Cursor spatial positioning method and system based on absolute coordinates

Abstract

The present invention relates to a cursor spatial positioning method and system based on absolute coordinates. The method comprises the following steps: capturing an image of an infrared point in a scene in real time to obtain a real-time screen image; processing the real-time screen image to obtain the absolute coordinates of the infrared point; sending the absolute coordinates of the infrared point to a control device; and on the basis of the absolute coordinates of the infrared point, the control device determining a target location of a cursor. The present invention realizes high-precision pointing and positioning of a cursor by means of an absolute coordinate positioning method, is not affected by ambient light and marker visibility, supports flexible and diverse application scenarios, is also not affected by the performance of an image recognition algorithm, has good real-time performance, and can meet the requirements of users for rapid cursor movement.

Description

A method and system for spatial positioning cursors based on absolute coordinates Technical Field

[0001] This invention relates to the field of spatial positioning technology, and more specifically, to a method and system for spatial positioning cursors based on absolute coordinates. Background Technology

[0002] With the rapid development of information technology and the continuous innovation of human-computer interaction methods, the mouse, as a basic input device for computers, has always been a hot research topic for improving its positioning technology. Traditional mice rely on relative movement of the desktop to achieve cursor positioning; however, this method limits the application of the mouse in scenarios such as handheld use and airborne operation. In recent years, mice based on motion sensors such as gyroscopes have emerged. They achieve cursor positioning by detecting the spatial movement of the mouse, but due to the use of relative positioning, their pointing accuracy and user experience still need improvement.

[0003] To address the aforementioned issues, existing solutions utilize image recognition technology for spatial mouse positioning. This approach uses a camera to capture specific markers and employs image processing algorithms to identify the markers' positions, thereby locating the cursor. However, this method still has certain drawbacks: positioning accuracy is affected by the performance of the image recognition algorithm, making it difficult to achieve high-precision pointing; it requires high levels of ambient light and marker visibility, limiting its application scenarios; and it lacks real-time performance, especially in complex backgrounds where image processing delays can lead to cursor positioning lag. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for spatial positioning cursors based on absolute coordinates, addressing the problems existing in the prior art.

[0005] The technical solution adopted by this invention to solve its technical problem is: a method for constructing a spatial positioning cursor based on absolute coordinates, comprising the following steps:

[0006] Real-time image acquisition of infrared points in the scene to obtain real-time screen images;

[0007] The real-time screen image is processed to obtain the absolute coordinates of the infrared point;

[0008] Send the absolute coordinates of the infrared point to the control device;

[0009] The control device determines the target position of the cursor based on the absolute coordinates of the infrared point.

[0010] In the spatial positioning cursor method based on absolute coordinates described in this invention, the step of processing the real-time screen image to obtain the absolute coordinates of the infrared point includes:

[0011] Boundary processing is performed on the real-time screen image to determine the boundary of the real-time screen image;

[0012] Establish a coordinate system based on the defined boundaries;

[0013] The infrared point is located based on the established coordinate system to obtain its absolute coordinates.

[0014] In the spatial positioning cursor method based on absolute coordinates described in this invention, the step of performing boundary processing on the real-time screen image to determine the boundary of the real-time screen image includes:

[0015] An edge detection algorithm is used to process the boundaries of the real-time screen image to determine the boundaries of the real-time screen image.

[0016] In the spatial positioning cursor method based on absolute coordinates described in this invention, the coordinate system includes: world coordinate system, camera coordinate system, image coordinate system, and pixel coordinate system.

[0017] In the spatial positioning cursor method based on absolute coordinates described in this invention, the step of locating the infrared point based on the established coordinate system and obtaining the absolute coordinates of the infrared point includes:

[0018] Based on the world coordinate system, camera coordinate system, image coordinate system, and pixel coordinate system, establish a conversion formula between pixel coordinates and world coordinates;

[0019] The absolute coordinates of the infrared point are obtained by calculating the conversion formula.

[0020] In the spatial positioning cursor method based on absolute coordinates described in this invention, sending the absolute coordinates of the infrared point to the control device includes:

[0021] The absolute coordinates of the infrared point are sent to the control device in absolute value form.

[0022] The spatial positioning cursor method based on absolute coordinates described in this invention further includes:

[0023] The control device controls the cursor to move to the target position according to the target position.

