id	sid	tid	token	lemma	pos
ajst-22339	1	1	academic	academic	ADJ
ajst-22339	1	2	journal	journal	NOUN
ajst-22339	1	3	of	of	ADP
ajst-22339	1	4	science	science	NOUN
ajst-22339	1	5	and	and	CCONJ
ajst-22339	1	6	technology	technology	NOUN
ajst-22339	1	7	issn	issn	NOUN
ajst-22339	1	8	:	:	PUNCT
ajst-22339	1	9	2771	2771	NUM
ajst-22339	1	10	-	-	SYM
ajst-22339	1	11	3032	3032	NUM
ajst-22339	1	12	|	|	NOUN
ajst-22339	1	13	vol	vol	NOUN
ajst-22339	1	14	.	.	PROPN
ajst-22339	2	1	11	11	NUM
ajst-22339	2	2	,	,	PUNCT
ajst-22339	2	3	no	no	INTJ
ajst-22339	2	4	.	.	NOUN
ajst-22339	2	5	2	2	NUM
ajst-22339	2	6	,	,	PUNCT
ajst-22339	2	7	2024	2024	NUM
ajst-22339	2	8	61	61	NUM
ajst-22339	2	9	a	a	DET
ajst-22339	2	10	review	review	NOUN
ajst-22339	2	11	of	of	ADP
ajst-22339	2	12	point	point	NOUN
ajst-22339	2	13	cloud	cloud	ADJ
ajst-22339	2	14	alignment	alignment	NOUN
ajst-22339	2	15	methods	method	NOUN
ajst-22339	2	16	and	and	CCONJ
ajst-22339	2	17	their	their	PRON
ajst-22339	2	18	applications	application	NOUN
ajst-22339	2	19	jing	jing	PROPN
ajst-22339	2	20	wu	wu	PROPN
ajst-22339	2	21	,	,	PUNCT
ajst-22339	2	22	mingchuan	mingchuan	PROPN
ajst-22339	2	23	zhang	zhang	PROPN
ajst-22339	2	24	school	school	PROPN
ajst-22339	2	25	of	of	ADP
ajst-22339	2	26	information	information	NOUN
ajst-22339	2	27	engineering	engineering	PROPN
ajst-22339	2	28	,	,	PUNCT
ajst-22339	2	29	henan	henan	PROPN
ajst-22339	2	30	university	university	PROPN
ajst-22339	2	31	of	of	ADP
ajst-22339	2	32	science	science	NOUN
ajst-22339	2	33	and	and	CCONJ
ajst-22339	2	34	technology	technology	NOUN
ajst-22339	2	35	,	,	PUNCT
ajst-22339	2	36	luoyang	luoyang	PROPN
ajst-22339	2	37	471023	471023	NUM
ajst-22339	2	38	,	,	PUNCT
ajst-22339	2	39	china	china	PROPN
ajst-22339	2	40	abstract	abstract	NOUN
ajst-22339	2	41	:	:	PUNCT
ajst-22339	2	42	point	point	NOUN
ajst-22339	2	43	cloud	cloud	ADJ
ajst-22339	2	44	alignment	alignment	NOUN
ajst-22339	2	45	is	be	AUX
ajst-22339	2	46	a	a	DET
ajst-22339	2	47	key	key	ADJ
ajst-22339	2	48	technique	technique	NOUN
ajst-22339	2	49	in	in	ADP
ajst-22339	2	50	the	the	DET
ajst-22339	2	51	field	field	NOUN
ajst-22339	2	52	of	of	ADP
ajst-22339	2	53	computer	computer	NOUN
ajst-22339	2	54	vision	vision	NOUN
ajst-22339	2	55	,	,	PUNCT
ajst-22339	2	56	which	which	PRON
ajst-22339	2	57	involves	involve	VERB
ajst-22339	2	58	estimating	estimate	VERB
ajst-22339	2	59	the	the	DET
ajst-22339	2	60	transformation	transformation	NOUN
ajst-22339	2	61	between	between	ADP
ajst-22339	2	62	two	two	NUM
ajst-22339	2	63	-	-	PUNCT
ajst-22339	2	64	point	point	NOUN
ajst-22339	2	65	clouds	cloud	NOUN
ajst-22339	2	66	.	.	PUNCT
ajst-22339	3	1	with	with	ADP
ajst-22339	3	2	the	the	DET
ajst-22339	3	3	development	development	NOUN
ajst-22339	3	4	of	of	ADP
ajst-22339	3	5	optimization	optimization	NOUN
ajst-22339	3	6	methods	method	NOUN
ajst-22339	3	7	and	and	CCONJ
ajst-22339	3	8	deep	deep	ADJ
ajst-22339	3	9	learning	learning	NOUN
ajst-22339	3	10	techniques	technique	NOUN
ajst-22339	3	11	,	,	PUNCT
ajst-22339	3	12	the	the	DET
ajst-22339	3	13	robustness	robustness	NOUN
ajst-22339	3	14	and	and	CCONJ
ajst-22339	3	15	efficiency	efficiency	NOUN
ajst-22339	3	16	of	of	ADP
ajst-22339	3	17	point	point	NOUN
ajst-22339	3	18	cloud	cloud	NOUN
ajst-22339	3	19	alignment	alignment	NOUN
ajst-22339	3	20	have	have	AUX
ajst-22339	3	21	been	be	AUX
ajst-22339	3	22	significantly	significantly	ADV
ajst-22339	3	23	improved	improve	VERB
ajst-22339	3	24	.	.	PUNCT
ajst-22339	4	1	recent	recent	ADJ
ajst-22339	4	2	studies	study	NOUN
ajst-22339	4	3	have	have	AUX
ajst-22339	4	4	combined	combine	VERB
ajst-22339	4	5	these	these	DET
ajst-22339	4	6	two	two	NUM
ajst-22339	4	7	methods	method	NOUN
ajst-22339	4	8	to	to	PART
ajst-22339	4	9	further	far	ADV
ajst-22339	4	10	optimize	optimize	VERB
ajst-22339	4	11	the	the	DET
ajst-22339	4	12	performance	performance	NOUN
ajst-22339	4	13	.	.	PUNCT
ajst-22339	5	1	meanwhile	meanwhile	ADV
ajst-22339	5	2	,	,	PUNCT
ajst-22339	5	3	advances	advance	NOUN
ajst-22339	5	4	in	in	ADP
ajst-22339	5	5	3d	3d	NUM
ajst-22339	5	6	sensing	sensing	NOUN
ajst-22339	5	7	and	and	CCONJ
ajst-22339	5	8	3d	3d	NUM
ajst-22339	5	9	reconstruction	reconstruction	NOUN
ajst-22339	5	10	techniques	technique	NOUN
ajst-22339	5	11	have	have	AUX
ajst-22339	5	12	given	give	VERB
ajst-22339	5	13	rise	rise	NOUN
ajst-22339	5	14	to	to	ADP
ajst-22339	5	15	the	the	DET
ajst-22339	5	16	new	new	ADJ
ajst-22339	5	17	research	research	NOUN
ajst-22339	5	18	field	field	NOUN
ajst-22339	5	19	of	of	ADP
ajst-22339	5	20	cross	cross	ADJ
ajst-22339	5	21	-	-	ADJ
ajst-22339	5	22	source	source	ADJ
ajst-22339	5	23	point	point	NOUN
ajst-22339	5	24	cloud	cloud	NOUN
ajst-22339	5	25	alignment	alignment	NOUN
ajst-22339	5	26	.	.	PUNCT
ajst-22339	6	1	this	this	DET
ajst-22339	6	2	paper	paper	NOUN
ajst-22339	6	3	reviews	review	VERB
ajst-22339	6	4	recent	recent	ADJ
ajst-22339	6	5	advances	advance	NOUN
ajst-22339	6	6	in	in	ADP
ajst-22339	6	7	point	point	NOUN
ajst-22339	6	8	cloud	cloud	NOUN
ajst-22339	6	9	alignment	alignment	NOUN
ajst-22339	6	10	,	,	PUNCT
ajst-22339	6	11	including	include	VERB
ajst-22339	6	12	both	both	CCONJ
ajst-22339	6	13	homologous	homologous	ADJ
ajst-22339	6	14	and	and	CCONJ
ajst-22339	6	15	cross	cross	ADJ
ajst-22339	6	16	-	-	ADJ
ajst-22339	6	17	source	source	ADJ
ajst-22339	6	18	alignment	alignment	NOUN
ajst-22339	6	19	techniques	technique	NOUN
ajst-22339	6	20	,	,	PUNCT
ajst-22339	6	21	and	and	CCONJ
ajst-22339	6	22	explores	explore	VERB
ajst-22339	6	23	the	the	DET
ajst-22339	6	24	interconnection	interconnection	NOUN
ajst-22339	6	25	of	of	ADP
ajst-22339	6	26	optimization	optimization	NOUN
ajst-22339	6	27	and	and	CCONJ
ajst-22339	6	28	deep	deep	ADJ
ajst-22339	6	29	learning	learning	NOUN
ajst-22339	6	30	techniques	technique	NOUN
ajst-22339	6	31	.	.	PUNCT
ajst-22339	7	1	in	in	ADP
ajst-22339	7	2	addition	addition	NOUN
ajst-22339	7	3	,	,	PUNCT
ajst-22339	7	4	the	the	DET
ajst-22339	7	5	paper	paper	NOUN
ajst-22339	7	6	reviews	review	VERB
ajst-22339	7	7	relevant	relevant	ADJ
ajst-22339	7	8	benchmark	benchmark	NOUN
ajst-22339	7	9	datasets	dataset	NOUN
ajst-22339	7	10	and	and	CCONJ
ajst-22339	7	11	explores	explore	VERB
ajst-22339	7	12	their	their	PRON
ajst-22339	7	13	applications	application	NOUN
ajst-22339	7	14	in	in	ADP
ajst-22339	7	15	different	different	ADJ
ajst-22339	7	16	domains	domain	NOUN
ajst-22339	7	17	.	.	PUNCT
ajst-22339	8	1	finally	finally	ADV
ajst-22339	8	2	,	,	PUNCT
ajst-22339	8	3	future	future	ADJ
ajst-22339	8	4	research	research	NOUN
ajst-22339	8	5	directions	direction	NOUN
ajst-22339	8	6	for	for	ADP
ajst-22339	8	7	point	point	NOUN
ajst-22339	8	8	cloud	cloud	ADJ
ajst-22339	8	9	alignment	alignment	NOUN
ajst-22339	8	10	are	be	AUX
ajst-22339	8	11	also	also	ADV
ajst-22339	8	12	described	describe	VERB
ajst-22339	8	13	.	.	PUNCT
ajst-22339	9	1	keywords	keyword	NOUN
ajst-22339	9	2	:	:	PUNCT
ajst-22339	9	3	point	point	VERB
ajst-22339	9	4	cloud	cloud	NOUN
ajst-22339	9	5	alignment	alignment	NOUN
ajst-22339	9	6	;	;	PUNCT
ajst-22339	9	7	local	local	ADJ
ajst-22339	9	8	geometric	geometric	ADJ
ajst-22339	9	9	features	feature	NOUN
ajst-22339	9	10	;	;	PUNCT
ajst-22339	9	11	cross	cross	ADJ
ajst-22339	9	12	-	-	ADJ
ajst-22339	9	13	source	source	ADJ
ajst-22339	9	14	point	point	NOUN
ajst-22339	9	15	cloud	cloud	NOUN
ajst-22339	9	16	data	datum	NOUN
ajst-22339	9	17	.	.	PUNCT
ajst-22339	10	1	1	1	X
ajst-22339	10	2	.	.	X
ajst-22339	10	3	introduction	introduction	NOUN
ajst-22339	10	4	point	point	NOUN
ajst-22339	10	5	cloud	cloud	NOUN
ajst-22339	10	6	alignment	alignment	NOUN
ajst-22339	10	7	is	be	AUX
ajst-22339	10	8	a	a	DET
ajst-22339	10	9	technique	technique	NOUN
ajst-22339	10	10	that	that	PRON
ajst-22339	10	11	has	have	VERB
ajst-22339	10	12	a	a	DET
ajst-22339	10	13	wide	wide	ADJ
ajst-22339	10	14	range	range	NOUN
ajst-22339	10	15	of	of	ADP
ajst-22339	10	16	applications	application	NOUN
ajst-22339	10	17	in	in	ADP
ajst-22339	10	18	several	several	ADJ
ajst-22339	10	19	fields	field	NOUN
ajst-22339	10	20	,	,	PUNCT
ajst-22339	10	21	including	include	VERB
ajst-22339	10	22	but	but	CCONJ
ajst-22339	10	23	not	not	PART
ajst-22339	10	24	limited	limit	VERB
ajst-22339	10	25	to	to	ADP
ajst-22339	10	26	3d	3d	NUM
ajst-22339	10	27	modeling	modeling	NOUN
ajst-22339	10	28	[	[	X
ajst-22339	10	29	3	3	NUM
ajst-22339	10	30	]	]	PUNCT
ajst-22339	10	31	,	,	PUNCT
ajst-22339	10	32	autonomous	autonomous	ADJ
ajst-22339	10	33	driving	driving	NOUN
ajst-22339	10	34	[	[	X
ajst-22339	10	35	10	10	NUM
ajst-22339	10	36	]	]	PUNCT
ajst-22339	10	37	,	,	PUNCT
ajst-22339	10	38	cultural	cultural	ADJ
ajst-22339	10	39	heritage	heritage	NOUN
ajst-22339	10	40	preservation	preservation	NOUN
ajst-22339	10	41	[	[	X
ajst-22339	10	42	11	11	NUM
ajst-22339	10	43	]	]	PUNCT
ajst-22339	10	44	,	,	PUNCT
ajst-22339	10	45	medical	medical	ADJ
ajst-22339	10	46	image	image	NOUN
ajst-22339	10	47	processing	processing	NOUN
ajst-22339	10	48	,	,	PUNCT
ajst-22339	10	49	and	and	CCONJ
ajst-22339	10	50	augmented	augment	VERB
ajst-22339	10	51	reality	reality	NOUN
ajst-22339	10	52	.	.	PUNCT
ajst-22339	11	1	however	however	ADV
ajst-22339	11	2	,	,	PUNCT
ajst-22339	11	3	point	point	NOUN
ajst-22339	11	4	cloud	cloud	NOUN
ajst-22339	11	5	data	datum	NOUN
ajst-22339	11	6	are	be	AUX
ajst-22339	11	7	usually	usually	ADV
ajst-22339	11	8	incomplete	incomplete	ADJ
ajst-22339	11	9	,	,	PUNCT
ajst-22339	11	10	contain	contain	VERB
ajst-22339	11	11	noise	noise	NOUN
ajst-22339	11	12	and	and	CCONJ
ajst-22339	11	13	errors	error	NOUN
ajst-22339	11	14	,	,	PUNCT
ajst-22339	11	15	and	and	CCONJ
ajst-22339	11	16	exhibit	exhibit	VERB
ajst-22339	11	17	inconsistent	inconsistent	ADJ
ajst-22339	11	18	morphology	morphology	NOUN
ajst-22339	11	19	depending	depend	VERB
ajst-22339	11	20	on	on	ADP
ajst-22339	11	21	the	the	DET
ajst-22339	11	22	acquisition	acquisition	NOUN
ajst-22339	11	23	viewpoints	viewpoint	NOUN
ajst-22339	11	24	,	,	PUNCT
ajst-22339	11	25	all	all	PRON
ajst-22339	11	26	of	of	ADP
ajst-22339	11	27	which	which	PRON
ajst-22339	11	28	pose	pose	VERB
ajst-22339	11	29	challenges	challenge	NOUN
ajst-22339	11	30	for	for	ADP
ajst-22339	11	31	point	point	NOUN
ajst-22339	11	32	cloud	cloud	ADJ
ajst-22339	11	33	alignment	alignment	NOUN
ajst-22339	11	34	[	[	X
ajst-22339	11	35	4][5	4][5	X
ajst-22339	11	36	]	]	PUNCT
ajst-22339	11	37	.	.	PUNCT
ajst-22339	12	1	fig	fig	PROPN
ajst-22339	12	2	1	1	NUM
ajst-22339	12	3	.	.	PUNCT
ajst-22339	13	1	categories	category	NOUN
ajst-22339	13	2	of	of	ADP
ajst-22339	13	3	point	point	NOUN
ajst-22339	13	4	cloud	cloud	ADJ
ajst-22339	13	5	alignment	alignment	NOUN
ajst-22339	13	6	from	from	ADP
ajst-22339	13	7	the	the	DET
ajst-22339	13	8	viewpoint	viewpoint	NOUN
ajst-22339	13	9	of	of	ADP
ajst-22339	13	10	point	point	NOUN
ajst-22339	13	11	cloud	cloud	NOUN
ajst-22339	13	12	data	datum	NOUN
ajst-22339	13	13	sources	source	NOUN
ajst-22339	13	14	,	,	PUNCT
ajst-22339	13	15	point	point	NOUN
ajst-22339	13	16	cloud	cloud	ADJ
ajst-22339	13	17	alignment	alignment	NOUN
ajst-22339	13	18	can	can	AUX
ajst-22339	13	19	be	be	AUX
ajst-22339	13	20	divided	divide	VERB
ajst-22339	13	21	into	into	ADP
ajst-22339	13	22	two	two	NUM
ajst-22339	13	23	categories	category	NOUN
ajst-22339	13	24	:	:	PUNCT
ajst-22339	13	25	homologous	homologous	ADJ
ajst-22339	13	26	and	and	CCONJ
ajst-22339	13	27	cross	cross	NOUN
ajst-22339	13	28	-	-	NOUN
ajst-22339	13	29	source	source	NOUN
ajst-22339	13	30	,	,	PUNCT
ajst-22339	13	31	and	and	CCONJ
ajst-22339	13	32	from	from	ADP
ajst-22339	13	33	the	the	DET
ajst-22339	13	34	viewpoint	viewpoint	NOUN
ajst-22339	13	35	of	of	ADP
ajst-22339	13	36	technical	technical	ADJ
ajst-22339	13	37	implementation	implementation	NOUN
ajst-22339	13	38	,	,	PUNCT
ajst-22339	13	39	homologous	homologous	ADJ
ajst-22339	13	40	point	point	NOUN
ajst-22339	13	41	cloud	cloud	NOUN
ajst-22339	13	42	alignment	alignment	NOUN
ajst-22339	13	43	can	can	AUX
ajst-22339	13	44	be	be	AUX
ajst-22339	13	45	divided	divide	VERB
ajst-22339	13	46	into	into	ADP
ajst-22339	13	47	several	several	ADJ
ajst-22339	13	48	categories	category	NOUN
ajst-22339	13	49	:	:	PUNCT
ajst-22339	13	50	feature	feature	NOUN
ajst-22339	13	51	-	-	PUNCT
ajst-22339	13	52	based	base	VERB
ajst-22339	13	53	methods	method	NOUN
ajst-22339	13	54	,	,	PUNCT
ajst-22339	13	55	optimization	optimization	NOUN
ajst-22339	13	56	-	-	PUNCT
ajst-22339	13	57	based	base	VERB
ajst-22339	13	58	methods	method	NOUN
ajst-22339	13	59	,	,	PUNCT
ajst-22339	13	60	and	and	CCONJ
ajst-22339	13	61	methods	method	NOUN
ajst-22339	13	62	using	use	VERB
ajst-22339	13	63	deep	deep	ADJ
ajst-22339	13	64	learning	learning	NOUN
ajst-22339	14	1	[	[	X
ajst-22339	14	2	7][8	7][8	X
ajst-22339	14	3	]	]	PUNCT
ajst-22339	14	4	.	.	PUNCT
ajst-22339	15	1	figure	figure	NOUN
ajst-22339	15	2	1	1	NUM
ajst-22339	15	3	illustrates	illustrate	VERB
ajst-22339	15	4	some	some	DET
ajst-22339	15	5	representative	representative	ADJ
ajst-22339	15	6	methods	method	NOUN
ajst-22339	15	7	.	.	PUNCT
ajst-22339	16	1	feature	feature	NOUN
ajst-22339	16	2	-	-	PUNCT
ajst-22339	16	3	based	base	VERB
ajst-22339	16	4	alignment	alignment	NOUN
ajst-22339	16	5	methods	method	NOUN
ajst-22339	16	6	first	first	ADV
ajst-22339	16	7	extract	extract	VERB
ajst-22339	16	8	feature	feature	NOUN
ajst-22339	16	9	points	point	NOUN
ajst-22339	16	10	from	from	ADP
ajst-22339	16	11	the	the	DET
ajst-22339	16	12	point	point	NOUN
ajst-22339	16	13	cloud	cloud	NOUN
ajst-22339	16	14	,	,	PUNCT
ajst-22339	16	15	then	then	ADV
ajst-22339	16	16	find	find	VERB
ajst-22339	16	17	out	out	ADP
ajst-22339	16	18	the	the	DET
ajst-22339	16	19	correspondence	correspondence	NOUN
ajst-22339	16	20	between	between	ADP
ajst-22339	16	21	these	these	DET
ajst-22339	16	22	feature	feature	NOUN
ajst-22339	16	23	points	point	NOUN
ajst-22339	16	24	and	and	CCONJ
ajst-22339	16	25	calculate	calculate	VERB
ajst-22339	16	26	the	the	DET
ajst-22339	16	27	optimal	optimal	ADJ
ajst-22339	16	28	transformation	transformation	NOUN
ajst-22339	16	29	matrix	matrix	NOUN
ajst-22339	16	30	to	to	PART
ajst-22339	16	31	align	align	VERB
ajst-22339	16	32	these	these	DET
ajst-22339	16	33	points	point	NOUN
ajst-22339	16	34	.	.	PUNCT
ajst-22339	17	1	optimization	optimization	NOUN
ajst-22339	17	2	-	-	PUNCT
ajst-22339	17	3	based	base	VERB
ajst-22339	17	4	methods	method	NOUN
ajst-22339	17	5	,	,	PUNCT
ajst-22339	17	6	on	on	ADP
ajst-22339	17	7	the	the	DET
ajst-22339	17	8	other	other	ADJ
ajst-22339	17	9	hand	hand	NOUN
ajst-22339	17	10	,	,	PUNCT
ajst-22339	17	11	gradually	gradually	ADV
ajst-22339	17	12	optimize	optimize	VERB
ajst-22339	17	13	the	the	DET
ajst-22339	17	14	alignment	alignment	ADJ
ajst-22339	17	15	accuracy	accuracy	NOUN
ajst-22339	17	16	between	between	ADP
ajst-22339	17	17	point	point	NOUN
ajst-22339	17	18	clouds	cloud	NOUN
ajst-22339	17	19	through	through	ADP
ajst-22339	17	20	an	an	DET
ajst-22339	17	21	iterative	iterative	NOUN
ajst-22339	17	22	process	process	NOUN
ajst-22339	17	23	.	.	PUNCT
ajst-22339	18	1	in	in	ADP
ajst-22339	18	2	recent	recent	ADJ
ajst-22339	18	3	years	year	NOUN
ajst-22339	18	4	,	,	PUNCT
ajst-22339	18	5	with	with	ADP
ajst-22339	18	6	the	the	DET
ajst-22339	18	7	rapid	rapid	ADJ
ajst-22339	18	8	development	development	NOUN
ajst-22339	18	9	of	of	ADP
ajst-22339	18	10	artificial	artificial	ADJ
ajst-22339	18	11	intelligence	intelligence	NOUN
ajst-22339	18	12	technology	technology	NOUN
ajst-22339	18	13	,	,	PUNCT
ajst-22339	18	14	the	the	DET
ajst-22339	18	15	use	use	NOUN
ajst-22339	18	16	of	of	ADP
ajst-22339	18	17	deep	deep	ADJ
ajst-22339	18	18	learning	learning	NOUN
ajst-22339	18	19	for	for	ADP
ajst-22339	18	20	point	point	NOUN
ajst-22339	18	21	cloud	cloud	NOUN
ajst-22339	18	22	alignment	alignment	NOUN
ajst-22339	18	23	has	have	AUX
ajst-22339	18	24	become	become	VERB
ajst-22339	18	25	a	a	DET
ajst-22339	18	26	research	research	NOUN
ajst-22339	18	27	hotspot	hotspot	NOUN
ajst-22339	18	28	,	,	PUNCT
ajst-22339	18	29	and	and	CCONJ
ajst-22339	18	30	this	this	DET
ajst-22339	18	31	type	type	NOUN
ajst-22339	18	32	of	of	ADP
ajst-22339	18	33	method	method	NOUN
ajst-22339	18	34	automatically	automatically	ADV
ajst-22339	18	35	learns	learn	VERB
ajst-22339	18	36	and	and	CCONJ
ajst-22339	18	37	extracts	extract	NOUN
ajst-22339	18	38	point	point	NOUN
ajst-22339	18	39	cloud	cloud	NOUN
ajst-22339	18	40	features	feature	NOUN
ajst-22339	18	41	by	by	ADP
ajst-22339	18	42	training	train	VERB
ajst-22339	18	43	deep	deep	ADJ
ajst-22339	18	44	neural	neural	ADJ
ajst-22339	18	45	networks	network	NOUN
ajst-22339	18	46	,	,	PUNCT
ajst-22339	18	47	which	which	PRON
ajst-22339	18	48	shows	show	VERB
ajst-22339	18	49	good	good	ADJ
ajst-22339	18	50	performance	performance	NOUN
ajst-22339	18	51	and	and	CCONJ
ajst-22339	18	52	a	a	DET
ajst-22339	18	53	wide	wide	ADJ
ajst-22339	18	54	range	range	NOUN
ajst-22339	18	55	of	of	ADP
ajst-22339	18	56	application	application	NOUN
ajst-22339	18	57	prospects	prospect	NOUN
ajst-22339	18	58	[	[	X
ajst-22339	18	59	9	9	NUM
ajst-22339	18	60	]	]	PUNCT
ajst-22339	18	61	.	.	PUNCT
ajst-22339	19	1	62	62	NUM
ajst-22339	19	2	2	2	NUM
ajst-22339	19	3	.	.	PUNCT
ajst-22339	19	4	theoretical	theoretical	ADJ
ajst-22339	19	5	foundations	foundation	NOUN
ajst-22339	19	6	point	point	NOUN
ajst-22339	19	7	cloud	cloud	NOUN
ajst-22339	19	8	data	datum	NOUN
ajst-22339	19	9	consists	consist	VERB
ajst-22339	19	10	of	of	ADP
ajst-22339	19	11	a	a	DET
ajst-22339	19	12	set	set	NOUN
ajst-22339	19	13	of	of	ADP
ajst-22339	19	14	points	point	NOUN
ajst-22339	19	15	in	in	ADP
ajst-22339	19	16	threedimensional	threedimensional	ADJ
ajst-22339	19	17	space	space	NOUN
ajst-22339	19	18	,	,	PUNCT
ajst-22339	19	19	where	where	SCONJ
ajst-22339	19	20	each	each	DET
ajst-22339	19	21	point	point	NOUN
ajst-22339	19	22	contains	contain	VERB
ajst-22339	19	23	positional	positional	ADJ
ajst-22339	19	24	information	information	NOUN
ajst-22339	19	25	(	(	PUNCT
ajst-22339	19	26	x	x	X
ajst-22339	19	27	,	,	PUNCT
ajst-22339	19	28	y	y	PROPN
ajst-22339	19	29	,	,	PUNCT
ajst-22339	19	30	z	z	NOUN
ajst-22339	19	31	coordinates	coordinate	NOUN
ajst-22339	19	32	)	)	PUNCT
ajst-22339	19	33	and	and	CCONJ
ajst-22339	19	34	may	may	AUX
ajst-22339	19	35	also	also	ADV
ajst-22339	19	36	contain	contain	VERB
ajst-22339	19	37	additional	additional	ADJ
ajst-22339	19	38	information	information	NOUN
ajst-22339	19	39	such	such	ADJ
ajst-22339	19	40	as	as	ADP
ajst-22339	19	41	color	color	NOUN
ajst-22339	19	42	and	and	CCONJ
ajst-22339	19	43	intensity	intensity	NOUN
ajst-22339	19	44	.	.	PUNCT
ajst-22339	20	1	these	these	DET
ajst-22339	20	2	data	datum	NOUN
ajst-22339	20	3	are	be	AUX
ajst-22339	20	4	typically	typically	ADV
ajst-22339	20	5	acquired	acquire	VERB
ajst-22339	20	6	by	by	ADP
ajst-22339	20	7	laser	laser	NOUN
ajst-22339	20	8	scanners	scanner	NOUN
ajst-22339	20	9	,	,	PUNCT
ajst-22339	20	10	stereo	stereo	ADJ
ajst-22339	20	11	vision	vision	NOUN
ajst-22339	20	12	systems	system	NOUN
ajst-22339	20	13	,	,	PUNCT
ajst-22339	20	14	or	or	CCONJ
ajst-22339	20	15	other	other	ADJ
ajst-22339	20	16	3d	3d	NUM
ajst-22339	20	17	imaging	imaging	NOUN
ajst-22339	20	18	techniques	technique	NOUN
ajst-22339	20	19	.	.	PUNCT
ajst-22339	21	1	due	due	ADP
ajst-22339	21	2	to	to	ADP
ajst-22339	21	3	the	the	DET
ajst-22339	21	4	limitations	limitation	NOUN
ajst-22339	21	5	of	of	ADP
ajst-22339	21	6	equipment	equipment	NOUN
ajst-22339	21	7	accuracy	accuracy	NOUN
ajst-22339	21	8	and	and	CCONJ
ajst-22339	21	9	environmental	environmental	ADJ
ajst-22339	21	10	factors	factor	NOUN
ajst-22339	21	11	,	,	PUNCT
ajst-22339	21	12	point	point	NOUN
ajst-22339	21	13	cloud	cloud	NOUN
ajst-22339	21	14	data	datum	NOUN
ajst-22339	21	15	usually	usually	ADV
ajst-22339	21	16	contain	contain	VERB
ajst-22339	21	17	noise	noise	NOUN
ajst-22339	21	18	and	and	CCONJ
ajst-22339	21	19	incomplete	incomplete	ADJ
ajst-22339	21	20	information	information	NOUN
ajst-22339	21	21	,	,	PUNCT
ajst-22339	21	22	which	which	PRON
ajst-22339	21	23	creates	create	VERB
ajst-22339	21	24	challenges	challenge	NOUN
ajst-22339	21	25	for	for	ADP
ajst-22339	21	26	point	point	NOUN
ajst-22339	21	27	cloud	cloud	NOUN
ajst-22339	21	28	data	datum	NOUN
ajst-22339	21	29	processing	processing	NOUN
ajst-22339	21	30	and	and	CCONJ
ajst-22339	21	31	analysis	analysis	NOUN
ajst-22339	21	32	[	[	X
ajst-22339	21	33	12	12	NUM
ajst-22339	21	34	]	]	PUNCT
ajst-22339	21	35	.	.	PUNCT
ajst-22339	22	1	accurate	accurate	ADJ
ajst-22339	22	2	integration	integration	NOUN
ajst-22339	22	3	of	of	ADP
ajst-22339	22	4	point	point	NOUN
ajst-22339	22	5	cloud	cloud	NOUN
ajst-22339	22	6	data	datum	NOUN
ajst-22339	22	7	from	from	ADP
ajst-22339	22	8	different	different	ADJ
ajst-22339	22	9	sources	source	NOUN
ajst-22339	22	10	into	into	ADP
ajst-22339	22	11	a	a	DET
ajst-22339	22	12	unified	unified	ADJ
ajst-22339	22	13	3d	3d	NOUN
ajst-22339	22	14	model	model	NOUN
ajst-22339	22	15	is	be	AUX
ajst-22339	22	16	essential	essential	ADJ
ajst-22339	22	17	for	for	ADP
ajst-22339	22	18	detailed	detailed	ADJ
ajst-22339	22	19	spatial	spatial	ADJ
ajst-22339	22	20	analysis	analysis	NOUN
ajst-22339	22	21	and	and	CCONJ
ajst-22339	22	22	decision	decision	NOUN
ajst-22339	22	23	making	making	NOUN
ajst-22339	22	24	.	.	PUNCT
ajst-22339	23	1	in	in	ADP
ajst-22339	23	2	architecture	architecture	NOUN
ajst-22339	23	3	and	and	CCONJ
ajst-22339	23	4	engineering	engineering	NOUN
ajst-22339	23	5	,	,	PUNCT
ajst-22339	23	6	accurate	accurate	ADJ
ajst-22339	23	7	3d	3d	NOUN
ajst-22339	23	8	models	model	NOUN
ajst-22339	23	9	of	of	ADP
ajst-22339	23	10	buildings	building	NOUN
ajst-22339	23	11	or	or	CCONJ
ajst-22339	23	12	construction	construction	NOUN
ajst-22339	23	13	sites	site	NOUN
ajst-22339	23	14	can	can	AUX
ajst-22339	23	15	be	be	AUX
ajst-22339	23	16	generated	generate	VERB
ajst-22339	23	17	by	by	ADP
ajst-22339	23	18	aligning	align	VERB
ajst-22339	23	19	point	point	NOUN
ajst-22339	23	20	clouds	cloud	NOUN
ajst-22339	23	21	acquired	acquire	VERB
ajst-22339	23	22	from	from	ADP
ajst-22339	23	23	multiple	multiple	ADJ
ajst-22339	23	24	scans	scan	NOUN
ajst-22339	23	25	[	[	X
ajst-22339	23	26	13	13	NUM
ajst-22339	23	27	]	]	PUNCT
ajst-22339	23	28	.	.	PUNCT
ajst-22339	24	1	in	in	ADP
ajst-22339	24	2	archaeology	archaeology	NOUN
ajst-22339	24	3	,	,	PUNCT
ajst-22339	24	4	point	point	NOUN
ajst-22339	24	5	cloud	cloud	ADJ
ajst-22339	24	6	alignment	alignment	NOUN
ajst-22339	24	7	allows	allow	VERB
ajst-22339	24	8	researchers	researcher	NOUN
ajst-22339	24	9	to	to	PART
ajst-22339	24	10	reconstruct	reconstruct	VERB
ajst-22339	24	11	complete	complete	ADJ
ajst-22339	24	12	models	model	NOUN
ajst-22339	24	13	of	of	ADP
ajst-22339	24	14	ruins	ruin	NOUN
ajst-22339	24	15	or	or	CCONJ
ajst-22339	24	16	artifacts	artifact	NOUN
ajst-22339	24	17	for	for	ADP
ajst-22339	24	18	better	well	ADJ
ajst-22339	24	19	historical	historical	ADJ
ajst-22339	24	20	analysis	analysis	NOUN
ajst-22339	24	21	[	[	X
ajst-22339	24	22	14	14	NUM
ajst-22339	24	23	]	]	PUNCT
ajst-22339	24	24	.	.	PUNCT
ajst-22339	25	1	the	the	DET
ajst-22339	25	2	point	point	NOUN
ajst-22339	25	3	cloud	cloud	ADJ
ajst-22339	25	4	alignment	alignment	NOUN
ajst-22339	25	5	technique	technique	NOUN
ajst-22339	25	6	consists	consist	VERB
ajst-22339	25	7	of	of	ADP
ajst-22339	25	8	three	three	NUM
ajst-22339	25	9	basic	basic	ADJ
ajst-22339	25	10	steps	step	NOUN
ajst-22339	25	11	:	:	PUNCT
ajst-22339	25	12	feature	feature	NOUN
ajst-22339	25	13	extraction	extraction	NOUN
ajst-22339	25	14	,	,	PUNCT
ajst-22339	25	15	feature	feature	NOUN
ajst-22339	25	16	matching	matching	NOUN
ajst-22339	25	17	,	,	PUNCT
ajst-22339	25	18	and	and	CCONJ
ajst-22339	25	19	transform	transform	VERB
ajst-22339	25	20	estimation	estimation	NOUN
ajst-22339	25	21	.	.	PUNCT
ajst-22339	26	1	the	the	DET
ajst-22339	26	2	feature	feature	NOUN
ajst-22339	26	3	extraction	extraction	NOUN
ajst-22339	26	4	stage	stage	NOUN
ajst-22339	26	5	aims	aim	VERB
ajst-22339	26	6	to	to	PART
ajst-22339	26	7	identify	identify	VERB
ajst-22339	26	8	key	key	ADJ
ajst-22339	26	9	feature	feature	NOUN
ajst-22339	26	10	points	point	NOUN
ajst-22339	26	11	and	and	CCONJ
ajst-22339	26	12	their	their	PRON
ajst-22339	26	13	descriptors	descriptor	NOUN
ajst-22339	26	14	from	from	ADP
ajst-22339	26	15	the	the	DET
ajst-22339	26	16	point	point	NOUN
ajst-22339	26	17	cloud	cloud	NOUN
ajst-22339	26	18	[	[	X
ajst-22339	26	19	15	15	NUM
ajst-22339	26	20	]	]	PUNCT
ajst-22339	26	21	.	.	PUNCT
ajst-22339	27	1	in	in	ADP
ajst-22339	27	2	the	the	DET
ajst-22339	27	3	feature	feature	NOUN
ajst-22339	27	4	matching	matching	NOUN
ajst-22339	27	5	stage	stage	NOUN
ajst-22339	27	6	,	,	PUNCT
ajst-22339	27	7	the	the	DET
ajst-22339	27	8	corresponding	corresponding	ADJ
ajst-22339	27	9	matching	matching	NOUN
ajst-22339	27	10	points	point	NOUN
ajst-22339	27	11	are	be	AUX
ajst-22339	27	12	identified	identify	VERB
ajst-22339	27	13	by	by	ADP
ajst-22339	27	14	comparing	compare	VERB
ajst-22339	27	15	feature	feature	NOUN
ajst-22339	27	16	points	point	NOUN
ajst-22339	27	17	between	between	ADP
ajst-22339	27	18	different	different	ADJ
ajst-22339	27	19	point	point	NOUN
ajst-22339	27	20	clouds	cloud	NOUN
ajst-22339	28	1	[	[	X
ajst-22339	28	2	16	16	NUM
ajst-22339	28	3	]	]	PUNCT
ajst-22339	28	4	.	.	PUNCT
ajst-22339	29	1	with	with	ADP
ajst-22339	29	2	the	the	DET
ajst-22339	29	3	development	development	NOUN
ajst-22339	29	4	of	of	ADP
ajst-22339	29	5	deep	deep	ADJ
ajst-22339	29	6	learning	learning	NOUN
ajst-22339	29	7	techniques	technique	NOUN
ajst-22339	29	8	,	,	PUNCT
ajst-22339	29	9	especially	especially	ADV
ajst-22339	29	10	convolutional	convolutional	ADJ
ajst-22339	29	11	neural	neural	ADJ
ajst-22339	29	12	networks	network	NOUN
ajst-22339	29	13	(	(	PUNCT
ajst-22339	29	14	cnns	cnns	PROPN
ajst-22339	29	15	)	)	PUNCT
ajst-22339	29	16	and	and	CCONJ
ajst-22339	29	17	deep	deep	ADJ
ajst-22339	29	18	belief	belief	NOUN
ajst-22339	29	19	networks	network	NOUN
ajst-22339	29	20	(	(	PUNCT
ajst-22339	29	21	dbns	dbns	PROPN
ajst-22339	29	22	)	)	PUNCT
ajst-22339	29	23	,	,	PUNCT
ajst-22339	29	24	the	the	DET
ajst-22339	29	25	automation	automation	NOUN
ajst-22339	29	26	performance	performance	NOUN
ajst-22339	29	27	of	of	ADP
ajst-22339	29	28	the	the	DET
