CN209591427U - Marker and interactive device - Google Patents

Abstract

The application provides a kind of marker, including base and label layer, base's light-permeable, label layer is opaque, and marker is used for when being irradiated by light source, and the light of light source transmitting penetrates the base, so that base and label layer are acquired by imaging sensor, and form the image with label article pattern.The application also provides a kind of interactive device, including main body and the tracking part being connect with main body, at least one marker is provided in tracking part, light source is provided in tracking part, marker has base and label layer, base's light-permeable, label layer is opaque, light source luminescent exposure label(l)ing object so that base and label layer are acquired by imaging sensor, and forms the image with label article pattern.

Description

Marker and interactive device

Technical field

This application involves marker field more particularly to a kind of markers and interactive device.

Background technique

In the vision application of computer, marker usually has central role, and marker can be widely applied to respectively In a different scene, corresponding effect is generated.In traditional marker design scheme, need can be applied according to different It asks, proposes corresponding solution；In order to realize that the demand of different application scene and environment, the formation structure of marker also carry out Relevant research.

Utility model content

The application provides a kind of marker, including base and label layer, and base's light-permeable, label layer is opaque, marker For when being irradiated by light source, the light of light source transmitting to penetrate base, so that base and label layer are acquired by imaging sensor, and shape At the image with label article pattern.

In some embodiments, label layer forms the pattern of frame and son label that marker includes.

In some embodiments, label layer forms the pattern of background and characteristic point that marker includes.

In some embodiments, base is made of the material of the saturating infrared light of hardness, and label layer uses lighttight material Material is made, and label layer sticks in base, and light source is infrared light supply.

In some embodiments, the thickness of label layer is less than the thickness of the base

The application also provides a kind of interactive device, including main body and the tracking part connecting with main body, is arranged in tracking part There is at least one marker, light source is provided in tracking part, marker has base and label layer, base's light-permeable, label layer Opaque, light source luminescent exposure label(l)ing object so that base and label layer are acquired by imaging sensor, and is formed with marker figure The image of case.

In some embodiments, label layer sticks in the base, and the thickness of label layer is less than the thickness of base.

In some embodiments, the optical wavelength of acquisition of optical wavelength and described image sensor of base's light-permeable is opposite It answers.

In some embodiments, light guide is provided between light source and marker, so that the uniform directive label of light Object.

In some embodiments, multiple non-coplanar markers and light guide, light guide tool are provided on interactive device Have and gradually tapered up with the one-to-one light guide section of each marker, the direction of each light guide section self-marker towards light source, and is adjacent Light guide section between be connected by one end of close to sources, the light that light source projects is uniform to scatter after each light guide section is guide-lighting To corresponding each marker.

Other feature and advantage of the application will be illustrated in subsequent specification, also, partly be become from specification It is clear that being understood by implementing the embodiment of the present invention.The purpose of the application and other advantages can be by written Specifically noted structure is achieved and obtained in specification, claims and attached drawing.

Detailed description of the invention

In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.

Fig. 1 is a kind of application scenarios schematic diagram of marker in AR.

Fig. 2 is the schematic diagram of label species in the prior art.

Fig. 3 is a kind of schematic diagram of marker provided by the embodiments of the present application.

Fig. 4 A is the schematic diagram of the recognition sequence of the sub- marker of feature of the application one embodiment.

Fig. 4 B is the schematic diagram of the recognition sequence of the sub- marker of feature of another embodiment of the application.

Fig. 4 C-4D is the schematic diagram of the marker of different identity provided by the embodiments of the present application.

Fig. 5 is the schematic diagram of another marker provided by the embodiments of the present application.

Fig. 6 is the schematic diagram of another marker provided by the embodiments of the present application.

Fig. 7 is the schematic diagram of another marker provided by the embodiments of the present application.

Fig. 8 is a kind of method flow diagram of identification tag provided by the embodiments of the present application.

Fig. 9 is the schematic diagram that a kind of feature provided by the embodiments of the present application marks arrangement relationship to calculate.

Figure 10 is the schematic diagram that a kind of feature that another embodiment of the application provides marks arrangement relationship to calculate.

Figure 11 is a kind of schematic diagram of interactive device provided by the embodiments of the present application.

Figure 12 is a kind of schematic diagram for tracking marker provided by the embodiments of the present application.

Figure 13 is the schematic diagram of light source provided by the embodiments of the present application, light guide and single marker.

Figure 14 is the schematic diagram of light source provided by the embodiments of the present application, light guide and multiple markers.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented The component of example can be arranged and be designed with a variety of different configurations.

Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects It encloses.

