Dx = (−1 , 0 , 1)
Dy = (−1 , 0 , 1)T
I
Ix = I ∗Dx
Iy = I ∗Dy
| G |=�
I2x
+ I2y
θ = arctan( Iy
Ix)
[0 , 40 )
[40 , 80 )
[80 , 120 )
v � v �k ε
v → v/(� v �1 +ε)
v → v/
�� v �2
2 +ε2
(4× 8)× (2× 2)× 9 = 1152
{xk , yk} ∈ χ×{−1 , 1} xk
yk
xk φ
f(x) = w ·φ(x)+ b f(x)
φ(xi) x
f(x)
yi, i = 1, . . . , n
Hi
f̂(y) =1
n(2π)3/2
n�
i=1
| Hi |−1/2t(wi) exp(−D
2 [y, yi, Hi]
2)
D2 [y, yi, Hi] = (y − yi)
�H−1i
(y − yi)
y yi t(wi)
∇f̂(y) =1
n(2π)3/2
n�
i=1
| Hi |−1/2H−1i
(yi − y)t(wi) exp(−D2 [y, yi, Hi]
2) =
1
n(2π)3/2
�n�
i=1
| Hi |−1/2H−1i
yit(wi) exp(−D2 [y, yi, Hi]
2)
�
−
1
n(2π)3/2
��n�
i=1
| Hi |−1/2H−1i
t(wi) exp(−D2 [y, yi, Hi]
2)
�y
�
�i
�i(y) =| Hi |−1/2
t(wi) exp(−D2[y,yi,Hi]
2 )n�
i=1| Hi |−1/2 t(wi) exp(−D2[y,yi,Hi]
2 )
n�i=1
�i = 1
∇f̂(y)
f̂(y)=
n�
i=1
�i(y)H−1i
yi −�
n�
i=1
�i(y)H−1i
�y
H−1h
(y) =n�
i=1
�i(y)H−1i
Hi
m(y) = Hh
∇f̂(y)
f̂(y)≡ Hh(y)
�n�
i=1
�i(y)H−1i
yi
�− y
∇f̂(y) = 0 m(y) = 0
ym = Hh(ym)
�n�
i=1
�i(y)H−1i
yi
�
yi ym
yi, i =
1, . . . , n ym
Hi Hi diag [Hi]
diag [Hi] =�(exp (si) σx)
2, (exp (si) σy) , (σs)
2�
σx, σy, σs
MissRate = #falseNegatives
#truePositives+#falseNegatives
Precision = #truePositives
#truePositives+#falsePositives
#falseNegatives
#truePositives
#falsePositives
ao bp
bgt
ao =area (bp ∩ bgt)
area (bp ∪ bgt)
ao
area (bp ∩ bgt) = (396− 305)× (411− 127) = 91× 284 = 25844
area (bp ∪ bgt) = (443− 259)× (458− 90) = 184× 368 = 67712
ao = 2584467712 = 0.38