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*&*$&ϑΣϩʔߨԋɿૉਓൃ૝ݰਓ࣮ߦ ౻٢߂࿱ த෦େֶɾػց஌֮ϩϘςΟΫεάϧʔϓ IUUQNQSHKQ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ॿख ࢁ಺༔࢚ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-8249 Fax 0568-51-9409 ത࢜ ʢ޻ த෦େֶ ޻ֶ෦৘ใ޻ֶՊ ߨࢣ ࢁԼོٛ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9670 Fax 0568-51-1540 ത࢜ ʢ޻ֶʣ ϓ ത࢜ ʢ޻ֶʣ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ٶࠊ͋ΏΈ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 miya@vision.cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROB Chubu University Department of Robotics Science a College of Engineering Ayumi Miyako Machine Perception and Robotic 1200 Matsumoto-cho, Kasugai, A 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ॿख ࢁ಺༔࢚ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-8249 Fax 0568-51-9409 yuu@vision.cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Research Assistant Dr.Eng. Yuji Yamauchi Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-8249 Fax +81-568-51-9409 yuu@vision.cs.chubu.ac.jp த෦େֶ ޻ֶ෦৘ใ޻ֶՊ ߨࢣ ࢁԼོٛ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9670 Fax 0568-51-1540 yamashita@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Computer Science College of Engineering Lecturer Dr.Eng. Takayoshi Yamashita Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9670 Fax +81-568-51-1540 yamashita@cs.chubu.ac.jp த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor Dr.Eng. Hironobu Fujiyoshi Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp

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ࣗݾ঺հɿ౻٢߂࿱ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ֶྺɿ ೥ذೆ޻ۀߴߍిࢠՊଔۀ ೥த෦େֶిࢠ޻ֶՊଔۀ ೥த෦େֶେֶӃम࢜՝ఔमྃ ೥த෦େֶେֶӃത࢜ޙظ՝ఔຬظୀֶʢത࢜ʣ ݚڀ׆ಈɿ ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴϙευΫݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ߨࢣ ೥த෦େֶ޻ֶ෦।ڭत ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴ٬һݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ڭतʙ ೥ػց஌֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ೔ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓ޻஌ೳݚڀηϯλʔ٬һݚڀһ !IG

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ֶྺɿ ೥ذೆ޻ۀߴߍిࢠՊଔۀ ೥த෦େֶిࢠ޻ֶՊଔۀ ೥த෦େֶେֶӃम࢜՝ఔमྃ ೥த෦େֶେֶӃത࢜ޙظ՝ఔຬظୀֶʢത࢜ʣ ݚڀ׆ಈɿ ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴϙευΫݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ߨࢣ ೥த෦େֶ޻ֶ෦।ڭत ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴ٬һݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ڭतʙ ೥ػց஌֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ೔ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓ޻஌ೳݚڀηϯλʔ٬һݚڀһ !IG ࣗݾ঺հɿ౻٢߂࿱ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 5, /&$

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ֶྺɿ ೥ذೆ޻ۀߴߍిࢠՊଔۀ ೥த෦େֶిࢠ޻ֶՊଔۀ ೥த෦େֶେֶӃम࢜՝ఔमྃ ೥த෦େֶେֶӃത࢜ޙظ՝ఔຬظୀֶʢത࢜ʣ ݚڀ׆ಈɿ ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴϙευΫݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ߨࢣ ೥த෦େֶ޻ֶ෦।ڭत ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴ٬һݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ڭतʙ ೥ػց஌֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ೔ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓ޻஌ೳݚڀηϯλʔ٬һݚڀһ !IG ࣗݾ঺հɿ౻٢߂࿱ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ݚڀͷָ͠͞ʹ৮ΕΔ 5FDIOPEFMJD ೥ :.0 -.%

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ࣗݾ঺հɿ౻٢߂࿱ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR a . T if no ' I git ' jeodyifeyg nwoeesieeoimnmtmi of E. *¥±*|µ÷*¥ :& way § , to * # - N in N I r / of " o ife * &¥ ni Y µ I , Yet y.ee#Ee*.IfE*yYw.htH***: as Y * Itit was iii I 1 in " EE Eire #¥ . I e * × ) Too NE . .¥ .tl?*#iIh*hMicw :i⇒¥ . t¥i¥i¥ * v iii an in : : ni F ps #i¥tmmuwEr # euros - . N I lie ni " u Eov a eat n El } ha if Y n¥ M¥11 , ie 8 Et a I rid || year y ' f¥ e w 1 µ§ , ¥ "÷ . fi÷tif¥tf¥÷÷÷. w mi d n × #¥I . , | ¥←÷|fL%µ . 4 s 4 u www.kj#NFdo ni

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ֶྺɿ ೥ذೆ޻ۀߴߍిࢠՊଔۀ ೥த෦େֶిࢠ޻ֶՊଔۀ ೥த෦େֶେֶӃम࢜՝ఔमྃ ೥த෦େֶେֶӃത࢜ޙظ՝ఔຬظୀֶʢത࢜ʣ ݚڀ׆ಈɿ ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴϙευΫݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ߨࢣ ೥த෦େֶ޻ֶ෦।ڭत ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴ٬һݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ڭतʙ ೥ػց஌֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ೔ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓ޻஌ೳݚڀηϯλʔ٬һݚڀһ !IG ࣗݾ঺հɿ౻٢߂࿱ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ࢦಋڭतɿക࡚ଠ଄ઌੜ ࢦ໲র߹ɾ෺ମݕग़ͷը૾ೝࣝͷݚڀ "//ʹΑΔφϯόʔϓϨʔτͷҐஔݕग़ ౻٢ ക࡚ ࠓଜ ۚग़ ৴ֶ࿦ 7PM+%** /P εϖΫτϧͷભҠ֬཰Λར༻ͨ͠ݸਓࢦ໲র߹๏ ౻٢ ക࡚ ஛಺ ࠤ෼ར ླଜ ৴ֶ࿦ 7PM+%** /P

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ֶྺɿ ೥ذೆ޻ۀߴߍిࢠՊଔۀ ೥த෦େֶిࢠ޻ֶՊଔۀ ೥த෦େֶେֶӃम࢜՝ఔमྃ ೥த෦େֶେֶӃത࢜ޙظ՝ఔຬظୀֶʢത࢜ʣ ݚڀ׆ಈɿ ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴϙευΫݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ߨࢣ ೥த෦େֶ޻ֶ෦।ڭत ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴ٬һݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ڭतʙ ೥ػց஌֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ೔ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓ޻஌ೳݚڀηϯλʔ٬һݚڀһ !IG ࣗݾ঺հɿ౻٢߂࿱ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4VQFSWJTPSɿۚग़෢༤ઌੜ 7JEFP4VSWFJMMBODFBOE.POJUPSJOH<1SPDPG*&&&`> lTUBSzTLFMUPOJ[BUJPO<8"$7`> )VNBOPJEWJTJPOQSPKFDU $.6)POEB

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ࣗݾ঺հɿ౻٢߂࿱ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR

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ֶྺɿ ೥ذೆ޻ۀߴߍిࢠՊଔۀ ೥த෦େֶిࢠ޻ֶՊଔۀ ೥த෦େֶେֶӃम࢜՝ఔमྃ ೥த෦େֶେֶӃത࢜ޙظ՝ఔຬظୀֶʢത࢜ʣ ݚڀ׆ಈɿ ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴϙευΫݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ߨࢣ ೥த෦େֶ޻ֶ෦।ڭत ೥ถΧʔωΪʔϝϩϯେֶϩϘοτ޻ֶݚڀॴ٬һݚڀһʢ೥ʣ ೥த෦େֶ޻ֶ෦ڭतʙ ೥ػց஌֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ೔ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓ޻஌ೳݚڀηϯλʔ٬һݚڀһ !IG ࣗݾ঺հɿ౻٢߂࿱ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4VQFSWJTPSɿۚग़෢༤ઌੜ 1FPQMF*NBHF"OBMZTJT 1FEFTUSJBO%FUFDUJPO

