id	sid	tid	token	lemma	pos
ajst-2993	1	1	academic	academic	ADJ
ajst-2993	1	2	journal	journal	NOUN
ajst-2993	1	3	of	of	ADP
ajst-2993	1	4	science	science	NOUN
ajst-2993	1	5	and	and	CCONJ
ajst-2993	1	6	technology	technology	NOUN
ajst-2993	1	7	issn	issn	NOUN
ajst-2993	1	8	:	:	PUNCT
ajst-2993	1	9	2771	2771	NUM
ajst-2993	1	10	-	-	SYM
ajst-2993	1	11	3032	3032	NUM
ajst-2993	1	12	|	|	NOUN
ajst-2993	1	13	vol	vol	NOUN
ajst-2993	1	14	.	.	PROPN
ajst-2993	2	1	3	3	NUM
ajst-2993	2	2	,	,	PUNCT
ajst-2993	2	3	no	no	INTJ
ajst-2993	2	4	.	.	NOUN
ajst-2993	2	5	3	3	NUM
ajst-2993	2	6	,	,	PUNCT
ajst-2993	2	7	2022	2022	NUM
ajst-2993	2	8	255	255	NUM
ajst-2993	2	9	a	a	DET
ajst-2993	2	10	review	review	NOUN
ajst-2993	2	11	of	of	ADP
ajst-2993	2	12	lidar	lidar	NOUN
ajst-2993	2	13	sensor	sensor	NOUN
ajst-2993	2	14	technologies	technology	NOUN
ajst-2993	2	15	for	for	ADP
ajst-2993	2	16	perception	perception	NOUN
ajst-2993	2	17	in	in	ADP
ajst-2993	2	18	automated	automate	VERB
ajst-2993	2	19	driving	drive	VERB
ajst-2993	2	20	jingmeng	jingmeng	PROPN
ajst-2993	2	21	zhou1	zhou1	PROPN
ajst-2993	2	22	,	,	PUNCT
ajst-2993	2	23	*	*	SYM
ajst-2993	2	24	1	1	NUM
ajst-2993	2	25	china	china	PROPN
ajst-2993	2	26	university	university	PROPN
ajst-2993	2	27	of	of	ADP
ajst-2993	2	28	geosciences(beijing	geosciences(beijing	PROPN
ajst-2993	2	29	)	)	PUNCT
ajst-2993	2	30	,	,	PUNCT
ajst-2993	2	31	beijing	beijing	PROPN
ajst-2993	2	32	10083	10083	NUM
ajst-2993	2	33	,	,	PUNCT
ajst-2993	2	34	china	china	PROPN
ajst-2993	2	35	*	*	PUNCT
ajst-2993	2	36	corresponding	correspond	VERB
ajst-2993	2	37	author	author	NOUN
ajst-2993	2	38	’s	’s	PART
ajst-2993	2	39	email	email	NOUN
ajst-2993	2	40	:	:	PUNCT
ajst-2993	2	41	1004202112@cugb.edu.cn	1004202112@cugb.edu.cn	NUM
ajst-2993	2	42	abstract	abstract	NOUN
ajst-2993	2	43	:	:	PUNCT
ajst-2993	2	44	after	after	ADP
ajst-2993	2	45	more	more	ADJ
ajst-2993	2	46	than	than	ADP
ajst-2993	2	47	20	20	NUM
ajst-2993	2	48	years	year	NOUN
ajst-2993	2	49	of	of	ADP
ajst-2993	2	50	research	research	NOUN
ajst-2993	2	51	,	,	PUNCT
ajst-2993	2	52	adas	adas	PROPN
ajst-2993	2	53	is	be	AUX
ajst-2993	2	54	common	common	ADJ
ajst-2993	2	55	in	in	ADP
ajst-2993	2	56	modern	modern	ADJ
ajst-2993	2	57	vehicles	vehicle	NOUN
ajst-2993	2	58	on	on	ADP
ajst-2993	2	59	the	the	DET
ajst-2993	2	60	market	market	NOUN
ajst-2993	2	61	.	.	PUNCT
ajst-2993	3	1	automated	automate	VERB
ajst-2993	3	2	driving	driving	NOUN
ajst-2993	3	3	systems	system	NOUN
ajst-2993	3	4	have	have	AUX
ajst-2993	3	5	gradually	gradually	ADV
ajst-2993	3	6	moved	move	VERB
ajst-2993	3	7	from	from	ADP
ajst-2993	3	8	the	the	DET
ajst-2993	3	9	research	research	NOUN
ajst-2993	3	10	stage	stage	NOUN
ajst-2993	3	11	to	to	ADP
ajst-2993	3	12	public	public	ADJ
ajst-2993	3	13	roads	road	NOUN
ajst-2993	3	14	for	for	ADP
ajst-2993	3	15	commercial	commercial	ADJ
ajst-2993	3	16	testing	testing	NOUN
ajst-2993	3	17	.	.	PUNCT
ajst-2993	4	1	these	these	DET
ajst-2993	4	2	systems	system	NOUN
ajst-2993	4	3	rely	rely	VERB
ajst-2993	4	4	on	on	ADP
ajst-2993	4	5	information	information	NOUN
ajst-2993	4	6	provided	provide	VERB
ajst-2993	4	7	by	by	ADP
ajst-2993	4	8	onboard	onboard	ADJ
ajst-2993	4	9	sensors	sensor	NOUN
ajst-2993	4	10	that	that	PRON
ajst-2993	4	11	describe	describe	VERB
ajst-2993	4	12	the	the	DET
ajst-2993	4	13	state	state	NOUN
ajst-2993	4	14	of	of	ADP
ajst-2993	4	15	the	the	DET
ajst-2993	4	16	vehicle	vehicle	NOUN
ajst-2993	4	17	,	,	PUNCT
ajst-2993	4	18	its	its	PRON
ajst-2993	4	19	environment	environment	NOUN
ajst-2993	4	20	,	,	PUNCT
ajst-2993	4	21	and	and	CCONJ
ajst-2993	4	22	other	other	ADJ
ajst-2993	4	23	participants	participant	NOUN
ajst-2993	4	24	.	.	PUNCT
ajst-2993	5	1	the	the	DET
ajst-2993	5	2	selection	selection	NOUN
ajst-2993	5	3	and	and	CCONJ
ajst-2993	5	4	placement	placement	NOUN
ajst-2993	5	5	of	of	ADP
ajst-2993	5	6	sensing	sense	VERB
ajst-2993	5	7	sensors	sensor	NOUN
ajst-2993	5	8	are	be	AUX
ajst-2993	5	9	key	key	ADJ
ajst-2993	5	10	factors	factor	NOUN
ajst-2993	5	11	in	in	ADP
ajst-2993	5	12	system	system	NOUN
ajst-2993	5	13	design	design	NOUN
ajst-2993	5	14	.	.	PUNCT
ajst-2993	6	1	in	in	ADP
ajst-2993	6	2	order	order	NOUN
ajst-2993	6	3	to	to	PART
ajst-2993	6	4	better	well	ADV
ajst-2993	6	5	understand	understand	VERB
ajst-2993	6	6	the	the	DET
ajst-2993	6	7	principles	principle	NOUN
ajst-2993	6	8	and	and	CCONJ
ajst-2993	6	9	functional	functional	ADJ
ajst-2993	6	10	implementation	implementation	NOUN
ajst-2993	6	11	of	of	ADP
ajst-2993	6	12	sensing	sense	VERB
ajst-2993	6	13	sensors	sensor	NOUN
ajst-2993	6	14	,	,	PUNCT
ajst-2993	6	15	this	this	DET
ajst-2993	6	16	paper	paper	NOUN
ajst-2993	6	17	reviews	review	VERB
ajst-2993	6	18	the	the	DET
ajst-2993	6	19	existing	exist	VERB
ajst-2993	6	20	and	and	CCONJ
ajst-2993	6	21	latest	late	ADJ
ajst-2993	6	22	sensing	sense	VERB
ajst-2993	6	23	sensor	sensor	NOUN
ajst-2993	6	24	technologies	technology	NOUN
ajst-2993	6	25	and	and	CCONJ
ajst-2993	6	26	presents	present	VERB
ajst-2993	6	27	a	a	DET
ajst-2993	6	28	detailed	detailed	ADJ
ajst-2993	6	29	analysis	analysis	NOUN
ajst-2993	6	30	of	of	ADP
ajst-2993	6	31	the	the	DET
ajst-2993	6	32	principles	principle	NOUN
ajst-2993	6	33	,	,	PUNCT
ajst-2993	6	34	advantages	advantage	NOUN
ajst-2993	6	35	,	,	PUNCT
ajst-2993	6	36	and	and	CCONJ
ajst-2993	6	37	disadvantages	disadvantage	VERB
ajst-2993	6	38	,	,	PUNCT
ajst-2993	6	39	as	as	ADV
ajst-2993	6	40	well	well	ADV
ajst-2993	6	41	as	as	ADP
ajst-2993	6	42	common	common	ADJ
ajst-2993	6	43	types	type	NOUN
ajst-2993	6	44	and	and	CCONJ
ajst-2993	6	45	performance	performance	NOUN
ajst-2993	6	46	of	of	ADP
ajst-2993	6	47	lidar	lidar	NOUN
ajst-2993	6	48	sensor	sensor	NOUN
ajst-2993	6	49	technologies	technology	NOUN
ajst-2993	6	50	,	,	PUNCT
ajst-2993	6	51	and	and	CCONJ
ajst-2993	6	52	then	then	ADV
ajst-2993	6	53	introduces	introduce	VERB
ajst-2993	6	54	two	two	NUM
ajst-2993	6	55	proposed	propose	VERB
ajst-2993	6	56	solutions	solution	NOUN
ajst-2993	6	57	to	to	ADP
ajst-2993	6	58	the	the	DET
ajst-2993	6	59	problem	problem	NOUN
ajst-2993	6	60	of	of	ADP
ajst-2993	6	61	how	how	SCONJ
ajst-2993	6	62	to	to	PART
ajst-2993	6	63	improve	improve	VERB
ajst-2993	6	64	the	the	DET
ajst-2993	6	65	recognition	recognition	NOUN
ajst-2993	6	66	accuracy	accuracy	NOUN
ajst-2993	6	67	of	of	ADP
ajst-2993	6	68	lidar	lidar	NOUN
ajst-2993	6	69	sensors	sensor	NOUN
ajst-2993	6	70	under	under	ADP
ajst-2993	6	71	the	the	DET
ajst-2993	6	72	influence	influence	NOUN
ajst-2993	6	73	of	of	ADP
ajst-2993	6	74	different	different	ADJ
ajst-2993	6	75	weather	weather	NOUN
ajst-2993	6	76	factors	factor	NOUN
ajst-2993	6	77	by	by	ADP
ajst-2993	6	78	selecting	select	VERB
ajst-2993	6	79	.	.	PUNCT
ajst-2993	7	1	finally	finally	ADV
ajst-2993	7	2	,	,	PUNCT
ajst-2993	7	3	this	this	DET
ajst-2993	7	4	paper	paper	NOUN
ajst-2993	7	5	briefly	briefly	NOUN
ajst-2993	7	6	introduces	introduce	VERB
ajst-2993	7	7	several	several	ADJ
ajst-2993	7	8	latest	late	ADJ
ajst-2993	7	9	lidar	lidar	NOUN
ajst-2993	7	10	sensors	sensor	NOUN
ajst-2993	7	11	under	under	ADP
ajst-2993	7	12	research	research	NOUN
ajst-2993	7	13	and	and	CCONJ
ajst-2993	7	14	proposes	propose	VERB
ajst-2993	7	15	an	an	DET
ajst-2993	7	16	innovative	innovative	ADJ
ajst-2993	7	17	multi	multi	ADJ
ajst-2993	7	18	-	-	ADJ
ajst-2993	7	19	sensor	sensor	ADJ
ajst-2993	7	20	fusion	fusion	NOUN
ajst-2993	7	21	solution	solution	NOUN
ajst-2993	7	22	based	base	VERB
ajst-2993	7	23	on	on	ADP
ajst-2993	7	24	the	the	DET
ajst-2993	7	25	existing	exist	VERB
ajst-2993	7	26	research	research	NOUN
ajst-2993	7	27	,	,	PUNCT
ajst-2993	7	28	and	and	CCONJ
ajst-2993	7	29	analyzes	analyze	VERB
ajst-2993	7	30	the	the	DET
ajst-2993	7	31	feasibility	feasibility	NOUN
ajst-2993	7	32	.	.	PUNCT
ajst-2993	8	1	keywords	keyword	NOUN
ajst-2993	8	2	:	:	PUNCT
ajst-2993	9	1	adas	adas	PROPN
ajst-2993	9	2	,	,	PUNCT
ajst-2993	9	3	automated	automate	VERB
ajst-2993	9	4	driving	driving	NOUN
ajst-2993	9	5	,	,	PUNCT
ajst-2993	9	6	sensing	sense	VERB
ajst-2993	9	7	sensors	sensor	NOUN
ajst-2993	9	8	,	,	PUNCT
ajst-2993	9	9	lidar	lidar	NOUN
ajst-2993	9	10	,	,	PUNCT
ajst-2993	9	11	multi	multi	ADJ
ajst-2993	9	12	-	-	ADJ
ajst-2993	9	13	sensor	sensor	ADJ
ajst-2993	9	14	fusion	fusion	NOUN
ajst-2993	9	15	.	.	PUNCT
ajst-2993	10	1	1	1	X
ajst-2993	10	2	.	.	X
ajst-2993	10	3	introduction	introduction	NOUN
ajst-2993	10	4	more	more	ADJ
ajst-2993	10	5	than	than	ADP
ajst-2993	10	6	one	one	NUM
ajst-2993	10	7	million	million	NUM
ajst-2993	10	8	people	people	NOUN
ajst-2993	10	9	die	die	VERB
ajst-2993	10	10	in	in	ADP
ajst-2993	10	11	traffic	traffic	NOUN
ajst-2993	10	12	accidents	accident	NOUN
ajst-2993	10	13	each	each	DET
ajst-2993	10	14	year	year	NOUN
ajst-2993	10	15	,	,	PUNCT
ajst-2993	10	16	and	and	CCONJ
ajst-2993	10	17	millions	million	NOUN
ajst-2993	10	18	more	more	ADJ
ajst-2993	10	19	are	be	AUX
ajst-2993	10	20	injured	injure	VERB
ajst-2993	10	21	.	.	PUNCT
ajst-2993	11	1	in	in	ADP
ajst-2993	11	2	addition	addition	NOUN
ajst-2993	11	3	to	to	ADP
ajst-2993	11	4	its	its	PRON
ajst-2993	11	5	social	social	ADJ
ajst-2993	11	6	costs	cost	NOUN
ajst-2993	11	7	,	,	PUNCT
ajst-2993	11	8	it	it	PRON
ajst-2993	11	9	has	have	VERB
ajst-2993	11	10	important	important	ADJ
ajst-2993	11	11	economic	economic	ADJ
ajst-2993	11	12	impacts	impact	NOUN
ajst-2993	11	13	on	on	ADP
ajst-2993	11	14	countries	country	NOUN
ajst-2993	11	15	around	around	ADP
ajst-2993	11	16	the	the	DET
ajst-2993	11	17	world	world	NOUN
ajst-2993	11	18	.	.	PUNCT
ajst-2993	12	1	according	accord	VERB
ajst-2993	12	2	to	to	ADP
ajst-2993	12	3	some	some	DET
ajst-2993	12	4	survey	survey	NOUN
ajst-2993	12	5	literature	literature	NOUN
ajst-2993	12	6	,	,	PUNCT
ajst-2993	12	7	the	the	DET
ajst-2993	12	8	most	most	ADV
ajst-2993	12	9	common	common	ADJ
ajst-2993	12	10	causes	cause	NOUN
ajst-2993	12	11	of	of	ADP
ajst-2993	12	12	car	car	NOUN
ajst-2993	12	13	accidents	accident	NOUN
ajst-2993	12	14	in	in	ADP
ajst-2993	12	15	the	the	DET
ajst-2993	12	16	eu	eu	PROPN
ajst-2993	12	17	are	be	AUX
ajst-2993	12	18	related	relate	VERB
ajst-2993	12	19	to	to	ADP
ajst-2993	12	20	perceptions	perception	NOUN
ajst-2993	12	21	:	:	PUNCT
ajst-2993	12	22	speeding	speed	VERB
ajst-2993	12	23	,	,	PUNCT
ajst-2993	12	24	driving	drive	VERB
ajst-2993	12	25	under	under	ADP
ajst-2993	12	26	the	the	DET
ajst-2993	12	27	influence	influence	NOUN
ajst-2993	12	28	of	of	ADP
ajst-2993	12	29	alcohol	alcohol	NOUN
ajst-2993	12	30	or	or	CCONJ
ajst-2993	12	31	drugs	drug	NOUN
ajst-2993	12	32	,	,	PUNCT
ajst-2993	12	33	reckless	reckless	ADJ
ajst-2993	12	34	driving	driving	NOUN
ajst-2993	12	35	,	,	PUNCT
ajst-2993	12	36	distraction	distraction	NOUN
ajst-2993	12	37	,	,	PUNCT
ajst-2993	12	38	or	or	CCONJ
ajst-2993	12	39	just	just	ADV
ajst-2993	12	40	plain	plain	ADJ
ajst-2993	12	41	misjudgment	misjudgment	NOUN
ajst-2993	12	42	.	.	PUNCT
ajst-2993	13	1	automated	automate	VERB
ajst-2993	13	2	driving	driving	NOUN
ajst-2993	13	3	systems[1	systems[1	NOUN
ajst-2993	13	4	]	]	PUNCT
ajst-2993	13	5	are	be	AUX
ajst-2993	13	6	designed	design	VERB
ajst-2993	13	7	to	to	PART
ajst-2993	13	8	take	take	VERB
ajst-2993	13	9	the	the	DET
ajst-2993	13	10	human	human	ADJ
ajst-2993	13	11	driver	driver	NOUN
ajst-2993	13	12	out	out	ADP
ajst-2993	13	13	of	of	ADP
ajst-2993	13	14	the	the	DET
ajst-2993	13	15	equation	equation	NOUN
ajst-2993	13	16	.	.	PUNCT
ajst-2993	14	1	this	this	PRON
ajst-2993	14	2	makes	make	VERB
ajst-2993	14	3	them	they	PRON
ajst-2993	14	4	a	a	DET
ajst-2993	14	5	tool	tool	NOUN
ajst-2993	14	6	that	that	PRON
ajst-2993	14	7	has	have	VERB
ajst-2993	14	8	the	the	DET
ajst-2993	14	9	potential	potential	NOUN
ajst-2993	14	10	to	to	PART
ajst-2993	14	11	reduce	reduce	VERB
ajst-2993	14	12	the	the	DET
ajst-2993	14	13	number	number	NOUN
ajst-2993	14	14	of	of	ADP
ajst-2993	14	15	traffic	traffic	NOUN
ajst-2993	14	16	accidents	accident	NOUN
ajst-2993	14	17	.	.	PUNCT
ajst-2993	15	1	based	base	VERB
ajst-2993	15	2	on	on	ADP
ajst-2993	15	3	recent	recent	ADJ
ajst-2993	15	4	developments	development	NOUN
ajst-2993	15	5	and	and	CCONJ
ajst-2993	15	6	demonstrations	demonstration	NOUN
ajst-2993	15	7	worldwide	worldwide	ADV
ajst-2993	15	8	,	,	PUNCT
ajst-2993	15	9	a	a	DET
ajst-2993	15	10	trend	trend	NOUN
ajst-2993	15	11	suggests	suggest	VERB
ajst-2993	15	12	that	that	SCONJ
ajst-2993	15	13	highly	highly	ADV
ajst-2993	15	14	automated	automate	VERB
ajst-2993	15	15	driving	driving	NOUN
ajst-2993	15	16	will	will	AUX
ajst-2993	15	17	be	be	AUX
ajst-2993	15	18	available	available	ADJ
ajst-2993	15	19	within	within	ADP
ajst-2993	15	20	a	a	DET
ajst-2993	15	21	few	few	ADJ
ajst-2993	15	22	years	year	NOUN
ajst-2993	15	23	.	.	PUNCT
ajst-2993	16	1	this	this	PRON
ajst-2993	16	2	raises	raise	VERB
ajst-2993	16	3	questions	question	NOUN
ajst-2993	16	4	about	about	ADP
ajst-2993	16	5	their	their	PRON
ajst-2993	16	6	safety	safety	NOUN
ajst-2993	16	7	.	.	PUNCT
ajst-2993	17	1	the	the	DET
ajst-2993	17	2	architecture	architecture	NOUN
ajst-2993	17	3	of	of	ADP
ajst-2993	17	4	self	self	NOUN
ajst-2993	17	5	-	-	PUNCT
ajst-2993	17	6	driving	drive	VERB
ajst-2993	17	7	cars	car	NOUN
ajst-2993	17	8	is	be	AUX
ajst-2993	17	9	usually	usually	ADV
ajst-2993	17	10	divided	divide	VERB
ajst-2993	17	11	into	into	ADP
ajst-2993	17	12	three	three	NUM
ajst-2993	17	13	categories	category	NOUN
ajst-2993	17	14	:	:	PUNCT
ajst-2993	17	15	environment	environment	NOUN
ajst-2993	17	16	sensing	sensing	NOUN
ajst-2993	17	17	,	,	PUNCT
ajst-2993	17	18	behavior	behavior	NOUN
ajst-2993	17	19	planning	planning	NOUN
ajst-2993	17	20	,	,	PUNCT
ajst-2993	17	21	and	and	CCONJ
ajst-2993	17	22	motion	motion	NOUN
ajst-2993	17	23	execution	execution	NOUN
ajst-2993	17	24	.	.	PUNCT
ajst-2993	18	1	self	self	NOUN
ajst-2993	18	2	-	-	PUNCT
ajst-2993	18	3	driving	drive	VERB
ajst-2993	18	4	cars	car	NOUN
ajst-2993	18	5	use	use	VERB
ajst-2993	18	6	different	different	ADJ
ajst-2993	18	7	sensors	sensor	NOUN
ajst-2993	18	8	to	to	PART
ajst-2993	18	9	obtain	obtain	VERB
ajst-2993	18	10	information	information	NOUN
ajst-2993	18	11	about	about	ADP
ajst-2993	18	12	their	their	PRON
ajst-2993	18	13	surroundings	surrounding	NOUN
ajst-2993	18	14	.	.	PUNCT
ajst-2993	19	1	the	the	DET
ajst-2993	19	2	raw	raw	ADJ
ajst-2993	19	3	data	data	NOUN
ajst-2993	19	4	is	be	AUX
ajst-2993	19	5	processed	process	VERB
ajst-2993	19	6	to	to	PART
ajst-2993	19	7	extract	extract	VERB
ajst-2993	19	8	relevant	relevant	ADJ
ajst-2993	19	9	features	feature	NOUN
ajst-2993	19	10	that	that	PRON
ajst-2993	19	11	are	be	AUX
ajst-2993	19	12	inputs	input	NOUN
ajst-2993	19	13	for	for	ADP
ajst-2993	19	14	the	the	DET
ajst-2993	19	15	following	follow	VERB
ajst-2993	19	16	phases	phase	NOUN
ajst-2993	19	17	(	(	PUNCT
ajst-2993	19	18	behavior	behavior	NOUN
ajst-2993	19	19	planning	planning	NOUN
ajst-2993	19	20	and	and	CCONJ
ajst-2993	19	21	motion	motion	NOUN
ajst-2993	19	22	execution	execution	NOUN
ajst-2993	19	23	)	)	PUNCT
ajst-2993	19	24	that	that	PRON
ajst-2993	19	25	perform	perform	VERB
ajst-2993	19	26	tasks	task	NOUN
ajst-2993	19	27	such	such	ADJ
ajst-2993	19	28	as	as	ADP
ajst-2993	19	29	path	path	NOUN
ajst-2993	19	30	planning	planning	NOUN
ajst-2993	19	31	,	,	PUNCT
ajst-2993	19	32	collision	collision	NOUN
ajst-2993	19	33	avoidance	avoidance	NOUN
ajst-2993	19	34	,	,	PUNCT
ajst-2993	19	35	or	or	CCONJ
ajst-2993	19	36	vehicle	vehicle	NOUN
ajst-2993	19	37	control	control	NOUN
ajst-2993	19	38	.	.	PUNCT
ajst-2993	20	1	perception	perception	NOUN
ajst-2993	20	2	is	be	AUX
ajst-2993	20	3	a	a	DET
ajst-2993	20	4	very	very	ADV
ajst-2993	20	5	challenging	challenging	ADJ
ajst-2993	20	6	problem	problem	NOUN
ajst-2993	20	7	for	for	ADP
ajst-2993	20	8	a	a	DET
ajst-2993	20	9	number	number	NOUN
ajst-2993	20	10	of	of	ADP
ajst-2993	20	11	reasons	reason	NOUN
ajst-2993	20	12	.	.	PUNCT
ajst-2993	21	1	first	first	ADV
ajst-2993	21	2	,	,	PUNCT
ajst-2993	21	3	the	the	DET
ajst-2993	21	4	environment	environment	NOUN
ajst-2993	21	5	is	be	AUX
ajst-2993	21	6	complex	complex	ADJ
ajst-2993	21	7	and	and	CCONJ
ajst-2993	21	8	highly	highly	ADV
ajst-2993	21	9	dynamic	dynamic	ADJ
ajst-2993	21	10	,	,	PUNCT
ajst-2993	21	11	with	with	ADP
ajst-2993	21	12	some	some	DET
ajst-2993	21	13	cases	case	NOUN
ajst-2993	21	14	designed	design	VERB
ajst-2993	21	15	for	for	ADP
ajst-2993	21	16	a	a	DET
ajst-2993	21	17	large	large	ADJ
ajst-2993	21	18	number	number	NOUN
ajst-2993	21	19	of	of	ADP
ajst-2993	21	20	participants	participant	NOUN
ajst-2993	21	21	(	(	PUNCT
ajst-2993	21	22	dense	dense	ADJ
ajst-2993	21	23	traffic	traffic	NOUN
ajst-2993	21	24	and	and	CCONJ
ajst-2993	21	25	densely	densely	ADV
ajst-2993	21	26	populated	populated	ADJ
ajst-2993	21	27	cities	city	NOUN
ajst-2993	21	28	)	)	PUNCT
ajst-2993	21	29	.	.	PUNCT
ajst-2993	22	1	second	second	ADJ
ajst-2993	22	2	,	,	PUNCT
ajst-2993	22	3	it	it	PRON
ajst-2993	22	4	needs	need	VERB
ajst-2993	22	5	to	to	PART
ajst-2993	22	6	work	work	VERB
ajst-2993	22	7	reliably	reliably	ADV
ajst-2993	22	8	under	under	ADP
ajst-2993	22	9	a	a	DET
ajst-2993	22	10	wide	wide	ADJ
ajst-2993	22	11	range	range	NOUN
ajst-2993	22	12	of	of	ADP
ajst-2993	22	13	external	external	ADJ
ajst-2993	22	14	conditions	condition	NOUN
ajst-2993	22	15	,	,	PUNCT
ajst-2993	22	16	including	include	VERB
ajst-2993	22	17	light	light	NOUN
ajst-2993	22	18	and	and	CCONJ
ajst-2993	22	19	weather	weather	NOUN
ajst-2993	22	20	(	(	PUNCT
ajst-2993	22	21	rain	rain	NOUN
ajst-2993	22	22	,	,	PUNCT
ajst-2993	22	23	fog	fog	NOUN
ajst-2993	22	24	,	,	PUNCT
ajst-2993	22	25	snow	snow	NOUN
ajst-2993	22	26	,	,	PUNCT
ajst-2993	22	27	dust	dust	NOUN
ajst-2993	22	28	)	)	PUNCT
ajst-2993	22	29	.	.	PUNCT
ajst-2993	23	1	sensing	sense	VERB
ajst-2993	23	2	errors	error	NOUN
ajst-2993	23	3	can	can	AUX
ajst-2993	23	4	propagate	propagate	VERB
ajst-2993	23	5	and	and	CCONJ
ajst-2993	23	6	can	can	AUX
ajst-2993	23	7	lead	lead	VERB
ajst-2993	23	8	to	to	ADP
ajst-2993	23	9	serious	serious	ADJ
ajst-2993	23	10	accidents	accident	NOUN
ajst-2993	23	11	.	.	PUNCT
ajst-2993	24	1	therefore	therefore	ADV
ajst-2993	24	2	,	,	PUNCT
ajst-2993	24	3	there	there	PRON
ajst-2993	24	4	is	be	VERB
ajst-2993	24	5	an	an	DET
ajst-2993	24	6	extremely	extremely	ADV
ajst-2993	24	7	high	high	ADJ
ajst-2993	24	8	demand	demand	NOUN
ajst-2993	24	9	for	for	ADP
ajst-2993	24	10	the	the	DET
ajst-2993	24	11	accuracy	accuracy	NOUN
ajst-2993	24	12	of	of	ADP
ajst-2993	24	13	sensor	sensor	NOUN
ajst-2993	24	14	transducers	transducer	NOUN
ajst-2993	24	15	.	.	PUNCT
ajst-2993	25	1	current	current	ADJ
ajst-2993	25	2	sensor	sensor	NOUN
ajst-2993	25	3	technology	technology	NOUN
ajst-2993	25	4	is	be	AUX
ajst-2993	25	5	usually	usually	ADV
ajst-2993	25	6	focused	focus	VERB
ajst-2993	25	7	on	on	ADP
ajst-2993	25	8	the	the	DET
ajst-2993	25	9	general	general	ADJ
ajst-2993	25	10	level	level	NOUN
ajst-2993	25	11	of	of	ADP
ajst-2993	25	12	adas	adas	PROPN
ajst-2993	25	13	implementation	implementation	NOUN
ajst-2993	25	14	or	or	CCONJ
ajst-2993	25	15	automated	automated	ADJ
ajst-2993	25	16	driving	driving	NOUN
ajst-2993	25	17	.	.	PUNCT
ajst-2993	26	1	on	on	ADP
ajst-2993	26	2	the	the	DET
ajst-2993	26	3	other	other	ADJ
ajst-2993	26	4	hand	hand	NOUN
ajst-2993	26	5	,	,	PUNCT
ajst-2993	26	6	the	the	DET
ajst-2993	26	7	application	application	NOUN
ajst-2993	26	8	of	of	ADP
ajst-2993	26	9	lidar	lidar	NOUN
ajst-2993	26	10	for	for	ADP
ajst-2993	26	11	adas	adas	PROPN
ajst-2993	26	12	offers	offer	VERB
ajst-2993	26	13	unparalleled	unparalleled	ADJ
ajst-2993	26	14	performance	performance	NOUN
ajst-2993	26	15	advantages	advantage	NOUN
ajst-2993	26	16	for	for	ADP
ajst-2993	26	17	solving	solve	VERB
ajst-2993	26	18	these	these	DET
ajst-2993	26	19	challenging	challenging	ADJ
ajst-2993	26	20	problems	problem	NOUN
ajst-2993	26	21	and	and	CCONJ
ajst-2993	26	22	is	be	AUX
ajst-2993	26	23	therefore	therefore	ADV
ajst-2993	26	24	always	always	ADV
ajst-2993	26	25	in	in	ADP
ajst-2993	26	26	demand	demand	NOUN
ajst-2993	26	27	for	for	ADP
ajst-2993	26	28	software	software	NOUN
ajst-2993	26	29	testing	testing	NOUN
ajst-2993	26	30	and	and	CCONJ
ajst-2993	26	31	development	development	NOUN
ajst-2993	26	32	vehicles	vehicle	NOUN
ajst-2993	26	33	.	.	PUNCT
ajst-2993	27	1	figure	figure	NOUN
ajst-2993	27	2	1	1	NUM
ajst-2993	27	3	.	.	PUNCT
ajst-2993	28	1	adaptive	adaptive	PROPN
ajst-2993	28	2	crouse	crouse	PROPN
ajst-2993	28	3	control	control	PROPN
ajst-2993	28	4	system	system	NOUN
ajst-2993	28	5	the	the	DET
ajst-2993	28	6	main	main	ADJ
ajst-2993	28	7	contribution	contribution	NOUN
ajst-2993	28	8	of	of	ADP
ajst-2993	28	9	this	this	DET
ajst-2993	28	10	work	work	NOUN
ajst-2993	28	11	is	be	AUX
ajst-2993	28	12	to	to	PART
ajst-2993	28	13	present	present	VERB
ajst-2993	28	14	the	the	DET
ajst-2993	28	15	disadvantages	disadvantage	NOUN
ajst-2993	28	16	and	and	CCONJ
ajst-2993	28	17	advantages	advantage	NOUN
ajst-2993	28	18	of	of	ADP
ajst-2993	28	19	lidar	lidar	NOUN
ajst-2993	28	20	sensors	sensor	NOUN
ajst-2993	28	21	in	in	ADP
ajst-2993	28	22	automated	automate	VERB
ajst-2993	28	23	driving	driving	NOUN
ajst-2993	28	24	technology	technology	NOUN
ajst-2993	28	25	and	and	CCONJ
ajst-2993	28	26	to	to	PART
ajst-2993	28	27	give	give	VERB
ajst-2993	28	28	sort	sort	ADV
ajst-2993	28	29	out	out	ADP
ajst-2993	28	30	and	and	CCONJ
ajst-2993	28	31	discuss	discuss	VERB
ajst-2993	28	32	the	the	DET
ajst-2993	28	33	solutions	solution	NOUN
ajst-2993	28	34	proposed	propose	VERB
ajst-2993	28	35	in	in	ADP
ajst-2993	28	36	different	different	ADJ
ajst-2993	28	37	papers	paper	NOUN
ajst-2993	28	38	for	for	ADP
ajst-2993	28	39	the	the	DET
ajst-2993	28	40	disadvantage	disadvantage	NOUN
ajst-2993	28	41	that	that	PRON
ajst-2993	28	42	lidar	lidar	NOUN
ajst-2993	28	43	sensors	sensor	NOUN
ajst-2993	28	44	are	be	AUX
ajst-2993	28	45	highly	highly	ADV
ajst-2993	28	46	influenced	influence	VERB
ajst-2993	28	47	by	by	ADP
ajst-2993	28	48	weather	weather	NOUN
ajst-2993	28	49	factors	factor	NOUN
ajst-2993	28	50	.	.	PUNCT
ajst-2993	29	1	the	the	DET
ajst-2993	29	2	content	content	NOUN
ajst-2993	29	3	of	of	ADP
ajst-2993	29	4	the	the	DET
ajst-2993	29	5	article	article	NOUN
ajst-2993	29	6	is	be	AUX
ajst-2993	29	7	organized	organize	VERB
ajst-2993	29	8	as	as	SCONJ
ajst-2993	29	9	follows	follow	VERB
ajst-2993	29	10	.	.	PUNCT
ajst-2993	30	1	section	section	NOUN
ajst-2993	30	2	ii	ii	PROPN
ajst-2993	30	3	reviews	review	VERB
ajst-2993	30	4	the	the	DET
ajst-2993	30	5	sensor	sensor	NOUN
ajst-2993	30	6	technologies	technology	NOUN
ajst-2993	30	7	commonly	commonly	ADV
ajst-2993	30	8	used	use	VERB
ajst-2993	30	9	for	for	ADP
ajst-2993	30	10	sensing	sense	VERB
ajst-2993	30	11	,	,	PUNCT
ajst-2993	30	12	their	their	PRON
ajst-2993	30	13	drawbacks	drawback	NOUN
ajst-2993	30	14	and	and	CCONJ
ajst-2993	30	15	advantages	advantage	NOUN
ajst-2993	30	16	,	,	PUNCT
ajst-2993	30	17	and	and	CCONJ
ajst-2993	30	18	the	the	DET
ajst-2993	30	19	related	related	ADJ
ajst-2993	30	20	emerging	emerge	VERB
ajst-2993	30	21	technologies	technology	NOUN
ajst-2993	30	22	that	that	PRON
ajst-2993	30	23	can	can	AUX
ajst-2993	30	24	be	be	AUX
ajst-2993	30	25	used	use	VERB
ajst-2993	30	26	in	in	ADP
ajst-2993	30	27	the	the	DET
ajst-2993	30	28	future	future	NOUN
ajst-2993	30	29	.	.	PUNCT
ajst-2993	31	1	section	section	NOUN
ajst-2993	31	2	iii	iii	PROPN
ajst-2993	31	3	starts	start	VERB
ajst-2993	31	4	to	to	PART
ajst-2993	31	5	focus	focus	VERB
ajst-2993	31	6	on	on	ADP
ajst-2993	31	7	the	the	DET
ajst-2993	31	8	lidar	lidar	NOUN
ajst-2993	31	9	sensor	sensor	NOUN
ajst-2993	31	10	technology	technology	NOUN
ajst-2993	31	11	and	and	CCONJ
ajst-2993	31	12	gives	give	VERB
ajst-2993	31	13	and	and	CCONJ
ajst-2993	31	14	discusses	discuss	VERB
ajst-2993	31	15	the	the	DET
ajst-2993	31	16	solutions	solution	NOUN
ajst-2993	31	17	proposed	propose	VERB
ajst-2993	31	18	in	in	ADP
ajst-2993	31	19	different	different	ADJ
ajst-2993	31	20	papers	paper	NOUN
ajst-2993	31	21	for	for	ADP
ajst-2993	31	22	its	its	PRON
ajst-2993	31	23	disadvantage	disadvantage	NOUN
ajst-2993	31	24	of	of	ADP
ajst-2993	31	25	being	be	AUX
ajst-2993	31	26	highly	highly	ADV
ajst-2993	31	27	influenced	influence	VERB
ajst-2993	31	28	by	by	ADP
ajst-2993	31	29	weather	weather	NOUN
ajst-2993	31	30	conditions	condition	NOUN
ajst-2993	31	31	.	.	PUNCT
ajst-2993	32	1	section	section	NOUN
ajst-2993	32	2	iv	iv	NUM
ajst-2993	32	3	contains	contain	VERB
ajst-2993	32	4	a	a	DET
ajst-2993	32	5	discussion	discussion	NOUN
ajst-2993	32	6	of	of	ADP
ajst-2993	32	7	the	the	DET
ajst-2993	32	8	current	current	ADJ
ajst-2993	32	9	state	state	NOUN
ajst-2993	32	10	of	of	ADP
ajst-2993	32	11	the	the	DET
ajst-2993	32	12	discipline	discipline	NOUN
ajst-2993	32	13	and	and	CCONJ
ajst-2993	32	14	future	future	ADJ
ajst-2993	32	15	challenges	challenge	NOUN
ajst-2993	32	16	of	of	ADP
ajst-2993	32	17	sensors	sensor	NOUN
ajst-2993	32	18	and	and	CCONJ
ajst-2993	32	19	perception	perception	NOUN
ajst-2993	32	20	in	in	ADP
ajst-2993	32	21	automated	automate	VERB
ajst-2993	32	22	driving	driving	NOUN
ajst-2993	32	23	systems	system	NOUN
ajst-2993	32	24	,	,	PUNCT
ajst-2993	32	25	and	and	CCONJ
ajst-2993	32	26	section	section	NOUN
ajst-2993	32	27	v	v	NOUN
ajst-2993	32	28	concludes	conclude	VERB
ajst-2993	32	29	the	the	DET
ajst-2993	32	30	whole	whole	ADJ
ajst-2993	32	31	paper	paper	NOUN
ajst-2993	32	32	in	in	ADP
ajst-2993	32	33	an	an	DET
ajst-2993	32	34	integrated	integrate	VERB
ajst-2993	32	35	manner	manner	NOUN
ajst-2993	32	36	.	.	PUNCT
ajst-2993	33	1	2	2	X
ajst-2993	33	2	.	.	X
