A method, device, system, equipment and storage medium for selecting rigid body marker points

Abstract

The present invention discloses a method for selecting rigid body marker points, comprising: real-time tracking of 3D position information of rigid body marker points in a scene, wherein the distance set between the marker points corresponding to each rigid body is E i0 ={e j}, j = 1, 2, ..., M, and according to the set E i0 Get the maximum distance; get the rigid body information at the initial moment, get the stable rigid body posture quaternion and position information at time t, and calculate the corresponding rigid body marker point 3D coordinate set; calculate the rigid body center position at time t based on the rigid body information at the initial moment and the rigid body posture quaternion and position information at time t; finally, filter out the rigid body marker points that meet the preset conditions based on the maximum distance, 3D coordinate set, rigid body center position, and rigid body tracking failure records. This method can effectively reduce the problems of rigid body occlusion and rigid body flying, which are particularly prone to occur in the case of multi-rigid body and multi-person motion capture.

Description

Technical Field

[0001] The present invention relates to the field of motion capture technology, and in particular to a method, device, system, equipment and storage medium for selecting rigid body marker points. Background Art

[0002] In current optical motion capture systems, human motion capture is generally performed by calculating the position and posture of a rigid body worn on the human body, thereby inferring information such as the body parts and movements of the human body, which means that the accuracy of rigid body positioning and posture calculation is very critical. Generally, a rigid body requires 3D information from more than 3 marker points to calculate the correct posture. In order to prevent occlusion, more than 4 marker points usually form a rigid body, but too many marker points will increase the amount of calculation of the system and may not be stable. Therefore, 4 to 6 marker points are generally selected to form a rigid body.

[0003] In the prior art, the speed of most optical motion capture systems has reached more than 120fps, so the calculation speed of rigid bodies is also very fast, and a high frame rate can be achieved even in the case of multi-person motion capture or multi-rigid body (for example, 100 rigid bodies). However, in existing motion capture systems, problems such as rigid body flying are particularly prone to occur in the case of multi-rigid body and multi-person motion capture. These problems are almost inevitable. The main reason is that there are local similarities between rigid bodies, that is, because there are a large number of similar triangles between the marking points of rigid bodies. At the same time, it is particularly easy for rigid bodies to be blocked during motion capture, which leads to rigid body tracking failure or error. Summary of the invention

[0004] In order to solve the above technical problems, the present application proposes a rigid body marker point screening method to reduce the problems of rigid body occlusion and rigid body flying that are particularly prone to occur in the case of multi-rigid body and multi-person motion capture.

[0005] According to the first aspect, an embodiment provides a method for selecting rigid body marker points, comprising the following steps:

[0006] Real-time tracking of the 3D position information of the rigid body markers in the scene, where the distance set between the markers corresponding to each rigid body is E i0 ={e j}, j = 1, 2, ..., M, M is the number of distances between the marker points of the rigid body to be tracked, and according to the set E i0 Get the maximum distance ME i ;

[0007] Get the rigid body information P at the initial moment i0 ={p y}, where y = 1, 2, ..., Y i , Y i ≥3, Yi is the number of marking points of the rigid body numbered i;

[0008] Get the stable rigid body posture quaternion Quat at time t it and location information Pos it , and calculate the corresponding rigid body marker point 3D coordinate set P it ={p x}, where x = 1, 2, ..., X, X ≥ 3, and X is the number of marking points of the rigid body numbered i;

[0009] According to the rigid body information P at the initial moment i0 And the rigid body attitude quaternion Quat at time t it and location information Pos it , calculate the center position of the rigid body at time t PosC it ;

[0010] Get the rigid body tracking failure record C at time t it , according to the maximum distance ME i , the 3D coordinate set P it , the center position of the rigid body PosC it And the rigid body tracking failure record C it The rigid body marking points that meet the preset conditions are screened and obtained. If the rigid body marking points do not meet the preset conditions, the rigid body marking points are discarded.

[0011] According to the rigid body information P at the initial moment i0 And the rigid body attitude quaternion Quat at time t it and location information Pos it , calculate the center position of the rigid body at time t PosC it include:

[0012] According to the rigid body information P at the initial moment i0 And the rigid body attitude quaternion Quat at time t it and location information Pos it , get the calculated rigid body center position PosC at time t it The formula is:

[0013]

[0014] Among them, f(Quat it ) is a function for converting the quaternion into a rotation matrix.

