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I
NT
RO
D
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As
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Du
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m
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cr
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p
an
d
th
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u
ltima
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ar
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est o
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tp
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Path
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am
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to
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m
s
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s
tain
ab
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f
ag
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ltu
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[
1
]
.
T
h
u
s
,
in
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d
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b
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is
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t
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tech
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ito
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n
o
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ter
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in
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d
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p
r
o
tect
in
ter
n
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al
f
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d
s
u
p
p
lies
[
1
]
.
I
n
th
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p
ast,
th
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id
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tific
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o
f
cr
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p
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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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d
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J
E
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&
C
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p
Sci
I
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N:
2502
-
4
7
5
2
A
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to
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etec
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… (
E
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fa
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R
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149
r
ap
id
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v
er
lar
g
e
-
s
ca
le
ag
r
icu
ltu
r
al
lan
d
s
ca
p
es
[
2
]
-
[
5
]
.
B
e
ca
u
s
e
o
f
th
ese
lo
g
is
tical
lim
it
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n
s
,
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on
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ite
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s
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ito
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ad
eq
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e
.
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o
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ess
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p
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ac
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ch
a
llen
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ec
en
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ac
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as
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h
if
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ig
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ican
tly
to
w
ar
d
s
co
m
p
u
tatio
n
al
s
o
lu
tio
n
s
[
6
]
,
p
ar
ticu
lar
ly
e
x
p
lo
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g
a
r
tific
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in
tellig
en
ce
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tem
s
f
o
r
d
etec
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g
p
lan
t
p
ath
o
g
en
s
[
7
]
-
[
1
2
]
.
L
ea
d
in
g
th
is
tech
n
o
lo
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ical
e
v
o
lu
tio
n
ar
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d
ee
p
c
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v
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lu
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a
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r
al
n
etwo
r
k
s
(
C
NNs),
wh
ich
h
av
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s
et
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n
p
r
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d
en
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tan
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ar
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s
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ld
o
f
im
ag
e
an
d
v
is
u
al
p
atter
n
class
if
icatio
n
[
13
]
.
B
y
in
teg
r
atin
g
th
ese
co
m
p
u
tatio
n
al
m
o
d
els
with
v
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en
s
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tech
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ies,
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ik
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n
m
an
n
e
d
ae
r
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v
eh
icles
(
UAVs)
eq
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ip
p
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m
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o
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ir
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-
s
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n
co
n
s
tr
u
ct
a
r
o
b
u
s
t
in
f
r
astru
ctu
r
e
f
o
r
th
e
o
n
g
o
in
g
,
au
t
o
n
o
m
o
u
s
m
o
n
ito
r
in
g
o
f
p
lan
t
co
n
d
itio
n
s
[
14
]
.
A
wid
e
ar
r
ay
o
f
em
p
i
r
ical
s
tu
d
ies
in
v
o
lv
in
g
d
iv
er
s
e
p
lan
t
ty
p
es
v
er
if
ies
th
at
th
ese
s
o
p
h
is
ticated
alg
o
r
ith
m
s
co
n
tin
u
ally
s
u
r
p
ass
co
n
v
en
tio
n
al
m
ac
h
in
e
lear
n
in
g
tech
n
i
q
u
es
i
n
ter
m
s
o
f
d
iag
n
o
s
tic
p
r
ec
is
io
n
a
n
d
th
eir
ab
ilit
y
to
g
e
n
er
ali
ze
ac
r
o
s
s
d
if
f
er
en
t
en
v
ir
o
n
m
en
ts
[
1
5
]
,
[
16
]
.
