O establish laser-pattern in the second type is utilized as a as a cooperative marker to establish optical reference [11] in this paper. Because the cross-laser projection path is just not perpenoptical reference [11] in this paper. Since the cross-laser projection direction just isn’t perpendicular imaging plane, and along with the relative position between laser and and imaging dicular to theto the imaging plane,the relative position between cross cross laserimaging plane adjustments intime, time, when the position on the measured point modifications relative to plane modifications in true true when the position with the measured point modifications relative to the laser throughout measurement, this causes an alter in between the projection [12], the laser during measurement, this causes an angle angle change in between the projection [12], pictures X the X axis line Y axis line axis line of the cross laser-pattern on the imaging pictures from the ofaxis line and also the and the Y on the cross laser-pattern on the imaging plane. plane. The center(namely the angles of X and angles laser lines Y axis laser lines of cross The center and attitude and attitude (namely the Y axis of X and of cross laser-pattern laser-pattern in camera image coordinate) will be the crucial Boc-Cystamine Biological Activity parameters to be detected [13] in this in camera image coordinate) would be the important parameters to be detected [13] in this paper, even though paper, whilst existing cross marker image center positioning algorithms cannot meet the existing cross marker image center positioning algorithms can’t meet the attitude posiattitude positioning needs. tioning needs. At present, current solutions for central point coordinate extraction of cross-laserAt present, current solutions for central point coordinate extraction of cross-laserpattern consist of Hough Karrikinolide Cancer transform, projection statistical function and k mean clustering, pattern consist of Hough transform, projection statistical feature and k imply clustering, morphology and so on. Zhang Jingdan et al. [14] proposed a sub-pixel center detection morphology and so on. Zhang Jingdan et al. [14] proposed a sub-pixel center detection algorithm for cross laser pictures, just after binary processing of laser image, the pixel groups algorithm for cross laser pictures, immediately after binary processing of laser image, the pixel groups of your two-laser center line are detected by the system of line search and average, then in the two-laser center line are detected by the approach of line search and typical, then the pixel groups are taken as fitting sample points, with which two laser lines are fitted the pixel groups are taken as fitting sample points, with which two laser lines are fitted by least square process. Finally, the coordinates in the center of the cross laser pattern by least square system. Ultimately, the coordinates on the center with the cross laser pattern can can be obtained. Nevertheless, this method assumes that the transverse line of cross laser is be obtained. Even so, this strategy assumes thatof the cross-laser attitude in imagestrictly strictly horizontal. Because of the uncertainty the transverse line of cross laser is coordinates horizontal. Because of the uncertainty ofreal-time detection, this in image can’t meet within the in the project and also the have to have for the cross-laser attitude approach coordinates the project project and the want Liu real-time detection, this strategy can’t meet the project requirerequirements. for Bingqi et al. [15] proposed a center positioning approach for infrared ments. Liu division line, this process utilizes the pos.