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u
d
in
g
t
h
e
p
r
ec
is
e
p
o
s
itio
n
s
o
f
en
tr
a
n
ce
s
,
elev
a
to
r
s
,
an
d
r
estro
o
m
s
[
6
]
.
I
o
T
-
en
ab
led
n
av
i
g
atio
n
ap
p
s
ca
n
o
f
f
er
p
r
ec
is
e
d
ir
ec
tio
n
s
a
n
d
n
o
ti
f
icat
io
n
s
r
eg
ar
d
i
n
g
p
o
ten
tial
o
b
s
t
r
u
ctio
n
s
o
r
r
is
k
s
in
o
u
td
o
o
r
s
ettin
g
s
[
7
]
.
An
as
s
is
tiv
e
tech
n
o
lo
g
y
ca
lle
d
th
e
Mo
b
i
Sti
c
k
w
a
s
cr
ea
ted
to
h
elp
p
eo
p
le
w
it
h
v
i
s
io
n
i
m
p
a
ir
m
e
n
t
s
s
af
el
y
an
d
i
n
d
ep
en
d
en
tl
y
n
a
v
i
g
ate
th
eir
e
n
v
ir
o
n
m
e
n
t
[
8
]
.
I
t e
n
h
a
n
ce
s
t
h
e
u
s
e
f
u
l
n
es
s
o
f
t
h
e
co
n
v
en
tio
n
al
w
h
ite
ca
n
e
b
y
co
m
b
i
n
i
n
g
c
u
tt
in
g
-
ed
g
e
tech
n
o
lo
g
y
li
k
e
s
e
n
s
o
r
s
,
c
o
m
m
u
n
icatio
n
m
o
d
u
le
s
,
an
d
t
h
e
I
o
T
.
I
t
s
er
v
es
as
an
ex
a
m
p
le
o
f
h
o
w
v
is
u
all
y
i
m
p
a
ir
ed
p
eo
p
le
ca
n
b
e
em
p
o
w
er
ed
b
y
co
n
te
m
p
o
r
ar
y
tec
h
n
o
lo
g
ies,
i
m
p
r
o
v
i
n
g
th
eir
f
r
ee
d
o
m
,
m
o
b
ilit
y
,
a
n
d
s
af
et
y
i
n
a
v
ar
iet
y
o
f
s
etti
n
g
s
[
9
]
.
Fo
r
th
o
s
e
w
h
o
ar
e
b
li
n
d
o
r
v
is
u
a
ll
y
i
m
p
air
ed
,
w
ea
r
ab
le
tec
h
n
o
lo
g
y
[
1
0
]
s
ig
n
i
f
ican
tl
y
i
m
p
r
o
v
e
s
th
e
ir
s
af
e
t
y
,
f
r
ee
d
o
m
,
a
n
d
q
u
alit
y
o
f
l
if
e.
T
o
o
v
er
co
m
e
t
h
e
d
if
f
ic
u
lt
ies
p
o
s
ed
b
y
v
is
u
all
y
ch
alle
n
g
ed
u
s
er
s
,
t
h
ese
d
e
v
ice
s
in
co
r
p
o
r
ate
cu
tti
n
g
-
ed
g
e
tec
h
n
o
lo
g
ies
i
n
cl
u
d
in
g
th
e
I
o
T
,
s
en
s
o
r
s
,
A
I
,
an
d
h
ap
ti
c
f
ee
d
b
ac
k
[
1
1
]
.
Ob
j
ec
t
d
etec
tio
n
is
a
co
n
ce
p
t
th
at
h
as
b
ee
n
ar
o
u
n
d
th
er
e
f
o
r
a
lo
n
g
ti
m
e.
Ob
j
ec
t
d
etec
tio
n
ca
n
b
e
aid
ed
b
y
tech
n
iq
u
es
s
u
c
h
as
ed
g
e
d
etec
tio
n
,
co
r
n
er
d
etec
tio
n
,
an
d
co
lo
r
-
b
ased
s
eg
m
e
n
tatio
n
,
GP
S
b
ased
s
y
s
te
m
,
a
n
d
Gu
id
e
d
o
g
s
.
Ho
w
ev
er
,
th
e
m
ai
n
d
r
a
w
b
ac
k
o
f
t
h
ese
s
y
s
te
m
s
w
as
th
a
t
th
e
y
co
u
ld
o
n
l
y
b
e
u
s
ed
f
o
r
a
ce
r
tain
o
b
j
ec
t
an
d
r
eq
u
ir
ed
a
g
r
ea
t
d
ea
l
o
f
m
o
n
ito
r
i
n
g
[
1
2
]
.
R
esear
ch
er
s
b
eg
a
n
u
tili
zi
n
g
m
ac
h
i
n
e
lear
n
in
g
ap
p
r
o
ac
h
es
to
r
ec
o
g
n
ize
o
b
j
e
cts
as
co
m
p
u
ti
n
g
p
o
w
er
a
n
d
d
ata
av
ailab
ilit
y
i
n
cr
ea
s
ed
.
T
h
e
y
cr
ea
ted
t
h
e
f
in
a
l
m
o
d
el
b
y
ap
p
l
y
i
n
g
s
tatis
tical
m
o
d
el
s
an
d
tr
ain
i
n
g
to
u
p
d
ate
its
p
ar
am
eter
s
.
R
e
s
ea
r
ch
er
s
u
s
ed
a
d
ee
p
lear
n
in
g
tech
n
iq
u
e
to
d
etec
t o
b
j
ec
ts
,
th
er
eb
y
d
r
a
m
atica
ll
y
i
n
cr
ea
s
i
n
g
th
e
ac
cu
r
ac
y
o
f
o
b
j
ec
t r
ec
o
g
n
itio
n
[
1
3
]
.
T
h
e
to
p
ic
o
f
n
eu
r
al
n
et
w
o
r
k
s
f
o
r
o
b
j
ec
t
d
etec
tio
n
is
a
f
as
cin
ati
n
g
to
p
ic
th
at
w
i
ll
b
e
ex
p
lo
r
ed
.
A
n
i
m
p
o
r
tan
t
o
r
g
a
n
o
f
t
h
e
h
u
m
a
n
b
ein
g
is
t
h
e
e
y
e
s
.
A
s
p
o
t
o
b
s
er
v
atio
n
d
iv
u
l
g
es
t
h
e
p
r
ed
o
m
in
a
n
ce
o
f
v
is
u
al
in
f
o
r
m
atio
n
i
n
o
u
r
s
u
r
r
o
u
n
d
i
n
g
s
.
C
o
n
s
id
er
in
g
th
e
m
o
d
er
n
e
r
a,
an
d
r
ev
o
lu
tio
n
i
n
tech
n
o
lo
g
y
w
e
tr
y
to
in
tr
o
d
u
ce
eq
u
ip
m
en
t
th
at
ca
n
h
elp
to
f
ac
e
th
e
d
ail
y
li
f
e
p
r
o
b
lem
s
o
f
v
i
s
u
a
ll
y
i
m
p
air
ed
p
er
s
o
n
s
[
1
4
]
.
Ass
i
s
tan
ce
is
n
ee
d
ed
to
m
a
k
e
th
eir
li
f
e
ea
s
y
an
d
co
m
f
o
r
t
ab
le.
Vis
u
al
lo
s
s
is
i
n
co
n
v
e
n
ien
t
f
o
r
th
eir
s
a
f
et
y
w
h
i
le
u
s
in
g
au
to
n
o
m
o
u
s
m
o
b
ilit
y
o
r
tr
av
elin
g
.
P
eo
p
le
w
ith
im
p
air
m
en
ts
h
a
v
e
m
o
r
e
ch
al
len
g
e
s
d
u
r
in
g
s
el
f
-
n
av
i
g
atio
n
in
n
e
w
e
n
v
ir
o
n
m
e
n
ts
.
