M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8....

31

Transcript of M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8....

Page 1: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

� ��������� � ���������

��������������� �!��"#��$%�'&�()���+*,�!� �-�."/�"�0#��1'�-(2"3����� �!��"4�$5�762���(21��78����+*,(9(�*,� �!�)��'�-�.";:<$=1 ���>�?*,�-"A@�B-(�-�C�@�()D<�!� &E1'(�*,��(�6F�G�'�4�IH3"���D<"J��K�LM(�6N�O&��.*G�-�P���.1 ����"Q�O������B!�R62��� �-�."�*G�!"J62���P(21��76��B-�!K�1���� �!��"�S��K�LM(�6N�%1 (�6N��@."��-�'�-��"TS��"�07��&��.� �.@�1����P�P(2�'1 UG$=1'���V�(21'�R�BW�-�)��@�(21'UYX%ZJ&�(2"7�'&�([1 (2B\��'�-]Y(^@.(2����(2� 1'U�$`_a$=(��� �A1 (O���.�-"3��*^�\*b��*M(�0;Sc�'&��R*d��1 �.K�B-(��e�\*^62��B-B-(�0f�'&�()gc(21h*,��(�6N�'�-]Y(2ij_�ijgc�.�-"3�%��1 �.K�B-(�� 8jgk_lgm:npo S�q2r�S�s�tuX

v &��R*;�w���(21�$=�36N��*,(�*;��"^�'&�(x0Q(2@.(2"�(21h�� (y62��*M(k�!"dD<&��R6�&%� &A(k���.�-"3��*��1'(`z�{N|�}�~Y��~Y��X��u�;�\*;�-�P����1'����"Q��-"���1��.6N� �\6N(m�'�dK�(���K�B-(x� �d*M��B!]Y(m� &A�R*�0Q(�@�(2"�(�1���'(�62��*M(YX��u"��(21'�R�BA�-�)��@�(21'UYSN$=��1�(������P��B-(+S2� &�(�*M��1 (��.0�$W$=(���'��1 (d�����!"Q�h*��)�2U[K�(^B\�1'@�(�6N�������1'(�0PD<�-� &)�'&�(d(2B-(2].��� �-�."�*m�$y� &�(d�����!"Q�h*NXx�y]Y(�"���$��'&�(d�)��*,&A�D�*O� &����G�'&�()@�1 �.��"�0E�\*�"��.�G�ABR�"w�1O��1O� &����G$=(���'��1 ()�����!"Q�h*G6��"EK�(����HY(�"aK��.� &J��"/� �.�J�$K����!BR0Q�!"�@Y*��"�0���[email protected] �.��"�0JB-(2]Y(2BjSk�'&�(�*M(9$=(���'��1 (7�����!"Q�h*)*,&��.��BR0EK�(?6N�."�*,�\0Q(21 (�0J6N����B\�"���1)��$d�'&�(�)��� 1 �!��0Q(�* 6F1 �-KA�-"�@P�'&�([@�(����P(2�'1 U)�$�$=(���� ��1'(G���.�-"3��*%62��"IK�(�6N��"w*,�R03(21 (�09��$x1��"AH?rC�!"�*,�'(���09��$ o3�� &A�R*�0Q(�6N�\*,�-�."�62�"�K�(d�h�HY(2"�KQU)6F���P����1 �!"�@[� &�(d1'(�*,��(�6N�'�-]Y(d���P��B!�-� �w0Q(�*k��$�� &A([*,�!"�@��ABR�1�].�B!��(�*<�$� &A([�)��'1 �-�)�!"?�P*,�!"�@���B\�1d].�B!��(O0Q(�6N�.�P���Y*M�-� �!��" n�� tuX���@�(�"�(21���B��B!@��.1 �-�'&���D<&A�R6�&?��* *M���P(�*�� &����� &A(�*,(^$=(���� ��1'([�����-"3��*d��1 (O"���"�6F����B\�"���1^��"�09$j��-B\*�� ��0Q(�� (�6N�`� &����b�'&��R*`62��*M(G�\*%0Q(2@.(2"�(21h�� ([Dx����B\0��1'��K���K�B-U)��1'�30Q��6N(d�-"w��626N�A1���'(�62��P(�1��b���+*,(^(�*,� �!�)��'�-�."�*NX

� ��1�� &�(`62�.*,(<�$�6N���ABR�"w�1k$=(��� �A1 (<�����!"Q�h*NSY1 (�*M(��1h6�&A(21�*c&w��]Y(m$=�.1 �O��BR��� (�0�6NB-�+*,(�0^$=��1'��*M��B-�A� �-�."�*$=��1�6N�."Q��@.��1���� �-�."�*b��$x� &�1'(2(^$=(���'��1 ([���.�-"3��*d�"�09$=���A15$=(��� �A1 ([�����!"Q�h*NX v &�(Og o g��A1 ��KAB-(2�>8�D<�-�'&� &A1 (2(P"A��"�6N�.B-B!�-"�(���1^�����!"Q�h*�:�62��"4&��2]Y()��*^�)��"QU?�.*b$=����1[���+* *,�!K�B-(�*M��B-�A� �-�."�* np� Sc��Sxq�q2tuX#��"#�'&�(���'&�(21�&���"�0;SQ�'&�(`gy�+ga��1'��K�B!(2��&w��*m��*,�!"�@�B!(��'&�(2��1'(2� �\62�Bw*,��B!��� �!��" n�o S�q2r3S�qYSQ��t�D<&�(2"O� &�(`6N���ABR�"w�1�����!"Q�h*%�1'(^�-" �"7�.1�0Q�!"��1'U96F��"Q��@.��1���� �!��"/8�"��P�'&�1 (�(^6F��B-B!�-"�(��1�* 6F(2"�(^���.�-"3��*NSl"���"�6F��B-B!�-"�(��1<�-�C�@�(�����!"Q�h*�:�X

��B-(���1 B!UYS�� &�(21'(G�\*d����1'��K�B!(2�¡D<�-�'&46NB-�+*,(�09$=��1'�¢62�B\6N��B\�� �!��"�*�6NBR���-�P�!"�@��9*,�!"�@�B!(P*M��B!��� �!��"I$=�.1$=���A1%6N�.��BR��"��1<���.�-"3��*NX v &�(d��1'��K�B!(2�£62��"�K�(�0Q(2� (�6N� (�0OKQUP�'&�(%$=��B!B-��D<�-"�@[1'(���*M��"��!"�@�¤

¥ ZJ�!� &7�O* 6��B-(�0C�.1 �'&���@.1���A&��R6^��1'��LM(�6N�'�-�."�S�� &�(�1 ([��1 (��B!D<�2UA*��MDm����6�6N(2���h�K�B!(^*M��B!��� �!��"�* � �'&�(�MDm�[���+*,(�*��1'(^�P�!1 1 �.1��-�)��@�(�*mD<�!� &)1 (�*M��(�6N�<� �O�[��B\�"�(d����1��B!B-(2Bl� �O� &�(d�!�)�@.(%��BR��"�(YX

¥ � ��1�6N�."Q��@.��1���� �-�."�*^D<&�(21'([� &�(O��K�LM(�6N�2¦§*%0Q�R*M����"�6N(O� �9�'&�(O62���P(21��O�R*%BR��1 @�(�6N�.�P���1'(�09D<�-�'&�!��*%0Q(���� &?��B-��"A@��'&�(^�.��� �\62�By��3�R*%0Q�!1 (�6F� �-�."�Sl* 62��B-(�09�.1 � &A��@�1h���&A�R6[��1 ��LM(�6N� �!��"7�R*<H3"���D<"I�'�

q

Page 2: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

K�(���@.�Y�307����A1 ���Q�!�)��'�-�."P�$��'1 ��(d��(21h*,��(�6N�'�-]Y(%��1'��LM(�6N�'�-�."�X

¥ v &�(�1 (N$=�.1 (YS;$=��1d�'&�(�*,(O6F��"Q��@.��1���� �!��"�*FS�6NB-�+*,(�0�$=�.1 �¢62��BR6N��B\��'�-��"w*%*,&��.��BR0¨�BR*M�)��1 �30Q�w6N(G�MDx�*M��B-�A� �-�."�*NX

v &�()*M�-"�@.B-(�6NB-�+*,(�0f$=�.1 �¢*M��B-�A� �-�."#� ��� &�(Cgy�+g©��1 �.K�B-(2�¡$=��1�6N���ABR�"w�1^���.�-"3��*b1'(2B-�!(�*%��"I$=�.1 (2i*,&A��1 �'(2"��!"�@[�-"Q$=�.1 �)��� �!��"G$=1'���ª�'&�(d��(�1�*,��(�6F� �-]Y(`�-�)��@�(�� �O*,(�B-(�6N�x��"�(d��$�� &�(`�,Dx�[���Y*,(�*NXx«���Dm(2]Y(21�S��$T� &�(`1���'�-���$y62��P(�1��%0Q�\*,�h�"�6N(`�]Y(�1k�.K�LM(�6N�¬0Q(2���'&P�R*�BR��1 @.(YSQ�'&��R*�$=��1 (�*,&��.1 � (�"��-"�@��)�2U[K�(d*,�)��B-B!(21� &w�"?� &�(�"����\*,([B-(�]Y(2BuX�ZJ�-� & �)*,�)��B-B �������"3����$��.0�0Q(�091h�"�0Q�.�¡(21 1'��1%�!"9�'&�([�-�)��@�(YS�� &A(O*,�-"A@�B-((2�A��6N�5�"���B-U3� �R6O*,�.B-���'�-�."ID<�!B-B�­��-�?� �)(2�!� &�(21`���+*,()��"�07D<�-B-BW&��2]Y(O�C@.�Y�3046�&���"�6N([��$<(2"�03�-"�@)D<�-�'&� &A(GD<1'��"�@����+*,(YX v &�(21'(N$=��1'(YS��-"?*,�w6�&¨6N��"3��@���1h��'�-��"w*NS��"w�B-U3� �\6^�P(2�'&��30�*%� &����d��1 ��]3�R0Q(O��*,�-"A@�B-(���Y*M(b$=��1`6N�.��BR��"��1<�����!"Q�h*���1 (d"��.��1'(2B-�\�K�B!(d�"�0)*M&�����B\0���1'��K���K�B-U)K�(��2]Y���R03(�0;X

v &��R*m�w���(21���1 (�*M(2"3��*<�")�!� (21h�� �!]Y(%��B-@.��1 �!� &��®� &�������(21M$=��1 �C*k(�¯Y���B!B-UODm(2B!B�$=�.1�*,&��.1 �`�"�0)B-��"A@0Q�\*,����"�6N(��-�)��@�(21'UYX �u�k�\*��")������B-�\62��'�-�."G��$����A1m��1'(2]Q�!����*�Dx��1 H n r�t�� ��� &�(`62�.*,(%��$ 6N�.��BR��"��1x���.�-"3��*FX°Y�h�1 �'�-"�@O� &A(^6F���P���A����'�-�."PD<�-�'&7�[* 6��B-(�0C�.1 �'&���@.1���A&��R6^��1'��LM(�6N�'�-�.")����A1 ���Q�!�)��'�-�."�SQ�'&�(d��1 �36N(�* *�R*���K�B-(%�'�b��"w0G�MDm��*,�.B-���'�-��"w*m� &����<�1'(�K��.� &���626F(2������K�B-(�D<&�(2"�� &�(�1���� �-���$W62���P(21h�b03�R*,�h�"�6F(���]Y(21��K�LM(�6N�x0Q(2���'&G�\*yB\�1'@�(YX��u"O� &��\*k6���*,(+SQ��"AB-UO*,(�]Y(21���B��-�'(21���� �-�."�*<8u6N�.1 1'(�6N� �!"�@d� &�(�(N±l(�6N�h*��$ � &A(%*'62�B!(�0��1'� &��.@�1h���&��\6��A1 ��LM(�6F� �-�."7������1 ���3�-�)��� �!��";:¬�1'(["�(�6N(�*'* ��1 U9�'��6N��"3]Y(21 @.(d��"¨*,��B!��� �!��"�*%�'&���d*'��'�R*²$=U� &A(b��(21h*,��(�6N�'�-]Y(%�A1 ��LM(�6F� �-�.")�P�30Q(2BjX

��$'S;��"7�'&�([���'&�(21d&��"w0;S;� &A(O62��P(�1��[�R*%6NB!�Y*M([� �P�'&�([��K�*M(21 ]Y(�09��K�LM(�6N��S��'&�([�-�C�@�(�&���*d*M� 1 �."�@��(21�*M��(�6N� �!]Y(��"�0O� &�(`�B!@���1'�-�'&���1 (�¯Y���!1 (�*���$=(2DE����1 (<�!� (21h��'�-��"w*k� ��6N�."Q]Y(�1 @�(<�.")�^*M�-"�@.B-(����Y* *M�-K�B!(*,�.B-���'�-�."�X

��"�(d�)�2U[��K�LM(�6N�<�'&���<�."�(d�R*m"��.�<K�(2� �'(21�*,(21']Y(�0GK3UP��"7��B-@��.1 �!� &��ª�'&���<�A1 ��]Q�\0Q(�*��,Dx�[(�¯Y���B!B-U��1'��K���K�B-(<���Y*M(�*k�'&��"OK3U^��"P��B-@.��1 �!� &��³� &����x6�&��Y�+*,(�*��%*M�-"�@.B-(<���Y*M(%���P��"A@%� &�(�*,(<�MDm�%���+*,(�*��"w0��\*D<1 �."�@O��´Yµ¶�$ �'&�(��'�-�P(+Xc«��Dx(2]Y(21�S�6N�."�*,�\0Q(21¬�"P&3UQ���.� &�(2�'�R62��B�6N�.�P�����'(21�]3�R*,�!��"�*,UA*,�'(2�·0Q(�*M�-@�"A(�0� �5��* *M�R*M���%���-B!��� �-"^B\�"�03�-"�@%�."O�"���!1�6N1h��$=�W62�1'1 �-(�1 � $j��1c$=1 �.�¸�'&�(�62��1 1 �!(212S�� &A(<�-�)��@�(��$l� &A(<1 ��"3D<�2U�)�2Ud"����x6N�."Q�h��!"G(2"A����@.&P�-"Q$=�.1 �)��� �!��"^�'�[��B-B-��D/�d0Q(N��"A�-� (���"�*,Dx(21x�K����A�m� &A(����Y*M(%�$T� &�(����-1h6N1��2$=�D<�-�'&91'(�*,��(�6N�<�'�G�'&�(^1'��"3D<�2UYX�ZI(�6N��"3� (2"w0�� &w���� &�(��B!@��.1 �-�'&��£��1 ��]3�R0Q�!"�@O�,Dx�[���Y* *M�-K�B!(^���Y*M(�*��\*�P�.1 ([��*M(N$=��Bm�'&��"¨� &�(��B!@���1'�-�'&��e�'&�����R*dD<1 ��"A@7��´Yµ¡�$��'&�(O� �-��( � KQU7��1'��]Q�\0Q�-"�@)�MDm�����Y* *M�-K�B!(���Y*M(�*NS<� &A(���1h*,���B-@.��1'�-� &A� (F±;(�6N� �!]Y(2B-U?D<��1 "�*G�'&�(�*,UA*,�'(2� � &����P�P��1'(P�-"3$=��1 �C�� �!��"4�R*[1 (�¯¹���!1 (�0

r

Page 3: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

� �7B!��$=��� &�()���GKA�-@��A�-�MUYS;$=��1[(2�A�����B-(^$=1'��� ��"a�!"�(21'� �R��Bx*,(2"�*M��1O�$`� &�(C��-1h6N1��2$=�2X v &��\*[��0�0Q�!� �!��"���B�-"3$=��1 �C�� �!��"46��"4K�(��w*,(�0#� �71'( LM(�6N�d�."�()�$d�'&�(P���Y*M(�*NS<��"�0#� &�(�*MU�*M� (2�>62�"4�'&�(2"#�!"�6N��1'����1���� (� &A([��� &A(21d���+*,(O�-"7�!��*%��BR��"�"��!"�@P�$¬� &�(OBR��"�0Q�!"�@�X^ZJ�!� &7�'&�(O�B!@���1'�-�'&��¡��1 ��]3�R0Q�!"�@)�)*,�!"�@�B!([���Y*,(+S� &A(21 ([�\*�"��PD¬�1 "A�-"�@)� &w��%�'&�([���Y*,(O�)�2U)K�([D<1 ��"A@�XO�%0�0Q�!� �!��"���Bc�!"Q$=��1'�)��'�-��" 62�"?*M� �!B-B�K�([��*M(�0� �O6�&�(�6�H^�'&�(d���Y*,(+S�K����m��$ � &�(`���+*,(��R*k1'( LM(�6N�'(�0;SY� &A(d*,UA*,�'(2�º�\*kB!(N$=�mD<�!� &P"��[���+*,(d�-"Q$=�.1 �)��� �!��"G$=�.1�-�h*mBR��"�0Q�-"A@[��BR��"�X

» ¼�����½Q���=���

�u" � �-@AXmq�S�Dm(�*M&���Dª� &�(C6NBR�.* *,�\6P���-"�&A��B-(C62��P(�1������30Q(2BuS�D<�!� &#�!��*[6N(�"Q�'(21^��$%��1'��LM(�6N�'�-�."¿¾�S��-�h*�-�C�@�(d��B\�"�(OÀ����d0Q�\*,����"�6N(�Áa8=� &�(d$=�362�B�B!(2"�@.� &;:�$=1 �.�¾�S;�!��*���3(�*b¾`Ã7�"w0I¾%Ä)�����-"3� �!"�@��B-�."�@� &A(%1 ��D�*<�"w0�6F��B-�A�P"�*��$W� &�(562��P(�1��d*,(2"w*,��1�S��"�0P�!��*k�'&��-1h0P��3�R*�¾`Å^�����!"Q�'�-"�@O��B-�."�@[� &�(`�����'�R62��B��3�R*FX v &A(P��"��!�^]Y(�6N�'��1h*`$=�.1^�'&�(�*,(�� &�1'(2(P���Q(�*^�1'()62��B-B-(�0 � S�ÆP��"�04Ç�X9�u"?� &��\*b������(212S��'&�(G$=�362��BB-(�"�@��'&4�"�0?� &�(O�-"3� (21h*,(�6F� �-�."I��$�� &�(O���A� �R6��Bx��3�R*dD<�-� &¨� &�(O�-�)��@�([��B\�"�( 8��-�C�@�(O6F(2"Q�'(21[È^:`�1'(��*'*,����(�0PHQ"���D<"�X

