id	sid	tid	token	lemma	pos
ajst-30228	1	1	academic	academic	ADJ
ajst-30228	1	2	journal	journal	NOUN
ajst-30228	1	3	of	of	ADP
ajst-30228	1	4	science	science	NOUN
ajst-30228	1	5	and	and	CCONJ
ajst-30228	1	6	technology	technology	NOUN
ajst-30228	1	7	issn	issn	NOUN
ajst-30228	1	8	:	:	PUNCT
ajst-30228	1	9	2771	2771	NUM
ajst-30228	1	10	-	-	SYM
ajst-30228	1	11	3032	3032	NUM
ajst-30228	1	12	|	|	NOUN
ajst-30228	1	13	vol	vol	NOUN
ajst-30228	1	14	.	.	PUNCT
ajst-30228	2	1	14	14	NUM
ajst-30228	2	2	,	,	PUNCT
ajst-30228	2	3	no	no	INTJ
ajst-30228	2	4	.	.	NOUN
ajst-30228	2	5	3	3	NUM
ajst-30228	2	6	,	,	PUNCT
ajst-30228	2	7	2025	2025	NUM
ajst-30228	2	8	328	328	NUM
ajst-30228	2	9	research	research	NOUN
ajst-30228	2	10	on	on	ADP
ajst-30228	2	11	improved	improve	VERB
ajst-30228	2	12	indoor	indoor	ADJ
ajst-30228	2	13	localization	localization	NOUN
ajst-30228	2	14	algorithm	algorithm	NOUN
ajst-30228	2	15	for	for	ADP
ajst-30228	2	16	uavs	uavs	NOUN
ajst-30228	2	17	based	base	VERB
ajst-30228	2	18	on	on	ADP
ajst-30228	2	19	vins	vin	NOUN
ajst-30228	2	20	xi	xi	X
ajst-30228	2	21	zhang1	zhang1	PROPN
ajst-30228	2	22	,	,	PUNCT
ajst-30228	2	23	*	*	ADJ
ajst-30228	2	24	,	,	PUNCT
ajst-30228	2	25	nianqing	nianqing	ADJ
ajst-30228	2	26	tan2	tan2	NOUN
ajst-30228	2	27	1	1	NUM
ajst-30228	2	28	school	school	NOUN
ajst-30228	2	29	of	of	ADP
ajst-30228	2	30	avionics	avionic	NOUN
ajst-30228	2	31	and	and	CCONJ
ajst-30228	2	32	electrical	electrical	ADJ
ajst-30228	2	33	engineering	engineering	NOUN
ajst-30228	2	34	,	,	PUNCT
ajst-30228	2	35	civil	civil	ADJ
ajst-30228	2	36	aviation	aviation	NOUN
ajst-30228	2	37	flight	flight	NOUN
ajst-30228	2	38	university	university	PROPN
ajst-30228	2	39	of	of	ADP
ajst-30228	2	40	china	china	PROPN
ajst-30228	2	41	,	,	PUNCT
ajst-30228	2	42	guanghan	guanghan	PROPN
ajst-30228	2	43	,	,	PUNCT
ajst-30228	2	44	sichuan	sichuan	PROPN
ajst-30228	2	45	618307	618307	NUM
ajst-30228	2	46	,	,	PUNCT
ajst-30228	2	47	china	china	PROPN
ajst-30228	2	48	2	2	NUM
ajst-30228	2	49	school	school	NOUN
ajst-30228	2	50	of	of	ADP
ajst-30228	2	51	avionics	avionic	NOUN
ajst-30228	2	52	and	and	CCONJ
ajst-30228	2	53	electrical	electrical	ADJ
ajst-30228	2	54	engineering	engineering	NOUN
ajst-30228	2	55	,	,	PUNCT
ajst-30228	2	56	civil	civil	ADJ
ajst-30228	2	57	aviation	aviation	NOUN
ajst-30228	2	58	flight	flight	NOUN
ajst-30228	2	59	university	university	PROPN
ajst-30228	2	60	of	of	ADP
ajst-30228	2	61	china	china	PROPN
ajst-30228	2	62	,	,	PUNCT
ajst-30228	2	63	guanghan	guanghan	PROPN
ajst-30228	2	64	,	,	PUNCT
ajst-30228	2	65	sichuan	sichuan	PROPN
ajst-30228	2	66	618307	618307	NUM
ajst-30228	2	67	,	,	PUNCT
ajst-30228	2	68	china	china	PROPN
ajst-30228	2	69	*	*	PUNCT
ajst-30228	2	70	corresponding	correspond	VERB
ajst-30228	2	71	author	author	NOUN
ajst-30228	2	72	:	:	PUNCT
ajst-30228	2	73	xi	xi	PROPN
ajst-30228	2	74	zhang	zhang	PROPN
ajst-30228	2	75	(	(	PUNCT
ajst-30228	2	76	email	email	NOUN
ajst-30228	2	77	:	:	PUNCT
ajst-30228	2	78	1815065038@qq.com	1815065038@qq.com	NUM
ajst-30228	2	79	)	)	PUNCT
ajst-30228	2	80	abstract	abstract	NOUN
ajst-30228	2	81	:	:	PUNCT
ajst-30228	2	82	to	to	PART
ajst-30228	2	83	address	address	VERB
ajst-30228	2	84	the	the	DET
ajst-30228	2	85	limitations	limitation	NOUN
ajst-30228	2	86	of	of	ADP
ajst-30228	2	87	uav	uav	PROPN
ajst-30228	2	88	localization	localization	NOUN
ajst-30228	2	89	accuracy	accuracy	NOUN
ajst-30228	2	90	in	in	ADP
ajst-30228	2	91	complex	complex	ADJ
ajst-30228	2	92	indoor	indoor	ADJ
ajst-30228	2	93	environments	environment	NOUN
ajst-30228	2	94	,	,	PUNCT
ajst-30228	2	95	an	an	DET
ajst-30228	2	96	improved	improved	ADJ
ajst-30228	2	97	visioninertial	visioninertial	ADJ
ajst-30228	2	98	fusion	fusion	NOUN
ajst-30228	2	99	-	-	PUNCT
ajst-30228	2	100	based	base	VERB
ajst-30228	2	101	uav	uav	PROPN
ajst-30228	2	102	indoor	indoor	PROPN
ajst-30228	2	103	positioning	positioning	NOUN
ajst-30228	2	104	method	method	NOUN
ajst-30228	2	105	was	be	AUX
ajst-30228	2	106	proposed	propose	VERB
ajst-30228	2	107	.	.	PUNCT
ajst-30228	3	1	the	the	DET
ajst-30228	3	2	conventional	conventional	ADJ
ajst-30228	3	3	vision	vision	NOUN
ajst-30228	3	4	-	-	PUNCT
ajst-30228	3	5	aided	aid	VERB
ajst-30228	3	6	inertial	inertial	ADJ
ajst-30228	3	7	navigation	navigation	NOUN
ajst-30228	3	8	system	system	NOUN
ajst-30228	3	9	(	(	PUNCT
ajst-30228	3	10	vins)-fusion	vins)-fusion	PROPN
ajst-30228	3	11	algorithm	algorithm	NOUN
ajst-30228	3	12	was	be	AUX
ajst-30228	3	13	constrained	constrain	VERB
ajst-30228	3	14	by	by	ADP
ajst-30228	3	15	performance	performance	NOUN
ajst-30228	3	16	limitations	limitation	NOUN
ajst-30228	3	17	under	under	ADP
ajst-30228	3	18	weak	weak	ADJ
ajst-30228	3	19	texture	texture	NOUN
ajst-30228	3	20	and	and	CCONJ
ajst-30228	3	21	dynamic	dynamic	ADJ
ajst-30228	3	22	lighting	lighting	NOUN
ajst-30228	3	23	conditions	condition	NOUN
ajst-30228	3	24	,	,	PUNCT
ajst-30228	3	25	leading	lead	VERB
ajst-30228	3	26	to	to	ADP
ajst-30228	3	27	degraded	degraded	ADJ
ajst-30228	3	28	system	system	NOUN
ajst-30228	3	29	positioning	positioning	NOUN
ajst-30228	3	30	accuracy	accuracy	NOUN
ajst-30228	3	31	.	.	PUNCT
ajst-30228	4	1	to	to	PART
ajst-30228	4	2	enhance	enhance	VERB
ajst-30228	4	3	positioning	positioning	NOUN
ajst-30228	4	4	performance	performance	NOUN
ajst-30228	4	5	,	,	PUNCT
ajst-30228	4	6	shi	shi	PROPN
ajst-30228	4	7	-	-	PUNCT
ajst-30228	4	8	tomasi	tomasi	PROPN
ajst-30228	4	9	feature	feature	NOUN
ajst-30228	4	10	points	point	NOUN
ajst-30228	4	11	were	be	AUX
ajst-30228	4	12	replaced	replace	VERB
ajst-30228	4	13	with	with	ADP
ajst-30228	4	14	orb	orb	NOUN
ajst-30228	4	15	(	(	PUNCT
ajst-30228	4	16	oriented	orient	VERB
ajst-30228	4	17	fast	fast	ADJ
ajst-30228	4	18	and	and	CCONJ
ajst-30228	4	19	rotated	rotate	VERB
ajst-30228	4	20	brief	brief	ADJ
ajst-30228	4	21	)	)	PUNCT
ajst-30228	4	22	feature	feature	NOUN
ajst-30228	4	23	points	point	NOUN
ajst-30228	4	24	.	.	PUNCT
ajst-30228	5	1	the	the	DET
ajst-30228	5	2	binary	binary	PROPN
ajst-30228	5	3	brief	brief	ADJ
ajst-30228	5	4	descriptor	descriptor	NOUN
ajst-30228	5	5	was	be	AUX
ajst-30228	5	6	employed	employ	VERB
ajst-30228	5	7	to	to	PART
ajst-30228	5	8	improve	improve	VERB
ajst-30228	5	9	feature	feature	NOUN
ajst-30228	5	10	distinctiveness	distinctiveness	NOUN
ajst-30228	5	11	,	,	PUNCT
ajst-30228	5	12	and	and	CCONJ
ajst-30228	5	13	the	the	DET
ajst-30228	5	14	gray	gray	ADJ
ajst-30228	5	15	centroid	centroid	NOUN
ajst-30228	5	16	method	method	NOUN
ajst-30228	5	17	was	be	AUX
ajst-30228	5	18	applied	apply	VERB
ajst-30228	5	19	to	to	PART
ajst-30228	5	20	assign	assign	VERB
ajst-30228	5	21	orientation	orientation	NOUN
ajst-30228	5	22	information	information	NOUN
ajst-30228	5	23	,	,	PUNCT
ajst-30228	5	24	ensuring	ensure	VERB
ajst-30228	5	25	rotational	rotational	ADJ
ajst-30228	5	26	invariance	invariance	NOUN
ajst-30228	5	27	and	and	CCONJ
ajst-30228	5	28	enhancing	enhance	VERB
ajst-30228	5	29	image	image	NOUN
ajst-30228	5	30	matching	matching	NOUN
ajst-30228	5	31	robustness	robustness	NOUN
ajst-30228	5	32	in	in	ADP
ajst-30228	5	33	high	high	ADJ
ajst-30228	5	34	-	-	PUNCT
ajst-30228	5	35	speed	speed	NOUN
ajst-30228	5	36	motion	motion	NOUN
ajst-30228	5	37	scenarios	scenario	NOUN
ajst-30228	5	38	.	.	PUNCT
ajst-30228	6	1	furthermore	furthermore	ADV
ajst-30228	6	2	,	,	PUNCT
ajst-30228	6	3	a	a	DET
ajst-30228	6	4	deep	deep	ADJ
ajst-30228	6	5	learning	learning	NOUN
ajst-30228	6	6	-	-	PUNCT
ajst-30228	6	7	driven	drive	VERB
ajst-30228	6	8	feature	feature	NOUN
ajst-30228	6	9	booster	booster	NOUN
ajst-30228	6	10	technique	technique	NOUN
ajst-30228	6	11	was	be	AUX
ajst-30228	6	12	innovatively	innovatively	ADV
ajst-30228	6	13	introduced	introduce	VERB
ajst-30228	6	14	to	to	PART
ajst-30228	6	15	optimize	optimize	VERB
ajst-30228	6	16	feature	feature	NOUN
ajst-30228	6	17	descriptors	descriptor	NOUN
ajst-30228	6	18	.	.	PUNCT
ajst-30228	7	1	through	through	ADP
ajst-30228	7	2	self	self	NOUN
ajst-30228	7	3	-	-	PUNCT
ajst-30228	7	4	enhancement	enhancement	NOUN
ajst-30228	7	5	and	and	CCONJ
ajst-30228	7	6	interactive	interactive	ADJ
ajst-30228	7	7	enhancement	enhancement	NOUN
ajst-30228	7	8	mechanisms	mechanism	NOUN
ajst-30228	7	9	,	,	PUNCT
ajst-30228	7	10	the	the	DET
ajst-30228	7	11	correlations	correlation	NOUN
ajst-30228	7	12	among	among	ADP
ajst-30228	7	13	features	feature	NOUN
ajst-30228	7	14	were	be	AUX
ajst-30228	7	15	fully	fully	ADV
ajst-30228	7	16	exploited	exploit	VERB
ajst-30228	7	17	,	,	PUNCT
ajst-30228	7	18	effectively	effectively	ADV
ajst-30228	7	19	improving	improve	VERB
ajst-30228	7	20	descriptor	descriptor	NOUN
ajst-30228	7	21	distinctiveness	distinctiveness	NOUN
ajst-30228	7	22	.	.	PUNCT
ajst-30228	8	1	finally	finally	ADV
ajst-30228	8	2	,	,	PUNCT
ajst-30228	8	3	a	a	DET
ajst-30228	8	4	uav	uav	PROPN
ajst-30228	8	5	hardware	hardware	NOUN
ajst-30228	8	6	platform	platform	NOUN
ajst-30228	8	7	based	base	VERB
ajst-30228	8	8	on	on	ADP
ajst-30228	8	9	the	the	DET
ajst-30228	8	10	rk3588	rk3588	PROPN
ajst-30228	8	11	chip	chip	NOUN
ajst-30228	8	12	was	be	AUX
ajst-30228	8	13	developed	develop	VERB
ajst-30228	8	14	,	,	PUNCT
ajst-30228	8	15	and	and	CCONJ
ajst-30228	8	16	a	a	DET
ajst-30228	8	17	motion	motion	NOUN
ajst-30228	8	18	capture	capture	NOUN
ajst-30228	8	19	system	system	NOUN
ajst-30228	8	20	was	be	AUX
ajst-30228	8	21	utilized	utilize	VERB
ajst-30228	8	22	to	to	ADP
ajst-30228	8	23	fine	fine	ADJ
ajst-30228	8	24	-	-	PUNCT
ajst-30228	8	25	tune	tune	NOUN
ajst-30228	8	26	uav	uav	PROPN
ajst-30228	8	27	attitude	attitude	NOUN
ajst-30228	8	28	control	control	NOUN
ajst-30228	8	29	parameters	parameter	NOUN
ajst-30228	8	30	.	.	PUNCT
ajst-30228	9	1	simulations	simulation	NOUN
ajst-30228	9	2	using	use	VERB
ajst-30228	9	3	the	the	DET
ajst-30228	9	4	euroc	euroc	ADJ
ajst-30228	9	5	dataset	dataset	NOUN
ajst-30228	9	6	and	and	CCONJ
ajst-30228	9	7	real	real	ADJ
ajst-30228	9	8	-	-	PUNCT
ajst-30228	9	9	world	world	NOUN
ajst-30228	9	10	indoor	indoor	ADJ
ajst-30228	9	11	flight	flight	NOUN
ajst-30228	9	12	experiments	experiment	NOUN
ajst-30228	9	13	were	be	AUX
ajst-30228	9	14	conducted	conduct	VERB
ajst-30228	9	15	to	to	PART
ajst-30228	9	16	verify	verify	VERB
ajst-30228	9	17	the	the	DET
ajst-30228	9	18	positioning	positioning	NOUN
ajst-30228	9	19	performance	performance	NOUN
ajst-30228	9	20	and	and	CCONJ
ajst-30228	9	21	feasibility	feasibility	NOUN
ajst-30228	9	22	of	of	ADP
ajst-30228	9	23	the	the	DET
ajst-30228	9	24	improved	improved	ADJ
ajst-30228	9	25	algorithm	algorithm	NOUN
ajst-30228	9	26	.	.	PUNCT
ajst-30228	10	1	experimental	experimental	ADJ
ajst-30228	10	2	results	result	NOUN
ajst-30228	10	3	demonstrated	demonstrate	VERB
ajst-30228	10	4	that	that	SCONJ
ajst-30228	10	5	,	,	PUNCT
ajst-30228	10	6	in	in	ADP
ajst-30228	10	7	complex	complex	ADJ
ajst-30228	10	8	indoor	indoor	ADJ
ajst-30228	10	9	environments	environment	NOUN
ajst-30228	10	10	,	,	PUNCT
ajst-30228	10	11	the	the	DET
ajst-30228	10	12	root	root	NOUN
ajst-30228	10	13	mean	mean	VERB
ajst-30228	10	14	square	square	ADJ
ajst-30228	10	15	error	error	NOUN
ajst-30228	10	16	(	(	PUNCT
ajst-30228	10	17	rmse	rmse	NOUN
ajst-30228	10	18	)	)	PUNCT
ajst-30228	10	19	of	of	ADP
ajst-30228	10	20	the	the	DET
ajst-30228	10	21	improved	improved	ADJ
ajst-30228	10	22	algorithm	algorithm	NOUN
ajst-30228	10	23	was	be	AUX
ajst-30228	10	24	reduced	reduce	VERB
ajst-30228	10	25	by	by	ADP
ajst-30228	10	26	12.24	12.24	NUM
ajst-30228	10	27	%	%	NOUN
ajst-30228	10	28	compared	compare	VERB
ajst-30228	10	29	to	to	ADP
ajst-30228	10	30	the	the	DET
ajst-30228	10	31	original	original	ADJ
ajst-30228	10	32	vins	vin	NOUN
ajst-30228	10	33	-	-	PUNCT
ajst-30228	10	34	fusion	fusion	NOUN
ajst-30228	10	35	algorithm	algorithm	NOUN
ajst-30228	10	36	,	,	PUNCT
ajst-30228	10	37	achieving	achieve	VERB
ajst-30228	10	38	higher	high	ADJ
ajst-30228	10	39	positioning	positioning	NOUN
ajst-30228	10	40	accuracy	accuracy	NOUN
ajst-30228	10	41	under	under	ADP
ajst-30228	10	42	dynamic	dynamic	ADJ
ajst-30228	10	43	lighting	lighting	NOUN
ajst-30228	10	44	and	and	CCONJ
ajst-30228	10	45	sparse	sparse	ADJ
ajst-30228	10	46	texture	texture	ADJ
ajst-30228	10	47	conditions	condition	NOUN
ajst-30228	10	48	.	.	PUNCT
ajst-30228	11	1	keywords	keyword	NOUN
ajst-30228	11	2	:	:	PUNCT
ajst-30228	11	3	feature	feature	NOUN
ajst-30228	11	4	boosting	boosting	NOUN
ajst-30228	11	5	,	,	PUNCT
ajst-30228	11	6	uav	uav	PROPN
ajst-30228	11	7	indoor	indoor	PROPN
ajst-30228	11	8	localization	localization	NOUN
ajst-30228	11	9	,	,	PUNCT
ajst-30228	11	10	visual	visual	ADJ
ajst-30228	11	11	-	-	PUNCT
ajst-30228	11	12	inertial	inertial	NOUN
ajst-30228	11	13	odometry	odometry	NOUN
ajst-30228	11	14	,	,	PUNCT
ajst-30228	11	15	vision	vision	NOUN
ajst-30228	11	16	-	-	PUNCT
ajst-30228	11	17	inertial	inertial	NOUN
ajst-30228	11	18	fusion	fusion	NOUN
ajst-30228	11	19	.	.	PUNCT
ajst-30228	12	1	1	1	X
ajst-30228	12	2	.	.	X
ajst-30228	12	3	introduction	introduction	NOUN
ajst-30228	12	4	with	with	ADP
ajst-30228	12	5	the	the	DET
ajst-30228	12	6	rapid	rapid	ADJ
ajst-30228	12	7	industrialization	industrialization	NOUN
ajst-30228	12	8	of	of	ADP
ajst-30228	12	9	the	the	DET
ajst-30228	12	10	low	low	ADJ
ajst-30228	12	11	-	-	PUNCT
ajst-30228	12	12	altitude	altitude	NOUN
ajst-30228	12	13	economy	economy	NOUN
ajst-30228	12	14	[	[	X
ajst-30228	12	15	1	1	NUM
ajst-30228	12	16	]	]	PUNCT
ajst-30228	12	17	,	,	PUNCT
ajst-30228	12	18	uav	uav	PROPN
ajst-30228	12	19	technology	technology	NOUN
ajst-30228	12	20	is	be	AUX
ajst-30228	12	21	increasingly	increasingly	ADV
ajst-30228	12	22	being	be	AUX
ajst-30228	12	23	applied	apply	VERB
ajst-30228	12	24	in	in	ADP
ajst-30228	12	25	various	various	ADJ
ajst-30228	12	26	fields	field	NOUN
ajst-30228	12	27	such	such	ADJ
ajst-30228	12	28	as	as	ADP
ajst-30228	12	29	logistics	logistic	NOUN
ajst-30228	12	30	and	and	CCONJ
ajst-30228	12	31	transportation	transportation	NOUN
ajst-30228	12	32	[	[	X
ajst-30228	12	33	2	2	NUM
ajst-30228	12	34	]	]	PUNCT
ajst-30228	12	35	,	,	PUNCT
ajst-30228	12	36	infrastructure	infrastructure	NOUN
ajst-30228	12	37	inspection	inspection	NOUN
ajst-30228	13	1	[	[	X
ajst-30228	13	2	3	3	NUM
ajst-30228	13	3	]	]	PUNCT
ajst-30228	13	4	,	,	PUNCT
ajst-30228	13	5	and	and	CCONJ
ajst-30228	13	6	disaster	disaster	NOUN
ajst-30228	13	7	assessment	assessment	NOUN
ajst-30228	13	8	[	[	X
ajst-30228	13	9	4	4	NUM
ajst-30228	13	10	]	]	PUNCT
ajst-30228	13	11	.	.	PUNCT
ajst-30228	14	1	however	however	ADV
ajst-30228	14	2	,	,	PUNCT
ajst-30228	14	3	achieving	achieve	VERB
ajst-30228	14	4	accurate	accurate	ADJ
ajst-30228	14	5	uav	uav	PROPN
ajst-30228	14	6	localization	localization	NOUN
ajst-30228	14	7	in	in	ADP
ajst-30228	14	8	indoor	indoor	ADJ
ajst-30228	14	9	environments	environment	NOUN
ajst-30228	14	10	or	or	CCONJ
ajst-30228	14	11	signal	signal	NOUN
ajst-30228	14	12	-	-	PUNCT
ajst-30228	14	13	constrained	constrain	VERB
ajst-30228	14	14	scenarios	scenario	NOUN
ajst-30228	14	15	remains	remain	VERB
ajst-30228	14	16	a	a	DET
ajst-30228	14	17	significant	significant	ADJ
ajst-30228	14	18	challenge	challenge	NOUN
ajst-30228	14	19	[	[	X
ajst-30228	14	20	5	5	NUM
ajst-30228	14	21	]	]	PUNCT
ajst-30228	14	22	.	.	PUNCT
ajst-30228	15	1	such	such	ADJ
ajst-30228	15	2	unstructured	unstructured	ADJ
ajst-30228	15	3	environments	environment	NOUN
ajst-30228	15	4	not	not	PART
ajst-30228	15	5	only	only	ADV
ajst-30228	15	6	suffer	suffer	VERB
ajst-30228	15	7	from	from	ADP
ajst-30228	15	8	the	the	DET
ajst-30228	15	9	inherent	inherent	ADJ
ajst-30228	15	10	deficiency	deficiency	NOUN
ajst-30228	15	11	of	of	ADP
ajst-30228	15	12	satellite	satellite	NOUN
ajst-30228	15	13	navigation	navigation	NOUN
ajst-30228	15	14	signal	signal	NOUN
ajst-30228	15	15	loss	loss	NOUN
ajst-30228	15	16	but	but	CCONJ
ajst-30228	15	17	also	also	ADV
ajst-30228	15	18	introduce	introduce	VERB
ajst-30228	15	19	complex	complex	ADJ
ajst-30228	15	20	disturbances	disturbance	NOUN
ajst-30228	15	21	such	such	ADJ
ajst-30228	15	22	as	as	ADP
ajst-30228	15	23	sparse	sparse	ADJ
ajst-30228	15	24	visual	visual	ADJ
ajst-30228	15	25	features	feature	NOUN
ajst-30228	15	26	and	and	CCONJ
ajst-30228	15	27	unstable	unstable	ADJ
ajst-30228	15	28	lighting	lighting	NOUN
ajst-30228	15	29	conditions	condition	NOUN
ajst-30228	15	30	,	,	PUNCT
ajst-30228	15	31	making	make	VERB
ajst-30228	15	32	traditional	traditional	ADJ
ajst-30228	15	33	localization	localization	NOUN
ajst-30228	15	34	algorithms	algorithm	VERB
ajst-30228	15	35	insufficient	insufficient	ADJ
ajst-30228	15	36	for	for	ADP
ajst-30228	15	37	navigation	navigation	NOUN
ajst-30228	15	38	requirements	requirement	NOUN
ajst-30228	15	39	.	.	PUNCT
ajst-30228	16	1	therefore	therefore	ADV
ajst-30228	16	2	,	,	PUNCT
ajst-30228	16	3	achieving	achieve	VERB
ajst-30228	16	4	high	high	ADJ
ajst-30228	16	5	-	-	PUNCT
ajst-30228	16	6	precision	precision	NOUN
ajst-30228	16	7	uav	uav	PROPN
ajst-30228	16	8	localization	localization	NOUN
ajst-30228	16	9	under	under	ADP
ajst-30228	16	10	gnss	gnss	NOUN
ajst-30228	16	11	-	-	PUNCT
ajst-30228	16	12	denied	deny	VERB
ajst-30228	16	13	conditions	condition	NOUN
ajst-30228	16	14	has	have	AUX
ajst-30228	16	15	become	become	VERB
ajst-30228	16	16	a	a	DET
ajst-30228	16	17	critical	critical	ADJ
ajst-30228	16	18	research	research	NOUN
ajst-30228	16	19	focus	focus	NOUN
ajst-30228	16	20	.	.	PUNCT
ajst-30228	17	1	current	current	ADJ
ajst-30228	17	2	indoor	indoor	ADJ
ajst-30228	17	3	localization	localization	NOUN
ajst-30228	17	4	techniques	technique	NOUN
ajst-30228	17	5	include	include	AUX
ajst-30228	17	6	lidarbased	lidarbase	VERB
ajst-30228	17	7	[	[	PUNCT
ajst-30228	17	8	6	6	NUM
ajst-30228	17	9	]	]	PUNCT
ajst-30228	17	10	and	and	CCONJ
ajst-30228	17	11	ultra	ultra	ADJ
ajst-30228	17	12	-	-	ADJ
ajst-30228	17	13	wideband	wideband	ADJ
ajst-30228	17	14	(	(	PUNCT
ajst-30228	17	15	uwb)-based	uwb)-base	VERB
ajst-30228	17	16	[	[	PUNCT
ajst-30228	17	17	7	7	NUM
ajst-30228	17	18	]	]	ADJ
ajst-30228	17	19	methods	method	NOUN
ajst-30228	17	20	.	.	PUNCT
ajst-30228	18	1	although	although	SCONJ
ajst-30228	18	2	these	these	DET
ajst-30228	18	3	approaches	approach	NOUN
ajst-30228	18	4	provide	provide	VERB
ajst-30228	18	5	high	high	ADJ
ajst-30228	18	6	accuracy	accuracy	NOUN
ajst-30228	18	7	,	,	PUNCT
ajst-30228	18	8	they	they	PRON
ajst-30228	18	9	require	require	VERB
ajst-30228	18	10	additional	additional	ADJ
ajst-30228	18	11	sensing	sense	VERB
ajst-30228	18	12	equipment	equipment	NOUN
ajst-30228	18	13	or	or	CCONJ
ajst-30228	18	14	pre	pre	ADJ
ajst-30228	18	15	-	-	ADJ
ajst-30228	18	16	deployed	deploy	VERB
ajst-30228	18	17	base	base	NOUN
ajst-30228	18	18	stations	station	NOUN
ajst-30228	18	19	,	,	PUNCT
ajst-30228	18	20	increasing	increase	VERB
ajst-30228	18	21	system	system	NOUN
ajst-30228	18	22	deployment	deployment	NOUN
ajst-30228	18	23	costs	cost	NOUN
ajst-30228	18	24	.	.	PUNCT
ajst-30228	19	1	in	in	ADP
ajst-30228	19	2	contrast	contrast	NOUN
ajst-30228	19	3	,	,	PUNCT
ajst-30228	19	4	vision	vision	NOUN
ajst-30228	19	5	-	-	PUNCT
ajst-30228	19	6	inertial	inertial	NOUN
ajst-30228	19	7	fusion	fusion	NOUN
ajst-30228	19	8	-	-	PUNCT
ajst-30228	19	9	based	base	VERB
ajst-30228	19	10	localization	localization	NOUN
ajst-30228	19	11	methods	method	NOUN
ajst-30228	19	12	[	[	X
ajst-30228	19	13	8	8	X
ajst-30228	19	14	]	]	PUNCT
ajst-30228	19	15	have	have	AUX
ajst-30228	19	16	attracted	attract	VERB
ajst-30228	19	17	considerable	considerable	ADJ
ajst-30228	19	18	attention	attention	NOUN
ajst-30228	19	19	due	due	ADP
ajst-30228	19	20	to	to	ADP
ajst-30228	19	21	their	their	PRON
ajst-30228	19	22	compact	compact	ADJ
ajst-30228	19	23	sensor	sensor	NOUN
ajst-30228	19	24	size	size	NOUN
ajst-30228	19	25	and	and	CCONJ
ajst-30228	19	26	ease	ease	NOUN
ajst-30228	19	27	of	of	ADP
ajst-30228	19	28	integration	integration	NOUN
ajst-30228	19	29	.	.	PUNCT
ajst-30228	20	1	visual	visual	ADJ
ajst-30228	20	2	sensors	sensor	NOUN
ajst-30228	20	3	provide	provide	VERB
ajst-30228	20	4	rich	rich	ADJ
ajst-30228	20	5	environmental	environmental	ADJ
ajst-30228	20	6	feature	feature	NOUN
ajst-30228	20	7	information	information	NOUN
ajst-30228	20	8	,	,	PUNCT
ajst-30228	20	9	while	while	SCONJ
ajst-30228	20	10	an	an	DET
ajst-30228	20	11	inertial	inertial	ADJ
ajst-30228	20	12	measurement	measurement	NOUN
ajst-30228	20	13	unit	unit	NOUN
ajst-30228	20	14	(	(	PUNCT
ajst-30228	20	15	imu	imu	NOUN
ajst-30228	20	16	)	)	PUNCT
ajst-30228	20	17	,	,	PUNCT
ajst-30228	20	18	leveraging	leverage	VERB
ajst-30228	20	19	its	its	PRON
ajst-30228	20	20	high	high	ADJ
ajst-30228	20	21	-	-	PUNCT
ajst-30228	20	22	frequency	frequency	NOUN
ajst-30228	20	23	data	datum	NOUN
ajst-30228	20	24	acquisition	acquisition	NOUN
ajst-30228	20	25	capability	capability	NOUN
ajst-30228	20	26	,	,	PUNCT
ajst-30228	20	27	enhances	enhance	VERB
ajst-30228	20	28	short	short	ADJ
ajst-30228	20	29	-	-	PUNCT
ajst-30228	20	30	term	term	NOUN
ajst-30228	20	31	localization	localization	NOUN
ajst-30228	20	32	accuracy	accuracy	NOUN
ajst-30228	20	33	and	and	CCONJ
ajst-30228	20	34	system	system	NOUN
ajst-30228	20	35	real	real	ADJ
ajst-30228	20	36	-	-	PUNCT
ajst-30228	20	37	time	time	NOUN
ajst-30228	20	38	performance	performance	NOUN
ajst-30228	20	39	[	[	X
ajst-30228	20	40	9	9	NUM
ajst-30228	20	41	]	]	PUNCT
ajst-30228	20	42	.	.	PUNCT
ajst-30228	21	1	the	the	DET
ajst-30228	21	2	complementary	complementary	ADJ
ajst-30228	21	3	fusion	fusion	NOUN
ajst-30228	21	4	of	of	ADP
ajst-30228	21	5	these	these	DET
ajst-30228	21	6	two	two	NUM
ajst-30228	21	7	modalities	modality	NOUN
ajst-30228	21	8	effectively	effectively	ADV
ajst-30228	21	9	mitigates	mitigate	VERB
ajst-30228	21	10	the	the	DET
ajst-30228	21	11	limitations	limitation	NOUN
ajst-30228	21	12	of	of	ADP
ajst-30228	21	13	standalone	standalone	ADJ
ajst-30228	21	14	sensors	sensor	NOUN
ajst-30228	21	15	,	,	PUNCT
ajst-30228	21	16	reduces	reduce	VERB
ajst-30228	21	17	accumulated	accumulated	ADJ
ajst-30228	21	18	errors	error	NOUN
ajst-30228	21	19	,	,	PUNCT
ajst-30228	21	20	and	and	CCONJ
ajst-30228	21	21	improves	improve	VERB
ajst-30228	21	22	localization	localization	NOUN
ajst-30228	21	23	capability	capability	NOUN
ajst-30228	21	24	during	during	ADP
ajst-30228	21	25	high	high	ADJ
ajst-30228	21	26	-	-	PUNCT
ajst-30228	21	27	speed	speed	NOUN
ajst-30228	21	28	uav	uav	PROPN
ajst-30228	21	29	motion	motion	NOUN
ajst-30228	21	30	[	[	X
ajst-30228	21	31	10	10	NUM
ajst-30228	21	32	]	]	PUNCT
ajst-30228	21	33	.	.	PUNCT
ajst-30228	22	1	vins	vin	NOUN
ajst-30228	22	2	-	-	PUNCT
ajst-30228	22	3	fusion	fusion	NOUN
ajst-30228	22	4	is	be	AUX
ajst-30228	22	5	a	a	DET
ajst-30228	22	6	classic	classic	ADJ
ajst-30228	22	7	vision	vision	NOUN
ajst-30228	22	8	-	-	PUNCT
ajst-30228	22	9	inertial	inertial	ADJ
ajst-30228	22	10	fusion	fusion	NOUN
ajst-30228	22	11	algorithm	algorithm	NOUN
ajst-30228	22	12	[	[	X
ajst-30228	22	13	11	11	NUM
ajst-30228	22	14	]	]	PUNCT
ajst-30228	22	15	that	that	PRON
ajst-30228	22	16	achieves	achieve	VERB
ajst-30228	22	17	efficient	efficient	ADJ
ajst-30228	22	18	pose	pose	NOUN
ajst-30228	22	19	estimation	estimation	NOUN
ajst-30228	22	20	through	through	ADP
ajst-30228	22	21	frontend	frontend	NOUN
ajst-30228	22	22	feature	feature	NOUN
ajst-30228	22	23	extraction	extraction	NOUN
ajst-30228	22	24	and	and	CCONJ
ajst-30228	22	25	tracking	tracking	NOUN
ajst-30228	22	26	,	,	PUNCT
ajst-30228	22	27	coupled	couple	VERB
ajst-30228	22	28	with	with	ADP
ajst-30228	22	29	backend	backend	NOUN
ajst-30228	22	30	sliding	slide	VERB
ajst-30228	22	31	window	window	NOUN
ajst-30228	22	32	optimization	optimization	NOUN
ajst-30228	22	33	[	[	X
ajst-30228	22	34	12	12	NUM
ajst-30228	22	35	]	]	PUNCT
ajst-30228	22	36	.	.	PUNCT
ajst-30228	23	1	however	however	ADV
ajst-30228	23	2	,	,	PUNCT
ajst-30228	23	3	its	its	PRON
ajst-30228	23	4	performance	performance	NOUN
ajst-30228	23	5	is	be	AUX
ajst-30228	23	6	highly	highly	ADV
ajst-30228	23	7	dependent	dependent	ADJ
ajst-30228	23	8	on	on	ADP
ajst-30228	23	9	the	the	DET
ajst-30228	23	10	accuracy	accuracy	NOUN
ajst-30228	23	11	of	of	ADP
ajst-30228	23	12	frontend	frontend	NOUN
ajst-30228	23	13	feature	feature	NOUN
ajst-30228	23	14	point	point	NOUN
ajst-30228	23	15	extraction	extraction	NOUN
ajst-30228	23	16	and	and	CCONJ
ajst-30228	23	17	the	the	DET
ajst-30228	23	18	robustness	robustness	NOUN
ajst-30228	23	19	of	of	ADP
ajst-30228	23	20	feature	feature	NOUN
ajst-30228	23	21	matching	matching	NOUN
ajst-30228	23	22	.	.	PUNCT
ajst-30228	24	1	vinsfusion	vinsfusion	NOUN
ajst-30228	24	2	employs	employ	VERB
ajst-30228	24	3	the	the	DET
ajst-30228	24	4	shi	shi	PROPN
ajst-30228	24	5	-	-	PUNCT
ajst-30228	24	6	tomasi	tomasi	PROPN
ajst-30228	24	7	algorithm	algorithm	NOUN
ajst-30228	24	8	for	for	ADP
ajst-30228	24	9	feature	feature	NOUN
ajst-30228	24	10	point	point	NOUN
ajst-30228	24	11	detection	detection	NOUN
ajst-30228	24	12	,	,	PUNCT
ajst-30228	24	13	which	which	PRON
ajst-30228	24	14	is	be	AUX
ajst-30228	24	15	prone	prone	ADJ
ajst-30228	24	16	to	to	ADP
ajst-30228	24	17	detection	detection	NOUN
ajst-30228	24	18	deficiencies	deficiency	NOUN
ajst-30228	24	19	and	and	CCONJ
ajst-30228	24	20	cumulative	cumulative	ADJ