ajst-22339	29	29	feature	feature	NOUN
ajst-22339	29	30	extraction	extraction	NOUN
ajst-22339	29	31	and	and	CCONJ
ajst-22339	29	32	matching	matching	NOUN
ajst-22339	29	33	process	process	NOUN
ajst-22339	29	34	has	have	AUX
ajst-22339	29	35	been	be	AUX
ajst-22339	29	36	significantly	significantly	ADV
ajst-22339	29	37	improved	improve	VERB
ajst-22339	29	38	[	[	X
ajst-22339	29	39	17	17	NUM
ajst-22339	29	40	]	]	PUNCT
ajst-22339	29	41	.	.	PUNCT
ajst-22339	30	1	these	these	DET
ajst-22339	30	2	methods	method	NOUN
ajst-22339	30	3	improve	improve	VERB
ajst-22339	30	4	the	the	DET
ajst-22339	30	5	accuracy	accuracy	NOUN
ajst-22339	30	6	and	and	CCONJ
ajst-22339	30	7	efficiency	efficiency	NOUN
ajst-22339	30	8	of	of	ADP
ajst-22339	30	9	the	the	DET
ajst-22339	30	10	matching	matching	NOUN
ajst-22339	30	11	process	process	NOUN
ajst-22339	30	12	by	by	ADP
ajst-22339	30	13	learning	learn	VERB
ajst-22339	30	14	complex	complex	ADJ
ajst-22339	30	15	patterns	pattern	NOUN
ajst-22339	30	16	from	from	ADP
ajst-22339	30	17	large	large	ADJ
ajst-22339	30	18	amounts	amount	NOUN
ajst-22339	30	19	of	of	ADP
ajst-22339	30	20	data	datum	NOUN
ajst-22339	30	21	.	.	PUNCT
ajst-22339	31	1	in	in	ADP
ajst-22339	31	2	addition	addition	NOUN
ajst-22339	31	3	,	,	PUNCT
ajst-22339	31	4	handling	handle	VERB
ajst-22339	31	5	large	large	ADJ
ajst-22339	31	6	-	-	PUNCT
ajst-22339	31	7	scale	scale	NOUN
ajst-22339	31	8	point	point	NOUN
ajst-22339	31	9	cloud	cloud	NOUN
ajst-22339	31	10	data	datum	NOUN
ajst-22339	31	11	and	and	CCONJ
ajst-22339	31	12	improving	improve	VERB
ajst-22339	31	13	the	the	DET
ajst-22339	31	14	robustness	robustness	NOUN
ajst-22339	31	15	of	of	ADP
ajst-22339	31	16	algorithms	algorithm	NOUN
ajst-22339	31	17	are	be	AUX
ajst-22339	31	18	also	also	ADV
ajst-22339	31	19	hot	hot	ADJ
ajst-22339	31	20	issues	issue	NOUN
ajst-22339	31	21	in	in	ADP
ajst-22339	31	22	current	current	ADJ
ajst-22339	31	23	research	research	NOUN
ajst-22339	31	24	[	[	X
ajst-22339	31	25	18,19	18,19	NUM
ajst-22339	31	26	]	]	PUNCT
ajst-22339	31	27	.	.	PUNCT
ajst-22339	32	1	despite	despite	SCONJ
ajst-22339	32	2	the	the	DET
ajst-22339	32	3	significant	significant	ADJ
ajst-22339	32	4	progress	progress	NOUN
ajst-22339	32	5	in	in	ADP
ajst-22339	32	6	point	point	NOUN
ajst-22339	32	7	cloud	cloud	ADJ
ajst-22339	32	8	alignment	alignment	NOUN
ajst-22339	32	9	techniques	technique	NOUN
ajst-22339	32	10	,	,	PUNCT
ajst-22339	32	11	improving	improve	VERB
ajst-22339	32	12	the	the	DET
ajst-22339	32	13	alignment	alignment	ADJ
ajst-22339	32	14	accuracy	accuracy	NOUN
ajst-22339	32	15	and	and	CCONJ
ajst-22339	32	16	processing	processing	NOUN
ajst-22339	32	17	speed	speed	NOUN
ajst-22339	32	18	is	be	AUX
ajst-22339	32	19	still	still	ADV
ajst-22339	32	20	a	a	DET
ajst-22339	32	21	major	major	ADJ
ajst-22339	32	22	challenge	challenge	NOUN
ajst-22339	32	23	in	in	ADP
ajst-22339	32	24	this	this	DET
ajst-22339	32	25	field	field	NOUN
ajst-22339	32	26	.	.	PUNCT
ajst-22339	33	1	especially	especially	ADV
ajst-22339	33	2	in	in	ADP
ajst-22339	33	3	complex	complex	ADJ
ajst-22339	33	4	environments	environment	NOUN
ajst-22339	33	5	,	,	PUNCT
ajst-22339	33	6	how	how	SCONJ
ajst-22339	33	7	to	to	PART
ajst-22339	33	8	ensure	ensure	VERB
ajst-22339	33	9	the	the	DET
ajst-22339	33	10	robustness	robustness	NOUN
ajst-22339	33	11	and	and	CCONJ
ajst-22339	33	12	accuracy	accuracy	NOUN
ajst-22339	33	13	of	of	ADP
ajst-22339	33	14	the	the	DET
ajst-22339	33	15	alignment	alignment	NOUN
ajst-22339	33	16	is	be	AUX
ajst-22339	33	17	the	the	DET
ajst-22339	33	18	key	key	NOUN
ajst-22339	33	19	to	to	ADP
ajst-22339	33	20	current	current	ADJ
ajst-22339	33	21	research	research	NOUN
ajst-22339	33	22	.	.	PUNCT
ajst-22339	34	1	3	3	X
ajst-22339	34	2	.	.	X
ajst-22339	34	3	point	point	NOUN
ajst-22339	34	4	cloud	cloud	ADJ
ajst-22339	34	5	alignment	alignment	NOUN
ajst-22339	34	6	methods	method	NOUN
ajst-22339	34	7	3.1	3.1	NUM
ajst-22339	34	8	.	.	PUNCT
ajst-22339	35	1	optimization	optimization	NOUN
ajst-22339	35	2	-	-	PUNCT
ajst-22339	35	3	based	base	VERB
ajst-22339	35	4	methods	method	NOUN
ajst-22339	35	5	optimization	optimization	NOUN
ajst-22339	35	6	-	-	PUNCT
ajst-22339	35	7	based	base	VERB
ajst-22339	35	8	point	point	NOUN
ajst-22339	35	9	cloud	cloud	ADJ
ajst-22339	35	10	alignment	alignment	NOUN
ajst-22339	35	11	methods	method	NOUN
ajst-22339	35	12	have	have	VERB
ajst-22339	35	13	an	an	DET
ajst-22339	35	14	important	important	ADJ
ajst-22339	35	15	place	place	NOUN
ajst-22339	35	16	in	in	ADP
ajst-22339	35	17	the	the	DET
ajst-22339	35	18	field	field	NOUN
ajst-22339	35	19	of	of	ADP
ajst-22339	35	20	computer	computer	NOUN
ajst-22339	35	21	vision	vision	NOUN
ajst-22339	35	22	.	.	PUNCT
ajst-22339	36	1	one	one	NUM
ajst-22339	36	2	of	of	ADP
ajst-22339	36	3	the	the	DET
ajst-22339	36	4	most	most	ADV
ajst-22339	36	5	famous	famous	ADJ
ajst-22339	36	6	methods	method	NOUN
ajst-22339	36	7	is	be	AUX
ajst-22339	36	8	the	the	DET
ajst-22339	36	9	iterative	iterative	NOUN
ajst-22339	36	10	nearest	near	ADJ
ajst-22339	36	11	point	point	NOUN
ajst-22339	36	12	(	(	PUNCT
ajst-22339	36	13	icp	icp	NOUN
ajst-22339	36	14	)	)	PUNCT
ajst-22339	36	15	algorithm	algorithm	NOUN
ajst-22339	36	16	proposed	propose	VERB
ajst-22339	36	17	by	by	ADP
ajst-22339	36	18	besl	besl	NOUN
ajst-22339	36	19	and	and	CCONJ
ajst-22339	36	20	mckay	mckay	PROPN
ajst-22339	37	1	[	[	X
ajst-22339	37	2	1	1	X
ajst-22339	37	3	]	]	PUNCT
ajst-22339	37	4	in	in	ADP
ajst-22339	37	5	1992	1992	NUM
ajst-22339	37	6	.	.	PUNCT
ajst-22339	38	1	this	this	DET
ajst-22339	38	2	algorithm	algorithm	NOUN
ajst-22339	38	3	minimizes	minimize	VERB
ajst-22339	38	4	the	the	DET
ajst-22339	38	5	distance	distance	NOUN
ajst-22339	38	6	between	between	ADP
ajst-22339	38	7	these	these	DET
ajst-22339	38	8	pairs	pair	NOUN
ajst-22339	38	9	of	of	ADP
ajst-22339	38	10	points	point	NOUN
ajst-22339	38	11	by	by	ADP
ajst-22339	38	12	iteratively	iteratively	ADV
ajst-22339	38	13	searching	search	VERB
ajst-22339	38	14	for	for	ADP
ajst-22339	38	15	the	the	DET
ajst-22339	38	16	nearest	near	ADJ
ajst-22339	38	17	pairs	pair	NOUN
ajst-22339	38	18	of	of	ADP
ajst-22339	38	19	points	point	NOUN
ajst-22339	38	20	in	in	ADP
ajst-22339	38	21	two	two	NUM
ajst-22339	38	22	point	point	NOUN
ajst-22339	38	23	clouds	cloud	NOUN
ajst-22339	38	24	and	and	CCONJ
ajst-22339	38	25	computing	compute	VERB
ajst-22339	38	26	a	a	DET
ajst-22339	38	27	rigid	rigid	ADJ
ajst-22339	38	28	-	-	PUNCT
ajst-22339	38	29	body	body	NOUN
ajst-22339	38	30	transformation	transformation	NOUN
ajst-22339	38	31	.	.	PUNCT
ajst-22339	39	1	although	although	SCONJ
ajst-22339	39	2	icp	icp	PROPN
ajst-22339	39	3	performs	perform	VERB
ajst-22339	39	4	well	well	ADV
ajst-22339	39	5	in	in	ADP
ajst-22339	39	6	the	the	DET
ajst-22339	39	7	simple	simple	ADJ
ajst-22339	39	8	case	case	NOUN
ajst-22339	39	9	,	,	PUNCT
ajst-22339	39	10	it	it	PRON
ajst-22339	39	11	is	be	AUX
ajst-22339	39	12	highly	highly	ADV
ajst-22339	39	13	dependent	dependent	ADJ
ajst-22339	39	14	on	on	ADP
ajst-22339	39	15	initial	initial	ADJ
ajst-22339	39	16	estimates	estimate	NOUN
ajst-22339	39	17	and	and	CCONJ
ajst-22339	39	18	is	be	AUX
ajst-22339	39	19	prone	prone	ADJ
ajst-22339	39	20	to	to	PART
ajst-22339	39	21	fall	fall	VERB
ajst-22339	39	22	into	into	ADP
ajst-22339	39	23	local	local	ADJ
ajst-22339	39	24	optimal	optimal	ADJ
ajst-22339	39	25	solutions	solution	NOUN
ajst-22339	39	26	.	.	PUNCT
ajst-22339	40	1	to	to	PART
ajst-22339	40	2	overcome	overcome	VERB
ajst-22339	40	3	these	these	DET
ajst-22339	40	4	limitations	limitation	NOUN
ajst-22339	40	5	,	,	PUNCT
ajst-22339	40	6	researchers	researcher	NOUN
ajst-22339	40	7	have	have	AUX
ajst-22339	40	8	developed	develop	VERB
ajst-22339	40	9	several	several	ADJ
ajst-22339	40	10	variants	variant	NOUN
ajst-22339	40	11	of	of	ADP
ajst-22339	40	12	icp	icp	PROPN
ajst-22339	40	13	.	.	PUNCT
ajst-22339	41	1	in	in	ADP
ajst-22339	41	2	order	order	NOUN
ajst-22339	41	3	to	to	PART
ajst-22339	41	4	improve	improve	VERB
ajst-22339	41	5	the	the	DET
ajst-22339	41	6	processing	processing	NOUN
ajst-22339	41	7	speed	speed	NOUN
ajst-22339	41	8	and	and	CCONJ
ajst-22339	41	9	efficiency	efficiency	NOUN
ajst-22339	41	10	of	of	ADP
ajst-22339	41	11	large	large	ADJ
ajst-22339	41	12	-	-	PUNCT
ajst-22339	41	13	scale	scale	NOUN
ajst-22339	41	14	point	point	NOUN
ajst-22339	41	15	cloud	cloud	NOUN
ajst-22339	41	16	data	datum	NOUN
ajst-22339	41	17	,	,	PUNCT
ajst-22339	41	18	rusinkiewicz	rusinkiewicz	NOUN
ajst-22339	41	19	and	and	CCONJ
ajst-22339	41	20	levoy	levoy	NOUN
ajst-22339	41	21	[	[	X
ajst-22339	41	22	20	20	NUM
ajst-22339	41	23	]	]	PUNCT
ajst-22339	41	24	proposed	propose	VERB
ajst-22339	41	25	multiresolution	multiresolution	NOUN
ajst-22339	41	26	icp	icp	PROPN
ajst-22339	41	27	in	in	ADP
ajst-22339	41	28	2001	2001	NUM
ajst-22339	41	29	,	,	PUNCT
ajst-22339	41	30	which	which	PRON
ajst-22339	41	31	effectively	effectively	ADV
ajst-22339	41	32	reduces	reduce	VERB
ajst-22339	41	33	the	the	DET
ajst-22339	41	34	computation	computation	NOUN
ajst-22339	41	35	time	time	NOUN
ajst-22339	41	36	and	and	CCONJ
ajst-22339	41	37	improves	improve	VERB
ajst-22339	41	38	the	the	DET
ajst-22339	41	39	accuracy	accuracy	NOUN
ajst-22339	41	40	of	of	ADP
ajst-22339	41	41	the	the	DET
ajst-22339	41	42	alignment	alignment	NOUN
ajst-22339	41	43	by	by	ADP
ajst-22339	41	44	iteratively	iteratively	ADV
ajst-22339	41	45	aligning	align	VERB
ajst-22339	41	46	point	point	NOUN
ajst-22339	41	47	cloud	cloud	NOUN
ajst-22339	41	48	data	datum	NOUN
ajst-22339	41	49	with	with	ADP
ajst-22339	41	50	different	different	ADJ
ajst-22339	41	51	resolutions	resolution	NOUN
ajst-22339	41	52	and	and	CCONJ
ajst-22339	41	53	gradually	gradually	ADV
ajst-22339	41	54	refining	refine	VERB
ajst-22339	41	55	the	the	DET
ajst-22339	41	56	transforms	transform	NOUN
ajst-22339	41	57	from	from	ADP
ajst-22339	41	58	coarse	coarse	ADV
ajst-22339	41	59	to	to	ADP
ajst-22339	41	60	fine	fine	ADJ
ajst-22339	41	61	.	.	PUNCT
ajst-22339	42	1	also	also	ADV
ajst-22339	42	2	dedicated	dedicate	VERB
ajst-22339	42	3	to	to	ADP
ajst-22339	42	4	improving	improve	VERB
ajst-22339	42	5	the	the	DET
ajst-22339	42	6	robustness	robustness	NOUN
ajst-22339	42	7	of	of	ADP
ajst-22339	42	8	the	the	DET
ajst-22339	42	9	algorithm	algorithm	NOUN
ajst-22339	42	10	,	,	PUNCT
ajst-22339	42	11	chetverikov	chetverikov	PROPN
ajst-22339	42	12	et	et	PROPN
ajst-22339	42	13	al	al	PROPN
ajst-22339	43	1	[	[	X
ajst-22339	43	2	21	21	NUM
ajst-22339	43	3	]	]	PUNCT
ajst-22339	43	4	proposed	propose	VERB
ajst-22339	43	5	in	in	ADP
ajst-22339	43	6	2002	2002	NUM
ajst-22339	43	7	that	that	PRON
ajst-22339	43	8	trimmed	trim	VERB
ajst-22339	43	9	icp	icp	PROPN
ajst-22339	43	10	eliminates	eliminate	VERB
ajst-22339	43	11	a	a	DET
ajst-22339	43	12	certain	certain	ADJ
ajst-22339	43	13	percentage	percentage	NOUN
ajst-22339	43	14	of	of	ADP
ajst-22339	43	15	point	point	NOUN
ajst-22339	43	16	pairs	pair	NOUN
ajst-22339	43	17	(	(	PUNCT
ajst-22339	43	18	usually	usually	ADV
ajst-22339	43	19	distant	distant	ADJ
ajst-22339	43	20	points	point	NOUN
ajst-22339	43	21	)	)	PUNCT
ajst-22339	43	22	during	during	ADP
ajst-22339	43	23	the	the	DET
ajst-22339	43	24	iterative	iterative	NOUN
ajst-22339	43	25	process	process	NOUN
ajst-22339	43	26	,	,	PUNCT
ajst-22339	43	27	which	which	PRON
ajst-22339	43	28	improves	improve	VERB
ajst-22339	43	29	the	the	DET
ajst-22339	43	30	robustness	robustness	NOUN
ajst-22339	43	31	to	to	PART
ajst-22339	43	32	noise	noise	NOUN
ajst-22339	43	33	and	and	CCONJ
ajst-22339	43	34	outliers	outlier	NOUN
ajst-22339	43	35	.	.	PUNCT
ajst-22339	44	1	in	in	ADP
ajst-22339	44	2	the	the	DET
ajst-22339	44	3	same	same	ADJ
ajst-22339	44	4	year	year	NOUN
ajst-22339	44	5	,	,	PUNCT
ajst-22339	44	6	granger	granger	NOUN
ajst-22339	44	7	and	and	CCONJ
ajst-22339	44	8	pennec	pennec	NOUN
ajst-22339	45	1	[	[	X
ajst-22339	45	2	22	22	NUM
ajst-22339	45	3	]	]	PUNCT
ajst-22339	45	4	proposed	propose	VERB
ajst-22339	45	5	probabilistic	probabilistic	PROPN
ajst-22339	45	6	icp	icp	PROPN
ajst-22339	45	7	,	,	PUNCT
ajst-22339	45	8	which	which	PRON
ajst-22339	45	9	optimizes	optimize	VERB
ajst-22339	45	10	the	the	DET
ajst-22339	45	11	alignment	alignment	NOUN
ajst-22339	45	12	process	process	NOUN
ajst-22339	45	13	by	by	ADP
ajst-22339	45	14	introducing	introduce	VERB
ajst-22339	45	15	a	a	DET
ajst-22339	45	16	probabilistic	probabilistic	ADJ
ajst-22339	45	17	model	model	NOUN
ajst-22339	45	18	of	of	ADP
ajst-22339	45	19	point	point	NOUN
ajst-22339	45	20	-	-	PUNCT
ajst-22339	45	21	pair	pair	NOUN
ajst-22339	45	22	matching	matching	NOUN
ajst-22339	45	23	,	,	PUNCT
ajst-22339	45	24	which	which	PRON
ajst-22339	45	25	takes	take	VERB
ajst-22339	45	26	into	into	ADP
ajst-22339	45	27	account	account	NOUN
ajst-22339	45	28	the	the	DET
ajst-22339	45	29	uncertainty	uncertainty	NOUN
ajst-22339	45	30	in	in	ADP
ajst-22339	45	31	the	the	DET
ajst-22339	45	32	alignment	alignment	NOUN
ajst-22339	45	33	process	process	NOUN
ajst-22339	45	34	and	and	CCONJ
ajst-22339	45	35	improves	improve	VERB
ajst-22339	45	36	the	the	DET
ajst-22339	45	37	performance	performance	NOUN
ajst-22339	45	38	of	of	ADP
ajst-22339	45	39	the	the	DET
ajst-22339	45	40	algorithm	algorithm	NOUN
ajst-22339	45	41	in	in	ADP
ajst-22339	45	42	the	the	DET
ajst-22339	45	43	presence	presence	NOUN
ajst-22339	45	44	of	of	ADP
ajst-22339	45	45	noise	noise	NOUN
ajst-22339	45	46	and	and	CCONJ
ajst-22339	45	47	measurement	measurement	NOUN
ajst-22339	45	48	errors	error	NOUN
ajst-22339	45	49	.	.	PUNCT
ajst-22339	46	1	in	in	ADP
ajst-22339	46	2	2009	2009	NUM
ajst-22339	46	3	,	,	PUNCT
ajst-22339	46	4	segal	segal	PROPN
ajst-22339	46	5	et	et	PROPN
ajst-22339	46	6	al	al	PROPN
ajst-22339	47	1	[	[	X
ajst-22339	47	2	23	23	NUM
ajst-22339	47	3	]	]	PUNCT
ajst-22339	47	4	proposed	propose	VERB
ajst-22339	47	5	the	the	DET
ajst-22339	47	6	generalized	generalized	ADJ
ajst-22339	47	7	icp	icp	PROPN
ajst-22339	47	8	(	(	PUNCT
ajst-22339	47	9	gicp	gicp	NOUN
ajst-22339	47	10	)	)	PUNCT
ajst-22339	47	11	.	.	PUNCT
ajst-22339	48	1	this	this	DET
ajst-22339	48	2	method	method	NOUN
ajst-22339	48	3	uses	use	VERB
ajst-22339	48	4	point	point	NOUN
ajst-22339	48	5	-	-	PUNCT
ajst-22339	48	6	to	to	ADP
ajst-22339	48	7	-	-	PUNCT
ajst-22339	48	8	plane	plane	NOUN
ajst-22339	48	9	distances	distance	NOUN
ajst-22339	48	10	instead	instead	ADV
ajst-22339	48	11	of	of	ADP
ajst-22339	48	12	the	the	DET
ajst-22339	48	13	traditional	traditional	ADJ
ajst-22339	48	14	point	point	NOUN
ajst-22339	48	15	-	-	PUNCT
ajst-22339	48	16	to	to	ADP
ajst-22339	48	17	-	-	PUNCT
ajst-22339	48	18	point	point	NOUN
ajst-22339	48	19	distances	distance	NOUN
ajst-22339	48	20	to	to	PART
ajst-22339	48	21	optimize	optimize	VERB
ajst-22339	48	22	the	the	DET
ajst-22339	48	23	alignment	alignment	ADJ
ajst-22339	48	24	accuracy	accuracy	NOUN
ajst-22339	48	25	by	by	ADP
ajst-22339	48	26	defining	define	VERB
ajst-22339	48	27	a	a	DET
ajst-22339	48	28	local	local	ADJ
ajst-22339	48	29	plane	plane	NOUN
ajst-22339	48	30	around	around	ADP
ajst-22339	48	31	each	each	DET
ajst-22339	48	32	point	point	NOUN
ajst-22339	48	33	and	and	CCONJ
ajst-22339	48	34	minimizing	minimize	VERB
ajst-22339	48	35	the	the	DET
ajst-22339	48	36	distance	distance	NOUN
ajst-22339	48	37	to	to	ADP
ajst-22339	48	38	that	that	DET
ajst-22339	48	39	plane.in	plane.in	PRON
ajst-22339	48	40	2010	2010	NUM
ajst-22339	48	41	,	,	PUNCT
ajst-22339	48	42	myronenko	myronenko	NOUN
ajst-22339	48	43	and	and	CCONJ
ajst-22339	48	44	song	song	NOUN
ajst-22339	48	45	[	[	X
ajst-22339	48	46	24	24	NUM
ajst-22339	48	47	]	]	PUNCT
ajst-22339	48	48	proposed	propose	VERB
ajst-22339	48	49	coherent	coherent	ADJ
ajst-22339	48	50	point	point	NOUN
ajst-22339	48	51	drift	drift	NOUN
ajst-22339	48	52	(	(	PUNCT
ajst-22339	48	53	cpd	cpd	NOUN
ajst-22339	48	54	)	)	PUNCT
ajst-22339	48	55	,	,	PUNCT
ajst-22339	48	56	a	a	DET
ajst-22339	48	57	probabilistic	probabilistic	ADJ
ajst-22339	48	58	-	-	PUNCT
ajst-22339	48	59	based	base	VERB
ajst-22339	48	60	alignment	alignment	NOUN
ajst-22339	48	61	framework	framework	NOUN
ajst-22339	48	62	for	for	ADP
ajst-22339	48	63	nonrigidly	nonrigidly	ADV
ajst-22339	48	64	transformed	transform	VERB
ajst-22339	48	65	point	point	NOUN
ajst-22339	48	66	cloud	cloud	NOUN
ajst-22339	48	67	data.cpd	data.cpd	NOUN
ajst-22339	48	68	is	be	AUX
ajst-22339	48	69	implemented	implement	VERB
ajst-22339	48	70	via	via	ADP
ajst-22339	48	71	the	the	DET
ajst-22339	48	72	expectation	expectation	NOUN
ajst-22339	48	73	maximization	maximization	NOUN
ajst-22339	48	74	(	(	PUNCT
ajst-22339	48	75	em	em	PRON
ajst-22339	48	76	)	)	PUNCT
ajst-22339	48	77	algorithm	algorithm	NOUN
ajst-22339	48	78	,	,	PUNCT
ajst-22339	48	79	which	which	PRON
ajst-22339	48	80	assumes	assume	VERB
ajst-22339	48	81	that	that	SCONJ
ajst-22339	48	82	one	one	NUM
ajst-22339	48	83	set	set	NOUN
ajst-22339	48	84	of	of	ADP
ajst-22339	48	85	point	point	NOUN
ajst-22339	48	86	clouds	cloud	NOUN
ajst-22339	48	87	is	be	AUX
ajst-22339	48	88	a	a	DET
ajst-22339	48	89	realization	realization	NOUN
ajst-22339	48	90	of	of	ADP
ajst-22339	48	91	a	a	DET
ajst-22339	48	92	gaussian	gaussian	ADJ
ajst-22339	48	93	mixture	mixture	NOUN
ajst-22339	48	94	model	model	NOUN
ajst-22339	48	95	of	of	ADP
ajst-22339	48	96	another	another	DET
ajst-22339	48	97	set	set	NOUN
ajst-22339	48	98	of	of	ADP
ajst-22339	48	99	point	point	NOUN
ajst-22339	48	100	clouds	cloud	NOUN
ajst-22339	48	101	,	,	PUNCT
ajst-22339	48	102	thus	thus	ADV
ajst-22339	48	103	optimizing	optimize	VERB
ajst-22339	48	104	the	the	DET
ajst-22339	48	105	alignment	alignment	NOUN
ajst-22339	48	106	between	between	ADP
ajst-22339	48	107	point	point	NOUN
ajst-22339	48	108	clouds	cloud	NOUN
ajst-22339	48	109	.	.	PUNCT
ajst-22339	49	1	in	in	ADP
ajst-22339	49	2	2011	2011	NUM
ajst-22339	49	3	,	,	PUNCT
ajst-22339	49	4	bergstrom	bergstrom	PROPN
ajst-22339	49	5	and	and	CCONJ
ajst-22339	49	6	edlund	edlund	PROPN
ajst-22339	49	7	[	[	X
ajst-22339	49	8	25	25	NUM
ajst-22339	49	9	]	]	PUNCT
ajst-22339	49	10	proposed	propose	VERB
ajst-22339	49	11	robust	robust	ADJ
ajst-22339	49	12	icp	icp	PROPN
ajst-22339	49	13	.	.	PUNCT
ajst-22339	50	1	this	this	DET
ajst-22339	50	2	method	method	NOUN
ajst-22339	50	3	further	far	ADV
ajst-22339	50	4	enhances	enhance	VERB
ajst-22339	50	5	the	the	DET
ajst-22339	50	6	robustness	robustness	NOUN
ajst-22339	50	7	of	of	ADP
ajst-22339	50	8	the	the	DET
ajst-22339	50	9	alignment	alignment	NOUN
ajst-22339	50	10	process	process	NOUN
ajst-22339	50	11	by	by	ADP
ajst-22339	50	12	introducing	introduce	VERB
ajst-22339	50	13	robust	robust	ADJ
ajst-22339	50	14	statistical	statistical	ADJ
ajst-22339	50	15	methods	method	NOUN
ajst-22339	50	16	to	to	PART
ajst-22339	50	17	identify	identify	VERB
ajst-22339	50	18	and	and	CCONJ
ajst-22339	50	19	reject	reject	VERB
ajst-22339	50	20	outliers	outlier	NOUN
ajst-22339	50	21	.	.	PUNCT
ajst-22339	51	1	in	in	ADP
ajst-22339	51	2	2016	2016	NUM
ajst-22339	51	3	,	,	PUNCT
ajst-22339	51	4	zhou	zhou	PROPN
ajst-22339	51	5	et	et	PROPN
ajst-22339	51	6	al	al	PROPN
ajst-22339	52	1	[	[	X
ajst-22339	52	2	26	26	NUM
ajst-22339	52	3	]	]	PUNCT
ajst-22339	52	4	proposed	propose	VERB
ajst-22339	52	5	fast	fast	ADJ
ajst-22339	52	6	global	global	ADJ
ajst-22339	52	7	registration	registration	NOUN
ajst-22339	52	8	(	(	PUNCT
ajst-22339	52	9	fgr	fgr	PROPN
ajst-22339	52	10	)	)	PUNCT
ajst-22339	52	11	.	.	PUNCT
ajst-22339	53	1	this	this	DET
ajst-22339	53	2	method	method	NOUN
ajst-22339	53	3	utilizes	utilize	VERB
ajst-22339	53	4	an	an	DET
ajst-22339	53	5	efficient	efficient	ADJ
ajst-22339	53	6	optimization	optimization	NOUN
ajst-22339	53	7	framework	framework	NOUN
ajst-22339	53	8	to	to	PART
ajst-22339	53	9	quickly	quickly	ADV
ajst-22339	53	10	converge	converge	VERB
ajst-22339	53	11	to	to	ADP
ajst-22339	53	12	the	the	DET
ajst-22339	53	13	global	global	ADJ
ajst-22339	53	14	optimal	optimal	ADJ
ajst-22339	53	15	solution	solution	NOUN
ajst-22339	53	16	,	,	PUNCT
ajst-22339	53	17	reduces	reduce	VERB
ajst-22339	53	18	the	the	DET
ajst-22339	53	19	computational	computational	ADJ
ajst-22339	53	20	complexity	complexity	NOUN
ajst-22339	53	21	by	by	ADP
ajst-22339	53	22	constructing	construct	VERB
ajst-22339	53	23	a	a	DET
ajst-22339	53	24	sparse	sparse	ADJ
ajst-22339	53	25	linear	linear	NOUN
ajst-22339	53	26	system	system	NOUN
ajst-22339	53	27	and	and	CCONJ
ajst-22339	53	28	using	use	VERB
ajst-22339	53	29	an	an	DET
ajst-22339	53	30	edge	edge	NOUN
ajst-22339	53	31	-	-	PUNCT
ajst-22339	53	32	based	base	VERB
ajst-22339	53	33	four	four	NUM
ajst-22339	53	34	-	-	PUNCT
ajst-22339	53	35	parameter	parameter	NOUN
ajst-22339	53	36	alignment	alignment	NOUN
ajst-22339	53	37	technique	technique	NOUN
ajst-22339	53	38	,	,	PUNCT
ajst-22339	53	39	and	and	CCONJ
ajst-22339	53	40	is	be	AUX
ajst-22339	53	41	suitable	suitable	ADJ
ajst-22339	53	42	for	for	ADP
ajst-22339	53	43	processing	process	VERB
ajst-22339	53	44	large	large	ADJ
ajst-22339	53	45	-	-	PUNCT
ajst-22339	53	46	scale	scale	NOUN
ajst-22339	53	47	point	point	NOUN
ajst-22339	53	48	cloud	cloud	NOUN
ajst-22339	53	49	data	datum	NOUN
ajst-22339	53	50	.	.	PUNCT
ajst-22339	54	1	these	these	DET
ajst-22339	54	2	optimization	optimization	NOUN
ajst-22339	54	3	-	-	PUNCT
ajst-22339	54	4	based	base	VERB
ajst-22339	54	5	point	point	NOUN
ajst-22339	54	6	cloud	cloud	ADJ
ajst-22339	54	7	alignment	alignment	NOUN
ajst-22339	54	8	methods	method	NOUN
ajst-22339	54	9	have	have	AUX
ajst-22339	54	10	been	be	AUX
ajst-22339	54	11	improved	improve	VERB
ajst-22339	54	12	theoretically	theoretically	ADV
ajst-22339	54	13	and	and	CCONJ
ajst-22339	54	14	have	have	AUX
ajst-22339	54	15	shown	show	VERB
ajst-22339	54	16	increasing	increase	VERB
ajst-22339	54	17	reliability	reliability	NOUN
ajst-22339	54	18	and	and	CCONJ
ajst-22339	54	19	efficiency	efficiency	NOUN
ajst-22339	54	20	in	in	ADP
ajst-22339	54	21	practical	practical	ADJ
ajst-22339	54	22	applications	application	NOUN
ajst-22339	54	23	.	.	PUNCT
ajst-22339	55	1	with	with	ADP
ajst-22339	55	2	the	the	DET
ajst-22339	55	3	increase	increase	NOUN
ajst-22339	55	4	in	in	ADP
ajst-22339	55	5	computational	computational	ADJ
ajst-22339	55	6	power	power	NOUN
ajst-22339	55	7	and	and	CCONJ
ajst-22339	55	8	further	further	ADJ
ajst-22339	55	9	development	development	NOUN
ajst-22339	55	10	of	of	ADP
ajst-22339	55	11	algorithms	algorithm	NOUN
ajst-22339	55	12	,	,	PUNCT
ajst-22339	55	13	it	it	PRON
ajst-22339	55	14	is	be	AUX
ajst-22339	55	15	expected	expect	VERB
ajst-22339	55	16	that	that	SCONJ
ajst-22339	55	17	these	these	DET
ajst-22339	55	18	methods	method	NOUN
ajst-22339	55	19	will	will	AUX
ajst-22339	55	20	play	play	VERB
ajst-22339	55	21	an	an	DET
ajst-22339	55	22	even	even	ADV
ajst-22339	55	23	greater	great	ADJ
ajst-22339	55	24	role	role	NOUN
ajst-22339	55	25	in	in	ADP
ajst-22339	55	26	areas	area	NOUN
ajst-22339	55	27	such	such	ADJ
ajst-22339	55	28	as	as	ADP
ajst-22339	55	29	autonomous	autonomous	ADJ
ajst-22339	55	30	driving	driving	NOUN
ajst-22339	55	31	,	,	PUNCT
ajst-22339	55	32	robot	robot	NOUN
ajst-22339	55	33	navigation	navigation	NOUN
ajst-22339	55	34	,	,	PUNCT
ajst-22339	55	35	and	and	CCONJ
ajst-22339	55	36	cultural	cultural	ADJ
ajst-22339	55	37	heritage	heritage	NOUN
ajst-22339	55	38	digitization	digitization	NOUN
ajst-22339	55	39	.	.	PUNCT
ajst-22339	56	1	3.2	3.2	NUM
ajst-22339	56	2	.	.	PUNCT
ajst-22339	57	1	feature	feature	NOUN
ajst-22339	57	2	learning	learn	VERB
ajst-22339	57	3	methods	method	NOUN
ajst-22339	57	4	in	in	ADP
ajst-22339	57	5	the	the	DET
ajst-22339	57	6	field	field	NOUN
ajst-22339	57	7	of	of	ADP
ajst-22339	57	8	point	point	NOUN
ajst-22339	57	9	cloud	cloud	NOUN
ajst-22339	57	10	alignment	alignment	NOUN
ajst-22339	58	1	,	,	PUNCT
ajst-22339	58	2	there	there	PRON
ajst-22339	58	3	are	be	VERB
ajst-22339	58	4	several	several	ADJ
ajst-22339	58	5	feature	feature	NOUN
ajst-22339	58	6	-	-	PUNCT
ajst-22339	58	7	based	base	VERB
ajst-22339	58	8	methods	method	NOUN
ajst-22339	58	9	that	that	PRON
ajst-22339	58	10	have	have	AUX
ajst-22339	58	11	attracted	attract	VERB
ajst-22339	58	12	much	much	ADJ
ajst-22339	58	13	attention	attention	NOUN
ajst-22339	58	14	in	in	ADP
ajst-22339	58	15	academia	academia	NOUN
ajst-22339	58	16	and	and	CCONJ
ajst-22339	58	17	industry	industry	NOUN
ajst-22339	58	18	for	for	ADP
ajst-22339	58	19	their	their	PRON
ajst-22339	58	20	remarkable	remarkable	ADJ
ajst-22339	58	21	performance	performance	NOUN
ajst-22339	58	22	and	and	CCONJ
ajst-22339	58	23	wide	wide	ADJ
ajst-22339	58	24	range	range	NOUN
ajst-22339	58	25	of	of	ADP
ajst-22339	58	26	applications	application	NOUN
ajst-22339	58	27	.	.	PUNCT
ajst-22339	59	1	first	first	ADV
ajst-22339	59	2	,	,	PUNCT
ajst-22339	59	3	rusu	rusu	X
ajst-22339	59	4	et	et	PROPN
ajst-22339	59	5	al	al	PROPN
ajst-22339	60	1	[	[	X
ajst-22339	60	2	27	27	NUM
ajst-22339	60	3	]	]	PUNCT
ajst-22339	60	4	proposed	propose	VERB
ajst-22339	60	5	fpfh	fpfh	NOUN
ajst-22339	60	6	(	(	PUNCT
ajst-22339	60	7	fast	fast	ADJ
ajst-22339	60	8	point	point	NOUN
ajst-22339	60	9	feature	feature	NOUN
ajst-22339	60	10	histograms	histogram	NOUN
ajst-22339	60	11	)	)	PUNCT
ajst-22339	60	12	in	in	ADP
ajst-22339	60	13	2009	2009	NUM
ajst-22339	60	14	.	.	PUNCT
ajst-22339	61	1	this	this	DET
ajst-22339	61	2	method	method	NOUN
ajst-22339	61	3	dramatically	dramatically	ADV
ajst-22339	61	4	improves	improve	VERB
ajst-22339	61	5	the	the	DET
ajst-22339	61	6	computational	computational	ADJ
ajst-22339	61	7	efficiency	efficiency	NOUN
ajst-22339	61	8	of	of	ADP
ajst-22339	61	9	feature	feature	NOUN
ajst-22339	61	10	description	description	NOUN
ajst-22339	61	11	by	by	ADP
ajst-22339	61	12	computing	compute	VERB
ajst-22339	61	13	the	the	DET
ajst-22339	61	14	local	local	ADJ
ajst-22339	61	15	geometric	geometric	ADJ
ajst-22339	61	16	feature	feature	NOUN
ajst-22339	61	17	histograms	histogram	NOUN
ajst-22339	61	18	of	of	ADP
ajst-22339	61	19	points	point	NOUN
ajst-22339	61	20	,	,	PUNCT
ajst-22339	61	21	which	which	PRON
ajst-22339	61	22	is	be	AUX
ajst-22339	61	23	especially	especially	ADV
ajst-22339	61	24	suitable	suitable	ADJ
ajst-22339	61	25	for	for	ADP
ajst-22339	61	26	fast	fast	ADJ
ajst-22339	61	27	matching	matching	NOUN
ajst-22339	61	28	and	and	CCONJ
