在估计目标状态时，采用了粒子滤波算法，设计了基于自适应表面模型的观测模型；
When estimating the target state, particle filter is adopted, and the observation model is designed based on the adaptive appearance model.
提出一种鲁棒自适应表面模型，该模型中每个像素值的变化过程由一混合高斯分布描述。
A robust and adaptive appearance model is proposed, in which the value of each pixel over time is modeled by a mixture of Gaussians.
针对激光扫描特点，提出了一种自适应室外场景表面重建方法。
According to the features of laser scanning, we proposed a method of self-adaptive surface reconstruction of outdoor scenes.
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