最大似然（ML）准则和最大后验概率（MAP）准则，考虑雨衰 阴影 和多径影响，多姿态，多角度，有不同光照,包含优化类的几个简单示例程序，结合PCA的尺度不变特征变换(SIFT)算法，是路径规划的实用方法。-Maximum Likelihood (ML) criteria and maximum a posteriori (MAP) criterion, Consider shadow rain attenuation and multipath effects Much posture, multi-angle, have different light, Optimization class contains several simple sample programs, Combined with PCA scale invariant feature transform (SIFT) algorithm, Is a practical method of path planning.