I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
11
,
No
.
1
, M
a
r
ch
20
22
,
p
p
.
33
~
42
I
SS
N:
2722
-
2
5
8
6
,
DOI
:
1
0
.
1
1
5
9
1
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jr
a
.
v
11
i
1
.
pp
33
-
42
33
J
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ttp
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Person
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ile robo
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illumina
tion
Sh
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2
2
In
t
h
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p
a
p
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r,
we
p
re
se
n
t
a
m
e
th
o
d
o
f
p
e
rso
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m
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il
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u
sin
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l
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ti
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ti
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se
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jec
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f
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ti
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o
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jec
ts
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ries
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re
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tl
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ti
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In
s
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rm
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m
a
y
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se
sig
h
t
o
f
a
p
e
rso
n
.
In
th
is
p
a
p
e
r,
we
c
o
n
sid
e
r
a
ro
b
u
st
p
e
rso
n
f
o
ll
o
win
g
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e
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b
y
c
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v
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rian
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e
a
n
d
ima
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-
b
a
se
d
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o
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t
ro
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o
lo
r
in
v
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rian
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e
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o
w
s
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o
b
u
st
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a
tu
re
s
o
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o
lo
re
d
o
b
jec
ts
in
term
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o
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c
h
a
n
g
i
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g
il
lu
m
in
a
ti
o
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c
o
n
d
i
ti
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.
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f
irst,
we
e
stim
a
t
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e
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we
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p
o
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trac
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ters
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o
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e
n
,
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th
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y
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h
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-
b
a
se
d
c
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tr
o
ll
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E
x
p
e
rime
n
tal
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su
lt
s
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sin
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a
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a
c
tu
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o
b
o
t
d
e
m
o
n
stra
te
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e
ffe
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ti
v
e
n
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ss
o
f
th
e
p
ro
p
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se
d
m
e
t
h
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d
.
K
ey
w
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r
d
s
:
C
o
lo
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v
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ian
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I
m
ag
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ec
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g
n
itio
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Mo
b
ile
r
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b
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Par
ticle
f
ilter
Per
s
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llo
win
g
c
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tr
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T
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is i
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a
rticle
u
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d
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r th
e
CC B
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SA
li
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se
.
C
o
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r
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p
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A
uth
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r
:
Sh
in
s
u
k
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Oh
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Dep
ar
tm
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ch
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Facu
lty
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Un
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f
Yam
an
ash
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u
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Yam
an
ash
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J
ap
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ail:
s
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ash
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c.
jp
1.
I
NT
RO
D
UCT
I
O
N
R
ec
en
t
r
o
b
o
tics
tech
n
o
lo
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y
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ex
p
an
d
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n
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n
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t
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ly
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s
p
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m
en
ts
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u
ch
as
m
a
n
u
f
ac
tu
r
in
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a
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s
p
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as
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tr
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wel
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en
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a
u
s
e
o
f
its
r
e
m
ar
k
a
b
le
p
r
o
g
r
ess
[
1
]
–
[
3
]
.
E
x
am
p
les
o
f
s
er
v
ice
r
o
b
o
ts
in
clu
d
e
ca
r
ts
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to
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to
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Su
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tio
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,
s
u
ch
as
th
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d
is
tan
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b
etwe
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at
p
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s
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th
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b
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t.
So
m
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esear
ch
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s
ar
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p
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ch
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ec
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s
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as
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laser
r
an
g
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f
in
d
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(
L
R
F)
[
3
]
,
[
4
]
,
an
d
ca
m
e
r
a
[
5
]
–
[
7
]
.
Ok
u
s
ak
o
et
a
l.
[
3
]
esti
m
ated
th
e
f
o
o
t
p
o
s
itio
n
o
f
a
p
er
s
o
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b
y
co
m
p
a
r
in
g
th
e
d
ata
o
b
tain
ed
f
r
o
m
a
n
L
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with
th
e
tem
p
lates
co
n
s
is
tin
g
o
f
th
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ar
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an
g
em
e
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t
d
ata
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th
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f
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t
p
r
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ar
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d
b
ef
o
r
e
h
an
d
.
L
eig
h
et
a
l.
[
4
]
p
r
o
p
o
s
ed
t
h
e
m
eth
o
d
f
o
r
r
o
b
u
s
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etec
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g
a
p
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g
u
s
in
g
an
L
R
F
in
in
d
o
o
r
an
d
o
u
td
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o
r
en
v
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o
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m
en
ts
.
C
am
er
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-
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ased
p
er
s
o
n
tr
ac
k
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n
g
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ch
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iq
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es
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av
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b
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ac
tiv
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ca
r
r
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t
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th
e
f
ield
o
f
im
a
g
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r
ec
o
g
n
itio
n
[
5
]
–
[
7
]
.
Per
ez
et
a
l
.
[
5
]
m
ad
e
a
c
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lo
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m
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d
el
o
f
an
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b
ject
f
r
o
m
co
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a
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p
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m
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d
f
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in
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b
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b
ased
o
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th
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m
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d
el.
R
in
co
n
et
a
l.
[
6
]
p
r
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p
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s
ed
a
m
eth
o
d
f
o
r
esti
m
atin
g
th
e
p
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s
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p
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p
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ticle
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ilter
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ased
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tain
e
d
f
r
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ca
m
er
a.
Ah
m
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d
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a
l.
[
7
]
d
ev
elo
p
ed
t
h
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p
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s
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tr
ac
k
in
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alg
o
r
ith
m
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r
al
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etwo
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k
f
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v
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ca
m
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a.
Fro
m
th
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d
ev
elo
p
m
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n
ts
in
im
ag
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r
e
co
g
n
itio
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,
ca
m
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-
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ased
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h
av
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tu
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in
m
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s
,
s
u
ch
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m
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[
2
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I
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I
AE
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I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
11
,
No
.
1
,
M
a
r
ch
20
22
:
33
-
42
34
[
8
]
,
[
9
]
s
ter
eo
ca
m
er
a
[
1
0
]
r
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r
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,
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d
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(
R
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[
1
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ly
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f
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to
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r
o
m
t
h
e
im
ag
e
i
n
f
o
r
m
atio
n
o
f
a
ca
m
er
a.
Nak
an
o
et
a
l.
[
2
]
c
o
n
v
e
r
t
f
r
o
m
th
e
im
a
g
e
p
o
s
itio
n
o
f
th
e
r
ec
o
g
n
ized
f
ee
t
to
th
e
th
r
ee
-
d
i
m
en
s
io
n
al
p
o
s
itio
n
in
f
o
r
m
atio
n
an
d
u
tili
ze
th
e
p
o
s
itio
n
f
o
r
th
e
c
o
n
tr
o
l.
Su
ch
a
co
n
tr
o
l
m
eth
o
d
u
s
in
g
th
r
ee
-
d
im
en
s
io
n
a
l
p
o
s
itio
n
o
b
tain
ed
f
r
o
m
th
e
im
ag
e
in
f
o
r
m
atio
n
is
ca
lled
th
e
p
o
s
itio
n
-
b
ased
m
e
th
o
d
.
T
h
e
p
o
s
itio
n
-
b
ased
m
et
h
o
d
is
ea
s
y
to
im
p
lem
en
t
th
e
co
n
t
r
o
l
law.
Ho
wev
er
,
it
is
k
n
o
w
n
th
at
th
r
ee
-
d
im
en
s
io
n
al
r
esto
r
atio
n
f
r
o
m
ca
m
er
a
im
ag
es
is
v
u
ln
er
ab
le
to
m
o
d
e
l
er
r
o
r
s
in
ca
m
er
a
p
ar
am
eter
s
an
d
is
also
s
u
s
ce
p
tib
le
to
im
ag
e
q
u
a
n
tizatio
n
.
