pointing method and pointed device, interactive device

Abstract

The application discloses a pointing method and a pointed device and an interactive device, and belongs to the field of human-computer interaction. In order to avoid modifying a curtain, the pointing method projects a picture to a projection area through a pointed device equipped with a projection light machine; emits 2, 3 or more light beams to a plane where the projection area is located through a pointed device equipped with a flashing light source, and forms 2, 3 or more flashing light points on the plane where the projection area is located; perceives the flashing light points through a pointing device equipped with an event-based sensor; and determines a mapping point through the pointing device and / or the pointed device by acquiring and utilizing data output by the event-based sensor or data processed from the data output by the event-based sensor, wherein the mapping point is used for indicating a current pointing of the pointing device. The application does not need to modify a curtain or other pointed area, is suitable for more application scenarios, and is especially suitable for the field of projectors.

Description

[0001] The present application claims priority to the application for an invention patent with application number 2025106574879, titled "Pointing method and pointed device, interactive device", filed on May 21, 2025 with the State Intellectual Property Office of China, and incorporates all the technical solutions recorded therein into the present application. TECHNICAL FIELD

[0002] The present application relates to the field of human-computer interaction, and in particular to a pointing method and a pointed device and an interactive device. BACKGROUND

[0003] For screen devices in the field of home entertainment and scientific research and teaching, the interactive mode with screen pointing belongs to a new type of interactive mode, which breaks through the limitation that the traditional remote control scheme can only be selected by keys. When the user points to the screen with a pointing device such as a remote controller, the interactive effect corresponding to the position pointed by the pointing device can be presented on the screen.

[0004] The common solutions in the prior art at present mainly include ultra-wideband (UWB), gyroscope mouse, and under-screen light sensor schemes. However, the ultra-wideband technology scheme has the disadvantages of high cost, high power consumption of the remote controller, and poor real-time performance; the gyroscope mouse technology scheme has the defects of poor precision and stability caused by the drift of sensing data; and the under-screen light sensor technology scheme has the problems of high cost, difficulty in mass production, and large-scale application.

[0005] In view of this, some prior art has made some improvements to the above-mentioned disadvantages or defects, which can be referred to as follows:

[0006] Prior art 1: CN119697412A, relative pointing device and method, and interactive device;

[0007] Prior art 2: CN119729073A, absolute pointing device and method, and interactive device.

[0008] Figure 1 The present application relates to the field of human-computer interaction, and in particular to a pointing method and a pointed device and an interactive device.

[0009] Figure 2Fig. 1 is a schematic diagram of a screen pointing device with absolute pointing for prior art 2, which discloses an absolute pointing device and method, interactive device, which sets at least 3 non-collinear flashing light sources on the pointed device as reference positioning points, and cooperates with an event camera to realize absolute position estimation of the pointing device on the pointed device.

[0010] However, prior art 1 and prior art 2 both need to modify the pointed device or area (display screen, curtain) in advance - install flashing light sources on the pointed device, which limits the application range of the above technology, so that the interactive device needs to be modified before leaving the factory.

[0011] In addition, for projection products, since the curtain (especially outdoor curtain) is usually not connected to the mains and the flashing light source embedded in the curtain is driven by the battery, it needs to be replaced frequently; and if the user directly projects on the wall (wall surface, especially the ceiling, etc.), prior art 1 and prior art 2 cannot be directly applied.

[0012] Based on the technical problems described in the above prior art, a pointing scheme is provided which can avoid modifying the pointed device or area, and especially can be applied to the projector scene (the pointed area or device usually does not want or cannot be modified). SUMMARY

[0013] In order to alleviate or partially alleviate the above technical problems, the solution of the present application is as follows:

[0014] In one aspect, the present application discloses a pointing method, comprising: projecting a picture to a projection area by a pointed device equipped with a projection light machine;

[0015] Emitting 2, 3 or more light beams to the plane where the projection area is located by the pointed device equipped with flashing light sources, and forming 2, 3 or more flashing light points on the plane where the projection area is located;

[0016] Sensing the flashing light points by a pointing device equipped with an event-based sensor;

[0017] By the pointing device or / and the pointed device:

[0018] Obtaining and utilizing the event-based sensor output data or data processed from the event-based sensor output data to determine a mapping point; wherein,

[0019] The mapping point is used to indicate the current pointing of the pointing device.