Ad
d
itio
n
ally
,
th
e
im
p
lem
en
tatio
n
o
f
r
ig
o
r
o
u
s
im
a
g
e
p
r
e
-
p
r
o
ce
s
s
in
g
s
tr
ateg
ies
in
clu
d
in
g
s
p
ec
if
ic
o
b
ject
s
eg
m
en
tatio
n
an
d
n
o
is
e
f
ilter
in
g
s
u
b
s
tan
tially
im
p
r
o
v
es
th
e
q
u
ality
o
f
r
aw
v
is
u
al
d
ata,
wh
ich
co
n
s
eq
u
en
tly
b
o
o
s
ts
th
e
p
r
ed
ictiv
e
ac
cu
r
ac
y
o
f
th
e
d
ee
p
lear
n
in
g
alg
o
r
ith
m
s
a
p
p
lied
s
u
b
s
eq
u
en
tly
[1
7
]
,
[
18
].
Desp
ite
th
ese
tech
n
o
lo
g
ical
s
tr
id
es,
a
th
o
r
o
u
g
h
e
x
am
i
n
atio
n
o
f
cu
r
r
e
n
t
liter
atu
r
e
ex
p
o
s
es
a
s
u
b
s
tan
t
ial
p
r
ac
tical
lim
itatio
n
.
Mo
s
t
co
n
tem
p
o
r
ar
y
r
esear
ch
o
n
cr
o
p
p
at
h
o
g
e
n
id
en
tific
ati
o
n
d
ep
e
n
d
s
h
ea
v
ily
o
n
s
tatio
n
ar
y
leaf
p
h
o
to
g
r
ap
h
s
th
at
ar
e
g
ath
er
e
d
b
y
h
an
d
an
d
a
n
aly
ze
d
at
a
later
tim
e.
E
v
en
th
o
u
g
h
s
u
c
h
tr
ad
itio
n
al
m
eth
o
d
s
ca
n
y
ield
h
ig
h
co
m
p
u
tatio
n
al
p
r
ec
is
io
n
,
th
ey
f
all
s
h
o
r
t
in
p
r
o
v
id
i
n
g
t
h
e
r
ap
id
p
r
o
ce
s
s
in
g
an
d
b
r
o
ad
s
ca
lab
ilit
y
ess
en
tial
f
o
r
v
ast
ag
r
icu
ltu
r
al
ar
ea
s
.
Fu
r
th
er
m
o
r
e
,
p
r
e
v
io
u
s
in
v
esti
g
at
io
n
s
s
eld
o
m
tack
le
th
e
lo
g
is
tical
o
b
s
tacle
s
ass
o
ciate
d
with
p
e
r
s
is
ten
t,
s
elf
-
o
p
er
atin
g
cr
o
p
m
o
n
ito
r
i
n
g
p
air
ed
with
th
e
r
ea
l
-
tim
e
d
is
tr
ib
u
tio
n
o
f
d
iag
n
o
s
tic
aler
ts
.
I
n
o
r
d
er
to
ad
d
r
ess
th
ese
cr
it
ical
s
h
o
r
tco
m
in
g
s
,
th
e
p
r
esen
t
r
esear
ch
in
tr
o
d
u
ce
s
a
co
m
p
r
eh
en
s
iv
e,
au
to
m
ated
d
is
ea
s
e
r
ec
o
g
n
itio
n
s
y
s
tem
s
p
ec
if
ically
o
p
tim
ized
f
o
r
th
e
I
R
6
4
p
ad
d
y
v
a
r
ian
t
d
u
r
i
n
g
its
ac
tiv
e
g
r
o
wth
p
h
ase.
T
h
e
m
ai
n
n
o
v
elty
o
f
o
u
r
wo
r
k
lies
in
d
esig
n
in
g
th
e
p
r
em
ier
d
r
o
n
e
-
ass
is
ted
d
iag
n
o
s
tic
wo
r
k
f
lo
w
f
o
r
I
R
6
4
cr
o
p
s
,
co
m
b
in
in
g
an
ex
te
n
s
iv
e
ev
alu
atio
n
o
f
d
ee
p
lear
n
i
n
g
m
o
d
els
with
an
in
s
tan
t
in
ter
n
et
o
f
th
in
g
s
(
I
o
T
)
co
m
m
u
n
icatio
n
ch
an
n
el
f
o
r
ag
r
icu
ltu
r
al
wo
r
k
er
s
.
