[6] David G Lowe. Distinctive image features from scale-invariant keypoints [J]. International Journal on Computer Vision(S1573-1405)，2004，60(2)：91-110.

[9] ZHANG Miaohui，HOU Yandong，HU Zhentao. Accurate object tracking based on homography matrix [C]// International Conference on Computer Science and Service System，Nanjing，China，Aug 11-13，2012：2310-2312.

[10] Stefan Leutenegger，Margarita Chli，Roland Siegwart. BRISK：Binary Robust Invariant Scalable Keypoints [C]// Proceedings of the IEEE International Conference on ComputerVision (ICCV)，Barcelona，Spain，Nov 6-13，2011：2548-2555.

[11] Lee Hsuan，Liu Chih-Yin，Lin Chih-Jui，et al. Implementation of real-time object recognition system for home-service robot by integrating SURF and BRISK [C]// Conference Proceedings - 2014 International Conference on System Science and Engineering，ICSSE，Shanghai，China，July 11-13，2014：273-278.

[15] OTSU N. A threshold selection method from gray-level histo-gram [J]. IEEE Transaction on Systems Man and Cybernetic(S1083-4427)，1979，9(1)：62-66.

[16] Elmar Mair，Gregory D Hager，Darius Burschka. Adaptive and generic corner detection based on the accelerated segment test [C]// Proceeding of the European Conference on Computer Vision(ECCV)，Heraklion，Crete，Greece，September 5-11， 2010：183-196.