1

5.1
5.2
5.3
5.4
5.5
5.6

5.2.1v1v2v3v4

5.2.1

v4

v3
v1

v2

x
5.2.1
3

5.2
Vm V 2
m m(m 1)

(m2 )
2
2

L1 L2 Lk k

m(m 1)

m V 4 6

5.2.3 m=4

 ( x, y) Li : y ai x bi :
d

y ai x bi

(5.2.1)

1 a

2
i

d T1 T1 1 ( x, y) Li
T1 1 1
Li : y ai x bi

T2
Li (True Line)
d
( x' , y' )

5.2.4 d
5

5.2.1 V m V (m3 )

m V V (m)
(m 2 ) O(m m2 ) (m3 )

 1L : y m x b
( x1 , y1 ) ( x 2 , y 2 )(m,b)
mb

( x1 , y1 ) ( x 2 , y 2 )
y i m xi b , i 1, 2
( m, b)

2(m,b)O(m2)
?
b
bn

b4

b3

b1

b0

m0

m2

m3

m4

mn

b
bn

y mx b

b4
b3

b1

b0

m0

m2

m3

mn

m4

b
bn

b'

b4
b3

b1

b0

m0

m2

m3

m4

m'

mn

y m'x b'

10

b
bn

y mx b

b4

b3

b1

b0

m0

m2

m3

m4

mn

11

b
bn

y mx b

15

b4
b3

b1

b0

m0

m2

m3

mn

m4

12

5.3

x - y -
(Parameter Space)(Normal Distance y
Normal Angle Space)
OE x2 CE y2
(x1, y1)

CDE
d y2 sin AB

OBE

C
(x2, y2)

d
r

OB OE cos x2 cos

B
D

r OB BA x2 cos y2 sin

(5.3.1)

5.3.1 x - y -
13

 45
(2,1)(5.3.1) r 2

2
2 3
1

2
2
2
2

3
2
2
3
(0,3) r 2
2
2
2
3 2
(3,3) r 3 3
2
2

(1,2) r

(2,1)(1,2)(0,3)

T2 2
3

)
5.3.2
4
2 4

0
x
0

5.3.2 4 4

14

0, n

(Accumulation Array)

AA[] 0

V ( x, y )
for i 0 to n
r x cos i y sin i

AAr , i AAr , i 1

r
r

2 N 1

2 N 2

end

()

T2

r1
r0

0 1

n1 n

5.3.3
15

r
2N 1

2N 2

2N 3

2N 4

179o

16

r
2N 1

2N 2

2N 3

2N 4

r'

(x,y)

0o

1o

2o

3o

0
179o

r x cos i y sin i

r ' x cos

k
k
y sin

180
180

17

r
2N 1

2N 2

2N 3

2N 4

r'
r'

0o

1o

2o

3o

0
179o

18

(k , r ')

18

5.3.1 (mn)
m V n 0,

i 0 i n (m)
AA i (mn)

5.1.1

5.2.2 5.1.1

5.3.4
19

1(2,4), (2,8), (4,3), (4,6), (5,5), (7,3), (10,0),

(10,5)5.3.3(
4)
(1)( )( )
(2)
45

for i = 0 to n
r x cos i y sin i

AA r,i AAr,i 1

end

20

 = 45 = 5 2
54
( ) 5 2 ( )45
(2,8), (4,6),
(5,5), (7,3), (10,0)

21

5.4
V vi ( xi , y i ) v j ( x j , y j )
vk ( xk , y k )v1v2 v1v3 v2v3

v k vi v j
d k ij

( x j xi ) yk ( yi y j ) xk xi y j x j yi
( x j xi ) ( y j yi )
2

(5.4.1)

(5.4.1)
d123 d 213 d 312
d k ij v i v j

d k ij

v1v3

v1v2
v3
v2

v2 v3

v1

x
5.4.1

22

 v k vi v j

V(5.4.1)
d k ij v k
C
1V
C n p T2 vi v j

y
v j vk

vk vi

vk
vi v j
vi v j

x
5.4.2

23

v j (x j , y j )
vk ( xk , yk )
suur
v1v2
suur
vk v1v2

vi ( xi , yi )

vi
vj

vk

d k ij

vi
vi ( xi , yi )

( x j xi ) yk ( yi y j ) xk xi y j x j yi
( x j xi ) 2 ( y j yi ) 2

v j (x j , y j )

vj
vk ( xk , yk )

d k ij

vk

suur
v1v2
24

vi

vi

vj
vj

vk

vk

25

vl
vl
dl ij

dl ij

vi

vi
vi

vj

vk

vj

vj

vl
dl ij

vk

vk

26

vi
vj

vk

suur
v1v2

27

vi
v

vk

suur

v1v2

28

5.4.3

5.4.4 5.4.3

5.4.5

29

RHTRLD
n

A
B
n m P[ A] p 2

n
m(m 1)
P[ A]

n(n 1)
m(m 1)( m 2)
P[ B]
n(n 1)( n 2)

P[ B ] p 3

RHTAX
f RHT ( x) ( x 1)(1 p 2 ) x ( p 2 ) 2 , x 0,1,... (Negative Binomial
Distribution)
RLDB
f RLD ( x) (1 p 3 ) x ( p 3 ), x 0,1,... (Geometric Distribution)
30

RHTRLD
p=0.25 fRLD (x)fRHT (x)

p=0.5 fRLD (x)fRHT (x)

0.025

0.14
0.12

0.02

0.1

0.015

0.08
0.06

0.01

0.04
0.005

0.02
0

10

15

fRLD (x)

20

25

fRHT (x)

5.4.6 p=0.5 fRHT(x) fRLD(x)

30

50

100

150

fRLD (x)

fRHT (x)

5.4.7 p=0.25 fRHT(x) fRLD(x)

31

RHTRLD
FRHT ( x) f RHT (i )
i x

FRLD ( x ) f RLD (i )
i x

p=0.5 FRLD (x)FRHT (x)

0.9

0.9

0.8

0.8

0.7

0.6

0.7
0.6

0.5

0.4

0.5
0.4

0.3

0.3

0.2

0.2

0.1

0.1

p=0.25 FRLD (x)FRHT (x)

10

15

20

25

FRLD (x)

FRHT (x)

5.4.8 p=0.5 FRHT(x) FRLD(x)

30

50

100

150

FRLD (x)

FRHT (x)

5.4.9 p=0.25 FRHT(x) FRLD(x)

32

5.5

5.51(a)

5.5.1(a)5.5.1(b)

(a)

(b)
5.5.1

33

Kluge[11](c,r)
:
c

k
r v
r

(5.5.1)

k v

(5.5.1)
(5.5.1)
k v

34

(c0 , r0 ) (c1 , r1 ) (c2 , r2 ) (5.5.1)

33:
1

r0
1

r1

1
r 2

1
k

c 0
1 c1

v c 2
1

(5.5.2)

(5.5.2) k v

5.5.1(b)5.5.2

35

5.5.2

36

5.6

[2]

37