Feature detection is of crucial importance in the application such as object identification, tracking, to reality in concrete scene Object carries out recognition and tracking, generally by calculating characteristic point corresponding with object to reach corresponding purpose, and in many fields Lack effective character pair point in scape, solves the problems, such as that a kind of this effective method is to add marker in the scene to increase spy Sign.For example, the marker with two-dimensional pattern can be added in environment, so that camera is detected, to obtain camera phase For the posture information of marker, which can be applied to virtual reality (Virtual Reality, VR), augmented reality The technologies such as (Augmented Reality, AR), mixed reality (Mixed Reality, MR), location navigation, three-dimensional modeling neck Domain.

By taking augmented reality field as an example, augmented reality is to increase user by the information that computer system provides To the technology of real world perception, the content objects such as virtual objects, scene or the system prompt information of computer generation are folded It is added in real scene, the perception of Lai Zengqiang or modification to real world or the data for indicating real world environments.For up to The technical effect being virtually superimposed into augmented reality field with reality, needs to carry out identification tracking to true environment, based on label It is common form in AR system that object, which carries out identification tracking, can be applied to the every field such as education, amusement, business, industry.

Fig. 1 shows application scenario diagram of the marker in AR in one embodiment, which includes display system 10.The display system 10 includes: terminal device 100 and marker 200.Wherein, terminal device 100, which can be, wears display dress It sets, is also possible to the mobile devices such as mobile phone, plate；When marker 200 is in the vision model of the imaging sensor of terminal device 100 When enclosing interior, terminal device 100 can acquire the image comprising the marker 200, and know to the image comprising the marker 200 The operation not tracked obtains the identity information of marker 200 and the information such as the posture of relative termination equipment 100 and position.Eventually End equipment 100 can the information such as posture based on 200 relative termination equipment 100 of marker and position generate corresponding virtual content. For example, the head-wearing display device 100 that user wears, real time scan marker 200 may finally see virtual portrait in Fig. 1 401 with the effect of virtual animal 402 and true environment Overlapping display.

Fig. 2 shows existing some label species, are respectively provided with different detection technique and identification method, for example, The identification of (a) and (b) corresponding marker in Fig. 2 first detects circular contour, and identifies (a) by the color of the ring in circle Corresponding marker passes through the corresponding marker of fan-shaped region identification (b) in circle；(c) and (d) corresponding label in Fig. 2 The identification of object first detects black square frame, then by the corresponding marker of image recognition (c), passes through error correction binary code Identify (d) corresponding marker.There are many existing label species, and cut both ways, and are respectively suitable for different application scenarios.

The embodiment of the present application provides a kind of completely new marker, has a more preferably identification tracking effect, real-time tracking it is steady Qualitative height.

Fig. 3 shows the form of one of the embodiment of the present application marker.Marker 20 has frame 21, in some realities It applies in mode, frame 21 is square box, so that marker 20 is whole square-shaped.Marker 20 includes the back in frame 21 Scape 22 and the multiple sub- labels 23 being distributed in background 22.Wherein, it when marker 20 is collected by imaging sensor, obtains Label object image in frame 21 color and background 22 colour-difference away from larger, the color and background of image neutron label 23 22 colour-difference is away from larger.In a specific embodiment, frame 21 is black, and background 22 is white, and sub- label 23 is Black；In some embodiments, by the frame of eye-observation 21, background 22 and 23 colour-difference of sub- label away from can be very Small, for example, be set as can be reflective for frame 21 and the corresponding region of sub- label 23, the corresponding region of background 22 is set as not anti- Light carries out Image Acquisition, when there is infrared light directive marker, the collected mark of infrared camera to marker using infrared camera Frame 21 and background 22 can have biggish color distinction in note object image, and background 22 and sub- label 23 can have biggish color Difference.

In some embodiments, sub- label 23 includes originating sub- label 231 and the sub- label 232,233 of feature, starting Label 231 is considered as the mark of marker 20, can be used for obtaining marker 20 by the position that identification originates sub- label 231 Initial calculation position, arrangement of the sub- label 232,233 of feature in marker 20 can indicate the identity information of marker 20.

Sub- label 231 is originated at least two characteristic points 2311.In the present embodiment, originating sub- label 231 has Two characteristic points 2311, it is substantially in " 8 " shape, two characteristic points 2311 that the profile for originating sub- label 231, which is the annulus of two intersections, For the dot for originating and in sub- label 231 and being separated from each other is arranged in, the color and starting of the dot in the label object image of acquisition There are larger differences for the color of sub- label 231.In a specific embodiment, originating sub- label 231 is black, characteristic point 2311 be white dot.

The sub- label 232 of feature is annular shape, has a characteristic point 2321, and this feature point is that setting is marked in feature Dot in 232, there are larger differences for the color of the dot and the color of the sub- label 232 of feature in the label object image of acquisition. In a specific embodiment, the sub- label 231 of feature is black, and characteristic point 2321 is white dot.

