Source: https://patents.google.com/patent/JP4765027B2/en
Timestamp: 2019-12-15 06:11:43
Document Index: 153045680

Matched Legal Cases: ['Application No. 2004', 'art 11', 'art 14', 'art 15', 'art 16', 'art 20', 'art 21']

JP4765027B2 - Information processing apparatus and information processing system - Google Patents
Information processing apparatus and information processing system Download PDF
JP4765027B2
JP4765027B2 JP2005241021A JP2005241021A JP4765027B2 JP 4765027 B2 JP4765027 B2 JP 4765027B2 JP 2005241021 A JP2005241021 A JP 2005241021A JP 2005241021 A JP2005241021 A JP 2005241021A JP 4765027 B2 JP4765027 B2 JP 4765027B2
JP2005241021A
JP2007060093A (en
康也 三宅
勇希 前田
英樹 田邊
2005-07-29 Priority to JP2005220995 priority Critical
2005-07-29 Priority to JP2005220995 priority
2005-08-23 Application filed by 国立大学法人 奈良先端科学技術大学院大学 filed Critical 国立大学法人 奈良先端科学技術大学院大学
2005-08-23 Priority to JP2005241021A priority patent/JP4765027B2/en
2007-03-08 Publication of JP2007060093A publication Critical patent/JP2007060093A/en
2011-09-07 Publication of JP4765027B2 publication Critical patent/JP4765027B2/en
The present invention collects predetermined information possessed by each of a plurality of information devices located at a position distant from the information terminal by using an information terminal at hand of the user by utilizing spatial light communication at least in part. The present invention relates to an information processing system used for remotely controlling an information device and an information processing apparatus directly operated by a user in such a system.
In recent years, personal computers have become popular in homes, and various digital information devices such as digital TVs and DVD recorders have become widespread. Under such circumstances, the construction of a network mainly in the home centered on such information devices is being promoted. Furthermore, home appliances such as refrigerators and microwave ovens, which have been called so-called white goods, have been tried to be incorporated into home networks as their functionality increases. However, in practice, there are various problems in widespread use of such home networks. One of them is how to provide user-friendliness and user-friendliness, and there is an urgent need to develop a user interface with good operability.
On the other hand, the spread of mobile phones in recent years is remarkable, and many of them are equipped with a digital camera and are equipped with storage media on the market. Various application systems that use a mobile phone as an information terminal have also been proposed. Under these circumstances, as disclosed in Non-Patent Document 1, the present inventors also use a digital camera function of a mobile phone to display various information devices located away from the user on the display screen of the mobile phone. As a user interface for operating such information devices while visually confirming above, a kind of remote control system called “Opt Navi” has been proposed.
In this system, ID information unique to the information device is transmitted as an optical signal from a light emitting diode (LED) provided in the information device to be controlled. A cellular phone having a light receiving function receives the optical signal, recognizes the position of the information device, and can display the position of the information device that can be remotely controlled on the captured image displayed on the display screen. By using such a system, it is possible to easily operate various devices included in the home network as described above.
In an information terminal (for example, a mobile phone) compatible with the “Opt Navi” system, a dedicated image sensor is used to receive an optical signal. The present inventors have already proposed such an image sensor in, for example, Japanese Patent Application No. 2004-319259 (filed on November 2, 2004), Non-Patent Document 2, and the like. The purpose of such a dedicated CMOS image sensor is to read ID information in accordance with received signal light in addition to normal image shooting in order to be mounted on a small and lightweight information terminal such as a mobile phone. This is done with low power consumption. Therefore, in addition to the function of reading out the signals of all the pixels of the image sensor at the normal imaging frame rate, a small number of pixel signals corresponding to a limited small image range are read out at a high rate (at least higher than the imaging frame rate). It has a characteristic function.
Specifically, in the CMOS image sensor described in Non-Patent Document 2, a QVGA image (320 × 240 pixel image) is repeatedly read out at 30 fps (frames / second) and an ID image (ID of 5 × 5 pixels) (Up to 7 images around a pixel receiving an optical signal including information) can be acquired at a rate of 1.2 kfps. That is, by limiting the range of pixels to be read at high speed to the vicinity of the portion where the optical signal including the ID information is hit, the number of pixels to be read at high speed can be reduced. It is possible to reduce power consumption.
In the above-mentioned “Opt-Navi” system or a system equivalent to this, along with the reduction in power consumption of the image sensor itself as described above, an ID light (hereinafter referred to as an optical signal including ID information as information) on a captured image is displayed. It is also important to reduce power consumption of signal processing circuits (including DSPs and microcomputers) necessary for detection of light receiving positions and reception processing of “ID light”. For this purpose, it is necessary to reduce as much as possible the calculation amount until finding the light receiving position of the target ID light on the photographed image. In addition, since the amount of calculation is small, it shortens the time until the light receiving position of the ID light is found, so that it is expected to improve the responsiveness of the operation on the information terminal. Conventionally, there has not been provided a technique for finding the ID light receiving position on a captured image more efficiently by reducing the amount of calculation for such purposes.
Keiichiro Kagawa et al., "Visual multi-remote control for information appliances: Proposal of optical navigation", Proc. Of Optics Japan 2004, November 2004, pp.112-113 Koji Yamamoto and five others, "A CMOS image sensor capable of simultaneously capturing 30 fps normal images and 1 kfps ID images for the" Opt-Navi "system", IEICE Technical Report 29, 24, May 2005, pp. 9-12
The present invention has been made in view of the above problems, and an object of the present invention is, for example, an information device located at a position away from the information terminal using spatial optical communication by an information terminal at hand of the user. Is to provide an information processing apparatus and an information processing system capable of suppressing power consumption by reducing the amount of calculation in the processing as much as possible when acquiring predetermined information.
The present invention made to solve the above-mentioned problems is an information processing apparatus having a reception function for acquiring the information included in a transmission apparatus including a light source that emits light including at least predetermined information through spatial light communication. In order to obtain the position information of the emitted light by the light emitting source of the transmission device existing in the imaging range in parallel with the image information of the imaging range by the imaging function,
a) an imaging means including a light receiving unit in which pixel cells that perform photoelectric conversion are arranged in a two-dimensional manner and a readout circuit that reads out pixel signals obtained by photoelectric conversion in each pixel cell;
b) Based on the pixel signals read from each pixel cell of the imaging means, a plurality of images having different resolutions for the same frame based on the signals of the enlarged pixel cells in which a plurality of adjacent pixel cells are virtually combined Binning processing means for creating
c) Obtain an evaluation value that reflects the presence or absence of light emitted by the light source based on an image of a certain number of consecutive frames for a pixel signal obtained by one pixel cell or one enlarged pixel cell; Evaluation means for determining a pixel cell or an enlarged pixel cell receiving the emitted light based on the evaluation value;
d) Specifying an enlarged pixel cell receiving light emitted from the light source by the judgment by the evaluation unit for the image having the lowest resolution created by the binning processing unit, and limiting the range to the range including the enlarged pixel cell The light emission by the light source is repeated by repeating the process of performing the determination by the evaluation means on the image having a low resolution and identifying the enlarged pixel cell or the pixel cell receiving the light emitted by the light source. Processing means for finally identifying the position of the pixel cell receiving light;
As one aspect of the information processing apparatus according to the present invention, the evaluation unit calculates an evaluation value for each pixel cell or each enlarged pixel cell by using an evaluation function that uses a fast Fourier transform operation for a predetermined number of frames of images. It can be set as the structure to do.
In this information processing apparatus, the evaluation function is initially used for each enlarged pixel cell with respect to an image having the lowest resolution among a plurality of images created by the binning processing means, that is, an image having the smallest number of enlarged pixel cells. Then, an evaluation value is calculated. For example, it is determined whether or not the pixel is an enlarged pixel cell including a pixel cell that receives the emitted light depending on whether or not the evaluation value exceeds a predetermined threshold value. Thus, when an enlarged pixel cell receiving light emission is specified for the lowest resolution image, the enlarged pixel cell or pixel cell range to be examined next is narrowed based on the result. For the image whose resolution is increased by one level (that is, the number of pixel cells included in one enlarged pixel cell is reduced), the evaluation value is similarly calculated for each enlarged pixel cell using the above evaluation function. As a result, the enlarged pixel cell receiving the emitted light is specified.
