• Aucun résultat trouvé

Autocalibration itérative de caméras à partir de structures planes

N/A
N/A
Protected

Academic year: 2021

Partager "Autocalibration itérative de caméras à partir de structures planes"

Copied!
8
0
0

Texte intégral

(1)

HAL Id: inria-00525632

https://hal.inria.fr/inria-00525632

Submitted on 26 May 2011

HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci- entific research documents, whether they are pub- lished 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.

Autocalibration itérative de caméras à partir de structures planes

Eric Noirfalise, Frédéric Jurie, Peter Sturm

To cite this version:

Eric Noirfalise, Frédéric Jurie, Peter Sturm. Autocalibration itérative de caméras à partir de structures planes. Journées ORASIS, May 2003, Gérardmer, France. pp.157-164. �inria-00525632�

(2)

+-,/.10324,567.98:2;*.3032<2=,?>8:2(@A5CB30324,5C>&D%B:2(EF.:G<>DIH"@J2DK2&0LEF8M.3DK.NE

O"PRQTSVUW1QTPXZY3[TQ]\^:_R`aP-b^dcb^dPRQTSfe3g&PRQT^:_^ihjk^ihC^iPl-hCg&Pmon

p

_qrsl&tuO"swvyxKU{zl}|tuz~1~3€NF`&|ƒ‚&QT„3^dP\RQThFb^V…y[AYMQ]\R^?vj†Y3\RSdY3[J`~1‡ˆŠ‰3€‹sg&Œ&QJ^dPR^

p

n/qyŽU{zŽsz†W1‚^‘vs[]’4^d\i`~N“1“‹Y”„1^i‚'g&^•c&^V[—–˜O"g&PW1’7^M`&‡1™3‡1‡1€št›W1‚NhRŒ7W1‚‚&W3hl-hdœ4tuY3PhRQ]‚

ž‘ŸC 3¡£¢?¤/ŸžC¥?¦R§/ŸC¨C©C§C¦/¨JªdC¦1¡£«C¢iŸ¬?­®C¯i §RRžª”¤¢/°'¡T¥Cž

±³²

´Fµd¶†·

²

´

¸º¹»d¼½¿¾JÀ¹ÁÂÀÄÃŽ¿ÆÅ¾RǑ»dÈRÉi¼»iÈRÉd¼ÃÊ»/À?˾JÁľJ¼Â¼ÂÈR»d¼ºÌ¹kÆÎÍÉiÀÄÃÅÆÅÃżĹÀÄÃÅÈR»yÏ:ÍÈRБÑ

Ò]¾JÀļÓiÆÊ¹»d¼Ïd¹»d¼-ÆÊ¾J¼ÓiÁÄÈ/½J¾¿¼Â¼ÂÉd¼Ï:͹ɑÀÄÈ/½¹ÆÅÃÅÐiÁZ¹ÀÄÃÊÈ»yϑ¾(½¹Ô˾JÁZ¹¼¿Õ

ÖM¹†Ô˾JÀÄ×iÈ?Ïi¾7Ø/Éd¾4»dÈRÉi¼&ÓiÁÄÈÓÙÈR¼ÂÈ»d¼ÓÙ¾JÁÄÔ"¾JÀ&Ïi¾4Á‘˾¹ÆÅÃż¾JÁ(ÆÎ͹ÉiÀÄÈÑ

½¿¹ÆÅÃÅÐiÁZ¹ÀÄÃÅÈ»•ÏŠÍÉi»d¾½¹ÔV˾JÁZ¹KÈRÐi¼Â¾JÁÄÚR¹»/ÀÉi»ÈRÐ?ÒA¾JÀÓdÆÊ¹»d¹ÃÛÁľÃÅ»‘Ñ

½JÈR»d»?ÉÜ̹{ÆÎ͹ÃÊÏi¾ƒÏi¾Ý½¿ÃÅ»dØVÃÅÔ¹ÞR¾¿¼ÈRɕÓdÆÅÉd¼Ï‘¾ÝÆßÍÈБÒ]¾JÀÕ&ày˾¹»‘Ñ

Ô"ÈÃÅ»d¼¿Ç”½J¾JÀÂÀľáÔV˾JÀÄ×dÈ?ϑ¾ºÚ?Ãʼ¾áÓiÆÊɑÀâÈÀ7Ïi¾J¼)¹ÓdÓdÆÅÃŽ¹ÀÄÃÊÈ»d¼)Ïi¾ºÀ]ã‘ÓÙ¾

¹ÉiÀÄÈ/½¹ÆÅÃÊБÁZ¹ÀÄÃÅÈR»oä]Àľ¿Ô"Ói¼åÁ?˾¿¾JÆkÚ?ÃÊÏF˾JÈRäÏd¹»i¼KÆÅ¾¿¼ÄØ/Éd¾¿ÆÅ¼Ýϑ¾ƒÀÂÁ¿Ì¾J¼

»iÈRԆÐiÁľ¿Éi¼Â¾¿¼1ÃÅÔ¹Þ¾¿¼-ÏiÈRÃÅÚC¾J»?À&⾗ÀÂÁľÀÂÁZ¹ÃÛÀ‘˾¿¾¿¼¿ÕCÖ3¹4ÓdÆÅÉdÓd¹ÁÂÀ-Ïi¾J¼'¹ÆÛÑ

ÞÈÁÄÃÛÀÄ×dÔ"¾J¼1ÓiÁÄÈÓÙÈR¼?˾¿¼'Ïi¹»d¼NÆÊ¹4ÆÊÃÛÀÂÀ?˾JÁZ¹ÀÄÉiÁľF¼ÂÈR»/À-¹¼Â¼Â¾¿æÔ¹Æ?¹RÏi¹Ó‘Ñ

À?˾J¼Ì¹½J¾ºÀ]ã‘ÓÙ¾áÏi¾Ó‘ÁÄÈRÐdÆÄ˾¿Ô¹ÀÄÃÊØ?Éi¾ºÏi¹»d¼(ÆÊ¹RØ/Éi¾¿ÆÅÆÊ¾áÆÅ¾áÚCÈRÆÅÉiÔ"¾Ïi¾

ϑÈR»i»&˾¿¾¿¼å¾¿¼AÀÀÂÁ̾¿¼yÃÅÔ"ÓÙÈÁÂÀZ¹»/ÀÕç1ÈRɑÁyÁ?˾¿¼ÂÈɔÏ?Áľƒ½J¾Ó‘ÁÄÈRÐdÆè̾¿Ô"¾Ç

»iÈRÉi¼7ɑÀÄÃÊÆÅÃżÂÈR»i¼7Éi»d¾á¹ÓdÓiÁÄÈ/½Z×d¾áÃÛÀ‘˾JÁZ¹ÀÄÃÊÚR¾kÐd¹¼/˾¿¾á¼ÂɑÁ)ÆÅ¾é”ÆÛÀÂÁľkÏi¾

ê ¹ÆÅÔ¹»MÕdëה¹Ø?Éi¾º»dÈÉdÚC¾JÆÊÆÅ¾ºÃÅÔ¹ÞR¾ºÓÙ¾JÁÄÔ"¾—ÀÆÅ¾½¹ÆÅ½¿ÉiÆ3ϊÍÉi»d¾)Áľ—Ñ

½JÈR»d¼AÀÂÁÄÉi½JÀÄÃÅÈR»åÓiÁÄÈÒA¾¿½—ÀÄÃÊÚR¾ºÏiÉåÓdÆÊ¹»åÈÐd¼Â¾JÁÄÚ'˾RÕdë¾JÀÂÀľ4Áľ¿½¿È»d¼AÀÂÁÄÉd½—Ñ

