其中w是搜索空间，m为将M通过将其参数四舍五入从最近的网格点（即将网格

Where w is the search space, and m is to extend M from the nearest grid point (that is, convert the grid point value to the corresponding pixel) by rounding its parameters to all two-dimensional planes r. The simplest search method is to search one by one from the three dimensions of x, y and θ in the search window to find the best matching pose.

Where w is the search space, m is m by rounding its parameters from the nearest grid point (i.e. the value of the grid point to the corresponding pixel) to extend to all two-dimensional plane r. The simplest way to search is to search from the x, y and the three dimensions of x, y, and s, respectively, in the search window, to find the best matching position.

Where W is the search space and M is the extension of m from the nearest grid point (i.e. the value of the grid point is converted to the corresponding pixel) to all 2D planes by rounding its parameters. The simplest search method is to search from X, y and θ in the search window to find the best matching pose.<br>