In general, since the fast Fourier transform operation takes time, the calculation amount of the evaluation function influences the calculation amount of the entire processing in the configuration of the above aspect. According to the information processing apparatus according to the present invention, the resolution is achieved by binning processing. Pixels to which evaluation function calculation is applied compared to the case where hierarchization by binning is not performed because multiple images with different levels are created hierarchically and calculation processing by evaluation function is applied sequentially from low resolution images The number of cells (or enlarged pixel cells) can be reduced. As a result, the number of executions of the fast Fourier calculation for finding the light receiving position of the emitted light by the light source can be greatly reduced.
Therefore, the processing for specifying the light receiving position of the light emitted from the light emitting source from the photographed image, specifically, the position detection of the information device that emits the ID light can be achieved with a much smaller calculation amount than in the past. Thereby, for example, the power consumption of the signal processing device (circuit) of the information terminal in the remote control system such as the above-described opto-navi system can be reduced. In addition, for example, since the position detection of an information device that emits ID light is accelerated, there is also an advantage that ID information can be quickly acquired from the information device that captured the position.
In the information processing apparatus according to the present invention, the evaluation unit may perform evaluation using an evaluation function having different accuracy according to the resolution of the image to be evaluated. That is, when evaluating a low-resolution image, an evaluation function with a small amount of calculation is used even if it is inferior in accuracy. When evaluating a high-resolution image after the pixel cells to be evaluated are narrowed down, It is better to use an evaluation function that emphasizes accuracy rather than computational complexity. According to this, since the amount of calculation under the condition where there are many evaluation objects is reduced, the amount of calculation can be further reduced as a whole.
When the information processing apparatus according to the present invention is an apparatus that is operated by a user's hand, such as a mobile phone, even if the position of the light source of the transmission apparatus is fixed, The relative movement of the light source on the captured image is inevitable. Therefore, in the information processing apparatus according to the present invention, the light emission within the imaging range based on the images of a plurality of consecutive frames created using the pixel signal read from each pixel cell of the imaging means. A movement information estimation means for estimating a direction and speed related to the relative movement of the source; and the evaluation means calculates an evaluation value that compensates for the movement based on the movement information estimated by the movement information estimation means. It is preferable to adopt a configuration for calculating.
Such motion compensation is performed for each layer that targets images with different resolutions, and motion compensation performed in a higher (lower resolution) layer is reflected in a lower (higher resolution) layer. Thus, the amount of movement can be reduced.
For example, the movement information estimation means may calculate cross-correlation between a plurality of images of consecutive frames and acquire information related to movement based on the maximum correlation value.
According to this configuration, even if there is a relative movement of the position of the light emitting source due to camera shake or the like, the influence is reduced and the position of the transmission device can be accurately detected.
The movement information estimation means may be configured to estimate the movement amount for each of the divided partial areas when shifting to an image having a relatively high resolution. According to this configuration, when there are a plurality of transmission apparatuses, the position recognition accuracy of each transmission apparatus can be increased.
In the information processing apparatus according to the present invention, the allowable value for the movement is loosened by performing the binning process. For example, when an 80 × 60 pixel binning image is created from an image of 320 × 240 pixels, a motion of 4 × 4 pixels is allowed. Therefore, if motion compensation is performed in the upper layer, the range for estimating the movement amount in the lower layer may be within the binning size. Therefore, the movement information estimation means, when shifting to an image having a relatively high resolution, assumes that the pixel position accuracy by binning processing is compensated under the assumption that the motion in the image having a low resolution is compensated. It is preferable that the movement amount be estimated only within a range including the uncertainty. Thereby, the amount of movement can be estimated more easily.
In the information processing apparatus according to the present invention, when the binning processing unit creates a low-resolution image, the high-resolution image corresponding to a certain enlarged pixel cell in the low-resolution image. A plurality of pixels in a high-resolution image corresponding to a plurality of pixel cells or an enlarged pixel cell in the image and a single enlarged pixel cell adjacent to the one enlarged pixel cell in an image of low image quality The pixel cell or the enlarged pixel cell may be set so that a part of the cell or the enlarged pixel cell overlaps.
According to this configuration, even when the light receiving region is formed so as to straddle adjacent pixel cells or enlarged pixel cells in a high resolution image, the pixel values of the pixel cells or enlarged pixel cells on both sides across the boundary are This is reflected in the pixel value of one enlarged pixel cell in the low resolution image. Accordingly, when the evaluation value is calculated as described above, it can be avoided that the evaluation value is apparently lowered, and detection of the light receiving region, that is, the detection of the transmission device can be prevented.
In the information processing apparatus according to the present invention, the binning processing unit may logarithmically compress the pixel value of each pixel cell or enlarged pixel cell. According to this configuration, while avoiding an increase in the number of bits when performing addition processing by binning, it is possible to avoid missing a minute change in pixel value.
An information processing system according to the present invention includes the information processing apparatus according to the above invention and a transmission apparatus including a light source that emits light of at least a predetermined frequency, and the transmission apparatus includes a pilot signal having a first frequency. And an optical signal having a frequency higher than the first frequency and superimposed on a different frequency band from an ID signal including information related to the transmission device, and the information processing device transmits the pilot signal Based on the detection result, the position of the transmission device is recognized, and based on the position information, one or more pixel cells of the light receiving unit of the imaging unit are specified, and the ID signal is acquired based on the pixel signal from the pixel cell. It is characterized by doing.
According to this information processing system, the position of the transmission device is accurately specified based on the pilot signal, and then the ID signal of the transmission device is acquired and used, for example, to identify or specify the transmission device Information that can be obtained. Thereby, for example, an icon based on the specific information of such a transmission device is displayed on the photographed image, and a convenient user interface for controlling the transmission device can be provided.
First, a remote control system which is an embodiment of an information processing system to which an information processing apparatus according to the present invention is applied will be described. FIG. 1 is a conceptual diagram showing the overall configuration of this remote control system.
The information terminal 1 that is the center of control is a mobile phone having a spatial light communication function as described later. As information devices to be controlled, a DVD recorder 2, a personal computer 3, a digital camera 4, a portable music player 5, a digital A television 6 or the like is connected to a home network (which may of course be connected to an external network) 7, and a resource center 8 is also connected to the network 7. However, the network 7 here means that each information device connected thereto can perform data communication with each other, and the connection is not always achieved through a specific device such as a server. . Further, the connection between the network 7 and each information device may be wireless or wired. Further, the information device to be controlled is not limited to the above description.
The resource center 8 stores resources related to each information device. The resources mentioned here include individual definition information of information devices, images for simple display of each information device, for example, icon data, a user interface corresponding to each information device on the information terminal 1, and each information device. A control program (typically a Java (registered trademark) application) for performing communication and control, or an operation description corresponding thereto (specifically, it may be a markup language, not a programming language) Etc. The resource center 8 can be configured by a computer having a server function, for example, but may be a simple storage medium such as a flash memory (specifically, various memory cards using the flash memory).
FIG. 2 is a schematic diagram showing one usage pattern of the remote control system shown in FIG. In this example, there is an information terminal 1 in the user's hand, and a personal computer 3, a digital camera 4, and a digital TV 6 are visible in front of the user's eyes, that is, can be visually recognized as information devices that can transmit ID information to the information terminal 1. It is arranged in the position. Each of these information devices emits ID light and is connected to the home network 7 via wireless communication. Here, the wireless communication may be radio communication or optical communication using infrared rays. For example, an existing communication such as a wireless LAN or Bluetooth (registered trademark) can be used. Of course, they may be connected by a wired LAN. By adopting a configuration in which substantial data transmission / reception is performed via the network 7 in this manner, large-capacity data can be exchanged at a higher speed than data communication by spatial optical communication via the information terminal 1.
