在解决正面直立人脸检测的基础上，本章进一步研究解决图像平面内任意旋转的正面人脸的检测问题。-On the basis of solving the front upright face detection, this chapter for further research to solve the detection problem frontal arbitrary rotation of the image plane of the face.

直立车设计方案，包括怎么控制车平衡，控制车走动-Upright car design, including how to control the car balance control car move etc.