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Mo
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[
1
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n
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ic
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n
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ied
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ag
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s
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m
b
in
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ld
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e
to
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ec
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T
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m
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m
o
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tec
h
n
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q
u
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[
2
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,
[
3
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.
B
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tep
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m
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id
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tech
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iq
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s
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n
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m
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p
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[
4
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6
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.
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an
s
f
o
r
m
i
m
a
g
es
i
n
to
a
m
o
s
aic
u
s
i
n
g
p
er
s
p
ec
ti
v
e
p
r
o
j
ec
tio
n
o
f
i
m
a
g
e
p
la
n
es.
Sp
ec
if
icall
y
,
t
h
e
s
tep
s
to
b
u
ild
a
m
o
s
aic
ar
e
d
is
c
u
s
s
ed
as
f
o
llo
w
s
:
d
eter
m
i
n
e
p
o
in
t
co
r
r
esp
o
n
d
en
ce
s
b
et
w
ee
n
i
m
a
g
es,
es
ti
m
ate
tr
an
s
f
o
r
m
atio
n
p
ar
a
m
eter
s
b
et
w
ee
n
p
air
s
o
f
i
m
ag
es,
a
n
d
co
m
p
u
t
e
th
e
e
x
te
n
t
o
f
t
h
e
o
u
tp
u
t
m
o
s
ai
c.
Fu
r
t
h
er
m
o
r
e,
t
h
is
p
ap
er
d
is
cu
s
s
es
a
p
o
s
s
ib
ilit
y
to
a
s
s
e
m
b
l
y
t
h
e
u
n
co
n
tr
o
lled
m
o
s
aic
b
y
u
s
i
n
g
eq
u
all
y
s
c
aled
i
m
ag
e
s
th
r
o
u
g
h
p
r
o
j
ec
ti
n
g
i
m
a
g
es
i
n
to
an
ar
b
itra
r
y
p
lan
ar
s
u
r
f
ac
e.
A
s
i
m
p
li
f
ied
co
lli
n
ea
r
it
y
co
n
d
it
i
o
n
o
f
p
lan
ar
s
u
r
f
ac
e
is
d
er
i
v
ed
to
a
co
m
m
o
n
p
r
o
j
ec
tiv
e
p
lan
e
f
r
o
m
i
m
ag
e
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
I
n
th
is
r
esear
c
h
,
a
f
ix
ed
-
w
i
n
g
UAV
b
ased
s
p
atial
i
n
f
o
r
m
atio
n
ac
q
u
i
s
itio
n
p
latf
o
r
m
w
h
ich
c
an
ca
r
r
y
a
d
ig
ital
ca
m
er
a
o
n
b
o
ar
d
is
d
ev
elo
p
ed
.
Su
c
h
a
s
y
s
te
m
p
r
o
v
i
d
es
o
n
l
y
a
n
av
ig
at
io
n
-
g
r
ad
e
o
f
t
h
e
p
o
s
itio
n
an
d
o
r
ien
tatio
n
o
f
ex
p
o
s
u
r
e
s
tatio
n
s
.
T
h
is
s
y
s
te
m
o
n
l
y
h
a
s
a
C
/
A
co
d
e
GP
S
an
d
a
lo
w
co
s
t
I
n
er
tial
Me
as
u
r
e
m
e
n
t
Un
it
(
I
MU
)
,
Mic
r
o
E
lectr
o
-
M
ec
h
an
ica
l
s
y
s
te
m
s
(
ME
MS)
,
a
n
d
th
e
y
ca
n
b
e
i
m
m
ed
iatel
y
e
m
b
ed
d
ed
i
n
to
U
A
V
to
f
ac
ilit
a
te
an
au
to
n
o
m
o
u
s
f
lig
h
t
[
8
]
.
T
h
is
n
a
v
i
g
atio
n
s
o
l
u
tio
n
(
p
o
s
itio
n
a
n
d
attit
u
d
e)
i
s
esti
m
ated
b
y
t
h
e
in
ter
n
a
l
U
A
V
s
e
n
s
o
r
an
d
u
s
u
a
ll
y
ca
n
b
e
u
s
ed
to
d
ir
ec
tl
y
g
eo
r
ef
er
en
ce
t
h
e
i
m
a
g
e
s
to
p
r
o
d
u
ce
a
q
u
ick
a
n
d
ea
s
y
d
escr
ip
tio
n
o
f
th
e
ar
ea
.
A
s
a
r
esu
lt
it
is
v
er
y
r
ar
el
y
to
o
b
tain
tr
u
e
v
er
tica
l
i
m
a
g
es
as
it
is
p
r
er
eq
u
is
ite
f
o
r
p
h
o
to
g
r
a
m
m
etr
ic
m
o
s
aick
i
n
g
.
B
ased
o
n
th
e
n
av
i
g
atio
n
s
o
lu
tio
n
,
it
ca
n
b
e
ca
lcu
lated
a
m
at
h
e
m
atica
ll
y
h
o
r
izo
n
tal
p
la
n
e
ab
o
v
e
a
d
atu
m
t
h
at
ac
ts
l
ik
e
a
ca
n
v
a
s
f
o
r
co
m
p
o
s
i
tin
g
i
m
a
g
es
i
n
to
a
m
o
s
aic,
as
ill
u
s
tr
ated
i
n
Fig
u
r
e
1
.
Fig
u
r
e
1
.
A
b
asic
g
eo
m
etr
y
o
f
ass
e
m
b
l
in
g
tilt
ed
i
m
a
g
es i
n
to
a
m
o
s
aic.
Fig
u
r
e
1
e
x
p
lain
s
t
h
e
f
u
n
d
a
m
en
tal
g
eo
m
etr
y
o
f
i
m
a
g
e
m
o
s
aick
i
n
g
an
d
it
s
h
o
w
s
a
s
id
e
v
ie
w
o
f
th
e
tilt
ed
i
m
a
g
e
p
lan
e
w
h
en
t
h
e
e
x
p
o
s
u
r
e
w
as
m
ad
e.
R
a
y
s
f
r
o
m
A
an
d
B
w
er
e
i
m
ag
ed
at
p
o
in
t
a
an
d
b
o
n
th
e
tilt
ed
i
m
a
g
e.
T
h
e
p
la
n
e
o
f
eq
u
iv
ale
n
t
v
er
tical
i
m
a
g
e
i
s
s
h
o
wn
p
ar
allel
to
t
h
e
d
at
u
m
p
lan
e
a
n
d
p
ass
i
n
g
t
h
r
o
u
g
h
i,
th
e
is
o
ce
n
ter
o
f
t
h
e
tilt
ed
i
m
ag
e.
T
h
e
p
lan
e
o
f
t
h
e
m
o
s
ai
c
is
lik
e
w
i
s
e
p
ar
allel
to
th
e
d
atu
m
p
la
n
e
b
u
t
e
x
is
t
s
at
a
lev
el
o
t
h
er
th
a
n
t
h
at
o
f
th
e
r
ec
tif
ied
an
d
s
ca
led
i
m
a
g
e
p
lan
e.
