id	sid	tid	token	lemma	pos
ajst-20788	1	1	academic	academic	ADJ
ajst-20788	1	2	journal	journal	NOUN
ajst-20788	1	3	of	of	ADP
ajst-20788	1	4	science	science	NOUN
ajst-20788	1	5	and	and	CCONJ
ajst-20788	1	6	technology	technology	NOUN
ajst-20788	1	7	issn	issn	NOUN
ajst-20788	1	8	:	:	PUNCT
ajst-20788	1	9	2771	2771	NUM
ajst-20788	1	10	-	-	SYM
ajst-20788	1	11	3032	3032	NUM
ajst-20788	1	12	|	|	NOUN
ajst-20788	1	13	vol	vol	NOUN
ajst-20788	1	14	.	.	PROPN
ajst-20788	2	1	10	10	NUM
ajst-20788	2	2	,	,	PUNCT
ajst-20788	2	3	no	no	INTJ
ajst-20788	2	4	.	.	NOUN
ajst-20788	2	5	3	3	NUM
ajst-20788	2	6	,	,	PUNCT
ajst-20788	2	7	2024	2024	NUM
ajst-20788	2	8	79	79	NUM
ajst-20788	2	9	opencv	opencv	PROPN
ajst-20788	2	10	-	-	PUNCT
ajst-20788	2	11	based	base	VERB
ajst-20788	2	12	lane	lane	NOUN
ajst-20788	2	13	line	line	NOUN
ajst-20788	2	14	detection	detection	NOUN
ajst-20788	2	15	method	method	NOUN
ajst-20788	2	16	for	for	ADP
ajst-20788	2	17	mountain	mountain	NOUN
ajst-20788	2	18	curves	curve	NOUN
ajst-20788	2	19	weinuo	weinuo	ADJ
ajst-20788	2	20	wang1	wang1	NOUN
ajst-20788	2	21	,	,	PUNCT
ajst-20788	2	22	a	a	DET
ajst-20788	2	23	1xi’an	1xi’an	PROPN
ajst-20788	2	24	jiaotong	jiaotong	ADJ
ajst-20788	2	25	-	-	PUNCT
ajst-20788	2	26	liverpool	liverpool	PROPN
ajst-20788	2	27	university	university	NOUN
ajst-20788	2	28	,	,	PUNCT
ajst-20788	2	29	suzhou	suzhou	NOUN
ajst-20788	2	30	,	,	PUNCT
ajst-20788	2	31	215123	215123	NUM
ajst-20788	2	32	,	,	PUNCT
ajst-20788	2	33	china	china	PROPN
ajst-20788	2	34	aemail	aemail	PROPN
ajst-20788	2	35	address	address	PROPN
ajst-20788	2	36	:	:	PUNCT
ajst-20788	2	37	weinuo.wang21@student.xjtlu.edu.cn	weinuo.wang21@student.xjtlu.edu.cn	NUM
ajst-20788	2	38	abstract	abstract	ADJ
ajst-20788	2	39	:	:	PUNCT
ajst-20788	2	40	in	in	ADP
ajst-20788	2	41	this	this	DET
ajst-20788	2	42	paper	paper	NOUN
ajst-20788	2	43	,	,	PUNCT
ajst-20788	2	44	a	a	DET
ajst-20788	2	45	new	new	ADJ
ajst-20788	2	46	method	method	NOUN
ajst-20788	2	47	based	base	VERB
ajst-20788	2	48	on	on	ADP
ajst-20788	2	49	the	the	DET
ajst-20788	2	50	opencv	opencv	PROPN
ajst-20788	2	51	computer	computer	NOUN
ajst-20788	2	52	vision	vision	NOUN
ajst-20788	2	53	library	library	NOUN
ajst-20788	2	54	is	be	AUX
ajst-20788	2	55	proposed	propose	VERB
ajst-20788	2	56	and	and	CCONJ
ajst-20788	2	57	used	use	VERB
ajst-20788	2	58	for	for	ADP
ajst-20788	2	59	the	the	DET
ajst-20788	2	60	detection	detection	NOUN
ajst-20788	2	61	of	of	ADP
ajst-20788	2	62	mountain	mountain	NOUN
ajst-20788	2	63	bike	bike	NOUN
ajst-20788	2	64	lane	lane	PROPN
ajst-20788	2	65	lines	line	NOUN
ajst-20788	2	66	.	.	PUNCT
ajst-20788	3	1	firstly	firstly	ADV
ajst-20788	3	2	,	,	PUNCT
ajst-20788	3	3	a	a	DET
ajst-20788	3	4	series	series	NOUN
ajst-20788	3	5	of	of	ADP
ajst-20788	3	6	pre	pre	ADJ
ajst-20788	3	7	-	-	ADJ
ajst-20788	3	8	processing	processing	ADJ
ajst-20788	3	9	,	,	PUNCT
ajst-20788	3	10	hls	hls	NOUN
ajst-20788	3	11	color	color	NOUN
ajst-20788	3	12	filtering	filtering	NOUN
ajst-20788	3	13	,	,	PUNCT
ajst-20788	3	14	grayscale	grayscale	NOUN
ajst-20788	3	15	map	map	NOUN
ajst-20788	3	16	conversion	conversion	NOUN
ajst-20788	3	17	,	,	PUNCT
ajst-20788	3	18	etc	etc	X
ajst-20788	3	19	.	.	X
ajst-20788	3	20	are	be	AUX
ajst-20788	3	21	performed	perform	VERB
ajst-20788	3	22	on	on	ADP
ajst-20788	3	23	the	the	DET
ajst-20788	3	24	images	image	NOUN
ajst-20788	3	25	captured	capture	VERB
ajst-20788	3	26	by	by	ADP
ajst-20788	3	27	the	the	DET
ajst-20788	3	28	on	on	ADP
ajst-20788	3	29	-	-	PUNCT
ajst-20788	3	30	board	board	NOUN
ajst-20788	3	31	camera	camera	NOUN
ajst-20788	3	32	.	.	PUNCT
ajst-20788	4	1	next	next	ADV
ajst-20788	4	2	,	,	PUNCT
ajst-20788	4	3	the	the	DET
ajst-20788	4	4	lane	lane	NOUN
ajst-20788	4	5	line	line	NOUN
ajst-20788	4	6	image	image	NOUN
ajst-20788	4	7	is	be	AUX
ajst-20788	4	8	processed	process	VERB
ajst-20788	4	9	by	by	ADP
ajst-20788	4	10	gaussian	gaussian	ADJ
ajst-20788	4	11	blur	blur	NOUN
ajst-20788	4	12	noise	noise	NOUN
ajst-20788	4	13	reduction	reduction	NOUN
ajst-20788	4	14	,	,	PUNCT
ajst-20788	4	15	canney	canney	NOUN
ajst-20788	4	16	edge	edge	NOUN
ajst-20788	4	17	detection	detection	NOUN
ajst-20788	4	18	and	and	CCONJ
ajst-20788	4	19	other	other	ADJ
ajst-20788	4	20	techniques	technique	NOUN
ajst-20788	4	21	.	.	PUNCT
ajst-20788	5	1	then	then	ADV
ajst-20788	5	2	,	,	PUNCT
ajst-20788	5	3	after	after	ADP
ajst-20788	5	4	masking	mask	VERB
ajst-20788	5	5	for	for	ADP
ajst-20788	5	6	the	the	DET
ajst-20788	5	7	region	region	NOUN
ajst-20788	5	8	of	of	ADP
ajst-20788	5	9	interest	interest	NOUN
ajst-20788	5	10	,	,	PUNCT
ajst-20788	5	11	the	the	DET
ajst-20788	5	12	lane	lane	NOUN
ajst-20788	5	13	lines	line	NOUN
ajst-20788	5	14	are	be	AUX
ajst-20788	5	15	fitted	fit	VERB
ajst-20788	5	16	after	after	ADP
ajst-20788	5	17	applying	apply	VERB
ajst-20788	5	18	the	the	DET
ajst-20788	5	19	hough	hough	PROPN
ajst-20788	5	20	transform	transform	VERB
ajst-20788	5	21	to	to	PART
ajst-20788	5	22	obtain	obtain	VERB
ajst-20788	5	23	a	a	DET
ajst-20788	5	24	lane	lane	NOUN
ajst-20788	5	25	line	line	NOUN
ajst-20788	5	26	image	image	NOUN
ajst-20788	5	27	that	that	PRON
ajst-20788	5	28	can	can	AUX
ajst-20788	5	29	be	be	AUX
ajst-20788	5	30	used	use	VERB
ajst-20788	5	31	for	for	ADP
ajst-20788	5	32	detection	detection	NOUN
ajst-20788	5	33	.	.	PUNCT
ajst-20788	6	1	finally	finally	ADV
ajst-20788	6	2	,	,	PUNCT
ajst-20788	6	3	to	to	PART
ajst-20788	6	4	enhance	enhance	VERB
ajst-20788	6	5	the	the	DET
ajst-20788	6	6	visual	visual	ADJ
ajst-20788	6	7	effect	effect	NOUN
ajst-20788	6	8	,	,	PUNCT
ajst-20788	6	9	the	the	DET
ajst-20788	6	10	fitted	fit	VERB
ajst-20788	6	11	lane	lane	NOUN
ajst-20788	6	12	line	line	NOUN
ajst-20788	6	13	image	image	NOUN
ajst-20788	6	14	is	be	AUX
ajst-20788	6	15	filled	fill	VERB
ajst-20788	6	16	and	and	CCONJ
ajst-20788	6	17	displayed	display	VERB
ajst-20788	6	18	superimposed	superimpose	VERB
ajst-20788	6	19	with	with	ADP
ajst-20788	6	20	the	the	DET
ajst-20788	6	21	original	original	ADJ
ajst-20788	6	22	image	image	NOUN
ajst-20788	6	23	.	.	PUNCT
ajst-20788	7	1	the	the	DET
ajst-20788	7	2	experimental	experimental	ADJ
ajst-20788	7	3	results	result	NOUN
ajst-20788	7	4	show	show	VERB
ajst-20788	7	5	that	that	SCONJ
ajst-20788	7	6	the	the	DET
ajst-20788	7	7	proposed	propose	VERB
ajst-20788	7	8	method	method	NOUN
ajst-20788	7	9	has	have	VERB
ajst-20788	7	10	high	high	ADJ
ajst-20788	7	11	detection	detection	NOUN
ajst-20788	7	12	accuracy	accuracy	NOUN
ajst-20788	7	13	and	and	CCONJ
ajst-20788	7	14	efficiency	efficiency	NOUN
ajst-20788	7	15	in	in	ADP
ajst-20788	7	16	general	general	ADJ
ajst-20788	7	17	mountain	mountain	NOUN
ajst-20788	7	18	road	road	NOUN
ajst-20788	7	19	scenarios	scenario	NOUN
ajst-20788	7	20	,	,	PUNCT
ajst-20788	7	21	and	and	CCONJ
ajst-20788	7	22	it	it	PRON
ajst-20788	7	23	plays	play	VERB
ajst-20788	7	24	a	a	DET
ajst-20788	7	25	certain	certain	ADJ
ajst-20788	7	26	role	role	NOUN
ajst-20788	7	27	in	in	ADP
ajst-20788	7	28	assisting	assist	VERB
ajst-20788	7	29	the	the	DET
ajst-20788	7	30	driver	driver	NOUN
ajst-20788	7	31	to	to	PART
ajst-20788	7	32	drive	drive	VERB
ajst-20788	7	33	.	.	PUNCT
ajst-20788	8	1	keywords	keyword	NOUN
ajst-20788	8	2	:	:	PUNCT
ajst-20788	8	3	opencv	opencv	PROPN
ajst-20788	8	4	lane	lane	PROPN
ajst-20788	8	5	line	line	PROPN
ajst-20788	8	6	detection	detection	NOUN
ajst-20788	8	7	,	,	PUNCT
ajst-20788	8	8	hls	hls	NOUN
ajst-20788	8	9	color	color	NOUN
ajst-20788	8	10	filtering	filtering	NOUN
ajst-20788	8	11	,	,	PUNCT
ajst-20788	8	12	gaussian	gaussian	ADJ
ajst-20788	8	13	filter	filter	NOUN
ajst-20788	8	14	,	,	PUNCT
ajst-20788	8	15	hough	hough	PROPN
ajst-20788	8	16	transform	transform	NOUN
ajst-20788	8	17	.	.	PUNCT
ajst-20788	9	1	1	1	X
ajst-20788	9	2	.	.	X
ajst-20788	9	3	introduction	introduction	NOUN
ajst-20788	9	4	nowadays	nowadays	ADV
ajst-20788	9	5	,	,	PUNCT
ajst-20788	9	6	the	the	DET
ajst-20788	9	7	much	much	ADV
ajst-20788	9	8	-	-	PUNCT
ajst-20788	9	9	anticipated	anticipate	VERB
ajst-20788	9	10	self	self	NOUN
ajst-20788	9	11	-	-	PUNCT
ajst-20788	9	12	driving	drive	VERB
ajst-20788	9	13	car	car	NOUN
ajst-20788	9	14	is	be	AUX
ajst-20788	9	15	about	about	ADJ
ajst-20788	9	16	to	to	PART
ajst-20788	9	17	become	become	VERB
ajst-20788	9	18	one	one	NUM
ajst-20788	9	19	of	of	ADP
ajst-20788	9	20	the	the	DET
ajst-20788	9	21	mainstream	mainstream	NOUN
ajst-20788	9	22	tools	tool	NOUN
ajst-20788	9	23	for	for	ADP
ajst-20788	9	24	transportation	transportation	NOUN
ajst-20788	9	25	.	.	PUNCT
ajst-20788	10	1	based	base	VERB
ajst-20788	10	2	on	on	ADP
ajst-20788	10	3	computer	computer	NOUN
ajst-20788	10	4	and	and	CCONJ
ajst-20788	10	5	modern	modern	ADJ
ajst-20788	10	6	automobile	automobile	NOUN
ajst-20788	10	7	industry	industry	NOUN
ajst-20788	10	8	technology	technology	NOUN
ajst-20788	10	9	,	,	PUNCT
ajst-20788	10	10	it	it	PRON
ajst-20788	10	11	realizes	realize	VERB
ajst-20788	10	12	automated	automate	VERB
ajst-20788	10	13	driving	drive	VERB
ajst-20788	10	14	through	through	ADP
ajst-20788	10	15	digitalization	digitalization	NOUN
ajst-20788	10	16	and	and	CCONJ
ajst-20788	10	17	intelligence	intelligence	NOUN
ajst-20788	10	18	,	,	PUNCT
ajst-20788	10	19	which	which	PRON
ajst-20788	10	20	not	not	PART
ajst-20788	10	21	only	only	ADV
ajst-20788	10	22	brings	bring	VERB
ajst-20788	10	23	new	new	ADJ
ajst-20788	10	24	opportunities	opportunity	NOUN
ajst-20788	10	25	for	for	ADP
ajst-20788	10	26	the	the	DET
ajst-20788	10	27	development	development	NOUN
ajst-20788	10	28	of	of	ADP
ajst-20788	10	29	the	the	DET
ajst-20788	10	30	automobile	automobile	NOUN
ajst-20788	10	31	field	field	NOUN
ajst-20788	10	32	in	in	ADP
ajst-20788	10	33	the	the	DET
ajst-20788	10	34	new	new	ADJ
ajst-20788	10	35	era	era	NOUN
ajst-20788	10	36	,	,	PUNCT
ajst-20788	10	37	but	but	CCONJ
ajst-20788	10	38	also	also	ADV
ajst-20788	10	39	becomes	become	VERB
ajst-20788	10	40	a	a	DET
ajst-20788	10	41	representative	representative	NOUN
ajst-20788	10	42	of	of	ADP
ajst-20788	10	43	the	the	DET
ajst-20788	10	44	brandnew	brandnew	ADJ
ajst-20788	10	45	form	form	NOUN
ajst-20788	10	46	of	of	ADP
ajst-20788	10	47	the	the	DET
ajst-20788	10	48	future	future	ADJ
ajst-20788	10	49	automobile	automobile	NOUN
ajst-20788	10	50	.	.	PUNCT
ajst-20788	11	1	artificial	artificial	ADJ
ajst-20788	11	2	intelligence	intelligence	NOUN
ajst-20788	11	3	(	(	PUNCT
ajst-20788	11	4	ai	ai	NOUN
ajst-20788	11	5	)	)	PUNCT
ajst-20788	11	6	is	be	AUX
ajst-20788	11	7	mainly	mainly	ADV
ajst-20788	11	8	used	use	VERB
ajst-20788	11	9	in	in	ADP
ajst-20788	11	10	autonomous	autonomous	ADJ
ajst-20788	11	11	driving	driving	NOUN
ajst-20788	11	12	technology	technology	NOUN
ajst-20788	11	13	,	,	PUNCT
ajst-20788	11	14	humancomputer	humancomputer	NOUN
ajst-20788	11	15	interaction	interaction	NOUN
ajst-20788	11	16	,	,	PUNCT
ajst-20788	11	17	intelligent	intelligent	ADJ
ajst-20788	11	18	navigation	navigation	NOUN
ajst-20788	11	19	,	,	PUNCT
ajst-20788	11	20	in	in	ADP
ajst-20788	11	21	-	-	PUNCT
ajst-20788	11	22	vehicle	vehicle	NOUN
ajst-20788	11	23	entertainment	entertainment	NOUN
ajst-20788	11	24	,	,	PUNCT
ajst-20788	11	25	vehicle	vehicle	NOUN
ajst-20788	11	26	motion	motion	NOUN
ajst-20788	11	27	control	control	NOUN
ajst-20788	11	28	and	and	CCONJ
ajst-20788	11	29	multi	multi	ADJ
ajst-20788	11	30	-	-	ADJ
ajst-20788	11	31	sensor	sensor	ADJ
ajst-20788	11	32	fusion	fusion	NOUN
ajst-20788	11	33	perception	perception	NOUN
ajst-20788	11	34	in	in	ADP
ajst-20788	11	35	self	self	NOUN
ajst-20788	11	36	-	-	PUNCT
ajst-20788	11	37	driving	drive	VERB