ÀÄÃÅÈ»MÇ»dÈRÉi¼-¹ÆÅÆÅÈR»d¼'ÆÅ¾Ô"ÈR»/ÀÂÁľJÁÇÓÙ¾JÁÄÔ"¾—À-Ïi¾ÁZ¹ì"»d¾JÁ-ÆÊ¹)¼AÀÂÁÄÉi½JÀÄÉiÁľ

Ô˾—ÀÂÁÄÃíØ/Éi¾ºÏi¾)Æí¹î¼Â½Ì¾¿»d¾"̹kÀÂÁZ¹ÚR¾JÁļ(ÆÊ¾ºédÆÛÀÂÁľÏi¾ºïá¹ÆÅÔ¹»MÕ

ðñò

µÜó•ô

²

´-µ

õ

ÉiÀÄÈ/½¹ÆÅÃÊБÁZ¹ÀÄÃÅÈR»:ÇdÈБÒ]¾JÀļ4ÓdÆÊ¹»i¼¿ÇiédÆÅÀÂÁľºÏi¾ºïá¹ÆÊÔ¹»

ö

BNEN,032º8N,

÷Zøù˜ú?û˜ü&ý‘þ—ýiÿÿ(ýÂÿ—ü¿ÿ—øiù4þøûèùTÿÂþùÎûÿþ Zûèù˜úÄþÿAþ

þ‘ùÄþûÂþùÎûøÿ !"Äÿ#û£ÿ'ükþø$?ø&%ø'ý'Åþ(

ø”þüZÿ—øŠÿ)+*,ù˜ú& ú-."ÿ—ù˜ú/0123%†ýû0/ÿ40#+ÿ"ûßÿ-ü35

ÿþû<ù˜údÿ"ý‘þZùÎû&Åþ6ÄþüJÿ798:ÄÿÂþ4ùÎûÿ;û0/ÿ48†þ?ùÄþû(

AþùÎûøý<4Êÿ†ü11ú?ûZúfûèø/ÿ—üÝþø‹û)ý&—ù£þøiù†ø/Zÿ$

û:"þ /ÿ—ü)$=Kÿ6?üJÿ40 þfüÄùÂþùÎû&ÿ40 þ—ýCýZú ù>3)ý<‘ùTÿþ9ÿ(

ùZû?Äÿ43ødüÄù@<JùÎûøABÄþ"ÿÂþkþø'0üZÿ—øŠÿ(üÄù@/Jù&Âÿ)”÷Zøåþ+ZüÄù

üÄùTÿTý5Cÿ?@)ý?ùTÿ7þý<4EDÿ4JùÎûÿBÄÿ43ødüÄù@/JùÎûøAEüZÿ—øÙÿ(üÄù/(

ùÂÿA?üÄûèø ýÅþøÙþú/"3 Âþ—ýiúGFG)"HMú?ûèüûèøiùTÿ"ÿ40ûßþùTÿ1Äÿ43øiü(

ù@/JùÎûøKû˜üB‘üJÿ40ûèøyþ†üJÿ4@ø'0ùÎû"ÿ7ûèøKþ#I†þ"þøJFûùTÿK1ú?ûZú

ÿ—øiü3&ÂÿkûèùÎüLÂÿ4JùÎûMÄþùÎûøùÄÿ43ÿ!ÿ—ùZû(ý<4—ýiÿZùÎû£ÿ—ü)

N .PO?Q >03G(E

*K?ùÄþûAþùÎûø/5MýÅþøÙþüZÿ—øŠÿ5RI†þîþø.2ùTÿ

S T

y&

)&

UVXWVY:Z\[^]V_Z:`&acbRdeCaCfgWVhif]VjW`&a^kZk3_fmlVjfk3_Z\h;f]>kfk

n

V]Vholfp_]fkoZ\a<_]Z:a^klfq<eCfksrt`'WVY:f&u

n

`/Z\a<_

n

]Z:a^WpZ

n

VYEuwv:v\vyx

lVzY{dVZb'fXbRdeCa|`&[C}3fp_~Bif`&hif_]Z:q<eCfh1fa<_sW`&aCaeV

n^n fYpif

h1Z:]f€b'f€WV&Y\Z:[C]V~&f/v.,f

n

]`Wfkk@e‚k

n

f]h;fp_ƒbCf>tV&WpZ:Y:Z„_f]

