%PDF-1.3 1 0 obj << /Kids [ 3 0 R 4 0 R 5 0 R 6 0 R 7 0 R 8 0 R 9 0 R 10 0 R 11 0 R ] /Type /Pages /Count 9 >> endobj 2 0 obj << /Title (Identifying Good Training Data for Self\055Supervised Free Space Estimation) /Producer (PyPDF2) /Author (Ali Harakeh\054 Daniel Asmar\054 Elie Shammas) /Subject (2016 IEEE Conference on Computer Vision and Pattern Recognition) >> endobj 3 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 13 0 R /Resources << /XObject << /x8 14 0 R /x6 17 0 R /x12 20 0 R /x10 23 0 R >> /ExtGState << /s9 26 0 R /s11 29 0 R /a0 << /CA 1 /ca 1 >> /R20 32 0 R /s5 33 0 R /s7 36 0 R >> /Font << /F2 39 0 R /R29 40 0 R /F1 44 0 R /R21 45 0 R /R23 49 0 R /R25 53 0 R /R27 56 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 60 0 R 61 0 R 62 0 R 63 0 R 64 0 R 65 0 R 66 0 R 67 0 R ] >> endobj 4 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 68 0 R /Resources << /ExtGState << /R20 32 0 R >> /Font << /R45 69 0 R /F2 73 0 R /F1 74 0 R /R21 45 0 R /R23 49 0 R /R27 56 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 75 0 R 76 0 R 77 0 R 78 0 R 79 0 R 80 0 R 81 0 R 82 0 R 83 0 R ] >> endobj 5 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 84 0 R /Resources << /XObject << /R55 85 0 R >> /ExtGState << /R20 32 0 R >> /Font << /F2 86 0 R /R58 87 0 R /R56 92 0 R /R29 40 0 R /F1 95 0 R /R60 96 0 R /R62 99 0 R /R21 45 0 R /R23 49 0 R /R45 69 0 R /R27 56 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 103 0 R 104 0 R 105 0 R 106 0 R ] >> endobj 6 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 107 0 R /Resources << /ExtGState << /R20 32 0 R >> /Font << /F2 108 0 R /R58 87 0 R /R56 92 0 R /R74 109 0 R /R29 40 0 R /F1 114 0 R /R60 96 0 R /R62 99 0 R /R21 45 0 R /R23 49 0 R /R45 69 0 R /R27 56 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 115 0 R 116 0 R 117 0 R 118 0 R ] >> endobj 7 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 119 0 R /Resources << /ExtGState << /R20 32 0 R >> /Font << /F2 120 0 R /R58 87 0 R /R56 92 0 R /R74 109 0 R /R29 40 0 R /F1 121 0 R /R60 96 0 R /R62 99 0 R /R21 45 0 R /R23 49 0 R /R45 69 0 R /R27 56 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 122 0 R 123 0 R 124 0 R 125 0 R 126 0 R 127 0 R 128 0 R 129 0 R 130 0 R 131 0 R ] >> endobj 8 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 132 0 R /Resources << /ExtGState << /R20 32 0 R >> /Font << /F2 133 0 R /R58 87 0 R /R29 40 0 R /F1 134 0 R /R21 45 0 R /R23 49 0 R /R27 56 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 135 0 R 136 0 R 137 0 R 138 0 R 139 0 R 140 0 R 141 0 R 142 0 R 143 0 R ] >> endobj 9 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 144 0 R /Resources << /XObject << /R112 145 0 R >> /ExtGState << /R20 32 0 R >> /Font << /R29 40 0 R /F2 146 0 R /R23 49 0 R /F1 147 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 148 0 R 149 0 R 150 0 R 151 0 R ] >> endobj 10 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 152 0 R /Resources << /XObject << /R122 153 0 R >> /ExtGState << /R20 32 