I
n
a
s
s
e
m
b
lin
g
t
h
e
co
n
tr
o
lled
m
o
s
aic,
til
ted
i
m
a
g
es
m
u
s
t
u
n
d
er
g
o
a
r
ec
tif
icatio
n
to
b
ec
o
m
e
eq
u
iv
ale
n
t
v
er
tical
i
m
a
g
es
a
n
d
th
e
y
ar
e
s
titch
ed
to
g
et
h
er
o
n
th
e
m
o
s
aic
p
lan
e
a
t
an
eq
u
al
s
ca
le.
Ho
w
e
v
er
,
t
h
e
r
ec
t
if
icatio
n
p
r
o
ce
s
s
is
n
o
t
n
ec
e
s
s
ar
y
f
o
r
ass
e
m
b
li
n
g
t
h
e
u
n
co
n
tr
o
lled
m
o
s
aic
[
9
]
.
I
n
th
i
s
p
ap
er
,
th
e
alg
o
r
ith
m
f
o
r
th
e
u
n
co
n
tr
o
lled
m
o
s
aic
s
t
ar
ts
w
ith
a
n
i
m
ag
e
s
elec
tio
n
w
h
ic
h
h
a
s
a
m
i
n
i
m
u
m
a
n
g
le
o
f
tilt
a
n
d
it
w
a
s
r
ec
ti
f
ied
b
y
u
s
i
n
g
an
o
p
en
s
o
u
r
ce
to
o
l.
B
y
s
etti
n
g
t
h
is
i
m
a
g
e
as
a
m
o
s
a
ic
p
lan
e,
all
t
h
e
r
e
m
ai
n
i
n
g
i
m
a
g
es
ar
e
s
titc
h
ed
o
n
t
o
th
a
t
i
m
ag
e.
T
h
e
i
m
a
g
e
m
o
s
aic
k
in
g
s
y
s
te
m
u
til
izes
a
co
m
b
i
n
atio
n
o
f
m
an
u
al
u
s
er
i
n
p
u
t
f
o
r
r
eg
i
s
tr
atio
n
b
et
w
ee
n
i
m
ag
e
s
.
Usi
n
g
o
u
r
o
w
n
d
e
v
elo
p
ed
s
o
f
t
w
ar
e,
a
u
s
er
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
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I
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3
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2
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1
1
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ca
n
s
elec
t
a
f
ea
tu
r
e
b
y
cl
ick
in
g
o
v
er
it
an
d
its
co
r
r
esp
o
n
d
in
g
p
o
in
ts
f
r
o
m
o
t
h
er
o
v
e
r
lap
p
ed
im
ag
e
ar
e
au
to
m
at
icall
y
s
elec
ted
w
i
th
i
n
s
u
b
-
p
ix
el
ac
cu
r
ac
y
.
T
h
is
p
r
o
c
ess
is
r
ep
ea
ted
f
o
r
all
im
a
g
es
u
n
t
il
th
e
n
u
m
b
er
o
f
m
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n
i
m
u
m
co
n
j
u
g
ate
p
o
in
t
s
o
f
f
o
u
r
is
r
ea
c
h
ed
.
T
h
is
s
u
b
-
p
i
x
e
l
m
atc
h
er
en
ab
le
s
th
e
i
m
a
g
e
m
atc
h
in
g
al
g
o
r
ith
m
f
i
n
d
m
atc
h
ed
p
o
in
ts
ac
cu
r
atel
y
.
2
.
1
.
Po
int
Co
rr
esp
o
nd
ence
s
u
s
i
n
g
Are
a
b
a
s
ed
I
m
a
g
e
M
a
t
chi
ng
T
h
e
ter
m
„
i
m
a
g
e
m
atc
h
i
n
g
‟
r
ef
er
s
to
th
e
p
r
o
ce
s
s
o
f
f
in
d
i
n
g
co
r
r
esp
o
n
d
in
g
o
r
co
n
j
u
g
ate
p
o
in
ts
in
d
ig
ital
i
m
a
g
e
s
(
o
r
p
ar
ts
th
er
eo
f
)
in
th
e
f
o
r
m
o
f
a
m
atr
i
x
o
f
r
ef
lecta
n
ce
lev
el
s
[
10
]
.
A
r
ea
b
ased
m
atch
in
g
is
b
ased
o
n
th
e
id
ea
th
a
t
g
r
e
y
v
a
lu
es
o
f
p
i
x
els
o
f
co
n
j
u
g
ate
p
o
in
ts
h
a
v
e
s
i
m
ilar
r
ad
io
m
etr
ic
ch
ar
ac
ter
is
tic
s
[
11
]
.
T
h
e
p
r
o
ce
s
s
g
en
er
all
y
r
eq
u
ir
e
s
a
clo
s
e
ap
p
r
o
x
i
m
atio
n
to
th
e
m
atc
h
ed
p
atch
es
i
n
o
r
d
er
to
en
s
u
r
e
a
s
u
cc
ess
f
u
l
m
atc
h
.
I
n
o
t
h
er
w
o
r
d
s
,
h
a
v
in
g
a
p
o
in
t
i
n
o
n
e
i
m
a
g
e,
its
co
n
j
u
g
ate
in
th
e
o
th
er
o
n
e
i
s
o
b
tai
n
ed
b
y
o
p
ti
m
izin
g
a
ce
r
tain
s
i
m
ilar
it
y
m
ea
s
u
r
e,
d
ef
i
n
ed
o
v
er
th
e
p
ix
el
g
r
e
y
v
al
u
es
w
ith
i
n
t
h
e
i
m
a
g
e
w
i
n
d
o
w
.
T
w
o
tech
n
iq
u
e
s
ar
e
ad
o
p
ted
t
o
ca
lcu
late
th
e
p
o
s
s
ib
le
s
i
m
ilar
i
t
y
m
ea
s
u
r
es
w
it
h
in
s
u
b
-
p
i
x
el
ac
cu
r
ac
y
:
a
n
o
r
m
alize
d
co
r
r
elatio
n
co
ef
f
icie
n
t
m
et
h
o
d
[
7
]
,
[
12
,
[
13
]
an
d
a
least sq
u
ar
e
m
atc
h
i
n
g
m
eth
o
d
[
10
]
,
[
14
]
.
g
g
f
f
g
g
f
f
ρ
2
m
1
i
n
1
j
ij
2
m
1
i
n
1
j
ij
m
1
i
n
1
j
ij
ij
(
1
)
E
q
u
atio
n
(
1
)
is
a
n
o
r
m
a
lized
cr
o
s
s
co
r
r
elatio
n
m
et
h
o
d
,
w
h
e
r
e
is
th
e
n
o
r
m
alize
d
cr
o
s
s
-
co
r
r
elatio
n
co
ef
f
icie
n
t;
m
an
d
n
ar
e
t
h
e
n
u
m
b
er
s
o
f
r
o
w
s
an
d
co
l
u
m
n
s
o
f
th
e
p
atch
e
s
r
esp
ec
ti
v
el
y
;
f
ij
is
t
h
e
i
th
r
o
w
a
n
d
j
th
co
lu
m
n
o
f
t
h
e
g
r
e
y
v
al
u
e
f
r
o
m
t
h
e
te
m
p
late
p
atc
h
;
g
ij
is
t
h
e
i
th
r
o
w
an
d
j
th
co
lu
m
n
o
f
t
h
e
g
r
e
y
v
al
u
e
f
r
o
m
t
h
e
tar
g
et
p
atc
h
;
f
an
d
g
ar
e
th
e
ar
it
h
m
e
tic
m
ea
n
s
o
f
t
h
e
g
r
e
y
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a
lu
es
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n
t
h
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te
m
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late
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a
n
d
t
h
e
tar
g
et
p
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h
,
r
esp
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(
Fig
u
r
e
2
)
.
