Marker, interactive device and identification tracking method

Abstract

The embodiment of the application discloses a marker, an interactive device and a recognition tracking method, an image processing single-lens reflex is applied to a recognition tracking system, the system comprises a terminal device and an interactive device, the interactive device comprises a plurality of sub-markers, the method comprises the following steps: collecting a target image; recognizing the sub-markers contained in the target image, determining whether the sub-markers belong to first markers or second markers, and obtaining identity information of the sub-markers; obtaining physical coordinates of the sub-markers according to the identity information of the sub-markers, the physical coordinates are used for representing actual physical positions of the sub-markers on the interactive device; and obtaining relative position information between the terminal device and the interactive device according to pixel coordinates and the physical coordinates of the sub-markers on the target image. Thus, the recognition tracking method provided by the embodiment of the application is used for recognizing the markers arranged on the interactive device, and the relative position information between the terminal device and the interactive device is obtained, so that the accuracy is relatively high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tracking interaction, and more particularly, to a marker, an interactive device and a recognition tracking method. BACKGROUND

[0002] In recent years, with the progress of science and technology, technologies such as augmented reality (AR) and virtual reality (VR) have gradually become a research hotspot at home and abroad. Users can interact with virtual content in AR / VR through an interactive device.

[0003] In order to realize interaction with virtual content, the interactive device needs to be recognized and tracked. Existing recognition tracking schemes usually use magnetic sensors, optical sensors, ultrasonic waves, inertial sensors, visual interactive device image processing and other methods to achieve recognition tracking. However, the effects of the above recognition tracking schemes have obvious advantages and disadvantages, and none of them is the best tracking scheme. For example, the optical sensor scheme is usually greatly affected by ambient light, which easily affects the recognition tracking result. SUMMARY

[0004] Embodiments of the present application provide a marker, an interactive device and a recognition tracking method.

[0005] In a first aspect, embodiments of the present application provide a marker. The marker includes a plurality of sub-markers, and the plurality of sub-markers are arranged at intervals. Each sub-marker includes a recognition cluster, and the recognition cluster includes at least one feature point. The arrangement of the feature points in the recognition cluster of each sub-marker is different from the arrangement of the feature points in the recognition cluster of other sub-markers.

[0006] In a second aspect, embodiments of the present application provide an interactive device. The interactive device includes a control part and a main body part. The control part is used to be controlled by a user, and the main body part includes a shell, a first marker and a second marker. The shell is connected with the control part, and the shell has a first wall and a second wall facing away from each other. The first marker is arranged on the first wall, and the first marker includes a plurality of first sub-markers arranged at intervals. The second marker is arranged on the second wall, and the second marker includes a plurality of second sub-markers arranged at intervals.

[0007] In a third aspect, the embodiments of the present application provide a recognition tracking method, applied to a recognition tracking system, the system comprising a terminal device and the interactive device described above, the interactive device comprising a plurality of sub-markers, the method comprising: collecting a target image of the interactive device; recognizing the sub-markers contained in the target image, determining whether the sub-markers belong to the first markers or the second markers, and obtaining identity information of the sub-markers; obtaining physical coordinates of the sub-markers according to the identity information of the sub-markers, the physical coordinates being used to represent actual physical positions of the sub-markers on the interactive device; and obtaining relative position information between the terminal device and the interactive device according to pixel coordinates and the physical coordinates of the sub-markers in the target image.

[0008] The marker, the interactive device and the recognition tracking method provided by the embodiments of the present application can collect images of a plurality of sub-markers arranged on the interactive device, recognize the sub-markers according to the recognition clusters containing different feature points in the sub-markers, and further obtain relative position information between the terminal device and the interactive device. Thus, the recognition tracking method provided by the embodiments of the present application can recognize the markers arranged on the interactive device, realize positioning and tracking of the interactive device, and has high accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0010] Figure 1 The schematic diagram of the recognition tracking system provided by the embodiments of the present application.

[0011] Figure 2 The schematic diagram of the interactive device provided by the embodiments of the present application.

[0012] Figure 3 The partial schematic diagram of the first marker and the second marker shown in FIG. Figure 2

[0013] The partial schematic diagram of the first marker and the second marker shown in FIG. Figure 4 Figure 2 The partial cross-sectional schematic diagram of the interactive device shown in FIG.

[0014] Figure 5 The partial schematic diagram of the main part of the interactive device provided by another embodiment of the present application.

[0015] Figure 6 The partial schematic diagram of the main part of the interactive device provided by another embodiment of the present application.

[0016] Figure 7 ​A flowchart of an identification tracking method provided by an embodiment of the present application is shown.

[0017] Figure 8 A flowchart of another identification tracking method provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0019] Referring to Figure 1 , an identification tracking system 10 provided by an embodiment of the present application is shown, which includes a terminal device 100 and an interactive device 200. The terminal device 100 and the interactive device 200 can be connected through a communication mode such as Bluetooth, Wi-Fi (Wireless-Fidelity), ZigBee (ZigBee Technology), etc., or can be connected through a wired mode such as a data line, and the terminal device 100 and the interactive device 200 can also not be connected. Of course, the connection mode of the terminal device 100 and the interactive device 200 is not limited in the embodiments of the present application.

[0020] In the embodiments of the present application, the terminal device 100 can be a head-mounted display device, or a mobile device such as a mobile phone or a tablet computer. When the terminal device 100 is a head-mounted display device, the head-mounted display device can be an integrated head-mounted display device. The terminal device 100 can also be an external head-mounted display device and be connected to a smart terminal such as a mobile phone as a processing and storage device of the head-mounted display device, that is, the terminal device 100 can be inserted into or connected to the smart terminal to display virtual content on the external head-mounted display device. In some embodiments, the terminal device 100 can be used as a processing and storage device of the head-mounted display device, and be inserted into or connected to the external head-mounted display device to display virtual content in the head-mounted display device.

[0021] In some embodiments, the terminal device 100 includes a housing 110, an image acquisition device 130, a processor 150 and a display device 170, the image acquisition device 130, the processor 150 and the display device 170 are electrically connected and accommodated in the housing 110. The housing 110 can provide protection for the image acquisition device 130, the processor 150 and the display device 170, so as to avoid the internal components of the image acquisition device 130, the processor 150 and the display device 170 from being dislocated or damaged due to external force impact, thereby prolonging the service life of the terminal device 100.

[0022] The image acquisition device 130 is configured to acquire images of the interaction device 200 and send the images to the processor 150. The image acquisition device 130 can be a dual camera, an RGB camera, or an infrared imaging camera. Optionally, the image acquisition device 130 can be an infrared imaging camera with a single lens. The infrared imaging camera has low cost, low power consumption, and high frame rate under the same bandwidth.

