Détection et suivi de véhicule par vision

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(1)Détection et suivi de véhicule par vision Xavier Clady, François Collange, Frédéric Jurie, Benoît Thuilot, Philippe Martinet. To cite this version: Xavier Clady, François Collange, Frédéric Jurie, Benoît Thuilot, Philippe Martinet. Détection et suivi de véhicule par vision. 18° Colloque sur le traitement du signal et des images, The Centre National d’Etudes Spatiales (CNES), Sep 2001, Toulouse, France. �inria-00548283�. HAL Id: inria-00548283 https://hal.inria.fr/inria-00548283 Submitted on 20 Dec 2010. HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés..

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(36) UK]?(J>ÂI(JlãÐI(+*r8&«(J| *L(J>Iä( H < (J8P8&?(J>v54]?(J>.>Lå'>rUJ(+| æ(J>ÂIDç·#9>f >r&?>LU§#98 < (K(Jæ{Z#t*rè'lK(JH >FIZ#98>F]?(J>G#9lU = æ = {&?]?(J> = 8'U <J= 88'lÄl8Né = *LU IK(JH $A(J] = ^^4(Jæ(J8'Uv59(J8'UL*r(J^*L&?>T^Z#t*\])(+> <+= 8>LUr*rl < Ur(JlP*r>K(JUG]?(J>]ê#t{ = f *§#tU = &)*L(J>DIP(G*r( < [(+* < [(J>%ë0ì]?>2*(+H ^ = 8I(J8'UG#9lãÂ>(JH *L&?(Jlã^* = {]}(J| æ(+> &?8Il&?UL>D^Z#t*D]ç·#9líAæ(J8'U§#tUr& = 8Kæ = 8I&s#9]?(FIlUr*§#ïî < * = lPUr&?(J*Dð+^ = ]¬f ]?lUr& = 8D5D(+æ{ = lUr(J&?]?]s#9íA(05D# <+< &?I(J8'Ur>%5)ë?ë?ë\Sp(v#9l <+= l^ñI( < (J>>Lå'>f UJ(+| æ(J> = 8'U^ = l* = {0ò7( < Ur&óé.IDç·# <J< * =ïôõ UL*r(]?(J>z^Z(J*öé = *LæÆ#t8 < (J>I(J> $T(JH [& < l]?(J>F(J8 UL(J*ræ(;IP( <J= 8 é = *LUD(JU2I(>( H < lP*r&?U(0H ëAmp]ê#t>r>L&)è'l(+æ(J8'U ÷ xvy+ør5pI(Jlã < ]s#9>r>L(J>¹> = 8'UÐI&?>rUr&?8íAlK(JH (J>FðT]?(J>Ð>Lå

(37) >LUJ(J| æ(J>¹^Z#t>r>L&¬é«> ù aÂ&?*r{Z#tíZ5 < (J&?8'Url*L(.I(p>( H < l*r&?U(0H 5 < #9*r* = >L>r(J*L&)(ÂIK(7H é = *ræÐ#9{]?(05?ë?ë?ë úP(JU < (JlPã¡# < UL&óé}> ù aÂSäc252e\SKc¶ûï5Pa.mKmü95?ë?ë?ë ú+ë

(38) `b(J>.^P*r(Jæ&)(+*r>.UL(J8'Ur(J8'U I( æ&?8&?æ&)>L(J*G]?(J> <J= 8>(+H è

(39) lP(J8 < (J>zIDç l8¹# <J< &?I(+8

(40) U%ëZ`b(J>.>L( <J= 8PI> &?8'Ur(J*L$

(41) &?(J8P8(J8'UT(+8#9æ = 8'Uv5%IZ#98P>G]s#.^P*(JH $A(J8'Ur& = 8 = l]ýçL(JH $'&?Ur(+æ(J8'U IDç l8(>r&?ULlZ#9UL& = 8¹IZ#t8í0(J*L(Jl>L(0ëDì]?>Â^Z#9*LUr& < &?^Z(+8

(42) U #tl¹IK(JH $A(J] = ^^4(7f æ(+8

(43) UI(¹þÿ

(44) I&?Ur>

(45) ë `b({lU $'&?>(H (J>LUÄ]ç·#9&?I( # | ]ê# <J= 8IPl&?Ur(Ð(JUv5\I4#98> < (+UrUr(Ð^4(J*r>L^Z( < Ur&?$0(A5T^P])lP>r&?(Jl*L>Uå

(46) ^4(J> I.H (Jè'l&?^Z(Jæ(J8'Ur> ï&?8'Ur(+])]?&?í0(+8

(47) UL> b> = 8'UK(J8'$'&?>§#tíG(JH >Dð ( tc U = ^!#98 I = 2IK(JH æÆ#t*r*r((JU #t*r* (+ô Ur(#9lU = æÆ#tUr&?è'l(7f `2 æ(J8'Up])($p(JH [& < lP])(IZ#t8>K]?(J>K(Jæ{ = lUL(J&?]?]ê#tí0(J>%ë # tm = 8Il&?UL((J8 m = 8

(48) $ = & ù 0Y\]s#tU ='= 8&?8í ¬úz^Z(+*ræ(+U `D ]ê# < *(vH #9UL& = 8ÐI( Ur*7#9&?8>KI($p(JH [& < lP])(+>vë ù `Gç! 9a.IZ#tÛr&?$A(mp*rlP&)>L(m = 8

(49) UL* = ] a.mKmKú <+= ææÐ#98IP(G]s# $

(50) &?UL(J>r>L( IDç l8$p(JH [P& < l]?(N#ïîZ8IP(æÐ#9&?8'Ur(J8P&)*l8(I&?>rU7#98 < ( I(>( H < lP*r&?U(H #%$0( < l8Ð$p(JH [& < lP])( #tlÆIP(J$0#98'Uvë ( 0m = ]?]?&?>r& = 8 " #9*L8&?8í = l aÂ$ = &)I4#98 < #( p&?8'é = *ræ( = l `2 *r(Jæ^]s# < (p]?( <J= 8IPl < Ur(+l*T] = *r>\l8(K>L&)ULlZ#9UL& = 8Kò7líG(+H (KIZ#98'f í0(J*L(Jl>r( ù *L&?>rè'l(I( <J= ]?])&?>L& = 8ZúJë ù U $.&?íA'[ &K#%å'(> ¬ú `2(J>\#9lU = * = lUr(+>D&?8'Ur(J]?]?&?í0(J8'Ur(+> 9ì8'Ur(+])]?&?í0(+8

(51) % = 8'U¹^ = l*¹{PlU¹IDç = ^PUr&?æ&?>r(+*]?(J> <J= 8I&?Ur& = 8>¹I( < &?* < l'f ]ê#tUr& = 8(J8¹é#9&?>§#t8