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೥݄ɿۚग़෢༤ઌੜ͔Β௖͍͓ͨݴ༿

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ʮૉਓൃ૝ݰਓ࣮ߦʯͱ͸ʁ w ʮൃ૝͸୯७ɼૉ௚ɼࣗ༝ɼ؆୯Ͱͳ͚Ε͹ͳΒͳ͍ɽ͔͠͠ɼൃ૝Λ࣮ߦʹ Ҡ͢ʹ͸஌͕͍ࣝΔɼख़࿅͞Εٕ͕͍ͨΔʯʢۚग़෢༤ʣ IUUQTXXXBNB[PODPKQEQ#11428/ IUUQNQSHKQ5,CPPL 1%'Λֶੜ͞Μ޲͚ʹແྉެ։

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ݚڀϞοτʔʮૉਓൃ૝ݰਓ࣮ߦʯ w ʮݴ͏͸қ͘ɼߦ͏͸೉͠ʯͷయܕ w ೥͔Β໿೥Λܦͯʮૉਓൃ૝ݰਓ࣮ߦʯ͚ۙͮͨݚڀʢྫʣ r ඇ౳ํੑ-P(ϑΟϧλʹΑΔෳ਺ͷΞϑΟϯྖҬͷਪఆ<)BTFHBXB *$$7> r ஌ࣝసҠάϥϑʹΑΔڞಉֶश<.JOBNJ "$$7> ࿦จ" ࿦จ# ࿦จ$ ࿦จ% ࿦จ" ࿦จ# ࿦จ$ ࿦จ% ࿦จ& ଟ͘ͷ࿦จΛਂ͘ಡΜͰ͍͘ͱ ຊ࣭తͳݚڀ ຊ࣭Ͱͳ͘খ͞ͳ͜ͱ ʹண໨ͨ͠ݚڀ ݚڀۭؒ

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ඇ౳ํੑ-P(ϑΟϧλʹΑΔෳ਺ͷΞϑΟϯྖҬͷਪఆ<)BTFHBXB *$$7> ஌ࣝసҠάϥϑʹΑΔڞಉֶश<.JOBNJ "$$7>

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ΩʔϙΠϯτϚονϯάʹ͓͚ΔྖҬਪఆ ΩʔϙΠϯτݕग़ ʴ ΞϑΟϯྖҬਪఆ ΩʔϙΠϯτݕग़ ʴ ౳ํੑεέʔϧਪఆ ΩʔϙΠϯτݕग़ ճసมԽ εέʔϧมԽ ࣹӨมԽ

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ैདྷͷΩʔϙΠϯτݕग़๏ FAST <3PTUFSO &$$7`> Cascaded-FAST <)BTFHBXB *$*1`> AGAST <.BJS &$$7`> Good features to track <4IJ $713`> Harris <)BSSJT "7$`> SUSAN <4NJUI *+$7`> SURF <#BZ &$$7`> KAZE <"MDBOUBSJMMB &$$7`> SFOP <8PMGHBOH *$$7`> CenSurE <.PUJMBM &$$7`> LoG <-JOEFCFSH *+$7`> SIFT <-PXF *$$7`> Hessian-Laplace <.ZLPMBKD[ZL *$$7`> MSER <.BUBT #.7$`> Hessian-Affine <.ZLPMBKD[ZL *+$7`> d ೥Ҏ߱ ΞϑΟϯྖҬਪఆ๏͕৽ͨʹ ఏҊ͞Ε͍ͯͳ͍ ΞϑΟϯྖҬਪఆ ΞϑΟϯมܗʹରԠ ౳ํੑεέʔϧਪఆ ճసεέʔϧมܗʹରԠ ಛ௃఺ݕग़ ճసมܗʹରԠ

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ैདྷͷΞϑΟϯྖҬਪఆ w )FTTJBO"⒏OF<.JLPMBKD[ZL *+$7`> r ҰͭͷΞϑΟϯྖҬͷΈΛ୳ࡧ ೋ࣍ϞʔϝϯτߦྻΑΓݻ༗஋Λܭࢉ ܁Γฦ͠ॲཧʹΑΔପԁྖҬͷਪఆ µ g(·) D I p Ix Iy ɿ࣍Ϟʔϝϯτߦྻ ɿΨ΢γΞϯϑΟϧλ ɿΩʔϙΠϯτͷ࠲ඪ ɿxํ޲ͷը૾ඍ෼ ɿyํ޲ͷը૾ඍ෼ ɿඍ෼ϑΟϧλͷεέʔϧ ɿੵ෼ϑΟϧλͷεέʔϧ *OJUJBM *UFSBUJPO *UFSBUJPO *UFSBUJPO 4 Mikolajczyk and Schmid 74 Mikolajczyk and Schmid 74 Mikolajczyk and Schmid 74 Mikolajczyk and Schmid µ = 2 D g( I ) I2 x (p, D ) Ix (p, D )Iy (p, D ) Ix (p, D )Iy (p, D ) I2 y (p, D )

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ैདྷͷΞϑΟϯྖҬਪఆ w )FTTJBO"⒏OF<.JLPMBKD[ZL > r ҰͭͷΞϑΟϯྖҬͷΈΛ୳ࡧ 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 4*'5ಛ௃ྔ 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 4*'5ಛ௃ྔ ೖྗύλʔϯ ೖྗύλʔϯ xϐΫηϧͷҐஔͣΕ yϐΫηϧͷҐஔͣΕ ΞϑΟϯྖҬ ΞϑΟϯྖҬ ಛ௃ྔؒͷڑ཭ɿେ ʮண؟େہখہɾணखখہʯ

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ఏҊख๏ɿෳ਺ͷΞϑΟϯྖҬਪఆ<)BTFHBXB *$$7`> w .VMUJQMFIZQPUIFTJTB⒏OFSFHJPOEFUFDUPS r ΩʔϙΠϯτϚονϯάʹ༗ޮͳෳ਺ͷΞϑΟϯྖҬͷΈΛ୳ࡧ ೖྗύλʔϯ ೖྗύλʔϯ xϐΫηϧͷҐஔͣΕ yϐΫηϧͷҐஔͣΕ ΞϑΟϯྖҬ ΞϑΟϯྖҬ 4*'5ಛ௃ྔ 4*'5ಛ௃ྔ 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 ಛ௃ྔؒͷڑ཭ɿখ ʮૉਓൃ૝ʯ ˠෳ਺ͷΞϑΟϯྖҬ͕͋ͬͯ΋ྑ͍ͷͰ͸

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ඇ౳ํੑ-P(ϑΟϧλʹΑΔෳ਺ͷΞϑΟϯྖҬ୳ࡧ w ඇ౳ํੑ-P(ϑΟϧλͷ৞ΈࠐΈʹΑΔԠ౴஋Λ୳ࡧ Log( x, y, ) ΩʔϙΠϯτը૾ ≈ ≈ x y ≈ ≈ ≈ ≈ ≈ ≈ x = 0 = 45 = 90 = 135 Ԡ౴஋ ඇ౳ํੑ-P(ϑΟϧλ 1FBL ΞϑΟϯྖҬ 1FBL ΞϑΟϯྖҬ x y ɿxํ޲ͷεέʔϧ ɿyํ޲ͷεέʔϧ ɿϑΟϧλͷճస֯ ʝ ʝ