[0020] In some embodiments, the event-based sensor output data or data processed from the event-based sensor output data is:

[0021] (i) an event stream, or

[0022] (ii) pixel coordinates indicating a flickering light point, or

[0023] (iii) pixel coordinates indicating a geometric center of a flickering light point, or

[0024] (iv) optical axis information of a camera, or

[0025] (v) coordinate information of an intersection of an optical axis of a camera and a plane on which a projection area is located, the camera being a camera on which the event-based sensor is located.

[0026] In some embodiments, the event stream is:

[0027] (a) an original event stream without noise reduction processing, or

[0028] (b) an event stream after noise reduction processing, or

[0029] (c) an event stream generated only by a flickering light point.

[0030] In some embodiments, the flickering light source is an infrared light source.

[0031] In some embodiments, the device being pointed at is capable of switching between relative pointing and absolute pointing.

[0032] In some embodiments, the event-based sensor comprises DVS pixels and APS pixels.

[0033] In some embodiments, the projection area is located on a surface of a curtain or a wall.

[0034] In some embodiments, the device being pointed at is a projector.

[0035] In some embodiments, the flickering light point is located inside or outside the projection area.

[0036] In some embodiments, when the number of emitted light rays is no less than 3, at least 3 flickering light points are not collinear.

[0037] In another aspect, the present disclosure discloses a device being pointed at, comprising:

[0038] a projector configured to project a picture to a projection area;

[0039] a flickering light source configured to emit 2, 3 or more light rays on a plane on which the projection area is located, and form 2, 3 or more flickering light points on the plane on which the projection area is located; and

[0040] the device being pointed at is further configured to:

[0041] acquire and utilize data outputted by or processed from the event-based sensor equipped in the pointing device to determine a mapping point; wherein,

[0042] the mapping point is used to indicate the current pointing of the pointing device.

[0043] In some embodiments, the data outputted by or processed from the event-based sensor is:

[0044] (i) an event stream, or

[0045] (ii) pixel coordinates indicating a flickering light spot, or

[0046] (iii) pixel coordinates indicating a geometric center of a flickering light spot, or

[0047] (iv) optical axis information of a camera, or

[0048] (v) coordinate information of an intersection between an optical axis of a camera and a plane on which the projection region is located, the camera being a camera on which the event-based sensor is located.

[0049] In some embodiments, the event stream is:

[0050] (a) an original event stream without noise reduction processing, or

[0051] (b) an event stream after noise reduction processing, or

[0052] (c) an event stream generated only by a flickering light spot.

[0053] In some embodiments, the flickering light source is an infrared light source.

[0054] In some embodiments, the pointed-to device is capable of switching between relative pointing and absolute pointing.

[0055] In some embodiments, the event-based sensor comprises DVS pixels and APS pixels.

[0056] In some embodiments, the projection region is located on a surface of a curtain or a wall.

[0057] In some embodiments, the pointed-to device is a projector.

[0058] In some embodiments, the flickering light spot is located inside or outside the projection region.

[0059] In some embodiments, when the number of emitted light beams is no less than 3, at least 3 flickering light spots are not collinear.

[0060] In another aspect, the present application also discloses an interaction device, comprising a pointing device and a pointed device, the pointing device comprising an event-based sensor;

[0061] the pointed device comprising (a) a projector configured to project a picture to a projection area; (b) a flickering light source configured to emit 2, 3 or more light rays in the plane where the projection area is located, and form 2, 3 or more flickering light points in the plane where the projection area is located; and,

[0062] the pointing device or / and the pointed device are further configured to:

[0063] acquire and utilize the event-based sensor output data or data processed from the event-based sensor output data to determine a mapping point; wherein,

[0064] the mapping point is used to indicate the current pointing of the pointing device.

