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The Kalman filter is a mathematical power tool that is playing an increasingly important role in computer graphics as we include sensing of the real world in our systems. The good news is you don’t have to be a mathematical genius to understand and effectively use Kalman filters. This tutorial is designed to provide developers of graphical systems with a basic understanding of this important mathematical tool.

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此为有关粒子群算法的比较权威的书，内部由关于此算法的C源程序-here for the PSO algorithm authoritative book on the internal algorithm from the C source

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