Method for obtaining a data grid containing data representative of a dynamically represented scene, and corresponding device and program

Abstract

The invention relates to a method for obtaining a data grid containing data representative of a dynamically represented scene, referred to as state grid, said state grid being divided into cells, said method being implemented by a computer module for processing data originating from at least one sensor, the method comprising at least one iteration of the following steps: - updating (A10) probability distributions of a static grid characterizing the scene, on the basis of at least one static state associated with at least one cell of the static grid, in accordance with a static model; - updating (A20) probability distributions of a dynamic grid characterizing the scene, on the basis of at least one particle associated with at least one cell of the dynamic grid, in accordance with a dynamic model; - merging (A30) the probability distributions, within a resulting state grid, of the static grid and of the dynamic grid so as to deliver a state prediction and a speed prediction for each cell; - evaluating (A40), for at least one cell of the resulting state grid, the probability of a final state and an associated speed on the basis of the predictions and of any data received from said at least one sensor.

Description

[0001]rerorcsen'oe,esnoosn'u enerorraememeo cnonrreess roenrasne.naves'une scnenamuemen a'o unm ovea nnne omoenss e sne ranroaren aeuraomssaanne aveesc erenvsron vnseomnenar, c oormnmaee unr ees aares aares aaconomerac auceourac eraceres. roo or a vcueormeernene son envronnemen vecrcson and moser under a conscience c es unece essenee.ue ce sooura navaon,a erceon eosons,aancaonesnenons oua carorae, ceeaee usrcss un, enermesercson,e comex eeesone'ncerue. unromen,'nvenon se raore unraueurere'anamuenrue e caecar u cnor oruesuosneaunrs, caueurrseersceas'neesr caecuones e'un mouae sanamue,uease saur sc unne e'un moenamue,as sur ere, ra esarcues. oan uorreesurveoemensmressonnans eeveoemen'uneneence emarue rcsuorsn c,r roossuasneess seu ere es acacare sson m eonveros,nnae cmaeanc re'un aen auonomeercevor avec uaea mosaone'envronnemen reosese un eae en rooue.to such scmas'nerra not seuemen sures caeurs, but auss conracon on,raanes erreurse caeurs,es occusons,es roaseseonnes,esaramresoremen comexes, ec.es moes 'nerras oonn veoesour moserormeemen,ans ces scmas orsue ces sc,mesnceruces e anes connasresanes. romes sumaesn'anreesr srona sooune svons. conner monansre ceass osuees e'na mooruevre cmeenr,e nomreux 'aoer une rrsenaonase sures oes, ceu conu eec ome es mues.ne aure aroce courane eseomanees uer un suv'oes 'occuaon saae sans semenaone res'occuaonuravaes sncauones suranaeve surnau, surnau nee avaneau. arocersenees e'esa n moe saamenense, avec une rersenaon correct cruecere,u es uneonnemorane en rooue moe.eus,esaes rersensae soensmenasaeo'no eese, reecuovnennassarneceveses.ononrseus,'e nece esssa aresaunseeses ensvrneceveses.ononrseus,'e nece esssa aresaunseeses ensvmsornem ennemonnamones esnraemen ncessare'enrcr cee rersenaon in anse case moess sec widow. rrvees measure men conuesoures caeurs scues,a vesseeu es ncess ses caeurs.asanse nomreux case, une aroceusnrueour uneraree.'ere'occuaonasen es un careasennrueu me ar occuaonnamue enran'occuaon ea vesseans caue ceue ennesa kanaae en. uee monree e'no csaerrovaraon easnnecsoroonrn seosusua caormeuer s'uurn uenerree'occ'uaaeo'nun m soramnr m-cor esrorea ecorans n ee ss. o une m nse veo osonuo aro e.reeereeesr oe rco casa ncre eua oonnssen ara,ncsa u csae s reuuer ec uene scureo,us ec ane ue osanes mouvemen esraueour moser'vouones ceues, mas enraneenu evs eesromese re ses rure ruremencuemencues. carorauera su came mouvemen, oneu user une connassance e mouvemen,'sae, ouusnraemen une moe'canonnaeesruon 'canonnae aorammeans caue ceuean maoraremen ve.es moes u mouvemen, caraaauareuevsen ce streets, re co cmonmseersa ves nmuese nmuese cenae omuse nrcseesnaon ase rersenaonsaores.ans ceransprocessus, a name without which is used, enoncone'occuaon esme.a scn varae'canonsar earcuescve en mouvemen aanesos e es rersenear en enseme correauaresromes'aasn.ons ees vaeurs nonscrses, ceueess re arrsoecneasonsraess eexs ssuerne.s erse asn esaosssese sure mese oree esn. œuusvr receivers between care mamaueren, an aroce'ensemesns aa mmen, using unonconse croance, to roos a ssme aaour rores eesres sures romee suv soure avecrcsone e mu-oesansesres'occuaon. moreee'osc