Fig
u
r
e
2
.
T
h
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co
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p
t o
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ased
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tch
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T
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r
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icatin
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atch
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icate
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r
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Gen
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atter
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itab
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r
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b
et
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0
.
5
an
d
0
.
7
[
1
]
.
Desp
ite
its
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m
p
u
tatio
n
al
s
i
m
p
lic
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y
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it
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u
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p
atch
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ea
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o
w
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An
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aj
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o
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m
eth
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s
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h
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it
n
eit
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n
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m
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atch
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T
o
s
ee
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m
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a
L
ea
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Sq
u
ar
e
Ma
tc
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i
n
g
(
L
SM)
tec
h
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e
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u
til
ized
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T
h
is
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et
h
o
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em
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iter
ativ
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r
ad
io
m
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d
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n
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m
atio
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et
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t
h
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te
m
p
late
p
atc
h
f
(
x
,
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o
f
n
x
n
p
i
x
els
a
n
d
t
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
N
o
ve
l I
ma
g
e
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ate
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x
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an
d
g
(
x
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ar
e
m
i
n
i
m
ized
[
14
]
:
y)
e
(
x
,
y)
g
(
x
,
y)
f
(
x
,
(
2
)
e(
x
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y
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is
th
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tr
u
e
er
r
o
r
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to
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ce
s
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th
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p
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n
d
th
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g
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t p
atch
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A
li
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r
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h
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E
q
u
atio
n
(
2
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g
iv
e
s
:
e
(
x
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y
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dy
y
x
,
y
g
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x
x
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y
g
(
x
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y
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g
f
(
x
,
y
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;
i
i
i
i
dp
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y
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dp
p
x
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(
3
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p
i
ar
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th
e
g
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m
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ic
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a
n
s
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m
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An
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o
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s
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m
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n
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ed
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av
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s
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b
tain
ed
f
r
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m
t
h
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ig
in
al
as
f
o
llo
w
s
[
10
]
:
y
b
x
b
b
y
;
y
a
x
a
a
x
0
3
0
2
1
0
3
0
2
1
(
4
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w
h
er
e
x
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n
d
y
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ar
e
t
h
e
co
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r
d
in
ates
o
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t
h
e
d
ata
p
o
i
n
ts
x
,
y
g
;
a
1
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d
b
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ep
r
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t
t
h
e
s
h
i
f
t
p
ar
a
m
eter
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o
f
Δx
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d
Δy
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tiv
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n
d
a
2
, a
3
, b
2
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d
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ar
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th
e
s
h
ap
in
g
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ar
am
eter
s
.
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f
f
er
en
tia
tio
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p
r
o
v
id
es:
3
o
2
o
1
3
o
2
o
1
db
y
db
x
db
dy
;
da
y
da
x
da
dx
(
5
)
E
q
u
atio
n
(
2
)
is
th
e
n
m
o
d
i
f
ied
to
b
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o
m
e:
e
(
x
,
y
)
dy
g
dx
g
(
x
,
y
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g
f
(
x
,
y
)
y
x
y
x
,
y
g
g
;
x
x
,
y
g
g
;
y
x
(
6
)
T
h
e
g
x
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d
g
y
in
E
q
u
atio
n
(
6
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ar
e
a
d
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ir
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d
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ated
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tr
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d
if
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x
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a
tio
n
s
[
15
]
:
12
2
i
,
j
I
1
i
,
j
I
8
1
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j
I
8
2
i
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j
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or
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or
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7
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y
v
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o
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f
(
x
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n
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x
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m
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s
o
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,
d
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d
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a
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o
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m
er
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e
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b
j
ec
t,
len
s
d
is
to
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tio
n
,
an
d
er
r
o
r
s
in
i
m
a
g
e
ac
q
u
is
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n
.
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en
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ate
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th
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er
r
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r
s
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d
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b
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atch
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a
s
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o
f
r
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io
m
etr
ic
tr
an
s
f
o
r
m
atio
n
p
ar
a
m
ete
r
s
f
o
r
g
(
x
,
y
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is
i
n
co
r
p
o
r
ated
.
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w
o
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m
etr
ic
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ar
am
eter
s
,
r
o
(
g
r
e
y
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al
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e
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h
if
t)
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d
r
1
(
g
r
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v
alu
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s
ca
le)
,
ar
e
in
tr
o
d
u
ce
d
in
to
th
e
s
y
s
te
m
o
f
(
6
)
an
d
it
g
iv
es
a
r
esu
lt a
s
f
o
llo
w
s
:
x
,
y
g
r
r
e
(
x
,
y
)
dy
g
dx
g
(
x
,
y
)
g
f
(
x
,
y
)
1
o
y
x
(
8
)
I
f
E
q
u
atio
n
(
5
)
is
s
u
b
s
tit
u
ted
t
o
E
q
u
atio
n
(
9
)
,
it g
iv
es t
h
e
r
es
u
lt:
x
,
y
g
r
r
db
g
db
g
db
g
da
g
da
g
da
g
e
(
x
,
y
)
(
x
,
y
)
g
f
(
x
,
y
)
1
o
3
y
2
y
1
y
3
x
2
x
1
x
(
9
)
T
h
en
E
q
u
atio
n
(
9
)
ca
n
b
e
s
o
l
v
ed
b
y
Ga
u
s
s
ian
L
ea
s
t
Sq
u
ar
e
A
d
j
u
s
t
m
e
n
t
to
g
iv
e
th
e
co
n
j
u
g
ate
p
o
in
ts
b
et
w
ee
n
i
m
a
g
es a
n
d
m
o
s
aic.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
3
,
J
u
n
e
2
0
1
7
:
1
1
8
8
–
1
1
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6
1192
2
.
2
.
P
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s
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ier
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lan
e
at
a”
an
d
b
”
an
d
th
e
i
m
ag
e
p
lan
e
at
a
an
d
b
ar
e
p
ass
in
g
to
th
e
p
er
s
p
ec
tiv
e
ce
n
ter
L
as
a
s
tr
aig
h
t
lin
e.