First, an example of functions that can be realized by the remote control system of FIGS. 1 and 2 will be described. The information devices as described above, which are controlled by the information terminal 1, have at least a function of transmitting pilot signals and ID signals indicating their positions as optical signals, but other data. Communication or the like is performed via the above-described network 7 different from optical communication. Each of these information devices can be divided into passive devices and active devices. FIG. 17 is a diagram schematically showing a difference between a passive device and an active device in communication with the information terminal 1. The passive device shown as information device A in the figure is one that can accept control signals but cannot perform bidirectional communication of data signals. On the other hand, the active device shown as the information device B in the figure is a device that can accept a control signal and also can communicate data signals with each other (see FIG. 17B). Transmission of the ID signal by optical communication to the information terminal 1 can be either a passive device or an active device (see FIG. 17A).
In this remote control system, it is necessary to activate the information device and establish communication before performing data communication between the information terminal 1 and any one of the plurality of information devices. The sequence at that time differs depending on whether the other party is a passive device or an active device. The activation process sequence for the passive device will be described with reference to FIG.
First, an activation signal is transmitted from the information terminal 1 to each information device A (passive device) via data communication, that is, the network 7. Upon receiving this activation signal, each information device A transmits an ID signal on which a low frequency pilot signal is superimposed as an optical signal. Here, the information terminal 1 detects a pilot signal superimposed on the ID signal by a method described in detail later, thereby recognizing the position of the information device A included in the imaging range of the information terminal 1, and An ID signal faster than the signal is received and demodulated. Since the ID signal includes an ID (identification information) unique to each device such as a vendor identification code, a product type identification code, a manufacturing number code, etc. of each information device, the information terminal 1 thereby identifies the information device A. Identify. Then, an inquiry about the specified information device A is made to the resource center 8 via the network 7, and the corresponding resource is downloaded and stored in the internal memory. As a result, the information terminal 1 can obtain resources for the information device A.
Note that the activation signal that is first output from the information terminal 1 is not necessarily required, but if there is no activation signal, each passive device must always transmit the ID signal as an optical signal. In general, this is a waste of power consumption. Therefore, it is preferable to drive the light source and start outputting an optical signal only after receiving an activation signal.
Next, the activation process sequence for the active device will be described with reference to FIG. First, a search signal is sent from the information terminal 1 to each information device B (active device) via the network 7. This search signal corresponds to the activation signal. Here, as a user's operation for searching, a plurality of information devices B can be selected by using the CGI of the web server function activated on each information device B side from the web browser activated on the information terminal 1. You may make it look for one by one in order, and you may make it search several information apparatus B simultaneously using UDP (User Datagram Protocol).
Upon receiving this search signal, each information device B sends a response signal including the property information possessed by the information device B to the information terminal 1 via the network 7. By this response, the information terminal 1 recognizes the controllable information device B that exists in the surroundings (which may be physically surroundings or may be surroundings on the network), and refers to the property information to refer to the resource. An inquiry is made to the center 8 and the corresponding resource information is downloaded via the network 7 and temporarily stored in the internal memory. Further, the information terminal 1 assigns a different ID (address) to each information device B that has responded, and transmits the information. At this time, the ID assigned to each information device is not fixed, but is temporary, for example, which may change at each activation. Hereinafter, the information including such a temporary address is referred to as ID as information that can identify the information device in some sense.
Next, the information device B to which the ID is assigned sends the ID signal as an optical signal. Therefore, the information terminal 1 detects the pilot signal superimposed on the ID signal by the method as described above, thereby recognizing the position of each information device B and receiving the ID signal faster than the pilot signal and demodulating it. To do. Until this time, it is unclear whether or not the information device B performing the two-way data communication as described above exists within the imaging range of the information terminal 1, but the ID signal of the optical signal By receiving, it is possible to identify whether the information device B is displayed within the imaging range, that is, within the display screen, or the information device B outside the screen.
Subsequently, when the resource that has been previously fetched into the memory by referring to the property information is invalid (for example, the version included in the property information of the information device B acquired by the version included in the property information in the cached data) When the information terminal 1 is older, a resource transmission request signal is sent from the information terminal 1 to the information device B. The information device B that has received the resource transmission request transmits the resource held to the information terminal 1. Usually, resources have a much larger amount of data than ID signals and the like, so it is better to perform appropriate compression processing before transmission. Then, the resource received in this way is stored in place of the invalid resource previously held in the memory, and can be used in the subsequent processing. It should be noted that it is convenient that resources related to a control program such as a Java application can be operated using a control program related to a user operation immediately after the control program is downloaded. Of course, you may make it start a control program as needed.
In addition, since the ID signal by the optical signal does not arrive from the information device B that does not exist in the imaging screen of the information terminal 1, the ID signal is received via the network 7 after recognizing that it does not exist in the display screen. Similarly, the process can proceed. However, in this remote control system, there is a high possibility of controlling information equipment that is actually visible to the user, that is, within the imaging range by the information terminal 1, so that each information depends on whether or not it exists within the imaging range. It is possible to increase the apparent speed by assigning priorities to devices and obtaining resources in descending order of priorities.
Through the activation process as described above, the information terminal 1 can obtain resources for the information devices A and B. Next, a process when the user performs remote control of the information device by an operation on the information terminal 1 using such acquired resources will be described with reference to FIG.
In FIG. 19, on the upper portion 21b of the display screen 21a of the information terminal 1, three information devices existing within the imaging range are displayed with icons C1, C2, and C3. In the lower portion 21c of the display screen 21a, information devices that do not exist within the imaging range but are confirmed to exist on the network 7 are displayed with icons C4 and C5. Icons corresponding to these information devices are also based on data such as image files included in the previously obtained resources. Now, for example, the information device c1 indicated by the icon C1 is a portable music player, the information device c2 indicated by the icon C2 is a stereo audio system, and a music file stored in the portable music player is converted to a stereo audio system. Consider the case of capturing and playing music.
Since the resources for the information devices c1 and c2 are held in the information terminal 1 at hand of the user, by performing a predetermined operation on the icon C1, it is held in the portable music player that is the information device c1. The music file information, for example, artist name, album name (song name), etc., is displayed, and the user selects a desired one. As described above, such an operation can be performed on a control program such as a Java application corresponding to the information device c1. Then, the icon C1 is selected on the display screen 21a, moved over the icon C2, and overlapped, that is, an operation corresponding to drag and drop is performed. As a result, a control signal corresponding to the operation is sent to the information devices c1 and c2 via the network 7 by the function of the response regulation resource included in the resources of the information devices c1 and c2 in the information terminal 1.
In the above description, it is assumed that there is only one information terminal 1 in the system. However, in reality, a situation where a plurality of information terminals 1 exist and are used simultaneously is assumed. In such a case, an ID may already be assigned to an information device from a certain information terminal 1, and another information terminal may control the information device. In this case, if different IDs are assigned to the same information device from different information terminals, confusion arises. Therefore, when an information device to which an ID has already been assigned receives access from another information terminal (search The allocated ID is transmitted to the information terminal as an optical signal as described above, and the information terminal may perform control related to the information device using the ID.
Further, in the remote control system as described above, when operating an information device at a distant location from an information terminal at the user's hand, the icon displayed on the screen of the information terminal or application software started from the icon is used. There is a need. If the information device is a personal computer equipped with an OS such as Windows (registered trademark), it is convenient to use a pointing device such as a mouse to log on to the personal computer OS from an information terminal and control it. is there. For this purpose, an information terminal such as a personal computer can be operated remotely by using the information terminal as a pointing device.