[0024] The present invention also provides a system for spatial positioning cursors based on absolute coordinates, comprising:

[0025] The image acquisition unit is used to acquire images of infrared points in the scene in real time to obtain real-time screen images;

[0026] An image processing unit is used to process the real-time screen image to obtain the absolute coordinates of the infrared point;

[0027] A wireless communication unit is used to send the absolute coordinates of the infrared point to a control device.

[0028] The control device determines the target position of the cursor based on the absolute coordinates of the infrared point.

[0029] In the spatial positioning cursor system based on absolute coordinates described in this invention, the image processing unit includes:

[0030] A boundary processing module is used to perform boundary processing on the real-time screen image and determine the boundary of the real-time screen image.

[0031] The coordinate system establishment module is used to establish a coordinate system based on the defined boundaries;

[0032] The absolute coordinate calculation module is used to locate the infrared point based on the established coordinate system and obtain the absolute coordinates of the infrared point.

[0033] In the spatial positioning cursor system based on absolute coordinates described in this invention, the control device is further used for:

[0034] Based on the target position, control the cursor to move to the target position.

[0035] The method and system for spatial positioning of a cursor based on absolute coordinates, as described in this invention, have the following beneficial effects: The method includes the following steps: real-time image acquisition of infrared points in the scene to obtain a real-time screen image; processing the real-time screen image to obtain the absolute coordinates of the infrared points; sending the absolute coordinates of the infrared points to a control device; and the control device determining the target position of the cursor based on the absolute coordinates of the infrared points. This invention achieves high-precision cursor pointing and positioning through absolute coordinate positioning, unaffected by ambient light and marker visibility. It offers flexible and diverse application scenarios, is unaffected by the performance of image recognition algorithms, and provides good real-time performance, meeting users' needs for rapid cursor movement. Attached Figure Description

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0037] Figure 1 is a flowchart illustrating the spatial positioning cursor method based on absolute coordinates provided by the present invention;

[0038] Figures 2 to 5 are schematic diagrams illustrating the use of the real-time screen image acquisition provided by the present invention;

[0039] Figure 6 is a coordinate relationship diagram provided by the present invention;

[0040] Figure 7 is a logic block diagram of the spatial positioning cursor system based on absolute coordinates provided by the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] To address the issues of low positioning accuracy, poor real-time performance, and limited application scenarios in existing technologies, this invention provides a method for positioning a cursor based on absolute coordinates. This method captures infrared points and combines image processing to obtain the absolute coordinates of the infrared points, thereby achieving accurate and real-time positioning of the cursor on the screen.

[0043] Specifically, as shown in Figure 1, the method for spatially locating a cursor based on absolute coordinates includes the following steps:

[0044] Step S101: Real-time image acquisition of infrared points in the scene to obtain real-time screen images.

[0045] Optionally, in this embodiment, an image acquisition device (such as a camera) can be used to capture infrared points in the scene to obtain a real-time screen image including the infrared points.

[0046] The coordinates of the infrared point in the image are obtained through an algorithm by connecting the camera to the infrared point in the frame. The coordinates of the infrared point in this frame are (xxxx0, yyyy0), as shown in Figure 2. Specifically, each frame captures one infrared point, and a square coordinate is obtained from the edge of the frame. For example, if the coordinate value changes from (0, 0) to (ffff, ffff) in the image, the coordinates of the infrared point in this frame are (xxxx0, yyyy0), as shown in Figure 2. The coordinates in the next frame are (xxxx1, yyyy1), as shown in Figure 3. The coordinates at different positions in the viewport are obtained by moving the camera. In other words, during image acquisition, the camera needs to be moved in real time to obtain the coordinates at different positions in the viewport, as shown in Figures 4 and 5.

[0047] Step S102: Process the real-time screen image to obtain the absolute coordinates of the infrared points.

[0048] In this embodiment, processing the real-time screen image to obtain the absolute coordinates of the infrared point includes: performing boundary processing on the real-time screen image to determine the boundary of the real-time screen image; establishing a coordinate system based on the determined boundary; and locating the infrared point based on the established coordinate system to obtain the absolute coordinates of the infrared point.

[0049] The process of boundary processing for real-time screen images and determining the boundaries of real-time screen images includes: using an edge detection algorithm to process the boundaries of real-time screen images and determine the boundaries of real-time screen images.

