在粒子滤波+颜色直方图+遮挡处理的基础上，加上颜色模板的更新，使程序能够适应目标颜色变化（模板直方图更新速度根据目标颜色变化的快慢手动调节）。-In the particle filter+ Color histogram+ Block deal on the basis of the updated template to add color, so that procedures can be adapted to the target color changes (template upd