I
n
d
etail,
th
e
p
r
im
ar
y
in
n
o
v
atio
n
s
o
f
f
er
e
d
b
y
th
is
s
tu
d
y
en
co
m
p
ass
th
e
f
o
llo
win
g
ar
ea
s
:
−
Dr
o
n
e
-
f
ac
ilit
ated
cr
o
p
m
o
n
ito
r
in
g
:
A
r
esil
ien
t
d
iag
n
o
s
tic
s
ettin
g
is
f
o
r
m
u
lated
t
h
r
o
u
g
h
th
e
ac
q
u
is
itio
n
o
f
u
ltra
-
clea
r
ae
r
ial
f
o
liag
e
im
ag
er
y
v
ia
UAVs
.
T
h
is
p
r
im
a
r
y
d
ata
is
s
u
b
s
eq
u
en
tly
e
n
r
ich
ed
u
s
in
g
p
u
b
licly
av
ailab
le
d
atasets
f
r
o
m
Kag
g
le
to
g
u
ar
an
tee
b
r
o
ad
d
ata
d
iv
er
s
ity
an
d
r
o
b
u
s
tn
ess
ag
ain
s
t
ch
an
g
in
g
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
.
−
I
n
d
e
p
th
e
v
alu
atio
n
o
f
C
NN
a
r
ch
itectu
r
es:
T
h
e
s
tu
d
y
s
y
s
te
m
atica
lly
ass
ess
e
s
th
e
p
er
f
o
r
m
an
ce
o
f
f
o
u
r
d
if
f
er
en
t d
ee
p
lear
n
in
g
s
tr
u
ct
u
r
es,
n
am
ely
:
I
n
ce
p
tio
n
V3
[
1
9
]
-
[
2
1
]
,
R
esNet5
0
[
2
2
]
-
[
2
9
]
,
E
f
f
icien
tNetV2
S
[
3
0
]
-
[
3
3
]
,
a
n
d
M
o
b
ileNetV2
[
3
4
]
.
T
h
is
co
m
p
ar
ativ
e
an
aly
s
is
g
o
es
b
ey
o
n
d
b
asic
p
r
ed
ict
iv
e
p
r
ec
is
io
n
,
h
ea
v
ily
em
p
h
asizin
g
u
n
iq
u
e
class
if
icat
io
n
er
r
o
r
s
an
d
th
e
p
r
ac
tical
f
ea
s
ib
ilit
y
o
f
d
ep
lo
y
in
g
th
es
e
n
etwo
r
k
s
o
n
e
d
g
e
c
o
m
p
u
ti
n
g
d
ev
ices.
−
I
n
s
tan
tan
eo
u
s
I
o
T
c
o
n
n
ec
tiv
it
y
:
T
h
e
an
al
y
tical
in
f
er
en
ce
s
g
en
er
ated
b
y
th
e
m
o
d
els
ar
e
d
ir
ec
tly
lin
k
ed
to
an
aler
t
m
ec
h
an
is
m
v
ia
th
e
T
e
leg
r
am
ap
p
licatio
n
.
T
h
is
in
teg
r
atio
n
u
p
g
r
ad
es
co
n
v
en
tio
n
al,
o
f
f
lin
e
im
ag
e
class
if
icatio
n
in
to
a
d
y
n
am
ic,
h
ig
h
-
s
p
ee
d
a
d
v
is
o
r
y
p
latf
o
r
m
th
at
p
r
o
m
p
ts
s
wif
t m
itig
atio
n
m
ea
s
u
r
es f
r
o
m
f
ar
m
er
s
.
2.
