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tr
o
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R
esear
c
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b
y
B
asto
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Fi
lh
o
et
a
l
.
[
1
]
d
is
cu
s
s
th
e
au
to
m
atio
n
o
f
w
h
ee
lc
h
air
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air
.
R
ese
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c
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y
A
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n
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y
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t
a
l.
[
2
]
d
escr
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th
e
u
s
e
o
f
laser
co
m
b
i
n
ed
w
it
h
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m
en
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.
R
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ch
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Sa
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d
er
s
[
3
]
d
escr
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es
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co
n
tr
o
l
o
f
a
w
h
e
elch
air
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ased
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ir
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d
r
iv
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R
esear
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Ma
s
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et
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.
[
4
]
p
r
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v
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-
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ased
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tr
o
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o
f
a
w
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ch
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ev
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ltip
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R
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C
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an
d
De
m
ir
is
[
5
]
p
r
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t
a
w
a
y
to
ass
is
t
th
e
u
s
er
s
w
ith
t
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h
elp
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f
co
llab
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r
ativ
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co
n
tr
o
l
m
ec
h
a
n
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s
m
s
.
T
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s
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in
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ts
th
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co
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tr
o
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b
ased
o
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th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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&
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b
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Sy
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I
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N:
2089
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4864
P
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101
r
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m
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.
R
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s
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r
ch
b
y
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a
l.
[
6
]
p
r
esen
t
an
in
te
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tio
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p
r
ed
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-
b
ased
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h
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ce
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R
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aw
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Haf
ez
[
7
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p
r
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a
d
ee
p
lear
n
in
g
b
ased
ap
p
r
o
ac
h
to
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s
tacle
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d
h
elp
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a
v
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t
ec
h
n
iq
u
e.
T
h
e
p
a
p
er
s
[8
]
,
[
9
]
p
r
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t
a
m
ac
h
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n
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lear
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in
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b
ased
tech
n
iq
u
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ter
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s
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to
h
elp
w
h
ee
l
ch
air
u
s
er
s
n
a
v
i
g
ate
au
to
n
o
m
o
u
s
l
y
i
n
v
ar
io
u
s
en
v
ir
o
n
m
e
n
ts
.
A
d
á
m
ek
et
a
l.
[
1
0
]
d
is
cu
s
s
e
v
ec
to
r
f
ield
h
is
to
g
r
am
+
(
VFH+)
a
n
d
d
y
n
a
m
ic
w
i
n
d
o
w
ap
p
r
o
ac
h
(
DW
A
)
al
g
o
r
it
h
m
s
to
e
n
h
an
ce
th
e
o
b
s
tacle
av
o
id
an
ce
an
d
n
av
ig
a
tio
n
o
f
a
s
m
ar
t
w
h
ee
lch
air
.
R
e
s
ea
r
ch
b
y
Ka
w
a
g
u
ch
i
et
a
l.
[
1
1
]
p
r
esen
t
a
f
u
zz
y
-
b
ased
p
r
ed
ictiv
e
m
o
d
el
f
o
r
c
o
n
tr
o
llin
g
a
w
h
ee
lc
h
air
in
cr
o
w
d
ed
en
v
ir
o
n
m
en
ts
allo
w
i
n
g
o
b
s
tacle
av
o
id
an
ce
b
ased
o
n
th
e
p
r
ed
ictio
n
o
f
b
e
h
av
io
r
an
d
o
th
er
f
ac
to
r
s
.
I
n
[
1
2
]
-
[
2
0
]
au
th
o
r
s
d
escr
ib
e
v
ar
io
u
s
tech
n
iq
u
es,
v
o
ice
co
n
tr
o
l,
I
o
T
,
h
an
d
m
o
v
e
m
e
n
ts
,
m
o
v
e
m
e
n
t
o
f
th
e
h
ea
d
,
b
lin
k
-
of
-
an
-
e
y
e
u
s
e
o
f
ar
tific
ial
in
t
ellig
e
n
ce
,
an
d
o
th
er
m
o
d
e
s
to
co
n
tr
o
l th
e
m
o
v
e
m
e
n
t o
f
a
w
h
ee
lch
a
ir
f
o
r
ea
s
y
n
a
v
ig
a
tio
n
.
C
an
d
io
tti
et
a
l.