The sub- label 233 of feature is circle, for solid black circle.In marker 20 each feature mark whether include There is the information of characteristic point not limit, for example, comprising feature label can be the circular sub- label 232 of feature entirely, It can be the sub- label 233 of feature of filled circles entirely, be also possible to the combination of the identical quantity of the two or different number.

It is relatively fixed to originate the position of sub- label 231 and the sub- label 232,233 of feature in background 22, has at one In the embodiment of body, the edge that sub- marker 231 is located in background 22 is originated, the sub- marker 232,233 of feature is whole The opposite position for originating sub- label 231 of body is fixed.It originates sub- label 231 and the sub- label 232,233 of feature can be according to present count The mode of the rows and columns of amount is arranged.By taking Fig. 3 as an example, the upper left corner that sub- label 231 is located at background 22, feature label are originated 232,233 are located at the right and lower section for originating sub- label 231, and originate and press between sub- label 231 and the sub- label 232,233 of feature It arranges according to the mode of 3 rows, and originates sub- label 231 and be arranged in the 1st row in a manner of 2 column with the sub- label 232,233 of feature, remaining The sub- label 232,233 of feature by 3 column in a manner of be arranged in the 2nd, 3 rows, wherein the sub- label 232,233 of each adjacent two feature it Between ranks spacing it is all the same.

Feature label can have corresponding encoded information, in one embodiment, feature label can using two into System coding, for example, the binary coding of the sub- label 232 of feature, as " 1 ", the binary coding of the sub- label 233 of feature identifies For " 0 ", and feature label can be identified in a certain order, to obtain the coding of each feature label, from And obtain the identity information of marker.For example, feature label is identified according to clockwise sequence, as shown in Figure 4 A, Successively feature label is identified from serial number 1~7.In another example according to the serial number 1-7 in Fig. 4 B, from top to bottom, from a left side to Right sequence identifies feature label.According to the recognition sequence clockwise of Fig. 4 A, marker in available Fig. 4 C Identity coding is " 0110001 ", and being different from the identity coding of the marker of Fig. 4 C in fig. 4d is " 0110110 "；According to The recognition sequence from top to bottom, from left to right of Fig. 4 B, the identity coding of marker is " 0011001 " in available Fig. 4 C, And being different from the identity coding of the marker of Fig. 4 C in fig. 4d is " 0101101 ".

In some embodiments, the quantity for originating characteristic point in sub- label 231 is not intended to limit, such as can be such as Fig. 5 institute Show, there are three characteristic points for tool.

In some embodiments, the quantity of feature label is not intended to limit quantity shown in Fig. 3, and particular number can be with According to tracking scene the case where and Demand Design.

In some embodiments, the profile of sub- label can be multiplicity, such as can be rectangular, triangle, polygon Shape etc., however it is not limited to above-mentioned circle, as shown in fig. 6, son label exterior contour be it is rectangular, characteristic point is also to be square Shape.

In some embodiments, any position that sub- label 231 can be located at background 22 is originated, however it is not limited to above-mentioned Edge, as shown in fig. 7, starting son label is located at the right side of the 2nd row；In some embodiments, the arrangement of feature label Mode is also not necessarily limited to above-mentioned ranks arrangement, and the ranks spacing between each feature label can be identical, can also be different.

In some embodiments, originating sub- label 231 can be used for assisting obtaining the identity information of marker, when two or When the corresponding coding of feature label of multiple markers is consistent, the feature that sub- label 231 includes can be originated by identification and is counted Amount, determines the identity information of marker, for example, the corresponding coding of feature label of 2 markers is " 0110001 ", but The starting label of one of marker includes 2 characteristic points, and the starting label of another marker includes 3 characteristic points, It can then distinguish.In some embodiments, the starting son label comprising Different quantitative specificity point can correspond to different codings, For example, the starting son label comprising 2 characteristic points is encoded to 2, the starting son label comprising 3 characteristic points is encoded to 3, then The identity coding of marker can be the combination of the coding of starting son label and the coding of feature label.In other embodiment party In formula, the coding for originating son label is not limited in number, is also possible to letter, symbol etc., such as indicated comprising 2 spies with X The starting label of sign point indicates the starting label etc. comprising 3 characteristic points with Y, and the coding of feature label also not only limits In binary coding, the embodiment of the present application is not defined the mode of coding.

Referring to Fig. 8, the embodiment of the present application provides a kind of method of identification tag, it is applied to electronic device, this method May include:

Step 110: acquisition includes the image of target label object.