[0015] The acquisition of rigid body tracking failure record C at time t it The methods include:

[0016] Get the number of tracking failures of the rigid body before time t. If the rigid body tracking is successful at time t, the number is reset to 0; if the rigid body tracking fails at time t, the number is increased by 1.

[0017] The maximum distance ME i , the 3D coordinate set P it , the center position of the rigid body PosC it And the rigid body tracking failure record C it The rigid body markers that meet the preset conditions are screened, including:

[0018] According to the maximum distance ME i , the 3D coordinate set P it , the center position of the rigid body PosC it And the rigid body tracking failure record C it Get the preset condition:

[0019] |p x -PosC it |<ME i +C it *λ,p x ∈P it ,λ∈(0,0.1), where λ is a parameter.

[0020] The parameter λ is based on the speed V at time t it =PosC it -PosC i(t-1) Calculated, among which, PosC i(t-1) It is the center position of the rigid body at the previous moment.

[0021] The λ is updated every ts time, and the update formula is:

[0022]

[0023] Among them, α is a fixed constant.

[0024] According to the second aspect, an embodiment provides a rigid body marker point screening device, comprising:

[0025] The tracking unit is used to track the 3D position information of the rigid body markers in the scene in real time, where the distance set between the markers corresponding to each rigid body is E i0 ={e j}, j = 1, 2, ..., M, M is the number of distances between the marker points of the rigid body to be tracked, and according to the set E i0 Get the maximum distance ME i ;

[0026] Acquisition unit, used to obtain the rigid body information P at the initial moment i0 ={p y}, where y = 1, 2, ..., Y i , Y i ≥3, Y i is the number of marking points of the rigid body numbered i; get the stable rigid body posture quaternion Quat at time t it and location information Pos it , and calculate the corresponding rigid body marker point 3D coordinate set P it ={p x}, where x = 1, 2, ..., X, X ≥ 3, and X is the number of marking points of the rigid body numbered i;

[0027] The calculation unit is used to calculate the rigid body information P at the initial moment i0 And the rigid body attitude quaternion Quat at time t it and location information Pos it , calculate the center position of the rigid body at time t PosC it ;

[0028] The screening unit is used to obtain the rigid body tracking failure record C at time t it , according to the maximum distance ME i , the 3D coordinate set P it , the center position of the rigid body PosC it And the rigid body tracking failure record C it The rigid body marking points that meet the preset conditions are screened and obtained. If the rigid body marking points do not meet the preset conditions, the rigid body marking points are discarded.

[0029] According to a third aspect, an embodiment provides a rigid body marker point screening system, comprising a plurality of rigid bodies to be tracked and a plurality of cameras for photographing the rigid bodies, characterized in that it also includes a processor;

[0030] A plurality of cameras are distributed in the motion space and are all connected to the processor for photographing the marking points on the rigid body;

[0031] The processor is used to screen each of the rigid body marker points according to the rigid body marker point screening method described in the first aspect.

[0032] According to a fourth aspect, a rigid body marker point screening device comprises: a memory and at least one processing

[0033] The memory stores instructions, and the memory and the at least one processor are interconnected through a line; the at least one processor calls the instructions in the memory to enable the rigid body marker point screening device to execute the method described in the first aspect.

[0034] According to a fifth aspect, an embodiment provides a computer-readable storage medium, comprising a program, wherein the program can be executed by a processor to implement the method described in the first aspect above.

[0035] The beneficial effects of this application are:

[0036] According to a method, device, system and storage medium for screening rigid body marker points of the above-mentioned embodiment, by real-time tracking of the 3D position information of the rigid body marker points, the maximum distance between the marker points of the rigid body to be tracked, the rigid body information at the initial moment, the rigid body posture quaternion and position information at the moment t, and the rigid body tracking failure record at the moment t are obtained, and then the rigid body center position at the moment t can be calculated, and the rigid body marker points that meet the preset conditions are calculated. If the preset conditions are not met, the rigid body marker points are discarded, thereby completing the screening. Due to the addition of the above-mentioned preset condition constraints, the threshold for finding the coordinates of the rigid body 3D point changes dynamically with the failure of rigid body tracking, that is, the tracking space range of the rigid body increases with the number of failures, which effectively reduces the problem of rigid body tracking failure caused by occlusion; if the rigid body is tracked, the tracking space range of the rigid body is also reduced, thereby improving the accuracy of rigid body matching and tracking, as well as improving the accuracy of rigid body posture and position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the rigid body structure;

