization process to Cloud Server, and when captured image is transferred to Cloud Server, system is to the letter in image
Mark is decoded.
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| CN113959439A (en) * | 2021-10-21 | 2022-01-21 | 重庆邮电大学 | Indoor high-precision visible light positioning method and system under sparse light source |
| CN115097381A (en) * | 2022-08-26 | 2022-09-23 | 东南大学溧阳研究院 | Indoor visible light positioning and calibrating method |
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