id	sid	tid	token	lemma	pos
ajst-14321	1	1	academic	academic	ADJ
ajst-14321	1	2	journal	journal	NOUN
ajst-14321	1	3	of	of	ADP
ajst-14321	1	4	science	science	NOUN
ajst-14321	1	5	and	and	CCONJ
ajst-14321	1	6	technology	technology	NOUN
ajst-14321	1	7	issn	issn	NOUN
ajst-14321	1	8	:	:	PUNCT
ajst-14321	1	9	2771	2771	NUM
ajst-14321	1	10	-	-	SYM
ajst-14321	1	11	3032	3032	NUM
ajst-14321	1	12	|	|	NOUN
ajst-14321	1	13	vol	vol	NOUN
ajst-14321	1	14	.	.	PROPN
ajst-14321	1	15	8	8	NUM
ajst-14321	1	16	,	,	PUNCT
ajst-14321	1	17	no	no	INTJ
ajst-14321	1	18	.	.	NOUN
ajst-14321	1	19	1	1	NUM
ajst-14321	1	20	,	,	PUNCT
ajst-14321	1	21	2023	2023	NUM
ajst-14321	1	22	238	238	NUM
ajst-14321	1	23	ground	ground	NOUN
ajst-14321	1	24	point	point	NOUN
ajst-14321	1	25	detection	detection	NOUN
ajst-14321	1	26	method	method	NOUN
ajst-14321	1	27	based	base	VERB
ajst-14321	1	28	on	on	ADP
ajst-14321	1	29	grid	grid	NOUN
ajst-14321	1	30	division	division	NOUN
ajst-14321	1	31	and	and	CCONJ
ajst-14321	1	32	plane	plane	NOUN
ajst-14321	1	33	fitting	fit	VERB
ajst-14321	1	34	chao	chao	PROPN
ajst-14321	2	1	he	he	PRON
ajst-14321	2	2	,	,	PUNCT
ajst-14321	2	3	yuanhong	yuanhong	PROPN
ajst-14321	2	4	dan	dan	PROPN
ajst-14321	2	5	school	school	PROPN
ajst-14321	2	6	of	of	ADP
ajst-14321	2	7	vehicle	vehicle	NOUN
ajst-14321	2	8	engineering	engineering	PROPN
ajst-14321	2	9	chongqing	chongqing	PROPN
ajst-14321	2	10	university	university	PROPN
ajst-14321	2	11	of	of	ADP
ajst-14321	2	12	technology	technology	NOUN
ajst-14321	2	13	,	,	PUNCT
ajst-14321	2	14	chongqing	chongqe	VERB
ajst-14321	2	15	400054	400054	NUM
ajst-14321	2	16	,	,	PUNCT
ajst-14321	2	17	china	china	PROPN
ajst-14321	2	18	abstract	abstract	NOUN
ajst-14321	2	19	:	:	PUNCT
ajst-14321	2	20	ground	ground	NOUN
ajst-14321	2	21	point	point	NOUN
ajst-14321	2	22	detection	detection	NOUN
ajst-14321	2	23	is	be	AUX
ajst-14321	2	24	an	an	DET
ajst-14321	2	25	important	important	ADJ
ajst-14321	2	26	part	part	NOUN
ajst-14321	2	27	of	of	ADP
ajst-14321	2	28	unmanned	unmanned	ADJ
ajst-14321	2	29	driving	driving	NOUN
ajst-14321	2	30	technology	technology	NOUN
ajst-14321	2	31	,	,	PUNCT
ajst-14321	2	32	and	and	CCONJ
ajst-14321	2	33	the	the	DET
ajst-14321	2	34	detection	detection	NOUN
ajst-14321	2	35	results	result	NOUN
ajst-14321	2	36	will	will	AUX
ajst-14321	2	37	affect	affect	VERB
ajst-14321	2	38	the	the	DET
ajst-14321	2	39	subsequent	subsequent	ADJ
ajst-14321	2	40	tasks	task	NOUN
ajst-14321	2	41	.	.	PUNCT
ajst-14321	3	1	aiming	aim	VERB
ajst-14321	3	2	at	at	ADP
ajst-14321	3	3	the	the	DET
ajst-14321	3	4	problem	problem	NOUN
ajst-14321	3	5	of	of	ADP
ajst-14321	3	6	under	under	NOUN
ajst-14321	3	7	-	-	PUNCT
ajst-14321	3	8	segmentation	segmentation	NOUN
ajst-14321	3	9	and	and	CCONJ
ajst-14321	3	10	mis	mi	NOUN
ajst-14321	3	11	-	-	NOUN
ajst-14321	3	12	segmentation	segmentation	NOUN
ajst-14321	3	13	of	of	ADP
ajst-14321	3	14	lidar	lidar	NOUN
ajst-14321	3	15	ground	ground	NOUN
ajst-14321	3	16	point	point	NOUN
ajst-14321	3	17	segmentation	segmentation	NOUN
ajst-14321	3	18	in	in	ADP
ajst-14321	3	19	unstructured	unstructured	ADJ
ajst-14321	3	20	scenes	scene	NOUN
ajst-14321	3	21	,	,	PUNCT
ajst-14321	3	22	a	a	DET
ajst-14321	3	23	ground	ground	NOUN
ajst-14321	3	24	point	point	NOUN
ajst-14321	3	25	recognition	recognition	NOUN
ajst-14321	3	26	method	method	NOUN
ajst-14321	3	27	based	base	VERB
ajst-14321	3	28	on	on	ADP
ajst-14321	3	29	grid	grid	NOUN
ajst-14321	3	30	division	division	NOUN
ajst-14321	3	31	is	be	AUX
ajst-14321	3	32	proposed	propose	VERB
ajst-14321	3	33	.	.	PUNCT
ajst-14321	4	1	this	this	DET
ajst-14321	4	2	method	method	NOUN
ajst-14321	4	3	first	first	ADV
ajst-14321	4	4	uses	use	VERB
ajst-14321	4	5	the	the	DET
ajst-14321	4	6	constraint	constraint	NOUN
ajst-14321	4	7	conditions	condition	NOUN
ajst-14321	4	8	to	to	PART
ajst-14321	4	9	preprocess	preprocess	NOUN
ajst-14321	4	10	and	and	CCONJ
ajst-14321	4	11	extract	extract	VERB
ajst-14321	4	12	the	the	DET
ajst-14321	4	13	roi	roi	NOUN
ajst-14321	4	14	region	region	NOUN
ajst-14321	4	15	;	;	PUNCT
ajst-14321	4	16	secondly	secondly	ADV
ajst-14321	4	17	,	,	PUNCT
ajst-14321	4	18	the	the	DET
ajst-14321	4	19	point	point	NOUN
ajst-14321	4	20	cloud	cloud	NOUN
ajst-14321	4	21	is	be	AUX
ajst-14321	4	22	divided	divide	VERB
ajst-14321	4	23	by	by	ADP
ajst-14321	4	24	the	the	DET
ajst-14321	4	25	method	method	NOUN
ajst-14321	4	26	of	of	ADP
ajst-14321	4	27	grid	grid	NOUN
ajst-14321	4	28	division	division	NOUN
ajst-14321	4	29	;	;	PUNCT
ajst-14321	4	30	finally	finally	ADV
ajst-14321	4	31	,	,	PUNCT
ajst-14321	4	32	the	the	DET
ajst-14321	4	33	plane	plane	NOUN
ajst-14321	4	34	fitting	fitting	NOUN
ajst-14321	4	35	method	method	NOUN
ajst-14321	4	36	is	be	AUX
ajst-14321	4	37	used	use	VERB
ajst-14321	4	38	to	to	PART
ajst-14321	4	39	realize	realize	VERB
ajst-14321	4	40	the	the	DET
ajst-14321	4	41	ground	ground	NOUN
ajst-14321	4	42	point	point	NOUN
ajst-14321	4	43	recognition	recognition	NOUN
ajst-14321	4	44	.	.	PUNCT
ajst-14321	5	1	based	base	VERB
ajst-14321	5	2	on	on	ADP
ajst-14321	5	3	the	the	DET
ajst-14321	5	4	structured	structured	ADJ
ajst-14321	5	5	data	datum	NOUN
ajst-14321	5	6	set	set	VERB
ajst-14321	5	7	kitti	kitti	PROPN
ajst-14321	5	8	and	and	CCONJ
ajst-14321	5	9	the	the	DET
ajst-14321	5	10	unstructured	unstructured	ADJ
ajst-14321	5	11	data	datum	NOUN
ajst-14321	5	12	set	set	VERB
ajst-14321	5	13	orfd	orfd	NOUN
ajst-14321	5	14	data	datum	NOUN
ajst-14321	5	15	set	set	NOUN
ajst-14321	5	16	,	,	PUNCT
ajst-14321	5	17	this	this	DET
ajst-14321	5	18	paper	paper	NOUN
ajst-14321	5	19	compares	compare	VERB
ajst-14321	5	20	them	they	PRON
ajst-14321	5	21	with	with	ADP
ajst-14321	5	22	ransac	ransac	NOUN
ajst-14321	5	23	,	,	PUNCT
ajst-14321	5	24	lf	lf	NOUN
ajst-14321	5	25	and	and	CCONJ
ajst-14321	5	26	hdl	hdl	PROPN
ajst-14321	5	27	algorithms	algorithm	NOUN
ajst-14321	5	28	.	.	PUNCT
ajst-14321	6	1	the	the	DET
ajst-14321	6	2	experimental	experimental	ADJ
ajst-14321	6	3	results	result	NOUN
ajst-14321	6	4	show	show	VERB
ajst-14321	6	5	that	that	SCONJ
ajst-14321	6	6	the	the	DET
ajst-14321	6	7	algorithm	algorithm	NOUN
ajst-14321	6	8	in	in	ADP
ajst-14321	6	9	this	this	DET
ajst-14321	6	10	paper	paper	NOUN
ajst-14321	6	11	can	can	AUX
ajst-14321	6	12	segment	segment	VERB
ajst-14321	6	13	the	the	DET
ajst-14321	6	14	ground	ground	NOUN
ajst-14321	6	15	points	point	VERB
ajst-14321	6	16	well	well	ADV
ajst-14321	6	17	,	,	PUNCT
ajst-14321	6	18	which	which	PRON
ajst-14321	6	19	is	be	AUX
ajst-14321	6	20	superior	superior	ADJ
ajst-14321	6	21	to	to	ADP
ajst-14321	6	22	the	the	DET
ajst-14321	6	23	three	three	NUM
ajst-14321	6	24	algorithms	algorithm	NOUN
ajst-14321	6	25	compared	compare	VERB
ajst-14321	6	26	in	in	ADP
ajst-14321	6	27	the	the	DET
ajst-14321	6	28	evaluation	evaluation	NOUN
ajst-14321	6	29	index	index	NOUN
ajst-14321	6	30	,	,	PUNCT
ajst-14321	6	31	and	and	CCONJ
ajst-14321	6	32	can	can	AUX
ajst-14321	6	33	detect	detect	VERB
ajst-14321	6	34	the	the	DET
ajst-14321	6	35	ground	ground	NOUN
ajst-14321	6	36	points	point	NOUN
ajst-14321	6	37	quickly	quickly	ADV
ajst-14321	6	38	and	and	CCONJ
ajst-14321	6	39	accurately	accurately	ADV
ajst-14321	6	40	.	.	PUNCT
ajst-14321	7	1	keywords	keyword	NOUN
ajst-14321	7	2	:	:	PUNCT
ajst-14321	7	3	unmanned	unmanned	ADJ
ajst-14321	7	4	driving	driving	NOUN
ajst-14321	7	5	;	;	PUNCT
ajst-14321	7	6	ground	ground	NOUN
ajst-14321	7	7	point	point	NOUN
ajst-14321	7	8	detection	detection	NOUN
ajst-14321	7	9	;	;	PUNCT
ajst-14321	7	10	grid	grid	NOUN
ajst-14321	7	11	division	division	NOUN
ajst-14321	7	12	;	;	PUNCT
ajst-14321	7	13	plane	plane	NOUN
ajst-14321	7	14	fitting	fitting	ADJ
ajst-14321	7	15	.	.	PUNCT
ajst-14321	8	1	1	1	X
ajst-14321	8	2	.	.	X
ajst-14321	8	3	introduction	introduction	NOUN
ajst-14321	8	4	perception	perception	NOUN
ajst-14321	8	5	,	,	PUNCT
ajst-14321	8	6	localization	localization	NOUN
ajst-14321	8	7	and	and	CCONJ
ajst-14321	8	8	planning	planning	NOUN
ajst-14321	8	9	are	be	AUX
ajst-14321	8	10	the	the	DET
ajst-14321	8	11	three	three	NUM
ajst-14321	8	12	key	key	ADJ
ajst-14321	8	13	technologies	technology	NOUN
ajst-14321	8	14	of	of	ADP
ajst-14321	8	15	autonomous	autonomous	ADJ
ajst-14321	8	16	mobile	mobile	ADJ
ajst-14321	8	17	robots	robot	NOUN
ajst-14321	8	18	.	.	PUNCT
ajst-14321	9	1	reliable	reliable	ADJ
ajst-14321	9	2	roads	road	NOUN
ajst-14321	9	3	are	be	AUX
ajst-14321	9	4	a	a	DET
ajst-14321	9	5	prerequisite	prerequisite	NOUN
ajst-14321	9	6	for	for	ADP
ajst-14321	9	7	many	many	ADJ
ajst-14321	9	8	autonomous	autonomous	ADJ
ajst-14321	9	9	tasks	task	NOUN
ajst-14321	9	10	,	,	PUNCT
ajst-14321	9	11	such	such	ADJ
ajst-14321	9	12	as	as	ADP
ajst-14321	9	13	path	path	NOUN
ajst-14321	9	14	planning	planning	NOUN
ajst-14321	9	15	and	and	CCONJ
ajst-14321	9	16	decision	decision	NOUN
ajst-14321	9	17	-	-	PUNCT
ajst-14321	9	18	making	making	NOUN
ajst-14321	9	19	.	.	PUNCT
ajst-14321	10	1	that	that	PRON
ajst-14321	10	2	is	be	AUX
ajst-14321	10	3	,	,	PUNCT
ajst-14321	10	4	in	in	ADP
ajst-14321	10	5	any	any	DET
ajst-14321	10	6	environment	environment	NOUN
ajst-14321	10	7	,	,	PUNCT
ajst-14321	10	8	the	the	DET
ajst-14321	10	9	road	road	NOUN
ajst-14321	10	10	that	that	PRON
ajst-14321	10	11	the	the	DET
ajst-14321	10	12	robot	robot	NOUN
ajst-14321	10	13	can	can	AUX
ajst-14321	10	14	pass	pass	VERB
ajst-14321	10	15	can	can	AUX
ajst-14321	10	16	be	be	AUX
ajst-14321	10	17	accurately	accurately	ADV
ajst-14321	10	18	and	and	CCONJ
ajst-14321	10	19	quickly	quickly	ADV
ajst-14321	10	20	identified	identify	VERB
ajst-14321	10	21	,	,	PUNCT
ajst-14321	10	22	not	not	PART
ajst-14321	10	23	just	just	ADV
ajst-14321	10	24	limited	limit	VERB
ajst-14321	10	25	to	to	ADP
ajst-14321	10	26	structured	structured	ADJ
ajst-14321	10	27	roads	road	NOUN
ajst-14321	10	28	.	.	PUNCT
ajst-14321	11	1	most	most	ADJ
ajst-14321	11	2	of	of	ADP
ajst-14321	11	3	the	the	DET
ajst-14321	11	4	existing	exist	VERB
ajst-14321	11	5	research	research	NOUN
ajst-14321	11	6	focuses	focus	VERB
ajst-14321	11	7	on	on	ADP
ajst-14321	11	8	structured	structured	ADJ
ajst-14321	11	9	roads	road	NOUN
ajst-14321	11	10	with	with	ADP
ajst-14321	11	11	obvious	obvious	ADJ
ajst-14321	11	12	characteristics	characteristic	NOUN
ajst-14321	11	13	,	,	PUNCT
ajst-14321	11	14	and	and	CCONJ
ajst-14321	11	15	there	there	PRON
ajst-14321	11	16	are	be	VERB
ajst-14321	11	17	relatively	relatively	ADV
ajst-14321	11	18	few	few	ADJ
ajst-14321	11	19	studies	study	NOUN
ajst-14321	11	20	on	on	ADP
ajst-14321	11	21	unstructured	unstructured	ADJ
ajst-14321	11	22	roads	road	NOUN
ajst-14321	11	23	[	[	PUNCT
ajst-14321	11	24	1	1	NUM
ajst-14321	11	25	]	]	PUNCT
ajst-14321	11	26	.	.	PUNCT
ajst-14321	12	1	for	for	ADP
ajst-14321	12	2	structured	structured	ADJ
ajst-14321	12	3	roads	road	NOUN
ajst-14321	12	4	,	,	PUNCT
ajst-14321	12	5	the	the	DET
ajst-14321	12	6	passable	passable	ADJ
ajst-14321	12	7	area	area	NOUN
ajst-14321	12	8	mainly	mainly	ADV
ajst-14321	12	9	refers	refer	VERB
ajst-14321	12	10	to	to	ADP
ajst-14321	12	11	conventional	conventional	ADJ
ajst-14321	12	12	roads	road	NOUN
ajst-14321	12	13	,	,	PUNCT
ajst-14321	12	14	such	such	ADJ
ajst-14321	12	15	as	as	ADP
ajst-14321	12	16	urban	urban	ADJ
ajst-14321	12	17	roads	road	NOUN
ajst-14321	12	18	and	and	CCONJ
ajst-14321	12	19	expressways	expressway	NOUN
ajst-14321	12	20	,	,	PUNCT
ajst-14321	12	21	while	while	SCONJ
ajst-14321	12	22	for	for	ADP
ajst-14321	12	23	unstructured	unstructured	ADJ
ajst-14321	12	24	roads	road	NOUN
ajst-14321	12	25	,	,	PUNCT
ajst-14321	12	26	the	the	DET
ajst-14321	12	27	concept	concept	NOUN
ajst-14321	12	28	of	of	ADP
ajst-14321	12	29	passable	passable	ADJ
ajst-14321	12	30	area	area	NOUN
ajst-14321	12	31	is	be	AUX
ajst-14321	12	32	relatively	relatively	ADV
ajst-14321	12	33	vague	vague	ADJ
ajst-14321	12	34	.	.	PUNCT
ajst-14321	13	1	driverless	driverless	ADJ
ajst-14321	13	2	cars	car	NOUN
ajst-14321	13	3	need	need	VERB
ajst-14321	13	4	to	to	PART
ajst-14321	13	5	pass	pass	VERB
ajst-14321	13	6	through	through	ADP
ajst-14321	13	7	harsh	harsh	ADJ
ajst-14321	13	8	environments	environment	NOUN
ajst-14321	13	9	such	such	ADJ
ajst-14321	13	10	as	as	ADP
ajst-14321	13	11	sand	sand	NOUN
ajst-14321	13	12	,	,	PUNCT
ajst-14321	13	13	mud	mud	NOUN
ajst-14321	13	14	,	,	PUNCT
ajst-14321	13	15	desert	desert	NOUN
ajst-14321	13	16	,	,	PUNCT
ajst-14321	13	17	and	and	CCONJ
ajst-14321	13	18	grassland	grassland	NOUN
ajst-14321	13	19	,	,	PUNCT
ajst-14321	13	20	which	which	PRON
ajst-14321	13	21	is	be	AUX
ajst-14321	13	22	a	a	DET
ajst-14321	13	23	great	great	ADJ
ajst-14321	13	24	challenge	challenge	NOUN
ajst-14321	13	25	for	for	ADP
ajst-14321	13	26	driverless	driverless	NOUN
ajst-14321	13	27	cars	car	NOUN
ajst-14321	13	28	because	because	SCONJ
ajst-14321	13	29	the	the	DET
ajst-14321	13	30	unstructured	unstructured	ADJ
ajst-14321	13	31	road	road	NOUN
ajst-14321	13	32	environment	environment	NOUN
ajst-14321	13	33	is	be	AUX
ajst-14321	13	34	complex	complex	ADJ
ajst-14321	13	35	and	and	CCONJ
ajst-14321	13	36	diverse	diverse	ADJ
ajst-14321	13	37	.	.	PUNCT
ajst-14321	14	1	for	for	ADP
ajst-14321	14	2	example	example	NOUN
ajst-14321	14	3	,	,	PUNCT
ajst-14321	14	4	the	the	DET
ajst-14321	14	5	tall	tall	ADJ
ajst-14321	14	6	grass	grass	NOUN
ajst-14321	14	7	and	and	CCONJ
ajst-14321	14	8	dwarf	dwarf	NOUN
ajst-14321	14	9	grass	grass	NOUN
ajst-14321	14	10	in	in	ADP
ajst-14321	14	11	the	the	DET
ajst-14321	14	12	wild	wild	ADJ
ajst-14321	14	13	environment	environment	NOUN
ajst-14321	14	14	are	be	AUX
