SPATIAL POSITIONING METHOD AND DEVICE, SYSTEM THEREOF AND COMPUTER-READABLE MEDIUM

    公开(公告)号:EP3806039A1

    公开(公告)日:2021-04-14

    申请号:EP19810834.2

    申请日:2019-03-29

    IPC分类号: G06T7/73

    摘要: A spatial positioning method, device and system, and a computer-readable medium, the method comprising: acquiring a feature image comprising a plurality of feature marks of an object to be positioned, at least one surface of the object to be positioned having a plurality of feature marks, and the feature marks of the respective surfaces forming different geometrical shapes (S101); determining the coordinate position of each feature mark in the feature image in an image coordinate system (S102); according to a plurality of preset standard vector relationships, traversing each feature mark in the image coordinate system, and arbitrarily selecting at least three feature marks therein to perform a vector relationship calculation corresponding to a standard vector relationship (S103); and when it is determined that the calculated vector relationship satisfies an arbitrary standard vector relationship, determining position information of the at least three feature marks according to the position information corresponding to the standard vector relationship in the image coordinate system (S104).