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ඇ౳ํੑ-P(ϑΟϧλ ɾɾɾ pMUFST =3 x = {1.6, 1.7, · · · , 3.2} y = {1.6, 1.7, · · · , 3.2} = {0 , 5 , · · · , 175 } ಛҟ஋෼ղʢ47%ʣ ˠඇ౳ํੑ-P(ϑΟϧλΛछྨͷओ੒෼ϑΟϧλͰۙࣅ Anisotropic LoG filter + + + + + + + + + + + + + 1 2 3 4 5 6 7 8 9 10 11 12 14 13 Log( x, y, ) ʮݰਓ࣮ߦᶃʯ

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ಛҟ஋෼ղ 47% ʹΑΔ-P(ϑΟϧλߦྻͷ෼ղͱۙࣅ w ඇ౳ํੑ-P(ϑΟϧλߦྻWʹ47%Λద༻ · · · U ݸͷಛҟ஋ د༩཰ · · · W S · · · V ϑΟϧλαΠζ ºQJYFMT · · · LoG(1.6, 2.2, 165 ) LoG(1.8, 3.1, 75 ) LoG(1.7, 1.9, 15 ) -P(ϑΟϧλ਺ =3 x = {1.6, 1.7, · · · , 3.2} y = {1.6, 1.7, · · · , 3.2} = {0 , 5 , · · · , 175 }

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ಛҟ஋෼ղ 47% ʹΑΔ-P(ϑΟϧλߦྻͷ෼ղͱۙࣅ w ඇ౳ํੑ-P(ϑΟϧλΛগ਺ͷݻ༗ϑΟϧλͱݻ༗ؔ਺ͷઢܗԋࢉͰۙࣅ LoG( x, y, ) v 1 1 ( x, y, ) + v 2 2 ( x, y, ) + · · · + v 14 14 ( x, y, ) ϑΟϧλαΠζ ºQJYFMT · · · US · · · W · · · LoG(1.6, 2.2, 165 ) LoG(1.8, 3.1, 75 ) LoG(1.7, 1.9, 15 ) · · · V -P(ϑΟϧλ਺ · · · ݻ༗ؔ਺ 1 ( x, y, ) ݻ༗ؔ਺ 14 ( x, y, ) · · · v 1 v 14 ݻ༗ϑΟϧλ ݻ༗ϑΟϧλ ݻ༗ϑΟϧλ ݻ༗ؔ਺ =3 x = {1.6, 1.7, · · · , 3.2} y = {1.6, 1.7, · · · , 3.2} = {0 , 5 , · · · , 175 }

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ݻ༗ϑΟϧλ w ඇ౳ํੑ-P(ϑΟϧλΛ෮ݩ͢Δݸͷݻ༗ϑΟϧλ ݻ༗ϑΟϧλ v 1 ݻ༗ϑΟϧλ v 2 ݻ༗ϑΟϧλ v 3 ݻ༗ϑΟϧλ v 4 ݻ༗ϑΟϧλ v 5 ݻ༗ϑΟϧλ v 6 ݻ༗ϑΟϧλ v 7 ݻ༗ϑΟϧλ v 8 ݻ༗ϑΟϧλ v 9 ݻ༗ϑΟϧλ v 10 ݻ༗ϑΟϧλ v 11 ݻ༗ϑΟϧλ v 12 ݻ༗ϑΟϧλ v 13 ݻ༗ϑΟϧλ v 14

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ݻ༗ϑΟϧλͱݻ༗ؔ਺ͷؔ܎ w ݻ༗ؔ਺ɿ֤ݻ༗ϑΟϧλʹର͢ΔॏΈ܎਺ ݻ༗ؔ਺ 14 ݻ༗ؔ਺ 13 ݻ༗ؔ਺ 12 ݻ༗ؔ਺ 11 ݻ༗ؔ਺ 10 ݻ༗ؔ਺ 9 ݻ༗ؔ਺ 8 ݻ༗ؔ਺ 7 ݻ༗ؔ਺ 6 ݻ༗ؔ਺ 5 ݻ༗ؔ਺ 4 ݻ༗ؔ਺ 3 ݻ༗ؔ਺ 2 ݻ༗ؔ਺ 1

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ඇ౳ํੑ-P(ϑΟϧλͷۙࣅ ඇ౳ํੑ-P(ϑΟϧλLoG( x, y, ) = 2 x2 G( ) + 2 y2 G( ) L(·) ཭ࢄؔ਺ 14 n=1 v n n ( x, y, ) LoG( x, y, ) = 2 x2 g( ) + 2 y2 g( ) 14 n=1 v n n ( x, y, ) ࿈ଓؔ਺ ܭࢉՄೳͳύϥϝʔλ͸཭ࢄత x = {1.6, 1.7, · · · , 3.2} y = {1.6, 1.7, · · · , 3.2} = {0 , 5 , · · · , 175 } ݻ༗ؔ਺஋ ݻ༗ؔ਺஋ ݻ༗ؔ਺஋ ೚ҙͷ࿈ଓύϥϝʔλͰܭࢉՄೳ x [1.6, 3.2] y [1.6, 3.2] [0 , 175 ) ݻ༗ؔ਺஋ ݻ༗ؔ਺஋ ݻ༗ؔ਺஋ n ( x, y, ) = DI i=0 DJ j=0 DK k=0 i,j,k i x j y cos(k ) + DI i=0 DJ j=0 DK k=1 i,j,k i x j y sin(k ) arg min , x y ( n ( x, y, ) n ( x, y, ))2 ࿈ଓؔ਺ϑΟοςΟϯά ˠ࿈ଓؔ਺ͷϑΟοςϯάʹΑΓ೚ҙͷ-P(ϑΟϧλ͕ੜ੒Մೳ ʮݰਓ࣮ߦᶄʯ

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ۙࣅܭࢉʹΑΔඇ౳ํੑ-P(ϑΟϧλͷԠ౴஋ w ೚ҙͷඇ౳ํੑ-P(ϑΟϧλͷԠ౴஋Λۙࣅܭࢉ . . . ݻ༗ؔ਺ 2 ݻ༗ؔ਺ 1 ݻ༗ؔ਺ 14 ۙࣅܭࢉ݁Ռ ΩʔϙΠϯτը૾I . . . ݻ༗ϑΟϧλv 1 ݻ༗ϑΟϧλv 2 ݻ༗ϑΟϧλv 14 14 1 2 n ( x, y, ) ۙࣅܭࢉ݁Ռ ඇ౳ํੑ-P(ϑΟϧλͷԠ౴ʢਅ஋ʣ ݻ༗ؔ਺ 2 ݻ༗ؔ਺ 1 ݻ༗ؔ਺ 14

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ఏҊख๏ʹΑΔΞϑΟϯྖҬݕग़ ࢹ఺B ࢹ఺C

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ΩʔϙΠϯτϚονϯάධՁ݁Ռ (SB⒏UJ . 0. 2. 4. 6. /.. /+0 /+1 /+2 /+3 /+4 Pcnc_r_`gjgrwY#[ Gk_ecn_gp . 0. /+0 /+1 /+2 /+3 Pcn Gk_ecn_gp Npmnmqcb Fcqqg_l+?ddglc KQCP BmE . 0. 2. /+0 /+1 /+2 /+3 /+4 Pcnc_r Gk_ecn_gp Npmnmqcb Fcqqg_l+?ddglc KQCP BmE 1SPQPTFE )FTTJBO"⒏OF .4&3 %P( *NBHF *NBHF *NBHF *NBHF *NBHF *NBHF

