# Patent

## Title
Optical pointing system

## Abstract

There is provided an optical pointing system including at least one reference beacon, an image sensor, a storage unit and a processing unit. The image sensor is configured to capture an image frame containing a beacon image associated with the at least one reference beacon. The storage unit is configured to save image data of at least one object image in the image frame. The processing unit is configured to sequentially process every pixel of the image frame for identifying the object image and real-timely remove or merge the image data, saved in the storage unit, associated with two object images within a pixel range of the image frame thereby reducing the used memory space.

## Background
CROSS REFERENCE TO RELATED APPLICATION
This application is a divisional of U.S. application Ser. No. 14/094,988, filed on Dec. 3, 2013, which claims priority from Taiwan Patent Application Serial Number 102103386, filed on Jan. 29, 2013, the full disclosures of which are incorporated herein by reference in their entirety.


BACKGROUND
1. Field of the Disclosure
This disclosure generally relates to a human-machine interaction system and, more particularly, to an optical pointing system.
2. Description of the Related Art
The conventional remote controller includes a plurality of press buttons so that a user can press at least one press button thereon to generate a control signal so as to correspondingly control a home appliance. However, the press buttons have limited control functions and thus the pointing system for controlling home appliances by using the images captured by an image sensor is developed.
A pointing system generally includes a plurality of system reference points for being captured by the image sensor, and a processing unit is configured to calculate the position variation, which will be served as a displacement, of reference point images according to the captured images. The displacement is used to correspondingly control a cursor motion.
When receiving an image frame, the processing unit sequentially detects every pixel in the image frame so as to identify whether an object image exists in the image frame or not, and the pixel information associated with the object image is temporarily saved in a buffer. Referring to FIG. 1, for example three object images 91-93 are contained in an image frame 90, wherein the object images 91 and 92 indicate the system reference points and the object image 93 indicates the ambient noise. The processing unit saves the information of all object images 91-93 into the buffer at first and then performs the post-processing, e.g. identifying which of the object images 91-93 is caused by ambient noises.
In the above method, as the data associated with all object images in one image frame is all saved at first, a large memory space will be used such that the buffer having a large memory space is required or the memory space may not be enough in some operating environments, e.g. having many ambient light sources.
Accordingly, the present disclosure further provides an optical pointing device that may real-timely release the occupied memory space of the buffer.
SUMMARY
The present disclosure provides an optical pointing system that may reduce the occupied memory space of the buffer.
The present disclosure provides an optical pointing system including at least one reference beacon, an image sensor, a storage unit and a processing unit. The image sensor is configured to capture an image frame containing a beacon image associated with the at least one reference beacon. The storage unit is configured to save image data of at least one object image in the image frame. The processing unit is configured to sequentially process every pixel of the image frame within a scan period for identifying the at least one object image, and when two object images simultaneously appear within a clearance range of the image frame within the scan period, remove image data, saved in the storage unit, associated with the two object images within the clearance range.
The present disclosure further provides an optical pointing system including at least one reference beacon, an image sensor, a storage unit and a processing unit. The image sensor is configured to capture an image frame containing a beacon image associated with the at least one reference beacon. The storage unit is configured to save image data of at least one object image in the image frame. The processing unit is configured to sequentially process every pixel of the image frame within a scan period for identifying the at least one object image, and when a plurality of object images simultaneously appear within a combinable range of the image frame within the scan period, merge image data, saved in the storage unit, associated with the object images within the combinable range.
The present disclosure further provides an optical pointing system including at least one reference beacon, an image sensor, a storage unit and a processing unit. The image sensor is configured to capture an image frame containing a beacon image associated with the at least one reference beacon. The storage unit is configured to save image data of at least one object image in the image frame. The processing unit is configured to sequentially process every pixel of the image frame within a scan period for identifying the at least one object image, and when a current object image is identified within the scan period and a previous object image exists in the image frame, calculate an image distance between the current object image and the previous object image to accordingly release a part of image data associated with the at least one object image.
In one aspect, when an intensity of every pixel of a pixel region is larger than or equal to an intensity threshold, an accumulated pixel area of a pixel region is larger than or equal to an area threshold and/or a pixel region matches a predetermined feature, the processing unit identifies the pixel region as an object image, wherein the object image may include the beacon image and ambient light images, and the pixel region may be formed by a plurality of adjacent pixels.
In one aspect, the clearance range and the combinable range extend outward from a center, a gravity center or an edge of an object image.
In one aspect, the clearance range and the combinable range may be a fixed predetermined pixel range or determined according to system parameters including a disposed distance between two reference beacons, an image capturing angle of the image sensor and an operable distance of the remote controller.
In the optical pointing system according to the embodiment of the present disclosure, as the processing unit may real-timely remove or merge object image data in a predetermined pixel range within a scan period, a part of memory space of the storage unit is released thereby saving the system resources.