(52) U <J= ææl8P&)èAl(J*K]ç &?8'é}*§#t>rUL*rl < ULl*r(* = l'f Ur&}(J| *r(#%$0( < ]?(J>K$T(JH [& < l]?(J>%ë mp(J>ÐI*& )(JH *r(J8'UL>¹>rå'>rUJ(J| æ(+>lUL&)]?&?>r(+8

(53) U(J8#tlUr*L(J>ÐI(J> < #9^PUr(Jl*L> (Jã'U(+H * ='< (JÛL&óé}>vë4Y\]?l>r&?(Jl*L>TUå'^4(J>KI( < #tÛr(+l*r>K> = 8'UTIK(JH $0(J] = ^^K(JH > +-,.0/1 2.0354768 4:9<;:=>/?6A@-BCD9<8E1=GFAHA4:3 I,JK?KL2<JM<@-N<HACDO-4(K%6AP<CDFA4QK%R 9GHA6R S. # < UrlP(J]?])(+æ(J8'U ù h¶aâ¶ah 54`2&sâKah 5 < #tæ(JH *7#9>%5)ë?ë?ë·úJë'ì]?> = '8 U < [Z#%f < l8Ð])(+l*r>Â>r^K( H < &¬î < &?U(JH >Â(JU.]?(Jl*L>K]?&)æ&?U§#9UL& = 8>%ë. R C5U2xAðVW AGA W YXLZ [

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(55) -^] _ Va`5` â#98> < (JUp#9*rUL& < ]?(0598 = l>G^* = ^ = > = 8>Gl88 = l$0(v#tl < #9ÛL(Jl*GI( $'&?>r& = 8Dë'ì]\I = &?U.*L(Jæ^P])&?*KU = lUL(J>])(+>.U # ô < [(J>I(^Z(J* < (JÛL& = 8 8K(7H f < (J>r>7#9&?*r(J> #N| l8(#t^^]?& < #9UL& = 8a.mKm¡ðAIK(JH UL( < UL& = 8Ð(JUT] ='< #t])&?>7#9Ur& = 8 IP(J>K$ = &)(+>KI( < &?* < l]s#tUr& = 8D5'IP(J>K$T(JH [& < l]?(J> = {>LU§# < ])(+>K(JUKîZ84#9]?]?(7f æ(J8'U\])(K>Ll&?$'&Il ù = lI(+>§ú$T(+H [& < l]?( ù >7úG]?( ù >§ú^]?l>GIZ#t8í0(+*r(Jlã2ë `b(J> < #9*7# < U(JH *r&?>LUr&?è'l(J> < &?8ä(JH æÆ#tUr&?è'l(J> ù &ë (0ë4$'&?Ur(J>L>r((JU ^ = >L&?Ur& = 8 *L(J]s#9UL&)$A(J>§úpIPl ù = lÆIP(J>§ú¶$T(+H [& < l]?( ù >7úKIZ#t8í0(+*r(JlãÐ^4(Jl$A(J8'U (+ô Ur*r( IK(JH Il&?Ur(+>(J8 <J= æ{&?8Z#98'U < (+>Ur* = &?>é = 8 < Ur& = 8>vëGmp(J>&?8'é = *ræÐ#%f UL& = 8>Â> = 8'U#9] = *L>KlUr&?]?&?>(JH (J>^ = l* < #9] < lP])(+*]s#$'&?Ur(J>L>r( <J= 8>r&?íA8( #| #t^^]?&?è

(56) lP(J*G#9l$T(+H [& < l]?(Æ(JH è'l&?^K(0H 59$'&s#Â>r(J>K# < Ur& = 88P(Jl*r> ù é}*L(J&?8>v5 # <J< (JH ]%(JH *7#9UL(Jl*v5?ë?ë?ë b < é7ë2îZí4ëTx%úJë\Y\#9*Ä#t&)]?]?(Jl*L>v5 < ( < #9ÛL(Jl*I(J$'*7# ^ = lP$ = &?* (Jô Ur*L(ÄlPUr&?]?&)>( H ^ = l*K]s#IK(JH UL( < UL& = 8¡IP( $T(JH [& < l]?(J>#| < &?8K(7H f æÐ#9UL&)è'l(p]?(J8'Ur( = l¡#N| ]ýç·#t*r* (+ô Uv5 < (Âè

(57) lP&2&)æ^]?&?è

(58) lP(Gl8(^4(J* < (+Ûr& = 8 IFç = {>rU7# < ]?(J>] = &?8'U§#t&)8P> ù #tl I(J]#| I(¡x%j0jæ¡ë·úJëba < ULl(J]?]?(Jæ(J8'U%5 >L(Jl]?>D]?(J> < #tÛr(+l*r>\I(p$'&)>L& = 8*(JH ^ = 8PI(J8'UK#| < (J>(Jã'&)íA(J8 < (+>vë9Sp&?(J8 è'lDç &?]?>Z8P(\é = lP*r8&?>r>L(J8'UD^Z#t>DI&?*L( < Ur(+æ(J8'UDIFç &?8'é = *ræÐ#9UL& = 8P>Zw0â5J&?]?> ^4(J*Læ(JULUr(J8'U IDç·#%$ = &?*l8(^4(J* < (JÛL& = 8 U = U§#t]?(I(]ç (J8'$'&)* = 88P(7f æ(J8'U ù * = lPUr(K(JU = {>rU7# < ]?(J>7úJë'âÂ(K^]?l>v59]s#¶^ = *rU(+H (.IDç l8( < #9æ(+H *§# ^4(JlU (+ô Ur*r( (JH Ur(J8PIl(>r&?æ^]?(Jæ(J8'U\(J8¡#9lPí0æ(+8

(59) U7#98'UG>7#zé ='< #9]?(0ë a.l>L>r&548 = lP>^P* = ^ = > = 8>IDç lUL&?])&?>L(J*.l8 < #9ÛL(Jl* <+= æ{&?8Z#t8

(60) U lP8( < #9æ(JH *§##| é =

(61) < #9]?( <J= l*rUL( (JUKl8P( < #9æ(JH *§#Y\#98'df cK&?]?U:f e =

(62) = æ ù >Y cfe2úJ5 <J= ææÐ#98IKJH( (Â(J8¡#98Pí0]?(J>.>L&?Ur( (JU<# gJ&?ælUp(JUÂ^&?] = U(JH ((J8 g =

(63) = æ¡ë`F#^*L(Jæ&«(J| *L( ^Z(+*ræ(+U.l8(z$

(64) &?>L& = 8¹í0] = {Z#9]?(.IP(Ä]s#> < (J| 8( é«* = 8'U7#9]?(Ä(+UÄ]s#Ð>L( <J= 8PI(Ðl8( < #tÛrl*L(Ð] ='< #t]?(052æÆ#t&?>N#%$A( < l8( ^P])lP>2í0*§#t8I(G*(JH > = ]?lUr& = 8Fëïmp(+UrUr(pI(J*L8&}(J| *r(p^ = l*L*§# (+ô Ur*r(é ='< #t])&?>(JH ( > = &?U>rlP*ÆlP8$T(JH [& < l]?( ù < é§ë\î4íZëKw0úKò7lPíG(¹H IZ#t8í0(+*r(Jlã (JUI = 8'U ]?(J> < #9*§# < U(+H *r&?>rUL&)è'l(+>.I(J$'* = 8'U (Jô UL*r( IK(JH Ur(J*Læ&?8K(JH (+>#%$0( < ^P])lP>TI( T.