[0023] The processor 150 is configured to output corresponding display content to the display device 170 according to the images and to perform recognition and tracking calculation on the interaction device 200. The processor 150 can include any appropriate type of general or special purpose microprocessor, digital signal processor, or microcontroller. The processor 150 can be configured to receive data and / or signals from various components of the system via, for example, a network. The processor 150 can also process the data and / or signals to determine one or more operating conditions in the system. For example, when the processor 150 is applied to a head-mounted display device, the processor 150 generates image data of a virtual world according to pre-stored image data and sends the image data to the display device 170 for display. The processor 150 can also receive image data sent by a smart terminal or a computer through a wired or wireless network, generate image data of a virtual world according to the received image data, and display the image data through the display device 170. The processor 150 can also perform recognition and tracking calculation according to images acquired by the image acquisition device 130 to determine corresponding display content in the virtual world and send the display content to the display device 170 for display. It should be understood that the processor 150 is not limited to being installed in a head-mounted display device.

[0024] The display device 170 is configured to display the display content output by the processor 150. In some embodiments, the display device 170 can be a part of a smart terminal, i.e., a display screen of a smart terminal, such as a display screen of a mobile phone or a tablet computer. In other embodiments, the display device 170 can also be a separate display (e.g., an LED, OLED, or LCD) or the like. In this case, the display device 170 is fixedly installed on the housing 110, such as a display screen of a head-mounted display device. It should be noted that when the display device 120 is a display screen of a smart terminal, the housing 110 is provided with a mounting structure for mounting the smart terminal. In use, the smart terminal is mounted on the housing 110 through the mounting structure. The processor 150 can be a processor in the smart terminal or a processor 150 independently arranged in the housing 110 and electrically connected to the smart terminal through a data line or a communication interface. In addition, when the display device 170 is a display device separated from a smart terminal or the like, the display device 170 is fixedly installed on the housing 110.

[0025] When the user wears the head-mounted display device and enters the preset virtual scene, when the interaction device 200 is in the field of view range of the image acquisition device 130, the image acquisition device 130 acquires a target image containing the interaction device 200; the processor 150 obtains the target image and related information, and calculates and identifies the relative position information between the interaction device 200 and the terminal device 100. In some embodiments, the user can interact with the virtual scene according to the movement, rotation and other operations of the interaction device 200, so as to improve the more realistic visual experience.

[0026] Please refer to Figure 2 The interaction device 200 includes a main body part 210 and a control part 230. The main body part 210 includes a shell 211, a first marker 400 and a second marker 500. The shell 211 is connected with the control part 230, and the shell 211 is provided with a first wall 2111 and a second wall 2113 which are away from each other. The first marker 400 is arranged on the first wall 2111, and the second marker 500 is arranged on the second wall 2113.

[0027] Please refer to Figure 3 The first marker 400 includes a plurality of first sub-markers 410 which are arranged at intervals. The second marker 500 includes a plurality of second sub-markers 510 which are arranged at intervals.

[0028] In the above interaction device 200, since the first marker 400 and the second marker 500 are arranged on the first wall 2111 and the second wall 2113 respectively, the terminal device 100 can acquire the image of the interaction device 200, and identify the image information of the first marker 400 and / or the second marker 500 contained in the acquired image, so as to obtain the relative position and posture information between the interaction device 200 and the terminal device 100, realize the tracking of the interaction device 200, and increase the tracking area with high accuracy and easy tracking.

[0029] In the embodiments of the present application, the arrangement mode of the plurality of first sub-markers 410 can include the arrangement number of the first sub-markers 410 on the first wall 2111 or the interval distance between the adjacent two first sub-markers 410, but is not limited thereto. For example, eight first sub-markers 410 are arranged on the first wall 2111, and the interval distance between the adjacent first sub-markers 410 is the same.

[0030] As Figure 3As shown, each first sub-marker 410 includes a first identification cluster 411, and the first identification cluster 411 includes at least one feature point, i.e., the number of feature points in the first identification cluster 411 is greater than or equal to 2. The feature points of the plurality of first identification clusters 411 are arranged according to a preset rule, and the arrangement of the feature points of the first identification cluster 411 in each first sub-marker 410 is different from the arrangement of the feature points of the first identification cluster 411 in other first sub-markers 410.

[0031] In some embodiments, the arrangement of the feature points in the first identification cluster 411 is different from the arrangement of the feature points in other first identification clusters 411, which can include one or more of the following: the number of feature points included in each first identification cluster 411 is different, the shape of the feature points is different, the color of the feature points is different, and the distribution of the positions of the feature points is different. Alternatively, the preset rule followed by the feature points is that, along the arrangement direction of the sub-marker, the number of feature points included in the plurality of first identification clusters 411 increases or decreases in turn.

[0032] As an embodiment, the first identification cluster 411 can be black, and the feature points included in the first identification cluster 411 can be white circular patterns. The first identification cluster 411 can include one or more feature points, and the number of feature points included in each first identification cluster 411 increases in turn along a certain arrangement direction (for example, from top to bottom in the figure). Figure 3

[0033] For example, taking the case of eight first sub-markers 410 arranged on the first wall 2111 as an example, the eight first sub-markers 410 are sequentially named A1, A2, …, A8 along the arrangement direction. It should be noted that the above A1, A2, …, A8 are only used to refer to the plurality of first sub-markers 410 in the example, and do not form a limitation. If the number of feature points included in each first identification cluster 411 increases in turn along the arrangement direction of the preset arrangement manner (for example, from top to bottom in the figure), then the number of feature points included in the first identification cluster 411 of A1 is the least, and the number of feature points included in the first identification cluster 411 of A8 is the most.

[0034] ​In some embodiments, the number of feature points in each first identification cluster 411 is the same as that in other first identification clusters 411, but the shape of the feature points in the first identification cluster 411 is different, or the color of the feature points is different. For example, the feature points are gray circular patterns, white rectangular patterns, and the like. It should be noted that by setting different feature points in each first identification cluster 411, each first identification cluster 411 can be identified, and thus the processor 150 can determine which of the first sub-markers 410 contained in the image collected by the image collection device 130 are A1, A2, …, A8. For example, the number of feature points of each first identification cluster 411 is the same, but the feature points of each first identification cluster 411 are respectively arranged in different patterns such as gray circular patterns and white rectangular patterns.

[0035] The first sub-marker 410 further includes a first background 413 and a first reference cluster 415, which is distinguishable from the first identification cluster 411, and is distributed in the first background 413 at intervals from the first identification cluster 411.

[0036] Further, the first marker 400 further includes a second background 430, and the plurality of first sub-markers 410 are arranged at intervals by the second background 430, that is, the plurality of sub-markers 410 are distributed at intervals in the second background 430, and the positions between adjacent two sub-markers 410 are exposed to the second background 430. The second background 430 is distinguished from the first background 413 to reflect the intervals between the plurality of first sub-markers 410. It should be noted that, Figure 3 The dashed part is only to show the positions of the first identification cluster 411 and the first reference cluster 415, and has no actual meaning.