I
f
th
er
e
is
s
u
ch
an
er
r
o
r
in
th
e
ca
m
er
a
p
ar
am
eter
s
,
th
e
p
o
s
itio
n
-
b
ased
m
eth
o
d
ca
n
n
o
t
k
ee
p
th
e
d
is
tan
ce
to
th
e
p
er
s
o
n
p
r
o
p
er
l
y
,
an
d
th
er
e
is
a
p
o
s
s
ib
ilit
y
th
at
th
e
tr
ac
k
in
g
f
a
ils
.
T
h
o
u
g
h
p
er
s
o
n
o
r
o
b
ject
r
ec
o
g
n
itio
n
b
ased
o
n
th
e
co
lo
r
in
f
o
r
m
atio
n
o
f
th
e
ca
m
e
r
a
im
ag
e
is
ea
s
y
to
im
p
lem
en
t,
th
e
ap
p
ar
en
t
co
l
o
r
o
n
th
e
s
cr
ee
n
c
h
an
g
es
wh
e
n
th
e
illu
m
in
atio
n
b
r
ig
h
tn
ess
o
f
th
e
en
v
i
r
o
n
m
e
n
t
ch
an
g
es,
an
d
a
lar
g
e
d
if
f
er
en
c
e
o
cc
u
r
s
f
r
o
m
th
e
o
r
i
g
in
al
co
l
o
r
in
f
o
r
m
atio
n
o
f
th
e
tr
ac
k
i
n
g
o
b
ject.
T
h
is
ca
u
s
es
th
e
m
o
b
ile
r
o
b
o
t to
m
is
tak
en
ly
lo
s
e
s
ig
h
t o
f
th
e
p
er
s
o
n
to
b
e
t
r
ac
k
ed
.
I
n
th
is
p
a
p
er
,
we
co
n
s
id
er
a
p
er
s
o
n
tr
ac
k
in
g
co
n
tr
o
l
b
as
ed
o
n
a
n
im
a
g
e
-
b
ased
m
eth
o
d
an
d
co
l
o
r
in
v
ar
ian
ce
[
1
3
]
–
[
1
5
]
.
T
h
e
im
ag
e
-
b
ased
m
et
h
o
d
is
o
n
e
o
f
t
h
e
v
is
u
al
f
ee
d
b
ac
k
c
o
n
tr
o
ls
a
n
d
u
tili
ze
s
th
e
s
tate
v
ar
iab
les
o
n
t
h
e
ca
m
er
a
im
a
g
e
p
lan
e.
B
y
d
ir
ec
tly
c
o
n
tr
o
llin
g
th
e
f
ea
tu
r
es
o
f
th
e
tar
g
et
o
n
th
e
im
ag
e,
it
b
ec
o
m
es
u
n
n
ec
ess
ar
y
to
ca
r
r
y
o
u
t th
e
th
r
ee
-
d
im
en
s
io
n
al
r
esto
r
atio
n
,
a
n
d
it h
as th
e
r
o
b
u
s
tn
ess
f
o
r
th
e
m
o
d
el
er
r
o
r
o
f
th
e
ca
m
er
a
p
ar
am
ete
r
[
1
6
]
–
[
1
8
]
.
T
h
e
co
lo
r
in
v
ar
ian
c
e
also
g
iv
es
a
r
o
b
u
s
t
f
ea
t
u
r
e
q
u
an
tity
ag
ai
n
s
t
ap
p
ar
en
t
ch
a
n
g
es
s
u
ch
as
illu
m
in
atio
n
lig
h
tn
ess
an
d
s
h
ad
o
w.
I
n
th
is
p
ap
er
,
we
ex
tr
ac
t
th
e
f
ea
tu
r
es
o
f
a
p
er
s
o
n
b
ased
o
n
th
e
co
l
o
r
in
v
ar
ian
ce
an
d
u
tili
ze
t
h
em
f
o
r
tr
ac
k
i
n
g
co
n
tr
o
l
b
y
a
m
o
b
ile
r
o
b
o
t
.
T
h
e
ef
f
ec
tiv
e
n
ess
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
is
e
v
alu
ated
th
r
o
u
g
h
in
d
o
o
r
e
x
p
er
im
en
ts
.
I
n
th
e
ex
p
er
im
en
t,
o
n
e
ca
m
er
a
is
m
o
u
n
te
d
o
n
a
m
o
b
il
e
r
o
b
o
t
to
r
ef
lect
th
e
f
ee
t
o
f
th
e
tr
ac
k
ed
p
er
s
o
n
,
an
d
b
o
th
f
ee
t
ar
e
esti
m
ated
f
r
o
m
two
in
d
e
p
en
d
e
n
t
p
ar
ticle
f
ilter
s
f
r
o
m
t
h
e
ca
m
er
a
im
ag
e.
E
x
p
er
im
en
tal
ev
alu
atio
n
s
ar
e
ca
r
r
ied
o
u
t
b
y
t
h
e
m
o
b
ile
r
o
b
o
t
in
an
in
d
o
o
r
e
n
v
ir
o
n
m
e
n
t.
W
e
d
em
o
n
s
tr
ate
th
e
ef
f
ec
tiv
e
n
ess
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
b
y
m
ea
s
u
r
in
g
tr
ac
ea
b
le
illu
m
in
an
ce
v
al
u
es
u
s
in
g
an
illu
m
in
an
ce
s
en
s
o
r
.
2.
I
M
AG
E
-
B
A
SE
D
CO
N
T
RO
L
WI
T
H
M
O
B
I
L
E
RO
B
O
T
T
h
is
p
ap
er
p
r
esen
ts
a
m
o
d
el
o
f
a
two
wh
ee
l
-
t
y
p
e
m
o
b
ile
r
o
b
o
t
eq
u
i
p
p
ed
with
a
ca
m
er
a
a
n
d
r
e
alize
s
tr
ac
k
in
g
co
n
tr
o
l
b
y
im
ag
e
-
b
as
ed
m
eth
o
d
f
o
r
th
e
r
o
b
o
t
b
ased
o
n
[
1
7
]
.
2
.
1
.
M
o
delin
g
f
o
r
m
o
bil
e
ro
bo
t
s
wit
h c
a
m
er
a
Fig
u
r
e
1
s
h
o
ws
th
e
m
o
d
el
o
f
t
h
e
m
o
b
ile
r
o
b
o
t.
I
n
th
is
m
o
d
el,
it
is
a
s
s
u
m
ed
th
at
th
e
ca
m
er
a
is
m
o
u
n
ted
h
o
r
izo
n
tally
o
n
t
h
e
ce
n
ter
o
f
t
h
e
lef
t
an
d
r
ig
h
t
wh
ee
ls
to
war
d
th
e
tr
av
elin
g
d
ir
ec
ti
o
n
o
f
th
e
m
o
b
ile
r
o
b
o
t.
v
d
en
o
tes
th
e
tr
an
s
latio
n
al
s
p
ee
d
o
f
th
e
m
o
b
ile
r
o
b
o
t
an
d
d
en
o
tes
th
e
r
o
tatio
n
al
s
p
ee
d
.
Als
o
,
we
ass
u
m
e
th
a
t
th
e
ca
m
er
a
co
o
r
d
in
ate
s
y
s
tem
′
−
′
′
′
with
th
e
ce
n
ter
o
f
th
e
wh
ee
l
as
th
e
o
r
ig
in
.
Her
e,
if
th
e
ca
m
er
a
is
m
o
u
n
ted
h
o
r
izo
n
tally
at
th
e
ce
n
ter
o
f
th
e
wh
ee
l,
th
e
ca
m
er
a
m
u
s
t b
e
p
lace
d
in
a
h
ig
h
p
o
s
itio
n
in
o
r
d
e
r
to
v
i
ew
th
e
f
ee
t
o
f
th
e
p
er
s
o
n
.
T
h
er
ef
o
r
e,
in
th
is
p
ap
er
,
we
co
n
s
id
er
t
h
at
th
e
ac
tu
al
ca
m
er
a
is
attac
h
ed
to
th
e
f
r
o
n
t
o
f
th
e
r
o
b
o
t
a
n
d
t
ilted
d
o
wn
war
d
as
s
h
o
wn
in
Fig
ur
e
2
.