P
eo
p
le
w
ith
v
is
io
n
p
r
o
b
le
m
s
w
il
l
b
en
ef
i
t
f
r
o
m
s
m
ar
t
s
y
s
te
m
s
th
at
co
m
b
i
n
e
I
o
T
an
d
A
I
to
in
cr
ea
s
e
th
eir
s
af
et
y
,
in
d
ep
en
d
en
ce
,
an
d
q
u
alit
y
o
f
li
f
e.
Nu
m
er
o
u
s
o
p
p
o
r
tu
n
i
ties
,
in
cl
u
d
i
n
g
au
to
n
o
m
o
u
s
n
a
v
i
g
atio
n
r
o
b
o
ts
,
r
ea
l
-
ti
m
e
d
an
g
er
p
r
ed
ictio
n
,
an
d
ad
ap
tiv
e
h
elp
ca
ter
ed
to
in
d
iv
id
u
al
n
ee
d
s
,
ar
e
m
ad
e
p
o
s
s
ib
le
b
y
ar
ti
f
icial
in
telli
g
e
n
ce
o
f
t
h
i
n
g
s
(
A
I
o
T
'
s
)
m
i
x
o
f
p
r
ed
ictiv
e
A
I
w
i
th
n
e
t
w
o
r
k
ed
I
o
T
tech
n
o
lo
g
ies
[
1
5
]
.
A
I
o
T
c
o
n
tr
ib
u
tes
to
t
h
e
cr
ea
tio
n
o
f
s
m
ar
t
er
,
s
af
er
s
etti
n
g
s
f
o
r
b
lin
d
p
eo
p
le
b
y
in
teg
r
ati
n
g
r
ea
l
-
ti
m
e
d
ata
an
d
co
n
ti
n
u
o
u
s
l
y
lear
n
i
n
g
.
T
h
e
m
ai
n
g
o
al
is
to
s
u
p
p
o
r
t
p
eo
p
le,
w
h
o
h
av
e
v
is
io
n
d
if
f
ic
u
ltie
s
b
y
co
n
n
ec
t
in
g
th
e
s
tu
d
y
ca
lled
“
o
n
ti
m
e
au
d
io
aler
t
au
to
m
ated
in
t
ellig
e
n
t
s
y
s
te
m
f
o
r
v
is
u
all
y
i
m
p
a
ir
ed
p
eo
p
le”.
P
r
o
p
o
s
ed
s
y
s
te
m
eq
u
ip
p
ed
w
it
h
h
ar
d
w
ar
e
co
m
p
o
n
en
ts
n
a
m
el
y
R
asp
b
er
r
y
P
i
p
r
o
ce
s
s
o
r
,
ca
m
er
a,
ea
r
p
h
o
n
e,
v
o
ice
m
o
d
u
le,
an
d
s
en
s
o
r
.
Ob
j
ec
ts
ca
n
b
e
ca
p
tu
r
ed
v
ia
ca
m
er
a.
Dis
tan
ce
ca
lc
u
latio
n
w
o
u
ld
b
e
d
o
n
e
th
r
o
u
g
h
an
u
ltra
s
o
n
ic
s
en
s
o
r
an
d
co
m
m
a
n
d
s
w
o
u
ld
b
e
g
iv
en
t
h
r
o
u
g
h
t
h
e
v
o
ice
m
o
d
u
le.
Ho
w
e
v
er
,
th
e
wir
ed
ea
r
p
h
o
n
es
w
o
u
ld
p
r
o
v
id
e
th
e
f
i
n
al
o
u
t
p
u
t
to
th
e
v
i
s
io
n
-
i
m
p
air
ed
p
er
s
o
n
.
2.
RE
VI
E
W
O
F
P
AS
T
AP
P
R
O
ACH
E
S
T
h
er
e
ar
e
a
f
e
w
I
o
T
-
b
ased
co
n
ce
p
ts
f
o
r
ass
i
s
ti
n
g
b
lin
d
p
eo
p
le
in
I
n
d
ia.
T
h
e
d
ev
elo
p
ed
w
o
r
ld
e
m
p
lo
y
s
a
v
ar
iet
y
o
f
tech
n
o
lo
g
ies
to
ass
is
t
b
lin
d
p
eo
p
le
in
l
iv
i
n
g
a
co
m
f
o
r
tab
le
lif
e.
Ho
w
ev
er
,
in
d
ev
elo
p
in
g
co
u
n
tr
ies
s
u
c
h
as
I
n
d
ia,
th
er
e
ar
e
v
er
y
f
e
w
f
ac
ili
ties
a
v
aila
b
le
f
o
r
v
is
u
all
y
i
m
p
air
ed
p
eo
p
le
th
at
p
r
o
m
o
te
a
n
o
r
m
al
l
if
e
s
t
y
le.
Se
v
er
al
r
elat
ed
w
o
r
k
s
i
n
t
h
is
f
ield
o
f
v
is
u
al
l
y
i
m
p
air
ed
p
eo
p
le
p
r
o
j
ec
ts
w
er
e
in
v
e
s
ti
g
ated
an
d
ar
e
d
escr
ib
ed
b
elo
w
.
A
n
e
m
b
ed
d
ed
d
ev
ice
w
it
h
a
r
o
b
u
s
t
o
b
s
tacle
d
etec
tio
n
alg
o
r
ith
m
t
h
at
p
r
o
v
id
es
u
s
ef
u
l
co
m
m
e
n
t
s
to
u
s
er
s
v
ia
a
u
d
io
ac
tu
ato
r
s
an
d
v
ib
r
o
tactile.
Fi
eld
-
p
r
o
g
r
a
m
m
ab
le
g
ate
ar
r
a
y
(
FP
GA
)
-
b
ased
3
D
ca
m
er
a
is
ex
tr
e
m
el
y
s
m
all
a
n
d
it c
an
r
u
n
f
o
r
h
o
u
r
s
o
n
a
s
i
n
g
l
e
ch
ar
g
e
[
1
6
]
.
W
ith
th
e
h
elp
o
f
th
e
ca
m
er
a,
o
b
j
ec
ts
w
il
l
b
e
ca
p
tu
r
ed
an
d
R
-
C
NN
m
o
d
u
le
s
w
ith
d
ee
p
lear
n
in
g
o
n
t
h
e
d
ev
ice
it
s
elf
u
s
ed
f
o
r
i
m
a
g
e
p
r
o
ce
s
s
in
g
a
n
d
d
etec
tio
n
.
Ho
w
e
v
er
,
th
e
f
in
al
p
r
o
d
u
ct
w
o
u
ld
b
e
tr
an
s
m
it
ted
to
t
h
e
v
is
u
all
y
i
m
p
a
ir
ed
p
er
s
o
n
'
s
ea
r
v
ia
an
ea
r
p
h
o
n
e
[
1
7
]
.
R
ea
d
in
g
t
h
e
o
b
j
ec
t
an
d
tak
in
g
t
h
e
p
ictu
r
e
w
it
h
t
h
e
ca
m
er
a,
ch
an
g
e
th
e
i
m
a
g
e
in
t
o
g
r
ey
s
ca
le.
I
t
co
n
v
er
ts
tex
t
t
o
au
d
io
.
Fin
all
y
,
it
g
iv
e
s
th
e
o
u
tp
u
t
as
a
v
o
ice
m
es
s
ag
e
[
3
]
.
T
h
e
s
ev
er
al
u
lt
r
aso
n
ic
s
e
n
s
o
r
s
t
h
at
m
a
k
e
u
p
th
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o
b
s
tacle
d
etec
tio
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s
y
s
t
e
m
ar
e
ar
r
an
g
ed
at
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ar
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s
a
n
g
le
v
al
u
e
s
.