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ΩʔϙΠϯτϚονϯάධՁ݁Ռ #PBU #JLFT -FVWFO 6#$ . 0. 2. 4. 6. /+0 /+1 /+2 /+3 Pcnc_r_`gjgrwY#[ Gk_ecn_gp Npmnmqcb Fcqqg_l+?ddglc KQC Bm . 0. 2. 4. 6. /+0 /+1 /+2 /+3 /+4 Pcnc_r_`gjgrwY#[ Gk_ecn_gp Npmnmqcb Fcqqg_l+?ddglc KQCP BmE 1SPQPTFE )FTTJBO"⒏OF .4&3 %P( . 0. 2. 4. 6. /.. /+0 /+1 /+2 /+3 /+4 Pcnc_r_`gjgrwY#[ Gk_ecn_gp . 0. 2. 4. 6. /.. /+0 /+1 /+2 /+3 /+4 Pcnc_r_`gjgrwY#[ Gk_ecn_gp . 0. 2. 4. 6. /.. /+0 /+1 /+2 /+3 /+4 Pcnc_r_`gjgrwY#[ Gk_ecn_gp . 0. 2. 4. 6. /.. /+0 /+1 /+2 /+3 /+4 Pcnc_r_`gjgrwY#[ Gk_ecn_gp ً౓มԽ ճసεέʔϧ ϒϥʔ +1&(ѹॖ

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w ΩʔϙΠϯτʹ͓͚Δෳ਺ͷΞϑΟϯྖҬਪఆ<5)BTFHBXB *$$7`> r ඇ౳ํੑ-P(ϑΟϧλͷԠ౴஋Λޮ཰తʹܭࢉ r ΩʔϙΠϯτʹରͯ͠ෳ਺ͷΞϑΟϯྖҬΛਪఆ͢Δ͜ͱͰߴਫ਼౓Խ ·ͱΊɿඇ౳ํੑ-P(ϑΟϧλʹΑΔෳ਺ͷΞϑΟϯྖҬͷਪఆ ண؟େہɾணखখہ ૉਓൃ૝ɾݰਓ࣮ߦ ݰਓ࣮ߦ Anisotropic LoG filter 1 2 3 4 5 6 7 8 9 10 11 12 13 14 + + + + + + + + + + + + + ண؟খہɾணखখہ ैདྷ๏ɿ)FTTJBO"⒏OFʹΑΔہॴ୳ࡧ ண؟େہɾணखখہ ఏҊख๏ɿάϩʔόϧͳۃ஋Λ୳ࡧ ಛҟ஋෼ղʹΑΓݸͷݻ༗ϑΟϧλʹ෼ղͯۙ͠ࣅ ૉਓൃ૝ pMUFST

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ඇ౳ํੑ-P(ϑΟϧλʹΑΔෳ਺ͷΞϑΟϯྖҬͷਪఆ<)BTFHBXB *$$7> ஌ࣝసҠάϥϑʹΑΔڞಉֶश<.JOBNJ "$$7>

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த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR w *-473$ʹ͓͚ΔωοτϫʔΫߏ଄ͷมભ 2012 ^ƵƉĞƌsŝƐŝŽŶ 'ŽŽŐ>ĞEĞƚ Konvolüzasyon WŽŽůŝŶŐ ^ŽĨƚŵĂdž ŝŒĞƌ s'' [<ƌŝnjŚĞǀƐŬLJE/W^ϮϬϭϮ] ΀^njĞŐĞĚLJĂƌdžŝǀϮϬϭϰ΁-ϮϮ [^ŝŵŽŶLJĂŶĂƌdžŝǀϮϬϭ "MFY/FU MBZFST *-473$ 2 ŝƐŝŽŶ 2014 'ŽŽŐ>ĞEĞƚ Konvolüzasyon WŽŽůŝŶŐ ^ŽĨƚŵĂdž ŝŒĞƌ s'' D^Z /W^ϮϬϭϮ] ΀^njĞŐĞĚLJĂƌdžŝǀϮϬϭϰ΁-ϮϮ [^ŝŵŽŶLJĂŶĂƌdžŝǀϮϬϭϰ΁-19 [,ĞĂƌdžŝǀϮϬϭϰ] 2012 ƵƉĞƌsŝƐŝŽŶ 2014 'ŽŽŐ>ĞEĞƚ Konvolüzasyon WŽŽůŝŶŐ ^ŽĨƚŵĂdž ŝŒĞƌ s'' D^Z ϯϱͬϯϲ ƚĂŬŦŵ ĚĞƌŝŶƂŒƌĞŶŵ ŬƵůůĂŶŵŦƔƚŦƌ͘ ϮϬͬϯϲ ƚĂŬŦŵ ĂĕŦŬ-ŬĂLJŶĂŬůŦ ĂĨĨĞ ƵLJŐƵůĂŵĂƐŦŶŦ ŬƵůůĂŶŵŦƔƚŦƌ͘ ŚĞǀƐŬLJE/W^ϮϬϭϮ] ΀^njĞŐĞĚLJĂƌdžŝǀϮϬϭϰ΁-ϮϮ [^ŝŵŽŶLJĂŶĂƌdžŝǀϮϬϭϰ΁-19 [,ĞĂƌdžŝǀϮϬϭϰ] ϭϯ 7(( MBZFST *-473$ (PPHMF/FU MBZFST *-473$ ϭϰ 3FT/FU MBZFST *-473$ ਂ૚ֶशͷωοτϫʔΫߏ଄ ˠ໿ ສύϥϝʔλ ˠ໿ԯύϥϝʔλ ˠ໿ ສύϥϝʔλ

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w ஌ࣝৠཹ r ֶशࡁΈ-BSHFωοτϫʔΫ͔Β4NBMMωοτϫʔΫʹ஌ࣝసҠ r ੑೳΛอͪͭͭɺύϥϝʔλ਺ͱܭࢉίετΛ࡟ݮՄೳ ,OPXMFEHF%JTUJMMBUJPO ,% <()JOUPO > த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 5FBDIFS /FUXPSL 4UVEFOU /FUXPSL -BSHF QSFUSBJOFE 4NBMM ,OPXMFEHFUSBOTGFS ஌ࣝৠཹ ஌ࣝ

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%BSL,OPXMFEHFʢӅΕͨ஌ࣝʣ w ஌ࣝৠཹɿ5FBDIFSˠ4UVEFOU r ֶशࡁΈ-BSHFωοτϫʔΫ͔Β4NBMMωοτϫʔΫʹ஌ࣝసҠ r ੑೳΛอͪͭͭɺύϥϝʔλ਺ͱܭࢉίετΛ࡟ݮՄೳ r ֶशํ๏ɿ)BSEUBSHFUͱ4PGUUBSHFUͰ4UVEFOUωοτϫʔΫΛֶश ,OPXMFEHF%JTUJMMBUJPO ,% <()JOUPO > த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 5FBDIFS 4UVEFOU $SPTT&OUSPQZ $SPTT&OUSPQZ MBCFM QSFUSBJOFE 4PGUUBSHFU )BSEUBSHFU ʢਖ਼ղϥϕϧʣ p 1 p 2 ʢ֬཰෼෍ʣ #BDLQSPQ

