Spatial positioning method, spatial positioning device, spatial positioning system and computer readable storage medium

A method of positioning an object, the method comprising steps of:

• acquiring a two-dimensional image of an object to be positioned having a plurality of marking points, the two-dimensional image comprising a plurality of marking point images in one-to-one correspondence with the plurality of marking points;
• determining a correspondence between the plurality of marking points and the plurality of marking point images according to a relative positional relationship among the plurality of marking points and a relative positional relationship among the plurality of marking point images;
• and
• determining at least one of position and posture of the object to be positioned according to the relative positional relationship among the plurality of marking points, the relative positional relationship among the plurality of marking point images, and the correspondence between the plurality of marking points and the plurality of marking point images,
• wherein the step of determining a correspondence between the plurality of marking points and the plurality of marking point images according to a relative positional relationship among the plurality of marking points and a relative positional relationship among the plurality of marking point images comprises:
• determining a first marking point image of the plurality of marking point images which corresponds to a first marking point according to marking features of the plurality of marking point images, wherein the first marking point has a specific marking feature;
• and
• determining a correspondence between marking points other than the first marking point and remaining marking point images in the two-dimensional image based on the relative positional relationship among the plurality of marking points, the relative positional relationship among the plurality of marking point images, and the determined first marking point image,
• wherein the step of determining a first marking point image of the plurality of marking point images which corresponds to a first marking point according to marking features of the plurality of marking point images comprises:
• determining one marking point image of the plurality of marking point images which has a marking feature matching the specific marking feature as the first marking point image,
• wherein the specific marking feature is an elliptical shape, and the step of determining a correspondence between marking points other than the first marking point and remaining marking point images in the two-dimensional image based on the relative positional relationship among the plurality of marking points, the relative positional relationship among the plurality of marking point images, and the determined first marking point image comprises:
• identifying a characteristic axis of the elliptical shape of the first marking point image, wherein the characteristic axis is a major axis or minor axis of the elliptical shape;
• determining respective vertical distances from the plurality of marking point images to the characteristic axis of the elliptical shape;
• dividing the plurality of marking point images into groups of marking point images according to the determined vertical distances;
• and
• determining a correspondence between different marking point images in each group of marking point images and corresponding marking points;
• wherein the specific marking feature is associated with at least one of an area, a shape, a texture, or a color.