BRIEF DESCRIPTION OF THE DRAWINGS
Other objects, advantages, and novel features of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.
FIG. 1 shows a schematic diagram of an image frame captured by the image sensor of a pointing system.
FIG. 2 shows a schematic diagram of the optical pointing system according to an embodiment of the present disclosure.
FIG. 3 shows a schematic diagram of an image frame captured by the image sensor of the optical pointing system of FIG. 2.
FIGS. 4A and 4B show schematic diagrams of the variation of image data saved in the storage unit of the optical pointing system according to the embodiment of the present disclosure.
FIG. 5A shows a schematic diagram of the optical pointing system according to another embodiment of the present disclosure.
FIG. 5B shows a schematic diagram of an image frame captured by the image sensor of the optical pointing system of FIG. 5A.
FIG. 6 shows a flow chart of the operating method of the optical pointing system according to the embodiment of the present disclosure.



DETAILED DESCRIPTION OF THE EMBODIMENT
It should be noted that, wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.
Referring to FIG. 2, it shows a schematic diagram of the optical pointing device according to an embodiment of the present disclosure, which includes a remote controller 10 and at least one reference beacon (e.g. one reference beacon 2 is shown herein). In this embodiment, the reference beacon 2 may be a light emitting diode, a laser diode, an active dot light source or may be formed by arranging a plurality of active dot light sources, and the reference beacon 2 preferably emits identifiable spectrum, e.g. infrared light. The remote controller 10 may be a remote controller for home appliances on which a plurality of press buttons may be disposed for being pressed by a user. The user may control the operation, e.g. ON/OFF and parameters output, of a home appliance through the remote controller 10. For example in one embodiment, the user may use the remote controller 10 to capture an image frame in which a beacon image associated with the reference beacon 2 is contained, and to control a display device 8 to show the motion of a cursor 81 according to the variation of the beacon image in the image frame. In other embodiments, the remote controller 10 may be a portable electronic device.
The remote controller 10 includes an image sensor 11, a processing unit 12 and a storage unit 13. The image sensor 11 is preferably an active image sensor, e.g. a CMOS image sensor, and configured to capture an image frame IF containing a beacon image associated with the at least one reference beacon. For example referring to FIG. 3, it shows an image frame IF captured by the image sensor 11, wherein the image frame IF contains a beacon image I2.
The memory unit 13 may be a buffer configured to save image data of at least one object image in the image frame IF, wherein the image data may include parameters, e.g. the intensity, position, size and so on, of the at least one object image. In one embodiment, the storage unit 13 may have a plurality of storage blocks and the image data associated with different object images may be respectively saved in different storage blocks.
The processing unit 12 may be a digital signal processor (DSP) and is configured to sequentially process every pixel of the image frame IF within a scan period for identifying the at least one object image, wherein the scan period may be referred to a period sequentially detecting every pixel of the image frame IF. For example in FIG. 3, within one scan period, the top left first pixel P1,1 is detected at first and then other pixels in the first row P1,2, P1,3 to P1,m are detected sequentially, and then pixels in the second row P2,1 to P2,m are detected sequentially, and finally pixels in the last row Pn,1 to Pn,m are detected sequentially, wherein n and m are positive integers whose values may be determined according to the sensing array size of the image sensor 11. In addition, within the scan period a first pixel column may be scanned at first and then other pixel columns are scanned sequentially. In this embodiment, the at least one object image may include the beacon image I2 and ambient light images (e.g. O1 and O2), wherein said ambient light may be referred to other active light sources in the operating environment (not the reference beacon) or reflected light sources formed by reflecting the light emitted by the reference beacon. Accordingly, when an intensity of every pixel of a pixel region is larger than or equal to an intensity threshold, an accumulated pixel area (e.g. number of pixels accumulated in the scan period having the intensity larger than or equal to the intensity threshold) of a pixel region is larger than or equal to an area threshold and/or a pixel region matches a predetermined feature, the processing unit 12 identifies the pixel region as an object image, wherein said pixel region may be formed by one or a plurality of adjacent pixels. Said predetermined feature may be the modulation frequency, shape or other features configured to distinguish the beacon image. It is appreciated that generally noises are contained in the image frame IF and thus even though the intensity of a pixel region is larger than or equal to an intensity threshold, the pixel region may be caused by noises. Therefore, preferably a pixel region is identified as an object image when an accumulated pixel area is larger than an area threshold at the same time. For example in FIG. 3, the intensity of the pixel P4,1 is larger than the intensity threshold, but the area thereof is too small (e.g. one pixel region shown herein), and thus the pixel P4,1 is not identified as an object image.