[0037] Correspondingly, the pattern of the second marker 500 is similar to that of the first marker 400. The second marker 500 includes a second sub-marker 510, a second identification cluster 511, a third background 513, a fourth background 530, and a second reference cluster 515. The second sub-marker 510 is similar to the first sub-marker 410; the second identification cluster 511 is similar to the first identification cluster 411; the third background 513 is similar to the first background 413, and the fourth background 530 is similar to the second background 430, which will not be described here. It should be noted that the second reference cluster 515 is different from the first reference cluster 415, and the processor 150 can determine the first sub-marker 410 and the second sub-marker 510 contained in the collected image by identifying the first reference cluster 415 and the second reference cluster 515.

[0038] Optionally, the second reference cluster 515 is different from the first reference cluster 415, which means that the second reference cluster 515 is different from the first reference cluster 415 in the arrangement of the feature points contained therein. For example, the second reference cluster 515 can be different from the first reference cluster 415 in the number of feature points contained therein, or the shape of the feature points contained in the first reference cluster 415 can be different from the shape of the feature points contained in the second reference cluster 515, or the color of the feature points contained in the first reference cluster 415 can be different from the color of the feature points contained in the second reference cluster 515, and the like.

[0039] As a specific embodiment, as shown in Figure 3 The first reference cluster 415 contains a white circular pattern feature point to form a black hollow circular ring pattern, and the second reference cluster 515 does not contain a white circular pattern feature point to form a black solid circular pattern. That is, the number of feature points in the first reference cluster 415 is 1, and the number of feature points in the second reference cluster 515 is 0. After the first reference cluster 415 and the second reference cluster 515 are set, the arrangement of the feature points of the first identification cluster 411 and the arrangement of the feature points of the second identification cluster 511 can be the same, for example, the first identification cluster 411 contains two white circular pattern feature points, and the second identification cluster 511 also contains two white circular pattern feature points. That is, the processor 150 first distinguishes the first sub-marker 410 and the second sub-marker 510 contained in the image by using the reference cluster contained in the image, and then identifies the first identification cluster 411 and the second identification cluster 511, respectively.

[0040] In some embodiments, the first reference cluster 415 and the second reference cluster 515 can be omitted, and the feature points of the first identification cluster 411 and the feature points of the second identification cluster 511 are set to be different, so that the processor 150 identifies the first sub-marker 410 and the second sub-marker 510 by using the different feature points after receiving the image collected by the image collection device 130. For example, the feature points of the first identification cluster 411 are white circular patterns, and the feature points of the second identification cluster 511 are white triangular patterns, but not limited thereto.

[0041] Please refer to Figure 4The shell 211 is a ring-shaped shell, and the shell 211 is not limited to a circular ring shape, but can also be an elliptical ring shape, a polygonal ring shape, an irregular ring shape, etc. The first wall 2111 and the second wall 2113 are connected to form a receiving cavity 2115. When the shell 211 is longitudinally cut along an axial plane, a profile line of the second wall 2113 and a profile line of the first wall 2111 form a predetermined included angle. In this case, a first straight line where the profile line of the second wall 2113 is located is taken as a reference, and a second straight line where the profile line of the first wall 2111 is located is inclined relative to the first straight line where the profile line of the second wall 2113 is located, and an end of the first wall 2111 away from the control portion 230 is closer to the second wall 2113. In another aspect, the first wall 2111 has a first end close to the control portion 230 and a second end away from the control portion 230, and the second wall 2113 has a first end close to the control portion 230 and a second end away from the control portion 230, and a distance between the first end of the first wall 2111 and the first end of the second wall 2113 is greater than a distance between the second end of the first wall 2111 and the second end of the second wall 2113. In the illustrated embodiment, the radial dimension of the first wall 2111 gradually increases from the first end to the second end, so that the first wall 2111 has a shape like a horn that expands outward from the control portion 230. Therefore, in the embodiment, the first wall 2111 is an inner wall surface of the shell 211, the second wall 2113 is an outer wall surface of the shell 211, the inner wall surface of the shell 211 is relatively inclined at a predetermined angle relative to the outer wall surface, and an end of the inner wall surface away from the control portion 230 is closer to the outer wall surface, so that the inner wall surface has a tendency to expand outward relative to the outer wall surface, so as to be captured by the image capture device 130. For example, the image capture device 130 can capture more first markers 400 in the first wall 2111 and more second markers 500 in the second wall 2113 as much as possible, so as to facilitate calculation of position and attitude information of the interactive device.

[0042] In some embodiments, the shell 211 is a transparent shell that can transmit light, for example, the shell 211 can be made of a high-molecular material that can transmit light, such as polymethyl methacrylate (PMMA), polystyrene (PS), polycarbonate (PC), and polybisallyldiglycol carbonate (CR-39).

[0043] In some embodiments, the first marker 400 is arranged on a side of the first wall 2111 facing the accommodation cavity 2115, and the second marker 500 is arranged on a side of the second wall 2113 facing the accommodation cavity 2115, i.e., the first marker 400 and the second marker 500 are both located in the accommodation cavity 2115 and arranged on the side of the first wall 2111 facing the accommodation cavity 2115 and the side of the second wall 2113 facing the accommodation cavity 2115, respectively. The first marker 400 and the second marker 500 can be arranged on the corresponding first wall 2111 and second wall 2113 by pasting, or can be directly formed on the corresponding first wall 2111 and second wall 2113 by laser engraving or spraying, etc. The first marker 400 and the second marker 500 can be formed by only forming the black part of the pattern on the first wall 2111 and the second wall 2113. The first marker 400 and the second marker 500 are both arranged in the accommodation cavity 2115, which can prevent the first marker 400 and the second marker 500 from being worn out due to exposure to the outside, so that the processor 150 cannot recognize the collected first marker 400 and second marker 500.

[0044] It should be noted that the first marker 400 and the second marker 500 are not limited to being arranged on the side of the first wall 2111 facing the accommodation cavity 2115 and the side of the second wall 2113 facing the accommodation cavity 2115. For example, the first marker 400 and the second marker 500 can also be arranged on the side of the first wall 2111 away from the accommodation cavity 2115 and the side of the second wall 2113 away from the accommodation cavity 2115, respectively. Alternatively, the first marker 400 is arranged on the side of the first wall 2111 facing the accommodation cavity 2115, and the second marker 500 is arranged on the side of the second wall 2113 away from the accommodation cavity 2115. Alternatively, the first marker 400 is arranged on the side of the first wall 2111 away from the accommodation cavity 2115, and the second marker 500 is arranged on the side of the second wall 2113 close to the accommodation cavity 2115.

