官网的OTB工具箱源代码比较老，缺少很多文件，跑不了OTB100。在原OTB代码的基础上，加了很多文件，对代码进行了小的更改，可以计算FPS(找到注释的地方启用即可)，可以跑OTB100,OTB50等各种OTB数据集。适合刚开始接触跟踪接触OTB的新手，能少走很多弯路。

将MD大神提出的CN特征融合到KCF中，采用的是简单的线性相加。里面的有的注释谷歌翻译的，可以无视

KCF中加入LMCF中的APCE遮挡评价标准，能一定程度上应对遮挡问题。里面的两个参数可以自己调试。

Model Predictive Control:Theory, Computation, and Design,2nd Edition. James B. Rawlings, David Q. Mayne, Moritz M. Diehl. Chapter 1 is introductory. It is intended for graduate students in engineering who have not yet had a systems course. But it serves a second purpose for those who have already taken the first graduate systems course. It derives all the results of the linear quadratic regulator and optimal Kalman filter using only those arguments that extend to the nonlinear and constrained cases to be covered in the later chapters. Instructors may find that this tailored treatment of the introductory systems material serves both as a review and a preview of arguments to come in the later chapters. Chapters 2-4 are foundational and should probably be covered in any graduate level MPC course. Chapter 2 covers regulation to the origin for nonlinear and constrained systems. This material presents in a unified fashion many of the major research advances in MPC that took place during the last 20 years. It also includes more recent topics such as regulation to an unreachable setpoint that are only now appearing in the research literature. Chapter 3 addresses MPC design for robustness, with a focus on MPC using tubes or bundles of trajectories in place of the single nominal trajectory. This chapter again unifies a large body of research literature concerned with robust MPC. Chapter 4 covers state estimation with an emphasis on moving horizon estimation, but also covers extended and unscented Kalman filtering, and particle filtering. Chapters 5-7 present more specialized topics. Chapter 5 addressesthe special requirements of MPC based on output measurement instead of state measurement. Chapter 6 discusses how to design distributed MPC controllers for large-scale systems that are decomposed into many smaller, interacting subsystems. Chapter 7 covers the explicit optimal control of constrained linear systems. The choice of coverage of these three chapters may vary depending on the instructor's or student's own research interests. Three appendices are included, again, so that the reader is not sent off to search a large research literature for the fundamental arguments used in the text. Appendix A covers the required mathematical background. Appendix B summarizes the results used for stability analysis including the various types of stability and Lyapunov function theory. Since MPC is an optimization-based controller, Appendix C covers the relevant results from optimization theory.