For example, the movement amount of the position coordinates of the pilot signal and ID signal detected at the information terminal is transmitted to the information device as the movement control amount of the pointing device. On the information device side, for example, a pointer (such as a mouse cursor) displayed on the screen is moved according to the received movement control amount. The information terminal recognizes a button operation such as a click or double click by the user, and transmits a control signal corresponding to the recognition result to the information device. The information equipment side generates an event corresponding to the control signal. Alternatively, a cross key may be prepared in the information terminal (or an existing cross key may be used), and operation information on the key may be transmitted to the information device to move the pointer in the corresponding direction. In any case, by adopting such a configuration, it is possible to freely control the OS of a personal computer at a remote location by a simple operation with an information terminal at hand.
In the above system, the image captured by the camera and the icon corresponding to the information device are displayed on the display screen of the information terminal at hand of the user, but the head mounted display (HMD) ) Makes it possible to use another method. That is, the ID camera and the ID camera mounted on the HMD acquire the ID information and the position, and the image information such as an icon corresponding to the ID position is displayed on the scenery that passes through the HMD without displaying the image on the HMD screen. Display overlap. Then, an operation is performed by a method such as line-of-sight input, joystick, or key input of the user wearing the HMD. According to this, it is possible to realize a user interface that more naturally fuses the real world (actual scenery) and the virtual world (image information such as icons) on a computer.
Next, the information terminal used for the remote control system as described above will be described in detail. This information terminal 1 corresponds to the information processing apparatus in the present invention. FIG. 3 is a block configuration diagram of a main part for performing optical communication, which is built in the information terminal 1.
The information terminal 1 includes a light receiving lens 12 and an image sensor 11 that is an image sensor as the image capturing / receiving unit 10. Here, the image sensor 11 is a CMOS image sensor in which minute light receiving elements (pixel cells) are two-dimensionally arranged, and corresponds to the imaging means in the present invention. As a circuit for processing a signal (pixel signal) read from each pixel of the image sensor 11, an image data processing unit 15 for creating a two-dimensional image of the entire imaging range, and a pixel signal read from a specific pixel An ID data reception processing unit 13 that performs decoding processing and the like to extract ID (identification) information, and a pixel cell that is irradiated with ID light in a captured image as described later to extract ID information ID position detection processing unit 14. Further, the communication establishment control unit 16 that executes various processes for establishing communication between the information terminal 1 and a predetermined information device based on the signal obtained by the ID data reception processing unit 13 and communication. A main control unit 20 that executes various controls and processes, and an operation unit 22 and a display unit 21 connected to the main control unit 20 are provided. In this example, the ID position detection processing unit 14 has the functions of a binning processing unit, an evaluation unit, and a processing unit in the present invention.
On the other hand, each information device (for example, the personal computer 3) described above includes a light emission source (optical beacon) that emits ID information unique to each device as an optical signal (ID light). This optical beacon can use, for example, a display LED indicating the power on / off state of each information device, or can be provided separately.
The emitted light from the optical beacon may be visible light, but in general, it is desirable to be infrared light. In this case, the image sensor 11 provided in the information terminal 1 is R (red), G (green), B In addition to (blue), IR (infrared) or a color-compatible sensor in units of four pixels in which complementary color pixels are arranged may be used. At this time, the pixel arrangement may be a houndstooth pattern such as a Bayer pattern or a stripe pattern. According to such a configuration, the visible light component can be removed from the near-infrared signal to be detected, and the detection accuracy of a pilot signal and an ID signal described later can be improved.
FIG. 5 is a schematic diagram illustrating a frequency spectrum of an optical signal emitted from an optical beacon of each information device. FIG. 6 is a diagram illustrating an example of a signal format for one packet of an ID signal transmitted from each information device to the information terminal 1.
In this embodiment, the pilot signal is, for example, a signal that blinks (or weakens) at a frequency f p that is lower than ½ of the standard image frame frequency of 30 Hz. A signal is used. The main purpose of this pilot signal is to make the information terminal 1 which is a communication partner recognize its own position. Therefore, depending on a pilot signal detection method described later, a signal having a higher frequency may be used as the pilot signal. Further, it is not necessarily required to periodically blink, but it may be possible to blink aperiodically or emit light in response to an external request. On the other hand, the ID information has a frequency band centered on a frequency f ID sufficiently higher than the frequency f p of the pilot signal, and a unique address assigned to all information devices or its communication so that no identical information exists. Information such as a temporary address temporarily assigned to each information device at the time.
As shown in FIG. 6, a P / A identification bit for identifying whether the information device is a passive device or an active device is added to the ID data such as the unique ID as described above. A parity code for error detection (or other error detection or correction code) is added to the identification bit and the ID data, and a predetermined preamble signal is added to the head of the data to form a group of data series, that is, one packet. Is created. The passive device and the active device will be described later. The preamble is for finding the head of the packet, and is a 9-bit data string of “111111110”, for example. The packet created in this way is repeatedly transmitted as an optical signal after being subjected to appropriate digital modulation in accordance with the characteristics of the transmission path. Specifically, the packet is, for example, Manchester encoded and transmitted as an optical signal.
In this embodiment, the frequency f p of the pilot signal is set to 5Hz as detectable frequency 30fps is the frame rate of the image reading, the frequency of the ID information f ID detectable frequency much faster 1.2kfps than Is set to 400 Hz, and a temporary ID having a data length of about 8 bits is transmitted as ID information. Of course, these numerical values can be changed as appropriate. For example, the ID information may include property information such as a unique address having a long bit length corresponding to IPv6 or data indicating the operating condition of the device.
In the remote control system shown in FIG. 2, when a user wants to control a certain information device, the user points the imaging / light receiving unit 10 (camera) of the information terminal 1 toward the information device. Then, in the information terminal 1, the image data processing unit 15 first acquires an image at a frame rate of 30 fps, and the main control unit 20 displays an image / light receiving unit on the screen of the display unit 21 as shown in FIG. A two-dimensional image included in the ten imaging ranges is displayed. In parallel with this, the ID position detection processing unit 14 detects the pixel cell receiving the pilot signal within the imaging range by a method to be described later, so that the light of the activated information device existing in the image is detected. Detect beacons. The ID data reception processing unit 13 reads out and decodes the ID information included in the ID light by reading out only the pixel signal in the small area near the position of the optical beacon at a high speed of, for example, 1.2 kfps. Receiving this ID information, the main control unit 20 specifies the type of each information device and the like, and displays identification information 21d for selecting each information device in the vicinity of the position of the optical beacon on the screen of the display unit 21. Display an overlay.
That is, the information devices displayed in an overlay manner here, for example, in the example shown in FIG. In this case, the information device can be controlled by the information terminal 1. Therefore, the user can perform a predetermined key operation on the information terminal 1 to select one or more information devices and send a predetermined command to the information devices via the network 7, for example. Specifically, various controls such as transferring image data stored in a memory card in the digital camera 4 to the digital television 6 and displaying a photographic image on the screen of the digital television 6 are possible. Become.
As described above, the information terminal 1 needs to acquire a two-dimensional image by the imaging / light-receiving unit 10 and the ID position detection processing unit 14 needs to detect an optical beacon existing in the two-dimensional image. Specifically, the pilot signal detection method for recognizing the position of the optical beacon has a great feature. The pilot signal detection technique will be described below with reference to FIGS. 7 to 12 and FIG. 7 is a flowchart of pilot signal detection processing, FIG. 8 is a conceptual diagram for explaining a pilot signal detection method, FIG. 9 is a conceptual diagram for explaining binning processing at the time of detecting a pilot signal, and FIG. 10 is a pilot signal. FIG. 11 and FIG. 12 are conceptual diagrams for explaining motion compensation at the time of detecting a pilot signal, and FIG. 14 is a diagram illustrating processing for blinking of a light emitting unit at the time of detecting a pilot signal. It is a conceptual diagram for demonstrating.
Here, in order to accurately detect the position where the pilot signal exists in the captured image, the following equation (1) is introduced as an evaluation function p (x, y) of the pilot signal.
Here, x and y are pixel coordinates, f is a frequency, g (f) is a calculation result for the frequency f of the fast Fourier transform for a fixed number of continuous frames, and f PILOT is a pilot signal frequency (in this example, 5 Hz). ). It is assumed that a pixel whose evaluation value according to the above equation (1) exceeds a predetermined threshold is a pixel cell or an enlarged pixel cell receiving a pilot signal.
