Embodiments of the invention relate to image processing and more particularly relate to embedded interaction code recognition.
Computer users are accustomed to using a mouse and keyboard as a way of interacting with a personal computer. While personal computers provide a number of advantages over written documents, most users continue to perform certain functions using printed paper. Some of these functions include reading and annotating written documents. In the case of annotations, the printed document assumes a greater significance because of the annotations made on it by the user. One of the difficulties, however, with having a printed document with annotations is the need to have the annotations subsequently entered back into the electronic form of the document. This requires the original user or another user to wade through the annotations and enter them into a personal computer. In some cases, a user will scan in the annotations and the original text, thereby creating a new document. These multiple steps make the interaction between the printed document and the electronic version of the document difficult to handle on a repeated basis. Further, scanned-in images are frequently non-modifiable. There may be no way to separate the annotations from the original text. This makes using the annotations difficult. Accordingly, an improved way of handling annotations would be desirable.
One technique for capturing handwritten information is by using an image capturing pen whose location may be determined during writing. One image capturing pen that provides this capability is the Anoto pen by Anoto Inc. This pen functions by using a camera to capture an image of paper encoded with a predefined pattern. An example of the image pattern is shown in
Improved techniques for recognizing embedded interaction code (EIC) information, based on images of EIC documents, would be desirable.
In accordance with embodiments of the invention, embedded interaction code (EIC) symbols are recognized. EIC dots are generated based on effective EIC symbols, which have been generated by processing an image containing the EIC symbols, by obtaining graylevels of selected positions of the EIC-symbols. Rotated EIC dots are generated based on the EIC dots by determining which grid cells correspond to the EIC symbols and by determining which direction is a correct orientation of the EIC symbols. A homography matrix is updated with orientation information based on the EIC dots. EIC bits are extracted from the rotated EIC dots based on graylevels of selected positions of the rotated EIC dots
These and other aspects of the present invention will become known through the following drawings and associated description.
The foregoing summary of the invention, as well as the following detailed description of preferred embodiments, is better understood when read in conjunction with the accompanying drawings, which are included by way of example, and not by way of limitation with regard to the claimed invention.
Aspects of the present invention relate to determining the location of a captured image in relation to a larger image. The location determination method and system described herein may be used in combination with a multi-function pen.
The following is separated by subheadings for the benefit of the reader. The subheadings include: terms, general-purpose computer, image capturing pen, encoding of array, decoding, error correction, location determination, and embedded interaction code recognition.
Terms
Pen—any writing implement that may or may not include the ability to store ink. In some examples, a stylus with no ink capability may be used as a pen in accordance with embodiments of the present invention.
Camera—an image capture system that captures an image from paper or any other medium.
General Purpose Computer
A basic input/output system 160 (BIOS), containing the basic routines that help to transfer information between elements within the computer 100, such as during start-up, is stored in the ROM 140. The computer 100 also includes a hard disk drive 170 for reading from and writing to a hard disk (not shown), a magnetic disk drive 180 for reading from or writing to a removable magnetic disk 190, and an optical disk drive 191 for reading from or writing to a removable optical disk 192 such as a CD ROM or other optical media. The hard disk drive 170, magnetic disk drive 180, and optical disk drive 191 are connected to the system bus 130 by a hard disk drive interface 192, a magnetic disk drive interface 193, and an optical disk drive interface 194, respectively. The drives and their associated computer-readable media provide nonvolatile storage of computer readable instructions, data structures, program modules and other data for the personal computer 100. It will be appreciated by those skilled in the art that other types of computer readable media that can store data that is accessible by a computer, such as magnetic cassettes, flash memory cards, digital video disks, Bernoulli cartridges, random access memories (RAMs), read only memories (ROMs), and the like, may also be used in the example operating environment.
A number of program modules can be stored on the hard disk drive 170, magnetic disk 190, optical disk 192, ROM 140 or RAM 150, including an operating system 195, one or more application programs 196, other program modules 197, and program data 198. A user can enter commands and information into the computer 100 through input devices such as a keyboard 101 and pointing device 102. Other input devices (not shown) may include a microphone, joystick, game pad, satellite dish, scanner or the like. These and other input devices are often connected to the processing unit 110 through a serial port interface 106 that is coupled to the system bus, but may be connected by other interfaces, such as a parallel port, game port or a universal serial bus (USB). Further still, these devices may be coupled directly to the system bus 130 via an appropriate interface (not shown). A monitor 107 or other type of display device is also connected to the system bus 130 via an interface, such as a video adapter 108. In addition to the monitor, personal computers typically include other peripheral output devices (not shown), such as speakers and printers. In a preferred embodiment, a pen digitizer 165 and accompanying pen or stylus 166 are provided in order to digitally capture freehand input. Although a direct connection between the pen digitizer 165 and the serial port is shown, in practice, the pen digitizer 165 may be coupled to the processing unit 110 directly, via a parallel port or other interface and the system bus 130 as known in the art. Furthermore, although the digitizer 165 is shown apart from the monitor 107, it is preferred that the usable input area of the digitizer 165 be co-extensive with the display area of the monitor 107. Further still, the digitizer 165 may be integrated in the monitor 107, or may exist as a separate device overlaying or otherwise appended to the monitor 107.
The computer 100 can operate in a networked environment using logical connections to one or more remote computers, such as a remote computer 109. The remote computer 109 can be a server, a router, a network PC, a peer device or other common network node, and typically includes many or all of the elements described above relative to the computer 100, although only a memory storage device 111 has been illustrated in
When used in a LAN networking environment, the computer 100 is connected to the local network 112 through a network interface or adapter 114. When used in a WAN networking environment, the personal computer 100 typically includes a modem 115 or other means for establishing a communications over the wide area network 113, such as the Internet. The modem 115, which may be internal or external, is connected to the system bus 130 via the serial port interface 106. In a networked environment, program modules depicted relative to the personal computer 100, or portions thereof, may be stored in the remote memory storage device.
