Microvision-based vertical needle micro-plane sub-pixel-level positioning method

The invention discloses a microvision-based vertical needle micro-plane sub-pixel-level positioning method. The method comprises the steps of: collecting a template image through a microscope CCD; establishing template image information, then performing template matching, extracting sub-pixel edges, extracting contour edges, performing linear detection on the edge contours, searching in neighborhoods of the obtained linear edge points, replacing with sub-pixel edge points in the neighborhoods, performing linear fitting, and determining the positions of the micro-planes according to the positions of the straight lines and the conversion relationship between the platform coordinate system and the image coordinate system. The method can achieve the automatic positioning of the micro-plane ofthe vertical needle, is high in speed, is high in precision, and is high in robustness. 一种基于显微视觉的立针微平面亚像素级定位方法，先通过显微镜CCD采集模板图像，再建立模板图像信息，然后进行模板匹配，再提取亚像素边缘，然后进行轮廓边缘提取，然后对边缘轮廓进行直线检测，最后在所得直线边缘点邻域搜索，用邻域内的亚像素边缘点替换，再进行直线拟合，并根据直线位置以