ajst-30228	24	21	matching	matching	NOUN
ajst-30228	24	22	errors	error	NOUN
ajst-30228	24	23	in	in	ADP
ajst-30228	24	24	weak	weak	ADJ
ajst-30228	24	25	-	-	PUNCT
ajst-30228	24	26	texture	texture	NOUN
ajst-30228	24	27	and	and	CCONJ
ajst-30228	24	28	dynamic	dynamic	ADJ
ajst-30228	24	29	lighting	lighting	NOUN
ajst-30228	24	30	environments	environment	NOUN
ajst-30228	24	31	.	.	PUNCT
ajst-30228	25	1	these	these	DET
ajst-30228	25	2	limitations	limitation	NOUN
ajst-30228	25	3	affect	affect	VERB
ajst-30228	25	4	the	the	DET
ajst-30228	25	5	accuracy	accuracy	NOUN
ajst-30228	25	6	of	of	ADP
ajst-30228	25	7	sliding	slide	VERB
ajst-30228	25	8	window	window	NOUN
ajst-30228	25	9	optimization	optimization	NOUN
ajst-30228	25	10	,	,	PUNCT
ajst-30228	25	11	thereby	thereby	ADV
ajst-30228	25	12	reducing	reduce	VERB
ajst-30228	25	13	overall	overall	ADJ
ajst-30228	25	14	system	system	NOUN
ajst-30228	25	15	localization	localization	NOUN
ajst-30228	25	16	performance	performance	NOUN
ajst-30228	25	17	.	.	PUNCT
ajst-30228	26	1	to	to	PART
ajst-30228	26	2	address	address	VERB
ajst-30228	26	3	these	these	DET
ajst-30228	26	4	challenges	challenge	NOUN
ajst-30228	26	5	,	,	PUNCT
ajst-30228	26	6	this	this	DET
ajst-30228	26	7	study	study	NOUN
ajst-30228	26	8	proposes	propose	VERB
ajst-30228	26	9	a	a	DET
ajst-30228	26	10	featureboosted	featureboosted	ADJ
ajst-30228	26	11	vision	vision	NOUN
ajst-30228	26	12	-	-	PUNCT
ajst-30228	26	13	inertial	inertial	NOUN
ajst-30228	26	14	navigation	navigation	NOUN
ajst-30228	26	15	system	system	NOUN
ajst-30228	26	16	(	(	PUNCT
ajst-30228	26	17	fb	fb	NOUN
ajst-30228	26	18	-	-	PUNCT
ajst-30228	26	19	vins	vin	NOUN
ajst-30228	26	20	)	)	PUNCT
ajst-30228	26	21	designed	design	VERB
ajst-30228	26	22	for	for	ADP
ajst-30228	26	23	uav	uav	PROPN
ajst-30228	26	24	localization	localization	NOUN
ajst-30228	26	25	in	in	ADP
ajst-30228	26	26	complex	complex	ADJ
ajst-30228	26	27	indoor	indoor	ADJ
ajst-30228	26	28	environments	environment	NOUN
ajst-30228	26	29	.	.	PUNCT
ajst-30228	27	1	the	the	DET
ajst-30228	27	2	proposed	propose	VERB
ajst-30228	27	3	method	method	NOUN
ajst-30228	27	4	improves	improve	VERB
ajst-30228	27	5	upon	upon	SCONJ
ajst-30228	27	6	the	the	DET
ajst-30228	27	7	shitomasi	shitomasi	NOUN
ajst-30228	27	8	feature	feature	NOUN
ajst-30228	27	9	point	point	NOUN
ajst-30228	27	10	detection	detection	NOUN
ajst-30228	27	11	module	module	NOUN
ajst-30228	27	12	in	in	ADP
ajst-30228	27	13	vins	vin	NOUN
ajst-30228	27	14	-	-	PUNCT
ajst-30228	27	15	fusion	fusion	NOUN
ajst-30228	27	16	by	by	ADP
ajst-30228	27	17	introducing	introduce	VERB
ajst-30228	27	18	feature	feature	NOUN
ajst-30228	27	19	-	-	PUNCT
ajst-30228	27	20	aware	aware	ADJ
ajst-30228	27	21	algorithmic	algorithmic	ADJ
ajst-30228	27	22	optimizations	optimization	NOUN
ajst-30228	27	23	in	in	ADP
ajst-30228	27	24	the	the	DET
ajst-30228	27	25	visual	visual	ADJ
ajst-30228	27	26	frontend	frontend	NOUN
ajst-30228	27	27	.	.	PUNCT
ajst-30228	28	1	a	a	DET
ajst-30228	28	2	deep	deep	ADJ
ajst-30228	28	3	learning	learning	NOUN
ajst-30228	28	4	-	-	PUNCT
ajst-30228	28	5	based	base	VERB
ajst-30228	28	6	feature	feature	NOUN
ajst-30228	28	7	booster	booster	NOUN
ajst-30228	28	8	framework	framework	NOUN
ajst-30228	28	9	[	[	X
ajst-30228	28	10	13	13	NUM
ajst-30228	28	11	]	]	PUNCT
ajst-30228	28	12	is	be	AUX
ajst-30228	28	13	employed	employ	VERB
ajst-30228	28	14	to	to	PART
ajst-30228	28	15	construct	construct	VERB
ajst-30228	28	16	a	a	DET
ajst-30228	28	17	feature	feature	NOUN
ajst-30228	28	18	enhancement	enhancement	NOUN
ajst-30228	28	19	mechanism	mechanism	NOUN
ajst-30228	28	20	,	,	PUNCT
ajst-30228	28	21	dynamically	dynamically	ADV
ajst-30228	28	22	amplifying	amplify	VERB
ajst-30228	28	23	texture	texture	NOUN
ajst-30228	28	24	features	feature	NOUN
ajst-30228	28	25	and	and	CCONJ
ajst-30228	28	26	their	their	PRON
ajst-30228	28	27	descriptors	descriptor	NOUN
ajst-30228	28	28	in	in	ADP
ajst-30228	28	29	key	key	ADJ
ajst-30228	28	30	regions	region	NOUN
ajst-30228	28	31	through	through	ADP
ajst-30228	28	32	multidimensional	multidimensional	ADJ
ajst-30228	28	33	feature	feature	NOUN
ajst-30228	28	34	response	response	NOUN
ajst-30228	28	35	analysis	analysis	NOUN
ajst-30228	28	36	,	,	PUNCT
ajst-30228	28	37	without	without	ADP
ajst-30228	28	38	significantly	significantly	ADV
ajst-30228	28	39	increasing	increase	VERB
ajst-30228	28	40	computational	computational	ADJ
ajst-30228	28	41	complexity	complexity	NOUN
ajst-30228	28	42	.	.	PUNCT
ajst-30228	29	1	furthermore	furthermore	ADV
ajst-30228	29	2	,	,	PUNCT
ajst-30228	29	3	a	a	DET
ajst-30228	29	4	uav	uav	PROPN
ajst-30228	29	5	hardware	hardware	NOUN
ajst-30228	29	6	platform	platform	NOUN
ajst-30228	29	7	based	base	VERB
ajst-30228	29	8	on	on	ADP
ajst-30228	29	9	the	the	DET
ajst-30228	29	10	rk3588	rk3588	PROPN
ajst-30228	29	11	chip	chip	NOUN
ajst-30228	29	12	was	be	AUX
ajst-30228	29	13	developed	develop	VERB
ajst-30228	29	14	,	,	PUNCT
ajst-30228	29	15	featuring	feature	VERB
ajst-30228	29	16	high	high	ADJ
ajst-30228	29	17	computational	computational	ADJ
ajst-30228	29	18	power	power	NOUN
ajst-30228	29	19	and	and	CCONJ
ajst-30228	29	20	low	low	ADJ
ajst-30228	29	21	power	power	NOUN
ajst-30228	29	22	consumption	consumption	NOUN
ajst-30228	29	23	,	,	PUNCT
ajst-30228	29	24	ensuring	ensure	VERB
ajst-30228	29	25	real	real	ADJ
ajst-30228	29	26	-	-	PUNCT
ajst-30228	29	27	time	time	NOUN
ajst-30228	29	28	execution	execution	NOUN
ajst-30228	29	29	of	of	ADP
ajst-30228	29	30	the	the	DET
ajst-30228	29	31	improved	improved	ADJ
ajst-30228	29	32	algorithm	algorithm	NOUN
ajst-30228	29	33	.	.	PUNCT
ajst-30228	30	1	simulations	simulation	NOUN
ajst-30228	30	2	using	use	VERB
ajst-30228	30	3	the	the	DET
ajst-30228	30	4	euroc	euroc	ADJ
ajst-30228	30	5	dataset	dataset	NOUN
ajst-30228	30	6	,	,	PUNCT
ajst-30228	30	7	along	along	ADP
ajst-30228	30	8	with	with	ADP
ajst-30228	30	9	real	real	ADJ
ajst-30228	30	10	-	-	PUNCT
ajst-30228	30	11	world	world	NOUN
ajst-30228	30	12	indoor	indoor	ADJ
ajst-30228	30	13	flight	flight	NOUN
ajst-30228	30	14	experiments	experiment	NOUN
ajst-30228	30	15	,	,	PUNCT
ajst-30228	30	16	were	be	AUX
ajst-30228	30	17	conducted	conduct	VERB
ajst-30228	30	18	to	to	PART
ajst-30228	30	19	systematically	systematically	ADV
ajst-30228	30	20	evaluate	evaluate	VERB
ajst-30228	30	21	the	the	DET
ajst-30228	30	22	localization	localization	NOUN
ajst-30228	30	23	performance	performance	NOUN
ajst-30228	30	24	of	of	ADP
ajst-30228	30	25	the	the	DET
ajst-30228	30	26	proposed	propose	VERB
ajst-30228	30	27	method	method	NOUN
ajst-30228	30	28	.	.	PUNCT
ajst-30228	31	1	experimental	experimental	ADJ
ajst-30228	31	2	results	result	NOUN
ajst-30228	31	3	demonstrate	demonstrate	VERB
ajst-30228	31	4	that	that	SCONJ
ajst-30228	31	5	fb	fb	ADJ
ajst-30228	31	6	-	-	PUNCT
ajst-30228	31	7	vins	vin	NOUN
ajst-30228	31	8	outperforms	outperform	VERB
ajst-30228	31	9	the	the	DET
ajst-30228	31	10	conventional	conventional	ADJ
ajst-30228	31	11	vins	vin	NOUN
ajst-30228	31	12	-	-	PUNCT
ajst-30228	31	13	fusion	fusion	NOUN
ajst-30228	31	14	algorithm	algorithm	NOUN
ajst-30228	31	15	in	in	ADP
ajst-30228	31	16	complex	complex	ADJ
ajst-30228	31	17	indoor	indoor	ADJ
ajst-30228	31	18	environments	environment	NOUN
ajst-30228	31	19	.	.	PUNCT
ajst-30228	32	1	329	329	NUM
ajst-30228	32	2	2	2	NUM
ajst-30228	32	3	.	.	PUNCT
ajst-30228	32	4	materials	material	NOUN
ajst-30228	32	5	and	and	CCONJ
ajst-30228	32	6	methods	method	NOUN
ajst-30228	32	7	2.1	2.1	NUM
ajst-30228	32	8	.	.	PUNCT
ajst-30228	33	1	algorithm	algorithm	NOUN
ajst-30228	33	2	implementation	implementation	NOUN
ajst-30228	33	3	architecture	architecture	NOUN
ajst-30228	33	4	the	the	DET
ajst-30228	33	5	proposed	propose	VERB
ajst-30228	33	6	algorithm	algorithm	NOUN
ajst-30228	33	7	architecture	architecture	NOUN
ajst-30228	33	8	consists	consist	VERB
ajst-30228	33	9	of	of	ADP
ajst-30228	33	10	three	three	NUM
ajst-30228	33	11	major	major	ADJ
ajst-30228	33	12	modules	module	NOUN
ajst-30228	33	13	:	:	PUNCT
ajst-30228	33	14	visual	visual	ADJ
ajst-30228	33	15	-	-	PUNCT
ajst-30228	33	16	inertial	inertial	ADJ
ajst-30228	33	17	frontend	frontend	NOUN
ajst-30228	33	18	,	,	PUNCT
ajst-30228	33	19	nonlinear	nonlinear	ADJ
ajst-30228	33	20	optimization	optimization	NOUN
ajst-30228	33	21	backend	backend	NOUN
ajst-30228	33	22	,	,	PUNCT
ajst-30228	33	23	and	and	CCONJ
ajst-30228	33	24	loop	loop	NOUN
ajst-30228	33	25	closure	closure	NOUN
ajst-30228	33	26	detection	detection	NOUN
ajst-30228	33	27	.	.	PUNCT
ajst-30228	34	1	these	these	DET
ajst-30228	34	2	components	component	NOUN
ajst-30228	34	3	work	work	VERB
ajst-30228	34	4	collaboratively	collaboratively	ADV
ajst-30228	34	5	to	to	PART
ajst-30228	34	6	achieve	achieve	VERB
ajst-30228	34	7	high	high	ADJ
ajst-30228	34	8	-	-	PUNCT
ajst-30228	34	9	precision	precision	NOUN
ajst-30228	34	10	and	and	CCONJ
ajst-30228	34	11	robust	robust	ADJ
ajst-30228	34	12	uav	uav	PROPN
ajst-30228	34	13	indoor	indoor	ADJ
ajst-30228	34	14	localization	localization	NOUN
ajst-30228	34	15	.	.	PUNCT
ajst-30228	35	1	the	the	DET
ajst-30228	35	2	system	system	NOUN
ajst-30228	35	3	framework	framework	NOUN
ajst-30228	35	4	is	be	AUX
ajst-30228	35	5	illustrated	illustrate	VERB
ajst-30228	35	6	in	in	ADP
ajst-30228	35	7	figure	figure	NOUN
ajst-30228	35	8	1	1	NUM
ajst-30228	35	9	.	.	PUNCT
ajst-30228	35	10	figure	figure	NOUN
ajst-30228	35	11	1	1	NUM
ajst-30228	35	12	.	.	PUNCT
ajst-30228	35	13	fb	fb	ADJ
ajst-30228	35	14	-	-	PUNCT
ajst-30228	35	15	vins	vin	NOUN
ajst-30228	35	16	system	system	NOUN
ajst-30228	35	17	framework	framework	NOUN
ajst-30228	35	18	2.1.1	2.1.1	NUM
ajst-30228	35	19	.	.	PUNCT
ajst-30228	36	1	visual	visual	ADJ
ajst-30228	36	2	-	-	PUNCT
ajst-30228	36	3	inertial	inertial	NOUN
ajst-30228	36	4	frontend	frontend	NOUN
ajst-30228	36	5	the	the	DET
ajst-30228	36	6	visual	visual	ADJ
ajst-30228	36	7	frontend	frontend	NOUN
ajst-30228	36	8	is	be	AUX
ajst-30228	36	9	responsible	responsible	ADJ
ajst-30228	36	10	for	for	ADP
ajst-30228	36	11	extracting	extract	VERB
ajst-30228	36	12	highquality	highquality	NOUN
ajst-30228	36	13	feature	feature	NOUN
ajst-30228	36	14	points	point	NOUN
ajst-30228	36	15	and	and	CCONJ
ajst-30228	36	16	their	their	PRON
ajst-30228	36	17	descriptors	descriptor	NOUN
ajst-30228	36	18	from	from	ADP
ajst-30228	36	19	images	image	NOUN
ajst-30228	36	20	and	and	CCONJ
ajst-30228	36	21	providing	provide	VERB
ajst-30228	36	22	the	the	DET
ajst-30228	36	23	matching	matching	NOUN
ajst-30228	36	24	results	result	NOUN
ajst-30228	36	25	along	along	ADP
ajst-30228	36	26	with	with	ADP
ajst-30228	36	27	depth	depth	NOUN
ajst-30228	36	28	information	information	NOUN
ajst-30228	36	29	to	to	ADP
ajst-30228	36	30	the	the	DET
ajst-30228	36	31	backend	backend	NOUN
ajst-30228	36	32	.	.	PUNCT
ajst-30228	37	1	during	during	ADP
ajst-30228	37	2	the	the	DET
ajst-30228	37	3	feature	feature	NOUN
ajst-30228	37	4	extraction	extraction	NOUN
ajst-30228	37	5	stage	stage	NOUN
ajst-30228	37	6	,	,	PUNCT
ajst-30228	37	7	the	the	DET
ajst-30228	37	8	orb	orb	NOUN
ajst-30228	37	9	(	(	PUNCT
ajst-30228	37	10	oriented	orient	VERB
ajst-30228	37	11	fast	fast	ADJ
ajst-30228	37	12	and	and	CCONJ
ajst-30228	37	13	rotated	rotate	VERB
ajst-30228	37	14	brief	brief	ADJ
ajst-30228	37	15	)	)	PUNCT
ajst-30228	37	16	algorithm	algorithm	NOUN
ajst-30228	37	17	is	be	AUX
ajst-30228	37	18	employed	employ	VERB
ajst-30228	37	19	for	for	ADP
ajst-30228	37	20	feature	feature	NOUN
ajst-30228	37	21	processing	processing	NOUN
ajst-30228	37	22	[	[	X
ajst-30228	37	23	14	14	NUM
ajst-30228	37	24	]	]	PUNCT
ajst-30228	37	25	.	.	PUNCT
ajst-30228	38	1	orb	orb	PROPN
ajst-30228	38	2	is	be	AUX
ajst-30228	38	3	based	base	VERB
ajst-30228	38	4	on	on	ADP
ajst-30228	38	5	fast	fast	ADJ
ajst-30228	38	6	corner	corner	NOUN
ajst-30228	38	7	detection	detection	NOUN
ajst-30228	38	8	and	and	CCONJ
ajst-30228	38	9	incorporates	incorporate	VERB
ajst-30228	38	10	orientation	orientation	NOUN
ajst-30228	38	11	information	information	NOUN
ajst-30228	38	12	,	,	PUNCT
ajst-30228	38	13	generating	generate	VERB
ajst-30228	38	14	256	256	NUM
ajst-30228	38	15	-	-	PUNCT
ajst-30228	38	16	bit	bit	NOUN
ajst-30228	38	17	binary	binary	ADJ
ajst-30228	38	18	descriptors	descriptor	NOUN
ajst-30228	38	19	with	with	ADP
ajst-30228	38	20	rotational	rotational	ADJ
ajst-30228	38	21	invariance	invariance	NOUN
ajst-30228	38	22	,	,	PUNCT
ajst-30228	38	23	ensuring	ensure	VERB
ajst-30228	38	24	both	both	CCONJ
ajst-30228	38	25	efficiency	efficiency	NOUN
ajst-30228	38	26	and	and	CCONJ
ajst-30228	38	27	robustness	robustness	NOUN
ajst-30228	38	28	[	[	X
ajst-30228	38	29	15	15	NUM
ajst-30228	38	30	]	]	PUNCT
ajst-30228	38	31	.	.	PUNCT
ajst-30228	39	1	to	to	PART
ajst-30228	39	2	address	address	VERB
ajst-30228	39	3	the	the	DET
ajst-30228	39	4	degradation	degradation	NOUN
ajst-30228	39	5	of	of	ADP
ajst-30228	39	6	orb	orb	NOUN
ajst-30228	39	7	feature	feature	NOUN
ajst-30228	39	8	extraction	extraction	NOUN
ajst-30228	39	9	in	in	ADP
ajst-30228	39	10	weak	weak	ADJ
ajst-30228	39	11	-	-	PUNCT
ajst-30228	39	12	texture	texture	NOUN
ajst-30228	39	13	environments	environment	NOUN
ajst-30228	39	14	,	,	PUNCT
ajst-30228	39	15	a	a	DET
ajst-30228	39	16	deep	deep	ADJ
ajst-30228	39	17	learning	learning	NOUN
ajst-30228	39	18	-	-	PUNCT
ajst-30228	39	19	driven	drive	VERB
ajst-30228	39	20	feature	feature	NOUN
ajst-30228	39	21	booster	booster	NOUN
ajst-30228	39	22	technique	technique	NOUN
ajst-30228	39	23	is	be	AUX
ajst-30228	39	24	innovatively	innovatively	ADV
ajst-30228	39	25	introduced	introduce	VERB
ajst-30228	39	26	.	.	PUNCT
ajst-30228	40	1	this	this	DET
ajst-30228	40	2	method	method	NOUN
ajst-30228	40	3	selectively	selectively	ADV
ajst-30228	40	4	enhances	enhance	VERB
ajst-30228	40	5	feature	feature	NOUN
ajst-30228	40	6	descriptors	descriptor	NOUN
ajst-30228	40	7	while	while	SCONJ
ajst-30228	40	8	maintaining	maintain	VERB
ajst-30228	40	9	real	real	ADJ
ajst-30228	40	10	-	-	PUNCT
ajst-30228	40	11	time	time	NOUN
ajst-30228	40	12	performance	performance	NOUN
ajst-30228	40	13	,	,	PUNCT
ajst-30228	40	14	further	far	ADV
ajst-30228	40	15	improving	improve	VERB
ajst-30228	40	16	feature	feature	NOUN
ajst-30228	40	17	quality	quality	NOUN
ajst-30228	40	18	.	.	PUNCT
ajst-30228	41	1	in	in	ADP
ajst-30228	41	2	the	the	DET
ajst-30228	41	3	feature	feature	NOUN
ajst-30228	41	4	matching	matching	NOUN
ajst-30228	41	5	stage	stage	NOUN
ajst-30228	41	6	,	,	PUNCT
ajst-30228	41	7	an	an	DET
ajst-30228	41	8	initial	initial	ADJ
ajst-30228	41	9	filtering	filtering	NOUN
ajst-30228	41	10	process	process	NOUN
ajst-30228	41	11	based	base	VERB
ajst-30228	41	12	on	on	ADP
ajst-30228	41	13	hamming	ham	VERB
ajst-30228	41	14	distance	distance	NOUN
ajst-30228	41	15	is	be	AUX
ajst-30228	41	16	applied	apply	VERB
ajst-30228	41	17	,	,	PUNCT
ajst-30228	41	18	followed	follow	VERB
ajst-30228	41	19	by	by	ADP
ajst-30228	41	20	ransac	ransac	NOUN
ajst-30228	41	21	(	(	PUNCT
ajst-30228	41	22	random	random	ADJ
ajst-30228	41	23	sample	sample	NOUN
ajst-30228	41	24	consensus	consensus	NOUN
ajst-30228	41	25	)	)	PUNCT
ajst-30228	41	26	with	with	ADP
ajst-30228	41	27	epipolar	epipolar	ADJ
ajst-30228	41	28	geometry	geometry	NOUN
ajst-30228	41	29	constraints	constraint	NOUN
ajst-30228	41	30	to	to	PART
ajst-30228	41	31	eliminate	eliminate	VERB
ajst-30228	41	32	incorrect	incorrect	ADJ
ajst-30228	41	33	matches	match	NOUN
ajst-30228	41	34	[	[	X
ajst-30228	41	35	16	16	NUM
ajst-30228	41	36	]	]	PUNCT
ajst-30228	41	37	.	.	PUNCT
ajst-30228	42	1	finally	finally	ADV
ajst-30228	42	2	,	,	PUNCT
ajst-30228	42	3	a	a	DET
ajst-30228	42	4	tightly	tightly	ADV
ajst-30228	42	5	coupled	couple	VERB
ajst-30228	42	6	visual	visual	ADJ
ajst-30228	42	7	-	-	PUNCT
ajst-30228	42	8	inertial	inertial	NOUN
ajst-30228	42	9	odometry	odometry	NOUN
ajst-30228	42	10	(	(	PUNCT
ajst-30228	42	11	vio	vio	NOUN
ajst-30228	42	12	)	)	PUNCT
ajst-30228	42	13	framework	framework	NOUN
ajst-30228	42	14	is	be	AUX
ajst-30228	42	15	adopted	adopt	VERB
ajst-30228	42	16	,	,	PUNCT
ajst-30228	42	17	where	where	SCONJ
ajst-30228	42	18	imu	imu	ADJ
ajst-30228	42	19	preintegration	preintegration	NOUN
ajst-30228	42	20	data	datum	NOUN
ajst-30228	42	21	is	be	AUX
ajst-30228	42	22	fused	fuse	VERB
ajst-30228	42	23	with	with	ADP
ajst-30228	42	24	visual	visual	ADJ
ajst-30228	42	25	observations	observation	NOUN
ajst-30228	42	26	to	to	PART
ajst-30228	42	27	achieve	achieve	VERB
ajst-30228	42	28	preliminary	preliminary	ADJ
ajst-30228	42	29	pose	pose	NOUN
ajst-30228	42	30	estimation	estimation	NOUN
ajst-30228	42	31	,	,	PUNCT
ajst-30228	42	32	providing	provide	VERB
ajst-30228	42	33	reliable	reliable	ADJ
ajst-30228	42	34	constraints	constraint	NOUN
ajst-30228	42	35	for	for	ADP
ajst-30228	42	36	backend	backend	NOUN
ajst-30228	42	37	optimization	optimization	NOUN
ajst-30228	42	38	.	.	PUNCT
ajst-30228	43	1	2.1.2	2.1.2	X
ajst-30228	43	2	.	.	PUNCT
ajst-30228	43	3	nonlinear	nonlinear	ADJ
ajst-30228	43	4	optimization	optimization	NOUN
ajst-30228	43	5	backend	backend	VERB
ajst-30228	43	6	the	the	DET
ajst-30228	43	7	nonlinear	nonlinear	ADJ
ajst-30228	43	8	optimization	optimization	NOUN
ajst-30228	43	9	backend	backend	NOUN
ajst-30228	43	10	adopts	adopt	VERB
ajst-30228	43	11	a	a	DET
ajst-30228	43	12	keyframebased	keyframebase	VERB
ajst-30228	43	13	sliding	slide	VERB
ajst-30228	43	14	window	window	NOUN
ajst-30228	43	15	tightly	tightly	ADV
ajst-30228	43	16	coupled	couple	VERB
ajst-30228	43	17	framework	framework	NOUN
ajst-30228	43	18	to	to	PART
ajst-30228	43	19	jointly	jointly	ADV
ajst-30228	43	20	optimize	optimize	VERB
ajst-30228	43	21	the	the	DET
ajst-30228	43	22	uav	uav	PROPN
ajst-30228	43	23	's	's	PART
ajst-30228	43	24	pose	pose	NOUN
ajst-30228	43	25	and	and	CCONJ
ajst-30228	43	26	environment	environment	NOUN
ajst-30228	43	27	map	map	NOUN
ajst-30228	43	28	.	.	PUNCT
ajst-30228	44	1	the	the	DET
ajst-30228	44	2	system	system	NOUN
ajst-30228	44	3	maintains	maintain	VERB
ajst-30228	44	4	a	a	DET
ajst-30228	44	5	fixed	fix	VERB
ajst-30228	44	6	-	-	PUNCT
ajst-30228	44	7	size	size	NOUN
ajst-30228	44	8	sliding	slide	VERB
ajst-30228	44	9	window	window	NOUN
ajst-30228	44	10	,	,	PUNCT
ajst-30228	44	11	which	which	PRON
ajst-30228	44	12	includes	include	VERB
ajst-30228	44	13	a	a	DET
ajst-30228	44	14	certain	certain	ADJ
ajst-30228	44	15	number	number	NOUN
ajst-30228	44	16	of	of	ADP
ajst-30228	44	17	keyframes	keyframe	NOUN
ajst-30228	44	18	.	.	PUNCT
ajst-30228	45	1	each	each	DET
ajst-30228	45	2	keyframe	keyframe	NOUN
ajst-30228	45	3	integrates	integrate	NOUN
ajst-30228	45	4	pose	pose	VERB
ajst-30228	45	5	parameters	parameter	NOUN
ajst-30228	45	6	,	,	PUNCT
ajst-30228	45	7	map	map	NOUN
ajst-30228	45	8	point	point	NOUN
ajst-30228	45	9	coordinates	coordinate	NOUN
ajst-30228	45	10	,	,	PUNCT
ajst-30228	45	11	and	and	CCONJ
ajst-30228	45	12	covariance	covariance	NOUN
ajst-30228	45	13	information	information	NOUN
ajst-30228	45	14	to	to	PART
ajst-30228	45	15	ensure	ensure	VERB
ajst-30228	45	16	consistency	consistency	NOUN
ajst-30228	45	17	and	and	CCONJ
ajst-30228	45	18	accuracy	accuracy	NOUN
ajst-30228	45	19	in	in	ADP
ajst-30228	45	20	localization	localization	NOUN
ajst-30228	45	21	[	[	X
ajst-30228	45	22	17	17	NUM
ajst-30228	45	23	]	]	PUNCT
ajst-30228	45	24	.	.	PUNCT
ajst-30228	46	1	the	the	DET
ajst-30228	46	2	optimization	optimization	NOUN
ajst-30228	46	3	error	error	NOUN
ajst-30228	46	4	model	model	NOUN
ajst-30228	46	5	consists	consist	VERB
ajst-30228	46	6	of	of	ADP
ajst-30228	46	7	three	three	NUM
ajst-30228	46	8	components	component	NOUN
ajst-30228	46	9	:	:	PUNCT
ajst-30228	46	10	visual	visual	ADJ
ajst-30228	46	11	reprojection	reprojection	NOUN
ajst-30228	46	12	error	error	NOUN
ajst-30228	46	13	,	,	PUNCT
ajst-30228	46	14	imu	imu	ADJ
ajst-30228	46	15	preintegration	preintegration	NOUN
ajst-30228	46	16	error	error	NOUN
ajst-30228	46	17	,	,	PUNCT
ajst-30228	46	18	and	and	CCONJ
ajst-30228	46	19	prior	prior	ADJ
ajst-30228	46	20	constraint	constraint	NOUN
ajst-30228	46	21	error	error	NOUN
ajst-30228	46	22	[	[	X
ajst-30228	46	23	18	18	NUM
ajst-30228	46	24	]	]	PUNCT
ajst-30228	46	25	.	.	PUNCT
ajst-30228	47	1	the	the	DET
ajst-30228	47	2	visual	visual	ADJ
ajst-30228	47	3	reprojection	reprojection	NOUN
ajst-30228	47	4	error	error	NOUN
ajst-30228	47	5	is	be	AUX
ajst-30228	47	6	formulated	formulate	VERB
ajst-30228	47	7	based	base	VERB
ajst-30228	47	8	on	on	ADP
ajst-30228	47	9	the	the	DET
ajst-30228	47	10	enhanced	enhance	VERB
ajst-30228	47	11	orb	orb	NOUN
ajst-30228	47	12	feature	feature	NOUN
ajst-30228	47	13	matching	matching	NOUN
ajst-30228	47	14	results	result	NOUN
ajst-30228	47	15	provided	provide	VERB
ajst-30228	47	16	by	by	ADP
ajst-30228	47	17	the	the	DET
ajst-30228	47	18	improved	improve	VERB
ajst-30228	47	19	visual	visual	ADJ
ajst-30228	47	20	frontend	frontend	NOUN
ajst-30228	47	21	.	.	PUNCT
ajst-30228	48	1	it	it	PRON
ajst-30228	48	2	projects	project	VERB
ajst-30228	48	3	the	the	DET
ajst-30228	48	4	observed	observed	ADJ
ajst-30228	48	5	3d	3d	NUM
ajst-30228	48	6	points	point	NOUN
ajst-30228	48	7	onto	onto	ADP
ajst-30228	48	8	the	the	DET
ajst-30228	48	9	image	image	NOUN
ajst-30228	48	10	plane	plane	NOUN
ajst-30228	48	11	and	and	CCONJ
ajst-30228	48	12	compares	compare	VERB
ajst-30228	48	13	them	they	PRON
ajst-30228	48	14	with	with	ADP
ajst-30228	48	15	actual	actual	ADJ
ajst-30228	48	16	observations	observation	NOUN
ajst-30228	48	17	.	.	PUNCT
ajst-30228	49	1	this	this	DET
ajst-30228	49	2	step	step	NOUN
ajst-30228	49	3	constrains	constrain	VERB
ajst-30228	49	4	both	both	CCONJ
ajst-30228	49	5	the	the	DET
ajst-30228	49	6	pose	pose	NOUN
ajst-30228	49	7	of	of	ADP
ajst-30228	49	8	keyframes	keyframe	NOUN
ajst-30228	49	9	and	and	CCONJ
ajst-30228	49	10	the	the	DET
ajst-30228	49	11	positions	position	NOUN
ajst-30228	49	12	of	of	ADP
ajst-30228	49	13	feature	feature	NOUN
ajst-30228	49	14	points	point	NOUN
ajst-30228	49	15	,	,	PUNCT
ajst-30228	49	16	ensuring	ensure	VERB
ajst-30228	49	17	accurate	accurate	ADJ
ajst-30228	49	18	feature	feature	NOUN
ajst-30228	49	19	localization.the	localization.the	PRON
ajst-30228	49	20	imu	imu	NOUN
ajst-30228	49	21	preintegration	preintegration	NOUN
ajst-30228	49	22	error	error	NOUN
ajst-30228	49	23	is	be	AUX
ajst-30228	49	24	constructed	construct	VERB
ajst-30228	49	25	using	use	VERB
ajst-30228	49	26	acceleration	acceleration	NOUN
ajst-30228	49	27	and	and	CCONJ
ajst-30228	49	28	angular	angular	ADJ
ajst-30228	49	29	velocity	velocity	NOUN
ajst-30228	49	30	data	datum	NOUN
ajst-30228	49	31	between	between	ADP
ajst-30228	49	32	consecutive	consecutive	ADJ
ajst-30228	49	33	keyframes	keyframe	NOUN
ajst-30228	49	34	.	.	PUNCT
ajst-30228	50	1	this	this	DET
ajst-30228	50	2	motion	motion	NOUN
ajst-30228	50	3	constraint	constraint	NOUN
ajst-30228	50	4	provides	provide	VERB
ajst-30228	50	5	high	high	ADJ
ajst-30228	50	6	-	-	PUNCT
ajst-30228	50	7	frequency	frequency	NOUN
ajst-30228	50	8	pose	pose	NOUN
ajst-30228	50	9	estimation	estimation	NOUN
ajst-30228	50	10	,	,	PUNCT
ajst-30228	50	11	which	which	PRON
ajst-30228	50	12	contributes	contribute	VERB
ajst-30228	50	13	to	to	ADP
ajst-30228	50	14	improved	improve	VERB
ajst-30228	50	15	localization	localization	NOUN
ajst-30228	50	16	accuracy	accuracy	NOUN
ajst-30228	50	17	and	and	CCONJ
ajst-30228	50	18	robustness	robustness	NOUN
ajst-30228	50	19	in	in	ADP
ajst-30228	50	20	challenging	challenging	ADJ
ajst-30228	50	21	environments	environment	NOUN
ajst-30228	50	22	.	.	PUNCT
ajst-30228	51	1	as	as	SCONJ
ajst-30228	51	2	new	new	ADJ
ajst-30228	51	3	keyframes	keyframe	NOUN
ajst-30228	51	4	are	be	AUX
ajst-30228	51	5	continuously	continuously	ADV
ajst-30228	51	6	added	add	VERB
ajst-30228	51	7	,	,	PUNCT
ajst-30228	51	8	the	the	DET
ajst-30228	51	9	sliding	slide	VERB
ajst-30228	51	10	window	window	NOUN
ajst-30228	51	11	dynamically	dynamically	ADV
ajst-30228	51	12	updates	update	VERB
ajst-30228	51	13	through	through	ADP
ajst-30228	51	14	a	a	DET
ajst-30228	51	15	marginalization	marginalization	NOUN
ajst-30228	51	16	strategy	strategy	NOUN
ajst-30228	51	17	,	,	PUNCT
ajst-30228	51	18	which	which	PRON
ajst-30228	51	19	removes	remove	VERB
ajst-30228	51	20	outdated	outdated	ADJ
ajst-30228	51	21	keyframes	keyframe	NOUN
ajst-30228	51	22	with	with	ADP
ajst-30228	51	23	information	information	NOUN
ajst-30228	51	24	entropy	entropy	NOUN
ajst-30228	51	25	below	below	ADP
ajst-30228	51	26	a	a	DET
ajst-30228	51	27	predefined	predefine	VERB
ajst-30228	51	28	threshold	threshold	NOUN
ajst-30228	51	29	.	.	PUNCT
ajst-30228	52	1	this	this	DET
ajst-30228	52	2	approach	approach	NOUN
ajst-30228	52	3	effectively	effectively	ADV
ajst-30228	52	4	enhances	enhance	VERB
ajst-30228	52	5	computational	computational	ADJ
ajst-30228	52	6	efficiency	efficiency	NOUN
ajst-30228	52	7	and	and	CCONJ
ajst-30228	52	8	system	system	NOUN
ajst-30228	52	9	robustness	robustness	NOUN
ajst-30228	52	10	,	,	PUNCT
ajst-30228	52	11	enabling	enable	VERB
ajst-30228	52	12	stable	stable	ADJ
ajst-30228	52	13	uav	uav	PROPN
ajst-30228	52	14	localization	localization	NOUN
ajst-30228	52	15	in	in	ADP