ajst-20788	11	38	cars	car	NOUN
ajst-20788	11	39	.	.	PUNCT
ajst-20788	12	1	with	with	ADP
ajst-20788	12	2	the	the	DET
ajst-20788	12	3	continuous	continuous	ADJ
ajst-20788	12	4	progress	progress	NOUN
ajst-20788	12	5	of	of	ADP
ajst-20788	12	6	technology	technology	NOUN
ajst-20788	12	7	and	and	CCONJ
ajst-20788	12	8	the	the	DET
ajst-20788	12	9	expansion	expansion	NOUN
ajst-20788	12	10	of	of	ADP
ajst-20788	12	11	applications	application	NOUN
ajst-20788	12	12	,	,	PUNCT
ajst-20788	12	13	self	self	NOUN
ajst-20788	12	14	-	-	PUNCT
ajst-20788	12	15	driving	drive	VERB
ajst-20788	12	16	cars	car	NOUN
ajst-20788	12	17	will	will	AUX
ajst-20788	12	18	bring	bring	VERB
ajst-20788	12	19	more	more	ADV
ajst-20788	12	20	convenient	convenient	ADJ
ajst-20788	12	21	,	,	PUNCT
ajst-20788	12	22	safe	safe	ADJ
ajst-20788	12	23	,	,	PUNCT
ajst-20788	12	24	and	and	CCONJ
ajst-20788	12	25	efficient	efficient	ADJ
ajst-20788	12	26	travel	travel	NOUN
ajst-20788	12	27	for	for	ADP
ajst-20788	12	28	human	human	ADJ
ajst-20788	12	29	beings	being	NOUN
ajst-20788	12	30	in	in	ADP
ajst-20788	12	31	the	the	DET
ajst-20788	12	32	future	future	NOUN
ajst-20788	12	33	,	,	PUNCT
ajst-20788	12	34	and	and	CCONJ
ajst-20788	12	35	revolutionize	revolutionize	VERB
ajst-20788	12	36	the	the	DET
ajst-20788	12	37	field	field	NOUN
ajst-20788	12	38	of	of	ADP
ajst-20788	12	39	transportation	transportation	NOUN
ajst-20788	12	40	[	[	X
ajst-20788	12	41	1,2	1,2	NUM
ajst-20788	12	42	]	]	PUNCT
ajst-20788	12	43	.	.	PUNCT
ajst-20788	13	1	opencv	opencv	X
ajst-20788	13	2	(	(	PUNCT
ajst-20788	13	3	open	open	ADJ
ajst-20788	13	4	-	-	PUNCT
ajst-20788	13	5	source	source	NOUN
ajst-20788	13	6	computer	computer	NOUN
ajst-20788	13	7	vision	vision	NOUN
ajst-20788	13	8	library	library	NOUN
ajst-20788	13	9	)	)	PUNCT
ajst-20788	13	10	is	be	AUX
ajst-20788	13	11	a	a	DET
ajst-20788	13	12	widely	widely	ADV
ajst-20788	13	13	-	-	PUNCT
ajst-20788	13	14	used	use	VERB
ajst-20788	13	15	computer	computer	NOUN
ajst-20788	13	16	vision	vision	NOUN
ajst-20788	13	17	library	library	NOUN
ajst-20788	13	18	,	,	PUNCT
ajst-20788	13	19	which	which	PRON
ajst-20788	13	20	provides	provide	VERB
ajst-20788	13	21	a	a	DET
ajst-20788	13	22	rich	rich	ADJ
ajst-20788	13	23	set	set	NOUN
ajst-20788	13	24	of	of	ADP
ajst-20788	13	25	functions	function	NOUN
ajst-20788	13	26	and	and	CCONJ
ajst-20788	13	27	tools	tool	NOUN
ajst-20788	13	28	specifically	specifically	ADV
ajst-20788	13	29	designed	design	VERB
ajst-20788	13	30	to	to	PART
ajst-20788	13	31	be	be	AUX
ajst-20788	13	32	used	use	VERB
ajst-20788	13	33	for	for	ADP
ajst-20788	13	34	processing	process	VERB
ajst-20788	13	35	image	image	NOUN
ajst-20788	13	36	and	and	CCONJ
ajst-20788	13	37	video	video	NOUN
ajst-20788	13	38	data	datum	NOUN
ajst-20788	13	39	.	.	PUNCT
ajst-20788	14	1	since	since	SCONJ
ajst-20788	14	2	its	its	PRON
ajst-20788	14	3	creation	creation	NOUN
ajst-20788	14	4	,	,	PUNCT
ajst-20788	14	5	opencv	opencv	PROPN
ajst-20788	14	6	has	have	AUX
ajst-20788	14	7	become	become	VERB
ajst-20788	14	8	the	the	DET
ajst-20788	14	9	de	de	X
ajst-20788	14	10	facto	facto	X
ajst-20788	14	11	standard	standard	NOUN
ajst-20788	14	12	in	in	ADP
ajst-20788	14	13	the	the	DET
ajst-20788	14	14	field	field	NOUN
ajst-20788	14	15	of	of	ADP
ajst-20788	14	16	computer	computer	NOUN
ajst-20788	14	17	vision	vision	NOUN
ajst-20788	14	18	and	and	CCONJ
ajst-20788	14	19	plays	play	VERB
ajst-20788	14	20	an	an	DET
ajst-20788	14	21	important	important	ADJ
ajst-20788	14	22	role	role	NOUN
ajst-20788	14	23	in	in	ADP
ajst-20788	14	24	various	various	ADJ
ajst-20788	14	25	applications	application	NOUN
ajst-20788	14	26	.	.	PUNCT
ajst-20788	15	1	the	the	DET
ajst-20788	15	2	purpose	purpose	NOUN
ajst-20788	15	3	of	of	ADP
ajst-20788	15	4	this	this	DET
ajst-20788	15	5	paper	paper	NOUN
ajst-20788	15	6	is	be	AUX
ajst-20788	15	7	to	to	PART
ajst-20788	15	8	utilize	utilize	VERB
ajst-20788	15	9	the	the	DET
ajst-20788	15	10	opencv	opencv	PROPN
ajst-20788	15	11	library	library	NOUN
ajst-20788	15	12	to	to	PART
ajst-20788	15	13	achieve	achieve	VERB
ajst-20788	15	14	real	real	ADJ
ajst-20788	15	15	-	-	PUNCT
ajst-20788	15	16	time	time	NOUN
ajst-20788	15	17	high	high	ADJ
ajst-20788	15	18	-	-	PUNCT
ajst-20788	15	19	precision	precision	NOUN
ajst-20788	15	20	recognition	recognition	NOUN
ajst-20788	15	21	and	and	CCONJ
ajst-20788	15	22	detection	detection	NOUN
ajst-20788	15	23	of	of	ADP
ajst-20788	15	24	curved	curved	ADJ
ajst-20788	15	25	lane	lane	NOUN
ajst-20788	15	26	lines	line	NOUN
ajst-20788	15	27	in	in	ADP
ajst-20788	15	28	mountainous	mountainous	ADJ
ajst-20788	15	29	areas	area	NOUN
ajst-20788	15	30	by	by	ADP
ajst-20788	15	31	calling	call	VERB
ajst-20788	15	32	a	a	DET
ajst-20788	15	33	series	series	NOUN
ajst-20788	15	34	of	of	ADP
ajst-20788	15	35	corresponding	corresponding	ADJ
ajst-20788	15	36	functions	function	NOUN
ajst-20788	15	37	,	,	PUNCT
ajst-20788	15	38	to	to	PART
ajst-20788	15	39	make	make	VERB
ajst-20788	15	40	up	up	ADP
ajst-20788	15	41	for	for	ADP
ajst-20788	15	42	the	the	DET
ajst-20788	15	43	current	current	ADJ
ajst-20788	15	44	vacancies	vacancy	NOUN
ajst-20788	15	45	for	for	ADP
ajst-20788	15	46	the	the	DET
ajst-20788	15	47	detection	detection	NOUN
ajst-20788	15	48	of	of	ADP
ajst-20788	15	49	curved	curved	ADJ
ajst-20788	15	50	lane	lane	PROPN
ajst-20788	15	51	lines	lines	PROPN
ajst-20788	15	52	information	information	NOUN
ajst-20788	15	53	.	.	PUNCT
ajst-20788	16	1	the	the	DET
ajst-20788	16	2	specific	specific	ADJ
ajst-20788	16	3	implementation	implementation	NOUN
ajst-20788	16	4	process	process	NOUN
ajst-20788	16	5	is	be	AUX
ajst-20788	16	6	shown	show	VERB
ajst-20788	16	7	in	in	ADP
ajst-20788	16	8	figure	figure	NOUN
ajst-20788	16	9	1	1	NUM
ajst-20788	16	10	:	:	PUNCT
ajst-20788	16	11	figure	figure	NOUN
ajst-20788	16	12	1	1	NUM
ajst-20788	16	13	.	.	PUNCT
ajst-20788	16	14	overall	overall	ADJ
ajst-20788	16	15	flow	flow	NOUN
ajst-20788	16	16	of	of	ADP
ajst-20788	16	17	lane	lane	NOUN
ajst-20788	16	18	line	line	NOUN
ajst-20788	16	19	detection	detection	NOUN
ajst-20788	16	20	2	2	NUM
ajst-20788	16	21	.	.	PUNCT
ajst-20788	16	22	materials	material	NOUN
ajst-20788	16	23	and	and	CCONJ
ajst-20788	16	24	methods	method	NOUN
ajst-20788	16	25	2.1	2.1	NUM
ajst-20788	16	26	.	.	PUNCT
ajst-20788	17	1	hls	hls	NOUN
ajst-20788	17	2	color	color	NOUN
ajst-20788	17	3	filtering	filter	VERB
ajst-20788	17	4	unlike	unlike	ADP
ajst-20788	17	5	the	the	DET
ajst-20788	17	6	traditional	traditional	ADJ
ajst-20788	17	7	method	method	NOUN
ajst-20788	17	8	of	of	ADP
ajst-20788	17	9	directly	directly	ADV
ajst-20788	17	10	converting	convert	VERB
ajst-20788	17	11	an	an	DET
ajst-20788	17	12	image	image	NOUN
ajst-20788	17	13	to	to	ADP
ajst-20788	17	14	grayscale	grayscale	NOUN
ajst-20788	17	15	and	and	CCONJ
ajst-20788	17	16	then	then	ADV
ajst-20788	17	17	proceeding	proceed	VERB
ajst-20788	17	18	to	to	ADP
ajst-20788	17	19	the	the	DET
ajst-20788	17	20	next	next	ADJ
ajst-20788	17	21	step	step	NOUN
ajst-20788	17	22	of	of	ADP
ajst-20788	17	23	processing	processing	NOUN
ajst-20788	17	24	,	,	PUNCT
ajst-20788	17	25	which	which	PRON
ajst-20788	17	26	is	be	AUX
ajst-20788	17	27	common	common	ADJ
ajst-20788	17	28	in	in	ADP
ajst-20788	17	29	most	most	ADJ
ajst-20788	17	30	papers	paper	NOUN
ajst-20788	17	31	,	,	PUNCT
ajst-20788	17	32	this	this	DET
ajst-20788	17	33	paper	paper	NOUN
ajst-20788	17	34	adds	add	VERB
ajst-20788	17	35	a	a	DET
ajst-20788	17	36	new	new	ADJ
ajst-20788	17	37	method	method	NOUN
ajst-20788	17	38	of	of	ADP
ajst-20788	17	39	hls	hls	NOUN
ajst-20788	17	40	color	color	NOUN
ajst-20788	17	41	filtering	filtering	NOUN
ajst-20788	17	42	before	before	ADP
ajst-20788	17	43	converting	convert	VERB
ajst-20788	17	44	the	the	DET
ajst-20788	17	45	image	image	NOUN
ajst-20788	17	46	to	to	ADP
ajst-20788	17	47	grayscale	grayscale	NOUN
ajst-20788	17	48	processing	processing	NOUN
ajst-20788	17	49	.	.	PUNCT
ajst-20788	18	1	the	the	DET
ajst-20788	18	2	hls	hls	PROPN
ajst-20788	18	3	(	(	PUNCT
ajst-20788	18	4	hue	hue	NOUN
ajst-20788	18	5	,	,	PUNCT
ajst-20788	18	6	lightness	lightness	NOUN
ajst-20788	18	7	,	,	PUNCT
ajst-20788	18	8	80	80	NUM
ajst-20788	18	9	saturation	saturation	NOUN
ajst-20788	18	10	)	)	PUNCT
ajst-20788	18	11	color	color	NOUN
ajst-20788	18	12	model	model	NOUN
ajst-20788	18	13	is	be	AUX
ajst-20788	18	14	a	a	DET
ajst-20788	18	15	commonly	commonly	ADV
ajst-20788	18	16	used	use	VERB
ajst-20788	18	17	method	method	NOUN
ajst-20788	18	18	of	of	ADP
ajst-20788	18	19	color	color	NOUN
ajst-20788	18	20	representation	representation	NOUN
ajst-20788	18	21	,	,	PUNCT
ajst-20788	18	22	which	which	PRON
ajst-20788	18	23	divides	divide	VERB
ajst-20788	18	24	colors	color	NOUN
ajst-20788	18	25	into	into	ADP
ajst-20788	18	26	three	three	NUM
ajst-20788	18	27	dimensions	dimension	NOUN
ajst-20788	18	28	,	,	PUNCT
ajst-20788	18	29	namely	namely	ADV
ajst-20788	18	30	hue	hue	NOUN
ajst-20788	18	31	,	,	PUNCT
ajst-20788	18	32	lightness	lightness	NOUN
ajst-20788	18	33	and	and	CCONJ
ajst-20788	18	34	saturation	saturation	NOUN
ajst-20788	18	35	[	[	X
ajst-20788	18	36	3	3	NUM
ajst-20788	18	37	]	]	PUNCT
ajst-20788	18	38	.	.	PUNCT
ajst-20788	19	1	by	by	ADP
ajst-20788	19	2	independently	independently	ADV
ajst-20788	19	3	adjusting	adjust	VERB
ajst-20788	19	4	and	and	CCONJ
ajst-20788	19	5	processing	process	VERB
ajst-20788	19	6	the	the	DET
ajst-20788	19	7	three	three	NUM
ajst-20788	19	8	dimensions	dimension	NOUN
ajst-20788	19	9	of	of	ADP
ajst-20788	19	10	hue	hue	NOUN
ajst-20788	19	11	,	,	PUNCT
ajst-20788	19	12	lightness	lightness	NOUN
ajst-20788	19	13	and	and	CCONJ
ajst-20788	19	14	saturation	saturation	NOUN
ajst-20788	19	15	,	,	PUNCT
ajst-20788	19	16	it	it	PRON
ajst-20788	19	17	allows	allow	VERB
ajst-20788	19	18	us	we	PRON
ajst-20788	19	19	to	to	PART
ajst-20788	19	20	filter	filter	VERB
ajst-20788	19	21	colors	color	NOUN
ajst-20788	19	22	precisely	precisely	ADV
ajst-20788	19	23	according	accord	VERB
ajst-20788	19	24	to	to	ADP
ajst-20788	19	25	our	our	PRON
ajst-20788	19	26	specific	specific	ADJ
ajst-20788	19	27	needs	need	NOUN
ajst-20788	19	28	,	,	PUNCT
ajst-20788	19	29	and	and	CCONJ
ajst-20788	19	30	filter	filter	VERB
ajst-20788	19	31	out	out	ADP
ajst-20788	19	32	objects	object	NOUN
ajst-20788	19	33	with	with	ADP
ajst-20788	19	34	specific	specific	ADJ
ajst-20788	19	35	colors	color	NOUN
ajst-20788	19	36	that	that	PRON
ajst-20788	19	37	we	we	PRON
ajst-20788	19	38	want	want	VERB
ajst-20788	19	39	.	.	PUNCT
ajst-20788	20	1	normally	normally	ADV
ajst-20788	20	2	,	,	PUNCT
ajst-20788	20	3	jpg	jpg	NOUN
ajst-20788	20	4	files	file	NOUN
ajst-20788	20	5	are	be	AUX
ajst-20788	20	6	in	in	ADP
ajst-20788	20	7	bgr	bgr	PROPN
ajst-20788	20	8	color	color	NOUN
ajst-20788	20	9	space	space	NOUN
ajst-20788	20	10	.	.	PUNCT
ajst-20788	21	1	firstly	firstly	ADV
ajst-20788	21	2	,	,	PUNCT
ajst-20788	21	3	to	to	PART
ajst-20788	21	4	use	use	VERB
ajst-20788	21	5	hls	hls	NOUN
ajst-20788	21	6	color	color	NOUN
ajst-20788	21	7	filtering	filtering	NOUN
ajst-20788	21	8	,	,	PUNCT
ajst-20788	21	9	we	we	PRON
ajst-20788	21	10	need	need	VERB
ajst-20788	21	11	to	to	PART
ajst-20788	21	12	convert	convert	VERB
ajst-20788	21	13	the	the	DET
ajst-20788	21	14	image	image	NOUN
ajst-20788	21	15	from	from	ADP
ajst-20788	21	16	bgr	bgr	PROPN
ajst-20788	21	17	color	color	NOUN
ajst-20788	21	18	space	space	NOUN
ajst-20788	21	19	to	to	AUX
ajst-20788	21	20	hls	hls	VERB
ajst-20788	21	21	color	color	NOUN
ajst-20788	21	22	space	space	NOUN