Although the evaluation according to the above formula (1) is highly accurate, the amount of Fourier transform is large, and therefore when the evaluation calculation is performed sequentially for all pixels, the total amount of calculation becomes enormous. Therefore, here, hierarchization by binning is introduced to reduce the number of pixels to be evaluated. “Binning” refers to handling several elements (pixels) adjacent to each other on the image at a reduced resolution.
When the pilot signal detection process is started, the ID position detection processing unit 14 first accumulates all pixel signals for a predetermined number of frames, for example, 16 frames (step S1). Here, as an example, since a QVGA image having effective pixels of 320 × 240 pixels is a processing target, a pixel signal of 320 × 240 pixels × 16 frames is accumulated. Next, a predetermined binning process is performed using the accumulated pixel signals, and images with different resolutions at different levels are created for each frame (step S2). Usually, 2 × 2 pixel binning processing is executed (n−1) times to create images with different resolutions in n layers. Here, consider a case where n = 4 and binning processing is executed three times.
Specifically, as shown in FIG. 8, 160 × 120 pixels (see FIG. 8C) and 80 × 60 pixels (see FIG. 8) with respect to the 320 × 240 pixel original image (see FIG. 8D). Each binning image of 40 × 30 pixels (see FIG. 8A) is created. A pixel cell of a binning image other than the original image is a virtual pixel cell (that is, an enlarged pixel cell referred to here) in which a plurality of pixel cells of the original image are grouped. Now, among the four images including the original image shown in FIG. 8, the coarsest, that is, the 40 × 30 pixel image having the lowest resolution is set as the first hierarchy, and the second hierarchy, the third hierarchy, This is called the 4th layer.
When performing the binning process as described above, the following characteristic process is performed. For example, in the case of creating one pixel (enlarged pixel cell) of an upper layer (low resolution) image by adding pixel values of a total of 4 pixels of 2 vertical pixels and 2 horizontal pixels having a 10-bit pixel value, Then, the addition processing is performed with four adjacent 2 × 2 pixels as one set. On the other hand, here, the addition process itself is performed on a total of 16 pixels of 4 × 4 pixels adjacent to each other. That is, as shown in FIG. 9, in order to obtain the pixel value of a certain enlarged pixel cell # 1 in the image P1 in the upper hierarchy, 4 is indicated by # 1 ′ as the addition target area in the image P2 in the lower hierarchy. A region of × 4 pixels is set. Then, in order to obtain the pixel value of another enlarged pixel cell # 2 adjacent to the enlarged pixel cell # 1 in the image P1, an area of 4 × 4 pixels indicated by # 2 ′ is added as an addition target area in the image P2. Set. The addition region # 2 ′ overlaps the addition region # 1 ′ with 2 × 4 pixels, and the pixel value of the 2 × 4 pixels is the value of both the enlarged pixel cell # 1 and the enlarged pixel cell # 2 in the image P1. It will be reflected in the pixel value.
In this way, by superimposing a part of the region to which the pixel value is added in the lower resolution image in order to create the upper layer image, when the incident light from the optical beacon strikes the pixel, It can be avoided that the value obtained by adding the pixel values at the boundary becomes small and the influence is relatively neglected. Further, when the pixel value for one pixel of the upper image P1 is obtained by adding 16 pixels of 10-bit pixel values in the lower layer image P2, the pixel value needs to be 16 times, so that the pixel value is 14 bits. It becomes the value of. In the case of such binning processing, generally, the pixel value after addition is rounded to 10 bits for the purpose of saving memory or the like, but here such rounding processing is not performed, and the pixel value of the upper layer is This is done by increasing the number of data bits. As a result, even slight pixel value change information is stored, and as a result, it contributes to increasing the detection accuracy of the light receiving position of the pilot signal.
In order to avoid losing minute pixel value changes while saving memory, the value after binning processing may be logarithmically compressed, for example, a 14-bit value may be converted to 10-bit before compression. .
For the multi-layer binning image created as described above, first, the ID light reception position search target hierarchy is set to 1, and the search range is set to all pixels (step S3). That is, the search for the ID light receiving position is started from the binarized image of the first hierarchy having the lowest resolution. An evaluation value is calculated for each enlarged pixel cell for the binarized image of the first hierarchy for 16 frames by the evaluation function according to the above equation (1) (step S4). As a result, an evaluation value is obtained for each 40 × 30 enlarged pixel cells. In the enlarged pixel cell including the pixel cell receiving the pilot signal, that is, the pixel cell irradiated with the ID light emitted from the information device, the evaluation value becomes high, and the obtained evaluation value is compared with a prescribed threshold value. Thus, an enlarged pixel cell (hereinafter referred to as an ID receiving pixel) having an evaluation value exceeding the threshold is found (step S5).
Next, the position and size of the ID reception pixel are determined, and a range of m × m pixels including the ID reception pixel is cut out and set as a search range of the next layer (step S6). At this time, as shown in FIG. 10, it is determined that the areas # 1 and # 2 in which the ID receiving pixels are adjacently connected according to the result of the threshold processing in step S5 are one ID light receiving area. For example, in the case of FIG. 8A, m = 5, and a 5 × 5 pixel (enlarged pixel cell) range including the ID light receiving region is set as a search range of the next hierarchy. When ID light simultaneously arrives from a plurality of information devices, a plurality of ID reception areas are scattered at positions distant from each other on the binning image. Therefore, the search range of the next hierarchy may be determined for each of the ID reception areas. Then, for each ID light receiving position, it is determined whether or not the size of the ID light receiving area estimated from the number of pixel cells constituting one ID light receiving area is equal to or larger than a predetermined value (step S7).
For an ID light receiving position where the size of the ID light receiving area is equal to or greater than a predetermined value, it is determined that the ID light receiving position can be specified with sufficient accuracy, and the subsequent search is terminated (step S8). Assuming that a low-resolution image is created by adding N BX × N BY pixels in the binning process, for example, if the size of the ID light receiving region is 2 × 2 pixels or more in the nth layer, the lowest layer Since it is guaranteed that the image size is (2N BX n−1 ) × (2N BY n−1 ) pixels or more, the processing can be simplified by stopping the search here.
On the other hand, it is determined whether or not an ID light receiving position whose ID light receiving area is smaller than a predetermined value is the lowest hierarchy, that is, the fourth hierarchy here (step S10). To do. Then, in order to specify the position (coordinates) of the ID reception pixel, the final ID reception pixel position information obtained by the search is written in an ID map table provided in the image sensor 11 (step S9). This ID map table is used to specify a target pixel cell when only a pixel signal receiving ID light is selectively and repeatedly read at high speed.
If it is determined in step S10 that the layer is not the lowest layer, the process moves down to one layer, that is, to search for an image of the first layer → second layer, second layer → third layer, or third layer → fourth layer. (Step S11) Furthermore, after performing motion compensation accompanying the movement of the light receiving position of the ID light (Step S12), the process returns to Step S4, and as described above, in the above step S6 on the higher resolution image, The detection of the ID reception pixel is executed for the cut-out range determined as the search range (strictly, the motion compensation in step S12 is taken into consideration). That is, in the case of immediately after moving from the first layer to the second layer, m = 5 here, so that the 10 × 10 pixel range in the binarized image of the second layer having a high one-step resolution is obtained. An evaluation process using the same evaluation function as described above is performed. This is the state shown in FIG. Then, the same processing is repeated while moving to the lower layer, that is, an image with high resolution until the position of the ID reception pixel can be specified with sufficient accuracy.
Actually, the information terminal 1 is operated while being held by the user, so that hand shake occurs, whereby the position of the ID reception pixel changes (relatively moves) within the light receiving region of the image sensor 11. The speed of this change is not large compared to the frame frequency of the image, and this is not a problem for low-resolution images. However, if the resolution of the image is increased, the movement of the ID reception pixel between each image for 16 frames is increased. May be a problem. The process for suppressing this influence is the motion compensation in step S12.
