Highly robust mark point decoding method and system

A highly robust mark point decoding system comprising the following modules:

• a perspective projection transforming module, configured to transform a perspective projection image of a mark point into an orthographic projection image by means of an estimated homography matrix;
• a coordinate transforming module, configured to traverse a coding segment of the orthographic projection image of the mark point in a polar coordinate system to obtain a pixel value of each pixel point of the coding segment in a Cartesian coordinate system, judge a length of each coding segment based on the distribution of the pixel values to determine a code value bit number occupied by each coding segment in a binary coding sequence, and use the pixel value of each coding segment as a code value of the coding segment in the binary coding sequence to form a binary coding sequence for representing the coding value of the mark point in the Cartesian coordinate system;
• wherein the image of the mark point is an annular dual-value coding image, and when the image of the mark point is partitioned into N equal parts with an equal angle, each equal part is used as a pixel value coding bit, and each coding segment comprises at least one equal part;
• and
• a decoding marking module, configured to subject the binary coding sequence to cyclic shift, convert a shifted sequence into a decimal coding value, and mark a minimum decimal coding value as the coding value of the mark point.