Optical motion capture methods, devices, electronic equipment and storage media

Abstract

This application relates to the field of virtual reality technology, and particularly to an optical motion capture method, device, electronic device, and storage medium. The method includes: acquiring a unique code for each marker point on a target object; controlling the corresponding marker point to flash periodically based on the unique code; reconstructing the spatial position and size information of the marker point based on the acquired image of the marker point and the internal and external parameters of the acquisition device; identifying the flashing state of the marker point based on the size information; decoding the unique code of the marker point based on the continuous flashing state; achieving target object tracking based on the unique code; and outputting the spatial position information of the target object. This solves the problems in related technologies where multiple marker points are typically used to uniquely identify the target object, resulting in a large computational load for optical motion capture, and the tendency for optical motion capture to fail if the target object is small or has a similar shape.

Description

Technical Field

[0001] This application relates to the field of virtual reality technology, and in particular to an optical motion capture method, device, electronic device, and storage medium. Background Technology

[0002] Optical motion capture is a common motion capture technology, among which marker-based motion capture is widely used in various fields due to its high precision and high speed.

[0003] Optical motion capture in related technologies typically accomplishes the task by monitoring and tracking markers on the target. Based on the different light-emitting technologies used for the markers, it is divided into active optical motion capture and passive optical motion capture. Typically, motion capture systems use multiple markers arranged in different shapes to uniquely identify the target, i.e., a unique ID (Identity Document).

[0004] However, for objects with small shape differences or small size that cannot have more markers attached, it is easy to cause the target capture ID to be disordered. For example, fingers in the human body, interactive pens in the field of virtual reality, and sticks in props are not suitable for identifying the unique ID of the target by shape, and the computational load of shape matching is also large. Summary of the Invention

[0005] This application provides an optical motion capture method, device, electronic device, and storage medium to solve the problems in related technologies, such as the common practice of forming a unique shape identification of a target object by multiple marker points, which leads to a large computational load for optical motion capture, and the easy failure of optical motion capture if the target object is small or has a similar shape.

[0006] The first aspect of this application provides an optical motion capture method, comprising the following steps: acquiring a unique code for each marker point on a target object; controlling the corresponding marker point to flash periodically according to the unique code; reconstructing the spatial position information and size information of the marker point based on the acquired image of the marker point and the internal and external parameters of the acquisition device; identifying the flashing state of the marker point according to the size information; decoding the unique code of the marker point based on the continuous flashing state of the marker point; realizing the tracking of the target object based on the unique code; and outputting the spatial position information of the target object.

[0007] Optionally, in one embodiment of this application, the step of decoding the unique code of the marker point based on the continuous flashing state of the marker point includes: obtaining multiple historical flashing states before the current flashing state; inferring the flashing state of the marker point based on the multiple historical flashing states and the coding rule; if the inferred flashing state is consistent with the current flashing state, then the target object is determined to be successfully tracked, and the unique code of the marker point is output.

[0008] Optionally, in one embodiment of this application, the step of decoding the unique code of the marker point based on the continuous flashing state of the marker point further includes: if the inferred flashing state is inconsistent with the current flashing state, generating the current code of the marker point according to the current flashing state and the plurality of historical flashing states; shifting the current code of the marker point and comparing it with the code in the encoding library to output the unique code of the marker point.

[0009] Optionally, in one embodiment of this application, the step of basing the location of the acquisition device and the spatial location and size information of the image reconstruction marker points includes: identifying light spot features in the image; generating size information of the marker points based on the light spot features, and determining the number of target acquisition devices, wherein the target acquisition devices are acquisition devices that simultaneously acquire the same light spot; if the number is greater than a preset number, then performing multi-view geometric reconstruction of the light spot features based on the intrinsic and extrinsic parameters of all target devices to obtain the spatial location information of the marker points.

