CN110120060B - Identification method and device for marker and identification tracking system - Google Patents
Identification method and device for marker and identification tracking system Download PDFInfo
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- CN110120060B CN110120060B CN201810119854.XA CN201810119854A CN110120060B CN 110120060 B CN110120060 B CN 110120060B CN 201810119854 A CN201810119854 A CN 201810119854A CN 110120060 B CN110120060 B CN 110120060B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/187—Segmentation; Edge detection involving region growing; involving region merging; involving connected component labelling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
Abstract
The embodiment of the invention provides a method and a device for identifying a marker and an identification tracking system, which are applied to the field of image processing. The system comprises: one or more markers, each marker comprising a plurality of mutually separated sub-markers, the system pre-storing characteristics and identity information of the markers; the method comprises the following steps: acquiring a target image including a marker; processing the target image and acquiring surrounding relations among a plurality of connected domains in the target image; and determining the identity information of the marker in the target image as the corresponding identity information of the prestored marker according to the surrounding relation among the plurality of connected domains in the target image and the characteristics of the prestored marker.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a method and a device for identifying a marker and an identification tracking system.
Background
In recent years, with the advancement of technology, technologies such as augmented Reality (AR, augmented Reality) and Virtual Reality (VR) have gradually become hot spots for research at home and abroad. For example, augmented reality is a technique that augments a user's perception of the real world by information provided by a computer system that superimposes computer-generated virtual objects, scenes, or system cues into the real scene to augment or modify the perception of the real world environment or data representing the real world environment.
In an interactive system such as a virtual reality system and an augmented reality system, it is necessary to identify and track a visual interactive device. The existing identification tracking methods are usually realized by adopting modes such as magnetic sensors, optical sensors, ultrasonic waves, inertial sensors and image processing of visual interaction devices, but the identification tracking methods are usually not ideal, such as the magnetic sensors, the optical sensors, the ultrasonic waves and the like are usually greatly influenced by the environment, the inertial sensors have extremely high precision requirements, a brand new identification method is urgently needed in the market to realize low-cost and high-precision interaction, and the processing of images of the visual interaction devices, such as the processing of the images of the visual interaction devices to identify identity information of the visual interaction devices, is also needed as an important technology of identification tracking.
Disclosure of Invention
In view of the above, the embodiments of the present invention provide a method and apparatus for identifying a tag, and an identification tracking system for identifying identity information of the tag to perform tracking and positioning by the tag, so as to improve the above-mentioned problems.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
A method for identifying a marker for use in an identification tracking system, the system comprising: one or more markers, each marker comprising a plurality of mutually separated sub-markers, the system pre-storing characteristics and identity information of the markers; the method comprises the following steps: acquiring a target image including a marker; processing the target image and acquiring surrounding relations among a plurality of connected domains in the target image; and determining the identity information of the marker in the target image as the corresponding identity information of the prestored marker according to the surrounding relation among the plurality of connected domains in the target image and the characteristics of the prestored marker.
A marker identification device, which is applied to an identification tracking system, wherein the system comprises one or more markers, each marker comprises a plurality of sub-markers separated from each other, and the system stores the characteristics and identity information of the markers in advance; wherein the identification means comprises: an image acquisition module for acquiring a target image including a marker; the image processing module is used for processing the target image and acquiring surrounding relations among a plurality of connected domains in the target image; the identity determining module is used for determining the identity information of the marker in the target image as the identity information of the corresponding prestored marker according to the surrounding relation among the plurality of connected domains in the target image and the characteristics of the prestored marker.
An identification tracking system, comprising: the system comprises an image acquisition device and one or more markers, wherein each marker comprises a plurality of mutually separated sub-markers, the system stores the characteristics and the identity information of the markers in advance, and the image acquisition device is connected with a processor; the image acquisition device is used for: acquiring a target image comprising a marker; the processor is configured to: acquiring a target image acquired by the image acquisition device; processing the target image and acquiring surrounding relations among a plurality of connected domains in the target image; and determining the identity information of the marker in the target image as the corresponding identity information of the prestored marker according to the surrounding relation among the plurality of connected domains in the target image and the characteristics of the prestored marker.
According to the identification method, the device and the identification tracking system for the marker in the identification tracking system, the identity information of the connected domain corresponding to the marker is determined through the surrounding relation among the connected domains in the target image and the characteristics of the prestored marker, so that the identity information of the marker is obtained, the identification of the marker is realized, and tracking and positioning can be performed according to the identified marker in the identification tracking system.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
FIG. 1 shows a schematic diagram of an identification tracking system according to an embodiment of the present invention;
FIG. 2 shows a first schematic representation of a marker provided by an embodiment of the present invention;
FIG. 3 shows a second schematic of a marker provided by an embodiment of the present invention;
FIG. 4 shows a first schematic diagram of a visual interaction device provided by an embodiment of the present invention;
FIG. 5 shows a second schematic diagram of a visual interaction device provided by an embodiment of the present invention;
FIG. 6 shows a third schematic diagram of a visual interaction apparatus provided by an embodiment of the present invention;
FIG. 7 is a fourth schematic diagram of a visual interactive apparatus according to an embodiment of the present invention;
FIG. 8 shows a fifth schematic diagram of a visual interaction apparatus provided by an embodiment of the present invention;
FIG. 9 is a sixth schematic diagram of a visual interactive apparatus according to an embodiment of the present invention;
FIG. 10 shows a third schematic of a marker provided by an embodiment of the present invention;
FIG. 11 shows a fourth schematic of a marker provided by an embodiment of the present invention;
FIG. 12 is a flowchart of a method for identifying a marker according to an embodiment of the present invention;
FIG. 13 is a tree diagram of a surrounding relationship provided by an embodiment of the present invention;
fig. 14 is a functional block diagram of a marker identification device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, an identification tracking system provided by an embodiment of the present invention is shown. The identification tracking system includes a head mounted display device 100 and a visual interaction device.