ajst-14321	14	15	very	very	ADV
ajst-14321	14	16	different	different	ADJ
ajst-14321	14	17	in	in	ADP
ajst-14321	14	18	terms	term	NOUN
ajst-14321	14	19	of	of	ADP
ajst-14321	14	20	traffic	traffic	NOUN
ajst-14321	14	21	.	.	PUNCT
ajst-14321	15	1	the	the	DET
ajst-14321	15	2	planning	planning	NOUN
ajst-14321	15	3	and	and	CCONJ
ajst-14321	15	4	control	control	NOUN
ajst-14321	15	5	of	of	ADP
ajst-14321	15	6	the	the	DET
ajst-14321	15	7	unmanned	unmanned	ADJ
ajst-14321	15	8	platform	platform	NOUN
ajst-14321	15	9	depends	depend	VERB
ajst-14321	15	10	on	on	ADP
ajst-14321	15	11	the	the	DET
ajst-14321	15	12	perception	perception	NOUN
ajst-14321	15	13	of	of	ADP
ajst-14321	15	14	the	the	DET
ajst-14321	15	15	driving	drive	VERB
ajst-14321	15	16	environment	environment	NOUN
ajst-14321	15	17	,	,	PUNCT
ajst-14321	15	18	which	which	PRON
ajst-14321	15	19	is	be	AUX
ajst-14321	15	20	mainly	mainly	ADV
ajst-14321	15	21	realized	realize	VERB
ajst-14321	15	22	by	by	ADP
ajst-14321	15	23	different	different	ADJ
ajst-14321	15	24	sensors	sensor	NOUN
ajst-14321	15	25	installed	instal	VERB
ajst-14321	15	26	around	around	ADP
ajst-14321	15	27	the	the	DET
ajst-14321	15	28	platform	platform	NOUN
ajst-14321	15	29	.	.	PUNCT
ajst-14321	16	1	the	the	DET
ajst-14321	16	2	salient	salient	ADJ
ajst-14321	16	3	feature	feature	NOUN
ajst-14321	16	4	of	of	ADP
ajst-14321	16	5	the	the	DET
ajst-14321	16	6	unstructured	unstructured	ADJ
ajst-14321	16	7	scene	scene	NOUN
ajst-14321	16	8	is	be	AUX
ajst-14321	16	9	that	that	SCONJ
ajst-14321	16	10	the	the	DET
ajst-14321	16	11	obstacles	obstacle	NOUN
ajst-14321	16	12	are	be	AUX
ajst-14321	16	13	complex	complex	ADJ
ajst-14321	16	14	and	and	CCONJ
ajst-14321	16	15	changeable	changeable	ADJ
ajst-14321	16	16	,	,	PUNCT
ajst-14321	16	17	and	and	CCONJ
ajst-14321	16	18	the	the	DET
ajst-14321	16	19	road	road	NOUN
ajst-14321	16	20	height	height	NOUN
ajst-14321	16	21	of	of	ADP
ajst-14321	16	22	the	the	DET
ajst-14321	16	23	driving	drive	VERB
ajst-14321	16	24	area	area	NOUN
ajst-14321	16	25	is	be	AUX
ajst-14321	16	26	different	different	ADJ
ajst-14321	16	27	.	.	PUNCT
ajst-14321	17	1	therefore	therefore	ADV
ajst-14321	17	2	,	,	PUNCT
ajst-14321	17	3	the	the	DET
ajst-14321	17	4	requirements	requirement	NOUN
ajst-14321	17	5	for	for	ADP
ajst-14321	17	6	the	the	DET
ajst-14321	17	7	sensor	sensor	NOUN
ajst-14321	17	8	are	be	AUX
ajst-14321	17	9	more	more	ADV
ajst-14321	17	10	stringent	stringent	ADJ
ajst-14321	17	11	.	.	PUNCT
ajst-14321	18	1	in	in	ADP
ajst-14321	18	2	addition	addition	NOUN
ajst-14321	18	3	to	to	ADP
ajst-14321	18	4	obtaining	obtain	VERB
ajst-14321	18	5	the	the	DET
ajst-14321	18	6	basic	basic	ADJ
ajst-14321	18	7	information	information	NOUN
ajst-14321	18	8	of	of	ADP
ajst-14321	18	9	the	the	DET
ajst-14321	18	10	surrounding	surround	VERB
ajst-14321	18	11	environment	environment	NOUN
ajst-14321	18	12	,	,	PUNCT
ajst-14321	18	13	it	it	PRON
ajst-14321	18	14	is	be	AUX
ajst-14321	18	15	also	also	ADV
ajst-14321	18	16	necessary	necessary	ADJ
ajst-14321	18	17	to	to	PART
ajst-14321	18	18	obtain	obtain	VERB
ajst-14321	18	19	the	the	DET
ajst-14321	18	20	size	size	NOUN
ajst-14321	18	21	and	and	CCONJ
ajst-14321	18	22	three	three	NUM
ajst-14321	18	23	-	-	PUNCT
ajst-14321	18	24	dimensional	dimensional	ADJ
ajst-14321	18	25	information	information	NOUN
ajst-14321	18	26	of	of	ADP
ajst-14321	18	27	the	the	DET
ajst-14321	18	28	obstacles	obstacle	NOUN
ajst-14321	18	29	,	,	PUNCT
ajst-14321	18	30	and	and	CCONJ
ajst-14321	18	31	it	it	PRON
ajst-14321	18	32	is	be	AUX
ajst-14321	18	33	not	not	PART
ajst-14321	18	34	affected	affect	VERB
ajst-14321	18	35	by	by	ADP
ajst-14321	18	36	the	the	DET
ajst-14321	18	37	environment	environment	NOUN
ajst-14321	18	38	,	,	PUNCT
ajst-14321	18	39	and	and	CCONJ
ajst-14321	18	40	can	can	AUX
ajst-14321	18	41	operate	operate	VERB
ajst-14321	18	42	stably	stably	ADV
ajst-14321	18	43	in	in	ADP
ajst-14321	18	44	a	a	DET
ajst-14321	18	45	complex	complex	ADJ
ajst-14321	18	46	environment	environment	NOUN
ajst-14321	18	47	.	.	PUNCT
ajst-14321	19	1	in	in	ADP
ajst-14321	19	2	the	the	DET
ajst-14321	19	3	face	face	NOUN
ajst-14321	19	4	of	of	ADP
ajst-14321	19	5	very	very	ADV
ajst-14321	19	6	complex	complex	ADJ
ajst-14321	19	7	unstructured	unstructured	ADJ
ajst-14321	19	8	environment	environment	NOUN
ajst-14321	19	9	,	,	PUNCT
ajst-14321	19	10	it	it	PRON
ajst-14321	19	11	is	be	AUX
ajst-14321	19	12	an	an	DET
ajst-14321	19	13	urgent	urgent	ADJ
ajst-14321	19	14	problem	problem	NOUN
ajst-14321	19	15	to	to	PART
ajst-14321	19	16	detect	detect	VERB
ajst-14321	19	17	ground	ground	NOUN
ajst-14321	19	18	points	point	NOUN
ajst-14321	19	19	quickly	quickly	ADV
ajst-14321	19	20	,	,	PUNCT
ajst-14321	19	21	accurately	accurately	ADV
ajst-14321	19	22	and	and	CCONJ
ajst-14321	19	23	reliably	reliably	ADV
ajst-14321	19	24	.	.	PUNCT
ajst-14321	20	1	the	the	DET
ajst-14321	20	2	three	three	NUM
ajst-14321	20	3	-	-	PUNCT
ajst-14321	20	4	dimensional	dimensional	ADJ
ajst-14321	20	5	laser	laser	NOUN
ajst-14321	20	6	radar	radar	NOUN
ajst-14321	20	7	can	can	AUX
ajst-14321	20	8	accurately	accurately	ADV
ajst-14321	20	9	perceive	perceive	VERB
ajst-14321	20	10	the	the	DET
ajst-14321	20	11	environmental	environmental	ADJ
ajst-14321	20	12	information	information	NOUN
ajst-14321	20	13	around	around	ADP
ajst-14321	20	14	the	the	DET
ajst-14321	20	15	robot	robot	NOUN
ajst-14321	20	16	.	.	PUNCT
ajst-14321	21	1	it	it	PRON
ajst-14321	21	2	has	have	VERB
ajst-14321	21	3	the	the	DET
ajst-14321	21	4	characteristics	characteristic	NOUN
ajst-14321	21	5	of	of	ADP
ajst-14321	21	6	high	high	ADJ
ajst-14321	21	7	ranging	ranging	NOUN
ajst-14321	21	8	accuracy	accuracy	NOUN
ajst-14321	21	9	,	,	PUNCT
ajst-14321	21	10	wide	wide	ADJ
ajst-14321	21	11	range	range	NOUN
ajst-14321	21	12	and	and	CCONJ
ajst-14321	21	13	not	not	PART
ajst-14321	21	14	easy	easy	ADJ
ajst-14321	21	15	to	to	PART
ajst-14321	21	16	be	be	AUX
ajst-14321	21	17	disturbed	disturb	VERB
ajst-14321	21	18	.	.	PUNCT
ajst-14321	22	1	it	it	PRON
ajst-14321	22	2	is	be	AUX
ajst-14321	22	3	an	an	DET
ajst-14321	22	4	environmental	environmental	ADJ
ajst-14321	22	5	sensing	sense	VERB
ajst-14321	22	6	sensor	sensor	NOUN
ajst-14321	22	7	commonly	commonly	ADV
ajst-14321	22	8	used	use	VERB
ajst-14321	22	9	in	in	ADP
ajst-14321	22	10	many	many	ADJ
ajst-14321	22	11	unmanned	unmanned	ADJ
ajst-14321	22	12	self	self	NOUN
ajst-14321	22	13	-	-	PUNCT
ajst-14321	22	14	service	service	NOUN
ajst-14321	22	15	devices	device	NOUN
ajst-14321	22	16	.	.	PUNCT
ajst-14321	23	1	the	the	DET
ajst-14321	23	2	organizational	organizational	ADJ
ajst-14321	23	3	structure	structure	NOUN
ajst-14321	23	4	of	of	ADP
ajst-14321	23	5	this	this	DET
ajst-14321	23	6	paper	paper	NOUN
ajst-14321	23	7	is	be	AUX
ajst-14321	23	8	as	as	SCONJ
ajst-14321	23	9	follows	follow	VERB
ajst-14321	23	10	:	:	PUNCT
ajst-14321	23	11	the	the	DET
ajst-14321	23	12	first	first	ADJ
ajst-14321	23	13	part	part	NOUN
ajst-14321	23	14	reviews	review	VERB
ajst-14321	23	15	the	the	DET
ajst-14321	23	16	previous	previous	ADJ
ajst-14321	23	17	research	research	NOUN
ajst-14321	23	18	on	on	ADP
ajst-14321	23	19	ground	ground	NOUN
ajst-14321	23	20	detection	detection	NOUN
ajst-14321	23	21	.	.	PUNCT
ajst-14321	24	1	the	the	DET
ajst-14321	24	2	second	second	ADJ
ajst-14321	24	3	part	part	NOUN
ajst-14321	24	4	introduces	introduce	VERB
ajst-14321	24	5	the	the	DET
ajst-14321	24	6	method	method	NOUN
ajst-14321	24	7	of	of	ADP
ajst-14321	24	8	this	this	DET
ajst-14321	24	9	paper	paper	NOUN
ajst-14321	24	10	.	.	PUNCT
ajst-14321	25	1	the	the	DET
ajst-14321	25	2	third	third	ADJ
ajst-14321	25	3	and	and	CCONJ
ajst-14321	25	4	fourth	fourth	ADJ
ajst-14321	25	5	parts	part	NOUN
ajst-14321	25	6	give	give	VERB
ajst-14321	25	7	the	the	DET
ajst-14321	25	8	specific	specific	ADJ
ajst-14321	25	9	implementation	implementation	NOUN
ajst-14321	25	10	of	of	ADP
ajst-14321	25	11	the	the	DET
ajst-14321	25	12	method	method	NOUN
ajst-14321	25	13	and	and	CCONJ
ajst-14321	25	14	the	the	DET
ajst-14321	25	15	experimental	experimental	ADJ
ajst-14321	25	16	results	result	NOUN
ajst-14321	25	17	.	.	PUNCT
ajst-14321	26	1	finally	finally	ADV
ajst-14321	26	2	,	,	PUNCT
ajst-14321	26	3	the	the	DET
ajst-14321	26	4	fifth	fifth	ADJ
ajst-14321	26	5	part	part	NOUN
ajst-14321	26	6	gives	give	VERB
ajst-14321	26	7	the	the	DET
ajst-14321	26	8	research	research	NOUN
ajst-14321	26	9	results	result	NOUN
ajst-14321	26	10	of	of	ADP
ajst-14321	26	11	this	this	DET
ajst-14321	26	12	paper	paper	NOUN
ajst-14321	26	13	.	.	PUNCT
ajst-14321	27	1	2	2	X
ajst-14321	27	2	.	.	X
ajst-14321	27	3	related	relate	VERB
ajst-14321	27	4	work	work	NOUN
ajst-14321	27	5	at	at	ADP
ajst-14321	27	6	present	present	ADJ
ajst-14321	27	7	,	,	PUNCT
ajst-14321	27	8	domestic	domestic	ADJ
ajst-14321	27	9	and	and	CCONJ
ajst-14321	27	10	foreign	foreign	ADJ
ajst-14321	27	11	scholars	scholar	NOUN
ajst-14321	27	12	'	'	PART
ajst-14321	27	13	segmentation	segmentation	NOUN
ajst-14321	27	14	algorithms	algorithm	NOUN
ajst-14321	27	15	for	for	ADP
ajst-14321	27	16	ground	ground	NOUN
ajst-14321	27	17	point	point	NOUN
ajst-14321	27	18	clouds	cloud	NOUN
ajst-14321	27	19	are	be	AUX
ajst-14321	27	20	mainly	mainly	ADV
ajst-14321	27	21	divided	divide	VERB
ajst-14321	27	22	into	into	ADP
ajst-14321	27	23	three	three	NUM
ajst-14321	27	24	categories	category	NOUN
ajst-14321	27	25	,	,	PUNCT
ajst-14321	27	26	based	base	VERB
ajst-14321	27	27	on	on	ADP
ajst-14321	27	28	plane	plane	NOUN
ajst-14321	27	29	fitting	fitting	ADJ
ajst-14321	27	30	and	and	CCONJ
ajst-14321	27	31	grid	grid	NOUN
ajst-14321	27	32	map	map	NOUN
ajst-14321	27	33	.	.	PUNCT
ajst-14321	28	1	the	the	DET
ajst-14321	28	2	random	random	ADJ
ajst-14321	28	3	sample	sample	NOUN
ajst-14321	28	4	consensus	consensus	NOUN
ajst-14321	28	5	(	(	PUNCT
ajst-14321	28	6	ransac	ransac	NOUN
ajst-14321	28	7	)	)	PUNCT
ajst-14321	28	8	algorithm	algorithm	NOUN
ajst-14321	28	9	based	base	VERB
ajst-14321	28	10	on	on	ADP
ajst-14321	28	11	plane	plane	NOUN
ajst-14321	28	12	fitting	fitting	NOUN
ajst-14321	28	13	[	[	PUNCT
ajst-14321	28	14	3	3	NUM
ajst-14321	28	15	]	]	PUNCT
ajst-14321	28	16	determines	determine	VERB
ajst-14321	28	17	whether	whether	SCONJ
ajst-14321	28	18	it	it	PRON
ajst-14321	28	19	is	be	AUX
ajst-14321	28	20	a	a	DET
ajst-14321	28	21	ground	ground	NOUN
ajst-14321	28	22	point	point	NOUN
ajst-14321	28	23	by	by	ADP
ajst-14321	28	24	constructing	construct	VERB
ajst-14321	28	25	a	a	DET
ajst-14321	28	26	ground	ground	NOUN
ajst-14321	28	27	model	model	NOUN
ajst-14321	28	28	and	and	CCONJ
ajst-14321	28	29	calculating	calculate	VERB
ajst-14321	28	30	the	the	DET
ajst-14321	28	31	distance	distance	NOUN
ajst-14321	28	32	between	between	ADP
ajst-14321	28	33	the	the	DET
ajst-14321	28	34	relevant	relevant	ADJ
ajst-14321	28	35	points	point	NOUN
ajst-14321	28	36	and	and	CCONJ
ajst-14321	28	37	the	the	DET
ajst-14321	28	38	constructed	construct	VERB
ajst-14321	28	39	ground	ground	NOUN
ajst-14321	28	40	model	model	NOUN
ajst-14321	28	41	.	.	PUNCT
ajst-14321	29	1	on	on	ADP
ajst-14321	29	2	the	the	DET
ajst-14321	29	3	basis	basis	NOUN
ajst-14321	29	4	of	of	ADP
ajst-14321	29	5	ransac	ransac	NOUN
ajst-14321	29	6	,	,	PUNCT
ajst-14321	29	7	li	li	PROPN
ajst-14321	29	8	xi	xi	PROPN
ajst-14321	29	9	et	et	PROPN
ajst-14321	29	10	al	al	PROPN
ajst-14321	29	11	.	.	PUNCT
ajst-14321	30	1	[	[	PUNCT
ajst-14321	30	2	4	4	X
ajst-14321	30	3	]	]	PUNCT
ajst-14321	30	4	added	add	VERB
ajst-14321	30	5	the	the	DET
ajst-14321	30	6	least	least	ADJ
ajst-14321	30	7	squares	square	NOUN
ajst-14321	30	8	method	method	NOUN
ajst-14321	30	9	(	(	PUNCT
ajst-14321	30	10	tls	tls	PROPN
ajst-14321	30	11	)	)	PUNCT
ajst-14321	30	12	to	to	PART
ajst-14321	30	13	remove	remove	VERB
ajst-14321	30	14	the	the	DET
ajst-14321	30	15	outliers	outlier	NOUN
ajst-14321	30	16	,	,	PUNCT
ajst-14321	30	17	and	and	CCONJ
ajst-14321	30	18	then	then	ADV
ajst-14321	30	19	used	use	VERB
ajst-14321	30	20	the	the	DET
ajst-14321	30	21	tls	tls	PROPN
ajst-14321	30	22	algorithm	algorithm	NOUN
ajst-14321	30	23	to	to	PART
ajst-14321	30	24	fit	fit	VERB
ajst-14321	30	25	the	the	DET
ajst-14321	30	26	effective	effective	ADJ
ajst-14321	30	27	point	point	NOUN
ajst-14321	30	28	cloud	cloud	NOUN
ajst-14321	30	29	.	.	PUNCT
ajst-14321	31	1	the	the	DET
ajst-14321	31	2	disadvantage	disadvantage	NOUN
ajst-14321	31	3	is	be	AUX
ajst-14321	31	4	that	that	SCONJ
ajst-14321	31	5	the	the	DET
ajst-14321	31	6	fitting	fitting	ADJ
ajst-14321	31	7	model	model	NOUN
ajst-14321	31	8	takes	take	VERB
ajst-14321	31	9	a	a	DET
ajst-14321	31	10	relatively	relatively	ADV
ajst-14321	31	11	long	long	ADJ
ajst-14321	31	12	time	time	NOUN
ajst-14321	31	13	and	and	CCONJ
ajst-14321	31	14	the	the	DET
ajst-14321	31	15	accuracy	accuracy	NOUN
ajst-14321	31	16	is	be	AUX
ajst-14321	31	17	not	not	PART
ajst-14321	31	18	high	high	ADJ
ajst-14321	31	19	,	,	PUNCT
ajst-14321	31	20	which	which	PRON
ajst-14321	31	21	is	be	AUX
ajst-14321	31	22	difficult	difficult	ADJ
ajst-14321	31	23	to	to	PART
ajst-14321	31	24	meet	meet	VERB
ajst-14321	31	25	the	the	DET
ajst-14321	31	26	needs	need	NOUN
ajst-14321	31	27	of	of	ADP
ajst-14321	31	28	unmanned	unmanned	ADJ
ajst-14321	31	29	driving	driving	NOUN
ajst-14321	31	30	.	.	PUNCT
ajst-14321	32	1	zhang	zhang	PROPN
ajst-14321	32	2	,	,	PUNCT
ajst-14321	32	3	w	w	PROPN
ajst-14321	32	4	[	[	PUNCT
ajst-14321	32	5	5	5	NUM
ajst-14321	32	6	]	]	PUNCT
ajst-14321	32	7	et	et	NOUN
ajst-14321	32	8	al.used	al.use	VERB
ajst-14321	32	9	a	a	DET
ajst-14321	32	10	cloth	cloth	NOUN