(65) ^*( H < &?>r& = 8F5'> = &?UG>Ll*p])(h 9{ = lU> PI(.]s#* = lUL( ù < é§ë9î4íZëAu

(66) úp#%îZ8I( IK(JH UL( < UL(J* ]s# ^P*(JH >L(J8 < (I($T(JH [& < l]?(J>Â] = &?8

(67) U7#9&?8> ù >r&?UrlK(JH >.[ = *r>ÂIl < [Z#9æÎ(IK(+H Ur( < UL& = 8¹I(z]ê#z^*L(Jæ&«(J| *L( < #9æ(+H *§#0ú+ë Vision Globale Caméra grand angle. Détection des Voies. Détection et Suivi des Vehicules. Localisation des Obstacles et des Voies. Capteur. Module de Décision. mp(JUrUL(Gé = 8 < UL& = 8(J>rU\*(vH #9]?&?>(JH (pí0* # ô < (Â#K| l8Ä#t]?í = *L&?Ur[æ(2I(T>Ll&?$'& IFç = {0ò7(JUFIä(JH $0(+] = ^^K(KH IZ#t8>\8 = UL*r(K]s#9{ = *7#9U = &?*r(G(+UG(J8lUr&?]?&?>§#98'UFl8 ^P* ='< (J>L>rl>KIDç·#t>r>r(+*r$'&?>r>r(+æ(J8'UG$'&?>rl(+]Z^ = l*]ê# <J= ææÆ#98PI(\I(.]s# < #9æ(+H *§#ëF`Gç·#9]?í = *r&?Ur[Pæ(I(>Ll&?$'&T*L(J^ = >r(Ð>rlP*Ä]ç·#9^^P*r(J8'Ur&?>L>§#9íA( IFç lP8(KæÆ#tUr*r& < (KIFç &?8'Ur(+*§# < Ur& = 8*L(J]?&ê#t8'UG]?(.IK(JH ^P]ê# < (Jæ(J8'UGIlæ = f UL&óé#Ð| ]s#$0#9*r&s#tUr& = 8¹IP(])lPæ&?8Z#98 < (0ëZmp(+UÄ#9]?í = *r&?Ur[Pæ(Ä#]ç·#%$0#98'f U7#9íA(GIDç (Jô Ur*L(TUL*J(J| >*§#9^P&)IP(G(JU\íG(JH 8K(JH *r&?è'l(Tð%&?]9é = 8 < UL& = 88(p(J8 UL(Jæ^P> *(JH (J]F$

(68) &?IK( H = (JU.#%$A( ù $ = &?* ÷ x+u5 %ø}úJëmp(+UrUr( (+H UrlI((JU> = 8 &?æ^]s#98'U§#tUr& = 8ÐIZ#t8>Ä]?($p(JH [& < lP])((Jã'^K(JH *L&)æ(J8'U§#t] eG`2a. m = 8

(69) U^Z(J*Læ&?>pI(.$0#t])&?I(+*G8 = UL*r(#9^^* ='< [P((+UK]ýç lUL&?])&?U( H IP(8 = Ur*L( < #9ÛL(Jl*K(J8>r&?UrlZ#tUr& = 8P>T*(JH (J]?]?(J>KI( <J= 8PIl&?Ur(05PUr(J]Fè'l( ]?(Âæ = 8'UL*r(J8'Up])(+>.(Jã'(Jæ^]?(J>TIP( ]s#îZíAl*r( yPë. Actionneurs. Véhicule(s) Détecté(s) IF Pas de Véhicule Détecté. Vision Locale Caméra Pan-Tilt-Zoom. Focalisation sur le véhicule le plus dangereux. OU. Détection des Voies. PTZ Tracking. R CiUPkðj. ÿ ÿ W:m X Y Z m l l0 m Ak vvuu vvuu vvuu vvuu vvuu vvuu vvuu vu vu vu vu vu vu vu. portée et champ de vision de la caméra PTZ focalisée sur le véhicule suivi. véhicule VELAC portée et champ de vision pour la détection avec la caméra grand angle. R C5U'wð. ÿ. W7m_pYqLr m ^ ltk W

(70) - . ÿ T R C5U%u4ð. portée et champ de vision pour la détection avec la caméra PTZ. ÿ

(71) Gÿ ÿ þ â#98>Â]ê#>L( <J= 8I(>r( < Ur& = 8F5Z8 = l>*§#t^^4(J]?])(+* = 8P>*7#9^&?I(+æ(J8'U ]?(J>.^P*r(Jæ&)(+*r>.*(JH >rlP])U7#9UL> = {Ur(+8

(72) lP>.^ = l*Â])(z>rl&?$'&DIDç l8Ð$p(JH [& < lP])( ^Z#t*.]s# < #9æ(+H *§#Y>cfe ù < é§ë ÷ y+ø}úJ5P^Z#9*LUr&?(&?æ^ = *rU7#98'Ur(ÂI( ]ç·#9^^P])&óf < #tUr& = 8îZ8Z#t]?(Æ$'&?>(+H ( ù $ = &?*îZíZëGkAúJëpâ#t8>]s#¹>L( < UL& = 8w5\8 = l> IK( H < *r&?* = 8>Kl8(Âæ(JH UL[ = I(KI(.IK(JH Ur( < Ur& = 8ÐI(K$p(JH [& < lP])(+>K>rl*p$ = &)(+> #9lPU = * = lUL&}(J| *r(J>%5.^P* ='< [(¡IP( < (+])]?(!Ix ( w Gyz m ÷ k5Kw5pu9ø}ú+5 è'l(8 = l>#%$ = 8>Iä(JH $0(+] = ^^K(JH (Ð(JUUr(+>rU(+H (n#%$A( < >rl <J< (J| >>rl*I(J> >(+H è

(73) lP(J8 < (J>pIDç &?æÆ#tí0(J>%ë7a.^*J(J| >Gl8( <J= l*LUr(KI&?> < l>r>L& = 8>rl*\]?(J>D*(7H f >rlP])U7#9UL> = {UL(J8'l>v5b8 = l> <J= 8 < ]?l(J* = 8>z>rl*]?(J> ^4(J*r>L^Z( < Ur&?$0(+>ÄI( 8 = >KUr*§#%$0#tlã2ë T. A s