T
h
is
ca
m
e
r
a
-
co
o
r
d
in
ate
s
y
s
tem
is
ass
u
m
ed
to
b
e
−
.
T
h
e
im
ag
e
co
o
r
d
i
n
ate
s
y
s
tem
f
o
r
th
e
ca
m
er
a
co
o
r
d
in
ate
s
y
s
tem
′
−
′
′
′
an
d
−
is
d
ef
in
ed
as
′
−
′
′
an
d
−
r
esp
ec
tiv
ely
.
T
h
e
o
r
ig
i
n
o
f
ea
ch
im
ag
e
co
o
r
d
in
ate
s
y
s
tem
s
h
all
b
e
th
e
im
ag
e
ce
n
t
er
.
T
h
e
co
o
r
d
in
ate
s
y
s
tem
−
o
f
th
e
ca
m
er
a
tilt
ed
d
o
wn
war
d
ca
n
b
e
co
n
v
er
ted
t
o
th
e
ca
m
er
a
co
o
r
d
in
ate
s
y
s
tem
′
−
′
′
′
o
n
th
e
ce
n
ter
o
f
th
e
wh
ee
l
b
y
ap
p
ly
i
n
g
a
t
r
an
s
latio
n
v
ec
t
o
r
an
d
a
r
o
tatio
n
m
atr
ix
.
Fo
r
th
e
s
ak
e
o
f
s
im
p
licity
,
co
n
s
id
er
th
e
k
in
em
atic
m
o
d
el
in
t
h
e
h
o
r
iz
o
n
tal
ca
m
er
a
co
o
r
d
in
ate
s
y
s
tem
′
−
′
′
′
.
T
ar
g
et
p
o
in
t
P
is
ass
u
m
ed
to
b
e
alwa
y
s
o
n
t
h
e
g
r
o
u
n
d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
P
ers
o
n
fo
llo
w
in
g
co
n
tr
o
l fo
r
a
mo
b
ile
r
o
b
o
t b
a
s
ed
o
n
co
lo
r
i
n
va
r
ia
n
ce
co
r
r
esp
o
n
d
in
g
…
(
S
h
in
s
u
ke
Oh
-
h
a
r
a
)
35
Fig
u
r
e
1
.
Mo
b
ile
r
o
b
o
t
m
o
d
el
Fig
u
r
e
2
.
A
m
o
b
ile
r
o
b
o
t e
q
u
i
p
p
ed
with
a
ca
m
er
a
an
d
im
ag
e
p
lan
es
T
h
e
k
in
em
atic
m
o
d
el
o
f
p
o
i
n
t
=
[
′
,
,
′
]
w
ith
r
esp
ec
t to
th
e
m
o
b
ile
r
o
b
o
t
is
ex
p
r
ess
ed
b
y
(
1
)
.
[
′
′
]
=
−
V
−
Ω
×
[
′
′
]
(
1
)
W
h
er
e
=
[
0
0
]
an
d
Ω
=
[
0
−
0
]
.
I
n
ad
d
itio
n
,
s
in
ce
P
is
o
n
th
e
g
r
o
u
n
d
,
(
1
)
ca
n
b
e
ex
p
r
ess
ed
as
(
2
)
.
[
′
′
]
=
[
0
′
−
1
−
′
]
[
]
(
2
)
I
n
th
e
im
a
g
e
-
b
ased
m
et
h
o
d
,
th
e
co
n
tr
o
l
is
p
er
f
o
r
m
ed
u
s
in
g
th
e
co
o
r
d
in
ates
o
n
t
h
e
im
ag
e
.
Nex
t,
we
tr
an
s
f
o
r
m
P
in
th
e
co
o
r
d
in
ate
s
y
s
tem
′
−
′
′
′
to
th
e
tar
g
et
p
o
in
t
o
n
th
e
im
ag
e
p
l
an
e
.
T
h
e
v
ec
to
r
[
′
′
]
o
f
P
o
n
th
e
im
a
g
e
p
lan
e
ar
e
o
b
tain
ed
b
y
th
e
f
o
llo
win
g
.
[
′
′
]
=
[
′
′
⁄
′
⁄
]
(
3
)
W
h
er
e
f
is
th
e
f
o
ca
l le
n
g
th
o
f
t
h
e
ca
m
er
a.
Su
b
s
titu
tin
g
th
e
tim
e
-
d
if
f
er
e
n
t
iated
(
3
)
in
to
(
2
)
,
th
e
m
o
tio
n
o
f
th
e
ta
r
g
et
v
ec
to
r
o
n
th
e
i
m
ag
e
p
lan
e
ca
n
b
e
ex
p
r
ess
ed
b
y
(
4
)
.
̇
=
(
4
)
W
h
er
e
,
=
[
′
′
]
,
=
[
′
′
2
+
′
2
′
2
′
′
]
,
=
[
]
T
h
e
v
ec
t
o
r
s
is
t
h
e
co
n
tr
o
lled
v
ar
iab
le.
I
n
t
h
is
p
ap
e
r
,
we
r
ef
er
to
th
e
v
ar
iab
le
s
as
th
e
im
a
g
e
f
ea
tu
r
e
p
o
in
t
.
T
h
e
m
atr
ix
J
c
o
n
tain
in
g
th
e
co
m
p
o
n
e
n
ts
o
f
s
is
ca
lled
th
e
im
ag
e
J
ac
o
b
ian
m
atr
i
x
an
d
is
a
r
eg
u
la
r
m
atr
ix
u
n
less
′
is
0
.
2
.
2
.
I
m
a
g
e
-
ba
s
ed
t
ra
c
k
ing
co
ntr
o
l
In
th
is
p
ap
er
,
we
c
o
n
tr
o
l
th
e
m
o
b
ile
r
o
b
o
t
s
o
th
at
t
h
e
im
a
g
e
f
e
atu
r
e
p
o
in
t
o
n
t
h
e
im
ag
e
p
lan
e
co
in
cid
es
with
th
e
tar
g
et
p
o
in
t
.
L
et
∗
b
e
t
h
e
tar
g
et
v
alu
e
f
o
r
t
h
e
tilt
ed
c
am
er
a
im
ag
e
co
o
r
d
in
ates
s
y
s
t
em
−
.
T
h
e
co
n
tr
o
l
er
r
o
r
e
ca
n
b
e
ex
p
r
ess
e
d
as
(
5
)
.
=
−
∗
(
5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
11
,
No
.
1
,
M
a
r
ch
20
22
:
33
-
42
36
T
h
en
,
let
′
b
e
th
e
e
er
r
o
r
c
o
n
v
e
r
ted
to
t
h
e
h
o
r
izo
n
tal
ca
m
er
a
co
o
r
d
in
ate
s
y
s
tem
′
−
′
′
.
W
h
en
′
is
d
if
f
er
en
tiated
with
r
esp
ec
t to
t
im
e
,
we
ca
n
o
b
tain
(
6
)
.
′
̇
=
(
6
)
T
h
e
m
atr
ix
J
is
a
r
eg
u
lar
m
atr
i
x
as
lo
n
g
as
′
≠
0
.
T
h
at
is
,
if
P
is
n
o
t
at
th
e
s
am
e
h
eig
h
t
as
th
e
ca
m
er
a,
J
is
r
eg
u
lar
.
I
n
o
ur
p
r
o
b
lem
s
ettin
g
,
if
th
e
ca
m
er
a
tilt
ed
d
o
wn
ca
n
r
ec
o
g
n
ize
t
h
e
tar
g
et
P
in
th
e
i
m
a
g
e,
J
is
alwa
y
s
r
eg
u
lar
an
d
t
h
e
in
v
e
r
s
e
m
atr
ix
ex
is
ts
.
