CN104636779B - Ring code identifies identifying system - Google Patents
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Abstract
A kind of ring code identifies identifying system, and a large amount of marks in environment are quickly identified available in computer vision field.Including mark system and image collection processing system, mark system includes many marks, is identified as ring code figure, it is made up of a series of donuts, the width of annulus is identical, but internal diameter changes in arithmetic progression from inside to outside, and the color of the color and background of each layer annulus can arbitrarily be chosen；Image collection processing system collects the image containing ring code, only needs sequential scan whole image in the same direction, you can obtains the colouring information of all ring code marks in image, image procossing amount of calculation is small, and the quick identification largely identified can be achieved.
Description
Technical field
The present invention relates to a kind of ring code identify identifying system, available in computer vision field to largely being marked in environment
Knowledge is quickly identified.
Background technology
In computer vision field, especially augmented reality field, the graphical analysis to the mark in environment can carry
For image capture device（Such as video camera）Relative position and relative attitude information.
At present frequently with a kind of optical indicia, actively emit beam, identification is identified by flicker, but this requires continuous
Image sequence is gathered, and active luminaire needs consumption electric power.
Separately there is a kind of mark system, identify using X-Y scheme（Such as Quick Response Code or other figures）, in image procossing
Shi Bixu first finds pattern edge, then identifies internal pattern again；When the non-face video camera of X-Y scheme, figure needs to rotate
Certain angle, it is also necessary to correct ratio and two dimensional perspective distortion, it is necessary to carry out substantial amounts of matrixing, cause recognizer more
It is 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, can know to develop to largely identifying the mark quickly identified
Other system, the present invention propose ring code mark identifying system.
The content of the invention
The present invention is directed in place of above-mentioned the deficiencies in the prior art, and technical problem to be solved is：The figure obtained to sampling
Shape only may recognize that identification code by sequential scan, without matrixing, thus amount of calculation very little, can be in the short time
The interior a large amount of marks of identification.
The present invention is mainly implemented by the following technical programs.
A kind of ring code identifies identifying system, including mark system and image collection processing system, and mark system includes very
More marks, are identified as ring code figure, are made up of a series of donuts, and the width of annulus is identical, and internal diameter is in from inside to outside etc.
Difference series change, and the color of the color and background of each layer annulus can arbitrarily be chosen, and ring code is printed on mark plate, or is passed through
Flat-panel screens is shown；Image collection processing system collects the image containing ring code, no matter ring code is in the picture
Projection of shape how to change, only need sequential scan whole image data in the same direction, you can obtain all annulars in image
The colouring information of code mark, by the numbering that is identified of tabling look-up, so as to the quick identification largely identified.
Preferably, the color of the color and background of each layer annulus can be from from black, white, red, green, blue, green grass or young crops, product, yellow eight kinds
Chosen in Standard Colors.RGB numerical value on eight kinds of reference colours is defined as follows：It is black（0,0,0）, it is white（255,255,255）, it is red
（255,0,0）, it is green（0,255,0）, it is blue（0,0,255）, it is blue or green（0,255,255）, product（255,0,255）, it is yellow（255,255,0）.
In image procossing, it is contemplated that aberration caused by light and video camera, can suitably relax the tolerance of above color.
Preferably, the most outer shroud of mark is identification ring, background is different with the color of most outer shroud, secondary outer shroud and most outer shroud
Color is also different, so as to aid in determining whether the position of most outer shroud, by the width for determining approach section width He exiting section, it is determined that should
The perspective distortion degree of ring code, one-dimensional linear correction then is carried out to data, so as to improve the knowledge of strabismus ring code
Other success rate.
Preferably, in order to prevent the erroneous judgement of eccentric scanning, in certain regional area, all colours for scanning to obtain are compiled
In code, only the mark of highest priority can be recognized, remaining should all be considered as invalid.The definition of priority has two sides
Face：First, the coding digit identified is more, and priority is higher；Second, if the coding digit identified is the same, encode
Order change frequency is more, and priority is higher.