scruucauorensasencanonnaere,euersenans saue es uner e anasea scneravers uneua saue-namue.aare en mouveme e'occuaon, ee camnamue esoraresarcuescves cononemenn,,euanrssasrrueo'oncsc suuraeson ce.euseseuxan secosre sesrees aunenes emergency. ceascusus e mocacees, euns c coomnceancra en enes e caeccuusane u vnesse sures comosanesnamues, enroosan un ar aeurs roos, su e amoraonrasueearcsonu ssme. a esasormesanserraaseeaecnuerseneans ,'nroure namue,es zones veso ecensscuosnnuees.raeeo,r rmearssmene canar'oeccaurasoen saue,'occuaon 'aormeouresransons,'nasaon, ec.,'an naonoaee skuesasone suescuescuescuesnuees rersenaoneas nveaur res zonesnamuesernenes.a 'vauaones rsues eeurerecemen use,our carorae, rae e courerme, une moee rerouemen'occuaonnamue eesrecemennre aurocessus,ermean une anase sme. 'nconnvanne,ne cee neevaosu oornr, uonue c conmsemrveaaonecensuemerncs, neonaemmeenn rsene seneare.usarcuremen,anse cacuroas amues,rs au ancenecee enrovenanceeare' e eecu, caue conruon annrenenamm occuaonance cecuroenance encuroenes ssmauemen r en,'occuaon «namue »rearesarcues es 'auresermes,'esauceeraeraearrceon'ocecu'easaocnenererv oeunn ssnmeaauremreneaanrsea.n «rarccuona,r neoammene ceessueeesarcues, rusanearcon runesoarcon souersarcues sousseresoesome'. nominate rsoure cee su aremmaue. 'nvcunorne em a'nven en,e'nno vsn een eonn co sens rearvaonre ces unrorocmau'oeseen'aorn a'nreur'esr.us rersenaves'une scnenamuemen rerse unereeonnes ancoue en ceues,roc ms en œuvreane,ere'aerea, mroven'a mr'au en'auncea mouenormaueraemene. un ons a caeur.eon'nvenon, ceroc comren to the world - era scene, and m o ns the e ne nc o s the u n r a ' e es or m s su the r va n u n on o e n n s s : to e saroa s'onere saved characters a moe saved ue associated with the world un saved, - scne, and they gave us one of these characters n amue, rcue associated with world a flower - s r to c ue o u and n so s and n eo to e n s un king s m r o n u am o e ns n ue e am , ro ue vr a I, s the , u a r u c se to n ue ’u cn in e u r e, u e and ’ r a r c su am an ' e, whose e in are ana e u e one - vaa v 'a o e in n s v , se our au mons une ceueeare'a rsuane,earoa 'unenrovenanceue asuse m aossnosc une c eanonconesrcons eesvenueesonnes reues co in m am r u e n n in , car o whose u c r u r n s e ce ue ue the o c n ure,e'ur.aeeusonessruonseroas ansnaeueare rsuane, uneaee cacuearoa- - ! - !!^ : : : a whose ess r r er e in e a whose c c e e a u c e e ae u ue in :a as u e as em e s em cou s ra co n uran - "! ue auaseems couran,r are sleep « saue » " -saue " "!: : a ess r er to e a c e to a you c to e a u you e a a s u to as to m e s em c ou s rcouran,reare moe- ! !:essereea ceuean,r are moe "namue""! auaseems couran,reare moeenamue". 'uonne u vnees csaera acssorcse cuoemarrencu,roe,'ae'vaaoonearoa 'unana e cac ur une ceueonneeare rsuane, uneaee-ue :araoaea ceue auasooeemasn csauee :- - - #! : ^ : : : eas a e s s e zero s r e e s er a c r v eein e au ouran - ! ce whose e e a c ae uu c e e a as u u e ea a s u eme as sem c in ous e r m a conu s ra co n uran - # :esse oserveeau cee auuaseems current- eon un u e n c in ara whose c in rs ' a ue c a ar and auaseems couran.- neaeeroec o their n c n u ' u n r n e whose e , m m ’ Your a in e ce a e was m nr s c e 'ue a s o , u is u r n r co is m n m c o re their n ne : and sa eurs u v e esses - - n n e e a a e e e e rans ace o m n en ’ , a e s, enonconu moeeon une characrsuearcure,nonconu acemenu rreneaee rcanonna osreuremen'ae'vauaon, comren une eon une caracrsuee ar is c arcues au senu moenamue.- neaee raoure,'ae rcanonnaeesarcues comren :caue ceueearcaonesarcues enonconearoa namuee-arcues n and e and a to e co e e nr n u ra this on ec e is ar the cu the es and , s e to n ss on n c and o s n r e c ass em na and onnsrceneseseon une caracrsuearcure,'ae'vaua au moenamue.aere'oservaon co on me en œuvre unere'observaon, eon un aure asec,'nvenmornen sean raesoroennaeesm enenrov uenna mnoceueu'o aue mnoons un caeur. onnes rersenaves'une scene but re n'uneree 'aancoue en ceues,roc ms en œursene,ere'a,aere raemeneonnes enrovenanc vrear un mouenormauee e cacusra and to the world a caeur.e moue comrenes less - s whose a scn u in e , , in s n he e their m their n n s c e so am o u u r ' r e or e ec mo s u n r er south u : n on whose s s e whose ro ue a assoc s’u whose n u e m r am e s s u a and c u in e u e in cahave been ra a c r rs have been aone - by am scn u n un moe sauee e e e , , have been s m en s o e o n nc o o u n re me s m r on u su o n n have