[0038] Figure 2 Flowchart of the rigid body marker point screening method;

[0039] Figure 3 This is a schematic diagram of a rigid body marker point screening device;

[0040] Figure 4 Schematic diagram of the rigid body marker point screening system;

[0041] Figure 5 Diagram of the device selection for rigid body markers. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, and this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0043] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0044] The serial numbers of the components in this document, such as "second", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0045] The inventive concept of the present application is that in an optical motion capture system, multiple rigid bodies with fixed shapes are required for position tracking, and problems such as similarity between rigid bodies and occlusion of rigid bodies need to be avoided as much as possible. The present application further screens the marker points installed on the rigid body, thereby screening out suitable marker points that can improve the accuracy of the motion capture system. In this way, subsequent matching calculations can be performed based on the screened marker points to identify the corresponding rigid body.

[0046] Embodiment 1:

[0047] Please refer to Figure 1 The present application discloses a structural schematic diagram of a rigid body, which includes: a rigid body base 110, a support rod 120, a marking point 130, etc. There are at least 3 marking points to ensure the accuracy of motion capture calculation. The number of marking points is the same as the number of support rods. In order to facilitate the motion capture system to distinguish different marking points when calculating the coordinates of the marking points, the distances between any two marking points are as different as possible, that is, similar triangles are avoided as much as possible to ensure that the motion capture system can effectively identify the rigid body. These distances can also be called the side lengths corresponding to the rigid body, such as Figure 1As shown, there are three distances between the marking points 130 corresponding to each rigid body, that is, the side lengths of the rigid body, namely M1, M2, and M3, wherein M3 is the maximum side length (maximum distance).

[0048] Embodiment 2:

[0049] Please refer to Figure 2 , after understanding Figure 1 Based on the rigid body structure shown, this embodiment discloses a method for screening rigid body marking points. The method to be protected includes steps S210-S250, which will be described below respectively.

[0050] Step S210: real-time tracking of the 3D position information of the rigid body markers in the scene, where the distance set between the markers corresponding to each rigid body is E i0 ={e i}, j = 1, 2, ..., M, M is the number of distances between the marker points of the rigid body to be tracked, and according to the set E i0 Get the maximum distance ME i ;

[0051] First, the existing algorithm is used to obtain the 3D position information of the rigid body marker in real time, and the algorithm is used to bind the rigid body R to be tracked i0 information, i = 1, 2, ..., N, N is the number of rigid bodies to be tracked, so as to obtain the position information of each rigid body in real time. The distance set between the marking points corresponding to each rigid body is E i0 ={e j}, that is Figure 1 The distances between the marked points shown, such as M1, M2, M3, etc., constitute the distance set E. i0 , j = 1, 2, ..., M, M is the number of distances between the markers of the rigid body to be tracked, M is at least 3 distances (3 side lengths), used for the identification or matching of the rigid body, and according to the set E i0 Get the maximum distance ME i .

[0052] Step S220, obtaining the rigid body information P at the initial moment i0 ={p y}, where y = 1, 2, ..., Y i , Y i ≥3, Y i is the number of marking points of the rigid body numbered i;

[0053] For example, when the human body is performing motion capture, multiple rigid bodies are worn on various parts of the body. At this time, it is necessary to obtain the information of each rigid body at time t=0, that is, the initial time information, for subsequent screening. The rigid body information at the initial time can be obtained through step S210. The number of distances between the marking points of the rigid body to be tracked is the side length M=Y of the rigid body. i *(Y i -1) / 2.

[0054] Step S230, obtaining the stable rigid body posture quaternion Quat at time t it and location information Pos it , and calculate the corresponding rigid body marker point 3D coordinate set P it ={p x}, where x = 1, 2, ..., X, X ≥ 3, and X is the number of marking points of the rigid body numbered i;

[0055] After obtaining the information of each rigid body at the initial moment, it is also necessary to obtain the rigid body posture quaternion Quat at time t it and location information Pos it , for any rigid body R it , i = 1, 2, ..., N, N is the number of rigid bodies to be tracked, t is the time, and the calculated rigid body R it The corresponding 3D coordinate set of the marker points is P it ={p x}, where x = 1, 2, ..., X, X ≥ 3, X is the number of marking points of the rigid body numbered i, and the coordinate set P it The rigid body R it It is placed in the scene area with better capture effect and calculated by combining the existing 3D reconstruction algorithm and matching algorithm.