M
E
T
H
O
D
T
h
e
em
p
ir
ical
f
o
c
u
s
o
f
th
is
r
esear
ch
was
d
ir
ec
ted
to
war
d
t
h
e
I
R
1
8
3
4
8
-
36
-
3
-
3
c
u
ltiv
ar
,
co
m
m
er
cially
r
ec
o
g
n
ized
as
th
e
I
R
6
4
p
a
d
d
y
v
ar
iety
[
3
5
]
.
B
o
tan
ically
,
th
is
s
p
ec
if
ic
v
ar
ian
t
h
as
a
m
atu
r
atio
n
cy
cle
s
p
an
n
in
g
1
1
0
to
1
2
0
d
ay
s
an
d
ty
p
ically
ac
h
iev
es
a
v
er
tic
al
s
tatu
r
e
o
f
1
1
5
to
1
2
6
ce
n
tim
eter
s
.
All
p
r
im
ar
y
v
is
u
al
d
ata
was
ex
clu
s
iv
ely
h
ar
v
ested
d
u
r
in
g
th
e
p
lan
t'
s
v
eg
etativ
e
g
r
o
w
th
p
h
ase.
T
o
ac
q
u
ir
e
h
ig
h
-
f
id
e
lity
s
p
atial
d
ata,
a
n
UAV
eq
u
ip
p
e
d
with
a
d
v
an
ce
d
o
p
tical
s
en
s
o
r
s
was
d
ep
l
o
y
ed
.
T
h
e
f
lig
h
t
p
a
r
am
eter
s
wer
e
s
tr
ictly
r
eg
u
lated
:
th
e
d
r
o
n
e
m
ain
tain
ed
a
co
n
s
tan
t
h
o
v
er
in
g
altitu
d
e
o
f
1
m
ete
r
ab
o
v
e
th
e
cr
o
p
ca
n
o
p
y
,
a
n
d
th
e
ca
m
er
a
g
im
b
a
l
was
d
elib
er
ately
tilt
ed
at
a
4
5
-
d
e
g
r
ee
an
g
le
to
m
ax
im
iz
e
th
e
m
o
r
p
h
o
lo
g
ical
ca
p
t
u
r
e
o
f
th
e
leav
es.
T
h
e
co
m
p
r
eh
e
n
s
iv
e
ar
ch
itectu
r
a
l
f
lo
w
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
,
f
r
o
m
in
itial
d
ata
p
r
o
ce
s
s
in
g
to
f
in
al
d
ep
lo
y
m
en
t,
is
s
y
s
tem
atica
lly
illu
s
tr
ated
in
Fi
g
u
r
e
1
.
As
d
ep
icted
in
th
e
wo
r
k
f
lo
w,
th
e
p
r
im
ar
y
r
aw
d
ata
co
m
p
r
is
ed
co
n
tin
u
o
u
s
v
id
eo
s
tr
ea
m
s
th
at
wer
e
s
u
b
s
eq
u
en
tly
d
ec
o
m
p
o
s
ed
in
t
o
in
d
iv
id
u
al
h
ig
h
-
r
eso
lu
tio
n
s
tan
d
alo
n
e
f
r
am
es.
T
o
c
o
n
s
tr
u
ct
a
m
o
r
e
r
esil
ien
t
an
d
d
iv
er
s
e
tr
ain
in
g
co
r
p
u
s
,
t
h
ese
p
r
im
ar
y
d
r
o
n
e
-
ca
p
tu
r
ed
f
r
am
es
wer
e
am
alg
am
ated
with
s
ec
o
n
d
ar
y
o
p
en
-
s
o
u
r
ce
d
atasets
r
etr
iev
ed
f
r
o
m
th
e
Kag
g
le
r
ep
o
s
ito
r
y
[
3
6
]
.
Sp
ec
if
ically
,
th
e
ag
g
r
eg
ate
d
d
ataset
co
m
p
r
is
ed
9
2
0
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im
a
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in
to
tal
(
2
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class
)
.
