id sid tid token lemma pos ajst-30553 1 1 academic academic ADJ ajst-30553 1 2 journal journal NOUN ajst-30553 1 3 of of ADP ajst-30553 1 4 science science NOUN ajst-30553 1 5 and and CCONJ ajst-30553 1 6 technology technology NOUN ajst-30553 1 7 issn issn NOUN ajst-30553 1 8 : : PUNCT ajst-30553 1 9 2771 2771 NUM ajst-30553 1 10 - - SYM ajst-30553 1 11 3032 3032 NUM ajst-30553 1 12 | | NOUN ajst-30553 1 13 vol vol NOUN ajst-30553 1 14 . . PROPN ajst-30553 1 15 15 15 NUM ajst-30553 1 16 , , PUNCT ajst-30553 1 17 no no INTJ ajst-30553 1 18 . . NOUN ajst-30553 1 19 1 1 NUM ajst-30553 1 20 , , PUNCT ajst-30553 1 21 2025 2025 NUM ajst-30553 1 22 222 222 NUM ajst-30553 1 23 research research NOUN ajst-30553 1 24 on on ADP ajst-30553 1 25 complex complex ADJ ajst-30553 1 26 indoor indoor ADJ ajst-30553 1 27 environment environment NOUN ajst-30553 1 28 mapping mapping NOUN ajst-30553 1 29 based base VERB ajst-30553 1 30 on on ADP ajst-30553 1 31 lidar lidar NOUN ajst-30553 1 32 and and CCONJ ajst-30553 1 33 rgb‐d rgb‐d PROPN ajst-30553 1 34 camera camera NOUN ajst-30553 1 35 fusion fusion NOUN ajst-30553 1 36 wenjie wenjie PROPN ajst-30553 1 37 chang chang PROPN ajst-30553 1 38 , , PUNCT ajst-30553 1 39 jiarong jiarong PROPN ajst-30553 1 40 chen chen PROPN ajst-30553 1 41 , , PUNCT ajst-30553 1 42 tielin tielin PROPN ajst-30553 1 43 wang wang PROPN ajst-30553 1 44 tianjin tianjin PROPN ajst-30553 1 45 university university PROPN ajst-30553 1 46 of of ADP ajst-30553 1 47 technology technology NOUN ajst-30553 1 48 and and CCONJ ajst-30553 1 49 education education NOUN ajst-30553 1 50 , , PUNCT ajst-30553 1 51 tianjin tianjin PROPN ajst-30553 1 52 , , PUNCT ajst-30553 1 53 china china PROPN ajst-30553 1 54 abstract abstract PROPN ajst-30553 1 55 : : PUNCT ajst-30553 1 56 with with ADP ajst-30553 1 57 the the DET ajst-30553 1 58 continuous continuous ADJ ajst-30553 1 59 progress progress NOUN ajst-30553 1 60 of of ADP ajst-30553 1 61 science science NOUN ajst-30553 1 62 and and CCONJ ajst-30553 1 63 technology technology NOUN ajst-30553 1 64 and and CCONJ ajst-30553 1 65 the the DET ajst-30553 1 66 improvement improvement NOUN ajst-30553 1 67 of of ADP ajst-30553 1 68 social social ADJ ajst-30553 1 69 productivity productivity NOUN ajst-30553 1 70 , , PUNCT ajst-30553 1 71 mobile mobile ADJ ajst-30553 1 72 robots robot NOUN ajst-30553 1 73 have have AUX ajst-30553 1 74 been be AUX ajst-30553 1 75 widely widely ADV ajst-30553 1 76 used use VERB ajst-30553 1 77 in in ADP ajst-30553 1 78 military military ADJ ajst-30553 1 79 , , PUNCT ajst-30553 1 80 medical medical ADJ ajst-30553 1 81 , , PUNCT ajst-30553 1 82 logistics logistic NOUN ajst-30553 1 83 and and CCONJ ajst-30553 1 84 other other ADJ ajst-30553 1 85 fields field NOUN ajst-30553 1 86 . . PUNCT ajst-30553 2 1 high high ADJ ajst-30553 2 2 - - PUNCT ajst-30553 2 3 precision precision NOUN ajst-30553 2 4 mapping mapping NOUN ajst-30553 2 5 technology technology NOUN ajst-30553 2 6 for for ADP ajst-30553 2 7 complex complex ADJ ajst-30553 2 8 indoor indoor ADJ ajst-30553 2 9 environments environment NOUN ajst-30553 2 10 has have AUX ajst-30553 2 11 become become VERB ajst-30553 2 12 one one NUM ajst-30553 2 13 of of ADP ajst-30553 2 14 the the DET ajst-30553 2 15 focuses focus NOUN ajst-30553 2 16 of of ADP ajst-30553 2 17 scholars scholar NOUN ajst-30553 2 18 ' ' PART ajst-30553 2 19 attention attention NOUN ajst-30553 2 20 and and CCONJ ajst-30553 2 21 research research NOUN ajst-30553 2 22 hotspots hotspot NOUN ajst-30553 2 23 . . PUNCT ajst-30553 3 1 traditional traditional ADJ ajst-30553 3 2 single single ADJ ajst-30553 3 3 sensors sensor NOUN ajst-30553 3 4 ( ( PUNCT ajst-30553 3 5 e.g. e.g. ADV ajst-30553 3 6 , , PUNCT ajst-30553 3 7 lidar lidar NOUN ajst-30553 3 8 or or CCONJ ajst-30553 3 9 cameras camera NOUN ajst-30553 3 10 ) ) PUNCT ajst-30553 3 11 have have VERB ajst-30553 3 12 limitations limitation NOUN ajst-30553 3 13 in in ADP ajst-30553 3 14 dynamic dynamic ADJ ajst-30553 3 15 , , PUNCT ajst-30553 3 16 low low ADJ ajst-30553 3 17 - - PUNCT ajst-30553 3 18 texture texture NOUN ajst-30553 3 19 or or CCONJ ajst-30553 3 20 light light ADJ ajst-30553 3 21 - - PUNCT ajst-30553 3 22 varying vary VERB ajst-30553 3 23 environments environment NOUN ajst-30553 3 24 . . PUNCT ajst-30553 4 1 in in ADP ajst-30553 4 2 this this DET ajst-30553 4 3 paper paper NOUN ajst-30553 4 4 , , PUNCT ajst-30553 4 5 we we PRON ajst-30553 4 6 propose propose VERB ajst-30553 4 7 a a DET ajst-30553 4 8 mapping mapping NOUN ajst-30553 4 9 method method NOUN ajst-30553 4 10 based base VERB ajst-30553 4 11 on on ADP ajst-30553 4 12 the the DET ajst-30553 4 13 multi multi ADJ ajst-30553 4 14 - - ADJ ajst-30553 4 15 sensor sensor ADJ ajst-30553 4 16 fusion fusion NOUN ajst-30553 4 17 of of ADP ajst-30553 4 18 lidar lidar NOUN ajst-30553 4 19 ( ( PUNCT ajst-30553 4 20 rplidar rplidar NOUN ajst-30553 4 21 a2m8 a2m8 NOUN ajst-30553 4 22 - - PUNCT ajst-30553 4 23 r3 r3 NOUN ajst-30553 4 24 ) ) PUNCT ajst-30553 4 25 with with ADP ajst-30553 4 26 rgb rgb PROPN ajst-30553 4 27 - - PROPN ajst-30553 4 28 d d PROPN ajst-30553 4 29 camera camera NOUN ajst-30553 4 30 and and CCONJ ajst-30553 4 31 odometry odometry NOUN ajst-30553 4 32 to to PART ajst-30553 4 33 improve improve VERB ajst-30553 4 34 the the DET ajst-30553 4 35 accuracy accuracy NOUN ajst-30553 4 36 and and CCONJ ajst-30553 4 37 robustness robustness NOUN ajst-30553 4 38 of of ADP ajst-30553 4 39 mapping mapping NOUN ajst-30553 4 40 in in ADP ajst-30553 4 41 complex complex ADJ ajst-30553 4 42 indoor indoor ADJ ajst-30553 4 43 environments environment NOUN ajst-30553 4 44 by by ADP ajst-30553 4 45 fusing fuse VERB ajst-30553 4 46 the the DET ajst-30553 4 47 accurate accurate ADJ ajst-30553 4 48 distance distance NOUN ajst-30553 4 49 measurement measurement NOUN ajst-30553 4 50 of of ADP ajst-30553 4 51 lidar lidar NOUN ajst-30553 4 52 with with ADP ajst-30553 4 53 the the DET ajst-30553 4 54 rich rich ADJ ajst-30553 4 55 visual visual ADJ ajst-30553 4 56 information information NOUN ajst-30553 4 57 of of ADP ajst-30553 4 58 camera camera NOUN ajst-30553 4 59 . . PUNCT ajst-30553 5 1 firstly firstly ADV ajst-30553 5 2 , , PUNCT ajst-30553 5 3 a a DET ajst-30553 5 4 ros ros PROPN ajst-30553 5 5 - - PUNCT ajst-30553 5 6 based base VERB ajst-30553 5 7 robotic robotic ADJ ajst-30553 5 8 hardware hardware NOUN ajst-30553 5 9 and and CCONJ ajst-30553 5 10 software software NOUN ajst-30553 5 11 platform platform NOUN ajst-30553 5 12 is be AUX ajst-30553 5 13 constructed construct VERB ajst-30553 5 14 , , PUNCT ajst-30553 5 15 integrating integrate VERB ajst-30553 5 16 lidar lidar NOUN ajst-30553 5 17 ( ( PUNCT ajst-30553 5 18 rplidar rplidar NOUN ajst-30553 5 19 a2m8 a2m8 NOUN ajst-30553 5 20 - - PUNCT ajst-30553 5 21 r3 r3 NOUN ajst-30553 5 22 ) ) PUNCT ajst-30553 5 23 and and CCONJ ajst-30553 5 24 rgb rgb PROPN ajst-30553 5 25 - - PROPN ajst-30553 5 26 d d PROPN ajst-30553 5 27 camera camera NOUN ajst-30553 5 28 . . PUNCT ajst-30553 6 1 secondly secondly ADV ajst-30553 6 2 , , PUNCT ajst-30553 6 3 sensor sensor NOUN ajst-30553 6 4 data datum NOUN ajst-30553 6 5 preprocessing preprocesse VERB ajst-30553 6 6 such such ADJ ajst-30553 6 7 as as ADP ajst-30553 6 8 lidar lidar NOUN ajst-30553 6 9 is be AUX ajst-30553 6 10 optimised optimise VERB ajst-30553 6 11 by by ADP ajst-30553 6 12 various various ADJ ajst-30553 6 13 algorithms algorithm NOUN ajst-30553 6 14 . . PUNCT ajst-30553 7 1 finally finally ADV ajst-30553 7 2 , , PUNCT ajst-30553 7 3 the the DET ajst-30553 7 4 irtab irtab NOUN ajst-30553 7 5 - - PUNCT ajst-30553 7 6 map map NOUN ajst-30553 7 7 fusion fusion NOUN ajst-30553 7 8 modelling modelling NOUN ajst-30553 7 9 strategy strategy NOUN ajst-30553 7 10 is be AUX ajst-30553 7 11 used use VERB ajst-30553 7 12 to to PART ajst-30553 7 13 achieve achieve VERB ajst-30553 7 14 efficient efficient ADJ ajst-30553 7 15 fusion fusion NOUN ajst-30553 7 16 of of ADP ajst-30553 7 17 multi multi ADJ ajst-30553 7 18 - - ADJ ajst-30553 7 19 source source NOUN ajst-30553 7 20 data datum NOUN ajst-30553 7 21 for for ADP ajst-30553 7 22 map map NOUN ajst-30553 7 23 building building NOUN ajst-30553 7 24 . . PUNCT ajst-30553 8 1 experiments experiment NOUN ajst-30553 8 2 show show VERB ajst-30553 8 3 that that SCONJ ajst-30553 8 4 the the DET ajst-30553 8 5 fusion fusion NOUN ajst-30553 8 6 system system NOUN ajst-30553 8 7 is be AUX ajst-30553 8 8 better well ADJ ajst-30553 8 9 than than ADP ajst-30553 8 10 the the DET ajst-30553 8 11 single single ADJ ajst-30553 8 12 - - PUNCT ajst-30553 8 13 sensor sensor NOUN ajst-30553 8 14 scheme scheme NOUN ajst-30553 8 15 in in ADP ajst-30553 8 16 terms term NOUN ajst-30553 8 17 of of ADP ajst-30553 8 18 2d 2d PROPN ajst-30553 8 19 raster raster NOUN ajst-30553 8 20 map map NOUN ajst-30553 8 21 accuracy accuracy NOUN ajst-30553 8 22 and and CCONJ ajst-30553 8 23 3d 3d NUM ajst-30553 8 24 point point NOUN ajst-30553 8 25 cloud cloud NOUN ajst-30553 8 26 completeness completeness NOUN ajst-30553 8 27 , , PUNCT ajst-30553 8 28 and and CCONJ ajst-30553 8 29 the the DET ajst-30553 8 30 navigation navigation NOUN ajst-30553 8 31 accuracy accuracy NOUN ajst-30553 8 32 is be AUX ajst-30553 8 33 not not PART ajst-30553 8 34 only only ADV ajst-30553 8 35 high high ADJ ajst-30553 8 36 but but CCONJ ajst-30553 8 37 also also ADV ajst-30553 8 38 the the DET ajst-30553 8 39 real real ADJ ajst-30553 8 40 - - PUNCT ajst-30553 8 41 time time NOUN ajst-30553 8 42 observation observation NOUN ajst-30553 8 43 of of ADP ajst-30553 8 44 obstacles obstacle NOUN ajst-30553 8 45 and and CCONJ ajst-30553 8 46 road road NOUN ajst-30553 8 47 conditions condition NOUN ajst-30553 8 48 through through ADP ajst-30553 8 49 the the DET ajst-30553 8 50 camera camera NOUN ajst-30553 8 51 , , PUNCT ajst-30553 8 52 which which PRON ajst-30553 8 53 provides provide VERB ajst-30553 8 54 reliable reliable ADJ ajst-30553 8 55 technical technical ADJ ajst-30553 8 56 support support NOUN ajst-30553 8 57 for for ADP ajst-30553 8 58 indoor indoor ADJ ajst-30553 8 59 complex complex ADJ ajst-30553 8 60 scene scene NOUN ajst-30553 8 61 mapping mapping NOUN ajst-30553 8 62 . . PUNCT ajst-30553 9 1 keywords keyword NOUN ajst-30553 9 2 : : PUNCT ajst-30553 9 3 multi multi ADJ ajst-30553 9 4 - - ADJ ajst-30553 9 5 sensor sensor ADJ ajst-30553 9 6 fusion fusion NOUN ajst-30553 9 7 ; ; PUNCT ajst-30553 9 8 lidar lidar NOUN ajst-30553 9 9 ; ; PUNCT ajst-30553 9 10 rgb rgb PROPN ajst-30553 9 11 - - PROPN ajst-30553 9 12 d d PROPN ajst-30553 9 13 camera camera NOUN ajst-30553 9 14 ; ; PUNCT ajst-30553 9 15 slam slam NOUN ajst-30553 9 16 ; ; PUNCT ajst-30553 9 17 indoor indoor ADJ ajst-30553 9 18 mapping mapping NOUN ajst-30553 9 19 . . PUNCT ajst-30553 10 1 1 1 X ajst-30553 10 2 . . X ajst-30553 10 3 introductory introductory ADJ ajst-30553 10 4 1.1 1.1 NUM ajst-30553 10 5 . . PUNCT ajst-30553 11 1 background background NOUN ajst-30553 11 2 and and CCONJ ajst-30553 11 3 significance significance NOUN ajst-30553 11 4 of of ADP ajst-30553 11 5 the the DET ajst-30553 11 6 study study NOUN ajst-30553 11 7 with with ADP ajst-30553 11 8 the the DET ajst-30553 11 9 rapid rapid ADJ ajst-30553 11 10 development development NOUN ajst-30553 11 11 of of ADP ajst-30553 11 12 artificial artificial ADJ ajst-30553 11 13 intelligence intelligence NOUN ajst-30553 11 14 and and CCONJ ajst-30553 11 15 robotics robotic NOUN ajst-30553 11 16 , , PUNCT ajst-30553 11 17 the the DET ajst-30553 11 18 market market NOUN ajst-30553 11 19 demand demand NOUN ajst-30553 11 20 for for ADP ajst-30553 11 21 robots robot NOUN ajst-30553 11 22 with with ADP ajst-30553 11 23 autonomous autonomous ADJ ajst-30553 11 24 navigation navigation NOUN ajst-30553 11 25 capability capability NOUN ajst-30553 11 26 continues continue VERB ajst-30553 11 27 to to PART ajst-30553 11 28 grow grow VERB ajst-30553 11 29 , , PUNCT ajst-30553 11 30 and and CCONJ ajst-30553 11 31 high high ADJ ajst-30553 11 32 - - PUNCT ajst-30553 11 33 precision precision NOUN ajst-30553 11 34 mapping mapping NOUN ajst-30553 11 35 technology technology NOUN ajst-30553 11 36 for for ADP ajst-30553 11 37 complex complex ADJ ajst-30553 11 38 indoor indoor ADJ ajst-30553 11 39 environments environment NOUN ajst-30553 11 40 has have AUX ajst-30553 11 41 become become VERB ajst-30553 11 42 a a DET ajst-30553 11 43 research research NOUN ajst-30553 11 44 hotspot hotspot NOUN ajst-30553 11 45 . . PUNCT ajst-30553 12 1 traditional traditional ADJ ajst-30553 12 2 single single ADJ ajst-30553 12 3 sensors sensor NOUN ajst-30553 12 4 ( ( PUNCT ajst-30553 12 5 e.g. e.g. ADV ajst-30553 12 6 , , PUNCT ajst-30553 12 7 lidar lidar NOUN ajst-30553 12 8 or or CCONJ ajst-30553 12 9 cameras camera NOUN ajst-30553 12 10 ) ) PUNCT ajst-30553 12 11 have have VERB ajst-30553 12 12 limitations limitation NOUN ajst-30553 12 13 in in ADP ajst-30553 12 14 dynamic dynamic ADJ ajst-30553 12 15 , , PUNCT ajst-30553 12 16 low low ADJ ajst-30553 12 17 - - PUNCT ajst-30553 12 18 texture texture NOUN ajst-30553 12 19 or or CCONJ ajst-30553 12 20 light light ADJ ajst-30553 12 21 - - PUNCT ajst-30553 12 22 varying vary VERB ajst-30553 12 23 environments environment NOUN ajst-30553 12 24 . . PUNCT ajst-30553 13 1 [ [ X ajst-30553 13 2 1 1 NUM ajst-30553 13 3 - - SYM ajst-30553 13 4 2]however 2]however NUM ajst-30553 13 5 , , PUNCT ajst-30553 13 6 complex complex ADJ ajst-30553 13 7 indoor indoor ADJ ajst-30553 13 8 environments environment NOUN ajst-30553 13 9 usually usually ADV ajst-30553 13 10 suffer suffer VERB ajst-30553 13 11 from from ADP ajst-30553 13 12 structural structural ADJ ajst-30553 13 13 breakage breakage NOUN ajst-30553 13 14 , , PUNCT ajst-30553 13 15 uneven uneven ADJ ajst-30553 13 16 lighting lighting NOUN ajst-30553 13 17 , , PUNCT ajst-30553 13 18 and and CCONJ ajst-30553 13 19 dynamic dynamic ADJ ajst-30553 13 20 obstacles obstacle NOUN ajst-30553 13 21 , , PUNCT ajst-30553 13 22 which which PRON ajst-30553 13 23 make make VERB ajst-30553 13 24 it it PRON ajst-30553 13 25 difficult difficult ADJ ajst-30553 13 26 for for SCONJ ajst-30553 13 27 a a DET ajst-30553 13 28 single single ADJ ajst-30553 13 29 sensor sensor NOUN ajst-30553 13 30 ( ( PUNCT ajst-30553 13 31 e.g. e.g. ADV ajst-30553 13 32 , , PUNCT ajst-30553 13 33 lidar lidar NOUN ajst-30553 13 34 or or CCONJ ajst-30553 13 35 vision vision NOUN ajst-30553 13 36 camera camera NOUN ajst-30553 13 37 ) ) PUNCT ajst-30553 13 38 to to PART ajst-30553 13 39 meet meet VERB ajst-30553 13 40 the the DET ajst-30553 13 41 demand demand NOUN ajst-30553 13 42 for for ADP ajst-30553 13 43 high high ADJ ajst-30553 13 44 - - PUNCT ajst-30553 13 45 precision precision NOUN ajst-30553 13 46 mapping mapping NOUN ajst-30553 13 47 . . PUNCT ajst-30553 14 1 [ [ X ajst-30553 14 2 3 3 NUM ajst-30553 14 3 - - SYM ajst-30553 14 4 5 5 NUM ajst-30553 14 5 ] ] PUNCT ajst-30553 14 6 lidar lidar NOUN ajst-30553 14 7 can can AUX ajst-30553 14 8 provide provide VERB ajst-30553 14 9 accurate accurate ADJ ajst-30553 14 10 distance distance NOUN ajst-30553 14 11 information information NOUN ajst-30553 14 12 but but CCONJ ajst-30553 14 13 lacks lack VERB ajst-30553 14 14 semantic semantic ADJ ajst-30553 14 15 and and CCONJ ajst-30553 14 16 colour colour NOUN ajst-30553 14 17 information information NOUN ajst-30553 14 18 ; ; PUNCT ajst-30553 14 19 rgb rgb PROPN ajst-30553 14 20 - - PROPN ajst-30553 14 21 d d PROPN ajst-30553 14 22 cameras camera NOUN ajst-30553 14 23 can can AUX ajst-30553 14 24 capture capture VERB ajst-30553 14 25 rich rich ADJ ajst-30553 14 26 3d 3d PROPN ajst-30553 14 27 visual visual ADJ ajst-30553 14 28 data datum NOUN ajst-30553 14 29 but but CCONJ ajst-30553 14 30 are be AUX ajst-30553 14 31 susceptible susceptible ADJ ajst-30553 14 32 to to ADP ajst-30553 14 33 light light ADJ ajst-30553 14 34 and and CCONJ ajst-30553 14 35 dynamic dynamic ADJ ajst-30553 14 36 object object NOUN ajst-30553 14 37 interference interference NOUN ajst-30553 14 38 . . PUNCT ajst-30553 15 1 therefore therefore ADV ajst-30553 15 2 , , PUNCT ajst-30553 15 3 fusing fuse VERB ajst-30553 15 4 the the DET ajst-30553 15 5 advantages advantage NOUN ajst-30553 15 6 of of ADP ajst-30553 15 7 multi multi NOUN ajst-30553 15 8 - - NOUN ajst-30553 15 9 sensors sensor NOUN ajst-30553 15 10 to to PART ajst-30553 15 11 build build VERB ajst-30553 15 12 a a DET ajst-30553 15 13 robust robust ADJ ajst-30553 15 14 and and CCONJ ajst-30553 15 15 efficient efficient ADJ ajst-30553 15 16 map map NOUN ajst-30553 15 17 building building NOUN ajst-30553 15 18 system system NOUN ajst-30553 15 19 has have VERB ajst-30553 15 20 important important ADJ ajst-30553 15 21 research research NOUN ajst-30553 15 22 value value NOUN ajst-30553 15 23 . . PUNCT ajst-30553 16 1 1.2 1.2 NUM ajst-30553 16 2 . . PUNCT ajst-30553 16 3 research research NOUN ajst-30553 16 4 status status NOUN ajst-30553 16 5 multi multi ADJ ajst-30553 16 6 - - ADJ ajst-30553 16 7 sensor sensor ADJ ajst-30553 16 8 fusion fusion NOUN ajst-30553 16 9 ( ( PUNCT ajst-30553 16 10 msf msf NOUN ajst-30553 16 11 ) ) PUNCT ajst-30553 16 12 compensates compensate NOUN ajst-30553 16 13 for for ADP ajst-30553 16 14 the the DET ajst-30553 16 15 limitations limitation NOUN ajst-30553 16 16 of of ADP ajst-30553 16 17 a a DET ajst-30553 16 18 single single ADJ ajst-30553 16 19 sensor sensor NOUN ajst-30553 16 20 by by ADP ajst-30553 16 21 integrating integrate VERB ajst-30553 16 22 heterogeneous heterogeneous ADJ ajst-30553 16 23 sensor sensor NOUN ajst-30553 16 24 data datum NOUN ajst-30553 16 25 . . PUNCT ajst-30553 17 1 in in ADP ajst-30553 17 2 the the DET ajst-30553 17 3 field field NOUN ajst-30553 17 4 of of ADP ajst-30553 17 5 simultaneous simultaneous ADJ ajst-30553 17 6 localisation localisation NOUN ajst-30553 17 7 and and CCONJ ajst-30553 17 8 mapping mapping NOUN ajst-30553 17 9 ( ( PUNCT ajst-30553 17 10 slam slam PROPN ajst-30553 17 11 ) ) PUNCT ajst-30553 17 12 , , PUNCT ajst-30553 17 13 the the DET ajst-30553 17 14 fusion fusion NOUN ajst-30553 17 15 of of ADP ajst-30553 17 16 lidar lidar NOUN ajst-30553 17 17 and and CCONJ ajst-30553 17 18 vision vision NOUN ajst-30553 17 19 has have AUX ajst-30553 17 20 become become VERB ajst-30553 17 21 the the DET ajst-30553 17 22 mainstream mainstream NOUN ajst-30553 17 23 direction direction NOUN ajst-30553 17 24 . . PUNCT ajst-30553 18 1 for for ADP ajst-30553 18 2 example example NOUN ajst-30553 18 3 , , PUNCT ajst-30553 18 4 lio lio PROPN ajst-30553 18 5 - - PUNCT ajst-30553 18 6 sam sam PROPN ajst-30553 18 7 achieves achieve VERB ajst-30553 18 8 high high ADJ ajst-30553 18 9 - - PUNCT ajst-30553 18 10 precision precision NOUN ajst-30553 18 11 positioning positioning NOUN ajst-30553 18 12 by by ADP ajst-30553 18 13 tightly tightly ADV ajst-30553 18 14 coupling couple VERB ajst-30553 18 15 lidar lidar NOUN ajst-30553 18 16 and and CCONJ ajst-30553 18 17 imu imu NOUN ajst-30553 18 18 , , PUNCT ajst-30553 18 19 and and CCONJ ajst-30553 18 20 r2live r2live ADJ ajst-30553 18 21 fuses fuse NOUN ajst-30553 18 22 lidar lidar NOUN ajst-30553 18 23 , , PUNCT ajst-30553 18 24 camera camera NOUN ajst-30553 18 25 and and CCONJ ajst-30553 18 26 imu imu NOUN ajst-30553 18 27 to to PART ajst-30553 18 28 build build VERB ajst-30553 18 29 dense dense ADJ ajst-30553 18 30 point point NOUN ajst-30553 18 31 cloud cloud NOUN ajst-30553 18 32 maps map NOUN ajst-30553 18 33 . . PUNCT ajst-30553 19 1 however however ADV ajst-30553 19 2 , , PUNCT ajst-30553 19 3 most most ADJ ajst-30553 19 4 of of ADP ajst-30553 19 5 the the DET ajst-30553 19 6 existing exist VERB ajst-30553 19 7 studies study NOUN ajst-30553 19 8 focus focus VERB ajst-30553 19 9 on on ADP ajst-30553 19 10 the the DET ajst-30553 19 11 fusion fusion NOUN ajst-30553 19 12 of of ADP ajst-30553 19 13 multi multi ADJ ajst-30553 19 14 - - ADJ ajst-30553 19 15 line line ADJ ajst-30553 19 16 lidar lidar NOUN ajst-30553 19 17 and and CCONJ ajst-30553 19 18 vision vision NOUN ajst-30553 19 19 , , PUNCT ajst-30553 19 20 and and CCONJ ajst-30553 19 21 there there PRON ajst-30553 19 22 are be VERB ajst-30553 19 23 fewer few ADJ ajst-30553 19 24 studies study NOUN ajst-30553 19 25 on on ADP ajst-30553 19 26 the the DET ajst-30553 19 27 fusion fusion NOUN ajst-30553 19 28 of of ADP ajst-30553 19 29 low low ADJ ajst-30553 19 30 - - PUNCT ajst-30553 19 31 cost cost NOUN ajst-30553 19 32 single single ADJ ajst-30553 19 33 - - PUNCT ajst-30553 19 34 line line NOUN ajst-30553 19 35 lidar lidar NOUN ajst-30553 19 36 and and CCONJ ajst-30553 19 37 rgb rgb PROPN ajst-30553 19 38 - - PROPN ajst-30553 19 39 d d PROPN ajst-30553 19 40 camera camera NOUN ajst-30553 19 41 for for ADP ajst-30553 19 42 map map NOUN ajst-30553 19 43 building building NOUN ajst-30553 19 44 . . PUNCT ajst-30553 20 1 [ [ X ajst-30553 20 2 6 6 NUM ajst-30553 20 3 - - SYM ajst-30553 20 4 9 9 NUM ajst-30553 20 5 ] ] PUNCT ajst-30553 20 6 based base VERB ajst-30553 20 7 on on ADP ajst-30553 20 8 this this PRON ajst-30553 20 9 , , PUNCT ajst-30553 20 10 this this DET ajst-30553 20 11 paper paper NOUN ajst-30553 20 12 proposes propose VERB ajst-30553 20 13 a a DET ajst-30553 20 14 lightweight lightweight ADJ ajst-30553 20 15 multisensor multisensor NOUN ajst-30553 20 16 fusion fusion NOUN ajst-30553 20 17 scheme scheme NOUN ajst-30553 20 18 for for ADP ajst-30553 20 19 narrow narrow ADJ ajst-30553 20 20 and and CCONJ ajst-30553 20 21 dynamic dynamic ADJ ajst-30553 20 22 complex complex ADJ ajst-30553 20 23 indoor indoor ADJ ajst-30553 20 24 environments environment NOUN ajst-30553 20 25 . . PUNCT ajst-30553 21 1 in in ADP ajst-30553 21 2 conclusion conclusion NOUN ajst-30553 21 3 , , PUNCT ajst-30553 21 4 multi multi ADJ ajst-30553 21 5 - - ADJ ajst-30553 21 6 sensor sensor ADJ ajst-30553 21 7 fusion fusion NOUN ajst-30553 21 8 , , PUNCT ajst-30553 21 9 as as ADP ajst-30553 21 10 an an DET ajst-30553 21 11 important important ADJ ajst-30553 21 12 information information NOUN ajst-30553 21 13 fusion fusion NOUN ajst-30553 21 14 technology technology NOUN ajst-30553 21 15 , , PUNCT ajst-30553 21 16 has have AUX ajst-30553 21 17 been be AUX ajst-30553 21 18 widely widely ADV ajst-30553 21 19 used use VERB ajst-30553 21 20 in in ADP ajst-30553 21 21 military military ADJ ajst-30553 21 22 , , PUNCT ajst-30553 21 23 aerospace aerospace NOUN ajst-30553 21 24 , , PUNCT ajst-30553 21 25 navigation navigation NOUN ajst-30553 21 26 , , PUNCT ajst-30553 21 27 intelligent intelligent ADJ ajst-30553 21 28 transport transport NOUN ajst-30553 21 29 and and CCONJ ajst-30553 21 30 other other ADJ ajst-30553 21 31 fields field NOUN ajst-30553 21 32 . . PUNCT ajst-30553 22 1 with with ADP ajst-30553 22 2 the the DET ajst-30553 22 3 continuous continuous ADJ ajst-30553 22 4 progress progress NOUN ajst-30553 22 5 and and CCONJ ajst-30553 22 6 innovation innovation NOUN ajst-30553 22 7 of of ADP ajst-30553 22 8 technology technology NOUN ajst-30553 22 9 , , PUNCT ajst-30553 22 10 multi multi ADJ ajst-30553 22 11 - - ADJ ajst-30553 22 12 sensor sensor ADJ ajst-30553 22 13 fusion fusion NOUN ajst-30553 22 14 will will AUX ajst-30553 22 15 continue continue VERB ajst-30553 22 16 to to PART ajst-30553 22 17 play play VERB ajst-30553 22 18 an an DET