VFF虚拟力场法
VFH矢量场直方图
https://github.com/agarie/vector-field-histogram
https://github.com/ecmnet/MAVSlam/tree/c55e63eca4111e01245e0e3389f1e568782096fc/MAVSlam/src/com/comino/slam/vfh/vfh2D
http://www-personal.umich.edu/~johannb/vff&vfh.htm
原文：http://www.cnblogs.com/yhlx125/p/6918419.html