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w 4UVEFOUωοτϫʔΫͷ૬ޓֶशɿ4UVEFOU⁶4UVEFOU r ,VMMCBDL-FJCMFS ,- %JWFSHFODFͰωοτϫʔΫͷग़ྗQɹͱɹɹΛ͚ۙͮ߹͏Q %FFQ.VUVBM-FBSOJOH %.- <:;IBOH > த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR MBCFM 4UVEFOU 4UVEFOU p 1 p 2 KL(p 1 ||p 2 ) KL(p 2 ||p 1 ) p 1 p 2 ˠྠߨͷΑ͏ͳֶशܗଶͰ͋Γɺ஌ࣝৠཹΑΓਫ਼౓͕޲্ )BSE5BSHFU $SPTT&OUSPQZ 4PGU5BSHFU ,-EJWFSHFODF

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஌ࣝৠཹɾ૬ޓֶशͷ೿ੜख๏ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4UVEFOU 4UVEFOU 4UVEFOU 4UVEFOU 4UVEFOU 4UVEFOU 4UVEFOU 5FBDIFS 4UVEFOU 5FBDIFS 4UVEFOU 5FBDIFS 5" 4UVEFOU ,OPXMFEHF%JTUJMMBUJPO %FFQ.VUVBM-FBSOJOH ,OPXMFEHF%JTUJMMBUJPO <()JOUPO > #PSO"HBJO <'VSMBOFMMP > 5FBDIFS"TTJTUBOU <.JS[BEFI > %FFQ.VUVBM-FBSOJOH<:;IBOH > -BSHFϞσϧ4NBMMϞσϧ ಉҰαΠζ தؒϞσϧ͋Γ -BSHFϞσϧ4NBMMϞσϧ ಉҰαΠζ Ϟσϧ਺ p 1 p 2 p 1 p 2 p 1 p 2 p 1 p 2 p 1 p 2 p 3 p 1 p 2 p 3

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த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ,OPXMFEHF%JTUJMMBUJPO <()JOUPO > #PSO"HBJO <'VSMBOFMMP > 5FBDIFS"TTJTUBOU <.JS[BEFI > %FFQ.VUVBM-FBSOJOH<:;IBOH > ,OPXMFEHF%JTUJMMBUJPO %FFQ.VUVBM-FBSOJOH ஌ࣝৠཹɾ૬ޓֶशͷ೿ੜख๏ -BSHFϞσϧ4NBMMϞσϧ ಉҰαΠζ தؒϞσϧ͋Γ -BSHFϞσϧ4NBMMϞσϧ ಉҰαΠζ Ϟσϧ਺ ਓ͕ઃܭͨ͠ݶఆతͳֶशํ๏

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w ڞಉֶशΛΫϥεϧʔϜεέʔϧ΁֦ு r ଟ༷ੑͷߴ͍ڞಉֶशΛ࣮ݱ ຊݚڀͷ໨ඪ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ʮૉਓൃ૝ʯ ˠڭࣨͰͷֶशͷΑ͏ʹઌੜ͔ΒͰͳ͘ଟ͘ͷੜె͕ෳࡶʹڭ͑͋͏ֶश

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w ڞಉֶशΛΫϥεϧʔϜεέʔϧ΁֦ு r ଟ༷ੑͷߴ͍ڞಉֶशΛ࣮ݱ w ஌ࣝసҠάϥϑͷఏҊ<.JOBNJ "$$7> r ैདྷख๏ ,%ͱ%.- Λ಺แͭͭ͠ɺ৽ֶ͍͠शํ๏ΛؚΉදݱํ๏ r ̐छྨͷ(BUFؔ਺ʹΑΓ஌ࣝసҠΛ੍ޚ͢Δ͜ͱͰଟ༷ͳڞಉֶश த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ,% %.- ຊݚڀͷ໨ඪ

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άϥϑදݱ΁ͷม׵ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ,OPXMFEHF%JTUJMMBUJPO ,% -BSHF 4NBMM 5FBDIFS 4UVEFOU 4UVEFOU 4UVEFOU -BSHF 4NBMM %FFQ.VUVBM-FBSOJOH %.- p 1 p 2 p 1 p 2 m 1 m 2 m 1 m 2 ํ޲ͷΤοδ ૒ํ޲ͷΤοδ ˠ༗޲άϥϑͰैདྷͷ,%ͱ%.-ΛදݱͰ͖Δ

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w ิॿϊʔυ͕ධՁର৅ϊʔυͷֶशΛαϙʔτ͢Δ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 3 1 2 ^,1 ^,2 ^,3 1,2 1,3 2,1 3,1 3,2 2,3 ^ ^ ^ ਖ਼ղϥϕϧ ධՁର৅ϊʔυ 3FT/FU ิॿϊʔυ 3FT/FU 8JEF3FT/FU %FOTF/FU … ஌ࣝసҠάϥϑ ϊʔυ਺͕ͷ৔߹

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w ֤ΤοδʹҟͳΔଛࣦؔ਺Λఆٛ r ଛࣦؔ਺ͷ૊Έ߹ΘͤΛ୳ࡧ͢Δ͜ͱͰ৽ͨͳֶशํ๏Λ࣮ݱ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 3 1 2 ^,1 ^,2 ^,3 1,2 1,3 2,1 3,1 3,2 2,3 ^ ^ ^ ଛࣦؔ਺ = ( ^ , ) = ( || ) = 0 … ஌ࣝసҠάϥϑ ϊʔυ਺͕ͷ৔߹ ˠଟ༷ͳ஌ࣝసҠΛදݱ͢ΔϑϨʔϜϫʔΫΛઃܭ ʮݰਓ࣮ߦᶃʯ

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ଛࣦؔ਺ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR w ϊʔυ̎ TPVSDF ͔Βϊʔυ̍ EFTUJOBUJPO ΁ͷ஌ࣝసҠ 3 1 2 ^,1 ^,2 ^,3 1,2 1,3 2,1 3,1 3,2 2,3 ^ ^ ^ 1 2 2,1 3 1 2 ^,1 ^,2 ^,3 1,2 1,3 2,1 3,1 3,2 2,3 ^ ^ ^ ධՁର৅ϊʔυ

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w ϊʔυ̎ TPVSDF ͔Βϊʔυ̍ EFTUJOBUJPO ΁ͷ஌ࣝసҠ 1 2 ^,1 ^,2 1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR -PTT GVOD 4PVSDF %FTUJOBUJPO 2 1 p 2 (c|x) p 1 (c|x) L 2,1 (p 2 , p 1 ) 'PSXBSE ଛࣦؔ਺

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w ϊʔυ̎ TPVSDF ͔Βϊʔυ̍ EFTUJOBUJPO ΁ͷ஌ࣝసҠ 1 2 ^,1 ^,2 1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR -PTT GVOD 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) #BDLQSPQ %FUBDI #BDLXBSE ଛࣦؔ਺

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w ͲͷΑ͏ʹ஌ࣝసҠ͢Δ͔Λήʔτؔ਺ʹΑΓ੍ޚ 1 2 ^,1 ^,2 1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 ήʔτؔ਺ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR -PTT GVOD 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) Gate KL div 'PSXBSE p 2 (c|x) p 1 (c|x)

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1 2 ^,1 ^,2 1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) 'PSXBSE p 2 (c|x) p 1 (c|x) Gate KL div $VUPGG(BUF -JOFBS(BUF 5ISPVHI(BUF $PSSFDU(BUF w ͲͷΑ͏ʹ஌ࣝసҠ͢Δ͔Λήʔτؔ਺ʹΑΓ੍ޚ ήʔτؔ਺