ajst-22339	61	29	alignment	alignment	NOUN
ajst-22339	61	30	of	of	ADP
ajst-22339	61	31	large	large	ADJ
ajst-22339	61	32	-	-	PUNCT
ajst-22339	61	33	scale	scale	NOUN
ajst-22339	61	34	point	point	NOUN
ajst-22339	61	35	cloud	cloud	NOUN
ajst-22339	61	36	data	datum	NOUN
ajst-22339	61	37	.	.	PUNCT
ajst-22339	62	1	subsequently	subsequently	ADV
ajst-22339	62	2	,	,	PUNCT
ajst-22339	62	3	tombari	tombari	PROPN
ajst-22339	62	4	et	et	NOUN
ajst-22339	62	5	al	al	PROPN
ajst-22339	63	1	[	[	X
ajst-22339	63	2	28	28	NUM
ajst-22339	63	3	]	]	PUNCT
ajst-22339	63	4	proposed	propose	VERB
ajst-22339	63	5	shot	shot	NOUN
ajst-22339	63	6	(	(	PUNCT
ajst-22339	63	7	signature	signature	NOUN
ajst-22339	63	8	of	of	ADP
ajst-22339	63	9	histograms	histogram	NOUN
ajst-22339	63	10	of	of	ADP
ajst-22339	63	11	orientations	orientation	NOUN
ajst-22339	63	12	)	)	PUNCT
ajst-22339	63	13	in	in	ADP
ajst-22339	63	14	2010	2010	NUM
ajst-22339	63	15	,	,	PUNCT
ajst-22339	63	16	a	a	DET
ajst-22339	63	17	method	method	NOUN
ajst-22339	63	18	that	that	PRON
ajst-22339	63	19	utilizes	utilize	VERB
ajst-22339	63	20	the	the	DET
ajst-22339	63	21	local	local	ADJ
ajst-22339	63	22	geometric	geometric	ADJ
ajst-22339	63	23	information	information	NOUN
ajst-22339	63	24	of	of	ADP
ajst-22339	63	25	points	point	NOUN
ajst-22339	63	26	to	to	PART
ajst-22339	63	27	generate	generate	VERB
ajst-22339	63	28	rotationally	rotationally	ADV
ajst-22339	63	29	invariant	invariant	ADJ
ajst-22339	63	30	feature	feature	NOUN
ajst-22339	63	31	descriptors	descriptor	NOUN
ajst-22339	63	32	,	,	PUNCT
ajst-22339	63	33	which	which	PRON
ajst-22339	63	34	effectively	effectively	ADV
ajst-22339	63	35	improves	improve	VERB
ajst-22339	63	36	the	the	DET
ajst-22339	63	37	matching	matching	NOUN
ajst-22339	63	38	accuracy	accuracy	NOUN
ajst-22339	63	39	of	of	ADP
ajst-22339	63	40	complex	complex	ADJ
ajst-22339	63	41	point	point	NOUN
ajst-22339	63	42	cloud	cloud	NOUN
ajst-22339	63	43	data	datum	NOUN
ajst-22339	63	44	.	.	PUNCT
ajst-22339	64	1	earlier	early	ADJ
ajst-22339	64	2	studies	study	NOUN
ajst-22339	64	3	include	include	VERB
ajst-22339	64	4	spin	spin	NOUN
ajst-22339	64	5	(	(	PUNCT
ajst-22339	64	6	spin	spin	NOUN
ajst-22339	64	7	images	image	NOUN
ajst-22339	64	8	)	)	PUNCT
ajst-22339	64	9	proposed	propose	VERB
ajst-22339	64	10	by	by	ADP
ajst-22339	64	11	johnson	johnson	PROPN
ajst-22339	64	12	and	and	CCONJ
ajst-22339	64	13	hebert	hebert	NOUN
ajst-22339	64	14	[	[	X
ajst-22339	64	15	29	29	NUM
ajst-22339	64	16	]	]	PUNCT
ajst-22339	64	17	in	in	ADP
ajst-22339	64	18	1999	1999	NUM
ajst-22339	64	19	.	.	PUNCT
ajst-22339	65	1	this	this	DET
ajst-22339	65	2	method	method	NOUN
ajst-22339	65	3	successfully	successfully	ADV
ajst-22339	65	4	captures	capture	VERB
ajst-22339	65	5	the	the	DET
ajst-22339	65	6	geometric	geometric	ADJ
ajst-22339	65	7	features	feature	NOUN
ajst-22339	65	8	of	of	ADP
ajst-22339	65	9	the	the	DET
ajst-22339	65	10	point	point	NOUN
ajst-22339	65	11	cloud	cloud	NOUN
ajst-22339	65	12	surface	surface	NOUN
ajst-22339	65	13	by	by	ADP
ajst-22339	65	14	generating	generate	VERB
ajst-22339	65	15	rotationally	rotationally	ADV
ajst-22339	65	16	invariant	invariant	ADJ
ajst-22339	65	17	local	local	ADJ
ajst-22339	65	18	feature	feature	NOUN
ajst-22339	65	19	images	image	NOUN
ajst-22339	65	20	,	,	PUNCT
ajst-22339	65	21	and	and	CCONJ
ajst-22339	65	22	is	be	AUX
ajst-22339	65	23	widely	widely	ADV
ajst-22339	65	24	used	use	VERB
ajst-22339	65	25	in	in	ADP
ajst-22339	65	26	object	object	NOUN
ajst-22339	65	27	recognition	recognition	NOUN
ajst-22339	65	28	and	and	CCONJ
ajst-22339	65	29	alignment	alignment	NOUN
ajst-22339	65	30	tasks	task	NOUN
ajst-22339	65	31	.	.	PUNCT
ajst-22339	66	1	in	in	ADP
ajst-22339	66	2	2004	2004	NUM
ajst-22339	66	3	,	,	PUNCT
ajst-22339	66	4	frome	frome	PROPN
ajst-22339	66	5	et	et	PROPN
ajst-22339	66	6	al	al	PROPN
ajst-22339	67	1	[	[	X
ajst-22339	67	2	30	30	NUM
ajst-22339	67	3	]	]	PUNCT
ajst-22339	67	4	proposed	propose	VERB
ajst-22339	67	5	3d	3d	NUM
ajst-22339	67	6	shape	shape	NOUN
ajst-22339	67	7	context	context	NOUN
ajst-22339	67	8	,	,	PUNCT
ajst-22339	67	9	which	which	PRON
ajst-22339	67	10	effectively	effectively	ADV
ajst-22339	67	11	captures	capture	VERB
ajst-22339	67	12	the	the	DET
ajst-22339	67	13	local	local	ADJ
ajst-22339	67	14	geometric	geometric	ADJ
ajst-22339	67	15	structure	structure	NOUN
ajst-22339	67	16	of	of	ADP
ajst-22339	67	17	the	the	DET
ajst-22339	67	18	point	point	NOUN
ajst-22339	67	19	cloud	cloud	NOUN
ajst-22339	67	20	by	by	ADP
ajst-22339	67	21	generating	generate	VERB
ajst-22339	67	22	a	a	DET
ajst-22339	67	23	spherical	spherical	ADJ
ajst-22339	67	24	region	region	NOUN
ajst-22339	67	25	around	around	ADP
ajst-22339	67	26	the	the	DET
ajst-22339	67	27	point	point	NOUN
ajst-22339	67	28	and	and	CCONJ
ajst-22339	67	29	calculating	calculate	VERB
ajst-22339	67	30	the	the	DET
ajst-22339	67	31	histogram	histogram	NOUN
ajst-22339	67	32	of	of	ADP
ajst-22339	67	33	local	local	ADJ
ajst-22339	67	34	geometric	geometric	ADJ
ajst-22339	67	35	features	feature	NOUN
ajst-22339	67	36	,	,	PUNCT
ajst-22339	67	37	thus	thus	ADV
ajst-22339	67	38	63	63	NUM
ajst-22339	67	39	significantly	significantly	ADV
ajst-22339	67	40	improving	improve	VERB
ajst-22339	67	41	the	the	DET
ajst-22339	67	42	accuracy	accuracy	NOUN
ajst-22339	67	43	and	and	CCONJ
ajst-22339	67	44	robustness	robustness	NOUN
ajst-22339	67	45	of	of	ADP
ajst-22339	67	46	point	point	NOUN
ajst-22339	67	47	cloud	cloud	NOUN
ajst-22339	67	48	matching	matching	NOUN
ajst-22339	67	49	.	.	PUNCT
ajst-22339	68	1	following	follow	VERB
ajst-22339	68	2	this	this	PRON
ajst-22339	68	3	,	,	PUNCT
ajst-22339	68	4	in	in	ADP
ajst-22339	68	5	2009	2009	NUM
ajst-22339	68	6	,	,	PUNCT
ajst-22339	68	7	zhong	zhong	PROPN
ajst-22339	69	1	[	[	X
ajst-22339	69	2	31	31	NUM
ajst-22339	69	3	]	]	PUNCT
ajst-22339	69	4	proposed	propose	VERB
ajst-22339	69	5	the	the	DET
ajst-22339	69	6	iss	iss	PROPN
ajst-22339	69	7	(	(	PUNCT
ajst-22339	69	8	intrinsic	intrinsic	ADJ
ajst-22339	69	9	shape	shape	NOUN
ajst-22339	69	10	signatures	signature	NOUN
ajst-22339	69	11	)	)	PUNCT
ajst-22339	69	12	method	method	NOUN
ajst-22339	69	13	.	.	PUNCT
ajst-22339	70	1	by	by	ADP
ajst-22339	70	2	extracting	extract	VERB
ajst-22339	70	3	key	key	ADJ
ajst-22339	70	4	points	point	NOUN
ajst-22339	70	5	in	in	ADP
ajst-22339	70	6	the	the	DET
ajst-22339	70	7	point	point	NOUN
ajst-22339	70	8	cloud	cloud	NOUN
ajst-22339	70	9	and	and	CCONJ
ajst-22339	70	10	generating	generating	NOUN
ajst-22339	70	11	descriptors	descriptor	NOUN
ajst-22339	70	12	,	,	PUNCT
ajst-22339	70	13	this	this	DET
ajst-22339	70	14	method	method	NOUN
ajst-22339	70	15	demonstrates	demonstrate	VERB
ajst-22339	70	16	strong	strong	ADJ
ajst-22339	70	17	robustness	robustness	NOUN
ajst-22339	70	18	to	to	ADP
ajst-22339	70	19	noise	noise	NOUN
ajst-22339	70	20	and	and	CCONJ
ajst-22339	70	21	is	be	AUX
ajst-22339	70	22	suitable	suitable	ADJ
ajst-22339	70	23	for	for	ADP
ajst-22339	70	24	matching	match	VERB
ajst-22339	70	25	sparse	sparse	ADJ
ajst-22339	70	26	and	and	CCONJ
ajst-22339	70	27	dense	dense	ADJ
ajst-22339	70	28	point	point	NOUN
ajst-22339	70	29	clouds	cloud	NOUN
ajst-22339	70	30	.	.	PUNCT
ajst-22339	71	1	finally	finally	ADV
ajst-22339	71	2	,	,	PUNCT
ajst-22339	71	3	rops	rop	NOUN
ajst-22339	71	4	(	(	PUNCT
ajst-22339	71	5	rotational	rotational	ADJ
ajst-22339	71	6	projection	projection	NOUN
ajst-22339	71	7	statistics	statistic	NOUN
ajst-22339	71	8	)	)	PUNCT
ajst-22339	71	9	,	,	PUNCT
ajst-22339	71	10	proposed	propose	VERB
ajst-22339	71	11	by	by	ADP
ajst-22339	71	12	guo	guo	PROPN
ajst-22339	71	13	et	et	PROPN
ajst-22339	71	14	al	al	PROPN
ajst-22339	72	1	[	[	X
ajst-22339	72	2	32	32	NUM
ajst-22339	72	3	]	]	PUNCT
ajst-22339	72	4	in	in	ADP
ajst-22339	72	5	2013	2013	NUM
ajst-22339	72	6	,	,	PUNCT
ajst-22339	72	7	provides	provide	VERB
ajst-22339	72	8	rotational	rotational	ADJ
ajst-22339	72	9	invariance	invariance	NOUN
ajst-22339	72	10	and	and	CCONJ
ajst-22339	72	11	is	be	AUX
ajst-22339	72	12	suitable	suitable	ADJ
ajst-22339	72	13	for	for	ADP
ajst-22339	72	14	point	point	NOUN
ajst-22339	72	15	cloud	cloud	ADJ
ajst-22339	72	16	alignment	alignment	NOUN
ajst-22339	72	17	in	in	ADP
ajst-22339	72	18	different	different	ADJ
ajst-22339	72	19	orientations	orientation	NOUN
ajst-22339	72	20	by	by	ADP
ajst-22339	72	21	projecting	project	VERB
ajst-22339	72	22	local	local	ADJ
ajst-22339	72	23	neighborhoods	neighborhood	NOUN
ajst-22339	72	24	of	of	ADP
ajst-22339	72	25	points	point	NOUN
ajst-22339	72	26	to	to	ADP
ajst-22339	72	27	multiple	multiple	ADJ
ajst-22339	72	28	rotational	rotational	ADJ
ajst-22339	72	29	planes	plane	NOUN
ajst-22339	72	30	and	and	CCONJ
ajst-22339	72	31	computing	compute	VERB
ajst-22339	72	32	statistical	statistical	ADJ
ajst-22339	72	33	features	feature	NOUN
ajst-22339	72	34	to	to	PART
ajst-22339	72	35	generate	generate	VERB
ajst-22339	72	36	descriptors	descriptor	NOUN
ajst-22339	72	37	.	.	PUNCT
ajst-22339	73	1	each	each	PRON
ajst-22339	73	2	of	of	ADP
ajst-22339	73	3	the	the	DET
ajst-22339	73	4	above	above	ADJ
ajst-22339	73	5	methods	method	NOUN
ajst-22339	73	6	is	be	AUX
ajst-22339	73	7	unique	unique	ADJ
ajst-22339	73	8	in	in	ADP
ajst-22339	73	9	capturing	capture	VERB
ajst-22339	73	10	and	and	CCONJ
ajst-22339	73	11	describing	describe	VERB
ajst-22339	73	12	the	the	DET
ajst-22339	73	13	geometric	geometric	ADJ
ajst-22339	73	14	features	feature	NOUN
ajst-22339	73	15	of	of	ADP
ajst-22339	73	16	the	the	DET
ajst-22339	73	17	point	point	NOUN
ajst-22339	73	18	cloud	cloud	NOUN
ajst-22339	73	19	,	,	PUNCT
ajst-22339	73	20	which	which	PRON
ajst-22339	73	21	has	have	AUX
ajst-22339	73	22	greatly	greatly	ADV
ajst-22339	73	23	promoted	promote	VERB
ajst-22339	73	24	the	the	DET
ajst-22339	73	25	development	development	NOUN
ajst-22339	73	26	and	and	CCONJ
ajst-22339	73	27	application	application	NOUN
ajst-22339	73	28	of	of	ADP
ajst-22339	73	29	point	point	NOUN
ajst-22339	73	30	cloud	cloud	ADJ
ajst-22339	73	31	alignment	alignment	NOUN
ajst-22339	73	32	techniques	technique	NOUN
ajst-22339	73	33	and	and	CCONJ
ajst-22339	73	34	demonstrated	demonstrate	VERB
ajst-22339	73	35	their	their	PRON
ajst-22339	73	36	excellent	excellent	ADJ
ajst-22339	73	37	performance	performance	NOUN
ajst-22339	73	38	in	in	ADP
ajst-22339	73	39	various	various	ADJ
ajst-22339	73	40	types	type	NOUN
ajst-22339	73	41	of	of	ADP
ajst-22339	73	42	complex	complex	ADJ
ajst-22339	73	43	environments	environment	NOUN
ajst-22339	73	44	.	.	PUNCT
ajst-22339	74	1	3.3	3.3	NUM
ajst-22339	74	2	.	.	PUNCT
ajst-22339	74	3	end	end	NOUN
ajst-22339	74	4	-	-	PUNCT
ajst-22339	74	5	to	to	ADP
ajst-22339	74	6	-	-	PUNCT
ajst-22339	74	7	end	end	NOUN
ajst-22339	74	8	learning	learning	NOUN
ajst-22339	74	9	approach	approach	VERB
ajst-22339	74	10	the	the	DET
ajst-22339	74	11	end	end	NOUN
ajst-22339	74	12	-	-	PUNCT
ajst-22339	74	13	to	to	ADP
ajst-22339	74	14	-	-	PUNCT
ajst-22339	74	15	end	end	NOUN
ajst-22339	74	16	method	method	NOUN
ajst-22339	74	17	outputs	output	VERB
ajst-22339	74	18	the	the	DET
ajst-22339	74	19	transformation	transformation	NOUN
ajst-22339	74	20	matrix	matrix	NOUN
ajst-22339	74	21	directly	directly	ADV
ajst-22339	74	22	from	from	ADP
ajst-22339	74	23	the	the	DET
ajst-22339	74	24	point	point	NOUN
ajst-22339	74	25	cloud	cloud	NOUN
ajst-22339	74	26	data	datum	NOUN
ajst-22339	74	27	through	through	ADP
ajst-22339	74	28	neural	neural	ADJ
ajst-22339	74	29	networks	network	NOUN
ajst-22339	74	30	,	,	PUNCT
ajst-22339	74	31	eliminating	eliminate	VERB
ajst-22339	74	32	the	the	DET
ajst-22339	74	33	need	need	NOUN
ajst-22339	74	34	for	for	ADP
ajst-22339	74	35	manual	manual	ADJ
ajst-22339	74	36	feature	feature	NOUN
ajst-22339	74	37	extraction	extraction	NOUN
ajst-22339	74	38	and	and	CCONJ
ajst-22339	74	39	corresponding	corresponding	ADJ
ajst-22339	74	40	point	point	NOUN
ajst-22339	74	41	matching	matching	NOUN
ajst-22339	74	42	.	.	PUNCT
ajst-22339	75	1	this	this	DET
ajst-22339	75	2	approach	approach	NOUN
ajst-22339	75	3	simplifies	simplify	VERB
ajst-22339	75	4	the	the	DET
ajst-22339	75	5	alignment	alignment	NOUN
ajst-22339	75	6	process	process	NOUN
ajst-22339	75	7	and	and	CCONJ
ajst-22339	75	8	improves	improve	VERB
ajst-22339	75	9	the	the	DET
ajst-22339	75	10	alignment	alignment	NOUN
ajst-22339	75	11	efficiency	efficiency	NOUN
ajst-22339	75	12	.	.	PUNCT
ajst-22339	76	1	the	the	DET
ajst-22339	76	2	end	end	NOUN
ajst-22339	76	3	-	-	PUNCT
ajst-22339	76	4	to	to	ADP
ajst-22339	76	5	-	-	PUNCT
ajst-22339	76	6	end	end	NOUN
ajst-22339	76	7	point	point	NOUN
ajst-22339	76	8	cloud	cloud	NOUN
ajst-22339	76	9	learning	learn	VERB
ajst-22339	76	10	approach	approach	NOUN
ajst-22339	76	11	is	be	AUX
ajst-22339	76	12	also	also	ADV
ajst-22339	76	13	easier	easy	ADJ
ajst-22339	76	14	on	on	ADP
ajst-22339	76	15	the	the	DET
ajst-22339	76	16	training	training	NOUN
ajst-22339	76	17	data	datum	NOUN
ajst-22339	76	18	than	than	ADP
ajst-22339	76	19	training	train	VERB
ajst-22339	76	20	key	key	ADJ
ajst-22339	76	21	point	point	NOUN
ajst-22339	76	22	detectors	detector	NOUN
ajst-22339	76	23	and	and	CCONJ
ajst-22339	76	24	key	key	ADJ
ajst-22339	76	25	point	point	NOUN
ajst-22339	76	26	descriptors	descriptor	NOUN
ajst-22339	76	27	because	because	SCONJ
ajst-22339	76	28	of	of	ADP
ajst-22339	76	29	its	its	PRON
ajst-22339	76	30	evaluation	evaluation	NOUN
ajst-22339	76	31	by	by	ADP
ajst-22339	76	32	the	the	DET
ajst-22339	76	33	goodness	goodness	NOUN
ajst-22339	76	34	of	of	ADP
ajst-22339	76	35	the	the	DET
ajst-22339	76	36	alignment	alignment	NOUN
ajst-22339	76	37	,	,	PUNCT
ajst-22339	76	38	while	while	SCONJ
ajst-22339	76	39	the	the	DET
ajst-22339	76	40	evaluation	evaluation	NOUN
ajst-22339	76	41	of	of	ADP
ajst-22339	76	42	key	key	ADJ
ajst-22339	76	43	point	point	NOUN
ajst-22339	76	44	detectors	detector	NOUN
ajst-22339	76	45	and	and	CCONJ
ajst-22339	76	46	key	key	ADJ
ajst-22339	76	47	point	point	NOUN
ajst-22339	76	48	descriptors	descriptor	NOUN
ajst-22339	76	49	is	be	AUX
ajst-22339	76	50	relatively	relatively	ADV
ajst-22339	76	51	difficult	difficult	ADJ
ajst-22339	76	52	.	.	PUNCT
ajst-22339	77	1	first	first	ADV
ajst-22339	77	2	,	,	PUNCT
ajst-22339	77	3	charles	charles	PROPN
ajst-22339	77	4	r.	r.	PROPN
ajst-22339	77	5	qi	qi	PROPN
ajst-22339	77	6	[	[	X
ajst-22339	77	7	33	33	NUM
ajst-22339	77	8	]	]	PUNCT
ajst-22339	77	9	et	et	PROPN
ajst-22339	77	10	al	al	PROPN
ajst-22339	77	11	.	.	PROPN
ajst-22339	77	12	proposed	propose	VERB
ajst-22339	77	13	pointnet	pointnet	NOUN
ajst-22339	77	14	in	in	ADP
ajst-22339	77	15	2017	2017	NUM
ajst-22339	77	16	,	,	PUNCT
ajst-22339	77	17	a	a	DET
ajst-22339	77	18	pioneering	pioneering	ADJ
ajst-22339	77	19	work	work	NOUN
ajst-22339	77	20	that	that	PRON
ajst-22339	77	21	learns	learn	VERB
ajst-22339	77	22	global	global	ADJ
ajst-22339	77	23	features	feature	NOUN
ajst-22339	77	24	directly	directly	ADV
ajst-22339	77	25	from	from	ADP
ajst-22339	77	26	the	the	DET
ajst-22339	77	27	original	original	ADJ
ajst-22339	77	28	point	point	NOUN
ajst-22339	77	29	cloud	cloud	NOUN
ajst-22339	77	30	via	via	ADP
ajst-22339	77	31	a	a	DET
ajst-22339	77	32	deep	deep	ADJ
ajst-22339	77	33	neural	neural	ADJ
ajst-22339	77	34	network	network	NOUN
ajst-22339	77	35	,	,	PUNCT
ajst-22339	77	36	while	while	SCONJ
ajst-22339	77	37	utilizing	utilize	VERB
ajst-22339	77	38	symmetric	symmetric	ADJ
ajst-22339	77	39	functions	function	NOUN
ajst-22339	77	40	(	(	PUNCT
ajst-22339	77	41	e.g.	e.g.	ADV
ajst-22339	77	42	,	,	PUNCT
ajst-22339	77	43	maximum	maximum	ADJ
ajst-22339	77	44	pooling	pooling	NOUN
ajst-22339	77	45	)	)	PUNCT
ajst-22339	77	46	to	to	PART
ajst-22339	77	47	ensure	ensure	VERB
ajst-22339	77	48	that	that	SCONJ
ajst-22339	77	49	the	the	DET
ajst-22339	77	50	model	model	NOUN
ajst-22339	77	51	is	be	AUX
ajst-22339	77	52	insensitive	insensitive	ADJ
ajst-22339	77	53	to	to	ADP
ajst-22339	77	54	the	the	DET
ajst-22339	77	55	order	order	NOUN
ajst-22339	77	56	of	of	ADP
ajst-22339	77	57	the	the	DET
ajst-22339	77	58	input	input	NOUN
ajst-22339	77	59	point	point	NOUN
ajst-22339	77	60	cloud	cloud	NOUN
ajst-22339	77	61	.	.	PUNCT
ajst-22339	78	1	as	as	SCONJ
ajst-22339	78	2	shown	show	VERB
ajst-22339	78	3	in	in	ADP
ajst-22339	78	4	figure	figure	NOUN
ajst-22339	78	5	2	2	NUM
ajst-22339	78	6	.	.	PUNCT
ajst-22339	79	1	in	in	ADP
ajst-22339	79	2	the	the	DET
ajst-22339	79	3	same	same	ADJ
ajst-22339	79	4	year	year	NOUN
ajst-22339	79	5	,	,	PUNCT
ajst-22339	79	6	qi	qi	PROPN
ajst-22339	79	7	et	et	NOUN
ajst-22339	79	8	al	al	PROPN
ajst-22339	80	1	[	[	X
ajst-22339	80	2	34	34	NUM
ajst-22339	80	3	]	]	X
ajst-22339	80	4	further	far	ADV
ajst-22339	80	5	introduced	introduce	VERB
ajst-22339	80	6	pointnet++	pointnet++	NOUN
ajst-22339	80	7	,	,	PUNCT
ajst-22339	80	8	which	which	PRON
ajst-22339	80	9	introduces	introduce	VERB
ajst-22339	80	10	a	a	DET
ajst-22339	80	11	local	local	ADJ
ajst-22339	80	12	feature	feature	NOUN
ajst-22339	80	13	learning	learning	NOUN
ajst-22339	80	14	mechanism	mechanism	NOUN
ajst-22339	80	15	based	base	VERB
ajst-22339	80	16	on	on	ADP
ajst-22339	80	17	the	the	DET
ajst-22339	80	18	original	original	ADJ
ajst-22339	80	19	pointnet	pointnet	NOUN
ajst-22339	80	20	,	,	PUNCT
ajst-22339	80	21	and	and	CCONJ
ajst-22339	80	22	effectively	effectively	ADV
ajst-22339	80	23	captures	capture	VERB
ajst-22339	80	24	both	both	DET
ajst-22339	80	25	local	local	ADJ
ajst-22339	80	26	and	and	CCONJ
ajst-22339	80	27	global	global	ADJ
ajst-22339	80	28	features	feature	NOUN
ajst-22339	80	29	of	of	ADP
ajst-22339	80	30	the	the	DET
ajst-22339	80	31	point	point	NOUN
ajst-22339	80	32	cloud	cloud	NOUN
ajst-22339	80	33	through	through	ADP
ajst-22339	80	34	multi	multi	ADJ
ajst-22339	80	35	-	-	ADJ
ajst-22339	80	36	scale	scale	ADJ
ajst-22339	80	37	grouping	grouping	NOUN
ajst-22339	80	38	(	(	PUNCT
ajst-22339	80	39	msg	msg	PROPN
ajst-22339	80	40	)	)	PUNCT
ajst-22339	80	41	and	and	CCONJ
ajst-22339	80	42	hierarchical	hierarchical	ADJ
ajst-22339	80	43	feature	feature	NOUN
ajst-22339	80	44	learning	learn	VERB
ajst-22339	80	45	strategies	strategy	NOUN
ajst-22339	80	46	,	,	PUNCT
ajst-22339	80	47	thus	thus	ADV
ajst-22339	80	48	significantly	significantly	ADV
ajst-22339	80	49	improving	improve	VERB
ajst-22339	80	50	the	the	DET
ajst-22339	80	51	accuracy	accuracy	NOUN
ajst-22339	80	52	and	and	CCONJ
ajst-22339	80	53	robustness	robustness	NOUN
ajst-22339	80	54	of	of	ADP
ajst-22339	80	55	the	the	DET
ajst-22339	80	56	alignment	alignment	NOUN
ajst-22339	80	57	.	.	PUNCT
ajst-22339	81	1	fig	fig	NOUN
ajst-22339	81	2	2	2	NUM
ajst-22339	81	3	.	.	PUNCT
ajst-22339	81	4	pointnet	pointnet	ADJ
ajst-22339	81	5	network	network	NOUN
ajst-22339	81	6	structure	structure	NOUN
ajst-22339	81	7	diagram	diagram	NOUN
ajst-22339	81	8	in	in	ADP
ajst-22339	81	9	addition	addition	NOUN
ajst-22339	81	10	,	,	PUNCT
ajst-22339	81	11	yue	yue	PROPN
ajst-22339	81	12	wang	wang	PROPN
ajst-22339	81	13	and	and	CCONJ
ajst-22339	81	14	justin	justin	PROPN
ajst-22339	81	15	m.	m.	PROPN
ajst-22339	81	16	solomon	solomon	PROPN
ajst-22339	82	1	[	[	X
ajst-22339	82	2	35	35	NUM
ajst-22339	82	3	]	]	PUNCT
ajst-22339	82	4	proposed	propose	VERB
ajst-22339	82	5	dcp	dcp	NOUN
ajst-22339	82	6	(	(	PUNCT
ajst-22339	82	7	deep	deep	ADV
ajst-22339	82	8	closest	close	ADJ
ajst-22339	82	9	point	point	NOUN
ajst-22339	82	10	)	)	PUNCT
ajst-22339	82	11	in	in	ADP
ajst-22339	82	12	2019	2019	NUM
ajst-22339	82	13	,	,	PUNCT
ajst-22339	82	14	which	which	PRON
ajst-22339	82	15	achieves	achieve	VERB
ajst-22339	82	16	efficient	efficient	ADJ
ajst-22339	82	17	alignment	alignment	NOUN
ajst-22339	82	18	between	between	ADP
ajst-22339	82	19	point	point	NOUN
ajst-22339	82	20	clouds	cloud	NOUN
ajst-22339	82	21	through	through	ADP
ajst-22339	82	22	a	a	DET
ajst-22339	82	23	pairwise	pairwise	NOUN
ajst-22339	82	24	learning	learn	VERB
ajst-22339	82	25	strategy	strategy	NOUN
ajst-22339	82	26	and	and	CCONJ
ajst-22339	82	27	a	a	DET
ajst-22339	82	28	microscopic	microscopic	ADJ
ajst-22339	82	29	svd	svd	X
ajst-22339	82	30	(	(	PUNCT
ajst-22339	82	31	singular	singular	ADJ
ajst-22339	82	32	value	value	NOUN
ajst-22339	82	33	decomposition	decomposition	NOUN
ajst-22339	82	34	)	)	PUNCT
ajst-22339	82	35	layer	layer	NOUN
ajst-22339	82	36	.	.	PUNCT
ajst-22339	83	1	as	as	SCONJ
ajst-22339	83	2	shown	show	VERB
ajst-22339	83	3	in	in	ADP
ajst-22339	83	4	figure	figure	NOUN
ajst-22339	83	5	3.dcp	3.dcp	PROPN
ajst-22339	83	6	employs	employ	VERB
ajst-22339	83	7	a	a	DET
ajst-22339	83	8	transformer	transformer	ADJ
ajst-22339	83	9	structure	structure	NOUN
ajst-22339	83	10	to	to	PART
ajst-22339	83	11	capture	capture	VERB
ajst-22339	83	12	local	local	ADJ
ajst-22339	83	13	and	and	CCONJ
ajst-22339	83	14	global	global	ADJ
ajst-22339	83	15	point	point	NOUN
ajst-22339	83	16	cloud	cloud	NOUN
ajst-22339	83	17	relationships	relationship	NOUN
ajst-22339	83	18	,	,	PUNCT
ajst-22339	83	19	thus	thus	ADV
ajst-22339	83	20	greatly	greatly	ADV
ajst-22339	83	21	improving	improve	VERB
ajst-22339	83	22	the	the	DET
ajst-22339	83	23	alignment	alignment	NOUN
ajst-22339	83	24	efficiency	efficiency	NOUN
ajst-22339	83	25	and	and	CCONJ
ajst-22339	83	26	accuracy	accuracy	NOUN
ajst-22339	83	27	.	.	PUNCT
ajst-22339	84	1	in	in	ADP
ajst-22339	84	2	the	the	DET
ajst-22339	84	3	same	same	ADJ
ajst-22339	84	4	year	year	NOUN
ajst-22339	84	5	,	,	PUNCT
ajst-22339	84	6	wu	wu	PROPN
ajst-22339	84	7	et	et	PROPN
ajst-22339	84	8	al	al	PROPN
ajst-22339	84	9	[	[	X
ajst-22339	84	10	36	36	NUM
ajst-22339	84	11	]	]	PUNCT
ajst-22339	84	12	proposed	propose	VERB
ajst-22339	84	13	deepvcp	deepvcp	NOUN
ajst-22339	84	14	(	(	PUNCT
ajst-22339	84	15	deep	deep	ADJ
ajst-22339	84	16	vectorized	vectorize	VERB
ajst-22339	84	17	correspondence	correspondence	NOUN
ajst-22339	84	18	prediction	prediction	NOUN
ajst-22339	84	19	)	)	PUNCT
ajst-22339	84	20	,	,	PUNCT
ajst-22339	84	21	which	which	PRON
ajst-22339	84	22	learns	learn	VERB
ajst-22339	84	23	the	the	DET
ajst-22339	84	24	vectorized	vectorize	VERB
ajst-22339	84	25	correspondences	correspondence	NOUN
ajst-22339	84	26	between	between	ADP
ajst-22339	84	27	point	point	NOUN
ajst-22339	84	28	cloud	cloud	NOUN
ajst-22339	84	29	pairs	pair	NOUN
ajst-22339	84	30	to	to	PART
ajst-22339	84	31	predict	predict	VERB
ajst-22339	84	32	the	the	DET
ajst-22339	84	33	point	point	NOUN
ajst-22339	84	34	pairs.deepvcp	pairs.deepvcp	NOUN
ajst-22339	84	35	utilizes	utilize	VERB
ajst-22339	84	36	the	the	DET
ajst-22339	84	37	prediction	prediction	NOUN
ajst-22339	84	38	of	of	ADP
ajst-22339	84	39	vectorized	vectorize	VERB
ajst-22339	84	40	correspondences	correspondence	NOUN
ajst-22339	84	41	to	to	PART
ajst-22339	84	42	guide	guide	VERB
ajst-22339	84	43	the	the	DET
ajst-22339	84	44	point	point	NOUN
ajst-22339	84	45	cloud	cloud	NOUN
ajst-22339	84	46	alignment	alignment	NOUN
ajst-22339	84	47	,	,	PUNCT
ajst-22339	84	48	and	and	CCONJ
ajst-22339	84	49	demonstrates	demonstrate	VERB
ajst-22339	84	50	superior	superior	ADJ
ajst-22339	84	51	performance	performance	NOUN
ajst-22339	84	52	in	in	ADP
ajst-22339	84	53	the	the	DET
ajst-22339	84	54	presence	presence	NOUN
ajst-22339	84	55	of	of	ADP
ajst-22339	84	56	large	large	ADJ
ajst-22339	84	57	amounts	amount	NOUN
ajst-22339	84	58	of	of	ADP
ajst-22339	84	59	noise	noise	NOUN
ajst-22339	84	60	and	and	CCONJ
ajst-22339	84	61	occlusion	occlusion	NOUN
ajst-22339	84	62	.	.	PUNCT
ajst-22339	85	1	the	the	DET
ajst-22339	85	2	superior	superior	ADJ
ajst-22339	85	3	performance	performance	NOUN
ajst-22339	85	4	of	of	ADP
ajst-22339	85	5	deepvcp	deepvcp	NOUN
ajst-22339	85	6	in	in	ADP
ajst-22339	85	7	the	the	DET
ajst-22339	85	8	presence	presence	NOUN
ajst-22339	85	9	of	of	ADP
ajst-22339	85	10	large	large	ADJ
ajst-22339	85	11	amounts	amount	NOUN
ajst-22339	85	12	of	of	ADP
ajst-22339	85	13	noise	noise	NOUN
ajst-22339	85	14	and	and	CCONJ
ajst-22339	85	15	occlusion	occlusion	NOUN
ajst-22339	85	16	is	be	AUX
ajst-22339	85	17	demonstrated	demonstrate	VERB
ajst-22339	85	18	.	.	PUNCT
ajst-22339	86	1	fgr	fgr	PROPN
ajst-22339	86	2	(	(	PUNCT
ajst-22339	86	3	fast	fast	ADJ
ajst-22339	86	4	global	global	ADJ
ajst-22339	86	5	registration	registration	NOUN
ajst-22339	86	6	)	)	PUNCT
ajst-22339	86	7	proposed	propose	VERB
ajst-22339	86	8	by	by	ADP
ajst-22339	86	9	j.	j.	PROPN
ajst-22339	86	10	zeng	zeng	PROPN
ajst-22339	86	11	et	et	PROPN
ajst-22339	86	12	al	al	PROPN
ajst-22339	87	1	[	[	X
ajst-22339	87	2	36	36	NUM
ajst-22339	87	3	]	]	PUNCT
ajst-22339	87	4	in	in	ADP
ajst-22339	87	5	2016	2016	NUM
ajst-22339	87	6	,	,	PUNCT
ajst-22339	87	7	on	on	ADP
ajst-22339	87	8	the	the	DET
ajst-22339	87	9	other	other	ADJ
ajst-22339	87	10	hand	hand	NOUN
ajst-22339	87	11	,	,	PUNCT
ajst-22339	87	12	utilizes	utilize	VERB
ajst-22339	87	13	an	an	DET
ajst-22339	87	14	efficient	efficient	ADJ
ajst-22339	87	15	optimization	optimization	NOUN
ajst-22339	87	16	framework	framework	NOUN
ajst-22339	87	17	to	to	PART
ajst-22339	87	18	quickly	quickly	ADV
ajst-22339	87	19	converge	converge	VERB
ajst-22339	87	20	to	to	ADP
ajst-22339	87	21	a	a	DET
ajst-22339	87	22	globally	globally	ADV
ajst-22339	87	23	optimal	optimal	ADJ
ajst-22339	87	24	solution	solution	NOUN
ajst-22339	87	25	.	.	PUNCT
ajst-22339	88	1	by	by	ADP
ajst-22339	88	2	constructing	construct	VERB
ajst-22339	88	3	a	a	DET
ajst-22339	88	4	sparse	sparse	ADJ
ajst-22339	88	5	linear	linear	NOUN
ajst-22339	88	6	system	system	NOUN
ajst-22339	88	7	and	and	CCONJ
ajst-22339	88	8	using	use	VERB
ajst-22339	88	9	an	an	DET
ajst-22339	88	10	edge	edge	NOUN
ajst-22339	88	11	-	-	PUNCT
ajst-22339	88	12	based	base	VERB
ajst-22339	88	13	four	four	NUM
ajst-22339	88	14	-	-	PUNCT
ajst-22339	88	15	parameter	parameter	NOUN
ajst-22339	88	16	alignment	alignment	NOUN
ajst-22339	88	17	technique	technique	NOUN
ajst-22339	88	18	,	,	PUNCT
ajst-22339	88	19	fgr	fgr	PROPN
ajst-22339	88	20	drastically	drastically	ADV
ajst-22339	88	21	reduces	reduce	VERB
ajst-22339	88	22	the	the	DET
ajst-22339	88	23	computational	computational	ADJ
ajst-22339	88	24	complexity	complexity	NOUN
ajst-22339	88	25	and	and	CCONJ
ajst-22339	88	26	is	be	AUX
ajst-22339	88	27	suitable	suitable	ADJ
ajst-22339	88	28	for	for	ADP
ajst-22339	88	29	processing	process	VERB