ajst-20788	21	23	,	,	PUNCT
ajst-20788	21	24	so	so	SCONJ
ajst-20788	21	25	we	we	PRON
ajst-20788	21	26	use	use	VERB
ajst-20788	21	27	the	the	DET
ajst-20788	21	28	cv2.cvtcolor	cv2.cvtcolor	NOUN
ajst-20788	21	29	(	(	PUNCT
ajst-20788	21	30	)	)	PUNCT
ajst-20788	21	31	function	function	VERB
ajst-20788	21	32	to	to	PART
ajst-20788	21	33	achieve	achieve	VERB
ajst-20788	21	34	this	this	DET
ajst-20788	21	35	purpose	purpose	NOUN
ajst-20788	21	36	.	.	PUNCT
ajst-20788	22	1	secondly	secondly	ADV
ajst-20788	22	2	,	,	PUNCT
ajst-20788	22	3	in	in	ADP
ajst-20788	22	4	general	general	ADJ
ajst-20788	22	5	,	,	PUNCT
ajst-20788	22	6	most	most	ADJ
ajst-20788	22	7	of	of	ADP
ajst-20788	22	8	the	the	DET
ajst-20788	22	9	lane	lane	NOUN
ajst-20788	22	10	lines	line	NOUN
ajst-20788	22	11	are	be	AUX
ajst-20788	22	12	white	white	ADJ
ajst-20788	22	13	,	,	PUNCT
ajst-20788	22	14	by	by	ADP
ajst-20788	22	15	setting	set	VERB
ajst-20788	22	16	the	the	DET
ajst-20788	22	17	white	white	ADJ
ajst-20788	22	18	color	color	NOUN
ajst-20788	22	19	threshold	threshold	NOUN
ajst-20788	22	20	in	in	ADP
ajst-20788	22	21	advance	advance	NOUN
ajst-20788	22	22	,	,	PUNCT
ajst-20788	22	23	the	the	DET
ajst-20788	22	24	lowest	low	ADJ
ajst-20788	22	25	white	white	ADJ
ajst-20788	22	26	lower	low	ADJ
ajst-20788	22	27	limit	limit	NOUN
ajst-20788	22	28	[	[	X
ajst-20788	22	29	0	0	NUM
ajst-20788	22	30	,	,	PUNCT
ajst-20788	22	31	138	138	NUM
ajst-20788	22	32	,	,	PUNCT
ajst-20788	22	33	0	0	NUM
ajst-20788	22	34	]	]	PUNCT
ajst-20788	22	35	,	,	PUNCT
ajst-20788	22	36	the	the	DET
ajst-20788	22	37	highest	high	ADJ
ajst-20788	22	38	white	white	ADJ
ajst-20788	22	39	upper	upper	ADJ
ajst-20788	22	40	limit	limit	NOUN
ajst-20788	22	41	is	be	AUX
ajst-20788	22	42	[	[	X
ajst-20788	22	43	255	255	NUM
ajst-20788	22	44	,	,	PUNCT
ajst-20788	22	45	255	255	NUM
ajst-20788	22	46	,	,	PUNCT
ajst-20788	22	47	255	255	NUM
ajst-20788	22	48	]	]	NUM
ajst-20788	22	49	)	)	PUNCT
ajst-20788	22	50	,	,	PUNCT
ajst-20788	22	51	and	and	CCONJ
ajst-20788	22	52	then	then	ADV
ajst-20788	22	53	use	use	VERB
ajst-20788	22	54	cv2.inrange	cv2.inrange	PROPN
ajst-20788	22	55	(	(	PUNCT
ajst-20788	22	56	)	)	PUNCT
ajst-20788	22	57	to	to	PART
ajst-20788	22	58	generate	generate	VERB
ajst-20788	22	59	the	the	DET
ajst-20788	22	60	corresponding	corresponding	ADJ
ajst-20788	22	61	mask	mask	NOUN
ajst-20788	22	62	for	for	ADP
ajst-20788	22	63	the	the	DET
ajst-20788	22	64	white	white	ADJ
ajst-20788	22	65	image	image	NOUN
ajst-20788	22	66	.	.	PUNCT
ajst-20788	23	1	finally	finally	ADV
ajst-20788	23	2	,	,	PUNCT
ajst-20788	23	3	the	the	DET
ajst-20788	23	4	mask	mask	NOUN
ajst-20788	23	5	is	be	AUX
ajst-20788	23	6	applied	apply	VERB
ajst-20788	23	7	to	to	ADP
ajst-20788	23	8	the	the	DET
ajst-20788	23	9	original	original	ADJ
ajst-20788	23	10	image	image	NOUN
ajst-20788	23	11	by	by	ADP
ajst-20788	23	12	the	the	DET
ajst-20788	23	13	cv2.bitwise_and	cv2.bitwise_and	PROPN
ajst-20788	23	14	(	(	PUNCT
ajst-20788	23	15	)	)	PUNCT
ajst-20788	23	16	function	function	NOUN
ajst-20788	23	17	,	,	PUNCT
ajst-20788	23	18	and	and	CCONJ
ajst-20788	23	19	only	only	ADV
ajst-20788	23	20	the	the	DET
ajst-20788	23	21	pixels	pixel	NOUN
ajst-20788	23	22	of	of	ADP
ajst-20788	23	23	the	the	DET
ajst-20788	23	24	original	original	ADJ
ajst-20788	23	25	image	image	NOUN
ajst-20788	23	26	corresponding	correspond	VERB
ajst-20788	23	27	to	to	ADP
ajst-20788	23	28	the	the	DET
ajst-20788	23	29	white	white	ADJ
ajst-20788	23	30	part	part	NOUN
ajst-20788	23	31	of	of	ADP
ajst-20788	23	32	the	the	DET
ajst-20788	23	33	mask	mask	NOUN
ajst-20788	23	34	are	be	AUX
ajst-20788	23	35	retained	retain	VERB
ajst-20788	23	36	,	,	PUNCT
ajst-20788	23	37	while	while	SCONJ
ajst-20788	23	38	the	the	DET
ajst-20788	23	39	other	other	ADJ
ajst-20788	23	40	parts	part	NOUN
ajst-20788	23	41	are	be	AUX
ajst-20788	23	42	set	set	VERB
ajst-20788	23	43	to	to	ADP
ajst-20788	23	44	zero	zero	NUM
ajst-20788	23	45	value	value	NOUN
ajst-20788	23	46	.	.	PUNCT
ajst-20788	24	1	figure	figure	NOUN
ajst-20788	24	2	2	2	NUM
ajst-20788	24	3	below	below	ADV
ajst-20788	24	4	shows	show	VERB
ajst-20788	24	5	the	the	DET
ajst-20788	24	6	original	original	ADJ
ajst-20788	24	7	image	image	NOUN
ajst-20788	24	8	and	and	CCONJ
ajst-20788	24	9	figure	figure	NOUN
ajst-20788	24	10	3	3	NUM
ajst-20788	24	11	shows	show	VERB
ajst-20788	24	12	the	the	DET
ajst-20788	24	13	hls	hls	NOUN
ajst-20788	24	14	filtered	filter	VERB
ajst-20788	24	15	image	image	NOUN
ajst-20788	24	16	.	.	PUNCT
ajst-20788	25	1	figure	figure	NOUN
ajst-20788	25	2	2	2	NUM
ajst-20788	25	3	.	.	PUNCT
ajst-20788	25	4	original	original	ADJ
ajst-20788	25	5	image	image	NOUN
ajst-20788	25	6	figure	figure	NOUN
ajst-20788	25	7	3	3	NUM
ajst-20788	25	8	.	.	X
ajst-20788	26	1	hls	hls	NOUN
ajst-20788	26	2	color	color	NOUN
ajst-20788	26	3	filtering	filter	VERB
ajst-20788	26	4	2.2	2.2	NUM
ajst-20788	26	5	.	.	PUNCT
ajst-20788	27	1	gaussian	gaussian	ADJ
ajst-20788	27	2	blur	blur	PROPN
ajst-20788	27	3	since	since	SCONJ
ajst-20788	27	4	the	the	DET
ajst-20788	27	5	system	system	NOUN
ajst-20788	27	6	can	can	AUX
ajst-20788	27	7	extract	extract	VERB
ajst-20788	27	8	the	the	DET
ajst-20788	27	9	lane	lane	NOUN
ajst-20788	27	10	lines	line	NOUN
ajst-20788	27	11	quickly	quickly	ADV
ajst-20788	27	12	and	and	CCONJ
ajst-20788	27	13	completely	completely	ADV
ajst-20788	27	14	in	in	ADP
ajst-20788	27	15	the	the	DET
ajst-20788	27	16	grayscale	grayscale	NOUN
ajst-20788	27	17	image	image	NOUN
ajst-20788	27	18	,	,	PUNCT
ajst-20788	27	19	we	we	PRON
ajst-20788	27	20	grayscale	grayscale	VERB
ajst-20788	27	21	the	the	DET
ajst-20788	27	22	hls	hls	NOUN
ajst-20788	27	23	color	color	NOUN
ajst-20788	27	24	filtered	filter	VERB
ajst-20788	27	25	ones	one	NOUN
ajst-20788	27	26	.	.	PUNCT
ajst-20788	28	1	after	after	ADP
ajst-20788	28	2	grayscaling	grayscale	VERB
ajst-20788	28	3	,	,	PUNCT
ajst-20788	28	4	the	the	DET
ajst-20788	28	5	image	image	NOUN
ajst-20788	28	6	may	may	AUX
ajst-20788	28	7	still	still	ADV
ajst-20788	28	8	have	have	VERB
ajst-20788	28	9	noise	noise	NOUN
ajst-20788	28	10	which	which	PRON
ajst-20788	28	11	may	may	AUX
ajst-20788	28	12	interfere	interfere	VERB
ajst-20788	28	13	with	with	ADP
ajst-20788	28	14	the	the	DET
ajst-20788	28	15	recognition	recognition	NOUN
ajst-20788	28	16	of	of	ADP
ajst-20788	28	17	features	feature	NOUN
ajst-20788	28	18	such	such	ADJ
ajst-20788	28	19	as	as	ADP
ajst-20788	28	20	lane	lane	NOUN
ajst-20788	28	21	lines	line	NOUN
ajst-20788	28	22	.	.	PUNCT
ajst-20788	29	1	therefore	therefore	ADV
ajst-20788	29	2	,	,	PUNCT
ajst-20788	29	3	to	to	PART
ajst-20788	29	4	reduce	reduce	VERB
ajst-20788	29	5	the	the	DET
ajst-20788	29	6	effect	effect	NOUN
ajst-20788	29	7	of	of	ADP
ajst-20788	29	8	noise	noise	NOUN
ajst-20788	29	9	,	,	PUNCT
ajst-20788	29	10	gaussian	gaussian	ADJ
ajst-20788	29	11	fuzzy	fuzzy	ADJ
ajst-20788	29	12	filtering	filtering	NOUN
ajst-20788	29	13	is	be	AUX
ajst-20788	29	14	used	use	VERB
ajst-20788	29	15	to	to	PART
ajst-20788	29	16	process	process	VERB
ajst-20788	29	17	the	the	DET
ajst-20788	29	18	image	image	NOUN
ajst-20788	29	19	.	.	PUNCT
ajst-20788	30	1	this	this	DET
ajst-20788	30	2	processing	processing	NOUN
ajst-20788	30	3	reduces	reduce	VERB
ajst-20788	30	4	the	the	DET
ajst-20788	30	5	abrupt	abrupt	ADJ
ajst-20788	30	6	changes	change	NOUN
ajst-20788	30	7	in	in	ADP
ajst-20788	30	8	pixel	pixel	ADJ
ajst-20788	30	9	values	value	NOUN
ajst-20788	30	10	in	in	ADP
ajst-20788	30	11	the	the	DET
ajst-20788	30	12	image	image	NOUN
ajst-20788	30	13	and	and	CCONJ
ajst-20788	30	14	makes	make	VERB
ajst-20788	30	15	features	feature	NOUN
ajst-20788	30	16	such	such	ADJ
ajst-20788	30	17	as	as	ADP
ajst-20788	30	18	lane	lane	NOUN
ajst-20788	30	19	lines	line	NOUN
ajst-20788	30	20	more	more	ADV
ajst-20788	30	21	legible	legible	ADJ
ajst-20788	30	22	[	[	X
ajst-20788	30	23	4	4	NUM
ajst-20788	30	24	]	]	PUNCT
ajst-20788	30	25	.	.	PUNCT
ajst-20788	31	1	in	in	ADP
ajst-20788	31	2	gaussian	gaussian	ADJ
ajst-20788	31	3	blurring	blurring	NOUN
ajst-20788	31	4	,	,	PUNCT
ajst-20788	31	5	the	the	DET
ajst-20788	31	6	new	new	ADJ
ajst-20788	31	7	value	value	NOUN
ajst-20788	31	8	of	of	ADP
ajst-20788	31	9	each	each	DET
ajst-20788	31	10	pixel	pixel	NOUN
ajst-20788	31	11	is	be	AUX
ajst-20788	31	12	a	a	DET
ajst-20788	31	13	weighted	weighted	ADJ
ajst-20788	31	14	average	average	NOUN
ajst-20788	31	15	of	of	ADP
ajst-20788	31	16	its	its	PRON
ajst-20788	31	17	surrounding	surround	VERB
ajst-20788	31	18	pixels	pixel	NOUN
ajst-20788	31	19	.	.	PUNCT
ajst-20788	32	1	the	the	DET
ajst-20788	32	2	weights	weight	NOUN
ajst-20788	32	3	are	be	AUX
ajst-20788	32	4	derived	derive	VERB
ajst-20788	32	5	from	from	ADP
ajst-20788	32	6	the	the	DET
ajst-20788	32	7	calculation	calculation	NOUN
ajst-20788	32	8	of	of	ADP
ajst-20788	32	9	gaussian	gaussian	ADJ
ajst-20788	32	10	function	function	NOUN
ajst-20788	32	11	which	which	PRON
ajst-20788	32	12	is	be	AUX
ajst-20788	32	13	specified	specify	VERB
ajst-20788	32	14	as	as	SCONJ
ajst-20788	32	15	follows	follow	VERB
ajst-20788	32	16	:	:	PUNCT
ajst-20788	32	17	g	g	PROPN
ajst-20788	32	18	x	x	SYM
ajst-20788	32	19	,	,	PUNCT
ajst-20788	32	20	y	y	PROPN
ajst-20788	32	21	e	e	X
ajst-20788	32	22	(	(	PUNCT
ajst-20788	32	23	1	1	X
ajst-20788	32	24	)	)	PUNCT
ajst-20788	32	25	in	in	ADP
ajst-20788	32	26	the	the	DET
ajst-20788	32	27	above	above	ADJ
ajst-20788	32	28	equation	equation	NOUN
ajst-20788	32	29	,	,	PUNCT
ajst-20788	32	30	x	x	PUNCT
ajst-20788	32	31	and	and	CCONJ
ajst-20788	32	32	y	y	PROPN
ajst-20788	32	33	denoting	denote	VERB
ajst-20788	32	34	the	the	DET
ajst-20788	32	35	distance	distance	NOUN
ajst-20788	32	36	between	between	ADP
ajst-20788	32	37	pixels	pixel	NOUN
ajst-20788	32	38	represent	represent	VERB
ajst-20788	32	39	the	the	DET
ajst-20788	32	40	distance	distance	NOUN
ajst-20788	32	41	between	between	ADP
ajst-20788	32	42	pixels	pixel	NOUN
ajst-20788	32	43	and	and	CCONJ
ajst-20788	32	44	σ	σ	NOUN
ajst-20788	32	45	is	be	AUX
ajst-20788	32	46	the	the	DET
ajst-20788	32	47	standard	standard	ADJ
ajst-20788	32	48	deviation	deviation	NOUN
ajst-20788	32	49	of	of	ADP
ajst-20788	32	50	the	the	DET
ajst-20788	32	51	gaussian	gaussian	ADJ
ajst-20788	32	52	function	function	NOUN
ajst-20788	32	53	.	.	PUNCT
ajst-20788	33	1	the	the	DET
ajst-20788	33	2	gaussian	gaussian	ADJ
ajst-20788	33	3	function	function	NOUN
ajst-20788	33	4	has	have	VERB
ajst-20788	33	5	the	the	DET
ajst-20788	33	6	shape	shape	NOUN
ajst-20788	33	7	of	of	ADP
ajst-20788	33	8	a	a	DET
ajst-20788	33	9	bell	bell	NOUN
ajst-20788	33	10	-	-	PUNCT
ajst-20788	33	11	shaped	shape	VERB
ajst-20788	33	12	curve	curve	NOUN
ajst-20788	33	13	,	,	PUNCT
ajst-20788	33	14	with	with	SCONJ
ajst-20788	33	15	the	the	DET
ajst-20788	33	16	center	center	NOUN
ajst-20788	33	17	pixel	pixel	NOUN
ajst-20788	33	18	having	have	VERB
ajst-20788	33	19	the	the	DET
ajst-20788	33	20	largest	large	ADJ
ajst-20788	33	21	weight	weight	NOUN
ajst-20788	33	22	and	and	CCONJ
ajst-20788	33	23	the	the	DET
ajst-20788	33	24	surrounding	surround	VERB
ajst-20788	33	25	pixels	pixel	NOUN
ajst-20788	33	26	having	have	VERB
ajst-20788	33	27	decreasing	decrease	VERB
ajst-20788	33	28	weights	weight	NOUN
ajst-20788	33	29	.	.	PUNCT
ajst-20788	34	1	the	the	PRON
ajst-20788	34	2	larger	large	ADJ
ajst-20788	34	3	the	the	DET
ajst-20788	34	4	standard	standard	ADJ
ajst-20788	34	5	deviation	deviation	NOUN
ajst-20788	34	6	,	,	PUNCT
ajst-20788	34	7	the	the	DET
ajst-20788	34	8	flatter	flatter	NOUN
ajst-20788	34	9	the	the	DET
ajst-20788	34	10	curve	curve	NOUN
