TWI516988B - Positioning method of image sensors - Google Patents
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本發明是關於一種影像定位方法，特別是關於一種影像感測器群組之定位方法。 The present invention relates to an image localization method, and more particularly to a method for positioning an image sensor group.
在光學投影系統中，若使用者必須透過觸控板或觸控面板等觸控介面來輸入指令，則顯得不切實際。因此，若使用者可藉由例如雷射光點的投射，而直接在投影系統的屏幕上進行系統操作，不僅可以顛覆傳統使用鍵盤的輸入方式，更可以大大地增進使用投影系統的便利性。 In an optical projection system, it is impractical for a user to input commands through a touch interface such as a touchpad or a touch panel. Therefore, if the user can perform system operation directly on the screen of the projection system by, for example, projection of a laser spot, the input mode of the conventional keyboard can be subverted, and the convenience of using the projection system can be greatly improved.
在光學投影系統中，是利用偵測例如雷射光點、超音波等觸控指令來進行系統操作。對於觸控指令的定位方法可分為光學定位及聲波定位。以聲波定位時，是利用聲波遇到軟材質被吸收來計算出觸控指令的座標位置，或直接使用信號筆發出超音波來計算出信號筆所在的座標位置。然而，在聲波定位上，此些聲波對使用者而言都是一種噪音。以光學定位時，是利用影像感測器偵測螢幕上的光點來計算出觸控指令的座標位置。然而，在光學定位上，在偵測螢幕上，影像感測器具有視角限制。 In an optical projection system, system operations are performed by detecting touch commands such as laser spots and ultrasonic waves. The positioning method for the touch command can be divided into optical positioning and sound wave positioning. When positioning with sound waves, the sound wave is absorbed by the soft material to calculate the coordinate position of the touch command, or the ultrasonic signal is directly used to calculate the coordinate position of the signal pen. However, in sonic positioning, these sound waves are a kind of noise to the user. In optical positioning, the image sensor is used to detect the spot on the screen to calculate the coordinate position of the touch command. However, in optical positioning, the image sensor has a viewing angle limitation on the detection screen.
當偵測較大螢幕(例如：80吋以上的螢幕)時，則需使用廣角的影像感測器，才得以完整偵測整個螢幕。然而，廣角的影像感測器易產生影像的梯形變形，進而需要梯形校正。況且，即使 是廣角的影像感測器仍有一定的影像感測器之視角的限制。在避免更換影像感測器的條件下，為了偵測較大的螢幕，必須將影像感測器與螢幕之間的距離拉遠，以是影像感測器的偵測範圍涵蓋到整個螢幕。但偵測距離拉遠時，相對地影像感測器的靈敏度下降。此外，倘若場地有限時，則無法透過增加影像感測器與螢幕之間的距離來放大影像感測器的偵測範圍。 When detecting a large screen (for example, a screen above 80 inches), a wide-angle image sensor is required to completely detect the entire screen. However, a wide-angle image sensor is prone to trapezoidal distortion of the image, which in turn requires trapezoidal correction. Moreover, even The wide-angle image sensor still has a certain limitation of the angle of view of the image sensor. In order to avoid the change of the image sensor, in order to detect a large screen, the distance between the image sensor and the screen must be extended, so that the detection range of the image sensor covers the entire screen. However, when the detection distance is extended, the sensitivity of the image sensor is lowered. In addition, if the venue is limited, it is impossible to enlarge the detection range of the image sensor by increasing the distance between the image sensor and the screen.
另一種方式，則是透過多個影像感測器並採用影像接合的方式來實現偵測較大螢幕。在使用上，必須要相應於影像接合程序精確地設置多個影像感測器，以使此些影像感測器的偵測範圍以預期的拼接方式涵蓋整個螢幕。此時，不同影像感測器偵測所取得的影像才得以經由影像接合程序接合成對應螢幕的顯示畫面之單一影像。然而，當任一影像感測器的設置位置偏移時，最後所接合出的影像就會發生變形。並且，若螢幕具有曲率，則影像接合的難度更相對提高。 Another way is to detect large screens through multiple image sensors and image stitching. In use, it is necessary to accurately set a plurality of image sensors corresponding to the image bonding program so that the detection range of the image sensors covers the entire screen in a desired stitching manner. At this time, different image sensors detect that the acquired images are joined into a single image of the display screen corresponding to the screen through the image bonding program. However, when the position of any of the image sensors is shifted, the last image that is joined is deformed. Moreover, if the screen has a curvature, the difficulty of image joining is relatively increased.
因此，如何實現大螢幕偵測，且避免影像變形失真和靈敏度下降即為一亟待解決的議題。 Therefore, how to achieve large screen detection and avoid image distortion and sensitivity degradation is an urgent issue to be solved.
有鑑於此，本發明提出一種影像感測器群組之定位方法包括：利用複數個影像感測器偵測具有光點的螢幕以分別取得複數個感測影像、區塊化各影像成複數個影像區塊，以及計算光點之投影座標。 In view of the above, the present invention provides a method for positioning an image sensor group, comprising: detecting a screen having a light spot by using a plurality of image sensors to respectively obtain a plurality of sensing images and arranging the plurality of images into a plurality of images; Image block, and the projected coordinates of the spot.
其中，當此些影像感測器中之複數個偵測到光點時，投影座標的計算步驟包括：計算偵測到光點之各影像感測器所取得的影像中光點所在的影像區塊的影像座標、將此些影像座標分別轉換為對應投影機之複數個轉換座標，及平均此些轉換座標以得到投影座標。 Wherein, when a plurality of the image sensors detect a light spot, the calculating step of the projection coordinate comprises: calculating an image area where the light spot in the image obtained by each image sensor of the detected light spot is located The image coordinates of the block, the image coordinates are respectively converted into a plurality of conversion coordinates of the corresponding projector, and the conversion coordinates are averaged to obtain the projection coordinates.