ajst-2993	33	3	sensor	sensor	NOUN
ajst-2993	33	4	technology	technology	NOUN
ajst-2993	33	5	the	the	DET
ajst-2993	33	6	focus	focus	NOUN
ajst-2993	33	7	of	of	ADP
ajst-2993	33	8	this	this	DET
ajst-2993	33	9	work	work	NOUN
ajst-2993	33	10	is	be	AUX
ajst-2993	33	11	on	on	ADP
ajst-2993	33	12	external	external	ADJ
ajst-2993	33	13	receptors	receptor	NOUN
ajst-2993	33	14	,	,	PUNCT
ajst-2993	33	15	excluding	exclude	VERB
ajst-2993	33	16	proprioception	proprioception	NOUN
ajst-2993	33	17	and	and	CCONJ
ajst-2993	33	18	communication	communication	NOUN
ajst-2993	33	19	from	from	ADP
ajst-2993	33	20	the	the	DET
ajst-2993	33	21	scope	scope	NOUN
ajst-2993	33	22	of	of	ADP
ajst-2993	33	23	the	the	DET
ajst-2993	33	24	review	review	NOUN
ajst-2993	33	25	.	.	PUNCT
ajst-2993	34	1	external	external	ADJ
ajst-2993	34	2	sensing	sensing	NOUN
ajst-2993	34	3	in	in	ADP
ajst-2993	34	4	automated	automate	VERB
ajst-2993	34	5	driving	driving	NOUN
ajst-2993	34	6	relates	relate	VERB
ajst-2993	34	7	to	to	ADP
ajst-2993	34	8	information	information	NOUN
ajst-2993	34	9	in	in	ADP
ajst-2993	34	10	the	the	DET
ajst-2993	34	11	vehicle	vehicle	NOUN
ajst-2993	34	12	's	's	PART
ajst-2993	34	13	surroundings	surrounding	NOUN
ajst-2993	34	14	,	,	PUNCT
ajst-2993	34	15	rather	rather	ADV
ajst-2993	34	16	than	than	ADP
ajst-2993	34	17	256	256	NUM
ajst-2993	34	18	proprioception	proprioception	NOUN
ajst-2993	34	19	related	relate	VERB
ajst-2993	34	20	to	to	ADP
ajst-2993	34	21	the	the	DET
ajst-2993	34	22	state	state	NOUN
ajst-2993	34	23	of	of	ADP
ajst-2993	34	24	the	the	DET
ajst-2993	34	25	vehicle	vehicle	NOUN
ajst-2993	34	26	itself	itself	PRON
ajst-2993	34	27	(	(	PUNCT
ajst-2993	34	28	speed	speed	NOUN
ajst-2993	34	29	,	,	PUNCT
ajst-2993	34	30	acceleration	acceleration	NOUN
ajst-2993	34	31	,	,	PUNCT
ajst-2993	34	32	component	component	NOUN
ajst-2993	34	33	integrity	integrity	NOUN
ajst-2993	34	34	)	)	PUNCT
ajst-2993	34	35	.	.	PUNCT
ajst-2993	35	1	the	the	DET
ajst-2993	35	2	next	next	ADJ
ajst-2993	35	3	subsections	subsection	NOUN
ajst-2993	35	4	describe	describe	VERB
ajst-2993	35	5	the	the	DET
ajst-2993	35	6	advantages	advantage	NOUN
ajst-2993	35	7	,	,	PUNCT
ajst-2993	35	8	disadvantages	disadvantage	NOUN
ajst-2993	35	9	,	,	PUNCT
ajst-2993	35	10	and	and	CCONJ
ajst-2993	35	11	current	current	ADJ
ajst-2993	35	12	challenges	challenge	NOUN
ajst-2993	35	13	of	of	ADP
ajst-2993	35	14	the	the	DET
ajst-2993	35	15	three	three	NUM
ajst-2993	35	16	main	main	ADJ
ajst-2993	35	17	sensor	sensor	NOUN
ajst-2993	35	18	technologies	technology	NOUN
ajst-2993	35	19	used	use	VERB
ajst-2993	35	20	for	for	ADP
ajst-2993	35	21	external	external	ADJ
ajst-2993	35	22	sensing	sensing	NOUN
ajst-2993	35	23	in	in	ADP
ajst-2993	35	24	automated	automate	VERB
ajst-2993	35	25	driving	driving	NOUN
ajst-2993	35	26	:	:	PUNCT
ajst-2993	35	27	artificial	artificial	ADJ
ajst-2993	35	28	vision	vision	NOUN
ajst-2993	35	29	,	,	PUNCT
ajst-2993	35	30	radar	radar	NOUN
ajst-2993	35	31	,	,	PUNCT
ajst-2993	35	32	and	and	CCONJ
ajst-2993	35	33	lidar	lidar	NOUN
ajst-2993	35	34	.	.	PUNCT
ajst-2993	36	1	each	each	DET
ajst-2993	36	2	article	article	NOUN
ajst-2993	36	3	is	be	AUX
ajst-2993	36	4	followed	follow	VERB
ajst-2993	36	5	by	by	ADP
ajst-2993	36	6	a	a	DET
ajst-2993	36	7	review	review	NOUN
ajst-2993	36	8	of	of	ADP
ajst-2993	36	9	relevant	relevant	ADJ
ajst-2993	36	10	emerging	emerge	VERB
ajst-2993	36	11	technologies	technology	NOUN
ajst-2993	36	12	in	in	ADP
ajst-2993	36	13	the	the	DET
ajst-2993	36	14	field	field	NOUN
ajst-2993	36	15	.	.	PUNCT
ajst-2993	37	1	2.1	2.1	NUM
ajst-2993	37	2	.	.	PUNCT
ajst-2993	37	3	artificial	artificial	ADJ
ajst-2993	37	4	vision	vision	NOUN
ajst-2993	37	5	artificial	artificial	ADJ
ajst-2993	37	6	vision	vision	NOUN
ajst-2993	37	7	is	be	AUX
ajst-2993	37	8	a	a	DET
ajst-2993	37	9	popular	popular	ADJ
ajst-2993	37	10	technology	technology	NOUN
ajst-2993	37	11	that	that	PRON
ajst-2993	37	12	has	have	AUX
ajst-2993	37	13	been	be	AUX
ajst-2993	37	14	used	use	VERB
ajst-2993	37	15	for	for	ADP
ajst-2993	37	16	decades	decade	NOUN
ajst-2993	37	17	in	in	ADP
ajst-2993	37	18	disciplines	discipline	NOUN
ajst-2993	37	19	such	such	ADJ
ajst-2993	37	20	as	as	ADP
ajst-2993	37	21	mobile	mobile	ADJ
ajst-2993	37	22	robotics	robotic	NOUN
ajst-2993	37	23	,	,	PUNCT
ajst-2993	37	24	surveillance	surveillance	NOUN
ajst-2993	37	25	,	,	PUNCT
ajst-2993	37	26	and	and	CCONJ
ajst-2993	37	27	industrial	industrial	ADJ
ajst-2993	37	28	inspection	inspection	NOUN
ajst-2993	37	29	.	.	PUNCT
ajst-2993	38	1	this	this	DET
ajst-2993	38	2	technology	technology	NOUN
ajst-2993	38	3	offers	offer	VERB
ajst-2993	38	4	interesting	interesting	ADJ
ajst-2993	38	5	capabilities	capability	NOUN
ajst-2993	38	6	because	because	SCONJ
ajst-2993	38	7	of	of	ADP
ajst-2993	38	8	the	the	DET
ajst-2993	38	9	low	low	ADJ
ajst-2993	38	10	cost	cost	NOUN
ajst-2993	38	11	of	of	ADP
ajst-2993	38	12	sensors	sensor	NOUN
ajst-2993	38	13	for	for	ADP
ajst-2993	38	14	most	most	ADJ
ajst-2993	38	15	popular	popular	ADJ
ajst-2993	38	16	types	type	NOUN
ajst-2993	38	17	and	and	CCONJ
ajst-2993	38	18	provides	provide	VERB
ajst-2993	38	19	a	a	DET
ajst-2993	38	20	range	range	NOUN
ajst-2993	38	21	of	of	ADP
ajst-2993	38	22	information	information	NOUN
ajst-2993	38	23	types	type	NOUN
ajst-2993	38	24	including	include	VERB
ajst-2993	38	25	spatial	spatial	ADJ
ajst-2993	38	26	(	(	PUNCT
ajst-2993	38	27	shape	shape	NOUN
ajst-2993	38	28	,	,	PUNCT
ajst-2993	38	29	size	size	NOUN
ajst-2993	38	30	,	,	PUNCT
ajst-2993	38	31	distance	distance	NOUN
ajst-2993	38	32	)	)	PUNCT
ajst-2993	38	33	,	,	PUNCT
ajst-2993	38	34	dynamic	dynamic	ADJ
ajst-2993	38	35	(	(	PUNCT
ajst-2993	38	36	moving	move	VERB
ajst-2993	38	37	objects	object	NOUN
ajst-2993	38	38	by	by	ADP
ajst-2993	38	39	analyzing	analyze	VERB
ajst-2993	38	40	displacement	displacement	NOUN
ajst-2993	38	41	between	between	ADP
ajst-2993	38	42	consecutive	consecutive	ADJ
ajst-2993	38	43	frames	frame	NOUN
ajst-2993	38	44	)	)	PUNCT
ajst-2993	38	45	,	,	PUNCT
ajst-2993	38	46	and	and	CCONJ
ajst-2993	38	47	semantic	semantic	ADJ
ajst-2993	38	48	(	(	PUNCT
ajst-2993	38	49	shape	shape	NOUN
ajst-2993	38	50	analysis	analysis	NOUN
ajst-2993	38	51	)	)	PUNCT
ajst-2993	38	52	.	.	PUNCT
ajst-2993	39	1	cameras	camera	NOUN
ajst-2993	39	2	on	on	ADP
ajst-2993	39	3	the	the	DET
ajst-2993	39	4	market	market	NOUN
ajst-2993	39	5	offer	offer	VERB
ajst-2993	39	6	a	a	DET
ajst-2993	39	7	wide	wide	ADJ
ajst-2993	39	8	range	range	NOUN
ajst-2993	39	9	of	of	ADP
ajst-2993	39	10	configurations	configuration	NOUN
ajst-2993	39	11	in	in	ADP
ajst-2993	39	12	terms	term	NOUN
ajst-2993	39	13	of	of	ADP
ajst-2993	39	14	resolution	resolution	NOUN
ajst-2993	39	15	(	(	PUNCT
ajst-2993	39	16	from	from	ADP
ajst-2993	39	17	less	less	ADJ
ajst-2993	39	18	than	than	ADP
ajst-2993	39	19	0.25	0.25	NUM
ajst-2993	39	20	to	to	ADP
ajst-2993	39	21	greater	great	ADJ
ajst-2993	39	22	than	than	ADP
ajst-2993	39	23	40	40	NUM
ajst-2993	39	24	mpx	mpx	NOUN
ajst-2993	39	25	)	)	PUNCT
ajst-2993	39	26	,	,	PUNCT
ajst-2993	39	27	frame	frame	NOUN
ajst-2993	39	28	rate	rate	NOUN
ajst-2993	39	29	(	(	PUNCT
ajst-2993	39	30	up	up	ADP
ajst-2993	39	31	to	to	PART
ajst-2993	39	32	thousands	thousand	NOUN
ajst-2993	39	33	of	of	ADP
ajst-2993	39	34	frames	frame	NOUN
ajst-2993	39	35	per	per	ADP
ajst-2993	39	36	second	second	ADJ
ajst-2993	39	37	(	(	PUNCT
ajst-2993	39	38	fps	fps	PROPN
ajst-2993	39	39	)	)	PUNCT
ajst-2993	39	40	)	)	PUNCT
ajst-2993	39	41	,	,	PUNCT
ajst-2993	39	42	sensor	sensor	NOUN
ajst-2993	39	43	size	size	NOUN
ajst-2993	39	44	,	,	PUNCT
ajst-2993	39	45	and	and	CCONJ
ajst-2993	39	46	optical	optical	ADJ
ajst-2993	39	47	parameters	parameter	NOUN
ajst-2993	39	48	.	.	PUNCT
ajst-2993	40	1	however	however	ADV
ajst-2993	40	2	,	,	PUNCT
ajst-2993	40	3	automated	automated	ADJ
ajst-2993	40	4	driving	driving	NOUN
ajst-2993	40	5	poses	pose	VERB
ajst-2993	40	6	some	some	DET
ajst-2993	40	7	special	special	ADJ
ajst-2993	40	8	challenges	challenge	NOUN
ajst-2993	40	9	for	for	ADP
ajst-2993	40	10	camera	camera	NOUN
ajst-2993	40	11	sensors	sensor	NOUN
ajst-2993	40	12	and	and	CCONJ
ajst-2993	40	13	artificial	artificial	ADJ
ajst-2993	40	14	vision	vision	NOUN
ajst-2993	40	15	techniques	technique	NOUN
ajst-2993	40	16	.	.	PUNCT
ajst-2993	41	1	different	different	ADJ
ajst-2993	41	2	light	light	NOUN
ajst-2993	41	3	and	and	CCONJ
ajst-2993	41	4	visibility	visibility	NOUN
ajst-2993	41	5	conditions	condition	NOUN
ajst-2993	41	6	.	.	PUNCT
ajst-2993	42	1	driving	drive	VERB
ajst-2993	42	2	occurs	occur	VERB
ajst-2993	42	3	during	during	ADP
ajst-2993	42	4	the	the	DET
ajst-2993	42	5	day	day	NOUN
ajst-2993	42	6	,	,	PUNCT
ajst-2993	42	7	at	at	ADP
ajst-2993	42	8	night	night	NOUN
ajst-2993	42	9	,	,	PUNCT
ajst-2993	42	10	indoors	indoor	NOUN
ajst-2993	42	11	,	,	PUNCT
ajst-2993	42	12	or	or	CCONJ
ajst-2993	42	13	at	at	ADP
ajst-2993	42	14	dusk	dusk	NOUN
ajst-2993	42	15	or	or	CCONJ
ajst-2993	42	16	dawn	dawn	NOUN
ajst-2993	42	17	when	when	SCONJ
ajst-2993	42	18	the	the	DET
ajst-2993	42	19	sun	sun	NOUN
ajst-2993	42	20	is	be	AUX
ajst-2993	42	21	near	near	ADP
ajst-2993	42	22	the	the	DET
ajst-2993	42	23	horizon	horizon	NOUN
ajst-2993	42	24	.	.	PUNCT
ajst-2993	43	1	dark	dark	ADJ
ajst-2993	43	2	spots	spot	NOUN
ajst-2993	43	3	,	,	PUNCT
ajst-2993	43	4	shadows	shadow	NOUN
ajst-2993	43	5	,	,	PUNCT
ajst-2993	43	6	glare	glare	NOUN
ajst-2993	43	7	,	,	PUNCT
ajst-2993	43	8	reflections	reflection	NOUN
ajst-2993	43	9	,	,	PUNCT
ajst-2993	43	10	and	and	CCONJ
ajst-2993	43	11	other	other	ADJ
ajst-2993	43	12	effects	effect	NOUN
ajst-2993	43	13	complicate	complicate	VERB
ajst-2993	43	14	the	the	DET
ajst-2993	43	15	implementation	implementation	NOUN
ajst-2993	43	16	of	of	ADP
ajst-2993	43	17	reliable	reliable	ADJ
ajst-2993	43	18	artificial	artificial	ADJ
ajst-2993	43	19	visibility	visibility	NOUN
ajst-2993	43	20	algorithms	algorithm	NOUN
ajst-2993	43	21	.	.	PUNCT
ajst-2993	44	1	extended	extend	VERB
ajst-2993	44	2	capture	capture	NOUN
ajst-2993	44	3	spectroscopy	spectroscopy	NOUN
ajst-2993	44	4	can	can	AUX
ajst-2993	44	5	solve	solve	VERB
ajst-2993	44	6	some	some	PRON
ajst-2993	44	7	of	of	ADP
ajst-2993	44	8	these	these	DET
ajst-2993	44	9	problems	problem	NOUN
ajst-2993	44	10	.	.	PUNCT
ajst-2993	45	1	far	far	ADV
ajst-2993	45	2	infrared	infrared	ADJ
ajst-2993	45	3	(	(	PUNCT
ajst-2993	45	4	fir	fir	NOUN
ajst-2993	45	5	)	)	PUNCT
ajst-2993	45	6	cameras	camera	NOUN
ajst-2993	45	7	(	(	PUNCT
ajst-2993	45	8	wavelengths	wavelength	NOUN
ajst-2993	45	9	900	900	NUM
ajst-2993	45	10	-	-	SYM
ajst-2993	45	11	1400	1400	NUM
ajst-2993	45	12	nm	nm	NOUN
ajst-2993	45	13	)	)	PUNCT
ajst-2993	45	14	can	can	AUX
ajst-2993	45	15	effectively	effectively	ADV
ajst-2993	45	16	detect	detect	VERB
ajst-2993	45	17	pedestrians	pedestrian	NOUN
ajst-2993	45	18	and	and	CCONJ
ajst-2993	45	19	animals	animal	NOUN
ajst-2993	45	20	in	in	ADP
ajst-2993	45	21	the	the	DET
ajst-2993	45	22	dark	dark	NOUN
ajst-2993	45	23	and	and	CCONJ
ajst-2993	45	24	through	through	ADP
ajst-2993	45	25	dust	dust	NOUN
ajst-2993	45	26	and	and	CCONJ
ajst-2993	45	27	smoke	smoke	NOUN
ajst-2993	45	28	.	.	PUNCT
ajst-2993	46	1	nearinfrared	nearinfrared	ADJ
ajst-2993	46	2	(	(	PUNCT
ajst-2993	46	3	nir	nir	NOUN
ajst-2993	46	4	)	)	PUNCT
ajst-2993	46	5	(	(	PUNCT
ajst-2993	46	6	750	750	NUM
ajst-2993	46	7	-	-	SYM
ajst-2993	46	8	900	900	NUM
ajst-2993	46	9	nm	nm	NOUN
ajst-2993	46	10	)	)	PUNCT
ajst-2993	46	11	complements	complement	VERB
ajst-2993	46	12	the	the	DET
ajst-2993	46	13	visible	visible	ADJ
ajst-2993	46	14	spectrum	spectrum	NOUN
ajst-2993	46	15	with	with	ADP
ajst-2993	46	16	better	well	ADJ
ajst-2993	46	17	contrast	contrast	NOUN
ajst-2993	46	18	and	and	CCONJ
ajst-2993	46	19	better	well	ADJ
ajst-2993	46	20	nighttime	nighttime	ADJ
ajst-2993	46	21	visibility	visibility	NOUN
ajst-2993	46	22	in	in	ADP
ajst-2993	46	23	high	high	ADJ
ajst-2993	46	24	dynamic	dynamic	ADJ
ajst-2993	46	25	range	range	NOUN
ajst-2993	46	26	scenes	scene	NOUN
ajst-2993	46	27	.	.	PUNCT
ajst-2993	47	1	in	in	ADP
ajst-2993	47	2	his	his	PRON
ajst-2993	47	3	paper	paper	NOUN
ajst-2993	47	4	,	,	PUNCT
ajst-2993	47	5	n.	n.	PROPN
ajst-2993	47	6	pinchon	pinchon	PROPN
ajst-2993	47	7	compares	compare	VERB
ajst-2993	47	8	visible	visible	ADJ
ajst-2993	47	9	,	,	PUNCT
ajst-2993	47	10	nir	nir	ADJ
ajst-2993	47	11	,	,	PUNCT
ajst-2993	47	12	and	and	CCONJ
ajst-2993	47	13	fir	fir	NOUN
ajst-2993	47	14	cameras	camera	NOUN
ajst-2993	47	15	under	under	ADP
ajst-2993	47	16	different	different	ADJ
ajst-2993	47	17	lighting	lighting	NOUN
ajst-2993	47	18	and	and	CCONJ
ajst-2993	47	19	atmospheric	atmospheric	ADJ
ajst-2993	47	20	conditions	condition	NOUN
ajst-2993	47	21	.	.	PUNCT
ajst-2993	48	1	scenes	scene	NOUN
ajst-2993	48	2	with	with	ADP
ajst-2993	48	3	high	high	ADJ
ajst-2993	48	4	dynamic	dynamic	ADJ
ajst-2993	48	5	range	range	NOUN
ajst-2993	48	6	(	(	PUNCT
ajst-2993	48	7	hdr	hdr	NOUN
ajst-2993	48	8	)	)	PUNCT
ajst-2993	48	9	contain	contain	VERB
ajst-2993	48	10	dark	dark	ADJ
ajst-2993	48	11	and	and	CCONJ
ajst-2993	48	12	bright	bright	ADJ
ajst-2993	48	13	areas	area	NOUN
ajst-2993	48	14	in	in	ADP
ajst-2993	48	15	the	the	DET
ajst-2993	48	16	same	same	ADJ
ajst-2993	48	17	frame	frame	NOUN
ajst-2993	48	18	as	as	SCONJ
ajst-2993	48	19	they	they	PRON
ajst-2993	48	20	enter	enter	VERB
ajst-2993	48	21	or	or	CCONJ
ajst-2993	48	22	leave	leave	VERB
ajst-2993	48	23	the	the	DET
ajst-2993	48	24	tunnel	tunnel	NOUN
ajst-2993	48	25	.	.	PUNCT
ajst-2993	49	1	common	common	ADJ
ajst-2993	49	2	sensor	sensor	NOUN
ajst-2993	49	3	technologies	technology	NOUN
ajst-2993	49	4	have	have	VERB
ajst-2993	49	5	a	a	DET
ajst-2993	49	6	single	single	ADJ
ajst-2993	49	7	dynamic	dynamic	ADJ
ajst-2993	49	8	range	range	NOUN
ajst-2993	49	9	of	of	ADP
ajst-2993	49	10	60	60	NUM
ajst-2993	49	11	-	-	SYM
ajst-2993	49	12	75	75	NUM
ajst-2993	49	13	db	db	NOUN
ajst-2993	49	14	,	,	PUNCT
ajst-2993	49	15	which	which	PRON
ajst-2993	49	16	can	can	AUX
ajst-2993	49	17	lead	lead	VERB
ajst-2993	49	18	to	to	ADP
ajst-2993	49	19	information	information	NOUN
ajst-2993	49	20	loss	loss	NOUN
ajst-2993	49	21	in	in	ADP
ajst-2993	49	22	extreme	extreme	ADJ
ajst-2993	49	23	cases	case	NOUN
ajst-2993	49	24	(	(	PUNCT
ajst-2993	49	25	underexposure	underexposure	NOUN
ajst-2993	49	26	or	or	CCONJ
ajst-2993	49	27	overexposure	overexposure	NOUN
ajst-2993	49	28	.	.	PUNCT
ajst-2993	49	29	)	)	PUNCT
ajst-2993	50	1	in	in	ADP
ajst-2993	50	2	2017	2017	NUM
ajst-2993	50	3	,	,	PUNCT
ajst-2993	50	4	sony	sony	PROPN
ajst-2993	50	5	introduced	introduce	VERB
ajst-2993	50	6	a	a	DET
ajst-2993	50	7	120	120	NUM
ajst-2993	50	8	db	db	PRON
ajst-2993	50	9	automotive	automotive	ADJ
ajst-2993	50	10	sensor	sensor	NOUN
ajst-2993	50	11	and	and	CCONJ
ajst-2993	50	12	2k	2k	NUM
ajst-2993	50	13	resolution	resolution	NOUN
ajst-2993	50	14	.	.	PUNCT
ajst-2993	51	1	in	in	ADP
ajst-2993	51	2	the	the	DET
ajst-2993	51	3	work	work	NOUN
ajst-2993	51	4	of	of	ADP
ajst-2993	51	5	s.	s.	PROPN
ajst-2993	51	6	maddalena	maddalena	PROPN
ajst-2993	51	7	,	,	PUNCT
ajst-2993	51	8	an	an	DET
ajst-2993	51	9	automotive	automotive	ADJ
ajst-2993	51	10	-	-	PUNCT
ajst-2993	51	11	grade	grade	NOUN
ajst-2993	51	12	sensor	sensor	NOUN
ajst-2993	51	13	combining	combine	VERB
ajst-2993	51	14	hdr	hdr	NOUN
ajst-2993	51	15	capabilities	capability	NOUN
ajst-2993	51	16	and	and	CCONJ
ajst-2993	51	17	nir	nir	ADJ
ajst-2993	51	18	light	light	ADJ
ajst-2993	51	19	detection	detection	NOUN
ajst-2993	51	20	is	be	AUX
ajst-2993	51	21	analyzed	analyze	VERB
ajst-2993	51	22	and	and	CCONJ
ajst-2993	51	23	a	a	DET
ajst-2993	51	24	sensor	sensor	NOUN
ajst-2993	51	25	with	with	ADP
ajst-2993	51	26	a	a	DET
ajst-2993	51	27	130/170	130/170	NUM
ajst-2993	51	28	db	db	PROPN
ajst-2993	51	29	range	range	NOUN
ajst-2993	51	30	(	(	PUNCT
ajst-2993	51	31	global	global	ADJ
ajst-2993	51	32	/	/	SYM
ajst-2993	51	33	roll	roll	NOUN
ajst-2993	51	34	shutter	shutter	NOUN
ajst-2993	51	35	configuration	configuration	NOUN
ajst-2993	51	36	)	)	PUNCT
ajst-2993	51	37	is	be	AUX
ajst-2993	51	38	proposed	propose	VERB
ajst-2993	51	39	.	.	PUNCT
ajst-2993	52	1	2.1.1	2.1.1	X
ajst-2993	52	2	.	.	X
ajst-2993	52	3	3d	3d	NUM
ajst-2993	52	4	technology	technology	PROPN
ajst-2993	52	5	traditional	traditional	ADJ
ajst-2993	52	6	camera	camera	NOUN
ajst-2993	52	7	technology	technology	NOUN
ajst-2993	52	8	is	be	AUX
ajst-2993	52	9	inherently	inherently	ADV
ajst-2993	52	10	twodimensional	twodimensional	ADJ
ajst-2993	52	11	,	,	PUNCT
ajst-2993	52	12	but	but	CCONJ
ajst-2993	52	13	there	there	PRON
ajst-2993	52	14	are	be	VERB
ajst-2993	52	15	types	type	NOUN
ajst-2993	52	16	of	of	ADP
ajst-2993	52	17	vision	vision	NOUN
ajst-2993	52	18	sensors	sensor	NOUN
ajst-2993	52	19	that	that	PRON
ajst-2993	52	20	can	can	AUX
ajst-2993	52	21	sense	sense	VERB
ajst-2993	52	22	depth	depth	NOUN
ajst-2993	52	23	information	information	NOUN
ajst-2993	52	24	.	.	PUNCT
ajst-2993	53	1	this	this	DET
ajst-2993	53	2	section	section	NOUN
ajst-2993	53	3	describes	describe	VERB
ajst-2993	53	4	three	three	NUM
ajst-2993	53	5	main	main	ADJ
ajst-2993	53	6	types	type	NOUN
ajst-2993	53	7	that	that	PRON
ajst-2993	53	8	have	have	AUX
ajst-2993	53	9	been	be	AUX
ajst-2993	53	10	offered	offer	VERB
ajst-2993	53	11	as	as	ADP
ajst-2993	53	12	commercial	commercial	ADJ
ajst-2993	53	13	devices	device	NOUN
ajst-2993	53	14	,	,	PUNCT
ajst-2993	53	15	but	but	CCONJ
ajst-2993	53	16	not	not	PART
ajst-2993	53	17	always	always	ADV
ajst-2993	53	18	for	for	ADP
ajst-2993	53	19	the	the	DET
ajst-2993	53	20	automotive	automotive	ADJ
ajst-2993	53	21	market	market	NOUN
ajst-2993	53	22	.	.	PUNCT
ajst-2993	54	1	stereo	stereo	PROPN
ajst-2993	54	2	vision	vision	NOUN
ajst-2993	54	3	.	.	PUNCT
ajst-2993	55	1	depth	depth	NOUN
ajst-2993	55	2	is	be	AUX
ajst-2993	55	3	calculated	calculate	VERB
ajst-2993	55	4	from	from	ADP
ajst-2993	55	5	the	the	DET
ajst-2993	55	6	apparent	apparent	ADJ
ajst-2993	55	7	displacement	displacement	NOUN
ajst-2993	55	8	of	of	ADP
ajst-2993	55	9	visual	visual	ADJ
ajst-2993	55	10	features	feature	NOUN
ajst-2993	55	11	in	in	ADP
ajst-2993	55	12	an	an	DET
ajst-2993	55	13	image	image	NOUN
ajst-2993	55	14	captured	capture	VERB
ajst-2993	55	15	by	by	ADP
ajst-2993	55	16	two	two	NUM
ajst-2993	55	17	carefully	carefully	ADV
ajst-2993	55	18	calibrated	calibrate	VERB
ajst-2993	55	19	monocular	monocular	ADJ
ajst-2993	55	20	cameras	camera	NOUN
ajst-2993	55	21	,	,	PUNCT
ajst-2993	55	22	pointing	point	VERB
ajst-2993	55	23	in	in	ADP
ajst-2993	55	24	the	the	DET
ajst-2993	55	25	same	same	ADJ
ajst-2993	55	26	direction	direction	NOUN
ajst-2993	55	27	and	and	CCONJ
ajst-2993	55	28	separated	separate	VERB
ajst-2993	55	29	by	by	ADP
ajst-2993	55	30	a	a	DET
ajst-2993	55	31	certain	certain	ADJ
ajst-2993	55	32	distance	distance	NOUN
ajst-2993	55	33	(	(	PUNCT
ajst-2993	55	34	called	call	VERB
ajst-2993	55	35	the	the	DET
ajst-2993	55	36	baseline	baseline	NOUN
ajst-2993	55	37	)	)	PUNCT
ajst-2993	55	38	.	.	PUNCT
ajst-2993	56	1	one	one	NUM
ajst-2993	56	2	of	of	ADP
ajst-2993	56	3	the	the	DET
ajst-2993	56	4	greatest	great	ADJ
ajst-2993	56	5	advantages	advantage	NOUN
ajst-2993	56	6	of	of	ADP
ajst-2993	56	7	stereo	stereo	ADJ
ajst-2993	56	8	vision	vision	NOUN
ajst-2993	56	9	systems	system	NOUN
ajst-2993	56	10	is	be	AUX
ajst-2993	56	11	their	their	PRON
ajst-2993	56	12	ability	ability	NOUN
ajst-2993	56	13	to	to	PART
ajst-2993	56	14	provide	provide	VERB
ajst-2993	56	15	dense	dense	ADJ
ajst-2993	56	16	depth	depth	NOUN
ajst-2993	56	17	maps	map	NOUN
ajst-2993	56	18	rather	rather	ADV
ajst-2993	56	19	than	than	ADP
ajst-2993	56	20	sparse	sparse	ADJ
ajst-2993	56	21	sensors	sensor	NOUN
ajst-2993	56	22	(	(	PUNCT
ajst-2993	56	23	e.g.	e.g.	ADV
ajst-2993	56	24	,	,	PUNCT
ajst-2993	56	25	lidar	lidar	NOUN
ajst-2993	56	26	)	)	PUNCT
ajst-2993	56	27	.	.	PUNCT
ajst-2993	57	1	disadvantages	disadvantage	NOUN
ajst-2993	57	2	of	of	ADP
ajst-2993	57	3	stereo	stereo	ADJ
ajst-2993	57	4	vision	vision	NOUN
ajst-2993	57	5	include	include	VERB
ajst-2993	57	6	the	the	DET
ajst-2993	57	7	problem	problem	NOUN
ajst-2993	57	8	of	of	ADP
ajst-2993	57	9	low	low	ADJ
ajst-2993	57	10	-	-	PUNCT
ajst-2993	57	11	texture	texture	NOUN
ajst-2993	57	12	patterns	pattern	NOUN
ajst-2993	57	13	(	(	PUNCT
ajst-2993	57	14	e.g.	e.g.	ADV
ajst-2993	57	15	,	,	PUNCT
ajst-2993	57	16	solid	solid	ADJ
ajst-2993	57	17	colors	color	NOUN
ajst-2993	57	18	)	)	PUNCT
ajst-2993	57	19	that	that	PRON
ajst-2993	57	20	are	be	AUX
ajst-2993	57	21	difficult	difficult	ADJ
ajst-2993	57	22	to	to	PART
ajst-2993	57	23	establish	establish	VERB
ajst-2993	57	24	correspondence	correspondence	NOUN
ajst-2993	57	25	between	between	ADP
ajst-2993	57	26	frames	frame	NOUN
ajst-2993	57	27	.	.	PUNCT
ajst-2993	58	1	monocular	monocular	ADJ
ajst-2993	58	2	slam	slam	NOUN
ajst-2993	58	3	(	(	PUNCT
ajst-2993	58	4	simultaneous	simultaneous	ADJ
ajst-2993	58	5	localization	localization	NOUN
ajst-2993	58	6	and	and	CCONJ
ajst-2993	58	7	mapping	mapping	NOUN
ajst-2993	58	8	)	)	PUNCT
ajst-2993	58	9	algorithms	algorithm	NOUN
ajst-2993	58	10	share	share	VERB
ajst-2993	58	11	some	some	PRON
ajst-2993	58	12	of	of	ADP
ajst-2993	58	13	the	the	DET
ajst-2993	58	14	working	work	VERB
ajst-2993	58	15	principles	principle	NOUN
ajst-2993	58	16	of	of	ADP
ajst-2993	58	17	stereo	stereo	NOUN
ajst-2993	58	18	systems	system	NOUN
ajst-2993	58	19	:	:	PUNCT
ajst-2993	58	20	the	the	DET
ajst-2993	58	21	motion	motion	NOUN
ajst-2993	58	22	of	of	ADP
ajst-2993	58	23	a	a	DET
ajst-2993	58	24	single	single	ADJ
ajst-2993	58	25	monocular	monocular	ADJ
ajst-2993	58	26	camera	camera	NOUN
ajst-2993	58	27	creates	create	VERB
ajst-2993	58	28	an	an	DET
ajst-2993	58	29	artificial	artificial	ADJ
ajst-2993	58	30	baseline	baseline	NOUN
ajst-2993	58	31	between	between	ADP
ajst-2993	58	32	consecutive	consecutive	ADJ
ajst-2993	58	33	frames	frame	NOUN
ajst-2993	58	34	from	from	ADP
ajst-2993	58	35	which	which	DET
ajst-2993	58	36	depth	depth	NOUN
ajst-2993	58	37	and	and	CCONJ
ajst-2993	58	38	camera	camera	NOUN
ajst-2993	58	39	motion	motion	NOUN
ajst-2993	58	40	are	be	AUX
ajst-2993	58	41	estimated	estimate	VERB
ajst-2993	58	42	.	.	PUNCT
ajst-2993	59	1	some	some	DET
ajst-2993	59	2	works	work	NOUN
ajst-2993	59	3	represent	represent	VERB
ajst-2993	59	4	a	a	DET
ajst-2993	59	5	good	good	ADJ
ajst-2993	59	6	alternative	alternative	NOUN
ajst-2993	59	7	to	to	ADP
ajst-2993	59	8	stereo	stereo	ADJ
ajst-2993	59	9	sensors	sensor	NOUN
ajst-2993	59	10	for	for	ADP
ajst-2993	59	11	localization	localization	NOUN
ajst-2993	59	12	and	and	CCONJ
ajst-2993	59	13	mapping	mapping	NOUN
ajst-2993	59	14	.	.	PUNCT
ajst-2993	60	1	structured	structure	VERB
ajst-2993	60	2	light	light	NOUN
ajst-2993	60	3	.	.	PUNCT
ajst-2993	61	1	a	a	DET
ajst-2993	61	2	monocular	monocular	ADJ
ajst-2993	61	3	camera	camera	NOUN
ajst-2993	61	4	is	be	AUX
ajst-2993	61	5	combined	combine	VERB
ajst-2993	61	6	with	with	ADP
ajst-2993	61	7	a	a	DET
ajst-2993	61	8	device	device	NOUN
ajst-2993	61	9	that	that	PRON
ajst-2993	61	10	illuminates	illuminate	VERB
ajst-2993	61	11	the	the	DET
ajst-2993	61	12	scene	scene	NOUN
ajst-2993	61	13	with	with	ADP
ajst-2993	61	14	a	a	DET
ajst-2993	61	15	known	know	VERB
ajst-2993	61	16	infrared	infrare	VERB
ajst-2993	61	17	light	light	NOUN
ajst-2993	61	18	pattern	pattern	NOUN
ajst-2993	61	19	.	.	PUNCT
ajst-2993	62	1	irregular	irregular	ADJ
ajst-2993	62	2	surfaces	surface	NOUN
ajst-2993	62	3	produce	produce	VERB
ajst-2993	62	4	significant	significant	ADJ
ajst-2993	62	5	distortion	distortion	NOUN
ajst-2993	62	6	of	of	ADP
ajst-2993	62	7	the	the	DET
ajst-2993	62	8	light	light	NOUN
ajst-2993	62	9	pattern	pattern	NOUN
ajst-2993	62	10	,	,	PUNCT
ajst-2993	62	11	which	which	PRON
ajst-2993	62	12	is	be	AUX
ajst-2993	62	13	captured	capture	VERB
ajst-2993	62	14	by	by	ADP
ajst-2993	62	15	the	the	DET
ajst-2993	62	16	camera	camera	NOUN
ajst-2993	62	17	and	and	CCONJ
ajst-2993	62	18	converted	convert	VERB
ajst-2993	62	19	to	to	ADP
ajst-2993	62	20	a	a	DET
ajst-2993	62	21	depth	depth	NOUN
ajst-2993	62	22	map	map	NOUN
ajst-2993	62	23	.	.	PUNCT
ajst-2993	63	1	structured	structured	ADJ
ajst-2993	63	2	light	light	NOUN
ajst-2993	63	3	devices	device	NOUN
ajst-2993	63	4	overcome	overcome	VERB
ajst-2993	63	5	some	some	PRON
ajst-2993	63	6	of	of	ADP
ajst-2993	63	7	the	the	DET
ajst-2993	63	8	limitations	limitation	NOUN
ajst-2993	63	9	of	of	ADP
ajst-2993	63	10	stereo	stereo	NOUN
ajst-2993	63	11	systems	system	NOUN
ajst-2993	63	12	:	:	PUNCT
ajst-2993	63	13	they	they	PRON
ajst-2993	63	14	are	be	AUX
ajst-2993	63	15	not	not	PART
ajst-2993	63	16	dependent	dependent	ADJ
ajst-2993	63	17	on	on	ADP
ajst-2993	63	18	textured	textured	ADJ
ajst-2993	63	19	surfaces	surface	NOUN
ajst-2993	63	20	and	and	CCONJ
ajst-2993	63	21	have	have	VERB
ajst-2993	63	22	a	a	DET
ajst-2993	63	23	lower	low	ADJ
ajst-2993	63	24	computational	computational	ADJ
ajst-2993	63	25	cost	cost	NOUN
ajst-2993	63	26	.	.	PUNCT
ajst-2993	64	1	however	however	ADV
ajst-2993	64	2	,	,	PUNCT
ajst-2993	64	3	they	they	PRON
ajst-2993	64	4	require	require	VERB
ajst-2993	64	5	the	the	DET
ajst-2993	64	6	same	same	ADJ
ajst-2993	64	7	high	high	ADJ
ajst-2993	64	8	-	-	PUNCT
ajst-2993	64	9	precision	precision	NOUN
ajst-2993	64	10	calibration	calibration	NOUN
ajst-2993	64	11	,	,	PUNCT
ajst-2993	64	12	and	and	CCONJ
ajst-2993	64	13	their	their	PRON
ajst-2993	64	14	operating	operate	VERB
ajst-2993	64	15	range	range	NOUN
ajst-2993	64	16	(	(	PUNCT
ajst-2993	64	17	typically	typically	ADV