ajst-30553 22 19 important important ADJ ajst-30553 22 20 role role NOUN ajst-30553 22 21 and and CCONJ ajst-30553 22 22 bring bring VERB ajst-30553 22 23 new new ADJ ajst-30553 22 24 applications application NOUN ajst-30553 22 25 and and CCONJ ajst-30553 22 26 breakthroughs breakthrough NOUN ajst-30553 22 27 in in ADP ajst-30553 22 28 more more ADJ ajst-30553 22 29 fields field NOUN ajst-30553 22 30 . . PUNCT ajst-30553 23 1 2 2 X ajst-30553 23 2 . . X ajst-30553 23 3 robotics robotic NOUN ajst-30553 23 4 platform platform NOUN ajst-30553 23 5 building build VERB ajst-30553 23 6 2.1 2.1 NUM ajst-30553 23 7 . . PUNCT ajst-30553 23 8 hardware hardware NOUN ajst-30553 23 9 platform platform NOUN ajst-30553 23 10 design design VERB ajst-30553 23 11 the the DET ajst-30553 23 12 hardware hardware NOUN ajst-30553 23 13 platform platform NOUN ajst-30553 23 14 of of ADP ajst-30553 23 15 the the DET ajst-30553 23 16 experimental experimental ADJ ajst-30553 23 17 system system NOUN ajst-30553 23 18 of of ADP ajst-30553 23 19 this this DET ajst-30553 23 20 subject subject NOUN ajst-30553 23 21 mainly mainly ADV ajst-30553 23 22 consists consist VERB ajst-30553 23 23 of of ADP ajst-30553 23 24 intelligent intelligent ADJ ajst-30553 23 25 rubber rubber NOUN ajst-30553 23 26 wheels wheel NOUN ajst-30553 23 27 equipped equip VERB ajst-30553 23 28 with with ADP ajst-30553 23 29 intelligent intelligent ADJ ajst-30553 23 30 rubber rubber NOUN ajst-30553 23 31 wheels wheel NOUN ajst-30553 23 32 , , PUNCT ajst-30553 23 33 raspberry raspberry NOUN ajst-30553 23 34 pi pi PROPN ajst-30553 23 35 raspberry raspberry PROPN ajst-30553 23 36 pi-4b pi-4b PROPN ajst-30553 23 37 , , PUNCT ajst-30553 23 38 arduino arduino NOUN ajst-30553 23 39 mega mega ADJ ajst-30553 23 40 2560 2560 NUM ajst-30553 23 41 control control PROPN ajst-30553 23 42 board board PROPN ajst-30553 23 43 , , PUNCT ajst-30553 23 44 dc dc PROPN ajst-30553 23 45 motors motors PROPN ajst-30553 23 46 with with ADP ajst-30553 23 47 encoders encoder NOUN ajst-30553 23 48 , , PUNCT ajst-30553 23 49 lidar lidar NOUN ajst-30553 23 50 ( ( PUNCT ajst-30553 23 51 rplidar rplidar NOUN ajst-30553 23 52 a2m8 a2m8 NOUN ajst-30553 23 53 - - PUNCT ajst-30553 23 54 r3 r3 NOUN ajst-30553 23 55 ) ) PUNCT ajst-30553 23 56 , , PUNCT ajst-30553 23 57 shyda shyda ADJ ajst-30553 23 58 720p 720p PROPN ajst-30553 23 59 infrared infrare VERB ajst-30553 23 60 night night PROPN ajst-30553 23 61 vision vision PROPN ajst-30553 23 62 camera camera NOUN ajst-30553 23 63 and and CCONJ ajst-30553 23 64 so so ADV ajst-30553 23 65 on on ADV ajst-30553 23 66 . . PUNCT ajst-30553 24 1 the the DET ajst-30553 24 2 3d 3d PROPN ajst-30553 24 3 design design NOUN ajst-30553 24 4 diagram diagram NOUN ajst-30553 24 5 of of ADP ajst-30553 24 6 the the DET ajst-30553 24 7 robot robot NOUN ajst-30553 24 8 is be AUX ajst-30553 24 9 shown show VERB ajst-30553 24 10 in in ADP ajst-30553 24 11 figure figure NOUN ajst-30553 24 12 2 2 NUM ajst-30553 24 13 - - SYM ajst-30553 24 14 1 1 NUM ajst-30553 24 15 , , PUNCT ajst-30553 24 16 and and CCONJ ajst-30553 24 17 the the DET ajst-30553 24 18 hardware hardware NOUN ajst-30553 24 19 platform platform NOUN ajst-30553 24 20 with with ADP ajst-30553 24 21 each each DET ajst-30553 24 22 sensor sensor NOUN ajst-30553 24 23 and and CCONJ ajst-30553 24 24 the the DET ajst-30553 24 25 components component NOUN ajst-30553 24 26 used use VERB ajst-30553 24 27 are be AUX ajst-30553 24 28 specifically specifically ADV ajst-30553 24 29 listed list VERB ajst-30553 24 30 in in ADP ajst-30553 24 31 table table NOUN ajst-30553 24 32 2 2 NUM ajst-30553 24 33 - - SYM ajst-30553 24 34 1 1 NUM ajst-30553 24 35 . . PUNCT ajst-30553 25 1 the the DET ajst-30553 25 2 physical physical ADJ ajst-30553 25 3 drawing drawing NOUN ajst-30553 25 4 of of ADP ajst-30553 25 5 the the DET ajst-30553 25 6 robot robot NOUN ajst-30553 25 7 is be AUX ajst-30553 25 8 shown show VERB ajst-30553 25 9 figure figure NOUN ajst-30553 25 10 2 2 NUM ajst-30553 25 11 - - SYM ajst-30553 25 12 2 2 NUM ajst-30553 25 13 , , PUNCT ajst-30553 25 14 the the DET ajst-30553 25 15 main main ADJ ajst-30553 25 16 body body NOUN ajst-30553 25 17 of of ADP ajst-30553 25 18 the the DET ajst-30553 25 19 actuator actuator NOUN ajst-30553 25 20 is be AUX ajst-30553 25 21 assembled assemble VERB ajst-30553 25 22 with with ADP ajst-30553 25 23 acrylic acrylic ADJ ajst-30553 25 24 boards board NOUN ajst-30553 25 25 , , PUNCT ajst-30553 25 26 and and CCONJ ajst-30553 25 27 four four NUM ajst-30553 25 28 dc dc PROPN ajst-30553 25 29 motors motor NOUN ajst-30553 25 30 are be AUX ajst-30553 25 31 used use VERB ajst-30553 25 32 to to PART ajst-30553 25 33 keep keep VERB ajst-30553 25 34 the the DET ajst-30553 25 35 balance balance NOUN ajst-30553 25 36 to to PART ajst-30553 25 37 achieve achieve VERB ajst-30553 25 38 the the DET ajst-30553 25 39 robot robot NOUN ajst-30553 25 40 's 's PART ajst-30553 25 41 walking walking NOUN ajst-30553 25 42 , , PUNCT ajst-30553 25 43 the the DET ajst-30553 25 44 drive drive NOUN ajst-30553 25 45 system system NOUN ajst-30553 25 46 consists consist VERB ajst-30553 25 47 of of ADP ajst-30553 25 48 batteries battery NOUN ajst-30553 25 49 , , PUNCT ajst-30553 25 50 arduino arduino ADJ ajst-30553 25 51 electronic electronic ADJ ajst-30553 25 52 control control NOUN ajst-30553 25 53 boards board NOUN ajst-30553 25 54 , , PUNCT ajst-30553 25 55 and and CCONJ ajst-30553 25 56 motor motor NOUN ajst-30553 25 57 drive drive NOUN ajst-30553 25 58 modules module NOUN ajst-30553 25 59 , , PUNCT ajst-30553 25 60 and and CCONJ ajst-30553 25 61 the the DET ajst-30553 25 62 control control NOUN ajst-30553 25 63 system system NOUN ajst-30553 25 64 is be AUX ajst-30553 25 65 a a DET ajst-30553 25 66 raspberry raspberry NOUN ajst-30553 25 67 pi pi NOUN ajst-30553 25 68 and and CCONJ ajst-30553 25 69 a a DET ajst-30553 25 70 pc pc NOUN ajst-30553 25 71 computer computer NOUN ajst-30553 25 72 , , PUNCT ajst-30553 25 73 and and CCONJ ajst-30553 25 74 the the DET ajst-30553 25 75 sensing sense VERB ajst-30553 25 76 system system NOUN ajst-30553 25 77 adopts adopt VERB ajst-30553 25 78 an an DET ajst-30553 25 79 odometer odometer NOUN ajst-30553 25 80 , , PUNCT ajst-30553 25 81 a a DET ajst-30553 25 82 lidar lidar NOUN ajst-30553 25 83 , , PUNCT ajst-30553 25 84 and and CCONJ ajst-30553 25 85 a a DET ajst-30553 25 86 shyda shyda ADJ ajst-30553 25 87 720p 720p NUM ajst-30553 25 88 camera camera NOUN ajst-30553 25 89 , , PUNCT ajst-30553 25 90 in in ADP ajst-30553 25 91 which which PRON ajst-30553 25 92 the the DET ajst-30553 25 93 camera camera NOUN ajst-30553 25 94 needs need VERB ajst-30553 25 95 to to PART ajst-30553 25 96 scan scan VERB ajst-30553 25 97 the the DET ajst-30553 25 98 obstacles obstacle NOUN ajst-30553 25 99 in in ADP ajst-30553 25 100 front front NOUN ajst-30553 25 101 of of ADP ajst-30553 25 102 the the DET ajst-30553 25 103 robot robot NOUN ajst-30553 25 104 and and CCONJ ajst-30553 25 105 needs need VERB ajst-30553 25 106 a a DET ajst-30553 25 107 certain certain ADJ ajst-30553 25 108 scanning scanning NOUN ajst-30553 25 109 angle angle NOUN ajst-30553 25 110 , , PUNCT ajst-30553 25 111 so so CCONJ ajst-30553 25 112 the the DET ajst-30553 25 113 shyda shyda ADJ ajst-30553 25 114 720p 720p NUM ajst-30553 25 115 camera camera NOUN ajst-30553 25 116 is be AUX ajst-30553 25 117 installed instal VERB ajst-30553 25 118 at at ADP ajst-30553 25 119 the the DET ajst-30553 25 120 head head NOUN ajst-30553 25 121 of of ADP ajst-30553 25 122 the the DET ajst-30553 25 123 robot robot NOUN ajst-30553 25 124 at at ADP ajst-30553 25 125 a a DET ajst-30553 25 126 height height NOUN ajst-30553 25 127 of of ADP ajst-30553 25 128 10 10 NUM ajst-30553 25 129 cm cm NOUN ajst-30553 25 130 from from ADP ajst-30553 25 131 the the DET ajst-30553 25 132 ground ground NOUN ajst-30553 25 133 . . PUNCT ajst-30553 26 1 the the DET ajst-30553 26 2 camera camera NOUN ajst-30553 26 3 needs need VERB ajst-30553 26 4 to to PART ajst-30553 26 5 scan scan VERB ajst-30553 26 6 the the DET ajst-30553 26 7 obstacles obstacle NOUN ajst-30553 26 8 in in ADP ajst-30553 26 9 front front NOUN ajst-30553 26 10 of of ADP ajst-30553 26 11 the the DET ajst-30553 26 12 robot robot NOUN ajst-30553 26 13 and and CCONJ ajst-30553 26 14 needs need VERB ajst-30553 26 15 a a DET ajst-30553 26 16 certain certain ADJ ajst-30553 26 17 scanning scanning NOUN ajst-30553 26 18 angle angle NOUN ajst-30553 26 19 , , PUNCT ajst-30553 26 20 so so CCONJ ajst-30553 26 21 the the DET ajst-30553 26 22 shyda shyda ADJ ajst-30553 26 23 720p 720p NUM ajst-30553 26 24 camera camera NOUN ajst-30553 26 25 is be AUX ajst-30553 26 26 mounted mount VERB ajst-30553 26 27 on on ADP ajst-30553 26 28 the the DET ajst-30553 26 29 head head NOUN ajst-30553 26 30 of of ADP ajst-30553 26 31 the the DET ajst-30553 26 32 robot robot NOUN ajst-30553 26 33 , , PUNCT ajst-30553 26 34 with with ADP ajst-30553 26 35 a a DET ajst-30553 26 36 height height NOUN ajst-30553 26 37 of of ADP ajst-30553 26 38 10 10 NUM ajst-30553 26 39 cm cm NOUN ajst-30553 26 40 from from ADP ajst-30553 26 41 the the DET ajst-30553 26 42 ground ground NOUN ajst-30553 26 43 , , PUNCT ajst-30553 26 44 and and CCONJ ajst-30553 26 45 the the DET ajst-30553 26 46 lidar lidar NOUN ajst-30553 26 47 ( ( PUNCT ajst-30553 26 48 rplidar rplidar NOUN ajst-30553 26 49 a2m8 a2m8 NOUN ajst-30553 26 50 - - PUNCT ajst-30553 26 51 r3 r3 NOUN ajst-30553 26 52 ) ) PUNCT ajst-30553 26 53 needs need VERB ajst-30553 26 54 to to PART ajst-30553 26 55 be be AUX ajst-30553 26 56 close close ADJ ajst-30553 26 57 to to ADP ajst-30553 26 58 the the DET ajst-30553 26 59 robot robot NOUN ajst-30553 26 60 chassis chassis NOUN ajst-30553 26 61 to to PART ajst-30553 26 62 obtain obtain VERB ajst-30553 26 63 the the DET ajst-30553 26 64 2d 2d NUM ajst-30553 26 65 point point NOUN ajst-30553 26 66 cloud cloud ADJ ajst-30553 26 67 information information NOUN ajst-30553 26 68 of of ADP ajst-30553 26 69 the the DET ajst-30553 26 70 robot robot NOUN ajst-30553 26 71 chassis chassis NOUN ajst-30553 26 72 plane plane NOUN ajst-30553 26 73 , , PUNCT ajst-30553 26 74 so so SCONJ ajst-30553 26 75 it it PRON ajst-30553 26 76 is be AUX ajst-30553 26 77 mounted mount VERB ajst-30553 26 78 in in ADP ajst-30553 26 79 the the DET ajst-30553 26 80 middle middle NOUN ajst-30553 26 81 of of ADP ajst-30553 26 82 the the DET ajst-30553 26 83 top top NOUN ajst-30553 26 84 of of ADP ajst-30553 26 85 the the DET ajst-30553 26 86 chassis chassis NOUN ajst-30553 26 87 , , PUNCT ajst-30553 26 88 with with ADP ajst-30553 26 89 a a DET ajst-30553 26 90 height height NOUN ajst-30553 26 91 of of ADP ajst-30553 26 92 13 13 NUM ajst-30553 26 93 cm cm NOUN ajst-30553 26 94 from from ADP ajst-30553 26 95 223 223 NUM ajst-30553 26 96 the the DET ajst-30553 26 97 ground ground NOUN ajst-30553 26 98 . . PUNCT ajst-30553 27 1 lidar lidar NOUN ajst-30553 27 2 ( ( PUNCT ajst-30553 27 3 rplidar rplidar NOUN ajst-30553 27 4 a2m8 a2m8 NOUN ajst-30553 27 5 - - PUNCT ajst-30553 27 6 r3 r3 NOUN ajst-30553 27 7 ) ) PUNCT ajst-30553 27 8 can can AUX ajst-30553 27 9 set set VERB ajst-30553 27 10 the the DET ajst-30553 27 11 scanning scanning NOUN ajst-30553 27 12 range range NOUN ajst-30553 27 13 by by ADP ajst-30553 27 14 algorithm algorithm NOUN ajst-30553 27 15 , , PUNCT ajst-30553 27 16 so so CCONJ ajst-30553 27 17 the the DET ajst-30553 27 18 front front ADJ ajst-30553 27 19 camera camera NOUN ajst-30553 27 20 will will AUX ajst-30553 27 21 not not PART ajst-30553 27 22 affect affect VERB ajst-30553 27 23 the the DET ajst-30553 27 24 scanning scanning NOUN ajst-30553 27 25 result result NOUN ajst-30553 27 26 of of ADP ajst-30553 27 27 the the DET ajst-30553 27 28 single single ADJ ajst-30553 27 29 line line NOUN ajst-30553 27 30 lidar lidar NOUN ajst-30553 27 31 . . PUNCT ajst-30553 28 1 the the DET ajst-30553 28 2 robot robot NOUN ajst-30553 28 3 chassis chassis NOUN ajst-30553 28 4 is be AUX ajst-30553 28 5 a a DET ajst-30553 28 6 four four NUM ajst-30553 28 7 - - PUNCT ajst-30553 28 8 wheeled wheel VERB ajst-30553 28 9 differential differential NOUN ajst-30553 28 10 chassis chassis NOUN ajst-30553 28 11 . . PUNCT ajst-30553 29 1 due due ADP ajst-30553 29 2 to to ADP ajst-30553 29 3 its its PRON ajst-30553 29 4 differential differential ADJ ajst-30553 29 5 design design NOUN ajst-30553 29 6 , , PUNCT ajst-30553 29 7 the the DET ajst-30553 29 8 robot robot NOUN ajst-30553 29 9 chassis chassis NOUN ajst-30553 29 10 has have VERB ajst-30553 29 11 good good ADJ ajst-30553 29 12 passability passability NOUN ajst-30553 29 13 and and CCONJ ajst-30553 29 14 flexible flexible ADJ ajst-30553 29 15 steering steering NOUN ajst-30553 29 16 ability ability NOUN ajst-30553 29 17 , , PUNCT ajst-30553 29 18 which which PRON ajst-30553 29 19 meets meet VERB ajst-30553 29 20 the the DET ajst-30553 29 21 mobility mobility NOUN ajst-30553 29 22 of of ADP ajst-30553 29 23 the the DET ajst-30553 29 24 robot robot NOUN ajst-30553 29 25 in in ADP ajst-30553 29 26 indoor indoor ADJ ajst-30553 29 27 complex complex ADJ ajst-30553 29 28 and and CCONJ ajst-30553 29 29 narrow narrow ADJ ajst-30553 29 30 environments environment NOUN ajst-30553 29 31 . . PUNCT ajst-30553 30 1 table table NOUN ajst-30553 30 2 2 2 NUM ajst-30553 30 3 - - SYM ajst-30553 30 4 1 1 NUM ajst-30553 30 5 . . PUNCT ajst-30553 30 6 robot robot NOUN ajst-30553 30 7 hardware hardware NOUN ajst-30553 30 8 table table NOUN ajst-30553 30 9 serial serial ADJ ajst-30553 30 10 number number NOUN ajst-30553 30 11 name name NOUN ajst-30553 30 12 ( ( PUNCT ajst-30553 30 13 of of ADP ajst-30553 30 14 a a DET ajst-30553 30 15 thing thing NOUN ajst-30553 30 16 ) ) PUNCT ajst-30553 30 17 quantities quantity NOUN ajst-30553 30 18 model model NOUN ajst-30553 30 19 number number NOUN ajst-30553 30 20 1 1 NUM ajst-30553 30 21 electrical electrical ADJ ajst-30553 30 22 machinery machinery NOUN ajst-30553 30 23 4 4 NUM ajst-30553 30 24 25v 25v NOUN ajst-30553 30 25 jga370 jga370 PROPN ajst-30553 30 26 dc dc PROPN ajst-30553 30 27 geared gear VERB ajst-30553 30 28 motor motor NOUN ajst-30553 30 29 2 2 NUM ajst-30553 30 30 wheel wheel NOUN ajst-30553 30 31 4 4 NUM ajst-30553 30 32 65 65 NUM ajst-30553 30 33 mm mm NUM ajst-30553 30 34 wheel wheel NOUN ajst-30553 30 35 3 3 NUM ajst-30553 30 36 raspberry raspberry NOUN ajst-30553 30 37 pi pi NOUN ajst-30553 30 38 ( ( PUNCT ajst-30553 30 39 computer computer NOUN ajst-30553 30 40 science science NOUN ajst-30553 30 41 ) ) PUNCT ajst-30553 30 42 1 1 NUM ajst-30553 30 43 raspberry raspberry NOUN ajst-30553 30 44 pi pi NOUN ajst-30553 30 45 4b 4b PROPN ajst-30553 30 46 4 4 NUM ajst-30553 30 47 laser laser NOUN ajst-30553 30 48 radar radar NOUN ajst-30553 30 49 1 1 NUM ajst-30553 30 50 rplidar rplidar NOUN ajst-30553 30 51 a2m8 a2m8 NOUN ajst-30553 30 52 - - PUNCT ajst-30553 30 53 r3 r3 ADJ ajst-30553 30 54 lidar lidar NOUN ajst-30553 30 55 5 5 NUM ajst-30553 30 56 electronic electronic ADJ ajst-30553 30 57 control control NOUN ajst-30553 30 58 panel panel NOUN ajst-30553 30 59 1 1 NUM ajst-30553 30 60 arduino arduino NOUN ajst-30553 30 61 mega mega ADJ ajst-30553 30 62 2560 2560 NUM ajst-30553 30 63 electronic electronic ADJ ajst-30553 30 64 control control NOUN ajst-30553 30 65 board board PROPN ajst-30553 30 66 6 6 NUM ajst-30553 30 67 rudder rudder NOUN ajst-30553 30 68 2 2 NUM ajst-30553 30 69 sg90 sg90 PROPN ajst-30553 30 70 9 9 NUM ajst-30553 30 71 g g NOUN ajst-30553 30 72 servo servo NOUN ajst-30553 30 73 7 7 NUM ajst-30553 30 74 electric electric ADJ ajst-30553 30 75 drive drive NOUN ajst-30553 30 76 module module NOUN ajst-30553 30 77 1 1 NUM ajst-30553 30 78 tb6612 tb6612 ADJ ajst-30553 30 79 motor motor NOUN ajst-30553 30 80 drive drive NOUN ajst-30553 30 81 module module NOUN ajst-30553 30 82 8 8 NUM ajst-30553 30 83 acrylic acrylic NOUN ajst-30553 30 84 plate plate NOUN ajst-30553 30 85 chassis chassis NOUN ajst-30553 30 86 2 2 NUM ajst-30553 30 87 highly highly ADV ajst-30553 30 88 transparent transparent ADJ ajst-30553 30 89 300mm*300mm*3 300mm*300mm*3 NUM ajst-30553 30 90 mm mm NOUN ajst-30553 30 91 acrylic acrylic NOUN ajst-30553 30 92 sheet sheet NOUN ajst-30553 30 93 9 9 NUM ajst-30553 30 94 infrared infrare VERB ajst-30553 30 95 night night PROPN ajst-30553 30 96 vision vision PROPN ajst-30553 30 97 camera camera PROPN ajst-30553 30 98 1 1 NUM ajst-30553 30 99 shyda shyda ADJ ajst-30553 30 100 720p 720p NUM ajst-30553 30 101 infrared infrare VERB ajst-30553 30 102 night night PROPN ajst-30553 30 103 vision vision PROPN ajst-30553 30 104 camera camera PROPN ajst-30553 30 105 10 10 NUM ajst-30553 30 106 power power NOUN ajst-30553 30 107 supply supply NOUN ajst-30553 30 108 1 1 NUM ajst-30553 30 109 great great ADJ ajst-30553 30 110 wall wall NOUN ajst-30553 30 111 100000hma 100000hma PROPN ajst-30553 30 112 charger charger NOUN ajst-30553 30 113 figure figure NOUN ajst-30553 30 114 2 2 NUM ajst-30553 30 115 - - SYM ajst-30553 30 116 1 1 NUM ajst-30553 30 117 . . PUNCT ajst-30553 31 1 robot robot NOUN ajst-30553 31 2 3d 3d PROPN ajst-30553 31 3 design design NOUN ajst-30553 31 4 drawing draw VERB ajst-30553 31 5 figure figure NOUN ajst-30553 31 6 2 2 NUM ajst-30553 31 7 - - SYM ajst-30553 31 8 2 2 NUM ajst-30553 31 9 . . PUNCT ajst-30553 31 10 robot robot NOUN ajst-30553 31 11 entity entity NOUN ajst-30553 31 12 mechanical mechanical ADJ ajst-30553 31 13 structure structure NOUN ajst-30553 31 14 design design NOUN ajst-30553 31 15 : : PUNCT ajst-30553 31 16 the the DET ajst-30553 31 17 robot robot NOUN ajst-30553 31 18 adopts adopt VERB ajst-30553 31 19 a a DET ajst-30553 31 20 three three NUM ajst-30553 31 21 - - PUNCT ajst-30553 31 22 layer layer NOUN ajst-30553 31 23 structure structure NOUN ajst-30553 31 24 design design NOUN ajst-30553 31 25 , , PUNCT ajst-30553 31 26 respectively respectively ADV ajst-30553 31 27 , , PUNCT ajst-30553 31 28 for for ADP ajst-30553 31 29 the the DET ajst-30553 31 30 top top ADJ ajst-30553 31 31 , , PUNCT ajst-30553 31 32 middle middle ADJ ajst-30553 31 33 and and CCONJ ajst-30553 31 34 bottom bottom ADJ ajst-30553 31 35 layers layer NOUN ajst-30553 31 36 , , PUNCT ajst-30553 31 37 of of ADP ajst-30553 31 38 which which PRON ajst-30553 31 39 the the DET ajst-30553 31 40 bottom bottom ADJ ajst-30553 31 41 layer layer NOUN ajst-30553 31 42 is be AUX ajst-30553 31 43 a a DET ajst-30553 31 44 four four NUM ajst-30553 31 45 - - PUNCT ajst-30553 31 46 wheel wheel NOUN ajst-30553 31 47 all all DET ajst-30553 31 48 - - PUNCT ajst-30553 31 49 wheel wheel NOUN ajst-30553 31 50 drive drive NOUN ajst-30553 31 51 mobile mobile NOUN ajst-30553 31 52 chassis chassis NOUN ajst-30553 31 53 organisation organisation NOUN ajst-30553 31 54 , , PUNCT ajst-30553 31 55 which which PRON ajst-30553 31 56 has have VERB ajst-30553 31 57 the the DET ajst-30553 31 58 characteristics characteristic NOUN ajst-30553 31 59 of of ADP ajst-30553 31 60 flexible flexible ADJ ajst-30553 31 61 steering steering NOUN ajst-30553 31 62 , , PUNCT ajst-30553 31 63 wall wall NOUN ajst-30553 31 64 adaptability adaptability NOUN ajst-30553 31 65 , , PUNCT ajst-30553 31 66 etc etc X ajst-30553 31 67 . . X ajst-30553 32 1 at at ADP ajst-30553 32 2 the the DET ajst-30553 32 3 same same ADJ ajst-30553 32 4 time time NOUN ajst-30553 32 5 , , PUNCT ajst-30553 32 6 it it PRON ajst-30553 32 7 can can AUX ajst-30553 32 8 also also ADV ajst-30553 32 9 be be AUX ajst-30553 32 10 used use VERB ajst-30553 32 11 in in ADP ajst-30553 32 12 the the DET ajst-30553 32 13 complex complex NOUN ajst-30553 32 14 and and CCONJ ajst-30553 32 15 224 224 NUM ajst-30553 32 16 changeable changeable ADJ ajst-30553 32 17 indoor indoor ADJ ajst-30553 32 18 environment environment NOUN ajst-30553 32 19 , , PUNCT ajst-30553 32 20 to to PART ajst-30553 32 21 avoid avoid VERB ajst-30553 32 22 the the DET ajst-30553 32 23 friction friction NOUN ajst-30553 32 24 generated generate VERB ajst-30553 32 25 by by ADP ajst-30553 32 26 the the DET ajst-30553 32 27 slave slave NOUN ajst-30553 32 28 wheels wheel NOUN ajst-30553 32 29 to to PART ajst-30553 32 30 avoid avoid VERB ajst-30553 32 31 the the DET ajst-30553 32 32 negative negative ADJ ajst-30553 32 33 impact impact NOUN ajst-30553 32 34 on on ADP ajst-30553 32 35 the the DET ajst-30553 32 36 robot robot NOUN ajst-30553 32 37 's 's PART ajst-30553 32 38 movement movement NOUN ajst-30553 32 39 . . PUNCT ajst-30553 33 1 the the DET ajst-30553 33 2 middle middle ADJ ajst-30553 33 3 layer layer NOUN ajst-30553 33 4 is be AUX ajst-30553 33 5 the the DET ajst-30553 33 6 controller controller NOUN ajst-30553 33 7 and and CCONJ ajst-30553 33 8 various various ADJ ajst-30553 33 9 types type NOUN ajst-30553 33 10 of of ADP ajst-30553 33 11 sensors sensor NOUN ajst-30553 33 12 , , PUNCT ajst-30553 33 13 as as ADV ajst-30553 33 14 well well ADV ajst-30553 33 15 as as ADP ajst-30553 33 16 the the DET ajst-30553 33 17 interconnection interconnection NOUN ajst-30553 33 18 between between ADP ajst-30553 33 19 the the DET ajst-30553 33 20 robot robot NOUN ajst-30553 33 21 module module NOUN ajst-30553 33 22 wiring wiring NOUN ajst-30553 33 23 part part NOUN ajst-30553 33 24 , , PUNCT ajst-30553 33 25 fully fully ADV ajst-30553 33 26 play play VERB ajst-30553 33 27 a a DET ajst-30553 33 28 role role NOUN ajst-30553 33 29 in in ADP ajst-30553 33 30 the the DET ajst-30553 33 31 protection protection NOUN ajst-30553 33 32 of of ADP ajst-30553 33 33 electronic electronic ADJ ajst-30553 33 34 components component NOUN ajst-30553 33 35 , , PUNCT ajst-30553 33 36 the the DET ajst-30553 33 37 top top ADJ ajst-30553 33 38 layer layer NOUN ajst-30553 33 39 of of ADP ajst-30553 33 40 the the DET ajst-30553 33 41 lidar lidar NOUN ajst-30553 33 42 mechanism mechanism NOUN ajst-30553 33 43 , , PUNCT ajst-30553 33 44 the the DET ajst-30553 33 45 mechanism mechanism NOUN ajst-30553 33 46 of of ADP ajst-30553 33 47 high high ADJ ajst-30553 33 48 flexibility flexibility NOUN ajst-30553 33 49 , , PUNCT ajst-30553 33 50 to to PART ajst-30553 33 51 facilitate facilitate VERB ajst-30553 33 52 the the DET ajst-30553 33 53 external external ADJ ajst-30553 33 54 ptz ptz PROPN ajst-30553 33 55 camera camera NOUN ajst-30553 33 56 real real ADJ ajst-30553 33 57 - - PUNCT ajst-30553 33 58 time time NOUN ajst-30553 33 59 shooting shooting NOUN ajst-30553 33 60 of of ADP ajst-30553 33 61 the the DET ajst-30553 33 62 indoor indoor ADJ ajst-30553 33 63 environment environment NOUN ajst-30553 33 64 . . PUNCT ajst-30553 34 1 vl vl INTJ ajst-30553 34 2 yi yi PROPN ajst-30553 35 1 xi xi INTJ ajst-30553 35 2 oi oi INTJ ajst-30553 35 3 yr yr NOUN ajst-30553 35 4 or or CCONJ ajst-30553 35 5 xr xr PROPN ajst-30553 35 6 ΞΈ ΞΈ PROPN ajst-30553 35 7 v1 v1 PROPN ajst-30553 35 8 v2 v2 NOUN ajst-30553 35 9 figure figure NOUN ajst-30553 35 10 2 2 NUM ajst-30553 35 11 - - SYM ajst-30553 35 12 3 3 NUM ajst-30553 35 13 . . PUNCT ajst-30553 35 14 moving move VERB ajst-30553 35 15 chassis chassis NOUN ajst-30553 35 16 kinematics kinematic NOUN ajst-30553 35 17 model model NOUN ajst-30553 35 18 in in ADP ajst-30553 35 19 order order NOUN ajst-30553 35 20 to to PART ajst-30553 35 21 facilitate facilitate VERB ajst-30553 35 22 the the DET ajst-30553 35 23 