ajst-20788	34	11	and	and	CCONJ
ajst-20788	34	12	the	the	DET
ajst-20788	34	13	more	more	ADV
ajst-20788	34	14	obvious	obvious	ADJ
ajst-20788	34	15	the	the	DET
ajst-20788	34	16	blurring	blur	VERB
ajst-20788	34	17	effect	effect	NOUN
ajst-20788	34	18	.	.	PUNCT
ajst-20788	35	1	its	its	PRON
ajst-20788	35	2	function	function	NOUN
ajst-20788	35	3	in	in	ADP
ajst-20788	35	4	the	the	DET
ajst-20788	35	5	library	library	NOUN
ajst-20788	35	6	is	be	AUX
ajst-20788	35	7	cv2.gaussianblur	cv2.gaussianblur	NOUN
ajst-20788	35	8	(	(	PUNCT
ajst-20788	35	9	)	)	PUNCT
ajst-20788	35	10	,	,	PUNCT
ajst-20788	35	11	which	which	PRON
ajst-20788	35	12	is	be	AUX
ajst-20788	35	13	called	call	VERB
ajst-20788	35	14	to	to	PART
ajst-20788	35	15	achieve	achieve	VERB
ajst-20788	35	16	the	the	DET
ajst-20788	35	17	purpose	purpose	NOUN
ajst-20788	35	18	of	of	ADP
ajst-20788	35	19	noise	noise	NOUN
ajst-20788	35	20	reduction	reduction	NOUN
ajst-20788	35	21	processing	processing	NOUN
ajst-20788	35	22	and	and	CCONJ
ajst-20788	35	23	image	image	NOUN
ajst-20788	35	24	smoothing	smooth	VERB
ajst-20788	35	25	.	.	PUNCT
ajst-20788	36	1	figure	figure	NOUN
ajst-20788	36	2	4	4	NUM
ajst-20788	36	3	below	below	ADV
ajst-20788	36	4	shows	show	VERB
ajst-20788	36	5	the	the	DET
ajst-20788	36	6	effect	effect	NOUN
ajst-20788	36	7	of	of	ADP
ajst-20788	36	8	gaussian	gaussian	ADJ
ajst-20788	36	9	blur	blur	NOUN
ajst-20788	36	10	:	:	PUNCT
ajst-20788	36	11	figure	figure	NOUN
ajst-20788	36	12	4	4	NUM
ajst-20788	36	13	.	.	PUNCT
ajst-20788	36	14	gaussian	gaussian	ADJ
ajst-20788	36	15	blur	blur	PROPN
ajst-20788	36	16	2.3	2.3	NUM
ajst-20788	36	17	.	.	PUNCT
ajst-20788	37	1	canney	canney	PROPN
ajst-20788	37	2	edge	edge	NOUN
ajst-20788	37	3	detection	detection	NOUN
ajst-20788	37	4	the	the	DET
ajst-20788	37	5	image	image	NOUN
ajst-20788	37	6	become	become	VERB
ajst-20788	37	7	smoother	smooth	ADJ
ajst-20788	37	8	,	,	PUNCT
ajst-20788	37	9	which	which	PRON
ajst-20788	37	10	allows	allow	VERB
ajst-20788	37	11	the	the	DET
ajst-20788	37	12	canney	canney	ADJ
ajst-20788	37	13	algorithm	algorithm	NOUN
ajst-20788	37	14	to	to	PART
ajst-20788	37	15	detect	detect	VERB
ajst-20788	37	16	more	more	ADV
ajst-20788	37	17	continuous	continuous	ADJ
ajst-20788	37	18	edges	edge	NOUN
ajst-20788	37	19	and	and	CCONJ
ajst-20788	37	20	avoid	avoid	VERB
ajst-20788	37	21	producing	produce	VERB
ajst-20788	37	22	intermittent	intermittent	ADJ
ajst-20788	37	23	edge	edge	NOUN
ajst-20788	37	24	lines	line	NOUN
ajst-20788	37	25	.	.	PUNCT
ajst-20788	38	1	the	the	DET
ajst-20788	38	2	canney	canney	PROPN
ajst-20788	38	3	algorithm	algorithm	NOUN
ajst-20788	38	4	has	have	VERB
ajst-20788	38	5	the	the	DET
ajst-20788	38	6	advantages	advantage	NOUN
ajst-20788	38	7	of	of	ADP
ajst-20788	38	8	high	high	ADJ
ajst-20788	38	9	accuracy	accuracy	NOUN
ajst-20788	38	10	,	,	PUNCT
ajst-20788	38	11	resistance	resistance	NOUN
ajst-20788	38	12	to	to	ADP
ajst-20788	38	13	noise	noise	NOUN
ajst-20788	38	14	,	,	PUNCT
ajst-20788	38	15	and	and	CCONJ
ajst-20788	38	16	the	the	DET
ajst-20788	38	17	ability	ability	NOUN
ajst-20788	38	18	to	to	PART
ajst-20788	38	19	detect	detect	VERB
ajst-20788	38	20	fine	fine	ADJ
ajst-20788	38	21	edges	edge	NOUN
ajst-20788	38	22	.	.	PUNCT
ajst-20788	39	1	the	the	DET
ajst-20788	39	2	mathematical	mathematical	ADJ
ajst-20788	39	3	method	method	NOUN
ajst-20788	39	4	is	be	AUX
ajst-20788	39	5	to	to	PART
ajst-20788	39	6	use	use	VERB
ajst-20788	39	7	gradient	gradient	NOUN
ajst-20788	39	8	operators	operator	NOUN
ajst-20788	39	9	(	(	PUNCT
ajst-20788	39	10	usually	usually	ADV
ajst-20788	39	11	sobel	sobel	PROPN
ajst-20788	39	12	operators	operators	PROPN
ajst-20788	39	13	)	)	PUNCT
ajst-20788	39	14	to	to	PART
ajst-20788	39	15	calculate	calculate	VERB
ajst-20788	39	16	the	the	DET
ajst-20788	39	17	gradient	gradient	ADJ
ajst-20788	39	18	amplitude	amplitude	NOUN
ajst-20788	39	19	and	and	CCONJ
ajst-20788	39	20	direction	direction	NOUN
ajst-20788	39	21	of	of	ADP
ajst-20788	39	22	the	the	DET
ajst-20788	39	23	image[5	image[5	NOUN
ajst-20788	39	24	]	]	PUNCT
ajst-20788	39	25	.	.	PUNCT
ajst-20788	40	1	in	in	ADP
ajst-20788	40	2	the	the	DET
ajst-20788	40	3	canney	canney	ADJ
ajst-20788	40	4	algorithm	algorithm	NOUN
ajst-20788	40	5	,	,	PUNCT
ajst-20788	40	6	gradients	gradient	NOUN
ajst-20788	40	7	represent	represent	VERB
ajst-20788	40	8	the	the	DET
ajst-20788	40	9	rate	rate	NOUN
ajst-20788	40	10	of	of	ADP
ajst-20788	40	11	change	change	NOUN
ajst-20788	40	12	of	of	ADP
ajst-20788	40	13	pixel	pixel	ADJ
ajst-20788	40	14	values	value	NOUN
ajst-20788	40	15	in	in	ADP
ajst-20788	40	16	an	an	DET
ajst-20788	40	17	image	image	NOUN
ajst-20788	40	18	,	,	PUNCT
ajst-20788	40	19	while	while	SCONJ
ajst-20788	40	20	edges	edge	NOUN
ajst-20788	40	21	typically	typically	ADV
ajst-20788	40	22	cause	cause	VERB
ajst-20788	40	23	sharp	sharp	ADJ
ajst-20788	40	24	changes	change	NOUN
ajst-20788	40	25	in	in	ADP
ajst-20788	40	26	pixel	pixel	ADJ
ajst-20788	40	27	values	value	NOUN
ajst-20788	40	28	.	.	PUNCT
ajst-20788	41	1	therefore	therefore	ADV
ajst-20788	41	2	,	,	PUNCT
ajst-20788	41	3	by	by	ADP
ajst-20788	41	4	calculating	calculate	VERB
ajst-20788	41	5	the	the	DET
ajst-20788	41	6	gradient	gradient	ADJ
ajst-20788	41	7	amplitude	amplitude	NOUN
ajst-20788	41	8	and	and	CCONJ
ajst-20788	41	9	direction	direction	NOUN
ajst-20788	41	10	of	of	ADP
ajst-20788	41	11	the	the	DET
ajst-20788	41	12	image	image	NOUN
ajst-20788	41	13	,	,	PUNCT
ajst-20788	41	14	the	the	DET
ajst-20788	41	15	canney	canney	ADJ
ajst-20788	41	16	algorithm	algorithm	NOUN
ajst-20788	41	17	can	can	AUX
ajst-20788	41	18	find	find	VERB
ajst-20788	41	19	potential	potential	ADJ
ajst-20788	41	20	edge	edge	NOUN
ajst-20788	41	21	positions	position	NOUN
ajst-20788	41	22	.	.	PUNCT
ajst-20788	42	1	next	next	ADV
ajst-20788	42	2	,	,	PUNCT
ajst-20788	42	3	the	the	DET
ajst-20788	42	4	algorithm	algorithm	NOUN
ajst-20788	42	5	preserves	preserve	VERB
ajst-20788	42	6	the	the	DET
ajst-20788	42	7	local	local	ADJ
ajst-20788	42	8	maximum	maximum	ADJ
ajst-20788	42	9	values	value	NOUN
ajst-20788	42	10	in	in	ADP
ajst-20788	42	11	the	the	DET
ajst-20788	42	12	gradient	gradient	NOUN
ajst-20788	42	13	image	image	NOUN
ajst-20788	42	14	by	by	ADP
ajst-20788	42	15	suppressing	suppress	VERB
ajst-20788	42	16	non	non	ADJ
ajst-20788	42	17	maximum	maximum	ADJ
ajst-20788	42	18	values	value	NOUN
ajst-20788	42	19	on	on	ADP
ajst-20788	42	20	the	the	DET
ajst-20788	42	21	gradient	gradient	ADJ
ajst-20788	42	22	image	image	NOUN
ajst-20788	42	23	.	.	PUNCT
ajst-20788	43	1	this	this	DET
ajst-20788	43	2	step	step	NOUN
ajst-20788	43	3	preserves	preserve	VERB
ajst-20788	43	4	the	the	DET
ajst-20788	43	5	pixel	pixel	NOUN
ajst-20788	43	6	with	with	ADP
ajst-20788	43	7	the	the	DET
ajst-20788	43	8	highest	high	ADJ
ajst-20788	43	9	local	local	ADJ
ajst-20788	43	10	gradient	gradient	NOUN
ajst-20788	43	11	amplitude	amplitude	NOUN
ajst-20788	43	12	and	and	CCONJ
ajst-20788	43	13	suppresses	suppress	VERB
ajst-20788	43	14	other	other	ADJ
ajst-20788	43	15	pixels	pixel	NOUN
ajst-20788	43	16	by	by	ADP
ajst-20788	43	17	comparing	compare	VERB
ajst-20788	43	18	the	the	DET
ajst-20788	43	19	gradient	gradient	ADJ
ajst-20788	43	20	amplitudes	amplitude	NOUN
ajst-20788	43	21	of	of	ADP
ajst-20788	43	22	the	the	DET
ajst-20788	43	23	pixels	pixel	NOUN
ajst-20788	43	24	.	.	PUNCT
ajst-20788	44	1	after	after	ADP
ajst-20788	44	2	completing	complete	VERB
ajst-20788	44	3	non	non	ADJ
ajst-20788	44	4	maximum	maximum	ADJ
ajst-20788	44	5	suppression	suppression	NOUN
ajst-20788	44	6	,	,	PUNCT
ajst-20788	44	7	the	the	DET
ajst-20788	44	8	algorithm	algorithm	NOUN
ajst-20788	44	9	further	far	ADV
ajst-20788	44	10	processes	process	VERB
ajst-20788	44	11	the	the	DET
ajst-20788	44	12	gradient	gradient	ADJ
ajst-20788	44	13	image	image	NOUN
ajst-20788	44	14	by	by	ADP
ajst-20788	44	15	setting	set	VERB
ajst-20788	44	16	high	high	ADJ
ajst-20788	44	17	and	and	CCONJ
ajst-20788	44	18	low	low	ADJ
ajst-20788	44	19	thresholds	threshold	NOUN
ajst-20788	44	20	to	to	PART
ajst-20788	44	21	determine	determine	VERB
ajst-20788	44	22	possible	possible	ADJ
ajst-20788	44	23	edge	edge	NOUN
ajst-20788	44	24	pixels	pixel	NOUN
ajst-20788	44	25	and	and	CCONJ
ajst-20788	44	26	edge	edge	VERB
ajst-20788	44	27	connecting	connect	VERB
ajst-20788	44	28	pixels	pixel	NOUN
ajst-20788	44	29	.	.	PUNCT
ajst-20788	45	1	if	if	SCONJ
ajst-20788	45	2	the	the	DET
ajst-20788	45	3	gradient	gradient	ADJ
ajst-20788	45	4	amplitude	amplitude	NOUN
ajst-20788	45	5	of	of	ADP
ajst-20788	45	6	a	a	DET
ajst-20788	45	7	pixel	pixel	NOUN
ajst-20788	45	8	exceeds	exceed	VERB
ajst-20788	45	9	a	a	DET
ajst-20788	45	10	high	high	ADJ
ajst-20788	45	11	threshold	threshold	NOUN
ajst-20788	45	12	,	,	PUNCT
ajst-20788	45	13	it	it	PRON
ajst-20788	45	14	is	be	AUX
ajst-20788	45	15	considered	consider	VERB
ajst-20788	45	16	a	a	DET
ajst-20788	45	17	strong	strong	ADJ
ajst-20788	45	18	edge	edge	NOUN
ajst-20788	45	19	pixel	pixel	NOUN
ajst-20788	45	20	;	;	PUNCT
ajst-20788	45	21	if	if	SCONJ
ajst-20788	45	22	the	the	DET
ajst-20788	45	23	gradient	gradient	ADJ
ajst-20788	45	24	amplitude	amplitude	NOUN
ajst-20788	45	25	is	be	AUX
ajst-20788	45	26	between	between	ADP
ajst-20788	45	27	the	the	DET
ajst-20788	45	28	high	high	ADJ
ajst-20788	45	29	and	and	CCONJ
ajst-20788	45	30	low	low	ADJ
ajst-20788	45	31	thresholds	threshold	NOUN
ajst-20788	45	32	,	,	PUNCT
ajst-20788	45	33	it	it	PRON
ajst-20788	45	34	is	be	AUX
ajst-20788	45	35	considered	consider	VERB
ajst-20788	45	36	a	a	DET
ajst-20788	45	37	weak	weak	ADJ
ajst-20788	45	38	edge	edge	NOUN
ajst-20788	45	39	pixel	pixel	NOUN
ajst-20788	45	40	.	.	PUNCT
ajst-20788	46	1	strong	strong	ADJ
ajst-20788	46	2	edge	edge	NOUN
ajst-20788	46	3	pixels	pixel	NOUN
ajst-20788	46	4	are	be	AUX
ajst-20788	46	5	directly	directly	ADV
ajst-20788	46	6	considered	consider	VERB
ajst-20788	46	7	as	as	ADP
ajst-20788	46	8	edges	edge	NOUN
ajst-20788	46	9	,	,	PUNCT
ajst-20788	46	10	while	while	SCONJ
ajst-20788	46	11	weak	weak	ADJ
ajst-20788	46	12	edge	edge	NOUN
ajst-20788	46	13	pixels	pixel	NOUN
ajst-20788	46	14	need	need	VERB
ajst-20788	46	15	to	to	PART
ajst-20788	46	16	be	be	AUX
ajst-20788	46	17	connected	connect	VERB
ajst-20788	46	18	to	to	ADP
ajst-20788	46	19	strong	strong	ADJ
ajst-20788	46	20	edge	edge	NOUN
ajst-20788	46	21	pixels	pixel	NOUN
ajst-20788	46	22	to	to	PART
ajst-20788	46	23	be	be	AUX
ajst-20788	46	24	recognized	recognize	VERB
ajst-20788	46	25	as	as	ADP
ajst-20788	46	26	edges	edge	NOUN
ajst-20788	46	27	.	.	PUNCT
ajst-20788	47	1	finally	finally	ADV
ajst-20788	47	2	,	,	PUNCT
ajst-20788	47	3	the	the	DET
ajst-20788	47	4	algorithm	algorithm	NOUN
ajst-20788	47	5	connects	connect	VERB
ajst-20788	47	6	weak	weak	ADJ
ajst-20788	47	7	edge	edge	NOUN
ajst-20788	47	8	pixels	pixel	NOUN
ajst-20788	47	9	with	with	ADP
ajst-20788	47	10	strong	strong	ADJ
ajst-20788	47	11	edge	edge	NOUN
ajst-20788	47	12	pixels	pixel	NOUN
ajst-20788	47	13	through	through	ADP
ajst-20788	47	14	edge	edge	NOUN
ajst-20788	47	15	tracking	track	VERB
ajst-20788	47	16	to	to	PART
ajst-20788	47	17	form	form	VERB
ajst-20788	47	18	continuous	continuous	ADJ
ajst-20788	47	19	edge	edge	NOUN
ajst-20788	47	20	lines	line	NOUN
ajst-20788	47	21	.	.	PUNCT
ajst-20788	48	1	the	the	DET
ajst-20788	48	2	function	function	NOUN
ajst-20788	48	3	in	in	ADP
ajst-20788	48	4	the	the	DET
ajst-20788	48	5	library	library	NOUN
ajst-20788	48	6	is	be	AUX
ajst-20788	48	7	cv2	cv2	PROPN
ajst-20788	48	8	.	.	PUNCT
ajst-20788	48	9	canney	canney	PROPN