It will be appreciated that the network connections shown are illustrative and other techniques for establishing a communications link between the computers can be used. The existence of any of various well-known protocols such as TCP/IP, Ethernet, FTP, HTTP, Bluetooth, IEEE 802.11x and the like is presumed, and the system can be operated in a client-server configuration to permit a user to retrieve web pages from a web-based server. Any of various conventional web browsers can be used to display and manipulate data on web pages.
Image Capturing Pen
Aspects of the present invention include placing an encoded data stream in a displayed form that represents the encoded data stream. (For example, as will be discussed with
This determination of the location of a captured image may be used to determine the location of a user's interaction with the paper, medium, or display screen. In some aspects of the present invention, the pen may be an ink pen writing on paper. In other aspects, the pen may be a stylus with the user writing on the surface of a computer display. Any interaction may be provided back to the system with knowledge of the encoded image on the document or supporting the document displayed on the computer screen. By repeatedly capturing images with a camera in the pen or stylus as the pen or stylus traverses a document, the system can track movement of the stylus being controlled by the user. The displayed or printed image may be a watermark associated with the blank or content-rich paper or may be a watermark associated with a displayed image or a fixed coding overlying a screen or built into a screen.
The images captured by camera 203 may be defined as a sequence of image frames {Ii}, where Ii is captured by the pen 201 at sampling time ti. The sampling rate may be large or small, depending on system configuration and performance requirement. The size of the captured image frame may be large or small, depending on system configuration and performance requirement.
The image captured by camera 203 may be used directly by the processing system or may undergo pre-filtering. This pre-filtering may occur in pen 201 or may occur outside of pen 201 (for example, in a personal computer).
The image size of
The image sensor 211 may be large enough to capture the image 210. Alternatively, the image sensor 211 may be large enough to capture an image of the pen tip 202 at location 212. For reference, the image at location 212 is referred to as the virtual pen tip. It is noted that the virtual pen tip location with respect to image sensor 211 is fixed because of the constant relationship between the pen tip, the lens 208, and the image sensor 211.
The following transformation FS→P transforms position coordinates in the image captured by camera to position coordinates in the real image on the paper:
Lpaper=FSΔP(LSensor).
During writing, the pen tip and the paper are on the same plane. Accordingly, the transformation from the virtual pen tip to the real pen tip is also FS→P:
Lpentip=FS→P(Lvirtual-pentip).
The transformation FS→P may be estimated as an affine transform, which approximates FS→P as:
in which θx, θy, sx, and sy are the rotation and scale of two orientations of the pattern captured at location 204. Further, one can refine F′S→P by matching the captured image with the corresponding real image on paper. “Refine” means to get a more precise estimation of the transformation FS→P by a type of optimization algorithm referred to as a recursive method. The recursive method treats the matrix F′S→P as the initial value. The refined estimation describes the transformation between S and P more precisely.
Next, one can determine the location of virtual pen tip by calibration.
One places the pen tip 202 on a fixed location Lpentip on paper. Next, one tilts the pen, allowing the camera 203 to capture a series of images with different pen poses. For each image captured, one may obtain the transformation FS→P. From this transformation, one can obtain the location of the virtual pen tip Lvirtual-pentip:
Lvirtual-pentip=FS→P(Lpentip),
where Lpentip is initialized as (0, 0) and
FS→P=(FS→P)−1.
By averaging the Lvirtual-pentip obtained from each image, a location of the virtual pen tip Lvirtual-pentip may be determined. With Lvirtual-pentip, one can get a more accurate estimation of Lpentip. After several times of iteration, an accurate location of virtual pen tip Lvirtual-pentip may be determined.
The location of the virtual pen tip Lvirtual-pentip is now known. One can also obtain the transformation FS→P from the images captured. Finally, one can use this information to determine the location of the real pen tip Lpentip:
Lpentip=FS→P(Lvirtual-pentip).
Encoding of Array
A two-dimensional array may be constructed by folding a one-dimensional sequence. Any portion of the two-dimensional array containing a large enough number of bits may be used to determine its location in the complete two-dimensional array. However, it may be necessary to determine the location from a captured image or a few captured images. So as to minimize the possibility of a captured image portion being associated with two or more locations in the two-dimensional array, a non-repeating sequence may be used to create the array. One property of a created sequence is that the sequence does not repeat over a particular length (or window size). The following describes the creation of the one-dimensional sequence then the folding of the sequence into an array.
A sequence of numbers may be used as the starting point of the encoding system. For example, a sequence (also referred to as an m-sequence) may be represented as a q-element set in field Fq. Here, q=pn, where n≧1 and p is a prime number. The sequence or m-sequence may be generated by a variety of different techniques including, but not limited to, polynomial division. Using polynomial division, the sequence may be defined as follows:
where Pn(x) is a primitive polynomial of degree n in field Fq[x] (having qn elements). Rl(x) is a nonzero polynomial of degree l (where l<n) in field Fq[x]. The sequence may be created using an iterative procedure with two steps: first, dividing the two polynomials (resulting in an element of field Fq) and, second, multiplying the remainder by x. The computation stops when the output begins to repeat. This process may be implemented using a linear feedback shift register as set forth in an article by Douglas W. Clark and Lih-Jyh Weng, “Maximal and Near-Maximal Shift Register Sequences: Efficient Event Counters and Easy Discrete Logarithms,” IEEE Transactions on Computers 43.5 (May 1994, pp 560-568). In this environment, a relationship is established between cyclical shifting of the sequence and polynomial Rl(x): changing Rl(x) only cyclically shifts the sequence and every cyclical shifting corresponds to a polynomial Rl(x). One of the properties of the resulting sequence is that, the sequence has a period of qn−1 and within a period, over a width (or length) n, any portion exists once and only once in the sequence. This is called the “window property”. Period qn−1 is also referred to as the length of the sequence and n as the order of the sequence. In our implementation, q is chosen as 2.
The process described above is but one of a variety of processes that may be used to create a sequence with the window property.
