Compared with traditional block matching tracking arithmetic, it overcomes some disadvantages, such as a mass of operation, inaccurate matching in the low SNR (Signal Noise ratio) image.

该算法与基本块匹配跟踪算法相比，克服了原算法运算量大，信噪比较低时匹配不准确等缺点。

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After that the computer image processing technology is used to carry on binary processing for metallographic image, tracking arithmetic makes accurate calculation of individual grain area very easy.

运用计算机图像处理技术对金相图像进行二值化处理后，采用图像跟踪算法可使单个晶粒面积的精确求取变得十分容易。

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In the path tracking module, adopt the beforehand aiming arithmetic based on PID controller, including the speed control and turning control.

在路径跟踪模块中，采用了基于PID控制器的预瞄控制算法，包括速度控制和转向控制。

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