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elo
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t
o
f
L
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u
s
i
n
g
th
e
p
r
o
p
o
s
ed
ar
ch
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i
s
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a
ca
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s
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u
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n
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n
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o
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h
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ar
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d
r
a
w
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d
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o
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ap
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2.
ADVA
NC
E
D
T
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CH
NO
L
O
G
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S F
O
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RNA
L
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F
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m
ag
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p
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as
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t
h
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id
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y
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p
ted
tech
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lo
g
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o
r
b
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in
g
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f
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y
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te
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o
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to
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e.
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ter
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g
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r
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f
ea
t
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r
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ex
tr
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ata
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p
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io
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n
d
s
u
c
h
r
eq
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ir
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en
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e
w
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ad
d
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ess
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th
e
R
e
s
ea
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ch
co
m
m
u
n
it
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as
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ch
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o
lu
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a
v
ailab
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an
d
em
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lo
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ed
to
b
u
ild
ap
p
licatio
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s
[
3
]
.
I
m
a
g
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p
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ce
s
s
i
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g
f
o
r
b
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ased
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d
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R
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p
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m
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ar
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co
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p
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el
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w
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o
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ein
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u
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lt.
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o
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g
h
A
R
an
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ar
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attr
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to
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m
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u
c
h
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th
er
ap
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licatio
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m
is
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io
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cr
i
tical
ap
p
licatio
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s
b
ased
o
n
AR
an
d
VR
h
a
v
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also
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ee
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id
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ti
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ied
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o
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ce
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S
u
c
h
ap
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a
n
d
also
f
e
w
co
n
v
e
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tio
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s
p
o
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ch
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g
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s
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ter
m
s
o
f
m
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m
o
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a
n
d
co
m
p
u
tatio
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p
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h
at
o
b
v
iate
th
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ea
s
e
o
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d
ep
lo
y
m
e
n
t,
esp
ec
iall
y
f
o
r
r
ea
l
ti
m
e
s
y
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te
m
s
.
Hi
g
h
e
n
d
m
icr
o
co
n
tr
o
ller
s
,
Field
P
r
o
g
r
am
m
ab
le
Gate
A
r
r
a
y
s
(
FP
GAs),
I
P
co
r
es
an
d
i
n
teg
r
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s
o
f
t
h
e
s
e
en
t
ities
in
to
a
h
ar
d
w
ar
e
p
latf
o
r
m
ar
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ex
p
ec
ted
to
alle
v
iate
th
e
ch
al
len
g
es
in
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icate
d
ab
o
v
e
w
it
h
r
esp
ec
t
t
o
co
m
p
u
tatio
n
al
p
o
w
er
.
Har
d
w
ar
e
ar
c
h
itect
u
r
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w
h
er
ei
n
m
i
cr
o
co
n
tr
o
ller
s
w
o
r
k
in
tan
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e
m
w
i
th
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ar
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w
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n
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s
s
ed
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e
ef
f
ec
tiv
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i
n
b
u
ild
in
g
i
m
a
g
e
p
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ce
s
s
in
g
h
ar
d
w
ar
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p
latf
o
r
m
s
.
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v
io
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s
l
y
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i
n
s
u
c
h
ar
ch
i
tect
u
r
es,
ti
m
e
cr
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ta
s
k
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ar
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ch
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a
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d
al
g
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r
ith
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ta
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k
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ar
e
s
ch
ed
u
led
o
n
th
e
m
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o
co
n
tr
o
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s
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w
e
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er
,
m
o
r
e
r
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lis
tic
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y
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w
it
h
th
e
p
r
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t
d
a
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s
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t b
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s
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a
g
e
p
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s
s
in
g
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s
q
u
ite
n
o
m
in
al.
A
d
d
r
ess
i
n
g
r
ea
l
ti
m
e
r
eq
u
ir
e
m
en
ts
at
th
e
h
ar
d
w
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e
la
y
er
s
h
all,
b
y
its
el
f
,
n
o
t
s
u
f
f
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f
o
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al
l
th
r
o
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g
h
p
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t
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etter
m
e
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s
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ce
t
h
e
laten
c
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al
s
o
co
n
tr
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u
ted
d
u
e
to
s
y
s
te
m
s
o
f
t
w
ar
e
at
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ar
ied
lev
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I
m
a
g
e
p
r
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ce
s
s
in
g
tech
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o
lo
g
y
h
a
s
id
en
ti
f
ied
th
i
s
lac
u
n
a
a
n
d
ad
d
r
ess
ed
th
i
s
c
h
allen
g
e
t
h
r
o
u
g
h
s
o
f
t
w
ar
e
lib
r
ar
ies
o
f
w
h
ic
h
Op
en
C
V
is
a
r
ep
r
esen
t
ativ
e
o
n
e.
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t
is
th
e
e
x
p
er
ien
ce
o
f
th
e
au
t
h
o
r
s
th
at
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s
e
o
f
O
p
en
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ed
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ce
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h
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laten
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%
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p
r
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h
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ei
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g
w
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a
m
u
lti
-
tas
k
i
n
g
o
p
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s
y
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te
m
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r
t
h
er
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s
i
n
ce
Op
en
C
V
is
w
r
itte
n
in
C
++
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t
h
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ea
s
e
o
f
i
n
te
g
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w
it
h
a
p
p
licatio
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s
a
n
d
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m
id
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le
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elo
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s
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Ob
j
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ien
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p
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g
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h
ile
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ite
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tile
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ith
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tech
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ted
b
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Op
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C
V.