The visual interaction device comprises a first background and at least one marker distributed on the first background according to a specific rule. The marker comprises a second background and a plurality of sub-markers distributed on the second background according to a specific rule, wherein each sub-marker is provided with one or more characteristic points. The first background and the second background have a certain distinction, for example, the first background may be black, and the second background may be white. In this embodiment, the distribution rule of the sub-markers in each marker is different, and thus, the images corresponding to each marker are different from each other.
The sub-markers are patterned with a shape and a color of the sub-markers is differentiated from a second background within the markers, e.g., the second background is white and the color of the sub-markers is black. The sub-markers can be composed of one or more characteristic points, the shape of the characteristic points is not limited, and the sub-markers can be round dots, circular rings, triangles or other shapes.
As an embodiment, as shown in fig. 2, a plurality of sub-markers 220 are included in the marker 210, and each sub-marker 220 is composed of one or more feature points 221, and each white circular pattern in fig. 2 is one feature point 221. The outline of the marker 210 is rectangular, however, the shape of the marker may be other shapes, and is not limited thereto, and in fig. 2, a rectangular white area and a plurality of sub-markers in the white area form one marker.
As another embodiment, as shown in FIG. 3, a plurality of sub-markers 340 are included within the marker 310, with each sub-marker 340 being comprised of one or more feature points 341; wherein a plurality of black dots 341 constitute one sub-marker 340. Specifically, in fig. 3, each white circular pattern and each black dot pattern are feature points 341.
In particular, the visual interaction means comprises a planar marking object and a multi-faceted marking structure. The planar marking object includes a first marking plate 200 and a second marking plate 500, and the multi-sided marking structure includes a six-sided marking structure 400 and a twenty-six-sided marking structure 300, but of course, other surface number marking structures are also possible, which are not listed here.
The first marking plate 200 is provided with a plurality of marks, the contents of the marks are different from each other, the marks on the first marking plate 200 are arranged on the same plane, namely the first marking plate 200 is provided with a marking surface, all the marks are arranged on the marking surface of the first marking plate 200, and characteristic points on the first marking plate 200 are all arranged on the marking surface; the second marking plates 500 are provided with one marker, the feature points on the second marking plates 500 are all on the marking surface, the number of the second marking plates 500 can be multiple, the content of the markers of each second marking plate 500 is different, and the multiple second marking plates 500 can be combined for use, for example, in the application fields of augmented reality or virtual reality corresponding to the identification tracking system.
The multi-sided marking structure includes a plurality of marking surfaces, and at least two of the non-coplanar marking surfaces are provided with a marking substance, as shown in fig. 1, and includes a six-sided marking structure 400 and a twenty-six-sided marking structure 300, wherein the six-sided marking structure 400 includes 6 marking surfaces, each of which is provided with a marking substance, and the patterns of the marking substances on each surface are different from each other.
The twenty-six-face marking structure 300 includes twenty-six faces, including 17 marking faces, each of which is provided with a marking, and the patterns of the marking on each face are different from each other. Of course, the total number of faces of the above-described multi-face marking structure, the description of the marking faces, and the arrangement of the markers may be set according to actual use, and are not limited herein.
It should be noted that, the visual interaction device is not limited to the above-mentioned planar marking object and multi-surface marking structure, the visual interaction device may be any carrier with a marking object, the carrier may be set according to an actual scene, such as a model gun such as a toy gun and a game gun, the corresponding marking object is set on the visual interaction device such as the model gun, and the position and rotation information of the model gun can be obtained by identifying and tracking the marking object on the model gun, so that a user can perform game operation in a virtual scene by holding the model gun, thereby realizing the effect of augmented reality.
The head mounted display device 100 includes a housing (not identified), an image capture device 110, a processor 140, a display device 120, an optical assembly 130, and an illumination device 150.
Wherein, the visual mileage camera 160, the display device 120 and the image acquisition device 110 are all electrically connected with the processor; in some embodiments, the illumination device 150 and the image capturing device 110 are both mounted and covered in the housing by a filter (not identified) that filters ambient light or other interfering light, such as infrared light emitted by the illumination device 150, the filter may be an element that filters light other than infrared light.
The image acquisition device 110 is used for acquiring an image of an object to be photographed and sending the image to the processor. Specifically, an image containing at least one of the above-described marking plate or multi-faceted marking structure is acquired and sent to a processor. As one embodiment, the image capture device 110 is a monocular near infrared imaging camera. In the present embodiment, the image capturing device 110 is a monocular camera adopting an infrared receiving mode, which has low cost, no external parameters between binocular cameras, low power consumption, and higher frame rate under the same bandwidth.
The processor 140 is configured to output corresponding display content to the display device 120 according to the image, and is further configured to perform an operation of identifying and tracking the visual interaction device.
In some embodiments, the head mounted display device 100 further comprises a vision range camera 160 disposed on the housing, wherein the vision range camera 160 is electrically connected to the processor, and the vision range camera 160 is configured to collect a scene image of an external real scene and send the scene image to the processor. When the user wears the head-mounted display device 100, the processor acquires the position and rotation relation of the head of the user and the real scene according to the scene image acquired by the visual mileage camera 160 and the visual mileage technology, specifically, the system acquires the specific position and direction change through the processing of feature extraction, feature matching, tracking and motion estimation through the image sequence acquired by the camera, and completes navigation positioning, so as to acquire the relative position and rotation relation of the head-mounted display device and the real scene; and according to the position and rotation information of the visual interaction device relative to the head-mounted display device, the relative position and rotation relation between the visual interaction device and the real scene can be calculated, so that more complex interaction forms and experiences can be realized.
The display device 120 is used for displaying display contents. In some embodiments, the display device may be part of a smart terminal, i.e. a display screen of a smart terminal, such as a display screen of a mobile phone and a tablet computer. In other embodiments, the display device may also be a stand-alone display (e.g., LED, OLED, or LCD), etc., where the display device is fixedly mounted to the housing.