0 R >> /Font << /R21 45 0 R /R29 40 0 R /R23 49 0 R /F1 154 0 R /F2 155 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 156 0 R 157 0 R 158 0 R 159 0 R ] >> endobj 11 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 160 0 R /Resources << /ExtGState << /R20 32 0 R >> /Font << /R21 45 0 R /F2 161 0 R /R23 49 0 R /F1 162 0 R /R27 56 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 163 0 R 164 0 R 165 0 R 166 0 R 167 0 R 168 0 R 169 0 R 170 0 R 171 0 R 172 0 R 173 0 R 174 0 R 175 0 R 176 0 R 177 0 R 178 0 R 179 0 R 180 0 R 181 0 R 182 0 R 183 0 R 184 0 R ] >> endobj 12 0 obj << /Type /Catalog /Pages 1 0 R >> endobj 13 0 obj << /Length 18607 >> stream q q q 0.10000 0 0 0.10000 0 0 cm /R20 gs 0 g q 10 0 0 10 0 0 cm BT /R21 14.34620 Tf 1 0 0 1 69.38090 675.06700 Tm [ (Identifying) -250.00700 (Good) -250.00800 (T) 73.99160 (raining) -250.00700 (Data) -249.99800 (f) 24.99230 (or) -249.99500 (Self\055Super) 10 (vised) -249.99000 (Fr) 18.00480 (ee) -249.98800 (Space) -249.99500 (Estimation) ] TJ /R23 11.95520 Tf 122.44700 -37.85820 Td [ (Ali) -250.00400 (Harak) 9.99010 (eh\054) -499.98700 (Daniel) -249.99700 (Asmar) 39.98490 (\054) -500.00100 (Elie) -249.98300 (Shammas) ] TJ -14.73520 -13.94690 Td [ (Department) -250 (of) -250.01400 (Mechanical) -249.99500 (Engineering\054) -249.98500 (VRL) -250.00200 (Lab) ] TJ 5.70898 -13.94800 Td [ (American) -249.99700 (Uni) 24.99570 (v) 14.98510 (ersity) -249.98900 (of) -250.01400 (Beirut\054) -250.00200 (Beirut\054) -250.00200 (Lebanon) ] TJ /R25 8.96640 Tf -25.06480 -13.94800 Td [ (ash18\100mail\056aub\056edu\054) -600.00800 (da20\100aub\056edu\056lb\054) -600.01600 (es34\100aub\056edu\056lb) ] TJ /R21 11.95520 Tf -11.74220 -41.04610 Td (Abstract) Tj /R27 9.96260 Tf -83.92770 -23.92580 Td [ (This) -321.99200 (paper) -322.98800 (pr) 44.98390 (oposes) -322.00100 (a) -323 (no) 10.00810 (vel) -321.98700 (tec) 15.01590 (hnique) -322.98300 (to) -322.01200 (e) 19.99180 (xtr) 14.98770 (act) -322.99800 (tr) 14.99010 (ain\055) ] TJ -11.95510 -11.95510 Td [ (ing) -292.01300 (data) -292.00800 (fr) 44.98640 (om) -291.98300 (fr) 36.98770 (ee) -292 (space) -291.98300 (in) -292.01700 (a) -291.98600 (scene) -291.99300 (using) -292 (a) -291.98600 (ster) 36.98890 (eo) -291.99000 (camer) 14.98280 (a\056) ] TJ 11.95510 TL T* [ (The) -265 (pr) 44.98390 (oposed) -264.01200 (tec) 15.01590 (hnique) -264.99100 (e) 19.99180 (xploits) -264.98200 (the) -265.00700 (pr) 44.98510 (ojection) -264.00700 (of) -265.00200 (planes) -264.99000 (in) ] TJ 11.95590 TL T* [ (the) -372.98900 (v\055disparity) -372.01900 (ima) 10.01300 (g) 10.00320 (e) -373.00100 (pair) 36.99750 (ed) -372.99500 (with) -371.98300 (Bayesian) -373.01100 (linear) -373.00900 (r) 37.01830 (e) 39.98840 (gr) 36.98650 (es\055) ] TJ 11.95510 TL T* [ (sion) -306.00400 (to) -306.99500 (r) 37.01960 (eliably) -306.00400 (identify) -307.01600 (tr) 14.99140 (aining) -305.99300 (ima) 10.01300 (g) 10.00320 (e) -307.01200 (pixels) -306.01000 (belonging) -307.00800 (to) ] TJ T* [ (fr) 36.98770 (ee) -337.01100 (space) -336.01500 (in) -336.99000 (a) -336.99800 (scene) 15.01470 (\056) -569.98100 (Unlik) 10.01670 (e) -335.98800 (other) -336.98400 (methods) -335.99500 (in) -336.99000 (the) -336.99500 (liter) 15 (a\055) ] TJ T* [ (tur) 36.99260 (e) 9.99404 (\054) -271.99100 (the) -267.00600 (algorithm) -267.00300 (does) -267.98200 (not) -266.99700 (r) 37.01960 (equir) 36.99260 (e) -267.01900 (any) -267.99000 (prior) -266.98500 (tr) 14.99010 (aining) 9.99343 (\054) -271.99100 (has) ] TJ T* [ (only) -249.00400 (one) -247.99200 (fr) 36.98770 (ee) -248.98700 (par) 14.99380 (ameter) 111.01300 (\054) -249.01500 (and) -249.00300 (is) -249.00400 (shown) -248.00300 (to) -249.00500 (pr) 44.98510 (o) 10.00320 (vide) -249.01500 (consistent) ] TJ T* [ (r) 37.01960 (esults) -339.01400 (o) 10.00320 (ver) -339.00500 (a) -338.01700 (variety) -338.99000 (of) -338.99000 (terr) 14.99260 (ains) -339.01800 (without) -338.01200 (the) -338.99500 (need) -339 (for) -338.98500 (any) ] TJ 11.95630 TL T* [ (manual) -339.01100 (tuning) 15.01220 (\056) -577 (The) -338.98800 (pr) 44.98390 (oposed) -338.98000 (method) -338.98100 (is) -338.99000 (compar) 36.99380 (ed) -339.00200 (to) -338.99000 (two) ] TJ 11.95470 TL T* [ (other) -332.98400 (data) -332.98100 (e) 19.99240 (xtr) 14.98650 (action) -333.01800 (methods) -331.99600 (fr) 44.98640 (om) -332.99600 (the) -332.99600 (liter) 15 (atur) 36.99630 (e) 15.01220 (\056) -559.00200 (Results) ] TJ T* [ (of) -340.99000 (Support) -339.98300 (V) 111.00500 (ector) -340.99200 <636c61737369026572> 9.99343 (s) -340.99600 (using) -339.99300 (tr) 14.99140 (aining) -341.00700 (data) -341.01900 (e) 19.99180 (xtr) 14.98770 (acted) ] TJ T* [ (by) -380.01400 (the) -380.98700 (pr) 44.98390 (oposed) -379.99300 (tec) 15.01590 (hnique) -381.01100 (ar) 36.98520 (e) -380.02000 (superior) -380.01700 (in) -380.98300 (terms) -379.99800 (of) -380.98300 (qual\055) ] TJ T* [ (ity) -298.01900 (and) -298.99400 (consistency) -298.00400 (of) -298.01600 (fr) 36.98770 (ee) -299.01800 (s) 0.98635 (pace) -299.00800 (estimation\056) -455.01000 (Furthermor) 37.01830 (e) 9.99343 (\054) ] TJ 11.95590 TL T* [ (the) -251.98900 (computation) -251.98600 (time) -251.98500 (r) 37.01960 (equir) 36.99260 (ed) -251.99600 (by) -251.99600 (the) -253.00900 (pr) 44.98510 (oposed) -252.01400 (tec) 15.01470 (hnique) -252.01400 (is) ] TJ 11.95510 TL T* [ (shown) -269.01900 (to) -269.98200 (be) -269.01300 (smaller) -270.00300 (and) -269 (mor) 36.98770 (e) -270 (consistent) -269.01400 (than) -270.01100 (that) -268.98900 (of) -269.98200 (other) ] TJ T* [ (tr) 14.99140 (aining) -250.00200 (data) -250.01500 (e) 19.99180 (xtr) 14.98650 (action) -250.01200 (methods\056) ] TJ /R21 11.95520 Tf 35.91290 TL T* [ (1\056) -249.99000 (Intr) 18.01460 (oduction) ] TJ /R23 9.96260 Tf 11.95510 -18.94380 Td [ (Scene) -366.99100 (understanding) -366.99300 (and) -368.01100 (modeling) -366.99500 (is) -366.98500 (a) -367.00200 (vital) -367.99500 (condition) ] TJ -11.95510 -11.95630 Td [ (for) -370.99800 (the) -370.98900 (success) -372.00700 (of) -370.99600 (an) 15.01830 (y) -370.99200 (unmanned) -371.00800 (autonomous) -370.98500 (system) -371.98400 (e) 15.01220 (x\055) ] TJ 11.95510 TL T* [ (ploration\056) -293.99300 (In) -202.00400 (its) -201.00400 (most) -202.01400 (basic) -201.99600 (form\054) -211.01000 (this) -202.01900 (understanding) -202 (reduces) ] TJ T* [ (to) -259.00300 (delineating) -259.01900 (occupied) -259 (space) -259.01800 (from) -259.00500 (free) -258.99100 (space) -259.99800 (and) -259.01100 (is) -259.00300 (essen\055) ] TJ T* [ (tial) -368 (for) -368.01800 (a) -367.98200 (system) -367.98500 (to) -366.98500 (safely) -368.01100 (na) 19.99790 (vig) 4.99672 (ate) -368.01800 (its) -367.99700 (en) 39.99330 (vironment\056) -664.00400 (Fur) 20.01380 (\055) ] TJ T* [ (thermore\054) -243.98200 (kno) 24.99090 (wledge) -241.98800 (of) -241.99800 (freespace) -242.01600 (could) -241.98200 (pro) 14.98520 (vide) -241.98700 <7369676e690263616e74> ] TJ 11.95590 TL T* [ (insight) -249.99400 (in) -249.98500 (dif) 24.98540 <0263756c74> -250.00700 (scene) -250 (understanding) -249.99300 (problems) -250.00500 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 250.21100 212.52200 Tm (1) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 255.19200 212.52200 Tm (\135\056) Tj -193.12500 -11.97030 Td [ (The) -329 (problem) -327.99700 (of) -329.00300 (estimating) -328.99500 (free) -329.01900 (space) -327.98700 (in) -328.99200 (structured) -328.98400 (and) ] TJ -11.95510 -11.95590 Td [ (static) -405.99200 (en) 39.99390 (vironments) -404.98500 (is) -405.99700 (usually) -406.01900 (solv) 15.00120 (ed) -404.99000 (by) -406 (e) 15.01220 (xploiting) -405.99600 (prop\055) ] TJ 11.95510 TL T* [ (erties) -328.99500 (of) -329.00200 (certain) -329 (well) -330.01100 <6465026e6564> -328.98300 (structures\056) -546.98200 (T) 79.99160 (w) 10 (o) -330.01800 (e) 15.01220 (xamples) -329.01600 (of) ] TJ T* [ (free) -308.00300 (space) -307.99000 (estimation) -308.01800 (solutions) -306.99300 (are) -308 (that) -308.01200 (of) -307.98500 (Hedau) ] TJ /R27 9.96260 Tf 201.05500 0 Td [ (et) -307.98500 (al) ] TJ /R23 9.96260 Tf 18.02070 0 Td [ (\056) -307.98500 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 278.06400 164.68600 Tm (2) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 283.04600 164.68600 Tm (\135) Tj -232.93400 -11.95470 Td [ (and) -352.01400 (Labayrade) ] TJ /R27 9.96260 Tf 63.44570 0 Td [ (et) -352.01700 (al) ] TJ /R23 9.96260 Tf 18.46330 0 Td [ (\056) -352.01700 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 141.33600 152.73100 Tm (3) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 146.31800 152.73100 Tm [ (\135\056) -616.99600 (While) -352.00400 (the) -352.01200 <02727374> -353.01500 (e) 15.01220 (xploits) -352.01700 (the) -352.01200 (box) ] TJ -96.20550 -11.95510 Td [ (lik) 10.01790 (e) -315.99100 (geomet) 1.00106 (ry) -315.98500 (of) -315.98500 (furniture) -314.99200 (to) -316.01300 (estimate) -315.01900 (free) -316.00100 (space) -315.00900 (in) -316.01300 (indoor) ] TJ 11.95510 TL T* [ (scenes) -223.99800 (from) -225.01100 (a) -224.00700 (single) -224.01500 (camera) -224.01000 (image\054) -229.98200 (the) -223.99400 (second) -223.99000 (uses) -223.99000 (the) -225.01400 (pla\055) ] TJ 11.95590 TL T* [ (nar) -232.98300 (geometry) -232.99800 (of) -233.01900 (a) -232.98600 (road) -233.01700 (and) -233.01400 <6964656e74690261626c65> -233.01400 (lane) -233.01700 (markings) -232.98800 (to) -233.00800 (es\055) ] TJ 11.95510 TL T* [ (timate) -284.98600 (the) -285.00300 (free) -284.00700 (space) -285.01400 (in) -285 (urban) -285.00400 (road) -285.00900 (scenes\056) -414.00200 (In) -285.00900 (unstructured) ] TJ T* [ (or) -311.00500 (unkno) 25.00130 (wn) -310.01900 (en) 39.99460 (vironments) -311 (such) -310.99500 (as) -311.00600 (forest) -310.01900 (areas\054) -325.99200 (the) -311 (lack) -311.00400 (of) ] TJ T* [ (structure) -197.01100 (of) -196.98500 (the) -197.99900 (scene) -196.98900 (causes) -196.98300 (methods) -196.99000 (relying) -197.00400 (on) -197.99600 (static) -197.00600 (scene) ] TJ 258.75000 473.32000 Td [ (properties) -250.01700 (to) -249.98500 (f) 9.99588 (ail\056) ] TJ 11.95510 -11.96910 Td [ (T) 79.99160 (o) -225.99700 (account) -225.01100 (for) -226.00400 (the) -225.99400 (e) 25.01050 (v) 14.98280 (er) -224.99200 (changing) -226.01600 (properties) -225.00200 (of) -226.00100 (free) -226.01600 (space) ] TJ -11.95510 -11.95510 Td [ (in) -435.99300 (unstructured) -434.99600 (scenes\054) -481.99100 (it) -435.99100 (is) -435.01100 (natural) -435.99100 (to) -435.99600 (resort) -435.01600 (to) -435.99600 (learning) ] TJ T* [ (based) -400.98500 (systems\054) -438.00300 (which) -401.01600 (usually) -401.00200 (require) -400.99200 (a) -400.99700 (training) -401.00200 (phase) -400.98200 (in) ] TJ T* [ (which) -389.01800 (training) -387.98400 (data) -388.99100 (representing) -389.01400 (free) -387.98900 (space) -388.99400 (is) -387.99900 (used) -388.98400 (as) -388.99400 (an) ] TJ 11.95630 TL T* [ (input) -313.99700 (to) -314.99400 (the) -314.01900 (learning) -314.00900 (algorithm\056) -503.98900 (The) -313.98200 (e) 15.01220 (xtraction) -314.00200 (and) -315.00100 (classi\055) ] TJ 11.95510 TL T* [ <02636174696f6e> -395.00300 (of) -394.99000 (training) -395.00300 (data) -394.99000 (is) -395.01700 (usually) -395.98300 (perfor) 1.01454 (med) -395.99800 (through) -395.00300 (di\055) ] TJ T* [ (rect) -426.99200 (human) -427.98500 (supervision\073) -515.98000 (unfortunately) 65.00390 (\054) -471.99500 (this) -427.00200 (becomes) -427.99200 (im\055) ] TJ T* [ (practical) -307.98300 (and) -307.98300 (time) -308.98500 (consuming) -307.98300 (as) -307.98800 (the) -308.01700 (range) -307.98800 (of) -309.00700 (properties) -308.00700 (to) ] TJ T* [ (be) -295.99000 (learned) -295.99000 (becomes) -296.01400 (lar) 17.99700 (ger) 55.00550 (\056) -448.97900 (Furthermore\054) -307.01200 (the) -297 (resulting) -295.99500 (sys\055) ] TJ T* [ (tem) -223.00700 (cannot) -223.98700 (e) 