ajst-22339	88	30	large	large	ADJ
ajst-22339	88	31	-	-	PUNCT
ajst-22339	88	32	scale	scale	NOUN
ajst-22339	88	33	point	point	NOUN
ajst-22339	88	34	cloud	cloud	NOUN
ajst-22339	88	35	data	datum	NOUN
ajst-22339	88	36	.	.	PUNCT
ajst-22339	89	1	in	in	ADP
ajst-22339	89	2	addition	addition	NOUN
ajst-22339	89	3	,	,	PUNCT
ajst-22339	89	4	yew	yew	PROPN
ajst-22339	89	5	and	and	CCONJ
ajst-22339	89	6	lee	lee	PROPN
ajst-22339	90	1	[	[	X
ajst-22339	90	2	38	38	NUM
ajst-22339	90	3	]	]	PUNCT
ajst-22339	90	4	proposed	propose	VERB
ajst-22339	90	5	rpm	rpm	PROPN
ajst-22339	90	6	-	-	PUNCT
ajst-22339	90	7	net	net	ADJ
ajst-22339	90	8	(	(	PUNCT
ajst-22339	90	9	robust	robust	ADJ
ajst-22339	90	10	point	point	NOUN
ajst-22339	90	11	matching	matching	NOUN
ajst-22339	90	12	network	network	NOUN
ajst-22339	90	13	)	)	PUNCT
ajst-22339	90	14	in	in	ADP
ajst-22339	90	15	2020	2020	NUM
ajst-22339	90	16	,	,	PUNCT
ajst-22339	90	17	which	which	PRON
ajst-22339	90	18	enhances	enhance	VERB
ajst-22339	90	19	robustness	robustness	NOUN
ajst-22339	90	20	to	to	ADP
ajst-22339	90	21	noise	noise	NOUN
ajst-22339	90	22	and	and	CCONJ
ajst-22339	90	23	occlusion	occlusion	NOUN
ajst-22339	90	24	through	through	ADP
ajst-22339	90	25	an	an	DET
ajst-22339	90	26	end	end	NOUN
ajst-22339	90	27	-	-	PUNCT
ajst-22339	90	28	to	to	ADP
ajst-22339	90	29	-	-	PUNCT
ajst-22339	90	30	end	end	NOUN
ajst-22339	90	31	learning	learn	VERB
ajst-22339	90	32	framework	framework	NOUN
ajst-22339	90	33	utilizing	utilize	VERB
ajst-22339	90	34	a	a	DET
ajst-22339	90	35	weighted	weight	VERB
ajst-22339	90	36	matching	matching	NOUN
ajst-22339	90	37	strategy	strategy	NOUN
ajst-22339	90	38	and	and	CCONJ
ajst-22339	90	39	a	a	DET
ajst-22339	90	40	local	local	ADJ
ajst-22339	90	41	feature	feature	NOUN
ajst-22339	90	42	aggregation	aggregation	NOUN
ajst-22339	90	43	technique	technique	NOUN
ajst-22339	90	44	,	,	PUNCT
ajst-22339	90	45	enabling	enable	VERB
ajst-22339	90	46	it	it	PRON
ajst-22339	90	47	to	to	PART
ajst-22339	90	48	perform	perform	VERB
ajst-22339	90	49	well	well	ADV
ajst-22339	90	50	in	in	ADP
ajst-22339	90	51	various	various	ADJ
ajst-22339	90	52	complex	complex	ADJ
ajst-22339	90	53	environments	environment	NOUN
ajst-22339	90	54	.	.	PUNCT
ajst-22339	91	1	finally	finally	ADV
ajst-22339	91	2	,	,	PUNCT
ajst-22339	91	3	bai	bai	PROPN
ajst-22339	91	4	et	et	PROPN
ajst-22339	91	5	al	al	PROPN
ajst-22339	91	6	[	[	X
ajst-22339	91	7	39	39	NUM
ajst-22339	91	8	]	]	PUNCT
ajst-22339	91	9	proposed	propose	VERB
ajst-22339	91	10	pointdsc	pointdsc	NOUN
ajst-22339	91	11	(	(	PUNCT
ajst-22339	91	12	point	point	VERB
ajst-22339	91	13	distributions	distribution	NOUN
ajst-22339	91	14	to	to	ADP
ajst-22339	91	15	subspaces	subspace	NOUN
ajst-22339	91	16	correspondence	correspondence	NOUN
ajst-22339	91	17	)	)	PUNCT
ajst-22339	91	18	in	in	ADP
ajst-22339	91	19	2021	2021	NUM
ajst-22339	91	20	,	,	PUNCT
ajst-22339	91	21	by	by	ADP
ajst-22339	91	22	learning	learn	VERB
ajst-22339	91	23	the	the	DET
ajst-22339	91	24	distribution	distribution	NOUN
ajst-22339	91	25	of	of	ADP
ajst-22339	91	26	point	point	NOUN
ajst-22339	91	27	clouds	cloud	NOUN
ajst-22339	91	28	and	and	CCONJ
ajst-22339	91	29	the	the	DET
ajst-22339	91	30	correspondence	correspondence	NOUN
ajst-22339	91	31	of	of	ADP
ajst-22339	91	32	subspaces	subspace	NOUN
ajst-22339	91	33	,	,	PUNCT
ajst-22339	91	34	pointdsc	pointdsc	NOUN
ajst-22339	91	35	utilizes	utilize	VERB
ajst-22339	91	36	deep	deep	ADJ
ajst-22339	91	37	spatial	spatial	ADJ
ajst-22339	91	38	consistency	consistency	NOUN
ajst-22339	91	39	techniques	technique	NOUN
ajst-22339	91	40	to	to	PART
ajst-22339	91	41	further	far	ADV
ajst-22339	91	42	improve	improve	VERB
ajst-22339	91	43	the	the	DET
ajst-22339	91	44	alignment	alignment	NOUN
ajst-22339	91	45	in	in	ADP
ajst-22339	91	46	the	the	DET
ajst-22339	91	47	process	process	NOUN
ajst-22339	91	48	of	of	ADP
ajst-22339	91	49	point	point	NOUN
ajst-22339	91	50	cloud	cloud	ADJ
ajst-22339	91	51	alignment	alignment	NOUN
ajst-22339	91	52	in	in	ADP
ajst-22339	91	53	terms	term	NOUN
ajst-22339	91	54	of	of	ADP
ajst-22339	91	55	alignment	alignment	ADJ
ajst-22339	91	56	accuracy	accuracy	NOUN
ajst-22339	91	57	and	and	CCONJ
ajst-22339	91	58	efficiency	efficiency	NOUN
ajst-22339	91	59	in	in	ADP
ajst-22339	91	60	the	the	DET
ajst-22339	91	61	process	process	NOUN
ajst-22339	91	62	of	of	ADP
ajst-22339	91	63	point	point	NOUN
ajst-22339	91	64	cloud	cloud	NOUN
ajst-22339	91	65	alignment	alignment	NOUN
ajst-22339	91	66	,	,	PUNCT
ajst-22339	91	67	demonstrating	demonstrate	VERB
ajst-22339	91	68	its	its	PRON
ajst-22339	91	69	wide	wide	ADJ
ajst-22339	91	70	potential	potential	NOUN
ajst-22339	91	71	in	in	ADP
ajst-22339	91	72	practical	practical	ADJ
ajst-22339	91	73	applications	application	NOUN
ajst-22339	91	74	.	.	PUNCT
ajst-22339	92	1	3.4	3.4	NUM
ajst-22339	92	2	.	.	PUNCT
ajst-22339	93	1	cross	cross	ADJ
ajst-22339	93	2	-	-	ADJ
ajst-22339	93	3	source	source	ADJ
ajst-22339	93	4	point	point	NOUN
ajst-22339	93	5	cloud	cloud	NOUN
ajst-22339	93	6	alignment	alignment	NOUN
ajst-22339	93	7	cross	cross	ADJ
ajst-22339	93	8	-	-	ADJ
ajst-22339	93	9	source	source	ADJ
ajst-22339	93	10	point	point	NOUN
ajst-22339	93	11	cloud	cloud	NOUN
ajst-22339	93	12	alignment	alignment	NOUN
ajst-22339	93	13	is	be	AUX
ajst-22339	93	14	an	an	DET
ajst-22339	93	15	important	important	ADJ
ajst-22339	93	16	direction	direction	NOUN
ajst-22339	93	17	in	in	ADP
ajst-22339	93	18	the	the	DET
ajst-22339	93	19	field	field	NOUN
ajst-22339	93	20	of	of	ADP
ajst-22339	93	21	point	point	NOUN
ajst-22339	93	22	cloud	cloud	NOUN
ajst-22339	93	23	processing	processing	NOUN
ajst-22339	93	24	,	,	PUNCT
ajst-22339	93	25	which	which	PRON
ajst-22339	93	26	involves	involve	VERB
ajst-22339	93	27	the	the	DET
ajst-22339	93	28	precise	precise	ADJ
ajst-22339	93	29	alignment	alignment	NOUN
ajst-22339	93	30	of	of	ADP
ajst-22339	93	31	point	point	NOUN
ajst-22339	93	32	cloud	cloud	NOUN
ajst-22339	93	33	data	datum	NOUN
ajst-22339	93	34	from	from	ADP
ajst-22339	93	35	different	different	ADJ
ajst-22339	93	36	sensors	sensor	NOUN
ajst-22339	93	37	or	or	CCONJ
ajst-22339	93	38	different	different	ADJ
ajst-22339	93	39	viewpoints	viewpoint	NOUN
ajst-22339	93	40	.	.	PUNCT
ajst-22339	94	1	this	this	DET
ajst-22339	94	2	type	type	NOUN
ajst-22339	94	3	of	of	ADP
ajst-22339	94	4	alignment	alignment	NOUN
ajst-22339	94	5	is	be	AUX
ajst-22339	94	6	particularly	particularly	ADV
ajst-22339	94	7	challenging	challenging	ADJ
ajst-22339	94	8	because	because	SCONJ
ajst-22339	94	9	point	point	NOUN
ajst-22339	94	10	clouds	cloud	NOUN
ajst-22339	94	11	from	from	ADP
ajst-22339	94	12	different	different	ADJ
ajst-22339	94	13	sources	source	NOUN
ajst-22339	94	14	may	may	AUX
ajst-22339	94	15	have	have	VERB
ajst-22339	94	16	significant	significant	ADJ
ajst-22339	94	17	differences	difference	NOUN
ajst-22339	94	18	such	such	ADJ
ajst-22339	94	19	as	as	ADP
ajst-22339	94	20	resolution	resolution	NOUN
ajst-22339	94	21	,	,	PUNCT
ajst-22339	94	22	scale	scale	NOUN
ajst-22339	94	23	,	,	PUNCT
ajst-22339	94	24	noise	noise	NOUN
ajst-22339	94	25	level	level	NOUN
ajst-22339	94	26	,	,	PUNCT
ajst-22339	94	27	and	and	CCONJ
ajst-22339	94	28	density	density	NOUN
ajst-22339	94	29	.	.	PUNCT
ajst-22339	95	1	below	below	ADV
ajst-22339	95	2	are	be	AUX
ajst-22339	95	3	some	some	DET
ajst-22339	95	4	important	important	ADJ
ajst-22339	95	5	cross	cross	ADJ
ajst-22339	95	6	-	-	ADJ
ajst-22339	95	7	source	source	ADJ
ajst-22339	95	8	point	point	NOUN
ajst-22339	95	9	cloud	cloud	NOUN
ajst-22339	95	10	alignment	alignment	NOUN
ajst-22339	95	11	methods	method	NOUN
ajst-22339	95	12	that	that	PRON
ajst-22339	95	13	demonstrate	demonstrate	VERB
ajst-22339	95	14	how	how	SCONJ
ajst-22339	95	15	to	to	PART
ajst-22339	95	16	overcome	overcome	VERB
ajst-22339	95	17	these	these	DET
ajst-22339	95	18	differences	difference	NOUN
ajst-22339	95	19	and	and	CCONJ
ajst-22339	95	20	achieve	achieve	VERB
ajst-22339	95	21	effective	effective	ADJ
ajst-22339	95	22	data	datum	NOUN
ajst-22339	95	23	fusion	fusion	NOUN
ajst-22339	95	24	.	.	PUNCT
ajst-22339	96	1	coherent	coherent	ADJ
ajst-22339	96	2	point	point	NOUN
ajst-22339	96	3	drift	drift	NOUN
ajst-22339	96	4	(	(	PUNCT
ajst-22339	96	5	cpd	cpd	NOUN
ajst-22339	96	6	)	)	PUNCT
ajst-22339	96	7	is	be	AUX
ajst-22339	96	8	a	a	DET
ajst-22339	96	9	probabilistic	probabilistic	ADJ
ajst-22339	96	10	alignment	alignment	NOUN
ajst-22339	96	11	method	method	NOUN
ajst-22339	96	12	proposed	propose	VERB
ajst-22339	96	13	by	by	ADP
ajst-22339	96	14	myronenko	myronenko	NOUN
ajst-22339	96	15	and	and	CCONJ
ajst-22339	96	16	song	song	NOUN
ajst-22339	96	17	[	[	X
ajst-22339	96	18	40	40	NUM
ajst-22339	96	19	]	]	PUNCT
ajst-22339	96	20	in	in	ADP
ajst-22339	96	21	2010	2010	NUM
ajst-22339	96	22	,	,	PUNCT
ajst-22339	96	23	which	which	PRON
ajst-22339	96	24	is	be	AUX
ajst-22339	96	25	mainly	mainly	ADV
ajst-22339	96	26	used	use	VERB
ajst-22339	96	27	to	to	PART
ajst-22339	96	28	deal	deal	VERB
ajst-22339	96	29	with	with	ADP
ajst-22339	96	30	point	point	NOUN
ajst-22339	96	31	cloud	cloud	NOUN
ajst-22339	96	32	data	datum	NOUN
ajst-22339	96	33	with	with	ADP
ajst-22339	96	34	different	different	ADJ
ajst-22339	96	35	resolutions	resolution	NOUN
ajst-22339	96	36	and	and	CCONJ
ajst-22339	96	37	scales	scale	NOUN
ajst-22339	96	38	.	.	PUNCT
ajst-22339	97	1	cpd	cpd	PROPN
ajst-22339	97	2	assumes	assume	VERB
ajst-22339	97	3	that	that	SCONJ
ajst-22339	97	4	one	one	NUM
ajst-22339	97	5	point	point	NOUN
ajst-22339	97	6	cloud	cloud	NOUN
ajst-22339	97	7	is	be	AUX
ajst-22339	97	8	an	an	DET
ajst-22339	97	9	instance	instance	NOUN
ajst-22339	97	10	of	of	ADP
ajst-22339	97	11	a	a	DET
ajst-22339	97	12	gaussian	gaussian	ADJ
ajst-22339	97	13	mixture	mixture	NOUN
ajst-22339	97	14	model	model	NOUN
ajst-22339	97	15	of	of	ADP
ajst-22339	97	16	another	another	DET
ajst-22339	97	17	64	64	NUM
ajst-22339	97	18	point	point	NOUN
ajst-22339	97	19	cloud	cloud	NOUN
ajst-22339	97	20	,	,	PUNCT
ajst-22339	97	21	and	and	CCONJ
ajst-22339	97	22	uses	use	VERB
ajst-22339	97	23	an	an	DET
ajst-22339	97	24	expectation	expectation	NOUN
ajst-22339	97	25	maximization	maximization	NOUN
ajst-22339	97	26	algorithm	algorithm	NOUN
ajst-22339	97	27	to	to	PART
ajst-22339	97	28	estimate	estimate	VERB
ajst-22339	97	29	the	the	DET
ajst-22339	97	30	correspondence	correspondence	NOUN
ajst-22339	97	31	between	between	ADP
ajst-22339	97	32	the	the	DET
ajst-22339	97	33	two	two	NUM
ajst-22339	97	34	and	and	CCONJ
ajst-22339	97	35	the	the	DET
ajst-22339	97	36	advantage	advantage	NOUN
ajst-22339	97	37	of	of	ADP
ajst-22339	97	38	cpd	cpd	NOUN
ajst-22339	97	39	is	be	AUX
ajst-22339	97	40	that	that	SCONJ
ajst-22339	97	41	it	it	PRON
ajst-22339	97	42	is	be	AUX
ajst-22339	97	43	robust	robust	ADJ
ajst-22339	97	44	and	and	CCONJ
ajst-22339	97	45	can	can	AUX
ajst-22339	97	46	effectively	effectively	ADV
ajst-22339	97	47	handle	handle	VERB
ajst-22339	97	48	non	non	ADJ
ajst-22339	97	49	-	-	ADJ
ajst-22339	97	50	rigid	rigid	ADJ
ajst-22339	97	51	transformations	transformation	NOUN
ajst-22339	97	52	between	between	ADP
ajst-22339	97	53	point	point	NOUN
ajst-22339	97	54	clouds	cloud	NOUN
ajst-22339	97	55	,	,	PUNCT
ajst-22339	97	56	which	which	PRON
ajst-22339	97	57	makes	make	VERB
ajst-22339	97	58	it	it	PRON
ajst-22339	97	59	very	very	ADV
ajst-22339	97	60	useful	useful	ADJ
ajst-22339	97	61	in	in	ADP
ajst-22339	97	62	cross	cross	ADJ
ajst-22339	97	63	-	-	ADJ
ajst-22339	97	64	source	source	ADJ
ajst-22339	97	65	point	point	NOUN
ajst-22339	97	66	cloud	cloud	NOUN
ajst-22339	97	67	alignment	alignment	NOUN
ajst-22339	97	68	.	.	PUNCT
ajst-22339	98	1	fig	fig	NOUN
ajst-22339	98	2	3	3	NUM
ajst-22339	98	3	.	.	PUNCT
ajst-22339	99	1	dgcnn	dgcnn	PROPN
ajst-22339	99	2	network	network	NOUN
ajst-22339	99	3	structure	structure	PROPN
ajst-22339	99	4	diagram	diagram	NOUN
ajst-22339	99	5	robust	robust	ADJ
ajst-22339	99	6	point	point	NOUN
ajst-22339	99	7	matching	matching	NOUN
ajst-22339	99	8	(	(	PUNCT
ajst-22339	99	9	rpm	rpm	PROPN
ajst-22339	99	10	)	)	PUNCT
ajst-22339	99	11	,	,	PUNCT
ajst-22339	99	12	proposed	propose	VERB
ajst-22339	99	13	in	in	ADP
ajst-22339	99	14	1998	1998	NUM
ajst-22339	99	15	by	by	ADP
ajst-22339	99	16	gold	gold	NOUN
ajst-22339	99	17	et	et	NOUN
ajst-22339	99	18	al	al	PROPN
ajst-22339	100	1	[	[	X
ajst-22339	100	2	41	41	NUM
ajst-22339	100	3	]	]	PUNCT
ajst-22339	100	4	,	,	PUNCT
ajst-22339	100	5	is	be	AUX
ajst-22339	100	6	an	an	DET
ajst-22339	100	7	iterative	iterative	ADJ
ajst-22339	100	8	correspondence	correspondence	NOUN
ajst-22339	100	9	point	point	NOUN
ajst-22339	100	10	alignment	alignment	NOUN
ajst-22339	100	11	technique	technique	NOUN
ajst-22339	100	12	that	that	PRON
ajst-22339	100	13	improves	improve	VERB
ajst-22339	100	14	the	the	DET
ajst-22339	100	15	robustness	robustness	NOUN
ajst-22339	100	16	of	of	ADP
ajst-22339	100	17	the	the	DET
ajst-22339	100	18	alignment	alignment	NOUN
ajst-22339	100	19	by	by	ADP
ajst-22339	100	20	introducing	introduce	VERB
ajst-22339	100	21	soft	soft	ADJ
ajst-22339	100	22	correspondences	correspondence	NOUN
ajst-22339	100	23	and	and	CCONJ
ajst-22339	100	24	a	a	DET
ajst-22339	100	25	deterministic	deterministic	ADJ
ajst-22339	100	26	annealing	annealing	NOUN
ajst-22339	100	27	process	process	NOUN
ajst-22339	100	28	.	.	PUNCT
ajst-22339	101	1	rpm	rpm	VERB
ajst-22339	101	2	not	not	PART
ajst-22339	101	3	only	only	ADV
ajst-22339	101	4	focuses	focus	VERB
ajst-22339	101	5	on	on	ADP
ajst-22339	101	6	the	the	DET
ajst-22339	101	7	euclidean	euclidean	ADJ
ajst-22339	101	8	distances	distance	NOUN
ajst-22339	101	9	between	between	ADP
ajst-22339	101	10	the	the	DET
ajst-22339	101	11	points	point	NOUN
ajst-22339	101	12	,	,	PUNCT
ajst-22339	101	13	but	but	CCONJ
ajst-22339	101	14	also	also	ADV
ajst-22339	101	15	takes	take	VERB
ajst-22339	101	16	into	into	ADP
ajst-22339	101	17	account	account	NOUN
ajst-22339	101	18	the	the	DET
ajst-22339	101	19	overall	overall	ADJ
ajst-22339	101	20	geometrical	geometrical	ADJ
ajst-22339	101	21	structure	structure	NOUN
ajst-22339	101	22	of	of	ADP
ajst-22339	101	23	the	the	DET
ajst-22339	101	24	shapes	shape	NOUN
ajst-22339	101	25	,	,	PUNCT
ajst-22339	101	26	which	which	PRON
ajst-22339	101	27	makes	make	VERB
ajst-22339	101	28	it	it	PRON
ajst-22339	101	29	particularly	particularly	ADV
ajst-22339	101	30	suitable	suitable	ADJ
ajst-22339	101	31	for	for	ADP
ajst-22339	101	32	data	datum	NOUN
ajst-22339	101	33	from	from	ADP
ajst-22339	101	34	different	different	ADJ
ajst-22339	101	35	sensors	sensor	NOUN
ajst-22339	101	36	.	.	PUNCT
ajst-22339	102	1	data	datum	NOUN
ajst-22339	102	2	.	.	PUNCT
ajst-22339	103	1	the	the	DET
ajst-22339	103	2	method	method	NOUN
ajst-22339	103	3	adjusts	adjust	VERB
ajst-22339	103	4	the	the	DET
ajst-22339	103	5	strength	strength	NOUN
ajst-22339	103	6	of	of	ADP
ajst-22339	103	7	the	the	DET
ajst-22339	103	8	correspondence	correspondence	NOUN
ajst-22339	103	9	by	by	ADP
ajst-22339	103	10	gradually	gradually	ADV
ajst-22339	103	11	decreasing	decrease	VERB
ajst-22339	103	12	the	the	DET
ajst-22339	103	13	temperature	temperature	NOUN
ajst-22339	103	14	parameter	parameter	NOUN
ajst-22339	103	15	,	,	PUNCT
ajst-22339	103	16	thus	thus	ADV
ajst-22339	103	17	avoiding	avoid	VERB
ajst-22339	103	18	falling	fall	VERB
ajst-22339	103	19	into	into	ADP
ajst-22339	103	20	local	local	ADJ
ajst-22339	103	21	minima	minima	NOUN
ajst-22339	103	22	during	during	ADP
ajst-22339	103	23	the	the	DET
ajst-22339	103	24	global	global	ADJ
ajst-22339	103	25	optimization	optimization	NOUN
ajst-22339	103	26	process	process	NOUN
ajst-22339	103	27	.	.	PUNCT
ajst-22339	104	1	multi	multi	ADJ
ajst-22339	104	2	-	-	ADJ
ajst-22339	104	3	modal	modal	ADJ
ajst-22339	104	4	surface	surface	NOUN
ajst-22339	104	5	matching	matching	NOUN
ajst-22339	104	6	(	(	PUNCT
ajst-22339	104	7	msm	msm	NOUN
ajst-22339	104	8	)	)	PUNCT
ajst-22339	104	9	was	be	AUX
ajst-22339	104	10	proposed	propose	VERB
ajst-22339	104	11	by	by	ADP
ajst-22339	104	12	robinson	robinson	PROPN
ajst-22339	104	13	et	et	PROPN
ajst-22339	104	14	al	al	PROPN
ajst-22339	105	1	[	[	X
ajst-22339	105	2	42	42	NUM
ajst-22339	105	3	]	]	PUNCT
ajst-22339	105	4	in	in	ADP
ajst-22339	105	5	2014	2014	NUM
ajst-22339	105	6	to	to	PART
ajst-22339	105	7	address	address	VERB
ajst-22339	105	8	the	the	DET
ajst-22339	105	9	problem	problem	NOUN
ajst-22339	105	10	of	of	ADP
ajst-22339	105	11	aligning	align	VERB
ajst-22339	105	12	data	datum	NOUN
ajst-22339	105	13	from	from	ADP
ajst-22339	105	14	different	different	ADJ
ajst-22339	105	15	modalities	modality	NOUN
ajst-22339	105	16	.	.	PUNCT
ajst-22339	106	1	mmsm	mmsm	PROPN
ajst-22339	106	2	does	do	VERB
ajst-22339	106	3	this	this	PRON
ajst-22339	106	4	by	by	ADP
ajst-22339	106	5	constructing	construct	VERB
ajst-22339	106	6	high	high	ADJ
ajst-22339	106	7	-	-	PUNCT
ajst-22339	106	8	dimensional	dimensional	ADJ
ajst-22339	106	9	feature	feature	NOUN
ajst-22339	106	10	vectors	vector	NOUN
ajst-22339	106	11	describing	describe	VERB
ajst-22339	106	12	the	the	DET
ajst-22339	106	13	local	local	ADJ
ajst-22339	106	14	shape	shape	NOUN
ajst-22339	106	15	of	of	ADP
ajst-22339	106	16	the	the	DET
ajst-22339	106	17	surface	surface	NOUN
ajst-22339	106	18	of	of	ADP
ajst-22339	106	19	each	each	DET
ajst-22339	106	20	point	point	NOUN
ajst-22339	106	21	cloud	cloud	NOUN
ajst-22339	106	22	and	and	CCONJ
ajst-22339	106	23	using	use	VERB
ajst-22339	106	24	these	these	DET
ajst-22339	106	25	features	feature	NOUN
ajst-22339	106	26	to	to	PART
ajst-22339	106	27	perform	perform	VERB
ajst-22339	106	28	the	the	DET
ajst-22339	106	29	alignment	alignment	NOUN
ajst-22339	106	30	.	.	PUNCT
ajst-22339	107	1	the	the	DET
ajst-22339	107	2	key	key	NOUN
ajst-22339	107	3	to	to	ADP
ajst-22339	107	4	this	this	DET
ajst-22339	107	5	approach	approach	NOUN
ajst-22339	107	6	is	be	AUX
ajst-22339	107	7	the	the	DET
ajst-22339	107	8	ability	ability	NOUN
ajst-22339	107	9	to	to	PART
ajst-22339	107	10	deal	deal	VERB
ajst-22339	107	11	with	with	ADP
ajst-22339	107	12	the	the	DET
ajst-22339	107	13	inherent	inherent	ADJ
ajst-22339	107	14	differences	difference	NOUN
ajst-22339	107	15	between	between	ADP
ajst-22339	107	16	data	datum	NOUN
ajst-22339	107	17	captured	capture	VERB
ajst-22339	107	18	by	by	ADP
ajst-22339	107	19	different	different	ADJ
ajst-22339	107	20	sensors	sensor	NOUN
ajst-22339	107	21	,	,	PUNCT
ajst-22339	107	22	such	such	ADJ
ajst-22339	107	23	as	as	ADP
ajst-22339	107	24	point	point	NOUN
ajst-22339	107	25	clouds	cloud	NOUN
ajst-22339	107	26	generated	generate	VERB
ajst-22339	107	27	by	by	ADP
ajst-22339	107	28	optical	optical	ADJ
ajst-22339	107	29	scanners	scanner	NOUN
ajst-22339	107	30	and	and	CCONJ
ajst-22339	107	31	lidar	lidar	NOUN
ajst-22339	107	32	,	,	PUNCT
ajst-22339	107	33	to	to	PART
ajst-22339	107	34	achieve	achieve	VERB
ajst-22339	107	35	a	a	DET
ajst-22339	107	36	more	more	ADV
ajst-22339	107	37	accurate	accurate	ADJ
ajst-22339	107	38	and	and	CCONJ
ajst-22339	107	39	stable	stable	ADJ
ajst-22339	107	40	alignment	alignment	NOUN
ajst-22339	107	41	.	.	PUNCT
ajst-22339	108	1	sparse	sparse	ADJ
ajst-22339	108	2	canonical	canonical	ADJ
ajst-22339	108	3	correlation	correlation	NOUN
ajst-22339	108	4	analysis	analysis	NOUN
ajst-22339	108	5	(	(	PUNCT
ajst-22339	108	6	scca	scca	NOUN
ajst-22339	108	7	)	)	PUNCT
ajst-22339	109	1	[	[	X
ajst-22339	109	2	43	43	NUM
ajst-22339	109	3	]	]	PUNCT
ajst-22339	109	4	is	be	AUX
ajst-22339	109	5	a	a	DET
ajst-22339	109	6	statistical	statistical	ADJ
ajst-22339	109	7	method	method	NOUN
ajst-22339	109	8	for	for	ADP
ajst-22339	109	9	analyzing	analyze	VERB
ajst-22339	109	10	and	and	CCONJ
ajst-22339	109	11	understanding	understand	VERB
ajst-22339	109	12	the	the	DET
ajst-22339	109	13	relationship	relationship	NOUN
ajst-22339	109	14	between	between	ADP
ajst-22339	109	15	two	two	NUM
ajst-22339	109	16	high	high	ADJ
ajst-22339	109	17	-	-	PUNCT
ajst-22339	109	18	dimensional	dimensional	ADJ
ajst-22339	109	19	data	data	NOUN
ajst-22339	109	20	sets	set	NOUN
ajst-22339	109	21	.	.	PUNCT
ajst-22339	110	1	in	in	ADP
ajst-22339	110	2	point	point	NOUN
ajst-22339	110	3	cloud	cloud	NOUN
ajst-22339	110	4	alignment	alignment	NOUN
ajst-22339	110	5	,	,	PUNCT
ajst-22339	110	6	scca	scca	PROPN
ajst-22339	110	7	can	can	AUX
ajst-22339	110	8	be	be	AUX
ajst-22339	110	9	used	use	VERB
ajst-22339	110	10	to	to	PART
ajst-22339	110	11	discover	discover	VERB
ajst-22339	110	12	correlated	correlate	VERB
ajst-22339	110	13	features	feature	NOUN
ajst-22339	110	14	in	in	ADP
ajst-22339	110	15	different	different	ADJ
ajst-22339	110	16	point	point	NOUN
ajst-22339	110	17	cloud	cloud	NOUN
ajst-22339	110	18	datasets	dataset	NOUN
ajst-22339	110	19	that	that	PRON
ajst-22339	110	20	may	may	AUX
ajst-22339	110	21	be	be	AUX
ajst-22339	110	22	captured	capture	VERB
ajst-22339	110	23	by	by	ADP
ajst-22339	110	24	different	different	ADJ
ajst-22339	110	25	sensors	sensor	NOUN
ajst-22339	110	26	under	under	ADP
ajst-22339	110	27	different	different	ADJ
ajst-22339	110	28	conditions	condition	NOUN
ajst-22339	110	29	.	.	PUNCT
ajst-22339	111	1	by	by	ADP
ajst-22339	111	2	maximizing	maximize	VERB
ajst-22339	111	3	the	the	DET
ajst-22339	111	4	correlation	correlation	NOUN
ajst-22339	111	5	between	between	ADP
ajst-22339	111	6	these	these	DET
ajst-22339	111	7	features	feature	NOUN
ajst-22339	111	8	,	,	PUNCT
ajst-22339	111	9	scca	scca	PROPN
ajst-22339	111	10	helps	help	VERB
ajst-22339	111	11	align	align	VERB
ajst-22339	111	12	and	and	CCONJ
ajst-22339	111	13	fuse	fuse	NOUN
ajst-22339	111	14	point	point	NOUN
ajst-22339	111	15	cloud	cloud	NOUN
ajst-22339	111	16	data	datum	NOUN
ajst-22339	111	17	from	from	ADP
ajst-22339	111	18	different	different	ADJ
ajst-22339	111	19	sources	source	NOUN
ajst-22339	111	20	.	.	PUNCT
ajst-22339	112	1	the	the	DET
ajst-22339	112	2	generalized	generalize	VERB
ajst-22339	112	3	-	-	PUNCT
ajst-22339	112	4	icp	icp	NOUN
ajst-22339	112	5	algorithm	algorithm	NOUN
ajst-22339	112	6	itself	itself	PRON
ajst-22339	112	7	was	be	AUX
ajst-22339	112	8	proposed	propose	VERB
ajst-22339	112	9	by	by	ADP
ajst-22339	112	10	segal	segal	PROPN
ajst-22339	112	11	et	et	PROPN
ajst-22339	112	12	al	al	PROPN
ajst-22339	113	1	[	[	X
ajst-22339	113	2	44	44	NUM
ajst-22339	113	3	]	]	PUNCT
ajst-22339	113	4	in	in	ADP
ajst-22339	113	5	2009	2009	NUM
ajst-22339	113	6	,	,	PUNCT
ajst-22339	113	7	and	and	CCONJ
ajst-22339	113	8	research	research	NOUN
ajst-22339	113	9	on	on	ADP
ajst-22339	113	10	incorporating	incorporate	VERB
ajst-22339	113	11	scale	scale	NOUN
ajst-22339	113	12	estimation	estimation	NOUN
ajst-22339	113	13	into	into	ADP
ajst-22339	113	14	the	the	DET
ajst-22339	113	15	icp	icp	PROPN
ajst-22339	113	16	framework	framework	NOUN
ajst-22339	113	17	began	begin	VERB
ajst-22339	113	18	to	to	PART
ajst-22339	113	19	increase	increase	VERB
ajst-22339	113	20	around	around	ADP
ajst-22339	113	21	2012	2012	NUM
ajst-22339	113	22	to	to	PART
ajst-22339	113	23	accommodate	accommodate	VERB
ajst-22339	113	24	the	the	DET
ajst-22339	113	25	need	need	NOUN
ajst-22339	113	26	for	for	ADP
ajst-22339	113	27	alignment	alignment	NOUN
ajst-22339	113	28	of	of	ADP
ajst-22339	113	29	point	point	NOUN
ajst-22339	113	30	cloud	cloud	NOUN
ajst-22339	113	31	data	datum	NOUN
ajst-22339	113	32	at	at	ADP
ajst-22339	113	33	different	different	ADJ
ajst-22339	113	34	scales	scale	NOUN
ajst-22339	113	35	.	.	PUNCT
ajst-22339	114	1	na	na	ADP
ajst-22339	114	2	this	this	DET
ajst-22339	114	3	approach	approach	NOUN
ajst-22339	114	4	aligns	align	VERB
ajst-22339	114	5	the	the	DET
ajst-22339	114	6	point	point	NOUN
ajst-22339	114	7	cloud	cloud	NOUN
ajst-22339	114	8	by	by	ADP
ajst-22339	114	9	simultaneously	simultaneously	ADV
ajst-22339	114	10	optimizing	optimize	VERB
ajst-22339	114	11	the	the	DET
ajst-22339	114	12	rotational	rotational	ADJ
ajst-22339	114	13	,	,	PUNCT
ajst-22339	114	14	translational	translational	ADJ
ajst-22339	114	15	,	,	PUNCT
ajst-22339	114	16	and	and	CCONJ
ajst-22339	114	17	scaling	scale	VERB
ajst-22339	114	18	parameters	parameter	NOUN
ajst-22339	114	19	to	to	PART
ajst-22339	114	20	make	make	VERB
ajst-22339	114	21	it	it	PRON
ajst-22339	114	22	more	more	ADV
ajst-22339	114	23	suitable	suitable	ADJ
ajst-22339	114	24	for	for	ADP
ajst-22339	114	25	processing	processing	NOUN
ajst-22339	114	26	point	point	NOUN
ajst-22339	114	27	cloud	cloud	NOUN
ajst-22339	114	28	data	datum	NOUN
ajst-22339	114	29	from	from	ADP
ajst-22339	114	30	data	datum	NOUN
ajst-22339	114	31	with	with	ADP
ajst-22339	114	32	different	different	ADJ
ajst-22339	114	33	resolution	resolution	NOUN
ajst-22339	114	34	sensors	sensor	NOUN
ajst-22339	114	35	.	.	PUNCT
ajst-22339	115	1	these	these	DET
ajst-22339	115	2	cross	cross	ADJ
ajst-22339	115	3	-	-	ADJ
ajst-22339	115	4	source	source	ADJ
ajst-22339	115	5	point	point	NOUN
ajst-22339	115	6	cloud	cloud	NOUN
ajst-22339	115	7	alignment	alignment	NOUN
ajst-22339	115	8	methods	method	NOUN
ajst-22339	115	9	provide	provide	VERB
ajst-22339	115	10	powerful	powerful	ADJ
ajst-22339	115	11	support	support	NOUN
ajst-22339	115	12	for	for	ADP
ajst-22339	115	13	3d	3d	PROPN
ajst-22339	115	14	modeling	modeling	NOUN
ajst-22339	115	15	,	,	PUNCT
ajst-22339	115	16	robot	robot	NOUN
ajst-22339	115	17	navigation	navigation	NOUN
ajst-22339	115	18	,	,	PUNCT
ajst-22339	115	19	and	and	CCONJ
ajst-22339	115	20	other	other	ADJ
ajst-22339	115	21	multi	multi	ADJ
ajst-22339	115	22	-	-	ADJ
ajst-22339	115	23	sensor	sensor	ADJ
ajst-22339	115	24	integration	integration	NOUN
ajst-22339	115	25	applications	application	NOUN
ajst-22339	115	26	by	by	ADP
ajst-22339	115	27	overcoming	overcome	VERB
ajst-22339	115	28	the	the	DET
ajst-22339	115	29	discrepancies	discrepancy	NOUN
ajst-22339	115	30	between	between	ADP
ajst-22339	115	31	data	datum	NOUN
ajst-22339	115	32	acquired	acquire	VERB
ajst-22339	115	33	from	from	ADP
ajst-22339	115	34	different	different	ADJ
ajst-22339	115	35	devices	device	NOUN
ajst-22339	115	36	or	or	CCONJ
ajst-22339	115	37	under	under	ADP
ajst-22339	115	38	different	different	ADJ
ajst-22339	115	39	environmental	environmental	ADJ
ajst-22339	115	40	conditions	condition	NOUN
ajst-22339	115	41	through	through	ADP
ajst-22339	115	42	a	a	DET
ajst-22339	115	43	variety	variety	NOUN