��"9�.K�LM(�6N�<D<�!� &�$=(��� �A1 (d�����-"3��*�ÉIÊ�SlÉ#Ë2Ì2Í2Í�ÍNÌ�ÉIÎMÌ�Í2Í2ÍFÌ�ÉIÏG�\*mB-�362��� (�0)�-"�� &�(%��(2B\0���$�]Q�!(2D��$� &A(^6���P(21h�QX v &�(d��K�LM(�6N��6F�Y��1�03�-"���� (b$=1h��P(`�$W1 (N$=(21'(2"�6N(`�R*%8uÉ?Ê � Ì�É?Ê�ÐmÌ�É?Ê Ñ):�X�ZI(�62��B-B�É?Ê��'&�(1 (F$=(21 (2"w6N([�����-"3�%$=��1�� &�(O��K�LM(�6F�2X v &A(P6N�Y�.1�0Q�!"���'(�*G8MÒ ÎMÌNÓ3ÎuÌNÔ�Î�:��$��'&�(O���.�-"3��*�ÉIÎ��-"?� &�(P�.K�LM(�6N�6N�Y�.1�0Q�!"���'(G$=1����P(^��$�1 (N$=(21'(2"�6N(��1'(PHQ"A�D<"TX v &�(O�-�)��@�(�*��$<�'&�(O���.�-"3��*�ÉIÎx�1 (�62��B-B-(�07ÕCÎjS �"�0� &A(2�-1��-�)��@�(�6N�Y�.1�0Q�!"���'(�*^8uÃ�ÎjÌ�ÄÎR:���1 (^H3"���D<"�X v &�([6N�Y�.1�0Q�!"���'(�*[8�Ö[ÎjÌ�×�ÎuÌNØ Îu:x�$x� &�(������-"3��*`ÉIÎc�!"� &A(P62���P(21h�G6N�Y�.1�0Q�!"���'()*,UA*,�'(2�¡��1 (O��"�H3"���D<"�ScK�(�6����*M(G�'&�(G���+*,(P��$<� &A(G�.K�LM(�6N�%�!"I�'&�(O62���(21��6N�Y�.1�0Q�!"���'([*,UA*,�'(2�ª�\*m��"�H3"���D<"�X

�u"9� &A(^$=��B-B!��D<�-"�@AS�Dx([*,&A�D¶&���D¶� �O��"�09� &A(^1 �.����� �-�."I�C�� 1'�-���"�07� 1h�"�*MBR��� �-�."7]Y(�6N�'��1<�$x�'&�(��K�LM(�6N��0Q�-1'(�6N� B!UYS;D<�!� &��.����*,��B!]Q�!"�@)(2�3��B-�\6N�-�'B-UP$=��1d� &A(P6N�Y�.1�0Q�!"���'(�*P8�Ö[ÎjÌ�×�ÎuÌNØ Îu:��$¬� &�(����.�-"3��*dÉIÎjXv &�(�����A1 �Y�.6�&?�-����B-�\6N�-�'(2B�UP��*,(�*5�'&�(O* 6��B-(�09��1 �'&���@.1�����&��R6O��1 ��LM(�6N� �!��"�*<ÙQÎ���$<� &A([���.�-"3��*dÉIÎMX v �6N�."�*,�'1 ��6N�WÙQÎMS3Dm(`0Q1��2DÚ�b��B\�"�(dÛ��'&�1 �.��@�&�ÉIÊ<�w�1���B-B!(2B�� �[� &A(%�-�)��@�(<��B\�"�(�À^X v &��\*k��B\�"�(%�\*m����P0Q�\*,�h�"�6N(OØ Ê�$=1 �.�Ü�'&�(O6N(2"3� (�1<�$���1'��LM(�6N�'�-�."I¾�X v &�(������-"3��*`ÉIÎ��1'(^��1'��LM(�6N�'(�0��."?ÛÝ��5Þ�Î�K3U�")�.1 � &A��@�1h���&A�R6%��1 �.LM(�6N� �!��"�X v &�(2")� &A(%�����-"3��*xÞ�Î ��1 (%�A1 ��LM(�6F� (�0G�."P� &A(%�-�)��@�(���BR��"�(^Àß���ÙQÎ�K3U�[��(�1�*,��(�6F� �-]Y(`��1 ��LM(�6N� �!��"�X v &�(�* ���P(d1 (�*M��B-�<Dx����B\0�&��2]Y(%K�(2(2"���K��h��!"�(�0���$��'&�(d��K�LM(�6F�<&���0)K�(�(2"­l��� � (�"�(�0[�-"3� �%�'&�(��ABR�"A(%Û#¤W�����1'���Q�!�)��'�-"�@%��(21h*,��(�6N�'�-]Y(x��1 ��LM(�6N� �!��"OD<�-� &O��* 62��B-(�0^�.1 �'&���@.1���A&��R6

o

Page 4: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

izã

xäiåkæ

mç 0

0

mç i pî i

0

i

� �!@���1'(Pq�¤¬gc(21�*M��(�6N� �!]Y(%��1'��LM(�6N�'�-��"¨8uÕPÎ�:¬�"w09* 6��B-(�0���1'� &��.@�1h���&��\6^��1 �.LM(�6N� �!��"¨8-ÙQÎ=:m$=��1`�"7�.K�LM(�6N������!"Q��ÉIÎW�"w09�^1 (F$=(21 (2"w6N(%�����!"Q��ÉIÊ�X

��1'��LM(�6N�'�-��"C��P�.��"Q�h*�� �O��*'*,�����-"�@�� &����<� &�(d03(2��� &w*�Ø Î��$W0Q��±l(21 (2"3�m���.�-"3��*mÉ?Î��$ � &A(%��K�LM(�6F�mD<�-�'&62���P(21��d6N�Y�.1�0Q�!"���'(�*�8=Ö[ÎMÌ�×�ÎuÌNØ Î=:��1'(%"��.�m]Y(21'UO0Q��±l(21'(2"Q��$=1'������"A(d�"��.� &�(�12S���"�0)62�"C�B-B�K�(d*M(2�m�'�� &A(^03(2��� &7Ø Ê%��$��'&�(d1 (N$=(21'(2"�6N(`���.�-"3��ÉIÊ��$��'&�(d��K�LM(�6N��X

ó ôd����õcö=÷3ø ù�÷YúW�c�R���=���

����1�@��Y��B��R*<� �C6N���P�A��� (d� &A(^1 �.����� �-�."7�)��'1 �!�)û���"�09� 1h�"�*MBR��'�-�."7]Y(�6N� �.1�üý��$x� &�(���K�LM(�6N��X v &�(1 �.����� �-�."#�)��� 1 �!��ûÜ$=��1d� &�(O��K�LM(�6N�%�R*%�'&�(G�C�� 1'�-�)D<&��+*,(O1 ��D�*d�1 (O� &A(P6N�Y�.1�0Q�!"���'(�*b��$<�'&�([��"��!�]Y(�6N�'��1h* � ÌRÆ.Ì�ÇE�$`� &�( 62���(21���6N�Y��1h0Q�-"���� (�*,UA*,�'(2�Ý(2�3��1'(�* *M(�0#�-"4� &�()�.K�LM(�6N�O6N�Y�.1�0Q�!"���'(9*MU�*M� (2�

Page 5: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

8uÉ?ÊFþ�ÌhÉIÊ�ÿ�Ì�ÉIÊ��%:�X v &�(d1'������� �!��"9�C�� 1'�-��62�")K�(dD<1 �!� � (�"9�.*

û��������������� ���������� � � � � �

�������� �

�������

���Æ �Ç �

��������

v �/6N�.�P�����'()� &�(71'������� �!��"�S<Dm(7�."�B-U4"�(�(�0E� �46F���P���A� ( � ��"�07Æ9�-"J�'&�(9�.K�LM(�6N��6N�Y��1h0Q�-"���� (*,UA*,�'(2�7X v &�(d]Y(�6N� �.1<Ç7�R*m�'&�(2")��K��h��!"�(�0�K3UP�'&�(�6N1 �+* *,i=��1'�30Q��6N� ��� Æ�X

v &�(O� 1���"�*,B\��'�-��"¨]Y(�6N� �.12S�üª�\*�� &�(O]Y(�6N�'��1����ßÊ�K�(2�MDm(2(2"7�'&�(O6N(2"3� (�1%�$¬��1 ��LM(�6N� �!��"�S�¾�S �"�0� &A(G1'(N$=(21 (�"�6N([�����!"Q��ÉIÊ�S�� &A(G�.1 �-@.�-"?�$��'&�(G�.K�LM(�6N��6N�Y�.1�0Q�!"���'(�$=1h��P([��$�1 (N$=(21'(2"�6N(+X[�u��*d62���(21��6N�Y�.1�0Q�!"���'(�*%�1'(^Ö[Ê�Ì�×�Ê�ÌNØ Ê�X�°+�-"�6N(d�'&�(d�-�)��@�(d�$xÉ?Ê%�R*m�'&�(^H3"���D<"9�!�)�@.(%�����-"3�`ÕCÊ�S��'&��R*<� 1h�"�*MiBR��� �!��"9]Y(�6N� �.1%üº�\*���B-�!@�"�(�0)D<�-�'&7]Y(�6N� �.1�� ø Êd��"�09�R*�(�¯¹�w�B � �! #"$ � ø Ê�X v &�(21'(N$=��1'([� ��6N��������� (� &A(^��K�LM(�6N���'1���"�*,B\�� �!��"�SlDm([��"AB-U)"�(2(�0)� �)6F���P���A� (d�-�h*�Å�ij6N�Y��1h0Q�-"w�� ()Ø Ê X v &3��*��'&�(^�.K�LM(�6N�����+*,(�R*k$=�AB-B-U�0Q(N�w"�(�0PKQU � ÌRÆ.Ì�Ã Ê Ì�Ä Ê S��"w0fØ Ê X

v &�(d1 (2B\��'�-��"w*,&��!��K�(2�MDx(2(2")� &�(�6N�Y�.1�0Q�!"���'(�*<�$ $=(���'��1 (d�����!"Q�h*�ÉIÎ �-")�'&�(�62��P(�1��^��"�0��.K�LM(�6N�6N�Y�.1�0Q�!"���'([*,UA*,�'(2�)*x62�")K�(^(2�3��1'(�* *M(�0GK3U

�������Ö�Î×dÎØ<Î

�������� �

�������

�%�Æ �Ç �

���������������

Ò�ÎÓdÎÔ�Î

��������'&

�������Ö9Ê×dÊØ<Ê

�������� 8 q�:

( )�� � c½�ø4÷3����½Aö�*�+�� ½Q���=���-,Z?(d0Q(N��"A(d�"P(����.6N�m���Y*M(���*m��")��K�LM(�6N�x���Y*,(�$=��1<D<&��\6�&O� &�(`��K�LM(�6N�x�����-"3��*xÉ Î $j��B-Bl��")� &�(�B-�!"�(�*��$*,�!@�&3�<�$��'&�(d�-�)��@�(%���.�-"3��*<ÕPÎuX v &��\*�6F��"�0Q�!� �!��"�62�")K�(d(2�3��1 (�*'*,(�0PK3UP� &A(b(�¯¹����B-�!� �-(�*

Ã�Ê��Á Ö[ÊØ Ê ÌeÃ�Î.��Á Ö[Î

Ø Î�"w0�*M�-�P�!BR��1k(�¯¹����B-�!� �-(�*W$=�.1<� &�(�ÄO6N�Y��1h0Q�-"w�� (�*NX v &�(d*,(�6N��"�0P(�¯Y����B-�-�MUO62��")K�(d(2�3����"�0Q(�0PK3UG��*M(d�$��¯�X�q%�!"Q�'�

Ã�Î/�¿Á �©Ê��ßÎ10 � & Ö[Ê�©Ê��©Î20 Ç & Ø Ê

Page 6: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

�¶0Q�-]3�R*M�-��"��$�K����'&9�'(21 �)*��$W� &�(%$=1h��6N�'�-��"�KQU)Ø Ê%B-(���0�*m�'�

Ã�Î.� �©Ê3�©Î10 $ #" � & Ã�ÊË #" � Ê � Î 0 Ç & q

v &�(21'(N$=��1'(YS��)"�(�6N(�*'* ��1 U?�"w0#*,�54C6N�!(2"Q�56N��"�03�-� �!��"7$=��1������Y*M()0Q(N��"A(�0IK3U � ÌRÆ.Ì�Ã�Ê2Ì�Ä�Ê2S���"�0aØ Ê8�D<&A(21 (�ÃwÊ5�"�07Ä�Êd0Q(N��"A(^� &A(^B-�36��� �!��"7��$�� &�(��-�)��@�(d�$x�'&�(^�.K�LM(�6N����1 �!@��!";:m�'�PK�(O�"�(2���.6N�����+*,(�R*m�'&����� &A(�*,(�¯Y���"3� �!� �-(�*m* ��� �\*²$=UYSQ$=�.1��B-B����.�-"3��*<ÉIÎMS��'&�(d(�¯¹�w�� �!��"�*

�©Ê��©Î20 � ��Ã�Î=8 q &76 Î�:984Ã�Ê2Ì 8urY:

�©Ê��©Î20;:<� ÄÎj8 q &76 Î�:984Ä�Ê 8 o :D<�-�'&

� � ÁØ Ê � Ì=:<� Á

Ø Ê Æ

6 Î.�qØ Ê �ßÊ��©Î>0 Ç 8��3:

�"w09Ç?� ��� Æ

@ ô �'A � üCB öD������ �#E ø

Z?(���1�*M�m"��.� (d� &w��m�!"P� &A(%1 �!@�&3�m&���"�0)*,�R03(�*k��$ � &�(�$=�A"�0����(2"Q�h�B�(�¯Y����'�-�."�*NS3� &�(%�'(21 �C*�Ã�Îu8 q &<6 Î=:�"w07ÄÎu8'q &!6 Î=:�S���1 ([�.6N� �w�B-B!U)� &�(O6N�Y�.1�0Q�!"���'(�*%ÃGFÎ ��"�07ÄHFÎ �$x� &A(^�����!"Q�h*mÙQÎMS�D<&��R6�&7��1 ([�'&�([*'62�B!(�0��1'� &��.@�1h���&��\6��A1 ��LM(�6F� �-�."�*���$<� &A(^$=(���'��1 ([�����!"Q�h*%ÉIÎ�8 � �-@�XWq:�X��u"�0Q(2(�0;S;�-"7�'&�([(2�3��1 (�* *,�!��"7��$ 6 Î=S� &A(^03������1 �30Q�w6N���©ÊI�ßÎ10§Ç9�R*m�'&�(�Å�iu6N�Y�.1�0Q�!"���'(^��$J�©Ê��ßÎjS;Ø ÎK8EØcÊ � �'&�(21'(N$=��1'(

8 q &76 Î=:��ØcÎK8EØ Ê

Ø Ê & q��©Ø Î2LFØcÊ

��B\*,��S��!"P��(21�*M��(�6N� �!]Y(%��1'��LM(�6N�'�-��"�Ã�Î.��Á�Ö[ÎMLNØ Î'X v &�(21'(N$=��1'(

Ã�Îu8'q &N6 Î :���Á�Ö[Î2LNØ Ê

v &�([�����!"Q��Ù3Î��R*%� &A([��(�1�*,��(�6F� �-]Y(d��1'��LM(�6N�'�-�."7�$<�'&�([�����!"Q�dÞ�Î�D<&��R6�&9&w��*d* ���P(OÃI6F�Y��1�03�-"���� ([Ö[Î��*�ÉIÎjS��"�0��[Å�iu6N�Y�.1�0Q�!"���'(^(�¯Y����B�� �)ØcÊ�X v &A(21 (N$=�.1 (d� &A(^Ã�ij6N�Y��1h0Q�-"w�� (�ÃGFÎ �$TÙQÎ �R*m��1'(�6N�R*M(2B-U

à FÎ �JÁ�Ö[Î2LNØ Ê�

Page 7: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

v &�(7K��.*,�R69�\0Q(��IK�(2&A�-"�0E�'&�(9��1'�����Y*M(�0��P(�� &��304�R*G�'&���P��$d].�B!��(�*P��1 (7@��!]Y(2"E�'� 6 ÎjS��k¯3*NX¬r�"w0 o ��1 ��]3�R0Q(�B-�!"�(��1`*,UA*,�'(2�)*<�$x(�¯Y����'�-�."�*��-"�D<&��R6�&9�'&�(^�."�B-U���"�H3"���D<"�*%��1 ([1 (�*,��(�6N�'�-]Y(2B!UG�'&�(6N�Y�.1�0Q�!"���'(�*��$ � ��"�0�:�X���"w6N( � �"�0O:P&��2]Y(mK�(2(�"[6N�.�P�����'(�0;S � �"w0<Æ<�1 (m$=�.��"�0[KQUd"��.1 �)��B-�QP2�-"�@ ��"w0�:WSQ��"�0�Ø Êm�\*c��KA����!"�(�0^$=1 �.��(2�-�'&�(21��'&�(�"A��1 ����$ � �.1�:WXcZ?(%6��B-BA� &��\*��B!@���1'�-�'&��7S�D<&��\6�&^�w"�0�*�" ����A1 ���Q�!�)��'(����+*,(^K3U)*M��B-]3�-"A@[B-�-"A(��1¬*,UA*,� (��)*NSGRTS�U78jgc�Y*M(%$=1 ��� ��1'� &��.@�1h���&3U��"�07°362�B!�-"�@3:�X�u"�0Q(2(�0;S���"�0Q�!"�@[� &�(d���Y*M(d�$W� &�(%�.K�LM(�6N�xKQUO��*,�!"�@^���3(�0G].�B!��(�*��$ 6 Îl�-"���¯Q*FX�r[��"�0 o ��P�.��"Q�h*k�'���"�03�-"�@O� &�(����Y*,(d$=��1�D<&��R6�&9�'&�(d�����-"3��*�ÉIÎ &��2]Y([�.*�*'62�B!(�0P��1 �'&���@.1�����&��R6^�A1 ��LM(�6F� �-�."�*<� &�(d�-�C�@�(�����!"Q�h*kÙ Î D<�-� & 6N�Y��1h0Q�-"w�� (�*�à Π8 q &76 Î :x��"�09Ä Î 8'q &76 Î :hS���*<Dm(%&��2]Y(<LM��*M��*,(2(2"TX

v &�(d*M��B-�A� �-�."�*m�$W� &A(dgm�b°��B-@.��1'�-� &A�ª��1 (d��"�B!UP������1'��3�-�C�� �!��"�*���$ � &�(%].��B-��(�*�@��!]Y(2"G�'� 6 Î��1'("��.�b(����.6N�2XOVm�A�%��"�6F(G�'&�([��"�H3"���D<"�* � �"�0OÆ[&��2]Y([K�(�(2"?6N��������� (�0;S�W[{Y�YXZX\[.~Yz�]_^2~�}a`GX\bCz�~Y�7cdXz�{�W�|e`�]fXhg�i�{Y��]%jKX 6 Îm�w*,�-"A@?�k¯�X���S���"�0#� &�(O(�¯Y����'�-��"w*^62��"aK�()*M��B!]Y(�0I��@Y���-"4D<�-�'&#� &�(�*,(OK�(�� � (�1].�B!��(�*NX �²"A�-� �\�B!B-UYS�Dx(9*M(2� 6 Î�� ´3X��%* *M���P�-"A@ 6 Î�"3��B!B<�-�P��B!�-(�*dÃGFÎ �VÃ�ÎuÌ�Ä�FÎ �¡Ä�Î%��"�0J�������"3��*� � ��*'*,���P�!"�@4� &����OÙQÎ^(��9ÕPÎ�6N�.�-"�6N�\0Q(YS��uXp(+Xý�'&���)�'&�(I�!�)�@.(7�����-"3��*��1'(#*'62�B!(�0¿�.1 �'&���@.1���A&��R6��1'��LM(�6N�'�-��"w*5��$<�'&�([��K�LM(�6F�b���.�-"3��*NX � �!@�X�r)0Q(�* 6N1'�-K�(�*%� &��\*%6N�."Q��@��A1���'�-�."�XPZI(O6��B-BW� &��\*5�!� (21h��'�-]Y(�B!@��.1 �-�'&��kRTS�Uml�nE8jgm�b°�D<�-�'&?�u� (21h�� �!��"�*�:�X v &��R*d��B-@��.1 �!� &�� @�(2"�(�1��B!B-U��)�HY(�*m�'&�([].�B!��(�*%�$ � ÌRÆ�"w0fØ Ê%6F��"3]Y(21 @.(%� ��D<��1�0)]���B-��(�*mD<&��R6�&�6N��1'1 (�*M���."�0��'�P�[6F��1 1'(�6N�<���Y*M(^�!"9�b$=(�D��!� (21h�� �!��"�*FX

v &�(d�-�'(21���� �-]Y(`���+*,(��B-@.��1'�-� &A�£62�")K�([03(�* 6N1'�-K�(�0PK3UG�'&�(%$=��B-B!��D<�-"�@[��*M(2��0Q�36F�30Q(Y¤

q�X 6 Îpo§Ê\q ��´QÌh_r�ßq

rQXVm(2@.�-"�"A�-"�@[��$�B!�Y����X°Y�.B-]Y(�$=�.1 � ÌRÆ�SA�"�07Ø Ê���*M�-"�@���¯Q*FX�rG��"�0 o 8j*,(2(d"�(��Q��*M(�6N� �!��";:hXZJ&�(�"G�'&�(��.K�LM(�6N�����.�-"3��*��1'(%6N�.��BR��"��1�SQ�'&�(%�.0�0Q�!� �-�."��B�(�¯Y����B-�-�MU � 0 Æ���´d�G��*M�cK�(���*,(�0;S3�"�0�MDm�O������1'��3�-�C�� (`���+*,(�*��1'(%$=����"�0lX

o X%���.�P�����'( 6 Îpo§Ïsq.�Ë t" �©Ê��©Î20§Ç�SYD<�-� &�Çu� �v� Æ.X�ZJ&�(2"P�'&�(��.K�LM(�6N�������!"Q�h*m�1'(%6F����B\�"���12SQ�MDx�

*M(2��*m��$ 6 Î�D<�-� &)�.�����Y*,�!� (�*,�-@."�*��1 (%$=�.��"�0I8j*,(2([°Y(�6N� �!��"xw¹:hX��X���$Ty 6 Îpo ÏzqK8 6 ÎQo Ï#{3Ë1qYy}| v &�1 (�*,&��.BR0;S����3�-�2X

��BR*M(�_r�¿_ & q�X�~��O� ��*,�'(2��rQX

�QX����A��6N�<���Y*M(Y8u*�:��¶B\��*M�������1'���Q�!�)��'(%���Y*,(+8u*�:hXs

Page 8: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

O�

C�

H�

M�

i

z�

x�i�k

� m� 0

w�

u�M�

0

v�

j�

K�

G�

y�m� i

N�

i

Z�

0

f�

� �!@���1'([rQ¤ v &�([�!"��-�'�R��B�B-�Y���7�!"7gm�d°3� v B-�Y��HA*�$=�.1d�G���Y*M([�$x� &�(���K�LM(�6F�%*M��6�&�� &����%� &A(^�����!"Q�h*%ÕPÎ�1'(d� &�(�* 6��B-(�0C�.1 �'&���@.1���A&��R6d��1 ��LM(�6N� �!��"�*m��$�� &�(d�.K�LM(�6N�<�����!"Q�h*<ÉIÎuX

� ��1��[@�(2�.�P(2�'1 �R6<�-"3� (�1 ��1'(2����� �-�."P�$y� &��\*m�-� (�1���'�-]Y(d��B-@.��1 �!� &�� SQ*M(2( n r�tuX

� A ��ö Ð �=�9Df�#E ÷ Ae� ,N��÷3ø!,^�G�*�+�� ½Q���=���-,�� ô �'A ½AöD������ �#E ø��ZJ�-�'&��-"�� &�(d�-�'(21���� �!]Y(%��B-@��.1 �!� &��£03(�* 6N1'�-K�(�0G�!")� &�(%�A1 (2]3�-�.��*<*,(�6F� �-�."�SQDx(d&��2]Y(%� �O*M��B-]Y(`� &�(d(�¯Y���i� �!��"�* � Ê � Î 0 � ��à Π8 q &76 Î :984Ã Ê Ì

�©Ê��ßÎ>0;:<��Ä�Îu8 q &N6 Î�:984ÄÊ�Ì

w

Page 9: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

D<�-�'&� � Á

Ø Ê � Ì\:?� ÁØ Ê Æ�Ì

�"w0C�'&�(d� (21'�)* 6 Î &��2]Y(%HQ"A�D<")].�B!��(�*<���<(���6�&P�-�'(21���� �!��"�X�Z?(%(2�3��1 (�* *m� &A(d0Q������1'�30Q��6N�h*m�$W� &�(�*M((�¯Y����'�-�."�*m�-")� (�1 �)*��$�]Y(�6F� ��1¬6N�Y��1h0Q�-"w�� (�*��R�?]%jKX�{�c��#X'zd]¬z�{{Y�hg��R��~�]1X/i��'~�W�Xd{fi��3Xpi#XF�3XF��zdXs�

n Ò Î Ó Î Ô Î t n;� � � � � t � ��à Π8 q &76 Î :984Ã Ê Ì n Ò Î Ó Î Ô Î t n¡  �   �   t � ��Ä Î 8 q &N6 Î :984Ä Ê 8u�Y:

v &�(�*M(P��1 ([B!�-"�(���1%(�¯Y����'�-�."�*%D<&�(21 ([�'&�([��"�H3"���D<"�*d�1'(G�'&�(O6N�Y�.1�0Q�!"���'(�*b��$<]Y(�6N�'��1 � �"�07]Y(�6N�'��1:�X v &�(?���'&�(21P����1����P(2� (�1�*O�1 (?H3"���D<"�¤#Ã�ÎuÌhÄÎuÌhÃwÊ�Ì�ÄÊ���1 (7� &A(7HQ"���D<"Ú6N�Y��1h0Q�-"w�� (�*C��$�ÕCÎ5�"�0ÕPÊO8��-�C�@�(�*���$<É?Îm��"�0?ÉIÊN:��-"�� &�(O6���P(21h�G6F�Y��1�03�-"���� (�*,UA*,� (��7S;��"�0#ÒcÎjÌNÓ3ÎuÌNÔ�Îx�1'([� &�([H3"���D<"6N�Y�.1�0Q�!"���'(�*���$�� &A(b���.�-"3��ÉIÎ��-")� &A(b�.K�LM(�6N��6N�Y�.1�0Q�!"���'(b$=1h��P(%��$�1'(N$=(21'(2"�6N(YX

ZI1'�-�'�-"�@O��¯�X��b$=��1�� &�(�_9��K�LM(�6N�<�����-"3��*<ɨË2Ì�É7¢2Ì�ÉIÎjÌ2Í2Í2Í�Ì�ÉIÏ[��"�0��'&�(2�!1<�-�)��@�(�*FS¹Dx(d@�(2"�(�1���'(B-�!"�(���1<*,UA*,�'(2�)*�$=��1�� &�(�6N�Y�.1�0Q�!"���'(�*���$�� &A(b�A"�HQ"A�D<")]Y(�6F� ��1h* � �"w0£:�¤

B � �¥¤ F Ì7B�:=�¦� F 8 � :

D<&�(21'(ZBÂ�\*�� &A(G�)��� 1'�-�)�$x� &A(P6N�Y�.1�0Q�!"���'(�*%�$¬� &�([�.K�LM(�6N�%�����!"Q�h*dÉIÎ��-"7� &A([��K�LM(�6N�56N�Y��1h0Q�-"���� ($=1����P(d�$�1'(N$=(21'(2"�6N(YS}¤.F��R*<� &�(�]Y(�6N� �.1<D<�-�'& � i=� & 6N�Y��1h0Q�-"���� (OÃ�Îu8'q &N6 Î�:§84ÃwÊ5�"�0��-F��R*<� &A(^]Y(�6N�'��1D<�-�'& � i=� &?6N�Y�.1�0Q�!"���'(PÄ�Îu8 q &!6 Î�:�8/ÄÊ�X^��$xDm(�&���0?��`B-(��.*,�%�'&�1 (2([]3�R*M�-K�B!(d���.�-"3��*%���'&�(21%�'&��"¨ÉIÊ�S�"w0P�B!B��'&�(�*M(������!"Q�h*�Dm(21'([��{Y�Az�{N|�}�~Y��~Y��SQ�)��� 1 �!�¨BºDm�.��BR0[&��2]Y(�1h�"�H o S���"�0G� &A(%*M��B-�A� �-�."�*k��$��'&�(B-�!"�(���1<*,UA*,�'(2�)*��-")� &�(dB!(���*M��* ¯Y���1'([*,(�"�*,(dDm�.��BR0PK�(^@.�-]Y(2"�KQU

� �¦©ª¤ F Ì=:<�«©7� F 8,s.:

D<&�(21'(¨©ý�\*m� &�(d��*M(2��0Q�.�-"3]Y(21�*M(%�$��'&�(d�)��'1 �!�ZB9XZI(C62�B!B�©£� &�(f{�c��#X'zd]_W[~�]j�d�¬[�Xf°Y(�( n rt�$=��1�0Q(2�����-B\*b��"¨� &�(�62��*M(P�$�"A��"�6N�.��BR��"��1[���.�-"3��*NX��u"

� &A�R*%�����(21�ScDx(O6N��"�6F(2"Q�'1���� ([��"¨� &�(�62��*M(GD<&A(21 ([�'&�(G�.K�LM(�6N�%���.�-"3��*^��1 (OHQ"A�D<"?� �)K�( z�{N|�}�~Y��~Y��X�u"7� &��\*d62��*M(YS��)��'1 �-�xB¡&���*%1h�"�H?r3S��"w0f�'&�(O*,(2�d��$<(�¯Y����'�-�."�*%�R*��!B-B-ij0Q(2�'(21 ���-"�(�0O(2]Y(2"7D<�-�'&#��"��]Y(21�03(2� (21'�P�-"A(20�*,(2�x�$ (�¯Y����'�-�."�*NX v &�(�")��0�03�-� �!��"���B�6N�."�*,�'1����-"3��*m��1 (%1'(�¯Y���-1'(�0;XcZ?(�(2�����P�-"A(<� &��\*0Q(2@.(2"�(21h��'(^*M�-�'����'�-��")��*M�-"�@��[@�(2�.�P(2� 1'�R6<�-"3� (21'��1 (�����'�-�."�X

Page 10: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

D­ M

®0

1

2

Hx1

x2

Q°I0

� �!@���1'( o ¤���B!B�]Y(�6N�'��1�* � D<&A�Y*,([&A(���0)��1 ��LM(�6N��*��."Q�'�P��B\�"�(´³Ü�-"7µ³��1'��LM(�6N����"3� ���©ÊI�¸Ë%�!"<¶�·FË�"w0���"3� �¸�©Ê3�¹¢��!"�¶O¢Xº B¼» ÷3��ø4÷¹�����=�Gô��������P�G�½)�=÷ Ñ

Z?(5$=�.��"�0)� &�(%$=��B!B-��D<�-"A@[(�¯¹�w�� �!��"�*k$=�.1 � ¤

�©Ê��©Î20 � ��à FÎ ÌD<�-�'&PÃGFÎ � ÃwÎj8 q &�6 Î�:m89Ã�Ê2X�~�(2�.�P(2�'1 �R6��B-B!UYS2� &A�R*�(2�3��1 (�*'*,�!��"�*,����� (�*��'&���x��$��'&�(�����!B��$ � �\*����HY(�"G�'�K�(���T�ßÊ�S��'&�(d&�(��.0C��$ � ��1'��LM(�6N�h*m��"r�ßÊI�©Î����%�^�����!"Q�T¶�·�Î 0Q(N�w"�(�0PKQU�� &�(��B!@�(2KA1���\6%�P(���*M��1 (

ÉIÊ�¶�·�Î.� ÃGFÎy¾�©ÊI�ßÎhy�u"E�.� &�(21�Dm��1h0�*NS�� &�(�&�(��.0E�$ � �O��*,�[K�(2B!��"�@4�'�#� &�(���BR��"�(7��(21 ��(2"w0Q�R6N�ABR�1O� �¿�©Ê3�©Î���À¶�·�Î8 � �-@�X o :�X���$T� &�(���K�LM(�6F��&���0[$=����1�"��."�6N���ABR�"w�1k$=(��� �A1 (����.�-"3��*FS�ÉIÊ�Ì�ɨËNÌ�É7¢2ÌhÉ=Á�SY� &�(2" � Dm�.��BR0[K�(6N�.�P��B-(�� (2B!UP0Q(F��"�(�07�.*�� &�([]Y(�6N� �.1�D<�!� &7�-�h*������-BW���ÉIÊ��"w09�-��*�&�(���07���d� &�(��-"3� (21h*,(�6N�'�-�."9�$x�'&�(� &A1 (2(%�ABR�"A(�*���(21'��(2"�0Q�\6N��BR��1m�'�'�©Ê3�¶Ë2SK�©Ê��¹¢���"�0��©Ê��ÂÁ`��T¶�·FË2SG¶�·�¢��"w0?¶�·3Á�1 (�*M��(�6N� �!]Y(2B-UYX��"���B-U3� �\62�B!B-UYS2Dx(mDm�.��BR0[*M��B!]Y(��%*,UA*,�'(2����$;�'&�1 (�(m(�¯Y����'�-�."�*NS3�"w0^� &�(<�)��� 1'�-�%��$�� &A(<*,UA*,�'(2��Dx����B\0&��2]Y(%1h�"�H o X

«���Dm(2]Y(�12S;��$<� &A(�$=(���� ��1'([�����-"3��*dK�(2B-�."�@9�'���'&�(�* ���(G��B\�"�(¸³ 8�K�������1 (O"������B-�!@�"�(�0�:�S�� &A(2"� &A(7]Y(�6N� �.1�*'� Ê � Ë ST� Ê � ¢ S<(2�h6�X¶�1'(#6F����B\�"���19��"�0E� &A(7��BR��"�(�*P��(21 ��(2"�03�R6N��B\�1O� �4� &A(2� ���¶ ·FË SJ¶ ·�¢ S�(2��6�X/8u0Q(F��"�(�0#��K��]Y(.:��B-Bx�-"3� (21h*,(�6F�[��O�7*M�-"�@.B-()B-�!"�(P�.1O��O6NB!�Y*,()����1���B-B-(�BmB-�!"�(�*d� &�����1'(I��(21'��(2"�0Q�\6N��BR��1P� �/��BR��"�(ó)X v &�(?1���"�HJ�$��)��'1 �-�¿B �\*G��"AB-U�rQX v &�(¨*,�!�P��B!(�*,�O�$�*,��6�&6N�."Q��@��A1���'�-�."�*��3626N�A1�*<D<&�(2"9Dx(^��*M(^�."�B-U)�[� 1'�R��"�@�B!(^�$W$=(���'��1 (�*�ÉIÊFÉ#Ë'É7¢2X v &�(���*,(���0Q���!"Q]Y(�1�*,(*,�.B-���'�-�."I8Ms�:���$��'&�(�*,UA*,� (��º�\*<�^���.�-"3��µ¶��BR*,�OB-�36��� (�0C�!"P��B\�"�(¨³ºD<&��\6�&��P�-"��!�P�aP2(�*c�!��*x0Q�R*M���"w6N(

q2´

Page 11: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

� �d�'&�(<��BR��"�(�*FSQ��"�0[Dm(�62��B-B��'&�(%6F��1 1'(�*,���."�0Q�-"A@b]Y(�6N� �.1�*,�.B-���'�-��" � Ê�8 � �-@AX o :hXm��B-(���1 B!UYS�'&��R*�*M��B-�A� �-�."� �O� &A([*,UA*,�'(2�ª�\*m"����%�A"��R¯Y��(YSA*,�-"w6N(��B-B ]Y(�6N�'��1h* � D<&��Y*M([&�(��.0�*��A1 ��LM(�6F�<��"3� �O��BR��"�(O³ ��_µ³*,� �!B-B��1'��LM(�6N����"3� ���©Ê��¶Ë%���_¶�·FË2S��."Q�'���©Ê��¹¢%��_¶�·�¢2S�(2�h6�X-X��u"9�.� &�(21`Dm��1h0�*%��"QU)]Y(�6N�'��1 � D<�-� &��-�h*�����-B ����ßÊ`�"w0��-�h*m&�(��.0���"�� &�(dB!�-"�(%��(21'��(2"�0Q�\6N��BR��1<� �[��B\�"�(¨³£��_µ¶�R*<�O*,�.B-���'�-�."I8 � �-@AX o :hX

Ä Ae� ,N��÷3ø A ��ö=���������9,��M���ÀÅ��KÆ ö�½A�c½��)ô��������#,°Y��6�&�*,�.B-���'�-��"w*�62��")K�(dD<1'�-� �'(2"���*

� � � Ê &�Ç � 82wY:D<&�(21'( � �\*[�f�A"��-�[]Y(�6F� ��1�"���1'�)�B<�'�7³ ��"�0 Ç �\*^� &�(�6N�Y�.1�0Q�!"���'(9�$5� &�()&�(��.0a��$ � �B!��"�@ � X°Y�!�P�-B\�1 B!UYS :<�¥:;Ê &ªÈ � 8 � :�"w0 Ç �"w0 È �1'(G�A"�HQ"A�D<"TXC°+�-"�6N([�'&�([]Y(�6N�'��1 � �\*%"���1'�)�B��'�)� &�([��B\�"�(¸³��$��'&�([��K�LM(�6N�2S;Dx(&��2]Y(��©Ê3�©Î10 � �ª´3X v &Q��*^�'&�(P]Y(�6F� ��1 � �\*b�'&�(P��"��!�^]Y(�6F� ��1��$��'&�(P"3��B-B¬*,���.6N(P�$`� &A(P�)��'1 �!�B9X<�u��62��"9K�(^�.K������-"�(�09��*<� &A(^6F��B-�A�P"P]Y(�6N�'��1�6N�.1 1'(�*,����"w0Q�-"�@�� �O� &�(�*,�C�B-B!(�*,�¬*,�!"�@���B\�1�].�B-�A(b�!"� &A(d*,(�6F��"�0P��1'� &��."���1'�)�Bl�)��'1 �!�[��1 ��]3�R0Q(�0OKQUO� &�(5*,�-"A@���B\�1<].�B!��(d0Q(�6F���P���Y*M�-�'�-��"��$ÉB np� tuX v &��\*�P(2�'&��309�$`6F���P���A� �-"A@ � ��1 ��]3�R0Q(�*b�)�P(���"?0Q�-1'(�6N� �!��"�ST�"�0#*M(2(2�)*<� ��K�(G��*M(N$=��B��-"¨62�.*,(�*%D<&�(21'(� &A(^��K�LM(�6N�%�����!"Q�h*%�1'(["����%(����.6N� B!U)6N���ABR�"w�12X v &��\*�6N�.�P�����h��'�-��"��R*���(21M$=��1'�P(�0P��"�B!U9�."�6N(^$=��15�@��!]Y(2")0Q�\*,�'1 �-KA��� �!��")�$����.�-"3��*NS����<� &�(�*'��P(d� �!�P(`��*<� &�(�6N�.�P�����h�� �!��"P��$�� &A(b�.K�LM(�6N�x�)��'1 �-�¸©PX

�u"96F��"3� 1��.*,�<�'�[� &�(%@.(2"�(21h�B 62�.*,(%��$�"A��"�6N�.��BR��"��1<$=(���� ��1'(%�����-"3��* n rtjSQDm(d"���D�&��2]Y(��'�G�w*,(%�'&�(��0A0Q�-�'�-��"w�Bk$j�.6N�^�'&��� � �"�07:/�G��*M�[8 q�:%K�(P��(21'��(�"�0Q�R6F��BR��1[�"w0E8urY:%K�(P�$��'&�()*'��P([B!(2"�@��'&�Sc�!"��1h0Q(21<�'�P6N�.�P�����'(%� &A(b�A"�HQ"A�D<"w* Ç �"�0 È X v &�(%��1�*M�%6N�."�0Q�!� �-�.")UQ�!(2BR0�*