ajst-20788	48	10	(	(	PUNCT
ajst-20788	48	11	)	)	PUNCT
ajst-20788	48	12	,	,	PUNCT
ajst-20788	48	13	with	with	ADP
ajst-20788	48	14	a	a	DET
ajst-20788	48	15	closed	closed	ADJ
ajst-20788	48	16	value	value	NOUN
ajst-20788	48	17	of	of	ADP
ajst-20788	48	18	[	[	X
ajst-20788	48	19	50	50	NUM
ajst-20788	48	20	-	-	SYM
ajst-20788	48	21	150	150	NUM
ajst-20788	48	22	]	]	PUNCT
ajst-20788	48	23	.	.	PUNCT
ajst-20788	49	1	figure	figure	NOUN
ajst-20788	49	2	5	5	NUM
ajst-20788	49	3	shows	show	VERB
ajst-20788	49	4	the	the	DET
ajst-20788	49	5	image	image	NOUN
ajst-20788	49	6	after	after	ADP
ajst-20788	49	7	canney	canney	PROPN
ajst-20788	49	8	edge	edge	NOUN
ajst-20788	49	9	detection	detection	NOUN
ajst-20788	49	10	;	;	PUNCT
ajst-20788	49	11	figure	figure	NOUN
ajst-20788	49	12	5	5	NUM
ajst-20788	49	13	.	.	PUNCT
ajst-20788	49	14	canny	canny	ADJ
ajst-20788	49	15	edge	edge	NOUN
ajst-20788	49	16	detection	detection	NOUN
ajst-20788	49	17	81	81	NUM
ajst-20788	49	18	2.4	2.4	NUM
ajst-20788	49	19	.	.	PUNCT
ajst-20788	50	1	identification	identification	NOUN
ajst-20788	50	2	of	of	ADP
ajst-20788	50	3	vertices	vertex	NOUN
ajst-20788	50	4	of	of	ADP
ajst-20788	50	5	interest	interest	NOUN
ajst-20788	50	6	for	for	ADP
ajst-20788	50	7	masking	mask	VERB
ajst-20788	50	8	the	the	DET
ajst-20788	50	9	images	image	NOUN
ajst-20788	50	10	captured	capture	VERB
ajst-20788	50	11	by	by	ADP
ajst-20788	50	12	the	the	DET
ajst-20788	50	13	vehicle	vehicle	NOUN
ajst-20788	50	14	camera	camera	NOUN
ajst-20788	50	15	contain	contain	VERB
ajst-20788	50	16	a	a	DET
ajst-20788	50	17	large	large	ADJ
ajst-20788	50	18	amount	amount	NOUN
ajst-20788	50	19	of	of	ADP
ajst-20788	50	20	non	non	ADJ
ajst-20788	50	21	-	-	ADJ
ajst-20788	50	22	lane	lane	ADJ
ajst-20788	50	23	line	line	NOUN
ajst-20788	50	24	information	information	NOUN
ajst-20788	50	25	,	,	PUNCT
ajst-20788	50	26	such	such	ADJ
ajst-20788	50	27	as	as	ADP
ajst-20788	50	28	sky	sky	NOUN
ajst-20788	50	29	,	,	PUNCT
ajst-20788	50	30	vegetation	vegetation	NOUN
ajst-20788	50	31	,	,	PUNCT
ajst-20788	50	32	clouds	cloud	NOUN
ajst-20788	50	33	,	,	PUNCT
ajst-20788	50	34	etc	etc	X
ajst-20788	50	35	.	.	X
ajst-20788	50	36	,	,	PUNCT
ajst-20788	50	37	in	in	ADP
ajst-20788	50	38	addition	addition	NOUN
ajst-20788	50	39	to	to	ADP
ajst-20788	50	40	lane	lane	NOUN
ajst-20788	50	41	line	line	NOUN
ajst-20788	50	42	information	information	NOUN
ajst-20788	50	43	.	.	PUNCT
ajst-20788	51	1	in	in	ADP
ajst-20788	51	2	order	order	NOUN
ajst-20788	51	3	to	to	PART
ajst-20788	51	4	simplify	simplify	VERB
ajst-20788	51	5	the	the	DET
ajst-20788	51	6	image	image	NOUN
ajst-20788	51	7	processing	processing	NOUN
ajst-20788	51	8	process	process	NOUN
ajst-20788	51	9	and	and	CCONJ
ajst-20788	51	10	improve	improve	VERB
ajst-20788	51	11	the	the	DET
ajst-20788	51	12	processing	processing	NOUN
ajst-20788	51	13	efficiency	efficiency	NOUN
ajst-20788	51	14	,	,	PUNCT
ajst-20788	51	15	the	the	DET
ajst-20788	51	16	selection	selection	NOUN
ajst-20788	51	17	and	and	CCONJ
ajst-20788	51	18	division	division	NOUN
ajst-20788	51	19	of	of	ADP
ajst-20788	51	20	the	the	DET
ajst-20788	51	21	region	region	NOUN
ajst-20788	51	22	of	of	ADP
ajst-20788	51	23	interest	interest	NOUN
ajst-20788	51	24	is	be	AUX
ajst-20788	51	25	carried	carry	VERB
ajst-20788	51	26	out	out	ADP
ajst-20788	51	27	on	on	ADP
ajst-20788	51	28	the	the	DET
ajst-20788	51	29	basis	basis	NOUN
ajst-20788	51	30	of	of	ADP
ajst-20788	51	31	the	the	DET
ajst-20788	51	32	image	image	NOUN
ajst-20788	51	33	after	after	ADP
ajst-20788	51	34	canny	canny	ADJ
ajst-20788	51	35	edge	edge	NOUN
ajst-20788	51	36	detection	detection	NOUN
ajst-20788	51	37	.	.	PUNCT
ajst-20788	52	1	other	other	ADJ
ajst-20788	52	2	non	non	ADJ
ajst-20788	52	3	-	-	ADJ
ajst-20788	52	4	lane	lane	ADJ
ajst-20788	52	5	line	line	NOUN
ajst-20788	52	6	information	information	NOUN
ajst-20788	52	7	is	be	AUX
ajst-20788	52	8	masked	mask	VERB
ajst-20788	52	9	out	out	ADP
ajst-20788	52	10	by	by	ADP
ajst-20788	52	11	masking	mask	VERB
ajst-20788	52	12	.	.	PUNCT
ajst-20788	53	1	the	the	DET
ajst-20788	53	2	lane	lane	PROPN
ajst-20788	53	3	line	line	NOUN
ajst-20788	53	4	effective	effective	ADJ
ajst-20788	53	5	information	information	NOUN
ajst-20788	53	6	in	in	ADP
ajst-20788	53	7	the	the	DET
ajst-20788	53	8	video	video	NOUN
ajst-20788	53	9	recorded	record	VERB
ajst-20788	53	10	by	by	ADP
ajst-20788	53	11	the	the	DET
ajst-20788	53	12	vehicle	vehicle	NOUN
ajst-20788	53	13	camera	camera	NOUN
ajst-20788	53	14	are	be	AUX
ajst-20788	53	15	distributed	distribute	VERB
ajst-20788	53	16	in	in	ADP
ajst-20788	53	17	the	the	DET
ajst-20788	53	18	lower	low	ADJ
ajst-20788	53	19	half	half	NOUN
ajst-20788	53	20	region	region	NOUN
ajst-20788	53	21	of	of	ADP
ajst-20788	53	22	the	the	DET
ajst-20788	53	23	image	image	NOUN
ajst-20788	53	24	.	.	PUNCT
ajst-20788	54	1	therefore	therefore	ADV
ajst-20788	54	2	,	,	PUNCT
ajst-20788	54	3	the	the	DET
ajst-20788	54	4	image	image	NOUN
ajst-20788	54	5	is	be	AUX
ajst-20788	54	6	cropped	crop	VERB
ajst-20788	54	7	to	to	PART
ajst-20788	54	8	retain	retain	VERB
ajst-20788	54	9	the	the	DET
ajst-20788	54	10	lower	low	ADJ
ajst-20788	54	11	half	half	ADJ
ajst-20788	54	12	region	region	NOUN
ajst-20788	54	13	of	of	ADP
ajst-20788	54	14	the	the	DET
ajst-20788	54	15	image	image	NOUN
ajst-20788	54	16	and	and	CCONJ
ajst-20788	54	17	only	only	ADV
ajst-20788	54	18	that	that	DET
ajst-20788	54	19	part	part	NOUN
ajst-20788	54	20	of	of	ADP
ajst-20788	54	21	the	the	DET
ajst-20788	54	22	region	region	NOUN
ajst-20788	54	23	is	be	AUX
ajst-20788	54	24	subjected	subject	VERB
ajst-20788	54	25	to	to	ADP
ajst-20788	54	26	subsequent	subsequent	ADJ
ajst-20788	54	27	processing	processing	NOUN
ajst-20788	54	28	.	.	PUNCT
ajst-20788	55	1	once	once	SCONJ
ajst-20788	55	2	the	the	DET
ajst-20788	55	3	region	region	NOUN
ajst-20788	55	4	of	of	ADP
ajst-20788	55	5	interest	interest	NOUN
ajst-20788	55	6	is	be	AUX
ajst-20788	55	7	found	find	VERB
ajst-20788	55	8	,	,	PUNCT
ajst-20788	55	9	the	the	DET
ajst-20788	55	10	selected	select	VERB
ajst-20788	55	11	region	region	NOUN
ajst-20788	55	12	and	and	CCONJ
ajst-20788	55	13	the	the	DET
ajst-20788	55	14	preselected	preselecte	VERB
ajst-20788	55	15	mask	mask	NOUN
ajst-20788	55	16	are	be	AUX
ajst-20788	55	17	operated	operate	VERB
ajst-20788	55	18	by	by	ADP
ajst-20788	55	19	bitwise	bitwise	NOUN
ajst-20788	55	20	and	and	CCONJ
ajst-20788	55	21	more	more	ADV
ajst-20788	55	22	accurate	accurate	ADJ
ajst-20788	55	23	lane	lane	NOUN
ajst-20788	55	24	line	line	NOUN
ajst-20788	55	25	information	information	NOUN
ajst-20788	55	26	can	can	AUX
ajst-20788	55	27	be	be	AUX
ajst-20788	55	28	obtained	obtain	VERB
ajst-20788	55	29	,	,	PUNCT
ajst-20788	55	30	which	which	PRON
ajst-20788	55	31	removes	remove	VERB
ajst-20788	55	32	irrelevant	irrelevant	ADJ
ajst-20788	55	33	information	information	NOUN
ajst-20788	55	34	from	from	ADP
ajst-20788	55	35	the	the	DET
ajst-20788	55	36	image	image	NOUN
ajst-20788	55	37	and	and	CCONJ
ajst-20788	55	38	makes	make	VERB
ajst-20788	55	39	the	the	DET
ajst-20788	55	40	subsequent	subsequent	ADJ
ajst-20788	55	41	lane	lane	NOUN
ajst-20788	55	42	line	line	NOUN
ajst-20788	55	43	detection	detection	NOUN
ajst-20788	55	44	more	more	ADV
ajst-20788	55	45	accurate	accurate	ADJ
ajst-20788	55	46	and	and	CCONJ
ajst-20788	55	47	reliable	reliable	ADJ
ajst-20788	55	48	.	.	PUNCT
ajst-20788	56	1	figure	figure	NOUN
ajst-20788	56	2	6	6	NUM
ajst-20788	56	3	below	below	ADV
ajst-20788	56	4	shows	show	VERB
ajst-20788	56	5	the	the	DET
ajst-20788	56	6	image	image	NOUN
ajst-20788	56	7	after	after	ADP
ajst-20788	56	8	determining	determine	VERB
ajst-20788	56	9	the	the	DET
ajst-20788	56	10	vertices	vertex	NOUN
ajst-20788	56	11	of	of	ADP
ajst-20788	56	12	interest	interest	NOUN
ajst-20788	56	13	for	for	ADP
ajst-20788	56	14	mask	mask	NOUN
ajst-20788	56	15	processing	processing	NOUN
ajst-20788	56	16	.	.	PUNCT
ajst-20788	57	1	figure	figure	NOUN
ajst-20788	57	2	6	6	NUM
ajst-20788	57	3	.	.	PUNCT
ajst-20788	58	1	identifying	identify	VERB
ajst-20788	58	2	vertices	vertex	NOUN
ajst-20788	58	3	of	of	ADP
ajst-20788	58	4	interest	interest	NOUN
ajst-20788	58	5	for	for	ADP
ajst-20788	58	6	masking	mask	VERB
ajst-20788	58	7	2.5	2.5	NUM
ajst-20788	58	8	.	.	PUNCT
ajst-20788	59	1	hough	hough	PROPN
ajst-20788	59	2	transform	transform	VERB
ajst-20788	59	3	the	the	DET
ajst-20788	59	4	hough	hough	PROPN
ajst-20788	59	5	transform	transform	NOUN
ajst-20788	59	6	is	be	AUX
ajst-20788	59	7	a	a	DET
ajst-20788	59	8	technique	technique	NOUN
ajst-20788	59	9	used	use	VERB
ajst-20788	59	10	to	to	PART
ajst-20788	59	11	detect	detect	VERB
ajst-20788	59	12	specific	specific	ADJ
ajst-20788	59	13	shapes	shape	NOUN
ajst-20788	59	14	in	in	ADP
ajst-20788	59	15	an	an	DET
ajst-20788	59	16	image	image	NOUN
ajst-20788	59	17	,	,	PUNCT
ajst-20788	59	18	initially	initially	ADV
ajst-20788	59	19	used	use	VERB
ajst-20788	59	20	to	to	PART
ajst-20788	59	21	detect	detect	VERB
ajst-20788	59	22	straight	straight	ADJ
ajst-20788	59	23	lines	line	NOUN
ajst-20788	59	24	and	and	CCONJ
ajst-20788	59	25	later	later	ADV
ajst-20788	59	26	extended	extend	VERB
ajst-20788	59	27	to	to	PART
ajst-20788	59	28	detect	detect	VERB
ajst-20788	59	29	other	other	ADJ
ajst-20788	59	30	shapes	shape	NOUN
ajst-20788	59	31	such	such	ADJ
ajst-20788	59	32	as	as	ADP
ajst-20788	59	33	circles	circle	NOUN
ajst-20788	59	34	or	or	CCONJ
ajst-20788	59	35	ellipses	ellipsis	NOUN
ajst-20788	59	36	.	.	PUNCT
ajst-20788	60	1	the	the	DET
ajst-20788	60	2	main	main	ADJ
ajst-20788	60	3	idea	idea	NOUN
ajst-20788	60	4	of	of	ADP
ajst-20788	60	5	the	the	DET
ajst-20788	60	6	hough	hough	PROPN
ajst-20788	60	7	transform	transform	NOUN
ajst-20788	60	8	is	be	AUX
ajst-20788	60	9	to	to	PART
ajst-20788	60	10	map	map	VERB
ajst-20788	60	11	specific	specific	ADJ
ajst-20788	60	12	shapes	shape	NOUN
ajst-20788	60	13	in	in	ADP
ajst-20788	60	14	the	the	DET
ajst-20788	60	15	image	image	NOUN
ajst-20788	60	16	space	space	NOUN
ajst-20788	60	17	to	to	ADP
ajst-20788	60	18	the	the	DET
ajst-20788	60	19	parameter	parameter	NOUN
ajst-20788	60	20	space	space	NOUN
ajst-20788	60	21	and	and	CCONJ
ajst-20788	60	22	to	to	PART
ajst-20788	60	23	determine	determine	VERB
ajst-20788	60	24	the	the	DET
ajst-20788	60	25	presence	presence	NOUN
ajst-20788	60	26	of	of	ADP
ajst-20788	60	27	specific	specific	ADJ
ajst-20788	60	28	shapes	shape	NOUN
ajst-20788	60	29	in	in	ADP
ajst-20788	60	30	an	an	DET
ajst-20788	60	31	image	image	NOUN
ajst-20788	60	32	by	by	ADP
ajst-20788	60	33	detecting	detect	VERB
ajst-20788	60	34	accumulated	accumulate	VERB
ajst-20788	60	35	peaks	peak	NOUN
ajst-20788	60	36	in	in	ADP
ajst-20788	60	37	the	the	DET
ajst-20788	60	38	parameter	parameter	NOUN
ajst-20788	60	39	space	space	NOUN
ajst-20788	60	40	.	.	PUNCT
ajst-20788	61	1	for	for	ADP
ajst-20788	61	2	straight	straight	ADJ
ajst-20788	61	3	line	line	NOUN
ajst-20788	61	4	detection	detection	NOUN
ajst-20788	61	5	,	,	PUNCT
ajst-20788	61	6	the	the	DET
ajst-20788	61	7	hough	hough	PROPN
ajst-20788	61	8	transform	transform	VERB
ajst-20788	61	9	uses	use	VERB
ajst-20788	61	10	polar	polar	ADJ
ajst-20788	61	11	coordinates	coordinate	NOUN
ajst-20788	61	12	to	to	PART
ajst-20788	61	13	represent	represent	VERB
ajst-20788	61	14	a	a	DET
ajst-20788	61	15	straight	straight	ADJ
ajst-20788	61	16	line	line	NOUN
ajst-20788	61	17	.	.	PUNCT
ajst-20788	62	1	a	a	DET
ajst-20788	62	2	straight	straight	ADJ
ajst-20788	62	3	line	line	NOUN
ajst-20788	62	4	can	can	AUX
ajst-20788	62	5	be	be	AUX