ajst-22339	115	44	of	of	ADP
ajst-22339	115	45	techniques	technique	NOUN
ajst-22339	115	46	.	.	PUNCT
ajst-22339	116	1	as	as	SCONJ
ajst-22339	116	2	technology	technology	NOUN
ajst-22339	116	3	continues	continue	VERB
ajst-22339	116	4	to	to	PART
ajst-22339	116	5	advance	advance	VERB
ajst-22339	116	6	,	,	PUNCT
ajst-22339	116	7	it	it	PRON
ajst-22339	116	8	is	be	AUX
ajst-22339	116	9	expected	expect	VERB
ajst-22339	116	10	that	that	SCONJ
ajst-22339	116	11	more	more	ADJ
ajst-22339	116	12	innovative	innovative	ADJ
ajst-22339	116	13	methods	method	NOUN
ajst-22339	116	14	will	will	AUX
ajst-22339	116	15	be	be	AUX
ajst-22339	116	16	developed	develop	VERB
ajst-22339	116	17	to	to	PART
ajst-22339	116	18	further	far	ADV
ajst-22339	116	19	improve	improve	VERB
ajst-22339	116	20	the	the	DET
ajst-22339	116	21	performance	performance	NOUN
ajst-22339	116	22	of	of	ADP
ajst-22339	116	23	cross	cross	ADJ
ajst-22339	116	24	-	-	ADJ
ajst-22339	116	25	source	source	ADJ
ajst-22339	116	26	point	point	NOUN
ajst-22339	116	27	cloud	cloud	NOUN
ajst-22339	116	28	alignment	alignment	NOUN
ajst-22339	116	29	.	.	PUNCT
ajst-22339	117	1	4	4	X
ajst-22339	117	2	.	.	X
ajst-22339	117	3	datasets	dataset	NOUN
ajst-22339	117	4	and	and	CCONJ
ajst-22339	117	5	benchmarking	benchmarke	VERB
ajst-22339	117	6	the	the	DET
ajst-22339	117	7	research	research	NOUN
ajst-22339	117	8	and	and	CCONJ
ajst-22339	117	9	development	development	NOUN
ajst-22339	117	10	of	of	ADP
ajst-22339	117	11	point	point	NOUN
ajst-22339	117	12	cloud	cloud	ADJ
ajst-22339	117	13	alignment	alignment	NOUN
ajst-22339	117	14	techniques	technique	NOUN
ajst-22339	117	15	relies	rely	VERB
ajst-22339	117	16	on	on	ADP
ajst-22339	117	17	high	high	ADJ
ajst-22339	117	18	-	-	PUNCT
ajst-22339	117	19	quality	quality	NOUN
ajst-22339	117	20	datasets	dataset	NOUN
ajst-22339	117	21	that	that	PRON
ajst-22339	117	22	not	not	PART
ajst-22339	117	23	only	only	ADV
ajst-22339	117	24	provide	provide	VERB
ajst-22339	117	25	a	a	DET
ajst-22339	117	26	rich	rich	ADJ
ajst-22339	117	27	resource	resource	NOUN
ajst-22339	117	28	for	for	ADP
ajst-22339	117	29	algorithm	algorithm	NOUN
ajst-22339	117	30	development	development	NOUN
ajst-22339	117	31	,	,	PUNCT
ajst-22339	117	32	but	but	CCONJ
ajst-22339	117	33	are	be	AUX
ajst-22339	117	34	also	also	ADV
ajst-22339	117	35	used	use	VERB
ajst-22339	117	36	for	for	ADP
ajst-22339	117	37	benchmarking	benchmarke	VERB
ajst-22339	117	38	to	to	PART
ajst-22339	117	39	evaluate	evaluate	VERB
ajst-22339	117	40	the	the	DET
ajst-22339	117	41	performance	performance	NOUN
ajst-22339	117	42	of	of	ADP
ajst-22339	117	43	different	different	ADJ
ajst-22339	117	44	algorithms	algorithm	NOUN
ajst-22339	117	45	.	.	PUNCT
ajst-22339	118	1	the	the	DET
ajst-22339	118	2	following	follow	VERB
ajst-22339	118	3	are	be	AUX
ajst-22339	118	4	some	some	PRON
ajst-22339	118	5	of	of	ADP
ajst-22339	118	6	the	the	DET
ajst-22339	118	7	key	key	ADJ
ajst-22339	118	8	datasets	dataset	NOUN
ajst-22339	118	9	that	that	PRON
ajst-22339	118	10	are	be	AUX
ajst-22339	118	11	widely	widely	ADV
ajst-22339	118	12	used	use	VERB
ajst-22339	118	13	within	within	ADP
ajst-22339	118	14	the	the	DET
ajst-22339	118	15	field	field	NOUN
ajst-22339	118	16	of	of	ADP
ajst-22339	118	17	point	point	NOUN
ajst-22339	118	18	cloud	cloud	NOUN
ajst-22339	118	19	alignment	alignment	NOUN
ajst-22339	118	20	,	,	PUNCT
ajst-22339	118	21	each	each	PRON
ajst-22339	118	22	with	with	ADP
ajst-22339	118	23	their	their	PRON
ajst-22339	118	24	unique	unique	ADJ
ajst-22339	118	25	characteristics	characteristic	NOUN
ajst-22339	118	26	and	and	CCONJ
ajst-22339	118	27	application	application	NOUN
ajst-22339	118	28	purposes	purpose	NOUN
ajst-22339	118	29	.	.	PUNCT
ajst-22339	119	1	4.1	4.1	NUM
ajst-22339	119	2	.	.	PUNCT
ajst-22339	119	3	shapenet	shapenet	PROPN
ajst-22339	119	4	shapenet	shapenet	PROPN
ajst-22339	119	5	is	be	AUX
ajst-22339	119	6	a	a	DET
ajst-22339	119	7	widely	widely	ADV
ajst-22339	119	8	used	use	VERB
ajst-22339	119	9	database	database	NOUN
ajst-22339	119	10	of	of	ADP
ajst-22339	119	11	3d	3d	PROPN
ajst-22339	119	12	objects	object	NOUN
ajst-22339	119	13	containing	contain	VERB
ajst-22339	119	14	tens	ten	NOUN
ajst-22339	119	15	of	of	ADP
ajst-22339	119	16	thousands	thousand	NOUN
ajst-22339	119	17	of	of	ADP
ajst-22339	119	18	models	model	NOUN
ajst-22339	119	19	collected	collect	VERB
ajst-22339	119	20	from	from	ADP
ajst-22339	119	21	multiple	multiple	ADJ
ajst-22339	119	22	categories	category	NOUN
ajst-22339	119	23	(	(	PUNCT
ajst-22339	119	24	e.g.	e.g.	ADV
ajst-22339	119	25	,	,	PUNCT
ajst-22339	119	26	furniture	furniture	NOUN
ajst-22339	119	27	,	,	PUNCT
ajst-22339	119	28	vehicles	vehicle	NOUN
ajst-22339	119	29	,	,	PUNCT
ajst-22339	119	30	tools	tool	NOUN
ajst-22339	119	31	,	,	PUNCT
ajst-22339	119	32	etc	etc	X
ajst-22339	119	33	.	.	X
ajst-22339	119	34	)	)	PUNCT
ajst-22339	119	35	.	.	PUNCT
ajst-22339	120	1	these	these	DET
ajst-22339	120	2	models	model	NOUN
ajst-22339	120	3	are	be	AUX
ajst-22339	120	4	provided	provide	VERB
ajst-22339	120	5	in	in	ADP
ajst-22339	120	6	a	a	DET
ajst-22339	120	7	standardized	standardized	ADJ
ajst-22339	120	8	format	format	NOUN
ajst-22339	120	9	suitable	suitable	ADJ
ajst-22339	120	10	for	for	ADP
ajst-22339	120	11	shape	shape	NOUN
ajst-22339	120	12	analysis	analysis	NOUN
ajst-22339	120	13	and	and	CCONJ
ajst-22339	120	14	point	point	VERB
ajst-22339	120	15	cloud	cloud	ADJ
ajst-22339	120	16	alignment	alignment	NOUN
ajst-22339	120	17	tasks	task	NOUN
ajst-22339	120	18	.	.	PUNCT
ajst-22339	121	1	the	the	DET
ajst-22339	121	2	3d	3d	PROPN
ajst-22339	121	3	models	model	NOUN
ajst-22339	121	4	provided	provide	VERB
ajst-22339	121	5	by	by	ADP
ajst-22339	121	6	shapenet	shapenet	NOUN
ajst-22339	121	7	are	be	AUX
ajst-22339	121	8	often	often	ADV
ajst-22339	121	9	used	use	VERB
ajst-22339	121	10	to	to	PART
ajst-22339	121	11	train	train	VERB
ajst-22339	121	12	and	and	CCONJ
ajst-22339	121	13	test	test	VERB
ajst-22339	121	14	deep	deep	ADJ
ajst-22339	121	15	learning	learning	NOUN
ajst-22339	121	16	models	model	NOUN
ajst-22339	121	17	in	in	ADP
ajst-22339	121	18	recognizing	recognize	VERB
ajst-22339	121	19	and	and	CCONJ
ajst-22339	121	20	aligning	align	VERB
ajst-22339	121	21	3d	3d	ADJ
ajst-22339	121	22	shapes	shape	NOUN
ajst-22339	121	23	.	.	PUNCT
ajst-22339	122	1	4.2	4.2	NUM
ajst-22339	122	2	.	.	X
ajst-22339	123	1	3dmatch	3dmatch	NUM
ajst-22339	123	2	the	the	DET
ajst-22339	123	3	3dmatch	3dmatch	NUM
ajst-22339	123	4	dataset	dataset	NOUN
ajst-22339	123	5	is	be	AUX
ajst-22339	123	6	specifically	specifically	ADV
ajst-22339	123	7	designed	design	VERB
ajst-22339	123	8	for	for	ADP
ajst-22339	123	9	3d	3d	NUM
ajst-22339	123	10	point	point	NOUN
ajst-22339	123	11	cloud	cloud	NOUN
ajst-22339	123	12	matching	matching	NOUN
ajst-22339	123	13	and	and	CCONJ
ajst-22339	123	14	alignment	alignment	NOUN
ajst-22339	123	15	tasks	task	NOUN
ajst-22339	123	16	.	.	PUNCT
ajst-22339	124	1	it	it	PRON
ajst-22339	124	2	contains	contain	VERB
ajst-22339	124	3	a	a	DET
ajst-22339	124	4	large	large	ADJ
ajst-22339	124	5	number	number	NOUN
ajst-22339	124	6	of	of	ADP
ajst-22339	124	7	3d	3d	NUM
ajst-22339	124	8	point	point	NOUN
ajst-22339	124	9	cloud	cloud	NOUN
ajst-22339	124	10	segments	segment	NOUN
ajst-22339	124	11	collected	collect	VERB
ajst-22339	124	12	from	from	ADP
ajst-22339	124	13	real	real	ADJ
ajst-22339	124	14	-	-	PUNCT
ajst-22339	124	15	world	world	NOUN
ajst-22339	124	16	scenes	scene	NOUN
ajst-22339	124	17	that	that	PRON
ajst-22339	124	18	have	have	AUX
ajst-22339	124	19	been	be	AUX
ajst-22339	124	20	acquired	acquire	VERB
ajst-22339	124	21	in	in	ADP
ajst-22339	124	22	indoor	indoor	ADJ
ajst-22339	124	23	environments	environment	NOUN
ajst-22339	124	24	using	use	VERB
ajst-22339	124	25	high	high	ADJ
ajst-22339	124	26	-	-	PUNCT
ajst-22339	124	27	precision	precision	NOUN
ajst-22339	124	28	scanners	scanner	NOUN
ajst-22339	124	29	.	.	PUNCT
ajst-22339	125	1	3dmatch	3dmatch	NUM
ajst-22339	125	2	is	be	AUX
ajst-22339	125	3	used	use	VERB
ajst-22339	125	4	to	to	PART
ajst-22339	125	5	evaluate	evaluate	VERB
ajst-22339	125	6	the	the	DET
ajst-22339	125	7	effectiveness	effectiveness	NOUN
ajst-22339	125	8	and	and	CCONJ
ajst-22339	125	9	robustness	robustness	NOUN
ajst-22339	125	10	of	of	ADP
ajst-22339	125	11	point	point	NOUN
ajst-22339	125	12	cloud	cloud	ADJ
ajst-22339	125	13	alignment	alignment	NOUN
ajst-22339	125	14	algorithms	algorithm	NOUN
ajst-22339	125	15	when	when	SCONJ
ajst-22339	125	16	working	work	VERB
ajst-22339	125	17	with	with	ADP
ajst-22339	125	18	real	real	ADJ
ajst-22339	125	19	-	-	PUNCT
ajst-22339	125	20	world	world	NOUN
ajst-22339	125	21	data	datum	NOUN
ajst-22339	125	22	by	by	ADP
ajst-22339	125	23	providing	provide	VERB
ajst-22339	125	24	65	65	NUM
ajst-22339	125	25	a	a	DET
ajst-22339	125	26	series	series	NOUN
ajst-22339	125	27	of	of	ADP
ajst-22339	125	28	paired	pair	VERB
ajst-22339	125	29	point	point	NOUN
ajst-22339	125	30	clouds	cloud	NOUN
ajst-22339	125	31	and	and	CCONJ
ajst-22339	125	32	ground	ground	NOUN
ajst-22339	125	33	-	-	PUNCT
ajst-22339	125	34	truth	truth	NOUN
ajst-22339	125	35	transformations	transformation	NOUN
ajst-22339	125	36	between	between	ADP
ajst-22339	125	37	them	they	PRON
ajst-22339	125	38	.	.	PUNCT
ajst-22339	126	1	4.3	4.3	NUM
ajst-22339	126	2	.	.	PUNCT
ajst-22339	127	1	kitti	kitti	PROPN
ajst-22339	127	2	the	the	DET
ajst-22339	127	3	kitti	kitti	PROPN
ajst-22339	127	4	dataset	dataset	PROPN
ajst-22339	127	5	is	be	AUX
ajst-22339	127	6	a	a	DET
ajst-22339	127	7	benchmark	benchmark	NOUN
ajst-22339	127	8	dataset	dataset	NOUN
ajst-22339	127	9	in	in	ADP
ajst-22339	127	10	autonomous	autonomous	ADJ
ajst-22339	127	11	driving	driving	NOUN
ajst-22339	127	12	research	research	NOUN
ajst-22339	127	13	and	and	CCONJ
ajst-22339	127	14	contains	contain	VERB
ajst-22339	127	15	a	a	DET
ajst-22339	127	16	variety	variety	NOUN
ajst-22339	127	17	of	of	ADP
ajst-22339	127	18	sensor	sensor	NOUN
ajst-22339	127	19	data	datum	NOUN
ajst-22339	127	20	collected	collect	VERB
ajst-22339	127	21	from	from	ADP
ajst-22339	127	22	moving	move	VERB
ajst-22339	127	23	vehicles	vehicle	NOUN
ajst-22339	127	24	,	,	PUNCT
ajst-22339	127	25	including	include	VERB
ajst-22339	127	26	lidar	lidar	NOUN
ajst-22339	127	27	scans	scan	NOUN
ajst-22339	127	28	for	for	ADP
ajst-22339	127	29	point	point	NOUN
ajst-22339	127	30	cloud	cloud	NOUN
ajst-22339	127	31	generation	generation	NOUN
ajst-22339	127	32	.	.	PUNCT
ajst-22339	128	1	the	the	DET
ajst-22339	128	2	point	point	NOUN
ajst-22339	128	3	cloud	cloud	ADJ
ajst-22339	128	4	alignment	alignment	NOUN
ajst-22339	128	5	component	component	NOUN
ajst-22339	128	6	of	of	ADP
ajst-22339	128	7	the	the	DET
ajst-22339	128	8	kitti	kitti	PROPN
ajst-22339	128	9	dataset	dataset	PROPN
ajst-22339	128	10	focuses	focus	VERB
ajst-22339	128	11	specifically	specifically	ADV
ajst-22339	128	12	on	on	ADP
ajst-22339	128	13	the	the	DET
ajst-22339	128	14	evaluation	evaluation	NOUN
ajst-22339	128	15	of	of	ADP
ajst-22339	128	16	vehicle	vehicle	NOUN
ajst-22339	128	17	environment	environment	NOUN
ajst-22339	128	18	awareness	awareness	NOUN
ajst-22339	128	19	capabilities	capability	NOUN
ajst-22339	128	20	,	,	PUNCT
ajst-22339	128	21	such	such	ADJ
ajst-22339	128	22	as	as	ADP
ajst-22339	128	23	road	road	NOUN
ajst-22339	128	24	and	and	CCONJ
ajst-22339	128	25	vehicle	vehicle	NOUN
ajst-22339	128	26	detection	detection	NOUN
ajst-22339	128	27	,	,	PUNCT
ajst-22339	128	28	and	and	CCONJ
ajst-22339	128	29	3d	3d	NUM
ajst-22339	128	30	reconstruction	reconstruction	NOUN
ajst-22339	128	31	.	.	PUNCT
ajst-22339	129	1	this	this	PRON
ajst-22339	129	2	makes	make	VERB
ajst-22339	129	3	kitti	kitti	VERB
ajst-22339	129	4	an	an	DET
ajst-22339	129	5	ideal	ideal	ADJ
ajst-22339	129	6	platform	platform	NOUN
ajst-22339	129	7	for	for	ADP
ajst-22339	129	8	evaluating	evaluate	VERB
ajst-22339	129	9	and	and	CCONJ
ajst-22339	129	10	developing	develop	VERB
ajst-22339	129	11	point	point	NOUN
ajst-22339	129	12	cloud	cloud	ADJ
ajst-22339	129	13	alignment	alignment	NOUN
ajst-22339	129	14	techniques	technique	NOUN
ajst-22339	129	15	for	for	ADP
ajst-22339	129	16	autonomous	autonomous	ADJ
ajst-22339	129	17	driving	driving	NOUN
ajst-22339	129	18	applications	application	NOUN
ajst-22339	129	19	.	.	PUNCT
ajst-22339	130	1	4.4	4.4	NUM
ajst-22339	130	2	.	.	PUNCT
ajst-22339	131	1	modelnet	modelnet	PROPN
ajst-22339	131	2	modelnet	modelnet	PROPN
ajst-22339	131	3	is	be	AUX
ajst-22339	131	4	a	a	DET
ajst-22339	131	5	large	large	ADJ
ajst-22339	131	6	-	-	PUNCT
ajst-22339	131	7	scale	scale	NOUN
ajst-22339	131	8	3d	3d	NUM
ajst-22339	131	9	cad	cad	PROPN
ajst-22339	131	10	model	model	NOUN
ajst-22339	131	11	dataset	dataset	NOUN
ajst-22339	131	12	containing	contain	VERB
ajst-22339	131	13	carefully	carefully	ADV
ajst-22339	131	14	selected	select	VERB
ajst-22339	131	15	models	model	NOUN
ajst-22339	131	16	from	from	ADP
ajst-22339	131	17	40	40	NUM
ajst-22339	131	18	object	object	NOUN
ajst-22339	131	19	classes	class	NOUN
ajst-22339	131	20	(	(	PUNCT
ajst-22339	131	21	e.g.	e.g.	ADV
ajst-22339	131	22	,	,	PUNCT
ajst-22339	131	23	chairs	chair	NOUN
ajst-22339	131	24	,	,	PUNCT
ajst-22339	131	25	tables	table	NOUN
ajst-22339	131	26	,	,	PUNCT
ajst-22339	131	27	airplanes	airplane	NOUN
ajst-22339	131	28	,	,	PUNCT
ajst-22339	131	29	etc	etc	X
ajst-22339	131	30	.	.	X
ajst-22339	131	31	)	)	PUNCT
ajst-22339	131	32	as	as	SCONJ
ajst-22339	131	33	shown	show	VERB
ajst-22339	131	34	in	in	ADP
ajst-22339	131	35	figure	figure	NOUN
ajst-22339	131	36	4	4	NUM
ajst-22339	131	37	.	.	PUNCT
ajst-22339	131	38	modelnet	modelnet	NOUN
ajst-22339	131	39	is	be	AUX
ajst-22339	131	40	commonly	commonly	ADV
ajst-22339	131	41	used	use	VERB
ajst-22339	131	42	for	for	ADP
ajst-22339	131	43	benchmarking	benchmarke	VERB
ajst-22339	131	44	3d	3d	NUM
ajst-22339	131	45	object	object	NOUN
ajst-22339	131	46	recognition	recognition	NOUN
ajst-22339	131	47	and	and	CCONJ
ajst-22339	131	48	point	point	VERB
ajst-22339	131	49	cloud	cloud	NOUN
ajst-22339	131	50	alignment	alignment	NOUN
ajst-22339	131	51	,	,	PUNCT
ajst-22339	131	52	and	and	CCONJ
ajst-22339	131	53	is	be	AUX
ajst-22339	131	54	especially	especially	ADV
ajst-22339	131	55	useful	useful	ADJ
ajst-22339	131	56	for	for	ADP
ajst-22339	131	57	investigating	investigate	VERB
ajst-22339	131	58	the	the	DET
ajst-22339	131	59	algorithms	algorithm	NOUN
ajst-22339	131	60	'	'	PART
ajst-22339	131	61	generalization	generalization	NOUN
ajst-22339	131	62	capabilities	capability	NOUN
ajst-22339	131	63	.	.	PUNCT
ajst-22339	132	1	these	these	DET
ajst-22339	132	2	datasets	dataset	NOUN
ajst-22339	132	3	and	and	CCONJ
ajst-22339	132	4	benchmark	benchmark	NOUN
ajst-22339	132	5	tests	test	NOUN
ajst-22339	132	6	are	be	AUX
ajst-22339	132	7	crucial	crucial	ADJ
ajst-22339	132	8	for	for	ADP
ajst-22339	132	9	the	the	DET
ajst-22339	132	10	development	development	NOUN
ajst-22339	132	11	of	of	ADP
ajst-22339	132	12	point	point	NOUN
ajst-22339	132	13	cloud	cloud	ADJ
ajst-22339	132	14	alignment	alignment	NOUN
ajst-22339	132	15	algorithms	algorithm	NOUN
ajst-22339	132	16	.	.	PUNCT
ajst-22339	133	1	they	they	PRON
ajst-22339	133	2	not	not	PART
ajst-22339	133	3	only	only	ADV
ajst-22339	133	4	provide	provide	VERB
ajst-22339	133	5	the	the	DET
ajst-22339	133	6	basis	basis	NOUN
ajst-22339	133	7	for	for	ADP
ajst-22339	133	8	algorithm	algorithm	NOUN
ajst-22339	133	9	development	development	NOUN
ajst-22339	133	10	and	and	CCONJ
ajst-22339	133	11	testing	testing	NOUN
ajst-22339	133	12	,	,	PUNCT
ajst-22339	133	13	but	but	CCONJ
ajst-22339	133	14	also	also	ADV
ajst-22339	133	15	drive	drive	VERB
ajst-22339	133	16	progress	progress	NOUN
ajst-22339	133	17	and	and	CCONJ
ajst-22339	133	18	innovation	innovation	NOUN
ajst-22339	133	19	in	in	ADP
ajst-22339	133	20	point	point	NOUN
ajst-22339	133	21	cloud	cloud	ADJ
ajst-22339	133	22	alignment	alignment	NOUN
ajst-22339	133	23	techniques	technique	NOUN
ajst-22339	133	24	through	through	ADP
ajst-22339	133	25	systematic	systematic	ADJ
ajst-22339	133	26	evaluation	evaluation	NOUN
ajst-22339	133	27	and	and	CCONJ
ajst-22339	133	28	comparison	comparison	NOUN
ajst-22339	133	29	.	.	PUNCT
ajst-22339	134	1	as	as	ADP
ajst-22339	134	2	more	more	ADJ
ajst-22339	134	3	specialized	specialized	ADJ
ajst-22339	134	4	datasets	dataset	NOUN
ajst-22339	134	5	are	be	AUX
ajst-22339	134	6	developed	develop	VERB
ajst-22339	134	7	,	,	PUNCT
ajst-22339	134	8	it	it	PRON
ajst-22339	134	9	is	be	AUX
ajst-22339	134	10	expected	expect	VERB
ajst-22339	134	11	that	that	SCONJ
ajst-22339	134	12	point	point	NOUN
ajst-22339	134	13	cloud	cloud	ADJ
ajst-22339	134	14	alignment	alignment	NOUN
ajst-22339	134	15	techniques	technique	NOUN
ajst-22339	134	16	will	will	AUX
ajst-22339	134	17	continue	continue	VERB
ajst-22339	134	18	to	to	PART
ajst-22339	134	19	improve	improve	VERB
ajst-22339	134	20	to	to	PART
ajst-22339	134	21	meet	meet	VERB
ajst-22339	134	22	the	the	DET
ajst-22339	134	23	growing	grow	VERB
ajst-22339	134	24	demand	demand	NOUN
ajst-22339	134	25	of	of	ADP
ajst-22339	134	26	applications	application	NOUN
ajst-22339	134	27	.	.	PUNCT
ajst-22339	135	1	fig	fig	NOUN
ajst-22339	135	2	4	4	NUM
ajst-22339	135	3	.	.	PUNCT
ajst-22339	136	1	sample	sample	NOUN
ajst-22339	136	2	diagram	diagram	NOUN
ajst-22339	136	3	of	of	ADP
ajst-22339	136	4	data	datum	NOUN
ajst-22339	136	5	set	set	VERB
ajst-22339	136	6	5	5	NUM
ajst-22339	136	7	.	.	PUNCT
ajst-22339	137	1	application	application	NOUN
ajst-22339	137	2	examples	example	NOUN
ajst-22339	137	3	point	point	VERB
ajst-22339	137	4	cloud	cloud	ADJ
ajst-22339	137	5	alignment	alignment	NOUN
ajst-22339	137	6	technology	technology	NOUN
ajst-22339	137	7	plays	play	VERB
ajst-22339	137	8	a	a	DET
ajst-22339	137	9	critical	critical	ADJ
ajst-22339	137	10	role	role	NOUN
ajst-22339	137	11	in	in	ADP
ajst-22339	137	12	a	a	DET
ajst-22339	137	13	number	number	NOUN
ajst-22339	137	14	of	of	ADP
ajst-22339	137	15	applications	application	NOUN
ajst-22339	137	16	in	in	ADP
ajst-22339	137	17	a	a	DET
ajst-22339	137	18	variety	variety	NOUN
ajst-22339	137	19	of	of	ADP
ajst-22339	137	20	fields	field	NOUN
ajst-22339	137	21	due	due	ADP
ajst-22339	137	22	to	to	ADP
ajst-22339	137	23	its	its	PRON
ajst-22339	137	24	high	high	ADJ
ajst-22339	137	25	accuracy	accuracy	NOUN
ajst-22339	137	26	and	and	CCONJ
ajst-22339	137	27	efficiency	efficiency	NOUN
ajst-22339	137	28	.	.	PUNCT
ajst-22339	138	1	below	below	ADV
ajst-22339	138	2	are	be	AUX
ajst-22339	138	3	some	some	DET
ajst-22339	138	4	specific	specific	ADJ
ajst-22339	138	5	application	application	NOUN
ajst-22339	138	6	examples	example	NOUN
ajst-22339	138	7	that	that	PRON
ajst-22339	138	8	demonstrate	demonstrate	VERB
ajst-22339	138	9	how	how	SCONJ
ajst-22339	138	10	point	point	NOUN
ajst-22339	138	11	cloud	cloud	ADJ
ajst-22339	138	12	alignment	alignment	NOUN
ajst-22339	138	13	technology	technology	NOUN
ajst-22339	138	14	can	can	AUX
ajst-22339	138	15	support	support	VERB
ajst-22339	138	16	the	the	DET
ajst-22339	138	17	technical	technical	ADJ
ajst-22339	138	18	requirements	requirement	NOUN
ajst-22339	138	19	and	and	CCONJ
ajst-22339	138	20	business	business	NOUN
ajst-22339	138	21	objectives	objective	NOUN
ajst-22339	138	22	of	of	ADP
ajst-22339	138	23	various	various	ADJ
ajst-22339	138	24	industries	industry	NOUN
ajst-22339	138	25	.	.	PUNCT
ajst-22339	139	1	(	(	PUNCT
ajst-22339	139	2	1	1	X
ajst-22339	139	3	)	)	PUNCT
ajst-22339	139	4	in	in	ADP
ajst-22339	139	5	the	the	DET
ajst-22339	139	6	field	field	NOUN
ajst-22339	139	7	of	of	ADP
ajst-22339	139	8	autonomous	autonomous	ADJ
ajst-22339	139	9	driving	driving	NOUN
ajst-22339	139	10	,	,	PUNCT
ajst-22339	139	11	point	point	NOUN
ajst-22339	139	12	cloud	cloud	ADJ
ajst-22339	139	13	alignment	alignment	NOUN
ajst-22339	139	14	technology	technology	NOUN
ajst-22339	139	15	is	be	AUX
ajst-22339	139	16	one	one	NUM
ajst-22339	139	17	of	of	ADP
ajst-22339	139	18	the	the	DET
ajst-22339	139	19	core	core	NOUN
ajst-22339	139	20	technologies	technology	NOUN
ajst-22339	139	21	for	for	ADP
ajst-22339	139	22	achieving	achieve	VERB
ajst-22339	139	23	precise	precise	ADJ
ajst-22339	139	24	vehicle	vehicle	NOUN
ajst-22339	139	25	positioning	positioning	NOUN
ajst-22339	139	26	and	and	CCONJ
ajst-22339	139	27	environment	environment	NOUN
ajst-22339	139	28	modeling	modeling	NOUN
ajst-22339	139	29	.	.	PUNCT
ajst-22339	140	1	by	by	ADP
ajst-22339	140	2	real	real	ADJ
ajst-22339	140	3	-	-	PUNCT
ajst-22339	140	4	time	time	NOUN
ajst-22339	140	5	alignment	alignment	NOUN
ajst-22339	140	6	of	of	ADP
ajst-22339	140	7	point	point	NOUN
ajst-22339	140	8	cloud	cloud	NOUN
ajst-22339	140	9	data	datum	NOUN
ajst-22339	140	10	from	from	ADP
ajst-22339	140	11	on	on	ADP
ajst-22339	140	12	-	-	PUNCT
ajst-22339	140	13	board	board	NOUN
ajst-22339	140	14	lidar	lidar	NOUN
ajst-22339	140	15	sensors	sensor	NOUN
ajst-22339	140	16	,	,	PUNCT
ajst-22339	140	17	autonomous	autonomous	ADJ
ajst-22339	140	18	driving	driving	NOUN
ajst-22339	140	19	systems	system	NOUN
ajst-22339	140	20	are	be	AUX
ajst-22339	140	21	able	able	ADJ
ajst-22339	140	22	to	to	PART
ajst-22339	140	23	construct	construct	VERB
ajst-22339	140	24	detailed	detailed	ADJ
ajst-22339	140	25	3d	3d	NOUN
ajst-22339	140	26	maps	map	NOUN
ajst-22339	140	27	of	of	ADP
ajst-22339	140	28	their	their	PRON
ajst-22339	140	29	surroundings	surrounding	NOUN
ajst-22339	140	30	and	and	CCONJ
ajst-22339	140	31	continuously	continuously	ADV
ajst-22339	140	32	update	update	VERB
ajst-22339	140	33	dynamic	dynamic	ADJ
ajst-22339	140	34	changes	change	NOUN
ajst-22339	140	35	around	around	ADP
ajst-22339	140	36	the	the	DET
ajst-22339	140	37	vehicle	vehicle	NOUN
ajst-22339	140	38	,	,	PUNCT
ajst-22339	140	39	such	such	ADJ
ajst-22339	140	40	as	as	ADP
ajst-22339	140	41	the	the	DET
ajst-22339	140	42	locations	location	NOUN
ajst-22339	140	43	of	of	ADP
ajst-22339	140	44	pedestrians	pedestrian	NOUN
ajst-22339	140	45	,	,	PUNCT
ajst-22339	140	46	other	other	ADJ
ajst-22339	140	47	vehicles	vehicle	NOUN
ajst-22339	140	48	,	,	PUNCT
ajst-22339	140	49	and	and	CCONJ
ajst-22339	140	50	roadblocks	roadblock	NOUN
ajst-22339	140	51	.	.	PUNCT
ajst-22339	141	1	this	this	DET
ajst-22339	141	2	information	information	NOUN
ajst-22339	141	3	is	be	AUX
ajst-22339	141	4	critical	critical	ADJ
ajst-22339	141	5	for	for	ADP
ajst-22339	141	6	path	path	NOUN
ajst-22339	141	7	planning	planning	NOUN
ajst-22339	141	8	,	,	PUNCT
ajst-22339	141	9	obstacle	obstacle	NOUN
ajst-22339	141	10	avoidance	avoidance	NOUN
ajst-22339	141	11	decisions	decision	NOUN
ajst-22339	141	12	,	,	PUNCT
ajst-22339	141	13	and	and	CCONJ
ajst-22339	141	14	vehicle	vehicle	NOUN
ajst-22339	141	15	control	control	NOUN
ajst-22339	141	16	systems	system	NOUN
ajst-22339	141	17	,	,	PUNCT
ajst-22339	141	18	ensuring	ensure	VERB
ajst-22339	141	19	the	the	DET
ajst-22339	141	20	operational	operational	ADJ
ajst-22339	141	21	safety	safety	NOUN
ajst-22339	141	22	and	and	CCONJ
ajst-22339	141	23	efficiency	efficiency	NOUN
ajst-22339	141	24	of	of	ADP
ajst-22339	141	25	self	self	NOUN
ajst-22339	141	26	-	-	PUNCT
ajst-22339	141	27	driving	drive	VERB
ajst-22339	141	28	vehicles	vehicle	NOUN
ajst-22339	141	29	.	.	PUNCT
ajst-22339	142	1	(	(	PUNCT
ajst-22339	142	2	2	2	X
ajst-22339	142	3	)	)	PUNCT
ajst-22339	142	4	in	in	ADP
ajst-22339	142	5	cultural	cultural	ADJ
ajst-22339	142	6	heritage	heritage	NOUN
ajst-22339	142	7	preservation	preservation	NOUN
ajst-22339	142	8	,	,	PUNCT
ajst-22339	142	9	point	point	NOUN
ajst-22339	142	10	cloud	cloud	ADJ
ajst-22339	142	11	alignment	alignment	NOUN
ajst-22339	142	12	techniques	technique	NOUN
ajst-22339	142	13	are	be	AUX
ajst-22339	142	14	used	use	VERB
ajst-22339	142	15	to	to	PART
ajst-22339	142	16	reconstruct	reconstruct	VERB
ajst-22339	142	17	accurate	accurate	ADJ
ajst-22339	142	18	3d	3d	NOUN
ajst-22339	142	19	models	model	NOUN
ajst-22339	142	20	of	of	ADP
ajst-22339	142	21	monuments	monument	NOUN
ajst-22339	142	22	from	from	ADP
ajst-22339	142	23	scanned	scanned	ADJ
ajst-22339	142	24	data	datum	NOUN
ajst-22339	142	25	acquired	acquire	VERB
ajst-22339	142	26	at	at	ADP
ajst-22339	142	27	different	different	ADJ
ajst-22339	142	28	times	time	NOUN
ajst-22339	142	29	and	and	CCONJ
ajst-22339	142	30	from	from	ADP
ajst-22339	142	31	different	different	ADJ
ajst-22339	142	32	viewpoints	viewpoint	NOUN
ajst-22339	142	33	.	.	PUNCT
ajst-22339	143	1	these	these	DET
ajst-22339	143	2	3d	3d	NOUN
ajst-22339	143	3	models	model	NOUN
ajst-22339	143	4	are	be	AUX
ajst-22339	143	5	not	not	PART
ajst-22339	143	6	only	only	ADV
ajst-22339	143	7	used	use	VERB
ajst-22339	143	8	for	for	ADP
ajst-22339	143	9	documentation	documentation	NOUN
ajst-22339	143	10	and	and	CCONJ
ajst-22339	143	11	archiving	archiving	NOUN
ajst-22339	143	12	,	,	PUNCT
ajst-22339	143	13	but	but	CCONJ
ajst-22339	143	14	also	also	ADV
ajst-22339	143	15	support	support	VERB
ajst-22339	143	16	the	the	DET
ajst-22339	143	17	restoration	restoration	NOUN
ajst-22339	143	18	and	and	CCONJ
ajst-22339	143	19	maintenance	maintenance	NOUN
ajst-22339	143	20	work	work	NOUN
ajst-22339	143	21	of	of	ADP
ajst-22339	143	22	monuments	monument	NOUN
ajst-22339	143	23	by	by	ADP
ajst-22339	143	24	assessing	assess	VERB
ajst-22339	143	25	possible	possible	ADJ
ajst-22339	143	26	damages	damage	NOUN
ajst-22339	143	27	or	or	CCONJ
ajst-22339	143	28	structural	structural	ADJ
ajst-22339	143	29	problems	problem	NOUN
ajst-22339	143	30	through	through	ADP
ajst-22339	143	31	virtual	virtual	ADJ
ajst-22339	143	32	reconstruction	reconstruction	NOUN
ajst-22339	143	33	.	.	PUNCT
ajst-22339	144	1	these	these	DET
ajst-22339	144	2	application	application	NOUN
ajst-22339	144	3	examples	example	NOUN
ajst-22339	144	4	clearly	clearly	ADV
ajst-22339	144	5	demonstrate	demonstrate	VERB
ajst-22339	144	6	the	the	DET
ajst-22339	144	7	wide	wide	ADJ
ajst-22339	144	8	range	range	NOUN
ajst-22339	144	9	of	of	ADP
ajst-22339	144	10	applications	application	NOUN
ajst-22339	144	11	and	and	CCONJ
ajst-22339	144	12	the	the	DET
ajst-22339	144	13	critical	critical	ADJ
ajst-22339	144	14	role	role	NOUN
ajst-22339	144	15	of	of	ADP
ajst-22339	144	16	point	point	NOUN
ajst-22339	144	17	cloud	cloud	ADJ