ÇÊÈ �¹8 � Ês0�:;Ê�Ì

�"w0�� &A(^*M(�6N�."�0)6N��"�03�-� �!��")U3�-(2B\0�*

Ç¢ 8 È

¢ �¥: ¢Ê 8 � ¢Ê«����'� (2"AB-�36�&�(21 n w�t��w"�0�*��'&�(O* ���P(d�,Dx�G(�¯¹����� �!��"�*�$=�.1%� &A(^1 (�*,� 1'�R6N�'(�0)62��*M([�$x� &A1 (2(���K�LM(�6N�������!"Q�h*��*M�-"�@��96F���P��B!(2� (�B-U)0Q��±l(21 (2"3�d������1 �+��6�&�S���"�0?*,��B!]Y(�*��'&�(2�¡K3U7* ¯Y����1 �-"A@9� &A(^��1�*M�^(�¯Y����'�-�."?�"�0

q�q

Page 12: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

(2B!�-�P�!"���'�-"�@[�."�(G��$<�'&�([��"�H3"���D<"�*%K�(2�MDm(2(2"7�'&�([�MDm��6N�."�0Q�-�'�-�."�*NXG°¹¯¹����1 �!"�@��"?(�¯¹�w�� �!��"7�!"Q�'1 ��i0Q��6F(�*b"�(�D·*,��B!��� �!��"�*FS�*,�7�'&���O��B-B<*M��B!��� �!��"�*d�G��*M�dK�(C6�&�(�6�HY(�07��@Y���-"�*M�[� &�(P�.1 �!@��-"w�Bm(�¯¹����� �!��"�*FXZ?(b�A1 �����+*,([��"7��B-� (�1 "���� �-]Y(`�P(2� &A�30C�'&����03�Y(�*�"A����1 (�¯Y���-1'(d* ¯Y����1 �-"A@G�'&�(%��1�*M�<(�¯¹�w�� �!��"�X

ZI(�1 (2�C�1 HO� &w��%�'&�([*'¯¹����1 (��$��'&�([6N�.�P��B!(2�G"3���OK�(21�ȹ� ÇO& � È �R*%È ¢ � Ç¢ 8 È

¢& r � ÇmÈ S�uX�(YX-S

È ¢ ��: ¢Ê 8 � ¢Ê 8#r � � Ê#0�:;Ê

v &�(21'(N$=��1'(GDx(P6��"I��"w0 Ç �"w0 È �.*b� &A(P1 (���Bx�"�0I�!�)�@.�-"���1 U����1'��*b��$�� &�(�* ¯Y����1 (P1'�Y����*d�$��'&�(6N�.�P��B-(��["Q���OK�(21�È ¢ X � �!"�0Q�!"�@[� &�(�*'¯¹����1 (d1 �Y�.��*�1'(�¯Y���-1'(�*kD<1'�-� �!"�@PÈ ¢ �!")���.BR��1�$=�.1 �7¤

È ¢ � n;Ë ÌdÌ�tjÌ;D<�-�'&

Ë �¶8 8M: ¢Ê 8 � ¢Ê : ¢ & ��8 � Ê#0¾:lÊ2: ¢ : Ë1Í1¢ Ì ��"�0Ì«����1h6N����"�8 8`r � Ês0�:;Ê: ¢Ê 8 � ¢Ê :�Ì���$.: ¢Ê 8 � ¢Ê�Î ´QÌ �"�0

Ì«����1�6F���"T8 8%r � Êz0;:lÊ: ¢Ê 8 � ¢Ê : &!Ï Ì;��$.: ¢Ê 8 � ¢Ê | ´8���$.: ¢Ê 8 � ¢Ê ��´QÌ�Dm(�&��2]Y(�Ð��¹8d°Y�-@."�8 � Ês0�:;Ê2: Ï r Ì �"�0 Ë �Ñy r � Ê#0¾:;Ê�y�:

v &�(21'(��1 (d�MDm�[1'�Y���h*bÈ©$=��1<�'&��R*m"3���OK�(�12S�ȹ� n�Ò Ì3ÐtjS��"w0fȹ� n�Ò Ì3Ð &!Ï tjSQD<�!� &

Ò �ÔÓ Ë Ì �"�0_Ð�� Ìr

Ç �"w0 È �1'(d� &�(d1 (��B �"w0��-�C�@��!"��1'UG�w�1 �h*���$�� &A(�*,(%"3���OK�(21�*

Ç � Ò 6N�Y*KÐQÌ È � Ò *M�-"ÐQÌ��.1

Ç �¹8 Ò 6N�+*GÐQÌ È �¹8 Ò *M�-"Ðv &�(�*M(d]���B-��(�*mUQ�!(2BR0G�'&�(d�MDm�O*,�.B-���'�-�."�*¬$=�.1 � �"�0�:

� � � Ê & Ò 8j6N�Y*Kй: � Ì7:x�¥:;Ê & Ò 8j*,�-"ÐY: � Ì �"�0

� � � ÊJ8 Ò 8u6N�+*Kй: � Ì=:<�¥:lÊ�8 Ò 8u*M�-"Tй: �q2r

Page 13: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

xÕyÖ

z×CamØ era

Plane parallel tothe image plane

Object pÙ lane 1Object pÙ lane 2

� �-@.��1 (d��¤ v Dm�[�.K�LM(�6N�<���Y*M(�*<@��-]3�-"A@[� &�(�* ���P(d�-�)��@�(%�A"�0Q(21%°��`g/�����1'���Q�!�)��'�-��"TX

Ú ���'�R6N(�� &����d*,�!"�6N( � �R*���(�1 ��(2"�0Q�\6N��B\�1�� �P�'&�([��K�LM(�6F����B\�"�(+S;� &�(��K���]Y(O*,�.B-���'�-��"w*%*,&���D³� &����� &A(������-1�8 � Ì\: :c��$ � &�(<��1h*,�<*M��B!��� �!��"P�\*k*MUQ���P(2� 1'�!62�BY�'�^� &A(������-1�8 � Ì\: :�$=�.1m�'&�(%*M(�6N�."�0P*,�.B-���'�-�."�X���$Dm(`�"w6�&��.1m�.��1����.�-"3�m��$ ]Q�!(2D4� �^�'&�(`62��P(�1��QS.� &��\*y�\*�(�¯¹�A�-].�B!(2"Q�W� �^�'&�(���K�*M(21 ].��'�-�."P� &����m�'&�(��MDx�*,�.B-���'�-�."�*�$=��1d� &�(O���Y*M(P�$¬� &�([�.K�LM(�6N�%��B\�"�(��1'(P*MUQ���P(2� 1'�!62�B�D<�!� &71 (�*,��(�6N�d� ���P��B\�"�(O���1h�B!B-(2B� �[�'&�(%��B\�"�(�8 � Ì\:c:hSQ�-"���� &A(21<Dm�.1�0�*<*MUQ�P��(2� 1'�-6��B3D<�-� &)1'(�*,��(�6N�x� �O�d��BR��"�(d���1h�B-B!(2B�� �[�'&�(%�-�C�@�(��B\�"�(O8u*M(2( � �-@AXQ�3:�X

Û )�����ø Av� ,N��÷Qø A ��ö=�����=���-,[��� B Æ9Æc��� ¤ ��ø4½Q��÷)ô��K,2÷ A ��ö=���������9,Ú (2�3��Dm(%�w*,(d� &�(�*,(%�MDm��*,�.B-���'�-��"w*k$=��1 � �"�0':7� �d��"�0P� &A(d6N��1'1 (�*M����"�0Q�!"�@O1 ���h��'�-��")�)��� 1'�R6N(�*W�"�0� 1h�"�*MBR��� �-�."#]Y(�6N�'��1h*NX � �!1�*M�bDx(^��"�0I�'&�(O0Q(2�A� &4ØcÊ��$��'&�([1 (N$=(�1 (2"�6F([���.�-"3��ÉIÊ�S�KQU 0Q�-]3�R0Q�!"�@P�'&�($=�362��B�B-(2"�@.� &)K3UP� &�(d"��.1 �ª��$ � ��1Ê: � "A��� (d�'&����� &�(�*M��B-�A� �-�."�*k$=��1 � �"�0P$=��1Ê:?�B!B�&��2]Y(%� &A(^*'��P("��.1 �7S�K�(�62����*,(�Dm(��-�P���Y*M(�0P� &�(�6N��"w0Q�-�'�-��"¿y � y5�Üy :Jy X v &�(21'(N$=��1'(^�'&�(21 (d�\*��G�A"��R¯Y��(�*,�.B-���'�-��"?Ø Ê Xv &�(2"?Dm([@.(2�%Ö Ê � t"$ Ã Ê S�× Ê � #"$ Ä Ê X v &Q��*FS�� &�(21'([�R*%�)*M�-"�@.B-([� 1h�"�*MBR��� �-�."#*M��B!��� �!��"�XO«���Dm(�]Y(21� &A(21 (��1'()�,Dx�I1'���h�� �!��"/�)��'1 �R6F(�*d6N��1'1 (�*M���."�0Q�!"�@#� �?� &A(��MDx�?*,��B!��� �!��"�*^$=��1 � ��"�0Ý:³8 $=�.1G(��.6�&*,(��2S�"���1'�)�B!�pP2�!"�@ � ��"�0u:4U3�-(2B\0�*��'&�(��w1�*,���MDm�P1'�D�*d�$���1 �.����� �-�."#�)��� 1 �!���"�0I�'&�(OBR��*M�d1 ��D��\*��KA����!"�(�0PK3UP� &�(�6N1'�Y*'*���1'�30Q��6N���$W� &A(5�w1�*,���MDm�[1'�D�*�:�X v &�(�*M(b�MDx�O*,��B!��� �!��"�*<6F��1 1'(�*,���."�09� �[�'&�(�MDm��*,U3�P�P(2�'1 �\62�B����Y*M�-� �!��"�*��$x� &�(���BR��"�([�$x�.K�LM(�6N�����.�-"3��*FS�D<�!� &71 (�*,��(�6N��� �)�O��BR��"�(^����1���B-B-(�Bc�'�� &A(P�-�)��@�(O��BR��"�(YS��'&���[B!(���0#� �7�'&�()*'��P(O�-�)��@�(�8u*M(2( � �-@AX��3:�X¨«���Dm(2]Y(21�S�� &�(2U?�)�2U7"��.�[K��.� &

q o

Page 14: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

K�(�$=(���*,�!K�B-(+X^ZI([&w��]Y([�'�)]Y(21 ��$=UYSw$=�.1d(���6�&7���Y*,(+Sc� &w����B!Bk�'&�([��K�LM(�6N�%�����!"Q�h*b��1 (O�-"7$=1 �."Q�%��$<�'&�(62���P(21��O8u��B-B�Ø Î Î ´¹:hX��j$W�-�<�\*m"������ &A(^6���*,(+SQ� &A(b���+*,(^&w��*<� �OK�(�0Q�\* 62��1�0Q(�0;X

POÞ S

+ß _

POÞ S

+ß _

POÞ S

+ß _

Singlesolution

� �!@���1'(^�3¤��x��*M(Pq.¤<gm�b°�UQ�!(2BR0A*m�P*M�-"�@.B-(%$=(��i*,�!K�B-(O���Y*M()���(���6�&#*M� (2�?�$��'&�(O��1 �36N(�* *P8 & ¤$=(��.*,�-KAB-(%���Y*M(YSGà�¤���"Q$=(��.*,�-KAB-(%���Y*M(�:�X

POá

S

+â+â +âPOá

S

+â +â +âPOá

S

+âPOá

S

+â+â +âPOá

S

+â +â +âPosã e 1 Posã e 2

+â +â

� �-@.��1 ( � ¤%�x��*M(OrQ¤�gm�b°)U3�-(�BR0�*m�MDm�[$=(��.*,�-KAB-(���+*,(�*����c(��.6�&�*,�'(2�^��$;�'&�(m�A1 �36N(�*'*m8 &_& ¤�K�(�*,�¯¹����B-�!�,U+S & ¤�B-��Dm(�1<¯Y���B!�-�MUG���+*,(�:hX

�}ä �F��÷3�½3�����9D<�M����ø B Æ-Æ ��� ¤ �=ø4½Q��÷)ô��K,2÷9���7* ¤ ½����Oô��K,2÷� ��1�6N�.��BR��"��1�* 6N(2"A([���.�-"3��*FSc� &A(Pgm�d°7��B-@.��1 �!� &��¡�A1 �30Q��6F(�*%�,Dx�)���+*,(�*����(���6�&7�-�'(21���� �-�."I��$<�'&�(gm�d°3� v �B!@���1'�-�'&��7X v &�(21 (F$=��1 (d�!�<Dm���ABR09*M(2(2�£�����w1�*,�`� &�����Dx(bDx����B\0�"�(�(�0P� �O(2�Q�AB-��1'(��G� 1'(2(d�$���Y*M(�*m��"�0G�P�!@�&3��(2"�0[���PD<�!� &�r Ï ���Y*,(�*<��$=� (�1m_)�-�'(21���� �-�."�*<8u*M(2( � �-@Y*FX3�b��"�0 � $=��1m�!B-B!��*,�'1���'�-�."�*��$� &A(�*,(�� 1 (�(�*�:hXm«���Dx(2]Y(212S3�-"���1��.6N� �\6N(%Dm(d��"�0)� &�����Dx(^&��2]Y(d� �O��"�B!UP$=��B-B!��D��."�([��1��MDm�OK�1���"�6�&A(�*NS�"w0�(2"�0P���)D<�!� &9�."�(d��1��MDm�^$=(��.*,�-KAB-(d*M��B-�A� �-�."�*NX v Dm��*,�!� ����� �!��"�*m�3626F��12¤

¥ �u"P�'&�(%��1�*M��*,�-�'����'�-�."I8j*,(2( � �-@AX��¹:hS���<�'&�(���1h*,�<�-�'(21���� �!��")*M� (2�)Dm(56N���P�A��� (�� &�(d�MDm�����Y*,(�*NSK��A�b��"�0?� &����^��"A(P�$`� &�(O���Y*M(�*^�R*d"����d$=(���*M�-K�B!(P��"�0I&��.*^� �9K�()03�R* 6��1�03(�0IK�(�62����*,()*M���P(*'6N(2"�(����.�-"3��*%��1 (���BR�.6N(�0�K�(2&A�-"�09�'&�([62���P(21h�^�-"7� &w������+*,(YX v &A�R*%*M�-� �w�� �!��"7�\*��'&�(2"�$=�.��"�0�'�P�3626N��1����%(2]Y(21'U9*M��K�*M(�¯¹�A(2"Q�`*,�'(2��X v &�(21'(N$=��1'([Dm(O�1'([B-(N$=��D<�-�'&?�)*,�-"A@�B-(�����'&I�'�G$=��B!B-��D��"�096N�."Q]Y(�1 @�(�"�6N(�� ���G*M�-"�@.B-(�$=(��.*,�!K�B-(d���Y*M(YX

¥ �u"9�'&�([*M(�6N�."�09*M�-� �w�� �!��"48j*,(2( � �-@AX � :�SlK��.� &7���Y*M(�*���$m�'&�(b�w1�*,���-�'(21���� �!��"7*M� (2� �1'(b$=(��.*,�-KAB-(YS��"�09Dm(d����1h*,��([�'&�(d�-�'(21���� �-�."�*m$=��1%K����'&7K�1���"�6�&�(�*NX¬����� &�(�*M(�6N��"w07*,� (���S�(���6�&9KA1��"w6�& *,� �!B-B

qN�

Page 15: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

Find image points.Compare with

å actual image.

Error Measure E2

all Ziæ > 0?

yeç sCompè ute εi

Find image points.Compare with

å actual image.

Error Measure E1

E1 < E2? E = E1, R = R1,

else E = E2, R = R2

STOé

Pall Ziæ > 0?

yeç snê o

yeç s

T, Rë 1 T, Rë 2

nê o noì

POS

E(n) ≥ E(n-1)

yeç sSTOé

P

Output Tí

, R, E

yeç sE < Thrî eshold?

Compuï te εi

Find image points.Compare with

å actual image.

Error Measure E1

STOé

Pall Ziæ > 0?

yesðnoì

T, Rë 1 POñ S

Find image points.Compare with actual

image.Error Measure E1

Output T, R, E

E < Threò shold?

POS

STOP

noall ziæ > 0?

yes

no

T, R1

yes

noì

yesðPOñ S

STOé

Pnoì

all Ziæ > 0?noì

all Ziæ > 0?

T, R1 T, Rë 2

Image center

Image pointsCoplanar

object points

Focal lóength

Compuï te εi

Find image points.Compare with

å actual image.

Error Measure E1

E1 < E2? E = E1, R = R1,

else E = E2, R = R2

STOé

Pall Ziæ > 0?

yesðnoì

all Ziæ > 0?

yesð

T, R1 T, R2

Find image points.Compare with

å actual image.

Error Measure E2

noì noì

POñ S

E(n) ≥ E(n-1)

yesðSTOé

P

Output Tí

, R, E

yes

E < Thrî eshold?