ajst-2993	64	18	below	below	ADP
ajst-2993	64	19	20	20	NUM
ajst-2993	64	20	m	m	NOUN
ajst-2993	64	21	)	)	PUNCT
ajst-2993	64	22	is	be	AUX
ajst-2993	64	23	limited	limit	VERB
ajst-2993	64	24	by	by	ADP
ajst-2993	64	25	emitter	emitter	NOUN
ajst-2993	64	26	power	power	NOUN
ajst-2993	64	27	and	and	CCONJ
ajst-2993	64	28	ambient	ambient	ADJ
ajst-2993	64	29	light	light	ADJ
ajst-2993	64	30	intensity	intensity	NOUN
ajst-2993	64	31	.	.	PUNCT
ajst-2993	65	1	reflections	reflection	NOUN
ajst-2993	65	2	can	can	AUX
ajst-2993	65	3	affect	affect	VERB
ajst-2993	65	4	their	their	PRON
ajst-2993	65	5	performance	performance	NOUN
ajst-2993	65	6	.	.	PUNCT
ajst-2993	66	1	time	time	NOUN
ajst-2993	66	2	-	-	PUNCT
ajst-2993	66	3	of	of	ADP
ajst-2993	66	4	-	-	PUNCT
ajst-2993	66	5	flight	flight	NOUN
ajst-2993	66	6	.	.	PUNCT
ajst-2993	67	1	is	be	AUX
ajst-2993	67	2	an	an	DET
ajst-2993	67	3	active	active	ADJ
ajst-2993	67	4	sensing	sense	VERB
ajst-2993	67	5	technology	technology	NOUN
ajst-2993	67	6	based	base	VERB
ajst-2993	67	7	on	on	ADP
ajst-2993	67	8	the	the	DET
ajst-2993	67	9	same	same	ADJ
ajst-2993	67	10	round	round	ADJ
ajst-2993	67	11	-	-	PUNCT
ajst-2993	67	12	trip	trip	NOUN
ajst-2993	67	13	time	time	NOUN
ajst-2993	67	14	principle	principle	NOUN
ajst-2993	67	15	as	as	ADP
ajst-2993	67	16	the	the	DET
ajst-2993	67	17	lidar	lidar	NOUN
ajst-2993	67	18	sensor	sensor	NOUN
ajst-2993	67	19	:	:	PUNCT
ajst-2993	67	20	an	an	DET
ajst-2993	67	21	emitter	emitter	NOUN
ajst-2993	67	22	consisting	consist	VERB
ajst-2993	67	23	of	of	ADP
ajst-2993	67	24	an	an	DET
ajst-2993	67	25	infrared	infrared	NOUN
ajst-2993	67	26	led	lead	VERB
ajst-2993	67	27	fills	fill	VERB
ajst-2993	67	28	the	the	DET
ajst-2993	67	29	scene	scene	NOUN
ajst-2993	67	30	with	with	ADP
ajst-2993	67	31	modulated	modulate	VERB
ajst-2993	67	32	light	light	NOUN
ajst-2993	67	33	,	,	PUNCT
ajst-2993	67	34	which	which	PRON
ajst-2993	67	35	is	be	AUX
ajst-2993	67	36	captured	capture	VERB
ajst-2993	67	37	by	by	ADP
ajst-2993	67	38	the	the	DET
ajst-2993	67	39	sensor	sensor	NOUN
ajst-2993	67	40	in	in	ADP
ajst-2993	67	41	the	the	DET
ajst-2993	67	42	environment	environment	NOUN
ajst-2993	67	43	after	after	ADP
ajst-2993	67	44	being	be	AUX
ajst-2993	67	45	reflected	reflect	VERB
ajst-2993	67	46	by	by	ADP
ajst-2993	67	47	the	the	DET
ajst-2993	67	48	element	element	NOUN
ajst-2993	67	49	.	.	PUNCT
ajst-2993	68	1	the	the	DET
ajst-2993	68	2	roundtrip	roundtrip	NOUN
ajst-2993	68	3	time	time	NOUN
ajst-2993	68	4	of	of	ADP
ajst-2993	68	5	each	each	DET
ajst-2993	68	6	pixel	pixel	NOUN
ajst-2993	68	7	can	can	AUX
ajst-2993	68	8	be	be	AUX
ajst-2993	68	9	calculated	calculate	VERB
ajst-2993	68	10	based	base	VERB
ajst-2993	68	11	on	on	ADP
ajst-2993	68	12	the	the	DET
ajst-2993	68	13	phase	phase	NOUN
ajst-2993	68	14	shift	shift	NOUN
ajst-2993	68	15	of	of	ADP
ajst-2993	68	16	the	the	DET
ajst-2993	68	17	incident	incident	NOUN
ajst-2993	68	18	light	light	NOUN
ajst-2993	68	19	and	and	CCONJ
ajst-2993	68	20	then	then	ADV
ajst-2993	68	21	converted	convert	VERB
ajst-2993	68	22	to	to	ADP
ajst-2993	68	23	distance	distance	NOUN
ajst-2993	68	24	.	.	PUNCT
ajst-2993	69	1	the	the	DET
ajst-2993	69	2	use	use	NOUN
ajst-2993	69	3	of	of	ADP
ajst-2993	69	4	a	a	DET
ajst-2993	69	5	non	non	ADJ
ajst-2993	69	6	-	-	ADJ
ajst-2993	69	7	directional	directional	ADJ
ajst-2993	69	8	light	light	ADJ
ajst-2993	69	9	source	source	NOUN
ajst-2993	69	10	(	(	PUNCT
ajst-2993	69	11	as	as	SCONJ
ajst-2993	69	12	opposed	oppose	VERB
ajst-2993	69	13	to	to	ADP
ajst-2993	69	14	a	a	DET
ajst-2993	69	15	low	low	ADJ
ajst-2993	69	16	-	-	PUNCT
ajst-2993	69	17	dispersion	dispersion	NOUN
ajst-2993	69	18	laser	laser	NOUN
ajst-2993	69	19	emitter	emitter	NOUN
ajst-2993	69	20	in	in	ADP
ajst-2993	69	21	lidar	lidar	NOUN
ajst-2993	69	22	)	)	PUNCT
ajst-2993	69	23	has	have	VERB
ajst-2993	69	24	the	the	DET
ajst-2993	69	25	ability	ability	NOUN
ajst-2993	69	26	to	to	PART
ajst-2993	69	27	create	create	VERB
ajst-2993	69	28	dense	dense	ADJ
ajst-2993	69	29	depth	depth	NOUN
ajst-2993	69	30	maps	map	NOUN
ajst-2993	69	31	and	and	CCONJ
ajst-2993	69	32	high	high	ADJ
ajst-2993	69	33	refresh	refresh	NOUN
ajst-2993	69	34	rates	rate	NOUN
ajst-2993	69	35	in	in	ADP
ajst-2993	69	36	excess	excess	NOUN
ajst-2993	69	37	of	of	ADP
ajst-2993	69	38	50	50	NUM
ajst-2993	69	39	hz	hz	NOUN
ajst-2993	69	40	.	.	PUNCT
ajst-2993	70	1	however	however	ADV
ajst-2993	70	2	,	,	PUNCT
ajst-2993	70	3	it	it	PRON
ajst-2993	70	4	has	have	VERB
ajst-2993	70	5	a	a	DET
ajst-2993	70	6	short	short	ADJ
ajst-2993	70	7	operating	operating	NOUN
ajst-2993	70	8	range	range	NOUN
ajst-2993	70	9	for	for	ADP
ajst-2993	70	10	automotive	automotive	ADJ
ajst-2993	70	11	applications	application	NOUN
ajst-2993	70	12	(	(	PUNCT
ajst-2993	70	13	10	10	NUM
ajst-2993	70	14	-	-	SYM
ajst-2993	70	15	20	20	NUM
ajst-2993	70	16	m	m	NOUN
ajst-2993	70	17	)	)	PUNCT
ajst-2993	70	18	and	and	CCONJ
ajst-2993	70	19	has	have	VERB
ajst-2993	70	20	problems	problem	NOUN
ajst-2993	70	21	working	work	VERB
ajst-2993	70	22	in	in	ADP
ajst-2993	70	23	intense	intense	ADJ
ajst-2993	70	24	ambient	ambient	ADJ
ajst-2993	70	25	light	light	NOUN
ajst-2993	70	26	.	.	PUNCT
ajst-2993	71	1	some	some	DET
ajst-2993	71	2	research	research	NOUN
ajst-2993	71	3	lines	line	NOUN
ajst-2993	71	4	such	such	ADJ
ajst-2993	71	5	as	as	ADP
ajst-2993	71	6	indirect	indirect	ADJ
ajst-2993	71	7	time	time	NOUN
ajst-2993	71	8	-	-	PUNCT
ajst-2993	71	9	offlight	offlight	ADJ
ajst-2993	71	10	,	,	PUNCT
ajst-2993	71	11	pulsed	pulse	VERB
ajst-2993	71	12	light	light	ADJ
ajst-2993	71	13	time	time	NOUN
ajst-2993	71	14	-	-	PUNCT
ajst-2993	71	15	of	of	ADP
ajst-2993	71	16	-	-	PUNCT
ajst-2993	71	17	flight	flight	NOUN
ajst-2993	71	18	,	,	PUNCT
ajst-2993	71	19	or	or	CCONJ
ajst-2993	71	20	avalanche	avalanche	NOUN
ajst-2993	71	21	photodiodes	photodiode	NOUN
ajst-2993	71	22	can	can	AUX
ajst-2993	71	23	increase	increase	VERB
ajst-2993	71	24	the	the	DET
ajst-2993	71	25	operating	operate	VERB
ajst-2993	71	26	range	range	NOUN
ajst-2993	71	27	to	to	ADP
ajst-2993	71	28	50	50	NUM
ajst-2993	71	29	-	-	SYM
ajst-2993	71	30	250	250	NUM
ajst-2993	71	31	meters	meter	NOUN
ajst-2993	71	32	.	.	PUNCT
ajst-2993	72	1	2.1.2	2.1.2	X
ajst-2993	72	2	.	.	PUNCT
ajst-2993	72	3	emerging	emerge	VERB
ajst-2993	72	4	vision	vision	NOUN
ajst-2993	72	5	technologies	technology	NOUN
ajst-2993	72	6	in	in	ADP
ajst-2993	72	7	event	event	NOUN
ajst-2993	72	8	-	-	PUNCT
ajst-2993	72	9	based	base	VERB
ajst-2993	72	10	vision	vision	NOUN
ajst-2993	72	11	,	,	PUNCT
ajst-2993	72	12	elements[3	elements[3	PROPN
ajst-2993	72	13	]	]	PUNCT
ajst-2993	72	14	of	of	ADP
ajst-2993	72	15	the	the	DET
ajst-2993	72	16	sensor	sensor	NOUN
ajst-2993	72	17	(	(	PUNCT
ajst-2993	72	18	pixels	pixel	NOUN
ajst-2993	72	19	)	)	PUNCT
ajst-2993	72	20	are	be	AUX
ajst-2993	72	21	triggered	trigger	VERB
ajst-2993	72	22	asynchronously	asynchronously	ADV
ajst-2993	72	23	and	and	CCONJ
ajst-2993	72	24	independently	independently	ADV
ajst-2993	72	25	when	when	SCONJ
ajst-2993	72	26	a	a	DET
ajst-2993	72	27	change	change	NOUN
ajst-2993	72	28	in	in	ADP
ajst-2993	72	29	light	light	ADJ
ajst-2993	72	30	intensity	intensity	NOUN
ajst-2993	72	31	(	(	PUNCT
ajst-2993	72	32	event	event	NOUN
ajst-2993	72	33	)	)	PUNCT
ajst-2993	72	34	is	be	AUX
ajst-2993	72	35	detected	detect	VERB
ajst-2993	72	36	.	.	PUNCT
ajst-2993	73	1	the	the	DET
ajst-2993	73	2	sensor	sensor	NOUN
ajst-2993	73	3	generates	generate	VERB
ajst-2993	73	4	a	a	DET
ajst-2993	73	5	stream	stream	NOUN
ajst-2993	73	6	of	of	ADP
ajst-2993	73	7	events	event	NOUN
ajst-2993	73	8	that	that	PRON
ajst-2993	73	9	can	can	AUX
ajst-2993	73	10	be	be	AUX
ajst-2993	73	11	grouped	group	VERB
ajst-2993	73	12	in	in	ADP
ajst-2993	73	13	a	a	DET
ajst-2993	73	14	time	time	NOUN
ajst-2993	73	15	window	window	NOUN
ajst-2993	73	16	to	to	PART
ajst-2993	73	17	obtain	obtain	VERB
ajst-2993	73	18	a	a	DET
ajst-2993	73	19	frame	frame	NOUN
ajst-2993	73	20	-	-	PUNCT
ajst-2993	73	21	like	like	ADJ
ajst-2993	73	22	image	image	NOUN
ajst-2993	73	23	.	.	PUNCT
ajst-2993	74	1	the	the	DET
ajst-2993	74	2	independence	independence	NOUN
ajst-2993	74	3	of	of	ADP
ajst-2993	74	4	the	the	DET
ajst-2993	74	5	sensor	sensor	NOUN
ajst-2993	74	6	element	element	NOUN
ajst-2993	74	7	increases	increase	VERB
ajst-2993	74	8	the	the	DET
ajst-2993	74	9	dynamic	dynamic	ADJ
ajst-2993	74	10	range	range	NOUN
ajst-2993	74	11	of	of	ADP
ajst-2993	74	12	the	the	DET
ajst-2993	74	13	sensor	sensor	NOUN
ajst-2993	74	14	to	to	ADP
ajst-2993	74	15	120	120	NUM
ajst-2993	74	16	db	db	NOUN
ajst-2993	74	17	,	,	PUNCT
ajst-2993	74	18	allowing	allow	VERB
ajst-2993	74	19	for	for	ADP
ajst-2993	74	20	high	high	ADJ
ajst-2993	74	21	-	-	PUNCT
ajst-2993	74	22	speed	speed	NOUN
ajst-2993	74	23	applications	application	NOUN
ajst-2993	74	24	in	in	ADP
ajst-2993	74	25	low	low	ADJ
ajst-2993	74	26	-	-	PUNCT
ajst-2993	74	27	light	light	NOUN
ajst-2993	74	28	conditions	condition	NOUN
ajst-2993	74	29	.	.	PUNCT
ajst-2993	75	1	displays	display	NOUN
ajst-2993	75	2	are	be	AUX
ajst-2993	75	3	tracked	track	VERB
ajst-2993	75	4	at	at	ADP
ajst-2993	75	5	1000	1000	NUM
ajst-2993	75	6	fps	fps	NOUN
ajst-2993	75	7	under	under	ADP
ajst-2993	75	8	regular	regular	ADJ
ajst-2993	75	9	indoor	indoor	ADJ
ajst-2993	75	10	lighting	lighting	NOUN
ajst-2993	75	11	conditions	condition	NOUN
ajst-2993	75	12	,	,	PUNCT
ajst-2993	75	13	even	even	ADV
ajst-2993	75	14	though	though	SCONJ
ajst-2993	75	15	the	the	DET
ajst-2993	75	16	sensor	sensor	NOUN
ajst-2993	75	17	operates	operate	VERB
ajst-2993	75	18	on	on	ADP
ajst-2993	75	19	a	a	DET
ajst-2993	75	20	submicrosecond	submicrosecond	ADJ
ajst-2993	75	21	time	time	NOUN
ajst-2993	75	22	scale	scale	NOUN
ajst-2993	75	23	.	.	PUNCT
ajst-2993	76	1	events	event	NOUN
ajst-2993	76	2	can	can	AUX
ajst-2993	76	3	be	be	AUX
ajst-2993	76	4	used	use	VERB
ajst-2993	76	5	as	as	ADP
ajst-2993	76	6	input	input	NOUN
ajst-2993	76	7	to	to	ADP
ajst-2993	76	8	visual	visual	ADJ
ajst-2993	76	9	odometry	odometry	NOUN
ajst-2993	76	10	and	and	CCONJ
ajst-2993	76	11	slam	slam	NOUN
ajst-2993	76	12	applications	application	NOUN
ajst-2993	76	13	,	,	PUNCT
ajst-2993	76	14	thus	thus	ADV
ajst-2993	76	15	alleviating	alleviate	VERB
ajst-2993	76	16	the	the	DET
ajst-2993	76	17	cpu	cpu	NOUN
ajst-2993	76	18	from	from	ADP
ajst-2993	76	19	time	time	NOUN
ajst-2993	76	20	-	-	PUNCT
ajst-2993	76	21	consuming	consume	VERB
ajst-2993	76	22	operations	operation	NOUN
ajst-2993	76	23	on	on	ADP
ajst-2993	76	24	the	the	DET
ajst-2993	76	25	raw	raw	ADJ
ajst-2993	76	26	image	image	NOUN
ajst-2993	76	27	.	.	PUNCT
ajst-2993	77	1	a	a	DET
ajst-2993	77	2	number	number	NOUN
ajst-2993	77	3	of	of	ADP
ajst-2993	77	4	papers	paper	NOUN
ajst-2993	77	5	are	be	AUX
ajst-2993	77	6	actively	actively	ADV
ajst-2993	77	7	investigating	investigate	VERB
ajst-2993	77	8	sensors	sensor	NOUN
ajst-2993	77	9	for	for	ADP
ajst-2993	77	10	capturing	capture	VERB
ajst-2993	77	11	light	light	ADJ
ajst-2993	77	12	polarization	polarization	NOUN
ajst-2993	77	13	that	that	PRON
ajst-2993	77	14	consistently	consistently	ADV
ajst-2993	77	15	perform	perform	VERB
ajst-2993	77	16	under	under	ADP
ajst-2993	77	17	adverse	adverse	ADJ
ajst-2993	77	18	meteorological	meteorological	ADJ
ajst-2993	77	19	conditions	condition	NOUN
ajst-2993	77	20	and	and	CCONJ
ajst-2993	77	21	provide	provide	VERB
ajst-2993	77	22	exotic	exotic	ADJ
ajst-2993	77	23	types	type	NOUN
ajst-2993	77	24	of	of	ADP
ajst-2993	77	25	information	information	NOUN
ajst-2993	77	26	(	(	PUNCT
ajst-2993	77	27	e.g.	e.g.	ADV
ajst-2993	77	28	,	,	PUNCT
ajst-2993	77	29	materials	material	NOUN
ajst-2993	77	30	,	,	PUNCT
ajst-2993	77	31	composition	composition	NOUN
ajst-2993	77	32	,	,	PUNCT
ajst-2993	77	33	water	water	NOUN
ajst-2993	77	34	in	in	ADP
ajst-2993	77	35	roads	road	NOUN
ajst-2993	77	36	)	)	PUNCT
ajst-2993	77	37	.	.	PUNCT
ajst-2993	78	1	2.2	2.2	NUM
ajst-2993	78	2	.	.	PUNCT
ajst-2993	79	1	radar	radar	NOUN
ajst-2993	79	2	radar	radar	NOUN
ajst-2993	79	3	technology	technology	NOUN
ajst-2993	79	4	uses	use	VERB
ajst-2993	79	5	high	high	ADJ
ajst-2993	79	6	-	-	PUNCT
ajst-2993	79	7	frequency	frequency	NOUN
ajst-2993	79	8	electromagnetic	electromagnetic	ADJ
ajst-2993	79	9	waves	wave	NOUN
ajst-2993	79	10	to	to	PART
ajst-2993	79	11	measure	measure	VERB
ajst-2993	79	12	the	the	DET
ajst-2993	79	13	distance	distance	NOUN
ajst-2993	79	14	to	to	ADP
ajst-2993	79	15	an	an	DET
ajst-2993	79	16	object	object	NOUN
ajst-2993	79	17	based	base	VERB
ajst-2993	79	18	on	on	ADP
ajst-2993	79	19	the	the	DET
ajst-2993	79	20	roundtrip	roundtrip	NOUN
ajst-2993	79	21	time	time	NOUN
ajst-2993	79	22	principle	principle	NOUN
ajst-2993	79	23	,	,	PUNCT
ajst-2993	79	24	i.e.	i.e.	X
ajst-2993	79	25	the	the	DET
ajst-2993	79	26	time	time	NOUN
ajst-2993	79	27	it	it	PRON
ajst-2993	79	28	takes	take	VERB
ajst-2993	79	29	for	for	SCONJ
ajst-2993	79	30	the	the	DET
ajst-2993	79	31	wave	wave	NOUN
ajst-2993	79	32	to	to	PART
ajst-2993	79	33	reach	reach	VERB
ajst-2993	79	34	the	the	DET
ajst-2993	79	35	object	object	NOUN
ajst-2993	79	36	,	,	PUNCT
ajst-2993	79	37	bounce	bounce	VERB
ajst-2993	79	38	off	off	ADP
ajst-2993	79	39	it	it	PRON
ajst-2993	79	40	and	and	CCONJ
ajst-2993	79	41	return	return	VERB
ajst-2993	79	42	to	to	ADP
ajst-2993	79	43	the	the	DET
ajst-2993	79	44	sensor	sensor	NOUN
ajst-2993	79	45	.	.	PUNCT
ajst-2993	80	1	most	most	ADJ
ajst-2993	80	2	modern	modern	ADJ
ajst-2993	80	3	automotive	automotive	ADJ
ajst-2993	80	4	radars	radar	NOUN
ajst-2993	80	5	are	be	AUX
ajst-2993	80	6	based	base	VERB
ajst-2993	80	7	on	on	ADP
ajst-2993	80	8	frequencymodulated	frequencymodulate	VERB
ajst-2993	80	9	continuous	continuous	ADJ
ajst-2993	80	10	wave	wave	NOUN
ajst-2993	80	11	(	(	PUNCT
ajst-2993	80	12	fmcw	fmcw	NOUN
ajst-2993	80	13	)	)	PUNCT
ajst-2993	80	14	technology	technology	NOUN
ajst-2993	80	15	and	and	CCONJ
ajst-2993	80	16	use	use	VERB
ajst-2993	80	17	digital	digital	ADJ
ajst-2993	80	18	beamforming	beamforme	VERB
ajst-2993	80	19	to	to	PART
ajst-2993	80	20	control	control	VERB
ajst-2993	80	21	the	the	DET
ajst-2993	80	22	direction	direction	NOUN
ajst-2993	80	23	of	of	ADP
ajst-2993	80	24	the	the	DET
ajst-2993	80	25	transmitted	transmit	VERB
ajst-2993	80	26	wave	wave	NOUN
ajst-2993	80	27	.	.	PUNCT
ajst-2993	81	1	fmcw	fmcw	PROPN
ajst-2993	81	2	consists	consist	VERB
ajst-2993	81	3	of	of	ADP
ajst-2993	81	4	transmitting	transmit	VERB
ajst-2993	81	5	a	a	DET
ajst-2993	81	6	signal	signal	NOUN
ajst-2993	81	7	with	with	ADP
ajst-2993	81	8	a	a	DET
ajst-2993	81	9	wellknown	wellknown	ADJ
ajst-2993	81	10	and	and	CCONJ
ajst-2993	81	11	stable	stable	ADJ
ajst-2993	81	12	frequency	frequency	NOUN
ajst-2993	81	13	that	that	PRON
ajst-2993	81	14	is	be	AUX
ajst-2993	81	15	modulated	modulate	VERB
ajst-2993	81	16	by	by	ADP
ajst-2993	81	17	another	another	DET
ajst-2993	81	18	continuous	continuous	ADJ
ajst-2993	81	19	signal	signal	NOUN
ajst-2993	81	20	that	that	PRON
ajst-2993	81	21	varies	vary	VERB
ajst-2993	81	22	its	its	PRON
ajst-2993	81	23	frequency	frequency	NOUN
ajst-2993	81	24	up	up	ADP
ajst-2993	81	25	and	and	CCONJ
ajst-2993	81	26	down	down	ADV
ajst-2993	81	27	(	(	PUNCT
ajst-2993	81	28	usually	usually	ADV
ajst-2993	81	29	using	use	VERB
ajst-2993	81	30	triangles	triangle	NOUN
ajst-2993	81	31	)	)	PUNCT
ajst-2993	81	32	.	.	PUNCT
ajst-2993	82	1	the	the	DET
ajst-2993	82	2	frequency	frequency	NOUN
ajst-2993	82	3	shift	shift	NOUN
ajst-2993	82	4	between	between	ADP
ajst-2993	82	5	the	the	DET
ajst-2993	82	6	transmitted	transmit	VERB
ajst-2993	82	7	and	and	CCONJ
ajst-2993	82	8	reflected	reflect	VERB
ajst-2993	82	9	signals	signal	NOUN
ajst-2993	82	10	is	be	AUX
ajst-2993	82	11	used	use	VERB
ajst-2993	82	12	to	to	PART
ajst-2993	82	13	determine	determine	VERB
ajst-2993	82	14	the	the	DET
ajst-2993	82	15	distance	distance	NOUN
ajst-2993	82	16	.	.	PUNCT
ajst-2993	83	1	radar	radar	NOUN
ajst-2993	83	2	also	also	ADV
ajst-2993	83	3	uses	use	VERB
ajst-2993	83	4	the	the	DET
ajst-2993	83	5	doppler	doppler	NOUN
ajst-2993	83	6	effect	effect	NOUN
ajst-2993	83	7	to	to	PART
ajst-2993	83	8	directly	directly	ADV
ajst-2993	83	9	observe	observe	VERB
ajst-2993	83	10	the	the	DET
ajst-2993	83	11	relative	relative	ADJ
ajst-2993	83	12	velocity	velocity	NOUN
ajst-2993	83	13	of	of	ADP
ajst-2993	83	14	the	the	DET
ajst-2993	83	15	target	target	NOUN
ajst-2993	83	16	with	with	ADP
ajst-2993	83	17	respect	respect	NOUN
ajst-2993	83	18	to	to	ADP
ajst-2993	83	19	the	the	DET
ajst-2993	83	20	sensor	sensor	NOUN
ajst-2993	83	21	.	.	PUNCT
ajst-2993	84	1	one	one	NUM
ajst-2993	84	2	of	of	ADP
ajst-2993	84	3	the	the	DET
ajst-2993	84	4	strongest	strong	ADJ
ajst-2993	84	5	arguments	argument	NOUN
ajst-2993	84	6	for	for	ADP
ajst-2993	84	7	including	include	VERB
ajst-2993	84	8	radar	radar	NOUN
ajst-2993	84	9	sensing	sense	VERB
ajst-2993	84	10	in	in	ADP
ajst-2993	84	11	self	self	NOUN
ajst-2993	84	12	-	-	PUNCT
ajst-2993	84	13	driving	drive	VERB
ajst-2993	84	14	cars	car	NOUN
ajst-2993	84	15	is	be	AUX
ajst-2993	84	16	that	that	SCONJ
ajst-2993	84	17	it	it	PRON
ajst-2993	84	18	is	be	AUX
ajst-2993	84	19	unaffected	unaffected	ADJ
ajst-2993	84	20	by	by	ADP
ajst-2993	84	21	light	light	NOUN
ajst-2993	84	22	and	and	CCONJ
ajst-2993	84	23	weather	weather	NOUN
ajst-2993	84	24	conditions	condition	NOUN
ajst-2993	84	25	.	.	PUNCT
ajst-2993	85	1	it	it	PRON
ajst-2993	85	2	works	work	VERB
ajst-2993	85	3	in	in	ADP
ajst-2993	85	4	the	the	DET
ajst-2993	85	5	dark	dark	NOUN
ajst-2993	85	6	and	and	CCONJ
ajst-2993	85	7	detection	detection	NOUN
ajst-2993	85	8	is	be	AUX
ajst-2993	85	9	almost	almost	ADV
ajst-2993	85	10	equally	equally	ADV
ajst-2993	85	11	applicable	applicable	ADJ
ajst-2993	85	12	to	to	ADP
ajst-2993	85	13	snow	snow	NOUN
ajst-2993	85	14	,	,	PUNCT
ajst-2993	85	15	rain	rain	NOUN
ajst-2993	85	16	,	,	PUNCT
ajst-2993	85	17	fog	fog	NOUN
ajst-2993	85	18	,	,	PUNCT
ajst-2993	85	19	or	or	CCONJ
ajst-2993	85	20	dust	dust	NOUN
ajst-2993	85	21	.	.	PUNCT
ajst-2993	86	1	in	in	ADP
ajst-2993	86	2	very	very	ADV
ajst-2993	86	3	adverse	adverse	ADJ
ajst-2993	86	4	257	257	NUM
ajst-2993	86	5	conditions	condition	NOUN
ajst-2993	86	6	,	,	PUNCT
ajst-2993	86	7	long	long	ADJ
ajst-2993	86	8	-	-	PUNCT
ajst-2993	86	9	range	range	NOUN
ajst-2993	86	10	radar	radar	NOUN
ajst-2993	86	11	can	can	AUX
ajst-2993	86	12	see	see	VERB
ajst-2993	86	13	up	up	ADP
ajst-2993	86	14	to	to	PART
ajst-2993	86	15	250	250	NUM
ajst-2993	86	16	m	m	NOUN
ajst-2993	86	17	without	without	ADP
ajst-2993	86	18	any	any	DET
ajst-2993	86	19	other	other	ADJ
ajst-2993	86	20	sensor	sensor	NOUN
ajst-2993	86	21	working	work	VERB
ajst-2993	86	22	.	.	PUNCT
ajst-2993	87	1	radar	radar	NOUN
ajst-2993	87	2	sensors	sensor	NOUN
ajst-2993	87	3	have	have	VERB
ajst-2993	87	4	a	a	DET
ajst-2993	87	5	number	number	NOUN
ajst-2993	87	6	of	of	ADP
ajst-2993	87	7	difficulties	difficulty	NOUN
ajst-2993	87	8	and	and	CCONJ
ajst-2993	87	9	drawbacks	drawback	NOUN
ajst-2993	87	10	：	：	PUNCT
ajst-2993	87	11	sensitivity	sensitivity	NOUN
ajst-2993	87	12	to	to	PART
ajst-2993	87	13	target	target	VERB
ajst-2993	87	14	reflectivity	reflectivity	NOUN
ajst-2993	87	15	.	.	PUNCT
ajst-2993	88	1	processing	processing	NOUN
ajst-2993	88	2	radar	radar	NOUN
ajst-2993	88	3	data	datum	NOUN
ajst-2993	88	4	is	be	AUX
ajst-2993	88	5	a	a	DET
ajst-2993	88	6	tricky	tricky	ADJ
ajst-2993	88	7	task	task	NOUN
ajst-2993	88	8	,	,	PUNCT
ajst-2993	88	9	partly	partly	ADV
ajst-2993	88	10	because	because	SCONJ
ajst-2993	88	11	of	of	ADP
ajst-2993	88	12	the	the	DET
ajst-2993	88	13	different	different	ADJ
ajst-2993	88	14	reflectivities	reflectivity	NOUN
ajst-2993	88	15	of	of	ADP
ajst-2993	88	16	different	different	ADJ
ajst-2993	88	17	materials	material	NOUN
ajst-2993	88	18	.	.	PUNCT
ajst-2993	89	1	metal	metal	NOUN
ajst-2993	89	2	amplifies	amplify	VERB
ajst-2993	89	3	radar	radar	NOUN
ajst-2993	89	4	signals	signal	NOUN
ajst-2993	89	5	for	for	ADP
ajst-2993	89	6	vehicle	vehicle	NOUN
ajst-2993	89	7	detection	detection	NOUN
ajst-2993	89	8	,	,	PUNCT
ajst-2993	89	9	but	but	CCONJ
ajst-2993	89	10	increases	increase	VERB
ajst-2993	89	11	the	the	DET
ajst-2993	89	12	size	size	NOUN
ajst-2993	89	13	of	of	ADP
ajst-2993	89	14	the	the	DET
ajst-2993	89	15	appearance	appearance	NOUN
ajst-2993	89	16	of	of	ADP
ajst-2993	89	17	small	small	ADJ
ajst-2993	89	18	objects	object	NOUN
ajst-2993	89	19	such	such	ADJ
ajst-2993	89	20	as	as	ADP
ajst-2993	89	21	discarded	discard	VERB
ajst-2993	89	22	cans	can	NOUN
ajst-2993	89	23	on	on	ADP
ajst-2993	89	24	the	the	DET
ajst-2993	89	25	road	road	NOUN
ajst-2993	89	26	,	,	PUNCT
ajst-2993	89	27	while	while	SCONJ
ajst-2993	89	28	other	other	ADJ
ajst-2993	89	29	materials	material	NOUN
ajst-2993	89	30	(	(	PUNCT
ajst-2993	89	31	such	such	ADJ
ajst-2993	89	32	as	as	ADP
ajst-2993	89	33	wood	wood	NOUN
ajst-2993	89	34	)	)	PUNCT
ajst-2993	89	35	are	be	AUX
ajst-2993	89	36	almost	almost	ADV
ajst-2993	89	37	transparent	transparent	ADJ
ajst-2993	89	38	.	.	PUNCT
ajst-2993	90	1	this	this	PRON
ajst-2993	90	2	can	can	AUX
ajst-2993	90	3	lead	lead	VERB
ajst-2993	90	4	to	to	ADP
ajst-2993	90	5	false	false	ADJ
ajst-2993	90	6	alarms	alarm	NOUN
ajst-2993	90	7	(	(	PUNCT
ajst-2993	90	8	detection	detection	NOUN
ajst-2993	90	9	of	of	ADP
ajst-2993	90	10	non	non	ADJ
ajst-2993	90	11	-	-	ADJ
ajst-2993	90	12	existent	existent	ADJ
ajst-2993	90	13	obstacles	obstacle	NOUN
ajst-2993	90	14	)	)	PUNCT
ajst-2993	90	15	and	and	CCONJ
ajst-2993	90	16	false	false	ADJ
ajst-2993	90	17	alarms	alarm	NOUN
ajst-2993	90	18	(	(	PUNCT
ajst-2993	90	19	no	no	DET
ajst-2993	90	20	detection	detection	NOUN
ajst-2993	90	21	of	of	ADP
ajst-2993	90	22	actual	actual	ADJ
ajst-2993	90	23	obstacles	obstacle	NOUN
ajst-2993	90	24	)	)	PUNCT
ajst-2993	90	25	.	.	PUNCT
ajst-2993	91	1	resolution	resolution	NOUN
ajst-2993	91	2	and	and	CCONJ
ajst-2993	91	3	accuracy	accuracy	NOUN
ajst-2993	91	4	.	.	PUNCT
ajst-2993	92	1	the	the	DET
ajst-2993	92	2	radar	radar	NOUN
ajst-2993	92	3	very	very	ADV
ajst-2993	92	4	accurately	accurately	ADV
ajst-2993	92	5	measures	measure	VERB
ajst-2993	92	6	the	the	DET
ajst-2993	92	7	distance	distance	NOUN
ajst-2993	92	8	and	and	CCONJ
ajst-2993	92	9	speed	speed	NOUN
ajst-2993	92	10	of	of	ADP
ajst-2993	92	11	the	the	DET
ajst-2993	92	12	line	line	NOUN
ajst-2993	92	13	connecting	connect	VERB
ajst-2993	92	14	the	the	DET
ajst-2993	92	15	sensor	sensor	NOUN
ajst-2993	92	16	to	to	ADP
ajst-2993	92	17	the	the	DET
ajst-2993	92	18	target	target	NOUN
ajst-2993	92	19	.	.	PUNCT
ajst-2993	93	1	however	however	ADV
ajst-2993	93	2	,	,	PUNCT
ajst-2993	93	3	the	the	DET
ajst-2993	93	4	horizontal	horizontal	ADJ
ajst-2993	93	5	resolution	resolution	NOUN
ajst-2993	93	6	depends	depend	VERB
ajst-2993	93	7	on	on	ADP
ajst-2993	93	8	the	the	DET
ajst-2993	93	9	characteristics	characteristic	NOUN
ajst-2993	93	10	of	of	ADP
ajst-2993	93	11	the	the	DET
ajst-2993	93	12	emitted	emitted	ADJ
ajst-2993	93	13	beam	beam	NOUN
ajst-2993	93	14	.	.	PUNCT
ajst-2993	94	1	the	the	DET
ajst-2993	94	2	raw	raw	ADJ
ajst-2993	94	3	angular	angular	ADJ
ajst-2993	94	4	resolution	resolution	NOUN
ajst-2993	94	5	in	in	ADP
ajst-2993	94	6	digital	digital	ADJ
ajst-2993	94	7	beamforming	beamforming	NOUN
ajst-2993	94	8	systems	system	NOUN
ajst-2993	94	9	is	be	AUX
ajst-2993	94	10	between	between	ADP
ajst-2993	94	11	2	2	NUM
ajst-2993	94	12	and	and	CCONJ
ajst-2993	94	13	5	5	NUM
ajst-2993	94	14	degrees	degree	NOUN
ajst-2993	94	15	,	,	PUNCT
ajst-2993	94	16	which	which	PRON
ajst-2993	94	17	can	can	AUX
ajst-2993	94	18	be	be	AUX
ajst-2993	94	19	improved	improve	VERB
ajst-2993	94	20	to	to	ADP
ajst-2993	94	21	0.1	0.1	NUM
ajst-2993	94	22	-	-	SYM
ajst-2993	94	23	1	1	NUM
ajst-2993	94	24	degree	degree	NOUN
ajst-2993	94	25	using	use	VERB
ajst-2993	94	26	advanced	advanced	ADJ
ajst-2993	94	27	processing	processing	NOUN
ajst-2993	94	28	techniques	technique	NOUN
ajst-2993	94	29	.	.	PUNCT
ajst-2993	95	1	using	use	VERB
ajst-2993	95	2	this	this	DET
ajst-2993	95	3	angular	angular	ADJ
ajst-2993	95	4	resolution	resolution	NOUN
ajst-2993	95	5	,	,	PUNCT
ajst-2993	95	6	it	it	PRON
ajst-2993	95	7	is	be	AUX
ajst-2993	95	8	difficult	difficult	ADJ
ajst-2993	95	9	to	to	PART
ajst-2993	95	10	separate	separate	VERB
ajst-2993	95	11	pedestrians	pedestrian	NOUN
ajst-2993	95	12	from	from	ADP
ajst-2993	95	13	nearby	nearby	ADJ
ajst-2993	95	14	cars	car	NOUN
ajst-2993	95	15	at	at	ADP
ajst-2993	95	16	a	a	DET
ajst-2993	95	17	distance	distance	NOUN
ajst-2993	95	18	of	of	ADP
ajst-2993	95	19	30	30	NUM
ajst-2993	95	20	m	m	NOUN
ajst-2993	95	21	(	(	PUNCT
ajst-2993	95	22	detected	detect	VERB
ajst-2993	95	23	as	as	ADP
ajst-2993	95	24	separate	separate	ADJ
ajst-2993	95	25	targets	target	NOUN
ajst-2993	95	26	)	)	PUNCT
ajst-2993	95	27	.	.	PUNCT
ajst-2993	96	1	at	at	ADP
ajst-2993	96	2	a	a	DET
ajst-2993	96	3	distance	distance	NOUN
ajst-2993	96	4	of	of	ADP
ajst-2993	96	5	100	100	NUM
ajst-2993	96	6	m	m	NOUN
ajst-2993	96	7	,	,	PUNCT
ajst-2993	96	8	it	it	PRON
ajst-2993	96	9	is	be	AUX
ajst-2993	96	10	not	not	PART
ajst-2993	96	11	possible	possible	ADJ
ajst-2993	96	12	to	to	AUX
ajst-2993	96	13	separate	separate	ADJ
ajst-2993	96	14	vehicles	vehicle	NOUN
ajst-2993	96	15	in	in	ADP
ajst-2993	96	16	adjacent	adjacent	ADJ
ajst-2993	96	17	lanes	lane	NOUN
ajst-2993	96	18	and	and	CCONJ
ajst-2993	96	19	determine	determine	VERB
ajst-2993	96	20	whether	whether	SCONJ
ajst-2993	96	21	vehicles	vehicle	NOUN
ajst-2993	96	22	are	be	AUX
ajst-2993	96	23	in	in	ADP
ajst-2993	96	24	the	the	DET
ajst-2993	96	25	same	same	ADJ