When the display device 120 is a display screen of the intelligent terminal, a mounting structure for mounting the intelligent terminal is provided on the housing. When in use, the intelligent terminal is arranged on the shell through the mounting structure. The processor 140 may be a processor in the intelligent terminal or may be a processor independently disposed in the housing and electrically connected to the intelligent terminal through a data line or a communication interface. In addition, when the display device 120 is a display device separate from a terminal device such as an intelligent terminal, it is fixedly mounted on the housing.
The optical component 130 is configured to direct incident light emitted from the light emitting surface of the display device 120 to a preset position. The preset position is an observation position of eyes of a user.
The illumination device 150 is used for providing light for the image acquisition device 110 to acquire an image of an object to be photographed. Specifically, the illumination angle of the illumination device 150 and the number of illumination devices 150 may be set according to actual use so that the emitted illumination light can cover the object to be photographed. The illumination device 150 is an infrared illumination device, and is capable of emitting infrared light, and the image acquisition device is a near infrared camera and is capable of receiving infrared light. The image quality of the target image acquired by the image acquisition device 110 is improved by means of active illumination, and specifically, the number of the illumination devices 150 is not limited, and may be one or more. In some embodiments, the illumination device 150 is disposed in the vicinity of the image capture device 110, wherein it may be that a plurality of illumination devices 150 are circumferentially disposed in the vicinity of the camera of the image capture device 110.
When a user wears the head-mounted display device 100 and enters a preset virtual scene, and the visual interaction device is in the visual field of the image acquisition device 110, the image acquisition device 110 acquires a target image containing the visual interaction device; the processor 140 acquires the target image and related information, calculates and identifies the visual interaction device, acquires the position and rotation relation between the marker in the target image and the image acquisition device, and further acquires the position and rotation relation of the visual interaction device relative to the head-mounted display device, so that the virtual scene viewed by the user is in the corresponding position and rotation angle; the user can further generate a new virtual image in the virtual scene through the combination of a plurality of visual interaction devices, so that a better experience effect is brought to the user; the user can also realize the interaction with the virtual scene through the visual interaction device; in addition, the recognition tracking system can acquire the position and rotation relation between the head-mounted display device and the real scene through the visual mileage camera, further can acquire the position and rotation relation between the visual interaction device and the real scene, and can construct a virtual scene similar to the real scene when the virtual scene corresponding to the visual interaction device and the real scene have a certain corresponding relation, so that more real augmented reality experience can be improved.
In the identification tracking system, the visual interaction device is an object for realizing interaction between a user and the virtual world, the processor processes the image acquired by the image acquisition device to obtain the identity information of the marker in the visual interaction device and the position information of the visual interaction device, the display content of the corresponding marker can be determined according to the identity information of the marker, and the display position of the display content presented to the user can be determined according to the position information of the visual interaction device. When the identification tracking system is applied to the technical field of augmented reality or the technical field of virtual reality, the display of the virtual scene can be positioned through the visual interaction device, and interaction with the virtual scene can be realized. Therefore, the embodiment of the invention provides a method for identifying a marker, which can be used for an identification tracking system shown in fig. 1 to identify a visual interaction device and acquire the identity information of the visual interaction device.
The visual interaction device identified by the identification method in the embodiment of the present invention may be any carrier with a marker, such as a planar marking object with a marker on one plane as described in this embodiment, or a multi-surface marking structure with a marker on multiple planes.
As shown in fig. 4, the visual interaction means marks the object for a plane of the marker on a plane. The visual interaction device 200 comprises a target body 201 and one or more markers 210 arranged on the surface of the target body 201. As shown in fig. 5 and 6, the visual interaction device is a multi-surface marking structure with markers on multiple planes, and the visual interaction device 300 includes a target body 301 and one or more markers 310 disposed on the surface of the target body 301. Twenty hexahedron and hexahedron, respectively. Of course, the number of specific faces of the multi-face marking structure and the positional relationship between the faces are not limited in the embodiment of the present invention. The specific shape of the object body is not limited, and the surface of the object body may also include a curved surface, an arc surface, an uneven surface, or the like, and may be set according to specific needs.
In addition, if the visual interaction device includes one marker 310, the marker 310 may be disposed on any surface of the target body 301, as shown in fig. 6; or at the junction of two adjacent surfaces disposed in different planes, as shown in fig. 7.
If the visual interaction device comprises a plurality of markers, the arrangement mode can comprise a plurality of types. The plurality of markers 310 may be disposed on the same surface of the target body 301, and the same surface may be the same surface on the same plane, as shown in fig. 4; or on the same surface in different planes, such as a spherical surface, an arcuate surface, etc., as shown in fig. 8. Alternatively, the plurality of markers 310 may be disposed on different surfaces of the target body 301 in different planes, as shown in fig. 5, and one or more markers may be disposed on each surface of the different planes on which the markers 310 are disposed; alternatively, at least one marker of the plurality of markers 310 is disposed at the junction between two adjacent surfaces of the target body 301 in different planes, as shown in fig. 9. In addition, for multi-faceted marker structures, one or more markers 310 may be provided on different surfaces. The surface of the object body, which is used for setting the marker, is a corresponding marking surface.
One or more markers in the visual interaction device can be arranged to protrude from the surface of the object body, namely, a layer structure arranged on the surface of the object body. In addition, a groove corresponding to the marker may be formed on the surface of the target body for setting the marker, and one or more markers disposed on the target body are respectively disposed in the grooves corresponding to the surface, that is, the marker disposed on the target body is disposed in the groove on the surface of the target body, and the depth of the groove may be equal to the thickness of the marker, so that the outer surface of the marker is flush with the top of the groove.
In the embodiment of the present invention, each of the markers 602 includes a plurality of mutually separated sub-markers 603, as shown in fig. 10, the specific number of the sub-markers 603 included in each of the markers 602 is not limited, and may be set according to the size range of the markers 602, or may be determined according to specific identification requirements.
