id	sid	tid	token	lemma	pos
ajst-30212	1	1	academic	academic	ADJ
ajst-30212	1	2	journal	journal	NOUN
ajst-30212	1	3	of	of	ADP
ajst-30212	1	4	science	science	NOUN
ajst-30212	1	5	and	and	CCONJ
ajst-30212	1	6	technology	technology	NOUN
ajst-30212	1	7	issn	issn	NOUN
ajst-30212	1	8	:	:	PUNCT
ajst-30212	1	9	2771	2771	NUM
ajst-30212	1	10	-	-	SYM
ajst-30212	1	11	3032	3032	NUM
ajst-30212	1	12	|	|	NOUN
ajst-30212	1	13	vol	vol	NOUN
ajst-30212	1	14	.	.	PUNCT
ajst-30212	2	1	14	14	NUM
ajst-30212	2	2	,	,	PUNCT
ajst-30212	2	3	no	no	INTJ
ajst-30212	2	4	.	.	NOUN
ajst-30212	2	5	3	3	NUM
ajst-30212	2	6	,	,	PUNCT
ajst-30212	2	7	2025	2025	NUM
ajst-30212	2	8	228	228	NUM
ajst-30212	2	9	adaptive	adaptive	ADJ
ajst-30212	2	10	visual	visual	ADJ
ajst-30212	2	11	obstacle	obstacle	NOUN
ajst-30212	2	12	avoidance	avoidance	NOUN
ajst-30212	2	13	algorithm	algorithm	NOUN
ajst-30212	2	14	for	for	ADP
ajst-30212	2	15	aerial	aerial	ADJ
ajst-30212	2	16	drones	drone	NOUN
ajst-30212	2	17	integrating	integrate	VERB
ajst-30212	2	18	deep	deep	ADJ
ajst-30212	2	19	learning	learning	NOUN
ajst-30212	2	20	and	and	CCONJ
ajst-30212	2	21	spatial	spatial	ADJ
ajst-30212	2	22	geometric	geometric	ADJ
ajst-30212	2	23	transformations	transformation	NOUN
ajst-30212	2	24	haitian	haitian	ADJ
ajst-30212	2	25	sun1	sun1	NOUN
ajst-30212	2	26	,	,	PUNCT
ajst-30212	2	27	a	a	DET
ajst-30212	2	28	1school	1school	NUM
ajst-30212	2	29	of	of	ADP
ajst-30212	2	30	advanced	advanced	ADJ
ajst-30212	2	31	technology	technology	NOUN
ajst-30212	2	32	,	,	PUNCT
ajst-30212	2	33	xi’an	xi’an	PROPN
ajst-30212	2	34	jiaotong	jiaotong	PROPN
ajst-30212	2	35	-	-	PUNCT
ajst-30212	2	36	liverpool	liverpool	PROPN
ajst-30212	2	37	university	university	NOUN
ajst-30212	2	38	,	,	PUNCT
ajst-30212	2	39	suzhou	suzhou	PROPN
ajst-30212	2	40	,	,	PUNCT
ajst-30212	2	41	jiangsu	jiangsu	PROPN
ajst-30212	2	42	,	,	PUNCT
ajst-30212	2	43	215000	215000	NUM
ajst-30212	2	44	,	,	PUNCT
ajst-30212	2	45	china	china	PROPN
ajst-30212	2	46	ahaitian.sun22@student.xjtlu.edu.cn	ahaitian.sun22@student.xjtlu.edu.cn	PROPN
ajst-30212	2	47	abstract	abstract	PROPN
ajst-30212	3	1	:	:	PUNCT
ajst-30212	3	2	this	this	DET
ajst-30212	3	3	study	study	NOUN
ajst-30212	3	4	proposes	propose	VERB
ajst-30212	3	5	a	a	DET
ajst-30212	3	6	new	new	ADJ
ajst-30212	3	7	visual	visual	ADJ
ajst-30212	3	8	obstacle	obstacle	NOUN
ajst-30212	3	9	avoidance	avoidance	NOUN
ajst-30212	3	10	method	method	NOUN
ajst-30212	3	11	for	for	ADP
ajst-30212	3	12	drones	drone	NOUN
ajst-30212	3	13	based	base	VERB
ajst-30212	3	14	on	on	ADP
ajst-30212	3	15	the	the	DET
ajst-30212	3	16	yolo	yolo	ADJ
ajst-30212	3	17	and	and	CCONJ
ajst-30212	3	18	pnp	pnp	PROPN
ajst-30212	3	19	algorithms	algorithm	NOUN
ajst-30212	3	20	.	.	PUNCT
ajst-30212	4	1	most	most	ADJ
ajst-30212	4	2	existing	exist	VERB
ajst-30212	4	3	obstacle	obstacle	NOUN
ajst-30212	4	4	avoidance	avoidance	NOUN
ajst-30212	4	5	methods	method	NOUN
ajst-30212	4	6	are	be	AUX
ajst-30212	4	7	based	base	VERB
ajst-30212	4	8	on	on	ADP
ajst-30212	4	9	sensors	sensor	NOUN
ajst-30212	4	10	such	such	ADJ
ajst-30212	4	11	as	as	ADP
ajst-30212	4	12	lidar	lidar	NOUN
ajst-30212	4	13	and	and	CCONJ
ajst-30212	4	14	ultrasonic	ultrasonic	ADJ
ajst-30212	4	15	sensors	sensor	NOUN
ajst-30212	4	16	,	,	PUNCT
ajst-30212	4	17	or	or	CCONJ
ajst-30212	4	18	visual	visual	ADJ
ajst-30212	4	19	obstacle	obstacle	NOUN
ajst-30212	4	20	avoidance	avoidance	NOUN
ajst-30212	4	21	methods	method	NOUN
ajst-30212	4	22	based	base	VERB
ajst-30212	4	23	on	on	ADP
ajst-30212	4	24	monocular	monocular	ADJ
ajst-30212	4	25	or	or	CCONJ
ajst-30212	4	26	binocular	binocular	ADJ
ajst-30212	4	27	cameras	camera	NOUN
ajst-30212	4	28	.	.	PUNCT
ajst-30212	5	1	in	in	ADP
ajst-30212	5	2	contrast	contrast	NOUN
ajst-30212	5	3	,	,	PUNCT
ajst-30212	5	4	this	this	DET
ajst-30212	5	5	study	study	NOUN
ajst-30212	5	6	only	only	ADV
ajst-30212	5	7	uses	use	VERB
ajst-30212	5	8	a	a	DET
ajst-30212	5	9	monocular	monocular	ADJ
ajst-30212	5	10	camera	camera	NOUN
ajst-30212	5	11	on	on	ADP
ajst-30212	5	12	a	a	DET
ajst-30212	5	13	two	two	NUM
ajst-30212	5	14	-	-	PUNCT
ajst-30212	5	15	axis	axis	NOUN
ajst-30212	5	16	gimbal	gimbal	ADJ
ajst-30212	5	17	on	on	ADP
ajst-30212	5	18	an	an	DET
ajst-30212	5	19	aerial	aerial	ADJ
ajst-30212	5	20	drone	drone	NOUN
ajst-30212	5	21	to	to	PART
ajst-30212	5	22	detect	detect	VERB
ajst-30212	5	23	faces	face	NOUN
ajst-30212	5	24	in	in	ADP
ajst-30212	5	25	the	the	DET
ajst-30212	5	26	picture	picture	NOUN
ajst-30212	5	27	,	,	PUNCT
ajst-30212	5	28	protecting	protect	VERB
ajst-30212	5	29	the	the	DET
ajst-30212	5	30	human	human	ADJ
ajst-30212	5	31	head	head	NOUN
ajst-30212	5	32	,	,	PUNCT
ajst-30212	5	33	which	which	PRON
ajst-30212	5	34	is	be	AUX
ajst-30212	5	35	the	the	DET
ajst-30212	5	36	object	object	NOUN
ajst-30212	5	37	that	that	PRON
ajst-30212	5	38	may	may	AUX
ajst-30212	5	39	be	be	AUX
ajst-30212	5	40	the	the	DET
ajst-30212	5	41	most	most	ADV
ajst-30212	5	42	harmful	harmful	ADJ
ajst-30212	5	43	,	,	PUNCT
ajst-30212	5	44	with	with	ADP
ajst-30212	5	45	the	the	DET
ajst-30212	5	46	lowest	low	ADJ
ajst-30212	5	47	hardware	hardware	NOUN
ajst-30212	5	48	and	and	CCONJ
ajst-30212	5	49	algorithm	algorithm	NOUN
ajst-30212	5	50	costs	cost	NOUN
ajst-30212	5	51	,	,	PUNCT
ajst-30212	5	52	and	and	CCONJ
ajst-30212	5	53	providing	provide	VERB
ajst-30212	5	54	effective	effective	ADJ
ajst-30212	5	55	obstacle	obstacle	NOUN
ajst-30212	5	56	avoidance	avoidance	NOUN
ajst-30212	5	57	strategy	strategy	NOUN
ajst-30212	5	58	support	support	NOUN
ajst-30212	5	59	for	for	ADP
ajst-30212	5	60	the	the	DET
ajst-30212	5	61	autonomous	autonomous	ADJ
ajst-30212	5	62	flight	flight	NOUN
ajst-30212	5	63	safety	safety	NOUN
ajst-30212	5	64	of	of	ADP
ajst-30212	5	65	aerial	aerial	ADJ
ajst-30212	5	66	drones	drone	NOUN
ajst-30212	5	67	.	.	PUNCT
ajst-30212	6	1	keywords	keyword	NOUN
ajst-30212	6	2	:	:	PUNCT
ajst-30212	6	3	uav	uav	PROPN
ajst-30212	6	4	,	,	PUNCT
ajst-30212	6	5	visual	visual	ADJ
ajst-30212	6	6	obstacle	obstacle	NOUN
ajst-30212	6	7	avoidance	avoidance	NOUN
ajst-30212	6	8	,	,	PUNCT
ajst-30212	6	9	yolov8	yolov8	PROPN
ajst-30212	6	10	,	,	PUNCT
ajst-30212	6	11	pnp	pnp	PROPN
ajst-30212	6	12	algorithm	algorithm	NOUN
ajst-30212	6	13	.	.	PUNCT
ajst-30212	7	1	1	1	X
ajst-30212	7	2	.	.	X
ajst-30212	7	3	introduction	introduction	NOUN
ajst-30212	7	4	quadcopter	quadcopter	PROPN
ajst-30212	7	5	drones	drone	NOUN
ajst-30212	7	6	have	have	AUX
ajst-30212	7	7	developed	develop	VERB
ajst-30212	7	8	rapidly	rapidly	ADV
ajst-30212	7	9	in	in	ADP
ajst-30212	7	10	recent	recent	ADJ
ajst-30212	7	11	years	year	NOUN
ajst-30212	7	12	due	due	ADP
ajst-30212	7	13	to	to	ADP
ajst-30212	7	14	their	their	PRON
ajst-30212	7	15	flexible	flexible	ADJ
ajst-30212	7	16	maneuverability	maneuverability	NOUN
ajst-30212	7	17	and	and	CCONJ
ajst-30212	7	18	wide	wide	ADJ
ajst-30212	7	19	application	application	NOUN
ajst-30212	7	20	prospects	prospect	NOUN
ajst-30212	7	21	.	.	PUNCT
ajst-30212	8	1	in	in	ADP
ajst-30212	8	2	particular	particular	ADJ
ajst-30212	8	3	,	,	PUNCT
ajst-30212	8	4	drones	drone	NOUN
ajst-30212	8	5	have	have	AUX
ajst-30212	8	6	demonstrated	demonstrate	VERB
ajst-30212	8	7	their	their	PRON
ajst-30212	8	8	unique	unique	ADJ
ajst-30212	8	9	advantages	advantage	NOUN
ajst-30212	8	10	in	in	ADP
ajst-30212	8	11	the	the	DET
ajst-30212	8	12	fields	field	NOUN
ajst-30212	8	13	of	of	ADP
ajst-30212	8	14	security	security	NOUN
ajst-30212	8	15	monitoring	monitoring	NOUN
ajst-30212	8	16	,	,	PUNCT
ajst-30212	8	17	disaster	disaster	NOUN
ajst-30212	8	18	relief	relief	NOUN
ajst-30212	8	19	,	,	PUNCT
ajst-30212	8	20	and	and	CCONJ
ajst-30212	8	21	intelligent	intelligent	ADJ
ajst-30212	8	22	inspection	inspection	NOUN
ajst-30212	8	23	.	.	PUNCT
ajst-30212	9	1	however	however	ADV
ajst-30212	9	2	,	,	PUNCT
ajst-30212	9	3	one	one	NUM
ajst-30212	9	4	of	of	ADP
ajst-30212	9	5	the	the	DET
ajst-30212	9	6	biggest	big	ADJ
ajst-30212	9	7	challenges	challenge	NOUN
ajst-30212	9	8	faced	face	VERB
ajst-30212	9	9	by	by	ADP
ajst-30212	9	10	drones	drone	NOUN
ajst-30212	9	11	during	during	ADP
ajst-30212	9	12	autonomous	autonomous	ADJ
ajst-30212	9	13	flight	flight	NOUN
ajst-30212	9	14	is	be	AUX
ajst-30212	9	15	obstacle	obstacle	NOUN
ajst-30212	9	16	recognition	recognition	NOUN
ajst-30212	9	17	and	and	CCONJ
ajst-30212	9	18	avoidance	avoidance	NOUN
ajst-30212	9	19	.	.	PUNCT
ajst-30212	10	1	in	in	ADP
ajst-30212	10	2	general	general	ADJ
ajst-30212	10	3	aerial	aerial	ADJ
ajst-30212	10	4	photography	photography	NOUN
ajst-30212	10	5	drone	drone	NOUN
ajst-30212	10	6	usage	usage	NOUN
ajst-30212	10	7	scenarios	scenario	NOUN
ajst-30212	10	8	,	,	PUNCT
ajst-30212	10	9	when	when	SCONJ
ajst-30212	10	10	shooting	shoot	VERB
ajst-30212	10	11	images	image	NOUN
ajst-30212	10	12	of	of	ADP
ajst-30212	10	13	a	a	DET
ajst-30212	10	14	crowd	crowd	NOUN
ajst-30212	10	15	,	,	PUNCT
ajst-30212	10	16	the	the	DET
ajst-30212	10	17	distance	distance	NOUN
ajst-30212	10	18	to	to	ADP
ajst-30212	10	19	people	people	NOUN
ajst-30212	10	20	is	be	AUX
ajst-30212	10	21	very	very	ADV
ajst-30212	10	22	close	close	ADJ
ajst-30212	10	23	.	.	PUNCT
ajst-30212	11	1	if	if	SCONJ
ajst-30212	11	2	an	an	DET
ajst-30212	11	3	accidental	accidental	ADJ
ajst-30212	11	4	collision	collision	NOUN
ajst-30212	11	5	occurs	occur	VERB
ajst-30212	11	6	,	,	PUNCT
ajst-30212	11	7	the	the	DET
ajst-30212	11	8	most	most	ADV
ajst-30212	11	9	likely	likely	ADJ
ajst-30212	11	10	target	target	NOUN
ajst-30212	11	11	of	of	ADP
ajst-30212	11	12	injury	injury	NOUN
ajst-30212	11	13	is	be	AUX
ajst-30212	11	14	often	often	ADV
ajst-30212	11	15	humans	human	NOUN
ajst-30212	11	16	,	,	PUNCT
ajst-30212	11	17	especially	especially	ADV
ajst-30212	11	18	the	the	DET
ajst-30212	11	19	human	human	ADJ
ajst-30212	11	20	head	head	NOUN
ajst-30212	11	21	.	.	PUNCT
ajst-30212	12	1	in	in	ADP
ajst-30212	12	2	2018	2018	NUM
ajst-30212	12	3	,	,	PUNCT
ajst-30212	12	4	a	a	DET
ajst-30212	12	5	9	9	NUM
ajst-30212	12	6	-	-	PUNCT
ajst-30212	12	7	year	year	NOUN
ajst-30212	12	8	-	-	PUNCT
ajst-30212	12	9	old	old	ADJ
ajst-30212	12	10	boy	boy	NOUN
ajst-30212	12	11	was	be	AUX
ajst-30212	12	12	accidentally	accidentally	ADV
ajst-30212	12	13	hit	hit	VERB
ajst-30212	12	14	in	in	ADP
ajst-30212	12	15	the	the	DET
ajst-30212	12	16	face	face	NOUN
ajst-30212	12	17	by	by	ADP
ajst-30212	12	18	a	a	DET
ajst-30212	12	19	drone	drone	NOUN
ajst-30212	12	20	propeller	propeller	NOUN
ajst-30212	12	21	[	[	X
ajst-30212	12	22	1	1	NUM
ajst-30212	12	23	]	]	PUNCT
ajst-30212	12	24	,	,	PUNCT
ajst-30212	12	25	resulting	result	VERB
ajst-30212	12	26	in	in	ADP
ajst-30212	12	27	severe	severe	ADJ
ajst-30212	12	28	eye	eye	NOUN
ajst-30212	12	29	and	and	CCONJ
ajst-30212	12	30	facial	facial	ADJ
ajst-30212	12	31	injuries	injury	NOUN
ajst-30212	12	32	.	.	PUNCT
ajst-30212	13	1	the	the	DET
ajst-30212	13	2	injuries	injury	NOUN
ajst-30212	13	3	included	include	VERB
ajst-30212	13	4	hemorrhage	hemorrhage	NOUN
ajst-30212	13	5	in	in	ADP
ajst-30212	13	6	the	the	DET
ajst-30212	13	7	right	right	ADJ
ajst-30212	13	8	eye	eye	NOUN
ajst-30212	13	9	,	,	PUNCT
ajst-30212	13	10	partial	partial	ADJ
ajst-30212	13	11	tear	tear	NOUN
ajst-30212	13	12	of	of	ADP
ajst-30212	13	13	the	the	DET
ajst-30212	13	14	upper	upper	ADJ
ajst-30212	13	15	eyelid	eyelid	NOUN
ajst-30212	13	16	,	,	PUNCT
ajst-30212	13	17	full	full	ADJ
ajst-30212	13	18	-	-	PUNCT
ajst-30212	13	19	thickness	thickness	NOUN
ajst-30212	13	20	corneal	corneal	ADJ
ajst-30212	13	21	laceration	laceration	NOUN
ajst-30212	13	22	,	,	PUNCT
ajst-30212	13	23	and	and	CCONJ
ajst-30212	13	24	scleral	scleral	ADJ
ajst-30212	13	25	laceration	laceration	NOUN
ajst-30212	13	26	.	.	PUNCT
ajst-30212	14	1	the	the	DET
ajst-30212	14	2	patient	patient	NOUN
ajst-30212	14	3	recovered	recover	VERB
ajst-30212	14	4	some	some	DET
ajst-30212	14	5	vision	vision	NOUN
ajst-30212	14	6	after	after	ADP
ajst-30212	14	7	surgery	surgery	NOUN
ajst-30212	14	8	,	,	PUNCT
ajst-30212	14	9	but	but	CCONJ
ajst-30212	14	10	still	still	ADV
ajst-30212	14	11	had	have	VERB
ajst-30212	14	12	visual	visual	ADJ
ajst-30212	14	13	defects	defect	NOUN
ajst-30212	14	14	,	,	PUNCT
ajst-30212	14	15	with	with	ADP
ajst-30212	14	16	partial	partial	ADJ
ajst-30212	14	17	loss	loss	NOUN
ajst-30212	14	18	of	of	ADP
ajst-30212	14	19	the	the	DET
ajst-30212	14	20	upper	upper	ADJ
ajst-30212	14	21	nasal	nasal	NOUN
ajst-30212	14	22	and	and	CCONJ
ajst-30212	14	23	upper	upper	ADJ
ajst-30212	14	24	temporal	temporal	ADJ
ajst-30212	14	25	fields	field	NOUN
ajst-30212	14	26	of	of	ADP
ajst-30212	14	27	the	the	DET
ajst-30212	14	28	right	right	ADJ
ajst-30212	14	29	eye	eye	NOUN
ajst-30212	14	30	,	,	PUNCT
ajst-30212	14	31	and	and	CCONJ
ajst-30212	14	32	the	the	DET
ajst-30212	14	33	final	final	ADJ
ajst-30212	14	34	vision	vision	NOUN
ajst-30212	14	35	was	be	AUX
ajst-30212	14	36	20/400	20/400	NUM
ajst-30212	14	37	.	.	PUNCT
ajst-30212	15	1	this	this	DET
ajst-30212	15	2	incident	incident	NOUN
ajst-30212	15	3	shows	show	VERB
ajst-30212	15	4	that	that	SCONJ
ajst-30212	15	5	drones	drone	NOUN
ajst-30212	15	6	can	can	AUX
ajst-30212	15	7	cause	cause	VERB
ajst-30212	15	8	extremely	extremely	ADV
ajst-30212	15	9	serious	serious	ADJ
ajst-30212	15	10	damage	damage	NOUN
ajst-30212	15	11	to	to	ADP
ajst-30212	15	12	the	the	DET
ajst-30212	15	13	human	human	ADJ
ajst-30212	15	14	body	body	NOUN
ajst-30212	15	15	,	,	PUNCT
ajst-30212	15	16	especially	especially	ADV
ajst-30212	15	17	the	the	DET
ajst-30212	15	18	head	head	NOUN
ajst-30212	15	19	,	,	PUNCT
ajst-30212	15	20	and	and	CCONJ
ajst-30212	15	21	needs	need	VERB
ajst-30212	15	22	to	to	PART
ajst-30212	15	23	be	be	AUX
ajst-30212	15	24	taken	take	VERB
ajst-30212	15	25	seriously	seriously	ADV
ajst-30212	15	26	.	.	PUNCT
ajst-30212	16	1	an	an	DET
ajst-30212	16	2	obstacle	obstacle	NOUN
ajst-30212	16	3	avoidance	avoidance	NOUN
ajst-30212	16	4	system	system	NOUN
ajst-30212	16	5	for	for	ADP
ajst-30212	16	6	the	the	DET
ajst-30212	16	7	human	human	ADJ
ajst-30212	16	8	head	head	NOUN
ajst-30212	16	9	that	that	PRON
ajst-30212	16	10	can	can	AUX
ajst-30212	16	11	be	be	AUX
ajst-30212	16	12	deployed	deploy	VERB
ajst-30212	16	13	on	on	ADP
ajst-30212	16	14	all	all	DET
ajst-30212	16	15	aerial	aerial	ADJ
ajst-30212	16	16	photography	photography	NOUN
ajst-30212	16	17	drones	drone	NOUN
ajst-30212	16	18	or	or	CCONJ
ajst-30212	16	19	even	even	ADV
ajst-30212	16	20	all	all	DET
ajst-30212	16	21	drones	drone	NOUN
ajst-30212	16	22	is	be	AUX
ajst-30212	16	23	particularly	particularly	ADV
ajst-30212	16	24	important	important	ADJ
ajst-30212	16	25	.	.	PUNCT
ajst-30212	17	1	traditional	traditional	ADJ
ajst-30212	17	2	obstacle	obstacle	NOUN
ajst-30212	17	3	avoidance	avoidance	NOUN
ajst-30212	17	4	technologies	technology	NOUN
ajst-30212	17	5	mainly	mainly	ADV
ajst-30212	17	6	rely	rely	VERB
ajst-30212	17	7	on	on	ADP
ajst-30212	17	8	laser	laser	NOUN
ajst-30212	17	9	radar	radar	NOUN
ajst-30212	17	10	(	(	PUNCT
ajst-30212	17	11	lidar	lidar	NOUN
ajst-30212	17	12	)	)	PUNCT
ajst-30212	18	1	[	[	X
ajst-30212	18	2	2	2	NUM
ajst-30212	18	3	]	]	PUNCT
ajst-30212	18	4	or	or	CCONJ
ajst-30212	18	5	ultrasonic	ultrasonic	ADJ
ajst-30212	18	6	sensors	sensor	NOUN
ajst-30212	18	7	[	[	X
ajst-30212	18	8	3	3	NUM
ajst-30212	18	9	-	-	SYM
ajst-30212	18	10	5	5	NUM
ajst-30212	18	11	]	]	PUNCT
ajst-30212	18	12	.	.	PUNCT
ajst-30212	19	1	these	these	DET
ajst-30212	19	2	obstacle	obstacle	NOUN
ajst-30212	19	3	avoidance	avoidance	NOUN
ajst-30212	19	4	methods	method	NOUN
ajst-30212	19	5	have	have	VERB
ajst-30212	19	6	several	several	ADJ
ajst-30212	19	7	major	major	ADJ
ajst-30212	19	8	disadvantages	disadvantage	NOUN
ajst-30212	19	9	.	.	PUNCT
ajst-30212	20	1	first	first	ADV
ajst-30212	20	2	,	,	PUNCT
ajst-30212	20	3	sensors	sensor	NOUN
ajst-30212	20	4	such	such	ADJ
ajst-30212	20	5	as	as	ADP
ajst-30212	20	6	laser	laser	NOUN
ajst-30212	20	7	radar	radar	NOUN
ajst-30212	20	8	are	be	AUX
ajst-30212	20	9	very	very	ADV
ajst-30212	20	10	heavy	heavy	ADJ
ajst-30212	20	11	[	[	X
ajst-30212	20	12	6	6	NUM
ajst-30212	20	13	]	]	PUNCT
ajst-30212	20	14	,	,	PUNCT
ajst-30212	20	15	which	which	PRON
ajst-30212	20	16	will	will	AUX
ajst-30212	20	17	increase	increase	VERB
ajst-30212	20	18	the	the	DET
ajst-30212	20	19	flight	flight	NOUN
ajst-30212	20	20	burden	burden	NOUN
ajst-30212	20	21	of	of	ADP
ajst-30212	20	22	the	the	DET
ajst-30212	20	23	drone	drone	NOUN
ajst-30212	20	24	and	and	CCONJ
ajst-30212	20	25	reduce	reduce	VERB
ajst-30212	20	26	the	the	DET
ajst-30212	20	27	flight	flight	NOUN
ajst-30212	20	28	endurance	endurance	NOUN
ajst-30212	20	29	[	[	X
ajst-30212	20	30	7	7	NUM
ajst-30212	20	31	]	]	PUNCT
ajst-30212	20	32	.	.	PUNCT
ajst-30212	21	1	second	second	ADJ
ajst-30212	21	2	,	,	PUNCT
ajst-30212	21	3	the	the	DET
ajst-30212	21	4	large	large	ADJ
ajst-30212	21	5	amount	amount	NOUN
ajst-30212	21	6	of	of	ADP
ajst-30212	21	7	point	point	NOUN
ajst-30212	21	8	cloud	cloud	NOUN
ajst-30212	21	9	data	datum	NOUN
ajst-30212	21	10	generated	generate	VERB
ajst-30212	21	11	by	by	ADP
ajst-30212	21	12	the	the	DET
ajst-30212	21	13	laser	laser	NOUN
ajst-30212	21	14	radar	radar	NOUN
ajst-30212	21	15	and	and	CCONJ
ajst-30212	21	16	the	the	DET
ajst-30212	21	17	echo	echo	NOUN
ajst-30212	21	18	signal	signal	NOUN
ajst-30212	21	19	of	of	ADP
ajst-30212	21	20	the	the	DET
ajst-30212	21	21	ultrasonic	ultrasonic	ADJ
ajst-30212	21	22	sensor	sensor	NOUN
ajst-30212	21	23	need	need	VERB
ajst-30212	21	24	to	to	PART
ajst-30212	21	25	be	be	AUX
ajst-30212	21	26	processed	process	VERB
ajst-30212	21	27	in	in	ADP
ajst-30212	21	28	a	a	DET
ajst-30212	21	29	com	com	NOUN
ajst-30212	21	30	plex	plex	NOUN
ajst-30212	21	31	manner	manner	NOUN
ajst-30212	21	32	,	,	PUNCT
ajst-30212	21	33	which	which	PRON
ajst-30212	21	34	places	place	VERB
ajst-30212	21	35	high	high	ADJ
ajst-30212	21	36	demands	demand	NOUN
ajst-30212	21	37	on	on	ADP
ajst-30212	21	38	the	the	DET
ajst-30212	21	39	computing	computing	NOUN
ajst-30212	21	40	power	power	NOUN
ajst-30212	21	41	of	of	ADP
ajst-30212	21	42	the	the	DET
ajst-30212	21	43	drone	drone	NOUN
ajst-30212	21	44	[	[	X
ajst-30212	21	45	2	2	NUM
ajst-30212	21	46	]	]	PUNCT
ajst-30212	21	47	.	.	PUNCT
ajst-30212	22	1	aerial	aerial	ADJ
ajst-30212	22	2	drones	drone	NOUN
ajst-30212	22	3	do	do	AUX
ajst-30212	22	4	not	not	PART
ajst-30212	22	5	have	have	VERB
ajst-30212	22	6	separate	separate	ADJ
ajst-30212	22	7	computing	compute	VERB
ajst-30212	22	8	units	unit	NOUN
ajst-30212	22	9	and	and	CCONJ
ajst-30212	22	10	have	have	VERB
ajst-30212	22	11	limited	limit	VERB
ajst-30212	22	12	computing	compute	VERB
ajst-30212	22	13	resources	resource	NOUN
ajst-30212	22	14	,	,	PUNCT
ajst-30212	22	15	so	so	SCONJ
ajst-30212	22	16	this	this	DET
ajst-30212	22	17	processing	processing	NOUN
ajst-30212	22	18	requirement	requirement	NOUN
ajst-30212	22	19	will	will	AUX
ajst-30212	22	20	lead	lead	VERB
ajst-30212	22	21	to	to	ADP
ajst-30212	22	22	performance	performance	NOUN
ajst-30212	22	23	bottlenecks	bottleneck	NOUN
ajst-30212	22	24	.	.	PUNCT
ajst-30212	23	1	in	in	ADP
ajst-30212	23	2	recent	recent	ADJ
ajst-30212	23	3	years	year	NOUN
ajst-30212	23	4	,	,	PUNCT
ajst-30212	23	5	with	with	ADP
ajst-30212	23	6	the	the	DET
ajst-30212	23	7	rapid	rapid	ADJ
ajst-30212	23	8	development	development	NOUN
ajst-30212	23	9	of	of	ADP
ajst-30212	23	10	computer	computer	NOUN
ajst-30212	23	11	vision	vision	NOUN
ajst-30212	23	12	and	and	CCONJ
ajst-30212	23	13	deep	deep	ADJ
ajst-30212	23	14	learning	learning	NOUN
ajst-30212	23	15	technology	technology	NOUN
ajst-30212	23	16	,	,	PUNCT
ajst-30212	23	17	vision	vision	NOUN
ajst-30212	23	18	-	-	PUNCT
ajst-30212	23	19	based	base	VERB
ajst-30212	23	20	target	target	NOUN
ajst-30212	23	21	de	de	ADP
ajst-30212	23	22	tection	tection	NOUN
ajst-30212	23	23	and	and	CCONJ
ajst-30212	23	24	recognition	recognition	NOUN
ajst-30212	23	25	methods	method	NOUN
ajst-30212	23	26	have	have	AUX
ajst-30212	23	27	received	receive	VERB
ajst-30212	23	28	widespread	widespread	ADJ
ajst-30212	23	29	attention	attention	NOUN
ajst-30212	23	30	.	.	PUNCT
ajst-30212	24	1	vision	vision	NOUN
ajst-30212	24	2	-	-	PUNCT
ajst-30212	24	3	based	base	VERB
ajst-30212	24	4	algorithms	algorithm	NOUN
ajst-30212	24	5	are	be	AUX
ajst-30212	24	6	divided	divide	VERB
ajst-30212	24	7	into	into	ADP
ajst-30212	24	8	monocular	monocular	ADJ
ajst-30212	24	9	and	and	CCONJ
ajst-30212	24	10	binocular	binocular	ADJ
ajst-30212	24	11	.	.	PUNCT
ajst-30212	25	1	binocular	binocular	ADJ
ajst-30212	25	2	vision	vision	NOUN
ajst-30212	25	3	can	can	AUX
ajst-30212	25	4	provide	provide	VERB
ajst-30212	25	5	relatively	relatively	ADV
ajst-30212	25	6	accurate	accurate	ADJ
ajst-30212	25	7	depth	depth	NOUN
ajst-30212	25	8	information	information	NOUN
ajst-30212	25	9	,	,	PUNCT
ajst-30212	25	10	but	but	CCONJ
ajst-30212	25	11	the	the	DET
ajst-30212	25	12	cost	cost	NOUN
ajst-30212	25	13	of	of	ADP
ajst-30212	25	14	the	the	DET
ajst-30212	25	15	camera	camera	NOUN
ajst-30212	25	16	and	and	CCONJ
ajst-30212	25	17	computing	compute	VERB
ajst-30212	25	18	unit	unit	NOUN
ajst-30212	25	19	is	be	AUX
ajst-30212	25	20	much	much	ADV
ajst-30212	25	21	higher	high	ADJ
ajst-30212	25	22	than	than	ADP
ajst-30212	25	23	that	that	PRON
ajst-30212	25	24	of	of	ADP
ajst-30212	25	25	monocular	monocular	ADJ
ajst-30212	25	26	vision	vision	NOUN
ajst-30212	25	27	.	.	PUNCT
ajst-30212	26	1	the	the	DET
ajst-30212	26	2	biggest	big	ADJ
ajst-30212	26	3	disadvantage	disadvantage	NOUN
ajst-30212	26	4	of	of	ADP
ajst-30212	26	5	monocular	monocular	ADJ
ajst-30212	26	6	vision	vision	NOUN
ajst-30212	26	7	is	be	AUX
ajst-30212	26	8	that	that	SCONJ
ajst-30212	26	9	it	it	PRON
ajst-30212	26	10	can	can	AUX
ajst-30212	26	11	not	not	PART
ajst-30212	26	12	directly	directly	ADV
ajst-30212	26	13	obtain	obtain	VERB
ajst-30212	26	14	the	the	DET
ajst-30212	26	15	depth	depth	NOUN
ajst-30212	26	16	information	information	NOUN
ajst-30212	26	17	of	of	ADP
ajst-30212	26	18	the	the	DET
ajst-30212	26	19	image	image	NOUN
ajst-30212	26	20	.	.	PUNCT
ajst-30212	27	1	the	the	DET
ajst-30212	27	2	position	position	NOUN
ajst-30212	27	3	of	of	ADP
ajst-30212	27	4	the	the	DET
ajst-30212	27	5	target	target	NOUN
ajst-30212	27	6	point	point	NOUN
ajst-30212	27	7	in	in	ADP
ajst-30212	27	8	three	three	NUM
ajst-30212	27	9	-	-	PUNCT
ajst-30212	27	10	dimensional	dimensional	ADJ
ajst-30212	27	11	space	space	NOUN
ajst-30212	27	12	can	can	AUX
ajst-30212	27	13	be	be	AUX
ajst-30212	27	14	calculated	calculate	VERB
ajst-30212	27	15	through	through	ADP
ajst-30212	27	16	methods	method	NOUN
ajst-30212	27	17	such	such	ADJ
ajst-30212	27	18	as	as	ADP
ajst-30212	27	19	the	the	DET
ajst-30212	27	20	pnp	pnp	PROPN
ajst-30212	27	21	algorithm	algorithm	NOUN
ajst-30212	27	22	.	.	PUNCT
ajst-30212	28	1	most	most	ADJ
ajst-30212	28	2	purely	purely	ADV
ajst-30212	28	3	visual	visual	ADJ
ajst-30212	28	4	obstacle	obstacle	NOUN
ajst-30212	28	5	avoidance	avoidance	NOUN
ajst-30212	28	6	methods	method	NOUN
ajst-30212	28	7	tend	tend	VERB
ajst-30212	28	8	to	to	PART
ajst-30212	28	9	detect	detect	VERB
ajst-30212	28	10	all	all	DET
ajst-30212	28	11	types	type	NOUN
ajst-30212	28	12	of	of	ADP
ajst-30212	28	13	objects	object	NOUN
ajst-30212	28	14	,	,	PUNCT
ajst-30212	28	15	such	such	ADJ
ajst-30212	28	16	as	as	ADP
ajst-30212	28	17	the	the	DET
ajst-30212	28	18	optical	optical	ADJ
ajst-30212	28	19	flow	flow	NOUN
ajst-30212	28	20	method	method	NOUN
ajst-30212	28	21	used	use	VERB
ajst-30212	28	22	by	by	ADP
ajst-30212	28	23	the	the	DET
ajst-30212	28	24	research	research	NOUN
ajst-30212	28	25	teams	team	NOUN
ajst-30212	28	26	of	of	ADP
ajst-30212	28	27	elawady	elawady	ADJ
ajst-30212	28	28	,	,	PUNCT
ajst-30212	28	29	sadek	sadek	PROPN
ajst-30212	28	30	and	and	CCONJ
ajst-30212	28	31	kidane	kidane	PROPN
ajst-30212	28	32	,	,	PUNCT
ajst-30212	28	33	which	which	PRON
ajst-30212	28	34	uses	use	VERB
ajst-30212	28	35	a	a	DET
ajst-30212	28	36	monocular	monocular	ADJ
ajst-30212	28	37	camera	camera	NOUN
ajst-30212	28	38	to	to	PART
ajst-30212	28	39	detect	detect	VERB
ajst-30212	28	40	and	and	CCONJ
ajst-30212	28	41	avoid	avoid	VERB
ajst-30212	28	42	obstacles	obstacle	NOUN
ajst-30212	28	43	in	in	ADP
ajst-30212	28	44	front	front	NOUN
ajst-30212	28	45	of	of	ADP
ajst-30212	28	46	the	the	DET
ajst-30212	28	47	camera	camera	NOUN
ajst-30212	29	1	[	[	X
ajst-30212	29	2	8	8	NUM
ajst-30212	29	3	-	-	SYM
ajst-30212	29	4	10	10	NUM
ajst-30212	29	5	]	]	PUNCT
ajst-30212	29	6	.	.	PUNCT
ajst-30212	30	1	aguilar	aguilar	PROPN
ajst-30212	30	2	’s	’s	PART
ajst-30212	30	3	research	research	NOUN
ajst-30212	30	4	team	team	NOUN
ajst-30212	30	5	used	use	VERB
ajst-30212	30	6	feature	feature	NOUN
ajst-30212	30	7	point	point	NOUN
ajst-30212	30	8	recognition	recognition	NOUN
ajst-30212	30	9	to	to	PART
ajst-30212	30	10	avoid	avoid	VERB
ajst-30212	30	11	obstacles	obstacle	NOUN
ajst-30212	30	12	[	[	X
ajst-30212	30	13	11	11	NUM
ajst-30212	30	14	]	]	PUNCT
ajst-30212	30	15	.	.	PUNCT
ajst-30212	31	1	by	by	ADP
ajst-30212	31	2	extracting	extract	VERB
ajst-30212	31	3	key	key	ADJ
ajst-30212	31	4	feature	feature	NOUN
ajst-30212	31	5	points	point	NOUN
ajst-30212	31	6	in	in	ADP
ajst-30212	31	7	the	the	DET
ajst-30212	31	8	image	image	NOUN
ajst-30212	31	9	and	and	CCONJ
ajst-30212	31	10	using	use	VERB
ajst-30212	31	11	them	they	PRON
ajst-30212	31	12	to	to	PART