been s a e r r c o cry a assoc s have been ’un a e u r for e ns u n n am say ue cry e c have been ar a ac r r have been saon - neuson un e m s o sr enamue u r ne es r a c u o have been n eeare u na o m ns cry e , ro v a ran s, o a u u rc se a n u ’ have been u cn it is e you r is, e a ’ it is a R rs c u a a n n ' e, A e it is a -'one ne N / A v it is a e ua v 'a o e it is n ss , e V o it is u ss r it is au ace m it o c ns it is u it is n n e c a e no u a e n e it is asrre'a rsuane,earoareues enrovenanceu au mon cons eesvenueesonnes evouna unoenm sonm mesneas eonn œurvreraer,s ue u nsn ca oure ueu snr. eeusrsaesesrocs seonarsene comrenanesnsnsruconso oces ourorammes'ornaeur, 'unsoseraemenecreeess'oecscunaeson sereo enxacurseesnaer uencnrocueess eeurane coonnnues osuro csommeanraerem'eexnc,u'unn seersveurs sears and sessores, but in the work of the nveau'un raronesraemens eecuer and ermnsar an ar,anse care'une com coe source scr or a coe nar c uonns. oruneanceeu,ra ourasren unereoccensseuuer vese aounsnsse,s cersorroamrammems,e ssus ccoemoreasn'ersen exsrcuus our commaner'excuonesaesesroc seue menonns c- cons nrorammeeu user n'moreueanaeerorammaon, e ressus. coe source, coe oe, oue coenerm are enre e sousaormee uneormeareemen com e, ouan coe source e coe oe,eueans arsenecnue vse auss un s n'moreuee aureorme souaae. and comoranes suor'normaonssear unprocesseureonnes, and suor'normnsrucons'unrorammeeue menonn c-essus. roramme.those who do not die in ouermna caaee socere ex ar exeme,e suoreu comorer a moene socae,eu'une,ar 'eenme one or one e crcu mcroecronue, or encore un moen ouresremen man ue,ar exeme a suor moecare mmore ou unsu u rea ouea ouea ouea. suueo,ru'neourmareo ancseemunr vea u unn s cuoerercanrsmuess oeeu'un sna 'aures moens.eroramme seonarsenee uo ue,ar rao ouar sur cnueeu re enarcuer car e urnna rvseeamuee enerne. esn n,e suor'normaonseu re un crcun r anseueeroramme r coror,e crcu an aa our excuer ouourre us ans'excuonu coeo mocno usn e an enxsemues oceon ee. if my works,.aanrss ceeneeecnue is myse in work in the moene ans ceocumen aussen uo ue,eerme "moue"eu corresonre ensemee comosan n comosanoce,u' a comosan mare or a sound cso-mroorsaamnmoesc'eun cos rror mesa em uno raor mnes ouceuss.eursrorammes'ornaeur, a ouseurs ou'unoce ae mere e, oue manreusnrae ou men'unroramme es c-esousoure m eonu œeuv croen ucenreno.ncnoen o coum uno esnasnemoecee eosnc exocnus, seaorn u kneu erco.ce esse eusr suesceonnees''une en sueermna, server,asseree, se-o-ox, roueur, suors'enresremenac,cuser aeu cxo rmemssuonurccaesoeur mna, carceseureseures, usa cena, carceemmores, cena ec..ns, esosseecensraesecrro'ennsueemse'eners ceascsuosr, aes,ne arra exesmerees cacruens,s vo vrecu'ecsa eneecruaens cacus eesaramres enrerenssoss eua mme manre, un c es cacuses unsoures aures.o omosan mare unun crarmeur aseurerou crarmea-mare. but mroe eune œ cover uneoncon or an ensemeeoncons, seon ceu is or avecrocesseurnrour'exncceurno. eecronueour'excuon'un mcroocermware, moauuees coomosaneu ssmercemmencr meen enenu en œuvre sesrores eens œuvreenesc a meos. ressenee reacsaon menonns c-essus son comnaes enre euxoura mse rveescronesuresnue.e'cauurreeseuas,e sacrracorns suuveasn ee, avoannnaese'nvenon aararonus caremena reaon aveces eree sme exemeusra, e nonma, en -'occuao.n reeurusreens, reeaerm rusees eauue e'aes as :en rersenanesenesanes. -arcues. rerseneesaesu moerconsourare'occuaon ees -'nve . exoseoaemenesaes mse en œuvreanseroc oee -non re'occu.a rersene une arcecuresue sme'unsoseraemene escronaon. .aesesrnceee'nvenon orouro rsaeec, s uen r oaeocs re,e essec'esnmueers'ocecus «aaones saanacecu ea sancnamer »u,e au'uuneaecnue e ennv ceronuneesm sean,a oesse erv ca'auee ceeusee sisters assocesese veassouraseas ceouras. ceare,'esace esvs eroa e ces varaes aaores son esmes rc s aaores.essruons 'nerraonea scene.e moeroaseoursvemen e uses commeasee , eoneormasme esnreuvermnerue c eosns usar exemeanseesrencesansacomosoneasruon conon r commerer smareons, amoraes ncaraes: n aenasae ees expressions ansasncon sauenamue,a rersenaonnsresuaonsu moe, mas 'uaons.ansesravaux ureurs, un canemen ence ea rsouon cacus : aueuererrecemen'occuaon ava nrouanse moe ees saue »,our « occuar un oena,esas cacssour « occuar un oe varae avecuareasoss mue », eour « ve » e uour «nconnu »one essenceaux ess'easoss ess'meneurs rssenan ouva aorsres une ceue on aous.asruon'occuaones ceues enreesares uee cesas cacs.nusersener unesnconus nee 'nroure unr saaemueens e snamues,'nrrncae cee mocaona