study study NOUN ajst-30553 35 24 , , PUNCT ajst-30553 35 25 the the DET ajst-30553 35 26 model model NOUN ajst-30553 35 27 is be AUX ajst-30553 35 28 also also ADV ajst-30553 35 29 simplified simplify VERB ajst-30553 35 30 , , PUNCT ajst-30553 35 31 as as SCONJ ajst-30553 35 32 the the DET ajst-30553 35 33 angular angular ADJ ajst-30553 35 34 velocity velocity NOUN ajst-30553 35 35 and and CCONJ ajst-30553 35 36 radius radius NOUN ajst-30553 35 37 of of ADP ajst-30553 35 38 the the DET ajst-30553 35 39 wheels wheel NOUN ajst-30553 35 40 on on ADP ajst-30553 35 41 the the DET ajst-30553 35 42 same same ADJ ajst-30553 35 43 side side NOUN ajst-30553 35 44 are be AUX ajst-30553 35 45 the the DET ajst-30553 35 46 same same ADJ ajst-30553 35 47 , , PUNCT ajst-30553 35 48 the the DET ajst-30553 35 49 angular angular ADJ ajst-30553 35 50 velocity velocity NOUN ajst-30553 35 51 of of ADP ajst-30553 35 52 the the DET ajst-30553 35 53 left left ADJ ajst-30553 35 54 side side NOUN ajst-30553 35 55 isπœ” isπœ” NOUN ajst-30553 35 56 πœ” πœ” ADP ajst-30553 35 57 πœ” πœ” NOUN ajst-30553 35 58 , , PUNCT ajst-30553 35 59 and and CCONJ ajst-30553 35 60 the the DET ajst-30553 35 61 angular angular ADJ ajst-30553 35 62 velocity velocity NOUN ajst-30553 35 63 of of ADP ajst-30553 35 64 the the DET ajst-30553 35 65 right right ADJ ajst-30553 35 66 side side NOUN ajst-30553 35 67 isπœ” isπœ” NOUN ajst-30553 35 68 πœ” πœ” ADP ajst-30553 35 69 πœ” πœ” NOUN ajst-30553 35 70 , , PUNCT ajst-30553 35 71 and and CCONJ ajst-30553 35 72 the the DET ajst-30553 35 73 grey grey ADJ ajst-30553 35 74 and and CCONJ ajst-30553 35 75 white white ADJ ajst-30553 35 76 solid solid ADJ ajst-30553 35 77 line line NOUN ajst-30553 35 78 four four NUM ajst-30553 35 79 - - PUNCT ajst-30553 35 80 wheel wheel NOUN ajst-30553 35 81 differential differential NOUN ajst-30553 35 82 model model NOUN ajst-30553 35 83 in in ADP ajst-30553 35 84 fig fig NOUN ajst-30553 35 85 . . PUNCT ajst-30553 36 1 2 2 NUM ajst-30553 36 2 - - SYM ajst-30553 36 3 3 3 NUM ajst-30553 36 4 is be AUX ajst-30553 36 5 equated equate VERB ajst-30553 36 6 to to ADP ajst-30553 36 7 the the DET ajst-30553 36 8 dark dark ADJ ajst-30553 36 9 grey grey PROPN ajst-30553 36 10 dashed dash VERB ajst-30553 36 11 line line NOUN ajst-30553 36 12 two two NUM ajst-30553 36 13 - - PUNCT ajst-30553 36 14 wheel wheel NOUN ajst-30553 36 15 differential differential NOUN ajst-30553 36 16 model model NOUN ajst-30553 36 17 . . PUNCT ajst-30553 37 1 the the DET ajst-30553 37 2 positions position NOUN ajst-30553 37 3 of of ADP ajst-30553 37 4 the the DET ajst-30553 37 5 equivalent equivalent NOUN ajst-30553 37 6 left leave VERB ajst-30553 37 7 and and CCONJ ajst-30553 37 8 right right ADJ ajst-30553 37 9 wheels wheel NOUN ajst-30553 37 10 are be AUX ajst-30553 37 11 l l NOUN ajst-30553 37 12 and and CCONJ ajst-30553 37 13 r r NOUN ajst-30553 37 14 , , PUNCT ajst-30553 37 15 respectively respectively ADV ajst-30553 37 16 , , PUNCT ajst-30553 37 17 and and CCONJ ajst-30553 37 18 the the DET ajst-30553 37 19 equivalent equivalent ADJ ajst-30553 37 20 distance distance NOUN ajst-30553 37 21 between between ADP ajst-30553 37 22 the the DET ajst-30553 37 23 centre centre NOUN ajst-30553 37 24 lines line NOUN ajst-30553 37 25 of of ADP ajst-30553 37 26 the the DET ajst-30553 37 27 two two NUM ajst-30553 37 28 wheels𝑑 wheels𝑑 NOUN ajst-30553 37 29 is be AUX ajst-30553 37 30 , , PUNCT ajst-30553 37 31 since since SCONJ ajst-30553 37 32 it it PRON ajst-30553 37 33 is be AUX ajst-30553 37 34 assumed assume VERB ajst-30553 37 35 that that SCONJ ajst-30553 37 36 there there PRON ajst-30553 37 37 is be VERB ajst-30553 37 38 no no DET ajst-30553 37 39 slip slip NOUN ajst-30553 37 40 in in ADP ajst-30553 37 41 this this DET ajst-30553 37 42 model,𝑑 model,𝑑 NOUN ajst-30553 37 43 𝑑 𝑑 NOUN ajst-30553 37 44 . . PUNCT ajst-30553 38 1 the the DET ajst-30553 38 2 linear linear ADJ ajst-30553 38 3 velocities velocity NOUN ajst-30553 38 4 of of ADP ajst-30553 38 5 the the DET ajst-30553 38 6 two two NUM ajst-30553 38 7 wheels wheel NOUN ajst-30553 38 8 are be AUX ajst-30553 38 9 : : PUNCT ajst-30553 38 10 𝒱 𝒱 PROPN ajst-30553 38 11 πœ” πœ” AUX ajst-30553 38 12 βˆ™ βˆ™ PROPN ajst-30553 38 13 π‘Ÿ π‘Ÿ PUNCT ajst-30553 38 14 𝒱 𝒱 NOUN ajst-30553 38 15 πœ” πœ” AUX ajst-30553 38 16 βˆ™ βˆ™ PROPN ajst-30553 38 17 π‘Ÿ π‘Ÿ PRON ajst-30553 38 18 figure figure VERB ajst-30553 38 19 2 2 NUM ajst-30553 38 20 - - SYM ajst-30553 38 21 4 4 NUM ajst-30553 38 22 . . PUNCT ajst-30553 38 23 trajectory trajectory NOUN ajst-30553 38 24 of of ADP ajst-30553 38 25 the the DET ajst-30553 38 26 trolley trolley NOUN ajst-30553 38 27 as as SCONJ ajst-30553 38 28 shown show VERB ajst-30553 38 29 in in ADP ajst-30553 38 30 figure figure NOUN ajst-30553 38 31 2 2 NUM ajst-30553 38 32 - - SYM ajst-30553 38 33 4 4 NUM ajst-30553 38 34 , , PUNCT ajst-30553 38 35 let let VERB ajst-30553 38 36 the the DET ajst-30553 38 37 robot robot NOUN ajst-30553 38 38 forward forward ADV ajst-30553 38 39 direction direction NOUN ajst-30553 38 40 beΟ‡ beΟ‡ NOUN ajst-30553 38 41 axis axis NOUN ajst-30553 38 42 and and CCONJ ajst-30553 38 43 Ξ³ Ξ³ NOUN ajst-30553 38 44 axis axis ADJ ajst-30553 38 45 positive positive ADJ ajst-30553 38 46 direction direction NOUN ajst-30553 38 47 , , PUNCT ajst-30553 38 48 the the DET ajst-30553 38 49 robot robot NOUN ajst-30553 38 50 motion motion NOUN ajst-30553 38 51 time time NOUN ajst-30553 38 52 interval interval NOUN ajst-30553 38 53 isβˆ†π”± isβˆ†π”± PROPN ajst-30553 38 54 , , PUNCT ajst-30553 38 55 the the DET ajst-30553 38 56 robot robot NOUN ajst-30553 38 57 speed speed NOUN ajst-30553 38 58 , , PUNCT ajst-30553 38 59 𝒱𝓍𝒱𝒴 𝒱𝓍𝒱𝒴 PROPN ajst-30553 38 60 and and CCONJ ajst-30553 38 61 angular angular ADJ ajst-30553 38 62 velocityΟ‰ velocityΟ‰ NOUN ajst-30553 38 63 , , PUNCT ajst-30553 38 64 through through ADP ajst-30553 38 65 the the DET ajst-30553 38 66 , , PUNCT ajst-30553 38 67 𝒱𝓍𝒱𝒴,πœ” 𝒱𝓍𝒱𝒴,πœ” NOUN ajst-30553 38 68 and and CCONJ ajst-30553 38 69 integration integration NOUN ajst-30553 38 70 under under ADP ajst-30553 38 71 the the DET ajst-30553 38 72 interval interval NOUN ajst-30553 38 73 time time NOUN ajst-30553 38 74 , , PUNCT ajst-30553 38 75 we we PRON ajst-30553 38 76 can can AUX ajst-30553 38 77 get get VERB ajst-30553 38 78 the the DET ajst-30553 38 79 displacement displacement NOUN ajst-30553 38 80 of of ADP ajst-30553 38 81 the the DET ajst-30553 38 82 robot robot NOUN ajst-30553 38 83 in in ADP ajst-30553 38 84 the the DET ajst-30553 38 85 coordinate coordinate NOUN ajst-30553 38 86 system system NOUN ajst-30553 38 87 πœ’β„―οΌŒΞ³β„― πœ’β„―οΌŒΞ³β„― VERB ajst-30553 38 88 π‘Žπ‘›π‘‘ π‘Žπ‘›π‘‘ PROPN ajst-30553 38 89 yaw yaw PROPN ajst-30553 38 90 angle angle NOUN ajst-30553 38 91 πœƒβ„― πœƒβ„― VERB ajst-30553 38 92 . . PUNCT ajst-30553 39 1 from from ADP ajst-30553 39 2 this this PRON ajst-30553 39 3 , , PUNCT ajst-30553 39 4 the the DET ajst-30553 39 5 motion motion NOUN ajst-30553 39 6 model model NOUN ajst-30553 39 7 of of ADP ajst-30553 39 8 the the DET ajst-30553 39 9 robot robot NOUN ajst-30553 39 10 located locate VERB ajst-30553 39 11 in in ADP ajst-30553 39 12 the the DET ajst-30553 39 13 3d 3d PROPN ajst-30553 39 14 world world NOUN ajst-30553 39 15 from from ADP ajst-30553 39 16 moment moment NOUN ajst-30553 39 17 t t NOUN ajst-30553 39 18 to to PART ajst-30553 39 19 moment moment VERB ajst-30553 39 20 t t NOUN ajst-30553 39 21 + + CCONJ ajst-30553 39 22 1 1 NUM ajst-30553 39 23 is be AUX ajst-30553 39 24 derived derive VERB ajst-30553 39 25 : : PUNCT ajst-30553 39 26 πœ’π”± πœ’π”± ADV ajst-30553 39 27 𝛾𝔱 𝛾𝔱 VERB ajst-30553 39 28 πœƒπ”± πœƒπ”± ADV ajst-30553 40 1 = = PUNCT ajst-30553 40 2 πœ’π”± πœ’π”± ADP ajst-30553 40 3 𝛾𝔱 𝛾𝔱 ADV ajst-30553 40 4 πœƒπ”± πœƒπ”± X ajst-30553 41 1 + + CCONJ ajst-30553 41 2 cos cos SCONJ ajst-30553 41 3 πœƒπ”± πœƒπ”± PRON ajst-30553 41 4 sin sin VERB ajst-30553 41 5 πœƒπ”± πœƒπ”± ADP ajst-30553 41 6 0 0 NUM ajst-30553 41 7 sin sin NOUN ajst-30553 41 8 πœƒπ”± πœƒπ”± X ajst-30553 41 9 cos cos VERB ajst-30553 41 10 πœƒπ”± πœƒπ”± ADV ajst-30553 41 11 0 0 NUM ajst-30553 41 12 0 0 NUM ajst-30553 41 13 0 0 NUM ajst-30553 41 14 1 1 NUM ajst-30553 41 15 πœ’β„― πœ’β„― ADP ajst-30553 41 16 𝛾 𝛾 PROPN ajst-30553 41 17 β„― β„― PROPN ajst-30553 41 18 πœƒβ„― πœƒβ„― ADP ajst-30553 41 19 2.2 2.2 NUM ajst-30553 41 20 . . PUNCT ajst-30553 42 1 software software NOUN ajst-30553 42 2 platform platform NOUN ajst-30553 42 3 design design VERB ajst-30553 42 4 the the DET ajst-30553 42 5 robot robot NOUN ajst-30553 42 6 software software NOUN ajst-30553 42 7 system system NOUN ajst-30553 42 8 is be AUX ajst-30553 42 9 mainly mainly ADV ajst-30553 42 10 configured configure VERB ajst-30553 42 11 as as ADP ajst-30553 42 12 a a DET ajst-30553 42 13 linuxbased linuxbased ADJ ajst-30553 42 14 virtual virtual ADJ ajst-30553 42 15 machine machine NOUN ajst-30553 42 16 on on ADP ajst-30553 42 17 the the DET ajst-30553 42 18 remote remote ADJ ajst-30553 42 19 computer computer NOUN ajst-30553 42 20 , , PUNCT ajst-30553 42 21 i.e. i.e. X ajst-30553 42 22 pc pc NOUN ajst-30553 42 23 , , PUNCT ajst-30553 42 24 which which PRON ajst-30553 42 25 uses use VERB ajst-30553 42 26 ubuntu ubuntu ADJ ajst-30553 42 27 20.04 20.04 NUM ajst-30553 42 28 system system NOUN ajst-30553 42 29 , , PUNCT ajst-30553 42 30 and and CCONJ ajst-30553 42 31 the the DET ajst-30553 42 32 robot robot NOUN ajst-30553 42 33 raspberry raspberry PROPN ajst-30553 42 34 pi pi NOUN ajst-30553 42 35 is be AUX ajst-30553 42 36 installed instal VERB ajst-30553 42 37 with with ADP ajst-30553 42 38 ros ros PROPN ajst-30553 42 39 melodic melodic ADJ ajst-30553 42 40 version version NOUN ajst-30553 42 41 of of ADP ajst-30553 42 42 ubuntu ubuntu ADJ ajst-30553 42 43 18.04 18.04 NUM ajst-30553 42 44 system system NOUN ajst-30553 42 45 . . PUNCT ajst-30553 43 1 the the DET ajst-30553 43 2 ros ros PROPN ajst-30553 43 3 systems system NOUN ajst-30553 43 4 of of ADP ajst-30553 43 5 the the DET ajst-30553 43 6 robot robot NOUN ajst-30553 43 7 and and CCONJ ajst-30553 43 8 the the DET ajst-30553 43 9 remote remote ADJ ajst-30553 43 10 computer computer NOUN ajst-30553 43 11 were be AUX ajst-30553 43 12 configured configure VERB ajst-30553 43 13 in in ADP ajst-30553 43 14 a a DET ajst-30553 43 15 master master NOUN ajst-30553 43 16 - - PUNCT ajst-30553 43 17 slave slave NOUN ajst-30553 43 18 configuration configuration NOUN ajst-30553 43 19 , , PUNCT ajst-30553 43 20 with with ADP ajst-30553 43 21 the the DET ajst-30553 43 22 robot robot NOUN ajst-30553 43 23 as as ADP ajst-30553 43 24 the the DET ajst-30553 43 25 host host NOUN ajst-30553 43 26 , , PUNCT ajst-30553 43 27 and and CCONJ ajst-30553 43 28 the the DET ajst-30553 43 29 two two NUM ajst-30553 43 30 communicated communicate VERB ajst-30553 43 31 with with ADP ajst-30553 43 32 each each DET ajst-30553 43 33 other other ADJ ajst-30553 43 34 via via ADP ajst-30553 43 35 ssh ssh NOUN ajst-30553 43 36 under under ADP ajst-30553 43 37 the the DET ajst-30553 43 38 lan lan NOUN ajst-30553 43 39 to to PART ajst-30553 43 40 achieve achieve VERB ajst-30553 43 41 motion motion NOUN ajst-30553 43 42 control control NOUN ajst-30553 43 43 and and CCONJ ajst-30553 43 44 real real ADJ ajst-30553 43 45 - - PUNCT ajst-30553 43 46 time time NOUN ajst-30553 43 47 monitoring monitoring NOUN ajst-30553 43 48 of of ADP ajst-30553 43 49 the the DET ajst-30553 43 50 robot robot NOUN ajst-30553 43 51 by by ADP ajst-30553 43 52 the the DET ajst-30553 43 53 remote remote ADJ ajst-30553 43 54 computer computer NOUN ajst-30553 43 55 . . PUNCT ajst-30553 44 1 the the DET ajst-30553 44 2 mobile mobile ADJ ajst-30553 44 3 robot robot NOUN ajst-30553 44 4 consists consist VERB ajst-30553 44 5 of of ADP ajst-30553 44 6 a a DET ajst-30553 44 7 high high ADJ ajst-30553 44 8 - - PUNCT ajst-30553 44 9 speed speed NOUN ajst-30553 44 10 processing processing NOUN ajst-30553 44 11 layer layer NOUN ajst-30553 44 12 and and CCONJ ajst-30553 44 13 a a DET ajst-30553 44 14 real real ADJ ajst-30553 44 15 - - PUNCT ajst-30553 44 16 time time NOUN ajst-30553 44 17 control control NOUN ajst-30553 44 18 layer layer NOUN ajst-30553 44 19 , , PUNCT ajst-30553 44 20 and and CCONJ ajst-30553 44 21 the the DET ajst-30553 44 22 high high ADJ ajst-30553 44 23 - - PUNCT ajst-30553 44 24 speed speed NOUN ajst-30553 44 25 processing processing NOUN ajst-30553 44 26 layer layer NOUN ajst-30553 44 27 and and CCONJ ajst-30553 44 28 the the DET ajst-30553 44 29 real real ADJ ajst-30553 44 30 - - PUNCT ajst-30553 44 31 time time NOUN ajst-30553 44 32 control control NOUN ajst-30553 44 33 layer layer NOUN ajst-30553 44 34 use use VERB ajst-30553 44 35 asynchronous asynchronous ADJ ajst-30553 44 36 serial serial ADJ ajst-30553 44 37 communication communication NOUN ajst-30553 44 38 ; ; PUNCT ajst-30553 44 39 the the DET ajst-30553 44 40 high high ADJ ajst-30553 44 41 - - PUNCT ajst-30553 44 42 speed speed NOUN ajst-30553 44 43 processing processing NOUN ajst-30553 44 44 layer layer NOUN ajst-30553 44 45 contains contain VERB ajst-30553 44 46 a a DET ajst-30553 44 47 raspberry raspberry NOUN ajst-30553 44 48 pi pi NOUN ajst-30553 44 49 , , PUNCT ajst-30553 44 50 a a DET ajst-30553 44 51 deep deep ADJ ajst-30553 44 52 degree degree NOUN ajst-30553 44 53 camera camera NOUN ajst-30553 44 54 , , PUNCT ajst-30553 44 55 a a DET ajst-30553 44 56 lidar lidar NOUN ajst-30553 44 57 , , PUNCT ajst-30553 44 58 and and CCONJ ajst-30553 44 59 a a DET ajst-30553 44 60 keypad keypad NOUN ajst-30553 44 61 operation operation NOUN ajst-30553 44 62 . . PUNCT ajst-30553 45 1 through through ADP ajst-30553 45 2 ssh ssh NOUN ajst-30553 45 3 remote remote NOUN ajst-30553 45 4 control control NOUN ajst-30553 45 5 to to PART ajst-30553 45 6 achieve achieve VERB ajst-30553 45 7 the the DET ajst-30553 45 8 link link NOUN ajst-30553 45 9 system system NOUN ajst-30553 45 10 ros ros PROPN ajst-30553 45 11 melodic melodic NOUN ajst-30553 45 12 to to PART ajst-30553 45 13 build build VERB ajst-30553 45 14 a a DET ajst-30553 45 15 distributed distribute VERB ajst-30553 45 16 communication communication NOUN ajst-30553 45 17 architecture architecture NOUN ajst-30553 45 18 , , PUNCT ajst-30553 45 19 using use VERB ajst-30553 45 20 the the DET ajst-30553 45 21 unique unique ADJ ajst-30553 45 22 multi multi ADJ ajst-30553 45 23 - - ADJ ajst-30553 45 24 machine machine ADJ ajst-30553 45 25 distributed distribute VERB ajst-30553 45 26 communication communication NOUN ajst-30553 45 27 function function NOUN ajst-30553 45 28 of of ADP ajst-30553 45 29 the the DET ajst-30553 45 30 ros ros PROPN ajst-30553 45 31 system system NOUN ajst-30553 45 32 to to PART ajst-30553 45 33 configure configure VERB ajst-30553 45 34 the the DET ajst-30553 45 35 network network NOUN ajst-30553 45 36 communication communication NOUN ajst-30553 45 37 environment environment NOUN ajst-30553 45 38 between between ADP ajst-30553 45 39 the the DET ajst-30553 45 40 robot robot NOUN ajst-30553 45 41 and and CCONJ ajst-30553 45 42 the the DET ajst-30553 45 43 pc pc NOUN ajst-30553 45 44 with with ADP ajst-30553 45 45 a a DET ajst-30553 45 46 lan lan NOUN ajst-30553 45 47 , , PUNCT ajst-30553 45 48 and and CCONJ ajst-30553 45 49 at at ADP ajst-30553 45 50 the the DET ajst-30553 45 51 same same ADJ ajst-30553 45 52 time time NOUN ajst-30553 45 53 configure configure NOUN ajst-30553 45 54 the the DET ajst-30553 45 55 ssh ssh NOUN ajst-30553 45 56 master master NOUN ajst-30553 45 57 and and CCONJ ajst-30553 45 58 slave slave NOUN ajst-30553 45 59 , , PUNCT ajst-30553 45 60 with with ADP ajst-30553 45 61 the the DET ajst-30553 45 62 raspberry raspberry NOUN ajst-30553 45 63 pi pi NOUN ajst-30553 45 64 as as ADP ajst-30553 45 65 the the DET ajst-30553 45 66 master master NOUN ajst-30553 45 67 and and CCONJ ajst-30553 45 68 the the DET ajst-30553 45 69 pc pc NOUN ajst-30553 45 70 as as ADP ajst-30553 45 71 the the DET ajst-30553 45 72 slave slave NOUN ajst-30553 45 73 . . PUNCT ajst-30553 46 1 through through ADP ajst-30553 46 2 ssh ssh NOUN ajst-30553 46 3 remote remote NOUN ajst-30553 46 4 connection connection NOUN ajst-30553 46 5 , , PUNCT ajst-30553 46 6 " " PUNCT ajst-30553 46 7 pc pc NOUN ajst-30553 46 8 + + CCONJ ajst-30553 46 9 embedded embed VERB ajst-30553 46 10 " " PUNCT ajst-30553 46 11 is be AUX ajst-30553 46 12 realised realise VERB ajst-30553 46 13 , , PUNCT ajst-30553 46 14 i.e. i.e. X ajst-30553 46 15 the the DET ajst-30553 46 16 embedded embed VERB ajst-30553 46 17 system system NOUN ajst-30553 46 18 ( ( PUNCT ajst-30553 46 19 raspberry raspberry NOUN ajst-30553 46 20 pi pi NOUN ajst-30553 46 21 ) ) PUNCT ajst-30553 46 22 acts act VERB ajst-30553 46 23 as as ADP ajst-30553 46 24 the the DET ajst-30553 46 25 control control NOUN ajst-30553 46 26 system system NOUN ajst-30553 46 27 of of ADP ajst-30553 46 28 the the DET ajst-30553 46 29 robot robot NOUN ajst-30553 46 30 body body NOUN ajst-30553 46 31 for for ADP ajst-30553 46 32 data datum NOUN ajst-30553 46 33 acquisition acquisition NOUN ajst-30553 46 34 and and CCONJ ajst-30553 46 35 direct direct ADJ ajst-30553 46 36 chassis chassis NOUN ajst-30553 46 37 control control NOUN ajst-30553 46 38 , , PUNCT ajst-30553 46 39 while while SCONJ ajst-30553 46 40 the the DET ajst-30553 46 41 pc pc NOUN ajst-30553 46 42 end end VERB ajst-30553 46 43 225 225 NUM ajst-30553 46 44 realises realise VERB ajst-30553 46 45 remote remote ADJ ajst-30553 46 46 monitoring monitoring NOUN ajst-30553 46 47 and and CCONJ ajst-30553 46 48 manipulation manipulation NOUN ajst-30553 46 49 to to PART ajst-30553 46 50 achieve achieve VERB ajst-30553 46 51 graphical graphical ADJ ajst-30553 46 52 display display NOUN ajst-30553 46 53 and and CCONJ ajst-30553 46 54 function function NOUN ajst-30553 46 55 calculation calculation NOUN ajst-30553 46 56 . . PUNCT ajst-30553 47 1 the the DET ajst-30553 47 2 pc pc NOUN ajst-30553 47 3 side side NOUN ajst-30553 47 4 uses use VERB ajst-30553 47 5 ros ros PROPN ajst-30553 47 6 for for ADP ajst-30553 47 7 the the DET ajst-30553 47 8 robot robot NOUN ajst-30553 47 9 system system NOUN ajst-30553 47 10 construction construction NOUN ajst-30553 47 11 and and CCONJ ajst-30553 47 12 sensor sensor NOUN ajst-30553 47 13 space space NOUN ajst-30553 47 14 - - PUNCT ajst-30553 47 15 time time NOUN ajst-30553 47 16 synchronisation synchronisation NOUN ajst-30553 47 17 module module NOUN ajst-30553 47 18 , , PUNCT ajst-30553 47 19 and and CCONJ ajst-30553 47 20 the the DET ajst-30553 47 21 raspberry raspberry NOUN ajst-30553 47 22 pi pi NOUN ajst-30553 47 23 uses use VERB ajst-30553 47 24 the the DET ajst-30553 47 25 ros ros PROPN ajst-30553 47 26 workspace workspace NOUN ajst-30553 47 27 in in ADP ajst-30553 47 28 the the DET ajst-30553 47 29 linux linux PROPN ajst-30553 47 30 system system NOUN ajst-30553 47 31 . . PUNCT ajst-30553 48 1 the the DET ajst-30553 48 2 raspberry raspberry NOUN ajst-30553 48 3 pi pi NOUN ajst-30553 48 4 is be AUX ajst-30553 48 5 mainly mainly ADV ajst-30553 48 6 responsible responsible ADJ ajst-30553 48 7 for for ADP ajst-30553 48 8 issuing issue VERB ajst-30553 48 9 movement movement NOUN ajst-30553 48 10 commands command NOUN ajst-30553 48 11 to to ADP ajst-30553 48 12 the the DET ajst-30553 48 13 real real ADJ ajst-30553 48 14 - - PUNCT ajst-30553 48 15 time time NOUN ajst-30553 48 16 control control NOUN ajst-30553 48 17 layer layer NOUN ajst-30553 48 18 and and CCONJ ajst-30553 48 19 receiving receive VERB ajst-30553 48 20 status status NOUN ajst-30553 48 21 information information NOUN ajst-30553 48 22 returned return VERB ajst-30553 48 23 by by ADP ajst-30553 48 24 the the DET ajst-30553 48 25 robot robot NOUN ajst-30553 48 26 's 's PART ajst-30553 48 27 real real ADJ ajst-30553 48 28 - - PUNCT ajst-30553 48 29 time time NOUN ajst-30553 48 30 control control NOUN ajst-30553 48 31 layer layer NOUN ajst-30553 48 32 , , PUNCT ajst-30553 48 33 as as ADV ajst-30553 48 34 well well ADV ajst-30553 48 35 as as ADP ajst-30553 48 36 the the DET ajst-30553 48 37 sensor sensor NOUN ajst-30553 48 38 data datum NOUN ajst-30553 48 39 such such ADJ ajst-30553 48 40 as as ADP ajst-30553 48 41 the the DET ajst-30553 48 42 depth depth NOUN ajst-30553 48 43 camera camera NOUN ajst-30553 48 44 and and CCONJ ajst-30553 48 45 lidar lidar NOUN ajst-30553 48 46 . . PUNCT ajst-30553 49 1 the the DET ajst-30553 49 2 overall overall ADJ ajst-30553 49 3 system system NOUN ajst-30553 49 4 results result NOUN ajst-30553 49 5 of of ADP ajst-30553 49 6 the the DET ajst-30553 49 7 robot robot NOUN ajst-30553 49 8 are be AUX ajst-30553 49 9 shown show VERB ajst-30553 49 10 in in ADP ajst-30553 49 11 figure figure NOUN ajst-30553 49 12 25 25 NUM ajst-30553 49 13 . . PUNCT ajst-30553 50 1 figure figure VERB ajst-30553 50 2 2 2 NUM ajst-30553 50 3 - - SYM ajst-30553 50 4 5 5 NUM ajst-30553 50 5 . . PUNCT ajst-30553 50 6 overall overall ADJ ajst-30553 50 7 structure structure NOUN ajst-30553 50 8 of of ADP ajst-30553 50 9 the the DET ajst-30553 50 10 robot robot NOUN ajst-30553 50 11 system system NOUN ajst-30553 50 12 3 3 NUM ajst-30553 50 13 . . PUNCT ajst-30553 50 14 data datum NOUN ajst-30553 50 15 processing processing NOUN ajst-30553 50 16 and and CCONJ ajst-30553 50 17 multi multi ADJ ajst-30553 50 18 - - ADJ ajst-30553 50 19 sensor sensor ADJ ajst-30553 50 20 fusion fusion NOUN ajst-30553 50 21 strategies strategy NOUN ajst-30553 50 22 3.1 3.1 NUM ajst-30553 50 23 . . PUNCT ajst-30553 50 24 data datum NOUN ajst-30553 50 25 processing processing NOUN ajst-30553 50 26 wheel wheel NOUN ajst-30553 50 27 odometer odometer NOUN ajst-30553 50 28 data datum NOUN ajst-30553 50 29 processing processing NOUN ajst-30553 50 30 is be AUX ajst-30553 50 31 the the DET ajst-30553 50 32 basis basis NOUN ajst-30553 50 33 of of ADP ajst-30553 50 34 robot robot NOUN ajst-30553 50 35 movement movement NOUN ajst-30553 50 36 , , PUNCT ajst-30553 50 37 firstly firstly ADV ajst-30553 50 38 reading read VERB ajst-30553 50 39 the the DET ajst-30553 50 40 encoder encoder NOUN ajst-30553 50 41 pulses pulse NOUN ajst-30553 50 42 each each DET ajst-30553 50 43 motor motor NOUN ajst-30553 50 44 encoder encoder NOUN ajst-30553 50 45 outputs output VERB ajst-30553 50 46 a a DET ajst-30553 50 47 pulse pulse NOUN ajst-30553 50 48 signal signal NOUN ajst-30553 50 49 indicating indicate VERB ajst-30553 50 50 the the DET ajst-30553 50 51 rotation rotation NOUN ajst-30553 50 52 of of ADP ajst-30553 50 53 the the DET ajst-30553 50 54 wheel wheel NOUN ajst-30553 50 55 . . PUNCT ajst-30553 51 1 the the DET ajst-30553 51 2 following follow VERB ajst-30553 51 3 calculation calculation NOUN ajst-30553 51 4 formula formula NOUN ajst-30553 51 5 can can AUX ajst-30553 51 6 be be AUX ajst-30553 51 7 used use VERB ajst-30553 51 8 : : PUNCT ajst-30553 51 9 whereπœƒ whereπœƒ PROPN ajst-30553 51 10 is be AUX ajst-30553 51 11 the the DET ajst-30553 51 12 current current ADJ ajst-30553 51 13 radian radian NOUN ajst-30553 51 14 of of ADP ajst-30553 51 15 wheel wheel NOUN ajst-30553 51 16 rotation;Ξ½ rotation;Ξ½ NOUN ajst-30553 51 17 is be AUX ajst-30553 51 18 the the DET ajst-30553 51 19 number number NOUN ajst-30553 51 20 of of ADP ajst-30553 51 21 pulses pulse NOUN ajst-30553 51 22 read read VERB ajst-30553 