CN116999162A

CN116999162A - Target tracking method, system, equipment and storage medium based on optical navigator

Info

Publication number: CN116999162A
Application number: CN202210453744.3A
Authority: CN
Inventors: 张今; 张哲思; 谢强; 叶廷
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2022-04-27
Filing date: 2022-04-27
Publication date: 2023-11-07

Abstract

The application relates to an optical navigator-based target tracking method, an optical navigator-based target tracking system, optical navigator-based target tracking equipment and a storage medium. The method comprises the following steps: acquiring a group of image information of the tracked target marker acquired by each optical navigator in at least two optical navigator to obtain at least two groups of image information; calculating one set of pose information of the tracked target marker based on each set of image information to obtain at least two sets of pose information of the tracked target marker; judging whether abnormal pose information exists in at least two sets of pose information, if so, removing the pose information with the abnormality from the at least two sets of pose information, and generating target pose information so as to track the tracked target marker based on the target pose information. By adopting the method, the reliability of target tracking can be improved.

Description

Target tracking method, system, equipment and storage medium based on optical navigator

Technical Field

The application relates to the technical field of medical detection, in particular to a target tracking method, a system, equipment and a storage medium based on an optical navigator.

Background

Surgical navigation is realized by three-dimensionally digitizing focus tissues of a patient and tracking the position of surgical instruments in real time, thereby realizing visualization and automation of surgical operation. The optical navigation is a mainstream method in the current operation navigation, has the advantages of high precision, flexible and convenient application, no invasive injury and the like, and therefore, has wider application, and can detect and track a target object in real time in operation through an optical navigation instrument.

In the related art, an optical navigation instrument is usually arranged in an actual scene, so that a larger operation space can be reserved, and interference to operation is avoided. However, when a single optical navigation instrument is used for detecting and tracking a target object in an operation, if the optical navigation instrument is abnormal, the target object cannot be continuously tracked, and therefore the operation navigation is interrupted. Currently, no effective solution has been proposed for the problems existing in the related art.

Disclosure of Invention

In view of the foregoing, it is desirable to provide an optical navigator-based target tracking method, system, apparatus, and storage medium that can improve reliability of target tracking.

In a first aspect, the present application provides an optical navigator-based target tracking method. The method comprises the following steps:

Acquiring a group of image information of the tracked target marker acquired by each optical navigator in at least two optical navigator to obtain at least two groups of image information; calculating one set of pose information of the tracked target marker based on each set of image information to obtain at least two sets of pose information of the tracked target marker; judging whether abnormal pose information exists in at least two sets of pose information, if so, removing the pose information with the abnormality from the at least two sets of pose information, and generating target pose information so as to track the tracked target marker based on the target pose information.

In one embodiment, the at least two optical navigators include a first optical navigator and a second optical navigator; based on each set of image information, calculating a set of pose information of the tracked target marker to obtain at least two sets of pose information of the tracked target marker, including:

calculating a first set of pose information of the tracked target marker according to a first set of image information of the tracked target marker acquired by a first optical navigator; calculating a second set of pose information of the tracked target marker based on a second set of image information of the tracked target marker acquired by a second optical navigator; the second optical navigator is provided with a reference marker, and the reference marker is located in the field of view range of the first optical navigator.

In one embodiment, calculating a first set of pose information of the tracked target marker from a first set of image information of the tracked target marker acquired by a first optical navigator comprises:

establishing a first coordinate system based on a first optical navigator; pose information of the tracked target marker under a first coordinate system is determined according to the first group of image information and is used as the first group of pose information.

In one embodiment, calculating a second set of pose information for the tracked target marker based on a second set of image information for the tracked target marker acquired by a second optical navigator comprises:

establishing a first coordinate system based on the first optical navigator, establishing a second coordinate system based on the second optical navigator, and establishing a reference coordinate system based on the reference marker; determining pose information of the reference marker under a first coordinate system according to the image information of the reference marker acquired by the first optical navigator; determining pose information of the tracked target marker under a second coordinate system according to the second group of image information; and determining pose information of the tracked target marker under the first coordinate system as a second set of pose information according to the conversion relation between the second coordinate system and the reference coordinate system, the pose information of the tracked target marker under the second coordinate system and the pose information of the reference marker under the first coordinate system.

calculating a first set of pose information of the tracked target marker based on a first set of image information of the tracked target marker acquired by the first optical navigator; calculating a second set of pose information of the tracked target marker based on a second set of image information of the tracked target marker acquired by a second optical navigator;

wherein, the intersection of the field of view scope of the first optical navigator and the field of view scope of the second optical navigator is provided with a reference marker.

In one embodiment, a first set of pose information of the tracked target marker is calculated based on a first set of image information of the tracked target marker acquired by a first optical navigator; and calculating a second set of pose information of the tracked target marker based on the second set of image information of the tracked target marker acquired by the second optical navigator, comprising:

establishing a first coordinate system based on the first optical navigator, establishing a second coordinate system based on the second optical navigator, and establishing a reference coordinate system based on the reference marker;

Determining pose information of the first optical navigator under a reference coordinate system according to the image information of the reference marker acquired by the first optical navigator; determining pose information of the second optical navigator under a reference coordinate system according to the image information of the reference marker acquired by the second optical navigator;

determining pose information of the tracked target marker under a first coordinate system according to the image information of the tracked target marker acquired by the first optical navigator; determining pose information of the tracked target marker under a second coordinate system according to the image information of the tracked target marker acquired by the second optical navigator;

determining pose information of the tracked target marker in the reference coordinate system according to the pose information of the tracked target marker in the first coordinate system and the pose information of the first optical navigator in the reference coordinate system, and taking the pose information as a first group of pose information; and determining pose information of the tracked target marker in the reference coordinate system according to the pose information of the tracked target marker in the second coordinate system and the pose information of the second optical navigator in the reference coordinate system, and taking the pose information as a second set of pose information.

In one embodiment, determining whether abnormal pose information exists in at least two sets of pose information includes:

judging whether the pose information meets a preset condition according to each set of pose information in at least two sets of pose information; the preset conditions comprise at least one of data type, data format, data quantity, data precision, numerical range and data transmission frame rate of pose information; if not, the pose information is determined to be the pose information with abnormality.

comparing the first set of pose information with the second set of pose information to generate a comparison result; judging whether the comparison result meets a preset error range or not; if the position information does not meet the position information, determining the second group of position information as position information with abnormality.

