Polyhedron mark point registration method and device, equipment and medium

Abstract

The invention discloses a mark point registration method and device for a polyhedron, equipment and a medium, and belongs to the technical field of computer vision. The method comprises the following steps: acquiring a first world coordinate of a mark point on an initial registration surface of a polyhedron through an optical positioning device; establishing a first registration coordinate system according to the first world coordinate, and obtaining a first existing mark point set in the first registration coordinate system; according to a first registration direction, starting from the initial registration surface, acquiring first registration mark points frame by frame based on the first existing mark point set so as to obtain a first registration mark point set; and determining the first registration mark point set as a mark point registration result of the polyhedron. According to the technical scheme, all real mark points can be accurately recognized, false recognition of false points is effectively reduced, and therefore high-precision registration of the mark points of the polyhedral tool is achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of computer vision, and particularly relates to a registration method and device for marker points of a polyhedron, an equipment and a medium. BACKGROUND

[0002] In the fields of precision assembly of industrial manufacturing, positioning of surgical instruments of medical navigation, interactive device tracking of virtual reality, etc., the surface marker points of a polyhedron tool are crucial for the accurate registration, which provides basic data for the pose solution, motion trajectory tracking and collaborative work with other devices of the polyhedron tool.

[0003] Currently, the registration of marker points of a polyhedron tool is usually achieved by setting marker points on the surface of the polyhedron tool and matching calculation with multi-view images. However, for a polyhedron tool with complex structure, some marker points are difficult to be clearly imaged in multiple views due to the occlusion of the structure itself during multi-view image acquisition, so that the marker point information is incomplete, which directly affects the accuracy of registration. In addition, for a polyhedron tool with too dense point spacing, the dense marker points are prone to overlap or confusion in the image, and the image recognition algorithm is difficult to accurately distinguish the boundary and features of each marker point, thereby generating a large number of false points and wrong points, which causes the error to be accumulated through matching calculation, resulting in a significant reduction in the accuracy and stability of the registration result.

[0004] Therefore, how to reduce the interference of false points and wrong points and accurately identify the real marker points of a polyhedron tool for registration is a problem to be solved by those skilled in the art. SUMMARY

[0005] Embodiments of the present application provide a registration method, device, equipment and medium for marker points of a polyhedron, which aims to accurately identify all real marker points and effectively reduce the misidentification of false points, so as to realize high-precision registration of marker points of a polyhedron tool.

[0006] In a first aspect, embodiments of the present application provide a registration method for marker points of a polyhedron, which comprises: obtaining first world coordinates of marker points on an initial registration surface of a polyhedron by an optical positioning device; establishing a first registration coordinate system according to the first world coordinates and obtaining a first existing marker point set in the first registration coordinate system; starting from the initial registration surface, obtaining first registration marker points frame by frame based on the first existing marker point set in a first registration direction to obtain a first registration marker point set; determining the first registration marker point set as a registration result of the marker points of the polyhedron.

[0007] Optionally, the acquiring, according to the first registration direction, the first registration mark point based on the first existing mark point set from the initial registration surface, and frame by frame, to obtain a first registration mark point set, comprises: In the current frame, the polyhedron is rotated by a preset angle according to the first registration direction, and a candidate registration mark point located in the first registration coordinate system is acquired; The first registration mark point is determined based on the candidate registration mark point, and the first registration mark point is added to the first existing mark point set; The above steps are repeatedly executed until the first existing mark point set meets a registration stop condition, and a first registration mark point set is obtained.

[0008] Optionally, the acquiring the candidate registration mark point located in the first registration coordinate system comprises: The world coordinates of the mark points on the polyhedron located in a positioning visual field range of the optical positioning device are acquired by the optical positioning device to obtain a world mark point set; The world mark point set and the first existing mark point set are matched to obtain a matching point pair and a discrete point in the world mark point set that fails to be matched successfully; The coordinate conversion matrix is determined according to the matching point pair, and the discrete point is converted based on the coordinate conversion matrix to obtain the candidate registration mark point located in the first registration coordinate system.

[0009] Optionally, the determining the first registration mark point based on the candidate registration mark point comprises: An existing aggregated candidate point set is acquired, and the existing aggregated candidate point set is updated based on the candidate registration mark point; The first registration mark point is determined based on the existing aggregated candidate point set that meets an aggregated registration condition.

[0010] Optionally, the determining the first registration mark point based on the existing aggregated candidate point set that meets the aggregated registration condition comprises: A geometric center point of the existing aggregated candidate point set that meets the aggregated registration condition is determined; The geometric center point is converted based on the coordinate conversion matrix to obtain a reprojected point; A reprojecting error is determined according to the reprojected point and a world coordinate corresponding to the reprojected point; The geometric center point corresponding to the reprojected point, which meets a registration verification condition, is determined as the first registration mark point.

[0011] Optionally, after the acquiring, according to the first registration direction, the first registration mark point based on the first existing mark point set from the initial registration surface, and frame by frame, to obtain a first registration mark point set, the method further comprises: acquire, by an optical positioning device, first world coordinates of the marker points on an initial registration surface of the polyhedron; establish a first registration coordinate system according to the first world coordinates, and obtain a first existing marker point set in the first registration coordinate system; acquire, according to a first registration direction, first registration marker points based on the first existing marker point set, starting from the initial registration surface, to obtain a first registration marker point set; Correspondingly, the determining of the first registration marker point set as the marker point registration result of the polyhedron comprises: determining a marker point registration result of the polyhedron according to the first registration marker point set and the second registration marker point set.

[0012] Optionally, the determining of the marker point registration result of the polyhedron according to the first registration marker point set and the second registration marker point set comprises: determining optimal rigid transformation parameters between the first registration marker point set and the second registration marker point set; transforming the first registration marker point set based on the optimal rigid transformation parameters to obtain a first corrected marker point set, and transforming the second registration marker point set based on the optimal rigid transformation parameters to obtain a second corrected marker point set; merging the first registration marker point set and the first corrected marker point set, and merging the second registration marker point set and the second corrected marker point set, to obtain the marker point registration result of the polyhedron.

[0013] In a second aspect, an embodiment of the present application provides a marker point registration device of a polyhedron, the device comprising: a first coordinate acquisition module configured to acquire, by an optical positioning device, first world coordinates of marker points on an initial registration surface of the polyhedron; a first coordinate system establishment module configured to establish a first registration coordinate system according to the first world coordinates, and obtain a first existing marker point set in the first registration coordinate system; a first point set determination module configured to acquire, according to a first registration direction, first registration marker points based on the first existing marker point set, starting from the initial registration surface, to obtain a first registration marker point set; a registration result determination module configured to determine the first registration marker point set as a marker point registration result of the polyhedron.