T
h
ese
ad
d
itio
n
al
tec
h
n
iq
u
es,
p
r
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m
ar
il
y
,
ar
e
2
-
d
i
m
e
n
s
io
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x
te
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o
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tr
a
n
s
f
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m
b
ased
tec
h
n
iq
u
e
s
w
h
ic
h
h
a
v
e
p
r
o
v
ed
w
ell
w
i
th
i
ts
1
-
d
i
m
en
s
io
n
al
co
u
n
ter
p
ar
t in
s
i
g
n
al
p
r
o
ce
s
s
i
n
g
.
E
x
a
m
p
le
s
o
f
s
u
ch
tr
a
n
s
f
o
r
m
s
leav
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asid
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th
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co
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v
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tio
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Fo
u
r
ier
T
r
an
s
f
o
r
m
s
,
Fas
t
Fo
u
r
ier
T
r
an
s
f
o
r
m
s
,
Dis
cr
ete
C
o
s
in
e
T
r
an
s
f
o
r
m
in
cl
u
d
e
o
n
e
o
r
m
o
r
e
o
f
t
h
e
f
o
ll
o
w
i
n
g
a
n
d
s
u
c
h
o
th
er
tr
a
n
s
f
o
r
m
s
:
a.
I
n
v
er
s
e
P
er
s
p
ec
tiv
e
Ma
p
p
in
g
b.
Dis
cr
ete
Kar
h
u
n
e
n
-
L
o
ev
e
tr
an
s
f
o
r
m
(
K
L
T
)
c.
W
alsh
tr
an
s
f
o
r
m
d.
Had
a
m
ar
d
tr
an
s
f
o
r
m
e.
W
alsh
-
Had
a
m
ar
d
tr
an
s
f
o
r
m
3.
T
H
E
O
RA
T
I
CA
L
F
RAM
E
WO
RK
F
O
R
I
NVER
SE
P
E
RSPEC
T
I
V
E
M
AP
P
I
NG
Un
d
er
s
ta
n
d
in
g
o
f
t
h
e
i
m
a
g
e
f
o
r
m
at
io
n
p
r
o
ce
s
s
an
d
i
m
ag
e
an
al
y
s
is
in
v
o
lv
e
s
tr
an
s
f
o
r
m
ati
o
n
an
d
/o
r
in
v
er
s
e
tr
an
s
f
o
r
m
atio
n
.
T
h
is
tech
n
iq
u
e
o
f
tr
an
s
f
o
r
m
atio
n
is
ex
ten
d
ed
to
m
ap
i
m
a
g
es
ac
r
o
s
s
co
o
r
d
in
ate
s
y
s
te
m
s
o
f
w
h
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h
t
h
e
d
u
o
,
p
e
r
s
p
ec
tiv
e
tr
a
n
s
f
o
r
m
atio
n
a
n
d
i
n
v
er
s
e
p
er
s
p
ec
tiv
e
tr
an
s
f
o
r
m
a
tio
n
i
s
f
o
u
n
d
to
b
e
h
ig
h
l
y
u
s
e
f
u
l.
Ho
w
e
v
er
,
tr
an
s
f
o
r
m
atio
n
s
o
v
er
co
o
r
d
in
at
e
s
y
s
te
m
s
g
e
t
co
m
p
licated
o
w
i
n
g
c
h
a
n
g
e
i
n
d
i
m
en
s
io
n
al
it
y
.
Sp
ec
if
ica
ll
y
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tr
an
s
la
tio
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f
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3
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d
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3
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m
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s
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a
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w
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t
h
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p
o
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ar
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m
ap
p
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m
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f
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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–
159
152
Fig
u
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h
e
i
m
a
g
e
p
lan
e.
Fu
r
t
h
er
,
if
λ
is
th
e
f
o
ca
l
len
g
t
h
o
f
th
e
ca
m
er
a
le
n
s
,
t
h
e
len
s
ce
n
ter
is
(
0
,
0
,
λ
)
.
T
o
d
ete
r
m
i
n
e
a
r
elatio
n
b
et
w
ee
n
th
e
p
o
in
t
(
X,
Y,
Z
)
an
d
th
e
co
r
r
esp
o
n
d
in
g
i
m
a
g
e
p
o
in
t
wh
ich
is
(
x
,
y
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,
a
s
a
f
ir
s
t
s
tep
,
t
h
e
C
ar
te
s
ia
n
co
o
r
d
in
ate
s
y
s
te
m
i
s
co
n
v
er
ted
to
a
h
o
m
o
g
en
o
u
s
co
o
r
d
in
ate
s
y
s
t
e
m
.
A
n
al
y
tical
t
r
ea
t
m
e
n
t
o
f
p
er
s
p
ec
tiv
e
p
r
o
j
ec
tio
n
g
eo
m
e
tr
y
n
ee
d
s
th
e
m
at
h
e
m
a
tical
ab
s
tr
ac
tio
n
o
f
in
f
in
it
y
w
h
ic
h
is
p
r
o
v
is
io
n
ed
b
y
th
e
h
o
m
o
g
e
n
eo
u
s
co
o
r
d
in
ate
s
y
s
te
m
.
T
h
e
h
o
m
o
g
en
eo
u
s
co
o
r
d
in
ates
f
o
r
th
e
3
D
p
o
in
t
(
X,
Y,
Z
)
i
s
g
i
v
en
b
y
(
k
X,
k
Y,
k
Z
,
k
)
w
h
er
e
k
is
a
n
ar
b
itra
r
y
n
o
n
ze
r
o
co
n
s
tan
t.