That is, when performing motion compensation, first, a movement vector reflecting the direction and amount of motion is obtained. For example, a pixel range in which the movement range of the ID reception position falls between adjacent frames in the next layer is set, the cross-correlation between both frames is calculated, and a movement vector that maximizes the cross-correlation value is obtained. Consider a case where an image with a low resolution is created by adding N BX × N BY pixels in the binning process. In this example, specifically, N BX = N BY = 4 as described above (see FIG. 12).
Considering that the motion compensation performed up to the upper layer n−1 is already reflected in the layer n, the horizontal motion range is − (N BX / 2) to + (N BX / 2), vertical It can be inferred that the range of motion in the direction is within − (N BY / 2) to + (N BY / 2). Therefore, frame i temporally adjacent in the movement range, and calculates the cross-correlation of the i + 1, calculating the moving vector m i of the cross-correlation value is maximized. However, since cross-correlation requires a product operation and requires a large amount of calculation, the sum of absolute differences of corresponding pixels may be used as an evaluation function.
Since the motion vector m i and the moving direction of the ID receiving position and the moving velocity can be estimated, on the basis of this result, the motion compensation as changing the cut-out range of the image in calculating the evaluation value by the evaluation function for each frame Do. That is, in FIG. 11, when motion compensation is not performed, even if a light receiving region exists in the same pixel cell (enlarged pixel cell) in an upper layer image, the light receiving region moves due to movement in the lower layer image. Therefore, if the evaluation value is calculated from images of a predetermined number of consecutive frames without performing motion compensation, that is, while maintaining the same cutout range of the image when calculating the evaluation value, the evaluation value decreases and the light receiving area is reduced. It becomes easy to miss. Therefore, here according to the moving amount and the moving direction is estimated motion vector m i, Yuku staggered cutout range of the image so as to cancel the movement. In FIG. 11, in the lower layer images such as n and n + 1, the cutout range is shifted for each frame as indicated by a dotted line. Therefore, in the cut out image range, the light receiving position is not apparently moved, and by calculating the evaluation value based on the plurality of images, it is possible to avoid a decrease in the evaluation value due to movement such as camera shake. be able to.
However, in the example shown in FIG. 11, it is assumed that the entire image is shifted uniformly, but actually, the lower layer corresponding to one enlarged pixel cell in the upper layer is used. By obtaining a motion vector for each partial region in the hierarchical image and performing motion compensation based on the motion vector, it is possible to reduce the influence of complex motion and increase the accuracy of calculating the evaluation value.
Moreover, since the optical beacon is driven to blink with a low-frequency pilot signal, it is necessary to consider a period during which the optical beacon is extinguished in addition to the above-described movement. A process considering such blinking of an optical beacon will be described with reference to FIG. Assume that the image of frame number i is the head of the image for 16 frames for which the evaluation calculation is performed. Also, the motion vector of the frame i of an image for the immediately preceding frame number i-1 of the image to be m i. At this time, in order to recognize the timing when the light beacon blinks (turns on / off), two pieces of information can be used as follows.
That is, when obtaining the evaluation value by the evaluation function based on the image of the one level, by detecting the frequency f p of the pilot signal, blinking of the light beacon from the phase of that frequency f p of the FFT component g (f p) You can see the switching timing. Actually, as shown in FIG. 14, the blinking is switched every phase π. Further, as described above, when the movement amount is calculated for motion compensation, it can be estimated that the blinking state of the optical beacon is switched when the maximum value of the cross-correlation between adjacent frames is equal to or less than the threshold value. Then, after determining the blinking state of the optical beacon, for example, during the lighting period of the optical beacon, if the cross-correlation of images of consecutive frames is calculated as described above and the movement vector is calculated from the maximum cross-correlation value Good. Also, at the time of switching of blinking of the optical beacon, for example, instead of calculating the movement vector, the most recent movement vector is substituted, or from the maximum value of the cross-correlation value with the motion compensated image of the previous cycle What is necessary is just to obtain a movement vector. In this way, the motion compensation as described above can be performed with almost no influence from the blinking of the optical beacon.
According to the ID light receiving position detection process as described above, the calculation amount of the evaluation value using the equation (1) can be greatly reduced. Assume that the resolution of the original image is N x × N Y and the maximum number of IDs that can be received simultaneously is n ID . When the hierarchization by binning as described above is not performed, it is necessary to perform the calculation of the expression (1) only N x × N Y times. On the other hand, when hierarchization by binning is performed as described above, the number of executions of the expression (1) is (N x × N Y / 4 n-1 ) + 4m 2 (n-1) n ID times. As a specific example, in the case of QVGA with 320 × 240 pixels, layering is not performed under the condition that the maximum ID number n ID is 7 and the ID image size m × m is 5 × 5 (1) The number of executions of the expression is 79360 times, 6360 times when 3 layers of binning are performed, which is 1/10 or less. Further, if binning is performed on four layers, the number of times of calculation execution can be further reduced to 3340 times. Thus, according to the above process, the amount of calculation in the process for specifying the pixel receiving the ID light in the image sensor 11 can be greatly reduced.
In the above description, the same evaluation function is used in each layer having different resolutions. However, the evaluation function may be changed for each layer. When performing a hierarchical search, it is necessary to search all pixels (enlarged pixel cells) in the coarsest resolution image. Therefore, for example, an evaluation function with a low calculation amount but a low calculation amount is used for a low-resolution image, and a high-resolution image with a small number of target pixels is more accurate even if the calculation amount is large. It is recommended to use a high evaluation function. In this way, the overall calculation amount can be further reduced.
After confirming the light receiving position (ID receiving pixel) of the light from the optical beacon by the method as described above, this time, the ID signal is read at a high speed in the range narrowed down to the vicinity of the pixel. The ID data decoding process will be described with reference to the flowchart of FIG.
First, the pixel value of a specific pixel cell is repeatedly read out at a high speed (in this example, at a rate of 1.2 kfps) based on the position information of the ID reception pixel written in the ID map table as described above. A typical ID image is acquired (step S21). At this time, as shown in FIG. 13A, when the size of the ID light receiving area is small to some extent, all pixels within a predetermined range including the ID receiving pixel can be set as readout targets. As shown in FIG. 13B, when the size of the ID light receiving region is large, the number of pixels to be read out is excessive. Therefore, in that case, the pixel to be read may be narrowed down by setting the read pixel by thinning out at an appropriate interval.
Then, the sum of all the pixel values of the read pixels is calculated (step S22), and the influence of noise is reduced by performing a plurality of smoothing processes (step S23). Thereafter, the pixel values obtained by the smoothing process are arranged in time series in the order of the frames, and the pixel values are binarized by determining with reference to the threshold value (step S24). In general, the forward average (average of a fixed number of forward data) or the backward average (average of a fixed number of backward data) is used to determine a threshold for such binarization processing. The backward average is used at the end of the packet, and the forward average is used at other portions.
As another method for binarization, for example, when 1 bit is captured in 3 frames, correlation calculation is performed using the correlation kernel {-1, -1, -1, 1, 1, 1}. Using a 0 → 1 change point detection filter, between the change points of its positive / negative (positive: “0” → “1” change, negative: “1” → “0” change), “0” or “1” Binarization may be performed by filling in "."
In this code, there should be no isolated “1” or “0” in which only one frame becomes “1” or “0”. Therefore, after the binarization process, a glitch that removes such isolated bits is used. A removal process is performed (step S25). Thereafter, the number of consecutive “1” or “0” is counted (step S26), and “0”, “1”, “00”, and “11” are restored by comparing the count value with a threshold value. (Step S27). For example, when the count value of “0” or “1” is 4 or less, it is “0” or “1”, respectively, and when the count value of “0” or “1” is 5 or more, “ 00 ”or“ 11 ”.
