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*LҧL WKXұW Fy FiFK WLӃS FұQ WѭѫQJ ÿӕL ÿѫQ JLҧQ YӟL PӝW WKDP Vӕ WKӇ KLӋQ VӕOѭӧQJÿLӇPҧQKOӟQ&iFWKtQJKLӋPFKRWKҩ\JLҧLWKXұW6/,&KLӋXTXҧKѫQÿiQJNӇVRYӟLFiFSKѭѫQJSKiSNKiFWURQJNKLOҥLWҥRUDNӃWTXҧSKkQÿRҥQFyFKҩWOѭӧQJWѭѫQJWӵKRһFWKұPFKtWӕWKѫQ

9LӋFSKkQFөPFөFEӝÿѭӧFWKӵFKLӋQWURQJNK{QJJLDQFKLӅXÿѭӧF[iFÿӏQKEӣLFiFJLiWUӏW{QJPjXÿӝEmRKzDPjXÿӝViQJFӫDNK{QJJLDQPjX&,(/$%Yj

WӑDÿӝSL[HO(x, y)

2.1.4 SIFT

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*LҧLWKXұWEDRJӗP FiFEѭӟF

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x ;iFÿӏQKNH\SRLQWWҥLPӛLYӏWUtPӝWP{KuQKFKLWLӃWÿѭӧFiSGөQJÿӇ[iFÿӏQKYӏWUtYjWӍOӋ&iFNH\SRLQWÿѭӧFFKӑQGӵDWUrQYLӋFÿROѭӡQJWtQKәQÿӏQKFӫDFK~QJ

x ;iF ÿӏQK Orientation PӝW KRһF QKLӅX orientation ÿѭӧF JiQ FKR PӛLkeypoint GӵD WUrQ LPDJH JUDGLHQW 7ҩW Fҧ FiF WtQK WRiQ WURQJ WѭѫQJ ODLWKӵFKLӋQWUrQGӳOLӋXҧQKÿmÿѭӧFFKX\ӇQÿәLVDQJ orientation, scale và location FӫDWӯQJ feature

x Keypoint descriptor: image gradient ÿѭӧF ÿR WKHR WӍ OӋ ÿm FKӑQ WURQJYQJ [XQJ TXDQK NH\SRLQW &K~QJ ÿҥL GLӋQ FKR PӭF ÿӝ ELӃQ GҥQJ YjWKD\ÿәLÿӝsáng

9LӋF QKұQ GҥQJ ҧQK WKѭӡQJ ÿѭӧF WKӵF KLӋQ EҵQJ FiFK VR ViQK FiF NH\SRLQWWURQJҧQK

x 1ӃXNH\SRLQWFyGHVFULSWRU JҫQ JLӕQJQKDXFyWKӇFRLÿLӇPFQJWKXӝFYӅPӝWYұW

20

x 'ӵDYjRWKѭѫQJFӫDVFDOHYjKLӋXFӫDRULHQWDWLRQFӫDNH\SRLQWFyWKӇELӃWWKrPWӍOӋJLӳDYұWKRһFJyFOӋFKJLӳDYұW

.H\SRLQW tW SKө WKXӝF YjR FѭӡQJ ÿӝ ViQJ QKLӉX FKH NKXҩW JyF [RD\ KRһFWKD\ÿәLWѭWKӃ1JRjLUDJLҧLWKXұW6,)7WӓUDNKiKLӋXTXҧYjFyWKӇÿiSӭQJWURQJWKӡLJLDQWKӵF

2.1.5 Random Forest

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x 7KrPKjPQJүXQKLrQYjRTXiWUuQKKXҩQOX\ӋQFk\

x ӃWKӧSÿҫXUDFӫDQKLӅX'HFLVLRQ7UHHPӝWPӝWEӝSKkQOӟSGX\QKҩW 3KѭѫQJSKiSQj\FyWKӇÿѭӧFiSGөQJFҧFKREjLWRiQSKkQOӟSOүQKӗLTX\FyWKӇOjPYLӋFÿѭӧFYӟLFҧGӳOLӋXWKLӃXJLiWUӏ

2.1.6 Precision và Recall

3KѭѫQJSKiSÿiQKJLiQj\WKѭӡQJÿѭӧFiSGөQJFKRFiFEjLWRiQSKkQOӟSQKӏSKkQFKӍFyKDLOӟSGӳOLӋXGѭѫQJWtQK và âm tính 7K{QJWKѭӡQJOӟSGӳOLӋXTXDQWUӑQJÿѭӧFJiQQKmQGѭѫQJWtQKOӟSFzQOҥLÿѭӧFJiQQKmQâm tính9LӋFSKkQOӟS QKҵPWuPUDFiFPүXFyOӟSGѭѫQJWtQK

21

7KӵFWӃ'ѭѫQJWtQK Âm tính

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1JKLrQFӭXWURQJ>@ VӱGөQJGӳOLӋX&7WăQJFѭӡQJWѭѫQJSKҧQWKUHH-phase ÿѭӧFÿăQJNtFQJQKDXFKRPӝWEӋQKQKkQFөWKӇYjVDXÿyÿăQJNtFKREӋQKQKkQWKDPFKLӃXEҵQJÿăQJNtELӃQGҥQJODQGPDUN-based