其中，當此些影像感測器中僅一個影像感測器偵測到光點時，投影座標的計算步驟包括：計算偵測到光點之影像感測器所取得的影像中光點所在之影像區塊的影像座標，且將影像座標轉換為對應投影機之轉換座標以作為投影座標。 Wherein, when only one of the image sensors detects a light spot, the calculating step of the projected coordinate comprises: calculating a light spot in the image obtained by the image sensor detecting the light spot The image coordinates of the image block, and the image coordinates are converted to the corresponding coordinates of the projector as the projection coordinates.
根據本發明實施例之影像感測器群組之定位方法係利用多個影像感測器同時偵測螢幕而取得各自的感測影像，且影像感測器以區塊化方式計算光點的座標。當多個影像感測器同時偵測到光點時，以平均值來做為光點的投影座標。因此，在根據本發明實施例之陣列式影像感測器之定位方法的應用下，此些影像感測器不需精確設置，且無相對位置的限制，即可有效地偵測較大的螢幕。並且，所使用的影像感測器不需具備相同偵測能力。所使用的螢幕也相對較不受限。 The image sensor group positioning method according to the embodiment of the present invention uses a plurality of image sensors to simultaneously detect the screen to obtain respective sensing images, and the image sensor calculates the coordinates of the light spot in a tiled manner. . When multiple image sensors detect the spot at the same time, the average value is used as the projection coordinate of the spot. Therefore, in the application of the positioning method of the array image sensor according to the embodiment of the invention, the image sensors can effectively detect a large screen without precise setting and without relative position limitation. . Moreover, the image sensor used does not need to have the same detection capability. The screen used is also relatively unrestricted.
以下在實施方式中詳細敘述本發明之詳細特徵以及優點，其內容足以使任何熟習相關技藝者瞭解本發明之技術內容並據以實施，且根據本說明書所揭露之內容、申請專利範圍及圖式，任何熟習相關技藝者可輕易地理解本發明相關之目的及優點。 The detailed features and advantages of the present invention are set forth in the Detailed Description of the Detailed Description of the <RTIgt; </ RTI> <RTIgt; </ RTI> </ RTI> </ RTI> <RTIgt; The objects and advantages associated with the present invention can be readily understood by those skilled in the art.
第1圖至第3圖為根據本發明的第一實施例之影像感測器群組之定位方法的流程圖 1 to 3 are flowcharts showing a method of locating an image sensor group according to a first embodiment of the present invention.
參照第1圖，陣列式影像感測器之定位方法包括：利用複數個影像感測器偵測具有光點的螢幕以分別取得複數個感測影像(S100)；區塊化各感測影像成複數個影像區塊(S101)；計算光點之投影座標(S102)。 Referring to FIG. 1 , the method for positioning an array image sensor includes: detecting a screen having a light spot by using a plurality of image sensors to respectively obtain a plurality of sensing images (S100); and arranging the respective sensing images into A plurality of image blocks (S101); a projection coordinate of the light spot is calculated (S102).
在一些實施例中，每個感測影像會被區塊化成陣列式影像區塊。 In some embodiments, each sensed image is tiled into an array of image blocks.
參照第2圖，當此些影像感測器中之複數個偵測到光點(S105)時，投影座標的計算步驟包括：計算偵測到光點之各影像感測器所取得的感測影像中光點所在的影像區塊的影像座標(S1051)、將此些影像座標分別轉換為對應投影機之複數個轉換座標(S1052)，及平均此些轉換座標以得到投影座標(S1053)。 Referring to FIG. 2, when a plurality of image sensors in the image sensors detect a light spot (S105), the calculation step of the projection coordinates includes: calculating the sensing obtained by each image sensor that detects the light spot. The image coordinates of the image block in which the light spot is located in the image (S1051), the image coordinates are respectively converted into a plurality of conversion coordinates corresponding to the projector (S1052), and the conversion coordinates are averaged to obtain the projected coordinates (S1053).
參照第3圖，當此些影像感測器中僅一個影像感測器偵測到光點(S106)時，投影座標的計算步驟包括：計算偵測到光點之影像感測器所取得的感測影像中光點所在之影像區塊的影像座標(S1061)，且將影像座標轉換為對應投影機之轉換座標以作為投影座標(S1062)。 Referring to FIG. 3, when only one of the image sensors detects a light spot (S106), the calculation step of the projection coordinate includes: calculating the image sensor obtained by detecting the light spot The image coordinates of the image block in which the light spot is located in the image are sensed (S1061), and the image coordinates are converted into the conversion coordinates of the corresponding projector as the projection coordinates (S1062).
第4圖至第7圖為根據本發明的第二實施例之影像感測器群組之定位方法的流程圖。第8圖為應用根據本發明之影像感測器群組之定位方法的光學投影系統的示意圖。 4 to 7 are flowcharts showing a method of locating an image sensor group according to a second embodiment of the present invention. Figure 8 is a schematic illustration of an optical projection system employing a method of locating an image sensor group in accordance with the present invention.
參照第8圖，光學投影系統具有多個影像感測器、投影機110及螢幕11。於此，以使用二影像感測器為例，以下分別稱之為第一影像感測器111和第二影像感測器112。 Referring to FIG. 8, the optical projection system has a plurality of image sensors, a projector 110, and a screen 11. For example, the two image sensors are used as an example, and the first image sensor 111 and the second image sensor 112 are respectively referred to below.
第一影像感測器111、第二影像感測器112及投影機110位於螢幕11的前方。第一影像感測器111和第二影像感測器112的偵測範圍重疊。 The first image sensor 111, the second image sensor 112, and the projector 110 are located in front of the screen 11. The detection ranges of the first image sensor 111 and the second image sensor 112 overlap.