� �!@���1'(^sY¤ v &�(�gm�d°3� v ��B-@��.1 �!� &��ª$=��1�6F����B\�"���1%*'6N(2"�(d�����!"Q�h*NXq2�

Page 16: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

��1'��]Q�\0Q(�*b�MDx�9$=(���*M�-K�B!(P���Y*,(�*NS�K����^$=��1[(���6�&#K�1���"�6�&õô�X'ö�X3Xu|�{Y�Q}¡÷u]%jKX�cdX3]M]1XF�^|�{tb#XhX v &��\**M� 1���� ([email protected]#�R*�LM�w*,� ����(�0#K3UI�'&�(P$j��6N�[�'&���[(2�3��B!��1 �!"�@7�7B-��Dx(21[¯Y���B!�-�MU?K�1���"�6�&¨Dm���ABR0#"����OK�($=1'���-�M$=��Bu¤�(2�3��(21 �!�P(2"3��*�*,&A�D/� &�����(2�-�'&�(21�Dx(<Dm���ABR0[(2"�0^���OD<�-�'&G�."�(<�$T� &�(`* ���P(m�MDm�d���Y*M(�*�'&���x� &��\*m*,�'1���� ([email protected]����B\0G��1 �303��6N([8=K����<���<�d�G��6�&O*,B!��Dm(21x6N�."Q]Y(21'@�(2"w6N(<1���� (�:W��1mDx(�Dx����B\0&��2]Y(P�'�?*,�'���4� &�(��-� (�1���'�-�."#K�(�62��w*,()� &�(���1 �36N(�* *[0Q�!]Y(21 @.(�*NX v &A(�(��Q��B!��1h�� �!��"#��$d�9B!��Dm(21¯Y���B!�-�MUOK�1���"�6�&)�\*m�-B-B!��*,�'1���� (�0GK3UP�'&�(�6N��1 ]Y(�0P�1'1 ��D©�-" � �!@�X � X

v &�(x�P(���*M��1 (���$l¯¹�w�B-�!�MU%Dm(���*M(m� �5*,(2B!(�6N�;�'&�(mK�(2�'� (21 ���Y*M(m�R*�� &A(<0Q�\*,����"�6N(x�P(���*M��1 (ÉøGS��'&�(x��]Y(�1��@.(0Q�\*,����"�6N(dK�(2�MDm(2(�")��6N�'���B �-�C�@�(`���.�-"3��*<��"�0���1'��LM(�6N�'(�0G�����!"Q�h*¬$=1'���ª�'&�(�6N��������� (�0G���Y*,(+X

v &�(b­w�Dß6�&���1 �m$=�.1��'&�(�g¬�d°3� v �B!@���1'�-�'&��ª$=��1`6N����B\�"���1%*'6N(2"�(d�����!"Q�h*��\*<*,&���D<"��-" � �-@AX;sYXx�u�*,&A�D�*^�'&�(O�,Dx�9K�1h�"�6�&�(�*d��1 �303��6N(�04���� &�(O��1�*M�^�-�'(21���� �!��"¨*,� (���Xf��"�(�K�1���"�6�&¨�)�2U9&��2]Y(P�'�9K�(0Q1'������(�07��$x� &A(PÅ�ij6N�������."�(2"3��*<�$�*,����(O* 6N(2"A([���.�-"3��*�$=�.1d� &�(�6N��1'1 (�*M����"�0Q�!"�@)���Y*,(��1'(G"A(2@Y��� �-]Y(8����.�-"3��*<K�(�&��-"�0�62���(21��Y:�X��<�<� &�(�*,(�6N�."�09��"�0C$=�.B-B!�D<�!"�@O�-� (�1���'�-�."9*M� (2�w*NS�� &�(d��1'�36N(�* *M(�*m$=��1%(��.6�&K�1h�"�6�&#��1 ()*M�-�P�!BR��12Sl�"�0I�."�B-U7�'&�(P��1'�36N(�*'*5$=��1d�'&�(GB!(N$=�dK�1���"�6�&I�\*b*M&���D<"#�-"?� &A(�$=�.1 ([email protected] ���A"�0#�$� &A(C�w@���1'(YX v &��R*^�A1 �36N(�*'*��!"�6NB!��0Q(�*�6�&��Y�+*,�!"�@I�'&�()K�(2� �'(21[�$d�MDx�7���+*,(�*O��[(���6�&a�!� (21h��'�-��"TS��"�06�&�(�6�HQ�!"�@%��$T� &�(50Q�R*M���"w6N(%�P(��.*,��1'(ø¸&��.*k$j�B!B-(2"OK�(2B-��DJ�^�'&�1 (�*,&��.BR0G��1'(�0Q(N�w"�(�0[�-"P1'(2BR��� �-�."G�'�^�'&�((�*M� �-�C�� (�09"����\*,(O�-"?� &�(O�-�)��@�(YXO��$<�'&��R*%�\*b� &A(P62�.*,(YS��'&�(G���+*,(P$=��1d� &A(GK�1h�"�6�&#�\*5�.��� �A���2SW�B-�."�@D<�-�'&7� &�(d��"���B�0Q�R*M����"�6N(^��(���*M��1 (´ø � �.� &�(21'D<�R*M([� &�(����+*,(O�R*<��*,(�07��%�'&�(["�(2�3���!� (21h��'�-��"�B-�Y�.�I�'�1 (�6N���P�A��� (%�'&�( 6 ÎjX<��"9(������P��B-(`�$x6N�.�P�����h��'�-��")D<�!� &�$=�.��1`6N����B\�"���1%�����!"Q�h*��!"7�O6N��"Q�w@���1h�� �!��"D<&�(21'(dK��.� &����+*,(�*��1'([�.626N(2���h�K�B!(d62��"�K�(d$=����"�0)�-"�������(2"w0Q�-�lX

��� ô�÷Q�s�M����ø4½�� �Y÷uŨE ½���½�����÷3��MùY½Q���=����u"9�'&��R*�*,(�6F� �-�."�S�Dm(^(�]���B-����� (�� &�(���1 �!(2"3����'�-�."?�"�0)���+*,�!� �-�."I(�1 1 �.1�*<�$x� &A([gm�d°3� v �B!@���1'�-�'&��Ü$=�.1�P��BR��"��1d�.K�LM(�6N�%�.1^*'6N(2"�( � �-"7��&A��� �.@�1h��P�P(�� 1 �\6^������B-�\62��'�-�."�*NS;�'&�(O��K�LM(�6N���R*%�'&�(O* 6N(�"�([�-"9$=1'��"3��$y� &�(�62���P(21��3X�ZI(�6N��"w*,�R03(21<�MDm�O��K�LM(�6N�h*mD<�-�'&96F����B\�"���1�$=(���'��1 (d�����!"Q�h*NS�����$=�.��1%03�R*,�h�"�6F(^1���� �!�$=1 �.�ª� &A(^6���P(21h�QX v &�(�0Q�R*M���"w6N(d1���'�-�O�R*<0Q(F��"�(�0)��*m�'&�(d1���� �-�O�$W� &A(^03�R*,�h�"�6F(5$=1'���ª�'&�(�62���(21��� ��� &�(���K�LM(�6N��Sc��]Y(21d� &A()*,�QP2(G��$�� &�(���K�LM(�6N��X � �.1^(��.6�&?��K�LM(�6F�2S�*MUQ"3� &A(2� �\6��!�)�@.(�*d�1 (���K��h��-"A(�0��*M�-"�@ �9"Q���OK�(21%��$d�#P2�-�O��� &?��"�0#(2B-(�]���� �!��"¨�"�@.B-(�*%$=��1[� &A()62���(21��)�"w0I� &�1'(2(PB!(2]Y(2BR*��$��-�C�@�("��.�R*,(+X v &�(%6���P(21h�����Y*M(�*m��1 (d6N�.�P�����'(�0bK3UOgm�d°3� v $=1 �����'&�(�*M(��!�)�@.(�*��"w0P6N�������1'(�0^D<�-�'&G�'&�(��6F� ����B�62���P(21��%���Y*M(�*NS���"�0G(21'1 �.1�*k�!"P���Y*M�-� �!��"��"w0G��1'�-(2"3����� �-�.")�1'(%��B!��� �'(�0P��@Y��!"�*,�<�'&�(%(2B!(2].��'�-��"

q �

Page 17: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

�"A@�B-(�*5��$x� &�(O62���P(21h��$=�.1%].�1 �!����*d0Q�\*,�h�"�6N(�*�$=1 �.��� &A(O62��P(�1��[� �)� &�([�.K�LM(�6N�`�B!��"�@)� &A([�����'�R62��B��3�R*FXkZ?([��BR*M�P*M� ��0QU)�'&�(d"Q���OK�(21m��$x*,�.B-���'�-�."�*�$=���A"�0�K3UP� &A([�B!@��.1 �-�'&��º$=�.1�(��.6�&�6N�."Q��@.��1���� �-�."�S� &A(b(F±;(�6N�m��$�(21 1'��1h*m�-"P���Y*M�-�'�-��"A�-"�@O� &�(d�!�)�@.(d6N(2"3� (21�S3��*<Dm(2B!B;�.*��'&�(d(N±l(�6N�x�$y��* *M���P�!"�@[� &����%��"��K�LM(�6N�<�R*m��B\�"���1<D<&�(2"��-�<�R*m"A������6F� ����B-B-U���BR��"��1�X

���Kú�� � õ Æ ÷3���#,v &�(m��1h*,���.K�LM(�6N��6F���P��1'�R*M(�*�$=����1y6N����B\�"���1����.�-"3��* � �MDx�%�����-"3��*W�1 (<B!�362��'(�0[��y0Q�R��@���"w�B-B!U^�.�����Y*,�!� (6N�.1 "�(21h*;�$w�bq�´�´���*'¯¹�w�1 (+S��"�0d� &�(����'&�(21��MDm�<���.�-"3��*��1'(x��W�1 KA�-� 1h�1'U%B-�362��� �!��"�*;�!"�*,�\0Q(�� &�(�*'¯¹�w�1 (+Xv &�(�*,(�6N�."�0��.K�LM(�6N��&���*�� (2" 6N����B\�"���1����.�-"3��*%��"�09�R*<��*,(�0��-"��P�Y*M�<�$x� &A(b�'(�*,�h* � $=�.1��'&��R*<��K�LM(�6N�2S�MDm�����.�-"3��*��1 (C�BR*M�9B!�362��'(�0#���0Q�R��@��."��B!B-U?�������Y*M�-�'(96F��1 "A(21�*d�$�� &A(9q�´�´9�>* ¯Y���1'(YS���"�0#(2�-@.&Q������!"Q�h*^�1'(G���+*,�-�'�-�."�(�0I1h�"�0Q�.�PB-U��-"�*M�R0Q([�'&�(�* ¯Y���1'(YX v &Q�w*5$=��1dK����'&#��K�LM(�6N��*FSc� &A(P*M�pP2([��*M(�0I�'�6N�.�P�����'(^� &A(O0Q�R*M���"w6N([1���� �-���R*^q�´�´� X v &�([�.1 �!@��-"#¾ �$x� &�(O6F�Y��1�03�-"���� (�*,UA*,� (��Ý8,¾ � ÌN¾�ÐmÌF¾�Ñ):�$ �'&�(%�.K�LM(�6N��*��R*�B-�36��� (�0P��<�'&�(%6F(2"Q�'(21��$ �'&�(d* ¯Y����1 (YSA�"�0P� &A(���B\�"�(�Ô �J´^�\*k�'&�(��ABR�"A(%�$ �'&�(* ¯Y����1 (O8u*M(2( � �-@AXKw¹:�X���Kú » �2ø4½GD�÷ » ÷3�c÷3��½Q���=���

Z?(m��KA����!"O*,U3"Q�'&�(2�'�R6��-�)��@�(�*;K3Ud��(21�*M��(�6N� �!]Y(k�A1 ��LM(�6F� �-�."^D<�!� &[�<$=�362�B3B-(2"A@�� &��$ s � ´%���-�3(2BR*FX v &�1'(2(B-(�]Y(2BR*m��$m1h�"�03����"A���R*M([�-"�� &�(��-�)��@�([��1 (�*,��(�6N����(�0;X`�����-�)��@�(�"����\*,(^B!(2]Y(2B�q.S;� &�(�1 (���B�"3���GK�(21h*6N�.�P�����'(�0I$=��1O� &�( 6N�Y��1h0Q�-"���� (�*[�$��'&�()��(�1�*,��(�6F� �-]Y()��1'��LM(�6N�'�-�."�*G��1 (�1 ���A"�0Q(�04� �?�-"3� (2@.(21[���-�3(2B���Y*M�-� �!��"�*FX[�<��"��.�R*M([B-(2]Y(2B r3S;� &A(�*,([�!"Q�'(2@�(21����Y*M�-� �!��"�*d��1 (O0Q�\*,� �A1 K�(�07KQU)]Y(21'� �R6��BW�"�09&��.1 �QP2��"3����B��(21 �'��1 Kw�� �!��"�*d�$Tû[q[���-�3(2BjX v &�(�*,(��1 (O6F1 (���� (�07KQU �P��"���$=�.1 � 1��"w0Q���¢"Q�A�GK�(21�@�(2"A(21���� ��1�XO���"��.�R*,([B!(2]Y(2B o S��'&�([���P��B!�-� �w0Q(^��$m�'&�([��(21 �'��1 Kw�� �!��"�*%�\*üûdrG�A�-�3(2BR*FX Ú ���'([� &����%D<&�(2"7�'&�(O62���(21���R*d���^�)0Q�\*,�h�"�6N([1h��'�-�)�$�r�´C$=1'���¡�'&�([��K�LM(�6F�d�"�0¨����7q2´903(2@�1'(2([(2B-(�]���� �!��"�S;�'&�(O�-�)��@�(^��$<�'&�(��K�LM(�6N�%(2�3� (2"w0�*���]Y(21`��*�$=(2D³�.* o ´G���!�Q(2B\*�&A��1 �QP2��"3����B-B!U9��"�0 � �A�-�3(2BR*<]Y(21 �'�R62��B-B!U;¤x�G��(21 �'��1 Kw�� �!��"�$��MDx���A�-�3(2BR*��."#(��.6�&?*M�R0Q(O�$��'&�(G�!�)�@.([�R*%1 (�BR��'�-]Y(2B!U)BR�1'@�(O�-"¨6N�������1'�R*,�."I�'�)� &�(�*,�QP2(G��$<�'&�(��1'��LM(�6N�'(�0G��K�LM(�6N�2X

qs

Page 18: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

���Kú-ó Å�½�ø4÷Q��½9ô��K,2÷},v &�(�62���P(21h����B-D<�2UA*����.�-"3��*c�'��D<�1h0��'&�(<��1'�-@.�-"[�$T� &�(<�.K�LM(�6N��6F�Y��1�03�-"���� (m$=1����P(YX �u���R*W*,��626F(�* *M�-]Y(2B!UB-�36��� (�0�����$=�.��1`0Q�R*M���"w6N(d1���'�-�+*k$=1 ���®� &�(d��1'�-@.�-"�¤xrQS��3S�q2´O�"�0�r�´QX

vþwÿ

Obj�ect

Cam� era

•�•�

•�•�•�

•�•�

•�

•�•�

xÕyÖz×

α�

β�Size

� �-@.��1 (_w3¤m��B!(2].�� �!��"��"A@�B-(��4�"w09�tP��-�O��� &��"�@.B-(�� $=�.1��'&�(�62��P(�1��b�!")� &�(d(2�3��(21 �!�P(2"3��*NX

� ��1�(��.6�&d�$A� &A(�*,(x0Q�\*,����"�6N(�1h��'�-�Y*FSQq�sm(�B-(2].��'�-�."d�"�@.B-(�*FS�$=1'����q�´��'� � ´�0Q([email protected] (2(�*FS��1'(m6F��"�*M�R0Q(21'(�0;Xv &�(�*M([62���P(21h�^(2B-(2].��� �-�."��"�@.B-(�*%��1 (�0Q(2"��.� (�0)KQU�#�-" � �-@AXKwQX � ��1%�'&�(^B\��*,��(2B!(2].�� �!��"��"A@�B-(+S��'&�(62���P(21��d�R*<����"��.0Q�-1�X���B-Bl� &�(d���Y*M(^(21'1 �.1�*<�1'(^��B!���'� (�0)�@+��!"�*,��� &�(�*,(d(2B-(�]���� �!��")��"�@�B!(�*NX

� �-@AX9w7�BR*M�7*M&���D�*^� &�()6���P(21h�)�tP2�!�G���'&?�"�@.B-(YSW0Q(2"��.� (�0?KQU�kX��u"I���Y*,�d�'(�*,�h*NS����A1[@��Y��Bm�\*� �)�.K������-"#1'(�*,��B!��*��'&����1 (N­w(�6N�%�'&�([��(21,$=�.1 �)��"�6N([�$¬� &�(O�P(2�'&��309�-�h*,(2B�$x1���'&�(21d� &w�"#�'&�(O62���(21���tP��-�O��� &�*`�"�0I�'&�(�0Q�R*M� 1 �!K����'�-��"?�$¬� &�(���K�LM(�6N�`���.�-"3��*FX v &�(21 (F$=��1 (+ScDm(O����HY(G�'&�(���]Y(�1��@.(G��$<�'&�(���Y*M(P(21 1'��1h*b��KA����!"�(�0f$=�.1Gs�r962���P(21����tP2�!�G���'&�*���Sc�!"#��0Q(2@�1'(2(O�-"�6N1'(2�P(2"3��*FX^Z?(P0Q�\*,��B\�2U7� &�(�*M(�2]Y(21���@�(<(21'1 �.1�*m��"�0[� &�(2�!1�*,�h�"�0A�1�0)0Q(�]Q�\�� �!��"[K���1�*x�@Y���-"�*M�m�'&�(dqs`(2B-(2].��� �-�."O�"�@.B-(�*�$=��1�� &A(��'&�1 (2("��.�R*,(dB!(2]Y(2BR*x�"�0P�'&�(%$=����1`62���(21���0Q�R*M���"w6N(d1���'�-�+*NX

ZI(`�B\*,�O*M� ��0QU[�'&�(%�3626F��1 (2"w6N(<�$W0Q�.��K�B!(d*,�.B-���'�-��"w*m��*x�5$=��"w6N� �!��"O�$ � &A(d62���(21���(�B-(2].��'�-�."�$=�.1� &A(�$=�.��1[62���P(21h�P0Q�R*M����"�6N(O1���'�-�+*^�"w0I� &�1'(2(["��.�R*,(�B-(2]Y(2B\*NX � �.1b�'&�(�*M(G�'(�*,�h*NScDx(P6�&��Y�+*,()��*,�-"A@�B-(62���P(21����tP2�!�G�A� &P(�¯Y����B�� �OP2(21'��S���"�0�Dx(b�AB-���<$=��1<(���6�&�(�B-(2].��'�-�."��'&�(d��1 �.K��KA�-B-�!�MUP�$��.K������-"��!"�@��0Q�.��K�B-(d���Y*M(O*,�.B-���'�-��")K3UP(2�A��P�!"��-"A@^� &A(b�A1 �����.1 � �!��"7��$x0Q���AK�B-(�*,�.B-���'�-�."�*��.K������-"�(�0C$=��1ds�r["��.�R*,U�-�C�@�(�*NX

qsw

Page 19: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

2� 04

0

6� 080

10� 0

10 2� 0 3� 0 4

0 5� 0 6� 0 70 80 9� 02� 04 0

6� 080

10� 0

10 2� 0 3� 0 4 0 5� 0 6� 0 7� 0 80 9� 0

Noise l�evel 2 Noise l

�evel 3

Distance� /size = 5

2� 04 0

6� 08� 010� 0

1� 0 2� 0 30 4 0 50 6� 0 7� 0 8� 0 9� 0

2� 04 0

6� 08� 010� 0

1� 0 2� 0 3� 0 4

0 5� 0 6� 0 7� 0 8� 0 9� 0

Noise l�evel 2 Noise l

�evel 3

Distance/�size = 10

Distance/�size = 20

20

40

6� 080

10� 0

10 20 3� 0 4 0 5� 0 6� 0 70 80 9� 0

20

40

6� 080

10� 0

10 20 3� 0 4

0 5� 0 6� 0 70 80 9� 0

Noise l�evel 2 Noise l

�evel 3

Per

cent

age

of

� dou

ble

pose

sP

erce

ntag

e of

� dou

ble

pose

sP

erce

ntag

e of

� dou

ble

pose

s

� �!@���1'( � ¤^g�1 �.K��KA�-B-�!� �!(�*��$¬��K��h��!"��-"�@��MDm����626F(2������K�B-([���+*,(�*FSc��B!��� �'(�0?�@Y���-"�*M�^(2B!(2].��'�-��"¨�"A@�B-(�*��SQ$=��1<$=����1�6N�.��BR��"��1������!"Q�h*NX