In one embodiment, the method further comprises:

determining an abnormal optical navigator corresponding to the pose information with the abnormality from at least two optical navigators according to the pose information with the abnormality; and disconnecting the communication with the anomalous optical navigator.

In a second aspect, the present application also provides a target tracking system comprising:

The tracking device comprises at least two optical navigator, each optical navigator is used for collecting one group of image information of the tracked target marker and transmitting the at least two groups of image information of the tracked target marker to the computer device;

the computer equipment is in communication connection with the tracking equipment and is used for calculating one set of pose information of the tracked target marker based on each set of image information to obtain at least two sets of pose information of the tracked target marker; judging whether abnormal pose information exists in at least two sets of pose information, if so, removing the pose information with the abnormality from the at least two sets of pose information, and generating target pose information so as to track the tracked target marker based on the target pose information.

In one embodiment, the system further comprises a reference marker; the at least two optical navigator comprises a first optical navigator and a second optical navigator; the second optical navigator is provided with a reference marker, and the reference marker is located within the field of view of the first optical navigator.

In one embodiment, the system further comprises a reference marker; the at least two optical navigator comprises a first optical navigator and a second optical navigator; the reference marker is disposed within an intersection of a field of view range of the first optical navigator and a field of view range of the second optical navigator.

In a third aspect, the application further provides an object tracking device based on the optical navigator. The device comprises:

the acquisition module is used for acquiring one set of image information of the tracked target marker acquired by each optical navigator in the at least two optical navigators to obtain at least two sets of image information;

the computing module is used for computing one set of pose information of the tracked target marker based on each set of image information to obtain at least two sets of pose information of the tracked target marker;

the generating module is used for judging whether abnormal pose information exists in at least two sets of pose information, if so, the pose information with the abnormality is removed from the at least two sets of pose information, and target pose information is generated so as to track the tracked target marker based on the target pose information.

In a fourth aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the method steps of any of the embodiments of the first aspect described above when the processor executes the computer program.

In a fifth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method steps of any of the embodiments of the first aspect described above.

In a sixth aspect, the application also provides a computer program product. The computer program product comprising a computer program which, when executed by a processor, carries out the method steps of any of the embodiments of the first aspect described above.

According to the optical navigator-based target tracking method, system, equipment and storage medium, at least two sets of image information are obtained by obtaining one set of image information of the tracked target marker acquired by each optical navigator in at least two optical navigators; calculating one set of pose information of the tracked target marker based on each set of image information to obtain at least two sets of pose information of the tracked target marker; judging whether abnormal pose information exists in at least two sets of pose information, if so, removing the pose information with the abnormality from the at least two sets of pose information, and generating target pose information so as to track the tracked target marker based on the target pose information. In the technical scheme provided by the embodiment of the application, as the target object is tracked by adopting at least two optical navigator in the process of target tracking, the flexibility of tracking the target object is increased, and a larger field of view range is provided; and by performing anomaly detection according to the pose information of the tracked target marker obtained by at least two optical navigator, the pose information with anomalies is removed, and the reliability of target tracking is increased.

Drawings

FIG. 1 is an internal block diagram of a computer device in one embodiment;

FIG. 2 is a flow chart of a target tracking method based on an optical navigator according to one embodiment;

FIG. 3 is a schematic diagram of two optical navigators in one embodiment;

FIG. 4 is a flow diagram of generating a first set of pose information in one embodiment;

FIG. 5 is a flow diagram of generating a second set of pose information in an embodiment;

FIG. 6 is a schematic diagram of two optical navigators in another embodiment;

FIG. 7 is a flow diagram of generating two sets of pose information in one embodiment;

FIG. 8 is a flow diagram of determining abnormal pose information in one embodiment;

FIG. 9 is a flowchart of determining abnormal pose information according to another embodiment;

FIG. 10 is a flow diagram of exception handling in one embodiment;

FIG. 11 is a flow diagram of a determination of a target optical navigator in one embodiment;

FIG. 12 is a block diagram of an optical navigator based target tracking apparatus in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The object tracking method of the optical navigator can be applied to computer equipment, wherein the computer equipment can be a server or a terminal, the server can be one server or a server cluster formed by a plurality of servers, the embodiment of the application is not particularly limited to the embodiment, and the terminal can be but not limited to various personal computers, notebook computers, smart phones, tablet computers and portable wearable equipment.

Taking the example of a computer device being a server, fig. 1 shows a block diagram of a server, as shown in fig. 1, the computer device comprising a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store optical navigator-based target tracking data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement an optical navigator-based target tracking method.

It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and does not constitute a limitation of the servers to which the present inventive arrangements are applied, alternatively the servers may include more or less components than those shown, or may combine certain components, or have different arrangements of components.

It should be noted that, the execution subject of the embodiment of the present application may be a computer device, or may be a target tracking device based on an optical navigator, and in the following method embodiments, the execution subject is described by using the computer device as the execution subject.

In one embodiment, as shown in fig. 2, a flowchart of a target tracking method based on an optical navigator according to an embodiment of the present application is shown, and the method includes the following steps:

step 220, obtaining a set of image information of the tracked target marker collected by each optical navigator of the at least two optical navigators, and obtaining at least two sets of image information.

Wherein real-time detection and tracking of the target object is often required during surgery, and when the target object is detected and tracked in real-time by using an optical navigator, a marker, for example, an optical ball which can reflect near infrared light, is often required to be arranged on the target object. By tracking the marker by using the optical navigator, the image information of the marker is obtained, and further the pose information of the target object can be obtained.

In the clinical surgery in a more complex environment, at least two optical navigator are adopted to track targets, so that the requirements of multiple navigation targets and a large navigation range of view fields can be met. And moreover, the two optical navigator can provide more flexible and larger view field range, so that the larger view field requirement is met. Thus, the image information of one set of tracked target markers, which may be optical markers disposed on a target object, such as a surgical instrument such as a rasp tool or a prosthetic impactor, may be acquired by each of the at least two optical navigators, thereby obtaining the image information of the at least two sets of tracked target markers.

Step 240, calculating a set of pose information of the tracked target marker based on each set of image information to obtain at least two sets of pose information of the tracked target marker.

After obtaining the image information of at least two groups of tracked target markers, identifying and analyzing the image information according to each group of image information, so that the coordinate information of the tracked target markers can be extracted, and further a group of pose information of the tracked target markers can be obtained. And repeating the process for each set of image information, and finally obtaining at least two sets of pose information of the tracked target marker.