In addition, the sub-marker 603 is differentiated from the background 604 of the marker 602 to a certain extent, and further, the color of the sub-marker may be larger than the color of the background 604 in the marker 602, as shown in fig. 10, the sub-marker 603 is black, and the background 604 is white. The surface of the object body 601 may be different from the background 604 of the marker 602, as shown in fig. 4, the background 604 of the marker 602 is white, and the surface of the object body 601 is black. The surface of the object body 601 is the first background, and the background of the marker 602 is the second background.
Wherein each sub-marker 603 comprises one or more feature points 605, as shown in fig. 10, the individual feature points in each sub-marker 603 are separated from each other. The number of feature points included in each sub-marker 603 is not limited, and may be determined according to the actual identification requirement and the size of the area occupied by the marker 602. The shape of each feature point 605 is not limited in the embodiment of the present invention, and may be a polygon such as a triangle, a quadrangle, or a circle.
In an embodiment of the present invention, the sub-marker 603 may be a hollow pattern including one or more hollow portions, wherein each hollow portion serves as a feature point, as shown by the black sub-marker including white dots in fig. 10. As a specific embodiment, the sub-markers may be formed of a plurality of interconnected rings, with the hollow portion in each ring serving as a characteristic point in the sub-marker.
Further, a solid pattern may be further disposed in any hollow portion of the sub-marker, and the solid pattern is used as a feature point corresponding to the hollow portion in the sub-marker, as shown in a sub-marker a in fig. 10.
Further, in the hollow portion of the sub-marker, a hollow pattern, such as a circular ring, may be provided, and the hollow portion of the hollow pattern of the hollow portion is used as a corresponding feature point in the sub-marker. In the embodiment of the invention, the hollow patterns which are nested layer by layer, such as the rings which are nested layer by layer, can be arranged in the sub-markers by analogy, and the finally nested hollow parts are taken as characteristic points. The number of nested layers of the hollow patterns in the sub-markers can be set according to actual identification requirements or determined according to the resolution of the image acquisition device, and the number of nested layers is not limited in the embodiment of the invention.
In the embodiment of the present invention, in the sub-markers of the markers, at least one of the sub-markers may be composed of solid patterns separated from each other, and each solid pattern is a feature point. As shown in fig. 10, each of the black solid circles separated from each other may constitute a sub-marker, and each solid circle is a feature point in the sub-marker.
Further, in an embodiment of the present invention, to facilitate distinguishing and identifying each of the markers 602, the markers 602 in the identification tracking system are different from each other. Wherein the markers 602 are different from each other, the plurality of markers 602 may include different numbers of sub-markers 603, for example, 3 markers 602 are included in the identification tracking system, and the numbers of sub-markers 603 of the markers 602 are respectively x, y, z, x, y, z are not equal to each other.
Alternatively, the number of feature points 605 of at least one sub-marker 603 in the marker 602 is different from the number of feature points 605 of sub-markers 603 in other markers 602, for example, 3 feature points 605 of one sub-marker 603 in a certain marker 602, and 3 sub-markers 603 with the target feature points 605 are not included in any other marker 602.
Alternatively, the shape of the feature point 605 of at least one sub-marker 603 in the markers 602 is different from the shape of the feature point 605 of the sub-marker 603 in other markers 602, for example, if one sub-marker 603 in a certain marker 602 includes a feature point that is a solid circle, no sub-marker 603 in any other marker 602 includes a feature point that is a solid circle.
Alternatively, as an embodiment, the number of nesting layers of the hollow patterns in at least one sub-marker is different from the number of nesting layers of other sub-markers, so when the feature points corresponding to the hollow patterns with the number of nesting layers are identified, the identity of the marker corresponding to the sub-marker can be determined. For example, only the hollow portion of one sub-marker is provided with one solid dot as the feature point, and when it is recognized that one solid dot sub-marker is provided in the hollow portion, it may be determined that the marker corresponding to the sub-marker is a marker corresponding to one solid dot sub-marker provided in the preset marker model.
The number of the markers 602 may be different from each other, or the number of the markers 602 may be different from each other. Wherein the number of feature points 604 of the respective sub-markers 603 in each marker 602 constitutes a combination of the numbers in that marker 602. Taking fig. 10 as an example, the tag 602 includes four sub-tags 603, one sub-tag having a feature point number of 3, one sub-tag 603 having a feature point number of 2, one sub-tag having a feature point number of 5, one sub-tag having a feature point number of 1, and the number of the feature points of the four sub-tags forming a number combination in the tag 602.
Of course, in the embodiment of the present invention, the manner of distinguishing the markers 602 is not limited, and any combination of the above various manners is also possible. For example, in an identification tracking system, one tag may include a different number of sub-tags than the other tags, and when a tag having that number of sub-tags is identified, the identity of the tag may be determined; the number of feature points 605 of the sub-marker 603 in another marker is different from the number of feature points 605 of the sub-marker 603 in the other marker 602, and when a sub-marker having the number of feature points is identified, the identity of the marker corresponding to the sub-marker can be determined.
Referring to fig. 12, an identification method for identifying the visual interaction device according to an embodiment of the present invention may include:
step S110: an image of a target including a marker is acquired.
The acquired target image may be obtained by an image acquisition device, which target image comprises markers 210, as shown in fig. 2, and also comprises portions between markers, i.e. portions of the first background.
Step S120: and preprocessing the target image.
And processing the target image to distinguish the first background, the second background, the sub-marker and the connected domain corresponding to the characteristic point from the target image. As a specific embodiment, the target image may be processed into a binarized image, where the binarization threshold may be flexibly set according to the brightness characteristics of the marker, or an adaptive threshold binarization method may be used. Alternatively, in the continuous multi-frame image, for each frame other than the first frame, a threshold image is obtained after processing the history frame image as a binarization threshold when binarizing the current frame image. As a specific embodiment, after binarizing the target image, the portion between the markers and the sub-markers in the target image are treated as a first color, and the portion of the markers other than the sub-markers is a second color.