Y:V…]fW†Cf]W†Cf!bRdZ:a't`&]hAVG_Z:`&a‚kB_]Zb'Z\h;fa^k@Z:`&a^aCfY:Y\fk,keC],eCaCf

kWlfaCfV

n

]Z:`&]Z'Z\a^W`&aCaeCf/v&U+`/]kq<eCf#Wpf_?`&['}3f_Kb'f!WV&Y\Z:[C]V~/f

fk@_A~Bif`/hifp_]Zq/e^fh;fa<_‡Z:a^W`&aCae+uB`/a

n

V&]Y:fob'f

n

]`'Wfkk@e^k

bRdVe'_`WVY:Z\[^]V_Z:`&a+v

,fp_;V]_ZWpY:f

n

]Cifkfa<_f$e^aCf6hifp_†C`'b'f

n

f]h;fp__Va<_1Y{dVe'_`ˆ

WV&Y\Z:[C]VG_Z:`&a‡Z„_Cif]VG_Z\‰/fŠbRdeCaCfWVhif]V.`&[^kf]‰GVa<_Me^aCfkWlfaCf

n

YVaCf/v‹BV&]MV&e'_`'WVY:Z\[C]VG_Z\`/a`&a1fa<_fa^bwYV ]fW†Cf]W†CfKb+dZ:a'ˆ

t`&]hAVG_Z:`&a‚k6hifp_]Zq<eCfk-keC]oY:VkWlfaCfŒ`&[^kf]‰KifffaXYEdV['ˆ

k@fa^Wpf.b'f bC`&aCaLiffk,k@eC]ŠY:fk

n

V]Vholfp_]fkBZ:a/_]Z:a^klfq<eCfkKb'f Y:V

WV&hif]V^u/keC]LkV

n

`<k@Z\_Z:`&a6k

n

V_ZVY:f!fp_#keC],YEd`&['}3f_,`&[‚k@f]‰,if&v

Ž`/e^kKa^`&e^k

n

YVRWp`/a^kKbC`&a^W.bCVa^k,Y:f.WV/k,b+deCa^f WVhif]V"aC`&a

WV&Y\Z:[C]Ciff `&[^kf]‰GVa<_Še^a-`/['}3fp_

n

Y:V&a7~Bif`&hif_]Z:q<eCfh1fa<_ŠZ:a'ˆ

Wp`/aCae+v

U?de'_Z:Y:Z:kVG_Z\`/a;b+d`/['}3fp_k

n

YVa^k

n

`&e^]?Y{dVeC_`'WV&Y\Z:[C]VG_Z:`&a

n

]Cifpˆ

k@fa<_f"b'fe'6V_@_]V&Z„_k,hAV}3feC]k

n

V]L]V

nCn

`&]_"lV‡Y{de'_Z:Y:Z:kVG_Z\`/a

bRd`&['}3f_k#_]Zb'Z:h;fa^kZ\`/aCaCfY:kq<eCfY:W`&a^q<eCfkv’‘…deCaCf

n

V]_!Y:fk

k@e^]@tV/Wpfk

n

YVaCfk.k`&a<_"Z\a‚b,ifaCZV[^Y\fh1fa<_.Y:fk

n

]Z\h;Z\_Z:‰&fk Y:fk

n

Y:e^k1]f

n

]Cifk@fa<_Ciffk‡b^Va^k1Y:fk;kWlfaCfk;b'f7YVŒ‰Z\foWp`/eC]V&a<_f&u

Wpf"q<eCZ

n

f]h;fp_#bRdfa‰Z:kV~/f]?e^aCf"Y:V&]~/f~/V&h1h;f bRdV

nCn Y:Z:WVGˆ

_Z:`&a^k

n

`&eC]Wfp_VY:~&`/]Z\_†^h1f/v'‘…dVe'_]f

n

V&]@_#YV…]fW`&a^k@_]e^Wˆ

_Z:`&a

n

]`}3fW_Z\‰/f6b'f6kWlfaCfk

n

Y:V&aCfku

n

†^V&kf$Z:a<_f]hifb'ZVZ:]f

b'fwWV&Y:WeCY+e'_Z\Y:Zk'iff

n

V]a^`_]fVY:~&`/]Z\_†Ch;f/u'fk@_!V&kk@f“"V&Z:kCiff

Wp`/h1h;faC`/e^kLY:fw‰&f]]`&a^kLbCV&a^kLYV

n

]fh;Z{lf]f

n

V&]@_Z\fwb'fwWfp_

V]_ZWpY:f&v

” aŒbCZ:k@_Z:aC~&e^f$bCVa^k"YVoY:Z„__Cif]VG_eC]f;bCfe'

n

]Z:a^WpZ

n

V&Y\fkV

n ˆ

n

]`W†^fk$b'e

n

]`/[CY{lfh;fƒbRdVe'_`WVY:Z\[^]V&~&fŒ•,Y:fk

n

]`'Wfkk@e^k

b'Z:]fW_kLf_#Y\fk

n

]`'Wfkk@e^kLk@_]VG_Z„–#ifkv

U?dVe'_`'WVY:Z:[C]V&~&fLb'Z:]fW_f/uG_fY^q<eCfY:f

n

]`

n

`/kf"—˜™u&W`&a^kZ:k@_f

lVƒfk3_Z\h;f];bCZ\]fWp_fh;fa/_;Y:fk

n

V]Vholf_]fk‡Z\a<_]Z:a^klfq<eCfk‡fp_

fp_]Z:a^klfq<eCfkob'fk9WV&hif]V/kšVZ:a^kZwq/e^f€Y:Vg~Bif`&hif_]Z\fsb'f

Y{d`&[C}3fp_m`/[^kf]‰Kif›faœ]fk

n

fW_Va<_XeCa^fk@_]e^W_eC]f›fe‚WpY:Z„ˆ

b'Z:faCaCf/v

‘.V&a^k#eCa

n

]`'Wpfkke^k#bRdVe'_`'WVY:Z:[C]V&~&f"k3_]V_Z\–#ifA—ž™Eu‚Wpfwq<eCZ

fk@_AY\fšWV/kAb'foaC`_]fohifp_†C`'b'f&uBYVŒ]fWp`/a^k3_]e‚W_Z:`&ab'fšY:V

k3_]e‚W_e^]f7fe^WY\Zb'Z:faCaCfob'e

n

]`/[CY{lfh;f6a+dfk@_

n

V&k1`&[C_faeCf

b'Z:]fW_fh;fa<_v

” a n

]`'Wlfb'f€bCV&a^k9e^a

n

]fh;Z\f]š_fh

n

kglV

eCaCf]fWp`&a‚k3_]e^Wp_Z:`&a

n

]`}3fW_Z\‰/f€b'fYVXk@_]e^Wp_eC]fb'fgY:V

kWlfaCf

n

`/eC] fa^keCZ\_f1fpŸPfW_eCf] eCaCf1]fW_Z„–’WVG_Z\`/a

n

f]h1f_@ˆ

_V&a/_bRd`&[C_fa^Z\]kV;k3_]e^Wp_eC]f fe^WY\Zb'Z:faCaCf/v

Ž`&_]f[Ce'_sfk3_sb'f

n

f]h;fp__]fYEdVe'_`WVY:Z\[^]V_Z:`&acbRdeCaCf

kWlfaCf

n

Y:V&a^VZ:]fbCVa^kKeCa$Wp`/a<_fp_f!b'f! 3_fh

n

kK]CiffY‚‰<ZbŠif`/ pv

,fWZKk@e

nCn

`<k@f6Y\fA_]V&Z„_fh;fa<_…bRdeCaCf6~&]Va^b'f$q<e^V&a<_Z\_Cif$b'f

b'`&a^aŠiffkLfa-eCa-_fh

n

k#_]lfkŠ]fk3_]fZ\a<_v

U+fk‡hif_†C`'b'fk

n

]Cifk@fa/_Ciffk‡bCV&a^ko—˜G™fp_š—ž™k@`/a/_

n

fegfptˆ

(3)

bRdZ:hAV~/fkvZ:a^k@Z‡—ž™

n

]`

n

`/kf-e^aCfšhifp_†^`bCf9bRdV&e'_`'WVY:Z„ˆ

[C]V_Z:`&aŒ[^V&kCiff;keC]Y:V-]Cifk`&Y:e'_Z:`&aŒbRdeCa

n

]`/[CY{lfh;f1bCfAh1Z\ˆ

aCZ\h;ZkV_Z:`&azaC`/amY:Z\aLifVZ:]f&va^fs_fY\Y:fshifp_†^`bCfsfk@_š_]lfk

f$WV/Wpf>Y\`/]kq<eCfŒY{d`&a b'Zk

n

`/kfsb'f€q<eCfYq<eCfko‰eCfkš 3[CZ:fa

W†C`&Zk@Z:fk ŠhAVZk!b'f‰<Z:fa<_"V&kk@f“wWp`&a<_]V&Z\~/a^Va<_fkZYEd`/aƒb'`/Z„_

i

fW†^V&a/_Z\Y:Y:`&aCaCf]ŒbCfk>Z:h;V&~&fkŒb^Va^kŒeCaCf ‰Zb,if`|rkf

n

`<k@f

fa

n

V&]@_Z:WeCY\Z:f]AY:f

n

]`&[CYElfh;fšb'ejW†C`/Z„ bRdZ\hAV~/fkA 

n

f]@_Z„ˆ

aCfa<_fk xv

aCf#hifp_†C`'b'f#b'fWV&Y\Z:[C]VG_Z\`/a7rf_?aC`&a

n

V/kBbRdV&e'_`'WVY:Z\[C]VGˆ

_Z:`&a‚x

n

]^ifkfa<_CiffLbCVa^k!—™

n

f]h;fp_?b'fkdVGŸP]V&a^W†CZ:] bCfLWfp__f

n

†^V&kf7b+d` n

_Z:h;Z:kVG_Z\`/a

n

V];YV9Y:Z\aLifV]ZkV_Z:`&a€b'egk'k@_lfh;f

bRdZ:a^W`&aCaeCfkv

UV hifp_†^`bCf

n

]Cifk@fa/_CiffLbCVa‚k#—˜G™EuG[CZ:fa;q<eCf

n

]Cifkfa<_V&a/_ eCa

WV]V&Wp_lf]fB]CifWeC]kZ\t3ua+dfk@_

n

V/k+fa<‰ZkV&~&fV[CY:fBaC`&a

n

Y\e‚k2bCV&a^k

aC`_]f;WV/k

n

e^Z:kq<eCf‡Y:f1aC`&h‡[C]f1b'f

n

V]Vholfp_]fk‡lV7fk@_Z:h;f]