[0014] Optionally, the first point set determination module is specifically configured to: in a current frame, rotate the polyhedron by a preset angle according to the first registration direction, and acquire candidate registration marker points located in the first registration coordinate system; determining a first registration marker point based on the candidate registration marker point, and adding the first registration marker point to the first existing marker point set; repeating the above steps until the first existing marker point set meets a registration stop condition, to obtain a first registration marker point set.

[0015] Optionally, the first point set determination module is specifically configured to: in a current frame, rotating the polyhedron by a preset angle according to a first registration direction; obtaining, by an optical positioning device, world coordinates of marker points on the polyhedron within a positioning field of view of the optical positioning device, to obtain a world marker point set; matching the world marker point set and the first existing marker point set, to obtain a matching point pair and discrete points in the world marker point set that fail to be matched successfully; determining a coordinate conversion matrix according to the matching point pair, and converting the discrete points based on the coordinate conversion matrix, to obtain candidate registration marker points in the first registration coordinate system; determining a first registration marker point based on the candidate registration marker point, and adding the first registration marker point to the first existing marker point set; repeating the above steps until the first existing marker point set meets a registration stop condition, to obtain a first registration marker point set.

[0016] Optionally, the first point set determination module is specifically configured to: in a current frame, rotating the polyhedron by a preset angle according to a first registration direction, and obtaining candidate registration marker points in the first registration coordinate system; obtaining an existing aggregated candidate point set, and updating the existing aggregated candidate point set based on the candidate registration marker points; determining a first registration marker point based on the existing aggregated candidate point set that meets an aggregated registration condition; adding the first registration marker point to the first existing marker point set; repeating the above steps until the first existing marker point set meets a registration stop condition, to obtain a first registration marker point set.

[0017] Optionally, the first point set determination module is specifically configured to: in a current frame, rotating the polyhedron by a preset angle according to a first registration direction, and obtaining candidate registration marker points in the first registration coordinate system; obtaining an existing aggregated candidate point set, and updating the existing aggregated candidate point set based on the candidate registration marker points; determine a geometric center point of the existing aggregation candidate point set satisfying an aggregation registration condition; convert the geometric center point based on the coordinate conversion matrix to obtain a re-projection point; determine a re-projection error according to the re-projection point and a world coordinate corresponding to the re-projection point; determine, as a first registration marker point, a geometric center point corresponding to the re-projection point whose re-projection error satisfies a registration verification condition; add the first registration marker point to the first existing marker point set; repeat the above steps until the first existing marker point set satisfies a registration stop condition to obtain a first registration marker point set.

[0018] Optionally, the device further comprises: a second coordinate acquisition module configured to acquire, by an optical positioning device, a second world coordinate of a marker point on an initial registration face of the polyhedron; a second coordinate system establishment module configured to establish a second registration coordinate system according to the second world coordinate and obtain a second existing marker point set in the second registration coordinate system; a second point set determination module configured to acquire, according to a second registration direction, a second registration marker point based on the second existing marker point set frame by frame starting from the initial registration face to obtain a second registration marker point set; Correspondingly, the registration result determination module is specifically configured to: determine a marker point registration result of the polyhedron according to the first registration marker point set and the second registration marker point set.

[0019] Optionally, the registration result determination module is specifically configured to: determine an optimal rigid body conversion parameter between the first registration marker point set and the second registration marker point set; convert the first registration marker point set based on the optimal rigid body conversion parameter to obtain a first corrected marker point set, and convert the second registration marker point set based on the optimal rigid body conversion parameter to obtain a second corrected marker point set; merge the first registration marker point set and the first corrected marker point set, and merge the second registration marker point set and the second corrected marker point set to obtain a marker point registration result of the polyhedron.

[0020] In a third aspect, an electronic device is provided, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, and the program or instructions are executed by the processor to implement the steps of the method according to the first aspect.

[0021] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0022] In this embodiment, the first world coordinates of the marker points on the initial registration surface of the polyhedron are obtained using an optical positioning device; a first registration coordinate system is established based on the first world coordinates, and a first set of existing marker points in the first registration coordinate system is obtained; following a first registration direction, starting from the initial registration surface, first registration marker points are obtained frame by frame based on the first set of existing marker points to obtain a first set of registration marker points; the first set of registration marker points is determined as the marker point registration result of the polyhedron. The above-described marker point registration method for polyhedra can accurately identify all real marker points, effectively reducing false point misidentification, thereby achieving high-precision registration of tool marker points on polyhedra. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating the polyhedron marker point registration method provided in Embodiment 1 of this application; Figure 2 This is a structural example diagram of the polyhedron provided in Embodiment 1 of this application; Figure 3 This is a flowchart illustrating the polyhedron marker point registration method provided in Embodiment 2 of this application; Figure 4 This is a flowchart illustrating the polyhedron marker point registration method provided in Embodiment 3 of this application; Figure 5 This is a flowchart illustrating the polyhedron marker point registration method provided in Embodiment 4 of this application; Figure 6 This is an example diagram of the marker point correction process provided in Embodiment 4 of this application; Figure 7 This is a schematic diagram of the structure of the polyhedron marking point registration device provided in Embodiment 5 of this application; Figure 8 This is a schematic diagram of the structure of the electronic device provided in Embodiment Six of this application. Detailed Implementation

[0024] In order to make the purposes, technical solutions and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below with reference to the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only parts related to the present application are shown in the drawings, but not all. Before discussing the example embodiments in more detail, it should be mentioned that some example embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The processes can be terminated when the operations are completed, but can also have additional steps not included in the drawings. The processes can correspond to methods, functions, procedures, subroutines, etc.

[0025] The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0026] The terms "first", "second" and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second" and the like are generally of a kind, and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally means that the objects before and after are in a "or" relationship.

[0027] The polyhedral marker point registration method, device, equipment and medium provided by the embodiments of the present application will be described in detail below with reference to the drawings, through specific embodiments and application scenarios.