15.01220 (xtend) -223.00400 <636c6173736902636174696f6e> -223.99200 (be) 15.01710 (yond) -223.00200 (the) -223.01200 (en) 39.99330 (vironments) -223.99700 (it) ] TJ 11.95590 TL T* [ (learned) -249.99700 (during) -250.01200 (training\054) -250.00500 (thereby) -249.98800 (restricting) -250.00700 (its) -250.01700 (autonomy) 65.00880 (\056) ] TJ 11.95510 -11.96800 Td [ (Recent) -576.99000 (free) -577.99700 (space) -577.00400 (estimation) -576.99200 (approaches) -576.99700 (tackle) -578.01600 (this) ] TJ -11.95510 -11.95510 Td [ (problem) -343.01400 (through) -341.99200 (self\055supervision\054) -366.00800 (where) -343.00700 (one) -342.01600 <636c61737369026572> -343.01600 (di\055) ] TJ T* [ (rectly) -263.98800 (supervises) -264.00500 (input) -264.98500 (to) -263.98300 (a) -264 (second) -263.98000 <636c61737369026572> 54.99570 (\056) -352.99500 (The) -263.99000 <02727374> -264.99000 (clas\055) ] TJ 11.95510 TL T* [ <7369026572> -262.99500 (uses) -263.98300 (data) -263.01200 (it) -263.98000 (is) -263.00300 <636f6e0264656e74> -262.98100 (about) -264.01500 (to) -263.00500 (label) -263.98500 (part) 0.98513 (s) -263.99000 (of) -263.01500 (the) -263.98500 (en\055) ] TJ T* [ (vironment) -366.99800 (as) -368.01500 (free) -367.01200 (space\073) -426.00200 (this) -367.99300 (data) -366.99300 (is) -366.98300 (then) -368.00200 (pro) 14.98280 (vided) -367.01700 (as) -368.01700 (in\055) ] TJ T* [ (put) -375.01800 (to) -374.98400 (t) 0.98758 (he) -374.99600 (second) -374.98400 <636c61737369026572> -375.01100 (that) -374.00100 (e) 15.01220 (xtends) -375.01100 (the) -374.98600 (labeling) -375.00600 (o) 14.98280 (v) 14.98280 (er) ] TJ T* [ (the) -372.00900 (whole) -372.98200 (en) 39.99330 (vironment\056) -676.98300 (The) -372.01100 (proposed) -373.01100 (system) -371.98200 (in) -372.00700 (this) -373.01100 (pa\055) ] TJ T* [ (per) -380.99800 (lies) -381.01700 (within) -381 (this) -381.01000 (frame) 25.01050 (w) 10.00320 (ork\054) -414 (allo) 24.99090 (wing) -381.01500 (long) -381.99000 (range) -380.99500 (fully) ] TJ 11.95590 TL T* [ (autonomous) -366.00500 (free) -367.01200 (space) -366.02000 (estimation) -366.98800 (wi) 0.99003 (thout) -367.00700 (relying) -365.99800 (on) -366.98800 (an) 15.01710 (y) ] TJ 11.95510 TL T* [ (rigid) -262.99300 (assumptions) -262.99300 (such) -263.00300 (as) -263.01500 (a) -263.02000 (planar) -263.99000 (ground) -262.99500 (or) -263.01500 (bootstrapping) ] TJ T* [ (methods\056) -745.01300 (The) -394.98800 (main) -393.99300 (contrib) 20.01630 (ution) -395.00300 (in) -394.98300 (this) -395.00800 (paper) -394.99300 (is) -395.01700 (a) -394.99800 (no) 14.98770 (v) 14.98280 (el) ] TJ T* [ (training) -377.00600 (data) -376.01300 (e) 15.01220 (xtraction) -377.01100 (method) -377.00600 (that) -376 (is) -376.98100 (f) 9.99343 (ast\054) -408 (accurate\054) -409 (and) ] TJ T* [ (can) -222.98500 (be) -224.00200 (applied) -223.00200 (in) -223.99000 (structured) -223.00200 (and) -223.01700 (unstructured) -224.01200 (en) 39.99330 (vironments\056) ] TJ 