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w ͲͷΑ͏ʹ஌ࣝసҠ͢Δ͔Λήʔτؔ਺ʹΑΓ੍ޚ 1 2 ^,1 ^,2 1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) $VUPGG(BUF -JOFBS(BUF $PSSFDU(BUF 5ISPVHI(BUF ( ) = มߋΛՃ͑ͣɺ ͦͷ··఻ୡ 'PSXBSE p 2 (c|x) p 1 (c|x) Gate KL div ήʔτؔ਺

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w ͲͷΑ͏ʹ஌ࣝసҠ͢Δ͔Λήʔτؔ਺ʹΑΓ੍ޚ 1 2 ^,1 ^,2 1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) $VUPGG(BUF -JOFBS(BUF $PSSFDU(BUF 5ISPVHI(BUF ৗʹΛग़ྗ Τοδͷ੾அ ( ) = 0 'PSXBSE p 2 (c|x) p 1 (c|x) Gate KL div ήʔτؔ਺

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w ͲͷΑ͏ʹ஌ࣝసҠ͢Δ͔Λήʔτؔ਺ʹΑΓ੍ޚ 1 2 ^,1 ^,2 1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) $VUPGG(BUF -JOFBS(BUF $PSSFDU(BUF 5ISPVHI(BUF Gate KL div ࣌ؒͱڞʹग़ྗ͕ େ͖͘ͳΔ ( ) = ∙ 'PSXBSE p 2 (c|x) p 1 (c|x) ήʔτؔ਺

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w ͲͷΑ͏ʹ஌ࣝసҠ͢Δ͔Λήʔτؔ਺ʹΑΓ੍ޚ 1 2 ^,1 ^,2 1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) $VUPGG(BUF -JOFBS(BUF $PSSFDU(BUF 5ISPVHI(BUF Gate KL div ਖ਼ղͨ͠αϯϓϧͷ ৘ใͷΈ఻ୡ ( ) = ^, 2 ∙ 'PSXBSE p 2 (c|x) p 1 (c|x) ήʔτؔ਺

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1 2 ^,1 ^,2 1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) $VUPGG(BUF -JOFBS(BUF $PSSFDU(BUF 5ISPVHI(BUF Gate KL div 'PSXBSE p 2 (c|x) p 1 (c|x) ήʔτؔ਺ w ͲͷΑ͏ʹ஌ࣝసҠ͢Δ͔Λήʔτؔ਺ʹΑΓ੍ޚ

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w ϋΠύʔύϥϝʔλαʔνͰ஌ࣝసҠάϥϑΛ࠷దԽ r ࠷దԽख๏"TZODISPOPVT4VDDFTTJWF)BMWJOH"MHPSJUIN "4)" r ύϥϝʔλήʔτؔ਺ ิॿϊʔυ ஌ࣝసҠάϥϑͷ࠷దԽ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 3 1 2 ^,1 ^,2 ^,3 1,2 1,3 2,1 3,1 3,2 2,3 ^ ^ ^ ήʔτؔ਺ • 5ISPVHI(BUF • $VUPGG(BUF • -JOFBS(BUF • $PSSFDU(BUF • 3FT/FU ධՁର৅ϊʔυ • 3FT/FU • 3FT/FU • 8JEF3FT/FU ิॿϊʔυ શ૊Έ߹Θͤ਺ɿ ௨Γʢϊʔυ਺ͷ৔߹ʣ

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αʔό਺ɹɹɹɹɿ ୳ࡧճ਺ɹɹɹɹɿ ճ ϑϨʔϜϫʔΫɹɿ0QUVOB

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w ධՁର৅ϊʔυɿ 3FT/FU w 7BOJMMBϞσϧɿ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ڭࢣϥϕϧ ධՁର৅ϊʔυ ิॿϊʔυ QSFUSBJOFE ิॿϊʔυ ڭࢣϥϕϧ ࠷దԽʹΑͬͯ֫ಘͨ͠஌ࣝసҠάϥϑʢୈҐʣ

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w ධՁର৅ϊʔυɿ 3FT/FU w 7BOJMMBϞσϧɿ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ิॿϊʔυ QSFUSBJOFE ิॿϊʔυ ධՁର৅ϊʔυ ஌ࣝৠཹ ࠷దԽʹΑͬͯ֫ಘͨ͠஌ࣝసҠάϥϑʢୈҐʣ

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w ධՁର৅ϊʔυɿ 3FT/FU w 7BOJMMBϞσϧɿ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ิॿϊʔυ QSFUSBJOFE ิॿϊʔυ ධՁର৅ϊʔυ ॳΊ͸,%ϥΠΫͳֶशɼ࣍ୈʹ,%ʴ%.-ͳֶश͕ߦΘΕΔ ࠷దԽʹΑͬͯ֫ಘͨ͠஌ࣝసҠάϥϑʢୈҐʣ ɹ૬ޓֶशɹ

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w σʔληοτɿ$*'"3 w ֶशϊʔυ਺ɿ w ࠷దԽର৅ϊʔυɿ3FT/FU த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ैདྷख๏ ,% %.- ͱͷൺֱ ख๏ ೝࣝ཰<> ิॿϊʔυͷϞσϧ *OEFQFOEFOU r ,% 3FT/FU QSFUSBJOFE %.- 3FT/FU 3FT/FU 0VST 3FT/FU QSFUSBJOFE 3FT/FU

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த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ࠷దԽʹΑͬͯ֫ಘͨ͠஌ࣝసҠάϥϑ $*'"3 ϊʔυ਺ɿ ϊʔυ਺ɿ ϊʔυ਺ɿ ϊʔυ਺ɿ ϊʔυ਺ɿ ϊʔυ਺ɿ *OEFQFOEFOU3FT/FU

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த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ࠷దԽʹΑͬͯ֫ಘͨ͠஌ࣝసҠάϥϑ $*'"3 ϊʔυ਺ɿ

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w ஌ࣝసҠάϥϑʹΞϯαϯϒϧϊʔυͱΞςϯγϣϯϩεΛಋೖ r ΞςϯγϣϯϩεɿΤοδͷϩεʹΞςϯγϣϯϩεΛ௥Ճ r Ξϯαϯϒϧϊʔυɿ֤ϊʔυͷग़ྗΛΞϯαϯϒϧ͢Δػߏ ஌ࣝసҠάϥϑΛ༻͍ͨΞϯαϯϒϧֶश<Ԭຊ .*36> த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Ξϯαϯϒϧϊʔυ ^ ^, 1 2 3 ^ ^ ^ ^,3 ^,2 ^,1 2,1 1,2 3,1 1,3 2,3 3,2 i,j = ( i , j) ± ( i , j ) Ξςϯγϣϯϩε

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w ϊʔυ͔̎Βϊʔυ̍΁ͷΞςϯγϣϯϩε r ೋͭͷϞσϧؒͷΞςϯγϣϯΛ͚ۙͮͨΓ཭͢ޮՌ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 p 2 (c|x) p 1 (c|x) 'PSXBSE Ξςϯγϣϯϩε 1 2 3 ^ ^ ^,2 ^,1 2,1 1,2 3,1 1,3 2,3 3,2 ,-EJW x x "UUFOUJPO "UUFOUJPO = ∑ =1 ɿಛ௃Ϛοϓ ɿνϟωϧ਺ ɿϊϧϜ਺ ैདྷͷଛࣦ ( 2 , 1 ) = 1 ∑ 2 2 2 − 1 1 2 2 "UUFOUJPOଛࣦ (BUF 2,1 = G( ( 2 , 1) ± ( 2 , 1 )) ͚ۙͮΔ ཭͢ + −