(74) . lk W m. W:m5pYqLr m ^ X k. Ü à>áïÚ Y\#9* ïY>cfeñUL*§# < &?8í s5F8 = l> (J8'Ur(+8I = 8P>Ä]ç·#9>L>r(J*L$

(75) &?>L>r(Jæ(J8'U (J8Ð#98íA])(+>G>r&?Ur(K(+Uä# gJ&?ælUD(JUp(J8g ='= æ IFç lP8( < #tæ(JH *7# ù & < &59l8( < #tæ(JH *7#ÄcÂoq5 < é§ëAî4íZë 0úJ5'#%î48I(æÆ#t&?8

(76) UL(J8&?*\]?(.æ = Ur&óé2>rl&?$'&5 & < &\]s#$

(77) lP(q#t*r*r&«(J| *L(ÄIFç lP8¹$T(JH [& < l]?(052#9l < (J8'Ur*L(ÄI(]ç &)æÐ#9íA(K(JU#| l8(U7#9&?]?]?( è'lZ#9>L&¬f <J= 8>rU7#98'Ur(0ëFmp(JUrUL(8 = UL& = 8¹(J>LU#| *7#9^^* ='< [P(J* I( < (+])]?(I ( <g ='= æ Ur*§# < &?8í FIK(7H î48&?(IZ#98> ÷ x0xLør5 = l| >r(Jl]p]?( g ='= æ(J>LU #t>r>L(J*r$'&5J(JU\#9lãÂUr*7#%$0#9lãÂIDDç

(78) Al m ÷ xvj+ø'(JUDI# ( k<

(79) -kX m ÷ m % x % k r ø ë {. |~}}. m ^. ÿ W7mj[ T. R C5UiPð50LVa`. Détection et Suivi des Véhicules. \<!kl0

(80) -

(81) . noon noon noon noon noon noon noon véhicule VELAC portée et champ de vision pour la détection avec la caméra grand angle. R C5UPð. Localisation des Obstacles et des Voies. Localisation du Véhicule. T. T. Focalisation sur le "bout" de la route. R C +yð þ ÿ. ÿ. þ. þGÿ. T iU W:m

(82) QX #

(83) GG

(84) E

(85) W:m !

(86) %X !G -

(87) m W m m ^ W7mYpYqLr lk W m 'l m W XLZ ^ m -

(88) ¡m ] X W k A-¡ l W7m W:m !X m aGm ] m ' ¡# m m Xh m m ^ aXa m W:mYpYqLr m ^. ÿ. ÿ. Ðþ. Û ¥ pà Û;áJÝ×Ú Þ ¥§¦ ¥¤ ¨ áJàÂßª© ¥ e\8$'&?>r& = 8æ = 8 =

(89) < l]s#9&?*r(05t^]?l>r&?(Jl*L> < #9*§# < U(+H *r&?>rUL&)è'l(+> = l&?8'f IP& < (J>T^4(Jl$A(J8'U (+ô Ur*r(lUL&?])&?>(JH >G^ = l*pIK(JH UL( < Ur(+* ù ]ç·#9*L*r&«(J| *L(vú\I(J>K$p(7H f [P& < l]?(J>.#9lU = æ = {&?]?(J>Zð f* = lUr(!(JUÐ$ = &?(J>I( < &?* < l]s#9Ur& = 8DëK`D# ^ = >L&?Ur& = 8IP(¡]s#!* = lUr( I = 88(pl8(K&?8IP& < #9Ur& = 8Äè'lZ#t8

(90) UG#tlã ] ='< #9]?&?>§#tUr& = 8>F^ = >r>L&){P])(+>GI(J> $p(JH [P& < l]?(J>KIZ#98P>.]ç &)æÐ#%í0(0ëtì]D(J>LU#9lP>r>r&F^ = >r>L&){P])(I(IK(+H Ur( < UL(J* ]s# ^P*(JH >L(J8 < (KIDç = {>rU7# < ]?(J>F^ = Ur(J8'Ur&?(J]?>F(J8 IK(JH UL( < U7#98'U\I(J>\I*& )(+H *r(J8 < (J> (+8

(91) UL*r(]s#* = lUL(ÄIK(JH Ur( < U(JH (Ð(JU> = 8¡æ = I (J| ]?( íG( H = æ(+H Ur*r&?è'l( ÷ ïø = l IP(]?læ&?8Z#98 < ( ù < é§ë ÷ k'5Zw'5u%ø}ú+ë f <J= 8'U = l*L>K[ = *L & g = 8'U§#tlãÄ(+UT$A(J*rUL& < #9lã ÷ x%w'5

(92) wP50utørë0gÂ8(.$ = &?Url*L( (+>rU <J= æ^ = >(+H (ÆIFç lP8 íA*§#t8I 8 = æ{*r(I(Ð]?&)íA8(J>$A(J*rUL& < #9]?(J>(JU >Ll*rU = lUK[ = *r& g = 8'U§#9]?(J>%ë f = æ{*r(J>p^ = *rU(JH (J> ÷ Gx «'5kP52Gx %ørë fG>Lå

(93) æ(JH Ur*L&?(^4#9*K*§#t^^ = *rU #| lP8n#tã'($A(J*rUL& < #9] ÷ k5wP5'u9ørë fpæ = lP$0(Jæ(J8'Ur>vëAì]2(J>LU^ = >L>r&?{]?((J8¹( )2(JUI( IK(JH Ur( < Ur(J*]?(J> = {>f U7# < ]?(J>Â#.| ^4#9*rUL&?*;IP(K]ýç &?8'é = *ræÐ#%Ur& = 8Âæ = lP$0(Jæ(J8'U2^Z#9*GIP(J> < #t] < l]?> IPf( ¬ = Ur> = Ûr&?è'l(J> ÷ «ïøöë fKé = *ræ(J>vë4Y\#9* (Jã'(Jæ^]?(054l8!$T(+H [& < l]?(>r&?UrlK(ÄH ] = &?8¹IPl < #9ÛL(Jl* ^4(JlU (Jô Ur*L( <+= 8>L&)IK(JH *( H <J= ææ(¹(JH U§#t8

(94) UÂ(J>r>L(J8'Ur&?(J]?]?(Jæ(+8

(95) U < #9*7# < U(7H f *L&?>(H ^Z#9*K> = 8¹#9^P^Z#9*L(J8 < ( *L( < U7#98íAl]s#9&?*r( ÷ k5wP5'u9ørë ¢. £. ¥¤. <,®.%¯JKL2°®f:±4 ²<CD;7P<SD4?.0³N:±4 6ACD354:9H@ S-M<P5¯J(1´.0JµNR-P<6%S¶ JCDM<4#@E · SD@ K%R 9<M<P<CDH4>¸O-R-CD6%¹8<,ºG»¼,.