T
h
e
y
c
alcu
late
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h
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n
ce
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ap
b
et
w
ee
n
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ca
n
e
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n
d
th
e
g
r
o
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n
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as
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r
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h
r
ee
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y
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es o
f
to
p
o
g
r
ap
h
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e
id
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ti
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ied
f
r
o
m
t
h
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ata:
lev
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l g
r
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u
n
d
,
s
m
all
h
o
les o
r
p
its
,
an
d
s
tair
ca
s
es [
4
]
.
S
m
ar
t
g
la
s
s
e
s
b
u
il
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-
in
ca
m
er
a
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r
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n
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s
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it
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er
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ca
lle
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cu
s
to
m
v
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s
io
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ap
p
licatio
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p
r
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g
r
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m
m
i
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g
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ter
f
ac
e
(
C
V
A
P
I
)
.
T
h
e
u
s
er
w
ea
r
in
g
Go
o
g
le
g
las
s
ca
n
h
ea
r
t
h
e
o
u
tp
u
t
[
5
]
.
T
h
e
alg
o
r
ith
m
s
w
er
e
r
esp
o
n
s
ib
le
f
o
r
t
w
o
k
e
y
tas
k
s
:
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d
etec
tin
g
a
n
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
1
4
,
No
.
2
,
J
u
l
y
2
0
2
5
:
428
-
4
3
9
430
class
i
f
y
in
g
cr
o
s
s
w
al
k
s
ig
n
als
an
d
ii)
d
ir
ec
tin
g
u
s
er
s
to
th
eir
d
esire
d
lo
ca
tio
n
(
ac
r
o
s
s
t
h
e
tar
g
et
cr
o
s
s
w
a
lk
)
class
i
f
icatio
n
o
f
R
O,
tr
ac
k
i
n
g
n
a
v
ig
a
tio
n
m
o
d
u
le
v
is
u
al
-
i
n
er
tial
o
d
o
m
etr
y
w
it
h
g
eo
m
e
tr
y
co
n
s
tr
ai
n
t
p
ath
p
lan
n
i
n
g
an
d
au
d
io
f
ee
d
b
ac
k
[
6
]
.
T
h
e
p
r
o
p
o
s
er
o
f
th
is
s
y
s
te
m
co
n
s
tr
u
cted
th
ese
g
la
s
s
e
s
u
s
in
g
a
n
A
r
d
u
i
n
o
P
r
o
Min
i
MCU,
an
u
l
tr
aso
n
ic
s
e
n
s
o
r
,
an
d
a
b
u
zz
er
to
s
en
s
e
th
e
d
is
tan
ce
o
f
an
o
b
j
ec
t
in
f
r
o
n
t
o
f
th
e
m
an
d
b
ee
p
to
w
ar
n
t
h
e
w
ea
r
er
(
u
s
er
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th
at
s
o
m
et
h
in
g
is
i
n
f
r
o
n
t
o
f
t
h
e
m
.
T
h
e
e
f
f
icien
t
s
m
ar
t
g
las
s
es
ar
e
m
ad
e
w
it
h
t
h
e
I
o
T
ca
n
also
b
e
e
m
b
ed
d
ed
w
it
h
s
e
n
s
o
r
s
an
d
a
s
s
is
t
in
o
b
j
ec
t d
ete
ctio
n
b
y
co
v
er
i
n
g
a
b
r
o
ad
er
r
e
g
io
n
[
1
4
]
,
[
1
8
]
.
T
h
e
o
b
s
tacle
d
etec
tio
n
m
o
d
u
le
is
co
m
p
r
i
s
ed
o
f
a
n
u
ltra
s
o
n
ic
s
en
s
o
r
,
a
co
n
tr
o
l
m
o
d
u
le
f
o
r
p
r
o
ce
s
s
in
g
,
an
d
an
o
u
tp
u
t
u
n
it
co
n
s
is
ti
n
g
o
f
a
b
u
zz
er
[
1
9
]
-
[
2
2
]
.
T
h
e
u
s
er
ca
n
s
elec
t
a
d
esti
n
atio
n
f
r
o
m
a
lis
t
o
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o
p
tio
n
s
in
th
e
m
e
m
o
r
y
t
h
at
w
i
ll
ca
u
s
e
t
h
e
s
tic
k
to
tr
av
e
l
i
n
a
d
i
f
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t
p
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n
u
l
tr
aso
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s
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n
s
o
r
,
s
o
m
eti
m
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k
n
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w
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as
a
h
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d
p
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e,
is
e
m
p
lo
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ed
in
th
i
s
s
y
s
te
m
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alo
n
g
w
it
h
a
p
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g
r
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m
m
ab
le
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ter
f
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ll
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(
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n
tr
o
ller
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d
a
b
atter
y
to
g
u
id
e
th
e
m
i
n
t
h
e
r
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ir
ed
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e
s
m
ar
t
g
las
s
es
o
p
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ate
o
n
th
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p
r
in
cip
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o
f
I
o
T
an
d
th
e
So
n
ic
w
a
v
e
m
ec
h
a
n
is
m
.
W
h
e
n
a
p
er
s
o
n
o
r
o
b
j
ec
t
en
ter
s
v
ie
w
o
f
t
h
e
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s
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t
h
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E
s
p
ea
k
m
o
d
u
le
n
o
tifie
s
t
h
e
u
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er
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f
th
e
d
is
ta
n
ce
g
ap
b
et
w
ee
n
t
h
e
e
n
titi
e
s
.
Dis
p
la
y
m
o
d
u
le
m
u
s
t
r
ec
o
g
n
ize
t
h
e
p
er
s
o
n
'
s
f
ac
e
u
s
i
n
g
t
h
e
Face
d
ataset
f
o
ld
er
an
d
eith
er
d
is
p
la
y
s
a
n
a
m
e
o
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d
is
p
la
y
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u
n
k
n
o
w
n
.
T
h
e
S
m
ar
t G
la
s
s
es a
r
e
p
o
w
er
ed
b
y
a
5
V
b
atter
y
a
n
d
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P
y
t
h
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n
3
.
R
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l
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t
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m
e
o
b
j
e
ct
d
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tio
n
u
s
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n
g
d
ee
p
l
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i
n
g
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s
u
til
ized
to
d
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tin
g
u
is
h
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et
w
ee
n
m
o
v
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n
g
a
n
d
s
tatio
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ar
y
ite
m
s
.
A
f
ter
d
etec
tio
n
,
th
e
m
o
tio
n
m
o
d
el
is
d
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er
m
in
ed
b
y
u
s
i
n
g
a
m
u
lti
-
o
b
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t
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a
n
Fil
ter
tr
ac
k
er
to
tr
ac
k
th
e
o
b
j
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ts
th
r
o
u
g
h
ti
m
e.
HE
A
D
L
OC
K
is
an
o
p
tical
h
ea
d
-
m
o
u
n
ted
d
i
s
p
la
y
n
a
v
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g
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o
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th
at
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elp
s
v
is
u
all
y
i
m
p
air
ed
p
er
s
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n
s
n
av
i
g
ate
lar
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e
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p
en
s
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ac
es
b
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w
in
g
t
h
e
m
to
h
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ld
o
n
to
l
an
d
m
ar
k
s
ac
r
o
s
s
t
h
e
s
p
ac
e,
s
u
ch
as
a
d
o
o
r
,
o
p
en
f
ield
s
,
o
r
o
th
er
o
b
j
ec
ts
,
an
d
th
en
g
i
v
i
n
g
o
r
al
f
ee
d
b
ac
k
to
lea
d
th
e
u
s
er
to
w
ar
d
th
e
la
n
d
m
ar
k
[
2
3
]
.
T
o
q
u
an
tify
ac
cu
r
ac
y
a
n
d
p
er
f
o
r
m
a
n
ce
,
a
s
y
s
te
m
is
co
n
s
tr
u
cted
a
n
d
test
ed
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n
t
h
is
s
t
u
d
y
u
tili
z
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n
g
t
w
o
alter
n
a
tiv
e
alg
o
r
ith
m
s
,
y
o
u
o
n
l
y
lo
o
k
o
n
ce
(
Y
OL
O)
an
d
Y
OL
OV
3
.
