Détection et suivi de véhicule par vision
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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($p(JH [& < lP])(+>vë ù `Gç! 9a.IZ#t^Ur&?$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 * ='< (J^UL&óé}>vë4Y\]?l>r&?(Jl*L>TUå'^4(J>KI( < #t^Ur(+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 < #9^UL(Jl*GI( $'&?>r& = 8Dë'ì]\I = &?U.*L(Jæ^P])&?*KU = lUL(J>])(+>.U # ô < [(J>I(^Z(J* < (J^UL& = 8 8K(7H f < (J>r>7#9&?*r(J> #N| l8(#t^^]?& < #9UL& = 8a.mKm¡ðAIK(JH UL( < UL& = 8Ð(JUT] ='< #t])&?>7#9Ur& = 8 IP(J>K$ = &)(+>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$'&s#Â>r(J>K# < Ur& = 88P(Jl*r> ù é}*L(J&?8>v5 # <J< (JH ]%(JH *7#9UL(Jl*v5?ë?ë?ë b < é7ë2îZí4ëTx%úJë\Y\#9*Ä#t&)]?]?(Jl*L>v5 < ( < #9^UL(Jl*I(J$'*7# ^ = lP$ = &?* (Jô Ur*L(ÄlPUr&?]?&)>( H ^ = l*K]s#IK(JH UL( < UL& = 8¡IP( $T(JH [& < l]?(J>#| < &?8K(7H f æÐ#9UL&)è'l(p]?(J8'Ur( = l¡#N| ]ýç·#t*r* (+ô Uv5 < (Âè
(57) lP&2&)æ^]?&?è
(58) lP(Gl8(^4(J* < (+^Ur& = 8 IFç = {>rU7# < ]?(J>] = &?8'U§#t&)8P> ù #tl I(J]#| I(¡x%j0jæ¡ë·úJëba < ULl(J]?]?(Jæ(J8'U%5 >L(Jl]?>D]?(J> < #t^Ur(+l*r>\I(p$'&)>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* < (J^UL& = 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 < #9^UL(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( < #t^Url*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#9æ^I(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( < U = lUKUå'^Z(I(æ = Ur&óé}> 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(.$0#t])&?I(+*G8 = UL*r(#9^^* ='< [P((+UK]ýç lUL&?])&?U( H IP(8 = Ur*L( < #9^UL(Jl*K(J8>r&?UrlZ#tUr& = 8P>T*(JH (J]?]?(J>KI( <J= 8PIl&?Ur(05PUr(J]Fè'l( ]?(Âæ = 8'UL*r(J8'Up])(+>.(Jã'(Jæ^]?(J>TIP( ]s#îZíAl*r( yPë. Actionneurs. Véhicule(s) Détecté(s) IF Pas de Véhicule Détecté. Vision Locale Caméra Pan-Tilt-Zoom. Focalisation sur le véhicule le plus dangereux. OU. Détection des Voies. PTZ Tracking. R CiUPkð j. ÿ ÿ W:m X Y Z m l l0 m Ak vvuu vvuu vvuu vvuu vvuu vvuu vvuu vu vu vu vu vu vu vu. portée et champ de vision de la caméra PTZ focalisée sur le véhicule suivi. véhicule VELAC portée et champ de vision pour la détection avec la caméra grand angle. R C5U'wð. ÿ. W7m_pYqLr m ^ ltk W
(70) - . ÿ T R C5U%u4ð. portée et champ de vision pour la détection avec la caméra PTZ. ÿ
(71) Gÿ ÿ þ â#98>Â]ê#>L( <J= 8I(>r( < Ur& = 8F5Z8 = l>*§#t^^4(J]?])(+* = 8P>*7#9^&?I(+æ(J8'U ]?(J>.^P*r(Jæ&)(+*r>.*(JH >rlP])U7#9UL> = {Ur(+8
(72) lP>.^ = l*Â])(z>rl&?$'&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§ëAî4íZ ë 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#%$0#9lãÂIDDç
(78) Al m ÷ xvj+ø'(JUDI# ( k<
(79) -kX m ÷ m % x % k r ø ë {. |~}}. m ^. ÿ W7mj[ T. R C5UiPð50LVa`. Détection et Suivi des Véhicules. \<!kl0
(80) -
(81) . noon noon noon noon noon noon noon véhicule VELAC portée et champ de vision pour la détection avec la caméra grand angle. R C5UPð. Localisation des Obstacles et des Voies. Localisation du Véhicule. T. T. Focalisation sur le "bout" de la route. R C +yð þ ÿ. ÿ. þ. þGÿ. T iU W:m
(82) QX #
(83) G G
(84) E
(85) W:m !