ajst-20788	62	6	represented	represent	VERB
ajst-20788	62	7	by	by	ADP
ajst-20788	62	8	its	its	PRON
ajst-20788	62	9	two	two	NUM
ajst-20788	62	10	parameters	parameter	NOUN
ajst-20788	62	11	in	in	ADP
ajst-20788	62	12	polar	polar	ADJ
ajst-20788	62	13	coordinate	coordinate	NOUN
ajst-20788	62	14	space	space	NOUN
ajst-20788	62	15	,	,	PUNCT
ajst-20788	62	16	usually	usually	ADV
ajst-20788	62	17	the	the	DET
ajst-20788	62	18	polar	polar	ADJ
ajst-20788	62	19	diameter	diameter	NOUN
ajst-20788	62	20	r	r	NOUN
ajst-20788	62	21	and	and	CCONJ
ajst-20788	62	22	the	the	DET
ajst-20788	62	23	polar	polar	ADJ
ajst-20788	62	24	angle	angle	NOUN
ajst-20788	62	25	θ	θ	PROPN
ajst-20788	63	1	[	[	X
ajst-20788	63	2	6	6	NUM
ajst-20788	63	3	]	]	PUNCT
ajst-20788	63	4	.	.	PUNCT
ajst-20788	64	1	a	a	DET
ajst-20788	64	2	twodimensional	twodimensional	ADJ
ajst-20788	64	3	accumulator	accumulator	NOUN
ajst-20788	64	4	array	array	NOUN
ajst-20788	64	5	is	be	AUX
ajst-20788	64	6	then	then	ADV
ajst-20788	64	7	created	create	VERB
ajst-20788	64	8	such	such	ADJ
ajst-20788	64	9	that	that	SCONJ
ajst-20788	64	10	each	each	DET
ajst-20788	64	11	cell	cell	NOUN
ajst-20788	64	12	in	in	ADP
ajst-20788	64	13	it	it	PRON
ajst-20788	64	14	corresponds	correspond	VERB
ajst-20788	64	15	to	to	ADP
ajst-20788	64	16	one	one	NUM
ajst-20788	64	17	of	of	ADP
ajst-20788	64	18	the	the	DET
ajst-20788	64	19	possible	possible	ADJ
ajst-20788	64	20	straight	straight	ADJ
ajst-20788	64	21	lines	line	NOUN
ajst-20788	64	22	in	in	ADP
ajst-20788	64	23	the	the	DET
ajst-20788	64	24	parameter	parameter	NOUN
ajst-20788	64	25	space	space	NOUN
ajst-20788	64	26	.	.	PUNCT
ajst-20788	65	1	a	a	DET
ajst-20788	65	2	straight	straight	ADJ
ajst-20788	65	3	line	line	NOUN
ajst-20788	65	4	corresponds	correspond	VERB
ajst-20788	65	5	to	to	ADP
ajst-20788	65	6	a	a	DET
ajst-20788	65	7	curve	curve	NOUN
ajst-20788	65	8	in	in	ADP
ajst-20788	65	9	the	the	DET
ajst-20788	65	10	parameter	parameter	NOUN
ajst-20788	65	11	space	space	NOUN
ajst-20788	65	12	whose	whose	DET
ajst-20788	65	13	parameters	parameter	NOUN
ajst-20788	65	14	denote	denote	VERB
ajst-20788	65	15	the	the	DET
ajst-20788	65	16	slope	slope	NOUN
ajst-20788	65	17	and	and	CCONJ
ajst-20788	65	18	intercept	intercept	NOUN
ajst-20788	65	19	of	of	ADP
ajst-20788	65	20	the	the	DET
ajst-20788	65	21	line	line	NOUN
ajst-20788	65	22	,	,	PUNCT
ajst-20788	65	23	or	or	CCONJ
ajst-20788	65	24	the	the	DET
ajst-20788	65	25	polar	polar	ADJ
ajst-20788	65	26	diameter	diameter	NOUN
ajst-20788	65	27	and	and	CCONJ
ajst-20788	65	28	polar	polar	ADJ
ajst-20788	65	29	angle	angle	NOUN
ajst-20788	65	30	in	in	ADP
ajst-20788	65	31	the	the	DET
ajst-20788	65	32	polar	polar	ADJ
ajst-20788	65	33	coordinate	coordinate	NOUN
ajst-20788	65	34	representation	representation	NOUN
ajst-20788	65	35	.	.	PUNCT
ajst-20788	66	1	afterwards	afterwards	ADV
ajst-20788	66	2	,	,	PUNCT
ajst-20788	66	3	for	for	ADP
ajst-20788	66	4	each	each	DET
ajst-20788	66	5	edge	edge	NOUN
ajst-20788	66	6	pixel	pixel	NOUN
ajst-20788	66	7	in	in	ADP
ajst-20788	66	8	the	the	DET
ajst-20788	66	9	image	image	NOUN
ajst-20788	66	10	,	,	PUNCT
ajst-20788	66	11	the	the	DET
ajst-20788	66	12	parameter	parameter	NOUN
ajst-20788	66	13	space	space	NOUN
ajst-20788	66	14	is	be	AUX
ajst-20788	66	15	traversed	traverse	VERB
ajst-20788	66	16	and	and	CCONJ
ajst-20788	66	17	the	the	DET
ajst-20788	66	18	count	count	NOUN
ajst-20788	66	19	value	value	NOUN
ajst-20788	66	20	of	of	ADP
ajst-20788	66	21	the	the	DET
ajst-20788	66	22	relevant	relevant	ADJ
ajst-20788	66	23	cell	cell	NOUN
ajst-20788	66	24	of	of	ADP
ajst-20788	66	25	the	the	DET
ajst-20788	66	26	straight	straight	ADJ
ajst-20788	66	27	line	line	NOUN
ajst-20788	66	28	corresponding	correspond	VERB
ajst-20788	66	29	to	to	ADP
ajst-20788	66	30	that	that	DET
ajst-20788	66	31	pixel	pixel	NOUN
ajst-20788	66	32	is	be	AUX
ajst-20788	66	33	increased	increase	VERB
ajst-20788	66	34	.	.	PUNCT
ajst-20788	67	1	this	this	DET
ajst-20788	67	2	process	process	NOUN
ajst-20788	67	3	is	be	AUX
ajst-20788	67	4	called	call	VERB
ajst-20788	67	5	voting	voting	NOUN
ajst-20788	67	6	process	process	NOUN
ajst-20788	67	7	and	and	CCONJ
ajst-20788	67	8	each	each	DET
ajst-20788	67	9	pixel	pixel	NOUN
ajst-20788	67	10	on	on	ADP
ajst-20788	67	11	the	the	DET
ajst-20788	67	12	straight	straight	ADJ
ajst-20788	67	13	line	line	NOUN
ajst-20788	67	14	votes	vote	NOUN
ajst-20788	67	15	for	for	ADP
ajst-20788	67	16	the	the	DET
ajst-20788	67	17	associated	associated	ADJ
ajst-20788	67	18	cell	cell	NOUN
ajst-20788	67	19	.	.	PUNCT
ajst-20788	68	1	finally	finally	ADV
ajst-20788	68	2	,	,	PUNCT
ajst-20788	68	3	peaks	peak	NOUN
ajst-20788	68	4	in	in	ADP
ajst-20788	68	5	the	the	DET
ajst-20788	68	6	accumulator	accumulator	NOUN
ajst-20788	68	7	array	array	NOUN
ajst-20788	68	8	are	be	AUX
ajst-20788	68	9	found	find	VERB
ajst-20788	68	10	where	where	SCONJ
ajst-20788	68	11	the	the	DET
ajst-20788	68	12	cumulative	cumulative	ADJ
ajst-20788	68	13	value	value	NOUN
ajst-20788	68	14	is	be	AUX
ajst-20788	68	15	above	above	ADP
ajst-20788	68	16	a	a	DET
ajst-20788	68	17	threshold	threshold	NOUN
ajst-20788	68	18	,	,	PUNCT
ajst-20788	68	19	which	which	PRON
ajst-20788	68	20	corresponds	correspond	VERB
ajst-20788	68	21	to	to	ADP
ajst-20788	68	22	distinct	distinct	ADJ
ajst-20788	68	23	straight	straight	ADJ
ajst-20788	68	24	lines	line	NOUN
ajst-20788	68	25	in	in	ADP
ajst-20788	68	26	the	the	DET
ajst-20788	68	27	image	image	NOUN
ajst-20788	68	28	,	,	PUNCT
ajst-20788	68	29	and	and	CCONJ
ajst-20788	68	30	nonmaximum	nonmaximum	ADJ
ajst-20788	68	31	suppression	suppression	NOUN
ajst-20788	68	32	is	be	AUX
ajst-20788	68	33	used	use	VERB
ajst-20788	68	34	to	to	PART
ajst-20788	68	35	find	find	VERB
ajst-20788	68	36	local	local	ADJ
ajst-20788	68	37	maxima	maxima	NOUN
ajst-20788	68	38	to	to	PART
ajst-20788	68	39	reduce	reduce	VERB
ajst-20788	68	40	the	the	DET
ajst-20788	68	41	number	number	NOUN
ajst-20788	68	42	of	of	ADP
ajst-20788	68	43	repeatedly	repeatedly	ADV
ajst-20788	68	44	detected	detect	VERB
ajst-20788	68	45	straight	straight	ADJ
ajst-20788	68	46	lines	line	NOUN
ajst-20788	68	47	.	.	PUNCT
ajst-20788	69	1	its	its	PRON
ajst-20788	69	2	library	library	NOUN
ajst-20788	69	3	function	function	NOUN
ajst-20788	69	4	is	be	AUX
ajst-20788	69	5	cv2.houghlinesp	cv2.houghlinesp	NOUN
ajst-20788	69	6	(	(	PUNCT
ajst-20788	69	7	)	)	PUNCT
ajst-20788	69	8	,	,	PUNCT
ajst-20788	69	9	figure	figure	VERB
ajst-20788	69	10	7	7	NUM
ajst-20788	69	11	below	below	ADV
ajst-20788	69	12	shows	show	VERB
ajst-20788	69	13	the	the	DET
ajst-20788	69	14	image	image	NOUN
ajst-20788	69	15	after	after	SCONJ
ajst-20788	69	16	hough	hough	PROPN
ajst-20788	69	17	transform	transform	VERB
ajst-20788	69	18	.	.	PUNCT
ajst-20788	70	1	figure	figure	NOUN
ajst-20788	70	2	7	7	NUM
ajst-20788	70	3	.	.	PUNCT
ajst-20788	71	1	hough	hough	PROPN
ajst-20788	71	2	transform	transform	VERB
ajst-20788	71	3	2.6	2.6	NUM
ajst-20788	71	4	.	.	PUNCT
ajst-20788	72	1	fitting	fitting	ADJ
ajst-20788	72	2	lane	lane	NOUN
ajst-20788	72	3	lines	line	NOUN
ajst-20788	72	4	finally	finally	ADV
ajst-20788	72	5	,	,	PUNCT
ajst-20788	72	6	on	on	ADP
ajst-20788	72	7	the	the	DET
ajst-20788	72	8	basis	basis	NOUN
ajst-20788	72	9	of	of	ADP
ajst-20788	72	10	the	the	DET
ajst-20788	72	11	hough	hough	PROPN
ajst-20788	72	12	transform	transform	NOUN
ajst-20788	72	13	,	,	PUNCT
ajst-20788	72	14	the	the	DET
ajst-20788	72	15	fitting	fitting	NOUN
ajst-20788	72	16	is	be	AUX
ajst-20788	72	17	performed	perform	VERB
ajst-20788	72	18	for	for	ADP
ajst-20788	72	19	the	the	DET
ajst-20788	72	20	lane	lane	NOUN
ajst-20788	72	21	lines	line	NOUN
ajst-20788	72	22	.	.	PUNCT
ajst-20788	73	1	first	first	ADV
ajst-20788	73	2	,	,	PUNCT
ajst-20788	73	3	the	the	DET
ajst-20788	73	4	set	set	NOUN
ajst-20788	73	5	of	of	ADP
ajst-20788	73	6	left	left	ADJ
ajst-20788	73	7	and	and	CCONJ
ajst-20788	73	8	right	right	ADJ
ajst-20788	73	9	lane	lane	NOUN
ajst-20788	73	10	line	line	NOUN
ajst-20788	73	11	points	point	NOUN
ajst-20788	73	12	is	be	AUX
ajst-20788	73	13	initialized	initialize	VERB
ajst-20788	73	14	,	,	PUNCT
ajst-20788	73	15	and	and	CCONJ
ajst-20788	73	16	two	two	NUM
ajst-20788	73	17	empty	empty	ADJ
ajst-20788	73	18	lists	list	NOUN
ajst-20788	73	19	left_points	left_point	NOUN
ajst-20788	73	20	and	and	CCONJ
ajst-20788	73	21	right_points	right_point	NOUN
ajst-20788	73	22	are	be	AUX
ajst-20788	73	23	used	use	VERB
ajst-20788	73	24	to	to	PART
ajst-20788	73	25	store	store	VERB
ajst-20788	73	26	the	the	DET
ajst-20788	73	27	coordinates	coordinate	NOUN
ajst-20788	73	28	of	of	ADP
ajst-20788	73	29	the	the	DET
ajst-20788	73	30	endpoints	endpoint	NOUN
ajst-20788	73	31	of	of	ADP
ajst-20788	73	32	the	the	DET
ajst-20788	73	33	detected	detect	VERB
ajst-20788	73	34	left	leave	VERB
ajst-20788	73	35	and	and	CCONJ
ajst-20788	73	36	right	right	ADJ
ajst-20788	73	37	lane	lane	NOUN
ajst-20788	73	38	lines	line	NOUN
ajst-20788	73	39	.	.	PUNCT
ajst-20788	74	1	then	then	ADV
ajst-20788	74	2	traverse	traverse	VERB
ajst-20788	74	3	the	the	DET
ajst-20788	74	4	detected	detect	VERB
ajst-20788	74	5	lines	line	NOUN
ajst-20788	74	6	and	and	CCONJ
ajst-20788	74	7	for	for	ADP
ajst-20788	74	8	each	each	DET
ajst-20788	74	9	detected	detect	VERB
ajst-20788	74	10	line	line	NOUN
ajst-20788	74	11	,	,	PUNCT
ajst-20788	74	12	extract	extract	VERB
ajst-20788	74	13	the	the	DET
ajst-20788	74	14	coordinates	coordinate	NOUN
ajst-20788	74	15	of	of	ADP
ajst-20788	74	16	its	its	PRON
ajst-20788	74	17	two	two	NUM
ajst-20788	74	18	endpoints	endpoint	NOUN
ajst-20788	74	19	(	(	PUNCT
ajst-20788	74	20	x1	x1	PROPN
ajst-20788	74	21	,	,	PUNCT
ajst-20788	74	22	y1	y1	PROPN
ajst-20788	74	23	)	)	PUNCT
ajst-20788	74	24	and	and	CCONJ
ajst-20788	74	25	(	(	PUNCT
ajst-20788	74	26	x2	x2	PROPN
ajst-20788	74	27	,	,	PUNCT
ajst-20788	74	28	y2	y2	PROPN
ajst-20788	74	29	)	)	PUNCT
ajst-20788	74	30	.	.	PUNCT
ajst-20788	75	1	calculate	calculate	VERB
ajst-20788	75	2	the	the	DET
ajst-20788	75	3	slope	slope	NOUN
ajst-20788	75	4	of	of	ADP
ajst-20788	75	5	the	the	DET
ajst-20788	75	6	line	line	NOUN
ajst-20788	75	7	slope	slope	NOUN
ajst-20788	75	8	,	,	PUNCT
ajst-20788	75	9	by	by	ADP
ajst-20788	75	10	(	(	PUNCT
ajst-20788	75	11	y2	y2	PROPN
ajst-20788	75	12	y1	y1	PROPN
ajst-20788	75	13	)	)	PUNCT
ajst-20788	75	14	/	/	PUNCT
ajst-20788	75	15	(	(	PUNCT
ajst-20788	75	16	x2	x2	NOUN
ajst-20788	75	17	x1	x1	PROPN
ajst-20788	75	18	)	)	PUNCT
ajst-20788	76	1	[	[	X
ajst-20788	76	2	7	7	NUM
ajst-20788	76	3	]	]	PUNCT
ajst-20788	76	4	.	.	PUNCT
ajst-20788	77	1	some	some	DET
ajst-20788	77	2	conditions	condition	NOUN
ajst-20788	77	3	are	be	AUX
ajst-20788	77	4	then	then	ADV
ajst-20788	77	5	used	use	VERB
ajst-20788	77	6	to	to	PART
ajst-20788	77	7	filter	filter	VERB
ajst-20788	77	8	out	out	ADP
ajst-20788	77	9	lines	line	NOUN
ajst-20788	77	10	that	that	PRON
ajst-20788	77	11	may	may	AUX
ajst-20788	77	12	be	be	AUX
ajst-20788	77	13	lane	lane	NOUN
ajst-20788	77	14	lines	line	NOUN
ajst-20788	77	15	,	,	PUNCT
ajst-20788	77	16	excluding	exclude	VERB
ajst-20788	77	17	vertical	vertical	ADJ
ajst-20788	77	18	and	and	CCONJ
ajst-20788	77	19	overly	overly	ADV
ajst-20788	77	20	horizontal	horizontal	ADJ
ajst-20788	77	21	lines	line	NOUN
ajst-20788	77	22	if	if	SCONJ
ajst-20788	77	23	the	the	DET
ajst-20788	77	24	absolute	absolute	ADJ
ajst-20788	77	25	value	value	NOUN
ajst-20788	77	26	of	of	ADP
ajst-20788	77	27	the	the	DET
ajst-20788	77	28	slope	slope	NOUN
ajst-20788	77	29	is	be	AUX
ajst-20788	77	30	between	between	ADP