T
o
m
an
ag
e
d
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v
ar
ian
ce
,
ap
p
r
o
x
im
ately
1
0
0
0
im
ag
es
p
er
class
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5
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n
d
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J
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&
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Sci
,
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1
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ly
20
26
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s
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ile
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o
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r
ce
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to
m
o
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f
ee
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i
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g
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r
e
g
ated
im
ag
e
p
o
o
l
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p
r
o
ce
s
s
ed
th
r
o
u
g
h
th
e
R
o
b
o
f
lo
w
co
m
p
u
ter
v
is
io
n
p
latf
o
r
m
.
T
h
is
cr
itic
al
p
r
e
tr
ain
in
g
p
h
ase
in
v
o
l
v
ed
r
ig
o
r
o
u
s
im
ag
e
n
o
r
m
al
izatio
n
tech
n
iq
u
es,
en
co
m
p
ass
in
g
s
p
atial
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esizin
g
to
a
s
tan
d
ar
d
ize
d
r
eso
lu
ti
o
n
o
f
2
2
4
x
2
2
4
p
i
x
els,
ch
r
o
m
atic
ad
ju
s
tm
en
ts
,
an
d
alg
o
r
ith
m
ic
n
o
is
e
s
u
p
p
r
ess
io
n
.
T
h
ese
s
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3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
Co
m
prehen
s
iv
e
dia
g
no
s
t
ic
perf
o
rm
a
nce
a
nd
ef
f
iciency
T
h
e
co
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e
an
aly
s
is
o
f
th
is
s
tu
d
y
tr
a
n
s
ce
n
d
s
s
tan
d
ar
d
m
i
s
class
if
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r
ates
b
y
ev
al
u
atin
g
th
e
ar
ch
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r
es
ac
r
o
s
s
a
co
m
p
r
eh
en
s
iv
e
m
atr
ix
o
f
p
r
ed
ictiv
e
m
etr
ics:
Acc
u
r
ac
y
,
Pre
cisi
o
n
,
R
ec
all,
an
d
F1
-
Sco
r
e,
alo
n
g
s
id
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th
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m
p
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al
ef
f
icien
c
y
(
I
n
f
e
r
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ce
T
im
e)
.
As
d
etailed
in
T
ab
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1
,
th
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10
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f
o
ld
cr
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s
s
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r
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Ta
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n
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t
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V
3
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a
c
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a
B
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r
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3
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3
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1
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2
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I
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I
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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20
26
:
148
-
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154
DATA AV
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g
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lan
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d
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.
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telli
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with
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sy
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c
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n
b
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o
n
tac
ted
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m
a
il
:
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a
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ra
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m
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d
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a
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c
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g
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ri
M
a
lan
g
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c
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d
h
is b
a
c
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lo
r
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m
Un
i
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g
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ri
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lan
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h
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ro
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ims
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t
AI
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e
h
a
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c
a
n
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c
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n
tac
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m
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g
g
a
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m
a
.
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c
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id
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Aid
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m
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r
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S
c
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in
F
ish
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ries
fr
o
m
Un
i
v
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rsitas
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wijay
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d
o
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r
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.
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c
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M
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Un
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ti
v
it
ies
p
rima
ril
y
fo
c
u
s
o
n
e
lec
tro
m
a
g
n
e
ti
c
d
irec
t
a
n
d
i
n
v
e
rse
sc
a
tt
e
rin
g
p
ro
b
lem
s,
o
p
ti
m
iza
ti
o
n
tec
h
n
i
q
u
e
s,
wa
v
e
p
r
o
p
a
g
a
ti
o
n
in
c
o
m
p
le
x
m
e
d
ia,
a
n
d
a
n
ten
n
a
d
e
sig
n
.
His
w
o
rk
is
a
p
p
li
e
d
m
a
in
l
y
in
m
icro
wa
v
e
ima
g
in
g
fo
r
b
i
o
m
e
d
ica
l
d
iag
n
o
st
ics
,
n
o
n
-
d
e
stru
c
ti
v
e
tes
ti
n
g
(ND
T),
a
n
d
s
u
b
su
r
fa
c
e
d
e
tec
ti
o
n
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
h
p
k
ism
e
t@u
n
ima
s.m
y
.