[0010] Optionally, in one embodiment of this application, the unique code is a multi-bit binary code encoded by a first state and a second state of the marker point, wherein the brightness value of the first state is greater than the brightness value of the second state.

[0011] A second aspect of this application provides an optical motion capture device, comprising: an acquisition module for acquiring a unique code for each marker point on a target object; a control module for controlling the corresponding marker point to flash periodically according to the unique code, reconstructing the spatial position information and size information of the marker point based on the acquired image of the marker point and the internal and external parameters of the acquisition device; and an identification module for identifying the flashing state of the marker point according to the size information, decoding the unique code of the marker point based on the continuous flashing state of the marker point, realizing the tracking of the target object based on the unique code, and outputting the spatial position information of the target object.

[0012] Optionally, in one embodiment of this application, the identification module is further configured to acquire multiple historical flashing states prior to the current flashing state; infer the flashing state of the marker point based on the multiple historical flashing states and the encoding rules; if the inferred flashing state is consistent with the current flashing state, then the target object is determined to be successfully tracked, and the unique code of the marker point is output.

[0013] Optionally, in one embodiment of this application, the identification module is further configured to, if the inferred flashing state is inconsistent with the current flashing state, generate a current code for the marker point based on the current flashing state and the plurality of historical flashing states; shift the current code of the marker point and compare it with the codes in the encoding library to output a unique code for the marker point.

[0014] Optionally, in one embodiment of this application, the control module is further configured to identify light spot features in the image; generate size information of marker points based on the light spot features, and determine the number of target acquisition devices, wherein the target acquisition devices are acquisition devices that simultaneously acquire the same light spot; when the number is greater than a preset number, perform multi-view geometric reconstruction of the light spot features based on the internal and external parameters of all target devices to obtain the spatial position information of the marker points.

[0015] Optionally, in one embodiment of this application, the unique code is a multi-bit binary code encoded by a first state and a second state of the marker point, wherein the brightness value of the first state is greater than the brightness value of the second state.

[0016] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the optical motion capture method as described in the above embodiments.

[0017] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the optical motion capture method as described in the above embodiments.

[0018] Therefore, this application has at least the following beneficial effects:

[0019] This application embodiment uses the blinking state of marker points for unique encoding, and uses this unique encoding to perform optical motion tracking of the target object. Since the blinking state of the marker points is simpler to calculate than the shape formed by the marker points, the computational load of optical motion tracking can be reduced. Furthermore, decoding is based on the geometric dimensions of the marker point light spots. Since geometric dimensions are physical features in three-dimensional space, they are not affected by spatial position, effectively improving the robustness of decoding. In addition, the marker points blink periodically, requiring only continuous blinking states for decoding, eliminating the need for communication with the control module to control the encoded state of the marker points, reducing system coupling and improving decoding efficiency. Moreover, periodic blinking allows for marker point state prediction, verifying the correctness of decoding, reducing the risk of incorrect marker point tracking, and improving the success rate of optical motion tracking. Therefore, this solves the problems in related technologies where multiple marker points are typically used to form a shape to uniquely identify the target object, resulting in a large computational load for optical motion capture, and the tendency for optical motion capture to fail if the target object is small or has a similar shape.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0022] Figure 1 This is a flowchart of an optical motion capture method provided according to an embodiment of this application;

[0023] Figure 2 This is a block diagram of an optical motion capture device according to an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application.

[0025] Explanation of reference numerals in the attached diagram: Acquisition module-100, Control module-200, Identification module-300, Memory-301, Processor-302, Communication interface-303. Detailed Implementation