T
h
is
s
itu
a
tio
n
ca
n
b
e
ex
p
r
ess
ed
m
ath
e
m
atica
ll
y
as
a
c
o
lli
n
ea
r
it
y
co
n
d
itio
n
b
et
w
ee
n
a
p
o
in
t
o
n
th
e
g
r
o
u
n
d
an
d
ca
m
er
a
s
y
s
te
m
[
1
]
:
Z
Z
m
Y
Y
m
X
X
m
Z
Z
m
Y
Y
m
X
X
m
f
y
y
Z
Z
m
Y
Y
m
X
X
m
Z
Z
m
Y
Y
m
X
X
m
f
x
x
o
33
o
32
o
31
o
23
o
22
o
21
o
o
33
o
32
o
31
o
13
o
12
o
11
o
(
10
)
w
h
er
e
(
x
,
y
)
an
d
(
X,
Y,
Z
)
ar
e
p
h
o
to
co
o
r
d
in
ates
an
d
m
o
s
a
ic
co
o
r
d
in
ates
r
esp
ec
tiv
el
y
,
(
x
o
,
y
o
,
f
)
ar
e
in
ter
io
r
o
r
ien
tatio
n
p
ar
a
m
eter
s
,
(
m
11
,
…,
m
33
)
ar
e
r
o
tatio
n
m
a
tr
ix
c
o
ef
f
icie
n
t
s
,
an
d
(
Z
o
,
Y
o
,
Z
o
)
a
r
e
ex
p
o
s
u
r
e
ca
m
er
a
co
o
r
d
in
ates.
Sin
ce
th
e
m
o
s
aic
p
lan
e
h
as
eq
u
al
ele
v
atio
n
s
,
a
co
o
r
d
in
ate
s
y
s
te
m
in
t
h
e
o
b
j
e
ct
p
lan
e
w
i
th
Z
=
0
s
h
o
u
ld
b
e
p
r
ef
er
r
ed
.
T
h
e
co
lli
n
ea
r
it
y
co
n
d
itio
n
o
f
E
q
u
a
tio
n
(
1
0
)
is
r
ed
u
ce
d
t
o
:
o
33
o
32
o
31
o
23
o
22
o
21
o
o
33
o
32
o
31
o
12
o
12
o
11
o
Z
m
Y
Y
m
X
X
m
Z
m
Y
Y
m
X
X
m
f
y
y
Z
m
Y
Y
m
X
X
m
Z
m
Y
Y
m
X
X
m
f
x
x
(
11
)
E
q
u
atio
n
(
1
1
)
co
n
tain
s
a
to
tal
o
f
n
in
e
p
ar
a
m
eter
s
o
o
o
o
o
Z
,
Y
,
X
,
,
,
,
f
,
y
,
x
as
w
ell
a
s
th
e
m
ea
s
u
r
ed
co
o
r
d
in
ates
x
,
y
,
X
an
d
Y
i
n
t
w
o
co
o
r
d
in
ate
s
y
s
te
m
s
.
A
f
u
r
t
h
er
s
i
m
p
li
f
icat
io
n
o
f
E
q
u
at
io
n
1
2
ca
n
r
ed
u
ce
th
e
n
u
m
b
er
o
f
p
ar
a
m
e
ter
s
to
8
o
n
l
y
[
16
]
w
h
ich
is
c
o
m
m
o
n
f
o
r
t
h
e
i
m
ag
e
to
m
o
s
aic
tr
an
s
f
o
r
m
atio
n
p
r
o
ce
s
s
:
1
Y
b
X
a
c
Y
b
X
a
y
;
1
Y
b
X
a
c
Y
b
X
a
x
3
3
2
2
2
3
3
1
1
1
(
12
)
w
h
er
e:
o
33
o
32
o
31
32
3
o
23
o
22
o
21
o
2
31
3
o
13
o
12
o
11
o
1
22
o
32
12
o
32
1
21
o
31
2
11
o
31
1
Z
m
Y
m
X
m
G
G
m
b
;
G
Z
m
Y
m
X
m
c
y
c
G
m
a
;
G
Z
m
Y
m
X
m
c
x
c
G
c
m
y
m
2
b
;
G
c
m
x
m
b
G
c
m
y
m
a
;
G
c
m
x
m
a
(
13
)
I
n
E
q
u
atio
n
(
1
2
)
,
a
1
,
b
1
,
c
1
,
a
2
,
b
2
,
c
2
,
a
3
,
a
n
d
b
3
ar
e
a
n
e
w
s
e
t
o
f
eig
h
t
in
d
ep
en
d
e
n
t
tr
an
s
f
o
r
m
atio
n
p
ar
a
m
eter
s
w
h
ic
h
ar
e
f
u
n
ctio
n
s
o
f
t
h
e
o
r
i
g
in
a
l n
i
n
e
u
n
k
n
o
w
n
s
.
2
.
3
.
Reg
is
t
ra
t
io
n o
f
I
m
a
g
es
E
q
u
atio
n
(
1
2
)
ca
n
b
e
in
ter
p
r
eted
as
an
ex
p
r
ess
io
n
o
f
t
h
e
tr
a
n
s
f
o
r
m
atio
n
r
elatio
n
s
b
et
w
ee
n
a
m
o
s
aic
s
p
ac
e
(
XY
-
p
lan
e)
a
n
d
an
i
m
a
g
e
s
p
ac
e
(
x
y
-
p
la
n
e)
w
it
h
o
u
t
c
o
n
s
id
er
in
g
n
o
n
-
lin
ea
r
ele
m
e
n
t
s
an
d
it
atte
m
p
ts
to
g
et
t
h
e
r
elatio
n
s
h
ip
a
m
o
n
g
s
ev
er
al
i
m
a
g
e
s
.
I
n
t
h
is
p
ar
ticu
lar
i
m
p
le
m
en
tatio
n
,
th
er
e
is
an
u
n
d
er
l
y
i
n
g
ass
u
m
p
tio
n
t
h
at
t
h
e
p
air
o
f
i
m
ag
es
i
s
r
elate
d
th
r
o
u
g
h
s
o
m
e
s
o
r
t
o
f
p
lan
ar
tr
an
s
f
o
r
m
at
io
n
s
.
T
h
er
ef
o
r
e,
a
s
p
atial
r
elatio
n
s
h
ip
b
et
w
ee
n
i
m
a
g
es
ca
n
b
e
co
m
p
u
ted
b
ased
o
n
ea
ch
p
air
o
f
i
m
a
g
es
b
y
f
ir
s
t,
s
el
ec
tin
g
a
n
ar
b
itra
r
y
i
m
a
g
e
as
a
r
e
f
er
en
ce
i
m
ag
e
(
i
n
t
h
e
XY
s
y
s
te
m
)
.