[0045] In some embodiments, please refer to Figure 4The interactive device 200 includes a light emitting member 270 disposed on the shell 211. The shell 211 is a light-transmissive shell, and the light emitted by the light emitting member 270 is directed towards the receiving cavity 2115, so that the main body part 210 of the interactive device 200 can obtain image information containing the first marker 400 and / or the second marker 500 when captured by the image capturing device 130. The light emitting member 270 can be a LED light tube that emits light after being powered on. The first marker 400 and the second marker 500 can both present corresponding patterns through the light emitted by the light emitting member 270 and transmitted through the shell 211, so as to be captured by the image capturing device 130. For example, the light emitted by the light emitting member 270 can be blocked by a circular light-blocking material as a feature point, so as to form a black circular pattern on the shell 211. The light emitted by the light emitting member 270 can be partially transmitted through a circular ring-shaped light-blocking material as a feature point, so as to form a black circular ring-shaped pattern on the shell 211.

[0046] Further, the interactive device 200 further includes a light guide member 250 connected with the light emitting member 270. The light guide member 250 can be a ring-shaped light guide pipe, and is disposed in the receiving cavity to be attached to the inner surface of the shell 211, so as to guide the light emitted by the light emitting member 270 towards the first wall 2111 and the second wall 2113. It should be noted that, due to the provision of the light guide member 250, the light emitting member 270 can be disposed at any position of the interactive device 200. The light emitted by the light emitting member 270 can be guided towards the first wall 2111 and the second wall 2113 through the provision of the light guide member 250, so that the patterns formed by the first marker 400 and the second marker 500 on the first wall 2111 and the second wall 2113 can be correspondingly presented according to the relative positions of the interactive device 200 and the terminal device 100, and then captured by the image capturing device 130 and recognized by the processor 150.

[0047] Referring to Figure 5 Fig. 8 shows a partial schematic view of a main body part 210a of an interactive device 200a according to another embodiment of the present application. The shell 211a is a ring-shaped shell, and the first wall 2111a and the second wall 2113a are connected to form a receiving cavity 2115a. The light emitting member 270a is connected to the surface of the shell 210a away from the control part 230a, i.e. the light emitting member 270a is disposed on the shell 210a away from the control part 230a on the side of the receiving cavity 2115a. Further, the light emitting member 270a is a plurality of light emitting members, and the plurality of light emitting members 270a are disposed on the side of the shell 210a away from the control part 230a along the circumferential direction of the shell 210a. The patterns of the first marker 400 on the first wall 2111a and the patterns of the second marker 500 on the second wall 2113a are formed by the light emitted by the plurality of light emitting members 270a, so that the image capturing device 130 can clearly capture the image information containing the first marker 400 and / or the second marker 500.

[0048] In some embodiments, the plurality of light emitting elements 270a may also be disposed on a side of the housing 210a close to the control portion 230a, that is, the light emitting elements 270a are disposed on the housing 210a on a side of the receiving cavity 2115a close to the control portion 230a.

[0049] See also Figure 6 , Figure 6 A partial schematic diagram of a main body 210b of an interactive device 200b provided in another embodiment of the present application is shown. The housing 211b is an annular housing, with a first wall 2111b and a second wall 2113b connected to form a receiving cavity 2115b, within which a light-emitting element 270b is disposed. In some embodiments, the light-emitting element 270b is a light-emitting strip that fills the entire receiving cavity 2115b. In some embodiments, the light-emitting element 270b is a plurality of light-emitting elements 270b, each of which is a light-emitting block, and each of which is spaced apart within the receiving cavity 2115b.

[0050] Please refer to Figure 2 The control part 230 includes a gripping portion 231 and a connecting portion 233 , and the connecting portion 233 is used to connect the gripping portion 231 and the housing 211 .

[0051] In some embodiments, the grip portion 231 and the housing 211 can be rotated relative to each other through the connection portion 233, so that the housing 211 and the grip portion 231 can be at any angle to meet the user's interaction habits.

[0052] In some embodiments, the grip portion 231 is generally tubular with an inner cavity to facilitate gripping by the user. The grip portion 231 is also provided with a power supply, a switch, an indicator light, and electronic components. The electronic components are housed in the inner cavity of the grip portion 231 and are connected to the power supply, the switch, and the indicator light. The electronic components include interactive devices, inertial sensors, photosensitive elements, etc., which are not described in detail here. Optionally, the light-emitting element 270 is housed in the inner cavity of the grip portion 231, the power supply is electrically connected to the light-emitting element 270 to supply power to the light-emitting element 270, and the light-emitting element 270 is electrically connected to the switch to control the light-emitting element 270 through the switch; at the same time, the indicator light is used to indicate the current working status of the light-emitting element 270. Optionally, the angle between the housing 211 and the grip portion 231 can also be adjusted by a switch. For example, the switch is a slide switch, and the angle between the housing 211 and the grip portion 231 can be adjusted by sliding the slide.

[0053] When the user wears the head-mounted display device and enters the preset virtual scene, when the interactive device 200 is in the visual range of the image acquisition device 130, the image acquisition device 130 acquires a target image containing the interactive device 200; the processor 150 obtains the first sub-marker 410 and the second sub-marker 510 contained in the target image, and the related information of the first sub-marker 410 and the second sub-marker 510, and calculates and identifies the relative position information between the interactive device 200 and the terminal device 100. In some embodiments, the user can interact with the virtual scene according to the movement, rotation and other operations of the interactive device 200, so as to improve the immersion and reality of the user.

[0054] Based on the above-mentioned identification tracking system, the embodiment of the application provides an identification tracking method, which is applied to the terminal device and the interactive device in the above-mentioned identification tracking system. The specific identification tracking method is introduced as follows.

[0055] Please refer to Figure 7 , which shows an identification tracking method provided by the embodiment of the application, which can be applied to the identification tracking system shown in Figure 1 , the identification tracking system includes a terminal device and an interactive device, the interactive device is provided with a marker, and the marker includes a plurality of sub-markers, each of which contains a reference cluster and an identification cluster. It should be noted that the above-mentioned marker includes a first marker and a second marker, the first marker includes a plurality of first sub-markers, each of which includes a first reference cluster and a first identification cluster; the second marker includes a plurality of second sub-markers, each of which includes a second reference cluster and a second identification cluster. The identification tracking method can include steps S101-S107.

[0056] Step S101: Acquire a target image of the interactive device.

[0057] The target image refers to an image containing the marker information on the interactive device. When part or all of the interactive device is in the visual range of the image acquisition device of the terminal device, an image containing at least part of the marker in the interactive device can be acquired by the image acquisition device. Alternatively, the marker can be integrated in the interactive device or attached to the interactive device. In some embodiments, the target image should at least include one or more sub-markers on the interactive device.

[0058] Step S103: Identify the sub-marker contained in the target image, determine whether the sub-marker belongs to the first marker or the second marker, and obtain the identity information of the sub-marker.

[0059] The image acquisition device of the terminal device sends the acquired target image to the processor of the terminal device, so as to identify the sub-markers contained in the target image by the processor and obtain the identity information of the corresponding sub-markers. The processor can identify each sub-marker contained in the target image, determine whether each sub-marker belongs to the first sub-marker or the second sub-marker, and then obtain the identity information of each sub-marker.