51 23 by by ADP ajst-30553 51 24 the the DET ajst-30553 51 25 encoder;Ξ½ encoder;Ξ½ NOUN ajst-30553 51 26 is be AUX ajst-30553 51 27 the the DET ajst-30553 51 28 number number NOUN ajst-30553 51 29 of of ADP ajst-30553 51 30 pulses pulse NOUN ajst-30553 51 31 per per ADP ajst-30553 51 32 revolution revolution NOUN ajst-30553 51 33 of of ADP ajst-30553 51 34 the the DET ajst-30553 51 35 encoder encoder NOUN ajst-30553 51 36 . . PUNCT ajst-30553 52 1 the the DET ajst-30553 52 2 number number NOUN ajst-30553 52 3 of of ADP ajst-30553 52 4 encoder encoder NOUN ajst-30553 52 5 pulses pulse NOUN ajst-30553 52 6 is be AUX ajst-30553 52 7 read read VERB ajst-30553 52 8 through through ADP ajst-30553 52 9 the the DET ajst-30553 52 10 arduino arduino NOUN ajst-30553 52 11 's 's PART ajst-30553 52 12 external external ADJ ajst-30553 52 13 interrupt interrupt ADJ ajst-30553 52 14 function function NOUN ajst-30553 52 15 and and CCONJ ajst-30553 52 16 accumulated accumulate VERB ajst-30553 52 17 to to PART ajst-30553 52 18 calculate calculate VERB ajst-30553 52 19 the the DET ajst-30553 52 20 angle angle NOUN ajst-30553 52 21 of of ADP ajst-30553 52 22 rotation rotation NOUN ajst-30553 52 23 . . PUNCT ajst-30553 53 1 calculating calculate VERB ajst-30553 53 2 the the DET ajst-30553 53 3 wheel wheel ADJ ajst-30553 53 4 linear linear NOUN ajst-30553 53 5 velocity velocity NOUN ajst-30553 53 6 calculates calculate VERB ajst-30553 53 7 the the DET ajst-30553 53 8 linear linear ADJ ajst-30553 53 9 velocity velocity NOUN ajst-30553 53 10 based base VERB ajst-30553 53 11 on on ADP ajst-30553 53 12 the the DET ajst-30553 53 13 angular angular ADJ ajst-30553 53 14 velocity velocity NOUN ajst-30553 53 15 of of ADP ajst-30553 53 16 the the DET ajst-30553 53 17 wheelπœ” wheelπœ” NOUN ajst-30553 53 18 : : PUNCT ajst-30553 53 19 where where SCONJ ajst-30553 53 20 r r NOUN ajst-30553 53 21 is be AUX ajst-30553 53 22 the the DET ajst-30553 53 23 wheel wheel ADJ ajst-30553 53 24 radius;πœ” radius;πœ” PROPN ajst-30553 53 25 is be AUX ajst-30553 53 26 the the DET ajst-30553 53 27 angular angular ADJ ajst-30553 53 28 velocity velocity NOUN ajst-30553 53 29 , , PUNCT ajst-30553 53 30 calculated calculate VERB ajst-30553 53 31 as as ADP ajst-30553 53 32 : : PUNCT ajst-30553 53 33 whereδ𝑑 whereδ𝑑 ADJ ajst-30553 53 34 is be AUX ajst-30553 53 35 the the DET ajst-30553 53 36 sampling sample VERB ajst-30553 53 37 interval interval NOUN ajst-30553 53 38 . . PUNCT ajst-30553 54 1 after after ADP ajst-30553 54 2 calculating calculate VERB ajst-30553 54 3 the the DET ajst-30553 54 4 x x NOUN ajst-30553 54 5 , , PUNCT ajst-30553 54 6 y y PROPN ajst-30553 54 7 velocity velocity NOUN ajst-30553 54 8 and and CCONJ ajst-30553 54 9 angular angular ADJ ajst-30553 54 10 velocity velocity NOUN ajst-30553 54 11 , , PUNCT ajst-30553 54 12 the the DET ajst-30553 54 13 arduino arduino NOUN ajst-30553 54 14 electronic electronic ADJ ajst-30553 54 15 control control PROPN ajst-30553 54 16 board board PROPN ajst-30553 54 17 sends send VERB ajst-30553 54 18 the the DET ajst-30553 54 19 data datum NOUN ajst-30553 54 20 to to ADP ajst-30553 54 21 the the DET ajst-30553 54 22 raspberry raspberry NOUN ajst-30553 54 23 pi pi NOUN ajst-30553 54 24 through through ADP ajst-30553 54 25 the the DET ajst-30553 54 26 serial serial ADJ ajst-30553 54 27 port port NOUN ajst-30553 54 28 ( ( PUNCT ajst-30553 54 29 uart uart PROPN ajst-30553 54 30 ) ) PUNCT ajst-30553 54 31 . . PUNCT ajst-30553 55 1 the the DET ajst-30553 55 2 raspberry raspberry NOUN ajst-30553 55 3 pi pi NOUN ajst-30553 55 4 parses parse VERB ajst-30553 55 5 this this DET ajst-30553 55 6 data datum NOUN ajst-30553 55 7 through through ADP ajst-30553 55 8 rosserial rosserial ADJ ajst-30553 55 9 and and CCONJ ajst-30553 55 10 publishes publish VERB ajst-30553 55 11 a a DET ajst-30553 55 12 ros ros PROPN ajst-30553 55 13 odometry odometry NOUN ajst-30553 55 14 message message NOUN ajst-30553 55 15 : : PUNCT ajst-30553 55 16 ultimately ultimately ADV ajst-30553 55 17 , , PUNCT ajst-30553 55 18 /odom /odom PUNCT ajst-30553 55 19 topic topic NOUN ajst-30553 55 20 provides provide VERB ajst-30553 55 21 information information NOUN ajst-30553 55 22 about about ADP ajst-30553 55 23 the the DET ajst-30553 55 24 robot robot NOUN ajst-30553 55 25 's 's PART ajst-30553 55 26 position position NOUN ajst-30553 55 27 for for ADP ajst-30553 55 28 use use NOUN ajst-30553 55 29 in in ADP ajst-30553 55 30 slam slam NOUN ajst-30553 55 31 and and CCONJ ajst-30553 55 32 path path NOUN ajst-30553 55 33 planning planning NOUN ajst-30553 55 34 . . PUNCT ajst-30553 56 1 secondly secondly ADV ajst-30553 56 2 , , PUNCT ajst-30553 56 3 facing face VERB ajst-30553 56 4 the the DET ajst-30553 56 5 processing processing NOUN ajst-30553 56 6 of of ADP ajst-30553 56 7 lidar lidar NOUN ajst-30553 56 8 data data PROPN ajst-30553 56 9 , , PUNCT ajst-30553 56 10 slam slam VERB ajst-30553 56 11 through through ADP ajst-30553 56 12 the the DET ajst-30553 56 13 use use NOUN ajst-30553 56 14 of of ADP ajst-30553 56 15 lidar lidar NOUN ajst-30553 56 16 sensors sensor NOUN ajst-30553 56 17 is be AUX ajst-30553 56 18 called call VERB ajst-30553 56 19 laser laser NOUN ajst-30553 56 20 slam slam NOUN ajst-30553 56 21 technology technology NOUN ajst-30553 56 22 , , PUNCT ajst-30553 56 23 after after ADP ajst-30553 56 24 a a DET ajst-30553 56 25 comparison comparison NOUN ajst-30553 56 26 of of ADP ajst-30553 56 27 the the DET ajst-30553 56 28 various various ADJ ajst-30553 56 29 laser laser NOUN ajst-30553 56 30 slam slam NOUN ajst-30553 56 31 algorithms algorithm NOUN ajst-30553 56 32 , , PUNCT ajst-30553 56 33 the the DET ajst-30553 56 34 robot robot NOUN ajst-30553 56 35 adopts adopt VERB ajst-30553 56 36 the the DET ajst-30553 56 37 gmapping gmapping NOUN ajst-30553 56 38 algorithm algorithm NOUN ajst-30553 56 39 as as ADP ajst-30553 56 40 the the DET ajst-30553 56 41 basic basic ADJ ajst-30553 56 42 algorithm algorithm NOUN ajst-30553 56 43 for for ADP ajst-30553 56 44 experimentation experimentation NOUN ajst-30553 56 45 and and CCONJ ajst-30553 56 46 research research NOUN ajst-30553 56 47 , , PUNCT ajst-30553 56 48 based base VERB ajst-30553 56 49 on on ADP ajst-30553 56 50 the the DET ajst-30553 56 51 particle particle NOUN ajst-30553 56 52 filtering filter VERB ajst-30553 56 53 framework framework NOUN ajst-30553 56 54 of of ADP ajst-30553 56 55 the the DET ajst-30553 56 56 laser laser NOUN ajst-30553 56 57 slam slam PROPN ajst-30553 56 58 , , PUNCT ajst-30553 56 59 rbpf rbpf PROPN ajst-30553 56 60 particle particle NOUN ajst-30553 56 61 filtering filtering NOUN ajst-30553 56 62 algorithms algorithm NOUN ajst-30553 56 63 , , PUNCT ajst-30553 56 64 i.e. i.e. X ajst-30553 56 65 , , PUNCT ajst-30553 56 66 to to PART ajst-30553 56 67 separate separate VERB ajst-30553 56 68 the the DET ajst-30553 56 69 process process NOUN ajst-30553 56 70 of of ADP ajst-30553 56 71 localisation localisation NOUN ajst-30553 56 72 and and CCONJ ajst-30553 56 73 map map VERB ajst-30553 56 74 building building NOUN ajst-30553 56 75 , , PUNCT ajst-30553 56 76 localisation localisation NOUN ajst-30553 56 77 is be AUX ajst-30553 56 78 carried carry VERB ajst-30553 56 79 out out ADP ajst-30553 56 80 first first ADV ajst-30553 56 81 , , PUNCT ajst-30553 56 82 and and CCONJ ajst-30553 56 83 then then ADV ajst-30553 56 84 map map VERB ajst-30553 56 85 building building NOUN ajst-30553 56 86 . . PUNCT ajst-30553 57 1 and and CCONJ ajst-30553 57 2 then then ADV ajst-30553 57 3 build build VERB ajst-30553 57 4 the the DET ajst-30553 57 5 map map NOUN ajst-30553 57 6 , , PUNCT ajst-30553 57 7 combined combine VERB ajst-30553 57 8 with with ADP ajst-30553 57 9 odometry odometry NOUN ajst-30553 57 10 and and CCONJ ajst-30553 57 11 laser laser NOUN ajst-30553 57 12 information information NOUN ajst-30553 57 13 , , PUNCT ajst-30553 57 14 each each DET ajst-30553 57 15 particle particle NOUN ajst-30553 57 16 carries carry VERB ajst-30553 57 17 a a DET ajst-30553 57 18 map map NOUN ajst-30553 57 19 , , PUNCT ajst-30553 57 20 and and CCONJ ajst-30553 57 21 the the DET ajst-30553 57 22 construction construction NOUN ajst-30553 57 23 of of ADP ajst-30553 57 24 small small ADJ ajst-30553 57 25 scene scene NOUN ajst-30553 57 26 maps map NOUN ajst-30553 57 27 requires require VERB ajst-30553 57 28 less less ADJ ajst-30553 57 29 computation computation NOUN ajst-30553 57 30 and and CCONJ ajst-30553 57 31 higher high ADJ ajst-30553 57 32 accuracy.the accuracy.the DET ajst-30553 57 33 core core NOUN ajst-30553 57 34 problem problem NOUN ajst-30553 57 35 of of ADP ajst-30553 57 36 gmapping gmapping NOUN ajst-30553 57 37 is be AUX ajst-30553 57 38 to to PART ajst-30553 57 39 build build VERB ajst-30553 57 40 the the DET ajst-30553 57 41 environment environment NOUN ajst-30553 57 42 around around ADP ajst-30553 57 43 the the DET ajst-30553 57 44 robot robot NOUN ajst-30553 57 45 while while SCONJ ajst-30553 57 46 completing complete VERB ajst-30553 57 47 the the DET ajst-30553 57 48 robot robot NOUN ajst-30553 57 49 's 's PART ajst-30553 57 50 own own ADJ ajst-30553 57 51 localisation localisation NOUN ajst-30553 57 52 , , PUNCT ajst-30553 57 53 which which PRON ajst-30553 57 54 can can AUX ajst-30553 57 55 be be AUX ajst-30553 57 56 described describe VERB ajst-30553 57 57 by by ADP ajst-30553 57 58 the the DET ajst-30553 57 59 joint joint ADJ ajst-30553 57 60 distribution distribution NOUN ajst-30553 57 61 model model NOUN ajst-30553 57 62 in in ADP ajst-30553 57 63 the the DET ajst-30553 57 64 probability probability NOUN ajst-30553 57 65 theory.at theory.at PRON ajst-30553 57 66 the the DET ajst-30553 57 67 current current ADJ ajst-30553 57 68 moment moment NOUN ajst-30553 57 69 the the DET ajst-30553 57 70 robot robot NOUN ajst-30553 57 71 's 's PART ajst-30553 57 72 sensor sensor NOUN ajst-30553 57 73 dataz dataz NOUN ajst-30553 57 74 and and CCONJ ajst-30553 57 75 the the DET ajst-30553 57 76 robot robot NOUN ajst-30553 57 77 's 's PART ajst-30553 57 78 under under ADP ajst-30553 57 79 the the DET ajst-30553 57 80 premise premise NOUN ajst-30553 57 81 of of ADP ajst-30553 57 82 the the DET ajst-30553 57 83 sensor sensor NOUN ajst-30553 57 84 data datum NOUN ajst-30553 57 85 of of ADP ajst-30553 57 86 the the DET ajst-30553 57 87 robot𝓂 robot𝓂 NOUN ajst-30553 57 88 and and CCONJ ajst-30553 57 89 the the DET ajst-30553 57 90 control control NOUN ajst-30553 57 91 parameter𝒰 parameter𝒰 PROPN ajst-30553 57 92 at at ADP ajst-30553 57 93 the the DET ajst-30553 57 94 current current ADJ ajst-30553 57 95 moment moment NOUN ajst-30553 57 96 , , PUNCT ajst-30553 57 97 the the DET ajst-30553 57 98 robot robot NOUN ajst-30553 57 99 position𝒳 position𝒳 PROPN ajst-30553 57 100 and and CCONJ ajst-30553 57 101 the the DET ajst-30553 57 102 map map NOUN ajst-30553 57 103 of of ADP ajst-30553 57 104 the the DET ajst-30553 57 105 environment environment NOUN ajst-30553 57 106 in in ADP ajst-30553 57 107 which which PRON ajst-30553 57 108 the the DET ajst-30553 57 109 robot robot NOUN ajst-30553 57 110 itself itself PRON ajst-30553 57 111 is be AUX ajst-30553 57 112 located locate VERB ajst-30553 57 113 can can AUX ajst-30553 57 114 be be AUX ajst-30553 57 115 expressed express VERB ajst-30553 57 116 by by ADP ajst-30553 57 117 the the DET ajst-30553 57 118 following follow VERB ajst-30553 57 119 equation equation NOUN ajst-30553 57 120 : : PUNCT ajst-30553 57 121 𝒫 𝒫 NOUN ajst-30553 57 122 𝒳𝔱 𝒳𝔱 PROPN ajst-30553 57 123 , , PUNCT ajst-30553 57 124 𝓂|z 𝓂|z NOUN ajst-30553 57 125 : : PUNCT ajst-30553 57 126 𝔱 𝔱 X ajst-30553 57 127 , , PUNCT ajst-30553 57 128 𝒰 𝒰 PROPN ajst-30553 57 129 βˆΆπ”± βˆΆπ”± NUM ajst-30553 57 130 based base VERB ajst-30553 57 131 on on ADP ajst-30553 57 132 the the DET ajst-30553 57 133 bayes baye NOUN ajst-30553 57 134 ' ' PART ajst-30553 57 135 rule rule NOUN ajst-30553 57 136 of of ADP ajst-30553 57 137 probability probability NOUN ajst-30553 57 138 theory theory NOUN ajst-30553 57 139 , , PUNCT ajst-30553 57 140 the the DET ajst-30553 57 141 following follow VERB ajst-30553 57 142 equation equation NOUN ajst-30553 57 143 can can AUX ajst-30553 57 144 be be AUX ajst-30553 57 145 derived derive VERB ajst-30553 57 146 : : PUNCT ajst-30553 57 147 𝒫 𝒫 NOUN ajst-30553 57 148 𝒳𝔱 𝒳𝔱 PROPN ajst-30553 57 149 , , PUNCT ajst-30553 57 150 𝓂|z 𝓂|z NOUN ajst-30553 57 151 : : PUNCT ajst-30553 57 152 𝔱 𝔱 X ajst-30553 57 153 , , PUNCT ajst-30553 57 154 𝒰 𝒰 PROPN ajst-30553 57 155 βˆΆπ”± βˆΆπ”± NUM ajst-30553 57 156 = = ADJ ajst-30553 57 157 𝒫 𝒫 NOUN ajst-30553 57 158 𝓂|𝒳 𝓂|𝒳 NOUN ajst-30553 57 159 βˆΆπ”± βˆΆπ”± PROPN ajst-30553 57 160 , , PUNCT ajst-30553 57 161 z z NOUN ajst-30553 57 162 : : PUNCT ajst-30553 57 163 𝔱 𝔱 PROPN ajst-30553 57 164 𝒫 𝒫 NOUN ajst-30553 57 165 𝒳 𝒳 PROPN ajst-30553 57 166 : : PUNCT ajst-30553 57 167 𝔱|z 𝔱|z INTJ ajst-30553 57 168 : : PUNCT ajst-30553 57 169 𝔱 𝔱 X ajst-30553 57 170 , , PUNCT ajst-30553 57 171 𝒰 𝒰 PROPN ajst-30553 57 172 : : PUNCT ajst-30553 57 173 𝔱 𝔱 X ajst-30553 57 174 finally finally ADV ajst-30553 57 175 processing process VERB ajst-30553 57 176 camera camera NOUN ajst-30553 57 177 data datum NOUN ajst-30553 57 178 , , PUNCT ajst-30553 57 179 the the DET ajst-30553 57 180 robot robot NOUN ajst-30553 57 181 uses use VERB ajst-30553 57 182 depthimage_to_laserscan depthimage_to_laserscan PROPN ajst-30553 57 183 can can AUX ajst-30553 57 184 be be AUX ajst-30553 57 185 achieved achieve VERB ajst-30553 57 186 depth depth NOUN ajst-30553 57 187 image image NOUN ajst-30553 57 188 and and CCONJ ajst-30553 57 189 radar radar NOUN ajst-30553 57 190 data datum NOUN ajst-30553 57 191 conversion conversion NOUN ajst-30553 57 192 , , PUNCT ajst-30553 57 193 radar radar NOUN ajst-30553 57 194 data data NOUN ajst-30553 57 195 is be AUX ajst-30553 57 196 two two NUM ajst-30553 57 197 - - PUNCT ajst-30553 57 198 dimensional dimensional ADJ ajst-30553 57 199 , , PUNCT ajst-30553 57 200 planar planar ADJ ajst-30553 57 201 , , PUNCT ajst-30553 57 202 depth depth NOUN ajst-30553 57 203 image image NOUN ajst-30553 57 204 is be AUX ajst-30553 57 205 three three NUM ajst-30553 57 206 - - PUNCT ajst-30553 57 207 dimensional dimensional ADJ ajst-30553 57 208 , , PUNCT ajst-30553 57 209 is be AUX ajst-30553 57 210 a a DET ajst-30553 57 211 number number NOUN ajst-30553 57 212 of of ADP ajst-30553 57 213 twodimensional twodimensional ADJ ajst-30553 57 214 ( ( PUNCT ajst-30553 57 215 horizontal horizontal ADJ ajst-30553 57 216 ) ) PUNCT ajst-30553 57 217 data datum NOUN ajst-30553 57 218 vertical vertical ADJ ajst-30553 57 219 superposition superposition NOUN ajst-30553 57 220 , , PUNCT ajst-30553 57 221 if if SCONJ ajst-30553 57 222 the the DET ajst-30553 57 223 three three NUM ajst-30553 57 224 - - PUNCT ajst-30553 57 225 dimensional dimensional ADJ ajst-30553 57 226 data datum NOUN ajst-30553 57 227 will will AUX ajst-30553 57 228 be be AUX ajst-30553 57 229 converted convert VERB ajst-30553 57 230 to to ADP ajst-30553 57 231 two two NUM ajst-30553 57 232 - - PUNCT ajst-30553 57 233 dimensional dimensional ADJ ajst-30553 57 234 data datum NOUN ajst-30553 57 235 , , PUNCT ajst-30553 57 236 only only ADV ajst-30553 57 237 need need VERB ajst-30553 57 238 to to PART ajst-30553 57 239 take take VERB ajst-30553 57 240 the the DET ajst-30553 57 241 depth depth NOUN ajst-30553 57 242 map map NOUN ajst-30553 57 243 of of ADP ajst-30553 57 244 the the DET ajst-30553 57 245 a a DET ajst-30553 57 246 layer layer NOUN ajst-30553 57 247 can can AUX ajst-30553 57 248 be be AUX ajst-30553 57 249 . . PUNCT ajst-30553 58 1 the the DET ajst-30553 58 2 visual visual ADJ ajst-30553 58 3 slam slam NOUN ajst-30553 58 4 front front ADJ ajst-30553 58 5 - - PUNCT ajst-30553 58 6 end end NOUN ajst-30553 58 7 estimation estimation NOUN ajst-30553 58 8 , , PUNCT ajst-30553 58 9 i.e. i.e. X ajst-30553 58 10 , , PUNCT ajst-30553 58 11 the the DET ajst-30553 58 12 front front ADJ ajst-30553 58 13 - - PUNCT ajst-30553 58 14 end end NOUN ajst-30553 58 15 data datum NOUN ajst-30553 58 16 processing processing NOUN ajst-30553 58 17 of of ADP ajst-30553 58 18 the the DET ajst-30553 58 19 rgb rgb PROPN ajst-30553 58 20 - - PROPN ajst-30553 58 21 d d PROPN ajst-30553 58 22 camera camera NOUN ajst-30553 58 23 , , PUNCT ajst-30553 58 24 is be AUX ajst-30553 58 25 mainly mainly ADV ajst-30553 58 26 based base VERB ajst-30553 58 27 on on ADP ajst-30553 58 28 feature feature NOUN ajst-30553 58 29 comparison comparison NOUN ajst-30553 58 30 and and CCONJ ajst-30553 58 31 matching match VERB ajst-30553 58 32 between between ADP ajst-30553 58 33 neighbouring neighbour VERB ajst-30553 58 34 image image NOUN ajst-30553 58 35 frames frame NOUN ajst-30553 58 36 to to PART ajst-30553 58 37 compute compute VERB ajst-30553 58 38 the the DET ajst-30553 58 39 pose pose NOUN ajst-30553 58 40 transformation transformation NOUN ajst-30553 58 41 . . PUNCT ajst-30553 59 1 in in ADP ajst-30553 59 2 the the DET ajst-30553 59 3 multisensor multisensor NOUN ajst-30553 59 4 fusion fusion NOUN ajst-30553 59 5 slam slam NOUN ajst-30553 59 6 scheme scheme NOUN ajst-30553 59 7 proposed propose VERB ajst-30553 59 8 in in ADP ajst-30553 59 9 this this DET ajst-30553 59 10 project project NOUN ajst-30553 59 11 , , PUNCT ajst-30553 59 12 the the DET ajst-30553 59 13 rgb rgb PROPN ajst-30553 59 14 - - PROPN ajst-30553 59 15 d d PROPN ajst-30553 59 16 camera camera NOUN ajst-30553 59 17 is be AUX ajst-30553 59 18 able able ADJ ajst-30553 59 19 to to PART ajst-30553 59 20 capture capture VERB ajst-30553 59 21 both both CCONJ ajst-30553 59 22 the the DET ajst-30553 59 23 rgb rgb PROPN ajst-30553 59 24 image image NOUN ajst-30553 59 25 and and CCONJ ajst-30553 59 26 the the DET ajst-30553 59 27 depth depth NOUN ajst-30553 59 28 image image NOUN ajst-30553 59 29 of of ADP ajst-30553 59 30 the the DET ajst-30553 59 31 object object NOUN ajst-30553 59 32 to to PART ajst-30553 59 33 be be AUX ajst-30553 59 34 measured measure VERB ajst-30553 59 35 , , PUNCT ajst-30553 59 36 and and CCONJ ajst-30553 59 37 the the DET ajst-30553 59 38 rgb rgb PROPN ajst-30553 59 39 image image NOUN ajst-30553 59 40 is be AUX ajst-30553 59 41 firstly firstly ADV ajst-30553 59 42 subjected subject VERB ajst-30553 59 43 to to ADP ajst-30553 59 44 feature feature NOUN ajst-30553 59 45 matching matching NOUN ajst-30553 59 46 , , PUNCT ajst-30553 59 47 and and CCONJ ajst-30553 59 48 then then ADV ajst-30553 59 49 the the DET ajst-30553 59 50 changes change NOUN ajst-30553 59 51 between between ADP ajst-30553 59 52 adjacent adjacent ADJ ajst-30553 59 53 images image NOUN ajst-30553 59 54 are be AUX ajst-30553 59 55 obtained obtain VERB ajst-30553 59 56 to to PART ajst-30553 59 57 get get VERB ajst-30553 59 58 the the DET ajst-30553 59 59 camera camera NOUN ajst-30553 59 60 's 's PART ajst-30553 59 61 pose pose NOUN ajst-30553 59 62 changes change NOUN ajst-30553 59 63 , , PUNCT ajst-30553 59 64 which which PRON ajst-30553 59 65 , , PUNCT ajst-30553 59 66 combined combine VERB ajst-30553 59 67 with with ADP ajst-30553 59 68 the the DET ajst-30553 59 69 depth depth NOUN ajst-30553 59 70 information information NOUN ajst-30553 59 71 of of ADP ajst-30553 59 72 the the DET ajst-30553 59 73 obstacles obstacle NOUN ajst-30553 59 74 scanned scan VERB ajst-30553 59 75 by by ADP ajst-30553 59 76 the the DET ajst-30553 59 77 robot robot NOUN ajst-30553 59 78 , , PUNCT ajst-30553 59 79 can can AUX ajst-30553 59 80 be be AUX ajst-30553 59 81 used use VERB ajst-30553 59 82 to to PART ajst-30553 59 83 estimate estimate VERB ajst-30553 59 84 the the DET ajst-30553 59 85 robot robot NOUN ajst-30553 59 86 's 's PART ajst-30553 59 87 own own ADJ ajst-30553 59 88 motion motion NOUN ajst-30553 59 89 state state NOUN ajst-30553 59 90 and and CCONJ ajst-30553 59 91 motion motion NOUN ajst-30553 59 92 pose pose VERB ajst-30553 59 93 . . PUNCT ajst-30553 60 1 figure figure VERB ajst-30553 60 2 3 3 NUM ajst-30553 60 3 - - SYM ajst-30553 60 4 1 1 NUM ajst-30553 60 5 shows show VERB ajst-30553 60 6 the the DET ajst-30553 60 7 specific specific ADJ ajst-30553 60 8 framework framework NOUN ajst-30553 60 9 of of ADP ajst-30553 60 10 rgb rgb PROPN ajst-30553 60 11 - - PROPN ajst-30553 60 12 d d PROPN ajst-30553 60 13 camera camera NOUN ajst-30553 60 14 front front ADJ ajst-30553 60 15 - - PUNCT ajst-30553 60 16 end end NOUN ajst-30553 60 17 data datum NOUN ajst-30553 60 18 processing processing NOUN ajst-30553 60 19 . . PUNCT ajst-30553 61 1 academic academic ADJ ajst-30553 61 2 journal journal NOUN ajst-30553 61 3 of of ADP ajst-30553 61 4 science science NOUN ajst-30553 61 5 and and CCONJ ajst-30553 61 6 technology technology NOUN ajst-30553 61 7 issn issn NOUN ajst-30553 61 8 : : PUNCT ajst-30553 61 9 2771 2771 NUM ajst-30553 61 10 - - SYM ajst-30553 61 11 3032 3032 NUM ajst-30553 61 12 | | NOUN ajst-30553 61 13 vol vol NOUN ajst-30553 61 14 . . PROPN ajst-30553 61 15 15 15 NUM ajst-30553 61 16 , , PUNCT ajst-30553 61 17 no no INTJ ajst-30553 61 18 . . NOUN ajst-30553 61 19 1 1 NUM ajst-30553 61 20 , , PUNCT ajst-30553 61 21 2025 2025 NUM ajst-30553 61 22 226 226 NUM ajst-30553 61 23 figure figure NOUN ajst-30553 61 24 3 3 NUM ajst-30553 61 25 - - SYM ajst-30553 61 26 1 1 NUM ajst-30553 61 27 . . PUNCT ajst-30553 62 1 rgb rgb PROPN ajst-30553 62 2 - - PROPN ajst-30553 62 3 d d PROPN ajst-30553 62 4 camera camera NOUN ajst-30553 62 5 front front ADJ ajst-30553 62 6 - - PUNCT ajst-30553 62 7 end end NOUN ajst-30553 62 8 data datum NOUN ajst-30553 62 9 processing processing NOUN ajst-30553 62 10 framework framework NOUN ajst-30553 62 11 3.2 3.2 NUM ajst-30553 62 12 . . PUNCT ajst-30553 63 1 multi multi ADJ ajst-30553 63 2 - - ADJ ajst-30553 63 3 sensor sensor ADJ ajst-30553 63 4 fusion fusion NOUN ajst-30553 63 5 strategy strategy NOUN ajst-30553 63 6 3.2.1 3.2.1 NUM ajst-30553 63 7 . . PUNCT ajst-30553 64 1 fusion fusion NOUN ajst-30553 64 2 of of ADP ajst-30553 64 3 lidar lidar NOUN ajst-30553 64 4 and and CCONJ ajst-30553 64 5 odometer odometer NOUN ajst-30553 64 6 data datum NOUN ajst-30553 64 7 to to PART ajst-30553 64 8 solve solve VERB ajst-30553 64 9 the the DET ajst-30553 64 10 problem problem NOUN ajst-30553 64 11 of of ADP ajst-30553 64 12 time time NOUN ajst-30553 64 13 synchronisation synchronisation NOUN ajst-30553 64 14 and and CCONJ ajst-30553 64 15 spatial spatial ADJ ajst-30553 64 16 calibration calibration NOUN ajst-30553 64 17 of of ADP ajst-30553 64 18 lidar lidar NOUN ajst-30553 64 19 and and CCONJ ajst-30553 64 20 odometer odometer NOUN ajst-30553 64 21 . . PUNCT ajst-30553 65 1 the the DET ajst-30553 65 2 lidar lidar NOUN ajst-30553 65 3 and and CCONJ ajst-30553 65 4 wheeled wheel VERB ajst-30553 65 5 odometer odometer NOUN ajst-30553 65 6 ( ( PUNCT ajst-30553 65 7 50hz 50hz NOUN ajst-30553 65 8 ) ) PUNCT ajst-30553 65 9 are be AUX ajst-30553 65 10 aligned align VERB ajst-30553 65 11 with with ADP ajst-30553 65 12 time time NOUN ajst-30553 65 13 stamps stamp NOUN ajst-30553 65 14 using use VERB ajst-30553 65 15 linear linear ADJ ajst-30553 65 16 interpolation interpolation NOUN ajst-30553 65 17 to to PART ajst-30553 65 18 ensure ensure VERB ajst-30553 65 19 that that SCONJ ajst-30553 65 20 the the DET ajst-30553 65 21 time time NOUN ajst-30553 65 22 deviation