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S ebastien Marcel marcel@idiap.ch IDIAP

  1. � ✎ ✁ ✌ ✡ ✂ ✍ ✡ ☞ ✆ ✏ � ✁ � ✁ ✂ ✄ � ✟ � ✡ ☎ ✆ ☎ ✟ ✠ ☛ ✂ ✡ ✂ ✄ ✆ ✟ ☞ ✄ ✆✞✝ ✆✞✝ S´ ebastien Marcel marcel@idiap.ch IDIAP Research Institute Martigny, Switzerland http://www.idiap.ch Torch vision, Dr. S. Marcel, 2005 – p.1/39

  2. Torch vision, Dr. S. Marcel, 2005 – p.2/39 ✆ ✟ ☞ ✞ ✓ ✕ ✛ ✍ ✎ ✚ ✓ ✣ ✏ ✡ ✚ ✎ ✚ ✎ ✒ ✢ ✍ ✟ ✡ ✜ ✛ ✡ ✚ ✞ ✕ ✏ ✁ ✏ ✚ ✆ ✡ ✎ ✞ ✓ ✚ ✆ ✡ ✗ ✕ ✥ ✚ ✤ ✕ ✟ ☞ ✞ ✓ ✕ ✛ ☛ ✍✕ ✆ ✓ ✒ ☛ ✙ � ✍ ✑ ✆ ✎ ✗ ✏ ✆ ✡ ✎ ✞ ✓ ✞ ✡ ✏ ✕ ✆ ✡ ✎ ✞ ✍ ✡ ✄ ☞ ✟ ✆ ✂ ☛ ✆ ✟ ✛ ✡ ✍ ✆ ✎ ✓ ✑ ✏ ✢ ✍ ✟ ✡ ✘ ✜ ✡ ✚ ✑ ✓ ✎ ✆ ✍ ✡ ✆ ✍✕ ✙ ✞ ✕ ✞✠✟ ☛✌☞ ✎✝✒ ✞✠✟ ✔✖✕ ☎✝✆

  3. Torch vision, Dr. S. Marcel, 2005 – p.3/39 ✢ ✚ ✆ ✓ ✟ ✞ ✍ ✒ ✚ ✆ ✎ ✕ ✞ ✕ ☛ ✟ ✓ ✂ ✡ ✞ ✤ ✓ ☎ ✥ ☎ ✞ ✛ ✟ ☛ ✆ ✚ ✎ ✒ ✟ ✕ ✞ ☞ ✙ ✗ ✡ ✍ ✎ ✡ ✏ ✒ ✠ ✡ ☎ ✡ ✆ ✢ ✍ ✕ ✞ ✛ ✓ ✕ ✡ ✚ ✗ ✕ ✞ ✚ ✒ ✚ ✆ ✡ ✎ ✞ ✓ ✆ ✝ ✡ ✗ ✕ ☛ ✛ ✡ ✞ ✆ ✟ ✗ ✙ ✚ ✆ ✙ ✚ ✡ ☎ ✕ ✒ ✕ ☛ ✕ ✟ ✓ ✛ ✡ ✌ ✞ ✒ ☎ ✎ ✚ ✓ ✕ ☞ ✕ ✒ ✡ ✗ ✡ ✎ ✆ ☎ ✒ ✝ ✖ ✜ ✆ ✕ ✙ ✛ ☎ ✕ ✞ ✆ ✕ ✕ ✟ ✟ ☞ ✚ ✛ ✡ ✒ ✞ ✎ ✚ ✟ ✞ ☎ ✒ ✝ ✔ ✔ ✔ ✝ ✛ ☎ ✓ ☛ ✆ ✓ ✤ ☛ ✟ ✎ ✘ ✜ ✘ ✆ ✢ ✍ ✟ ✓ ✕ ✚ ✕ ✕ ✎ ✗ ✟ ✘ ✕ ☎ ☛ ✓ ☎ ✎ ✓ ✒ ✓ ✕ ✓ ✖✗ ✚ ✕ ✎ ✟ ✓ ✟ ☛ ✎ ☎ ✒ ✆ ✓ ✆ ✘ ✆ ✕ ✙ ✝ ✘ ✖ ✤ ✔ ✆ ✟ ✕ ✞ ✚ ✢ ✝ ✍ ✆ ✓ ✑ ✛ ✡ ✒ ✞ ✎ ✚ ✟ ✕ ✡ � ✕ ✞ ✡ ✞ ✟ ✕ ✛ ✚ ✆ ✓ ✕ ✢ ✞ ✆ ✟ ✓ ✟ ✟ ✓ ✂ ✡ ✞ ✆ ✕ ✡✚ ✙ ✛ ✆ ☞ ✕ ✡ ✌ ✒ ✆ ✡ ✎ ✞ ✓ ✟ ✕ ✆ ✠ ✡ ☞ ✆ ✕ ✕ ✂ ✞ ✕ ☛ ✕ ✕ ☎ ✂ ✟ ✙ ✟ ✡ ✙ ✕ ✟ ✓ ✛ ✡ ✚ ✆ ✡ ✗ ✗ ✍ ✓ ✓ ✏ ✟ � ✆ ✁ ✂ � ✁ � ✁ ✁ ☎ ✞ ✢ ✞ ✍ ✟ ✓ ✕ ✚ ✕ ✟ ✟ ✡ ✛ ✆ ✆ ✛ ✓ ✞ ✟ ✡ ✙ ✗ ✎ ✚ ✎ ✗ ✟ ✡ ✛ ✚ ✕ ✕ ✗ ✡ ✚ ✆ ✎ ☛ ✕ ✟ ✎ ☞ ✏ ✟ ✙ ✍ ✚ ✕ ☎ ☛ ✓ ✟ ✕ ☎ ✕ ☛ ✚ ✕ ✟ ✓ ✎ ✕ ☛ ✕ ✢ ✞ ✕ ✞ ✓ ✞ ✎ ☎ ✍ ✡ ✓ ✛ ✡ ✞ ✆ ✝ ✎ ✚ ✞ ✍ ✕ ✑ ✟ ✕ ✂ ☛ ✞ ☎ ☛ ☞ ✙ ✡ ✞ ✆ ✡ ✎ ✞ ✎ ☛ ✓ ✓ ✆ ✎ ✍ ✚ ✟ ✕ ✢ ✍ ✟ ✓ ✕ ✍ ✎ ✞ ✝ ✛ ✡ ✚ ✕ ✞ ✓ ✕ ✟ ✍ ✡ ✎ ✆ ✞ ✕ ✎ ✡ ✆ ✚ ✞✠✟ ☛✌☞ ✞✠✟ ☛ ✡✠ ✎✕✔ ✎✝✒ ✞ ✄✂ ✚ ✞✝ ✞✠✟ ☎✝✆ ✞ ✄✂ ✎✝✒ ✙ ✝✆ ☎ ✣✢ ☎✝✆

  4. Torch vision, Dr. S. Marcel, 2005 – p.4/39 ✒ ✗ ✗ ☞ ✆ ✎ ✞ ✓ ✍ ✆ ☛ ✎ ✆ ✓ ☎ ✡ ✘ ☞ ☞ ✂ ✎ ☛ ✕ ☎ ✒ ✚ ✑ ✕ ☛ ✎ ✆ ✞ ✢ ✕ ☎ ✠ ✤ ✓ ✒ ☛ ✎ ✆ ✠ ✚ ✞ ☎ ✍ ✕ ✓ ✆ ☛ ✙ ✢ ✎ ✡ ✢ ✟ ✞ ✡ ☞ ✙ ✚ ✌ ✓ ☎ ✍ ✥ ☎ ✤ ✓ ✆ ✜ ✡ ✟ ✝ ☎ ✡ ☛ ✞ ✢ ✕ ✟ ✚ ✎ ✕ ✕ ✘ ✆ ✜ ✡ ✟ ✍ ✢ ✡ ✢ ✚ ✍ ✂ ✂ ✔ ✞ ✡ ✟ ✢ ✞ ✔ ✍ ✢ ✎ ✏ ✡ ✆ ✎ ✓ ✥ ☎ ✟ ✒ ☛ ✕ ✒ ✕ ✡ ✟ ✙ ✙ ✕ ☛ ✓ ✞ ☎ ✓ ☛ ✗ ☎ ✓ ✍ ✢ ✎ ✆ ✕ ✕ ✎ ✓ ✟ ✆ ✎ ✆ ✠ ☎ ☎ ✚ ✄ ✟ ✆ ✓ ☎ ☎ ✎ ☛ ✓ ✕ ✟ ✎ ✕ ✚ ✂ ✎ ✟ ✞ ✢ ✡ ✡ ✍ ✎ ✆ ✄ ✍ ☞ ☎ ✞ ✓ ✆ ☛ ✆ ✡ ✕ ✞ ☞ ✝ ☎ ✒ ✡ ☞ ✂ ✎ ☎ ✆ ✆ ✕ ✒ ✕ ✟ ☞ ✚ ✕ ✚ ✡ ✗ ✚ ✎ ☎ ☎ ✎ ✡ ✆ ✌ ✎ ✡ ✛ ✛ ☞ ✆ ✍ ✞ ✆ ✕ ✡ ✎ ✕ ✎ ✆ ✢ ✕ ✟ ✞ ✠ ✓ ✆ ✍✕ ✝ ✆ ✡ ✞ ☎ ✆ ✗ ✚ ✙ ✢ ✒ ✎ ✚ ✘ ✎ ✎ ✗ ✙ ☎ ✕ � ✝ ✚ ✕ ✙ ✞ ✠ ☎ ✡ ✓ ☛ ✎ ✆ ✝ ✕ ✆ ✡ ✙ ✟ ✎ ✒ ✓ ✟ ✒ ☎ ✡ ✓ ✞ ✕ ✚ ✝ ✆ ✡ ✡ ✙ ✕ ✟ ✓ ✞ ✡ ✟ ✂ � ✟ ✆ ✕ ✗ ✡ ☛ ✕ ✟ � ✞ ✍ ✗ ☞ ☎ ✞ ✎ ✢ ✛ ☎ ☛ ☎ ☎ ✞ ✢ ✕ ✓ ✒ ✡ ✓ ✆ ✞ ✓ ✠ ✕ ✚ ✙ ✕ ✛ ✞ ✝ ✡ ✙ ✕ ✟ ✓ ✡ ✕ ✟ ✡ ✒ ✕ ✟ ☎ ✡ ✚ ✞ ✎ ✓ ✆ ✢ ✕ ✟ ✎ ✞ ✆ ✓ ✍✕ ✝ ✞ ✕ ✗ ✙ ☎ ✓ ✡ ✘ ✙ ✕ ✘ ✆ ✍ ✡ ✗ ☞ ✎ ✞ ✕ ✟ ✒ ✎ ✚ ✎ ☛ ✚ ✆ ✁ ✁ ✁ � ✁ � ✂ ✆ ✕ � ✟ ✏ ✡ ✆ ✡ ✆ ✡ ☎ ✕ ✆ ✟ ✎ ✞ ✢ ✗ ✚ ✗ ✠ ✓ ✟ ✎ ✆ ✠ ☞ ✚ ✡ ☎ ✎ ✚ ☛ ✟ ✓ ✟ ✎ ✕ ✂ ✓ ✎ ✞ ✢ ✗ ✓ ✆ ✒ ✓ ☛ ✎ ☞ ☛ ☞ ✞ ✆ ✡ ✞ ✆ ✆ ☛ ✕ ✟ ✓ ☞ ✆ ✎ ✠ ✎ ✕ ☎ ✟ ✡ ☛ ✓ ☛ ✎ ✎ ☎ ✞ ✒ ✗ ✡ ☛ ✕ ☎ ✂ ☛ ✟ ✡ ☞ ✍ ✢ ✓ ✚ ✜ ✟ ✟ ✍ ✢ ✍ ✢ ✞ ✞ ✙ ✚ ✟ ✓ ☎ ✆ ☛ ✗ ✡ ☛ ☞ ✓ ✡ ✟ ✛ ✟ ✓ ✗ ✕ ✂ ✙ ✡ ✆ ☎ ✆ ✠ ✓ ☎ ✚ ✡ ✎ ✡ ✆ ✕ ✓ ✟ ✓ ☎ ✠ ✎ ☛ ✆ ✆ ✠ ✝ ✔ ✔ ✔ ✎ ✚ ✚ ✡ ✗ ✕ ✞ ✎ ✗ ✕ ✕ ☛ ✟ ✚ ✗ ✚ ✝ ✍ ☎ ✓ ✚ ✓ ✎ ✂ ✍ ✓ ✞ ✎ ✡ ✢ ✞ ✎ ✎ ✝ ✆ ☞ ✗ ✕ ✟ ✍ ✟ ✓ ☎ ✓ ☎ ✠ ✡ ✄ ✜ ✁� ✜ ✁�

  5. Torch vision, Dr. S. Marcel, 2005 – p.5/39 ✎ ✢ ✞ ✎ ✂ ☛ ✕ ✞ ✓ ✟ ✠ ✕ ✞ ✆ ✒ ✡ ☎ ☎ ☞ ✛ ✆ ✆ ✡ ✎ ✚ ✎ ✖ ✕ ✆ ✜ ✟ ✢ ✑ ✡ ✞ ✡✚ ✗ ✚ ✟ ✕ ✒ ✡ ✍ ✆ ✎ ✑ ✤ ✍ ✟ ✡ ✓ ✘ ✑ ☎ ✕ ✠ ✓ ✗ ☎ ✍ ✢ ✎ ✍ ☎ ✟ ✎ ✁ ✕ ✚ ✓ ✕ ☎ ✍ ✢ ✍ ✟ ✡ ✜ ✡ ✓ ✛ ✕ ✠ ✓ ✟ ✍ ✓ ✙ ✆ ✡ ✎ ✚ ✎ ✑ ✍ ✓ ✗ ✑ ✄ ✆ ✡ ✎ ✚ ✎ ✖ ✟ ✕ ✞ ☞ ✙ ✡ ✢ ✜ ✂ ✠ ✆ ✎ ✆ ✟ ✓ ✕ ✘ ✕ ✆ ✎ ✛ ✥ ✁ ✗ ☛ ✓ ✕ ✟ ✛ ✡ ✒ ✞ ✆ ✕ ☎ ✙ ✆ ✓ ✢ ✟ ✠ ✡ ✟ ✙ ✡ ✞ ☛ ✆ ✓ ✕ ✚ ☞ ✒ ✞ ✞ ✆ ✞ ✟ ✡ ✙ ✙ ☞ ✚ ☎ ✓ ✆ ✟ ✕ ✞ ✎ ✡ ✆ ✚ ✕ ☎ ✙ ✗ ✓ ☎ ✕ ✕ ✚ ☞ ✢ ✡ ✕ ☎ ✕ ✓ ✗ ✎ ☛ ✆ ✓ ✆ ✡ ✎ ✚ ✎ ✒ ✟ ✞ ✕ ☞ ✙ ✗ ✡ ✍ ✆ ✎ ✚ ☛ ✕ ✕ ✆ ✤ ✓ ✠ ✙ ☎ ✡ ✙ ✗ ✎ ✚ ✆ ☛ ✕ ✞ ✆ ✕ ✗ ☞ ✍ ☛ ✟ ✒ ☎ ☎ ☞ ✛ ✆ ✠ ✆ ✎ ✚ ✚ ✍✕ ✡ ✒ � ✆ ✆ ☞ ✞ ✚ ✕ ✠ ✄ ✍✕ ✓ ✛ ✆ ✡ ✠ ✎ ✕ ✟ ✟ ✡ ✂ ✚ ✟ ✕ ✢ ✍ ✟ ✓ ✕ ✚ ✟ ✟ ✟ ✎ ✡ ✆ ✕ ✢ ✞ ✏ ✢ ✍ ✟ ✡ ✜ ✠ ✆ ✚ ✕ ☞ ☛ ✆ ✓ ✆ ✡ ✎ ✞ ✎ ✆ ✠ ✡ ✍ ✕ ✟ ✎ ✞ ☛ ✡ ✞ ✚ ✓ ✂ ✕ ✞ ✍ ✕ ✑ ☛ ✡ ✚ ✎ ✟ ✂ ✟ ☞ ✡ ✏ ✟ � ✆ ✁ ✡ ☎ ✆ ☞ ☎ ✡ ☎ ✛ ✤ ✓ ☎ ✥ ☎ ✞ ✓ ✗ ✟ ✡ ✛ ✞ ✓ ✙ ☛ ✕ ✟ ✓ ✛ ✡ ✚ ✆ ✡ ✗ ✗ ✡ ✍ ✓ ✞ ✢ ✕ ✡ ✍ ✕ ✟ ✎ ☛ ☛ ✕ ✚ ☞ ☛ ☎ ☞ ✍ ☎ ✒ ✕ ✢ ✞ ✎ ✞ ✟ ✡ ✙ ✙ ☞ ✚ ✡ ✞ ✒ ✟ ✢ ✢ ✍ ✓ ✗ ✓ ✚ ✎ ✆ ✡ ✎ ✚ ✎ ✒ ✍ ✂ ✟ ✡ ✜ � ✏ ✢ ✍ ✟ ✡ ✜ ✢ ✞ ✎ ✕ ☛ ✎ ✓ ✚ ✕ ✟ ✕ ✞ ✆ ✎ ✕ ✟ ✡ ✗ ☛ ✆ ✕ ✒ ✟ ✡ ✗ ✕ ✟ ✕ ✂ ✕ ☎ ✙ ✡ ✕ ✙ ✞ ✕ ☛ ☎ ☛ ✆ ✓ ✕ ✠ ✓ ✗ ✎ ✍ ☛ ✕ ✙ ✙ ✡ ✕ ✎ ✟ ✆ ✛ ✕ ✓ ✞ ☞ ✕ ✒ ✚ ☛ ✕ ✕ ✔✖✕ ✞ ✄✂ ✎✝✒

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