投影機110投射投影影像113於螢幕11上。並且，第一影像感測器111及第二影像感測器112偵測投影機110所投射的投影影像113。投影影像113上指示光點所應標示的位置。光點A、B、C可由光指標器118發射光束於投影影像113上而形成。 The projector 110 projects the projected image 113 on the screen 11. The first image sensor 111 and the second image sensor 112 detect the projected image 113 projected by the projector 110. The projected image 113 indicates the position where the spot should be marked. The light spots A, B, and C can be formed by the light indexer 118 emitting a light beam onto the projected image 113.
合併參照第4圖，當使用者以光指標器118投射光束在螢幕11上而形成光點A、光點B或光點C在投影影像113上時，第一影像感測器111和第二影像感測器112會進行光點的定位。 Referring to FIG. 4, when the user projects the light beam on the screen 11 by the light indexer 118 to form the light spot A, the light spot B or the light spot C on the projected image 113, the first image sensor 111 and the second image. Image sensor 112 performs the positioning of the spot.
在進行光點的定位時，第一影像感測器111偵測螢幕11以取得第一感測影像114(S11)，且第二影像感測器112偵測螢幕11以取得第二感測影像115(S13)。 During the positioning of the light spot, the first image sensor 111 detects the screen 11 to obtain the first sensing image 114 (S11), and the second image sensor 112 detects the screen 11 to obtain the second sensing image. 115 (S13).
並且，在進行投影座標的計算之前，第一影像感測器111將第一感測影像114區塊化成複數個第一影像區塊114a(S12)，且第二影像感測器112會將第二感測影像115區塊化成複數個第二影像區塊115a(S14)。 Moreover, before performing the calculation of the projection coordinates, the first image sensor 111 segments the first sensing image 114 into a plurality of first image blocks 114a (S12), and the second image sensor 112 will The two sensing images 115 are segmented into a plurality of second image blocks 115a (S14).
合併參照第5圖，當使用者以光指標器118投射光束在螢幕11上而形成光點C時，第一影像感測器111和第二影像感測器112 都會偵測到光點C(S150)。換言之，在第一感測影像114中會具有光點C的光點影像116，而第二感測影像115中也會具有光點C的光點影像116。光點C的光點影像116是位於第一感測影像114與第二感測影像115之重疊區域。 Referring to FIG. 5, when the user projects the light beam on the screen 11 by the light indexer 118 to form the light spot C, the first image sensor 111 and the second image sensor 112. Spot C (S150) will be detected. In other words, the first sensing image 114 will have a spot image 116 of the spot C, and the second sensing image 115 will also have a spot image 116 of the spot C. The spot image 116 of the spot C is located at an overlapping area of the first sensing image 114 and the second sensing image 115.
此時，第一影像感測器111計算光點C的光點影像116所在的第一影像區塊114a的第一影像座標(即，對應光點C的第一影像座標)(S151)，且將第一影像座標轉換為對應投影機110之第一轉換座標(S152)。第二影像感測器112計算光點C的光點影像116所在的第二影像區塊115a的第二影像座標(即，對應光點C的第二影像座標)(S153)，且將第二影像座標轉換為對應投影機110之第二轉換座標(S154)。平均第一轉換座標和第二轉換座標以得到光點C的投影座標(S155)。 At this time, the first image sensor 111 calculates the first image coordinate of the first image block 114a where the spot image 116 of the spot C is located (ie, the first image coordinate corresponding to the spot C) (S151), and The first image coordinates are converted to corresponding first conversion coordinates of the projector 110 (S152). The second image sensor 112 calculates a second image coordinate of the second image block 115a where the spot image 116 of the spot C is located (ie, a second image coordinate corresponding to the spot C) (S153), and will be the second The image coordinates are converted to corresponding second conversion coordinates of the projector 110 (S154). The first conversion coordinate and the second conversion coordinate are averaged to obtain a projection coordinate of the light spot C (S155).
合併參照第6圖，當使用者以光指標器118投射光束在螢幕11上而形成光點A時，第一影像感測器111偵測到光點A且第二影像感測器112未偵測到光點A(S160)。換言之，在第一感測影像114中會具有光點A的光點影像116，而第二感測影像115不會具有光點A的光點影像116。 Referring to FIG. 6 , when the user projects the light beam on the screen 11 by the light indicator 118 to form the light spot A, the first image sensor 111 detects the light spot A and the second image sensor 112 does not detect. Spot A is detected (S160). In other words, the first sensing image 114 will have the spot image 116 of the spot A, and the second sensing image 115 will not have the spot image 116 of the spot A.
此時，第一影像感測器111計算光點A的光點影像116所在的第一影像區塊114a的第一影像座標(即，對應光點A的第一影像座標)(S161)，且將第一影像座標轉換為對應投影機110之第一轉換座標以作為投影座標(S162)。換言之，在進行投影座標的計算時，無需使用未偵測到光點A的第二影像感測器112所偵測 到的第二感測影像115。 At this time, the first image sensor 111 calculates the first image coordinate of the first image block 114a where the spot image 116 of the spot A is located (ie, the first image coordinate corresponding to the spot A) (S161), and The first image coordinates are converted to the first conversion coordinates of the corresponding projector 110 as projection coordinates (S162). In other words, when the calculation of the projection coordinates is performed, it is not necessary to use the second image sensor 112 that does not detect the light spot A. The second sensed image 115 is reached.