[0060] In some embodiments, the first marker contains a plurality of first sub-markers, the second marker contains a plurality of second sub-markers, and the target image includes at least one first sub-marker and / or second sub-marker. By the preset arrangement rule of the first sub-marker in the processor, the identity information of the first sub-marker can be determined after the processor identifies the first sub-marker or the second sub-marker. The identity information can include the marker information to which the sub-marker belongs and the information of the sub-marker in the belonging marker. For example, the number of the sub-marker in the belonging marker and the like.

[0061] In some embodiments, when the number of the identified second sub-markers is more than the number of the first sub-markers, it can be explained that the first wall of the interactive device is more exposed to the area of the image acquisition device than the second wall.

[0062] Step S105: obtaining the physical coordinates of the sub-markers according to the identity information of the sub-markers.

[0063] The physical coordinates of the sub-markers are the coordinates of the sub-markers in the corresponding physical coordinate system of the interactive device. The physical coordinates of the sub-markers are the actual physical positions of the sub-markers on the interactive device. As a specific embodiment, the center point of the ring formed by the first wall of the interactive device can be selected as the origin to establish the physical coordinate system. The physical coordinates of the sub-markers in the corresponding coordinate values of the physical coordinate system are all preset values. For example, an XYZ coordinate system with the center point of the ring formed by the first wall of the interactive device as the origin is established. The distance and rotation information of each sub-marker (and the feature points included in the sub-marker) on the first wall and the second wall to the origin can be measured, so that the physical coordinates (X0, Y0, Z0) of each sub-marker in the XYZ coordinate system can be determined. After the physical coordinate system is established, the physical coordinates of each sub-marker in each marker on the interactive device can be stored. In other embodiments, other points on the interactive device can also be used as the origin to establish the physical coordinate system, and it is not limited to the center point of the ring formed by the first wall of the interactive device.

[0064] The terminal device acquires identity information of the sub-marker, which can be a number of the sub-marker or other information for uniquely marking the identity of the sub-marker, for example, the sub-marker is coded as A1, where A indicates that the sub-marker belongs to the first sub-marker, and 1 indicates that the sub-marker contains 1 feature point in the identification cluster, that is, the sub-marker is the first sub-marker containing 1 feature point in the first identification cluster in the first marker. The physical coordinates of the sub-marker can be acquired according to the identity information of the sub-marker. The correspondence between the identity information and the physical coordinates of the sub-marker can be pre-stored. According to the correspondence, the physical coordinates corresponding to the identity information can be acquired.

[0065] Step S107: According to the pixel coordinates and the physical coordinates of the sub-marker on the target image, the relative position information between the terminal device and the interactive device is acquired.

[0066] The pixel coordinates are the coordinates of each sub-marker in the image coordinate system corresponding to the target image. For example, a certain number of feature points can be selected as target feature points from the target image, to determine the real attitude information between the image acquisition device (equivalent to the head-mounted display device) and the interactive device having the target feature points. The processor can acquire the pixel coordinates of all target feature points, that is, the processor can acquire the pixel coordinates of all sub-markers.

[0067] In step S105, the physical coordinates of the sub-marker have been acquired. Since the pixel coordinates of the sub-marker on the target image are coordinate points in a two-dimensional coordinate system, and the physical coordinates of the sub-marker are coordinate points in a three-dimensional coordinate system, a mapping relationship between the pixel coordinates and the physical coordinates can be constructed according to a preset algorithm, and then the relative position information and the attitude information between the terminal device and the interactive device are acquired.

[0068] The embodiment of the present application discloses a recognition tracking method, which is applied to a recognition tracking system including a terminal device and an interactive device, and the interactive device includes a plurality of sub-markers. The method includes: acquiring a target image; recognizing the sub-markers contained in the target image, determining whether the sub-markers belong to a first marker or a second marker, and obtaining identity information of the sub-markers; acquiring physical coordinates of the sub-markers according to the identity information of the sub-markers, the physical coordinates being used to represent actual physical positions of the sub-markers on the interactive device; and acquiring relative position information between the terminal device and the interactive device according to pixel coordinates and the physical coordinates of the sub-markers on the target image. Thus, the recognition tracking method provided by the embodiment of the present application recognizes the markers arranged on the interactive device, and acquires the relative position information between the terminal device and the interactive device, with high accuracy.

[0069] Please refer to Figure 8 Another embodiment of the present application provides a recognition tracking method, which can be applied to Figure 1The tracking system shown, the identification tracking method can include steps S201-S209.

[0070] Step S201: Collecting a target image of an interactive device.

[0071] Wherein, step S201 can refer to the above step S101, which is not repeated here. After performing step S201, the sub-markers contained in the target image need to be identified to determine the identity information of the sub-markers. In this embodiment, identifying the sub-markers contained in the target image can include steps S203-S205.

[0072] Step S203: Obtaining the relationship between multiple connected domains in the target image.

[0073] In some embodiments, the target image can be pre-processed to obtain a processed target image that can reflect various feature information in the target object, for example, the sub-marker part and the non-sub-marker part can be distinguished from the target image. Alternatively, by processing the target object into a binary image, the binary threshold can be flexibly set according to the light and dark characteristics of the marker, or an adaptive binary threshold can be used.

[0074] Optionally, after the target image is binarized, the sub-marker part in the target image is processed into a first color, and the non-sub-marker part in the target object is processed into a second color. That is, the parts in the sub-marker that are in a surrounding relationship are processed to have a color hierarchy, so that the connected domains between the parts form a surrounding relationship in turn.

[0075] Taking the first marker as an example, the part corresponding to the first background in the target image is processed into a second color, the sub-marker of the marker is processed into a first color, and the hollow part surrounded by the sub-marker (the hollow part as a feature point) is processed into a second color. Wherein, the first color and the second color can be colors with large pixel value difference, such as the first color is black and the second color is white. Of course, the distinction between the first background, the sub-marker, and the feature point after binarization can also be distinguished by contrast or other ways, and the embodiment of the application mainly takes the color hierarchy distinction as an example for description.

[0076] In other embodiments, identifying the sub-markers contained in the target image includes: obtaining the surrounding relationship between multiple connected domains in the target image; and identifying the sub-markers contained in the target image according to the surrounding relationship between the multiple connected domains in the target image.

[0077] The surrounding relationship between the plurality of connected domains in the target image can be obtained by first obtaining the connected domain information of the target image, and then obtaining the surrounding relationship between the plurality of connected domains based on the connected domain information. The connected domain refers to an image region composed of pixel points with the same pixel value and adjacent positions in the image.

