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- 1. §±§°§³§´§²§°§¦§¯§ª§¦ §£§ª§¥§¦§°§®§°§©§¡§ª§¬§ª §¯§¡ §°§³§¯§°§£§¦ §³§§¡§¢§°§¬§°§¯§´§²§¡§³§´§¯§½§· §ª§©§°§¢§²§¡§¨§¦§¯§ª§« §¥§°§¯§¯§°§« §±§°§£§¦§²§·§¯§°§³§´§ª §¬§â§à§á§à§ä§à§Ó §¡.§¯., §®§Ñ§Ü§Ñ§ê§à§Ó §¡.§¡., §³§Ñ§ç§Ñ§â§à§Ó§Ñ §¦.§ª., §±§Ý§ñ§ã§å§ß§à§Ó §£.§®. §¯§ª§ª §³§® §®§¤§´§µ §Ú§Þ. §¯.§¿. §¢§Ñ§å§Þ§Ñ§ß§Ñ, 105005, §®§à§ã§Ü§Ó§Ñ, §å§Ý. 2-§ñ §¢§Ñ§å§Þ§Ñ§ß§ã§Ü§Ñ§ñ §Õ.5, §ä§Ö§Ý. (499)261-36-14 §¿§Ý. §á§à§é§ä§Ñ: niism@sm.bmstu.ru
- 2. §°§ã§à§Ò§Ö§ß§ß§à§ã§ä§Ú §á§à§ã§ä§Ñ§ß§à§Ó§Ü§Ú §Ù§Ñ§Õ§Ñ§é§Ú §Õ§Ý§ñ §ã§Ú§ã§ä§Ö§Þ§í §Ó§Ú§Õ§Ö§à§ã§Ü§Ý§Ö§Û§Ü§Ú §Ú§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§Û §Õ§à§ß§ß§à§Û §á§à§Ó§Ö§â§ç§ß§à§ã§ä§Ú ? §±§à§Ý§ß§à§ã§ä§î§ð §Ñ§Ó§ä§à§Þ§Ñ§ä§Ú§é§Ö§ã§Ü§Ñ§ñ §ã§Ú§ã§ä§Ö§Þ§Ñ, §Ò§Ö§Ù §Ú§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§ñ §â§å§é§ß§à§Û §Ü§à§â§â§Ö§Ü§è§Ú§Ú §Ú §ß§Ñ§Ó§Ú§Ô§Ñ§è§Ú§à§ß§ß§à§Û §Ú§ß§æ§à§â§Þ§Ñ§è§Ú§Ú ¨C §ï§ä§Ñ §Ú§ß§æ§à§â§Þ§Ñ§è§Ú§ñ §Ó §â§Ö§Ø§Ú§Þ§Ö §á§à§ã§ä§à§Ò§â§Ñ§Ò§à§ä§Ü§Ú §Ù§Ñ§é§Ñ§ã§ä§å§ð §à§Ü§Ñ§Ù§í§Ó§Ñ§Ö§ä§ã§ñ §ß§Ö§Õ§à§ã§ä§å§á§ß§à§Û, §Ú §Õ§Ñ§ß§ß§à§Ö §Õ§à§á§å§ë§Ö§ß§Ú§Ö §á§à§Ù§Ó§à§Ý§ñ§Ö§ä §à§Ò§Ö§ã§á§Ö§é§Ú§ä§î §å§ß§Ú§Ó§Ö§â§ã§Ñ§Ý§î§ß§à§ã§ä§î; ? §³§Ü§Ý§Ö§Û§Ü§Ñ §Ò§à§Ý§î§ê§Ö§Û §é§Ñ§ã§ä§î§ð §Þ§Ñ§Ý§à§Ú§ß§æ§à§â§Þ§Ñ§ä§Ú§Ó§ß§í§ç §ß§Ú§Ù§Ü§à§Ü§à§ß§ä§â§Ñ§ã§ä§ß§í§ç §ã§Ý§Ñ§Û§Õ§à§Ó, ?§à§ã§à§Ò§Ö§ß§ß§à§ã§ä§Ú? §Ü§à§ä§à§â§í§ç §ã§Ú§Ý§î§ß§à §é§å§Ó§ã§ä§Ó§Ú§ä§Ö§Ý§î§ß§í §Ü §å§Ô§Ý§å §à§ã§Ó§Ö§ë§Ö§ß§Ú§ñ (§á§Ö§ã§à§Ü, §Ô§Ñ§Ý§î§Ü§Ñ); ? §³§Ü§Ý§Ö§Û§Ü§Ñ §Ò§à§Ý§î§ê§Ö§Û §é§Ñ§ã§ä§î§ð §á§Ý§à§ã§Ü§Ú§ç §å§é§Ñ§ã§ä§Ü§à§Ó §Õ§ß§Ñ (§à§ä§ß§à§ã§Ú§ä§Ö§Ý§î§ß§Ñ§ñ §Ó§í§ã§à§ä§Ñ §Ó§í§á§å§Ü§Ý§í§ç §à§Ò§ì§Ö§Ü§ä§à§Ó §ß§Ñ §Õ§ß§Ö §ß§Ö §á§â§Ö§Ó§í§ê§Ñ§Ö§ä 5% §Ó§í§ã§à§ä§í §Ñ§á§á§Ñ§â§Ñ§ä§Ñ §ß§Ñ§Õ §Õ§ß§à§Þ); ? §¥§Ó§Ú§Ø§Ö§ß§Ú§Ö §Ó§Ú§Õ§Ö§à§Ü§Ñ§Þ§Ö§â§í, §ß§Ñ§ç§à§Õ§ñ§ë§Ö§Û§ã§ñ §ß§Ñ §Ò§à§â§ä§å §Ñ§á§á§Ñ§â§Ñ§ä§Ñ, §ç§Ñ§â§Ñ§Ü§ä§Ö§â§Ú§Ù§å§Ö§ä§ã§ñ §ß§Ö§Ù§ß§Ñ§é§Ú§ä§Ö§Ý§î§ß§í§Þ§Ú §Ü§à§Ý§Ö§Ò§Ñ§ß§Ú§ñ§Þ§Ú §á§à §Ü§â§Ö§ß§å §Ú §Õ§Ú§æ§æ§Ö§â§Ö§ß§ä§å (5-10:) §Ú §â§Ö§Ù§Ü§Ú§Þ§Ú §á§à§Ó§à§â§à§ä§Ñ§Þ§Ú §á§à §Ü§å§â§ã§å (§Õ§à 180: §á§â§Ú §å§Ô§Ý§à§Ó§à§Û §ã§Ü§à§â§à§ã§ä§Ú §Õ§à 30:/§ã§Ö§Ü).
