Hessian matrix-based extraction method of extracting light stripe center of the center section of the sub-pixel image coordinates, and connected into the center of light bar light bar center line then use the linear approximation algorithm will be the center line of the inflection point of light split into approximately Line: Finally, to meet the angle constraints and images from the origin to the approximate linear constraints collinear fusion center, for a total fusion center for straight line fitting the parameters of linear equation of light stripes.

专利：一种三步法结构光直线光条的图像特征提取方法.pdf

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