If preferably, there is two identical ring code marks in the visual field, there is query in scanning result, can be according to ring
Shape code size enters the rough judgement of row distance, so as to eliminate singular solution.
The beneficial effects of the invention are as follows.
1）Linear scan need to be only carried out to whole image, just can be read how tagged color coding, greatly by unified direction
Reduce image procossing amount of calculation greatly.
2）When perspective distortion be present in the identification image collected, approach section and exit section width will be significantly different, now
Only need to carry out one-dimensional linear correction to data according to distortion factor, amount of calculation is smaller.
3）Red, green, blue, green grass or young crops, product, yellow six kinds of reference colours are introduced as optional color, with other schemes only with black and white two
Form and aspect ratio, more group/cording quantities can be obtained in less bits of coded.
Brief description of the drawings
Fig. 1 is to handle schematic diagram to the mixed image of 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 radius of circle.
Fig. 5 is 16 kinds of coding result forms of 2 system, 4 codings.
Fig. 6 is that 2 system ring codes are scanned with obtained sampling figure.
Fig. 7 is the Different Results schematic diagram of mistake heart scanning and eccentric scanning.
Illustrate element and numbering in figure：Background 1, most outer shroud 2, secondary outer shroud 3.
Embodiment
Below by embodiment, with reference to accompanying drawing, technical scheme is described in further detail：
Fig. 1 describes a situation about being handled the image comprising 5 double-colored ring codes of black and white, these ring codes
Perspective distortion, strabismus angle, long axis direction, major axis size are different from, but can obtained by the sequential scan of horizontal direction
To color code information therein, the amount of calculation of image procossing is fundamentally reduced, improves recognition speed.
Fig. 2 depicts the structure chart of a standard toroidal code.It is by background（1）, most outer shroud（2）, secondary outer shroud（3）And other
Inner loop is formed, the color and background of each layer annulus（1）Color can arbitrarily choose.Such as can from from black, white, red, green, blue,
Chosen in green grass or young crops, product, yellow eight kinds of Standard Colors, if alternately color, this color coding system are exactly n to selection n kinds color
Scale coding system.
Fig. 3 depicts a ring code using 1 times of ring width d as center circle diameter.Be in from inside to outside according to internal diameter etc.
The principle of difference series change, circular diameter is respectively d, 3d, 5d, 7d, 9d, 11d from inside to outside.From inside to outside, annular numbering
Respectively A, B, C, D, E, F, background numbering is G, and color corresponding to each numbering can independently be chosen.
Fig. 4 depicts a ring code using 1 times of ring width d as center radius of circle.Be in from inside to outside according to internal diameter etc.
The principle of difference series change, circular diameter is respectively 2d, 4d, 6d, 8d, 10d, 12d from inside to outside.From inside to outside, annular is compiled
Number it is respectively A, B, C, D, E, F, background numbering is G, and color corresponding to each numbering can independently be chosen.
Fig. 5 depicts 4 coding collar bar coding systems of 2 system.It can be seen that tetra- rings of A, B, C, D, each ring can be with
Get colors code 1 or color code 0, therefore shares 16 kinds of coding results.
Fig. 6, which depicts, scans obtained sampling figure to a 2 system ring codes.Most outer shroud（2）Inlet point pixel coordinate
For m, most outer shroud（2）Exit point pixel coordinate is n, most outer shroud（2）Pixel wide between inlet point and exit point is designated as annular
Code span D.Approach section width is d1, and it is d2 to exit section width.
Specific embodiment 1.
It is assumed that using 2 scale codings, i.e., choose 2 kinds of face from black, white, red, green, blue, green grass or young crops, product, yellow eight kinds of Standard Colors
Color alternately color, the present embodiment are chosen black and white, and it is binary coding 1 to define black, is in vain binary coding 0.The definition back of the body
Scape（1）Color is 0, most outer shroud（2）Color is 1, secondary outer shroud（3）Color is 0, i.e., the identification code of identification ring is 010.
