结合初始活动标架方位、传感器结构，运用递推算法计算管道中心线局部几何性质参数。
Combined with the initial position of the frenet frame and sensor structure, the local geometric parameters of the pipe Central Line can be calculated by using recurrence algorithm.
结合初始活动标架方位、传感器结构，运用递推算法计算管道中心线局部几何性质参数。
Combined with the initial position of the frenet frame and sensor structure, the local geometric parameters of the pipe Central Line can be calculated by using recurrence algorithm.
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