- 3. §ª§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§ñ §Õ§ß§Ñ §¡§Ó§Ñ§é§Ú§ß§ã§Ü§à§Û §Ò§å§ç§ä§í, §ã§ß§ñ§ä§í§Ö §ã§Ú§ã§ä§Ö§Þ§à§Û §Ó§Ú§Õ§Ö§à§ß§Ñ§Ó§Ú§Ô§Ñ§è§Ú§Ú §³§°§´§ª §¹§×§â§ß§í§Ö §á§à§Ý§à§ã§í §á§à §Ü§â§Ñ§ñ§Þ §¯§Ö§â§à§Ó§ß§à§Ö §à§ã§Ó§Ö§ë§Ö§ß§Ú§Ö §Ó §Ü§Ñ§Õ§â§Ö §ª§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§ñ §ß§å§Ø§Õ§Ñ§ð§ä§ã§ñ §Ó §á§â§Ö§Õ§Ó§Ñ§â§Ú§ä§Ö§Ý§î§ß§à§Û §à§Ò§â§Ñ§Ò§à§ä§Ü§Ö
- 4. §±§â§Ö§Õ§Ó§Ñ§â§Ú§ä§Ö§Ý§î§ß§Ñ§ñ §à§Ò§â§Ñ§Ò§à§ä§Ü§Ñ §Ú§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§Û §á§Ö§â§Ö§Õ §Õ§à§Ò§Ñ§Ó§Ý§Ö§ß§Ú§Ö§Þ §Ó §Ó§Ú§Õ§Ö§à§ã§Ü§Ý§Ö§Û§Ü§å ? §¹§×§â§ß§í§Ö §á§à§Ý§à§ã§í §á§à §Ü§â§Ñ§ñ§Þ ¨C §à§Ò§â§Ö§Ù§Ü§Ñ §á§à §Ü§à§ß§ä§å§â§å: §¹§ä§à§Ò§í §Ú§Ù§Ò§Ñ§Ó§Ú§ä§î§ã§ñ §à§ä §é§×§â§ß§í§ç §á§à§Ý§à§ã §Ó §Ü§Ñ§Õ§â§Ö, §à§Ò§â§Ö§Ù§Ñ§Ö§Þ §ã §Ü§Ñ§Ø§Õ§à§Û §ã§ä§à§â§à§ß§í §á§à 2 §á§Ú§Ü§ã§Ö§Ý§ñ.
- 5. §±§â§Ö§Õ§Ó§Ñ§â§Ú§ä§Ö§Ý§î§ß§Ñ§ñ §à§Ò§â§Ñ§Ò§à§ä§Ü§Ñ §Ú§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§Û §á§Ö§â§Ö§Õ §Õ§à§Ò§Ñ§Ó§Ý§Ö§ß§Ú§Ö§Þ §Ó §Ó§Ú§Õ§Ö§à§ã§Ü§Ý§Ö§Û§Ü§å ? §¯§Ö§â§Ñ§Ó§ß§à§Þ§Ö§â§ß§à§Ö §à§ã§Ó§Ö§ë§Ö§ß§Ú§Ö ¨C §Ü§à§â§â§Ö§Ü§è§Ú§ñ §á§à §ñ§â§Ü§à§ã§ä§Ú. §¬ §Ù§ß§Ñ§é§Ö§ß§Ú§ñ§Þ §ñ§â§Ü§à§ã§ä§Ú §á§Ú§Ü§ã§Ö§Ý§Ö§Û §Õ§à§Ò§Ñ§Ó§Ý§ñ§Ö§ä§ã§ñ §â§Ñ§Ù§ß§Ú§è§Ñ §Ó §à§ã§Ó§Ö§ë§Ö§ß§Ú§Ú §ï§ä§Ñ§Ý§à§ß§ß§à§Ô§à §Ü§Ñ§Õ§â§Ñ §á§à §à§ä§ß§à§ê§Ö§ß§Ú§ð §Ü §Þ§Ñ§Ü§ã§Ú§Þ§å§Þ§å. + = §²§Ö§Ù§å§Ý§î§ä§Ñ§ä: §ä§×§Þ§ß§í§Ö §à§Ò§Ý§Ñ§ã§ä§Ú §ã§ä§Ñ§ß§à§Ó§ñ§ä§ã§ñ §ã§Ó§Ö§ä§Ý§Ö§Ö