In this embodiment, when the processing unit 12 recognizes an object image, image data associated with the recognized object image is temporarily saved in the storage unit 13. Next, the processing unit 12 identifies whether two object images appear within one scan period. When two object images are recognized, an image distance between the two object images is calculated so as to determine whether to remove or merge the image data, saved in the storage unit 13, associated with the two object images. For example referring to FIG. 3, when the processing unit 12 identifies a current object image O2 (or I2) within a scan period and a previous object image O1 (or O2) exists in the image frame IF, the processing unit 12 calculates an image distance d1 (or d2) between the current object image O2 (or I2) and the previous object image O1 (or O2) to accordingly release a part of the image data associated with the at least one object image. It is appreciated that shapes and sizes of the object images in FIG. 3 are only intended to illustrate but not to limit the present disclosure.
In the present disclosure, the processing unit 12 may remove or merge object images that are within a predetermined pixel range so as to reduce the used memory space.
Referring to FIGS. 2, 3 and 4A, an embodiment of removing the image data, which is saved in the storage unit 13, associated with the object image is illustrated hereinafter. Herein, it is assumed that the optical pointing system includes a single reference beacon 2 and the image frame IF captured by the image sensor 11 contains ambient light images O1 and O2. The processing unit 12 is configured to sequentially process every pixel of the image frame IF within a scan period for identifying the at least one object image. When two object images (e.g. O1 and O2) simultaneously appear in a clearance range IR1 of the image frame IF within the scan period, the image data, saved in the storage unit 13, associated with the two object images within the clearance range IR1 is removed.
Before the shipment of the optical pointing system of the present disclosure, an operable range D of the remote controller is previously set, such as 10 meters, but not limited to. It is also assumed that there is no other beacon image existing within a space range R1 (as FIG. 2) around the reference beacon 2. Accordingly, when the image sensor 11 captures an image frame IF in the operable range D, a clearance range IR1 in the image frame IF may be calculated according to the operable range D and the space range R1; that is, the clearance range IR1 may be a fixed predetermined pixel range set previously, and the clearance range IR1 is a mapping of the space range R1.
When receiving an image frame IF, the processing unit 12 sequentially processes every pixel P1,1 to Pn,m. When one object image O1 is recognized, image data associated with the object image O1 is temporarily saved in the storage unit 13 as the data O1 of FIG. 4A. Next, other pixels are processed and when a current object image O2 is recognized, the processing unit 12 saves image data associated with current object image O2 in the storage unit 13 as the data O2 of FIG. 4A. As a previous object image O1 exists in the image frame IF herein, the processing unit 12 then calculates an image distance d1 between the current object image O2 and the previous object image O1, and when the image distance d1 is smaller than or equal to the clearance range IR1, the image data (as shown in FIG. 4A), saved in the storage unit 13, associated with the current object image O2 and the previous object image O1 is removed. In this embodiment, the image distance d1 may be a distance between centers, gravity centers or edges of the current object image O2 and the previous object image O1.
In another embodiment, every time when an object image is recognized (e.g. the object image O2 of FIG. 3), the processing unit 12 may immediately determine the clearance range IR1 around the recognized object image, and when another object image (e.g. the object image O1 of FIG. 3) is recognized within the clearance range IR1, the image data, saved in the storage unit 13, associated with the two object images (i.e. O1 and O2) within the clearance range IR1 is both removed. In this embodiment, the clearance range IR1 is a pixel range extending outward from a center, a gravity center, an edge or other positions for indicating the image position, of the at least one object image. For example, FIG. 3 shows the clearance range IR1 is formed by extending outward from a center of the object image O2.
Referring to FIGS. 2, 3 and 4B, an embodiment of merging the image data, which is saved in the storage unit 13, associated with the object image is illustrated hereinafter. Herein, it is assumed that the optical pointing system includes a single reference beacon 2, and the image frame IF captured by the image sensor 11 contains a beacon image I2 and an ambient light image O2. The processing unit 12 is configured to sequentially process every pixel of the image frame IF within a scan period for identifying the at least one object image. When a plurality of object images (e.g. O2 and I2) simultaneously appear in a combinable range IR2 of the image frame IF within the scan period, the image data, saved in the storage unit 13, associated with the plurality of object images within the combinable range IR2 is merged.