Wp]` \_LY:Z:aŠifV&Z\]fh;fa<_#V‰&fW!Y:faC`&h‡[C]f bRdZ:h;V&~&fkŠ_]VZ\_Ciffkv

Ž`_]f$V

nCn

]`'W†CfAk3_]V_Z\–Liff$b'e

n

]`/[CY{lfh;f$bRdV&e'_`'WVY:Z\[C]VGˆ

_Z:`&ašfk@_1lVA]V

n^n

]`'W†Cf]b'f6—™Mq<eCZ

n

]`

n

`/kf"eCaCf…hif_†C`'b'f

bRdV&e'_`'WVY:Z\[C]VG_Z\`/a b'Z\]fWp_f€hAV&Z:kƒZ„_Cif]VG_Z:‰&fe'_Z:Y\ZkVa<_ƒeCa

`&['}3f_

n

Y:V&a^VZ:]f/v

Ž`&e‚k,ke

nCn

`/kf]`&a^k,bCVa‚kKYV…keCZ\_f"q/e^f!Y:fk

n

V]Vholfp_]fk?Z:a'ˆ

_]Z\a^klfq<eCfkwb'f7Y:VšWVhif]Všk@`/a<_‡b'fk…‰GV]Z:V&[CY\fk"Z\a‚Wp`&a^a<e^fk

h;V&Z:k…Wp`&a‚k3_Va<_fkv,f6q<eCZ?]f‰Z:fa<_6lVšb'Z:]fAq<eCf;_`/e'_fkY:fk

Z\hAV~/fk"b'f1Y:Vok'ifq<eCfa^Wpf1`&a<_ƒifp_CifAV/Wq<eCZk@fk1lV7Y{dVZb'f;bRdeCaCf

WVhif]VŠZ:a^Wp`/aCaeCfBhAVZk+b'`&a<_+Y:fk

n

V]Vh-lfp_]fkPZ\a<_]Z:a^klfq<eCfk

]fk3_fa<_Wp`&a‚k3_Va<_kv

UV

n

]fh1ZElf]f

n

V&]@_Z\fŒb'fWfp_-V&]@_Z:WY\fƒfk@_-Wp`/a^kV&Wp]^iff€lVY:V

n

†^V&kf!b'f.]fWp`/a^k3_]e‚W_Z:`&a

n

]`}3fW_Z:‰&fbCfY:V‡kWlfaCf/v/U2V]fWˆ

_Z\–‚WV_Z:`&ambCfŒWfp_@_f>]fWp`&a‚k3_]e^Wp_Z:`&a

n

f]h;fp_uŠ_fYwq<eCfŒY\f

n

]Cifk@fa<_f;Y:V

n

V]_Z:f$b'fe'Rub+dfk3_Z\h;f]YVo~Bif`&hifp_]Z:f;fe^WY\Z\ˆ

b'Z\faCaCfwb'fwWfp__fwkWlfa^f&vCUV‡_]`/Z:kZ{lfh;f

n

V]_Z:f"bŠifWp]Z\_Y{de'_Z\ˆ

Y\ZkV_Z:`&aob'eo–^Y\_]fb'fVY:hAVa-bCVa^kY\f

n

]`'Wpfkke^kLbRdVe'_`ˆ

WVY:Z:[C]V_Z:`&asZ\_Cif]V_Z:‰&f&v?a'–‚a+uMb^Va^k…eCaCfoq/e‚VG_]Z{lfh;f

n

V&]@ˆ

_Z:f&uaC`&e‚k

n

]Cifk@fa/_`&a^k,q<eCfYq<eCfk,]Cifk@e^Y„_VG_k,fp

n if]Z:h;fa<_V&e'