[0065] In some embodiments, the event-based sensor output data or data processed from the event-based sensor output data is:

[0066] (i) an event stream, or

[0067] (ii) pixel coordinates indicating the flickering light points, or

[0068] (iii) pixel coordinates indicating the geometric centers of the flickering light points, or

[0069] (iv) optical axis information of the camera, or

[0070] (v) coordinate information of the intersection of the optical axis of the camera and the plane where the projection area is located, the camera being the camera where the event-based sensor is located.

[0071] In some embodiments, the event stream is:

[0072] (a) an original event stream without noise reduction processing, or

[0073] (b) an event stream after noise reduction processing, or

[0074] (c) an event stream generated only by the flickering light points.

[0075] In some embodiments, the flickering light source is an infrared light source.

[0076] In some embodiments, the pointed device can switch between relative pointing and absolute pointing.

[0077] In some embodiments, the event-based sensor comprises DVS pixels and APS pixels.

[0078] In some embodiments, the projection area is located on the surface of a curtain or a wall.

[0079] In some embodiments, the pointing device is a projector.

[0080] In some embodiments, the flickering light points are located within or outside the projection area.

[0081] In some embodiments, when the emitted light is not less than 3 beams, at least 3 flickering light points are not collinear.

[0082] In some embodiments, a band-pass filter is provided in front of the event-based sensor, and the light emitted by the flickering light source is allowed to pass through the filter.

[0083] The technical solution of the present application has one or more of the following beneficial technical effects:

[0084] (1) Compared with the traditional prior art, the present application has the advantages of low power consumption, low delay and low cost.

[0085] (2) Compared with the closest prior arts 1 and 2, the present application does not need to modify the curtain where the projection area is located, and is particularly suitable for remote control / air mouse solutions in the projector scenario.

[0086] (3) Compared with the closest prior arts 1 and 2, the present application can realize both relative pointing and absolute pointing.

[0087] (4) Protect privacy and avoid potential privacy leakage risk of traditional frame cameras.

[0088] In addition, the present application also has other beneficial effects which will be mentioned in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0089] Figure 1 is a schematic diagram of a relative pointing scheme in the prior art;

[0090] Figure 2 is a schematic diagram of an absolute pointing scheme in the prior art;

[0091] Figure 3 is a schematic diagram of a relative pointing scheme in some embodiments of the present application;

[0092] Figure 4 is a schematic diagram of an absolute pointing scheme in some embodiments of the present application. DETAILED DESCRIPTION

[0093] In order to make the objects, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the present application with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of the present application.

[0094] In the description of the present application, unless otherwise specified, " / " represents that the objects before and after the " / " are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the present application only represents a description of the association relationship of the associated objects, and represents that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural.

[0095] In the description of the present application, unless otherwise specified, "a plurality of" means two or more than two. "At least one of the following" or the like means any combination of the items, including any combination of single item or multiple items. For example, at least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0096] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, "first", "second", and the like are used to distinguish the same items or similar items with basically the same function and effect. Those skilled in the art can understand that "first", "second", and the like do not limit the quantity and execution order, and "first", "second", and the like do not necessarily mean different.

[0097] In the embodiments of the present application, "exemplarily", "for example", and the like are used to represent as an example, illustration, or explanation. Any embodiment or design scheme described as "exemplarily", "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, "exemplarily", "for example", and the like are used to present the relevant concept in a specific manner, for the purpose of understanding.

[0098] Term explanation:

[0099] The term "pointing device" refers to a device manipulated by a user to indicate or react to the user's selection / confirmation / action intention, 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 area and moving or rotating the pointing device. The pointing device can be, for example, a remote controller of a projector, a simulated prop in a network game, etc.