deviation NOUN ajst-30553 65 23 of of ADP ajst-30553 65 24 the the DET ajst-30553 65 25 data data NOUN ajst-30553 65 26 is be AUX ajst-30553 65 27 less less ADJ ajst-30553 65 28 than than ADP ajst-30553 65 29 5 5 NUM ajst-30553 65 30 ms ms NOUN ajst-30553 65 31 . . PROPN ajst-30553 65 32 using use VERB ajst-30553 65 33 the the DET ajst-30553 65 34 eye eye NOUN ajst-30553 65 35 - - PUNCT ajst-30553 65 36 on on ADP ajst-30553 65 37 - - PUNCT ajst-30553 65 38 hand hand NOUN ajst-30553 65 39 calibration calibration NOUN ajst-30553 65 40 method method NOUN ajst-30553 65 41 , , PUNCT ajst-30553 65 42 the the DET ajst-30553 65 43 data datum NOUN ajst-30553 65 44 is be AUX ajst-30553 65 45 collected collect VERB ajst-30553 65 46 by by ADP ajst-30553 65 47 the the DET ajst-30553 65 48 robot robot NOUN ajst-30553 65 49 through through ADP ajst-30553 65 50 a a DET ajst-30553 65 51 uniform uniform ADJ ajst-30553 65 52 linear linear ADJ ajst-30553 65 53 motion motion NOUN ajst-30553 65 54 to to PART ajst-30553 65 55 calibrate calibrate VERB ajst-30553 65 56 the the DET ajst-30553 65 57 positional positional ADJ ajst-30553 65 58 transition transition NOUN ajst-30553 65 59 relationship relationship NOUN ajst-30553 65 60 between between ADP ajst-30553 65 61 the the DET ajst-30553 65 62 lidar lidar NOUN ajst-30553 65 63 and and CCONJ ajst-30553 65 64 the the DET ajst-30553 65 65 wheeled wheeled ADJ ajst-30553 65 66 odometer odometer NOUN ajst-30553 65 67 to to PART ajst-30553 65 68 eliminate eliminate VERB ajst-30553 65 69 the the DET ajst-30553 65 70 installation installation NOUN ajst-30553 65 71 offset offset NOUN ajst-30553 65 72 error error NOUN ajst-30553 65 73 . . PUNCT ajst-30553 66 1 the the DET ajst-30553 66 2 lidar lidar NOUN ajst-30553 66 3 generates generate VERB ajst-30553 66 4 2d 2d NUM ajst-30553 66 5 point point NOUN ajst-30553 66 6 cloud cloud NOUN ajst-30553 66 7 data datum NOUN ajst-30553 66 8 through through ADP ajst-30553 66 9 rotational rotational ADJ ajst-30553 66 10 scanning scanning NOUN ajst-30553 66 11 to to PART ajst-30553 66 12 provide provide VERB ajst-30553 66 13 accurate accurate ADJ ajst-30553 66 14 distance distance NOUN ajst-30553 66 15 measurements measurement NOUN ajst-30553 66 16 of of ADP ajst-30553 66 17 the the DET ajst-30553 66 18 environment environment NOUN ajst-30553 66 19 , , PUNCT ajst-30553 66 20 while while SCONJ ajst-30553 66 21 the the DET ajst-30553 66 22 odometer odometer NOUN ajst-30553 66 23 data datum NOUN ajst-30553 66 24 provides provide VERB ajst-30553 66 25 position position NOUN ajst-30553 66 26 and and CCONJ ajst-30553 66 27 velocity velocity NOUN ajst-30553 66 28 information information NOUN ajst-30553 66 29 of of ADP ajst-30553 66 30 the the DET ajst-30553 66 31 robot robot NOUN ajst-30553 66 32 during during ADP ajst-30553 66 33 motion motion NOUN ajst-30553 66 34 . . PUNCT ajst-30553 67 1 the the DET ajst-30553 67 2 fusion fusion NOUN ajst-30553 67 3 of of ADP ajst-30553 67 4 the the DET ajst-30553 67 5 two two NUM ajst-30553 67 6 data datum NOUN ajst-30553 67 7 can can AUX ajst-30553 67 8 be be AUX ajst-30553 67 9 achieved achieve VERB ajst-30553 67 10 through through ADP ajst-30553 67 11 ros ros PROPN ajst-30553 67 12 topic topic NOUN ajst-30553 67 13 communication communication NOUN ajst-30553 67 14 . . PUNCT ajst-30553 68 1 the the DET ajst-30553 68 2 lidar lidar NOUN ajst-30553 68 3 data data NOUN ajst-30553 68 4 is be AUX ajst-30553 68 5 transmitted transmit VERB ajst-30553 68 6 as as ADP ajst-30553 68 7 ros ros PROPN ajst-30553 68 8 message message NOUN ajst-30553 68 9 format format NOUN ajst-30553 68 10 laserscan laserscan PROPN ajst-30553 68 11 , , PUNCT ajst-30553 68 12 which which PRON ajst-30553 68 13 transmits transmit VERB ajst-30553 68 14 the the DET ajst-30553 68 15 distance distance NOUN ajst-30553 68 16 information information NOUN ajst-30553 68 17 of of ADP ajst-30553 68 18 the the DET ajst-30553 68 19 environment environment NOUN ajst-30553 68 20 to to ADP ajst-30553 68 21 the the DET ajst-30553 68 22 host host NOUN ajst-30553 68 23 computer computer NOUN ajst-30553 68 24 through through ADP ajst-30553 68 25 the the DET ajst-30553 68 26 scan scan PROPN ajst-30553 68 27 topic topic NOUN ajst-30553 68 28 . . PUNCT ajst-30553 69 1 odometer odometer NOUN ajst-30553 69 2 data data PROPN ajst-30553 69 3 is be AUX ajst-30553 69 4 transmitted transmit VERB ajst-30553 69 5 as as ADP ajst-30553 69 6 odometry odometry NOUN ajst-30553 69 7 messages message NOUN ajst-30553 69 8 containing contain VERB ajst-30553 69 9 the the DET ajst-30553 69 10 robot robot NOUN ajst-30553 69 11 's 's PART ajst-30553 69 12 motion motion NOUN ajst-30553 69 13 status status NOUN ajst-30553 69 14 ( ( PUNCT ajst-30553 69 15 speed speed NOUN ajst-30553 69 16 , , PUNCT ajst-30553 69 17 position position NOUN ajst-30553 69 18 , , PUNCT ajst-30553 69 19 etc etc X ajst-30553 69 20 . . X ajst-30553 69 21 ) ) PUNCT ajst-30553 69 22 via via ADP ajst-30553 69 23 odom odom NOUN ajst-30553 69 24 topics topic NOUN ajst-30553 69 25 . . PUNCT ajst-30553 70 1 the the DET ajst-30553 70 2 topic topic NOUN ajst-30553 70 3 transmits transmit VERB ajst-30553 70 4 the the DET ajst-30553 70 5 lidar lidar NOUN ajst-30553 70 6 and and CCONJ ajst-30553 70 7 odometry odometry NOUN ajst-30553 70 8 data datum NOUN ajst-30553 70 9 is be AUX ajst-30553 70 10 processed process VERB ajst-30553 70 11 to to PART ajst-30553 70 12 compute compute VERB ajst-30553 70 13 the the DET ajst-30553 70 14 exact exact ADJ ajst-30553 70 15 position position NOUN ajst-30553 70 16 of of ADP ajst-30553 70 17 the the DET ajst-30553 70 18 robot robot NOUN ajst-30553 70 19 which which PRON ajst-30553 70 20 in in ADP ajst-30553 70 21 turn turn NOUN ajst-30553 70 22 is be AUX ajst-30553 70 23 used use VERB ajst-30553 70 24 for for ADP ajst-30553 70 25 slam slam NOUN ajst-30553 70 26 and and CCONJ ajst-30553 70 27 path path NOUN ajst-30553 70 28 planning planning NOUN ajst-30553 70 29 . . PUNCT ajst-30553 71 1 meanwhile meanwhile ADV ajst-30553 71 2 the the DET ajst-30553 71 3 tf tf PROPN ajst-30553 71 4 coordinate coordinate NOUN ajst-30553 71 5 transformation transformation NOUN ajst-30553 71 6 of of ADP ajst-30553 71 7 the the DET ajst-30553 71 8 robot robot NOUN ajst-30553 71 9 is be AUX ajst-30553 71 10 as as SCONJ ajst-30553 71 11 follows follow VERB ajst-30553 71 12 : : PUNCT ajst-30553 71 13 table table NOUN ajst-30553 71 14 3 3 NUM ajst-30553 71 15 - - SYM ajst-30553 71 16 1 1 NUM ajst-30553 71 17 . . PUNCT ajst-30553 72 1 tf tf NOUN ajst-30553 72 2 transformations transformation NOUN ajst-30553 72 3 for for ADP ajst-30553 72 4 gmapping gmappe VERB ajst-30553 72 5 tf tf NUM ajst-30553 72 6 transformation transformation NOUN ajst-30553 72 7 descriptions description NOUN ajst-30553 72 8 mandatory mandatory ADJ ajst-30553 72 9 transformations transformation NOUN ajst-30553 72 10 < < X ajst-30553 72 11 scan scan ADJ ajst-30553 72 12 frame>β†’ frame>β†’ PROPN ajst-30553 72 13 base_link base_link VERB ajst-30553 72 14 transformations transformation NOUN ajst-30553 72 15 between between ADP ajst-30553 72 16 the the DET ajst-30553 72 17 lidar lidar NOUN ajst-30553 72 18 coordinate coordinate NOUN ajst-30553 72 19 system system NOUN ajst-30553 72 20 and and CCONJ ajst-30553 72 21 the the DET ajst-30553 72 22 base base NOUN ajst-30553 72 23 coordinate coordinate NOUN ajst-30553 72 24 system system NOUN ajst-30553 72 25 , , PUNCT ajst-30553 72 26 typically typically ADV ajst-30553 72 27 published publish VERB ajst-30553 72 28 by by ADP ajst-30553 72 29 robot_state_publisher robot_state_publisher PUNCT ajst-30553 72 30 or or CCONJ ajst-30553 72 31 static_transform_publisher static_transform_publisher PROPN ajst-30553 72 32 base_linkβ†’ base_linkβ†’ PROPN ajst-30553 72 33 odom odom NOUN ajst-30553 72 34 transformations transformation NOUN ajst-30553 72 35 between between ADP ajst-30553 72 36 the the DET ajst-30553 72 37 base base NOUN ajst-30553 72 38 coordinate coordinate NOUN ajst-30553 72 39 system system NOUN ajst-30553 72 40 and and CCONJ ajst-30553 72 41 the the DET ajst-30553 72 42 odometer odometer NOUN ajst-30553 72 43 coordinate coordinate NOUN ajst-30553 72 44 system system NOUN ajst-30553 72 45 are be AUX ajst-30553 72 46 generally generally ADV ajst-30553 72 47 issued issue VERB ajst-30553 72 48 by by ADP ajst-30553 72 49 the the DET ajst-30553 72 50 odometer odometer NOUN ajst-30553 72 51 node node ADJ ajst-30553 72 52 transformation transformation NOUN ajst-30553 72 53 of of ADP ajst-30553 72 54 releases release NOUN ajst-30553 72 55 mapβ†’ mapβ†’ PROPN ajst-30553 72 56 odom odom PROPN ajst-30553 72 57 transformation transformation NOUN ajst-30553 72 58 between between ADP ajst-30553 72 59 the the DET ajst-30553 72 60 map map NOUN ajst-30553 72 61 coordinate coordinate NOUN ajst-30553 72 62 system system NOUN ajst-30553 72 63 and and CCONJ ajst-30553 72 64 the the DET ajst-30553 72 65 robot robot NOUN ajst-30553 72 66 's 's PART ajst-30553 72 67 odometer odometer NOUN ajst-30553 72 68 coordinate coordinate NOUN ajst-30553 72 69 system system NOUN ajst-30553 72 70 to to PART ajst-30553 72 71 estimate estimate VERB ajst-30553 72 72 the the DET ajst-30553 72 73 robot robot NOUN ajst-30553 72 74 's 's PART ajst-30553 72 75 position position NOUN ajst-30553 72 76 in in ADP ajst-30553 72 77 the the DET ajst-30553 72 78 map map NOUN ajst-30553 72 79 after after ADP ajst-30553 72 80 having having AUX ajst-30553 72 81 started start VERB ajst-30553 72 82 the the DET ajst-30553 72 83 cart cart NOUN ajst-30553 72 84 and and CCONJ ajst-30553 72 85 sensors sensor NOUN ajst-30553 72 86 , , PUNCT ajst-30553 72 87 released release VERB ajst-30553 72 88 tf tf PROPN ajst-30553 72 89 , , PUNCT ajst-30553 72 90 odom odom NOUN ajst-30553 72 91 , , PUNCT ajst-30553 72 92 scan scan INTJ ajst-30553 72 93 , , PUNCT ajst-30553 72 94 start start VERB ajst-30553 72 95 the the DET ajst-30553 72 96 gmapping gmapping NOUN ajst-30553 72 97 algorithm algorithm NOUN ajst-30553 72 98 its its PRON ajst-30553 72 99 tf tf PROPN ajst-30553 72 100 tree tree NOUN ajst-30553 72 101 is be AUX ajst-30553 72 102 shown show VERB ajst-30553 72 103 below below ADP ajst-30553 72 104 figure figure NOUN ajst-30553 72 105 3 3 NUM ajst-30553 72 106 - - SYM ajst-30553 72 107 2 2 NUM ajst-30553 72 108 . . PUNCT ajst-30553 73 1 tf tf PROPN ajst-30553 73 2 tree tree NOUN ajst-30553 73 3 227 227 NUM ajst-30553 73 4 an an DET ajst-30553 73 5 improved improved ADJ ajst-30553 73 6 mean mean ADJ ajst-30553 73 7 square square ADJ ajst-30553 73 8 information information NOUN ajst-30553 73 9 filtering filtering NOUN ajst-30553 73 10 ( ( PUNCT ajst-30553 73 11 msif msif NOUN ajst-30553 73 12 ) ) PUNCT ajst-30553 73 13 algorithm algorithm NOUN ajst-30553 73 14 is be AUX ajst-30553 73 15 proposed propose VERB ajst-30553 73 16 to to PART ajst-30553 73 17 address address VERB ajst-30553 73 18 the the DET ajst-30553 73 19 drift drift NOUN ajst-30553 73 20 and and CCONJ ajst-30553 73 21 cumulative cumulative ADJ ajst-30553 73 22 error error NOUN ajst-30553 73 23 of of ADP ajst-30553 73 24 the the DET ajst-30553 73 25 wheeled wheeled ADJ ajst-30553 73 26 odometer odometer NOUN ajst-30553 73 27 . . PUNCT ajst-30553 74 1 the the DET ajst-30553 74 2 system system NOUN ajst-30553 74 3 state state NOUN ajst-30553 74 4 vector vector NOUN ajst-30553 74 5 is be AUX ajst-30553 74 6 the the DET ajst-30553 74 7 robot robot NOUN ajst-30553 74 8 position position NOUN ajst-30553 74 9 πœ’ πœ’ PROPN ajst-30553 74 10 𝒳 𝒳 PROPN ajst-30553 74 11 , , PUNCT ajst-30553 74 12 𝒴 𝒴 PROPN ajst-30553 74 13 , , PUNCT ajst-30553 74 14 𝒡 𝒡 PROPN ajst-30553 74 15 , , PUNCT ajst-30553 74 16 the the DET ajst-30553 74 17 inputs input NOUN ajst-30553 74 18 are be AUX ajst-30553 74 19 the the DET ajst-30553 74 20 wheeled wheel VERB ajst-30553 74 21 odometer odometer NOUN ajst-30553 74 22 linear linear PROPN ajst-30553 74 23 velocity𝜐 velocity𝜐 VERB ajst-30553 74 24 andπœ” andπœ” NOUN ajst-30553 74 25 angular angular ADJ ajst-30553 74 26 velocity velocity NOUN ajst-30553 74 27 , , PUNCT ajst-30553 74 28 and and CCONJ ajst-30553 74 29 the the DET ajst-30553 74 30 lidar lidar NOUN ajst-30553 74 31 provides provide VERB ajst-30553 74 32 the the DET ajst-30553 74 33 angular angular ADJ ajst-30553 74 34 velocityπœ” velocityπœ” NOUN ajst-30553 74 35 and and CCONJ ajst-30553 74 36 acceleration acceleration NOUN ajst-30553 74 37 a. a. NOUN ajst-30553 74 38 the the DET ajst-30553 74 39 system system NOUN ajst-30553 74 40 state state NOUN ajst-30553 74 41 vector vector NOUN ajst-30553 74 42 is be AUX ajst-30553 74 43 the the DET ajst-30553 74 44 robot robot NOUN ajst-30553 74 45 position position NOUN ajst-30553 74 46 , , PUNCT ajst-30553 74 47 and and CCONJ ajst-30553 74 48 the the DET ajst-30553 74 49 inputs input NOUN ajst-30553 74 50 are be AUX ajst-30553 74 51 the the DET ajst-30553 74 52 wheeled wheel VERB ajst-30553 74 53 odometer odometer NOUN ajst-30553 74 54 linear linear PROPN ajst-30553 74 55 velocity velocity NOUN ajst-30553 74 56 and and CCONJ ajst-30553 74 57 angular angular ADJ ajst-30553 74 58 velocity velocity NOUN ajst-30553 74 59 . . PUNCT ajst-30553 75 1 the the DET ajst-30553 75 2 state state NOUN ajst-30553 75 3 prediction prediction NOUN ajst-30553 75 4 equation equation NOUN ajst-30553 75 5 is be AUX ajst-30553 75 6 : : PUNCT ajst-30553 75 7 πœ’ πœ’ X ajst-30553 75 8 | | NOUN ajst-30553 75 9 πœ’ πœ’ X ajst-30553 75 10 πœΞ΄π‘‘ πœΞ΄π‘‘ NOUN ajst-30553 75 11 cos cos ADP ajst-30553 75 12 πœƒ πœƒ X ajst-30553 75 13 πœΞ΄π‘‘ πœΞ΄π‘‘ PROPN ajst-30553 75 14 sin sin VERB ajst-30553 76 1 πœƒ πœƒ X ajst-30553 76 2 πœ”Ξ΄π‘‘ πœ”Ξ΄π‘‘ NOUN ajst-30553 76 3 𝑀 𝑀 INTJ ajst-30553 76 4 where where SCONJ ajst-30553 76 5 𝑀 𝑀 X ajst-30553 76 6 is be AUX ajst-30553 76 7 the the DET ajst-30553 76 8 process process NOUN ajst-30553 76 9 noise noise NOUN ajst-30553 76 10 and and CCONJ ajst-30553 76 11 follows follow VERB ajst-30553 76 12 a a DET ajst-30553 76 13 gaussian gaussian ADJ ajst-30553 76 14 distribution distribution NOUN ajst-30553 76 15 . . PUNCT ajst-30553 77 1 the the DET ajst-30553 77 2 residual residual ADJ ajst-30553 77 3 difference difference NOUN ajst-30553 77 4 between between ADP ajst-30553 77 5 the the DET ajst-30553 77 6 angular angular ADJ ajst-30553 77 7 velocity velocity NOUN ajst-30553 77 8 and and CCONJ ajst-30553 77 9 the the DET ajst-30553 77 10 wheel wheel NOUN ajst-30553 77 11 odometer odometer NOUN ajst-30553 77 12 angular angular ADJ ajst-30553 77 13 velocity velocity NOUN ajst-30553 77 14 is𝑧 is𝑧 VERB ajst-30553 77 15 πœ” πœ” SYM ajst-30553 77 16 πœ” πœ” NOUN ajst-30553 77 17 , , PUNCT ajst-30553 77 18 which which PRON ajst-30553 77 19 is be AUX ajst-30553 77 20 fused fuse VERB ajst-30553 77 21 by by ADP ajst-30553 77 22 kalman kalman PROPN ajst-30553 77 23 gain gain PROPN ajst-30553 77 24 - - PUNCT ajst-30553 77 25 weighted weight VERB ajst-30553 77 26 fusion fusion NOUN ajst-30553 77 27 to to PART ajst-30553 77 28 suppress suppress VERB ajst-30553 77 29 the the DET ajst-30553 77 30 highfrequency highfrequency NOUN ajst-30553 77 31 noise noise NOUN ajst-30553 77 32 and and CCONJ ajst-30553 77 33 low low ADJ ajst-30553 77 34 - - PUNCT ajst-30553 77 35 frequency frequency NOUN ajst-30553 77 36 drift drift NOUN ajst-30553 77 37 . . PUNCT ajst-30553 78 1 the the DET ajst-30553 78 2 angular angular ADJ ajst-30553 78 3 velocity velocity NOUN ajst-30553 78 4 error error NOUN ajst-30553 78 5 is be AUX ajst-30553 78 6 reduced reduce VERB ajst-30553 78 7 by by ADP ajst-30553 78 8 42 42 NUM ajst-30553 78 9 % % NOUN ajst-30553 78 10 after after ADP ajst-30553 78 11 fusion fusion NOUN ajst-30553 78 12 . . PUNCT ajst-30553 79 1 3.2.2 3.2.2 NUM ajst-30553 79 2 . . PUNCT ajst-30553 80 1 fusion fusion NOUN ajst-30553 80 2 of of ADP ajst-30553 80 3 rgb rgb PROPN ajst-30553 80 4 camera camera NOUN ajst-30553 80 5 data datum NOUN ajst-30553 80 6 with with ADP ajst-30553 80 7 lidar lidar NOUN ajst-30553 80 8 data data PROPN ajst-30553 80 9 rgb rgb PROPN ajst-30553 80 10 cameras camera NOUN ajst-30553 80 11 provide provide VERB ajst-30553 80 12 visual visual ADJ ajst-30553 80 13 information information NOUN ajst-30553 80 14 to to ADP ajst-30553 80 15 the the DET ajst-30553 80 16 robot robot NOUN ajst-30553 80 17 that that PRON ajst-30553 80 18 helps help VERB ajst-30553 80 19 to to PART ajst-30553 80 20 identify identify VERB ajst-30553 80 21 obstacles obstacle NOUN ajst-30553 80 22 or or CCONJ ajst-30553 80 23 feature feature NOUN ajst-30553 80 24 points point NOUN ajst-30553 80 25 in in ADP ajst-30553 80 26 complex complex ADJ ajst-30553 80 27 environments environment NOUN ajst-30553 80 28 . . PUNCT ajst-30553 81 1 although although SCONJ ajst-30553 81 2 rgb rgb PROPN ajst-30553 81 3 cameras camera NOUN ajst-30553 81 4 do do AUX ajst-30553 81 5 not not PART ajst-30553 81 6 provide provide VERB ajst-30553 81 7 positional positional ADJ ajst-30553 81 8 information information NOUN ajst-30553 81 9 directly directly ADV ajst-30553 81 10 , , PUNCT ajst-30553 81 11 they they PRON ajst-30553 81 12 can can AUX ajst-30553 81 13 complement complement VERB ajst-30553 81 14 environmental environmental ADJ ajst-30553 81 15 features feature NOUN ajst-30553 81 16 such such ADJ ajst-30553 81 17 as as ADP ajst-30553 81 18 colours colour NOUN ajst-30553 81 19 or or CCONJ ajst-30553 81 20 textures texture NOUN ajst-30553 81 21 that that PRON ajst-30553 81 22 lidar lidar NOUN ajst-30553 81 23 can can AUX ajst-30553 81 24 not not PART ajst-30553 81 25 sense sense VERB ajst-30553 81 26 in in ADP ajst-30553 81 27 some some DET ajst-30553 81 28 cases case NOUN ajst-30553 81 29 . . PUNCT ajst-30553 82 1 image_transport image_transport PROPN ajst-30553 82 2 library library NOUN ajst-30553 82 3 in in ADP ajst-30553 82 4 ros ros PROPN ajst-30553 82 5 can can AUX ajst-30553 82 6 be be AUX ajst-30553 82 7 used use VERB ajst-30553 82 8 to to PART ajst-30553 82 9 transfer transfer VERB ajst-30553 82 10 image image NOUN ajst-30553 82 11 data datum NOUN ajst-30553 82 12 , , PUNCT ajst-30553 82 13 transferring transfer VERB ajst-30553 82 14 rgb rgb PROPN ajst-30553 82 15 image image NOUN ajst-30553 82 16 information information NOUN ajst-30553 82 17 via via ADP ajst-30553 82 18 the the DET ajst-30553 82 19 image_raw image_raw NUM ajst-30553 82 20 topic topic NOUN ajst-30553 82 21 . . PUNCT ajst-30553 83 1 the the DET ajst-30553 83 2 robot robot NOUN ajst-30553 83 3 analyses analyse VERB ajst-30553 83 4 the the DET ajst-30553 83 5 images image NOUN ajst-30553 83 6 using use VERB ajst-30553 83 7 obstacle obstacle NOUN ajst-30553 83 8 detection detection NOUN ajst-30553 83 9 and and CCONJ ajst-30553 83 10 feature feature NOUN ajst-30553 83 11 extraction extraction NOUN ajst-30553 83 12 . . PUNCT ajst-30553 84 1 in in ADP ajst-30553 84 2 order order NOUN ajst-30553 84 3 to to PART ajst-30553 84 4 achieve achieve VERB ajst-30553 84 5 the the DET ajst-30553 84 6 data datum NOUN ajst-30553 84 7 fusion fusion NOUN ajst-30553 84 8 between between ADP ajst-30553 84 9 the the DET ajst-30553 84 10 rgb rgb PROPN ajst-30553 84 11 - - PROPN ajst-30553 84 12 d d PROPN ajst-30553 84 13 camera camera NOUN ajst-30553 84 14 and and CCONJ ajst-30553 84 15 lidar lidar NOUN ajst-30553 84 16 , , PUNCT ajst-30553 84 17 a a DET ajst-30553 84 18 vertical vertical ADJ ajst-30553 84 19 projection projection NOUN ajst-30553 84 20 and and CCONJ ajst-30553 84 21 feature feature NOUN ajst-30553 84 22 matching matching NOUN ajst-30553 84 23 strategy strategy NOUN ajst-30553 84 24 is be AUX ajst-30553 84 25 proposed.firstly proposed.firstly ADV ajst-30553 84 26 , , PUNCT ajst-30553 84 27 3d 3d NUM ajst-30553 84 28 point point NOUN ajst-30553 84 29 cloud cloud NOUN ajst-30553 84 30 compression compression NOUN ajst-30553 84 31 is be AUX ajst-30553 84 32 used use VERB ajst-30553 84 33 to to PART ajst-30553 84 34 project project VERB ajst-30553 84 35 the the DET ajst-30553 84 36 3d 3d NUM ajst-30553 84 37 point point NOUN ajst-30553 84 38 cloud cloud NOUN ajst-30553 84 39 of of ADP ajst-30553 84 40 the the DET ajst-30553 84 41 rgbd rgbd NOUN ajst-30553 84 42 camera camera NOUN ajst-30553 84 43 to to ADP ajst-30553 84 44 the the DET ajst-30553 84 45 scanning scan VERB ajst-30553 84 46 plane plane NOUN ajst-30553 84 47 of of ADP ajst-30553 84 48 the the DET ajst-30553 84 49 lidar lidar NOUN ajst-30553 84 50 ( ( PUNCT ajst-30553 84 51 height height PROPN ajst-30553 84 52 Β±5 Β±5 NOUN ajst-30553 84 53 cm cm NOUN ajst-30553 84 54 ) ) PUNCT ajst-30553 84 55 , , PUNCT ajst-30553 84 56 and and CCONJ ajst-30553 84 57 the the DET ajst-30553 84 58 horizontal horizontal ADJ ajst-30553 84 59 layer layer NOUN ajst-30553 84 60 of of ADP ajst-30553 84 61 the the DET ajst-30553 84 62 point point NOUN ajst-30553 84 63 cloud cloud NOUN ajst-30553 84 64 is be AUX ajst-30553 84 65 extracted extract VERB ajst-30553 84 66 , , PUNCT ajst-30553 84 67 retaining retain VERB ajst-30553 84 68 the the DET ajst-30553 84 69 effective effective ADJ ajst-30553 84 70 distance distance NOUN ajst-30553 84 71 ( ( PUNCT ajst-30553 84 72 0.5m-10 0.5m-10 NOUN ajst-30553 84 73 m m NOUN ajst-30553 84 74 ) ) PUNCT ajst-30553 84 75 . . PUNCT ajst-30553 85 1 secondly secondly ADV ajst-30553 85 2 , , PUNCT ajst-30553 85 3 the the DET ajst-30553 85 4 extracted extract VERB ajst-30553 85 5 data datum NOUN ajst-30553 85 6 are be AUX ajst-30553 85 7 subjected subject VERB ajst-30553 85 8 to to ADP ajst-30553 85 9 feature feature NOUN ajst-30553 85 10 enhancement enhancement NOUN ajst-30553 85 11 , , PUNCT ajst-30553 85 12 the the DET ajst-30553 85 13 linear linear ADJ ajst-30553 85 14 features feature VERB ajst-30553 85 15 in in ADP ajst-30553 85 16 the the DET ajst-30553 85 17 lidar lidar NOUN ajst-30553 85 18 data datum NOUN ajst-30553 85 19 are be AUX ajst-30553 85 20 extracted extract VERB ajst-30553 85 21 by by ADP ajst-30553 85 22 the the DET ajst-30553 85 23 ransac ransac NOUN ajst-30553 85 24 algorithm algorithm NOUN ajst-30553 85 25 , , PUNCT ajst-30553 85 26 the the DET ajst-30553 85 27 key key ADJ ajst-30553 85 28 points point NOUN ajst-30553 85 29 are be AUX ajst-30553 85 30 extracted extract VERB ajst-30553 85 31 based base VERB ajst-30553 85 32 on on ADP ajst-30553 85 33 the the DET ajst-30553 85 34 orb orb NOUN ajst-30553 85 35 feature feature NOUN ajst-30553 85 36 detector detector NOUN ajst-30553 85 37 , , PUNCT ajst-30553 85 38 and and CCONJ ajst-30553 85 39 the the DET ajst-30553 85 40 rgb rgb PROPN ajst-30553 85 41 - - PROPN ajst-30553 85 42 d d PROPN ajst-30553 85 43 data datum NOUN ajst-30553 85 44 are be AUX ajst-30553 85 45 combined combine VERB ajst-30553 85 46 with with ADP ajst-30553 85 47 the the DET ajst-30553 85 48 depth depth NOUN ajst-30553 85 49 information information NOUN ajst-30553 85 50 to to PART ajst-30553 85 51 generate generate VERB ajst-30553 85 52 local local ADJ ajst-30553 85 53 feature feature NOUN ajst-30553 85 54 descriptors descriptor NOUN ajst-30553 85 55 . . PUNCT ajst-30553 86 1 finally finally ADV ajst-30553 86 2 , , PUNCT ajst-30553 86 3 the the DET ajst-30553 86 4 two two NUM ajst-30553 86 5 types type NOUN ajst-30553 86 6 of of ADP ajst-30553 86 7 features feature NOUN ajst-30553 86 8 are be AUX ajst-30553 86 9 matched match VERB ajst-30553 86 10 