ajst-20788	77	31	0.5	0.5	NUM
ajst-20788	77	32	and	and	CCONJ
ajst-20788	77	33	2.0	2.0	NUM
ajst-20788	77	34	.	.	PUNCT
ajst-20788	78	1	if	if	SCONJ
ajst-20788	78	2	the	the	DET
ajst-20788	78	3	slope	slope	NOUN
ajst-20788	78	4	is	be	AUX
ajst-20788	78	5	negative	negative	ADJ
ajst-20788	78	6	and	and	CCONJ
ajst-20788	78	7	both	both	DET
ajst-20788	78	8	endpoints	endpoint	NOUN
ajst-20788	78	9	of	of	ADP
ajst-20788	78	10	the	the	DET
ajst-20788	78	11	line	line	NOUN
ajst-20788	78	12	are	be	AUX
ajst-20788	78	13	located	locate	VERB
ajst-20788	78	14	in	in	ADP
ajst-20788	78	15	the	the	DET
ajst-20788	78	16	left	left	ADJ
ajst-20788	78	17	half	half	NOUN
ajst-20788	78	18	of	of	ADP
ajst-20788	78	19	the	the	DET
ajst-20788	78	20	image	image	NOUN
ajst-20788	78	21	,	,	PUNCT
ajst-20788	78	22	it	it	PRON
ajst-20788	78	23	is	be	AUX
ajst-20788	78	24	categorized	categorize	VERB
ajst-20788	78	25	as	as	ADP
ajst-20788	78	26	a	a	DET
ajst-20788	78	27	left	left	ADJ
ajst-20788	78	28	lane	lane	NOUN
ajst-20788	78	29	line	line	NOUN
ajst-20788	78	30	.	.	PUNCT
ajst-20788	79	1	if	if	SCONJ
ajst-20788	79	2	the	the	DET
ajst-20788	79	3	slope	slope	NOUN
ajst-20788	79	4	was	be	AUX
ajst-20788	79	5	positive	positive	ADJ
ajst-20788	79	6	and	and	CCONJ
ajst-20788	79	7	both	both	DET
ajst-20788	79	8	endpoints	endpoint	NOUN
ajst-20788	79	9	of	of	ADP
ajst-20788	79	10	the	the	DET
ajst-20788	79	11	line	line	NOUN
ajst-20788	79	12	were	be	AUX
ajst-20788	79	13	located	locate	VERB
ajst-20788	79	14	in	in	ADP
ajst-20788	79	15	the	the	DET
ajst-20788	79	16	right	right	ADJ
ajst-20788	79	17	half	half	NOUN
ajst-20788	79	18	of	of	ADP
ajst-20788	79	19	the	the	DET
ajst-20788	79	20	image	image	NOUN
ajst-20788	79	21	,	,	PUNCT
ajst-20788	79	22	it	it	PRON
ajst-20788	79	23	was	be	AUX
ajst-20788	79	24	categorized	categorize	VERB
ajst-20788	79	25	as	as	ADP
ajst-20788	79	26	a	a	DET
ajst-20788	79	27	right	right	ADJ
ajst-20788	79	28	lane	lane	NOUN
ajst-20788	79	29	line	line	NOUN
ajst-20788	79	30	.	.	PUNCT
ajst-20788	80	1	the	the	DET
ajst-20788	80	2	lane	lane	PROPN
ajst-20788	80	3	lines	line	NOUN
ajst-20788	80	4	were	be	AUX
ajst-20788	80	5	then	then	ADV
ajst-20788	80	6	fitted	fit	VERB
ajst-20788	80	7	,	,	PUNCT
ajst-20788	80	8	and	and	CCONJ
ajst-20788	80	9	after	after	ADP
ajst-20788	80	10	enough	enough	ADJ
ajst-20788	80	11	left	leave	VERB
ajst-20788	80	12	and	and	CCONJ
ajst-20788	80	13	right	right	ADJ
ajst-20788	80	14	lane	lane	NOUN
ajst-20788	80	15	line	line	NOUN
ajst-20788	80	16	points	point	NOUN
ajst-20788	80	17	were	be	AUX
ajst-20788	80	18	found	find	VERB
ajst-20788	80	19	,	,	PUNCT
ajst-20788	80	20	i.e.	i.e.	X
ajst-20788	80	21	,	,	PUNCT
ajst-20788	80	22	left_points	left_point	NOUN
ajst-20788	80	23	and	and	CCONJ
ajst-20788	80	24	right_points	right_point	NOUN
ajst-20788	80	25	were	be	AUX
ajst-20788	80	26	non	non	ADJ
ajst-20788	80	27	-	-	ADJ
ajst-20788	80	28	empty	empty	ADJ
ajst-20788	80	29	,	,	PUNCT
ajst-20788	80	30	polynomial	polynomial	ADJ
ajst-20788	80	31	coefficients	coefficient	NOUN
ajst-20788	80	32	were	be	AUX
ajst-20788	80	33	obtained	obtain	VERB
ajst-20788	80	34	by	by	ADP
ajst-20788	80	35	fitting	fit	VERB
ajst-20788	80	36	these	these	DET
ajst-20788	80	37	points	point	NOUN
ajst-20788	80	38	using	use	VERB
ajst-20788	80	39	the	the	DET
ajst-20788	80	40	np.polyfit	np.polyfit	NOUN
ajst-20788	80	41	(	(	PUNCT
ajst-20788	80	42	)	)	PUNCT
ajst-20788	80	43	function	function	NOUN
ajst-20788	80	44	.	.	PUNCT
ajst-20788	81	1	these	these	DET
ajst-20788	81	2	polynomial	polynomial	ADJ
ajst-20788	81	3	coefficients	coefficient	NOUN
ajst-20788	81	4	describe	describe	VERB
ajst-20788	81	5	the	the	DET
ajst-20788	81	6	shape	shape	NOUN
ajst-20788	81	7	of	of	ADP
ajst-20788	81	8	the	the	DET
ajst-20788	81	9	lane	lane	NOUN
ajst-20788	81	10	lines	line	NOUN
ajst-20788	81	11	.	.	PUNCT
ajst-20788	82	1	finally	finally	ADV
ajst-20788	82	2	the	the	DET
ajst-20788	82	3	fitted	fit	VERB
ajst-20788	82	4	lane	lane	NOUN
ajst-20788	82	5	lines	line	NOUN
ajst-20788	82	6	are	be	AUX
ajst-20788	82	7	returned	return	VERB
ajst-20788	82	8	:	:	PUNCT
ajst-20788	82	9	the	the	DET
ajst-20788	82	10	polynomial	polynomial	ADJ
ajst-20788	82	11	coefficients	coefficient	NOUN
ajst-20788	82	12	left_lane	left_lane	PROPN
ajst-20788	82	13	and	and	CCONJ
ajst-20788	82	14	right_lane	right_lane	NOUN
ajst-20788	82	15	are	be	AUX
ajst-20788	82	16	returned	return	VERB
ajst-20788	82	17	for	for	ADP
ajst-20788	82	18	the	the	DET
ajst-20788	82	19	left	left	ADJ
ajst-20788	82	20	and	and	CCONJ
ajst-20788	82	21	right	right	ADJ
ajst-20788	82	22	lane	lane	NOUN
ajst-20788	82	23	lines	line	NOUN
ajst-20788	82	24	.	.	PUNCT
ajst-20788	83	1	figure	figure	VERB
ajst-20788	83	2	8	8	NUM
ajst-20788	83	3	shows	show	VERB
ajst-20788	83	4	the	the	DET
ajst-20788	83	5	result	result	NOUN
ajst-20788	83	6	of	of	ADP
ajst-20788	83	7	fitting	fit	VERB
ajst-20788	83	8	the	the	DET
ajst-20788	83	9	lane	lane	NOUN
ajst-20788	83	10	lines	line	NOUN
ajst-20788	83	11	:	:	PUNCT
ajst-20788	83	12	figure	figure	VERB
ajst-20788	83	13	8	8	NUM
ajst-20788	83	14	.	.	PUNCT
ajst-20788	84	1	fitting	fitting	ADJ
ajst-20788	84	2	lane	lane	PROPN
ajst-20788	84	3	lines	line	NOUN
ajst-20788	84	4	2.7	2.7	NUM
ajst-20788	84	5	.	.	PUNCT
ajst-20788	85	1	frame	frame	NOUN
ajst-20788	85	2	-	-	PUNCT
ajst-20788	85	3	by	by	ADP
ajst-20788	85	4	-	-	PUNCT
ajst-20788	85	5	frame	frame	NOUN
ajst-20788	85	6	processing	processing	NOUN
ajst-20788	85	7	of	of	ADP
ajst-20788	85	8	video	video	NOUN
ajst-20788	85	9	and	and	CCONJ
ajst-20788	85	10	overlaying	overlaying	NOUN
ajst-20788	85	11	of	of	ADP
ajst-20788	85	12	original	original	ADJ
ajst-20788	85	13	images	image	NOUN
ajst-20788	85	14	using	use	VERB
ajst-20788	85	15	a	a	DET
ajst-20788	85	16	loop	loop	NOUN
ajst-20788	85	17	,	,	PUNCT
ajst-20788	85	18	read	read	VERB
ajst-20788	85	19	the	the	DET
ajst-20788	85	20	video	video	NOUN
ajst-20788	85	21	frames	frame	NOUN
ajst-20788	85	22	(	(	PUNCT
ajst-20788	85	23	each	each	DET
ajst-20788	85	24	frame	frame	NOUN
ajst-20788	85	25	is	be	AUX
ajst-20788	85	26	displayed	display	VERB
ajst-20788	85	27	at	at	ADP
ajst-20788	85	28	25ms	25ms	ADJ
ajst-20788	85	29	intervals	interval	NOUN
ajst-20788	85	30	in	in	ADP
ajst-20788	85	31	the	the	DET
ajst-20788	85	32	code	code	NOUN
ajst-20788	85	33	)	)	PUNCT
ajst-20788	85	34	and	and	CCONJ
ajst-20788	85	35	determine	determine	VERB
ajst-20788	85	36	if	if	SCONJ
ajst-20788	85	37	they	they	PRON
ajst-20788	85	38	have	have	AUX
ajst-20788	85	39	been	be	AUX
ajst-20788	85	40	successfully	successfully	ADV
ajst-20788	85	41	read	read	VERB
ajst-20788	85	42	.	.	PUNCT
ajst-20788	86	1	then	then	ADV
ajst-20788	86	2	the	the	DET
ajst-20788	86	3	video	video	NOUN
ajst-20788	86	4	frames	frame	NOUN
ajst-20788	86	5	are	be	AUX
ajst-20788	86	6	sequentially	sequentially	ADV
ajst-20788	86	7	tested	test	VERB
ajst-20788	86	8	as	as	ADP
ajst-20788	86	9	described	describe	VERB
ajst-20788	86	10	above	above	ADV
ajst-20788	86	11	,	,	PUNCT
ajst-20788	86	12	then	then	ADV
ajst-20788	86	13	the	the	DET
ajst-20788	86	14	video	video	NOUN
ajst-20788	86	15	frames	frame	NOUN
ajst-20788	86	16	are	be	AUX
ajst-20788	86	17	sequentially	sequentially	ADV
ajst-20788	86	18	written	write	VERB
ajst-20788	86	19	to	to	ADP
ajst-20788	86	20	a	a	DET
ajst-20788	86	21	file	file	NOUN
ajst-20788	86	22	and	and	CCONJ
ajst-20788	86	23	the	the	DET
ajst-20788	86	24	actual	actual	ADJ
ajst-20788	86	25	result	result	NOUN
ajst-20788	86	26	of	of	ADP
ajst-20788	86	27	the	the	DET
ajst-20788	86	28	superimposed	superimpose	VERB
ajst-20788	86	29	original	original	ADJ
ajst-20788	86	30	image	image	NOUN
ajst-20788	86	31	is	be	AUX
ajst-20788	86	32	displayed	display	VERB
ajst-20788	86	33	,	,	PUNCT
ajst-20788	86	34	and	and	CCONJ
ajst-20788	86	35	finally	finally	ADV
ajst-20788	86	36	the	the	DET
ajst-20788	86	37	loop	loop	NOUN
ajst-20788	86	38	is	be	AUX
ajst-20788	86	39	skipped	skip	VERB
ajst-20788	86	40	by	by	ADP
ajst-20788	86	41	waiting	wait	VERB
ajst-20788	86	42	for	for	ADP
ajst-20788	86	43	the	the	DET
ajst-20788	86	44	end	end	NOUN
ajst-20788	86	45	of	of	ADP
ajst-20788	86	46	the	the	DET
ajst-20788	86	47	video	video	NOUN
ajst-20788	86	48	or	or	CCONJ
ajst-20788	86	49	by	by	ADP
ajst-20788	86	50	pressing	press	VERB
ajst-20788	86	51	the	the	DET
ajst-20788	86	52	'	'	PUNCT
ajst-20788	86	53	q	q	NOUN
ajst-20788	86	54	'	'	PUNCT
ajst-20788	86	55	key	key	NOUN
ajst-20788	86	56	.	.	PUNCT
ajst-20788	87	1	82	82	NUM
ajst-20788	87	2	figure	figure	NOUN
ajst-20788	87	3	9	9	NUM
ajst-20788	87	4	.	.	PUNCT
ajst-20788	87	5	final	final	ADJ
ajst-20788	87	6	image	image	NOUN
ajst-20788	87	7	3	3	NUM
ajst-20788	87	8	.	.	NOUN
ajst-20788	87	9	results	result	NOUN
ajst-20788	87	10	and	and	CCONJ
ajst-20788	87	11	discussion	discussion	NOUN
ajst-20788	87	12	the	the	DET
ajst-20788	87	13	images	image	NOUN
ajst-20788	87	14	used	use	VERB
ajst-20788	87	15	in	in	ADP
ajst-20788	87	16	the	the	DET
ajst-20788	87	17	experiments	experiment	NOUN
ajst-20788	87	18	in	in	ADP
ajst-20788	87	19	this	this	DET
ajst-20788	87	20	paper	paper	NOUN
ajst-20788	87	21	are	be	AUX
ajst-20788	87	22	all	all	ADV
ajst-20788	87	23	from	from	ADP
ajst-20788	87	24	the	the	DET
ajst-20788	87	25	lane	lane	NOUN
ajst-20788	87	26	line	line	NOUN
ajst-20788	87	27	images	image	NOUN
ajst-20788	87	28	captured	capture	VERB
ajst-20788	87	29	by	by	ADP
ajst-20788	87	30	the	the	DET
ajst-20788	87	31	on	on	ADP
ajst-20788	87	32	-	-	PUNCT
ajst-20788	87	33	board	board	NOUN
ajst-20788	87	34	camera	camera	NOUN
ajst-20788	87	35	.	.	PUNCT
ajst-20788	88	1	the	the	DET
ajst-20788	88	2	experiments	experiment	NOUN
ajst-20788	88	3	are	be	AUX
ajst-20788	88	4	performed	perform	VERB
ajst-20788	88	5	according	accord	VERB
ajst-20788	88	6	to	to	ADP
ajst-20788	88	7	hls	hls	PROPN
ajst-20788	88	8	color	color	NOUN
ajst-20788	88	9	filtering	filtering	NOUN
ajst-20788	88	10	,	,	PUNCT
ajst-20788	88	11	gaussian	gaussian	ADJ
ajst-20788	88	12	blurring	blurring	NOUN
ajst-20788	88	13	,	,	PUNCT
ajst-20788	88	14	canny	canny	ADJ
ajst-20788	88	15	edge	edge	NOUN
ajst-20788	88	16	detection	detection	NOUN
ajst-20788	88	17	,	,	PUNCT
ajst-20788	88	18	determining	determine	VERB
ajst-20788	88	19	the	the	DET
ajst-20788	88	20	vertices	vertex	NOUN
ajst-20788	88	21	of	of	ADP
ajst-20788	88	22	interest	interest	NOUN
ajst-20788	88	23	for	for	ADP
ajst-20788	88	24	masking	masking	NOUN
ajst-20788	88	25	,	,	PUNCT
ajst-20788	88	26	hough	hough	PROPN
ajst-20788	88	27	transform	transform	VERB
ajst-20788	88	28	,	,	PUNCT
ajst-20788	88	29	fitting	fit	VERB
ajst-20788	88	30	the	the	DET
ajst-20788	88	31	lane	lane	NOUN
ajst-20788	88	32	lines	line	NOUN
ajst-20788	88	33	,	,	PUNCT
ajst-20788	88	34	processing	process	VERB
ajst-20788	88	35	the	the	DET
ajst-20788	88	36	video	video	NOUN
ajst-20788	88	37	frame	frame	NOUN
ajst-20788	88	38	by	by	ADP
ajst-20788	88	39	frame	frame	NOUN
ajst-20788	88	40	,	,	PUNCT
ajst-20788	88	41	and	and	CCONJ
ajst-20788	88	42	superimposing	superimpose	VERB
ajst-20788	88	43	it	it	PRON
ajst-20788	88	44	on	on	ADP
ajst-20788	88	45	the	the	DET
ajst-20788	88	46	original	original	ADJ
ajst-20788	88	47	video	video	NOUN
ajst-20788	88	48	,	,	PUNCT
ajst-20788	88	49	and	and	CCONJ
ajst-20788	88	50	finally	finally	ADV
ajst-20788	88	51	obtaining	obtain	VERB
ajst-20788	88	52	the	the	DET
ajst-20788	88	53	detected	detect	VERB
ajst-20788	88	54	images	image	NOUN
ajst-20788	88	55	and	and	CCONJ
ajst-20788	88	56	videos	video	NOUN
ajst-20788	88	57	.	.	PUNCT
ajst-20788	89	1	figures	figure	VERB
ajst-20788	89	2	1011	1011	NUM
ajst-20788	89	3	below	below	ADP