[0100] The term "pointed device" refers to a device that provides, displays, forms, projects a "pointed area", such as a projection light machine.

[0101] For a pointed device like a projection light machine, its "pointed area" is often not in the pointed device itself, but separated from it, which means that in the present invention, the pointing device does not necessarily point to the pointed device physically.

[0102] The pointed device can eventually learn the information reflecting the user's operation intention or motion trend to determine the next operation or control instruction, such as the user switches to play the next video by sliding the pointing device left / right, and the pointed device and its associated information processing system are instructed to do so.

[0103] The term "event-based sensor" (EBS) refers to a device containing dynamic vision pixels that can output event signals (events) generated by changes in light intensity, which can be a dynamic vision sensor (DVS, also called event camera) commonly known in the art, or a sensor containing both DVS pixels and active pixel sensors (APS) pixels, such as the commonly known DAVIS in the art. The dynamic vision pixels in the event-based sensor sense the changes in light and darkness, and generate events (also called spike events) when the change in light intensity (brightening or darkening) in the sensing area exceeds a certain range.

[0104] An event camera generates a spike train, also known as an event stream, according to the changes in light within the field of view (FOV). The event stream is composed of one event after another. An event can be represented by a four-tuple (x, y, p, t), where x and y are the pixel coordinates of the pixel that generated the event, p represents the polarity, which can be represented by 1 or -1 (or 0 / 1, ON / OFF flag) to indicate brightness increase or decrease, and t is the timestamp of the event. In some embodiments, the polarity p can be omitted or ignored.

[0105] The term "pixel coordinates" refers to a series of events generated by a flickering light point in the DVS imaging process, each event including the pixel coordinates of the event. The pixel coordinates in these events that best represent or reflect the current position of the flickering light point are called the pixel coordinates or imaging points indicating the flickering light point.

[0106] The term "relative pointing" describes the relative movement tendency of a user manipulated pointing device with respect to the pointed area. There is usually a mapping point in the pointed area that reflects the current relative pointing of the pointing device, and the movement of the mapping point is consistent with the movement tendency of the pointing device.

[0107] The term "absolute pointing" refers to the intersection of the extension line of the pointing device and the pointed area in the world coordinate system, which is an objective description of the real pointing of the pointing device held by the user to the pointed area.

[0108] The term "projection screen" is a device specially used to display the picture projected by the projection light machine, and usually includes soft screen, hard screen and the like.

[0109] The technical solution of the present application can be used to realize both absolute pointing function and relative pointing function, which is a technical effect that neither of the prior art 1 and the prior art 2 can achieve.

[0110] Hereinafter, the technical solution of the present application will be further described exemplarily with the projection light machine (also referred to as laser projection display device) as the pointed device.

[0111] Hereinafter, the technical solution of the present application will be further described exemplarily with the DVS as the event-based sensor, and the technical concept of the present application will be explained by taking this as an example. Those skilled in the art know that the solution described hereinafter is applicable to any event-based sensor containing DVS, and the present application can not be limited to this and is not limited to this.

[0112] As a preferred embodiment of the present application, the DAVIS sensor can be used as the event-based sensor in the present application. The advantage of this embodiment is that an additional lens does not need to be installed on the projection light machine, but the camera (such as for the purpose of automatic obstacle avoidance) usually provided by the projection light machine can be directly applied, which reduces the overall cost of the system and minimizes the impact on the design of the projection light machine system.

[0113] The present application hereby incorporates all the technical features of the prior art 1 and the prior art 2 by reference into the present application, and as a part of the present application. For the technical means not described in detail in the present application, it can be supplemented by the prior art by reference.