(86) %X !G -
(87) m W m m ^ W7mYpYqLr lk W m 'l m W XLZ ^ m -
(88) ¡m ] X W k A-¡ l W7m W:m !X m aG m ] m ' ¡# m m Xh m m ^ aXa m W:mYpYqLr m ^. ÿ. ÿ. Ðþ. Û ¥ pà Û;áJÝ×Ú Þ ¥§¦ ¥¤ ¨ áJàÂߪ© ¥ e\8$'&?>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$0(Jæ(J8'U2^Z#9*GIP(J> < #t] < l]?> IPf( ¬ = Ur> = ^Ur&?è'l(J> ÷ «ïøöë fKé = *ræ(J>vë4Y\#9* (Jã'(Jæ^]?(054l8!$T(+H [& < l]?(>r&?UrlK(ÄH ] = &?8¹IPl < #9^UL(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
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(104). R CiU «PðÍ. þGÿ. kGX]- _XLZ G Î%m ] m ¼Ï°¡#Xh
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(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. ÕÖà 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>$p(JH [& < lP])(+>.^*(JH >r(J8'UL>è'l(z^Z#9*LUr&?(J]?]?(Jæ(J8'UpIZ#98P>.]s#> < (+| 8( = l ='<J< l]?U(JH >vë4e\8'îZ8D5'(+])]?(Â8Dç (J>rU.#tIZ#9^U(JH (.è'lDç?#z| ]s#IK(JH UL( < Ur& = 8ÆIP($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 < #9^UL(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 < #t^Ur(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!X A 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&?^]?($0(7f [P& < ])(I(JUr( < Ur& = 8#98IUL*§# < &?8í&)8ñ[Z#t*rI*L(v#9]UL&)æ(0ëì8 pW kXªk7ëYì ìA W m Ak m ` k ë- W G!ak ì æ w Px w 0iP:5 c = å = 5 ê
(129) #t^Z#98F50Gx « «0iPë A !- -
(130) 57^Z#tí0(J>\ ¥¤ ä ¥¤. ÷ wïøzd Jë Sp(JU (059eKë$#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 ªì æ 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 < U = {Z(J*Gx « «ë ÷ ïøzcbëGSp(Jl < [(J*%î ë j d^a m kïXLZ ^ m -
(135) _^ak W lk k ë cK[2(J| >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 X A m k ^ m G µ
(137) W W k A 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 ó õõ ñ95G^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] ¬ = & $A( < U = * < #t] < l]s#9Ur& = 8Dë ì÷ 8 <øAù ìA ` k W -
(143)
(144) k7ë ! W klt m V k ^_k úG G! W
(145) ` kkl W7m Ak ë e aeGmDç «P52Gx « «ë ÷ x%j%øSëe\>L^&s#9lD>ë Â&)>LlZ#9]2>L(J*r$ = &?8aí &K&?Urª[ g =
(146) = æ <+= 8'Ur* = ]ë c\( < ['f 8P& < #9]DhK(+^ = *rU.k0iPxvwP5'ìohKìa 5 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 û ë $ = > = 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 $2ë c'(J(+])(+8Dë a UL(Jã'Url*L(7f{Z#9>L(JI = {0ò ( < U I(JUL( < UL& = 8 #98I #98 #9I4#9^UL&)$A( æ = I(J]ófý{4#9>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 < U = {4(J*Gx «« ë ÷ x%i%øNmë·Y\ëJY\#9^4#9í0( = *ríA& = l>D#t8YI c ëvY = í0í0& = ëvaUr*7#9&?8Z#9{P])( = {0ò7( < U IP(JUr( < Ur& = 8 >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) Ñ^ak 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)
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