VZ:a^k@ZPq<e+deCaCf"Wp`&h

n

V&]V&Z:k`&aAV‰/fW#eCa^f.hifp_†C`'b'f

n

Y\e^kLWY:V/k3ˆ

k@Zq<eCf"e'_Z:Y\ZkVa<_#eCaCf`

n

_Z:h1ZkVG_Z:`&a-aC`/a7Y:Z\aLifVZ:]f.~/Y\`/[^VY:f&v

y!'&()&y $

)&

!å#

$

‘.V&a^kBWpf_@_f

n

V&]@_Z\f/uaC`&e^kBk`&e^†^VZ\_`/a^kfk3_Z\h;f]Me^aCfL]fWp`&a‚k3ˆ

_]e^W_Z\`/a

n

]`&}3fWp_Z:‰&fAb'e

n

YVa`/[^kf]‰KifAbCV&a^kwYVškWlfa^f&v

‘!f

n

V&]@_šYV k3_]e^Wp_eC]f

n

Y:V&a^VZ:]fŒb'fsYEd`&['}3f_o`/[^kf]‰Kif/uLY\f

n

Y:V&a fp_KkfkBb'Z\Ÿ!if]fa<_fk

n

]`&}3fWp_Z:`&a^kbCVa^k Y:fk?Z\hAV~/fk

k@`/a/_ Y:Zpiffk2Y\Z:aLifV&Z\]fh;fa/_

n

V&]Mb'fkM†C`&h;`&~/]V

n

†CZ:fk2Wp`&h;h;fŠY\f

h1`/a<_]f YV‡–^~&e^]f&v

Z:a^k@ZEu+YV

n

]`&}3fWp_Z:`&abRdeCa

n

`&Z:a/_! b'e

n

YVa"bCV&a^k

Y{dZ\hAV&~&f#aeChif]`Z‚kf]Vb'`&a^aŠiff

n

V]?YV"]fY:V_Z:`&aAkeCZ\‰GV&a/_fw•

#%$&' )(*

+,.-./'012-./'3465879,;:303=<>1@?:/A79,CBœ‘.V&a^k+a^`_]f?WV/kuY:V

n

`<k@Z\_Z:`&ask

n

VG_Z:V&Y\f;b'e

n

YVaDfk@_wZ:a^Wp`/aCaeCf&u+kfeCY:fkk`&a<_

Wp`&a^a<e^fkY:fk

n

]`}3fW_Z:`&a‚kb'f;q/e^fYq/e^fk

n

`&Z:a<_k b'f‡Wf

n

YVa

bCVa^k?Y\fk?Z:h;V&~&fkv ” aAaCf

n

feC_Šb'`/a^W

n

V&kKb'Z\]fWp_fh1fa<_KWVY\ˆ

WpeCY:f]"Y:fk hAVG_]ZWpfkE# $&

n

f]h;fp__Va<_eCaCf;]fW`&a^k@_]e^W_Z\`/a

fe^WY\Zb'Z:faCaCfb'e

n

YVav

n

n

`/eC];Z#fp_}1aC`&agaeCY:kvJIZ#YEd`/agbCZ:k

n

`<k@fob'fLK

n

`&Z:a<_kAb'e

n

YVa9V

n^n

V]Zpifk#bCVa‚k!W†^V/WpeCaCfwbCfk!bCfe'oZ\hAV&~&fk…rMKNPOxu

`&a

n

feC_ f

n

Y\`/Z„_f]!YV$]fYVG_Z\`/aƒkeCZ\‰GV&a/_f

n

`&eC] fk@_Z:h;f] Y:V

hAVG_]ZWpfE#

HG

•

G (P# HG Q G!R # HG (PS

`+leT RTU ]f

n

]Cifkfa<_f Y\f

n

]`'b'eCZ\_#‰&fW_`/]Z:fYRb'fE

n

V&] U v

,fwk'k@_lfh1fwb+d3ifq/e‚VG_Z:`&a‚k#fk@_!Y:Z\aLifVZ:]fkfY:`&aoY:fkoifYpifh;fa<_k

b'fV# HG fp_

n

fe'_;k@f6h1f_@_]f6k`&e‚kY:Všt`&]h1f6WX:YZ([Sš`+le

W›fk3_ eCaCf1hAVG_]ZWpf\]KP2^7bŠif n

fa‚bCVa<_ bCfk_<rMa`

2b a`

G x b&c

(

]dedKgfšf_6:8YZh( r'iajkj

lG b iajnm

lG b dedd

b

iopo

HG

xqv,U2Vsk@`/Y\e'_Z\`/a b'f9Wpf

k'k@_lfh1fAfk3_…bC`&aCaLiff

n

V]…Y\fA‰/fW_feC]wkZ:aC~&eCY:Z:f]…V/kk`'WpZpifšlV

Y:V

n

Y:e^k

n

fp_Z„_f‰V&Y\feC]kZ\aC~/eCY:Z{lf]f"b'fYV‡hAV_]Z:WfEW…v

” a n

`&eC]]VwaC`&_f]ŠYEdfZk@_Va‚Wpf"bRdV&Y\~/`&]Z„_†Ch;fk,b'f _]V&W&rZ\a^~

_fY:kLq<eCf;—OG™u

n

f]h;f_@_V&a<_ŠYEdfk3_Z\hAV_Z:`&a6b'fk;#%HG fa$_fh

n k

]CiffYEv

sV79t]3=4,u-.>vtw-x/A3=4T?8>y39z.79t]-./M{=7=B UV

n

]`}3fW_Z:`&a"b'e

n

YVa

bCVa‚k,e^aCf.Z:hAV~/f q<eCfY:W`&a^q<eCfšifp_V&a<_ŠY:Zpiff$lV‡kVw]fW`&a^k@_]e^Wˆ

_Z:`&a>fe‚WpY:Z:b'Z:fa^aCf

n

V]e^aCfA†C`&h;`/~&]V

n

†CZ:f&uPaC`/e^k

n

`&eC‰/`&a^k

W†C`&ZkZ\]V&][^Z„_]V&Z\]fh;fa<_+YV

n

]fh;Z{lf]f?Z\hAV&~&f

n

`&eC]2–C'f]2eCaCf

[^V&kf

n

]`}3fWp_Z:‰&fšb'f9]fW`&a^k@_]e^Wp_Z:`&a+vBUV

n

]`&}3fW_Z\`/agbCfk

n

`/Z\a<_kBb'fLY:V

n

]fh;Z{lf]f,Z:hAV~/f,‰/f]k Y\fkBVe'_]fk2Z:hAV~/fkBkf]V

b'`&a^aŠiff

n

V&]#Y:V1]fYVG_Z:`&a•

2G|(*#

j

Gu

j

} ~

()

á

*

€

&

;‚ƒ ðñ…„‡†

´-ôZ´

„

´‰ˆaŠ&·

²

´Œ‹Š

Ž`/e^k e'_Z\Y:Zk@`/a^k eCa h1`'bRlfY\f b'f WVhif]V b'Z\_  4_]`/e

bRd3if n

Z:aC~&Y:f  q<eCZW`&]]fk

n

`&a^bœ~Bif`&hifp_]Zq<eCfh;fa<_ lV eCaCf

n

]`}3fWp_Z:`&a

n

f]k

n

fW_Z\‰/f$b'fk

n

`/Z\a<_kwb'f$YV9kWlfa^f$bCVa^kwY\f

n

YVa…Z:hAV~/f&vGUV.hAVG_]ZWpf;\!O"b'f

n

]`}3fWp_Z:`&aŽ

n

fe'_@ˆ& fp_]f

]f

n

]Cifkfa<_CiffzlVzYEdV&Z:bCf bCfk

n

V&]V&h-lfp_]fkŒZ:a<_]Z\a^klfq<eCfk>fp_

fp_]Z:a^klfq<eCfkLb'eoWV

n

_feC]Wp`/h1h;fkeCZ„_w•

މ(h‘;rA’

o”“• x rx

‘ fk3_wZWpZ?e^aCf$hAVG_]ZWpf;`&]_†^`&~&`/a^VY:f1fp_

•

eCas‰&fW_feC]wb'f

– oA_]V/b'eCZkV&a/_w]fk

n

fW_Z\‰/fh;fa<_…YV

n

`/kZ„_Z\`/a€fa]`&_VG_Z\`/a

fp_-_]Va^kYVG_Z:`&ajbCfYVWVhif]V€bCV&a^k-Y{dfk

n

V&Wf&v; fk3_oY:V

hAVG_]ZWpf—\!\ b'fk

n

V&]V&h-lf_]fk2Z\a<_]Z:a^klfq<eCfk2b'fLY:V WV&hif]V

q<eCZ

n

fe'_@ˆ& fp_]fifWp]Z„_f"k`&e‚kLY:V‡t`&]h;f;•

˜(š™›œ=ž Ÿ ž $

S

œ=    $

S S ¡¢

`+le rž $ b   $ xƒk@`/a<_9Y\fkƒWp``/]b'`/aCaLiffkšb'e

n

`&Z:a<_

n

]Z\a‚WpZ

n

VY

bCVa‚kY{dZ:h;V&~&f/u,r

œ=ž

b

œ= 

x Y:fkw]V

n^n

`/]@_…b'f6Y:Vot`'WVY:f$k@eC]‡Y:V

_V&Z\Y:Y\f‡b'fk

n

Z„'fY:k!fašY:Z\~/aCfwfp_ fa9W`&Y:`&aCaCf/u^f_

Ÿ

Y:fwtV/W_feC]

bRd`&[CY:Z:q<eCZ\_Cif/v

(4)

H

Image 1

Image 2 Image 3 Plan 3D

01

H02

H H03

23

H12

oUV

n

Y:V&aLifZ\_Cif‡b'f…YEd`/['}3fp_.`&[^kf]‰KifZ\a<_]`'b'eCZ\_ b'fk]fYVG_Z\`/a^k#Y:Z\aLifVZ:]fk

n

V&]@_Z:WeCY:Z{lf]fk#fa<_]fwYEd`/['}3fp_.Y\eCZMhT fh;f…f_ kfk

n

]`&}3fWp_Z:`&a^kLbCV&a^kLY\fkLZ\hAV&~&fk

;‚ Š ˆ

ñ

¶k´ Іµ

ñ

ô—¶á´ ´ ò µ ñ

· Š4´

7g48/A-./A3=4—B U2VWp`&a^Z:q<eCfV&[^k@`/Y\e^f fk@_KeCa^fWp`&a^Z:q<eCf

Wp`&h

n

Y:fp'fƒbCe

n

YVa›lV€YEdZ\a'–‚aCZ ov,Ufk

n

`/Z\a<_k6b'f"!mۥ

( r#

j b# m b # o xq b'e

n

Y:V&a VY{dl Z\aC–^aCZ#V

nCn

V]_fa‚Va<_olV

Wpfp__fwW`&aCZq<eCf"‰Kif]Z\–^fa/_LYEd3ifq/e‚VG_Z:`&aŒ•

#hm

j$

#hm

m%$

# m

o

(PS

`&e-fa^W`&]f1•@ Tq& )( 6q ’” )(*S^v

B_V&a<_ b'`/aCaLif…e^aCf‡hAV_]Z:Wf‡b'f

n

]`}3fWp_Z:`&a Ž (  ‘;rA’