ajst-30228	52	16	complex	complex	ADJ
ajst-30228	52	17	indoor	indoor	ADJ
ajst-30228	52	18	environments	environment	NOUN
ajst-30228	52	19	.	.	PUNCT
ajst-30228	53	1	2.1.3	2.1.3	NUM
ajst-30228	53	2	.	.	PUNCT
ajst-30228	53	3	loop	loop	PROPN
ajst-30228	53	4	closure	closure	PROPN
ajst-30228	53	5	detection	detection	NOUN
ajst-30228	53	6	loop	loop	NOUN
ajst-30228	53	7	closure	closure	NOUN
ajst-30228	53	8	detection	detection	NOUN
ajst-30228	53	9	is	be	AUX
ajst-30228	53	10	employed	employ	VERB
ajst-30228	53	11	to	to	PART
ajst-30228	53	12	correct	correct	VERB
ajst-30228	53	13	accumulated	accumulated	ADJ
ajst-30228	53	14	errors	error	NOUN
ajst-30228	53	15	and	and	CCONJ
ajst-30228	53	16	enhance	enhance	VERB
ajst-30228	53	17	global	global	ADJ
ajst-30228	53	18	consistency	consistency	NOUN
ajst-30228	54	1	[	[	X
ajst-30228	54	2	19	19	NUM
ajst-30228	54	3	]	]	PUNCT
ajst-30228	54	4	.	.	PUNCT
ajst-30228	55	1	its	its	PRON
ajst-30228	55	2	primary	primary	ADJ
ajst-30228	55	3	task	task	NOUN
ajst-30228	55	4	is	be	AUX
ajst-30228	55	5	to	to	PART
ajst-30228	55	6	detect	detect	VERB
ajst-30228	55	7	loop	loop	NOUN
ajst-30228	55	8	closures	closure	NOUN
ajst-30228	55	9	between	between	ADP
ajst-30228	55	10	the	the	DET
ajst-30228	55	11	current	current	ADJ
ajst-30228	55	12	keyframe	keyframe	NOUN
ajst-30228	55	13	and	and	CCONJ
ajst-30228	55	14	historical	historical	ADJ
ajst-30228	55	15	keyframes	keyframe	NOUN
ajst-30228	55	16	,	,	PUNCT
ajst-30228	55	17	incorporating	incorporate	VERB
ajst-30228	55	18	loop	loop	NOUN
ajst-30228	55	19	constraints	constraint	NOUN
ajst-30228	55	20	to	to	PART
ajst-30228	55	21	optimize	optimize	VERB
ajst-30228	55	22	the	the	DET
ajst-30228	55	23	global	global	ADJ
ajst-30228	55	24	trajectory	trajectory	NOUN
ajst-30228	55	25	.	.	PUNCT
ajst-30228	56	1	when	when	SCONJ
ajst-30228	56	2	a	a	DET
ajst-30228	56	3	new	new	ADJ
ajst-30228	56	4	keyframe	keyframe	NOUN
ajst-30228	56	5	is	be	AUX
ajst-30228	56	6	introduced	introduce	VERB
ajst-30228	56	7	into	into	ADP
ajst-30228	56	8	the	the	DET
ajst-30228	56	9	sliding	slide	VERB
ajst-30228	56	10	window	window	NOUN
ajst-30228	56	11	,	,	PUNCT
ajst-30228	56	12	the	the	DET
ajst-30228	56	13	loop	loop	NOUN
ajst-30228	56	14	closure	closure	NOUN
ajst-30228	56	15	detection	detection	NOUN
ajst-30228	56	16	module	module	NOUN
ajst-30228	56	17	utilizes	utilize	VERB
ajst-30228	56	18	the	the	DET
ajst-30228	56	19	bagof	bagof	NOUN
ajst-30228	56	20	-	-	PUNCT
ajst-30228	56	21	words	word	NOUN
ajst-30228	56	22	(	(	PUNCT
ajst-30228	56	23	bow	bow	NOUN
ajst-30228	56	24	)	)	PUNCT
ajst-30228	56	25	model	model	NOUN
ajst-30228	56	26	to	to	PART
ajst-30228	56	27	match	match	VERB
ajst-30228	56	28	image	image	NOUN
ajst-30228	56	29	features	feature	NOUN
ajst-30228	56	30	between	between	ADP
ajst-30228	56	31	keyframes	keyframe	NOUN
ajst-30228	56	32	[	[	X
ajst-30228	56	33	20	20	NUM
ajst-30228	56	34	]	]	PUNCT
ajst-30228	56	35	,	,	PUNCT
ajst-30228	56	36	assessing	assess	VERB
ajst-30228	56	37	potential	potential	ADJ
ajst-30228	56	38	loop	loop	NOUN
ajst-30228	56	39	closure	closure	NOUN
ajst-30228	56	40	relationships	relationship	NOUN
ajst-30228	56	41	between	between	ADP
ajst-30228	56	42	the	the	DET
ajst-30228	56	43	current	current	ADJ
ajst-30228	56	44	and	and	CCONJ
ajst-30228	56	45	historical	historical	ADJ
ajst-30228	56	46	keyframes	keyframe	NOUN
ajst-30228	56	47	.	.	PUNCT
ajst-30228	57	1	once	once	ADV
ajst-30228	57	2	a	a	DET
ajst-30228	57	3	loop	loop	NOUN
ajst-30228	57	4	closure	closure	NOUN
ajst-30228	57	5	is	be	AUX
ajst-30228	57	6	confirmed	confirm	VERB
ajst-30228	57	7	,	,	PUNCT
ajst-30228	57	8	the	the	DET
ajst-30228	57	9	system	system	NOUN
ajst-30228	57	10	calculates	calculate	VERB
ajst-30228	57	11	the	the	DET
ajst-30228	57	12	relative	relative	ADJ
ajst-30228	57	13	pose	pose	VERB
ajst-30228	57	14	between	between	ADP
ajst-30228	57	15	the	the	DET
ajst-30228	57	16	current	current	ADJ
ajst-30228	57	17	keyframe	keyframe	NOUN
ajst-30228	57	18	and	and	CCONJ
ajst-30228	57	19	the	the	DET
ajst-30228	57	20	loop	loop	NOUN
ajst-30228	57	21	330	330	NUM
ajst-30228	57	22	keyframe	keyframe	NOUN
ajst-30228	57	23	and	and	CCONJ
ajst-30228	57	24	integrates	integrate	NOUN
ajst-30228	57	25	this	this	PRON
ajst-30228	57	26	as	as	ADP
ajst-30228	57	27	a	a	DET
ajst-30228	57	28	loop	loop	NOUN
ajst-30228	57	29	constraint	constraint	NOUN
ajst-30228	57	30	into	into	ADP
ajst-30228	57	31	the	the	DET
ajst-30228	57	32	global	global	ADJ
ajst-30228	57	33	pose	pose	NOUN
ajst-30228	57	34	optimization	optimization	NOUN
ajst-30228	57	35	.	.	PUNCT
ajst-30228	58	1	through	through	ADP
ajst-30228	58	2	global	global	ADJ
ajst-30228	58	3	optimization	optimization	NOUN
ajst-30228	58	4	,	,	PUNCT
ajst-30228	58	5	the	the	DET
ajst-30228	58	6	system	system	NOUN
ajst-30228	58	7	adjusts	adjust	VERB
ajst-30228	58	8	keyframe	keyframe	NOUN
ajst-30228	58	9	poses	pose	NOUN
ajst-30228	58	10	to	to	PART
ajst-30228	58	11	maintain	maintain	VERB
ajst-30228	58	12	global	global	ADJ
ajst-30228	58	13	consistency	consistency	NOUN
ajst-30228	58	14	while	while	SCONJ
ajst-30228	58	15	preserving	preserve	VERB
ajst-30228	58	16	the	the	DET
ajst-30228	58	17	smoothness	smoothness	NOUN
ajst-30228	58	18	of	of	ADP
ajst-30228	58	19	local	local	ADJ
ajst-30228	58	20	trajectories	trajectory	NOUN
ajst-30228	58	21	.	.	PUNCT
ajst-30228	59	1	this	this	DET
ajst-30228	59	2	process	process	NOUN
ajst-30228	59	3	effectively	effectively	ADV
ajst-30228	59	4	suppresses	suppress	VERB
ajst-30228	59	5	pose	pose	VERB
ajst-30228	59	6	drift	drift	NOUN
ajst-30228	59	7	caused	cause	VERB
ajst-30228	59	8	by	by	ADP
ajst-30228	59	9	long	long	ADJ
ajst-30228	59	10	-	-	PUNCT
ajst-30228	59	11	term	term	NOUN
ajst-30228	59	12	operations	operation	NOUN
ajst-30228	59	13	,	,	PUNCT
ajst-30228	59	14	ultimately	ultimately	ADV
ajst-30228	59	15	improving	improve	VERB
ajst-30228	59	16	the	the	DET
ajst-30228	59	17	overall	overall	ADJ
ajst-30228	59	18	trajectory	trajectory	NOUN
ajst-30228	59	19	localization	localization	NOUN
ajst-30228	59	20	accuracy	accuracy	NOUN
ajst-30228	59	21	.	.	PUNCT
ajst-30228	60	1	2.2	2.2	NUM
ajst-30228	60	2	.	.	PUNCT
ajst-30228	60	3	improved	improve	VERB
ajst-30228	60	4	frontend	frontend	NOUN
ajst-30228	60	5	design	design	NOUN
ajst-30228	60	6	to	to	PART
ajst-30228	60	7	address	address	VERB
ajst-30228	60	8	the	the	DET
ajst-30228	60	9	decline	decline	NOUN
ajst-30228	60	10	in	in	ADP
ajst-30228	60	11	localization	localization	NOUN
ajst-30228	60	12	accuracy	accuracy	NOUN
ajst-30228	60	13	of	of	ADP
ajst-30228	60	14	the	the	DET
ajst-30228	60	15	vins	vin	NOUN
ajst-30228	60	16	-	-	PUNCT
ajst-30228	60	17	fusion	fusion	NOUN
ajst-30228	60	18	visual	visual	ADJ
ajst-30228	60	19	frontend	frontend	NOUN
ajst-30228	60	20	in	in	ADP
ajst-30228	60	21	low	low	ADJ
ajst-30228	60	22	-	-	PUNCT
ajst-30228	60	23	light	light	ADJ
ajst-30228	60	24	and	and	CCONJ
ajst-30228	60	25	weak	weak	ADJ
ajst-30228	60	26	-	-	PUNCT
ajst-30228	60	27	texture	texture	NOUN
ajst-30228	60	28	environments	environment	NOUN
ajst-30228	60	29	,	,	PUNCT
ajst-30228	60	30	a	a	DET
ajst-30228	60	31	series	series	NOUN
ajst-30228	60	32	of	of	ADP
ajst-30228	60	33	improvements	improvement	NOUN
ajst-30228	60	34	have	have	AUX
ajst-30228	60	35	been	be	AUX
ajst-30228	60	36	made	make	VERB
ajst-30228	60	37	.	.	PUNCT
ajst-30228	61	1	these	these	DET
ajst-30228	61	2	enhancements	enhancement	NOUN
ajst-30228	61	3	focus	focus	VERB
ajst-30228	61	4	on	on	ADP
ajst-30228	61	5	improving	improve	VERB
ajst-30228	61	6	the	the	DET
ajst-30228	61	7	quality	quality	NOUN
ajst-30228	61	8	of	of	ADP
ajst-30228	61	9	feature	feature	NOUN
ajst-30228	61	10	descriptors	descriptor	NOUN
ajst-30228	61	11	and	and	CCONJ
ajst-30228	61	12	increasing	increase	VERB
ajst-30228	61	13	matching	matching	NOUN
ajst-30228	61	14	confidence	confidence	NOUN
ajst-30228	61	15	,	,	PUNCT
ajst-30228	61	16	thereby	thereby	ADV
ajst-30228	61	17	strengthening	strengthen	VERB
ajst-30228	61	18	the	the	DET
ajst-30228	61	19	uav	uav	PROPN
ajst-30228	61	20	’s	’s	PART
ajst-30228	61	21	localization	localization	NOUN
ajst-30228	61	22	capability	capability	NOUN
ajst-30228	61	23	in	in	ADP
ajst-30228	61	24	complex	complex	ADJ
ajst-30228	61	25	environments	environment	NOUN
ajst-30228	61	26	.	.	PUNCT
ajst-30228	62	1	2.2.1	2.2.1	NUM
ajst-30228	62	2	.	.	X
ajst-30228	62	3	orb	orb	NOUN
ajst-30228	62	4	feature	feature	NOUN
ajst-30228	62	5	point	point	NOUN
ajst-30228	62	6	detection	detection	NOUN
ajst-30228	62	7	the	the	DET
ajst-30228	62	8	traditional	traditional	ADJ
ajst-30228	62	9	vins	vin	NOUN
ajst-30228	62	10	-	-	PUNCT
ajst-30228	62	11	fusion	fusion	NOUN
ajst-30228	62	12	system	system	NOUN
ajst-30228	62	13	utilizes	utilize	VERB
ajst-30228	62	14	the	the	DET
ajst-30228	62	15	shitomasi	shitomasi	PROPN
ajst-30228	62	16	corner	corner	NOUN
ajst-30228	62	17	detection	detection	NOUN
ajst-30228	62	18	algorithm	algorithm	NOUN
ajst-30228	62	19	in	in	ADP
ajst-30228	62	20	its	its	PRON
ajst-30228	62	21	visual	visual	ADJ
ajst-30228	62	22	frontend	frontend	NOUN
ajst-30228	62	23	,	,	PUNCT
ajst-30228	62	24	which	which	PRON
ajst-30228	62	25	performs	perform	VERB
ajst-30228	62	26	reliably	reliably	ADV
ajst-30228	62	27	in	in	ADP
ajst-30228	62	28	texture	texture	ADJ
ajst-30228	62	29	-	-	PUNCT
ajst-30228	62	30	rich	rich	ADJ
ajst-30228	62	31	environments	environment	NOUN
ajst-30228	62	32	.	.	PUNCT
ajst-30228	63	1	however	however	ADV
ajst-30228	63	2	,	,	PUNCT
ajst-30228	63	3	its	its	PRON
ajst-30228	63	4	feature	feature	NOUN
ajst-30228	63	5	detection	detection	NOUN
ajst-30228	63	6	rate	rate	NOUN
ajst-30228	63	7	significantly	significantly	ADV
ajst-30228	63	8	declines	decline	VERB
ajst-30228	63	9	in	in	ADP
ajst-30228	63	10	weak	weak	ADJ
ajst-30228	63	11	-	-	PUNCT
ajst-30228	63	12	texture	texture	NOUN
ajst-30228	63	13	scenarios	scenario	NOUN
ajst-30228	63	14	or	or	CCONJ
ajst-30228	63	15	under	under	ADP
ajst-30228	63	16	dynamic	dynamic	ADJ
ajst-30228	63	17	lighting	lighting	NOUN
ajst-30228	63	18	conditions	condition	NOUN
ajst-30228	63	19	.	.	PUNCT
ajst-30228	64	1	to	to	PART
ajst-30228	64	2	address	address	VERB
ajst-30228	64	3	this	this	DET
ajst-30228	64	4	issue	issue	NOUN
ajst-30228	64	5	,	,	PUNCT
ajst-30228	64	6	the	the	DET
ajst-30228	64	7	orb	orb	NOUN
ajst-30228	64	8	(	(	PUNCT
ajst-30228	64	9	oriented	orient	VERB
ajst-30228	64	10	fast	fast	ADJ
ajst-30228	64	11	and	and	CCONJ
ajst-30228	64	12	rotated	rotate	VERB
ajst-30228	64	13	brief	brief	ADJ
ajst-30228	64	14	)	)	PUNCT
ajst-30228	64	15	feature	feature	NOUN
ajst-30228	64	16	detection	detection	NOUN
ajst-30228	64	17	algorithm	algorithm	NOUN
ajst-30228	64	18	is	be	AUX
ajst-30228	64	19	introduced	introduce	VERB
ajst-30228	64	20	,	,	PUNCT
ajst-30228	64	21	which	which	PRON
ajst-30228	64	22	simultaneously	simultaneously	ADV
ajst-30228	64	23	optimizes	optimize	VERB
ajst-30228	64	24	feature	feature	NOUN
ajst-30228	64	25	extraction	extraction	NOUN
ajst-30228	64	26	and	and	CCONJ
ajst-30228	64	27	descriptor	descriptor	NOUN
ajst-30228	64	28	construction	construction	NOUN
ajst-30228	64	29	,	,	PUNCT
ajst-30228	64	30	providing	provide	VERB
ajst-30228	64	31	high	high	ADJ
ajst-30228	64	32	-	-	PUNCT
ajst-30228	64	33	quality	quality	NOUN
ajst-30228	64	34	observational	observational	ADJ
ajst-30228	64	35	input	input	NOUN
ajst-30228	64	36	for	for	ADP
ajst-30228	64	37	backend	backend	NOUN
ajst-30228	64	38	sliding	slide	VERB
ajst-30228	64	39	window	window	NOUN
ajst-30228	64	40	optimization	optimization	NOUN
ajst-30228	64	41	.	.	PUNCT
ajst-30228	65	1	orb	orb	NOUN
ajst-30228	65	2	feature	feature	NOUN
ajst-30228	65	3	detection	detection	NOUN
ajst-30228	65	4	is	be	AUX
ajst-30228	65	5	based	base	VERB
ajst-30228	65	6	on	on	ADP
ajst-30228	65	7	the	the	DET
ajst-30228	65	8	fast	fast	ADJ
ajst-30228	65	9	(	(	PUNCT
ajst-30228	65	10	features	feature	NOUN
ajst-30228	65	11	from	from	ADP
ajst-30228	65	12	accelerated	accelerate	VERB
ajst-30228	65	13	segment	segment	NOUN
ajst-30228	65	14	test	test	NOUN
ajst-30228	65	15	)	)	PUNCT
ajst-30228	65	16	corner	corner	NOUN
ajst-30228	65	17	detection	detection	NOUN
ajst-30228	65	18	method	method	NOUN
ajst-30228	65	19	,	,	PUNCT
ajst-30228	65	20	which	which	PRON
ajst-30228	65	21	identifies	identify	VERB
ajst-30228	65	22	feature	feature	NOUN
ajst-30228	65	23	points	point	NOUN
ajst-30228	65	24	by	by	ADP
ajst-30228	65	25	analyzing	analyze	VERB
ajst-30228	65	26	intensity	intensity	NOUN
ajst-30228	65	27	variations	variation	NOUN
ajst-30228	65	28	within	within	ADP
ajst-30228	65	29	a	a	DET
ajst-30228	65	30	circular	circular	ADJ
ajst-30228	65	31	neighborhood	neighborhood	NOUN
ajst-30228	65	32	.	.	PUNCT
ajst-30228	66	1	for	for	ADP
ajst-30228	66	2	a	a	DET
ajst-30228	66	3	given	give	VERB
ajst-30228	66	4	image	image	NOUN
ajst-30228	66	5	i	i	PRON
ajst-30228	66	6	and	and	CCONJ
ajst-30228	66	7	any	any	DET
ajst-30228	66	8	pixel	pixel	NOUN
ajst-30228	66	9	p	p	NOUN
ajst-30228	66	10	with	with	ADP
ajst-30228	66	11	an	an	DET
ajst-30228	66	12	intensity	intensity	NOUN
ajst-30228	66	13	value	value	NOUN
ajst-30228	66	14	of	of	ADP
ajst-30228	66	15			PROPN
ajst-30228	66	16	i	i	PROPN
ajst-30228	66	17	p	p	NOUN
ajst-30228	66	18	,	,	PUNCT
ajst-30228	66	19	the	the	DET
ajst-30228	66	20	intensity	intensity	NOUN
ajst-30228	66	21	threshold	threshold	NOUN
ajst-30228	66	22	for	for	ADP
ajst-30228	66	23	the	the	DET
ajst-30228	66	24	circular	circular	ADJ
ajst-30228	66	25	neighborhood	neighborhood	NOUN
ajst-30228	66	26			NOUN
ajst-30228	66	27	n	n	PROPN
ajst-30228	66	28	p	p	NOUN
ajst-30228	66	29	is	be	AUX
ajst-30228	66	30	denoted	denote	VERB
ajst-30228	66	31	as	as	NOUN
ajst-30228	66	32	.	.	PUNCT
ajst-30228	67	1	if	if	SCONJ
ajst-30228	67	2	at	at	ADP
ajst-30228	67	3	least𝑁consecutive	least𝑁consecutive	ADJ
ajst-30228	67	4	pixels	pixel	NOUN
ajst-30228	67	5	within	within	ADP
ajst-30228	67	6	the	the	DET
ajst-30228	67	7	neighborhood	neighborhood	NOUN
ajst-30228	67	8	satisfy	satisfy	VERB
ajst-30228	67	9	the	the	DET
ajst-30228	67	10	following	follow	VERB
ajst-30228	67	11	condition	condition	NOUN
ajst-30228	67	12	,	,	PUNCT
ajst-30228	67	13	p	p	NOUN
ajst-30228	67	14	is	be	AUX
ajst-30228	67	15	considered	consider	VERB
ajst-30228	67	16	a	a	DET
ajst-30228	67	17	corner	corner	NOUN
ajst-30228	67	18	:	:	PUNCT
ajst-30228	67	19			NOUN
ajst-30228	68	1			SYM
ajst-30228	68	2			NOUN
ajst-30228	68	3			SYM
ajst-30228	68	4			PROPN
ajst-30228	68	5	,i	,i	X
ajst-30228	68	6	ii	ii	NOUN
ajst-30228	69	1	p	p	NOUN
ajst-30228	70	1	i	i	PRON
ajst-30228	70	2	p	p	PROPN
ajst-30228	70	3	p	p	X
ajst-30228	70	4	n	n	NUM
ajst-30228	70	5	p	p	PROPN
ajst-30228	71	1			ADJ
ajst-30228	71	2			PROPN
ajst-30228	71	3	(	(	PUNCT
ajst-30228	71	4	1	1	NUM
ajst-30228	71	5	)	)	PUNCT
ajst-30228	71	6	to	to	PART
ajst-30228	71	7	improve	improve	VERB
ajst-30228	71	8	feature	feature	NOUN
ajst-30228	71	9	quality	quality	NOUN
ajst-30228	71	10	,	,	PUNCT
ajst-30228	71	11	the	the	DET
ajst-30228	71	12	harris	harris	PROPN
ajst-30228	71	13	corner	corner	PROPN
ajst-30228	71	14	scoring	scoring	NOUN
ajst-30228	71	15	mechanism	mechanism	NOUN
ajst-30228	71	16	is	be	AUX
ajst-30228	71	17	introduced	introduce	VERB
ajst-30228	71	18	.	.	PUNCT
ajst-30228	72	1	by	by	ADP
ajst-30228	72	2	analyzing	analyze	VERB
ajst-30228	72	3	the	the	DET
ajst-30228	72	4	gradient	gradient	ADJ
ajst-30228	72	5	distribution	distribution	NOUN
ajst-30228	72	6	within	within	ADP
ajst-30228	72	7	the	the	DET
ajst-30228	72	8	pixel	pixel	PROPN
ajst-30228	72	9	neighborhood	neighborhood	NOUN
ajst-30228	72	10	,	,	PUNCT
ajst-30228	72	11	a	a	DET
ajst-30228	72	12	self	self	NOUN
ajst-30228	72	13	-	-	PUNCT
ajst-30228	72	14	correlation	correlation	NOUN
ajst-30228	72	15	matrix	matrix	NOUN
ajst-30228	72	16	is	be	AUX
ajst-30228	72	17	constructed	construct	VERB
ajst-30228	72	18	,	,	PUNCT
ajst-30228	72	19	and	and	CCONJ
ajst-30228	72	20	its	its	PRON
ajst-30228	72	21	determinant	determinant	ADJ
ajst-30228	72	22	and	and	CCONJ
ajst-30228	72	23	trace	trace	NOUN
ajst-30228	72	24	are	be	AUX
ajst-30228	72	25	combined	combine	VERB
ajst-30228	72	26	as	as	ADP
ajst-30228	72	27	a	a	DET
ajst-30228	72	28	selection	selection	NOUN
ajst-30228	72	29	criterion	criterion	NOUN
ajst-30228	72	30	.	.	PUNCT
ajst-30228	73	1	this	this	PRON
ajst-30228	73	2	prioritizes	prioritize	VERB
ajst-30228	73	3	feature	feature	NOUN
ajst-30228	73	4	points	point	NOUN
ajst-30228	73	5	with	with	ADP
ajst-30228	73	6	significant	significant	ADJ
ajst-30228	73	7	gradient	gradient	ADJ
ajst-30228	73	8	variations	variation	NOUN
ajst-30228	73	9	,	,	PUNCT
ajst-30228	73	10	calculated	calculate	VERB
ajst-30228	73	11	as	as	SCONJ
ajst-30228	73	12	follows	follow	VERB
ajst-30228	73	13	:	:	PUNCT
ajst-30228	73	14	2det	2det	NUM
ajst-30228	73	15	(	(	PUNCT
ajst-30228	73	16	)	)	PUNCT
ajst-30228	73	17	trace	trace	NOUN
ajst-30228	73	18	(	(	PUNCT
ajst-30228	73	19	)	)	PUNCT
ajst-30228	74	1	r	r	NOUN
ajst-30228	74	2	m	m	VERB
ajst-30228	74	3	k	k	X
ajst-30228	74	4	m	m	X
ajst-30228	74	5			PROPN
ajst-30228	74	6			PROPN
ajst-30228	74	7	(	(	PUNCT
ajst-30228	74	8	2	2	NUM
ajst-30228	74	9	)	)	PUNCT
ajst-30228	74	10	2	2	NUM
ajst-30228	74	11	2	2	NUM
ajst-30228	74	12	x	x	SYM
ajst-30228	74	13	x	x	SYM
ajst-30228	74	14	y	y	NOUN
ajst-30228	74	15	x	x	X
ajst-30228	74	16	y	y	NOUN
ajst-30228	74	17	y	y	INTJ
ajst-30228	75	1	i	i	PRON
ajst-30228	75	2	i	i	PRON
ajst-30228	76	1	i	i	PRON
ajst-30228	76	2	m	m	VERB
ajst-30228	77	1	i	i	INTJ
ajst-30228	77	2	i	i	PRON
ajst-30228	78	1	i	i	PRON
ajst-30228	78	2			VERB
ajst-30228	78	3			ADJ
ajst-30228	78	4			X
ajst-30228	79	1			X
ajst-30228	79	2			NOUN
ajst-30228	79	3			PROPN
ajst-30228	79	4			PROPN
ajst-30228	79	5			X
ajst-30228	79	6	(	(	PUNCT
ajst-30228	79	7	3	3	X
ajst-30228	79	8	)	)	PUNCT
ajst-30228	79	9	wherem	wherem	PROPN
ajst-30228	79	10	is	be	AUX
ajst-30228	79	11	the	the	DET
ajst-30228	79	12	self	self	NOUN
ajst-30228	79	13	-	-	PUNCT
ajst-30228	79	14	correlation	correlation	NOUN
ajst-30228	79	15	matrix	matrix	NOUN
ajst-30228	79	16	of	of	ADP
ajst-30228	79	17	pixel	pixel	PROPN
ajst-30228	79	18	intensity	intensity	NOUN
ajst-30228	79	19	gradients	gradient	NOUN
ajst-30228	79	20	,	,	PUNCT
ajst-30228	79	21	xi	xi	PROPN
ajst-30228	79	22	and	and	CCONJ
ajst-30228	79	23	yi	yi	PROPN
ajst-30228	79	24	represent	represent	VERB
ajst-30228	79	25	horizontal	horizontal	ADJ
ajst-30228	79	26	and	and	CCONJ
ajst-30228	79	27	vertical	vertical	ADJ
ajst-30228	79	28	gradient	gradient	NOUN
ajst-30228	79	29	components	component	NOUN
ajst-30228	79	30	,	,	PUNCT
ajst-30228	79	31	and	and	CCONJ
ajst-30228	79	32	k	k	PROPN
ajst-30228	79	33	is	be	AUX
ajst-30228	79	34	an	an	DET
ajst-30228	79	35	empirically	empirically	ADV
ajst-30228	79	36	determined	determine	VERB
ajst-30228	79	37	constant	constant	ADJ
ajst-30228	79	38	.	.	PUNCT
ajst-30228	80	1	to	to	PART
ajst-30228	80	2	construct	construct	VERB
ajst-30228	80	3	rotation	rotation	NOUN
ajst-30228	80	4	-	-	PUNCT
ajst-30228	80	5	invariant	invariant	ADJ
ajst-30228	80	6	descriptors	descriptor	NOUN
ajst-30228	80	7	,	,	PUNCT
ajst-30228	80	8	the	the	DET
ajst-30228	80	9	algorithm	algorithm	NOUN
ajst-30228	80	10	estimates	estimate	VERB
ajst-30228	80	11	the	the	DET
ajst-30228	80	12	dominant	dominant	ADJ
ajst-30228	80	13	feature	feature	NOUN
ajst-30228	80	14	orientation	orientation	NOUN
ajst-30228	80	15	using	use	VERB
ajst-30228	80	16	the	the	DET
ajst-30228	80	17	intensity	intensity	NOUN
ajst-30228	80	18	centroid	centroid	NOUN
ajst-30228	80	19	method	method	NOUN
ajst-30228	80	20	:	:	PUNCT
ajst-30228	80	21			NOUN
ajst-30228	81	1			PROPN
ajst-30228	81	2			NOUN
ajst-30228	81	3			SYM
ajst-30228	81	4			NOUN
ajst-30228	81	5			SYM
ajst-30228	81	6			NOUN
ajst-30228	81	7			PROPN
ajst-30228	81	8	,	,	PUNCT
ajst-30228	81	9	1	1	NUM
ajst-30228	81	10	,	,	PUNCT
ajst-30228	81	11	,	,	PUNCT
ajst-30228	81	12	tan	tan	PROPN
ajst-30228	81	13	,	,	PUNCT
ajst-30228	81	14	x	x	PROPN
ajst-30228	81	15	y	y	NOUN
ajst-30228	81	16	s	s	NOUN
ajst-30228	81	17	x	x	VERB
ajst-30228	81	18	y	y	PROPN
ajst-30228	81	19	s	s	NOUN
ajst-30228	81	20	y	y	NOUN
ajst-30228	81	21	i	i	NOUN
ajst-30228	81	22	x	x	VERB
ajst-30228	82	1	y	y	VERB
ajst-30228	82	2	x	x	PUNCT
ajst-30228	82	3	i	i	NOUN
ajst-30228	82	4	x	x	VERB
ajst-30228	82	5	y	y	VERB
ajst-30228	82	6			PROPN
ajst-30228	82	7			PROPN
ajst-30228	82	8			PROPN
ajst-30228	82	9			NOUN
ajst-30228	82	10			NOUN
ajst-30228	82	11			PROPN
ajst-30228	82	12			PROPN
ajst-30228	83	1			PROPN
ajst-30228	83	2			NOUN
ajst-30228	84	1			PROPN
ajst-30228	84	2			NOUN
ajst-30228	84	3			PROPN
ajst-30228	85	1			PROPN
ajst-30228	85	2			PROPN
ajst-30228	85	3			PROPN
ajst-30228	85	4			X
ajst-30228	85	5			X
ajst-30228	85	6	(	(	PUNCT
ajst-30228	85	7	4	4	X
ajst-30228	85	8	)	)	PUNCT
ajst-30228	85	9	where	where	SCONJ
ajst-30228	85	10	s	s	NOUN
ajst-30228	85	11	represents	represent	VERB
ajst-30228	85	12	pixels	pixel	NOUN
ajst-30228	85	13	in	in	ADP
ajst-30228	85	14	the	the	DET
ajst-30228	85	15	feature	feature	NOUN
ajst-30228	85	16	neighborhood	neighborhood	NOUN
ajst-30228	85	17	,	,	PUNCT
ajst-30228	85	18			NOUN
ajst-30228	85	19	,i	,i	NOUN
ajst-30228	86	1	x	x	PUNCT
ajst-30228	86	2	y	y	PROPN
ajst-30228	86	3	denotes	denote	VERB
ajst-30228	86	4	the	the	DET
ajst-30228	86	5	intensity	intensity	NOUN
ajst-30228	86	6	value	value	NOUN
ajst-30228	86	7	,	,	PUNCT
ajst-30228	86	8	and	and	CCONJ
ajst-30228	86	9			PROPN
ajst-30228	86	10	,x	,x	PUNCT
ajst-30228	86	11	y	y	PROPN
ajst-30228	86	12	are	be	AUX
ajst-30228	86	13	the	the	DET
ajst-30228	86	14	pixel	pixel	PROPN
ajst-30228	86	15	coordinates	coordinate	NOUN
ajst-30228	86	16	relative	relative	ADJ
ajst-30228	86	17	to	to	ADP
ajst-30228	86	18	the	the	DET
ajst-30228	86	19	feature	feature	NOUN
ajst-30228	86	20	point	point	NOUN
ajst-30228	86	21	.	.	PUNCT
ajst-30228	87	1	orb	orb	NOUN
ajst-30228	87	2	generates	generate	VERB
ajst-30228	87	3	binary	binary	ADJ
ajst-30228	87	4	descriptors	descriptor	NOUN
ajst-30228	87	5	using	use	VERB
ajst-30228	87	6	the	the	DET
ajst-30228	87	7	brief	brief	ADJ
ajst-30228	87	8	(	(	PUNCT
ajst-30228	87	9	binary	binary	ADJ
ajst-30228	87	10	robust	robust	ADJ
ajst-30228	87	11	independent	independent	ADJ
ajst-30228	87	12	elementary	elementary	ADJ
ajst-30228	87	13	features	feature	NOUN
ajst-30228	87	14	)	)	PUNCT
ajst-30228	87	15	algorithm	algorithm	NOUN
ajst-30228	87	16	,	,	PUNCT
ajst-30228	87	17	which	which	PRON
ajst-30228	87	18	randomly	randomly	VERB
ajst-30228	87	19	samples	sample	VERB
ajst-30228	87	20	intensity	intensity	NOUN
ajst-30228	87	21	values	value	NOUN
ajst-30228	87	22	within	within	ADP
ajst-30228	87	23	the	the	DET
ajst-30228	87	24	feature	feature	NOUN
ajst-30228	87	25	neighborhood	neighborhood	NOUN
ajst-30228	87	26	and	and	CCONJ
ajst-30228	87	27	constructs	construct	VERB
ajst-30228	87	28	binary	binary	ADJ
ajst-30228	87	29	feature	feature	NOUN
ajst-30228	87	30	vectors	vector	NOUN
ajst-30228	87	31	through	through	ADP
ajst-30228	87	32	intensity	intensity	NOUN
ajst-30228	87	33	comparisons	comparison	NOUN
ajst-30228	87	34	.	.	PUNCT
ajst-30228	88	1	to	to	PART
ajst-30228	88	2	enhance	enhance	VERB
ajst-30228	88	3	descriptor	descriptor	NOUN
ajst-30228	88	4	orientation	orientation	NOUN
ajst-30228	88	5	consistency	consistency	NOUN
ajst-30228	88	6	,	,	PUNCT
ajst-30228	88	7	orb	orb	NOUN
ajst-30228	88	8	applies	apply	VERB
ajst-30228	88	9	a	a	DET
ajst-30228	88	10	rotation	rotation	NOUN
ajst-30228	88	11	transformation	transformation	NOUN
ajst-30228	88	12	based	base	VERB
ajst-30228	88	13	on	on	ADP
ajst-30228	88	14	the	the	DET
ajst-30228	88	15	estimated	estimate	VERB
ajst-30228	88	16	dominant	dominant	ADJ
ajst-30228	88	17	feature	feature	NOUN
ajst-30228	88	18	direction	direction	NOUN
ajst-30228	88	19	:	:	PUNCT
ajst-30228	88	20	cos	cos	ADP
ajst-30228	88	21	sin	sin	PROPN
ajst-30228	88	22	sin	sin	NOUN
ajst-30228	89	1	cos	cos	ADP
ajst-30228	90	1	i	i	PRON
ajst-30228	91	1	i	i	PRON
ajst-30228	92	1	i	i	VERB
ajst-30228	93	1	i	i	VERB
ajst-30228	93	2	x	x	VERB
ajst-30228	94	1	x	x	VERB
ajst-30228	94	2	y	y	NOUN
ajst-30228	94	3	y	y	NOUN
ajst-30228	94	4			X
ajst-30228	94	5			X
ajst-30228	94	6			PROPN
ajst-30228	94	7			PROPN
ajst-30228	95	1			CCONJ
ajst-30228	95	2			NOUN
ajst-30228	95	3			VERB
ajst-30228	95	4			PROPN
ajst-30228	95	5			PROPN
ajst-30228	95	6			X
ajst-30228	95	7			PROPN
ajst-30228	95	8			NOUN
ajst-30228	95	9			NOUN
ajst-30228	95	10			NOUN
ajst-30228	95	11			NOUN
ajst-30228	95	12			VERB
ajst-30228	95	13			PROPN
ajst-30228	95	14			PROPN
ajst-30228	95	15			VERB
ajst-30228	95	16			PROPN
ajst-30228	95	17	(	(	PUNCT
ajst-30228	95	18	5	5	NUM
ajst-30228	95	19	)	)	PUNCT
ajst-30228	95	20	compared	compare	VERB
ajst-30228	95	21	to	to	ADP
ajst-30228	95	22	shi	shi	PROPN
ajst-30228	95	23	-	-	PUNCT
ajst-30228	95	24	tomasi	tomasi	PROPN
ajst-30228	95	25	feature	feature	NOUN
ajst-30228	95	26	detection	detection	NOUN
ajst-30228	95	27	,	,	PUNCT
ajst-30228	95	28	orb	orb	VERB
ajst-30228	95	29	simultaneously	simultaneously	ADV
ajst-30228	95	30	detects	detect	VERB
ajst-30228	95	31	corners	corner	NOUN
ajst-30228	95	32	and	and	CCONJ
ajst-30228	95	33	generates	generate	VERB
ajst-30228	95	34	descriptors	descriptor	NOUN
ajst-30228	95	35	,	,	PUNCT
ajst-30228	95	36	eliminating	eliminate	VERB
