Aiming at this case, a robust and real-time stereo match algorithm based on mutual information is proposed in view of practical applications.

本文针对这种情况，并从实时应用的角度出发，提出一种鲁棒的基于互信息的实时立体匹配算法。

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The whole algorithm conformation is very skilled. Because the number of kalman filter is lesser, algorithm is real-time, and robust.

算法构造巧妙，由于使用了较少的卡尔曼滤波器，算法实时性好，鲁棒性更好。

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Experimental results show that the lane detection and the moving object detection and tracking algorithm in this paper are robust, efficient and suitable for real-time processing.

实验结果表明，本文提出的车道检测和车辆识别与跟踪方法是可行的，能够满足系统实时性和准确性的要求。

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