To the one-row pixels in image, linear scan is carried out from left to right, treats to search identification code 010 for the first time, by this
The width of ring is designated as approach section width d1, then proceedes to scan backward, until searching second identification code 010, by the ring
Width is designated as exiting a section width d2.
If d1=d2, color code identification directly is carried out to inside.
If d1 ≠ d2, need that internal data segment is carried out to have an X-rayed one-dimensional linear correction.It is assumed 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, then for the pixel that coordinate is i, correction
Coefficient fi computational methods are as follows.
fi=[d2×D/(d1-d2)+D]/ [d2×D/(d1-d2)+n-i]。
Then to all pixels point i of internal data segment, pixel wide 1 is multiplied by fi, carries out internal color knowledge again afterwards
Not.Such as identify that 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 the white code after perspective correction is as follows.
Dw=∑ fi,（i= x~x+19）.
Calculate white code section number width=dw/d1 again afterwards, if width=1, white is identified as one 0；If
Width=2, then white code be identified as two 00；The rest may be inferred.The recognition mechanism of remaining color code is similar, repeats no more.By
Above-mentioned image processing method, finally give all colours code inside identification code.
Internal color code is analyzed, if not meeting Central Symmetry principle, proves between inlet point and exit point simultaneously other than ring type
The whole of code, then search for next exit point n backward, afterwards repeatedly internal color code identification process.
If internal color code symbol closes Central Symmetry principle, the priority of the color code is further analyzed.According to priority
Decision rule, priority number p calculation formula is p=c+v, wherein：C is internal color code bit number, and v is internal color code order
Change frequency.
In example as shown in Figure 7, three times in sequential scan, it is eccentric scanning twice to have, thus has obtained sweeping with mistake heart
Retouch different color codes.The color code of first time eccentric scanning is 0101001010, then internal color code is 1001, meets center
Symmetry principle, c=4, v=2, then p=6；The color code of second of eccentric scanning is 01010101010, then internal color code is
10101, meet Central Symmetry principle, c=5, v=4, then p=9；The color code of mistake heart scanning is 010101101010, then internal face
Colour coding is 101101, meets Central Symmetry principle, c=6, v=4, then p=10.In scanning three times above, only mistake heart scanning can be with
Highest priority number is obtained, and what mistake heart scanned to obtain is correct color code.This example illustrates that mistake heart scanning is than eccentric
Scanning can obtain higher priority number, therefore, in certain regional area（Within the scope of 2 times of D）If two or more be present
Meet the color code of Central Symmetry principle, then can eliminate the low false color code of priority by comparing priority.
Specific embodiment 2.
According to 8 scale codings, i.e., by black, white, red, green, blue, green grass or young crops, product, yellow eight kinds of Standard Colors all alternately colors.
Meanwhile it is white to make background colour, most outer shroud is black, and secondary outer shroud is white, defines black and is encoded to 1, white color-coded 0, i.e. identification ring
Identification code be 010.Inside secondary outer shroud, also 3 rings, then coded system have 83=512 kinds, general field can be met completely
The indoor positioning of conjunction is determined appearance and applied.Therefore, 5 layers of ring code of the present embodiment, 512 kinds of combinations, 5 layers of annular are achieved that
Code is simple in construction, can be also identified in far distance, perspective distortion is small, therefore is highly suitable for making in larger scene
With.
The coding of red, green, blue, green grass or young crops, product, yellow color is defined as 2,3,4,5,6,7 successively.8 systems are named to compile
The example of code：Background colour is white 0, and ecto-entad, ring shaped color is followed successively by：1,0,2,5,7.The color that then sequential scan obtains
Code is 01025752010, is encoded to 25752 inside identification ring, color code information is 257；
A variety of selecting type schemes of the embodiment of the present invention are described above, still, for the ordinary skill of this area
For personnel, other modifications or remodeling can be still made on the basis of the design philosophy of the present invention and design is not departed from, should
Work as, so some modifications or remodeling belong to protection scope of the present invention.