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w ,-EJWFSHFODFͱΞςϯγϣϯϩεΛ#BDLQSPQͯ͠ Λߋ৽ 1 த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 2 1 ϊʔυ̎ TPVSDF ͔Βϊʔυ̍ EFTUJOBUJPO ΁ͷ஌ࣝసҠ 1 2 3 ^ ^ ^,2 ^,1 1,2 3,1 1,3 2,3 3,2 x x 4PVSDF %FTUJOBUJPO ͚ۙͮΔ ཭͢ + − 2,1 #BDLXBSE 2,1 = G( ( 2 , 1) ± ( 2 , 1 )) ,-EJW (BUF "UUFOUJPO "UUFOUJPO Detach Back-prop

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w ΞϯαϯϒϧϊʔυΛλʔήοτϊʔυͱͯ͠࠷େԽ͢ΔΑ͏ʹ࠷దԽ r ֤ϊʔυͷग़ྗΛฏۉʹΑΓΞϯαϯϒϧ͢Δػߏ Ξϯαϯϒϧϊʔυ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ^ ^, 1 2 3 ^ ^ ^ ^,3 ^,2 ^,1 2,1 1,2 3,1 1,3 2,3 3,2 1 2 Ξϯαϯϒϧϊʔυ 3 Ξϯαϯϒϧػߏ ( ) = 1 ( ) + 2 ( ) + 3 ( | ) 1 ( ) 2 ( ) 3 ( ) ( )

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஌ࣝసҠάϥϑͷΞϯαϯϒϧޮՌ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ˠ஌ࣝసҠάϥϑʹ͓͍ͯΞϯαϯϒϧਫ਼౓͕޲্

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w Ξϯαϯϒϧϊʔυɿ w 7BOJMMBϞσϧɿ ࠷దԽͨ͠Ξϯαϯϒϧ஌ࣝసҠάϥϑ ϊʔυ਺ɿʣ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ೖྗը૾ ˠҟͳΔΞςϯγϣϯϚοϓʢΞϯαϯϒϧʹదͨ͠ଟ༷ੑʣΛ֫ಘ

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w Ξϯαϯϒϧϊʔυɿ w 7BOJMMBϞσϧɿ ࠷దԽͨ͠Ξϯαϯϒϧ஌ࣝసҠάϥϑ ϊʔυ਺ɿʣ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ˠҟͳΔΞςϯγϣϯϚοϓʢΞϯαϯϒϧʹదͨ͠ଟ༷ੑʣΛ֫ಘ ʹ͚ۙͮΔ ʹ͚ۙͮΔ ͔Β཭͢ ೖྗը૾ ʹ͚ۙͮΔ ͔Β཭͢ ͓ޓ͍ʹ͚ۙͮΔ ʹ͚ۙͮΔ ʹ͚ۙͮΔ ʹ͚ۙͮΔ

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ଟ༷ͳΞϯαϯϒϧϞσϧ͔Βͷ஌ࣝৠཹ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR w ஌ࣝసҠάϥϑͷΞϯαϯϒϧΛڭࢣͱͯ͠஌ࣝৠཹ r ڭࢣωοτϫʔΫɿ஌ࣝసҠάϥϑͰֶशͨ͠ෳ਺ͷ"#/ʢ3FT/FUʣ r ੜెωοτϫʔΫɿ"#/ʢ3FT/FUʣ ೖྗը૾ 4UVEFOU/FUXPSL ωοτϫʔΫ 1 1 ( ) 3 ( ) ωοτϫʔΫ 3 ( ) ( ) ڭࢣϥϕϧ ^ ஌ࣝసҠ ( ) Թ౓෇͖4PGUNBYؔ਺ 5FBDIFS/FUXPSL 1 2 3 ஌ࣝసҠάϥϑ

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Ξϯαϯϒϧ͔Βͷ஌ࣝৠཹ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ஌ࣝసҠάϥϑʹΑΔΞϯαϯϒϧΛৠཹ͢Δ͜ͱͰ ಉ͡ύϥϝʔλ਺Ͱߴ͍ೝࣝੑೳΛൃش

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w ஌ࣝసҠάϥϑΛఏҊ r ̐छྨͷ(BUFؔ਺ʹΑΓɺ஌ࣝసҠΛ੍ޚ͢Δ͜ͱͰଟ༷ͳڞಉֶश r ϋΠύʔύϥϝʔλαʔνʹΑΔ࠷దͳ஌ࣝసҠάϥϑΛ୳ࡧ r ஌ࣝసҠάϥϑʹΑΔΞϯαϯϒϧֶश w ൃݟͨ͜͠ͱʢϊʔυ਺ͷ৔߹ʣ r ,%ͱ%.-͕༥߹ͨ͠஌ࣝసҠάϥϑ͸ैདྷ๏Λ௒͑Δਫ਼౓Λୡ੒ ·ͱΊɿ஌ࣝసҠάϥϑʹΑΔڞಉֶश த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ,%ͱ%.-ͷ༥߹ͨ͠஌ࣝసҠάϥϑ

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ૉਓൃ૝ݰਓ࣮ߦ w ஌ࣝసҠάϥϑʹΑΔڞಉֶश<.JOBNJ .*36 "$$7> r ݚڀऀ͸໰୊ઃఆͱղ͖ํΛݶఆͤͣɼ஌ࣝసҠΛදݱ͢ΔϑϨʔϜϫʔΫΛݚڀऀ͕ઐ ໳ੑΛൃشͯ͠ઃܭ r ࠷దԽ୳ࡧΛߦ͏͜ͱͰ৽ͨͳ஌ݟΛൃݟ 4PGUXBSF࣌୅ͷݚڀํ๏ ܭࢉػ͕๲େͳύϥϝʔλۭ͔ؒΒ࢓༷Λຬͨ͢ ϓϩάϥϜΛ୳ࡧ ʮૉਓൃ૝ݰਓ࣮ߦʯ ୳ࡧʹΑΓ֫ಘͨ͠৽ͨͳ஌ݟ͕࣍ͷ৽ͨͳݚڀͷ୺ॹͱͳΔ͜ͱΛظ଴ ݚڀۭؒ ͜Ε·Ͱͷݚڀ ݚ ڀ ͷ ෳ ࡶ ͞ ૉਓൃ૝ݰਓ࣮ߦ

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w த෦େֶɾػց஌֮ˍϩϘςΟΫεݚڀάϧʔϓ r ଔۀੜͷΈͳ͞Μʢ#ਓ .ਓ %ਓʣ r ࢁԼོٛઌੜɼฏ઒ཌྷઌੜ w ֎෦ڞಉݚڀऀ r ҆ഒ͞Μɺੴ઒͞Μʢ%FOTP*5ʣɺ্୍ઌੜʢ۽ຊେʣ w ۚग़෢༤ઌੜʢ$.6ʣ த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ँࣙ

