该方法对图像中的背景噪声和亮度差异都有较好的鲁棒性，对相互之间只有少量重叠区域的图 像序列也能获得可靠和精确的结果．-The method of the image brightness between the background noise and has better robustness, and only a small amount of overlap between the image sequences can be reliable and accurate result