合併參照第7圖，當使用者以光指標器118投射光束在螢幕11上而形成光點B時，第二影像感測器112偵測到光點B且第一影像感測器111未偵測到光點B(S170)。換言之，在第二感測影像115中會具有光點B的光點影像116，而第一感測影像114不會具有光點B的光點影像116。 Referring to FIG. 7 , when the user projects the light beam on the screen 11 by the light indicator 118 to form the light spot B, the second image sensor 112 detects the light spot B and the first image sensor 111 is not detected. Spot B is detected (S170). In other words, the second sensed image 115 will have a spot image 116 of the spot B, and the first sensed image 114 will not have the spot image 116 of the spot B.
此時，第二影像感測器112計算光點B的光點影像116所在的第二影像區塊115a的第二影像座標(即，對應光點B的第二影像座標)(S171)，且將第二影像座標轉換為對應投影機110之第二轉換座標以作為投影座標(S172)。換言之，在進行投影座標的計算時，無需使用未偵測到光點B的第一影像感測器111所偵測到的第一感測影像114。 At this time, the second image sensor 112 calculates the second image coordinate of the second image block 115a where the spot image 116 of the spot B is located (ie, the second image coordinate corresponding to the spot B) (S171), and The second image coordinates are converted to correspond to the second conversion coordinates of the projector 110 as projection coordinates (S172). In other words, when performing the calculation of the projection coordinates, it is not necessary to use the first sensing image 114 detected by the first image sensor 111 that does not detect the spot B.
其中，步驟S155可由電性連接至第一影像感測器111和第二影像感測器112的一處理單元(圖中未顯示)執行。再者，步驟S152、步驟S154、步驟S162及步驟S172可由對應的影像感測器執行，亦可由處理單元(圖中未顯示)執行。此處理單元可設置在投影機110中或為獨立設置在第一影像感測器111、第二影像感測器112和投影機110之外的組件。 The step S155 can be performed by a processing unit (not shown) electrically connected to the first image sensor 111 and the second image sensor 112. Furthermore, step S152, step S154, step S162, and step S172 may be performed by a corresponding image sensor, or may be performed by a processing unit (not shown). The processing unit may be disposed in the projector 110 or a component that is independently disposed outside the first image sensor 111, the second image sensor 112, and the projector 110.
由於，此些第一影像區塊114a及此些第二影像區塊115a是很小的區塊，所以可忽略掉第一感測影像114及第二感測影像115所存在的形變。 Since the first image block 114a and the second image block 115a are small blocks, the deformation of the first sensing image 114 and the second sensing image 115 can be ignored.
因此，各影像感測器能精確地偵測螢幕11上的光點，而確切 的辨識具有光點影像116的區塊，而不論螢幕為平面或規則曲面或不規則曲面。並且，第一影像感測器111與第二影像感測器112不需精確設置，亦無相對位置的限制。並且，第一影像感測器111之視角與第二影像感測器112之視角可相同或不相同。再者，第一影像感測器111之解析度與第二影像感測器112之解析度可相同或不相同。 Therefore, each image sensor can accurately detect the spot on the screen 11, but The block with the spot image 116 is identified regardless of whether the screen is a flat or regular curved surface or an irregular curved surface. Moreover, the first image sensor 111 and the second image sensor 112 do not need to be accurately set, and there is no relative position limitation. Moreover, the viewing angle of the first image sensor 111 and the viewing angle of the second image sensor 112 may be the same or different. Furthermore, the resolution of the first image sensor 111 and the resolution of the second image sensor 112 may be the same or different.
第9圖是第8圖中第一影像感測器111所取得之第一感測影像114之一實施例的示意圖。 FIG. 9 is a schematic diagram of an embodiment of the first sensing image 114 obtained by the first image sensor 111 in FIG.
參照第9圖，第一影像感測器111分析第一感測影像114中之光強度的值，而分辨出第一感測影像114中背景影像117、具有投影影像113的畫面區塊113a及光點影像116。其中，第一影像感測器111是將投影影像113的畫面區塊113a區塊化成陣列式影像區塊114a。 Referring to FIG. 9, the first image sensor 111 analyzes the value of the light intensity in the first sensing image 114, and distinguishes the background image 117 in the first sensing image 114, the image block 113a having the projected image 113, and Spot image 116. The first image sensor 111 segments the image block 113a of the projected image 113 into an array image block 114a.
第10圖是第8圖中第二影像感測器112所取得之第二感測影像115之一實施例的示意圖。 FIG. 10 is a schematic diagram of an embodiment of the second sensing image 115 obtained by the second image sensor 112 in FIG.
參照第10圖，第二影像感測器112分析第二感測影像115中光強度的值，而分辨出第二感測影像115中背景影像117、具有投影影像113的畫面區塊113b及的光點影像116。其中，第二影像感測器112是將投影影像113的畫面區塊113b區塊化成陣列式影像區塊115a。 Referring to FIG. 10, the second image sensor 112 analyzes the value of the light intensity in the second sensing image 115, and distinguishes the background image 117 in the second sensing image 115, the image block 113b having the projected image 113, and Spot image 116. The second image sensor 112 segments the image block 113b of the projected image 113 into an array image block 115a.
其中，陣列式影像區塊114a/115a可以二維座標表示為n乘m的矩陣，即座標系為(X0,Y0)至(Xn,Ym)。其中，n與m為大 於1的整數。舉例而言，投影機110投射電腦的影像畫面於螢幕11上以形成投影影像113。若電腦的解析度為1024＊768，則投影影像113是對應投影座標(0,0)至(1024,768)，所以第一感測影像114中陣列式影像區塊114a之角點座標(X0,Y0)是對應投影座標(0,0)，及第二感測影像115中陣列式影像區塊115a之角點座標(Xn,Ym)是對應投影座標(1024,768)。 The array image block 114a/115a can be represented by a two-dimensional coordinate as a matrix of n by m, that is, the coordinate system is (X 0 , Y 0 ) to (X n , Y m ). Wherein n and m are integers greater than one. For example, the projector 110 projects an image of a computer on the screen 11 to form a projected image 113. If the resolution of the computer is 1024 * 768, the projected image 113 is the corresponding projection coordinates (0, 0) to (1024, 768), so the corner coordinates of the array image block 114a in the first sensing image 114 (X) 0 , Y 0 ) is the corresponding projection coordinate (0, 0), and the corner coordinate (X n , Y m ) of the array image block 115a in the second sensing image 115 is the corresponding projection coordinate (1024, 768).