That is, each part of the marker which is in a surrounding relation in turn is processed to have a color gradation, so that a communication domain which is surrounded in turn is formed between each part. Taking the example shown in fig. 10, a portion corresponding to the first background in the target image is treated as a first color, a second background 604 in the marker 602 is treated as a second color, the sub-marker 603 is treated as a first color, and a hollow portion surrounded by the sub-markers is treated as a second color. If the hollow portion of the sub-marker further includes a solid pattern, the solid pattern is treated as a second color as shown in fig. 11 for sub-marker a. The first color and the second color may be colors with larger differences in pixel values, for example, the first color is black, and the second color is white. Of course, the binarized image, the first background, the second background, the sub-markers, and the feature points may be distinguished by other modes such as contrast, and the embodiment of the present invention will be mainly described by taking color gradation as an example.
Step S130: and acquiring connected domain information, and acquiring surrounding relations of all connected domains based on the connected domain information.
And acquiring the connected domain information in the target image, calculating connected components marked as Boolean images by using 4 or 8 paths of connectivity, and outputting the number of the connected domains, wherein the types of the connected domains can be output according to the surrounding relation, namely, the connected domains corresponding to the first background, the second background, the sub-markers, the characteristic points and other parts of the target image are output.
In the target image shown in fig. 2, the first background is a connected domain, the second background in the markers is a connected domain, each sub-marker not including black dots is connected domain information, white dots in the sub-markers are connected domain information, and each black dot in the sub-markers including black dots is connected domain information. The sub-markers which do not contain black points are sub-markers of hollow patterns, wherein white points are characteristic points, the sub-markers which contain black points are included, and the black points are characteristic points.
And acquiring surrounding relations among all the connected domains based on the connected domains in the target image. Taking the sub-marker containing 3 white spots in fig. 2 as an example, the sub-marker is connected domain information, the connected domain includes three white spot information, the three white spots are respectively connected domains, and the connected domain corresponding to each white spot is surrounded by the connected domain corresponding to the sub-marker.
Specifically, as shown in fig. 2, in the target image, a surrounding relationship is formed among the first background, the second background and the sub-markers, if the sub-markers are hollow patterns, the sub-markers also have a surrounding relationship corresponding to the hollow portions, for example, the sub-markers including white spots in fig. 2 form a surrounding relationship with the white spots.
Wherein the first background surrounds the second background, the second background surrounds the sub-markers, which also surround the white spots, i.e. the hollow parts, therein. That is, the connected domains corresponding to the first background, the second background, and the sub-markers respectively have a surrounding relationship, and the connected domains corresponding to the sub-markers and the connected domains corresponding to the hollow portions thereof also have a surrounding relationship, and the surrounding relationship may be represented by a tree diagram, such as the surrounding relationship of each connected domain corresponding to fig. 10 may be represented by a tree diagram as shown in fig. 13. The connected domain refers to an image region formed by pixel points which have the same pixel value and are adjacent in position in the image.
Specifically, the first background may be defined as the fourth connected domain, that is, the fourth connected domain is determined, and in the target image, the first background encloses all the markers, and therefore, the connected domain enclosing all the other connected domains in the target image may be regarded as the fourth connected domain. Taking the binarized target image as an example, the target image includes a first color and a second color, wherein the determined fourth connected domain meets the following conditions: the color is a first color, surrounding a connected domain of a second color, and not surrounded by the connected domain of the second color.
In addition, if the first background surrounds the marker, the fourth connected domain surrounds the connected domain corresponding to the second background in the marker, and the connected domain corresponding to the second background is defined as the first connected domain. That is, the communicating region surrounded by the fourth communicating region and adjacent to the fourth communicating region may be regarded as the first communicating region, each of the first communicating regions surrounded by the fourth communicating region corresponds to one of the markers, and the communicating region surrounding the other communicating region among the markers is the first communicating region.
If the binarized target image includes the first color and the second color, the connected domain surrounded by the fourth connected domain and having the second color is determined to be the first connected domain.
In addition, since each sub-marker is included in the markers, each sub-marker has a feature point, it is possible to determine that the connected domain surrounded by the first connected domain is the second connected domain, that is, define the connected domain corresponding to the sub-marker as the second connected domain. The connected domains surrounded by the second connected domain are determined to be third connected domains, i.e., if the sub-marker is a hollow pattern surrounding the white point as shown in fig. 10, the connected domains corresponding to the hollow portion (i.e., the surrounding white portion, i.e., the white feature point) are defined as third connected domains, each of which is a feature point. If the second communicating region does not surround the third communicating region, determining each second communicating region which does not surround the third communicating region as a characteristic point.
That is, in the target image, a surrounding relation tree diagram as shown in fig. 13 may be acquired, each first communicating region being surrounded by a fourth communicating region, each second communicating region being surrounded by a corresponding first communicating region, each third communicating region being surrounded by a corresponding second communicating region. Therefore, as shown in the surrounding relation tree diagram of fig. 13, the second connected domain surrounded by each first connected domain, and the number of second connected domains surrounded by each first connected domain can be obtained; a third communicating region surrounded by each second communicating region, and the number of third communicating regions surrounded by each second communicating region.
Step S140: and judging whether the sub-markers in the target image contain the containing patterns of the pre-stored markers according to the surrounding relation of the sub-markers in the target image and the characteristics of the pre-stored markers.
Each marker can be distinguished according to the surrounding relation of the connected domains in the target image, wherein each first connected domain corresponds to one marker, or each first connected domain, the second connected domain and the third connected domain which are surrounded by the first connected domain form one marker in the target image.
The system stores the characteristics and the identity information of the marker in advance, and then according to the characteristics of the marker stored in advance, the identity information of the marker in the target image can be determined to be the identity information of the corresponding marker stored in advance. The identity information of the pre-stored marker and the feature of the marker can be stored correspondingly.
The feature of the pre-stored marker comprises corresponding connected domains in the marker, the connected domains respectively comprise a first connected domain, a second connected domain and a third connected domain, and the pre-stored feature information further comprises surrounding relations among the connected domains: the number of second communicating regions surrounded by the first communicating region and the number of second communicating regions surrounded by the first communicating region, the number of third communicating regions surrounded by each second communicating region and the number of third communicating regions surrounded by the second communicating region.