[0056] Step S240: Based on the initial rigid body information P i0 And the rigid body attitude quaternion Quat at time t it and location information Pos it , calculate the center position of the rigid body at time t PosC it ;

[0057] In one embodiment, according to the rigid body information P at the initial moment i0 ={p y} and the quaternion Quat of the rigid body posture at time t it and location information Pos it , we can get the calculated rigid body center position PosC at time t it The formula is:

[0058]

[0059] Among them, f(Quat it ) represents the quaternion Quat it Converted into a rotation matrix function, the calculation formula can be used to obtain the center position of all the marked points on the rigid body at time t, so that all the marked points can be subsequently connected to the center point PosC it Perform comparative screening.

[0060] Step S250, obtaining the rigid body tracking failure record C at time t it , according to the maximum distance ME i , 3D coordinate set P it 、Rigid body center position PosC it And rigid body tracking failure record C it The rigid body marker points that meet the preset conditions are screened and used for subsequent matching calculation and recognition steps. If they do not meet the preset conditions, the rigid body marker points are discarded.

[0061] It should be noted that the rigid body tracking failure record C at time t is obtained it The method includes: obtaining the number of tracking failures C of the rigid body before time t it ′, if the rigid body information is successfully tracked at time t, the number C it ′ is reset to 0, that is, the rigid body tracking failure record C at time t it = 0; if the rigid body information tracking fails at time t, the number of times C it ' adds 1, that is, the rigid body tracking failure record C at time t it =C it ′+1.

[0062] In one embodiment, according to the maximum distance ME i , 3D coordinate set P it 、Rigid body center position PosC it And rigid body tracking failure record C it Screening can obtain rigid body marking points that meet the preset conditions. The preset conditions are the basis for judging whether qualified marking points are screened, that is, dynamically constraining the rigid body marking point set P at each moment according to the following preset conditions: it Each marked point p in x :

[0063] |p x -PosC it |<ME i +C it *λ,p x ∈P it ,λ∈(0,0.1), where λ is a parameter.

[0064] The above preconditions can be understood as each marking point p at time t x With the center point PosC it The absolute value of the distance difference between them should change dynamically with the maximum distance between the markers and the number of tracking failures. That is, the preset condition is to dynamically constrain the markers, which will change dynamically with the number of rigid body tracking failures. The tracking space range of the rigid body (representing each marker point p x With the center point PosC it The distance between the two points radiates from the center point to the surrounding area. The larger the tracking space, the more marker positions are obtained, that is, the tracking range is increased) As the number of failures increases, the range increases, and more markers can be tracked, that is, it prevents the failure to track unobstructed markers. This effectively reduces the problem of rigid body tracking failure caused by obstructed markers, and ultimately ensures that unobstructed markers can be screened for rigid body matching and identification. At the same time, once the rigid body information is tracked, the number of tracking failures decreases, indicating that there is no need to expand the tracking range to find unobstructed markers, so that the tracking space range of the rigid body is also reduced, thereby improving the accuracy of rigid body matching and tracking, as well as improving the accuracy of rigid body posture and position information.

[0065] In another embodiment, the parameter λ is calculated based on the speed V at time t. it =PosC it -PosC i(t-1) Calculated, among which, PosC i(t-1) It is the center position of the rigid body at the previous moment.

[0066] The parameter λ is updated every ts time, and the update formula is:

[0067]

[0068] Wherein, α is a fixed constant. If the updated λ exceeds 0.1, then λ=0.1. Otherwise, λ is calculated according to the above update formula.