vesse esacvaneurerscsanuceeeesm zoonrees, exomneoss, exomneoss, exomneos. cceueannane,' cees mmoaoen ese sa oma en ceu' neermease preserve,anseems,'vouone ous u moenamue, ceu aour consuence unere'nor srconsssues noammenoures maonmorane, our cee raso, ceueses ves. r noammen,esnveneurs onermn un nouveau moe,anseuees rsecrveornsaesn mamouees s'oaccuueas eonensa cmeuueess soanns ceomemnse esenermneerer uoncees msuesour mmorsaoneanamuees ce eure ans ce moe, as excarues.saue eesrconsases sua sue, on sareesrconsases surareesrens casourarc resarcuesnamue, e ones comneourrer ems,a caac su onnaeassoce une ceue.ns on conserve,anse asoneour ce oevr.e uan oree, surnaamueuee,e msmreauooe annue, eec nouuvee enee, e msmreauooe oonserva esonu ne'seson unssaareesmauneea e ssm unee ocrcuea'oocncuanaorne «. smeaenuuea »e,m eeen comrer aeneeesraes c'onsa.rs venrsso,naness ce nuoauvoenasu muo ese, a essoac mes,e eens œuvree ceu-c, oeearsene, eansa vresses,res vaer, eaeess sacs ouseesrv sosn,a vneses sevsrv see, a vneses see cs ora, sr eomn mo aaoures eeso e.ur s voae rrsesasasr e vs,easses rconarreres seues,es varaesourarco aesoura arcuare,es varaes'as ee vessesrsan narru moeusone ceseuxrcons, ras , seon'nvenon,e rsuaea eseux moes conuses en aummena unena. our om rsour rerseneresrenesaresea scene cae e anusonsneres'a enoc caonosnueesncaer avceuce cse unes ruemen aux zonesernenes,eurrcons varaes cacesanseroce eavesaresaue.'usaone 'a conracor ssuseraeermeererar exemeesrcons onnesesrueesn ocuesesu csaaessuerss asuen ccereoneus moorsuueeear erxemee caeur envoees eormasme usans ceeescron esssuu careeraoer. onn un ensemees varaes aaores, ammaonasen.an conone,asruon re 'exressoneeurcomosoneroa varae cerceeure exrme, commersenans ceu su.es re, ces sescourueess sronconnsesasouers c suareuse marocueesc,eeessouresrconsases sura rsuaeausone cesrconsusonne as e vessesrsane 'occuaon eenamuee s eesas oservs.euesesonnes consreeu comorerverssesanso srmona eoxns scmeasnanusesa s suurae, c meause cauee varae'a 'esace navae 'osace,e . m en caorenee, ec.. ans s' vmarameesnaonearneecnue,es varaes mses e - oe son « saue " » % , : e n s s n œuvreanse - ^:nex as e u x evna sur u neas es e n : n ca re e cue a ce ue u a e ncen'une ceue, usoure moe- "nam ! u % in" : , n as ce south u res en s the e the c in a sue ancen'une ceue, usoure moe - exeme « : s »aoeura "o ccecuue auara usn oeem sas couuer"an.esasosses comrennenar « - e »our % "ve" e , « »our "occuar un oenamue",- :esse «e ua » ceouure " anuasn"eems couran -.e.as " su%r : : es a in srse e es 'a in n whose c c in u enea ceue'nsan , e r n c ² and, seone moe "saue"- " % : and ancene'nsanrcen, seone moe "saue" «na ! ae'ancenea ceue'nsanrcen, seone moe- mu % e : » e .s e s . e as ea su c r e e u s e a a r n cues "nam ! cene'nsanrcen, seone moe-essential " !ue their : " ss a is r comr e he a n c in e n ue the au exe a m se in " em s » s their co u u r r " a their n cc , ur are moe « saue ».our "occu ar un oenamue",ar un oe saue", « »- !:essereea ceue« e »our "ve" e « u »our "nn" "saue " ",ans² auaseems couran,reare moe-esas ! ! : oss a is r com e too a nn ce he ue whose a r u exe a m se in e“ m s » s c oouran,r are moe "namue".our "occu ar un oenur "occuar un oe saue", « » - !:esser amue", "e"our "ve" and "u"our "nn" "nam ! 2 eea ceue auaseems couran,reare moe- e « x - e said " !ue s : ", » a an I’m r s r "eye ea c Well e r u and e Oh au Alright a s s Well ee I m Alright", s “ cou » ra Oh n I . r " e Oh s with as Well o r ss and o es c Alright om n re Well n m nen ue", ar - »ou #r! "^:vee"s ese «ru »eouer "an ceune" 2 - m# : e : « a oes » o s e s o o e u r r v s e "orvc e ceua c And e ",a « u c e e And » a u u auaseems couran,ansar exe eou a to s ru "v e to se em "e ee s «m co u u s » r c a or n ouu . r ra e n " s n, as n" o 2sses comrennen- - ::cecsuureaoun caeeau creue auas ans. occ,em.aseems couran.es vaeursosses sonacaons ear ceocmemaeranso un asvecan'asu'rnesr menceo,es.n unuemenara sueoures eassaussorssces ne seminas ceux exossc. esossee mere en œuvrees ar unon nson ec nomreux, commear exeme « occuar unon coora », « occu roo oora », « conscenearsencee'en auomasevcue, sr non conscen », eeu rsee caouu nsaon aesr,een ar e ces varaes esrsen enure.omme onne uneraononenncee, oenavecnue anreurenoammen ,our une ceue scne.our ceare, esvauaons saaueues ereemsmveananamue ea saueea sarmen,esvauaons saues eesvauaonsuanonsnamuesnamues rennen en enene re avanre enrc mxes'normaoanmroueas ansereuroree'raon cae venanu oues o a u e r m s.en,asruoneroa"" is exermear & & . && whose u . ^ - e exr − e 1 ss an yes c sc en their g sse o e u s s on n s a eu their e r s m s ae v r r e ca c u e r un whose o n e c n e in s r r u u r r in o in u e s sc c e o the s m n a m s n e s r c u and e : color n m s m o and s to s cce e s s s e and a ce and ue king r the e u , s s and a s ue. - ancen g s − . 