O
n
ce
s
e
le
cted
,
a
p
lan
ar
r
elatio
n
s
h
ip
b
et
w
ee
n
o
t
h
er
i
m
a
g
es
w
it
h
t
h
is
r
e
f
er
en
ce
i
m
a
g
e
is
es
tab
lis
h
ed
.
R
ea
r
r
an
g
i
n
g
t
h
e
E
q
u
atio
n
(1
2
)
s
u
c
h
th
at
:
yY
b
yX
a
c
Y
b
X
a
v
y
xY
b
xX
a
c
Y
b
X
a
v
x
3
3
2
2
2
y
3
3
1
1
1
x
(
14
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
N
o
ve
l I
ma
g
e
Mo
s
a
ickin
g
o
f U
A
V
’
s
I
ma
g
ery
u
s
in
g
C
o
llin
ea
r
ity
C
o
n
d
itio
n
(
Ma
r
tin
u
s
E
d
w
i
n
Tja
h
ja
d
i
)
1193
T
o
f
ac
ilit
ate
E
q
u
atio
n
(
1
4
)
t
o
b
e
u
s
ed
w
it
h
least
s
q
u
ar
e
s
,
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e
m
ea
s
u
r
ed
x
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d
y
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o
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d
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ates
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y
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id
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t
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le
f
t
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a
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T
h
e
m
ea
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r
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v
al
u
es
o
f
x
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X
an
d
Y
o
n
t
h
e
r
ig
h
t
h
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d
s
id
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tr
ea
ted
as
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n
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ta
n
ts
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an
d
t
h
en
s
atis
f
ac
to
r
y
r
esu
lts
w
il
l g
e
n
er
all
y
b
e
o
b
tain
ed
:
3
3
2
2
2
1
1
1
ij
ij
y
x
ij
b
a
c
b
a
c
b
a
yY
yX
1
Y
X
0
0
0
xY
xX
0
0
0
1
Y
X
v
v
y
x
o
r
1
8
8
n
2
1
n
2
1
n
2
X
A
V
L
(
15
)
E
q
u
atio
n
s
(
1
5
)
is
w
r
itte
n
f
o
r
ea
ch
p
o
in
t
p
air
o
f
th
e
i
th
p
air
an
d
th
e
j
th
p
o
in
t,
an
d
s
in
ce
t
h
er
e
ar
e
eig
h
t
u
n
k
n
o
w
n
p
ar
a
m
eter
s
,
th
e
n
u
m
b
er
o
f
n
co
m
m
o
n
p
o
in
t
s
o
r
a
m
i
n
i
m
u
m
o
f
f
o
u
r
p
air
s
o
f
co
m
m
o
n
p
o
in
t
s
ar
e
n
ee
d
ed
f
o
r
a
u
n
iq
u
e
s
o
lu
t
io
n
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t
s
tr
o
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ec
o
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m
en
d
ed
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m
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ts
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e
u
s
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t
h
e
least
s
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u
ar
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es
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ab
le.
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t
w
o
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m
a
g
e
s
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e
tar
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et
i
m
ag
e
s
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n
d
th
e
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e
f
er
en
ce
i
m
a
g
e,
th
e
g
o
al
o
f
th
e
r
eg
is
tr
atio
n
p
r
o
b
le
m
i
s
to
f
i
n
d
th
e
v
ec
to
r
X
t
h
at
tr
an
s
f
o
r
m
s
t
h
e
i
n
p
u
t
i
m
a
g
e
i
n
to
a
n
o
th
er
i
m
ag
e
s
i
m
ilar
to
t
h
e
r
ef
er
en
ce
o
r
m
o
s
aic
i
m
a
g
e.
C
o
n
s
id
er
in
g
th
e
s
tr
u
ct
u
r
e
o
f
m
a
tr
i
x
A
,
th
e
v
ec
to
r
X
is
u
n
iq
u
e
l
y
s
o
lv
ed
w
h
en
t
h
e
n
u
m
b
er
s
o
f
co
n
j
u
g
ate
p
o
in
t
s
ar
e
eq
u
al
to
o
r
g
r
ea
ter
th
an
4
.
Ho
w
ev
er
,
E
q
u
atio
n
(
1
5
)
is
ea
s
il
y
e
x
p
an
d
ed
to
co
p
e
w
i
th
t
h
e
n
u
m
b
er
o
f
co
r
r
esp
o
n
d
in
g
p
o
in
ts
w
h
ic
h
ar
e
g
r
e
ater
th
an
f
o
u
r
b
y
u
s
i
n
g
t
h
e
p
s
e
u
d
o
in
v
er
s
e:
L
A
A
A
X
T
1
T
(
16
)
2
.
4
.
Resiza
ble B
o
un
di
ng
B
o
x
T
o
f
ig
u
r
e
o
u
t
t
h
e
s
ize
o
f
t
h
e
o
u
tp
u
t
i
m
a
g
e
w
e
n
ee
d
to
co
m
p
u
te
th
e
m
a
x
i
m
u
m
e
x
te
n
t
o
f
ea
ch
i
m
ag
e
af
ter
it
is
w
ar
p
ed
.
B
u
t
w
e
n
ee
d
to
s
p
ec
if
y
a
r
ef
er
e
n
ce
m
o
s
ai
c
at
f
ir
s
t.
T
h
is
is
t
h
e
i
m
a
g
e
to
w
h
o
s
e
v
ie
w
p
o
i
n
t
a
ll
o
th
er
i
m
a
g
e
s
w
ill
b
e
w
ar
p
ed
.
B
ec
au
s
e
th
e
p
er
s
p
ec
ti
v
e
tr
an
s
f
o
r
m
atio
n
tr
an
s
f
o
r
m
s
r
ec
tan
g
les
i
n
to
q
u
ad
r
ilater
als,
all
w
e
n
ee
d
to
d
o
is
to
k
ee
p
tr
ac
k
o
f
th
e
f
o
u
r
co
r
n
er
s
o
f
ea
ch
i
m
ag
e
to
b
e
w
ar
p
ed
.
A
f
ter
w
ar
p
in
g
,
w
e
f
i
n
d
t
h
e
m
i
n
i
m
u
m
a
n
d
m
a
x
i
m
u
m
co
r
n
er
co
o
r
d
in
ates
f
r
o
m
a
ll
t
h
e
w
ar
p
ed
co
r
n
er
s
,
a
n
d
t
h
ese
w
ill
d
eter
m
in
e
t
h
e
b
o
u
n
d
in
g
b
o
x
(
th
e
s
m
a
lles
t
r
ec
tan
g
le
t
h
at
co
n
t
ain
s
t
h
e
m
o
s
aic)
.
I
f
th
e
co
r
n
er
s
h
av
e
co
o
r
d
in
ates:
(
1
,
1
)
,
(
co
ls
,
1
)
,
(
1
,
r
o
w
s
)
,
an
d
(
co
ls
,
r
o
w
s
)
,
w
h
er
e
co
ls
is
th
e
w
id
t
h
o
f
ea
c
h
i
m
a
g
e,
a
n
d
r
o
w
s
is
its
h
e
ig
h
t.