ajst-14321	32	11	simulation	simulation	NOUN
ajst-14321	32	12	algorithm	algorithm	NOUN
ajst-14321	32	13	to	to	PART
ajst-14321	32	14	fit	fit	VERB
ajst-14321	32	15	a	a	DET
ajst-14321	32	16	cloth	cloth	NOUN
ajst-14321	32	17	that	that	PRON
ajst-14321	32	18	conforms	conform	VERB
ajst-14321	32	19	to	to	ADP
ajst-14321	32	20	the	the	DET
ajst-14321	32	21	ground	ground	NOUN
ajst-14321	32	22	shape	shape	NOUN
ajst-14321	32	23	under	under	ADP
ajst-14321	32	24	the	the	DET
ajst-14321	32	25	influence	influence	NOUN
ajst-14321	32	26	of	of	ADP
ajst-14321	32	27	the	the	DET
ajst-14321	32	28	gravity	gravity	NOUN
ajst-14321	32	29	and	and	CCONJ
ajst-14321	32	30	internal	internal	ADJ
ajst-14321	32	31	force	force	NOUN
ajst-14321	32	32	of	of	ADP
ajst-14321	32	33	the	the	DET
ajst-14321	32	34	cloth	cloth	NOUN
ajst-14321	32	35	itself	itself	PRON
ajst-14321	32	36	through	through	ADP
ajst-14321	32	37	the	the	DET
ajst-14321	32	38	physical	physical	ADJ
ajst-14321	32	39	characteristics	characteristic	NOUN
ajst-14321	32	40	of	of	ADP
ajst-14321	32	41	the	the	DET
ajst-14321	32	42	cloth	cloth	NOUN
ajst-14321	32	43	.	.	PUNCT
ajst-14321	33	1	the	the	DET
ajst-14321	33	2	disadvantage	disadvantage	NOUN
ajst-14321	33	3	of	of	ADP
ajst-14321	33	4	the	the	DET
ajst-14321	33	5	algorithm	algorithm	NOUN
ajst-14321	33	6	is	be	AUX
ajst-14321	33	7	that	that	SCONJ
ajst-14321	33	8	the	the	DET
ajst-14321	33	9	internal	internal	ADJ
ajst-14321	33	10	force	force	NOUN
ajst-14321	33	11	of	of	ADP
ajst-14321	33	12	the	the	DET
ajst-14321	33	13	particles	particle	NOUN
ajst-14321	33	14	between	between	ADP
ajst-14321	33	15	the	the	DET
ajst-14321	33	16	cloth	cloth	NOUN
ajst-14321	33	17	and	and	CCONJ
ajst-14321	33	18	the	the	DET
ajst-14321	33	19	parameter	parameter	NOUN
ajst-14321	33	20	threshold	threshold	NOUN
ajst-14321	33	21	need	need	VERB
ajst-14321	33	22	to	to	PART
ajst-14321	33	23	be	be	AUX
ajst-14321	33	24	determined	determine	VERB
ajst-14321	33	25	artificially	artificially	ADV
ajst-14321	33	26	,	,	PUNCT
ajst-14321	33	27	and	and	CCONJ
ajst-14321	33	28	it	it	PRON
ajst-14321	33	29	is	be	AUX
ajst-14321	33	30	difficult	difficult	ADJ
ajst-14321	33	31	to	to	PART
ajst-14321	33	32	fit	fit	VERB
ajst-14321	33	33	the	the	DET
ajst-14321	33	34	ideal	ideal	ADJ
ajst-14321	33	35	ground	ground	NOUN
ajst-14321	33	36	for	for	ADP
ajst-14321	33	37	the	the	DET
ajst-14321	33	38	extreme	extreme	ADJ
ajst-14321	33	39	ground	ground	NOUN
ajst-14321	33	40	elevation	elevation	NOUN
ajst-14321	33	41	mutation	mutation	NOUN
ajst-14321	33	42	.	.	PUNCT
ajst-14321	34	1	the	the	DET
ajst-14321	34	2	segmentation	segmentation	NOUN
ajst-14321	34	3	algorithm	algorithm	NOUN
ajst-14321	34	4	based	base	VERB
ajst-14321	34	5	on	on	ADP
ajst-14321	34	6	the	the	DET
ajst-14321	34	7	grid	grid	NOUN
ajst-14321	34	8	map	map	NOUN
ajst-14321	34	9	is	be	AUX
ajst-14321	34	10	mainly	mainly	ADV
ajst-14321	34	11	to	to	PART
ajst-14321	34	12	establish	establish	VERB
ajst-14321	34	13	a	a	DET
ajst-14321	34	14	3d	3d	NUM
ajst-14321	34	15	grid	grid	NOUN
ajst-14321	34	16	,	,	PUNCT
ajst-14321	34	17	divide	divide	VERB
ajst-14321	34	18	each	each	DET
ajst-14321	34	19	point	point	NOUN
ajst-14321	34	20	into	into	ADP
ajst-14321	34	21	the	the	DET
ajst-14321	34	22	corresponding	correspond	VERB
ajst-14321	34	23	grid	grid	NOUN
ajst-14321	34	24	,	,	PUNCT
ajst-14321	34	25	and	and	CCONJ
ajst-14321	34	26	use	use	VERB
ajst-14321	34	27	the	the	DET
ajst-14321	34	28	height	height	NOUN
ajst-14321	34	29	difference	difference	NOUN
ajst-14321	34	30	,	,	PUNCT
ajst-14321	34	31	maximum	maximum	ADJ
ajst-14321	34	32	or	or	CCONJ
ajst-14321	34	33	minimum	minimum	ADJ
ajst-14321	34	34	value	value	NOUN
ajst-14321	34	35	to	to	PART
ajst-14321	34	36	determine	determine	VERB
ajst-14321	34	37	whether	whether	SCONJ
ajst-14321	34	38	the	the	DET
ajst-14321	34	39	grid	grid	NOUN
ajst-14321	34	40	is	be	AUX
ajst-14321	34	41	a	a	DET
ajst-14321	34	42	ground	ground	NOUN
ajst-14321	34	43	grid	grid	NOUN
ajst-14321	34	44	.	.	PUNCT
ajst-14321	35	1	xu	xu	PROPN
ajst-14321	35	2	guoyan	guoyan	PROPN
ajst-14321	36	1	[	[	PUNCT
ajst-14321	36	2	6	6	NUM
ajst-14321	36	3	]	]	PUNCT
ajst-14321	36	4	and	and	CCONJ
ajst-14321	36	5	wang	wang	PROPN
ajst-14321	36	6	xiao	xiao	PROPN
ajst-14321	36	7	[	[	PUNCT
ajst-14321	36	8	7	7	NUM
ajst-14321	36	9	]	]	PUNCT
ajst-14321	36	10	divided	divide	VERB
ajst-14321	36	11	the	the	DET
ajst-14321	36	12	point	point	NOUN
ajst-14321	36	13	cloud	cloud	NOUN
ajst-14321	36	14	into	into	ADP
ajst-14321	36	15	x	x	ADJ
ajst-14321	36	16	-	-	PROPN
ajst-14321	36	17	y	y	ADJ
ajst-14321	36	18	planes	plane	NOUN
ajst-14321	36	19	and	and	CCONJ
ajst-14321	36	20	used	use	VERB
ajst-14321	36	21	the	the	DET
ajst-14321	36	22	height	height	NOUN
ajst-14321	36	23	difference	difference	NOUN
ajst-14321	36	24	to	to	PART
ajst-14321	36	25	determine	determine	VERB
ajst-14321	36	26	.	.	PUNCT
ajst-14321	37	1	m.	m.	NOUN
ajst-14321	37	2	himmelsbach	himmelsbach	PROPN
ajst-14321	37	3	[	[	PUNCT
ajst-14321	37	4	8	8	NUM
ajst-14321	37	5	]	]	PUNCT
ajst-14321	37	6	and	and	CCONJ
ajst-14321	37	7	zhang	zhang	PROPN
ajst-14321	37	8	et	et	PROPN
ajst-14321	37	9	al	al	PROPN
ajst-14321	37	10	.	.	PUNCT
ajst-14321	38	1	[	[	PUNCT
ajst-14321	38	2	9	9	X
ajst-14321	38	3	]	]	PUNCT
ajst-14321	38	4	divided	divide	VERB
ajst-14321	38	5	point	point	NOUN
ajst-14321	38	6	clouds	cloud	NOUN
ajst-14321	38	7	into	into	ADP
ajst-14321	38	8	polar	polar	ADJ
ajst-14321	38	9	coordinates	coordinate	NOUN
ajst-14321	38	10	.	.	PUNCT
ajst-14321	39	1	f.	f.	PROPN
ajst-14321	39	2	moosmann	moosmann	PROPN
ajst-14321	39	3	et	et	PROPN
ajst-14321	39	4	al	al	PROPN
ajst-14321	39	5	.	.	PUNCT
ajst-14321	40	1	[	[	PUNCT
ajst-14321	40	2	10	10	NUM
ajst-14321	40	3	]	]	PUNCT
ajst-14321	40	4	used	use	VERB
ajst-14321	40	5	the	the	DET
ajst-14321	40	6	height	height	NOUN
ajst-14321	40	7	change	change	NOUN
ajst-14321	40	8	threshold	threshold	NOUN
ajst-14321	40	9	of	of	ADP
ajst-14321	40	10	the	the	DET
ajst-14321	40	11	point	point	NOUN
ajst-14321	40	12	cloud	cloud	NOUN
ajst-14321	40	13	on	on	ADP
ajst-14321	40	14	the	the	DET
ajst-14321	40	15	z	z	NOUN
ajst-14321	40	16	-	-	PUNCT
ajst-14321	40	17	axis	axis	NOUN
ajst-14321	40	18	to	to	PART
ajst-14321	40	19	segment	segment	NOUN
ajst-14321	40	20	.	.	PUNCT
ajst-14321	41	1	the	the	DET
ajst-14321	41	2	threshold	threshold	NOUN
ajst-14321	41	3	based	base	VERB
ajst-14321	41	4	on	on	ADP
ajst-14321	41	5	the	the	DET
ajst-14321	41	6	grid	grid	NOUN
ajst-14321	41	7	and	and	CCONJ
ajst-14321	41	8	plane	plane	NOUN
ajst-14321	41	9	fitting	fitting	ADJ
ajst-14321	41	10	method	method	NOUN
ajst-14321	41	11	can	can	AUX
ajst-14321	41	12	not	not	PART
ajst-14321	41	13	be	be	AUX
ajst-14321	41	14	dynamically	dynamically	ADV
ajst-14321	41	15	adjusted	adjust	VERB
ajst-14321	41	16	,	,	PUNCT
ajst-14321	41	17	and	and	CCONJ
ajst-14321	41	18	the	the	DET
ajst-14321	41	19	accuracy	accuracy	NOUN
ajst-14321	41	20	is	be	AUX
ajst-14321	41	21	not	not	PART
ajst-14321	41	22	high	high	ADJ
ajst-14321	41	23	enough	enough	ADV
ajst-14321	41	24	to	to	PART
ajst-14321	41	25	meet	meet	VERB
ajst-14321	41	26	the	the	DET
ajst-14321	41	27	requirements	requirement	NOUN
ajst-14321	41	28	of	of	ADP
ajst-14321	41	29	irregular	irregular	ADJ
ajst-14321	41	30	roads	road	NOUN
ajst-14321	41	31	(	(	PUNCT
ajst-14321	41	32	unstructured	unstructured	ADJ
ajst-14321	41	33	)	)	PUNCT
ajst-14321	41	34	.	.	PUNCT
ajst-14321	42	1	239	239	NUM
ajst-14321	42	2	3	3	NUM
ajst-14321	42	3	.	.	PUNCT
ajst-14321	42	4	method	method	PROPN
ajst-14321	42	5	overview	overview	VERB
ajst-14321	42	6	the	the	DET
ajst-14321	42	7	schematic	schematic	ADJ
ajst-14321	42	8	diagram	diagram	NOUN
ajst-14321	42	9	of	of	ADP
ajst-14321	42	10	the	the	DET
ajst-14321	42	11	method	method	NOUN
ajst-14321	42	12	proposed	propose	VERB
ajst-14321	42	13	in	in	ADP
ajst-14321	42	14	this	this	DET
ajst-14321	42	15	paper	paper	NOUN
ajst-14321	42	16	is	be	AUX
ajst-14321	42	17	shown	show	VERB
ajst-14321	42	18	in	in	ADP
ajst-14321	42	19	figure	figure	NOUN
ajst-14321	42	20	1	1	NUM
ajst-14321	42	21	,	,	PUNCT
ajst-14321	42	22	which	which	PRON
ajst-14321	42	23	mainly	mainly	ADV
ajst-14321	42	24	includes	include	VERB
ajst-14321	42	25	6	6	NUM
ajst-14321	42	26	parts	part	NOUN
ajst-14321	42	27	:	:	PUNCT
ajst-14321	42	28	original	original	ADJ
ajst-14321	42	29	point	point	NOUN
ajst-14321	42	30	cloud	cloud	NOUN
ajst-14321	42	31	,	,	PUNCT
ajst-14321	42	32	roi	roi	NOUN
ajst-14321	42	33	extraction	extraction	NOUN
ajst-14321	42	34	,	,	PUNCT
ajst-14321	42	35	grid	grid	NOUN
ajst-14321	42	36	division	division	NOUN
ajst-14321	42	37	,	,	PUNCT
ajst-14321	42	38	plane	plane	NOUN
ajst-14321	42	39	fitting	fitting	ADJ
ajst-14321	42	40	,	,	PUNCT
ajst-14321	42	41	convolution	convolution	NOUN
ajst-14321	42	42	filtering	filtering	NOUN
ajst-14321	42	43	,	,	PUNCT
ajst-14321	42	44	and	and	CCONJ
ajst-14321	42	45	output	output	NOUN
ajst-14321	42	46	point	point	NOUN
ajst-14321	42	47	cloud	cloud	NOUN
ajst-14321	42	48	.	.	PUNCT
ajst-14321	43	1	raw	raw	ADJ
ajst-14321	43	2	point	point	NOUN
ajst-14321	43	3	cloud	cloud	NOUN
ajst-14321	43	4	correction	correction	NOUN
ajst-14321	43	5	and	and	CCONJ
ajst-14321	43	6	denoising	denoise	VERB
ajst-14321	43	7	g	g	PROPN
ajst-14321	43	8	rid	rid	ADJ
ajst-14321	43	9	division	division	NOUN
ajst-14321	43	10	fitting	fit	VERB
ajst-14321	43	11	the	the	DET
ajst-14321	43	12	ground	ground	NOUN
ajst-14321	43	13	segmented	segment	VERB
ajst-14321	43	14	result	result	NOUN
ajst-14321	43	15	ground	grind	VERB
ajst-14321	43	16	no	no	DET
ajst-14321	43	17	ground	ground	NOUN
ajst-14321	43	18	figure	figure	NOUN
ajst-14321	43	19	1	1	NUM
ajst-14321	43	20	.	.	PUNCT
ajst-14321	43	21	ground	ground	NOUN
ajst-14321	43	22	point	point	NOUN
ajst-14321	43	23	recognition	recognition	NOUN
ajst-14321	43	24	diagram	diagram	VERB
ajst-14321	43	25	the	the	DET
ajst-14321	43	26	input	input	NOUN
ajst-14321	43	27	data	datum	NOUN
ajst-14321	43	28	of	of	ADP
ajst-14321	43	29	the	the	DET
ajst-14321	43	30	algorithm	algorithm	NOUN
ajst-14321	43	31	is	be	AUX
ajst-14321	43	32	3d	3d	NUM
ajst-14321	43	33	laser	laser	NOUN
ajst-14321	43	34	point	point	NOUN
ajst-14321	43	35	cloud	cloud	NOUN
ajst-14321	43	36	data	datum	NOUN
ajst-14321	43	37	.	.	PUNCT
ajst-14321	44	1	since	since	SCONJ
ajst-14321	44	2	the	the	DET
ajst-14321	44	3	number	number	NOUN
ajst-14321	44	4	of	of	ADP
ajst-14321	44	5	point	point	NOUN
ajst-14321	44	6	clouds	cloud	NOUN
ajst-14321	44	7	in	in	ADP
ajst-14321	44	8	a	a	DET
ajst-14321	44	9	frame	frame	NOUN
ajst-14321	44	10	is	be	AUX
ajst-14321	44	11	usually	usually	ADV
ajst-14321	44	12	more	more	ADJ
ajst-14321	44	13	than	than	ADP
ajst-14321	44	14	one	one	NUM
ajst-14321	44	15	hundred	hundred	NUM
ajst-14321	44	16	thousand	thousand	NUM
ajst-14321	44	17	points	point	NOUN
ajst-14321	44	18	and	and	CCONJ
ajst-14321	44	19	contains	contain	VERB
ajst-14321	44	20	a	a	DET
ajst-14321	44	21	large	large	ADJ
ajst-14321	44	22	number	number	NOUN
ajst-14321	44	23	of	of	ADP
ajst-14321	44	24	noise	noise	NOUN
ajst-14321	44	25	points	point	NOUN
ajst-14321	44	26	,	,	PUNCT
ajst-14321	44	27	after	after	ADP
ajst-14321	44	28	roi	roi	NOUN
ajst-14321	44	29	extraction	extraction	NOUN
ajst-14321	44	30	,	,	PUNCT
ajst-14321	44	31	it	it	PRON
ajst-14321	44	32	is	be	AUX
ajst-14321	44	33	divided	divide	VERB
ajst-14321	44	34	into	into	ADP
ajst-14321	44	35	ground	ground	NOUN
ajst-14321	44	36	points	point	NOUN
ajst-14321	44	37	and	and	CCONJ
ajst-14321	44	38	non	non	ADJ
ajst-14321	44	39	-	-	ADJ
ajst-14321	44	40	ground	ground	ADJ
ajst-14321	44	41	points	point	NOUN
ajst-14321	44	42	after	after	ADP
ajst-14321	44	43	grid	grid	NOUN
ajst-14321	44	44	division	division	NOUN
ajst-14321	44	45	,	,	PUNCT
ajst-14321	44	46	plane	plane	NOUN
ajst-14321	44	47	fitting	fitting	ADJ
ajst-14321	44	48	and	and	CCONJ
ajst-14321	44	49	convolution	convolution	NOUN
ajst-14321	44	50	filtering	filtering	NOUN
ajst-14321	44	51	.	.	PUNCT
ajst-14321	45	1	3.1	3.1	NUM
ajst-14321	45	2	.	.	PUNCT
ajst-14321	45	3	roi	roi	NOUN
ajst-14321	45	4	extraction	extraction	NOUN
ajst-14321	45	5	aiming	aim	VERB
ajst-14321	45	6	at	at	ADP
ajst-14321	45	7	the	the	DET
ajst-14321	45	8	environment	environment	NOUN
ajst-14321	45	9	of	of	ADP
ajst-14321	45	10	unmanned	unmanned	ADJ
ajst-14321	45	11	vehicles	vehicle	NOUN
ajst-14321	45	12	in	in	ADP
ajst-14321	45	13	the	the	DET
ajst-14321	45	14	road	road	NOUN
ajst-14321	45	15	scene	scene	NOUN
ajst-14321	45	16	,	,	PUNCT
ajst-14321	45	17	the	the	DET
ajst-14321	45	18	region	region	NOUN
ajst-14321	45	19	of	of	ADP
ajst-14321	45	20	interest	interest	NOUN
ajst-14321	45	21	(	(	PUNCT
ajst-14321	45	22	roi	roi	NOUN
ajst-14321	45	23	)	)	PUNCT
ajst-14321	45	24	is	be	AUX
ajst-14321	45	25	extracted	extract	VERB
ajst-14321	45	26	with	with	ADP
ajst-14321	45	27	lidar	lidar	NOUN
ajst-14321	45	28	as	as	ADP
ajst-14321	45	29	the	the	DET
ajst-14321	45	30	center	center	NOUN
ajst-14321	45	31	.	.	PUNCT
ajst-14321	46	1	since	since	SCONJ
ajst-14321	46	2	only	only	ADV
ajst-14321	46	3	part	part	NOUN
ajst-14321	46	4	of	of	ADP
ajst-14321	46	5	the	the	DET
ajst-14321	46	6	left	left	ADJ
ajst-14321	46	7	and	and	CCONJ
ajst-14321	46	8	right	right	ADJ
ajst-14321	46	9	parts	part	NOUN
ajst-14321	46	10	of	of	ADP
ajst-14321	46	11	the	the	DET
ajst-14321	46	12	vehicle	vehicle	NOUN
ajst-14321	46	13	is	be	AUX
ajst-14321	46	14	in	in	ADP
ajst-14321	46	15	line	line	NOUN
ajst-14321	46	16	with	with	ADP
ajst-14321	46	17	the	the	DET
ajst-14321	46	18	vehicle	vehicle	NOUN
ajst-14321	46	19	's	's	PART