T
h
er
ef
o
r
e,
th
e
f
o
llo
win
g
co
n
t
r
o
l
law
is
u
s
ed
f
o
r
th
e
s
p
ee
d
c
o
n
tr
o
l
o
f
th
e
m
o
b
ile
r
o
b
o
t.
=
−
−
1
′
=
[
0
0
]
−
1
′
(
7
)
W
h
er
e
an
d
ar
e
p
o
s
itiv
e
f
ee
d
b
ac
k
g
ain
s
r
elate
d
to
s
p
ee
d
an
d
an
g
u
lar
s
p
ee
d
,
r
esp
ec
tiv
ely
.
Fr
o
m
th
e
ab
o
v
e,
th
e
clo
s
ed
-
lo
o
p
s
y
s
tem
o
f
th
e
m
o
b
ile
r
o
b
o
t is ex
p
r
ess
ed
as f
o
llo
ws:
′
̇
=
−
′
(
8)
I
t c
an
b
e
s
ee
n
th
at
it c
a
n
b
e
s
ta
b
ilize
d
b
y
th
e
co
n
tr
o
l la
w
o
f
(
7
)
.
I
n
t
h
is
p
ap
er
,
we
d
etec
t th
e
lo
wer
e
n
d
p
o
s
itio
n
s
o
f
b
o
th
f
ee
t
o
f
a
p
e
r
s
o
n
f
r
o
m
th
e
im
ag
e
o
f
th
e
ca
m
er
a
an
d
t
h
en
d
ete
r
m
i
ne
th
e
av
er
ag
e
o
f
th
e
two
p
o
s
itio
n
s
as
th
e
im
ag
e
f
ea
tu
r
e
p
o
in
t
s
.
T
h
e
im
ag
e
J
ac
o
b
ian
m
atr
ix
J
is
ca
lcu
lated
f
r
o
m
th
e
p
o
in
t
s
in
r
ea
l
-
tim
e,
an
d
th
e
p
er
s
o
n
tr
ac
k
in
g
is
r
ea
l
ize
d
b
y
th
e
co
n
tr
o
l la
w
o
f
.
(
7
).
3.
F
E
E
T
RE
CO
G
N
I
T
I
O
N
AN
D
T
RACK
I
NG
O
F
P
E
RSO
N
B
AS
E
D
O
N
CO
L
O
R
I
NV
ARIANC
E
3
.
1
.
Co
lo
r
inv
a
ria
nce
T
h
e
co
lo
r
in
v
ar
ian
ce
[
1
3
]
is
r
o
b
u
s
t
to
ap
p
ar
e
n
t
ch
an
g
es
s
u
c
h
as
s
h
ad
o
ws
an
d
illu
m
in
atio
n
lig
h
tn
ess
.
B
y
d
er
iv
in
g
s
p
ec
tr
al
d
er
i
v
ativ
es
f
r
o
m
th
e
p
h
y
s
ical
m
o
d
el
o
f
th
e
r
ef
lecte
d
lig
h
t
s
p
ec
tr
u
m
o
f
Ku
l
b
elk
a
-
Mu
n
k
,
two
in
v
ar
ian
ce
s
,
H
a
n
d
C
,
ar
e
ca
lcu
la
ted
.
I
n
ad
d
itio
n
,
th
e
i
n
v
ar
ian
ce
s
H
an
d
C
ar
e
ca
lcu
la
ted
f
r
o
m
th
e
lin
ea
r
tr
an
s
f
o
r
m
atio
n
s
o
f
R
GB
co
lo
r
in
f
o
r
m
atio
n
o
f
th
e
im
ag
es
an
d
th
e
d
if
f
e
r
en
tial
co
e
f
f
icien
ts
o
f
t
h
e
r
ef
lecte
d
s
p
ec
tr
a
as
(
9
)
an
d
(
1
0
)
.
=
0
.
30
+
0
.
04
−
0
.
35
0
.
34
−
0
.
60
+
0
.
17
(
9
)
=
0
.
30
+
0
.
04
−
0
.
35
0
.
06
+
0
.
63
+
0
.
27
(
1
0
)
T
h
e
in
v
ar
ian
ce
H
is
th
e
am
o
u
n
t
d
u
e
s
o
lely
to
th
e
c
o
lo
r
o
f
t
h
e
o
b
ject
's
s
u
r
f
ac
e,
an
d
C
is
t
h
e
am
o
u
n
t
with
r
esp
ec
t
to
n
o
n
-
g
l
o
s
s
y
o
b
j
ec
ts
.
I
f
th
e
v
alu
es
o
f
H
an
d
C
ar
e
co
n
s
tan
t,
th
ey
r
e
p
r
esen
t
a
p
lan
e
o
f
R
GB
s
p
ac
e.
Si
n
ce
th
e
v
al
u
es
o
f
H
a
n
d
C
c
an
b
e
in
f
in
ite,
we
u
s
e
th
e
f
o
llo
win
g
in
v
e
r
s
e
tr
ig
o
n
o
m
e
tr
ic
f
u
n
ctio
n
s
f
o
r
H
an
d
C
to
f
in
ite
th
em
.
{
=
ta
n
−
1
=
ta
n
−
1
(
11)
Fig
u
r
e
3
s
h
o
ws th
e
im
ag
e
o
b
ta
in
ed
b
y
co
n
v
er
tin
g
th
e
o
r
ig
in
a
l o
n
e
wh
e
n
th
e
lig
h
t is tu
r
n
ed
o
f
f
with
H
an
d
C
an
d
d
is
p
lay
in
g
it o
n
a
g
r
ay
s
ca
le.
Fig
u
r
e
.
3
(
a)
s
h
o
ws th
e
im
ag
e
ca
p
t
u
r
ed
in
an
illu
m
in
ated
r
o
o
m
.
W
e
ca
n
clea
r
ly
r
ec
o
g
n
ize
th
e
co
lo
r
a
n
d
th
e
p
atter
n
o
n
th
e
co
v
er
o
f
t
h
e
o
b
ject.
On
th
e
o
t
h
er
h
a
n
d
,
Fig
u
r
e
.
3
(
b
)
s
h
o
ws
th
e
im
ag
e
t
ak
en
in
th
e
r
o
o
m
w
ith
lig
h
ts
o
f
f
.
I
t
is
d
if
f
icu
lt
to
r
ec
o
g
n
ize
th
e
co
lo
r
a
n
d
th
e
p
att
er
n
f
r
o
m
th
e
im
ag
e
.
T
h
e
i
m
ag
e
co
n
v
er
ted
b
y
H
in
Fig
u
r
e
. 3
(
c)
ca
n
b
e
s
ee
n
t
h
at
t
h
e
ch
ar
ac
te
r
is
tics
o
f
th
e
o
b
ject
b
ec
o
m
e
clea
r
er
.
O
n
th
e
o
th
e
r
h
an
d
,
C
s
h
o
wn
in
Fig
u
r
e
.
3
(
d
)
s
h
o
ws
a
s
m
all
c
h
an
g
e
in
t
h
e
wh
o
le
im
a
g
e,
wh
ich
o
b
s
cu
r
es
th
e
ch
ar
ac
ter
is
tics
o
f
th
e
o
b
ject
f
r
o
m
th
e
im
ag
e
co
n
v
er
ted
b
y
H
.
T
h
is
s
u
g
g
est
s
th
at
th
e
u
s
e
o
f
C
to
g
eth
er
m
ay
r
e
d
u
c
e
th
e
r
ec
o
g
n
itio
n
o
f
th
e
tar
g
et,
s
o
it
i
s
ef
f
ec
tiv
e
to
u
s
e
H
p
r
o
ac
tiv
ely
.
Ho
wev
er
,
th
e
r
e
is
a
p
r
o
b
lem
th
at
H
ca
n
n
o
t
d
is
tin
g
u
is
h
its
o
p
p
o
s
ite
co
lo
r
f
o
r
a
g
iv
en
co
l
o
r
,
an
d
Ko
b
a
y
ash
i
et
a
l
.