T
h
e
co
r
r
esp
o
n
d
in
g
h
o
m
o
g
e
n
eo
u
s
co
o
r
d
in
ates
f
o
r
t
h
e
i
m
a
g
e
p
o
in
t
(
x
,
y
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i
s
o
b
tai
n
ed
b
y
d
ef
in
i
n
g
a
p
er
s
p
ec
tiv
e
tr
an
s
f
o
r
m
atio
n
m
atr
i
x
P
d
ef
in
ed
as
:
=
[
1
0
0
0
0
1
0
0
0
0
1
0
0
0
(
−
1
)
1
]
(
1
)
Usi
n
g
th
i
s
tr
a
n
s
f
o
r
m
at
io
n
,
t
h
e
h
o
m
o
g
e
n
eo
u
s
co
o
r
d
in
ates
o
f
th
e
i
m
a
g
e
p
o
in
t
i
s
o
b
tain
ed
b
y
u
s
in
g
th
e
h
o
m
o
g
en
eo
u
s
co
o
r
d
in
ates o
f
t
h
e
3
D
p
o
in
t a
s
f
o
llo
w
s
:
ℎ
=
ℎ
=
[
1
0
0
0
0
1
0
0
0
0
1
0
0
0
(
−
1
)
1
]
[
]
=
[
−
(
)
+
]
(
2
)
T
h
e
h
o
m
o
g
e
n
eo
u
s
co
o
r
d
in
ates
o
f
th
e
i
m
ag
e
p
o
in
t
is
co
n
v
er
te
d
in
to
ca
r
tesi
an
co
o
r
d
in
ates
b
y
d
iv
id
in
g
ea
ch
o
f
th
e
ele
m
e
n
ts
o
f
t
h
e
co
lu
m
n
m
atr
i
x
ch
b
y
it
s
f
o
u
r
t
h
e
le
m
e
n
t.
W
ith
t
h
is
,
t
h
e
ca
r
tesi
a
n
co
o
r
d
in
ates
o
f
th
e
i
m
a
g
e
p
o
in
t is d
er
iv
ed
as
=
[
]
=
[
/
(
−
)
/
(
−
)
/
(
−
)
]
(
3
)
Fro
m
a
p
r
ac
tical
v
ie
w
p
o
in
t,
i
t
is
es
s
en
tia
l
to
b
e
ab
le
to
d
et
er
m
in
e
t
h
e
w
o
r
ld
co
o
r
d
in
ate
f
o
r
th
e
3
D
p
o
in
t
af
ter
h
a
v
i
n
g
k
n
o
w
n
t
h
e
co
r
r
esp
o
n
d
in
g
i
m
a
g
e
p
o
in
t.
T
h
is
tas
k
i
s
ac
co
m
p
li
s
h
ed
b
y
in
v
er
s
e
p
er
s
p
ec
ti
v
e
tr
an
s
f
o
r
m
atio
n
,
as b
r
ief
ed
b
elo
w
.
T
h
e
in
v
er
s
e
tr
an
s
f
o
r
m
atio
n
o
f
th
e
i
m
ag
e
p
o
in
t to
t
h
e
3
D
w
o
r
l
d
p
o
in
t is g
i
v
en
b
y
ℎ
=
−
1
ℎ
(
4
)
W
h
er
e
P
-
1
is
th
e
in
v
er
s
e
p
er
s
p
ec
tiv
e
tr
an
s
f
o
r
m
atio
n
m
atr
i
x
i
s
g
i
v
en
a
s
−
1
=
[
1
0
0
0
0
1
0
0
0
0
1
0
0
0
(
1
)
1
]
(
5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
E
S
I
SS
N:
2089
-
4864
A
p
p
lica
tio
n
o
f I
n
ve
r
s
e
P
ers
p
ec
tive
Ma
p
p
in
g
fo
r
A
d
v
a
n
c
ed
Dri
ve
r
A
s
s
is
ta
n
ce
S
ystems
in
…
(
V
ig
h
n
esh
N
.
T
.
)
153
C
o
n
s
id
er
a
p
o
in
t
(
x
0
,
y
0
)
to
b
e
a
p
o
in
t
o
n
th
e
i
m
ag
e
p
lan
e.
Fo
r
an
y
ar
b
itra
r
y
v
al
u
e
o
f
k
,
(
k
x
0
,
k
y
0
,
0
,
k
)
w
o
u
ld
b
e
t
h
e
h
o
m
o
g
e
n
eo
u
s
co
o
r
d
in
ates
o
f
t
h
e
p
o
in
t
(
x
0
,
y
0
)
.
T
h
e
h
o
m
o
g
e
n
eo
u
s
co
o
r
d
in
ates
o
f
th
e
3
D
w
o
r
ld
p
o
in
t is
g
iv
e
n
b
y
ℎ
=
[
1
0
0
0
0
1
0
0
0
0
1
0
0
0
(
1
)
1
]
[
0
0
0
]
=
[
0
0
0
]
(
6
)
Usi
n
g
th
is
h
o
m
o
g
e
n
eo
u
s
co
o
r
d
in
ates
f
o
r
th
e
3
D
w
o
r
ld
p
o
in
t,
o
n
e
ca
n
f
in
d
o
u
t
its
C
ar
tesi
an
co
o
r
d
in
ate
co
u
n
ter
p
ar
t a
s
=
[
]
=
[
0
0
0
]
(
7
)
Ho
w
e
v
er
,
t
h
e
i
s
s
u
e
h
er
e
i
s
t
h
a
t a
n
y
p
o
i
n
t o
n
t
h
e
3
D
s
p
ac
e
wo
u
ld
m
a
p
o
n
to
t
h
e
i
m
ag
e
p
lan
e
w
it
h
it
s
z
co
o
r
d
in
ate
b
ein
g
ze
r
o
.
C
o
n
s
id
er
th
e
w
o
r
ld
co
o
r
d
in
at
e
s
y
s
te
m
a
n
d
i
m
ag
e
co
o
r
d
in
at
e
s
y
s
te
m
ali
g
n
ed
to
ea
ch
o
t
h
e
r
as
s
h
o
w
n
in
t
h
e
Fi
g
u
r
e
2
.