ajst-2993	96	26	lane	lane	NOUN
ajst-2993	96	27	,	,	PUNCT
ajst-2993	96	28	even	even	ADV
ajst-2993	96	29	if	if	SCONJ
ajst-2993	96	30	the	the	DET
ajst-2993	96	31	detection	detection	NOUN
ajst-2993	96	32	is	be	AUX
ajst-2993	96	33	of	of	ADP
ajst-2993	96	34	a	a	DET
ajst-2993	96	35	vehicle	vehicle	NOUN
ajst-2993	96	36	or	or	CCONJ
ajst-2993	96	37	a	a	DET
ajst-2993	96	38	bridge	bridge	NOUN
ajst-2993	96	39	over	over	ADP
ajst-2993	96	40	the	the	DET
ajst-2993	96	41	road	road	NOUN
ajst-2993	96	42	.	.	PUNCT
ajst-2993	97	1	2.2.1	2.2.1	NUM
ajst-2993	97	2	.	.	PUNCT
ajst-2993	97	3	emerging	emerge	VERB
ajst-2993	97	4	radar	radar	NOUN
ajst-2993	97	5	technologies	technology	NOUN
ajst-2993	97	6	one	one	NUM
ajst-2993	97	7	of	of	ADP
ajst-2993	97	8	the	the	DET
ajst-2993	97	9	most	most	ADV
ajst-2993	97	10	active	active	ADJ
ajst-2993	97	11	research	research	NOUN
ajst-2993	97	12	areas	area	NOUN
ajst-2993	97	13	is	be	AUX
ajst-2993	97	14	related	relate	VERB
ajst-2993	97	15	to	to	ADP
ajst-2993	97	16	highresolution	highresolution	NOUN
ajst-2993	97	17	radar	radar	NOUN
ajst-2993	97	18	imaging	imaging	NOUN
ajst-2993	97	19	of	of	ADP
ajst-2993	97	20	vehicles	vehicle	NOUN
ajst-2993	97	21	.	.	PUNCT
ajst-2993	98	1	in	in	ADP
ajst-2993	98	2	addition	addition	NOUN
ajst-2993	98	3	to	to	ADP
ajst-2993	98	4	the	the	DET
ajst-2993	98	5	benefits	benefit	NOUN
ajst-2993	98	6	of	of	ADP
ajst-2993	98	7	target	target	NOUN
ajst-2993	98	8	tracking	tracking	NOUN
ajst-2993	98	9	and	and	CCONJ
ajst-2993	98	10	object	object	NOUN
ajst-2993	98	11	separation	separation	NOUN
ajst-2993	98	12	,	,	PUNCT
ajst-2993	98	13	the	the	DET
ajst-2993	98	14	higher	high	ADJ
ajst-2993	98	15	resolution	resolution	NOUN
ajst-2993	98	16	allows	allow	VERB
ajst-2993	98	17	for	for	ADP
ajst-2993	98	18	richer	rich	ADJ
ajst-2993	98	19	semantic	semantic	ADJ
ajst-2993	98	20	information	information	NOUN
ajst-2993	98	21	and	and	CCONJ
ajst-2993	98	22	can	can	AUX
ajst-2993	98	23	be	be	AUX
ajst-2993	98	24	further	far	ADV
ajst-2993	98	25	applied	apply	VERB
ajst-2993	98	26	to	to	PART
ajst-2993	98	27	target	target	VERB
ajst-2993	98	28	classification	classification	NOUN
ajst-2993	98	29	and	and	CCONJ
ajst-2993	98	30	environment	environment	NOUN
ajst-2993	98	31	mapping	mapping	NOUN
ajst-2993	98	32	.	.	PUNCT
ajst-2993	99	1	an	an	DET
ajst-2993	99	2	example	example	NOUN
ajst-2993	99	3	can	can	AUX
ajst-2993	99	4	be	be	AUX
ajst-2993	99	5	found	find	VERB
ajst-2993	99	6	when	when	SCONJ
ajst-2993	99	7	a	a	DET
ajst-2993	99	8	90	90	NUM
ajst-2993	99	9	ghz	ghz	NOUN
ajst-2993	99	10	rotating	rotate	VERB
ajst-2993	99	11	radar	radar	NOUN
ajst-2993	99	12	on	on	ADP
ajst-2993	99	13	the	the	DET
ajst-2993	99	14	roof	roof	NOUN
ajst-2993	99	15	of	of	ADP
ajst-2993	99	16	a	a	DET
ajst-2993	99	17	car	car	NOUN
ajst-2993	99	18	is	be	AUX
ajst-2993	99	19	used	use	VERB
ajst-2993	99	20	to	to	PART
ajst-2993	99	21	map	map	VERB
ajst-2993	99	22	the	the	DET
ajst-2993	99	23	environment	environment	NOUN
ajst-2993	99	24	,	,	PUNCT
ajst-2993	99	25	including	include	VERB
ajst-2993	99	26	vehicles	vehicle	NOUN
ajst-2993	99	27	,	,	PUNCT
ajst-2993	99	28	static	static	ADJ
ajst-2993	99	29	objects	object	NOUN
ajst-2993	99	30	,	,	PUNCT
ajst-2993	99	31	and	and	CCONJ
ajst-2993	99	32	the	the	DET
ajst-2993	99	33	ground	ground	NOUN
ajst-2993	99	34	.	.	PUNCT
ajst-2993	100	1	some	some	PRON
ajst-2993	100	2	demonstrate	demonstrate	VERB
ajst-2993	100	3	the	the	DET
ajst-2993	100	4	feasibility	feasibility	NOUN
ajst-2993	100	5	of	of	ADP
ajst-2993	100	6	radar	radar	NOUN
ajst-2993	100	7	operation	operation	NOUN
ajst-2993	100	8	between	between	ADP
ajst-2993	100	9	100	100	NUM
ajst-2993	100	10	and	and	CCONJ
ajst-2993	100	11	300	300	NUM
ajst-2993	100	12	ghz	ghz	NOUN
ajst-2993	100	13	,	,	PUNCT
ajst-2993	100	14	analyzing	analyze	VERB
ajst-2993	100	15	the	the	DET
ajst-2993	100	16	atmospheric	atmospheric	ADJ
ajst-2993	100	17	absorption	absorption	NOUN
ajst-2993	100	18	and	and	CCONJ
ajst-2993	100	19	reflectivity	reflectivity	NOUN
ajst-2993	100	20	of	of	ADP
ajst-2993	100	21	materials	material	NOUN
ajst-2993	100	22	commonly	commonly	ADV
ajst-2993	100	23	found	find	VERB
ajst-2993	100	24	in	in	ADP
ajst-2993	100	25	driving	drive	VERB
ajst-2993	100	26	scenarios	scenario	NOUN
ajst-2993	100	27	.	.	PUNCT
ajst-2993	101	1	one	one	NUM
ajst-2993	101	2	of	of	ADP
ajst-2993	101	3	the	the	DET
ajst-2993	101	4	key	key	ADJ
ajst-2993	101	5	technologies	technology	NOUN
ajst-2993	101	6	that	that	PRON
ajst-2993	101	7	can	can	AUX
ajst-2993	101	8	enable	enable	VERB
ajst-2993	101	9	high	high	ADJ
ajst-2993	101	10	-	-	PUNCT
ajst-2993	101	11	resolution	resolution	NOUN
ajst-2993	101	12	radar	radar	NOUN
ajst-2993	101	13	imaging	imaging	NOUN
ajst-2993	101	14	is	be	AUX
ajst-2993	101	15	metamaterial	metamaterial	ADJ
ajst-2993	101	16	antennas	antenna	NOUN
ajst-2993	101	17	for	for	ADP
ajst-2993	101	18	efficient	efficient	ADJ
ajst-2993	101	19	synthetic	synthetic	ADJ
ajst-2993	101	20	aperture	aperture	NOUN
ajst-2993	101	21	radar	radar	NOUN
ajst-2993	101	22	.	.	PUNCT
ajst-2993	102	1	some	some	DET
ajst-2993	102	2	manufacturers	manufacturer	NOUN
ajst-2993	102	3	such	such	ADJ
ajst-2993	102	4	as	as	ADP
ajst-2993	102	5	metawave	metawave	PROPN
ajst-2993	102	6	are	be	AUX
ajst-2993	102	7	starting	start	VERB
ajst-2993	102	8	to	to	PART
ajst-2993	102	9	offer	offer	VERB
ajst-2993	102	10	products	product	NOUN
ajst-2993	102	11	based	base	VERB
ajst-2993	102	12	on	on	ADP
ajst-2993	102	13	this	this	DET
ajst-2993	102	14	technology	technology	NOUN
ajst-2993	102	15	for	for	ADP
ajst-2993	102	16	the	the	DET
ajst-2993	102	17	automotive	automotive	ADJ
ajst-2993	102	18	sector	sector	NOUN
ajst-2993	102	19	.	.	PUNCT
ajst-2993	103	1	2.3	2.3	NUM
ajst-2993	103	2	.	.	PUNCT
ajst-2993	104	1	lidar	lidar	NOUN
ajst-2993	104	2	radar	radar	NOUN
ajst-2993	104	3	technology	technology	NOUN
ajst-2993	104	4	uses	use	VERB
ajst-2993	104	5	high	high	ADJ
ajst-2993	104	6	-	-	PUNCT
ajst-2993	104	7	frequency	frequency	NOUN
ajst-2993	104	8	electromagnetic	electromagnetic	ADJ
ajst-2993	104	9	waves	wave	NOUN
ajst-2993	104	10	to	to	PART
ajst-2993	104	11	measure	measure	VERB
ajst-2993	104	12	the	the	DET
ajst-2993	104	13	distance	distance	NOUN
ajst-2993	104	14	to	to	ADP
ajst-2993	104	15	an	an	DET
ajst-2993	104	16	object	object	NOUN
ajst-2993	104	17	based	base	VERB
ajst-2993	104	18	on	on	ADP
ajst-2993	104	19	the	the	DET
ajst-2993	104	20	roundtrip	roundtrip	NOUN
ajst-2993	104	21	time	time	NOUN
ajst-2993	104	22	principle	principle	NOUN
ajst-2993	104	23	,	,	PUNCT
ajst-2993	104	24	the	the	DET
ajst-2993	104	25	time	time	NOUN
ajst-2993	104	26	it	it	PRON
ajst-2993	104	27	takes	take	VERB
ajst-2993	104	28	for	for	SCONJ
ajst-2993	104	29	the	the	DET
ajst-2993	104	30	wave	wave	NOUN
ajst-2993	104	31	to	to	PART
ajst-2993	104	32	reach	reach	VERB
ajst-2993	104	33	the	the	DET
ajst-2993	104	34	object	object	NOUN
ajst-2993	104	35	,	,	PUNCT
ajst-2993	104	36	bounce	bounce	VERB
ajst-2993	104	37	off	off	ADP
ajst-2993	104	38	it	it	PRON
ajst-2993	104	39	and	and	CCONJ
ajst-2993	104	40	return	return	VERB
ajst-2993	104	41	to	to	ADP
ajst-2993	104	42	the	the	DET
ajst-2993	104	43	sensor	sensor	NOUN
ajst-2993	104	44	.	.	PUNCT
ajst-2993	105	1	most	most	ADJ
ajst-2993	105	2	modern	modern	ADJ
ajst-2993	105	3	automotive	automotive	ADJ
ajst-2993	105	4	radars	radar	NOUN
ajst-2993	105	5	are	be	AUX
ajst-2993	105	6	based	base	VERB
ajst-2993	105	7	on	on	ADP
ajst-2993	105	8	frequencymodulated	frequencymodulate	VERB
ajst-2993	105	9	continuous	continuous	ADJ
ajst-2993	105	10	wave	wave	NOUN
ajst-2993	105	11	(	(	PUNCT
ajst-2993	105	12	fmcw	fmcw	NOUN
ajst-2993	105	13	)	)	PUNCT
ajst-2993	105	14	technology	technology	NOUN
ajst-2993	105	15	and	and	CCONJ
ajst-2993	105	16	use	use	VERB
ajst-2993	105	17	digital	digital	ADJ
ajst-2993	105	18	beamforming	beamforme	VERB
ajst-2993	105	19	to	to	PART
ajst-2993	105	20	control	control	VERB
ajst-2993	105	21	the	the	DET
ajst-2993	105	22	direction	direction	NOUN
ajst-2993	105	23	of	of	ADP
ajst-2993	105	24	the	the	DET
ajst-2993	105	25	transmitted	transmit	VERB
ajst-2993	105	26	wave	wave	NOUN
ajst-2993	105	27	.	.	PUNCT
ajst-2993	106	1	fmcw	fmcw	PROPN
ajst-2993	106	2	consists	consist	VERB
ajst-2993	106	3	of	of	ADP
ajst-2993	106	4	transmitting	transmit	VERB
ajst-2993	106	5	a	a	DET
ajst-2993	106	6	signal	signal	NOUN
ajst-2993	106	7	with	with	ADP
ajst-2993	106	8	a	a	DET
ajst-2993	106	9	wellknown	wellknown	ADJ
ajst-2993	106	10	and	and	CCONJ
ajst-2993	106	11	stable	stable	ADJ
ajst-2993	106	12	frequency	frequency	NOUN
ajst-2993	106	13	that	that	PRON
ajst-2993	106	14	is	be	AUX
ajst-2993	106	15	modulated	modulate	VERB
ajst-2993	106	16	by	by	ADP
ajst-2993	106	17	another	another	DET
ajst-2993	106	18	continuous	continuous	ADJ
ajst-2993	106	19	signal	signal	NOUN
ajst-2993	106	20	that	that	PRON
ajst-2993	106	21	varies	vary	VERB
ajst-2993	106	22	its	its	PRON
ajst-2993	106	23	frequency	frequency	NOUN
ajst-2993	106	24	up	up	ADP
ajst-2993	106	25	and	and	CCONJ
ajst-2993	106	26	down	down	ADV
ajst-2993	106	27	(	(	PUNCT
ajst-2993	106	28	usually	usually	ADV
ajst-2993	106	29	using	use	VERB
ajst-2993	106	30	triangles	triangle	NOUN
ajst-2993	106	31	)	)	PUNCT
ajst-2993	106	32	.	.	PUNCT
ajst-2993	107	1	the	the	DET
ajst-2993	107	2	frequency	frequency	NOUN
ajst-2993	107	3	shift	shift	NOUN
ajst-2993	107	4	between	between	ADP
ajst-2993	107	5	the	the	DET
ajst-2993	107	6	transmitted	transmit	VERB
ajst-2993	107	7	and	and	CCONJ
ajst-2993	107	8	reflected	reflect	VERB
ajst-2993	107	9	signals	signal	NOUN
ajst-2993	107	10	is	be	AUX
ajst-2993	107	11	used	use	VERB
ajst-2993	107	12	to	to	PART
ajst-2993	107	13	determine	determine	VERB
ajst-2993	107	14	the	the	DET
ajst-2993	107	15	distance	distance	NOUN
ajst-2993	107	16	.	.	PUNCT
ajst-2993	108	1	radar	radar	NOUN
ajst-2993	108	2	also	also	ADV
ajst-2993	108	3	uses	use	VERB
ajst-2993	108	4	the	the	DET
ajst-2993	108	5	doppler	doppler	NOUN
ajst-2993	108	6	effect	effect	NOUN
ajst-2993	108	7	to	to	PART
ajst-2993	108	8	directly	directly	ADV
ajst-2993	108	9	observe	observe	VERB
ajst-2993	108	10	the	the	DET
ajst-2993	108	11	relative	relative	ADJ
ajst-2993	108	12	velocity	velocity	NOUN
ajst-2993	108	13	of	of	ADP
ajst-2993	108	14	the	the	DET
ajst-2993	108	15	target	target	NOUN
ajst-2993	108	16	with	with	ADP
ajst-2993	108	17	respect	respect	NOUN
ajst-2993	108	18	to	to	ADP
ajst-2993	108	19	the	the	DET
ajst-2993	108	20	sensor	sensor	NOUN
ajst-2993	108	21	.	.	PUNCT
ajst-2993	109	1	figure	figure	NOUN
ajst-2993	109	2	2	2	NUM
ajst-2993	109	3	.	.	PUNCT
ajst-2993	110	1	radar	radar	NOUN
ajst-2993	110	2	and	and	CCONJ
ajst-2993	110	3	lidar	lidar	VERB
ajst-2993	110	4	comparison	comparison	NOUN
ajst-2993	110	5	one	one	NUM
ajst-2993	110	6	of	of	ADP
ajst-2993	110	7	the	the	DET
ajst-2993	110	8	strongest	strong	ADJ
ajst-2993	110	9	arguments	argument	NOUN
ajst-2993	110	10	for	for	ADP
ajst-2993	110	11	including	include	VERB
ajst-2993	110	12	radar	radar	NOUN
ajst-2993	110	13	sensing	sense	VERB
ajst-2993	110	14	in	in	ADP
ajst-2993	110	15	self	self	NOUN
ajst-2993	110	16	-	-	PUNCT
ajst-2993	110	17	driving	drive	VERB
ajst-2993	110	18	cars	car	NOUN
ajst-2993	110	19	is	be	AUX
ajst-2993	110	20	that	that	SCONJ
ajst-2993	110	21	it	it	PRON
ajst-2993	110	22	is	be	AUX
ajst-2993	110	23	unaffected	unaffected	ADJ
ajst-2993	110	24	by	by	ADP
ajst-2993	110	25	light	light	NOUN
ajst-2993	110	26	and	and	CCONJ
ajst-2993	110	27	weather	weather	NOUN
ajst-2993	110	28	conditions	condition	NOUN
ajst-2993	110	29	.	.	PUNCT
ajst-2993	111	1	it	it	PRON
ajst-2993	111	2	works	work	VERB
ajst-2993	111	3	in	in	ADP
ajst-2993	111	4	the	the	DET
ajst-2993	111	5	dark	dark	NOUN
ajst-2993	111	6	and	and	CCONJ
ajst-2993	111	7	detection	detection	NOUN
ajst-2993	111	8	is	be	AUX
ajst-2993	111	9	almost	almost	ADV
ajst-2993	111	10	equally	equally	ADV
ajst-2993	111	11	applicable	applicable	ADJ
ajst-2993	111	12	to	to	ADP
ajst-2993	111	13	snow	snow	NOUN
ajst-2993	111	14	,	,	PUNCT
ajst-2993	111	15	rain	rain	NOUN
ajst-2993	111	16	,	,	PUNCT
ajst-2993	111	17	fog	fog	NOUN
ajst-2993	111	18	,	,	PUNCT
ajst-2993	111	19	or	or	CCONJ
ajst-2993	111	20	dust	dust	NOUN
ajst-2993	111	21	.	.	PUNCT
ajst-2993	112	1	in	in	ADP
ajst-2993	112	2	very	very	ADV
ajst-2993	112	3	adverse	adverse	ADJ
ajst-2993	112	4	conditions	condition	NOUN
ajst-2993	112	5	,	,	PUNCT
ajst-2993	112	6	long	long	ADJ
ajst-2993	112	7	-	-	PUNCT
ajst-2993	112	8	range	range	NOUN
ajst-2993	112	9	radar	radar	NOUN
ajst-2993	112	10	can	can	AUX
ajst-2993	112	11	see	see	VERB
ajst-2993	112	12	up	up	ADP
ajst-2993	112	13	to	to	PART
ajst-2993	112	14	250	250	NUM
ajst-2993	112	15	m	m	NOUN
ajst-2993	112	16	without	without	ADP
ajst-2993	112	17	any	any	DET
ajst-2993	112	18	other	other	ADJ
ajst-2993	112	19	sensor	sensor	NOUN
ajst-2993	112	20	working	work	VERB
ajst-2993	112	21	.	.	PUNCT
ajst-2993	113	1	radar	radar	NOUN
ajst-2993	113	2	sensors	sensor	NOUN
ajst-2993	113	3	have	have	VERB
ajst-2993	113	4	a	a	DET
ajst-2993	113	5	number	number	NOUN
ajst-2993	113	6	of	of	ADP
ajst-2993	113	7	difficulties	difficulty	NOUN
ajst-2993	113	8	and	and	CCONJ
ajst-2993	113	9	drawbacks	drawback	NOUN
ajst-2993	113	10	.	.	PUNCT
ajst-2993	114	1	sensitivity	sensitivity	NOUN
ajst-2993	114	2	to	to	PART
ajst-2993	114	3	target	target	VERB
ajst-2993	114	4	reflectivity	reflectivity	NOUN
ajst-2993	114	5	.	.	PUNCT
ajst-2993	115	1	processing	processing	NOUN
ajst-2993	115	2	radar	radar	NOUN
ajst-2993	115	3	data	datum	NOUN
ajst-2993	115	4	is	be	AUX
ajst-2993	115	5	a	a	DET
ajst-2993	115	6	tricky	tricky	ADJ
ajst-2993	115	7	task	task	NOUN
ajst-2993	115	8	,	,	PUNCT
ajst-2993	115	9	partly	partly	ADV
ajst-2993	115	10	because	because	SCONJ
ajst-2993	115	11	of	of	ADP
ajst-2993	115	12	the	the	DET
ajst-2993	115	13	different	different	ADJ
ajst-2993	115	14	reflectivities	reflectivity	NOUN
ajst-2993	115	15	of	of	ADP
ajst-2993	115	16	different	different	ADJ
ajst-2993	115	17	materials	material	NOUN
ajst-2993	115	18	.	.	PUNCT
ajst-2993	116	1	metal	metal	NOUN
ajst-2993	116	2	amplifies	amplify	VERB
ajst-2993	116	3	radar	radar	NOUN
ajst-2993	116	4	signals	signal	NOUN
ajst-2993	116	5	for	for	ADP
ajst-2993	116	6	vehicle	vehicle	NOUN
ajst-2993	116	7	detection	detection	NOUN
ajst-2993	116	8	,	,	PUNCT
ajst-2993	116	9	but	but	CCONJ
ajst-2993	116	10	increases	increase	VERB
ajst-2993	116	11	the	the	DET
ajst-2993	116	12	size	size	NOUN
ajst-2993	116	13	of	of	ADP
ajst-2993	116	14	the	the	DET
ajst-2993	116	15	appearance	appearance	NOUN
ajst-2993	116	16	of	of	ADP
ajst-2993	116	17	small	small	ADJ
ajst-2993	116	18	objects	object	NOUN
ajst-2993	116	19	such	such	ADJ
ajst-2993	116	20	as	as	ADP
ajst-2993	116	21	discarded	discard	VERB
ajst-2993	116	22	cans	can	NOUN
ajst-2993	116	23	on	on	ADP
ajst-2993	116	24	the	the	DET
ajst-2993	116	25	road	road	NOUN
ajst-2993	116	26	,	,	PUNCT
ajst-2993	116	27	while	while	SCONJ
ajst-2993	116	28	other	other	ADJ
ajst-2993	116	29	materials	material	NOUN
ajst-2993	116	30	(	(	PUNCT
ajst-2993	116	31	such	such	ADJ
ajst-2993	116	32	as	as	ADP
ajst-2993	116	33	wood	wood	NOUN
ajst-2993	116	34	)	)	PUNCT
ajst-2993	116	35	are	be	AUX
ajst-2993	116	36	almost	almost	ADV
ajst-2993	116	37	transparent	transparent	ADJ
ajst-2993	116	38	.	.	PUNCT
ajst-2993	117	1	this	this	PRON
ajst-2993	117	2	can	can	AUX
ajst-2993	117	3	lead	lead	VERB
ajst-2993	117	4	to	to	ADP
ajst-2993	117	5	false	false	ADJ
ajst-2993	117	6	alarms	alarm	NOUN
ajst-2993	117	7	(	(	PUNCT
ajst-2993	117	8	detection	detection	NOUN
ajst-2993	117	9	of	of	ADP
ajst-2993	117	10	non	non	ADJ
ajst-2993	117	11	-	-	ADJ
ajst-2993	117	12	existent	existent	ADJ
ajst-2993	117	13	obstacles	obstacle	NOUN
ajst-2993	117	14	)	)	PUNCT
ajst-2993	117	15	and	and	CCONJ
ajst-2993	117	16	false	false	ADJ
ajst-2993	117	17	alarms	alarm	NOUN
ajst-2993	117	18	(	(	PUNCT
ajst-2993	117	19	no	no	DET
ajst-2993	117	20	detection	detection	NOUN
ajst-2993	117	21	of	of	ADP
ajst-2993	117	22	actual	actual	ADJ
ajst-2993	117	23	obstacles	obstacle	NOUN
ajst-2993	117	24	)	)	PUNCT
ajst-2993	117	25	.	.	PUNCT
ajst-2993	118	1	resolution	resolution	NOUN
ajst-2993	118	2	and	and	CCONJ
ajst-2993	118	3	accuracy	accuracy	NOUN
ajst-2993	118	4	.	.	PUNCT
ajst-2993	119	1	the	the	DET
ajst-2993	119	2	radar	radar	NOUN
ajst-2993	119	3	very	very	ADV
ajst-2993	119	4	accurately	accurately	ADV
ajst-2993	119	5	measures	measure	VERB
ajst-2993	119	6	the	the	DET
ajst-2993	119	7	distance	distance	NOUN
ajst-2993	119	8	and	and	CCONJ
ajst-2993	119	9	speed	speed	NOUN
ajst-2993	119	10	of	of	ADP
ajst-2993	119	11	the	the	DET
ajst-2993	119	12	line	line	NOUN
ajst-2993	119	13	connecting	connect	VERB
ajst-2993	119	14	the	the	DET
ajst-2993	119	15	sensor	sensor	NOUN
ajst-2993	119	16	to	to	ADP
ajst-2993	119	17	the	the	DET
ajst-2993	119	18	target	target	NOUN
ajst-2993	119	19	.	.	PUNCT
ajst-2993	120	1	however	however	ADV
ajst-2993	120	2	,	,	PUNCT
ajst-2993	120	3	the	the	DET
ajst-2993	120	4	horizontal	horizontal	ADJ
ajst-2993	120	5	resolution	resolution	NOUN
ajst-2993	120	6	depends	depend	VERB
ajst-2993	120	7	on	on	ADP
ajst-2993	120	8	the	the	DET
ajst-2993	120	9	characteristics	characteristic	NOUN
ajst-2993	120	10	of	of	ADP
ajst-2993	120	11	the	the	DET
ajst-2993	120	12	emitted	emitted	ADJ
ajst-2993	120	13	beam	beam	NOUN
ajst-2993	120	14	.	.	PUNCT
ajst-2993	121	1	the	the	DET
ajst-2993	121	2	raw	raw	ADJ
ajst-2993	121	3	angular	angular	ADJ
ajst-2993	121	4	resolution	resolution	NOUN
ajst-2993	121	5	in	in	ADP
ajst-2993	121	6	digital	digital	ADJ
ajst-2993	121	7	beamforming	beamforming	NOUN
ajst-2993	121	8	systems	system	NOUN
ajst-2993	121	9	is	be	AUX
ajst-2993	121	10	between	between	ADP
ajst-2993	121	11	2	2	NUM
ajst-2993	121	12	and	and	CCONJ
ajst-2993	121	13	5	5	NUM
ajst-2993	121	14	degrees	degree	NOUN
ajst-2993	121	15	,	,	PUNCT
ajst-2993	121	16	which	which	PRON
ajst-2993	121	17	can	can	AUX
ajst-2993	121	18	be	be	AUX
ajst-2993	121	19	improved	improve	VERB
ajst-2993	121	20	to	to	ADP
ajst-2993	121	21	0.1	0.1	NUM
ajst-2993	121	22	-	-	SYM
ajst-2993	121	23	1	1	NUM
ajst-2993	121	24	degree	degree	NOUN
ajst-2993	121	25	using	use	VERB
ajst-2993	121	26	advanced	advanced	ADJ
ajst-2993	121	27	processing	processing	NOUN
ajst-2993	121	28	techniques	technique	NOUN
ajst-2993	121	29	.	.	PUNCT
ajst-2993	122	1	using	use	VERB
ajst-2993	122	2	this	this	DET
ajst-2993	122	3	angular	angular	ADJ
ajst-2993	122	4	resolution	resolution	NOUN
ajst-2993	122	5	,	,	PUNCT
ajst-2993	122	6	it	it	PRON
ajst-2993	122	7	is	be	AUX
ajst-2993	122	8	difficult	difficult	ADJ
ajst-2993	122	9	to	to	PART
ajst-2993	122	10	separate	separate	VERB
ajst-2993	122	11	pedestrians	pedestrian	NOUN
ajst-2993	122	12	from	from	ADP
ajst-2993	122	13	nearby	nearby	ADJ
ajst-2993	122	14	cars	car	NOUN
ajst-2993	122	15	at	at	ADP
ajst-2993	122	16	a	a	DET
ajst-2993	122	17	distance	distance	NOUN
ajst-2993	122	18	of	of	ADP
ajst-2993	122	19	30	30	NUM
ajst-2993	122	20	m	m	NOUN
ajst-2993	122	21	(	(	PUNCT
ajst-2993	122	22	detected	detect	VERB
ajst-2993	122	23	as	as	ADP
ajst-2993	122	24	separate	separate	ADJ
ajst-2993	122	25	targets	target	NOUN
ajst-2993	122	26	)	)	PUNCT
ajst-2993	122	27	.	.	PUNCT
ajst-2993	123	1	at	at	ADP
ajst-2993	123	2	a	a	DET
ajst-2993	123	3	distance	distance	NOUN
ajst-2993	123	4	of	of	ADP
ajst-2993	123	5	100	100	NUM
ajst-2993	123	6	m	m	NOUN
ajst-2993	123	7	,	,	PUNCT
ajst-2993	123	8	it	it	PRON
ajst-2993	123	9	is	be	AUX
ajst-2993	123	10	not	not	PART
ajst-2993	123	11	possible	possible	ADJ
ajst-2993	123	12	to	to	AUX
ajst-2993	123	13	separate	separate	ADJ
ajst-2993	123	14	vehicles	vehicle	NOUN
ajst-2993	123	15	in	in	ADP
ajst-2993	123	16	adjacent	adjacent	ADJ
ajst-2993	123	17	lanes	lane	NOUN
ajst-2993	123	18	and	and	CCONJ
ajst-2993	123	19	determine	determine	VERB
ajst-2993	123	20	whether	whether	SCONJ
ajst-2993	123	21	vehicles	vehicle	NOUN
ajst-2993	123	22	are	be	AUX
ajst-2993	123	23	in	in	ADP
ajst-2993	123	24	the	the	DET
ajst-2993	123	25	same	same	ADJ
ajst-2993	123	26	lane	lane	NOUN
ajst-2993	123	27	,	,	PUNCT
ajst-2993	123	28	even	even	ADV
ajst-2993	123	29	if	if	SCONJ
ajst-2993	123	30	the	the	DET
ajst-2993	123	31	detection	detection	NOUN
ajst-2993	123	32	is	be	AUX
ajst-2993	123	33	of	of	ADP
ajst-2993	123	34	a	a	DET
ajst-2993	123	35	vehicle	vehicle	NOUN
ajst-2993	123	36	or	or	CCONJ
ajst-2993	123	37	a	a	DET
ajst-2993	123	38	bridge	bridge	NOUN
ajst-2993	123	39	over	over	ADP
ajst-2993	123	40	the	the	DET
ajst-2993	123	41	road	road	NOUN
ajst-2993	123	42	.	.	PUNCT
ajst-2993	124	1	2.3.1	2.3.1	X
ajst-2993	124	2	.	.	PUNCT
ajst-2993	124	3	emerging	emerge	VERB
ajst-2993	124	4	radar	radar	NOUN
ajst-2993	124	5	technologies	technology	NOUN
ajst-2993	124	6	one	one	NUM
ajst-2993	124	7	of	of	ADP
ajst-2993	124	8	the	the	DET
ajst-2993	124	9	most	most	ADV
ajst-2993	124	10	active	active	ADJ
ajst-2993	124	11	research	research	NOUN
ajst-2993	124	12	areas	area	NOUN
ajst-2993	124	13	is	be	AUX
ajst-2993	124	14	related	relate	VERB
ajst-2993	124	15	to	to	ADP
ajst-2993	124	16	highresolution	highresolution	NOUN
ajst-2993	124	17	radar	radar	NOUN
ajst-2993	124	18	imaging	imaging	NOUN
ajst-2993	124	19	of	of	ADP
ajst-2993	124	20	vehicles	vehicle	NOUN
ajst-2993	124	21	.	.	PUNCT
ajst-2993	125	1	in	in	ADP
ajst-2993	125	2	addition	addition	NOUN
ajst-2993	125	3	to	to	ADP
ajst-2993	125	4	the	the	DET
ajst-2993	125	5	benefits	benefit	NOUN
ajst-2993	125	6	of	of	ADP
ajst-2993	125	7	target	target	NOUN
ajst-2993	125	8	tracking	tracking	NOUN
ajst-2993	125	9	and	and	CCONJ
ajst-2993	125	10	object	object	NOUN
ajst-2993	125	11	separation	separation	NOUN
ajst-2993	125	12	,	,	PUNCT
ajst-2993	125	13	the	the	DET
ajst-2993	125	14	higher	high	ADJ
ajst-2993	125	15	resolution	resolution	NOUN
ajst-2993	125	16	allows	allow	VERB
ajst-2993	125	17	for	for	ADP
ajst-2993	125	18	richer	rich	ADJ
ajst-2993	125	19	semantic	semantic	ADJ
ajst-2993	125	20	information	information	NOUN
ajst-2993	125	21	and	and	CCONJ
ajst-2993	125	22	can	can	AUX
ajst-2993	125	23	be	be	AUX
ajst-2993	125	24	further	far	ADV
ajst-2993	125	25	applied	apply	VERB
ajst-2993	125	26	to	to	PART
ajst-2993	125	27	target	target	VERB
ajst-2993	125	28	classification	classification	NOUN
ajst-2993	125	29	and	and	CCONJ
ajst-2993	125	30	environment	environment	NOUN
ajst-2993	125	31	mapping	mapping	NOUN
ajst-2993	125	32	.	.	PUNCT
ajst-2993	126	1	an	an	DET
ajst-2993	126	2	example	example	NOUN
ajst-2993	126	3	can	can	AUX
ajst-2993	126	4	be	be	AUX
ajst-2993	126	5	found	find	VERB
ajst-2993	126	6	when	when	SCONJ
ajst-2993	126	7	a	a	DET
ajst-2993	126	8	90	90	NUM
ajst-2993	126	9	ghz	ghz	NOUN
ajst-2993	126	10	rotating	rotate	VERB
ajst-2993	126	11	radar	radar	NOUN
ajst-2993	126	12	on	on	ADP
ajst-2993	126	13	the	the	DET
ajst-2993	126	14	roof	roof	NOUN
ajst-2993	126	15	of	of	ADP
ajst-2993	126	16	a	a	DET
ajst-2993	126	17	car	car	NOUN
ajst-2993	126	18	is	be	AUX
ajst-2993	126	19	used	use	VERB
ajst-2993	126	20	to	to	PART
ajst-2993	126	21	map	map	VERB
ajst-2993	126	22	the	the	DET
ajst-2993	126	23	environment	environment	NOUN
ajst-2993	126	24	,	,	PUNCT
ajst-2993	126	25	including	include	VERB
ajst-2993	126	26	vehicles	vehicle	NOUN
ajst-2993	126	27	,	,	PUNCT
ajst-2993	126	28	static	static	ADJ
ajst-2993	126	29	objects	object	NOUN
ajst-2993	126	30	,	,	PUNCT
ajst-2993	126	31	and	and	CCONJ
ajst-2993	126	32	the	the	DET
ajst-2993	126	33	ground	ground	NOUN
ajst-2993	126	34	.	.	PUNCT
ajst-2993	127	1	some	some	PRON
ajst-2993	127	2	demonstrate	demonstrate	VERB
ajst-2993	127	3	the	the	DET
ajst-2993	127	4	feasibility	feasibility	NOUN
ajst-2993	127	5	of	of	ADP
ajst-2993	127	6	radar	radar	NOUN
ajst-2993	127	7	operation	operation	NOUN
ajst-2993	127	8	between	between	ADP
ajst-2993	127	9	100	100	NUM
ajst-2993	127	10	and	and	CCONJ
ajst-2993	127	11	300	300	NUM
ajst-2993	127	12	ghz	ghz	NOUN
ajst-2993	127	13	,	,	PUNCT
ajst-2993	127	14	analyzing	analyze	VERB
ajst-2993	127	15	the	the	DET
ajst-2993	127	16	atmospheric	atmospheric	ADJ
ajst-2993	127	17	absorption	absorption	NOUN
ajst-2993	127	18	and	and	CCONJ
ajst-2993	127	19	reflectivity	reflectivity	NOUN
ajst-2993	127	20	of	of	ADP
ajst-2993	127	21	materials	material	NOUN
ajst-2993	127	22	commonly	commonly	ADV
ajst-2993	127	23	found	find	VERB
ajst-2993	127	24	in	in	ADP
ajst-2993	127	25	driving	drive	VERB
ajst-2993	127	26	scenarios	scenario	NOUN
ajst-2993	127	27	.	.	PUNCT
ajst-2993	128	1	figure	figure	VERB
ajst-2993	128	2	3	3	NUM
ajst-2993	128	3	.	.	PUNCT
ajst-2993	129	1	high	high	ADJ
ajst-2993	129	2	-	-	PUNCT
ajst-2993	129	3	resolution	resolution	NOUN
ajst-2993	129	4	,	,	PUNCT
ajst-2993	129	5	long	long	ADJ
ajst-2993	129	6	-	-	PUNCT
ajst-2993	129	7	range	range	NOUN
ajst-2993	129	8	flash	flash	NOUN
ajst-2993	129	9	lidar	lidar	NOUN
ajst-2993	129	10	images	image	NOUN
ajst-2993	129	11	at	at	ADP
ajst-2993	129	12	940	940	NUM
ajst-2993	129	13	nm	nm	NOUN
ajst-2993	129	14	and	and	CCONJ
ajst-2993	129	15	264k	264k	NOUN
ajst-2993	129	16	pixels	pixel	VERB
ajst-2993	129	17	one	one	NUM
ajst-2993	129	18	of	of	ADP
ajst-2993	129	19	the	the	DET
ajst-2993	129	20	key	key	ADJ
ajst-2993	129	21	technologies	technology	NOUN
ajst-2993	129	22	that	that	PRON
ajst-2993	129	23	can	can	AUX
ajst-2993	129	24	enable	enable	VERB
ajst-2993	129	25	high	high	ADJ
ajst-2993	129	26	-	-	PUNCT
ajst-2993	129	27	resolution	resolution	NOUN
ajst-2993	129	28	radar	radar	NOUN
ajst-2993	129	29	imaging	imaging	NOUN
ajst-2993	129	30	is	be	AUX
ajst-2993	129	31	metamaterial	metamaterial	ADJ
ajst-2993	129	32	antennas	antenna	NOUN
ajst-2993	129	33	for	for	ADP