[0050] In this embodiment of the invention, the constructed coordinate system includes: a world coordinate system, a camera coordinate system, an image coordinate system, and a pixel coordinate system. Specifically, locating an infrared point based on the established coordinate system and obtaining its absolute coordinates includes: establishing a conversion formula between pixel coordinates and world coordinates according to the world coordinate system, camera coordinate system, image coordinate system, and pixel coordinate system; and calculating the conversion formula to obtain the absolute coordinates of the infrared point.

[0051] Specifically, as shown in Figure 6, there are four coordinate systems: world coordinate system, camera coordinate system, image coordinate system, and pixel coordinate system.

[0052] The world coordinate system can be arbitrarily specified. shaft and The axis represents the coordinate system of point P in Figure 6.

[0053] The camera coordinate system has its origin at the pinhole, with the z-axis coinciding with the optical axis, and the x and y axes parallel to the projection plane, as shown in Figure 6. .

[0054] The image coordinate system has its origin at the intersection of the optical axis and the projection plane, and the optical axes are parallel to the projection plane, which is the xy coordinate system shown in the figure above.

[0055] The pixel coordinate system, viewed from the pinhole towards the projection surface, has its origin at the upper left corner of the projection surface. The UV axes coincide with both sides of the projection surface. This coordinate system is on the same plane as the image coordinate system, but the origin is different.

[0056] The following formula (i.e., equation (1)) is the conversion formula between pixel coordinates and world coordinates. The first matrix on the right side of the equation is the camera intrinsic parameter matrix, and the second matrix is ​​the camera extrinsic parameter matrix. Assuming that the image coordinates are known and the camera intrinsic parameter matrix has been obtained through calibration, the pixel coordinates can be directly calculated from the image coordinates and camera intrinsic parameters. Therefore, it is also necessary to calculate the scaling factor s and the camera extrinsic parameter matrix. In equation (1), ,

[0057] (1).

[0058] Simplifying (1) yields:

[0059] (2).

[0060] (2) In the formula, M is the camera intrinsic parameter matrix, R is the rotation matrix, and T is the translation matrix. This represents the height of the world coordinate system, which can generally be set to 0.

[0061] By performing a matrix transformation on equation (2), we can obtain the following equation:

[0062] + (3).

[0063] remember , ;

[0064] Solving this problem yields the following results:

[0065] (4).

[0066] Substituting equation (4) into equation (3) yields:

[0067] (5).

[0068] Step S103: Send the absolute coordinates of the infrared point to the control device.

[0069] In this embodiment of the invention, sending the absolute coordinates of the infrared point to the control device includes: sending the absolute coordinates of the infrared point to the control device in the form of absolute values. The absolute coordinates of the infrared point are those in equation (5). , .

[0070] Step S104: The control device determines the target position of the cursor based on the absolute coordinates of the infrared point.

[0071] Furthermore, in this embodiment of the invention, the method for spatially locating a cursor based on absolute coordinates further includes: the control device controlling the cursor to move to the target position according to the target position.

[0072] Referring to Figure 7, Figure 7 shows a principle block diagram of the spatial positioning cursor system based on absolute coordinates provided by the present invention.

[0073] Specifically, as shown in Figure 7, this spatial positioning cursor system based on absolute coordinates includes:

[0074] The image acquisition unit 701 is used to acquire images of infrared points in the scene in real time to obtain a real-time screen image. Optionally, the image acquisition unit can be a camera that can follow the movement and rotation of the infrared points so that the acquired image includes the infrared points.

[0075] The image processing unit 702 is used to process real-time screen images to obtain the absolute coordinates of infrared points.

[0076] The image processing unit 702 includes: a boundary processing module for performing boundary processing on the real-time screen image to determine the boundary of the real-time screen image; a coordinate system establishment module for establishing a coordinate system based on the determined boundary; and an absolute coordinate calculation module for locating the infrared point based on the established coordinate system to obtain the absolute coordinates of the infrared point.

[0077] The wireless communication unit 703 is used to transmit the absolute coordinates of the infrared point to the control device. The wireless communication unit 703 can use Bluetooth or other wireless transmission methods for data transmission.

[0078] The image acquisition unit 701, the image processing unit 702, and the wireless communication unit 703 can be integrated into a single module.

[0079] Control device 704 determines the target position of the cursor based on the absolute coordinates of the infrared point.

[0080] Furthermore, in this embodiment of the invention, the control device is also used to: control the cursor to move to the target position according to the target position. Optionally, the control device can be a computer.