C
o
n
s
id
er
th
e
i
m
ag
e
p
o
i
n
t
(
x
0
,
y
0
,
0
)
.
C
o
n
s
i
d
er
a
s
tr
aig
h
t
li
n
e
f
r
o
m
t
h
is
p
o
in
t
p
ass
in
g
t
h
r
o
u
g
h
th
e
o
p
tic
ce
n
ter
o
f
t
h
e
le
n
s
.
I
t
is
o
b
v
io
u
s
t
h
at
an
y
p
o
in
t
o
n
t
h
is
li
n
e
m
ap
s
o
n
to
t
h
e
p
o
in
t
(
x
0
,
y
0
,
0
)
.
T
h
u
s
t
h
is
p
o
in
t
h
as
m
u
ltip
le
m
ap
p
in
g
with
t
h
e
3
D
w
o
r
ld
.
Ob
v
io
u
s
l
y
,
i
n
v
er
s
e
p
er
s
p
ec
tiv
e
tr
an
s
f
o
r
m
a
tio
n
ap
p
lied
o
n
th
e
p
o
in
t (
x
0
,
y
0
,
0
)
w
ill n
o
t le
ad
t
o
an
ac
ce
p
tab
le
w
o
r
ld
co
o
r
d
in
ates f
o
r
th
e
3
D
w
o
r
ld
p
o
in
t.
Fig
u
r
e
2
.
I
m
a
g
e
p
o
in
t (
x
0
,
y
0
,
0
)
o
n
th
e
3
D
s
p
ac
e
m
ap
p
ed
o
n
to
th
e
i
m
a
g
e
p
lan
e
I
n
o
r
d
er
to
m
ee
t
t
h
e
en
g
i
n
e
er
in
g
r
eq
u
ir
e
m
en
t
th
at
w
e
n
ee
d
to
b
e
ab
le
to
d
eter
m
i
n
e
th
e
w
o
r
ld
co
o
r
d
in
ate
p
o
in
ts
g
i
v
en
t
h
e
c
o
r
r
esp
o
n
d
in
g
i
m
a
g
e
p
o
in
t,
u
n
iq
u
el
y
,
w
e
r
ela
x
t
h
e
f
o
r
m
a
lis
m
o
f
t
h
e
i
m
a
g
i
n
g
g
eo
m
etr
y
b
y
a
s
s
u
m
in
g
th
e
i
m
ag
e
p
o
in
t
to
h
av
e
a
f
ictitio
u
s
z
-
c
o
o
r
d
in
ate
in
s
tead
o
f
ze
r
o
.
T
h
u
s
,
th
e
i
m
a
g
e
p
o
in
t
in
ter
m
s
o
f
C
ar
te
s
ia
n
co
o
r
d
in
ates
w
o
u
ld
b
e
(
x
0
,
y
0
,
z)
w
h
i
ch
tr
an
s
lates
to
its
h
o
m
o
g
en
e
o
u
s
co
o
r
d
in
ates
a
s
(
k
x
0
,
k
y
0
,
k
z,
k
)
w
h
er
e
b
o
th
z
an
d
k
ar
e
ar
b
itra
r
y
n
u
m
b
er
s
.
P
r
o
ce
ed
in
g
f
u
r
th
er
,
tak
i
n
g
i
n
v
er
s
e
p
er
s
p
e
ctiv
e
tr
an
s
f
o
r
m
atio
n
o
n
th
is
m
o
d
i
f
ie
d
im
a
g
e
p
o
in
t
w
e
g
et
t
h
e
h
o
m
o
g
en
eo
u
s
co
o
r
d
in
ates o
f
t
h
e
3
D
w
o
r
ld
p
o
in
t a
s
ℎ
=
[
1
0
0
0
0
1
0
0
0
0
1
0
0
0
(
1
)
1
]
[
0
0
]
=
[
0
0
(
)
+
]
(
8
)
Fu
r
t
h
er
,
co
n
v
er
ti
n
g
w
h
i
n
to
C
a
r
tesi
an
co
o
r
d
in
ate
s
y
s
te
m
,
w
e
g
et
=
[
]
=
[
0
/
(
+
)
0
/
(
+
)
/
(
+
)
]
(
9
)
So
,
X
=
λ
x
0
/
(
λ
+
z
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
089
-
4
864
I
J
R
E
S
V
o
l.
6
,
No
.
3
,
No
v
em
b
er
2
0
1
7
:1
5
0
–
159
154
=
0
/
(
+
)
=
/
(
+
)
Usi
n
g
t
h
e
ab
o
v
e
th
r
ee
eq
u
atio
n
s
,
w
e
ca
n
el
i
m
in
ate
t
h
e
f
ictiti
o
u
s
v
ar
iab
le
z.
T
h
is
p
r
o
ce
s
s
w
ill g
i
v
e
u
s
=
(
0
/
)
(
−
)
an
d
=
(
0
/
)
(
−
)
T
h
is
w
o
r
k
ar
o
u
n
d
h
a
s
led
to
a
s
itu
at
io
n
b
y
w
h
ic
h
it
i
s
p
o
s
s
ib
le
to
m
ap
an
i
m
a
g
e
p
o
in
t
o
n
to
a
3
D
p
o
in
t
p
r
o
v
id
ed
w
e
h
a
v
e
an
id
ea
ab
o
u
t
its
z
-
co
o
r
d
in
ate
(
Z
)
.
T
ec
h
n
iq
u
es
b
y
w
h
ic
h
th
is
i
n
f
o
r
m
atio
n
is
m
ad
e
av
ailab
le
d
if
f
er
e
n
tiate
t
h
e
m
a
p
p
in
g
al
g
o
r
ith
m
s
w
h
ic
h
h
av
e
b
ee
n
d
ev
is
ed
.