[0114] In a first aspect, the pointing method of the present application comprises: projecting a picture to a projection area by a pointed device equipped with a projection light machine; emitting 2, 3 or more light beams to the plane where the projection area is located and forming 2, 3 or more flickering light points on the plane where the projection area is located by a pointed device equipped with a flickering light source; sensing the flickering light points by a pointing device equipped with an event-based sensor; determining a mapping point by the pointing device or / and the pointed device using the data outputted by the event-based sensor or the data processed from the data outputted by the event-based sensor; wherein the mapping point is used to indicate the current pointing of the pointing device.

[0115] In some embodiments, the data outputted by the event-based sensor or the data processed from the data outputted by the event-based sensor is:

[0116] (i) an event stream, or

[0117] (ii) pixel coordinates of the flickering light points, or

[0118] (iii) pixel coordinates of the geometric centers of the flickering light points, or

[0119] (iv) optical axis information of the camera, or

[0120] (v) coordinate information of the intersection of the optical axis of the camera and the plane where the projection area is located, the camera being the camera where the event-based sensor is located.

[0121] In the present application, from the original event stream outputted by the event-based sensor to the final determination of the mapping point, various processing and calculation processes involved can be calculated by the pointing device (disadvantage: the pointing device bears more calculation power consumption, advantage: the amount of data transmitted to the projector is smaller and thus the communication power consumption is lower), or by the projector with more calculation power (advantage: the pointing device bears less calculation power consumption, disadvantage: the amount of data transmitted to the projector is larger and thus the communication power consumption is higher), or by both of them to share the calculation (an optimal compromise can be found to make the power consumption or / and the lowest). Therefore, the data outputted by the event-based sensor or the data processed from the data outputted by the event-based sensor can also be any reasonable data of other types or intermediate process data as long as it can be used to determine the mapping point. The present application can not be limited to this and is not limited to this.

[0122] Figure 3is a schematic diagram of relative pointing scheme in some embodiments of the present application. In relative pointing scheme, the flickering light source only needs to emit 2 beams of laser to the plane where the projection area is located. In a class of embodiments, if the flickering light source emits 3 or more beams of laser according to the preset program or instruction, but only 2 beams are detected due to the failure or obstruction of the flickering light source, etc., the absolute pointing scheme can be switched to the relative pointing scheme.

[0123] When the 2 flickering light points are imaged in the DVS pixel array, they correspond to 2 imaging points. In an embodiment, the midpoint of the 2 imaging points can be taken as the geometric center and used as a virtual imaging point for subsequent relative pointing judgment.

[0124] If there are only 2 flickering light points, the plane where the projection area is located cannot be determined, and thus the point of absolute pointing cannot be determined.

[0125] However, using the virtual imaging point, a relative pointing function similar to a computer mouse can be realized, which often also involves a rotation correction link. For details of the implementation manner, reference can be made to Prior Art 1, which is incorporated into the present application by reference.

[0126] Figure 4 is a schematic diagram of absolute pointing scheme in some embodiments of the present application. Compared with the scheme shown in Figure 3 , the scheme of Figure 4 requires at least 3 beams of laser to be emitted to the plane where the projection area is located.

[0127] Since 3 points determine a plane, the plane where the projection area is located can be determined by the pointing device or / and the pointed device, and thus it is possible to calculate the intersection point of the camera optical axis and the plane where the projection area is located (the point of absolute pointing).

[0128] For how to determine the above-mentioned intersection point and mapping point, reference can be made to Prior Art 2, which is incorporated into the present application by reference.

[0129] In a class of embodiments, the event stream is:

[0130] (a) an original event stream without noise reduction processing, or

[0131] (b) an event stream after noise reduction processing, or

[0132] (c) an event stream generated only by the flickering light points.

[0133] Here, the types of event streams to which the calculation steps can be offloaded to the pointed device are listed by way of example, and the present application can not be limited thereto and is not limited thereto.

[0134] In addition, how to reduce noise and how to extract the event stream generated by the flickering light points are explained in the prior art, at least in the prior art 1, 2 and other prior art disclosed by them, which will not be repeated here.

