。在提取图像特征点的时候采用提取角点的方式，用角点检测与图像的局部自相关函数紧密结合的方法，通过角点分析来判断待检测点是否为角点。-In the extraction of image features: by the way, extracts angular point with corner detection and image of partial autocorrelation function of integrated method, through the corner to judge whether the line to analysis for the corner.