Claims (5)
1. a kind of ring code identifies identifying system, including mark system and image collection processing system, it is characterized in that：Mark system
Comprising many marks, ring code figure is identified as, is made up of a series of donuts, the width of annulus is identical, and internal diameter is by introversion
Change outside in arithmetic progression, the color of the color and background (1) of each layer annulus can arbitrarily be chosen, wherein the most outer shroud (2) identified
For identification ring, background (1) is different with the color of most outer shroud (2), and the color of secondary outer shroud (3) and most outer shroud (2) is also different, so as to have
Help determine the position of most outer shroud (2), by the width for determining approach section He exiting section, determine the perspective distortion journey of the ring code
Degree, one-dimensional linear correction then is carried out to data, is identified a yard internal color code；In order to prevent the erroneous judgement of eccentric scanning,
In certain regional area, scan in obtained all colours coding, only the mark of highest priority can be recognized, remaining is all
It is invalid to be considered as；
Ring code is printed on mark plate, or is shown by flat-panel screens；Image collection processing system, which collects, to be contained
There is the image of ring code, only need sequential scan whole image in the same direction, you can obtain all ring code marks in image
Colouring information, by the numbering that is identified of tabling look-up, so as to the quick identification largely identified.
2. ring code according to claim 1 identifies identifying system, it is characterized in that：The color and background (1) of each layer annulus
Color 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 according to claim 1 identifies identifying system, it is characterized in that：If there are two identical rings in the visual field
Shape code identifies, then scanning result has query, and the rough judgement of row distance can be entered according to ring code size, unusual so as to eliminate
Solution.
4. ring code according to claim 1 identifies identifying system, it is characterized in that：Ring code identification specific method include with
Lower step：
1) in identification process, it is scanned from left to right, record approach section width is d1, and it is d2 to exit section width；
2) judge whether d1 is equal with d2, if d1=d2, color code identification directly is carried out to inside；If d1 ≠ d2, internally
Portion's data carry out having an X-rayed one-dimensional linear correction；
3) judge whether ring code internal color code meets Central Symmetry principle, if not meeting, return to step 1) re-recognize；
If meeting, the priority of the color code is further analyzed；
4) height of the priority is judged, highest priority corresponding color code is correct color code.
5. the ring code mark identifying system according to claim 1 or 4, it is characterized in that：Described priority decision rule
Meet below equation：
P=C+V
Wherein, P is priority series, and C is identification code internal color code bit number, and V is internal color code order change frequency.
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| TWI642395B (en) * | 2016-02-23 | 2018-12-01 | 耐斯泰克公司 | A container and a computer program executable on one or more processors of a code processing subsystem of a beverage or foodstuff preparation machine, a beverage or foodstuff preparation system and a method of preparing a beverage or foodstuff using the |
| TWI722097B (en) * | 2016-02-23 | 2021-03-21 | 瑞士商雀巢製品股份有限公司 | Container for a beverage preparation machine or foodstuff preparation machine, attachment attached to the container and method of encoding preparation information |
| TWI721084B (en) * | 2016-02-23 | 2021-03-11 | 瑞士商雀巢製品股份有限公司 | Container for a beverage or foodstuff preparation machine, attachment configured for attachment to the container, beverage or foodstuff preparation system, attachment configured for attachment to the machine, method of encoding preparation information, method of preparing the beverage or foodstuff, use of a code for encoding preparation information on the container, and computer program product |
| CN105894068B (en) * | 2016-03-10 | 2020-07-28 | 广东工业大学 | FPAR card design and rapid identification and positioning method |
| CN106599846B (en) * | 2016-12-15 | 2019-09-13 | 徐州工程学院 | A kind of recognition methods for the traffic mark board being easy to Computer Vision Recognition |
| US11275981B2 (en) * | 2017-07-28 | 2022-03-15 | The Coca-Cola Company | Method and apparatus for encoding and decoding circular symbolic codes |
| CN107886147B (en) * | 2017-09-26 | 2020-12-22 | 朱恩彤 | Ring code manufacturing method and ring code identification method |
| 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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