Fe
w
v
ar
ia
n
ts
o
f
t
h
e
tech
n
iq
u
e
ar
e
ex
p
lain
ed
i
n
th
e
f
o
llo
w
i
n
g
s
ec
tio
n
s
.
4.
P
RO
P
O
SE
D
ARCH
I
T
E
CT
URE
T
h
e
m
o
tiv
a
tio
n
f
o
r
d
ev
is
i
n
g
an
ar
ch
itect
u
r
e
f
o
r
i
m
a
g
e
p
r
o
ce
s
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[
4
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Su
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lti
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Fig
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f
o
r
m
b
ased
tech
n
iq
u
e
s
c
o
n
s
tit
u
te
t
h
is
n
e
w
l
y
b
u
ilt
la
y
er
.
Up
o
n
th
is
la
y
er
lie
s
a
h
o
s
t
o
f
ap
p
licatio
n
s
ca
ter
in
g
to
th
e
v
ar
ied
n
ee
d
s
o
f
au
to
m
o
tiv
e.
Als
o
,
a
clea
r
l
y
d
if
f
er
e
n
tiated
f
u
n
ctio
n
a
lit
y
o
f
th
e
ap
p
licatio
n
m
i
g
h
t
n
ee
d
a
p
r
o
v
is
io
n
to
u
s
e
Op
en
C
V.
T
h
is
f
ac
il
it
y
i
s
also
p
r
o
v
is
io
n
ed
as
in
d
icate
d
in
Fi
g
u
r
e
1
b
y
w
h
ich
t
h
e
ap
p
licatio
n
s
o
f
t
w
ar
e
ca
n
ca
l
l
Op
en
C
V
r
o
u
ti
n
es,
d
ir
ec
tl
y
.
Sp
ec
if
icall
y
,
i
n
th
e
p
r
esen
t
r
esear
ch
,
I
P
M
is
d
ev
elo
p
ed
af
r
esh
a
n
d
e
m
p
lo
y
ed
alo
n
g
w
i
th
o
t
h
er
tr
an
s
f
o
r
m
s
p
r
o
v
is
io
n
ed
b
y
Op
en
C
V[
5
[
7
]
]
to
b
u
ild
a
n
o
v
el
L
a
n
e
Dep
ar
tu
r
e
W
ar
n
i
n
g
S
y
s
te
m
[
5
]
as
a
ca
s
e
s
tu
d
y
t
o
d
em
o
n
s
tr
ate
t
h
e
v
er
s
atilit
y
o
f
t
h
e
p
r
o
p
o
s
ed
ar
ch
itect
u
r
e.
5.
I
M
P
L
E
M
E
NT
AT
I
O
N
An
i
m
p
le
m
en
ta
tio
n
o
f
th
e
p
r
o
p
o
s
ed
ar
ch
itectu
r
e
h
as
b
ee
n
co
m
p
leted
o
n
a
h
o
s
t
co
m
p
u
ter
,
w
h
ic
h
r
u
n
s
Ub
u
n
t
u
1
2
.
0
4
o
p
er
atin
g
s
y
s
te
m
.
T
h
e
Op
en
C
V
lib
r
ar
y
is
u
s
ed
as
t
h
e
b
asic
i
m
ag
e
p
r
o
ce
s
s
i
n
g
s
o
f
t
w
ar
e
f
o
r
i
m
p
le
m
en
ta
tio
n
.
T
h
e
alg
o
r
ith
m
,
w
h
ic
h
w
e
u
s
ed
to
i
m
p
le
m
en
t
I
P
M,
w
a
s
4
-
p
o
in
t
co
r
r
esp
o
n
d
en
ce
.
T
h
is
alg
o
r
ith
m
h
elp
ed
r
ed
u
ce
th
e
co
m
p
u
tatio
n
ti
m
e
b
y
co
m
p
u
ti
n
g
c
o
m
p
lex
m
atr
ices
w
it
h
o
u
t
a
ctu
all
y
co
m
p
u
t
in
g
th
e
en
t
ir
e
m
atr
i
x
,
b
u
t
p
er
f
o
r
m
i
n
g
m
a
n
y
to
o
n
e
m
ap
p
in
g
o
f
th
e
p
ix
els
in
t
h
e
r
eg
io
n
o
f
i
n
ter
est
o
b
tain
ed
b
y
t
h
e
4
-
p
o
in
t
co
r
r
esp
o
n
d
en
ce
[
7
]
.
T
h
is
alg
o
r
ith
m
i
s
ex
ec
u
ted
o
n
a
p
r
e
-
r
ec
o
r
d
ed
d
ash
b
o
ar
d
ca
m
er
a
v
id
eo
an
d
also
o
n
liv
e
f
ee
d
i
n
p
u
t
f
r
o
m
th
e
ca
m
er
a[
8
]
.
T
h
e
r
ea
l
ti
m
e
a
n
al
y
s
is
o
f
t
h
e
co
m
p
lete
p
r
o
ce
s
s
i
n
g
o
f
t
h
e
i
m
a
g
es
is
p
r
io
r
itized
o
v
er
th
e
s
p
atial
an
al
y
s
i
s
o
f
t
h
e
o
u
tp
u
t
i
m
a
g
e
i
n
t
h
e
p
r
esen
t
s
t
u
d
y
an
d
i
s
d
etail
ed
in
t
h
e
f
o
llo
w
in
g
s
ec
tio
n
.
Fi
g
u
r
e
4
s
h
o
w
s
o
u
tp
u
t
o
f
4
-
p
o
in
t c
o
r
r
esp
o
n
d
en
ce
.
Fig
u
r
e
4
.
