Absolute pointing device and method and interaction device

Abstract

The invention discloses absolute pointing equipment, an absolute pointing method and interactive equipment. In order to solve the problems of high power consumption, low real-time performance and high cost in the existing scheme, a DVS is arranged in a pointing device and is used for sensing a flicker light source arranged on a pointed device; the pointed device is provided with three or more flickering light sources, and at least three flickering light sources are not collinear. Filtering the event stream output by the DVS, extracting pixel coordinates associated with the flicker light sources, and identifying the identifier of each flicker light source; obtaining a pose parameter of the camera according to the pixel coordinates associated with the flicker light source, and obtaining optical axis information of the camera according to the pose parameter of the camera; according to the optical axis information of the camera, obtaining coordinate information of an intersection point of the optical axis of the camera and the coplanar where the at least three flickering light sources are located; and the pointed device executes a corresponding response according to the coordinate information of the intersection point. The method has the advantages of low cost, low power consumption and high real-time performance.

Description

Technical Field

[0001] The present invention relates to the field of information interaction, and in particular to an absolute pointing device and method, and an interaction device. Background Art

[0002] In the field of home entertainment screen devices, screen-directed interaction is a new interaction mode that breaks through the limitation of traditional remote control solutions that can only jump to the selection through buttons. When the user points to the screen with the remote control or related equipment, the interaction effect corresponding to the position pointed by the remote control can be presented on the screen with the help of specific technical solutions.

[0003] The current solutions are mainly divided into categories such as Ultra-Wide Band (UWB), gyroscope air mouse and under-screen optical sensor. Among them, UWB solutions are more common in the current market, and corresponding products have been launched.

[0004] With the help of multiple antennas and UWB's precise positioning technology, the UWB signal transceiver function is set on the screen and remote control. However, this solution has the disadvantages of high cost, high power consumption load on the remote control (due to the radar transceiver function) and poor real-time performance.

[0005] In the gyroscope / IMU air mouse solution, the gyroscope is a device that can sense posture changes, is independent of position, and can detect the angular velocity of rotation on each axis of an object during motion. The gyroscope air mouse uses the built-in gyroscope to sense the movement and rotation of the user's hand in three-dimensional space in real time, and converts these movements into movement instructions for the cursor on the screen, thereby achieving control of the screen cursor. The main defect of this type of solution is that due to the characteristics of the differential sensor, its perception data will drift, resulting in poor accuracy and stability, and high user learning costs.

[0006] The under-screen sensor solution requires a large number of light sensor arrays to be placed under the display screen, and a laser device to be installed on the remote control. The under-screen sensor senses the position of the sensor on the screen triggered by the laser to determine the direction of the remote control. Although this solution has extremely high pointing accuracy, the cost is too high to achieve mass production and large-scale application.

[0007] There are other processing solutions, such as using image sensors to identify TVs and perform reverse SLAM. This method requires processing images on the camera side, and determining the remote control direction through visual calibration and inverse calculation. This solution requires high computing power on the camera side (i.e., remote control). Since the reporting rate of smooth pointing usually needs to be greater than 120Hz, setting up an image processor on the remote control side and achieving 120 frames / second image processing will lead to high costs and power consumption issues.

[0008] Based on this, low-cost, low-power, and high-real-time solutions are urgently needed in this field. Summary of the invention

[0009] In order to alleviate or partially alleviate the above technical problems, the solution of the present invention is as follows:

[0010] In one aspect, the present invention discloses an absolute pointing method, comprising:

[0011] The pointing device is equipped with a DVS, and is used to sense the flashing light source set on the pointed device;

[0012] The pointed device is provided with 3 or 4 or more flashing light sources, and at least 3 of the flashing light sources are not collinear;

[0013] Filter the event stream output by DVS, extract the pixel coordinates associated with the flickering light source, and identify the identity of each flickering light source;

[0014] Obtaining the camera's posture parameters according to the pixel coordinates associated with the flashing light source, and obtaining the camera's optical axis information according to the camera's posture parameters;

[0015] According to the optical axis information of the camera, coordinate information of the intersection of the optical axis of the camera and the coplanar surface where the at least three scintillation light sources are located is obtained.

