opencv的ChessboardCorner检测算法

?1?findChessboardCorners

功能如下

The function attempts to determine whether the input image is a view of the chessboard pattern and locate the internal chessboard corners. The function returns a non-zero value if all of the corners are found and they are placed in a certain order (row by row, left to right in every row). Otherwise, if the function fails to find all the corners or reorder them, it returns 0. For example, a regular chessboard has 8 x 8 squares and 7 x 7 internal corners, that is, points where the black squares touch each other. The detected coordinates are approximate, and to determine their positions more accurately, the function calls cornerSubPix. You also may use the function cornerSubPix with different parameters if returned coordinates are not accurate enough.

翻译一下就是，

1. 此函数的功能是找到chessboard并定位角点。
2. ? ?如果找到角点，返回非零值，按行从左到右排列。
3. 否则，返回0.

那么opencv的findChessboardCorners用的什么算法?
论文http://bmvc2018.org/contents/papers/0508.pdf

?论文没看，想看了再说。