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以视觉不变量为基础的机器视觉比较容易从功能上与人的视觉贴近，它易于克服由于观察角度变化给机器视觉造成的困难[1]．交比是透视投影下的基本不变量，该不变量除了具有在透视投影下不变量本身不变的基本特点外，而且还具有不变量计算简单、快速、误差小，对实时性强的机器人视觉具有重要意义。实现了一个利用哈希表组织模板库的交比不变量实时识别系统。
Machine vision, which is based on visual invariables, is relatively easy to functionally close to human vision, and it is easy to overcome the difficulties that machine vision creates due to changes in viewing angle [1]. The cross ratio is the basic invariant under the perspective projection. The invariant not only has the basic characteristics that the invariant itself is invariant under the perspective projection, but also has the advantages of invariant computation is simple, fast, small error, real-time robot vision It is of great significance. Realize a real-time cross-invariant identification system using hash table organization template library.