In some embodiments, electronic device may include imaging sensor and processor.Imaging sensor can be energy Any image sensing device of enough images of captures object in its visual field is used to carry out Image Acquisition to marker.Image Sensor can be configured as captures multiple images in different time points whithin a period of time.For example, when marker is passed in image When moving in the visual field of sensor, imaging sensor can capture marker in the image of different location during the period.Figure As sensor can also obtain temporal information when capturing each image.Imaging sensor can also be by temporal information together with image It is sent collectively to processor for further processing.Imaging sensor can with processor communication and send image data to Processor, imaging sensor can also receive the command signal being arranged for capturing the parameter of image from processor.Processor can To be general or specialized microprocessor, digital signal processor or the microcontroller of any appropriate type, can be configured as It is exclusively used in the separate processor module of marker identification.Electronic device, which may also include, for storage processor may need to operate The memory of any appropriate type of any kind of information can be configured as one that storage can be executed by processor Or multiple computer programs, it can be additionally configured to store the information and data used by processor.

In some embodiments, electronic device may also include active illumination mould group, for the Image Acquisition for marker Ambient light is provided.

In some embodiments, what electronic device can acquire imaging sensor include marker image carry out it is pre- Processing, frame, background, sub- label and the corresponding connection of individual features point of marker can be told from image Domain.As a kind of specific embodiment, can be the image procossing of acquisition is binary image, for example, can be using solid Determine threshold method or adapt to the methods of threshold method that binary conversion treatment is carried out to the image.

As a kind of specific embodiment, by taking marker 20 shown in Fig. 3 as an example, binaryzation is carried out to the image of acquisition It afterwards, is the first color by the frame 21 of marker in image and the processing of sub- label 231,232,232,22 He of background in marker The processing of characteristic point 2311,2321 is the second color；Specifically, the first color can be black, and the second color can be white. That is electronic device, successively in the various pieces of encirclement relationship, will be processed into color hierarchy, and make each portion in marker The connected domain that/formation is successively surrounded.Wherein, the first color and the second color can be the biggish color of pixel value difference, If the first color is black, the second color is white.Certainly, in the image after binaryzation, frame, background, sub- label and phase Answer differentiation between characteristic point can also by other modes such as contrasts, the embodiment of the present application mainly by taking color hierarchy as an example into Row explanation.

Step 120: the starting label of target label object in identification image, and obtain the first information of starting son label.

In some embodiments, for acquisition include target label object image, identify target label object Background and the son label in background, and further identify that at least there are two characteristic points for tool in the son label identified Son label, be determined as the sub- label to originate sub- label；After determining that originating son marks, obtain starting son label first is believed Breath, the first information include at least the sub pixel coordinate marked in the image including target label object of acquisition of starting, starting The characteristic point quantity etc. that son label includes, wherein pixel coordinate can be used for indicating the position of pixel in the picture.

In some embodiments, electronic device can obtain the encirclement between each connected domain based on the connected domain in image Relationship originates son label to determine.In marker, encirclement relationship is formd between frame, background and son label, if son label In include characteristic point, then son label is corresponding with characteristic point also with encirclement relationship.Wherein, frame surrounds background, and background surrounds son Label, sub- marker surround characteristic point therein.

In some embodiments, electronic device can be each in the connection domain information identification tag in image by obtaining Height label, connected domain refer in image with same pixel value and position it is adjacent pixel composition image-region, obtain Connected domain can calculate the connected component for being labeled as boolean's image with 4 tunnels or 8 path connectednesses, export the quantity of connected domain, wherein The type of each connected domain can be exported according to encirclement relationship, i.e., frame, background, sub- label, characteristic point etc. are each in output image The connected domain of a part.Can define the corresponding connected domain of frame is the first connected domain, and the corresponding connected domain of background is the second connection Domain, the corresponding connected domain of sub- label are third connecting domain, and the corresponding connected domain of characteristic point is four connected region.Wherein, it is surrounded His connected domain and the connected domain that do not surrounded by any connected domain, it may be determined that be the first connected domain；By the first connected domain surround and with The adjacent connected domain of first connected domain, it may be determined that be the second connected domain；By the second connected domain surround and it is adjacent with the second connected domain Connected domain, it may be determined that be third connecting domain；The connected domain surrounded by third connecting domain, it may be determined that be four connected region.Pass through It identifies the encirclement relationship between each connected domain, is wrapped in the sub- mark information and every height label in available marker The characteristic point information contained.As a kind of specific embodiment, the third connecting domain comprising two or more four connected regions can be true It is set to starting son label, the third connecting domain comprising one or not comprising four connected region can be identified as feature label.Therefore, By the connected domain relationship of identification tag image, the information and every height label that son label can be gone out with Direct Recognition include Characteristic point information.