T
h
en
,
f
in
d
th
e
m
i
n
i
m
u
m
an
d
m
ax
i
m
u
m
co
o
r
d
in
ates
o
f
th
e
w
ar
p
ed
co
r
n
er
s
.
T
h
ese
w
ill
b
ec
o
m
e
t
h
e
u
p
p
er
lef
t
co
r
n
er
an
d
lo
w
er
r
ig
h
t
co
r
n
er
o
f
th
e
b
o
u
n
d
i
n
g
b
o
x
r
es
p
ec
tiv
el
y
.
L
e
t
(
x
m
in
,
y
m
i
n
)
;
(
x
m
ax
,
y
max
)
b
e
t
h
es
e
co
o
r
d
in
ates.
T
h
en
th
e
w
id
th
a
n
d
h
ei
g
h
t o
f
th
e
b
o
u
n
d
in
g
b
o
x
ar
e:
m
i
n
m
a
x
m
i
n
m
a
x
y
y
b
H
e
i
g
h
t
;
x
x
b
W
i
d
t
h
(
17
)
T
h
e
co
m
p
u
tatio
n
o
f
th
e
b
o
u
n
d
in
g
b
o
x
co
o
r
d
in
ates
i
s
n
ec
es
s
ar
y
to
a
s
s
i
s
t
a
r
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m
p
li
n
g
p
r
o
ce
s
s
w
h
ich
as
s
ig
n
s
in
te
n
s
it
y
co
lo
r
o
f
ea
c
h
p
ix
e
l
i
n
t
h
e
m
o
s
aic
b
ased
o
n
t
h
e
i
n
p
u
t
i
m
a
g
e‟
s
i
n
te
n
s
it
y
co
lo
r
.
T
h
ese
v
al
u
es
m
u
s
t
b
e
u
p
d
ated
af
ter
ea
ch
ti
m
e
th
e
r
e
g
is
tr
atio
n
p
r
o
ce
s
s
w
as d
o
n
e.
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
T
h
e
w
h
o
le
p
r
o
ce
s
s
to
p
r
o
d
u
c
e
a
s
in
g
le
m
o
s
aic
f
r
o
m
a
n
y
n
u
m
b
er
s
o
f
o
v
er
lap
p
in
g
i
m
ag
es
ca
n
b
e
s
u
m
m
ar
ized
as f
o
llo
w
s
:
1.
Select
th
e
f
ir
s
t i
m
a
g
e
as a
r
ef
e
r
en
ce
i
m
a
g
e.
2.
Select
th
e
n
ex
t i
m
a
g
e,
co
m
p
u
t
e
its
p
er
s
p
ec
tiv
e
tr
an
s
f
o
r
m
atio
n
p
ar
a
m
eter
s
3.
Use B
ilin
ea
r
i
n
ter
p
o
latio
n
to
ass
i
g
n
t
h
e
co
lo
r
o
f
th
e
n
e
w
m
o
s
aic
4.
R
ep
ea
t
s
tep
2
-
3
f
o
r
t
h
e
r
est
o
f
th
e
i
m
a
g
es,
i
f
o
v
er
lap
s
ar
e
f
o
u
n
d
,
an
av
er
a
g
ed
co
lo
r
ca
n
b
e
c
alcu
lated
f
o
r
th
e
n
e
w
p
i
x
el
g
r
id
o
f
t
h
e
m
o
s
aic.
T
h
e
p
r
o
ce
s
s
s
tar
ts
b
y
s
elec
ti
n
g
a
s
u
p
p
o
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ed
l
y
b
e
a
v
er
tical
r
e
f
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en
ce
i
m
a
g
e
a
n
d
lets
s
et
it
a
s
th
e
f
ir
s
t
m
o
s
aic.
I
f
n
ec
es
s
ar
y
,
t
h
i
s
i
m
ag
e
ca
n
b
e
r
ec
tif
ied
to
b
ec
o
m
e
a
tr
u
l
y
v
er
tical
i
m
ag
e
[
17
]
b
y
u
s
i
n
g
its
ex
ter
io
r
o
r
ien
tatio
n
p
ar
am
eter
s
[
18
]
.
Nex
t,
s
elec
t
a
n
ad
j
ac
en
t
o
v
er
lap
p
ed
im
ag
e
a
n
d
ch
o
o
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e
a
m
in
i
m
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m
o
f
f
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r
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ate
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tu
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ap
p
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g
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th
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m
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I
t
s
tar
ts
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y
clic
k
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a
f
ea
tu
r
e
o
n
t
h
e
m
o
s
aic
f
ir
s
t
to
s
et
it
as
a
r
ef
er
en
ce
i
m
ag
e.
O
n
th
e
tar
g
et
i
m
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e,
a
lo
ca
tio
n
o
f
th
e
co
n
j
u
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ate
p
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t
o
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ted
f
ea
tu
r
e
ca
n
b
e
ca
lcu
lated
b
y
u
s
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n
g
th
e
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ter
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lt
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m
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m
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p
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i
m
a
g
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i
s
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s
tr
at
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in
Fig
u
r
e
3
.
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t
h
as
b
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n
s
h
o
w
n
th
at
s
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w
a
s
p
er
f
o
r
m
ed
u
s
in
g
E
q
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(
1
6
)
.
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h
is
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es
u
lt
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ig
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Fig
u
r
e
3
.
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o
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em
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ed
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s
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Fig
u
r
e
3
.
A
Mo
s
aic
o
f
3
6
i
m
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g
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w
it
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ap
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n
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ast
w
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h
t
h
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r
esear
c
h
f
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n
d
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g
,
Go
m
ez
[
9
]
an
d
T
o
u
r
n
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e
[
1
9
]
u
tili
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n
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m
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GC
P
s
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h
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is
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is
ter
ed
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s
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tial
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ter
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eter
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s
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a
m
eth
o
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d
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ed
in
T
j
ah
j
ad
i
[
1
8
]
.
Ho
w
e
v
er
,
t
h
e
m
i
n
i
m
u
m
n
u
m
b
er
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ib
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f
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s
th
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o
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t
th
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s
u
r
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s
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n
.
An
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[1
]
W
o
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P
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,
De
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it
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BA
.
El
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m
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ts
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f
Ph
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to
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try
:
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Ap
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in
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,
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Ne
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M
c
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In
c
.
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2
.
[2
]
Div
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a
G
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S
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k
h
a
r
CC.
I
m
a
g
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M
o
sa
icin
g
f
o
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W
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A
n
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P
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a
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ter
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.
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0
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.
[3
]
Jo
sh
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H,
S
in
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a
K.
.
A
su
rv
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y
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tec
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IJ
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.
2
0
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;
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):
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.
[4
]
Bo
C
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Z
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L
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b
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Yu
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A
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Larg
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M
o
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J
o
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Pro
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Rec
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.
2
0
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5
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1
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.
[5
]
P
e
n
g
j
u
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L,
Jia
n
z
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n
g
L.