ajst-22339	144	18	alignment	alignment	NOUN
ajst-22339	144	19	technology	technology	NOUN
ajst-22339	144	20	in	in	ADP
ajst-22339	144	21	a	a	DET
ajst-22339	144	22	variety	variety	NOUN
ajst-22339	144	23	of	of	ADP
ajst-22339	144	24	industries	industry	NOUN
ajst-22339	144	25	,	,	PUNCT
ajst-22339	144	26	and	and	CCONJ
ajst-22339	144	27	it	it	PRON
ajst-22339	144	28	is	be	AUX
ajst-22339	144	29	expected	expect	VERB
ajst-22339	144	30	that	that	SCONJ
ajst-22339	144	31	the	the	DET
ajst-22339	144	32	scope	scope	NOUN
ajst-22339	144	33	and	and	CCONJ
ajst-22339	144	34	impact	impact	NOUN
ajst-22339	144	35	of	of	ADP
ajst-22339	144	36	its	its	PRON
ajst-22339	144	37	application	application	NOUN
ajst-22339	144	38	will	will	AUX
ajst-22339	144	39	further	far	ADV
ajst-22339	144	40	expand	expand	VERB
ajst-22339	144	41	as	as	ADP
ajst-22339	144	42	related	relate	VERB
ajst-22339	144	43	technologies	technology	NOUN
ajst-22339	144	44	advance	advance	NOUN
ajst-22339	144	45	.	.	PUNCT
ajst-22339	145	1	6	6	X
ajst-22339	145	2	.	.	X
ajst-22339	145	3	conclusion	conclusion	NOUN
ajst-22339	145	4	after	after	ADP
ajst-22339	145	5	years	year	NOUN
ajst-22339	145	6	of	of	ADP
ajst-22339	145	7	development	development	NOUN
ajst-22339	145	8	,	,	PUNCT
ajst-22339	145	9	point	point	NOUN
ajst-22339	145	10	cloud	cloud	ADJ
ajst-22339	145	11	alignment	alignment	NOUN
ajst-22339	145	12	technology	technology	NOUN
ajst-22339	145	13	has	have	AUX
ajst-22339	145	14	achieved	achieve	VERB
ajst-22339	145	15	a	a	DET
ajst-22339	145	16	lot	lot	NOUN
ajst-22339	145	17	of	of	ADP
ajst-22339	145	18	results	result	NOUN
ajst-22339	145	19	,	,	PUNCT
ajst-22339	145	20	and	and	CCONJ
ajst-22339	145	21	with	with	ADP
ajst-22339	145	22	the	the	DET
ajst-22339	145	23	development	development	NOUN
ajst-22339	145	24	of	of	ADP
ajst-22339	145	25	point	point	NOUN
ajst-22339	145	26	cloud	cloud	ADJ
ajst-22339	145	27	alignment	alignment	NOUN
ajst-22339	145	28	technology	technology	NOUN
ajst-22339	145	29	and	and	CCONJ
ajst-22339	145	30	indepth	indepth	NOUN
ajst-22339	145	31	into	into	ADP
ajst-22339	145	32	the	the	DET
ajst-22339	145	33	production	production	NOUN
ajst-22339	145	34	and	and	CCONJ
ajst-22339	145	35	life	life	NOUN
ajst-22339	145	36	,	,	PUNCT
ajst-22339	145	37	more	more	ADJ
ajst-22339	145	38	applications	application	NOUN
ajst-22339	145	39	of	of	ADP
ajst-22339	145	40	point	point	NOUN
ajst-22339	145	41	cloud	cloud	ADJ
ajst-22339	145	42	alignment	alignment	NOUN
ajst-22339	145	43	technology	technology	NOUN
ajst-22339	145	44	puts	put	VERB
ajst-22339	145	45	forward	forward	ADV
ajst-22339	145	46	higher	high	ADJ
ajst-22339	145	47	challenges	challenge	NOUN
ajst-22339	145	48	.	.	PUNCT
ajst-22339	146	1	(	(	PUNCT
ajst-22339	146	2	1	1	X
ajst-22339	146	3	)	)	PUNCT
ajst-22339	146	4	processing	process	VERB
ajst-22339	146	5	large	large	ADJ
ajst-22339	146	6	-	-	PUNCT
ajst-22339	146	7	scale	scale	NOUN
ajst-22339	146	8	point	point	NOUN
ajst-22339	146	9	cloud	cloud	NOUN
ajst-22339	146	10	data	datum	NOUN
ajst-22339	146	11	.	.	PUNCT
ajst-22339	147	1	with	with	ADP
ajst-22339	147	2	the	the	DET
ajst-22339	147	3	improvement	improvement	NOUN
ajst-22339	147	4	of	of	ADP
ajst-22339	147	5	the	the	DET
ajst-22339	147	6	resolution	resolution	NOUN
ajst-22339	147	7	of	of	ADP
ajst-22339	147	8	scanning	scan	VERB
ajst-22339	147	9	equipment	equipment	NOUN
ajst-22339	147	10	and	and	CCONJ
ajst-22339	147	11	the	the	DET
ajst-22339	147	12	expansion	expansion	NOUN
ajst-22339	147	13	of	of	ADP
ajst-22339	147	14	application	application	NOUN
ajst-22339	147	15	areas	area	NOUN
ajst-22339	147	16	,	,	PUNCT
ajst-22339	147	17	the	the	DET
ajst-22339	147	18	amount	amount	NOUN
ajst-22339	147	19	of	of	ADP
ajst-22339	147	20	generated	generate	VERB
ajst-22339	147	21	point	point	NOUN
ajst-22339	147	22	cloud	cloud	NOUN
ajst-22339	147	23	data	datum	NOUN
ajst-22339	147	24	increases	increase	VERB
ajst-22339	147	25	dramatically	dramatically	ADV
ajst-22339	147	26	.	.	PUNCT
ajst-22339	148	1	how	how	SCONJ
ajst-22339	148	2	to	to	PART
ajst-22339	148	3	efficiently	efficiently	ADV
ajst-22339	148	4	process	process	VERB
ajst-22339	148	5	these	these	DET
ajst-22339	148	6	large	large	ADJ
ajst-22339	148	7	-	-	PUNCT
ajst-22339	148	8	scale	scale	NOUN
ajst-22339	148	9	datasets	dataset	NOUN
ajst-22339	148	10	,	,	PUNCT
ajst-22339	148	11	especially	especially	ADV
ajst-22339	148	12	in	in	ADP
ajst-22339	148	13	resource	resource	NOUN
ajst-22339	148	14	-	-	PUNCT
ajst-22339	148	15	limited	limit	VERB
ajst-22339	148	16	66	66	NUM
ajst-22339	148	17	environments	environment	NOUN
ajst-22339	148	18	such	such	ADJ
ajst-22339	148	19	as	as	ADP
ajst-22339	148	20	mobile	mobile	ADJ
ajst-22339	148	21	devices	device	NOUN
ajst-22339	148	22	or	or	CCONJ
ajst-22339	148	23	real	real	ADJ
ajst-22339	148	24	-	-	PUNCT
ajst-22339	148	25	time	time	NOUN
ajst-22339	148	26	systems	system	NOUN
ajst-22339	148	27	,	,	PUNCT
ajst-22339	148	28	is	be	AUX
ajst-22339	148	29	a	a	DET
ajst-22339	148	30	major	major	ADJ
ajst-22339	148	31	challenge	challenge	NOUN
ajst-22339	148	32	.	.	PUNCT
ajst-22339	149	1	(	(	PUNCT
ajst-22339	149	2	2	2	X
ajst-22339	149	3	)	)	PUNCT
ajst-22339	149	4	real	real	ADJ
ajst-22339	149	5	-	-	PUNCT
ajst-22339	149	6	time	time	NOUN
ajst-22339	149	7	processing	processing	NOUN
ajst-22339	149	8	requirements	requirement	NOUN
ajst-22339	149	9	.	.	PUNCT
ajst-22339	150	1	for	for	ADP
ajst-22339	150	2	applications	application	NOUN
ajst-22339	150	3	such	such	ADJ
ajst-22339	150	4	as	as	ADP
ajst-22339	150	5	self	self	NOUN
ajst-22339	150	6	-	-	PUNCT
ajst-22339	150	7	driving	drive	VERB
ajst-22339	150	8	vehicles	vehicle	NOUN
ajst-22339	150	9	,	,	PUNCT
ajst-22339	150	10	robot	robot	NOUN
ajst-22339	150	11	navigation	navigation	NOUN
ajst-22339	150	12	,	,	PUNCT
ajst-22339	150	13	etc	etc	X
ajst-22339	150	14	.	.	X
ajst-22339	150	15	,	,	PUNCT
ajst-22339	150	16	point	point	VERB
ajst-22339	150	17	cloud	cloud	NOUN
ajst-22339	150	18	data	datum	NOUN
ajst-22339	150	19	needs	need	VERB
ajst-22339	150	20	to	to	PART
ajst-22339	150	21	be	be	AUX
ajst-22339	150	22	quickly	quickly	ADV
ajst-22339	150	23	and	and	CCONJ
ajst-22339	150	24	accurately	accurately	ADV
ajst-22339	150	25	aligned	align	VERB
ajst-22339	150	26	in	in	ADP
ajst-22339	150	27	realtime	realtime	NOUN
ajst-22339	150	28	or	or	CCONJ
ajst-22339	150	29	near	near	ADP
ajst-22339	150	30	real	real	ADJ
ajst-22339	150	31	-	-	PUNCT
ajst-22339	150	32	time	time	NOUN
ajst-22339	150	33	environments	environment	NOUN
ajst-22339	150	34	.	.	PUNCT
ajst-22339	151	1	this	this	PRON
ajst-22339	151	2	requires	require	VERB
ajst-22339	151	3	algorithms	algorithm	NOUN
ajst-22339	151	4	to	to	PART
ajst-22339	151	5	have	have	VERB
ajst-22339	151	6	not	not	PART
ajst-22339	151	7	only	only	ADV
ajst-22339	151	8	high	high	ADJ
ajst-22339	151	9	accuracy	accuracy	NOUN
ajst-22339	151	10	but	but	CCONJ
ajst-22339	151	11	also	also	ADV
ajst-22339	151	12	very	very	ADV
ajst-22339	151	13	low	low	ADJ
ajst-22339	151	14	latency	latency	NOUN
ajst-22339	151	15	.	.	PUNCT
ajst-22339	152	1	in	in	ADP
ajst-22339	152	2	order	order	NOUN
ajst-22339	152	3	to	to	PART
ajst-22339	152	4	cope	cope	VERB
ajst-22339	152	5	with	with	ADP
ajst-22339	152	6	the	the	DET
ajst-22339	152	7	challenges	challenge	NOUN
ajst-22339	152	8	facing	face	VERB
ajst-22339	152	9	point	point	NOUN
ajst-22339	152	10	cloud	cloud	NOUN
ajst-22339	152	11	alignment	alignment	NOUN
ajst-22339	152	12	,	,	PUNCT
ajst-22339	152	13	improve	improve	VERB
ajst-22339	152	14	the	the	DET
ajst-22339	152	15	performance	performance	NOUN
ajst-22339	152	16	and	and	CCONJ
ajst-22339	152	17	practicality	practicality	NOUN
ajst-22339	152	18	of	of	ADP
ajst-22339	152	19	point	point	NOUN
ajst-22339	152	20	cloud	cloud	ADJ
ajst-22339	152	21	alignment	alignment	NOUN
ajst-22339	152	22	algorithms	algorithm	NOUN
ajst-22339	152	23	,	,	PUNCT
ajst-22339	152	24	and	and	CCONJ
ajst-22339	152	25	look	look	VERB
ajst-22339	152	26	forward	forward	ADV
ajst-22339	152	27	to	to	ADP
ajst-22339	152	28	the	the	DET
ajst-22339	152	29	future	future	ADJ
ajst-22339	152	30	development	development	NOUN
ajst-22339	152	31	trend	trend	NOUN
ajst-22339	152	32	of	of	ADP
ajst-22339	152	33	point	point	NOUN
ajst-22339	152	34	cloud	cloud	ADJ
ajst-22339	152	35	alignment	alignment	NOUN
ajst-22339	152	36	algorithms	algorithm	NOUN
ajst-22339	152	37	,	,	PUNCT
ajst-22339	152	38	the	the	DET
ajst-22339	152	39	following	follow	VERB
ajst-22339	152	40	features	feature	NOUN
ajst-22339	152	41	are	be	AUX
ajst-22339	152	42	needed	need	VERB
ajst-22339	152	43	:	:	PUNCT
ajst-22339	152	44	(	(	PUNCT
ajst-22339	152	45	1	1	X
ajst-22339	152	46	)	)	PUNCT
ajst-22339	152	47	adaptive	adaptive	ADJ
ajst-22339	152	48	learning	learning	NOUN
ajst-22339	152	49	methods	method	NOUN
ajst-22339	152	50	.	.	PUNCT
ajst-22339	153	1	future	future	ADJ
ajst-22339	153	2	research	research	NOUN
ajst-22339	153	3	can	can	AUX
ajst-22339	153	4	focus	focus	VERB
ajst-22339	153	5	more	more	ADV
ajst-22339	153	6	on	on	ADP
ajst-22339	153	7	developing	develop	VERB
ajst-22339	153	8	adaptive	adaptive	ADJ
ajst-22339	153	9	learning	learning	NOUN
ajst-22339	153	10	algorithms	algorithm	NOUN
ajst-22339	153	11	that	that	PRON
ajst-22339	153	12	can	can	AUX
ajst-22339	153	13	automatically	automatically	ADV
ajst-22339	153	14	adjust	adjust	VERB
ajst-22339	153	15	their	their	PRON
ajst-22339	153	16	parameters	parameter	NOUN
ajst-22339	153	17	or	or	CCONJ
ajst-22339	153	18	structures	structure	NOUN
ajst-22339	153	19	according	accord	VERB
ajst-22339	153	20	to	to	ADP
ajst-22339	153	21	different	different	ADJ
ajst-22339	153	22	application	application	NOUN
ajst-22339	153	23	scenarios	scenario	NOUN
ajst-22339	153	24	and	and	CCONJ
ajst-22339	153	25	data	datum	NOUN
ajst-22339	153	26	characteristics	characteristic	NOUN
ajst-22339	153	27	.	.	PUNCT
ajst-22339	154	1	this	this	DET
ajst-22339	154	2	adaptivity	adaptivity	NOUN
ajst-22339	154	3	can	can	AUX
ajst-22339	154	4	significantly	significantly	ADV
ajst-22339	154	5	improve	improve	VERB
ajst-22339	154	6	the	the	DET
ajst-22339	154	7	generalization	generalization	NOUN
ajst-22339	154	8	and	and	CCONJ
ajst-22339	154	9	performance	performance	NOUN
ajst-22339	154	10	of	of	ADP
ajst-22339	154	11	the	the	DET
ajst-22339	154	12	algorithms	algorithm	NOUN
ajst-22339	154	13	on	on	ADP
ajst-22339	154	14	unseen	unseen	ADJ
ajst-22339	154	15	data	datum	NOUN
ajst-22339	154	16	.	.	PUNCT
ajst-22339	155	1	(	(	PUNCT
ajst-22339	155	2	2	2	X
ajst-22339	155	3	)	)	PUNCT
ajst-22339	155	4	integration	integration	NOUN
ajst-22339	155	5	of	of	ADP
ajst-22339	155	6	deep	deep	ADJ
ajst-22339	155	7	learning	learning	NOUN
ajst-22339	155	8	with	with	ADP
ajst-22339	155	9	traditional	traditional	ADJ
ajst-22339	155	10	models	model	NOUN
ajst-22339	155	11	.	.	PUNCT
ajst-22339	156	1	although	although	SCONJ
ajst-22339	156	2	deep	deep	ADJ
ajst-22339	156	3	learning	learning	NOUN
ajst-22339	156	4	has	have	AUX
ajst-22339	156	5	shown	show	VERB
ajst-22339	156	6	great	great	ADJ
ajst-22339	156	7	potential	potential	NOUN
ajst-22339	156	8	in	in	ADP
ajst-22339	156	9	point	point	NOUN
ajst-22339	156	10	cloud	cloud	NOUN
ajst-22339	156	11	alignment	alignment	NOUN
ajst-22339	156	12	,	,	PUNCT
ajst-22339	156	13	combining	combine	VERB
ajst-22339	156	14	it	it	PRON
ajst-22339	156	15	with	with	ADP
ajst-22339	156	16	traditional	traditional	ADJ
ajst-22339	156	17	geometric	geometric	ADJ
ajst-22339	156	18	processing	processing	NOUN
ajst-22339	156	19	methods	method	NOUN
ajst-22339	156	20	(	(	PUNCT
ajst-22339	156	21	e.g.	e.g.	ADV
ajst-22339	156	22	,	,	PUNCT
ajst-22339	156	23	icp	icp	PROPN
ajst-22339	156	24	and	and	CCONJ
ajst-22339	156	25	its	its	PRON
ajst-22339	156	26	variants	variant	NOUN
ajst-22339	156	27	)	)	PUNCT
ajst-22339	156	28	may	may	AUX
ajst-22339	156	29	be	be	AUX
ajst-22339	156	30	able	able	ADJ
ajst-22339	156	31	to	to	PART
ajst-22339	156	32	capitalize	capitalize	VERB
ajst-22339	156	33	on	on	ADP
ajst-22339	156	34	the	the	DET
ajst-22339	156	35	stability	stability	NOUN
ajst-22339	156	36	and	and	CCONJ
ajst-22339	156	37	low	low	ADJ
ajst-22339	156	38	-	-	PUNCT
ajst-22339	156	39	resource	resource	NOUN
ajst-22339	156	40	-	-	PUNCT
ajst-22339	156	41	consumption	consumption	NOUN
ajst-22339	156	42	advantages	advantage	NOUN
ajst-22339	156	43	of	of	ADP
ajst-22339	156	44	traditional	traditional	ADJ
ajst-22339	156	45	methods	method	NOUN
ajst-22339	156	46	while	while	SCONJ
ajst-22339	156	47	maintaining	maintain	VERB
ajst-22339	156	48	the	the	DET
ajst-22339	156	49	flexibility	flexibility	NOUN
ajst-22339	156	50	of	of	ADP
ajst-22339	156	51	deep	deep	ADJ
ajst-22339	156	52	learning	learning	NOUN
ajst-22339	156	53	.	.	PUNCT
ajst-22339	157	1	(	(	PUNCT
ajst-22339	157	2	3	3	X
ajst-22339	157	3	)	)	PUNCT
ajst-22339	157	4	new	new	ADJ
ajst-22339	157	5	sensing	sense	VERB
ajst-22339	157	6	technologies	technology	NOUN
ajst-22339	157	7	.	.	PUNCT
ajst-22339	158	1	explore	explore	VERB
ajst-22339	158	2	new	new	ADJ
ajst-22339	158	3	sensing	sensing	NOUN
ajst-22339	158	4	technologies	technology	NOUN
ajst-22339	158	5	and	and	CCONJ
ajst-22339	158	6	alignment	alignment	NOUN
ajst-22339	158	7	methods	method	NOUN
ajst-22339	158	8	to	to	PART
ajst-22339	158	9	better	well	ADV
ajst-22339	158	10	capture	capture	VERB
ajst-22339	158	11	details	detail	NOUN
ajst-22339	158	12	in	in	ADP
ajst-22339	158	13	complex	complex	ADJ
ajst-22339	158	14	environments	environment	NOUN
ajst-22339	158	15	while	while	SCONJ
ajst-22339	158	16	reducing	reduce	VERB
ajst-22339	158	17	equipment	equipment	NOUN
ajst-22339	158	18	costs	cost	NOUN
ajst-22339	158	19	and	and	CCONJ
ajst-22339	158	20	computational	computational	ADJ
ajst-22339	158	21	requirements	requirement	NOUN
ajst-22339	158	22	for	for	ADP
ajst-22339	158	23	data	datum	NOUN
ajst-22339	158	24	processing	processing	NOUN
ajst-22339	158	25	.	.	PUNCT
ajst-22339	159	1	as	as	ADP
ajst-22339	159	2	a	a	DET
ajst-22339	159	3	core	core	NOUN
ajst-22339	159	4	technology	technology	NOUN
ajst-22339	159	5	in	in	ADP
ajst-22339	159	6	the	the	DET
ajst-22339	159	7	field	field	NOUN
ajst-22339	159	8	of	of	ADP
ajst-22339	159	9	3d	3d	PROPN
ajst-22339	159	10	vision	vision	NOUN
ajst-22339	159	11	,	,	PUNCT
ajst-22339	159	12	point	point	NOUN
ajst-22339	159	13	cloud	cloud	ADJ
ajst-22339	159	14	alignment	alignment	NOUN
ajst-22339	159	15	will	will	AUX
ajst-22339	159	16	continue	continue	VERB
ajst-22339	159	17	to	to	PART
ajst-22339	159	18	expand	expand	VERB
ajst-22339	159	19	its	its	PRON
ajst-22339	159	20	application	application	NOUN
ajst-22339	159	21	in	in	ADP
ajst-22339	159	22	multiple	multiple	ADJ
ajst-22339	159	23	fields	field	NOUN
ajst-22339	159	24	with	with	ADP
ajst-22339	159	25	the	the	DET
ajst-22339	159	26	improvement	improvement	NOUN
ajst-22339	159	27	of	of	ADP
ajst-22339	159	28	computing	compute	VERB
ajst-22339	159	29	power	power	NOUN
ajst-22339	159	30	and	and	CCONJ
ajst-22339	159	31	the	the	DET
ajst-22339	159	32	advancement	advancement	NOUN
ajst-22339	159	33	of	of	ADP
ajst-22339	159	34	machine	machine	NOUN
ajst-22339	159	35	learning	learning	NOUN
ajst-22339	159	36	methods	method	NOUN
ajst-22339	159	37	.	.	PUNCT
ajst-22339	160	1	the	the	DET
ajst-22339	160	2	incorporation	incorporation	NOUN
ajst-22339	160	3	of	of	ADP
ajst-22339	160	4	deep	deep	ADJ
ajst-22339	160	5	learning	learning	NOUN
ajst-22339	160	6	in	in	ADP
ajst-22339	160	7	particular	particular	ADJ
ajst-22339	160	8	has	have	AUX
ajst-22339	160	9	brought	bring	VERB
ajst-22339	160	10	revolutionary	revolutionary	ADJ
ajst-22339	160	11	improvements	improvement	NOUN
ajst-22339	160	12	to	to	PART
ajst-22339	160	13	point	point	VERB
ajst-22339	160	14	cloud	cloud	NOUN
ajst-22339	160	15	alignment	alignment	NOUN
ajst-22339	160	16	,	,	PUNCT
ajst-22339	160	17	and	and	CCONJ
ajst-22339	160	18	future	future	ADJ
ajst-22339	160	19	research	research	NOUN
ajst-22339	160	20	is	be	AUX
ajst-22339	160	21	expected	expect	VERB
ajst-22339	160	22	to	to	PART
ajst-22339	160	23	address	address	VERB
ajst-22339	160	24	the	the	DET
ajst-22339	160	25	limitations	limitation	NOUN
ajst-22339	160	26	of	of	ADP
ajst-22339	160	27	existing	exist	VERB
ajst-22339	160	28	techniques	technique	NOUN
ajst-22339	160	29	and	and	CCONJ
ajst-22339	160	30	promote	promote	VERB
ajst-22339	160	31	the	the	DET
ajst-22339	160	32	further	further	ADJ
ajst-22339	160	33	development	development	NOUN
ajst-22339	160	34	of	of	ADP
ajst-22339	160	35	this	this	DET
ajst-22339	160	36	technology	technology	NOUN
ajst-22339	160	37	.	.	PUNCT
ajst-22339	161	1	acknowledgments	acknowledgment	NOUN
ajst-22339	161	2	this	this	DET
ajst-22339	161	3	work	work	NOUN
ajst-22339	161	4	was	be	AUX
ajst-22339	161	5	supported	support	VERB
ajst-22339	161	6	in	in	ADP
ajst-22339	161	7	part	part	NOUN
ajst-22339	161	8	by	by	ADP
ajst-22339	161	9	the	the	DET
ajst-22339	161	10	key	key	ADJ
ajst-22339	161	11	technologies	technology	NOUN
ajst-22339	161	12	r	r	PROPN
ajst-22339	161	13	&	&	CCONJ
ajst-22339	161	14	d	d	PROPN
ajst-22339	161	15	program	program	NOUN
ajst-22339	161	16	of	of	ADP
ajst-22339	161	17	henan	henan	PROPN
ajst-22339	161	18	province	province	PROPN
ajst-22339	161	19	under	under	ADP
ajst-22339	161	20	grant	grant	PROPN
ajst-22339	161	21	no	no	NOUN
ajst-22339	161	22	.	.	PROPN
ajst-22339	161	23	232102210048	232102210048	NUM
ajst-22339	161	24	and	and	CCONJ
ajst-22339	161	25	222102210080	222102210080	NUM
ajst-22339	161	26	,	,	PUNCT
ajst-22339	161	27	in	in	ADP
ajst-22339	161	28	part	part	NOUN
ajst-22339	161	29	by	by	ADP
ajst-22339	161	30	the	the	DET
ajst-22339	161	31	longmen	longmen	PROPN
ajst-22339	161	32	laboratory	laboratory	PROPN
ajst-22339	161	33	frontier	frontier	NOUN
ajst-22339	161	34	exploration	exploration	NOUN
ajst-22339	161	35	project	project	NOUN
ajst-22339	161	36	of	of	ADP
ajst-22339	161	37	henan	henan	PROPN
ajst-22339	161	38	province	province	PROPN
ajst-22339	161	39	under	under	ADP
ajst-22339	161	40	grant	grant	PROPN
ajst-22339	161	41	no	no	NOUN
ajst-22339	161	42	.	.	PUNCT
ajst-22339	162	1	mqytskt035	mqytskt035	PROPN
ajst-22339	162	2	,	,	PUNCT
ajst-22339	162	3	in	in	ADP
ajst-22339	162	4	part	part	NOUN
ajst-22339	162	5	by	by	ADP
ajst-22339	162	6	the	the	DET
ajst-22339	162	7	joint	joint	ADJ
ajst-22339	162	8	funds	fund	NOUN
ajst-22339	162	9	for	for	ADP
ajst-22339	162	10	science	science	NOUN
ajst-22339	162	11	and	and	CCONJ
ajst-22339	162	12	technology	technology	NOUN
ajst-22339	162	13	research	research	NOUN
ajst-22339	162	14	and	and	CCONJ
ajst-22339	162	15	development	development	NOUN
ajst-22339	162	16	plan	plan	NOUN
ajst-22339	162	17	of	of	ADP
ajst-22339	162	18	henan	henan	PROPN
ajst-22339	162	19	province	province	PROPN
ajst-22339	162	20	under	under	ADP
ajst-22339	162	21	grant	grant	PROPN
ajst-22339	162	22	no	no	NOUN
ajst-22339	162	23	.	.	NOUN
ajst-22339	162	24	2221	2221	NUM
ajst-22339	162	25	03810031	03810031	NUM
ajst-22339	162	26	.	.	PUNCT
ajst-22339	163	1	references	reference	NOUN
ajst-22339	163	2	[	[	X
ajst-22339	163	3	1	1	NUM
ajst-22339	163	4	]	]	PUNCT
ajst-22339	163	5	besl	besl	NOUN
ajst-22339	163	6	,	,	PUNCT
ajst-22339	163	7	p.	p.	PROPN
ajst-22339	163	8	j.	j.	PROPN
ajst-22339	163	9	,	,	PUNCT
ajst-22339	163	10	&	&	CCONJ
ajst-22339	163	11	mckay	mckay	PROPN
ajst-22339	163	12	,	,	PUNCT
ajst-22339	163	13	n.	n.	PROPN
ajst-22339	163	14	d.	d.	PROPN
ajst-22339	163	15	(	(	PUNCT
ajst-22339	163	16	1992	1992	NUM
ajst-22339	163	17	)	)	PUNCT
ajst-22339	163	18	.	.	PUNCT
ajst-22339	164	1	a	a	DET
ajst-22339	164	2	method	method	NOUN
ajst-22339	164	3	for	for	ADP
ajst-22339	164	4	registration	registration	NOUN
ajst-22339	164	5	of	of	ADP
ajst-22339	164	6	3	3	NUM
ajst-22339	164	7	-	-	PUNCT
ajst-22339	164	8	d	d	NOUN
ajst-22339	164	9	shapes	shape	NOUN
ajst-22339	164	10	.	.	PUNCT
ajst-22339	165	1	ieee	ieee	NOUN
ajst-22339	165	2	transactions	transaction	NOUN
ajst-22339	165	3	on	on	ADP
ajst-22339	165	4	pattern	pattern	NOUN
ajst-22339	165	5	analysis	analysis	NOUN
ajst-22339	165	6	and	and	CCONJ
ajst-22339	165	7	machine	machine	NOUN
ajst-22339	165	8	intelligence	intelligence	NOUN
ajst-22339	165	9	,	,	PUNCT
ajst-22339	165	10	14(2	14(2	NUM
ajst-22339	165	11	)	)	PUNCT
ajst-22339	165	12	,	,	PUNCT
ajst-22339	165	13	239	239	NUM
ajst-22339	165	14	-	-	SYM
ajst-22339	165	15	256	256	NUM
ajst-22339	165	16	.	.	PUNCT
ajst-22339	166	1	[	[	X
ajst-22339	166	2	2	2	NUM
ajst-22339	166	3	]	]	X
ajst-22339	166	4	rusu	rusu	PROPN
ajst-22339	166	5	,	,	PUNCT
ajst-22339	166	6	r.	r.	PROPN
ajst-22339	166	7	b.	b.	PROPN
ajst-22339	166	8	,	,	PUNCT
ajst-22339	166	9	&	&	CCONJ
ajst-22339	166	10	cousins	cousin	NOUN
ajst-22339	166	11	,	,	PUNCT
ajst-22339	166	12	s.	s.	PROPN
ajst-22339	166	13	(	(	PUNCT
ajst-22339	166	14	2011	2011	NUM
ajst-22339	166	15	)	)	PUNCT
ajst-22339	166	16	.	.	PUNCT
ajst-22339	167	1	3d	3d	PROPN
ajst-22339	167	2	is	be	AUX
ajst-22339	167	3	here	here	ADV
ajst-22339	167	4	:	:	PUNCT
ajst-22339	167	5	point	point	NOUN
ajst-22339	167	6	cloud	cloud	NOUN
ajst-22339	167	7	library	library	NOUN
ajst-22339	167	8	(	(	PUNCT
ajst-22339	167	9	pcl	pcl	PROPN
ajst-22339	167	10	)	)	PUNCT
ajst-22339	167	11	.	.	PUNCT
ajst-22339	168	1	ieee	ieee	PROPN
ajst-22339	168	2	international	international	PROPN
ajst-22339	168	3	conference	conference	NOUN
ajst-22339	168	4	on	on	ADP
ajst-22339	168	5	robotics	robotic	NOUN
ajst-22339	168	6	and	and	CCONJ
ajst-22339	168	7	automation	automation	NOUN
ajst-22339	168	8	(	(	PUNCT
ajst-22339	168	9	icra	icra	PROPN
ajst-22339	168	10	)	)	PUNCT
ajst-22339	168	11	,	,	PUNCT
ajst-22339	168	12	shanghai	shanghai	PROPN
ajst-22339	168	13	,	,	PUNCT
ajst-22339	168	14	china	china	PROPN
ajst-22339	168	15	.	.	PUNCT
ajst-22339	169	1	[	[	X
ajst-22339	169	2	3	3	X
ajst-22339	169	3	]	]	X
ajst-22339	169	4	zeng	zeng	PROPN
ajst-22339	169	5	,	,	PUNCT
ajst-22339	169	6	a.	a.	PROPN
ajst-22339	169	7	,	,	PUNCT
ajst-22339	169	8	song	song	NOUN
ajst-22339	169	9	,	,	PUNCT
ajst-22339	169	10	s.	s.	PROPN
ajst-22339	169	11	,	,	PUNCT
ajst-22339	169	12	nießner	nießner	NOUN
ajst-22339	169	13	,	,	PUNCT
ajst-22339	169	14	m.	m.	NOUN
ajst-22339	169	15	,	,	PUNCT
ajst-22339	169	16	fisher	fisher	PROPN
ajst-22339	169	17	,	,	PUNCT
ajst-22339	169	18	m.	m.	NOUN
ajst-22339	169	19	,	,	PUNCT
ajst-22339	169	20	xiao	xiao	PROPN
ajst-22339	169	21	,	,	PUNCT
ajst-22339	169	22	j.	j.	PROPN
ajst-22339	169	23	,	,	PUNCT
ajst-22339	169	24	&	&	CCONJ
ajst-22339	169	25	funkhouser	funkhouser	PROPN
ajst-22339	169	26	,	,	PUNCT
ajst-22339	169	27	t.	t.	PROPN
ajst-22339	169	28	(	(	PUNCT
ajst-22339	169	29	2017	2017	NUM
ajst-22339	169	30	)	)	PUNCT
ajst-22339	169	31	.	.	PUNCT
ajst-22339	170	1	3dmatch	3dmatch	NUM
ajst-22339	170	2	:	:	PUNCT
ajst-22339	170	3	learning	learn	VERB
ajst-22339	170	4	the	the	DET
ajst-22339	170	5	matching	matching	NOUN
ajst-22339	170	6	of	of	ADP
ajst-22339	170	7	local	local	ADJ
ajst-22339	170	8	3d	3d	PROPN
ajst-22339	170	9	geometry	geometry	NOUN
ajst-22339	170	10	in	in	ADP
ajst-22339	170	11	range	range	NOUN
ajst-22339	170	12	scans	scan	NOUN
ajst-22339	170	13	.	.	PUNCT
ajst-22339	171	1	proceedings	proceeding	NOUN
ajst-22339	171	2	of	of	ADP
ajst-22339	171	3	the	the	DET
ajst-22339	171	4	ieee	ieee	NOUN
ajst-22339	171	5	conference	conference	NOUN
ajst-22339	171	6	on	on	ADP
ajst-22339	171	7	computer	computer	NOUN
ajst-22339	171	8	vision	vision	NOUN
ajst-22339	171	9	and	and	CCONJ
ajst-22339	171	10	pattern	pattern	NOUN
ajst-22339	171	11	recognition	recognition	NOUN
ajst-22339	171	12	(	(	PUNCT
ajst-22339	171	13	cvpr	cvpr	NOUN
ajst-22339	171	14	)	)	PUNCT
ajst-22339	171	15	.	.	PUNCT
ajst-22339	172	1	[	[	X
ajst-22339	172	2	4	4	NUM
ajst-22339	172	3	]	]	SYM
ajst-22339	172	4	yi	yi	PROPN
ajst-22339	172	5	,	,	PUNCT
ajst-22339	172	6	k.	k.	PROPN
ajst-22339	172	7	m.	m.	PROPN
ajst-22339	172	8	,	,	PUNCT
ajst-22339	172	9	trulls	trull	NOUN
ajst-22339	172	10	,	,	PUNCT
ajst-22339	172	11	e.	e.	PROPN
ajst-22339	172	12	,	,	PUNCT
ajst-22339	172	13	lepetit	lepetit	PROPN
ajst-22339	172	14	,	,	PUNCT
ajst-22339	172	15	v.	v.	PROPN
ajst-22339	172	16	,	,	PUNCT
ajst-22339	172	17	&	&	CCONJ
ajst-22339	172	18	fua	fua	PROPN
ajst-22339	172	19	,	,	PUNCT
ajst-22339	172	20	p.	p.	NOUN
ajst-22339	172	21	(	(	PUNCT
ajst-22339	172	22	2016	2016	NUM
ajst-22339	172	23	)	)	PUNCT
ajst-22339	172	24	.	.	PUNCT
ajst-22339	173	1	lift	lift	NOUN
ajst-22339	173	2	:	:	PUNCT
ajst-22339	173	3	learned	learn	VERB
ajst-22339	173	4	invariant	invariant	ADJ
ajst-22339	173	5	feature	feature	NOUN
ajst-22339	173	6	transform	transform	NOUN
ajst-22339	173	7	.	.	PUNCT
ajst-22339	174	1	european	european	ADJ
ajst-22339	174	2	conference	conference	PROPN
ajst-22339	174	3	on	on	ADP
ajst-22339	174	4	computer	computer	NOUN
ajst-22339	174	5	vision	vision	NOUN
ajst-22339	174	6	(	(	PUNCT
ajst-22339	174	7	eccv	eccv	ADV
ajst-22339	174	8	)	)	PUNCT
ajst-22339	174	9	.	.	PUNCT
ajst-22339	175	1	[	[	X
ajst-22339	175	2	5	5	NUM
ajst-22339	175	3	]	]	PUNCT
ajst-22339	175	4	salvi	salvi	PROPN
ajst-22339	175	5	,	,	PUNCT
ajst-22339	175	6	j.	j.	PROPN
ajst-22339	175	7	,	,	PUNCT
ajst-22339	175	8	matabosch	matabosch	PROPN
ajst-22339	175	9	,	,	PUNCT
ajst-22339	175	10	c.	c.	NOUN
ajst-22339	175	11	,	,	PUNCT
ajst-22339	175	12	fofi	fofi	ADJ
ajst-22339	175	13	,	,	PUNCT
ajst-22339	175	14	d.	d.	PROPN
ajst-22339	175	15	,	,	PUNCT
ajst-22339	175	16	&	&	CCONJ
ajst-22339	175	17	forest	forest	PROPN
ajst-22339	175	18	,	,	PUNCT
ajst-22339	175	19	j.	j.	PROPN
ajst-22339	175	20	(	(	PUNCT
ajst-22339	175	21	2007	2007	NUM
ajst-22339	175	22	)	)	PUNCT
ajst-22339	175	23	.	.	PUNCT
ajst-22339	176	1	a	a	DET
ajst-22339	176	2	review	review	NOUN
ajst-22339	176	3	of	of	ADP
ajst-22339	176	4	recent	recent	ADJ
ajst-22339	176	5	range	range	NOUN
ajst-22339	176	6	image	image	NOUN
ajst-22339	176	7	registration	registration	NOUN
ajst-22339	176	8	methods	method	NOUN
ajst-22339	176	9	with	with	ADP
ajst-22339	176	10	accuracy	accuracy	NOUN
ajst-22339	176	11	evaluation	evaluation	NOUN
ajst-22339	176	12	.	.	PUNCT
ajst-22339	177	1	image	image	NOUN
ajst-22339	177	2	and	and	CCONJ
ajst-22339	177	3	vision	vision	NOUN
ajst-22339	177	4	computing	computing	NOUN
ajst-22339	177	5	,	,	PUNCT
ajst-22339	177	6	25(5	25(5	NUM
ajst-22339	177	7	)	)	PUNCT
ajst-22339	177	8	,	,	PUNCT
ajst-22339	177	9	578	578	NUM
ajst-22339	177	10	-	-	SYM