[0016] Furthermore, when filtering the event stream output by the DVS, high-pass filtering, band-pass filtering, and similarity filtering methods are used.

[0017] Furthermore, an encoding scheme is adopted for the driving signal of the flashing light source, and the event stream output by the DVS is decoded, and events that cannot be decoded or the decoding results do not meet expectations are filtered out.

[0018] Further, the identifier of each flickering light source is identified by sorting the flickering light sources according to the distances between the geometric centers of the flickering light sources.

[0019] Furthermore, the identification of each flashing light source is identified according to the identification indicated by the decoding result.

[0020] Furthermore, the processing step of obtaining the coordinate information of the intersection according to the event stream output by the DVS occurs in the pointing device or the pointed device, or occurs partly in the pointing device and partly in the pointed device; the pointed device executes a corresponding response according to the coordinate information of the intersection.

[0021] In another aspect, the present invention discloses a pointing device:

[0022] The pointing device is equipped with a DVS and is used to sense a flashing light source provided on the pointed device, and the pointed device is provided with three or four or more flashing light sources, and at least three of the flashing light sources are not collinear;

[0023] In the pointing device, the following processing steps are performed:

[0024] Filter the event stream output by DVS, extract the pixel coordinates associated with the flickering light source, and identify the identity of each flickering light source;

[0025] Obtaining the camera's posture parameters according to the pixel coordinates associated with the flashing light source, and obtaining the camera's optical axis information according to the camera's posture parameters;

[0026] According to the optical axis information of the camera, coordinate information of the intersection of the optical axis of the camera and the coplanar surface where the at least three scintillation light sources are located is obtained.

[0027] Furthermore, the pointing device offloads part or all of the processing steps to the pointed device.

[0028] On the other hand, the present invention discloses an interactive device, including a pointing device and a pointed device:

[0029] The pointing device is equipped with a DVS, and is used to sense the flashing light source set on the pointed device;

[0030] The pointed device is provided with 3 or 4 or more flashing light sources, and at least 3 of the flashing light sources are not collinear;

[0031] In the pointing device and / or the pointed device, the following processing steps are performed:

[0032] Filter the event stream output by DVS, extract the pixel coordinates associated with the flickering light source, and identify the identity of each flickering light source;

[0033] Obtaining the camera's posture parameters according to the pixel coordinates associated with the flashing light source, and obtaining the camera's optical axis information according to the camera's posture parameters;

[0034] According to the optical axis information of the camera, coordinate information of the intersection of the optical axis of the camera and the coplanar surface where the at least three scintillation light sources are located is obtained.

[0035] Furthermore, the pointing device is a remote controller, and the pointed device is a projector and a screen, or a television.

[0036] The technical solution of the present invention has one or more of the following beneficial technical effects:

[0037] (1) Low cost advantage;

[0038] (2) It has the advantage of low power consumption;

[0039] (3) It has the advantage of high real-time performance.

[0040] In addition, other beneficial effects of the present invention will be mentioned in the specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a schematic diagram of an embodiment of a screen pointing device with absolute pointing according to the present invention;

[0042] Figure 2 This is a sample diagram of the event stream output by DVS after frame compression;

[0043] Figure 3 It is a schematic diagram of only retaining the events generated by the flickering light source after filtering and after frame compression;

[0044] Figure 4 It is a schematic diagram of the coding of a light source driven by a driving signal of a light source carrying coded information;

[0045] Figure 5 It is a schematic diagram of flickering light source identification based on the center of gravity;

[0046] Figure 6 is a schematic diagram of the geometric relationship between the pointing device and the pointed device of the present invention;

[0047] Figure 7 It is a flow chart of obtaining an absolutely pointed intersection point according to the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] In order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, words such as "first" and "second" are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order.