[
2
1
]
d
is
cu
s
s
e
d
th
e
ad
v
an
ta
g
es
an
d
c
h
allen
g
es
o
f
a
p
o
w
er
ed
w
h
ee
lc
h
air
f
o
r
in
d
o
o
r
an
d
o
u
td
o
o
r
n
av
i
g
atio
n
,
co
n
clu
d
in
g
t
h
at
a
s
e
m
i
-
au
to
n
o
m
o
u
s
s
y
s
te
m
w
i
th
a
g
o
o
d
u
s
e
r
in
ter
f
ac
e
i
s
m
o
r
e
b
en
ef
icia
l
f
o
r
u
s
er
s
.
R
esear
ch
b
y
Ug
a
n
y
a
et
a
l
.
[
2
2
]
i
m
p
le
m
e
n
t
a
m
ac
h
i
n
e
lear
n
i
n
g
-
b
ased
alg
o
r
it
h
m
o
p
tim
ized
u
s
i
n
g
a
s
to
ch
as
tic
g
r
ad
ien
t
d
esce
n
t
alg
o
r
it
h
m
to
ac
h
iev
e
b
etter
au
to
n
o
m
o
u
s
i
n
d
o
o
r
n
av
ig
at
io
n
.
R
esear
ch
b
y
Ma
s
ce
tti
et
a
l.
[
2
3
]
p
r
esen
t
th
e
id
ea
o
f
s
m
a
r
t
w
h
ee
ls
to
id
en
ti
f
y
t
h
e
v
ar
io
u
s
f
ea
t
u
r
es
t
h
at
w
h
ee
lc
h
air
u
s
er
s
n
ee
d
to
n
av
i
g
ate
t
h
r
o
u
g
h
in
an
u
r
b
an
lan
d
s
ca
p
e.
T
h
e
s
m
ar
t
w
h
ee
l
s
w
er
e
p
r
o
p
o
s
ed
to
m
a
k
e
th
e
p
r
o
ce
s
s
ea
s
ier
f
o
r
th
e
u
s
er
s
w
it
h
au
to
m
atic
id
en
ti
f
icatio
n
w
it
h
n
o
i
n
p
u
t
s
r
eq
u
ir
ed
f
r
o
m
t
h
e
u
s
er
.
R
esear
ch
by
S
iv
a
k
a
n
th
a
n
et
a
l.
[
2
4
]
h
av
e
d
o
n
e
a
d
etailed
r
ev
ie
w
o
f
h
o
w
r
o
b
o
tic
w
h
ee
lc
h
air
s
h
av
e
d
ev
elo
p
ed
o
v
er
th
e
y
ea
r
s
,
an
d
ev
en
th
o
u
g
h
th
er
e
h
av
e
b
ee
n
m
a
n
y
tec
h
n
o
lo
g
ical
ad
v
an
ce
s
in
th
e
r
o
b
o
tic
w
h
ee
l
ch
air
s
,
m
a
n
y
o
f
th
e
ad
v
an
ce
s
h
a
v
e
n
o
t r
ea
ch
ed
th
e
m
ar
k
et
s
u
cc
e
s
s
f
u
ll
y
y
et.
R
esear
ch
b
y
B
an
d
ar
a
a
t
a
l.
[
2
5
]
d
is
cu
s
s
th
e
n
ee
d
f
o
r
w
h
e
elch
air
s
to
e
m
p
lo
y
a
h
y
b
r
id
n
av
i
g
atio
n
s
y
s
te
m
w
h
er
e
th
e
u
s
er
an
d
th
e
w
h
ee
lc
h
air
b
o
th
h
av
e
co
n
tr
o
l
o
v
er
th
e
s
y
s
te
m
a
n
d
n
av
ig
at
i
o
n
is
d
ec
id
ed
b
ased
o
n
th
e
s
ce
n
ar
io
s
a
n
d
th
e
in
p
u
t
s
r
ec
eiv
ed
.
His
h
a
m
a
t
a
l.
[
2
6
]
d
is
cu
s
s
ed
a
cu
s
to
m
iz
ed
i
n
d
o
o
r
n
av
ig
atio
n
s
y
s
te
m
f
o
r
w
h
ee
lc
h
air
s
u
s
in
g
3
D
m
ap
p
in
g
o
f
t
h
e
lo
ca
tio
n
.
R
esear
c
h
b
y
L
a
k
m
al
et
a
l.