[0026] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0027] The optical motion capture method, apparatus, electronic device, and storage medium of this application are described below with reference to the accompanying drawings. Addressing the problems mentioned in the background art, this application provides an optical motion capture method. In this method, the blinking state of marker points is used for unique encoding, and the unique encoding is used to track the optical motion of the target object. Since the blinking state of the marker points is simpler to calculate during optical motion tracking than the shape formed by the marker points, the computational load of optical motion tracking can be reduced. Furthermore, decoding is based on the geometric dimensions of the marker point light spots. Since geometric dimensions are physical features in three-dimensional space and are not affected by spatial position, the robustness of decoding is effectively improved. In addition, the marker points blink periodically, requiring only continuous blinking states for decoding, eliminating the need for communication with a control module to control the encoded state of the marker points, reducing system coupling and improving decoding efficiency. Moreover, periodic blinking allows for marker point state prediction, verifying the correctness of decoding, reducing the risk of incorrect marker point tracking, and improving the success rate of optical motion tracking. Therefore, this solves the problems in related technologies where multiple marker points are typically used to form a shape to uniquely identify the target object, resulting in a large computational load for optical motion capture, and the tendency for optical motion capture to fail if the target object is small or has a similar shape.

[0028] Specifically, Figure 1This is a schematic flowchart of an optical motion capture method provided in an embodiment of this application.

[0029] like Figure 1 As shown, the optical motion capture method includes the following steps:

[0030] In step S101, the unique code of each marker point on the target object is obtained.

[0031] In one embodiment of this application, the unique code is a multi-bit binary code encoded by a first state and a second state of the marker point, wherein the brightness value of the first state is greater than the brightness value of the second state.

[0032] For ease of understanding, this embodiment of the application can represent the uniqueness of the target object by attaching active light-emitting diodes (LEDs) as markers to the target object and using unique codes to change their brightness. In actual implementation, the unique code for each marker point can be manually set and its uniqueness verified, or an available code with N bits can be output to select an available code for encoding multiple active light-emitting diodes. The value of N can be determined based on the number of active light-emitting diodes that need to be decoded.

[0033] In step S102, the corresponding marker point is controlled to flash periodically according to the unique code, and the spatial position information and size information of the marker point are reconstructed based on the acquired image of the marker point and the internal and external parameters of the acquisition device.

[0034] It is understood that, after the encoding is set, when the LED is working normally, the corresponding marker point will be controlled to flash periodically according to the unique encoding, and the spatial position information and size information of the marker point will be reconstructed.

[0035] In this embodiment, the active LED periodically flashes on and off. The bright and dark states can be represented by "1" and "0" states, or manually set, as long as they correspond correctly; no specific limitation is made, and the size of the light spot can be distinguished. Alternatively, the "dark" state can also be off to achieve a higher contrast ratio, using tracking technology to track the "off" state. Taking an N=4-bit code as an example, the code can be set to "1110". The LED emits light when "1" and dim light when "0", with the size of the bright and dark light spots distinguishable, and its periodic flashing is "111011101110…".

[0036] In one embodiment of this application, the spatial location and size information of the marker points are reconstructed based on the location of the acquisition device and the image, including: identifying the light spot features in the image; generating the size information of the marker points according to the light spot features, and determining the number of target acquisition devices, wherein the target acquisition devices are acquisition devices that simultaneously acquire the same light spot; if the number is greater than a preset number, then performing multi-view geometric reconstruction of the light spot features according to the internal and external parameters of all target devices to obtain the spatial location information of the marker points.

[0037] The target acquisition device can be multiple cameras; the preset number can be set according to the actual situation, such as 2, without specific limitation.

[0038] Taking cameras as an example, each camera in this embodiment responds to the LED's emission wavelength and can synchronously capture images of the LED, meaning the camera's exposure acquisition and the LED's flashing state change occur at the same moment. The positions of multiple cameras satisfy the reconstruction calculation principle of multi-view geometry, and the intrinsic and extrinsic parameters of all cameras have been obtained through calibration. This embodiment can extract the LED spot information from the image, and when at least two cameras capture the same LED spot, it reconstructs the LED marker point information, including spatial position information and radius size information, based on the principle of multi-view geometry. The radius size is the physical size in three-dimensional space, and its size is independent of spatial position; therefore, a consistent radius size can be obtained at different positions.