[0050] In the present invention, the term "absolute pointing" refers to the intersection of the extension line of the pointing device (such as the camera optical axis) and the pointed device in the world coordinate system, which is an objective description of the actual pointing of the pointing device held by the user to the pointed device.

[0051] The term "pointing device" refers to a device controlled by a user to indicate or respond to the user's selection / confirmation / action intention. It is usually held by the user and reflects the user's operation intention or movement trend in real time by aiming the pointing device at the pointed device and moving or rotating the pointing device.

[0052] The term "absolute pointing device" is a type of pointing device and has an absolute pointing characteristic. The "pointing device" in the present invention usually refers specifically to an absolute pointing device.

[0053] The term "pointed device" refers to a device that a pointing device can point to, including a device that transmits information to a user to achieve the purpose of interaction with the user, such as a projector screen, a TV screen, or other devices. In the present invention, the pointed device includes not only a device that transmits information to a user, but also an information processing system associated therewith, such as a projector screen and a projector body, which together as a whole become the pointed device.

[0054] The pointed device can eventually obtain information reflecting the user's operating intention or movement trend to determine the next operation or control instruction. For example, when the user slides the pointing device left / right, the pointed device and its associated information processing system are instructed to switch to play the next video.

[0055] The term "flickering light source" refers to a light source (such as a light emitting diode) that is continuously turned on or off by a driving signal, thereby achieving a continuous flickering of the light source. The duty cycle of the driving signal can be designed to be different parameters (not necessarily just 50%), and can also carry coded information, so that the flickering light source can convey the coded information.

[0056] The term "filtering" refers to screening or identifying (pulse) events in an event stream by certain rules or means to retain or filter out some or all events in the event stream. For example, filtering can be performed based on the frequency or period of occurrence of events, or can be performed based on whether they can be decoded or whether the decoding results meet expectations.

[0057] The term "DVS" or "event camera" or "dynamic vision sensor" or "dynamic event camera" refers to a device that includes dynamic vision pixels that can output event signals (referred to as events) generated by changes in light intensity. The device may also include other types of sensors and / or processing components. Dynamic vision pixels sense changes in light intensity, and when the change in light intensity (brightening or darkening) in the sensing area exceeds a certain range, an event is generated.

[0058] Figure 1 A schematic diagram showing an embodiment of a screen pointing device with absolute pointing according to the present invention.

[0059] In this embodiment, the device being pointed at may be a television set, and a flashing light source may be provided at each of the four corners of the television set. Alternatively, three flashing light sources may be provided at three corners of the television set.

[0060] Generally, 3 or 4 or more flashing light sources are arranged at different positions of the pointed device, and at least 3 flashing light sources are not collinear. The flashing light sources can be located at each corner of the pointed device or at a non-corner position, and the present invention is not limited to a specific layout.

[0061] In the user's pointing device, the pointing device includes a dynamic vision sensor (DVS), which is also called an event camera. The pointing device in the present invention is an absolute pointing device.

[0062] When the user operates the pointing device, which is usually called a remote control in this embodiment, the pointed device appears in the field of view of the DVS when the user uses it. When the user operates the pointing device, since the pointing device has movements such as rotation and translation, the edges or textures of all objects in the field of view of the DVS usually generate pulse events, and several pulse events constitute an event stream.

[0063] Figure 2 This figure shows an example of the event stream output by DVS after frame compression. Since the surroundings of the pointed device usually include various objects, such as coffee tables, ornaments, etc., these objects may be imaged in DVS, generating a large number of events. In addition, the flickering light source in the pointed device will also be imaged in DVS due to its continuous high-frequency flickering. Usually, several different events in the event stream are distributed at different time points, but by compressing the events within a period of time on a two-dimensional plane, a picture similar to a traditional frame image can be obtained.

