The invention provides a multi-camera motion track detection method and device and a storage medium, and the method comprises the steps: setting a
grid pattern on the ground, and building a ground coordinate
system; pasting an asymmetric pattern on the top of the
robot, establishing a pattern coordinate
system, and obtaining coordinates of the angular points in the pattern coordinate
system; establishing a plurality of cameras are arranged above the ground to
shoot grid patterns and pictures of the
robot, camera coordinate systems and acquiring pixel coordinates of angular points of the asymmetric patterns in the camera coordinate systems; obtaining a first type of
homography matrix of each camera coordinate system relative to the ground coordinate system, a rotation amount and a translation vector between the first type of
homography matrix and the ground coordinate system, and an equation of the ground under the camera coordinate system; calculating a rotation amount and a translation vector between the pattern coordinate system and the ground coordinate system; acquiring a second type of motion
trajectory pattern of a
robot by combining images of each camera. According to the invention, the measurement deviation is reduced, the
measurement precision is improved, and the positioning range can be infinitely expanded.