[0039] In step S103, the blinking state of the marker point is identified based on the size information, the unique code of the marker point is decoded based on the continuous blinking state of the marker point, the target object is tracked based on the unique code, and the spatial position information of the target object is output.

[0040] Since the size information of the marker point is independent of the spatial location information, the same radius size can be obtained in different locations. In this embodiment, the blinking state of the marker point can be identified according to the size information to improve the robustness of decoding. Decoding is performed based on the information of the same marker point with continuous blinking state to determine the unique code of the marker point. At the same time, the decoded marker point obtained by tracking technology can be used for verification to achieve target tracking, reduce the risk of marker point erroneous tracking, and ensure the correctness of tracking output.

[0041] In one embodiment of this application, decoding the unique code of a marker point based on the continuous flashing state of the marker point includes: obtaining multiple historical flashing states before the current flashing state; inferring the flashing state of the marker point based on the multiple historical flashing states and the coding rules; if the inferred flashing state is consistent with the current flashing state, it is determined that the target object is successfully tracked, and the unique code of the marker point is output.

[0042] It is understandable that since the markers blink periodically according to the encoding, the embodiments of this application can accurately predict the blinking state of the markers in the current frame based on multiple historical blinking states (i.e., the "0" and "1" corresponding to the radius size) and the encoding rules. The radius size should be consistent with the predicted blinking state size. If they are consistent, the target object is determined to be successfully tracked, and the decoded information is output normally to ensure the correctness of the output data.

[0043] In one embodiment of this application, decoding the unique code of a marker point based on the continuous flashing state of the marker point further includes: if the predicted flashing state is inconsistent with the current flashing state, generating the current code of the marker point based on the current flashing state and multiple historical flashing states; shifting the current code of the marker point and comparing it with the code in the encoding library to output the unique code of the marker point.

[0044] In this embodiment, when the predicted flashing state is inconsistent with the current flashing state, the marker point can be set to a lost state and the code of the marker point can be assigned a unique non-decoded code. In this embodiment, the marker point needs to be decoded.

[0045] Specifically, related technologies typically require sending commands to instruct the active LED to perform fixed encoding during decoding, and then sending another command to stop encoding after decoding is complete. This necessitates interaction with the decoding unit, leading to low decoding efficiency. However, the embodiment of this application can determine the flashing state based on the radius of the current frame and the previous N-1 frames of the marker point, and generate the current encoding of the marker point. By shifting the encoding and comparing it with the encoding library, decoding is achieved, outputting a unique encoding for the marker point. Therefore, decoding can be achieved with only N consecutive frames of information, eliminating the need for communication to control the encoding state, reducing system coupling, and improving decoding efficiency.

[0046] According to the optical motion capture method proposed in this application, the blinking state of marker points is used for unique encoding, and the unique encoding is used to track the optical motion of the target object. Since the blinking state of the marker points is simpler to calculate in optical motion tracking than the shape formed by the marker points, the computational load of optical motion tracking can be reduced. Furthermore, decoding is based on the geometric dimensions of the marker point light spots. Since geometric dimensions are physical features in three-dimensional space, they are not affected by spatial position, effectively improving the robustness of decoding. In addition, the marker points blink periodically, and decoding can be achieved only through continuous blinking states, without the need for communication with the control module to control the encoding state of the marker points, reducing the coupling between systems and improving the efficiency of decoding. Moreover, periodic blinking can enable the state prediction of the marker points, verify the correctness of decoding, reduce the risk of marker point mistracking, and improve the success rate of optical motion tracking. Thus, it solves the problems in related technologies, which usually use multiple marker points to form a shape to uniquely identify the target object, resulting in a large computational load for optical motion capture, and the tendency for optical motion capture to fail if the target object is small or has a similar shape.

[0047] Next, referring to the accompanying drawings, an optical motion capture device according to an embodiment of this application is described.