[0064] In the present invention, the frequency of the high-frequency flickering flashing light source may be 1200 Hz, 1000 Hz, 900 Hz, 500 Hz, 400 Hz, etc. The duty cycle of the driving signal controlling the flashing light source may be 20%, 50%, 75%, etc., for example.

[0065] After the DVS senses the changes in the light and darkness in these fields of view, it outputs an event stream. In one embodiment, the event stream output by the DVS can be sent directly to the pointed device, which usually has large computing resources, and then the pointed device performs filtering operations on the event stream output by the DVS, as well as subsequent operations to identify the coordinates of the intersections. In one embodiment, the event stream output by the DVS performs filtering operations in the pointing device, as well as subsequent operations to identify the coordinates of the intersections. In another embodiment, the processing of the event stream output by the DVS, the former part (such as performing filtering operations) occurs in the pointing device, and the latter part (such as subsequent operations to identify the coordinates of the intersections) occurs in the pointed device.

[0066] Furthermore, the present invention performs a filtering operation on the event stream generated by the DVS, filtering out events generated by non-flickering light sources and retaining events generated by flickering light sources. Specifically, by matching the flickering pattern of the flickering light source, only events generated by the flickering pattern of the light source are retained during filtering.

[0067] For example, Spiking Neural Networks (SNN) can be used to implement filtering, and the event stream can be filtered based on bandpass filtering, high-pass filtering, and similarity filtering methods to retain events generated by flickering light sources. These filtering methods can be based on event time interval schemes or SNN schemes.

[0068] For example, some feasible filtering methods can refer to the following Chinese patent application documents: CN116757256A, CN116703971A, CN116579396A, which are all incorporated into this application by reference. Regarding the filtering operation, the present invention is not limited to this and is not limited to this.

[0069] Figure 3 This is a schematic diagram of the filtering process that only retains the events generated by the flashing light source and is compressed. Figure 2It can be seen from the display that although DVS outputs a large number of events, most of the events generated by the edge or texture of the object in the field of view can be filtered out compared to the events generated by the high-frequency flickering light source, which facilitates the subsequent rapid information processing. Based on this fact, in one type of embodiment, the pointing device can send the filtered event stream to the pointed device, and then the pointed device obtains the intersection coordinate information, which reduces the data transmission bandwidth requirement between the pointing device and the pointed device, reduces the power consumption required for the pointing device to send data, and avoids directly calculating the intersection coordinates in the pointing device. In other words, in a certain type of embodiment, the processing step of obtaining the coordinate information of the intersection according to the event stream output by the DVS occurs in the pointed device, or partially occurs in the pointing device and partially occurs in the pointed device, which is to offload the computing task to the pointed device with stronger computing power. The offloading here refers to transmitting the obtained intermediate processing results to the pointed device (usually a wireless signal), and the pointed device calculates the final intersection coordinate information.

[0070] Figure 4 The driving signal of a light source carrying coded information is shown, which drives the light source to produce a specific pattern of flickering. The coded information is transmitted through the channel with light as the carrier and reaches the receiving side DVS. The DVS generates an event based on the received optical signal and adds it to the event stream.

[0071] After receiving the event stream, decoding is performed within the predetermined decoding cycle. In this example Figure 3 The decoding result is "0011". Events that cannot be decoded or whose decoding results are invalid codes can be regarded as noise and filtered out.

[0072] Further, after the aforementioned filtering operation, the identifier of the flickering light source associated with the retained event is identified according to the retained event. In the DVS imaging process, due to factors such as rotation, translation, and lens distortion of the camera lens, the two-dimensional imaging in the camera cannot fully and accurately reflect the geometric distribution in the world coordinate system.

[0073] For the scheme of implementing filtering through decoding operation, since the identification information of each flashing light source can be directly encoded during the encoding process, such as binary encoding, the corresponding identification information can be directly obtained during decoding, thereby achieving the purpose of identifying the flashing light source.