And 260, judging whether abnormal pose information exists in at least two sets of pose information, if so, removing the pose information with the abnormality from the at least two sets of pose information, and generating target pose information so as to track the tracked target marker based on the target pose information.

The obtained two sets of pose information of the tracked target can be compared with each other to determine pose information with abnormality; the position information can also be compared with standard position information, so that abnormal position information is determined; of course, other manners may be adopted to determine pose information with an abnormality, which is not particularly limited in this embodiment.

After determining that abnormal pose information exists, the abnormal pose information can be removed, and then target pose information is generated, so that the tracked target marker is tracked based on the target pose information. It should be noted that, the pose information with the abnormality may be one set of pose information therein, or may be a part of information in at least one set of pose information, which is not particularly limited in this embodiment.

In this embodiment, at least two sets of image information are obtained by obtaining a set of image information of the tracked target marker collected by each of the at least two optical navigators; calculating one set of pose information of the tracked target marker based on each set of image information to obtain at least two sets of pose information of the tracked target marker; judging whether abnormal pose information exists in at least two sets of pose information, if so, removing the pose information with the abnormality from the at least two sets of pose information, and generating target pose information so as to track the tracked target marker based on the target pose information. The flexibility of tracking the target object is improved and a larger field of view is provided by adopting at least two optical navigator to track the target object in the process of tracking the target; and by performing anomaly detection according to the pose information of the tracked target marker obtained by at least two optical navigator, the pose information with anomalies is removed, and the reliability of target tracking is increased.

In one embodiment, the at least two optical navigators include a first optical navigator and a second optical navigator; based on each set of image information, calculating a set of pose information of the tracked target marker to obtain at least two sets of pose information of the tracked target marker, including: calculating a first set of pose information of the tracked target marker according to a first set of image information of the tracked target marker acquired by a first optical navigator; calculating a second set of pose information of the tracked target marker based on a second set of image information of the tracked target marker acquired by a second optical navigator; the first optical navigator is located at a fixed position, the second optical navigator is provided with a reference marker, and the reference marker is located in the field of view range of the first optical navigator.

As shown in fig. 3, the first optical navigator a is a fixedly arranged optical navigator, the fixed position may be empirically set, the second optical navigator B is a movable optical navigator, the reference marker N is fixedly connected with the second optical navigator B, and the first optical navigator a is used for tracking the reference marker N, which is also called a tandem configuration of two optical navigators. Alternatively, the reference marker N and the second optical navigator B may be fixedly connected by a rigid connection method, wherein the rigid connection is a pipe connection method in which a heat-shrinkable tube or a heat-shrinkable belt made of a cross-linked material is flame heated to bond a hot melt adhesive on the inner surface of the heat-shrinkable tube or the heat-shrinkable belt to the outer surface of the pipe material into a whole, and the heat-shrinkable tube or the heat-shrinkable belt is cooled and solidified to form a constant tightening force.

When the optical navigator with the serial configuration is adopted for target tracking, the first optical navigator A and the second optical navigator B can simultaneously track the tracked target marker M, so that a first group of image information of the tracked target marker M can be obtained through the first optical navigator A, and a first group of pose information of the tracked target marker M can be obtained through calculation; and a second set of image information of the tracked target marker M is obtained through the second optical navigator B, so that a second set of pose information of the tracked target marker M is obtained through calculation.

In this embodiment, the first optical navigator is disposed at a fixed position, the reference marker is fixedly connected with the second optical navigator, and the reference marker is located in the field of view of the first optical navigator, and the tracked target marker is tracked through the first optical navigator and the second optical navigator at the same time.

In one embodiment, as shown in fig. 4, a flowchart of an optical navigator-based target tracking method according to an embodiment of the present application is shown, and specifically relates to a possible process of generating a first set of pose information, the method includes the following steps:

step 420, a first coordinate system is established based on the first optical navigator.

Step 440, determining pose information of the tracked target marker under the first coordinate system according to the first set of image information, and using the pose information as the first set of pose information.

When the first optical navigator is used for collecting the image information of the tracked target marker, a first coordinate system is required to be constructed on the first optical navigator, and the first coordinate system can be a visual coordinate system of the first optical navigator. The image information of the tracked target marker is identified and analyzed based on the image information of the tracked target marker acquired by the first optical navigator, so that the coordinate information of the tracked target marker under the first coordinate system can be extracted, and further, the first group of pose information of the tracked target marker can be acquired.

In this embodiment, by establishing the first coordinate system based on the first optical navigator, pose information of the tracked target marker under the first coordinate system is determined according to the first set of image information, and the pose information is used as the first set of pose information, so that the acquired first set of pose information is more accurate.

In one embodiment, as shown in fig. 5, a flowchart of an optical navigator-based target tracking method according to an embodiment of the present application is shown, and specifically relates to a possible process of generating a second set of pose information, the method includes the following steps:

step 520, a first coordinate system is established based on the first optical navigator, a second coordinate system is established based on the second optical navigator, and a reference coordinate system is established based on the reference marker.

Step 540, determining pose information of the reference marker under the first coordinate system according to the image information of the reference marker acquired by the first optical navigator.

Step 560, determining pose information of the tracked target marker under the second coordinate system according to the second set of image information.

Step 580, determining pose information of the tracked target marker in the first coordinate system according to the conversion relation between the second coordinate system and the reference coordinate system calibrated in advance, pose information of the tracked target marker in the second coordinate system and pose information of the reference marker in the first coordinate system, and taking the pose information as a second set of pose information.

Before the optical navigator with the tandem configuration is adopted to track the target, the second optical navigator B connected with the reference marker N needs to be calibrated, so as to realize registration of the reference coordinate system of the reference marker N and the second coordinate system of the second optical navigator B. Specifically, a first coordinate system { S } of the coordinate system is established on the optical navigation instruments A and B _A Second coordinate system { S } _B Establishing a coordinate system reference coordinate system { S } on the reference marker N _N }. The reference marker N is placed in the field of view of the optical navigation instrument A, the tracked target marker M is simultaneously placed in the field of view of the optical navigation instruments A and B, and the coordinate system { S } is obtained by the optical navigation instrument A _A Sum { S } and coordinate system established on the tracked target marker _M Registration relation T of } _M ^A ，{S _A Sum { S } _N Registration relation T of } _N ^A The coordinate system { S } is obtained by the optical navigation instrument B _B Sum { S } _M Registration relation T of } _M ^B The coordinate system { S } can be calculated _B Sum { S } _N Registration relation T of } _N ^B 。

In the using process, fixing the first optical navigator A at a fixed position and establishing a first coordinate system; then placing the reference marker N connected to the second optical navigation instrument B in the field of view of the first optical navigation instrument A; tracking the tracked target marker M using a second optical navigation instrument B; according to the coordinate system { S ] _A Sum { S } _B Conversion relation calculation of tracked target marker M in first coordinate System { S } _A Pose information under }. In addition, when tracking the target in operation, the pose information of the second optical navigation instrument B can be properly adjusted by adopting a manual or control motor driving mode according to the pose information of the tracked target marker so as to avoid the interruption of the target tracking process, reduce the limit on the pose of the tracked target and reduce the limit on the pose of the tracked target The operation difficulty of the doctor of the main knife.