Y
OL
OV
3
Dar
k
n
et
m
o
d
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d
Y
OL
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T
en
s
o
r
f
lo
w
_
SS
D
_
Mo
b
ile
Net
m
o
d
el
ar
e
b
o
th
u
s
ed
.
T
h
e
s
tate
m
e
n
ts
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e
co
n
v
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r
ted
in
to
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th
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le
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to
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Go
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t
t
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ch
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g
T
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)
.
3.
P
RO
P
O
SE
D
SYS
T
E
M
P
r
o
p
o
s
ed
task
is
p
r
im
ar
il
y
i
n
t
en
d
ed
to
ass
is
t
p
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p
le
w
h
o
ar
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v
is
u
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l
y
i
m
p
air
ed
o
r
h
av
e
n
o
v
is
io
n
at
all.
B
ec
au
s
e
o
f
tec
h
n
o
lo
g
ical
a
d
v
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m
en
ts
,
w
e
m
u
s
t b
e
tap
p
ed
to
ass
is
t b
lin
d
p
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p
le.
T
h
e
n
ex
t
f
u
t
u
r
e
an
d
th
e
f
u
tu
r
e
o
f
tec
h
n
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g
y
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d
ed
i
ca
ted
to
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le
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d
a
s
s
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g
t
h
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m
i
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t
h
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d
ail
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li
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T
h
e
p
r
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p
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m
's
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m
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s
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g
h
t
h
e
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s
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o
f
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d
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m
m
a
n
d
s
.
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h
is
d
ev
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is
b
u
i
lt
w
it
h
I
o
T
t
ec
h
n
o
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g
y
,
w
h
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h
in
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u
d
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a
s
m
ar
t
g
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s
s
e
m
b
ed
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ed
w
it
h
an
u
ltra
s
o
n
ic
s
e
n
s
o
r
,
a
R
asp
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er
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y
P
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a
v
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m
o
d
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l
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SD
1
8
2
0
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an
d
a
B
lu
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o
th
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ea
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p
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h
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e
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(
SS
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is
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f
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ll
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f
o
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f
in
d
in
g
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o
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h
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e
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m
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g
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h
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ll
d
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o
b
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t
b
y
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n
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e
ir
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.
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h
e
g
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id
ce
ll
d
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m
in
e
o
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j
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t
to
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e
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o
d
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t
m
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l
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le
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j
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an
c
h
o
r
b
o
x
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n
d
r
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ep
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ield
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ar
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ter
d
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m
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ar
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ed
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ct
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i
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e
o
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[
2
4
]
,
[
2
5
]
.
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n
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ar
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eter
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ll
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ce
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er
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ch
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s
i
m
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d
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t
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n
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a
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T
S
r
e
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ir
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a
s
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ch
s
y
n
t
h
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izer
to
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ig
ital
tex
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d
.
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r
m
at
s
y
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is
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tech
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h
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a
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t
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ased
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it
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el.
3
.
1
. S
y
s
t
em
d
e
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ig
n
S
y
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F
ig
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s
t
h
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m
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ltra
s
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c
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s
o
r
s
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asp
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y
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i,
r
elay
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r
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r
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d
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ea
d
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e.
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t
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m
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ce
p
t.
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t
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ee
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s
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elo
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e
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tio
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d
d
etails o
f
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ar
d
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ar
e
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d
s
o
f
t
w
a
r
e.
3
.
1
.
1
.
H
a
rd
w
a
re
T
h
e
co
m
p
lete
h
ar
d
w
ar
e
s
p
ec
i
f
icatio
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o
f
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te
m
d
esi
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co
n
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n
s
P
r
o
ce
s
s
o
r
-
I
n
tel
D
u
al
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o
r
e,
R
A
M
2
GB
,
u
ltra
s
o
n
ic
s
en
s
o
r
,
R
asp
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er
r
y
P
i,
an
d
Pi
ca
m
er
a.
I
t
is
t
h
e
f
u
n
d
a
m
e
n
tal
p
lat
f
o
r
m
f
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r
a
p
p
licatio
n
o
n
w
h
ic
h
ap
p
licatio
n
is
ex
ec
u
ted
w
it
h
s
u
itab
le
s
o
f
t
w
ar
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
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m
b
ed
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ed
Sy
s
t
I
SS
N:
2
0
8
9
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4864
On
time
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in
tellig
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t sys
tem
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(
C
yril
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o
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e
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r
etty
Dia
n
a
C
yril
)
431
Fig
u
r
e
1
.
S
y
s
te
m
d
esi
g
n
3
.1
.
2.
So
f
t
w
a
re
T
h
e
n
ex
t
e
s
s
e
n
tial
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m
p
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t
o
f
s
y
s
te
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n
is
s
o
f
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w
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P
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n
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atin
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in
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s
7
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8
.
1
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an
d
1
0
ca
n
u
s
ed
f
o
r
ap
p
licatio
n
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2
.
Ra
s
pb
er
ry
P
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m
o
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e
R
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i
3
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el
B
s
tr
u
ctu
r
e
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as
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o
w
n
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Fi
g
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r
e
2
,
cr
e
d
it
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r
d
-
s
ized
d
ev
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s
ed
f
o
r
a
m
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ltit
u
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e
o
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f
u
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s
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h
e
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h
ir
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io
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R
ep
lace
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th
e
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s
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2
m
o
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el
B
an
d
th
e
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r
ig
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al
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er
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y
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m
o
d
el
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+.
Fig
u
r
e
2.
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b
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r
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m
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h
e
th
ir
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atio
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lled
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e
R
asp
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3
.
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h
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s
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ac
k
w
ar
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s
co
m
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atib
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ith
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d
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d
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el
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h
e
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3
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s
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etain
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h
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m
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t
f
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3.
2
.
1
.
Asp
ec
t
s
T
h
e
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m
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tan
t
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t
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s
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ip
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e
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1
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2
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it,
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lu
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d
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er
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et
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o
r
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
2
0
8
9
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I
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t J
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2
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u
l
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5
:
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3
9
432
3.
2
.
2
.
Appl
ica
t
io
ns
I
t
h
as
m
an
y
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p
licatio
n
s
f
e
w
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ted
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er
e.
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t
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u
s
ed
in
s
er
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er
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u
d
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er
v
er
.
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t
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lay
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o
le
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s
ec
u
r
it
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o
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ito
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n
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ir
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e
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tal
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en
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g
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e
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t
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tatio
n
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o
T
ap
p
licatio
n
s
.
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t
u
s
ed
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o
tics
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ce
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t
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r
w
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s
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i
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ter
n
et
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er
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er
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p
r
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ter
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3.
2
.
P
i c
a
m
er
a
po
rt
T
h
e
R
asp
b
er
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y
P
i
ca
m
er
a
m
o
d
u
le
s
h
o
w
n
i
n
Fig
u
r
e
3
i
s
ca
p
a
b
le
o
f
ta
k
in
g
h
i
g
h
-
r
e
s
o
lu
tio
n
s
till
i
m
a
g
es
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d
v
id
eo
s
.
B
eg
i
n
n
er
s
w
ill
f
i
n
d
it
ea
s
y
to
u
s
e,
w
h
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le
ad
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an
c
ed
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s
er
s
w
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s
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n
g
to
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h
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ce
t
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n
o
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led
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e
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ll
f
i
n
d
it
u
s
e
f
u
l.
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u
m
er
o
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s
e
x
a
m
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les
o
f
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le
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tili
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o
r
s
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o
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n
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e
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lap
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e,
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n
d
o
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id
eo
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f
ec
t
s
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n
b
e
f
o
u
n
d
o
n
l
in
e.