Ou
tp
u
t o
f
4
-
p
o
in
t c
o
r
r
esp
o
n
d
en
ce
6.
ANALY
SI
S F
O
R
R
E
A
L
T
I
M
E
P
E
RF
O
R
M
ANCE
I
n
v
ie
w
o
f
t
h
e
ti
m
e
cr
itica
li
t
y
o
f
th
e
ac
t
iv
e
s
a
f
et
y
s
y
s
te
m
s
co
u
p
led
w
ith
th
e
co
m
p
u
tatio
n
all
y
in
te
n
s
i
v
e
i
m
ag
e
p
r
o
ce
s
s
in
g
ta
s
k
s
,
it
is
e
s
s
e
n
tial
to
co
n
d
u
ct
a
f
o
r
m
al
a
n
al
y
s
i
s
o
f
t
h
e
s
y
s
te
m
p
er
f
o
r
m
a
n
ce
f
o
r
h
av
i
n
g
ac
h
ie
v
ed
o
r
n
o
t
o
f
th
e
r
ea
l
ti
m
e
p
er
f
o
r
m
a
n
ce
.
No
n
-
f
u
l
f
ill
m
e
n
t
o
f
t
h
e
r
ea
l
ti
m
e
p
er
f
o
r
m
a
n
ce
,
f
u
n
d
a
m
en
ta
ll
y
,
d
ef
ea
t
t
h
e
p
u
r
p
o
s
e
o
f
th
e
ap
p
licatio
n
its
elf
.
As
s
u
ch
,
a
f
o
r
m
al
a
n
al
y
s
i
s
o
f
th
e
s
o
f
t
w
ar
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
089
-
4
864
I
J
R
E
S
V
o
l.
6
,
No
.
3
,
No
v
em
b
er
2
0
1
7
:1
5
0
–
159
156
ex
ec
u
t
io
n
w
as
co
n
d
u
cted
f
o
r
th
e
L
DW
S
ap
p
licatio
n
b
u
ilt
o
n
th
e
ar
ch
itectu
r
e
b
r
ief
ed
in
th
e
p
r
ev
io
u
s
s
ec
tio
n
.
T
h
e
h
ig
h
li
g
h
t
s
o
f
t
h
is
a
n
al
y
s
i
s
ar
e
ex
p
lain
ed
in
t
h
e
f
o
llo
w
i
n
g
p
ar
ag
r
ap
h
s
:
T
h
e
ca
m
er
a
e
m
p
lo
y
ed
f
o
r
th
e
i
m
a
g
e
ac
q
u
is
i
tio
n
w
o
r
k
s
at
3
0
f
p
s
(
Fra
m
e
P
er
Seco
n
d
)
,
w
h
ich
m
ea
n
s
th
at
t
h
e
ca
m
er
a
is
r
e
n
d
er
in
g
a
f
r
a
m
e
e
v
er
y
3
0
m
s
an
d
h
e
n
ce
th
e
m
a
x
i
m
u
m
t
i
m
e
a
v
ailab
le
f
o
r
ac
h
iev
i
n
g
r
ea
l
ti
m
e
p
er
f
o
r
m
an
ce
is
to
en
s
u
r
e
th
at
t
h
e
co
m
p
u
tatio
n
ti
m
e
f
all
s
w
it
h
i
n
t
h
e
ti
m
e
d
u
r
atio
n
(
ap
p
r
o
x
.
3
0
m
s
)
av
ailab
le.
I
n
v
ie
w
o
f
t
h
e
s
a
f
et
y
cr
it
icalit
y
a
n
d
also
th
e
ti
m
e
r
eq
u
ir
ed
f
o
r
th
e
co
n
tr
o
l
ac
tio
n
,
as
th
e
ca
s
e
m
i
g
h
t
b
e,
m
ax
i
m
u
m
al
lo
w
ed
ti
m
e
f
o
r
co
m
p
u
tatio
n
i
s
f
i
x
ed
(
b
y
d
esi
g
n
)
to
b
e
2
0
m
s
.
W
ith
th
e
p
r
esen
t
i
m
p
le
m
en
ta
tio
n
,
t
h
e
co
m
p
u
tat
io
n
ti
m
e,
o
n
a
n
a
v
er
ag
e,
w
a
s
f
o
u
n
d
to
b
e
1
5
-
2
0
m
s
,
w
h
ic
h
i
s
q
u
ite
in
o
r
d
er
f
o
r
ac
h
iev
in
g
r
ea
l
ti
m
e
p
er
f
o
r
m
a
n
ce
.
Ho
w
e
v
er
,
th
i
s
m
etr
ic
i
s
o
n
l
y
a
p
ar
tial
f
u
l
f
ill
m
e
n
t
f
o
r
clai
m
i
n
g
r
ea
l
ti
m
e
p
er
f
o
r
m
a
n
ce
s
i
n
ce
t
h
is
m
etr
ic
d
o
es
n
o
t,
an
y
w
a
y
,
ad
d
r
ess
t
h
e
s
p
ee
d
o
f
th
e
v
eh
ic
le
an
d
th
e
ti
m
e
av
ai
lab
le
f
o
r
co
r
r
ec
tiv
e
ac
tio
n
b
y
t
h
e
d
r
iv
e
r
.
A
s
s
u
c
h
,
as
a
f
u
r
t
h
er
ex
ten
s
io
n
to
th
e
ab
o
v
e
a
n
al
y
s
i
s
,
co
m
p
u
tat
io
n
ti
m
e
p
er
f
r
a
m
e
w
as
e
v
al
u
a
ted
f
o
r
a
1
5
m
i
n
u
te
r
u
n
o
f
a
r
ea
l
li
f
e
ca
p
t
u
r
e
o
f
th
e
v
id
eo
f
o
r
th
e
L
DW
S
[
9
]
s
y
s
te
m
an
d
t
h
e
r
esu
lt
s
ar
e
as sh
o
w
n
i
n
Fi
g
u
r
e
5
an
d
th
e
g
r
ap
h
ical
r
ep
r
esen
tat
io
n
as in
Fig
u
r
e
7
.