[0028] Embodiment one Figure 1 is a flowchart of the polyhedral marker point registration method provided by the first embodiment of the present application. As shown in Figure 1 , the specific steps include the following steps: S101, obtaining the first world coordinates of the marker points on the initial registration surface of the polyhedron by the optical positioning device; Firstly, the present application is applicable to a scenario of space navigation using a polyhedron tool. It can be understood that the execution subject of the present application can be a terminal device with image processing capability.

[0029] The polyhedron can refer to a rigid tool with at least 4 planes (and the planes are connected by edges to form a closed space structure), commonly used in medical navigation, industrial measurement and other scenarios, and each plane can be used as an independent registration reference surface.

[0030] Figure 2 FIG. 1 is a structural diagram of a polyhedron provided by an embodiment of the present application. As shown in the figure, the polyhedron is symmetrical about a central axis, and is composed of 8 planes in different directions which are uniformly distributed radially around the central axis. Figure 2

[0031] The marker point can refer to a physical identifier fixed on the surface of the polyhedron, having high light reflection characteristics or specific optical recognition features.

[0032] The optical positioning device can refer to a device for measuring spatial coordinates based on optical principles, which can identify the marker points and obtain the world coordinates of the marker points. The world coordinates of the marker points can refer to the coordinates of the marker points in the world coordinate system (in the present scheme, the coordinate system of the optical positioning device is directly used as the world coordinate system). Correspondingly, the first world coordinates can refer to the world coordinates of the marker points obtained when the marker points of the polyhedron are registered in the first registration direction.

[0033] The initial registration surface of the polyhedron can refer to the plane in the polyhedron where the marker points are first completely identified by the optical positioning device. For example Figure 2 The plane in the No. 1 direction in FIG. 1 can be used as the initial registration surface.

[0034] The way to obtain the first world coordinates of the marker points on the initial registration surface of the polyhedron by the optical positioning device can be to identify the marker points on the initial registration surface of the polyhedron by the optical positioning device, and calculate the center coordinates of each marker point as the first world coordinates.

[0035] S102, a first registration coordinate system is established according to the first world coordinates, and a first existing marker point set in the first registration coordinate system is obtained. The first registration coordinate system can refer to a local reference coordinate system for registration of the polyhedron, which is established based on the first world coordinates of the marker points on the initial registration surface.

[0036] ​The first registration coordinate system can be established according to the first world coordinates. For example, a first mark point can be selected from the first world coordinates as the origin O of the first registration coordinate system, a second mark point B can be selected and the unit vector of OB can be determined as the positive direction of the X-axis of the first registration coordinate system, a third mark point C can be selected and the projection vector OC' of OC in the plane perpendicular to the X-axis can be calculated, the unit vector of OC' can be determined as the positive direction of the Y-axis of the first registration coordinate system, and the cross product of the unit vector of the X-axis and the unit vector of the Y-axis can be calculated to obtain the positive direction of the Z-axis.

[0037] The first existing mark point set can be a coordinate set of mark points in the first registration coordinate system determined in the registration process of the mark points of the polyhedron according to the first registration direction.

[0038] The first existing mark point set in the first registration coordinate system can be obtained by mapping the mark points on the initial registration surface to the first registration coordinate system according to the first world coordinates of the mark points on the initial registration surface.

[0039] S103, according to the first registration direction, starting from the initial registration surface, the first registration mark point set is obtained based on the first existing mark point set. The first registration direction can be the direction in which the polyhedron rotates around a preset axis. For example Figure 2 As shown in the figure, the first registration direction can be the clockwise direction around the central axis of the polyhedron.

[0040] The first registration mark point set can be a coordinate set of all mark points on the polyhedron in the first registration coordinate system after the registration of the mark points of the polyhedron according to the first registration direction.

[0041] The first registration mark point is the coordinate of the mark point in the first registration coordinate system determined in the registration process of the mark points of the polyhedron according to the first registration direction.

[0042] The frame can be a time unit for the optical positioning device to position the mark points on the polyhedron once.

[0043] According to the first registration direction, starting from the initial registration surface, the first registration mark point set is obtained based on the first existing mark point set. For example, in the current frame, the polyhedron can be rotated by a preset angle according to the first registration direction, and the candidate registration mark point in the first registration coordinate system can be obtained. The first registration mark point is determined based on the candidate registration mark point and added to the first existing mark point set. The above steps are repeated until the first existing mark point set meets the registration stop condition, and the first registration mark point set is obtained.

[0044] S104, determine the first registered marker point set as the marker point registration result of the polyhedron.

[0045] The marker point registration result of the polyhedron can refer to a data set capable of representing the spatial positions of all marker points on the polyhedron.

[0046] The manner of determining the first registered marker point set as the marker point registration result of the polyhedron can adopt a data structure field defining the marker point registration result, and assign the first registered marker point set to the data structure field.

[0047] In the embodiments of the present application, the first world coordinates of the marker points on the initial registration face of the polyhedron are obtained by an optical positioning device; a first registration coordinate system is established according to the first world coordinates, and a first existing marker point set in the first registration coordinate system is obtained; a first registered marker point is obtained frame by frame based on the first existing marker point set in a first registration direction starting from the initial registration face, so as to obtain a first registered marker point set; and the first registered marker point set is determined as the marker point registration result of the polyhedron. The above marker point registration method of the polyhedron can accurately identify all real marker points, effectively reduce the misidentification of false points, and thus realize high-precision registration of the marker points of the polyhedron tool.

[0048] Embodiment two Figure 3 is a flowchart of the marker point registration method of the polyhedron provided in the second embodiment of the present application. The present scheme makes a more optimal improvement on the above-mentioned embodiments, and the specific improvement is that: the step of obtaining the first registered marker point set frame by frame based on the first existing marker point set in the first registration direction starting from the initial registration face comprises: in the current frame, rotating the polyhedron by a preset angle in the first registration direction, and obtaining a candidate registered marker point located in the first registration coordinate system; determining a first registered marker point based on the candidate registered marker point, and adding the first registered marker point to the first existing marker point set; and repeating the above steps until the first existing marker point set meets a registration stop condition, so as to obtain the first registered marker point set.

[0049] As shown in the following Figure 3 , specifically comprising the following steps: S301, obtaining the first world coordinates of the marker points on the initial registration face of the polyhedron by an optical positioning device; S302, establishing a first registration coordinate system according to the first world coordinates, and obtaining a first existing marker point set in the first registration coordinate system; S303, in the current frame, rotating the polyhedron by a preset angle in a first registration direction, and obtaining a candidate registered marker point located in the first registration coordinate system; The preset angle can refer to a fixed angle of rotation of the polyhedron around a specific axis, which is preset to enable other marker points of the polyhedron to enter the field of view of the optical positioning device.