[0081] Specifically, the specific coordination process between the units in the system of spatial positioning cursor based on absolute coordinates can be referred to the method of spatial positioning cursor based on absolute coordinates mentioned above, and will not be repeated here.

[0082] This invention captures infrared points using a camera and calculates their absolute coordinates. Then, it uses Bluetooth or other wireless methods to describe the cursor (or mouse) in absolute value mode, thus achieving absolute coordinate positioning within the device. This spatial positioning method provides precise cursor (or mouse) location and is suitable for handheld wireless products, air mice, remote controls, game guns, etc., enhancing the user experience of traditional mice and remote controls.

[0083] It should be noted that this invention uses infrared point absolute coordinates to achieve spatial positioning of the cursor. In other embodiments, a laser rangefinder combined with 3D scanning technology can also be used for spatial positioning. For example, a laser rangefinder can acquire distance information between the mouse and the screen, and a spatial model can be constructed using 3D scanning technology to achieve precise cursor positioning on the screen. Alternatively, in some other embodiments, ultrasonic positioning technology can be used. For example, by emitting ultrasonic waves and receiving their reflected signals, the distance and direction between the mouse and the screen can be calculated to determine the absolute position of the cursor.

[0084] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0085] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0086] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0087] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They do not limit the scope of protection of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A method for spatially positioning a cursor based on absolute coordinates, characterized in that, Includes the following steps: Real-time image acquisition of infrared points in the scene to obtain real-time screen images; The real-time screen image is processed to obtain the absolute coordinates of the infrared point; Send the absolute coordinates of the infrared point to the control device; The control device determines the target position of the cursor based on the absolute coordinates of the infrared point.

2. The method for spatial positioning of a cursor based on absolute coordinates according to claim 1, characterized in that, The process of processing the real-time screen image to obtain the absolute coordinates of the infrared point includes: Boundary processing is performed on the real-time screen image to determine the boundary of the real-time screen image; Establish a coordinate system based on the defined boundaries; The infrared point is located based on the established coordinate system to obtain its absolute coordinates.

3. The method for spatial positioning of a cursor based on absolute coordinates according to claim 2, characterized in that, The step of performing boundary processing on the real-time screen image to determine the boundary of the real-time screen image includes: An edge detection algorithm is used to process the boundaries of the real-time screen image to determine the boundaries of the real-time screen image.

4. The method for spatial positioning of a cursor based on absolute coordinates according to claim 2, characterized in that, The coordinate systems include: world coordinate system, camera coordinate system, image coordinate system, and pixel coordinate system.

5. The method for spatial positioning of a cursor based on absolute coordinates according to claim 4, characterized in that, The process of locating the infrared point based on the established coordinate system to obtain the absolute coordinates of the infrared point includes: Based on the world coordinate system, camera coordinate system, image coordinate system, and pixel coordinate system, establish a conversion formula between pixel coordinates and world coordinates; The absolute coordinates of the infrared point are obtained by calculating the conversion formula.

6. The method for spatial positioning of a cursor based on absolute coordinates according to claim 1, characterized in that, Sending the absolute coordinates of the infrared point to the control device includes: The absolute coordinates of the infrared point are sent to the control device in absolute value form.

7. The method for spatial positioning cursor based on absolute coordinates according to any one of claims 1-6, characterized in that, Also includes: The control device controls the cursor to move to the target position according to the target position.

8. A system for spatial positioning cursors based on absolute coordinates, characterized in that, include: The image acquisition unit is used to acquire images of infrared points in the scene in real time to obtain real-time screen images; An image processing unit is used to process the real-time screen image to obtain the absolute coordinates of the infrared point; A wireless communication unit is used to send the absolute coordinates of the infrared point to a control device. The control device determines the target position of the cursor based on the absolute coordinates of the infrared point.

9. The system for spatial positioning cursors based on absolute coordinates according to claim 8, characterized in that, The image processing unit includes: A boundary processing module is used to perform boundary processing on the real-time screen image and determine the boundary of the real-time screen image. The coordinate system establishment module is used to establish a coordinate system based on the defined boundaries; The absolute coordinate calculation module is used to locate the infrared point based on the established coordinate system and obtain the absolute coordinates of the infrared point.

10. The system for spatial positioning cursors based on absolute coordinates according to claim 8, characterized in that, The control device is also used for: Based on the target position, control the cursor to move to the target position.

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