X-corner detection based on segment test applied in optical pose tracking system

The fully passive optical tracking systems using X-corners as markers are applied in Robotic Assisted Surgical System for reasons of their own advantages. The X-corner detection is noticeable since the traditional corner detectors pay attention to common corners not the particular X-corner. This paper present a kind of X-corner detector based on segment test which is performed on a small environment around the image pixels to detect the likely presence of X-corner. The experiments indicate efficiency.