In a specific embodiment, in label object image as shown in Figure 3, frame is a connected domain, background For a connected domain, sub- label is a connected domain, and each of sub- marker characteristic point is a connected domain；By frame Connected domain is denoted as X, and the connected domain of background is denoted as Y, and the connected domain of sub- label is denoted as Z, and the connected domain of characteristic point is denoted as O.Due to rising Begin son label characteristic point quantity be different from feature label characteristic point quantity, feature label characteristic point quantity be 1 or 0, the characteristic point quantity for originating son label is 2, when the encirclement relationship of connected domain in the image for recognizing target label object is XYZOO When, that is, can determine the corresponding sub- label of the Z connected domain as son label, wherein XYZOO is indicated: X includes Y, and Y includes Z, Z packet Containing two O；When the encirclement relationship of connected domain in the image for recognizing target label object is XYZO or XYZ, then the Z is not connected to The corresponding sub- label in domain is determined as originating sub- label, but determines that the corresponding sub- label of the Z connected domain is characterized sub- label.

It in some embodiments, can be according to the reality of marker when the marker for including in the image for determining acquisition The outer profile on border determines marker present in image.Since there are contrast, nothings with the color of background in the picture for frame It is also available to the target label object being consistent with marker outer profile by the light intensity of collected environmental background. For example, as shown in figure 3, the frame of marker be it is rectangular, the outer profile of frame be also it is rectangular, the Internal periphery of frame is rectangular, mark Remember that the outer profile of the background of object is also rectangular, and the frame of marker is black, background is white.When environmental background is brighter, Color or the contrast difference of environmental background and frame in image are larger, can be consistent by identifying the outer profile acquisition of frame Target label object, when environmental background is darker, the difference of the color or contrast of environmental background and frame in image is smaller, but It is target label larger with the color of background or contrast difference, then being consistent by identifying the outer profile acquisition of background Object.Therefore, regardless of the light of environmental background, can determine according to the frame of marker and the outer profile of background can in image Marker existing for energy.It, can be with it should be noted that the shape of the outer profile of the outer profile and background of marker does not limit It is designed according to the actual demand of marker, for example, the outer profile of marker is circle, the outer profile of background is rectangular etc..True After fixed marker that may be present, the son label in the marker is identified, obtains the son label letter that the marker includes Breath, wherein sub- mark information may include the quantity of sub- label.For example, actually including 8 son labels in the background of the marker. In some embodiments, when the quantity for detecting that the son that background includes marks is greater than or equal to amount threshold, it may be determined that be Target label object, and identify the starting label of target label object.For example, when the quantity for detecting sub- label is greater than or equal to 3 When a, the identification for originating sub- label is carried out.As an implementation, which practical with target label object can include The association of sub- marker number, the practical sub- marker number for including of target label object can be pre-stored, actually to include son Marker number is more, which can be bigger, but not limited to this.

Step S130: the feature label of target label object in identification image, and obtain the second information of feature label.

In some embodiments, electronic device can be identified according to the encirclement relationship of connected domain each in marker Each feature that marker includes label, and obtain the second information of each feature label, wherein the second information may include Characteristic point quantity, the pixel coordinate of each feature label in the picture that each feature label includes etc..

Step S140: according to the first information with the second information, the identity information of target label object is determined.

The starting label and feature label for including in electronic device identification target label object, obtain starting son label The first information and feature label the second information, and according to the first information and the second information determine starting son label with it is each Relative positional relationship between feature label in the picture obtains arrangement relationship and each feature mark that feature marks The encoded information of note, and then determine the identity information of target label object.

In some embodiments, the pixel of the pixel coordinate of available starting label and each feature label Coordinate, and according to starting son label pixel coordinate and each feature label pixel coordinate determine starting son label with it is each Relative positional relationship between feature label in the picture.By taking Fig. 3 as an example, the pixel coordinate for originating sub- label 231 is being obtained And after the pixel coordinate of each sub- label 232,233 of feature, the sub- label of available starting 231 and the sub- label 232 of each feature, 233 relative positional relationship in the picture, for example, the sub- label 233 of feature and the sub- label 233 of a feature are arranged in same a line, Positioned at the right side for originating sub- label 231, the next line of the sub- label 233 of this feature is placed with sub- label 232 of a feature etc., thus The arrangement relationship of the available sub- label 232,233 of each feature.