- 6. §²§Ñ§Ù§Ý§Ú§é§ß§í§Ö §á§à§Õ§ç§à§Õ§í §Ü §ã§à§á§à§ã§ä§Ñ§Ó§Ý§Ö§ß§Ú§ð §Ú§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§Û §Õ§Ý§ñ §â§Ö§ê§Ö§ß§Ú§ñ §á§à§ã§ä§Ñ§Ó§Ý§Ö§ß§ß§à§Û §Ù§Ñ§Õ§Ñ§é§Ú §£ §ß§Ñ§ã§ä§à§ñ§ë§Ö§Ö §Ó§â§Ö§Þ§ñ §Õ§Ý§ñ §â§Ö§ê§Ö§ß§Ú§ñ §á§à§Õ§à§Ò§ß§í§ç §Ù§Ñ§Õ§Ñ§é §ã§å§ë§Ö§ã§ä§Ó§å§Ö§ä §ß§Ö§ã§Ü§à§Ý§î§Ü§à §Ó§à§Ù§Þ§à§Ø§ß§í§ç §á§à§Õ§ç§à§Õ§à§Ó: 1. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §Þ§Ö§ä§à§Õ§à§Ó ?§à§á§ä§Ú§é§Ö§ã§Ü§à§Ô§à §á§à§ä§à§Ü§Ñ? - §â§Ñ§ã§ã§Þ§Ñ§ä§â§Ú§Ó§Ñ§Ö§ä§ã§ñ §è§Ö§Ý§í§Û §Ü§Ñ§Õ§â §Ò§Ö§Ù §á§à§Ú§ã§Ü§Ñ ?§à§ã§à§Ò§Ö§ß§ß§à§ã§ä§Ö§Û? (features); 2. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §â§Ñ§Ù§Ý§Ú§é§ß§í§ç §Õ§Ö§ä§Ö§Ü§ä§à§â§à§Ó §ä§à§é§Ö§é§ß§í§ç ?§à§ã§à§Ò§Ö§ß§ß§à§ã§ä§Ö§Û? §Ú §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â§à§Ó §Ú§ç §Ý§à§Ü§Ñ§Ý§î§ß§í§ç §à§Ü§â§Ö§ã§ä§ß§à§ã§ä§Ö§Û; 3. §²§Ñ§Ù§Ý§Ú§é§ß§í§Ö §Ú§ß§ä§Ö§Ô§â§Ñ§Ý§î§ß§í§Ö §Õ§Ö§ä§Ö§Ü§ä§à§â§í, §á§â§à§Ú§Ù§Ó§à§Õ§ñ§ë§Ú§Ö §Ñ§ß§Ñ§Ý§Ú§Ù §à§Ò§Ý§Ñ§ã§ä§Ö§Û, §ã§ä§â§à§é§ß§à§Ö §Ú§Ý§Ú §Ü§à§ß§ä§å§â§ß§à§Ö §ã§â§Ñ§Ó§ß§Ö§ß§Ú§Ö. §´§â§Ö§ä§î§ñ §Ô§â§å§á§á§Ñ §Ó §Õ§Ñ§ß§ß§à§Û §â§Ñ§Ò§à§ä§Ö §ß§Ö §â§Ñ§ã§ã§Þ§Ñ§ä§â§Ú§Ó§Ñ§Ö§ä§ã§ñ §Ó§Ó§Ú§Õ§å §ã§á§Ö§è§Ú§æ§Ú§Ü§Ú §Ú§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§Û §Þ§à§â§ã§Ü§à§Ô§à §Õ§ß§Ñ (§à§é§Ö§ß§î §é§Ñ§ã§ä§à §ñ§Ó§Ý§ñ§Ö§ä§ã§ñ §ß§Ö§Ó§à§Ù§Þ§à§Ø§ß§í§Þ §Ó§í§Õ§Ö§Ý§Ú§ä§î §ß§Ö§Ü§Ú§Ö §Ü§à§ß§ä§å§â§í §Ú §à§Ò§Ý§Ñ§ã§ä§Ú, §Ý§Ú§Ò§à §à§ß§Ú §à§Ü§Ñ§Ù§í§Ó§Ñ§ð§ä§ã§ñ §ß§Ö§ã§ä§Ñ§Ò§Ú§Ý§î§ß§í§Þ§Ú, §ã§Ú§Ý§î§ß§à §Ù§Ñ§Ó§Ú§ã§ñ§ë§Ú§Þ§Ú §à§ä §à§ã§Ó§Ö§ë§Ö§ß§Ú§ñ).