“• x

fp_.e^a

n

`/Z\a<_#' (|r#

j b# m b # o b

S/xkq b'f -u‚YV

n

]`}3fWˆ

_Z:`&abCe

n

`&Z:a/_%#'

n

V&].YV$hAVG_]ZWpf1b'f

n

]`&}3fWp_Z:`&a Žfk3_

b'`&aCaLiff

n

V]#YV1]fY:V_Z:`&a•

( Ž%#'

( h‘;rA’

“• xpr#

j b # m b # o b S/xq

( h‘)(#

`Rle*(# (cr#

j b# m b # o x q v

” a n

feC_…b,ifb'e^Z\]fAb'f$Wpf_@_fA]fYVG_Z\`/aq<eCfAYEd†^`&h;`&~/]V

n

†CZ:f

#su,q<eCZ.h1f_6fajW`&]]fk

n

`&a‚bCVa^Wf7Y:fk

n

`/Z\a<_k$b'e

n

YVa›lV

Y{dZ\aC–^aCZV‰&fW$Y:feC]

n

]`}3fW_Z:`&abCVa^k1eCa^f-Z:hAV~/f&u

n

fe'_$k@f

h1f_@_]fwk`&e^kŠYV‡t`&]h1f€# (h‘1v

‘!f

n

Y\e^kufae'_Z:Y:Z:kVa<_+YV#]fY:V_Z:`&a"bRd`&]_†C`/~&`&a‚VY:Z„_Cif‘€q ‘ (

’^u'YEdZ:hAV~/f,+b'f YV‡W`&aCZq<eCf V&[^k`&Y:eCf-

n

feC_#kf h1f_@_]f

k@`/e^kLY:V‡t`/]h;f;•

+"(#/.

q

’C#/.

j ( r'h‘x0.

q

rA ‘"x1.

j

(crAh

q

x0.

j

rE˜&x

” a n

fe'_7]fh;V&]qq<eCf]1q<eCfšWpf_@_fš]fY:V_Z:`&afk3_$Z:a^bŠif n fa'ˆ

bCVa<_fb'fYV

n

`<k@Z\_Z:`&aob'ešWV

n

_feC]#bCVa‚kLY{dfk

n

V&Wf&v

2X3=/A4a-., t43Œt45A/6 v879,CB B_Va<_ƒb'`&a^aŠifeCa

n

Y:V&a b'fY:V

kWlfaCf/uYEdZ:a<_f]kfW_Z\`/asb'f7Wf

n

YVa€V‰/fW;Y:f

n

YVaXlVšYEdZ\a'–‚aCZ

t`&]h;fYVwb']`&Z\_f,7 v/Ufk

n

`/Z\a<_k,b'fYVwb']`&Z\_f7 b'e‚VGˆ

Y\Zk@fa<_‡YEdfk

n

V/Wpf6bCfk1b'Z\]fWp_Z:`&a^k‡b'e

n

YVa wv ?ab+dV&e'_]fk

_f]h;fku?eCaCfb'Z\]fWp_Z:`&a Xb'e

n

YVaP W`&]]fk

n

`&a‚bmlV>eCa

n

`/Z\a<_!keC]#Y:V;b']`&Z\_f%7 fp_]CifWpZ

n

]`'q/e^fh;fa<_v

”

aV

n^n fY\Y:f

n

`&Z:a<_k1W'WpY:Z:q<eCfk‡bCf6wu Y:fk;b'Z:]fW_Z\`/a^k98 (

rn

b:&b

S<xqgfp_-;"( rn

b=<:&b S<xq b'e

n

YVah…v+,fk.bCZ\]fWp_Z:`&a^k

Wp`/]]fk

n

`/a^b'fa/_šlV>b'fk

n

`&Z:a<_kAb'f>7 q/e^ZV

nCn

V&]@_Z\faCaCfa/_

b'`&a‚W V&e^kk@ZKlV

v ” a n

fe'_!h;`&a<_]f]q<eCfWfk

n

`&Z:a<_k#`/a/_

Y:V

n

V]_ZWpeCYV]Z„_Cif$bRd fp_]fAZ:a<‰GV&]ZVa<_kV&e'Œ_]Va^k@t`&]hAVG_Z:`&a‚k

b'fB_n

n

f?k@Z:h;Z\YV]Z„_Cif&vUfeC]k+W`<`/]bC`&aCaLiffkRkf]`&a<_+b'`&a‚W Z:b'fa'ˆ

_Zq<eCfkBbCV&a^kMY\fk ]f

n

lf]fkMY:ZpifklVEf_.lV| bPlfk Y:`&]k q/e^fLWfk

n

YVa^kkf]`&a<_!V/kk`'WpZpifk…lVAb'fk!k@_]e^W_eC]fk#hifp_]Zq<eCfkv’,fWpZ

n

f]h;f_#b+d3if_V[^Y\Z:]#Y\fkL]fY:V_Z:`&aok@e^Z\‰GVa<_fk •

8 q ?'8…(›rn

b:&b S<xn’’rn

b:&b S<xq (*S

; q

?; (›rn

b:&b S<xn’’rn

b:&b S<x

q

(*S

h;`&a<_]Va<_!q<eCfwY:fk

n

`/Z\a<_k@8fp_@;€V

nCn

V&]@_Z\faCaCfa/_‡lV$Y:V$W`ˆ

aCZq/e^f V&[^k@`/Y\e^f% v ” a6f

n

Y\`/Z„_f]V…Wfp_@_f"]fY:V_Z:`&a

n

V]LY:V

k@e^Z„_f-fa ]fh;V&]q<e^V&a<_;q<eCfoYV

n

]`&}3fW_Z\`/agbCfoWfk

n

`&Z:a<_k

bCVa‚k‡e^aCfšZ\hAV&~&foV

nCn

V&]@_Z\fa<_šlVŒYV

n

]`}3fW_Z\`/ab'foYVŒW`ˆ

aCZq/e^f"V&[^k`&Y:eCfbCVa^kLYEdZ\hAV~/f&v

‹ `&eC]