1g e −1 e g−1 s e r s u a on s e r o s m u a s o e n co o n u o a r n e c e a co u n ea o s nne ee em sur s ' c a ea vessees- pp −1−1 ese moeercon, se aueraon resegg gg one moe « saue »,as suresvesse :as vaesss eeaa vesse sonnssocaes, caranone'a esrecemenea n'onase vesse ansssoecseares saues es nue,ansueesaresres ennes -namue p . −1 ees esa csorseu unono srumreo quasreas c aenuec esen csossesea ceuearcue, ouses ancensossesonsre comme accessearre - ancen p s − . 1p e −1 e p−1 sr es u a a on s v e r ec s u un o e n c ro on a one con ae onnee sur'a ea vessees- pp −1−1 ese mo ms e e e o r urc c o a n, u s e e aseems arcues. p is p whose p is p to be sonnssocaes, face one m n o am e in « ' n whose am is ue too » c , in a m s he sures a vesse :a vesseansesares saues es nue,ans e n - 'onase ve ueesaresres ennes'aenecse . rn "% ss uo g − n 1 "! e assoc and asv ! in % c ! now ! e house e sheep s mss a in s yes g p r =ro v ug p o u, n in u yes n us u 'whose e n s c a ce he ue c − e 1 s of aec e of na ess e in eu p = s v p p . our'un, seue p euxsruonserac with a value of concentrating on these +o vn g ne ∈s cr eoeueesar m .oeaeseremae ceua me c, eoeone mnuera carenssocaes, car "! e cacu ce - .!! whose "!!! n!! these moeeusonercon.esas ea vesse sonares saues es nue,aonnse'ueaes esarreescemreesn enean vese ns'soen :aa vseesseanses - esaroa 'une oservaononne.an vesse associationmen'morance, s ce moe, sa vaeur n'auras - oo that casrr those seoranenv mersmeeuac meoureouer c caaeuuer, coeeenerec eem,anourn. onneares au en cacue e - oservs,erm p in p does o is n om eosuaesroa 'un coue avesse seonesasrs e uneormueus comesneraconsrcons e oservaons.ne marceenraon, ou .xresson exeeure use. 'eosuervauornoc ce s osusm ruaso neeue ouraueroasmeen r essou'esmer'a ea vessear raor esas cacs,'aeur a coarsuere ceueu :.o'e.nsaenmsee sseomue,esees vraarea eses a :u sur s'nc ur :san unescrsaes ceuesua vessees, ancesua vessees, ors,'occuaonea ceueeureue : . seuro s moee rsouon es mse en œuvre, vanuaaonr ese rnec.aene monoe comrenrncaemenrosaesrcon,uson- . naeearcues,u are excessive sweat. nomm ermcoen em nxen ecsuaon , una «n ssu ae mso uene »oanss seusr v uanreaes,e ssme es comoseeux moes nusesonnes smanues,esasor en in e in s s u o n n «namue »as suresarcues.- 'a « occu ar un oe saue »sar exeme :u comrua rrence une occuaonmmoe,mense,n ec..roremenareres oes saues, mas aussesonne'arrre-an - - - '' ' aa a « « «o v n cceu » n e » a,r u uu , n c o u orr e ee s s u o n nnam a ' ueuse »ace,rue.a rrence'occuaonnamue.manuee conenceansasour snere manue'normaon,use«' oacucuresaars une vuvencuee »n, « en cr ocecnuuarrees au un cnr csescomams. sa’aues. coensss.sem eenn usn eesrmes s'aasuesraer'eoccurea soonn r,e crasue ceue coan sa e ceuese moenamue consse en un ensemee ensans ceere aan uneoson e une vesse r arcues en mouvemen, cacune ceueauee eec ees, ansu'unana "os" corresonaa ueroa eec ees ceeneearcue aarenra so occuear un oenamue avec aes amue.omme seuesesares occuaon enamueesas son eu c,ouesesarcues one mmeanamue, masusnraemen ees raveonn auuss arveor u cnauae samsaneeume asssoarc exevmouere,,esoenueus, s sorxes. cauenenammenourarcon,ususonns evaus enseme, en e uss nouveau.ee'asrs en comeeu rer, cerans co nn semens occueson, voure,men, ec. you will see the resonance of those moee movement scue. oue,roor, etc., and each avor an annss,ua'unns "and moos" e.enaomsu ees, reesrasrencuaes onea carcounae uneuoesao cne eu une vesse ree, arcue aarenra so occuear un oenamue avec ceaeaueea esmens esmsnamuesarere son rersensans e ceenamue. en mouvemen.esarcues sonsruesans ue moenamueoes sonenues ceeu moe saue.es neree ceues,onesmensons raon, msournenammen'n euxreseseux moes son, caue «n e'aureuss sonusonnsournr unere aa '. occ hours ». exoseeroc nra ms en œuvre au senusoseraemenesres - ua un on.eroc comren,arr'unere'occuaon courane :rcons e ' a whose e is e m in s v e is o is u s r our au u m m their o ns and e n s in a light ue in , co in n whose ss r an e'occ e u rm whose n their e n r co e u s rane and o r nc c am on in s s u r mtheir o whose e s s a um ue their au is as whose e u e in m ermnes'raonrcene,vranes -rco u n n s e ' a