SUSAN算子用于角点检测的基本步骤： 1） 对于感兴趣的每个象素点（一般的情况就是图像中的每个象素点）作用一圆模板； 2） 根据亮度比较函数计算圆模板中的USAN区域； 3） 根据几何阈值，计算象素点的初始响应； 4） 使用USAN重心与核中心的距离法则去除伪角点，使用USAN重心与核中心的连线上的每个点都必须在USAN区域来保证算法的一致性（即USAN区域的相连性） 5） 对每个象素点的响应，使用 （或更大）的窗口搜索局部极大值，进行非极大值抑制 -SUSAN operator for corner detection of the basic steps: 1) For each pixel of interest points (the general situation is that each image pixel points) the role of one circle template　2) calculated according to the brightness comparison function round Usan template region　3) According to the geometric threshold, calculating the pixel-point initial response　4) the use of Usan center of gravity and nuclear center removed from the law of pseudo-corner, the use of Usan center of gravity and nuclear center to connect the each point must be in the Usan region to ensure consistency algorithm (that is linked to sexual Usan region) 5) points for each pixel in response to, the use of (or greater) of the local maxima search window for non-polar large value of inhibition