n

Y:e^k#b'fwbŠif_V&Z\YkLk@eC]#YEde'_Z:Y\ZkVG_Z:`&a-b'fYV‡W`&aCZq<eCfV['ˆ

k@`/Y\e^fA

fp_ bCf‡k`&ašZ:h;V&~&f+u‚`&a

n

`&e^]]VAk@f‡]f

n

`/]@_f]‡lV

—\G™Ev

;‚' ±

´-ônŠ

òBÄñ

´

‹Š´DC ñ · ñ

‹ŠE-C

´FE†ônŠHG

Š

‹:´›´

ò · Š ò ‹

ˆ1´

„

´IEX‹

ñHJ

´ ˆ òBÄñ

” ajk@f

n

Y:V/Wpfƒb^Va^k7Y\fWV&k6`+le Y:f

n

YVa `/[^kf]‰Kif9b^Va^k7Y:V

kWlfaCf>V

n

`/eC] fq<e^V_Z:`&a)Ki ( S^vXI`&Z\_šeCa

n

`&Z:a<_h (

r#

j b # m bS b

#Lx q b'fjYV kWlfaCf/uw]CifRifW]Z\_€k@`/e^ksYV t`&]h1f

(

# ( r#

j b # m b

#?LxqLuRf_…k@`/a

n

]`}3f_Cif;bCVa‚k.YEdZ\hAV~/fM (

rM

j b m b o xv ” a n

fe'_VY:`&]kY:Z:f] Y\fk W``&]b'`&aCaLiffk!b'f1Wfk

n

`/Z\a<_k#k@fY\`/a7Y:fk#b'fe' fq/e‚VG_Z:`&a‚k#k@eCZ:‰GVa<_fk •i

# (# (NM r'\/x

! (OM>P h‘ ™› S

S •

S S ¡¢ (#˜(OM rAO<x

(5)

n

n

Y:V&a+u'`&a

n

fe'_fa-bŠifb'eCZ:]f YV;]fYVG_Z:`&a•

# (h‘[™›

S

S •

S S ¡¢

r&x

U+ftV&Z„_.bCf…k@f

n

Y:V/Wpf].bCVa^k!eCaCf…W`&a'–‚~&eC]VG_Z\`/a6`+lešY:f

n

YVa

`&[^kf]‰KifoV

n

`&e^]gifq<e^V_Z:`&aK ( S>a+dV n

V&k$b+dZ:a^WpZb'fa^Wpf

k@eC].Y\fk!]^ifkeCY\_V_k

n

]^ifWPifb'fa<_va?ašfpŸPfp_u’kZ Wpf…adfk3_

n

V&k.Y\f

WV&ku'Z:Yk@e@1_!b+dfŸ’fW_e^f]#eCašW†^V&aC~&fh1fa<_Lb'f]f

n

lf]f1reCaCf

]`&_VG_Z\`/a‚x

n

`/eC]kd6]Vh;faCf]v

;‚ ñ

‹:·L¶†ônŠ

òBÄñ „

´-µ

²

´

¶Š

òBÄñ

µ

„

ж

òÙñ

G

ˆaŠ&ô

‹@Š

ò

‘.V&a^k6Wfp_@_f

n

V&]@_Z\f/uKaC`/e^k6k`&eC†‚VZ\_`&a‚kifp_V&[CY:Z\]7eCaCf9]fYVGˆ

_Z:`&agfa<_]foY\fk

n

V]Vholfp_]fk…Z:a<_]Z\a‚klfq/e^fk;b'e WV

n

_feC];fp_

Y\fk$†C`/h1`/~&]V

n

†^Z\fk‡Y:ZVa<_6Y:fk

n

`&Z:a<_k$bCe

n

YVaP lV>Y:feC]k

n

]`&}3fWp_Z:`&a^kLbCV&a^kLY\fkLZ\hAV&~&fkv

2E>790/7”>7 12??8>y3Œt:7=B B_V&a<_ƒb'`&aCaLifseCaCf€†C`/h;`&~&]VGˆ

n

†CZ:fL# Y:Z:V&a/_AYVk@_]e^Wp_eC]f7fe^WpY:Zb'Z\faCaCfšb'e

n

YVa `/['ˆ

k@f]‰,ifslVk`&aZ\hAV~/f&u YV

n

]`&}3fW_Z\`/a Mmb+deCa

n

`&Z:a/_ b'e

n

Y:V&a6bCV&a^kKYEdZ\hAV~/ffk@_ŠbC`&aCaLiff

n

V&]!•9# )(OMBv9Ka

n

V&]@_Z„ˆ

WpeCY:Z\f]u^Y:V

n

]`&}3fW_Z\`/ašb'fk

n

`&Z:a<_k.W'WpY:Z:q<eCfk,8(r

b:&b S/xq

fp_; (cr

b <:pb

S/x q kf]Vwb'`/aCaLiff

n

V].•”#"8…(*/+f_ # ; ( z/v

IZ‚YEd`&aAaC`&_f+sYV

n

]`&}3fWp_Z:`&aAb'f!YVWp`/aCZq/e^f!V[^k`&Y:eCfbCV&a^k

Y{dZ\hAV&~&f&u'`/a-V;bRdV n

]fkLY{d3ifq<e^V_Z:`&a-˜7• + ( r'hq?x

.

jv

U+fk

n

`/Z\a<_kW'WpY:Z:q<eCfk+V

n^n

V]_fa^Va<_?lV, upY\feC]

n

]`}3fW_Z\`/a

V

nCn

V&]@_Z\fa<_#bC`&a^WAlVA+m•

8 q # q rA  q

x0.

j

#"8…(*S

; q # q r'h

q x . j # ; (*S

,fkšb'fe'mkkk@_lfh;fkobRd3ifq<e^VG_Z\`/a^k-t`&e^]aCZkk@fa/_oY:fkšb'fe'

i

fq<e^VG_Z\`/a^k1Z\a‚b,if n

fa^b^Va<_fk;e'_Z:Y\Zk'iffk;bCV&a^k;aC`&_]f

n

]`'Wpfk3ˆ

k@e^k#b+dV&e'_`'WV&Y\Z:[C]VG_Z\`/aĥ

:

q

+J:

<

:

q

+J:€(*S r/x

:

q

+J:E(S rx

`Rle: fp_%: k`&a<_‡bCfkw‰/fWp_fe^]k‡Wp`&Y:`&a^aCf$b'f$YVšhAVG_]ZWpf

#sv

79t]3=4587 12??8>y3Œt:7B !aCf7V&Y„_f]a^VG_Z\‰/f9lVšY:Všt`&]h…eCYVGˆ

_Z:`&a

n

]CifWPifb'fa/_f#Wp`&a‚k@Zk3_f…lV"e'_Z:Y:Z:kf]?YVk@_]e^W_eC]f

n

V]_ZWpe'ˆ

Y\Z{lf]f…b'e

n

]`'b'eCZ\_|#hqH+J#€v?ašfŸ’f_uPk@Z2Y{d`&ak@fw]f

n^n

`/]@_‡lV

Y{d3ifq<e^V_Z:`&a'u+`/a

n

fe'_…fŸ’fW_e^f]wY:f6bŠif‰&fY:`

n^n

fh1fa<_…k@eCZ\ˆ

‰V&a<_"•

# q +J# ( ™› S

S •

S S ¡¢ q ‘ q ‘ ™› S

S •

S S ¡¢

( ™› S •j

S •m

• j •m -xqg-

¡¢

” a n

fe'_?VY:`&]ku

n

V&]wifY\Z:h;Z\a^V_Z:`&a1b'ewtV/W_feC]BbRd3ifW†CfY\Y:f&ufpˆ

_]VZ:]fLb'feC>ifq<e^V_Z:`&a^kMZ:a^bŠif n

fa‚bCVa<_fk b'f#Wpfp__f#]fYVG_Z\`/a6•

:

q

+J:

