是路径规划的实用方法，未来线路预测,分析误差,实现用SDRAM运行nios，同时用SRAM保存摄像头数据。- Is a practical method of path planning, Future line prediction, error analysis, Implemented with SDRAM run nios, while saving camera data SRAM.

主要用于路径规划，程序读入之初，需要先读入Kinect相机拍摄的深度图像。(Mainly used for path planning, the program read at the beginning, you need to read the depth image taken by the Kinect camera.)