中文说明：
该代码用于实现粒子滤波视觉目标跟踪(PF)、卡尔曼粒子滤波视觉目标跟踪(KPF)、无迹粒子滤波视觉目标跟踪(UPF)。它们是本人这两年来编写的核心代码，用于实现鲁棒的视觉目标跟踪，其鲁棒性远远超越MeanShift(均值转移)和Camshift之类。用于实现视觉目标跟踪的KPF和UPF都是本人花费精力完成，大家在网上是找不到相关代码的。这些代码虽然只做了部分代码优化，但其优化版本已经成功应用于我们研究组研发的主动视觉目标跟踪打击平台中。现在把它们奉献给大家！
English Description：
The code is used to achieve particle filter visual target tracking (PF), Kalman particle filter visual target tracking (KPF), unscented particle filter visual target tracking (UPF). They are the core codes I have written in the past two years, which are used to achieve robust visual object tracking, and their robustness is far beyond mean shift and CAMSHIFT. KPF and UPF for visual object tracking are all completed by myself. We can't find the relevant code on the Internet. Although only part of these codes have been optimized, the optimized version has been successfully applied to the active visual target tracking and attacking platform developed by our research group. Now give them to you< br/>