包括 MUSIC算法，ESPRIT算法 ROOT-MUSIC算法，表示出两帧图像间各个像素点的相对情况，Relief计算分类权重，包括广义互相关函数GCC时延估计，利用自然梯度算法。- Including the MUSIC algorithm, ESPRIT algorithm ROOT-MUSIC algorithm, Between two images showing the relative circumstances of each pixel, Relief computing classification weight, Including the generalized cross-correlation function GCC time delay estimation, Use of natural gradient algorithm.