[0074] For example, in the embodiment where the decoding result is "0011", under the binary coding rule, the corresponding flashing light source identifier is 3. For other flashing light sources, they can be encoded as other information, such as "0001", "0010", etc. Through different identifiers, it is possible to filter and identify which events are generated by which flashing light source in the event stream obtained from the DVS output.

[0075] For filtering schemes such as high-pass filtering and band-pass filtering, each flickering light source can be identified based on a geometric method.

[0076] Figure 5 The schematic diagram of the flickering light source recognition based on the center of gravity is shown. The events in the event stream will carry the pixel coordinate information that generated the event. In a short period of time, a flickering light source will usually cause the pixels in a small area of ​​the DVS to generate events. Figure 5 In the example, each small area is considered to be associated with a flickering light source, and for example, the identifiers of these flickering light sources are 1, 2, 3, and 4. For example, the average coordinates of the pixels or events in each small area can be used as the coordinates of the flickering light source in the pixel plane, that is, the pixel coordinates or imaging points associated with the flickering light source.

[0077] for Figure 5 For the four different flickering light sources, their centroids in the pixel plane can be calculated (it can also be other geometric centers, such as the orthocenter, circumcenter, etc.), and then based on the distance between the pixel coordinates associated with the flickering light source and the centroid, it is possible to identify which flickering light source the pixel coordinates associated with the flickering light source are specifically associated with in the physical world.

[0078] The coordinates of the aforementioned center of gravity (x c ,y c ) is calculated as: Where (x i ,y i ) is the pixel coordinate associated with the i-th flickering light source, i is a positive integer, which is also the identifier of the flickering light source.

[0079] For the flickering light source identified as i, the pixel coordinates (x i ,y i ) from the coordinates of the above center of gravity is:

[0080]

[0081] Since the distances of each flickering light source from the center of gravity of the flickering light source remain unchanged and present a fixed distance order, the distance order will usually not change in the pixel plane after DVS perception. The calculated distances can be sorted, and the flickering light source corresponding to the pixel coordinates associated with each flickering light source can be identified based on the sorting results. Figure 5 As shown, even if the pointing device rotates, it will not affect the recognition result of the flashing light source logo.

[0082] Although the present invention has introduced different flashing light source identification methods above, the present invention is not limited thereto and is not intended to be limited thereto.

[0083] Figure 6 Schematic diagram of the geometric relationship between the pointing device and the pointed device of the present invention. The camera optical axis L(λ) perpendicular to the DVS pixel plane in the pointing device and the coplanar plane where the scintillation light source A, scintillation light source B, scintillation light source C, and scintillation light source D are located intersect at P. In addition, the normal vector of the coplanar plane is n. The scintillation light source A, scintillation light source B, scintillation light source C, and scintillation light source D are imaged in the pixel plane and generate corresponding events.

[0084] Figure 7 The flowchart of the present invention for obtaining the absolutely pointed intersection point P is shown. In the present invention, the coordinate information of the intersection point P is what the pointed device needs to know in the end and is used to generate a corresponding response. The details of each step will be introduced step by step below.

[0085] The above-mentioned several flashing light sources of the present invention are mapped to several points in the camera coordinate system, which constitutes a PNP problem. In the next step, the present invention will introduce how to solve the external parameters of the camera (abbreviated as external parameters, also called posture parameters). More specifically, the posture parameters to be solved / obtained include the rotation matrix R and the translation vector t.

[0086] For the four flashing light sources A, B, C, and D, the corresponding four three-dimensional points P in the world coordinate system are i =[x i w ,y i w ,z i w ], where z i w = 0, corresponding to the four two-dimensional points p on the pixel plane i =[u i ,v i ], i=1,2,3,4.