ajst-30212	31	13	calculate	calculate	VERB
ajst-30212	31	14	the	the	DET
ajst-30212	31	15	position	position	NOUN
ajst-30212	31	16	and	and	CCONJ
ajst-30212	31	17	relative	relative	ADJ
ajst-30212	31	18	motion	motion	NOUN
ajst-30212	31	19	of	of	ADP
ajst-30212	31	20	obstacles	obstacle	NOUN
ajst-30212	31	21	,	,	PUNCT
ajst-30212	31	22	an	an	DET
ajst-30212	31	23	efficient	efficient	ADJ
ajst-30212	31	24	obstacle	obstacle	NOUN
ajst-30212	31	25	avoidance	avoidance	NOUN
ajst-30212	31	26	strategy	strategy	NOUN
ajst-30212	31	27	was	be	AUX
ajst-30212	31	28	achieved	achieve	VERB
ajst-30212	31	29	.	.	PUNCT
ajst-30212	32	1	meng	meng	PROPN
ajst-30212	32	2	et	et	PROPN
ajst-30212	32	3	al	al	PROPN
ajst-30212	32	4	.	.	PROPN
ajst-30212	32	5	proposed	propose	VERB
ajst-30212	32	6	a	a	DET
ajst-30212	32	7	6d	6d	NUM
ajst-30212	32	8	pose	pose	NOUN
ajst-30212	32	9	prediction	prediction	NOUN
ajst-30212	32	10	method	method	NOUN
ajst-30212	32	11	based	base	VERB
ajst-30212	32	12	on	on	ADP
ajst-30212	32	13	a	a	DET
ajst-30212	32	14	single	single	ADJ
ajst-30212	32	15	cnn	cnn	NOUN
ajst-30212	32	16	architecture	architecture	NOUN
ajst-30212	32	17	through	through	ADP
ajst-30212	32	18	deep	deep	ADJ
ajst-30212	32	19	learning	learning	NOUN
ajst-30212	32	20	technology	technology	NOUN
ajst-30212	32	21	,	,	PUNCT
ajst-30212	32	22	which	which	PRON
ajst-30212	32	23	can	can	AUX
ajst-30212	32	24	be	be	AUX
ajst-30212	32	25	quickly	quickly	ADV
ajst-30212	32	26	and	and	CCONJ
ajst-30212	32	27	accurately	accurately	ADV
ajst-30212	32	28	applied	apply	VERB
ajst-30212	32	29	to	to	PART
ajst-30212	32	30	object	object	VERB
ajst-30212	32	31	detection	detection	NOUN
ajst-30212	32	32	and	and	CCONJ
ajst-30212	32	33	obstacle	obstacle	NOUN
ajst-30212	32	34	avoidance	avoidance	NOUN
ajst-30212	32	35	tasks	task	NOUN
ajst-30212	32	36	.	.	PUNCT
ajst-30212	33	1	yang	yang	PROPN
ajst-30212	33	2	et	et	PROPN
ajst-30212	33	3	al	al	PROPN
ajst-30212	33	4	.	.	PROPN
ajst-30212	33	5	proposed	propose	VERB
ajst-30212	33	6	a	a	DET
ajst-30212	33	7	method	method	NOUN
ajst-30212	33	8	of	of	ADP
ajst-30212	33	9	using	use	VERB
ajst-30212	33	10	a	a	DET
ajst-30212	33	11	lightweight	lightweight	ADJ
ajst-30212	33	12	probabilistic	probabilistic	ADJ
ajst-30212	33	13	convolutional	convolutional	ADJ
ajst-30212	33	14	neural	neural	ADJ
ajst-30212	33	15	network	network	NOUN
ajst-30212	33	16	(	(	PUNCT
ajst-30212	33	17	pcnn	pcnn	PROPN
ajst-30212	33	18	)	)	PUNCT
ajst-30212	33	19	for	for	ADP
ajst-30212	33	20	monocular	monocular	ADJ
ajst-30212	33	21	depth	depth	NOUN
ajst-30212	33	22	estimation	estimation	NOUN
ajst-30212	33	23	and	and	CCONJ
ajst-30212	33	24	obstacle	obstacle	NOUN
ajst-30212	33	25	avoidance	avoidance	NOUN
ajst-30212	33	26	[	[	X
ajst-30212	33	27	12	12	NUM
ajst-30212	33	28	]	]	PUNCT
ajst-30212	33	29	,	,	PUNCT
ajst-30212	33	30	which	which	PRON
ajst-30212	33	31	optimized	optimize	VERB
ajst-30212	33	32	the	the	DET
ajst-30212	33	33	processing	processing	NOUN
ajst-30212	33	34	efficiency	efficiency	NOUN
ajst-30212	33	35	of	of	ADP
ajst-30212	33	36	the	the	DET
ajst-30212	33	37	camera	camera	NOUN
ajst-30212	33	38	and	and	CCONJ
ajst-30212	33	39	reduced	reduce	VERB
ajst-30212	33	40	the	the	DET
ajst-30212	33	41	computational	computational	ADJ
ajst-30212	33	42	overhead	overhead	NOUN
ajst-30212	33	43	.	.	PUNCT
ajst-30212	34	1	however	however	ADV
ajst-30212	34	2	,	,	PUNCT
ajst-30212	34	3	it	it	PRON
ajst-30212	34	4	is	be	AUX
ajst-30212	34	5	obvious	obvious	ADJ
ajst-30212	34	6	that	that	SCONJ
ajst-30212	34	7	detecting	detect	VERB
ajst-30212	34	8	the	the	DET
ajst-30212	34	9	entire	entire	ADJ
ajst-30212	34	10	picture	picture	NOUN
ajst-30212	34	11	and	and	CCONJ
ajst-30212	34	12	all	all	DET
ajst-30212	34	13	objects	object	NOUN
ajst-30212	34	14	in	in	ADP
ajst-30212	34	15	the	the	DET
ajst-30212	34	16	picture	picture	NOUN
ajst-30212	34	17	still	still	ADV
ajst-30212	34	18	requires	require	VERB
ajst-30212	34	19	certain	certain	ADJ
ajst-30212	34	20	computational	computational	ADJ
ajst-30212	34	21	power	power	NOUN
ajst-30212	34	22	of	of	ADP
ajst-30212	34	23	the	the	DET
ajst-30212	34	24	computing	computing	NOUN
ajst-30212	34	25	unit	unit	NOUN
ajst-30212	34	26	,	,	PUNCT
ajst-30212	34	27	and	and	CCONJ
ajst-30212	34	28	it	it	PRON
ajst-30212	34	29	is	be	AUX
ajst-30212	34	30	not	not	PART
ajst-30212	34	31	an	an	DET
ajst-30212	34	32	extremely	extremely	ADV
ajst-30212	34	33	low	low	ADJ
ajst-30212	34	34	-	-	PUNCT
ajst-30212	34	35	cost	cost	NOUN
ajst-30212	34	36	obstacle	obstacle	NOUN
ajst-30212	34	37	avoidance	avoidance	NOUN
ajst-30212	34	38	system	system	NOUN
ajst-30212	34	39	that	that	PRON
ajst-30212	34	40	can	can	AUX
ajst-30212	34	41	be	be	AUX
ajst-30212	34	42	deployed	deploy	VERB
ajst-30212	34	43	on	on	ADP
ajst-30212	34	44	all	all	DET
ajst-30212	34	45	aerial	aerial	ADJ
ajst-30212	34	46	drones	drone	NOUN
ajst-30212	34	47	or	or	CCONJ
ajst-30212	34	48	even	even	ADV
ajst-30212	34	49	all	all	DET
ajst-30212	34	50	drones	drone	NOUN
ajst-30212	34	51	.	.	PUNCT
ajst-30212	35	1	this	this	DET
ajst-30212	35	2	study	study	NOUN
ajst-30212	35	3	proposes	propose	VERB
ajst-30212	35	4	an	an	DET
ajst-30212	35	5	obstacle	obstacle	NOUN
ajst-30212	35	6	avoidance	avoidance	NOUN
ajst-30212	35	7	system	system	NOUN
ajst-30212	35	8	based	base	VERB
ajst-30212	35	9	on	on	ADP
ajst-30212	35	10	face	face	NOUN
ajst-30212	35	11	recognition	recognition	NOUN
ajst-30212	35	12	.	.	PUNCT
ajst-30212	36	1	this	this	DET
ajst-30212	36	2	method	method	NOUN
ajst-30212	36	3	aims	aim	VERB
ajst-30212	36	4	to	to	PART
ajst-30212	36	5	reduce	reduce	VERB
ajst-30212	36	6	the	the	DET
ajst-30212	36	7	potential	potential	ADJ
ajst-30212	36	8	damage	damage	NOUN
ajst-30212	36	9	caused	cause	VERB
ajst-30212	36	10	by	by	ADP
ajst-30212	36	11	aerial	aerial	ADJ
ajst-30212	36	12	drones	drone	NOUN
ajst-30212	36	13	to	to	ADP
ajst-30212	36	14	humans	human	NOUN
ajst-30212	36	15	,	,	PUNCT
ajst-30212	36	16	especially	especially	ADV
ajst-30212	36	17	the	the	DET
ajst-30212	36	18	head	head	NOUN
ajst-30212	36	19	,	,	PUNCT
ajst-30212	36	20	with	with	ADP
ajst-30212	36	21	the	the	DET
ajst-30212	36	22	lowest	low	ADJ
ajst-30212	36	23	hardware	hardware	NOUN
ajst-30212	36	24	and	and	CCONJ
ajst-30212	36	25	algorithm	algorithm	NOUN
ajst-30212	36	26	costs	cost	NOUN
ajst-30212	36	27	.	.	PUNCT
ajst-30212	37	1	specifically	specifically	ADV
ajst-30212	37	2	,	,	PUNCT
ajst-30212	37	3	in	in	ADP
ajst-30212	37	4	general	general	ADJ
ajst-30212	37	5	aerial	aerial	ADJ
ajst-30212	37	6	drone	drone	NOUN
ajst-30212	37	7	usage	usage	NOUN
ajst-30212	37	8	scenarios	scenario	NOUN
ajst-30212	37	9	,	,	PUNCT
ajst-30212	37	10	if	if	SCONJ
ajst-30212	37	11	a	a	DET
ajst-30212	37	12	collision	collision	NOUN
ajst-30212	37	13	occurs	occur	VERB
ajst-30212	37	14	,	,	PUNCT
ajst-30212	37	15	the	the	DET
ajst-30212	37	16	greatest	great	ADJ
ajst-30212	37	17	damage	damage	NOUN
ajst-30212	37	18	may	may	AUX
ajst-30212	37	19	be	be	AUX
ajst-30212	37	20	caused	cause	VERB
ajst-30212	37	21	to	to	ADP
ajst-30212	37	22	humans	human	NOUN
ajst-30212	37	23	,	,	PUNCT
ajst-30212	37	24	especially	especially	ADV
ajst-30212	37	25	the	the	DET
ajst-30212	37	26	head	head	NOUN
ajst-30212	37	27	.	.	PUNCT
ajst-30212	38	1	therefore	therefore	ADV
ajst-30212	38	2	,	,	PUNCT
ajst-30212	38	3	the	the	DET
ajst-30212	38	4	obstacle	obstacle	NOUN
ajst-30212	38	5	avoidance	avoidance	NOUN
ajst-30212	38	6	method	method	NOUN
ajst-30212	38	7	that	that	PRON
ajst-30212	38	8	only	only	ADV
ajst-30212	38	9	uses	use	VERB
ajst-30212	38	10	the	the	DET
ajst-30212	38	11	two	two	NUM
ajst-30212	38	12	-	-	PUNCT
ajst-30212	38	13	axis	axis	NOUN
ajst-30212	38	14	gimbal	gimbal	ADJ
ajst-30212	38	15	camera	camera	NOUN
ajst-30212	38	16	229	229	NUM
ajst-30212	38	17	of	of	ADP
ajst-30212	38	18	the	the	DET
ajst-30212	38	19	aerial	aerial	ADJ
ajst-30212	38	20	drone	drone	NOUN
ajst-30212	38	21	to	to	PART
ajst-30212	38	22	recognize	recognize	VERB
ajst-30212	38	23	faces	face	NOUN
ajst-30212	38	24	and	and	CCONJ
ajst-30212	38	25	avoid	avoid	VERB
ajst-30212	38	26	obstacles	obstacle	NOUN
ajst-30212	38	27	can	can	AUX
ajst-30212	38	28	effectively	effectively	ADV
ajst-30212	38	29	reduce	reduce	VERB
ajst-30212	38	30	the	the	DET
ajst-30212	38	31	significant	significant	ADJ
ajst-30212	38	32	damage	damage	NOUN
ajst-30212	38	33	that	that	PRON
ajst-30212	38	34	aerial	aerial	ADJ
ajst-30212	38	35	drones	drone	NOUN
ajst-30212	38	36	may	may	AUX
ajst-30212	38	37	cause	cause	VERB
ajst-30212	38	38	to	to	ADP
ajst-30212	38	39	humans	human	NOUN
ajst-30212	38	40	,	,	PUNCT
ajst-30212	38	41	especially	especially	ADV
ajst-30212	38	42	the	the	DET
ajst-30212	38	43	head	head	NOUN
ajst-30212	38	44	.	.	PUNCT
ajst-30212	39	1	this	this	DET
ajst-30212	39	2	method	method	NOUN
ajst-30212	39	3	does	do	AUX
ajst-30212	39	4	not	not	PART
ajst-30212	39	5	require	require	VERB
ajst-30212	39	6	lidar	lidar	NOUN
ajst-30212	39	7	or	or	CCONJ
ajst-30212	39	8	ultrasonic	ultrasonic	ADJ
ajst-30212	39	9	sensors	sensor	NOUN
ajst-30212	39	10	and	and	CCONJ
ajst-30212	39	11	extra	extra	ADJ
ajst-30212	39	12	cameras	camera	NOUN
ajst-30212	39	13	,	,	PUNCT
ajst-30212	39	14	and	and	CCONJ
ajst-30212	39	15	also	also	ADV
ajst-30212	39	16	reduces	reduce	VERB
ajst-30212	39	17	the	the	DET
ajst-30212	39	18	pressure	pressure	NOUN
ajst-30212	39	19	on	on	ADP
ajst-30212	39	20	the	the	DET
ajst-30212	39	21	computing	computing	NOUN
ajst-30212	39	22	unit	unit	NOUN
ajst-30212	39	23	as	as	ADV
ajst-30212	39	24	much	much	ADV
ajst-30212	39	25	as	as	ADP
ajst-30212	39	26	possible	possible	ADJ
ajst-30212	39	27	.	.	PUNCT
ajst-30212	40	1	this	this	DET
ajst-30212	40	2	study	study	NOUN
ajst-30212	40	3	introduces	introduce	VERB
ajst-30212	40	4	the	the	DET
ajst-30212	40	5	concept	concept	NOUN
ajst-30212	40	6	of	of	ADP
ajst-30212	40	7	sensor	sensor	NOUN
ajst-30212	40	8	fusion	fusion	NOUN
ajst-30212	40	9	.	.	PUNCT
ajst-30212	41	1	by	by	ADP
ajst-30212	41	2	combining	combine	VERB
ajst-30212	41	3	the	the	DET
ajst-30212	41	4	attitude	attitude	NOUN
ajst-30212	41	5	information	information	NOUN
ajst-30212	41	6	provided	provide	VERB
ajst-30212	41	7	by	by	ADP
ajst-30212	41	8	the	the	DET
ajst-30212	41	9	imu	imu	NOUN
ajst-30212	41	10	(	(	PUNCT
ajst-30212	41	11	inertial	inertial	ADJ
ajst-30212	41	12	measurement	measurement	NOUN
ajst-30212	41	13	unit	unit	NOUN
ajst-30212	41	14	)	)	PUNCT
ajst-30212	41	15	sensor	sensor	NOUN
ajst-30212	41	16	with	with	ADP
ajst-30212	41	17	visual	visual	ADJ
ajst-30212	41	18	data	datum	NOUN
ajst-30212	41	19	,	,	PUNCT
ajst-30212	41	20	the	the	DET
ajst-30212	41	21	system	system	NOUN
ajst-30212	41	22	’s	’s	PART
ajst-30212	41	23	accuracy	accuracy	NOUN
ajst-30212	41	24	in	in	ADP
ajst-30212	41	25	measuring	measure	VERB
ajst-30212	41	26	the	the	DET
ajst-30212	41	27	target	target	NOUN
ajst-30212	41	28	distance	distance	NOUN
ajst-30212	41	29	is	be	AUX
ajst-30212	41	30	further	far	ADV
ajst-30212	41	31	improved	improve	VERB
ajst-30212	41	32	.	.	PUNCT
ajst-30212	42	1	as	as	ADP
ajst-30212	42	2	a	a	DET
ajst-30212	42	3	classic	classic	ADJ
ajst-30212	42	4	computer	computer	NOUN
ajst-30212	42	5	vision	vision	NOUN
ajst-30212	42	6	algorithm	algorithm	NOUN
ajst-30212	42	7	,	,	PUNCT
ajst-30212	42	8	the	the	DET
ajst-30212	42	9	pnp	pnp	PROPN
ajst-30212	42	10	(	(	PUNCT
ajst-30212	42	11	perspective	perspective	NOUN
ajst-30212	42	12	-	-	PUNCT
ajst-30212	42	13	npoint	npoint	NOUN
ajst-30212	42	14	)	)	PUNCT
ajst-30212	42	15	algorithm	algorithm	NOUN
ajst-30212	42	16	can	can	AUX
ajst-30212	42	17	accurately	accurately	ADV
ajst-30212	42	18	calculate	calculate	VERB
ajst-30212	42	19	the	the	DET
ajst-30212	42	20	position	position	NOUN
ajst-30212	42	21	and	and	CCONJ
ajst-30212	42	22	attitude	attitude	NOUN
ajst-30212	42	23	of	of	ADP
ajst-30212	42	24	the	the	DET
ajst-30212	42	25	camera	camera	NOUN
ajst-30212	42	26	by	by	ADP
ajst-30212	42	27	combining	combine	VERB
ajst-30212	42	28	the	the	DET
ajst-30212	42	29	feature	feature	NOUN
ajst-30212	42	30	points	point	NOUN
ajst-30212	42	31	in	in	ADP
ajst-30212	42	32	the	the	DET
ajst-30212	42	33	image	image	NOUN
ajst-30212	42	34	with	with	ADP
ajst-30212	42	35	the	the	DET
ajst-30212	42	36	feature	feature	NOUN
ajst-30212	42	37	point	point	NOUN
ajst-30212	42	38	positions	position	NOUN
ajst-30212	42	39	in	in	ADP
ajst-30212	42	40	the	the	DET
ajst-30212	42	41	world	world	NOUN
ajst-30212	42	42	coordinate	coordinate	NOUN
ajst-30212	42	43	system	system	NOUN
ajst-30212	42	44	.	.	PUNCT
ajst-30212	43	1	combining	combine	VERB
ajst-30212	43	2	the	the	DET
ajst-30212	43	3	data	datum	NOUN
ajst-30212	43	4	of	of	ADP
ajst-30212	43	5	the	the	DET
ajst-30212	43	6	imu	imu	NOUN
ajst-30212	43	7	sensor	sensor	NOUN
ajst-30212	43	8	with	with	ADP
ajst-30212	43	9	the	the	DET
ajst-30212	43	10	pnp	pnp	PROPN
ajst-30212	43	11	algorithm	algorithm	NOUN
ajst-30212	43	12	can	can	AUX
ajst-30212	43	13	better	well	ADV
ajst-30212	43	14	correct	correct	VERB
ajst-30212	43	15	the	the	DET
ajst-30212	43	16	actual	actual	ADJ
ajst-30212	43	17	attitude	attitude	NOUN
ajst-30212	43	18	of	of	ADP
ajst-30212	43	19	the	the	DET
ajst-30212	43	20	drone	drone	NOUN
ajst-30212	43	21	,	,	PUNCT
ajst-30212	43	22	thereby	thereby	ADV
ajst-30212	43	23	achieving	achieve	VERB
ajst-30212	43	24	accurate	accurate	ADJ
ajst-30212	43	25	measurement	measurement	NOUN
ajst-30212	43	26	of	of	ADP
ajst-30212	43	27	the	the	DET
ajst-30212	43	28	target	target	NOUN
ajst-30212	43	29	distance	distance	NOUN
ajst-30212	43	30	.	.	PUNCT
ajst-30212	44	1	the	the	DET
ajst-30212	44	2	dji	dji	PROPN
ajst-30212	44	3	mavic	mavic	PROPN
ajst-30212	44	4	series	series	PROPN
ajst-30212	44	5	aerial	aerial	ADJ
ajst-30212	44	6	photography	photography	NOUN
ajst-30212	44	7	drone	drone	NOUN
ajst-30212	44	8	used	use	VERB
ajst-30212	44	9	in	in	ADP
ajst-30212	44	10	this	this	DET
ajst-30212	44	11	article	article	NOUN
ajst-30212	44	12	is	be	AUX
ajst-30212	44	13	a	a	DET
ajst-30212	44	14	portable	portable	ADJ
ajst-30212	44	15	,	,	PUNCT
ajst-30212	44	16	six	six	NUM
ajst-30212	44	17	-	-	PUNCT
ajst-30212	44	18	degree	degree	NOUN
ajst-30212	44	19	-	-	PUNCT
ajst-30212	44	20	of	of	ADP
ajst-30212	44	21	-	-	PUNCT
ajst-30212	44	22	freedom	freedom	NOUN
ajst-30212	44	23	rotating	rotate	VERB
ajst-30212	44	24	multi	multi	ADJ
ajst-30212	44	25	rotor	rotor	NOUN
ajst-30212	44	26	aircraft	aircraft	NOUN
ajst-30212	44	27	with	with	ADP
ajst-30212	44	28	high	high	ADJ
ajst-30212	44	29	flexibility	flexibility	NOUN
ajst-30212	44	30	and	and	CCONJ
ajst-30212	44	31	stability	stability	NOUN
ajst-30212	44	32	.	.	PUNCT
ajst-30212	45	1	the	the	DET
ajst-30212	45	2	mechanical	mechanical	ADJ
ajst-30212	45	3	structure	structure	NOUN
ajst-30212	45	4	of	of	ADP
ajst-30212	45	5	this	this	DET
ajst-30212	45	6	drone	drone	NOUN
ajst-30212	45	7	consists	consist	VERB
ajst-30212	45	8	of	of	ADP
ajst-30212	45	9	four	four	NUM
ajst-30212	45	10	motordriven	motordriven	ADJ
ajst-30212	45	11	rotors	rotor	NOUN
ajst-30212	45	12	,	,	PUNCT
ajst-30212	45	13	which	which	PRON
ajst-30212	45	14	are	be	AUX
ajst-30212	45	15	divided	divide	VERB
ajst-30212	45	16	into	into	ADP
ajst-30212	45	17	two	two	NUM
ajst-30212	45	18	groups	group	NOUN
ajst-30212	45	19	:	:	PUNCT
ajst-30212	45	20	one	one	NUM
ajst-30212	45	21	group	group	NOUN
ajst-30212	45	22	rotates	rotate	VERB
ajst-30212	45	23	clockwise	clockwise	NOUN
ajst-30212	45	24	and	and	CCONJ
ajst-30212	45	25	the	the	DET
ajst-30212	45	26	other	other	ADJ
ajst-30212	45	27	group	group	NOUN
ajst-30212	45	28	rotates	rotate	VERB
ajst-30212	45	29	counter	counter	ADJ
ajst-30212	45	30	clockwise	clockwise	NOUN
ajst-30212	45	31	to	to	PART
ajst-30212	45	32	ensure	ensure	VERB
ajst-30212	45	33	balance	balance	NOUN
ajst-30212	45	34	and	and	CCONJ
ajst-30212	45	35	stability	stability	NOUN
ajst-30212	45	36	during	during	ADP
ajst-30212	45	37	flight	flight	NOUN
ajst-30212	45	38	.	.	PUNCT
ajst-30212	46	1	this	this	DET
ajst-30212	46	2	design	design	NOUN
ajst-30212	46	3	enables	enable	VERB
ajst-30212	46	4	the	the	DET
ajst-30212	46	5	drone	drone	NOUN
ajst-30212	46	6	to	to	PART
ajst-30212	46	7	perform	perform	VERB
ajst-30212	46	8	precise	precise	ADJ
ajst-30212	46	9	attitude	attitude	NOUN
ajst-30212	46	10	control	control	NOUN
ajst-30212	46	11	in	in	ADP
ajst-30212	46	12	three	three	NUM
ajst-30212	46	13	-	-	PUNCT
ajst-30212	46	14	dimensional	dimensional	ADJ
ajst-30212	46	15	space	space	NOUN
ajst-30212	46	16	,	,	PUNCT
ajst-30212	46	17	including	include	VERB
ajst-30212	46	18	six	six	NUM
ajst-30212	46	19	degrees	degree	NOUN
ajst-30212	46	20	of	of	ADP
ajst-30212	46	21	freedom	freedom	NOUN
ajst-30212	46	22	movement	movement	NOUN
ajst-30212	46	23	such	such	ADJ
ajst-30212	46	24	as	as	ADP
ajst-30212	46	25	front	front	NOUN
ajst-30212	46	26	and	and	CCONJ
ajst-30212	46	27	back	back	ADV
ajst-30212	46	28	,	,	PUNCT
ajst-30212	46	29	left	left	ADJ
ajst-30212	46	30	and	and	CCONJ
ajst-30212	46	31	right	right	ADJ
ajst-30212	46	32	,	,	PUNCT
ajst-30212	46	33	up	up	ADV
ajst-30212	46	34	and	and	CCONJ
ajst-30212	46	35	down	down	ADV
ajst-30212	46	36	,	,	PUNCT
ajst-30212	46	37	and	and	CCONJ
ajst-30212	46	38	rotation	rotation	NOUN
ajst-30212	46	39	.	.	PUNCT
ajst-30212	47	1	this	this	DET
ajst-30212	47	2	drone	drone	NOUN
ajst-30212	47	3	is	be	AUX
ajst-30212	47	4	equipped	equip	VERB
ajst-30212	47	5	with	with	ADP
ajst-30212	47	6	a	a	DET
ajst-30212	47	7	high	high	ADJ
ajst-30212	47	8	-	-	PUNCT
ajst-30212	47	9	definition	definition	NOUN
ajst-30212	47	10	camera	camera	NOUN
ajst-30212	47	11	with	with	ADP
ajst-30212	47	12	a	a	DET
ajst-30212	47	13	resolution	resolution	NOUN
ajst-30212	47	14	of	of	ADP
ajst-30212	47	15	1080p	1080p	NUM
ajst-30212	47	16	or	or	CCONJ
ajst-30212	47	17	4k	4k	NOUN
ajst-30212	47	18	,	,	PUNCT
ajst-30212	47	19	supports	support	VERB
ajst-30212	47	20	highdefinition	highdefinition	NOUN
ajst-30212	47	21	video	video	NOUN
ajst-30212	47	22	recording	recording	NOUN
ajst-30212	47	23	at	at	ADP
ajst-30212	47	24	30	30	NUM
ajst-30212	47	25	frames	frame	NOUN
ajst-30212	47	26	per	per	ADP
ajst-30212	47	27	second	second	NOUN
ajst-30212	47	28	,	,	PUNCT
ajst-30212	47	29	and	and	CCONJ
ajst-30212	47	30	has	have	VERB
ajst-30212	47	31	h.264	h.264	ADJ
ajst-30212	47	32	video	video	NOUN
ajst-30212	47	33	encoding	encoding	NOUN
ajst-30212	47	34	format	format	NOUN
ajst-30212	47	35	and	and	CCONJ
ajst-30212	47	36	jpeg	jpeg	NOUN
ajst-30212	47	37	photo	photo	NOUN
ajst-30212	47	38	shooting	shooting	NOUN
ajst-30212	47	39	functions	function	NOUN
ajst-30212	47	40	.	.	PUNCT
ajst-30212	48	1	the	the	DET
ajst-30212	48	2	camera	camera	NOUN
ajst-30212	48	3	’s	’s	PART
ajst-30212	48	4	viewing	view	VERB
ajst-30212	48	5	angle	angle	NOUN
ajst-30212	48	6	is	be	AUX
ajst-30212	48	7	about	about	ADV
ajst-30212	48	8	78.8	78.8	NUM
ajst-30212	48	9	°	°	NOUN
ajst-30212	48	10	,	,	PUNCT
ajst-30212	48	11	and	and	CCONJ
ajst-30212	48	12	the	the	DET
ajst-30212	48	13	smaller	small	ADJ
ajst-30212	48	14	focal	focal	ADJ
ajst-30212	48	15	length	length	NOUN
ajst-30212	48	16	(	(	PUNCT
ajst-30212	48	17	26	26	NUM
ajst-30212	48	18	mm	mm	NOUN
ajst-30212	48	19	(	(	PUNCT
ajst-30212	48	20	35	35	NUM
ajst-30212	48	21	mm	mm	NOUN
ajst-30212	48	22	equivalent	equivalent	NOUN
ajst-30212	48	23	)	)	PUNCT
ajst-30212	48	24	)	)	PUNCT
ajst-30212	48	25	enables	enable	VERB
ajst-30212	48	26	the	the	DET
ajst-30212	48	27	camera	camera	NOUN
ajst-30212	48	28	to	to	PART
ajst-30212	48	29	obtain	obtain	VERB
ajst-30212	48	30	a	a	DET
ajst-30212	48	31	wider	wide	ADJ
ajst-30212	48	32	field	field	NOUN
ajst-30212	48	33	of	of	ADP
ajst-30212	48	34	view	view	NOUN
ajst-30212	48	35	and	and	CCONJ
ajst-30212	48	36	include	include	VERB
ajst-30212	48	37	more	more	ADJ
ajst-30212	48	38	environmental	environmental	ADJ
ajst-30212	48	39	details	detail	NOUN
ajst-30212	48	40	.	.	PUNCT
ajst-30212	49	1	equipped	equip	VERB
ajst-30212	49	2	with	with	ADP
ajst-30212	49	3	a	a	DET
ajst-30212	49	4	twoaxis	twoaxis	ADJ
ajst-30212	49	5	mechanical	mechanical	ADJ
ajst-30212	49	6	gimbal	gimbal	ADJ
ajst-30212	49	7	,	,	PUNCT
ajst-30212	49	8	it	it	PRON
ajst-30212	49	9	can	can	AUX
ajst-30212	49	10	stabilize	stabilize	VERB
ajst-30212	49	11	the	the	DET
ajst-30212	49	12	camera	camera	NOUN
ajst-30212	49	13	in	in	ADP
ajst-30212	49	14	realtime	realtime	NOUN
ajst-30212	49	15	during	during	ADP
ajst-30212	49	16	the	the	DET
ajst-30212	49	17	flight	flight	NOUN
ajst-30212	49	18	of	of	ADP
ajst-30212	49	19	the	the	DET
ajst-30212	49	20	drone	drone	NOUN
ajst-30212	49	21	.	.	PUNCT
ajst-30212	50	1	by	by	ADP
ajst-30212	50	2	adjusting	adjust	VERB
ajst-30212	50	3	the	the	DET
ajst-30212	50	4	pitch	pitch	NOUN
ajst-30212	50	5	and	and	CCONJ
ajst-30212	50	6	roll	roll	NOUN
ajst-30212	50	7	angles	angle	NOUN
ajst-30212	50	8	,	,	PUNCT
ajst-30212	50	9	the	the	DET
ajst-30212	50	10	image	image	NOUN
ajst-30212	50	11	jitter	jitter	NOUN
ajst-30212	50	12	caused	cause	VERB
ajst-30212	50	13	by	by	ADP
ajst-30212	50	14	flight	flight	NOUN
ajst-30212	50	15	is	be	AUX
ajst-30212	50	16	reduced	reduce	VERB
ajst-30212	50	17	to	to	PART
ajst-30212	50	18	ensure	ensure	VERB
ajst-30212	50	19	the	the	DET
ajst-30212	50	20	smoothness	smoothness	NOUN
ajst-30212	50	21	and	and	CCONJ
ajst-30212	50	22	clarity	clarity	NOUN
ajst-30212	50	23	of	of	ADP
ajst-30212	50	24	the	the	DET
ajst-30212	50	25	output	output	NOUN
ajst-30212	50	26	image	image	NOUN
ajst-30212	50	27	.	.	PUNCT
ajst-30212	51	1	figure	figure	NOUN
ajst-30212	51	2	1	1	NUM
ajst-30212	51	3	.	.	PUNCT
ajst-30212	52	1	the	the	DET
ajst-30212	52	2	uav	uav	PROPN
ajst-30212	52	3	and	and	CCONJ
ajst-30212	52	4	the	the	DET
ajst-30212	52	5	camera	camera	NOUN
ajst-30212	52	6	the	the	DET
ajst-30212	52	7	innovation	innovation	NOUN
ajst-30212	52	8	of	of	ADP
ajst-30212	52	9	this	this	DET
ajst-30212	52	10	study	study	NOUN
ajst-30212	52	11	is	be	AUX
ajst-30212	52	12	that	that	SCONJ
ajst-30212	52	13	a	a	DET
ajst-30212	52	14	uav	uav	PROPN
ajst-30212	52	15	face	face	NOUN
ajst-30212	52	16	recognition	recognition	NOUN
ajst-30212	52	17	and	and	CCONJ
ajst-30212	52	18	position	position	NOUN
ajst-30212	52	19	calculation	calculation	NOUN
ajst-30212	52	20	method	method	NOUN
ajst-30212	52	21	combining	combine	VERB
ajst-30212	52	22	the	the	DET
ajst-30212	52	23	yolov8	yolov8	NOUN
ajst-30212	52	24	model	model	PROPN
ajst-30212	52	25	,	,	PUNCT
ajst-30212	52	26	pnp	pnp	PROPN
ajst-30212	52	27	algorithm	algorithm	NOUN
ajst-30212	52	28	and	and	CCONJ
ajst-30212	52	29	sensor	sensor	NOUN
ajst-30212	52	30	fusion	fusion	NOUN
ajst-30212	52	31	is	be	AUX
ajst-30212	52	32	proposed	propose	VERB
ajst-30212	52	33	.	.	PUNCT
ajst-30212	53	1	after	after	ADP
ajst-30212	53	2	detecting	detect	VERB
ajst-30212	53	3	the	the	DET
ajst-30212	53	4	face	face	NOUN
ajst-30212	53	5	and	and	CCONJ
ajst-30212	53	6	determining	determine	VERB
ajst-30212	53	7	its	its	PRON
ajst-30212	53	8	distance	distance	NOUN
ajst-30212	53	9	in	in	ADP
ajst-30212	53	10	the	the	DET
ajst-30212	53	11	real	real	ADJ
ajst-30212	53	12	world	world	NOUN
ajst-30212	53	13	,	,	PUNCT
ajst-30212	53	14	the	the	DET
ajst-30212	53	15	system	system	NOUN
ajst-30212	53	16	will	will	AUX
ajst-30212	53	17	automatically	automatically	ADV
ajst-30212	53	18	trigger	trigger	VERB
ajst-30212	53	19	the	the	DET
ajst-30212	53	20	obstacle	obstacle	NOUN
ajst-30212	53	21	avoidance	avoidance	NOUN
ajst-30212	53	22	strategy	strategy	NOUN
ajst-30212	53	23	when	when	SCONJ
ajst-30212	53	24	the	the	DET
ajst-30212	53	25	face	face	NOUN
ajst-30212	53	26	distance	distance	NOUN
ajst-30212	53	27	is	be	AUX
ajst-30212	53	28	less	less	ADJ
ajst-30212	53	29	than	than	ADP
ajst-30212	53	30	the	the	DET
ajst-30212	53	31	safety	safety	NOUN
ajst-30212	53	32	threshold	threshold	NOUN
ajst-30212	53	33	.	.	PUNCT
ajst-30212	54	1	the	the	DET
ajst-30212	54	2	obstacle	obstacle	NOUN
ajst-30212	54	3	avoidance	avoidance	NOUN
ajst-30212	54	4	strategy	strategy	NOUN
ajst-30212	54	5	calculates	calculate	VERB
ajst-30212	54	6	the	the	DET
ajst-30212	54	7	optimal	optimal	ADJ
ajst-30212	54	8	obstacle	obstacle	NOUN
ajst-30212	54	9	avoidance	avoidance	NOUN
ajst-30212	54	10	direction	direction	NOUN
ajst-30212	54	11	of	of	ADP
ajst-30212	54	12	the	the	DET
ajst-30212	54	13	uav	uav	PROPN
ajst-30212	54	14	by	by	ADP
ajst-30212	54	15	analyzing	analyze	VERB
ajst-30212	54	16	the	the	DET
ajst-30212	54	17	positions	position	NOUN
ajst-30212	54	18	of	of	ADP
ajst-30212	54	19	all	all	DET
ajst-30212	54	20	detected	detect	VERB
ajst-30212	54	21	faces	face	NOUN
ajst-30212	54	22	in	in	ADP
ajst-30212	54	23	the	the	DET
ajst-30212	54	24	image	image	NOUN
ajst-30212	54	25	to	to	PART
ajst-30212	54	26	ensure	ensure	VERB
ajst-30212	54	27	the	the	DET
ajst-30212	54	28	safety	safety	NOUN
ajst-30212	54	29	of	of	ADP
ajst-30212	54	30	flight	flight	NOUN
ajst-30212	54	31	.	.	PUNCT
ajst-30212	55	1	the	the	DET
ajst-30212	55	2	purpose	purpose	NOUN
ajst-30212	55	3	of	of	ADP
ajst-30212	55	4	this	this	DET
ajst-30212	55	5	study	study	NOUN
ajst-30212	55	6	is	be	AUX
ajst-30212	55	7	to	to	PART
ajst-30212	55	8	improve	improve	VERB
ajst-30212	55	9	the	the	DET
ajst-30212	55	10	safety	safety	NOUN
ajst-30212	55	11	of	of	ADP
ajst-30212	55	12	autonomous	autonomous	ADJ
ajst-30212	55	13	flight	flight	NOUN
ajst-30212	55	14	of	of	ADP
ajst-30212	55	15	uavs	uavs	PROPN
ajst-30212	55	16	in	in	ADP
ajst-30212	55	17	humandense	humandense	PROPN
ajst-30212	55	18	scenes	scene	NOUN
ajst-30212	55	19	with	with	ADP
