中文摘要：

CAO Zheng-Cai Professor at the College of Information Science and Technology, Beijing University of Chemical Technology. He received his Ph. D. degree from Harbin Institute of Technology in 2005. His research interest covers sensor technology and intelligent control of robot. Corresponding author of this paper. E-mail： giftczc@163.com MA Feng-Le Master student at the College of Information Science and Technology, Beijing University of Chemical Technology. He received his bachelor degree from Beijing University of Chemical Technology in 2011. His research interest covers feature detection and image matching. E-mail： robotmfl@sina.com FU Yi-Li Professor at the State Key Laboratory of Robotics and Systems, Harbin Institute of Technology. He received his Ph.D. degree from Harbin Institute of Technology in 1996. His research interest covers autonomous robot control, medical robotics, and virtual reality. E-mail： meylfu@hit.edu.cn ZHANG Jian Lecturer at the School of Mechanical Engineering, Tongji University. He received his master and Ph.D. degrees from Harbin Institute of Technology in 2001 and 2005, respectively. His research interest covers computer vision and automobile robotics. E-mail： jianzh@tongji.edu.cn