[0087] Assume that the camera's internal parameter matrix (abbreviated as internal parameter matrix) K is known and is defined as follows:

[0088]

[0089] where f x and f y is the focal length coordinate representation in the pixel plane, that is, the focal length of the camera along the horizontal direction (x-axis) and the vertical direction (y-axis), c x and c y is the principal point coordinate. i Mapped to a two-dimensional point p on the pixel plane i , then:

[0090]

[0091] Among them, s is the scale factor, K is the intrinsic parameter matrix of the camera, R is the rotation matrix, and t is the translation vector. Expanding the above equation, we can get the projection equation:

[0092]

[0093] By further expanding the above equation, we can establish a linear equation system about the rotation matrix R and the translation vector t, where the rotation matrix R is an orthogonal matrix that satisfies R T R=I constraint.

[0094] In order to solve the rotation matrix R and the translation vector t, the direct linear transformation (DLT) method and the nonlinear optimization method can be used. Specifically, the following steps can be used:

[0095] 1. Initial solution estimation: Use the DLT algorithm to make an initial estimate of the external parameters. Rewrite the above projection equation into a linear form and construct a linear equation system about the rotation matrix R and the translation vector t.

[0096] 2. Solve the linear equations: Use the least squares method to solve the linear equations and obtain the initial rotation matrix R and translation vector t.

[0097] 3. Orthogonalize the rotation matrix R: Since direct solution may cause the rotation matrix R to not satisfy orthogonality, the rotation matrix R needs to be orthogonalized, usually using the singular value decomposition (SVD) method.

[0098] 4. Taking the initial point as the starting point, use nonlinear optimization algorithms such as Levenberg-Marquardt to minimize the reprojection error:

[0099]

[0100] Among them, π(·) represents the three-dimensional point P i Projects to the pixel plane using the current camera parameters.

[0101] 5. Obtain the final solution. After the above optimization, the external parameters of the camera that meet the minimum reprojection error are obtained: the rotation matrix R and the translation vector t.

[0102] Next, the present invention can obtain the optical axis information of the camera according to the rotation matrix R and the translation vector t. The position of the optical center (i.e., the camera center) C of the camera in the world coordinate system can be calculated as follows: C = -R T t.

[0103] In the camera coordinate system, the camera optical axis coincides with the Z axis, and its direction vector dc for:

[0104]

[0105] The camera optical axis can be expressed in the world coordinate system as a straight line passing through the optical center C: L(λ) = C + λd w , where d w =R T d c .

[0106] Finally, the intersection point P of the camera optical axis and the screen (coplanar) is obtained. Since the flickering light sources A, B, C, and D are coplanar, any three points, such as A, B, and C, can be used to determine the equation of the coplanar plane: AB = BA; AC = CA;

[0107] Therefore, the normal vector n satisfies: n = AB × AC. Since the Z vector is 0, the result of the cross product is:

[0108]

[0109] Since the coplane is on the Z=0 plane, the normal vector of the coplane is n=[0,0,1] T , so the equation of the coplane is: n·(XA)=0, where X is any point on the coplane.

[0110] Expanding the optical axis equation yields:

[0111]

[0112] Solving for λ=-C z / d z , and then substitute λ into the optical axis equation to obtain the coordinates of the intersection point P (P x ,P y ,P z ):

[0113]

[0114] In summary, through the above-mentioned geometric calculation method, the coordinate information of the intersection point P of the camera optical axis of the pointing device and the screen can be obtained. The above-mentioned calculation method can be executed by the processor in the pointing device, and can also be executed by the pointed device. The present invention is not limited to a specific execution location. For the coordinate information of the intersection point P obtained by the pointing device, it can be obtained by local calculation based on the event stream output by the DVS. For the coordinate information of the intersection point P obtained by the pointed device, the event stream output by the DVS, the event stream after the filtering operation, or any intermediate calculation result of the coordinates of the intersection point P obtained above can be sent to the pointed device, and the pointed device calculates the final coordinate information of the intersection point P.