In the first specific embodiment, if the number of combinations of feature points formed in each of the sub-markers corresponding to the plurality of pre-stored markers is different, the markers in the target image correspond to the same pre-stored markers as the mathematical combination. Specifically, the identification of the marker may be: for each first communicating domain in the target image, determining the corresponding first communicating domain in the feature information of the prestored marker, wherein the mutually corresponding first communicating domains are surrounded by the same number of second communicating domains, and the number of third communicating domains surrounded by the surrounded second communicating domains corresponds to one another. For example, taking the marker in fig. 10 as an example, a first connected domain corresponding to a second background of the marker in the target image includes 8 second connected domains, wherein 5 second connected domains do not include a third connected domain, and the 5 second connected domains correspond to 5 feature points to form a sub-marker; the 3 second communicating domains comprise third communicating domains, the 3 second communicating domains respectively correspond to one sub-marker, and respectively surround 1 third communicating domain, 3 third communicating domains and two third communicating domains, namely, the three communicating domains respectively have 1 characteristic point, 3 characteristic points and 2 characteristic points, and each characteristic point is a white point. Then in the surrounding relation of the pre-stored markers, the markers are searched for, which comprise 4 sub-markers, and the characteristic points of the 4 sub-markers are respectively 1 white point, 3 white points, 2 white points and 5 black points.
In a second specific embodiment, in the features of the prestored multiple markers, the surrounding relation between the connected domains is represented by codes, wherein each second connected domain corresponds to one code, the number of third connected domains surrounded by the second connected domain is different, and the corresponding codes are different.
In this embodiment, acquiring the surrounding relation between the plurality of connected domains in the processed target image may further include: and in the target image, second communicating domains surrounding different numbers of third communicating domains are provided with different corresponding codes, wherein the corresponding relation between the numbers of the third communicating domains and the codes is the same as that of the pre-stored markers. For example, if the pre-stored tag has a second communicating region surrounded by one third communicating region encoded as B1, a second communicating region surrounded by two third communicating regions encoded as B2, a second communicating region surrounded by two third communicating regions encoded as B3, and so on. When the second connected domain in the target image is encoded, the second connected domain surrounding one third connected domain is encoded as B1, the second connected domain surrounding two third connected domains is encoded as B2, the second connected domain surrounding two third connected domains is encoded as B3, and so on.
Of course, when encoding the connected domain, for example, in the encoding corresponding to the prestored plurality of markers, the fourth connected domain is represented by the first encoding, and the first connected domain is represented by the second encoding. When acquiring the inclusion relation among the plurality of connected domains in the processed target image, the fourth connected domain can be represented by the first code, and the first connected domain can be represented by the second code. The identity information of the first communication domain is still determined mainly through the codes of the second communication domains in the first communication domain, so that the identity information of the marker corresponding to the first communication domain is determined.
In this embodiment, the determination of the correspondence between the marker in the target image and the pre-stored marker may be performed by determining that the marker in the target image corresponds to the pre-stored marker having the same code. Specifically, each first communicating region surrounds one or more second communicating regions, each first communicating region corresponds to one marker, and then the code corresponding to the marker may be each code corresponding to each surrounded second communicating region. Likewise, the code corresponding to the pre-stored tag may be a pre-stored code of each second communicating region of the pre-stored tag. And acquiring the code which is the same as the code corresponding to the marker from the prestored codes corresponding to the prestored markers, wherein the identity information corresponding to the prestored markers of the same code is the identity information of the markers in the target image. The encoding order is not limited, and for example, for a marker encoding B0B1B2B3, the same encoding as B0B1B2B3 is obtained in a pre-stored marker, and the order of B0B1B2B3 is not limited, and for example, the obtained B1B2B0B3 is also considered to be the same as B0B1B2B 3.
In the embodiment of the present invention, the markers may be different from each other, or the plurality of markers may include different numbers of sub-markers, for example, only one of the plurality of preset pre-stored markers corresponds to the second number of sub-markers. The embodiment of the present invention provides a third implementation manner, in which, if a certain marker includes a second number of sub-markers in the target image, the marker corresponds to a pre-stored marker having the second number of sub-markers. In the identification process, if only one first communicating domain surrounds a second number of second communicating domains in the pre-stored marker, and if a certain first communicating domain surrounds the second number of second communicating domains in the target image, the marker corresponding to the first communicating domain corresponds to the marker surrounding the second number of second communicating domains in the pre-stored marker.
As a specific embodiment, since each black dot excluding the white feature point can be taken as one feature point as shown in fig. 10, all black dots excluding the white feature point can be taken as one sub-marker. That is, each second communicating region that does not surround the third communicating region serves as a feature point, and all the second communicating regions that do not surround the third communicating region serve as a sub-marker, then in this identification process, the statistical number of each second communicating region that surrounds the third communicating region is 1, and the statistical number of all the second communicating regions that do not surround the third communicating region is 1.
Further, in the embodiment of the present invention, the marker in the target image is not necessarily a complete marker, and if only a part of the marker is obtained and the marker has a large difference from other markers, the marker has features not found in other markers, and the identity of the marker can be determined according to the features in the marker.
Specifically, in the fourth specific implementation manner provided in the embodiment of the present invention, if the number of feature points of at least one sub-marker of a pre-stored marker is different from the number of feature points of sub-markers of other markers in the plurality of pre-stored markers, that is, only one first communication domain of the plurality of pre-stored markers is surrounded by a specific second communication domain, and the specific second communication domain is surrounded by the first number of third communication domains. And if a first number of third connected domains are surrounded by a second connected domain surrounded by a certain first connected domain in the target image, the marker corresponding to the first connected domain corresponds to the prestored marker corresponding to the specific second connected domain.
Alternatively, only one first communicating region of the plurality of pre-stored markers encloses a predetermined number of second communicating regions that do not enclose the third communicating region. And if a certain first communicating domain exists in the target image, surrounding a preset number of second communicating domains which do not surround a third communicating domain, wherein the marker corresponding to the first communicating domain corresponds to the prestored marker corresponding to the preset number of second communicating domains.
