利用比较定理、矩阵范数和矩阵测度的有关性质，提出了简单不确定时滞系统及对称组合不确定时滞系统的稳定条件。

Using comparison theorem and some properties of the matrix norm and the matrix measure, the paper provides several stability conditions for single and symmetric composite uncertain delay systems.

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利用这一新的准则，确定了鞅测度，提供了存在惟一最小对称熵鞅测度的充分条件。

Then by the new rule, a martingale measure was found, and sufficient conditions for the existence of a unique equivalent martingale measure that minimizes the symmetric entropy was given.

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最后，通过基于局部信息熵和局部灰度对称性测度的假设验证对ROI区域进行验证并对验证后的车辆区域进行滤波，得到最终检测结果。

Then, vehicle validation process is accomplished by local entropy and local gray scale symmetry estimate. Finally, the validated ROI area is filtered to obtain the ultimate detection results.

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