- 7. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §Þ§Ö§ä§à§Õ§à§Ó §à§á§ä§Ú§é§Ö§ã§Ü§à§Ô§à §á§à§ä§à§Ü§Ñ: §æ§å§ß§Ü§è§Ú§à§ß§Ñ§Ý §£ §Ü§Ñ§é§Ö§ã§ä§Ó§Ö §æ§å§ß§Ü§è§Ú§à§ß§Ñ§Ý§Ñ §ã§ç§à§Ø§Ö§ã§ä§Ú §Ú§ã§á§à§Ý§î§Ù§å§Ö§ä§ã§ñ §æ§å§ß§Ü§è§Ú§à§ß§Ñ§Ý §Ó§Ú§Õ§Ñ: m,n = csize/2 - §á§à§Ý§à§Ó§Ú§ß§Ñ §â§Ñ§Ù§Þ§Ö§â§Ñ §ñ§é§Ö§Û§Ü§Ú §á§à §ã§à§à§ä§Ó§Ö§ä§ã§ä§Ó§å§ð§ë§Ö§Û §Ü§à§à§â§Õ§Ú§ß§Ñ§ä§Ö, §á§Ú§Ü§ã§Ö§Ý§Ú
- 8. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §Þ§Ö§ä§à§Õ§à§Ó §à§á§ä§Ú§é§Ö§ã§Ü§à§Ô§à §á§à§ä§à§Ü§Ñ ¨C §â§Ö§Ù§å§Ý§î§ä§Ñ§ä§í §³§Ý§Ö§Ó§Ñ §ß§Ñ§á§â§Ñ§Ó§à: §Õ§ß§à §¡§Ó§Ñ§é§Ú§ß§ã§Ü§à§Û §Ò§å§ç§ä§í, §Õ§ß§à §Ò§Ñ§ã§ã§Ö§Û§ß§Ñ §¸§¡§¤§ª, §Ó§Ö§â§ä§à§Ý§×§ä§ß§Ñ§ñ §Ñ§ï§â§à§ã§ì§×§Þ§Ü§Ñ. §£§Ú§Õ§ß§à, §é§ä§à §Þ§Ö§ä§à§Õ §Õ§Ñ§×§ä §á§Ý§à§ç§Ú§Ö §â§Ö§Ù§å§Ý§î§ä§Ñ§ä§í §á§â§Ú §â§Ö§Ù§Ü§Ú§ç §á§à§Ó§à§â§à§ä§Ñ§ç §Ü§Ñ§Þ§Ö§â§í.
- 9. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §ä§à§é§Ö§é§ß§í§ç §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â§à§Ó: SIFT ¨C §æ§å§ß§Ü§è§Ú§à§ß§Ñ§Ý §±§â§Ú§Ò§Ý§Ú§Ø§Ö§ß§Ú§Ö §á§â§à§Ú§Ù§Ó§à§Õ§ß§à§Û §Ô§Ñ§å§ã§ã§Ú§Ñ§ß§Ñ k ¨C §Þ§Ñ§ã§ê§ä§Ñ§Ò§ß§í§Û §Ü§à§ï§æ§æ§Ú§è§Ú§Ö§ß§ä - §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â
- 10. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §ä§à§é§Ö§é§ß§í§ç §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â§à§Ó: SIFT ¨C §â§Ö§Ù§å§Ý§î§ä§Ñ§ä§í §¯§Ö§ä §ã§à§Ó§á§Ñ§Õ§Ö§ß§Ú§Û: §ã§Ý§Ñ§Ò§í§Ö §à§ä§Ü§Ý§Ú§Ü§Ú