[0069] Embodiment three:

[0070] Please refer to Figure 3 Based on the rigid body marker point screening method disclosed in Example 2, this application also discloses a rigid body marker point screening device, including:

[0071] The tracking unit 310 is used to track the 3D position information of the rigid body markers in the scene in real time, where the distance set between the markers corresponding to each rigid body is E i0 ={e i}, j = 1, 2, ..., M, M is the number of distances between the marker points of the rigid body to be tracked, and according to the set E i0 Get the maximum distance MEi ;

[0072] The acquisition unit 320 is used to acquire the rigid body information P at the initial moment. i0 ={p y}, where y = 1, 2, ..., Y i , Y i ≥3, Y i is the number of marking points of the rigid body numbered i; get the stable rigid body posture quaternion Quat at time t it and location information Pos it , and calculate the corresponding rigid body marker point 3D coordinate set P it ={p x}, where x = 1, 2, ..., X, X ≥ 3, and X is the number of marking points of the rigid body numbered i;

[0073] The calculation unit 330 is used to calculate the rigid body information P at the initial time i0 And the rigid body attitude quaternion Quat at time t it and location information Pos it , calculate the center position of the rigid body at time t PosC it ;

[0074] The screening unit 340 is used to obtain the rigid body tracking failure record C at time t it , according to the above maximum distance ME i , 3D coordinate set P it 、Rigid body center position PosC it And rigid body tracking failure record C it The rigid body marker points that meet the preset conditions are screened out. If they do not meet the preset conditions, the rigid body marker points are discarded.

[0075] Please refer to Figure 4 , the present application also discloses a rigid body marker point screening system, comprising: a plurality of rigid bodies to be tracked, namely, a capture object 11 and a plurality of cameras 1, camera 2, camera m, camera i, etc. for photographing the rigid bodies, characterized in that it also includes a processor 12;

[0076] Multiple cameras are distributed in the motion space, and are all connected to the processor 12 for photographing the marking points 11 on the rigid body;

[0077] The processor 12 is used to screen each rigid body marker point 11 according to the rigid body marker point screening method of the second embodiment.

[0078] It should be noted that the marking points mentioned in this embodiment may be reflective marking points or fluorescent marking points commonly used in optical motion capture systems to configure rigid bodies, or may be active marking points that can actively emit light.

[0079] The processor 12 is used to obtain multiple 3D coordinate sets of marker points according to the existing algorithm, and then obtain rigid marker points that meet the preset conditions according to steps S210-S250 disclosed in Example 2, thereby completing the screening and providing accurate data for subsequent matching calculation and recognition.

[0080] Furthermore, the present application also describes in detail the rigid body marker point screening device in this embodiment from the perspective of hardware processing, see Figure 5 .

[0081] Figure 5 is a structural diagram of a rigid body marker point screening device provided in this embodiment. The device 500 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 510 (for example, one or more processors) and a memory 520, and one or more storage media 530 (for example, one or more mass storage devices) storing application programs 533 or data 532. Among them, the memory 520 and the storage medium 530 can be short-term storage or permanent storage. The program stored in the storage medium 530 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the device 500. Furthermore, the processor 510 can be configured to communicate with the storage medium 530 and execute a series of instruction operations in the storage medium 530 on the device 500.

[0082] The device 500 may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input and output interfaces 560, and / or one or more operating systems 531, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Figure 5 The structure of the device 500 shown does not constitute a limitation on the rigid marker point screening device provided in the present application, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0083] The present application also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the above-mentioned rigid body marker point screening method.

[0084] Those skilled in the art will appreciate that all or part of the functions of the various methods in the above-mentioned embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to implement the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above-mentioned functions can be implemented. In addition, when all or part of the functions in the above-mentioned embodiments are implemented by computer programs, the program can also be stored in a storage medium such as a server, another computer, disk, optical disk, flash disk or mobile hard disk, and can be downloaded or copied and saved in the memory of the local device, or the system of the local device is updated, and when the program in the memory is executed by the processor, all or part of the functions in the above-mentioned embodiments can be implemented.

[0085] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A method for screening rigid body marker points, characterized in that: The following steps are involved: Real-time tracking of the 3D position information of the rigid body markers in the scene, where the distance set between the markers corresponding to each rigid body is E i0 ={e j }, j = 1, 2, ..., M, M is the number of distances between the markers of the rigid body to be tracked, and according to the set E i0 Get the maximum distance ME i ; Get the rigid body information P at the initial moment i0 ={p y }, where y=1,2,...,Y i ,Y i ≥3,Y i is the number of marking points of the rigid body numbered i; Get the stable rigid body posture quaternion Quat at time t it and location information Pos it , and calculate the corresponding rigid body marker point 3D coordinate set P it ={p x }, where x=1,2,...,X,X≥3, and X is the number of marking points of the rigid body numbered i; According to the rigid body information P at the initial moment i0 And the rigid body attitude quaternion Quat at time t it and location information Pos it , calculate the center position of the rigid body at time t PosC it ; Get the rigid body tracking failure record C at time t it , according to the maximum distance ME i , the 3D coordinate set P it , the center position of the rigid body PosC it And the rigid body tracking failure record C it Screening to obtain rigid body marking points that meet the preset conditions, if not meeting the preset conditions, discarding the rigid body marking points; The preset conditions include: |p x -PosC it |<ME i +C it *λ,p x ∈P it ,λ∈(0,0.1), where λ is a parameter.