在一些實施例中，第一影像感測器111基於光點A的光點影像116所在之第一影像區塊114a的四個角點坐標以內插法計算對應光點A的第一影像座標。同樣地，第一影像感測器111基於光點C的光點影像116所在之影像區塊114a的四個角點坐標以內插法計算對應光點C的第一影像座標。 In some embodiments, the first image sensor 111 calculates the first image coordinate of the corresponding spot A by interpolation based on the four corner coordinates of the first image block 114a where the spot image 116 of the spot A is located. Similarly, the first image sensor 111 calculates the first image coordinate of the corresponding spot C by interpolation based on the four corner coordinates of the image block 114a where the spot image 116 of the spot C is located.
在一些實施例中，第二影像感測器112基於光點B的光點影像116所在之第二影像區塊115a的四個角點坐標以內插法計算對應光點B的第二影像座標。同樣地，第二影像感測器112基於光點C的光點影像116所在之第二影像區塊115a的四個角點坐標以內插法計算對應光點C的第二影像座標。 In some embodiments, the second image sensor 112 calculates the second image coordinate of the corresponding spot B by interpolation based on the four corner coordinates of the second image block 115a where the spot image 116 of the spot B is located. Similarly, the second image sensor 112 calculates the second image coordinate of the corresponding spot C by interpolation based on the four corner coordinates of the second image block 115a where the spot image 116 of the spot C is located.
在一些實施例中，利用第一影像感測器111及第二影像感測器112連續地偵測投影影像113上光點，以取得連續位移之光點影像116，進而可達到定位投影影像113上光點的移動軌跡。 In some embodiments, the first image sensor 111 and the second image sensor 112 are used to continuously detect the light spot on the projected image 113 to obtain a continuously displaced spot image 116, thereby achieving the positioning of the projected image 113. The movement track of the glazing point.
在一些實施例中，投影影像113係由第一影像感測器111及第二影像感測器112的偵測範圍所覆蓋。其中，可由第一影像感測器111的偵測範圍覆蓋一部分之投影影像113，而由第二影像感 測器112的偵測範圍覆蓋另一部分投影影像113。 In some embodiments, the projected image 113 is covered by the detection ranges of the first image sensor 111 and the second image sensor 112. Wherein, a part of the projected image 113 may be covered by the detection range of the first image sensor 111, and the second image sense is The detection range of the detector 112 covers another portion of the projected image 113.
其中，第一影像感測器111及第二影像感測器112的偵測範圍可完全重疊於投影影像113，以致使於使用中第一影像感測器111或第二影像感測器112被擋住，也不影響投影影像113之偵測。 The detection range of the first image sensor 111 and the second image sensor 112 may completely overlap the projection image 113, so that the first image sensor 111 or the second image sensor 112 is used in use. Blocking does not affect the detection of the projected image 113.
於此，投影座標表示以投影機110的座標系來看光點在螢幕上的座標位置。第一影像座標可藉由第一方程式轉換為第一轉換座標。第二影像座標可藉由第二方程式轉換為第二轉換座標。換言之，此些方程式表示對應之影像感測器的座標系與投影機的座標系之間的相對位置關係。 Here, the projection coordinates indicate the coordinate position of the light spot on the screen in view of the coordinate system of the projector 110. The first image coordinate can be converted to the first conversion coordinate by the first equation. The second image coordinate can be converted to the second conversion coordinate by the second equation. In other words, such equations represent the relative positional relationship between the coordinate system of the corresponding image sensor and the coordinate system of the projector.
其中，第一方程式和第二方程式可藉由校準程序取得。 Among them, the first equation and the second equation can be obtained by a calibration procedure.
於校準程序中，第一影像感測器111偵測第一光點而取得具有第一光點影像的第一感測影像114，並計算出對應第一光點的第一影像座標。第一影像感測器111再偵測第二光點而取得具有第二光點影像的第一感測影像114，並計算出對應第二光點的第一影像座標。於此，第一光點與第二光點是位在螢幕上的相異位置。 In the calibration process, the first image sensor 111 detects the first spot and obtains the first sensing image 114 having the first spot image, and calculates a first image coordinate corresponding to the first spot. The first image sensor 111 further detects the second spot to obtain the first sensing image 114 having the second spot image, and calculates a first image coordinate corresponding to the second spot. Here, the first spot and the second spot are at different positions on the screen.
並且，第一影像感測器111取得對應第一光點的投影座標及第二光點的投影座標。於此，此些投影座標可預設在第一影像感測器111的校準程序中(即，預先儲存在第一影像感測器111的儲存單元中)，或者是在校準過程中由第一影像感測器111的外部組件(例如：投影機或處理單元)所提供。 Moreover, the first image sensor 111 acquires a projection coordinate corresponding to the first light spot and a projection coordinate of the second light spot. Here, the projection coordinates may be preset in the calibration procedure of the first image sensor 111 (ie, stored in the storage unit of the first image sensor 111 in advance), or may be first in the calibration process. An external component (eg, a projector or processing unit) of image sensor 111 is provided.