[0048] Figure 2 This is a block diagram of an optical motion capture device according to an embodiment of this application.

[0049] like Figure 2 As shown, the optical motion capture device 10 includes: an acquisition module 100, a control module 200, and an identification module 300.

[0050] The acquisition module 100 is used to acquire the unique code of each marker point on the target object; the control module 200 is used to control the corresponding marker point to flash periodically according to the unique code, and reconstruct the spatial position information and size information of the marker point based on the acquired image of the marker point and the internal and external parameters of the acquisition device; the recognition module 300 is used to recognize the flashing state of the marker point according to the size information, decode the unique code of the marker point based on the continuous flashing state of the marker point, realize the target object tracking based on the unique code, and output the spatial position information of the target object.

[0051] In one embodiment of this application, the identification module 300 is further configured to acquire multiple historical flashing states prior to the current flashing state; infer the flashing state of the marker point based on the multiple historical flashing states and coding rules; if the inferred flashing state is consistent with the current flashing state, the target object is determined to be successfully tracked, and the unique code of the marker point is output.

[0052] In one embodiment of this application, the identification module 300 is further configured to generate a current code for the marker point based on the current flashing state and multiple historical flashing states if the predicted flashing state is inconsistent with the current flashing state; shift the current code of the marker point and compare it with the code in the encoding library to output the unique code of the marker point.

[0053] In one embodiment of this application, the control module 200 is further configured to identify light spot features in the image; generate size information of marker points based on the light spot features, and determine the number of target acquisition devices, wherein the target acquisition devices are acquisition devices that simultaneously acquire the same light spot; when the number is greater than a preset number, perform multi-view geometric reconstruction of the light spot features based on the internal and external parameters of all target devices to obtain the spatial position information of the marker points.

[0054] In one embodiment of this application, the unique code is a multi-bit binary code encoded by a first state and a second state of the marker point, wherein the brightness value of the first state is greater than the brightness value of the second state.

[0055] It should be noted that the foregoing explanation of the optical motion capture method embodiment also applies to the optical motion capture device of this embodiment, and will not be repeated here.

[0056] The optical motion capture device proposed in this application uses the flashing state of marker points for unique encoding, and uses this unique encoding to perform optical motion tracking on the target object. Since the flashing state of the marker points is simpler to calculate during optical motion tracking than the shape formed by the marker points, the computational load of optical motion tracking can be reduced. Furthermore, decoding is based on the geometric dimensions of the marker point light spots. Since geometric dimensions are physical features in three-dimensional space and are not affected by spatial position, the robustness of decoding is effectively improved. In addition, the marker points flash periodically, requiring only continuous flashing states for decoding, eliminating the need for communication with the control module to control the encoded state of the marker points, reducing system coupling and improving decoding efficiency. Moreover, periodic flashing allows for marker point state prediction, verifying the correctness of decoding, reducing the risk of incorrect marker point tracking, and improving the success rate of optical motion tracking. Therefore, this solves the problems in related technologies where multiple marker points are typically used to form a shape to uniquely identify the target object, resulting in a large computational load for optical motion capture, and the tendency for optical motion capture to fail if the target object is small or has a similar shape.

[0057] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0058] The memory 301, the processor 302, and the computer program stored on the memory 301 and capable of running on the processor 302.

[0059] When the processor 302 executes the program, it implements the optical motion capture method provided in the above embodiments.

[0060] Furthermore, electronic devices also include:

[0061] Communication interface 303 is used for communication between memory 301 and processor 302.

[0062] The memory 301 is used to store computer programs that can run on the processor 302.

[0063] The memory 301 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0064] If the memory 301, processor 302, and communication interface 303 are implemented independently, then the communication interface 303, memory 301, and processor 302 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0065] Optionally, in a specific implementation, if the memory 301, processor 302, and communication interface 303 are integrated on a single chip, then the memory 301, processor 302, and communication interface 303 can communicate with each other through an internal interface.