���Kúp( ¼9� øIõ�÷3�[� � B �Y�Y÷5Æ���½�õ ö�÷�ô��K,2÷},Z?(P"���D�B-�Y�.H#���^� &A(G"3���OK�(�1b��$����.626N(2���h�K�B!(��P���Y*,(�*b$=����"�0?KQU?� &�(��B!@��.1 �-�'&��7X � ��1�� &�(�*,(O(2�Qi��(21 �!�P(2"3��*��'&�()62���P(21h�C�\*b�����!"Q�'(�0I�'�D¬�1h0 �'&�(P�.K�LM(�6N�[���^].�1'�-�.��*^(2B-(�]���� �!��"4��"�@�B!(�*^���O�7*,�-"A@�B-(�tP��-�O��� &�S�K���� $=��1�(���6�&[(2B!(2].�� �!��"�SYs�rd1���"�0Q�����!�)�@.(m"��.�R*M(�6N��"Q�w@���1h�� �!��"�*x�1'(<@�(2"�(�1���'(�0;XW�E���+*,(�R*�62��B-B!(�09~Yz�zdXj|K]u~�cN}QXm�.626N�.1�0Q�!"�@^�'�b�'&�(�$=�.B-B-��D<�!"�@�0Q(N��"��!� �!��"�¤ Dm(`6N��"�*M�R0Q(�1k�'&�(��±T*,(2�h*mK�(2�MDm(2(2"O�-��i�@.(d���.�-"3��*<��"�0���1'��LM(�6N�'(�0G�.K�LM(�6N�m���.�-"3��* � �'&�(d���Y*,(d�\*<��626N(�������K�B-(%�\*m��B-B�� &A(�*,(%��±T*,(2�h*���1 (�*,�)��B-B!(21� &w�")� &�(5��P��B!�-�'��0Q(��$ � &A(b�!�)�@.(�"A���R*M([8 q.X �^���!�Q(�B;��B-�."�@OÃ)�"�0)Ä^$=��1<B-(�]Y(2B�rQS���"�0)rQX§�b���!�Q(2B\*y$=�.1B-(�]Y(2B o :�X v &A�R*<�R*�*,�-����B-U)��"7�.6�H3"���D<B-(�03@�(2�P(�"Q�x�$x� &�(d$j��6N��� &w��2S��-"���1��.6N� �\6N(YS��."�(O62�"A"����%H3"���DD<&�(2�'&�(21O��"a��±T*,(2�OK�(2�MDm(2(2"4�'&�(P�-�C�@�(����.�-"3��*O�"�0#�'&�()��1 ��LM(�6N� �!��"�*^��$d� &�(O$=(���'��1 ()�����!"Q�h*�$=�.1� &A(^6F���P���A� (�0G���+*,([�R*<03��(d� ����6N�'���B �-�)��@�(%���.�-"3��*�*,&���$=� (�0PK3UP� &�(d�!�)�@.(b"A���R*M(d��1�� �O��1 ��LM(�6N� (�0$=(���� ��1'(G�����!"Q�h*d*,&���$=� (�07KQU �����Y��1����Y*,(+S��"w0I��"�(O&��.*b� �)@.�-]Y([� &A(GK�(2"�(F���d�$<�'&�(�0Q����KA�^� �)�'&�(���Y*M([6N�.�P�����h�� �!��")��$ �'&�(d�±T*,(���*m$j�B-B�D<�!� &��!")� &�(dB-(�]Y(2B��$��'&�(d�-�)��@�(�"����\*,(YX

v &�(`0Q�R��@�1����)*��$ � �!@Y*FX � ��"�09q2´d��1 (�*,(2"3��1 (�*M��B-�h*y�!"G�'&�(<$=��1 �C*c�$T��(�1�6N(2"3����@�(�*��$�0Q����KAB-(����+*,(

q �

Page 20: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

2� 04� 060

8 010! 0

10 2� 0 30 40 50 60 7" 0 8 0 90

2� 04� 060

8 010! 0

10 2� 0 30 40 50 60 7" 0 8 0 90

Noise l#evel 2 Noise l

#evel 3

Distance/$size = 20

2� 04� 06% 080

10! 0

10 2� 0 3& 0 4� 0 5' 0 6% 0 70 80 9( 02� 04� 06% 080

10! 0

10 2� 0 3& 0 4� 0 5' 0 6% 0 7" 0 80 9( 0

Noise l#evel 2 Noise l

#evel 3

Distance/$size = 10

Noise l#evel 2 Noise l

#evel 3

20

40

6% 080

10! 0

10 20 3& 0 4� 0 5' 0 6% 0 70 80 9( 020

40

6% 080

10! 0

10 20 3& 0 4� 0 5' 0 6% 0 70 80 9( 0P

erce

ntag

e of

) dou

ble

pose

sP

erce

ntag

e of

) dou

ble

pose

sP

erce

ntag

e of

) dou

ble

pose

s

Distance* /size = 5

� �!@���1'(Pq2´3¤<g�1 �.K��K��!B-�!� �-(�*m�$x��K��h��!"��-"�@O�MDm����626F(2������K�B-(����Y*,(�*NS���B-�.� � (�09�@+��!"�*,�%(�B-(2].��'�-�."7�"A@�B-(�*��SQ$=��1�� (2"�6N�.��BR��"��1<�����!"Q�h*NX

*,�.B-���'�-�."�*T$=�.1c(�B-(2].��'�-�."^��"�@�B!(�*;$=1 ���·q�´��'� � ´%0Q([email protected] (2(�*FX �k�.6�&�0���h���R*;�'&�(���(21�6N(�"Q�h�@�(x�$��36�6N��1 1'(2"�6N(�$x�MDm�����+*,(O*M��B-�A� �-�."�*�$=��1^s�rG"��.�R*,U��-�)��@�(�*<��KA����!"�(�09K3UP$=��B-B!��D<�-"�@P�'&�(^�A1 �36N(�03��1 (O0Q(�* 6N1'�-K�(�0��!"°Y(�6F� �-�."Pq.q�X r3X v &�(�*M(m1 (�*,��B!��* 62�"[K�(<�-"3� (�1 ��1'(2� (�0d�.*c��1 �.K��KA�-B-�!� �!(�*;�$���"�03�-"�@%�MDx�%�.626N(2���h�K�B!(m���Y*M(�*�-"w*,� (���09�$��P*,�!"�@�B!([���Y*,(+X^�u"7� &A(�*,(O0Q�\�@.1���C*NS;�."�B-U�"����\*,([B-(�]Y(2B rP�"w0f"��.�R*M([B-(2]Y(2B o ��1 (O*,&A�D<"TXÚ �.�R*,(�B!(2]Y(2B�qx�R*�B-(�*'*;�-"3� (21'(�*,�'�-"�@���"�0^�R*;"��.��*,&A�D<"[K�(�6����*M(m�-���\*c03(2� (21'�P�-"A�R*,�'�R6 ¯¹�w�"3� �pP��� �!��"�"����\*,( �$=��1x� &��\*��,U3��(���$ "����\*,(YSY�'&�(bs�r^"����\*,U[�!�)�@.(�*c��*M(�0G� ��6N��������� (<�'&�(���(�1�6N(2"3����@�(�*���1 (%�\0Q(2"3� �R6��BA�"�0�B!B���1'�]3�R03(��'&�(�* ���P(<���Y*,(�*NS�*M�^�'&����� &A(���(21h6N(2"3���@.(���$��3626F��1 (2"w6N(<�R*<q2´.´¹µ³D<&�(2"O�MDm����626F(2������K�B-(���Y*M(�*���1 (d$=����"�0)��"�09´Yµº�.� &�(�1 D<�R*M(YX

ZI(`*,(�(m$=1 �����'&�(�*M(%0Q�\�@.1���C*c� &������ &�(21'(��\*c�P�.1 (�6�&��"�6F(<� �%��"�0[�MDm�d���Y*,(�*kD<&�(2"O� &A(�1h�� �!�d�$62���P(21���0Q�\*,����"�6N(<��]Y(21 � &�(�03(2��� &[��$��'&�(<��K�LM(�6F����B-��"A@b�'&�(<���A� �R6��B����Q�\*c�R*cB\�1'@�(YXW�²"w0Q(2(�0^D<&�(�"[� &��\*6N�."�0Q�-�'�-�.")����AB-�-(�*NSQDx(%H3"���DJ� &�����* 62��B-(�0G�.1 �'&���@.1���A&QUP�\*m�^@.�Y�309��A��1 ���3�-�)��� �-�."G�'�[��(21�*M��(�6N� �!]Y(YS�"w0G� &����mD<�!� &P�'&��R*x�����1'���Q�!�)��'�-��"[�'&�(21'(%��1 (d��B-D<�2UA*k�MDm��*M��B-�A� �-�."�*y$=�.1<6N�.��BR��"��1m$=(��� �A1 (����.�-"3��*FXv &��\*m6N�."�0Q�-�'�-�."G�\*k]Y(21'����(�0^D<&A(2"P� &A(%��K�LM(�6F�k�\*c$j�1k$=1'���·� &�(`62���P(21��3SYD<&�(2"P�'&�(%6���P(21h��$j��6N(�*��'&�(��K�LM(�6N�[8��'&�(2"�� &�(O0Q�!�P(2"�*M�-�."7�B!��"�@)�'&�(^�.��� �\62�B����Q�\*��R*P2(21 �C�"�07� &�(�1���� �-�)�\*��-"Q�w"��-�'(�:�S���1�$=�.1��

r�´

Page 21: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

6N�.�GK��!"���'�-�."b��$T���P�30Q(21h��'(<0Q�\*,����"�6N(¬�"�0[��"A��"�i=@�1h�tP2�!"�@d�-"�6N�\0Q(2"�6F(��"�@.B-(YX�Z?(k�w"�0^�MDm�����+*,(�*c$=�.1� &A(^*M&���1'� (�*M��0Q�R*M����"�6N(%1h�� �!�Y*<��"�B!UGD<&A(2")� &�(�62���P(21��%"�(��1 B!U�$j�.6N(�*m�'&�(d��K�LM(�6N��X � ��1<�!"Q�'(21 ��(�0Q�R��1 U0Q�\*,����"�6N([1h�� �!�Y*FS�Dx([*M���1'�%��"�0Q�!"�@)�,Dx�P���Y*M(�*�$=��1%�!"Q�'(21 �P(�0Q�R��1 U��"�@.B-(�* � $=��1`� &�([B\�1 @.(�*,�50Q�R*M���"w6N(1���� �!��S�� &A(b�A1 ��Kw�K��!B-�-�MUO�$��w"�0Q�-"A@[�,Dx�G���+*,(�*<�R*m��1h��6N�'�R62��B-B!UG�!"�0Q(2��(2"�03(2"Q�x�$��'&�(�62���(21����"�@.B-(YX

Ú ���'(<� &����m�'&�(<�3626N��1'1 (2"w6N(<�$�0Q����KAB-(�*,�.B-���'�-�."�*m0Q�Y(�*y"A����"�(�6N(�* * ��1 �!B-U^�!"�6N1'(���*M(mD<�-�'&G�'&�(<�-�C�@�("��.�R*,([B!(2]Y(2BjX v &�(^1'(���*M��"?�)�2UPK�(^�'&���d�MDm�O�P(�6�&��"A�R*,�C*kD<�-�'&9�.�����Y*,�!� ([(N±l(�6F��*%��1 ([���%��B\��U+Xb��"��"A([&��"�0lS;� &�(�BR��1 @�(�1��'&�(^"��.�R*M(YS;� &A(^(��.*,�-(�1��!���\*¬$=�.1d�����+*,(O� �PK�([�.626N(2�A���KAB-(P8j*,(2(�0Q(N��"A�-� �!��"��$��6�6N(2���h�K�B!(b���+*,(�*��!"9�'&�(^K�(2@.�-"�"��!"�@O�$��'&��R*�*,(�6F� �-�.";:�X���"�� &�(����'&�(21�&��"�0lS��'&�(^B\�1 @.(21�� &�(�"����\*,(YS� &A(b����1 (50Q�R*M� ��1'� (�0P�'&�(d�-�)��@�(%�)�2UOK�(YS��"�0)� &�(d�P�.1 (��±T*,(����'&�(d���+*,(��)�2UGK�(YX

�����P�w�1 �!"�@P�'&�(O0Q�R��@�1h��)*���$x��(�1�6N(2"3����@�(�*<$=��1%$=����1`���.�-"3��*d�"w0f�'(2"7�����-"3��*FS;Dm(O*M(2([� &w��%�'&�(��1'��K���K��-B!�-� �!(�*m�$y��K��h��-"A�-"�@O�MDm�O��6�6N(2���h�K�B!(b���+*,(�*%��1 (�0Q1����)��'�R62��B-B-U[&A�-@�&A(21�$=�.1m$=����1������!"Q�h*��'&��"$=��1�� (2"/���.�-"3��*FX�Z?(9&��2]Y(9"A���G$=�.��"�0J�?6N��"3]Q�!"�6N�!"�@I(��Q��B\�"���� �!��"a$=�.1P� &A�R*O0Q��±l(21'(2"�6N(YX©��"�(��$� &A(7��03]���"Q�h�@.(�*P�$���(21,$=�.1 �P�!"�@I�O��B!� �-�AB-(O(2�Q��(21'�-�P(�"Q�h*b��"�*MUQ"3� &A(2� �\690������E8=�P��1'(��'&��"³qN�AS ´.´�´(2�3��(21 �!�P(2"3��*k$=��1`� &�(�*M([�MDm�)0Q�\�@.1���C*�:<�\*�� &����d�-�%K�1'�-"�@+*�� �)B!�-@�&3�%��1'����(21'� �-(�*�D<&��R6�&7Dm�.��BR09&w��]Y(K�(2(2"�0Q�a4)6N�AB-�m�'�G�A1 (�0Q�\6N�<��"��B!UQ�'�R62��B-B!UG�.1�0Q�R*'6N��]Y(21k$=1'���£�^$=(2D�(2�Q��(21'�-�P(�"Q�h*yD<�!� &)1 (��B 0������QX

���Kú�@ Å���ø!Æ ����½Q���=���4�G�`ô��K,2÷<*%�������#,� ��1%(���6�&9���Y*M([(�*,�'�-�)��� (�0PK3U��'&�([��B-@.��1 �!� &�� S�� &�(����+*,�!� �-�."#��"�09��1'�-(2"3����� �!��"9��$x� &�(�62��P(�1��^D<�-�'&1 (�*,��(�6N��� �?� &�(P�.K�LM(�6N���1 (�6N�.�P����1 (�0I�'�7� &�(C��6N�'���B<���Y*M�-�'�-��" �"�0#�.1 �-(�"Q�h�� �!��"#�w*,(�0#� �?��KA����!"� &A(b�!�)�@.(YX�Z?([6N�.�P�����'(%� &�(����Q�\*���$�1 �.����'�-�."9� ���B!�-@."��'&�([6F�Y��1�03�-"���� ([*MU�*M� (2�®�$��'&�(d��K�LM(�6N�<�!"�-�h*%��6F� ����B���1'�-(2"3����� �-�."9D<�!� &7� &A(O6N�Y��1h0Q�-"���� (O*MU�*M� (2� �$x� &�([�.K�LM(�6N���-"7�!��*��.1 �-(�"Q�h�� �!��" 6N���P�A��� (�0K3U7gm�d°3� v D<�!� &71'(�*,��(�6N�`� �P�'&�(O62���(21��O6N�Y��1h0Q�-"w�� (�*,UA*,�'(2�7X v &�(7{Y���XF�5]j~�]>�R{Y�ÝXF�F� {Y�k�\*%0Q(N��"A(�0��*^�'&�(O1 ���h��'�-��"/��"�@�B!(P�-"403(2@�1'(2(�*^��1 �.��"�0#� &��\*d��3�R*b1'(�¯Y���-1'(�0f�'�?��6�&��-(�]Y([� &��\*^�B!�-@."��P(2"3�2X v &�(|A{tbz�p]2�R{Y�'XF�F� {Y���\*�0Q(N�w"�(�0^�.*�� &�(x"���1'���$l�'&�(m�'1��"w*,BR��� �!��"O]Y(�6N� �.1c1'(�¯Y���-1'(�0%� �d��B-�-@."[� &�(��.6N� �w�BA�"�06N�.�P�����'(�0^���Y*,�!� �!��"�*��$ � &A(��.1 �-@.�-"O�$ �'&�(��.K�LM(�6N��6F�Y��1�03�-"���� (�$=1h��P(YX v &��\*m0Q�\*,�h�"�6N(��R*�"��.1 �)��B-�QP2(�0K3U#� &�(�0Q�\*,�h�"�6N(�K�(��,Dx(2(2"4� &A(P��1'�-@��!"E��$%�'&�(�62��P(�1��96F�Y��1�03�-"���� (P$=1����P()�"w0a� &A(��.1 �!@��-"4��$%�'&�(��K�LM(�6N��6N�Y��1h0Q�-"w�� (%$=1h��P(YX v &Q�w*m� &�(d���Y*M�-� �!��"�(21 1'��1<�R*<�^1'(2BR��� �!]Y(�(21'1 �.12S�D<&�(21'(���*m�'&�(d��1'�-(2"3����� �-�."(21'1 ��1<�\*<����(���*M��1 (%�!"�0Q(2@�1'(2(�*FX

rQq

Page 22: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

���Kúp� BGÐ ÷Q��½GD�÷9ô��K,2÷<*%�������t,��²���O�#Ec÷ ü ÷3�,+hô����=��� � õ Æ ÷Q���

v &�(���B-�.��*[�$ � �!@�X<q.q9��"�0 � �-@AX<q2r?*,&���Dª�'&�(9�.1 �!(2"Q�h��'�-��"/��"�0E���Y*,�!� �!��"E(�1 1 �.1�*[�$d�'&�(�62���(21����KA����!"�(�0)KQU��2]Y(21���@��-"A@O0���h��$=�.1bs�rG�#P2�-�O��� &��"A@�B-(�*���1 ���A"�0��'&�(d� (2"�i=�����!"Q����K�LM(�6F�2X

Noise l-evel 1 Noise l

-evel 2 Noise l

-evel 3

Ave

rage

ori

enta

tion

err

or (

d. eg.)

and

sta

ndar

d de

viat

ion

Distance//Size = 2

Distance//Size = 5

Distance/Size = 10

Distance//Size = 20

� �!@���1'(^q.q�¤���]Y(21h�@.(��.1 �-(�"Q�h�� �!��"P(�1 1 �.1�*��"w0�*M����"�0��1h0)0Q(2]3�R��'�-�."�*��@Y���-"�*M�<(2B-(�]���� �!��"��"�@.B-(�*0� $=�.1� (�"96F����B\�"���1�$=(���� ��1'(d���.�-"3��*FX v &�(�*,(d1'(�*,��B!��*<��1 (^�.K������-"�(�0�$=1'����s�rG�#P2�-�O���'&)�"�@.B-(�*1��X