Specifically, since the reference marker N can be calculated in the first coordinate system { S } based on the image information of the reference marker acquired by the first optical navigator _A Pose information under the second optical navigator, and can calculate the tracked target marker M in the second coordinate system { S } based on the second set of image information of the tracked target marker acquired by the second optical navigator _B Pose information under { S }, and a first coordinate system _A And a second coordinate system { S } _B The conversion relation of the target marker M is known, and the target marker M can be calculated in the first coordinate system { S } _A Pose information under } and taking the pose information as a second set of pose information.

In the embodiment, a first coordinate system is established based on the first optical navigator, a second coordinate system is established based on the second optical navigator, and a reference coordinate system is established based on the reference marker; determining pose information of the reference marker under a first coordinate system according to the image information of the reference marker acquired by the first optical navigator; determining pose information of the tracked target marker under a second coordinate system according to the second group of image information; and determining pose information of the tracked target marker under the first coordinate system as a second set of pose information according to the conversion relation between the second coordinate system and the reference coordinate system, the pose information of the tracked target marker under the second coordinate system and the pose information of the reference marker under the first coordinate system. The second optical navigator connected with the reference marker is calibrated in advance to realize the registration of the reference coordinate system and the second coordinate system, so that the pose information of the tracked target marker under the first coordinate system can be more conveniently obtained; and the position information of the tracked target relative to the first optical navigator can be obtained by properly adjusting the pose of the second optical navigator, so that the interruption of the target tracking process is avoided, the limitation on the pose of the tracked target is reduced, and the operation difficulty of a doctor of a main knife is reduced.

In one embodiment, the at least two optical navigators include a first optical navigator and a second optical navigator; based on each set of image information, calculating a set of pose information of the tracked target marker to obtain at least two sets of pose information of the tracked target marker, including: calculating a first set of pose information of the tracked target marker based on a first set of image information of the tracked target marker acquired by the first optical navigator; calculating a second set of pose information of the tracked target marker based on a second set of image information of the tracked target marker acquired by a second optical navigator; the reference marker is located at a fixed position, and the reference marker is located in the field of view range of the first optical navigator and the field of view range of the second optical navigator at the same time, that is, the fixed position is a position in the intersection of the field of view range of the first optical navigator and the field of view range of the second optical navigator.

As shown in fig. 6, the first optical navigator a and the second optical navigator B are both movable optical navigators, the reference marker P is located at a fixed position, the fixed position may be empirically set, and the reference marker P is located in the field of view of the first optical navigator a and the second optical navigator B at the same time, which is also referred to as a parallel configuration of the two optical navigators.

When the optical navigator with the parallel configuration is adopted to track a target, the first optical navigator A and the second optical navigator B can simultaneously track a tracked target marker Kn (n=1, 2,3, …), so that a first set of image information of the tracked target marker Kn can be obtained through the first optical navigator A, and a first set of pose information of the tracked target marker is calculated; and obtaining a second set of image information of the tracked target marker Kn through a second optical navigator B, so as to calculate and obtain a second set of pose information of the tracked target marker.

In the use process, unlike the serial configuration, the parallel configuration does not need to be calibrated before use, and only the placement positions of the first optical navigator A and the second optical navigator B can cover the common visual field range. Specifically, a reference marker P is fixed at a fixed position, and a reference coordinate system is established; coarse-adjusting the first optical navigator A and the second optical navigator B so that the reference marker P falls in the field of view of the first optical navigator A and the second optical navigator B at the same time; for any tracked target marker Kn, as the tracked target marker Kn is also located in the field of view of the first optical navigator A and the second optical navigator B, pose information of the tracked target marker can be obtained through calculation. In addition, when the target is tracked, the pose of any optical navigation instrument can be properly adjusted according to the position and the angle of the tracked target, so that the interruption of the target tracking process is avoided. And when the device is normally used under the parallel configuration, if two array tools appear, namely, the tracked object is placed in front of and behind the device, the placement mode can increase shielding or lead to stacking of the tracked object markers, and the device can assist in positioning through another optical navigator at the moment, and the array placed in the mode is compensated and positioned, so that the function of uninterrupted positioning is achieved.

Specifically, when acquiring the first set of pose information and the second set of pose information of the tracked target marker, as shown in fig. 7, a flowchart of a target tracking method based on an optical navigator according to an embodiment of the present application is shown, and specifically relates to a possible process of generating two sets of pose information, where the method includes the following steps:

step 720, establishing a first coordinate system based on the first optical navigator, establishing a second coordinate system based on the second optical navigator, and establishing a reference coordinate system based on the reference marker.

Step 740, determining pose information of the first optical navigator under a reference coordinate system according to the image information of the reference marker acquired by the first optical navigator; and determining pose information of the second optical navigator under the reference coordinate system according to the image information of the reference marker acquired by the second optical navigator.

Step 760, determining pose information of the tracked target marker under a first coordinate system according to the image information of the tracked target marker acquired by the first optical navigator; and determining pose information of the tracked target marker under a second coordinate system according to the image information of the tracked target marker acquired by the second optical navigator.

Step 780, determining pose information of the tracked target marker in the reference coordinate system according to the pose information of the tracked target marker in the first coordinate system and the pose information of the first optical navigator in the reference coordinate system, and taking the pose information as a first group of pose information; and determining pose information of the tracked target marker in the reference coordinate system according to the pose information of the tracked target marker in the second coordinate system and the pose information of the second optical navigator in the reference coordinate system, and taking the pose information as a second set of pose information.

