CN104636779A - Annular code identifier recognition system - Google Patents
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Abstract
An annular code identifier recognition system can be used for quickly recognizing many identifiers in the environment in the field of computer vision. The annular code identifier recognition system comprises an identifier system and an image acquiring and processing system, the identifier system comprises many identifiers which are annular code graphs formed of a series of concentric rings, the rings are same in width and with the internal diameter changing from inside to outside according to arithmetic progression, and colors of the rings and the background colors can be optionally selected. The image acquiring and processing system acquires images containing annular codes and only needs to scan the integral images along the same direction and sequence, thus color information of all the annular code identifiers in the images can be obtained; imaging processing operation is low and many identifiers can be quickly recognized.
Description
Technical field
The present invention relates to a kind of ring code mark recognition system, can be used for identifying fast quantitative character large in environment in computer vision field.
Background technology
At computer vision field, especially in augmented reality field, relative position and the relative attitude information of image capture device (as video camera) can be provided to the graphical analysis of the mark in environment.
Normal employing one class optical indicia, initiatively emits beam at present, carry out mark and identify, but this requires continuous acquisition image sequence, and active illuminating equipment needs power consumption by flicker.
Separately have a kind of tag system, what mark adopted is X-Y scheme (as Quick Response Code or other figures), first must find pattern edge, and then identify inner pattern when image procossing; When X-Y scheme anon-normal is to video camera, figure needs to rotate to an angle, and also needs correction ratio and two dimensional perspective distortion, needs to carry out a large amount of matrixings, cause recognizer more complicated.Therefore, X-Y scheme mark is mainly used in closely, the application scenario of smallest number.
Based on the weak point of above-mentioned existing scheme, in order to develop the mark recognition system can carrying out identification fast to large quantitative character, the present invention proposes ring code mark recognition system.
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art part, technical matters to be solved is: the figure obtained sampling can identify identification code by means of only order scanning, and do not need matrixing, thus calculated amount is very little, can identify large quantitative character at short notice.
The present invention implements mainly through following technical scheme.
A kind of ring code mark recognition system, comprise tag system and image collection processing system, tag system comprises a lot of mark, be designated ring code figure, be made up of a series of donut, the width of annulus is identical, the internal diameter change in arithmetic progression from inside to outside, the color of the color and background of each layer annulus can be chosen arbitrarily, and ring code is printed on identification plate, or is shown by flat-panel screens; Image collection processing system collects the image containing ring code, no matter how ring code projection of shape in the picture changes, order in the same direction is only needed to scan whole view data, the colouring information of all ring code marks in image can be obtained, obtain the numbering identified by tabling look-up, thus carry out the quick identification of large quantitative character.
As preferably, the color of the color and background of each layer annulus can be chosen from from black, white, red, green, blue, green grass or young crops, product, yellow eight kinds of Standard Colors.RGB numerical value about eight kinds of standard colorss is defined as follows: black (0,0,0), white (255,255,255), red (255,0,0), green (0,255,0), blue (0,0,255), blue or green (0,255,255), product (255,0,255), yellow (255,255,0).When image procossing, consider the aberration that light and video camera cause, the tolerance of above color suitably can be relaxed.
As preferably, the most outer shroud of mark is identification ring, background is different with the color of most outer shroud, the color of secondary outer shroud and most outer shroud is also different, thus contribute to determining the position of most outer shroud, by determining the width of approach section width and the section of exiting, determine the perspective distortion degree of this ring code, then carry out one-dimensional linear to data to correct, thus improve the recognition success rate of stravismus ring code.
As preferably, in order to prevent the erroneous judgement of eccentric scanning, in certain regional area, scan in all colours coding obtained, only have the highest mark of priority to be admitted, all the other all should be considered to invalid.The definition of priority has two aspects: the first, and the coding figure place identified is more, and priority is higher; The second, if the coding figure place identified is the same, then the order change frequency of encoding is more, and priority is higher.
As preferably, if there are two identical ring code marks in the visual field, then there is query in scanning result, can carry out the rough judgement of distance according to ring code size, thus eliminate singular solution.
The invention has the beneficial effects as follows.
1) only by unified direction, linear sweep need be carried out to whole image, just can read the color coding having mark more, greatly reduce image procossing calculated amount.
2) when the identification image collected exists perspective distortion, approach section and the section of exiting width will be obviously different, and now only need to carry out one-dimensional linear according to distortion factor to data and correct, calculated amount is less.
3) introduce red, green, blue, green grass or young crops, product, yellow six kinds of standard colorss as selective color, compared with only adopting black-and-white two color with other schemes, can more group/cording quantity be obtained in less bits of coded.