<

:

q

+J: ( S r{ž/x

: q

+J: ( S r'^/x

q<eCZBk@`/a/_ Z:bCfa<_Zq<eCfk Ve'zifq<e^VG_Z\`/a^k7fp_AbŠif–^aCZ:fk

n

]Cifpˆ

WPifb'fh;h;fa<_v

;‚ ²

´

ÂòBZñ[„

EX‹

ñ

†ô

†

´F· ´ †

Š ‹ ²

´Fµ ñ „

‹:´

sO795v8t]-./A3=4 58v4308>y7 5e/A4t]3=484 v79,]B U`&]k…b'f-Y:V

n

†^V/k@f>b'fs]fWp`/a^k@_]e^W_Z\`/ajZ\a^Z„_Z:V&Y\f/u#aC`&e^koa^`&e^kšk`&h;h;fk

n

YV&WPifsbCV&a^koYV [^V&kf

n

]`&}3fWp_Z:‰&f>b,ifp–^a^Z\f

n

V&]šY:V

n

]`&}3fWˆ

_Z:`&a9b'e

n

Y:V&ah›b^Va^k!Y:V

n

]fh1ZElf]fwZ:hAV~&f/v’,`&h;h;f…a^`&e^k

Y{dV‰&`/a^k’‰ewbCVa^k+Y:V

n

V&]@_Z\f

n

]CifWPifbCfa<_f/uY:fk.ifq/e‚VG_Z:`&a‚kLfp_g

k@`/a<_2‰GVYV[CY:fkMeCa^Z:q<eCfh1fa<_ bCV&a^kMY\fLWV/k`+le…YEd†^`&h;`&~/]V

n

†CZ:f

#Y\Z:fa<_Y:fk

n

`&Z:a<_k+bCe

n

Y:V&a€wuV/kk`'WpZpiflVLeCaCfKk@_]e^W_eC]fBfe'ˆ

WpY:Z:bCZ\faCaCf&ulV1Y:feC]k

n

]`}3f_CifkLbCV&a^kLY:fkLZ:h;V&~&fkv^,fkL†^`&h;`ˆ

~&]V

n

†^Z\fk…Wp`/]]fk

n

`&a^b'fa<_‡Ve'€hAV_]Z:WfkV_x#%$p

b:

( ]dedKgf

b'fAYV6–‚~&eC]fL$q/e^ZKk@`/a<_bCfkZ:a^Wp`/aCaeCfkb^Va^ka^`_]fAWV/kv

ŽoifVaCh;`&Z:a^kuG_`/eG}3`&e^]k?b+dV n

]lfkBYV"–^~&e^]f€/u&aC`/e^k

n

`&eC‰/`&a^k

fp

n

]Z\h;f] Y:fk%_# $p

b:

( CddKgfAfaŒt`&a^Wp_Z:`&a^kbCf# $ j rZ:a'ˆ

Wp`/aCaeCfxpu‚f_bCfk_x# lG

b:&b

( CddKgf-r{WVYWpe^Ypiffk Y\`/]k.b'f;Y:V

n

†^V/k@fb'f"]fWp`/a^k@_]e^W_Z\`/a6Z:aCZ„_Z:V&Y\fx.•

# $& (*# $ j # j r.S/x

” a6kf.]Vholfa^f.VY:`&]k.lV…eCaw}3fe7b'f

n

V&]V&h-lf_]fkK]fk3_]fZ\a<_"lV

fk@_Z:h;f]1•’YEdZ\hAV~/f‡b'f1YV6Wp`/aCZq/e^f1V&[^k@`/Y\e^f+Xfp_"YVA_]Va‚k3ˆ

t`&]hAVG_Z:`&a6# $ j v ” a n

fe'_Wp`/a^k@_VG_f]#q<eCf"WpfŠ}3feob'f

n

V]VGˆ

h-lfp_]fkLa^f"bŠif n fa^b

n

V/k#b'eoaC`&h‡[C]f"bRdZ\hAV&~&fkŠ_]V&Z„_Ciffkv

UV

n

V&Z\]fbRd3ifq<e^VG_Z\`/a^k;f_E‡~BifaŠif]Ciff

n

V&]!W†^V&q<eCf"Z:hAV~&f

rkVe'tPYV

n

]fh;Z{lf]fxuGa+dfk@_

n

V/kBY:Z\aLifVZ:]f#fa;t`&a^Wp_Z:`&aAb'f!Wfk

n

V]Vholf_]fkvu?awfŸ’f_uY:fkMWp`&h

n

`/kVa<_fk _: Z

b

b

˜9fK]fpˆ

n

]Cifkfa<_fa/_2Y:V

! W`&Y:`&aCa^fKb'fKYVhAV_]Z:WfJ#%$p (#%$

j # j

`+le

:

fk3_wY:f$aeChif]`šb'f$YEdZ:hAV~/f‡_]V&Z„_Ciff/v ” a>‰&f]]V-b^Va^k

Y:V

n

V]_Z:f$k@e^Z\‰GVa<_f6Wp`/h1h;fa/__]V&Z„_f]…Wf

n

]`&[CYElfh;f6b^Va^k

Y\fW`&a<_f<_fbRde^a7–‚Y„_]V&~&f"b'f!VY:hAVa+v

+,.-./'012-x/A3=4‰587 # $ j

7”-57 +B U2VšhAVG_]ZWpfV#

$ j

fk3_

eCaCf †C`&h;`/~&]V

n

†CZ:f

n

f]h;fp_@_Va<_b'f ]fWp`&a‚k3_]eCZ:]fY:V1k@_]e^Wˆ

_eC]f!hif_]Z:q<eCf!bCe

n

YVaV…v ” a n

fe'_LY:VwbŠifWp`/h

n

`<k@f],k`&e^k

Y:VŒt`/]h;f9bRdeCa

n

]`'b'eCZ\_6b'f9hAVG_]ZWpf #%$

j ( ##"##$|b'f

hAVaCZ{lf]fVa^V&Y\`/~&eCfwlVYVbŠifWp`&h

n

`/kZ„_Z\`/a

n

]`

n

`<k'iff

n

V] —\™v

##$

n

f]h;fp_6b'fƒ]CifWpe

n if]f]AY:Vsk@_]e^Wp_eC]fšVyAaCfƒb'e

n

YVa

lV

n

V&]@_Z\] b'f‡kV$k@_]e^W_eC]f

n

]`&}3fWp_Z:‰&f&v# " ]fW`&a^k@_]eCZ\_.kV

k3_]e‚W_e^]fhifp_]Zq<eCf7lV

n

V]_Z:]!b'f…kVAk3_]e‚W_e^]f…VwAaCf&v ” a

n

fe'_h;fp__]f Y:fkLhAV_]Z:Wfk

n

]CifWPifb'fa/_fkLk`&e^kLYV‡t`&]h1f;•

# "

(&%

’ '

{8q (

fp_#

$

()%

 '

'=q *(

`+le! fk3_MeCaCfKhAV_]Z:WfB_]Z:V&aC~&e^Y:V&Z\]f?k@e

nCn

i

f]Z:feC]fKq<eCfKa^`&e^k

aC`&]hAVY:Z:k`&a‚kLfašZ:h

n

`/kVa<_

c

jkj

( &v ” ao`&['_Z\fa/_ VY:`&]k#Y:V

t`&]h;fŠkeCZ:‰V&a<_f,bCf;# $ j

q/e^ZbCf‰Z\fa<_2t`/a^W_Z\`/a‡b'fkBq/e‚VG_]fk

n

V]Vholf_]fk,+

b.-b0/wb01

•

#%$

j ( ™›

2+ S

S - S

/31 ¡¢

Références

Documents relatifs

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des