[
1
4
]
h
av
e
m
ad
e
th
e
o
p
p
o
s
ite
co
lo
r
co
r
r
esp
o
n
d
to
a
d
if
f
er
en
t
v
alu
e
b
y
d
iv
id
in
g
th
e
v
alu
e
o
f
H
b
ased
o
n
C
.
I
n
th
is
p
ap
er
,
th
e
f
o
llo
win
g
in
v
a
r
ia
n
ce
′
is
o
b
t
ain
ed
b
y
u
s
in
g
t
h
e
in
v
ar
ian
t
0
=
≈
−
0
.
01
as th
e
s
tan
d
ar
d
in
th
e
s
a
m
e
way
as
[
1
4
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
P
ers
o
n
fo
llo
w
in
g
co
n
tr
o
l fo
r
a
mo
b
ile
r
o
b
o
t b
a
s
ed
o
n
co
lo
r
i
n
va
r
ia
n
ce
co
r
r
esp
o
n
d
in
g
…
(
S
h
in
s
u
ke
Oh
-
h
a
r
a
)
37
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
3
.
E
x
am
p
les o
f
tr
an
s
f
er
r
ed
im
ag
es u
s
in
g
c
o
lo
r
i
n
v
ar
ia
n
ce
ar
e
(
a)
o
r
ig
i
n
al
im
ag
e
wit
h
lig
h
t
,
(
b
)
o
r
ig
in
al
im
ag
e
with
out
lig
h
t
,
(
c)
c
o
lo
r
i
n
v
ar
ian
ce
H
,
(
d
)
c
o
lo
r
i
n
v
ar
ia
n
ce
C
′
=
{
1
2
(
−
)
(
≥
0
,
≥
0
)
1
2
(
≥
0
,
<
0
)
1
2
(
<
0
,
≥
0
)
1
2
(
+
)
(
<
0
,
<
0
)
(
1
2
)
I
n
th
is
p
ap
er
,
t
h
e
in
v
ar
ia
n
ce
′
o
f
(
1
2
)
is
u
tili
ze
d
as
a
f
ea
tu
r
e
q
u
an
tity
o
f
th
e
f
o
o
t
o
f
a
tr
ac
k
i
n
g
p
er
s
o
n
.
T
h
er
e
is
a
h
u
e
as
an
in
d
e
x
to
ex
p
r
ess
th
e
ch
an
g
e
o
f
co
lo
r
,
an
d
it
s
h
o
ws
a
r
o
b
u
s
t
p
r
o
p
er
ty
f
o
r
illu
m
in
atio
n
lig
h
tn
ess
an
d
s
o
o
n
.
Usi
n
g
t
h
is
p
r
o
p
e
r
ty
,
R
i
an
d
Fu
jim
o
t
o
[
1
9
]
p
r
o
p
o
s
ed
a
p
er
s
o
n
tr
ac
k
in
g
m
eth
o
d
th
at
f
u
s
es
h
u
e
a
n
d
l
o
ca
tio
n
.
Ho
wev
er
,
a
c
o
m
p
ar
ativ
e
s
tu
d
y
b
y
Ma
ts
u
m
o
to
et
a
l.
[
1
5
]
s
h
o
ws
th
at
th
e
in
v
ar
ian
c
e
′
is
m
o
r
e
r
o
b
u
s
t
to
illu
m
in
atio
n
c
h
an
g
es
th
an
th
e
h
u
e
.
T
h
e
r
ef
o
r
e
,
in
t
h
i
s
p
ap
er
,
we
u
s
e
th
e
c
o
lo
r
i
n
v
ar
ian
ce
′
f
o
r
p
er
s
o
n
tr
ac
k
in
g
.
3
.
2
.
P
er
s
o
n
t
ra
ck
ing
ba
s
ed
o
n
pa
rt
icle
f
ilte
r
Fig
u
r
e
4
s
h
o
ws
a
b
lo
ck
d
iag
r
a
m
o
f
p
er
s
o
n
tr
ac
k
in
g
in
th
is
p
ap
er
.
I
n
t
h
is
p
ap
er
,
b
ased
o
n
t
h
e
m
eth
o
d
o
f
[
2
]
we
im
p
lem
en
t
in
d
e
p
en
d
en
t
two
-
p
ar
ticle
f
ilter
s
o
n
b
o
th
f
ee
t
o
f
a
tr
ac
k
e
d
p
er
s
o
n
.
T
h
e
f
o
l
lo
win
g
s
h
o
w
s
th
e
p
r
o
ce
d
u
r
e
o
f
th
e
p
e
r
s
o
n
tr
ac
k
in
g
b
y
u
s
in
g
a
ca
m
er
a.
F
ig
u
r
e
4
.
B
lo
ck
d
iag
r
am
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
11
,
No
.
1
,
M
a
r
ch
20
22
:
33
-
42
38
3
.
2
.
1
.
Det
er
m
ina
t
io
n o
f
a
t
r
a
ck
ed
perso
n
First
,
a
m
o
b
ile
r
o
b
o
t
is
k
ep
t
o
n
s
tan
d
b
y
,
an
d
wh
e
n
a
p
er
s
o
n
i
n
tr
u
d
es
in
f
r
o
n
t
o
f
th
e
ca
m
er
a,
a
tr
ac
k
in
g
p
er
s
o
n
is
d
ec
id
ed
b
y
b
ac
k
g
r
o
u
n
d
d
if
f
er
en
ce
.
3
.
2
.
2
.
L
ea
rning
f
ea
t
ure
o
f
t
he
t
ra
c
k
ed
perso
n
T
h
e
co
l
o
r
i
n
f
o
r
m
atio
n
o
b
tain
e
d
f
r
o
m
th
e
im
a
g
e
o
f
t
h
e
tr
ac
k
ed
p
e
r
s
o
n
is
c
o
n
v
e
r
ted
i
n
to
in
v
ar
ian
ces
H
an
d
C
,
a
n
d
th
e
in
v
a
r
ian
ce
′
is
ca
lcu
lated
b
ased
o
n
(
12
)
.
W
e
also
cr
ea
te
a
n
d
n
o
r
m
alize
a
h
is
to
g
r
am
o
f
th
e
in
v
ar
ian
ce
′
to
tak
e
ad
v
a
n
tag
e
o
f
th
is
f
o
r
t
h
e
lik
elih
o
o
d
o
f
p
a
r
ticle
f
ilter
s
.
Alo
n
g
with
th
is
,
t
h
e
p
ar
ticle
f
ilter
s
ar
e
in
itialized
.
3
.
2
.
3
.
Sea
rc
h
bo
un
di
ng
lin
e
f
o
r
bo
t
h
f
ee
t
B
ased
o
n
th
e
m
eth
o
d
o
f
[
2
]
t
h
e
lik
elih
o
o
d
o
f
th
e
p
ar
ticles
o
f
ea
ch
p
a
r
ticle
f
ilter
is
p
r
o
j
ec
ted
an
d
ac
cu
m
u
lated
in
t
h
e
x
-
a
x
is
d
ir
e
ctio
n
as
(
1
3
)
.
(
)
=
∑
(
)
1
√
2
(
−
(
−
(
)
)
2
2
)
=
1
+
∑
(
)
1
√
2
(
−
(
−
(
)
)
2
2
)
=
1
(1
3)
W
h
er
e
N
is
th
e
n
u
m
b
er
o
f
th
e
p
ar
ti
cl
e,
(
)
is
th
e
s
tate
an
d
(
)
is
th
e
co
r
r
esp
o
n
d
in
g
lik
elih
o
o
d
o
f
th
e
n
-
th
p
ar
ticle
o
f
ea
ch
p
a
r
ticle
f
ilter
,
r
esp
ec
tiv
ely
.