然後，第一影像感測器111由對應第一光點的第一影像座標和投影座標及對應第二光點的第一影像座標和投影座標，而計算 出第一方程式。 Then, the first image sensor 111 is calculated by the first image coordinates and the projection coordinates corresponding to the first light spot and the first image coordinates and projection coordinates corresponding to the second light spot. The first equation is given.
在一些實施例中，第一影像感測器111亦可在計算得對應第一光點的第一影像座標和對應第二光點的第一影像座標後，將計算出的第一影像座標輸出給外部組件(例如：投影機或處理單元)，而再由外部組件進行投影座標的擷取及第一方程式的計算。 In some embodiments, the first image sensor 111 may also output the calculated first image coordinate after calculating the first image coordinate corresponding to the first light spot and the first image coordinate corresponding to the second light spot. To an external component (for example: projector or processing unit), and then the external component to capture the projection coordinates and the calculation of the first equation.
於校準程序中，第二影像感測器112偵測第一光點而取得具有第一光點影像的第二感測影像115。第二影像感測器112再偵測第二光點而取得具有第二光點影像的第二感測影像115，並計算出對應第二光點的第二影像座標。於此，第一光點與第二光點是位在螢幕上的相異位置。 In the calibration process, the second image sensor 112 detects the first spot and obtains the second sensing image 115 having the first spot image. The second image sensor 112 further detects the second spot to obtain the second sensing image 115 having the second spot image, and calculates a second image coordinate corresponding to the second spot. Here, the first spot and the second spot are at different positions on the screen.
並且，第二影像感測器112取得對應第一光點的投影座標及對應第二光點的投影座標。於此，此些投影座標可預設在第二影像感測器112的校準程序中(即，預先儲存在第二影像感測器112的儲存單元中)，或者是在校準過程中由第二影像感測器112的外部組件(例如：投影機或處理單元)所提供。 Moreover, the second image sensor 112 obtains a projection coordinate corresponding to the first spot and a projection coordinate corresponding to the second spot. Here, the projection coordinates may be preset in the calibration procedure of the second image sensor 112 (ie, pre-stored in the storage unit of the second image sensor 112) or by the second during the calibration process. An external component (eg, a projector or processing unit) of image sensor 112 is provided.
然後，第二影像感測器112由對應第一光點的第二影像座標和投影座標及對應第二光點的第二影像座標和投影座標，而計算出第二方程式。 Then, the second image sensor 112 calculates the second equation from the second image coordinates and the projection coordinates corresponding to the first light spot and the second image coordinates and projection coordinates corresponding to the second light spot.
在一些實施例中，第二影像感測器112亦可在計算得對應第一光點的第二影像座標和對應第二光點的第二影像座標後，將計算出的第二影像座標輸出給外部組件(例如：投影機或處理單元)，而再由外部組件進行投影座標的擷取及第二方程式的計算。 In some embodiments, the second image sensor 112 may also output the calculated second image coordinate after calculating the second image coordinate corresponding to the first light spot and the second image coordinate corresponding to the second light spot. To an external component (such as a projector or processing unit), and then the external component to perform the projection of the projection coordinates and the calculation of the second equation.
於此，雖然是以二光點來說明校準程序，但本發明不限於此，實際執行上，亦可採用相異位置之三個或四個以上的光來進行校準程序。 Here, although the calibration procedure is described in terms of two light spots, the present invention is not limited thereto, and in practice, three or more lights of different positions may be used to perform the calibration procedure.
在一些實施例中，可由三個以上的影像感測器偵測投影影像以取得多個影像，且重疊區域可由二個或三個以上的影像感測器之感測影像形成。 In some embodiments, the projected image may be detected by more than three image sensors to obtain a plurality of images, and the overlapping region may be formed by sensing images of two or more image sensors.
舉例來說，三個影像感測器偵測螢幕上的光點，且光點影像存在於各影像感測器所取得之感測影像中。即，光點位於三個影像感測器的偵測範圍的重疊區域。各影像感測器計算感測影像中光點影像所在的影像區塊之影像座標，並且將影像座標分別轉換為對應投影機之轉換座標。平均三個影像感測器的轉換座標，而得到光點影像的投影座標。以此類推，可求得當光點位於四個以上的影像感測器的重疊區域時之投影座標。 For example, three image sensors detect the light spots on the screen, and the light spot images exist in the sensing images obtained by the image sensors. That is, the spot is located in an overlapping area of the detection range of the three image sensors. Each image sensor calculates an image coordinate of an image block in which the spot image in the image is sensed, and converts the image coordinates into conversion coordinates corresponding to the projector. The conversion coordinates of the three image sensors are averaged to obtain the projection coordinates of the spot image. By analogy, the projection coordinates when the spot is located in the overlapping area of four or more image sensors can be obtained.
其中，所使用的螢幕可為主動螢幕或被動螢幕。主動螢幕包括背投式投影機螢幕。被動螢幕包括前投式投影機的散射式螢幕。投影機投射影像資料至螢幕。由於投影機之結構與運作原理係為本領域之技術人員所熟知，故於此不再贅述。影像感測器可為電荷耦合元件(CCD)，由於電荷耦合元件(CCD)之結構與運作原理係為本領域之技術人員所熟知，故於此不再贅述。 Among them, the screen used can be an active screen or a passive screen. The active screen includes a rear projection projector screen. The passive screen includes a diffuse screen for the front projection projector. The projector projects image data to the screen. Since the structure and operation principle of the projector are well known to those skilled in the art, no further details are provided herein. The image sensor may be a charge coupled device (CCD). Since the structure and operation principle of the charge coupled device (CCD) are well known to those skilled in the art, no further details are provided herein.
