8. Dx = (−1 , 0 , 1)
Dy = (−1 , 0 , 1)T
I
Ix = I ∗ Dx
Iy = I ∗ Dy

9. | G |=
I2
x + I2
y
θ = arctan(Iy
Ix
)

10. [0 , 40 )
[40 , 80 )
[80 , 120 )

13. v v k ε
v → v/( v 1 +ε)
v → v/
v 2
2 +ε2

14. (4 × 8) × (2 × 2) × 9 = 1152
{xk , yk} ∈ χ×{−1, 1} xk
yk
xk φ

15. f(x) = w ·φ(x)+b f(x)
φ(xi) x
f(x)

16. yi, i = 1, . . . , n
Hi
ˆf(y) =
1
n(2π)3/2
n
i=1
| Hi |−1/2
t(wi) exp(−
D2
[y, yi, Hi]
2
)

17. D2
[y, yi, Hi] = (y − yi)
H−1
i (y − yi)
y yi t(wi)
∇ ˆf(y) =
1
n(2π)3/2
n
i=1
| Hi |−1/2
H−1
i (yi − y)t(wi) exp(−
D2
[y, yi, Hi]
2
) =
1
n(2π)3/2
n
i=1
| Hi |−1/2
H−1
i yit(wi) exp(−
D2
[y, yi, Hi]
2
)
−
1
n(2π)3/2
n
i=1
| Hi |−1/2
H−1
i 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
∇ ˆf(y)
ˆf(y)
=
n
i=1
i(y)H−1
i yi −
n
i=1
i(y)H−1
i
y
H−1
h (y) =
n
i=1
i(y)H−1
i

18. Hi
m(y) = Hh
∇ ˆf(y)
ˆf(y)
≡ Hh(y)
n
i=1
i(y)H−1
i yi
− y
∇ ˆf(y) = 0 m(y) = 0
ym = Hh(ym)
n
i=1
i(y)H−1
i 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

37. MissRate = #falseNegatives
#truePositives+#falseNegatives
Precision = #truePositives
#truePositives+#falsePositives

38. #falseNegatives
#truePositives
#falsePositives
ao bp
bgt
ao =
area (bp ∩ bgt)
area (bp ∪ bgt)
ao

39. area (bp ∩ bgt) = (396 − 305) × (411 − 127) = 91 × 284 = 25844
area (bp ∪ bgt) = (443 − 259) × (458 − 90) = 184 × 368 = 67712
ao = 25844
67712
= 0.38