中文摘要：

针对微型钻针刃面视觉检测过程中的边缘角点提取问题，提出了一种基于协方差矩阵的自适应角点提取方法．通过边缘追踪算子获得微钻刃面单像素宽封闭边缘，采用自适应算法选取支持域，利用协方差矩阵获得边缘角点．应用该方法对方位各异的不同微钻进行刃面边缘角点提取，以验证该方法对不同刃面边缘角点提取的可靠性和方位无关性．

英文摘要：

For the contour corner detection problem in the process of vision detection of micro-drill＇s first facet, an adaptive contour corner detection method based on covariance matrix was presented to detect the contour corner of micro-drill＇s first facet. One-pixel-wide closed contour of micro-drill＇s first facet is obtained by using contour-tracking operator. An adaptive arithmetic is proposed to choose the ROS （region of support） which is used in covariance matrix based contour corner detection of different micro-drill＇s first facet. The results show that the proposed method can ensure the reliability of contour corner detection of micro-drill＇s first facet.