� ��1d62���P(21h�G0Q�\*,�h�"�6N([1h��'�-�Y*����I�'�7q2´)��"�09(2B-(�]���� �!��"?�"A@�B-(�*����7� � o ��03(2@�1'(2(�*NS�� &A([��1 �!(2"3���i� �!��"#(�1 1 �.1�*��1 (��,U3���\62�B!B-U9B!(�* *d� &���" o 0Q([email protected] (2(�*b(2]Y(2"7$=��1�� &�(�BR�1'@�(�*M�^�!�)�@.(G"��.�R*M(YX v &�(PB\�1'@�(�*M���1'�-(2"3����� �!��"O(21 1'��1�*��3626N��1�$=��1x� &�(�BR��1 @�(�*,�m�!�)�@.(<"����\*,(%B!(2]Y(2B�D<&A(2"G�'&�(%(2B!(2].��'�-��"O�R*�6NB!�Y*M(��'�^"��.0Q�-1�Xv &�(O��1'�-(2"3����� �-�."?6N������������� �!��"�*%��1 (O� &�(�"7]Y(21 U *,(2"�*M�-�'�-]Y(^�'�)�-�)��@�(^"A���R*M(YXO�u"�0Q(2(�0lS���d"��.0Q�-1�Sc��B-B� &A(%1 �.����'�-�."�*<�1'����"�0���3(�*k�!"P� &A(%��BR��"�(d�$ �'&�(%��K�LM(�6N�<0Q�\*,��B\��6N(`� &�(�$=(��� �A1 (%�����!"Q�h*m�-")03�-1 (�6N� �!��"�*D<&��\6�&��1'(d6NB-�+*,(�� ��� &�(`0Q�-1'(�6N�'�-��"w*y��$ � &�(`B-�-"A(�*c�$W*M�-@.&Q��S��"w0P�1'(d0Q�¬4C6N��B!��� ��0Q(2�'(�6N��K�(�62��w*,(%�'&�(2U��1'�30Q��6N([$=(2D³6�&w�"�@.(�*%�-"7� &A([�-�)��@�(YX[��"�B-U�1 ���h��'�-��"w*b��1 �.��"�0#���Q(�*����1h�B-B!(2B��'���'&�([���A� �R6��B����Q�\*�1'(d(���*MUP� �O0Q(�� (�6N��X v &�(d�����!"Q�h*m��")� &A(b1'���h�� �!��")(21'1 ��1<�AB-���h*m1 (N­w(�6N�m�'&�(d�2]Y(21h�@�(d�!"Q�'(21 ��1'(2����� �!��"�*

r�r

Page 23: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

Noise l2evel 1 Noise level 2 Noise l

2evel 3

Ave

rage

rel

ativ

e po

sitio

n e3 rro

r an

d st

anda

rd d

evia

tion

Distance4 /Size = 2

Distance/5Size = 5

Distance/5Size = 10

Distance/5Size = 20

� �!@���1'(9q�rQ¤O��]Y(21h�@�(O���Y*M�-� �!��"#(�1 1 �.1�*��"�0#*M����"�0��1h040Q(2]3�R��'�-�."�*d�@Y���-"�*M�[(2B-(�]���� �!��"¨�"�@.B-(�*�� $=�.1� (�"96F����B\�"���1�$=(���� ��1'(d���.�-"3��*FX v &�(�*,(d1'(�*,��B!��*<��1 (^�.K������-"�(�0�$=1'����s�rG�#P2�-�O���'&)�"�@.B-(�*1��X

�$T(21 1'��1h*�$=1 �.�ºs�rd�-�)��@�(�*FS���"�0[� &�(�6�&��"w6N(�*c�'&����*M�)�B!B�*M&���$=�h*c�-"[�'&�(��-�)��@�(������-"3��*�K�(��-"3� (21'��1 (2�'(�0K3U7BR�1'@�(�*,&���$=��*%�-"?� &A(G���Y*M()�"A@�B-(��1'(GB\�1'@�(YX v &��R*d0Q�Y(�*d"�����&���A��(�"I$=��1�@�1��#P2�-"A@�]3�-(�D�*5��$<�'&�(��K�LM(�6N�2S�D<&�(21'(����Y*,�[1'���h�� �!��"�*�0Q�R*M��BR�.6N(P� &A(�$=(���� ��1'(����.�-"3��*O�B-�."�@¨0Q�-1'(�6N� �!��"�*^"A��1 �C�B<� �?� &A(2�-1B-�!"�(�*��$x*M�-@�&3�2X

� �-@AX;q�r[*,&���D�*m� &w��m�'&�(%���Y*M�-�'�-��")1'(�*,��B!��*x�1 (`B-(�*'*m*,(�"�*,�!� �-]Y(�� �[�!�)�@.(<"����\*,(���x"���03�-1m�'&��")�'&�(��1'�-(2"3����� �!��"O1 (�*M��B-�h*NS�D<�!� &O���+*,�!� �-�."G(�1 1 �.1�*��B!D<�2UA*y�A"�0Q(21 � µ�SY(2]Y(2"���m"w��0Q�!1m���x�b03�R*,�h�"�6F(�1h�� �!�d�$r�´dD<�-�'&[� &�(�BR��1 @�(�*,���-�)��@�(x"����\*,(�B-(2]Y(2BjX;Z?(%62��"G(��Q��B\��!"[� &��\*�$=1 �.��� &�(<$j��6N���'&������"AB-U^�'1���"�*,B\�� �!��"�-"�� &�(�0Q�-1'(�6N�'�-��"��$x� &A(^���A� �R6��BW��3�R*<�R*%0Q�a4)6F��B-�<�'�)0Q(2�'(�6N�m$=1 �.���'&�(^�!�)�@.(5$=�.1%� &A�R*<���+*,(YX v &A(2"� &A(d6�&w�"�6N(�*k� &w���*,�C�B-Bl*M&���$=�h*m�-"P�!�)�@.(������!"Q�h*mK�(b�!"Q�'(21 �A1 (2�'(�0�K3UOBR�1'@�(d*M&���$=�h*m�-"P���+*,(��"�@.B-(��1'(*,�C�B-BjX

r o

Page 24: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

���Kú º � �#E ÷Q�Z,2�=øI� ö�½3�������9,v &�(��)��/��*,(�0/��*P�?�P�30Q(2B<��$=� (2"�0Q�Y(�*G"�������1 ��]3�R0Q(��B!� �!� ��0Q(��-"Q$=�.1 �)��� �!��" � � &A(2"E�'&�(�$=(���� ��1'(�����!"Q�h*��)�2UOK�(b���30Q(2B-(�0P��*�6N���ABR�"w�12S�D<&A(21 (��.*��'&�(���6N�'���B @�(����P(2�'1 U[�)�2UO"�����K�(^��B\�"���12Xx��BR*M��SD<�-�'&)�(�1 �R��B;�!�)�@.(21 UYSY�'&�(d*,�A1 (��.0C��$c$=(��� �A1 (%�����!"Q�h*m�)�2U[K�(bB\�1'@�(d6N�.�P����1 (�0GD<�!� &P�'&�(%(2B!(2].��'�-��"w*�$��'&�(P�����!"Q�h*NX7��]Y(2"¨��$<�'&�(P�)���#*M&���D�*^� &����[� &�(�@�1 �.��"�0#�R*d"�������BR��"��1�S�� &�(�*,(G$=(���� ��1'(P�����!"Q�h**,&A����B\0IK�(P6N�."�*,�\0Q(21'(�0I6F����B\�"���1^��$x�'&�(G�C�� 1'�-� 0Q(�* 6F1 �-KA�-"�@P�'&�(O@�(2�.�P(2� 1'U9��$m$=(���� ��1'(G�����!"Q�h*^62��"K�([6N�."�*,�\0Q(21'(�0���$m1h�"�H�rG�!"�*,�'(���0)�$ o X%���3��(�1 �-��(2"Q�h*kDx(21 (d��(21,$=�.1 �P(�0C�'�P(�*M� �-�C�� (`� &�(�(N±l(�6N���$� &A�R*<�,U3��(d�$x�P�30Q(2B!B-�!"�@[������1 ���3�-�)��� �!��"�XJVm���'&7�2]Y(21���@�(����+*,�!� �-�."7��"�09��1'�-(2"3����� �-�."9(21'1 �.1��!"�6N1 (���*,(*,B!�-@.&Q�'B-UdD<�-�'&[� &�(�0Q(F$j���B!���$T��BR��"��1'�-�MUYS�K��A��� &�(�*M�-�O��BR��� �!��"�* *,&���D/� &����k�'&�(��B!@��.1 �-�'&����\*c"��.�k]Y(�1 U*,(�"�*,�!� �-]Y(d�'�P� &��\*��MUQ��(��$x�-"��A����(�1 1 �.12X � ��1`(2�����P��B!(YSQ��$�Dm(�6N��"�*M�R0Q(�1d�9q2´.´ � q2´�´��¡*'6N(2"�(YS�D<�-�'&��6F� ����B�(�B-(2].��'�-�."�*����G�'�Oq2��£8=� �.�P�$T&�����*M(�*�: $=��1�� &A(%*'6N(2"�(<�����!"Q�h*NSY� &A(���*M(���$ ��*,� 1'(2(2���C��[D<�-�'&"��P�!"�0Q�\62��'�-��"w*��$¬�B!� �!� ��0Q(�*�D<�!B-B �,U3���\62�B!B-UP@.(2"�(21h�� (O�O���+*,�!� �-�."7(21 1'��1%��$`q2´�¡D<&A(2"7� &�(�62���(21���R*<�.´�´����2D¬��UO$=1 ���®� &�(�* 6F(2"�(O8u�^1'(2BR��� �-]Y(`(21 1'��1<�$kr¹µO:�X

ZI(x��BR*,�`*,�'��0Q�!(�0%� &�(��-"3­���(2"�6F(��$A��"�6N(�1 �����-"3�MU��!"b�!�)�@.(�6F(2"Q�'(21;���+*,�-�'�-�."�X��u"�0Q(�(�0;S2� &A�R*;���Y*M�-� �!��"�R*�"��.�x�B-D¬�2U�*��2].��-B\�K�B!( � ��1'�-"3� (�0^�!�)�@.(�*c�)�2UdK�(%��(21 �!��&�(21h�B��w�1 �h*��$ ��1'�-@.�-"���B���&��.� ��@.1�����&�*NX v &�(*,�!�G�ABR��'�-�."�*�*,&A�D/� &����m�'&�(%6F���P���A����'�-�."[�$ � &A(%62���P(21h���.1 �-(�"Q�h�� �!��"O�R*��B!�P�Y*M���-"�*M(2"�*,�!� �!]Y(m� �d�'&�(*,&A��$=��*FX � ��1d�'&�(P6���P(21h�G���Y*M�-� �!��"�SW�9*M&���$=�d�$¬� &�(O�-�C�@�(O6F(2"Q�'(21%K3U48ur.´QS r.´¹:`���-�3(2BR*�@�(2"�(�1���'(�*^��"�2]Y(21���@�(%1'(2BR��� �!]Y(�62��P(�1��%���Y*,�!� �!��")(21 1'��1x�$W�Qµ®8��uX�(YX�r.´�º$=�.1<�[*'6N(2"�(��$¬q2´.´�£*M(2(2")������´�´��9:�XW�BR��� (21h�B��!�)�@.(^�'1��"w*,BR��� �!��"7�R*��-"3� (21'��1 (2�'(�09�.*d�P*,�)��B-B BR��� (21h�B��'1��"w*,BR��� �!��"7�$¬� &�([�.K�LM(�6N��X76�(2�����-B\*�"w090Q�\�@�1h��)*k$=�.1<� &�(�*,(�*,�!�G��B\��'�-��"w*m�1'(d��1 ��]3�R0Q(�0P�!" n q2´�tuX

��» * ¤ Æ�÷3����ø4÷Y��� ,^��� û ÷3½�ö��2ø4½GD�÷},Z?(<��1 (�*M(2"3�c1'(�*,��B!��*c�w*,�-"A@%� &�(���(21 �\�B3��&��.� ��@.1�����&)*,&A�D<"O�-" � �-@AX�q o X v &��R* ���R6N�'��1 (x�R* �%]Q�!(2D#�$l�'&�(8 �B!B��-"OZ#�.*,&��!"�@��'��"�S96b��S3����HY(2"�$=1'���·� &�(`� �����$ � &A(%Z#�.*,&��!"�@��'��" 8 ��"3���P(�"Q��X � ��1m]Y(�1 ����62��'�-��"�$`���Y*M(�1'(�*,�AB-��*FSc�'&�()�P��"3���P(2"Y�`���+*,�!� �-�."4�R*^�2].��!BR��K�B-(P�."4�9� �.����@�1h���&A�R6��C��?�$`HQ"���D<"4*'62�B!(8 � �-@�XAqN�Q:hX v &�(`62��P(�1��<(2B-(2].��� �-�."[D<�-�'&G1'(�*,��(�6N�W� �d� &�(`��*'*,����(�0^��BR��"�(<�$T� &�(`�1'(��%D<�.*y(�*,� �!�)��'(�0$=1 �.�£� &�(dH3"���D<"7�B!� �!� ��0Q(d��$�� &�(��P��"3���P(�"Q�x�"w0�� &A(^(2B!(2].�� �!��")�$y� &�(d@�1'����"w07���� &��\*�B!�362��'�-��"TXZJ�-�'&^1'(�*,��(�6N� � �5�%* 6N(�"�(x6N�Y��1h0Q�-"���� (m$=1h��P(�8,¾�Ì�þ�Ì�ÿ�Ì3�%:;��$l����1�6�&��.�R6N(YS2�'&�(m���+*,�-�'�-�."[�$l� &�(¬62���(21��

r�

Page 25: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

D<�.*Òõ�¹8`r�rYs � � � Ó¹�¹8 o q�� � Ô �Úq2� � �

Ú ���'(7� &����)� &��\*C���+*,�-�'�-�."��\*�������1'��3�-�C�� (�K�(�62��w*,(?�$[�'&�(7B-��D£��1'(�6N�R*M�-�."J�$[�'&�(?�)�� �"�0� &A(��A"�6N(21'����!"Q�MU7�."a�'&�()(2B-(�]���� �!��"�X v &�()�-�C�@�(C6N(2"3� (21dD<�.*G�.* *M���P(�0I�'�7K�(��'&�(�6N(2"3� (21d��$%�'&�(���\6N� ��1'(YXm8MÈ%ÌhÃ�ÌhÄw:��\*��"O�-�)��@�(�6N�Y�.1�0Q�!"���'(�$=1����P(�6N(2"3� (21'(�0^��"O� &A�R*�(�*,�'�-�)��� (�0^�!�)�@.(�6N(2"3� (21�X v &�(��1'�-(2"3����� �!��"^�w�1����P(2�'(21�*��$l� &A(<62���P(21��<Dm(�1 (m"A����1'(�6N��1h0Q(�0�0Q��1 �!"�@%�'&�(�*,"�����*,&A���2SYK��A��� &�(�U^6��"[K�(6N�.�P�����'(�0GK3UG�.K�*,(21']Q�!"�@[� &A(b���+*,�-�'�-�."���$��'&�(d�-"3� (21h*,(�6F� �-�."G��$��'&�(d�����'�R62��B����Q�\*mD<�-� &)�'&�(���* *M���P(�0��B\�"�(d�$y� &�(d@�1'����"w0;X

v (�"�$=(���� ��1'(����.�-"3��*NSY"3���OK�(�1 (�0Oq�� �Oq�´b�-" � �!@�X�q o SQDx(21 (�6�&��+*,(2"O�-"O� &�(��-�C�@�(���"�0[B-�362��� (�0G�."� &A(<�)���X v &�(��-1�6N�Y�.1�0Q�!"���'(�*�Dm(21'(m�P(���*,�A1 (�0d�-"^K��.� &[$=1����(�*NX v &�(<�'&�1 (�*M&���B\0^�$T� &�(�6N�."Q]Y(�1 @�(�"�6N(� (�*,��8u*M(2( � �-@�X�s.:�D<�.*m�.0LM��*,�'(�0�$=�.1m(��.6�&O(2�3��(�1 �-��(2"Q���!"G�.1�0Q(�1m� ����K��h��!")*,�!"�@�B!(����Y*M(%(�*M� �-�C�� �!��"�*FS��*<1 (F��"�(�0)��*<���Y*'*,�-KAB-(YX

v &�(d��B-@��.1 �!� &��7S3������B-�!(�0[� �[� &A(���1�*M�k$=�.��1m�����!"Q�h*NS3@�(2"�(�1���'(�0P�[*M�-"�@.B-(`*,��B!��� �!��"PD<�!� &P�'&�(%(21'1 �.1�P(��.*,��1'(xø�Ë?�V´QÍ-q o µ�X v &��\*��P(��"�*^�'&���[$=��1O� &�(�(�*,�'�-�)��� (�0?���+*,(YSx� &�(�1 (�6N�."�*,�'1 ��6F� (�0#�-�C�@�(�����!"Q�h*bDm�.��BR07K�()�����"4�2]Y(21���@�(�0Q�R*M���"w6N(G��$`´QX§rC���Ü$=1 �.�¡� &�(���6F� ����Bm�-�C�@�([���.�-"3��*d*,&���D<"#�!"� �!@�X�q o X v &��R*��R*x¯¹�A�-� (<@.�Y�30)6N��"�*M�R0Q(�1 �-"A@b�'&�(���"�6N(21'�����-"3�,U��$ �'&�(�$=(��� �A1 (����.�-"3��*F¦¹B!�362��'�-�."�*k�!"G�'&�(��1'�-@.�-"���B��-�)��@�(YX v &�(�6N��1'1 (�*M���."�0Q�!"�@)6N�.�P�����'(�0����+*,�-�'�-�."9�$y� &�(�62���P(21��d�R*

Òõ�¹8`r�rYs � � � Ó¹�¹8`r¹sx� � Ô �Úq � qm����������1'�-"�@[�'&��R*x6N���P�A��� (�0O���+*,�!� �-�.")D<�-� &)�'&�(%���Y*M�-� �!��"�(�*,�'�-�)��� (�0^$=1 �.�º�'&�(d�)��)��"�0P� &�(d�P�."�i���P(�"Q��&�(2�!@�&3�<Dm(%��"�0

:CÒ«� o � � :PÓ¹�E��� � :PÔ � r��D<&��\6�&)�R*<*M��1 �A1 �R*M�-"�@.B-UO@��Y�30?6N��"w*,�R03(21 �!"�@[� &�(dB!�D���1'(�6N�R*M�-�."P�$��'&�(d�)��TX

Ú ���'(YS�&���Dm(2]Y(21�S�� &����[� &�(�6N�."Q�'1 �.B<���.�-"3��*[Dm(21'()6�&��Y*M(2"4�-"/� $j�2]Y�.1��KAB-()6N�."Q��@.��1���� �-�."¶8��'&�(2U6N��]Y(21¬�^BR�1'@�(d����1'� �-�."9��$��'&�(d* 6F(2"�(�:hX � �.1<(2�A��P��B!(YS��'&�(d1 (�*M��B-�h*<0Q(2@�1h��0Q(d��$ Dm(d��*,(d�����!"Q�h* o S��AS ��"w0?wQX�Z?(d��K��h��!"<ø�Ë ��´3Í-qN�3µ·�"w0

ÒÔ�¹8%r.r¹s�s��7S;:PÒ �¶qd�Ó¹� � �7S :PÓõ�J�Y´[�Ô �¶q �.o �7S :PÔ �J�[�

r��

Page 26: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

� �!@���1'(Gq o ¤ v &�( 8 �B-B��!"9Z¨��*M&��-"�@.� �."�S<6d��Sw$=1'���£� &�(�� �.�9�$x�'&�(dZ#�.*,&��!"�@��'��" 8 ��"3���P(2"3�2SYD<�-�'&$=(���� ��1'(b���.�-"3��*��"�0P�-�C�@�(56N�Y��1h0Q�-"���� (�*,UA*,� (��7X

�u�%�R*��!"Q�'(21 (�*,� �!"�@[� �)"��.� ([�'&���%D<�!� &7�����!"Q�h* o S��AS � �"�0<w98=�P��1'([0Q�\*,�h�"3��$=1 �.��� &A(O62��P(�1��¹:hSDm(�62��"I�.K������-"¨�9*,(�6N��"�0?*,�.B-���'�-�."�X'Vm���d�'&�(P6F��1 1'(�*,���."�0Q�-"A@9(21'1 ��1d�P(���*,�A1 (^$=��1d�'&��R*d*,�.B-���'�-�."I�\*¯Y���-�'([&��-@.&�¤_ø ¢ �³r3Í o q�µPX � ��1'� &�(21'�P��1'(YS�� &��\*5���+*,(O�G��*M�%K�([1 ( LM(�6N� (�09K�(�6����*M(G�.K�LM(�6N�%�����!"Q�h*[q�"w09r^Dm�.��BR0)K�(bK�(2&A�-"�0P� &A(^6���P(21h�QX