ajst-14321	46	20	exerciseable	exerciseable	ADJ
ajst-14321	46	21	area	area	NOUN
ajst-14321	46	22	,	,	PUNCT
ajst-14321	46	23	the	the	DET
ajst-14321	46	24	area	area	NOUN
ajst-14321	46	25	with	with	ADP
ajst-14321	46	26	a	a	DET
ajst-14321	46	27	long	long	ADJ
ajst-14321	46	28	distance	distance	NOUN
ajst-14321	46	29	in	in	ADP
ajst-14321	46	30	the	the	DET
ajst-14321	46	31	front	front	ADJ
ajst-14321	46	32	and	and	CCONJ
ajst-14321	46	33	rear	rear	ADJ
ajst-14321	46	34	direction	direction	NOUN
ajst-14321	46	35	has	have	VERB
ajst-14321	46	36	no	no	DET
ajst-14321	46	37	effect	effect	NOUN
ajst-14321	46	38	on	on	ADP
ajst-14321	46	39	the	the	DET
ajst-14321	46	40	current	current	ADJ
ajst-14321	46	41	position	position	NOUN
ajst-14321	46	42	of	of	ADP
ajst-14321	46	43	the	the	DET
ajst-14321	46	44	vehicle	vehicle	NOUN
ajst-14321	46	45	.	.	PUNCT
ajst-14321	47	1	the	the	DET
ajst-14321	47	2	point	point	NOUN
ajst-14321	47	3	cloud	cloud	NOUN
ajst-14321	47	4	and	and	CCONJ
ajst-14321	47	5	noise	noise	NOUN
ajst-14321	47	6	of	of	ADP
ajst-14321	47	7	the	the	DET
ajst-14321	47	8	left	left	ADJ
ajst-14321	47	9	and	and	CCONJ
ajst-14321	47	10	right	right	ADJ
ajst-14321	47	11	parts	part	NOUN
ajst-14321	47	12	of	of	ADP
ajst-14321	47	13	the	the	DET
ajst-14321	47	14	vehicle	vehicle	NOUN
ajst-14321	47	15	can	can	AUX
ajst-14321	47	16	be	be	AUX
ajst-14321	47	17	removed	remove	VERB
ajst-14321	47	18	.	.	PUNCT
ajst-14321	48	1	considering	consider	VERB
ajst-14321	48	2	the	the	DET
ajst-14321	48	3	real	real	ADJ
ajst-14321	48	4	-	-	PUNCT
ajst-14321	48	5	time	time	NOUN
ajst-14321	48	6	and	and	CCONJ
ajst-14321	48	7	accuracy	accuracy	NOUN
ajst-14321	48	8	of	of	ADP
ajst-14321	48	9	the	the	DET
ajst-14321	48	10	segmentation	segmentation	NOUN
ajst-14321	48	11	algorithm	algorithm	NOUN
ajst-14321	48	12	,	,	PUNCT
ajst-14321	48	13	the	the	DET
ajst-14321	48	14	range	range	NOUN
ajst-14321	48	15	of	of	ADP
ajst-14321	48	16	50	50	NUM
ajst-14321	48	17	m	m	NOUN
ajst-14321	48	18	before	before	ADP
ajst-14321	48	19	and	and	CCONJ
ajst-14321	48	20	after	after	ADP
ajst-14321	48	21	the	the	DET
ajst-14321	48	22	vehicle	vehicle	NOUN
ajst-14321	48	23	and	and	CCONJ
ajst-14321	48	24	25	25	NUM
ajst-14321	48	25	m	m	VERB
ajst-14321	48	26	left	leave	VERB
ajst-14321	48	27	and	and	CCONJ
ajst-14321	48	28	right	right	ADJ
ajst-14321	48	29	is	be	AUX
ajst-14321	48	30	selected	select	VERB
ajst-14321	48	31	as	as	ADP
ajst-14321	48	32	the	the	DET
ajst-14321	48	33	region	region	NOUN
ajst-14321	48	34	of	of	ADP
ajst-14321	48	35	interest	interest	NOUN
ajst-14321	48	36	.	.	PUNCT
ajst-14321	49	1	in	in	ADP
ajst-14321	49	2	an	an	DET
ajst-14321	49	3	unstructured	unstructured	ADJ
ajst-14321	49	4	environment	environment	NOUN
ajst-14321	49	5	,	,	PUNCT
ajst-14321	49	6	due	due	ADP
ajst-14321	49	7	to	to	ADP
ajst-14321	49	8	the	the	DET
ajst-14321	49	9	unevenness	unevenness	NOUN
ajst-14321	49	10	of	of	ADP
ajst-14321	49	11	the	the	DET
ajst-14321	49	12	road	road	NOUN
ajst-14321	49	13	surface	surface	NOUN
ajst-14321	49	14	,	,	PUNCT
ajst-14321	49	15	the	the	DET
ajst-14321	49	16	vehicle	vehicle	NOUN
ajst-14321	49	17	will	will	AUX
ajst-14321	49	18	inevitably	inevitably	ADV
ajst-14321	49	19	bump	bump	VERB
ajst-14321	49	20	during	during	ADP
ajst-14321	49	21	travel	travel	NOUN
ajst-14321	49	22	.	.	PUNCT
ajst-14321	50	1	the	the	DET
ajst-14321	50	2	lidar	lidar	NOUN
ajst-14321	50	3	will	will	AUX
ajst-14321	50	4	also	also	ADV
ajst-14321	50	5	affect	affect	VERB
ajst-14321	50	6	the	the	DET
ajst-14321	50	7	detected	detect	VERB
ajst-14321	50	8	point	point	NOUN
ajst-14321	50	9	cloud	cloud	NOUN
ajst-14321	50	10	with	with	ADP
ajst-14321	50	11	the	the	DET
ajst-14321	50	12	bump	bump	NOUN
ajst-14321	50	13	of	of	ADP
ajst-14321	50	14	the	the	DET
ajst-14321	50	15	vehicle	vehicle	NOUN
ajst-14321	50	16	.	.	PUNCT
ajst-14321	51	1	therefore	therefore	ADV
ajst-14321	51	2	,	,	PUNCT
ajst-14321	51	3	the	the	DET
ajst-14321	51	4	current	current	ADJ
ajst-14321	51	5	point	point	NOUN
ajst-14321	51	6	cloud	cloud	NOUN
ajst-14321	51	7	is	be	AUX
ajst-14321	51	8	corrected	correct	VERB
ajst-14321	51	9	according	accord	VERB
ajst-14321	51	10	to	to	ADP
ajst-14321	51	11	the	the	DET
ajst-14321	51	12	current	current	ADJ
ajst-14321	51	13	attitude	attitude	NOUN
ajst-14321	51	14	of	of	ADP
ajst-14321	51	15	the	the	DET
ajst-14321	51	16	vehicle	vehicle	NOUN
ajst-14321	51	17	.	.	PUNCT
ajst-14321	52	1	3.2	3.2	NUM
ajst-14321	52	2	.	.	PUNCT
ajst-14321	52	3	grid	grid	NOUN
ajst-14321	52	4	division	division	NOUN
ajst-14321	52	5	in	in	ADP
ajst-14321	52	6	the	the	DET
ajst-14321	52	7	actual	actual	ADJ
ajst-14321	52	8	scene	scene	NOUN
ajst-14321	52	9	,	,	PUNCT
ajst-14321	52	10	the	the	DET
ajst-14321	52	11	ground	ground	NOUN
ajst-14321	52	12	can	can	AUX
ajst-14321	52	13	not	not	PART
ajst-14321	52	14	be	be	AUX
ajst-14321	52	15	flat	flat	ADJ
ajst-14321	52	16	,	,	PUNCT
ajst-14321	52	17	and	and	CCONJ
ajst-14321	52	18	there	there	PRON
ajst-14321	52	19	will	will	AUX
ajst-14321	52	20	be	be	AUX
ajst-14321	52	21	unevenness	unevenness	NOUN
ajst-14321	52	22	.	.	PUNCT
ajst-14321	53	1	the	the	DET
ajst-14321	53	2	point	point	NOUN
ajst-14321	53	3	clouds	cloud	NOUN
ajst-14321	53	4	in	in	ADP
ajst-14321	53	5	different	different	ADJ
ajst-14321	53	6	directions	direction	NOUN
ajst-14321	53	7	are	be	AUX
ajst-14321	53	8	not	not	PART
ajst-14321	53	9	in	in	ADP
ajst-14321	53	10	the	the	DET
ajst-14321	53	11	same	same	ADJ
ajst-14321	53	12	plane	plane	NOUN
ajst-14321	53	13	to	to	ADP
ajst-14321	53	14	a	a	DET
ajst-14321	53	15	large	large	ADJ
ajst-14321	53	16	extent	extent	NOUN
ajst-14321	53	17	.	.	PUNCT
ajst-14321	54	1	due	due	ADP
ajst-14321	54	2	to	to	ADP
ajst-14321	54	3	the	the	DET
ajst-14321	54	4	inconsistent	inconsistent	ADJ
ajst-14321	54	5	height	height	NOUN
ajst-14321	54	6	or	or	CCONJ
ajst-14321	54	7	the	the	DET
ajst-14321	54	8	existence	existence	NOUN
ajst-14321	54	9	of	of	ADP
ajst-14321	54	10	occlusion	occlusion	NOUN
ajst-14321	54	11	,	,	PUNCT
ajst-14321	54	12	distance	distance	NOUN
ajst-14321	54	13	and	and	CCONJ
ajst-14321	54	14	other	other	ADJ
ajst-14321	54	15	factors	factor	NOUN
ajst-14321	54	16	,	,	PUNCT
ajst-14321	54	17	the	the	DET
ajst-14321	54	18	use	use	NOUN
ajst-14321	54	19	of	of	ADP
ajst-14321	54	20	a	a	DET
ajst-14321	54	21	single	single	ADJ
ajst-14321	54	22	plane	plane	NOUN
ajst-14321	54	23	model	model	NOUN
ajst-14321	54	24	fitting	fitting	ADJ
ajst-14321	54	25	has	have	VERB
ajst-14321	54	26	great	great	ADJ
ajst-14321	54	27	limitations	limitation	NOUN
ajst-14321	54	28	,	,	PUNCT
ajst-14321	54	29	and	and	CCONJ
ajst-14321	54	30	it	it	PRON
ajst-14321	54	31	is	be	AUX
ajst-14321	54	32	difficult	difficult	ADJ
ajst-14321	54	33	to	to	PART
ajst-14321	54	34	segment	segment	VERB
ajst-14321	54	35	the	the	DET
ajst-14321	54	36	correct	correct	ADJ
ajst-14321	54	37	ground	ground	NOUN
ajst-14321	54	38	points	point	NOUN
ajst-14321	54	39	.	.	PUNCT
ajst-14321	55	1	therefore	therefore	ADV
ajst-14321	55	2	,	,	PUNCT
ajst-14321	55	3	this	this	DET
ajst-14321	55	4	paper	paper	NOUN
ajst-14321	55	5	proposes	propose	VERB
ajst-14321	55	6	a	a	DET
ajst-14321	55	7	grid	grid	NOUN
ajst-14321	55	8	division	division	NOUN
ajst-14321	55	9	method	method	NOUN
ajst-14321	55	10	based	base	VERB
ajst-14321	55	11	on	on	ADP
ajst-14321	55	12	the	the	DET
ajst-14321	55	13	emission	emission	NOUN
ajst-14321	55	14	angle	angle	NOUN
ajst-14321	55	15	to	to	ADP
ajst-14321	55	16	fit	fit	ADJ
ajst-14321	55	17	point	point	NOUN
ajst-14321	55	18	clouds	cloud	NOUN
ajst-14321	55	19	in	in	ADP
ajst-14321	55	20	different	different	ADJ
ajst-14321	55	21	directions	direction	NOUN
ajst-14321	55	22	.	.	PUNCT
ajst-14321	56	1	specifically	specifically	ADV
ajst-14321	56	2	,	,	PUNCT
ajst-14321	56	3	according	accord	VERB
ajst-14321	56	4	to	to	ADP
ajst-14321	56	5	the	the	DET
ajst-14321	56	6	emission	emission	NOUN
ajst-14321	56	7	angle	angle	NOUN
ajst-14321	56	8	of	of	ADP
ajst-14321	56	9	the	the	DET
ajst-14321	56	10	current	current	ADJ
ajst-14321	56	11	point	point	NOUN
ajst-14321	56	12	cloud	cloud	NOUN
ajst-14321	56	13	relative	relative	ADJ
ajst-14321	56	14	to	to	ADP
ajst-14321	56	15	the	the	DET
ajst-14321	56	16	lidar	lidar	NOUN
ajst-14321	56	17	center	center	NOUN
ajst-14321	56	18	,	,	PUNCT
ajst-14321	56	19	which	which	PRON
ajst-14321	56	20	grid	grid	VERB
ajst-14321	56	21	area	area	NOUN
ajst-14321	56	22	the	the	DET
ajst-14321	56	23	point	point	NOUN
ajst-14321	56	24	cloud	cloud	NOUN
ajst-14321	56	25	belongs	belong	VERB
ajst-14321	56	26	to	to	PART
ajst-14321	56	27	is	be	AUX
ajst-14321	56	28	determined	determine	VERB
ajst-14321	56	29	.	.	PUNCT
ajst-14321	57	1	by	by	ADP
ajst-14321	57	2	dividing	divide	VERB
ajst-14321	57	3	the	the	DET
ajst-14321	57	4	𝑥	𝑥	PROPN
ajst-14321	57	5	𝑦	𝑦	NOUN
ajst-14321	57	6	plane	plane	NOUN
ajst-14321	57	7	range	range	VERB
ajst-14321	57	8	into	into	ADP
ajst-14321	57	9	a	a	DET
ajst-14321	57	10	circle	circle	NOUN
ajst-14321	57	11	with	with	ADP
ajst-14321	57	12	a	a	DET
ajst-14321	57	13	radius	radius	NOUN
ajst-14321	57	14	of	of	ADP
ajst-14321	57	15	the	the	DET
ajst-14321	57	16	y	y	PROPN
ajst-14321	57	17	axis	axis	NOUN
ajst-14321	57	18	,	,	PUNCT
ajst-14321	57	19	and	and	CCONJ
ajst-14321	57	20	dividing	divide	VERB
ajst-14321	57	21	the	the	DET
ajst-14321	57	22	𝑥	𝑥	PROPN
ajst-14321	57	23	𝑦	𝑦	ADJ
ajst-14321	57	24	plane	plane	NOUN
ajst-14321	57	25	into	into	ADP
ajst-14321	57	26	𝑀	𝑀	PROPN
ajst-14321	57	27	fan	fan	NOUN
ajst-14321	57	28	-	-	PUNCT
ajst-14321	57	29	shaped	shape	VERB
ajst-14321	57	30	regions	region	NOUN
ajst-14321	57	31	with	with	ADP
ajst-14321	57	32	a	a	DET
ajst-14321	57	33	size	size	NOUN
ajst-14321	57	34	of	of	ADP
ajst-14321	57	35	𝛥𝑎	𝛥𝑎	PROPN
ajst-14321	57	36	,	,	PUNCT
ajst-14321	57	37	as	as	SCONJ
ajst-14321	57	38	shown	show	VERB
ajst-14321	57	39	in	in	ADP
ajst-14321	57	40	the	the	DET
ajst-14321	57	41	following	follow	VERB
ajst-14321	57	42	diagram	diagram	NOUN
ajst-14321	57	43	:	:	PUNCT
ajst-14321	57	44	𝑀	𝑀	PROPN
ajst-14321	57	45	(	(	PUNCT
ajst-14321	57	46	1	1	X
ajst-14321	57	47	)	)	PUNCT
ajst-14321	57	48	where	where	SCONJ
ajst-14321	57	49	𝑆	𝑆	PROPN
ajst-14321	57	50	is	be	AUX
ajst-14321	57	51	the	the	DET
ajst-14321	57	52	number	number	NOUN
ajst-14321	57	53	of	of	ADP
ajst-14321	57	54	the	the	DET
ajst-14321	57	55	𝑖	𝑖	PROPN
ajst-14321	57	56	region	region	NOUN
ajst-14321	57	57	,	,	PUNCT
ajst-14321	57	58	and	and	CCONJ
ajst-14321	57	59	0	0	NUM
ajst-14321	57	60	𝑖	𝑖	SYM
ajst-14321	57	61	𝑀	𝑀	PROPN
ajst-14321	57	62	,	,	PUNCT
ajst-14321	57	63	𝛥𝑎	𝛥𝑎	PROPN
ajst-14321	57	64	is	be	AUX
ajst-14321	57	65	the	the	DET
ajst-14321	57	66	size	size	NOUN
ajst-14321	57	67	of	of	ADP
ajst-14321	57	68	each	each	DET
ajst-14321	57	69	sector	sector	NOUN
ajst-14321	57	70	.	.	PUNCT
ajst-14321	58	1	for	for	ADP
ajst-14321	58	2	any	any	DET
ajst-14321	58	3	point	point	NOUN
ajst-14321	58	4	𝑝	𝑝	NOUN
ajst-14321	58	5	,	,	PUNCT
ajst-14321	58	6	the	the	DET
ajst-14321	58	7	calculation	calculation	NOUN
ajst-14321	58	8	method	method	NOUN
ajst-14321	58	9	of	of	ADP
ajst-14321	58	10	the	the	DET
ajst-14321	58	11	region	region	NOUN
ajst-14321	58	12	number	number	NOUN
ajst-14321	58	13	𝑡	𝑡	PROPN
ajst-14321	58	14	in	in	ADP
ajst-14321	58	15	the	the	DET
ajst-14321	58	16	fan	fan	NOUN
ajst-14321	58	17	-	-	PUNCT
ajst-14321	58	18	shaped	shape	VERB
ajst-14321	58	19	region	region	NOUN
ajst-14321	58	20	is	be	AUX
ajst-14321	58	21	:	:	PUNCT
ajst-14321	58	22	𝑡	𝑡	PROPN
ajst-14321	58	23	,	,	PUNCT
ajst-14321	58	24	,	,	PUNCT
ajst-14321	58	25	,	,	PUNCT
ajst-14321	58	26	(	(	PUNCT
ajst-14321	58	27	2	2	X
ajst-14321	58	28	)	)	PUNCT
ajst-14321	58	29	through	through	ADP
ajst-14321	58	30	multiple	multiple	ADJ
ajst-14321	58	31	experiments	experiment	NOUN
ajst-14321	58	32	on	on	ADP
ajst-14321	58	33	different	different	ADJ
ajst-14321	58	34	road	road	NOUN
ajst-14321	58	35	scenes	scene	NOUN
ajst-14321	58	36	in	in	ADP
ajst-14321	58	37	the	the	DET
ajst-14321	58	38	data	data	NOUN
ajst-14321	58	39	set	set	VERB
ajst-14321	58	40	,	,	PUNCT
ajst-14321	58	41	the	the	DET
ajst-14321	58	42	grid	grid	NOUN
ajst-14321	58	43	size	size	NOUN
ajst-14321	58	44	𝛥𝑎	𝛥𝑎	PROPN
ajst-14321	58	45	of	of	ADP
ajst-14321	58	46	the	the	DET
ajst-14321	58	47	final	final	ADJ
ajst-14321	58	48	experiment	experiment	NOUN
ajst-14321	58	49	is	be	AUX
ajst-14321	58	50	10o	10o	NOUN
ajst-14321	58	51	according	accord	VERB
ajst-14321	58	52	to	to	ADP
ajst-14321	58	53	the	the	DET
ajst-14321	58	54	effect	effect	NOUN
ajst-14321	58	55	of	of	ADP
ajst-14321	58	56	segmentation	segmentation	NOUN
ajst-14321	58	57	.	.	PUNCT
ajst-14321	59	1	3.3	3.3	NUM
ajst-14321	59	2	.	.	PUNCT
ajst-14321	60	1	plane	plane	NOUN
ajst-14321	60	2	fitting	fitting	ADJ
ajst-14321	60	3	plane	plane	NOUN
ajst-14321	60	4	fitting	fitting	NOUN
ajst-14321	60	5	generally	generally	ADV
ajst-14321	60	6	refers	refer	VERB
ajst-14321	60	7	to	to	ADP
ajst-14321	60	8	the	the	DET
ajst-14321	60	9	use	use	NOUN
ajst-14321	60	10	of	of	ADP
ajst-14321	60	11	mathematical	mathematical	ADJ
ajst-14321	60	12	models	model	NOUN
ajst-14321	60	13	to	to	PART
ajst-14321	60	14	fit	fit	VERB
ajst-14321	60	15	a	a	DET
ajst-14321	60	16	ground	ground	NOUN
ajst-14321	60	17	model	model	NOUN
ajst-14321	60	18	.	.	PUNCT
ajst-14321	61	1	in	in	ADP
ajst-14321	61	2	a	a	DET
ajst-14321	61	3	three	three	NUM
ajst-14321	61	4	-	-	PUNCT
ajst-14321	61	5	dimensional	dimensional	ADJ
ajst-14321	61	6	point	point	NOUN
ajst-14321	61	7	cloud	cloud	NOUN
ajst-14321	61	8	,	,	PUNCT
ajst-14321	61	9	the	the	DET
ajst-14321	61	10	ground	ground	NOUN
ajst-14321	61	11	point	point	NOUN
ajst-14321	61	12	is	be	AUX