[
2
7
]
d
is
cu
s
s
t
h
e
i
m
p
le
m
e
n
tat
io
n
o
f
a
L
id
ar
an
d
2
D
m
ap
p
in
g
b
ased
i
m
p
le
m
en
ta
tio
n
o
f
i
n
d
o
o
r
n
av
i
g
atio
n
f
o
r
w
h
ee
lch
air
s
.
Af
o
n
s
o
an
d
Fer
r
eir
a
[
2
8
]
d
is
cu
s
s
ed
th
e
i
m
p
le
m
en
tatio
n
o
f
au
to
n
o
m
o
u
s
n
a
v
i
g
atio
n
i
n
w
h
ee
lch
a
ir
s
u
s
i
n
g
d
ee
p
lear
n
in
g
a
n
d
r
ein
f
o
r
ce
m
e
n
t
alo
n
g
w
it
h
th
e
h
e
lp
o
f
co
m
p
u
ter
v
i
s
io
n
.
Ko
b
a
y
as
h
i
et
a
l.
[
2
9
]
d
is
cu
s
s
th
e
i
m
p
le
m
en
tatio
n
o
f
a
n
av
i
g
atio
n
s
y
s
te
m
b
ased
o
n
v
ar
io
u
s
f
ac
to
r
s
to
i
d
en
tify
t
h
e
s
h
o
r
tes
t
p
ath
to
a
d
esire
d
d
esti
n
atio
n
u
s
in
g
Dij
k
s
tr
a’
s
a
lg
o
r
ith
m
.
T
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
u
s
es
a
d
ig
ital
t
w
i
n
to
d
ev
elo
p
th
e
p
ath
an
d
ac
h
iev
e
th
e
d
esire
d
n
a
v
ig
a
tio
n
.
Mo
h
a
m
ed
et
a
l.
[
3
0
]
d
ev
elo
p
ed
an
ass
is
tiv
e
n
a
v
i
g
atio
n
s
y
s
te
m
f
o
r
v
is
u
all
y
i
m
p
air
ed
w
h
ee
lch
a
ir
u
s
er
s
u
s
in
g
d
ee
p
lear
n
in
g
al
g
o
r
ith
m
s
p
r
o
v
id
in
g
u
s
er
s
w
it
h
in
f
o
r
m
atio
n
ab
o
u
t
t
h
eir
en
v
ir
o
n
m
e
n
t
an
d
th
e
p
ath
to
b
e
tak
en
to
r
ea
ch
th
e
d
esti
n
atio
n
.
T
h
e
v
ar
io
u
s
im
p
le
m
e
n
tat
io
n
s
d
is
cu
s
s
ed
f
u
ll
y
au
to
n
o
m
o
u
s
w
h
ee
lch
air
s
e
m
p
l
o
y
tech
n
o
lo
g
ie
s
w
h
ic
h
m
ak
e
t
h
e
m
ec
o
n
o
m
i
ca
ll
y
e
x
p
en
s
i
v
e
f
o
r
an
av
er
a
g
e
u
s
er
to
b
u
y
a
n
d
m
ai
n
tai
n
.
T
h
e
p
ap
er
atte
m
p
ts
to
co
m
p
ar
e
t
w
o
lo
w
co
s
t
o
p
tio
n
s
w
h
ic
h
ca
n
b
e
e
m
p
lo
y
ed
to
ac
h
ie
v
e
au
to
n
o
m
o
u
s
n
a
v
i
g
atio
n
w
it
h
o
b
s
tacle
d
etec
tio
n
a
n
d
av
o
id
a
n
ce
in
a
n
i
n
d
o
o
r
en
v
ir
o
n
m
e
n
t
a
ls
o
b
r
in
g
in
g
o
u
t
t
h
e
ad
v
an
ta
g
es a
n
d
ch
alle
n
g
es i
n
t
h
e
s
a
m
e.
2.
P
RO
P
O
SE
D
SO
L
UT
I
O
N
W
h
ee
lch
air
s
,
w
h
e
n
u
s
ed
f
o
r
i
n
d
o
o
r
n
av
i
g
atio
n
,
h
a
v
e
to
b
e
v
er
y
p
r
ec
is
e
in
id
en
ti
f
y
i
n
g
t
h
e
o
b
j
ec
ts
ar
o
u
n
d
it
as
a
n
i
n
d
o
o
r
s
etu
p
m
ig
h
t
h
a
v
e
m
u
ltip
le
o
b
s
tacle
s
at
clo
s
er
d
is
tan
ce
s
.