22

2NDGDYjFiFFӝQJVӵ>@WKӵFKLӋQSKkQÿRҥQÿDFѫTXDQEҵQJFiFKNӃWKӧp FiF PӕL WѭѫQJ TXDQ YӅ NK{QJ JLDQ JLӳD FiF Fѫ TXDQ YӟL FiF [iF VXҩW DWODV &iFKWLӃSFұQQj\ÿmNӃWKӧSQKLӅXNLӃQWKӭFWLrQQJKLӋPYjRP{KuQKEDRJӗPFiFELӇXGLӉQKuQKGҥQJFӫDFѫTXDQWURQJFѫWKӇ3KѭѫQJSKiSÿmÿѭӧFWKӱQJKLӋPWUrQ

EӝGӳOLӋX&7WăQJFѭӡQJWѭѫQJSKҧQ

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&{QJWUuQKFӫD:DQJÿӅ[XҩWPӝWSKѭѫQJSKiSODQJWUX\ӅQQKmQWUrQFiFWLӇXYQJVӱGөQJrelative geodesic distances&iFKWLӃSFұQQj\ÿѭӧFFRLOjVӵNKӣLÿҫXÿӇSKiWWULӇQFiFSKѭѫQJSKiSSKkQÿRҥQҧQKERWWRP-up

C{QJ WUuQK FӫD 3DXO 9LROD Yj 0LFKDHO - -RQHV QKҵP QKұQ GҥQJ JѭѫQJ PһW[19@ÿmÿѭDUDPӝWÿӅ[XҩWFyWtQKKLӋXTXҧFDRTXDYLӋFiSGөQJNLӃQWU~FÿDWҫQJFiFEӝSKkQOӟS0ҩXFKӕWFKtQKFӫDSKѭѫQJSKiSQj\QҵPӣFKӛiSGөQJFiFEӝSKkQOӟSFyFKLSKtWtQKWRiQWKҩSӣFiFWҫQJWKҩSYjFiFEӝSKkQOӟSFyFKLSKtWtQKWRiQFDRKѫQӣFiFWҫQJFDRKѫQ&iFWҫQJWKҩSFyQKLӋPYөFKtQKQKҵPJLҧPVӕPүXâm tính ÿѭӧFGQJÿӇKXҩQOX\ӋQӣFiFWҫQJFDRKѫQ7iFJLҧFNJQJWKDPNKҧRFKtQKP{KuQKQj\ÿӇӭQJGөQJYjREjLWRiQSKkQÿRҥQҧQKWX\ӃQWө\QKҵPJLҧPFKLSKtWtQKWRiQӣWҫQJKӑFVkX

23

&KѭѫQJ

3+Æ1Ĉ2Ҥ1Ҧ1+78<ӂ17Ө<%Ҵ1*3+ѬѪ1*3+È3 +Ӑ&6Æ8

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3.1 <Ç8&Ҫ8%¬,72È1

3.1.1 'ӳOLӋXÿҫXYjR

&iF Eӝ ҧQK ' &7 VFDQ WăQJ WѭѫQJ SKҧQ NKRDQJ EөQg FӫD PӛL EӋQK QKkQPӛL Eӝ ҧQK ' EDR JӗP trung bình 235 WұSWLQ ҧQK ' ÿѭӧF OѭX GѭӟL ÿӏQK GҥQJDICOM (.dcm)

0ӛL ҧQK&7VFDQ 2D FyÿӝSKkQJLҧL[YjÿӝGj\OiWFҳWWURQJNKRҧQJ1.5 - 2.5 mm

1KmQ FӫD PӛL Eӝ ҧQK ӭQJ YӟL PӛL EӋQK QKkQ ÿѭӧF OѭX ӣ GҥQJ ' YӟL ÿӏQKGҥQJWұSWLQQKmQQLLJ] 

3.1.2 'ӳOLӋXÿҫXUD

ӬQJYӟLPӛL ҧQK'&7ÿҫX vào, P{KuQKVӁFKRUDPӝWWұSWLQD Yӟi cùng ÿӝSKkQJLҧLWұSWLQQj\FKӭDFiFSL[HOWѭѫQJӭQJYӟLҧQK'&7 ÿҫXYjRQKѭQJJLiWUӏPӛLSL[HOOjKRһFWѭѫQJӭQJYӟLFiFQKmQ³WX\ӃQWө\´KRһF³NK{QJWX\ӃQWө\´

3.2 3KkQÿRҥQҧQKWX\ӃQWө\EҵQJSKѭѫQJSKiSKӑFVkX

ĈӇJLҧLTX\ӃWEjLWRiQSKkQÿRҥQҧQKWX\ӃQWө\WiFJLҧ iSGөQJ SKѭѫQJSKiSWLӃSFұQVӱGөQJFKLӃQOѭӧFERWWRP-up [22] YӟLP{KuQKKRҥWÿӝQJÿѭӧFPLQKKӑDӣHình 3.1 0ӛL ҧQK&7FҳWOӟSÿҫXYjRVӁÿѭӧFSKkQ ÿRҥQWUѭӟFGӵDWUrQÿyPӝW