1. A method of detecting an image, the method comprising: creating a plurality of ring contour images by: blurring the image; posterizing the blurred image at a plurality of levels to generate a plurality of posterized images; and creating the plurality of ring contour images from each of the plurality of posterized images; creating a plurality of convex hull images by: creating a plurality of corner images from corners identified within the image located by at least two different corner algorithms; finding a bounding rectangle that encompasses the plurality of ring contour images; cropping the plurality of corner images using the bounding rectangle; applying a threshold to the plurality of cropped corner images; and creating the plurality of convex hull images by generating a convex hull from the corners in each of the plurality of cropped corner images; creating a plurality of triangles by fitting a triangle with an orientation to each of the plurality of ring contour images and each of the plurality of convex hull images; and determining the orientation of the triangle from the plurality of triangles.