ajst-22339	177	11	596	596	NUM
ajst-22339	177	12	.	.	PUNCT
ajst-22339	178	1	[	[	X
ajst-22339	178	2	6	6	NUM
ajst-22339	178	3	]	]	X
ajst-22339	178	4	rusinkiewicz	rusinkiewicz	PROPN
ajst-22339	178	5	,	,	PUNCT
ajst-22339	178	6	s.	s.	PROPN
ajst-22339	178	7	,	,	PUNCT
ajst-22339	178	8	&	&	CCONJ
ajst-22339	178	9	levoy	levoy	PROPN
ajst-22339	178	10	,	,	PUNCT
ajst-22339	178	11	m.	m.	NOUN
ajst-22339	178	12	(	(	PUNCT
ajst-22339	178	13	2001	2001	NUM
ajst-22339	178	14	)	)	PUNCT
ajst-22339	178	15	.	.	PUNCT
ajst-22339	179	1	efficient	efficient	ADJ
ajst-22339	179	2	variants	variant	NOUN
ajst-22339	179	3	of	of	ADP
ajst-22339	179	4	the	the	DET
ajst-22339	179	5	icp	icp	PROPN
ajst-22339	179	6	algorithm	algorithm	NOUN
ajst-22339	179	7	.	.	PUNCT
ajst-22339	180	1	third	third	ADJ
ajst-22339	180	2	international	international	ADJ
ajst-22339	180	3	conference	conference	NOUN
ajst-22339	180	4	on	on	ADP
ajst-22339	180	5	3d	3d	NUM
ajst-22339	180	6	digital	digital	ADJ
ajst-22339	180	7	imaging	imaging	NOUN
ajst-22339	180	8	and	and	CCONJ
ajst-22339	180	9	modeling	modeling	NOUN
ajst-22339	180	10	(	(	PUNCT
ajst-22339	180	11	3dim	3dim	NUM
ajst-22339	180	12	)	)	PUNCT
ajst-22339	180	13	.	.	PUNCT
ajst-22339	181	1	[	[	X
ajst-22339	181	2	7	7	NUM
ajst-22339	181	3	]	]	X
ajst-22339	181	4	newcombe	newcombe	NOUN
ajst-22339	181	5	,	,	PUNCT
ajst-22339	181	6	r.	r.	PROPN
ajst-22339	181	7	a.	a.	PROPN
ajst-22339	181	8	,	,	PUNCT
ajst-22339	181	9	izadi	izadi	NOUN
ajst-22339	181	10	,	,	PUNCT
ajst-22339	181	11	s.	s.	PROPN
ajst-22339	181	12	,	,	PUNCT
ajst-22339	181	13	hilliges	hillige	NOUN
ajst-22339	181	14	,	,	PUNCT
ajst-22339	181	15	o.	o.	PROPN
ajst-22339	181	16	,	,	PUNCT
ajst-22339	181	17	molyneaux	molyneaux	PROPN
ajst-22339	181	18	,	,	PUNCT
ajst-22339	181	19	d.	d.	PROPN
ajst-22339	181	20	,	,	PUNCT
ajst-22339	181	21	kim	kim	PROPN
ajst-22339	181	22	,	,	PUNCT
ajst-22339	181	23	d.	d.	PROPN
ajst-22339	181	24	,	,	PUNCT
ajst-22339	181	25	davison	davison	PROPN
ajst-22339	181	26	,	,	PUNCT
ajst-22339	181	27	a.	a.	PROPN
ajst-22339	181	28	j.	j.	PROPN
ajst-22339	181	29	,	,	PUNCT
ajst-22339	181	30	kohi	kohi	PROPN
ajst-22339	181	31	,	,	PUNCT
ajst-22339	181	32	p.	p.	PROPN
ajst-22339	181	33	,	,	PUNCT
ajst-22339	181	34	shotton	shotton	PROPN
ajst-22339	181	35	,	,	PUNCT
ajst-22339	181	36	j.	j.	PROPN
ajst-22339	181	37	,	,	PUNCT
ajst-22339	181	38	hodges	hodges	PROPN
ajst-22339	181	39	,	,	PUNCT
ajst-22339	181	40	s.	s.	PROPN
ajst-22339	181	41	,	,	PUNCT
ajst-22339	181	42	&	&	CCONJ
ajst-22339	181	43	fitzgibbon	fitzgibbon	PROPN
ajst-22339	181	44	,	,	PUNCT
ajst-22339	181	45	a.	a.	NOUN
ajst-22339	181	46	(	(	PUNCT
ajst-22339	181	47	2011	2011	NUM
ajst-22339	181	48	)	)	PUNCT
ajst-22339	181	49	.	.	PUNCT
ajst-22339	182	1	kinectfusion	kinectfusion	NOUN
ajst-22339	182	2	:	:	PUNCT
ajst-22339	182	3	real	real	ADJ
ajst-22339	182	4	-	-	PUNCT
ajst-22339	182	5	time	time	NOUN
ajst-22339	182	6	dense	dense	ADJ
ajst-22339	182	7	surface	surface	NOUN
ajst-22339	182	8	mapping	mapping	NOUN
ajst-22339	182	9	and	and	CCONJ
ajst-22339	182	10	tracking	tracking	NOUN
ajst-22339	182	11	.	.	PUNCT
ajst-22339	183	1	ieee	ieee	PROPN
ajst-22339	183	2	ismar	ismar	NOUN
ajst-22339	183	3	.	.	PUNCT
ajst-22339	184	1	[	[	X
ajst-22339	184	2	8	8	NUM
ajst-22339	184	3	]	]	SYM
ajst-22339	184	4	qi	qi	PROPN
ajst-22339	184	5	,	,	PUNCT
ajst-22339	184	6	c.	c.	PROPN
ajst-22339	184	7	r.	r.	PROPN
ajst-22339	184	8	,	,	PUNCT
ajst-22339	184	9	su	su	PROPN
ajst-22339	184	10	,	,	PUNCT
ajst-22339	184	11	h.	h.	PROPN
ajst-22339	184	12	,	,	PUNCT
ajst-22339	184	13	mo	mo	PROPN
ajst-22339	184	14	,	,	PUNCT
ajst-22339	184	15	k.	k.	PROPN
ajst-22339	184	16	,	,	PUNCT
ajst-22339	184	17	&	&	CCONJ
ajst-22339	184	18	guibas	guibas	PROPN
ajst-22339	184	19	,	,	PUNCT
ajst-22339	184	20	l.	l.	PROPN
ajst-22339	184	21	j.	j.	PROPN
ajst-22339	184	22	(	(	PUNCT
ajst-22339	184	23	2017	2017	NUM
ajst-22339	184	24	)	)	PUNCT
ajst-22339	184	25	.	.	PUNCT
ajst-22339	185	1	pointnet	pointnet	NOUN
ajst-22339	185	2	:	:	PUNCT
ajst-22339	185	3	deep	deep	ADJ
ajst-22339	185	4	learning	learning	NOUN
ajst-22339	185	5	on	on	ADP
ajst-22339	185	6	point	point	NOUN
ajst-22339	185	7	sets	set	NOUN
ajst-22339	185	8	for	for	ADP
ajst-22339	185	9	3d	3d	NUM
ajst-22339	185	10	classification	classification	NOUN
ajst-22339	185	11	and	and	CCONJ
ajst-22339	185	12	segmentation	segmentation	NOUN
ajst-22339	185	13	.	.	PUNCT
ajst-22339	186	1	proceedings	proceeding	NOUN
ajst-22339	186	2	of	of	ADP
ajst-22339	186	3	the	the	DET
ajst-22339	186	4	ieee	ieee	NOUN
ajst-22339	186	5	conference	conference	NOUN
ajst-22339	186	6	on	on	ADP
ajst-22339	186	7	computer	computer	NOUN
ajst-22339	186	8	vision	vision	NOUN
ajst-22339	186	9	and	and	CCONJ
ajst-22339	186	10	pattern	pattern	NOUN
ajst-22339	186	11	recognition	recognition	NOUN
ajst-22339	186	12	(	(	PUNCT
ajst-22339	186	13	cvpr	cvpr	NOUN
ajst-22339	186	14	)	)	PUNCT
ajst-22339	186	15	.	.	PUNCT
ajst-22339	187	1	[	[	X
ajst-22339	187	2	9	9	NUM
ajst-22339	187	3	]	]	X
ajst-22339	187	4	guo	guo	PROPN
ajst-22339	187	5	,	,	PUNCT
ajst-22339	187	6	y.	y.	PROPN
ajst-22339	187	7	,	,	PUNCT
ajst-22339	187	8	wang	wang	PROPN
ajst-22339	187	9	,	,	PUNCT
ajst-22339	187	10	h.	h.	PROPN
ajst-22339	187	11	,	,	PUNCT
ajst-22339	187	12	hu	hu	PROPN
ajst-22339	187	13	,	,	PUNCT
ajst-22339	187	14	q.	q.	PROPN
ajst-22339	187	15	,	,	PUNCT
ajst-22339	187	16	liu	liu	PROPN
ajst-22339	187	17	,	,	PUNCT
ajst-22339	187	18	h.	h.	PROPN
ajst-22339	187	19	,	,	PUNCT
ajst-22339	187	20	liu	liu	PROPN
ajst-22339	187	21	,	,	PUNCT
ajst-22339	187	22	l.	l.	PROPN
ajst-22339	187	23	,	,	PUNCT
ajst-22339	187	24	&	&	CCONJ
ajst-22339	187	25	bennamoun	bennamoun	PROPN
ajst-22339	187	26	,	,	PUNCT
ajst-22339	187	27	m.	m.	NOUN
ajst-22339	187	28	(	(	PUNCT
ajst-22339	187	29	2020	2020	NUM
ajst-22339	187	30	)	)	PUNCT
ajst-22339	187	31	.	.	PUNCT
ajst-22339	188	1	deep	deep	ADJ
ajst-22339	188	2	learning	learning	NOUN
ajst-22339	188	3	for	for	ADP
ajst-22339	188	4	3d	3d	NUM
ajst-22339	188	5	point	point	NOUN
ajst-22339	188	6	clouds	cloud	NOUN
ajst-22339	188	7	:	:	PUNCT
ajst-22339	188	8	a	a	DET
ajst-22339	188	9	survey	survey	NOUN
ajst-22339	188	10	.	.	PUNCT
ajst-22339	189	1	ieee	ieee	NOUN
ajst-22339	189	2	transactions	transaction	NOUN
ajst-22339	189	3	on	on	ADP
ajst-22339	189	4	pattern	pattern	NOUN
ajst-22339	189	5	analysis	analysis	NOUN
ajst-22339	189	6	and	and	CCONJ
ajst-22339	189	7	machine	machine	NOUN
ajst-22339	189	8	intelligence	intelligence	NOUN
ajst-22339	189	9	.	.	PUNCT
ajst-22339	190	1	[	[	X
ajst-22339	190	2	10	10	NUM
ajst-22339	190	3	]	]	X
ajst-22339	190	4	grisetti	grisetti	NOUN
ajst-22339	190	5	,	,	PUNCT
ajst-22339	190	6	g.	g.	PROPN
ajst-22339	190	7	,	,	PUNCT
ajst-22339	190	8	kümmerle	kümmerle	PROPN
ajst-22339	190	9	,	,	PUNCT
ajst-22339	190	10	r.	r.	PROPN
ajst-22339	190	11	,	,	PUNCT
ajst-22339	190	12	stachniss	stachniss	NOUN
ajst-22339	190	13	,	,	PUNCT
ajst-22339	190	14	c.	c.	PROPN
ajst-22339	190	15	,	,	PUNCT
ajst-22339	190	16	&	&	CCONJ
ajst-22339	190	17	burgard	burgard	PROPN
ajst-22339	190	18	,	,	PUNCT
ajst-22339	190	19	w.	w.	PROPN
ajst-22339	190	20	(	(	PUNCT
ajst-22339	190	21	2010	2010	NUM
ajst-22339	190	22	)	)	PUNCT
ajst-22339	190	23	.	.	PUNCT
ajst-22339	191	1	a	a	DET
ajst-22339	191	2	tutorial	tutorial	NOUN
ajst-22339	191	3	on	on	ADP
ajst-22339	191	4	graph	graph	NOUN
ajst-22339	191	5	-	-	PUNCT
ajst-22339	191	6	based	base	VERB
ajst-22339	191	7	slam	slam	NOUN
ajst-22339	191	8	.	.	PUNCT
ajst-22339	192	1	ieee	ieee	PROPN
ajst-22339	192	2	intelligent	intelligent	ADJ
ajst-22339	192	3	transportation	transportation	NOUN
ajst-22339	192	4	systems	system	NOUN
ajst-22339	192	5	magazine	magazine	NOUN
ajst-22339	192	6	,	,	PUNCT
ajst-22339	192	7	2(4	2(4	NUM
ajst-22339	192	8	)	)	PUNCT
ajst-22339	192	9	,	,	PUNCT
ajst-22339	192	10	31	31	NUM
ajst-22339	192	11	-	-	SYM
ajst-22339	192	12	43	43	NUM
ajst-22339	192	13	.	.	PUNCT
ajst-22339	193	1	[	[	X
ajst-22339	193	2	11	11	NUM
ajst-22339	193	3	]	]	X
ajst-22339	193	4	el	el	PROPN
ajst-22339	193	5	-	-	PROPN
ajst-22339	193	6	hakim	hakim	PROPN
ajst-22339	193	7	,	,	PUNCT
ajst-22339	193	8	s.	s.	PROPN
ajst-22339	193	9	f.	f.	PROPN
ajst-22339	193	10	,	,	PUNCT
ajst-22339	193	11	beraldin	beraldin	NOUN
ajst-22339	193	12	,	,	PUNCT
ajst-22339	193	13	j.-a	j.-a	PROPN
ajst-22339	193	14	.	.	PUNCT
ajst-22339	193	15	,	,	PUNCT
ajst-22339	193	16	picard	picard	PROPN
ajst-22339	193	17	,	,	PUNCT
ajst-22339	193	18	m.	m.	NOUN
ajst-22339	193	19	,	,	PUNCT
ajst-22339	193	20	&	&	CCONJ
ajst-22339	193	21	godin	godin	PROPN
ajst-22339	193	22	,	,	PUNCT
ajst-22339	193	23	g.	g.	PROPN
ajst-22339	193	24	(	(	PUNCT
ajst-22339	193	25	2004	2004	NUM
ajst-22339	193	26	)	)	PUNCT
ajst-22339	193	27	.	.	PUNCT
ajst-22339	194	1	detailed	detailed	ADJ
ajst-22339	194	2	3d	3d	NUM
ajst-22339	194	3	reconstruction	reconstruction	NOUN
ajst-22339	194	4	of	of	ADP
ajst-22339	194	5	large	large	ADJ
ajst-22339	194	6	-	-	PUNCT
ajst-22339	194	7	scale	scale	NOUN
ajst-22339	194	8	heritage	heritage	NOUN
ajst-22339	194	9	sites	site	NOUN
ajst-22339	194	10	with	with	ADP
ajst-22339	194	11	integrated	integrate	VERB
ajst-22339	194	12	techniques	technique	NOUN
ajst-22339	194	13	.	.	PUNCT
ajst-22339	195	1	ieee	ieee	NOUN
ajst-22339	195	2	computer	computer	NOUN
ajst-22339	195	3	graphics	graphic	NOUN
ajst-22339	195	4	and	and	CCONJ
ajst-22339	195	5	applications	application	NOUN
ajst-22339	195	6	,	,	PUNCT
ajst-22339	195	7	24(3	24(3	NUM
ajst-22339	195	8	)	)	PUNCT
ajst-22339	195	9	,	,	PUNCT
ajst-22339	195	10	21	21	NUM
ajst-22339	195	11	-	-	SYM
ajst-22339	195	12	29	29	NUM
ajst-22339	195	13	.	.	PUNCT
ajst-22339	196	1	[	[	X
ajst-22339	196	2	12	12	NUM
ajst-22339	196	3	]	]	X
ajst-22339	196	4	zhang	zhang	PROPN
ajst-22339	196	5	,	,	PUNCT
ajst-22339	196	6	z.	z.	PROPN
ajst-22339	196	7	(	(	PUNCT
ajst-22339	196	8	1994	1994	NUM
ajst-22339	196	9	)	)	PUNCT
ajst-22339	196	10	.	.	PUNCT
ajst-22339	197	1	"	"	PUNCT
ajst-22339	197	2	iterative	iterative	NOUN
ajst-22339	197	3	point	point	NOUN
ajst-22339	197	4	matching	match	VERB
ajst-22339	197	5	for	for	ADP
ajst-22339	197	6	registration	registration	NOUN
ajst-22339	197	7	of	of	ADP
ajst-22339	197	8	free	free	ADJ
ajst-22339	197	9	-	-	PUNCT
ajst-22339	197	10	form	form	NOUN
ajst-22339	197	11	curves	curve	NOUN
ajst-22339	197	12	and	and	CCONJ
ajst-22339	197	13	surfaces	surface	NOUN
ajst-22339	197	14	.	.	PUNCT
ajst-22339	197	15	"	"	PUNCT
ajst-22339	198	1	international	international	ADJ
ajst-22339	198	2	journal	journal	NOUN
ajst-22339	198	3	of	of	ADP
ajst-22339	198	4	computer	computer	NOUN
ajst-22339	198	5	vision	vision	NOUN
ajst-22339	198	6	.	.	PUNCT
ajst-22339	199	1	[	[	X
ajst-22339	199	2	13	13	NUM
ajst-22339	199	3	]	]	X
ajst-22339	199	4	chen	chen	PROPN
ajst-22339	199	5	,	,	PUNCT
ajst-22339	199	6	y.	y.	PROPN
ajst-22339	199	7	,	,	PUNCT
ajst-22339	199	8	&	&	CCONJ
ajst-22339	199	9	medioni	medioni	PROPN
ajst-22339	199	10	,	,	PUNCT
ajst-22339	199	11	g.	g.	PROPN
ajst-22339	199	12	(	(	PUNCT
ajst-22339	199	13	1991	1991	NUM
ajst-22339	199	14	)	)	PUNCT
ajst-22339	199	15	.	.	PUNCT
ajst-22339	200	1	"	"	PUNCT
ajst-22339	200	2	object	object	VERB
ajst-22339	200	3	modelling	modelling	NOUN
ajst-22339	200	4	by	by	ADP
ajst-22339	200	5	registration	registration	NOUN
ajst-22339	200	6	of	of	ADP
ajst-22339	200	7	multiple	multiple	ADJ
ajst-22339	200	8	range	range	NOUN
ajst-22339	200	9	images	image	NOUN
ajst-22339	200	10	.	.	PUNCT
ajst-22339	200	11	"	"	PUNCT
ajst-22339	200	12	image	image	NOUN
ajst-22339	200	13	and	and	CCONJ
ajst-22339	200	14	vision	vision	NOUN
ajst-22339	200	15	computing	computing	NOUN
ajst-22339	200	16	.	.	PUNCT
ajst-22339	201	1	[	[	X
ajst-22339	201	2	14	14	NUM
ajst-22339	201	3	]	]	X
ajst-22339	201	4	fitzgibbon	fitzgibbon	NOUN
ajst-22339	201	5	,	,	PUNCT
ajst-22339	201	6	a.	a.	PROPN
ajst-22339	201	7	w.	w.	PROPN
ajst-22339	201	8	(	(	PUNCT
ajst-22339	201	9	2003	2003	NUM
ajst-22339	201	10	)	)	PUNCT
ajst-22339	201	11	.	.	PUNCT
ajst-22339	202	1	"	"	PUNCT
ajst-22339	202	2	robust	robust	ADJ
ajst-22339	202	3	registration	registration	NOUN
ajst-22339	202	4	of	of	ADP
ajst-22339	202	5	2d	2d	NUM
ajst-22339	202	6	and	and	CCONJ
ajst-22339	202	7	3d	3d	NUM
ajst-22339	202	8	point	point	NOUN
ajst-22339	202	9	sets	set	NOUN
ajst-22339	202	10	.	.	PUNCT
ajst-22339	202	11	"	"	PUNCT
ajst-22339	203	1	image	image	NOUN
ajst-22339	203	2	and	and	CCONJ
ajst-22339	203	3	vision	vision	NOUN
ajst-22339	203	4	computing	computing	NOUN
ajst-22339	203	5	.	.	PUNCT
ajst-22339	204	1	[	[	X
ajst-22339	204	2	15	15	NUM
ajst-22339	204	3	]	]	X
ajst-22339	204	4	lowe	lowe	PROPN
ajst-22339	204	5	,	,	PUNCT
ajst-22339	204	6	d.	d.	PROPN
ajst-22339	204	7	g.	g.	PROPN
ajst-22339	204	8	(	(	PUNCT
ajst-22339	204	9	2004	2004	NUM
ajst-22339	204	10	)	)	PUNCT
ajst-22339	204	11	.	.	PUNCT
ajst-22339	205	1	"	"	PUNCT
ajst-22339	205	2	distinctive	distinctive	ADJ
ajst-22339	205	3	image	image	NOUN
ajst-22339	205	4	features	feature	NOUN
ajst-22339	205	5	from	from	ADP
ajst-22339	205	6	scaleinvariant	scaleinvariant	ADJ
ajst-22339	205	7	keypoints	keypoint	NOUN
ajst-22339	205	8	.	.	PUNCT
ajst-22339	205	9	"	"	PUNCT
ajst-22339	206	1	international	international	ADJ
ajst-22339	206	2	journal	journal	NOUN
ajst-22339	206	3	of	of	ADP
ajst-22339	206	4	computer	computer	NOUN
ajst-22339	206	5	vision	vision	NOUN
ajst-22339	206	6	.	.	PUNCT
ajst-22339	207	1	[	[	X
ajst-22339	207	2	16	16	NUM
ajst-22339	207	3	]	]	X
ajst-22339	207	4	myronenko	myronenko	PROPN
ajst-22339	207	5	,	,	PUNCT
ajst-22339	207	6	a.	a.	PROPN
ajst-22339	207	7	,	,	PUNCT
ajst-22339	207	8	&	&	CCONJ
ajst-22339	207	9	song	song	PROPN
ajst-22339	207	10	,	,	PUNCT
ajst-22339	207	11	x.	x.	NOUN
ajst-22339	207	12	(	(	PUNCT
ajst-22339	207	13	2010	2010	NUM
ajst-22339	207	14	)	)	PUNCT
ajst-22339	207	15	.	.	PUNCT
ajst-22339	208	1	"	"	PUNCT
ajst-22339	208	2	point	point	VERB
ajst-22339	208	3	set	set	VERB
ajst-22339	208	4	registration	registration	NOUN
ajst-22339	208	5	:	:	PUNCT
ajst-22339	208	6	coherent	coherent	ADJ
ajst-22339	208	7	point	point	NOUN
ajst-22339	208	8	drift	drift	NOUN
ajst-22339	208	9	.	.	PUNCT
ajst-22339	208	10	"	"	PUNCT
ajst-22339	209	1	ieee	ieee	NOUN
ajst-22339	209	2	transactions	transaction	NOUN
ajst-22339	209	3	on	on	ADP
ajst-22339	209	4	pattern	pattern	NOUN
ajst-22339	209	5	analysis	analysis	NOUN
ajst-22339	209	6	and	and	CCONJ
ajst-22339	209	7	machine	machine	NOUN
ajst-22339	209	8	intelligence	intelligence	NOUN
ajst-22339	209	9	.	.	PUNCT
ajst-22339	210	1	[	[	X
ajst-22339	210	2	17	17	NUM
ajst-22339	210	3	]	]	X
ajst-22339	210	4	krizhevsky	krizhevsky	NOUN
ajst-22339	210	5	,	,	PUNCT
ajst-22339	210	6	a.	a.	NOUN
ajst-22339	210	7	,	,	PUNCT
ajst-22339	210	8	sutskever	sutskever	PROPN
ajst-22339	210	9	,	,	PUNCT
ajst-22339	210	10	i.	i.	PROPN
ajst-22339	210	11	,	,	PUNCT
ajst-22339	210	12	&	&	CCONJ
ajst-22339	210	13	hinton	hinton	PROPN
ajst-22339	210	14	,	,	PUNCT
ajst-22339	210	15	g.	g.	PROPN
ajst-22339	210	16	e.	e.	PROPN
ajst-22339	210	17	(	(	PUNCT
ajst-22339	210	18	2012	2012	NUM
ajst-22339	210	19	)	)	PUNCT
ajst-22339	210	20	.	.	PUNCT
ajst-22339	211	1	"	"	PUNCT
ajst-22339	211	2	imagenet	imagenet	NOUN
ajst-22339	211	3	classification	classification	NOUN
ajst-22339	211	4	with	with	ADP
ajst-22339	211	5	deep	deep	ADJ
ajst-22339	211	6	convolutional	convolutional	ADJ
ajst-22339	211	7	neural	neural	ADJ
ajst-22339	211	8	networks	network	NOUN
ajst-22339	211	9	.	.	PUNCT
ajst-22339	211	10	"	"	PUNCT
ajst-22339	212	1	advances	advance	NOUN
ajst-22339	212	2	in	in	ADP
ajst-22339	212	3	neural	neural	ADJ
ajst-22339	212	4	information	information	NOUN
ajst-22339	212	5	processing	processing	NOUN
ajst-22339	212	6	systems	system	NOUN
ajst-22339	212	7	.	.	PUNCT
ajst-22339	213	1	[	[	X
ajst-22339	213	2	18	18	NUM
ajst-22339	213	3	]	]	X
ajst-22339	213	4	hinton	hinton	PROPN
ajst-22339	213	5	,	,	PUNCT
ajst-22339	213	6	g.	g.	PROPN
ajst-22339	213	7	e.	e.	PROPN
ajst-22339	213	8	,	,	PUNCT
ajst-22339	213	9	osindero	osindero	NOUN
ajst-22339	213	10	,	,	PUNCT
ajst-22339	213	11	s.	s.	PROPN
ajst-22339	213	12	,	,	PUNCT
ajst-22339	213	13	&	&	CCONJ
ajst-22339	213	14	teh	teh	PROPN
ajst-22339	213	15	,	,	PUNCT
ajst-22339	213	16	y.	y.	PROPN
ajst-22339	213	17	w.	w.	PROPN
ajst-22339	213	18	(	(	PUNCT
ajst-22339	213	19	2006	2006	NUM
ajst-22339	213	20	)	)	PUNCT
ajst-22339	213	21	.	.	PUNCT
ajst-22339	214	1	"	"	PUNCT
ajst-22339	214	2	a	a	DET
ajst-22339	214	3	fast	fast	ADJ
ajst-22339	214	4	learning	learn	VERB
ajst-22339	214	5	algorithm	algorithm	NOUN
ajst-22339	214	6	for	for	ADP
ajst-22339	214	7	deep	deep	ADJ
ajst-22339	214	8	belief	belief	NOUN
ajst-22339	214	9	nets	net	NOUN
ajst-22339	214	10	.	.	PUNCT
ajst-22339	214	11	"	"	PUNCT
ajst-22339	214	12	neural	neural	ADJ
ajst-22339	214	13	computation	computation	NOUN
ajst-22339	214	14	.	.	PUNCT
ajst-22339	215	1	[	[	X
ajst-22339	215	2	19	19	NUM
ajst-22339	215	3	]	]	SYM
ajst-22339	215	4	qi	qi	PROPN
ajst-22339	215	5	,	,	PUNCT
ajst-22339	215	6	c.	c.	PROPN
ajst-22339	215	7	r.	r.	PROPN
ajst-22339	215	8	,	,	PUNCT
ajst-22339	215	9	su	su	PROPN
ajst-22339	215	10	,	,	PUNCT
ajst-22339	215	11	h.	h.	PROPN
ajst-22339	215	12	,	,	PUNCT
ajst-22339	215	13	mo	mo	PROPN
ajst-22339	215	14	,	,	PUNCT
ajst-22339	215	15	k.	k.	PROPN
ajst-22339	215	16	,	,	PUNCT
ajst-22339	215	17	&	&	CCONJ
ajst-22339	215	18	guibas	guibas	PROPN
ajst-22339	215	19	,	,	PUNCT
ajst-22339	215	20	l.	l.	PROPN
ajst-22339	215	21	j.	j.	PROPN
ajst-22339	215	22	(	(	PUNCT
ajst-22339	215	23	2017	2017	NUM
ajst-22339	215	24	)	)	PUNCT
ajst-22339	215	25	.	.	PUNCT
ajst-22339	216	1	"	"	PUNCT
ajst-22339	216	2	pointnet	pointnet	NOUN
ajst-22339	216	3	:	:	PUNCT
ajst-22339	216	4	deep	deep	ADJ
ajst-22339	216	5	learning	learning	NOUN
ajst-22339	216	6	on	on	ADP
ajst-22339	216	7	point	point	NOUN
ajst-22339	216	8	sets	set	NOUN
ajst-22339	216	9	for	for	ADP
ajst-22339	216	10	3d	3d	NUM
ajst-22339	216	11	classification	classification	NOUN
ajst-22339	216	12	and	and	CCONJ
ajst-22339	216	13	segmentation	segmentation	NOUN
ajst-22339	216	14	.	.	PUNCT
ajst-22339	216	15	"	"	PUNCT
ajst-22339	217	1	proceedings	proceeding	NOUN
ajst-22339	217	2	of	of	ADP
ajst-22339	217	3	the	the	DET
ajst-22339	217	4	ieee	ieee	NOUN
ajst-22339	217	5	conference	conference	NOUN
ajst-22339	217	6	on	on	ADP
ajst-22339	217	7	computer	computer	NOUN
ajst-22339	217	8	vision	vision	NOUN
ajst-22339	217	9	and	and	CCONJ
ajst-22339	217	10	pattern	pattern	NOUN
ajst-22339	217	11	recognition	recognition	NOUN
ajst-22339	217	12	(	(	PUNCT
ajst-22339	217	13	cvpr	cvpr	NOUN
ajst-22339	217	14	)	)	PUNCT
ajst-22339	217	15	.	.	PUNCT
ajst-22339	218	1	[	[	X
ajst-22339	218	2	20	20	NUM
ajst-22339	218	3	]	]	X
ajst-22339	218	4	rusinkiewicz	rusinkiewicz	PROPN
ajst-22339	218	5	s	s	PROPN
ajst-22339	218	6	,	,	PUNCT
ajst-22339	218	7	levoy	levoy	PROPN
ajst-22339	218	8	m.	m.	PROPN
ajst-22339	218	9	efficient	efficient	ADJ
ajst-22339	218	10	variants	variant	NOUN
ajst-22339	218	11	of	of	ADP
ajst-22339	218	12	the	the	DET
ajst-22339	218	13	icp	icp	PROPN
ajst-22339	218	14	algorithm[c]//proceedings	algorithm[c]//proceedings	PROPN
ajst-22339	218	15	third	third	ADJ
ajst-22339	218	16	international	international	ADJ
ajst-22339	218	17	conference	conference	NOUN
ajst-22339	218	18	on	on	ADP
ajst-22339	218	19	3d	3d	NUM
ajst-22339	218	20	digital	digital	ADJ
ajst-22339	218	21	imaging	imaging	NOUN
ajst-22339	218	22	and	and	CCONJ
ajst-22339	218	23	modeling	modeling	NOUN
ajst-22339	218	24	.	.	PUNCT
ajst-22339	219	1	ieee	ieee	PROPN
ajst-22339	219	2	,	,	PUNCT
ajst-22339	219	3	2001	2001	NUM
ajst-22339	219	4	:	:	PUNCT
ajst-22339	219	5	145	145	NUM
ajst-22339	219	6	-	-	SYM
ajst-22339	219	7	152	152	NUM
ajst-22339	219	8	.	.	PUNCT
ajst-22339	220	1	[	[	X
ajst-22339	220	2	21	21	NUM
ajst-22339	220	3	]	]	X
ajst-22339	220	4	chetverikov	chetverikov	PROPN
ajst-22339	220	5	d	d	PROPN
ajst-22339	220	6	,	,	PUNCT
ajst-22339	220	7	svirko	svirko	PROPN
ajst-22339	221	1	d	d	PROPN
ajst-22339	221	2	,	,	PUNCT
ajst-22339	221	3	stepanov	stepanov	NOUN
ajst-22339	221	4	d	d	PROPN
ajst-22339	221	5	,	,	PUNCT
ajst-22339	221	6	et	et	PROPN
ajst-22339	221	7	al	al	PROPN
ajst-22339	221	8	.	.	PUNCT
ajst-22339	222	1	the	the	DET
ajst-22339	222	2	trimmed	trim	VERB
ajst-22339	222	3	iterative	iterative	NOUN
ajst-22339	222	4	closest	close	ADJ
ajst-22339	222	5	point	point	NOUN
ajst-22339	222	6	algorithm[c]//2002	algorithm[c]//2002	PRON
ajst-22339	222	7	international	international	ADJ
ajst-22339	222	8	conference	conference	NOUN
ajst-22339	222	9	on	on	ADP
ajst-22339	222	10	pattern	pattern	NOUN
ajst-22339	222	11	recognition	recognition	NOUN
ajst-22339	222	12	.	.	PUNCT
ajst-22339	223	1	ieee	ieee	PROPN
ajst-22339	223	2	,	,	PUNCT
ajst-22339	223	3	2002	2002	NUM
ajst-22339	223	4	,	,	PUNCT
ajst-22339	223	5	3	3	NUM
ajst-22339	223	6	:	:	SYM
ajst-22339	223	7	545	545	NUM
ajst-22339	223	8	-	-	SYM
ajst-22339	223	9	548	548	NUM
ajst-22339	223	10	.	.	PUNCT
ajst-22339	224	1	[	[	X
ajst-22339	224	2	22	22	NUM
ajst-22339	224	3	]	]	X
ajst-22339	224	4	granger	granger	PROPN
ajst-22339	224	5	s	s	PROPN
ajst-22339	224	6	,	,	PUNCT
ajst-22339	224	7	pennec	pennec	NOUN
ajst-22339	224	8	x.	x.	NOUN
ajst-22339	224	9	multi	multi	ADJ
ajst-22339	224	10	-	-	NOUN
ajst-22339	224	11	scale	scale	ADJ
ajst-22339	224	12	em	em	NOUN
ajst-22339	224	13	-	-	PUNCT
ajst-22339	224	14	icp	icp	NOUN
ajst-22339	224	15	:	:	PUNCT
ajst-22339	224	16	a	a	DET
ajst-22339	224	17	fast	fast	ADJ
ajst-22339	224	18	and	and	CCONJ
ajst-22339	224	19	robust	robust	ADJ
ajst-22339	224	20	approach	approach	NOUN
ajst-22339	224	21	for	for	ADP
ajst-22339	224	22	surface	surface	NOUN
ajst-22339	224	23	registration[c]//computer	registration[c]//computer	PROPN
ajst-22339	224	24	vision	vision	NOUN
ajst-22339	224	25	—	—	PUNCT
ajst-22339	224	26	eccv	eccv	ADV
ajst-22339	224	27	2002	2002	NUM
ajst-22339	224	28	:	:	PUNCT
ajst-22339	224	29	7th	7th	ADJ
ajst-22339	224	30	european	european	ADJ
ajst-22339	224	31	conference	conference	NOUN
ajst-22339	224	32	on	on	ADP
ajst-22339	224	33	computer	computer	NOUN
ajst-22339	224	34	vision	vision	PROPN
ajst-22339	224	35	copenhagen	copenhagen	PROPN
ajst-22339	224	36	,	,	PUNCT
ajst-22339	224	37	denmark	denmark	PROPN
ajst-22339	224	38	,	,	PUNCT
ajst-22339	224	39	may	may	PROPN
ajst-22339	224	40	28–31	28–31	NUM
ajst-22339	224	41	,	,	PUNCT
ajst-22339	224	42	2002	2002	NUM
ajst-22339	224	43	proceedings	proceeding	NOUN
ajst-22339	224	44	,	,	PUNCT
ajst-22339	224	45	part	part	NOUN
ajst-22339	224	46	iv	iv	NUM
ajst-22339	224	47	7	7	NUM
ajst-22339	224	48	.	.	PUNCT
ajst-22339	224	49	springer	springer	PROPN
ajst-22339	224	50	berlin	berlin	PROPN
ajst-22339	224	51	heidelberg	heidelberg	PROPN
ajst-22339	224	52	,	,	PUNCT
ajst-22339	224	53	2002	2002	NUM
ajst-22339	224	54	:	:	PUNCT
ajst-22339	224	55	418	418	NUM
ajst-22339	224	56	-	-	SYM
ajst-22339	224	57	432	432	NUM
ajst-22339	224	58	.	.	PUNCT
ajst-22339	225	1	[	[	X
ajst-22339	225	2	23	23	NUM
ajst-22339	225	3	]	]	X
ajst-22339	225	4	segal	segal	PROPN
ajst-22339	225	5	a	a	PRON
ajst-22339	225	6	,	,	PUNCT
ajst-22339	225	7	haehnel	haehnel	NOUN
ajst-22339	225	8	d	d	NOUN
ajst-22339	225	9	,	,	PUNCT
ajst-22339	225	10	thrun	thrun	NOUN
ajst-22339	225	11	s.	s.	PROPN
ajst-22339	225	12	generalized	generalize	VERB
ajst-22339	225	13	-	-	PUNCT
ajst-22339	225	14	icp[c]//robotics	icp[c]//robotic	NOUN
ajst-22339	225	15	:	:	PUNCT
ajst-22339	225	16	science	science	NOUN
ajst-22339	225	17	and	and	CCONJ
ajst-22339	225	18	systems	system	NOUN
ajst-22339	225	19	.	.	PUNCT
ajst-22339	226	1	2009	2009	NUM
ajst-22339	226	2	,	,	PUNCT
ajst-22339	226	3	2(4	2(4	NUM
ajst-22339	226	4	):	):	PUNCT
ajst-22339	226	5	435	435	NUM
ajst-22339	226	6	.	.	NUM
ajst-22339	226	7	67	67	NUM
ajst-22339	227	1	[	[	X
ajst-22339	227	2	24	24	NUM
ajst-22339	227	3	]	]	PUNCT
ajst-22339	227	4	myronenko	myronenko	NOUN
ajst-22339	227	5	a	a	PRON
ajst-22339	227	6	,	,	PUNCT
ajst-22339	227	7	song	song	NOUN
ajst-22339	227	8	x.	x.	NOUN
ajst-22339	227	9	point	point	NOUN
ajst-22339	227	10	set	set	VERB
ajst-22339	227	11	registration	registration	NOUN
ajst-22339	227	12	:	:	PUNCT
ajst-22339	227	13	coherent	coherent	ADJ
ajst-22339	227	14	point	point	NOUN
ajst-22339	227	15	drift[j	drift[j	NOUN
ajst-22339	227	16	]	]	PUNCT
ajst-22339	227	17	.	.	PUNCT
ajst-22339	228	1	ieee	ieee	NOUN
ajst-22339	228	2	transactions	transaction	NOUN
ajst-22339	228	3	on	on	ADP
ajst-22339	228	4	pattern	pattern	NOUN
ajst-22339	228	5	analysis	analysis	NOUN
ajst-22339	228	6	and	and	CCONJ
ajst-22339	228	7	machine	machine	NOUN
ajst-22339	228	8	intelligence	intelligence	NOUN
ajst-22339	228	9	,	,	PUNCT
ajst-22339	228	10	2010	2010	NUM
ajst-22339	228	11	,	,	PUNCT
ajst-22339	228	12	32(12	32(12	NUM
ajst-22339	228	13	):	):	PUNCT
ajst-22339	228	14	2262	2262	NUM
ajst-22339	228	15	-	-	SYM
ajst-22339	228	16	2275	2275	NUM
ajst-22339	228	17	.	.	PUNCT
ajst-22339	229	1	[	[	X
ajst-22339	229	2	25	25	NUM
ajst-22339	229	3	]	]	PUNCT
ajst-22339	229	4	bergström	bergström	NOUN
ajst-22339	229	5	p	p	X
ajst-22339	229	6	,	,	PUNCT
ajst-22339	229	7	edlund	edlund	PROPN
ajst-22339	229	8	o.	o.	PROPN
ajst-22339	229	9	robust	robust	ADJ
ajst-22339	229	10	surface	surface	NOUN
ajst-22339	229	11	registration	registration	NOUN
ajst-22339	229	12	for	for	ADP
ajst-22339	229	13	optical	optical	ADJ
ajst-22339	229	14	single	single	ADJ
ajst-22339	229	15	-	-	PUNCT
ajst-22339	229	16	shot	shot	NOUN
ajst-22339	229	17	measurements[j	measurements[j	NOUN
ajst-22339	229	18	]	]	PUNCT
ajst-22339	229	19	.	.	PUNCT
ajst-22339	230	1	computational	computational	ADJ
ajst-22339	230	2	methods	method	NOUN
ajst-22339	230	3	for	for	ADP
ajst-22339	230	4	shape	shape	NOUN
ajst-22339	230	5	verification	verification	NOUN
ajst-22339	230	6	of	of	ADP
ajst-22339	230	7	free	free	ADJ
ajst-22339	230	8	-	-	PUNCT
ajst-22339	230	9	form	form	NOUN
ajst-22339	230	10	surfaces	surface	NOUN
ajst-22339	230	11	,	,	PUNCT
ajst-22339	230	12	2011	2011	NUM
ajst-22339	230	13	:	:	PUNCT
ajst-22339	230	14	95	95	NUM
ajst-22339	230	15	.	.	PUNCT
ajst-22339	231	1	[	[	X
ajst-22339	231	2	26	26	NUM
ajst-22339	231	3	]	]	X
ajst-22339	231	4	zhou	zhou	PROPN
ajst-22339	231	5	q	q	PROPN
ajst-22339	231	6	y	y	PROPN
ajst-22339	231	7	,	,	PUNCT
ajst-22339	231	8	park	park	PROPN
ajst-22339	231	9	j	j	PROPN
ajst-22339	231	10	,	,	PUNCT
ajst-22339	231	11	koltun	koltun	PROPN