A
5
MP
C
MO
S
ca
m
er
a
w
it
h
a
f
i
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ed
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f
o
cu
s
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n
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th
at
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n
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ec
o
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d
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d
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d
s
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h
o
to
s
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th
e
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ca
m
er
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le.
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v
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eo
ca
n
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e
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e
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at
3
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r
am
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1
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r
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8
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.
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ll,
p
h
o
to
s
ar
e
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o
r
d
ed
at
a
r
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tio
n
o
f
2
5
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×
1
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4
4
.
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h
e
p
r
ef
er
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ed
o
p
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atin
g
s
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te
m
f
o
r
t
h
e
R
a
s
p
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i,
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ian
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i
s
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m
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le
w
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th
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e
m
o
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t
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en
t v
er
s
io
n
o
f
t
h
e
ca
m
er
a
[
7
]
.
3.
3
.
1
.
Asp
ec
t
s
T
h
e
i
m
p
o
r
tan
t
f
ea
tu
r
e
s
o
f
t
h
is
eq
u
ip
m
en
t
ar
e
s
e
n
s
o
r
5
MP
,
Gr
ea
ter
f
ield
o
f
v
i
s
io
n
,
c
ap
ab
le
o
f
2
5
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×
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s
till
s
,
1
0
8
0
p
3
0
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id
eo
co
m
p
atib
ilit
y
,
1
0
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v
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o
,
C
SI
s
ize:
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×2
0
×9
m
m
,
s
u
p
er
io
r
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e
r
f
o
r
m
a
n
ce
O
m
n
iB
SI
tech
n
o
lo
g
y
(
h
i
g
h
s
en
s
it
iv
i
t
y
,
lo
w
cr
o
s
s
tal
k
,
an
d
lo
w
n
o
is
e)
in
a
1
.
4
m
×1
.
4
m
p
ix
el
Of
te
n
,
a
1
/4
"
o
p
tical
s
ize
is
u
t
ilized
.
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m
a
g
e
co
n
tr
o
l
f
u
n
ctio
n
s
th
at
ar
e
d
o
n
e
au
to
m
atica
l
l
y
:
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te
m
p
t
in
g
to
co
n
tr
o
l
th
e
ex
p
o
s
u
r
e
a
u
to
m
atica
ll
y
(
A
E
C
)
,
w
h
ite
b
ala
n
ce
is
au
to
m
atica
ll
y
u
p
d
ated
(
A
W
B
)
s
ca
n
n
i
n
g
b
y
b
an
d
au
to
m
at
icall
y
(
A
B
F)
,
au
to
m
at
ic
lu
m
in
a
n
ce
d
etec
tio
n
at
5
0
/6
0
Hz,
ca
lib
r
atio
n
o
f
th
e
b
lack
lev
el
au
to
m
atica
ll
y
(
A
B
L
C
)
,
p
r
o
g
r
am
m
ab
le
co
n
t
r
o
ls
in
clu
d
e
f
r
a
m
e
r
ate,
cr
o
p
p
in
g
,
w
in
d
o
w
i
n
g
,
p
an
n
i
n
g
,
r
ea
r
v
ie
w
an
d
f
lip
,
A
E
C
/
A
G
C
1
6
-
zo
n
e
s
ize
/p
o
s
iti
o
n
/
w
eig
h
t
co
n
tr
o
l,
an
d
cr
o
p
p
i
n
g
.
A
p
ar
allel
o
u
tp
u
t
in
ter
f
ac
e
f
o
r
d
ig
ital
v
id
eo
is
ca
lled
d
ig
ital v
id
eo
p
o
r
t (
DVP)
,
32
-
b
y
te
e
m
b
ed
d
ed
OT
P m
e
m
o
r
y
is
p
r
o
g
r
a
m
m
ab
le
j
u
s
t o
n
ce
.
3.
3
.
2
.
A
pp
lica
t
io
ns
T
h
e
ap
p
licatio
n
s
ar
e
y
ield
s
a
co
m
p
ac
t
a
n
d
v
er
s
a
tile
i
m
ag
in
g
s
o
l
u
tio
n
,
t
o
r
e
m
o
tel
y
m
o
n
ito
r
en
v
ir
o
n
m
e
n
t
s
o
r
eq
u
ip
m
e
n
t,
s
u
ch
a
s
m
o
n
i
to
r
in
g
w
ea
t
h
er
co
n
d
itio
n
s
,
tr
ac
k
i
n
g
w
ild
li
f
e,
o
r
ch
ec
k
i
n
g
t
h
e
s
ta
tu
s
o
f
a
3
D
p
r
in
ter
.
I
t
c
an
f
ac
il
ita
te
v
ir
tu
a
l
m
ee
t
in
g
s
,
o
n
lin
e
c
la
s
s
es,
o
r
tele
m
ed
ici
n
e
co
n
s
u
lta
tio
n
s
.
I
t
is
u
s
ed
f
o
r
p
h
o
to
g
r
ap
h
y
a
n
d
ti
m
e
-
lap
s
e
p
h
o
to
g
r
ap
h
y
p
r
o
j
ec
ts
.
3.
4
.
Ult
r
a
s
o
nic sens
o
r
An
u
ltra
s
o
n
ic
s
en
s
o
r
s
h
o
w
n
i
n
Fi
g
u
r
e
4
is
a
to
o
l
t
h
at
m
ea
s
u
r
es
an
o
b
j
ec
t'
s
d
is
ta
n
ce
f
r
o
m
it
u
s
i
n
g
s
o
u
n
d
w
av
e
s
.
B
y
g
en
er
ati
n
g
a
s
o
u
n
d
w
a
v
e
at
a
ce
r
tain
f
r
eq
u
en
c
y
an
d
th
e
n
m
o
n
ito
r
in
g
f
o
r
th
e
w
a
v
e
to
r
etu
r
n
,
it
ca
n
m
ea
s
u
r
e
d
is
tan
ce
.
T
h
e
d
is
tan
ce
m
ea
s
u
r
e
b
et
w
ee
n
th
e
s
o
n
ar
s
en
s
o
r
an
d
th
e
o
b
j
e
ct
is
d
eter
m
i
n
ed
b
y
m
ea
s
u
r
in
g
t
h
e
ti
m
e
tr
av
el
b
et
w
ee
n
th
e
s
o
u
n
d
w
a
v
e
b
ein
g
e
m
itted
an
d
t
h
e
s
o
u
n
d
w
av
e
r
et
u
r
n
i
n
g
.
Fig
u
r
e
3
.
P
i c
am
er
a
Fig
u
r
e
4.
Ultr
aso
n
ic
s
e
n
s
o
r
A
r
d
u
i
n
o
co
d
e
s
en
d
s
o
u
t
a
p
u
l
s
e
f
r
o
m
t
h
e
tr
ig
g
er
p
in
an
d
m
ea
s
u
r
es
th
e
ti
m
e
it
ta
k
es
f
o
r
t
h
e
p
u
l
s
e
to
r
etu
r
n
o
n
th
e
ec
h
o
p
in
.
I
t
th
en
ca
lcu
lates
th
e
d
is
ta
n
ce
b
ased
o
n
th
e
s
p
ee
d
o
f
s
o
u
n
d
in
at
m
o
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p
h
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an
d
p
r
in
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th
e
r
esu
lt to
th
e
s
er
ial
m
o
n
ito
r
.