In addition, the embodiment of the present invention further provides a fifth implementation manner, if, in the characteristics of the plurality of pre-stored markers, the number of nesting layers of the hollow pattern in at least one sub-marker of a certain pre-stored marker is different from the number of nesting layers of other sub-markers, in the target image, if the number of pattern nesting layers of a certain sub-marker is the same as the number of nesting layers of the sub-marker in the pre-stored marker, the marker corresponding to the sub-marker corresponds to the pre-stored marker. That is, if only one of the prestored markers includes the third number of connected domains surrounded in sequence, if the target image includes the third number of connected domains surrounded in sequence, the marker corresponding to the third number of connected domains is determined to correspond to the prestored marker.
Step S150, determining that the identity information of the marker in the target image specifically corresponds to the prestored identity information of the prestored marker, and identifying the visual interaction device.
The pre-stored marker is a marker pre-stored with identity information, and the identity information corresponds to various information of the pre-stored marker, such as physical coordinates of each characteristic point in the pre-stored marker, a target body set by the pre-stored marker, and the like. And for the first connected domain in the target image, the identity information of the corresponding first connected domain in the surrounding relation of the prestored marker is used as the identity information of the first connected domain, so that the identity information of the marker corresponding to the first connected domain is obtained, and the information required by the physical coordinates of the feature points in each marker in the target image, the corresponding visual interaction device and the like can be obtained.
As shown in fig. 14, the present embodiment provides a marker identification device 600. Wherein the system comprises one or more markers, each marker comprising a plurality of mutually separated sub-markers, the system having pre-stored characteristics and identity information of the markers. Specifically, the identification device includes: an image acquisition module 610 for acquiring a target image including a marker; an image processing module 620, configured to process the target image and obtain a surrounding relationship between a plurality of connected domains in the target image; the identity determining module 630 is configured to determine, according to the surrounding relationships among the plurality of connected domains in the target image and the features of the prestored markers, that the identity information of the markers in the target image is the identity information of the corresponding prestored markers.
Wherein the image processing module 620 is configured to process the target image into a binarized image, and differentiate the sub-markers from the sub-markers in the markers.
In addition, the marker characteristic information stored in advance includes: the number of second communicating regions surrounded by the first communicating region, and the number of third communicating regions surrounded by each second communicating region.
The image processing module 620 may include a connected domain determining unit configured to determine that a connected domain surrounding other connected domains in the tag is a first connected domain, determine that a connected domain surrounding the first connected domain is a second connected domain, and determine that a connected domain surrounding the second connected domain is a third connected domain. A connected domain relationship acquisition unit configured to acquire the number of second connected domains surrounded by each of the first connected domains and the number of third connected domains surrounded by each of the second connected domains. The identity determining module 630 may be configured to determine, for each first connected domain in the target image, a corresponding first connected domain in the feature information of the pre-stored marker, where the first connected domains corresponding to each other are surrounded by the same number of second connected domains, and the number of third connected domains surrounded by the surrounded second connected domains corresponds to each other one by one.
Further, if only the second connected domain surrounded by the first connected domain surrounds the first number of third connected domains in the prestored marker, the identity determining module may be configured to determine that the identity information of the marker corresponding to the first connected domain is the identity information of the prestored marker corresponding to the first number of third connected domains if the first connected domain exists in the target image.
Optionally, if only one first communicating domain surrounds a second number of second communicating domains in the plurality of prestored markers, the identity determining module may be configured to determine that the identity information of the marker corresponding to the first communicating domain is the identity information of the prestored marker corresponding to the second number of second communicating domains if one first communicating domain surrounds the second number of second communicating domains in the target image.
Optionally, only one of the prestored plurality of prestored markers includes a third number of connected domains surrounded in sequence, and the identity determining module may be configured to determine that the identity information of the marker corresponding to the third number of connected domains is the identity information of the marker corresponding to the third number of prestored connected domains if the target image includes the third number of connected domains surrounded in sequence.
Optionally, the pre-stored marker feature information further includes a fourth connected domain, where the fourth connected domain surrounds the first connected domain. The identity determination module may be configured to determine that each first connected domain surrounded by the fourth connected domain corresponds to a marker.
In the embodiment of the invention, the surrounding relation of the connected domains in the target image is obtained, and the identity information of the prestored markers with the same surrounding relation is determined as the identity information of the corresponding markers in the target image according to the surrounding relation among the connected domains, the characteristic information and the identity information of the prestored markers. The prestored identity information can comprise information such as pixel positions, physical coordinate positions and the like of each marking graph in the marker, so that the gesture information of the marker can be further acquired according to the acquired identity information of the marker, and identification tracking can be realized on the marker.
In this specification, all embodiments are mainly described and are different from other embodiments, and identical and similar parts between the embodiments are referred to each other. For the apparatus class embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference is made to the description of the method embodiments for relevant points.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A method for identifying a marker for use in an identification tracking system, the system comprising: one or more markers, each marker comprising a plurality of mutually separated sub-markers, the system pre-storing marker characteristics and identity information, the pre-stored marker characteristics comprising: the number of second communicating regions surrounded by the first communicating region, the number of third communicating regions surrounded by each second communicating region; the method comprises the following steps:
acquiring a target image including a marker;
processing the target image and acquiring surrounding relations among a plurality of connected domains in the target image;
determining the identity information of the marker in the target image as the corresponding identity information of the prestored marker according to the surrounding relation among the plurality of connected domains in the target image and the characteristics of the prestored marker;
the acquiring the surrounding relation among the plurality of connected domains in the target image comprises the following steps: determining the communicating domain surrounding other communicating domains in the marker as a first communicating domain, determining the communicating domain surrounding the first communicating domain as a second communicating domain, and determining the communicating domain surrounding the second communicating domain as a third communicating domain; acquiring the number of second communicating domains surrounded by each first communicating domain and the number of third communicating domains surrounded by each second communicating domain; setting different corresponding codes for second communicating domains surrounding different numbers of third communicating domains in the target image, wherein the corresponding relation between the number of the third communicating domains and the codes is the same as that of the prestored markers;
The determining, according to the surrounding relation among the plurality of connected domains in the target image and the features of the prestored markers, the identity information of the markers in the target image as the identity information of the corresponding prestored markers includes: for each first communicating domain in the target image, determining corresponding first communicating domains in the feature information of the pre-stored marker, wherein the first communicating domains corresponding to each other are surrounded by the same number of second communicating domains, and the number of third communicating domains surrounded by the surrounded second communicating domains corresponds to each other one by one; and determining identity information corresponding to the marker with the same code as the target marker in the target image in the prestored markers, and taking the identity information as the identity information of the target marker.