T
w
o
o
f
th
e
m
ai
n
f
u
n
ctio
n
s
t
h
a
t
th
e
w
h
ee
lc
h
air
u
s
ed
f
o
r
in
d
o
o
r
n
av
ig
atio
n
s
h
o
u
ld
b
e
a
b
le
to
p
er
f
o
r
m
ar
e
au
to
m
a
tic
d
etec
tio
n
o
f
o
b
s
tacle
s
,
tak
i
n
g
t
h
e
n
ec
es
s
ar
y
ac
tio
n
as
r
eq
u
ir
ed
an
d
th
e
s
ec
o
n
d
b
ein
g
ab
le
to
r
ea
ch
a
d
esti
n
atio
n
as
r
eq
u
ested
b
y
t
h
e
u
s
er
.
T
h
e
o
b
s
tacle
av
o
id
an
ce
an
d
th
e
n
a
v
i
g
atio
n
s
y
s
te
m
s
n
ee
d
to
w
o
r
k
i
n
s
y
n
c
w
i
th
e
ac
h
o
th
er
to
en
s
u
r
e
ef
f
ec
tiv
e
a
n
d
p
r
o
p
er
m
o
v
e
m
en
t o
f
th
e
w
h
ee
lc
h
air
.
2
.
1
.
O
bs
t
a
cles
det
ec
t
io
n
Usi
n
g
i
n
f
r
a
r
ed
(
I
R
)
an
d
u
ltr
aso
n
ic
s
en
s
o
r
s
:
I
R
s
e
n
s
o
r
s
h
a
v
e
t
h
e
ab
ilit
y
to
d
etec
t
t
h
e
p
r
esen
ce
o
f
o
b
j
ec
ts
in
f
r
o
n
t o
f
i
t u
s
in
g
t
h
e
r
ef
lectio
n
o
f
th
e
IR
w
a
v
es e
m
i
tted
b
y
i
ts
tr
a
n
s
m
itter
.
T
h
ese
s
en
s
o
r
s
ar
e
lo
w
co
s
t
an
d
ar
e
ef
f
ec
ti
v
e
in
id
en
t
if
y
i
n
g
th
e
p
r
esen
ce
o
f
o
b
j
ec
ts
in
f
r
o
n
t
o
f
th
e
m
a
t
clo
s
e
d
is
tan
ce
s
.
Fo
u
r
s
u
ch
s
e
n
s
o
r
s
w
er
e
p
lace
d
o
n
t
h
e
w
h
ee
lc
h
air
,
t
w
o
o
n
t
h
e
h
a
n
d
les
an
d
t
w
o
n
ea
r
th
e
w
h
ee
ls
,
to
b
e
ab
le
to
d
etec
t
th
e
p
r
ese
n
ce
o
f
an
y
o
b
s
tacle
i
n
th
e
p
at
h
o
f
th
e
w
h
ee
lch
a
ir
.
T
h
e
s
ig
n
als
f
r
o
m
ea
c
h
o
f
t
h
ese
s
en
s
o
r
s
w
a
s
m
o
n
ito
r
ed
b
y
t
h
e
co
n
tr
o
llin
g
u
n
i
t
co
n
t
in
u
o
u
s
l
y
to
b
e
ab
le
to
d
etec
t
t
h
e
p
r
esen
ce
o
f
a
n
y
o
b
s
tacle
i
n
t
h
e
p
ath
o
n
w
h
ich
th
e
w
h
ee
lc
h
air
w
a
s
m
o
v
in
g
.
T
h
e
d
r
a
w
b
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e
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at
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g
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r
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s
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r
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r
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h
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h
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ee
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air
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
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o
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f
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g
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&
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m
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l.
1
4
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1
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r
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2
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2
5
:
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108
102
Fig
u
r
e
1
.