(96) f < #t*§# < U(JH *L&?>rUr&?è'l(J>íG( H = æ(JH Ur*L&)è'l(+> ù U§#t&?])]?(05A[Z#tlUr(JlP*§úJë f\Ur(Jã'ULl*r( ÷ xG+ø = lIK( H <J= æ^ = >r&?Ur& = 8(J8 = 8I(+])(+UrUr(+> ÷ x%i+ør59í0* # ô < (#| IP(J>ä#t]?í = *L&?Ur[æ(J>G#%å

(97) #98'UG#9^P^*r&?>p])(+> < #9*7# < U(JH *r&?>LUr&?è'l(J>.IP(J>T$p(JH [P&¬f < l]?(J>K(JU.^P* = ^P*r(J># | ]s#zæ(JH UL[ = I(lUr&?]?&?>(JH (0ë o = Ur*r(zæ(JH UL[ = I( 8Dç (Jã'^] = &?UL(è'l( < (J*rU7#9&?8(J>I( < (J> < #9*7# < U(7H f *L&?>rUr&?è'l(J>%ë. Images de la scene autoroutiere. Route. ½¾:¿. \e ]?]?(;>%ç·#9^^lP&)(>rl*Fl8 æ = I2(+| ])(FI(G* = lUL(T^]s#t8( ÷ i+ø'(JU\l8 #9]?í = f *L&?Ur[æ(KI(Iä(JH Ur( < Ur& = 8ÐI(+>.$ = &?(J> ÷ xLøDIK(+H $0(J] = ^P^ä(JH >.#9lÐ`2acd¹e\a (+UK>r( IK( H <J= æ^ = >r((J8¹w^[Z#t>r(J> ù < é§ë'î4íZë0úbð fägÂ8(IK(JH UL( < UL& = 8¡IP(Ä]ç = æ{*L(.^ = *LU(JH (I(+> $T(JH [& < l]?(J>#| ^4#9*f UL&?*IP(]ê#tè'l(J]?]?(ÄI(+> *(JH íA& = 8> IFç &?8'U(+H * (Jô UL> ù h5Âìrú> = 8'UIä(7H îZ8&?(J>%ë mp(+UrUr(ÂIK(JH UL( < Ur& = 8Æ(+>rUK*(%H #9]?&?>(JH (Â^Z#9*p>r(JlP&)]?]s#9íA(KI(.]ç &?æÆ#tí0(G(JUp^Z#t* (+H ])&?æ&)84#9Ur& = 8I(Jh> = æ{*r(+(> Z>L&?UrlK(JH (+>.[ = *r>KI(J>Â$ = &)(+> = ln#%å'#98'U IP(J> < #t*§# < U(JH *L&)>LUr&?è'l(J>píG( H = æ(JH UL*r&?è'l(J> ù U7#9&?]?]?(J>§úF8(K^ = l$0#t8'U <+= *f *L(J>r^ = 8PI*r(#| < (J]?])(+>.IDç l8( = æ{*r(K^ = *LU(JH ( IP( $T(JH [& < l]?(0ë f gÂ8(T#t8Z#9]?å'>r(G>LU§#tUr&?>rUL&)è'l(I(J>\í0*7#9I&?(J8'Ur>F[ = *L& g = 8'U§#tlãIZ#98P> (< JY> g = 8(J>^Z(J*Læ(JUzI( < &?{]?(J* ]?(J> $p(JH [P& < l]?(J> = {P>rU§# < ]?(J> ^ = UL(J8'f UL&?(J]?>.(JUIDçL(JH ]?&?æ&?8(J*pl8(í0*7#98IP(Ä^Z#t*rUI(J>Âéý#tl>r>L(J> IK(+H Ur( < UL& = 8> IPl(J> #9lã = æ{*L(J>.&?8 = ^^ = *rULl8(J> ù #t*r{*L(J>v5?ë?ë?ë·úJë2mp(JUrUL(#98Z#t]?å

(98) >L( <+= 8>L&)>LUr( #Ð| ]ç (Jã#9æ(J8¡IP(J>^* = ò7( < UL& = 8>$0(+*rUr& < #t]?((JU[ = *L& g = 8'f U7#9]?(¹I(]ýç &?æÆ#tí0(íA*§#9IP&)(+8

(99) U>rl*é = *ræ(ÆIP(¹$0( < Ur(Jl*L>v5Â(J8^*(7H f >L(J8 < (IFç lP8¹$T(JH [& < l]?(0ëD`F# <J= æ^Z#t*§#t&)> = 8¹#%$0( < < (Jlã!IDç l8¹æ = f I2(J| ]?(.I($T(JH [& < l]?( ù < é§ëAîZíZë «AúG^4(J*Læ(JUpl8( < ]s#9>L>r&óî < #tUr& = 8í0* = >f >L&}(J| *r(pI(J> = {>rU7# < ]?(J>\^Z#t*\]ýçL(JH ]?&?æ&?8Z#tUr& = 8.IP( < (+lãÄè'l&'^*(JH >r(+8

(100) UL(J8'U lP8(Ur* = ^Ðí0*§#t8I(I&?>r^4#9*r&?U( H ù (+8¹æ = åA(J88(K(JU¹( H < #t*rUfUå'^Z(%úK^Z#t* *7#9^^ = *LU.#9lÐæ = I2(+| ])(Aëâ.(^]?l>%5]?(J> < #t*§# < U(JH *L&?>rUr&?è'l(J> < #t] < l]v(JH (J>. Detection des voies & Modele de route plane. Detection des ombres. re-echantillonnage des images seuillage. Filtrage des ombres. Ciblage. Etablissement de regions d’interets. Calcul et projections des gradients horizontaux. T. Localisation des vehicules. Seg./Mod.. Analyse statistique. T. ÀÂÃÅ Á ÄÆfÇ5ÈfÃÉÈ ÃÅ Á ÊEÃË7ÇÌfÌ Ã Á Ã. R C5U<Pðj. Segmentation par LPE. Modelisation des contours. ÿ. \<kl%

(101) s

(102) fX5 Z m Dk W â5X X k X

(103). þÿ

(104). R CiU«PðÍ. þGÿ. kGX]- _XLZ G Î%m ] m ¼Ï°¡#Xh

(105)

(106) f 7W m. X G!