The array (or m-array) that may be used to create the image (of which a portion may be captured by the camera) is an extension of the one-dimensional sequence or m-sequence. Let A be an array of period (m1, m2), namely A(k+m1,l)=A(k,l+m2)=A(k,l). When an n1×n2 window shifts through a period of A, all the nonzero n1×n2 matrices over Fq appear once and only once. This property is also referred to as a “window property” in that each window is unique. A widow may then be expressed as an array of period (m1, m2) (with m1 and m2 being the horizontal and vertical number of bits present in the array) and order (n1, n2).
A binary array (or m-array) may be constructed by folding the sequence. One approach is to obtain a sequence then fold it to a size of m1×m2 where the length of the array is L=m1×m2=2n−1. Alternatively, one may start with a predetermined size of the space that one wants to cover (for example, one sheet of paper, 30 sheets of paper or the size of a computer monitor), determine the area (m1×m2), then use the size to let L≧m1×m2, where L=2n−1.
A variety of different folding techniques may be used. For example,
To create the folding method as shown in
bkl=ai, where k=i mod(m1), l=i mod(m2), i=0, . . . ,L−1. (1)
This folding approach may be alternatively expressed as laying the sequence on the diagonal of the array, then continuing from the opposite edge when an edge is reached.
Referring to
Referring back to
Here, more than one pixel or dot is used to represent a bit. Using a single pixel (or bit) to represent a bit is fragile. Dust, creases in paper, non-planar surfaces, and the like create difficulties in reading single bit representations of data units. However, it is appreciated that different approaches may be used to graphically represent the array on a surface. Some approaches are shown in
A bit stream is used to create the graphical pattern 403 of
Decoding
When a person writes with the pen of
For the determination of the orientation of the captured image relative to the whole encoded area, one may notice that not all the four conceivable corners shown in
Continuing to
Next, image 601 is analyzed to determine which corner is missing. The rotation amount o needed to rotate image 601 to an image ready for decoding 603 is shown as o=(θ plus a rotation amount {defined by which corner missing}). The rotation amount is shown by the equation in
It is appreciated that the rotation angle θ may be applied before or after rotation of the image 601 to account for the missing corner. It is also appreciated that by considering noise in the captured image, all four types of corners may be present. We may count the number of corners of each type and choose the type that has the least number as the corner type that is missing.
Finally, the code in image 603 is read out and correlated with the original bit stream used to create image 403. The correlation may be performed in a number of ways. For example, it may be performed by a recursive approach in which a recovered bit stream is compared against all other bit stream fragments within the original bit stream. Second, a statistical analysis may be performed between the recovered bit stream and the original bit stream, for example, by using a Hamming distance between the two bit streams. It is appreciated that a variety of approaches may be used to determine the location of the recovered bit stream within the original bit stream.
As will be discussed, EIC pattern analysis obtains recovered bits from image 603. Once one has the recovered bits, one needs to locate the captured image within the original array (for example, the one shown in
Let the sequence (or m-sequence) I correspond to the power series I(x)=1/Pn(x), where n is the order of the m-sequence, and the captured image contains K bits of I b=(b0 b1 b2 . . . bK-1)t, where K≧n and the superscript t represents a transpose of the matrix or vector. The location s of the K bits is just the number of cyclic shifts of I so that b0 is shifted to the beginning of the sequence. Then this shifted sequence R corresponds to the power series xs/Pn(x), or R=Ts (I), where T is the cyclic shift operator. We find this s indirectly. The polynomials modulo Pn(x) form a field. It is guaranteed that xs≡r0+r1x+ . . . rn-1xn−1mod(Pn(x)). Therefore, we may find (r0,r1, . . . , rn-1) and then solve for s.
The relationship xs≡r0+r1x+ . . . rn-1xn−1mod(Pn(x)) implies that R=r0+r1T(I)+ . . . +rn-1Tn−1(I). Written in a binary linear equation, it becomes:
R=rtA (2)
where r=(r0 r1 r2 . . . rn-1)t, and A=(I T(I) . . . Tn−1(I)t which consists of the cyclic shifts of I from 0-shift to (n−1)-shift. Now only sparse K bits are available in R to solve r. Let the index differences between bi and b0 in R be ki, i=1,2, . . . , k−1, then the 1st and (ki+1)-th elements of R, i=1,2, . . . ,k−1, are exactly b0, b1, . . . , bk−1. By selecting the 1st and (ki+1)-th columns of A, i=1,2, . . . ,k−1, the following binary linear equation is formed:
bt=rtM (3)
where M is an n×K sub-matrix of A.
If b is error-free, the solution of r may be expressed as:
rt={tilde over (b)}t{tilde over (M)}−1 (4)
where {tilde over (M)} is any non-degenerate n×n sub-matrix of M and {tilde over (b)} is the corresponding sub-vector of b.
With known r, we may use the Pohlig-Hellman-Silver algorithm as noted by Douglas W. Clark and Lih-Jyh Weng, “Maximal and Near-Maximal Shift Register Sequences: Efficient Event Counters and Easy Discrete Logorithms,” IEEE Transactions on Computers 43.5 (May 1994, pp 560-568) to find s so that xs≡r0+r1x+ . . . rn-1xn−1mod(Pn(x)).
As matrix A (with the size of n by L, where L=2n−1) may be huge, we should avoid storing the entire matrix A. In fact, as we have seen in the above process, given extracted bits with index difference ki, only the first and (ki+1)-th columns of A are relevant to the computation. Such choices of ki is quite limited, given the size of the captured image. Thus, only those columns that may be involved in computation need to saved. The total number of such columns is much smaller than L (where L=2n−1 is the length of the m-sequence).
Error Correction
If errors exist in b, then the solution of r becomes more complex. Traditional methods of decoding with error correction may not readily apply, because the matrix M associated with the captured bits may change from one captured image to another.