ajst-20788	89	4	show	show	VERB
ajst-20788	89	5	the	the	DET
ajst-20788	89	6	detection	detection	NOUN
ajst-20788	89	7	effect	effect	NOUN
ajst-20788	89	8	under	under	ADP
ajst-20788	89	9	other	other	ADJ
ajst-20788	89	10	video	video	NOUN
ajst-20788	89	11	frames	frame	NOUN
ajst-20788	89	12	,	,	PUNCT
ajst-20788	89	13	which	which	PRON
ajst-20788	89	14	demonstrates	demonstrate	VERB
ajst-20788	89	15	that	that	SCONJ
ajst-20788	89	16	this	this	DET
ajst-20788	89	17	experiment	experiment	NOUN
ajst-20788	89	18	is	be	AUX
ajst-20788	89	19	able	able	ADJ
ajst-20788	89	20	to	to	PART
ajst-20788	89	21	detect	detect	VERB
ajst-20788	89	22	lane	lane	NOUN
ajst-20788	89	23	lines	line	NOUN
ajst-20788	89	24	in	in	ADP
ajst-20788	89	25	mountain	mountain	NOUN
ajst-20788	89	26	curves	curve	NOUN
ajst-20788	89	27	with	with	ADP
ajst-20788	89	28	stability	stability	NOUN
ajst-20788	89	29	and	and	CCONJ
ajst-20788	89	30	high	high	ADJ
ajst-20788	89	31	accuracy	accuracy	NOUN
ajst-20788	89	32	,	,	PUNCT
ajst-20788	89	33	and	and	CCONJ
ajst-20788	89	34	has	have	VERB
ajst-20788	89	35	certain	certain	ADJ
ajst-20788	89	36	reference	reference	NOUN
ajst-20788	89	37	significance	significance	NOUN
ajst-20788	89	38	for	for	ADP
ajst-20788	89	39	driver	driver	NOUN
ajst-20788	89	40	assistance	assistance	NOUN
ajst-20788	89	41	.	.	PUNCT
ajst-20788	90	1	figure	figure	NOUN
ajst-20788	90	2	10	10	NUM
ajst-20788	90	3	.	.	PUNCT
ajst-20788	91	1	detection	detection	NOUN
ajst-20788	91	2	results	result	VERB
ajst-20788	91	3	1	1	NUM
ajst-20788	91	4	figure	figure	NOUN
ajst-20788	91	5	11	11	NUM
ajst-20788	91	6	.	.	PUNCT
ajst-20788	92	1	detection	detection	NOUN
ajst-20788	92	2	results	result	VERB
ajst-20788	92	3	2	2	NUM
ajst-20788	92	4	references	reference	NOUN
ajst-20788	92	5	[	[	X
ajst-20788	92	6	1	1	NUM
ajst-20788	92	7	]	]	SYM
ajst-20788	92	8	li	li	PROPN
ajst-20788	92	9	,	,	PUNCT
ajst-20788	92	10	l.	l.	PROPN
ajst-20788	92	11	(	(	PUNCT
ajst-20788	92	12	2023	2023	NUM
ajst-20788	92	13	)	)	PUNCT
ajst-20788	92	14	.	.	PUNCT
ajst-20788	93	1	research	research	NOUN
ajst-20788	93	2	and	and	CCONJ
ajst-20788	93	3	prospect	prospect	NOUN
ajst-20788	93	4	on	on	ADP
ajst-20788	93	5	the	the	DET
ajst-20788	93	6	development	development	NOUN
ajst-20788	93	7	of	of	ADP
ajst-20788	93	8	autonomous	autonomous	ADJ
ajst-20788	93	9	vehicle	vehicle	NOUN
ajst-20788	93	10	industry	industry	NOUN
ajst-20788	93	11	.	.	PUNCT
ajst-20788	94	1	automotive	automotive	ADJ
ajst-20788	94	2	digest	digest	PROPN
ajst-20788	94	3	,	,	PUNCT
ajst-20788	94	4	(	(	PUNCT
ajst-20788	94	5	09	09	NUM
ajst-20788	94	6	)	)	PUNCT
ajst-20788	94	7	,	,	PUNCT
ajst-20788	94	8	1	1	NUM
ajst-20788	94	9	-	-	SYM
ajst-20788	94	10	10	10	NUM
ajst-20788	94	11	.	.	PUNCT
ajst-20788	95	1	[	[	X
ajst-20788	95	2	2	2	NUM
ajst-20788	95	3	]	]	SYM
ajst-20788	95	4	yanhui	yanhui	PROPN
ajst-20788	95	5	,	,	PUNCT
ajst-20788	95	6	y.	y.	PROPN
ajst-20788	95	7	(	(	PUNCT
ajst-20788	95	8	2020	2020	NUM
ajst-20788	95	9	)	)	PUNCT
ajst-20788	95	10	.	.	PUNCT
ajst-20788	96	1	prospect	prospect	NOUN
ajst-20788	96	2	of	of	ADP
ajst-20788	96	3	future	future	ADJ
ajst-20788	96	4	development	development	NOUN
ajst-20788	96	5	of	of	ADP
ajst-20788	96	6	intelligent	intelligent	ADJ
ajst-20788	96	7	vehicles	vehicle	NOUN
ajst-20788	96	8	.	.	PUNCT
ajst-20788	97	1	southern	southern	ADJ
ajst-20788	97	2	agricultural	agricultural	ADJ
ajst-20788	97	3	machinery	machinery	NOUN
ajst-20788	97	4	,	,	PUNCT
ajst-20788	97	5	51(11	51(11	NUM
ajst-20788	97	6	)	)	PUNCT
ajst-20788	97	7	,	,	PUNCT
ajst-20788	97	8	36	36	NUM
ajst-20788	97	9	+	+	NOUN
ajst-20788	97	10	38	38	NUM
ajst-20788	97	11	.	.	PUNCT
ajst-20788	98	1	[	[	X
ajst-20788	98	2	3	3	NUM
ajst-20788	98	3	]	]	X
ajst-20788	98	4	shan	shan	PROPN
ajst-20788	98	5	,	,	PUNCT
ajst-20788	98	6	s.	s.	PROPN
ajst-20788	98	7	,	,	PUNCT
ajst-20788	98	8	zhou	zhou	PROPN
ajst-20788	98	9	,	,	PUNCT
ajst-20788	98	10	j.	j.	PROPN
ajst-20788	98	11	(	(	PUNCT
ajst-20788	98	12	2010	2010	NUM
ajst-20788	98	13	)	)	PUNCT
ajst-20788	98	14	exploration	exploration	NOUN
ajst-20788	98	15	of	of	ADP
ajst-20788	98	16	license	license	NOUN
ajst-20788	98	17	plate	plate	NOUN
ajst-20788	98	18	number	number	NOUN
ajst-20788	98	19	localization	localization	NOUN
ajst-20788	98	20	techniques	technique	NOUN
ajst-20788	98	21	based	base	VERB
ajst-20788	98	22	on	on	ADP
ajst-20788	98	23	hls	hls	NOUN
ajst-20788	98	24	for	for	ADP
ajst-20788	98	25	surveillance	surveillance	NOUN
ajst-20788	98	26	.	.	PUNCT
ajst-20788	99	1	journal	journal	NOUN
ajst-20788	99	2	of	of	ADP
ajst-20788	99	3	fujian	fujian	PROPN
ajst-20788	99	4	computer	computer	NOUN
ajst-20788	99	5	,	,	PUNCT
ajst-20788	99	6	26(02),85	26(02),85	PROPN
ajst-20788	99	7	-	-	SYM
ajst-20788	99	8	86	86	NUM
ajst-20788	99	9	.	.	PUNCT
ajst-20788	100	1	[	[	X
ajst-20788	100	2	4	4	NUM
ajst-20788	100	3	]	]	X
ajst-20788	100	4	luo	luo	PROPN
ajst-20788	100	5	,	,	PUNCT
ajst-20788	100	6	h.	h.	PROPN
ajst-20788	100	7	,	,	PUNCT
ajst-20788	100	8	cao	cao	PROPN
ajst-20788	100	9	,	,	PUNCT
ajst-20788	100	10	l.	l.	PROPN
ajst-20788	100	11	,	,	PUNCT
ajst-20788	100	12	jin	jin	PROPN
ajst-20788	100	13	,	,	PUNCT
ajst-20788	100	14	z.	z.	PROPN
ajst-20788	100	15	,	,	PUNCT
ajst-20788	100	16	et	et	PROPN
ajst-20788	100	17	al	al	PROPN
ajst-20788	100	18	.	.	PROPN
ajst-20788	100	19	(	(	PUNCT
ajst-20788	100	20	2023	2023	NUM
ajst-20788	100	21	)	)	PUNCT
ajst-20788	100	22	research	research	NOUN
ajst-20788	100	23	on	on	ADP
ajst-20788	100	24	the	the	DET
ajst-20788	100	25	improvement	improvement	NOUN
ajst-20788	100	26	of	of	ADP
ajst-20788	100	27	lane	lane	NOUN
ajst-20788	100	28	line	line	NOUN
ajst-20788	100	29	detection	detection	NOUN
ajst-20788	100	30	algorithm	algorithm	NOUN
ajst-20788	100	31	based	base	VERB
ajst-20788	100	32	on	on	ADP
ajst-20788	100	33	opencv	opencv	PROPN
ajst-20788	100	34	.	.	PROPN
ajst-20788	100	35	northern	northern	ADJ
ajst-20788	100	36	communications	communication	NOUN
ajst-20788	100	37	,	,	PUNCT
ajst-20788	100	38	02,69	02,69	NOUN
ajst-20788	100	39	-	-	PUNCT
ajst-20788	100	40	73	73	NUM
ajst-20788	100	41	.	.	PUNCT
ajst-20788	101	1	[	[	X
ajst-20788	101	2	5	5	NUM
ajst-20788	101	3	]	]	SYM
ajst-20788	101	4	yuezheng	yuezheng	PROPN
ajst-20788	101	5	,	,	PUNCT
ajst-20788	101	6	c.	c.	PROPN
ajst-20788	101	7	,	,	PUNCT
ajst-20788	101	8	wenyu	wenyu	NOUN
ajst-20788	101	9	,	,	PUNCT
ajst-20788	101	10	f.	f.	PROPN
ajst-20788	101	11	,	,	PUNCT
ajst-20788	101	12	yunsen	yunsen	ADJ
ajst-20788	101	13	,	,	PUNCT
ajst-20788	101	14	y.	y.	PROPN
ajst-20788	101	15	,	,	PUNCT
ajst-20788	101	16	fei	fei	PROPN
ajst-20788	101	17	,	,	PUNCT
ajst-20788	101	18	x.	x.	PROPN
ajst-20788	101	19	,	,	PUNCT
ajst-20788	101	20	&	&	CCONJ
ajst-20788	101	21	hengliang	hengliang	PROPN
ajst-20788	101	22	,	,	PUNCT
ajst-20788	101	23	t.	t.	PROPN
ajst-20788	101	24	(	(	PUNCT
ajst-20788	101	25	2022	2022	NUM
ajst-20788	101	26	)	)	PUNCT
ajst-20788	101	27	.	.	PUNCT
ajst-20788	102	1	a	a	DET
ajst-20788	102	2	new	new	ADJ
ajst-20788	102	3	genus	genus	NOUN
ajst-20788	102	4	and	and	CCONJ
ajst-20788	102	5	species	specie	NOUN
ajst-20788	102	6	of	of	ADP
ajst-20788	102	7	the	the	DET
ajst-20788	102	8	genus	genus	ADJ
ajst-20788	102	9	cephalus	cephalus	NOUN
ajst-20788	102	10	(	(	PUNCT
ajst-20788	102	11	hymenoptera	hymenoptera	NOUN
ajst-20788	102	12	,	,	PUNCT
ajst-20788	102	13	staphylinidae	staphylinidae	NOUN
ajst-20788	102	14	)	)	PUNCT
ajst-20788	102	15	from	from	ADP
ajst-20788	102	16	china	china	PROPN
ajst-20788	102	17	.	.	PUNCT
ajst-20788	103	1	research	research	NOUN
ajst-20788	103	2	on	on	ADP
ajst-20788	103	3	lane	lane	NOUN
ajst-20788	103	4	line	line	NOUN
ajst-20788	103	5	detection	detection	NOUN
ajst-20788	103	6	method	method	NOUN
ajst-20788	103	7	based	base	VERB
ajst-20788	103	8	on	on	ADP
ajst-20788	103	9	opencv	opencv	PROPN
ajst-20788	103	10	.	.	PROPN
ajst-20788	103	11	micro	micro	PROPN
ajst-20788	103	12	-	-	ADJ
ajst-20788	103	13	nano	nano	ADJ
ajst-20788	103	14	electronics	electronic	NOUN
ajst-20788	103	15	and	and	CCONJ
ajst-20788	103	16	intelligent	intelligent	ADJ
ajst-20788	103	17	manufacturing	manufacturing	NOUN
ajst-20788	103	18	,	,	PUNCT
ajst-20788	103	19	4(04	4(04	NUM
ajst-20788	103	20	)	)	PUNCT
ajst-20788	103	21	,	,	PUNCT
ajst-20788	103	22	82	82	NUM
ajst-20788	103	23	-	-	SYM
ajst-20788	103	24	87	87	NUM
ajst-20788	103	25	.	.	PUNCT
ajst-20788	104	1	[	[	X
ajst-20788	104	2	6	6	NUM
ajst-20788	104	3	]	]	SYM
ajst-20788	104	4	li	li	PROPN
ajst-20788	104	5	,	,	PUNCT
ajst-20788	104	6	z.	z.	PROPN
ajst-20788	104	7	,	,	PUNCT
ajst-20788	104	8	zhang	zhang	PROPN
ajst-20788	104	9	,	,	PUNCT
ajst-20788	104	10	h.	h.	PROPN
ajst-20788	104	11	,	,	PUNCT
ajst-20788	104	12	zhao	zhao	PROPN
ajst-20788	104	13	,	,	PUNCT
ajst-20788	104	14	s.	s.	PROPN
ajst-20788	104	15	x.	x.	PROPN
ajst-20788	104	16	,	,	PUNCT
ajst-20788	104	17	&	&	CCONJ
ajst-20788	104	18	liang	liang	PROPN
ajst-20788	104	19	,	,	PUNCT
ajst-20788	104	20	a.	a.	PROPN
ajst-20788	104	21	(	(	PUNCT
ajst-20788	104	22	2020	2020	NUM
ajst-20788	104	23	)	)	PUNCT
ajst-20788	104	24	.	.	PUNCT
ajst-20788	105	1	an	an	DET
ajst-20788	105	2	opencv	opencv	PROPN
ajst-20788	105	3	-	-	PUNCT
ajst-20788	105	4	based	base	VERB
ajst-20788	105	5	lane	lane	NOUN
ajst-20788	105	6	line	line	NOUN
ajst-20788	105	7	detection	detection	NOUN
ajst-20788	105	8	method	method	NOUN
ajst-20788	105	9	.	.	PUNCT
ajst-20788	106	1	proceedings	proceeding	NOUN
ajst-20788	106	2	of	of	ADP
ajst-20788	106	3	the	the	DET
ajst-20788	106	4	24th	24th	ADJ
ajst-20788	106	5	annual	annual	ADJ
ajst-20788	106	6	conference	conference	NOUN
ajst-20788	106	7	on	on	ADP
ajst-20788	106	8	new	new	ADJ
ajst-20788	106	9	network	network	NOUN
ajst-20788	106	10	technologies	technology	NOUN
ajst-20788	106	11	and	and	CCONJ
ajst-20788	106	12	applications	application	NOUN
ajst-20788	106	13	,	,	PUNCT
ajst-20788	106	14	china	china	PROPN
ajst-20788	106	15	computer	computer	NOUN
ajst-20788	106	16	users	users	PROPN
ajst-20788	106	17	association	association	PROPN
ajst-20788	106	18	network	network	NOUN
ajst-20788	106	19	application	application	NOUN
ajst-20788	106	20	branch	branch	NOUN
ajst-20788	106	21	,	,	PUNCT
ajst-20788	106	22	247	247	NUM
ajst-20788	106	23	-	-	SYM
ajst-20788	106	24	250	250	NUM
ajst-20788	106	25	.	.	PUNCT
ajst-20788	107	1	[	[	X
ajst-20788	107	2	7	7	X
ajst-20788	107	3	]	]	X
ajst-20788	107	4	liu	liu	PROPN
ajst-20788	107	5	,	,	PUNCT
ajst-20788	107	6	l.	l.	PROPN
ajst-20788	107	7	,	,	PUNCT
ajst-20788	107	8	hu	hu	PROPN
ajst-20788	107	9	,	,	PUNCT
ajst-20788	107	10	g.	g.	PROPN
ajst-20788	107	11	,	,	PUNCT
ajst-20788	107	12	&	&	CCONJ
ajst-20788	107	13	hu	hu	PROPN
ajst-20788	107	14	,	,	PUNCT
ajst-20788	107	15	j.	j.	PROPN
ajst-20788	107	16	(	(	PUNCT
ajst-20788	107	17	2023	2023	NUM
ajst-20788	107	18	)	)	PUNCT
ajst-20788	107	19	.	.	PUNCT
ajst-20788	108	1	a	a	DET
ajst-20788	108	2	lane	lane	NOUN
ajst-20788	108	3	line	line	NOUN
ajst-20788	108	4	detection	detection	NOUN
ajst-20788	108	5	method	method	NOUN
ajst-20788	108	6	based	base	VERB
ajst-20788	108	7	on	on	ADP
ajst-20788	108	8	instance	instance	NOUN
ajst-20788	108	9	segmentation	segmentation	NOUN
ajst-20788	108	10	.	.	PUNCT
ajst-20788	109	1	*	*	PUNCT
ajst-20788	109	2	computers	computer	NOUN
ajst-20788	109	3	and	and	CCONJ
ajst-20788	109	4	digital	digital	ADJ
ajst-20788	109	5	engineering	engineering	NOUN
ajst-20788	109	6	,	,	PUNCT
ajst-20788	109	7	51(07	51(07	NUM
ajst-20788	109	8	)	)	PUNCT
ajst-20788	109	9	,	,	PUNCT
ajst-20788	109	10	1620	1620	NUM
ajst-20788	109	11	-	-	SYM
ajst-20788	109	12	1625	1625	NUM
ajst-20788	109	13	.	.	PUNCT