Visual location system based on Bumblebee2

In order to satisfy the robot assisted surgery requirment to automatic identify the object in high precision. Regard the ellipse and the circle as a template. The ellipse and the circle are all contained the black block and the white block interactively. The corners in the image are detected by the Shi and Tomasi´ algorithm. After the image enhanced for improving the contrast of the image, using the symmetric properties of the black block and white block in the templates, the corners in the templates are found. Then the corners in the ellipse and in the circle will be extracted. At last using verctor vertical relationship, the target corners in the ellipse will be found. That is, the template will be detected. Finally, the experiments show that positioning error of the corner are less than one pixel, which satisfy the requirement of the surgery.