ajst-14321	61	13	usually	usually	ADV
ajst-14321	61	14	a	a	DET
ajst-14321	61	15	point	point	NOUN
ajst-14321	61	16	with	with	ADP
ajst-14321	61	17	a	a	DET
ajst-14321	61	18	small	small	ADJ
ajst-14321	61	19	height	height	NOUN
ajst-14321	61	20	difference	difference	NOUN
ajst-14321	61	21	from	from	ADP
ajst-14321	61	22	the	the	DET
ajst-14321	61	23	ground	ground	NOUN
ajst-14321	61	24	.	.	PUNCT
ajst-14321	62	1	it	it	PRON
ajst-14321	62	2	is	be	AUX
ajst-14321	62	3	difficult	difficult	ADJ
ajst-14321	62	4	to	to	PART
ajst-14321	62	5	fit	fit	VERB
ajst-14321	62	6	the	the	DET
ajst-14321	62	7	correct	correct	ADJ
ajst-14321	62	8	ground	ground	NOUN
ajst-14321	62	9	model	model	NOUN
ajst-14321	62	10	by	by	ADP
ajst-14321	62	11	random	random	ADJ
ajst-14321	62	12	plane	plane	NOUN
ajst-14321	62	13	fitting	fit	VERB
ajst-14321	62	14	.	.	PUNCT
ajst-14321	63	1	in	in	ADP
ajst-14321	63	2	order	order	NOUN
ajst-14321	63	3	to	to	PART
ajst-14321	63	4	accurately	accurately	ADV
ajst-14321	63	5	fit	fit	VERB
ajst-14321	63	6	the	the	DET
ajst-14321	63	7	ground	ground	NOUN
ajst-14321	63	8	,	,	PUNCT
ajst-14321	63	9	this	this	DET
ajst-14321	63	10	paper	paper	NOUN
ajst-14321	63	11	uses	use	VERB
ajst-14321	63	12	the	the	DET
ajst-14321	63	13	ground	ground	NOUN
ajst-14321	63	14	seed	seed	NOUN
ajst-14321	63	15	point	point	NOUN
ajst-14321	63	16	to	to	PART
ajst-14321	63	17	fit	fit	VERB
ajst-14321	63	18	the	the	DET
ajst-14321	63	19	current	current	ADJ
ajst-14321	63	20	ground	ground	NOUN
ajst-14321	63	21	model	model	NOUN
ajst-14321	63	22	.	.	PUNCT
ajst-14321	64	1	for	for	ADP
ajst-14321	64	2	all	all	DET
ajst-14321	64	3	point	point	NOUN
ajst-14321	64	4	clouds	cloud	NOUN
ajst-14321	64	5	in	in	ADP
ajst-14321	64	6	the	the	DET
ajst-14321	64	7	fan	fan	NOUN
ajst-14321	64	8	-	-	PUNCT
ajst-14321	64	9	shaped	shape	VERB
ajst-14321	64	10	region	region	NOUN
ajst-14321	64	11	𝑆	𝑆	PROPN
ajst-14321	64	12	,	,	PUNCT
ajst-14321	64	13	a	a	DET
ajst-14321	64	14	set	set	NOUN
ajst-14321	64	15	is	be	AUX
ajst-14321	64	16	formed	form	VERB
ajst-14321	64	17	.	.	PUNCT
ajst-14321	65	1	the	the	DET
ajst-14321	65	2	point	point	NOUN
ajst-14321	65	3	clouds	cloud	NOUN
ajst-14321	65	4	in	in	ADP
ajst-14321	65	5	the	the	DET
ajst-14321	65	6	set	set	NOUN
ajst-14321	65	7	are	be	AUX
ajst-14321	65	8	used	use	VERB
ajst-14321	65	9	to	to	PART
ajst-14321	65	10	estimate	estimate	VERB
ajst-14321	65	11	the	the	DET
ajst-14321	65	12	characteristics	characteristic	NOUN
ajst-14321	65	13	of	of	ADP
ajst-14321	65	14	the	the	DET
ajst-14321	65	15	ground	ground	NOUN
ajst-14321	65	16	area	area	NOUN
ajst-14321	65	17	in	in	ADP
ajst-14321	65	18	the	the	DET
ajst-14321	65	19	region	region	NOUN
ajst-14321	65	20	,	,	PUNCT
ajst-14321	65	21	and	and	CCONJ
ajst-14321	65	22	are	be	AUX
ajst-14321	65	23	sorted	sort	VERB
ajst-14321	65	24	according	accord	VERB
ajst-14321	65	25	to	to	ADP
ajst-14321	65	26	the	the	DET
ajst-14321	65	27	height	height	NOUN
ajst-14321	65	28	value	value	NOUN
ajst-14321	65	29	of	of	ADP
ajst-14321	65	30	the	the	DET
ajst-14321	65	31	point	point	NOUN
ajst-14321	65	32	cloud	cloud	NOUN
ajst-14321	65	33	in	in	ADP
ajst-14321	65	34	the	the	DET
ajst-14321	65	35	grid	grid	NOUN
ajst-14321	65	36	.	.	PUNCT
ajst-14321	66	1	according	accord	VERB
ajst-14321	66	2	to	to	ADP
ajst-14321	66	3	experience	experience	NOUN
ajst-14321	66	4	,	,	PUNCT
ajst-14321	66	5	the	the	PRON
ajst-14321	66	6	lower	low	ADJ
ajst-14321	66	7	the	the	DET
ajst-14321	66	8	height	height	NOUN
ajst-14321	66	9	of	of	ADP
ajst-14321	66	10	the	the	DET
ajst-14321	66	11	point	point	NOUN
ajst-14321	66	12	cloud	cloud	NOUN
ajst-14321	66	13	is	be	AUX
ajst-14321	66	14	most	most	ADV
ajst-14321	66	15	likely	likely	ADJ
ajst-14321	66	16	to	to	PART
ajst-14321	66	17	be	be	AUX
ajst-14321	66	18	the	the	DET
ajst-14321	66	19	ground	ground	NOUN
ajst-14321	66	20	point	point	NOUN
ajst-14321	66	21	.	.	PUNCT
ajst-14321	67	1	therefore	therefore	ADV
ajst-14321	67	2	,	,	PUNCT
ajst-14321	67	3	𝑁	𝑁	PROPN
ajst-14321	67	4	points	point	VERB
ajst-14321	67	5	with	with	ADP
ajst-14321	67	6	the	the	DET
ajst-14321	67	7	lowest	low	ADJ
ajst-14321	67	8	height	height	NOUN
ajst-14321	67	9	are	be	AUX
ajst-14321	67	10	selected	select	VERB
ajst-14321	67	11	as	as	ADP
ajst-14321	67	12	seed	seed	NOUN
ajst-14321	67	13	points	point	NOUN
ajst-14321	67	14	in	in	ADP
ajst-14321	67	15	the	the	DET
ajst-14321	67	16	ordered	order	VERB
ajst-14321	67	17	point	point	NOUN
ajst-14321	67	18	cloud	cloud	NOUN
ajst-14321	67	19	,	,	PUNCT
ajst-14321	67	20	and	and	CCONJ
ajst-14321	67	21	the	the	DET
ajst-14321	67	22	average	average	ADJ
ajst-14321	67	23	height	height	NOUN
ajst-14321	67	24	𝐻	𝐻	PROPN
ajst-14321	67	25	of	of	ADP
ajst-14321	67	26	these	these	DET
ajst-14321	67	27	seed	seed	NOUN
ajst-14321	67	28	points	point	NOUN
ajst-14321	67	29	is	be	AUX
ajst-14321	67	30	calculated	calculate	VERB
ajst-14321	67	31	.	.	PUNCT
ajst-14321	68	1	the	the	DET
ajst-14321	68	2	point	point	NOUN
ajst-14321	68	3	cloud	cloud	NOUN
ajst-14321	68	4	below	below	ADP
ajst-14321	68	5	𝐻	𝐻	PROPN
ajst-14321	68	6	𝑡ℎ	𝑡ℎ	NOUN
ajst-14321	68	7	is	be	AUX
ajst-14321	68	8	selected	select	VERB
ajst-14321	68	9	as	as	ADP
ajst-14321	68	10	the	the	DET
ajst-14321	68	11	candidate	candidate	NOUN
ajst-14321	68	12	point	point	NOUN
ajst-14321	68	13	of	of	ADP
ajst-14321	68	14	the	the	DET
ajst-14321	68	15	ground	ground	NOUN
ajst-14321	68	16	,	,	PUNCT
ajst-14321	68	17	and	and	CCONJ
ajst-14321	68	18	𝑡ℎ	𝑡ℎ	NOUN
ajst-14321	68	19	is	be	AUX
ajst-14321	68	20	the	the	DET
ajst-14321	68	21	height	height	NOUN
ajst-14321	68	22	from	from	ADP
ajst-14321	68	23	the	the	DET
ajst-14321	68	24	ground	ground	NOUN
ajst-14321	68	25	threshold	threshold	NOUN
ajst-14321	68	26	.	.	PUNCT
ajst-14321	69	1	𝐻	𝐻	PRON
ajst-14321	69	2	∑	∑	PROPN
ajst-14321	69	3	𝑧	𝑧	PROPN
ajst-14321	69	4	,	,	PUNCT
ajst-14321	69	5	𝑖	𝑖	SYM
ajst-14321	69	6	∈	∈	PROPN
ajst-14321	69	7	1	1	NUM
ajst-14321	69	8	,	,	PUNCT
ajst-14321	69	9	𝑚	𝑚	X
ajst-14321	69	10	(	(	PUNCT
ajst-14321	69	11	3	3	NUM
ajst-14321	69	12	)	)	PUNCT
ajst-14321	69	13	in	in	ADP
ajst-14321	69	14	order	order	NOUN
ajst-14321	69	15	to	to	PART
ajst-14321	69	16	avoid	avoid	VERB
ajst-14321	69	17	the	the	DET
ajst-14321	69	18	situation	situation	NOUN
ajst-14321	69	19	that	that	SCONJ
ajst-14321	69	20	the	the	DET
ajst-14321	69	21	grid	grid	NOUN
ajst-14321	69	22	is	be	AUX
ajst-14321	69	23	all	all	PRON
ajst-14321	69	24	obstacle	obstacle	NOUN
ajst-14321	69	25	points	point	NOUN
ajst-14321	69	26	,	,	PUNCT
ajst-14321	69	27	resulting	result	VERB
ajst-14321	69	28	in	in	ADP
ajst-14321	69	29	the	the	DET
ajst-14321	69	30	local	local	ADJ
ajst-14321	69	31	threshold	threshold	NOUN
ajst-14321	69	32	does	do	AUX
ajst-14321	69	33	not	not	PART
ajst-14321	69	34	conform	conform	VERB
ajst-14321	69	35	to	to	ADP
ajst-14321	69	36	the	the	DET
ajst-14321	69	37	real	real	ADJ
ajst-14321	69	38	situation	situation	NOUN
ajst-14321	69	39	,	,	PUNCT
ajst-14321	69	40	the	the	DET
ajst-14321	69	41	global	global	ADJ
ajst-14321	69	42	threshold	threshold	NOUN
ajst-14321	69	43	𝐻	𝐻	PROPN
ajst-14321	69	44	is	be	AUX
ajst-14321	69	45	introduced	introduce	VERB
ajst-14321	69	46	for	for	ADP
ajst-14321	69	47	further	further	ADJ
ajst-14321	69	48	restriction	restriction	NOUN
ajst-14321	69	49	,	,	PUNCT
ajst-14321	69	50	and	and	CCONJ
ajst-14321	69	51	the	the	DET
ajst-14321	69	52	smallest	small	ADJ
ajst-14321	69	53	of	of	ADP
ajst-14321	69	54	the	the	DET
ajst-14321	69	55	two	two	NUM
ajst-14321	69	56	thresholds	threshold	NOUN
ajst-14321	69	57	is	be	AUX
ajst-14321	69	58	selected	select	VERB
ajst-14321	69	59	as	as	ADP
ajst-14321	69	60	the	the	DET
ajst-14321	69	61	final	final	ADJ
ajst-14321	69	62	threshold	threshold	NOUN
ajst-14321	69	63	of	of	ADP
ajst-14321	69	64	the	the	DET
ajst-14321	69	65	grid	grid	NOUN
ajst-14321	69	66	.	.	PUNCT
ajst-14321	70	1	all	all	DET
ajst-14321	70	2	points	point	NOUN
ajst-14321	70	3	in	in	ADP
ajst-14321	70	4	the	the	DET
ajst-14321	70	5	grid	grid	NOUN
ajst-14321	70	6	that	that	PRON
ajst-14321	70	7	are	be	AUX
ajst-14321	70	8	less	less	ADJ
ajst-14321	70	9	than	than	SCONJ
ajst-14321	70	10	the	the	DET
ajst-14321	70	11	final	final	ADJ
ajst-14321	70	12	threshold	threshold	NOUN
ajst-14321	70	13	is	be	AUX
ajst-14321	70	14	added	add	VERB
ajst-14321	70	15	to	to	ADP
ajst-14321	70	16	the	the	DET
ajst-14321	70	17	seed	seed	NOUN
ajst-14321	70	18	point	point	NOUN
ajst-14321	70	19	set	set	NOUN
ajst-14321	70	20	,	,	PUNCT
ajst-14321	70	21	and	and	CCONJ
ajst-14321	70	22	the	the	DET
ajst-14321	70	23	current	current	ADJ
ajst-14321	70	24	ground	ground	NOUN
ajst-14321	70	25	model	model	NOUN
ajst-14321	70	26	is	be	AUX
ajst-14321	70	27	fitted	fit	VERB
ajst-14321	70	28	according	accord	VERB
ajst-14321	70	29	to	to	ADP
ajst-14321	70	30	the	the	DET
ajst-14321	70	31	points	point	NOUN
ajst-14321	70	32	in	in	ADP
ajst-14321	70	33	the	the	DET
ajst-14321	70	34	seed	seed	NOUN
ajst-14321	70	35	point	point	NOUN
ajst-14321	70	36	set	set	VERB
ajst-14321	70	37	.	.	PUNCT
ajst-14321	71	1	the	the	DET
ajst-14321	71	2	plane	plane	NOUN
ajst-14321	71	3	model	model	NOUN
ajst-14321	71	4	uses	use	VERB
ajst-14321	71	5	a	a	DET
ajst-14321	71	6	linear	linear	ADJ
ajst-14321	71	7	model	model	NOUN
ajst-14321	71	8	:	:	PUNCT
ajst-14321	71	9	𝑎𝑥	𝑎𝑥	NOUN
ajst-14321	71	10	𝑏𝑦	𝑏𝑦	NOUN
ajst-14321	71	11	𝑐𝑧	𝑐𝑧	ADP
ajst-14321	71	12	𝑑	𝑑	PROPN
ajst-14321	71	13	0	0	NUM
ajst-14321	71	14	(	(	PUNCT
ajst-14321	71	15	4	4	NUM
ajst-14321	71	16	)	)	PUNCT
ajst-14321	71	17	𝑛	𝑛	DET
ajst-14321	71	18	𝑋	𝑋	PROPN
ajst-14321	71	19	𝑑	𝑑	PROPN
ajst-14321	71	20	(	(	PUNCT
ajst-14321	71	21	5	5	NUM
ajst-14321	71	22	)	)	PUNCT
ajst-14321	71	23	240	240	NUM
ajst-14321	71	24	where	where	SCONJ
ajst-14321	71	25	,	,	PUNCT
ajst-14321	71	26	𝑋	𝑋	PROPN
ajst-14321	71	27	𝑥	𝑥	PROPN
ajst-14321	71	28	,	,	PUNCT
ajst-14321	71	29	𝑦	𝑦	NOUN
ajst-14321	71	30	,	,	PUNCT
ajst-14321	71	31	𝑧	𝑧	PRON
ajst-14321	71	32	represents	represent	VERB
ajst-14321	71	33	the	the	DET
ajst-14321	71	34	mean	mean	NOUN
ajst-14321	71	35	of	of	ADP
ajst-14321	71	36	the	the	DET
ajst-14321	71	37	seed	seed	NOUN
ajst-14321	71	38	points	point	NOUN
ajst-14321	71	39	,	,	PUNCT
ajst-14321	71	40	and	and	CCONJ
ajst-14321	71	41	𝑛	𝑛	PRON
ajst-14321	71	42	𝑎	𝑎	NOUN
ajst-14321	71	43	,	,	PUNCT
ajst-14321	71	44	𝑏	𝑏	NOUN
ajst-14321	71	45	,	,	PUNCT
ajst-14321	71	46	𝑐	𝑐	PROPN
ajst-14321	71	47	represents	represent	VERB
ajst-14321	71	48	the	the	DET
ajst-14321	71	49	normal	normal	ADJ
ajst-14321	71	50	vector	vector	NOUN
ajst-14321	71	51	of	of	ADP
ajst-14321	71	52	the	the	DET
ajst-14321	71	53	estimated	estimate	VERB
ajst-14321	71	54	ground	ground	NOUN
ajst-14321	71	55	model	model	NOUN
ajst-14321	71	56	.	.	PUNCT
ajst-14321	72	1	the	the	DET
ajst-14321	72	2	𝑐𝑜𝑣	𝑐𝑜𝑣	NOUN
ajst-14321	72	3	∈	∈	PROPN
ajst-14321	72	4	𝑅	𝑅	PROPN
ajst-14321	72	5	is	be	AUX
ajst-14321	72	6	calculated	calculate	VERB
ajst-14321	72	7	by	by	ADP
ajst-14321	72	8	the	the	DET
ajst-14321	72	9	covariance	covariance	NOUN
ajst-14321	72	10	matrix	matrix	NOUN
ajst-14321	72	11	𝑛	𝑛	PRON
ajst-14321	72	12	of	of	ADP
ajst-14321	72	13	the	the	DET
ajst-14321	72	14	seed	seed	NOUN
ajst-14321	72	15	point	point	NOUN
ajst-14321	72	16	set	set	VERB
ajst-14321	72	17	.	.	PUNCT
ajst-14321	73	1	due	due	ADP
ajst-14321	73	2	to	to	ADP
ajst-14321	73	3	the	the	DET
ajst-14321	73	4	high	high	ADJ
ajst-14321	73	5	ranking	ranking	NOUN
ajst-14321	73	6	of	of	ADP
ajst-14321	73	7	the	the	DET
ajst-14321	73	8	point	point	NOUN
ajst-14321	73	9	clouds	cloud	NOUN
ajst-14321	73	10	in	in	ADP
ajst-14321	73	11	the	the	DET
ajst-14321	73	12	grid	grid	NOUN
ajst-14321	73	13	,	,	PUNCT
ajst-14321	73	14	it	it	PRON
ajst-14321	73	15	is	be	AUX
ajst-14321	73	16	ensured	ensure	VERB
ajst-14321	73	17	that	that	SCONJ
ajst-14321	73	18	the	the	DET
ajst-14321	73	19	ground	ground	NOUN
ajst-14321	73	20	model	model	NOUN
ajst-14321	73	21	estimated	estimate	VERB
ajst-14321	73	22	by	by	ADP
ajst-14321	73	23	the	the	DET
ajst-14321	73	24	selected	select	VERB
ajst-14321	73	25	seed	seed	NOUN
ajst-14321	73	26	points	point	NOUN
ajst-14321	73	27	will	will	AUX
ajst-14321	73	28	not	not	PART
ajst-14321	73	29	differ	differ	VERB
ajst-14321	73	30	greatly	greatly	ADV
ajst-14321	73	31	from	from	ADP
ajst-14321	73	32	the	the	DET
ajst-14321	73	33	actual	actual	ADJ
ajst-14321	73	34	ground	ground	NOUN
ajst-14321	73	35	model	model	NOUN
ajst-14321	73	36	.	.	PUNCT
ajst-14321	74	1	4	4	X
ajst-14321	74	2	.	.	X
ajst-14321	74	3	data	datum	NOUN
ajst-14321	74	4	set	set	VERB
ajst-14321	74	5	in	in	ADP
ajst-14321	74	6	order	order	NOUN
ajst-14321	74	7	to	to	PART
ajst-14321	74	8	verify	verify	VERB
ajst-14321	74	9	the	the	DET
ajst-14321	74	10	effectiveness	effectiveness	NOUN
ajst-14321	74	11	of	of	ADP
ajst-14321	74	12	the	the	DET
ajst-14321	74	13	algorithm	algorithm	NOUN
ajst-14321	74	14	in	in	ADP
ajst-14321	74	15	this	this	DET
ajst-14321	74	16	paper	paper	NOUN
ajst-14321	74	17	,	,	PUNCT
ajst-14321	74	18	the	the	DET
ajst-14321	74	19	structured	structured	ADJ
ajst-14321	74	20	data	datum	NOUN
ajst-14321	74	21	set	set	VERB
ajst-14321	74	22	and	and	CCONJ
ajst-14321	74	23	the	the	DET
ajst-14321	74	24	unstructured	unstructured	ADJ
ajst-14321	74	25	data	datum	NOUN
ajst-14321	74	26	set	set	VERB
ajst-14321	74	27	are	be	AUX
ajst-14321	74	28	verified	verify	VERB
ajst-14321	74	29	respectively	respectively	ADV
ajst-14321	74	30	.	.	PUNCT
ajst-14321	75	1	the	the	DET
ajst-14321	75	2	structured	structured	ADJ
ajst-14321	75	3	data	datum	NOUN
ajst-14321	75	4	set	set	VERB
ajst-14321	75	5	adopts	adopt	VERB
ajst-14321	75	6	𝐾𝐼𝑇𝑇𝐼	𝐾𝐼𝑇𝑇𝐼	PROPN
ajst-14321	75	7	data	datum	NOUN