I
R
s
en
s
o
r
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d
w
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l
ch
air
T
o
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e
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le
to
id
en
tify
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h
e
d
is
t
an
ce
o
f
th
e
o
b
s
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f
r
o
m
t
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ee
lc
h
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u
ltra
s
o
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ic
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en
s
o
r
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er
e
also
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e
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ee
lc
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h
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u
ltra
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o
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ic
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e
n
s
o
r
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o
r
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b
y
ca
l
cu
lati
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ti
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o
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e
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ltra
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ic
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e
s
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tr
av
el
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m
th
e
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ee
lch
air
to
th
e
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tacle
an
d
b
o
u
n
ce
b
ac
k
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alcu
lati
n
g
th
e
d
is
tan
ce
o
f
th
e
o
b
s
tacle
f
r
o
m
th
e
w
h
ee
lc
h
air
allo
w
s
th
e
s
y
s
te
m
to
tak
e
ap
p
r
o
p
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iate
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tio
n
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en
s
u
r
e
th
a
t
t
h
e
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lch
air
d
o
es
n
o
t
co
llid
e
w
i
th
th
e
o
b
s
tacle
.
T
w
o
u
ltra
s
o
n
ic
s
en
s
o
r
s
w
er
e
i
n
s
talled
o
n
t
h
e
wh
ee
lch
a
ir
,
o
n
e
i
n
t
h
e
u
p
p
er
p
o
r
tio
n
an
d
o
n
e
in
th
e
lo
w
er
p
o
r
tio
n
o
f
th
e
w
h
ee
lch
a
ir
to
b
e
a
b
le
to
d
etec
t o
b
s
tacle
s
o
f
all
h
eig
h
ts
.
Fi
g
u
r
e
2
g
iv
e
s
a
b
l
o
ck
d
iag
r
a
m
o
f
th
e
in
ter
ac
tio
n
b
et
w
ee
n
t
h
e
w
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ee
lch
air
an
d
t
h
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
.
Fig
u
r
e
2
.
Ultr
aso
u
n
d
s
e
n
s
o
r
a
n
d
w
h
ee
lc
h
air
T
h
e
co
m
b
in
at
io
n
o
f
IR
an
d
u
ltra
s
o
n
ic
s
e
n
s
o
r
s
w
er
e
ca
p
ab
le
o
f
n
o
t
o
n
l
y
d
etec
ti
n
g
t
h
e
p
r
esen
ce
o
f
o
b
s
tacle
s
in
ti
m
e
b
u
t
also
p
r
o
v
id
e
th
e
d
is
tan
ce
o
f
t
h
e
o
b
s
tacl
e
s
o
th
at
th
e
s
y
s
te
m
ca
n
tak
e
t
h
e
n
ec
es
s
ar
y
ac
tio
n
in
ti
m
e
to
av
o
id
th
e
o
b
s
tacle
.
I
m
ag
e
-
b
ased
m
et
h
o
d
:
t
h
e
s
ec
o
n
d
m
et
h
o
d
atte
m
p
ted
w
as
u
s
i
n
g
a
ca
m
er
a
to
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e
p
h
o
to
s
o
f
th
e
o
b
j
ec
ts
in
f
r
o
n
t
o
f
th
e
w
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ee
lc
h
air
an
d
u
s
e
th
e
im
a
g
e
to
ca
lcu
late
th
e
d
is
ta
n
ce
.
T
h
e
im
a
g
e
b
y
its
el
f
w
a
s
ca
p
ab
le
o
f
d
etec
tin
g
th
e
o
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j
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t’
s
p
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d
it
s
d
is
tan
ce
o
f
t
h
e
o
b
j
ec
t
f
r
o
m
th
e
w
h
ee
lc
h
air
.
T
h
e
o
b
j
ec
t
d
etec
tio
n
an
d
d
i
s
tan
ce
ca
lcu
lat
io
n
w
er
e
d
o
n
e
u
s
i
n
g
a
YO
L
O
v
4
alg
o
r
it
h
m
.
T
h
e
alg
o
r
ith
m
w
o
r
k
s
b
y
u
s
i
n
g
p
r
e
-
tr
ai
n
ed
i
m
ag
e
s
to
id
en
ti
f
y
th
e
o
b
j
ec
t.
T
h
e
d
i
m
e
n
s
i
o
n
o
f
t
h
e
o
b
j
ec
t
also
w
o
u
ld
b
e
f
ed
as
p
ar
t
o
f
t
h
e
tr
ain
i
n
g
.
