TY ( ', ', ') , and the target position and gray once estimated is= x y gk k k k TYˆ ( ˆ ', ˆ ', ˆ ') . x y gk k k', ', ' respectively repre-sented abscissa, ordinate and the center of gray by the target object detection algorithm. x y gk k kˆ ', ˆ ', ˆ ' respectively represented a projected of target abscissa, ordinate and center gradation.