T
h
e
d
is
tan
ce
ca
n
b
e
ca
lcu
late
d
u
s
in
g
(
1
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:
Dis
ta
n
c
e
=
1
2
×
Sp
e
e
d
of
Soun
d
×
Ti
me
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2
0
8
9
-
4864
On
time
a
u
d
io
a
lert
a
u
to
ma
te
d
in
tellig
en
t sys
tem
fo
r
visu
a
ll
y
imp
a
ir
ed
p
eo
p
le
(
C
yril
o
o
s
e
P
r
etty
Dia
n
a
C
yril
)
433
w
h
er
e
d
is
tan
ce
is
d
is
tan
ce
to
th
e
o
b
s
tacle
,
s
p
ee
d
o
f
s
o
u
n
d
is
s
p
ee
d
o
f
s
o
u
n
d
in
th
e
air
,
a
n
d
ti
m
e
is
th
e
ti
m
e
tak
en
f
o
r
th
e
s
o
u
n
d
w
a
v
e
to
r
etu
r
n
.
As
t
h
e
u
l
tr
aso
n
ic
p
u
ls
e
s
lea
v
e
th
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
a
n
d
r
etu
r
n
to
th
e
tr
an
s
d
u
ce
r
,
th
e
y
ar
e
m
ea
s
u
r
ed
.
T
h
e
s
o
u
n
d
w
av
e
s
f
r
o
m
t
h
e
tr
an
s
d
u
ce
r
ar
e
r
ef
lec
ted
b
y
th
e
i
t
e
m
an
d
t
h
e
n
r
etu
r
n
ed
to
it.
Af
ter
g
e
n
er
ati
n
g
t
h
e
s
o
u
n
d
w
a
v
e
s
,
th
e
u
l
tr
aso
n
ic
s
e
n
s
o
r
w
ill
tr
an
s
i
tio
n
to
r
ec
ep
tio
n
m
o
d
e.
T
h
e
ti
m
e
i
n
ter
v
al
tr
a
v
el
b
et
w
ee
n
s
e
n
d
er
an
d
r
ec
eiv
er
is
d
ir
ec
tl
y
co
r
r
elate
d
w
it
h
t
h
e
d
is
ta
n
ce
b
et
w
ee
n
t
h
e
m
.
T
h
e
u
ltra
s
o
n
ic
tr
an
s
m
itter
w
ill
b
eg
i
n
t
h
e
ti
m
er
af
ter
e
m
it
tin
g
a
n
u
ltra
s
o
n
ic
w
a
v
e
in
s
in
g
le
d
ir
ec
ti
o
n
.
W
h
en
it
e
n
co
u
n
ter
s
i
m
p
ed
i
m
en
t
s
,
u
l
tr
aso
n
ic
d
if
f
u
s
ed
th
r
o
u
g
h
th
e
air
an
d
r
etu
r
n
ed
in
s
tan
tl
y
.
W
h
e
n
th
e
u
ltra
s
o
n
ic
r
ec
eiv
er
r
ec
eiv
es
th
e
r
ef
lecte
d
w
av
e,
it
w
il
l
ev
e
n
t
u
all
y
s
to
p
ti
m
i
n
g
.
T
h
e
s
e
n
s
o
r
'
s
d
i
s
tan
ce
f
r
o
m
t
h
e
tar
g
et
o
b
j
ec
t
is
ca
lcu
lated
.
I
t
o
f
f
er
s
s
u
p
er
io
r
n
o
n
-
co
n
tact
r
an
g
e
d
etec
tio
n
w
it
h
h
ig
h
p
r
ec
is
io
n
a
n
d
s
tead
y
r
ea
d
i
n
g
in
an
in
t
u
it
iv
e
p
ac
k
ag
in
g
[
26
]
.
I
ts
p
er
f
o
r
m
a
n
ce
is
u
n
a
f
f
ec
ted
b
y
s
u
n
li
g
h
t
o
r
d
ar
k
m
ater
ial
s
.
A
5
VDC
p
o
w
e
r
s
u
p
p
l
y
is
u
s
ed
to
p
o
w
er
th
e
s
en
s
o
r
.
T
h
e
s
en
s
o
r
co
n
tain
s
t
w
o
p
in
s
t
h
at
g
iv
e
d
i
g
ital in
p
u
t
tr
ig
a
n
d
ec
h
o
th
at
ar
e
co
n
n
ec
ted
to
th
e
co
n
tr
o
ller
.
3.
4
.
1
.
Asp
ec
t
s
T
h
e
i
m
p
o
r
tan
t
f
ea
tu
r
e
s
o
f
t
h
is
eq
u
ip
m
en
t
ar
e
o
p
er
atin
g
v
o
ltag
e:
5
v
o
lt
s
,
cu
r
r
e
n
t
i
n
q
u
iesce
n
ce
:
2
m
A
,
1
5
m
A
o
f
w
o
r
k
i
n
g
c
u
r
r
en
t
,
r
an
g
e
o
f
d
etec
tio
n
: 2
c
m
t
o
4
.
5
m
,
p
u
ls
e
w
id
t
h
o
f
t
h
e
tr
ig
g
er
i
n
p
u
t: 1
0
u
s
.
3.
4
.
2
.
A
pp
lica
t
io
ns
I
t
h
as
m
a
n
y
ap
p
licatio
n
s
,
s
p
ec
if
icall
y
u
s
ed
f
o
r
n
av
i
g
ati
o
n
b
y
r
o
b
o
tic
s
y
s
te
m
s
,
h
elp
to
av
o
id
s
tu
m
b
li
n
g
b
lo
ck
s
,
an
d
u
s
ed
in
en
g
i
n
ee
r
i
n
g
i
n
s
tr
u
m
e
n
ts
f
o
r
m
ea
s
u
r
e
m
en
t
,
a
n
d
c
o
n
tr
o
l s
y
s
te
m
f
o
r
in
d
u
s
tr
y
.
3
.
5
.
M
et
ho
do
lo
g
y
a
nd
m
o
du
le
des
cr
iptio
n
T
h
e
p
r
o
p
o
s
ed
m
o
d
el
co
n
s
is
t
s
o
f
th
e
f
o
llo
w
i
n
g
m
o
d
u
les
n
a
m
ed
as
o
b
s
tacle
d
etec
tio
n
,
i
d
en
tify
i
n
g
o
b
j
ec
t
b
y
n
a
m
e
s
an
d
d
eliv
er
in
g
au
d
io
aler
t.
A
ll
m
o
d
u
les
w
o
r
k
f
lo
w
h
a
s
b
ee
n
co
m
p
leted
th
r
o
u
g
h
co
n
v
o
lu
tio
n
al
n
eu
r
al
n
et
w
o
r
k
(
C
NN)
w
ith
a
n
SS
D
alg
o
r
it
h
m
.
3
.
5
.
1
.
S
in
g
le
-
s
ho
t
d
et
ec
t
o
r
T
h
e
s
y
s
te
m
co
n
s
is
t
s
o
f
t
h
e
co
r
e
co
m
p
o
n
en
ts
,
n
a
m
el
y
a
b
ac
k
b
o
n
e
m
o
d
el
an
d
an
SS
D
h
ea
d
.
T
h
e
b
ac
k
b
o
n
e
is
a
n
eu
r
al
n
et
w
o
r
k
o
f
p
r
etr
ain
ed
t
y
p
e
u
s
ed
f
o
r
i
m
ag
e
ca
teg
o
r
izatio
n
.
I
t
h
elp
t
o
d
eter
m
i
n
e
f
ea
tu
r
e
f
r
o
m
i
n
p
u
t
.
R
esNe
t
n
e
t
w
o
r
k
t
h
at
h
as
b
ee
n
tr
ain
ed
o
n
I
m
a
g
eNe
t
an
d
it
s
f
in
al
f
u
ll
y
co
n
n
e
cted
class
i
f
icatio
n
la
y
er
is
d
r
o
p
p
ed
.
T
h
e
R
esNet
3
4
ar
ch
itectu
r
e
p
r
o
d
u
ce
s
a
s
et
o
f
2
5
6
f
ea
tu
r
e
m
ap
s
w
ith
d
i
m
en
s
io
n
s
o
f
7
×7
f
o
r
ea
ch
in
p
u
t
i
m
a
g
e.