We adopt a stochastic approach. Assuming that the number of error bits in b, ne, is relatively small compared to K, then the probability of choosing correct n bits from the K bits of b and the corresponding sub-matrix {tilde over (M)} of M being non-degenerate is high.
When the n bits chosen are all correct, the Hamming distance between bt and rtM, or the number of error bits associated with r, should be minimal, where r is computed via equation (4). Repeating the process for several times, it is likely that the correct r that results in the minimal error bits can be identified.
If there is only one r that is associated with the minimum number of error bits, then it is regarded as the correct solution. Otherwise, if there is more than one r that is associated with the minimum number of error bits, the probability that ne exceeds the error correcting ability of the code generated by M is high and the decoding process fails. The system then may move on to process the next captured image. In another implementation, information about previous locations of the pen can be taken into consideration. That is, for each captured image, a destination area where the pen may be expected next can be identified. For example, if the user has not lifted the pen between two image captures by the camera, the location of the pen as determined by the second image capture should not be too far away from the first location. Each r that is associated with the minimum number of error bits can then be checked to see if the location s computed from r satisfies the local constraint, i.e., whether the location is within the destination area specified.
If the location s satisfies the local constraint, the X, Y positions of the extracted bits in the array are returned. If not, the decoding process fails.
In step 803, n independent column vectors are randomly selected from the matrix M and vector r is determined by solving equation (4). This process is performed Q times (for example, 100 times) in step 804. The determination of the number of loop times is discussed in the section Loop Times Calculation.
In step 805, r is sorted according to its associated number of error bits. The sorting can be done using a variety of sorting algorithms as known in the art. For example, a selection sorting algorithm may be used. The selection sorting algorithm is beneficial when the number Q is not large. However, if Q becomes large, other sorting algorithms (for example, a merge sort) that handle larger numbers of items more efficiently may be used.
The system then determines in step 806 whether error correction was performed successfully, by checking whether multiple r's are associated with the minimum number of error bits. If yes, an error is returned in step 809, indicating the decoding process failed. If not, the position s of the extracted bits in the sequence (or m-sequence) is calculated in step 807, for example, by using the Pohig-Hellman-Silver algorithm.
Next, the (X, Y) position in the array is calculated as: x=s mod m1 and y=s mod m2 and the results are returned in step 808.
Location Determination
In step 901, an image is received from a camera. Next, the received image may be optionally preprocessed in step 902 (as shown by the broken outline of step 902) to adjust the contrast between the light and dark pixels and the like.
Next, in step 903, the image is analyzed to determine the bit stream within it.
Next, in step 904, n bits are randomly selected from the bit stream for multiple times and the location of the received bit stream within the original sequence (or m-sequence) is determined.
Finally, once the location of the captured image is determined in step 904, the location of the pen tip may be determined in step 905.
Next, the received image is analyzed in step 1004 to determine the underlying grid lines. If grid lines are found in step 1005, then the code is extracted from the pattern in step 1006. The code is then decoded in step 1007 and the location of the pen tip is determined in step 1008. If no grid lines were found in step 1005, then an error is returned in step 1009.
Outline of Enhanced Decoding and Error Correction Algorithm
With an embodiment of the invention as shown in
The embodiment of the invention utilizes a discreet strategy to select bits, adjusts the number of loop iterations, and determines the X, Y position (location coordinates) in accordance with a local constraint, which is provided to process 1200. With both components 1251 and 1253, steps 1205 and 1219 (“Decode Once”) utilize equation (4) to compute r.
Let {circumflex over (b)} be decoded bits, that is:
{circumflex over (b)}t=rtM (5)
The difference between b and {circumflex over (b)} are the error bits associated with r.
If step 1207 detects error bits in b, component 1253 is executed in order to decode with error bits. Step 1217 selects another set of n bits (which differ by at least one bit from the n bits selected in step 1203) from extracted bits 1201. Steps 1221 and 1223 determine the number of iterations (loop times) that are necessary for decoding the extracted bits. Step 1225 determines the position of the captured array by testing which candidates obtained in step 1219 satisfy the local constraint. Steps 1217-1225 will be discussed in more details.
Smart Bit Selection
Step 1203 randomly selects n bits from extracted bits 1201 (having K bits), and solves for r1. Using equation (5), decoded bits can be calculated. Let I1={kε{1,2, . . . , K}|bk={circumflex over (b)}k}, Ī1={kε{1,2, . . . , K}|bk≠{circumflex over (b)}k}, where {circumflex over (b)}k is the kth bit of {circumflex over (b)}, B1={bk|kεI1} and
In order to avoid such a situation, step 1217 selects the next n bits according to the following procedure:
With the error correction component 1253, the number of required iterations (loop times) is adjusted after each loop. The loop times is determined by the expected error rate. The expected error rate pe in which not all the selected n bits are correct is:
where lt represents the loop times and is initialized by a constant, K is the number of extracted bits from the captured array, ne represents the minimum number of error bits incurred during the iteration of process 1200, n is the order of the m-array, and CKn is the number of combinations in which n bits are selected from K bits.
In the embodiment, we want pe to be less than e−5=0.0067. In combination with (6), we have:
Adjusting the loop times may significantly reduce the number of iterations of process 1253 that are required for error correction.
Determine X, Y Position with Local Constraint
In steps 1209 and 1225, the decoded position should be within the destination area. The destination area is an input to the algorithm, and it may be of various sizes and places or simply the whole m-array depending on different applications. Usually it can be predicted by the application. For example, if the previous position is determined, considering the writing speed, the destination area of the current pen tip should be close to the previous position. However, if the pen is lifted, then its next position can be anywhere. Therefore, in this case, the destination area should be the whole m-array. The correct X, Y position is determined by the following steps.
In step 1224 process 1200 selects ri whose corresponding number of error bits is less than:
where lt is the actual loop times and lr represents the Local Constraint Rate calculated by:
where L is the length of the m-array.
Step 1224 sorts ri in ascending order of the number of error bits. Steps 1225, 1211 and 1212 then finds the first ri in which the corresponding X, Y position is within the destination area. Steps 1225, 1211 and 1212 finally returns the X, Y position as the result (through step 1213), or an indication that the decoding procedure failed (through step 1215).