ajst-30228	95	37	the	the	DET
ajst-30228	95	38	need	need	NOUN
ajst-30228	95	39	for	for	ADP
ajst-30228	95	40	heavy	heavy	ADJ
ajst-30228	95	41	reliance	reliance	NOUN
ajst-30228	95	42	on	on	ADP
ajst-30228	95	43	optical	optical	ADJ
ajst-30228	95	44	flow	flow	NOUN
ajst-30228	95	45	tracking	tracking	NOUN
ajst-30228	95	46	.	.	PUNCT
ajst-30228	96	1	by	by	ADP
ajst-30228	96	2	introducing	introduce	VERB
ajst-30228	96	3	feature	feature	NOUN
ajst-30228	96	4	orientation	orientation	NOUN
ajst-30228	96	5	assignment	assignment	NOUN
ajst-30228	96	6	and	and	CCONJ
ajst-30228	96	7	rotation	rotation	NOUN
ajst-30228	96	8	-	-	PUNCT
ajst-30228	96	9	optimized	optimize	VERB
ajst-30228	96	10	brief	brief	ADJ
ajst-30228	96	11	descriptors	descriptor	NOUN
ajst-30228	96	12	,	,	PUNCT
ajst-30228	96	13	orb	orb	VERB
ajst-30228	96	14	exhibits	exhibit	VERB
ajst-30228	96	15	superior	superior	ADJ
ajst-30228	96	16	robustness	robustness	NOUN
ajst-30228	96	17	under	under	ADP
ajst-30228	96	18	high	high	ADJ
ajst-30228	96	19	-	-	PUNCT
ajst-30228	96	20	speed	speed	NOUN
ajst-30228	96	21	uav	uav	PROPN
ajst-30228	96	22	motion	motion	NOUN
ajst-30228	96	23	,	,	PUNCT
ajst-30228	96	24	ensuring	ensure	VERB
ajst-30228	96	25	stable	stable	ADJ
ajst-30228	96	26	and	and	CCONJ
ajst-30228	96	27	reliable	reliable	ADJ
ajst-30228	96	28	feature	feature	NOUN
ajst-30228	96	29	matching	matching	NOUN
ajst-30228	96	30	.	.	PUNCT
ajst-30228	97	1	2.2.2	2.2.2	X
ajst-30228	97	2	.	.	PUNCT
ajst-30228	97	3	feature	feature	NOUN
ajst-30228	97	4	booster	booster	NOUN
ajst-30228	97	5	-	-	PUNCT
ajst-30228	97	6	based	base	VERB
ajst-30228	97	7	feature	feature	NOUN
ajst-30228	97	8	enhancement	enhancement	NOUN
ajst-30228	97	9	to	to	PART
ajst-30228	97	10	further	far	ADV
ajst-30228	97	11	enhance	enhance	VERB
ajst-30228	97	12	feature	feature	NOUN
ajst-30228	97	13	point	point	NOUN
ajst-30228	97	14	quality	quality	NOUN
ajst-30228	97	15	,	,	PUNCT
ajst-30228	97	16	a	a	DET
ajst-30228	97	17	deep	deep	ADJ
ajst-30228	97	18	learningbased	learningbase	VERB
ajst-30228	97	19	feature	feature	NOUN
ajst-30228	97	20	booster	booster	NOUN
ajst-30228	97	21	framework	framework	NOUN
ajst-30228	97	22	is	be	AUX
ajst-30228	97	23	innovatively	innovatively	ADV
ajst-30228	97	24	introduced	introduce	VERB
ajst-30228	97	25	.	.	PUNCT
ajst-30228	98	1	this	this	DET
ajst-30228	98	2	framework	framework	NOUN
ajst-30228	98	3	improves	improve	VERB
ajst-30228	98	4	feature	feature	NOUN
ajst-30228	98	5	descriptor	descriptor	NOUN
ajst-30228	98	6	performance	performance	NOUN
ajst-30228	98	7	through	through	ADP
ajst-30228	98	8	a	a	DET
ajst-30228	98	9	dual	dual	ADJ
ajst-30228	98	10	-	-	PUNCT
ajst-30228	98	11	stage	stage	NOUN
ajst-30228	98	12	optimization	optimization	NOUN
ajst-30228	98	13	mechanism	mechanism	NOUN
ajst-30228	98	14	,	,	PUNCT
ajst-30228	98	15	consisting	consist	VERB
ajst-30228	98	16	of	of	ADP
ajst-30228	98	17	self	self	NOUN
ajst-30228	98	18	-	-	PUNCT
ajst-30228	98	19	boosting	boost	VERB
ajst-30228	98	20	and	and	CCONJ
ajst-30228	98	21	cross	cross	ADJ
ajst-30228	98	22	-	-	ADJ
ajst-30228	98	23	boosting	boosting	ADJ
ajst-30228	98	24	strategies	strategy	NOUN
ajst-30228	98	25	.	.	PUNCT
ajst-30228	99	1	in	in	ADP
ajst-30228	99	2	the	the	DET
ajst-30228	99	3	self	self	NOUN
ajst-30228	99	4	-	-	PUNCT
ajst-30228	99	5	boosting	boost	VERB
ajst-30228	99	6	stage	stage	NOUN
ajst-30228	99	7	,	,	PUNCT
ajst-30228	99	8	a	a	DET
ajst-30228	99	9	dual	dual	ADJ
ajst-30228	99	10	-	-	PUNCT
ajst-30228	99	11	path	path	NOUN
ajst-30228	99	12	feature	feature	NOUN
ajst-30228	99	13	optimization	optimization	NOUN
ajst-30228	99	14	network	network	NOUN
ajst-30228	99	15	is	be	AUX
ajst-30228	99	16	constructed	construct	VERB
ajst-30228	99	17	.	.	PUNCT
ajst-30228	100	1	the	the	DET
ajst-30228	100	2	descriptor	descriptor	NOUN
ajst-30228	100	3	enhancement	enhancement	NOUN
ajst-30228	100	4	path	path	NOUN
ajst-30228	100	5	employs	employ	VERB
ajst-30228	100	6	a	a	DET
ajst-30228	100	7	three	three	NUM
ajst-30228	100	8	-	-	PUNCT
ajst-30228	100	9	layer	layer	NOUN
ajst-30228	100	10	multilayer	multilayer	NOUN
ajst-30228	100	11	perceptron	perceptron	PROPN
ajst-30228	100	12	(	(	PUNCT
ajst-30228	100	13	mlp	mlp	PROPN
ajst-30228	100	14	)	)	PUNCT
ajst-30228	100	15	network	network	NOUN
ajst-30228	100	16	with	with	ADP
ajst-30228	100	17	nonlinear	nonlinear	ADJ
ajst-30228	100	18	activation	activation	NOUN
ajst-30228	100	19	functions	function	NOUN
ajst-30228	100	20	to	to	PART
ajst-30228	100	21	perform	perform	VERB
ajst-30228	100	22	feature	feature	NOUN
ajst-30228	100	23	space	space	NOUN
ajst-30228	100	24	projection	projection	NOUN
ajst-30228	100	25	:	:	PUNCT
ajst-30228	100	26			PROPN
ajst-30228	100	27	tr	tr	NOUN
ajst-30228	101	1	i	i	PRON
ajst-30228	101	2	desc	desc	VERB
ajst-30228	101	3	i	i	PROPN
ajst-30228	101	4	d	d	PROPN
ajst-30228	101	5	mlp	mlp	PROPN
ajst-30228	101	6	d	d	PROPN
ajst-30228	101	7	(	(	PUNCT
ajst-30228	101	8	6	6	NUM
ajst-30228	101	9	)	)	PUNCT
ajst-30228	101	10	where	where	SCONJ
ajst-30228	101	11	tr	tr	VERB
ajst-30228	101	12	i	i	PROPN
ajst-30228	101	13	d	d	PROPN
ajst-30228	101	14	represents	represent	VERB
ajst-30228	101	15	the	the	DET
ajst-30228	101	16	transformed	transform	VERB
ajst-30228	101	17	feature	feature	NOUN
ajst-30228	101	18	descriptor	descriptor	NOUN
ajst-30228	101	19	,	,	PUNCT
ajst-30228	101	20	and	and	CCONJ
ajst-30228	101	21	descmlp	descmlp	NOUN
ajst-30228	101	22	is	be	AUX
ajst-30228	101	23	a	a	DET
ajst-30228	101	24	multilayer	multilayer	ADJ
ajst-30228	101	25	perceptron	perceptron	NOUN
ajst-30228	101	26	(	(	PUNCT
ajst-30228	101	27	mlp	mlp	PROPN
ajst-30228	101	28	)	)	PUNCT
ajst-30228	101	29	model	model	NOUN
ajst-30228	101	30	designed	design	VERB
ajst-30228	101	31	to	to	PART
ajst-30228	101	32	learn	learn	VERB
ajst-30228	101	33	a	a	DET
ajst-30228	101	34	nonlinear	nonlinear	ADJ
ajst-30228	101	35	mapping	mapping	NOUN
ajst-30228	101	36	,	,	PUNCT
ajst-30228	101	37	enhancing	enhance	VERB
ajst-30228	101	38	the	the	DET
ajst-30228	101	39	robustness	robustness	NOUN
ajst-30228	101	40	of	of	ADP
ajst-30228	101	41	descriptors	descriptor	NOUN
ajst-30228	101	42	during	during	ADP
ajst-30228	101	43	the	the	DET
ajst-30228	101	44	matching	matching	NOUN
ajst-30228	101	45	process	process	NOUN
ajst-30228	101	46	.	.	PUNCT
ajst-30228	102	1	the	the	DET
ajst-30228	102	2	geometric	geometric	ADJ
ajst-30228	102	3	encoding	encoding	NOUN
ajst-30228	102	4	path	path	NOUN
ajst-30228	102	5	embeds	embed	VERB
ajst-30228	102	6	feature	feature	NOUN
ajst-30228	102	7	point	point	NOUN
ajst-30228	102	8	attributes	attribute	NOUN
ajst-30228	102	9	into	into	ADP
ajst-30228	102	10	a	a	DET
ajst-30228	102	11	high	high	ADJ
ajst-30228	102	12	-	-	PUNCT
ajst-30228	102	13	dimensional	dimensional	ADJ
ajst-30228	102	14	space	space	NOUN
ajst-30228	102	15	and	and	CCONJ
ajst-30228	102	16	integrates	integrate	VERB
ajst-30228	102	17	them	they	PRON
ajst-30228	102	18	with	with	ADP
ajst-30228	102	19	the	the	DET
ajst-30228	102	20	self	self	NOUN
ajst-30228	102	21	-	-	PUNCT
ajst-30228	102	22	boosted	boost	VERB
ajst-30228	102	23	descriptors	descriptor	NOUN
ajst-30228	102	24	,	,	PUNCT
ajst-30228	102	25	further	further	ADJ
ajst-30228	102	26	refining	refine	VERB
ajst-30228	102	27	feature	feature	NOUN
ajst-30228	102	28	representations	representation	NOUN
ajst-30228	102	29	:	:	PUNCT
ajst-30228	102	30	(	(	PUNCT
ajst-30228	102	31	)	)	PUNCT
ajst-30228	102	32	(	(	PUNCT
ajst-30228	102	33	,	,	PUNCT
ajst-30228	102	34	,	,	PUNCT
ajst-30228	102	35	,	,	PUNCT
ajst-30228	102	36	,	,	PUNCT
ajst-30228	102	37	)	)	PUNCT
ajst-30228	102	38	self	self	NOUN
ajst-30228	102	39	tr	tr	VERB
ajst-30228	103	1	i	i	PRON
ajst-30228	103	2	i	i	PRON
ajst-30228	103	3	geo	geo	PROPN
ajst-30228	104	1	i	i	PRON
ajst-30228	104	2	i	i	PRON
ajst-30228	105	1	i	i	PRON
ajst-30228	105	2	i	i	PRON
ajst-30228	106	1	i	i	PRON
ajst-30228	107	1	i	i	PRON
ajst-30228	107	2	i	i	VERB
ajst-30228	108	1	d	d	X
ajst-30228	109	1	d	d	X
ajst-30228	109	2	mlp	mlp	PROPN
ajst-30228	110	1	p	p	PROPN
ajst-30228	110	2	p	p	X
ajst-30228	110	3	x	x	X
ajst-30228	110	4	y	y	NOUN
ajst-30228	110	5	c	c	PROPN
ajst-30228	110	6	s	s	PROPN
ajst-30228	110	7			PROPN
ajst-30228	110	8			SCONJ
ajst-30228	110	9			NUM
ajst-30228	110	10	(	(	PUNCT
ajst-30228	110	11	7	7	NUM
ajst-30228	110	12	)	)	PUNCT
ajst-30228	110	13	where	where	SCONJ
ajst-30228	110	14	ix	ix	PROPN
ajst-30228	110	15	and	and	CCONJ
ajst-30228	110	16	iy	iy	PROPN
ajst-30228	110	17	represent	represent	VERB
ajst-30228	110	18	the	the	DET
ajst-30228	110	19	2d	2d	NUM
ajst-30228	110	20	coordinates	coordinate	NOUN
ajst-30228	110	21	of	of	ADP
ajst-30228	110	22	the	the	DET
ajst-30228	110	23	feature	feature	NOUN
ajst-30228	110	24	point	point	NOUN
ajst-30228	110	25	,	,	PUNCT
ajst-30228	110	26	i	i	NOUN
ajst-30228	110	27	represents	represent	VERB
ajst-30228	110	28	the	the	DET
ajst-30228	110	29	feature	feature	NOUN
ajst-30228	110	30	orientation	orientation	NOUN
ajst-30228	110	31	angle	angle	NOUN
ajst-30228	110	32	,	,	PUNCT
ajst-30228	110	33	and	and	CCONJ
ajst-30228	110	34	ic	ic	PROPN
ajst-30228	110	35	is	be	AUX
ajst-30228	110	36	the	the	DET
ajst-30228	110	37	detection	detection	NOUN
ajst-30228	110	38	confidence	confidence	NOUN
ajst-30228	110	39	.	.	PUNCT
ajst-30228	111	1	in	in	ADP
ajst-30228	111	2	the	the	DET
ajst-30228	111	3	cross	cross	ADJ
ajst-30228	111	4	-	-	ADJ
ajst-30228	111	5	boosting	boosting	ADJ
ajst-30228	111	6	stage	stage	NOUN
ajst-30228	111	7	,	,	PUNCT
ajst-30228	111	8	a	a	DET
ajst-30228	111	9	lightweight	lightweight	ADJ
ajst-30228	111	10	transformer	transformer	NOUN
ajst-30228	111	11	architecture	architecture	NOUN
ajst-30228	111	12	is	be	AUX
ajst-30228	111	13	introduced	introduce	VERB
ajst-30228	111	14	to	to	PART
ajst-30228	111	15	perform	perform	VERB
ajst-30228	111	16	global	global	ADJ
ajst-30228	111	17	feature	feature	NOUN
ajst-30228	111	18	optimization	optimization	NOUN
ajst-30228	111	19	.	.	PUNCT
ajst-30228	112	1	this	this	DET
ajst-30228	112	2	mechanism	mechanism	NOUN
ajst-30228	112	3	enables	enable	VERB
ajst-30228	112	4	each	each	DET
ajst-30228	112	5	feature	feature	NOUN
ajst-30228	112	6	descriptor	descriptor	NOUN
ajst-30228	112	7	331	331	NUM
ajst-30228	112	8	to	to	PART
ajst-30228	112	9	perceive	perceive	VERB
ajst-30228	112	10	the	the	DET
ajst-30228	112	11	global	global	ADJ
ajst-30228	112	12	feature	feature	NOUN
ajst-30228	112	13	distribution	distribution	NOUN
ajst-30228	112	14	and	and	CCONJ
ajst-30228	112	15	interact	interact	VERB
ajst-30228	112	16	with	with	ADP
ajst-30228	112	17	other	other	ADJ
ajst-30228	112	18	feature	feature	NOUN
ajst-30228	112	19	points	point	NOUN
ajst-30228	112	20	for	for	ADP
ajst-30228	112	21	improved	improved	ADJ
ajst-30228	112	22	contextual	contextual	ADJ
ajst-30228	112	23	awareness	awareness	NOUN
ajst-30228	112	24	.	.	PUNCT
ajst-30228	113	1	this	this	DET
ajst-30228	113	2	process	process	NOUN
ajst-30228	113	3	can	can	AUX
ajst-30228	113	4	be	be	AUX
ajst-30228	113	5	formulated	formulate	VERB
ajst-30228	113	6	as	as	ADP
ajst-30228	113	7	:	:	PUNCT
ajst-30228	113	8			PROPN
ajst-30228	113	9	cross	cross	PROPN
ajst-30228	113	10	selfd	selfd	PROPN
ajst-30228	113	11	trans	trans	PROPN
ajst-30228	113	12	d	d	PROPN
ajst-30228	113	13	(	(	PUNCT
ajst-30228	113	14	8)	8)	NUM
ajst-30228	113	15	where	where	SCONJ
ajst-30228	113	16	crossd	crossd	NOUN
ajst-30228	113	17	represents	represent	VERB
ajst-30228	113	18	the	the	DET
ajst-30228	113	19	descriptor	descriptor	NOUN
ajst-30228	113	20	after	after	ADP
ajst-30228	113	21	cross	cross	ADJ
ajst-30228	113	22	-	-	ADJ
ajst-30228	113	23	boosting	boosting	ADJ
ajst-30228	113	24	enhancement	enhancement	NOUN
ajst-30228	113	25	,	,	PUNCT
ajst-30228	113	26	trans	trans	PROPN
ajst-30228	113	27	denotes	denote	VERB
ajst-30228	113	28	the	the	DET
ajst-30228	113	29	transformer	transformer	NOUN
ajst-30228	113	30	model	model	NOUN
ajst-30228	113	31	.	.	PUNCT
ajst-30228	114	1	by	by	ADP
ajst-30228	114	2	leveraging	leverage	VERB
ajst-30228	114	3	the	the	DET
ajst-30228	114	4	self	self	NOUN
ajst-30228	114	5	-	-	PUNCT
ajst-30228	114	6	attention	attention	NOUN
ajst-30228	114	7	mechanism	mechanism	NOUN
ajst-30228	114	8	,	,	PUNCT
ajst-30228	114	9	the	the	DET
ajst-30228	114	10	transformer	transformer	NOUN
ajst-30228	114	11	enables	enable	VERB
ajst-30228	114	12	feature	feature	NOUN
ajst-30228	114	13	descriptors	descriptor	NOUN
ajst-30228	114	14	to	to	PART
ajst-30228	114	15	undergo	undergo	VERB
ajst-30228	114	16	global	global	ADJ
ajst-30228	114	17	optimization	optimization	NOUN
ajst-30228	114	18	in	in	ADP
ajst-30228	114	19	a	a	DET
ajst-30228	114	20	high	high	ADJ
ajst-30228	114	21	-	-	PUNCT
ajst-30228	114	22	dimensional	dimensional	ADJ
ajst-30228	114	23	feature	feature	NOUN
ajst-30228	114	24	space	space	NOUN
ajst-30228	114	25	,	,	PUNCT
ajst-30228	114	26	thereby	thereby	ADV
ajst-30228	114	27	improving	improve	VERB
ajst-30228	114	28	matching	matching	NOUN
ajst-30228	114	29	accuracy	accuracy	NOUN
ajst-30228	114	30	.	.	PUNCT
ajst-30228	115	1	to	to	PART
ajst-30228	115	2	enhance	enhance	VERB
ajst-30228	115	3	the	the	DET
ajst-30228	115	4	matching	matching	NOUN
ajst-30228	115	5	discriminability	discriminability	NOUN
ajst-30228	115	6	of	of	ADP
ajst-30228	115	7	feature	feature	NOUN
ajst-30228	115	8	descriptors	descriptor	NOUN
ajst-30228	115	9	,	,	PUNCT
ajst-30228	115	10	a	a	DET
ajst-30228	115	11	dual	dual	ADJ
ajst-30228	115	12	-	-	PUNCT
ajst-30228	115	13	constraint	constraint	NOUN
ajst-30228	115	14	optimization	optimization	NOUN
ajst-30228	115	15	objective	objective	ADJ
ajst-30228	115	16	function	function	NOUN
ajst-30228	115	17	is	be	AUX
ajst-30228	115	18	designed	design	VERB
ajst-30228	115	19	.	.	PUNCT
ajst-30228	116	1	first	first	ADV
ajst-30228	116	2	,	,	PUNCT
ajst-30228	116	3	a	a	DET
ajst-30228	116	4	fastap	fastap	ADJ
ajst-30228	116	5	loss	loss	NOUN
ajst-30228	116	6	term	term	NOUN
ajst-30228	116	7	is	be	AUX
ajst-30228	116	8	formulated	formulate	VERB
ajst-30228	116	9	based	base	VERB
ajst-30228	116	10	on	on	ADP
ajst-30228	116	11	feature	feature	NOUN
ajst-30228	116	12	matching	matching	NOUN
ajst-30228	116	13	evaluation	evaluation	NOUN
ajst-30228	116	14	metrics	metric	NOUN
ajst-30228	116	15	:	:	PUNCT
ajst-30228	116	16	1	1	NUM
ajst-30228	116	17	1	1	NUM
ajst-30228	116	18	1	1	NUM
ajst-30228	116	19	(	(	PUNCT
ajst-30228	116	20	)	)	PUNCT
ajst-30228	116	21	n	n	CCONJ
ajst-30228	117	1	tr	tr	NOUN
ajst-30228	117	2	ap	ap	INTJ
ajst-30228	118	1	i	i	PRON
ajst-30228	119	1	i	i	NOUN
ajst-30228	119	2	l	l	NOUN
ajst-30228	119	3	ap	ap	PROPN
ajst-30228	120	1	d	d	PROPN
ajst-30228	120	2	n	n	CCONJ
ajst-30228	120	3			PROPN
ajst-30228	120	4			PROPN
ajst-30228	120	5			NOUN
ajst-30228	120	6			X
ajst-30228	120	7	(	(	PUNCT
ajst-30228	120	8	9	9	NUM
ajst-30228	120	9	)	)	PUNCT
ajst-30228	120	10	where	where	SCONJ
ajst-30228	120	11	apl	apl	PROPN
ajst-30228	120	12	represents	represent	VERB
ajst-30228	120	13	the	the	DET
ajst-30228	120	14	average	average	ADJ
ajst-30228	120	15	precision	precision	NOUN
ajst-30228	120	16	computed	compute	VERB
ajst-30228	120	17	using	use	VERB
ajst-30228	120	18	the	the	DET
ajst-30228	120	19	fastap	fastap	PROPN
ajst-30228	120	20	metric	metric	NOUN
ajst-30228	120	21	,	,	PUNCT
ajst-30228	120	22	and	and	CCONJ
ajst-30228	120	23	n	n	PRON
ajst-30228	120	24	denotes	denote	VERB
ajst-30228	120	25	the	the	DET
ajst-30228	120	26	total	total	ADJ
ajst-30228	120	27	number	number	NOUN
ajst-30228	120	28	of	of	ADP
ajst-30228	120	29	feature	feature	NOUN
ajst-30228	120	30	points	point	NOUN
ajst-30228	120	31	.	.	PUNCT
ajst-30228	121	1	this	this	DET
ajst-30228	121	2	loss	loss	NOUN
ajst-30228	121	3	function	function	NOUN
ajst-30228	121	4	aims	aim	VERB
ajst-30228	121	5	to	to	PART
ajst-30228	121	6	maximize	maximize	VERB
ajst-30228	121	7	feature	feature	NOUN
ajst-30228	121	8	point	point	NOUN
ajst-30228	121	9	matching	matching	NOUN
ajst-30228	121	10	accuracy	accuracy	NOUN
ajst-30228	121	11	.	.	PUNCT
ajst-30228	122	1	to	to	PART
ajst-30228	122	2	further	far	ADV
ajst-30228	122	3	ensure	ensure	VERB
ajst-30228	122	4	the	the	DET
ajst-30228	122	5	monotonic	monotonic	ADJ
ajst-30228	122	6	improvement	improvement	NOUN
ajst-30228	122	7	of	of	ADP
ajst-30228	122	8	the	the	DET
ajst-30228	122	9	enhancement	enhancement	NOUN
ajst-30228	122	10	process	process	NOUN
ajst-30228	122	11	,	,	PUNCT
ajst-30228	122	12	an	an	DET
ajst-30228	122	13	enhancement	enhancement	NOUN
ajst-30228	122	14	constraint	constraint	NOUN
ajst-30228	122	15	term	term	NOUN
ajst-30228	122	16	is	be	AUX
ajst-30228	122	17	introduced	introduce	VERB
ajst-30228	122	18	:	:	PUNCT
ajst-30228	122	19	1	1	NUM
ajst-30228	122	20	(	(	PUNCT
ajst-30228	122	21	)	)	PUNCT
ajst-30228	122	22	1	1	NUM
ajst-30228	122	23	0	0	NUM
ajst-30228	122	24	,	,	PUNCT
ajst-30228	122	25	1	1	NUM
ajst-30228	122	26	(	(	PUNCT
ajst-30228	122	27	)	)	PUNCT
ajst-30228	122	28	n	n	CCONJ
ajst-30228	122	29	i	i	PRON
ajst-30228	122	30	boost	boost	VERB
ajst-30228	122	31	tr	tr	VERB
ajst-30228	122	32	ii	ii	PROPN
ajst-30228	123	1	ap	ap	PROPN
ajst-30228	124	1	d	d	PROPN
ajst-30228	124	2	l	l	PROPN
ajst-30228	124	3	max	max	PROPN
ajst-30228	124	4	n	n	PROPN
ajst-30228	124	5	ap	ap	PROPN
ajst-30228	124	6	d	d	PROPN
ajst-30228	124	7			NOUN
ajst-30228	124	8			PROPN
ajst-30228	124	9			PROPN
ajst-30228	124	10			PROPN
ajst-30228	124	11			X
ajst-30228	125	1			PROPN
ajst-30228	125	2			ADJ
ajst-30228	125	3			NOUN
ajst-30228	125	4			X
ajst-30228	125	5	(	(	PUNCT
ajst-30228	125	6	10	10	NUM
ajst-30228	125	7	)	)	PUNCT
ajst-30228	125	8	this	this	DET
ajst-30228	125	9	constraint	constraint	NOUN
ajst-30228	125	10	term	term	NOUN
ajst-30228	125	11	enforces	enforce	VERB
ajst-30228	125	12	the	the	DET
ajst-30228	125	13	similarity	similarity	NOUN
ajst-30228	125	14	increment	increment	NOUN
ajst-30228	125	15	between	between	ADP
ajst-30228	125	16	the	the	DET
ajst-30228	125	17	enhanced	enhanced	ADJ
ajst-30228	125	18	feature	feature	NOUN
ajst-30228	125	19	and	and	CCONJ
ajst-30228	125	20	positive	positive	ADJ
ajst-30228	125	21	samples	sample	NOUN
ajst-30228	125	22	to	to	PART
ajst-30228	125	23	exceed	exceed	VERB
ajst-30228	125	24	that	that	PRON
ajst-30228	125	25	of	of	ADP
ajst-30228	125	26	negative	negative	ADJ
ajst-30228	125	27	samples	sample	NOUN
ajst-30228	125	28	,	,	PUNCT
ajst-30228	125	29	ensuring	ensure	VERB
ajst-30228	125	30	the	the	DET
ajst-30228	125	31	directionality	directionality	NOUN
ajst-30228	125	32	of	of	ADP
ajst-30228	125	33	the	the	DET
ajst-30228	125	34	optimization	optimization	NOUN
ajst-30228	125	35	process	process	NOUN
ajst-30228	125	36	.	.	PUNCT
ajst-30228	126	1	the	the	DET
ajst-30228	126	2	final	final	ADJ
ajst-30228	126	3	joint	joint	ADJ
ajst-30228	126	4	optimization	optimization	NOUN
ajst-30228	126	5	objective	objective	NOUN
ajst-30228	126	6	is	be	AUX
ajst-30228	126	7	defined	define	VERB
ajst-30228	126	8	as	as	ADP
ajst-30228	126	9	:	:	PUNCT
ajst-30228	126	10	ap	ap	PROPN
ajst-30228	126	11	boostl	boostl	PROPN
ajst-30228	126	12	l	l	PROPN
ajst-30228	126	13	l	l	PROPN
ajst-30228	126	14			X
ajst-30228	126	15	(	(	PUNCT
ajst-30228	126	16	11	11	NUM
ajst-30228	126	17	)	)	PUNCT
ajst-30228	126	18	this	this	DET
ajst-30228	126	19	optimization	optimization	NOUN
ajst-30228	126	20	objective	objective	NOUN
ajst-30228	126	21	ensures	ensure	VERB
ajst-30228	126	22	that	that	SCONJ
ajst-30228	126	23	after	after	ADP
ajst-30228	126	24	training	training	NOUN
ajst-30228	126	25	,	,	PUNCT
ajst-30228	126	26	the	the	DET
ajst-30228	126	27	feature	feature	NOUN
ajst-30228	126	28	booster	booster	NOUN
ajst-30228	126	29	can	can	AUX
ajst-30228	126	30	effectively	effectively	ADV
ajst-30228	126	31	maintain	maintain	VERB
ajst-30228	126	32	the	the	DET
ajst-30228	126	33	stability	stability	NOUN
ajst-30228	126	34	of	of	ADP
ajst-30228	126	35	feature	feature	NOUN
ajst-30228	126	36	descriptors	descriptor	NOUN
ajst-30228	126	37	in	in	ADP
ajst-30228	126	38	complex	complex	ADJ
ajst-30228	126	39	environments	environment	NOUN
ajst-30228	126	40	.	.	PUNCT
ajst-30228	127	1	2.2.3	2.2.3	X
ajst-30228	127	2	.	.	X
ajst-30228	127	3	ransac	ransac	NOUN
ajst-30228	127	4	-	-	PUNCT
ajst-30228	127	5	based	base	VERB
ajst-30228	127	6	random	random	ADJ
ajst-30228	127	7	sample	sample	NOUN
ajst-30228	127	8	consensus	consensus	NOUN
ajst-30228	127	9	although	although	SCONJ
ajst-30228	127	10	the	the	DET
ajst-30228	127	11	feature	feature	NOUN
ajst-30228	127	12	booster	booster	NOUN
ajst-30228	127	13	-	-	PUNCT
ajst-30228	127	14	enhanced	enhance	VERB
ajst-30228	127	15	feature	feature	NOUN
ajst-30228	127	16	descriptors	descriptor	NOUN
ajst-30228	127	17	significantly	significantly	ADV
ajst-30228	127	18	improve	improve	VERB
ajst-30228	127	19	feature	feature	NOUN
ajst-30228	127	20	point	point	NOUN
ajst-30228	127	21	matchability	matchability	NOUN
ajst-30228	127	22	,	,	PUNCT
ajst-30228	127	23	mismatches	mismatch	NOUN
ajst-30228	127	24	still	still	ADV
ajst-30228	127	25	occur	occur	VERB
ajst-30228	127	26	under	under	ADP
ajst-30228	127	27	complex	complex	ADJ
ajst-30228	127	28	imaging	imaging	NOUN
ajst-30228	127	29	conditions	condition	NOUN
ajst-30228	127	30	.	.	PUNCT
ajst-30228	128	1	to	to	PART
ajst-30228	128	2	mitigate	mitigate	VERB
ajst-30228	128	3	the	the	DET
ajst-30228	128	4	impact	impact	NOUN
ajst-30228	128	5	of	of	ADP
ajst-30228	128	6	outliers	outlier	NOUN
ajst-30228	128	7	,	,	PUNCT
ajst-30228	128	8	which	which	PRON
ajst-30228	128	9	may	may	AUX
ajst-30228	128	10	introduce	introduce	VERB
ajst-30228	128	11	cumulative	cumulative	ADJ
ajst-30228	128	12	errors	error	NOUN
ajst-30228	128	13	in	in	ADP
ajst-30228	128	14	pose	pose	NOUN
ajst-30228	128	15	estimation	estimation	NOUN
ajst-30228	128	16	,	,	PUNCT
ajst-30228	128	17	the	the	DET
ajst-30228	128	18	ransac	ransac	NOUN
ajst-30228	128	19	(	(	PUNCT
ajst-30228	128	20	random	random	ADJ
ajst-30228	128	21	sample	sample	NOUN
ajst-30228	128	22	consensus	consensus	NOUN
ajst-30228	128	23	)	)	PUNCT
ajst-30228	128	24	algorithm	algorithm	NOUN
ajst-30228	128	25	is	be	AUX
ajst-30228	128	26	introduced	introduce	VERB
ajst-30228	128	27	to	to	PART
ajst-30228	128	28	eliminate	eliminate	VERB
ajst-30228	128	29	incorrect	incorrect	ADJ
ajst-30228	128	30	matches	match	NOUN
ajst-30228	128	31	.	.	PUNCT
ajst-30228	129	1	the	the	DET
ajst-30228	129	2	objective	objective	NOUN
ajst-30228	129	3	of	of	ADP
ajst-30228	129	4	ransac	ransac	NOUN
ajst-30228	129	5	is	be	AUX
ajst-30228	129	6	to	to	PART
ajst-30228	129	7	fit	fit	VERB
ajst-30228	129	8	a	a	DET
ajst-30228	129	9	geometric	geometric	ADJ
ajst-30228	129	10	model	model	NOUN
ajst-30228	129	11	through	through	ADP
ajst-30228	129	12	random	random	ADJ
ajst-30228	129	13	sampling	sampling	NOUN
ajst-30228	129	14	and	and	CCONJ
ajst-30228	129	15	to	to	PART
ajst-30228	129	16	identify	identify	VERB
ajst-30228	129	17	a	a	DET
ajst-30228	129	18	set	set	NOUN
ajst-30228	129	19	of	of	ADP
ajst-30228	129	20	feature	feature	NOUN
ajst-30228	129	21	points	point	NOUN
ajst-30228	129	22	that	that	PRON
ajst-30228	129	23	satisfy	satisfy	VERB
ajst-30228	129	24	the	the	DET
ajst-30228	129	25	error	error	NOUN
ajst-30228	129	26	constraints	constraint	NOUN
ajst-30228	129	27	.	.	PUNCT
ajst-30228	130	1	in	in	ADP
ajst-30228	130	2	stereo	stereo	PROPN
ajst-30228	130	3	camera	camera	NOUN
ajst-30228	130	4	geometry	geometry	NOUN
ajst-30228	130	5	,	,	PUNCT
ajst-30228	130	6	the	the	DET
ajst-30228	130	7	matching	matching	NOUN
ajst-30228	130	8	points	point	NOUN
ajst-30228	130	9	rightp	rightp	NOUN
ajst-30228	130	10	and	and	CCONJ
ajst-30228	130	11	leftp	leftp	PROPN
ajst-30228	130	12	must	must	AUX
ajst-30228	130	13	satisfy	satisfy	VERB
ajst-30228	130	14	the	the	DET
ajst-30228	130	15	epipolar	epipolar	ADJ
ajst-30228	130	16	constraint	constraint	NOUN
ajst-30228	130	17	:	:	PUNCT
ajst-30228	130	18	right	right	PROPN
ajst-30228	130	19	rans	ran	NOUN
ajst-30228	130	20	leftp	leftp	VERB
ajst-30228	130	21	h	h	NOUN
ajst-30228	130	22	p	p	ADV
ajst-30228	131	1			NUM
ajst-30228	131	2	(	(	PUNCT
ajst-30228	131	3	12	12	NUM
ajst-30228	131	4	)	)	PUNCT
ajst-30228	131	5	where	where	SCONJ
ajst-30228	131	6	leftp	leftp	PROPN
ajst-30228	131	7	and	and	CCONJ
ajst-30228	131	8	rightp	rightp	NOUN
ajst-30228	131	9	represent	represent	VERB
ajst-30228	131	10	the	the	DET
ajst-30228	131	11	matched	match	VERB
ajst-30228	131	12	feature	feature	NOUN
ajst-30228	131	13	points	point	NOUN
ajst-30228	131	14	in	in	ADP
ajst-30228	131	15	the	the	DET
ajst-30228	131	16	left	left	ADJ
ajst-30228	131	17	and	and	CCONJ
ajst-30228	131	18	right	right	ADJ
ajst-30228	131	19	camera	camera	NOUN
ajst-30228	131	20	views	view	NOUN
ajst-30228	131	21	,	,	PUNCT
ajst-30228	131	22	respectively	respectively	ADV
ajst-30228	131	23	,	,	PUNCT
ajst-30228	131	24	and	and	CCONJ
ajst-30228	131	25	ransh	ransh	ADJ
ajst-30228	131	26	is	be	AUX
ajst-30228	131	27	the	the	DET
ajst-30228	131	28	fundamental	fundamental	ADJ
ajst-30228	131	29	matrix	matrix	NOUN
ajst-30228	131	30	,	,	PUNCT
ajst-30228	131	31	which	which	PRON
ajst-30228	131	32	describes	describe	VERB
ajst-30228	131	33	the	the	DET
ajst-30228	131	34	geometric	geometric	ADJ
ajst-30228	131	35	relationship	relationship	NOUN
ajst-30228	131	36	between	between	ADP
ajst-30228	131	37	the	the	DET