In some embodiments, electronic device obtains the arrangement relationship of each feature label in target label object, can To calculate the mass center of each height label, the mass center of each characteristic point and the mass center of feature label are marked including starting, and build Found the direction vector between the mass center of each feature label and the mass center of the characteristic point of starting son label, according to all directions to Amount can determine the arrangement relationship of each feature label.If feature label includes characteristic point, characteristic point is corresponding, and there are one The mass center of a mass center, as this feature label can mark the pixel coordinate of the characteristic point for including in the picture according to feature, Count the coordinate of the corresponding mass center of Operator tokens；If feature label does not include characteristic point, this feature label is corresponding, and there are one A mass center can mark the coordinate of the corresponding mass center of pixel coordinate meter Operator tokens in the picture according to feature.The tool of mass center Body calculation does not limit in the embodiment of the present application, such as can be and calculated according to weighing computation method.Such as Fig. 9 institute It states, number 1 and 2 is the mass center of two characteristic points in starting son label, and number 3-9 is the mass center of each feature label.

In some embodiments, the arrangement relationship that each feature marks in target label object, can be according to such as lower section Method determines.A characteristic point in starting son label is chosen, using the mass center of this feature point as starting point, in starting son label Other any mass center connections, to constitute start vector.The starting point of starting son label can be marked with each feature respectively Mass center connection constitutes the mass center of remaining each feature label vector compared between starting point, and obtain all comparisons to The angle of amount and start vector.It is long according to the size of each angle and mould if all angles are respectively less than preset first threshold (distance of the mass center of feature label to starting point) determines the arrangement relationship of corresponding feature label, and angle is greater than if it exists When preset first threshold, then the mass center for choosing another feature point in starting son label again is starting point, has been again pulled up Beginning vector sum compares vector, to determine the arrangement relationship of feature label.For example, the part vector shown in Fig. 9, starting point are matter The heart 1, mass center 1 and 2 constitute start vector t1, and the composition of mass center 1 and 3 compares vector t2, and the composition of mass center 1 and 5 compares vector t3, mass center 1 and 4 constitute compare vector t4, wherein compare vector t2 with the angle of start vector t1 be it is all compared with vector and start vector The minimum value of the angle of t1, minimum value be 0 °, compare vector t4 with the angle of start vector t1 be it is all compared with vector with The maximum value of the angle of beginning vector t1, maximum value are 90 °；Preset first threshold is 91 °, and all angles are respectively less than the first threshold Value, therefore the arrangement relationship of feature label can be calculated；Arrangement relationship can according to the value of angle from small to large, the long value of mould The arrangement relationship of arrangement from small to large, corresponding feature label is 3695847.

In some embodiments, a starting son label can be calculated according to two characteristic points of starting son label Mass center, and the direction vector between the mass center of each feature label and the mass center of starting son label is established, according to all directions Vector can determine the arrangement relationship of each feature label.Specifically, using the mass center for originating son label as starting point, will own The mass center of feature label and the line of starting point constitute vector, obtain the size determination that all vector field homoemorphisms are long, grow according to mould The arrangement relationship of corresponding feature label, for example, the part vector shown in Figure 10, according to the row of the long value of mould from small to large The arrangement relationship of cloth, corresponding feature label is 4536789.

In some embodiments, it in obtaining target label object after the arrangement relationship of each feature label, can will rise Beginning son label is used as reference point, according to particular order, successively obtains each feature according to arrangement relationship and marks corresponding volume Code obtains each feature and marks the coded strings formed in certain sequence.As a kind of specific embodiment, feature label can For corresponding binary coding comprising the feature label of 1 characteristic point is encoded to " 1 ", the feature not comprising characteristic point is sub Label is encoded to " 0 ", it is possible to understand that ground, the mode of coding can be a variety of, be not limited to that.

By taking Fig. 3 and Fig. 4 A as an example, the binary coding of the sub- label 232 of feature is as " 1 ", and the two of the sub- label 233 of feature Scale coding is identified as " 0 ".As shown in Figure 4 A, with starting son label be, in sequence when sequence, in order from 1~7 The coding of each feature label is successively obtained, the coded strings of the feature label of marker are in available Fig. 4 C " 0110001 ", the coded strings of the feature label of marker are " 0110110 " in Fig. 4 D.

In some embodiments, electronic device can be using the coded strings that feature marks as the coding of target label object String, the coded strings of target label object are also possible to originate the combination of the coded strings of the coding of sub- label and feature label, herein The form of the coded strings of target label object is not defined.The feature that the coding of starting son label can include with starting son label Point quantity association, for example, the starting son label comprising 2 characteristic points is encoded to 2, the starting label comprising 3 characteristic points Be encoded to 3 etc..Then by taking the marker in Fig. 4 C as an example, the coded strings of the marker can be coding and the spy of feature label Sign son label coded strings combination, then can be " 20110001 ".It is to be appreciated that the coding mode of target label object can be with It is other modes, the coding of starting label and feature label is also not limited to above-mentioned several.

