关键词: 计算机视觉, 方向性靶标, 拓扑定位, 共线性, 系统标定

Abstract: In this paper，a novel directional pattern is designed.This pattern is different with the current directional patterns，only composed of simple circle shapes.Therefore，the design and manufacture process is simple.According to the structural features，the mapping location algorithm based on collinear invariant ruler is proposed.Experimental results have proved that this algorithm works accurately and steadily.In addition，the design element can be revised easily due to the actual application requirement.The instances using spherical and toroidal pattern have been introduced finally.

Key words: computer vision, directional pattern, mapping location, collinear, system calibration