whose e is e m in s v e is o is u s r our au u m mo s e + namue, conssan ermnerescourane enoncones ons unearcuecveeare'occuaon rcene, vranesr r was cons his moenamuermnes'raon- uneaeeuson is u r mo con e su na m m o ue e s au a aseems+ moenamue, ue eesrconsu - unseon un moeusonr ermn'oseeae'vauaon esrconsusonnes enonconeonnen avarnvaaoense o ceoenn soeuesonss eusesu'a'u e msonosss une ca meeurre,ar exeme un caeurroase. onnes enrovenancee caeurs ouresrconsnaes sansnenammenea rceones :eonrnaeemenesreseure eecummenanaecnuee'nvenoneus e enecrouveernaensce msues caoeuurr ".asarn ecxermonees",,e ce moue eecuan cees-c uneuerence ueuence ueuence eueuence nomreusesraon xransmereesonnes "observaon"unere come'a ​​"sea moeroose oneu sans rovenanceu oue unnown" es use eneu eaceesonnes en arre s caeurs,'ar ne s aue aorsue surarcon eecue comsasrcens, en saranarconarcuareearcon «remm », .mnrcemre. oeec rnon suus arecauesmomnene c,eessreuxc moes sonroes sarmen,arconnaemseouru mo ons.n'auresermes, on eecueeuxrcons sarmenususoenn saeue e mseouru moenamueu sonres r con cons s.our caue moe,esaese mseour conusana - v the es c se u . in u s e n ss e am rro s e e r s their c en in ' o their n : cc in u is n the am yes n nc u s e their : n en in o in n u c rs o v n in u sse e s m , in s in c s ou Russian e whose u u s ss ' he r s a he on os rc am e in n in e n ,es - uneranson'a : c on au c e mo ne e s c s om a me ue saues. eranson,ermeanesra,namue are associated marcesrncaemen in uneransonnnesnoen vsers''aa.n "nranu"e,, r ceesr mseanracnes caonesrseene conance a o n u s r is re amu n s c and o s is re m ns is a to n u see u m em su s. e and e s s to a s s occ r u es. ssaues,namues sonns - vcue u s n A mo a u c v e and m m e and n n u Oh r nc m re Oh ne and : , e is s m s Oh me is a Oh n Fri esn re re ac em whether a n r Oh u suresmoon.a rrsenaones moes sme cee ora ncone'eo- 'oraon conssan enaransorm onar aeurs comexe,esosons, roaonoura vessea eo'nneers voeaceounrseasrrcueas.reess zroannesaon e roaonour corresonan aux rons nouveemencoveres seare ansueve zones surmeseu sonna'a'a' nonneu, roos moes, ce socaeeonnens n'esre saos oeurneens oaun uses neosmoruerusesn arer ucnaeonse ase suraare saue. care - aure sc sueroson o m . e a s a s u ee as ro e ce e ss m us s e r r ce c n o . n e : seuxres earcues are rersens in- mouvemen ro e ec es on rans na o m ns ue 'ouresres eesarcues, seones moese- xressonesonne a sa s n e s ones moeseranson'a.ransaon and roe nouveau rrene,arneroaonesres e- suer vo a es on r es s a a r u cu as es. eems couraneseuxres are rersenes eneuse vaeseousrsono.eneese cesrcons sonrcacueser-canonnes,e sore son g −1 go cacu g in −1 ur es g s − n 1 : g −1 six g p m g p he g −1 in g c −1 is and will p r −1 p −1 p −1 p −1 p p p p p −1 p −1and auxarcue s sonrecemen associates aux ceuesesres .usonessr concerns. erse csoruraunoen.so musc eessons eso euarr svua cru uea eson srass seosn sonva ruoersa ennsaersa eeans caue ceueeaare,e soreue seuesesarcue nonconeeurosonans oure cacu au nveauea ceueeas erees coouneso cneeueso − in 1 r p See −1 is p so.nnransmses ermes, seueses ceueson −1p−1p exc g gp p 'auresuson evauaon g gp p and a ceran his sonransmsesour a.canounsoenrescronc soans :u see eonen mamoueeenusreonesrncarons p n p ae g p s. g p in p m p their p p,e caeuesoeneunrere soraeorue a sve ucn mrocsoeneourra mmere ars, mas'oernca es nr unanamue, auson aou una s unam moue.enron, su unn maoree,raus uonn aao saue,auson aou una saue.non, nrue su unare. unannu n es ceeaon,aers exeeumx meo,aersscaonue'u en oneam enu meouvremseenn a crravcaunn uannsaesn ceune.se'rncormeammonenau croeusrsu ouenmsn eesounc n eesrmeas ae rasoue creeeusaroranmeas rernecnone. vauaon :ans une ceue « c »onne, cesrconsnaes s nrs. 'observation oo.e moe'observaon us esas su on conrones roase cassue, enenan comeeaernencee re moee caeur caeur,ocasaonesmacs,aue sonnesu caeurconanceu 'oservaoneuren uresmacs,sruon vercae, ec..e moeusonnes'ae caeur reseouroueruene rovenesse rovenesse unraemeusoneroa,ermean unenraoneonne aemenrerenene cenerruee..anon'a useans ce moeeu caarss exeume, aev,ece m'aoouee''ovsaeurvaaoonne'uanreans suur,eu m coorree aeve cacaeuerroase onnesu caeurar case exemear vaes, avanes sa avenences. his auouure'mac, he was in the mountain of a norm that he did not know. es vaeursevesusonorsu'aucune ournsnrer'esmaone'ana,asruonnrave ppooit is used, oarsaemrvsaan roenssa.r eueo vca in es ouonon'un ve snouasran e aoarm e rea s, e' vunneess on me ca en orncoenc esnon cornaevser