A
M
e
th
o
d
f
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A
V
'
s
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m
a
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s
se
a
m
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S
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it
c
h
in
g
.
Ap
p
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d
M
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c
h
a
n
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M
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ter
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0
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(
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6
2
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[6
]
Ya
n
G
,
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n
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X
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L
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i
Y.
Re
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a
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c
h
a
n
d
A
n
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y
sis
o
f
Ke
y
T
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c
h
n
o
lo
g
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in
I
m
a
g
e
M
o
sa
ic
.
In
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.
2
0
1
3
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4
4
.
[7
]
Ra
ji
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k
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a
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B
K.
M
o
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a
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a
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S
.
T
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[8
]
Ne
x
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Re
m
o
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UA
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f
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s:
a
R
e
v
iew
.
Ap
p
li
e
d
Ge
o
m
a
ti
c
s
.
2
0
1
4
;
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(1
)
:
1
-
15
.
[9
]
G
ó
m
e
z
-
Ca
n
d
ó
n
D
,
De
Ca
stro
A
,
L
ó
p
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r
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o
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A
ss
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ss
in
g
th
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a
c
c
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ra
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y
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f
m
o
s
a
ics
f
ro
m
u
n
m
a
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n
e
d
a
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rial
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e
h
icle
(U
A
V
)
im
a
g
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p
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c
isio
n
a
g
ricu
lt
u
re
p
u
rp
o
se
s in
w
h
e
a
t
.
Pre
c
isio
n
A
g
ric
u
lt
u
re
.
2
0
1
4
;
15
(
1
):
44
-
56
.
[1
0
]
G
ru
e
n
AW
.
A
d
a
p
ti
v
e
L
e
a
st
S
q
u
a
re
s
Co
rre
latio
n
:
A
P
o
w
e
r
f
u
l
Im
a
g
e
M
a
tch
in
g
T
e
c
h
n
iq
u
e
.
S
o
u
th
Af
r
ica
n
J
o
u
rn
a
l
o
f
Ph
o
t
o
g
r
a
mm
e
try
,
Rem
o
te S
e
n
si
n
g
a
n
d
Ca
rt
o
g
r
a
p
h
y
.
1
9
8
5
;
14
(
3
):
1
7
5
-
1
8
7
.
[1
1
]
L
e
m
m
e
n
s
M
JP
M
.
A
S
u
rv
e
y
o
n
S
tere
o
M
a
tch
i
n
g
T
e
c
h
n
iq
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e
s
.
I
n
ter
n
a
ti
o
n
a
l
Arc
h
ive
s
o
f
Ph
o
to
g
ra
mm
e
try
a
n
d
Rem
o
te S
e
n
si
n
g
.
1
9
8
8
;
27
(B8
)
:
11
-
23
.
[1
2
]
S
a
h
o
o
S
K,
C
h
o
u
d
h
u
ry
BB.
A
Ro
b
o
ti
c
A
ss
istan
c
e
M
a
c
h
in
e
V
is
io
n
T
e
c
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n
i
q
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e
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r
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n
Eff
e
c
ti
v
e
In
sp
e
c
ti
o
n
a
n
d
A
n
a
l
y
si
s
.
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
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a
n
d
Co
mp
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ter
E
n
g
i
n
e
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rin
g
(
IJ
ECE
)
.
2
0
1
5
;
5
(
1
):
46
-
54
.
[1
3
]
Ha
m
z
a
h
R
A
,
Ib
ra
h
im
H.
.
L
it
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ra
t
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re
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rv
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S
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o
V
isi
o
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Dis
p
a
rit
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M
a
p
A
lg
o
rit
h
m
s
.
J
o
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rn
a
l
o
f
S
e
n
s
o
r
.
2
0
1
6
;
1
-
2
3
.
[1
4
]
M
a
y
e
r
H
,
S
e
ste
r
M
,
V
o
ss
e
lm
a
n
G
.
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sic
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m
p
u
ter
V
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T
e
c
h
n
iq
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e
.
M
a
n
u
a
l
o
f
P
h
o
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o
g
r
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mm
e
try
6
th
E
d
.
(
AS
PR
S
)
.
2
0
1
3
;
5
1
7
-
5
8
3
.
[1
5
]
Ca
ld
e
ro
n
F,
Ro
m
e
r
o
L.
An
Acc
u
ra
te
Ima
g
e
Reg
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ti
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n
M
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o
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Us
in
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Pr
o
jec
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ra
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sfo
rm
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t
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M
o
d
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l
.
8
t
h
M
e
x
ica
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In
tern
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ti
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l
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n
f
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re
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e
o
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r
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n
t
T
re
n
d
s i
n
C
o
m
p
u
ter S
c
ien
c
e
ENC
.
2
0
0
7
;
58
-
6
4
.
[1
6
]
Ko
b
a
y
a
sh
i
K,
M
o
ri
C.
Re
latio
n
s
b
e
tw
e
e
n
th
e
Co
e
ff
icie
n
ts
in
th
e
P
r
o
jec
ti
v
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T
ra
n
s
f
o
r
m
a
ti
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n
Eq
u
a
ti
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n
s
a
n
d
th
e
Orie
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tatio
n
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e
m
e
n
ts
o
f
a
P
h
o
to
g
ra
p
h
.
P
h
o
to
g
ra
mm
e
tric E
n
g
in
e
e
ri
n
g
&
Rem
o
te S
e
n
sin
g
.
1
9
9
7
;
63
(
9
):
1
1
2
1
-
1
1
2
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
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J
E
C
E
Vo
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n
e
2
0
1
7
:
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1
8
8
–
1
1
9
6
1196
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7
]
No
v
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k
K.
Re
c
ti
f
ic
a
ti
o
n
o
f
Dig
it
a
l
Im
a
g
e
r
y
.
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o
to
g
ra
mm
e
tric
En
g
in
e
e
rin
g
&
Rem
o
te
S
e
n
sin
g
.
1
9
9
2
;
58
(
3
):
3
3
9
-
344
.
[1
8
]
T
jah
jad
i
M
E.
A
F
a
st
A
n
d
S
tab
le
Orie
n
tatio
n
S
o
l
u
ti
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f
T
h
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Ca
m
e
ra
s
-
Ba
se
d
U
A
V
I
m
a
g
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ries
.
A
RP
N
J
o
u
rn
a
l
o
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En
g
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n
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g
a
n
d
A
p
p
li
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S
c
ien
c
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s
.
2
0
1
6
;
11
(5
):
3
4
4
9
-
3
4
5
5
.
[1
9
]
T
o
u
rn
a
d
re
V
,
P
ierr
o
t
-
De
se
il
li
g
n
y
M
,
F
a
u
re
P
H.
UAV
L
in
e
a
r
Ph
o
t
o
g
ra
mm
e
try
.
