An Embedded Pointing System for Lecture Rooms Installing Multiple Screen
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1 An Embedded Pointing System for Lecture Rooms Installing Multiple Screen Toshiaki Ukai, Takuro Kamamoto, Shinji Fukuma, Hideaki Okada, Shin-ichiro Mori University of FUKUI, Faculty of Engineering, Department of Information and Science Bunkyou 3-9-1, Fukui-shi, Japan Abstract - This paper proposes the system which can detect a spot of a laser pointer which the lecturer uses and which can emphasize the spot on the sub-displays using FPGA as hardware. A lot of lecture rooms are installed a forward main-screen and several backward sub-displays. Under the environment, more effective teaching will be realized if the attention of students who watch the sub-displays is directed to the area where a lecturer wants them to pay. The contents of the emphasis are to overlay a cursor on the spot and to lower contrast at the area. As a result of this pointing system, we confirmed that this system could detect the spot of the laser pointer and emphasize the area of the spot. Keywords: multiple screen; point of interest; laser pointer; embedded system; FPGA 1 Introduction Recently, many lecture rooms are gradually being renewed for distance learning and ICT based learning. Those rooms are provided a system which use a projector in order to present images or videos on a main-screen. Besides, they install an equipment which projects a lecturer's slide images and videos on not only main-screen but also sub-display placed at a backward lecture room. This paper calls this environment the multi-screen environment. When the lecturers utilize the multi-screen environment, they connect their laptop computer terminal (PC) which the lecture slide images are in to a distributor. At the same time, the lecture slide images are shown on the sub-displays. Then, lecturers use a laser pointer to the main-screen so that they instruct the places where they want students to pay attention, the Point Of Interest (POI). However the place of POI is indicated on the maindisplay, it is not transmitted to the sub-displays. In this situation, students who are watching the sub-displays cannot identify the place, and the lecturers are not able to indicate what they want to insist to those students. Effective lecture will not be conducted through this situation. Fig.1. Proposed Pointing System Although there are some marketed devices installing special function on laser pointer itself[4], it imposes a burden for the lecturers to prepare. Also, those special devices depend on the lecturers' PC environment such as Operating System (OS) and software. This paper proposes a system design which can show the places of POI that the lecturers indicate by using a laser pointer to sub-displays (Fig.1). Simultaneously, this proposal aims not to make use of a special laser pointer or software depending on the lecturers' PC environment. It means a system that the lecturers do not need to prepare for using this system and that works when they just connect regular contacts. By not using software, but using FPGA as hardware, this system does not depend on OS of the lecturers' PC and ensures a real time process. 2 Overview of The Pointer System This paper proposed pointing system which consists of a camera and FPGA (Field Programmable Logic Array) boards (Fig.2).
2 NTSC Camera FPGA Board Fig.3. Block Diagram 3.1 Identifying Laser Pointer Spot This system represents the received pixel data of RGB as HSV color space and identifies any color of the laser pointer. Fig.2. FPGA Boards and Camera This system is composed two FPGAs (a module of detecting a spot and a module of processing POI). First FPGA will perform a detection of the spot, and second FPGA will perform a process of emphasis to a coordinates of the spot. At the beginning, a composite video signal(included a synchronous signal, a brightness signal, and a color signal) that was sent by a camera as NTSC(National Television System Committee) will be converted to a digital signal of ITU-656 format by an installed video decoder IC. Then, this digital signal will be processed through below order. First, synchronous detection, and transformation from RGB color model to YCbCr color space are processed. Second processes are sampling of the spot, and an output after deciding a coordinates of the POI. Third, Putting a process of POI to the received coordinates. The first process is conducted by a system which was supplied by the vendors. 