Dim
a
s
R
o
ss
ia
wa
n
is
a
n
I
n
d
o
n
e
sia
n
a
c
a
d
e
m
icia
n
,
IT
p
ra
c
ti
ti
o
n
e
r,
a
n
d
e
lec
tro
n
ics
p
ra
c
ti
ti
o
n
e
r
a
ffil
iate
d
with
P
o
li
te
k
n
ik
Ne
g
e
ri
M
a
lan
g
In
d
o
n
e
sia
.
He
e
a
rn
e
d
h
is M
a
ste
r’s
d
e
g
re
e
in
El
e
c
tro
n
ic
En
g
i
n
e
e
rin
g
fr
o
m
P
o
li
te
k
n
i
k
Ne
g
e
ri
M
a
lan
g
.
His
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
Artifi
c
ial
In
tell
ig
e
n
c
e
,
C
o
m
p
u
t
e
r
Visio
n
,
P
a
tt
e
r
n
Re
c
o
g
n
it
io
n
,
c
o
n
tr
o
l
s
y
ste
m
s
u
sin
g
m
icro
c
o
m
p
u
ters
a
n
d
e
m
b
e
d
d
e
d
sy
ste
m
s.
His
wo
rk
e
m
p
h
a
sise
s
th
e
in
teg
ra
ti
o
n
o
f
i
n
telli
g
e
n
t
a
lg
o
rit
h
m
s
with
e
lec
tro
n
ic
h
a
r
d
wa
re
,
a
u
to
m
a
ti
o
n
sy
ste
m
s,
a
n
d
re
a
l
-
ti
m
e
c
o
n
tro
l
o
p
t
imis
a
ti
o
n
,
th
e
re
b
y
b
ri
d
g
i
n
g
t
h
e
o
re
ti
c
a
l
re
se
a
rc
h
a
n
d
p
ra
c
ti
c
a
l
e
n
g
in
e
e
ri
n
g
i
m
p
lem
e
n
tatio
n
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
d
ima
s.ro
ss
i@
p
o
li
n
e
m
a
.
a
c
.
id
.
Ahm
a
d
Afiu
d
d
in
Za
k
k
i
re
c
e
iv
e
d
h
is
Ba
c
h
e
lo
r'
s
d
e
g
re
e
in
In
f
o
rm
a
ti
c
s
En
g
i
n
e
e
rin
g
fro
m
th
e
F
a
c
u
lt
y
o
f
S
c
ien
c
e
a
n
d
Tec
h
n
o
l
o
g
y
,
M
a
u
lan
a
M
a
li
k
I
b
ra
h
im
S
tate
Isla
m
ic
Un
iv
e
rsity
M
a
lan
g
,
In
d
o
n
e
sia
in
2
0
1
4
.
He
is
c
u
r
re
n
tl
y
p
u
r
su
in
g
h
is
M
a
ste
r'
s
d
e
g
re
e
in
In
fo
rm
a
ti
o
n
Tec
h
n
o
l
o
g
y
a
t
th
e
S
t
a
te
P
o
ly
tec
h
n
ic
o
f
M
a
la
n
g
(P
OLI
NEM
A),
In
d
o
n
e
sia
i
n
2
0
2
6
.
His
c
u
rre
n
t
re
se
a
rc
h
in
tere
sts
li
e
in
t
h
e
fiel
d
s
o
f
i
n
tern
e
t
o
f
th
in
g
s
(Io
T),
c
o
m
p
u
ter
v
isio
n
,
a
n
d
a
rti
ficia
l
in
telli
g
e
n
c
e
.
H
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
e
rfa
n
r@
p
o
li
n
e
m
a
.
a
c
.
id
.
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