ajst-30228	131	38	matched	match	VERB
ajst-30228	131	39	points	point	NOUN
ajst-30228	131	40	in	in	ADP
ajst-30228	131	41	the	the	DET
ajst-30228	131	42	stereo	stereo	NOUN
ajst-30228	131	43	image	image	NOUN
ajst-30228	131	44	pair	pair	NOUN
ajst-30228	131	45	.	.	PUNCT
ajst-30228	132	1	the	the	DET
ajst-30228	132	2	reprojection	reprojection	NOUN
ajst-30228	132	3	error	error	NOUN
ajst-30228	132	4	for	for	ADP
ajst-30228	132	5	the	the	DET
ajst-30228	132	6	matched	match	VERB
ajst-30228	132	7	points	point	NOUN
ajst-30228	132	8	is	be	AUX
ajst-30228	132	9	defined	define	VERB
ajst-30228	132	10	as	as	ADP
ajst-30228	132	11	:	:	PUNCT
ajst-30228	132	12	2proj	2proj	NUM
ajst-30228	132	13	right	right	ADJ
ajst-30228	132	14	rans	ran	NOUN
ajst-30228	132	15	lefte	lefte	VERB
ajst-30228	132	16	p	p	PRON
ajst-30228	132	17	h	h	ADJ
ajst-30228	132	18			NOUN
ajst-30228	132	19			PROPN
ajst-30228	132	20			PROPN
ajst-30228	132	21	(	(	PUNCT
ajst-30228	132	22	13	13	NUM
ajst-30228	132	23	)	)	PUNCT
ajst-30228	132	24	when	when	SCONJ
ajst-30228	132	25	the	the	DET
ajst-30228	132	26	reprojection	reprojection	NOUN
ajst-30228	132	27	error	error	NOUN
ajst-30228	132	28	is	be	AUX
ajst-30228	132	29	below	below	ADP
ajst-30228	132	30	a	a	DET
ajst-30228	132	31	predefined	predefine	VERB
ajst-30228	132	32	threshold	threshold	NOUN
ajst-30228	132	33	,	,	PUNCT
ajst-30228	132	34	the	the	DET
ajst-30228	132	35	point	point	NOUN
ajst-30228	132	36	is	be	AUX
ajst-30228	132	37	classified	classify	VERB
ajst-30228	132	38	as	as	ADP
ajst-30228	132	39	an	an	DET
ajst-30228	132	40	inlier	inlier	NOUN
ajst-30228	132	41	;	;	PUNCT
ajst-30228	132	42	otherwise	otherwise	ADV
ajst-30228	132	43	,	,	PUNCT
ajst-30228	132	44	it	it	PRON
ajst-30228	132	45	is	be	AUX
ajst-30228	132	46	considered	consider	VERB
ajst-30228	132	47	an	an	DET
ajst-30228	132	48	outlier	outlier	NOUN
ajst-30228	132	49	.	.	PUNCT
ajst-30228	133	1	the	the	DET
ajst-30228	133	2	core	core	ADJ
ajst-30228	133	3	principle	principle	NOUN
ajst-30228	133	4	of	of	ADP
ajst-30228	133	5	ransac	ransac	NOUN
ajst-30228	133	6	is	be	AUX
ajst-30228	133	7	to	to	PART
ajst-30228	133	8	select	select	VERB
ajst-30228	133	9	the	the	DET
ajst-30228	133	10	geometric	geometric	ADJ
ajst-30228	133	11	model	model	NOUN
ajst-30228	133	12	that	that	PRON
ajst-30228	133	13	maximizes	maximize	VERB
ajst-30228	133	14	the	the	DET
ajst-30228	133	15	number	number	NOUN
ajst-30228	133	16	of	of	ADP
ajst-30228	133	17	inliers	inlier	NOUN
ajst-30228	133	18	.	.	PUNCT
ajst-30228	134	1	the	the	DET
ajst-30228	134	2	objective	objective	ADJ
ajst-30228	134	3	function	function	NOUN
ajst-30228	134	4	is	be	AUX
ajst-30228	134	5	defined	define	VERB
ajst-30228	134	6	as	as	ADP
ajst-30228	134	7	:	:	PUNCT
ajst-30228	134	8	,	,	PUNCT
ajst-30228	134	9	arg	arg	PROPN
ajst-30228	134	10	max	max	PROPN
ajst-30228	134	11	(	(	PUNCT
ajst-30228	134	12	)	)	PUNCT
ajst-30228	134	13	opt	opt	VERB
ajst-30228	134	14	h	h	NOUN
ajst-30228	134	15	proj	proj	NOUN
ajst-30228	135	1	i	i	PRON
ajst-30228	135	2	i	i	PRON
ajst-30228	135	3	h	h	VERB
ajst-30228	136	1	e	e	PROPN
ajst-30228	136	2			PROPN
ajst-30228	136	3			PROPN
ajst-30228	136	4			X
ajst-30228	136	5	(	(	PUNCT
ajst-30228	136	6	14	14	NUM
ajst-30228	136	7	)	)	PUNCT
ajst-30228	136	8	where	where	SCONJ
ajst-30228	136	9	,	,	PUNCT
ajst-30228	136	10	(	(	PUNCT
ajst-30228	136	11	)	)	PUNCT
ajst-30228	136	12	proj	proj	NOUN
ajst-30228	136	13	ie	ie	ADV
ajst-30228	136	14			NOUN
ajst-30228	136	15			ADP
ajst-30228	136	16	is	be	AUX
ajst-30228	136	17	the	the	DET
ajst-30228	136	18	indicator	indicator	NOUN
ajst-30228	136	19	function	function	NOUN
ajst-30228	136	20	,	,	PUNCT
ajst-30228	136	21	which	which	PRON
ajst-30228	136	22	determines	determine	VERB
ajst-30228	136	23	whether	whether	SCONJ
ajst-30228	136	24	the	the	DET
ajst-30228	136	25	error	error	NOUN
ajst-30228	136	26	is	be	AUX
ajst-30228	136	27	below	below	ADP
ajst-30228	136	28	the	the	DET
ajst-30228	136	29	threshold	threshold	NOUN
ajst-30228	136	30	,	,	PUNCT
ajst-30228	136	31	and	and	CCONJ
ajst-30228	136	32	,	,	PUNCT
ajst-30228	136	33	proj	proj	NOUN
ajst-30228	136	34	ie	ie	ADV
ajst-30228	136	35	represents	represent	VERB
ajst-30228	136	36	the	the	DET
ajst-30228	136	37	reprojection	reprojection	NOUN
ajst-30228	136	38	error	error	NOUN
ajst-30228	136	39	of	of	ADP
ajst-30228	136	40	the	the	DET
ajst-30228	136	41	i	i	PROPN
ajst-30228	136	42	-	-	PUNCT
ajst-30228	136	43	th	th	X
ajst-30228	136	44	matched	match	VERB
ajst-30228	136	45	feature	feature	NOUN
ajst-30228	136	46	point	point	NOUN
ajst-30228	136	47	.	.	PUNCT
ajst-30228	137	1	through	through	ADP
ajst-30228	137	2	random	random	ADJ
ajst-30228	137	3	sampling	sampling	NOUN
ajst-30228	137	4	and	and	CCONJ
ajst-30228	137	5	iterative	iterative	NOUN
ajst-30228	137	6	optimization	optimization	NOUN
ajst-30228	137	7	,	,	PUNCT
ajst-30228	137	8	ransac	ransac	NOUN
ajst-30228	137	9	selects	select	VERB
ajst-30228	137	10	the	the	DET
ajst-30228	137	11	model	model	NOUN
ajst-30228	137	12	with	with	ADP
ajst-30228	137	13	the	the	DET
ajst-30228	137	14	maximum	maximum	ADJ
ajst-30228	137	15	number	number	NOUN
ajst-30228	137	16	of	of	ADP
ajst-30228	137	17	inliers	inlier	NOUN
ajst-30228	137	18	after	after	ADP
ajst-30228	137	19	multiple	multiple	ADJ
ajst-30228	137	20	iterations	iteration	NOUN
ajst-30228	137	21	as	as	ADP
ajst-30228	137	22	the	the	DET
ajst-30228	137	23	final	final	ADJ
ajst-30228	137	24	result	result	NOUN
ajst-30228	137	25	.	.	PUNCT
ajst-30228	138	1	this	this	DET
ajst-30228	138	2	approach	approach	NOUN
ajst-30228	138	3	effectively	effectively	ADV
ajst-30228	138	4	eliminates	eliminate	VERB
ajst-30228	138	5	mismatched	mismatch	VERB
ajst-30228	138	6	points	point	NOUN
ajst-30228	138	7	caused	cause	VERB
ajst-30228	138	8	by	by	ADP
ajst-30228	138	9	dynamic	dynamic	ADJ
ajst-30228	138	10	scenes	scene	NOUN
ajst-30228	138	11	or	or	CCONJ
ajst-30228	138	12	occlusions	occlusion	NOUN
ajst-30228	138	13	,	,	PUNCT
ajst-30228	138	14	significantly	significantly	ADV
ajst-30228	138	15	improving	improve	VERB
ajst-30228	138	16	the	the	DET
ajst-30228	138	17	accuracy	accuracy	NOUN
ajst-30228	138	18	and	and	CCONJ
ajst-30228	138	19	robustness	robustness	NOUN
ajst-30228	138	20	of	of	ADP
ajst-30228	138	21	feature	feature	NOUN
ajst-30228	138	22	point	point	NOUN
ajst-30228	138	23	matching	matching	NOUN
ajst-30228	138	24	.	.	PUNCT
ajst-30228	139	1	2.2.4	2.2.4	NUM
ajst-30228	139	2	.	.	PUNCT
ajst-30228	139	3	visual	visual	ADJ
ajst-30228	139	4	-	-	PUNCT
ajst-30228	139	5	inertial	inertial	ADJ
ajst-30228	139	6	alignment	alignment	NOUN
ajst-30228	139	7	in	in	ADP
ajst-30228	139	8	visual	visual	ADJ
ajst-30228	139	9	-	-	PUNCT
ajst-30228	139	10	inertial	inertial	NOUN
ajst-30228	139	11	fusion	fusion	NOUN
ajst-30228	139	12	localization	localization	NOUN
ajst-30228	139	13	systems	system	NOUN
ajst-30228	139	14	,	,	PUNCT
ajst-30228	139	15	the	the	DET
ajst-30228	139	16	3d	3d	NUM
ajst-30228	139	17	feature	feature	NOUN
ajst-30228	139	18	coordinates	coordinate	NOUN
ajst-30228	139	19	and	and	CCONJ
ajst-30228	139	20	camera	camera	NOUN
ajst-30228	139	21	pose	pose	NOUN
ajst-30228	139	22	information	information	NOUN
ajst-30228	139	23	outputted	output	VERB
ajst-30228	139	24	by	by	ADP
ajst-30228	139	25	the	the	DET
ajst-30228	139	26	feature	feature	NOUN
ajst-30228	139	27	point	point	NOUN
ajst-30228	139	28	matching	matching	NOUN
ajst-30228	139	29	and	and	CCONJ
ajst-30228	139	30	depth	depth	NOUN
ajst-30228	139	31	estimation	estimation	NOUN
ajst-30228	139	32	module	module	NOUN
ajst-30228	139	33	maintain	maintain	VERB
ajst-30228	139	34	global	global	ADJ
ajst-30228	139	35	consistency	consistency	NOUN
ajst-30228	139	36	.	.	PUNCT
ajst-30228	140	1	however	however	ADV
ajst-30228	140	2	,	,	PUNCT
ajst-30228	140	3	due	due	ADP
ajst-30228	140	4	to	to	ADP
ajst-30228	140	5	its	its	PRON
ajst-30228	140	6	low	low	ADJ
ajst-30228	140	7	sampling	sampling	NOUN
ajst-30228	140	8	rate	rate	NOUN
ajst-30228	140	9	,	,	PUNCT
ajst-30228	140	10	this	this	DET
ajst-30228	140	11	data	data	NOUN
ajst-30228	140	12	is	be	AUX
ajst-30228	140	13	prone	prone	ADJ
ajst-30228	140	14	to	to	ADP
ajst-30228	140	15	motion	motion	NOUN
ajst-30228	140	16	blur	blur	NOUN
ajst-30228	140	17	during	during	ADP
ajst-30228	140	18	highspeed	highspeed	PROPN
ajst-30228	140	19	uav	uav	PROPN
ajst-30228	140	20	maneuvers	maneuver	NOUN
ajst-30228	140	21	.	.	PUNCT
ajst-30228	141	1	conversely	conversely	ADV
ajst-30228	141	2	,	,	PUNCT
ajst-30228	141	3	the	the	DET
ajst-30228	141	4	imu	imu	NOUN
ajst-30228	141	5	sensor	sensor	NOUN
ajst-30228	141	6	provides	provide	VERB
ajst-30228	141	7	high	high	ADJ
ajst-30228	141	8	-	-	PUNCT
ajst-30228	141	9	frequency	frequency	NOUN
ajst-30228	141	10	motion	motion	NOUN
ajst-30228	141	11	parameters	parameter	NOUN
ajst-30228	141	12	(	(	PUNCT
ajst-30228	141	13	above	above	ADP
ajst-30228	141	14	200	200	NUM
ajst-30228	141	15	hz	hz	NOUN
ajst-30228	141	16	)	)	PUNCT
ajst-30228	141	17	,	,	PUNCT
ajst-30228	141	18	but	but	CCONJ
ajst-30228	141	19	its	its	PRON
ajst-30228	141	20	measurement	measurement	NOUN
ajst-30228	141	21	noise	noise	NOUN
ajst-30228	141	22	accumulates	accumulate	VERB
ajst-30228	141	23	over	over	ADP
ajst-30228	141	24	time	time	NOUN
ajst-30228	141	25	,	,	PUNCT
ajst-30228	141	26	limiting	limit	VERB
ajst-30228	141	27	long	long	ADJ
ajst-30228	141	28	-	-	PUNCT
ajst-30228	141	29	term	term	NOUN
ajst-30228	141	30	localization	localization	NOUN
ajst-30228	141	31	accuracy	accuracy	NOUN
ajst-30228	141	32	.	.	PUNCT
ajst-30228	142	1	to	to	PART
ajst-30228	142	2	address	address	VERB
ajst-30228	142	3	this	this	DET
ajst-30228	142	4	issue	issue	NOUN
ajst-30228	142	5	,	,	PUNCT
ajst-30228	142	6	a	a	DET
ajst-30228	142	7	tightly	tightly	ADV
ajst-30228	142	8	coupled	couple	VERB
ajst-30228	142	9	visual	visual	ADJ
ajst-30228	142	10	-	-	PUNCT
ajst-30228	142	11	inertial	inertial	ADJ
ajst-30228	142	12	alignment	alignment	NOUN
ajst-30228	142	13	method	method	NOUN
ajst-30228	142	14	is	be	AUX
ajst-30228	142	15	adopted	adopt	VERB
ajst-30228	142	16	,	,	PUNCT
ajst-30228	142	17	establishing	establish	VERB
ajst-30228	142	18	a	a	DET
ajst-30228	142	19	unified	unified	ADJ
ajst-30228	142	20	optimization	optimization	NOUN
ajst-30228	142	21	framework	framework	NOUN
ajst-30228	142	22	that	that	PRON
ajst-30228	142	23	integrates	integrate	VERB
ajst-30228	142	24	global	global	ADJ
ajst-30228	142	25	constraints	constraint	NOUN
ajst-30228	142	26	from	from	ADP
ajst-30228	142	27	visual	visual	ADJ
ajst-30228	142	28	observations	observation	NOUN
ajst-30228	142	29	with	with	ADP
ajst-30228	142	30	short	short	ADJ
ajst-30228	142	31	-	-	PUNCT
ajst-30228	142	32	term	term	NOUN
ajst-30228	142	33	motion	motion	NOUN
ajst-30228	142	34	information	information	NOUN
ajst-30228	142	35	from	from	ADP
ajst-30228	142	36	the	the	DET
ajst-30228	142	37	imu	imu	NOUN
ajst-30228	142	38	.	.	PUNCT
ajst-30228	143	1	during	during	ADP
ajst-30228	143	2	visual	visual	ADJ
ajst-30228	143	3	-	-	PUNCT
ajst-30228	143	4	inertial	inertial	NOUN
ajst-30228	143	5	alignment	alignment	NOUN
ajst-30228	143	6	,	,	PUNCT
ajst-30228	143	7	the	the	DET
ajst-30228	143	8	state	state	NOUN
ajst-30228	143	9	optimization	optimization	NOUN
ajst-30228	143	10	objective	objective	NOUN
ajst-30228	143	11	within	within	ADP
ajst-30228	143	12	the	the	DET
ajst-30228	143	13	sliding	slide	VERB
ajst-30228	143	14	window	window	NOUN
ajst-30228	143	15	combines	combine	VERB
ajst-30228	143	16	the	the	DET
ajst-30228	143	17	sparse	sparse	ADJ
ajst-30228	143	18	global	global	ADJ
ajst-30228	143	19	constraints	constraint	NOUN
ajst-30228	143	20	from	from	ADP
ajst-30228	143	21	visual	visual	ADJ
ajst-30228	143	22	observations	observation	NOUN
ajst-30228	143	23	with	with	ADP
ajst-30228	143	24	the	the	DET
ajst-30228	143	25	highfrequency	highfrequency	NOUN
ajst-30228	143	26	short	short	ADJ
ajst-30228	143	27	-	-	PUNCT
ajst-30228	143	28	term	term	NOUN
ajst-30228	143	29	motion	motion	NOUN
ajst-30228	143	30	information	information	NOUN
ajst-30228	143	31	from	from	ADP
ajst-30228	143	32	the	the	DET
ajst-30228	143	33	imu	imu	NOUN
ajst-30228	143	34	.	.	PUNCT
ajst-30228	144	1	both	both	DET
ajst-30228	144	2	constraints	constraint	NOUN
ajst-30228	144	3	are	be	AUX
ajst-30228	144	4	jointly	jointly	ADV
ajst-30228	144	5	solved	solve	VERB
ajst-30228	144	6	using	use	VERB
ajst-30228	144	7	a	a	DET
ajst-30228	144	8	nonlinear	nonlinear	ADJ
ajst-30228	144	9	optimization	optimization	NOUN
ajst-30228	144	10	framework	framework	NOUN
ajst-30228	144	11	.	.	PUNCT
ajst-30228	145	1	through	through	ADP
ajst-30228	145	2	nonlinear	nonlinear	ADJ
ajst-30228	145	3	optimization	optimization	NOUN
ajst-30228	145	4	,	,	PUNCT
ajst-30228	145	5	the	the	DET
ajst-30228	145	6	system	system	NOUN
ajst-30228	145	7	achieves	achieve	VERB
ajst-30228	145	8	deep	deep	ADJ
ajst-30228	145	9	fusion	fusion	NOUN
ajst-30228	145	10	of	of	ADP
ajst-30228	145	11	visual	visual	ADJ
ajst-30228	145	12	observations	observation	NOUN
ajst-30228	145	13	and	and	CCONJ
ajst-30228	145	14	inertial	inertial	ADJ
ajst-30228	145	15	information	information	NOUN
ajst-30228	145	16	in	in	ADP
ajst-30228	145	17	dynamic	dynamic	ADJ
ajst-30228	145	18	and	and	CCONJ
ajst-30228	145	19	complex	complex	ADJ
ajst-30228	145	20	environments	environment	NOUN
ajst-30228	145	21	,	,	PUNCT
ajst-30228	145	22	effectively	effectively	ADV
ajst-30228	145	23	suppressing	suppress	VERB
ajst-30228	145	24	the	the	DET
ajst-30228	145	25	effects	effect	NOUN
ajst-30228	145	26	of	of	ADP
ajst-30228	145	27	motion	motion	NOUN
ajst-30228	145	28	blur	blur	NOUN
ajst-30228	145	29	and	and	CCONJ
ajst-30228	145	30	noise	noise	NOUN
ajst-30228	145	31	accumulation	accumulation	NOUN
ajst-30228	145	32	.	.	PUNCT
ajst-30228	146	1	3	3	X
ajst-30228	146	2	.	.	NOUN
ajst-30228	146	3	results	result	NOUN
ajst-30228	146	4	to	to	PART
ajst-30228	146	5	validate	validate	VERB
ajst-30228	146	6	the	the	DET
ajst-30228	146	7	applicability	applicability	NOUN
ajst-30228	146	8	of	of	ADP
ajst-30228	146	9	the	the	DET
ajst-30228	146	10	improved	improved	ADJ
ajst-30228	146	11	fb	fb	ADJ
ajst-30228	146	12	-	-	PUNCT
ajst-30228	146	13	vins	vin	NOUN
ajst-30228	146	14	visual	visual	ADJ
ajst-30228	146	15	-	-	PUNCT
ajst-30228	146	16	inertial	inertial	ADJ
ajst-30228	146	17	fusion	fusion	NOUN
ajst-30228	146	18	algorithm	algorithm	NOUN
ajst-30228	146	19	in	in	ADP
ajst-30228	146	20	complex	complex	ADJ
ajst-30228	146	21	indoor	indoor	ADJ
ajst-30228	146	22	environments	environment	NOUN
ajst-30228	146	23	,	,	PUNCT
ajst-30228	146	24	both	both	PRON
ajst-30228	146	25	simulation	simulation	NOUN
ajst-30228	146	26	tests	test	NOUN
ajst-30228	146	27	and	and	CCONJ
ajst-30228	146	28	flight	flight	NOUN
ajst-30228	146	29	experiments	experiment	NOUN
ajst-30228	146	30	were	be	AUX
ajst-30228	146	31	conducted	conduct	VERB
ajst-30228	146	32	.	.	PUNCT
ajst-30228	147	1	in	in	ADP
ajst-30228	147	2	the	the	DET
ajst-30228	147	3	simulation	simulation	NOUN
ajst-30228	147	4	phase	phase	NOUN
ajst-30228	147	5	,	,	PUNCT
ajst-30228	147	6	a	a	DET
ajst-30228	147	7	multi	multi	ADJ
ajst-30228	147	8	-	-	ADJ
ajst-30228	147	9	dimensional	dimensional	ADJ
ajst-30228	147	10	evaluation	evaluation	NOUN
ajst-30228	147	11	was	be	AUX
ajst-30228	147	12	performed	perform	VERB
ajst-30228	147	13	using	use	VERB
ajst-30228	147	14	the	the	DET
ajst-30228	147	15	euroc	euroc	ADJ
ajst-30228	147	16	dataset	dataset	NOUN
ajst-30228	147	17	.	.	PUNCT
ajst-30228	148	1	for	for	ADP
ajst-30228	148	2	the	the	DET
ajst-30228	148	3	flight	flight	NOUN
ajst-30228	148	4	experiments	experiment	NOUN
ajst-30228	148	5	,	,	PUNCT
ajst-30228	148	6	tests	test	NOUN
ajst-30228	148	7	were	be	AUX
ajst-30228	148	8	conducted	conduct	VERB
ajst-30228	148	9	on	on	ADP
ajst-30228	148	10	a	a	DET
ajst-30228	148	11	custom	custom	ADV
ajst-30228	148	12	-	-	PUNCT
ajst-30228	148	13	built	build	VERB
ajst-30228	148	14	uav	uav	PROPN
ajst-30228	148	15	332	332	NUM
ajst-30228	148	16	platform	platform	NOUN
ajst-30228	148	17	,	,	PUNCT
ajst-30228	148	18	where	where	SCONJ
ajst-30228	148	19	a	a	DET
ajst-30228	148	20	motion	motion	NOUN
ajst-30228	148	21	capture	capture	NOUN
ajst-30228	148	22	system	system	NOUN
ajst-30228	148	23	was	be	AUX
ajst-30228	148	24	used	use	VERB
ajst-30228	148	25	to	to	PART
ajst-30228	148	26	collect	collect	VERB
ajst-30228	148	27	ground	ground	NOUN
ajst-30228	148	28	truth	truth	NOUN
ajst-30228	148	29	flight	flight	NOUN
ajst-30228	148	30	data	datum	NOUN
ajst-30228	148	31	,	,	PUNCT
ajst-30228	148	32	enabling	enable	VERB
ajst-30228	148	33	comparative	comparative	ADJ
ajst-30228	148	34	analysis	analysis	NOUN
ajst-30228	148	35	of	of	ADP
ajst-30228	148	36	localization	localization	NOUN
ajst-30228	148	37	accuracy	accuracy	NOUN
ajst-30228	148	38	.	.	PUNCT
ajst-30228	149	1	3.1	3.1	NUM
ajst-30228	149	2	.	.	PUNCT
ajst-30228	150	1	uav	uav	PROPN
ajst-30228	150	2	platform	platform	PROPN
ajst-30228	150	3	design	design	VERB
ajst-30228	150	4	the	the	DET
ajst-30228	150	5	flight	flight	NOUN
ajst-30228	150	6	verification	verification	NOUN
ajst-30228	150	7	experiments	experiment	NOUN
ajst-30228	150	8	were	be	AUX
ajst-30228	150	9	conducted	conduct	VERB
ajst-30228	150	10	using	use	VERB
ajst-30228	150	11	a	a	DET
ajst-30228	150	12	custom	custom	ADV
ajst-30228	150	13	-	-	PUNCT
ajst-30228	150	14	developed	develop	VERB
ajst-30228	150	15	small	small	ADJ
ajst-30228	150	16	-	-	PUNCT
ajst-30228	150	17	scale	scale	NOUN
ajst-30228	150	18	quadrotor	quadrotor	NOUN
ajst-30228	150	19	uav	uav	PROPN
ajst-30228	150	20	platform	platform	NOUN
ajst-30228	150	21	.	.	PUNCT
ajst-30228	151	1	the	the	DET
ajst-30228	151	2	uav	uav	PROPN
ajst-30228	151	3	was	be	AUX
ajst-30228	151	4	equipped	equip	VERB
ajst-30228	151	5	with	with	ADP
ajst-30228	151	6	multiple	multiple	ADJ
ajst-30228	151	7	sensors	sensor	NOUN
ajst-30228	151	8	,	,	PUNCT
ajst-30228	151	9	including	include	VERB
ajst-30228	151	10	an	an	DET
ajst-30228	151	11	intel	intel	ADJ
ajst-30228	151	12	realsense	realsense	NOUN
ajst-30228	151	13	d435i	d435i	PROPN
ajst-30228	151	14	depth	depth	NOUN
ajst-30228	151	15	camera	camera	NOUN
ajst-30228	151	16	and	and	CCONJ
ajst-30228	151	17	a	a	DET
ajst-30228	151	18	high	high	ADJ
ajst-30228	151	19	-	-	PUNCT
ajst-30228	151	20	frequency	frequency	NOUN
ajst-30228	151	21	imu	imu	NOUN
ajst-30228	151	22	.	.	PUNCT
ajst-30228	152	1	a	a	DET
ajst-30228	152	2	heterogeneous	heterogeneous	ADJ
ajst-30228	152	3	computing	compute	VERB
ajst-30228	152	4	architecture	architecture	NOUN
ajst-30228	152	5	based	base	VERB
ajst-30228	152	6	on	on	ADP
ajst-30228	152	7	the	the	DET
ajst-30228	152	8	rk3588	rk3588	PROPN
ajst-30228	152	9	embedded	embed	VERB
ajst-30228	152	10	chip	chip	NOUN
ajst-30228	152	11	was	be	AUX
ajst-30228	152	12	implemented	implement	VERB
ajst-30228	152	13	to	to	PART
ajst-30228	152	14	enable	enable	VERB
ajst-30228	152	15	real	real	ADJ
ajst-30228	152	16	-	-	PUNCT
ajst-30228	152	17	time	time	NOUN
ajst-30228	152	18	processing	processing	NOUN
ajst-30228	152	19	of	of	ADP
ajst-30228	152	20	both	both	CCONJ
ajst-30228	152	21	the	the	DET
ajst-30228	152	22	feature	feature	NOUN
ajst-30228	152	23	enhancement	enhancement	NOUN
ajst-30228	152	24	algorithm	algorithm	NOUN
ajst-30228	152	25	and	and	CCONJ
ajst-30228	152	26	sliding	slide	VERB
ajst-30228	152	27	window	window	NOUN
ajst-30228	152	28	optimization	optimization	NOUN
ajst-30228	152	29	.	.	PUNCT
ajst-30228	153	1	the	the	DET
ajst-30228	153	2	system	system	NOUN
ajst-30228	153	3	adopted	adopt	VERB
ajst-30228	153	4	a	a	DET
ajst-30228	153	5	modular	modular	ADJ
ajst-30228	153	6	communication	communication	NOUN
ajst-30228	153	7	architecture	architecture	NOUN
ajst-30228	153	8	,	,	PUNCT
ajst-30228	153	9	facilitating	facilitate	VERB
ajst-30228	153	10	high	high	ADJ
ajst-30228	153	11	-	-	PUNCT
ajst-30228	153	12	speed	speed	NOUN
ajst-30228	153	13	data	data	NOUN
ajst-30228	153	14	transmission	transmission	NOUN
ajst-30228	153	15	between	between	ADP
ajst-30228	153	16	the	the	DET
ajst-30228	153	17	onboard	onboard	NOUN
ajst-30228	153	18	computer	computer	NOUN
ajst-30228	153	19	,	,	PUNCT
ajst-30228	153	20	sensor	sensor	NOUN
ajst-30228	153	21	modules	module	NOUN
ajst-30228	153	22	,	,	PUNCT
ajst-30228	153	23	and	and	CCONJ
ajst-30228	153	24	flight	flight	NOUN
ajst-30228	153	25	control	control	NOUN
ajst-30228	153	26	module	module	NOUN
ajst-30228	153	27	through	through	ADP
ajst-30228	153	28	a	a	DET
ajst-30228	153	29	combination	combination	NOUN
ajst-30228	153	30	of	of	ADP
ajst-30228	153	31	serial	serial	ADJ
ajst-30228	153	32	buses	bus	NOUN
ajst-30228	153	33	and	and	CCONJ
ajst-30228	153	34	parallel	parallel	ADJ
ajst-30228	153	35	interfaces	interface	NOUN
ajst-30228	153	36	.	.	PUNCT
ajst-30228	154	1	the	the	DET
ajst-30228	154	2	uav	uav	PROPN
ajst-30228	154	3	utilized	utilize	VERB
ajst-30228	154	4	the	the	DET
ajst-30228	154	5	px4	px4	PROPN
ajst-30228	154	6	flight	flight	NOUN
ajst-30228	154	7	control	control	NOUN
ajst-30228	154	8	system	system	NOUN
ajst-30228	154	9	,	,	PUNCT
ajst-30228	154	10	with	with	ADP
ajst-30228	154	11	qgroundcontrol	qgroundcontrol	NOUN
ajst-30228	154	12	ground	ground	NOUN
ajst-30228	154	13	station	station	NOUN
ajst-30228	154	14	software	software	NOUN
ajst-30228	154	15	employed	employ	VERB
ajst-30228	154	16	for	for	ADP
ajst-30228	154	17	flight	flight	NOUN
ajst-30228	154	18	initialization	initialization	NOUN
ajst-30228	154	19	and	and	CCONJ
ajst-30228	154	20	parameter	parameter	NOUN
ajst-30228	154	21	configuration	configuration	NOUN
ajst-30228	154	22	.	.	PUNCT
ajst-30228	155	1	before	before	ADP
ajst-30228	155	2	the	the	DET
ajst-30228	155	3	experiments	experiment	NOUN
ajst-30228	155	4	,	,	PUNCT
ajst-30228	155	5	high	high	ADJ
ajst-30228	155	6	-	-	PUNCT
ajst-30228	155	7	precision	precision	NOUN
ajst-30228	155	8	pose	pose	NOUN
ajst-30228	155	9	data	datum	NOUN
ajst-30228	155	10	from	from	ADP
ajst-30228	155	11	the	the	DET
ajst-30228	155	12	motion	motion	NOUN
ajst-30228	155	13	capture	capture	NOUN
ajst-30228	155	14	system	system	NOUN
ajst-30228	155	15	was	be	AUX
ajst-30228	155	16	used	use	VERB
ajst-30228	155	17	to	to	ADP
ajst-30228	155	18	fine	fine	ADJ
ajst-30228	155	19	-	-	PUNCT
ajst-30228	155	20	tune	tune	NOUN
ajst-30228	155	21	the	the	DET
ajst-30228	155	22	uav	uav	PROPN
ajst-30228	155	23	's	's	PART
ajst-30228	155	24	pid	pid	NOUN
ajst-30228	155	25	parameters	parameter	NOUN
ajst-30228	155	26	,	,	PUNCT
ajst-30228	155	27	ensuring	ensure	VERB
ajst-30228	155	28	stable	stable	ADJ
ajst-30228	155	29	and	and	CCONJ
ajst-30228	155	30	controlled	control	VERB
ajst-30228	155	31	flight	flight	NOUN
ajst-30228	155	32	in	in	ADP
ajst-30228	155	33	complex	complex	ADJ
ajst-30228	155	34	environments	environment	NOUN
ajst-30228	155	35	.	.	PUNCT
ajst-30228	156	1	the	the	DET
ajst-30228	156	2	developed	develop	VERB
ajst-30228	156	3	uav	uav	PROPN
ajst-30228	156	4	platform	platform	NOUN
ajst-30228	156	5	is	be	AUX
ajst-30228	156	6	illustrated	illustrate	VERB
ajst-30228	156	7	in	in	ADP
ajst-30228	156	8	figure	figure	NOUN
ajst-30228	156	9	2	2	NUM
ajst-30228	156	10	.	.	PUNCT
ajst-30228	156	11	figure	figure	NOUN
ajst-30228	156	12	2	2	NUM
ajst-30228	156	13	.	.	PUNCT
ajst-30228	157	1	uav	uav	PROPN
ajst-30228	157	2	structural	structural	ADJ
ajst-30228	157	3	schematic	schematic	ADJ
ajst-30228	157	4	diagram	diagram	NOUN
ajst-30228	157	5	3.2	3.2	NUM
ajst-30228	157	6	.	.	PUNCT
ajst-30228	158	1	euroc	euroc	ADJ
ajst-30228	158	2	dataset	dataset	VERB
ajst-30228	158	3	simulation	simulation	NOUN
ajst-30228	158	4	experiments	experiment	NOUN
ajst-30228	158	5	to	to	PART
ajst-30228	158	6	evaluate	evaluate	VERB
ajst-30228	158	7	the	the	DET
ajst-30228	158	8	localization	localization	NOUN
ajst-30228	158	9	capability	capability	NOUN
ajst-30228	158	10	of	of	ADP
ajst-30228	158	11	the	the	DET
ajst-30228	158	12	improved	improve	VERB
ajst-30228	158	13	visual	visual	ADJ
ajst-30228	158	14	-	-	PUNCT
ajst-30228	158	15	inertial	inertial	ADJ
ajst-30228	158	16	fusion	fusion	NOUN
ajst-30228	158	17	algorithm	algorithm	NOUN
ajst-30228	158	18	(	(	PUNCT
ajst-30228	158	19	fb	fb	NOUN
ajst-30228	158	20	-	-	PUNCT
ajst-30228	158	21	vins	vin	NOUN
ajst-30228	158	22	)	)	PUNCT
ajst-30228	158	23	in	in	ADP
ajst-30228	158	24	complex	complex	ADJ
ajst-30228	158	25	indoor	indoor	ADJ
ajst-30228	158	26	environments	environment	NOUN
ajst-30228	158	27	,	,	PUNCT
ajst-30228	158	28	a	a	DET
ajst-30228	158	29	simulation	simulation	NOUN
ajst-30228	158	30	experiment	experiment	NOUN
ajst-30228	158	31	was	be	AUX
ajst-30228	158	32	conducted	conduct	VERB
ajst-30228	158	33	using	use	VERB
ajst-30228	158	34	the	the	DET
ajst-30228	158	35	euroc	euroc	ADJ
ajst-30228	158	36	mav	mav	PROPN
ajst-30228	158	37	open	open	ADJ
ajst-30228	158	38	-	-	PUNCT
ajst-30228	158	39	source	source	NOUN
ajst-30228	158	40	dataset	dataset	NOUN
ajst-30228	158	41	.	.	PUNCT
ajst-30228	159	1	the	the	DET
ajst-30228	159	2	euroc	euroc	ADJ
ajst-30228	159	3	dataset	dataset	NOUN
ajst-30228	159	4	provides	provide	VERB
ajst-30228	159	5	stereo	stereo	ADJ
ajst-30228	159	6	image	image	NOUN
ajst-30228	159	7	sequences	sequence	NOUN
ajst-30228	159	8	,	,	PUNCT
ajst-30228	159	9	imu	imu	NOUN
ajst-30228	159	10	sensor	sensor	NOUN