T
h
e
In
tern
a
ti
o
n
a
l
A
rc
h
iv
e
s
o
f
th
e
P
h
o
t
o
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ra
m
m
e
tr
y
,
Re
m
o
te S
e
n
sin
g
a
n
d
S
p
a
t
ial
In
f
o
rm
a
ti
o
n
S
c
ien
c
e
s
.
G
o
tt
in
g
e
n
.
2
0
1
5
;
3
2
7
-
3
3
3
.
[2
0
]
S
m
it
h
MW
,
C
a
rriv
ic
k
J,
Qu
in
c
e
y
D.
S
tru
c
tu
re
f
ro
m
m
o
ti
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p
h
o
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o
g
ra
m
m
e
tr
y
in
p
h
y
sic
a
l
g
e
o
g
ra
p
h
y
.
Pro
g
re
ss
in
Ph
y
sic
a
l
Ge
o
g
ra
p
h
y
.
2
0
1
6
;
4
0
(
2
)
:
2
4
7
-
2
7
5
.
[2
1
]
A
i
M
,
Hu
Q,
L
i
J,
W
a
n
g
M
,
Yu
a
n
H,
W
a
n
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S
.
A
ro
b
u
st
p
h
o
t
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ra
m
m
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tri
c
p
ro
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ss
in
g
m
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th
o
d
o
f
lo
w
-
a
lt
it
u
d
e
UA
V
im
a
g
e
s
.
Rem
o
te S
e
n
sin
g
.
2
0
1
5
;
7
(
3
):
2
3
0
2
-
2
3
3
3
.
[2
2
]
T
o
n
k
in
T
N,
M
id
g
le
y
N
G
,
Gra
h
a
m
DJ
,
L
a
b
a
d
z
JC.
T
h
e
p
o
ten
ti
a
l
o
f
s
m
a
ll
u
n
m
a
n
n
e
d
a
ircra
f
t
s
y
ste
m
s
a
n
d
stru
c
tu
re
-
f
ro
m
-
m
o
ti
o
n
f
o
r
to
p
o
g
ra
p
h
ic
su
r
v
e
y
s:
A
tes
t
o
f
e
m
e
r
g
in
g
in
teg
r
a
ted
a
p
p
ro
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c
h
e
s
a
t
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Id
w
a
l,
No
rth
W
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les
.
G
e
o
m
o
rp
h
o
lo
g
y
.
2
0
1
4
;
2
2
6
:
35
-
43
.
[2
3
]
Ha
n
d
o
k
o
F
,
Nu
rsa
n
ti
E,
Ha
rm
a
n
to
D,
S
u
tri
o
n
o
.
T
h
e
Ro
le
o
f
T
a
c
it
a
n
d
C
o
d
if
ied
Kn
o
w
led
g
e
W
it
h
in
T
e
c
h
n
o
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y
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ra
n
s
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r
P
ro
g
ra
m
o
n
T
e
c
h
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lo
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y
A
d
a
p
tatio
n
.
AR
PN
J
o
u
rn
a
l
o
f
En
g
i
n
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rin
g
a
n
d
Ap
p
li
e
d
S
c
ien
c
e
s
.
2
0
1
6
;
11
(8
):
5
2
7
5
-
5
2
8
2
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
M
a
r
tin
u
s
E
d
w
in
Tja
h
ja
d
i
o
b
tain
e
d
h
is
P
h
D
d
e
g
re
e
in
P
h
o
t
o
g
ra
m
m
e
tr
y
f
ro
m
th
e
Un
iv
e
rsit
y
o
f
M
e
lb
o
u
rn
e
in
2
0
0
8
.
He
is
c
u
rre
n
tl
y
a
L
e
c
tu
re
r
in
De
p
a
rtme
n
t
o
f
Ge
o
d
e
s
y
,
In
stit
u
t
T
e
k
n
o
lo
g
i
Na
sio
n
a
l
(Na
ti
o
n
a
l
In
sti
tu
te
o
f
T
e
c
h
n
o
lo
g
y
(I
T
N))
M
a
l
a
n
g
,
In
d
o
n
e
sia
.
His
re
se
a
rh
o
f
in
tere
st
in
c
lu
d
e
s p
h
o
to
g
ra
m
m
e
tr
y
,
c
o
m
p
u
ter v
isio
n
,
a
n
d
3
D m
o
d
e
ll
in
g
a
n
d
v
isu
a
li
z
a
ti
o
n
.
Fo
u
r
r
y
H
a
n
d
o
k
o
is
a
L
e
c
tu
re
r
i
n
In
d
u
strial
En
g
in
e
e
rin
g
,
In
stit
u
t
T
e
k
n
o
lo
g
i
Na
sio
n
a
l
(Na
ti
o
n
a
l
In
stit
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te
o
f
T
e
c
h
n
o
l
o
g
y
(I
T
N))
M
a
lan
g
,
In
d
o
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e
sia
.
He
h
a
s
h
is
P
h
D
f
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r
h
is
stu
d
y
in
M
e
c
h
a
n
ica
l
a
n
d
M
a
n
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f
a
c
tu
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g
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g
in
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rin
g
,
t
h
e
Un
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e
rsity
o
f
M
e
lb
o
u
rn
e
.
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u
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e
n
tl
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,
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e
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a
lso
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a
irm
a
n
o
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Re
se
a
r
c
h
a
n
d
C
o
m
m
u
n
it
y
Ou
tr
e
a
c
h
In
stit
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t
io
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(L
P
P
M
)
o
f
IT
N
M
a
lan
g
,
In
d
o
n
e
sia
.
S
il
v
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ste
r
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a
r
i
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a
i
re
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e
i
v
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th
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a
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h
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lo
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d
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re
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in
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sy
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g
in
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f
ro
m
In
stit
u
t
T
e
k
n
o
l
o
g
i
Na
sio
n
a
l
(IT
N)
M
a
lan
g
,
,
I
n
d
o
n
e
sia
,
in
1
9
9
6
,
th
e
m
a
ste
r
d
e
g
re
e
in
g
e
o
d
e
sy
a
n
d
g
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o
m
a
ti
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s
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n
g
in
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g
f
ro
m
In
stit
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t
T
e
k
n
o
l
o
g
i
Ba
n
d
u
n
g
,
Ba
n
d
u
n
g
,
I
n
d
o
n
e
si
a
,
in
2
0
0
5
.
H
e
is
c
u
rre
n
t
ly
a
L
e
c
tu
re
r
a
t
th
e
De
p
a
rt
m
e
n
t
o
f
Ge
o
d
e
s
y
,
Na
ti
o
n
a
l
In
stit
u
te
o
f
T
e
c
h
n
o
lo
g
y
(I
T
N)
M
a
lan
g
,
In
d
o
n
e
sia
.
His m
a
in
a
re
a
s o
f
re
s
e
a
rc
h
in
tere
st are
p
o
in
t
p
o
si
ti
o
n
in
g
a
n
d
3
D G
IS
m
o
d
e
ll
in
g
.
Evaluation Warning : The document was created with Spire.PDF for Python.