[0050] The candidate registration marker point can refer to the coordinates of a possible existing unregistered marker point in the first registration coordinate system determined in the current frame.

[0051] The manner of obtaining the candidate registration marker point in the first registration coordinate system can include obtaining the world coordinates of the marker points on the polyhedron within the positioning field of view of the optical positioning device to obtain a world marker point set, matching the world marker point set and the first existing marker point set to obtain a matching point pair and a discrete point in the world marker point set that fails to match successfully, determining a coordinate conversion matrix according to the matching point pair, and converting the discrete point based on the coordinate conversion matrix to obtain the candidate registration marker point in the first registration coordinate system.

[0052] In the technical solution, the candidate registration marker point in the first registration coordinate system can be obtained by: obtaining the world coordinates of the marker points on the polyhedron within the positioning field of view of the optical positioning device to obtain a world marker point set; matching the world marker point set and the first existing marker point set to obtain a matching point pair and a discrete point in the world marker point set that fails to match successfully; determining a coordinate conversion matrix according to the matching point pair, and converting the discrete point based on the coordinate conversion matrix to obtain the candidate registration marker point in the first registration coordinate system.

[0053] The positioning field of view can refer to a spatial region in which the optical positioning device can effectively capture marker point signals and accurately calculate marker point coordinates.

[0054] The world coordinates of the marker points on the polyhedron within the positioning field of view of the optical positioning device can refer to the coordinates of the marker points on the polyhedron within the positioning field of view of the optical positioning device in the world coordinate system. These world coordinates constitute a world marker point set.

[0055] The matching point pair can refer to a pair of points in the world marker point set and the first existing marker point set that are spatially homologous. The discrete point in the world marker point set that fails to match successfully can refer to a point in the world marker point set that cannot find a point with a geometric relationship homologous to it in the first existing marker point set in the matching process of the world marker point set and the first existing marker point set.

[0056] The matching of the world marker point set and the first existing marker point set to obtain the matched point pairs and the discrete points in the world marker point set that are not matched successfully can be performed by determining a distance matrix of the world marker point set and a distance matrix of the first existing marker point set, and matching the two distance matrices to obtain the matched point pairs and the discrete points in the world marker point set that are not matched successfully. For a group of points, the Euclidean distances between each point and all other points are calculated, and the distances are arranged in a certain order to form a matrix, that is, the distance matrix.

[0057] The coordinate conversion matrix is a conversion matrix from the world coordinate system to the first registration coordinate system. The coordinate conversion matrix can be determined according to the matched point pairs by calculating a homogeneous transformation matrix according to the matched point pairs as the coordinate conversion matrix. The homogeneous transformation matrix has the following form: ; wherein, is a rotation matrix, is a translation vector.

[0058] The calculation formula of the candidate registration marker point in the first registration coordinate system is obtained by converting the discrete points based on the coordinate conversion matrix. ; wherein, represents the candidate registration marker point in the first registration coordinate system, represents the discrete point.

[0059] The advantages of the scheme are that the world marker point set in the positioning field of view is obtained, the matched point pairs and the discrete points in the world marker point set that are not matched successfully are obtained by matching the world marker point set and the first existing marker point set, the coordinate conversion matrix is determined according to the matched point pairs, and the candidate registration marker point in the first registration coordinate system is obtained by converting the discrete points based on the coordinate conversion matrix. The matched point pairs can be screened by distance matrix matching to ensure that the calculation basis of the coordinate conversion matrix is reliable, and the discrete points that are not matched are converted to the first registration coordinate system to provide a data basis for subsequent aggregation and denoising.

[0060] S304, determining a first registration marker point based on the candidate registration marker point, and adding the first registration marker point to the first existing marker point set; The first registration marker point can be determined based on the candidate registration marker point by obtaining an existing aggregated candidate point set, updating the existing aggregated candidate point set based on the candidate registration marker point, and determining the first registration marker point based on the existing aggregated candidate point set that meets the aggregation registration condition.

[0061] The first registration marker point can be added to the first existing marker point set by writing the first registration marker point into the storage sequence of the first existing marker point set.

[0062] S305, identify whether the first set of existing marked points meets the registration stop condition; if not, proceed to S306; if yes, proceed to S307. The first existing set of marked points satisfies the registration stop condition if the number of points in the first existing set of marked points reaches a first preset threshold. The first preset threshold can be a number representing the number of marked points that have completed half of the registration process for the points on the polyhedron.

[0063] S306, switch to the next frame; Switching to the next frame can mean that the calculation and storage of the current frame have been completed, and the calculation and storage process of the next frame can be started automatically.

[0064] S307, obtain the first set of registered marker points, and determine the first set of registered marker points as the marker point registration result of the polyhedron.

[0065] The advantage of this scheme is that by acquiring candidate registration markers located in the first registration coordinate system frame by frame according to the first registration direction, and determining the first registration marker based on the candidate registration markers, incremental and accurate registration of polyhedral markers can be achieved, avoiding missed sampling of markers due to occlusion or limited field of view.

[0066] Example 3 Figure 4 This is a flowchart illustrating the polyhedron marker point registration method provided in Embodiment 3 of this application. This solution makes a further improvement to the above embodiment, specifically: determining the first registration marker point based on the candidate registration marker points includes: obtaining an existing aggregated candidate point set and updating the existing aggregated candidate point set based on the candidate registration marker points; determining the first registration marker point based on the existing aggregated candidate point set that meets the aggregated registration conditions.

[0067] like Figure 4 As shown, the specific steps include the following: S401, the first world coordinates of the marked points on the initial registration face of the polyhedron are obtained through an optical positioning device; S402, establish a first registered coordinate system based on the first world coordinates, and obtain the first set of existing marked points in the first registered coordinate system; S403, In the current frame, rotate the polyhedron by a preset angle according to the first registration direction, and obtain the candidate registration marker point located in the first registration coordinate system; S404, Obtain the existing set of aggregation candidate points, and update the existing set of aggregation candidate points based on the candidate registration marker points; The existing aggregated candidate point set can refer to a set composed of candidate registration marker points under each frame. It can be understood that an existing aggregated candidate point set can only include one candidate registration marker point, and the candidate registration marker points in an existing aggregated candidate point set are close to each other. The way to obtain the existing aggregated candidate point set can be to read the existing aggregated candidate point set from the stored historical frame data (for the first frame, each candidate registration marker point is constructed into an existing aggregated candidate point set).