Before the shipment of the optical pointing system of the present disclosure, the combinable range IR2 is previously set. In operation, the object images within the combinable range IR2 are merged to be treated as one single object image.
When receiving an image frame IF, the processing unit 12 sequentially processes every pixel P1,1 to Pn,m. When one object image O2 is recognized, image data associated with the object image O2 is temporarily saved in the storage unit 13 as the data O2 of FIG. 4B. Next, other pixels are processed and when a current object image I2 is recognized, the processing unit 12 saves image data associated with the current object image I2 in the storage unit 13 as the data I2 of FIG. 4B. As a previous object image O2 exists in the image frame IF herein, the processing unit 12 then calculates an image distance d2 between the current object image I2 and the previous object image O2, and when the image distance d2 is smaller than or equal to the combinable range IR2, the image data, saved in the storage unit 13, associated with the current object image I2 and the previous object image O2 is merged (e.g. FIG. 4B showing the data O2 and data I2 being merged as data O). In this embodiment, the image distance d2 may be a distance between centers, gravity centers or edges of the current object image I2 and the previous object image O2.
In another embodiment, every time when an object image is recognized (e.g. the object image I2 of FIG. 3), the processing unit 12 may immediately determine the combinable range IR2 around the recognized object image, and when another object image (e.g. the object image O2 of FIG. 3) is recognized within the combinable range IR2, the image data, saved in the storage unit 13, associated with the two object images within the combinable range IR2 is merged. It should be mentioned that although FIG. 3 shows that a combinable range IR2 contains only two object images, it is appreciated that when more than two object images are contained within the combinable range IR2, the more than two object images may also be merged as one single object image. The combinable range IR2 is a pixel range extending outward from a center, a gravity center, an edge or other positions for indicating the image position of the at least one object image. For example, FIG. 3 shows the combinable range IR2 is formed by extending from a center of the object image I2.
In another embodiment, it is assumed that the optical pointing system includes two reference beacons, and the processing unit 12 may determine the clearance range IR1 and the combinable range IR2 according to the system parameter. For example referring to FIGS. 5A and 5B, FIG. 5B shows a schematic diagram of an image frame IF′ captured by the image sensor 11. Two reference beacons 2 and 2′ are separated by a disposed distance d, and an operable distance of the remote controller 10 is assumed to be D. The image frame IF′ captured by the image sensor 11 may contain two beacon images I2 and I2′. In addition, other object images O3 and O4 as well as O5 and O6 are shown in FIG. 5B for illustration. It is assumed that an image distance between the two beacon images I2, I2′ is d′ and there is no other object image existing within the range d′. Therefore, the clearance range IR1 of the present disclosure may be set as equal to or slightly smaller than the image distance d′. However, as the image distance d′ changes with system parameters including the disposed distance d, the operable distance D (e.g. 1-10 meters), an image capturing angle θ of the image sensor 11 and so on, the processing unit 12 may calculate the clearance range IR1 according to the system parameters. The combinable range IR2 may be set as a ratio or an offset of the clearance range IR1. In another embodiment, the clearance range IR1 and the combinable range IR2 may be a fixed predetermined pixel range set previously. In addition, besides the method of determining the clearance range IR1 and the combinable range IR2, other details are similar to FIG. 3 and corresponding descriptions thereof and thus they are not repeated herein.
In other words, the clearance range IR1 and the combinable range IR2 according to the embodiment of the present disclosure may be fixed predetermined pixel ranges or determined according to the system parameters, wherein the system parameters may include a disposed distance between reference beacons, an image capturing angle of the image sensor and an operable distance. For example, it is assumed that the operable distance is 1-10 meters, and the distance (e.g. d′) between two beacon images in the captured image frames associated with different image capturing angles θ within the operable distance may be previously measured, and the image capturing angle θ may be real-timely calculated during operation. In this manner, after the processing unit 12 obtains the distance between beacon images and the image capturing angle θ of the image sensor according to the image frame, the actual distance between the remote controller 10 and the reference beacons 2, 2′ may be obtained by using a lookup table or the algorithm to accordingly determine the clearance range IR1 and the combinable range IR2.