ajst-30212	55	20	the	the	DET
ajst-30212	55	21	lowest	low	ADJ
ajst-30212	55	22	hardware	hardware	NOUN
ajst-30212	55	23	and	and	CCONJ
ajst-30212	55	24	algorithm	algorithm	NOUN
ajst-30212	55	25	costs	cost	NOUN
ajst-30212	55	26	.	.	PUNCT
ajst-30212	56	1	the	the	DET
ajst-30212	56	2	structure	structure	NOUN
ajst-30212	56	3	of	of	ADP
ajst-30212	56	4	this	this	DET
ajst-30212	56	5	paper	paper	NOUN
ajst-30212	56	6	is	be	AUX
ajst-30212	56	7	arranged	arrange	VERB
ajst-30212	56	8	as	as	SCONJ
ajst-30212	56	9	follows	follow	VERB
ajst-30212	56	10	:	:	PUNCT
ajst-30212	56	11	section	section	PROPN
ajst-30212	56	12	ii	ii	PROPN
ajst-30212	56	13	introduces	introduce	VERB
ajst-30212	56	14	the	the	DET
ajst-30212	56	15	methods	method	NOUN
ajst-30212	56	16	and	and	CCONJ
ajst-30212	56	17	techniques	technique	NOUN
ajst-30212	56	18	used	use	VERB
ajst-30212	56	19	in	in	ADP
ajst-30212	56	20	this	this	DET
ajst-30212	56	21	study	study	NOUN
ajst-30212	56	22	,	,	PUNCT
ajst-30212	56	23	including	include	VERB
ajst-30212	56	24	the	the	DET
ajst-30212	56	25	detection	detection	NOUN
ajst-30212	56	26	principle	principle	NOUN
ajst-30212	56	27	of	of	ADP
ajst-30212	56	28	the	the	DET
ajst-30212	56	29	yolov8	yolov8	PROPN
ajst-30212	56	30	model	model	PROPN
ajst-30212	56	31	,	,	PUNCT
ajst-30212	56	32	the	the	DET
ajst-30212	56	33	mathematical	mathematical	ADJ
ajst-30212	56	34	derivation	derivation	NOUN
ajst-30212	56	35	of	of	ADP
ajst-30212	56	36	the	the	DET
ajst-30212	56	37	pnp	pnp	PROPN
ajst-30212	56	38	algorithm	algorithm	NOUN
ajst-30212	56	39	,	,	PUNCT
ajst-30212	56	40	the	the	DET
ajst-30212	56	41	application	application	NOUN
ajst-30212	56	42	of	of	ADP
ajst-30212	56	43	imu	imu	NOUN
ajst-30212	56	44	sensors	sensor	NOUN
ajst-30212	56	45	,	,	PUNCT
ajst-30212	56	46	and	and	CCONJ
ajst-30212	56	47	the	the	DET
ajst-30212	56	48	specific	specific	ADJ
ajst-30212	56	49	implementation	implementation	NOUN
ajst-30212	56	50	of	of	ADP
ajst-30212	56	51	sensor	sensor	NOUN
ajst-30212	56	52	fusion	fusion	NOUN
ajst-30212	56	53	.	.	PUNCT
ajst-30212	57	1	section	section	NOUN
ajst-30212	57	2	iii	iii	PROPN
ajst-30212	57	3	describes	describe	VERB
ajst-30212	57	4	the	the	DET
ajst-30212	57	5	experimental	experimental	ADJ
ajst-30212	57	6	design	design	NOUN
ajst-30212	57	7	and	and	CCONJ
ajst-30212	57	8	scene	scene	NOUN
ajst-30212	57	9	settings	setting	NOUN
ajst-30212	57	10	in	in	ADP
ajst-30212	57	11	detail	detail	NOUN
ajst-30212	57	12	.	.	PUNCT
ajst-30212	58	1	section	section	NOUN
ajst-30212	58	2	iv	iv	NUM
ajst-30212	58	3	shows	show	VERB
ajst-30212	58	4	the	the	DET
ajst-30212	58	5	experimental	experimental	ADJ
ajst-30212	58	6	results	result	NOUN
ajst-30212	58	7	and	and	CCONJ
ajst-30212	58	8	conducts	conduct	NOUN
ajst-30212	58	9	in	in	ADP
ajst-30212	58	10	-	-	PUNCT
ajst-30212	58	11	depth	depth	NOUN
ajst-30212	58	12	discussions	discussion	NOUN
ajst-30212	58	13	.	.	PUNCT
ajst-30212	59	1	finally	finally	ADV
ajst-30212	59	2	,	,	PUNCT
ajst-30212	59	3	section	section	NOUN
ajst-30212	59	4	v	v	NUM
ajst-30212	59	5	summarizes	summarize	NOUN
ajst-30212	59	6	the	the	DET
ajst-30212	59	7	research	research	NOUN
ajst-30212	59	8	results	result	NOUN
ajst-30212	59	9	and	and	CCONJ
ajst-30212	59	10	proposes	propose	VERB
ajst-30212	59	11	future	future	ADJ
ajst-30212	59	12	research	research	NOUN
ajst-30212	59	13	directions	direction	NOUN
ajst-30212	59	14	.	.	PUNCT
ajst-30212	60	1	2	2	X
ajst-30212	60	2	.	.	X
ajst-30212	60	3	methodology	methodology	NOUN
ajst-30212	60	4	this	this	DET
ajst-30212	60	5	section	section	NOUN
ajst-30212	60	6	introduces	introduce	NOUN
ajst-30212	60	7	in	in	ADP
ajst-30212	60	8	detail	detail	NOUN
ajst-30212	60	9	the	the	DET
ajst-30212	60	10	core	core	ADJ
ajst-30212	60	11	technical	technical	ADJ
ajst-30212	60	12	methods	method	NOUN
ajst-30212	60	13	used	use	VERB
ajst-30212	60	14	in	in	ADP
ajst-30212	60	15	this	this	DET
ajst-30212	60	16	study	study	NOUN
ajst-30212	60	17	,	,	PUNCT
ajst-30212	60	18	including	include	VERB
ajst-30212	60	19	face	face	NOUN
ajst-30212	60	20	detection	detection	NOUN
ajst-30212	60	21	,	,	PUNCT
ajst-30212	60	22	position	position	NOUN
ajst-30212	60	23	calculation	calculation	NOUN
ajst-30212	60	24	and	and	CCONJ
ajst-30212	60	25	sensor	sensor	NOUN
ajst-30212	60	26	fusion	fusion	NOUN
ajst-30212	60	27	,	,	PUNCT
ajst-30212	60	28	and	and	CCONJ
ajst-30212	60	29	the	the	DET
ajst-30212	60	30	specific	specific	ADJ
ajst-30212	60	31	implementation	implementation	NOUN
ajst-30212	60	32	of	of	ADP
ajst-30212	60	33	obstacle	obstacle	NOUN
ajst-30212	60	34	avoidance	avoidance	NOUN
ajst-30212	60	35	strategy	strategy	NOUN
ajst-30212	60	36	.	.	PUNCT
ajst-30212	61	1	2.1	2.1	NUM
ajst-30212	61	2	.	.	PUNCT
ajst-30212	61	3	face	face	NOUN
ajst-30212	61	4	detection	detection	NOUN
ajst-30212	61	5	the	the	DET
ajst-30212	61	6	yolo	yolo	NOUN
ajst-30212	61	7	(	(	PUNCT
ajst-30212	61	8	you	you	PRON
ajst-30212	61	9	only	only	ADV
ajst-30212	61	10	look	look	VERB
ajst-30212	61	11	once	once	ADV
ajst-30212	61	12	)	)	PUNCT
ajst-30212	61	13	model	model	NOUN
ajst-30212	61	14	has	have	AUX
ajst-30212	61	15	become	become	VERB
ajst-30212	61	16	a	a	DET
ajst-30212	61	17	research	research	NOUN
ajst-30212	61	18	hotspot	hotspot	NOUN
ajst-30212	61	19	in	in	ADP
ajst-30212	61	20	the	the	DET
ajst-30212	61	21	field	field	NOUN
ajst-30212	61	22	of	of	ADP
ajst-30212	61	23	visual	visual	ADJ
ajst-30212	61	24	target	target	NOUN
ajst-30212	61	25	detection	detection	NOUN
ajst-30212	61	26	because	because	SCONJ
ajst-30212	61	27	of	of	ADP
ajst-30212	61	28	its	its	PRON
ajst-30212	61	29	fast	fast	ADJ
ajst-30212	61	30	and	and	CCONJ
ajst-30212	61	31	accurate	accurate	ADJ
ajst-30212	61	32	detection	detection	NOUN
ajst-30212	61	33	capabilities	capability	NOUN
ajst-30212	61	34	.	.	PUNCT
ajst-30212	62	1	yolov8	yolov8	NOUN
ajst-30212	62	2	is	be	AUX
ajst-30212	62	3	a	a	DET
ajst-30212	62	4	new	new	ADJ
ajst-30212	62	5	generation	generation	NOUN
ajst-30212	62	6	of	of	ADP
ajst-30212	62	7	deep	deep	ADJ
ajst-30212	62	8	learning	learning	NOUN
ajst-30212	62	9	model	model	NOUN
ajst-30212	62	10	launched	launch	VERB
ajst-30212	62	11	by	by	ADP
ajst-30212	62	12	the	the	DET
ajst-30212	62	13	ultralytics	ultralytic	NOUN
ajst-30212	62	14	team	team	NOUN
ajst-30212	62	15	known	know	VERB
ajst-30212	62	16	for	for	ADP
ajst-30212	62	17	its	its	PRON
ajst-30212	62	18	innovative	innovative	ADJ
ajst-30212	62	19	yolov5	yolov5	NOUN
ajst-30212	62	20	model	model	NOUN
ajst-30212	62	21	,	,	PUNCT
ajst-30212	62	22	released	release	VERB
ajst-30212	62	23	on	on	ADP
ajst-30212	62	24	january	january	PROPN
ajst-30212	62	25	10	10	NUM
ajst-30212	62	26	,	,	PUNCT
ajst-30212	62	27	2023	2023	NUM
ajst-30212	62	28	[	[	X
ajst-30212	62	29	13	13	NUM
ajst-30212	62	30	]	]	PUNCT
ajst-30212	62	31	.	.	PUNCT
ajst-30212	63	1	it	it	PRON
ajst-30212	63	2	can	can	AUX
ajst-30212	63	3	not	not	PART
ajst-30212	63	4	only	only	ADV
ajst-30212	63	5	be	be	AUX
ajst-30212	63	6	used	use	VERB
ajst-30212	63	7	for	for	ADP
ajst-30212	63	8	object	object	NOUN
ajst-30212	63	9	detection	detection	NOUN
ajst-30212	63	10	in	in	ADP
ajst-30212	63	11	images	image	NOUN
ajst-30212	63	12	,	,	PUNCT
ajst-30212	63	13	but	but	CCONJ
ajst-30212	63	14	also	also	ADV
ajst-30212	63	15	supports	support	VERB
ajst-30212	63	16	tasks	task	NOUN
ajst-30212	63	17	such	such	ADJ
ajst-30212	63	18	as	as	ADP
ajst-30212	63	19	image	image	NOUN
ajst-30212	63	20	classification	classification	NOUN
ajst-30212	63	21	and	and	CCONJ
ajst-30212	63	22	object	object	VERB
ajst-30212	63	23	discrimination	discrimination	NOUN
ajst-30212	63	24	.	.	PUNCT
ajst-30212	64	1	yolov8	yolov8	NOUN
ajst-30212	64	2	is	be	AUX
ajst-30212	64	3	the	the	DET
ajst-30212	64	4	result	result	NOUN
ajst-30212	64	5	of	of	ADP
ajst-30212	64	6	further	further	ADJ
ajst-30212	64	7	improvements	improvement	NOUN
ajst-30212	64	8	based	base	VERB
ajst-30212	64	9	on	on	ADP
ajst-30212	64	10	yolov5	yolov5	NOUN
ajst-30212	64	11	,	,	PUNCT
ajst-30212	64	12	significantly	significantly	ADV
ajst-30212	64	13	optimized	optimize	VERB
ajst-30212	64	14	for	for	ADP
ajst-30212	64	15	performance	performance	NOUN
ajst-30212	64	16	and	and	CCONJ
ajst-30212	64	17	ease	ease	NOUN
ajst-30212	64	18	of	of	ADP
ajst-30212	64	19	use	use	NOUN
ajst-30212	64	20	.	.	PUNCT
ajst-30212	65	1	ultralytics	ultralytic	NOUN
ajst-30212	65	2	has	have	AUX
ajst-30212	65	3	made	make	VERB
ajst-30212	65	4	several	several	ADJ
ajst-30212	65	5	upgrades	upgrade	NOUN
ajst-30212	65	6	to	to	ADP
ajst-30212	65	7	it	it	PRON
ajst-30212	65	8	,	,	PUNCT
ajst-30212	65	9	including	include	VERB
ajst-30212	65	10	an	an	DET
ajst-30212	65	11	optimized	optimize	VERB
ajst-30212	65	12	backbone	backbone	NOUN
ajst-30212	65	13	network	network	NOUN
ajst-30212	65	14	,	,	PUNCT
ajst-30212	65	15	anchor	anchor	NOUN
ajst-30212	65	16	-	-	PUNCT
ajst-30212	65	17	free	free	ADJ
ajst-30212	65	18	detection	detection	NOUN
ajst-30212	65	19	heads	head	NOUN
ajst-30212	65	20	,	,	PUNCT
ajst-30212	65	21	and	and	CCONJ
ajst-30212	65	22	a	a	DET
ajst-30212	65	23	new	new	ADJ
ajst-30212	65	24	loss	loss	NOUN
ajst-30212	65	25	function	function	NOUN
ajst-30212	65	26	,	,	PUNCT
ajst-30212	65	27	making	make	VERB
ajst-30212	65	28	yolov8	yolov8	NOUN
ajst-30212	65	29	more	more	ADV
ajst-30212	65	30	efficient	efficient	ADJ
ajst-30212	65	31	than	than	ADP
ajst-30212	65	32	its	its	PRON
ajst-30212	65	33	predecessor	predecessor	NOUN
ajst-30212	65	34	.	.	PUNCT
ajst-30212	66	1	in	in	ADP
ajst-30212	66	2	addition	addition	NOUN
ajst-30212	66	3	to	to	ADP
ajst-30212	66	4	these	these	DET
ajst-30212	66	5	enhancements	enhancement	NOUN
ajst-30212	66	6	,	,	PUNCT
ajst-30212	66	7	yolov8	yolov8	PROPN
ajst-30212	66	8	natively	natively	ADV
ajst-30212	66	9	supports	support	VERB
ajst-30212	66	10	image	image	NOUN
ajst-30212	66	11	classification	classification	NOUN
ajst-30212	66	12	tasks	task	NOUN
ajst-30212	66	13	.	.	PUNCT
ajst-30212	67	1	its	its	PRON
ajst-30212	67	2	biggest	big	ADJ
ajst-30212	67	3	advantage	advantage	NOUN
ajst-30212	67	4	is	be	AUX
ajst-30212	67	5	that	that	SCONJ
ajst-30212	67	6	it	it	PRON
ajst-30212	67	7	combines	combine	VERB
ajst-30212	67	8	extremely	extremely	ADV
ajst-30212	67	9	high	high	ADJ
ajst-30212	67	10	speed	speed	NOUN
ajst-30212	67	11	and	and	CCONJ
ajst-30212	67	12	accuracy	accuracy	NOUN
ajst-30212	67	13	while	while	SCONJ
ajst-30212	67	14	maintaining	maintain	VERB
ajst-30212	67	15	a	a	DET
ajst-30212	67	16	lightweight	lightweight	ADJ
ajst-30212	67	17	design	design	NOUN
ajst-30212	67	18	,	,	PUNCT
ajst-30212	67	19	ensuring	ensure	VERB
ajst-30212	67	20	that	that	SCONJ
ajst-30212	67	21	it	it	PRON
ajst-30212	67	22	can	can	AUX
ajst-30212	67	23	adapt	adapt	VERB
ajst-30212	67	24	to	to	ADP
ajst-30212	67	25	various	various	ADJ
ajst-30212	67	26	hardware	hardware	NOUN
ajst-30212	67	27	platforms	platform	NOUN
ajst-30212	67	28	and	and	CCONJ
ajst-30212	67	29	application	application	NOUN
ajst-30212	67	30	scenarios	scenario	NOUN
ajst-30212	67	31	[	[	X
ajst-30212	67	32	14	14	NUM
ajst-30212	67	33	]	]	PUNCT
ajst-30212	67	34	.	.	PUNCT
ajst-30212	68	1	by	by	ADP
ajst-30212	68	2	integrating	integrate	VERB
ajst-30212	68	3	the	the	DET
ajst-30212	68	4	global	global	ADJ
ajst-30212	68	5	information	information	NOUN
ajst-30212	68	6	of	of	ADP
ajst-30212	68	7	the	the	DET
ajst-30212	68	8	image	image	NOUN
ajst-30212	68	9	,	,	PUNCT
ajst-30212	68	10	yolov8	yolov8	PROPN
ajst-30212	68	11	can	can	AUX
ajst-30212	68	12	simultaneously	simultaneously	ADV
ajst-30212	68	13	predict	predict	VERB
ajst-30212	68	14	the	the	DET
ajst-30212	68	15	locations	location	NOUN
ajst-30212	68	16	and	and	CCONJ
ajst-30212	68	17	categories	category	NOUN
ajst-30212	68	18	of	of	ADP
ajst-30212	68	19	multiple	multiple	ADJ
ajst-30212	68	20	targets	target	NOUN
ajst-30212	68	21	in	in	ADP
ajst-30212	68	22	one	one	NUM
ajst-30212	68	23	forward	forward	ADV
ajst-30212	68	24	pass	pass	NOUN
ajst-30212	68	25	.	.	PUNCT
ajst-30212	69	1	therefore	therefore	ADV
ajst-30212	69	2	,	,	PUNCT
ajst-30212	69	3	yolov8	yolov8	NOUN
ajst-30212	69	4	has	have	VERB
ajst-30212	69	5	huge	huge	ADJ
ajst-30212	69	6	application	application	NOUN
ajst-30212	69	7	potential	potential	NOUN
ajst-30212	69	8	in	in	ADP
ajst-30212	69	9	uav	uav	PROPN
ajst-30212	69	10	autonomous	autonomous	ADJ
ajst-30212	69	11	obstacle	obstacle	NOUN
ajst-30212	69	12	avoidance	avoidance	NOUN
ajst-30212	69	13	.	.	PUNCT
ajst-30212	70	1	by	by	ADP
ajst-30212	70	2	integrating	integrate	VERB
ajst-30212	70	3	the	the	DET
ajst-30212	70	4	global	global	ADJ
ajst-30212	70	5	information	information	NOUN
ajst-30212	70	6	of	of	ADP
ajst-30212	70	7	the	the	DET
ajst-30212	70	8	image	image	NOUN
ajst-30212	70	9	,	,	PUNCT
ajst-30212	70	10	yolov8	yolov8	PROPN
ajst-30212	70	11	can	can	AUX
ajst-30212	70	12	simultaneously	simultaneously	ADV
ajst-30212	70	13	predict	predict	VERB
ajst-30212	70	14	the	the	DET
ajst-30212	70	15	locations	location	NOUN
ajst-30212	70	16	and	and	CCONJ
ajst-30212	70	17	cat	cat	NOUN
ajst-30212	70	18	egories	egorie	NOUN
ajst-30212	70	19	of	of	ADP
ajst-30212	70	20	multiple	multiple	ADJ
ajst-30212	70	21	targets	target	NOUN
ajst-30212	70	22	in	in	ADP
ajst-30212	70	23	one	one	NUM
ajst-30212	70	24	forward	forward	ADV
ajst-30212	70	25	pass	pass	NOUN
ajst-30212	70	26	.	.	PUNCT
ajst-30212	71	1	therefore	therefore	ADV
ajst-30212	71	2	,	,	PUNCT
ajst-30212	71	3	yolov8	yolov8	NOUN
ajst-30212	71	4	has	have	VERB
ajst-30212	71	5	huge	huge	ADJ
ajst-30212	71	6	application	application	NOUN
ajst-30212	71	7	potential	potential	NOUN
ajst-30212	71	8	in	in	ADP
ajst-30212	71	9	uav	uav	PROPN
ajst-30212	71	10	autonomous	autonomous	ADJ
ajst-30212	71	11	obstacle	obstacle	NOUN
ajst-30212	71	12	avoidance	avoidance	NOUN
ajst-30212	71	13	.	.	PUNCT
ajst-30212	72	1	in	in	ADP
ajst-30212	72	2	this	this	DET
ajst-30212	72	3	study	study	NOUN
ajst-30212	72	4	,	,	PUNCT
ajst-30212	72	5	the	the	DET
ajst-30212	72	6	yolov8	yolov8	NOUN
ajst-30212	72	7	model	model	NOUN
ajst-30212	72	8	was	be	AUX
ajst-30212	72	9	used	use	VERB
ajst-30212	72	10	for	for	ADP
ajst-30212	72	11	face	face	NOUN
ajst-30212	72	12	recognition	recognition	NOUN
ajst-30212	72	13	and	and	CCONJ
ajst-30212	72	14	five	five	NUM
ajst-30212	72	15	key	key	ADJ
ajst-30212	72	16	points	point	NOUN
ajst-30212	72	17	were	be	AUX
ajst-30212	72	18	accurately	accurately	ADV
ajst-30212	72	19	marked	mark	VERB
ajst-30212	72	20	:	:	PUNCT
ajst-30212	72	21	two	two	NUM
ajst-30212	72	22	eyes	eye	NOUN
ajst-30212	72	23	,	,	PUNCT
ajst-30212	72	24	nose	nose	NOUN
ajst-30212	72	25	and	and	CCONJ
ajst-30212	72	26	two	two	NUM
ajst-30212	72	27	corners	corner	NOUN
ajst-30212	72	28	of	of	ADP
ajst-30212	72	29	the	the	DET
ajst-30212	72	30	mouth	mouth	NOUN
ajst-30212	72	31	.	.	PUNCT
ajst-30212	73	1	in	in	ADP
ajst-30212	73	2	this	this	DET
ajst-30212	73	3	way	way	NOUN
ajst-30212	73	4	,	,	PUNCT
ajst-30212	73	5	it	it	PRON
ajst-30212	73	6	can	can	AUX
ajst-30212	73	7	provide	provide	VERB
ajst-30212	73	8	an	an	DET
ajst-30212	73	9	effective	effective	ADJ
ajst-30212	73	10	foundation	foundation	NOUN
ajst-30212	73	11	for	for	ADP
ajst-30212	73	12	subsequent	subsequent	ADJ
ajst-30212	73	13	facial	facial	ADJ
ajst-30212	73	14	feature	feature	NOUN
ajst-30212	73	15	analysis	analysis	NOUN
ajst-30212	73	16	and	and	CCONJ
ajst-30212	73	17	related	related	ADJ
ajst-30212	73	18	applications	application	NOUN
ajst-30212	73	19	,	,	PUNCT
ajst-30212	73	20	especially	especially	ADV
ajst-30212	73	21	in	in	ADP
ajst-30212	73	22	tasks	task	NOUN
ajst-30212	73	23	that	that	PRON
ajst-30212	73	24	require	require	VERB
ajst-30212	73	25	precise	precise	ADJ
ajst-30212	73	26	facial	facial	ADJ
ajst-30212	73	27	alignment	alignment	NOUN
ajst-30212	73	28	and	and	CCONJ
ajst-30212	73	29	expression	expression	NOUN
ajst-30212	73	30	recognition	recognition	NOUN
ajst-30212	73	31	.	.	PUNCT
ajst-30212	74	1	taking	take	VERB
ajst-30212	74	2	advantage	advantage	NOUN
ajst-30212	74	3	of	of	ADP
ajst-30212	74	4	the	the	DET
ajst-30212	74	5	efficient	efficient	ADJ
ajst-30212	74	6	features	feature	NOUN
ajst-30212	74	7	of	of	ADP
ajst-30212	74	8	yolov8	yolov8	PROPN
ajst-30212	74	9	,	,	PUNCT
ajst-30212	74	10	we	we	PRON
ajst-30212	74	11	conducted	conduct	VERB
ajst-30212	74	12	experiments	experiment	NOUN
ajst-30212	74	13	in	in	ADP
ajst-30212	74	14	a	a	DET
ajst-30212	74	15	variety	variety	NOUN
ajst-30212	74	16	of	of	ADP
ajst-30212	74	17	environments	environment	NOUN
ajst-30212	74	18	and	and	CCONJ
ajst-30212	74	19	verified	verify	VERB
ajst-30212	74	20	its	its	PRON
ajst-30212	74	21	robustness	robustness	NOUN
ajst-30212	74	22	and	and	CCONJ
ajst-30212	74	23	accuracy	accuracy	NOUN
ajst-30212	74	24	under	under	ADP
ajst-30212	74	25	different	different	ADJ
ajst-30212	74	26	lighting	lighting	NOUN
ajst-30212	74	27	and	and	CCONJ
ajst-30212	74	28	angles	angle	NOUN
ajst-30212	74	29	.	.	PUNCT
ajst-30212	75	1	230	230	NUM
ajst-30212	75	2	figure	figure	NOUN
ajst-30212	75	3	2	2	NUM
ajst-30212	75	4	.	.	NOUN
ajst-30212	75	5	five	five	NUM
ajst-30212	75	6	key	key	ADJ
ajst-30212	75	7	points	point	NOUN
ajst-30212	75	8	of	of	ADP
ajst-30212	75	9	the	the	DET
ajst-30212	75	10	face	face	NOUN
ajst-30212	75	11	2.2	2.2	NUM
ajst-30212	75	12	.	.	PUNCT
ajst-30212	76	1	position	position	NOUN
ajst-30212	76	2	calculation	calculation	NOUN
ajst-30212	76	3	and	and	CCONJ
ajst-30212	76	4	sensor	sensor	NOUN
ajst-30212	76	5	fusion	fusion	NOUN
ajst-30212	76	6	the	the	DET
ajst-30212	76	7	pnp	pnp	PROPN
ajst-30212	76	8	(	(	PUNCT
ajst-30212	76	9	perspective	perspective	NOUN
ajst-30212	76	10	-	-	PUNCT
ajst-30212	76	11	n	n	CCONJ
ajst-30212	76	12	-	-	PUNCT
ajst-30212	76	13	point	point	NOUN
ajst-30212	76	14	)	)	PUNCT
ajst-30212	76	15	algorithm	algorithm	NOUN
ajst-30212	76	16	is	be	AUX
ajst-30212	76	17	a	a	DET
ajst-30212	76	18	classic	classic	ADJ
ajst-30212	76	19	computer	computer	NOUN
ajst-30212	76	20	vision	vision	NOUN
ajst-30212	76	21	algorithm	algorithm	NOUN
ajst-30212	76	22	used	use	VERB
ajst-30212	76	23	to	to	PART
ajst-30212	76	24	deduce	deduce	VERB
ajst-30212	76	25	the	the	DET
ajst-30212	76	26	sixdimensional	sixdimensional	ADJ
ajst-30212	76	27	pose	pose	NOUN
ajst-30212	76	28	(	(	PUNCT
ajst-30212	76	29	i.e.	i.e.	X
ajst-30212	76	30	,	,	PUNCT
ajst-30212	76	31	three	three	NUM
ajst-30212	76	32	-	-	PUNCT
ajst-30212	76	33	dimensional	dimensional	ADJ
ajst-30212	76	34	position	position	NOUN
ajst-30212	76	35	and	and	CCONJ
ajst-30212	76	36	orientation	orientation	NOUN
ajst-30212	76	37	)	)	PUNCT
ajst-30212	76	38	of	of	ADP
ajst-30212	76	39	a	a	DET
ajst-30212	76	40	camera	camera	NOUN
ajst-30212	76	41	from	from	ADP
ajst-30212	76	42	two	two	NUM
ajst-30212	76	43	-	-	PUNCT
ajst-30212	76	44	dimensional	dimensional	ADJ
ajst-30212	76	45	image	image	NOUN
ajst-30212	76	46	points	point	NOUN
ajst-30212	76	47	and	and	CCONJ
ajst-30212	76	48	corresponding	correspond	VERB
ajst-30212	76	49	threedimensional	threedimensional	ADJ
ajst-30212	76	50	space	space	NOUN
ajst-30212	76	51	points	point	NOUN
ajst-30212	76	52	.	.	PUNCT
ajst-30212	77	1	by	by	ADP
ajst-30212	77	2	establishing	establish	VERB
ajst-30212	77	3	a	a	DET
ajst-30212	77	4	mathematical	mathematical	ADJ
ajst-30212	77	5	model	model	NOUN
ajst-30212	77	6	of	of	ADP
ajst-30212	77	7	the	the	DET
ajst-30212	77	8	perspective	perspective	NOUN
ajst-30212	77	9	projection	projection	NOUN
ajst-30212	77	10	relationship	relationship	NOUN
ajst-30212	77	11	between	between	ADP
ajst-30212	77	12	a	a	DET
ajst-30212	77	13	known	know	VERB
ajst-30212	77	14	threedimensional	threedimensional	ADJ
ajst-30212	77	15	space	space	NOUN
ajst-30212	77	16	point	point	NOUN
ajst-30212	77	17	and	and	CCONJ
ajst-30212	77	18	its	its	PRON
ajst-30212	77	19	two	two	NUM
ajst-30212	77	20	-	-	PUNCT
ajst-30212	77	21	dimensional	dimensional	ADJ
ajst-30212	77	22	projection	projection	NOUN
ajst-30212	77	23	point	point	NOUN
ajst-30212	77	24	in	in	ADP
ajst-30212	77	25	the	the	DET
ajst-30212	77	26	image	image	NOUN
ajst-30212	77	27	,	,	PUNCT
ajst-30212	77	28	the	the	DET
ajst-30212	77	29	pnp	pnp	PROPN
ajst-30212	77	30	algorithm	algorithm	NOUN
ajst-30212	77	31	can	can	AUX
ajst-30212	77	32	solve	solve	VERB
ajst-30212	77	33	the	the	DET
ajst-30212	77	34	rotation	rotation	NOUN
ajst-30212	77	35	matrix	matrix	NOUN
ajst-30212	77	36	and	and	CCONJ
ajst-30212	77	37	displacement	displacement	ADJ
ajst-30212	77	38	vector	vector	NOUN
ajst-30212	77	39	of	of	ADP
ajst-30212	77	40	the	the	DET
ajst-30212	77	41	camera	camera	NOUN
ajst-30212	77	42	,	,	PUNCT
ajst-30212	77	43	thereby	thereby	ADV
ajst-30212	77	44	accurately	accurately	ADV
ajst-30212	77	45	estimating	estimate	VERB
ajst-30212	77	46	the	the	DET
ajst-30212	77	47	position	position	NOUN
ajst-30212	77	48	and	and	CCONJ
ajst-30212	77	49	orientation	orientation	NOUN
ajst-30212	77	50	of	of	ADP
ajst-30212	77	51	the	the	DET
ajst-30212	77	52	camera	camera	NOUN
ajst-30212	77	53	in	in	ADP
ajst-30212	77	54	three	three	NUM
ajst-30212	77	55	-	-	PUNCT
ajst-30212	77	56	dimensional	dimensional	ADJ
ajst-30212	77	57	space	space	NOUN
ajst-30212	77	58	.	.	PUNCT
ajst-30212	78	1	the	the	DET
ajst-30212	78	2	algorithm	algorithm	NOUN
ajst-30212	78	3	is	be	AUX
ajst-30212	78	4	widely	widely	ADV
ajst-30212	78	5	used	use	VERB
ajst-30212	78	6	in	in	ADP
ajst-30212	78	7	fields	field	NOUN
ajst-30212	78	8	such	such	ADJ
ajst-30212	78	9	as	as	ADP
ajst-30212	78	10	augmented	augment	VERB
ajst-30212	78	11	reality	reality	NOUN
ajst-30212	78	12	[	[	X
ajst-30212	78	13	15	15	NUM
ajst-30212	78	14	]	]	PUNCT
ajst-30212	78	15	,	,	PUNCT
ajst-30212	78	16	autonomous	autonomous	ADJ
ajst-30212	78	17	driving	driving	NOUN
ajst-30212	79	1	[	[	X
ajst-30212	79	2	16	16	NUM
ajst-30212	79	3	]	]	PUNCT
ajst-30212	79	4	,	,	PUNCT
ajst-30212	79	5	and	and	CCONJ
ajst-30212	79	6	positioning	positioning	NOUN
ajst-30212	79	7	in	in	ADP
ajst-30212	79	8	indoor	indoor	ADJ
ajst-30212	79	9	environments	environment	NOUN
ajst-30212	79	10	[	[	X
ajst-30212	79	11	17,18	17,18	X
ajst-30212	79	12	]	]	PUNCT
ajst-30212	79	13	,	,	PUNCT
ajst-30212	79	14	providing	provide	VERB
ajst-30212	79	15	an	an	DET
ajst-30212	79	16	accurate	accurate	ADJ
ajst-30212	79	17	estimation	estimation	NOUN
ajst-30212	79	18	of	of	ADP
ajst-30212	79	19	the	the	DET
ajst-30212	79	20	camera	camera	NOUN
ajst-30212	79	21	pose	pose	VERB
ajst-30212	79	22	,	,	PUNCT
ajst-30212	79	23	thereby	thereby	ADV
ajst-30212	79	24	achieving	achieve	VERB
ajst-30212	79	25	precise	precise	ADJ
ajst-30212	79	26	positioning	positioning	NOUN
ajst-30212	79	27	and	and	CCONJ
ajst-30212	79	28	tracking	tracking	NOUN
ajst-30212	79	29	of	of	ADP
ajst-30212	79	30	the	the	DET
ajst-30212	79	31	target	target	NOUN
ajst-30212	79	32	object	object	NOUN
ajst-30212	79	33	.	.	PUNCT
ajst-30212	80	1	in	in	ADP
ajst-30212	80	2	the	the	DET
ajst-30212	80	3	pose	pose	NOUN
ajst-30212	80	4	estimation	estimation	NOUN
ajst-30212	80	5	problem	problem	NOUN
ajst-30212	80	6	,	,	PUNCT
ajst-30212	80	7	different	different	ADJ
ajst-30212	80	8	pnp	pnp	PROPN
ajst-30212	80	9	algorithms	algorithm	NOUN
ajst-30212	80	10	have	have	VERB
ajst-30212	80	11	their	their	PRON
ajst-30212	80	12	own	own	ADJ
ajst-30212	80	13	advantages	advantage	NOUN
ajst-30212	80	14	and	and	CCONJ
ajst-30212	80	15	disadvantages	disadvantage	NOUN
ajst-30212	80	16	.	.	PUNCT
ajst-30212	81	1	choosing	choose	VERB
ajst-30212	81	2	the	the	DET
ajst-30212	81	3	right	right	ADJ
ajst-30212	81	4	algorithm	algorithm	NOUN
ajst-30212	81	5	is	be	AUX
ajst-30212	81	6	crucial	crucial	ADJ
ajst-30212	81	7	for	for	ADP
ajst-30212	81	8	accuracy	accuracy	NOUN
ajst-30212	81	9	and	and	CCONJ
ajst-30212	81	10	efficiency	efficiency	NOUN
ajst-30212	81	11	.	.	PUNCT
ajst-30212	82	1	the	the	DET
ajst-30212	82	2	following	follow	VERB
ajst-30212	82	3	are	be	AUX
ajst-30212	82	4	several	several	ADJ
ajst-30212	82	5	types	type	NOUN
ajst-30212	82	6	of	of	ADP
ajst-30212	82	7	pnp	pnp	PROPN
ajst-30212	82	8	algorithms	algorithm	NOUN
ajst-30212	82	9	.	.	PUNCT
ajst-30212	83	1	•	•	NUM
ajst-30212	83	2	iterative	iterative	NOUN
ajst-30212	83	3	algorithm	algorithm	NOUN
ajst-30212	83	4	based	base	VERB
ajst-30212	83	5	on	on	ADP
ajst-30212	83	6	levenberg	levenberg	PROPN
ajst-30212	83	7	-	-	PUNCT
ajst-30212	83	8	marquardt	marquardt	PROPN
ajst-30212	83	9	(	(	PUNCT
ajst-30212	83	10	lm	lm	ADJ
ajst-30212	83	11	)	)	PUNCT
ajst-30212	83	12	optimization	optimization	NOUN
ajst-30212	83	13	method	method	NOUN
ajst-30212	83	14	:	:	PUNCT
ajst-30212	83	15	a	a	DET
ajst-30212	83	16	classic	classic	ADJ
ajst-30212	83	17	iterative	iterative	NOUN
ajst-30212	83	18	method	method	NOUN
ajst-30212	83	19	that	that	PRON
ajst-30212	83	20	finds	find	VERB
ajst-30212	83	21	the	the	DET
ajst-30212	83	22	optimal	optimal	ADJ
ajst-30212	83	23	solution	solution	NOUN
ajst-30212	83	24	through	through	ADP
ajst-30212	83	25	continuous	continuous	ADJ
ajst-30212	83	26	iteration	iteration	NOUN
ajst-30212	83	27	.	.	PUNCT
ajst-30212	84	1	it	it	PRON
ajst-30212	84	2	is	be	AUX
ajst-30212	84	3	suitable	suitable	ADJ
ajst-30212	84	4	for	for	ADP
ajst-30212	84	5	general	general	ADJ
ajst-30212	84	6	situations	situation	NOUN
ajst-30212	84	7	,	,	PUNCT
ajst-30212	84	8	especially	especially	ADV
ajst-30212	84	9	when	when	SCONJ
ajst-30212	84	10	the	the	DET
ajst-30212	84	11	initial	initial	ADJ
ajst-30212	84	12	estimate	estimate	NOUN
ajst-30212	84	13	is	be	AUX
ajst-30212	84	14	good	good	ADJ
ajst-30212	84	15	,	,	PUNCT
ajst-30212	84	16	it	it	PRON