[0066] Processor 302 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0067] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the optical motion capture method described above.

[0068] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0070] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0071] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0072] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. An optical motion capture method, characterized in that, Includes the following steps: Obtain the unique code for each marker point on the target object; The unique code controls the corresponding marker point to flash periodically. The spatial location and size information of the marker point are reconstructed based on the acquired image of the marker point and the intrinsic and extrinsic parameters of the acquisition device. Specifically, light spot features in the acquired image are identified; the size information of the marker point is generated based on the light spot features; and the number of target acquisition devices is determined, wherein the target acquisition devices are those that simultaneously acquire the same light spot. If the number is greater than a preset number, multi-view geometric reconstruction is performed on the light spot features based on the extrinsic and extrinsic parameters of all target acquisition devices to obtain the spatial location information of the marker point. The blinking state of the marker point is identified based on the size information. The unique code of the marker point is decoded based on the continuous blinking state of the marker point. The target object is tracked based on the unique code, and the spatial position information of the target object is output.

2. The optical motion capture method according to claim 1, characterized in that, The unique encoding of the marker point based on the continuous flashing state of the marker point includes: Get multiple historical flashing states before the current flashing state; Based on the multiple historical flashing states and coding patterns, the flashing state of the marker point is inferred. If the inferred flashing state is consistent with the current flashing state, the target object is determined to be successfully tracked, and the unique code of the marker point is output.

3. The optical motion capture method according to claim 2, characterized in that, The method of decoding the unique encoding of a marker point based on its continuous flashing state also includes: If the predicted flashing state is inconsistent with the current flashing state, the current code of the marker point is generated based on the current flashing state and the multiple historical flashing states. The current code of the marker point is shifted and compared with the code in the code library to output the unique code of the marker point.

4. The optical motion capture method according to any one of claims 1-3, characterized in that, The unique code is a multi-bit binary code encoded by the first state and the second state of the marker point, wherein the brightness value of the first state is greater than the brightness value of the second state.

5. An optical motion capture device, characterized in that, include: The acquisition module is used to obtain the unique code of each marker point on the target object; The control module is used to control the corresponding marker point to flash periodically according to the unique code, and to reconstruct the spatial position and size information of the marker point based on the acquired image of the marker point and the intrinsic and extrinsic parameters of the acquisition device; wherein, it identifies the light spot features in the image; generates the size information of the marker point according to the light spot features, and determines the number of target acquisition devices, wherein the target acquisition devices are acquisition devices that simultaneously acquire the same light spot; when the number is greater than a preset number, it performs multi-view geometric reconstruction of the light spot features according to the intrinsic and extrinsic parameters of all target devices to obtain the spatial position information of the marker point; The identification module is used to identify the flashing state of the marker point based on the size information, decode the unique code of the marker point based on the continuous flashing state of the marker point, realize the tracking of the target object based on the unique code, and output the spatial position information of the target object.

6. The optical motion capture device according to claim 5, characterized in that, The identification module is further used for: Get multiple historical flashing states before the current flashing state; Based on the multiple historical flashing states and coding patterns, the flashing state of the marker point is inferred. If the inferred flashing state is consistent with the current flashing state, the target object is determined to be successfully tracked, and the unique code of the marker point is output.

7. The optical motion capture device according to claim 6, characterized in that, The identification module is further used for: If the predicted flashing state is inconsistent with the current flashing state, the current code of the marker point is generated based on the current flashing state and the multiple historical flashing states. The current code of the marker point is shifted and compared with the code in the code library to output the unique code of the marker point.

8. The optical motion capture device according to any one of claims 5-7, characterized in that, The unique code is a multi-bit binary code encoded by the first state and the second state of the marker point, wherein the brightness value of the first state is greater than the brightness value of the second state.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the optical motion capture method as described in any one of claims 1-4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the optical motion capture method as described in any one of claims 1-4.

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