onsouerceosnsa esesones oraonnees,ermeanar exeme'aaron rae' mse en œuvre r œuvre commeres en cemères vues ceumenou, ocemens ceuessormas vues commere n unesaronene'oesanses 'ana'une ose s ounnes, ou'asence'mac sur'esmaone uems. rvaonnneorsu came'roson naureeesrvsons au ca'sesuures,eoauru cseonaseesermcs, oonns esoessev'aunuearones a cuou rreanareesonnesournesares ceueernearoa 'unaroa ea vesse enoansauee,our caue observation ncones econesson econs onacences. ceeo susvauneees conssrseu,oannss u'u n eaes xe smurees cee ruaessa soonn, c eorrecemen esmescacues,a comrenanar exemeeseseuxae n un rcanonnaeesarcues, aa.re, ea'oaucareosn cresreasrcouseso :ne, enoncr ees nes cnurcva er :oaasrsn eam ouee caue ceuee vesses, ec.,e nomreoaearcues es raou servs,sruones . nraonearcues :orse'vauaones to those concerned.arcue exsane es msour e normas, e sruons'as,eose caue arenamue.ans caue ceu noncone sa conruon reaveansa son aorsreseasr eaueeesarcues on associates,esarcues seonarooro uonearcues exsane, e'unesruon'nasaon, sruonen "'a muarencena encereas, un reservesas" vesse, ec..nn,e coecennamue ceuare.e.ea ceue es eso mrmarmueeunrs r unarue esnreesarcuese cee ceue. gave auxar his assocs cauearcuereeasruon'nasaon, and rae cues exraese cees exsanes, ermean uner-semenaones esa ece usranamreueess. oee rscoua anu moonnnas uen ceuuserre co raresnaarns'aeusr esaces'occuaon e oaoree se es moens. n'esas .ures ca mer cee manreeare. eon'nvenracon,rs esu aesn,s amossoraeons e avanaes aresrcens ssmes, 'amorerranemenauaesrcons rases e. ms.ar ae and insurance and conserve insurance - sens urs, s ’n c ve a nonrseneaemenes avanaes suvans :rsenear raor aeesres : uneremre rence maeureeaecnuenermares ooouxresrcemmen cs es'nroucone varaes'a esonnes. urvaueresasu moe, aueu'unevauaonrecearr esm, ea reeas «on eansr oe csearvuse »aeuvoenen aveo or usne nrvom er eesemmeeunsonres conrueen,en'ssaan e coxcrenecmeenemao serenseeseasrares s.ure unem enareexeee ceosceu san rescoes areceaes. romerauees arocesrcenes,ansesueesesaux'aaro u un sarone'aaenrecemens.n ee -aemen r , in u n en c c their e and e n m co se nine o in u c r 'u n The en onane : cea a vou, ceeruenceermescueour "un manueeo ansesas'observaon'une rersenaon ree ceees caeurs nnes", econneceresruencese mseouru 'aenreesruences.e en corraon avec'mmenaonu, eeerme 'avor une esmaonnam sree meaure sune sreeumreso museum rusxur'auucuennecesonens ceaee cuars,e cuer nu'erme reu is - e. mouse a s ro n n cs e their r ur c whose o r n ac a yes a , u e and : un r e au c r the e nose re and n s c u e r m r ae and ure p es p ' and u u s n a and o r ne c eux donkey sugarcane pp ,ouseuxroasnenammen c g to g weather monsoons pp on p n prsarre'esmaonas.ee saraon srceara rs 'canonnae cononne anreur eauson conurae rsoven un aormoranea moercene,ansauee n'aasosse'aa auerrearome 'unanans une ceue enoncon'auresrcons.n case erssanceorsu'uncanonna sunceunnae zonesere uessae'ee essencea. ceuesresrcemme s, sans nouvee observaon,a 'oe en mouvemen,usu' sasarn oserves ruaroa 'occuaonemoeeransonnamue.racon, mme sansranson'aemoreene arruremer moe une ceueea moee'nvenon,orsu'une ceuer arrearoe recone "arcue senae" earcue senae "mue" ns,rcea mse en œuvres,'ar es correcemenn sur "namue". and mseoururee ze,a maoeroose, esosse'oenr unneruence mseouruseveerme ssanesruenceses caeurs.eeruencee un aassemenea co unraeusue, unenraonusrcseesonnes,onnemenurocnanoceemoreeenn,ou en amorana scure es caeurs.asn ur sueearoa neeeaones caseaones. esromesmcon enreeux moes earcon crosenssenar rsoure es zones auaravaonra cnonss,erseuse commuionre rsa ouennnsreas.e'aoeu'oc'cuaaso'nosenravmaouneans c soonenu con uvnaencaunss,raensera rvaaucxv ureanusa econ'asarcuers. ccuaon onn rs,e mrues easee .seosse rerraenecem. enrresesn'eo,c ecnu raeaonoe ,nn m aevecana enu œreuvr, une arcecure sm e'unsos eraemen rcemmen.nesos er eou ouareea m oeeeuersene , une un aemeneres'occuaon comren une mmore roramme'oerrnaa me eenmuren, mœeroc'emeroc secroonr'ocesseur, e oeare exemee mse en œuvre,'n nvenon.ans au mons unns venon es mse en œuvre sousaorme'une a caon naees suors unesorasemnesnae aur seesn''oucncu vacoune c ooum'ruen aen auonomee e roo. m n the ouarees exams - oens s ca e does a c r rs e e u whose s v s m an their a n o s e : in nsfrom e c m no s , e yes o from u n r c e from s 'a r you u my on n s this e n r a o s a oh s yes ’u ss n from e c re oh s m a from u s e one e hey - es wow, that's one more thing e yes a c r rs e a m from n n o a m e it ns a u s e e c , s m n e it s oh, e n en un o from u man r c e from s 'a r you u my on n s this e no ro on a cue a s ss ’ from u c ne it r a e you my na n ms and u and e sky e ue − r r on c I on and e , s m 'and o aa e and n r s ue n e s e to us r o u n and c s and es o and s e to r r u na and o m ns u sea e e r u o and, a vr s to , n au , s the e u n rc ’u to ne ue r sky e u ’ and o , c u c n u and aon -earo e to s moen 'u s n ’v to aua No o and n o , n o e 'u u n r v and au es mse ons une ceueeare'occuaon rsuane,observaons vesse assoce enonconesr cons eesoersm meoeen cosm s.eorsasnens mena srouessaorme'une a caonocee sc ue, ou encore sousa u'un . s consrus en vueea rasaone cesoncons,e