3 Pointer Detection Fig.3 shows the block diagram of a module of the process which detects a spot, POI. Below is the detailed explanation of this module. According to the function of a block which was supplied by the vendors, an analog video signal which the camera took is transformed to a value of RGB. Second, a process of binarization is conducted in order that the identified spot will be 1. Third process calculates a coordinates of a spot based on binarized pixel data. Next are the explanations of each function in Fig.3. The HSV color space is expressed by three components; Hue, Saturation, and Brightness (referred to as H, S, V respectively by using this model). We can identify every kinds of colors by setting the value of H. The convention from RGB to HSV color space is defined as where 60( G B), if MAX R MAX MIN 60( B R), (1) H ' 120, if MAX G MAX MIN 60( R G) 240, if MAX B MAX MIN H' 360, for H' 0 H, (2) H ', otherwise MAX MIN S, (3) MAX V =MAX, (4) MAX max{r,g,b}, MIN {R,G,B The binarization result is 1, Hlow H H high bin (5) 0, otherwise where H low is the lower limit of hue and H high is the higher one which are given by user. Above transformation requires a division for calculating a value of H. When using a divider supplied as IP core, it needs 20 clocks and costs about 228ns at 87.5 MHz because of processing of two pixels per four clocks. In the ITU-656
3 standard, one pixel is sent per 74ns. Accordingly, the process has to follow the latency. In addition, the consumption of this resource by adding a divider cannot neglect because of the resource cutback. Therefore, this paper proposes a binarization method in the HSV color space without divider. Eq.(5) can be described by several inequalities. By using a HSV transformation, the calculated value of H is substituted for the Eq.(6). Thus, the inequality of H was showed next as a general expression(7), (8). where H low H H high, (6) H low E 60C DE, (7) 60C DE H high E, (8) G B, if MAX R C B R, if MAX G, (9) R G, if MAX B 360, if MAX R D 120, if MAX G, (10) 240, if MAX B E MAX MIN, (11) If above inequalities(6), (7) are satisfied, then bin 1 else bin 0. When it directly calculates the formula from (9) to (11), computation of the maximum and minimum of R,G and B are needed. However, the maximum and minimum can be found by checking sign flags of subtraction G-B, B-R, and R-G. When the sign flags denote the sign flags of F RG, F GB, and F BR, the relations of the sign flags, relation of the maximum and the minimum, C, and E are shown at TABLE1. *don t care According to TABLE1, an absolute value of E has G B, B R or R G, and the sign is decided by the flags. If the minus sign is put to E, the formula needs additional hardware, a complement circuit of two. Replacing E by E, Eq. (7) and (8) are changed to H low (E) 60C D(E), 60C D(E) H high (E), (7') (8') Besides, evaluation of the inequalities is implemented by a comparator. Consequently, if a comparator output is adequately chosen to a symbol of E, the calculation of two's complement of two is not needed. A logical function for finding the sign of E is Sign FGB FBR FRG FBR FRG F, (12) GB TABLE.1. Relation between Flags and Value Sign flag F RG F GB F BR MAX MIN C E R R R B G B B R B G R G G B R G G B R G G R B R R G G B B R G B B R R G B R Thus, we can design a combinational logic circuit that it generates adequate C, E, and D through three sub, and their sign flag. Proposed binarized circuit can be implemented by three subtracters, four multipliers, and two comparators. In addition, we can identify narrower color by using the value of S and the value of V as an identification data. 3.2 Detecting Laser pointer Spot The binary image, Bin from the H component, has many '1' pixel around the pointer spot because the laser is powerful and coherent light. Thus, it can expect that barycenter of the cluster will be position of the pointer spot. However, precise computation of the barycenter requires many resources such as large memory and divider, it is unfavorable for the embedded system. This paper proposes a simple spot position detector suitable for the embedded system. Proposed detector has two 1-dimensional histograms, for horizontal and vertical direction, as shown in Fig. 4. They are assigned installed FPGA memory, namely Block RAM (BRAM). When a binary pixel is transmitted from previous binarization circuit in raster scan order, the detector updates each histogram whenever it receives a pixel. After all pixel are received, it estimates the coordinates of the spot from the intersection of peaks of histogram, as shown in Fig. 4. Note that if the distribution is unimodal then the peak is just maximum and BRAM is not required to compute the peak of vertical direction histogram. 4 Pointer Spot Emphasis Fig.3 shows the block diagram of a module of the processing POI to sub-displays. Below is the detailed explanation of this module. This module conducts the process of POI to the received slide image processing by the module of detecting the pointer spot. Based on the coordinates of the spot identified by the detecting block, this module overlays the slide image with several effects. The effects are preferred for directing students' attentions. Then, it outputs the result of the effects on the sub-displays while the lecturer direct the spot on the main-screen.