ajst-2993	129	34	efficient	efficient	ADJ
ajst-2993	129	35	synthetic	synthetic	ADJ
ajst-2993	129	36	aperture	aperture	NOUN
ajst-2993	129	37	radar	radar	NOUN
ajst-2993	129	38	.	.	PUNCT
ajst-2993	130	1	some	some	DET
ajst-2993	130	2	manufacturers	manufacturer	NOUN
ajst-2993	130	3	such	such	ADJ
ajst-2993	130	4	as	as	ADP
ajst-2993	130	5	metawave	metawave	PROPN
ajst-2993	130	6	are	be	AUX
ajst-2993	130	7	beginning	begin	VERB
ajst-2993	130	8	to	to	PART
ajst-2993	130	9	offer	offer	VERB
ajst-2993	130	10	products	product	NOUN
ajst-2993	130	11	based	base	VERB
ajst-2993	130	12	on	on	ADP
ajst-2993	130	13	this	this	DET
ajst-2993	130	14	technology	technology	NOUN
ajst-2993	130	15	for	for	ADP
ajst-2993	130	16	the	the	DET
ajst-2993	130	17	automotive	automotive	ADJ
ajst-2993	130	18	sector	sector	NOUN
ajst-2993	130	19	.	.	PUNCT
ajst-2993	131	1	lidar	lidar	NOUN
ajst-2993	131	2	(	(	PUNCT
ajst-2993	131	3	light	light	ADJ
ajst-2993	131	4	detection	detection	NOUN
ajst-2993	131	5	and	and	CCONJ
ajst-2993	131	6	ranging	ranging	NOUN
ajst-2993	131	7	)	)	PUNCT
ajst-2993	131	8	is	be	AUX
ajst-2993	131	9	an	an	DET
ajst-2993	131	10	active	active	ADJ
ajst-2993	131	11	ranging	range	VERB
ajst-2993	131	12	technology	technology	NOUN
ajst-2993	131	13	that	that	PRON
ajst-2993	131	14	calculates	calculate	VERB
ajst-2993	131	15	the	the	DET
ajst-2993	131	16	distance	distance	NOUN
ajst-2993	131	17	to	to	ADP
ajst-2993	131	18	an	an	DET
ajst-2993	131	19	object	object	NOUN
ajst-2993	131	20	by	by	ADP
ajst-2993	131	21	measuring	measure	VERB
ajst-2993	131	22	the	the	DET
ajst-2993	131	23	round	round	ADJ
ajst-2993	131	24	-	-	PUNCT
ajst-2993	131	25	trip	trip	NOUN
ajst-2993	131	26	time	time	NOUN
ajst-2993	131	27	of	of	ADP
ajst-2993	131	28	a	a	DET
ajst-2993	131	29	laser	laser	NOUN
ajst-2993	131	30	pulse	pulse	NOUN
ajst-2993	131	31	.	.	PUNCT
ajst-2993	132	1	the	the	DET
ajst-2993	132	2	sensor	sensor	NOUN
ajst-2993	132	3	for	for	ADP
ajst-2993	132	4	robotic	robotic	ADJ
ajst-2993	132	5	and	and	CCONJ
ajst-2993	132	6	automotive	automotive	ADJ
ajst-2993	132	7	applications	application	NOUN
ajst-2993	132	8	uses	use	VERB
ajst-2993	132	9	an	an	DET
ajst-2993	132	10	invisible	invisible	ADJ
ajst-2993	132	11	and	and	CCONJ
ajst-2993	132	12	human	human	ADJ
ajst-2993	132	13	eye	eye	NOUN
ajst-2993	132	14	safe	safe	ADJ
ajst-2993	132	15	low	low	ADJ
ajst-2993	132	16	power	power	NOUN
ajst-2993	132	17	nir	nir	NOUN
ajst-2993	132	18	laser	laser	NOUN
ajst-2993	132	19	(	(	PUNCT
ajst-2993	132	20	9001050	9001050	NUM
ajst-2993	132	21	nm	nm	NOUN
ajst-2993	132	22	)	)	PUNCT
ajst-2993	132	23	.	.	PUNCT
ajst-2993	133	1	the	the	DET
ajst-2993	133	2	laser	laser	NOUN
ajst-2993	133	3	beam	beam	NOUN
ajst-2993	133	4	has	have	VERB
ajst-2993	133	5	a	a	DET
ajst-2993	133	6	low	low	ADJ
ajst-2993	133	7	divergence	divergence	NOUN
ajst-2993	133	8	angle	angle	NOUN
ajst-2993	133	9	,	,	PUNCT
ajst-2993	133	10	which	which	PRON
ajst-2993	133	11	reduces	reduce	VERB
ajst-2993	133	12	power	power	NOUN
ajst-2993	133	13	attenuation	attenuation	NOUN
ajst-2993	133	14	over	over	ADP
ajst-2993	133	15	distance	distance	NOUN
ajst-2993	133	16	and	and	CCONJ
ajst-2993	133	17	allows	allow	VERB
ajst-2993	133	18	measurement	measurement	NOUN
ajst-2993	133	19	of	of	ADP
ajst-2993	133	20	distances	distance	NOUN
ajst-2993	133	21	up	up	ADP
ajst-2993	133	22	to	to	ADP
ajst-2993	133	23	200	200	NUM
ajst-2993	133	24	m	m	NOUN
ajst-2993	133	25	in	in	ADP
ajst-2993	133	26	direct	direct	ADJ
ajst-2993	133	27	sunlight	sunlight	NOUN
ajst-2993	133	28	.	.	PUNCT
ajst-2993	134	1	typically	typically	ADV
ajst-2993	134	2	,	,	PUNCT
ajst-2993	134	3	a	a	DET
ajst-2993	134	4	rotating	rotate	VERB
ajst-2993	134	5	mirror	mirror	NOUN
ajst-2993	134	6	is	be	AUX
ajst-2993	134	7	used	use	VERB
ajst-2993	134	8	to	to	PART
ajst-2993	134	9	change	change	VERB
ajst-2993	134	10	the	the	DET
ajst-2993	134	11	direction	direction	NOUN
ajst-2993	134	12	of	of	ADP
ajst-2993	134	13	the	the	DET
ajst-2993	134	14	laser	laser	NOUN
ajst-2993	134	15	pulse	pulse	NOUN
ajst-2993	134	16	to	to	PART
ajst-2993	134	17	achieve	achieve	VERB
ajst-2993	134	18	360	360	NUM
ajst-2993	134	19	-	-	PUNCT
ajst-2993	134	20	degree	degree	NOUN
ajst-2993	134	21	horizontal	horizontal	ADJ
ajst-2993	134	22	coverage	coverage	NOUN
ajst-2993	134	23	.	.	PUNCT
ajst-2993	135	1	commercial	commercial	ADJ
ajst-2993	135	2	solutions	solution	NOUN
ajst-2993	135	3	use	use	VERB
ajst-2993	135	4	an	an	DET
ajst-2993	135	5	array	array	NOUN
ajst-2993	135	6	of	of	ADP
ajst-2993	135	7	emitters	emitter	NOUN
ajst-2993	135	8	to	to	PART
ajst-2993	135	9	produce	produce	VERB
ajst-2993	135	10	several	several	ADJ
ajst-2993	135	11	vertical	vertical	ADJ
ajst-2993	135	12	layers	layer	NOUN
ajst-2993	135	13	(	(	PUNCT
ajst-2993	135	14	4	4	NUM
ajst-2993	135	15	to	to	PART
ajst-2993	135	16	128	128	NUM
ajst-2993	135	17	layers	layer	NOUN
ajst-2993	135	18	)	)	PUNCT
ajst-2993	135	19	.	.	PUNCT
ajst-2993	136	1	this	this	PRON
ajst-2993	136	2	generates	generate	VERB
ajst-2993	136	3	a	a	DET
ajst-2993	136	4	3d	3d	NUM
ajst-2993	136	5	point	point	NOUN
ajst-2993	136	6	cloud	cloud	NOUN
ajst-2993	136	7	representing	represent	VERB
ajst-2993	136	8	the	the	DET
ajst-2993	136	9	environment	environment	NOUN
ajst-2993	136	10	.	.	PUNCT
ajst-2993	137	1	lidar	lidar	NOUN
ajst-2993	137	2	sensors	sensor	NOUN
ajst-2993	137	3	are	be	AUX
ajst-2993	137	4	a	a	DET
ajst-2993	137	5	good	good	ADJ
ajst-2993	137	6	choice	choice	NOUN
ajst-2993	137	7	for	for	ADP
ajst-2993	137	8	creating	create	VERB
ajst-2993	137	9	accurate	accurate	ADJ
ajst-2993	137	10	258	258	NUM
ajst-2993	137	11	digital	digital	ADJ
ajst-2993	137	12	maps	map	NOUN
ajst-2993	137	13	,	,	PUNCT
ajst-2993	137	14	however	however	ADV
ajst-2993	137	15	,	,	PUNCT
ajst-2993	137	16	they	they	PRON
ajst-2993	137	17	have	have	VERB
ajst-2993	137	18	several	several	ADJ
ajst-2993	137	19	drawbacks	drawback	NOUN
ajst-2993	137	20	to	to	PART
ajst-2993	137	21	consider	consider	VERB
ajst-2993	137	22	.	.	PUNCT
ajst-2993	138	1	low	low	ADJ
ajst-2993	138	2	vertical	vertical	ADJ
ajst-2993	138	3	resolution	resolution	NOUN
ajst-2993	138	4	.	.	PUNCT
ajst-2993	139	1	in	in	ADP
ajst-2993	139	2	low	low	ADJ
ajst-2993	139	3	-	-	PUNCT
ajst-2993	139	4	cost	cost	NOUN
ajst-2993	139	5	models	model	NOUN
ajst-2993	139	6	that	that	PRON
ajst-2993	139	7	typically	typically	ADV
ajst-2993	139	8	have	have	VERB
ajst-2993	139	9	fewer	few	ADJ
ajst-2993	139	10	than	than	ADP
ajst-2993	139	11	16	16	NUM
ajst-2993	139	12	layers	layer	NOUN
ajst-2993	139	13	,	,	PUNCT
ajst-2993	139	14	the	the	DET
ajst-2993	139	15	vertical	vertical	ADJ
ajst-2993	139	16	resolution	resolution	NOUN
ajst-2993	139	17	(	(	PUNCT
ajst-2993	139	18	separation	separation	NOUN
ajst-2993	139	19	between	between	ADP
ajst-2993	139	20	successive	successive	ADJ
ajst-2993	139	21	layers	layer	NOUN
ajst-2993	139	22	)	)	PUNCT
ajst-2993	139	23	drops	drop	VERB
ajst-2993	139	24	to	to	ADP
ajst-2993	139	25	2	2	NUM
ajst-2993	139	26	degrees	degree	NOUN
ajst-2993	139	27	.	.	PUNCT
ajst-2993	140	1	at	at	ADP
ajst-2993	140	2	a	a	DET
ajst-2993	140	3	100	100	NUM
ajst-2993	140	4	m	m	NOUN
ajst-2993	140	5	distance	distance	NOUN
ajst-2993	140	6	,	,	PUNCT
ajst-2993	140	7	this	this	PRON
ajst-2993	140	8	is	be	AUX
ajst-2993	140	9	converted	convert	VERB
ajst-2993	140	10	to	to	ADP
ajst-2993	140	11	a	a	DET
ajst-2993	140	12	1.7	1.7	NUM
ajst-2993	140	13	m	m	PROPN
ajst-2993	140	14	vertical	vertical	ADJ
ajst-2993	140	15	distance	distance	NOUN
ajst-2993	140	16	.	.	PUNCT
ajst-2993	141	1	highend	highend	NOUN
ajst-2993	141	2	models	model	NOUN
ajst-2993	141	3	reduce	reduce	VERB
ajst-2993	141	4	this	this	PRON
ajst-2993	141	5	to	to	ADP
ajst-2993	141	6	0.2	0.2	NUM
ajst-2993	141	7	to	to	PART
ajst-2993	141	8	0,4	0,4	NUM
ajst-2993	141	9	degrees	degree	NOUN
ajst-2993	141	10	,	,	PUNCT
ajst-2993	141	11	but	but	CCONJ
ajst-2993	141	12	at	at	ADP
ajst-2993	141	13	a	a	DET
ajst-2993	141	14	much	much	ADV
ajst-2993	141	15	higher	high	ADJ
ajst-2993	141	16	cost	cost	NOUN
ajst-2993	141	17	.	.	PUNCT
ajst-2993	142	1	sparse	sparse	ADJ
ajst-2993	142	2	metric	metric	ADJ
ajst-2993	142	3	(	(	PUNCT
ajst-2993	142	4	not	not	PART
ajst-2993	142	5	dense	dense	ADJ
ajst-2993	142	6	)	)	PUNCT
ajst-2993	142	7	.	.	PUNCT
ajst-2993	143	1	the	the	DET
ajst-2993	143	2	commercial	commercial	ADJ
ajst-2993	143	3	device	device	NOUN
ajst-2993	143	4	velodyne	velodyne	PROPN
ajst-2993	143	5	hdl64	hdl64	PROPN
ajst-2993	143	6	has	have	VERB
ajst-2993	143	7	a	a	DET
ajst-2993	143	8	divergence	divergence	NOUN
ajst-2993	143	9	angle	angle	NOUN
ajst-2993	143	10	of	of	ADP
ajst-2993	143	11	2	2	NUM
ajst-2993	143	12	mrad	mrad	NOUN
ajst-2993	143	13	(	(	PUNCT
ajst-2993	143	14	0.11	0.11	NUM
ajst-2993	143	15	degrees	degree	NOUN
ajst-2993	143	16	)	)	PUNCT
ajst-2993	143	17	and	and	CCONJ
ajst-2993	143	18	a	a	DET
ajst-2993	143	19	vertical	vertical	ADJ
ajst-2993	143	20	resolution	resolution	NOUN
ajst-2993	143	21	of	of	ADP
ajst-2993	143	22	0.42	0.42	NUM
ajst-2993	143	23	degrees	degree	NOUN
ajst-2993	143	24	.	.	PUNCT
ajst-2993	144	1	at	at	ADP
ajst-2993	144	2	a	a	DET
ajst-2993	144	3	50	50	NUM
ajst-2993	144	4	m	m	NOUN
ajst-2993	144	5	distance	distance	NOUN
ajst-2993	144	6	,	,	PUNCT
ajst-2993	144	7	a	a	DET
ajst-2993	144	8	0.3	0.3	NUM
ajst-2993	144	9	-	-	PUNCT
ajst-2993	144	10	degree	degree	NOUN
ajst-2993	144	11	gap	gap	NOUN
ajst-2993	144	12	between	between	ADP
ajst-2993	144	13	layers	layer	NOUN
ajst-2993	144	14	corresponds	correspond	VERB
ajst-2993	144	15	to	to	ADP
ajst-2993	144	16	a	a	DET
ajst-2993	144	17	blind	blind	ADJ
ajst-2993	144	18	band	band	NOUN
ajst-2993	144	19	of	of	ADP
ajst-2993	144	20	0.26	0.26	NUM
ajst-2993	144	21	m	m	NOUN
ajst-2993	144	22	in	in	ADP
ajst-2993	144	23	height	height	NOUN
ajst-2993	144	24	.	.	PUNCT
ajst-2993	145	1	in	in	ADP
ajst-2993	145	2	the	the	DET
ajst-2993	145	3	low	low	ADJ
ajst-2993	145	4	-	-	PUNCT
ajst-2993	145	5	end	end	NOUN
ajst-2993	145	6	device	device	NOUN
ajst-2993	145	7	(	(	PUNCT
ajst-2993	145	8	velodyne	velodyne	PROPN
ajst-2993	145	9	vlp16	vlp16	PROPN
ajst-2993	145	10	)	)	PUNCT
ajst-2993	145	11	,	,	PUNCT
ajst-2993	145	12	this	this	DET
ajst-2993	145	13	gap	gap	NOUN
ajst-2993	145	14	grows	grow	VERB
ajst-2993	145	15	to	to	ADP
ajst-2993	145	16	1.5	1.5	NUM
ajst-2993	145	17	meters	meter	NOUN
ajst-2993	145	18	.	.	PUNCT
ajst-2993	146	1	small	small	ADJ
ajst-2993	146	2	targets	target	NOUN
ajst-2993	146	3	may	may	AUX
ajst-2993	146	4	not	not	PART
ajst-2993	146	5	be	be	AUX
ajst-2993	146	6	detected	detect	VERB
ajst-2993	146	7	,	,	PUNCT
ajst-2993	146	8	and	and	CCONJ
ajst-2993	146	9	line	line	NOUN
ajst-2993	146	10	and	and	CCONJ
ajst-2993	146	11	rod	rod	NOUN
ajst-2993	146	12	-	-	PUNCT
ajst-2993	146	13	based	base	VERB
ajst-2993	146	14	structures	structure	NOUN
ajst-2993	146	15	are	be	AUX
ajst-2993	146	16	nearly	nearly	ADV
ajst-2993	146	17	invisible	invisible	ADJ
ajst-2993	146	18	.	.	PUNCT
ajst-2993	147	1	poor	poor	ADJ
ajst-2993	147	2	detection	detection	NOUN
ajst-2993	147	3	of	of	ADP
ajst-2993	147	4	dark	dark	ADJ
ajst-2993	147	5	and	and	CCONJ
ajst-2993	147	6	specular	specular	ADJ
ajst-2993	147	7	objects	object	NOUN
ajst-2993	147	8	.	.	PUNCT
ajst-2993	148	1	black	black	ADJ
ajst-2993	148	2	cars	car	NOUN
ajst-2993	148	3	may	may	AUX
ajst-2993	148	4	be	be	AUX
ajst-2993	148	5	invisible	invisible	ADJ
ajst-2993	148	6	to	to	ADP
ajst-2993	148	7	lidar	lidar	NOUN
ajst-2993	148	8	because	because	SCONJ
ajst-2993	148	9	they	they	PRON
ajst-2993	148	10	combine	combine	VERB
ajst-2993	148	11	a	a	DET
ajst-2993	148	12	color	color	NOUN
ajst-2993	148	13	that	that	PRON
ajst-2993	148	14	absorbs	absorb	VERB
ajst-2993	148	15	most	most	ADJ
ajst-2993	148	16	of	of	ADP
ajst-2993	148	17	the	the	DET
ajst-2993	148	18	radiation	radiation	NOUN
ajst-2993	148	19	with	with	ADP
ajst-2993	148	20	a	a	DET
ajst-2993	148	21	non	non	ADJ
ajst-2993	148	22	-	-	ADJ
ajst-2993	148	23	lambert	lambert	ADJ
ajst-2993	148	24	material	material	NOUN
ajst-2993	148	25	that	that	PRON
ajst-2993	148	26	does	do	AUX
ajst-2993	148	27	not	not	PART
ajst-2993	148	28	scatter	scatter	VERB
ajst-2993	148	29	the	the	DET
ajst-2993	148	30	radiation	radiation	NOUN
ajst-2993	148	31	back	back	ADV
ajst-2993	148	32	to	to	ADP
ajst-2993	148	33	the	the	DET
ajst-2993	148	34	receiver	receiver	NOUN
ajst-2993	148	35	.	.	PUNCT
ajst-2993	149	1	affected	affect	VERB
ajst-2993	149	2	by	by	ADP
ajst-2993	149	3	weather	weather	NOUN
ajst-2993	149	4	conditions	condition	NOUN
ajst-2993	149	5	.	.	PUNCT
ajst-2993	150	1	the	the	DET
ajst-2993	150	2	nir	nir	PROPN
ajst-2993	150	3	laser	laser	NOUN
ajst-2993	150	4	beam	beam	NOUN
ajst-2993	150	5	can	can	AUX
ajst-2993	150	6	be	be	AUX
ajst-2993	150	7	affected	affect	VERB
ajst-2993	150	8	by	by	ADP
ajst-2993	150	9	rain	rain	NOUN
ajst-2993	150	10	and	and	CCONJ
ajst-2993	150	11	fog	fog	NOUN
ajst-2993	150	12	,	,	PUNCT
ajst-2993	150	13	as	as	SCONJ
ajst-2993	150	14	water	water	NOUN
ajst-2993	150	15	droplets	droplet	NOUN
ajst-2993	150	16	scatter	scatter	VERB
ajst-2993	150	17	the	the	DET
ajst-2993	150	18	light	light	NOUN
ajst-2993	150	19	,	,	PUNCT
ajst-2993	150	20	reducing	reduce	VERB
ajst-2993	150	21	its	its	PRON
ajst-2993	150	22	operating	operating	NOUN
ajst-2993	150	23	range	range	NOUN
ajst-2993	150	24	and	and	CCONJ
ajst-2993	150	25	producing	produce	VERB
ajst-2993	150	26	erroneous	erroneous	ADJ
ajst-2993	150	27	measurements	measurement	NOUN
ajst-2993	150	28	ahead	ahead	ADV
ajst-2993	150	29	of	of	ADP
ajst-2993	150	30	clouds	cloud	NOUN
ajst-2993	150	31	.	.	PUNCT
ajst-2993	151	1	these	these	PRON
ajst-2993	151	2	are	be	AUX
ajst-2993	151	3	scenarios	scenario	NOUN
ajst-2993	151	4	where	where	SCONJ
ajst-2993	151	5	lidar	lidar	NOUN
ajst-2993	151	6	performs	perform	VERB
ajst-2993	151	7	worse	bad	ADJ
ajst-2993	151	8	than	than	ADP
ajst-2993	151	9	radar	radar	NOUN
ajst-2993	151	10	,	,	PUNCT
ajst-2993	151	11	but	but	CCONJ
ajst-2993	151	12	still	still	ADV
ajst-2993	151	13	outperforms	outperform	VERB
ajst-2993	151	14	cameras	camera	NOUN
ajst-2993	151	15	and	and	CCONJ
ajst-2993	151	16	the	the	DET
ajst-2993	151	17	human	human	ADJ
ajst-2993	151	18	eye	eye	NOUN
ajst-2993	151	19	.	.	PUNCT
ajst-2993	152	1	2.3.2	2.3.2	X
ajst-2993	152	2	.	.	PUNCT
ajst-2993	152	3	emerging	emerge	VERB
ajst-2993	152	4	lidar	lidar	NOUN
ajst-2993	152	5	technologies	technology	NOUN
ajst-2993	152	6	fmcw	fmcw	PROPN
ajst-2993	152	7	lidar	lidar	NOUN
ajst-2993	152	8	continuously	continuously	ADV
ajst-2993	152	9	emits	emit	VERB
ajst-2993	152	10	light	light	NOUN
ajst-2993	152	11	to	to	PART
ajst-2993	152	12	measure	measure	VERB
ajst-2993	152	13	object	object	VERB
ajst-2993	152	14	velocity	velocity	NOUN
ajst-2993	152	15	based	base	VERB
ajst-2993	152	16	on	on	ADP
ajst-2993	152	17	the	the	DET
ajst-2993	152	18	doppler	doppler	NOUN
ajst-2993	152	19	effect	effect	NOUN
ajst-2993	152	20	.	.	PUNCT
ajst-2993	153	1	in	in	ADP
ajst-2993	153	2	the	the	DET
ajst-2993	153	3	last	last	ADJ
ajst-2993	153	4	few	few	ADJ
ajst-2993	153	5	years	year	NOUN
ajst-2993	153	6	,	,	PUNCT
ajst-2993	153	7	several	several	ADJ
ajst-2993	153	8	research	research	NOUN
ajst-2993	153	9	prototypes	prototype	NOUN
ajst-2993	153	10	suitable	suitable	ADJ
ajst-2993	153	11	for	for	SCONJ
ajst-2993	153	12	the	the	DET
ajst-2993	153	13	automotive	automotive	ADJ
ajst-2993	153	14	market	market	NOUN
ajst-2993	153	15	started	start	VERB
ajst-2993	153	16	to	to	PART
ajst-2993	153	17	appear	appear	VERB
ajst-2993	153	18	[	[	X
ajst-2993	153	19	39	39	NUM
ajst-2993	153	20	]	]	PUNCT
ajst-2993	153	21	.	.	PUNCT
ajst-2993	154	1	in	in	ADP
ajst-2993	154	2	addition	addition	NOUN
ajst-2993	154	3	to	to	ADP
ajst-2993	154	4	improving	improve	VERB
ajst-2993	154	5	target	target	NOUN
ajst-2993	154	6	tracking	tracking	NOUN
ajst-2993	154	7	capabilities	capability	NOUN
ajst-2993	154	8	,	,	PUNCT
ajst-2993	154	9	velocity	velocity	NOUN
ajst-2993	154	10	observation	observation	NOUN
ajst-2993	154	11	also	also	ADV
ajst-2993	154	12	helps	help	VERB
ajst-2993	154	13	to	to	PART
ajst-2993	154	14	enhance	enhance	VERB
ajst-2993	154	15	activity	activity	NOUN
ajst-2993	154	16	recognition	recognition	NOUN
ajst-2993	154	17	and	and	CCONJ
ajst-2993	154	18	behavior	behavior	NOUN
ajst-2993	154	19	prediction	prediction	NOUN
ajst-2993	154	20	,	,	PUNCT
ajst-2993	154	21	for	for	ADP
ajst-2993	154	22	example	example	NOUN
ajst-2993	154	23	by	by	ADP
ajst-2993	154	24	detecting	detect	VERB
ajst-2993	154	25	different	different	ADJ
ajst-2993	154	26	velocities	velocity	NOUN
ajst-2993	154	27	of	of	ADP
ajst-2993	154	28	the	the	DET
ajst-2993	154	29	limbs	limb	NOUN
ajst-2993	154	30	and	and	CCONJ
ajst-2993	154	31	bodies	body	NOUN
ajst-2993	154	32	of	of	ADP
ajst-2993	154	33	cyclists	cyclist	NOUN
ajst-2993	154	34	and	and	CCONJ
ajst-2993	154	35	pedestrians	pedestrian	NOUN
ajst-2993	154	36	.	.	PUNCT
ajst-2993	155	1	solid	solid	ADJ
ajst-2993	155	2	-	-	PUNCT
ajst-2993	155	3	state	state	NOUN
ajst-2993	155	4	lidar	lidar	NOUN
ajst-2993	155	5	is	be	AUX
ajst-2993	155	6	an	an	DET
ajst-2993	155	7	umbrella	umbrella	NOUN
ajst-2993	155	8	term	term	NOUN
ajst-2993	155	9	that	that	PRON
ajst-2993	155	10	includes	include	VERB
ajst-2993	155	11	several	several	ADJ
ajst-2993	155	12	technologies	technology	NOUN
ajst-2993	155	13	,	,	PUNCT
ajst-2993	155	14	two	two	NUM
ajst-2993	155	15	of	of	ADP
ajst-2993	155	16	which	which	PRON
ajst-2993	155	17	are	be	AUX
ajst-2993	155	18	oscillating	oscillate	VERB
ajst-2993	155	19	micromirrors	micromirror	NOUN
ajst-2993	155	20	and	and	CCONJ
ajst-2993	155	21	optical	optical	ADJ
ajst-2993	155	22	phased	phase	VERB
ajst-2993	155	23	arrays	array	NOUN
ajst-2993	155	24	(	(	PUNCT
ajst-2993	155	25	opa	opa	NOUN
ajst-2993	155	26	)	)	PUNCT
ajst-2993	155	27	.	.	PUNCT
ajst-2993	156	1	the	the	DET
ajst-2993	156	2	first	first	ADJ
ajst-2993	156	3	technology	technology	NOUN
ajst-2993	156	4	uses	use	VERB
ajst-2993	156	5	micromirrors	micromirror	NOUN
ajst-2993	156	6	that	that	PRON
ajst-2993	156	7	can	can	AUX
ajst-2993	156	8	rotate	rotate	VERB
ajst-2993	156	9	around	around	ADP
ajst-2993	156	10	two	two	NUM
ajst-2993	156	11	axes	axis	NOUN
ajst-2993	156	12	to	to	PART
ajst-2993	156	13	guide	guide	VERB
ajst-2993	156	14	the	the	DET
ajst-2993	156	15	laser	laser	NOUN
ajst-2993	156	16	beam	beam	NOUN
ajst-2993	156	17	.	.	PUNCT
ajst-2993	157	1	the	the	DET
ajst-2993	157	2	manufacturer	manufacturer	NOUN
ajst-2993	157	3	leddartech	leddartech	NOUN
ajst-2993	157	4	commercializes	commercialize	VERB
ajst-2993	157	5	devices	device	NOUN
ajst-2993	157	6	based	base	VERB
ajst-2993	157	7	on	on	ADP
ajst-2993	157	8	this	this	DET
ajst-2993	157	9	technology	technology	NOUN
ajst-2993	157	10	.	.	PUNCT
ajst-2993	158	1	quanergy	quanergy	NOUN
ajst-2993	158	2	is	be	AUX
ajst-2993	158	3	one	one	NUM
ajst-2993	158	4	of	of	ADP
ajst-2993	158	5	the	the	DET
ajst-2993	158	6	few	few	ADJ
ajst-2993	158	7	manufacturers	manufacturer	NOUN
ajst-2993	158	8	to	to	PART
ajst-2993	158	9	commercialize	commercialize	VERB
ajst-2993	158	10	equipment	equipment	NOUN
ajst-2993	158	11	based	base	VERB
ajst-2993	158	12	on	on	ADP
ajst-2993	158	13	this	this	DET
ajst-2993	158	14	technology	technology	NOUN
ajst-2993	158	15	,	,	PUNCT
ajst-2993	158	16	which	which	PRON
ajst-2993	158	17	is	be	AUX
ajst-2993	158	18	similar	similar	ADJ
ajst-2993	158	19	to	to	ADP
ajst-2993	158	20	the	the	DET
ajst-2993	158	21	technology	technology	NOUN
ajst-2993	158	22	used	use	VERB
ajst-2993	158	23	in	in	ADP
ajst-2993	158	24	ebf	ebf	NOUN
ajst-2993	158	25	radars	radar	NOUN
ajst-2993	158	26	,	,	PUNCT
ajst-2993	158	27	allowing	allow	VERB
ajst-2993	158	28	the	the	DET
ajst-2993	158	29	direction	direction	NOUN
ajst-2993	158	30	of	of	ADP
ajst-2993	158	31	the	the	DET
ajst-2993	158	32	beam	beam	NOUN
ajst-2993	158	33	to	to	PART
ajst-2993	158	34	be	be	AUX
ajst-2993	158	35	controlled	control	VERB
ajst-2993	158	36	with	with	ADP
ajst-2993	158	37	high	high	ADJ
ajst-2993	158	38	precision	precision	NOUN
ajst-2993	158	39	and	and	CCONJ
ajst-2993	158	40	speed	speed	NOUN
ajst-2993	158	41	.	.	PUNCT
ajst-2993	159	1	the	the	DET
ajst-2993	159	2	opa	opa	NOUN
ajst-2993	159	3	technology	technology	NOUN
ajst-2993	159	4	allows	allow	VERB
ajst-2993	159	5	the	the	DET
ajst-2993	159	6	application	application	NOUN
ajst-2993	159	7	of	of	ADP
ajst-2993	159	8	a	a	DET
ajst-2993	159	9	random	random	ADJ
ajst-2993	159	10	access	access	NOUN
ajst-2993	159	11	scanning	scan	VERB
ajst-2993	159	12	pattern	pattern	NOUN
ajst-2993	159	13	over	over	ADP
ajst-2993	159	14	the	the	DET
ajst-2993	159	15	entire	entire	ADJ
ajst-2993	159	16	fov	fov	NOUN
ajst-2993	159	17	(	(	PUNCT
ajst-2993	159	18	field	field	NOUN
ajst-2993	159	19	of	of	ADP
ajst-2993	159	20	view	view	NOUN
ajst-2993	159	21	)	)	PUNCT
ajst-2993	159	22	.	.	PUNCT
ajst-2993	160	1	this	this	PRON
ajst-2993	160	2	allows	allow	VERB
ajst-2993	160	3	only	only	ADV
ajst-2993	160	4	specific	specific	ADJ
ajst-2993	160	5	areas	area	NOUN
ajst-2993	160	6	of	of	ADP
ajst-2993	160	7	interest	interest	NOUN
ajst-2993	160	8	to	to	PART
ajst-2993	160	9	be	be	AUX
ajst-2993	160	10	observed	observe	VERB
ajst-2993	160	11	and	and	CCONJ
ajst-2993	160	12	dynamically	dynamically	ADV
ajst-2993	160	13	changes	change	VERB
ajst-2993	160	14	the	the	DET
ajst-2993	160	15	beam	beam	NOUN
ajst-2993	160	16	density	density	NOUN
ajst-2993	160	17	(	(	PUNCT
ajst-2993	160	18	resolution	resolution	NOUN
ajst-2993	160	19	)	)	PUNCT
ajst-2993	160	20	.	.	PUNCT
ajst-2993	161	1	these	these	DET
ajst-2993	161	2	features	feature	NOUN
ajst-2993	161	3	can	can	AUX
ajst-2993	161	4	be	be	AUX
ajst-2993	161	5	combined	combine	VERB
ajst-2993	161	6	to	to	PART
ajst-2993	161	7	quickly	quickly	ADV
ajst-2993	161	8	examine	examine	VERB
ajst-2993	161	9	the	the	DET
ajst-2993	161	10	complete	complete	ADJ
ajst-2993	161	11	fov	fov	NOUN
ajst-2993	161	12	at	at	ADP
ajst-2993	161	13	low	low	ADJ
ajst-2993	161	14	resolution	resolution	NOUN
ajst-2993	161	15	and	and	CCONJ
ajst-2993	161	16	then	then	ADV
ajst-2993	161	17	track	track	VERB
ajst-2993	161	18	the	the	DET
ajst-2993	161	19	object	object	NOUN
ajst-2993	161	20	of	of	ADP
ajst-2993	161	21	interest	interest	NOUN
ajst-2993	161	22	at	at	ADP
ajst-2993	161	23	higher	high	ADJ
ajst-2993	161	24	resolution	resolution	NOUN
ajst-2993	161	25	,	,	PUNCT
ajst-2993	161	26	enhancing	enhance	VERB
ajst-2993	161	27	shape	shape	NOUN
ajst-2993	161	28	recognition	recognition	NOUN
ajst-2993	161	29	even	even	ADV
ajst-2993	161	30	at	at	ADP
ajst-2993	161	31	long	long	ADJ
ajst-2993	161	32	distances	distance	NOUN
ajst-2993	161	33	.	.	PUNCT
ajst-2993	162	1	3	3	X
ajst-2993	162	2	.	.	X
ajst-2993	162	3	issues	issue	NOUN
ajst-2993	162	4	and	and	CCONJ
ajst-2993	162	5	applications	application	NOUN
ajst-2993	162	6	of	of	ADP
ajst-2993	162	7	lidar	lidar	NOUN
ajst-2993	162	8	sensors	sensor	NOUN
ajst-2993	162	9	this	this	DET
ajst-2993	162	10	section	section	NOUN
ajst-2993	162	11	focuses	focus	VERB
ajst-2993	162	12	on	on	ADP
ajst-2993	162	13	the	the	DET
ajst-2993	162	14	principle	principle	ADJ
ajst-2993	162	15	part	part	NOUN
ajst-2993	162	16	to	to	PART
ajst-2993	162	17	introduce	introduce	VERB
ajst-2993	162	18	lidar	lidar	NOUN
ajst-2993	162	19	sensor	sensor	NOUN
ajst-2993	162	20	technology	technology	NOUN
ajst-2993	162	21	and	and	CCONJ
ajst-2993	162	22	analyzes	analyze	VERB
ajst-2993	162	23	the	the	DET
ajst-2993	162	24	latest	late	ADJ
ajst-2993	162	25	technology	technology	NOUN
ajst-2993	162	26	for	for	ADP
ajst-2993	162	27	automated	automate	VERB
ajst-2993	162	28	driving	driving	NOUN
ajst-2993	162	29	perception	perception	NOUN
ajst-2993	162	30	systems	system	NOUN
ajst-2993	162	31	.	.	PUNCT
ajst-2993	163	1	then	then	ADV
ajst-2993	163	2	a	a	DET
ajst-2993	163	3	systematic	systematic	ADJ
ajst-2993	163	4	literature	literature	NOUN
ajst-2993	163	5	review	review	NOUN
ajst-2993	163	6	is	be	AUX
ajst-2993	163	7	conducted	conduct	VERB
ajst-2993	163	8	,	,	PUNCT
ajst-2993	163	9	and	and	CCONJ
ajst-2993	163	10	solutions	solution	NOUN
ajst-2993	163	11	of	of	ADP
ajst-2993	163	12	different	different	ADJ
ajst-2993	163	13	papers	paper	NOUN
ajst-2993	163	14	are	be	AUX
ajst-2993	163	15	given	give	VERB
ajst-2993	163	16	and	and	CCONJ
ajst-2993	163	17	discussed	discuss	VERB
ajst-2993	163	18	for	for	ADP
ajst-2993	163	19	its	its	PRON
ajst-2993	163	20	drawback	drawback	NOUN
ajst-2993	163	21	of	of	ADP
ajst-2993	163	22	being	be	AUX
ajst-2993	163	23	highly	highly	ADV
ajst-2993	163	24	influenced	influence	VERB
ajst-2993	163	25	by	by	ADP
ajst-2993	163	26	weather	weather	NOUN
ajst-2993	163	27	conditions	condition	NOUN
ajst-2993	163	28	,	,	PUNCT
ajst-2993	163	29	and	and	CCONJ
ajst-2993	163	30	finally	finally	ADV
ajst-2993	163	31	,	,	PUNCT
ajst-2993	163	32	several	several	ADJ
ajst-2993	163	33	common	common	ADJ
ajst-2993	163	34	lidars	lidar	NOUN
ajst-2993	163	35	and	and	CCONJ
ajst-2993	163	36	their	their	PRON
ajst-2993	163	37	performance	performance	NOUN
ajst-2993	163	38	analysis	analysis	NOUN
ajst-2993	163	39	are	be	AUX
ajst-2993	163	40	introduced	introduce	VERB
ajst-2993	163	41	.	.	PUNCT
ajst-2993	164	1	3.1	3.1	NUM
ajst-2993	164	2	.	.	PUNCT
ajst-2993	164	3	principle	principle	NOUN
ajst-2993	164	4	of	of	ADP
ajst-2993	164	5	lidar	lidar	NOUN
ajst-2993	164	6	in	in	ADP
ajst-2993	164	7	a	a	DET
ajst-2993	164	8	medium	medium	NOUN
ajst-2993	164	9	that	that	PRON
ajst-2993	164	10	emits	emit	VERB
ajst-2993	164	11	light	light	NOUN
ajst-2993	164	12	of	of	ADP
ajst-2993	164	13	a	a	DET
ajst-2993	164	14	certain	certain	ADJ
ajst-2993	164	15	wavelength	wavelength	NOUN