Illustrative Example of Enhanced Decoding and Error Correction Process
An illustrative example demonstrates process 1200 as performed by components 1251 and 1253. Suppose n=3, K=5, I=(I0 I1 . . . I6)t is the m-sequence of order n=3. Then
Also suppose that the extracted bits b=(b0 b1 b2 b3 b4)t, where K=5, are actually the sth, (s+1)th, (s+3)th, (s+4)th, and (s+6)th bits of the m-sequence (these numbers are actually modulus of the m-array length L=2n−1=23−1=7). Therefore
which consists of the 0th, 1st, 3rd, 4th, and 6th columns of A. The number s, which uniquely determines the X, Y position of b0 in the m-array, can be computed after solving r=(r0 r1 r2)t that are expected to fulfill bt=rtM. Due to possible error bits in b, bt=rtM may not be completely fulfilled.
Process 1200 utilizes the following procedure. Randomly select n=3 bits, say {tilde over (b)}1t=(b0 b1 b2), from b. Solving for r1:
{tilde over (b)}1t=r1t{tilde over (M)}1 (12)
where {tilde over (M)}1 consists of the 0th, 1st, and 2nd columns of M. (Note that {tilde over (M)}1 is an n×n matrix and r1t is a 1×n vector so that {tilde over (b)}1t is a 1×n vector of selected bits.)
Next, decoded bits are computed:
{circumflex over (b)}1t=r1tM (13)
where M is an n×K matrix and r1t is a 1×n vector so that {circumflex over (b)}1t, is a 1×K vector. If {circumflex over (b)}1 is identical to b, i.e., no error bits are detected, then step 1209 determines the X, Y position and step 1211 determines whether the decoded position is inside the destination area. If so, the decoding is successful, and step 1213 is performed. Otherwise, the decoding fails as indicated by step 1215. If {circumflex over (b)}1 is different from b, then error bits in b are detected and component 1253 is performed. Step 1217 determines the set B1, say {b0 b1 b2 b3}, where the decoded bits are the same as the original bits. Thus,
Step 1217 next chooses another n=3 bits from b. If the bits all belong to B1, say {b0 b2 b3}, then step 1219 will determine r1 again. In order to avoid such repetition, step 1217 may select, for example, one bit {b4} from
The selected three bits form {tilde over (b)}2t=(b0 b1 b4). Step 1219 solves for r2:
{tilde over (b)}2t=r2t{tilde over (M)}2 (14)
where {tilde over (M)}2 consists of the 0th, 1st, and 4th columns of M.
Step 1219 computes {circumflex over (b)}2t=r2tM. Find the set B2, e.g., {b0 b1 b4}, such that {circumflex over (b)}2 and b are the same. Then
Because another iteration needs to be performed, step 1217 chooses another n=3 bits from b. The selected bits shall not all belong to either B1 or B2. So step 1217 may select, for example, one bit {b4} from
The solution of r, bit selection, and loop times adjustment continues until we cannot select any new n=3 bits such that they do not all belong to any previous Bi's, or the maximum loop times lt is reached.
Suppose that process 1200 calculates five ri(i=1,2,3,4,5), with the number of error bits corresponding to 1, 2, 4, 3, 2, respectively. (Actually, for this example, the number of error bits cannot exceed 2, but the illustrative example shows a larger number of error bits to illustrate the algorithm.) Step 1224 selects ri's, for example, r1,r2,r4,r5, whose corresponding numbers of error bits are less than Ne shown in (8).
Step 1224 sorts the selected vectors r1,r2,r4,r5 in ascending order of their error bit numbers: r1,r2, r5, r4. From the sorted candidate list, steps 1225, 1211 and 1212 find the first vector r, for example, r5, whose corresponding position is within the destination area. Step 1213 then outputs the corresponding position. If none of the positions is within the destination area, the decoding process fails as indicated by step 1215.
Embedded Interaction Code Recognition
Introduction to Embedded Interaction Code Recognition
As previously mentioned, to determine the location of a digital pen during interaction with one or more surfaces, images are captured by the digital pen.
The grid cells formed by grid lines may or may not correspond to EIC symbols. As can be seen in
Correct orientation of EIC symbols is also determined. EIC symbols captured in image may be rotated due to pen rotation. When EIC symbols are at the correct orientation (i.e. oriented the same as EIC symbols in EIC symbol array), the segment of EIC symbols captured in image can be matched against EIC symbol array, i.e. bits extracted from EIC symbols can be matched against the m-array.
Once we know which grid cells correspond to EIC symbols and the correct orientation of the symbols, the EIC symbols captured in an image are recognized. We then consider a large enough section 1404 of EIC symbol array that encompasses the grid lines and corresponding EIC symbols of the image.
In
H′, V′ is the coordinate system (referenced generally as 1410 in
What is depicted inside the image in
X′, Y′ is the coordinate system (referenced generally as 1408 in
whereas it was
in
Given a particular EIC symbol design, and the identified correct orientation of EIC symbols in an image, a transformation from the section 1404 of EIC symbol array (that encompasses the grid lines and corresponding EIC symbols of the image) to grid, i.e. from X′, Y′ to H′, V′, can be obtained. For example, with EIC symbol 8-a-16 (
depending on the correct orientation of EIC symbols in image (
From a previous step, a homography matrix describing the perspective transform from grid to image, i.e. from H′, V′ to X, Y, HGrid→Image, is known. Herein we assume digital pen is used on a plane (such as a paper plane where EIC pattern is printed on) and the spatial transformation from the plane to image (also assumed a plane) is a perspective transform. That is, effective EIC pattern in image should lie on grid lines that are a perspective transform of the grid lines in EIC symbol array. The perspective transform is first assumed to be an affine transform, i.e. evenly spaced parallel lines are kept evenly spaced and parallel, but perpendicular lines may not be perpendicular anymore. Rotation, scale and translation of the affine transform are estimated from analyzing effective EIC pattern in image. The perspective transform is then obtained by fitting effective EIC pattern to affine transformed grid lines. A homography matrix HGrid→Image that describes the perspective transform from grid lines in EIC symbol array to image is obtained.
