超声波传感器和摄像机组合可获得修剪平面几何中心线的绝对坐标。
World coordinates of geometric center line of pruned plane was acquired by combination of Ultrasonic sensor and CCD camera.
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.
由于弹性杆的中心线或弹性细丝可以抽象成空间曲线，然后根据空间曲线论和微分几何的知识进行处理。
The centerline of elastic rod or elastic filament can be abstracted as space curves to deal with them by the knowledge of the theory of space curve and differential geometry.
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