ajst-30228	159	11	data	datum	NOUN
ajst-30228	159	12	,	,	PUNCT
ajst-30228	159	13	and	and	CCONJ
ajst-30228	159	14	ground	ground	NOUN
ajst-30228	159	15	truth	truth	NOUN
ajst-30228	159	16	trajectories	trajectory	NOUN
ajst-30228	159	17	,	,	PUNCT
ajst-30228	159	18	making	make	VERB
ajst-30228	159	19	it	it	PRON
ajst-30228	159	20	a	a	DET
ajst-30228	159	21	widely	widely	ADV
ajst-30228	159	22	used	use	VERB
ajst-30228	159	23	benchmark	benchmark	NOUN
ajst-30228	159	24	for	for	ADP
ajst-30228	159	25	visual	visual	ADJ
ajst-30228	159	26	-	-	PUNCT
ajst-30228	159	27	inertial	inertial	NOUN
ajst-30228	159	28	odometry	odometry	NOUN
ajst-30228	159	29	(	(	PUNCT
ajst-30228	159	30	vio	vio	PROPN
ajst-30228	159	31	)	)	PUNCT
ajst-30228	159	32	and	and	CCONJ
ajst-30228	159	33	slam	slam	NOUN
ajst-30228	159	34	algorithms	algorithm	NOUN
ajst-30228	159	35	.	.	PUNCT
ajst-30228	160	1	the	the	DET
ajst-30228	160	2	experiment	experiment	NOUN
ajst-30228	160	3	selected	select	VERB
ajst-30228	160	4	six	six	NUM
ajst-30228	160	5	representative	representative	ADJ
ajst-30228	160	6	sequences	sequence	NOUN
ajst-30228	160	7	from	from	ADP
ajst-30228	160	8	the	the	DET
ajst-30228	160	9	euroc	euroc	NOUN
ajst-30228	160	10	dataset	dataset	NOUN
ajst-30228	160	11	to	to	PART
ajst-30228	160	12	comprehensively	comprehensively	ADV
ajst-30228	160	13	assess	assess	VERB
ajst-30228	160	14	fb	fb	NOUN
ajst-30228	160	15	-	-	PUNCT
ajst-30228	160	16	vins	vin	NOUN
ajst-30228	160	17	’s	’s	PART
ajst-30228	160	18	localization	localization	NOUN
ajst-30228	160	19	performance	performance	NOUN
ajst-30228	160	20	across	across	ADP
ajst-30228	160	21	different	different	ADJ
ajst-30228	160	22	scenarios	scenario	NOUN
ajst-30228	160	23	.	.	PUNCT
ajst-30228	161	1	mh_01_easy	mh_01_easy	NOUN
ajst-30228	161	2	and	and	CCONJ
ajst-30228	161	3	mh_03_medium	mh_03_medium	NOUN
ajst-30228	161	4	were	be	AUX
ajst-30228	161	5	captured	capture	VERB
ajst-30228	161	6	in	in	ADP
ajst-30228	161	7	industrial	industrial	ADJ
ajst-30228	161	8	environments	environment	NOUN
ajst-30228	161	9	containing	contain	VERB
ajst-30228	161	10	robotic	robotic	ADJ
ajst-30228	161	11	arms	arm	NOUN
ajst-30228	161	12	,	,	PUNCT
ajst-30228	161	13	pipelines	pipeline	NOUN
ajst-30228	161	14	,	,	PUNCT
ajst-30228	161	15	and	and	CCONJ
ajst-30228	161	16	metal	metal	NOUN
ajst-30228	161	17	structures	structure	NOUN
ajst-30228	161	18	.	.	PUNCT
ajst-30228	162	1	these	these	DET
ajst-30228	162	2	sequences	sequence	NOUN
ajst-30228	162	3	feature	feature	VERB
ajst-30228	162	4	rich	rich	ADJ
ajst-30228	162	5	textures	texture	NOUN
ajst-30228	162	6	but	but	CCONJ
ajst-30228	162	7	dim	dim	ADJ
ajst-30228	162	8	lighting	lighting	NOUN
ajst-30228	162	9	,	,	PUNCT
ajst-30228	162	10	making	make	VERB
ajst-30228	162	11	them	they	PRON
ajst-30228	162	12	suitable	suitable	ADJ
ajst-30228	162	13	for	for	ADP
ajst-30228	162	14	evaluating	evaluate	VERB
ajst-30228	162	15	localization	localization	NOUN
ajst-30228	162	16	accuracy	accuracy	NOUN
ajst-30228	162	17	in	in	ADP
ajst-30228	162	18	low	low	ADJ
ajst-30228	162	19	-	-	PUNCT
ajst-30228	162	20	light	light	NOUN
ajst-30228	162	21	and	and	CCONJ
ajst-30228	162	22	structured	structured	ADJ
ajst-30228	162	23	environments	environment	NOUN
ajst-30228	162	24	.	.	PUNCT
ajst-30228	163	1	v1_01_easy	v1_01_easy	NOUN
ajst-30228	163	2	and	and	CCONJ
ajst-30228	163	3	v1_02_medium	v1_02_medium	NOUN
ajst-30228	163	4	include	include	VERB
ajst-30228	163	5	significant	significant	ADJ
ajst-30228	163	6	illumination	illumination	NOUN
ajst-30228	163	7	variations	variation	NOUN
ajst-30228	163	8	and	and	CCONJ
ajst-30228	163	9	sparse	sparse	ADJ
ajst-30228	163	10	texture	texture	ADJ
ajst-30228	163	11	regions	region	NOUN
ajst-30228	163	12	,	,	PUNCT
ajst-30228	163	13	testing	test	VERB
ajst-30228	163	14	the	the	DET
ajst-30228	163	15	algorithm	algorithm	NOUN
ajst-30228	163	16	’s	’s	PART
ajst-30228	163	17	robustness	robustness	NOUN
ajst-30228	163	18	to	to	ADP
ajst-30228	163	19	extreme	extreme	ADJ
ajst-30228	163	20	lighting	lighting	NOUN
ajst-30228	163	21	changes	change	NOUN
ajst-30228	163	22	.	.	PUNCT
ajst-30228	164	1	v2_01_easy	v2_01_easy	ADJ
ajst-30228	164	2	and	and	CCONJ
ajst-30228	164	3	v2_02_medium	v2_02_medium	ADJ
ajst-30228	164	4	feature	feature	NOUN
ajst-30228	164	5	furniture	furniture	NOUN
ajst-30228	164	6	such	such	ADJ
ajst-30228	164	7	as	as	ADP
ajst-30228	164	8	tables	table	NOUN
ajst-30228	164	9	,	,	PUNCT
ajst-30228	164	10	chairs	chair	NOUN
ajst-30228	164	11	,	,	PUNCT
ajst-30228	164	12	and	and	CCONJ
ajst-30228	164	13	bookshelves	bookshelf	NOUN
ajst-30228	164	14	,	,	PUNCT
ajst-30228	164	15	with	with	ADP
ajst-30228	164	16	sparse	sparse	ADJ
ajst-30228	164	17	textures	texture	NOUN
ajst-30228	164	18	,	,	PUNCT
ajst-30228	164	19	dynamic	dynamic	ADJ
ajst-30228	164	20	occlusions	occlusion	NOUN
ajst-30228	164	21	,	,	PUNCT
ajst-30228	164	22	and	and	CCONJ
ajst-30228	164	23	local	local	ADJ
ajst-30228	164	24	feature	feature	NOUN
ajst-30228	164	25	loss	loss	NOUN
ajst-30228	164	26	,	,	PUNCT
ajst-30228	164	27	providing	provide	VERB
ajst-30228	164	28	a	a	DET
ajst-30228	164	29	benchmark	benchmark	NOUN
ajst-30228	164	30	for	for	ADP
ajst-30228	164	31	assessing	assess	VERB
ajst-30228	164	32	adaptability	adaptability	NOUN
ajst-30228	164	33	in	in	ADP
ajst-30228	164	34	dynamic	dynamic	ADJ
ajst-30228	164	35	environments	environment	NOUN
ajst-30228	164	36	with	with	ADP
ajst-30228	164	37	occlusions	occlusion	NOUN
ajst-30228	164	38	.	.	PUNCT
ajst-30228	165	1	through	through	ADP
ajst-30228	165	2	these	these	DET
ajst-30228	165	3	diverse	diverse	ADJ
ajst-30228	165	4	experimental	experimental	ADJ
ajst-30228	165	5	scenarios	scenario	NOUN
ajst-30228	165	6	,	,	PUNCT
ajst-30228	165	7	the	the	DET
ajst-30228	165	8	localization	localization	NOUN
ajst-30228	165	9	capability	capability	NOUN
ajst-30228	165	10	of	of	ADP
ajst-30228	165	11	fb	fb	NOUN
ajst-30228	165	12	-	-	PUNCT
ajst-30228	165	13	vins	vin	NOUN
ajst-30228	165	14	in	in	ADP
ajst-30228	165	15	complex	complex	ADJ
ajst-30228	165	16	indoor	indoor	ADJ
ajst-30228	165	17	environments	environment	NOUN
ajst-30228	165	18	was	be	AUX
ajst-30228	165	19	systematically	systematically	ADV
ajst-30228	165	20	validated	validate	VERB
ajst-30228	165	21	.	.	PUNCT
ajst-30228	166	1	to	to	PART
ajst-30228	166	2	quantitatively	quantitatively	ADV
ajst-30228	166	3	evaluate	evaluate	VERB
ajst-30228	166	4	performance	performance	NOUN
ajst-30228	166	5	,	,	PUNCT
ajst-30228	166	6	a	a	DET
ajst-30228	166	7	comparative	comparative	ADJ
ajst-30228	166	8	analysis	analysis	NOUN
ajst-30228	166	9	was	be	AUX
ajst-30228	166	10	conducted	conduct	VERB
ajst-30228	166	11	between	between	ADP
ajst-30228	166	12	fb	fb	NOUN
ajst-30228	166	13	-	-	PUNCT
ajst-30228	166	14	vins	vin	NOUN
ajst-30228	166	15	and	and	CCONJ
ajst-30228	166	16	the	the	DET
ajst-30228	166	17	original	original	ADJ
ajst-30228	166	18	vins	vin	NOUN
ajst-30228	166	19	-	-	PUNCT
ajst-30228	166	20	fusion	fusion	NOUN
ajst-30228	166	21	algorithm	algorithm	NOUN
ajst-30228	166	22	,	,	PUNCT
ajst-30228	166	23	measuring	measure	VERB
ajst-30228	166	24	localization	localization	NOUN
ajst-30228	166	25	errors	error	NOUN
ajst-30228	166	26	across	across	ADP
ajst-30228	166	27	different	different	ADJ
ajst-30228	166	28	sequences	sequence	NOUN
ajst-30228	166	29	.	.	PUNCT
ajst-30228	167	1	the	the	DET
ajst-30228	167	2	absolute	absolute	ADJ
ajst-30228	167	3	root	root	NOUN
ajst-30228	167	4	mean	mean	NOUN
ajst-30228	167	5	square	square	ADJ
ajst-30228	167	6	error	error	NOUN
ajst-30228	167	7	(	(	PUNCT
ajst-30228	167	8	rmse	rmse	NOUN
ajst-30228	167	9	)	)	PUNCT
ajst-30228	167	10	was	be	AUX
ajst-30228	167	11	used	use	VERB
ajst-30228	167	12	as	as	ADP
ajst-30228	167	13	the	the	DET
ajst-30228	167	14	primary	primary	ADJ
ajst-30228	167	15	evaluation	evaluation	NOUN
ajst-30228	167	16	metric	metric	NOUN
ajst-30228	167	17	,	,	PUNCT
ajst-30228	167	18	while	while	SCONJ
ajst-30228	167	19	additional	additional	ADJ
ajst-30228	167	20	statistical	statistical	ADJ
ajst-30228	167	21	indicators	indicator	NOUN
ajst-30228	167	22	including	include	VERB
ajst-30228	167	23	maximum	maximum	ADJ
ajst-30228	167	24	error	error	NOUN
ajst-30228	167	25	(	(	PUNCT
ajst-30228	167	26	max	max	PROPN
ajst-30228	167	27	)	)	PUNCT
ajst-30228	167	28	,	,	PUNCT
ajst-30228	167	29	mean	mean	VERB
ajst-30228	167	30	error	error	NOUN
ajst-30228	167	31	(	(	PUNCT
ajst-30228	167	32	mean	mean	NOUN
ajst-30228	167	33	)	)	PUNCT
ajst-30228	167	34	,	,	PUNCT
ajst-30228	167	35	median	median	ADJ
ajst-30228	167	36	error	error	NOUN
ajst-30228	167	37	(	(	PUNCT
ajst-30228	167	38	median	median	NOUN
ajst-30228	167	39	)	)	PUNCT
ajst-30228	167	40	,	,	PUNCT
ajst-30228	167	41	and	and	CCONJ
ajst-30228	167	42	standard	standard	ADJ
ajst-30228	167	43	deviation	deviation	NOUN
ajst-30228	167	44	error	error	NOUN
ajst-30228	167	45	(	(	PUNCT
ajst-30228	167	46	std	std	NOUN
ajst-30228	167	47	)	)	PUNCT
ajst-30228	167	48	were	be	AUX
ajst-30228	167	49	analyzed	analyze	VERB
ajst-30228	167	50	to	to	PART
ajst-30228	167	51	provide	provide	VERB
ajst-30228	167	52	a	a	DET
ajst-30228	167	53	comprehensive	comprehensive	ADJ
ajst-30228	167	54	assessment	assessment	NOUN
ajst-30228	167	55	of	of	ADP
ajst-30228	167	56	localization	localization	NOUN
ajst-30228	167	57	accuracy	accuracy	NOUN
ajst-30228	167	58	.	.	PUNCT
ajst-30228	168	1	as	as	SCONJ
ajst-30228	168	2	shown	show	VERB
ajst-30228	168	3	in	in	ADP
ajst-30228	168	4	table	table	NOUN
ajst-30228	168	5	1	1	NUM
ajst-30228	168	6	,	,	PUNCT
ajst-30228	168	7	fb	fb	PRON
ajst-30228	168	8	-	-	PUNCT
ajst-30228	168	9	vins	vin	NOUN
ajst-30228	168	10	exhibited	exhibit	VERB
ajst-30228	168	11	improvements	improvement	NOUN
ajst-30228	168	12	over	over	ADP
ajst-30228	168	13	vins	vin	NOUN
ajst-30228	168	14	-	-	PUNCT
ajst-30228	168	15	fusion	fusion	NOUN
ajst-30228	168	16	across	across	ADP
ajst-30228	168	17	all	all	DET
ajst-30228	168	18	error	error	NOUN
ajst-30228	168	19	metrics	metric	NOUN
ajst-30228	168	20	.	.	PUNCT
ajst-30228	169	1	the	the	DET
ajst-30228	169	2	maximum	maximum	ADJ
ajst-30228	169	3	error	error	NOUN
ajst-30228	169	4	(	(	PUNCT
ajst-30228	169	5	max	max	PROPN
ajst-30228	169	6	)	)	PUNCT
ajst-30228	169	7	was	be	AUX
ajst-30228	169	8	reduced	reduce	VERB
ajst-30228	169	9	by	by	ADP
ajst-30228	169	10	3.28	3.28	NUM
ajst-30228	169	11	%	%	NOUN
ajst-30228	169	12	,	,	PUNCT
ajst-30228	169	13	the	the	DET
ajst-30228	169	14	mean	mean	ADJ
ajst-30228	169	15	error	error	NOUN
ajst-30228	169	16	(	(	PUNCT
ajst-30228	169	17	mean	mean	NOUN
ajst-30228	169	18	)	)	PUNCT
ajst-30228	169	19	decreased	decrease	VERB
ajst-30228	169	20	by	by	ADP
ajst-30228	169	21	12.89	12.89	NUM
ajst-30228	169	22	%	%	NOUN
ajst-30228	169	23	,	,	PUNCT
ajst-30228	169	24	and	and	CCONJ
ajst-30228	169	25	the	the	DET
ajst-30228	169	26	median	median	ADJ
ajst-30228	169	27	error	error	NOUN
ajst-30228	169	28	(	(	PUNCT
ajst-30228	169	29	median	median	NOUN
ajst-30228	169	30	)	)	PUNCT
ajst-30228	169	31	dropped	drop	VERB
ajst-30228	169	32	by	by	ADP
ajst-30228	169	33	13.67	13.67	NUM
ajst-30228	169	34	%	%	NOUN
ajst-30228	169	35	.	.	PUNCT
ajst-30228	170	1	additionally	additionally	ADV
ajst-30228	170	2	,	,	PUNCT
ajst-30228	170	3	the	the	DET
ajst-30228	170	4	root	root	NOUN
ajst-30228	170	5	mean	mean	VERB
ajst-30228	170	6	square	square	ADJ
ajst-30228	170	7	error	error	NOUN
ajst-30228	170	8	(	(	PUNCT
ajst-30228	170	9	rmse	rmse	NOUN
ajst-30228	170	10	)	)	PUNCT
ajst-30228	170	11	improved	improve	VERB
ajst-30228	170	12	by	by	ADP
ajst-30228	170	13	12.24	12.24	NUM
ajst-30228	170	14	%	%	NOUN
ajst-30228	170	15	,	,	PUNCT
ajst-30228	170	16	and	and	CCONJ
ajst-30228	170	17	the	the	DET
ajst-30228	170	18	standard	standard	ADJ
ajst-30228	170	19	deviation	deviation	NOUN
ajst-30228	170	20	error	error	NOUN
ajst-30228	170	21	(	(	PUNCT
ajst-30228	170	22	std	std	NOUN
ajst-30228	170	23	)	)	PUNCT
ajst-30228	170	24	decreased	decrease	VERB
ajst-30228	170	25	by	by	ADP
ajst-30228	170	26	9.70	9.70	NUM
ajst-30228	170	27	%	%	NOUN
ajst-30228	170	28	.	.	PUNCT
ajst-30228	171	1	these	these	DET
ajst-30228	171	2	results	result	NOUN
ajst-30228	171	3	indicate	indicate	VERB
ajst-30228	171	4	that	that	SCONJ
ajst-30228	171	5	the	the	DET
ajst-30228	171	6	fb	fb	ADJ
ajst-30228	171	7	-	-	PUNCT
ajst-30228	171	8	vins	vin	NOUN
ajst-30228	171	9	algorithm	algorithm	NOUN
ajst-30228	171	10	consistently	consistently	ADV
ajst-30228	171	11	reduces	reduce	VERB
ajst-30228	171	12	localization	localization	NOUN
ajst-30228	171	13	errors	error	NOUN
ajst-30228	171	14	,	,	PUNCT
ajst-30228	171	15	with	with	ADP
ajst-30228	171	16	particularly	particularly	ADV
ajst-30228	171	17	notable	notable	ADJ
ajst-30228	171	18	improvements	improvement	NOUN
ajst-30228	171	19	in	in	ADP
ajst-30228	171	20	rmse	rmse	NOUN
ajst-30228	171	21	,	,	PUNCT
ajst-30228	171	22	highlighting	highlight	VERB
ajst-30228	171	23	its	its	PRON
ajst-30228	171	24	enhanced	enhanced	ADJ
ajst-30228	171	25	robustness	robustness	NOUN
ajst-30228	171	26	and	and	CCONJ
ajst-30228	171	27	accuracy	accuracy	NOUN
ajst-30228	171	28	in	in	ADP
ajst-30228	171	29	complex	complex	ADJ
ajst-30228	171	30	indoor	indoor	ADJ
ajst-30228	171	31	environments	environment	NOUN
ajst-30228	171	32	.	.	PUNCT
ajst-30228	172	1	table	table	NOUN
ajst-30228	172	2	1	1	NUM
ajst-30228	172	3	.	.	PUNCT
ajst-30228	173	1	lateral	lateral	ADJ
ajst-30228	173	2	quantitative	quantitative	ADJ
ajst-30228	173	3	comparison	comparison	NOUN
ajst-30228	173	4	on	on	ADP
ajst-30228	173	5	the	the	DET
ajst-30228	173	6	euroc	euroc	ADJ
ajst-30228	173	7	dataset	dataset	NOUN
ajst-30228	173	8	sequence	sequence	NOUN
ajst-30228	173	9	algorithm	algorithm	NOUN
ajst-30228	173	10	max	max	PROPN
ajst-30228	173	11	mean	mean	VERB
ajst-30228	173	12	medium	medium	NOUN
ajst-30228	173	13	rmse	rmse	NOUN
ajst-30228	173	14	std	std	X
ajst-30228	173	15	mh_01_easy	mh_01_easy	ADJ
ajst-30228	173	16	fb	fb	NOUN
ajst-30228	173	17	-	-	PUNCT
ajst-30228	173	18	vins	vins	X
ajst-30228	173	19	0.6649	0.6649	NUM
ajst-30228	173	20	0.3805	0.3805	NUM
ajst-30228	173	21	0.3879	0.3879	NUM
ajst-30228	173	22	0.3982	0.3982	NUM
ajst-30228	173	23	0.1174	0.1174	NUM
ajst-30228	173	24	mh_01_easy	mh_01_easy	ADJ
ajst-30228	173	25	vins	vin	NOUN
ajst-30228	173	26	-	-	PUNCT
ajst-30228	173	27	fusion	fusion	NOUN
ajst-30228	173	28	0.7920	0.7920	NUM
ajst-30228	173	29	0.4221	0.4221	NUM
ajst-30228	173	30	0.4604	0.4604	NUM
ajst-30228	173	31	0.4486	0.4486	NUM
ajst-30228	173	32	0.1519	0.1519	NUM
ajst-30228	173	33	mh_03_medium	mh_03_medium	NOUN
ajst-30228	173	34	fb	fb	NOUN
ajst-30228	173	35	-	-	PUNCT
ajst-30228	173	36	vins	vins	X
ajst-30228	173	37	0.9541	0.9541	NUM
ajst-30228	173	38	0.3724	0.3724	NUM
ajst-30228	173	39	0.3098	0.3098	NUM
ajst-30228	173	40	0.4223	0.4223	NUM
ajst-30228	173	41	0.1992	0.1992	NUM
ajst-30228	173	42	mh_03_medium	mh_03_medium	NOUN
ajst-30228	173	43	vins	vin	NOUN
ajst-30228	173	44	-	-	PUNCT
ajst-30228	173	45	fusion	fusion	NOUN
ajst-30228	173	46	1.0342	1.0342	NUM
ajst-30228	173	47	0.4455	0.4455	NUM
ajst-30228	173	48	0.3724	0.3724	NUM
ajst-30228	173	49	0.5068	0.5068	NUM
ajst-30228	173	50	0.2416	0.2416	NUM
ajst-30228	173	51	v1_01_easy	v1_01_easy	ADJ
ajst-30228	173	52	fb	fb	NOUN
ajst-30228	173	53	-	-	PUNCT
ajst-30228	173	54	vins	vin	NOUN
ajst-30228	173	55	0.2064	0.2064	NUM
ajst-30228	173	56	0.1047	0.1047	NUM
ajst-30228	173	57	0.1013	0.1013	NUM
ajst-30228	173	58	0.1123	0.1123	NUM
ajst-30228	173	59	0.0401	0.0401	NUM
ajst-30228	173	60	v1_01_easy	v1_01_easy	NOUN
ajst-30228	173	61	vins	vin	NOUN
ajst-30228	173	62	-	-	PUNCT
ajst-30228	173	63	fusion	fusion	NOUN
ajst-30228	173	64	0.3080	0.3080	NUM
ajst-30228	174	1	0.1215	0.1215	NUM
ajst-30228	174	2	0.1151	0.1151	NUM
ajst-30228	174	3	0.1319	0.1319	NUM
ajst-30228	174	4	0.0513	0.0513	NUM
ajst-30228	174	5	v1_02_medium	v1_02_medium	CCONJ
ajst-30228	174	6	fb	fb	NOUN
ajst-30228	174	7	-	-	PUNCT
ajst-30228	174	8	vins	vin	NOUN
ajst-30228	174	9	0.2259	0.2259	NUM
ajst-30228	174	10	0.1006	0.1006	NUM
ajst-30228	174	11	0.0956	0.0956	NUM
ajst-30228	174	12	0.1082	0.1082	NUM
ajst-30228	174	13	0.0401	0.0401	NUM
ajst-30228	174	14	v1_02_medium	v1_02_medium	NOUN
ajst-30228	174	15	vins	vin	NOUN
ajst-30228	174	16	-	-	PUNCT
ajst-30228	174	17	fusion	fusion	NOUN
ajst-30228	174	18	0.2128	0.2128	NOUN
ajst-30228	174	19	0.1161	0.1161	NUM
ajst-30228	174	20	0.1131	0.1131	NUM
ajst-30228	174	21	0.1222	0.1222	NUM
ajst-30228	174	22	0.0381	0.0381	NUM
ajst-30228	174	23	v2_01_easy	v2_01_easy	CCONJ
ajst-30228	174	24	fb	fb	NOUN
ajst-30228	174	25	-	-	PUNCT
ajst-30228	174	26	vins	vin	NOUN
ajst-30228	174	27	0.2034	0.2034	NUM
ajst-30228	174	28	0.0786	0.0786	NUM
ajst-30228	174	29	0.0709	0.0709	NUM
ajst-30228	174	30	0.0853	0.0853	NUM
ajst-30228	174	31	0.0331	0.0331	NUM
ajst-30228	174	32	v2_01_easy	v2_01_easy	ADJ
ajst-30228	174	33	vins	vin	NOUN
ajst-30228	174	34	-	-	PUNCT
ajst-30228	174	35	fusion	fusion	NOUN
ajst-30228	174	36	0.1688	0.1688	NUM
ajst-30228	174	37	0.0857	0.0857	NUM
ajst-30228	174	38	0.0806	0.0806	NUM
ajst-30228	174	39	0.0911	0.0911	NUM
ajst-30228	174	40	0.0309	0.0309	NUM
ajst-30228	174	41	v2_02_medium	v2_02_medium	ADJ
ajst-30228	174	42	fb	fb	NOUN
ajst-30228	174	43	-	-	PUNCT
ajst-30228	174	44	vins	vins	X
ajst-30228	174	45	0.5169	0.5169	NUM
ajst-30228	174	46	0.0839	0.0839	NUM
ajst-30228	174	47	0.0651	0.0651	NUM
ajst-30228	174	48	0.1087	0.1087	NUM
ajst-30228	174	49	0.0690	0.0690	NUM
ajst-30228	174	50	v2_02_medium	v2_02_medium	ADJ
ajst-30228	174	51	vins	vin	NOUN
ajst-30228	174	52	-	-	PUNCT
ajst-30228	174	53	fusion	fusion	NOUN
ajst-30228	174	54	0.4681	0.4681	NUM
ajst-30228	174	55	0.0994	0.0994	NUM
ajst-30228	174	56	0.0723	0.0723	NUM
ajst-30228	174	57	0.1247	0.1247	NUM
ajst-30228	174	58	0.0754	0.0754	NUM
ajst-30228	174	59	3.3	3.3	NUM
ajst-30228	174	60	.	.	PUNCT
ajst-30228	175	1	uav	uav	PROPN
ajst-30228	175	2	flight	flight	NOUN
ajst-30228	175	3	verification	verification	NOUN
ajst-30228	175	4	to	to	PART
ajst-30228	175	5	further	far	ADV
ajst-30228	175	6	validate	validate	VERB
ajst-30228	175	7	the	the	DET
ajst-30228	175	8	adaptability	adaptability	NOUN
ajst-30228	175	9	and	and	CCONJ
ajst-30228	175	10	localization	localization	NOUN
ajst-30228	175	11	accuracy	accuracy	NOUN
ajst-30228	175	12	of	of	ADP
ajst-30228	175	13	the	the	DET
ajst-30228	175	14	improved	improve	VERB
ajst-30228	175	15	visual	visual	ADJ
ajst-30228	175	16	-	-	PUNCT
ajst-30228	175	17	inertial	inertial	ADJ
ajst-30228	175	18	fusion	fusion	NOUN
ajst-30228	175	19	algorithm	algorithm	NOUN
ajst-30228	175	20	in	in	ADP
ajst-30228	175	21	real	real	ADJ
ajst-30228	175	22	-	-	PUNCT
ajst-30228	175	23	world	world	NOUN
ajst-30228	175	24	environments	environment	NOUN
ajst-30228	175	25	,	,	PUNCT
ajst-30228	175	26	a	a	DET
ajst-30228	175	27	uav	uav	PROPN
ajst-30228	175	28	flight	flight	NOUN
ajst-30228	175	29	experiment	experiment	NOUN
ajst-30228	175	30	was	be	AUX
ajst-30228	175	31	conducted	conduct	VERB
ajst-30228	175	32	in	in	ADP
ajst-30228	175	33	an	an	DET
ajst-30228	175	34	indoor	indoor	ADJ
ajst-30228	175	35	motion	motion	NOUN
ajst-30228	175	36	capture	capture	NOUN
ajst-30228	175	37	(	(	PUNCT
ajst-30228	175	38	mocap	mocap	NOUN
ajst-30228	175	39	)	)	PUNCT
ajst-30228	175	40	test	test	NOUN
ajst-30228	175	41	facility	facility	NOUN
ajst-30228	175	42	.	.	PUNCT
ajst-30228	176	1	the	the	DET
ajst-30228	176	2	facility	facility	NOUN
ajst-30228	176	3	was	be	AUX
ajst-30228	176	4	equipped	equip	VERB
ajst-30228	176	5	with	with	ADP
ajst-30228	176	6	an	an	DET
ajst-30228	176	7	optical	optical	ADJ
ajst-30228	176	8	motion	motion	NOUN
ajst-30228	176	9	capture	capture	NOUN
ajst-30228	176	10	system	system	NOUN
ajst-30228	176	11	,	,	PUNCT
ajst-30228	176	12	which	which	PRON
ajst-30228	176	13	provided	provide	VERB
ajst-30228	176	14	high	high	ADJ
ajst-30228	176	15	-	-	PUNCT
ajst-30228	176	16	precision	precision	NOUN
ajst-30228	176	17	pose	pose	NOUN
ajst-30228	176	18	reference	reference	NOUN
ajst-30228	176	19	trajectories	trajectory	NOUN
ajst-30228	176	20	,	,	PUNCT
ajst-30228	176	21	enabling	enable	VERB
ajst-30228	176	22	accurate	accurate	ADJ
ajst-30228	176	23	assessment	assessment	NOUN
ajst-30228	176	24	of	of	ADP
ajst-30228	176	25	the	the	DET
ajst-30228	176	26	algorithm	algorithm	NOUN
ajst-30228	176	27	's	's	PART
ajst-30228	176	28	333	333	NUM
ajst-30228	176	29	real	real	ADJ
ajst-30228	176	30	-	-	PUNCT
ajst-30228	176	31	world	world	NOUN
ajst-30228	176	32	localization	localization	NOUN
ajst-30228	176	33	errors	error	NOUN
ajst-30228	176	34	.	.	PUNCT
ajst-30228	177	1	the	the	DET
ajst-30228	177	2	experiment	experiment	NOUN
ajst-30228	177	3	required	require	VERB
ajst-30228	177	4	the	the	DET
ajst-30228	177	5	uav	uav	PROPN
ajst-30228	177	6	to	to	PART
ajst-30228	177	7	perform	perform	VERB
ajst-30228	177	8	a	a	DET
ajst-30228	177	9	stationary	stationary	ADJ
ajst-30228	177	10	waypoint	waypoint	NOUN
ajst-30228	177	11	flight	flight	NOUN
ajst-30228	177	12	task	task	NOUN
ajst-30228	177	13	with	with	ADP
ajst-30228	177	14	a	a	DET
ajst-30228	177	15	designated	designate	VERB
ajst-30228	177	16	target	target	NOUN
ajst-30228	177	17	point	point	NOUN
ajst-30228	177	18	at	at	ADP
ajst-30228	177	19	(	(	PUNCT
ajst-30228	177	20	0.6	0.6	NUM
ajst-30228	177	21	,	,	PUNCT
ajst-30228	177	22	0.3	0.3	NUM
ajst-30228	177	23	,	,	PUNCT
ajst-30228	177	24	0.6	0.6	NUM
ajst-30228	177	25	)	)	PUNCT
ajst-30228	177	26	meters	meter	NOUN
ajst-30228	177	27	.	.	PUNCT
ajst-30228	178	1	the	the	DET
ajst-30228	178	2	uav	uav	PROPN
ajst-30228	178	3	took	take	VERB
ajst-30228	178	4	off	off	ADP
ajst-30228	178	5	from	from	ADP
ajst-30228	178	6	(	(	PUNCT
ajst-30228	178	7	0	0	NUM
ajst-30228	178	8	,	,	PUNCT
ajst-30228	178	9	0	0	NUM
ajst-30228	178	10	,	,	PUNCT
ajst-30228	178	11	0.6	0.6	NUM
ajst-30228	178	12	)	)	PUNCT
ajst-30228	178	13	and	and	CCONJ
ajst-30228	178	14	sequentially	sequentially	ADV
ajst-30228	178	15	passed	pass	VERB
ajst-30228	178	16	through	through	ADP
ajst-30228	178	17	waypoints	waypoint	NOUN
ajst-30228	178	18	(	(	PUNCT
ajst-30228	178	19	0.6	0.6	NUM
ajst-30228	178	20	,	,	PUNCT
ajst-30228	178	21	0	0	NUM
ajst-30228	178	22	,	,	PUNCT
ajst-30228	178	23	0.6	0.6	NUM
ajst-30228	178	24	)	)	PUNCT
ajst-30228	178	25	before	before	ADP
ajst-30228	178	26	reaching	reach	VERB
ajst-30228	178	27	the	the	DET
ajst-30228	178	28	final	final	ADJ
ajst-30228	178	29	target	target	NOUN
ajst-30228	178	30	position	position	NOUN
ajst-30228	178	31	.	.	PUNCT
ajst-30228	179	1	throughout	throughout	ADP
ajst-30228	179	2	the	the	DET
ajst-30228	179	3	flight	flight	NOUN
ajst-30228	179	4	,	,	PUNCT
ajst-30228	179	5	programmatic	programmatic	ADJ
ajst-30228	179	6	flight	flight	NOUN
ajst-30228	179	7	control	control	NOUN
ajst-30228	179	8	was	be	AUX
ajst-30228	179	9	used	use	VERB
ajst-30228	179	10	instead	instead	ADV
ajst-30228	179	11	of	of	ADP
ajst-30228	179	12	manual	manual	ADJ
ajst-30228	179	13	operation	operation	NOUN
ajst-30228	179	14	to	to	PART
ajst-30228	179	15	eliminate	eliminate	VERB
ajst-30228	179	16	human	human	ADJ
ajst-30228	179	17	interference	interference	NOUN
ajst-30228	179	18	and	and	CCONJ
ajst-30228	179	19	ensure	ensure	VERB
ajst-30228	179	20	repeatable	repeatable	ADJ
ajst-30228	179	21	testing	testing	NOUN
ajst-30228	179	22	conditions	condition	NOUN
ajst-30228	179	23	.	.	PUNCT
ajst-30228	180	1	the	the	DET
ajst-30228	180	2	motion	motion	NOUN
ajst-30228	180	3	capture	capture	NOUN
ajst-30228	180	4	system	system	NOUN
ajst-30228	180	5	continuously	continuously	ADV
ajst-30228	180	6	recorded	record	VERB
ajst-30228	180	7	the	the	DET
ajst-30228	180	8	uav	uav	PROPN
ajst-30228	180	9	’s	’s	PART
ajst-30228	180	10	real	real	ADJ
ajst-30228	180	11	-	-	PUNCT
ajst-30228	180	12	time	time	NOUN
ajst-30228	180	13	position	position	NOUN
ajst-30228	180	14	data	datum	NOUN
ajst-30228	180	15	,	,	PUNCT
ajst-30228	180	16	and	and	CCONJ
ajst-30228	180	17	a	a	DET
ajst-30228	180	18	comparative	comparative	ADJ
ajst-30228	180	19	analysis	analysis	NOUN
ajst-30228	180	20	was	be	AUX
ajst-30228	180	21	performed	perform	VERB
ajst-30228	180	22	to	to	PART
ajst-30228	180	23	evaluate	evaluate	VERB
ajst-30228	180	24	the	the	DET
ajst-30228	180	25	axis	axis	ADJ
ajst-30228	180	26	-	-	PUNCT
ajst-30228	180	27	wise	wise	ADJ
ajst-30228	180	28	position	position	NOUN
ajst-30228	180	29	errors	error	NOUN
ajst-30228	180	30	of	of	ADP
ajst-30228	180	31	the	the	DET
ajst-30228	180	32	algorithm	algorithm	NOUN
ajst-30228	180	33	before	before	ADP
ajst-30228	180	34	and	and	CCONJ
ajst-30228	180	35	after	after	ADP
ajst-30228	180	36	improvement	improvement	NOUN
ajst-30228	180	37	.	.	PUNCT
ajst-30228	181	1	the	the	DET
ajst-30228	181	2	trajectory	trajectory	NOUN
ajst-30228	181	3	recorded	record	VERB
ajst-30228	181	4	by	by	ADP
ajst-30228	181	5	the	the	DET
ajst-30228	181	6	motion	motion	NOUN
ajst-30228	181	7	capture	capture	NOUN
ajst-30228	181	8	system	system	NOUN
ajst-30228	181	9	during	during	ADP
ajst-30228	181	10	the	the	DET
ajst-30228	181	11	uav	uav	PROPN
ajst-30228	181	12	flight	flight	NOUN
ajst-30228	181	13	experiment	experiment	NOUN
ajst-30228	181	14	is	be	AUX
ajst-30228	181	15	illustrated	illustrate	VERB
ajst-30228	181	16	in	in	ADP
ajst-30228	181	17	figure	figure	NOUN
ajst-30228	181	18	3	3	NUM