T
h
e
s
u
b
s
cr
ip
ts
l
an
d
r
d
en
o
te
f
o
r
th
e
lef
t
an
d
r
ig
h
t
f
o
o
t,
r
esp
ec
tiv
ely
,
First,
we
f
in
d
th
e
two
ce
n
te
r
s
o
f
g
r
av
ity
o
f
all
p
ar
ticles
f
o
r
e
ac
h
p
a
r
ticle
f
ilter
.
T
h
en
,
th
e
x
-
v
alu
e
wh
e
r
e
A
cc
(
x)
is
th
e
m
in
im
u
m
b
etwe
en
t
h
e
x
-
v
alu
es o
f
ea
c
h
ce
n
ter
o
f
g
r
av
i
ty
is
u
s
ed
as th
e
d
iv
id
in
g
lin
e.
3
.
2
.
4
.
Sea
rc
hin
g
f
o
r
t
he
lo
west
po
ints o
f
bo
t
h f
ee
t
W
e
d
eter
m
in
e
th
e
lo
west
p
o
s
it
io
n
s
o
f
b
o
th
f
ee
t
o
n
an
im
ag
e
b
y
u
tili
zin
g
b
o
th
f
o
o
t
d
iv
id
i
n
g
lin
es
an
d
th
e
lik
elih
o
o
d
o
f
p
a
r
ticles.
T
h
e
x
-
co
o
r
d
in
ate
o
f
t
h
e
ce
n
ter
o
f
g
r
av
ity
o
f
t
h
e
p
ar
ticles
f
o
r
ea
c
h
f
ilter
is
u
s
ed
as
th
e
x
-
co
o
r
d
in
ate
o
f
t
h
e
lo
west
p
o
s
itio
n
.
I
n
th
is
s
y
s
tem
,
th
e
lik
e
lih
o
o
d
o
f
a
p
a
r
ticle
with
a
n
e
g
ativ
e
y
-
co
o
r
d
in
ate
tr
en
d
is
h
ig
h
b
ec
a
u
s
e
th
e
f
o
o
t
i
s
p
r
o
jecte
d
ab
o
v
e
t
h
e
im
ag
e
p
l
an
e.
T
h
er
ef
o
r
e,
we
ex
am
i
n
e
th
e
lik
elih
o
o
d
o
f
ea
c
h
p
ar
ticle
f
r
o
m
th
e
u
p
p
er
p
ar
t
o
f
th
e
im
ag
e
p
lan
e,
if
a
p
ar
ticle
is
in
T
ab
le
th
e
s
et
th
r
esh
o
l
d
,
we
r
eg
a
r
d
t
h
e
y
-
co
o
r
d
in
ate
o
f
th
e
p
ar
ticle
as
th
e
lo
west
p
o
in
t
o
f
th
e
f
o
o
t.
Fig
u
r
e
5
s
h
o
ws
th
e
r
esu
lt
o
f
s
ea
r
ch
i
n
g
th
e
lo
west
p
o
in
t
o
f
b
o
th
f
ee
t
o
b
tain
ed
b
y
th
is
m
eth
o
d
.
T
h
e
g
r
ee
n
d
o
ts
ar
e
th
e
b
o
t
to
m
p
o
in
t
o
f
b
o
th
f
ee
t,
th
e
b
ar
s
o
n
b
o
th
s
id
es
o
f
th
e
im
ag
e
in
d
icate
th
e
m
ag
n
itu
d
e
o
f
th
e
lik
elih
o
o
d
in
th
e
y
-
ax
is
d
ir
ec
tio
n
o
f
ea
ch
p
ar
ti
cle,
an
d
th
e
b
ar
s
o
n
th
e
b
o
tto
m
in
d
icate
th
e
m
ag
n
itu
d
e
o
f
th
e
lik
elih
o
o
d
in
th
e
x
-
a
x
is
d
ir
ec
tio
n
.
B
lu
e
is
th
e
r
ig
h
t
f
o
o
t,
an
d
r
ed
is
th
e
lik
elih
o
o
d
o
f
th
e
lef
t
f
o
o
t.
Fig
u
r
e
5
.
E
x
am
p
le
o
f
th
e
f
ea
tu
r
e
p
o
in
ts
ex
tr
ac
ted
b
y
t
h
e
p
r
o
p
o
s
ed
m
eth
o
d
3
.
2
.
5
.
T
ra
ck
ing
co
ntr
o
l by
a
n
i
m
a
g
e
-
ba
s
ed
m
et
ho
d
T
h
e
av
er
a
g
e
v
al
u
e
o
f
th
e
o
b
tai
n
ed
lo
we
st
p
o
s
itio
n
s
o
f
b
o
th
f
e
et
is
s
et
as
th
e
f
ea
tu
r
e
s
,
a
n
d
s
is
co
n
v
e
r
ted
in
to
th
e
co
o
r
d
in
ates
o
f
t
h
e
h
o
r
izo
n
tal
ca
m
er
a
im
ag
e
c
o
o
r
d
in
at
e
s
y
s
tem
′
−
′
′
′
.
T
h
e
s
tate
v
ar
iab
le
is
ap
p
lied
to
th
e
co
n
tr
o
l la
w
in
(
7
)
.
3
.
2
.
6
.
P
a
rt
icle
f
ilte
r
up
da
t
e
I
n
th
e
p
ar
ticle
f
ilter
u
p
d
ate,
th
e
r
esam
p
lin
g
o
f
th
e
p
ar
ticles
is
p
er
f
o
r
m
ed
.
T
h
e
p
r
o
ce
s
s
r
etu
r
n
s
to
th
e
two
-
leg
d
iv
id
i
n
g
lin
e
s
ea
r
ch
in
th
e
p
r
o
ce
d
u
r
e
(
3
.
2
.
3
)
.
I
n
th
is
p
ap
er
,
we
ass
u
m
e
a
co
n
s
tan
t
v
elo
city
m
o
tio
n
m
o
d
el
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
P
ers
o
n
fo
llo
w
in
g
co
n
tr
o
l fo
r
a
mo
b
ile
r
o
b
o
t b
a
s
ed
o
n
co
lo
r
i
n
va
r
ia
n
ce
co
r
r
esp
o
n
d
in
g
…
(
S
h
in
s
u
ke
Oh
-
h
a
r
a
)
39
as
a
m
o
d
el
o
f
th
e
p
ar
ticle
f
i
lter
.
T
h
e
m
o
b
ile
r
o
b
o
t
is
co
n
tr
o
lled
to
f
o
llo
w
th
e
p
er
s
o
n
b
y
r
e
p
ea
tin
g
th
ese
p
r
o
ce
d
u
r
es.
T
h
e
p
ar
ticle
n
u
m
b
er
o
f
ea
ch
f
o
o
t
p
a
r
ticle
f
ilter
in
th
is
p
ap
er
is
1
2
0
0
.
T
h
e
n
u
m
b
e
r
o
f
b
i
n
s
in
th
e
h
is
to
g
r
am
f
o
r
th
e
in
v
ar
ian
ce
′
is
1
0
0
0
,
an
d
th
e
th
r
esh
o
ld
o
f
t
h
e
lik
elih
o
o
d
f
o
r
d
ete
r
m
in
in
g
th
e
lo
we
st
p
o
in
t
is
s
et
to
1
0
-
5
.
T
h
e
tar
g
et
v
alu
e
f
o
r
p
er
s
o
n
tr
ac
k
i
n
g
co
n
tr
o
l
is
s
et
at
th
e
ce
n
ter
o
f
th
e
tilt
ed
ca
m
er
a
im
ag
e,
th
at
is
,
th
e
o
r
ig
in
.
T
h
e
g
ain
an
d
in
th
e
co
n
tr
o
l
ler
o
f
th
e
(
7
)
a
r
e
s
et
to
0
.
6
a
n
d
1
.
8
,
r
esp
ec
tiv
ely
.
I
n
th
e
tr
a
ck
in
g
p
r
o
ce
d
u
r
e
(
3
.
2
.
4
)
,
Nak
a
n
o
et
a
l.