根據本發明實施例之影像感測器群組之定位方法係利用多個影像感測器同時偵測螢幕而取得各自的感測影像，且影像感測器以區塊化方式計算光點的座標。當多個影像感測器同時偵測到光 點時，以平均值來做為光點的投影座標。因此，在根據本發明實施例之陣列式影像感測器之定位方法的應用下，此些影像感測器不需精確設置，且無相對位置的限制，即可有效地偵測較大的螢幕。並且，所使用的影像感測器不需具備相同偵測能力。所使用的螢幕也相對較不受限。 The image sensor group positioning method according to the embodiment of the present invention uses a plurality of image sensors to simultaneously detect the screen to obtain respective sensing images, and the image sensor calculates the coordinates of the light spot in a tiled manner. . When multiple image sensors detect light at the same time When point, the average value is used as the projection coordinates of the light spot. Therefore, in the application of the positioning method of the array image sensor according to the embodiment of the invention, the image sensors can effectively detect a large screen without precise setting and without relative position limitation. . Moreover, the image sensor used does not need to have the same detection capability. The screen used is also relatively unrestricted.
雖然本發明的技術內容已經以較佳實施例揭露如上，然其並非用以限定本發明，任何熟習此技藝者，在不脫離本發明之精神所作些許之更動與潤飾，皆應涵蓋於本發明的範疇內，因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。 Although the technical content of the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the present invention, and any modifications and refinements made by those skilled in the art without departing from the spirit of the present invention are encompassed by the present invention. The scope of protection of the present invention is therefore defined by the scope of the appended claims.
11‧‧‧螢幕 11‧‧‧ screen
110‧‧‧投影機 110‧‧‧Projector
111‧‧‧第一影像感測器 111‧‧‧First Image Sensor
112‧‧‧第二影像感測器 112‧‧‧Second image sensor
113‧‧‧投影影像 113‧‧‧Projected imagery
113a‧‧‧畫面區塊 113a‧‧‧ Picture Block
113b‧‧‧畫面區塊 113b‧‧‧ Picture Block
114‧‧‧第一感測影像 114‧‧‧First sensing image
114a‧‧‧影像區塊 114a‧‧‧Image Block
115‧‧‧第二感測影像 115‧‧‧Second sensing image
115a‧‧‧影像區塊 115a‧‧‧Image Block
116‧‧‧光點影像 116‧‧‧ spot image
117‧‧‧背景影像 117‧‧‧ background image
118‧‧‧光指標器 118‧‧‧Light indicator
A‧‧‧光點 A‧‧‧ light spot
B‧‧‧光點 B‧‧‧Light spots
C‧‧‧光點 C‧‧‧Light spots
(X0,Y0)‧‧‧角點座標 (X 0 , Y 0 ) ‧ ‧ corner coordinates
(Xn,Yn)‧‧‧角點座標 (X n , Y n ) ‧ ‧ corner coordinates
S100‧‧‧利用複數個影像感測器偵測具有光點的螢幕以分 別取得複數個感測影像 S100‧‧‧Detecting screens with light spots by using multiple image sensors Don't get multiple sensing images
S101‧‧‧區塊化各感測影像成複數個影像區塊 S101‧‧‧ Blocking each sensing image into a plurality of image blocks
S102‧‧‧計算光點之投影座標 S102‧‧‧ Calculate the projection coordinates of the light spot
S103‧‧‧此些影像感測器是否複數個偵測到光點 S103‧‧‧Does these image sensors detect multiple spots?
S104‧‧‧此些影像感測器中是否僅一個影像感測器偵測到光點 S104‧‧ Whether only one image sensor detects the spot in these image sensors
S105‧‧‧此些影像感測器中之複數個偵測到光點 S105‧‧‧Multiple detected light spots in these image sensors
S106‧‧‧此些影像感測器中僅一個影像感測器偵測到光點 S106‧‧‧ Only one image sensor in these image sensors detects the light spot
S1051‧‧‧計算偵測到光點之各影像感測器所取得的感測影像中光點所在的影像區塊的影像座標 S1051‧‧‧ Calculate the image coordinates of the image block where the light spot is located in the sensed image obtained by each image sensor that detects the spot
S1052‧‧‧將此些影像座標分別轉換為對應投影機之複數個轉換座標 S1052‧‧‧ Convert these image coordinates into multiple conversion coordinates of the corresponding projector
S1053‧‧‧平均此些轉換座標以得到投影座標 S1053‧‧‧ average these conversion coordinates to obtain projection coordinates
S1061‧‧‧計算偵測到光點之影像感測器所取得的感測影像中光點所在之影像區塊的影像座標 S1061‧‧‧ Calculate the image coordinates of the image block where the light spot is located in the sensed image obtained by the image sensor that detects the spot
S1062‧‧‧將影像座標轉換為對應投影機之轉換座標以作為投影座標 S1062‧‧‧ Convert image coordinates to the corresponding coordinates of the projector as projection coordinates
S11‧‧‧利用第一影像感測器偵測螢幕以取得第一感測影像 S11‧‧‧Use the first image sensor to detect the screen to obtain the first sensing image
S12‧‧‧區塊化第一感測影像成複數個第一影像區塊 S12‧‧‧ Blocking the first sensing image into a plurality of first image blocks
S13‧‧‧利用第二影像感測器偵測螢幕以取得第二感測影像 S13‧‧‧Detecting the screen with the second image sensor to obtain the second sensing image
S14‧‧‧區塊化第二感測影像成複數個第二影像區塊 S14‧‧‧ Blocking the second sensing image into a plurality of second image blocks
S15‧‧‧是否第一影像感測器及第二影像感測器皆偵測到光點 S15‧‧ Whether the first image sensor and the second image sensor detect the light spot
S16‧‧‧是否僅第一影像感測器偵測到光點 S16‧‧‧ Is the light spot detected only by the first image sensor?
