智能视频监控系统中运动目标的检测与跟踪

西安电子科技大学硕士学位论文智能视频监控系统中运动目标的检测与跟踪姓名：曹朋朋申请学位级别：硕士专业：计算机应用技术指导教师：刘志镜20100101ᨬ㽕㾚乥೒ڣᑣ߫Ё䖤ࡼⳂᷛⱘẔ⌟Ϣ䎳䏾ᰃᅲ⦄ᱎ㛑㾚乥ⲥ᥻㋏㒳ⱘ݇䬂ᡔᴃˈгᰃ䅵ㅫᴎ㾚㾝ᮍ৥ⱘⷨお⛁⚍DŽᴀ᭛Џ㽕ⱘⷨおᎹ԰ঞ䋵⤂᳝ϸϾᮍ䴶˖(1)೼䖤ࡼⳂᷛẔ⌟Ϣߚࡆᮍ䴶ˈᴀ᭛佪ܜߚᵤњᯊ䯈Ꮒߚ⊩੠㚠᱃ޣ䰸⊩ˈᦤߎњ㚠᱃῵ൟ᳈ᮄㄪ⬹ⱘᬍ䖯ᮍ⊩ˈᇍ㚠᱃ⱘ᳈ᮄऎඳϢ᳈ᮄᯊ䯈䖯㸠䰤ᅮˈՓᕫ㚠᱃ⱘ᳈ᮄ݋᳝䩜ᇍᗻ˗݊⃵ˈᬍ䖯੠Ӭ࣪⏋ড়催ᮃ῵ൟⳌ݇খ᭄ˈৃ೼໡ᴖഎ᱃Ёⱘ᳝ᬜẔ⌟䖤ࡼⳂᷛ˗᳔ৢᦤߎњYUV买㡆ぎ䯈Ёᖿ䗳ⱘ䰈ᕅᡥࠊㅫ⊩ˈᦤ催њ䖤ࡼⳂᷛẔ⌟ⱘޚ⹂ᗻDŽ(2)೼䖤ࡼⳂᷛ䎳䏾ᮍ䴶ˈᴀ᭛߽⫼䖤ࡼⳂᷛẔ⌟㒧ᵰˈҹⳂᷛⱘᔶᖗǃ䴶⿃ঞ买㡆Ⳉᮍ೒ᵘᓎҷӋߑ᭄ˈ䗮䖛KalmanⒸ⊶ᅲ⦄໮䖤ࡼⳂᷛⱘऍ䜡䎳䏾ˈᑊ೼㒳䅵Ⳃᷛ买㡆Ⳉᮍ೒ᯊˈҹ䖤ࡼẔ⌟㒧ᵰЎ᥽ⷕˈ߽⫼೒ڣ䞥ᄫศⱘᗱᛇ㒳䅵ࠡ᱃ڣ㋴ⱘ买㡆ߚᏗˈᦤ催њ买㡆Ⳉᮍ೒ⱘ䅵ㅫ䗳ᑺ˗ℸ໪ˈ䩜ᇍᑨ⫼䳔∖ˈ߽⫼ऩⳂᷛ䎳䏾ˈᅲ⦄ѥৄⱘ㞾ࡼ᥻ࠊˈ䖯㗠ᇍⳂᷛ䖯㸠ᣕ㓁䎳䏾DŽᴀ㋏㒳ⱘᅲ䰙䖤㸠㒧ᵰ㸼ᯢˈ᠔䞛⫼ⱘㅫ⊩㛑໳⒵䎇ᅲᯊᗻⱘ䳔∖Ϩ᳝䕗དⱘẔ⌟Ϣ䎳䏾ᬜᵰDŽ݇䬂䆡˖䖤ࡼⳂᷛẔ⌟Ⳃᷛ䎳䏾वᇨ᳐Ⓒ⊶ᱎ㛑㾚乥ⲥ᥻AbstractThedetectionandtrackingofmovingtargetsinvideoimagesequencesisthekeytechnologiestoimplementanintelligentvideosurveillance.Itisalsoalong-standingresearchfocusesincomputervision.Themainworkandcontributionsinthethesisincludesthefollowingtwoaspects:(1)Ontheresearchofthemovingobjectsdetection,wefirstlyimprovedtheupdatestrategiesofbackgroundmodelbasedontheanalysisofthetimedifferencemethodandbackgroundsubtractionmethod.Theupdateregionandupdatetimearelimited.Sothebackgroundwillbeupdatedforspecialpurpose.SecondlybyimprovingandoptimizingtherelativeparametersoftheGaussianMixtureModel,movingtargetswillbeeffectivelydetectedincomplexscenes.Lastly,afastshadowsuppressionalgorithminYUVcolorspacewasproposed,andtheaccuracyofthemovingtargetdetectionwasimproved.(2)Ontheresearchofthemovingobjectstracking,basedonthemovingtargetdetection,acostfunctionisconstructedusingthecentroid,areaandcolorhistogramofthetarget.AndthetrackingofmultiplemovingtargetsisrealizedthroughKalmanfilter.Withthemotiondetectionresultsasthemaskimage,thecolordistributionoftheforegroundiscalculatedusingtheideaofimagepyramid.Thecomputingspeedofcolorhistogramwasimproved.Moreover,thePTZ(Pan/Tilt/Zoom)willbeturnedautomaticallybasedonasingletargettrackinginpracticaluse.Thusanobjectcanbetrackedcontinuously.Thepracticalresultofthesystemshowsthattheproposedalgorithmsmeettheneedsofreal-timeandhaveagooddetectionandtrackingresults.Keyword:MovingTargetDetectionObjectTrackingKalmanFilterIntelligentVideoSurveillance߯ᮄᗻໄᯢᴀҎໄᯢ᠔ਜѸⱘ䆎᭛ᰃ៥ϾҎ೼ᇐᏜᣛᇐϟ䖯㸠ⱘⷨおᎹ԰ঞপᕫⱘⷨお៤ᵰDŽሑ៥᠔ⶹˈ䰸њ᭛Ё⡍߿ࡴҹᷛ⊼੠㟈䇶Ё᠔㔫߫ⱘݙᆍҹ໪ˈ䆎᭛Ёϡࣙ৿݊ҪҎᏆ㒣থ㸼៪᪄ݭ䖛ⱘⷨお៤ᵰ˗гϡࣙ৿Ў㦋ᕫ㽓ᅝ⬉ᄤ⾥ᡔ໻ᄺ៪݊Ҫᬭ㚆ᴎᵘⱘᄺԡ៪䆕к㗠Փ⫼䖛ⱘᴤ᭭DŽϢ៥ϔৠᎹ԰䖛ⱘৠᖫᇍᴀⷨお᠔خⱘӏԩ䋵⤂Ꮖ೼䆎᭛Ёخњᯢ⹂ⱘ䇈ᯢᑊ㸼⼎њ䇶ᛣDŽ⬇䇋ᄺԡ䆎᭛Ϣ䌘᭭㢹᳝ϡᅲП໘ˈᴀҎᡓᢙϔߛⳌ݇䋷ӏDŽᴀҎㅒৡ˖᮹ᳳ݇Ѣ䆎᭛Փ⫼ᥜᴗⱘ䇈ᯢᴀҎᅠܼњ㾷㽓ᅝ⬉ᄤ⾥ᡔ໻ᄺֱ᳝݇⬭੠Փ⫼ᄺԡ䆎᭛ⱘ㾘ᅮˈे˖ⷨお⫳೼᷵ᬏ䇏ᄺԡᳳ䯈䆎᭛Ꮉ԰ⱘⶹ䆚ѻᴗऩԡሲ㽓ᅝ⬉ᄤ⾥ᡔ໻ᄺDŽᴀҎֱ䆕↩Ϯ⾏᷵ৢˈথ㸼䆎᭛៪Փ⫼䆎᭛Ꮉ԰៤ᵰᯊ㕆ৡऩԡҡ✊Ў㽓ᅝ⬉ᄤ⾥ᡔ໻ᄺDŽᄺ᳝᷵ᴗֱ⬭䗕Ѹ䆎᭛ⱘ໡ॄӊˈܕ䆌ᶹ䯙੠׳䯙䆎᭛˗ᄺ᷵ৃҹ݀Ꮧ䆎᭛ⱘܼ䚼៪䚼ߚݙᆍˈৃҹܕ䆌䞛⫼ᕅॄǃ㓽ॄ៪݊ᅗ໡ࠊ᠟↉ֱᄬ䆎᭛DŽ˄ֱᆚⱘ䆎᭛೼㾷ᆚৢ䙉ᅜℸ㾘ᅮ˅ᴀᄺԡ䆎᭛ሲѢֱᆚ೼ᑈ㾷ᆚৢ䗖⫼ᴀᥜᴗкDŽᴀҎㅒৡ˖᮹ᳳᇐᏜㅒৡ˖᮹ᳳ㄀ϔゴ㒾䆎1㄀ϔゴ㒾䆎ᱎ㛑㾚乥ⲥ᥻㋏㒳ᰃ䅵ㅫᴎ㾚㾝ᮍ৥ЁϔϾ䴲ᐌ⌏䎗ⱘᑨ⫼乚ඳˈ᳔䖥޴ᑈᕫࠄњ䖙䗳ⱘথሩˈ݊ⷨおⳂⱘᰃՓ⫼䅵ㅫᴎҷ᳓Ҏᇍⲥ᥻എ᱃Ёⱘ䖤ࡼⳂᷛ䖯㸠⧚㾷੠ߚᵤˈᰃϔϾ䎼ᄺ⾥ⱘ݋᳝ᣥ៬ᗻⱘⷨお䇒乬[1]DŽᴀ᭛Џ㽕ᇍ݊݇䬂ᡔᴃ䖤ࡼⳂᷛẔ⌟Ϣ䖤ࡼⳂᷛ䎳䏾ᡔᴃ䖯㸠ⷨおϢᅲ⦄DŽᴀ䇒乬ᴹ⑤Ѣᑓϰⳕᬭ㚆䚼ѻᄺⷨ㒧ড়ϧ乍䌘䞥乍Ⳃ“㔥㒰࣪ᱎ㛑ⲥ᥻㋏㒳ⷨお”(D90704017)䌘ࡽ䇒乬ˈ䆒䅵ᑊᅲ⦄њ㔥㒰࣪㾚乥ⲥ᥻㋏㒳DŽ1.1䇒乬ⷨおⱘⷨお㚠᱃ঞᛣН䱣ⴔ㔥㒰ⱘϡᮁথሩҹঞ㾚乥೒ڣ໘⧚ᡔᴃⱘϡᮁᬍ䖯ˈ㔥㒰࣪㾚乥ⲥ᥻㋏㒳᮹ⲞফࠄҎӀⱘ䞡㾚ˈ݊䳔∖ϡᮁ๲ࡴDŽ㾚㾝ᰃҎ㉏ᛳⶹ໪⬠ֵᙃⱘЏ㽕䗨ᕘˈ㾚乥ⲥ᥻[2]ҹ݊Ⳉ㾖ǃᮍ֓੠ݙᆍЄᆠㄝ⡍⚍ফࠄҎӀⱘ䴦ⴤDŽҎ㉏ᛳᅬ᥹ফⱘֵᙃЁ㑺᳝80ˁᴹ㞾Ѣⴐ⴯᠔㾖ᆳⱘ㾚乥೒ڣ[3]ˈ㾚乥೒ᰃᇍᅶ㾖џ⠽ᔶ䈵⫳ࡼⱘᦣ䗄ˈᰃϔ⾡Ⳉ㾖Ϩ݋ԧⱘֵᙃ㸼䖒ᔶᓣDŽᱎ㛑㾚乥ⲥ᥻ᡔᴃሲѢ䅵ㅫᴎ㾚㾝ϢҎᎹᱎ㛑乚ඳⷨおⱘϔϾߚᬃˈᅗᇍ㾚乥೒ڣᑣ߫䖯㸠ߚᵤˈᦤপֵᙃǃথ⦄ᛳ݈䍷џӊˈҢ㗠ৃҹ೼ᶤѯഎড়ҷ᳓ҎЎⲥ᥻[4]ˈ೼ⲥ㾚എ᱃Ϣџӊᦣ䗄П䯈ᓎゟϔ⾡᯴ᇘ݇㋏DŽ䖥ᑈᴹˈ㾚乥ⲥ᥻೼ᑓ⊯ᑨ⫼Ѣ৘⾡എড়ˈᱎ㛑㾚乥ⲥ᥻㋏㒳ϡҙヺড়ֵᙃѻϮⱘ᳾ᴹথሩ䍟࢓[5]ˈ㗠Ϩ㭈㮣ⴔᎼ໻ⱘଚᴎ੠㒣⌢ᬜⲞˈ៤ЎⳂֵࠡᙃѻϮЁ乛ফ݇⊼ⱘѻકDŽབԩ䅽ⲥ᥻㋏㒳㛑໳㞾ࡼ⧚㾷㾚乥Ёⱘֵᙃˈᑊḍ᥂㾚乥Ёⱘֵᙃ㞾ࡼخⳌᑨⱘᱎ㛑໘⧚ᰃ䅵ㅫᴎ㾚㾝ⱘϔϾ䞡㽕䇒乬DŽϔ㠀ᇚᱎ㛑㾚乥ⲥ᥻ᡔᴃ[7]ⱘ໘⧚䖛⿟ߚЎϝϾ䰊↉˖㄀ϔ䰊↉ᰃҢ㾚乥೒ڣЁᦤপߎ䖤ࡼⳂᷛ˗㄀Ѡ䰊↉Џ㽕ᇍẔ⌟ᕫࠄⱘⳌ݇䖤ࡼⳂᷛ䖯㸠䎳䏾˗㄀ϝ䰊↉Ўᱎ㛑ߚᵤ䰊↉ˈࣙᣀϔѯ݋ԧⱘᱎ㛑ߚᵤࡳ㛑ˈབ㸠Ўߚᵤ੠Ⳃᷛ䅵᭄ㄝ݋ԧᑨ⫼DŽ䖭ḋՓᕫⲥ᥻㋏㒳݋໛㞾ࡼ㦋পǃߚᵤ໪䚼ֵᙃⱘ㛑࡯ˈЏࡼഄ㒭Ҏ㉏ᦤկ৘⾡᳝⫼ⱘֵᙃ੠᳡ࡵˈᑊ䗮䖛ߚᵤخߎⳌᑨⱘડᑨˈ߸ᮁഎ᱃Ёᰃ৺থ⫳ᓖᐌџӊˈ䖯㗠䞛পᖙ㽕᥾ᮑᑊঞᯊথߎ᡹䄺ֵোˈৠᯊ䆄ᔩ᳝݇ॳྟ䌘᭭ঞ䆕᥂ˈ䅽ⲥ᥻㋏㒳᳈ࡴᱎ㛑࣪੠Ҏᗻ࣪DŽᘏⱘᴹ䇈ˈᱎ㛑㾚乥ⲥ᥻Џ㽕ᄬ೼ҹϟⱘᑨ⫼˖(1)⿏ࡼպ⌟˖䆚߿ߎⲥ᥻എ᱃Ёⱘ䖤ࡼⳂᷛˈ߸ᮁഎ᱃ᰃ৺᳝䖤ࡼⳂᷛ䯃ܹDŽৃ䆚߿㾚乥ᑣ߫Ёⱘ䖤ࡼⱘҎǃ䔺䕚੠⠽ԧㄝӏԩ䖤ࡼⳂᷛDŽ(2)䄺៦ऎඳⲥ᥻˖ᔧⲥ᥻⬏䴶Ё᳝Ҏҹঞ䔺䕚ǃㆅǃࣙㄝ৘⾡⠽ԧҢ乘ᅮऎඳⱘ䖍⬠䖯ܹࠄ䆹乘ᅮऎඳᯊˈे㾺থܹ։᡹䄺DŽ䆹ऎඳгᰃ೼⬏䴶Ё乘ᅮⱘ㰮ᢳऎඳˈৃҹᰃⶽᔶ៪㗙ϡ㾘߭ⱘ໮䖍ᔶDŽᱎ㛑㾚乥ⲥ᥻㋏㒳Ё䖤ࡼⳂᷛⱘẔ⌟䎳䏾2(3)Ҏԧ㸠Ўߚᵤ˖೼ⳂᷛẔ⌟ߚ㉏ⱘ෎⸔Ϟˈ߽⫼Ҏԧⱘ৘⾡㸠Ў⡍ᕕᇍ݊᠔䖯㸠৘⾡㸠Ўⱘᦣ䗄੠ߚᵤˈ䆚߿ߎ䙷ѯॅ䰽੠᳝┰೼ॅ䰽ⱘ㸠Ўˈབᠧ᭫ǃᡶ༎੠੠⠀㸠ㄝ㸠Ўˈ㾺থ᡹䄺ᑊৃᇍ݋᳝ॅ䰽㸠Ўⱘ䖤ࡼⳂᷛ䖯㸠䎳䏾DŽ(4)Ⳃᷛ䎳䏾˖պ⌟ࠄ⿏ࡼ⠽ԧПৢˈḍ᥂⠽ԧⱘ䖤ࡼᚙމˈ㞾ࡼথ䗕PTZ(Pan/Tilt/Zoom)᥻ࠊᣛҸˈ㞾ࡼᓩᇐᨘڣ༈ѥৄᅲᯊ䎳䏾⿏ࡼ⠽ԧˈՓᕫ㾚ڣ༈ᤩ㦋ࠄⱘ㾚乥݋᳝᳈໮ⱘৃ⫼ֵᙃDŽ(5)⒲⬭⠽ક䆚߿˖೼乘ᅮऎඳЁⲥ᥻Ⳃᷛᇚ⠽ԧ䘫ᓗѢ乘ᅮऎඳݙˈৠᯊ⠽ԧ೼乘ᅮⱘᯊ䯈ݙ᳾㹿প䍄ˈे㾺থ䘫ᓗ᡹䄺ˈᎹ԰Ҏਬᇚ೼㄀ϔᯊ䯈থ⦄㹿䘫ᓗⱘϡᯢ⠽ԧˈঞᯊ䍊ᕔ⦄എᥦ䰸ৃ⭥⠽ԧDŽ(6)⠽કপ䍄䆚߿˖ᇍ⡍⅞Ⳃᷛ䖯㸠ᅲᯊᅮ⚍ⱘⲥ᥻ˈϔᮺ⿏䍄៪⿏ࡼ䆹⠽કᯊˈᇚゟࠏ㾺থপ䍄᡹䄺ˈ䰆ℶ䞡㽕Ⳃᷛⱘ϶༅DŽ(7)こ䍞㒳䅵˖㒳䅵こ䍞ܹষ៪ᣛᅮⱘϔϾẔ⌟ऎඳⱘҎ៪⠽ԧⱘ᭄䞣DŽৃ⫼Ѣ䔺キǃᮙ␌᱃⚍ⱘҎ᭄㒳䅵ϞDŽҹϞᱎ㛑ⲥ᥻㋏㒳ⱘЏ㽕ࡳ㛑ৃᑓ⊯⫼Ѣ໮⾡എড়ˈϨ䩜ᇍ݋ԧᑨ⫼ৃᅲ⦄᳈໮ᱎ㛑ߚᵤ⧚㾷ⱘࡳ㛑DŽ䰸њ݋໛ᱎ㛑ߚᵤⱘࡳ㛑ҹ໪ˈᱎ㛑ⲥ᥻㋏㒳䖬݋᳝ҹϟ⡍⚍˖(1)24x7ܼ໽׭ৃ䴴ⲥ᥻ˈᕏᑩᬍবҹᕔᅠܼ⬅Ꮉ԰Ҏਬᇍⲥ᥻⬏䴶䖯㸠ⲥ㾚੠ߚᵤⱘ῵ᓣ˗(2)㔥㒰࣪乘㾜ˈՓ⫼᠋㛑໳䗮䖛IP㔥㒰(LAN/WAN/Internet)䖰⿟乘㾜㾚乥ᑊৃᔩࠊᄬټ˗(3)໻໻ᦤ催ડᑨ䗳ᑺˈᇚӴ㒳ⲥ᥻㋏㒳ⱘџৢ㾖⌟ব៤њᅲᯊߚᵤ੠乘䄺˗(4)֓Ѣᶹᡒˈᇍџӊ੠⬏䴶㒣䖛њᱎ㛑ߚᵤ੠䖛Ⓒˈҙֱ⬭੠䆄ᔩњ᳝⫼ⱘֵᙃˈབՓᨘڣ༈䎳䏾䖤ࡼⳂⱘህᰃЎ䆄ᔩ᳈໮ᛣНⱘֵᙃDŽ⬅Ѣᱎ㛑㾚乥ⲥ᥻᮴⊩↨ᢳⱘӬ⚍ˈᱎ㛑㾚乥ߚᵤᡔᴃ᳔䖥޴ᑈᕫࠄњ䖙䗳থሩˈ䖤ࡼⳂᷛẔ⌟Ϣ䎳䏾԰Ўᱎ㛑㾚乥ⲥ᥻ⱘḌᖗᡔᴃˈⳂࠡᏆ᳝໮⾡ϡৠⱘㅫ⊩ˈԚ⫼Ѣᅲᯊ⦃๗Ё䖬Ӯᄬ೼ϔᅮⱘ䯂乬ˈ〇ᅮعໂⱘᱎ㛑㋏㒳䳔㽕᳈Ў剕Ầⱘㅫ⊩ˈ䳔㽕䖯ϔℹⱘⷨお੠ߚᵤDŽ1.2೑ݙ໪ⷨお⦄⢊⬅Ѣᱎ㛑㾚乥ⲥ᥻ⱘᑨ⫼䳔∖ϡᮁ๲䭓ˈ৘೑㒋㒋ᇚᱎ㛑㾚乥ⲥ᥻ᡔᴃⱘⷨおܹ߫ࠄ䞡㽕᮹⿟ˈ೑ݙ໪ᇍ㾚乥ⲥ᥻ᡔᴃⱘⷨお੠ᓔথ䍞ᴹ䍞ফࠄҎӀⱘ݇⊼DŽ䆌໮݇Ѣ㾚乥ⲥ᥻ⱘⷨお乍ⳂᏅ㒣೼㕢೑ǃ⃻⌆੠᮹ᴀㄝ೑ᆊ៪ഄऎሩᓔˈৠᯊˈᅗг៤Ў䆌໮೑䰙ᄺᴃӮ䆂݇⊼ⱘ䞡㽕Џ乬ˈ೑ݙ໪ϔѯ䅵ㅫᴎ㾚㾝ᴗ࿕ᳳߞབCVIU(ComputerVisionandImageUnderstanding)੠䞡㽕ⱘᄺᴃӮ䆂བICCV(InternationalConferenceonComputerVision)ㄝ䛑ᇚᱎ㛑ⲥ᥻㋏㒳ⱘⳌ݇ᡔᴃ԰ЎЏ乬ݙᆍПϔˈЎ䆹乚ඳⱘⷨおҎਬᦤկњᅱ䌉ⱘѸ⌕ᴎӮDŽ೼1996ᑈ㟇1999ᑈ䯈ˈ೼㕢೑೑䰆催㑻ⷨお䅵ߦሔ(DARPA)䌘ࡽϟˈवݙ㄀ϔゴ㒾䆎3෎ṙ䱚໻ᄺǃ᠈㓈SARNOFFⷨおЁᖗㄝ޴ᆊ㨫ৡⷨおᴎᵘড়԰ˈ㘨ড়ⷨࠊњ㾚乥ⲥ㾚Ϣⲥ᥻㋏㒳VSAM(VisualSurveillanceandMonitoring)[6]DŽVSAMⱘⳂᷛᰃЎ᳾ᴹජᏖ੠៬എⲥ᥻ᑨ⫼ᓔথⱘϔ⾡㞾ࡼ㾚乥⧚㾷ᡔᴃˈ⫼Ѣᅲ⦄᳾ᴹ៬ѝЁҎ࡯ⲥ᥻䌍⫼ᯖ䌉ǃ䴲ᐌॅ䰽៪㗙Ҏ࡯᮴⊩ᅲ⦄ㄝഎড়ϟⱘⲥ᥻DŽ2000ᑈˈMaryland໻ᄺ⬅HaritaogluㄝҎᓔথⱘᅲᯊᱎ㛑ⲥ㾚㋏㒳W4㋏㒳[8]ϡҙ㛑໳ᅮԡҎ੠ߚࡆߎҎⱘ䑿ԧ䚼ߚˈ㗠Ϩ䗮䖛ᓎゟ໪㾖῵ൟᴹᅲ⦄໮Ҏⱘ䎳䏾ˈ݊ЁW4ҷ㸼Who(䇕)ˈWhen(ҔМᯊ׭)ˈWhere(ҔМഄ⚍)ˈWhat(ҔМџ)ˈW4䞛⫼ऩⳂ♄ᑺ៪㑶໪ᨘڣᴎ԰Ў㾚㾝Ӵᛳ఼ˈҹⳂᷛᔶ⢊ߚᵤ੠䎳䏾ᡔᴃᅲ⦄Ҏԧঞ݊༈䚼ǃ᠟䚼ㄝᅮԡˈᑊᇍⳂᷛ໪㾖䖯㸠ᓎ῵ˈҹ֓೼Ⳃᷛ঴ࡴ៪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