In some embodiments, electronic device can be according to pre-stored encoded information and the volume of the target label object of acquisition Sequence obtains the identity information of target label object.The coding letter of each marker is previously stored in the memory of electronic device Breath, the coded strings of target label object in image can be compared with pre-stored encoded information for electronic device, and determine and mark Remember the corresponding pre-stored indicia object of object.It, can when the encoded information of pre-stored indicia object is consistent with the coded strings of target label object Determine that the consistent pre-stored indicia object is matched with target label object.When the coding that encoded information and target label object is not present Go here and there consistent pre-stored indicia object when, can calculate target label object coded strings and each pre-stored indicia object encoded information it Between similarity, can choose the highest pre-stored indicia object of similarity as with the matched pre-stored indicia object of marker.It calculates The mode of similarity can be it is a variety of, for example, can calculate two coding between Hamming distances, compare same sequential bits one by one The coding set calculates Hamming distances according to different numbers is encoded, for example, the coded strings of target label object are " 0110001 ", in advance The encoded information for storing marker is " 0110011 ", then two codings is successively compared from the 1st, wherein the 6th volume Code is different, then the Hamming distances of two codings are 1.Calculate similarity method be also possible to other methods, be not limited on State mode.

In one embodiment, if in pre-stored marker, there is only a markers to have specific quantity characteristic point The sub- marker of starting, then when electronic device recognize target label object include the specific quantity characteristic point the sub- marker of starting When, that is, it can determine the identity information of target label object, without identifying to other sub- markers.In some embodiments, It, can be by the identity information of matched pre-stored indicia object after electronic device acquisition and the matched pre-stored indicia object of target label object As the identity information of target label object, which may include encoded information, starting label and feature in marker The physical coordinates of label, physical coordinates of each characteristic point etc., wherein physical coordinates refer to object corresponding in target label object The coordinate in coordinate system is managed, the physical coordinates for originating son label and feature label can be used for indicating originating sub- label and feature Mark the actual position in target label object.

In some embodiments, pixel coordinate in the picture can be marked according to starting label and feature, and The physical coordinates of starting label and feature label obtain the letter such as position and posture of target label object opposing electronic device Breath.As a kind of specific embodiment, electronic device can be according to the pixel coordinate, physical coordinates and acquisition in advance that every height marks Imaging sensor intrinsic parameter, obtain the mapping parameters between image coordinate system and physical coordinates system, wherein image coordinate system It can be the pixel planes coordinate system of image, pixel coordinate can be used to indicate that position a little in the picture.According to image coordinate Mapping parameters between system and physical coordinates system, between the camera coordinates system and physical coordinates system of available imaging sensor Rotation parameter and translation parameters, and using rotation parameter and translation parameters as the position between imaging sensor and target label object And posture information.Rotation parameter and translation parameters are six-degree-of-freedom information of the imaging sensor in physical coordinates system, can Rotation and moving condition of the imaging sensor in physical coordinates system are indicated, thus also available target label object opposing electronic The position of device and posture information.

Marker provided by the present application faster, can be identified more accurately, and be suitable for automation, mass it is raw At the use for solving existing marker limits, and the size of marker can be adjusted according to demand, with the change of marker size The sub- marker of arrangement can be increased or decreased automatically, for example, in the marker of 3X3 size, 3 sub- markers of every row arrangement, In In the marker of 5X5 size, every row can arrange 4 or 5 sub- markers.The marker of the application has specific rule, special Position of the sign son label in marker is relatively fixed, and the difference between the marker of different identity coding is feature sub- mark Whether the difference of characteristic point is had in note, as long as having a feature label difference that can be distinguished, in automation generating process In only need to change the sub- mark information of feature, it is suitable for mass production；The tag structure of the application can be set largely Different identity coding, far more than the quantity that can set different identity coding of other markers；When what is encoded in different identity When the demand of marker quantity is few, similarity between the marker of generation need to be greater than certain value, prevent because it is approximate and Caused by interfere.

The application also provides a kind of interactive device, and as shown in figure 11, interactive device 30 is held by user 40, interactive device 30 Including main body 31 and tracking part 32.User 40 grip body 31 and can be handed over by the manipulation in main body 31 with virtual content Mutually, the control structure with manipulation function such as settable key, trigger, touch tablet, the application do not summarize specifically in main body 31；It chases after Track portion 32 is connect with main body 31, and tracking part 32 and the position of main body 31 are relatively fixed, and tracking part 32 can be by detachable or one Body formed mode is connect with main body 31.Multiple markers 33, the multiple dispersion of marker 33 arrangement are provided in tracking part 32 On the outer surface of tracking part 32.