ajst-30228	181	19	.	.	PUNCT
ajst-30228	181	20	figure	figure	NOUN
ajst-30228	181	21	3	3	NUM
ajst-30228	181	22	.	.	PUNCT
ajst-30228	182	1	uav	uav	PROPN
ajst-30228	182	2	trajectory	trajectory	NOUN
ajst-30228	182	3	visualization	visualization	NOUN
ajst-30228	182	4	before	before	ADP
ajst-30228	182	5	the	the	DET
ajst-30228	182	6	flight	flight	NOUN
ajst-30228	182	7	experiment	experiment	NOUN
ajst-30228	182	8	,	,	PUNCT
ajst-30228	182	9	motion	motion	NOUN
ajst-30228	182	10	capture	capture	NOUN
ajst-30228	182	11	markers	marker	NOUN
ajst-30228	182	12	were	be	AUX
ajst-30228	182	13	attached	attach	VERB
ajst-30228	182	14	to	to	ADP
ajst-30228	182	15	the	the	DET
ajst-30228	182	16	uav	uav	PROPN
ajst-30228	182	17	,	,	PUNCT
ajst-30228	182	18	and	and	CCONJ
ajst-30228	182	19	a	a	DET
ajst-30228	182	20	rigid	rigid	ADJ
ajst-30228	182	21	body	body	NOUN
ajst-30228	182	22	model	model	NOUN
ajst-30228	182	23	was	be	AUX
ajst-30228	182	24	constructed	construct	VERB
ajst-30228	182	25	.	.	PUNCT
ajst-30228	183	1	due	due	ADP
ajst-30228	183	2	to	to	ADP
ajst-30228	183	3	variations	variation	NOUN
ajst-30228	183	4	in	in	ADP
ajst-30228	183	5	uav	uav	PROPN
ajst-30228	183	6	height	height	NOUN
ajst-30228	183	7	and	and	CCONJ
ajst-30228	183	8	marker	marker	NOUN
ajst-30228	183	9	placement	placement	NOUN
ajst-30228	183	10	,	,	PUNCT
ajst-30228	183	11	the	the	DET
ajst-30228	183	12	measured	measured	ADJ
ajst-30228	183	13	initial	initial	ADJ
ajst-30228	183	14	position	position	NOUN
ajst-30228	183	15	did	do	AUX
ajst-30228	183	16	not	not	PART
ajst-30228	183	17	coincide	coincide	VERB
ajst-30228	183	18	with	with	ADP
ajst-30228	183	19	the	the	DET
ajst-30228	183	20	origin	origin	NOUN
ajst-30228	183	21	.	.	PUNCT
ajst-30228	184	1	during	during	ADP
ajst-30228	184	2	the	the	DET
ajst-30228	184	3	flight	flight	NOUN
ajst-30228	184	4	,	,	PUNCT
ajst-30228	184	5	a	a	DET
ajst-30228	184	6	high	high	ADJ
ajst-30228	184	7	-	-	PUNCT
ajst-30228	184	8	resolution	resolution	NOUN
ajst-30228	184	9	camera	camera	NOUN
ajst-30228	184	10	system	system	NOUN
ajst-30228	184	11	continuously	continuously	ADV
ajst-30228	184	12	recorded	record	VERB
ajst-30228	184	13	and	and	CCONJ
ajst-30228	184	14	transmitted	transmit	VERB
ajst-30228	184	15	real	real	ADJ
ajst-30228	184	16	-	-	PUNCT
ajst-30228	184	17	time	time	NOUN
ajst-30228	184	18	uav	uav	PROPN
ajst-30228	184	19	pose	pose	VERB
ajst-30228	184	20	information	information	NOUN
ajst-30228	184	21	for	for	ADP
ajst-30228	184	22	analysis	analysis	NOUN
ajst-30228	184	23	.	.	PUNCT
ajst-30228	185	1	the	the	DET
ajst-30228	185	2	experiment	experiment	NOUN
ajst-30228	185	3	recorded	record	VERB
ajst-30228	185	4	and	and	CCONJ
ajst-30228	185	5	compared	compare	VERB
ajst-30228	185	6	the	the	DET
ajst-30228	185	7	autonomous	autonomous	ADJ
ajst-30228	185	8	localization	localization	NOUN
ajst-30228	185	9	performance	performance	NOUN
ajst-30228	185	10	of	of	ADP
ajst-30228	185	11	the	the	DET
ajst-30228	185	12	uav	uav	PROPN
ajst-30228	185	13	using	use	VERB
ajst-30228	185	14	both	both	CCONJ
ajst-30228	185	15	the	the	DET
ajst-30228	185	16	traditional	traditional	ADJ
ajst-30228	185	17	vins	vin	NOUN
ajst-30228	185	18	-	-	PUNCT
ajst-30228	185	19	fusion	fusion	NOUN
ajst-30228	185	20	algorithm	algorithm	NOUN
ajst-30228	185	21	and	and	CCONJ
ajst-30228	185	22	the	the	DET
ajst-30228	185	23	improved	improved	ADJ
ajst-30228	185	24	fbvins	fbvin	NOUN
ajst-30228	185	25	algorithm	algorithm	NOUN
ajst-30228	185	26	.	.	PUNCT
ajst-30228	186	1	the	the	DET
ajst-30228	186	2	uav	uav	PROPN
ajst-30228	186	3	’s	’s	PART
ajst-30228	186	4	actual	actual	ADJ
ajst-30228	186	5	stabilized	stabilize	VERB
ajst-30228	186	6	position	position	NOUN
ajst-30228	186	7	after	after	ADP
ajst-30228	186	8	reaching	reach	VERB
ajst-30228	186	9	the	the	DET
ajst-30228	186	10	target	target	NOUN
ajst-30228	186	11	point	point	NOUN
ajst-30228	186	12	was	be	AUX
ajst-30228	186	13	compared	compare	VERB
ajst-30228	186	14	with	with	ADP
ajst-30228	186	15	the	the	DET
ajst-30228	186	16	expected	expect	VERB
ajst-30228	186	17	position	position	NOUN
ajst-30228	186	18	,	,	PUNCT
ajst-30228	186	19	providing	provide	VERB
ajst-30228	186	20	a	a	DET
ajst-30228	186	21	quantitative	quantitative	ADJ
ajst-30228	186	22	evaluation	evaluation	NOUN
ajst-30228	186	23	of	of	ADP
ajst-30228	186	24	the	the	DET
ajst-30228	186	25	accuracy	accuracy	NOUN
ajst-30228	186	26	and	and	CCONJ
ajst-30228	186	27	feasibility	feasibility	NOUN
ajst-30228	186	28	of	of	ADP
ajst-30228	186	29	the	the	DET
ajst-30228	186	30	improved	improved	ADJ
ajst-30228	186	31	algorithm	algorithm	NOUN
ajst-30228	186	32	in	in	ADP
ajst-30228	186	33	real	real	ADJ
ajst-30228	186	34	-	-	PUNCT
ajst-30228	186	35	world	world	NOUN
ajst-30228	186	36	applications	application	NOUN
ajst-30228	186	37	.	.	PUNCT
ajst-30228	187	1	the	the	DET
ajst-30228	187	2	final	final	ADJ
ajst-30228	187	3	recorded	record	VERB
ajst-30228	187	4	results	result	NOUN
ajst-30228	187	5	are	be	AUX
ajst-30228	187	6	presented	present	VERB
ajst-30228	187	7	in	in	ADP
ajst-30228	187	8	tables	table	NOUN
ajst-30228	187	9	2	2	NUM
ajst-30228	187	10	and	and	CCONJ
ajst-30228	187	11	3	3	NUM
ajst-30228	187	12	.	.	PUNCT
ajst-30228	187	13	based	base	VERB
ajst-30228	187	14	on	on	ADP
ajst-30228	187	15	the	the	DET
ajst-30228	187	16	experimental	experimental	ADJ
ajst-30228	187	17	analysis	analysis	NOUN
ajst-30228	187	18	,	,	PUNCT
ajst-30228	187	19	the	the	DET
ajst-30228	187	20	uav	uav	PROPN
ajst-30228	187	21	's	's	PART
ajst-30228	187	22	axis	axis	ADJ
ajst-30228	187	23	-	-	PUNCT
ajst-30228	187	24	wise	wise	ADJ
ajst-30228	187	25	positioning	positioning	NOUN
ajst-30228	187	26	errors	error	NOUN
ajst-30228	187	27	were	be	AUX
ajst-30228	187	28	significantly	significantly	ADV
ajst-30228	187	29	reduced	reduce	VERB
ajst-30228	187	30	when	when	SCONJ
ajst-30228	187	31	using	use	VERB
ajst-30228	187	32	the	the	DET
ajst-30228	187	33	fb	fb	ADJ
ajst-30228	187	34	-	-	PUNCT
ajst-30228	187	35	vins	vin	NOUN
ajst-30228	187	36	algorithm	algorithm	NOUN
ajst-30228	187	37	compared	compare	VERB
ajst-30228	187	38	to	to	ADP
ajst-30228	187	39	the	the	DET
ajst-30228	187	40	original	original	ADJ
ajst-30228	187	41	vinsfusion	vinsfusion	NOUN
ajst-30228	187	42	algorithm	algorithm	NOUN
ajst-30228	187	43	.	.	PUNCT
ajst-30228	188	1	this	this	DET
ajst-30228	188	2	improvement	improvement	NOUN
ajst-30228	188	3	demonstrates	demonstrate	VERB
ajst-30228	188	4	enhanced	enhanced	ADJ
ajst-30228	188	5	localization	localization	NOUN
ajst-30228	188	6	accuracy	accuracy	NOUN
ajst-30228	188	7	,	,	PUNCT
ajst-30228	188	8	verifying	verify	VERB
ajst-30228	188	9	the	the	DET
ajst-30228	188	10	effectiveness	effectiveness	NOUN
ajst-30228	188	11	and	and	CCONJ
ajst-30228	188	12	practical	practical	ADJ
ajst-30228	188	13	applicability	applicability	NOUN
ajst-30228	188	14	of	of	ADP
ajst-30228	188	15	the	the	DET
ajst-30228	188	16	proposed	propose	VERB
ajst-30228	188	17	algorithm	algorithm	NOUN
ajst-30228	188	18	in	in	ADP
ajst-30228	188	19	autonomous	autonomous	PROPN
ajst-30228	188	20	uav	uav	PROPN
ajst-30228	188	21	positioning	positioning	NOUN
ajst-30228	188	22	.	.	PUNCT
ajst-30228	189	1	table	table	NOUN
ajst-30228	189	2	2	2	NUM
ajst-30228	189	3	.	.	PUNCT
ajst-30228	189	4	motion	motion	NOUN
ajst-30228	189	5	capture	capture	NOUN
ajst-30228	189	6	-	-	PUNCT
ajst-30228	189	7	based	base	VERB
ajst-30228	189	8	fixed	fix	VERB
ajst-30228	189	9	-	-	PUNCT
ajst-30228	189	10	point	point	NOUN
ajst-30228	189	11	flight	flight	NOUN
ajst-30228	189	12	results	result	NOUN
ajst-30228	189	13	using	use	VERB
ajst-30228	189	14	the	the	DET
ajst-30228	189	15	vins	vin	NOUN
ajst-30228	189	16	-	-	PUNCT
ajst-30228	189	17	fusion	fusion	NOUN
ajst-30228	189	18	algorithm	algorithm	NOUN
ajst-30228	189	19	starting	starting	NOUN
ajst-30228	189	20	-	-	PUNCT
ajst-30228	189	21	point	point	NOUN
ajst-30228	189	22	measured	measure	VERB
ajst-30228	189	23	value	value	NOUN
ajst-30228	189	24	ending	ending	NOUN
ajst-30228	189	25	-	-	PUNCT
ajst-30228	189	26	point	point	NOUN
ajst-30228	189	27	measured	measure	VERB
ajst-30228	189	28	value	value	NOUN
ajst-30228	189	29	single	single	ADJ
ajst-30228	189	30	-	-	PUNCT
ajst-30228	189	31	axis	axis	NOUN
ajst-30228	189	32	absolute	absolute	ADJ
ajst-30228	189	33	positional	positional	ADJ
ajst-30228	189	34	difference	difference	NOUN
ajst-30228	189	35	expected	expect	VERB
ajst-30228	189	36	value	value	NOUN
ajst-30228	189	37	axial	axial	ADJ
ajst-30228	189	38	error	error	NOUN
ajst-30228	189	39	x	x	NOUN
ajst-30228	189	40	-	-	ADJ
ajst-30228	189	41	axis	axis	ADJ
ajst-30228	189	42	-9.08	-9.08	NOUN
ajst-30228	189	43	cm	cm	NOUN
ajst-30228	189	44	55.36	55.36	NUM
ajst-30228	189	45	cm	cm	NOUN
ajst-30228	189	46	64.44	64.44	NUM
ajst-30228	189	47	cm	cm	NOUN
ajst-30228	189	48	60	60	NUM
ajst-30228	189	49	cm	cm	NOUN
ajst-30228	189	50	4.40	4.40	NUM
ajst-30228	189	51	cm	cm	NOUN
ajst-30228	189	52	y	y	NOUN
ajst-30228	189	53	-	-	PUNCT
ajst-30228	189	54	axis	axis	NOUN
ajst-30228	190	1	-1.18	-1.18	PROPN
ajst-30228	190	2	cm	cm	NOUN
ajst-30228	190	3	23.30	23.30	NUM
ajst-30228	190	4	cm	cm	NOUN
ajst-30228	190	5	24.48	24.48	NUM
ajst-30228	190	6	cm	cm	NOUN
ajst-30228	190	7	30	30	NUM
ajst-30228	190	8	cm	cm	NOUN
ajst-30228	190	9	5.52	5.52	NUM
ajst-30228	190	10	cm	cm	NOUN
ajst-30228	190	11	z	z	NOUN
ajst-30228	190	12	-	-	PUNCT
ajst-30228	190	13	axis	axis	NOUN
ajst-30228	190	14	17.65	17.65	NUM
ajst-30228	190	15	cm	cm	NOUN
ajst-30228	190	16	73.10	73.10	NUM
ajst-30228	190	17	cm	cm	NOUN
ajst-30228	190	18	55.45	55.45	NUM
ajst-30228	190	19	cm	cm	NOUN
ajst-30228	190	20	60	60	NUM
ajst-30228	190	21	cm	cm	NUM
ajst-30228	190	22	4.55	4.55	NUM
ajst-30228	190	23	cm	cm	NOUN
ajst-30228	190	24	table	table	NOUN
ajst-30228	190	25	3	3	NUM
ajst-30228	190	26	.	.	PUNCT
ajst-30228	190	27	motion	motion	NOUN
ajst-30228	190	28	capture	capture	NOUN
ajst-30228	190	29	-	-	PUNCT
ajst-30228	190	30	based	base	VERB
ajst-30228	190	31	fixed	fix	VERB
ajst-30228	190	32	-	-	PUNCT
ajst-30228	190	33	point	point	NOUN
ajst-30228	190	34	flight	flight	NOUN
ajst-30228	190	35	results	result	NOUN
ajst-30228	190	36	using	use	VERB
ajst-30228	190	37	the	the	DET
ajst-30228	190	38	fb	fb	ADJ
ajst-30228	190	39	-	-	PUNCT
ajst-30228	190	40	vins	vin	NOUN
ajst-30228	190	41	algorithm	algorithm	NOUN
ajst-30228	190	42	starting	starting	NOUN
ajst-30228	190	43	-	-	PUNCT
ajst-30228	190	44	point	point	NOUN
ajst-30228	190	45	measured	measure	VERB
ajst-30228	190	46	value	value	NOUN
ajst-30228	190	47	ending	ending	NOUN
ajst-30228	190	48	-	-	PUNCT
ajst-30228	190	49	point	point	NOUN
ajst-30228	190	50	measured	measure	VERB
ajst-30228	190	51	value	value	NOUN
ajst-30228	190	52	single	single	ADJ
ajst-30228	190	53	-	-	PUNCT
ajst-30228	190	54	axis	axis	NOUN
ajst-30228	190	55	absolute	absolute	ADJ
ajst-30228	190	56	positional	positional	ADJ
ajst-30228	190	57	difference	difference	NOUN
ajst-30228	190	58	expected	expect	VERB
ajst-30228	190	59	value	value	NOUN
ajst-30228	190	60	axial	axial	ADJ
ajst-30228	190	61	error	error	NOUN
ajst-30228	190	62	x	x	NOUN
ajst-30228	190	63	-	-	NOUN
ajst-30228	190	64	axis	axis	ADJ
ajst-30228	190	65	-9.37	-9.37	NOUN
ajst-30228	190	66	cm	cm	NOUN
ajst-30228	190	67	53.12	53.12	NUM
ajst-30228	190	68	cm	cm	NOUN
ajst-30228	190	69	62.49	62.49	NUM
ajst-30228	190	70	cm	cm	NOUN
ajst-30228	190	71	60	60	NUM
ajst-30228	190	72	cm	cm	NOUN
ajst-30228	190	73	2.49	2.49	NUM
ajst-30228	190	74	cm	cm	NOUN
ajst-30228	190	75	y	y	NOUN
ajst-30228	190	76	-	-	PUNCT
ajst-30228	190	77	axis	axis	NOUN
ajst-30228	190	78	-1.56	-1.56	PUNCT
ajst-30228	190	79	cm	cm	NOUN
ajst-30228	190	80	23.80	23.80	NUM
ajst-30228	190	81	cm	cm	NOUN
ajst-30228	190	82	25.36	25.36	NUM
ajst-30228	190	83	cm	cm	NOUN
ajst-30228	190	84	30	30	NUM
ajst-30228	190	85	cm	cm	NOUN
ajst-30228	190	86	4.64	4.64	NUM
ajst-30228	190	87	cm	cm	NOUN
ajst-30228	190	88	z	z	NOUN
ajst-30228	190	89	-	-	PUNCT
ajst-30228	190	90	axis	axis	NOUN
ajst-30228	190	91	17.65	17.65	NUM
ajst-30228	190	92	cm	cm	NOUN
ajst-30228	190	93	74.51	74.51	NUM
ajst-30228	190	94	cm	cm	NOUN
ajst-30228	190	95	56.86	56.86	NUM
ajst-30228	190	96	cm	cm	NOUN
ajst-30228	190	97	60	60	NUM
ajst-30228	190	98	cm	cm	NUM
ajst-30228	190	99	3.14	3.14	NUM
ajst-30228	190	100	cm	cm	NOUN
ajst-30228	190	101	4	4	NUM
ajst-30228	190	102	.	.	PUNCT
ajst-30228	191	1	conclusions	conclusion	NOUN
ajst-30228	191	2	this	this	DET
ajst-30228	191	3	paper	paper	NOUN
ajst-30228	191	4	addresses	address	VERB
ajst-30228	191	5	the	the	DET
ajst-30228	191	6	limitations	limitation	NOUN
ajst-30228	191	7	of	of	ADP
ajst-30228	191	8	vins	vin	NOUN
ajst-30228	191	9	-	-	PUNCT
ajst-30228	191	10	fusion	fusion	NOUN
ajst-30228	191	11	in	in	ADP
ajst-30228	191	12	feature	feature	NOUN
ajst-30228	191	13	extraction	extraction	NOUN
ajst-30228	191	14	and	and	CCONJ
ajst-30228	191	15	matching	match	VERB
ajst-30228	191	16	robustness	robustness	NOUN
ajst-30228	191	17	under	under	ADP
ajst-30228	191	18	weaktexture	weaktexture	NOUN
ajst-30228	191	19	,	,	PUNCT
ajst-30228	191	20	dynamic	dynamic	ADJ
ajst-30228	191	21	lighting	lighting	NOUN
ajst-30228	191	22	,	,	PUNCT
ajst-30228	191	23	and	and	CCONJ
ajst-30228	191	24	partial	partial	ADJ
ajst-30228	191	25	occlusion	occlusion	NOUN
ajst-30228	191	26	environments	environment	NOUN
ajst-30228	191	27	.	.	PUNCT
ajst-30228	192	1	to	to	PART
ajst-30228	192	2	overcome	overcome	VERB
ajst-30228	192	3	these	these	DET
ajst-30228	192	4	challenges	challenge	NOUN
ajst-30228	192	5	,	,	PUNCT
ajst-30228	192	6	an	an	DET
ajst-30228	192	7	improved	improve	VERB
ajst-30228	192	8	visual	visual	ADJ
ajst-30228	192	9	-	-	PUNCT
ajst-30228	192	10	inertial	inertial	ADJ
ajst-30228	192	11	fusion	fusion	NOUN
ajst-30228	192	12	algorithm	algorithm	NOUN
ajst-30228	192	13	(	(	PUNCT
ajst-30228	192	14	fb	fb	NOUN
ajst-30228	192	15	-	-	PUNCT
ajst-30228	192	16	vins	vin	NOUN
ajst-30228	192	17	)	)	PUNCT
ajst-30228	192	18	is	be	AUX
ajst-30228	192	19	proposed	propose	VERB
ajst-30228	192	20	,	,	PUNCT
ajst-30228	192	21	incorporating	incorporate	VERB
ajst-30228	192	22	orbbased	orbbased	ADJ
ajst-30228	192	23	feature	feature	NOUN
ajst-30228	192	24	extraction	extraction	NOUN
ajst-30228	192	25	and	and	CCONJ
ajst-30228	192	26	feature	feature	NOUN
ajst-30228	192	27	booster	booster	NOUN
ajst-30228	192	28	-	-	PUNCT
ajst-30228	192	29	based	base	VERB
ajst-30228	192	30	feature	feature	NOUN
ajst-30228	192	31	enhancement	enhancement	NOUN
ajst-30228	192	32	.	.	PUNCT
ajst-30228	193	1	in	in	ADP
ajst-30228	193	2	the	the	DET
ajst-30228	193	3	visual	visual	ADJ
ajst-30228	193	4	frontend	frontend	NOUN
ajst-30228	193	5	,	,	PUNCT
ajst-30228	193	6	orb	orb	NOUN
ajst-30228	193	7	replaces	replace	VERB
ajst-30228	193	8	the	the	DET
ajst-30228	193	9	original	original	ADJ
ajst-30228	193	10	shitomasi	shitomasi	NOUN
ajst-30228	193	11	feature	feature	NOUN
ajst-30228	193	12	detector	detector	NOUN
ajst-30228	193	13	,	,	PUNCT
ajst-30228	193	14	and	and	CCONJ
ajst-30228	193	15	a	a	DET
ajst-30228	193	16	deep	deep	ADJ
ajst-30228	193	17	learning	learning	NOUN
ajst-30228	193	18	-	-	PUNCT
ajst-30228	193	19	driven	drive	VERB
ajst-30228	193	20	feature	feature	NOUN
ajst-30228	193	21	enhancement	enhancement	NOUN
ajst-30228	193	22	technique	technique	NOUN
ajst-30228	193	23	is	be	AUX
ajst-30228	193	24	integrated	integrate	VERB
ajst-30228	193	25	to	to	PART
ajst-30228	193	26	optimize	optimize	VERB
ajst-30228	193	27	feature	feature	NOUN
ajst-30228	193	28	descriptor	descriptor	NOUN
ajst-30228	193	29	quality	quality	NOUN
ajst-30228	193	30	.	.	PUNCT
ajst-30228	194	1	this	this	PRON
ajst-30228	194	2	improves	improve	VERB
ajst-30228	194	3	feature	feature	NOUN
ajst-30228	194	4	stability	stability	NOUN
ajst-30228	194	5	in	in	ADP
ajst-30228	194	6	complex	complex	ADJ
ajst-30228	194	7	environments	environment	NOUN
ajst-30228	194	8	,	,	PUNCT
ajst-30228	194	9	enhancing	enhance	VERB
ajst-30228	194	10	the	the	DET
ajst-30228	194	11	system	system	NOUN
ajst-30228	194	12	’s	’s	PART
ajst-30228	194	13	overall	overall	ADJ
ajst-30228	194	14	localization	localization	NOUN
ajst-30228	194	15	reliability	reliability	NOUN
ajst-30228	194	16	.	.	PUNCT
ajst-30228	195	1	to	to	PART
ajst-30228	195	2	validate	validate	VERB
ajst-30228	195	3	the	the	DET
ajst-30228	195	4	algorithm	algorithm	NOUN
ajst-30228	195	5	’s	’s	PART
ajst-30228	195	6	effectiveness	effectiveness	NOUN
ajst-30228	195	7	,	,	PUNCT
ajst-30228	195	8	simulation	simulation	NOUN
ajst-30228	195	9	experiments	experiment	NOUN
ajst-30228	195	10	were	be	AUX
ajst-30228	195	11	conducted	conduct	VERB
ajst-30228	195	12	using	use	VERB
ajst-30228	195	13	the	the	DET
ajst-30228	195	14	euroc	euroc	ADJ
ajst-30228	195	15	dataset	dataset	NOUN
ajst-30228	195	16	,	,	PUNCT
ajst-30228	195	17	followed	follow	VERB
ajst-30228	195	18	by	by	ADP
ajst-30228	195	19	real	real	ADJ
ajst-30228	195	20	-	-	PUNCT
ajst-30228	195	21	world	world	NOUN
ajst-30228	195	22	flight	flight	NOUN
ajst-30228	195	23	tests	test	NOUN
ajst-30228	195	24	on	on	ADP
ajst-30228	195	25	a	a	DET
ajst-30228	195	26	quadrotor	quadrotor	NOUN
ajst-30228	195	27	uav	uav	PROPN
ajst-30228	195	28	334	334	NUM
ajst-30228	195	29	platform	platform	NOUN
ajst-30228	195	30	.	.	PUNCT
ajst-30228	196	1	experimental	experimental	ADJ
ajst-30228	196	2	results	result	NOUN
ajst-30228	196	3	demonstrate	demonstrate	VERB
ajst-30228	196	4	the	the	DET
ajst-30228	196	5	feasibility	feasibility	NOUN
ajst-30228	196	6	and	and	CCONJ
ajst-30228	196	7	effectiveness	effectiveness	NOUN
ajst-30228	196	8	of	of	ADP
ajst-30228	196	9	the	the	DET
ajst-30228	196	10	proposed	propose	VERB
ajst-30228	196	11	visual	visual	ADJ
ajst-30228	196	12	odometry	odometry	NOUN
ajst-30228	196	13	improvement	improvement	NOUN
ajst-30228	196	14	method	method	NOUN
ajst-30228	196	15	.	.	PUNCT
ajst-30228	197	1	compared	compare	VERB
ajst-30228	197	2	to	to	ADP
ajst-30228	197	3	vins	vin	NOUN
ajst-30228	197	4	-	-	PUNCT
ajst-30228	197	5	fusion	fusion	NOUN
ajst-30228	197	6	,	,	PUNCT
ajst-30228	197	7	fb	fb	NOUN
ajst-30228	197	8	-	-	PUNCT
ajst-30228	197	9	vins	vin	NOUN
ajst-30228	197	10	achieves	achieve	VERB
ajst-30228	197	11	higher	high	ADJ
ajst-30228	197	12	-	-	PUNCT
ajst-30228	197	13	quality	quality	NOUN
ajst-30228	197	14	feature	feature	NOUN
ajst-30228	197	15	point	point	NOUN
ajst-30228	197	16	detection	detection	NOUN
ajst-30228	197	17	and	and	CCONJ
ajst-30228	197	18	more	more	ADV
ajst-30228	197	19	accurate	accurate	ADJ
ajst-30228	197	20	trajectory	trajectory	NOUN
ajst-30228	197	21	estimation	estimation	NOUN
ajst-30228	197	22	in	in	ADP
ajst-30228	197	23	challenging	challenging	ADJ
ajst-30228	197	24	environments	environment	NOUN
ajst-30228	197	25	.	.	PUNCT
ajst-30228	198	1	by	by	ADP
ajst-30228	198	2	improving	improve	VERB
ajst-30228	198	3	localization	localization	NOUN
ajst-30228	198	4	accuracy	accuracy	NOUN
ajst-30228	198	5	,	,	PUNCT
ajst-30228	198	6	fb	fb	NOUN
ajst-30228	198	7	-	-	PUNCT
ajst-30228	198	8	vins	vin	NOUN
ajst-30228	198	9	also	also	ADV
ajst-30228	198	10	enhances	enhance	VERB
ajst-30228	198	11	system	system	NOUN
ajst-30228	198	12	robustness	robustness	NOUN
ajst-30228	198	13	and	and	CCONJ
ajst-30228	198	14	adaptability	adaptability	NOUN
ajst-30228	198	15	,	,	PUNCT
ajst-30228	198	16	making	make	VERB
ajst-30228	198	17	it	it	PRON
ajst-30228	198	18	more	more	ADV
ajst-30228	198	19	suitable	suitable	ADJ
ajst-30228	198	20	for	for	ADP
ajst-30228	198	21	indoor	indoor	ADJ
ajst-30228	198	22	uav	uav	PROPN
ajst-30228	198	23	navigation	navigation	NOUN
ajst-30228	198	24	in	in	ADP
ajst-30228	198	25	complex	complex	ADJ
ajst-30228	198	26	and	and	CCONJ
ajst-30228	198	27	gnssdenied	gnssdenied	ADJ
ajst-30228	198	28	environments	environment	NOUN
ajst-30228	198	29	.	.	PUNCT
ajst-30228	199	1	acknowledgment	acknowledgment	NOUN
ajst-30228	199	2	i	i	PRON
ajst-30228	199	3	would	would	AUX
ajst-30228	199	4	first	first	ADV
ajst-30228	199	5	like	like	VERB
ajst-30228	199	6	to	to	PART
ajst-30228	199	7	express	express	VERB
ajst-30228	199	8	my	my	PRON
ajst-30228	199	9	sincere	sincere	ADJ
ajst-30228	199	10	gratitude	gratitude	NOUN
ajst-30228	199	11	to	to	ADP
ajst-30228	199	12	my	my	PRON
ajst-30228	199	13	supervisor	supervisor	NOUN
ajst-30228	199	14	,	,	PUNCT
ajst-30228	199	15	professor	professor	NOUN
ajst-30228	199	16	xi	xi	PROPN
ajst-30228	199	17	zhang	zhang	PROPN
ajst-30228	199	18	,	,	PUNCT
ajst-30228	199	19	jun	jun	PROPN
ajst-30228	199	20	qi	qi	PROPN
ajst-30228	199	21	,	,	PUNCT
ajst-30228	199	22	and	and	CCONJ
ajst-30228	199	23	weidong	weidong	PROPN
ajst-30228	199	24	peng	peng	PROPN
ajst-30228	199	25	,	,	PUNCT
ajst-30228	199	26	for	for	ADP
ajst-30228	199	27	their	their	PRON
ajst-30228	199	28	invaluable	invaluable	ADJ
ajst-30228	199	29	guidance	guidance	NOUN
ajst-30228	199	30	in	in	ADP
ajst-30228	199	31	shaping	shape	VERB
ajst-30228	199	32	the	the	DET
ajst-30228	199	33	research	research	NOUN
ajst-30228	199	34	questions	question	NOUN
ajst-30228	199	35	and	and	CCONJ
ajst-30228	199	36	methodology	methodology	NOUN
ajst-30228	199	37	.	.	PUNCT
ajst-30228	200	1	their	their	PRON
ajst-30228	200	2	insightful	insightful	ADJ
ajst-30228	200	3	feedback	feedback	NOUN
ajst-30228	200	4	continuously	continuously	ADV
ajst-30228	200	5	challenged	challenge	VERB
ajst-30228	200	6	me	i	PRON
ajst-30228	200	7	to	to	PART
ajst-30228	200	8	refine	refine	VERB
ajst-30228	200	9	my	my	PRON
ajst-30228	200	10	ideas	idea	NOUN
ajst-30228	200	11	and	and	CCONJ
ajst-30228	200	12	significantly	significantly	ADV
ajst-30228	200	13	enhanced	enhance	VERB
ajst-30228	200	14	the	the	DET
ajst-30228	200	15	quality	quality	NOUN
ajst-30228	200	16	of	of	ADP
ajst-30228	200	17	this	this	DET
ajst-30228	200	18	work	work	NOUN
ajst-30228	200	19	.	.	PUNCT
ajst-30228	201	1	additionally	additionally	ADV
ajst-30228	201	2	,	,	PUNCT
ajst-30228	201	3	i	i	PRON
ajst-30228	201	4	am	be	AUX
ajst-30228	201	5	deeply	deeply	ADV
ajst-30228	201	6	grateful	grateful	ADJ
ajst-30228	201	7	to	to	ADP
ajst-30228	201	8	my	my	PRON
ajst-30228	201	9	friends	friend	NOUN
ajst-30228	201	10	for	for	ADP
ajst-30228	201	11	their	their	PRON
ajst-30228	201	12	unwavering	unwavering	ADJ
ajst-30228	201	13	support	support	NOUN
ajst-30228	201	14	,	,	PUNCT
ajst-30228	201	15	engaging	engage	VERB
ajst-30228	201	16	discussions	discussion	NOUN
ajst-30228	201	17	,	,	PUNCT
ajst-30228	201	18	and	and	CCONJ
ajst-30228	201	19	the	the	DET
ajst-30228	201	20	muchneeded	muchneede	VERB
ajst-30228	201	21	moments	moment	NOUN
ajst-30228	201	22	of	of	ADP
ajst-30228	201	23	respite	respite	NOUN
ajst-30228	201	24	,	,	PUNCT
ajst-30228	201	25	which	which	PRON
ajst-30228	201	26	provided	provide	VERB
ajst-30228	201	27	balance	balance	NOUN
ajst-30228	201	28	and	and	CCONJ
ajst-30228	201	29	motivation	motivation	NOUN
ajst-30228	201	30	throughout	throughout	ADP
ajst-30228	201	31	this	this	DET
ajst-30228	201	32	research	research	NOUN
ajst-30228	201	33	journey	journey	NOUN
ajst-30228	201	34	.	.	PUNCT
ajst-30228	202	1	finally	finally	ADV
ajst-30228	202	2	,	,	PUNCT
ajst-30228	202	3	|	|	ADV
ajst-30228	202	4	feel	feel	VERB
ajst-30228	202	5	indebted	indebted	ADJ
ajst-30228	202	6	to	to	ADP
ajst-30228	202	7	my	my	PRON
ajst-30228	202	8	parents	parent	NOUN
ajst-30228	202	9	,	,	PUNCT
ajst-30228	202	10	for	for	ADP
ajst-30228	202	11	their	their	PRON
ajst-30228	202	12	understanding	understanding	NOUN
ajst-30228	202	13	and	and	CCONJ
ajst-30228	202	14	love	love	NOUN
ajst-30228	202	15	in	in	ADP
ajst-30228	202	16	life	life	NOUN
ajst-30228	202	17	.	.	PUNCT
ajst-30228	203	1	references	reference	NOUN
ajst-30228	203	2	[	[	X
ajst-30228	203	3	1	1	NUM
ajst-30228	203	4	]	]	PUNCT
ajst-30228	203	5	x.	x.	NOUN
ajst-30228	203	6	y.	y.	PROPN
ajst-30228	203	7	wang	wang	PROPN
ajst-30228	203	8	,	,	PUNCT
ajst-30228	203	9	g.	g.	PROPN
ajst-30228	203	10	z.	z.	PROPN
ajst-30228	203	11	gao	gao	PROPN
ajst-30228	203	12	,	,	PUNCT
ajst-30228	203	13	l.	l.	PROPN
ajst-30228	203	14	l.	l.	PROPN
ajst-30228	203	15	gu	gu	PROPN
ajst-30228	203	16	,	,	PUNCT
ajst-30228	203	17	et	et	PROPN
ajst-30228	203	18	al	al	PROPN
ajst-30228	203	19	.	.	PROPN
ajst-30228	203	20	,	,	PUNCT
ajst-30228	203	21	“	"	PUNCT
ajst-30228	203	22	study	study	NOUN
ajst-30228	203	23	on	on	ADP
ajst-30228	203	24	the	the	DET
ajst-30228	203	25	legal	legal	ADJ
ajst-30228	203	26	system	system	NOUN
ajst-30228	203	27	for	for	ADP
ajst-30228	203	28	promoting	promote	VERB
ajst-30228	203	29	china	china	PROPN
ajst-30228	203	30	’s	’s	PART
ajst-30228	203	31	low	low	ADJ
ajst-30228	203	32	-	-	PUNCT
ajst-30228	203	33	altitude	altitude	NOUN
ajst-30228	203	34	economy	economy	NOUN
ajst-30228	203	35	,	,	PUNCT
ajst-30228	203	36	”	"	PUNCT
ajst-30228	203	37	information	information	NOUN
ajst-30228	203	38	&	&	CCONJ
ajst-30228	203	39	communication	communication	NOUN
ajst-30228	203	40	technology	technology	NOUN
ajst-30228	203	41	and	and	CCONJ
ajst-30228	203	42	policy	policy	NOUN
ajst-30228	203	43	,	,	PUNCT
ajst-30228	203	44	no	no	INTJ
ajst-30228	203	45	.	.	NOUN
ajst-30228	203	46	11	11	NUM
ajst-30228	203	47	,	,	PUNCT
ajst-30228	203	48	pp	pp	ADJ
ajst-30228	203	49	.	.	PUNCT
ajst-30228	203	50	48–53	48–53	NUM
ajst-30228	203	51	,	,	PUNCT
ajst-30228	203	52	2024	2024	NUM
ajst-30228	203	53	.	.	PUNCT