ajst-2993	164	16	when	when	SCONJ
ajst-2993	164	17	returning	return	VERB
ajst-2993	164	18	from	from	ADP
ajst-2993	164	19	the	the	DET
ajst-2993	164	20	excited	excited	ADJ
ajst-2993	164	21	state	state	NOUN
ajst-2993	164	22	to	to	ADP
ajst-2993	164	23	the	the	DET
ajst-2993	164	24	ground	ground	NOUN
ajst-2993	164	25	state	state	NOUN
ajst-2993	164	26	,	,	PUNCT
ajst-2993	164	27	the	the	DET
ajst-2993	164	28	laser	laser	NOUN
ajst-2993	164	29	beam	beam	NOUN
ajst-2993	164	30	is	be	AUX
ajst-2993	164	31	oscillating	oscillate	VERB
ajst-2993	164	32	in	in	ADP
ajst-2993	164	33	a	a	DET
ajst-2993	164	34	uniform	uniform	ADJ
ajst-2993	164	35	phase	phase	NOUN
ajst-2993	164	36	and	and	CCONJ
ajst-2993	164	37	waveform	waveform	VERB
ajst-2993	164	38	,	,	PUNCT
ajst-2993	164	39	while	while	SCONJ
ajst-2993	164	40	repeatedly	repeatedly	ADV
ajst-2993	164	41	reflecting	reflect	VERB
ajst-2993	164	42	at	at	ADP
ajst-2993	164	43	both	both	DET
ajst-2993	164	44	ends	end	NOUN
ajst-2993	164	45	of	of	ADP
ajst-2993	164	46	the	the	DET
ajst-2993	164	47	medium	medium	NOUN
ajst-2993	164	48	,	,	PUNCT
ajst-2993	164	49	protruding	protrude	VERB
ajst-2993	164	50	from	from	ADP
ajst-2993	164	51	the	the	DET
ajst-2993	164	52	semi	semi	ADJ
ajst-2993	164	53	-	-	ADJ
ajst-2993	164	54	permeable	permeable	ADJ
ajst-2993	164	55	and	and	CCONJ
ajst-2993	164	56	semi	semi	ADJ
ajst-2993	164	57	-	-	ADJ
ajst-2993	164	58	transmissive	transmissive	ADJ
ajst-2993	164	59	side	side	NOUN
ajst-2993	164	60	of	of	ADP
ajst-2993	164	61	the	the	DET
ajst-2993	164	62	mirror	mirror	NOUN
ajst-2993	164	63	.	.	PUNCT
ajst-2993	165	1	this	this	DET
ajst-2993	165	2	laser	laser	NOUN
ajst-2993	165	3	medium	medium	NOUN
ajst-2993	165	4	has	have	VERB
ajst-2993	165	5	solids	solid	NOUN
ajst-2993	165	6	,	,	PUNCT
ajst-2993	165	7	liquids	liquid	NOUN
ajst-2993	165	8	,	,	PUNCT
ajst-2993	165	9	and	and	CCONJ
ajst-2993	165	10	gases	gas	NOUN
ajst-2993	165	11	.	.	PUNCT
ajst-2993	166	1	as	as	SCONJ
ajst-2993	166	2	shown	show	VERB
ajst-2993	166	3	in	in	ADP
ajst-2993	166	4	fig.4	fig.4	PROPN
ajst-2993	166	5	,	,	PUNCT
ajst-2993	166	6	lidar	lidar	NOUN
ajst-2993	166	7	uses	use	VERB
ajst-2993	166	8	a	a	DET
ajst-2993	166	9	semiconductor	semiconductor	NOUN
ajst-2993	166	10	medium	medium	NOUN
ajst-2993	166	11	.	.	PUNCT
ajst-2993	167	1	figure	figure	NOUN
ajst-2993	167	2	4	4	NUM
ajst-2993	167	3	.	.	PUNCT
ajst-2993	168	1	construction	construction	NOUN
ajst-2993	168	2	of	of	ADP
ajst-2993	168	3	lidar	lidar	NOUN
ajst-2993	168	4	diodes	diode	NOUN
ajst-2993	168	5	as	as	SCONJ
ajst-2993	168	6	shown	show	VERB
ajst-2993	168	7	in	in	ADP
ajst-2993	168	8	fig.4	fig.4	PROPN
ajst-2993	168	9	,	,	PUNCT
ajst-2993	168	10	it	it	PRON
ajst-2993	168	11	represents	represent	VERB
ajst-2993	168	12	the	the	DET
ajst-2993	168	13	structure	structure	NOUN
ajst-2993	168	14	of	of	ADP
ajst-2993	168	15	a	a	DET
ajst-2993	168	16	semiconductor	semiconductor	NOUN
ajst-2993	168	17	laser	laser	NOUN
ajst-2993	168	18	.	.	PUNCT
ajst-2993	169	1	this	this	DET
ajst-2993	169	2	structure	structure	NOUN
ajst-2993	169	3	is	be	AUX
ajst-2993	169	4	called	call	VERB
ajst-2993	169	5	an	an	DET
ajst-2993	169	6	edge	edge	NOUN
ajst-2993	169	7	-	-	PUNCT
ajst-2993	169	8	emitting	emit	VERB
ajst-2993	169	9	semiconductor	semiconductor	NOUN
ajst-2993	169	10	laser	laser	NOUN
ajst-2993	169	11	because	because	SCONJ
ajst-2993	169	12	the	the	DET
ajst-2993	169	13	laser	laser	NOUN
ajst-2993	169	14	beam	beam	NOUN
ajst-2993	169	15	is	be	AUX
ajst-2993	169	16	emitted	emit	VERB
ajst-2993	169	17	from	from	ADP
ajst-2993	169	18	the	the	DET
ajst-2993	169	19	edge	edge	NOUN
ajst-2993	169	20	.	.	PUNCT
ajst-2993	170	1	it	it	PRON
ajst-2993	170	2	is	be	AUX
ajst-2993	170	3	also	also	ADV
ajst-2993	170	4	called	call	VERB
ajst-2993	170	5	a	a	DET
ajst-2993	170	6	laser	laser	NOUN
ajst-2993	170	7	diode	diode	NOUN
ajst-2993	170	8	ld	ld	NOUN
ajst-2993	170	9	(	(	PUNCT
ajst-2993	170	10	laser	laser	NOUN
ajst-2993	170	11	diode	diode	NOUN
ajst-2993	170	12	)	)	PUNCT
ajst-2993	170	13	because	because	SCONJ
ajst-2993	170	14	the	the	DET
ajst-2993	170	15	light	light	NOUN
ajst-2993	170	16	-	-	PUNCT
ajst-2993	170	17	emitting	emit	VERB
ajst-2993	170	18	principle	principle	NOUN
ajst-2993	170	19	itself	itself	PRON
ajst-2993	170	20	is	be	AUX
ajst-2993	170	21	the	the	DET
ajst-2993	170	22	same	same	ADJ
ajst-2993	170	23	as	as	ADP
ajst-2993	170	24	that	that	PRON
ajst-2993	170	25	of	of	ADP
ajst-2993	170	26	an	an	DET
ajst-2993	170	27	led	lead	VERB
ajst-2993	170	28	.	.	PUNCT
ajst-2993	171	1	the	the	DET
ajst-2993	171	2	commonly	commonly	ADV
ajst-2993	171	3	used	use	VERB
ajst-2993	171	4	wavelength	wavelength	NOUN
ajst-2993	171	5	is	be	AUX
ajst-2993	171	6	905	905	NUM
ajst-2993	171	7	nm	nm	ADV
ajst-2993	171	8	nearinfrared	nearinfrared	ADJ
ajst-2993	171	9	light	light	NOUN
ajst-2993	171	10	.	.	PUNCT
ajst-2993	172	1	this	this	DET
ajst-2993	172	2	wavelength	wavelength	NOUN
ajst-2993	172	3	is	be	AUX
ajst-2993	172	4	invisible	invisible	ADJ
ajst-2993	172	5	to	to	ADP
ajst-2993	172	6	humans	human	NOUN
ajst-2993	172	7	and	and	CCONJ
ajst-2993	172	8	must	must	AUX
ajst-2993	172	9	be	be	AUX
ajst-2993	172	10	considered	consider	VERB
ajst-2993	172	11	safe	safe	ADJ
ajst-2993	172	12	for	for	ADP
ajst-2993	172	13	the	the	DET
ajst-2993	172	14	eye	eye	NOUN
ajst-2993	172	15	due	due	ADP
ajst-2993	172	16	to	to	ADP
ajst-2993	172	17	the	the	DET
ajst-2993	172	18	absorption	absorption	NOUN
ajst-2993	172	19	band	band	NOUN
ajst-2993	172	20	of	of	ADP
ajst-2993	172	21	the	the	DET
ajst-2993	172	22	retina	retina	NOUN
ajst-2993	172	23	.	.	PUNCT
ajst-2993	173	1	lidar	lidar	PROPN
ajst-2993	173	2	's	's	PART
ajst-2993	173	3	range	range	NOUN
ajst-2993	173	4	measurement	measurement	NOUN
ajst-2993	173	5	method	method	NOUN
ajst-2993	173	6	is	be	AUX
ajst-2993	173	7	a	a	DET
ajst-2993	173	8	time	time	NOUN
ajst-2993	173	9	-	-	PUNCT
ajst-2993	173	10	of	of	ADP
ajst-2993	173	11	-	-	PUNCT
ajst-2993	173	12	flight	flight	NOUN
ajst-2993	173	13	measurement	measurement	NOUN
ajst-2993	173	14	.	.	PUNCT
ajst-2993	174	1	this	this	DET
ajst-2993	174	2	measures	measure	VERB
ajst-2993	174	3	the	the	DET
ajst-2993	174	4	time	time	NOUN
ajst-2993	174	5	it	it	PRON
ajst-2993	174	6	takes	take	VERB
ajst-2993	174	7	for	for	SCONJ
ajst-2993	174	8	a	a	DET
ajst-2993	174	9	pulse	pulse	NOUN
ajst-2993	174	10	of	of	ADP
ajst-2993	174	11	light	light	NOUN
ajst-2993	174	12	emitted	emit	VERB
ajst-2993	174	13	from	from	ADP
ajst-2993	174	14	a	a	DET
ajst-2993	174	15	laser	laser	NOUN
ajst-2993	174	16	diode	diode	NOUN
ajst-2993	174	17	to	to	PART
ajst-2993	174	18	be	be	AUX
ajst-2993	174	19	reflected	reflect	VERB
ajst-2993	174	20	from	from	ADP
ajst-2993	174	21	an	an	DET
ajst-2993	174	22	object	object	NOUN
ajst-2993	174	23	and	and	CCONJ
ajst-2993	174	24	received	receive	VERB
ajst-2993	174	25	by	by	ADP
ajst-2993	174	26	a	a	DET
ajst-2993	174	27	photodiode	photodiode	NOUN
ajst-2993	174	28	.	.	PUNCT
ajst-2993	175	1	this	this	PRON
ajst-2993	175	2	requires	require	VERB
ajst-2993	175	3	two	two	NUM
ajst-2993	175	4	measurements	measurement	NOUN
ajst-2993	175	5	to	to	PART
ajst-2993	175	6	obtain	obtain	VERB
ajst-2993	175	7	the	the	DET
ajst-2993	175	8	relative	relative	ADJ
ajst-2993	175	9	velocity	velocity	NOUN
ajst-2993	175	10	,	,	PUNCT
ajst-2993	175	11	which	which	PRON
ajst-2993	175	12	is	be	AUX
ajst-2993	175	13	slower	slow	ADJ
ajst-2993	175	14	than	than	ADP
ajst-2993	175	15	radar	radar	NOUN
ajst-2993	175	16	and	and	CCONJ
ajst-2993	175	17	can	can	AUX
ajst-2993	175	18	cause	cause	VERB
ajst-2993	175	19	latency	latency	NOUN
ajst-2993	175	20	problems	problem	NOUN
ajst-2993	175	21	.	.	PUNCT
ajst-2993	176	1	as	as	SCONJ
ajst-2993	176	2	shown	show	VERB
ajst-2993	176	3	in	in	ADP
ajst-2993	176	4	fig.5	fig.5	PROPN
ajst-2993	176	5	,	,	PUNCT
ajst-2993	176	6	pulsed	pulse	VERB
ajst-2993	176	7	light	light	ADJ
ajst-2993	176	8	transmission	transmission	NOUN
ajst-2993	176	9	is	be	AUX
ajst-2993	176	10	affected	affect	VERB
ajst-2993	176	11	by	by	ADP
ajst-2993	176	12	weather	weather	NOUN
ajst-2993	176	13	,	,	PUNCT
ajst-2993	176	14	which	which	PRON
ajst-2993	176	15	can	can	AUX
ajst-2993	176	16	be	be	AUX
ajst-2993	176	17	suppressed	suppress	VERB
ajst-2993	176	18	by	by	ADP
ajst-2993	176	19	repeating	repeat	VERB
ajst-2993	176	20	the	the	DET
ajst-2993	176	21	measurement	measurement	NOUN
ajst-2993	176	22	.	.	PUNCT
ajst-2993	177	1	figure	figure	NOUN
ajst-2993	177	2	5	5	NUM
ajst-2993	177	3	.	.	PUNCT
ajst-2993	178	1	impact	impact	NOUN
ajst-2993	178	2	of	of	ADP
ajst-2993	178	3	weather	weather	NOUN
ajst-2993	178	4	conditions	condition	NOUN
ajst-2993	178	5	on	on	ADP
ajst-2993	178	6	lidar	lidar	NOUN
ajst-2993	178	7	there	there	PRON
ajst-2993	178	8	are	be	VERB
ajst-2993	178	9	three	three	NUM
ajst-2993	178	10	ways	way	NOUN
ajst-2993	178	11	to	to	PART
ajst-2993	178	12	generate	generate	VERB
ajst-2993	178	13	a	a	DET
ajst-2993	178	14	fan	fan	NOUN
ajst-2993	178	15	beam	beam	NOUN
ajst-2993	178	16	by	by	ADP
ajst-2993	178	17	scanning	scan	VERB
ajst-2993	178	18	the	the	DET
ajst-2993	178	19	laser	laser	NOUN
ajst-2993	178	20	beam	beam	NOUN
ajst-2993	178	21	through	through	ADP
ajst-2993	178	22	the	the	DET
ajst-2993	178	23	lidar	lidar	NOUN
ajst-2993	178	24	.	.	PUNCT
ajst-2993	179	1	as	as	SCONJ
ajst-2993	179	2	shown	show	VERB
ajst-2993	179	3	in	in	ADP
ajst-2993	179	4	fig.6	fig.6	PROPN
ajst-2993	179	5	in	in	ADP
ajst-2993	179	6	conventional	conventional	ADJ
ajst-2993	179	7	vehicle	vehicle	NOUN
ajst-2993	179	8	-	-	PUNCT
ajst-2993	179	9	mounted	mount	VERB
ajst-2993	179	10	lidar	lidar	NOUN
ajst-2993	179	11	,	,	PUNCT
ajst-2993	179	12	the	the	DET
ajst-2993	179	13	choice	choice	NOUN
ajst-2993	179	14	of	of	ADP
ajst-2993	179	15	multifaceted	multifaceted	ADJ
ajst-2993	179	16	and	and	CCONJ
ajst-2993	179	17	tilting	tilt	VERB
ajst-2993	179	18	mirrors	mirror	NOUN
ajst-2993	179	19	is	be	AUX
ajst-2993	179	20	universal	universal	ADJ
ajst-2993	179	21	,	,	PUNCT
ajst-2993	179	22	and	and	CCONJ
ajst-2993	179	23	the	the	DET
ajst-2993	179	24	rotating	rotate	VERB
ajst-2993	179	25	head	head	NOUN
ajst-2993	179	26	itself	itself	PRON
ajst-2993	179	27	has	have	AUX
ajst-2993	179	28	emerged	emerge	VERB
ajst-2993	179	29	from	from	ADP
ajst-2993	179	30	velodyne	velodyne	PROPN
ajst-2993	179	31	.	.	PUNCT
ajst-2993	180	1	as	as	SCONJ
ajst-2993	180	2	shown	show	VERB
ajst-2993	180	3	in	in	ADP
ajst-2993	180	4	the	the	DET
ajst-2993	180	5	latter	latter	ADJ
ajst-2993	180	6	figure	figure	NOUN
ajst-2993	180	7	,	,	PUNCT
ajst-2993	180	8	lidar	lidar	NOUN
ajst-2993	180	9	plans	plan	NOUN
ajst-2993	180	10	to	to	PART
ajst-2993	180	11	move	move	VERB
ajst-2993	180	12	to	to	ADP
ajst-2993	180	13	a	a	DET
ajst-2993	180	14	mechanical	mechanical	ADJ
ajst-2993	180	15	-	-	PUNCT
ajst-2993	180	16	free	free	ADJ
ajst-2993	180	17	system	system	NOUN
ajst-2993	180	18	with	with	ADP
ajst-2993	180	19	no	no	DET
ajst-2993	180	20	moving	move	VERB
ajst-2993	180	21	parts	part	NOUN
ajst-2993	180	22	.	.	PUNCT
ajst-2993	181	1	figure	figure	NOUN
ajst-2993	181	2	6	6	NUM
ajst-2993	181	3	.	.	PUNCT
ajst-2993	182	1	the	the	DET
ajst-2993	182	2	representative	representative	ADJ
ajst-2993	182	3	mechanism	mechanism	NOUN
ajst-2993	182	4	for	for	ADP
ajst-2993	182	5	generating	generate	VERB
ajst-2993	182	6	a	a	DET
ajst-2993	182	7	fan	fan	NOUN
ajst-2993	182	8	-	-	PUNCT
ajst-2993	182	9	shaped	shape	VERB
ajst-2993	182	10	beam	beam	NOUN
ajst-2993	182	11	259	259	NUM
ajst-2993	182	12	the	the	DET
ajst-2993	182	13	biggest	big	ADJ
ajst-2993	182	14	feature	feature	NOUN
ajst-2993	182	15	of	of	ADP
ajst-2993	182	16	lidar	lidar	NOUN
ajst-2993	182	17	is	be	AUX
ajst-2993	182	18	the	the	DET
ajst-2993	182	19	slam	slam	NOUN
ajst-2993	182	20	(	(	PUNCT
ajst-2993	182	21	simultaneous	simultaneous	ADJ
ajst-2993	182	22	localization	localization	NOUN
ajst-2993	182	23	and	and	CCONJ
ajst-2993	182	24	mapping	mapping	NOUN
ajst-2993	182	25	)	)	PUNCT
ajst-2993	182	26	of	of	ADP
ajst-2993	182	27	the	the	DET
ajst-2993	182	28	primary	primary	ADJ
ajst-2993	182	29	vehicle	vehicle	NOUN
ajst-2993	182	30	position	position	NOUN
ajst-2993	182	31	.	.	PUNCT
ajst-2993	183	1	this	this	DET
ajst-2993	183	2	slam	slam	NOUN
ajst-2993	183	3	can	can	AUX
ajst-2993	183	4	never	never	ADV
ajst-2993	183	5	be	be	AUX
ajst-2993	183	6	done	do	VERB
ajst-2993	183	7	with	with	ADP
ajst-2993	183	8	radar	radar	NOUN
ajst-2993	183	9	.	.	PUNCT
ajst-2993	184	1	due	due	ADP
ajst-2993	184	2	to	to	ADP
ajst-2993	184	3	the	the	DET
ajst-2993	184	4	high	high	ADJ
ajst-2993	184	5	spatial	spatial	ADJ
ajst-2993	184	6	resolution	resolution	NOUN
ajst-2993	184	7	and	and	CCONJ
ajst-2993	184	8	accuracy	accuracy	NOUN
ajst-2993	184	9	of	of	ADP
ajst-2993	184	10	the	the	DET
ajst-2993	184	11	point	point	NOUN
ajst-2993	184	12	cloud	cloud	NOUN
ajst-2993	184	13	obtained	obtain	VERB
ajst-2993	184	14	by	by	ADP
ajst-2993	184	15	lidar	lidar	NOUN
ajst-2993	184	16	,	,	PUNCT
ajst-2993	184	17	the	the	DET
ajst-2993	184	18	position	position	NOUN
ajst-2993	184	19	on	on	ADP
ajst-2993	184	20	the	the	DET
ajst-2993	184	21	point	point	NOUN
ajst-2993	184	22	cloud	cloud	NOUN
ajst-2993	184	23	map	map	NOUN
ajst-2993	184	24	can	can	AUX
ajst-2993	184	25	be	be	AUX
ajst-2993	184	26	easily	easily	ADV
ajst-2993	184	27	detected	detect	VERB
ajst-2993	184	28	if	if	SCONJ
ajst-2993	184	29	the	the	DET
ajst-2993	184	30	point	point	NOUN
ajst-2993	184	31	cloud	cloud	NOUN
ajst-2993	184	32	of	of	ADP
ajst-2993	184	33	the	the	DET
ajst-2993	184	34	surrounding	surround	VERB
ajst-2993	184	35	environment	environment	NOUN
ajst-2993	184	36	is	be	AUX
ajst-2993	184	37	obtained	obtain	VERB
ajst-2993	184	38	beforehand	beforehand	ADV
ajst-2993	184	39	and	and	CCONJ
ajst-2993	184	40	by	by	ADP
ajst-2993	184	41	scan	scan	NOUN
ajst-2993	184	42	matching	match	VERB
ajst-2993	184	43	with	with	ADP
ajst-2993	184	44	the	the	DET
ajst-2993	184	45	measured	measured	ADJ
ajst-2993	184	46	point	point	NOUN
ajst-2993	184	47	cloud	cloud	NOUN
ajst-2993	184	48	.	.	PUNCT
ajst-2993	185	1	figure	figure	VERB
ajst-2993	185	2	7	7	NUM
ajst-2993	185	3	.	.	PUNCT
ajst-2993	185	4	slam	slam	PROPN
ajst-2993	185	5	principle	principle	NOUN
ajst-2993	185	6	then	then	ADV
ajst-2993	185	7	fig.8	fig.8	PROPN
ajst-2993	185	8	shows	show	VERB
ajst-2993	185	9	the	the	DET
ajst-2993	185	10	state	state	NOUN
ajst-2993	185	11	of	of	ADP
ajst-2993	185	12	object	object	NOUN
ajst-2993	185	13	detection	detection	NOUN
ajst-2993	185	14	in	in	ADP
ajst-2993	185	15	lidar	lidar	NOUN
ajst-2993	185	16	.	.	PUNCT
ajst-2993	186	1	this	this	DET
ajst-2993	186	2	red	red	ADJ
ajst-2993	186	3	rectangle	rectangle	NOUN
ajst-2993	186	4	is	be	AUX
ajst-2993	186	5	the	the	DET
ajst-2993	186	6	location	location	NOUN
ajst-2993	186	7	of	of	ADP
ajst-2993	186	8	the	the	DET
ajst-2993	186	9	vehicle	vehicle	NOUN
ajst-2993	186	10	detected	detect	VERB
ajst-2993	186	11	from	from	ADP
ajst-2993	186	12	the	the	DET
ajst-2993	186	13	point	point	NOUN
ajst-2993	186	14	cloud	cloud	NOUN
ajst-2993	186	15	in	in	ADP
ajst-2993	186	16	lidar	lidar	NOUN
ajst-2993	186	17	,	,	PUNCT
ajst-2993	186	18	and	and	CCONJ
ajst-2993	186	19	these	these	DET
ajst-2993	186	20	circles	circle	NOUN
ajst-2993	186	21	are	be	AUX
ajst-2993	186	22	pedestrians	pedestrian	NOUN
ajst-2993	186	23	and	and	CCONJ
ajst-2993	186	24	bicycles	bicycle	NOUN
ajst-2993	186	25	.	.	PUNCT
ajst-2993	187	1	detecting	detect	VERB
ajst-2993	187	2	vehicles	vehicle	NOUN
ajst-2993	187	3	and	and	CCONJ
ajst-2993	187	4	pedestrians	pedestrian	NOUN
ajst-2993	187	5	is	be	AUX
ajst-2993	187	6	easier	easy	ADJ
ajst-2993	187	7	than	than	ADP
ajst-2993	187	8	the	the	DET
ajst-2993	187	9	camera	camera	NOUN
ajst-2993	187	10	system	system	NOUN
ajst-2993	187	11	.	.	PUNCT
ajst-2993	188	1	figure	figure	NOUN
ajst-2993	188	2	8	8	NUM
ajst-2993	188	3	.	.	PUNCT
ajst-2993	189	1	detection	detection	NOUN
ajst-2993	189	2	results	result	NOUN
ajst-2993	189	3	of	of	ADP
ajst-2993	189	4	lidar	lidar	NOUN
ajst-2993	189	5	3.2	3.2	NUM
ajst-2993	189	6	.	.	PUNCT
ajst-2993	190	1	problems	problem	NOUN
ajst-2993	190	2	and	and	CCONJ
ajst-2993	190	3	solutions	solution	NOUN
ajst-2993	190	4	as	as	SCONJ
ajst-2993	190	5	mentioned	mention	VERB
ajst-2993	190	6	in	in	ADP
ajst-2993	190	7	the	the	DET
ajst-2993	190	8	previous	previous	ADJ
ajst-2993	190	9	narrative	narrative	NOUN
ajst-2993	190	10	,	,	PUNCT
ajst-2993	190	11	perception	perception	NOUN
ajst-2993	190	12	capabilities	capability	NOUN
ajst-2993	190	13	are	be	AUX
ajst-2993	190	14	very	very	ADV
ajst-2993	190	15	challenging	challenging	ADJ
ajst-2993	190	16	issues	issue	NOUN
ajst-2993	190	17	.	.	PUNCT
ajst-2993	191	1	environmental	environmental	ADJ
ajst-2993	191	2	complexity	complexity	NOUN
ajst-2993	191	3	,	,	PUNCT
ajst-2993	191	4	lighting	lighting	NOUN
ajst-2993	191	5	,	,	PUNCT
ajst-2993	191	6	and	and	CCONJ
ajst-2993	191	7	weather	weather	NOUN
ajst-2993	191	8	can	can	AUX
ajst-2993	191	9	all	all	PRON
ajst-2993	191	10	affect	affect	VERB
ajst-2993	191	11	the	the	DET
ajst-2993	191	12	perception	perception	NOUN
ajst-2993	191	13	efforts	effort	NOUN
ajst-2993	191	14	of	of	ADP
ajst-2993	191	15	lidar	lidar	NOUN
ajst-2993	191	16	sensors	sensor	NOUN
ajst-2993	191	17	,	,	PUNCT
ajst-2993	191	18	and	and	CCONJ
ajst-2993	191	19	perception	perception	NOUN
ajst-2993	191	20	errors	error	NOUN
ajst-2993	191	21	can	can	AUX
ajst-2993	191	22	be	be	AUX
ajst-2993	191	23	cascaded	cascade	VERB
ajst-2993	191	24	and	and	CCONJ
ajst-2993	191	25	can	can	AUX
ajst-2993	191	26	lead	lead	VERB
ajst-2993	191	27	to	to	ADP
ajst-2993	191	28	serious	serious	ADJ
ajst-2993	191	29	accidents	accident	NOUN
ajst-2993	191	30	.	.	PUNCT
ajst-2993	192	1	some	some	DET
ajst-2993	192	2	reallife	reallife	NOUN
ajst-2993	192	3	examples	example	NOUN
ajst-2993	192	4	include	include	VERB
ajst-2993	192	5	the	the	DET
ajst-2993	192	6	2016	2016	NUM
ajst-2993	192	7	tesla	tesla	PROPN
ajst-2993	192	8	autopilot	autopilot	NOUN
ajst-2993	192	9	accident	accident	NOUN
ajst-2993	192	10	in	in	ADP
ajst-2993	192	11	which	which	PRON
ajst-2993	192	12	a	a	DET
ajst-2993	192	13	man	man	NOUN
ajst-2993	192	14	was	be	AUX
ajst-2993	192	15	killed	kill	VERB
ajst-2993	192	16	after	after	SCONJ
ajst-2993	192	17	his	his	PRON
ajst-2993	192	18	car	car	NOUN
ajst-2993	192	19	crashed	crash	VERB
ajst-2993	192	20	into	into	ADP
ajst-2993	192	21	a	a	DET
ajst-2993	192	22	truck	truck	NOUN
ajst-2993	192	23	:	:	PUNCT
ajst-2993	192	24	the	the	DET
ajst-2993	192	25	camera	camera	NOUN
ajst-2993	192	26	failed	fail	VERB
ajst-2993	192	27	to	to	PART
ajst-2993	192	28	detect	detect	VERB
ajst-2993	192	29	the	the	DET
ajst-2993	192	30	gray	gray	ADJ
ajst-2993	192	31	truck	truck	NOUN
ajst-2993	192	32	in	in	ADP
ajst-2993	192	33	bright	bright	ADJ
ajst-2993	192	34	skies	sky	NOUN
ajst-2993	192	35	,	,	PUNCT
ajst-2993	192	36	and	and	CCONJ
ajst-2993	192	37	the	the	DET
ajst-2993	192	38	radar	radar	NOUN
ajst-2993	192	39	detection	detection	NOUN
ajst-2993	192	40	was	be	AUX
ajst-2993	192	41	discarded	discard	VERB
ajst-2993	192	42	as	as	ADP
ajst-2993	192	43	background	background	NOUN
ajst-2993	192	44	noise	noise	NOUN
ajst-2993	192	45	by	by	ADP
ajst-2993	192	46	the	the	DET
ajst-2993	192	47	perception	perception	NOUN
ajst-2993	192	48	algorithm	algorithm	NOUN
ajst-2993	192	49	.	.	PUNCT
ajst-2993	193	1	later	later	ADV
ajst-2993	193	2	in	in	ADP
ajst-2993	193	3	2018	2018	NUM
ajst-2993	193	4	,	,	PUNCT
ajst-2993	193	5	a	a	DET
ajst-2993	193	6	tesla	tesla	PROPN
ajst-2993	193	7	model	model	NOUN
ajst-2993	193	8	x	x	PUNCT
ajst-2993	193	9	crashed	crash	VERB
ajst-2993	193	10	into	into	ADP
ajst-2993	193	11	a	a	DET
ajst-2993	193	12	highway	highway	NOUN
ajst-2993	193	13	divider	divider	NOUN
ajst-2993	193	14	after	after	SCONJ
ajst-2993	193	15	the	the	DET
ajst-2993	193	16	lane	lane	NOUN
ajst-2993	193	17	following	follow	VERB
ajst-2993	193	18	system	system	NOUN
ajst-2993	193	19	failed	fail	VERB
ajst-2993	193	20	to	to	PART
ajst-2993	193	21	detect	detect	VERB
ajst-2993	193	22	faded	faded	ADJ
ajst-2993	193	23	lines	line	NOUN
ajst-2993	193	24	and	and	CCONJ
ajst-2993	193	25	the	the	DET
ajst-2993	193	26	concrete	concrete	ADJ
ajst-2993	193	27	divider	divider	NOUN
ajst-2993	193	28	was	be	AUX
ajst-2993	193	29	not	not	PART
ajst-2993	193	30	crashed	crash	VERB
ajst-2993	193	31	into	into	ADP
ajst-2993	193	32	a	a	DET
ajst-2993	193	33	highway	highway	NOUN
ajst-2993	193	34	divider	divider	NOUN
ajst-2993	193	35	after	after	SCONJ
ajst-2993	193	36	the	the	DET
ajst-2993	193	37	system	system	NOUN
ajst-2993	193	38	failed	fail	VERB
ajst-2993	193	39	to	to	PART
ajst-2993	193	40	detect	detect	VERB
ajst-2993	193	41	faded	faded	ADJ
ajst-2993	193	42	lines	line	NOUN
ajst-2993	193	43	and	and	CCONJ
ajst-2993	193	44	the	the	DET
ajst-2993	193	45	concrete	concrete	ADJ
ajst-2993	193	46	divider	divider	NOUN
ajst-2993	193	47	was	be	AUX
ajst-2993	193	48	not	not	PART
ajst-2993	193	49	recognized	recognize	VERB
ajst-2993	193	50	,	,	PUNCT
ajst-2993	193	51	killing	kill	VERB
ajst-2993	193	52	the	the	DET
ajst-2993	193	53	driver	driver	NOUN
ajst-2993	193	54	.	.	PUNCT
ajst-2993	194	1	also	also	ADV
ajst-2993	194	2	in	in	ADP
ajst-2993	194	3	2018	2018	NUM
ajst-2993	194	4	,	,	PUNCT
ajst-2993	194	5	an	an	DET
ajst-2993	194	6	experimental	experimental	ADJ
ajst-2993	194	7	uber	uber	NOUN
ajst-2993	194	8	vehicle	vehicle	NOUN
ajst-2993	194	9	killed	kill	VERB
ajst-2993	194	10	a	a	DET
ajst-2993	194	11	woman	woman	NOUN
ajst-2993	194	12	wearing	wear	VERB
ajst-2993	194	13	dark	dark	ADJ
ajst-2993	194	14	clothing	clothing	NOUN
ajst-2993	194	15	who	who	PRON
ajst-2993	194	16	was	be	AUX
ajst-2993	194	17	crossing	cross	VERB
ajst-2993	194	18	the	the	DET
ajst-2993	194	19	street	street	NOUN
ajst-2993	194	20	at	at	ADP
ajst-2993	194	21	night	night	NOUN
ajst-2993	194	22	.	.	PUNCT
ajst-2993	195	1	only	only	ADV
ajst-2993	195	2	lidar	lidar	NOUN
ajst-2993	195	3	provided	provide	VERB
ajst-2993	195	4	a	a	DET
ajst-2993	195	5	positive	positive	ADJ
ajst-2993	195	6	detection	detection	NOUN
ajst-2993	195	7	,	,	PUNCT
ajst-2993	195	8	which	which	PRON
ajst-2993	195	9	the	the	DET
ajst-2993	195	10	perception	perception	NOUN
ajst-2993	195	11	algorithm	algorithm	NOUN
ajst-2993	195	12	discarded	discard	VERB
ajst-2993	195	13	as	as	ADP
ajst-2993	195	14	a	a	DET
ajst-2993	195	15	false	false	ADJ
ajst-2993	195	16	alarm	alarm	NOUN
ajst-2993	195	17	.	.	PUNCT
ajst-2993	196	1	tyson	tyson	PROPN
ajst-2993	196	2	govan	govan	PROPN
ajst-2993	196	3	phillips	phillip	NOUN
ajst-2993	196	4	and	and	CCONJ
ajst-2993	196	5	wang	wang	PROPN
ajst-2993	196	6	m[4][5	m[4][5	PROPN
ajst-2993	196	7	]	]	PUNCT
ajst-2993	196	8	give	give	VERB
ajst-2993	196	9	solutions	solution	NOUN
ajst-2993	196	10	to	to	PART
ajst-2993	196	11	improve	improve	VERB
ajst-2993	196	12	the	the	DET
ajst-2993	196	13	accuracy	accuracy	NOUN
ajst-2993	196	14	of	of	ADP
ajst-2993	196	15	lidar	lidar	NOUN
ajst-2993	196	16	sensors	sensor	NOUN
ajst-2993	196	17	under	under	ADP
ajst-2993	196	18	the	the	DET
ajst-2993	196	19	influence	influence	NOUN
ajst-2993	196	20	of	of	ADP
ajst-2993	196	21	two	two	NUM
ajst-2993	196	22	weather	weather	NOUN
ajst-2993	196	23	factors	factor	NOUN
ajst-2993	196	24	,	,	PUNCT
ajst-2993	196	25	dust	dust	NOUN
ajst-2993	196	26	and	and	CCONJ
ajst-2993	196	27	rain	rain	NOUN
ajst-2993	196	28	,	,	PUNCT
ajst-2993	196	29	and	and	CCONJ
ajst-2993	196	30	fog	fog	NOUN
ajst-2993	196	31	,	,	PUNCT
ajst-2993	196	32	respectively	respectively	ADV
ajst-2993	196	33	.	.	PUNCT
ajst-2993	197	1	3.2.1	3.2.1	NUM
ajst-2993	197	2	.	.	PUNCT
ajst-2993	198	1	behavior	behavior	NOUN
ajst-2993	198	2	of	of	ADP
ajst-2993	198	3	lidar	lidar	NOUN
ajst-2993	198	4	in	in	ADP
ajst-2993	198	5	the	the	DET
ajst-2993	198	6	presence	presence	NOUN
ajst-2993	198	7	of	of	ADP
ajst-2993	198	8	fine	fine	ADJ
ajst-2993	198	9	particulate	particulate	NOUN
ajst-2993	198	10	dust	dust	NOUN
ajst-2993	198	11	the	the	DET
ajst-2993	198	12	behavior	behavior	NOUN
ajst-2993	198	13	of	of	ADP
ajst-2993	198	14	lidar	lidar	NOUN
ajst-2993	198	15	sensors	sensor	NOUN
ajst-2993	198	16	in	in	ADP
ajst-2993	198	17	the	the	DET
ajst-2993	198	18	presence	presence	NOUN
ajst-2993	198	19	of	of	ADP
ajst-2993	198	20	dust	dust	NOUN
ajst-2993	198	21	is	be	AUX
ajst-2993	198	22	described	describe	VERB
ajst-2993	198	23	in	in	ADP
ajst-2993	198	24	detail	detail	NOUN
ajst-2993	198	25	in	in	ADP
ajst-2993	198	26	the	the	DET
ajst-2993	198	27	paper	paper	NOUN
ajst-2993	198	28	by	by	ADP
ajst-2993	198	29	tyson	tyson	PROPN
ajst-2993	198	30	govan	govan	PROPN
ajst-2993	198	31	phillips	phillips	PROPN
ajst-2993	198	32	.	.	PUNCT
ajst-2993	199	1	this	this	DET
ajst-2993	199	2	work	work	NOUN
ajst-2993	199	3	was	be	AUX
ajst-2993	199	4	motivated	motivate	VERB
ajst-2993	199	5	by	by	ADP
ajst-2993	199	6	the	the	DET
ajst-2993	199	7	need	need	NOUN
ajst-2993	199	8	to	to	PART
ajst-2993	199	9	develop	develop	VERB
ajst-2993	199	10	sensing	sense	VERB
ajst-2993	199	11	systems	system	NOUN
ajst-2993	199	12	that	that	PRON
ajst-2993	199	13	must	must	AUX
ajst-2993	199	14	operate	operate	VERB
ajst-2993	199	15	in	in	ADP
ajst-2993	199	16	the	the	DET
ajst-2993	199	17	presence	presence	NOUN
ajst-2993	199	18	of	of	ADP
ajst-2993	199	19	dust	dust	NOUN
ajst-2993	199	20	.	.	PUNCT
ajst-2993	200	1	the	the	DET
ajst-2993	200	2	paper	paper	NOUN
ajst-2993	200	3	shows	show	VERB
ajst-2993	200	4	that	that	SCONJ
ajst-2993	200	5	the	the	DET
ajst-2993	200	6	measurement	measurement	NOUN
ajst-2993	200	7	behavior	behavior	NOUN
ajst-2993	200	8	of	of	ADP
ajst-2993	200	9	the	the	DET
ajst-2993	200	10	sensor	sensor	NOUN