Referring to FIG. 6, it shows a flow chart of the operating method of the optical pointing system according to the embodiment of the present disclosure, which includes the steps of: capturing an image frame (Step S31); recognizing object images in the image frame (Step S32); comparing an image distance with a distance threshold (Step S33); performing object tracking when the image distance is larger than the distance threshold (Step S34); and merging or removing image data associated with two object images when the image distance is smaller than or equal to the distance threshold (Step S35); wherein the distance threshold may include the aforementioned clearance range (e.g. the first threshold) and/or combinable range (e.g. the second threshold). Referring to FIGS. 2-5B, the operating method of this embodiment is illustrated hereinafter.
Step S31: The image sensor 11 captures an image frame (e.g. FIG. 3 or 5B) to be sent to the processing unit 12.
Step S32: The processing unit 12 performs the recognition of object image according to the pixel intensity, the accumulated pixel area and the predetermined feature of a pixel region of adjacent pixels, e.g. recognizing the object images O1, O2, I2 of FIG. 3 and the object images I2, I2′, O3-O6 of FIG. 5B, wherein the method of recognizing the object image is well known, and the present disclosure is to merge or remove the recognized object images.
Step S33: The processing unit 12 then compares the image distance between the object images O1 and O2 (e.g. assuming only object images O1 and O2 being included) or the image distance between the object images O2 and I2 (e.g. assuming only object images O2 and I2 being included) with the distance threshold, wherein the image distances d1 and d2 may be distances between centers, gravity centers, edges or other positions for indicating the object image position of the two object images.
Step S34: When the processing unit 12 identifies that the image distance is larger than a first threshold (e.g. the clearance range IRA the two object images (e.g. object images I2 and I2′ of FIG. 5B) are treated as two different objects. The processing unit 12 then performs the object tracking on the two objects, e.g. calculating object coordinates according to the image frame or calculating an object displacement according to the image frame and a previous image frame, wherein methods of calculating the object coordinate and the object displacement are well known and thus details thereof are not described herein.
Step S35: When the processing unit 12 identifies that the image distance is smaller than or equal to a first threshold and larger than a second threshold (e.g. the combinable range IR2), image data associated with two object images (e.g. the object images O3 and O4 of FIG. 5B) and saved in the storage unit 13 is removed. When the processing unit 12 identifies that the image distance is smaller than or equal to the second threshold, image data associated with two object images (e.g. the object images O5 and O6 of FIG. 5B) and saved in the storage unit 13 is merged thereby reducing the occupied memory space. When the object image within a predetermined pixel range is removed or merged, the processing unit 12 then performs the object tracking according to the left object image(s) and/or the merged object image(s). In this embodiment, the second threshold may be smaller than the first threshold.
In the present disclosure, the step of removing object data and the step of merging object data may be performed independently or simultaneously.
It should be mentioned that although one and two reference beacons are used to illustrate in the embodiment of the present disclosure, it is not to limit the present disclosure. The number of the reference beacons may be determined according to the algorithm for calculating the displacement and coordinate without particular limitation. The present disclosure is to release at least a part of memory space associated with a plurality of object images when the remote controller 10 recognizes the plurality of object images appear within a clearance range or a combinable range thereby reducing the occupied memory space.
In addition, although FIGS. 4A and 4B show that the image data are saved continuously, they are only intended to illustrate but not to limit the storage method of the image data in the storage unit 13.
As mentioned above, the conventional pointing device temporarily saves all object images that are recognized at first and then identifies, after the scanning ended, whether the saved object images are associated with the system reference beacons such that a larger memory space can be occupied in operation. Therefore, the present disclosure further provides an optical pointing device (FIGS. 2 and 5A) that may release the memory space for recording ambient light data during scanning the image frame thereby reducing the used memory space.
Although the disclosure has been explained in relation to its preferred embodiment, it is not used to limit the disclosure. It is to be understood that many other possible modifications and variations can be made by those skilled in the art without departing from the spirit and scope of the disclosure as hereinafter claimed.