Thus, a homography matrix, HSymbol →Image, describing the transformation from X′, Y′ to X, Y can be obtained as:
HSymbol→Image=HGrid→Image·HSymbol→Grid
The homography matrix HSymbol→Image specifies the transformation of points in the section 1404 of EIC symbol array encompassing the image to a point in the image coordinate system 1412. The homography matrix HSymbol→Image−1, specifies the transformation of each point in the image coordinate system 1412 to a point in the section 1404 of EIC symbol array encompassing the image.
From recognized EIC symbols in the section of EIC symbol array encompassing the image, EIC bits are extracted. For each m-array, a stream of bits is extracted. Any bit can be chosen as the bit whose position in m-array is decoded.
For convenience, we choose the top-left corner of the section 1404 of EIC symbol array encompassing the image, CX′Y′, as the position to decode. In the bit stream starting from CX′Y′, some of the bits are known (bits extracted from recognized symbols), and some are unknown (bits that can't be extracted or EIC symbols are not captured in image). As long as the number of extracted bits is more than the order of the m-array, decoding can be done.
We call this process EIC symbol recognition.
From EIC pattern analysis, HGrid→Image is obtained, with which grid lines in image are obtained. Grid cells thus obtained are effective EIC symbols. Given effective EIC symbols, the next step is to recognize the symbols. The goal of EIC symbol recognition is to obtain bits encoded in EIC symbols and obtain a homography matrix HSymbol→Image, which describes the transformation from the section of EIC symbol array encompassing the image to image. Input of EIC symbol recognition is homography matrix obtained from EIC pattern analysis HGrid→Image, normalized image, and document content mask. Example input to EIC symbol recognition is shown in
The EIC symbol recognition system shown in
The EIC-dot-detection module 1604 detects black dots on each edge. First, we move the origin of H, V to get the H′, V′ coordinate system. By moving the origin of H, V, all grid intersections in the image have non-negative coordinates. We call the new coordinate system H′, V′, as shown in
Suppose C′ has coordinates (h′,v′) in H, V coordinate system. After moving, its coordinates are (0, 0).
Suppose the homography matrix obtained from EIC pattern analysis is:
The homography matrix that transforms a point in the H′, V′ coordinate system to a point in the X, Y coordinate system is:
This homography matrix is referred to herein as the final HGrid→Image.
With homography matrix HGrid→Image, all the grid lines in image are obtained (by transforming the grid lines in EIC symbol array using the homography matrix) and form the H′, V′ coordinate system, as shown in
These grid lines are referred to as H lines and V lines. Grid cells are indexed by the H′, V′ coordinates of the top corner of the cell. Edges of the cells are identified as either on the H lines or on the V lines. For example, in
Next, graylevels are obtained of selected positions on each edge. For EIC symbol 8-a-16, for example, there are 5 EIC dot positions on each edge, as shown in
Graylevels of the 5 positions on each edge, as shown in
For each position s on each edge (i, j) on the V line, where s=1, 2, . . . , 5, i=0, 1, . . . Nh, j=0, 1, . . . , Nv−1, the H′, V′ coordinates are:
Next, with the homography matrix HGrid→Image, coordinates of the positions in the X, Y coordinate system are obtained. For each position s on each edge (i, j) on the H line, where s=1, 2, . . . , 5, i=0, 1, . . . , Nh−1, j=0, 1, . . . , Nv, the X, Y coordinates are: (xsh,i,j, yxh,i,j, 1)t=HGrid→Image
For each position s on each edge (i, j) on the V line, where s=1, 2, . . . , 5, i=0, 1, . . . , Nh, j=0, 1, . . . , Nv−1, the X, Y coordinates are: (xsv,i,j,ysv,i,j,1)t=HGrid→Image
Graylevels of the positions are calculated using bilinear sampling of the pixels surrounding the positions. For each position s on edge (i, j) on the H line, where s=1, 2, . . . , 5, i=0, 1, . . . , Nh−1, j=0, 1, . . . , Nv, get the index of the first pixel for bilinear sampling: x1≈int(xsh,i,j+63.5), y1=int(ysh,i,j+49.5).
If
then,
else,
The function decimal(x) returns the decimal fraction part of x, where x≧0. For example, decimal(1.8)=0.8. (x1,y1), (x1+1,y1), (x1,y1+1) and (x1+1,y1+1) are indexes of the pixels used for bilinear sampling, defined by the coordinate system shown in
Similarly, for each position s on edge (i, j) on the V line, where s=1, 2, . . . , 5, i=0, 1, . . . , Nh, j=0, 1, . . . , Nv−1, get the index of the first pixel for bilinear sampling:
x1=int(xsv,i,j+63.5)
y1=int(ysv,i,j+49.5)
If
then,
else,
Next, black dots are detected.
Based on the relative graylevels of the positions, black dots are determined. First, the five positions on each edge are named as follows (see FIG. 24):
hesi,j|s=1, 2, . . . , 5 when the edge is on an H line and mod(i+j,2)=0;
hosi,j|s=1, 2, . . . , 5 when the edge is on an H line and mod(i+j,2)=1;
vesi,j|s=1, 2, . . . , 5 when the edge is on a V line and mod(i+j,2)=0;
vosi,j|s=1, 2, . . . , 5 when the edge is on a V line and mod(i+j,2)=1.
For each edge, let the count of valid positions be VDk,i,j, where k=h, v. If there are at least two valid positions on an edge, i.e. VDk,i,j≧2, let
and
i.e., u1 is the darkest position and u2 is the second darkest position. If the graylevel difference between the darkest and the second darkest position is large enough, i.e. exceeds a threshold (e.g., T0=20), the darkest position is considered a black dot.