ajst-2993	200	11	is	be	AUX
ajst-2993	200	12	systematic	systematic	ADJ
ajst-2993	200	13	and	and	CCONJ
ajst-2993	200	14	predictable	predictable	ADJ
ajst-2993	200	15	.	.	PUNCT
ajst-2993	201	1	lidar	lidar	NOUN
ajst-2993	201	2	sensors	sensor	NOUN
ajst-2993	201	3	exhibit	exhibit	VERB
ajst-2993	201	4	four	four	NUM
ajst-2993	201	5	behaviors	behavior	NOUN
ajst-2993	201	6	that	that	PRON
ajst-2993	201	7	can	can	AUX
ajst-2993	201	8	be	be	AUX
ajst-2993	201	9	elaborated	elaborate	VERB
ajst-2993	201	10	and	and	CCONJ
ajst-2993	201	11	understood	understand	VERB
ajst-2993	201	12	in	in	ADP
ajst-2993	201	13	terms	term	NOUN
ajst-2993	201	14	of	of	ADP
ajst-2993	201	15	the	the	DET
ajst-2993	201	16	shape	shape	NOUN
ajst-2993	201	17	of	of	ADP
ajst-2993	201	18	the	the	DET
ajst-2993	201	19	return	return	NOUN
ajst-2993	201	20	signal	signal	NOUN
ajst-2993	201	21	from	from	ADP
ajst-2993	201	22	the	the	DET
ajst-2993	201	23	emitted	emitted	ADJ
ajst-2993	201	24	light	light	ADJ
ajst-2993	201	25	pulse	pulse	NOUN
ajst-2993	201	26	.	.	PUNCT
ajst-2993	202	1	figure	figure	NOUN
ajst-2993	202	2	9	9	NUM
ajst-2993	202	3	.	.	PUNCT
ajst-2993	202	4	capability	capability	NOUN
ajst-2993	202	5	of	of	ADP
ajst-2993	202	6	lidar	lidar	NOUN
ajst-2993	202	7	in	in	ADP
ajst-2993	202	8	the	the	DET
ajst-2993	202	9	presence	presence	NOUN
ajst-2993	202	10	of	of	ADP
ajst-2993	202	11	dust	dust	NOUN
ajst-2993	202	12	figure	figure	VERB
ajst-2993	202	13	10	10	NUM
ajst-2993	202	14	.	.	PUNCT
ajst-2993	203	1	lidar	lidar	NOUN
ajst-2993	203	2	equation	equation	NOUN
ajst-2993	203	3	for	for	ADP
ajst-2993	203	4	propagation	propagation	NOUN
ajst-2993	203	5	paths	path	NOUN
ajst-2993	203	6	of	of	ADP
ajst-2993	203	7	sorts	sort	NOUN
ajst-2993	203	8	depicts	depict	VERB
ajst-2993	203	9	the	the	DET
ajst-2993	203	10	authors	author	NOUN
ajst-2993	203	11	performed	perform	VERB
ajst-2993	203	12	a	a	DET
ajst-2993	203	13	series	series	NOUN
ajst-2993	203	14	of	of	ADP
ajst-2993	203	15	tests	test	NOUN
ajst-2993	203	16	on	on	ADP
ajst-2993	203	17	commercial	commercial	ADJ
ajst-2993	203	18	sensors	sensor	NOUN
ajst-2993	203	19	measuring	measure	VERB
ajst-2993	203	20	return	return	NOUN
ajst-2993	203	21	pulses	pulse	NOUN
ajst-2993	203	22	and	and	CCONJ
ajst-2993	203	23	showed	show	VERB
ajst-2993	203	24	that	that	SCONJ
ajst-2993	203	25	they	they	PRON
ajst-2993	203	26	are	be	AUX
ajst-2993	203	27	consistent	consistent	ADJ
ajst-2993	203	28	with	with	ADP
ajst-2993	203	29	the	the	DET
ajst-2993	203	30	theoretical	theoretical	ADJ
ajst-2993	203	31	predictions	prediction	NOUN
ajst-2993	203	32	of	of	ADP
ajst-2993	203	33	behavior	behavior	NOUN
ajst-2993	203	34	.	.	PUNCT
ajst-2993	204	1	several	several	ADJ
ajst-2993	204	2	important	important	ADJ
ajst-2993	204	3	conclusions	conclusion	NOUN
ajst-2993	204	4	emerge	emerge	VERB
ajst-2993	204	5	:	:	PUNCT
ajst-2993	204	6	(	(	PUNCT
ajst-2993	204	7	i	i	NOUN
ajst-2993	204	8	)	)	PUNCT
ajst-2993	204	9	in	in	ADP
ajst-2993	204	10	the	the	DET
ajst-2993	204	11	case	case	NOUN
ajst-2993	204	12	of	of	ADP
ajst-2993	204	13	lidar	lidar	NOUN
ajst-2993	204	14	measurements	measurement	NOUN
ajst-2993	204	15	of	of	ADP
ajst-2993	204	16	dust	dust	NOUN
ajst-2993	204	17	,	,	PUNCT
ajst-2993	204	18	it	it	PRON
ajst-2993	204	19	is	be	AUX
ajst-2993	204	20	measured	measure	VERB
ajst-2993	204	21	against	against	ADP
ajst-2993	204	22	the	the	DET
ajst-2993	204	23	leading	lead	VERB
ajst-2993	204	24	edge	edge	NOUN
ajst-2993	204	25	of	of	ADP
ajst-2993	204	26	the	the	DET
ajst-2993	204	27	dust	dust	NOUN
ajst-2993	204	28	cloud	cloud	NOUN
ajst-2993	204	29	rather	rather	ADV
ajst-2993	204	30	than	than	ADP
ajst-2993	204	31	as	as	ADP
ajst-2993	204	32	random	random	ADJ
ajst-2993	204	33	noise	noise	NOUN
ajst-2993	204	34	;	;	PUNCT
ajst-2993	204	35	(	(	PUNCT
ajst-2993	204	36	ii	ii	NOUN
ajst-2993	204	37	)	)	PUNCT
ajst-2993	204	38	dust	dust	NOUN
ajst-2993	204	39	starts	start	VERB
ajst-2993	204	40	to	to	PART
ajst-2993	204	41	affect	affect	VERB
ajst-2993	204	42	the	the	DET
ajst-2993	204	43	measurements	measurement	NOUN
ajst-2993	204	44	when	when	SCONJ
ajst-2993	204	45	the	the	DET
ajst-2993	204	46	atmospheric	atmospheric	ADJ
ajst-2993	204	47	transmittance	transmittance	NOUN
ajst-2993	204	48	is	be	AUX
ajst-2993	204	49	below	below	ADP
ajst-2993	204	50	71%-74	71%-74	NUM
ajst-2993	204	51	%	%	NOUN
ajst-2993	204	52	,	,	PUNCT
ajst-2993	204	53	but	but	CCONJ
ajst-2993	204	54	this	this	PRON
ajst-2993	204	55	varies	vary	VERB
ajst-2993	204	56	considerably	considerably	ADV
ajst-2993	204	57	with	with	ADP
ajst-2993	204	58	conditions	condition	NOUN
ajst-2993	204	59	;	;	PUNCT
ajst-2993	204	60	(	(	PUNCT
ajst-2993	204	61	iii	iii	X
ajst-2993	204	62	)	)	PUNCT
ajst-2993	204	63	lidar	lidar	NOUN
ajst-2993	204	64	is	be	AUX
ajst-2993	204	65	able	able	ADJ
ajst-2993	204	66	to	to	PART
ajst-2993	204	67	range	range	VERB
ajst-2993	204	68	targets	target	NOUN
ajst-2993	204	69	in	in	ADP
ajst-2993	204	70	dust	dust	NOUN
ajst-2993	204	71	clouds	cloud	NOUN
ajst-2993	204	72	if	if	SCONJ
ajst-2993	204	73	the	the	DET
ajst-2993	204	74	target	target	NOUN
ajst-2993	204	75	is	be	AUX
ajst-2993	204	76	retroreflective	retroreflective	ADJ
ajst-2993	204	77	,	,	PUNCT
ajst-2993	204	78	the	the	DET
ajst-2993	204	79	transmittance	transmittance	NOUN
ajst-2993	204	80	is	be	AUX
ajst-2993	204	81	as	as	ADV
ajst-2993	204	82	low	low	ADJ
ajst-2993	204	83	as	as	ADP
ajst-2993	204	84	2	2	NUM
ajst-2993	204	85	%	%	NOUN
ajst-2993	204	86	if	if	SCONJ
ajst-2993	204	87	the	the	DET
ajst-2993	204	88	target	target	NOUN
ajst-2993	204	89	is	be	AUX
ajst-2993	204	90	retroreflective	retroreflective	ADJ
ajst-2993	204	91	and	and	CCONJ
ajst-2993	204	92	as	as	ADV
ajst-2993	204	93	low	low	ADJ
ajst-2993	204	94	as	as	ADP
ajst-2993	204	95	6	6	NUM
ajst-2993	204	96	%	%	NOUN
ajst-2993	204	97	if	if	SCONJ
ajst-2993	204	98	the	the	DET
ajst-2993	204	99	target	target	NOUN
ajst-2993	204	100	has	have	VERB
ajst-2993	204	101	low	low	ADJ
ajst-2993	204	102	reflectivity	reflectivity	NOUN
ajst-2993	204	103	;	;	PUNCT
ajst-2993	204	104	(	(	PUNCT
ajst-2993	204	105	iv	iv	X
ajst-2993	204	106	)	)	PUNCT
ajst-2993	204	107	the	the	DET
ajst-2993	204	108	effect	effect	NOUN
ajst-2993	204	109	of	of	ADP
ajst-2993	204	110	airborne	airborne	ADJ
ajst-2993	204	111	particles	particle	NOUN
ajst-2993	204	112	(	(	PUNCT
ajst-2993	204	113	e.g.	e.g.	ADV
ajst-2993	204	114	,	,	PUNCT
ajst-2993	204	115	dust	dust	NOUN
ajst-2993	204	116	)	)	PUNCT
ajst-2993	204	117	is	be	AUX
ajst-2993	204	118	less	less	ADV
ajst-2993	204	119	pronounced	pronounced	ADJ
ajst-2993	204	120	in	in	ADP
ajst-2993	204	121	the	the	DET
ajst-2993	204	122	far	far	ADV
ajst-2993	204	123	-	-	PUNCT
ajst-2993	204	124	field	field	NOUN
ajst-2993	204	125	.	.	PUNCT
ajst-2993	205	1	the	the	DET
ajst-2993	205	2	significance	significance	NOUN
ajst-2993	205	3	of	of	ADP
ajst-2993	205	4	this	this	DET
ajst-2993	205	5	paper	paper	NOUN
ajst-2993	205	6	is	be	AUX
ajst-2993	205	7	to	to	PART
ajst-2993	205	8	provide	provide	VERB
ajst-2993	205	9	insight	insight	NOUN
ajst-2993	205	10	into	into	ADP
ajst-2993	205	11	how	how	SCONJ
ajst-2993	205	12	to	to	PART
ajst-2993	205	13	better	well	ADV
ajst-2993	205	14	use	use	VERB
ajst-2993	205	15	measurements	measurement	NOUN
ajst-2993	205	16	from	from	ADP
ajst-2993	205	17	off	off	ADP
ajst-2993	205	18	-	-	PUNCT
ajst-2993	205	19	the	the	DET
ajst-2993	205	20	-	-	PUNCT
ajst-2993	205	21	shelf	shelf	NOUN
ajst-2993	205	22	lidar	lidar	NOUN
ajst-2993	205	23	sensors	sensor	NOUN
ajst-2993	205	24	to	to	PART
ajst-2993	205	25	solve	solve	VERB
ajst-2993	205	26	perception	perception	NOUN
ajst-2993	205	27	problems	problem	NOUN
ajst-2993	205	28	.	.	PUNCT
ajst-2993	206	1	(	(	PUNCT
ajst-2993	206	2	iv	iv	X
ajst-2993	206	3	)	)	PUNCT
ajst-2993	206	4	the	the	DET
ajst-2993	206	5	effect	effect	NOUN
ajst-2993	206	6	of	of	ADP
ajst-2993	206	7	airborne	airborne	ADJ
ajst-2993	206	8	particulate	particulate	NOUN
ajst-2993	206	9	matter	matter	NOUN
ajst-2993	206	10	(	(	PUNCT
ajst-2993	206	11	e.g.	e.g.	ADV
ajst-2993	206	12	dust	dust	NOUN
ajst-2993	206	13	)	)	PUNCT
ajst-2993	206	14	is	be	AUX
ajst-2993	206	15	less	less	ADV
ajst-2993	206	16	visible	visible	ADJ
ajst-2993	206	17	in	in	ADP
ajst-2993	206	18	the	the	DET
ajst-2993	206	19	far	far	ADJ
ajst-2993	206	20	field	field	NOUN
ajst-2993	206	21	.	.	PUNCT
ajst-2993	207	1	the	the	DET
ajst-2993	207	2	point	point	NOUN
ajst-2993	207	3	of	of	ADP
ajst-2993	207	4	this	this	DET
ajst-2993	207	5	paper	paper	NOUN
ajst-2993	207	6	is	be	AUX
ajst-2993	207	7	to	to	PART
ajst-2993	207	8	gain	gain	VERB
ajst-2993	207	9	insight	insight	NOUN
ajst-2993	207	10	into	into	ADP
ajst-2993	207	11	how	how	SCONJ
ajst-2993	207	12	to	to	PART
ajst-2993	207	13	better	well	ADV
ajst-2993	207	14	use	use	VERB
ajst-2993	207	15	measurements	measurement	NOUN
ajst-2993	207	16	from	from	ADP
ajst-2993	207	17	off	off	ADP
ajst-2993	207	18	-	-	PUNCT
ajst-2993	207	19	theshelf	theshelf	NOUN
ajst-2993	207	20	lidar	lidar	NOUN
ajst-2993	207	21	sensors	sensor	NOUN
ajst-2993	207	22	to	to	PART
ajst-2993	207	23	solve	solve	VERB
ajst-2993	207	24	perception	perception	NOUN
ajst-2993	207	25	problems	problem	NOUN
ajst-2993	207	26	.	.	PUNCT
ajst-2993	208	1	(	(	PUNCT
ajst-2993	208	2	iv	iv	X
ajst-2993	208	3	)	)	PUNCT
ajst-2993	208	4	the	the	DET
ajst-2993	208	5	effect	effect	NOUN
ajst-2993	208	6	of	of	ADP
ajst-2993	208	7	airborne	airborne	ADJ
ajst-2993	208	8	particles	particle	NOUN
ajst-2993	208	9	(	(	PUNCT
ajst-2993	208	10	e.g.	e.g.	ADV
ajst-2993	208	11	dust	dust	NOUN
ajst-2993	208	12	)	)	PUNCT
ajst-2993	208	13	is	be	AUX
ajst-2993	208	14	less	less	ADV
ajst-2993	208	15	visible	visible	ADJ
ajst-2993	208	16	in	in	ADP
ajst-2993	208	17	the	the	DET
ajst-2993	208	18	far	far	ADJ
ajst-2993	208	19	field	field	NOUN
ajst-2993	208	20	.	.	PUNCT
ajst-2993	209	1	3.2.2	3.2.2	X
ajst-2993	209	2	.	.	PUNCT
ajst-2993	210	1	behavior	behavior	NOUN
ajst-2993	210	2	of	of	ADP
ajst-2993	210	3	lidar	lidar	NOUN
ajst-2993	210	4	under	under	ADP
ajst-2993	210	5	the	the	DET
ajst-2993	210	6	effect	effect	NOUN
ajst-2993	210	7	of	of	ADP
ajst-2993	210	8	atmospheric	atmospheric	ADJ
ajst-2993	210	9	rain	rain	NOUN
ajst-2993	210	10	and	and	CCONJ
ajst-2993	210	11	fog	fog	NOUN
ajst-2993	210	12	extinction	extinction	NOUN
ajst-2993	210	13	fmcw	fmcw	PROPN
ajst-2993	210	14	is	be	AUX
ajst-2993	210	15	a	a	DET
ajst-2993	210	16	method	method	NOUN
ajst-2993	210	17	of	of	ADP
ajst-2993	210	18	detecting	detect	VERB
ajst-2993	210	19	distance	distance	NOUN
ajst-2993	210	20	and	and	CCONJ
ajst-2993	210	21	relative	relative	ADJ
ajst-2993	210	22	velocity	velocity	NOUN
ajst-2993	210	23	at	at	ADP
ajst-2993	210	24	a	a	DET
ajst-2993	210	25	time	time	NOUN
ajst-2993	210	26	by	by	ADP
ajst-2993	210	27	continuously	continuously	ADV
ajst-2993	210	28	changing	change	VERB
ajst-2993	210	29	the	the	DET
ajst-2993	210	30	wavelength	wavelength	NOUN
ajst-2993	210	31	of	of	ADP
ajst-2993	210	32	the	the	DET
ajst-2993	210	33	emitted	emitted	ADJ
ajst-2993	210	34	wave	wave	NOUN
ajst-2993	210	35	to	to	PART
ajst-2993	210	36	produce	produce	VERB
ajst-2993	210	37	a	a	DET
ajst-2993	210	38	chirp	chirp	ADJ
ajst-2993	210	39	signal	signal	NOUN
ajst-2993	210	40	.	.	PUNCT
ajst-2993	211	1	the	the	DET
ajst-2993	211	2	frequency	frequency	NOUN
ajst-2993	211	3	of	of	ADP
ajst-2993	211	4	the	the	DET
ajst-2993	211	5	transmitted	transmit	VERB
ajst-2993	211	6	radio	radio	NOUN
ajst-2993	211	7	wave	wave	NOUN
ajst-2993	211	8	increases	increase	NOUN
ajst-2993	211	9	and	and	CCONJ
ajst-2993	211	10	decreases	decrease	VERB
ajst-2993	211	11	linearly	linearly	ADV
ajst-2993	211	12	with	with	ADP
ajst-2993	211	13	time	time	NOUN
ajst-2993	211	14	.	.	PUNCT
ajst-2993	212	1	the	the	DET
ajst-2993	212	2	transmitted	transmit	VERB
ajst-2993	212	3	wave	wave	NOUN
ajst-2993	212	4	is	be	AUX
ajst-2993	212	5	then	then	ADV
ajst-2993	212	6	reflected	reflect	VERB
ajst-2993	212	7	by	by	ADP
ajst-2993	212	8	the	the	DET
ajst-2993	212	9	object	object	NOUN
ajst-2993	212	10	in	in	ADP
ajst-2993	212	11	front	front	NOUN
ajst-2993	212	12	of	of	ADP
ajst-2993	212	13	it	it	PRON
ajst-2993	212	14	,	,	PUNCT
ajst-2993	212	15	and	and	CCONJ
ajst-2993	212	16	the	the	DET
ajst-2993	212	17	reflected	reflect	VERB
ajst-2993	212	18	radio	radio	NOUN
ajst-2993	212	19	wave	wave	NOUN
ajst-2993	212	20	is	be	AUX
ajst-2993	212	21	input	input	NOUN
ajst-2993	212	22	to	to	ADP
ajst-2993	212	23	the	the	DET
ajst-2993	212	24	receiver	receiver	NOUN
ajst-2993	212	25	with	with	ADP
ajst-2993	212	26	a	a	DET
ajst-2993	212	27	time	time	NOUN
ajst-2993	212	28	delay	delay	NOUN
ajst-2993	212	29	of	of	ADP
ajst-2993	212	30	2r	2r	NUM
ajst-2993	212	31	for	for	ADP
ajst-2993	212	32	the	the	DET
ajst-2993	212	33	reciprocal	reciprocal	ADJ
ajst-2993	212	34	distance	distance	NOUN
ajst-2993	212	35	r	r	NOUN
ajst-2993	212	36	between	between	ADP
ajst-2993	212	37	the	the	DET
ajst-2993	212	38	radar	radar	NOUN
ajst-2993	212	39	and	and	CCONJ
ajst-2993	212	40	the	the	DET
ajst-2993	212	41	target	target	NOUN
ajst-2993	212	42	.	.	PUNCT
ajst-2993	213	1	by	by	ADP
ajst-2993	213	2	mixing	mix	VERB
ajst-2993	213	3	the	the	DET
ajst-2993	213	4	received	receive	VERB
ajst-2993	213	5	and	and	CCONJ
ajst-2993	213	6	transmitted	transmit	VERB
ajst-2993	213	7	waves	wave	NOUN
ajst-2993	213	8	in	in	ADP
ajst-2993	213	9	the	the	DET
ajst-2993	213	10	receiver	receiver	ADJ
ajst-2993	213	11	section	section	NOUN
ajst-2993	213	12	,	,	PUNCT
ajst-2993	213	13	a	a	DET
ajst-2993	213	14	signal	signal	NOUN
ajst-2993	213	15	with	with	ADP
ajst-2993	213	16	a	a	DET
ajst-2993	213	17	beat	beat	ADJ
ajst-2993	213	18	frequency	frequency	NOUN
ajst-2993	213	19	proportional	proportional	NOUN
ajst-2993	213	20	to	to	ADP
ajst-2993	213	21	the	the	DET
ajst-2993	213	22	distance	distance	NOUN
ajst-2993	213	23	r	r	NOUN
ajst-2993	213	24	is	be	AUX
ajst-2993	213	25	extracted	extract	VERB
ajst-2993	213	26	.	.	PUNCT
ajst-2993	214	1	then	then	ADV
ajst-2993	214	2	,	,	PUNCT
ajst-2993	214	3	the	the	DET
ajst-2993	214	4	differential	differential	ADJ
ajst-2993	214	5	beat	beat	NOUN
ajst-2993	214	6	signal	signal	NOUN
ajst-2993	214	7	is	be	AUX
ajst-2993	214	8	analyzed	analyze	VERB
ajst-2993	214	9	by	by	ADP
ajst-2993	214	10	fft	fft	NOUN
ajst-2993	214	11	and	and	CCONJ
ajst-2993	214	12	the	the	DET
ajst-2993	214	13	frequency	frequency	NOUN
ajst-2993	214	14	is	be	AUX
ajst-2993	214	15	extracted	extract	VERB
ajst-2993	214	16	by	by	ADP
ajst-2993	214	17	peak	peak	NOUN
ajst-2993	214	18	detection	detection	NOUN
ajst-2993	214	19	.	.	PUNCT
ajst-2993	215	1	when	when	SCONJ
ajst-2993	215	2	there	there	PRON
ajst-2993	215	3	is	be	VERB
ajst-2993	215	4	a	a	DET
ajst-2993	215	5	relative	relative	ADJ
ajst-2993	215	6	velocity	velocity	NOUN
ajst-2993	215	7	between	between	ADP
ajst-2993	215	8	the	the	DET
ajst-2993	215	9	radar	radar	NOUN
ajst-2993	215	10	and	and	CCONJ
ajst-2993	215	11	the	the	DET
ajst-2993	215	12	target	target	NOUN
ajst-2993	215	13	ahead	ahead	ADV
ajst-2993	215	14	,	,	PUNCT
ajst-2993	215	15	the	the	DET
ajst-2993	215	16	frequency	frequency	NOUN
ajst-2993	215	17	of	of	ADP
ajst-2993	215	18	the	the	DET
ajst-2993	215	19	260	260	NUM
ajst-2993	215	20	reflected	reflect	VERB
ajst-2993	215	21	radio	radio	NOUN
ajst-2993	215	22	wave	wave	NOUN
ajst-2993	215	23	is	be	AUX
ajst-2993	215	24	shifted	shift	VERB
ajst-2993	215	25	due	due	ADP
ajst-2993	215	26	to	to	ADP
ajst-2993	215	27	the	the	DET
ajst-2993	215	28	doppler	doppler	NOUN
ajst-2993	215	29	effect	effect	NOUN
ajst-2993	215	30	.	.	PUNCT
ajst-2993	216	1	by	by	ADP
ajst-2993	216	2	combining	combine	VERB
ajst-2993	216	3	the	the	DET
ajst-2993	216	4	beat	beat	ADJ
ajst-2993	216	5	frequency	frequency	NOUN
ajst-2993	216	6	fbu	fbu	NOUN
ajst-2993	216	7	of	of	ADP
ajst-2993	216	8	the	the	DET
ajst-2993	216	9	rising	rise	VERB
ajst-2993	216	10	section	section	NOUN
ajst-2993	216	11	and	and	CCONJ
ajst-2993	216	12	the	the	DET
ajst-2993	216	13	beat	beat	ADJ
ajst-2993	216	14	frequency	frequency	NOUN
ajst-2993	216	15	fbd	fbd	NOUN
ajst-2993	216	16	of	of	ADP
ajst-2993	216	17	the	the	DET
ajst-2993	216	18	falling	fall	VERB
ajst-2993	216	19	section	section	NOUN
ajst-2993	216	20	,	,	PUNCT
ajst-2993	216	21	the	the	DET
ajst-2993	216	22	frequency	frequency	NOUN
ajst-2993	216	23	fb	fb	NOUN
ajst-2993	216	24	corresponding	correspond	VERB
ajst-2993	216	25	to	to	ADP
ajst-2993	216	26	the	the	DET
ajst-2993	216	27	distance	distance	NOUN
ajst-2993	216	28	and	and	CCONJ
ajst-2993	216	29	the	the	DET
ajst-2993	216	30	frequency	frequency	NOUN
ajst-2993	216	31	fd	fd	PROPN
ajst-2993	216	32	corresponding	correspond	VERB
ajst-2993	216	33	to	to	ADP
ajst-2993	216	34	the	the	DET
ajst-2993	216	35	relative	relative	ADJ
ajst-2993	216	36	velocity	velocity	NOUN
ajst-2993	216	37	can	can	AUX
ajst-2993	216	38	be	be	AUX
ajst-2993	216	39	obtained	obtain	VERB
ajst-2993	216	40	as	as	ADP
ajst-2993	216	41	follows	follow	VERB
ajst-2993	216	42	.	.	PUNCT
ajst-2993	217	1	fm	fm	PROPN
ajst-2993	217	2	continuous	continuous	ADJ
ajst-2993	217	3	wave	wave	NOUN
ajst-2993	217	4	is	be	AUX
ajst-2993	217	5	applied	apply	VERB
ajst-2993	217	6	to	to	PART
ajst-2993	217	7	lidar	lidar	VERB
ajst-2993	217	8	by	by	ADP
ajst-2993	217	9	changing	change	VERB
ajst-2993	217	10	the	the	DET
ajst-2993	217	11	resonant	resonant	ADJ
ajst-2993	217	12	frequency	frequency	NOUN
ajst-2993	217	13	through	through	ADP
ajst-2993	217	14	mechanical	mechanical	ADJ
ajst-2993	217	15	or	or	CCONJ
ajst-2993	217	16	thermal	thermal	ADJ
ajst-2993	217	17	deformation	deformation	NOUN
ajst-2993	217	18	of	of	ADP
ajst-2993	217	19	the	the	DET
ajst-2993	217	20	laser	laser	NOUN
ajst-2993	217	21	medium	medium	NOUN
ajst-2993	217	22	of	of	ADP
ajst-2993	217	23	the	the	DET
ajst-2993	217	24	laser	laser	NOUN
ajst-2993	217	25	diode	diode	NOUN
ajst-2993	217	26	,	,	PUNCT
ajst-2993	217	27	thus	thus	ADV
ajst-2993	217	28	changing	change	VERB
ajst-2993	217	29	the	the	DET
ajst-2993	217	30	wavelength	wavelength	NOUN
ajst-2993	217	31	of	of	ADP
ajst-2993	217	32	the	the	DET
ajst-2993	217	33	laser	laser	NOUN
ajst-2993	217	34	beam	beam	NOUN
ajst-2993	217	35	,	,	PUNCT
ajst-2993	217	36	which	which	PRON
ajst-2993	217	37	results	result	VERB
ajst-2993	217	38	in	in	ADP
ajst-2993	217	39	a	a	DET
ajst-2993	217	40	uniform	uniform	ADJ
ajst-2993	217	41	chirp	chirp	NOUN
ajst-2993	217	42	signal	signal	NOUN
ajst-2993	217	43	from	from	ADP
ajst-2993	217	44	the	the	DET
ajst-2993	217	45	laser	laser	NOUN
ajst-2993	217	46	beam	beam	NOUN
ajst-2993	217	47	.	.	PUNCT
ajst-2993	218	1	figure	figure	NOUN
ajst-2993	218	2	11	11	NUM
ajst-2993	218	3	.	.	PUNCT
ajst-2993	219	1	principle	principle	NOUN
ajst-2993	219	2	of	of	ADP
ajst-2993	219	3	fmcw	fmcw	ADJ
ajst-2993	219	4	figure	figure	NOUN
ajst-2993	219	5	12	12	NUM
ajst-2993	219	6	.	.	PUNCT
ajst-2993	220	1	chirp	chirp	ADJ
ajst-2993	220	2	signal	signal	NOUN
ajst-2993	220	3	wang	wang	PROPN
ajst-2993	220	4	m	m	PROPN
ajst-2993	220	5	,	,	PUNCT
ajst-2993	220	6	on	on	ADP
ajst-2993	220	7	the	the	DET
ajst-2993	220	8	other	other	ADJ
ajst-2993	220	9	hand	hand	NOUN
ajst-2993	220	10	,	,	PUNCT
ajst-2993	220	11	has	have	AUX
ajst-2993	220	12	solved	solve	VERB
ajst-2993	220	13	the	the	DET
ajst-2993	220	14	delay	delay	NOUN
ajst-2993	220	15	problem	problem	NOUN
ajst-2993	220	16	by	by	ADP
ajst-2993	220	17	using	use	VERB
ajst-2993	220	18	fmcw	fmcw	PROPN
ajst-2993	220	19	to	to	PART
ajst-2993	220	20	calculate	calculate	VERB
ajst-2993	220	21	the	the	DET
ajst-2993	220	22	distribution	distribution	NOUN
ajst-2993	220	23	of	of	ADP
ajst-2993	220	24	fog	fog	NOUN
ajst-2993	220	25	and	and	CCONJ
ajst-2993	220	26	rain	rain	NOUN
ajst-2993	220	27	of	of	ADP
ajst-2993	220	28	different	different	ADJ
ajst-2993	220	29	sizes	size	NOUN
ajst-2993	220	30	.	.	PUNCT
ajst-2993	221	1	and	and	CCONJ
ajst-2993	221	2	a	a	DET
ajst-2993	221	3	comparison	comparison	NOUN
ajst-2993	221	4	has	have	AUX
ajst-2993	221	5	been	be	AUX
ajst-2993	221	6	made	make	VERB
ajst-2993	221	7	between	between	ADP
ajst-2993	221	8	extinction	extinction	NOUN
ajst-2993	221	9	measurements	measurement	NOUN
ajst-2993	221	10	using	use	VERB
ajst-2993	221	11	two	two	NUM
ajst-2993	221	12	fmcws	fmcw	NOUN
ajst-2993	221	13	and	and	CCONJ
ajst-2993	221	14	manual	manual	ADJ
ajst-2993	221	15	observations	observation	NOUN
ajst-2993	221	16	during	during	ADP
ajst-2993	221	17	fog	fog	NOUN
ajst-2993	221	18	rain	rain	NOUN
ajst-2993	221	19	.	.	PUNCT
ajst-2993	222	1	the	the	DET
ajst-2993	222	2	results	result	NOUN
ajst-2993	222	3	show	show	VERB
ajst-2993	222	4	that	that	SCONJ
ajst-2993	222	5	the	the	DET
ajst-2993	222	6	fmcw	fmcw	PROPN
ajst-2993	222	7	extinction	extinction	NOUN
ajst-2993	222	8	coefficients	coefficient	NOUN
ajst-2993	222	9	are	be	AUX
ajst-2993	222	10	20	20	NUM
ajst-2993	222	11	%	%	NOUN
ajst-2993	222	12	to	to	PART
ajst-2993	222	13	60	60	NUM
ajst-2993	222	14	%	%	NOUN
ajst-2993	222	15	larger	large	ADJ
ajst-2993	222	16	than	than	ADP
ajst-2993	222	17	the	the	DET
ajst-2993	222	18	manual	manual	ADJ
ajst-2993	222	19	observations	observation	NOUN
ajst-2993	222	20	during	during	ADP
ajst-2993	222	21	rain	rain	NOUN
ajst-2993	222	22	.	.	PUNCT
ajst-2993	223	1	this	this	DET
ajst-2993	223	2	result	result	NOUN
ajst-2993	223	3	can	can	AUX
ajst-2993	223	4	be	be	AUX
ajst-2993	223	5	used	use	VERB
ajst-2993	223	6	to	to	PART
ajst-2993	223	7	define	define	VERB
ajst-2993	223	8	correction	correction	NOUN
ajst-2993	223	9	factors	factor	NOUN
ajst-2993	223	10	so	so	SCONJ
ajst-2993	223	11	that	that	SCONJ
ajst-2993	223	12	the	the	DET
ajst-2993	223	13	fmcw	fmcw	NOUN
ajst-2993	223	14	using	use	VERB
ajst-2993	223	15	forward	forward	ADV
ajst-2993	223	16	scattering	scatter	VERB
ajst-2993	223	17	nir	nir	ADJ
ajst-2993	223	18	spectra	spectra	NOUN
ajst-2993	223	19	can	can	AUX
ajst-2993	223	20	be	be	AUX
ajst-2993	223	21	used	use	VERB
ajst-2993	223	22	to	to	PART
ajst-2993	223	23	estimate	estimate	VERB
ajst-2993	223	24	extinction	extinction	NOUN
ajst-2993	223	25	not	not	PART
ajst-2993	223	26	only	only	ADV
ajst-2993	223	27	during	during	ADP
ajst-2993	223	28	fog	fog	NOUN
ajst-2993	223	29	and	and	CCONJ
ajst-2993	223	30	haze	haze	NOUN
ajst-2993	223	31	but	but	CCONJ
ajst-2993	223	32	also	also	ADV
ajst-2993	223	33	during	during	ADP
ajst-2993	223	34	rain	rain	NOUN
ajst-2993	223	35	.	.	PUNCT
ajst-2993	224	1	an	an	DET
ajst-2993	224	2	appropriate	appropriate	ADJ
ajst-2993	224	3	ratio	ratio	NOUN
ajst-2993	224	4	of	of	ADP
ajst-2993	224	5	the	the	DET
ajst-2993	224	6	scattering	scatter	VERB
ajst-2993	224	7	signal	signal	NOUN
ajst-2993	224	8	to	to	ADP
ajst-2993	224	9	the	the	DET
ajst-2993	224	10	rainfall	rainfall	NOUN
ajst-2993	224	11	extinction	extinction	NOUN
ajst-2993	224	12	coefficient	coefficient	NOUN
ajst-2993	224	13	will	will	AUX
ajst-2993	224	14	be	be	AUX
ajst-2993	224	15	found	find	VERB
ajst-2993	224	16	.	.	PUNCT
ajst-2993	225	1	3.3	3.3	NUM
ajst-2993	225	2	.	.	PUNCT
ajst-2993	226	1	several	several	ADJ
ajst-2993	226	2	common	common	ADJ
ajst-2993	226	3	lidars	lidar	NOUN
ajst-2993	226	4	and	and	CCONJ
ajst-2993	226	5	performance	performance	NOUN
ajst-2993	226	6	analysis	analysis	NOUN
ajst-2993	226	7	with	with	ADP
ajst-2993	226	8	the	the	DET
ajst-2993	226	9	increase	increase	NOUN
ajst-2993	226	10	of	of	ADP
ajst-2993	226	11	lidar	lidar	NOUN
ajst-2993	226	12	types	type	NOUN
ajst-2993	226	13	,	,	PUNCT
ajst-2993	226	14	[	[	X
ajst-2993	226	15	6]each	6]each	NUM
ajst-2993	226	16	lidar	lidar	NOUN
ajst-2993	226	17	has	have	VERB
ajst-2993	226	18	different	different	ADJ
ajst-2993	226	19	characteristics	characteristic	NOUN
ajst-2993	226	20	such	such	ADJ
ajst-2993	226	21	as	as	ADP
ajst-2993	226	22	the	the	DET
ajst-2993	226	23	number	number	NOUN
ajst-2993	226	24	of	of	ADP
ajst-2993	226	25	laser	laser	NOUN
ajst-2993	226	26	emitters	emitter	NOUN
ajst-2993	226	27	,	,	PUNCT
ajst-2993	226	28	resolution	resolution	NOUN
ajst-2993	226	29	,	,	PUNCT
ajst-2993	226	30	field	field	NOUN
ajst-2993	226	31	of	of	ADP
ajst-2993	226	32	view	view	NOUN
ajst-2993	226	33	,	,	PUNCT
ajst-2993	226	34	and	and	CCONJ
ajst-2993	226	35	price	price	NOUN
ajst-2993	226	36	tag	tag	NOUN
ajst-2993	226	37	,	,	PUNCT
ajst-2993	226	38	so	so	ADV
ajst-2993	226	39	a	a	PRON
ajst-2993	226	40	more	more	ADJ
ajst-2993	226	41	in	in	ADP
ajst-2993	226	42	-	-	PUNCT
ajst-2993	226	43	depth	depth	NOUN
ajst-2993	226	44	comparison	comparison	NOUN
ajst-2993	226	45	of	of	ADP
ajst-2993	226	46	their	their	PRON
ajst-2993	226	47	characteristics	characteristic	NOUN
ajst-2993	226	48	and	and	CCONJ
ajst-2993	226	49	performance	performance	NOUN
ajst-2993	226	50	is	be	AUX
ajst-2993	226	51	needed	need	VERB
ajst-2993	226	52	.	.	PUNCT
ajst-2993	227	1	this	this	DET
ajst-2993	227	2	section	section	NOUN
ajst-2993	227	3	compares	compare	VERB
ajst-2993	227	4	10	10	NUM
ajst-2993	227	5	commonly	commonly	ADV
ajst-2993	227	6	used	use	VERB
ajst-2993	227	7	3dlidars	3dlidars	NUM
ajst-2993	227	8	,	,	PUNCT
ajst-2993	227	9	establishing	establish	VERB
ajst-2993	227	10	several	several	ADJ
ajst-2993	227	11	metrics	metric	NOUN
ajst-2993	227	12	to	to	PART
ajst-2993	227	13	evaluate	evaluate	VERB
ajst-2993	227	14	their	their	PRON
ajst-2993	227	15	performance	performance	NOUN
ajst-2993	227	16	.	.	PUNCT
ajst-2993	228	1	the	the	DET
ajst-2993	228	2	test	test	NOUN
ajst-2993	228	3	was	be	AUX
ajst-2993	228	4	conducted	conduct	VERB
ajst-2993	228	5	at	at	ADP
ajst-2993	228	6	the	the	DET
ajst-2993	228	7	japan	japan	PROPN
ajst-2993	228	8	automotive	automotive	PROPN
ajst-2993	228	9	research	research	PROPN
ajst-2993	228	10	institute	institute	PROPN
ajst-2993	228	11	(	(	PUNCT