Fig
u
r
e
5
.
Ou
tp
u
t o
f
an
al
y
s
i
s
i
n
r
ea
l ti
m
e
A
s
ec
o
n
d
an
al
y
s
is
w
a
s
co
n
d
u
cted
o
n
th
e
p
r
o
ce
s
s
ed
v
id
eo
s
ig
n
a
l
b
y
w
h
ic
h
it
w
a
s
p
o
s
s
ib
l
e
to
d
etec
t
th
e
lo
s
t
f
r
a
m
e
t
h
e
g
r
ap
h
f
o
r
w
h
ic
h
i
s
s
h
o
w
n
b
elo
w
.
All
t
h
o
s
e
f
r
a
m
e
s
f
o
r
w
h
ic
h
th
e
co
m
p
u
tat
io
n
t
i
m
e
g
et
s
r
ep
o
r
ted
as
ze
r
o
w
er
e
f
o
u
n
d
t
o
b
e
th
e
f
r
a
m
es,
w
h
ic
h
h
a
v
e
n
o
t
b
ee
n
p
r
o
ce
s
s
ed
b
u
t
ar
e
lo
s
t.
As
ex
p
ec
ted
th
e
n
u
m
b
er
o
f
lo
s
t
f
r
a
m
es
in
cr
ea
s
ed
w
i
th
th
e
i
n
cr
ea
s
e
i
n
s
p
ee
d
o
f
t
h
e
v
eh
ic
le.
I
d
ea
ll
y
,
it
i
s
es
s
en
tia
l
to
k
ee
p
t
h
e
n
u
m
b
er
o
f
lo
s
t
f
r
a
m
e
s
to
b
e
ze
r
o
f
o
r
all
v
eh
icle
s
p
ee
d
s
.
Ho
w
e
v
er
,
in
t
h
e
p
r
esen
t
i
m
p
le
m
e
n
tatio
n
,
t
h
e
n
u
m
b
er
o
f
lo
s
t
f
r
a
m
es
a
t
t
h
e
v
eh
icle
s
p
ee
d
o
f
9
0
k
m
p
h
w
as
o
f
t
h
e
o
r
d
er
o
f
5
-
1
0
f
r
a
m
es
f
o
r
e
v
er
y
1
5
m
in
u
te
s
o
f
v
e
h
icle
r
u
n
.
W
e
h
ad
to
b
r
o
ad
ly
clas
s
i
f
y
o
u
r
an
al
y
s
is
i
n
to
th
r
ee
m
aj
o
r
ca
t
eg
o
r
ies
a.
Var
iab
le
s
p
ee
d
(
em
u
lati
n
g
t
h
e
r
ea
l lif
e
s
it
u
atio
n
)
b.
R
ap
id
in
cr
ea
s
e
i
n
s
p
ee
d
(
to
ass
ess
t
h
e
i
m
p
ac
t o
f
r
ate
o
f
ch
a
n
g
e
o
f
s
p
ee
d
)
c.
R
ap
id
d
ec
r
ea
s
e
in
s
p
ee
d
(
to
ass
ess
t
h
e
i
m
p
ac
t o
f
r
ate
o
f
ch
a
n
g
e
o
f
s
p
ee
d
)
T
h
e
p
ar
am
eter
s
e
m
p
lo
y
ed
to
b
ase
o
u
r
an
al
y
s
i
s
ar
e
as f
o
llo
w
s
:
a.
C
ap
tu
r
e
R
ate.
b.
T
im
e
ta
k
en
f
o
r
th
e
co
m
p
u
tatio
n
o
n
t
h
e
h
o
s
t
s
y
s
te
m
.
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i
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n
h
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ce
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e
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all
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ttle
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n
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ca
p
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is
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in
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f
r
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m
es
[
1
0
]
.
7.
CO
NCLU
SI
O
N
Fu
t
u
r
e
v
e
h
icle
p
r
o
g
r
a
m
m
es
a
r
e
ex
p
ec
ted
to
in
clu
d
e
f
ar
m
o
r
e
im
p
r
o
v
is
a
tio
n
s
an
d
s
o
p
h
i
s
ticatio
n
s
p
r
ed
o
m
in
a
n
tl
y
i
n
ter
m
s
o
f
au
t
o
n
o
m
y
.
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h
is
s
itu
a
tio
n
w
o
u
ld
w
ar
r
an
t
t
h
e
d
ep
lo
y
m
en
t
o
f
s
p
ec
ialized
s
u
b
s
y
s
te
m
s
tar
g
eti
n
g
s
a
f
et
y
.
A
d
d
itio
n
all
y
,
s
af
et
y
s
h
all
b
e
all
p
er
v
asi
v
e
in
ter
m
s
o
f
m
an
d
ato
r
y
ad
d
-
o
n
s
f
o
r
th
e
p
r
ev
ale
n
t
E
C
Us.
Sin
ce
t
h
ese
s
u
b
s
y
s
te
m
s
,
d
ef
ac
to
,
e
m
p
lo
y
i
m
a
g
e
p
r
o
ce
s
s
i
n
g
tech
n
o
lo
g
y
,
a
g
e
n
er
ic
i
m
a
g
e
p
r
o
ce
s
s
i
n
g
p
latf
o
r
m
ar
c
h
itect
u
r
e
i
s
p
r
ese
n
ted
i
n
t
h
is
p
ap
er
.