ajst-14321	75	8	set	set	VERB
ajst-14321	75	9	,	,	PUNCT
ajst-14321	75	10	and	and	CCONJ
ajst-14321	75	11	the	the	DET
ajst-14321	75	12	unstructured	unstructured	ADJ
ajst-14321	75	13	data	datum	NOUN
ajst-14321	75	14	set	set	VERB
ajst-14321	75	15	adopts	adopt	VERB
ajst-14321	75	16	𝑂𝑅𝐹𝐷	𝑂𝑅𝐹𝐷	PROPN
ajst-14321	75	17	data	datum	NOUN
ajst-14321	75	18	set	set	VERB
ajst-14321	75	19	.	.	PUNCT
ajst-14321	76	1	the	the	DET
ajst-14321	76	2	𝐾𝐼𝑇𝑇𝐼	𝐾𝐼𝑇𝑇𝐼	PROPN
ajst-14321	76	3	data	datum	NOUN
ajst-14321	76	4	set	set	VERB
ajst-14321	76	5	contains	contain	VERB
ajst-14321	76	6	different	different	ADJ
ajst-14321	76	7	scenes	scene	NOUN
ajst-14321	76	8	under	under	ADP
ajst-14321	76	9	urban	urban	ADJ
ajst-14321	76	10	roads	road	NOUN
ajst-14321	76	11	,	,	PUNCT
ajst-14321	76	12	and	and	CCONJ
ajst-14321	76	13	some	some	DET
ajst-14321	76	14	point	point	NOUN
ajst-14321	76	15	cloud	cloud	NOUN
ajst-14321	76	16	data	datum	NOUN
ajst-14321	76	17	in	in	ADP
ajst-14321	76	18	00,04	00,04	NUM
ajst-14321	76	19	and	and	CCONJ
ajst-14321	76	20	06	06	NUM
ajst-14321	76	21	sequences	sequence	NOUN
ajst-14321	76	22	are	be	AUX
ajst-14321	76	23	selected	select	VERB
ajst-14321	76	24	for	for	ADP
ajst-14321	76	25	experiments	experiment	NOUN
ajst-14321	76	26	.	.	PUNCT
ajst-14321	77	1	the	the	DET
ajst-14321	77	2	𝑂𝑅𝐹𝐷	𝑂𝑅𝐹𝐷	PROPN
ajst-14321	77	3	data	datum	NOUN
ajst-14321	77	4	set	set	NOUN
ajst-14321	77	5	includes	include	VERB
ajst-14321	77	6	scenes	scene	NOUN
ajst-14321	77	7	such	such	ADJ
ajst-14321	77	8	as	as	ADP
ajst-14321	77	9	grassland	grassland	NOUN
ajst-14321	77	10	,	,	PUNCT
ajst-14321	77	11	woodland	woodland	NOUN
ajst-14321	77	12	,	,	PUNCT
ajst-14321	77	13	farmland	farmland	NOUN
ajst-14321	77	14	and	and	CCONJ
ajst-14321	77	15	rural	rural	ADJ
ajst-14321	77	16	roads	road	NOUN
ajst-14321	77	17	in	in	ADP
ajst-14321	77	18	the	the	DET
ajst-14321	77	19	cross	cross	ADJ
ajst-14321	77	20	-	-	ADJ
ajst-14321	77	21	country	country	ADJ
ajst-14321	77	22	environment	environment	NOUN
ajst-14321	77	23	.	.	PUNCT
ajst-14321	78	1	the	the	DET
ajst-14321	78	2	representative	representative	ADJ
ajst-14321	78	3	10	10	NUM
ajst-14321	78	4	frames	frame	NOUN
ajst-14321	78	5	of	of	ADP
ajst-14321	78	6	data	datum	NOUN
ajst-14321	78	7	in	in	ADP
ajst-14321	78	8	each	each	DET
ajst-14321	78	9	scene	scene	NOUN
ajst-14321	78	10	are	be	AUX
ajst-14321	78	11	selected	select	VERB
ajst-14321	78	12	for	for	ADP
ajst-14321	78	13	experiments	experiment	NOUN
ajst-14321	78	14	.	.	PUNCT
ajst-14321	79	1	in	in	ADP
ajst-14321	79	2	the	the	DET
ajst-14321	79	3	experiment	experiment	NOUN
ajst-14321	79	4	,	,	PUNCT
ajst-14321	79	5	due	due	ADP
ajst-14321	79	6	to	to	ADP
ajst-14321	79	7	the	the	DET
ajst-14321	79	8	different	different	ADJ
ajst-14321	79	9	installation	installation	NOUN
ajst-14321	79	10	positions	position	NOUN
ajst-14321	79	11	of	of	ADP
ajst-14321	79	12	the	the	DET
ajst-14321	79	13	lidar	lidar	NOUN
ajst-14321	79	14	,	,	PUNCT
ajst-14321	79	15	the	the	DET
ajst-14321	79	16	point	point	NOUN
ajst-14321	79	17	cloud	cloud	NOUN
ajst-14321	79	18	in	in	ADP
ajst-14321	79	19	the	the	DET
ajst-14321	79	20	too	too	ADV
ajst-14321	79	21	high	high	ADJ
ajst-14321	79	22	area	area	NOUN
ajst-14321	79	23	must	must	AUX
ajst-14321	79	24	belong	belong	VERB
ajst-14321	79	25	to	to	ADP
ajst-14321	79	26	the	the	DET
ajst-14321	79	27	obstacle	obstacle	NOUN
ajst-14321	79	28	point	point	NOUN
ajst-14321	79	29	.	.	PUNCT
ajst-14321	80	1	at	at	ADP
ajst-14321	80	2	the	the	DET
ajst-14321	80	3	same	same	ADJ
ajst-14321	80	4	time	time	NOUN
ajst-14321	80	5	,	,	PUNCT
ajst-14321	80	6	in	in	ADP
ajst-14321	80	7	order	order	NOUN
ajst-14321	80	8	to	to	PART
ajst-14321	80	9	avoid	avoid	VERB
ajst-14321	80	10	the	the	DET
ajst-14321	80	11	interference	interference	NOUN
ajst-14321	80	12	of	of	ADP
ajst-14321	80	13	the	the	DET
ajst-14321	80	14	points	point	NOUN
ajst-14321	80	15	in	in	ADP
ajst-14321	80	16	the	the	DET
ajst-14321	80	17	car	car	NOUN
ajst-14321	80	18	's	's	PART
ajst-14321	80	19	own	own	ADJ
ajst-14321	80	20	area	area	NOUN
ajst-14321	80	21	,	,	PUNCT
ajst-14321	80	22	according	accord	VERB
ajst-14321	80	23	to	to	ADP
ajst-14321	80	24	the	the	DET
ajst-14321	80	25	prior	prior	ADJ
ajst-14321	80	26	knowledge	knowledge	NOUN
ajst-14321	80	27	,	,	PUNCT
ajst-14321	80	28	the	the	DET
ajst-14321	80	29	point	point	NOUN
ajst-14321	80	30	cloud	cloud	NOUN
ajst-14321	80	31	can	can	AUX
ajst-14321	80	32	be	be	AUX
ajst-14321	80	33	cropped	crop	VERB
ajst-14321	80	34	and	and	CCONJ
ajst-14321	80	35	the	the	DET
ajst-14321	80	36	interference	interference	NOUN
ajst-14321	80	37	of	of	ADP
ajst-14321	80	38	noise	noise	NOUN
ajst-14321	80	39	points	point	NOUN
ajst-14321	80	40	can	can	AUX
ajst-14321	80	41	be	be	AUX
ajst-14321	80	42	removed	remove	VERB
ajst-14321	80	43	to	to	PART
ajst-14321	80	44	ensure	ensure	VERB
ajst-14321	80	45	the	the	DET
ajst-14321	80	46	effectiveness	effectiveness	NOUN
ajst-14321	80	47	of	of	ADP
ajst-14321	80	48	the	the	DET
ajst-14321	80	49	algorithm	algorithm	NOUN
ajst-14321	80	50	.	.	PUNCT
ajst-14321	81	1	since	since	SCONJ
ajst-14321	81	2	the	the	DET
ajst-14321	81	3	data	datum	NOUN
ajst-14321	81	4	of	of	ADP
ajst-14321	81	5	the	the	DET
ajst-14321	81	6	𝑂𝑅𝐹𝐷	𝑂𝑅𝐹𝐷	PROPN
ajst-14321	81	7	data	datum	NOUN
ajst-14321	81	8	set	set	VERB
ajst-14321	81	9	is	be	AUX
ajst-14321	81	10	not	not	PART
ajst-14321	81	11	labeled	label	VERB
ajst-14321	81	12	,	,	PUNCT
ajst-14321	81	13	a	a	DET
ajst-14321	81	14	representative	representative	ADJ
ajst-14321	81	15	scene	scene	NOUN
ajst-14321	81	16	in	in	ADP
ajst-14321	81	17	the	the	DET
ajst-14321	81	18	data	datum	NOUN
ajst-14321	81	19	set	set	VERB
ajst-14321	81	20	is	be	AUX
ajst-14321	81	21	selected	select	VERB
ajst-14321	81	22	to	to	PART
ajst-14321	81	23	manually	manually	ADV
ajst-14321	81	24	label	label	VERB
ajst-14321	81	25	the	the	DET
ajst-14321	81	26	point	point	NOUN
ajst-14321	81	27	cloud	cloud	NOUN
ajst-14321	81	28	data	datum	NOUN
ajst-14321	81	29	,	,	PUNCT
ajst-14321	81	30	and	and	CCONJ
ajst-14321	81	31	the	the	DET
ajst-14321	81	32	data	data	NOUN
ajst-14321	81	33	is	be	AUX
ajst-14321	81	34	divided	divide	VERB
ajst-14321	81	35	into	into	ADP
ajst-14321	81	36	ground	ground	NOUN
ajst-14321	81	37	points	point	NOUN
ajst-14321	81	38	and	and	CCONJ
ajst-14321	81	39	non	non	ADJ
ajst-14321	81	40	-	-	ADJ
ajst-14321	81	41	ground	ground	ADJ
ajst-14321	81	42	points	point	NOUN
ajst-14321	81	43	.	.	PUNCT
ajst-14321	82	1	5	5	X
ajst-14321	82	2	.	.	X
ajst-14321	82	3	experimental	experimental	ADJ
ajst-14321	82	4	result	result	NOUN
ajst-14321	82	5	the	the	DET
ajst-14321	82	6	computer	computer	NOUN
ajst-14321	82	7	configuration	configuration	NOUN
ajst-14321	82	8	of	of	ADP
ajst-14321	82	9	the	the	DET
ajst-14321	82	10	algorithm	algorithm	NOUN
ajst-14321	82	11	experiment	experiment	NOUN
ajst-14321	82	12	in	in	ADP
ajst-14321	82	13	this	this	DET
ajst-14321	82	14	paper	paper	NOUN
ajst-14321	82	15	is	be	AUX
ajst-14321	82	16	:	:	PUNCT
ajst-14321	82	17	i7	i7	ADJ
ajst-14321	82	18	-	-	PUNCT
ajst-14321	82	19	10700	10700	NUM
ajst-14321	82	20	processor	processor	NOUN
ajst-14321	82	21	,	,	PUNCT
ajst-14321	82	22	system	system	NOUN
ajst-14321	82	23	environment	environment	NOUN
ajst-14321	82	24	is	be	AUX
ajst-14321	82	25	windows	window	NOUN
ajst-14321	82	26	,	,	PUNCT
ajst-14321	82	27	call	call	VERB
ajst-14321	82	28	pcl1.8	pcl1.8	NOUN
ajst-14321	82	29	point	point	NOUN
ajst-14321	82	30	cloud	cloud	NOUN
ajst-14321	82	31	library	library	NOUN
ajst-14321	82	32	,	,	PUNCT
ajst-14321	82	33	write	write	VERB
ajst-14321	82	34	in	in	ADP
ajst-14321	82	35	c	c	PROPN
ajst-14321	82	36	+	+	CCONJ
ajst-14321	83	1	+	+	NUM
ajst-14321	83	2	language	language	NOUN
ajst-14321	83	3	,	,	PUNCT
ajst-14321	83	4	and	and	CCONJ
ajst-14321	83	5	use	use	VERB
ajst-14321	83	6	cloud	cloud	NOUN
ajst-14321	83	7	-	-	PUNCT
ajst-14321	83	8	compare	compare	NOUN
ajst-14321	83	9	software	software	NOUN
ajst-14321	83	10	to	to	PART
ajst-14321	83	11	mark	mark	VERB
ajst-14321	83	12	point	point	NOUN
ajst-14321	83	13	cloud	cloud	NOUN
ajst-14321	83	14	and	and	CCONJ
ajst-14321	83	15	visualization	visualization	NOUN
ajst-14321	83	16	.	.	PUNCT
ajst-14321	84	1	5.1	5.1	NUM
ajst-14321	84	2	.	.	PUNCT
ajst-14321	84	3	evaluating	evaluate	VERB
ajst-14321	84	4	indicator	indicator	NOUN
ajst-14321	84	5	by	by	ADP
ajst-14321	84	6	comparing	compare	VERB
ajst-14321	84	7	ransac	ransac	NOUN
ajst-14321	84	8	,	,	PUNCT
ajst-14321	84	9	lf	lf	PROPN
ajst-14321	84	10	,	,	PUNCT
ajst-14321	84	11	hdl	hdl	PROPN
ajst-14321	84	12	three	three	NUM
ajst-14321	84	13	algorithms	algorithm	NOUN
ajst-14321	84	14	.	.	PUNCT
ajst-14321	85	1	according	accord	VERB
ajst-14321	85	2	to	to	ADP
ajst-14321	85	3	the	the	DET
ajst-14321	85	4	method	method	NOUN
ajst-14321	85	5	in	in	ADP
ajst-14321	85	6	reference	reference	NOUN
ajst-14321	85	7	[	[	X
ajst-14321	85	8	13	13	NUM
ajst-14321	85	9	]	]	PUNCT
ajst-14321	85	10	,	,	PUNCT
ajst-14321	85	11	the	the	DET
ajst-14321	85	12	effectiveness	effectiveness	NOUN
ajst-14321	85	13	of	of	ADP
ajst-14321	85	14	the	the	DET
ajst-14321	85	15	algorithm	algorithm	NOUN
ajst-14321	85	16	is	be	AUX
ajst-14321	85	17	evaluated	evaluate	VERB
ajst-14321	85	18	from	from	ADP
ajst-14321	85	19	four	four	NUM
ajst-14321	85	20	aspects	aspect	NOUN
ajst-14321	85	21	:	:	PUNCT
ajst-14321	85	22	precision	precision	NOUN
ajst-14321	85	23	rate	rate	NOUN
ajst-14321	85	24	𝑃	𝑃	PROPN
ajst-14321	85	25	,	,	PUNCT
ajst-14321	85	26	recall	recall	NOUN
ajst-14321	85	27	rate	rate	NOUN
ajst-14321	85	28	𝑅	𝑅	PROPN
ajst-14321	85	29	,	,	PUNCT
ajst-14321	85	30	𝐹	𝐹	PROPN
ajst-14321	85	31	score	score	NOUN
ajst-14321	85	32	and	and	CCONJ
ajst-14321	85	33	accuracy	accuracy	NOUN
ajst-14321	85	34	rate	rate	NOUN
ajst-14321	85	35	𝐴.	𝐴.	PROPN
ajst-14321	85	36	the	the	DET
ajst-14321	85	37	calculation	calculation	NOUN
ajst-14321	85	38	method	method	NOUN
ajst-14321	85	39	of	of	ADP
ajst-14321	85	40	each	each	DET
ajst-14321	85	41	evaluation	evaluation	NOUN
ajst-14321	85	42	index	index	NOUN
ajst-14321	85	43	is	be	AUX
ajst-14321	85	44	as	as	SCONJ
ajst-14321	85	45	follows	follow	VERB
ajst-14321	85	46	.	.	PUNCT
ajst-14321	86	1	𝑃	𝑃	NOUN
ajst-14321	86	2	(	(	PUNCT
ajst-14321	86	3	6	6	NUM
ajst-14321	86	4	)	)	PUNCT
ajst-14321	86	5	𝐴	𝐴	PROPN
ajst-14321	86	6	(	(	PUNCT
ajst-14321	86	7	7	7	NUM
ajst-14321	86	8	)	)	PUNCT
ajst-14321	86	9	𝑅	𝑅	PROPN
ajst-14321	86	10	(	(	PUNCT
ajst-14321	86	11	8)	8)	NUM
ajst-14321	86	12	𝐹	𝐹	PROPN
ajst-14321	86	13	(	(	PUNCT
ajst-14321	86	14	9	9	NUM
ajst-14321	86	15	)	)	PUNCT
ajst-14321	86	16	in	in	ADP
ajst-14321	86	17	the	the	DET
ajst-14321	86	18	formula	formula	NOUN
ajst-14321	86	19	,	,	PUNCT
ajst-14321	86	20	𝑇𝑃	𝑇𝑃	PROPN
ajst-14321	86	21	is	be	AUX
ajst-14321	86	22	the	the	DET
ajst-14321	86	23	number	number	NOUN
ajst-14321	86	24	of	of	ADP
ajst-14321	86	25	ground	ground	NOUN
ajst-14321	86	26	points	point	NOUN
ajst-14321	86	27	correctly	correctly	ADV
ajst-14321	86	28	marked	mark	VERB
ajst-14321	86	29	,	,	PUNCT
ajst-14321	86	30	𝐹𝑃	𝐹𝑃	PROPN
ajst-14321	86	31	is	be	AUX
ajst-14321	86	32	the	the	DET
ajst-14321	86	33	number	number	NOUN
ajst-14321	86	34	of	of	ADP
ajst-14321	86	35	ground	ground	NOUN
ajst-14321	86	36	points	point	NOUN
ajst-14321	86	37	incorrectly	incorrectly	ADV
ajst-14321	86	38	marked	mark	VERB
ajst-14321	86	39	,	,	PUNCT
ajst-14321	86	40	𝑇𝑁	𝑇𝑁	PROPN
ajst-14321	86	41	is	be	AUX
ajst-14321	86	42	the	the	DET
ajst-14321	86	43	data	datum	NOUN
ajst-14321	86	44	of	of	ADP
ajst-14321	86	45	non	non	ADJ
ajst-14321	86	46	-	-	ADJ
ajst-14321	86	47	ground	ground	ADJ
ajst-14321	86	48	points	point	NOUN
ajst-14321	86	49	correctly	correctly	ADV
ajst-14321	86	50	marked	mark	VERB
ajst-14321	86	51	,	,	PUNCT
ajst-14321	86	52	and	and	CCONJ
ajst-14321	86	53	𝐹𝑁	𝐹𝑁	PROPN
ajst-14321	86	54	is	be	AUX
ajst-14321	86	55	the	the	DET
ajst-14321	86	56	data	datum	NOUN
ajst-14321	86	57	of	of	ADP
ajst-14321	86	58	non	non	ADJ
ajst-14321	86	59	-	-	ADJ
ajst-14321	86	60	ground	ground	ADJ
ajst-14321	86	61	points	point	NOUN
ajst-14321	86	62	incorrectly	incorrectly	ADV
ajst-14321	86	63	marked	mark	VERB
ajst-14321	86	64	.	.	PUNCT
ajst-14321	87	1	among	among	ADP
ajst-14321	87	2	them	they	PRON
ajst-14321	87	3	,	,	PUNCT
ajst-14321	87	4	the	the	PRON
ajst-14321	87	5	larger	large	ADJ
ajst-14321	87	6	the	the	DET
ajst-14321	87	7	𝑃	𝑃	PROPN
ajst-14321	87	8	and	and	CCONJ
ajst-14321	87	9	𝑅	𝑅	PROPN
ajst-14321	87	10	,	,	PUNCT
ajst-14321	87	11	the	the	DET
ajst-14321	87	12	more	more	ADJ
ajst-14321	87	13	data	datum	NOUN
ajst-14321	87	14	the	the	DET
ajst-14321	87	15	ground	ground	NOUN
ajst-14321	87	16	points	point	NOUN
ajst-14321	87	17	are	be	AUX
ajst-14321	87	18	correctly	correctly	ADV
ajst-14321	87	19	classified	classified	ADJ
ajst-14321	87	20	,	,	PUNCT
ajst-14321	87	21	and	and	CCONJ
ajst-14321	87	22	the	the	PRON
ajst-14321	87	23	better	well	ADJ
ajst-14321	87	24	the	the	DET
ajst-14321	87	25	segmentation	segmentation	NOUN
ajst-14321	87	26	effect	effect	NOUN
ajst-14321	87	27	.	.	PUNCT
ajst-14321	88	1	table	table	NOUN
ajst-14321	88	2	1	1	NUM
ajst-14321	88	3	.	.	PUNCT
ajst-14321	88	4	comparison	comparison	NOUN
ajst-14321	88	5	of	of	ADP
ajst-14321	88	6	segmentation	segmentation	NOUN
ajst-14321	88	7	effects	effect	NOUN
ajst-14321	88	8	of	of	ADP
ajst-14321	88	9	structured	structured	ADJ
ajst-14321	88	10	data	datum	NOUN
ajst-14321	88	11	sets	set	NOUN
ajst-14321	88	12	structure	structure	NOUN
ajst-14321	88	13	scene	scene	NOUN
ajst-14321	88	14	algorithm	algorithm	NOUN
ajst-14321	89	1	p	p	PROPN
ajst-14321	90	1	𝐹	𝐹	PROPN
ajst-14321	90	2	r	r	NOUN
ajst-14321	90	3	a	a	DET
