用边缘检测算法检测的圆的像的边缘点，并用多元线性回归求出椭圆的方程，然后按照我们的模型中提供的方法，求出每个圆心的像的位置-Using edge detection algorithm to detect the edge of the image circle points, and multiple linear regression equation of the ellipse obtained, and then follow the model provided by our met