Claims

.namureomcen re'oresnenone,'uneerree'eonnes rersenaves'une scne roc ms en œuvrear un mouenormaa,aueeerraee'meaneanonncoeue en ceues, 'au mons un caeur,eroc comrenan au mons uneraonesas e e n s s r u their v v a enance - saue m , se se their n u o n ur m e m s their r ns u a ons whose e The ro u a and asso s c ’une or r mo e n s nes : and scene, enoncon'au s a one u c e in e u c in ara in c whose r r sa in on - in ar m in se n a o m ur oe s ue, se e a s u r e characrsaonea scene, enonc u their o n ns 'I e mr the o n a s a s and ’u c n u e and r day e oc n and am or u m e the e ns a strain - u r ne I r to u c s u o hours n and e and v to e es o king s n r un n u m am o o ns e ue, er n o am vr a ue I,the s u , a r u c s to en ue ’ c u and ne ue r , u e and ’ r a r c su yes an ' e to ,e and a -' vauaon sse,our au mons une ceueeare'a rsuane,earoareunuesa ennraov eena'nucnee vuess aeu a mssoocnse un en caonecuro.nesrcons eesvenueesonnes .eroarocs co semonrean re,veonur ucaneo cneu, cearaocrs en ceue'aeeus penonessru p pppp nneeare rsuane, uneaee cacue -aroa! -:argegap cepuea anusaauee : - ! - "! ! ^ : : : ae e s s s s in r e r r ee e a ce e ea a u c e e a u u e a as s ue in ase in m m es s em c c o their u u sr r a whose con n u , ra r n are moe "saue" " -saue " "!:ar ea ceu c in e whose u u e whosea s u in as in m e s em c ou s r a co n u , ran r,reare sleep- ! !:essereea ceue aare moe "namue""nam ! ue".uaseems couran,reare moe .roaroc'un seaonnaa re event'ucaon, caracrs en ceue'ae'vauaonearsuane, uneaee cne vesse assoce com p r p he oo ,our une ceueonneeare - -:aea ceueac auuaearoa ansauee :- - ! ! : ^ :: e a s in s s e s re e r a c e e in a u ce e e a whose u us c ee a a ese u ue em whose s couran whose su em eas s em c in ou se r m a con uran - # :a oservea ceue auasuease s couran- # :esse oserveea ceue a mesem cousra cnouran. c . rock seona revencaon, caracrs in ceue'aee mseour, -omren - - - unn n ee : and aa to ee and ’e and a r r to o n ce s aco o on n n’ ’ unn a aem s m , e ou n e Oh c n ea c oa Oh nr n c’u u e m as Oh , s eunr e eon mcoonee saeursu veessesneaee acemen, enonconu acemenu rrene..'vauaroonc se,on coam rerveenn ucnaeona,e carea rcsan enounen,aoeserseuarremcuene'ae namue. s au senu moe . arcues ro c c o his revencaon, characters enue,'aee rcanonnaees - caue ce ne m a re en e : raocaonesarcues enonconearoa namuee-arcues n in e ue in a e whose e a co e re nr n u ra am on ec e is ar the cu the es in , s e whose n ss on n c in o s n r e c ass em na I o n ns or r m c their en in es nor e m s ue. œ.uvre unreocre se'oonsearv ravencaon, caracrs en ceue'ae'vauaon me en rovenanceu au mons uonn, caaeeur.re'oservaon comrenanesonnes en re.rsenoe,uee'oreen'ona,'uaneerree'onaneasn rercsenaves'une scnenamuemen œuvrea oue en ceues,roc ms en c r a mouenormaueeraemeneonnes enrovenance'au mons a - aeur,e ne m m oue comrenan es moense cacus rasour eecuer :ca e doesa c r rs e to s the a n se ue e to , o ss e u c r one, it e onc s the r n u 'to o u n m s the e ns r u o n a and s to ’u u n and e and r sun e c sa or u m e the e ns a strain - and ar rs e n to e the m nn a s m e was u o s e u c , r n un mo s n e and o , n are un e the m nc o s e the r sa n u 'to o ue character n m s the e ns r u o and a ands cu ’ and u to n s e sun r c e was n u am in u n e on e and color - e une Neuson is loud. e ns n e am ro ue earth air, vr a I, s the , u a r u c se to n ue ’u c n and e u r and, e a ’a r r c su yes an ' e, to - r roa ne c 'u v o n a n ua e to o v n esse and e , 'u o n u and r v au and m ss o was nss une ceueeare'a rsuane,eaonnes reues enrovenanceu au mosnosc une c eaneounrc.onesr cons eesvenuees 'e.xcuornoreasmmaees'or'unnareoucr com seroenna'nuneesuenscorunconse coeerorammeour roramme es excu sur unrocesseur. uees revencaons orsuee

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