ajst-30212	84	17	can	can	AUX
ajst-30212	84	18	quickly	quickly	ADV
ajst-30212	84	19	converge	converge	VERB
ajst-30212	84	20	to	to	ADP
ajst-30212	84	21	the	the	DET
ajst-30212	84	22	correct	correct	ADJ
ajst-30212	84	23	solution	solution	NOUN
ajst-30212	84	24	.	.	PUNCT
ajst-30212	85	1	•	•	NUM
ajst-30212	85	2	epnp	epnp	NOUN
ajst-30212	85	3	(	(	PUNCT
ajst-30212	85	4	efficient	efficient	ADJ
ajst-30212	85	5	perspective	perspective	NOUN
ajst-30212	85	6	-	-	PUNCT
ajst-30212	85	7	n	n	CCONJ
ajst-30212	85	8	-	-	PUNCT
ajst-30212	85	9	point	point	NOUN
ajst-30212	85	10	):	):	PUNCT
ajst-30212	85	11	an	an	DET
ajst-30212	85	12	efficient	efficient	ADJ
ajst-30212	85	13	non	non	ADJ
ajst-30212	85	14	iterative	iterative	PROPN
ajst-30212	85	15	pnp	pnp	PROPN
ajst-30212	85	16	algorithm	algorithm	NOUN
ajst-30212	85	17	suitable	suitable	ADJ
ajst-30212	85	18	for	for	ADP
ajst-30212	85	19	processing	process	VERB
ajst-30212	85	20	large	large	ADJ
ajst-30212	85	21	-	-	PUNCT
ajst-30212	85	22	scale	scale	NOUN
ajst-30212	85	23	3d	3d	NUM
ajst-30212	85	24	point	point	NOUN
ajst-30212	85	25	sets	set	NOUN
ajst-30212	85	26	.	.	PUNCT
ajst-30212	86	1	it	it	PRON
ajst-30212	86	2	calculates	calculate	VERB
ajst-30212	86	3	the	the	DET
ajst-30212	86	4	pose	pose	NOUN
ajst-30212	86	5	through	through	ADP
ajst-30212	86	6	a	a	DET
ajst-30212	86	7	polynomial	polynomial	ADJ
ajst-30212	86	8	method	method	NOUN
ajst-30212	86	9	with	with	ADP
ajst-30212	86	10	high	high	ADJ
ajst-30212	86	11	computational	computational	ADJ
ajst-30212	86	12	efficiency	efficiency	NOUN
ajst-30212	86	13	.	.	PUNCT
ajst-30212	87	1	•	•	NUM
ajst-30212	87	2	p3p	p3p	NOUN
ajst-30212	87	3	(	(	PUNCT
ajst-30212	87	4	perspective	perspective	NOUN
ajst-30212	87	5	-	-	PUNCT
ajst-30212	87	6	three	three	NUM
ajst-30212	87	7	-	-	PUNCT
ajst-30212	87	8	point	point	NOUN
ajst-30212	87	9	):	):	PUNCT
ajst-30212	87	10	suitable	suitable	ADJ
ajst-30212	87	11	for	for	ADP
ajst-30212	87	12	pose	pose	PROPN
ajst-30212	87	13	estima	estima	PROPN
ajst-30212	87	14	tion	tion	PROPN
ajst-30212	87	15	problems	problem	NOUN
ajst-30212	87	16	when	when	SCONJ
ajst-30212	87	17	there	there	PRON
ajst-30212	87	18	are	be	VERB
ajst-30212	87	19	only	only	ADV
ajst-30212	87	20	three	three	NUM
ajst-30212	87	21	3d	3d	NUM
ajst-30212	87	22	points	point	NOUN
ajst-30212	87	23	.	.	PUNCT
ajst-30212	88	1	the	the	DET
ajst-30212	88	2	algorithm	algorithm	NOUN
ajst-30212	88	3	determines	determine	VERB
ajst-30212	88	4	a	a	DET
ajst-30212	88	5	unique	unique	ADJ
ajst-30212	88	6	solution	solution	NOUN
ajst-30212	88	7	through	through	ADP
ajst-30212	88	8	three	three	NUM
ajst-30212	88	9	points	point	NOUN
ajst-30212	88	10	,	,	PUNCT
ajst-30212	88	11	but	but	CCONJ
ajst-30212	88	12	in	in	ADP
ajst-30212	88	13	some	some	DET
ajst-30212	88	14	cases	case	NOUN
ajst-30212	88	15	,	,	PUNCT
ajst-30212	88	16	multiple	multiple	ADJ
ajst-30212	88	17	solutions	solution	NOUN
ajst-30212	88	18	may	may	AUX
ajst-30212	88	19	be	be	AUX
ajst-30212	88	20	generated	generate	VERB
ajst-30212	88	21	,	,	PUNCT
ajst-30212	88	22	requiring	require	VERB
ajst-30212	88	23	further	further	ADJ
ajst-30212	88	24	disambiguation	disambiguation	NOUN
ajst-30212	88	25	.	.	PUNCT
ajst-30212	89	1	•	•	NUM
ajst-30212	89	2	dls	dls	PROPN
ajst-30212	89	3	(	(	PUNCT
ajst-30212	89	4	direct	direct	ADJ
ajst-30212	89	5	least	least	ADJ
ajst-30212	89	6	squares	square	NOUN
ajst-30212	89	7	):	):	PUNCT
ajst-30212	89	8	a	a	DET
ajst-30212	89	9	pnp	pnp	PROPN
ajst-30212	89	10	algorithm	algorithm	NOUN
ajst-30212	89	11	based	base	VERB
ajst-30212	89	12	on	on	ADP
ajst-30212	89	13	direct	direct	ADJ
ajst-30212	89	14	least	least	ADJ
ajst-30212	89	15	squares	square	NOUN
ajst-30212	89	16	that	that	PRON
ajst-30212	89	17	can	can	AUX
ajst-30212	89	18	estimate	estimate	VERB
ajst-30212	89	19	the	the	DET
ajst-30212	89	20	pose	pose	NOUN
ajst-30212	89	21	in	in	ADP
ajst-30212	89	22	a	a	DET
ajst-30212	89	23	linear	linear	ADJ
ajst-30212	89	24	model	model	NOUN
ajst-30212	89	25	of	of	ADP
ajst-30212	89	26	the	the	DET
ajst-30212	89	27	position	position	NOUN
ajst-30212	89	28	relationship	relationship	NOUN
ajst-30212	89	29	between	between	ADP
ajst-30212	89	30	the	the	DET
ajst-30212	89	31	camera	camera	NOUN
ajst-30212	89	32	and	and	CCONJ
ajst-30212	89	33	the	the	DET
ajst-30212	89	34	object	object	NOUN
ajst-30212	89	35	.	.	PUNCT
ajst-30212	90	1	it	it	PRON
ajst-30212	90	2	solves	solve	VERB
ajst-30212	90	3	the	the	DET
ajst-30212	90	4	pose	pose	NOUN
ajst-30212	90	5	by	by	ADP
ajst-30212	90	6	minimizing	minimize	VERB
ajst-30212	90	7	the	the	DET
ajst-30212	90	8	cost	cost	NOUN
ajst-30212	90	9	function	function	NOUN
ajst-30212	90	10	.	.	PUNCT
ajst-30212	91	1	•	•	NUM
ajst-30212	91	2	upnp	upnp	NOUN
ajst-30212	91	3	(	(	PUNCT
ajst-30212	91	4	universal	universal	PROPN
ajst-30212	91	5	pnp	pnp	PROPN
ajst-30212	91	6	):	):	PUNCT
ajst-30212	91	7	a	a	DET
ajst-30212	91	8	pnp	pnp	PROPN
ajst-30212	91	9	algorithm	algorithm	NOUN
ajst-30212	91	10	that	that	PRON
ajst-30212	91	11	does	do	AUX
ajst-30212	91	12	not	not	PART
ajst-30212	91	13	require	require	VERB
ajst-30212	91	14	initial	initial	ADJ
ajst-30212	91	15	pose	pose	NOUN
ajst-30212	91	16	guessing	guess	VERB
ajst-30212	91	17	.	.	PUNCT
ajst-30212	92	1	it	it	PRON
ajst-30212	92	2	calculates	calculate	VERB
ajst-30212	92	3	the	the	DET
ajst-30212	92	4	camera	camera	NOUN
ajst-30212	92	5	pose	pose	VERB
ajst-30212	92	6	through	through	ADP
ajst-30212	92	7	a	a	DET
ajst-30212	92	8	scheme	scheme	NOUN
ajst-30212	92	9	based	base	VERB
ajst-30212	92	10	on	on	ADP
ajst-30212	92	11	singular	singular	ADJ
ajst-30212	92	12	value	value	NOUN
ajst-30212	92	13	decomposition	decomposition	NOUN
ajst-30212	92	14	,	,	PUNCT
ajst-30212	92	15	which	which	PRON
ajst-30212	92	16	is	be	AUX
ajst-30212	92	17	suitable	suitable	ADJ
ajst-30212	92	18	for	for	ADP
ajst-30212	92	19	situations	situation	NOUN
ajst-30212	92	20	where	where	SCONJ
ajst-30212	92	21	there	there	PRON
ajst-30212	92	22	is	be	VERB
ajst-30212	92	23	no	no	DET
ajst-30212	92	24	initial	initial	ADJ
ajst-30212	92	25	pose	pose	NOUN
ajst-30212	92	26	estimate	estimate	NOUN
ajst-30212	92	27	.	.	PUNCT
ajst-30212	93	1	•	•	NUM
ajst-30212	93	2	ap3p	ap3p	PROPN
ajst-30212	93	3	(	(	PUNCT
ajst-30212	93	4	algebraic	algebraic	ADJ
ajst-30212	93	5	p3p	p3p	NOUN
ajst-30212	93	6	):	):	PUNCT
ajst-30212	93	7	it	it	PRON
ajst-30212	93	8	is	be	AUX
ajst-30212	93	9	a	a	DET
ajst-30212	93	10	p3p	p3p	PROPN
ajst-30212	93	11	algorithm	algorithm	NOUN
ajst-30212	93	12	based	base	VERB
ajst-30212	93	13	on	on	ADP
ajst-30212	93	14	algebraic	algebraic	ADJ
ajst-30212	93	15	methods	method	NOUN
ajst-30212	93	16	,	,	PUNCT
ajst-30212	93	17	suitable	suitable	ADJ
ajst-30212	93	18	for	for	ADP
ajst-30212	93	19	processing	process	VERB
ajst-30212	93	20	a	a	DET
ajst-30212	93	21	small	small	ADJ
ajst-30212	93	22	number	number	NOUN
ajst-30212	93	23	of	of	ADP
ajst-30212	93	24	3d	3d	NUM
ajst-30212	93	25	point	point	NOUN
ajst-30212	93	26	sets	set	NOUN
ajst-30212	93	27	,	,	PUNCT
ajst-30212	93	28	and	and	CCONJ
ajst-30212	93	29	obtains	obtain	VERB
ajst-30212	93	30	a	a	DET
ajst-30212	93	31	stable	stable	ADJ
ajst-30212	93	32	solution	solution	NOUN
ajst-30212	93	33	by	by	ADP
ajst-30212	93	34	optimizing	optimize	VERB
ajst-30212	93	35	algebraic	algebraic	ADJ
ajst-30212	93	36	equations	equation	NOUN
ajst-30212	93	37	.	.	PUNCT
ajst-30212	94	1	considering	consider	VERB
ajst-30212	94	2	that	that	SCONJ
ajst-30212	94	3	3d	3d	PROPN
ajst-30212	94	4	face	face	NOUN
ajst-30212	94	5	recognition	recognition	NOUN
ajst-30212	94	6	algorithms	algorithm	NOUN
ajst-30212	94	7	with	with	ADP
ajst-30212	94	8	more	more	ADJ
ajst-30212	94	9	control	control	NOUN
ajst-30212	94	10	points	point	NOUN
ajst-30212	94	11	can	can	AUX
ajst-30212	94	12	be	be	AUX
ajst-30212	94	13	introduced	introduce	VERB
ajst-30212	94	14	in	in	ADP
ajst-30212	94	15	the	the	DET
ajst-30212	94	16	future	future	NOUN
ajst-30212	94	17	,	,	PUNCT
ajst-30212	94	18	this	this	DET
ajst-30212	94	19	study	study	NOUN
ajst-30212	94	20	uses	use	VERB
ajst-30212	94	21	the	the	DET
ajst-30212	94	22	epnp	epnp	ADJ
ajst-30212	94	23	algorithm	algorithm	NOUN
ajst-30212	94	24	[	[	X
ajst-30212	94	25	19	19	NUM
ajst-30212	94	26	]	]	PUNCT
ajst-30212	94	27	.	.	PUNCT
ajst-30212	95	1	the	the	DET
ajst-30212	95	2	epnp	epnp	PROPN
ajst-30212	95	3	algorithm	algorithm	NOUN
ajst-30212	95	4	is	be	AUX
ajst-30212	95	5	an	an	DET
ajst-30212	95	6	efficient	efficient	ADJ
ajst-30212	95	7	method	method	NOUN
ajst-30212	95	8	for	for	ADP
ajst-30212	95	9	solving	solve	VERB
ajst-30212	95	10	pnp	pnp	NOUN
ajst-30212	95	11	problems	problem	NOUN
ajst-30212	95	12	.	.	PUNCT
ajst-30212	96	1	the	the	DET
ajst-30212	96	2	core	core	ADJ
ajst-30212	96	3	idea	idea	NOUN
ajst-30212	96	4	of	of	ADP
ajst-30212	96	5	this	this	DET
ajst-30212	96	6	algorithm	algorithm	NOUN
ajst-30212	96	7	is	be	AUX
ajst-30212	96	8	to	to	PART
ajst-30212	96	9	represent	represent	VERB
ajst-30212	96	10	3d	3d	NUM
ajst-30212	96	11	points	point	NOUN
ajst-30212	96	12	as	as	ADP
ajst-30212	96	13	a	a	DET
ajst-30212	96	14	combination	combination	NOUN
ajst-30212	96	15	of	of	ADP
ajst-30212	96	16	4	4	NUM
ajst-30212	96	17	control	control	NOUN
ajst-30212	96	18	points	point	NOUN
ajst-30212	96	19	and	and	CCONJ
ajst-30212	96	20	transform	transform	VERB
ajst-30212	96	21	them	they	PRON
ajst-30212	96	22	through	through	ADP
ajst-30212	96	23	this	this	DET
ajst-30212	96	24	”	"	PUNCT
ajst-30212	96	25	intermediate	intermediate	ADJ
ajst-30212	96	26	medium	medium	NOUN
ajst-30212	96	27	.	.	PUNCT
ajst-30212	96	28	”	"	PUNCT
ajst-30212	97	1	optimization	optimization	NOUN
ajst-30212	97	2	is	be	AUX
ajst-30212	97	3	only	only	ADV
ajst-30212	97	4	performed	perform	VERB
ajst-30212	97	5	on	on	ADP
ajst-30212	97	6	the	the	DET
ajst-30212	97	7	4	4	NUM
ajst-30212	97	8	control	control	NOUN
ajst-30212	97	9	points	point	NOUN
ajst-30212	97	10	.	.	PUNCT
ajst-30212	98	1	the	the	DET
ajst-30212	98	2	computational	computational	ADJ
ajst-30212	98	3	complexity	complexity	NOUN
ajst-30212	98	4	of	of	ADP
ajst-30212	98	5	epnp	epnp	NOUN
ajst-30212	98	6	is	be	AUX
ajst-30212	98	7	o(n	o(n	NUM
ajst-30212	98	8	)	)	PUNCT
ajst-30212	98	9	,	,	PUNCT
ajst-30212	98	10	whereas	whereas	SCONJ
ajst-30212	98	11	the	the	DET
ajst-30212	98	12	complexity	complexity	NOUN
ajst-30212	98	13	of	of	ADP
ajst-30212	98	14	other	other	ADJ
ajst-30212	98	15	algorithms	algorithm	NOUN
ajst-30212	98	16	is	be	AUX
ajst-30212	98	17	typically	typically	ADV
ajst-30212	98	18	o(n3	o(n3	ADJ
ajst-30212	98	19	)	)	PUNCT
ajst-30212	98	20	.	.	PUNCT
ajst-30212	99	1	for	for	ADP
ajst-30212	99	2	pnp	pnp	PROPN
ajst-30212	99	3	problems	problem	NOUN
ajst-30212	99	4	with	with	ADP
ajst-30212	99	5	a	a	DET
ajst-30212	99	6	large	large	ADJ
ajst-30212	99	7	number	number	NOUN
ajst-30212	99	8	of	of	ADP
ajst-30212	99	9	feature	feature	NOUN
ajst-30212	99	10	points	point	NOUN
ajst-30212	99	11	,	,	PUNCT
ajst-30212	99	12	epnp	epnp	NOUN
ajst-30212	99	13	is	be	AUX
ajst-30212	99	14	highly	highly	ADV
ajst-30212	99	15	efficient	efficient	ADJ
ajst-30212	99	16	.	.	PUNCT
ajst-30212	100	1	in	in	ADP
ajst-30212	100	2	this	this	DET
ajst-30212	100	3	study	study	NOUN
ajst-30212	100	4	,	,	PUNCT
ajst-30212	100	5	only	only	ADV
ajst-30212	100	6	five	five	NUM
ajst-30212	100	7	feature	feature	NOUN
ajst-30212	100	8	points	point	NOUN
ajst-30212	100	9	on	on	ADP
ajst-30212	100	10	the	the	DET
ajst-30212	100	11	face	face	NOUN
ajst-30212	100	12	are	be	AUX
ajst-30212	100	13	currently	currently	ADV
ajst-30212	100	14	extracted	extract	VERB
ajst-30212	100	15	,	,	PUNCT
ajst-30212	100	16	but	but	CCONJ
ajst-30212	100	17	the	the	DET
ajst-30212	100	18	number	number	NOUN
ajst-30212	100	19	will	will	AUX
ajst-30212	100	20	gradually	gradually	ADV
ajst-30212	100	21	be	be	AUX
ajst-30212	100	22	expanded	expand	VERB
ajst-30212	100	23	to	to	ADP
ajst-30212	100	24	the	the	DET
ajst-30212	100	25	mainstream	mainstream	NOUN
ajst-30212	100	26	98	98	NUM
ajst-30212	100	27	feature	feature	NOUN
ajst-30212	100	28	points	point	NOUN
ajst-30212	100	29	to	to	PART
ajst-30212	100	30	improve	improve	VERB
ajst-30212	100	31	the	the	DET
ajst-30212	100	32	accuracy	accuracy	NOUN
ajst-30212	100	33	and	and	CCONJ
ajst-30212	100	34	robustness	robustness	NOUN
ajst-30212	100	35	of	of	ADP
ajst-30212	100	36	face	face	NOUN
ajst-30212	100	37	recognition	recognition	NOUN
ajst-30212	100	38	.	.	PUNCT
ajst-30212	101	1	since	since	SCONJ
ajst-30212	101	2	the	the	DET
ajst-30212	101	3	epnp	epnp	NOUN
ajst-30212	101	4	algorithm	algorithm	NOUN
ajst-30212	101	5	is	be	AUX
ajst-30212	101	6	more	more	ADV
ajst-30212	101	7	efficient	efficient	ADJ
ajst-30212	101	8	in	in	ADP
ajst-30212	101	9	handling	handle	VERB
ajst-30212	101	10	situations	situation	NOUN
ajst-30212	101	11	with	with	ADP
ajst-30212	101	12	multiple	multiple	ADJ
ajst-30212	101	13	points	point	NOUN
ajst-30212	101	14	,	,	PUNCT
ajst-30212	101	15	selecting	select	VERB
ajst-30212	101	16	it	it	PRON
ajst-30212	101	17	as	as	ADP
ajst-30212	101	18	the	the	DET
ajst-30212	101	19	method	method	NOUN
ajst-30212	101	20	for	for	ADP
ajst-30212	101	21	face	face	NOUN
ajst-30212	101	22	pose	pose	NOUN
ajst-30212	101	23	estimation	estimation	NOUN
ajst-30212	101	24	in	in	ADP
ajst-30212	101	25	this	this	DET
ajst-30212	101	26	study	study	NOUN
ajst-30212	101	27	can	can	AUX
ajst-30212	101	28	significantly	significantly	ADV
ajst-30212	101	29	enhance	enhance	VERB
ajst-30212	101	30	the	the	DET
ajst-30212	101	31	computational	computational	ADJ
ajst-30212	101	32	speed	speed	NOUN
ajst-30212	101	33	while	while	SCONJ
ajst-30212	101	34	maintaining	maintain	VERB
ajst-30212	101	35	accuracy	accuracy	NOUN
ajst-30212	101	36	.	.	PUNCT
ajst-30212	102	1	this	this	DET
ajst-30212	102	2	choice	choice	NOUN
ajst-30212	102	3	lays	lay	VERB
ajst-30212	102	4	a	a	DET
ajst-30212	102	5	solid	solid	ADJ
ajst-30212	102	6	foundation	foundation	NOUN
ajst-30212	102	7	for	for	ADP
ajst-30212	102	8	future	future	NOUN
ajst-30212	102	9	,	,	PUNCT
ajst-30212	102	10	more	more	ADV
ajst-30212	102	11	complex	complex	ADJ
ajst-30212	102	12	3d	3d	NUM
ajst-30212	102	13	face	face	NOUN
ajst-30212	102	14	recognition	recognition	NOUN
ajst-30212	102	15	tasks	task	NOUN
ajst-30212	102	16	.	.	PUNCT
ajst-30212	103	1	the	the	DET
ajst-30212	103	2	detailed	detailed	ADJ
ajst-30212	103	3	process	process	NOUN
ajst-30212	103	4	of	of	ADP
ajst-30212	103	5	the	the	DET
ajst-30212	103	6	epnp	epnp	NOUN
ajst-30212	103	7	algorithm	algorithm	NOUN
ajst-30212	103	8	is	be	AUX
ajst-30212	103	9	as	as	SCONJ
ajst-30212	103	10	follows	follow	VERB
ajst-30212	103	11	:	:	PUNCT
ajst-30212	103	12	notation	notation	NOUN
ajst-30212	103	13	:	:	PUNCT
ajst-30212	103	14	a	a	DET
ajst-30212	103	15	3d	3d	NUM
ajst-30212	103	16	point	point	NOUN
ajst-30212	103	17	is	be	AUX
ajst-30212	103	18	denoted	denote	VERB
ajst-30212	103	19	by	by	ADP
ajst-30212	103	20	p	p	X
ajst-30212	103	21	,	,	PUNCT
ajst-30212	103	22	such	such	ADJ
ajst-30212	103	23	as	as	ADP
ajst-30212	103	24	𝑝	𝑝	NOUN
ajst-30212	103	25	and	and	CCONJ
ajst-30212	103	26	𝑝	𝑝	PROPN
ajst-30212	103	27	.	.	PUNCT
ajst-30212	104	1	control	control	NOUN
ajst-30212	104	2	points	point	NOUN
ajst-30212	104	3	are	be	AUX
ajst-30212	104	4	denoted	denote	VERB
ajst-30212	104	5	by	by	ADP
ajst-30212	104	6	c	c	PROPN
ajst-30212	104	7	,	,	PUNCT
ajst-30212	104	8	such	such	ADJ
ajst-30212	104	9	as	as	ADP
ajst-30212	104	10	𝑐	𝑐	PROPN
ajst-30212	104	11	and	and	CCONJ
ajst-30212	104	12	𝑐	𝑐	PROPN
ajst-30212	104	13	.	.	PUNCT
ajst-30212	105	1	points	point	NOUN
ajst-30212	105	2	with	with	ADP
ajst-30212	105	3	the	the	DET
ajst-30212	105	4	superscript	superscript	PROPN
ajst-30212	105	5	w	w	PROPN
ajst-30212	105	6	are	be	AUX
ajst-30212	105	7	expressed	express	VERB
ajst-30212	105	8	in	in	ADP
ajst-30212	105	9	the	the	DET
ajst-30212	105	10	world	world	NOUN
ajst-30212	105	11	coordinate	coordinate	NOUN
ajst-30212	105	12	system	system	NOUN
ajst-30212	105	13	(	(	PUNCT
ajst-30212	105	14	e.g.	e.g.	ADV
ajst-30212	105	15	,	,	PUNCT
ajst-30212	105	16	𝑝	𝑝	NOUN
ajst-30212	105	17	and	and	CCONJ
ajst-30212	105	18	𝑐	𝑐	PROPN
ajst-30212	105	19	,	,	PUNCT
ajst-30212	105	20	while	while	SCONJ
ajst-30212	105	21	those	those	PRON
ajst-30212	105	22	with	with	ADP
ajst-30212	105	23	c	c	NOUN
ajst-30212	105	24	are	be	AUX
ajst-30212	105	25	in	in	ADP
ajst-30212	105	26	the	the	DET
ajst-30212	105	27	camera	camera	NOUN
ajst-30212	105	28	coordinate	coordinate	NOUN
ajst-30212	105	29	system	system	NOUN
ajst-30212	105	30	(	(	PUNCT
ajst-30212	105	31	e.g.	e.g.	ADV
ajst-30212	105	32	,	,	PUNCT
ajst-30212	105	33	𝑝	𝑝	NOUN
ajst-30212	105	34	and	and	CCONJ
ajst-30212	105	35	𝑐	𝑐	PROPN
ajst-30212	105	36	.	.	PUNCT
ajst-30212	106	1	(	(	PUNCT
ajst-30212	106	2	1	1	X
ajst-30212	106	3	)	)	PUNCT
ajst-30212	106	4	control	control	NOUN
ajst-30212	106	5	points	point	NOUN
ajst-30212	106	6	and	and	CCONJ
ajst-30212	106	7	barycentric	barycentric	ADJ
ajst-30212	106	8	coordinates	coordinate	NOUN
ajst-30212	106	9	:	:	PUNCT
ajst-30212	106	10	the	the	DET
ajst-30212	106	11	epnp	epnp	NOUN
ajst-30212	106	12	algorithm	algorithm	NOUN
ajst-30212	106	13	first	first	ADV
ajst-30212	106	14	selects	select	VERB
ajst-30212	106	15	four	four	NUM
ajst-30212	106	16	control	control	NOUN
ajst-30212	106	17	points	point	NOUN
ajst-30212	106	18	in	in	ADP
ajst-30212	106	19	the	the	DET
ajst-30212	106	20	world	world	NOUN
ajst-30212	106	21	coordinate	coordinate	NOUN
ajst-30212	106	22	system	system	NOUN
ajst-30212	106	23	,	,	PUNCT
ajst-30212	106	24	denoted	denote	VERB
ajst-30212	106	25	by	by	ADP
ajst-30212	106	26	𝑐	𝑐	PROPN
ajst-30212	106	27	,	,	PUNCT
ajst-30212	106	28	𝑐	𝑐	PROPN
ajst-30212	106	29	,	,	PUNCT
ajst-30212	106	30	𝑐	𝑐	PROPN
ajst-30212	106	31	,	,	PUNCT
ajst-30212	106	32	𝑐	𝑐	PROPN
ajst-30212	106	33	.	.	PUNCT
ajst-30212	107	1	these	these	DET
ajst-30212	107	2	control	control	NOUN
ajst-30212	107	3	points	point	NOUN
ajst-30212	107	4	can	can	AUX
ajst-30212	107	5	represent	represent	VERB
ajst-30212	107	6	any	any	DET
ajst-30212	107	7	3d	3d	NUM
ajst-30212	107	8	point	point	NOUN
ajst-30212	107	9	𝑝	𝑝	NOUN
ajst-30212	107	10	using	use	VERB
ajst-30212	107	11	barycentric	barycentric	ADJ
ajst-30212	107	12	coordinates	coordinate	NOUN
ajst-30212	107	13	𝛼𝑖	𝛼𝑖	PROPN
ajst-30212	107	14	:	:	PUNCT
ajst-30212	107	15	𝑝𝑖	𝑝𝑖	VERB
ajst-30212	107	16	𝑤=∑	𝑤=∑	NOUN
ajst-30212	107	17	𝑎	𝑎	PROPN
ajst-30212	107	18	𝑐	𝑐	PROPN
ajst-30212	107	19	,	,	PUNCT
ajst-30212	107	20	∑	∑	PROPN
ajst-30212	107	21	𝑎	𝑎	X
ajst-30212	107	22	1	1	NUM
ajst-30212	107	23	(	(	PUNCT
ajst-30212	107	24	1	1	NUM
ajst-30212	107	25	)	)	PUNCT
ajst-30212	107	26	here	here	ADV
ajst-30212	107	27	,	,	PUNCT
ajst-30212	107	28	𝑝	𝑝	PROPN
ajst-30212	107	29	𝑋	𝑋	PROPN
ajst-30212	107	30	,	,	PUNCT
ajst-30212	107	31	𝑌	𝑌	PROPN
ajst-30212	107	32	,	,	PUNCT
ajst-30212	107	33	𝑍	𝑍	PROPN
ajst-30212	107	34	p	p	NOUN
ajst-30212	107	35	is	be	AUX
ajst-30212	107	36	a	a	DET
ajst-30212	107	37	3d	3d	NUM
ajst-30212	107	38	point	point	NOUN
ajst-30212	107	39	,	,	PUNCT
ajst-30212	107	40	and	and	CCONJ
ajst-30212	107	41	𝑐	𝑐	PROPN
ajst-30212	107	42	𝑋	𝑋	PROPN
ajst-30212	107	43	,	,	PUNCT
ajst-30212	107	44	𝑌	𝑌	PROPN
ajst-30212	107	45	,	,	PUNCT
ajst-30212	107	46	𝑍	𝑍	PROPN
ajst-30212	107	47	is	be	AUX
ajst-30212	107	48	a	a	DET
ajst-30212	107	49	control	control	NOUN
ajst-30212	107	50	point	point	NOUN
ajst-30212	107	51	.	.	PUNCT
ajst-30212	108	1	the	the	DET
ajst-30212	108	2	coefficients	coefficient	NOUN
ajst-30212	108	3	𝛼𝑖𝑗	𝛼𝑖𝑗	PROPN
ajst-30212	108	4	are	be	AUX
ajst-30212	108	5	known	know	VERB
ajst-30212	108	6	as	as	ADP
ajst-30212	108	7	homogeneous	homogeneous	ADJ
ajst-30212	108	8	barycentric	barycentric	ADJ
ajst-30212	108	9	coordinates	coordinate	NOUN
ajst-30212	108	10	,	,	PUNCT
ajst-30212	108	11	which	which	PRON
ajst-30212	108	12	ex	ex	PRON
ajst-30212	108	13	press	press	VERB
ajst-30212	108	14	a	a	DET
ajst-30212	108	15	3d	3d	NUM
ajst-30212	108	16	point	point	NOUN
ajst-30212	108	17	as	as	ADP
ajst-30212	108	18	a	a	DET
ajst-30212	108	19	linear	linear	ADJ
ajst-30212	108	20	combination	combination	NOUN
ajst-30212	108	21	of	of	ADP
ajst-30212	108	22	the	the	DET
ajst-30212	108	23	control	control	NOUN
ajst-30212	108	24	points	point	NOUN
ajst-30212	108	25	.	.	PUNCT
ajst-30212	109	1	(	(	PUNCT
ajst-30212	109	2	2	2	X
ajst-30212	109	3	)	)	PUNCT
ajst-30212	109	4	selecting	select	VERB
ajst-30212	109	5	control	control	NOUN
ajst-30212	109	6	points	point	NOUN
ajst-30212	109	7	:	:	PUNCT
ajst-30212	109	8	the	the	DET
ajst-30212	109	9	control	control	NOUN
ajst-30212	109	10	points	point	NOUN
ajst-30212	109	11	are	be	AUX
ajst-30212	109	12	chosen	choose	VERB
ajst-30212	109	13	based	base	VERB
ajst-30212	109	14	on	on	ADP
ajst-30212	109	15	the	the	DET
ajst-30212	109	16	centroid	centroid	NOUN
ajst-30212	109	17	of	of	ADP
ajst-30212	109	18	the	the	DET
ajst-30212	109	19	reference	reference	NOUN
ajst-30212	109	20	points	point	NOUN
ajst-30212	109	21	.	.	PUNCT
ajst-30212	110	1	the	the	DET
ajst-30212	110	2	first	first	ADJ
ajst-30212	110	3	control	control	NOUN
ajst-30212	110	4	point	point	NOUN
ajst-30212	110	5	is	be	AUX
ajst-30212	110	6	:	:	PUNCT
ajst-30212	110	7	𝑐	𝑐	PROPN
ajst-30212	110	8	∑	∑	PROPN
ajst-30212	110	9	𝑝	𝑝	PROPN
ajst-30212	110	10	(	(	PUNCT
ajst-30212	110	11	2	2	NUM
ajst-30212	110	12	)	)	PUNCT
ajst-30212	110	13	the	the	DET
ajst-30212	110	14	remaining	remain	VERB
ajst-30212	110	15	control	control	NOUN
ajst-30212	110	16	points	point	NOUN
ajst-30212	110	17	are	be	AUX
ajst-30212	110	18	determined	determine	VERB
ajst-30212	110	19	by	by	ADP
ajst-30212	110	20	solving	solve	VERB
ajst-30212	110	21	an	an	DET
ajst-30212	110	22	eigenvalue	eigenvalue	NOUN
ajst-30212	110	23	problem	problem	NOUN
ajst-30212	110	24	:	:	PUNCT
ajst-30212	110	25	𝑐	𝑐	PROPN
ajst-30212	110	26	𝑐	𝑐	PROPN
ajst-30212	110	27	λ	λ	PROPN
ajst-30212	110	28	,	,	PUNCT
ajst-30212	110	29	𝑉	𝑉	PROPN
ajst-30212	110	30	,	,	PUNCT
ajst-30212	110	31	,	,	PUNCT
ajst-30212	110	32	𝑗	𝑗	PROPN
ajst-30212	110	33	2,3,4	2,3,4	NUM
ajst-30212	110	34	(	(	PUNCT
ajst-30212	110	35	3	3	NUM
ajst-30212	110	36	)	)	PUNCT
ajst-30212	110	37	(	(	PUNCT
ajst-30212	110	38	3	3	X
ajst-30212	110	39	)	)	PUNCT
ajst-30212	110	40	transforming	transform	VERB
ajst-30212	110	41	control	control	NOUN
ajst-30212	110	42	points	point	NOUN
ajst-30212	110	43	to	to	ADP
ajst-30212	110	44	the	the	DET
ajst-30212	110	45	camera	camera	NOUN
ajst-30212	110	46	coordinate	coordinate	NOUN
ajst-30212	110	47	system	system	NOUN
ajst-30212	110	48	:	:	PUNCT
ajst-30212	110	49	using	use	VERB
ajst-30212	110	50	the	the	DET
ajst-30212	110	51	intrinsic	intrinsic	ADJ
ajst-30212	110	52	matrix	matrix	NOUN
ajst-30212	110	53	k	k	PROPN
ajst-30212	110	54	and	and	CCONJ
ajst-30212	110	55	the	the	DET
ajst-30212	110	56	extrinsic	extrinsic	ADJ
ajst-30212	110	57	parameters	parameter	NOUN
ajst-30212	111	1	[	[	X
ajst-30212	111	2	r	r	X
ajst-30212	111	3	t	t	PROPN
ajst-30212	111	4	]	]	PUNCT
ajst-30212	111	5	,	,	PUNCT
ajst-30212	111	6	the	the	DET
ajst-30212	111	7	control	control	NOUN
ajst-30212	111	8	points	point	VERB
ajst-30212	111	9	in	in	ADP
ajst-30212	111	10	the	the	DET
ajst-30212	111	11	world	world	NOUN
ajst-30212	111	12	coordinate	coordinate	NOUN
ajst-30212	111	13	system	system	NOUN
ajst-30212	111	14	are	be	AUX
ajst-30212	111	15	transformed	transform	VERB
ajst-30212	111	16	to	to	ADP
ajst-30212	111	17	the	the	DET
ajst-30212	111	18	camera	camera	NOUN
ajst-30212	111	19	coordinate	coordinate	NOUN
ajst-30212	111	20	system	system	NOUN
ajst-30212	111	21	:	:	PUNCT
ajst-30212	111	22	𝑐	𝑐	PROPN
ajst-30212	111	23	𝑅	𝑅	PROPN
ajst-30212	111	24	𝑡	𝑡	PROPN
ajst-30212	111	25	𝑐	𝑐	PROPN
ajst-30212	111	26	(	(	PUNCT
ajst-30212	111	27	4	4	NUM
ajst-30212	111	28	)	)	SYM
ajst-30212	111	29	231	231	NUM
ajst-30212	111	30	(	(	PUNCT
ajst-30212	111	31	4	4	X
ajst-30212	111	32	)	)	PUNCT
ajst-30212	111	33	setting	set	VERB
ajst-30212	111	34	up	up	ADP
ajst-30212	111	35	linear	linear	PROPN
ajst-30212	111	36	equations	equation	NOUN
ajst-30212	111	37	:	:	PUNCT
ajst-30212	111	38	by	by	ADP
ajst-30212	111	39	using	use	VERB
ajst-30212	111	40	the	the	DET
ajst-30212	111	41	projection	projection	NOUN
ajst-30212	111	42	equation	equation	NOUN
ajst-30212	111	43	and	and	CCONJ
ajst-30212	111	44	the	the	DET
ajst-30212	111	45	weighted	weighted	ADJ
ajst-30212	111	46	sum	sum	NOUN
ajst-30212	111	47	of	of	ADP
ajst-30212	111	48	control	control	NOUN
ajst-30212	111	49	points	point	NOUN
ajst-30212	111	50	,	,	PUNCT
ajst-30212	111	51	a	a	DET
ajst-30212	111	52	system	system	NOUN
ajst-30212	111	53	of	of	ADP
ajst-30212	111	54	linear	linear	ADJ
ajst-30212	111	55	equations	equation	NOUN
ajst-30212	111	56	can	can	AUX
ajst-30212	111	57	be	be	AUX
ajst-30212	111	58	established	establish	VERB
ajst-30212	111	59	:	:	PUNCT
ajst-30212	111	60	∀𝑖	∀𝑖	PROPN
ajst-30212	111	61	,	,	PUNCT
ajst-30212	111	62	𝐰	𝐰	PROPN
ajst-30212	111	63	𝑢	𝑢	X
ajst-30212	111	64	𝑣	𝑣	ADP
ajst-30212	111	65	1	1	NUM
ajst-30212	111	66	𝐾𝐩	𝐾𝐩	PROPN
ajst-30212	111	67	𝐾	𝐾	PROPN
ajst-30212	111	68	∑	∑	PUNCT
ajst-30212	111	69	  	  	SPACE
ajst-30212	111	70	𝛼	𝛼	PRON
ajst-30212	111	71	𝐜	𝐜	NOUN
ajst-30212	111	72	(	(	PUNCT
ajst-30212	111	73	5	5	NUM
ajst-30212	111	74	)	)	PUNCT
ajst-30212	111	75	after	after	ADP
ajst-30212	111	76	eliminating	eliminate	VERB
ajst-30212	111	77	the	the	DET
ajst-30212	111	78	depth	depth	NOUN
ajst-30212	111	79	term	term	NOUN
ajst-30212	111	80	wi	wi	PROPN
ajst-30212	111	81	,	,	PUNCT