ajst-2993	228	12	jari	jari	PROPN
ajst-2993	228	13	)	)	PUNCT
ajst-2993	228	14	weather	weather	NOUN
ajst-2993	228	15	room	room	NOUN
ajst-2993	228	16	in	in	ADP
ajst-2993	228	17	tsukuba	tsukuba	PROPN
ajst-2993	228	18	,	,	PUNCT
ajst-2993	228	19	japan	japan	PROPN
ajst-2993	228	20	,	,	PUNCT
ajst-2993	228	21	from	from	ADP
ajst-2993	228	22	september	september	PROPN
ajst-2993	228	23	24	24	NUM
ajst-2993	228	24	to	to	ADP
ajst-2993	228	25	26	26	NUM
ajst-2993	228	26	,	,	PUNCT
ajst-2993	228	27	2019	2019	NUM
ajst-2993	228	28	.	.	PUNCT
ajst-2993	229	1	[	[	X
ajst-2993	229	2	7][8]the	7][8]the	NUM
ajst-2993	229	3	enclosed	enclose	VERB
ajst-2993	229	4	200m	200m	PROPN
ajst-2993	229	5	-	-	PUNCT
ajst-2993	229	6	long	long	ADJ
ajst-2993	229	7	test	test	NOUN
ajst-2993	229	8	site	site	NOUN
ajst-2993	229	9	provided	provide	VERB
ajst-2993	229	10	stable	stable	ADJ
ajst-2993	229	11	and	and	CCONJ
ajst-2993	229	12	comfortable	comfortable	ADJ
ajst-2993	229	13	conditions	condition	NOUN
ajst-2993	229	14	for	for	ADP
ajst-2993	229	15	the	the	DET
ajst-2993	229	16	long	long	ADJ
ajst-2993	229	17	evaluation	evaluation	NOUN
ajst-2993	229	18	process	process	NOUN
ajst-2993	229	19	.	.	PUNCT
ajst-2993	230	1	otherwise	otherwise	ADV
ajst-2993	230	2	,	,	PUNCT
ajst-2993	230	3	it	it	PRON
ajst-2993	230	4	was	be	AUX
ajst-2993	230	5	a	a	DET
ajst-2993	230	6	fairly	fairly	ADV
ajst-2993	230	7	standard	standard	ADJ
ajst-2993	230	8	road	road	NOUN
ajst-2993	230	9	surface	surface	NOUN
ajst-2993	230	10	and	and	CCONJ
ajst-2993	230	11	the	the	DET
ajst-2993	230	12	proposed	propose	VERB
ajst-2993	230	13	experiments	experiment	NOUN
ajst-2993	230	14	were	be	AUX
ajst-2993	230	15	fully	fully	ADV
ajst-2993	230	16	repeatable	repeatable	ADJ
ajst-2993	230	17	.	.	PUNCT
ajst-2993	231	1	the	the	DET
ajst-2993	231	2	lidar	lidar	NOUN
ajst-2993	231	3	was	be	AUX
ajst-2993	231	4	tested	test	VERB
ajst-2993	231	5	under	under	ADP
ajst-2993	231	6	normal	normal	ADJ
ajst-2993	231	7	lighting	lighting	NOUN
ajst-2993	231	8	and	and	CCONJ
ajst-2993	231	9	weather	weather	NOUN
ajst-2993	231	10	conditions	condition	NOUN
ajst-2993	231	11	,	,	PUNCT
ajst-2993	231	12	but	but	CCONJ
ajst-2993	231	13	also	also	ADV
ajst-2993	231	14	under	under	ADP
ajst-2993	231	15	extreme	extreme	ADJ
ajst-2993	231	16	weather	weather	NOUN
ajst-2993	231	17	conditions	condition	NOUN
ajst-2993	231	18	including	include	VERB
ajst-2993	231	19	rain	rain	NOUN
ajst-2993	231	20	,	,	PUNCT
ajst-2993	231	21	fog	fog	NOUN
ajst-2993	231	22	,	,	PUNCT
ajst-2993	231	23	and	and	CCONJ
ajst-2993	231	24	bright	bright	ADJ
ajst-2993	231	25	light	light	NOUN
ajst-2993	231	26	.	.	PUNCT
ajst-2993	232	1	given	give	VERB
ajst-2993	232	2	the	the	DET
ajst-2993	232	3	amount	amount	NOUN
ajst-2993	232	4	of	of	ADP
ajst-2993	232	5	data	datum	NOUN
ajst-2993	232	6	collected	collect	VERB
ajst-2993	232	7	,	,	PUNCT
ajst-2993	232	8	this	this	DET
ajst-2993	232	9	paper	paper	NOUN
ajst-2993	232	10	focuses	focus	VERB
ajst-2993	232	11	on	on	ADP
ajst-2993	232	12	conventional	conventional	ADJ
ajst-2993	232	13	so	so	ADV
ajst-2993	232	14	-	-	PUNCT
ajst-2993	232	15	called	call	VERB
ajst-2993	232	16	static	static	ADJ
ajst-2993	232	17	tests	test	NOUN
ajst-2993	232	18	.	.	PUNCT
ajst-2993	233	1	the	the	DET
ajst-2993	233	2	data	datum	NOUN
ajst-2993	233	3	collected	collect	VERB
ajst-2993	233	4	was	be	AUX
ajst-2993	233	5	publicly	publicly	ADV
ajst-2993	233	6	distributed	distribute	VERB
ajst-2993	233	7	to	to	ADP
ajst-2993	233	8	the	the	DET
ajst-2993	233	9	research	research	NOUN
ajst-2993	233	10	community	community	NOUN
ajst-2993	233	11	and	and	CCONJ
ajst-2993	233	12	also	also	ADV
ajst-2993	233	13	included	include	VERB
ajst-2993	233	14	dynamic	dynamic	ADJ
ajst-2993	233	15	outdoor	outdoor	ADJ
ajst-2993	233	16	scenarios	scenario	NOUN
ajst-2993	233	17	.	.	PUNCT
ajst-2993	234	1	figure	figure	NOUN
ajst-2993	234	2	13	13	NUM
ajst-2993	234	3	.	.	PUNCT
ajst-2993	235	1	lidar	lidar	NOUN
ajst-2993	235	2	tested	test	VERB
ajst-2993	235	3	this	this	DET
ajst-2993	235	4	work	work	NOUN
ajst-2993	235	5	provides	provide	VERB
ajst-2993	235	6	a	a	DET
ajst-2993	235	7	comparative	comparative	ADJ
ajst-2993	235	8	evaluation	evaluation	NOUN
ajst-2993	235	9	of	of	ADP
ajst-2993	235	10	the	the	DET
ajst-2993	235	11	performance	performance	NOUN
ajst-2993	235	12	of	of	ADP
ajst-2993	235	13	10	10	NUM
ajst-2993	235	14	popular	popular	ADJ
ajst-2993	235	15	3d	3d	NOUN
ajst-2993	235	16	lidars	lidar	NOUN
ajst-2993	235	17	used	use	VERB
ajst-2993	235	18	in	in	ADP
ajst-2993	235	19	automated	automate	VERB
ajst-2993	235	20	driving	driving	NOUN
ajst-2993	235	21	systems	system	NOUN
ajst-2993	235	22	.	.	PUNCT
ajst-2993	236	1	this	this	DET
ajst-2993	236	2	research	research	NOUN
ajst-2993	236	3	was	be	AUX
ajst-2993	236	4	made	make	VERB
ajst-2993	236	5	possible	possible	ADJ
ajst-2993	236	6	by	by	ADP
ajst-2993	236	7	the	the	DET
ajst-2993	236	8	first	first	ADJ
ajst-2993	236	9	lidar	lidar	NOUN
ajst-2993	236	10	benchmark	benchmark	NOUN
ajst-2993	236	11	and	and	CCONJ
ajst-2993	236	12	reference	reference	NOUN
ajst-2993	236	13	dataset	dataset	NOUN
ajst-2993	236	14	(	(	PUNCT
ajst-2993	236	15	libre	libre	PROPN
ajst-2993	236	16	)	)	PUNCT
ajst-2993	237	1	[	[	X
ajst-2993	237	2	3	3	NUM
ajst-2993	237	3	]	]	PUNCT
ajst-2993	237	4	.	.	PUNCT
ajst-2993	238	1	this	this	DET
ajst-2993	238	2	work	work	NOUN
ajst-2993	238	3	and	and	CCONJ
ajst-2993	238	4	supporting	support	VERB
ajst-2993	238	5	datasets	dataset	NOUN
ajst-2993	238	6	represent	represent	VERB
ajst-2993	238	7	the	the	DET
ajst-2993	238	8	starting	starting	NOUN
ajst-2993	238	9	point	point	NOUN
ajst-2993	238	10	for	for	ADP
ajst-2993	238	11	a	a	DET
ajst-2993	238	12	series	series	NOUN
ajst-2993	238	13	of	of	ADP
ajst-2993	238	14	fundamental	fundamental	ADJ
ajst-2993	238	15	,	,	PUNCT
ajst-2993	238	16	direct	direct	ADJ
ajst-2993	238	17	comparisons	comparison	NOUN
ajst-2993	238	18	of	of	ADP
ajst-2993	238	19	3d	3d	NUM
ajst-2993	238	20	lidar	lidar	NOUN
ajst-2993	238	21	for	for	ADP
ajst-2993	238	22	automated	automate	VERB
ajst-2993	238	23	driving	driving	NOUN
ajst-2993	238	24	.	.	PUNCT
ajst-2993	239	1	since	since	SCONJ
ajst-2993	239	2	3d	3d	PROPN
ajst-2993	239	3	lidar	lidar	NOUN
ajst-2993	239	4	sensing	sense	VERB
ajst-2993	239	5	is	be	AUX
ajst-2993	239	6	a	a	DET
ajst-2993	239	7	relatively	relatively	ADV
ajst-2993	239	8	new	new	ADJ
ajst-2993	239	9	technology	technology	NOUN
ajst-2993	239	10	with	with	ADP
ajst-2993	239	11	applications	application	NOUN
ajst-2993	239	12	in	in	ADP
ajst-2993	239	13	safety	safety	NOUN
ajst-2993	239	14	-	-	PUNCT
ajst-2993	239	15	critical	critical	ADJ
ajst-2993	239	16	driving	driving	NOUN
ajst-2993	239	17	,	,	PUNCT
ajst-2993	239	18	the	the	DET
ajst-2993	239	19	development	development	NOUN
ajst-2993	239	20	of	of	ADP
ajst-2993	239	21	this	this	DET
ajst-2993	239	22	research	research	NOUN
ajst-2993	239	23	area	area	NOUN
ajst-2993	239	24	is	be	AUX
ajst-2993	239	25	critical	critical	ADJ
ajst-2993	239	26	.	.	PUNCT
ajst-2993	240	1	3.4	3.4	NUM
ajst-2993	240	2	.	.	PUNCT
ajst-2993	241	1	latest	late	ADJ
ajst-2993	241	2	and	and	CCONJ
ajst-2993	241	3	future	future	ADJ
ajst-2993	241	4	lidar	lidar	NOUN
ajst-2993	241	5	for	for	ADP
ajst-2993	241	6	future	future	ADJ
ajst-2993	241	7	lidar	lidar	NOUN
ajst-2993	241	8	,	,	PUNCT
ajst-2993	241	9	the	the	DET
ajst-2993	241	10	trend	trend	NOUN
ajst-2993	241	11	is	be	AUX
ajst-2993	241	12	toward	toward	ADP
ajst-2993	241	13	a	a	DET
ajst-2993	241	14	mechanization	mechanization	NOUN
ajst-2993	241	15	-	-	PUNCT
ajst-2993	241	16	free	free	ADJ
ajst-2993	241	17	scanning	scanning	NOUN
ajst-2993	241	18	method	method	NOUN
ajst-2993	241	19	,	,	PUNCT
ajst-2993	241	20	and	and	CCONJ
ajst-2993	241	21	the	the	DET
ajst-2993	241	22	actual	actual	ADJ
ajst-2993	241	23	direction	direction	NOUN
ajst-2993	241	24	of	of	ADP
ajst-2993	241	25	the	the	DET
ajst-2993	241	26	mechanization	mechanization	NOUN
ajst-2993	241	27	-	-	PUNCT
ajst-2993	241	28	free	free	ADJ
ajst-2993	241	29	system	system	NOUN
ajst-2993	241	30	used	use	VERB
ajst-2993	241	31	is	be	AUX
ajst-2993	241	32	the	the	DET
ajst-2993	241	33	flash	flash	NOUN
ajst-2993	241	34	method	method	NOUN
ajst-2993	241	35	as	as	SCONJ
ajst-2993	241	36	shown	show	VERB
ajst-2993	241	37	in	in	ADP
ajst-2993	241	38	the	the	DET
ajst-2993	241	39	figure	figure	NOUN
ajst-2993	241	40	,	,	PUNCT
ajst-2993	241	41	in	in	ADP
ajst-2993	241	42	which	which	PRON
ajst-2993	241	43	many	many	ADJ
ajst-2993	241	44	beams	beam	NOUN
ajst-2993	241	45	are	be	AUX
ajst-2993	241	46	illuminated	illuminate	VERB
ajst-2993	241	47	simultaneously	simultaneously	ADV
ajst-2993	241	48	.	.	PUNCT
ajst-2993	242	1	the	the	DET
ajst-2993	242	2	disadvantage	disadvantage	NOUN
ajst-2993	242	3	of	of	ADP
ajst-2993	242	4	the	the	DET
ajst-2993	242	5	flash	flash	NOUN
ajst-2993	242	6	method	method	NOUN
ajst-2993	242	7	is	be	AUX
ajst-2993	242	8	that	that	SCONJ
ajst-2993	242	9	the	the	DET
ajst-2993	242	10	resolution	resolution	NOUN
ajst-2993	242	11	is	be	AUX
ajst-2993	242	12	lower	low	ADJ
ajst-2993	242	13	but	but	CCONJ
ajst-2993	242	14	higher	high	ADJ
ajst-2993	242	15	than	than	ADP
ajst-2993	242	16	the	the	DET
ajst-2993	242	17	radar	radar	NOUN
ajst-2993	242	18	resolution	resolution	NOUN
ajst-2993	242	19	.	.	PUNCT
ajst-2993	243	1	figure	figure	NOUN
ajst-2993	243	2	14	14	NUM
ajst-2993	243	3	.	.	PUNCT
ajst-2993	244	1	example	example	NOUN
ajst-2993	244	2	of	of	ADP
ajst-2993	244	3	flash	flash	NOUN
ajst-2993	244	4	method	method	NOUN
ajst-2993	244	5	another	another	DET
ajst-2993	244	6	mechanization	mechanization	NOUN
ajst-2993	244	7	-	-	PUNCT
ajst-2993	244	8	free	free	ADJ
ajst-2993	244	9	method	method	NOUN
ajst-2993	244	10	for	for	ADP
ajst-2993	244	11	commercial	commercial	ADJ
ajst-2993	244	12	use	use	NOUN
ajst-2993	244	13	is	be	AUX
ajst-2993	244	14	the	the	DET
ajst-2993	244	15	use	use	NOUN
ajst-2993	244	16	of	of	ADP
ajst-2993	244	17	mems	mem	NOUN
ajst-2993	244	18	mirrors	mirror	NOUN
ajst-2993	244	19	,	,	PUNCT
ajst-2993	244	20	as	as	SCONJ
ajst-2993	244	21	shown	show	VERB
ajst-2993	244	22	in	in	ADP
ajst-2993	244	23	fig	fig	NOUN
ajst-2993	244	24	.	.	PUNCT
ajst-2993	245	1	mems	mem	NOUN
ajst-2993	245	2	mirrors	mirror	NOUN
ajst-2993	245	3	scan	scan	VERB
ajst-2993	245	4	the	the	DET
ajst-2993	245	5	laser	laser	NOUN
ajst-2993	245	6	beam	beam	NOUN
ajst-2993	245	7	to	to	PART
ajst-2993	245	8	mention	mention	VERB
ajst-2993	245	9	the	the	DET
ajst-2993	245	10	resolution	resolution	NOUN
ajst-2993	245	11	point	point	NOUN
ajst-2993	245	12	cloud	cloud	NOUN
ajst-2993	245	13	.	.	PUNCT
ajst-2993	246	1	figure	figure	VERB
ajst-2993	246	2	15	15	NUM
ajst-2993	246	3	.	.	PUNCT
ajst-2993	246	4	example	example	NOUN
ajst-2993	246	5	of	of	ADP
ajst-2993	246	6	mems	mem	NOUN
ajst-2993	246	7	method	method	NOUN
ajst-2993	246	8	to	to	PART
ajst-2993	246	9	sum	sum	VERB
ajst-2993	246	10	up	up	ADP
ajst-2993	246	11	,	,	PUNCT
ajst-2993	246	12	in	in	ADP
ajst-2993	246	13	the	the	DET
ajst-2993	246	14	era	era	NOUN
ajst-2993	246	15	of	of	ADP
ajst-2993	246	16	automated	automate	VERB
ajst-2993	246	17	driving	driving	NOUN
ajst-2993	246	18	,	,	PUNCT
ajst-2993	246	19	in	in	ADP
ajst-2993	246	20	-	-	PUNCT
ajst-2993	246	21	vehicle	vehicle	NOUN
ajst-2993	246	22	sensors	sensor	NOUN
ajst-2993	246	23	will	will	AUX
ajst-2993	246	24	shift	shift	VERB
ajst-2993	246	25	from	from	ADP
ajst-2993	246	26	radar	radar	NOUN
ajst-2993	246	27	to	to	PART
ajst-2993	246	28	lidar	lidar	VERB
ajst-2993	246	29	.	.	PUNCT
ajst-2993	247	1	this	this	PRON
ajst-2993	247	2	is	be	AUX
ajst-2993	247	3	because	because	SCONJ
ajst-2993	247	4	future	future	ADJ
ajst-2993	247	5	improvements	improvement	NOUN
ajst-2993	247	6	in	in	ADP
ajst-2993	247	7	lidar	lidar	NOUN
ajst-2993	247	8	will	will	AUX
ajst-2993	247	9	bring	bring	VERB
ajst-2993	247	10	many	many	ADJ
ajst-2993	247	11	advantages	advantage	NOUN
ajst-2993	247	12	over	over	ADP
ajst-2993	247	13	the	the	DET
ajst-2993	247	14	radar	radar	NOUN
ajst-2993	247	15	,	,	PUNCT
ajst-2993	247	16	as	as	SCONJ
ajst-2993	247	17	shown	show	VERB
ajst-2993	247	18	here	here	ADV
ajst-2993	247	19	.	.	PUNCT
ajst-2993	248	1	lidar	lidar	NOUN
ajst-2993	248	2	will	will	AUX
ajst-2993	248	3	also	also	ADV
ajst-2993	248	4	be	be	AUX
ajst-2993	248	5	used	use	VERB
ajst-2993	248	6	for	for	ADP
ajst-2993	248	7	automated	automate	VERB
ajst-2993	248	8	indoor	indoor	ADJ
ajst-2993	248	9	robots	robot	NOUN
ajst-2993	248	10	.	.	PUNCT
ajst-2993	249	1	lidar	lidar	NOUN
ajst-2993	249	2	will	will	AUX
ajst-2993	249	3	become	become	VERB
ajst-2993	249	4	an	an	DET
ajst-2993	249	5	increasingly	increasingly	ADV
ajst-2993	249	6	popular	popular	ADJ
ajst-2993	249	7	in	in	ADP
ajst-2993	249	8	261	261	NUM
ajst-2993	249	9	vehicle	vehicle	NOUN
ajst-2993	249	10	sensor	sensor	NOUN
ajst-2993	249	11	by	by	ADP
ajst-2993	249	12	using	use	VERB
ajst-2993	249	13	a	a	DET
ajst-2993	249	14	mechanical	mechanical	ADJ
ajst-2993	249	15	-	-	PUNCT
ajst-2993	249	16	free	free	ADJ
ajst-2993	249	17	scanning	scanning	NOUN
ajst-2993	249	18	approach	approach	NOUN
ajst-2993	249	19	and	and	CCONJ
ajst-2993	249	20	by	by	ADP
ajst-2993	249	21	using	use	VERB
ajst-2993	249	22	fmcw	fmcw	PROPN
ajst-2993	249	23	to	to	PART
ajst-2993	249	24	address	address	VERB
ajst-2993	249	25	latency	latency	NOUN
ajst-2993	249	26	issues	issue	NOUN
ajst-2993	249	27	.	.	PUNCT
ajst-2993	250	1	based	base	VERB
ajst-2993	250	2	on	on	ADP
ajst-2993	250	3	the	the	DET
ajst-2993	250	4	above	above	ADJ
ajst-2993	250	5	research	research	NOUN
ajst-2993	250	6	,	,	PUNCT
ajst-2993	250	7	the	the	DET
ajst-2993	250	8	authors	author	NOUN
ajst-2993	250	9	believe	believe	VERB
ajst-2993	250	10	that	that	SCONJ
ajst-2993	250	11	multisensor	multisensor	NOUN
ajst-2993	250	12	fusion	fusion	NOUN
ajst-2993	250	13	solutions	solution	NOUN
ajst-2993	250	14	are	be	AUX
ajst-2993	250	15	also	also	ADV
ajst-2993	250	16	an	an	DET
ajst-2993	250	17	important	important	ADJ
ajst-2993	250	18	solution	solution	NOUN
ajst-2993	250	19	for	for	ADP
ajst-2993	250	20	future	future	ADJ
ajst-2993	250	21	detection	detection	NOUN
ajst-2993	250	22	problems	problem	NOUN
ajst-2993	250	23	in	in	ADP
ajst-2993	250	24	automated	automate	VERB
ajst-2993	250	25	driving	driving	NOUN
ajst-2993	250	26	.	.	PUNCT
ajst-2993	251	1	this	this	DET
ajst-2993	251	2	capability	capability	NOUN
ajst-2993	251	3	requires	require	VERB
ajst-2993	251	4	the	the	DET
ajst-2993	251	5	simultaneous	simultaneous	ADJ
ajst-2993	251	6	estimation	estimation	NOUN
ajst-2993	251	7	of	of	ADP
ajst-2993	251	8	a	a	DET
ajst-2993	251	9	large	large	ADJ
ajst-2993	251	10	number	number	NOUN
ajst-2993	251	11	of	of	ADP
ajst-2993	251	12	variables	variable	NOUN
ajst-2993	251	13	,	,	PUNCT
ajst-2993	251	14	which	which	PRON
ajst-2993	251	15	poses	pose	VERB
ajst-2993	251	16	difficulties	difficulty	NOUN
ajst-2993	251	17	for	for	ADP
ajst-2993	251	18	any	any	DET
ajst-2993	251	19	singlesensor	singlesensor	NOUN
ajst-2993	251	20	solution	solution	NOUN
ajst-2993	251	21	.	.	PUNCT
ajst-2993	252	1	this	this	PRON
ajst-2993	252	2	is	be	AUX
ajst-2993	252	3	a	a	DET
ajst-2993	252	4	good	good	ADJ
ajst-2993	252	5	scenario	scenario	NOUN
ajst-2993	252	6	for	for	ADP
ajst-2993	252	7	sensor	sensor	NOUN
ajst-2993	252	8	fusion	fusion	NOUN
ajst-2993	252	9	systems	system	NOUN
ajst-2993	252	10	that	that	PRON
ajst-2993	252	11	can	can	AUX
ajst-2993	252	12	combine	combine	VERB
ajst-2993	252	13	the	the	DET
ajst-2993	252	14	strengths	strength	NOUN
ajst-2993	252	15	of	of	ADP
ajst-2993	252	16	each	each	DET
ajst-2993	252	17	sensor	sensor	NOUN
ajst-2993	252	18	to	to	PART
ajst-2993	252	19	improve	improve	VERB
ajst-2993	252	20	the	the	DET
ajst-2993	252	21	solution	solution	NOUN
ajst-2993	252	22	.	.	PUNCT
ajst-2993	253	1	for	for	ADP
ajst-2993	253	2	example	example	NOUN
ajst-2993	253	3	,	,	PUNCT
ajst-2993	253	4	radar	radar	NOUN
ajst-2993	253	5	and	and	CCONJ
ajst-2993	253	6	lidar	lidar	NOUN
ajst-2993	253	7	fusion	fusion	NOUN
ajst-2993	253	8	improves	improve	VERB
ajst-2993	253	9	the	the	DET
ajst-2993	253	10	speed	speed	NOUN
ajst-2993	253	11	accuracy	accuracy	NOUN
ajst-2993	253	12	obtained	obtain	VERB
ajst-2993	253	13	with	with	ADP
ajst-2993	253	14	lidar	lidar	NOUN
ajst-2993	253	15	alone	alone	ADV
ajst-2993	253	16	and	and	CCONJ
ajst-2993	253	17	maintains	maintain	VERB
ajst-2993	253	18	good	good	ADJ
ajst-2993	253	19	quality	quality	NOUN
ajst-2993	253	20	of	of	ADP
ajst-2993	253	21	position	position	NOUN
ajst-2993	253	22	and	and	CCONJ
ajst-2993	253	23	speed	speed	NOUN
ajst-2993	253	24	estimation	estimation	NOUN
ajst-2993	253	25	when	when	SCONJ
ajst-2993	253	26	the	the	DET
ajst-2993	253	27	radar	radar	NOUN
ajst-2993	253	28	is	be	AUX
ajst-2993	253	29	not	not	PART
ajst-2993	253	30	available	available	ADJ
ajst-2993	253	31	,	,	PUNCT
ajst-2993	253	32	especially	especially	ADV
ajst-2993	253	33	on	on	ADP
ajst-2993	253	34	curved	curved	ADJ
ajst-2993	253	35	roads	road	NOUN
ajst-2993	253	36	.	.	PUNCT
ajst-2993	254	1	radar	radar	NOUN
ajst-2993	254	2	and	and	CCONJ
ajst-2993	254	3	vision	vision	NOUN
ajst-2993	254	4	fusion	fusion	NOUN
ajst-2993	254	5	techniques	technique	NOUN
ajst-2993	254	6	use	use	VERB
ajst-2993	254	7	radar	radar	NOUN
ajst-2993	254	8	information	information	NOUN
ajst-2993	254	9	to	to	PART
ajst-2993	254	10	locate	locate	VERB
ajst-2993	254	11	areas	area	NOUN
ajst-2993	254	12	of	of	ADP
ajst-2993	254	13	interest	interest	NOUN
ajst-2993	254	14	on	on	ADP
ajst-2993	254	15	an	an	DET
ajst-2993	254	16	image	image	NOUN
ajst-2993	254	17	,	,	PUNCT
ajst-2993	254	18	which	which	PRON
ajst-2993	254	19	is	be	AUX
ajst-2993	254	20	then	then	ADV
ajst-2993	254	21	processed	process	VERB
ajst-2993	254	22	to	to	PART
ajst-2993	254	23	detect	detect	VERB
ajst-2993	254	24	vehicles	vehicle	NOUN
ajst-2993	254	25	and	and	CCONJ
ajst-2993	254	26	improve	improve	VERB
ajst-2993	254	27	their	their	PRON
ajst-2993	254	28	position	position	NOUN
ajst-2993	254	29	estimation	estimation	NOUN
ajst-2993	254	30	.	.	PUNCT
ajst-2993	255	1	lidar	lidar	NOUN
ajst-2993	255	2	and	and	CCONJ
ajst-2993	255	3	vision	vision	NOUN
ajst-2993	255	4	sensors	sensor	NOUN
ajst-2993	255	5	are	be	AUX
ajst-2993	255	6	fused	fuse	VERB
ajst-2993	255	7	in	in	ADP
ajst-2993	255	8	.	.	PUNCT
ajst-2993	256	1	obstacles	obstacle	NOUN
ajst-2993	256	2	are	be	AUX
ajst-2993	256	3	detected	detect	VERB
ajst-2993	256	4	and	and	CCONJ
ajst-2993	256	5	tracked	track	VERB
ajst-2993	256	6	using	use	VERB
ajst-2993	256	7	lidar	lidar	NOUN
ajst-2993	256	8	,	,	PUNCT
ajst-2993	256	9	and	and	CCONJ
ajst-2993	256	10	targets	target	NOUN
ajst-2993	256	11	are	be	AUX
ajst-2993	256	12	classified	classify	VERB
ajst-2993	256	13	using	use	VERB
ajst-2993	256	14	a	a	DET
ajst-2993	256	15	combination	combination	NOUN
ajst-2993	256	16	of	of	ADP
ajst-2993	256	17	camera	camera	NOUN
ajst-2993	256	18	and	and	CCONJ
ajst-2993	256	19	lidar	lidar	NOUN
ajst-2993	256	20	detection	detection	NOUN
ajst-2993	256	21	.	.	PUNCT
ajst-2993	257	1	4	4	X
ajst-2993	257	2	.	.	X
ajst-2993	257	3	summary	summary	NOUN
ajst-2993	257	4	choosing	choose	VERB
ajst-2993	257	5	a	a	DET
ajst-2993	257	6	sensor	sensor	NOUN
ajst-2993	257	7	configuration	configuration	NOUN
ajst-2993	257	8	for	for	ADP
ajst-2993	257	9	self	self	NOUN
ajst-2993	257	10	-	-	PUNCT
ajst-2993	257	11	driving	drive	VERB
ajst-2993	257	12	vehicles	vehicle	NOUN
ajst-2993	257	13	can	can	AUX
ajst-2993	257	14	be	be	AUX
ajst-2993	257	15	challenging	challenge	VERB
ajst-2993	257	16	,	,	PUNCT
ajst-2993	257	17	with	with	ADP
ajst-2993	257	18	each	each	DET
ajst-2993	257	19	sensor	sensor	NOUN
ajst-2993	257	20	having	have	VERB
ajst-2993	257	21	different	different	ADJ
ajst-2993	257	22	advantages	advantage	NOUN
ajst-2993	257	23	and	and	CCONJ
ajst-2993	257	24	disadvantages	disadvantage	NOUN
ajst-2993	257	25	in	in	ADP
ajst-2993	257	26	terms	term	NOUN
ajst-2993	257	27	of	of	ADP
ajst-2993	257	28	the	the	DET
ajst-2993	257	29	type	type	NOUN
ajst-2993	257	30	of	of	ADP
ajst-2993	257	31	information	information	NOUN
ajst-2993	257	32	acquired	acquire	VERB
ajst-2993	257	33	,	,	PUNCT
ajst-2993	257	34	overall	overall	ADJ
ajst-2993	257	35	accuracy	accuracy	NOUN
ajst-2993	257	36	,	,	PUNCT
ajst-2993	257	37	and	and	CCONJ
ajst-2993	257	38	operating	operating	NOUN
ajst-2993	257	39	conditions	condition	NOUN
ajst-2993	257	40	.	.	PUNCT
ajst-2993	258	1	this	this	DET
ajst-2993	258	2	review	review	NOUN
ajst-2993	258	3	reviews	review	VERB
ajst-2993	258	4	the	the	DET
ajst-2993	258	5	most	most	ADV
ajst-2993	258	6	popular	popular	ADJ
ajst-2993	258	7	sensor	sensor	NOUN
ajst-2993	258	8	technologies	technology	NOUN
ajst-2993	258	9	,	,	PUNCT
ajst-2993	258	10	describing	describe	VERB
ajst-2993	258	11	their	their	PRON
ajst-2993	258	12	characteristics	characteristic	NOUN
ajst-2993	258	13	and	and	CCONJ
ajst-2993	258	14	how	how	SCONJ
ajst-2993	258	15	they	they	PRON
ajst-2993	258	16	can	can	AUX
ajst-2993	258	17	be	be	AUX
ajst-2993	258	18	applied	apply	VERB
ajst-2993	258	19	to	to	PART
ajst-2993	258	20	obtain	obtain	VERB
ajst-2993	258	21	useful	useful	ADJ
ajst-2993	258	22	information	information	NOUN
ajst-2993	258	23	to	to	PART
ajst-2993	258	24	address	address	VERB
ajst-2993	258	25	key	key	ADJ
ajst-2993	258	26	sensing	sensing	ADJ
ajst-2993	258	27	capabilities	capability	NOUN
ajst-2993	258	28	.	.	PUNCT
ajst-2993	259	1	it	it	PRON
ajst-2993	259	2	then	then	ADV
ajst-2993	259	3	focuses	focus	VERB
ajst-2993	259	4	on	on	ADP
ajst-2993	259	5	the	the	DET
ajst-2993	259	6	principles	principle	NOUN
ajst-2993	259	7	,	,	PUNCT
ajst-2993	259	8	and	and	CCONJ
ajst-2993	259	9	problems	problem	NOUN
ajst-2993	259	10	of	of	ADP
ajst-2993	259	11	lidar	lidar	NOUN
ajst-2993	259	12	sensors	sensor	NOUN
ajst-2993	259	13	,	,	PUNCT
ajst-2993	259	14	gives	give	VERB
ajst-2993	259	15	some	some	DET
ajst-2993	259	16	papers	paper	NOUN
ajst-2993	259	17	that	that	PRON
ajst-2993	259	18	propose	propose	VERB
ajst-2993	259	19	solutions	solution	NOUN
ajst-2993	259	20	to	to	ADP
ajst-2993	259	21	these	these	DET
ajst-2993	259	22	problems	problem	NOUN
ajst-2993	259	23	,	,	PUNCT
ajst-2993	259	24	and	and	CCONJ
ajst-2993	259	25	finally	finally	ADV
ajst-2993	259	26	looks	look	VERB
ajst-2993	259	27	at	at	ADP
ajst-2993	259	28	the	the	DET
ajst-2993	259	29	latest	late	ADJ
ajst-2993	259	30	technologies	technology	NOUN
ajst-2993	259	31	for	for	ADP
ajst-2993	259	32	lidar	lidar	NOUN
ajst-2993	259	33	sensors	sensor	NOUN
ajst-2993	259	34	and	and	CCONJ
ajst-2993	259	35	proposes	propose	VERB
ajst-2993	259	36	the	the	DET
ajst-2993	259	37	feasibility	feasibility	NOUN
ajst-2993	259	38	of	of	ADP
ajst-2993	259	39	multi	multi	ADJ
ajst-2993	259	40	-	-	ADJ
ajst-2993	259	41	sensor	sensor	ADJ
ajst-2993	259	42	fusion	fusion	NOUN
ajst-2993	259	43	solutions	solution	NOUN
ajst-2993	259	44	based	base	VERB
ajst-2993	259	45	on	on	ADP
ajst-2993	259	46	these	these	DET
ajst-2993	259	47	studies	study	NOUN
ajst-2993	259	48	.	.	PUNCT
ajst-2993	260	1	acknowledgment	acknowledgment	NOUN
ajst-2993	260	2	i	i	PRON
ajst-2993	260	3	would	would	AUX
ajst-2993	260	4	like	like	VERB
ajst-2993	260	5	to	to	PART
ajst-2993	260	6	express	express	VERB
ajst-2993	260	7	my	my	PRON
ajst-2993	260	8	sincere	sincere	ADJ
ajst-2993	260	9	gratitude	gratitude	NOUN
ajst-2993	260	10	and	and	CCONJ
ajst-2993	260	11	thanks	thank	NOUN
ajst-2993	260	12	to	to	ADP
ajst-2993	260	13	prof	prof	PROPN
ajst-2993	260	14	.	.	PUNCT
ajst-2993	261	1	bu	bu	PROPN
ajst-2993	262	1	ling	ling	PROPN
ajst-2993	262	2	.	.	PUNCT
ajst-2993	263	1	this	this	DET
ajst-2993	263	2	work	work	NOUN
ajst-2993	263	3	was	be	AUX
ajst-2993	263	4	inspired	inspire	VERB
ajst-2993	263	5	by	by	ADP
ajst-2993	263	6	the	the	DET
ajst-2993	263	7	fourth	fourth	ADJ
ajst-2993	263	8	chapter	chapter	NOUN
ajst-2993	263	9	of	of	ADP
ajst-2993	263	10	light	light	NOUN
ajst-2993	263	11	and	and	CCONJ
ajst-2993	263	12	radiation	radiation	NOUN
ajst-2993	263	13	in	in	ADP
ajst-2993	263	14	professor	professor	PROPN
ajst-2993	263	15	bu	bu	PROPN
ajst-2993	263	16	ling	ling	PROPN
ajst-2993	263	17	's	's	PART
ajst-2993	263	18	course	course	NOUN
ajst-2993	263	19	sensors	sensor	NOUN
ajst-2993	263	20	and	and	CCONJ
ajst-2993	263	21	transducers	transducer	NOUN
ajst-2993	263	22	and	and	CCONJ
ajst-2993	263	23	the	the	DET
ajst-2993	263	24	review	review	NOUN
ajst-2993	263	25	article	article	NOUN
ajst-2993	263	26	on	on	ADP
ajst-2993	263	27	automated	automate	VERB
ajst-2993	263	28	driving	driving	NOUN
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ajst-2993	264	4	of	of	ADP
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ajst-2993	264	18	,	,	PUNCT
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ajst-2993	264	21	,	,	PUNCT
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ajst-2993	265	4	]	]	PUNCT
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ajst-2993	266	2	-	-	SYM
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ajst-2993	266	4	,	,	PUNCT
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ajst-2993	267	3	]	]	PUNCT
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ajst-2993	267	19	-	-	PUNCT
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ajst-2993	268	20	,	,	PUNCT
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ajst-2993	270	47	-	-	SYM
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ajst-2993	275	6	,	,	PUNCT
ajst-2993	275	7	doi	doi	NOUN
ajst-2993	275	8	:	:	PUNCT
ajst-2993	275	9	10.1109	10.1109	NUM
ajst-2993	275	10	/	/	SYM
ajst-2993	275	11	access.2020.3009680	access.2020.3009680	PROPN
ajst-2993	275	12	.	.	PUNCT