多姿态，多角度，有不同光照,IMC-PID是利用内模控制原理来对PID参数进行计算，最大信噪比的独立分量分析算法，在MATLAB中求图像纹理特征，大学数值分析算法，部分实现了追踪测速迭代松弛算法。- Much posture, multi-angle, have different light, The IMC- PID is using the internal model control principle for PID parameters is calculated, SNR largest independent component analysis algorithm, In the MATLAB image texture feature, University of numerical analysis algorithms, Partially achieved tracking speed iterative relaxation algorithm.