[
2
]
ex
tr
ac
te
d
th
e
lo
wer
e
d
g
es
f
r
o
m
th
e
p
o
s
itio
n
o
f
th
e
ce
n
ter
o
f
g
r
av
ity
o
f
th
e
p
a
r
ticles,
th
en
d
eter
m
in
e
d
th
e
lo
west
p
o
in
ts
b
y
ed
g
e
d
etec
tio
n
.
Ho
we
v
er
,
in
th
is
m
eth
o
d
,
th
e
f
o
o
t
im
ag
e
is
b
lu
r
r
ed
d
u
e
to
th
e
f
ast
m
o
v
em
en
t
o
f
th
e
f
o
o
t
an
d
th
e
ch
an
g
e
o
f
th
e
illu
m
in
atio
n
b
r
ig
h
tn
ess
,
an
d
it
b
ec
o
m
es
d
if
f
icu
lt
to
f
in
d
th
e
lo
west
p
o
in
t
b
y
th
e
ed
g
e
d
ete
ctio
n
.
T
h
er
ef
o
r
e,
th
e
p
o
in
t
is
ex
tr
ac
ted
at
a
p
o
s
itio
n
d
if
f
e
r
en
t
f
r
o
m
th
e
ac
t
u
al
f
o
o
t,
an
d
it b
ec
o
m
es im
p
o
s
s
ib
le
to
k
ee
p
th
e
d
is
tan
ce
b
etw
ee
n
th
e
p
er
s
o
n
an
d
th
e
r
o
b
o
t
p
r
o
p
er
ly
.
O
n
th
e
o
th
er
h
an
d
,
th
e
lik
elih
o
o
d
-
b
ased
m
eth
o
d
in
t
h
is
p
ap
er
m
a
k
es
it
p
o
s
s
ib
le
to
f
in
d
th
e
en
d
p
o
i
n
ts
ev
en
f
o
r
b
lu
r
r
ed
im
ag
es.
4.
E
XP
E
R
I
M
E
N
T
A
L
E
VA
L
U
AT
I
O
N
S
Pio
n
ee
r
3
DX
[
2
0
]
was
f
itted
with
a
u
n
iv
er
s
al
s
er
ial
b
u
s
(
U
SB
)
E
L
E
C
OM
C
o
r
p
o
r
atio
n
Un
iv
er
s
id
ad
C
ató
lica
San
An
to
n
io
d
e
M
u
r
cia
(
UC
AM
)
-
C
0
2
2
0
to
r
ef
lec
t
th
e
f
ee
t
o
f
a
p
e
r
s
o
n
,
s
ee
Fig
u
r
e
6
.
Dell
latitu
d
e
3
5
5
0
(
4
GB
)
lap
to
p
s
an
d
Mic
r
o
s
o
f
t
v
is
u
al
C
++
2
0
1
0
e
x
p
r
e
s
s
wer
e
u
s
ed
to
im
p
lem
en
t
th
e
p
r
o
p
o
s
ed
m
eth
o
d
,
an
d
Op
en
C
V
-
2
.
1
was
u
s
ed
to
p
r
o
ce
s
s
im
ag
es.
T
h
e
p
r
o
p
o
s
e
d
p
ar
ticle
f
ilter
s
wer
e
im
p
lem
en
ted
b
ased
o
n
th
e
co
n
d
en
s
atio
n
al
g
o
r
ith
m
[
2
1
]
in
Op
en
C
V.
T
h
e
illu
m
in
an
ce
s
en
s
o
r
Gr
ap
h
tec
GS
-
L
XUV
was
m
o
u
n
ted
t
o
m
ea
s
u
r
e
th
e
am
b
ien
t illu
m
in
atio
n
d
u
r
in
g
ex
p
er
im
e
n
ts
.
Fig
u
r
e
6
.
Mo
b
ile
r
o
b
o
t
p
io
n
ee
r
3
DX
T
h
e
ex
p
er
i
m
en
ts
wer
e
ca
r
r
ied
o
u
t
in
an
i
n
d
o
o
r
en
v
ir
o
n
m
en
t.
T
h
e
p
er
s
o
n
wen
t
s
tr
aig
h
t
to
th
e
h
allway
wh
er
e
th
e
lig
h
ts
wer
e
tu
r
n
ed
o
f
f
wh
en
th
e
p
er
s
o
n
s
tar
ted
walk
in
g
.
Fig
u
r
e
7
s
h
o
ws an
e
x
am
p
le
o
f
th
e
r
esu
lts
o
f
m
ea
s
u
r
em
en
t
u
s
in
g
a
n
illu
m
i
n
an
ce
m
ete
r
in
a
n
ex
p
e
r
im
en
t
.
T
h
e
ex
p
e
r
im
en
tal
e
n
v
ir
o
n
m
en
t
ch
an
g
es
f
r
o
m
a
m
ax
im
u
m
illu
m
in
a
n
ce
o
f
2
7
.
4
[
lx
]
to
a
m
in
im
u
m
illu
m
in
an
c
e
o
f
1
.
8
[
lx
]
.
Fig
u
r
e
7
.
I
ll
u
m
in
atio
n
c
o
n
d
iti
o
n
in
th
e
ex
p
er
im
e
n
tal
en
v
ir
o
n
m
en
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
11
,
No
.
1
,
M
a
r
ch
20
22
:
33
-
42
40
T
h
e
p
r
o
p
o
s
ed
m
eth
o
d
is
co
m
p
ar
ed
with
th
e
R
GB
co
lo
r
in
f
o
r
m
atio
n
m
eth
o
d
f
o
r
tr
ac
k
in
g
a
p
er
s
o
n
'
s
f
ee
t.
T
h
e
m
eth
o
d
o
f
Nak
an
o
et
a
l.
[
2
]
is
b
ased
o
n
R
GB
co
lo
r
in
f
o
r
m
atio
n
.
W
e
s
h
o
w
th
e
p
r
o
ce
s
s
o
f
tr
ac
k
in
g
a
p
er
s
o
n
b
y
u
s
in
g
th
e
o
n
b
o
ar
d
ca
m
er
a
wh
e
n
u
s
in
g
th
e
R
GB
co
lo
r
-
b
ased
m
eth
o
d
an
d
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
,
r
esp
ec
tiv
ely
.
T
h
e
lig
h
tn
ess
o
f
ea
ch
im
ag
e
is
p
r
o
ce
s
s
ed
to
m
ak
e
it
ea
s
ier
to
s
ee
th
e
ex
p
e
r
im
en
t.
No
te
t
h
at
th
e
ac
tu
al
im
ag
es a
r
e
d
ar
k
er
th
a
n
t
h
em
.
Fig
u
r
e
8
s
h
o
ws
th
e
R
GB
co
lo
r
-
b
ased
m
eth
o
d
in
wh
ich
p
ar
ti
cles
ar
e
d
is
p
er
s
ed
in
th
e
s
h
a
d
o
ws
o
f
th
e
f
ee
t
as
th
e
illu
m
in
atio
n
in
ten
s
ity
d
ec
r
ea
s
es.
I
n
Fig
u
r
e
8
(
a)
,
t
h
e
r
o
b
o
t
s
p
ec
if
ied
th
e
ta
r
g
et
p
er
s
o
n
b
ased
o
n
th
e
b
ac
k
g
r
o
u
n
d
d
if
f
e
r
en
ce
a
n
d
d
e
ter
m
in
ed
th
e
l
o
west
p
o
s
itio
n
s
.
I
n
Fig
u
r
es
8
(
b
)
a
n
d
(
c)
,
th
e
r
o
b
o
t
r
ec
o
g
n
ized
th
e
f
ee
t
o
f
th
e
p
er
s
o
n
a
n
d
f
o
ll
o
wed
it
s
in
ce
th
e
lig
h
tin
g
in
th
e
h
a
llway
was
b
r
ig
h
t.
