真的是一个好程序，多目标跟踪的粒子滤波器，模式识别中的bayes判别分析算法。- Really is a good program, Multi-target tracking particle filter, Pattern Recognition bayes discriminant analysis algorithm.

多目标跟踪的粒子滤波器，最小均方误差（MMSE）的算法，仿真效果非常好。- Multi-target tracking particle filter, Minimum mean square error (MMSE) algorithm, Simulation of the effect is very good.