ajst-30228	204	1	[	[	X
ajst-30228	204	2	2	2	X
ajst-30228	204	3	]	]	PUNCT
ajst-30228	204	4	t.	t.	PROPN
ajst-30228	204	5	xia	xia	PROPN
ajst-30228	204	6	and	and	CCONJ
ajst-30228	204	7	j.	j.	PROPN
ajst-30228	204	8	l.	l.	PROPN
ajst-30228	204	9	zhao	zhao	PROPN
ajst-30228	204	10	,	,	PUNCT
ajst-30228	204	11	“	"	PUNCT
ajst-30228	204	12	exploration	exploration	NOUN
ajst-30228	204	13	on	on	ADP
ajst-30228	204	14	the	the	DET
ajst-30228	204	15	application	application	NOUN
ajst-30228	204	16	of	of	ADP
ajst-30228	204	17	uav	uav	PROPN
ajst-30228	204	18	technology	technology	PROPN
ajst-30228	204	19	in	in	ADP
ajst-30228	204	20	military	military	ADJ
ajst-30228	204	21	logistics	logistic	NOUN
ajst-30228	204	22	,	,	PUNCT
ajst-30228	204	23	”	"	PUNCT
ajst-30228	204	24	china	china	PROPN
ajst-30228	204	25	storage	storage	NOUN
ajst-30228	204	26	and	and	CCONJ
ajst-30228	204	27	transportation	transportation	NOUN
ajst-30228	204	28	,	,	PUNCT
ajst-30228	204	29	no	no	INTJ
ajst-30228	204	30	.	.	NOUN
ajst-30228	204	31	9	9	NUM
ajst-30228	204	32	,	,	PUNCT
ajst-30228	204	33	pp	pp	ADJ
ajst-30228	204	34	.	.	PUNCT
ajst-30228	205	1	132–133	132–133	NUM
ajst-30228	205	2	,	,	PUNCT
ajst-30228	205	3	2024	2024	NUM
ajst-30228	205	4	.	.	PUNCT
ajst-30228	206	1	[	[	X
ajst-30228	206	2	3	3	X
ajst-30228	206	3	]	]	PUNCT
ajst-30228	206	4	l.	l.	PROPN
ajst-30228	206	5	yang	yang	PROPN
ajst-30228	206	6	,	,	PUNCT
ajst-30228	206	7	“	"	PUNCT
ajst-30228	206	8	analysis	analysis	NOUN
ajst-30228	206	9	of	of	ADP
ajst-30228	206	10	the	the	DET
ajst-30228	206	11	effectiveness	effectiveness	NOUN
ajst-30228	206	12	of	of	ADP
ajst-30228	206	13	water	water	NOUN
ajst-30228	206	14	conservancy	conservancy	NOUN
ajst-30228	206	15	engineering	engineering	NOUN
ajst-30228	206	16	inspection	inspection	NOUN
ajst-30228	206	17	using	use	VERB
ajst-30228	206	18	uav	uav	PROPN
ajst-30228	206	19	technology	technology	NOUN
ajst-30228	206	20	,	,	PUNCT
ajst-30228	206	21	”	"	PUNCT
ajst-30228	206	22	water	water	NOUN
ajst-30228	206	23	safety	safety	NOUN
ajst-30228	206	24	,	,	PUNCT
ajst-30228	206	25	no	no	INTJ
ajst-30228	206	26	.	.	NOUN
ajst-30228	206	27	21	21	NUM
ajst-30228	206	28	,	,	PUNCT
ajst-30228	206	29	pp	pp	ADJ
ajst-30228	206	30	.	.	PUNCT
ajst-30228	207	1	13–15	13–15	NUM
ajst-30228	207	2	,	,	PUNCT
ajst-30228	207	3	2024	2024	NUM
ajst-30228	207	4	.	.	PUNCT
ajst-30228	208	1	[	[	X
ajst-30228	208	2	4	4	X
ajst-30228	208	3	]	]	PUNCT
ajst-30228	208	4	x.	x.	PROPN
ajst-30228	208	5	w.	w.	PROPN
ajst-30228	208	6	cui	cui	PROPN
ajst-30228	208	7	,	,	PUNCT
ajst-30228	208	8	“	"	PUNCT
ajst-30228	208	9	application	application	NOUN
ajst-30228	208	10	of	of	ADP
ajst-30228	208	11	uav	uav	PROPN
ajst-30228	208	12	technology	technology	PROPN
ajst-30228	208	13	in	in	ADP
ajst-30228	208	14	geological	geological	ADJ
ajst-30228	208	15	disaster	disaster	NOUN
ajst-30228	208	16	monitoring	monitoring	NOUN
ajst-30228	208	17	,	,	PUNCT
ajst-30228	208	18	”	"	PUNCT
ajst-30228	208	19	anhui	anhui	PROPN
ajst-30228	208	20	geology	geology	PROPN
ajst-30228	208	21	,	,	PUNCT
ajst-30228	208	22	no	no	INTJ
ajst-30228	208	23	.	.	NOUN
ajst-30228	208	24	2	2	NUM
ajst-30228	208	25	,	,	PUNCT
ajst-30228	208	26	pp	pp	ADJ
ajst-30228	208	27	.	.	PUNCT
ajst-30228	209	1	153–156	153–156	NUM
ajst-30228	209	2	,	,	PUNCT
ajst-30228	209	3	2024	2024	NUM
ajst-30228	209	4	.	.	PUNCT
ajst-30228	210	1	[	[	X
ajst-30228	210	2	5	5	X
ajst-30228	210	3	]	]	PUNCT
ajst-30228	210	4	z.	z.	PROPN
ajst-30228	210	5	h.	h.	PROPN
ajst-30228	210	6	wang	wang	PROPN
ajst-30228	210	7	,	,	PUNCT
ajst-30228	210	8	“	"	PUNCT
ajst-30228	210	9	indoor	indoor	ADJ
ajst-30228	210	10	positioning	positioning	NOUN
ajst-30228	210	11	and	and	CCONJ
ajst-30228	210	12	flight	flight	NOUN
ajst-30228	210	13	control	control	NOUN
ajst-30228	210	14	of	of	ADP
ajst-30228	210	15	quadrotor	quadrotor	PROPN
ajst-30228	210	16	uav	uav	PROPN
ajst-30228	210	17	based	base	VERB
ajst-30228	210	18	on	on	ADP
ajst-30228	210	19	uwb	uwb	PROPN
ajst-30228	210	20	,	,	PUNCT
ajst-30228	210	21	”	"	PUNCT
ajst-30228	210	22	m.s	m.s	PROPN
ajst-30228	210	23	.	.	PROPN
ajst-30228	210	24	thesis	thesis	PROPN
ajst-30228	210	25	,	,	PUNCT
ajst-30228	210	26	heilongjiang	heilongjiang	PROPN
ajst-30228	210	27	univ	univ	PROPN
ajst-30228	210	28	.	.	PROPN
ajst-30228	210	29	,	,	PUNCT
ajst-30228	210	30	harbin	harbin	PROPN
ajst-30228	210	31	,	,	PUNCT
ajst-30228	210	32	china	china	PROPN
ajst-30228	210	33	,	,	PUNCT
ajst-30228	210	34	2024	2024	NUM
ajst-30228	210	35	.	.	PUNCT
ajst-30228	211	1	[	[	X
ajst-30228	211	2	6	6	NUM
ajst-30228	211	3	]	]	PUNCT
ajst-30228	211	4	m.	m.	NOUN
ajst-30228	211	5	zhao	zhao	PROPN
ajst-30228	211	6	,	,	PUNCT
ajst-30228	211	7	“	"	PUNCT
ajst-30228	211	8	study	study	NOUN
ajst-30228	211	9	on	on	ADP
ajst-30228	211	10	uav	uav	PROPN
ajst-30228	211	11	autonomous	autonomous	ADJ
ajst-30228	211	12	positioning	positioning	NOUN
ajst-30228	211	13	method	method	NOUN
ajst-30228	211	14	based	base	VERB
ajst-30228	211	15	on	on	ADP
ajst-30228	211	16	3d	3d	PROPN
ajst-30228	211	17	lidar	lidar	NOUN
ajst-30228	211	18	,	,	PUNCT
ajst-30228	211	19	”	"	PUNCT
ajst-30228	211	20	m.s	m.s	PROPN
ajst-30228	211	21	.	.	PROPN
ajst-30228	211	22	thesis	thesis	PROPN
ajst-30228	211	23	,	,	PUNCT
ajst-30228	211	24	north	north	PROPN
ajst-30228	211	25	china	china	PROPN
ajst-30228	211	26	electric	electric	PROPN
ajst-30228	211	27	power	power	PROPN
ajst-30228	211	28	univ	univ	PROPN
ajst-30228	211	29	.	.	PROPN
ajst-30228	211	30	,	,	PUNCT
ajst-30228	211	31	beijing	beijing	PROPN
ajst-30228	211	32	,	,	PUNCT
ajst-30228	211	33	china	china	PROPN
ajst-30228	211	34	,	,	PUNCT
ajst-30228	211	35	2020	2020	NUM
ajst-30228	211	36	.	.	PUNCT
ajst-30228	212	1	[	[	X
ajst-30228	212	2	7	7	X
ajst-30228	212	3	]	]	PUNCT
ajst-30228	212	4	f.	f.	PROPN
ajst-30228	212	5	y.	y.	PROPN
ajst-30228	212	6	li	li	PROPN
ajst-30228	212	7	,	,	PUNCT
ajst-30228	212	8	“	"	PUNCT
ajst-30228	212	9	design	design	NOUN
ajst-30228	212	10	and	and	CCONJ
ajst-30228	212	11	implementation	implementation	NOUN
ajst-30228	212	12	of	of	ADP
ajst-30228	212	13	uav	uav	PROPN
ajst-30228	212	14	indoor	indoor	ADJ
ajst-30228	212	15	positioning	positioning	NOUN
ajst-30228	212	16	system	system	NOUN
ajst-30228	212	17	based	base	VERB
ajst-30228	212	18	on	on	ADP
ajst-30228	212	19	uwb	uwb	PROPN
ajst-30228	212	20	technology	technology	NOUN
ajst-30228	212	21	,	,	PUNCT
ajst-30228	212	22	”	"	PUNCT
ajst-30228	212	23	m.s	m.s	PROPN
ajst-30228	212	24	.	.	PROPN
ajst-30228	212	25	thesis	thesis	PROPN
ajst-30228	212	26	,	,	PUNCT
ajst-30228	212	27	nanchang	nanchang	PROPN
ajst-30228	212	28	univ	univ	PROPN
ajst-30228	212	29	.	.	PROPN
ajst-30228	212	30	,	,	PUNCT
ajst-30228	212	31	nanchang	nanchang	PROPN
ajst-30228	212	32	,	,	PUNCT
ajst-30228	212	33	china	china	PROPN
ajst-30228	212	34	,	,	PUNCT
ajst-30228	212	35	2022	2022	NUM
ajst-30228	212	36	.	.	PUNCT
ajst-30228	213	1	[	[	X
ajst-30228	213	2	8	8	X
ajst-30228	213	3	]	]	PUNCT
ajst-30228	213	4	j.	j.	PROPN
ajst-30228	213	5	f.	f.	PROPN
ajst-30228	213	6	he	he	PRON
ajst-30228	213	7	,	,	PUNCT
ajst-30228	213	8	t.	t.	PROPN
ajst-30228	213	9	xi	xi	PROPN
ajst-30228	213	10	,	,	PUNCT
ajst-30228	213	11	and	and	CCONJ
ajst-30228	213	12	l.	l.	PROPN
ajst-30228	213	13	zhang	zhang	PROPN
ajst-30228	213	14	,	,	PUNCT
ajst-30228	213	15	“	"	PUNCT
ajst-30228	213	16	design	design	NOUN
ajst-30228	213	17	of	of	ADP
ajst-30228	213	18	a	a	DET
ajst-30228	213	19	rotor	rotor	NOUN
ajst-30228	213	20	uav	uav	PROPN
ajst-30228	213	21	positioning	positioning	NOUN
ajst-30228	213	22	system	system	NOUN
ajst-30228	213	23	based	base	VERB
ajst-30228	213	24	on	on	ADP
ajst-30228	213	25	monocular	monocular	ADJ
ajst-30228	213	26	vision	vision	NOUN
ajst-30228	213	27	,	,	PUNCT
ajst-30228	213	28	”	"	PUNCT
ajst-30228	213	29	wireless	wireless	ADJ
ajst-30228	213	30	internet	internet	NOUN
ajst-30228	213	31	technol	technol	NOUN
ajst-30228	213	32	.	.	PUNCT
ajst-30228	214	1	no	no	INTJ
ajst-30228	214	2	.	.	NOUN
ajst-30228	214	3	21	21	NUM
ajst-30228	214	4	,	,	PUNCT
ajst-30228	214	5	pp	pp	ADJ
ajst-30228	214	6	.	.	PUNCT
ajst-30228	215	1	79–81	79–81	NUM
ajst-30228	215	2	,	,	PUNCT
ajst-30228	215	3	2022	2022	NUM
ajst-30228	215	4	.	.	PUNCT
ajst-30228	216	1	[	[	X
ajst-30228	216	2	9	9	NUM
ajst-30228	216	3	]	]	PUNCT
ajst-30228	216	4	b.	b.	PROPN
ajst-30228	216	5	chen	chen	PROPN
ajst-30228	216	6	and	and	CCONJ
ajst-30228	216	7	q.	q.	PROPN
ajst-30228	216	8	li	li	PROPN
ajst-30228	216	9	,	,	PUNCT
ajst-30228	216	10	“	"	PUNCT
ajst-30228	216	11	application	application	NOUN
ajst-30228	216	12	of	of	ADP
ajst-30228	216	13	multi	multi	ADJ
ajst-30228	216	14	-	-	ADJ
ajst-30228	216	15	sensor	sensor	ADJ
ajst-30228	216	16	fusion	fusion	NOUN
ajst-30228	216	17	in	in	ADP
ajst-30228	216	18	uav	uav	PROPN
ajst-30228	216	19	indoor	indoor	PROPN
ajst-30228	216	20	3d	3d	PROPN
ajst-30228	216	21	positioning	positioning	NOUN
ajst-30228	216	22	,	,	PUNCT
ajst-30228	216	23	”	"	PUNCT
ajst-30228	216	24	sensor	sensor	NOUN
ajst-30228	216	25	world	world	NOUN
ajst-30228	216	26	,	,	PUNCT
ajst-30228	216	27	no	no	INTJ
ajst-30228	216	28	.	.	NOUN
ajst-30228	216	29	3	3	NUM
ajst-30228	216	30	,	,	PUNCT
ajst-30228	216	31	pp	pp	ADJ
ajst-30228	216	32	.	.	PUNCT
ajst-30228	216	33	27–36	27–36	NUM
ajst-30228	216	34	,	,	PUNCT
ajst-30228	216	35	2022	2022	NUM
ajst-30228	216	36	.	.	PUNCT
ajst-30228	217	1	[	[	X
ajst-30228	217	2	10	10	NUM
ajst-30228	217	3	]	]	PUNCT
ajst-30228	217	4	l.	l.	PROPN
ajst-30228	217	5	y.	y.	PROPN
ajst-30228	217	6	wang	wang	PROPN
ajst-30228	217	7	,	,	PUNCT
ajst-30228	217	8	g.	g.	PROPN
ajst-30228	217	9	t.	t.	PROPN
ajst-30228	217	10	yang	yang	PROPN
ajst-30228	217	11	,	,	PUNCT
ajst-30228	217	12	b.	b.	PROPN
ajst-30228	217	13	y.	y.	PROPN
ajst-30228	217	14	li	li	PROPN
ajst-30228	217	15	,	,	PUNCT
ajst-30228	217	16	et	et	PROPN
ajst-30228	217	17	al	al	PROPN
ajst-30228	217	18	.	.	PROPN
ajst-30228	217	19	,	,	PUNCT
ajst-30228	217	20	“	"	PUNCT
ajst-30228	217	21	uav	uav	PROPN
ajst-30228	217	22	indoor	indoor	ADJ
ajst-30228	217	23	positioning	positioning	NOUN
ajst-30228	217	24	and	and	CCONJ
ajst-30228	217	25	autonomous	autonomous	ADJ
ajst-30228	217	26	navigation	navigation	NOUN
ajst-30228	217	27	method	method	NOUN
ajst-30228	217	28	based	base	VERB
ajst-30228	217	29	on	on	ADP
ajst-30228	217	30	improved	improved	ADJ
ajst-30228	217	31	vins	vin	NOUN
ajst-30228	217	32	,	,	PUNCT
ajst-30228	217	33	”	"	PUNCT
ajst-30228	217	34	control	control	NOUN
ajst-30228	217	35	eng	eng	PROPN
ajst-30228	217	36	.	.	PROPN
ajst-30228	217	37	,	,	PUNCT
ajst-30228	217	38	to	to	PART
ajst-30228	217	39	be	be	AUX
ajst-30228	217	40	published	publish	VERB
ajst-30228	217	41	.	.	PUNCT
ajst-30228	218	1	[	[	X
ajst-30228	218	2	11	11	NUM
ajst-30228	218	3	]	]	X
ajst-30228	218	4	y.	y.	PROPN
ajst-30228	218	5	f.	f.	PROPN
ajst-30228	218	6	cai	cai	PROPN
ajst-30228	218	7	,	,	PUNCT
ajst-30228	218	8	z.	z.	PROPN
ajst-30228	218	9	h.	h.	PROPN
ajst-30228	218	10	lu	lu	PROPN
ajst-30228	218	11	,	,	PUNCT
ajst-30228	218	12	y.	y.	PROPN
ajst-30228	218	13	c.	c.	PROPN
ajst-30228	218	14	li	li	PROPN
ajst-30228	218	15	,	,	PUNCT
ajst-30228	218	16	et	et	PROPN
ajst-30228	218	17	al	al	PROPN
ajst-30228	218	18	.	.	PROPN
ajst-30228	218	19	,	,	PUNCT
ajst-30228	218	20	“	"	PUNCT
ajst-30228	218	21	a	a	DET
ajst-30228	218	22	tightly	tightly	ADV
ajst-30228	218	23	coupled	couple	VERB
ajst-30228	218	24	slam	slam	NOUN
ajst-30228	218	25	system	system	NOUN
ajst-30228	218	26	based	base	VERB
ajst-30228	218	27	on	on	ADP
ajst-30228	218	28	multi	multi	ADJ
ajst-30228	218	29	-	-	ADJ
ajst-30228	218	30	sensor	sensor	ADJ
ajst-30228	218	31	fusion	fusion	NOUN
ajst-30228	218	32	,	,	PUNCT
ajst-30228	218	33	”	"	PUNCT
ajst-30228	218	34	automot	automot	NOUN
ajst-30228	218	35	.	.	PUNCT
ajst-30228	219	1	eng	eng	PROPN
ajst-30228	219	2	.	.	PROPN
ajst-30228	219	3	,	,	PUNCT
ajst-30228	219	4	no	no	INTJ
ajst-30228	219	5	.	.	NOUN
ajst-30228	219	6	3	3	NUM
ajst-30228	219	7	,	,	PUNCT
ajst-30228	219	8	pp	pp	ADJ
ajst-30228	219	9	.	.	PUNCT
ajst-30228	220	1	350–361	350–361	NUM
ajst-30228	220	2	,	,	PUNCT
ajst-30228	220	3	2022	2022	NUM
ajst-30228	220	4	.	.	PUNCT
ajst-30228	221	1	[	[	X
ajst-30228	221	2	12	12	NUM
ajst-30228	221	3	]	]	PUNCT
ajst-30228	221	4	j.	j.	PROPN
ajst-30228	221	5	c.	c.	PROPN
ajst-30228	221	6	li	li	PROPN
ajst-30228	221	7	,	,	PUNCT
ajst-30228	221	8	z.	z.	PROPN
ajst-30228	221	9	c.	c.	PROPN
ajst-30228	221	10	zhang	zhang	PROPN
ajst-30228	221	11	,	,	PUNCT
ajst-30228	221	12	b.	b.	PROPN
ajst-30228	221	13	y.	y.	PROPN
ajst-30228	221	14	ding	ding	PROPN
ajst-30228	221	15	,	,	PUNCT
ajst-30228	221	16	et	et	PROPN
ajst-30228	221	17	al	al	PROPN
ajst-30228	221	18	.	.	PROPN
ajst-30228	221	19	,	,	PUNCT
ajst-30228	221	20	“	"	PUNCT
ajst-30228	221	21	research	research	NOUN
ajst-30228	221	22	on	on	ADP
ajst-30228	221	23	visualinertial	visualinertial	ADJ
ajst-30228	221	24	slam	slam	NOUN
ajst-30228	221	25	based	base	VERB
ajst-30228	221	26	on	on	ADP
ajst-30228	221	27	small	small	ADJ
ajst-30228	221	28	sliding	sliding	ADJ
ajst-30228	221	29	window	window	NOUN
ajst-30228	221	30	optimization	optimization	NOUN
ajst-30228	221	31	,	,	PUNCT
ajst-30228	221	32	”	"	PUNCT
ajst-30228	221	33	electronic	electronic	ADJ
ajst-30228	221	34	production	production	NOUN
ajst-30228	221	35	,	,	PUNCT
ajst-30228	221	36	no	no	INTJ
ajst-30228	221	37	.	.	NOUN
ajst-30228	221	38	22	22	NUM
ajst-30228	221	39	,	,	PUNCT
ajst-30228	221	40	pp	pp	ADJ
ajst-30228	221	41	.	.	PUNCT
ajst-30228	222	1	96–99	96–99	NUM
ajst-30228	222	2	,	,	PUNCT
ajst-30228	222	3	2022	2022	NUM
ajst-30228	222	4	.	.	PUNCT
ajst-30228	223	1	[	[	X
ajst-30228	223	2	13	13	NUM
ajst-30228	223	3	]	]	PUNCT
ajst-30228	223	4	x.	x.	NOUN
ajst-30228	223	5	wang	wang	PROPN
ajst-30228	223	6	,	,	PUNCT
ajst-30228	223	7	z.	z.	PROPN
ajst-30228	223	8	liu	liu	PROPN
ajst-30228	223	9	,	,	PUNCT
ajst-30228	223	10	y.	y.	PROPN
ajst-30228	223	11	hu	hu	PROPN
ajst-30228	223	12	,	,	PUNCT
ajst-30228	223	13	et	et	PROPN
ajst-30228	223	14	al	al	PROPN
ajst-30228	223	15	.	.	PROPN
ajst-30228	223	16	,	,	PUNCT
ajst-30228	223	17	“	"	PUNCT
ajst-30228	223	18	featurebooster	featurebooster	NOUN
ajst-30228	223	19	:	:	PUNCT
ajst-30228	223	20	boosting	boost	VERB
ajst-30228	223	21	feature	feature	NOUN
ajst-30228	223	22	descriptors	descriptor	NOUN
ajst-30228	223	23	with	with	ADP
ajst-30228	223	24	a	a	DET
ajst-30228	223	25	lightweight	lightweight	ADJ
ajst-30228	223	26	neural	neural	ADJ
ajst-30228	223	27	network	network	NOUN
ajst-30228	223	28	,	,	PUNCT
ajst-30228	223	29	”	"	PUNCT
ajst-30228	223	30	in	in	ADP
ajst-30228	223	31	proc	proc	NOUN
ajst-30228	223	32	.	.	PUNCT
ajst-30228	224	1	ieee	ieee	NOUN
ajst-30228	224	2	/	/	SYM
ajst-30228	224	3	cvf	cvf	NOUN
ajst-30228	224	4	conf	conf	NOUN
ajst-30228	224	5	.	.	PUNCT
ajst-30228	225	1	computer	computer	NOUN
ajst-30228	225	2	vision	vision	NOUN
ajst-30228	225	3	and	and	CCONJ
ajst-30228	225	4	pattern	pattern	NOUN
ajst-30228	225	5	recognition	recognition	NOUN
ajst-30228	225	6	,	,	PUNCT
ajst-30228	225	7	new	new	PROPN
ajst-30228	225	8	york	york	PROPN
ajst-30228	225	9	,	,	PUNCT
ajst-30228	225	10	ny	ny	PROPN
ajst-30228	225	11	,	,	PUNCT
ajst-30228	225	12	usa	usa	PROPN
ajst-30228	225	13	,	,	PUNCT
ajst-30228	225	14	2023	2023	NUM
ajst-30228	225	15	,	,	PUNCT
ajst-30228	225	16	pp	pp	ADJ
ajst-30228	225	17	.	.	PUNCT
ajst-30228	226	1	7630–7639	7630–7639	NUM
ajst-30228	226	2	.	.	PUNCT
ajst-30228	227	1	[	[	X
ajst-30228	227	2	14	14	NUM
ajst-30228	227	3	]	]	X
ajst-30228	227	4	w.	w.	PROPN
ajst-30228	227	5	w.	w.	PROPN
ajst-30228	227	6	zhang	zhang	PROPN
ajst-30228	227	7	,	,	PUNCT
ajst-30228	227	8	j.	j.	PROPN
ajst-30228	227	9	l.	l.	PROPN
ajst-30228	227	10	zhao	zhao	PROPN
ajst-30228	227	11	,	,	PUNCT
ajst-30228	227	12	j.	j.	PROPN
ajst-30228	227	13	he	he	PROPN
ajst-30228	227	14	,	,	PUNCT
ajst-30228	227	15	et	et	PROPN
ajst-30228	227	16	al	al	PROPN
ajst-30228	227	17	.	.	PROPN
ajst-30228	227	18	,	,	PUNCT
ajst-30228	227	19	“	"	PUNCT
ajst-30228	227	20	a	a	DET
ajst-30228	227	21	step	step	NOUN
ajst-30228	227	22	array	array	NOUN
ajst-30228	227	23	-	-	PUNCT
ajst-30228	227	24	based	base	VERB
ajst-30228	227	25	brief	brief	ADJ
ajst-30228	227	26	feature	feature	NOUN
ajst-30228	227	27	descriptor	descriptor	NOUN
ajst-30228	227	28	,	,	PUNCT
ajst-30228	227	29	”	"	PUNCT
ajst-30228	227	30	computer	computer	NOUN
ajst-30228	227	31	technol	technol	NOUN
ajst-30228	227	32	.	.	PUNCT
ajst-30228	228	1	dev	dev	PROPN
ajst-30228	228	2	.	.	PROPN
ajst-30228	228	3	,	,	PUNCT
ajst-30228	229	1	no	no	INTJ
ajst-30228	229	2	.	.	NOUN
ajst-30228	229	3	5	5	NUM
ajst-30228	229	4	,	,	PUNCT
ajst-30228	229	5	pp	pp	ADJ
ajst-30228	229	6	.	.	PUNCT
ajst-30228	230	1	81–87	81–87	NUM
ajst-30228	230	2	,	,	PUNCT
ajst-30228	230	3	2023	2023	NUM
ajst-30228	230	4	.	.	PUNCT
ajst-30228	231	1	[	[	X
ajst-30228	231	2	15	15	NUM
ajst-30228	231	3	]	]	PUNCT
ajst-30228	231	4	s.	s.	PROPN
ajst-30228	231	5	q.	q.	PROPN
ajst-30228	231	6	tan	tan	PROPN
ajst-30228	231	7	and	and	CCONJ
ajst-30228	231	8	p.	p.	PROPN
ajst-30228	231	9	j.	j.	PROPN
ajst-30228	231	10	shuai	shuai	PROPN
ajst-30228	231	11	,	,	PUNCT
ajst-30228	231	12	“	"	PUNCT
ajst-30228	231	13	research	research	NOUN
ajst-30228	231	14	on	on	ADP
ajst-30228	231	15	orb	orb	NOUN
ajst-30228	231	16	feature	feature	NOUN
ajst-30228	231	17	point	point	NOUN
ajst-30228	231	18	extraction	extraction	NOUN
ajst-30228	231	19	algorithm	algorithm	NOUN
ajst-30228	231	20	based	base	VERB
ajst-30228	231	21	on	on	ADP
ajst-30228	231	22	adaptive	adaptive	ADJ
ajst-30228	231	23	threshold	threshold	NOUN
ajst-30228	231	24	,	,	PUNCT
ajst-30228	231	25	”	"	PUNCT
ajst-30228	231	26	mod	mod	PROPN
ajst-30228	231	27	.	.	PUNCT
ajst-30228	231	28	comput	comput	PROPN
ajst-30228	231	29	.	.	PUNCT
ajst-30228	231	30	,	,	PUNCT
ajst-30228	231	31	no	no	INTJ
ajst-30228	231	32	.	.	NOUN
ajst-30228	231	33	4	4	NUM
ajst-30228	231	34	,	,	PUNCT
ajst-30228	231	35	pp	pp	ADJ
ajst-30228	231	36	.	.	PUNCT
ajst-30228	231	37	43–47	43–47	NUM
ajst-30228	231	38	,	,	PUNCT
ajst-30228	231	39	2024	2024	NUM
ajst-30228	231	40	.	.	PUNCT
ajst-30228	232	1	[	[	X
ajst-30228	232	2	16	16	NUM
ajst-30228	232	3	]	]	PUNCT
ajst-30228	232	4	x.	x.	PROPN
ajst-30228	232	5	j.	j.	PROPN
ajst-30228	232	6	ning	ning	PROPN
ajst-30228	232	7	,	,	PUNCT
ajst-30228	232	8	j.	j.	PROPN
ajst-30228	232	9	r.	r.	PROPN
ajst-30228	232	10	li	li	PROPN
ajst-30228	232	11	,	,	PUNCT
ajst-30228	232	12	f.	f.	PROPN
ajst-30228	232	13	gao	gao	PROPN
ajst-30228	232	14	,	,	PUNCT
ajst-30228	232	15	et	et	PROPN
ajst-30228	232	16	al	al	PROPN
ajst-30228	232	17	.	.	PROPN
ajst-30228	232	18	,	,	PUNCT
ajst-30228	232	19	“	"	PUNCT
ajst-30228	232	20	feature	feature	NOUN
ajst-30228	232	21	matching	matching	NOUN
ajst-30228	232	22	algorithm	algorithm	NOUN
ajst-30228	232	23	based	base	VERB
ajst-30228	232	24	on	on	ADP
ajst-30228	232	25	optimal	optimal	ADJ
ajst-30228	232	26	geometric	geometric	ADJ
ajst-30228	232	27	constraints	constraint	NOUN
ajst-30228	232	28	and	and	CCONJ
ajst-30228	232	29	ransac	ransac	NOUN
ajst-30228	232	30	,	,	PUNCT
ajst-30228	232	31	”	"	PUNCT
ajst-30228	232	32	j.	j.	PROPN
ajst-30228	232	33	syst	syst	PROPN
ajst-30228	232	34	.	.	PUNCT
ajst-30228	233	1	simul	simul	PROPN
ajst-30228	233	2	.	.	PROPN
ajst-30228	233	3	,	,	PUNCT
ajst-30228	233	4	no	no	INTJ
ajst-30228	233	5	.	.	NOUN
ajst-30228	233	6	4	4	NUM
ajst-30228	233	7	,	,	PUNCT
ajst-30228	233	8	pp	pp	ADJ
ajst-30228	233	9	.	.	PUNCT
ajst-30228	234	1	727–734	727–734	NUM
ajst-30228	234	2	,	,	PUNCT
ajst-30228	234	3	2022	2022	NUM
ajst-30228	234	4	.	.	PUNCT
ajst-30228	235	1	[	[	X
ajst-30228	235	2	17	17	NUM
ajst-30228	235	3	]	]	PUNCT
ajst-30228	235	4	j.	j.	PROPN
ajst-30228	235	5	h.	h.	PROPN
ajst-30228	235	6	lu	lu	PROPN
ajst-30228	235	7	,	,	PUNCT
ajst-30228	235	8	“	"	PUNCT
ajst-30228	235	9	research	research	NOUN
ajst-30228	235	10	on	on	ADP
ajst-30228	235	11	multi	multi	ADJ
ajst-30228	235	12	-	-	ADJ
ajst-30228	235	13	sensor	sensor	ADJ
ajst-30228	235	14	fusion	fusion	NOUN
ajst-30228	235	15	slam	slam	NOUN
ajst-30228	235	16	based	base	VERB
ajst-30228	235	17	on	on	ADP
ajst-30228	235	18	tight	tight	ADJ
ajst-30228	235	19	coupling	coupling	NOUN
ajst-30228	235	20	and	and	CCONJ
ajst-30228	235	21	graph	graph	NOUN
ajst-30228	235	22	optimization	optimization	NOUN
ajst-30228	235	23	,	,	PUNCT
ajst-30228	235	24	”	"	PUNCT
ajst-30228	235	25	m.s	m.s	PROPN
ajst-30228	235	26	.	.	PROPN
ajst-30228	235	27	thesis	thesis	PROPN
ajst-30228	235	28	,	,	PUNCT
ajst-30228	235	29	chongqing	chongqing	PROPN
ajst-30228	235	30	technol	technol	NOUN
ajst-30228	235	31	.	.	PUNCT
ajst-30228	236	1	and	and	CCONJ
ajst-30228	236	2	business	business	PROPN
ajst-30228	236	3	univ	univ	PROPN
ajst-30228	236	4	.	.	PROPN
ajst-30228	236	5	,	,	PUNCT
ajst-30228	236	6	chongqing	chongqing	PROPN
ajst-30228	236	7	,	,	PUNCT
ajst-30228	236	8	china	china	PROPN
ajst-30228	236	9	,	,	PUNCT
ajst-30228	236	10	2023	2023	NUM
ajst-30228	236	11	.	.	PUNCT
ajst-30228	237	1	[	[	X
ajst-30228	237	2	18	18	NUM
ajst-30228	237	3	]	]	X
ajst-30228	237	4	w.	w.	PROPN
ajst-30228	237	5	s.	s.	PROPN
ajst-30228	237	6	chen	chen	PROPN
ajst-30228	237	7	,	,	PUNCT
ajst-30228	237	8	y.	y.	PROPN
ajst-30228	237	9	f.	f.	PROPN
ajst-30228	237	10	huang	huang	PROPN
ajst-30228	237	11	,	,	PUNCT
ajst-30228	237	12	and	and	CCONJ
ajst-30228	237	13	x.	x.	PROPN
ajst-30228	237	14	f.	f.	PROPN
ajst-30228	237	15	lu	lu	PROPN
ajst-30228	237	16	,	,	PUNCT
ajst-30228	237	17	“	"	PUNCT
ajst-30228	237	18	review	review	NOUN
ajst-30228	237	19	of	of	ADP
ajst-30228	237	20	uav	uav	PROPN
ajst-30228	237	21	detection	detection	PROPN
ajst-30228	237	22	technology	technology	NOUN
ajst-30228	237	23	based	base	VERB
ajst-30228	237	24	on	on	ADP
ajst-30228	237	25	multi	multi	ADJ
ajst-30228	237	26	-	-	ADJ
ajst-30228	237	27	sensor	sensor	ADJ
ajst-30228	237	28	fusion	fusion	NOUN
ajst-30228	237	29	,	,	PUNCT
ajst-30228	237	30	”	"	PUNCT
ajst-30228	237	31	mod	mod	PROPN
ajst-30228	237	32	.	.	PUNCT
ajst-30228	237	33	radar	radar	PROPN
ajst-30228	237	34	,	,	PUNCT
ajst-30228	237	35	no	no	INTJ
ajst-30228	237	36	.	.	NOUN
ajst-30228	237	37	6	6	NUM
ajst-30228	237	38	,	,	PUNCT
ajst-30228	237	39	pp	pp	ADJ
ajst-30228	237	40	.	.	PUNCT
ajst-30228	238	1	15–29	15–29	NUM
ajst-30228	238	2	,	,	PUNCT
ajst-30228	238	3	2020	2020	NUM
ajst-30228	238	4	.	.	PUNCT
ajst-30228	239	1	[	[	X
ajst-30228	239	2	19	19	NUM
ajst-30228	239	3	]	]	PUNCT
ajst-30228	239	4	j.	j.	PROPN
ajst-30228	239	5	w.	w.	PROPN
ajst-30228	239	6	jiang	jiang	PROPN
ajst-30228	239	7	,	,	PUNCT
ajst-30228	240	1	y.	y.	PROPN
ajst-30228	240	2	h.	h.	PROPN
ajst-30228	240	3	ji	ji	PROPN
ajst-30228	240	4	,	,	PUNCT
ajst-30228	240	5	j.	j.	PROPN
ajst-30228	240	6	j.	j.	PROPN
ajst-30228	240	7	liu	liu	PROPN
ajst-30228	240	8	,	,	PUNCT
ajst-30228	240	9	et	et	PROPN
ajst-30228	240	10	al	al	PROPN
ajst-30228	240	11	.	.	PROPN
ajst-30228	240	12	,	,	PUNCT
ajst-30228	240	13	“	"	PUNCT
ajst-30228	240	14	a	a	DET
ajst-30228	240	15	fast	fast	ADJ
ajst-30228	240	16	loop	loop	NOUN
ajst-30228	240	17	detection	detection	NOUN
ajst-30228	240	18	algorithm	algorithm	NOUN
ajst-30228	240	19	in	in	ADP
ajst-30228	240	20	visual	visual	ADJ
ajst-30228	240	21	slam	slam	NOUN
ajst-30228	240	22	based	base	VERB
ajst-30228	240	23	on	on	ADP
ajst-30228	240	24	lightweight	lightweight	PROPN
ajst-30228	240	25	cnn	cnn	PROPN
ajst-30228	240	26	,	,	PUNCT
ajst-30228	240	27	”	"	PUNCT
ajst-30228	240	28	comput	comput	NOUN
ajst-30228	240	29	.	.	PUNCT
ajst-30228	241	1	simul	simul	PROPN
ajst-30228	241	2	.	.	PROPN
ajst-30228	241	3	,	,	PUNCT
ajst-30228	241	4	no	no	INTJ
ajst-30228	241	5	.	.	NOUN
ajst-30228	241	6	8	8	NUM
ajst-30228	241	7	,	,	PUNCT
ajst-30228	241	8	pp	pp	ADJ
ajst-30228	241	9	.	.	PUNCT
ajst-30228	242	1	182–188	182–188	NUM
ajst-30228	242	2	,	,	PUNCT
ajst-30228	242	3	2024	2024	NUM
ajst-30228	242	4	.	.	PUNCT
ajst-30228	243	1	[	[	X
ajst-30228	243	2	20	20	NUM
ajst-30228	243	3	]	]	PUNCT
ajst-30228	243	4	z.	z.	PROPN
ajst-30228	243	5	g.	g.	PROPN
ajst-30228	243	6	shang	shang	PROPN
ajst-30228	243	7	,	,	PUNCT
ajst-30228	243	8	“	"	PUNCT
ajst-30228	243	9	research	research	NOUN
ajst-30228	243	10	on	on	ADP
ajst-30228	243	11	visual	visual	ADJ
ajst-30228	243	12	slam	slam	NOUN
ajst-30228	243	13	algorithm	algorithm	NOUN
ajst-30228	243	14	based	base	VERB
ajst-30228	243	15	on	on	ADP
ajst-30228	243	16	particle	particle	NOUN
ajst-30228	243	17	swarm	swarm	NOUN
ajst-30228	243	18	optimization	optimization	NOUN
ajst-30228	243	19	and	and	CCONJ
ajst-30228	243	20	deep	deep	ADJ
ajst-30228	243	21	learning	learning	NOUN
ajst-30228	243	22	,	,	PUNCT
ajst-30228	244	1	”	"	PUNCT
ajst-30228	244	2	m.s	m.s	PROPN
ajst-30228	244	3	.	.	PROPN
ajst-30228	244	4	thesis	thesis	PROPN
ajst-30228	244	5	,	,	PUNCT
ajst-30228	244	6	univ	univ	PROPN
ajst-30228	244	7	.	.	PROPN
ajst-30228	244	8	of	of	ADP
ajst-30228	244	9	electronic	electronic	ADJ
ajst-30228	244	10	sci	sci	PROPN
ajst-30228	244	11	.	.	PROPN
ajst-30228	244	12	and	and	CCONJ
ajst-30228	244	13	technol	technol	NOUN
ajst-30228	244	14	.	.	PROPN
ajst-30228	244	15	of	of	ADP
ajst-30228	244	16	china	china	PROPN
ajst-30228	244	17	,	,	PUNCT
ajst-30228	244	18	chengdu	chengdu	PROPN
ajst-30228	244	19	,	,	PUNCT
ajst-30228	244	20	china	china	PROPN
ajst-30228	244	21	,	,	PUNCT
ajst-30228	244	22	2024	2024	NUM
ajst-30228	244	23	.	.	PUNCT