T
h
e
al
g
o
r
ith
m
is
ca
p
ab
le
o
f
id
en
ti
f
y
in
g
t
h
e
o
b
j
ec
t
an
d
it
s
d
is
ta
n
ce
f
r
o
m
th
e
ca
m
er
a
f
r
o
m
t
h
e
p
r
e
tr
ain
ed
d
ata.
As
t
h
e
m
et
h
o
d
is
b
ein
g
p
r
o
p
o
s
ed
f
o
r
in
d
o
o
r
n
av
i
g
atio
n
th
e
tr
ain
i
n
g
o
f
t
h
e
o
b
j
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ts
an
d
its
d
i
m
en
s
io
n
s
w
o
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ld
b
e
r
eq
u
ir
ed
o
n
l
y
o
n
ce
an
d
ca
n
b
e
d
o
n
e
d
u
r
in
g
th
e
f
ir
s
t
i
n
s
tallat
io
n
af
ter
w
h
ich
t
h
e
w
h
ee
lc
h
air
ca
n
w
o
r
k
a
u
to
n
o
m
o
u
s
l
y
u
s
in
g
t
h
e
ca
m
er
a
to
d
etec
t
th
e
i
m
ag
e
s
as
w
e
ll
as
ca
lc
u
l
ate
th
e
d
is
ta
n
ce
o
f
th
e
o
b
j
ec
t.
Fig
u
r
e
3
g
iv
e
s
th
e
b
lo
ck
d
iag
r
a
m
o
f
t
h
e
i
n
ter
ac
ti
o
n
b
et
w
ee
n
ca
m
er
a
a
n
d
th
e
wh
ee
lch
a
ir
.
Fig
u
r
e
3
.
C
a
m
er
a
b
ased
s
en
s
i
n
g
2
.
2
.
Na
v
ig
a
t
io
n
Nav
i
g
ati
n
g
to
a
d
esire
d
lo
ca
tio
n
w
it
h
i
n
th
e
in
d
o
o
r
s
p
ac
e
is
also
a
m
aj
o
r
ch
allen
g
e
f
o
r
p
eo
p
le
u
s
in
g
w
h
ee
lc
h
air
s
.
T
h
e
p
ap
er
co
m
p
ar
es
n
av
i
g
atio
n
u
s
in
g
t
w
o
s
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m
p
le
lo
w
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s
t
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et
h
o
d
s
,
o
n
e
u
s
i
n
g
I
R
s
en
s
o
r
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an
d
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ec
o
n
d
u
s
i
n
g
i
m
a
g
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ta
k
e
n
w
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th
a
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er
a.
Usi
n
g
IR
s
e
n
s
o
r
s
o
n
w
h
ee
l
s
:
t
o
en
s
u
r
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th
e
w
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air
ca
n
m
o
v
e
f
r
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m
o
n
e
lo
ca
tio
n
to
an
o
th
er
au
to
n
o
m
o
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s
l
y
a
d
is
ta
n
ce
b
ased
alg
o
r
ith
m
w
as
u
s
ed
.
T
h
e
d
is
tan
ce
s
b
et
w
ee
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
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o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
P
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a
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103
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ld
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u
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o
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r
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lcu
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h
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ce
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a
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.
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h
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s
tar
tin
g
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o
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t
w
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ld
b
e
f
ix
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a
s
t
h
e
e
n
tr
an
c
e
o
f
t
h
e
r
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o
m
,
w
h
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h
t
h
e
u
s
er
ca
n
m
o
v
e
to
,
u
s
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n
g
s
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m
p
le
c
o
m
m
a
n
d
s
to
m
o
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e
f
o
r
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d
o
r
b
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k
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h
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f
ix
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d
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et
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h
o
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en
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at
th
e
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lcu
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o
f
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i
s
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ce
w
a
s
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to
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m
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te
a
n
d
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m
p
ar
e.
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g
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m
er
a:
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h
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m
er
as
u
s
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f
o
r
d
etec
tio
n
o
f
o
b
s
tacle
s
w
er
e
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u
s
ed
f
o
r
th
e
n
av
ig
a
tio
n
o
f
th
e
w
h
ee
lc
h
air
.
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h
e
p
ath
o
f
th
e
w
h
ee
lc
h
air
f
r
o
m
o
n
e
lo
ca
tio
n
to
an
o
th
er
w
a
s
m
ap
p
ed
u
s
in
g
k
n
o
w
n
i
m
a
g
es
o
r
m
ar
k
er
s
p
lace
d
at
p
r
o
p
er
p
lac
es f
o
r
t
h
e
ca
m
er
a
to
id
en
ti
f
y
.