[0135] In some embodiments, the flickering light source is an infrared light source.

[0136] Since the infrared light is invisible to the human eye, such embodiments help to avoid affecting the user's viewing experience, otherwise multiple beams of common and visible laser light are often unacceptable to users.

[0137] In some embodiments, the pointed device can switch between relative pointing or absolute pointing.

[0138] Based on the number of flickering light points detected by the sensor, the relative pointing or absolute pointing scheme can be adaptively switched, which can avoid the pointing device from being disabled due to some reasons.

[0139] Optionally, the operating system of the projector allows the user to freely select the relative pointing or absolute pointing scheme.

[0140] In some embodiments, the event-based sensor includes DVS pixels and APS pixels.

[0141] Although the present application only uses the event stream generated by the DVS pixels, such embodiments can reuse the lens often provided on the projector, which can effectively avoid modifying the design of the projector body (here it does not mean the screen or the wall surface).

[0142] In some embodiments, the projection area is located on the surface of the screen or the wall.

[0143] Currently, in addition to the projection screen, users often prefer to project onto a white wall or a ceiling, so the present application is suitable for this application scenario, especially in the wall scenario, it is almost impossible / realistic to install the flickering light source required by the prior art 1, 2.

[0144] In some embodiments, the pointed device is a projector.

[0145] The present application is particularly suitable for the projector scenario, because in the projector scenario, it is more difficult to commercialize the scheme of installing a flickering light source on the screen or the wall. The present application does not need to do as the prior art 1, 2, so the present application is particularly effective or meaningful for the projector scenario or other similar scenarios.

[0146] In some embodiments, the flickering light points are located inside or outside the projection area.

[0147] The projection area of the projector can be adjustable in size or movable, and such embodiments can adapt to this situation.

[0148] In some embodiments, when the emitted light is not less than 3 beams, at least 3 flickering light points are not collinear.

[0149] Three points of different lines can determine a plane, and therefore such embodiments can implement an absolute pointing scheme.

[0150] In a second aspect, the pointed device of the present application comprises: a projector configured to project a picture to a projection area; a flickering light source configured to emit 2, 3 or more light beams in the plane where the projection area is located, and form 2, 3 or more flickering light points in the plane where the projection area is located; and the pointed device is further configured to: obtain and utilize the output data of the event-based sensor equipped in the pointing device or the data processed from the output data of the event-based sensor, to determine a mapping point; wherein the mapping point is used to indicate the current pointing of the pointing device.

[0151] For other technical features, reference can be made to the technical content disclosed in the first aspect of the present application, which will not be repeated here.

[0152] In a third aspect, the interactive device of the present application comprises a pointing device and a pointed device, wherein the pointing device comprises an event-based sensor; the pointed device comprises (a) a projector configured to project a picture to a projection area; (b) a flickering light source configured to emit 2, 3 or more light beams in the plane where the projection area is located, and form 2, 3 or more flickering light points in the plane where the projection area is located; and the pointing device or / and the pointed device is further configured to: obtain and utilize the output data of the event-based sensor or the data processed from the output data of the event-based sensor, to determine a mapping point; wherein the mapping point is used to indicate the current pointing of the pointing device.

[0153] For other technical features, reference can be made to the technical content disclosed in the first aspect of the present application, which will not be repeated here.

[0154] Further, in the various embodiments described above, an optical filter is provided in front of the event-based sensor in the present application, which is configured to allow only light of the wavelength of the laser light source to pass through the optical filter and be sensed by the event-based sensor. For example, the wavelength of the laser light source is 850 nm, which belongs to the infrared band. In embodiments, the optical filter can be a narrow bandpass filter, for example, with 850 nm wavelength in the narrow band. The advantage of such embodiments is that it can physically avoid the event-based sensor from generating a large number of events, and reduce the pressure on the back-end processing of events or computing power, such as filtering and other processing operations.