The head of the packet is determined by finding the data sequence obtained as described above as a preamble signal, for example, a 9-bit data sequence of “111111110” as described above (step S28). The Manchester code is decoded from the first bit immediately after (step S29). That is, “01” → “1”, “10” → “0” are converted, and if “00” or “11” appears, it is determined that there is a decoding error (YES in step S30). If no decoding error occurs, error detection or correction is then performed using an error detection code (or correction code) (step S31).
Since there is a decoding error in step S30 and when an error is detected in step S31 (when an error that cannot be corrected when error correction is performed), the reliability of the ID signal is poor. The ID value is discarded (step S34), and if there is no error, the ID value is acquired (step S33). In this way, the information terminal 1 can obtain the ID information held by each information device.
Even in the process of acquiring an ID image of a large number of frames as described above, the ID light receiving region is likely to move relatively due to camera shake or the like as in the case of detecting a pilot signal. Track the light receiving area. FIG. 16 is a conceptual diagram for explaining such an ID tracking method. (A) is obtained continuously when “0” is only 1 bit, and (b) is obtained continuously when “0” is 2 bits in succession. An example of an ID image is depicted. For example, one ID image is obtained every 1.2 kHz. In this case, 1-bit data is represented by three ID images.
As shown in FIG. 16, the ID light receiving area does not exist on the ID image during the period when the data bit is “0”, and the ID light receiving area moves during the period when the data bit is “1”. Therefore, in order to accurately decode the ID signal, it is necessary to track the ID light receiving area as it moves. Therefore, a movement vector is obtained for the ID image by using a method similar to that at the time of motion compensation when detecting a pilot signal. That is, the movement vector is obtained by using the cross-correlation between the frames of the ID image and the sum of absolute differences, thereby estimating the movement amount and the movement direction. However, since the movement vector is not obtained during the period when the data bit is “0” as described above, the movement is estimated even during the period when there is no ID light receiving area by providing the movement vector with history information. It is good to do so.
Specifically, the final movement vector in the previous frame is m i-1 , and the movement vector obtained in the current frame is m i, 0 (however, if the sum of absolute differences is less than the threshold, round down to zero vector )), The final motion vector of the current frame is
m i = βm i-1 + (1-β) m i, 0
Where β is the attenuation factor and 0 <β ≦ 1
Should be defined. In an ID image frame in which no ID light receiving area exists (the optical beacon is turned off), the movement vector may be obtained by the above formula. However, since the movement vector according to this equation is not very responsive to movement that suddenly increases in speed, the movement vector m i, 0 used as it is more preferable that only use the movement vector by the above formula with ID image frame is ID receiving region does not exist. If the movement vector is obtained in this way, the position of the pixel to be read for forming the ID image is shifted according to the movement amount, and the ID light receiving area can be surely captured.
As described above, the information terminal 1 can identify the information device based on the ID information. For example, the information terminal 1 can collect resources and display an icon corresponding to the information device on the display screen 21a. Rather than doing so, scoring is performed once. That is, when the presence of an ID is not recognized, the score is decreased at a certain rate from the initial value, and is saturated at a specified lower limit (that is, the score does not decrease beyond that). Each time ID information is detected, a specified value is added to the score. When an ID is detected a certain number of times and the score exceeds a specified upper limit threshold, the presence of the ID is recognized for the first time, and the display screen 21a. Display an icon at the corresponding position above.
Even for an ID that has been confirmed to exist, if the ID is no longer detected, the score is decreased at a certain rate. However, if the ID is detected before the score reaches a predetermined lower threshold, the score is set to the upper threshold. Returned. On the other hand, when the period in which the ID is not detected becomes long and the score reaches the lower limit threshold, it is recognized that the ID has disappeared for the first time, and the icon that has been displayed is erased from the display screen 21a. However, when this icon is being operated for some time (for example, when an information device corresponding to this icon is in control operation or when the icon itself is being operated such as drag and drop), the operation ends and a predetermined time elapses. Defer the disappearance of the icon until has passed.
Even when the information terminal 1 is receiving ID light from the optical beacon of the information device, there is a high possibility that an error may temporarily occur or reception may not be possible due to the influence of disturbance light or light shielding. In addition, it is assumed that the pilot signal is erroneously detected due to the movement of the information device itself and the ID cannot be read normally. Therefore, when the icon corresponding to the ID is displayed on the display screen 21a using the decrypted ID information as it is, the icon appears only for a short time, or conversely, the displayed icon is only for a short time. It becomes unstable such as disappearing frequently. On the other hand, by performing the scoring process as described above and controlling the display and disappearance of the icon corresponding to the ID, the display can be stabilized and the user can easily perform the operation.
Note that the numerical values related to the above description, for example, the number of hierarchies and the number of pixels in the ID position detection process are all examples, and the present invention is not limited to this and can be changed as appropriate. The pilot signal detection process and the ID decoding process are not limited to the flowcharts of FIGS. 7 and 15, and various changes can be made.
The experimental results using the simple “Opt Navi” system prototyped by the present inventors will be described. The image sensor 11 disclosed in Non-Patent Document 2 was used. Therefore, the maximum receivable ID number n ID is 7, and the imaging frame rate of the ID image for reading the ID information is 1.2 kfps per ID. A red LED was used as an ID light source corresponding to an optical beacon of information equipment. This uses light of a visible wavelength that is easy to handle experimentally, and preferably, near infrared light that is invisible to the human eye is used.
In the remote control system of FIG. 2, a binary signal modulated at 400 Hz is transmitted from an ID transmission module corresponding to an information device. As transmission data, a data string is included at the head of 4-bit binary data that is an ID code. A preamble “11111110” was added, and the whole was Manchester encoded. The transmission time of 1 bit after Manchester encoding is 2.5 ms, and the 1 bit is set to be received in the above-mentioned 3 frames of the ID image. Further, the ID light source was turned on / off every 100 ms to superimpose a 5 Hz pilot signal on the ID signal.
In the experiment, three ID transmission modules were arranged in the room, and different ID codes (2, 9, 13) were transmitted from each ID reception module. The separation distance between the camera on the user side corresponding to the information terminal 1 and the ID transmission module was about 1 m at the nearest and about 3 m at the farthest. In addition, the binning hierarchy at the time of detecting the pilot signal has three stages.
It was confirmed that the IDs of the three ID transmission module information devices appearing in the image photographed by the camera can be accurately acquired under the above conditions. In this way, since the IDs of various information devices can be accurately obtained, it is possible to specify each information device by this ID and perform various controls as described above.
The conceptual diagram which shows the whole structure of the remote control system which is an example of the information processing system which concerns on this invention. Schematic which shows one usage pattern of the remote control system shown in FIG. The block block diagram of the principal part for performing the optical communication built in the information terminal in the system shown in FIG. 1, FIG. The schematic diagram which shows an example of the screen of the display part of the information terminal shown in FIG. Schematic which shows the frequency spectrum of ID light radiate | emitted from the optical beacon of each information apparatus. The figure which shows an example of the signal format for 1 packet of ID signal sent with respect to an information terminal from each information apparatus. The flowchart of the pilot signal detection process in the information terminal of a present Example. The conceptual diagram for demonstrating the detection method of the pilot signal in the information terminal of a present Example. The conceptual diagram for demonstrating the binning process at the time of the pilot signal detection in the information terminal of a present Example. The conceptual diagram for demonstrating ID area division | segmentation at the time of the pilot signal detection in the information terminal of a present Example. The conceptual diagram for demonstrating the motion compensation at the time of the pilot signal detection in the information terminal of a present Example. The conceptual diagram for demonstrating the motion compensation at the time of the pilot signal detection in the information terminal of a present Example. The conceptual diagram for demonstrating the thinning-out reading at the time of the ID decoding process in the information terminal of a present Example. The conceptual diagram for demonstrating the process with respect to blinking of the light emission part at the time of the pilot signal detection in the information terminal of a present Example. The flowchart of the ID decoding process in the information terminal of a present Example. The conceptual diagram for demonstrating the motion compensation at the time of ID decoding process in the information terminal of a present Example. The conceptual diagram which shows the communication form between the information terminal and each information appliance in the remote control system of FIG. Explanatory drawing of the starting process sequence in the remote control system of FIG. FIG. 2 is an explanatory diagram illustrating an example of processing when a user performs remote control of an information device by an operation on an information terminal in the remote control system of FIG. 1.