For each edge (i, j) on the H line, where i=0, 1, . . . , Nh−1, j=0, 1, . . . , Nv and mod(i+j,2)=0,
For each edge (i, j) on the H line, where i=0, 1, . . . , Nh−1, j=0, 1, . . . , Nv and mod(i+j,2)=1,
For each edge (i, j) on the V line, where i=0, 1, . . . , Nh, j=0, 1, . . . , Nv−1 and mod(i+j,2)=0,
For each edge (i, j) on the V line, where i=0, 1, . . . , Nh, j=0, 1, . . . , Nv−1 and mod(i+j,2)=1,
By now, substantially all of the black dots are detected. hesi,j, hosi,j, vesi,j and vosi,j will be used to determine which grid cells correspond to EIC symbols and the correct orientation of the symbols. Dsh,i,j and Dsv,i,j will be used for bit extraction.
Now that the black dots are detected, the EIC-symbol-orientation-determination module 1612, which accepts EIC dots 1610 as input, determines which grid cells correspond to EIC symbols and which direction is the correct orientation of the symbols, as illustrated in
Recall that the orientation dot positions are designed to help to determine the correct orientation of a symbol. When EIC symbols are rotated, the location of the orientation dot positions are different, as illustrated in
Since there should be no black dots at orientation dot positions, the total number of detected black dots at orientation dot positions assuming no rotation, rotated 90 degrees clockwise, rotated 180 degrees clockwise, and rotated 270 degrees clockwise, can be obtained. The assumption (of a correct orientation) is accepted if the total count under the assumption is the smallest.
Therefore, the EIC-symbol-orientation-determination module first obtains the total number of black dots at orientation dot positions under different assumptions about which grid cells correspond to EIC symbols and the correct orientation of the symbols. Then, based on the smallest count, which grid cells correspond to EIC symbols and the correct orientation of the symbols are determined.
The section of EIC symbol array encompassing the image, i.e. the X′, Y′ coordinate system discussed above in connection with
Finally, given HSymbol→Grid and HGrid→Image obtained from EIC pattern analysis, a homography matrix HSymbol→Image, which describes the transformation from the section of EIC symbol array encompassing the image to image, i.e. from the X′, Y′ coordinate system 1408 to the X, Y coordinate system 1412, is obtained.
The total number of black dots at orientation dot positions is determined as follows.
Let
Here Qi, where i=1, 2, . . . , 7, represent the total number of detected black dots at orientation dot positions, given different assumptions about which grid cells correspond to EIC symbols and the correct orientation of the symbols.
Q0 is the total number of detected black dots at orientation dot positions if grid cell (i, j) is a symbol and (i, j) is the top corner of the symbol (assuming mod(i+j,2)=0, see
Q4 is the total number of detected black dots at orientation dot positions if grid cell (i+1, j) is a symbol, and (i+1, j) is the top corner of the symbol. Q5 is the total number of detected black dots at orientation dot positions if grid cell. (i+1, j) is a symbol, and (i+2, j) is the top corner of the symbol. Q6 is the total number of detected black dots at orientation dot positions if grid cell (i+1, j) is a symbol, and (i+2, j+1) is the top corner of the symbol. Q7 is the total number of detected black dots at orientation dot positions if grid cell (i+1, j) is a symbol, and (i+1, j+1) is the top corner of the symbol.
Next, determinations are made with respect to which grid cells correspond to EIC symbols and what the correct orientation is for the symbols.
Let O=int(j/4). O represents which grid cells correspond to EIC symbols. If O=0, grid cell (0, 0) is a symbol. If O=1, grid cell (1, 0) is a symbol. See
Let Q=mod(j,4). Q represents the correct orientation of the symbols. EIC symbols in image are rotated
clockwise.
Next, the homography matrix, which transforms symbol to image, is obtained.
Now that we know which grid cells correspond to EIC symbols and the correct orientation of the symbols, the section of EIC symbol array encompassing the image, i.e. the X′, Y′ coordinate system 1408, can be determined. And the homography matrix HSymbol→Grid, which describes the transformation from X′, Y′ 1408 to H′, V′ 1410, is obtained.
First, we introduce the H″, V″ coordinate system. H″, V″ is H′, V′ rotated, with the origin moved to the corner of the grid lines that correspond to the top corner of a symbol.
When Q=0, the top corner of the H′, V′ grid lines corresponds to the top corner of a symbol. H″, V″ is the same as H′, V′. X′, Y′ is the section of EIC symbol array encompassing the image. See
When Q=1, the far right corner of the H′, V′ grid lines corresponds to the top corner of a symbol. H″, V″ is H′, V′ rotated 90 degrees clockwise, with the origin moved to the far right corner of the H′, V′ grid lines. X′, Y′ is the section of EIC symbol array encompassing the image. See
When Q=2, the bottom corner of the H′, V′ grid lines corresponds to the top corner of a symbol. H″, V″ is H′, V′ rotated 180 degrees clockwise, with the origin moved to the bottom corner of the H′, V′ grid lines. X′, Y′ is the section of EIC symbol array encompassing the image. See
When Q=3, the far left corner of the H′, V′ grids corresponds to the top corner of a symbol. H″, V″ is H′, V′ rotated 270 degrees clockwise, with the origin moved to the far left corner of the H′, V′ grid lines. X′, Y′ is the section of EIC symbol array encompassing the image. See
Let the rotation angle from H′, V′ to H″, V″ be θQ:
Let θs be the angle from H′, V′ to X′, Y′:
Let the origin of the H″, V″ coordinate system, CH″V″, have the coordinates (h′C
Let the transform from H″, V″ to H′, V′ be ΔHQ, i.e.
We will have,
Now, ΔH0 is obtained. ΔH0 is the transform from X′, Y′ to H″, V″, i.e.