2. The method of claim 1, wherein the processing the target image comprises:
the target image is processed into a binarized image, and the sub-markers in the markers are distinguished from the parts except the sub-markers.
3. The method of claim 1, wherein if only one of the prestored markers surrounds the second connected domain with the first number of third connected domains, the determining that the identity information of the marker in the target image is the identity information of the corresponding prestored marker comprises:
If a first connected domain exists in the target image, a first number of third connected domains are surrounded by a second connected domain surrounded by the first connected domain, and the identity information of the marker corresponding to the first connected domain is determined to be the identity information of the prestored marker corresponding to the first number of third connected domains.
4. The method of claim 1, wherein if only one first connected domain of the prestored plurality of markers is surrounded by a second number of second connected domains, the determining that the identity information of the marker in the target image is the identity information of the corresponding prestored marker comprises:
if a first connected domain exists in the target image, the first connected domain surrounds a second number of second connected domains, and identity information of a marker corresponding to the first connected domain is determined to be the identity information of a prestored marker corresponding to the second number of second connected domains.
5. The method of claim 2, wherein only one of the pre-stored markers comprises a third number of connected domains surrounded in sequence,
the determining that the identity information of the marker in the target image is the identity information of the corresponding pre-stored marker comprises:
If the target image comprises a third number of connected domains which are surrounded in sequence, determining that the identity information of the marker corresponding to the third number of connected domains is prestored identity information of the marker corresponding to the third number of connected domains.
6. The method of claim 1, wherein the pre-stored marker profile further comprises a fourth connected domain surrounding the first connected domain;
the acquiring the surrounding relation among the plurality of connected domains in the target image further comprises: and determining that each first communicating domain surrounded by the fourth communicating domain corresponds to one marker.
7. A tag identification device for use in an identification tracking system, said system comprising one or more tags, each tag comprising a plurality of mutually separated sub-tags, said system having pre-stored tag characteristics and identity information, the pre-stored tag characteristics comprising: the number of second communicating regions surrounded by the first communicating region, the number of third communicating regions surrounded by each second communicating region; wherein the identification means comprises:
an image acquisition module for acquiring a target image including a marker;
The image processing module is used for processing the target image and acquiring surrounding relations among a plurality of connected domains in the target image;
the identity determining module is used for determining the identity information of the marker in the target image as the identity information of the corresponding prestored marker according to the surrounding relation among the plurality of connected domains in the target image and the characteristics of the prestored marker;
the image processing module is also used for determining that the communicating domain surrounding other communicating domains in the marker is a first communicating domain, determining that the communicating domain surrounding the first communicating domain is a second communicating domain and determining that the communicating domain surrounding the second communicating domain is a third communicating domain; acquiring the number of second communicating domains surrounded by each first communicating domain and the number of third communicating domains surrounded by each second communicating domain; setting different corresponding codes for second communicating domains surrounding different numbers of third communicating domains in the target image, wherein the corresponding relation between the number of the third communicating domains and the codes is the same as that of the prestored markers;
the identity determination module is further used for determining corresponding first communication domains in the feature information of the marker stored in advance for each first communication domain in the target image, wherein the first communication domains corresponding to each other are surrounded by the same number of second communication domains, and the number of third communication domains surrounded by the surrounded second communication domains corresponds to each other one by one; and determining identity information corresponding to the marker with the same code as the target marker in the target image in the prestored markers, and taking the identity information as the identity information of the target marker.
8. The apparatus of claim 7, wherein the image processing module is further configured to process the target image into a binarized image, wherein a sub-marker in the marker is distinguished from a portion other than the sub-marker.
9. An identification tracking system, comprising: the image acquisition device and one or more markers, each marker comprises a plurality of mutually separated sub-markers, the system prestores the characteristics and the identity information of the markers, and the characteristics of the prestored markers comprise: the image acquisition device is connected with a processor;
the image acquisition device is used for:
acquiring a target image comprising a marker;
the processor is configured to:
acquiring a target image acquired by the image acquisition device;
processing the target image and acquiring surrounding relations among a plurality of connected domains in the target image;
determining the identity information of the marker in the target image as the corresponding identity information of the prestored marker according to the surrounding relation among the plurality of connected domains in the target image and the characteristics of the prestored marker;
The processor is further configured to:
determining the communicating domain surrounding other communicating domains in the marker as a first communicating domain, determining the communicating domain surrounding the first communicating domain as a second communicating domain, and determining the communicating domain surrounding the second communicating domain as a third communicating domain; acquiring the number of second communicating domains surrounded by each first communicating domain and the number of third communicating domains surrounded by each second communicating domain; setting different corresponding codes for second communicating domains surrounding different numbers of third communicating domains in the target image, wherein the corresponding relation between the number of the third communicating domains and the codes is the same as that of the prestored markers;
for each first communicating domain in the target image, determining corresponding first communicating domains in the feature information of the pre-stored marker, wherein the first communicating domains corresponding to each other are surrounded by the same number of second communicating domains, and the number of third communicating domains surrounded by the surrounded second communicating domains corresponds to each other one by one; and determining identity information corresponding to the marker with the same code as the target marker in the target image in the prestored markers, and taking the identity information as the identity information of the target marker.
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