SS
D
h
ea
d
co
n
s
is
ts
o
f
m
o
r
e
co
n
v
o
lu
tio
n
al
la
y
er
s
t
h
at
ar
e
a
p
p
en
d
ed
to
th
e
b
ac
k
b
o
n
e
m
o
d
el
.
O
u
tp
u
ts
ar
e
in
ter
p
r
eted
as th
e
b
o
u
n
d
in
g
b
o
x
es a
n
d
class
e
s
o
f
o
b
j
ec
ts
in
th
e
s
p
atial
p
o
s
itio
n
o
f
ac
tiv
at
io
n
o
f
t
he
last
la
y
er
.
T
h
e
d
iag
r
a
m
s
h
o
wn
i
n
Fi
g
u
r
e
5
ill
u
s
tr
ate
s
t
h
e
i
n
itial
la
y
er
s
(
d
ep
icted
as
w
h
ite
b
o
x
es)
w
h
ic
h
s
er
v
e
as th
e
b
ac
k
b
o
n
e,
w
h
ile
t
h
e
f
i
n
al
la
y
er
s
(
d
ep
icted
as b
lu
e
b
o
x
es)
co
r
r
esp
o
n
d
to
th
e
SS
D
h
ea
d
.
Fig
u
r
e
5.
A
r
ch
itectu
r
e
o
f
a
C
N
N
w
i
th
a
n
SS
D
d
etec
to
r
a.
Gr
id
ce
ll
an
d
an
c
h
o
r
b
o
x
SS
D
s
p
lit
s
th
e
i
m
ag
e
w
it
h
a
g
r
id
an
d
ea
ch
g
r
id
ce
ll
b
e
r
esp
o
n
s
ib
le
f
o
r
d
etec
tin
g
o
b
j
ec
ts
in
th
at
r
eg
io
n
o
f
t
h
e
i
m
a
g
e.
T
h
e
w
o
r
d
d
is
co
v
er
y
o
b
j
ec
ts
i
n
h
ib
it
p
r
o
g
n
o
s
t
i
ca
tin
g
t
h
e
cla
s
s
a
n
d
p
o
s
itio
n
o
f
an
o
b
j
ec
t
w
it
h
i
n
th
at
r
eg
io
n
.
Ho
w
ev
er
,
w
e
co
n
s
id
er
it
as
th
e
b
ac
k
g
r
o
u
n
d
c
lass
a
n
d
th
e
p
o
s
itio
n
is
ig
n
o
r
ed
,
i
f
n
o
o
b
j
ec
t
is
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
2
0
8
9
-
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I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
1
4
,
No
.
2
,
J
u
l
y
2
0
2
5
:
428
-
4
3
9
434
p
r
esen
t.
Fo
r
ca
s
e,
w
e
co
u
ld
u
s
e
a
4
×4
g
r
id
is
s
h
o
w
n
in
Fi
g
u
r
e
6
.
E
ac
h
ce
ll
is
s
u
itab
le
to
af
f
air
th
e
p
o
s
itio
n
an
d
s
h
ap
e
o
f
t
h
e
o
b
j
ec
t it
co
n
tain
s
.
E
ac
h
g
r
id
ce
ll
in
SS
D
is
a
s
s
ig
n
ed
w
i
th
m
u
lt
ip
le
an
c
h
o
r
/p
r
ev
io
u
s
b
o
x
e
s
as
in
d
icate
d
i
n
Fig
u
r
e
7
.
T
h
ese
an
ch
o
r
b
o
x
es
ar
e
p
r
e
-
d
ef
i
n
ed
an
d
ea
ch
b
o
n
e
is
r
esp
o
n
s
ib
le
f
o
r
a
s
ize
an
d
s
h
ap
e
w
i
th
i
n
a
g
r
id
ce
ll.
Fo
r
ex
a
m
p
le,
t
h
e
s
w
i
m
m
i
n
g
p
o
o
l in
t
h
e
i
m
a
g
e
co
r
r
esp
o
n
d
s
to
t
h
e
h
i
g
h
a
n
c
h
o
r
b
o
x
w
h
ile
t
h
e
s
tr
u
ctu
r
e
co
r
r
esp
o
n
d
s
to
th
e
w
id
er
b
o
x
.
SS
D
u
s
es
a
m
atc
h
i
n
g
p
h
ase
w
h
ile
tr
ain
i
n
g
,
to
m
atch
t
h
e
ap
p
licab
le
a
n
ch
o
r
b
o
x
w
it
h
th
e
b
o
u
n
d
in
g
b
o
x
es
o
f
ea
ch
g
r
o
u
n
d
v
er
it
y
o
b
j
ec
t
w
it
h
in
an
i
m
ag
e.
Gen
er
all
y
,
th
e
an
c
h
o
r
b
o
x
w
i
th
th
e
lo
f
t
iest
d
eg
r
ee
o
f
i
m
b
r
icatio
n
w
i
th
a
n
o
b
j
ec
t is r
esp
o
n
s
ib
le
f
o
r
p
r
o
g
n
o
s
ticatin
g
t
h
at
o
b
j
ec
t
’
s
class
a
n
d
its
p
o
s
itio
n
.
Fig
u
r
e
6.
4
×4
g
r
id
Fig
u
r
e
7
.
A
n
ch
o
r
b
o
x
es
b.
R
ec
ep
tiv
e
f
ield
T
h
e
SS
D
ar
ch
itec
tu
r
e
r
elie
s
o
n
t
h
e
m
ain
id
ea
o
f
r
ec
ep
tiv
e
f
ield
to
d
etec
t
o
b
j
ec
ts
at
d
if
f
er
en
t
s
ca
les
an
d
p
r
o
v
id
e
ac
cu
r
ate
b
o
u
n
d
in
g
b
o
x
es.
I
t
r
ef
er
s
to
th
e
s
p
ec
if
ic
ar
ea
in
th
e
in
p
u
t
s
p
ac
e
th
at
a
p
ar
ticu
lar
f
ea
tu
r
e
o
f
a
C
NN
is
to
b
e
f
o
cu
s
ed
o
n
.
P
er
f
o
r
m
co
n
v
o
l
u
tio
n
o
n
th
e
m
id
d
le
la
y
er
an
d
o
b
tain
th
e
to
p
lay
er
(
2
×2
)
w
h
er
e
ea
ch
f
ea
t
u
r
e
co
r
r
esp
o
n
d
s
to
a
7
×7
r
eg
io
n
o
n
th
e
in
p
u
t
i
m
a
g
e.
T
h
ey
ar
e
f
o
r
m
ed
b
y
ap
p
l
y
i
n
g
t
h
e
s
a
m
e
f
ea
t
u
r
e
ex
tr
ac
to
r
at
m
u
l
tip
le
p
o
s
itio
n
s
o
f
t
h
e
i
n
p
u
t
m
ap
i
n
a
s
lid
i
n
g
w
i
n
d
o
w
f
as
h
io
n
.
Fea
tu
r
es
w
it
h
in
a
g
iv
e
n
f
ea
t
u
r
e
m
ap
p
o
s
s
ess
id
en
tical
r
ec
ep
tiv
e
f
ield
s
a
n
d
s
ea
r
ch
f
o
r
id
en
tical
p
att
er
n
s
,
b
u
t
at
d
i
f
f
er
en
t
lo
ca
tio
n
s
.
It
is
r
esp
o
n
s
ib
le
f
o
r
th
e
s
p
atial
in
v
a
r
ian
ce
o
b
s
er
v
ed
in
C
o
n
v
Net.
T
h
e
R
esNet3
4
b
ac
k
b
o
n
e
g
e
n
e
r
ates
a
s
et
o
f
2
5
6
f
ea
tu
r
e
m
ap
s
w
ith
d
i
m
e
n
s
io
n
s
o
f
7
×7
f
o
r
ea
ch
in
p
u
t
i
m
a
g
e.
