The registration algorithm based on computer vision is the most crucial part of augmented reality system. In order to solve the limitation of artificial identification registration and the speed limitation of natural features registration

a new registration method by introducing black border and comibed with natural features is designed. This method uses edge feature of the marker in the video frame to achieve the approximate positioning and fast tracking

extract the ORB feature points in the middle area of the marker

matching point pair screened by random sample consensus algorithm（ RANSAC） algorithm is used and solve and determine the pose of camera

use forward-backward optical flow to track and optimize efficiency of detection. Experimental result shows that the registration method can register accurately in the case of movement

registration efficiency of follow-up frame is up to 100 frame/s.