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த෦େֶ ޻ֶ෦ϩϘο τཧ޻ֶՊ ڭत ౻٢߂࿱ ػց஌֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫ஌ݝय़೔Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢ޻ֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ϑΣϩʔ͔Βͷϝοηʔδ ʲϑΣϩʔ͔Βͷϝοηʔδʳ ৘ใɾγεςϜιαΠΤςΟࢽ ୈ 26 רୈ 4 ߸ʢ௨ר 105 ߸ʣ ૉਓൃ૝ݰਓ࣮ߦ 2.0 ϑΣϩʔ ౻٢ ߂࿱ த෦େֶ ʮண؟େہணखখہɼૉਓൃ૝ݰਓ࣮ߦʯ͸ɼ 2006 ೥ 8 ݄ʹࡏ֎ݚڀͰถࠃΧʔωΪʔϝϩϯ େֶϩϘοτ޻ֶݚڀॴʹ 1 ೥ؒ଺ࡏ͠ɼؼࠃ ͷࡍʹۚग़෢༤ઌੜ͔Β௖͍ͨݴ༿Ͱ͋Δɽ ʮૉ ਓൃ૝ݰਓ࣮ߦʯͱ͸ɼ ۚग़ઌੜͷஶॻ [1] ʹΑ Δͱɼ ʮൃ૝͸୯७ɼૉ௚ɼࣗ༝ɼ؆୯Ͱͳ͚Ε ͹ͳΒͳ͍ɽ͔͠͠ɼൃ૝Λ࣮ߦʹҠ͢ʹ͸஌ ͕͍ࣝΔɼख़࿅͞Εٕ͕͍ͨΔʯͱ͍͏͜ͱͰ ͋Δɽචऀ͸ͦΕҎདྷɼ͜ͷݴ༿ΛϞοτʔʹ ͯ͠ݚڀʹऔΓ૊ΜͰ͍Δɽ ͔͠͠ɼ ʮݴ͏͸қ ͘ɼߦ͏͸೉͠ʯͷయܕͰ͋Γɼ࣮ફ͢Δͷ͸ ͳ͔ͳ͔೉͍͠ɽଟ͘ͷ࿦จΛಡΜͰ͍͘ͱ஌ ͕ࣝਂ·Γઐ໳ੑ͸ߴ͘ͳΔ͕ɼͦΕ͕োนͱ ͳͬͯɼຊ࣭Ͱ͸ͳ͘খ͞ͳ͜ͱʹண໨ͨ͠໰ ୊ઃఆΛߦ͍͕ͪͰ͋Δɽ·ͨɼຊ࣭Λଊ͑ͯ ΋޻෉Λ۪ͤͣ௚ʹ࣮૷͢Δͱ͏·͘ಈ͔ͳ͍ ͜ͱ͕͋Δɽ ຊߘͰ͸ɼ ໿ 10 ೥Λܦͯʮૉਓൃ ૝ݰਓ࣮ߦʯʹগ͚͚ͩۙͮͨ͠ͷͰ͸ͱࢥ͏ චऀΒͷݚڀ 2 ྫʹ͍ͭͯ঺հ͠ɼ࠷ۙɼࣗ෼ ͳΓʹࢥ͍ඳ͘ʮૉਓൃ૝ݰਓ࣮ߦʯͷΞοϓ σʔτΛڞ༗͍ͨ͠ɽ 2010 ೥ࠒɼը૾ؒͷରԠ఺ϚονϯάͷͨΊ ͷಛ௃఺ݕग़ɾهड़ͷݚڀ͕ଟ͘औΓ૊·Εͯ ͍ͨɽதͰ΋ɼࣹӨมԽΛ൐͏ը૾ؒͷରԠ఺ Ϛονϯά͸ɼΩʔϙΠϯτͷಛ௃Λදݱ͢Δ ΞϑΟϯྖҬΛٻΊΔඞཁ͕͋Γɼ೉͍͠໰୊ Ͱ͋ͬͨɽैདྷख๏Ͱ͸ɼΩʔϙΠϯτʹର͠ ͯҰͭͷΞϑΟϯྖҬ͔͠ਪఆ͠ͳ͍ͨΊɼը ૾ͷมܗ΍ΩʔϙΠϯτͷҐஔͣΕͷӨڹʹΑ ΓҟͳΔΞϑΟϯྖҬΛਪఆͯ͠͠·͏ͱ͍͏ ໰୊͕͋ͬͨɽ͜Ε͸ɼہॴత୳ࡧΛߦ͏͜ͱ ͕ݪҼͰ͋Γɼ ʮண؟খہணखখہʯͱݴ͑Δɽ 2015 ೥ʹචऀΒ͕ࠃࡍձٞ ICCV ʹͯൃදͨ͠ ʮඇ౳ํੑ LoG ϑΟϧλʹΑΔෳ਺ͷΞϑΟϯ ྖҬͷਪఆʯ [2] Ͱ͸ɼ༷ʑͳପԁܗঢ়ͷඇ౳ํ ੑ LoG ϑΟϧλΛ༻͍ͯෳ਺ͷΞϑΟϯྖҬΛ ਪఆ͢Δ͜ͱΛఏҊͨ͠ɽγϯϓϧʹɼҰͭͰ ͸ͳ͘ෳ਺ͷྖҬ͕͋ͬͯ΋Α͍ͷͰ͸ɼͱ͍ ͏ʮૉਓൃ૝ʯͰ͋Δɽ ͔͠͠ɼ ͍࣮͟૷ͱͳΔ ͱɼ ඇ౳ํੑ LoG ϑΟϧλʹ͸ x ํ޲ͷεέʔ ϧɼy ํ޲ͷεέʔϧɼճస֯ͷ 3 ύϥϝʔλ ͕͋Γɼͦͷ૊Έ߹Θͤ͸਺ઍछྨͱͳΔɽෳ ਺ͷΞϑΟϯྖҬΛਪఆ͢ΔͨΊɼযΔ͕༨Γ ͜ͷ਺ઍछྨͷϑΟϧλશͯΛ৞ΈࠐΉॲཧΛ ͜ͷ··ߦ͏ͱɼ๲େͳܭࢉίετ͕ඞཁͱͳ Δɽ ͦ͜Ͱɼ ʮݰਓ࣮ߦʯͱͯ͠ɼ਺ઍछྨͷඇ ౳ํੑ LoG ϑΟϧλ܈Λಛҟ஋෼ղʹΑΓٻ Ίͨ 14 छྨͷݻ༗ϑΟϧλͰۙࣅ͠ɼ৞Έࠐ ΈॲཧΛޮ཰తʹܭࢉ͢Δ͜ͱʹͨ͠ɽ͜Εʹ ΑΓɼෳ਺ͷΞϑΟϯྖҬΛޮ཰తʹٻΊΔ͜ ͱ͕Ͱ͖ɼࣹӨมԽΛ൐͏ը૾ؒͷରԠ఺Ϛο νϯάͷߴਫ਼౓ԽΛ࣮ݱͨ͠ɽ͜ͷݚڀʹ͓͍ ͯɼ ʮૉਓൃ૝ݰਓ࣮ߦʯͷݴ༿͕ݚڀͷํ޲ੑ ΍ਐΊํΛܾΊΔखॿ͚Λͯ͘͠ΕͨΑ͏ʹࢥ ͑ɼ2006 ೥͔Β໿ 10 ೥ΛܦͯɼΑ͏΍͘ʮૉ ਓൃ૝ݰਓ࣮ߦʯʹҰา͚ۙͮͨͱࢥ͑Δݚڀ Ͱ͋ͬͨɽ͜ͷݚڀҎޙ΋ɼৗʹɼૉਓൃ૝Ͱ ݰਓ࣮ߦʹͳ͍ͬͯΔ͔Λࣗ໰ࣗ౴͠ͳ͕Βݚ ڀʹऔΓ૊ΜͰདྷͨɽ 2012 ೥Ҏ߱ɼਂ૚ֶश͕ओମͱͳͬͨίϯϐ 16 IUUQTXXXKTUBHFKTUHPKQBSUJDMFJFJDFJTTKPVSOBM@@BSUJDMFDIBSKB