4 Although this module receive the coordinates of the spot, the definition of the coordinates is not decided by this module. That is to say, the coordinates are not determined by this module so that this module cannot emphasize the POI to the coordinates. Following ITU-656 format(interlace, method, 30 fps, Valid pixels pixels), two pixel data will be sent per four clock, and a scanning process of a line finishes after 1440 clocks by a raster scan. Fig.4. Histgram and Pointer Spot Utilizing a number of clocks of the scanning process, a coordinate axis of the horizontal direction is defined as 0 to 720. Besides, vertical direction is defined 0 to 485 which is summed after counting each horizontal direction. Therefore, by using this specification, we determine the coordinates within this module. However there are blanking times in ITU- 656 format(fig. 5), we do not have to consider about blanking times due to this method. By setting this method and counting up, we can identify the place of coordinates which are sent from former block and can emphasize the POI. There are two contents for emphasizing the pointer spot. The one of effects is a method that overlays the slide image with a pointer cursor on the coordinates (x POI, y POI ). The other Fig.5. ITU-656 Format is to lower the brightness of an out of area of POI so that the area can look bright. It can be performed by multiplying the brightness by 0.5. The former method refers to the amount of counts of rows and columns. If the received coordinates are the same with an amount of counts of rows and columns, this module overlays any colors pointer cursor on the place. If this module overlaps a color to only the place of coordinates, the emphasized place is small and unclear so that the received coordinates is only one pixel. Therefore, if this starts overlapping several pixels' color from the place of received
5 (a) Overlayed by Red Pointer 6 Conclusion Fig.7. Environment of this Experiment (b) Lowering of Out of the Process of the POI Fig.6. Slide Images after Processing of the POI coordinates, the cursor's size can be controlled and the cursor has visibility. The latter method refers to only the counter of column. If the received coordinates of column is not accorded with the counter of column, this module outputs the value of lower contrast of the slide image. If the coordinates are accorded with the counter, this outputs the original slide image. As same with the former, the emphasized place is very small and unclear so that only one pixel will be received. Thereby, this can conduct stronger effect of POI to the area when lowering an out of contrast of the aiming area. The processed slide image can be achieved by lowering the value of the brightness of the image data of pixel data. Fig.6 are two images after processing the emphasis of the spot. 5 Experimental Results The purpose of this experiment is verification whether this system can detect the spot of the laser pointer on the main-screen and whether it can emphasize the area of the spot. Under the environment(fig.7), this system could detect the spot and emphasize the area. Fig.6(a) and (b) are the results of this experiment. However, this system could not clearly detect the spot when a distance between the main-screen and the camera is more than 2.0 m. This is because the camera does not directly receive a red light source but receives a reflected light once at the main-screen. Through the reason, the light intensity that the camera gets becomes weak. Besides, there is also a reason that the process of binarization is difficult because a size of the spot shown on the main-screen is small, and a detected range will be smaller. This paper proposed two methods. The first method is the way of detecting any color laser pointer shown on mainscreen in multi-screen environment. The second methods is the way of the process of POI to the detected spot and the way of outputting the effects on the sub-displays. Furthermore, this paper aimed to create this system without using a software depending on the lecturer's PC, but using FPGA as hardware. Consequently, it is difficult to process more precise detection of the coordinates. A solution against this problem is a function of calibration to adapt the camera scale to the screen size. Improving the assignment and progressing the precise of detection are future needs. 7 Acknowledgement This research was supported in part by JSPS KAKENHI Grants-in-Aid for Scientific Research (B) References [1] Yoshihumi Oizumi, "An implement of Pointing system for distant learning" Master's thesis of Department of Information and Science of Graduate University of Fukui, March 2007 [2] Takuro Kamamoto, "Development and Implement of stereo mesurement system using FPGA", Bachelor's thesis of Department of Information and Science of University of Fukui, March 2012 [3] Atmark Techno "SUZAKU-V Hardware Manual" [4] KOKUYO "LASER POINTER MOUSE"
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