利用粒子滤波通过融合颜色信息和运动信息来计算粒子权值法，适用于任何分布的状态估计问题，是用一些离散随机采样点来近似系统随机变量的概率密度函数-Particle filter information through the integration of color and motion information to calculate particle weights method for estimation of the distribution of any state, with a number of discrete random sampling points to approximate the probability density function of the random variable