11.95510 -11.96910 Td [ (The) -200.98100 (remainder) -201.99600 (of) -200.98400 (this) -201 (paper) -202.00600 (is) -201.01100 (structured) -201.98600 (as) -200.98600 (follo) 24.99580 (ws\056) -294.02000 (Sec\055) ] TJ -11.95510 -11.95510 Td (tion) Tj ET Q 1 0 0 rg q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 327.91100 243.44500 Tm (2) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 336.42900 243.44500 Tm [ (pro) 14.98520 (vides) -356 (a) -355.98500 (brief) -354.99700 (summary) -355.98500 (of) -355 (pre) 25.01050 (vious) -355.99000 (systems) -355.98000 (em\055) ] TJ -27.56640 -11.95510 Td [ (plo) 10.01550 (ying) -337.02000 (self) -338.01700 (supervision\056) -572.01500 (Section) ] TJ ET Q 1 0 0 rg q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 447.69100 231.49000 Tm (3) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 456.04000 231.49000 Tm [ (e) 15.01220 (xplains) -337.01200 (in) -336.99300 (details) -337.99800 (the) ] TJ -147.17800 -11.95590 Td [ (training) -426.01700 (data) -426.00500 (e) 15.01220 (xtraction) -425.98300 (algorithm) -426.00700 (proposed) -425.98300 (in) -425.99800 (the) -425.99800 (paper) 55.01040 (\056) ] TJ 11.95510 TL (Section) ' ET Q 1 0 0 rg q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 343.09400 207.57900 Tm (4) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 352.40900 207.57900 Tm [ <627269650379> -435.98100 (presents) -435.98600 (the) -435.01600 (second) -435.99100 <636c6173736902636174696f6e> -435.99600 (stage) ] TJ -43.54650 -11.95510 Td [ (based) -416.98200 (on) -417.01900 (a) -416.01400 (one\055class) -417.01600 (Support) -416.98900 (V) 111.00600 (ector) -416.98900 <436c61737369026572> -416.98400 (\050) ] TJ /R29 9.96260 Tf 1 0 0 1 510.58200 195.62400 Tm (n) Tj /R23 9.96260 Tf 1 0 0 1 516.60900 195.62400 Tm (\055SVC\051\054) Tj -207.74700 -11.95470 Td [ (which) -211.98900 (is) -211.01100 (a) -212.00900 (necessary) -212.00100 (tool) -212.01900 (to) -211.01400 (assess) -211.98900 (the) -211.99400 (goodness) -210.98900 (of) -212.00400 (the) -211.99400 (train\055) ] TJ 11.95510 TL T* [ (ing) -193.99000 (data) -194.00400 (e) 15.01220 (xtraction) -193.00200 (algorithms\056) -292.02000 (Section) ] TJ ET Q 1 0 0 rg q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 463.50200 171.71400 Tm (5) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 470.41600 171.71400 Tm [ (presents) -193.98700 (the) -193.99700 (results) ] TJ -161.55400 -11.95510 Td [ (and) -309.00200 (analysis) -308 (of) -309.00500 (the) ] TJ /R29 9.96260 Tf 1 0 0 1 388.12000 159.75900 Tm (n) Tj /R23 9.96260 Tf 1 0 0 1 394.14700 159.75900 Tm [ (\055SVC) -309.01700 (using) -307.99800 (our) -309.00200 (proposed) -308.98300 (method) -307.99800 (for) ] TJ -85.28480 -11.95590 Td [ (training) -353.99000 (data) -352.99700 (e) 15.01220 (xtraction) -353.99500 (v) 14.98280 (ersus) -352.99000 (tw) 10.00810 (o) -354.01400 (other) -354.01000 (traini) 1 (ng) -354.01000 (data) -354.01400 (e) 15.01220 (x\055) ] TJ 11.95510 TL T* [ (traction) -250.01700 (methods\056) -309.98700 (Finally) 65.01120 (\054) -249.99300 (Section) ] TJ ET Q 1 0 0 rg q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 446.07700 135.84800 Tm (6) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R23 9.96260 Tf 1 0 0 1 453.54900 135.84800 Tm [ (concludes) -250.01700 (the) -249.98800 (paper) 55.01040 (\056) ] TJ /R21 11.95520 Tf -144.68700 -23.95120 Td [ (2\056) -249.98900 (Related) -250.00200 (W) 74.99720 (ork) ] TJ /R23 9.96260 Tf 11.95510 -18.94180 Td [ (The) -374.01100 <02727374> -373.99200 (part) -374.01100 (of) -374.01400 (this) -373.99200 (section) -373.99600 (presents) -373.99600 (a) -373.98200 (sample) -373.99600 (of) -374.01600 (pre\055) ] TJ -11.95510 -11.95510 Td [ (vious) -345.99100 (w) 10 (ork) -346.01300 (on) -346.99100 (free) -345.99600 (space) -345.98100 (estimation) -346.01100 (with) -345.99600 (an) -347 (emphasi) 1.00473 (s) -346.99600 (on) ] TJ ET Q Q Q q q 1 1 1 rg /a0 gs 48.40600 786.42200 515.18800 -52.69900 re f q /s5 gs /x6 Do Q q /s7 gs /x8 Do Q q /s9 gs /x10 Do Q q /s11 gs /x12 Do Q Q Q Q q 1 0 0 1 0 0 cm BT /F1 12 Tf 14.40000 TL ET 1 1 1 rg n 270 32 72 14 re f* 0.50000 0.50000 0.50000 rg BT /F2 9 Tf 10.80000 TL ET BT 1 0 0 1 297 35 Tm (3530) Tj T* ET Q endstream endobj 14 0 obj << /Filter /FlateDecode /Resources << /ExtGState << /a0 << /CA 1 /ca 1 >> >> /XObject << /x18 15 0 R >> >> /Length 28 /Group << /Type /Group /S /Transparency /CS /DeviceRGB /I true >> /BBox [ 78 746 96 765 ] /Type /XObject /Subtype /Form >> stream x+O4PH/VЯ0Pp 0 endstream endobj 15 0 obj << /Filter /FlateDecode /Resources 16 0 R /Length 107 /Type /XObject /BBox [ 78 746 96 765 ] /Subtype /Form >> stream xe AC̬wʠ =p,?]%+H-
Jc "82w8VSnGW;"
endstream
endobj
16 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
17 0 obj
<<
/Filter /FlateDecode
/Resources <<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
/XObject <<
/x15 18 0 R
>>
>>
/Length 28
/Group <<
/Type /Group
/S /Transparency
/CS /DeviceRGB
/I true
>>
/BBox [ 67 752 84 775 ]
/Type /XObject
/Subtype /Form
>>
stream
x+O4PH/VЯ04Up
0
endstream
endobj
18 0 obj
<<
/Filter /FlateDecode
/Resources 19 0 R
/Length 228
/Type /XObject
/BBox [ 67 752 84 775 ]
/Subtype /Form
>>
stream
xeQKn!s ?FPav6R٪TS.
b];15YyR
{7QL.\:Rv/x9l+L7h%1!}i/AI(kz"U&,YO![R hg{3}4/GyYF:!w}Gn+'xJcO9i뽼_-:`
endstream
endobj
19 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
20 0 obj
<<
/Filter /FlateDecode
/Resources <<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
/XObject <<
/x24 21 0 R
>>
>>
/Length 28
/Group <<
/Type /Group
/S /Transparency
/CS /DeviceRGB
/I true
>>
/BBox [ 132 751 480 772 ]
/Type /XObject
/Subtype /Form
>>
stream
x+O4PH/VЯ02Qp
0
endstream
endobj
21 0 obj
<<
/Filter /FlateDecode
/Resources 22 0 R
/Length 53223
/Type /XObject
/BBox [ 132 751 480 772 ]
/Subtype /Form
>>
stream
xtI:6%Q㨈?7rA= u%6 ?Y(WbWo{B>9
x`Znϳ|8{3?0x*z ǃ|,@:w>`c|*ϻⳅKO3`g
:_|}}><.6`Z{{3]#<_o"~:ͺgk7/Ұ@|K yp ]03ʷCmş8˽Y?>(3!Bwqs.Z8,~~=rMT̩y+/*w: uBZ_`ߵp`%M?ɝ1ɳw=vDۉy&xb4Q>d@ sg~lA