(107) W m m W !k * ÐGk Î Ñâ G ÏªXa G

(108) l W k7Ò-GAk

(109) ÓÎ%m ] X W. k ¼Ï. ù æ = åA(J88(J>%5%( < #9*LUfUå'^Z(Â(JUG#9ã'(KI(p>rå'æ(JH UL*r&?(vú\>Ll* < (+>G$0( < Ur(Jl*L> ^4(J*Læ(JULUr(J8'UI(IK(7H î48&?*lP8( < &?{]?(ª #| ]ç &)8'U(JH *r&?(Jl*> \IP(Ä]s#$'l( #t*r*L&}(+| *r( Il$T(+H [& < l]?(0ë2e\8 <J= æ{&?8Z#98'Up]s#^ = >r&?Ur& = 8ÐI(z]ýç·#tã

(110) (I( >Lå'æ(JH UL*r&?( $0(+*rUr& < #t]?(Ä(JU < (+])]?(I(]ç = æ{*L(.^ = *rU(JH (05\#9&?8>L&;è'l(]?( æ = I (J| ]?(I(Ð* = lUL(¹^]s#98(A5\8 = l>^ = l$ = 8> = {PUr(J8&?*#tl>r>L&.l8( ] ='< #t])&?>7#9Ur& = 8w0âI(J> = {>LU§# < ]?(J>vë f g.8(Ð>r(+í0æ(+8

(111) U7#9UL& = 8 I(Ð]ç #t*r*L&}(+| *r(IPl $p(JH [P& < l]?(Æ^4(JlU (+ô Ur*r( {= Ur(+8

(112) lP(q#| ]ç·#9&?I(ÂIDç l8¹#9]?í = *r&?Ur[Pæ(KI(]?&?í08(J>KIP( ^Z#9*LU§#tí0(I(J> (%#9lã259(J8 <+= 8>L&)IK(JH *§#t8

(113) Up]s# < &?{]?(KIä(7H îZ8&?( <J= ææ(Gl8æÆ#t>rè'l(p&?8'f U(JH *r&?(JlP*;(+UD]s#K5h Âì <J= ææ(DlP8 æÆ#t>rè'l(\(Jã'U(JH *L&?(Jl* ÷ 50x %ørëvmp(+UrUr( >L(Jí0æ(J8'U§#tUr& = 8é = lP*r8&?(]?(J> <J= 8

(114) U = l*L>ÄIPl $T(JH [& < l]?(05\è'l(8 = lP> æ = Iä(JH ]?&?> = 8P>(J8>rlP&)UL( > = l>Ð]s# é = *Læ(ÐIDç l8*r( < U7#98íA]?(0ëmp(+UrUr( UL* = &)>L&}(J| æ((JH U§#t^Z(!^Z(+*ræ(+UI( < #tI*r(J*¹#%$A( < l8(^]?l>íA*§#98PI( ^P*( H < &?>L& = 8]?(J>K$p(JH [& < lP])(+>KIZ#98>K]ç &?æÆ#tí0(p(JUK^ = l*r*7# >L(J*r$'&?*KIDç &?8&óf UL&s#9]?&?>§#9UL& = 8¹#z| l8¹#9]?í = *r&?Ur[æ(KI(*r( <+= 88Z#t&?>r>§#t8 < (0ë ½¾dÔ. ÕÖÃ Á ×Ø ËdÄÙLÄt×zÃÅÄxÈfÚ7×'Û?Ø ××'Ú7ÇÜ. mp(JUrUL(.æ(JH Ur[ = I(p^*(JH >r(J8'UL( < (J*LUr(J>KIP(J>GIK(7H é#9lUL>vë0c# <J= 8>LUr*Ll < f UL& = 8 ]s#*r(J8PIUr*J(J| >>L(J8>r&?{]?(¹#9lPã = æ{P*r(J>^Z#9*7#9>L&)UL(J> ù = æ{*r(+> IFç lP8n#t*r{*L(vúJ54I = 8'U.]?( Ur*7#9&?Ur(+æ(J8'UK*§#t]?(J8'Ur&?UK]ç #t]?í = *L&?Ur[æ(0ë'e\]?]?( 8K( H < (J>L>r&?Ur(!I(J>*(JH íA]ê#tí0(J>I(Ðæl]?Ur&?^]?(J> < *r&?UJ(J| *r(J>ÐI(>(JH ]?( < UL& = 8D5.

(115) T. R C5Ubxvjð ^5l%

(116) YX ;W -

(117) ÿ - m

(118) X Y m X Gÿ AGAk. è'l&4> = 8'UG#9lPU§#98'UGIP(K> = lP* < (J>KIFç (+*r*r(+l*r>%ëe\]?])(p8(K^4(JlU (Jô Ur*L(.(Jæ×f ^] = åT(JH (.è'l(ÂIZ#98P>Tl8 < #9IP*r(#tlU = * = lUr&?(J*%5 = l| ]ç (J8'$

(119) &?* = 88(+æ(J8'U ^*(JH >r(J8'UL(]ç·#%$0#98'U§#tí0(IDç (Jô Ur*L(#9>L>r-( g>rUr*Ll < ULl*(H (JUÂéý# < &?]?&?Ur(Ä#t&?8>r& ]ç·#98Z#t])å'>L(ÄI(]s#> < (J| 8( ù [ = æ = íG(+H 8ä(JH &?U(H I(]s#Ð* = lUL(05F8 = 8 ^*(7H f >r(+8 < (IDç = {0ò7(JUL> <J= æ^]?(Jã'(J>p^ = l$0#98'U (Jô Ur*L(&?8'Ur(+*r^*(JH U(JH > <J= ææ( l8$T(+H [& < l]?(05?ë?ë)ë·ú+ëDâÂ(^]?l>%5\(J]?])(8(^4(J*Læ(JU^Z#9>I(Iä(JH Ur( < Ur(J* I(J>$p(JH [& < lP])(+>.^*(JH >r(J8'UL>è'l(z^Z#9*LUr&?(J]?]?(Jæ(J8'UpIZ#98P>.]s#> < (+| 8( = l ='<J< l]?U(JH >vë4e\8'îZ8D5'(+])]?(Â8Dç (J>rU.#tIZ#9Û(JH (.è'lDç?#z| ]s#IK(JH UL( < Ur& = 8ÆIP($p(7H f [& < l]?(J>ÂI&?Ur>KI(U = l*L&)>Læ( = lÐlUr&?]?&?U§#t&)*L(J> ù < #tæ& = 8> <J= æ^*r&?>§ú4ð ]?( < #9>ÂI(J>Kæ = U ='< å < ]?(JULUr(J>K8Dç (J>LU.^Z#t>KUr*7# ôõ U(0H ë mp(J^4(J8IZ#t8