ajst-30212	111	82	two	two	NUM
ajst-30212	111	83	linear	linear	ADJ
ajst-30212	111	84	equations	equation	NOUN
ajst-30212	111	85	can	can	AUX
ajst-30212	111	86	be	be	AUX
ajst-30212	111	87	derived	derive	VERB
ajst-30212	111	88	:	:	PUNCT
ajst-30212	111	89	𝑀𝑋	𝑀𝑋	PROPN
ajst-30212	111	90	0	0	NUM
ajst-30212	111	91	,	,	PUNCT
ajst-30212	111	92	𝑤ℎ𝑒𝑟𝑒	𝑤ℎ𝑒𝑟𝑒	NOUN
ajst-30212	111	93	𝑋	𝑋	PROPN
ajst-30212	111	94	𝑐	𝑐	PROPN
ajst-30212	111	95	,	,	PUNCT
ajst-30212	111	96	𝑐	𝑐	PROPN
ajst-30212	111	97	,	,	PUNCT
ajst-30212	111	98	𝑐	𝑐	PROPN
ajst-30212	111	99	,	,	PUNCT
ajst-30212	111	100	𝑐	𝑐	PROPN
ajst-30212	111	101	(	(	PUNCT
ajst-30212	111	102	6	6	NUM
ajst-30212	111	103	)	)	PUNCT
ajst-30212	111	104	here	here	ADV
ajst-30212	111	105	,	,	PUNCT
ajst-30212	111	106	x	x	PRON
ajst-30212	111	107	contains	contain	VERB
ajst-30212	111	108	the	the	DET
ajst-30212	111	109	coordinates	coordinate	NOUN
ajst-30212	111	110	of	of	ADP
ajst-30212	111	111	the	the	DET
ajst-30212	111	112	control	control	NOUN
ajst-30212	111	113	points	point	NOUN
ajst-30212	111	114	in	in	ADP
ajst-30212	111	115	the	the	DET
ajst-30212	111	116	camera	camera	NOUN
ajst-30212	111	117	coordinate	coordinate	NOUN
ajst-30212	111	118	system	system	NOUN
ajst-30212	111	119	.	.	PUNCT
ajst-30212	112	1	(	(	PUNCT
ajst-30212	112	2	5	5	X
ajst-30212	112	3	)	)	PUNCT
ajst-30212	112	4	solving	solve	VERB
ajst-30212	112	5	the	the	DET
ajst-30212	112	6	linear	linear	ADJ
ajst-30212	112	7	system	system	NOUN
ajst-30212	112	8	:	:	PUNCT
ajst-30212	112	9	the	the	DET
ajst-30212	112	10	solution	solution	NOUN
ajst-30212	112	11	of	of	ADP
ajst-30212	112	12	mx	mx	PROPN
ajst-30212	112	13	=	=	SYM
ajst-30212	112	14	0	0	PROPN
ajst-30212	112	15	gives	give	VERB
ajst-30212	112	16	the	the	DET
ajst-30212	112	17	coordinates	coordinate	NOUN
ajst-30212	112	18	of	of	ADP
ajst-30212	112	19	the	the	DET
ajst-30212	112	20	control	control	NOUN
ajst-30212	112	21	points	point	NOUN
ajst-30212	112	22	in	in	ADP
ajst-30212	112	23	the	the	DET
ajst-30212	112	24	camera	camera	NOUN
ajst-30212	112	25	coordinate	coordinate	NOUN
ajst-30212	112	26	system	system	NOUN
ajst-30212	112	27	.	.	PUNCT
ajst-30212	113	1	this	this	PRON
ajst-30212	113	2	is	be	AUX
ajst-30212	113	3	typically	typically	ADV
ajst-30212	113	4	achieved	achieve	VERB
ajst-30212	113	5	by	by	ADP
ajst-30212	113	6	finding	find	VERB
ajst-30212	113	7	the	the	DET
ajst-30212	113	8	null	null	ADJ
ajst-30212	113	9	space	space	NOUN
ajst-30212	113	10	of	of	ADP
ajst-30212	113	11	mtm	mtm	PROPN
ajst-30212	113	12	.	.	PROPN
ajst-30212	114	1	(	(	PUNCT
ajst-30212	114	2	6	6	NUM
ajst-30212	114	3	)	)	PUNCT
ajst-30212	114	4	non	non	ADJ
ajst-30212	114	5	-	-	ADJ
ajst-30212	114	6	linear	linear	ADJ
ajst-30212	114	7	optimization	optimization	NOUN
ajst-30212	114	8	:	:	PUNCT
ajst-30212	114	9	although	although	SCONJ
ajst-30212	114	10	the	the	DET
ajst-30212	114	11	linear	linear	ADJ
ajst-30212	114	12	solution	solution	NOUN
ajst-30212	114	13	provides	provide	VERB
ajst-30212	114	14	an	an	DET
ajst-30212	114	15	initial	initial	ADJ
ajst-30212	114	16	estimate	estimate	NOUN
ajst-30212	114	17	,	,	PUNCT
ajst-30212	114	18	non	non	ADJ
ajst-30212	114	19	-	-	ADJ
ajst-30212	114	20	linear	linear	ADJ
ajst-30212	114	21	optimization	optimization	NOUN
ajst-30212	114	22	is	be	AUX
ajst-30212	114	23	usually	usually	ADV
ajst-30212	114	24	applied	apply	VERB
ajst-30212	114	25	to	to	PART
ajst-30212	114	26	minimize	minimize	VERB
ajst-30212	114	27	there	there	ADV
ajst-30212	114	28	projection	projection	NOUN
ajst-30212	114	29	error	error	NOUN
ajst-30212	114	30	and	and	CCONJ
ajst-30212	114	31	improve	improve	VERB
ajst-30212	114	32	accuracy	accuracy	NOUN
ajst-30212	114	33	:	:	PUNCT
ajst-30212	114	34	error	error	NOUN
ajst-30212	114	35	𝛽	𝛽	NOUN
ajst-30212	114	36	∑	∑	PUNCT
ajst-30212	114	37	 	 	SPACE
ajst-30212	114	38	,	,	PUNCT
ajst-30212	114	39	.	.	PUNCT
ajst-30212	114	40	.	.	PUNCT
ajst-30212	115	1	∥∥𝐜	∥∥𝐜	PROPN
ajst-30212	115	2	𝐜	𝐜	PROPN
ajst-30212	115	3	∥∥	∥∥	X
ajst-30212	115	4	∥∥𝐜	∥∥𝐜	PROPN
ajst-30212	115	5	𝐜	𝐜	PROPN
ajst-30212	115	6	∥∥	∥∥	X
ajst-30212	115	7	(	(	PUNCT
ajst-30212	115	8	7	7	NUM
ajst-30212	115	9	)	)	PUNCT
ajst-30212	115	10	(	(	PUNCT
ajst-30212	115	11	7	7	X
ajst-30212	115	12	)	)	PUNCT
ajst-30212	115	13	camera	camera	NOUN
ajst-30212	115	14	pose	pose	NOUN
ajst-30212	115	15	estimation	estimation	NOUN
ajst-30212	115	16	:	:	PUNCT
ajst-30212	115	17	finally	finally	ADV
ajst-30212	115	18	,	,	PUNCT
ajst-30212	115	19	the	the	DET
ajst-30212	115	20	camera	camera	NOUN
ajst-30212	115	21	’s	’s	PART
ajst-30212	115	22	rotation	rotation	NOUN
ajst-30212	115	23	matrix	matrix	NOUN
ajst-30212	115	24	r	r	NOUN
ajst-30212	115	25	and	and	CCONJ
ajst-30212	115	26	translation	translation	NOUN
ajst-30212	115	27	vector	vector	PROPN
ajst-30212	115	28	t	t	PROPN
ajst-30212	115	29	are	be	AUX
ajst-30212	115	30	estimated	estimate	VERB
ajst-30212	115	31	using	use	VERB
ajst-30212	115	32	the	the	DET
ajst-30212	115	33	iterative	iterative	NOUN
ajst-30212	115	34	closest	close	ADJ
ajst-30212	115	35	point	point	NOUN
ajst-30212	115	36	(	(	PUNCT
ajst-30212	115	37	icp	icp	NOUN
ajst-30212	115	38	)	)	PUNCT
ajst-30212	115	39	algorithm	algorithm	NOUN
ajst-30212	115	40	or	or	CCONJ
ajst-30212	115	41	other	other	ADJ
ajst-30212	115	42	pose	pose	NOUN
ajst-30212	115	43	estimation	estimation	NOUN
ajst-30212	115	44	methods	method	NOUN
ajst-30212	115	45	.	.	PUNCT
ajst-30212	116	1	when	when	SCONJ
ajst-30212	116	2	using	use	VERB
ajst-30212	116	3	the	the	DET
ajst-30212	116	4	pnp	pnp	PROPN
ajst-30212	116	5	algorithm	algorithm	NOUN
ajst-30212	116	6	,	,	PUNCT
ajst-30212	116	7	the	the	DET
ajst-30212	116	8	6d	6d	NUM
ajst-30212	116	9	posture	posture	NOUN
ajst-30212	116	10	of	of	ADP
ajst-30212	116	11	the	the	DET
ajst-30212	116	12	target	target	NOUN
ajst-30212	116	13	point	point	NOUN
ajst-30212	116	14	can	can	AUX
ajst-30212	116	15	also	also	ADV
ajst-30212	116	16	be	be	AUX
ajst-30212	116	17	inferred	infer	VERB
ajst-30212	116	18	from	from	ADP
ajst-30212	116	19	the	the	DET
ajst-30212	116	20	fixed	fix	VERB
ajst-30212	116	21	position	position	NOUN
ajst-30212	116	22	of	of	ADP
ajst-30212	116	23	the	the	DET
ajst-30212	116	24	camera	camera	NOUN
ajst-30212	116	25	.	.	PUNCT
ajst-30212	117	1	in	in	ADP
ajst-30212	117	2	this	this	DET
ajst-30212	117	3	study	study	NOUN
ajst-30212	117	4	,	,	PUNCT
ajst-30212	117	5	the	the	DET
ajst-30212	117	6	pnp	pnp	PROPN
ajst-30212	117	7	algorithm	algorithm	NOUN
ajst-30212	117	8	is	be	AUX
ajst-30212	117	9	used	use	VERB
ajst-30212	117	10	to	to	PART
ajst-30212	117	11	calculate	calculate	VERB
ajst-30212	117	12	the	the	DET
ajst-30212	117	13	position	position	NOUN
ajst-30212	117	14	of	of	ADP
ajst-30212	117	15	the	the	DET
ajst-30212	117	16	face	face	NOUN
ajst-30212	117	17	detected	detect	VERB
ajst-30212	117	18	by	by	ADP
ajst-30212	117	19	the	the	DET
ajst-30212	117	20	drone	drone	NOUN
ajst-30212	117	21	camera	camera	NOUN
ajst-30212	117	22	relative	relative	NOUN
ajst-30212	117	23	to	to	ADP
ajst-30212	117	24	the	the	DET
ajst-30212	117	25	drone	drone	NOUN
ajst-30212	117	26	in	in	ADP
ajst-30212	117	27	three	three	NUM
ajst-30212	117	28	-	-	PUNCT
ajst-30212	117	29	dimensional	dimensional	ADJ
ajst-30212	117	30	space	space	NOUN
ajst-30212	117	31	.	.	PUNCT
ajst-30212	118	1	however	however	ADV
ajst-30212	118	2	,	,	PUNCT
ajst-30212	118	3	in	in	ADP
ajst-30212	118	4	practical	practical	ADJ
ajst-30212	118	5	applications	application	NOUN
ajst-30212	118	6	,	,	PUNCT
ajst-30212	118	7	since	since	SCONJ
ajst-30212	118	8	the	the	DET
ajst-30212	118	9	two	two	NUM
ajst-30212	118	10	-	-	PUNCT
ajst-30212	118	11	axis	axis	NOUN
ajst-30212	118	12	gimbal	gimbal	NOUN
ajst-30212	118	13	of	of	ADP
ajst-30212	118	14	the	the	DET
ajst-30212	118	15	drone	drone	NOUN
ajst-30212	118	16	is	be	AUX
ajst-30212	118	17	generally	generally	ADV
ajst-30212	118	18	in	in	ADP
ajst-30212	118	19	a	a	DET
ajst-30212	118	20	state	state	NOUN
ajst-30212	118	21	where	where	SCONJ
ajst-30212	118	22	the	the	DET
ajst-30212	118	23	roll	roll	NOUN
ajst-30212	118	24	axis	axis	NOUN
ajst-30212	118	25	is	be	AUX
ajst-30212	118	26	selfstabilized	selfstabilize	VERB
ajst-30212	118	27	(	(	PUNCT
ajst-30212	118	28	i.e.	i.e.	X
ajst-30212	118	29	,	,	PUNCT
ajst-30212	118	30	automatically	automatically	ADV
ajst-30212	118	31	keeps	keep	VERB
ajst-30212	118	32	level	level	NOUN
ajst-30212	118	33	)	)	PUNCT
ajst-30212	118	34	but	but	CCONJ
ajst-30212	118	35	the	the	DET
ajst-30212	118	36	pitch	pitch	NOUN
ajst-30212	118	37	axis	axis	NOUN
ajst-30212	118	38	is	be	AUX
ajst-30212	118	39	at	at	ADP
ajst-30212	118	40	an	an	DET
ajst-30212	118	41	angle	angle	NOUN
ajst-30212	118	42	with	with	ADP
ajst-30212	118	43	the	the	DET
ajst-30212	118	44	horizontal	horizontal	ADJ
ajst-30212	118	45	plane	plane	NOUN
ajst-30212	118	46	,	,	PUNCT
ajst-30212	118	47	the	the	DET
ajst-30212	118	48	camera	camera	NOUN
ajst-30212	118	49	’s	’s	PART
ajst-30212	118	50	viewing	view	VERB
ajst-30212	118	51	angle	angle	NOUN
ajst-30212	118	52	may	may	AUX
ajst-30212	118	53	produce	produce	VERB
ajst-30212	118	54	a	a	DET
ajst-30212	118	55	pitch	pitch	NOUN
ajst-30212	118	56	angle	angle	NOUN
ajst-30212	118	57	offset	offset	NOUN
ajst-30212	118	58	,	,	PUNCT
ajst-30212	118	59	thereby	thereby	ADV
ajst-30212	118	60	affecting	affect	VERB
ajst-30212	118	61	the	the	DET
ajst-30212	118	62	accuracy	accuracy	NOUN
ajst-30212	118	63	of	of	ADP
ajst-30212	118	64	the	the	DET
ajst-30212	118	65	distance	distance	NOUN
ajst-30212	118	66	measurement	measurement	NOUN
ajst-30212	118	67	.	.	PUNCT
ajst-30212	119	1	in	in	ADP
ajst-30212	119	2	order	order	NOUN
ajst-30212	119	3	to	to	PART
ajst-30212	119	4	solve	solve	VERB
ajst-30212	119	5	this	this	DET
ajst-30212	119	6	problem	problem	NOUN
ajst-30212	119	7	,	,	PUNCT
ajst-30212	119	8	this	this	DET
ajst-30212	119	9	study	study	NOUN
ajst-30212	119	10	introduces	introduce	VERB
ajst-30212	119	11	the	the	DET
ajst-30212	119	12	concept	concept	NOUN
ajst-30212	119	13	of	of	ADP
ajst-30212	119	14	sensor	sensor	NOUN
ajst-30212	119	15	fusion	fusion	NOUN
ajst-30212	119	16	,	,	PUNCT
ajst-30212	119	17	and	and	CCONJ
ajst-30212	119	18	further	further	ADJ
ajst-30212	119	19	corrects	correct	NOUN
ajst-30212	119	20	the	the	DET
ajst-30212	119	21	results	result	NOUN
ajst-30212	119	22	calculated	calculate	VERB
ajst-30212	119	23	by	by	ADP
ajst-30212	119	24	the	the	DET
ajst-30212	119	25	pnp	pnp	PROPN
ajst-30212	119	26	algorithm	algorithm	NOUN
ajst-30212	119	27	by	by	ADP
ajst-30212	119	28	combining	combine	VERB
ajst-30212	119	29	the	the	DET
ajst-30212	119	30	gimbal	gimbal	ADJ
ajst-30212	119	31	pitch	pitch	NOUN
ajst-30212	119	32	axis	axis	NOUN
ajst-30212	119	33	angle	angle	NOUN
ajst-30212	119	34	data	datum	NOUN
ajst-30212	119	35	provided	provide	VERB
ajst-30212	119	36	by	by	ADP
ajst-30212	119	37	the	the	DET
ajst-30212	119	38	imu	imu	NOUN
ajst-30212	119	39	sensor	sensor	NOUN
ajst-30212	119	40	.	.	PUNCT
ajst-30212	120	1	the	the	DET
ajst-30212	120	2	imu	imu	NOUN
ajst-30212	120	3	sensor	sensor	NOUN
ajst-30212	120	4	is	be	AUX
ajst-30212	120	5	an	an	DET
ajst-30212	120	6	inertial	inertial	ADJ
ajst-30212	120	7	measurement	measurement	NOUN
ajst-30212	120	8	unit	unit	NOUN
ajst-30212	120	9	that	that	PRON
ajst-30212	120	10	in	in	ADP
ajst-30212	120	11	tegrates	tegrate	NOUN
ajst-30212	120	12	an	an	DET
ajst-30212	120	13	accelerometer	accelerometer	NOUN
ajst-30212	120	14	,	,	PUNCT
ajst-30212	120	15	a	a	DET
ajst-30212	120	16	gyroscope	gyroscope	NOUN
ajst-30212	120	17	,	,	PUNCT
ajst-30212	120	18	and	and	CCONJ
ajst-30212	120	19	a	a	DET
ajst-30212	120	20	magnetometer	magnetometer	NOUN
ajst-30212	120	21	,	,	PUNCT
ajst-30212	120	22	and	and	CCONJ
ajst-30212	120	23	can	can	AUX
ajst-30212	120	24	provide	provide	VERB
ajst-30212	120	25	the	the	DET
ajst-30212	120	26	attitude	attitude	NOUN
ajst-30212	120	27	information	information	NOUN
ajst-30212	120	28	of	of	ADP
ajst-30212	120	29	the	the	DET
ajst-30212	120	30	drone	drone	NOUN
ajst-30212	120	31	in	in	ADP
ajst-30212	120	32	real	real	ADJ
ajst-30212	120	33	time	time	NOUN
ajst-30212	120	34	.	.	PUNCT
ajst-30212	121	1	in	in	ADP
ajst-30212	121	2	this	this	DET
ajst-30212	121	3	study	study	NOUN
ajst-30212	121	4	,	,	PUNCT
ajst-30212	121	5	the	the	DET
ajst-30212	121	6	pitch	pitch	NOUN
ajst-30212	121	7	axis	axis	NOUN
ajst-30212	121	8	angle	angle	NOUN
ajst-30212	121	9	data	datum	NOUN
ajst-30212	121	10	provided	provide	VERB
ajst-30212	121	11	by	by	ADP
ajst-30212	121	12	the	the	DET
ajst-30212	121	13	imu	imu	NOUN
ajst-30212	121	14	sensor	sensor	NOUN
ajst-30212	121	15	is	be	AUX
ajst-30212	121	16	used	use	VERB
ajst-30212	121	17	to	to	PART
ajst-30212	121	18	correct	correct	VERB
ajst-30212	121	19	the	the	DET
ajst-30212	121	20	calculation	calculation	NOUN
ajst-30212	121	21	results	result	NOUN
ajst-30212	121	22	of	of	ADP
ajst-30212	121	23	the	the	DET
ajst-30212	121	24	pnp	pnp	PROPN
ajst-30212	121	25	algorithm	algorithm	NOUN
ajst-30212	121	26	.	.	PUNCT
ajst-30212	122	1	specifically	specifically	ADV
ajst-30212	122	2	,	,	PUNCT
ajst-30212	122	3	after	after	SCONJ
ajst-30212	122	4	the	the	DET
ajst-30212	122	5	pnp	pnp	PROPN
ajst-30212	122	6	algorithm	algorithm	PROPN
ajst-30212	122	7	calculates	calculate	VERB
ajst-30212	122	8	the	the	DET
ajst-30212	122	9	preliminary	preliminary	ADJ
ajst-30212	122	10	position	position	NOUN
ajst-30212	122	11	result	result	NOUN
ajst-30212	122	12	,	,	PUNCT
ajst-30212	122	13	the	the	DET
ajst-30212	122	14	system	system	NOUN
ajst-30212	122	15	will	will	AUX
ajst-30212	122	16	combine	combine	VERB
ajst-30212	122	17	the	the	DET
ajst-30212	122	18	data	datum	NOUN
ajst-30212	122	19	of	of	ADP
ajst-30212	122	20	the	the	DET
ajst-30212	122	21	imu	imu	NOUN
ajst-30212	122	22	sensor	sensor	NOUN
ajst-30212	122	23	and	and	CCONJ
ajst-30212	122	24	correct	correct	VERB
ajst-30212	122	25	the	the	DET
ajst-30212	122	26	actual	actual	ADJ
ajst-30212	122	27	position	position	NOUN
ajst-30212	122	28	and	and	CCONJ
ajst-30212	122	29	posture	posture	NOUN
ajst-30212	122	30	of	of	ADP
ajst-30212	122	31	the	the	DET
ajst-30212	122	32	face	face	NOUN
ajst-30212	122	33	through	through	ADP
ajst-30212	122	34	matrix	matrix	NOUN
ajst-30212	122	35	transformation	transformation	NOUN
ajst-30212	122	36	,	,	PUNCT
ajst-30212	122	37	thereby	thereby	ADV
ajst-30212	122	38	obtaining	obtain	VERB
ajst-30212	122	39	a	a	DET
ajst-30212	122	40	more	more	ADV
ajst-30212	122	41	accurate	accurate	ADJ
ajst-30212	122	42	face	face	NOUN
ajst-30212	122	43	distance	distance	NOUN
ajst-30212	122	44	measurement	measurement	NOUN
ajst-30212	122	45	result	result	NOUN
ajst-30212	122	46	.	.	PUNCT
ajst-30212	123	1	2.3	2.3	NUM
ajst-30212	123	2	.	.	PUNCT
ajst-30212	124	1	obstacle	obstacle	NOUN
ajst-30212	124	2	avoidance	avoidance	NOUN
ajst-30212	124	3	strategy	strategy	NOUN
ajst-30212	124	4	(	(	PUNCT
ajst-30212	124	5	1	1	X
ajst-30212	124	6	)	)	PUNCT
ajst-30212	124	7	preliminary	preliminary	ADJ
ajst-30212	124	8	determination	determination	NOUN
ajst-30212	124	9	of	of	ADP
ajst-30212	124	10	obstacle	obstacle	NOUN
ajst-30212	124	11	avoidance	avoidance	NOUN
ajst-30212	124	12	direction	direction	NOUN
ajst-30212	124	13	:	:	PUNCT
ajst-30212	124	14	the	the	DET
ajst-30212	124	15	obstacle	obstacle	NOUN
ajst-30212	124	16	avoidance	avoidance	NOUN
ajst-30212	124	17	strategy	strategy	NOUN
ajst-30212	124	18	of	of	ADP
ajst-30212	124	19	drones	drone	NOUN
ajst-30212	124	20	is	be	AUX
ajst-30212	124	21	an	an	DET
ajst-30212	124	22	important	important	ADJ
ajst-30212	124	23	part	part	NOUN
ajst-30212	124	24	of	of	ADP
ajst-30212	124	25	ensuring	ensure	VERB
ajst-30212	124	26	the	the	DET
ajst-30212	124	27	safety	safety	NOUN
ajst-30212	124	28	of	of	ADP
ajst-30212	124	29	their	their	PRON
ajst-30212	124	30	autonomous	autonomous	ADJ
ajst-30212	124	31	flight	flight	NOUN
ajst-30212	124	32	.	.	PUNCT
ajst-30212	125	1	in	in	ADP
ajst-30212	125	2	this	this	DET
ajst-30212	125	3	study	study	NOUN
ajst-30212	125	4	,	,	PUNCT
ajst-30212	125	5	the	the	DET
ajst-30212	125	6	system	system	NOUN
ajst-30212	125	7	will	will	AUX
ajst-30212	125	8	automatically	automatically	ADV
ajst-30212	125	9	trigger	trigger	VERB
ajst-30212	125	10	the	the	DET
ajst-30212	125	11	obstacle	obstacle	NOUN
ajst-30212	125	12	avoidance	avoidance	NOUN
ajst-30212	125	13	strategy	strategy	NOUN
ajst-30212	125	14	based	base	VERB
ajst-30212	125	15	on	on	ADP
ajst-30212	125	16	the	the	DET
ajst-30212	125	17	face	face	NOUN
ajst-30212	125	18	recognized	recognize	VERB
ajst-30212	125	19	in	in	ADP
ajst-30212	125	20	the	the	DET
ajst-30212	125	21	picture	picture	NOUN
ajst-30212	125	22	.	.	PUNCT
ajst-30212	126	1	the	the	DET
ajst-30212	126	2	obstacle	obstacle	NOUN
ajst-30212	126	3	avoidance	avoidance	NOUN
ajst-30212	126	4	system	system	NOUN
ajst-30212	126	5	implements	implement	VERB
ajst-30212	126	6	a	a	DET
ajst-30212	126	7	calculation	calculation	NOUN
ajst-30212	126	8	process	process	NOUN
ajst-30212	126	9	of	of	ADP
ajst-30212	126	10	three	three	NUM
ajst-30212	126	11	-	-	PUNCT
ajst-30212	126	12	dimensional	dimensional	ADJ
ajst-30212	126	13	obstacle	obstacle	NOUN
ajst-30212	126	14	avoidance	avoidance	NOUN
ajst-30212	126	15	points	point	NOUN
ajst-30212	126	16	based	base	VERB
ajst-30212	126	17	on	on	ADP
ajst-30212	126	18	the	the	DET
ajst-30212	126	19	detected	detect	VERB
ajst-30212	126	20	target	target	NOUN
ajst-30212	126	21	point	point	NOUN
ajst-30212	126	22	data	datum	NOUN
ajst-30212	126	23	.	.	PUNCT
ajst-30212	127	1	the	the	DET
ajst-30212	127	2	initial	initial	ADJ
ajst-30212	127	3	obstacle	obstacle	NOUN
ajst-30212	127	4	avoidance	avoidance	NOUN
ajst-30212	127	5	direction	direction	NOUN
ajst-30212	127	6	is	be	AUX
ajst-30212	127	7	determined	determine	VERB
ajst-30212	127	8	by	by	ADP
ajst-30212	127	9	calculating	calculate	VERB
ajst-30212	127	10	the	the	DET
ajst-30212	127	11	uniformity	uniformity	NOUN
ajst-30212	127	12	and	and	CCONJ
ajst-30212	127	13	density	density	NOUN
ajst-30212	127	14	of	of	ADP
ajst-30212	127	15	the	the	DET
ajst-30212	127	16	distribution	distribution	NOUN
ajst-30212	127	17	of	of	ADP
ajst-30212	127	18	faces	face	NOUN
ajst-30212	127	19	relative	relative	ADJ
ajst-30212	127	20	to	to	ADP
ajst-30212	127	21	the	the	DET
ajst-30212	127	22	drone	drone	NOUN
ajst-30212	127	23	in	in	ADP
ajst-30212	127	24	threedimensional	threedimensional	ADJ
ajst-30212	127	25	space	space	NOUN
ajst-30212	127	26	.	.	PUNCT
ajst-30212	128	1	specifically	specifically	ADV
ajst-30212	128	2	,	,	PUNCT
ajst-30212	128	3	if	if	SCONJ
ajst-30212	128	4	the	the	DET
ajst-30212	128	5	distribution	distribution	NOUN
ajst-30212	128	6	of	of	ADP
ajst-30212	128	7	faces	face	NOUN
ajst-30212	128	8	in	in	ADP
ajst-30212	128	9	a	a	DET
ajst-30212	128	10	certain	certain	ADJ
ajst-30212	128	11	direction	direction	NOUN
ajst-30212	128	12	is	be	AUX
ajst-30212	128	13	sparse	sparse	ADJ
ajst-30212	128	14	,	,	PUNCT
ajst-30212	128	15	then	then	ADV
ajst-30212	128	16	this	this	DET
ajst-30212	128	17	direction	direction	NOUN
ajst-30212	128	18	will	will	AUX
ajst-30212	128	19	be	be	AUX
ajst-30212	128	20	considered	consider	VERB
ajst-30212	128	21	a	a	DET
ajst-30212	128	22	relatively	relatively	ADV
ajst-30212	128	23	safe	safe	ADJ
ajst-30212	128	24	obstacle	obstacle	NOUN
ajst-30212	128	25	avoidance	avoidance	NOUN
ajst-30212	128	26	direction	direction	NOUN
ajst-30212	128	27	,	,	PUNCT
ajst-30212	128	28	and	and	CCONJ
ajst-30212	128	29	this	this	DET
ajst-30212	128	30	safe	safe	ADJ
ajst-30212	128	31	direction	direction	NOUN
ajst-30212	128	32	will	will	AUX
ajst-30212	128	33	be	be	AUX
ajst-30212	128	34	set	set	VERB
ajst-30212	128	35	as	as	ADP
ajst-30212	128	36	the	the	DET
ajst-30212	128	37	movement	movement	NOUN
ajst-30212	128	38	direction	direction	NOUN
ajst-30212	128	39	of	of	ADP
ajst-30212	128	40	the	the	DET
ajst-30212	128	41	drone	drone	NOUN
ajst-30212	128	42	.	.	PUNCT
ajst-30212	129	1	on	on	ADP
ajst-30212	129	2	the	the	DET
ajst-30212	129	3	contrary	contrary	NOUN
ajst-30212	129	4	,	,	PUNCT
ajst-30212	129	5	if	if	SCONJ
ajst-30212	129	6	the	the	DET
ajst-30212	129	7	distribution	distribution	NOUN
ajst-30212	129	8	of	of	ADP
ajst-30212	129	9	faces	face	NOUN
ajst-30212	129	10	in	in	ADP
ajst-30212	129	11	a	a	DET
ajst-30212	129	12	certain	certain	ADJ
ajst-30212	129	13	direction	direction	NOUN
ajst-30212	129	14	is	be	AUX
ajst-30212	129	15	dense	dense	ADJ
ajst-30212	129	16	,	,	PUNCT
ajst-30212	129	17	then	then	ADV
ajst-30212	129	18	this	this	DET
ajst-30212	129	19	direction	direction	NOUN
ajst-30212	129	20	will	will	AUX
ajst-30212	129	21	be	be	AUX
ajst-30212	129	22	considered	consider	VERB
ajst-30212	129	23	a	a	DET
ajst-30212	129	24	highrisk	highrisk	NOUN
ajst-30212	129	25	area	area	NOUN
ajst-30212	129	26	,	,	PUNCT
ajst-30212	129	27	and	and	CCONJ
ajst-30212	129	28	the	the	DET
ajst-30212	129	29	drone	drone	NOUN
ajst-30212	129	30	should	should	AUX
ajst-30212	129	31	avoid	avoid	VERB
ajst-30212	129	32	flying	fly	VERB
ajst-30212	129	33	in	in	ADP
ajst-30212	129	34	this	this	DET
ajst-30212	129	35	direction	direction	NOUN
ajst-30212	129	36	.	.	PUNCT
ajst-30212	130	1	if	if	SCONJ
ajst-30212	130	2	there	there	PRON
ajst-30212	130	3	is	be	VERB
ajst-30212	130	4	a	a	DET
ajst-30212	130	5	dense	dense	ADJ
ajst-30212	130	6	distribution	distribution	NOUN
ajst-30212	130	7	of	of	ADP
ajst-30212	130	8	faces	face	NOUN
ajst-30212	130	9	in	in	ADP
ajst-30212	130	10	all	all	DET
ajst-30212	130	11	directions	direction	NOUN
ajst-30212	130	12	,	,	PUNCT
ajst-30212	130	13	it	it	PRON
ajst-30212	130	14	is	be	AUX
ajst-30212	130	15	considered	consider	VERB
ajst-30212	130	16	that	that	SCONJ
ajst-30212	130	17	there	there	PRON
ajst-30212	130	18	is	be	VERB
ajst-30212	130	19	no	no	DET
ajst-30212	130	20	safe	safe	ADJ
ajst-30212	130	21	direction	direction	NOUN
ajst-30212	130	22	,	,	PUNCT
ajst-30212	130	23	and	and	CCONJ
ajst-30212	130	24	the	the	DET
ajst-30212	130	25	drone	drone	NOUN
ajst-30212	130	26	will	will	AUX
ajst-30212	130	27	stop	stop	VERB
ajst-30212	130	28	moving	move	VERB
ajst-30212	130	29	immediately	immediately	ADV
ajst-30212	130	30	.	.	PUNCT
ajst-30212	131	1	after	after	ADP
ajst-30212	131	2	calculating	calculate	VERB
ajst-30212	131	3	the	the	DET
ajst-30212	131	4	avoidance	avoidance	NOUN
ajst-30212	131	5	direction	direction	NOUN
ajst-30212	131	6	,	,	PUNCT
ajst-30212	131	7	a	a	DET
ajst-30212	131	8	verification	verification	NOUN
ajst-30212	131	9	step	step	NOUN
ajst-30212	131	10	will	will	AUX
ajst-30212	131	11	be	be	AUX
ajst-30212	131	12	performed	perform	VERB
ajst-30212	131	13	.	.	PUNCT
ajst-30212	132	1	this	this	DET
ajst-30212	132	2	obstacle	obstacle	NOUN
ajst-30212	132	3	avoidance	avoidance	NOUN
ajst-30212	132	4	system	system	NOUN
ajst-30212	132	5	ensures	ensure	VERB
ajst-30212	132	6	the	the	DET
ajst-30212	132	7	autonomous	autonomous	ADJ
ajst-30212	132	8	navigation	navigation	NOUN
ajst-30212	132	9	capability	capability	NOUN
ajst-30212	132	10	of	of	ADP
ajst-30212	132	11	the	the	DET
ajst-30212	132	12	drone	drone	NOUN
ajst-30212	132	13	in	in	ADP
ajst-30212	132	14	a	a	DET
ajst-30212	132	15	complex	complex	ADJ
ajst-30212	132	16	environment	environment	NOUN
ajst-30212	132	17	by	by	ADP
ajst-30212	132	18	calculating	calculate	VERB
ajst-30212	132	19	three	three	NUM
ajst-30212	132	20	-	-	PUNCT
ajst-30212	132	21	dimensional	dimensional	ADJ
ajst-30212	132	22	obstacle	obstacle	NOUN
ajst-30212	132	23	avoidance	avoidance	NOUN
ajst-30212	132	24	points	point	NOUN
ajst-30212	132	25	based	base	VERB
ajst-30212	132	26	on	on	ADP
ajst-30212	132	27	the	the	DET
ajst-30212	132	28	detected	detect	VERB
ajst-30212	132	29	target	target	NOUN
ajst-30212	132	30	point	point	NOUN
ajst-30212	132	31	data	datum	NOUN
ajst-30212	132	32	.	.	PUNCT
ajst-30212	133	1	in	in	ADP
ajst-30212	133	2	order	order	NOUN
ajst-30212	133	3	to	to	PART
ajst-30212	133	4	determine	determine	VERB
ajst-30212	133	5	the	the	DET
ajst-30212	133	6	initial	initial	ADJ
ajst-30212	133	7	obstacle	obstacle	NOUN
ajst-30212	133	8	avoidance	avoidance	NOUN
ajst-30212	133	9	direction	direction	NOUN
ajst-30212	133	10	,	,	PUNCT
ajst-30212	133	11	the	the	DET
ajst-30212	133	12	spatial	spatial	ADJ
ajst-30212	133	13	distribution	distribution	NOUN
ajst-30212	133	14	characteristics	characteristic	NOUN
ajst-30212	133	15	of	of	ADP
ajst-30212	133	16	the	the	DET
ajst-30212	133	17	face	face	NOUN
ajst-30212	133	18	points	point	NOUN
ajst-30212	133	19	are	be	AUX
ajst-30212	133	20	first	first	ADV
ajst-30212	133	21	defined	define	VERB
ajst-30212	133	22	.	.	PUNCT
ajst-30212	134	1	let	let	VERB
ajst-30212	134	2	p	p	NOUN
ajst-30212	134	3	=	=	X
ajst-30212	134	4	{	{	PUNCT
ajst-30212	134	5	p1	p1	PROPN
ajst-30212	134	6	,	,	PUNCT
ajst-30212	134	7	p2	p2	NOUN
ajst-30212	134	8	,	,	PUNCT
ajst-30212	134	9	...	...	PUNCT
ajst-30212	134	10	,	,	PUNCT
ajst-30212	134	11	pn	pn	PROPN
ajst-30212	134	12	}	}	PUNCT
ajst-30212	134	13	be	be	AUX
ajst-30212	134	14	the	the	DET
ajst-30212	134	15	set	set	NOUN
ajst-30212	134	16	of	of	ADP
ajst-30212	134	17	detected	detect	VERB
ajst-30212	134	18	target	target	NOUN
ajst-30212	134	19	points	point	NOUN
ajst-30212	134	20	in	in	ADP
ajst-30212	134	21	3d	3d	PROPN
ajst-30212	134	22	space	space	NOUN
ajst-30212	134	23	,	,	PUNCT
ajst-30212	134	24	where	where	SCONJ
ajst-30212	134	25	each	each	DET
ajst-30212	134	26	target	target	NOUN
ajst-30212	134	27	point	point	NOUN
ajst-30212	134	28	is	be	AUX
ajst-30212	134	29	represented	represent	VERB