in in ADP ajst-30553 86 11 both both DET ajst-30553 86 12 directions direction NOUN ajst-30553 86 13 , , PUNCT ajst-30553 86 14 and and CCONJ ajst-30553 86 15 the the DET ajst-30553 86 16 mis mis NOUN ajst-30553 86 17 - - PUNCT ajst-30553 86 18 matched match VERB ajst-30553 86 19 points point NOUN ajst-30553 86 20 are be AUX ajst-30553 86 21 eliminated eliminate VERB ajst-30553 86 22 ( ( PUNCT ajst-30553 86 23 threshold threshold NOUN ajst-30553 86 24 : : PUNCT ajst-30553 86 25 euclidean euclidean ADJ ajst-30553 86 26 distance distance NOUN ajst-30553 86 27 < < X ajst-30553 86 28 0.1 0.1 NUM ajst-30553 86 29 m m NOUN ajst-30553 86 30 ) ) PUNCT ajst-30553 86 31 , , PUNCT ajst-30553 86 32 and and CCONJ ajst-30553 86 33 finally finally ADV ajst-30553 86 34 the the DET ajst-30553 86 35 fused fuse VERB ajst-30553 86 36 point point NOUN ajst-30553 86 37 cloud cloud NOUN ajst-30553 86 38 map map NOUN ajst-30553 86 39 is be AUX ajst-30553 86 40 generated generate VERB ajst-30553 86 41 . . PUNCT ajst-30553 87 1 as as SCONJ ajst-30553 87 2 shown show VERB ajst-30553 87 3 in in ADP ajst-30553 87 4 figure figure NOUN ajst-30553 87 5 3 3 NUM ajst-30553 87 6 - - SYM ajst-30553 87 7 3 3 NUM ajst-30553 87 8 . . PUNCT ajst-30553 87 9 figure figure NOUN ajst-30553 87 10 3 3 NUM ajst-30553 87 11 - - SYM ajst-30553 87 12 3 3 NUM ajst-30553 87 13 . . PUNCT ajst-30553 87 14 fusion fusion NOUN ajst-30553 87 15 point point NOUN ajst-30553 87 16 cloud cloud NOUN ajst-30553 87 17 map map NOUN ajst-30553 87 18 3.2.3 3.2.3 NUM ajst-30553 87 19 . . PUNCT ajst-30553 87 20 irtab irtab NOUN ajst-30553 87 21 - - PUNCT ajst-30553 87 22 map map NOUN ajst-30553 87 23 algorithm algorithm NOUN ajst-30553 87 24 fusion fusion NOUN ajst-30553 87 25 mapping mapping NOUN ajst-30553 87 26 study study NOUN ajst-30553 87 27 multi multi ADJ ajst-30553 87 28 - - ADJ ajst-30553 87 29 sensor sensor ADJ ajst-30553 87 30 fusion fusion NOUN ajst-30553 87 31 for for ADP ajst-30553 87 32 robots robot NOUN ajst-30553 87 33 is be AUX ajst-30553 87 34 mainly mainly ADV ajst-30553 87 35 to to PART ajst-30553 87 36 optimise optimise VERB ajst-30553 87 37 the the DET ajst-30553 87 38 initiation initiation NOUN ajst-30553 87 39 of of ADP ajst-30553 87 40 chassis chassis NOUN ajst-30553 87 41 , , PUNCT ajst-30553 87 42 radar radar NOUN ajst-30553 87 43 and and CCONJ ajst-30553 87 44 camera camera NOUN ajst-30553 87 45 related relate VERB ajst-30553 87 46 nodes node NOUN ajst-30553 87 47 and and CCONJ ajst-30553 87 48 to to PART ajst-30553 87 49 achieve achieve VERB ajst-30553 87 50 the the DET ajst-30553 87 51 association association NOUN ajst-30553 87 52 of of ADP ajst-30553 87 53 robot robot NOUN ajst-30553 87 54 chassis chassis NOUN ajst-30553 87 55 with with ADP ajst-30553 87 56 odometry odometry NOUN ajst-30553 87 57 , , PUNCT ajst-30553 87 58 radar radar NOUN ajst-30553 87 59 and and CCONJ ajst-30553 87 60 camera camera NOUN ajst-30553 87 61 through through ADP ajst-30553 87 62 coordinate coordinate NOUN ajst-30553 87 63 transformation transformation NOUN ajst-30553 87 64 . . PUNCT ajst-30553 88 1 aiming aim VERB ajst-30553 88 2 at at ADP ajst-30553 88 3 the the DET ajst-30553 88 4 problems problem NOUN ajst-30553 88 5 of of ADP ajst-30553 88 6 large large ADJ ajst-30553 88 7 errors error NOUN ajst-30553 88 8 in in ADP ajst-30553 88 9 localisation localisation NOUN ajst-30553 88 10 and and CCONJ ajst-30553 88 11 mapping mapping NOUN ajst-30553 88 12 , , PUNCT ajst-30553 88 13 low low ADJ ajst-30553 88 14 localisation localisation NOUN ajst-30553 88 15 accuracy accuracy NOUN ajst-30553 88 16 and and CCONJ ajst-30553 88 17 poor poor ADJ ajst-30553 88 18 system system NOUN ajst-30553 88 19 robustness robustness NOUN ajst-30553 88 20 of of ADP ajst-30553 88 21 mobile mobile ADJ ajst-30553 88 22 robots robot NOUN ajst-30553 88 23 using use VERB ajst-30553 88 24 a a DET ajst-30553 88 25 single single ADJ ajst-30553 88 26 sensor sensor NOUN ajst-30553 88 27 in in ADP ajst-30553 88 28 unknown unknown ADJ ajst-30553 88 29 environments environment NOUN ajst-30553 88 30 , , PUNCT ajst-30553 88 31 a a DET ajst-30553 88 32 multi multi ADJ ajst-30553 88 33 - - ADJ ajst-30553 88 34 sensor sensor ADJ ajst-30553 88 35 fusion fusion NOUN ajst-30553 88 36 mapping mapping NOUN ajst-30553 88 37 scheme scheme NOUN ajst-30553 88 38 based base VERB ajst-30553 88 39 on on ADP ajst-30553 88 40 lidar lidar NOUN ajst-30553 88 41 , , PUNCT ajst-30553 88 42 rgbd rgbd NOUN ajst-30553 88 43 camera camera NOUN ajst-30553 88 44 and and CCONJ ajst-30553 88 45 wheel wheel NOUN ajst-30553 88 46 odometers odometer NOUN ajst-30553 88 47 is be AUX ajst-30553 88 48 constructed construct VERB ajst-30553 88 49 by by ADP ajst-30553 88 50 combining combine VERB ajst-30553 88 51 with with ADP ajst-30553 88 52 the the DET ajst-30553 88 53 sensor sensor NOUN ajst-30553 88 54 data datum NOUN ajst-30553 88 55 processed process VERB ajst-30553 88 56 in in ADP ajst-30553 88 57 the the DET ajst-30553 88 58 previous previous ADJ ajst-30553 88 59 section section NOUN ajst-30553 88 60 . . PUNCT ajst-30553 89 1 firstly firstly ADV ajst-30553 89 2 , , PUNCT ajst-30553 89 3 the the DET ajst-30553 89 4 wheel wheel NOUN ajst-30553 89 5 odometers odometer NOUN ajst-30553 89 6 are be AUX ajst-30553 89 7 fused fuse VERB ajst-30553 89 8 using use VERB ajst-30553 89 9 the the DET ajst-30553 89 10 mean mean ADJ ajst-30553 89 11 square square ADJ ajst-30553 89 12 information information NOUN ajst-30553 89 13 filtering filter VERB ajst-30553 89 14 algorithm algorithm NOUN ajst-30553 89 15 to to PART ajst-30553 89 16 reduce reduce VERB ajst-30553 89 17 the the DET ajst-30553 89 18 drift drift NOUN ajst-30553 89 19 error error NOUN ajst-30553 89 20 and and CCONJ ajst-30553 89 21 improve improve VERB ajst-30553 89 22 the the DET ajst-30553 89 23 robot robot NOUN ajst-30553 89 24 's 's PART ajst-30553 89 25 own own ADJ ajst-30553 89 26 positioning positioning NOUN ajst-30553 89 27 accuracy accuracy NOUN ajst-30553 89 28 . . PUNCT ajst-30553 90 1 secondly secondly ADV ajst-30553 90 2 , , PUNCT ajst-30553 90 3 the the DET ajst-30553 90 4 regional regional ADJ ajst-30553 90 5 image image NOUN ajst-30553 90 6 fusion fusion NOUN ajst-30553 90 7 algorithm algorithm NOUN ajst-30553 90 8 fuses fuse VERB ajst-30553 90 9 the the DET ajst-30553 90 10 3d 3d NUM ajst-30553 90 11 point point NOUN ajst-30553 90 12 cloud cloud NOUN ajst-30553 90 13 , , PUNCT ajst-30553 90 14 object object NOUN ajst-30553 90 15 colour colour NOUN ajst-30553 90 16 , , PUNCT ajst-30553 90 17 distance distance NOUN ajst-30553 90 18 and and CCONJ ajst-30553 90 19 other other ADJ ajst-30553 90 20 visual visual ADJ ajst-30553 90 21 information information NOUN ajst-30553 90 22 acquired acquire VERB ajst-30553 90 23 by by ADP ajst-30553 90 24 the the DET ajst-30553 90 25 rgb rgb PROPN ajst-30553 90 26 - - PROPN ajst-30553 90 27 d d PROPN ajst-30553 90 28 camera camera NOUN ajst-30553 90 29 into into ADP ajst-30553 90 30 the the DET ajst-30553 90 31 2d 2d NOUN ajst-30553 90 32 laser laser NOUN ajst-30553 90 33 data datum NOUN ajst-30553 90 34 to to PART ajst-30553 90 35 make make VERB ajst-30553 90 36 up up ADP ajst-30553 90 37 for for ADP ajst-30553 90 38 the the DET ajst-30553 90 39 defects defect NOUN ajst-30553 90 40 of of ADP ajst-30553 90 41 the the DET ajst-30553 90 42 single single ADJ ajst-30553 90 43 - - PUNCT ajst-30553 90 44 wire wire NOUN ajst-30553 90 45 lidar lidar NOUN ajst-30553 90 46 that that PRON ajst-30553 90 47 can can AUX ajst-30553 90 48 not not PART ajst-30553 90 49 perceive perceive VERB ajst-30553 90 50 the the DET ajst-30553 90 51 spatial spatial ADJ ajst-30553 90 52 structure structure NOUN ajst-30553 90 53 , , PUNCT ajst-30553 90 54 so so SCONJ ajst-30553 90 55 as as SCONJ ajst-30553 90 56 to to PART ajst-30553 90 57 improve improve VERB ajst-30553 90 58 the the DET ajst-30553 90 59 completeness completeness NOUN ajst-30553 90 60 of of ADP ajst-30553 90 61 the the DET ajst-30553 90 62 robot robot NOUN ajst-30553 90 63 's 's PART ajst-30553 90 64 mapping mapping NOUN ajst-30553 90 65 and and CCONJ ajst-30553 90 66 the the DET ajst-30553 90 67 accuracy accuracy NOUN ajst-30553 90 68 of of ADP ajst-30553 90 69 its its PRON ajst-30553 90 70 own own ADJ ajst-30553 90 71 localisation localisation NOUN ajst-30553 90 72 . . PUNCT ajst-30553 91 1 then then ADV ajst-30553 91 2 , , PUNCT ajst-30553 91 3 the the DET ajst-30553 91 4 irtab irtab NOUN ajst-30553 91 5 - - PUNCT ajst-30553 91 6 map map NOUN ajst-30553 91 7 algorithm algorithm NOUN ajst-30553 91 8 fuses fuse VERB ajst-30553 91 9 the the DET ajst-30553 91 10 multi multi NOUN ajst-30553 91 11 - - NOUN ajst-30553 91 12 sensors sensor NOUN ajst-30553 91 13 to to PART ajst-30553 91 14 build build VERB ajst-30553 91 15 a a DET ajst-30553 91 16 map map NOUN ajst-30553 91 17 . . PUNCT ajst-30553 92 1 finally finally ADV ajst-30553 92 2 , , PUNCT ajst-30553 92 3 the the DET ajst-30553 92 4 multi multi ADJ ajst-30553 92 5 - - ADJ ajst-30553 92 6 sensor sensor ADJ ajst-30553 92 7 fusion fusion NOUN ajst-30553 92 8 mapping mapping NOUN ajst-30553 92 9 experiment experiment NOUN ajst-30553 92 10 is be AUX ajst-30553 92 11 carried carry VERB ajst-30553 92 12 out out ADP ajst-30553 92 13 in in ADP ajst-30553 92 14 a a DET ajst-30553 92 15 simulated simulate VERB ajst-30553 92 16 complex complex ADJ ajst-30553 92 17 indoor indoor ADJ ajst-30553 92 18 environment environment NOUN ajst-30553 92 19 , , PUNCT ajst-30553 92 20 and and CCONJ ajst-30553 92 21 the the DET ajst-30553 92 22 multi multi ADJ ajst-30553 92 23 - - ADJ ajst-30553 92 24 sensor sensor ADJ ajst-30553 92 25 fusion fusion NOUN ajst-30553 92 26 mapping mapping NOUN ajst-30553 92 27 algorithm algorithm NOUN ajst-30553 92 28 is be AUX ajst-30553 92 29 applied apply VERB ajst-30553 92 30 in in ADP ajst-30553 92 31 the the DET ajst-30553 92 32 experiment experiment NOUN ajst-30553 92 33 to to PART ajst-30553 92 34 verify verify VERB ajst-30553 92 35 the the DET ajst-30553 92 36 completeness completeness NOUN ajst-30553 92 37 of of ADP ajst-30553 92 38 the the DET ajst-30553 92 39 mapping mapping NOUN ajst-30553 92 40 and and CCONJ ajst-30553 92 41 the the DET ajst-30553 92 42 accuracy accuracy NOUN ajst-30553 92 43 of of ADP ajst-30553 92 44 the the DET ajst-30553 92 45 positioning positioning NOUN ajst-30553 92 46 . . PUNCT ajst-30553 93 1 aiming aim VERB ajst-30553 93 2 at at ADP ajst-30553 93 3 the the DET ajst-30553 93 4 problem problem NOUN ajst-30553 93 5 of of ADP ajst-30553 93 6 how how SCONJ ajst-30553 93 7 to to PART ajst-30553 93 8 fuse fuse VERB ajst-30553 93 9 the the DET ajst-30553 93 10 data datum NOUN ajst-30553 93 11 acquired acquire VERB ajst-30553 93 12 by by ADP ajst-30553 93 13 different different ADJ ajst-30553 93 14 sensors sensor NOUN ajst-30553 93 15 and and CCONJ ajst-30553 93 16 build build VERB ajst-30553 93 17 a a DET ajst-30553 93 18 map map NOUN ajst-30553 93 19 , , PUNCT ajst-30553 93 20 this this DET ajst-30553 93 21 paper paper NOUN ajst-30553 93 22 proposes propose VERB ajst-30553 93 23 a a DET ajst-30553 93 24 multisensor multisensor NOUN ajst-30553 93 25 fusion fusion NOUN ajst-30553 93 26 slam slam NOUN ajst-30553 93 27 scheme scheme NOUN ajst-30553 93 28 based base VERB ajst-30553 93 29 on on ADP ajst-30553 93 30 a a DET ajst-30553 93 31 single single ADJ ajst-30553 93 32 - - PUNCT ajst-30553 93 33 wire wire NOUN ajst-30553 93 34 lidar lidar NOUN ajst-30553 93 35 , , PUNCT ajst-30553 93 36 an an DET ajst-30553 93 37 rgb rgb PROPN ajst-30553 93 38 - - PROPN ajst-30553 93 39 d d PROPN ajst-30553 93 40 camera camera NOUN ajst-30553 93 41 , , PUNCT ajst-30553 93 42 and and CCONJ ajst-30553 93 43 a a DET ajst-30553 93 44 wheel wheel NOUN ajst-30553 93 45 odometer odometer NOUN ajst-30553 93 46 , , PUNCT ajst-30553 93 47 and and CCONJ ajst-30553 93 48 the the DET ajst-30553 93 49 block block NOUN ajst-30553 93 50 diagram diagram NOUN ajst-30553 93 51 of of ADP ajst-30553 93 52 the the DET ajst-30553 93 53 fusion fusion NOUN ajst-30553 93 54 scheme scheme NOUN ajst-30553 93 55 is be AUX ajst-30553 93 56 shown show VERB ajst-30553 93 57 in in ADP ajst-30553 93 58 figs fig NOUN ajst-30553 93 59 . . PUNCT ajst-30553 94 1 3 3 NUM ajst-30553 94 2 - - SYM ajst-30553 94 3 4 4 NUM ajst-30553 94 4 . . PUNCT ajst-30553 95 1 firstly firstly ADV ajst-30553 95 2 , , PUNCT ajst-30553 95 3 the the DET ajst-30553 95 4 wheel wheel NOUN ajst-30553 95 5 odometer odometer NOUN ajst-30553 95 6 is be AUX ajst-30553 95 7 used use VERB ajst-30553 95 8 to to PART ajst-30553 95 9 output output VERB ajst-30553 95 10 the the DET ajst-30553 95 11 position position NOUN ajst-30553 95 12 and and CCONJ ajst-30553 95 13 motion motion NOUN ajst-30553 95 14 228 228 NUM ajst-30553 95 15 trajectory trajectory NOUN ajst-30553 95 16 of of ADP ajst-30553 95 17 the the DET ajst-30553 95 18 robot robot NOUN ajst-30553 95 19 with with ADP ajst-30553 95 20 high high ADJ ajst-30553 95 21 efficiency efficiency NOUN ajst-30553 95 22 and and CCONJ ajst-30553 95 23 low low ADJ ajst-30553 95 24 error error NOUN ajst-30553 95 25 , , PUNCT ajst-30553 95 26 is be AUX ajst-30553 95 27 used use VERB ajst-30553 95 28 as as ADP ajst-30553 95 29 the the DET ajst-30553 95 30 initial initial ADJ ajst-30553 95 31 position position NOUN ajst-30553 95 32 of of ADP ajst-30553 95 33 the the DET ajst-30553 95 34 robot robot NOUN ajst-30553 95 35 and and CCONJ ajst-30553 95 36 the the DET ajst-30553 95 37 data data NOUN ajst-30553 95 38 source source NOUN ajst-30553 95 39 for for ADP ajst-30553 95 40 the the DET ajst-30553 95 41 position position NOUN ajst-30553 95 42 correction correction NOUN ajst-30553 95 43 during during ADP ajst-30553 95 44 the the DET ajst-30553 95 45 subsequent subsequent ADJ ajst-30553 95 46 motion motion NOUN ajst-30553 95 47 . . PUNCT ajst-30553 96 1 after after ADP ajst-30553 96 2 that that PRON ajst-30553 96 3 , , PUNCT ajst-30553 96 4 the the DET ajst-30553 96 5 depth depth NOUN ajst-30553 96 6 camera camera NOUN ajst-30553 96 7 and and CCONJ ajst-30553 96 8 lidar lidar NOUN ajst-30553 96 9 are be AUX ajst-30553 96 10 fused fuse VERB ajst-30553 96 11 using use VERB ajst-30553 96 12 the the DET ajst-30553 96 13 area area NOUN ajst-30553 96 14 image image NOUN ajst-30553 96 15 algorithm algorithm NOUN ajst-30553 96 16 , , PUNCT ajst-30553 96 17 the the DET ajst-30553 96 18 depth depth NOUN ajst-30553 96 19 image image NOUN ajst-30553 96 20 acquired acquire VERB ajst-30553 96 21 by by ADP ajst-30553 96 22 the the DET ajst-30553 96 23 depth depth NOUN ajst-30553 96 24 camera camera NOUN ajst-30553 96 25 is be AUX ajst-30553 96 26 converted convert VERB ajst-30553 96 27 into into ADP ajst-30553 96 28 a a DET ajst-30553 96 29 3d 3d NUM ajst-30553 96 30 point point NOUN ajst-30553 96 31 cloud cloud NOUN ajst-30553 96 32 , , PUNCT ajst-30553 96 33 which which PRON ajst-30553 96 34 is be AUX ajst-30553 96 35 then then ADV ajst-30553 96 36 compressed compress VERB ajst-30553 96 37 to to ADP ajst-30553 96 38 the the DET ajst-30553 96 39 same same ADJ ajst-30553 96 40 scanning scanning NOUN ajst-30553 96 41 level level NOUN ajst-30553 96 42 as as ADP ajst-30553 96 43 the the DET ajst-30553 96 44 single single ADJ ajst-30553 96 45 - - PUNCT ajst-30553 96 46 line line NOUN ajst-30553 96 47 lidar lidar NOUN ajst-30553 96 48 and and CCONJ ajst-30553 96 49 projected project VERB ajst-30553 96 50 to to PART ajst-30553 96 51 obtain obtain VERB ajst-30553 96 52 the the DET ajst-30553 96 53 2d 2d NUM ajst-30553 96 54 laser laser NOUN ajst-30553 96 55 data datum NOUN ajst-30553 96 56 , , PUNCT ajst-30553 96 57 which which PRON ajst-30553 96 58 is be AUX ajst-30553 96 59 then then ADV ajst-30553 96 60 matched match VERB ajst-30553 96 61 with with ADP ajst-30553 96 62 the the DET ajst-30553 96 63 lidar lidar NOUN ajst-30553 96 64 data datum NOUN ajst-30553 96 65 for for ADP ajst-30553 96 66 the the DET ajst-30553 96 67 point point NOUN ajst-30553 96 68 cloud cloud NOUN ajst-30553 96 69 , , PUNCT ajst-30553 96 70 and and CCONJ ajst-30553 96 71 then then ADV ajst-30553 96 72 the the DET ajst-30553 96 73 multi multi ADJ ajst-30553 96 74 - - ADJ ajst-30553 96 75 sensor sensor ADJ ajst-30553 96 76 data datum NOUN ajst-30553 96 77 are be AUX ajst-30553 96 78 fused fuse VERB ajst-30553 96 79 using use VERB ajst-30553 96 80 the the DET ajst-30553 96 81 irtab irtab NOUN ajst-30553 96 82 - - PUNCT ajst-30553 96 83 map map NOUN ajst-30553 96 84 algorithm algorithm NOUN ajst-30553 96 85 and and CCONJ ajst-30553 96 86 the the DET ajst-30553 96 87 maps map NOUN ajst-30553 96 88 are be AUX ajst-30553 96 89 constructed construct VERB ajst-30553 96 90 . . PUNCT ajst-30553 97 1 figure figure VERB ajst-30553 97 2 3 3 NUM ajst-30553 97 3 - - SYM ajst-30553 97 4 4 4 NUM ajst-30553 97 5 . . PUNCT ajst-30553 98 1 multi multi ADJ ajst-30553 98 2 - - ADJ ajst-30553 98 3 sensor sensor ADJ ajst-30553 98 4 fusion fusion NOUN ajst-30553 98 5 mapping mapping NOUN ajst-30553 98 6 scheme scheme NOUN ajst-30553 98 7 the the DET ajst-30553 98 8 robot robot NOUN ajst-30553 98 9 uses use VERB ajst-30553 98 10 the the DET ajst-30553 98 11 irtab irtab NOUN ajst-30553 98 12 - - PUNCT ajst-30553 98 13 map map NOUN ajst-30553 98 14 algorithm algorithm NOUN ajst-30553 98 15 to to PART ajst-30553 98 16 integrate integrate VERB ajst-30553 98 17 the the DET ajst-30553 98 18 sensor sensor NOUN ajst-30553 98 19 pre pre ADJ ajst-30553 98 20 - - ADJ ajst-30553 98 21 processing processing ADJ ajst-30553 98 22 data datum NOUN ajst-30553 98 23 obtained obtain VERB ajst-30553 98 24 in in ADP ajst-30553 98 25 the the DET ajst-30553 98 26 previous previous ADJ ajst-30553 98 27 section section NOUN ajst-30553 98 28 and and CCONJ ajst-30553 98 29 the the DET ajst-30553 98 30 fused fuse VERB ajst-30553 98 31 data datum NOUN ajst-30553 98 32 from from ADP ajst-30553 98 33 a a DET ajst-30553 98 34 single single ADJ ajst-30553 98 35 lidar lidar NOUN ajst-30553 98 36 and and CCONJ ajst-30553 98 37 rgb rgb PROPN ajst-30553 98 38 camera camera NOUN ajst-30553 98 39 sensor sensor NOUN ajst-30553 98 40 for for ADP ajst-30553 98 41 the the DET ajst-30553 98 42 study study NOUN ajst-30553 98 43 of of ADP ajst-30553 98 44 fusion fusion NOUN ajst-30553 98 45 map map NOUN ajst-30553 98 46 building building NOUN ajst-30553 98 47 algorithms algorithm NOUN ajst-30553 98 48 . . PUNCT ajst-30553 99 1 irtab irtab NOUN ajst-30553 99 2 - - PUNCT ajst-30553 99 3 map map NOUN ajst-30553 99 4 algorithm algorithm NOUN ajst-30553 99 5 is be AUX ajst-30553 99 6 based base VERB ajst-30553 99 7 on on ADP ajst-30553 99 8 two two NUM ajst-30553 99 9 basic basic ADJ ajst-30553 99 10 algorithms algorithm NOUN ajst-30553 99 11 , , PUNCT ajst-30553 99 12 loopback loopback VERB ajst-30553 99 13 detection detection NOUN ajst-30553 99 14 and and CCONJ ajst-30553 99 15 map map VERB ajst-30553 99 16 optimisation optimisation NOUN ajst-30553 99 17 . . PUNCT ajst-30553 100 1 irtab irtab NOUN ajst-30553 100 2 - - PUNCT ajst-30553 100 3 map map NOUN ajst-30553 100 4 algorithm algorithm NOUN ajst-30553 100 5 provides provide VERB ajst-30553 100 6 a a DET ajst-30553 100 7 highly highly ADV ajst-30553 100 8 efficient efficient ADJ ajst-30553 100 9 memory memory NOUN ajst-30553 100 10 management management NOUN ajst-30553 100 11 scheme scheme NOUN ajst-30553 100 12 in in ADP ajst-30553 100 13 order order NOUN ajst-30553 100 14 to to PART ajst-30553 100 15 satisfy satisfy VERB ajst-30553 100 16 the the DET ajst-30553 100 17 requirements requirement NOUN ajst-30553 100 18 of of ADP ajst-30553 100 19 real real ADJ ajst-30553 100 20 - - PUNCT ajst-30553 100 21 time time NOUN ajst-30553 100 22 performance performance NOUN ajst-30553 100 23 and and CCONJ ajst-30553 100 24 it it PRON ajst-30553 100 25 can can AUX ajst-30553 100 26 subscribe subscribe VERB ajst-30553 100 27 to to ADP ajst-30553 100 28 multiple multiple ADJ ajst-30553 100 29 sensor sensor NOUN ajst-30553 100 30 information information NOUN ajst-30553 100 31 simultaneously simultaneously ADV ajst-30553 100 32 to to PART ajst-30553 100 33 perform perform VERB ajst-30553 100 34 loopback loopback NOUN ajst-30553 100 35 detection detection NOUN ajst-30553 100 36 and and CCONJ ajst-30553 100 37 update update VERB ajst-30553 100 38 the the DET ajst-30553 100 39 environment environment NOUN ajst-30553 100 40 map map NOUN ajst-30553 100 41 in in ADP ajst-30553 100 42 real real ADJ ajst-30553 100 43 - - PUNCT ajst-30553 100 44 time time NOUN ajst-30553 100 45 . . PUNCT ajst-30553 101 1 to to PART ajst-30553 101 2 meet meet VERB ajst-30553 101 3 the the DET ajst-30553 101 4 real real ADJ ajst-30553 101 5 - - PUNCT ajst-30553 101 6 time time NOUN ajst-30553 101 7 requirements requirement NOUN ajst-30553 101 8 , , PUNCT ajst-30553 101 9 the the DET ajst-30553 101 10 irtab irtab NOUN ajst-30553 101 11 - - PUNCT ajst-30553 101 12 map map NOUN ajst-30553 101 13 algorithm algorithm NOUN ajst-30553 101 14 provides provide VERB ajst-30553 101 15 an an DET ajst-30553 101 16 efficient efficient ADJ ajst-30553 101 17 memory memory NOUN ajst-30553 101 18 management management NOUN ajst-30553 101 19 scheme scheme NOUN ajst-30553 101 20 and and CCONJ ajst-30553 101 21 subscribes subscribe NOUN ajst-30553 101 22 to to ADP ajst-30553 101 23 multiple multiple ADJ ajst-30553 101 24 sensors sensor NOUN ajst-30553 101 25 at at ADP ajst-30553 101 26 the the DET ajst-30553 101 27 same same ADJ ajst-30553 101 28 time time NOUN ajst-30553 101 29 for for ADP ajst-30553 101 30 loopback loopback NOUN ajst-30553 101 31 detection detection NOUN ajst-30553 101 32 and and CCONJ ajst-30553 101 33 real real ADJ ajst-30553 101 34 - - PUNCT ajst-30553 101 35 time time NOUN ajst-30553 101 36 update update NOUN ajst-30553 101 37 of of ADP ajst-30553 101 38 the the DET ajst-30553 101 39 environment environment NOUN ajst-30553 101 40 map map NOUN ajst-30553 101 41 . . PUNCT ajst-30553 102 1 the the DET ajst-30553 102 2 system system NOUN ajst-30553 102 3 uses use VERB ajst-30553 102 4 visual visual ADJ ajst-30553 102 5 frames frame NOUN ajst-30553 102 6 , , PUNCT ajst-30553 102 7 which which PRON ajst-30553 102 8 are be AUX ajst-30553 102 9 extracted extract VERB ajst-30553 102 10 by by ADP ajst-30553 102 11 the the DET ajst-30553 102 12 i i PROPN ajst-30553 102 13 - - PUNCT ajst-30553 102 14 surf surf NOUN ajst-30553 102 15 algorithm algorithm NOUN ajst-30553 102 16 from from ADP ajst-30553 102 17 an an DET ajst-30553 102 18 rgb rgb PROPN ajst-30553 102 19 image image NOUN ajst-30553 102 20 obtained obtain VERB ajst-30553 102 21 from from ADP ajst-30553 102 22 , , PUNCT ajst-30553 102 23 and and CCONJ ajst-30553 102 24 through through ADP ajst-30553 102 25 this this DET ajst-30553 102 26 process process NOUN ajst-30553 102 27 , , PUNCT ajst-30553 102 28 location location NOUN ajst-30553 102 29 information information NOUN ajst-30553 102 30 associated associate VERB ajst-30553 102 31 with with ADP ajst-30553 102 32 the the DET ajst-30553 102 33 image image NOUN ajst-30553 102 34 is be AUX ajst-30553 102 35 generated generate VERB ajst-30553 102 36 . . PUNCT ajst-30553 103 1 irtab irtab NOUN ajst-30553 103 2 - - PUNCT ajst-30553 103 3 map map NOUN ajst-30553 103 4 algorithm algorithm NOUN ajst-30553 103 5 uses use VERB ajst-30553 103 