ajst-14321	90	4	00	00	NUM
ajst-14321	90	5	04	04	NUM
ajst-14321	90	6	06	06	NUM
ajst-14321	90	7	ransac	ransac	NOUN
ajst-14321	90	8	0.5891	0.5891	NUM
ajst-14321	90	9	0.6384	0.6384	NUM
ajst-14321	90	10	0.7361	0.7361	NUM
ajst-14321	90	11	0.6950	0.6950	NUM
ajst-14321	90	12	lf	lf	ADP
ajst-14321	90	13	0.8232	0.8232	NUM
ajst-14321	90	14	0.8354	0.8354	NUM
ajst-14321	90	15	0.8832	0.8832	NUM
ajst-14321	90	16	0.8332	0.8332	NUM
ajst-14321	90	17	hdl	hdl	NOUN
ajst-14321	90	18	0.7679	0.7679	NUM
ajst-14321	90	19	0.7845	0.7845	NUM
ajst-14321	90	20	0.7952	0.7952	NUM
ajst-14321	90	21	0.7504	0.7504	NUM
ajst-14321	90	22	our	our	PRON
ajst-14321	90	23	0.8025	0.8025	NUM
ajst-14321	90	24	0.8369	0.8369	NUM
ajst-14321	90	25	0.8784	0.8784	NUM
ajst-14321	90	26	0.8451	0.8451	NUM
ajst-14321	90	27	table	table	NOUN
ajst-14321	90	28	2	2	NUM
ajst-14321	90	29	.	.	PUNCT
ajst-14321	90	30	comparison	comparison	NOUN
ajst-14321	90	31	of	of	ADP
ajst-14321	90	32	segmentation	segmentation	NOUN
ajst-14321	90	33	effects	effect	NOUN
ajst-14321	90	34	of	of	ADP
ajst-14321	90	35	unstructured	unstructured	ADJ
ajst-14321	90	36	data	datum	NOUN
ajst-14321	90	37	sets	set	VERB
ajst-14321	90	38	unstructured	unstructured	ADJ
ajst-14321	90	39	scene	scene	NOUN
ajst-14321	90	40	algorithm	algorithm	NOUN
ajst-14321	91	1	p	p	PROPN
ajst-14321	91	2	𝐹	𝐹	PROPN
ajst-14321	91	3	r	r	NOUN
ajst-14321	91	4	a	a	DET
ajst-14321	91	5	tsukichikando	tsukichikando	NOUN
ajst-14321	91	6	green	green	ADJ
ajst-14321	91	7	way	way	NOUN
ajst-14321	91	8	ransac	ransac	NOUN
ajst-14321	91	9	0.4439	0.4439	NUM
ajst-14321	91	10	0.2865	0.2865	NUM
ajst-14321	91	11	0.2075	0.2075	NUM
ajst-14321	91	12	0.4217	0.4217	NUM
ajst-14321	91	13	lf	lf	ADP
ajst-14321	91	14	0.7558	0.7558	NUM
ajst-14321	91	15	0.6841	0.6841	NUM
ajst-14321	91	16	0.6557	0.6557	NUM
ajst-14321	91	17	0.8304	0.8304	NUM
ajst-14321	91	18	hdl	hdl	NOUN
ajst-14321	91	19	0.7035	0.7035	NUM
ajst-14321	91	20	0.6426	0.6426	NUM
ajst-14321	91	21	0.5913	0.5913	NUM
ajst-14321	91	22	0.8031	0.8031	NUM
ajst-14321	91	23	our	our	PRON
ajst-14321	91	24	0.7567	0.7567	NUM
ajst-14321	91	25	0.8195	0.8195	NUM
ajst-14321	91	26	0.7934	0.7934	NUM
ajst-14321	91	27	0.7943	0.7943	NUM
ajst-14321	91	28	6	6	NUM
ajst-14321	91	29	.	.	PUNCT
ajst-14321	91	30	summary	summary	NOUN
ajst-14321	91	31	in	in	ADP
ajst-14321	91	32	this	this	DET
ajst-14321	91	33	paper	paper	NOUN
ajst-14321	91	34	,	,	PUNCT
ajst-14321	91	35	robust	robust	ADJ
ajst-14321	91	36	ground	ground	NOUN
ajst-14321	91	37	point	point	NOUN
ajst-14321	91	38	recognition	recognition	NOUN
ajst-14321	91	39	experiments	experiment	NOUN
ajst-14321	91	40	are	be	AUX
ajst-14321	91	41	carried	carry	VERB
ajst-14321	91	42	out	out	ADP
ajst-14321	91	43	in	in	ADP
ajst-14321	91	44	different	different	ADJ
ajst-14321	91	45	unstructured	unstructured	ADJ
ajst-14321	91	46	scenes	scene	NOUN
ajst-14321	91	47	.	.	PUNCT
ajst-14321	92	1	the	the	DET
ajst-14321	92	2	results	result	NOUN
ajst-14321	92	3	show	show	VERB
ajst-14321	92	4	that	that	SCONJ
ajst-14321	92	5	after	after	SCONJ
ajst-14321	92	6	the	the	DET
ajst-14321	92	7	initial	initial	ADJ
ajst-14321	92	8	lidar	lidar	NOUN
ajst-14321	92	9	point	point	NOUN
ajst-14321	92	10	cloud	cloud	NOUN
ajst-14321	92	11	is	be	AUX
ajst-14321	92	12	corrected	correct	VERB
ajst-14321	92	13	and	and	CCONJ
ajst-14321	92	14	denoised	denoise	VERB
ajst-14321	92	15	and	and	CCONJ
ajst-14321	92	16	the	the	DET
ajst-14321	92	17	roi	roi	NOUN
ajst-14321	92	18	region	region	NOUN
ajst-14321	92	19	is	be	AUX
ajst-14321	92	20	selected	select	VERB
ajst-14321	92	21	for	for	ADP
ajst-14321	92	22	preprocessing	preprocessing	NOUN
ajst-14321	92	23	,	,	PUNCT
ajst-14321	92	24	some	some	DET
ajst-14321	92	25	invalid	invalid	ADJ
ajst-14321	92	26	point	point	NOUN
ajst-14321	92	27	clouds	cloud	NOUN
ajst-14321	92	28	are	be	AUX
ajst-14321	92	29	removed	remove	VERB
ajst-14321	92	30	.	.	PUNCT
ajst-14321	93	1	a	a	DET
ajst-14321	93	2	ground	ground	NOUN
ajst-14321	93	3	point	point	NOUN
ajst-14321	93	4	recognition	recognition	NOUN
ajst-14321	93	5	method	method	NOUN
ajst-14321	93	6	based	base	VERB
ajst-14321	93	7	on	on	ADP
ajst-14321	93	8	grid	grid	NOUN
ajst-14321	93	9	division	division	NOUN
ajst-14321	93	10	is	be	AUX
ajst-14321	93	11	proposed	propose	VERB
ajst-14321	93	12	,	,	PUNCT
ajst-14321	93	13	and	and	CCONJ
ajst-14321	93	14	the	the	DET
ajst-14321	93	15	segmentation	segmentation	NOUN
ajst-14321	93	16	results	result	NOUN
ajst-14321	93	17	are	be	AUX
ajst-14321	93	18	corrected	correct	VERB
ajst-14321	93	19	by	by	ADP
ajst-14321	93	20	convolution	convolution	NOUN
ajst-14321	93	21	filtering	filtering	NOUN
ajst-14321	93	22	.	.	PUNCT
ajst-14321	94	1	compared	compare	VERB
ajst-14321	94	2	with	with	ADP
ajst-14321	94	3	ransac	ransac	NOUN
ajst-14321	94	4	,	,	PUNCT
ajst-14321	94	5	lf	lf	NOUN
ajst-14321	94	6	and	and	CCONJ
ajst-14321	94	7	hdl	hdl	PROPN
ajst-14321	94	8	algorithms	algorithm	NOUN
ajst-14321	94	9	in	in	ADP
ajst-14321	94	10	structured	structured	ADJ
ajst-14321	94	11	data	datum	NOUN
ajst-14321	94	12	sets	set	NOUN
ajst-14321	94	13	and	and	CCONJ
ajst-14321	94	14	unstructured	unstructured	ADJ
ajst-14321	94	15	data	data	NOUN
ajst-14321	94	16	sets	set	NOUN
ajst-14321	94	17	,	,	PUNCT
ajst-14321	94	18	the	the	DET
ajst-14321	94	19	experimental	experimental	ADJ
ajst-14321	94	20	results	result	NOUN
ajst-14321	94	21	show	show	VERB
ajst-14321	94	22	that	that	SCONJ
ajst-14321	94	23	the	the	DET
ajst-14321	94	24	proposed	propose	VERB
ajst-14321	94	25	algorithm	algorithm	NOUN
ajst-14321	94	26	has	have	VERB
ajst-14321	94	27	strong	strong	ADJ
ajst-14321	94	28	robustness	robustness	NOUN
ajst-14321	94	29	and	and	CCONJ
ajst-14321	94	30	real	real	ADJ
ajst-14321	94	31	-	-	PUNCT
ajst-14321	94	32	time	time	NOUN
ajst-14321	94	33	performance	performance	NOUN
ajst-14321	94	34	in	in	ADP
ajst-14321	94	35	different	different	ADJ
ajst-14321	94	36	environments	environment	NOUN
ajst-14321	94	37	,	,	PUNCT
ajst-14321	94	38	and	and	CCONJ
ajst-14321	94	39	can	can	AUX
ajst-14321	94	40	meet	meet	VERB
ajst-14321	94	41	the	the	DET
ajst-14321	94	42	actual	actual	ADJ
ajst-14321	94	43	engineering	engineering	NOUN
ajst-14321	94	44	requirements	requirement	NOUN
ajst-14321	94	45	.	.	PUNCT
ajst-14321	95	1	in	in	ADP
ajst-14321	95	2	the	the	DET
ajst-14321	95	3	subsequent	subsequent	ADJ
ajst-14321	95	4	research	research	NOUN
ajst-14321	95	5	,	,	PUNCT
ajst-14321	95	6	the	the	DET
ajst-14321	95	7	fusion	fusion	NOUN
ajst-14321	95	8	detection	detection	NOUN
ajst-14321	95	9	of	of	ADP
ajst-14321	95	10	lidar	lidar	NOUN
ajst-14321	95	11	and	and	CCONJ
ajst-14321	95	12	camera	camera	NOUN
ajst-14321	95	13	will	will	AUX
ajst-14321	95	14	be	be	AUX
ajst-14321	95	15	carried	carry	VERB
ajst-14321	95	16	out	out	ADP
ajst-14321	95	17	to	to	PART
ajst-14321	95	18	further	far	ADV
ajst-14321	95	19	improve	improve	VERB
ajst-14321	95	20	the	the	DET
ajst-14321	95	21	detection	detection	NOUN
ajst-14321	95	22	range	range	NOUN
ajst-14321	95	23	and	and	CCONJ
ajst-14321	95	24	accuracy	accuracy	NOUN
ajst-14321	95	25	.	.	PUNCT
ajst-14321	96	1	references	reference	NOUN
ajst-14321	96	2	[	[	X
ajst-14321	96	3	1	1	NUM
ajst-14321	96	4	]	]	PUNCT
ajst-14321	96	5	m.	m.	NOUN
ajst-14321	96	6	wigness	wigness	NOUN
ajst-14321	96	7	,	,	PUNCT
ajst-14321	96	8	s.	s.	PROPN
ajst-14321	96	9	eum	eum	PROPN
ajst-14321	96	10	,	,	PUNCT
ajst-14321	96	11	j.	j.	PROPN
ajst-14321	96	12	g.	g.	PROPN
ajst-14321	96	13	rogers	rogers	PROPN
ajst-14321	96	14	,	,	PUNCT
ajst-14321	96	15	d.	d.	PROPN
ajst-14321	96	16	han	han	PROPN
ajst-14321	96	17	and	and	CCONJ
ajst-14321	96	18	h.	h.	PROPN
ajst-14321	96	19	kwon	kwon	PROPN
ajst-14321	96	20	,	,	PUNCT
ajst-14321	96	21	"	"	PUNCT
ajst-14321	96	22	a	a	DET
ajst-14321	96	23	rugd	rugd	NOUN
ajst-14321	96	24	dataset	dataset	NOUN
ajst-14321	96	25	for	for	ADP
ajst-14321	96	26	autonomous	autonomous	ADJ
ajst-14321	96	27	navigation	navigation	NOUN
ajst-14321	96	28	and	and	CCONJ
ajst-14321	96	29	visual	visual	ADJ
ajst-14321	96	30	perception	perception	NOUN
ajst-14321	96	31	in	in	ADP
ajst-14321	96	32	unstructured	unstructured	ADJ
ajst-14321	96	33	outdoor	outdoor	ADJ
ajst-14321	96	34	environments	environment	NOUN
ajst-14321	96	35	,	,	PUNCT
ajst-14321	96	36	"	"	PUNCT
ajst-14321	96	37	2019	2019	NUM
ajst-14321	96	38	ieee	ieee	NOUN
ajst-14321	96	39	/	/	SYM
ajst-14321	96	40	rsj	rsj	NOUN
ajst-14321	96	41	international	international	ADJ
ajst-14321	96	42	conference	conference	NOUN
ajst-14321	96	43	on	on	ADP
ajst-14321	96	44	intelligent	intelligent	ADJ
ajst-14321	96	45	robots	robot	NOUN
ajst-14321	96	46	and	and	CCONJ
ajst-14321	96	47	241	241	NUM
ajst-14321	96	48	systems	system	NOUN
ajst-14321	96	49	(	(	PUNCT
ajst-14321	96	50	iros	iro	NOUN
ajst-14321	96	51	)	)	PUNCT
ajst-14321	96	52	,	,	PUNCT
ajst-14321	96	53	macau	macau	PROPN
ajst-14321	96	54	,	,	PUNCT
ajst-14321	96	55	china	china	PROPN
ajst-14321	96	56	,	,	PUNCT
ajst-14321	96	57	2019	2019	NUM
ajst-14321	96	58	,	,	PUNCT
ajst-14321	96	59	pp	pp	ADJ
ajst-14321	96	60	.	.	PUNCT
ajst-14321	97	1	5000	5000	NUM
ajst-14321	97	2	-	-	SYM
ajst-14321	97	3	5007	5007	NUM
ajst-14321	97	4	,	,	PUNCT
ajst-14321	97	5	doi	doi	NOUN
ajst-14321	97	6	:	:	PUNCT
ajst-14321	97	7	10.1109	10.1109	NUM
ajst-14321	97	8	/	/	SYM
ajst-14321	97	9	iros40897.2019.8968283	iros40897.2019.8968283	PROPN
ajst-14321	97	10	.	.	PUNCT
ajst-14321	98	1	[	[	X
ajst-14321	98	2	2	2	NUM
ajst-14321	98	3	]	]	SYM
ajst-14321	98	4	min	min	PROPN
ajst-14321	98	5	,	,	PUNCT
ajst-14321	98	6	c.	c.	PROPN
ajst-14321	98	7	,	,	PUNCT
ajst-14321	98	8	jiang	jiang	PROPN
ajst-14321	98	9	,	,	PUNCT
ajst-14321	98	10	w.	w.	PROPN
ajst-14321	98	11	,	,	PUNCT
ajst-14321	98	12	zhao	zhao	PROPN
ajst-14321	98	13	,	,	PUNCT
ajst-14321	98	14	d.	d.	PROPN
ajst-14321	98	15	,	,	PUNCT
ajst-14321	98	16	xu	xu	PROPN
ajst-14321	98	17	,	,	PUNCT
ajst-14321	98	18	j.	j.	PROPN
ajst-14321	98	19	,	,	PUNCT
ajst-14321	98	20	xiao	xiao	PROPN
ajst-14321	98	21	,	,	PUNCT
ajst-14321	98	22	l.	l.	PROPN
ajst-14321	98	23	,	,	PUNCT
ajst-14321	98	24	nie	nie	PROPN
ajst-14321	98	25	,	,	PUNCT
ajst-14321	98	26	y.	y.	PROPN
ajst-14321	98	27	,	,	PUNCT
ajst-14321	98	28	&	&	CCONJ
ajst-14321	98	29	dai	dai	PROPN
ajst-14321	98	30	,	,	PUNCT
ajst-14321	98	31	b.	b.	PROPN
ajst-14321	98	32	(	(	PUNCT
ajst-14321	98	33	2022	2022	NUM
ajst-14321	98	34	)	)	PUNCT
ajst-14321	98	35	.	.	PUNCT
ajst-14321	99	1	orfd	orfd	PROPN
ajst-14321	99	2	:	:	PUNCT
ajst-14321	99	3	a	a	DET
ajst-14321	99	4	dataset	dataset	NOUN
ajst-14321	99	5	and	and	CCONJ
ajst-14321	99	6	benchmark	benchmark	NOUN
ajst-14321	99	7	for	for	ADP
ajst-14321	99	8	off	off	ADP
ajst-14321	99	9	-	-	PUNCT
ajst-14321	99	10	road	road	NOUN
ajst-14321	99	11	freespace	freespace	NOUN
ajst-14321	99	12	detection	detection	NOUN
ajst-14321	99	13	.	.	PUNCT
ajst-14321	100	1	2022	2022	NUM
ajst-14321	100	2	international	international	ADJ
ajst-14321	100	3	conference	conference	NOUN
ajst-14321	100	4	on	on	ADP
ajst-14321	100	5	robotics	robotic	NOUN
ajst-14321	100	6	and	and	CCONJ
ajst-14321	100	7	automation	automation	NOUN
ajst-14321	100	8	(	(	PUNCT
ajst-14321	100	9	icra	icra	PROPN
ajst-14321	100	10	)	)	PUNCT
ajst-14321	100	11	,	,	PUNCT
ajst-14321	100	12	2532	2532	NUM
ajst-14321	100	13	-	-	SYM
ajst-14321	100	14	2538	2538	NUM
ajst-14321	100	15	.	.	PUNCT
ajst-14321	101	1	[	[	X
ajst-14321	101	2	3	3	NUM
ajst-14321	101	3	]	]	SYM
ajst-14321	101	4	li	li	PROPN
ajst-14321	101	5	,	,	PUNCT
ajst-14321	101	6	jiang	jiang	PROPN
ajst-14321	101	7	,	,	PUNCT
ajst-14321	101	8	wang	wang	PROPN
ajst-14321	101	9	.	.	PUNCT
ajst-14321	101	10	robust	robust	ADJ
ajst-14321	101	11	point	point	NOUN
ajst-14321	101	12	cloud	cloud	NOUN
ajst-14321	101	13	plane	plane	NOUN
ajst-14321	101	14	fitting	fitting	NOUN
ajst-14321	101	15	method	method	NOUN
ajst-14321	101	16	based	base	VERB
ajst-14321	101	17	on	on	ADP
ajst-14321	101	18	random	random	ADJ
ajst-14321	101	19	sample	sample	NOUN
ajst-14321	101	20	consensus	consensus	NOUN
ajst-14321	101	21	algorithm	algorithm	NOUN
ajst-14321	101	22	[	[	X
ajst-14321	101	23	j	j	X
ajst-14321	101	24	]	]	X
ajst-14321	101	25	.	.	PUNCT
ajst-14321	101	26	surveying	surveying	NOUN
ajst-14321	101	27	and	and	CCONJ
ajst-14321	101	28	mapping	mapping	NOUN
ajst-14321	101	29	science	science	NOUN
ajst-14321	101	30	,	,	PUNCT
ajst-14321	101	31	2015,40	2015,40	NUM
ajst-14321	101	32	(	(	PUNCT
ajst-14321	101	33	1	1	NUM
ajst-14321	101	34	):	):	PUNCT
ajst-14321	101	35	5	5	NUM
ajst-14321	101	36	.	.	PUNCT
ajst-14321	102	1	[	[	X
ajst-14321	102	2	4	4	X
ajst-14321	102	3	]	]	X
ajst-14321	102	4	li	li	PROPN
ajst-14321	102	5	xihan	xihan	PROPN
ajst-14321	102	6	xie	xie	PROPN
ajst-14321	102	7	xiong	xiong	PROPN
ajst-14321	102	8	.	.	PUNCT
ajst-14321	103	1	point	point	NOUN
ajst-14321	103	2	cloud	cloud	NOUN
ajst-14321	103	3	plane	plane	NOUN
ajst-14321	103	4	fitting	fitting	NOUN
ajst-14321	103	5	based	base	VERB
ajst-14321	103	6	on	on	ADP
ajst-14321	103	7	ransac	ransac	NOUN
ajst-14321	103	8	and	and	CCONJ
ajst-14321	103	9	tls	tls	PROPN
ajst-14321	104	1	[	[	X
ajst-14321	104	2	j	j	X
ajst-14321	104	3	]	]	X
ajst-14321	104	4	.	.	PUNCT
ajst-14321	105	1	computer	computer	NOUN
ajst-14321	105	2	engineering	engineering	NOUN
ajst-14321	105	3	and	and	CCONJ
ajst-14321	105	4	design	design	NOUN
ajst-14321	105	5	,	,	PUNCT
ajst-14321	105	6	2017,38	2017,38	NUM
ajst-14321	105	7	(	(	PUNCT
ajst-14321	105	8	1	1	NUM
ajst-14321	105	9	):	):	PUNCT
ajst-14321	105	10	123	123	NUM
ajst-14321	105	11	-	-	SYM
ajst-14321	105	12	126,143	126,143	NUM
ajst-14321	105	13	.	.	PUNCT
ajst-14321	106	1	[	[	X
