基于Hessian矩阵的条纹中心提取方法提取光条中心点的亚像素图像坐标，并将光条中心点连接成光条中心线 然后利用直线近似算法将光条中心线在拐点处拆分为近似直线:最后将满足角度约束和图像原点到近似直线的距离约束的共线中心点进行融合，对融合后的共线中心点进行直线拟合得到直线光条的参数方程。-Hessian matrix-based extraction method of extracting light stripe center of the center section of the sub-pixel image coordinates, and connected into the center of light bar light bar center line　then use the linear approximation algorithm will be the center line of the inflection point of light split into approximately Line: Finally, to meet the angle constraints and images from the origin to the approximate linear constraints collinear fusion center, for a total fusion center for straight line fitting the parameters of linear equation of light stripes.