[0078] As shown in Figure 3 The marker includes a plurality of sub-markers spaced by a spacing background. The spacing background is a connected domain, the background in the sub-marker is a connected domain, the identification cluster in the sub-marker is a connected domain, and the feature point in the identification cluster is a connected domain. The spacing background separates the plurality of sub-markers, and the feature point in the identification cluster refers to the hollow part of the identification cluster. The background and the sub-marker form a surrounding relationship, and the sub-marker and the identification cluster form a surrounding relationship. If the identification cluster is a hollow pattern, the identification cluster and the hollow part also have a surrounding relationship, as shown in Figure 3 The identification cluster including the white point (i.e., the feature point) has a surrounding relationship between the identification cluster and the white point. It should be noted that the white point refers to the hollow part (i.e., the feature point is the white point), the connected domain corresponding to the background has a surrounding relationship with the connected domain corresponding to the identification cluster, and the connected domain corresponding to the identification cluster also has a surrounding relationship with the connected domain corresponding to the feature point.

[0079] Further, the spacing background is defined as the fourth connected domain, and in the target image, the spacing background separates all the sub-markers, so that the connected domain in the target image that separates other connected domains and does not surround other connected domains can be regarded as the fourth connected domain. If the target image after binarization includes a first color and a second color, the fourth connected domain can be determined to satisfy the following conditions: the color is the first color, the connected domain is separated by the second color, and the connected domain does not surround other connected domains.

[0080] The spacing background separates the plurality of sub-markers, that is, the spacing background also separates the plurality of backgrounds. The connected domain corresponding to the background is defined as the third connected domain, that is, the third connected domain is separated by the fourth connected domain, and the third connected domain is adjacent to the fourth connected domain. As a distinction, the third connected domain is of the second color to distinguish from the adjacent fourth connected domain.

[0081] Further, the background surrounds the identification cluster, and the identification cluster is defined as the second connected domain, the second connected domain is surrounded by the third connected domain, and the second connected domain is separated from the fourth connected domain. That is, each second connected domain surrounded by the third connected domain corresponds to an identification cluster. Accordingly, the connected domain surrounded by the third connected domain and having the first color is determined as the second connected domain.

[0082] In addition, each identification cluster has a feature point, so that the connected domain surrounded by the second connected domain can be determined as the first connected domain, that is, the connected domain of the feature point is defined as the first connected domain. The connected domain surrounded by the second connected domain is determined as the first connected domain, that is, if the identification cluster is as shown inFigure 5 As shown in the hollow figure surrounding the white point, the hollow part (i.e. the white part surrounded, that is, the white feature point) corresponds to the first connected domain, and each first connected domain is a feature point. If the second connected domain does not surround the first connected domain, each second connected domain that does not surround the first connected domain is determined as a feature point, that is, the feature point at this time is a solid figure.

[0083] Step S205: According to the surrounding relationship between the plurality of connected domains in the target image, a sub-marker contained in the target image is recognized.

[0084] In the embodiments of the present application, each sub-marker, each recognition cluster, each reference cluster, and each feature point in the recognition cluster can be distinguished according to the surrounding relationship between the connected domains in the target image.

[0085] In some embodiments, the recognition cluster in the sub-marker contains at least two feature points, and the reference cluster is a solid pattern or a circular ring pattern (which can be considered to contain at most one feature point). If the second connected domain contains a plurality of first connected domains, the second connected domain is determined as a recognition cluster; if the second connected domain contains only one first connected domain or contains no first connected domain, the second connected domain is determined as a reference cluster. The recognition cluster and the reference cluster surrounded by the same second connected domain, and the second connected domain can constitute a sub-marker. In other embodiments, the reference cluster and the recognition cluster can also be distinguished in other ways, for example, the recognition cluster in the sub-marker contains a feature point, and the reference cluster contains no feature point. The reference clusters of different markers are different in shape, and the second connected domain containing no first connected domain is determined as a reference cluster. The shape of the connected domain is further recognized to distinguish the marker to which the connected domain belongs, but the present application is not limited thereto.

[0086] Optionally, the system pre-stores the features and identity information of the sub-markers, that is, the pre-stored identity information of the sub-markers can correspond to the features of the sub-markers. It should be noted that the pre-stored features of the sub-markers include the corresponding connected domains in the sub-markers, and the connected domains include the first connected domains, the second connected domains, and the third connected domains. The pre-stored feature information further includes the surrounding relationship between the connected domains, for example, the second connected domain surrounded by each third connected domain, the first connected domain surrounded by each second connected domain, and the number of corresponding surrounded first connected domains.

[0087] In some embodiments, according to the surrounding relationship between the plurality of connected domains in the target image, the sub-marker contained in the target image can further include steps A and B:

[0088] Step A, determining first identification information corresponding to the reference cluster according to the surrounding relationship of the connected domain corresponding to the reference cluster, the first identification information being used to identify whether the sub-marker belongs to the first marker or the second marker. The first identification information refers to information used to distinguish the first marker and the second marker.

[0089] In some embodiments, each of the plurality of first sub-markers comprises a first identification cluster and a first reference cluster, the first reference cluster being arranged apart from the first identification cluster; each of the plurality of second sub-markers comprises a second identification cluster and a second reference cluster, the second reference cluster being arranged apart from the second identification cluster, wherein the first reference cluster and the second reference cluster are distinguished. Further, the first reference cluster and the second reference cluster can be determined by the surrounding relationship of the connected domain. For example, the first reference cluster is a black hollow circular ring, and the second reference cluster is a black solid circle. A second connected domain containing only one first connected domain or no first connected domain can be determined as the reference cluster in the sub-marker, and then the number of the first connected domains contained in the reference cluster is used to determine whether the reference cluster is the first reference cluster or the second reference cluster. When the second connected domain contains one first connected domain, it can be determined that the second connected domain is the first reference cluster, the sub-marker is the first sub-marker, and belongs to the first marker. When the second connected domain contains no first connected domain, it can be determined that the second connected domain is the second reference cluster, the sub-marker is the second sub-marker, and belongs to the second marker.

[0090] As a specific embodiment, the first identification information can be represented by a code, which can be composed of one or more of letters, numbers and symbols, for example, if the sub-marker belongs to the first marker, the corresponding first identification information is "A", if the sub-marker belongs to the second marker, the corresponding first identification information is "B", or the first identification information of the first marker is represented by "001", the first identification information of the second marker is represented by "002", etc., but not limited thereto.

[0091] Step B, determining second identification information corresponding to the identification cluster according to the surrounding relationship of the connected domain corresponding to the identification cluster, the second identification information being used to identify the identity of the sub-marker in the marker to which the sub-marker belongs.