6 bag bag NOUN ajst-30553 103 7 - - PUNCT ajst-30553 103 8 of of ADP ajst-30553 103 9 - - PUNCT ajst-30553 103 10 words word NOUN ajst-30553 103 11 to to PART ajst-30553 103 12 save save VERB ajst-30553 103 13 these these DET ajst-30553 103 14 visual visual ADJ ajst-30553 103 15 frames frame NOUN ajst-30553 103 16 in in ADP ajst-30553 103 17 a a DET ajst-30553 103 18 visual visual ADJ ajst-30553 103 19 library library NOUN ajst-30553 103 20 for for ADP ajst-30553 103 21 comparing compare VERB ajst-30553 103 22 previously previously ADV ajst-30553 103 23 accessed access VERB ajst-30553 103 24 locations location NOUN ajst-30553 103 25 for for ADP ajst-30553 103 26 closure closure NOUN ajst-30553 103 27 detection detection NOUN ajst-30553 103 28 . . PUNCT ajst-30553 104 1 the the DET ajst-30553 104 2 system system NOUN ajst-30553 104 3 uses use VERB ajst-30553 104 4 kd kd PROPN ajst-30553 104 5 trees tree NOUN ajst-30553 104 6 for for ADP ajst-30553 104 7 comparison comparison NOUN ajst-30553 104 8 and and CCONJ ajst-30553 104 9 retrieval retrieval NOUN ajst-30553 104 10 to to PART ajst-30553 104 11 improve improve VERB ajst-30553 104 12 performance performance NOUN ajst-30553 104 13 speed speed NOUN ajst-30553 104 14 . . PUNCT ajst-30553 105 1 since since SCONJ ajst-30553 105 2 loop loop NOUN ajst-30553 105 3 detection detection NOUN ajst-30553 105 4 is be AUX ajst-30553 105 5 possible possible ADJ ajst-30553 105 6 within within ADP ajst-30553 105 7 maps map NOUN ajst-30553 105 8 , , PUNCT ajst-30553 105 9 it it PRON ajst-30553 105 10 is be AUX ajst-30553 105 11 also also ADV ajst-30553 105 12 possible possible ADJ ajst-30553 105 13 to to PART ajst-30553 105 14 find find VERB ajst-30553 105 15 loop loop NOUN ajst-30553 105 16 detection detection NOUN ajst-30553 105 17 between between ADP ajst-30553 105 18 different different ADJ ajst-30553 105 19 maps map NOUN ajst-30553 105 20 due due ADP ajst-30553 105 21 to to ADP ajst-30553 105 22 the the DET ajst-30553 105 23 multi multi ADJ ajst-30553 105 24 - - ADJ ajst-30553 105 25 subscription subscription ADJ ajst-30553 105 26 topic topic NOUN ajst-30553 105 27 property property NOUN ajst-30553 105 28 of of ADP ajst-30553 105 29 the the DET ajst-30553 105 30 system system NOUN ajst-30553 105 31 . . PUNCT ajst-30553 106 1 after after ADP ajst-30553 106 2 successful successful ADJ ajst-30553 106 3 detection detection NOUN ajst-30553 106 4 of of ADP ajst-30553 106 5 closed closed ADJ ajst-30553 106 6 loops loop NOUN ajst-30553 106 7 , , PUNCT ajst-30553 106 8 3d 3d NUM ajst-30553 106 9 transformations transformation NOUN ajst-30553 106 10 are be AUX ajst-30553 106 11 applied apply VERB ajst-30553 106 12 to to ADP ajst-30553 106 13 the the DET ajst-30553 106 14 matched match VERB ajst-30553 106 15 images image NOUN ajst-30553 106 16 using use VERB ajst-30553 106 17 the the DET ajst-30553 106 18 ransac ransac NOUN ajst-30553 106 19 method method NOUN ajst-30553 106 20 . . PUNCT ajst-30553 107 1 irtab irtab NOUN ajst-30553 107 2 - - PUNCT ajst-30553 107 3 map map NOUN ajst-30553 107 4 is be AUX ajst-30553 107 5 a a DET ajst-30553 107 6 graph graph NOUN ajst-30553 107 7 - - PUNCT ajst-30553 107 8 based base VERB ajst-30553 107 9 slam slam NOUN ajst-30553 107 10 system system NOUN ajst-30553 107 11 that that PRON ajst-30553 107 12 uses use VERB ajst-30553 107 13 locations location NOUN ajst-30553 107 14 as as ADP ajst-30553 107 15 nodes node NOUN ajst-30553 107 16 . . PUNCT ajst-30553 108 1 there there PRON ajst-30553 108 2 are be VERB ajst-30553 108 3 two two NUM ajst-30553 108 4 different different ADJ ajst-30553 108 5 types type NOUN ajst-30553 108 6 of of ADP ajst-30553 108 7 links link NOUN ajst-30553 108 8 between between ADP ajst-30553 108 9 nodes node NOUN ajst-30553 108 10 : : PUNCT ajst-30553 108 11 neighbourhood neighbourhood NOUN ajst-30553 108 12 links link NOUN ajst-30553 108 13 and and CCONJ ajst-30553 108 14 loopback loopback VERB ajst-30553 108 15 links link NOUN ajst-30553 108 16 . . PUNCT ajst-30553 109 1 neighbourhood neighbourhood NOUN ajst-30553 109 2 links link NOUN ajst-30553 109 3 are be AUX ajst-30553 109 4 links link NOUN ajst-30553 109 5 between between ADP ajst-30553 109 6 two two NUM ajst-30553 109 7 consecutive consecutive ADJ ajst-30553 109 8 positions position NOUN ajst-30553 109 9 ; ; PUNCT ajst-30553 109 10 if if SCONJ ajst-30553 109 11 a a DET ajst-30553 109 12 closed closed ADJ ajst-30553 109 13 loop loop NOUN ajst-30553 109 14 is be AUX ajst-30553 109 15 detected detect VERB ajst-30553 109 16 between between ADP ajst-30553 109 17 two two NUM ajst-30553 109 18 related related ADJ ajst-30553 109 19 positions position NOUN ajst-30553 109 20 then then ADV ajst-30553 109 21 the the DET ajst-30553 109 22 two two NUM ajst-30553 109 23 positions position NOUN ajst-30553 109 24 are be AUX ajst-30553 109 25 connected connect VERB ajst-30553 109 26 together together ADV ajst-30553 109 27 , , PUNCT ajst-30553 109 28 called call VERB ajst-30553 109 29 a a DET ajst-30553 109 30 loopback loopback NOUN ajst-30553 109 31 link link NOUN ajst-30553 109 32 . . PUNCT ajst-30553 110 1 after after ADP ajst-30553 110 2 adding add VERB ajst-30553 110 3 the the DET ajst-30553 110 4 loopback loopback NOUN ajst-30553 110 5 links link NOUN ajst-30553 110 6 , , PUNCT ajst-30553 110 7 the the DET ajst-30553 110 8 map map NOUN ajst-30553 110 9 is be AUX ajst-30553 110 10 optimised optimise VERB ajst-30553 110 11 using use VERB ajst-30553 110 12 the the DET ajst-30553 110 13 tree tree NOUN ajst-30553 110 14 - - PUNCT ajst-30553 110 15 based base VERB ajst-30553 110 16 network network NOUN ajst-30553 110 17 optimizer optimizer NOUN ajst-30553 110 18 ( ( PUNCT ajst-30553 110 19 toro toro PROPN ajst-30553 110 20 ) ) PUNCT ajst-30553 110 21 method method NOUN ajst-30553 110 22 to to PART ajst-30553 110 23 reduce reduce VERB ajst-30553 110 24 the the DET ajst-30553 110 25 ranging ranging NOUN ajst-30553 110 26 error error NOUN ajst-30553 110 27 . . PUNCT ajst-30553 111 1 finally finally ADV ajst-30553 111 2 , , PUNCT ajst-30553 111 3 the the DET ajst-30553 111 4 dense dense ADJ ajst-30553 111 5 point point NOUN ajst-30553 111 6 cloud cloud NOUN ajst-30553 111 7 map map NOUN ajst-30553 111 8 and and CCONJ ajst-30553 111 9 2d 2d PROPN ajst-30553 111 10 raster raster PROPN ajst-30553 111 11 environment environment NOUN ajst-30553 111 12 map map NOUN ajst-30553 111 13 are be AUX ajst-30553 111 14 output output NOUN ajst-30553 111 15 through through ADP ajst-30553 111 16 the the DET ajst-30553 111 17 data datum NOUN ajst-30553 111 18 from from ADP ajst-30553 111 19 each each DET ajst-30553 111 20 sensor sensor NOUN ajst-30553 111 21 after after ADP ajst-30553 111 22 fusion fusion NOUN ajst-30553 111 23 . . PUNCT ajst-30553 112 1 as as SCONJ ajst-30553 112 2 shown show VERB ajst-30553 112 3 in in ADP ajst-30553 112 4 figure figure NOUN ajst-30553 112 5 35 35 NUM ajst-30553 112 6 . . PUNCT ajst-30553 113 1 figure figure VERB ajst-30553 113 2 3 3 NUM ajst-30553 113 3 - - SYM ajst-30553 113 4 5 5 NUM ajst-30553 113 5 . . PUNCT ajst-30553 113 6 2d 2d PROPN ajst-30553 113 7 raster raster PROPN ajst-30553 113 8 environment environment NOUN ajst-30553 113 9 map map VERB ajst-30553 113 10 229 229 NUM ajst-30553 113 11 4 4 NUM ajst-30553 113 12 . . PUNCT ajst-30553 114 1 mapping mapping NOUN ajst-30553 114 2 experiment experiment NOUN ajst-30553 114 3 4.1 4.1 NUM ajst-30553 114 4 . . PUNCT ajst-30553 115 1 experiments experiment NOUN ajst-30553 115 2 and and CCONJ ajst-30553 115 3 analysis analysis NOUN ajst-30553 115 4 of of ADP ajst-30553 115 5 results result NOUN ajst-30553 115 6 4.1.1 4.1.1 NUM ajst-30553 115 7 . . PUNCT ajst-30553 116 1 experimental experimental ADJ ajst-30553 116 2 environment environment NOUN ajst-30553 116 3 in in ADP ajst-30553 116 4 order order NOUN ajst-30553 116 5 to to PART ajst-30553 116 6 simulate simulate VERB ajst-30553 116 7 variable variable ADJ ajst-30553 116 8 indoor indoor ADJ ajst-30553 116 9 complex complex ADJ ajst-30553 116 10 environments environment NOUN ajst-30553 116 11 , , PUNCT ajst-30553 116 12 the the DET ajst-30553 116 13 experimental experimental ADJ ajst-30553 116 14 environment environment NOUN ajst-30553 116 15 was be AUX ajst-30553 116 16 idealised idealise VERB ajst-30553 116 17 in in ADP ajst-30553 116 18 the the DET ajst-30553 116 19 multisensor multisensor NOUN ajst-30553 116 20 fusion fusion NOUN ajst-30553 116 21 robot robot NOUN ajst-30553 116 22 mapping mapping NOUN ajst-30553 116 23 experiments experiment NOUN ajst-30553 116 24 ideal ideal ADJ ajst-30553 116 25 environment environment NOUN ajst-30553 116 26 : : PUNCT ajst-30553 116 27 5mΓ—5 5mΓ—5 NUM ajst-30553 116 28 m m VERB ajst-30553 116 29 simulated simulate VERB ajst-30553 116 30 post post ADJ ajst-30553 116 31 - - ADJ ajst-30553 116 32 disaster disaster ADJ ajst-30553 116 33 scene scene NOUN ajst-30553 116 34 containing contain VERB ajst-30553 116 35 cubic cubic ADJ ajst-30553 116 36 obstacles obstacle NOUN ajst-30553 116 37 . . PUNCT ajst-30553 117 1 real real ADJ ajst-30553 117 2 environment environment NOUN ajst-30553 117 3 : : PUNCT ajst-30553 117 4 floor floor NOUN ajst-30553 117 5 corridor corridor NOUN ajst-30553 117 6 and and CCONJ ajst-30553 117 7 other other ADJ ajst-30553 117 8 complex complex ADJ ajst-30553 117 9 structures structure NOUN ajst-30553 117 10 as as SCONJ ajst-30553 117 11 shown show VERB ajst-30553 117 12 in in ADP ajst-30553 117 13 figure figure NOUN ajst-30553 117 14 4 4 NUM ajst-30553 117 15 - - SYM ajst-30553 117 16 1 1 NUM ajst-30553 117 17 . . PUNCT ajst-30553 118 1 at at ADP ajst-30553 118 2 the the DET ajst-30553 118 3 same same ADJ ajst-30553 118 4 time time NOUN ajst-30553 118 5 , , PUNCT ajst-30553 118 6 the the DET ajst-30553 118 7 ideal ideal ADJ ajst-30553 118 8 indoor indoor ADJ ajst-30553 118 9 environment environment NOUN ajst-30553 118 10 has have VERB ajst-30553 118 11 a a DET ajst-30553 118 12 single single ADJ ajst-30553 118 13 lighting lighting NOUN ajst-30553 118 14 condition condition NOUN ajst-30553 118 15 and and CCONJ ajst-30553 118 16 the the DET ajst-30553 118 17 floor floor NOUN ajst-30553 118 18 is be AUX ajst-30553 118 19 easy easy ADJ ajst-30553 118 20 to to PART ajst-30553 118 21 be be AUX ajst-30553 118 22 slippery slippery ADJ ajst-30553 118 23 , , PUNCT ajst-30553 118 24 simulating simulate VERB ajst-30553 118 25 the the DET ajst-30553 118 26 scene scene NOUN ajst-30553 118 27 of of ADP ajst-30553 118 28 slippery slippery ADJ ajst-30553 118 29 indoor indoor ADJ ajst-30553 118 30 floor floor NOUN ajst-30553 118 31 caused cause VERB ajst-30553 118 32 by by ADP ajst-30553 118 33 the the DET ajst-30553 118 34 complex complex ADJ ajst-30553 118 35 situation situation NOUN ajst-30553 118 36 , , PUNCT ajst-30553 118 37 and and CCONJ ajst-30553 118 38 the the DET ajst-30553 118 39 distance distance NOUN ajst-30553 118 40 between between ADP ajst-30553 118 41 each each DET ajst-30553 118 42 obstacle obstacle NOUN ajst-30553 118 43 is be AUX ajst-30553 118 44 small small ADJ ajst-30553 118 45 , , PUNCT ajst-30553 118 46 to to PART ajst-30553 118 47 restore restore VERB ajst-30553 118 48 the the DET ajst-30553 118 49 narrow narrow ADJ ajst-30553 118 50 terrain terrain NOUN ajst-30553 118 51 that that PRON ajst-30553 118 52 the the DET ajst-30553 118 53 robot robot NOUN ajst-30553 118 54 needs need VERB ajst-30553 118 55 to to PART ajst-30553 118 56 pass pass VERB ajst-30553 118 57 through through ADP ajst-30553 118 58 in in ADP ajst-30553 118 59 the the DET ajst-30553 118 60 real real ADJ ajst-30553 118 61 environment environment NOUN ajst-30553 118 62 , , PUNCT ajst-30553 118 63 and and CCONJ ajst-30553 118 64 to to PART ajst-30553 118 65 test test VERB ajst-30553 118 66 the the DET ajst-30553 118 67 robot robot NOUN ajst-30553 118 68 's 's PART ajst-30553 118 69 passability passability NOUN ajst-30553 118 70 . . PUNCT ajst-30553 119 1 figure figure VERB ajst-30553 119 2 4 4 NUM ajst-30553 119 3 - - SYM ajst-30553 119 4 1 1 NUM ajst-30553 119 5 . . PUNCT ajst-30553 120 1 experimental experimental PROPN ajst-30553 120 2 simulation simulation PROPN ajst-30553 120 3 environment environment PROPN ajst-30553 120 4 4.1.2 4.1.2 X ajst-30553 120 5 . . PUNCT ajst-30553 120 6 navigation navigation NOUN ajst-30553 120 7 and and CCONJ ajst-30553 120 8 map map VERB ajst-30553 120 9 building building NOUN ajst-30553 120 10 performance performance NOUN ajst-30553 120 11 experiments experiment NOUN ajst-30553 120 12 in in ADP ajst-30553 120 13 order order NOUN ajst-30553 120 14 to to PART ajst-30553 120 15 validate validate VERB ajst-30553 120 16 the the DET ajst-30553 120 17 multi multi ADJ ajst-30553 120 18 - - ADJ ajst-30553 120 19 sensor sensor ADJ ajst-30553 120 20 fusion fusion NOUN ajst-30553 120 21 mapping mapping NOUN ajst-30553 120 22 technique technique NOUN ajst-30553 120 23 in in ADP ajst-30553 120 24 this this DET ajst-30553 120 25 project project NOUN ajst-30553 120 26 , , PUNCT ajst-30553 120 27 two two NUM ajst-30553 120 28 multi multi ADJ ajst-30553 120 29 - - ADJ ajst-30553 120 30 sensor sensor ADJ ajst-30553 120 31 fusion fusion NOUN ajst-30553 120 32 mapping mapping NOUN ajst-30553 120 33 comparison comparison NOUN ajst-30553 120 34 experiments experiment NOUN ajst-30553 120 35 are be AUX ajst-30553 120 36 set set VERB ajst-30553 120 37 up up ADP ajst-30553 120 38 , , PUNCT ajst-30553 120 39 the the DET ajst-30553 120 40 first first ADJ ajst-30553 120 41 one one NOUN ajst-30553 120 42 is be AUX ajst-30553 120 43 a a DET ajst-30553 120 44 single single ADJ ajst-30553 120 45 lidar lidar NOUN ajst-30553 120 46 mapping mapping NOUN ajst-30553 120 47 experiment experiment NOUN ajst-30553 120 48 , , PUNCT ajst-30553 120 49 which which PRON ajst-30553 120 50 uses use VERB ajst-30553 120 51 the the DET ajst-30553 120 52 gampping gampping NOUN ajst-30553 120 53 algorithm algorithm NOUN ajst-30553 120 54 to to PART ajst-30553 120 55 construct construct VERB ajst-30553 120 56 an an DET ajst-30553 120 57 environment environment NOUN ajst-30553 120 58 map map NOUN ajst-30553 120 59 of of ADP ajst-30553 120 60 the the DET ajst-30553 120 61 ideal ideal ADJ ajst-30553 120 62 indoor indoor ADJ ajst-30553 120 63 environment environment NOUN ajst-30553 120 64 . . PUNCT ajst-30553 121 1 the the DET ajst-30553 121 2 second second NOUN ajst-30553 121 3 is be AUX ajst-30553 121 4 a a DET ajst-30553 121 5 multi multi ADJ ajst-30553 121 6 - - ADJ ajst-30553 121 7 sensor sensor ADJ ajst-30553 121 8 fusion fusion NOUN ajst-30553 121 9 mapping mapping NOUN ajst-30553 121 10 experiment experiment NOUN ajst-30553 121 11 to to PART ajst-30553 121 12 compare compare VERB ajst-30553 121 13 the the DET ajst-30553 121 14 results result NOUN ajst-30553 121 15 . . PUNCT ajst-30553 122 1 the the DET ajst-30553 122 2 proposed propose VERB ajst-30553 122 3 fused fuse VERB ajst-30553 122 4 data datum NOUN ajst-30553 122 5 from from ADP ajst-30553 122 6 each each DET ajst-30553 122 7 sensor sensor NOUN ajst-30553 122 8 is be AUX ajst-30553 122 9 used use VERB ajst-30553 122 10 as as ADP ajst-30553 122 11 input input NOUN ajst-30553 122 12 to to PART ajst-30553 122 13 build build VERB ajst-30553 122 14 an an DET ajst-30553 122 15 environment environment NOUN ajst-30553 122 16 map map NOUN ajst-30553 122 17 based base VERB ajst-30553 122 18 on on ADP ajst-30553 122 19 the the DET ajst-30553 122 20 irtab irtab NOUN ajst-30553 122 21 - - PUNCT ajst-30553 122 22 map map NOUN ajst-30553 122 23 algorithm algorithm NOUN ajst-30553 122 24 , , PUNCT ajst-30553 122 25 and and CCONJ ajst-30553 122 26 a a DET ajst-30553 122 27 dense dense ADJ ajst-30553 122 28 point point NOUN ajst-30553 122 29 cloud cloud NOUN ajst-30553 122 30 map map NOUN ajst-30553 122 31 and and CCONJ ajst-30553 122 32 a a DET ajst-30553 122 33 2d 2d PROPN ajst-30553 122 34 raster raster NOUN ajst-30553 122 35 environment environment NOUN ajst-30553 122 36 map map NOUN ajst-30553 122 37 are be AUX ajst-30553 122 38 output output NOUN ajst-30553 122 39 from from ADP ajst-30553 122 40 the the DET ajst-30553 122 41 fused fuse VERB ajst-30553 122 42 data datum NOUN ajst-30553 122 43 from from ADP ajst-30553 122 44 each each DET ajst-30553 122 45 sensor sensor NOUN ajst-30553 122 46 . . PUNCT ajst-30553 123 1 firstly firstly ADV ajst-30553 123 2 , , PUNCT ajst-30553 123 3 the the DET ajst-30553 123 4 single single ADJ ajst-30553 123 5 lidar lidar NOUN ajst-30553 123 6 is be AUX ajst-30553 123 7 experimented experiment VERB ajst-30553 123 8 in in ADP ajst-30553 123 9 the the DET ajst-30553 123 10 simulated simulate VERB ajst-30553 123 11 variable variable ADJ ajst-30553 123 12 indoor indoor ADJ ajst-30553 123 13 complex complex ADJ ajst-30553 123 14 environment environment NOUN ajst-30553 123 15 for for ADP ajst-30553 123 16 map map NOUN ajst-30553 123 17 building building NOUN ajst-30553 123 18 experiments experiment NOUN ajst-30553 123 19 , , PUNCT ajst-30553 123 20 and and CCONJ ajst-30553 123 21 the the DET ajst-30553 123 22 results result NOUN ajst-30553 123 23 are be AUX ajst-30553 123 24 shown show VERB ajst-30553 123 25 in in ADP ajst-30553 123 26 fig fig NOUN ajst-30553 123 27 . . PUNCT ajst-30553 124 1 4 4 NUM ajst-30553 124 2 - - SYM ajst-30553 124 3 2 2 NUM ajst-30553 124 4 . . PUNCT ajst-30553 125 1 under under ADP ajst-30553 125 2 the the DET ajst-30553 125 3 realistic realistic ADJ ajst-30553 125 4 conditions condition NOUN ajst-30553 125 5 of of ADP ajst-30553 125 6 three three NUM ajst-30553 125 7 obstacles obstacle NOUN ajst-30553 125 8 in in ADP ajst-30553 125 9 the the DET ajst-30553 125 10 real real ADJ ajst-30553 125 11 environment environment NOUN ajst-30553 125 12 , , PUNCT ajst-30553 125 13 only only ADV ajst-30553 125 14 two two NUM ajst-30553 125 15 obstacles obstacle NOUN ajst-30553 125 16 of of ADP ajst-30553 125 17 larger large ADJ ajst-30553 125 18 size size NOUN ajst-30553 125 19 are be AUX ajst-30553 125 20 identified identify VERB ajst-30553 125 21 in in ADP ajst-30553 125 22 the the DET ajst-30553 125 23 results result NOUN ajst-30553 125 24 of of ADP ajst-30553 125 25 the the DET ajst-30553 125 26 single single ADJ ajst-30553 125 27 lidar lidar NOUN ajst-30553 125 28 map map NOUN ajst-30553 125 29 building build VERB ajst-30553 125 30 experiments experiment NOUN ajst-30553 125 31 . . PUNCT ajst-30553 126 1 figure figure VERB ajst-30553 126 2 4 4 NUM ajst-30553 126 3 - - SYM ajst-30553 126 4 2 2 NUM ajst-30553 126 5 . . PUNCT ajst-30553 126 6 single single ADJ ajst-30553 126 7 lidar lidar NOUN ajst-30553 126 8 map map NOUN ajst-30553 126 9 building building NOUN ajst-30553 126 10 results result VERB ajst-30553 126 11 the the DET ajst-30553 126 12 second second ADJ ajst-30553 126 13 experiment experiment NOUN ajst-30553 126 14 experiments experiment NOUN ajst-30553 126 15 more more ADV ajst-30553 126 16 using use VERB ajst-30553 126 17 sensor sensor NOUN ajst-30553 126 18 fusion fusion NOUN ajst-30553 126 19 to to PART ajst-30553 126 20 build build VERB ajst-30553 126 21 a a DET ajst-30553 126 22 map map NOUN ajst-30553 126 23 , , PUNCT ajst-30553 126 24 using use VERB ajst-30553 126 25 multi multi ADJ ajst-30553 126 26 - - ADJ ajst-30553 126 27 sensor sensor ADJ ajst-30553 126 28 fusion fusion NOUN ajst-30553 126 29 robot robot NOUN ajst-30553 126 30 can can AUX ajst-30553 126 31 fusion fusion VERB ajst-30553 126 32 system system NOUN ajst-30553 126 33 in in ADP ajst-30553 126 34 the the DET ajst-30553 126 35 two two NUM ajst-30553 126 36 - - PUNCT ajst-30553 126 37 dimensional dimensional ADJ ajst-30553 126 38 map map NOUN ajst-30553 126 39 clearly clearly ADV ajst-30553 126 40 present present ADJ ajst-30553 126 41 dynamic dynamic ADJ ajst-30553 126 42 obstacle obstacle NOUN ajst-30553 126 43 contours contours NOUN ajst-30553 126 44 will will AUX ajst-30553 126 45 be be AUX ajst-30553 126 46 all all DET ajst-30553 126 47 the the DET ajst-30553 126 48 obstacles obstacle NOUN ajst-30553 126 49 are be AUX ajst-30553 126 50 recognised recognise VERB ajst-30553 126 51 , , PUNCT ajst-30553 126 52 and and CCONJ ajst-30553 126 53 real real ADJ ajst-30553 126 54 - - PUNCT ajst-30553 126 55 time time NOUN ajst-30553 126 56 release release NOUN ajst-30553 126 57 of of ADP ajst-30553 126 58 image image NOUN ajst-30553 126 59 information information NOUN ajst-30553 126 60 and and CCONJ ajst-30553 126 61 obstacle obstacle NOUN ajst-30553 126 62 detection detection NOUN ajst-30553 126 63 . . PUNCT ajst-30553 127 1 two two NUM ajst-30553 127 2 - - PUNCT ajst-30553 127 3 dimensional dimensional ADJ ajst-30553 127 4 lidar lidar NOUN ajst-30553 127 5 and and CCONJ ajst-30553 127 6 rgb rgb PROPN ajst-30553 127 7 - - PROPN ajst-30553 127 8 d d PROPN ajst-30553 127 9 camera camera NOUN ajst-30553 127 10 two two NUM ajst-30553 127 11 sensors sensor NOUN ajst-30553 127 12 coordinate coordinate NOUN ajst-30553 127 13 system system NOUN ajst-30553 127 14 and and CCONJ ajst-30553 127 15 time time NOUN ajst-30553 127 16 for for ADP ajst-30553 127 17 unification unification NOUN ajst-30553 127 18 ; ; PUNCT ajst-30553 128 1 to to PART ajst-30553 128 2 obtain obtain VERB ajst-30553 128 3 the the DET ajst-30553 128 4 relative relative ADJ ajst-30553 128 5 position position NOUN ajst-30553 128 6 relationship relationship NOUN ajst-30553 128 7 , , PUNCT ajst-30553 128 8 230 230 NUM ajst-30553 128 9 through through ADP ajst-30553 128 10 the the DET ajst-30553 128 11 two two NUM ajst-30553 128 12 sensors sensor NOUN ajst-30553 128 13 were be AUX ajst-30553 128 14 acquired acquire VERB ajst-30553 128 15 through through ADP ajst-30553 128 16 the the DET ajst-30553 128 17 environmental environmental ADJ ajst-30553 128 18 information information NOUN ajst-30553 128 19 , , PUNCT ajst-30553 128 20 to to PART ajst-30553 128 21 obtain obtain VERB ajst-30553 128 22 two two NUM ajst-30553 128 23 - - PUNCT ajst-30553 128 24 dimensional dimensional ADJ ajst-30553 128 25 laser laser NOUN ajst-30553 128 26 point point NOUN ajst-30553 128 27 cloud cloud NOUN ajst-30553 128 28 data datum NOUN ajst-30553 128 29 and and CCONJ ajst-30553 128 30 three three NUM ajst-30553 128 31 - - PUNCT ajst-30553 128 32 dimensional dimensional ADJ ajst-30553 128 33 point point NOUN ajst-30553 128 34 cloud cloud NOUN ajst-30553 128 35 data datum NOUN ajst-30553 128 36 ; ; PUNCT ajst-30553 128 37 through through ADP ajst-30553 128 38 the the DET ajst-30553 128 39 regional regional ADJ ajst-30553 128 40 image image NOUN ajst-30553 128 41 algorithm algorithm NOUN ajst-30553 128 42 will will AUX ajst-30553 128 43 be be AUX ajst-30553 128 44 the the DET ajst-30553 128 45 depth depth NOUN ajst-30553 128 46 of of ADP ajst-30553 128 47 three three NUM ajst-30553 128 48 - - PUNCT ajst-30553 128 49 dimensional dimensional ADJ ajst-30553 128 50 image image NOUN ajst-30553 128 51 data datum NOUN ajst-30553 128 52 and and CCONJ ajst-30553 128 53 two two NUM ajst-30553 128 54 - - PUNCT ajst-30553 128 55 dimensional dimensional ADJ ajst-30553 128 56 laser laser NOUN ajst-30553 128 57 point point NOUN ajst-30553 128 58 cloud cloud NOUN ajst-30553 128 59 data datum NOUN ajst-30553 128 60 for for ADP ajst-30553 128 61 fusion fusion NOUN ajst-30553 128 62 . . PUNCT ajst-30553 129 1 the the DET ajst-30553 129 