With continued reference to fig. 6, when the optical navigator with the serial configuration is used for tracking a target, a first coordinate system needs to be established based on the first optical navigator a, a second coordinate system needs to be established based on the second optical navigator B, and a reference coordinate system needs to be established based on the reference marker P. The image information of the reference marker is acquired through the first optical navigator A, so that a first position relation between the first optical navigator A and the reference marker P is acquired, and pose information of the first optical navigator A under a reference coordinate system can be obtained.

Based on the image information of the tracked target marker Kn acquired by the first optical navigator A, the image information is identified and analyzed, so that the coordinate information of the tracked target marker Kn under the first coordinate system is extracted, and the pose information of the tracked target marker Kn under the first coordinate system is obtained. And obtaining pose information of the tracked target marker Kn under a reference coordinate system based on coordinate transformation, and taking the pose information as a first set of pose information.

The process of generating the second set of pose information is similar to the process of generating the first set of pose information, and a specific process of generating the second set of pose information is not repeated here.

In this embodiment, the first set of pose information of the tracked target marker is calculated based on the first set of image information of the tracked target marker acquired by the first optical navigator; calculating a second set of pose information of the tracked target marker based on a second set of image information of the tracked target marker acquired by a second optical navigator; the reference marker is located at a fixed position, and is located in the field of view range of the first optical navigator and the field of view range of the second optical navigator at the same time, the parallel configuration is adopted to track the target, and the tracked target marker is continuously tracked and positioned by adjusting the pose of the two optical navigators, so that the reliability of tracking the target is improved.

In one embodiment, as shown in fig. 8, a flowchart of a target tracking method based on an optical navigator according to an embodiment of the present application is shown, and specifically relates to a possible process of determining abnormal pose information, the method includes the following steps:

Step 820, judging whether the pose information meets the preset condition for each set of pose information in at least two sets of pose information; the preset condition includes at least one of a data type, a data format, a data number, a data precision, a numerical range, and a data transmission frame rate of the pose information.

The reasons for the abnormality of the collected pose information may generally include, but are not limited to, the light path of the tracked target marker being blocked, the tracked target marker being misidentified, the tracked target marker moving out of the visual field of the optical navigation instrument causing tracking loss, the accuracy of the navigation data being abnormal, the navigation data returning error code, etc. The preset condition may include at least one of a data type, a data format, a data number, a data precision, a numerical range, and a data transmission frame rate of pose information, wherein the data type may include integer type, floating point type, and the like; the data format is a formatting format in which data is stored in a file or record, and may be in the form of numerical values, characters, or binary numbers, for example; the data precision represents the number of valid bits of the data; the numerical range is a data-valued interval; the data transmission frame rate characterizes the number of characters transmitted per unit time.

After at least two sets of pose information are acquired, each set of pose information can be compared with preset conditions for each set of pose information, and whether the pose information meets the preset conditions is judged. Taking a data range as an example, if the preset data range is between-1 and 1, judging whether the acquired pose information is in the data range.

If not, the pose information is determined to be the pose information with the abnormality in step 840.

If the pose information does not meet the preset condition, the pose information is determined to be abnormal pose information. For example, the preset data range is between-1 and-1, and the collected pose information is not between-1 and-1, then the pose information is determined to be the pose information with abnormality. The pose information with the abnormality can be one set of pose information, or can be part of at least one set of pose information, and the obtained target pose information can be one set or can comprise a plurality of sets.

Further, if the abnormal pose information is one set of pose information, taking the other set of pose information as target pose information; if the abnormal pose information is part of at least one set of pose information, taking two sets of pose information as examples, namely, the first set of pose information and the second set of pose information are all provided with part of pose information with the abnormal pose information, after removing the pose information with the abnormal pose information, carrying out data integration on the rest normal pose information in the first set of pose information and the second set of pose information to obtain a set of complete pose information serving as target pose information.

In the embodiment, whether the pose information meets the preset condition is judged by aiming at each set of pose information in at least two sets of pose information; if not, determining the pose information as pose information with abnormality; and removing the pose information with the abnormality from at least two sets of pose information to generate target pose information. By eliminating abnormal pose information, normal target pose information is adopted to track the target, so that the reliability of tracking the target is ensured.

In one embodiment, as shown in fig. 9, a flowchart of a target tracking method based on an optical navigator according to an embodiment of the present application is shown, and specifically relates to another possible process of determining abnormal pose information, the method includes the following steps:

and step 920, comparing the first set of pose information with the second set of pose information to generate a comparison result.

When the optical navigator with the serial configuration is adopted for target tracking, the obtained first set of pose information and the second set of pose information are pose information of the tracked target marker under a first coordinate system, wherein the first coordinate system is established based on the first optical navigator. Therefore, when the abnormal pose information is determined to exist, the first set of pose information and the second set of pose information can be compared first, and a comparison result can be generated. Alternatively, the first set of pose information and the second set of pose information may be directly compared to generate a comparison result, or the first set of pose information and the second set of pose information may be subjected to data preprocessing and then compared to generate a comparison result, which is not particularly limited in this embodiment.

When comparing the first set of pose information and the second set of pose information, difference comparison, quotient comparison and the like can be performed on the first set of pose information and the second set of pose information, and other comparison modes can be adopted.

Step 940, determining whether the comparison result meets the preset error range.

After the comparison result is obtained, whether the comparison result meets a preset error range or not can be judged, and the preset error range is customized in advance. For example, if the first set of pose information and the second set of pose information are differentially compared, the preset error range may be set to be not more than 0.02.

If not, determining that the second set of pose information is abnormal pose information.

If the comparison result does not meet the preset error range, abnormal pose information in the first set of pose information and the second set of pose information can be determined, for example, the first set of pose information and the second set of pose information are subjected to difference comparison, and the difference value is 0.05, and is larger than the preset error range by 0.02, namely, the abnormal pose information is determined.

Specifically, since the second set of pose information in the two sets of pose information is obtained by performing coordinate conversion calculation through the conversion relation between the second coordinate system calibrated in advance and the reference coordinate system, errors can be generated in the calibration process, and thus errors exist in the calculated second set of pose information. Thus, in general, in the case where the comparison result does not satisfy the preset error range, the second set of pose information may be determined as pose information in which abnormality exists.

In the embodiment, comparing the first set of pose information and the second set of pose information to generate a comparison result; judging whether the comparison result meets a preset error range or not; if the position information does not meet the position information, determining the second group of position information as position information with abnormality. The method for determining whether the second group of pose information is abnormal or not by directly comparing the two groups of pose information is simple and easy to realize, and the pose information with the abnormality can be determined efficiently.

