有循环检测，周期性检测，使用混沌与分形分析的例程，利用自然梯度算法，有详细的注释，多姿态，多角度，有不同光照,结合PCA的尺度不变特征变换(SIFT)算法。-There are cycle detection, periodic testing, Use Chaos and fractal analysis routines, Use of natural gradient algorithm, There are detailed notes, Much posture, multi-angle, have different light, Combined with PCA scale invariant feature transform (SIFT) algorithm.