[0068] The way to update the existing aggregated candidate point set based on the candidate registration marker point can be to calculate the distance between the candidate registration marker point and the geometric center point of the existing aggregated candidate point set, and if the distance is less than a preset distance threshold, the candidate registration marker point is added to the existing aggregated candidate point set and the geometric center point of the existing aggregated candidate point set is recalculated.

[0069] S405, determining a first registration marker point based on the existing aggregated candidate point set satisfying the aggregation registration condition; The existing aggregated candidate point set satisfying the aggregation registration condition can refer to an existing aggregated candidate point set including a number of candidate registration marker points reaching a second preset number threshold.

[0070] The way to determine the first registration marker point based on the existing aggregated candidate point set satisfying the aggregation registration condition can be to determine the geometric center point of the existing aggregated candidate point set satisfying the aggregation registration condition, to convert the geometric center point based on the coordinate conversion matrix to obtain a re-projection point, to determine a re-projection error according to the re-projection point and the world coordinates corresponding to the re-projection point, and to determine the geometric center point corresponding to the re-projection point whose re-projection error satisfies the registration verification condition as the first registration marker point.

[0071] In the technical solution, the first registration marker point can be determined based on the existing aggregated candidate point set satisfying the aggregation registration condition, and the method can include: determining the geometric center point of the existing aggregated candidate point set satisfying the aggregation registration condition; converting the geometric center point based on the coordinate conversion matrix to obtain a re-projection point; determining a re-projection error according to the re-projection point and the world coordinates corresponding to the re-projection point; determining the geometric center point corresponding to the re-projection point whose re-projection error satisfies the registration verification condition as the first registration marker point.

[0072] The geometric center point can refer to an arithmetic mean point of coordinates of all candidate registration marker points in the existing aggregation candidate point set satisfying the aggregation registration condition. The geometric center point of the existing aggregation candidate point set satisfying the aggregation registration condition can be determined by calculating the mean value of X, Y and Z three-dimensional coordinates of all candidate registration marker points in the existing aggregation candidate point set satisfying the aggregation registration condition.

[0073] The re-projection point can refer to a point obtained by mapping the geometric center point (in the first registration coordinate system) back to the world coordinate system. The world coordinate corresponding to the re-projection point can refer to the world coordinate corresponding to the newly added candidate registration marker point in the existing aggregation candidate point set corresponding to the geometric center point corresponding to the re-projection point under the current frame.

[0074] The re-projection error can refer to the Euclidean distance between the re-projection point and the world coordinate. The re-projection error can be determined according to the re-projection point and the world coordinate corresponding to the re-projection point, that is, the Euclidean distance between the re-projection point and the world coordinate is calculated as the re-projection error.

[0075] The re-projection point with the re-projection error satisfying the registration verification condition, that is, the re-projection point with the re-projection error less than the preset re-projection error threshold.

[0076] The geometric center point corresponding to the re-projection point with the re-projection error satisfying the registration verification condition can be determined as the first registration marker point by writing the geometric center point corresponding to the re-projection point with the re-projection error satisfying the registration verification condition into the storage sequence of the first registration marker point set.

[0077] The advantage of the scheme is that the geometric center point of the existing aggregation candidate point set satisfying the aggregation registration condition is verified by re-projection, which can further filter out points with small deviation from the real world coordinate and eliminate abnormal points caused by matching errors and hardware interference.

[0078] S406, adding the first registration marker point to the first existing marker point set; S407, identifying whether the first existing marker point set satisfies a registration stop condition; if not, performing S408; if yes, performing S409; S408, switching to the next frame; S409, obtaining a first registration marker point set, and determining the first registration marker point set as a marker point registration result of the polyhedron.

[0079] The advantage of the scheme is that, by updating the existing aggregated candidate point set according to the distance between each candidate registration marker point and each existing aggregated candidate point set, and determining the first registration marker point based on the existing aggregated candidate point set that meets the aggregation registration condition, similar candidate points in multiple frames can be classified into one category through the aggregation mechanism, avoiding repeated registration or false registration, and the single-frame positioning error can be reduced relying on multi-frame data accumulation.

[0080] Embodiment Four Figure 5 FIG. 1 is a flowchart of a marker registration method of a polyhedron provided by Embodiment Four of the present application. The scheme makes a more optimal improvement on Embodiment One, and the specific improvement is that, after the first registration marker point set is obtained by sequentially acquiring the first registration marker point based on the first existing marker point set from the initial registration face in the first registration direction, the method further includes: acquiring the second world coordinates of the marker points on the initial registration face of the polyhedron by the optical positioning device; establishing a second registration coordinate system according to the second world coordinates and obtaining a second existing marker point set in the second registration coordinate system; sequentially acquiring the second registration marker point based on the second existing marker point set from the initial registration face in the second registration direction to obtain a second registration marker point set; and correspondingly, the first registration marker point set is determined as the marker registration result of the polyhedron, which includes determining the marker registration result of the polyhedron according to the first registration marker point set and the second registration marker point set.

[0081] As shown in FIG. 1, the method specifically includes the following steps: Figure 5 S501, acquiring the first world coordinates of the marker points on the initial registration face of the polyhedron by the optical positioning device; S502, establishing a first registration coordinate system according to the first world coordinates and obtaining a first existing marker point set in the first registration coordinate system; S503, sequentially acquiring the first registration marker point based on the first existing marker point set from the initial registration face in the first registration direction to obtain a first registration marker point set; S504, acquiring the second world coordinates of the marker points on the initial registration face of the polyhedron by the optical positioning device; The second world coordinates can refer to the world coordinates of the marker points acquired when the marker points of the polyhedron are registered in the second registration direction. The initial registration face when the marker points of the polyhedron are registered in the second registration direction is the same as the initial registration face when the marker points of the polyhedron are registered in the first registration direction.

[0082] S505, establishing a second registration coordinate system according to the second world coordinates and obtaining a second existing marker point set in the second registration coordinate system;​ The second registration coordinate system can refer to a local reference coordinate system established based on the second world coordinates of the marker points on the initial registration surface for polyhedron registration.

[0083] The manner of establishing the second registration coordinate system according to the second world coordinates is the same as the manner of establishing the first registration coordinate system according to the first world coordinates, which will not be repeated here.