Let O0 be the offset in H″, V″ coordinate system. We will have,
Let Nh0+1 and Nv0+1 be the total number of H and V lines in H″, V″ coordinate system. We will have,
Let the origin of the X′, Y′ coordinate system, CX′Y′, have the coordinates (h″C
Since the rotation from H″, V″ to X′, Y′ is −π/4, and the scale is √{square root over (2)} from the unit of measure in H″, V″ to X′, Y′, we will have,
Therefore, the transform from X′, Y′ to H′, V′ is:
HSymbol→Grid=ΔHZ·ΔH0.
From EIC pattern analysis, HGrid→Image is obtained, i.e.
Therefore, a transform from the coordinate system of the section of EIC symbol array encompassing the image (X′, Y′ coordinate system) to the coordinate system of the image (the X, Y coordinate system), HSymbol→Image can be obtained:
i.e.,
HSymbol→Image=HGrid→Image·HSymbol→Grid.
An output of this step is HSymbol→Image, i.e. the updated homography matrix with orientation information 1622 in
Rotated EIC Dots 1614 (i.e., D0 and Diff0) are also output of 1612 in
For each position s on edge (i, j) on the H line in H″, V″ coordinate system, where s=1, 2, . . . , 5, i=0, 1, . . . , Nh0−1, j=0, 1, . . . , Nv0,
For each position s on edge (i, j) on the V line in H″, V″ coordinate system, where s=1, 2, . . . , 5, i=0, 1, . . . , Nh0, j=0, 1, . . . , Nv0−1,
Recall that 2 bits are encoded on each edge of an EIC symbol. Let Blh,i,j and Blv,i,j be the two bits, where l=0, 1.
Now that it is known which grid cells correspond to EIC symbols and the correct orientation of the symbols, bits can be extracted based on the positions of black dots on each edge of a symbol. The EIC-bit-extraction module 1616 takes as input the rotated EIC dots 1614 and produces EIC bits 1620.
Bit extraction is done in H″, V″ coordinate system, i.e. EIC symbols are oriented at the correct orientation.
For each edge, if there is a black dot detected, and all 5 positions on the edge are valid, bits are extracted. Otherwise, bits are not extracted.
For each edge (i, j) on the H line in H″, V″ coordinate system, where i=0, 1, . . . , Nh0−1, j=0, 1, . . . , Nv0,
If there exists w and D0,wh,i,j=1, where wε{1,2,3,4}, and VDh,i,j=5, then,
else,
B0h,i,j=B1h,i,j=null.
Similarly, for each edge (i, j) on the V line in H″, V″ coordinate system, where i=0, 1, . . . , Nh0, j=0, 1, . . . , Nv0−1, let q=mod(i+j+O0,2),
If there exists w and D0,w+qv,i,j=1, where wε{1,2,3,4}, and VDv,i,j=5, then,
else,
B0v,i,j=Blv,i,j=null.
The bits extracted are B1h,i,j B0h,i,j, i.e. if the 1st position on the edge is a black dot, the bits are 00; if the 2nd position on the edge is a black dot, the bits are 01; if the 3rd position on the edge is a black dot, the bits are 11; if the 4th position on the edge is a black dot, the bits are 10. Note that 00, 01, 11, 10 is a Gray code, which ensures that the number of error bits is at most 1 if the position of black dot is incorrect. See
Recall that a total of 8 bits are encoded in an EIC symbol. Each bit is a bit from an m-array (one dimension). Bits are now obtained from each dimension.
Let Bbm,n be the bit of dimension b, where b=0, 1, . . . , 7, encoded in EIC symbol (m, n), where (m, n) are the coordinates of the symbol in X′, Y′ coordinate system. Let Cbm,n be the confidence of bit Bbm,n (
Note that Bbm,n is a matrix in which substantially all the bits encoded in all the EIC symbols in the section of EIC symbol array encompassing the image, are stored. Each element (m, n) in matrix Bbm,n corresponds to a square (formed by the horizontal and vertical dashed lines in
For EIC symbols not captured in image, values of the corresponding elements in Bbm,n will be null. Even if EIC symbols are captured in image, if we are unable to extract the bits encoded in the symbols, values of the corresponding elements in Bbm,n will also be null. Only when bits are extracted, the corresponding elements in Bbm,n will have the value of the bits.
We now store all the extracted bits in Bbm,n, and their confidence values in Cbm,n.
For each dimension b, where b=0, 1, . . . , 7, initialize Bbm,n and Cbm,n as:
Bbm,n=null,
Cbm,n=null.
For each bit l on edge (i, j) on H line, where i=0,1, . . . , Nh0−1, j=0,1, . . . , Nv0, l=0, 1, find the corresponding b, m and n, and assign values to Bbm,n and Cbm,n:
For each bit l on edge (i, j) on V line, where i=0,1, . . . , Nh0, j=0,1, . . . , Nv0−1, l=0, 1, find the corresponding b, m and n, and assign values to Bbm,n and Cbm,n:
We now normalize the confidence values. Let Cmax=max(Cbm,n), where Bbm,n≠null. The normalized confidence values are:
This completes EIC symbol recognition in accordance with embodiments of the invention. Output of EIC symbol recognition is homography matrix HSymbol→Image, which is shown as homography matrix 1624 in
As can be appreciated by one skilled in the art, a computer system with an associated computer-readable medium containing instructions for controlling the computer system can be utilized to implement the exemplary embodiments that are disclosed herein. The computer system may include at least one computer such as a microprocessor, digital signal processor, and associated peripheral electronic circuitry.
Although the invention has been defined using the appended claims, these claims are illustrative in that the invention is intended to include the elements and steps described herein in any combination or sub combination. Accordingly, there are any number of alternative combinations for defining the invention, which incorporate one or more elements from the specification, including the description, claims, and drawings, in various combinations or sub combinations. It will be apparent to those skilled in the relevant technology, in light of the present specification, that alternate combinations of aspects of the invention, either alone or in combination with one or more elements or steps defined herein, may be utilized as modifications or alterations of the invention or as part of the invention. It is intended that the written description of the invention contained herein covers all such modifications and alterations.
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