For each detected target, distributions of intensity and local standard deviation are computed, and tracking is performed by computing the Mean Shift vector that minimizes the distance between the kernel density distribution of the target in the current frame and the template. 对于每一个被检测出的目标,计算灰度和局部标准差的分布,通过计算MeanShift向量,最小化当前帧目标与模板的核密度分布,实现对目标的跟踪。