S17‧‧‧是否僅第二影像感測器偵測到光點 S17‧‧‧Whether only the second image sensor detects the spot
S150‧‧‧以光指標器投射光束在螢幕上而形成光點時，第一影像感測器和第二影像感測器都會偵測到光點 S150‧‧‧ When the light indexer projects the light beam on the screen to form a light spot, both the first image sensor and the second image sensor detect the light spot
S160‧‧‧以光指標器投射光束在螢幕上而形成光點時，第一影像感測器偵測到光點且第二影像感測器未偵測到光點 S160‧‧‧ When the light indexer projects the light beam on the screen to form a light spot, the first image sensor detects the light spot and the second image sensor does not detect the light spot
S170‧‧‧以光指標器投射光束在螢幕上而形成光點時，第二影像感測器偵測到光點且第一影像感測器未偵測到光點 S170‧‧‧ When the light indexer projects the light beam on the screen to form a light spot, the second image sensor detects the light spot and the first image sensor does not detect the light spot
S151‧‧‧計算第一影像區塊中光點所在影像區塊的第一影像座標 S151‧‧‧ Calculate the first image coordinates of the image block where the light spot is located in the first image block
S152‧‧‧將第一影像座標轉換為對應投影機之第一轉換座標 S152‧‧‧ Convert the first image coordinates to the first conversion coordinates of the corresponding projector
S153‧‧‧計算第二影像區塊中光點所在影像區塊的第二影像座標 S153‧‧‧ Calculate the second image coordinate of the image block where the light spot is located in the second image block
S154‧‧‧將第二影像座標轉換為對應投影機110之第二轉換座標 S154‧‧‧ Converting the second image coordinate to the second conversion coordinate of the corresponding projector 110
S155‧‧‧平均第一轉換座標和第二轉換座標以得到投影座標 S155‧‧‧Average first conversion coordinates and second conversion coordinates to obtain projection coordinates
S161‧‧‧計算第一影像區塊中光點所在影像區塊的第一影 像座標 S161‧‧‧ Calculate the first shadow of the image block where the light spot is located in the first image block Like coordinates
S162‧‧‧將第一影像座標轉換為對應投影機之第一轉換座標以作為投影座標 S162‧‧‧ Convert the first image coordinate to the first conversion coordinate of the corresponding projector as the projection coordinate
S171‧‧‧計算第二影像區塊中光點所在影像區塊的第二影像座標 S171‧‧‧ Calculate the second image coordinates of the image block where the light spot is located in the second image block
S172‧‧‧將第二影像座標轉換為對應投影機110之第二轉換座標以作為投影座標 S172‧‧‧ Converting the second image coordinate to the second conversion coordinate of the corresponding projector 110 as the projection coordinate
第1至3圖為根據本發明的第一實施例之影像感測器群組之定位方法的流程圖。 1 to 3 are flowcharts showing a method of locating an image sensor group according to the first embodiment of the present invention.
第4至7圖為根據本發明的第二實施例之影像感測器群組之定位方法的流程圖。 4 to 7 are flowcharts showing a method of locating an image sensor group according to a second embodiment of the present invention.
第8圖為應用根據本發明之影像感測器群組之定位方法的光學投影系統的示意圖。 Figure 8 is a schematic illustration of an optical projection system employing a method of locating an image sensor group in accordance with the present invention.
第9圖是第8圖中第一影像感測器111所取得之第一感測影像114之一實施例的示意圖。 FIG. 9 is a schematic diagram of an embodiment of the first sensing image 114 obtained by the first image sensor 111 in FIG.
第10圖是第8圖中第二影像感測器112所取得之第二感測影像115之一實施例的示意圖。 FIG. 10 is a schematic diagram of an embodiment of the second sensing image 115 obtained by the second image sensor 112 in FIG.
S100‧‧‧利用複數個影像感測器偵測具有光點的螢幕以分別取得複數個感測影像 S100‧‧‧Detecting a screen with a light spot using a plurality of image sensors to obtain a plurality of sensing images respectively
S101‧‧‧區塊化各感測影像成複數個影像區塊 S101‧‧‧ Blocking each sensing image into a plurality of image blocks
S102‧‧‧計算光點之投影座標 S102‧‧‧ Calculate the projection coordinates of the light spot
S103‧‧‧此些影像感測器是否複數個偵測到光點 S103‧‧‧Does these image sensors detect multiple spots?
S104‧‧‧此些影像感測器中是否僅一個影像感測器偵測到光點 S104‧‧ Whether only one image sensor detects the spot in these image sensors
S105‧‧‧此些影像感測器中之複數個偵測到光點 S105‧‧‧Multiple detected light spots in these image sensors
S106‧‧‧此些影像感測器中僅一個影像感測器偵測到光點 S106‧‧‧ Only one image sensor in these image sensors detects the light spot
S1051‧‧‧計算偵測到光點之各影像感測器所取得的感測影像中光點所在的影像區塊的影像座標 S1051‧‧‧ Calculate the image coordinates of the image block where the light spot is located in the sensed image obtained by each image sensor that detects the spot
S1052‧‧‧將此些影像座標分別轉換為對應投影機之複數個轉換座標 S1052‧‧‧ Convert these image coordinates into multiple conversion coordinates of the corresponding projector
S1053‧‧‧平均此些轉換座標以得到投影座標 S1053‧‧‧ average these conversion coordinates to obtain projection coordinates
S1061‧‧‧計算偵測到光點之影像感測器所取得的感測影像中光點所在之影像區塊的影像座標 S1061‧‧‧ Calculate the image coordinates of the image block where the light spot is located in the sensed image obtained by the image sensor that detects the spot
S1062‧‧‧將影像座標轉換為對應投影機之轉換座標以作為投影座標 S1062‧‧‧ Convert image coordinates to the corresponding coordinates of the projector as projection coordinates
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