In one embodiment, as shown in fig. 10, a flowchart of a target tracking method based on an optical navigator according to an embodiment of the present application is shown, and specifically relates to a possible procedure of exception handling, the method includes the following steps:

and 1020, determining an abnormal optical navigator corresponding to the pose information with the abnormality from at least two optical navigators according to the pose information with the abnormality.

Step 1040, disconnecting the communication connection with the anomalous optical navigator.

According to the pose information with the abnormality, the abnormal optical navigator can be determined, so that the communication connection between the computer equipment and the abnormal optical navigator can be disconnected, and the normal optical navigator is adopted for target tracking. For example, if the optical navigator includes two optical navigators, when an abnormality occurs in a state of one of the optical navigators, the communication connection between the computer device and the abnormal optical navigator is disconnected, and the computer device is quickly identified and switched to a single optical navigator mode to continue the navigation function of the optical navigator, so as to avoid a pause or a stop event occurring in the target tracking process.

The abnormal state of the optical navigator can include, but is not limited to, unstable conditions such as connection interruption of the optical navigator, downtime or stop of the optical navigator caused by failure of the optical navigator, abnormal working states such as frame dropping caused by failure of a sensor of the optical navigator.

In the embodiment, an abnormal optical navigator corresponding to the pose information with the abnormality is determined from at least two optical navigators according to the pose information with the abnormality; the communication connection between the computer equipment and the abnormal optical navigator is disconnected, and the normal optical navigator is adopted to track the target, so that the suspension or stop of the optical navigator is avoided, and the reliability of tracking the target is further improved.

In one embodiment, during target tracking with at least two optical navigators, the optimal target optical navigator may also be determined therefrom for target tracking. Specifically, as shown in fig. 11, a flowchart of an optical navigator-based target tracking method according to an embodiment of the present application is shown, and specifically relates to a possible process of determining a target optical navigator, the method includes the following steps:

step 1120, determining, for the optical navigator corresponding to each target pose information, a current positioning angle of the tracked target within a field of view of the optical navigator corresponding to each target pose information.

The optical navigator corresponding to the pose information of each target can be regarded as an optical navigator in a normal state, and the current positioning angle of the tracked target in the visual field range of the optical navigator is determined through the optical navigator corresponding to the pose information of each target. For example, including two normal optical navigators, the current location angle of the tracked object in the field of view of the first optical navigator is 5 °, and the current location angle of the tracked object in the field of view of the second optical navigator is 20 °.

Step 1140, determining a difference between the current positioning angle and the target positioning angle.

The target positioning angle is the optimal positioning angle of the optical navigator, and the optimal positioning angle range is within 10 degrees because the two normal optical navigators have the same characteristics, which is determined according to the characteristics of the optical navigator. Then, the difference between the current positioning angle of the tracked object within the field of view of the first optical navigator and the optimal positioning angle is not more than 5 degrees; and the difference between the current positioning angle 20 DEG and the optimal positioning angle of the tracked object within the field of view of the second optical navigator is not less than 10 deg.

And step 1160, determining the optical navigator corresponding to the current positioning angle with the smallest difference as a target optical navigator, and collecting the image information of the tracked target marker through the target optical navigator.

The optical navigator corresponding to the current positioning angle with the smallest difference value is determined as the target optical navigator, namely, the tracked target marker falls in the optimal positioning angle range of the target optical navigator, and the image information of the tracked target marker acquired by adopting the target optical navigator is more accurate. The acquired image information of the tracked target marker is identified and analyzed, so that the coordinate information of the tracked target marker can be extracted, the pose information of the tracked target marker can be obtained, and finally, the target tracking is performed based on the pose information of the tracked target marker. It should be noted that the target optical navigator may include one or a plurality of target optical navigators.

In the embodiment, the current positioning angle of the tracked target in the visual field range of the optical navigator corresponding to the pose information of each target is determined by aiming at the optical navigator corresponding to the pose information of each target; judging the difference between the current positioning angle and the target positioning angle; and determining the optical navigator corresponding to the current positioning angle with the smallest difference as a target optical navigator, and acquiring the image information of the tracked target marker through the target optical navigator. By determining the target optical navigator, the acquired image information of the tracked target marker is more accurate, and the flexibility of target tracking is improved.

In one embodiment, there is also provided a target tracking system, the system comprising:

The implementation principle and the beneficial effects of the target tracking system provided in this embodiment can be referred to above for the limitation of each embodiment of the target tracking method based on the optical navigator, and will not be described herein again.

In one embodiment, the system further comprises a reference marker; the at least two optical navigator comprises a first optical navigator and a second optical navigator; the first optical navigator is located at a fixed position, the second optical navigator is provided with a reference marker, and the reference marker is located within the field of view of the first optical navigator.

In one embodiment, the system further comprises a reference marker; the at least two optical navigator comprises a first optical navigator and a second optical navigator; the reference marker is located at a fixed position, and the reference marker is located in the field of view range of the first optical navigator and the field of view range of the second optical navigator at the same time.

In one embodiment, in surgical procedures such as spinal surgery, interventional surgery, and the like, the target tracking system is required to monitor the patient's respiratory rhythm, compensate for respiratory induced displacements of the surgical site, and the like. It is common practice to monitor the respiration of a patient by rigidly attaching a marker for monitoring respiration to a vertebral body, a thoracic cavity, or the like, and monitoring the displacement of the marker by an optical navigation instrument. For this additional marker for monitoring respiration, the requirement for the field of view of the marker for the target tracking system can be 3 or more, which is difficult to meet with a target tracking system consisting of one optical navigator, and thus there is an irreplaceable advantage in using two optical navigator.

Specifically, for the tandem configuration, on the basis of placing the reference marker N on the optical navigation instrument B within the field of view of the optical navigation instrument a, only the marker for monitoring respiration needs to be placed within the field of view of the optical navigation instrument a at the same time, so that the intended function can be realized. At this time, the breathing rhythm information of the patient can be obtained through the optical navigation instrument A, and other tracked targets are tracked through the optical navigation instrument B, so that the optical navigation instrument A meets the field of view requirement of simultaneously tracking at least 2 markers.