Figure 12 is please referred to, is a kind of schematic diagram of tracking marker of the application, there is image sensing on terminal device 100 Device, marker 33 are located in the visual range of the imaging sensor of terminal device 100.In a specific embodiment, scheme As sensor is infrared camera, infrared light is acquired；Light source 34 is provided in the tracking part 32 of interactive device 30, light source 34 is red Outer light source, marker 33 have base 331 and label layer 332, and base 331 and label layer 332 form label.Wherein, base 331 It is made of the material of rigid infrared light thoroughly, plate-like, infrared light can penetrate base 331, it is seen that light cannot penetrate base 331；Label layer 332 is made of lighttight material, is sticked in base 331, and the thickness of label layer 332 is less than base 331 thickness.In Fig. 3, the frame 21 and sub- label 23 of marker 20 are label layer 332, background 22 and characteristic point 2311, 2321 are directly formed by the combination of base 331 and label layer 332.When light source 34 launches light, through base 331 and It is not identified the light that layer 332 blocks to be acquired by terminal device 100, the image of marker is capable of forming.

In some embodiments, can by Fig. 3 background and characteristic point be arranged to label layer 332, frame and son mark Note is directly formed by the combination of base 331 and label layer 332.

In some embodiments, light source 34 can not also be infrared light supply, can be other invisible light sources, base adopts Be made of the hard material of permeable respective sources, for example, light source 34 be ultraviolet light, base by can pass through ultraviolet light rigid material Material is made, and the imaging sensor of terminal device 100 need to be arranged in correspondence with into the camera of acquisition ultraviolet light；Light source 34 is also possible to can Light-exposed source, base are made of the hard material that can pass through visible light, and the imaging sensor of terminal device 100 need to be arranged in correspondence with into Acquire the camera of visible light.

In some embodiments, as shown in figure 13, light guide 35 can be provided between light source 34 and marker 33, So that the uniform directive marker 33 of light, ultimately forms high-visible label object image.

In some embodiments, as shown in figure 14, multiple non-coplanar markers 33, single are provided on interactive device Light source 34 and light guide 36.Light guide 36 have with the one-to-one light guide section of each marker 33 (not identifying), it is each to lead Light portion self-marker 33 gradually tapers up towards light source 34, and one end between adjacent light guide section by close to sources 34 is connected, individually The light of light source 34 uniformly scatters to corresponding each marker 33 after each light guide section is guide-lighting.

It should be noted that the form of interactive device is not limited to the morphosis of Figure 11, interactive device, which can be, appoints What form, specific form design can be designed according to actual content scene, and the position arrangement of marker can also be according to reality The design of border situation.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term It states and is necessarily directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be with It can be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this field Technical staff can by the feature of different embodiments or examples described in this specification and different embodiments or examples into Row combination and combination.

Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations； Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art are when understanding: its It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equal Replacement；And these are modified or replaceed, and the essence of corresponding technical solution is not driven to be detached from various embodiments of the utility model technology The spirit and scope of scheme.

Claims (10)

1. a kind of marker, including base and label layer, it is characterised in that: base's light-permeable, the label layer is opaque, The marker is used for when being irradiated by light source, and the light of the light source transmitting penetrates the base, so that the base and mark Layer is acquired by imaging sensor, and forms the image with label article pattern.

2. marker according to claim 1, it is characterised in that: the label layer forms the frame that the marker includes And the pattern of son label.

3. marker according to claim 1, it is characterised in that: the label layer forms the background that the marker includes And the pattern of characteristic point.

4. marker according to claim 1, it is characterised in that: the base uses the material system of the saturating infrared light of hardness At the label layer is made of lighttight material, and the label layer sticks in the base, and the light source is infrared light Source.

5. marker according to claim 1, it is characterised in that: the thickness of the label layer is less than the thickness of the base Degree.

6. a kind of interactive device, including main body and the tracking part being connect with the main body, which is characterized in that in the tracking part It is provided at least one marker, light source is provided in the tracking part, the marker has base and label layer, the base Layer light-permeable, the label layer is opaque, and the light source luminescent irradiates the marker, so that the base and label layer are schemed As sensor acquisition, and form the image with label article pattern.

7. interactive device according to claim 6, it is characterised in that: the label layer sticks in the base, and institute The thickness for stating label layer is less than the thickness of base.

8. interactive device according to claim 6, it is characterised in that: the optical wavelength and described image of base's light-permeable The optical wavelength of the acquisition of sensor is corresponding.

9. interactive device according to claim 6, it is characterised in that: be provided with leaded light between the light source and marker Part, so that marker described in the uniform directive of light.

10. interactive device according to claim 6, it is characterised in that: be provided on the interactive device multiple non-coplanar Marker and light guide, the light guide have with the one-to-one light guide section of each marker, each light guide section from mark The direction of object towards light source gradually tapers up, and one end between adjacent light guide section by close to sources is connected, what the light source projected Light uniformly scatters to corresponding each marker after each light guide section is guide-lighting.