��"4�.0Q].�"3���@.(P�$��'&�()��B-@��.1 �!� &��¢�R*%� &w��^�!�[62��"40Q(���B�D<�-� &¨�P��1'([� &���" $=�.��1[6F��"3� 1 �.B����.�-"3��*FXZJ�-�'&��B-B��'(2")�����-"3��*FS�Dm(%��"�0�ø©81�«ø�ËN:�� ´Qͧ��w¹µ®��"�0

Òõ�¹8`r�r ��� �7S;:PÒõ�¶q2´[�Ó¹�¹8%r��[�7S :PÓ �Úsd�Ô �¶q2�.r��7S :PÔ �©s��

= *,�!"�@d�%"3���GK�(21���$������!"Q�h*cBR��1 @.(21�� &w�"O� &�(<�P�!"��-�[�A��1'(�¯¹�A�-1 (�0G8 $=�.��1������-"3��*�:���1'�]3�R03(�*���B!(���*M�* ¯Y����1 (d(�*,�'�-�)��� (%��$��'&�(d���Y*,(+S�K��.*,(�0)��"��B!B�� &�(��2].��!BR�KAB-(d�-"Q$=�.1 �)��� �!��"�X

r �

Page 27: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

� �!@���1'(GqF��¤ v �.����@�1h���&A�R6^�)���P�$��'&�(��1'(��QS�D<�!� &P$=(���'��1 (d�����!"Q�h*<�"�0)��K�LM(�6F��6N�Y��1h0Q�-"���� (�*,UA*,� (��7X

r¹s

Page 28: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

�3ó Å���� �Yö��9,2�=���Z?(G&��2]Y(O��1 (�*,(2"3� (�07��"#�-�'(21���� �!]Y(^�P(2�'&��309$=��1d� &�(�6N�.�P�����h�� �!��"?�$��'&�(G���+*,(P��$��96���P(21h�GD<�-�'&1 (�*,��(�6N���'�d�"���K�LM(�6N��X v &��R*��P(2�'&��30%�R*;­�(2�3�-K�B!(��-"d� &A(<*,(�"�*,(x� &����c�!� 62�"�K�(x��*,(�0bD<�-�'&b$=�.��1c�.1c����1 (6N�.��BR��"��1<$=(���'��1 (������-"3��*FX = "�B!�-HY(�� (�6�&�"��\¯¹�A(�*mK���*M(�0��."76NB!�Y*M(�0G$=��1 � *M��B-�A� �-�."�*m$=��1<$=����1`6N���ABR�"w�1�����!"Q�h*NS��'&��R*��P(2�'&��30b�\*c��K�B-(x� �d0Q(�� (21'�P�-"�(W�,Dx�����+*,(�*�D<�-�'&[¯Y���B!�-�MU%�P(���*,�A1 (�*FXc������B-�\62��'�-�."�*;1���"�@�($=1 �.�£�(�1 �R��B��-�)��@�(21'UG�!"Q�'(21 �A1 (2�h�� �!��"P�'�[1 �.K��.�%"��2]3�-@Y��� �!��"�X

ZJ&�(21'(���*d� &�(21'(G�\*b"���������(21[B!�-�P�!���'�9� &A(G"3���OK�(�1b��$������-"3��*d� &�(��B!@��.1 �-�'&��>62�"#�w*,(YS��'&�(21 (�R*��[B-��Dm(21<B!�-�P�!�2X�Z?(d��(�1,$=��1'�P(�0P(2�3��(21 �!�P(2"3��*kD<�!� &)��"AB-U)� &�1'(2(%$=(���'��1 (������-"3��*FS�D<�!� &��-�)��@�(�*k$=�.1D<&��\6�&%�'&�(21'(kD¬��* 6NB-(��1 B!Um$=����1 ���Y*'*,�-KAB-(����Y*,(�*NX � ��1��'&��R*;���A1 ���Y*M(mDm(���*M(�0%� &�(�(2�A�����B-( ��1 ��]3�R0Q(�05K3U� �\* 6�&�B-(21x��"�0?Vm�.B-B-(�* npo t�$=�.1��"9(�¯¹���!BR��� (21h�B�� 1'�R�"A@�B-(+X�«���Dm(2]Y(21�SY����1���B-@��.1 �!� &��£��B-D¬��UA*<6N�."Q]Y(21'@�(�0� ��D¬�1�0#�'&�()���+*,(��-"4D<&��R6�&4� &�(�� 1 �\�"�@.B-()�R*^�w�1���B-B!(2Bm�'�I�'&�()�-�)��@�(P��B\�"�(+X � ��1O� &��\*^1 (��.*,�."aDx(��03]Q�\*,(d� &������'&�(��B!@���1'�-�'&��ªK�(d��*,(�0)��"�B!UPD<&�(2")�P�.1 (%�'&��"�� &�1'(2(�$=(���� ��1'(d���.�-"3��*��1'(^�2].��!BR��K�B-(YX

B � Ç � � Ñ ö=÷Q9D�÷Qø4÷3���#,v &�()*M��������1'�G��$�� &�(O��1�*M�O����'&���1[K3UI�'&�( v &����)*M��"�iM�<° � 6N�.�P���"3U?�"w0 ��$`�B!B<��A� &��.1�*[KQU7�'&�(6�(N$=(�"�*,(O�%03]���"�6N(�0?><(�*,(���1�6�&?g�1 ��LM(�6F��*%��@.(2"�6NU¨8u��>�g;�º��1h0Q(21 Ú �AX9w�Y� � :5�"�07� &�( = X�°�X;��1 �OUv ������@.1���A&��R6��y"A@��-"A(2(21 �!"�@G��(�"Q�'(21���"�0Q(21�����"3� 1h��6N�@6��5�x�ds � i � r�i,��ij´�´.´ � S;�R*�@�1���� (N$=�AB-B-UO�.6�H3"���D<B-i(�0Q@.(�0;X�Z?(��BR*M�GD<�\*,&)� �O� &w�"�H>dX�0Q(�gc(2�3$=(2�-B!&������[$=��1�&��\*m�-"�*M�-@�&3�,$=�AB;@��A�R0���"�6N(YX

B Æ9Æ�÷Q� c� ¤BA * ¤ ½�ø!Æ ö�÷�� �`�Y½�ö=�Y�cö=½Q���=��� Ñ � �#E��²��� �P�Y�KÆ ö�½�� ½��'Æ����=���#,¥ *@Cm÷3����� Ð ÷��M���Y½�öxö�÷3�-D��#E ��s � ´��A�-�3(2BR* �¥ � õ Æ ÷3���ZÆ����=��� , ¤<8\8�q2�QÌh´QÌ�´Y:�Ì28'q2�QÌh´QÌ�´Y:�Ì28'q2�QÌh��´�´�Ìh´¹:�Ì�8\8^q��QÌ��.´Y´QÌ�´Y:x8��9:¬8 � �!@�X�q2�Y:

��K�LM(�6F�m1 (F$=(21 (2"w6N(�$=1h��P(EDGF��¶8uÉ Ê Ì�þ�Ì�ÿ�Ì3�5: �¥ ô��K,2�R�������/½��cJ�����=÷Q����½Q���=��� �$HD F D<�-�'&)1 (�*M��(�6N�<� �O� &�(�62���P(21h�b1 (F$=(21 (2"w6N(�$=1����P(DJI-�¶8,¾�Ì�Ã�Ì�Ä�Ì�ÅQ:�¤

ü ��������

r.��´q�´�´r�´.´�´

�������� 8���:

��"�0�û���������

´3Í � 8%´3Í w ��� ´8`´Qͧ���¹s 8%´3Í o rQq 8%´QÍ�s �.�´QÍ ����o ´3Í o w o 8%´QÍ � � o

�������� K

�������Ì�· � q o ´MLÌON � ´PLÌ@Q � � ´PL

��������

r�w

Page 29: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

vþwÿ

0 15R-1S 5

50T 0

PU1

PU2

PU3

PU4

(unitsV : m)

ObjWect

CamX eraOYxÕ

yÖ z×

� �-@.��1 (Oq2�3¤���K�LM(�6F�<�"w0962���P(21���0Q(N��"A(�0P�-"�������(2"�03�-�lXv &A(7*,U3"3� &�(2�'�R6P��(21�*M��(�6N� �!]Y(P�-�C�@�(P$=�.1P� &��\*��.K�LM(�6N�O��"�0E� &��\*����+*,(7�R*[1 (���1 (�*M(2"3� (�0#��"/� �.�J�$

� �!@�X�q � X v &A(^6F�Y��1�03�-"���� (�*<�$W� &�(d�!�)�@.(%�����-"3��*��1'(

8 � rQÍ � Ì ��q.Í o w¹:�Ì�8 � s+Í o sYÌ o ��Í � �¹:hÌ28\8 � ´�Í � � Ìs8`r o Í w��:hÌ28\8 ��� Í o s+Ìs8^qzw�Í r��Q:v &A(^03�R�@.1����Ü��$��'&�(�6N������������� �!��"�*<��"�0�1'(�*,��B!��*m�\*m��1 ��]3�R0Q(�0O�-" � �-@AX�q � X

û ÷��M÷3�÷3� �Y÷5,n qNt 8 X ��X���K��\0Q�uS v Xm��&w�"�0Q1h�QSZ�h� Ú (2D®�§4C6N�!(2"Q���"�0[6��!1 (�6F�P°Y��B!��� �!��"#$=��1�gc�Y*M(��k*M� �!�)��'�-��"

= *M�-"�@]\����.0Q1���"�@��ABR�1 v ��1 @.(2��*F¤4��B-@.��1 �!� &�� �"�0���].�B-�w�� �!��"9�3S�6�(����1'� �P(2"3�O�$O��B!(�6N� 1'�R62��B�"w0 ���.�P�����'(21<��"�@.�-"�(�(21 �!"�@�S v &�( = "��!]Y(21�*M�-�MU^��$ v (�"�"�(�*'*,(2(YS_^���B-U�q �.� q.S�� �[K�(%����KAB-�R*M&�(�0G�!"la`B`B` n��'~Y�Hb�~Yzd]>�R{Y�Hb�{Y�£R¬~�]]1XF�F�cb`��~�}a÷sbz�¬b[~Y�mged?~YzYjm�R�KX�lF�5]1X�}-}¡�gf5XF��zdX�X

n rt�6^X � X96�( 8 (2"3� &A��"�S_h�X�°�X96%�2]3�R*FSi� 8 �303(2B-i>V<��*M(�0f��K�LM(�6N�¬gc�Y*M(^�!")r���h;�-"�(�*���$m���30Q(j�QS�°Y(�6N�."�0����1 �.��(��"E���."Q$'X������P�A��� (21lk%�R*M�-��"TS 8 �2U#q �.� r3SGh;(�6N�'��1 ( Ú ��� (�*5�!"#�����P�A��� (21�°36N�-(�"�6N(YS.~�X°3��"�0Q�-"A�m8j�k0lX�:�S;°+��1 �!"�@�(21'imk�(21'BR��@ � (2�3� (2"w0Q(�0P]Y(21�*M�-�."��'�)��A��(��1��-"=l��5]1XF�N�A~�]2�R{Y��~�}onA{�`Q�F��~�} {fip�{�W�|e`�]fXF�q-�¬bz�R{Y�3S;°Y���P�P(�1<q �.� �QX

n�o t 8 X ��X � �R*'6�&�B!(212SM>dX���X Vm��B-B!(�*NS9�r>��"w0Q���·°3��P�AB-(����."�*,(�"�*,��*F¤��Eg���1��.0Q�-@.�¸$=��1 8 �30Q(2B � �!� �'�-"�@D<�-�'&#������B-�\62��'�-�."�*%� �7�u�)��@�(O��"w�B-UA*,�\*%�"w0#�����'���)��� (�0#�x�1'� ��@.1�����&QU_�QS7p�{�WOWO`3�G�Rz�~�]>�R{Y�Hb{fi¨]�jKX@b�pid7Ssk���BjX�r���S Ú ��X � S q � w3q�S�����X o wQqYà o�� �QX

n ��t�>dX 8 Xl«%�1h�B-�\6�HlS���Xih;(�(YSut[Xc��� �'(2"QK�(21'@�S 8 X Úwv��B!B-(YSB����"w�B-UA*,�\*d�"�0#°Y��B!��� �!��"�*��$<�'&�( v &�1'(2(gc�.�-"3�dgc(21h*,��(�6N�'�-]Y([g �Y*,(O��*M� �-�C�� �!��" gy1'��K�B!(2�x�3S�g�1 �36N(2(�0Q�-"�@+*��$¬� &�(O�M�����¸����������� (�1b°Y�.i

r �

Page 30: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

Iteration 0 R1, T

Iteration 0 R2, T

Iteration 1Selected soy l: 1 (Ra)E1* = 15.57

Iteration 2Selected soy l: 1 (Ra)E1 = 0.04

Iteration 3Selected soy l: 1 (Ra)E1 = 0.00

Iteration 1Selected soy l: 2 (Rb)E2 = 0.87

Iteration 2Selected soy l: 2 (Rb)E2 = 0.75

Iteration 3Selected sol: 2 (Rb)E2 = 0.75 (no evolution)

Sol 1: Rotz1, Trans1 Sol 2: Rot

z2, Trans2

Images corresponding to the computed poses

Select the better pÙ ose or both poses.

Original{ image

Here, (Rot1, Trans1) is a pose identical to the pose used to synthesize the original image,

and (Rot2, Trans2) is a completely different pose but produces a similar image.

Both poses can be considered acceptable.

-50 -25 25| 50} 75| 100

40}30}20}10}

-10

-20

1

2~

34

-50 -25 25| 50} 75| 100

40}30}20}10}

-10

-20

1� 2~

3�4

-50 -25 25| 50} 75| 100

40}30}20}10}

-10

-20

1

2

3�4

E1 =� 0.00 E2 = 0.75

First three� iterations

* The length of the image diagonal is 100 pixels. The error measure is the average Euclidean distance between actual image points and corresponding image points for the computed poses.

� �!@���1'([q � ¤�6��\�@.1���£��$x62�B\6N��B\�� �!��"�*<��"�0P1 (�*M��B-�h*k$=��1�(2�A��P��B!(���$x������(2"w0Q�-�lX

o ´

Page 31: M - @.B-( 6NB- +*,( 0f$= .1 ¢*M B- A - .# & (Cgy +g© 1 .K B-(2 ¡$= 1 6N ABR w 1 ... · 2000. 8. 9. · - ."/ " 0# 1' -(2"3 ! "4 $5 762 (21 78 +*,(9(*, ! ) ' - .";:

6N�!(2�MUa���."Q$=(21 (�"�6N()��"©���.�P�����'(21wk%�R*M�-�."E��"�0EgW�� �'(21 "�>�(�6N��@."��-�'�-��"�8M�BkdgB>5:hSB^���"�(#q ��� q�S8 ��A�uS�«%��SQ�A��X�� � r à3� � w3X

n �t�>dX 8 X�«`�1���B-�\6�HlSu�r6�(2�'(21 ���-"��!"�@G�x���P(21���g��1h��P(�� (21h*y$=1 �.�ª� &A(^g (21�*M��(�6N� �!]Y(%g�1 �.LM(�6N� �!��")�$k�><(�6N����"�@�B!(��QSvR¬~�]M]fX��N�c�TX'z�{�f+�G�p]2�R{Y�3S�k���BjX�r�r3S Ú ��X o S�q � w � S�����X�r�r.� à¹r o ´3X

n�� t�>dXg^�X�«��.B-��Sc��X Ú X Ú (2�'1��2].�B-�jS��F�x��P(�1��9�x�B!�-K�1h�� �!��"�¤[°Y�.�P( Ú (�D�><(�*M��B-�h*a�QSlp7qG��l\R�-lYW[~�f5X� �Gg5XF�\b�]u~Y�Gg��R�Mf�S<k���BjX���AS Ú ��X o S�q �.� q�Sl����X o�� w à o w o X

n s2t�>dX�«��.1���w0;S�V%X�����"��!��Sm��XGh;(�K��.��B-B!(2���lS�V%XGh��.6N��B!B-(YS��h��"4��"���B-U3� �\6C°Y�.B-���'�-�." $=�.1[� &�(Cgc(21 i*,��(�6F� �-]Y(���ijgc�.�-"3�<g�1 �.K�B-(2���QSup�{�W�|e`�]fX���q-�¬bz�R{Y���@��� ~N|Gjm�RzYbr�W~Y�Gg�l�W[~�f}X�R¬� {�zdX\b3bz�R�Pf.S�k��.BuXY�Qs+Sq � w � S;����X o.o àY�.��X

n wt�6^XA«���� �'(2"�B!�36�&�(�12S�°�X = B-B-�C�"�S9�r><(�6N�.@�"��QP2�-"�@O°Y��B!�R0���K�LM(�6F��*�KQU���B!�-"�(2��(2"Y�r�3SYg�1 �36�X_6���>�g;��u�)�@.( = "�03(21�*M���"w0Q�-"�@OZ?��1 HA*,&A����S�q � w�w3S;����X�q.q�qF�tà�q.q2r.rQX

n�� tdZ¶X «�X�g�1 (�*'*NSKV%X§gcX � BR�"A"�(21 U+S;°�X �^X v (���HY��B\*,H3UYSn q�´t�6^X%��K�(21 H.����Q$'S�6^X � X16�( 8 (2"Q�'&���"TSd�"�0�h�X�°�X@6%�2]3�R*FS����u� (21h��'�-]Y(7g �Y*,( �k*M� �!�)��'�-��"J�w*,�-"A@

�����ABR�"w�1 � (���'��1 ( gc���!"Q�h*a�QS%��(2"3� (�1^$=��1)���A� ���C�� �!��"�>�(�*M(��1h6�& v (�6�&�"��R6��B@><(2����1 ���x��>�iv ><i � s�sYS = "��-]Y(21h*,�!�,U)��$ 8 �1'UQB\�"�0lSi^��AB-U4q �.��o XcZ¶X v X�kk(�� (21'B-�-"A@�Si� `5W�X��d�Rz�~�}i�TX'zs�p|KX\bZ�R��p�S�x��OK�1'�R0Q@.( = "��!]Y(21�*M�-�MUOg�1 (�*'*NS;�x��OK�1'�R0Q@.(YS = t[S�q � w wQX

n q.qNtdZ¶Xg^�X2Z?��B�$=(YS�6^X 8 ��� &��\*NSY��XpZ¶X�°YH3BR���-12S 8 X 8 �@.(2(YS9� v &�(xgc(21h*,��(�6N�'�-]Y(Gk`�-(2D7��$ v &�1'(2(xgc���!"Q�h*a�3Sla`B`B` nA� ~Y��b�~Yzd]2�R{Y��bd{Y��R¬~�]]1XF�F��b`��~�}¡÷ bz�¬b5~Y�Gg�df~YzYjm�R� XlF�5]1X�}-}¡�gf5XF��zsX�S9kk�.BuX�q o S Ú �AX�q�S;q ��� q�S����X �.� àAs o X

n q�rt�^�X�°wX���XG�����"TS��h� ~�(2"A(21���B�gy&A��� �.@�1h��P�P(�� 1 �\6 8 (�� &��30I$=��1�6�(2�'(21 ���-"��!"�@7��K�LM(�6N�[gc�+*,�!� �-�."�"w0���1 �-(�"Q�h�� �!��"9�3SGla`B`B` nA� ~Y�Hb�~Yzd]>�R{Y�Hb5{Y����{�c�{�]>�RzYbd~Y�mg�bT`�]u{�W[~�]>�R{Y�QS�kk�.BuXY�3S Ú �AX3rQS;q � w � S����X�q�r � à�qN�+rQX

o q