ajst-30212	134	30	as	as	ADP
ajst-30212	134	31	pi	pi	NOUN
ajst-30212	134	32	=	=	SYM
ajst-30212	134	33	(	(	PUNCT
ajst-30212	134	34	xi	xi	PROPN
ajst-30212	134	35	,	,	PUNCT
ajst-30212	134	36	yi	yi	PROPN
ajst-30212	134	37	,	,	PUNCT
ajst-30212	134	38	zi	zi	PROPN
ajst-30212	134	39	)	)	PUNCT
ajst-30212	134	40	.	.	PUNCT
ajst-30212	135	1	we	we	PRON
ajst-30212	135	2	use	use	VERB
ajst-30212	135	3	*	*	PUNCT
ajst-30212	135	4	uniformity	uniformity	NOUN
ajst-30212	135	5	*	*	PUNCT
ajst-30212	135	6	and	and	CCONJ
ajst-30212	135	7	*	*	NOUN
ajst-30212	135	8	density	density	NOUN
ajst-30212	135	9	*	*	NOUN
ajst-30212	135	10	metrics	metric	NOUN
ajst-30212	135	11	to	to	PART
ajst-30212	135	12	evaluate	evaluate	VERB
ajst-30212	135	13	the	the	DET
ajst-30212	135	14	distribution	distribution	NOUN
ajst-30212	135	15	of	of	ADP
ajst-30212	135	16	faces	face	NOUN
ajst-30212	135	17	,	,	PUNCT
ajst-30212	135	18	defined	define	VERB
ajst-30212	135	19	as	as	SCONJ
ajst-30212	135	20	follows	follow	VERB
ajst-30212	135	21	:	:	PUNCT
ajst-30212	135	22	uniformity	uniformity	NOUN
ajst-30212	135	23	metric	metric	ADJ
ajst-30212	135	24	u	u	NOUN
ajst-30212	135	25	:	:	PUNCT
ajst-30212	135	26	𝑈	𝑈	PROPN
ajst-30212	135	27	∑	∑	PUNCT
ajst-30212	135	28	  	  	SPACE
ajst-30212	135	29	𝑥	𝑥	PRON
ajst-30212	135	30	�	�	PROPN
ajst-30212	135	31	̅	̅	NOUN
ajst-30212	135	32	�	�	NOUN
ajst-30212	135	33	𝑦	𝑦	ADP
ajst-30212	135	34	𝑦	𝑦	NOUN
ajst-30212	135	35	𝑧	𝑧	X
ajst-30212	135	36	𝑧̅	𝑧̅	NOUN
ajst-30212	135	37	(	(	PUNCT
ajst-30212	135	38	8)	8)	NUM
ajst-30212	135	39	where	where	SCONJ
ajst-30212	135	40	�	�	NOUN
ajst-30212	135	41	̅	̅	NOUN
ajst-30212	135	42	�	�	PROPN
ajst-30212	135	43	,	,	PUNCT
ajst-30212	135	44	𝑦	𝑦	NOUN
ajst-30212	135	45	,	,	PUNCT
ajst-30212	135	46	𝑧̅	𝑧̅	PROPN
ajst-30212	135	47	are	be	AUX
ajst-30212	135	48	the	the	DET
ajst-30212	135	49	mean	mean	ADJ
ajst-30212	135	50	coordinates	coordinate	NOUN
ajst-30212	135	51	of	of	ADP
ajst-30212	135	52	the	the	DET
ajst-30212	135	53	target	target	NOUN
ajst-30212	135	54	points	point	NOUN
ajst-30212	135	55	.	.	PUNCT
ajst-30212	136	1	density	density	NOUN
ajst-30212	136	2	metric	metric	ADJ
ajst-30212	137	1	d	d	NOUN
ajst-30212	137	2	:	:	PUNCT
ajst-30212	137	3	𝐷	𝐷	PROPN
ajst-30212	137	4	∑	∑	NOUN
ajst-30212	137	5	  	  	SPACE
ajst-30212	137	6	𝑥	𝑥	PRON
ajst-30212	137	7	�	�	PROPN
ajst-30212	137	8	̅	̅	NOUN
ajst-30212	137	9	�	�	NOUN
ajst-30212	137	10	𝑦	𝑦	ADP
ajst-30212	137	11	𝑦	𝑦	NOUN
ajst-30212	137	12	𝑧	𝑧	X
ajst-30212	137	13	𝑧̅	𝑧̅	NOUN
ajst-30212	137	14	(	(	PUNCT
ajst-30212	137	15	9	9	NUM
ajst-30212	137	16	)	)	PUNCT
ajst-30212	137	17	by	by	ADP
ajst-30212	137	18	calculating	calculate	VERB
ajst-30212	137	19	the	the	DET
ajst-30212	137	20	uniformity	uniformity	NOUN
ajst-30212	137	21	u	u	NOUN
ajst-30212	137	22	and	and	CCONJ
ajst-30212	137	23	density	density	NOUN
ajst-30212	137	24	d	d	NOUN
ajst-30212	137	25	,	,	PUNCT
ajst-30212	137	26	we	we	PRON
ajst-30212	137	27	can	can	AUX
ajst-30212	137	28	determine	determine	VERB
ajst-30212	137	29	the	the	DET
ajst-30212	137	30	safe	safe	ADJ
ajst-30212	137	31	direction	direction	NOUN
ajst-30212	137	32	of	of	ADP
ajst-30212	137	33	movement	movement	NOUN
ajst-30212	137	34	based	base	VERB
ajst-30212	137	35	on	on	ADP
ajst-30212	137	36	the	the	DET
ajst-30212	137	37	thresholds	threshold	NOUN
ajst-30212	137	38	tu	tu	PROPN
ajst-30212	137	39	and	and	CCONJ
ajst-30212	137	40	td	td	ADP
ajst-30212	137	41	:	:	PUNCT
ajst-30212	137	42	if	if	SCONJ
ajst-30212	137	43	d	d	X
ajst-30212	137	44	<	<	X
ajst-30212	137	45	td	td	X
ajst-30212	137	46	,	,	PUNCT
ajst-30212	137	47	the	the	DET
ajst-30212	137	48	direction	direction	NOUN
ajst-30212	137	49	is	be	AUX
ajst-30212	137	50	considered	consider	VERB
ajst-30212	137	51	safe	safe	ADJ
ajst-30212	137	52	,	,	PUNCT
ajst-30212	137	53	denoted	denote	VERB
ajst-30212	137	54	as	as	ADP
ajst-30212	137	55	⃗vsafe	⃗vsafe	PROPN
ajst-30212	137	56	.	.	PUNCT
ajst-30212	138	1	if	if	SCONJ
ajst-30212	138	2	d	d	PROPN
ajst-30212	138	3	≥	≥	AUX
ajst-30212	138	4	td	td	NOUN
ajst-30212	138	5	,	,	PUNCT
ajst-30212	138	6	the	the	DET
ajst-30212	138	7	direction	direction	NOUN
ajst-30212	138	8	is	be	AUX
ajst-30212	138	9	deemed	deem	VERB
ajst-30212	138	10	a	a	DET
ajst-30212	138	11	high	high	ADJ
ajst-30212	138	12	-	-	PUNCT
ajst-30212	138	13	risk	risk	NOUN
ajst-30212	138	14	area	area	NOUN
ajst-30212	138	15	.	.	PUNCT
ajst-30212	139	1	constraint	constraint	NOUN
ajst-30212	139	2	on	on	ADP
ajst-30212	139	3	obstacle	obstacle	NOUN
ajst-30212	139	4	avoidance	avoidance	NOUN
ajst-30212	139	5	direction	direction	NOUN
ajst-30212	139	6	:	:	PUNCT
ajst-30212	139	7	to	to	PART
ajst-30212	139	8	ensure	ensure	VERB
ajst-30212	139	9	safe	safe	ADJ
ajst-30212	139	10	drone	drone	NOUN
ajst-30212	139	11	flight	flight	NOUN
ajst-30212	139	12	,	,	PUNCT
ajst-30212	139	13	the	the	DET
ajst-30212	139	14	angle	angle	NOUN
ajst-30212	139	15	θ	θ	PROPN
ajst-30212	139	16	between	between	ADP
ajst-30212	139	17	the	the	DET
ajst-30212	139	18	avoidance	avoidance	NOUN
ajst-30212	139	19	direction	direction	NOUN
ajst-30212	139	20	and	and	CCONJ
ajst-30212	139	21	the	the	DET
ajst-30212	139	22	horizontal	horizontal	ADJ
ajst-30212	139	23	plane	plane	NOUN
ajst-30212	139	24	must	must	AUX
ajst-30212	139	25	be	be	AUX
ajst-30212	139	26	positive	positive	ADJ
ajst-30212	139	27	.	.	PUNCT
ajst-30212	140	1	the	the	DET
ajst-30212	140	2	angle	angle	NOUN
ajst-30212	140	3	θ	θ	PROPN
ajst-30212	140	4	is	be	AUX
ajst-30212	140	5	computed	compute	VERB
ajst-30212	140	6	as	as	ADP
ajst-30212	140	7	:	:	PUNCT
ajst-30212	140	8	𝜃	𝜃	NUM
ajst-30212	140	9	arctan	arctan	PROPN
ajst-30212	140	10	(	(	PUNCT
ajst-30212	140	11	10	10	NUM
ajst-30212	140	12	)	)	PUNCT
ajst-30212	140	13	where	where	SCONJ
ajst-30212	140	14	⃗	⃗	PROPN
ajst-30212	140	15	vsafe	vsafe	NOUN
ajst-30212	140	16	=	=	SYM
ajst-30212	140	17	(	(	PUNCT
ajst-30212	140	18	vx	vx	PROPN
ajst-30212	140	19	,	,	PUNCT
ajst-30212	140	20	vy	vy	PROPN
ajst-30212	140	21	,	,	PUNCT
ajst-30212	140	22	vz	vz	PROPN
ajst-30212	140	23	)	)	PUNCT
ajst-30212	140	24	is	be	AUX
ajst-30212	140	25	the	the	DET
ajst-30212	140	26	safe	safe	ADJ
ajst-30212	140	27	avoidance	avoidance	NOUN
ajst-30212	140	28	direction	direction	NOUN
ajst-30212	140	29	vector	vector	NOUN
ajst-30212	140	30	.	.	PUNCT
ajst-30212	141	1	we	we	PRON
ajst-30212	141	2	require	require	VERB
ajst-30212	141	3	that	that	SCONJ
ajst-30212	141	4	:	:	PUNCT
ajst-30212	141	5	232	232	NUM
ajst-30212	141	6	𝜃	𝜃	SYM
ajst-30212	141	7	0	0	NUM
ajst-30212	141	8	⇒	⇒	NOUN
ajst-30212	141	9	𝑣𝑧	𝑣𝑧	VERB
ajst-30212	141	10	0	0	NUM
ajst-30212	141	11	11	11	NUM
ajst-30212	141	12	if	if	SCONJ
ajst-30212	141	13	all	all	DET
ajst-30212	141	14	directions	direction	NOUN
ajst-30212	141	15	are	be	AUX
ajst-30212	141	16	found	find	VERB
ajst-30212	141	17	to	to	PART
ajst-30212	141	18	be	be	AUX
ajst-30212	141	19	high	high	ADJ
ajst-30212	141	20	-	-	PUNCT
ajst-30212	141	21	risk	risk	NOUN
ajst-30212	141	22	,	,	PUNCT
ajst-30212	141	23	the	the	DET
ajst-30212	141	24	drone	drone	NOUN
ajst-30212	141	25	halts	halt	VERB
ajst-30212	141	26	its	its	PRON
ajst-30212	141	27	movement	movement	NOUN
ajst-30212	141	28	.	.	PUNCT
ajst-30212	142	1	(	(	PUNCT
ajst-30212	142	2	2	2	X
ajst-30212	142	3	)	)	PUNCT
ajst-30212	142	4	validation	validation	NOUN
ajst-30212	142	5	step	step	NOUN
ajst-30212	142	6	:	:	PUNCT
ajst-30212	142	7	after	after	ADP
ajst-30212	142	8	determining	determine	VERB
ajst-30212	142	9	the	the	DET
ajst-30212	142	10	preliminary	preliminary	ADJ
ajst-30212	142	11	obstacle	obstacle	NOUN
ajst-30212	142	12	avoidance	avoidance	NOUN
ajst-30212	142	13	direction	direction	NOUN
ajst-30212	142	14	,	,	PUNCT
ajst-30212	142	15	a	a	DET
ajst-30212	142	16	cylinder	cylinder	NOUN
ajst-30212	142	17	-	-	PUNCT
ajst-30212	142	18	based	base	VERB
ajst-30212	142	19	validation	validation	NOUN
ajst-30212	142	20	strategy	strategy	NOUN
ajst-30212	142	21	is	be	AUX
ajst-30212	142	22	applied	apply	VERB
ajst-30212	142	23	.	.	PUNCT
ajst-30212	143	1	the	the	DET
ajst-30212	143	2	simple	simple	ADJ
ajst-30212	143	3	motion	motion	NOUN
ajst-30212	143	4	path	path	NOUN
ajst-30212	143	5	of	of	ADP
ajst-30212	143	6	a	a	DET
ajst-30212	143	7	quadrotor	quadrotor	NOUN
ajst-30212	143	8	drone	drone	NOUN
ajst-30212	143	9	with	with	ADP
ajst-30212	143	10	yaw	yaw	NOUN
ajst-30212	143	11	-	-	PUNCT
ajst-30212	143	12	axis	axis	NOUN
ajst-30212	143	13	rotation	rotation	NOUN
ajst-30212	143	14	can	can	AUX
ajst-30212	143	15	be	be	AUX
ajst-30212	143	16	approximated	approximate	VERB
ajst-30212	143	17	as	as	ADP
ajst-30212	143	18	a	a	DET
ajst-30212	143	19	cylinder	cylinder	NOUN
ajst-30212	143	20	with	with	ADP
ajst-30212	143	21	the	the	DET
ajst-30212	143	22	drone	drone	NOUN
ajst-30212	143	23	’s	’s	PART
ajst-30212	143	24	circumcircle	circumcircle	NOUN
ajst-30212	143	25	as	as	ADP
ajst-30212	143	26	the	the	DET
ajst-30212	143	27	base	base	NOUN
ajst-30212	143	28	.	.	PUNCT
ajst-30212	144	1	let	let	VERB
ajst-30212	144	2	r	r	NOUN
ajst-30212	144	3	be	be	AUX
ajst-30212	144	4	the	the	DET
ajst-30212	144	5	cylinder	cylinder	NOUN
ajst-30212	144	6	’s	’s	PART
ajst-30212	144	7	radius	radius	NOUN
ajst-30212	144	8	(	(	PUNCT
ajst-30212	144	9	safety	safety	NOUN
ajst-30212	144	10	distance	distance	NOUN
ajst-30212	144	11	threshold	threshold	NOUN
ajst-30212	144	12	)	)	PUNCT
ajst-30212	144	13	,	,	PUNCT
ajst-30212	144	14	and	and	CCONJ
ajst-30212	144	15	⃗cbe	⃗cbe	NUM
ajst-30212	144	16	the	the	DET
ajst-30212	144	17	center	center	NOUN
ajst-30212	144	18	position	position	NOUN
ajst-30212	144	19	of	of	ADP
ajst-30212	144	20	the	the	DET
ajst-30212	144	21	drone	drone	NOUN
ajst-30212	144	22	.	.	PUNCT
ajst-30212	145	1	the	the	DET
ajst-30212	145	2	cylindrical	cylindrical	ADJ
ajst-30212	145	3	path	path	NOUN
ajst-30212	145	4	of	of	ADP
ajst-30212	145	5	the	the	DET
ajst-30212	145	6	drone	drone	NOUN
ajst-30212	145	7	can	can	AUX
ajst-30212	145	8	be	be	AUX
ajst-30212	145	9	described	describe	VERB
ajst-30212	145	10	by	by	ADP
ajst-30212	145	11	the	the	DET
ajst-30212	145	12	following	follow	VERB
ajst-30212	145	13	inequality	inequality	NOUN
ajst-30212	145	14	:	:	PUNCT
ajst-30212	145	15	(	(	PUNCT
ajst-30212	145	16	12	12	NUM
ajst-30212	145	17	)	)	PUNCT
ajst-30212	145	18	the	the	DET
ajst-30212	145	19	algorithm	algorithm	NOUN
ajst-30212	145	20	iteratively	iteratively	ADV
ajst-30212	145	21	checks	check	VERB
ajst-30212	145	22	whether	whether	SCONJ
ajst-30212	145	23	all	all	DET
ajst-30212	145	24	target	target	NOUN
ajst-30212	145	25	points	point	NOUN
ajst-30212	145	26	pi	pi	NOUN
ajst-30212	145	27	are	be	AUX
ajst-30212	145	28	outside	outside	ADP
ajst-30212	145	29	the	the	DET
ajst-30212	145	30	cylinder	cylinder	NOUN
ajst-30212	145	31	:	:	PUNCT
ajst-30212	145	32	(	(	PUNCT
ajst-30212	145	33	13	13	NUM
ajst-30212	145	34	)	)	PUNCT
ajst-30212	145	35	if	if	SCONJ
ajst-30212	145	36	all	all	DET
ajst-30212	145	37	target	target	NOUN
ajst-30212	145	38	points	point	NOUN
ajst-30212	145	39	pi	pi	NOUN
ajst-30212	145	40	satisfy	satisfy	VERB
ajst-30212	145	41	the	the	DET
ajst-30212	145	42	above	above	ADJ
ajst-30212	145	43	condition	condition	NOUN
ajst-30212	145	44	,	,	PUNCT
ajst-30212	145	45	the	the	DET
ajst-30212	145	46	program	program	NOUN
ajst-30212	145	47	confirms	confirm	VERB
ajst-30212	145	48	the	the	DET
ajst-30212	145	49	current	current	ADJ
ajst-30212	145	50	avoidance	avoidance	NOUN
ajst-30212	145	51	point	point	NOUN
ajst-30212	145	52	as	as	ADP
ajst-30212	145	53	valid	valid	ADJ
ajst-30212	145	54	and	and	CCONJ
ajst-30212	145	55	exits	exit	VERB
ajst-30212	145	56	the	the	DET
ajst-30212	145	57	loop	loop	NOUN
ajst-30212	145	58	.	.	PUNCT
ajst-30212	146	1	otherwise	otherwise	ADV
ajst-30212	146	2	,	,	PUNCT
ajst-30212	146	3	the	the	DET
ajst-30212	146	4	drone	drone	NOUN
ajst-30212	146	5	must	must	AUX
ajst-30212	146	6	adjust	adjust	VERB
ajst-30212	146	7	its	its	PRON
ajst-30212	146	8	movement	movement	NOUN
ajst-30212	146	9	direction	direction	NOUN
ajst-30212	146	10	andrecalculate	andrecalculate	VERB
ajst-30212	146	11	potential	potential	ADJ
ajst-30212	146	12	avoidance	avoidance	NOUN
ajst-30212	146	13	points	point	NOUN
ajst-30212	146	14	.	.	PUNCT
ajst-30212	147	1	3	3	X
ajst-30212	147	2	.	.	X
ajst-30212	147	3	experiment	experiment	NOUN
ajst-30212	147	4	figure	figure	NOUN
ajst-30212	147	5	3	3	NUM
ajst-30212	147	6	.	.	PUNCT
ajst-30212	147	7	experimental	experimental	ADJ
ajst-30212	147	8	process	process	NOUN
ajst-30212	147	9	3.1	3.1	NUM
ajst-30212	147	10	.	.	PUNCT
ajst-30212	148	1	experimental	experimental	ADJ
ajst-30212	148	2	setup	setup	NOUN
ajst-30212	148	3	to	to	PART
ajst-30212	148	4	evaluate	evaluate	VERB
ajst-30212	148	5	the	the	DET
ajst-30212	148	6	proposed	propose	VERB
ajst-30212	148	7	drone	drone	NOUN
ajst-30212	148	8	obstacle	obstacle	NOUN
ajst-30212	148	9	avoidance	avoidance	NOUN
ajst-30212	148	10	system	system	NOUN
ajst-30212	148	11	based	base	VERB
ajst-30212	148	12	on	on	ADP
ajst-30212	148	13	face	face	NOUN
ajst-30212	148	14	detection	detection	NOUN
ajst-30212	148	15	,	,	PUNCT
ajst-30212	148	16	this	this	DET
ajst-30212	148	17	study	study	NOUN
ajst-30212	148	18	designed	design	VERB
ajst-30212	148	19	extensive	extensive	ADJ
ajst-30212	148	20	experiments	experiment	NOUN
ajst-30212	148	21	in	in	ADP
ajst-30212	148	22	a	a	DET
ajst-30212	148	23	virtual	virtual	ADJ
ajst-30212	148	24	simulation	simulation	NOUN
ajst-30212	148	25	environment	environment	NOUN
ajst-30212	148	26	,	,	PUNCT
ajst-30212	148	27	ensuring	ensure	VERB
ajst-30212	148	28	safety	safety	NOUN
ajst-30212	148	29	and	and	CCONJ
ajst-30212	148	30	controllability	controllability	NOUN
ajst-30212	148	31	while	while	SCONJ
ajst-30212	148	32	testing	test	VERB
ajst-30212	148	33	under	under	ADP
ajst-30212	148	34	realistic	realistic	ADJ
ajst-30212	148	35	scenarios	scenario	NOUN
ajst-30212	148	36	.	.	PUNCT
ajst-30212	149	1	platform	platform	NOUN
ajst-30212	149	2	and	and	CCONJ
ajst-30212	149	3	environment	environment	NOUN
ajst-30212	149	4	:	:	PUNCT
ajst-30212	149	5	•	•	NUM
ajst-30212	149	6	uav	uav	PROPN
ajst-30212	149	7	platform	platform	NOUN
ajst-30212	149	8	:	:	PUNCT
ajst-30212	149	9	dji	dji	PROPN
ajst-30212	149	10	mavic	mavic	PROPN
ajst-30212	149	11	series	series	PROPN
ajst-30212	149	12	with	with	ADP
ajst-30212	149	13	onboard	onboard	ADP
ajst-30212	149	14	1080p/4k	1080p/4k	NUM
ajst-30212	149	15	camera	camera	NOUN
ajst-30212	149	16	and	and	CCONJ
ajst-30212	149	17	imu	imu	NOUN
ajst-30212	149	18	sensors	sensor	NOUN
ajst-30212	149	19	.	.	PUNCT
ajst-30212	150	1	•	•	NUM
ajst-30212	150	2	virtual	virtual	ADJ
ajst-30212	150	3	environment	environment	NOUN
ajst-30212	150	4	:	:	PUNCT
ajst-30212	150	5	developed	develop	VERB
ajst-30212	150	6	in	in	ADP
ajst-30212	150	7	blender	blender	NOUN
ajst-30212	150	8	,	,	PUNCT
ajst-30212	150	9	including	include	VERB
ajst-30212	150	10	narrow	narrow	ADJ
ajst-30212	150	11	streets	street	NOUN
ajst-30212	150	12	with	with	ADP
ajst-30212	150	13	complex	complex	ADJ
ajst-30212	150	14	obstacles	obstacle	NOUN
ajst-30212	150	15	(	(	PUNCT
ajst-30212	150	16	e.g.	e.g.	ADV
ajst-30212	150	17	,	,	PUNCT
ajst-30212	150	18	buildings	building	NOUN
ajst-30212	150	19	,	,	PUNCT
ajst-30212	150	20	moving	move	VERB
ajst-30212	150	21	pedestrians	pedestrian	NOUN
ajst-30212	150	22	)	)	PUNCT
ajst-30212	150	23	.	.	PUNCT
ajst-30212	151	1	•	•	NOUN
ajst-30212	151	2	face	face	NOUN
ajst-30212	151	3	models	model	NOUN
ajst-30212	151	4	:	:	PUNCT
ajst-30212	151	5	diverse	diverse	ADJ
ajst-30212	151	6	virtual	virtual	ADJ
ajst-30212	151	7	characters	character	NOUN
ajst-30212	151	8	with	with	ADP
ajst-30212	151	9	varied	varied	ADJ
ajst-30212	151	10	skin	skin	NOUN
ajst-30212	151	11	tones	tone	NOUN
ajst-30212	151	12	and	and	CCONJ
ajst-30212	151	13	lighting	lighting	NOUN
ajst-30212	151	14	conditions	condition	NOUN
ajst-30212	151	15	for	for	ADP
ajst-30212	151	16	robustness	robustness	NOUN
ajst-30212	151	17	testing	testing	NOUN
ajst-30212	151	18	.	.	PUNCT
ajst-30212	152	1	•	•	NUM
ajst-30212	152	2	flight	flight	NOUN
ajst-30212	152	3	parameters	parameter	NOUN
ajst-30212	152	4	:	:	PUNCT
ajst-30212	152	5	altitudes	altitude	NOUN
ajst-30212	152	6	of	of	ADP
ajst-30212	152	7	1	1	NUM
ajst-30212	152	8	,	,	PUNCT
ajst-30212	152	9	2	2	NUM
ajst-30212	152	10	,	,	PUNCT
ajst-30212	152	11	3	3	NUM
ajst-30212	152	12	meters	meter	NOUN
ajst-30212	152	13	and	and	CCONJ
ajst-30212	152	14	speeds	speed	NOUN
ajst-30212	152	15	of	of	ADP
ajst-30212	152	16	0.5	0.5	NUM
ajst-30212	152	17	,	,	PUNCT
ajst-30212	152	18	1.0	1.0	NUM
ajst-30212	152	19	,	,	PUNCT
ajst-30212	152	20	1.5	1.5	NUM
ajst-30212	152	21	m	m	NOUN
ajst-30212	152	22	/	/	SYM
ajst-30212	152	23	s.	s.	PROPN
ajst-30212	152	24	3.2	3.2	NUM
ajst-30212	152	25	.	.	PUNCT
ajst-30212	153	1	evaluation	evaluation	NOUN
ajst-30212	153	2	metrics	metric	NOUN
ajst-30212	153	3	•	•	VERB
ajst-30212	153	4	mean	mean	VERB
ajst-30212	153	5	average	average	ADJ
ajst-30212	153	6	precision	precision	NOUN
ajst-30212	153	7	(	(	PUNCT
ajst-30212	153	8	map	map	NOUN
ajst-30212	153	9	):	):	PUNCT
ajst-30212	153	10	evaluates	evaluate	VERB
ajst-30212	153	11	the	the	DET
ajst-30212	153	12	face	face	NOUN
ajst-30212	153	13	detection	detection	NOUN
ajst-30212	153	14	accuracy	accuracy	NOUN
ajst-30212	153	15	using	use	VERB
ajst-30212	153	16	the	the	DET
ajst-30212	153	17	pascal	pascal	PROPN
ajst-30212	153	18	voc	voc	NOUN
ajst-30212	153	19	standard	standard	PROPN
ajst-30212	153	20	.	.	PUNCT
ajst-30212	154	1	•	•	NUM
ajst-30212	154	2	absolute	absolute	ADJ
ajst-30212	154	3	position	position	NOUN
ajst-30212	154	4	error	error	NOUN
ajst-30212	154	5	(	(	PUNCT
ajst-30212	154	6	ape	ape	NOUN
ajst-30212	154	7	):	):	PUNCT
ajst-30212	154	8	quantifies	quantifie	NOUN
ajst-30212	154	9	the	the	PRON
ajst-30212	154	10	differ	differ	VERB
ajst-30212	154	11	ence	ence	NOUN
ajst-30212	154	12	between	between	ADP
ajst-30212	154	13	estimated	estimated	ADJ
ajst-30212	154	14	and	and	CCONJ
ajst-30212	154	15	true	true	ADJ
ajst-30212	154	16	positions	position	NOUN
ajst-30212	154	17	:	:	PUNCT
ajst-30212	154	18	𝐴𝑃𝐸	𝐴𝑃𝐸	VERB
ajst-30212	154	19	∑	∑	PUNCT
ajst-30212	154	20	𝑃	𝑃	VERB
ajst-30212	154	21	𝑃	𝑃	NOUN
ajst-30212	154	22	‖	‖	PROPN
ajst-30212	154	23	(	(	PUNCT
ajst-30212	154	24	14	14	NUM
ajst-30212	154	25	)	)	PUNCT
ajst-30212	154	26	where	where	SCONJ
ajst-30212	154	27	p̂i	p̂i	PROPN
ajst-30212	154	28	is	be	AUX
ajst-30212	154	29	the	the	DET
ajst-30212	154	30	estimated	estimate	VERB
ajst-30212	154	31	position	position	NOUN
ajst-30212	154	32	,	,	PUNCT
ajst-30212	154	33	pi	pi	PROPN
ajst-30212	154	34	is	be	AUX
ajst-30212	154	35	the	the	DET
ajst-30212	154	36	true	true	ADJ
ajst-30212	154	37	position	position	NOUN
ajst-30212	154	38	,	,	PUNCT
ajst-30212	154	39	and	and	CCONJ
ajst-30212	154	40	n	n	PRON
ajst-30212	154	41	is	be	AUX
ajst-30212	154	42	the	the	DET
ajst-30212	154	43	number	number	NOUN
ajst-30212	154	44	of	of	ADP
ajst-30212	154	45	test	test	NOUN
ajst-30212	154	46	samples	sample	NOUN
ajst-30212	154	47	.	.	PUNCT
ajst-30212	155	1	figure	figure	VERB
ajst-30212	155	2	4	4	NUM
ajst-30212	155	3	.	.	X
ajst-30212	155	4	virtual	virtual	ADJ
ajst-30212	155	5	environment	environment	NOUN
ajst-30212	155	6	setup	setup	NOUN
ajst-30212	155	7	•	•	NOUN
ajst-30212	155	8	success	success	NOUN
ajst-30212	155	9	rate	rate	NOUN
ajst-30212	155	10	:	:	PUNCT
ajst-30212	155	11	the	the	DET
ajst-30212	155	12	percentage	percentage	NOUN
ajst-30212	155	13	of	of	ADP
ajst-30212	155	14	successful	successful	ADJ
ajst-30212	155	15	obstacle	obstacle	NOUN
ajst-30212	155	16	avoidance	avoidance	NOUN
ajst-30212	155	17	actions	action	NOUN
ajst-30212	155	18	:	:	PUNCT
ajst-30212	155	19	𝑆𝑢𝑐𝑐𝑒𝑠𝑠	𝑆𝑢𝑐𝑐𝑒𝑠𝑠	PROPN
ajst-30212	155	20	𝑅𝑎𝑡𝑒	𝑅𝑎𝑡𝑒	PROPN
ajst-30212	155	21	100	100	NUM
ajst-30212	155	22	%	%	NOUN
ajst-30212	155	23	(	(	PUNCT
ajst-30212	155	24	15	15	NUM
ajst-30212	155	25	)	)	PUNCT
ajst-30212	155	26	•	•	NOUN
ajst-30212	155	27	response	response	NOUN
ajst-30212	155	28	time	time	NOUN
ajst-30212	155	29	:	:	PUNCT
ajst-30212	155	30	time	time	NOUN
ajst-30212	155	31	taken	take	VERB
ajst-30212	155	32	for	for	SCONJ
ajst-30212	155	33	the	the	DET
ajst-30212	155	34	system	system	NOUN
ajst-30212	155	35	to	to	PART
ajst-30212	155	36	react	react	VERB
ajst-30212	155	37	after	after	ADP
ajst-30212	155	38	detecting	detect	VERB
ajst-30212	155	39	an	an	DET
ajst-30212	155	40	obstacle	obstacle	NOUN
ajst-30212	155	41	,	,	PUNCT
ajst-30212	155	42	measured	measure	VERB
ajst-30212	155	43	in	in	ADP
ajst-30212	155	44	milliseconds	millisecond	NOUN
ajst-30212	155	45	(	(	PUNCT
ajst-30212	155	46	ms	ms	NOUN
ajst-30212	155	47	)	)	PUNCT
ajst-30212	155	48	.	.	PUNCT
ajst-30212	156	1	3.3	3.3	NUM
ajst-30212	156	2	.	.	PUNCT
ajst-30212	157	1	experimental	experimental	ADJ
ajst-30212	157	2	results	result	NOUN
ajst-30212	157	3	table	table	NOUN
ajst-30212	157	4	i	i	PRON
ajst-30212	157	5	summarizes	summarize	VERB
ajst-30212	157	6	the	the	DET
ajst-30212	157	7	key	key	ADJ
ajst-30212	157	8	metrics	metric	NOUN
ajst-30212	157	9	obtained	obtain	VERB
ajst-30212	157	10	under	under	ADP
ajst-30212	157	11	varying	vary	VERB
ajst-30212	157	12	flight	flight	NOUN
ajst-30212	157	13	conditions	condition	NOUN
ajst-30212	157	14	.	.	PUNCT
ajst-30212	158	1	3.4	3.4	NUM
ajst-30212	158	2	.	.	PUNCT
ajst-30212	158	3	result	result	VERB
ajst-30212	158	4	analysis	analysis	NOUN
ajst-30212	158	5	(	(	PUNCT
ajst-30212	158	6	1	1	NUM
ajst-30212	158	7	)	)	PUNCT
ajst-30212	158	8	face	face	NOUN
ajst-30212	158	9	detection	detection	NOUN
ajst-30212	158	10	performance	performance	NOUN
ajst-30212	158	11	:	:	PUNCT
ajst-30212	158	12	the	the	DET
ajst-30212	158	13	highest	high	ADJ
ajst-30212	158	14	map	map	NOUN
ajst-30212	158	15	(	(	PUNCT
ajst-30212	158	16	0.87	0.87	NUM
ajst-30212	158	17	)	)	PUNCT
ajst-30212	158	18	was	be	AUX
ajst-30212	158	19	achieved	achieve	VERB
ajst-30212	158	20	at	at	ADP
ajst-30212	158	21	a	a	DET
ajst-30212	158	22	flight	flight	NOUN
ajst-30212	158	23	altitude	altitude	NOUN
ajst-30212	158	24	of	of	ADP
ajst-30212	158	25	2	2	NUM
ajst-30212	158	26	meters	meter	NOUN
ajst-30212	158	27	.	.	PUNCT
ajst-30212	159	1	this	this	PRON
ajst-30212	159	2	suggests	suggest	VERB
ajst-30212	159	3	an	an	DET
ajst-30212	159	4	optimal	optimal	ADJ
ajst-30212	159	5	balance	balance	NOUN
ajst-30212	159	6	between	between	ADP
ajst-30212	159	7	view	view	NOUN
ajst-30212	159	8	angle	angle	NOUN
ajst-30212	159	9	and	and	CCONJ
ajst-30212	159	10	image	image	NOUN
ajst-30212	159	11	clarity	clarity	NOUN
ajst-30212	159	12	,	,	PUNCT
ajst-30212	159	13	as	as	SCONJ
ajst-30212	159	14	shown	show	VERB
ajst-30212	159	15	in	in	ADP
ajst-30212	159	16	table	table	NOUN
ajst-30212	159	17	i.	i.	NOUN
ajst-30212	159	18	233	233	NUM
ajst-30212	159	19	table	table	NOUN
ajst-30212	159	20	i.	i.	NOUN
ajst-30212	159	21	performance	performance	NOUN
ajst-30212	159	22	evaluation	evaluation	NOUN
ajst-30212	159	23	under	under	ADP
ajst-30212	159	24	different	different	ADJ
ajst-30212	159	25	flight	flight	NOUN
ajst-30212	159	26	conditions	condition	NOUN
ajst-30212	159	27	condition	condition	NOUN
ajst-30212	159	28	map	map	VERB
ajst-30212	159	29	ape	ape	NOUN
ajst-30212	159	30	(	(	PUNCT
ajst-30212	159	31	m	m	NOUN
ajst-30212	159	32	)	)	PUNCT
ajst-30212	159	33	success	success	NOUN
ajst-30212	159	34	rate	rate	NOUN
ajst-30212	159	35	(	(	PUNCT
ajst-30212	159	36	%	%	INTJ
ajst-30212	159	37	)	)	PUNCT
ajst-30212	159	38	response	response	NOUN
ajst-30212	159	39	time	time	NOUN
ajst-30212	159	40	(	(	PUNCT
ajst-30212	159	41	ms	ms	NOUN
ajst-30212	159	42	)	)	PUNCT
ajst-30212	159	43	altitude	altitude	NOUN
ajst-30212	159	44	1	1	NUM
ajst-30212	159	45	m	m	NOUN
ajst-30212	159	46	0.85	0.85	NUM
ajst-30212	159	47	0.15	0.15	NUM
ajst-30212	159	48	95	95	NUM
ajst-30212	159	49	200	200	NUM
ajst-30212	159	50	altitude	altitude	NOUN
ajst-30212	159	51	2	2	NUM
ajst-30212	159	52	m	m	NUM
ajst-30212	159	53	0.87	0.87	NUM
ajst-30212	159	54	0.12	0.12	NUM
ajst-30212	159	55	93	93	NUM
ajst-30212	159	56	180	180	NUM
ajst-30212	159	57	altitude	altitude	NOUN
ajst-30212	159	58	3	3	NUM
ajst-30212	159	59	m	m	NOUN
ajst-30212	159	60	0.82	0.82	NUM
ajst-30212	159	61	0.18	0.18	NUM
ajst-30212	159	62	90	90	NUM
ajst-30212	159	63	220	220	NUM
ajst-30212	159	64	speed	speed	NOUN
ajst-30212	159	65	0.5	0.5	NUM
ajst-30212	159	66	m	m	NOUN
ajst-30212	159	67	/	/	SYM
ajst-30212	159	68	s	s	PART
ajst-30212	159	69	0.83	0.83	NUM
ajst-30212	159	70	0.17	0.17	NUM
ajst-30212	159	71	92	92	NUM
ajst-30212	159	72	210	210	NUM
ajst-30212	159	73	speed	speed	NOUN
ajst-30212	159	74	1.0	1.0	NUM
ajst-30212	159	75	m	m	NOUN
ajst-30212	159	76	/	/	SYM
ajst-30212	159	77	s	s	PART
ajst-30212	159	78	0.86	0.86	NUM
ajst-30212	159	79	0.14	0.14	NUM
ajst-30212	159	80	94	94	NUM
ajst-30212	159	81	190	190	NUM
ajst-30212	159	82	speed	speed	NOUN
ajst-30212	159	83	1.5	1.5	NUM
ajst-30212	159	84	m	m	NOUN
ajst-30212	159	85	/	/	SYM
ajst-30212	159	86	s	s	PART
ajst-30212	159	87	0.81	0.81	NUM
ajst-30212	159	88	0.20	0.20	NUM
ajst-30212	159	89	88	88	NUM
ajst-30212	159	90	230	230	NUM
ajst-30212	159	91	a	a	DET
ajst-30212	159	92	slight	slight	ADJ
ajst-30212	159	93	decrease	decrease	NOUN
ajst-30212	159	94	in	in	ADP
ajst-30212	159	95	detection	detection	NOUN
ajst-30212	159	96	accuracy	accuracy	NOUN
ajst-30212	159	97	(	(	PUNCT
ajst-30212	159	98	map	map	NOUN
ajst-30212	159	99	=	=	NOUN
ajst-30212	159	100	0.82	0.82	NUM
ajst-30212	159	101	)	)	PUNCT
ajst-30212	159	102	at	at	ADP
ajst-30212	159	103	3	3	NUM