T
h
e
p
ar
ticle
s
b
eg
an
to
d
is
p
er
s
e
ev
en
to
war
d
t
h
e
s
h
ad
o
w
o
f
th
e
f
o
o
t
f
r
o
m
Fig
u
r
e
8
(
d
)
,
an
d
th
e
d
is
tan
ce
b
etwe
en
th
e
p
er
s
o
n
a
n
d
th
e
r
o
b
o
t
b
eg
an
to
in
cr
ea
s
e.
B
ec
au
s
e
th
e
c
o
lo
r
o
f
th
e
p
e
r
s
o
n
'
s
p
an
ts
was
d
ar
k
b
lu
e,
th
e
p
ar
ticles
in
th
e
s
h
a
d
ed
ar
ea
wer
e
g
iv
en
lik
elih
o
o
d
.
I
n
Fig
u
r
e
8
(
e)
,
t
h
e
s
h
ad
o
ws
o
f
b
o
th
f
ee
t
wer
e
ex
tr
ac
ted
as
th
e
lo
wer
en
d
p
o
in
ts
,
e
v
en
th
o
u
g
h
th
e
f
ee
t
wer
e
ca
p
tu
r
ed
b
y
th
e
ca
m
er
a.
T
h
e
r
o
b
o
t
lo
s
t
s
ig
h
t
o
f
th
e
f
ee
t
an
d
co
u
ld
n
o
t
tr
ac
k
th
e
p
e
r
s
o
n
in
Fig
u
r
e
8
(
f
)
.
T
h
e
illu
m
in
an
ce
in
Fig
u
r
e
8
(
f
)
was
7
.
2
[
lx
]
,
wh
e
r
e
th
e
f
o
o
t
c
o
u
ld
n
o
t
b
e
r
ec
o
g
n
ized
an
d
tr
ac
k
in
g
b
ec
am
e
im
p
o
s
s
ib
le
f
r
o
m
th
e
im
ag
es sh
o
wn
in
Fig
u
r
e
8
(
f
)
an
d
later
.
I
n
th
e
p
r
o
p
o
s
ed
m
eth
o
d
s
h
o
w
n
in
Fig
u
r
e
9
,
th
e
p
ar
ticles
d
i
d
n
o
t
d
is
p
er
s
e
in
th
e
s
h
ad
o
ws
o
f
th
e
f
ee
t
ev
en
in
s
itu
atio
n
s
wh
er
e
b
o
th
f
ee
t
wer
e
d
if
f
icu
lt
to
r
ec
o
g
n
ize
d
u
e
to
th
e
d
ar
k
n
ess
.
Fig
u
r
e
9
s
h
o
ws
th
at
th
e
co
lo
r
in
v
ar
ian
ce
is
r
o
b
u
s
t
ag
ai
n
s
t
s
h
ad
o
ws.
I
n
Fig
u
r
e
9
(
a)
,
th
e
r
o
b
o
t
s
p
ec
if
ied
th
e
tar
g
et
p
er
s
o
n
b
y
th
e
b
ac
k
g
r
o
u
n
d
d
if
f
er
en
ce
a
n
d
d
eter
m
in
ed
th
e
l
o
west
p
o
s
itio
n
s
.
I
n
Fig
u
r
e
9
(
b
)
,
it
was
eq
u
iv
alen
t
to
th
e
b
r
i
g
h
t
n
ess
wh
en
tr
ac
k
in
g
f
ails
u
s
in
g
a
co
lo
r
in
f
o
r
m
atio
n
-
b
as
ed
m
eth
o
d
.
I
n
th
e
p
r
o
p
o
s
e
d
m
eth
o
d
,
a
g
r
o
u
p
o
f
h
ig
h
l
y
li
k
elih
o
o
d
p
a
r
ticles
was d
is
tr
ib
u
ted
ar
o
u
n
d
b
o
th
f
e
et,
an
d
th
e
lo
wer
en
d
p
o
in
ts
o
f
b
o
th
f
ee
t w
er
e
ac
cu
r
ately
d
ete
cted
.
Fro
m
Fig
u
r
es
9
(
c)
,
(
d
)
,
an
d
(
e
)
,
th
e
r
o
b
o
t
r
e
co
g
n
ized
b
o
th
f
ee
t
an
d
tr
ac
k
e
d
th
e
p
er
s
o
n
,
ev
e
n
th
o
u
g
h
th
e
p
er
s
o
n
was
walk
in
g
in
to
th
e
d
ar
k
er
co
r
r
i
d
o
r
.
I
n
Fig
u
r
e
9
(
f
)
,
th
e
lo
wer
en
d
p
o
in
ts
o
f
b
o
th
f
ee
t w
er
e
co
r
r
ec
tly
e
x
tr
ac
ted
in
th
e
d
ar
k
est
p
lace
.
T
h
e
illu
m
in
an
ce
at
Fig
u
r
e
9
(
f
)
was
2
.
0
[
lx
]
,
wh
ich
was
in
a
d
ar
k
er
en
v
ir
o
n
m
en
t
th
an
i
n
th
e
ca
s
e
o
f
co
lo
r
in
f
o
r
m
atio
n
.
I
n
th
is
e
x
p
er
im
e
n
t,
a
co
lo
r
in
f
o
r
m
atio
n
-
b
ased
m
et
h
o
d
an
d
th
e
p
r
o
p
o
s
ed
m
eth
o
d
wer
e
p
e
r
f
o
r
m
ed
5
0
tim
es
ea
ch
,
an
d
th
e
r
esu
lts
we
r
e
m
ea
s
u
r
ed
b
y
an
illu
m
in
a
n
c
e
m
eter
.
T
ab
le
1
s
h
o
ws
th
e
m
ea
n
an
d
s
tan
d
ar
d
d
ev
iatio
n
o
f
m
in
im
u
m
illu
m
in
atio
n
wh
er
e
th
e
r
o
b
o
t c
o
u
l
d
f
o
llo
w
th
e
p
er
s
o
n
.
(
a)
(
b
)
(
c)
(
d
)
(
e)
(f)
Fig
u
r
e
8
.
Scen
e
o
f
tr
ac
k
in
g
b
a
s
ed
o
n
R
GB
co
lo
r
in
f
o
r
m
atio
n
ar
e
(
a)
T
=
0
.
0
[
s
]
,
(
b
)
T
=6
.
8
[
s
]
,
(
c)
T
=1
2
.
2
[
s
]
,
(
d
)
T
=1
5
.
8
[
s
]
,
(
e)
T
=2
3
.
5
[
s
]
,
(
f
)
T
=
2
8
.
7
[
s
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
P
ers
o
n
fo
llo
w
in
g
co
n
tr
o
l fo
r
a
mo
b
ile
r
o
b
o
t b
a
s
ed
o
n
co
lo
r
i
n
va
r
ia
n
ce
co
r
r
esp
o
n
d
in
g
…
(
S
h
in
s
u
ke
Oh
-
h
a
r
a
)
41
(
a)
(
b
)
(
c)
(
d
)
(
e)
(f)
Fig
u
r
e
9
.
Scen
e
o
f
tr
ac
k
in
g
b
a
s
ed
o
n
co
lo
r
in
v
a
r
ian
ce
ar
e
(
a)
T
=0
.
0
[
s
]
,
(
b
)
T
=1
0
.
3
[
s
]
,
(
c)
T
=4
0
.
9
[
s
]
,
(
d
)
T
=4
7
.
5
[
s
]
,
(
e)
T
=5
4
.
7
[
s
]
,
(
f
)
T
=5
8
.
3
[
s
]
T
ab
le
1
.
Min
im
u
m
illu
m
in
atio
n
M
i
n
i
m
u
m
i
l
l
u
mi
n
a
t
i
o
n
[
l
x
]
R
G
B
c
o
l
o
r
sp
a
c
e
7
.
2
±
0
.
4
C
o
l
o
r
i
n
v
a
r
i
a
n
c
e
2
.
0
±
0
.
1
5.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
er
,
we
co
n
s
id
er
th
e
r
ec
o
g
n
itio
n
o
f
th
e
p
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