[0115] Finally, the present invention also discloses an interactive device, including a pointing device and a pointed device, and any one of the aforementioned absolute pointing methods is applied to the pointing device and / or the pointed device.

[0116] Furthermore, the pointing device is a remote controller, and the pointed device is a television, or a projector and a screen.

[0117] In order to better illustrate the present invention, numerous specific details are provided in the above specific embodiments. It should be understood by those skilled in the art that the present invention can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present invention.

[0118] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An absolute pointing method, characterized in that: include: The pointing device is equipped with a DVS, and is used to sense the flashing light source set on the pointed device; The pointed device is provided with 3 or 4 or more flashing light sources, and at least 3 of the flashing light sources are not collinear; Filter the event stream output by DVS, extract the pixel coordinates associated with the flickering light source, and identify the identity of each flickering light source; Obtaining the camera's posture parameters according to the pixel coordinates associated with the flashing light source, and obtaining the camera's optical axis information according to the camera's posture parameters; According to the optical axis information of the camera, coordinate information of the intersection of the optical axis of the camera and the coplanar surface where the at least three scintillation light sources are located is obtained.

2. The absolute pointing method according to claim 1, characterized in that: When filtering the event stream output by DVS, high-pass filtering, band-pass filtering, and similarity filtering methods are used.

3. The absolute pointing method according to claim 1, characterized in that: An encoding scheme is adopted for the driving signal of the flashing light source, and the event stream output by the DVS is decoded, and events that cannot be decoded or the decoding results do not meet expectations are filtered out.

4. The absolute pointing method according to claim 1 or 2, characterized in that: The flashing light sources are sorted according to the distance between the geometric centers of the flashing light sources, and the identity of each flashing light source is identified.

5. The absolute pointing method according to claim 3, characterized in that: The identification of each flashing light source is identified according to the identification indicated by the decoding result.

6. The absolute pointing method according to any one of claims 1 to 3 and 5, characterized in that: The processing step of obtaining the coordinate information of the intersection point according to the event stream output by the DVS occurs in the pointing device or the pointed device, or partially occurs in the pointing device and partially occurs in the pointed device; The pointed device performs a corresponding response according to the coordinate information of the intersection point.

7. A pointing device, characterized in that: The pointing device is equipped with a DVS and is used to sense a flashing light source provided on the pointed device, and the pointed device is provided with three or four or more flashing light sources, and at least three of the flashing light sources are not collinear; In the pointing device, the following processing steps are performed: Filter the event stream output by DVS, extract the pixel coordinates associated with the flickering light source, and identify the identity of each flickering light source; Obtaining the camera's posture parameters according to the pixel coordinates associated with the flashing light source, and obtaining the camera's optical axis information according to the camera's posture parameters; According to the optical axis information of the camera, coordinate information of the intersection of the optical axis of the camera and the coplanar surface where the at least three scintillation light sources are located is obtained.

8. The pointing device according to claim 7, characterized in that: The pointing device offloads part or all of the processing steps to the pointed device.

9. An interactive device, comprising a pointing device and a pointed device, characterized in that: The pointing device is equipped with a DVS, and is used to sense the flashing light source set on the pointed device; The pointed device is provided with 3 or 4 or more flashing light sources, and at least 3 of the flashing light sources are not collinear; In the pointing device and / or the pointed device, the following processing steps are performed: Filter the event stream output by DVS, extract the pixel coordinates associated with the flickering light source, and identify the identity of each flickering light source; Obtaining the camera's posture parameters according to the pixel coordinates associated with the flashing light source, and obtaining the camera's optical axis information according to the camera's posture parameters; According to the optical axis information of the camera, coordinate information of the intersection of the optical axis of the camera and the coplanar surface where the at least three scintillation light sources are located is obtained.

10. The interactive device according to claim 9, characterized in that: The pointing device is a remote controller, and the pointed device is a projector and a screen, or a television.

Images