ajst-22339	231	12	v.	v.	CCONJ
ajst-22339	231	13	fast	fast	ADJ
ajst-22339	231	14	global	global	ADJ
ajst-22339	231	15	registration	registration	NOUN
ajst-22339	231	16	[	[	X
ajst-22339	231	17	c]//	c]//	PROPN
ajst-22339	231	18	computer	computer	NOUN
ajst-22339	231	19	vision	vision	NOUN
ajst-22339	231	20	–	–	PUNCT
ajst-22339	231	21	eccv	eccv	NOUN
ajst-22339	231	22	2016	2016	NUM
ajst-22339	231	23	:	:	PUNCT
ajst-22339	231	24	14th	14th	ADJ
ajst-22339	231	25	european	european	ADJ
ajst-22339	231	26	conference	conference	PROPN
ajst-22339	231	27	,	,	PUNCT
ajst-22339	231	28	amsterdam	amsterdam	PROPN
ajst-22339	231	29	,	,	PUNCT
ajst-22339	231	30	the	the	DET
ajst-22339	231	31	netherlands	netherlands	PROPN
ajst-22339	231	32	,	,	PUNCT
ajst-22339	231	33	october	october	PROPN
ajst-22339	231	34	11	11	NUM
ajst-22339	231	35	-	-	SYM
ajst-22339	231	36	14	14	NUM
ajst-22339	231	37	,	,	PUNCT
ajst-22339	231	38	2016	2016	NUM
ajst-22339	231	39	,	,	PUNCT
ajst-22339	231	40	proceedings	proceeding	NOUN
ajst-22339	231	41	,	,	PUNCT
ajst-22339	231	42	part	part	NOUN
ajst-22339	231	43	ii	ii	PROPN
ajst-22339	231	44	14	14	NUM
ajst-22339	231	45	.	.	PUNCT
ajst-22339	232	1	springer	springer	NOUN
ajst-22339	232	2	international	international	ADJ
ajst-22339	232	3	publishing	publishing	NOUN
ajst-22339	232	4	,	,	PUNCT
ajst-22339	232	5	2016	2016	NUM
ajst-22339	232	6	:	:	PUNCT
ajst-22339	232	7	766	766	NUM
ajst-22339	232	8	-	-	SYM
ajst-22339	232	9	782	782	NUM
ajst-22339	232	10	.	.	PUNCT
ajst-22339	233	1	[	[	X
ajst-22339	233	2	27	27	NUM
ajst-22339	233	3	]	]	X
ajst-22339	233	4	rusu	rusu	PROPN
ajst-22339	233	5	r	r	PROPN
ajst-22339	233	6	b	b	PROPN
ajst-22339	233	7	,	,	PUNCT
ajst-22339	233	8	blodow	blodow	NOUN
ajst-22339	233	9	n	n	CCONJ
ajst-22339	233	10	,	,	PUNCT
ajst-22339	233	11	beetz	beetz	VERB
ajst-22339	233	12	m.	m.	NOUN
ajst-22339	233	13	fast	fast	ADJ
ajst-22339	233	14	point	point	NOUN
ajst-22339	233	15	feature	feature	NOUN
ajst-22339	233	16	histograms	histogram	NOUN
ajst-22339	233	17	(	(	PUNCT
ajst-22339	233	18	fpfh	fpfh	NOUN
ajst-22339	233	19	)	)	PUNCT
ajst-22339	233	20	for	for	ADP
ajst-22339	233	21	3d	3d	PROPN
ajst-22339	233	22	registration[c]//2009	registration[c]//2009	PROPN
ajst-22339	233	23	ieee	ieee	PROPN
ajst-22339	233	24	international	international	PROPN
ajst-22339	233	25	conference	conference	NOUN
ajst-22339	233	26	on	on	ADP
ajst-22339	233	27	robotics	robotic	NOUN
ajst-22339	233	28	and	and	CCONJ
ajst-22339	233	29	automation	automation	NOUN
ajst-22339	233	30	.	.	PUNCT
ajst-22339	234	1	ieee	ieee	PROPN
ajst-22339	234	2	,	,	PUNCT
ajst-22339	234	3	2009	2009	NUM
ajst-22339	234	4	:	:	PUNCT
ajst-22339	234	5	32123217	32123217	NUM
ajst-22339	234	6	.	.	PUNCT
ajst-22339	235	1	[	[	X
ajst-22339	235	2	28	28	NUM
ajst-22339	235	3	]	]	X
ajst-22339	235	4	tombari	tombari	PROPN
ajst-22339	235	5	f	f	AUX
ajst-22339	235	6	,	,	PUNCT
ajst-22339	235	7	salti	salti	PROPN
ajst-22339	235	8	s	s	PROPN
ajst-22339	235	9	,	,	PUNCT
ajst-22339	235	10	di	di	PROPN
ajst-22339	235	11	stefano	stefano	PROPN
ajst-22339	235	12	l.	l.	PROPN
ajst-22339	235	13	unique	unique	ADJ
ajst-22339	235	14	signatures	signature	NOUN
ajst-22339	235	15	of	of	ADP
ajst-22339	235	16	histograms	histogram	NOUN
ajst-22339	235	17	for	for	ADP
ajst-22339	235	18	local	local	ADJ
ajst-22339	235	19	surface	surface	NOUN
ajst-22339	235	20	description[c]//computer	description[c]//computer	PROPN
ajst-22339	235	21	vision	vision	NOUN
ajst-22339	235	22	–	–	PUNCT
ajst-22339	235	23	eccv	eccv	ADV
ajst-22339	235	24	2010	2010	NUM
ajst-22339	235	25	:	:	PUNCT
ajst-22339	235	26	11th	11th	ADJ
ajst-22339	235	27	european	european	ADJ
ajst-22339	235	28	conference	conference	NOUN
ajst-22339	235	29	on	on	ADP
ajst-22339	235	30	computer	computer	NOUN
ajst-22339	235	31	vision	vision	PROPN
ajst-22339	235	32	,	,	PUNCT
ajst-22339	235	33	heraklion	heraklion	NOUN
ajst-22339	235	34	,	,	PUNCT
ajst-22339	235	35	crete	crete	PROPN
ajst-22339	235	36	,	,	PUNCT
ajst-22339	235	37	greece	greece	PROPN
ajst-22339	235	38	,	,	PUNCT
ajst-22339	235	39	september	september	PROPN
ajst-22339	235	40	5	5	NUM
ajst-22339	235	41	-	-	SYM
ajst-22339	235	42	11	11	NUM
ajst-22339	235	43	,	,	PUNCT
ajst-22339	235	44	2010	2010	NUM
ajst-22339	235	45	,	,	PUNCT
ajst-22339	235	46	proceedings	proceeding	NOUN
ajst-22339	235	47	,	,	PUNCT
ajst-22339	235	48	part	part	NOUN
ajst-22339	235	49	iii	iii	NUM
ajst-22339	235	50	11	11	NUM
ajst-22339	235	51	.	.	PUNCT
ajst-22339	236	1	springer	springer	PROPN
ajst-22339	236	2	berlin	berlin	PROPN
ajst-22339	236	3	heidelberg	heidelberg	PROPN
ajst-22339	236	4	,	,	PUNCT
ajst-22339	236	5	2010	2010	NUM
ajst-22339	236	6	:	:	PUNCT
ajst-22339	236	7	356	356	NUM
ajst-22339	236	8	-	-	SYM
ajst-22339	236	9	369	369	NUM
ajst-22339	236	10	.	.	PUNCT
ajst-22339	237	1	[	[	X
ajst-22339	237	2	29	29	NUM
ajst-22339	237	3	]	]	X
ajst-22339	237	4	johnson	johnson	PROPN
ajst-22339	237	5	a	a	PROPN
ajst-22339	237	6	e	e	PROPN
ajst-22339	237	7	,	,	PUNCT
ajst-22339	237	8	hebert	hebert	NOUN
ajst-22339	237	9	m.	m.	NOUN
ajst-22339	237	10	using	use	VERB
ajst-22339	237	11	spin	spin	NOUN
ajst-22339	237	12	images	image	NOUN
ajst-22339	237	13	for	for	ADP
ajst-22339	237	14	efficient	efficient	ADJ
ajst-22339	237	15	object	object	NOUN
ajst-22339	237	16	recognition	recognition	NOUN
ajst-22339	237	17	in	in	ADP
ajst-22339	237	18	cluttered	cluttered	ADJ
ajst-22339	237	19	3d	3d	PROPN
ajst-22339	237	20	scenes[j	scenes[j	PROPN
ajst-22339	237	21	]	]	PUNCT
ajst-22339	237	22	.	.	PUNCT
ajst-22339	238	1	ieee	ieee	NOUN
ajst-22339	238	2	transactions	transaction	NOUN
ajst-22339	238	3	on	on	ADP
ajst-22339	238	4	pattern	pattern	NOUN
ajst-22339	238	5	analysis	analysis	NOUN
ajst-22339	238	6	and	and	CCONJ
ajst-22339	238	7	machine	machine	NOUN
ajst-22339	238	8	intelligence	intelligence	NOUN
ajst-22339	238	9	,	,	PUNCT
ajst-22339	238	10	1999	1999	NUM
ajst-22339	238	11	,	,	PUNCT
ajst-22339	238	12	21(5	21(5	NUM
ajst-22339	238	13	):	):	PUNCT
ajst-22339	238	14	433449	433449	NUM
ajst-22339	238	15	.	.	PUNCT
ajst-22339	239	1	[	[	X
ajst-22339	239	2	30	30	NUM
ajst-22339	239	3	]	]	X
ajst-22339	239	4	frome	frome	PROPN
ajst-22339	239	5	a	a	X
ajst-22339	239	6	,	,	PUNCT
ajst-22339	239	7	huber	huber	PROPN
ajst-22339	239	8	d	d	PROPN
ajst-22339	239	9	,	,	PUNCT
ajst-22339	239	10	kolluri	kolluri	PROPN
ajst-22339	239	11	r	r	PROPN
ajst-22339	239	12	,	,	PUNCT
ajst-22339	239	13	et	et	PROPN
ajst-22339	239	14	al	al	PROPN
ajst-22339	239	15	.	.	PUNCT
ajst-22339	240	1	recognizing	recognize	VERB
ajst-22339	240	2	objects	object	NOUN
ajst-22339	240	3	in	in	ADP
ajst-22339	240	4	range	range	NOUN
ajst-22339	240	5	data	datum	NOUN
ajst-22339	240	6	using	use	VERB
ajst-22339	240	7	regional	regional	ADJ
ajst-22339	240	8	point	point	NOUN
ajst-22339	240	9	descriptors[c]//computer	descriptors[c]//computer	PROPN
ajst-22339	240	10	vision	vision	NOUN
ajst-22339	240	11	-	-	PUNCT
ajst-22339	240	12	eccv	eccv	ADV
ajst-22339	240	13	2004	2004	NUM
ajst-22339	240	14	:	:	PUNCT
ajst-22339	240	15	8th	8th	ADJ
ajst-22339	240	16	european	european	ADJ
ajst-22339	240	17	conference	conference	NOUN
ajst-22339	240	18	on	on	ADP
ajst-22339	240	19	computer	computer	NOUN
ajst-22339	240	20	vision	vision	NOUN
ajst-22339	240	21	,	,	PUNCT
ajst-22339	240	22	prague	prague	PROPN
ajst-22339	240	23	,	,	PUNCT
ajst-22339	240	24	czech	czech	PROPN
ajst-22339	240	25	republic	republic	NOUN
ajst-22339	240	26	,	,	PUNCT
ajst-22339	240	27	may	may	AUX
ajst-22339	240	28	11	11	NUM
ajst-22339	240	29	-	-	SYM
ajst-22339	240	30	14	14	NUM
ajst-22339	240	31	,	,	PUNCT
ajst-22339	240	32	2004	2004	NUM
ajst-22339	240	33	.	.	PUNCT
ajst-22339	241	1	proceedings	proceeding	NOUN
ajst-22339	241	2	,	,	PUNCT
ajst-22339	241	3	part	part	NOUN
ajst-22339	241	4	iii	iii	NUM
ajst-22339	241	5	8	8	NUM
ajst-22339	241	6	.	.	PUNCT
ajst-22339	241	7	springer	springer	PROPN
ajst-22339	241	8	berlin	berlin	PROPN
ajst-22339	241	9	heidelberg	heidelberg	PROPN
ajst-22339	241	10	,	,	PUNCT
ajst-22339	241	11	2004	2004	NUM
ajst-22339	241	12	:	:	PUNCT
ajst-22339	241	13	224237	224237	NUM
ajst-22339	241	14	.	.	PUNCT
ajst-22339	242	1	[	[	X
ajst-22339	242	2	31	31	NUM
ajst-22339	242	3	]	]	X
ajst-22339	242	4	zhong	zhong	PROPN
ajst-22339	242	5	y.	y.	PROPN
ajst-22339	242	6	intrinsic	intrinsic	ADJ
ajst-22339	242	7	shape	shape	NOUN
ajst-22339	242	8	signatures	signature	NOUN
ajst-22339	242	9	:	:	PUNCT
ajst-22339	242	10	a	a	DET
ajst-22339	242	11	shape	shape	NOUN
ajst-22339	242	12	descriptor	descriptor	NOUN
ajst-22339	242	13	for	for	ADP
ajst-22339	242	14	3d	3d	NUM
ajst-22339	242	15	object	object	NOUN
ajst-22339	242	16	recognition[c]//2009	recognition[c]//2009	PROPN
ajst-22339	242	17	ieee	ieee	PROPN
ajst-22339	242	18	12th	12th	PROPN
ajst-22339	242	19	international	international	ADJ
ajst-22339	242	20	conference	conference	NOUN
ajst-22339	242	21	on	on	ADP
ajst-22339	242	22	computer	computer	NOUN
ajst-22339	242	23	vision	vision	NOUN
ajst-22339	242	24	workshops	workshop	NOUN
ajst-22339	242	25	,	,	PUNCT
ajst-22339	242	26	iccv	iccv	NOUN
ajst-22339	242	27	workshops	workshop	NOUN
ajst-22339	242	28	.	.	PUNCT
ajst-22339	243	1	ieee	ieee	NOUN
ajst-22339	243	2	,	,	PUNCT
ajst-22339	243	3	2009	2009	NUM
ajst-22339	243	4	:	:	PUNCT
ajst-22339	243	5	689	689	NUM
ajst-22339	243	6	-	-	SYM
ajst-22339	243	7	696	696	NUM
ajst-22339	243	8	.	.	PUNCT
ajst-22339	244	1	[	[	X
ajst-22339	244	2	32	32	NUM
ajst-22339	244	3	]	]	X
ajst-22339	244	4	guo	guo	PROPN
ajst-22339	244	5	y	y	PROPN
ajst-22339	244	6	,	,	PUNCT
ajst-22339	244	7	sohel	sohel	PROPN
ajst-22339	244	8	f	f	PROPN
ajst-22339	244	9	,	,	PUNCT
ajst-22339	244	10	bennamoun	bennamoun	PROPN
ajst-22339	244	11	m	m	PROPN
ajst-22339	244	12	,	,	PUNCT
ajst-22339	244	13	et	et	PROPN
ajst-22339	244	14	al	al	PROPN
ajst-22339	244	15	.	.	PROPN
ajst-22339	244	16	rotational	rotational	PROPN
ajst-22339	244	17	projection	projection	NOUN
ajst-22339	244	18	statistics	statistic	NOUN
ajst-22339	244	19	for	for	ADP
ajst-22339	244	20	3d	3d	NUM
ajst-22339	244	21	local	local	ADJ
ajst-22339	244	22	surface	surface	NOUN
ajst-22339	244	23	description	description	NOUN
ajst-22339	244	24	and	and	CCONJ
ajst-22339	244	25	object	object	VERB
ajst-22339	244	26	recognition[j	recognition[j	NOUN
ajst-22339	244	27	]	]	PUNCT
ajst-22339	244	28	.	.	PUNCT
ajst-22339	245	1	international	international	ADJ
ajst-22339	245	2	journal	journal	PROPN
ajst-22339	245	3	of	of	ADP
ajst-22339	245	4	computer	computer	NOUN
ajst-22339	245	5	vision	vision	NOUN
ajst-22339	245	6	,	,	PUNCT
ajst-22339	245	7	2013	2013	NUM
ajst-22339	245	8	,	,	PUNCT
ajst-22339	245	9	105	105	NUM
ajst-22339	245	10	:	:	SYM
ajst-22339	245	11	63	63	NUM
ajst-22339	245	12	-	-	SYM
ajst-22339	245	13	86	86	NUM
ajst-22339	245	14	.	.	PUNCT
ajst-22339	246	1	[	[	X
ajst-22339	246	2	33	33	NUM
ajst-22339	246	3	]	]	PUNCT
ajst-22339	246	4	qi	qi	PROPN
ajst-22339	246	5	c	c	PROPN
ajst-22339	246	6	r	r	PROPN
ajst-22339	246	7	,	,	PUNCT
ajst-22339	246	8	su	su	PROPN
ajst-22339	246	9	h	h	PROPN
ajst-22339	246	10	,	,	PUNCT
ajst-22339	246	11	mo	mo	PROPN
ajst-22339	246	12	k	k	PROPN
ajst-22339	246	13	,	,	PUNCT
ajst-22339	246	14	et	et	PROPN
ajst-22339	246	15	al	al	PROPN
ajst-22339	246	16	.	.	PUNCT
ajst-22339	246	17	pointnet	pointnet	NOUN
ajst-22339	246	18	:	:	PUNCT
ajst-22339	246	19	deep	deep	ADJ
ajst-22339	246	20	learning	learning	NOUN
ajst-22339	246	21	on	on	ADP
ajst-22339	246	22	point	point	NOUN
ajst-22339	246	23	sets	set	NOUN
ajst-22339	246	24	for	for	ADP
ajst-22339	246	25	3d	3d	NUM
ajst-22339	246	26	classification	classification	NOUN
ajst-22339	246	27	and	and	CCONJ
ajst-22339	246	28	segmentation[c]//proceedings	segmentation[c]//proceeding	NOUN
ajst-22339	246	29	of	of	ADP
ajst-22339	246	30	the	the	DET
ajst-22339	246	31	ieee	ieee	NOUN
ajst-22339	246	32	conference	conference	NOUN
ajst-22339	246	33	on	on	ADP
ajst-22339	246	34	computer	computer	NOUN
ajst-22339	246	35	vision	vision	NOUN
ajst-22339	246	36	and	and	CCONJ
ajst-22339	246	37	pattern	pattern	NOUN
ajst-22339	246	38	recognition	recognition	NOUN
ajst-22339	246	39	.	.	PUNCT
ajst-22339	247	1	2017	2017	NUM
ajst-22339	247	2	:	:	PUNCT
ajst-22339	247	3	652	652	NUM
ajst-22339	247	4	-	-	SYM
ajst-22339	247	5	660	660	NUM
ajst-22339	247	6	.	.	PUNCT
ajst-22339	248	1	[	[	X
ajst-22339	248	2	34	34	NUM
ajst-22339	248	3	]	]	X
ajst-22339	248	4	qi	qi	PROPN
ajst-22339	248	5	c	c	PROPN
ajst-22339	248	6	r	r	PROPN
ajst-22339	248	7	,	,	PUNCT
ajst-22339	248	8	yi	yi	NOUN
ajst-22339	248	9	l	l	NOUN
ajst-22339	248	10	,	,	PUNCT
ajst-22339	248	11	su	su	PROPN
ajst-22339	248	12	h	h	PROPN
ajst-22339	248	13	,	,	PUNCT
ajst-22339	248	14	et	et	PROPN
ajst-22339	248	15	al	al	PROPN
ajst-22339	248	16	.	.	PROPN
ajst-22339	248	17	pointnet++	pointnet++	PROPN
ajst-22339	248	18	:	:	PUNCT
ajst-22339	248	19	deep	deep	ADJ
ajst-22339	248	20	hierarchical	hierarchical	ADJ
ajst-22339	248	21	feature	feature	NOUN
ajst-22339	248	22	learning	learn	VERB
ajst-22339	248	23	on	on	ADP
ajst-22339	248	24	point	point	NOUN
ajst-22339	248	25	sets	set	NOUN
ajst-22339	248	26	in	in	ADP
ajst-22339	248	27	a	a	DET
ajst-22339	248	28	metric	metric	ADJ
ajst-22339	248	29	space[j	space[j	NOUN
ajst-22339	248	30	]	]	PUNCT
ajst-22339	248	31	.	.	PUNCT
ajst-22339	249	1	advances	advance	NOUN
ajst-22339	249	2	in	in	ADP
ajst-22339	249	3	neural	neural	ADJ
ajst-22339	249	4	information	information	NOUN
ajst-22339	249	5	processing	processing	NOUN
ajst-22339	249	6	systems	system	NOUN
ajst-22339	249	7	,	,	PUNCT
ajst-22339	249	8	2017	2017	NUM
ajst-22339	249	9	,	,	PUNCT
ajst-22339	249	10	30	30	NUM
ajst-22339	249	11	.	.	PUNCT
ajst-22339	250	1	[	[	X
ajst-22339	250	2	35	35	NUM
ajst-22339	250	3	]	]	X
ajst-22339	250	4	wang	wang	PROPN
ajst-22339	250	5	y	y	PROPN
ajst-22339	250	6	,	,	PUNCT
ajst-22339	250	7	solomon	solomon	PROPN
ajst-22339	250	8	j	j	PROPN
ajst-22339	250	9	m.	m.	PROPN
ajst-22339	250	10	deep	deep	ADV
ajst-22339	250	11	closest	close	ADJ
ajst-22339	250	12	point	point	NOUN
ajst-22339	250	13	:	:	PUNCT
ajst-22339	250	14	learning	learn	VERB
ajst-22339	250	15	representations	representation	NOUN
ajst-22339	250	16	for	for	ADP
ajst-22339	250	17	point	point	NOUN
ajst-22339	250	18	cloud	cloud	NOUN
ajst-22339	250	19	registration[c]//proceedings	registration[c]//proceeding	NOUN
ajst-22339	250	20	of	of	ADP
ajst-22339	250	21	the	the	DET
ajst-22339	250	22	ieee	ieee	NOUN
ajst-22339	250	23	/	/	SYM
ajst-22339	250	24	cvf	cvf	NOUN
ajst-22339	250	25	international	international	ADJ
ajst-22339	250	26	conference	conference	NOUN
ajst-22339	250	27	on	on	ADP
ajst-22339	250	28	computer	computer	NOUN
ajst-22339	250	29	vision	vision	NOUN
ajst-22339	250	30	.	.	PUNCT
ajst-22339	251	1	2019	2019	NUM
ajst-22339	251	2	:	:	PUNCT
ajst-22339	251	3	3523	3523	NUM
ajst-22339	251	4	-	-	SYM
ajst-22339	251	5	3532	3532	NUM
ajst-22339	251	6	.	.	PUNCT
ajst-22339	252	1	[	[	X
ajst-22339	252	2	36	36	NUM
ajst-22339	252	3	]	]	X
ajst-22339	252	4	lu	lu	PROPN
ajst-22339	252	5	w	w	PROPN
ajst-22339	252	6	,	,	PUNCT
ajst-22339	252	7	wan	wan	PROPN
ajst-22339	252	8	g	g	PROPN
ajst-22339	252	9	,	,	PUNCT
ajst-22339	252	10	zhou	zhou	PROPN
ajst-22339	252	11	y	y	PROPN
ajst-22339	252	12	,	,	PUNCT
ajst-22339	252	13	et	et	PROPN
ajst-22339	252	14	al	al	PROPN
ajst-22339	252	15	.	.	PUNCT
ajst-22339	252	16	deepvcp	deepvcp	NOUN
ajst-22339	252	17	:	:	PUNCT
ajst-22339	252	18	an	an	DET
ajst-22339	252	19	end	end	NOUN
ajst-22339	252	20	-	-	PUNCT
ajst-22339	252	21	to	to	ADP
ajst-22339	252	22	-	-	PUNCT
ajst-22339	252	23	end	end	NOUN
ajst-22339	252	24	deep	deep	ADJ
ajst-22339	252	25	neural	neural	ADJ
ajst-22339	252	26	network	network	NOUN
ajst-22339	252	27	for	for	ADP
ajst-22339	252	28	point	point	NOUN
ajst-22339	252	29	cloud	cloud	ADJ
ajst-22339	252	30	registration[c]//proceedings	registration[c]//proceeding	NOUN
ajst-22339	252	31	of	of	ADP
ajst-22339	252	32	the	the	DET
ajst-22339	252	33	ieee	ieee	NOUN
ajst-22339	252	34	/	/	SYM
ajst-22339	252	35	cvf	cvf	NOUN
ajst-22339	252	36	international	international	ADJ
ajst-22339	252	37	conference	conference	NOUN
ajst-22339	252	38	on	on	ADP
ajst-22339	252	39	computer	computer	NOUN
ajst-22339	252	40	vision	vision	NOUN
ajst-22339	252	41	.	.	PUNCT
ajst-22339	253	1	2019	2019	NUM
ajst-22339	253	2	:	:	PUNCT
ajst-22339	253	3	12	12	NUM
ajst-22339	253	4	-	-	SYM
ajst-22339	253	5	21	21	NUM
ajst-22339	253	6	.	.	PUNCT
ajst-22339	254	1	[	[	X
ajst-22339	254	2	37	37	NUM
ajst-22339	254	3	]	]	X
ajst-22339	254	4	zhou	zhou	PROPN
ajst-22339	254	5	q	q	PROPN
ajst-22339	254	6	y	y	PROPN
ajst-22339	254	7	,	,	PUNCT
ajst-22339	254	8	park	park	PROPN
ajst-22339	254	9	j	j	PROPN
ajst-22339	254	10	,	,	PUNCT
ajst-22339	254	11	koltun	koltun	PROPN
ajst-22339	254	12	v.	v.	CCONJ
ajst-22339	254	13	fast	fast	ADJ
ajst-22339	254	14	global	global	ADJ
ajst-22339	254	15	registration[c]//computer	registration[c]//computer	PROPN
ajst-22339	254	16	vision	vision	NOUN
ajst-22339	254	17	–	–	PUNCT
ajst-22339	254	18	eccv	eccv	NOUN
ajst-22339	254	19	2016	2016	NUM
ajst-22339	254	20	:	:	PUNCT
ajst-22339	254	21	14th	14th	ADJ
ajst-22339	254	22	european	european	ADJ
ajst-22339	254	23	conference	conference	PROPN
ajst-22339	254	24	,	,	PUNCT
ajst-22339	254	25	amsterdam	amsterdam	PROPN
ajst-22339	254	26	,	,	PUNCT
ajst-22339	254	27	the	the	DET
ajst-22339	254	28	netherlands	netherlands	PROPN
ajst-22339	254	29	,	,	PUNCT
ajst-22339	254	30	october	october	PROPN
ajst-22339	254	31	11	11	NUM
ajst-22339	254	32	-	-	SYM
ajst-22339	254	33	14	14	NUM
ajst-22339	254	34	,	,	PUNCT
ajst-22339	254	35	2016	2016	NUM
ajst-22339	254	36	,	,	PUNCT
ajst-22339	254	37	proceedings	proceeding	NOUN
ajst-22339	254	38	,	,	PUNCT
ajst-22339	254	39	part	part	NOUN
ajst-22339	254	40	ii	ii	PROPN
ajst-22339	254	41	14	14	NUM
ajst-22339	254	42	.	.	PUNCT
ajst-22339	255	1	springer	springer	NOUN
ajst-22339	255	2	international	international	ADJ
ajst-22339	255	3	publishing	publishing	NOUN
ajst-22339	255	4	,	,	PUNCT
ajst-22339	255	5	2016	2016	NUM
ajst-22339	255	6	:	:	PUNCT
ajst-22339	255	7	766	766	NUM
ajst-22339	255	8	-	-	SYM
ajst-22339	255	9	782	782	NUM
ajst-22339	255	10	..	..	PUNCT
ajst-22339	256	1	[	[	X
ajst-22339	256	2	38	38	NUM
ajst-22339	256	3	]	]	PUNCT
ajst-22339	256	4	yew	yew	PROPN
ajst-22339	256	5	z	z	PROPN
ajst-22339	256	6	j	j	PROPN
ajst-22339	256	7	,	,	PUNCT
ajst-22339	256	8	lee	lee	PROPN
ajst-22339	256	9	g	g	PROPN
ajst-22339	256	10	h.	h.	PROPN
ajst-22339	256	11	rpm	rpm	PROPN
ajst-22339	256	12	-	-	PUNCT
ajst-22339	256	13	net	net	ADJ
ajst-22339	256	14	:	:	PUNCT
ajst-22339	256	15	robust	robust	ADJ
ajst-22339	256	16	point	point	NOUN
ajst-22339	256	17	matching	matching	NOUN
ajst-22339	256	18	using	use	VERB
ajst-22339	256	19	learned	learn	VERB
ajst-22339	256	20	features[c]//proceedings	features[c]//proceeding	NOUN
ajst-22339	256	21	of	of	ADP
ajst-22339	256	22	the	the	DET
ajst-22339	256	23	ieee	ieee	NOUN
ajst-22339	256	24	/	/	SYM
ajst-22339	256	25	cvf	cvf	NOUN
ajst-22339	256	26	conference	conference	NOUN
ajst-22339	256	27	on	on	ADP
ajst-22339	256	28	computer	computer	NOUN
ajst-22339	256	29	vision	vision	NOUN
ajst-22339	256	30	and	and	CCONJ
ajst-22339	256	31	pattern	pattern	NOUN
ajst-22339	256	32	recognition	recognition	NOUN
ajst-22339	256	33	.	.	PUNCT
ajst-22339	257	1	2020	2020	NUM
ajst-22339	257	2	:	:	PUNCT
ajst-22339	258	1	1182411833	1182411833	NUM
ajst-22339	258	2	.	.	PUNCT
ajst-22339	259	1	[	[	X
ajst-22339	259	2	39	39	NUM
ajst-22339	259	3	]	]	X
ajst-22339	259	4	bai	bai	PROPN
ajst-22339	259	5	x	x	SYM
ajst-22339	259	6	,	,	PUNCT
ajst-22339	259	7	luo	luo	PROPN
ajst-22339	259	8	z	z	PROPN
ajst-22339	259	9	,	,	PUNCT
ajst-22339	259	10	zhou	zhou	PROPN
ajst-22339	259	11	l	l	PROPN
ajst-22339	259	12	,	,	PUNCT
ajst-22339	259	13	et	et	PROPN
ajst-22339	259	14	al	al	PROPN
ajst-22339	259	15	.	.	PROPN
ajst-22339	259	16	pointdsc	pointdsc	PROPN
ajst-22339	259	17	:	:	PUNCT
ajst-22339	259	18	robust	robust	ADJ
ajst-22339	259	19	point	point	NOUN
ajst-22339	259	20	cloud	cloud	NOUN
ajst-22339	259	21	registration	registration	NOUN
ajst-22339	259	22	using	use	VERB
ajst-22339	259	23	deep	deep	ADJ
ajst-22339	259	24	spatial	spatial	ADJ
ajst-22339	259	25	consistency[c]//proceedings	consistency[c]//proceeding	NOUN
ajst-22339	259	26	of	of	ADP
ajst-22339	259	27	the	the	DET
ajst-22339	259	28	ieee	ieee	NOUN
ajst-22339	259	29	/	/	SYM
ajst-22339	259	30	cvf	cvf	NOUN
ajst-22339	259	31	conference	conference	NOUN
ajst-22339	259	32	on	on	ADP
ajst-22339	259	33	computer	computer	NOUN
ajst-22339	259	34	vision	vision	NOUN
ajst-22339	259	35	and	and	CCONJ
ajst-22339	259	36	pattern	pattern	NOUN
ajst-22339	259	37	recognition	recognition	NOUN
ajst-22339	259	38	.	.	PUNCT
ajst-22339	260	1	2021	2021	NUM
ajst-22339	260	2	:	:	PUNCT
ajst-22339	260	3	15859	15859	NUM
ajst-22339	260	4	-	-	SYM
ajst-22339	260	5	15869	15869	NUM
ajst-22339	260	6	.	.	PUNCT
ajst-22339	261	1	[	[	X
ajst-22339	261	2	40	40	NUM
ajst-22339	261	3	]	]	PUNCT
ajst-22339	261	4	myronenko	myronenko	NOUN
ajst-22339	261	5	a	a	PRON
ajst-22339	261	6	,	,	PUNCT
ajst-22339	261	7	song	song	NOUN
ajst-22339	261	8	x.	x.	NOUN
ajst-22339	261	9	point	point	NOUN
ajst-22339	261	10	set	set	VERB
ajst-22339	261	11	registration	registration	NOUN
ajst-22339	261	12	:	:	PUNCT
ajst-22339	261	13	coherent	coherent	ADJ
ajst-22339	261	14	point	point	NOUN
ajst-22339	261	15	drift[j	drift[j	NOUN
ajst-22339	261	16	]	]	PUNCT
ajst-22339	261	17	.	.	PUNCT
ajst-22339	262	1	ieee	ieee	NOUN
ajst-22339	262	2	transactions	transaction	NOUN
ajst-22339	262	3	on	on	ADP
ajst-22339	262	4	pattern	pattern	NOUN
ajst-22339	262	5	analysis	analysis	NOUN
ajst-22339	262	6	and	and	CCONJ
ajst-22339	262	7	machine	machine	NOUN
ajst-22339	262	8	intelligence	intelligence	NOUN
ajst-22339	262	9	,	,	PUNCT
ajst-22339	262	10	2010	2010	NUM
ajst-22339	262	11	,	,	PUNCT
ajst-22339	262	12	32(12	32(12	NUM
ajst-22339	262	13	):	):	PUNCT
ajst-22339	262	14	2262	2262	NUM
ajst-22339	262	15	-	-	SYM
ajst-22339	262	16	2275	2275	NUM
ajst-22339	262	17	.	.	PUNCT
ajst-22339	263	1	[	[	X
ajst-22339	263	2	41	41	NUM
ajst-22339	263	3	]	]	X
ajst-22339	263	4	gold	gold	NOUN
ajst-22339	263	5	s	s	PROPN
ajst-22339	263	6	,	,	PUNCT
ajst-22339	263	7	rangarajan	rangarajan	VERB
ajst-22339	263	8	a	a	PRON
ajst-22339	263	9	,	,	PUNCT
ajst-22339	263	10	lu	lu	PROPN
ajst-22339	263	11	c	c	NOUN
ajst-22339	263	12	p	p	PROPN
ajst-22339	263	13	,	,	PUNCT
ajst-22339	263	14	et	et	PROPN
ajst-22339	263	15	al	al	PROPN
ajst-22339	263	16	.	.	PUNCT
ajst-22339	264	1	new	new	ADJ
ajst-22339	264	2	algorithms	algorithm	NOUN
ajst-22339	264	3	for	for	ADP
ajst-22339	264	4	2d	2d	NOUN
ajst-22339	264	5	and	and	CCONJ
ajst-22339	264	6	3d	3d	NUM
ajst-22339	264	7	point	point	NOUN
ajst-22339	264	8	matching	matching	NOUN
ajst-22339	264	9	:	:	PUNCT
ajst-22339	264	10	pose	pose	NOUN
ajst-22339	264	11	estimation	estimation	NOUN
ajst-22339	264	12	and	and	CCONJ
ajst-22339	264	13	correspondence[j	correspondence[j	NOUN
ajst-22339	264	14	]	]	PUNCT
ajst-22339	264	15	.	.	PUNCT
ajst-22339	265	1	pattern	pattern	NOUN
ajst-22339	265	2	recognition	recognition	NOUN
ajst-22339	265	3	,	,	PUNCT
ajst-22339	265	4	1998	1998	NUM
ajst-22339	265	5	,	,	PUNCT
ajst-22339	265	6	31(8	31(8	NUM
ajst-22339	265	7	):	):	PUNCT
ajst-22339	265	8	1019	1019	NUM
ajst-22339	265	9	-	-	SYM
ajst-22339	265	10	1031	1031	NUM
ajst-22339	265	11	.	.	PUNCT
ajst-22339	266	1	[	[	X
ajst-22339	266	2	42	42	NUM
ajst-22339	266	3	]	]	X
ajst-22339	266	4	robinson	robinson	PROPN
ajst-22339	266	5	e	e	PROPN
ajst-22339	266	6	c	c	PROPN
ajst-22339	266	7	,	,	PUNCT
ajst-22339	266	8	jbabdi	jbabdi	PROPN
ajst-22339	266	9	s	s	PROPN
ajst-22339	266	10	,	,	PUNCT
ajst-22339	266	11	glasser	glasser	PROPN
ajst-22339	266	12	m	m	PROPN
ajst-22339	266	13	f	f	PROPN
ajst-22339	266	14	,	,	PUNCT
ajst-22339	266	15	et	et	PROPN
ajst-22339	266	16	al	al	PROPN
ajst-22339	266	17	.	.	PROPN
ajst-22339	266	18	msm	msm	NOUN
ajst-22339	266	19	:	:	PUNCT
ajst-22339	266	20	a	a	DET
ajst-22339	266	21	new	new	ADJ
ajst-22339	266	22	flexible	flexible	ADJ
ajst-22339	266	23	framework	framework	NOUN
ajst-22339	266	24	for	for	ADP
ajst-22339	266	25	multimodal	multimodal	NOUN
ajst-22339	266	26	surface	surface	NOUN
ajst-22339	266	27	matching[j	matching[j	NOUN
ajst-22339	266	28	]	]	PUNCT
ajst-22339	266	29	.	.	PUNCT
ajst-22339	267	1	neuroimage	neuroimage	NOUN
ajst-22339	267	2	,	,	PUNCT
ajst-22339	267	3	2014	2014	NUM
ajst-22339	267	4	,	,	PUNCT
ajst-22339	267	5	100	100	NUM
ajst-22339	267	6	:	:	PUNCT
ajst-22339	267	7	414	414	NUM
ajst-22339	267	8	-	-	SYM
ajst-22339	267	9	426	426	NUM
ajst-22339	267	10	.	.	PUNCT
ajst-22339	268	1	[	[	X
ajst-22339	268	2	43	43	NUM
ajst-22339	268	3	]	]	X
ajst-22339	268	4	hardoon	hardoon	PROPN
ajst-22339	268	5	d	d	PROPN
ajst-22339	268	6	r	r	NOUN
ajst-22339	268	7	,	,	PUNCT
ajst-22339	268	8	shawe	shawe	NOUN
ajst-22339	268	9	-	-	PUNCT
ajst-22339	268	10	taylor	taylor	PROPN
ajst-22339	268	11	j.	j.	PROPN
ajst-22339	268	12	sparse	sparse	VERB
ajst-22339	268	13	canonical	canonical	ADJ
ajst-22339	268	14	correlation	correlation	NOUN
ajst-22339	268	15	analysis[j	analysis[j	PROPN
ajst-22339	268	16	]	]	PUNCT
ajst-22339	268	17	.	.	PUNCT
ajst-22339	269	1	machine	machine	NOUN
ajst-22339	269	2	learning	learning	PROPN
ajst-22339	269	3	,	,	PUNCT
ajst-22339	269	4	2011	2011	NUM
ajst-22339	269	5	,	,	PUNCT
ajst-22339	269	6	83	83	NUM
ajst-22339	269	7	:	:	SYM
ajst-22339	269	8	331	331	NUM
ajst-22339	269	9	-	-	SYM
ajst-22339	269	10	353	353	NUM
ajst-22339	269	11	.	.	PUNCT
ajst-22339	270	1	[	[	X
ajst-22339	270	2	44	44	NUM
ajst-22339	270	3	]	]	PUNCT
ajst-22339	270	4	segal	segal	PROPN
ajst-22339	270	5	a	a	PRON
ajst-22339	270	6	,	,	PUNCT
ajst-22339	270	7	haehnel	haehnel	NOUN
ajst-22339	270	8	d	d	NOUN
ajst-22339	270	9	,	,	PUNCT
ajst-22339	270	10	thrun	thrun	NOUN
ajst-22339	270	11	s.	s.	PROPN
ajst-22339	270	12	generalized	generalize	VERB
ajst-22339	270	13	-	-	PUNCT
ajst-22339	270	14	icp[c]//robotics	icp[c]//robotic	NOUN
ajst-22339	270	15	:	:	PUNCT
ajst-22339	270	16	science	science	NOUN
ajst-22339	270	17	and	and	CCONJ
ajst-22339	270	18	systems	system	NOUN
ajst-22339	270	19	.	.	PUNCT
ajst-22339	271	1	2009	2009	NUM
ajst-22339	271	2	,	,	PUNCT
ajst-22339	271	3	2(4	2(4	NUM
ajst-22339	271	4	):	):	PUNCT
ajst-22339	271	5	435	435	NUM
ajst-22339	271	6	.	.	PUNCT