For the parallel configuration, any one optical navigator can be independently used for realizing the respiration monitoring function, namely, any one optical navigator is used for tracking the marker for monitoring respiration, and the other optical navigator is used for carrying out conventional target navigation tracking, so that any one optical navigator can meet the field of view requirement of simultaneously tracking at least 2 markers.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides an optical navigator-based target tracking device for realizing the optical navigator-based target tracking method. The implementation of the solution provided by the device is similar to that described in the above method, so specific limitations in one or more embodiments of the optical navigator-based target tracking apparatus provided below can be found in the above limitations of the optical navigator-based target tracking method, and are not repeated here.

In one embodiment, as shown in fig. 12, there is provided an optical navigator-based object tracking apparatus 1200 including: an acquisition module 1202, a calculation module 1204, and a generation module 1206, wherein:

the acquiring module 1202 is configured to acquire a set of image information of the tracked target marker acquired by each of the at least two optical navigators, and obtain at least two sets of image information.

The calculating module 1204 is configured to calculate a set of pose information of the tracked target marker based on each set of image information, and obtain at least two sets of pose information of the tracked target marker.

The generating module 1206 is configured to determine whether there is abnormal pose information in the at least two sets of pose information, if yes, remove the pose information with the abnormality from the at least two sets of pose information, generate target pose information, and track the tracked target marker based on the target pose information.

In one embodiment, the at least two optical navigators include a first optical navigator and a second optical navigator; the calculating module 1204 is specifically configured to calculate a first set of pose information of the tracked target marker according to a first set of image information of the tracked target marker acquired by the first optical navigator; calculating a second set of pose information of the tracked target marker based on a second set of image information of the tracked target marker acquired by a second optical navigator; the second optical navigator is provided with a reference marker, and the reference marker is located in the field of view range of the first optical navigator.

In one embodiment, the calculating module 1204 is further configured to establish a first coordinate system based on the first optical navigator; pose information of the tracked target marker under a first coordinate system is determined according to the first group of image information and is used as the first group of pose information.

In one embodiment, the calculating module 1204 is further configured to establish a first coordinate system based on the first optical navigator, establish a second coordinate system based on the second optical navigator, and establish a reference coordinate system based on the reference marker; determining pose information of the reference marker under a first coordinate system according to the image information of the reference marker acquired by the first optical navigator; determining pose information of the tracked target marker under a second coordinate system according to the second group of image information; and determining pose information of the tracked target marker under the first coordinate system as a second set of pose information according to the conversion relation between the second coordinate system and the reference coordinate system, the pose information of the tracked target marker under the second coordinate system and the pose information of the reference marker under the first coordinate system.

In one embodiment, the at least two optical navigators include a first optical navigator and a second optical navigator; the calculating module 1204 is further configured to calculate a first set of pose information of the tracked target marker based on the first set of image information of the tracked target marker acquired by the first optical navigator; calculating a second set of pose information of the tracked target marker based on a second set of image information of the tracked target marker acquired by a second optical navigator; wherein, the intersection of the field of view scope of the first optical navigator and the field of view scope of the second optical navigator is provided with a reference marker.

In one embodiment, the calculating module 1204 is further configured to establish a first coordinate system based on the first optical navigator, establish a second coordinate system based on the second optical navigator, and establish a reference coordinate system based on the reference marker; determining pose information of the first optical navigator under a reference coordinate system according to the image information of the reference marker acquired by the first optical navigator; determining pose information of the second optical navigator under a reference coordinate system according to the image information of the reference marker acquired by the second optical navigator; determining pose information of the tracked target marker under a first coordinate system according to the image information of the tracked target marker acquired by the first optical navigator; determining pose information of the tracked target marker under a second coordinate system according to the image information of the tracked target marker acquired by the second optical navigator; determining pose information of the tracked target marker in the reference coordinate system according to the pose information of the tracked target marker in the first coordinate system and the pose information of the first optical navigator in the reference coordinate system, and taking the pose information as a first group of pose information; according to the pose information of the tracked target marker in the second coordinate system and the pose information of the second optical navigator in the reference coordinate system, determining the pose information of the tracked target marker in the reference coordinate system and taking the pose information as a second set of pose information

In one embodiment, the generating module 1206 is specifically configured to determine, for each of at least two sets of pose information, whether the pose information meets a preset condition; the preset conditions comprise at least one of data type, data format, data quantity, data precision, numerical range and data transmission frame rate of pose information; if not, the pose information is determined to be the pose information with abnormality.

In one embodiment, the generating module 1206 is further configured to compare the first set of pose information and the second set of pose information to generate a comparison result; judging whether the comparison result meets a preset error range or not; if the position information does not meet the position information, determining the second group of position information as position information with abnormality.

In one embodiment, the optical navigator-based target tracking apparatus further includes a determining module and a disconnecting module, wherein:

and the determining module is used for determining the abnormal optical navigator corresponding to the pose information with the abnormality from at least two optical navigators according to the pose information with the abnormality.

And the disconnection module is used for disconnecting the communication connection with the abnormal optical navigator.

The various modules in the optical navigator-based target tracking apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:

In one embodiment, the at least two optical navigators include a first optical navigator and a second optical navigator;

the processor when executing the computer program also implements the steps of:

In one embodiment, the processor when executing the computer program further performs the steps of:

The processor when executing the computer program also implements the steps of:

calculating a first set of pose information of the tracked target marker based on a first set of image information of the tracked target marker acquired by the first optical navigator; calculating a second set of pose information of the tracked target marker based on a second set of image information of the tracked target marker acquired by a second optical navigator; wherein, the intersection of the field of view scope of the first optical navigator and the field of view scope of the second optical navigator is provided with a reference marker.

establishing a first coordinate system based on the first optical navigator, establishing a second coordinate system based on the second optical navigator, and establishing a reference coordinate system based on the reference marker; determining pose information of the first optical navigator under a reference coordinate system according to the image information of the reference marker acquired by the first optical navigator; determining pose information of the second optical navigator under a reference coordinate system according to the image information of the reference marker acquired by the second optical navigator; determining pose information of the tracked target marker under a first coordinate system according to the image information of the tracked target marker acquired by the first optical navigator; determining pose information of the tracked target marker under a second coordinate system according to the image information of the tracked target marker acquired by the second optical navigator; determining pose information of the tracked target marker in the reference coordinate system according to the pose information of the tracked target marker in the first coordinate system and the pose information of the first optical navigator in the reference coordinate system, and taking the pose information as a first group of pose information; and determining pose information of the tracked target marker in the reference coordinate system according to the pose information of the tracked target marker in the second coordinate system and the pose information of the second optical navigator in the reference coordinate system, and taking the pose information as a second set of pose information.