DESCRIPTION OF SYMBOLS 1 ... Information terminal 10 ... Imaging / light-receiving part 11 ... Image sensor 12 ... Light receiving lens 13 ... ID data reception process part 14 ... ID position detection process part 15 ... Image data process part 16 ... Communication establishment control part 20 ... Main control part 21 Display unit 21a Identification information 22 Operation unit 2 DVD recorder 3 Personal computer 4 Digital camera 5 Portable music player 6 Digital television 7 Network 8 Resource center
An information processing apparatus having a reception function for acquiring the information included in a transmission apparatus including a light source that emits light including at least predetermined information through spatial light communication, in parallel with image information of an imaging range by an imaging function In order to obtain the position information of the emitted light by the light emitting source of the transmitting device existing in the imaging range,
2. The evaluation unit according to claim 1, wherein the evaluation unit calculates an evaluation value for each pixel cell or each enlarged pixel cell by an evaluation function using a fast Fourier transform operation for images of a fixed number of consecutive frames. Information processing device.
The information processing apparatus according to claim 1, wherein the evaluation unit performs evaluation using an evaluation function having different accuracy according to the resolution of the image to be evaluated.
Based on images of a plurality of consecutive frames created using pixel signals read from each pixel cell of the imaging means, the direction and speed related to the relative movement of the light emitting source within the imaging range are determined. 4. The apparatus according to claim 1, further comprising a movement information estimation unit for estimating, wherein the evaluation unit calculates an evaluation value that compensates for the movement based on the movement information estimated by the movement information estimation unit. The information processing apparatus according to any one of the above.
5. The information processing apparatus according to claim 4, wherein the movement information estimation unit estimates a movement amount for each of the partial areas obtained by dividing the area when shifting to an image having a relatively high resolution. .
6. The movement information estimation means calculates cross-correlation between a plurality of images in consecutive frames, and acquires information related to movement based on the maximum value of the correlation value. The information processing apparatus described.
The movement information estimation means, when moving to an image with a relatively high resolution, assumes that the pixel position accuracy is not improved by binning processing on the premise that motion compensation in an image with a low resolution is performed. The information processing apparatus according to claim 4, wherein the movement amount is estimated only within a range including the certainty.
When the low-resolution image is created, the binning processing unit corresponds to a certain enlarged pixel cell in the low-resolution image, and a plurality of pixel cells or enlarged pixel cells in the high-resolution image. A plurality of pixel cells or enlarged pixel cells in a high-resolution image corresponding to one enlarged pixel cell adjacent to the one enlarged pixel cell in an image having a low image quality, and a part thereof The information processing apparatus according to claim 1, wherein the pixel cells or the enlarged pixel cells are set so as to overlap each other.
The information processing apparatus according to claim 1, wherein the binning processing unit logarithmically compresses a pixel value of each pixel cell or an enlarged pixel cell.
An information processing apparatus according to any one of claims 1 to 9, and a transmission apparatus including a light source that emits light of at least a predetermined frequency, wherein the transmission apparatus includes a pilot signal having a first frequency, An optical signal having a frequency higher than 1 and including an ID signal including information related to the transmission device superimposed by frequency division, and the information processing device is based on the detection result of the pilot signal. Recognizing the position of the transmission device, identifying one or more pixel cells of the light receiving unit of the imaging means based on the position information, and acquiring the ID signal based on a pixel signal from the pixel cell; Information processing system.
JP2005241021A 2005-07-29 2005-08-23 Information processing apparatus and information processing system Active JP4765027B2 (en)
JP2005220995 2005-07-29
JP2005241021A JP4765027B2 (en) 2005-07-29 2005-08-23 Information processing apparatus and information processing system
US11/490,259 US7502053B2 (en) 2005-07-29 2006-07-21 Information-processing device and information-processing system
JP2007060093A JP2007060093A (en) 2007-03-08
JP4765027B2 true JP4765027B2 (en) 2011-09-07
ID=37893262
JP2005241021A Active JP4765027B2 (en) 2005-07-29 2005-08-23 Information processing apparatus and information processing system
US (1) US7502053B2 (en)
JP (1) JP4765027B2 (en)
JP4803385B2 (en) * 2004-08-05 2011-10-26 国立大学法人 奈良先端科学技術大学院大学 Information processing system using space optical communication and space optical communication system
AT519180T (en) * 2005-05-10 2011-08-15 Active Optics Pty Ltd Method for controlling a picture configuration system, picture basing system and digital camera
JP4859761B2 (en) * 2007-06-13 2012-01-25 パナソニック株式会社 Optical space transmission equipment
CN101960864A (en) * 2008-03-05 2011-01-26 松下电器产业株式会社 Device selection control device
JP5282899B2 (en) * 2009-03-19 2013-09-04 カシオ計算機株式会社 Information restoration apparatus and information restoration method
JP2012212363A (en) * 2011-03-31 2012-11-01 Sony Corp Communication control device, communication control method and program
US8913144B2 (en) * 2012-12-27 2014-12-16 Panasonic Intellectual Property Corporation Of America Information communication method
JP5530578B1 (en) * 2012-12-27 2014-06-25 パナソニック株式会社 Information communication method
JP5608834B1 (en) 2012-12-27 2014-10-15 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ Video display method
TWI501115B (en) * 2013-02-06 2015-09-21 Pixart Imaging Inc Optical navigation system and optical navigation apparauts thereof
JP2019504367A (en) 2015-12-30 2019-02-14 アロン シュアファイア エルエルシーＡｒｏｎ Ｓｕｒｅｆｉｒｅ Ｌｌｃ Optical narrow casting
JP4389347B2 (en) 2000-05-15 2009-12-24 ソニー株式会社 Image sensor with calculation function
JP4343468B2 (en) * 2001-11-29 2009-10-14 富士フイルム株式会社 Image processing system, imaging apparatus, image processing apparatus, image processing method, and program
JP3995959B2 (en) 2002-03-05 2007-10-24 マイクロシグナル株式会社 Spatial optical communication sensor, spatial optical communication receiver, and spatial optical communication system including the receiver
JP2004112226A (en) 2002-09-17 2004-04-08 Ntt Docomo Inc Infrared communication device, cellular telephone, and location information presenting method
JP2004235899A (en) 2003-01-29 2004-08-19 Microsignal Kk Spatial optical communication system
JP4322145B2 (en) * 2004-03-01 2009-08-26 株式会社国際電気通信基礎技術研究所 Optical tag system
JP4576625B2 (en) * 2005-03-31 2010-11-10 カシオ計算機株式会社 Information transmission system, imaging apparatus, and light reception control method
2005-08-23 JP JP2005241021A patent/JP4765027B2/en active Active
2006-07-21 US US11/490,259 patent/US7502053B2/en not_active Expired - Fee Related
US20070070060A1 (en) 2007-03-29
US7502053B2 (en) 2009-03-10
JP2007060093A (en) 2007-03-08
US10484092B2 (en) 2019-11-19 Modulating a light source in a light based positioning system with applied DC bias
US9791543B2 (en) 2017-10-17 System and method for estimating the position and orientation of a mobile communications device in a beacon-based positioning system
JP5603513B1 (en) 2014-10-08 Control method, information communication apparatus and program
TWI397835B (en) 2013-06-01 Input device, control method of input device, and program
US20150296263A1 (en) 2015-10-15 System And Method In A Television Controller For Providing User-Selection Of Objects In A Television Program
US8941686B2 (en) 2015-01-27 Information display apparatus, display control integrated circuit, and display control method for superimposing, for display, information onto images captured in a time sequence
2011-03-18 A711 Notification of change in applicant