[0084] The second existing marker point set can refer to the coordinates of the marker points in the second registration coordinate system determined in the process of registering the marker points of the polyhedron according to the second registration direction.

[0085] The manner of obtaining the second existing marker point set in the second registration coordinate system can be to map the marker points on the initial registration surface to the second registration coordinate system according to the second world coordinates of the marker points on the initial registration surface to obtain the second existing marker point set.

[0086] S506, according to the second registration direction, starting from the initial registration surface, based on the second existing marker point set, the second registration marker points are obtained frame by frame to obtain the second registration marker point set; The second registration direction can refer to the direction of the rotation of the polyhedron around the preset axis. For example Figure 2 As shown, the first registration direction can be the counterclockwise direction around the central axis of the polyhedron.

[0087] The second registration marker point set can refer to the coordinates of all marker points on the polyhedron in the second registration coordinate system after the marker points of the polyhedron are registered according to the second registration direction.

[0088] The second registration marker point is the coordinate of the marker point in the second registration coordinate system determined in the process of registering the marker points of the polyhedron according to the second registration direction.

[0089] The manner of obtaining the second registration marker point set according to the second registration direction, starting from the initial registration surface, based on the second existing marker point set, can be to rotate the polyhedron by a preset angle according to the second registration direction in the current frame and obtain the candidate registration marker point in the second registration coordinate system, determine the second registration marker point based on the candidate registration marker point and add the second registration marker point to the second existing marker point set, repeat the above steps until the second existing marker point set meets the registration stop condition to obtain the second registration marker point set.

[0090] S507, according to the first registration marker point set and the second registration marker point set, determine the marker point registration result of the polyhedron.

[0091] The way of determining the registration result of the marker points of the polyhedron according to the first registration marker point set and the second registration marker point set can comprise the following steps: determining the optimal rigid transformation parameter between the first registration marker point set and the second registration marker point set; transforming the first registration marker point set based on the optimal rigid transformation parameter to obtain a first corrected marker point set, and transforming the second registration marker point set based on the optimal rigid transformation parameter to obtain a second corrected marker point set; merging the first registration marker point set and the first corrected marker point set, and merging the second registration marker point set and the second corrected marker point set to obtain the registration result of the marker points of the polyhedron.

[0092] In the technical solution, the way of determining the registration result of the marker points of the polyhedron according to the first registration marker point set and the second registration marker point set can comprise the following steps: determining the optimal rigid transformation parameter between the first registration marker point set and the second registration marker point set; transforming the first registration marker point set based on the optimal rigid transformation parameter to obtain a first corrected marker point set, and transforming the second registration marker point set based on the optimal rigid transformation parameter to obtain a second corrected marker point set; merging the first registration marker point set and the first corrected marker point set, and merging the second registration marker point set and the second corrected marker point set to obtain the registration result of the marker points of the polyhedron.

[0093] The optimal rigid transformation parameter can be a parameter that can make two groups of point sets reach the best matching state after transformation, and can comprise an optimal rigid transformation rotation matrix R and an optimal rigid transformation translation vector t.

[0094] The way of determining the optimal rigid transformation parameter between the first registration marker point set and the second registration marker point set can comprise the following steps: determining a first coincident marker point set in the first registration marker point set and a second coincident marker point set in the second registration marker point set, and calculating the optimal rigid transformation parameter of the first coincident marker point set and the second registration marker point set by using the Kabsch algorithm.

[0095] The first coincident marker point set can be a first registration marker point in a coincident marker point pair of the first registration marker point set and the second registration marker point set, and the second coincident marker point set can be a second registration marker point in the coincident marker point pair. Specifically, one coincident marker point pair of the first registration marker point set and the second registration marker point set can be a group of first registration marker points and second registration marker points representing the same physical marker point on the polyhedron.

[0096] The Kabsch algorithm can be a classical algorithm for solving optimal rigid transformation parameters between two sets of three-dimensional point sets, and the core goal is to make the two sets of point sets "optimally aligned" in space by calculation, that is, to minimize the sum of squared Euclidean distances (least squares error) between corresponding points of the two sets of point sets.

[0097] Specifically, the calculation process of determining the optimal rigid transformation parameters of the first coincident marker point set and the second registration marker point set includes: (1) Decentering: , ; wherein, represents the first registration marker point in the i-th coincident marker point pair, represents the second registration marker point in the i-th coincident marker point pair; represents the center coordinates of the first coincident marker point set, represents the center coordinates of the second coincident marker point set; represents the first registration marker point in the i-th coincident marker point pair after decentering, represents the second registration marker point in the i-th coincident marker point pair after decentering; (2) Constructing a covariance matrix H: ; wherein n represents the number of coincident marker point pairs; (3) SVD decomposition: ; wherein SVD (Singular Value Decomposition) is an important matrix decomposition method in linear algebra, and U and V are orthogonal matrices; (4) Solving the optimal rigid transformation rotation matrix : ; (5) Solving the optimal rigid transformation translation vector : .

[0098] Further, the root mean square deviation RMSD can be calculated: . Based on the optimal rigid transformation parameters calculated by the Kabsch algorithm, the RMSD can be minimized.

[0099] The first corrected marker point set can refer to a target point set matched with the second registration coordinate system space after the first registration marker point set is corrected by the optimal rigid transformation. The calculation process of the first corrected marker point set based on the optimal rigid transformation parameters of the first registration marker point set can be: . Wherein, is the corresponding first corrected marker point.

[0100] The second corrected marker point set can refer to a target point set matched with the first registration coordinate system space after the second registration marker point set is corrected by the optimal rigid transformation. The calculation process of the second corrected marker point set based on the optimal rigid transformation parameter for transforming the second registration marker point set can be: . Wherein, is the corresponding second corrected marker point.

[0101] The way of merging the first registration marker point set and the first corrected marker point set, and merging the second registration marker point set and the second corrected marker point set to obtain the marker point registration result of the polyhedron can adopt calculating the average coordinate position of the first registration marker point and the corresponding first corrected marker point, and calculating the average coordinate position of the second registration marker point and the corresponding second corrected marker point, and each average coordinate position constitutes the marker point registration result of the polyhedron.

[0102] Figure 6 is an example diagram of the marker point correction process provided by the fourth embodiment of the present application, the first registration marker point set, the second registration marker point set, the first corrected marker point set, the second corrected marker point set and the registration result can refer to Figure 6 the legend in the upper right corner.