The implementation principle and technical effects of the computer device provided by the embodiment of the present application are similar to those of the above method embodiment, and are not described herein.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:

the computer program when executed by the processor also performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of:

The computer program when executed by the processor also performs the steps of:

The computer readable storage medium provided in this embodiment has similar principles and technical effects to those of the above method embodiment, and will not be described herein.

In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:

the computer program when executed by the processor also performs the steps of:

The computer program when executed by the processor also performs the steps of:

The computer program product provided in this embodiment has similar principles and technical effects to those of the above method embodiment, and will not be described herein.

The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. An optical navigator-based target tracking method, comprising:

acquiring a group of image information of the tracked target marker acquired by each optical navigator in at least two optical navigator to obtain at least two groups of image information;

calculating one set of pose information of the tracked target marker based on each set of image information to obtain at least two sets of pose information of the tracked target marker;

Judging whether abnormal pose information exists in the at least two sets of pose information, if so, removing the pose information with the abnormality from the at least two sets of pose information, and generating target pose information so as to track the tracked target marker based on the target pose information.

2. The method of claim 1, wherein the at least two optical navigators comprise a first optical navigator and a second optical navigator; based on each set of image information, calculating a set of pose information of the tracked target marker to obtain at least two sets of pose information of the tracked target marker, including:

calculating a first set of pose information of the tracked target marker according to the first set of image information of the tracked target marker acquired by the first optical navigator;

calculating a second set of pose information of the tracked target marker based on the second set of image information of the tracked target marker acquired by the second optical navigator;

the second optical navigator is provided with a reference marker, and the reference marker is located in the field of view range of the first optical navigator.

3. The method of claim 2, wherein calculating a first set of pose information for the tracked target marker from a first set of image information for the tracked target marker acquired by the first optical navigator comprises:

establishing a first coordinate system based on the first optical navigator;

and determining pose information of the tracked target marker under the first coordinate system according to the first group of image information, and taking the pose information as the first group of pose information.

4. The method of claim 2, wherein calculating a second set of pose information for the tracked target marker based on a second set of image information for the tracked target marker acquired by the second optical navigator comprises:

determining pose information of the reference marker under the first coordinate system according to the image information of the reference marker acquired by the first optical navigator;

determining pose information of the tracked target marker under the second coordinate system according to the second group of image information;

And determining pose information of the tracked target marker in the first coordinate system as a second set of pose information according to the conversion relation between the second coordinate system and the reference coordinate system, the pose information of the tracked target marker in the second coordinate system and the pose information of the reference marker in the first coordinate system, which are calibrated in advance.

5. The method of claim 1, wherein the at least two optical navigators comprise a first optical navigator and a second optical navigator; based on each set of image information, calculating a set of pose information of the tracked target marker to obtain at least two sets of pose information of the tracked target marker, including:

calculating a first set of pose information of the tracked target marker based on the first set of image information of the tracked target marker acquired by the first optical navigator; calculating a second set of pose information of the tracked target marker based on a second set of image information of the tracked target marker acquired by the second optical navigator;

and a reference marker is arranged in the intersection of the field of view range of the first optical navigator and the field of view range of the second optical navigator.

6. The method of claim 5, wherein the computing the first set of pose information for the tracked target marker is based on a first set of image information for the tracked target marker acquired by the first optical navigator; and calculating a second set of pose information of the tracked target marker based on a second set of image information of the tracked target marker acquired by the second optical navigator, comprising:

determining pose information of the first optical navigator under the reference coordinate system according to the image information of the reference marker acquired by the first optical navigator; determining pose information of the second optical navigator under the reference coordinate system according to the image information of the reference marker acquired by the second optical navigator;

determining pose information of the tracked target marker under the first coordinate system according to the image information of the tracked target marker acquired by the first optical navigator; determining pose information of the tracked target marker under the second coordinate system according to the image information of the tracked target marker acquired by the second optical navigator;

Determining pose information of the tracked target marker in the reference coordinate system according to the pose information of the tracked target marker in the first coordinate system and the pose information of the first optical navigator in the reference coordinate system, and taking the pose information as the first set of pose information; and determining pose information of the tracked target marker in the reference coordinate system according to the pose information of the tracked target marker in the second coordinate system and the pose information of the second optical navigator in the reference coordinate system, and taking the pose information as the second set of pose information.

7. The method of claim 1, wherein determining whether abnormal pose information exists in the at least two sets of pose information comprises:

judging whether the pose information meets a preset condition or not according to each set of the pose information in the at least two sets of pose information; the preset conditions comprise at least one of data type, data format, data quantity, data precision, numerical range and data transmission frame rate of pose information;

and if not, determining the pose information as the pose information with the abnormality.

8. The method of claim 2, wherein determining whether abnormal pose information exists in the at least two sets of pose information comprises:

comparing the first set of pose information with the second set of pose information to generate a comparison result;

judging whether the comparison result meets a preset error range or not;

if not, determining the second group of pose information as pose information with abnormality.

9. The method according to claim 1, wherein the method further comprises:

determining an abnormal optical navigator corresponding to the abnormal pose information from the at least two optical navigators according to the abnormal pose information;

and disconnecting the communication connection with the abnormal optical navigator.

10. A target tracking system, the system comprising:

the tracking device comprises at least two optical navigator, wherein each optical navigator is used for acquiring one group of image information of the tracked target marker and transmitting the at least two groups of image information of the tracked target marker to the computer device;

the computer equipment is in communication connection with the tracking equipment and is used for calculating one set of pose information of the tracked target marker based on each set of image information to obtain at least two sets of pose information of the tracked target marker; judging whether abnormal pose information exists in the at least two sets of pose information, if so, removing the pose information with the abnormality from the at least two sets of pose information, and generating target pose information so as to track the tracked target marker based on the target pose information.

11. The system of claim 10, further comprising a reference marker; the at least two optical navigator comprises a first optical navigator and a second optical navigator; the second optical navigator is provided with a reference marker, and the reference marker is located within the field of view of the first optical navigator.

12. The system of claim 10, further comprising a reference marker; the at least two optical navigator comprises a first optical navigator and a second optical navigator; the reference marker is disposed within an intersection of a field of view range of the first optical navigator and a field of view range of the second optical navigator.

13. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 9 when the computer program is executed.

14. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 9.