[0092] In some embodiments, the first sub-marker comprises a first recognition cluster, and the second sub-marker comprises a second recognition cluster, each first sub-marker comprises a first recognition cluster which is different from the first recognition cluster comprised by other first sub-markers, and each second sub-marker comprises a second recognition cluster which is different from the second recognition cluster comprised by other second sub-markers. After the terminal device determines the second connected domain in the target image as a recognition cluster, the terminal device can determine the second identification information corresponding to the recognition cluster according to the surrounding relationship of the second connected domain. As a specific implementation, the number of feature points comprised by the recognition cluster in different sub-markers under the same marker is different, and then the second identification information can be determined according to the number of first connected domains comprised by the second connected domain corresponding to the recognition cluster. The second identification information can be represented by a code, which can be composed of one or more of letters, numbers and symbols, for example, if the recognition cluster comprises 2 feature points, the corresponding second identification information is 2, if the recognition cluster comprises 3 feature points, the corresponding second identification information is 3, and the like, but is not limited thereto.

[0093] In other embodiments, taking the first marker as an example, the second identification information corresponding to the first recognition cluster can refer to the arrangement serial number of the first sub-marker in the first marker. For example, the first marker comprises eight first sub-markers A1, A2, …, A8, and the first recognition cluster can identify which one of A1, A2, …, A8 is the first sub-marker. That is, the identity of the first sub-marker in the first marker is identified. Correspondingly, the second marker comprises B1, B2, …, B8, and the second recognition cluster can identify which one of B1, B2, …, B8 is the second sub-marker.

[0094] Based on the first identification information and the second identification information, the identity information of the sub-marker can be obtained, and the identity information can comprise the first identification information and the second identification information. For example, when the first identification information of the sub-marker is identified as A, and the second identification information of the sub-marker is identified as 1, it can be determined that the identity information of the sub-marker is the first sub-marker A1. It should be noted that the first identification information A and the second identification information 1 described above are only listed for convenience of description, and the actual situation is not limited to the above examples.

[0095] In some embodiments, the sub-markers in the target image are not necessarily complete sub-markers. If only a part of a sub-marker is obtained, and the sub-marker is significantly different from other sub-markers and has features that other sub-markers do not have, the identity of the sub-marker can be determined according to the features in the sub-marker. In other embodiments, the incomplete sub-markers can also be reasonably inferred by the preset arrangement order of the sub-markers, and then the identity of the incomplete sub-markers is determined. For example, sub-markers A3 and A4 are identified in sequence, then the incomplete sub-marker located on the other side of A3 is A2, and the incomplete sub-marker located on the other side of A4 is A5.

[0096] Optionally, before the sub-markers contained in the target image are identified according to the surrounding relationship between the plurality of connected domains in the target image, the plurality of connected domains can be preprocessed to filter out the connected domains that do not conform to the characteristics of the first sub-marker or the second sub-marker. In some embodiments, the non-conforming connected domains can be filtered out according to the shape of the connected domains. When the shape of the connected domain is significantly different from the shape of the pre-stored sub-marker, it can be determined that the connected domain is non-conforming and is filtered out. In other embodiments, the non-conforming connected domains can also be filtered out based on the position and attitude information of the interactive device obtained from the previous frame image. Generally, the position and attitude of the same connected domain on two adjacent frames of images will not change too much. If there is a large deviation, it can be determined that the connected domain is non-conforming and is filtered out. Understandably, other ways of filtering out can also be used, which are not limited herein.

[0097] Because the obtained target image is a two-dimensional image, and the interactive device is a three-dimensional structure, the first sub-marker and the second sub-marker arranged on the interactive device are located on the first wall and the second wall of the interactive device, respectively. Therefore, during the polarization of the target image, the first wall and the second wall will partially overlap, which will cause the appearance of inappropriate connected domains. Therefore, the part of the connected domains needs to be filtered out to reduce the workload of the processor in identifying the connected domains.

[0098] Step S207: Obtain the physical coordinates of the sub-marker according to the identity information of the sub-marker.

[0099] In step S207, the physical coordinates of the sub-marker can be obtained by referring to step S105 described above, which is not repeated here.

[0100] Step S209: Obtain the relative position information between the terminal device and the interactive device according to the pixel coordinates and the physical coordinates of the sub-marker on the target image.

[0101] After obtaining the pixel coordinates and physical coordinates of all target feature points in the target image, the position information between the image acquisition device and the interaction device is obtained based on the pixel coordinates and physical coordinates of all target feature points in each sub-marker. Specifically, the mapping parameters between the image coordinate system and the physical coordinate system are obtained based on the pixel coordinates, physical coordinates of each target feature point and the pre-acquired internal parameters of the image acquisition device.

[0102] For example, by performing calculations on the pixel coordinates and physical coordinates of the acquired target feature points and the pre-acquired intrinsic parameters of the image acquisition device through a preset algorithm (such as the SVD algorithm), the rotation parameters between the camera coordinate system and the physical coordinate system of the image acquisition device and the translation parameters between the camera coordinate system and the physical coordinate system of the image acquisition device can be obtained.

[0103] It should be noted that the rotation parameters and translation parameters are used as the posture information between the image acquisition device and the interaction device. The rotation parameters represent the rotation state between the camera coordinate system and the physical coordinate system, that is, the rotational freedom of the image acquisition device in the physical coordinate system and the various coordinate axes of the physical coordinate system. The translation parameters represent the movement state between the camera coordinate system and the physical coordinate system, that is, the movement freedom of the image acquisition device in the physical coordinate system and the various coordinate axes of the physical coordinate system. The rotation parameters and translation parameters are the six-degree-of-freedom information of the image acquisition device in the physical coordinate system, which can represent the rotation and movement state of the image acquisition device in the physical coordinate system, that is, the angle and distance between the field of view of the image acquisition device and the various coordinate axes in the physical coordinate system can be obtained. Furthermore, in an embodiment of the present application, it can also include obtaining the physical coordinates of the target feature points. Specifically, the steps may include determining the model feature point corresponding to each target feature point in the preset marker model; searching for the physical coordinates of each model feature point in the preset marker model within the physical coordinate system corresponding to the visual interaction device; and using the physical coordinates of the model feature point corresponding to each target feature point as the physical coordinates of the target feature point within the physical coordinate system corresponding to the visual interaction device. The steps for obtaining the physical coordinates can be referred to in the previous steps and will not be repeated here.

