SUSAN角点检测程序，基于像素临域包含若干元素的近似圆形模板，对每个像素基于该模板领域的图像灰度计算角点响应函数（CRF）的数值，如果大于某阈值且为局部极大值，则认为该点为角点。-SUSAN corner detection procedures, pixel-based Pro Domain contains a number of elements in quasi-circular template, the value of each pixel based on the template the field of image gray calculate the angle of the point response function (CRF), if greater than a threshold and local maxima, it is considered the corner.