[0103] The advantage of this scheme is that by determining the optimal rigid transformation parameter between the first registration marker point set and the second registration marker point set, and respectively transforming the first registration marker point set and the second registration marker point set based on the optimal rigid transformation parameter, the marker point set and the corrected point set are merged to obtain the marker point registration result of the polyhedron, which can strictly follow the rigid motion law, maximize the preservation of the original geometric characteristics of the point set, and make the marker point registration result of the polyhedron optimal in geometric consistency and matching accuracy.

[0104] The advantage of this scheme is that by registering the marker points of the polyhedron from two directions respectively, and determining the final marker point registration result of the polyhedron based on the registration results of the two directions, the registration omission problem caused by marker point occlusion during single-direction registration can be effectively avoided, the registration accuracy can be improved through cross verification of the registration results of the two directions, and the influence of occasional errors of the optical positioning device on the final result during single-direction registration can be reduced, so that the registration result of the marker points of the polyhedron is more complete and reliable.

[0105] Embodiment five Figure 7 is a structural schematic diagram of the marker point registration device of the polyhedron provided by the fifth embodiment of the present application. As Figure 7 shown, the device comprises: The first coordinate acquisition module 710 is configured to acquire first world coordinates of a mark point on an initial registration face of a polyhedron through an optical positioning device. The first coordinate system establishment module 720 is configured to establish a first registration coordinate system according to the first world coordinates, and obtain a first existing mark point set in the first registration coordinate system. The first point set determination module 730 is configured to acquire a first registration mark point based on the first existing mark point set frame by frame from the initial registration face in a first registration direction, so as to obtain a first registration mark point set. The registration result determination module 740 is configured to determine the first registration mark point set as a mark point registration result of the polyhedron.

[0106] Optionally, the first point set determination module 730 is specifically configured to: In a current frame, the polyhedron is rotated by a preset angle in the first registration direction, and a candidate registration mark point located in the first registration coordinate system is acquired. A first registration mark point is determined based on the candidate registration mark point, and the first registration mark point is added to the first existing mark point set. The above steps are repeatedly executed until the first existing mark point set meets a registration stop condition, so as to obtain a first registration mark point set.

[0107] Optionally, the first point set determination module 730 is specifically configured to: In a current frame, the polyhedron is rotated by a preset angle in the first registration direction. The world coordinates of a mark point on the polyhedron located in a positioning field of view range of the optical positioning device are acquired through the optical positioning device, so as to obtain a world mark point set. The world mark point set and the first existing mark point set are matched, so as to obtain a matching point pair and a discrete point in the world mark point set that fails to be matched successfully. A coordinate conversion matrix is determined according to the matching point pair, and the discrete point is converted based on the coordinate conversion matrix, so as to obtain a candidate registration mark point located in the first registration coordinate system. A first registration mark point is determined based on the candidate registration mark point, and the first registration mark point is added to the first existing mark point set. The above steps are repeatedly executed until the first existing mark point set meets a registration stop condition, so as to obtain a first registration mark point set.

[0108] Optionally, the first point set determination module 730 is specifically configured to: In a current frame, the polyhedron is rotated by a preset angle in the first registration direction, and a candidate registration mark point located in the first registration coordinate system is acquired. acquire an existing aggregated candidate point set, and update the existing aggregated candidate point set based on the candidate registration marker point; determine a first registration marker point based on the existing aggregated candidate point set satisfying an aggregated registration condition; add the first registration marker point to the first existing marker point set; repeat the above steps until the first existing marker point set satisfies a registration stop condition, to obtain a first registration marker point set.

[0109] Optionally, the first point set determination module 730 is specifically configured to: in a current frame, rotate the polyhedron by a preset angle according to a first registration direction, and acquire a candidate registration marker point located in the first registration coordinate system; acquire an existing aggregated candidate point set, and update the existing aggregated candidate point set based on the candidate registration marker point; determine a geometric center point of the existing aggregated candidate point set satisfying an aggregated registration condition; convert the geometric center point based on the coordinate conversion matrix, to obtain a re-projection point; determine a re-projection error according to the re-projection point and a world coordinate corresponding to the re-projection point; determine, as a first registration marker point, a geometric center point corresponding to a re-projection point whose re-projection error satisfies a registration verification condition; add the first registration marker point to the first existing marker point set; repeat the above steps until the first existing marker point set satisfies a registration stop condition, to obtain a first registration marker point set.

[0110] Optionally, the apparatus further includes: a second coordinate acquisition module 750, configured to acquire, by an optical positioning apparatus, a second world coordinate of a marker point on an initial registration face of a polyhedron; a second coordinate system establishment module 760, configured to establish a second registration coordinate system according to the second world coordinate, and obtain a second existing marker point set in the second registration coordinate system; a second point set determination module 770, configured to acquire, according to a second registration direction, a second registration marker point from the initial registration face based on the second existing marker point set frame by frame, to obtain a second registration marker point set; Correspondingly, the registration result determination module 740 is specifically configured to: determine a marker point registration result of the polyhedron according to the first registration marker point set and the second registration marker point set.

[0111] Optionally, the registration result determination module 740 is configured to: determine optimal rigid transformation parameters between the first registration marker point set and the second registration marker point set; transform the first registration marker point set based on the optimal rigid transformation parameters to obtain a first corrected marker point set, and transform the second registration marker point set based on the optimal rigid transformation parameters to obtain a second corrected marker point set; merge the first registration marker point set and the first corrected marker point set, and merge the second registration marker point set and the second corrected marker point set to obtain a marker point registration result of the polyhedron.

[0112] In the embodiments of the present application, the first coordinate acquisition module is configured to acquire first world coordinates of marker points on an initial registration face of a polyhedron through an optical positioning device; the first coordinate system establishment module is configured to establish a first registration coordinate system according to the first world coordinates and obtain a first existing marker point set in the first registration coordinate system; the first point set determination module is configured to acquire first registration marker points based on the first existing marker point set from the initial registration face in a first registration direction to obtain a first registration marker point set; and the registration result determination module is configured to determine the first registration marker point set as a marker point registration result of the polyhedron. The above marker point registration device of the polyhedron can accurately identify all real marker points and effectively reduce the misidentification of false points, thereby achieving high-precision registration of marker points of the polyhedron tool.

[0113] The marker point registration device of the polyhedron in the embodiments of the present application can be a device, or a component, an integrated circuit, or a chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc., and the embodiments of the present application are not limited in this regard.