- 11. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §ä§à§é§Ö§é§ß§í§ç §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â§à§Ó: SURF ¨C §æ§å§ß§Ü§è§Ú§à§ß§Ñ§Ý §£ §Ü§Ñ§é§Ö§ã§ä§Ó§Ö §Õ§Ö§ä§Ö§Ü§ä§à§â§Ñ §Ú§ã§á§à§Ý§î§Ù§å§Ö§ä§ã§ñ §Ò§í§ã§ä§â§í§Û §Ô§Ö§ã§ã§Ú§Ñ§ß §Ô§Õ§Ö L = ??G. §¥§Ý§ñ ¦Ò=1.2 §Ú §ã§ä§à§â§à§ß§í 9 §Ü§Ó§Ñ§Õ§â§Ñ§ä§Ñ §à§Ü§â§Ö§ã§ä§ß§à§ã§ä§Ú, §æ§å§ß§Ü§è§Ú§ñ §Ú§Þ§Ö§Ö§ä §Ó§Ú§Õ: §¯§Ñ §â§Ú§ã§å§ß§Ü§Ö §ã§Ý§Ö§Ó§Ñ §ß§Ñ§á§â§Ñ§Ó§à: Lyy, Lxy, §Ú §Ú§ç §à§ä§Ü§Ý§Ú§Ü§Ú §·§Ñ§Ñ§â- §Ó§Ö§Û§Ó§Ý§Ö§ä§Ñ (§â§à§Ò§Ñ§ã§ä§ß§à§Ö §á§â§Ú§Ò§Ý§Ú§Ø§Ö§ß§Ú§Ö). §¥§Ñ§ß§ß§í§Û §Þ§Ö§ä§à§Õ §ß§Ñ§Ú§Ò§à§Ý§Ö§Ö §ã§ä§Ñ§Ò§Ú§Ý§Ö§ß §Ó §ä§à§Þ §é§Ú§ã§Ý§Ö §ß§Ñ §ã§Ý§Ñ§Ò§à§Ü§à§ß§ä§â§Ñ§ã§ä§ß§í§ç §Ú§Ù§à§Ò§â§Ñ§Ø§Ö§ß§Ú§ñ§ç §Ó§Ó§Ú§Õ§å §Ö§Ô§à §â§à§Ò§Ñ§ã§ä§ß§à§ã§ä§Ú, §â§Ñ§Ò§à§ä§Ñ§Ö§ä §Ò§Ö§Ù §ã§â§í§Ó§à§Ó. ¨C §é§Ö§ä§í§â§×§ç§Ü§à§Þ§á§à§ß§Ö§ß§ä§ß§í§Û §Ó§Ö§Ü§ä§à§â §à§Ü§â§Ö§ã§ä§ß§à§ã§ä§Ú ?§à§ã§à§Ò§Ö§ß§ß§à§ã§ä§Ú?
- 12. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §ä§à§é§Ö§é§ß§í§ç §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â§à§Ó: SURF ¨C §â§Ö§Ù§å§Ý§î§ä§Ñ§ä§í
- 13. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §ä§à§é§Ö§é§ß§í§ç §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â§à§Ó: BRISK - §æ§å§ß§Ü§è§Ú§à§ß§Ñ§Ý §Ó§à§Ü§â§å§Ô §ä§à§é§Ü§Ú k§³§å§Ò§á§Ú§Ü§ã§Ö§Ý§î§ß§Ñ§ñ §ä§à§é§ß§à§ã§ä§î:
- 14. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §ä§à§é§Ö§é§ß§í§ç §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â§à§Ó: BRISK - §â§Ö§Ù§å§Ý§î§ä§Ñ§ä§í §´§Ñ§Ü§Ø§Ö, §Ü§Ñ§Ü §Ú SIFT, §ß§Ö§ã§ä§Ñ§Ò§Ú§Ý§Ö§ß §ß§Ñ §ã§Ý§Ñ§Ò§à§Ü§à§ß§ä§â§Ñ§ã§ä§ß§í§ç §Ó§ç§à§Õ§ß§í§ç §Õ§Ñ§ß§ß§í§ç.
