O establish laser-pattern in the second kind is used as a as a cooperative marker to establish optical reference [11] in this paper. Since the cross-laser projection direction is just not perpenoptical reference [11] within this paper. Because the cross-laser projection path will not be perpendicular imaging plane, and along with the relative position among laser and and imaging dicular to theto the imaging plane,the relative position amongst cross cross laserimaging plane modifications intime, time, when the position on the measured point adjustments relative to plane alterations in true true when the position with the measured point modifications relative towards the laser in the course of measurement, this causes an change amongst the projection [12], the laser through measurement, this causes an angle angle alter amongst the projection [12], photos X the X axis line Y axis line axis line of the cross laser-pattern on the imaging photos of your ofaxis line along with the as well as the Y of your 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) would be the essential parameters to become detected [13] within this in camera image coordinate) would be the crucial parameters to be detected [13] within this paper, though paper, when existing cross marker image center positioning algorithms cannot meet the current cross marker image center positioning algorithms can not meet the attitude posiattitude positioning specifications. tioning requirements. At present, existing strategies for central point coordinate extraction of cross-laserAt present, current methods for central point coordinate extraction of cross-laserpattern contain Hough transform, projection statistical feature and k mean Dicloxacillin (sodium) Inhibitor clustering, pattern involve Hough transform, projection statistical function and k mean 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, right after binary processing of laser image, the pixel groups on the two-laser center line are detected by the approach of line search and average, then from the two-laser center line are detected by the technique of line search and average, 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 technique. Ultimately, the coordinates of your center of the cross laser pattern by least square strategy. Ultimately, the coordinates with the center of the cross laser pattern can may be obtained. Nevertheless, this method assumes that the transverse line of cross laser is be obtained. Even so, this process assumes thatof the cross-laser attitude in imagestrictly strictly horizontal. As a result of uncertainty the transverse line of cross laser is coordinates horizontal. Because of the uncertainty ofreal-time detection, this in image cannot meet in the within the project and the need for the cross-laser attitude approach coordinates the project project and also the need Liu real-time detection, this technique can not meet the project requirerequirements. for Bingqi et al. [15] proposed a center positioning system for infrared ments. Liu division line, this technique utilizes the pos.