Usi
n
g
th
i
s
ar
ch
itect
u
r
e,
s
o
f
t
w
ar
e
d
ev
elo
p
m
en
t
p
lat
f
o
r
m
s
ca
n
b
e
b
u
ilt
u
p
o
n
w
h
ic
h
a
cla
s
s
o
f
ap
p
licatio
n
s
ca
n
b
e
b
u
il
t.
L
an
e
Dep
ar
tu
r
e
W
ar
n
i
n
g
S
y
s
te
m
i
s
d
ev
elo
p
ed
o
n
o
n
e
s
u
c
h
cu
s
to
m
b
u
ilt
p
lat
f
o
r
m
as
a
ca
s
e
s
tu
d
y
.
T
h
e
au
th
o
r
s
en
v
i
s
a
g
e
s
ig
n
i
f
ica
n
t
ad
d
-
o
n
s
to
th
e
p
r
o
p
o
s
ed
ar
ch
itect
u
r
e
in
ter
m
s
o
f
v
id
eo
d
ata
an
aly
tics
an
d
also
a
w
i
d
e
s
p
r
ea
d
u
tili
t
y
o
f
t
h
e
ar
ch
it
ec
tu
r
e
f
o
r
b
u
ild
in
g
d
ev
elo
p
m
en
t
p
lat
f
o
r
m
s
as
an
en
ab
ler
f
o
r
th
e
d
ev
elo
p
m
e
n
t
o
f
s
af
et
y
cr
itical
a
u
to
m
o
ti
v
e
ap
p
licatio
n
s
in
t
h
e
f
u
tu
r
e.
RE
F
E
R
E
NC
E
S
[1
]
Io
a
n
a
M
a
ria Ch
ira,
A
n
c
u
ta Ch
ib
u
lcu
tea
n
,
Ra
d
u
G
a
b
riel
Da
n
e
sc
u
,
“
Re
a
l
ti
m
e
d
e
tec
ti
o
n
o
f
ro
a
d
m
a
rk
i
n
g
f
o
r
d
riv
in
g
a
ss
istan
c
e
a
p
p
li
c
a
ti
o
n
s”
,
2
0
1
0
I
n
t
e
rn
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
C
o
mp
u
ter
En
g
i
n
e
e
rin
g
a
n
d
S
y
ste
ms
(
IC
CES
)
,
p
p
1
5
8
-
1
6
3
,
2
0
1
0
.
[2
]
Da
rk
o
Ju
ric,
“
On
-
Ro
a
d
Nig
h
t
T
ime
V
e
h
icle
L
ig
h
t
De
tec
ti
o
n
a
n
d
t
ra
c
k
in
g
o
d
s Ov
e
rv
ie
w”
,
Av
a
il
a
b
le at:
h
tt
p
s:/
/www
.
f
e
r.
u
n
izg
.
h
r/_
d
o
w
n
lo
a
d
/rep
o
sit
o
ry
/KDI_
Da
rk
o
_
Ju
ric.p
d
f
[3
]
V
ik
ra
m
A
p
p
ia,
He
m
a
n
t
Ha
ri
y
a
n
i,
S
h
ij
u
S
iv
a
sa
n
k
a
ra
n
,
S
tan
ley
L
iu
,
Ke
d
a
r
Ch
it
n
is
,
M
a
rti
n
M
u
e
ll
e
r,
U
m
it
Ba
tu
r,
G
a
u
ra
v
A
g
a
r
wa
l,
“
S
u
rro
u
n
d
v
iew
Ca
m
e
ra
f
o
r
A
D
A
S
o
n
T
I
’
s T
D
A
X
S
o
Cs”
a
v
a
il
a
b
le at:
h
tt
p
:
//
ww
w
.
ti
.
c
o
m
/l
it
/w
p
/sp
r
y
2
7
0
a
/sp
ry
2
7
0
a
.
p
d
f
[4
]
M
o
h
a
m
e
d
A
l
y
,
“
Re
a
l
ti
m
e
d
e
tec
ti
o
n
o
f
lan
e
m
a
r
k
e
rs i
n
u
rb
a
n
stre
e
t
s”
,
2
0
0
8
IE
EE
I
n
telli
g
e
n
t
Veh
icle
S
y
mp
o
si
u
m
,
p
p
7
-
1
2
,
2
0
0
8
.
[5
]
S
.
T
u
o
h
y
,
D.O’Cu
a
lain
,
E.
Jo
n
e
s,
M
.
G
lav
in
“
Dista
n
c
e
d
e
ter
m
in
a
ti
o
n
o
f
a
n
A
u
to
m
o
b
il
e
E
n
v
iro
n
m
e
n
t
u
sin
g
In
v
e
rse
P
e
rsp
e
c
ti
v
e
M
a
p
p
in
g
i
n
Op
e
n
C
V”
,
IET
Irish
S
i
g
n
a
ls
a
n
d
S
y
ste
ms
Co
n
fer
e
n
c
e
(
IS
S
C
2
0
1
0
)
,
p
p
.
1
-
3
,
Ju
n
e
2
0
1
0
.
[6
]
Ju
n
W
a
n
g
,
T
a
o
M
e
i,
Bin
Ko
n
g
,
H
u
W
e
i,
“
A
n
a
p
p
ro
a
c
h
o
f
lan
e
d
e
tec
ti
o
n
b
a
se
d
o
n
i
n
v
e
rse
p
e
rsp
e
c
ti
v
e
m
a
p
p
in
g
”
,
17
th
I
n
ter
n
a
ti
o
n
a
l
IEE
E
c
o
n
fer
e
n
c
e
o
n
In
telli
g
e
n
t
T
ra
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Evaluation Warning : The document was created with Spire.PDF for Python.
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.
Evaluation Warning : The document was created with Spire.PDF for Python.