W
h
en
a
4
×4
g
r
id
is
s
p
ec
if
ied
,
th
e
m
o
s
t
s
tr
ai
g
h
t
f
o
r
w
a
r
d
m
et
h
o
d
is
to
d
o
a
co
n
v
o
lu
tio
n
o
n
th
e
f
ea
tu
r
e
m
ap
an
d
tr
an
s
f
o
r
m
it
i
n
to
a
4
×4
g
r
id
.
T
h
e
ad
d
itio
n
al
s
tep
p
er
f
o
r
m
ed
b
y
SS
D
i
n
v
o
lv
e
s
ap
p
ly
i
n
g
m
u
lt
ip
le
co
n
v
o
lu
tio
n
al
la
y
er
s
to
t
h
e
b
ac
k
b
o
n
e
f
ea
t
u
r
e
m
ap
.
C
o
n
v
o
lu
t
io
n
al
la
y
er
s
p
r
o
d
u
ce
o
b
j
ec
t
d
e
tectio
n
o
u
tp
u
ts
.
A
s
a
r
esu
lt,
SS
D
en
ab
le
s
u
s
to
es
tab
lis
h
a
s
y
s
te
m
o
f
g
r
id
ce
lls
o
r
g
an
ized
in
to
s
e
v
er
al
tier
s
.
Fo
r
in
s
tan
ce
,
a
4
×4
g
r
id
ca
n
b
e
e
m
p
lo
y
ed
to
lo
ca
t
e
tin
y
t
h
i
n
g
s
,
a
2
×2
g
r
id
ca
n
b
e
u
s
ed
to
lo
ca
te
m
id
-
s
ized
o
b
j
ec
ts
,
an
d
a
1
×1
g
r
id
ca
n
b
e
u
tili
ze
d
to
lo
ca
te
o
b
j
ec
t
s
th
at
e
n
co
m
p
as
s
th
e
w
h
o
le
i
m
ag
e.
3
.
5
.
2
.
M
o
du
le
des
cr
iptio
n
I
t
co
n
s
is
ts
o
f
th
e
m
o
d
u
les
n
a
m
ed
as
o
b
s
tacle
d
etec
tio
n
,
id
en
ti
f
y
in
g
o
b
j
ec
t
b
y
n
a
m
e
s
an
d
d
eliv
er
in
g
au
d
io
aler
t.
First
d
etec
tio
n
o
f
o
b
j
ec
t
is
d
eter
m
in
ed
w
it
h
h
e
lp
o
f
g
r
id
ce
ll
an
d
an
c
h
o
r
b
o
x
as
s
o
c
iated
w
it
h
S
SD.
T
h
en
d
etec
ted
o
b
j
ec
t
is
n
a
m
e
d
w
it
h
Op
en
C
V.
T
h
ir
d
d
etec
t
ed
o
b
j
ec
t
is
co
n
v
e
y
ed
to
u
s
er
th
r
o
u
g
h
a
u
d
io
aler
t
w
it
h
h
elp
o
f
ex
p
er
i
m
en
ta
l set
u
p
.
Deta
iled
in
f
o
r
m
at
io
n
is
d
is
c
u
s
s
ed
in
n
e
x
t sec
tio
n
w
it
h
as
s
o
ciate
d
ex
a
m
p
les.
4.
RE
SU
L
T
AND
DI
SCUS
SI
O
N
A
P
i
ca
m
er
a
ca
p
tu
r
ed
th
e
o
b
ject
an
d
th
e
o
b
j
ec
t
is
d
etec
ted
u
s
in
g
th
e
S
SD
alg
o
r
it
h
m
.
I
t
d
etec
ts
th
e
o
b
j
ec
t
u
s
i
n
g
g
r
id
ce
l
l
a
n
d
an
c
h
o
r
b
o
x
.
I
ts
ai
m
is
to
p
r
ed
ict
t
h
e
cla
s
s
a
n
d
lo
ca
tio
n
o
f
t
h
e
o
b
j
ec
t.
T
h
e
n
a
m
e
s
o
f
th
e
o
b
s
tacle
s
d
is
co
v
er
ed
ar
e
d
i
s
p
la
y
ed
to
th
e
u
s
er
.
B
ased
o
n
th
e
C
la
s
s
I
d
’
s
th
e
n
a
m
es
o
f
t
h
e
o
b
s
tacle
is
s
h
o
w
n
in
Fi
g
u
r
e
s
8
an
d
9
w
it
h
ex
p
er
i
m
en
tal
s
et
u
p
.
T
h
e
tr
ain
ed
d
ataset
co
n
tain
s
1
5
o
b
j
ec
ts
as
s
h
o
w
n
in
Fi
g
u
r
e
1
0
.
An
d
also
d
is
p
la
y
s
to
tal
n
u
m
b
er
o
f
i
m
a
g
es i
n
th
e
d
ata
s
et.
I
n
tr
ain
in
g
,
C
NN
allo
ca
tes lab
el
s
f
o
r
t
h
e
o
b
j
ec
t.
So
,
ca
n
ea
s
il
y
id
e
n
ti
f
y
o
b
j
ec
t in
i
m
a
g
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2
0
8
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-
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On
time
a
u
d
io
a
lert
a
u
to
ma
te
d
in
tellig
en
t sys
tem
fo
r
visu
a
ll
y
imp
a
ir
ed
p
eo
p
le
(
C
yril
o
o
s
e
P
r
etty
Dia
n
a
C
yril
)
435
Fig
u
r
e
8
.
E
x
p
er
i
m
en
tal
s
et
u
p
Fig
u
r
e
9
.
Ob
j
ec
t
d
etec
tio
n
Fig
u
r
e
1
0
.
T
r
ain
ed
o
b
j
ec
t lis
t
W
ith
th
e
o
b
j
ec
t
n
a
m
e,
th
e
ac
cu
r
ac
y
o
f
th
e
d
etec
ted
o
b
j
ec
t
is
also
d
is
p
la
y
ed
to
th
e
u
s
er
.
W
h
en
t
h
e
p
ar
ticu
lar
th
r
e
s
h
o
ld
i
s
m
et
t
h
e
ac
cu
r
ac
y
is
ca
lcu
lated
an
d
s
h
o
w
n
i
n
Fi
g
u
r
e
1
1
.
Ob
j
ec
t
is
d
etec
ted
an
d
a
u
d
io
i
s
g
iv
e
n
to
th
e
u
s
er
w
it
h
h
elp
o
f
T
T
S
L
ib
r
ar
y
as
s
o
ciate
d
w
i
th
P
y
tts
x
3
.
Fig
u
r
e
1
1
.
I
d
en
tif
icatio
n
o
f
o
b
j
ec
t b
y
n
a
m
e
-
test
ed
o
u
tp
u
t
-
C
UP
an
d
R
E
MO
T
E
P
y
tt
s
x
3
is
g
iv
e
n
th
e
o
b
s
tacle
n
a
m
es
as
i
n
p
u
t.
I
t
is
ess
e
n
t
iall
y
a
T
T
S
co
n
v
er
s
io
n
lib
r
ar
y
.
T
T
S'
s
p
u
r
p
o
s
e
is
to
co
n
v
er
t
tex
t
to
au
d
io
.
T
h
e
s
p
ee
ch
s
y
n
t
h
esize
r
u
s
ed
is
eSp
ea
k
.
T
T
S
n
ec
ess
itates
th
e
u
s
e
o
f
a
s
p
ee
ch
s
y
n
th
e
s
izer
to
r
ea
d
al
o
u
d
d
ig
ital
te
x
t.
A
s
i
m
p
le,
f
r
e
e
w
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I
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1
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g
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u
r
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1
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CO
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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f
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&
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N:
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On
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RE
F
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R
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NC
E
S
[
1
]
L
.
R
.
d
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S
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.
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