- 15. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §ä§à§é§Ö§é§ß§í§ç §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â§à§Ó: ORB ¨C §æ§å§ß§Ü§è§Ú§à§ß§Ñ§Ý §¥§Ö§ä§Ö§Ü§ä§à§â: oFAST + sBRIEF §è§Ö§ß§ä§â§à§Ú§Õ §à§â§Ú§Ö§ß§ä§Ñ§è§Ú§ñ §è§Ö§ß§ä§â§Ñ§Ý§î§ß§í§Û §Þ§à§Þ§Ö§ß§ä ?§à§ã§à§Ò§Ö§ß§ß§à§ã§ä§Ú? oFAST: §Ü§â§à§Þ§Ö §Ò§Ñ§Ù§à§Ó§à§Ô§à FAST-§Õ§Ö§ä§Ö§Ü§ä§à§â§Ñ, Sbright ¨C §á§Ú§Ü§ã§Ö§Ý§Ú, §ñ§â§Ü§à§ã§ä§î §Ü§à§ä§à§â§í§ç §Ó§í§ê§Ö §ñ§â§Ü§à§ã§ä§Ú ?§à§ã§à§Ò§Ö§ß§ß§à§ã§ä§Ú? §ß§Ñ §Ó§Ö§Ý§Ú§é§Ú§ß§å §Ò§à§Ý§Ö§Ö, §é§Ö§Þ §á§à§â§à§Ô t; Sdark ¨C §á§Ú§Ü§ã§Ö§Ý§Ú, §ñ§â§Ü§à§ã§ä§î §Ü§à§ä§à§â§í§ç §ß§Ú§Ø§Ö §ñ§â§Ü§à§ã§ä§Ú ?§à§ã§à§Ò§Ö§ß§ß§à§ã§ä§Ú? §ß§Ñ §Ó§Ö§Ý§Ú§é§Ú§ß§å §Ò§à§Ý§Ö§Ö, §é§Ö§Þ §á§à§â§à§Ô t; §Ó§í§é§Ú§ã§Ý§ñ§Ö§ä§ã§ñ §à§â§Ú§Ö§ß§ä§Ñ§è§Ú§ñ: sBRIEF: §Ü§â§à§Þ§Ö §Ò§Ñ§Ù§à§Ó§à§Ô§à BRIEF- §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â§Ñ, §Ó§í§é§Ú§ã§Ý§ñ§Ö§ä§ã§ñ §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â §Õ§Ý§ñ §â§Ñ§Ù§Ý§Ú§é§ß§í§ç §à§â§Ú§Ö§ß§ä§Ñ§è§Ú§Û: §â ¨C ?§á§Ñ§ä§é? , §ç,§å ¨C §ä§à§é§Ü§Ú. §¬§Ñ§Ø§Õ§à§Û §ä§à§é§Ü§Ö §ã§ä§Ñ§Ó§Ú§ä§ã§ñ §Ó §ã§à§à§ä§Ó§Ö§ä§ã§ä§Ó§Ú§Ö §Ó§Ö§Ü§ä§à§â: R ¨C §Þ§Ñ§ä§â§Ú§è§Ñ §á§à§Ó§à§â§à§ä§Ñ ?=[0..2¦Ð), §ê§Ñ§Ô 2¦Ð/30=12:
- 16. §ª§ã§á§à§Ý§î§Ù§à§Ó§Ñ§ß§Ú§Ö §ä§à§é§Ö§é§ß§í§ç §Õ§Ö§ã§Ü§â§Ú§á§ä§à§â§à§Ó: ORB ¨C §â§Ö§Ù§å§Ý§î§ä§Ñ§ä§í §¯§Ö§ä §ã§à§Ó§á§Ñ§Õ§Ö§ß§Ú§Û: §ã§Ý§Ñ§Ò§í§Ö §à§ä§Ü§Ý§Ú§Ü§Ú
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