ajst-14321	106	2	5	5	NUM
ajst-14321	106	3	]	]	SYM
ajst-14321	106	4	zhang	zhang	PROPN
ajst-14321	106	5	,	,	PUNCT
ajst-14321	106	6	w.	w.	PROPN
ajst-14321	106	7	,	,	PUNCT
ajst-14321	106	8	qi	qi	PROPN
ajst-14321	106	9	,	,	PUNCT
ajst-14321	106	10	j.	j.	PROPN
ajst-14321	106	11	,	,	PUNCT
ajst-14321	106	12	wan	wan	PROPN
ajst-14321	106	13	,	,	PUNCT
ajst-14321	106	14	p.	p.	PROPN
ajst-14321	106	15	,	,	PUNCT
ajst-14321	106	16	wang	wang	PROPN
ajst-14321	106	17	,	,	PUNCT
ajst-14321	106	18	h.	h.	PROPN
ajst-14321	106	19	,	,	PUNCT
ajst-14321	106	20	xie	xie	PROPN
ajst-14321	106	21	,	,	PUNCT
ajst-14321	106	22	d.	d.	PROPN
ajst-14321	106	23	,	,	PUNCT
ajst-14321	106	24	wang	wang	PROPN
ajst-14321	106	25	,	,	PUNCT
ajst-14321	106	26	x.	x.	PROPN
ajst-14321	106	27	,	,	PUNCT
ajst-14321	106	28	&	&	CCONJ
ajst-14321	106	29	yan	yan	PROPN
ajst-14321	106	30	,	,	PUNCT
ajst-14321	106	31	g.	g.	PROPN
ajst-14321	106	32	(	(	PUNCT
ajst-14321	106	33	2016	2016	NUM
ajst-14321	106	34	)	)	PUNCT
ajst-14321	106	35	.	.	PUNCT
ajst-14321	107	1	an	an	DET
ajst-14321	107	2	easy	easy	ADJ
ajst-14321	107	3	-	-	PUNCT
ajst-14321	107	4	to	to	PART
ajst-14321	107	5	-	-	PUNCT
ajst-14321	107	6	use	use	VERB
ajst-14321	107	7	airborne	airborne	ADJ
ajst-14321	107	8	lidar	lidar	NOUN
ajst-14321	107	9	data	datum	NOUN
ajst-14321	107	10	filtering	filtering	NOUN
ajst-14321	107	11	method	method	NOUN
ajst-14321	107	12	based	base	VERB
ajst-14321	107	13	on	on	ADP
ajst-14321	107	14	cloth	cloth	NOUN
ajst-14321	107	15	simulation	simulation	NOUN
ajst-14321	107	16	.	.	PUNCT
ajst-14321	108	1	remote	remote	ADJ
ajst-14321	108	2	sensing	sensing	NOUN
ajst-14321	108	3	,	,	PUNCT
ajst-14321	108	4	8(6	8(6	NUM
ajst-14321	108	5	)	)	PUNCT
ajst-14321	108	6	,	,	PUNCT
ajst-14321	108	7	501	501	NUM
ajst-14321	108	8	.	.	PUNCT
ajst-14321	109	1	[	[	X
ajst-14321	109	2	6	6	NUM
ajst-14321	109	3	]	]	PUNCT
ajst-14321	109	4	xu	xu	PROPN
ajst-14321	109	5	guo	guo	PROPN
ajst-14321	109	6	yan	yan	PROPN
ajst-14321	109	7	,	,	PUNCT
ajst-14321	109	8	niu	niu	PROPN
ajst-14321	109	9	huan	huan	PROPN
ajst-14321	109	10	,	,	PUNCT
ajst-14321	109	11	guo	guo	PROPN
ajst-14321	109	12	chen	chen	PROPN
ajst-14321	109	13	yang	yang	PROPN
ajst-14321	109	14	,	,	PUNCT
ajst-14321	109	15	et	et	PROPN
ajst-14321	109	16	al	al	PROPN
ajst-14321	109	17	.	.	PROPN
ajst-14321	109	18	,	,	PUNCT
ajst-14321	109	19	research	research	NOUN
ajst-14321	109	20	on	on	ADP
ajst-14321	109	21	target	target	NOUN
ajst-14321	109	22	recognition	recognition	NOUN
ajst-14321	109	23	and	and	CCONJ
ajst-14321	109	24	tracking	tracking	NOUN
ajst-14321	109	25	based	base	VERB
ajst-14321	109	26	on	on	ADP
ajst-14321	109	27	3d	3d	PROPN
ajst-14321	109	28	laser	laser	NOUN
ajst-14321	109	29	point	point	NOUN
ajst-14321	109	30	cloud	cloud	NOUN
ajst-14321	110	1	[	[	X
ajst-14321	110	2	j	j	X
ajst-14321	110	3	]	]	X
ajst-14321	110	4	.	.	PUNCT
ajst-14321	111	1	automotive	automotive	ADJ
ajst-14321	111	2	engineering	engineering	PROPN
ajst-14321	111	3	,	,	PUNCT
ajst-14321	111	4	2020,42	2020,42	PROPN
ajst-14321	111	5	(	(	PUNCT
ajst-14321	111	6	1	1	NUM
ajst-14321	111	7	):	):	PUNCT
ajst-14321	111	8	38	38	NUM
ajst-14321	111	9	-	-	SYM
ajst-14321	111	10	46	46	NUM
ajst-14321	111	11	.	.	PUNCT
ajst-14321	112	1	[	[	X
ajst-14321	112	2	7	7	X
ajst-14321	112	3	]	]	X
ajst-14321	112	4	wang	wang	PROPN
ajst-14321	112	5	xiao	xiao	PROPN
ajst-14321	112	6	,	,	PUNCT
ajst-14321	112	7	wang	wang	PROPN
ajst-14321	112	8	jian	jian	PROPN
ajst-14321	112	9	qiang	qiang	PROPN
ajst-14321	112	10	,	,	PUNCT
ajst-14321	112	11	li	li	PROPN
ajst-14321	112	12	keqiang	keqiang	PROPN
ajst-14321	112	13	,	,	PUNCT
ajst-14321	112	14	et	et	PROPN
ajst-14321	112	15	al.3d	al.3d	NOUN
ajst-14321	112	16	point	point	NOUN
ajst-14321	112	17	cloud	cloud	ADJ
ajst-14321	112	18	fast	fast	ADJ
ajst-14321	112	19	segmentation	segmentation	NOUN
ajst-14321	112	20	method	method	NOUN
ajst-14321	112	21	for	for	ADP
ajst-14321	112	22	intelligent	intelligent	ADJ
ajst-14321	112	23	vehicles	vehicle	NOUN
ajst-14321	112	24	[	[	X
ajst-14321	112	25	j	j	X
ajst-14321	112	26	]	]	X
ajst-14321	112	27	.	.	PUNCT
ajst-14321	113	1	journal	journal	PROPN
ajst-14321	113	2	of	of	ADP
ajst-14321	113	3	tsinghua	tsinghua	PROPN
ajst-14321	113	4	university	university	PROPN
ajst-14321	113	5	:	:	PUNCT
ajst-14321	113	6	natural	natural	ADJ
ajst-14321	113	7	science	science	NOUN
ajst-14321	113	8	edition	edition	NOUN
ajst-14321	113	9	,	,	PUNCT
ajst-14321	113	10	2014	2014	NUM
ajst-14321	113	11	(	(	PUNCT
ajst-14321	113	12	11	11	NUM
ajst-14321	113	13	):	):	PUNCT
ajst-14321	113	14	7	7	NUM
ajst-14321	113	15	.	.	PUNCT
ajst-14321	114	1	[	[	X
ajst-14321	114	2	8	8	NUM
ajst-14321	114	3	]	]	X
ajst-14321	114	4	m.	m.	NOUN
ajst-14321	114	5	himmelsbach	himmelsbach	PROPN
ajst-14321	114	6	,	,	PUNCT
ajst-14321	114	7	f.	f.	PROPN
ajst-14321	114	8	v.	v.	PROPN
ajst-14321	114	9	hundelshausen	hundelshausen	PROPN
ajst-14321	114	10	and	and	CCONJ
ajst-14321	114	11	h.	h.	PROPN
ajst-14321	114	12	.	.	PUNCT
ajst-14321	115	1	-j	-j	PROPN
ajst-14321	115	2	.	.	PROPN
ajst-14321	115	3	wuensche	wuensche	PROPN
ajst-14321	115	4	,	,	PUNCT
ajst-14321	115	5	"	"	PUNCT
ajst-14321	115	6	fast	fast	ADJ
ajst-14321	115	7	segmentation	segmentation	NOUN
ajst-14321	115	8	of	of	ADP
ajst-14321	115	9	3d	3d	PROPN
ajst-14321	115	10	point	point	NOUN
ajst-14321	115	11	clouds	cloud	NOUN
ajst-14321	115	12	for	for	ADP
ajst-14321	115	13	ground	ground	NOUN
ajst-14321	115	14	vehicles	vehicle	NOUN
ajst-14321	115	15	,	,	PUNCT
ajst-14321	115	16	"	"	PUNCT
ajst-14321	115	17	2010	2010	NUM
ajst-14321	115	18	ieee	ieee	NOUN
ajst-14321	115	19	intelligent	intelligent	ADJ
ajst-14321	115	20	vehicles	vehicle	NOUN
ajst-14321	115	21	symposium	symposium	NOUN
ajst-14321	115	22	,	,	PUNCT
ajst-14321	115	23	la	la	PROPN
ajst-14321	115	24	jolla	jolla	PROPN
ajst-14321	115	25	,	,	PUNCT
ajst-14321	115	26	ca	ca	PROPN
ajst-14321	115	27	,	,	PUNCT
ajst-14321	115	28	usa	usa	PROPN
ajst-14321	115	29	,	,	PUNCT
ajst-14321	115	30	2010	2010	NUM
ajst-14321	115	31	,	,	PUNCT
ajst-14321	115	32	pp	pp	ADJ
ajst-14321	115	33	.	.	PUNCT
ajst-14321	116	1	560	560	NUM
ajst-14321	116	2	-	-	SYM
ajst-14321	116	3	565	565	NUM
ajst-14321	116	4	,	,	PUNCT
ajst-14321	116	5	doi	doi	NOUN
ajst-14321	116	6	:	:	PUNCT
ajst-14321	116	7	10.1109	10.1109	NUM
ajst-14321	116	8	/	/	SYM
ajst-14321	116	9	ivs.2010.5548059	ivs.2010.5548059	NOUN
ajst-14321	116	10	.	.	PUNCT
ajst-14321	117	1	[	[	X
ajst-14321	117	2	9	9	NUM
ajst-14321	117	3	]	]	X
ajst-14321	117	4	zhang	zhang	PROPN
ajst-14321	117	5	mingfang	mingfang	PROPN
ajst-14321	117	6	,	,	PUNCT
ajst-14321	117	7	fu	fu	PROPN
ajst-14321	117	8	rui	rui	PROPN
ajst-14321	117	9	,	,	PUNCT
ajst-14321	117	10	guo	guo	PROPN
ajst-14321	117	11	yingshi	yingshi	PROPN
ajst-14321	117	12	,	,	PUNCT
ajst-14321	117	13	et	et	PROPN
ajst-14321	117	14	al	al	PROPN
ajst-14321	117	15	..	..	PROPN
ajst-14321	117	16	ground	ground	NOUN
ajst-14321	117	17	segmentation	segmentation	NOUN
ajst-14321	117	18	algorithm	algorithm	NOUN
ajst-14321	117	19	based	base	VERB
ajst-14321	117	20	on	on	ADP
ajst-14321	117	21	three	three	NUM
ajst-14321	117	22	-	-	PUNCT
ajst-14321	117	23	dimensional	dimensional	ADJ
ajst-14321	117	24	irregular	irregular	ADJ
ajst-14321	117	25	point	point	NOUN
ajst-14321	117	26	cloud	cloud	NOUN
ajst-14321	117	27	[	[	X
ajst-14321	117	28	j].journal	j].journal	NOUN
ajst-14321	117	29	of	of	ADP
ajst-14321	117	30	jilin	jilin	PROPN
ajst-14321	117	31	university	university	PROPN
ajst-14321	117	32	(	(	PUNCT
ajst-14321	117	33	engineering	engineering	NOUN
ajst-14321	117	34	edition	edition	NOUN
ajst-14321	117	35	)	)	PUNCT
ajst-14321	117	36	,	,	PUNCT
ajst-14321	117	37	2017,047	2017,047	NUM
ajst-14321	117	38	(	(	PUNCT
ajst-14321	117	39	005	005	NUM
ajst-14321	117	40	)	)	PUNCT
ajst-14321	117	41	:	:	PUNCT
ajst-14321	117	42	1387	1387	NUM
ajst-14321	117	43	-	-	SYM
ajst-14321	117	44	1394	1394	NUM
ajst-14321	117	45	.	.	PUNCT
ajst-14321	118	1	[	[	X
ajst-14321	118	2	10	10	NUM
ajst-14321	118	3	]	]	X
ajst-14321	118	4	f.	f.	PROPN
ajst-14321	118	5	moosmann	moosmann	PROPN
ajst-14321	118	6	,	,	PUNCT
ajst-14321	118	7	o.	o.	NOUN
ajst-14321	118	8	pink	pink	ADJ
ajst-14321	118	9	and	and	CCONJ
ajst-14321	118	10	c.	c.	NOUN
ajst-14321	118	11	stiller	stiller	NOUN
ajst-14321	118	12	,	,	PUNCT
ajst-14321	118	13	"	"	PUNCT
ajst-14321	118	14	segmentation	segmentation	NOUN
ajst-14321	118	15	of	of	ADP
ajst-14321	118	16	3d	3d	PROPN
ajst-14321	118	17	lidar	lidar	NOUN
ajst-14321	118	18	data	datum	NOUN
ajst-14321	118	19	in	in	ADP
ajst-14321	118	20	non	non	ADJ
ajst-14321	118	21	-	-	ADJ
ajst-14321	118	22	flat	flat	ADJ
ajst-14321	118	23	urban	urban	ADJ
ajst-14321	118	24	environments	environment	NOUN
ajst-14321	118	25	using	use	VERB
ajst-14321	118	26	a	a	DET
ajst-14321	118	27	local	local	ADJ
ajst-14321	118	28	convexity	convexity	NOUN
ajst-14321	118	29	criterion	criterion	NOUN
ajst-14321	118	30	,	,	PUNCT
ajst-14321	118	31	"	"	PUNCT
ajst-14321	118	32	2009	2009	NUM
ajst-14321	118	33	ieee	ieee	NOUN
ajst-14321	118	34	intelligent	intelligent	ADJ
ajst-14321	118	35	vehicles	vehicle	NOUN
ajst-14321	118	36	symposium	symposium	NOUN
ajst-14321	118	37	,	,	PUNCT
ajst-14321	118	38	xi'an	xi'an	PROPN
ajst-14321	118	39	,	,	PUNCT
ajst-14321	118	40	china	china	PROPN
ajst-14321	118	41	,	,	PUNCT
ajst-14321	118	42	2009	2009	NUM
ajst-14321	118	43	,	,	PUNCT
ajst-14321	118	44	pp	pp	ADV
ajst-14321	118	45	.	.	PUNCT
ajst-14321	119	1	215	215	NUM
ajst-14321	119	2	-	-	SYM
ajst-14321	119	3	220	220	NUM
ajst-14321	119	4	,	,	PUNCT
ajst-14321	119	5	doi	doi	NOUN
ajst-14321	119	6	:	:	PUNCT
ajst-14321	119	7	10.1109	10.1109	NUM
ajst-14321	119	8	/	/	SYM
ajst-14321	119	9	ivs.2009.5164280	ivs.2009.5164280	NUM
ajst-14321	119	10	.	.	PUNCT
ajst-14321	120	1	[	[	X
ajst-14321	120	2	11	11	NUM
ajst-14321	120	3	]	]	X
ajst-14321	120	4	feng	feng	PROPN
ajst-14321	120	5	shaoquan	shaoquan	PROPN
ajst-14321	120	6	,	,	PUNCT
ajst-14321	120	7	hua	hua	PROPN
ajst-14321	120	8	xianghong	xianghong	PROPN
ajst-14321	120	9	,	,	PUNCT
ajst-14321	120	10	duan	duan	PROPN
ajst-14321	120	11	chengwen	chengwen	PROPN
ajst-14321	120	12	,	,	PUNCT
ajst-14321	120	13	etc	etc	X
ajst-14321	120	14	.	.	X
ajst-14321	120	15	an	an	DET
ajst-14321	120	16	adaptive	adaptive	ADJ
ajst-14321	120	17	slope	slope	NOUN
ajst-14321	120	18	threshold	threshold	NOUN
ajst-14321	120	19	ground	ground	NOUN
ajst-14321	120	20	point	point	NOUN
ajst-14321	120	21	cloud	cloud	NOUN
ajst-14321	120	22	segmentation	segmentation	NOUN
ajst-14321	120	23	method	method	NOUN
ajst-14321	120	24	[	[	X
ajst-14321	120	25	j].surveying	j].surveye	VERB
ajst-14321	120	26	and	and	CCONJ
ajst-14321	120	27	mapping	mapping	NOUN
ajst-14321	120	28	science	science	NOUN
ajst-14321	120	29	,	,	PUNCT
ajst-14321	120	30	2021,46	2021,46	NUM
ajst-14321	120	31	(	(	PUNCT
ajst-14321	120	32	1	1	NUM
ajst-14321	120	33	)	)	PUNCT
ajst-14321	120	34	:	:	PUNCT
ajst-14321	120	35	156161	156161	NUM
ajst-14321	120	36	.	.	PUNCT
ajst-14321	121	1	[	[	X
ajst-14321	121	2	12	12	NUM
ajst-14321	121	3	]	]	X
ajst-14321	121	4	shen	shen	NOUN
ajst-14321	122	1	z	z	PROPN
ajst-14321	122	2	,	,	PUNCT
ajst-14321	122	3	liang	liang	PROPN
ajst-14321	122	4	h	h	PROPN
ajst-14321	122	5	,	,	PUNCT
ajst-14321	122	6	lin	lin	PROPN
ajst-14321	122	7	l	l	PROPN
ajst-14321	122	8	,	,	PUNCT
ajst-14321	122	9	et	et	PROPN
ajst-14321	122	10	al	al	PROPN
ajst-14321	122	11	.	.	PROPN
ajst-14321	122	12	fast	fast	ADJ
ajst-14321	122	13	ground	ground	NOUN
ajst-14321	122	14	segmentation	segmentation	NOUN
ajst-14321	122	15	for	for	ADP
ajst-14321	122	16	3d	3d	NUM
ajst-14321	122	17	lidar	lidar	NOUN
ajst-14321	122	18	point	point	NOUN
ajst-14321	122	19	cloud	cloud	NOUN
ajst-14321	122	20	based	base	VERB
ajst-14321	122	21	on	on	ADP
ajst-14321	122	22	jump	jump	NOUN
ajst-14321	122	23	-	-	PUNCT
ajst-14321	122	24	convolutionprocess[j	convolutionprocess[j	NOUN
ajst-14321	122	25	]	]	PUNCT
ajst-14321	122	26	.	.	PUNCT
ajst-14321	123	1	remote	remote	ADJ
ajst-14321	123	2	sensing	sensing	NOUN
ajst-14321	123	3	,	,	PUNCT
ajst-14321	123	4	2021	2021	NUM
ajst-14321	123	5	,	,	PUNCT
ajst-14321	123	6	13(16	13(16	NUM
ajst-14321	123	7	):	):	PUNCT
ajst-14321	123	8	3239	3239	NUM
ajst-14321	123	9	.	.	PUNCT
ajst-14321	124	1	[	[	X
ajst-14321	124	2	13	13	NUM
ajst-14321	124	3	]	]	PUNCT
ajst-14321	124	4	rummelhard	rummelhard	NOUN
ajst-14321	124	5	l，paigwar	l，paigwar	PROPN
ajst-14321	125	1	a，laugier	a，laugier	PROPN
ajst-14321	125	2	c.	c.	PROPN
ajst-14321	125	3	ground	grind	VERB
ajst-14321	125	4	estima⁃	estima⁃	ADJ
ajst-14321	125	5	tion	tion	NOUN
ajst-14321	125	6	and	and	CCONJ
ajst-14321	125	7	point	point	NOUN
ajst-14321	125	8	cloud	cloud	NOUN
ajst-14321	125	9	segmentation	segmentation	NOUN
ajst-14321	125	10	using	use	VERB
ajst-14321	125	11	spatio	spatio	PROPN
ajst-14321	125	12	temporal	temporal	PROPN
ajst-14321	125	13	condition⁃	condition⁃	PROPN
ajst-14321	125	14	al	al	PROPN
ajst-14321	125	15	random	random	ADJ
ajst-14321	125	16	field	field	NOUN
ajst-14321	126	1	[	[	X
ajst-14321	126	2	c	c	X
ajst-14321	126	3	]	]	PUNCT
ajst-14321	126	4	.	.	PUNCT
ajst-14321	127	1	proceedings	proceeding	NOUN
ajst-14321	127	2	of	of	ADP
ajst-14321	127	3	2017	2017	NUM
ajst-14321	127	4	ieee	ieee	NOUN
ajst-14321	127	5	intelligent	intelligent	ADJ
ajst-14321	127	6	vehi⁃	vehi⁃	PROPN
ajst-14321	127	7	cles	cle	NOUN
ajst-14321	127	8	symposium	symposium	NOUN
ajst-14321	127	9	,	,	PUNCT
ajst-14321	127	10	2017	2017	NUM
ajst-14321	127	11	:	:	PUNCT
ajst-14321	127	12	1105	1105	NUM
ajst-14321	127	13	-	-	SYM
ajst-14321	127	14	1110	1110	NUM
ajst-14321	127	15	.	.	PUNCT