2. The rigid body marker point screening method according to claim 1, characterized in that: According to the rigid body information P at the initial moment i0 And the rigid body attitude quaternion Quat at time t it and location information Pos it , calculate the center position of the rigid body at time t PosC it include: According to the rigid body information P at the initial moment i0 And the rigid body attitude quaternion Quat at time t it and location information Pos it , get the calculated rigid body center position PosC at time t it The formula is: Among them, f(Quat it ) is a function for converting the quaternion into a rotation matrix.

3. The rigid body marker point screening method according to claim 1, characterized in that: The acquisition of the rigid body tracking failure record C at time t it The methods include: Get the number of tracking failures of the rigid body before time t. If the rigid body tracking is successful at time t, the number is reset to 0; if the rigid body tracking fails at time t, the number is increased by 1.

4. The method for selecting rigid body marker points according to claim 1, characterized in that: The maximum distance ME i , the 3D coordinate set P it , the center position of the rigid body PosC it And the rigid body tracking failure record C it The rigid body markers that meet the preset conditions are screened, including: According to the maximum distance ME i , the 3D coordinate set P it , the center position of the rigid body PosC it And the rigid body tracking failure record C it The preset condition is obtained.

5. The method for selecting rigid body marker points according to claim 4, wherein: The parameter λ is based on the speed V at time t it =PosC it -PosC i(t-1) Calculated, among which, PosC i(t-1) It is the center position of the rigid body at the previous moment.

6. The method for selecting rigid body marker points according to claim 5, wherein: The parameter λ is updated every ts time, and the update formula is: Among them, α is a fixed constant and t0 is the time t0.

7. A rigid body marker point screening device, characterized in that: include: The tracking unit is used to track the 3D position information of the rigid body markers in the scene in real time, where the distance set between the markers corresponding to each rigid body is E i0 ={e j }, j = 1, 2, ..., M, M is the number of distances between the markers of the rigid body to be tracked, and according to the set E i0 Get the maximum distance ME i ; Acquisition unit, used to obtain the rigid body information P at the initial moment i0 ={p y }, where y=1,2,...,Y i ,Y i ≥3,Y i is the number of marking points of the rigid body numbered i; get the stable rigid body posture quaternion Quat at time t it and location information Pos it , and calculate the corresponding rigid body marker point 3D coordinate set P it ={p x }, where x=1,2,...,X,X≥3, and X is the number of marking points of the rigid body numbered i; The calculation unit is used to calculate the rigid body information P at the initial moment i0 And the rigid body attitude quaternion Quat at time t it and location information Pos it , calculate the center position of the rigid body at time t PosC it ; The screening unit is used to obtain the rigid body tracking failure record C at time t it , according to the maximum distance ME i , the 3D coordinate set P it , the center position of the rigid body PosC it And the rigid body tracking failure record C it Screening to obtain rigid body marking points that meet the preset conditions, if not meeting the preset conditions, discarding the rigid body marking points; The preset conditions include: |p x -PosC it |<ME i +C it *λ,p x ∈P it ,λ∈(0,0.1), where λ is a parameter.

8. A rigid body marker point screening system, comprising a plurality of rigid bodies to be tracked and a plurality of cameras for photographing the rigid bodies, characterized in that: Also includes a processor; A plurality of cameras are distributed in the motion space and are all connected to the processor for photographing the marking points on the rigid body; The processor is used to screen each of the rigid body marker points according to the rigid body marker point screening method according to any one of claims 1-6.

9. A rigid body marker point screening device, characterized in that: include: A memory and at least one processor, wherein instructions are stored in the memory, and the memory and the at least one processor are interconnected via a line; The at least one processor calls the instructions in the memory to enable the rigid body marker point screening device to perform the method as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The method comprises a program which can be executed by a processor to implement the method according to any one of claims 1 to 6.

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