T
h
e
tu
r
n
s
o
f
t
h
e
w
h
ee
lc
h
air
wer
e
co
n
f
i
g
u
r
ed
b
ased
o
n
th
e
d
is
tan
ce
f
r
o
m
th
e
s
e
m
a
r
k
ed
im
a
g
e
s
.
On
ce
th
e
p
ath
is
id
en
tif
ied
an
d
co
n
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g
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r
ed
,
th
e
w
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ee
l
c
h
air
w
o
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ld
b
e
tr
ain
ed
to
f
o
llo
w
t
h
e
p
ath
b
y
lo
o
k
i
n
g
f
o
r
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h
e
i
m
ag
e
s
.
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h
e
tu
r
n
s
w
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ld
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e
co
n
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i
g
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r
ed
b
as
ed
o
n
th
e
d
is
ta
n
ce
f
r
o
m
t
h
ese
s
et
i
m
a
g
es.
T
h
e
ca
m
er
a
w
o
u
ld
id
e
n
ti
f
y
th
e
i
m
a
g
e,
an
d
ca
lcu
late
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e
d
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ta
n
ce
f
r
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m
th
e
i
m
ag
e
u
s
in
g
th
e
YO
L
O
v
4
alg
o
r
ith
m
.
T
h
e
w
h
ee
lc
h
air
w
o
u
ld
b
e
m
ad
e
to
tu
r
n
at
t
h
e
ap
p
r
o
p
r
iate
d
is
tan
ce
f
r
o
m
th
e
i
m
a
g
e
as
tr
ain
ed
,
allo
w
i
n
g
th
e
u
s
er
to
r
ea
ch
th
e
d
esire
d
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ca
tio
n
.
3.
M
E
T
H
O
D
Fig
u
r
e
4
g
iv
e
s
a
g
e
n
er
al
f
lo
w
o
f
ev
en
ts
ad
o
p
ted
b
y
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h
e
alg
o
r
ith
m
co
n
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o
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g
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e
m
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etch
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r
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ir
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it e
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ter
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a
n
o
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u
s
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t to
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o
r
m
o
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to
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o
id
th
e
o
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s
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Fig
u
r
e
4
.
Mo
v
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m
e
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lch
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-
108
104
T
h
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ai
n
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if
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er
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ce
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et
w
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n
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s
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te
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u
s
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th
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R
a
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aso
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ic
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r
s
f
o
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d
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tio
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d
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e
d
is
ta
n
ce
ca
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n
u
s
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g
IR
s
e
n
s
o
r
f
o
r
n
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v
ig
a
tio
n
.
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h
e
s
ec
o
n
d
s
y
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te
m
u
s
e
s
a
ca
m
er
a
to
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h
ie
v
e
b
o
th
o
b
s
tacle
d
etec
tio
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an
d
n
a
v
ig
a
t
io
n
.
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n
b
o
th
th
e
m
et
h
o
d
s
e
m
p
lo
y
e
d
a
p
r
ed
ef
in
ed
m
ap
o
f
th
e
i
n
d
o
o
r
lo
ca
tio
n
s
w
as
f
ed
u
s
i
n
g
av
ailab
le
d
ata.
I
n
th
e
ca
s
e
o
f
t
h
e
IR
b
ase
d
n
av
i
g
atio
n
t
h
e
d
is
ta
n
ce
to
b
e
co
v
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ed
an
d
th
e
d
is
tan
ce
o
f
e
ac
h
tu
r
n
d
u
r
i
n
g
t
h
e
n
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i
g
atio
n
w
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to
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ed
in
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h
e
s
y
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te
m
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h
er
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m
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ased
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at
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ied
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ce
f
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g
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p
lace
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Fig
u
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5
d
etails
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ased
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ased
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ased
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ase
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ased
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,
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ased
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t
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m)
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t
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M
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n
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r
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Du
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it's
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o
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o
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t
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m
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s
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m
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o
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2
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r
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lt
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v
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h
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y
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m
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.
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s
t
h
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m
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er
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ce
d
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m
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g
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d
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o
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o
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s
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s
.
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h
e
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m
er
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ased
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te
m
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r
ate
w
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