## Claims

1. An optical pointing system, comprising:
at least one reference beacon;
an image sensor configured to capture an image frame containing a beacon image associated with the at least one reference beacon;
a storage unit configured to save image data of at least one object image in the image frame; and
a processing unit configured to
sequentially process every pixel of the image frame within a scan period for identifying the at least one object image, and
when a plurality of object images simultaneously appear within a combinable range, which is determined around the at least one object image, of the image frame within the scan period, merge image data, which is saved in the storage unit, associated with the plurality of object images within the combinable range.

2. The optical pointing system as claimed in claim 1, wherein when at least one of
(i) an intensity of every pixel of a pixel region being larger than or equal to an intensity threshold,
(ii) an accumulated pixel area of a pixel region being larger than or equal to an area threshold, and
(iii) a pixel region matching a predetermined feature, is true
the processing unit is configured to identify the pixel region as the at least one object image.

3. The optical pointing system as claimed in claim 1, wherein the combinable range is a fixed predetermined pixel range.

4. The optical pointing system as claimed in claim 1, wherein
the at least one reference beacon includes reference beacons, and
the combinable range is determined according to system parameters, which are selected from the group consisting of a disposed distance between the reference beacons, an image capturing angle of the image sensor and an operable distance of a remote controller, which comprises the image sensor, the storage unit and the processing unit, of the optical pointing system.

5. The optical pointing system as claimed in claim 1, wherein the combinable range extends outward from a center, a gravity center or an edge of the at least one object image.

6. The optical pointing system as claimed in claim 1, wherein the combinable range is a pixel region extending outward from an edge of the at least one object image to a pixel area smaller than the image frame.

7. The optical pointing system as claimed in claim 1, wherein the plurality of object images are separated from each other in the image frame.

8. The optical pointing system as claimed in claim 1, wherein the at least one object image comprises the beacon image and an ambient light image.

9. An optical pointing system, comprising:
at least one reference beacon;
an image sensor configured to capture an image frame containing a beacon image associated with the at least one reference beacon;
a storage unit configured to save image data of at least one object image in the image frame; and
a processing unit configured to
sequentially process every pixel of the image frame within a scan period for identifying the at least one object image, and
when a plurality of separated object images simultaneously appear within a combinable range of the image frame after every pixel of the image frame has been processed sequentially, merge image data, which is saved in the storage unit, associated with the plurality of separated object images within the combinable range.