[0155] The term "determining" or "determining" encompasses a wide variety of actions and, therefore, "determining" or "determining" can include calculating, computing, processing, deriving, investigating, looking up (such as via a table, a database, or another data structure), ascertaining and the like. Also, "determining" or "determining" can include receiving (such as receiving information), accessing (such as accessing data in a memory) and the like. Also, "determining" or "determining" can include resolving, selecting, choosing, establishing and the like.

[0156] In order to facilitate a fuller understanding of the present application, a number of specific details are given in the preceding detailed description. One skilled in the art will understand that the application can be practiced without these specific details. In some instances, well-known methods, structures, elements, and circuits have not been described in detail in order to avoid obscuring the intended

[0157] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A pointing method, characterized by, comprising: projecting a picture to a projection area by a pointing device equipped with a projection light machine; emitting 2, 3 or more light beams to the plane where the projection area is located and forming 2, 3 or more flashing light points on the plane where the projection area is located by a pointing device equipped with a flashing light source; sensing the flashing light points by a pointing device equipped with an event-based sensor; acquiring and utilizing the event-based sensor output data or data processed from the event-based sensor output data by the pointing device or / and the pointed device to determine a mapping point; wherein, the mapping point is used to indicate the current pointing of the pointing device.

2. The pointing method according to claim 1, wherein: the event-based sensor output data or data processed from the event-based sensor output data is: (i) an event stream, or (ii) pixel coordinates indicating the flashing light points, or (iii) pixel coordinates indicating the geometric centers of the flashing light points, or (iv) optical axis information of a camera, or (v) coordinate information of the intersection of the optical axis of a camera and the plane where the projection area is located, the camera being the camera where the event-based sensor is located.

3. The pointing method according to claim 2, wherein: the event stream is: (a) an original event stream without noise reduction processing, or (b) an event stream after noise reduction processing, or (c) an event stream generated only by the flashing light points.

4. The pointing method according to any one of claims 1-3, wherein: when the emitted light beams are not less than 3, at least 3 flashing light points are not collinear. comprising:

5. A pointing device, characterized by a projection light machine configured to project a picture to a projection area; a flashing light source configured to emit 2, 3 or more light beams to the plane where the projection area is located and form 2, 3 or more flashing light points on the plane where the projection area is located; and, the pointed device is further configured to: acquire and utilize the event-based sensor output data or data processed from the event-based sensor output data from the event-based sensor equipped in the pointing device to determine a mapping point; wherein, the mapping point is used to indicate the current pointing of the pointing device.

6. The pointed device according to claim 5, wherein: the flashing light source is an infrared light source.

7. An interactive device comprising a pointing device and a pointed device, wherein: the pointing device comprises an event-based sensor; the pointed device comprises (a) a projection light machine configured to project a picture to a projection area; (b) a flashing light source configured to emit 2, 3 or more light beams to the plane where the projection area is located and form 2, 3 or more flashing light points on the plane where the projection area is located; and, the pointing device or / and the pointed device is further configured to: acquire and utilize the event-based sensor output data or data processed from the event-based sensor output data to determine a mapping point; wherein, the mapping point is used to indicate the current pointing of the pointing device.

8. The interactive device according to claim 7, wherein: ​ The event-based sensor output data or the data processed from the event-based sensor output data is: (i) an event stream, or (ii) pixel coordinates indicating a flickering light spot, or (iii) pixel coordinates indicating a geometric center of a flickering light spot, or (iv) optical axis information of a camera, or (v) coordinate information of an intersection of an optical axis of a camera and a plane on which a projection area is located, the camera being a camera in which the event-based sensor is located.

9. The interactive device of claim 7, wherein: A band-pass filter is provided in front of the event-based sensor, and the light emitted by the flickering light source is allowed to pass through the filter.

10. The interactive device of claim 9, wherein: When the emitted light is not less than 3 beams, at least 3 flickering light spots are not collinear.

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