Accompanying drawing explanation
Fig. 1 is the vision-mix process schematic diagram to the double-colored ring code of multiple black and white.
Fig. 2 is the structural representation of ring code.
Fig. 3 is the ring code schematic diagram using 1 times of ring width d as center circle diameter.
Fig. 4 is the ring code schematic diagram using 1 times of ring width d as center circle radius.
Fig. 5 is 16 kinds of coding result forms of 2 system 4 coding.
Fig. 6 scans to 2 system ring codes the sampling figure obtained.
Fig. 7 cares scanning and the Different Results schematic diagram of eccentric scanning.
Element and numbering is illustrated: background 1, most outer shroud 2, secondary outer shroud 3 in figure.
Embodiment
Below by embodiment, by reference to the accompanying drawings, technical scheme of the present invention is carried out more specifically bright:
Fig. 1 describes a situation about processing the image comprising 5 double-colored ring codes of black and white, the perspective distortion of these ring codes, stravismus angle, long axis direction, major axis size are not identical, but can scan by the order of horizontal direction the face color code information obtained wherein, fundamentally reduce the calculated amount of image procossing, improve recognition speed.
Fig. 2 depicts the structural drawing of a standard toroidal code.It is by background (1), most outer shroud (2), and secondary outer shroud (3) and other inner loop are formed, and the color of the color and background (1) of each layer annulus can be chosen arbitrarily.Such as can choose from from black, white, red, green, blue, green grass or young crops, product, yellow eight kinds of Standard Colors, if select n kind color as alternative look, then this color coding system is exactly n scale coding system.
Fig. 3 depicts one using 1 times of ring width d as the ring code of center circle diameter.Namely according to the principle that internal diameter changes in arithmetic progression from inside to outside, diameter circular is from inside to outside respectively d, 3d, 5d, 7d, 9d, 11d.From inside to outside, annular numbering is respectively A, B, C, D, E, F, and background is numbered G, and the color of each numbering correspondence can independently be chosen.
Fig. 4 depicts one using 1 times of ring width d as the ring code of center circle radius.Namely according to the principle that internal diameter changes in arithmetic progression from inside to outside, diameter circular is from inside to outside respectively 2d, 4d, 6d, 8d, 10d, 12d.From inside to outside, annular numbering is respectively A, B, C, D, E, F, and background is numbered G, and the color of each numbering correspondence can independently be chosen.
Fig. 5 depicts 2 system 4 coding collar bar coding system.Can see A, B, C, D tetra-rings, each ring can get colors code 1 or color code 0, therefore has 16 kinds of coding results.
Fig. 6 depicts and scans to 2 system ring codes the sampling figure obtained.Most outer shroud (2) inlet point pixel coordinate is m, and most outer shroud (2) exit point pixel coordinate is n, and most outer shroud (2) pixel wide between inlet point and exit point is designated as ring code span D.Approach section width is d1, and the section of exiting width is d2.
Specific embodiment 1.
Assuming that employing 2 scale coding, namely from black, white, red, green, blue, green grass or young crops, product, yellow eight kinds of Standard Colors, choose 2 kinds of colors as alternative look, the present embodiment is chosen black and white, and to define black be binary coding 1, and white is binary coding 0.Definition background (1) look is 0, and most outer shroud (2) look is 1, and secondary outer shroud (3) look is 0, and namely the identification code of identification ring is 010.
To the one-row pixels in image, carry out linear sweep from left to right, treat that first time searches identification code 010, the width of this ring is designated as approach section width d1, then continue to scan backward, until search second identification code 010, the width of this ring is designated as the section of exiting width d2.
If d1=d2, then directly color code is carried out to inside identify.
If d1 ≠ d2, then need that perspective one-dimensional linear is carried out to inner data segment and correct.Assuming that most outer shroud (2) inlet point pixel coordinate is m, most outer shroud (2) exit point pixel coordinate is n, ring code span D=n-m, be then the pixel of i for coordinate, the computing method of correction coefficient fi are as follows.
fi=[d2×D/(d1-d2)+D]/ [d2×D/(d1-d2)+n-i]。
Then to all pixel i of inner data segment, pixel wide 1 is multiplied by fi, carries out internal color identification more afterwards.Such as identifying continuous white pixel point is 20 (i=x ~ x+19), this section of white code width dw=20 before perspective correction.
And the width dw of white code after perspective correction is as follows.
dw=∑fi，（i= x~x+19）。
Calculate white code section number width=dw/d1 afterwards again, if width=1, then white is identified as one 0; If width=2, then white code is identified as two 00; The rest may be inferred.The recognition mechanism of all the other color codes is similar, repeats no more.Through above-mentioned image processing method, finally obtain all colours code of identification code inside.