(120) U%59]?(J>D*(JH >rlP])U7#9UL> = {UL(J8'l>\>rl*\>(JH è'l(J8 < (+>TIDç &?æÆ#tí0(J> #9lPU = * = lUL&}(J| *r(J> ù < é§ëäîZíZëxvjAú> = 8'UÐIZ#98>Ð]ç (J8>L(Jæ{]?(¹>§#tUr&?>é#9&óf >§#t8'Ur>vëÂ`2(J>Ð$T(JH [& < l]?(J>Ð(J8'UL&}(+| *r(Jæ(J8'UÆ^P*(JH >L(J8'Ur>!IZ#98>]s# > < (J| 8( > = 8'UIK(JH UL( < U(JH >¹(JU&)]K8Fç åñ#!è'l(¹Ur*J(J| >Ð^Z(+lI(Ðéý#tl>r>L(J>IK(JH Ur( < f Ur& = 8> ù æ = &?8>GI(Gx ÝúJë`b(J>KUr(+æ^>KIDçL(JH ã'( < lUr& = 8 ù (J8'Ur*r(xvj0jz(JU k0jAj9æ>§ú\> = 8'U <+= æ^4#9Ur&?{]?(J>p#%$0( < l8( #t^^]?& < #9UL& = 8Ur(Jæ^>p*(JH (J]ë e\8'î48D5]s#IK(JH UL(J*ræ&?8Z#9UL& = 8I(J> = æ{*L(J>T^ = *LU(JH (+>(+U.I(]ç·#9ã'(.I( >rå'æ(JH Ur*L&)(Il!$T(JH [& < l]?(Iä(JH Ur( < U(H ^Z(J*Læ(JU>7#] ='< #t])&?>7#9Ur& = 8ÆI4#98> ]ç &)æÐ#9íA(T(JU#9l>L>r&F(J8¹w0â5'$'&ê#zl8Ðæ = I2(+| ])(ÂI(* = lUr( ^P]ê#t8(0ë ÖÝ×Ú×à5©ïßà\áJÝ×Ú ¥ Ûâá ¥ Üà>á ¥ àpÛ;á ¦_¥ à â#98> < (+U#9*LUr& < ]?(05P8 = l>.#%$ = 8>K^P*(JH >L(J8'U(H 8 = >KUr*§#%$0#tlã^ = l* IK(JH $A(J] = ^^4(J*Kl88 = l$A(v#9l < #9ÛL(Jl*KI(Â$'&)>L& = 8I(J>rUL&?8ä(H #| ]s#^Z(+*f < (J^PUr& = 8I(¹]s#!> < (J| 8(!é}* = 8'U§#t])(ÐIDç l8 $T(+H [& < l]?(¹&?8'Ur(J]?]?&?í0(J8'U(JU <J= æ^ = >(H IDç l8( < #tæ(JH *7#í0*7#98I!#98íA])(A5Z^ = lP*lP8($'&)>L& = 8¹íA] = f {Z#t])(IP(]s#Ð> < (J| 8(05(JUÄIFç lP8( < #9æ(JH *§#>Y cfe\5D^ = lP*Äl8P($'&?>r& = 8 ] ='< #9]?(¹#%$0( < l8(¹*(JH > = ])lPUr& = 8# <+< *rl(AëKì]?> = 8'U^ = l*]ç &?8>rU7#98'U ^ = *rU(JH >>rl* lP8¡^* ='< (J>r>Ll>I(>Ll&?$

(121) &I($T(JH [& < l]?(^Z#9* lP8( < #%f æ(+H *§#QY cfe (JU>rlP* l8¡#t])í = *L&)UL[æ(I(IK(JH UL( < UL& = 8¡IP(Ä$p(JH [& < lP])( ^Z#t*G$'&)>L& = 8 æ = 8 ='< l]s#t&)*L(0ëv`b(J>G*(JH >rl]?U7#9Ur> = {UL(J8'l>G> = 8'U;UL*J(J| >(J8'f <J= l*§#tí0(v#t8

(122) UL>vë o = >G^Z(+*r>r^4( < UL&?$0(J>Â> = 8'UGI4#98>G]ç·#9æ(JH ]?& = *§#tUr& = 8I(+>Tæ(JH Ur[ = I(+> IK(JH $A(J] = ^^K(JH (J>G(JU\]ç &?8

(123) U(JH í0*7#9UL& = 8Il < #tÛr(JlP*;I4#98>\> = 8 (J8>L(Jæ{]?(0ë ß. ã. Þ. Ü ¥ Úà ¥ à ÷ x øzhzëaÂl'é}*J(+| *r(0ëå k m

(124)

(125) m [G#

(126) - þ X W k 'Al m WÄþ æ

(127) -k mW A ç ¡ m ll% m k èm ] Z m Xé]m m k!XA ë cK[2(J| >r( I( ]ç g.8P&)$A(J*r>L&?U( H ST]s#9&?>L( Y\#9> < #9]5 mp]?(J*Læ = 8

(128) Uöf 6P(J*L*§#98PID5Z6P*§#t8 < (0!5 ê0l8( kAj0jxAë ÷ kïøzd ëSp(JU (052eKë $#9*r&?U7# = íA]?lD5#98I!`GëZâ#%$'&?>vëpdÐl]?Ur&?^]?($0(7f [P& < ])(I(JUr( < Ur& = 8#98IUL*§# < &?8í&)8ñ[Z#t*rI*L(v#9]UL&)æ(0ëì8 pW kXªk7ëYì ìA W m Ak m ` k ë- W G!akìæ w Px w 0iP:5 c = å = 5 ê

(129) #t^Z#98F50Gx « «0iPë A !- -

(130) 57^Z#tí0(J>\ ¥¤ ä ¥¤. ÷ wïøzd Jë Sp(JU (059eKë$#9*L&?U§# = í0]?lD57#98I`Gëvâ#%$'&?>vë$.&?íA['&K#%åK> < (J8( #t8Z#9]?å'>r&?>G&?8[Z#t*rI*L(v#9]4Ur&?æ(AëZì8 ì ì! ` k-ë->k ªìæ x « «0yPë A q%W:m t

(131) lk W m k j \

(132) -^h

(133) 5tS = >rU = 8D59gc'aÄ5'G ÷ utøzd ëGSp(JU (¡#98í I $ëGo.íAlå0(+8DÉ ë $.&?í0[ &K#%å > < (J8P( #t8Z#9]?å'>r&?> é«* = æÖ#æ = $'&?8íK$A(J[& < ]?(.l8PI(J*p*r(JIl < (JI$'&?>r&?{&?]?&?Uå <J= 8IP&¬f UL& = 8>%ë ì8 ì ìA ` k-ë-5k ìA ! 52$ = ]?læ(xA5 ^4#9í0(+> xvwx x%w0i5'c'ULlUrULí

(134) #9*LUv%5 (J*ræÐ#98'å'5 L(052e\od¹Y\54Y\#9*r&?>%56*7#98 < (A5DGx « «0jPë ^ m ^ÿ m AG > ÷ iïøzhzë;mp[4#9^l&?>%ï ë j þ Xl W ^_A þ -

(136) ª^ m ¡ m ll% m k m ] m k XA m k ^ m Gµ

(137) WW kA ð ë cK[ (J| >r(A5TgÂ8&?$2ë Sp]s#9&?>r( Y\#9> < #9]5mp]?(J*Læ = 8'Uöfö6FID5'6*7#98 < (05 ê'#98'lZ#9*Lå¡x ««xAë ÷ yïøN"ëvmp]s#9IPå