[0114] The polyhedral marker point registration device in the embodiments of the present application can be a device with an operating system. The operating system can be an Android operating system, an IOS operating system, or other possible operating systems, and the embodiments of the present application are not limited specifically.

[0115] The polyhedral marker point registration device provided in the embodiments of the present application can implement the processes implemented by the above-mentioned embodiments 1 to 4, and thus the details are not repeated here.

[0116] Embodiment 6 As shown in Figure 8 The embodiments of the present application also provide an electronic device 800, which includes a processor 801, a memory 802, and a program or instruction stored in the memory 802 and executable in the processor 801. When the program or instruction is executed by the processor 801, the processes of the above-mentioned polyhedral marker point registration method embodiments are implemented, and the same technical effects can be achieved. To avoid repetition, the details are not repeated here.

[0117] It should be noted that the electronic device in the embodiments of the present application includes the above-mentioned mobile electronic device and non-mobile electronic device.

[0118] Embodiment 7 The embodiments of the present application also provide a readable storage medium, which stores a program or instruction. When the program or instruction is executed by a processor, the processes of the above-mentioned polyhedral marker point registration method embodiments are implemented, and the same technical effects can be achieved. To avoid repetition, the details are not repeated here.

[0119] The processor is the processor in the electronic device described in the above-mentioned embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc.

[0120] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "includes a", does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. Additionally, it should be noted that the methods and apparatus of the present embodiments are not limited by the order of the steps or the sequence for performing the steps, as some steps can occur in different orders and / or concurrently with each other. Furthermore, the features of certain examples can be combined with features of other examples.

[0121] From the above description of the embodiments, it is apparent that the above-mentioned method of the embodiments can be realized by means of software and necessary universal hardware platforms, of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, or network equipment, etc.) execute the method described in each embodiment of the present application.

[0122] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative, not restrictive, and those of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

[0123] The above are only the preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and replacements made by those skilled in the art do not deviate from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without deviating from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method of registering a marker point of a polyhedron, characterized by, The method comprises: obtaining, by an optical positioning device, first world coordinates of a mark point on an initial registration surface of a polyhedron; establishing a first registration coordinate system according to the first world coordinates, and obtaining a first existing mark point set in the first registration coordinate system; in a first registration direction, starting from the initial registration surface, obtaining a first registration mark point based on the first existing mark point set to obtain a first registration mark point set; determining the first registration mark point set as a mark point registration result of the polyhedron.

2. The method of registering a marker point of a polyhedron according to claim 1, wherein The method comprises: in a current frame, rotating the polyhedron by a preset angle in the first registration direction, and obtaining a candidate registration mark point in the first registration coordinate system; determining a first registration mark point based on the candidate registration mark point, and adding the first registration mark point to the first existing mark point set; repeating the above steps until the first existing mark point set meets a registration stop condition, to obtain a first registration mark point set.

3. The method of registering a marker point of a polyhedron according to claim 2, wherein The method comprises: obtaining, by an optical positioning device, world coordinates of a mark point on the polyhedron within a positioning field of view of the optical positioning device, to obtain a world mark point set; matching the world mark point set and the first existing mark point set to obtain a matching point pair and a discrete point in the world mark point set that fails to match successfully; determining a coordinate conversion matrix according to the matching point pair, and converting the discrete point based on the coordinate conversion matrix to obtain a candidate registration mark point in the first registration coordinate system.

4. The method of claim 2, wherein The method comprises: obtaining an existing aggregated candidate point set, and updating the existing aggregated candidate point set based on the candidate registration mark point; determining a first registration mark point based on the existing aggregated candidate point set that meets an aggregated registration condition.

5. The method of registering a marker point of a polyhedron according to claim 4, wherein The method comprises: determining a geometric center point of the existing aggregated candidate point set that meets the aggregated registration condition; converting the geometric center point based on the coordinate conversion matrix to obtain a reprojected point; determining a reprojected error according to the reprojected point and a world coordinate corresponding to the reprojected point; determining, as a first registration mark point, a geometric center point corresponding to a reprojected point whose reprojected error meets a registration verification condition.

6. The method of registering a marker point of a polyhedron according to claim 1, wherein After the above steps, the method further comprises: obtaining, by an optical positioning device, second world coordinates of a mark point on an initial registration surface of a polyhedron; establishing a second registration coordinate system according to the second world coordinates, and obtaining a second existing mark point set in the second registration coordinate system; According to a second registration direction, a second registration mark point is obtained frame by frame based on the second existing mark point set starting from the initial registration surface, to obtain a second registration mark point set; Correspondingly, the first registration mark point set is determined as the mark point registration result of the polyhedron, including: The first registration mark point set and the second registration mark point set are used to determine the mark point registration result of the polyhedron.

7. The method of registering a marker point of a polyhedron according to claim 6, wherein The first registration mark point set and the second registration mark point set are used to determine the mark point registration result of the polyhedron, including: An optimal rigid transformation parameter between the first registration mark point set and the second registration mark point set is determined; The first registration mark point set is transformed based on the optimal rigid transformation parameter to obtain a first corrected mark point set, and the second registration mark point set is transformed based on the optimal rigid transformation parameter to obtain a second corrected mark point set; The first registration mark point set and the first corrected mark point set are merged, and the second registration mark point set and the second corrected mark point set are merged, to obtain the mark point registration result of the polyhedron.

8. A polyhedral marker registration device, characterized by The device includes: A first coordinate acquisition module is configured to acquire a first world coordinate of a mark point on an initial registration surface of a polyhedron through an optical positioning device; A first coordinate system establishment module is configured to establish a first registration coordinate system according to the first world coordinate, and obtain a first existing mark point set in the first registration coordinate system; A first point set determination module is configured to acquire a first registration mark point frame by frame based on the first existing mark point set starting from the initial registration surface according to a first registration direction, to obtain a first registration mark point set; A registration result determination module is configured to determine the first registration mark point set as the mark point registration result of the polyhedron.

9. An electronic device, comprising: The processor, the memory, and the program or instructions stored on the memory and executable on the processor are included, and the program or instructions are executed by the processor to implement the steps of the mark point registration method of the polyhedron according to any one of claims 1-7.

10. A readable storage medium, characterized by, The program or instructions are stored on the readable storage medium, and the program or instructions are executed by the processor to implement the steps of the mark point registration method of the polyhedron according to any one of claims 1-7.

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