Analyze internal color code, if do not meet Central Symmetry principle, then prove between inlet point and exit point to be not the whole of ring code, then search for next exit point n backward, repeat internal color code identifying afterwards.
If internal color code symbol closes Central Symmetry principle, then analyze the priority of this color code further.According to priority decision rule, the computing formula of priority number p is p=c+v, and wherein: c is internal color code bit number, v is internal color code order change frequency.
In example as shown in Figure 7, in three order scanning, having is for twice eccentric scanning, thus obtains and scans different color codes from caring.First time, the color code of eccentric scanning was 0101001010, then internal color code is 1001, meets Central Symmetry principle, c=4, v=2, then p=6; The color code of second time eccentric scanning is 01010101010, then internal color code is 10101, meets Central Symmetry principle, c=5, v=4, then p=9; The color code scanned of caring is 010101101010, then internal color code is 101101, meets Central Symmetry principle, c=6, v=4, then p=10.In above three scannings, scanning of only caring can obtain the highest priority number, and caring scanning, what obtain is correct color code.This example illustrates, scanning of caring can obtain higher priority number than eccentric scanning, therefore, in certain regional area (within 2 times of D scopes), if there is the color code that two or more meets Central Symmetry principle, then by comparing priority, eliminate the false color code that priority is low.
Specific embodiment 2.
According to 8 scale codings, by black, white, red, green, blue, green grass or young crops, product, yellow eight kinds of Standard Colors all as alternative look.Meanwhile, make background colour be white, most outer shroud is black, and secondary outer shroud is white, and definition black is encoded to 1, and white color-coded is 0, and namely the identification code of identification ring is 010.Inner at secondary outer shroud, also have 3 rings, then coded system has 8
3=512 kinds, the indoor positioning that can meet general occasion is completely determined appearance and is applied.Therefore, the present embodiment 5 layers of ring code, just achieve 512 kinds of array modes, and 5 layers of ring code structure are simple, also can be identified in far distance, and perspective distortion is little, is therefore highly suitable in larger scene and uses.
The coding of red, green, blue, green grass or young crops, product, yellow color is defined as 2,3,4,5,6,7 successively.Lift the example of 8 scale codings below: background colour is white 0, ecto-entad, and ring shaped color is followed successively by: 1,0,2,5,7.Then sequentially scanning the color code obtained is 01025752010, identification ring inside be encoded to 25752, face color code information is 257;
Above the multiple selecting type scheme of the embodiment of the present invention is described; but; for the person of ordinary skill of the art; other modification or remodeling still can be made in the basis not departing from design philosophy of the present invention and design; should say, some modification or remodeling all belong to protection scope of the present invention like this.
Claims (5)
1. a ring code mark recognition system, comprise tag system and image collection processing system, it is characterized in that: tag system comprises a lot of mark, be designated ring code figure, be made up of a series of donut, the width of annulus is identical, the internal diameter change in arithmetic progression from inside to outside, the color of the color and background (1) of each layer annulus can be chosen arbitrarily, and ring code is printed on identification plate, or is shown by flat-panel screens; Image collection processing system collects the image containing ring code, order in the same direction is only needed to scan whole image, the colouring information of all ring code marks in image can be obtained, obtain the numbering identified by tabling look-up, thus carry out the quick identification of large quantitative character.
2. ring code mark recognition system according to claim 1, is characterized in that: the color of the color and background (1) of each layer annulus can be chosen from from black, white, red, green, blue, green grass or young crops, product, yellow eight kinds of Standard Colors.
3. ring code mark recognition system according to claim 1, it is characterized in that: the most outer shroud (2) of mark is identification ring, background (1) is different with the color of most outer shroud (2), the color of secondary outer shroud (3) and most outer shroud (2) is also different, thus contribute to determining the position of most outer shroud (2), by determining the width of approach section and the section of exiting, determine the perspective distortion degree of this ring code, then carry out one-dimensional linear to data to correct, thus improve the recognition success rate of stravismus ring code.
4. ring code mark recognition system according to claim 1, it is characterized in that: in order to prevent the erroneous judgement of eccentric scanning, in certain regional area, scanning in all colours coding obtained, only have the highest mark of priority to be admitted, all the other all should be considered to invalid.
5. ring code according to claim 1 mark recognition system, is characterized in that: if there are two identical ring code marks in the visual field, then scanning result exists query, can carry out the rough judgement of distance according to ring code size, thus eliminates singular solution.
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| CN107886147A (en) * | 2017-09-26 | 2018-04-06 | 朱恩彤 | The preparation method of ring code and recognition methods |
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| CN109344944A (en) * | 2018-10-10 | 2019-02-15 | 天津梓君能源科技发展有限公司 | Colored marking code and its coding/decoding method |
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