(138) 5J6pë9m = ]?]s#98íA(05J6p-ë êAl*r&?(059#98PIÄY\ëvd¹#t*rUL&)8P(JUvë0QY cfe UL*§# < &?8íé = * < #9*zI*r&?$'&?8í¹#9>r>L&?>rU§#t8 < (>rå'>rUL(Jæ>%ëìò 8 ñ°ó j m X m0þ m ` k ë-kíì^ m V m \

(139) -

(140) 5\^Z#9íA(Jª > 0iPx Ai0iP5'ST(J*Lí0(J8F5o = :* &K#%å

(141) 5 êAl8( k0jAjxAëcmpìakAj0jxAë ÷ ïøz6pëpâ.l < l]?Uå

(142) 5pd ëTâÂ[ = æ(05G#t8I6pEë êAl*r&?(0ô ë c;*7# < &?8í = é wAâ = {0ò7( < Ur>×é}* = æ #9^^4(v#t*§#98 < (0ëìÉ 8 j` ì V Z óõõñ95G^4#9í0(+> PG x 0kAk5AST(+*rí0(+8D5o = :* &K#%å'5 ê0l8( kAj0jxAë ÷ «ïÓø " ëe\8 (J]?æÆ#t88Dö ë G(J[& < ]?( IP(JUr( < Ur& = 8Ö{'å # ] ='< #9] = ^'f UL& < #9] ¬ = & $A( L^&s#9lD>ë Â&)>LlZ#9]2>L(J*r$ = &?8aí &K&?Urª[ g =

(146) = æ <+= 8'Ur* = ]ë c\( < ['f 8P& < #9]DhK(+^ = *rU.k0iPxvwP5'ìohKìa5 ê0l]?å!Gx «« ë ÷ xAx7 ø ê4ë aÄë'6Z#%å'æÆ#t8D<5 ëc'lIZ#t*r> å'5

(147) #t8IÆe¶ëhK&?$'])&?8D%ë e ='= æUL*§#%f < &?8íZëì8 ì ì! ` k -ë-k å kúkA

(148) m X V Ak^ m æ y 0w kAy P52`2(Jl$A(J8D5ST(J]?íA&)lPæ¡5 Ak 5\$ = ])lPæ(uZ5\^Z#tí0(J>kA d#%å¹Gx «« ë'ìrmKh¶aÄDç «Pë ÷ x%k% ø ûë $ = > = IZ#P5 $ëd = *L&?å

(149) #9æÐ#59#98PIÆd ëAa.>7#9IZ#Pë Â&)>LlZ#9]4>r(+*f $ = &?8í lPUr&?]? & g+&)8PYí g ='= ææ( < [Z#98P&)>Læ¡ëPì8 ì ì! ` k ë- y k å kúkA

(150) m X V Ak^ m Ak 5\$ = ]?læ(x05F^Z#tí0(J>Ðxv. x 0wP5'o#9í = å

(151) #P5 ê'#9^Z#t8D5d¹#%å¹Gx « «Pë'ìrmKhKaÄDç « ë ÷ x%w%øNhzë·d ëJì8&?í = 5ve¶ë cbëvd < (Jå

(152) 5%Së êZë%ST(+*rí0(+*v5'#98IÄd ë ê4-ë "&?*L:U g0ë d# < [&?8($'&?>r& = 8 #t^^]?&?(JI¡U = $A(J[& < ]?(í0lP&)I4#98 < (A ë p?VfÍ ì 5 i ù iAúJDð 0kAj Ak0iP59o = $A(Jæ{Z(+*x «9u4ë ÷ x+u9øN6pë ê0lP*r&?(T#98PIÄd ë9âÂ[ = æ(0ë c;*7# < &?8í = {0ò7( < Ur>G&?8&?æÆ#tí0(D>L(7f è'l(+8 < (J>Gð%#98 ( ü < &)(+8

(153) U\#9^^P* = # < [Dë9ì_8 å k! m

(154)

(155) m !X -

(156) ý k W ^_

(157) GhìA VW A ç 5\$ = ]?læ(!x05G^4#9í0(+> Aw0y 9u'i5'Y\#9*r&?>%56*7#98 < (A5Z6P(J{*rl4#9*råÐk0jAj0jëhÂ6FìaÄç·k0jAj0jë ÷ x % ø c hë û #9]?&?8 (05 më c5g = æÆ# #9>%5#t8î I " ë $2ë c'(J(+])(+8Dë a UL(Jã'Url*L(7f{Z#9>L(JI = {0ò ( r(+I < ]ê#t>r>L&¬î < #9UL& = 8Dë ì8 ì ì ` k ë-Yk u 5'c'UrlPUrUf ìA- G

(158) 5'$ = ])lPæ( x05P^Z#9íA(J>Äx+u

(159) w xJ í'#9*LUv5 (J*LæÆ#t8

(160) å'5 D#t8YI c ëvY = í0í0& = ëvaUr*7#9&?8Z#9{P])( = {0ò7( Lå'>rUr(+æ¡ðvmK#t*DI(+Ur( < UL& = 8&)8>LU§#9UL& < &?æÆ#9íA(J>vë%dÐdì c aÂìädn(Jæ = xviAy0w ù mpSämK`dÐ(Jæ = Gx 0jAúJ52x «««Pë ÷ x%y% ø $ëZYFé#988> < [æ&?IU%ëGc#%é}(+Uåæ(%#9>rlP*r(J>Â&)8ÐUL*§#98P>r^ = *rU7#9UL& = 8 >Lå'>rUr(+æ>vë×ìÿ 8 þ k W X W

(161) Z ` k þ k Í k úG A\ 5 ^4#9í0(+> Gx 0w x%y0i 5 $#t88 = $A(J*v5 (+*ræÆ#t8'å

(162) 5 ê0l8P(NkAj0jAjë ÷ x %øN`ë Â&)8 < (J8'Uvî ë V k W !^_

(163) Ñâk W lk k-

(164) îm ] ú m

(165) -zX m çQ

(166) xXZ AG!

(167) xGX m G

(168) x AG

(169) -k m W7m lt!-

(170) ë cK[2(J| >r(05Ae <J= ]?(Go#9UL& = 8Z#9]?(\I(J>GdÐ&?8(+>;IP(TY\#9*r&?>%5ïd#%åÄG x « «0jPë ÷ x «% ø ê4(ë e4&óé}(+8íZëa >L[Z#9I = & *L(}ò7( < Ur& = 8 #t])í = *L&)UL[æ é = * $A(J[& < ]?( ^P*r(J>L(J8 < (I(JUL( < Ur& = 8Dë\ì8 ì ìA ` k-ë->k [ìA 5 ^4#9í0(+> Gx 0k x 5'c'ULlUrULí

(171) #9*LUv%5 (J*ræÐ#98'å'5 < U = {Z(J*Gx « «ë.

(172)