ajst-30212	159	104	meters	meter	NOUN
ajst-30212	159	105	altitude	altitude	NOUN
ajst-30212	159	106	indicates	indicate	VERB
ajst-30212	159	107	reduced	reduced	ADJ
ajst-30212	159	108	image	image	NOUN
ajst-30212	159	109	resolution	resolution	NOUN
ajst-30212	159	110	due	due	ADP
ajst-30212	159	111	to	to	ADP
ajst-30212	159	112	increased	increase	VERB
ajst-30212	159	113	distance	distance	NOUN
ajst-30212	159	114	from	from	ADP
ajst-30212	159	115	the	the	DET
ajst-30212	159	116	target	target	NOUN
ajst-30212	159	117	.	.	PUNCT
ajst-30212	160	1	(	(	PUNCT
ajst-30212	160	2	2	2	X
ajst-30212	160	3	)	)	PUNCT
ajst-30212	160	4	position	position	NOUN
ajst-30212	160	5	estimation	estimation	NOUN
ajst-30212	160	6	accuracy	accuracy	NOUN
ajst-30212	160	7	:	:	PUNCT
ajst-30212	160	8	the	the	DET
ajst-30212	160	9	ape	ape	NOUN
ajst-30212	160	10	values	value	NOUN
ajst-30212	160	11	increase	increase	VERB
ajst-30212	160	12	with	with	ADP
ajst-30212	160	13	flight	flight	NOUN
ajst-30212	160	14	speed	speed	NOUN
ajst-30212	160	15	,	,	PUNCT
ajst-30212	160	16	with	with	ADP
ajst-30212	160	17	the	the	DET
ajst-30212	160	18	highest	high	ADJ
ajst-30212	160	19	error	error	NOUN
ajst-30212	160	20	(	(	PUNCT
ajst-30212	160	21	0.20	0.20	NUM
ajst-30212	160	22	m	m	NOUN
ajst-30212	160	23	)	)	PUNCT
ajst-30212	160	24	at	at	ADP
ajst-30212	160	25	1.5	1.5	NUM
ajst-30212	160	26	m	m	NOUN
ajst-30212	160	27	/	/	SYM
ajst-30212	160	28	s	s	PROPN
ajst-30212	160	29	,	,	PUNCT
ajst-30212	160	30	indicating	indicate	VERB
ajst-30212	160	31	challenges	challenge	NOUN
ajst-30212	160	32	in	in	ADP
ajst-30212	160	33	maintaining	maintain	VERB
ajst-30212	160	34	visualinertial	visualinertial	ADJ
ajst-30212	160	35	fusion	fusion	NOUN
ajst-30212	160	36	accuracy	accuracy	NOUN
ajst-30212	160	37	under	under	ADP
ajst-30212	160	38	high	high	ADJ
ajst-30212	160	39	-	-	PUNCT
ajst-30212	160	40	speed	speed	NOUN
ajst-30212	160	41	motion	motion	NOUN
ajst-30212	160	42	.	.	PUNCT
ajst-30212	161	1	(	(	PUNCT
ajst-30212	161	2	3	3	X
ajst-30212	161	3	)	)	PUNCT
ajst-30212	161	4	obstacle	obstacle	NOUN
ajst-30212	161	5	avoidance	avoidance	NOUN
ajst-30212	161	6	effectiveness	effectiveness	NOUN
ajst-30212	161	7	:	:	PUNCT
ajst-30212	161	8	the	the	DET
ajst-30212	161	9	system	system	NOUN
ajst-30212	161	10	showed	show	VERB
ajst-30212	161	11	high	high	ADJ
ajst-30212	161	12	obstacle	obstacle	NOUN
ajst-30212	161	13	avoidance	avoidance	NOUN
ajst-30212	161	14	success	success	NOUN
ajst-30212	161	15	rates	rate	NOUN
ajst-30212	161	16	,	,	PUNCT
ajst-30212	161	17	particularly	particularly	ADV
ajst-30212	161	18	at	at	ADP
ajst-30212	161	19	lower	low	ADJ
ajst-30212	161	20	altitudes	altitude	NOUN
ajst-30212	161	21	and	and	CCONJ
ajst-30212	161	22	speeds	speed	NOUN
ajst-30212	161	23	.	.	PUNCT
ajst-30212	162	1	the	the	DET
ajst-30212	162	2	highest	high	ADJ
ajst-30212	162	3	success	success	NOUN
ajst-30212	162	4	rate	rate	NOUN
ajst-30212	162	5	(	(	PUNCT
ajst-30212	162	6	95	95	NUM
ajst-30212	162	7	%	%	NOUN
ajst-30212	162	8	)	)	PUNCT
ajst-30212	162	9	was	be	AUX
ajst-30212	162	10	achieved	achieve	VERB
ajst-30212	162	11	at	at	ADP
ajst-30212	162	12	an	an	DET
ajst-30212	162	13	altitude	altitude	NOUN
ajst-30212	162	14	of	of	ADP
ajst-30212	162	15	1	1	NUM
ajst-30212	162	16	meter	meter	NOUN
ajst-30212	162	17	.	.	PUNCT
ajst-30212	163	1	however	however	ADV
ajst-30212	163	2	,	,	PUNCT
ajst-30212	163	3	performance	performance	NOUN
ajst-30212	163	4	decreased	decrease	VERB
ajst-30212	163	5	at	at	ADP
ajst-30212	163	6	higher	high	ADJ
ajst-30212	163	7	speeds	speed	NOUN
ajst-30212	163	8	(	(	PUNCT
ajst-30212	163	9	1.5	1.5	NUM
ajst-30212	163	10	m	m	NOUN
ajst-30212	163	11	/	/	SYM
ajst-30212	163	12	s	s	PROPN
ajst-30212	163	13	)	)	PUNCT
ajst-30212	163	14	,	,	PUNCT
ajst-30212	163	15	with	with	ADP
ajst-30212	163	16	the	the	DET
ajst-30212	163	17	success	success	NOUN
ajst-30212	163	18	rate	rate	NOUN
ajst-30212	163	19	dropping	drop	VERB
ajst-30212	163	20	to	to	ADP
ajst-30212	163	21	88	88	NUM
ajst-30212	163	22	%	%	NOUN
ajst-30212	163	23	,	,	PUNCT
ajst-30212	163	24	suggesting	suggest	VERB
ajst-30212	163	25	potential	potential	ADJ
ajst-30212	163	26	areas	area	NOUN
ajst-30212	163	27	for	for	ADP
ajst-30212	163	28	optimization	optimization	NOUN
ajst-30212	163	29	.	.	PUNCT
ajst-30212	164	1	(	(	PUNCT
ajst-30212	164	2	4	4	X
ajst-30212	164	3	)	)	PUNCT
ajst-30212	164	4	system	system	NOUN
ajst-30212	164	5	response	response	NOUN
ajst-30212	164	6	time	time	NOUN
ajst-30212	164	7	:	:	PUNCT
ajst-30212	164	8	the	the	DET
ajst-30212	164	9	fastest	fast	ADJ
ajst-30212	164	10	reaction	reaction	NOUN
ajst-30212	164	11	time	time	NOUN
ajst-30212	164	12	(	(	PUNCT
ajst-30212	164	13	180	180	NUM
ajst-30212	164	14	ms	ms	NOUN
ajst-30212	164	15	)	)	PUNCT
ajst-30212	164	16	was	be	AUX
ajst-30212	164	17	observed	observe	VERB
ajst-30212	164	18	at	at	ADP
ajst-30212	164	19	an	an	DET
ajst-30212	164	20	altitude	altitude	NOUN
ajst-30212	164	21	of	of	ADP
ajst-30212	164	22	2	2	NUM
ajst-30212	164	23	meters	meter	NOUN
ajst-30212	164	24	,	,	PUNCT
ajst-30212	164	25	where	where	SCONJ
ajst-30212	164	26	the	the	DET
ajst-30212	164	27	drone	drone	NOUN
ajst-30212	164	28	had	have	VERB
ajst-30212	164	29	optimal	optimal	ADJ
ajst-30212	164	30	visibility	visibility	NOUN
ajst-30212	164	31	and	and	CCONJ
ajst-30212	164	32	processing	processing	NOUN
ajst-30212	164	33	efficiency	efficiency	NOUN
ajst-30212	164	34	.	.	PUNCT
ajst-30212	165	1	the	the	DET
ajst-30212	165	2	response	response	NOUN
ajst-30212	165	3	time	time	NOUN
ajst-30212	165	4	increased	increase	VERB
ajst-30212	165	5	significantly	significantly	ADV
ajst-30212	165	6	at	at	ADP
ajst-30212	165	7	a	a	DET
ajst-30212	165	8	speed	speed	NOUN
ajst-30212	165	9	of	of	ADP
ajst-30212	165	10	1.5	1.5	NUM
ajst-30212	165	11	m	m	NOUN
ajst-30212	165	12	/	/	SYM
ajst-30212	165	13	s	s	X
ajst-30212	165	14	(	(	PUNCT
ajst-30212	165	15	230	230	NUM
ajst-30212	165	16	ms	ms	NOUN
ajst-30212	165	17	)	)	PUNCT
ajst-30212	165	18	,	,	PUNCT
ajst-30212	165	19	potentially	potentially	ADV
ajst-30212	165	20	impacting	impact	VERB
ajst-30212	165	21	real	real	ADJ
ajst-30212	165	22	-	-	PUNCT
ajst-30212	165	23	time	time	NOUN
ajst-30212	165	24	obstacle	obstacle	NOUN
ajst-30212	165	25	avoidance	avoidance	NOUN
ajst-30212	165	26	.	.	PUNCT
ajst-30212	166	1	4	4	X
ajst-30212	166	2	.	.	X
ajst-30212	166	3	conclusion	conclusion	VERB
ajst-30212	166	4	the	the	DET
ajst-30212	166	5	obstacle	obstacle	NOUN
ajst-30212	166	6	avoidance	avoidance	NOUN
ajst-30212	166	7	method	method	NOUN
ajst-30212	166	8	for	for	ADP
ajst-30212	166	9	drone	drone	NOUN
ajst-30212	166	10	face	face	NOUN
ajst-30212	166	11	recognition	recognition	NOUN
ajst-30212	166	12	and	and	CCONJ
ajst-30212	166	13	distance	distance	NOUN
ajst-30212	166	14	measurement	measurement	NOUN
ajst-30212	166	15	based	base	VERB
ajst-30212	166	16	on	on	ADP
ajst-30212	166	17	yolov8	yolov8	PROPN
ajst-30212	166	18	,	,	PUNCT
ajst-30212	166	19	pnp	pnp	PROPN
ajst-30212	166	20	algorithm	algorithm	NOUN
ajst-30212	166	21	and	and	CCONJ
ajst-30212	166	22	sensor	sensor	NOUN
ajst-30212	166	23	fusion	fusion	NOUN
ajst-30212	166	24	proposed	propose	VERB
ajst-30212	166	25	in	in	ADP
ajst-30212	166	26	this	this	DET
ajst-30212	166	27	study	study	NOUN
ajst-30212	166	28	demonstrates	demonstrate	VERB
ajst-30212	166	29	its	its	PRON
ajst-30212	166	30	application	application	NOUN
ajst-30212	166	31	potential	potential	NOUN
ajst-30212	166	32	in	in	ADP
ajst-30212	166	33	autonomous	autonomous	ADJ
ajst-30212	166	34	flight	flight	NOUN
ajst-30212	166	35	safety	safety	NOUN
ajst-30212	166	36	assurance	assurance	NOUN
ajst-30212	166	37	.	.	PUNCT
ajst-30212	167	1	compared	compare	VERB
ajst-30212	167	2	with	with	ADP
ajst-30212	167	3	traditional	traditional	ADJ
ajst-30212	167	4	obstacle	obstacle	NOUN
ajst-30212	167	5	avoidance	avoidance	NOUN
ajst-30212	167	6	methods	method	NOUN
ajst-30212	167	7	,	,	PUNCT
ajst-30212	167	8	the	the	DET
ajst-30212	167	9	system	system	NOUN
ajst-30212	167	10	in	in	ADP
ajst-30212	167	11	this	this	DET
ajst-30212	167	12	study	study	NOUN
ajst-30212	167	13	can	can	AUX
ajst-30212	167	14	not	not	PART
ajst-30212	167	15	only	only	ADV
ajst-30212	167	16	perform	perform	VERB
ajst-30212	167	17	efficient	efficient	ADJ
ajst-30212	167	18	face	face	NOUN
ajst-30212	167	19	detection	detection	NOUN
ajst-30212	167	20	,	,	PUNCT
ajst-30212	167	21	but	but	CCONJ
ajst-30212	167	22	also	also	ADV
ajst-30212	167	23	accurately	accurately	ADV
ajst-30212	167	24	measure	measure	VERB
ajst-30212	167	25	the	the	DET
ajst-30212	167	26	distance	distance	NOUN
ajst-30212	167	27	between	between	ADP
ajst-30212	167	28	the	the	DET
ajst-30212	167	29	face	face	NOUN
ajst-30212	167	30	and	and	CCONJ
ajst-30212	167	31	the	the	DET
ajst-30212	167	32	drone	drone	NOUN
ajst-30212	167	33	,	,	PUNCT
ajst-30212	167	34	thereby	thereby	ADV
ajst-30212	167	35	effectively	effectively	ADV
ajst-30212	167	36	avoiding	avoid	VERB
ajst-30212	167	37	obstacles	obstacle	NOUN
ajst-30212	167	38	.	.	PUNCT
ajst-30212	168	1	however	however	ADV
ajst-30212	168	2	,	,	PUNCT
ajst-30212	168	3	the	the	DET
ajst-30212	168	4	experimental	experimental	ADJ
ajst-30212	168	5	results	result	NOUN
ajst-30212	168	6	also	also	ADV
ajst-30212	168	7	reveal	reveal	VERB
ajst-30212	168	8	the	the	DET
ajst-30212	168	9	limitations	limitation	NOUN
ajst-30212	168	10	of	of	ADP
ajst-30212	168	11	the	the	DET
ajst-30212	168	12	system	system	NOUN
ajst-30212	168	13	in	in	ADP
ajst-30212	168	14	some	some	DET
ajst-30212	168	15	extreme	extreme	ADJ
ajst-30212	168	16	scenarios	scenario	NOUN
ajst-30212	168	17	.	.	PUNCT
ajst-30212	169	1	for	for	ADP
ajst-30212	169	2	example	example	NOUN
ajst-30212	169	3	,	,	PUNCT
ajst-30212	169	4	in	in	ADP
ajst-30212	169	5	an	an	DET
ajst-30212	169	6	environment	environment	NOUN
ajst-30212	169	7	with	with	ADP
ajst-30212	169	8	extremely	extremely	ADV
ajst-30212	169	9	complex	complex	ADJ
ajst-30212	169	10	or	or	CCONJ
ajst-30212	169	11	drastic	drastic	ADJ
ajst-30212	169	12	changes	change	NOUN
ajst-30212	169	13	in	in	ADP
ajst-30212	169	14	light	light	NOUN
ajst-30212	169	15	,	,	PUNCT
ajst-30212	169	16	the	the	DET
ajst-30212	169	17	detection	detection	NOUN
ajst-30212	169	18	accuracy	accuracy	NOUN
ajst-30212	169	19	of	of	ADP
ajst-30212	169	20	the	the	DET
ajst-30212	169	21	yolov8	yolov8	NOUN
ajst-30212	169	22	model	model	NOUN
ajst-30212	169	23	may	may	AUX
ajst-30212	169	24	decrease	decrease	VERB
ajst-30212	169	25	.	.	PUNCT
ajst-30212	170	1	in	in	ADP
ajst-30212	170	2	this	this	DET
ajst-30212	170	3	case	case	NOUN
ajst-30212	170	4	,	,	PUNCT
ajst-30212	170	5	the	the	DET
ajst-30212	170	6	detection	detection	NOUN
ajst-30212	170	7	error	error	NOUN
ajst-30212	170	8	may	may	AUX
ajst-30212	170	9	affect	affect	VERB
ajst-30212	170	10	the	the	DET
ajst-30212	170	11	subsequent	subsequent	ADJ
ajst-30212	170	12	distance	distance	NOUN
ajst-30212	170	13	measurement	measurement	NOUN
ajst-30212	170	14	and	and	CCONJ
ajst-30212	170	15	obstacle	obstacle	VERB
ajst-30212	170	16	avoidance	avoidance	NOUN
ajst-30212	170	17	decision	decision	NOUN
ajst-30212	170	18	.	.	PUNCT
ajst-30212	171	1	in	in	ADP
ajst-30212	171	2	addition	addition	NOUN
ajst-30212	171	3	,	,	PUNCT
ajst-30212	171	4	the	the	DET
ajst-30212	171	5	data	datum	NOUN
ajst-30212	171	6	of	of	ADP
ajst-30212	171	7	the	the	DET
ajst-30212	171	8	imu	imu	NOUN
ajst-30212	171	9	sensor	sensor	NOUN
ajst-30212	171	10	may	may	AUX
ajst-30212	171	11	drift	drift	VERB
ajst-30212	171	12	to	to	ADP
ajst-30212	171	13	a	a	DET
ajst-30212	171	14	certain	certain	ADJ
ajst-30212	171	15	extent	extent	NOUN
ajst-30212	171	16	when	when	SCONJ
ajst-30212	171	17	the	the	DET
ajst-30212	171	18	drone	drone	NOUN
ajst-30212	171	19	moves	move	VERB
ajst-30212	171	20	at	at	ADP
ajst-30212	171	21	high	high	ADJ
ajst-30212	171	22	speed	speed	NOUN
ajst-30212	171	23	,	,	PUNCT
ajst-30212	171	24	which	which	PRON
ajst-30212	171	25	may	may	AUX
ajst-30212	171	26	also	also	ADV
ajst-30212	171	27	lead	lead	VERB
ajst-30212	171	28	to	to	ADP
ajst-30212	171	29	an	an	DET
ajst-30212	171	30	increase	increase	NOUN
ajst-30212	171	31	in	in	ADP
ajst-30212	171	32	the	the	DET
ajst-30212	171	33	measurement	measurement	NOUN
ajst-30212	171	34	error	error	NOUN
ajst-30212	171	35	.	.	PUNCT
ajst-30212	172	1	future	future	ADJ
ajst-30212	172	2	research	research	NOUN
ajst-30212	172	3	can	can	AUX
ajst-30212	172	4	be	be	AUX
ajst-30212	172	5	improved	improve	VERB
ajst-30212	172	6	in	in	ADP
ajst-30212	172	7	the	the	DET
ajst-30212	172	8	following	follow	VERB
ajst-30212	172	9	aspects	aspect	NOUN
ajst-30212	172	10	.	.	PUNCT
ajst-30212	173	1	first	first	ADV
ajst-30212	173	2	,	,	PUNCT
ajst-30212	173	3	algorithms	algorithm	NOUN
ajst-30212	173	4	for	for	ADP
ajst-30212	173	5	3d	3d	NUM
ajst-30212	173	6	face	face	NOUN
ajst-30212	173	7	recognition	recognition	NOUN
ajst-30212	173	8	with	with	ADP
ajst-30212	173	9	more	more	ADJ
ajst-30212	173	10	control	control	NOUN
ajst-30212	173	11	points	point	NOUN
ajst-30212	173	12	can	can	AUX
ajst-30212	173	13	be	be	AUX
ajst-30212	173	14	introduced	introduce	VERB
ajst-30212	173	15	,	,	PUNCT
ajst-30212	173	16	such	such	ADJ
ajst-30212	173	17	as	as	ADP
ajst-30212	173	18	google	google	PROPN
ajst-30212	173	19	’s	’s	PART
ajst-30212	173	20	mediapipe	mediapipe	NOUN
ajst-30212	173	21	.	.	PUNCT
ajst-30212	174	1	the	the	DET
ajst-30212	174	2	use	use	NOUN
ajst-30212	174	3	of	of	ADP
ajst-30212	174	4	the	the	DET
ajst-30212	174	5	epnp	epnp	NOUN
ajst-30212	174	6	algorithm	algorithm	NOUN
ajst-30212	174	7	,	,	PUNCT
ajst-30212	174	8	which	which	PRON
ajst-30212	174	9	is	be	AUX
ajst-30212	174	10	very	very	ADV
ajst-30212	174	11	efficient	efficient	ADJ
ajst-30212	174	12	for	for	ADP
ajst-30212	174	13	pnp	pnp	PROPN
ajst-30212	174	14	problems	problem	NOUN
ajst-30212	174	15	with	with	ADP
ajst-30212	174	16	more	more	ADJ
ajst-30212	174	17	feature	feature	NOUN
ajst-30212	174	18	points	point	NOUN
ajst-30212	174	19	,	,	PUNCT
ajst-30212	174	20	makes	make	VERB
ajst-30212	174	21	it	it	PRON
ajst-30212	174	22	possible	possible	ADJ
ajst-30212	174	23	to	to	PART
ajst-30212	174	24	calculate	calculate	VERB
ajst-30212	174	25	the	the	DET
ajst-30212	174	26	face	face	NOUN
ajst-30212	174	27	posture	posture	NOUN
ajst-30212	174	28	and	and	CCONJ
ajst-30212	174	29	position	position	NOUN
ajst-30212	174	30	of	of	ADP
ajst-30212	174	31	more	more	ADJ
ajst-30212	174	32	control	control	NOUN
ajst-30212	174	33	points	point	NOUN
ajst-30212	174	34	.	.	PUNCT
ajst-30212	175	1	secondly	secondly	ADV
ajst-30212	175	2	,	,	PUNCT
ajst-30212	175	3	more	more	ADV
ajst-30212	175	4	advanced	advanced	ADJ
ajst-30212	175	5	sensor	sensor	NOUN
ajst-30212	175	6	fusion	fusion	NOUN
ajst-30212	175	7	algorithms	algorithm	NOUN
ajst-30212	175	8	,	,	PUNCT
ajst-30212	175	9	such	such	ADJ
ajst-30212	175	10	as	as	ADP
ajst-30212	175	11	particle	particle	NOUN
ajst-30212	175	12	filters	filter	NOUN
ajst-30212	175	13	,	,	PUNCT
ajst-30212	175	14	can	can	AUX
ajst-30212	175	15	be	be	AUX
ajst-30212	175	16	combined	combine	VERB
ajst-30212	175	17	to	to	PART
ajst-30212	175	18	further	far	ADV
ajst-30212	175	19	correct	correct	VERB
ajst-30212	175	20	the	the	DET
ajst-30212	175	21	errors	error	NOUN
ajst-30212	175	22	in	in	ADP
ajst-30212	175	23	imu	imu	NOUN
ajst-30212	175	24	data	datum	NOUN
ajst-30212	175	25	.	.	PUNCT
ajst-30212	176	1	in	in	ADP
ajst-30212	176	2	addition	addition	NOUN
ajst-30212	176	3	,	,	PUNCT
ajst-30212	176	4	more	more	ADV
ajst-30212	176	5	intelligent	intelligent	ADJ
ajst-30212	176	6	obstacle	obstacle	NOUN
ajst-30212	176	7	avoidance	avoidance	NOUN
ajst-30212	176	8	strategies	strategy	NOUN
ajst-30212	176	9	can	can	AUX
ajst-30212	176	10	be	be	AUX
ajst-30212	176	11	explored	explore	VERB
ajst-30212	176	12	,	,	PUNCT
ajst-30212	176	13	and	and	CCONJ
ajst-30212	176	14	the	the	DET
ajst-30212	176	15	tracking	tracking	NOUN
ajst-30212	176	16	of	of	ADP
ajst-30212	176	17	the	the	DET
ajst-30212	176	18	motion	motion	NOUN
ajst-30212	176	19	trajectory	trajectory	NOUN
ajst-30212	176	20	of	of	ADP
ajst-30212	176	21	the	the	DET
ajst-30212	176	22	face	face	NOUN
ajst-30212	176	23	can	can	AUX
ajst-30212	176	24	be	be	AUX
ajst-30212	176	25	considered	consider	VERB
ajst-30212	176	26	.	.	PUNCT
ajst-30212	177	1	if	if	SCONJ
ajst-30212	177	2	the	the	DET
ajst-30212	177	3	detected	detect	VERB
ajst-30212	177	4	face	face	NOUN
ajst-30212	177	5	has	have	VERB
ajst-30212	177	6	a	a	DET
ajst-30212	177	7	clear	clear	ADJ
ajst-30212	177	8	motion	motion	NOUN
ajst-30212	177	9	trend	trend	NOUN
ajst-30212	177	10	,	,	PUNCT
ajst-30212	177	11	the	the	DET
ajst-30212	177	12	system	system	NOUN
ajst-30212	177	13	will	will	AUX
ajst-30212	177	14	combine	combine	VERB
ajst-30212	177	15	its	its	PRON
ajst-30212	177	16	motion	motion	NOUN
ajst-30212	177	17	trajectory	trajectory	NOUN
ajst-30212	177	18	to	to	PART
ajst-30212	177	19	predict	predict	VERB
ajst-30212	177	20	its	its	PRON
ajst-30212	177	21	future	future	ADJ
ajst-30212	177	22	position	position	NOUN
ajst-30212	177	23	,	,	PUNCT
ajst-30212	177	24	thereby	thereby	ADV
ajst-30212	177	25	optimizing	optimize	VERB
ajst-30212	177	26	the	the	DET
ajst-30212	177	27	obstacle	obstacle	NOUN
ajst-30212	177	28	avoidance	avoidance	NOUN
ajst-30212	177	29	path	path	NOUN
ajst-30212	177	30	.	.	PUNCT
ajst-30212	178	1	to	to	PART
ajst-30212	178	2	achieve	achieve	VERB
ajst-30212	178	3	this	this	DET
ajst-30212	178	4	goal	goal	NOUN
ajst-30212	178	5	,	,	PUNCT
ajst-30212	178	6	the	the	DET
ajst-30212	178	7	extended	extended	ADJ
ajst-30212	178	8	kalman	kalman	NOUN
ajst-30212	178	9	filter	filter	PROPN
ajst-30212	178	10	(	(	PUNCT
ajst-30212	178	11	ekf	ekf	PROPN
ajst-30212	178	12	)	)	PUNCT
ajst-30212	178	13	can	can	AUX
ajst-30212	178	14	be	be	AUX
ajst-30212	178	15	used	use	VERB
ajst-30212	178	16	[	[	PUNCT
ajst-30212	178	17	20	20	NUM
ajst-30212	178	18	]	]	PUNCT
ajst-30212	178	19	.	.	PUNCT
ajst-30212	179	1	when	when	SCONJ
ajst-30212	179	2	processing	process	VERB
ajst-30212	179	3	nonlinear	nonlinear	ADJ
ajst-30212	179	4	visual	visual	ADJ
ajst-30212	179	5	measurement	measurement	NOUN
ajst-30212	179	6	data	data	PROPN
ajst-30212	179	7	,	,	PUNCT
ajst-30212	179	8	the	the	DET
ajst-30212	179	9	algorithm	algorithm	NOUN
ajst-30212	179	10	optimizes	optimize	VERB
ajst-30212	179	11	the	the	DET
ajst-30212	179	12	obstacle	obstacle	NOUN
ajst-30212	179	13	state	state	NOUN
ajst-30212	179	14	estimation	estimation	NOUN
ajst-30212	179	15	through	through	ADP
ajst-30212	179	16	prediction	prediction	NOUN
ajst-30212	179	17	and	and	CCONJ
ajst-30212	179	18	update	update	NOUN
ajst-30212	179	19	steps	step	NOUN
ajst-30212	179	20	,	,	PUNCT
ajst-30212	179	21	thereby	thereby	ADV
ajst-30212	179	22	effectively	effectively	ADV
ajst-30212	179	23	supporting	support	VERB
ajst-30212	179	24	obstacle	obstacle	NOUN
ajst-30212	179	25	avoidance	avoidance	NOUN
ajst-30212	179	26	and	and	CCONJ
ajst-30212	179	27	waypoint	waypoint	NOUN
ajst-30212	179	28	tracking	tracking	NOUN
ajst-30212	179	29	tasks	task	NOUN
ajst-30212	179	30	.	.	PUNCT
ajst-30212	180	1	in	in	ADP
ajst-30212	180	2	this	this	DET
ajst-30212	180	3	way	way	NOUN
ajst-30212	180	4	,	,	PUNCT
ajst-30212	180	5	the	the	DET
ajst-30212	180	6	drone	drone	NOUN
ajst-30212	180	7	can	can	AUX
ajst-30212	180	8	not	not	PART
ajst-30212	180	9	only	only	ADV
ajst-30212	180	10	avoid	avoid	VERB
ajst-30212	180	11	static	static	ADJ
ajst-30212	180	12	obstacles	obstacle	NOUN
ajst-30212	180	13	,	,	PUNCT
ajst-30212	180	14	but	but	CCONJ
ajst-30212	180	15	also	also	ADV
ajst-30212	180	16	effectively	effectively	ADV
ajst-30212	180	17	deal	deal	VERB
ajst-30212	180	18	with	with	ADP
ajst-30212	180	19	dynamic	dynamic	ADJ
ajst-30212	180	20	targets	target	NOUN
ajst-30212	180	21	.	.	PUNCT
ajst-30212	181	1	references	reference	NOUN
ajst-30212	181	2	[	[	X
ajst-30212	181	3	1	1	NUM
ajst-30212	181	4	]	]	SYM
ajst-30212	181	5	moskowitz	moskowitz	PROPN
ajst-30212	181	6	,	,	PUNCT
ajst-30212	181	7	e.	e.	PROPN
ajst-30212	181	8	e.	e.	PROPN
ajst-30212	181	9	,	,	PUNCT
ajst-30212	181	10	siegel	siegel	PROPN
ajst-30212	181	11	-	-	PUNCT
ajst-30212	181	12	richman	richman	PROPN
ajst-30212	181	13	,	,	PUNCT
ajst-30212	181	14	y.	y.	PROPN
ajst-30212	181	15	m.	m.	PROPN
ajst-30212	181	16	,	,	PUNCT
ajst-30212	181	17	hertner	hertner	NOUN
ajst-30212	181	18	,	,	PUNCT
ajst-30212	181	19	g.	g.	PROPN
ajst-30212	181	20	,	,	PUNCT
ajst-30212	181	21	&	&	CCONJ
ajst-30212	181	22	schroeppel	schroeppel	NOUN
ajst-30212	181	23	,	,	PUNCT
ajst-30212	181	24	t.	t.	PROPN
ajst-30212	181	25	(	(	PUNCT
ajst-30212	181	26	2018	2018	NUM
ajst-30212	181	27	)	)	PUNCT
ajst-30212	181	28	.	.	PUNCT
ajst-30212	182	1	aerial	aerial	ADJ
ajst-30212	182	2	drone	drone	NOUN
ajst-30212	182	3	misadventure	misadventure	NOUN
ajst-30212	182	4	:	:	PUNCT
ajst-30212	182	5	a	a	DET
ajst-30212	182	6	novel	novel	ADJ
ajst-30212	182	7	case	case	NOUN
ajst-30212	182	8	of	of	ADP
ajst-30212	182	9	trauma	trauma	NOUN
ajst-30212	182	10	resulting	result	VERB
ajst-30212	182	11	in	in	ADP
ajst-30212	182	12	ocular	ocular	ADJ
ajst-30212	182	13	globe	globe	NOUN
ajst-30212	182	14	rupture	rupture	NOUN
ajst-30212	182	15	.	.	PUNCT
ajst-30212	183	1	american	american	ADJ
ajst-30212	183	2	journal	journal	PROPN
ajst-30212	183	3	of	of	ADP
ajst-30212	183	4	ophthalmology	ophthalmology	NOUN
ajst-30212	183	5	case	case	NOUN
ajst-30212	183	6	reports	report	VERB
ajst-30212	183	7	,	,	PUNCT
ajst-30212	183	8	10	10	NUM
ajst-30212	183	9	,	,	PUNCT
ajst-30212	183	10	35–37	35–37	NOUN
ajst-30212	183	11	.	.	PUNCT
ajst-30212	184	1	[	[	X
ajst-30212	184	2	2	2	NUM
ajst-30212	184	3	]	]	X
ajst-30212	184	4	peng	peng	PROPN
ajst-30212	184	5	,	,	PUNCT
ajst-30212	184	6	y.	y.	PROPN
ajst-30212	184	7	,	,	PUNCT
ajst-30212	184	8	qu	qu	PROPN
ajst-30212	184	9	,	,	PUNCT
ajst-30212	184	10	d.	d.	PROPN
ajst-30212	184	11	,	,	PUNCT
ajst-30212	184	12	zhong	zhong	PROPN
ajst-30212	184	13	,	,	PUNCT
ajst-30212	184	14	y.	y.	PROPN
ajst-30212	184	15	,	,	PUNCT
ajst-30212	184	16	xie	xie	PROPN
ajst-30212	184	17	,	,	PUNCT
ajst-30212	184	18	s.	s.	PROPN
ajst-30212	184	19	,	,	PUNCT
ajst-30212	184	20	luo	luo	PROPN
ajst-30212	184	21	,	,	PUNCT
ajst-30212	184	22	j.	j.	PROPN
ajst-30212	184	23	,	,	PUNCT
ajst-30212	184	24	&	&	CCONJ
ajst-30212	184	25	gu	gu	PROPN
ajst-30212	184	26	,	,	PUNCT
ajst-30212	184	27	j.	j.	PROPN
ajst-30212	184	28	(	(	PUNCT
ajst-30212	184	29	2015	2015	NUM
ajst-30212	184	30	)	)	PUNCT
ajst-30212	184	31	.	.	PUNCT
ajst-30212	185	1	the	the	DET
ajst-30212	185	2	obstacle	obstacle	NOUN
ajst-30212	185	3	detection	detection	NOUN
ajst-30212	185	4	and	and	CCONJ
ajst-30212	185	5	obstacle	obstacle	NOUN
ajst-30212	185	6	avoidance	avoidance	NOUN
ajst-30212	185	7	algorithm	algorithm	NOUN
ajst-30212	185	8	based	base	VERB
ajst-30212	185	9	on	on	ADP
ajst-30212	185	10	2	2	NUM
ajst-30212	185	11	-	-	SYM
ajst-30212	185	12	d	d	NOUN
ajst-30212	185	13	lidar	lidar	NOUN
ajst-30212	185	14	.	.	PUNCT
ajst-30212	186	1	2015	2015	NUM
ajst-30212	186	2	ieee	ieee	PROPN
ajst-30212	186	3	international	international	ADJ
ajst-30212	186	4	conference	conference	NOUN
ajst-30212	186	5	on	on	ADP
ajst-30212	186	6	information	information	NOUN
ajst-30212	186	7	and	and	CCONJ
ajst-30212	186	8	automation	automation	NOUN
ajst-30212	186	9	,	,	PUNCT
ajst-30212	186	10	1648–1653	1648–1653	NUM
ajst-30212	186	11	.	.	PUNCT
ajst-30212	187	1	[	[	X
ajst-30212	187	2	3	3	NUM
ajst-30212	187	3	]	]	PUNCT
ajst-30212	187	4	borenstein	borenstein	NOUN
ajst-30212	187	5	,	,	PUNCT
ajst-30212	187	6	j.	j.	PROPN
ajst-30212	187	7	,	,	PUNCT
ajst-30212	187	8	&	&	CCONJ
ajst-30212	187	9	koren	koren	PROPN
ajst-30212	187	10	,	,	PUNCT
ajst-30212	187	11	y.	y.	PROPN
ajst-30212	187	12	(	(	PUNCT
ajst-30212	187	13	1988	1988	NUM
ajst-30212	187	14	)	)	PUNCT
ajst-30212	187	15	.	.	PUNCT
ajst-30212	188	1	obstacle	obstacle	NOUN
ajst-30212	188	2	avoidance	avoidance	NOUN
ajst-30212	188	3	with	with	ADP
ajst-30212	188	4	ultrasonic	ultrasonic	ADJ
ajst-30212	188	5	sensors	sensor	NOUN
ajst-30212	188	6	.	.	PUNCT
ajst-30212	189	1	ieee	ieee	PROPN
ajst-30212	189	2	journal	journal	PROPN
ajst-30212	189	3	on	on	ADP
ajst-30212	189	4	robotics	robotic	NOUN
ajst-30212	189	5	and	and	CCONJ
ajst-30212	189	6	automation	automation	NOUN
ajst-30212	189	7	,	,	PUNCT
ajst-30212	189	8	4(2	4(2	NUM
ajst-30212	189	9	)	)	PUNCT
ajst-30212	189	10	,	,	PUNCT
ajst-30212	189	11	213–218	213–218	NUM
ajst-30212	189	12	.	.	PUNCT
ajst-30212	190	1	[	[	X
ajst-30212	190	2	4	4	NUM
ajst-30212	190	3	]	]	X
ajst-30212	190	4	gupta	gupta	PROPN
ajst-30212	190	5	,	,	PUNCT
ajst-30212	190	6	n.	n.	NOUN
ajst-30212	190	7	,	,	PUNCT
ajst-30212	190	8	makkar	makkar	PROPN
ajst-30212	190	9	,	,	PUNCT
ajst-30212	190	10	j.	j.	PROPN
ajst-30212	190	11	s.	s.	PROPN
ajst-30212	190	12	,	,	PUNCT
ajst-30212	190	13	&	&	CCONJ
ajst-30212	190	14	pandey	pandey	PROPN
ajst-30212	190	15	,	,	PUNCT
ajst-30212	190	16	p.	p.	NOUN
ajst-30212	190	17	(	(	PUNCT
ajst-30212	190	18	2015	2015	NUM
ajst-30212	190	19	)	)	PUNCT
ajst-30212	190	20	.	.	PUNCT
ajst-30212	191	1	obstacle	obstacle	NOUN
ajst-30212	191	2	detection	detection	NOUN
ajst-30212	191	3	and	and	CCONJ
ajst-30212	191	4	collision	collision	NOUN
ajst-30212	191	5	avoidance	avoidance	NOUN
ajst-30212	191	6	using	use	VERB
ajst-30212	191	7	ultrasonic	ultrasonic	ADJ
ajst-30212	191	8	sensors	sensor	NOUN
ajst-30212	191	9	for	for	ADP
ajst-30212	191	10	rc	rc	PROPN
ajst-30212	191	11	multirotors	multirotor	NOUN