[0104] The embodiment of the present application discloses an identification and tracking method, which is applied to an identification and tracking system, the system including a terminal device and an interactive device, the interactive device including multiple sub-markers, the method including: acquiring a target image; identifying the sub-markers contained in the target image, determining whether the sub-markers belong to the first marker or the second marker, and obtaining the identity information of the sub-markers; obtaining the physical coordinates of the sub-markers based on the identity information of the sub-markers, the physical coordinates being used to represent the actual physical position of the sub-markers on the interactive device; obtaining the relative position information between the terminal device and the interactive device based on the pixel coordinates and physical coordinates of the sub-markers on the target image. Thus, the identification and tracking method provided by the embodiment of the present application identifies the markers provided on the interactive device and obtains the relative position information between the terminal device and the interactive device with high accuracy.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A marker, characterized in that, The application is applied to an interactive device, the interactive device comprises a control part and a main part, the control part is used for being manipulated by a user; the main part comprises a shell connected with the control part, the shell is a ring-shaped shell; the shell has a first wall and a second wall which are opposite to each other, the first wall and the second wall are connected to form a receiving cavity; wherein the first wall is an inner wall surface of the shell, the second wall is an outer wall surface of the shell; the inner wall surface and the outer wall surface of the shell are oppositely inclined at a predetermined angle, and an end of the inner wall surface away from the control part is close to the outer wall surface, so that the inner wall surface has an outward expansion trend relative to the outer wall surface; the marker comprises a first marker arranged on the first wall and a second marker arranged on the second wall, and the first marker and the second marker are used to jointly realize positioning of the interactive device; the marker comprises a plurality of sub-markers which are arranged at intervals; each sub-marker comprises an identification cluster, and the identification cluster comprises at least one feature point; the arrangement of the feature points in the identification cluster in each sub-marker is different from the arrangement of the feature points in the identification cluster in other sub-markers; wherein the feature points in the identification cluster of the plurality of sub-markers are arranged according to a preset rule, and the preset rule followed by the feature points is that, along the arrangement direction of the sub-markers, the number of feature points contained in the identification cluster of the plurality of sub-markers increases or decreases in turn; the identification cluster is used to identify the arrangement serial number of the sub-marker in the marker.

2. The marker of claim 1, wherein The sub-marker further comprises a first background and a reference cluster, the reference cluster is different from the identification cluster, and the reference cluster and the identification cluster are distributed at intervals in the first background; the marker further comprises a second background, the plurality of sub-markers are arranged at intervals through the second background, and the second background is different from the first background; the reference clusters of all the sub-markers in the marker are the same.

3. The marker of claim 2, wherein, The number of feature points in the reference cluster is 0 or 1, and the number of feature points in the identification cluster is greater than or equal to 2.

4. An interactive device, characterized by The interactive device comprises: a control part used for being manipulated by a user; a main part comprising: a shell connected with the control part, the shell is a ring-shaped shell; the shell has a first wall and a second wall which are opposite to each other, the first wall and the second wall are connected to form a receiving cavity; wherein the first wall is an inner wall surface of the shell, the second wall is an outer wall surface of the shell; the inner wall surface and the outer wall surface of the shell are oppositely inclined at a predetermined angle, and an end of the inner wall surface away from the control part is close to the outer wall surface, so that the inner wall surface has an outward expansion trend relative to the outer wall surface; The first marker is arranged on the first wall, and comprises a plurality of first sub-markers arranged at intervals. Each of the first sub-markers comprises a first identification cluster, and the first identification cluster comprises at least one feature point. The arrangement of the feature points of the first identification cluster in each of the first sub-markers is different from the arrangement of the feature points of the identification cluster in other sub-markers. The feature points of the first identification cluster of the plurality of first sub-markers are arranged according to a preset rule, and the preset rule is that, along the arrangement direction of the first sub-markers, the number of feature points contained in the first identification cluster of the plurality of first sub-markers increases or decreases successively. The first identification cluster is used to identify the arrangement serial number of the first sub-marker in the first marker. The second marker is arranged on the second wall, and comprises a plurality of second sub-markers arranged at intervals. Each of the second sub-markers comprises a second identification cluster, and the second identification cluster comprises at least one feature point. The arrangement of the feature points of the second identification cluster in each of the second sub-markers is different from the arrangement of the feature points of the identification cluster in other sub-markers. The feature points of the second identification cluster of the plurality of second sub-markers are arranged according to a preset rule, and the preset rule is that, along the arrangement direction of the second sub-markers, the number of feature points contained in the second identification cluster of the plurality of second sub-markers increases or decreases successively. The second identification cluster is used to identify the arrangement serial number of the second sub-marker in the second marker. The second marker is different from the first marker, and the first marker and the second marker are used to jointly realize the positioning of the interactive device.

5. The interactive device of claim 4, wherein, The first wall has a first end close to the control part and a second end away from the control part, and the second wall has a first end close to the control part and a second end away from the control part. The distance between the first end of the first wall and the first end of the second wall is greater than the distance between the second end of the first wall and the second end of the second wall.

6. The interactive device of claim 5, wherein, The shell is a light-transmitting shell, and the interactive device comprises a light-emitting member connected to the shell, so that the light emitted by the light-emitting member can enter the accommodation cavity and penetrate the shell.

7. The interactive device of claim 6, wherein, The light-emitting member is a plurality of light-emitting members arranged on the side of the shell close to or / and away from the control part along the circumference of the shell.

8. The interactive device of claim 6, wherein, The interactive device further comprises a light guide member arranged in the accommodation cavity, and the light-emitting member is connected to the light guide member. The light emitted by the light-emitting member is guided out through the light guide member and penetrates the shell.

9. The interactive device of claim 4, wherein, Each of the first sub-markers is provided with a first reference cluster and a first identification cluster spaced from the first reference cluster; each of the second sub-markers is provided with a second reference cluster and a second identification cluster spaced from the second reference cluster; the first reference cluster is different from the second reference cluster; the first identification cluster of each of the first sub-markers is different from the first identification cluster of other first sub-markers, and the second identification cluster of each of the second sub-markers is different from the second identification cluster of other second sub-markers.

10. An identification tracking method characterized by, The application is applied to an identification tracking system, the system comprises a terminal device and the interactive device of any one of the above claims 4-9, and the method comprises: acquiring a target image of the interactive device; identifying a sub-marker contained in the target image, determining whether the sub-marker belongs to a first marker or a second marker, and obtaining identity information of the sub-marker; obtaining physical coordinates of the sub-marker according to the identity information of the sub-marker, the physical coordinates being used to represent actual physical positions of the sub-marker on the interactive device; and obtaining relative position information between the terminal device and the interactive device according to pixel coordinates of the sub-marker on the target image and the physical coordinates.

11. The method of claim 10, wherein, The identification of the sub-marker contained in the target image comprises: obtaining a surrounding relationship between multiple connected domains in the target image; and identifying the sub-marker contained in the target image according to the surrounding relationship between the multiple connected domains in the target image.

12. The method of claim 11, wherein, The sub-marker comprises an identification cluster and a reference cluster, and the identification of the sub-marker contained in the target image according to the surrounding relationship between the multiple connected domains in the target image comprises: determining the identification cluster and the reference cluster contained in the sub-marker in the target image according to the surrounding relationship between the multiple connected domains; and The determination of whether the sub-marker belongs to the first marker or the second marker and the obtaining of the identity information of the sub-marker comprise: determining first identification information corresponding to the reference cluster according to the surrounding relationship of the connected domain corresponding to the reference cluster, the first identification information being used to identify whether the sub-marker belongs to the first marker or the second marker; determining second identification information corresponding to the identification cluster according to the surrounding relationship of the connected domain corresponding to the identification cluster, the second identification information being used to identify the identity of the sub-marker in the marker; and obtaining the identity information of the sub-marker based on the first identification information and the second identification information.

Images