ajst-30212	191	12	.	.	PUNCT
ajst-30212	192	1	2015	2015	NUM
ajst-30212	192	2	international	international	ADJ
ajst-30212	192	3	conference	conference	NOUN
ajst-30212	192	4	on	on	ADP
ajst-30212	192	5	signal	signal	ADJ
ajst-30212	192	6	processing	processing	NOUN
ajst-30212	192	7	and	and	CCONJ
ajst-30212	192	8	communication	communication	NOUN
ajst-30212	192	9	(	(	PUNCT
ajst-30212	192	10	icsc	icsc	PROPN
ajst-30212	192	11	)	)	PUNCT
ajst-30212	192	12	,	,	PUNCT
ajst-30212	192	13	419–423	419–423	NUM
ajst-30212	192	14	.	.	PUNCT
ajst-30212	193	1	[	[	X
ajst-30212	193	2	5	5	NUM
ajst-30212	193	3	]	]	SYM
ajst-30212	193	4	suherman	suherman	NOUN
ajst-30212	193	5	,	,	PUNCT
ajst-30212	193	6	s.	s.	PROPN
ajst-30212	193	7	,	,	PUNCT
ajst-30212	193	8	putra	putra	PROPN
ajst-30212	193	9	,	,	PUNCT
ajst-30212	193	10	r.	r.	PROPN
ajst-30212	193	11	a.	a.	PROPN
ajst-30212	193	12	,	,	PUNCT
ajst-30212	193	13	&	&	CCONJ
ajst-30212	193	14	pinem	pinem	PROPN
ajst-30212	193	15	,	,	PUNCT
ajst-30212	193	16	m.	m.	NOUN
ajst-30212	193	17	(	(	PUNCT
ajst-30212	193	18	2020	2020	NUM
ajst-30212	193	19	)	)	PUNCT
ajst-30212	193	20	.	.	PUNCT
ajst-30212	194	1	ultrasonic	ultrasonic	ADJ
ajst-30212	194	2	sensor	sensor	NOUN
ajst-30212	194	3	assessment	assessment	NOUN
ajst-30212	194	4	for	for	ADP
ajst-30212	194	5	obstacle	obstacle	NOUN
ajst-30212	194	6	avoidance	avoidance	NOUN
ajst-30212	194	7	in	in	ADP
ajst-30212	194	8	quadcopterbased	quadcopterbase	VERB
ajst-30212	194	9	drone	drone	NOUN
ajst-30212	194	10	system	system	NOUN
ajst-30212	194	11	.	.	PUNCT
ajst-30212	195	1	2020	2020	NUM
ajst-30212	196	1	3rd	3rd	ADJ
ajst-30212	196	2	international	international	ADJ
ajst-30212	196	3	conference	conference	NOUN
ajst-30212	196	4	on	on	ADP
ajst-30212	196	5	mechanical	mechanical	ADJ
ajst-30212	196	6	,	,	PUNCT
ajst-30212	196	7	electronics	electronic	NOUN
ajst-30212	196	8	,	,	PUNCT
ajst-30212	196	9	computer	computer	NOUN
ajst-30212	196	10	,	,	PUNCT
ajst-30212	196	11	and	and	CCONJ
ajst-30212	196	12	industrial	industrial	ADJ
ajst-30212	196	13	technology	technology	NOUN
ajst-30212	196	14	(	(	PUNCT
ajst-30212	196	15	mecnit	mecnit	NOUN
ajst-30212	196	16	)	)	PUNCT
ajst-30212	196	17	,	,	PUNCT
ajst-30212	196	18	50–53	50–53	NUM
ajst-30212	196	19	.	.	PUNCT
ajst-30212	197	1	[	[	X
ajst-30212	197	2	6	6	NUM
ajst-30212	197	3	]	]	PUNCT
ajst-30212	197	4	nieuwenhuisen	nieuwenhuisen	NOUN
ajst-30212	197	5	,	,	PUNCT
ajst-30212	197	6	m.	m.	NOUN
ajst-30212	197	7	,	,	PUNCT
ajst-30212	197	8	droeschel	droeschel	PROPN
ajst-30212	197	9	,	,	PUNCT
ajst-30212	197	10	d.	d.	PROPN
ajst-30212	197	11	,	,	PUNCT
ajst-30212	197	12	schneider	schneider	PROPN
ajst-30212	197	13	,	,	PUNCT
ajst-30212	197	14	j.	j.	PROPN
ajst-30212	197	15	,	,	PUNCT
ajst-30212	197	16	holz	holz	PROPN
ajst-30212	197	17	,	,	PUNCT
ajst-30212	197	18	d.	d.	PROPN
ajst-30212	197	19	,	,	PUNCT
ajst-30212	197	20	labe	labe	PROPN
ajst-30212	197	21	,	,	PUNCT
ajst-30212	197	22	t.	t.	PROPN
ajst-30212	197	23	,	,	PUNCT
ajst-30212	197	24	&	&	CCONJ
ajst-30212	197	25	behnke	behnke	PROPN
ajst-30212	197	26	,	,	PUNCT
ajst-30212	197	27	s.	s.	PROPN
ajst-30212	197	28	(	(	PUNCT
ajst-30212	197	29	2013	2013	NUM
ajst-30212	197	30	)	)	PUNCT
ajst-30212	197	31	.	.	PUNCT
ajst-30212	198	1	multimodal	multimodal	NOUN
ajst-30212	198	2	obstacle	obstacle	NOUN
ajst-30212	198	3	detection	detection	NOUN
ajst-30212	198	4	and	and	CCONJ
ajst-30212	198	5	collision	collision	NOUN
ajst-30212	198	6	avoidance	avoidance	NOUN
ajst-30212	198	7	for	for	ADP
ajst-30212	198	8	micro	micro	ADJ
ajst-30212	198	9	aerial	aerial	ADJ
ajst-30212	198	10	vehicles	vehicle	NOUN
ajst-30212	198	11	.	.	PUNCT
ajst-30212	199	1	2013	2013	NUM
ajst-30212	199	2	european	european	ADJ
ajst-30212	199	3	conference	conference	NOUN
ajst-30212	199	4	on	on	ADP
ajst-30212	199	5	mobile	mobile	ADJ
ajst-30212	199	6	robots	robot	NOUN
ajst-30212	199	7	,	,	PUNCT
ajst-30212	199	8	7–12	7–12	PROPN
ajst-30212	199	9	.	.	PUNCT
ajst-30212	200	1	[	[	X
ajst-30212	200	2	7	7	NUM
ajst-30212	200	3	]	]	PUNCT
ajst-30212	200	4	ross	ross	PROPN
ajst-30212	200	5	,	,	PUNCT
ajst-30212	200	6	s.	s.	PROPN
ajst-30212	200	7	,	,	PUNCT
ajst-30212	200	8	melik	melik	NOUN
ajst-30212	200	9	-	-	PUNCT
ajst-30212	200	10	barkhudarov	barkhudarov	VERB
ajst-30212	200	11	,	,	PUNCT
ajst-30212	200	12	n.	n.	NOUN
ajst-30212	200	13	,	,	PUNCT
ajst-30212	200	14	shankar	shankar	PROPN
ajst-30212	200	15	,	,	PUNCT
ajst-30212	200	16	k.	k.	PROPN
ajst-30212	200	17	s.	s.	PROPN
ajst-30212	200	18	,	,	PUNCT
ajst-30212	200	19	wendel	wendel	PROPN
ajst-30212	200	20	,	,	PUNCT
ajst-30212	200	21	a.	a.	PROPN
ajst-30212	200	22	,	,	PUNCT
ajst-30212	200	23	dey	dey	PROPN
ajst-30212	200	24	,	,	PUNCT
ajst-30212	200	25	d.	d.	PROPN
ajst-30212	200	26	,	,	PUNCT
ajst-30212	200	27	bagnell	bagnell	PROPN
ajst-30212	200	28	,	,	PUNCT
ajst-30212	200	29	j.	j.	PROPN
ajst-30212	200	30	a.	a.	PROPN
ajst-30212	200	31	,	,	PUNCT
ajst-30212	200	32	&	&	CCONJ
ajst-30212	200	33	hebert	hebert	PROPN
ajst-30212	200	34	,	,	PUNCT
ajst-30212	200	35	m.	m.	NOUN
ajst-30212	200	36	(	(	PUNCT
ajst-30212	200	37	2012	2012	NUM
ajst-30212	200	38	)	)	PUNCT
ajst-30212	200	39	.	.	PUNCT
ajst-30212	201	1	learning	learn	VERB
ajst-30212	201	2	monocular	monocular	ADJ
ajst-30212	201	3	reactive	reactive	ADJ
ajst-30212	201	4	uav	uav	PROPN
ajst-30212	201	5	control	control	NOUN
ajst-30212	201	6	in	in	ADP
ajst-30212	201	7	cluttered	cluttered	ADJ
ajst-30212	201	8	natural	natural	ADJ
ajst-30212	201	9	environments	environment	NOUN
ajst-30212	201	10	(	(	PUNCT
ajst-30212	201	11	no	no	INTJ
ajst-30212	201	12	.	.	PUNCT
ajst-30212	201	13	arxiv:1211.1690	arxiv:1211.1690	NOUN
ajst-30212	201	14	)	)	PUNCT
ajst-30212	201	15	.	.	PUNCT
ajst-30212	202	1	arxiv	arxiv	PROPN
ajst-30212	202	2	.	.	PUNCT
ajst-30212	203	1	[	[	X
ajst-30212	203	2	8	8	NUM
ajst-30212	203	3	]	]	SYM
ajst-30212	203	4	mori	mori	NOUN
ajst-30212	203	5	,	,	PUNCT
ajst-30212	203	6	t.	t.	PROPN
ajst-30212	203	7	,	,	PUNCT
ajst-30212	203	8	scherer	scherer	PROPN
ajst-30212	203	9	,	,	PUNCT
ajst-30212	203	10	s.	s.	PROPN
ajst-30212	203	11	(	(	PUNCT
ajst-30212	203	12	2013	2013	NUM
ajst-30212	203	13	)	)	PUNCT
ajst-30212	203	14	first	first	ADJ
ajst-30212	203	15	results	result	NOUN
ajst-30212	203	16	in	in	ADP
ajst-30212	203	17	detecting	detect	VERB
ajst-30212	203	18	and	and	CCONJ
ajst-30212	203	19	avoiding	avoid	VERB
ajst-30212	203	20	frontal	frontal	ADJ
ajst-30212	203	21	obstacles	obstacle	NOUN
ajst-30212	203	22	from	from	ADP
ajst-30212	203	23	a	a	DET
ajst-30212	203	24	monocular	monocular	ADJ
ajst-30212	203	25	camera	camera	NOUN
ajst-30212	203	26	for	for	ADP
ajst-30212	203	27	micro	micro	ADJ
ajst-30212	203	28	unmanned	unmanned	ADJ
ajst-30212	203	29	aerial	aerial	ADJ
ajst-30212	203	30	vehicles	vehicle	NOUN
ajst-30212	203	31	.	.	PUNCT
ajst-30212	204	1	in	in	ADP
ajst-30212	204	2	:	:	PUNCT
ajst-30212	204	3	ieee	ieee	PROPN
ajst-30212	204	4	international	international	ADJ
ajst-30212	204	5	conference	conference	NOUN
ajst-30212	204	6	on	on	ADP
ajst-30212	204	7	robotics	robotic	NOUN
ajst-30212	204	8	and	and	CCONJ
ajst-30212	204	9	automation	automation	NOUN
ajst-30212	204	10	.	.	PUNCT
ajst-30212	205	1	1750	1750	NUM
ajst-30212	205	2	-	-	SYM
ajst-30212	205	3	1757	1757	NUM
ajst-30212	205	4	.	.	PUNCT
ajst-30212	206	1	[	[	X
ajst-30212	206	2	9	9	NUM
ajst-30212	206	3	]	]	X
ajst-30212	206	4	souhila	souhila	NOUN
ajst-30212	206	5	,	,	PUNCT
ajst-30212	206	6	k.	k.	PROPN
ajst-30212	206	7	,	,	PUNCT
ajst-30212	206	8	&	&	CCONJ
ajst-30212	206	9	karim	karim	PROPN
ajst-30212	206	10	,	,	PUNCT
ajst-30212	206	11	a.	a.	NOUN
ajst-30212	206	12	(	(	PUNCT
ajst-30212	206	13	2007	2007	NUM
ajst-30212	206	14	)	)	PUNCT
ajst-30212	206	15	.	.	PUNCT
ajst-30212	207	1	optical	optical	ADJ
ajst-30212	207	2	flow	flow	NOUN
ajst-30212	207	3	based	base	VERB
ajst-30212	207	4	robot	robot	NOUN
ajst-30212	207	5	obstacle	obstacle	NOUN
ajst-30212	207	6	avoidance	avoidance	NOUN
ajst-30212	207	7	.	.	PUNCT
ajst-30212	208	1	international	international	ADJ
ajst-30212	208	2	journal	journal	NOUN
ajst-30212	208	3	of	of	ADP
ajst-30212	208	4	advanced	advanced	ADJ
ajst-30212	208	5	robotic	robotic	ADJ
ajst-30212	208	6	systems	system	NOUN
ajst-30212	208	7	,	,	PUNCT
ajst-30212	208	8	4(1	4(1	NOUN
ajst-30212	208	9	)	)	PUNCT
ajst-30212	208	10	,	,	PUNCT
ajst-30212	208	11	2	2	X
ajst-30212	208	12	.	.	PUNCT
ajst-30212	209	1	[	[	X
ajst-30212	209	2	10	10	NUM
ajst-30212	209	3	]	]	PUNCT
ajst-30212	209	4	gosiewski	gosiewski	PROPN
ajst-30212	209	5	,	,	PUNCT
ajst-30212	209	6	z.	z.	PROPN
ajst-30212	209	7	,	,	PUNCT
ajst-30212	209	8	ciesluk	ciesluk	PROPN
ajst-30212	209	9	,	,	PUNCT
ajst-30212	209	10	j.	j.	PROPN
ajst-30212	209	11	,	,	PUNCT
ajst-30212	209	12	&	&	CCONJ
ajst-30212	209	13	ambroziak	ambroziak	PROPN
ajst-30212	209	14	,	,	PUNCT
ajst-30212	209	15	l.	l.	PROPN
ajst-30212	209	16	(	(	PUNCT
ajst-30212	209	17	2011	2011	NUM
ajst-30212	209	18	)	)	PUNCT
ajst-30212	209	19	.	.	PUNCT
ajst-30212	210	1	visionbased	visionbase	VERB
ajst-30212	210	2	obstacle	obstacle	NOUN
ajst-30212	210	3	avoidance	avoidance	NOUN
ajst-30212	210	4	for	for	ADP
ajst-30212	210	5	unmanned	unmanned	ADJ
ajst-30212	210	6	aerial	aerial	ADJ
ajst-30212	210	7	vehicles	vehicle	NOUN
ajst-30212	210	8	.	.	PUNCT
ajst-30212	211	1	2011	2011	NUM
ajst-30212	211	2	4th	4th	ADJ
ajst-30212	211	3	international	international	ADJ
ajst-30212	211	4	congress	congress	PROPN
ajst-30212	211	5	on	on	ADP
ajst-30212	211	6	image	image	NOUN
ajst-30212	211	7	and	and	CCONJ
ajst-30212	211	8	signal	signal	NOUN
ajst-30212	211	9	processing	processing	NOUN
ajst-30212	211	10	,	,	PUNCT
ajst-30212	211	11	2020–2025	2020–2025	NUM
ajst-30212	211	12	.	.	PUNCT
ajst-30212	212	1	[	[	X
ajst-30212	212	2	11	11	NUM
ajst-30212	212	3	]	]	X
ajst-30212	212	4	aguilar	aguilar	PROPN
ajst-30212	212	5	,	,	PUNCT
ajst-30212	212	6	w.	w.	PROPN
ajst-30212	212	7	,	,	PUNCT
ajst-30212	212	8	casaliglla	casaliglla	PROPN
ajst-30212	212	9	,	,	PUNCT
ajst-30212	212	10	v.	v.	ADV
ajst-30212	212	11	,	,	PUNCT
ajst-30212	212	12	&	&	CCONJ
ajst-30212	212	13	p	p	PROPN
ajst-30212	212	14	lit	lit	PROPN
ajst-30212	212	15	,	,	PUNCT
ajst-30212	212	16	j.	j.	PROPN
ajst-30212	212	17	(	(	PUNCT
ajst-30212	212	18	2017	2017	NUM
ajst-30212	212	19	)	)	PUNCT
ajst-30212	212	20	.	.	PUNCT
ajst-30212	213	1	obstacle	obstacle	NOUN
ajst-30212	213	2	avoidance	avoidance	NOUN
ajst-30212	213	3	based	base	VERB
ajst-30212	213	4	-	-	ADJ
ajst-30212	213	5	visual	visual	ADJ
ajst-30212	213	6	navigation	navigation	NOUN
ajst-30212	213	7	for	for	ADP
ajst-30212	213	8	micro	micro	ADJ
ajst-30212	213	9	aerial	aerial	ADJ
ajst-30212	213	10	vehicles	vehicle	NOUN
ajst-30212	213	11	.	.	PUNCT
ajst-30212	214	1	electronics	electronic	NOUN
ajst-30212	214	2	,	,	PUNCT
ajst-30212	214	3	6(1	6(1	NUM
ajst-30212	214	4	)	)	PUNCT
ajst-30212	214	5	,	,	PUNCT
ajst-30212	214	6	10	10	NUM
ajst-30212	214	7	.	.	PUNCT
ajst-30212	214	8	234	234	NUM
ajst-30212	215	1	[	[	SYM
ajst-30212	215	2	12	12	NUM
ajst-30212	215	3	]	]	SYM
ajst-30212	215	4	yang	yang	PROPN
ajst-30212	215	5	,	,	PUNCT
ajst-30212	215	6	x.	x.	PROPN
ajst-30212	215	7	,	,	PUNCT
ajst-30212	215	8	chen	chen	PROPN
ajst-30212	215	9	,	,	PUNCT
ajst-30212	215	10	j.	j.	PROPN
ajst-30212	215	11	,	,	PUNCT
ajst-30212	215	12	dang	dang	PROPN
ajst-30212	215	13	,	,	PUNCT
ajst-30212	215	14	y.	y.	PROPN
ajst-30212	215	15	,	,	PUNCT
ajst-30212	215	16	luo	luo	PROPN
ajst-30212	215	17	,	,	PUNCT
ajst-30212	215	18	h.	h.	PROPN
ajst-30212	215	19	,	,	PUNCT
ajst-30212	215	20	tang	tang	PROPN
ajst-30212	215	21	,	,	PUNCT
ajst-30212	215	22	y.	y.	PROPN
ajst-30212	215	23	,	,	PUNCT
ajst-30212	215	24	liao	liao	PROPN
ajst-30212	215	25	,	,	PUNCT
ajst-30212	215	26	c.	c.	PROPN
ajst-30212	215	27	,	,	PUNCT
ajst-30212	215	28	chen	chen	PROPN
ajst-30212	215	29	,	,	PUNCT
ajst-30212	215	30	p.	p.	PROPN
ajst-30212	215	31	,	,	PUNCT
ajst-30212	215	32	&	&	CCONJ
ajst-30212	215	33	cheng	cheng	PROPN
ajst-30212	215	34	,	,	PUNCT
ajst-30212	215	35	k.-t	k.-t	PROPN
ajst-30212	215	36	.	.	PUNCT
ajst-30212	216	1	(	(	PUNCT
ajst-30212	216	2	2021	2021	NUM
ajst-30212	216	3	)	)	PUNCT
ajst-30212	216	4	.	.	PUNCT
ajst-30212	217	1	fast	fast	ADJ
ajst-30212	217	2	depth	depth	NOUN
ajst-30212	217	3	prediction	prediction	NOUN
ajst-30212	217	4	and	and	CCONJ
ajst-30212	217	5	obstacle	obstacle	NOUN
ajst-30212	217	6	avoidance	avoidance	NOUN
ajst-30212	217	7	on	on	ADP
ajst-30212	217	8	a	a	DET
ajst-30212	217	9	monocular	monocular	ADJ
ajst-30212	217	10	drone	drone	NOUN
ajst-30212	217	11	using	use	VERB
ajst-30212	217	12	probabilistic	probabilistic	ADJ
ajst-30212	217	13	convolutional	convolutional	ADJ
ajst-30212	217	14	neural	neural	ADJ
ajst-30212	217	15	network	network	NOUN
ajst-30212	217	16	.	.	PUNCT
ajst-30212	218	1	ieee	ieee	NOUN
ajst-30212	218	2	transactions	transaction	NOUN
ajst-30212	218	3	on	on	ADP
ajst-30212	218	4	intelligent	intelligent	ADJ
ajst-30212	218	5	transportation	transportation	NOUN
ajst-30212	218	6	systems	system	NOUN
ajst-30212	218	7	,	,	PUNCT
ajst-30212	218	8	22(1	22(1	NUM
ajst-30212	218	9	)	)	PUNCT
ajst-30212	218	10	,	,	PUNCT
ajst-30212	218	11	156–167	156–167	NUM
ajst-30212	218	12	.	.	PUNCT
ajst-30212	219	1	[	[	X
ajst-30212	219	2	13	13	NUM
ajst-30212	219	3	]	]	X
ajst-30212	219	4	glenn	glenn	PROPN
ajst-30212	219	5	jocher	jocher	PROPN
ajst-30212	219	6	,	,	PUNCT
ajst-30212	219	7	ayush	ayush	PROPN
ajst-30212	219	8	chaurasia	chaurasia	PROPN
ajst-30212	219	9	,	,	PUNCT
ajst-30212	219	10	alex	alex	PROPN
ajst-30212	219	11	stoken	stoken	PROPN
ajst-30212	219	12	,	,	PUNCT
ajst-30212	219	13	et	et	PROPN
ajst-30212	219	14	al	al	PROPN
ajst-30212	219	15	.	.	PROPN
ajst-30212	220	1	(	(	PUNCT
ajst-30212	220	2	2022	2022	NUM
ajst-30212	220	3	)	)	PUNCT
ajst-30212	220	4	ultralytics	ultralytic	NOUN
ajst-30212	220	5	/	/	SYM
ajst-30212	220	6	yolov5	yolov5	PROPN
ajst-30212	220	7	:	:	PUNCT
ajst-30212	220	8	v7.0	v7.0	PROPN
ajst-30212	220	9	yolov5	yolov5	PROPN
ajst-30212	220	10	sota	sota	PROPN
ajst-30212	220	11	realtime	realtime	PROPN
ajst-30212	220	12	instance	instance	NOUN
ajst-30212	220	13	segmentation	segmentation	NOUN
ajst-30212	220	14	(	(	PUNCT
ajst-30212	220	15	v7.0	v7.0	PROPN
ajst-30212	220	16	)	)	PUNCT
ajst-30212	220	17	.	.	PUNCT
ajst-30212	221	1	zenodo	zenodo	NOUN
ajst-30212	221	2	.	.	PUNCT
ajst-30212	222	1	[	[	X
ajst-30212	222	2	14	14	NUM
ajst-30212	222	3	]	]	X
ajst-30212	222	4	sohan	sohan	PROPN
ajst-30212	222	5	,	,	PUNCT
ajst-30212	222	6	m.	m.	NOUN
ajst-30212	222	7	,	,	PUNCT
ajst-30212	222	8	sai	sai	PROPN
ajst-30212	222	9	ram	ram	PROPN
ajst-30212	222	10	,	,	PUNCT
ajst-30212	222	11	t.	t.	PROPN
ajst-30212	222	12	,	,	PUNCT
ajst-30212	222	13	&	&	CCONJ
ajst-30212	222	14	rami	rami	PROPN
ajst-30212	222	15	reddy	reddy	PROPN
ajst-30212	222	16	,	,	PUNCT
ajst-30212	222	17	ch	ch	PROPN
ajst-30212	222	18	.	.	PROPN
ajst-30212	223	1	v.	v.	PROPN
ajst-30212	223	2	(	(	PUNCT
ajst-30212	223	3	2024	2024	NUM
ajst-30212	223	4	)	)	PUNCT
ajst-30212	223	5	.	.	PUNCT
ajst-30212	224	1	a	a	DET
ajst-30212	224	2	review	review	NOUN
ajst-30212	224	3	on	on	ADP
ajst-30212	224	4	yolov8	yolov8	NOUN
ajst-30212	224	5	and	and	CCONJ
ajst-30212	224	6	its	its	PRON
ajst-30212	224	7	advancements	advancement	NOUN
ajst-30212	224	8	.	.	PUNCT
ajst-30212	225	1	in	in	ADP
ajst-30212	225	2	i.	i.	PROPN
ajst-30212	225	3	j.	j.	PROPN
ajst-30212	225	4	jacob	jacob	PROPN
ajst-30212	225	5	,	,	PUNCT
ajst-30212	225	6	s.	s.	PROPN
ajst-30212	225	7	piramuthu	piramuthu	PROPN
ajst-30212	225	8	,	,	PUNCT
ajst-30212	225	9	&	&	CCONJ
ajst-30212	225	10	p.	p.	PROPN
ajst-30212	225	11	falkowski	falkowski	NOUN
ajst-30212	225	12	-	-	PUNCT
ajst-30212	225	13	gilski	gilski	NOUN
ajst-30212	225	14	(	(	PUNCT
ajst-30212	225	15	eds	ed	NOUN
ajst-30212	225	16	.	.	PUNCT
ajst-30212	225	17	)	)	PUNCT
ajst-30212	225	18	,	,	PUNCT
ajst-30212	225	19	data	datum	NOUN
ajst-30212	225	20	intelligence	intelligence	NOUN
ajst-30212	225	21	and	and	CCONJ
ajst-30212	225	22	cognitive	cognitive	ADJ
ajst-30212	225	23	informatics	informatic	NOUN
ajst-30212	225	24	.	.	PUNCT
ajst-30212	226	1	springer	springer	PROPN
ajst-30212	226	2	nature	nature	PROPN
ajst-30212	226	3	,	,	PUNCT
ajst-30212	226	4	singapore	singapore	PROPN
ajst-30212	226	5	.	.	PUNCT
ajst-30212	227	1	529–545	529–545	NUM
ajst-30212	227	2	.	.	PUNCT
ajst-30212	228	1	[	[	X
ajst-30212	228	2	15	15	NUM
ajst-30212	228	3	]	]	X
ajst-30212	228	4	makibuchi	makibuchi	NOUN
ajst-30212	228	5	,	,	PUNCT
ajst-30212	228	6	n.	n.	PROPN
ajst-30212	228	7	,	,	PUNCT
ajst-30212	228	8	kato	kato	PROPN
ajst-30212	228	9	,	,	PUNCT
ajst-30212	228	10	h.	h.	PROPN
ajst-30212	228	11	,	,	PUNCT
ajst-30212	228	12	&	&	CCONJ
ajst-30212	228	13	yoneyama	yoneyama	NOUN
ajst-30212	228	14	,	,	PUNCT
ajst-30212	228	15	a.	a.	NOUN
ajst-30212	228	16	(	(	PUNCT
ajst-30212	228	17	2013	2013	NUM
ajst-30212	228	18	)	)	PUNCT
ajst-30212	228	19	.	.	PUNCT
ajst-30212	228	20	visionbased	visionbase	VERB
ajst-30212	228	21	robust	robust	ADJ
ajst-30212	228	22	calibration	calibration	NOUN
ajst-30212	228	23	for	for	ADP
ajst-30212	228	24	optical	optical	ADJ
ajst-30212	228	25	see	see	NOUN
ajst-30212	228	26	-	-	PUNCT
ajst-30212	228	27	through	through	ADP
ajst-30212	228	28	head	head	NOUN
ajst-30212	228	29	-	-	PUNCT
ajst-30212	228	30	mounted	mount	VERB
ajst-30212	228	31	displays	display	NOUN
ajst-30212	228	32	.	.	PUNCT
ajst-30212	229	1	2013	2013	NUM
ajst-30212	229	2	ieee	ieee	PROPN
ajst-30212	229	3	international	international	ADJ
ajst-30212	229	4	conference	conference	NOUN
ajst-30212	229	5	on	on	ADP
ajst-30212	229	6	image	image	NOUN
ajst-30212	229	7	processing	processing	NOUN
ajst-30212	229	8	,	,	PUNCT
ajst-30212	229	9	2177–2181	2177–2181	NUM
ajst-30212	229	10	.	.	PUNCT
ajst-30212	230	1	[	[	X
ajst-30212	230	2	16	16	NUM
ajst-30212	230	3	]	]	X
ajst-30212	230	4	wang	wang	PROPN
ajst-30212	230	5	,	,	PUNCT
ajst-30212	230	6	w.	w.	PROPN
ajst-30212	230	7	,	,	PUNCT
ajst-30212	230	8	wang	wang	PROPN
ajst-30212	230	9	,	,	PUNCT
ajst-30212	230	10	f.	f.	PROPN
ajst-30212	230	11	,	,	PUNCT
ajst-30212	230	12	liu	liu	PROPN
ajst-30212	230	13	,	,	PUNCT
ajst-30212	230	14	p.	p.	PROPN
ajst-30212	230	15	,	,	PUNCT
ajst-30212	230	16	he	he	PRON
ajst-30212	230	17	,	,	PUNCT
ajst-30212	230	18	y.	y.	PROPN
ajst-30212	230	19	,	,	PUNCT
ajst-30212	230	20	&	&	CCONJ
ajst-30212	230	21	zhang	zhang	PROPN
ajst-30212	230	22	,	,	PUNCT
ajst-30212	230	23	x.	x.	PROPN
ajst-30212	230	24	(	(	PUNCT
ajst-30212	230	25	2016	2016	NUM
ajst-30212	230	26	)	)	PUNCT
ajst-30212	230	27	.	.	PUNCT
ajst-30212	231	1	a	a	DET
ajst-30212	231	2	monovisionbased	monovisionbased	ADJ
ajst-30212	231	3	3d	3d	PROPN
ajst-30212	231	4	pose	pose	NOUN
ajst-30212	231	5	estimation	estimation	NOUN
ajst-30212	231	6	system	system	NOUN
ajst-30212	231	7	for	for	ADP
ajst-30212	231	8	vehicle	vehicle	NOUN
ajst-30212	231	9	behavior	behavior	NOUN
ajst-30212	231	10	prediction	prediction	NOUN
ajst-30212	231	11	.	.	PUNCT
ajst-30212	232	1	2016	2016	NUM
ajst-30212	232	2	ieee	ieee	PROPN
ajst-30212	232	3	international	international	ADJ
ajst-30212	232	4	conference	conference	NOUN
ajst-30212	232	5	on	on	ADP
ajst-30212	232	6	vehicular	vehicular	ADJ
ajst-30212	232	7	electronics	electronic	NOUN
ajst-30212	232	8	and	and	CCONJ
ajst-30212	232	9	safety	safety	NOUN
ajst-30212	232	10	(	(	PUNCT
ajst-30212	232	11	icves	icve	NOUN
ajst-30212	232	12	)	)	PUNCT
ajst-30212	232	13	,	,	PUNCT
ajst-30212	232	14	1–6	1–6	X
ajst-30212	232	15	.	.	PUNCT
ajst-30212	233	1	[	[	X
ajst-30212	233	2	17	17	NUM
ajst-30212	233	3	]	]	X
ajst-30212	233	4	deretey	deretey	NOUN
ajst-30212	233	5	,	,	PUNCT
ajst-30212	233	6	e.	e.	PROPN
ajst-30212	233	7	,	,	PUNCT
ajst-30212	233	8	ahmed	ahmed	PROPN
ajst-30212	233	9	,	,	PUNCT
ajst-30212	233	10	m.	m.	NOUN
ajst-30212	233	11	t.	t.	PROPN
ajst-30212	233	12	,	,	PUNCT
ajst-30212	233	13	marshall	marshall	PROPN
ajst-30212	233	14	,	,	PUNCT
ajst-30212	233	15	j.	j.	PROPN
ajst-30212	233	16	a.	a.	PROPN
ajst-30212	233	17	,	,	PUNCT
ajst-30212	233	18	&	&	CCONJ
ajst-30212	233	19	greenspan	greenspan	PROPN
ajst-30212	233	20	,	,	PUNCT
ajst-30212	233	21	m.	m.	NOUN
ajst-30212	233	22	(	(	PUNCT
ajst-30212	233	23	2015	2015	NUM
ajst-30212	233	24	)	)	PUNCT
ajst-30212	233	25	.	.	PUNCT
ajst-30212	234	1	visual	visual	ADJ
ajst-30212	234	2	indoor	indoor	ADJ
ajst-30212	234	3	positioning	positioning	NOUN
ajst-30212	234	4	with	with	ADP
ajst-30212	234	5	a	a	DET
ajst-30212	234	6	single	single	ADJ
ajst-30212	234	7	camera	camera	NOUN
ajst-30212	234	8	using	use	VERB
ajst-30212	234	9	pnp	pnp	PROPN
ajst-30212	234	10	.	.	PROPN
ajst-30212	234	11	2015	2015	NUM
ajst-30212	234	12	international	international	ADJ
ajst-30212	234	13	conference	conference	NOUN
ajst-30212	234	14	on	on	ADP
ajst-30212	234	15	indoor	indoor	ADJ
ajst-30212	234	16	positioning	positioning	NOUN
ajst-30212	234	17	and	and	CCONJ
ajst-30212	234	18	indoor	indoor	ADJ
ajst-30212	234	19	navigation	navigation	NOUN
ajst-30212	234	20	(	(	PUNCT
ajst-30212	234	21	ipin	ipin	NOUN
ajst-30212	234	22	)	)	PUNCT
ajst-30212	234	23	,	,	PUNCT
ajst-30212	234	24	1–9	1–9	NOUN
ajst-30212	234	25	.	.	PUNCT
ajst-30212	235	1	[	[	X
ajst-30212	235	2	18	18	NUM
ajst-30212	235	3	]	]	PUNCT
ajst-30212	235	4	kubı́	kubı́	NOUN
ajst-30212	235	5	kov	kov	PROPN
ajst-30212	235	6	,	,	PUNCT
ajst-30212	235	7	h.	h.	PROPN
ajst-30212	235	8	,	,	PUNCT
ajst-30212	235	9	jedli	jedli	PROPN
ajst-30212	235	10	ka	ka	PROPN
ajst-30212	235	11	,	,	PUNCT
ajst-30212	235	12	k.	k.	PROPN
ajst-30212	235	13	,	,	PUNCT
ajst-30212	235	14	fiala	fiala	PROPN
ajst-30212	235	15	,	,	PUNCT
ajst-30212	235	16	r.	r.	PROPN
ajst-30212	235	17	,	,	PUNCT
ajst-30212	235	18	&	&	CCONJ
ajst-30212	235	19	beran	beran	PROPN
ajst-30212	235	20	,	,	PUNCT
ajst-30212	235	21	d.	d.	PROPN
ajst-30212	235	22	(	(	PUNCT
ajst-30212	235	23	2020	2020	NUM
ajst-30212	235	24	)	)	PUNCT
ajst-30212	235	25	.	.	PUNCT
ajst-30212	236	1	indoor	indoor	ADJ
ajst-30212	236	2	positioning	positioning	NOUN
ajst-30212	236	3	using	use	VERB
ajst-30212	236	4	pnp	pnp	PROPN
ajst-30212	236	5	problem	problem	NOUN
ajst-30212	236	6	on	on	ADP
ajst-30212	236	7	mobile	mobile	ADJ
ajst-30212	236	8	phone	phone	NOUN
ajst-30212	236	9	images	image	NOUN
ajst-30212	236	10	.	.	PUNCT
ajst-30212	237	1	isprs	isprs	PROPN
ajst-30212	237	2	international	international	PROPN
ajst-30212	237	3	journal	journal	PROPN
ajst-30212	237	4	of	of	ADP
ajst-30212	237	5	geo	geo	PROPN
ajst-30212	237	6	-	-	PUNCT
ajst-30212	237	7	information	information	NOUN
ajst-30212	237	8	,	,	PUNCT
ajst-30212	237	9	9(6	9(6	NUM
ajst-30212	237	10	)	)	PUNCT
ajst-30212	237	11	,	,	PUNCT
ajst-30212	237	12	368	368	NUM
ajst-30212	237	13	.	.	PUNCT
ajst-30212	238	1	[	[	X
ajst-30212	238	2	19	19	NUM
ajst-30212	238	3	]	]	X
ajst-30212	238	4	lepetit	lepetit	PROPN
ajst-30212	238	5	,	,	PUNCT
ajst-30212	238	6	v.	v.	PROPN
ajst-30212	238	7	,	,	PUNCT
ajst-30212	238	8	moreno	moreno	PROPN
ajst-30212	238	9	-	-	PUNCT
ajst-30212	238	10	noguer	noguer	PROPN
ajst-30212	238	11	,	,	PUNCT
ajst-30212	238	12	f.	f.	PROPN
ajst-30212	238	13	,	,	PUNCT
ajst-30212	238	14	&	&	CCONJ
ajst-30212	238	15	fua	fua	PROPN
ajst-30212	238	16	,	,	PUNCT
ajst-30212	238	17	p.	p.	NOUN
ajst-30212	238	18	(	(	PUNCT
ajst-30212	238	19	2009	2009	NUM
ajst-30212	238	20	)	)	PUNCT
ajst-30212	238	21	.	.	PUNCT
ajst-30212	239	1	epnp	epnp	NOUN
ajst-30212	239	2	:	:	PUNCT
ajst-30212	239	3	an	an	DET
ajst-30212	239	4	accurate	accurate	ADJ
ajst-30212	239	5	o(n	o(n	NOUN
ajst-30212	239	6	)	)	PUNCT
ajst-30212	239	7	solution	solution	NOUN
ajst-30212	239	8	to	to	ADP
ajst-30212	239	9	the	the	DET
ajst-30212	239	10	pnp	pnp	PROPN
ajst-30212	239	11	problem	problem	NOUN
ajst-30212	239	12	.	.	PUNCT
ajst-30212	240	1	international	international	ADJ
ajst-30212	240	2	journal	journal	NOUN
ajst-30212	240	3	of	of	ADP
ajst-30212	240	4	computer	computer	NOUN
ajst-30212	240	5	vision	vision	NOUN
ajst-30212	240	6	,	,	PUNCT
ajst-30212	240	7	81(2	81(2	NUM
ajst-30212	240	8	)	)	PUNCT
ajst-30212	240	9	,	,	PUNCT
ajst-30212	240	10	155–166	155–166	NUM
ajst-30212	240	11	.	.	PUNCT
ajst-30212	241	1	[	[	X
ajst-30212	241	2	20	20	NUM
ajst-30212	241	3	]	]	X
ajst-30212	241	4	watanabe	watanabe	PROPN
ajst-30212	241	5	,	,	PUNCT
ajst-30212	241	6	y.	y.	PROPN
ajst-30212	241	7	,	,	PUNCT
ajst-30212	241	8	calise	calise	PROPN
ajst-30212	241	9	,	,	PUNCT
ajst-30212	241	10	a.	a.	NOUN
ajst-30212	241	11	,	,	PUNCT
ajst-30212	241	12	&	&	CCONJ
ajst-30212	241	13	johnson	johnson	PROPN
ajst-30212	241	14	,	,	PUNCT
ajst-30212	241	15	e.	e.	PROPN
ajst-30212	241	16	(	(	PUNCT
ajst-30212	241	17	2007	2007	NUM
ajst-30212	241	18	)	)	PUNCT
ajst-30212	241	19	.	.	PUNCT
ajst-30212	242	1	vision	vision	NOUN
ajst-30212	242	2	-	-	PUNCT
ajst-30212	242	3	based	base	VERB
ajst-30212	242	4	obstacle	obstacle	NOUN
ajst-30212	242	5	avoidance	avoidance	NOUN
ajst-30212	242	6	for	for	ADP
ajst-30212	242	7	uavs	uavs	PROPN
ajst-30212	242	8	.	.	PUNCT
ajst-30212	243	1	aiaa	aiaa	PROPN
ajst-30212	243	2	guidance	guidance	PROPN
ajst-30212	243	3	,	,	PUNCT
ajst-30212	243	4	navigation	navigation	NOUN
ajst-30212	243	5	and	and	CCONJ
ajst-30212	243	6	control	control	PROPN
ajst-30212	243	7	conference	conference	NOUN
ajst-30212	243	8	and	and	CCONJ
ajst-30212	243	9	exhibit	exhibit	NOUN
ajst-30212	243	10	.	.	PUNCT
ajst-30212	244	1	hilton	hilton	PROPN
ajst-30212	244	2	head	head	PROPN
ajst-30212	244	3	,	,	PUNCT
ajst-30212	244	4	south	south	PROPN
ajst-30212	244	5	carolina	carolina	PROPN
ajst-30212	244	6	.	.	PUNCT