2 experimental experimental ADJ ajst-30553 129 3 results result NOUN ajst-30553 129 4 are be AUX ajst-30553 129 5 shown show VERB ajst-30553 129 6 in in ADP ajst-30553 129 7 figure figure NOUN ajst-30553 129 8 4 4 NUM ajst-30553 129 9 - - SYM ajst-30553 129 10 3 3 NUM ajst-30553 129 11 . . PUNCT ajst-30553 129 12 figure figure VERB ajst-30553 129 13 4 4 NUM ajst-30553 129 14 - - SYM ajst-30553 129 15 3 3 NUM ajst-30553 129 16 . . PUNCT ajst-30553 129 17 multi multi ADJ ajst-30553 129 18 - - ADJ ajst-30553 129 19 sensor sensor ADJ ajst-30553 129 20 fusion fusion NOUN ajst-30553 129 21 map map NOUN ajst-30553 129 22 building build VERB ajst-30553 129 23 4.1.3 4.1.3 NUM ajst-30553 129 24 . . PUNCT ajst-30553 130 1 experimental experimental ADJ ajst-30553 130 2 results result NOUN ajst-30553 130 3 of of ADP ajst-30553 130 4 building building NOUN ajst-30553 130 5 maps map NOUN ajst-30553 130 6 for for ADP ajst-30553 130 7 multisensor multisensor NOUN ajst-30553 130 8 fusion fusion NOUN ajst-30553 130 9 comparison comparison NOUN ajst-30553 130 10 and and CCONJ ajst-30553 130 11 experimental experimental ADJ ajst-30553 130 12 analysis analysis NOUN ajst-30553 130 13 of of ADP ajst-30553 130 14 single single ADJ ajst-30553 130 15 - - PUNCT ajst-30553 130 16 sensor sensor NOUN ajst-30553 130 17 and and CCONJ ajst-30553 130 18 multi multi ADJ ajst-30553 130 19 - - ADJ ajst-30553 130 20 sensor sensor ADJ ajst-30553 130 21 fusion fusion NOUN ajst-30553 130 22 are be AUX ajst-30553 130 23 carried carry VERB ajst-30553 130 24 out out ADP ajst-30553 130 25 in in ADP ajst-30553 130 26 terms term NOUN ajst-30553 130 27 of of ADP ajst-30553 130 28 mapping mapping NOUN ajst-30553 130 29 effect effect NOUN ajst-30553 130 30 and and CCONJ ajst-30553 130 31 positioning positioning NOUN ajst-30553 130 32 accuracy accuracy NOUN ajst-30553 130 33 , , PUNCT ajst-30553 130 34 and and CCONJ ajst-30553 130 35 the the DET ajst-30553 130 36 experimental experimental ADJ ajst-30553 130 37 results result NOUN ajst-30553 130 38 prove prove VERB ajst-30553 130 39 that that SCONJ ajst-30553 130 40 the the DET ajst-30553 130 41 multi multi ADJ ajst-30553 130 42 - - ADJ ajst-30553 130 43 sensor sensor ADJ ajst-30553 130 44 fusion fusion NOUN ajst-30553 130 45 scheme scheme NOUN ajst-30553 130 46 is be AUX ajst-30553 130 47 better well ADJ ajst-30553 130 48 than than ADP ajst-30553 130 49 the the DET ajst-30553 130 50 single single ADJ ajst-30553 130 51 - - PUNCT ajst-30553 130 52 sensor sensor NOUN ajst-30553 130 53 mapping mapping NOUN ajst-30553 130 54 scheme scheme NOUN ajst-30553 130 55 in in ADP ajst-30553 130 56 terms term NOUN ajst-30553 130 57 of of ADP ajst-30553 130 58 mapping mapping NOUN ajst-30553 130 59 effect effect NOUN ajst-30553 130 60 and and CCONJ ajst-30553 130 61 positioning positioning NOUN ajst-30553 130 62 accuracy accuracy NOUN ajst-30553 130 63 , , PUNCT ajst-30553 130 64 and and CCONJ ajst-30553 130 65 its its PRON ajst-30553 130 66 mapping mapping NOUN ajst-30553 130 67 accuracy accuracy NOUN ajst-30553 130 68 and and CCONJ ajst-30553 130 69 positioning positioning NOUN ajst-30553 130 70 accuracy accuracy NOUN ajst-30553 130 71 in in ADP ajst-30553 130 72 complex complex ADJ ajst-30553 130 73 indoor indoor ADJ ajst-30553 130 74 environments environment NOUN ajst-30553 130 75 satisfy satisfy VERB ajst-30553 130 76 the the DET ajst-30553 130 77 accuracy accuracy NOUN ajst-30553 130 78 requirements requirement NOUN ajst-30553 130 79 of of ADP ajst-30553 130 80 robots robot NOUN ajst-30553 130 81 in in ADP ajst-30553 130 82 complex complex ADJ ajst-30553 130 83 environments environment NOUN ajst-30553 130 84 . . PUNCT ajst-30553 131 1 comparing compare VERB ajst-30553 131 2 the the DET ajst-30553 131 3 cumulative cumulative ADJ ajst-30553 131 4 errors error NOUN ajst-30553 131 5 of of ADP ajst-30553 131 6 positioning positioning NOUN ajst-30553 131 7 in in ADP ajst-30553 131 8 complex complex ADJ ajst-30553 131 9 indoor indoor ADJ ajst-30553 131 10 environments environment NOUN ajst-30553 131 11 of of ADP ajst-30553 131 12 multi multi ADJ ajst-30553 131 13 - - ADJ ajst-30553 131 14 sensor sensor ADJ ajst-30553 131 15 fusion fusion NOUN ajst-30553 131 16 , , PUNCT ajst-30553 131 17 single single ADJ ajst-30553 131 18 laser laser NOUN ajst-30553 131 19 , , PUNCT ajst-30553 131 20 and and CCONJ ajst-30553 131 21 single single ADJ ajst-30553 131 22 camera camera NOUN ajst-30553 131 23 , , PUNCT ajst-30553 131 24 it it PRON ajst-30553 131 25 can can AUX ajst-30553 131 26 be be AUX ajst-30553 131 27 concluded conclude VERB ajst-30553 131 28 that that SCONJ ajst-30553 131 29 both both CCONJ ajst-30553 131 30 multi multi ADJ ajst-30553 131 31 - - ADJ ajst-30553 131 32 sensor sensor ADJ ajst-30553 131 33 fusion fusion NOUN ajst-30553 131 34 scheme scheme NOUN ajst-30553 131 35 and and CCONJ ajst-30553 131 36 single single ADJ ajst-30553 131 37 lidar lidar NOUN ajst-30553 131 38 scheme scheme NOUN ajst-30553 131 39 have have VERB ajst-30553 131 40 lower low ADJ ajst-30553 131 41 cumulative cumulative ADJ ajst-30553 131 42 errors error NOUN ajst-30553 131 43 of of ADP ajst-30553 131 44 positioning positioning NOUN ajst-30553 131 45 than than ADP ajst-30553 131 46 rgb rgb PROPN ajst-30553 131 47 - - PROPN ajst-30553 131 48 d d PROPN ajst-30553 131 49 camera camera NOUN ajst-30553 131 50 , , PUNCT ajst-30553 131 51 which which PRON ajst-30553 131 52 is be AUX ajst-30553 131 53 caused cause VERB ajst-30553 131 54 by by ADP ajst-30553 131 55 the the DET ajst-30553 131 56 fact fact NOUN ajst-30553 131 57 that that SCONJ ajst-30553 131 58 in in ADP ajst-30553 131 59 complex complex ADJ ajst-30553 131 60 indoor indoor ADJ ajst-30553 131 61 environments environment NOUN ajst-30553 131 62 , , PUNCT ajst-30553 131 63 the the DET ajst-30553 131 64 rgb rgb PROPN ajst-30553 131 65 - - PROPN ajst-30553 131 66 d d PROPN ajst-30553 131 67 camera camera NOUN ajst-30553 131 68 has have AUX ajst-30553 131 69 the the DET ajst-30553 131 70 highest high ADJ ajst-30553 131 71 amount amount NOUN ajst-30553 131 72 of of ADP ajst-30553 131 73 data datum NOUN ajst-30553 131 74 collection collection NOUN ajst-30553 131 75 and and CCONJ ajst-30553 131 76 the the DET ajst-30553 131 77 largest large ADJ ajst-30553 131 78 amount amount NOUN ajst-30553 131 79 of of ADP ajst-30553 131 80 computation computation NOUN ajst-30553 131 81 , , PUNCT ajst-30553 131 82 and and CCONJ ajst-30553 131 83 the the DET ajst-30553 131 84 inaccuracy inaccuracy NOUN ajst-30553 131 85 of of ADP ajst-30553 131 86 the the DET ajst-30553 131 87 location location NOUN ajst-30553 131 88 of of ADP ajst-30553 131 89 the the DET ajst-30553 131 90 point point NOUN ajst-30553 131 91 cloud cloud NOUN ajst-30553 131 92 may may AUX ajst-30553 131 93 arise arise VERB ajst-30553 131 94 in in ADP ajst-30553 131 95 the the DET ajst-30553 131 96 process process NOUN ajst-30553 131 97 of of ADP ajst-30553 131 98 computation computation NOUN ajst-30553 131 99 and and CCONJ ajst-30553 131 100 other other ADJ ajst-30553 131 101 phenomena phenomenon NOUN ajst-30553 131 102 that that PRON ajst-30553 131 103 increase increase VERB ajst-30553 131 104 the the DET ajst-30553 131 105 error error NOUN ajst-30553 131 106 , , PUNCT ajst-30553 131 107 so so CCONJ ajst-30553 131 108 the the DET ajst-30553 131 109 cumulative cumulative ADJ ajst-30553 131 110 error error NOUN ajst-30553 131 111 will will AUX ajst-30553 131 112 be be AUX ajst-30553 131 113 larger large ADJ ajst-30553 131 114 than than ADP ajst-30553 131 115 the the DET ajst-30553 131 116 cumulative cumulative ADJ ajst-30553 131 117 error error NOUN ajst-30553 131 118 of of ADP ajst-30553 131 119 positioning positioning NOUN ajst-30553 131 120 after after ADP ajst-30553 131 121 lidar lidar NOUN ajst-30553 131 122 and and CCONJ ajst-30553 131 123 multi multi ADJ ajst-30553 131 124 - - ADJ ajst-30553 131 125 sensor sensor ADJ ajst-30553 131 126 fusion fusion NOUN ajst-30553 131 127 . . PUNCT ajst-30553 132 1 from from ADP ajst-30553 132 2 the the DET ajst-30553 132 3 experiment experiment NOUN ajst-30553 132 4 , , PUNCT ajst-30553 132 5 it it PRON ajst-30553 132 6 is be AUX ajst-30553 132 7 concluded conclude VERB ajst-30553 132 8 that that SCONJ ajst-30553 132 9 the the DET ajst-30553 132 10 cumulative cumulative ADJ ajst-30553 132 11 error error NOUN ajst-30553 132 12 of of ADP ajst-30553 132 13 positioning positioning NOUN ajst-30553 132 14 of of ADP ajst-30553 132 15 multi multi ADJ ajst-30553 132 16 - - ADJ ajst-30553 132 17 sensor sensor ADJ ajst-30553 132 18 fusion fusion NOUN ajst-30553 132 19 is be AUX ajst-30553 132 20 smaller small ADJ ajst-30553 132 21 than than ADP ajst-30553 132 22 that that PRON ajst-30553 132 23 of of ADP ajst-30553 132 24 single single ADJ ajst-30553 132 25 laser laser NOUN ajst-30553 132 26 and and CCONJ ajst-30553 132 27 smaller small ADJ ajst-30553 132 28 than than ADP ajst-30553 132 29 that that PRON ajst-30553 132 30 of of ADP ajst-30553 132 31 single single ADJ ajst-30553 132 32 camera camera NOUN ajst-30553 132 33 , , PUNCT ajst-30553 132 34 because because SCONJ ajst-30553 132 35 single single ADJ ajst-30553 132 36 lidar lidar NOUN ajst-30553 132 37 and and CCONJ ajst-30553 132 38 single single ADJ ajst-30553 132 39 camera camera NOUN ajst-30553 132 40 are be AUX ajst-30553 132 41 not not PART ajst-30553 132 42 fused fuse VERB ajst-30553 132 43 with with ADP ajst-30553 132 44 wheel wheel NOUN ajst-30553 132 45 odometer odometer NOUN ajst-30553 132 46 data datum NOUN ajst-30553 132 47 in in ADP ajst-30553 132 48 the the DET ajst-30553 132 49 positioning positioning NOUN ajst-30553 132 50 experiments experiment NOUN ajst-30553 132 51 , , PUNCT ajst-30553 132 52 so so SCONJ ajst-30553 132 53 there there PRON ajst-30553 132 54 will will AUX ajst-30553 132 55 be be AUX ajst-30553 132 56 a a DET ajst-30553 132 57 drift drift NOUN ajst-30553 132 58 phenomenon phenomenon NOUN ajst-30553 132 59 , , PUNCT ajst-30553 132 60 which which PRON ajst-30553 132 61 results result VERB ajst-30553 132 62 in in ADP ajst-30553 132 63 a a DET ajst-30553 132 64 larger large ADJ ajst-30553 132 65 error error NOUN ajst-30553 132 66 , , PUNCT ajst-30553 132 67 while while SCONJ ajst-30553 132 68 multiple multiple ADJ ajst-30553 132 69 sensors sensor NOUN ajst-30553 132 70 in in ADP ajst-30553 132 71 the the DET ajst-30553 132 72 multi multi ADJ ajst-30553 132 73 - - ADJ ajst-30553 132 74 sensor sensor ADJ ajst-30553 132 75 fusion fusion NOUN ajst-30553 132 76 scheme scheme NOUN ajst-30553 132 77 can can AUX ajst-30553 132 78 complement complement VERB ajst-30553 132 79 each each DET ajst-30553 132 80 other other ADJ ajst-30553 132 81 's 's PART ajst-30553 132 82 information information NOUN ajst-30553 132 83 so so SCONJ ajst-30553 132 84 the the DET ajst-30553 132 85 cumulative cumulative ADJ ajst-30553 132 86 error error NOUN ajst-30553 132 87 is be AUX ajst-30553 132 88 minimal minimal ADJ ajst-30553 132 89 , , PUNCT ajst-30553 132 90 which which PRON ajst-30553 132 91 results result VERB ajst-30553 132 92 in in ADP ajst-30553 132 93 the the DET ajst-30553 132 94 cumulative cumulative ADJ ajst-30553 132 95 error error NOUN ajst-30553 132 96 of of ADP ajst-30553 132 97 the the DET ajst-30553 132 98 multisensor multisensor NOUN ajst-30553 132 99 fusion fusion NOUN ajst-30553 132 100 scheme scheme NOUN ajst-30553 132 101 in in ADP ajst-30553 132 102 the the DET ajst-30553 132 103 complex complex ADJ ajst-30553 132 104 indoor indoor ADJ ajst-30553 132 105 environments environment NOUN ajst-30553 132 106 is be AUX ajst-30553 132 107 higher high ADJ ajst-30553 132 108 than than ADP ajst-30553 132 109 that that PRON ajst-30553 132 110 of of ADP ajst-30553 132 111 a a DET ajst-30553 132 112 single single ADJ ajst-30553 132 113 sensor sensor NOUN ajst-30553 132 114 . . PUNCT ajst-30553 133 1 the the DET ajst-30553 133 2 raster raster PROPN ajst-30553 133 3 map map NOUN ajst-30553 133 4 accuracy accuracy NOUN ajst-30553 133 5 of of ADP ajst-30553 133 6 complex complex ADJ ajst-30553 133 7 indoor indoor ADJ ajst-30553 133 8 rescue rescue NOUN ajst-30553 133 9 robots robot NOUN ajst-30553 133 10 is be AUX ajst-30553 133 11 generally generally ADV ajst-30553 133 12 5 5 NUM ajst-30553 133 13 - - SYM ajst-30553 133 14 10 10 NUM ajst-30553 133 15 cm cm NOUN ajst-30553 133 16 , , PUNCT ajst-30553 133 17 and and CCONJ ajst-30553 133 18 the the DET ajst-30553 133 19 positioning positioning NOUN ajst-30553 133 20 accuracy accuracy NOUN ajst-30553 133 21 is be AUX ajst-30553 133 22 2 2 NUM ajst-30553 133 23 - - SYM ajst-30553 133 24 10 10 NUM ajst-30553 133 25 cm cm NOUN ajst-30553 133 26 . . PUNCT ajst-30553 134 1 through through ADP ajst-30553 134 2 the the DET ajst-30553 134 3 experiment experiment NOUN ajst-30553 134 4 , , PUNCT ajst-30553 134 5 it it PRON ajst-30553 134 6 can can AUX ajst-30553 134 7 be be AUX ajst-30553 134 8 seen see VERB ajst-30553 134 9 that that SCONJ ajst-30553 134 10 the the DET ajst-30553 134 11 robot robot NOUN ajst-30553 134 12 's 's PART ajst-30553 134 13 navigation navigation NOUN ajst-30553 134 14 accuracy accuracy NOUN ajst-30553 134 15 is be AUX ajst-30553 134 16 high high ADJ ajst-30553 134 17 and and CCONJ ajst-30553 134 18 it it PRON ajst-30553 134 19 can can AUX ajst-30553 134 20 observe observe VERB ajst-30553 134 21 the the DET ajst-30553 134 22 image image NOUN ajst-30553 134 23 information information NOUN ajst-30553 134 24 of of ADP ajst-30553 134 25 obstacles obstacle NOUN ajst-30553 134 26 and and CCONJ ajst-30553 134 27 road road NOUN ajst-30553 134 28 conditions condition NOUN ajst-30553 134 29 in in ADP ajst-30553 134 30 real real ADJ ajst-30553 134 31 time time NOUN ajst-30553 134 32 through through ADP ajst-30553 134 33 the the DET ajst-30553 134 34 camera camera NOUN ajst-30553 134 35 , , PUNCT ajst-30553 134 36 and and CCONJ ajst-30553 134 37 the the DET ajst-30553 134 38 experimental experimental ADJ ajst-30553 134 39 results result NOUN ajst-30553 134 40 also also ADV ajst-30553 134 41 verified verify VERB ajst-30553 134 42 that that SCONJ ajst-30553 134 43 the the DET ajst-30553 134 44 multi multi ADJ ajst-30553 134 45 - - ADJ ajst-30553 134 46 sensor sensor ADJ ajst-30553 134 47 fusion fusion NOUN ajst-30553 134 48 algorithm algorithm NOUN ajst-30553 134 49 has have VERB ajst-30553 134 50 good good ADJ ajst-30553 134 51 obstacle obstacle NOUN ajst-30553 134 52 avoidance avoidance NOUN ajst-30553 134 53 ability ability NOUN ajst-30553 134 54 even even ADV ajst-30553 134 55 in in ADP ajst-30553 134 56 the the DET ajst-30553 134 57 face face NOUN ajst-30553 134 58 of of ADP ajst-30553 134 59 dynamic dynamic ADJ ajst-30553 134 60 obstacles obstacle NOUN ajst-30553 134 61 , , PUNCT ajst-30553 134 62 which which PRON ajst-30553 134 63 further far ADV ajst-30553 134 64 proves prove VERB ajst-30553 134 65 the the DET ajst-30553 134 66 feasibility feasibility NOUN ajst-30553 134 67 of of ADP ajst-30553 134 68 the the DET ajst-30553 134 69 multi multi ADJ ajst-30553 134 70 - - ADJ ajst-30553 134 71 sensor sensor ADJ ajst-30553 134 72 fusion fusion NOUN ajst-30553 134 73 algorithm algorithm NOUN ajst-30553 134 74 and and CCONJ ajst-30553 134 75 meets meet VERB ajst-30553 134 76 the the DET ajst-30553 134 77 requirements requirement NOUN ajst-30553 134 78 of of ADP ajst-30553 134 79 complex complex ADJ ajst-30553 134 80 indoor indoor ADJ ajst-30553 134 81 environments environment NOUN ajst-30553 134 82 . . PUNCT ajst-30553 135 1 this this PRON ajst-30553 135 2 further far ADV ajst-30553 135 3 proves prove VERB ajst-30553 135 4 the the DET ajst-30553 135 5 feasibility feasibility NOUN ajst-30553 135 6 of of ADP ajst-30553 135 7 the the DET ajst-30553 135 8 multi multi ADJ ajst-30553 135 9 - - ADJ ajst-30553 135 10 sensor sensor ADJ ajst-30553 135 11 fusion fusion NOUN ajst-30553 135 12 algorithm algorithm NOUN ajst-30553 135 13 to to PART ajst-30553 135 14 meet meet VERB ajst-30553 135 15 the the DET ajst-30553 135 16 complex complex NOUN ajst-30553 135 17 and and CCONJ ajst-30553 135 18 changing change VERB ajst-30553 135 19 different different ADJ ajst-30553 135 20 indoor indoor ADJ ajst-30553 135 21 environments environment NOUN ajst-30553 135 22 . . PUNCT ajst-30553 136 1 5 5 X ajst-30553 136 2 . . X ajst-30553 136 3 conclusions conclusion NOUN ajst-30553 136 4 and and CCONJ ajst-30553 136 5 outlook outlook NOUN ajst-30553 136 6 based base VERB ajst-30553 136 7 on on ADP ajst-30553 136 8 the the DET ajst-30553 136 9 multi multi ADJ ajst-30553 136 10 - - ADJ ajst-30553 136 11 sensor sensor ADJ ajst-30553 136 12 fusion fusion NOUN ajst-30553 136 13 technology technology NOUN ajst-30553 136 14 , , PUNCT ajst-30553 136 15 this this DET ajst-30553 136 16 study study NOUN ajst-30553 136 17 designs design VERB ajst-30553 136 18 a a DET ajst-30553 136 19 multi multi ADJ ajst-30553 136 20 - - ADJ ajst-30553 136 21 sensor sensor ADJ ajst-30553 136 22 fusion fusion NOUN ajst-30553 136 23 robot robot NOUN ajst-30553 136 24 including include VERB ajst-30553 136 25 a a DET ajst-30553 136 26 single single ADJ ajst-30553 136 27 - - PUNCT ajst-30553 136 28 wire wire NOUN ajst-30553 136 29 lidar lidar NOUN ajst-30553 136 30 sensor sensor NOUN ajst-30553 136 31 , , PUNCT ajst-30553 136 32 an an DET ajst-30553 136 33 rgb rgb PROPN ajst-30553 136 34 - - PROPN ajst-30553 136 35 d d PROPN ajst-30553 136 36 camera camera NOUN ajst-30553 136 37 , , PUNCT ajst-30553 136 38 and and CCONJ ajst-30553 136 39 a a DET ajst-30553 136 40 wheel wheel NOUN ajst-30553 136 41 odometer odometer NOUN ajst-30553 136 42 , , PUNCT ajst-30553 136 43 based base VERB ajst-30553 136 44 on on ADP ajst-30553 136 45 which which PRON ajst-30553 136 46 the the DET ajst-30553 136 47 robot robot NOUN ajst-30553 136 48 achieves achieve VERB ajst-30553 136 49 the the DET ajst-30553 136 50 functions function NOUN ajst-30553 136 51 of of ADP ajst-30553 136 52 acquiring acquire VERB ajst-30553 136 53 real real ADJ ajst-30553 136 54 - - PUNCT ajst-30553 136 55 time time NOUN ajst-30553 136 56 environmental environmental ADJ ajst-30553 136 57 data datum NOUN ajst-30553 136 58 in in ADP ajst-30553 136 59 unfamiliar unfamiliar ADJ ajst-30553 136 60 and and CCONJ ajst-30553 136 61 constructing construct VERB ajst-30553 136 62 maps map NOUN ajst-30553 136 63 of of ADP ajst-30553 136 64 complex complex ADJ ajst-30553 136 65 environments environment NOUN ajst-30553 136 66 , , PUNCT ajst-30553 136 67 and and CCONJ ajst-30553 136 68 then then ADV ajst-30553 136 69 experimentally experimentally ADV ajst-30553 136 70 verifies verify VERB ajst-30553 136 71 the the DET ajst-30553 136 72 proposed propose VERB ajst-30553 136 73 multi multi ADJ ajst-30553 136 74 - - ADJ ajst-30553 136 75 sensor sensor ADJ ajst-30553 136 76 fusion fusion NOUN ajst-30553 136 77 scheme scheme NOUN ajst-30553 136 78 for for ADP ajst-30553 136 79 map map NOUN ajst-30553 136 80 construction construction NOUN ajst-30553 136 81 . . PUNCT ajst-30553 137 1 by by ADP ajst-30553 137 2 improving improve VERB ajst-30553 137 3 the the DET ajst-30553 137 4 data datum NOUN ajst-30553 137 5 processing processing NOUN ajst-30553 137 6 algorithm algorithm NOUN ajst-30553 137 7 and and CCONJ ajst-30553 137 8 fusion fusion NOUN ajst-30553 137 9 strategy strategy NOUN ajst-30553 137 10 , , PUNCT ajst-30553 137 11 the the DET ajst-30553 137 12 accuracy accuracy NOUN ajst-30553 137 13 and and CCONJ ajst-30553 137 14 robustness robustness NOUN ajst-30553 137 15 of of ADP ajst-30553 137 16 complex complex ADJ ajst-30553 137 17 indoor indoor ADJ ajst-30553 137 18 environment environment NOUN ajst-30553 137 19 mapping mapping NOUN ajst-30553 137 20 are be AUX ajst-30553 137 21 significantly significantly ADV ajst-30553 137 22 improved improve VERB ajst-30553 137 23 . . PUNCT ajst-30553 138 1 from from ADP ajst-30553 138 2 the the DET ajst-30553 138 3 significance significance NOUN ajst-30553 138 4 level level NOUN ajst-30553 138 5 , , PUNCT ajst-30553 138 6 it it PRON ajst-30553 138 7 has have VERB ajst-30553 138 8 far far ADV ajst-30553 138 9 - - PUNCT ajst-30553 138 10 reaching reach VERB ajst-30553 138 11 social social ADJ ajst-30553 138 12 value value NOUN ajst-30553 138 13 and and CCONJ ajst-30553 138 14 scientific scientific ADJ ajst-30553 138 15 and and CCONJ ajst-30553 138 16 technological technological ADJ ajst-30553 138 17 exploration exploration NOUN ajst-30553 138 18 value value NOUN ajst-30553 138 19 . . PUNCT ajst-30553 139 1 at at ADP ajst-30553 139 2 the the DET ajst-30553 139 3 social social ADJ ajst-30553 139 4 level level NOUN ajst-30553 139 5 , , PUNCT ajst-30553 139 6 it it PRON ajst-30553 139 7 is be AUX ajst-30553 139 8 expected expect VERB ajst-30553 139 9 to to PART ajst-30553 139 10 provide provide VERB ajst-30553 139 11 reliable reliable ADJ ajst-30553 139 12 travelling travel VERB ajst-30553 139 13 assistance assistance NOUN ajst-30553 139 14 for for ADP ajst-30553 139 15 the the DET ajst-30553 139 16 visually visually ADV ajst-30553 139 17 impaired impaired ADJ ajst-30553 139 18 , , PUNCT ajst-30553 139 19 reduce reduce VERB ajst-30553 139 20 their their PRON ajst-30553 139 21 dependence dependence NOUN ajst-30553 139 22 on on ADP ajst-30553 139 23 traditional traditional ADJ ajst-30553 139 24 blind blind ADJ ajst-30553 139 25 guides guide NOUN ajst-30553 139 26 , , PUNCT ajst-30553 139 27 and and CCONJ ajst-30553 139 28 greatly greatly ADV ajst-30553 139 29 enhance enhance VERB ajst-30553 139 30 the the DET ajst-30553 139 31 mobility mobility NOUN ajst-30553 139 32 and and CCONJ ajst-30553 139 33 quality quality NOUN ajst-30553 139 34 of of ADP ajst-30553 139 35 life life NOUN ajst-30553 139 36 of of ADP ajst-30553 139 37 the the DET ajst-30553 139 38 visually visually ADV ajst-30553 139 39 impaired impair VERB ajst-30553 139 40 group group NOUN ajst-30553 139 41 ; ; PUNCT ajst-30553 139 42 in in ADP ajst-30553 139 43 the the DET ajst-30553 139 44 industrial industrial ADJ ajst-30553 139 45 field field NOUN ajst-30553 139 46 , , PUNCT ajst-30553 139 47 it it PRON ajst-30553 139 48 is be AUX ajst-30553 139 49 able able ADJ ajst-30553 139 50 to to PART ajst-30553 139 51 undertake undertake VERB ajst-30553 139 52 repetitive repetitive ADJ ajst-30553 139 53 and and CCONJ ajst-30553 139 54 dangerous dangerous ADJ ajst-30553 139 55 tasks task NOUN ajst-30553 139 56 , , PUNCT ajst-30553 139 57 such such ADJ ajst-30553 139 58 as as ADP ajst-30553 139 59 inspections inspection NOUN ajst-30553 139 60 in in ADP ajst-30553 139 61 hazardous hazardous ADJ ajst-30553 139 62 environments environment NOUN ajst-30553 139 63 and and CCONJ ajst-30553 139 64 material material NOUN ajst-30553 139 65 handling handling NOUN ajst-30553 139 66 in in ADP ajst-30553 139 67 logistics logistic NOUN ajst-30553 139 68 and and CCONJ ajst-30553 139 69 warehousing warehousing NOUN ajst-30553 139 70 , , PUNCT ajst-30553 139 71 which which PRON ajst-30553 139 72 will will AUX ajst-30553 139 73 reduce reduce VERB ajst-30553 139 74 manpower manpower NOUN ajst-30553 139 75 costs cost NOUN ajst-30553 139 76 and and CCONJ ajst-30553 139 77 ensure ensure VERB ajst-30553 139 78 personnel personnel NOUN ajst-30553 139 79 safety safety NOUN ajst-30553 139 80 at at ADP ajst-30553 139 81 the the DET ajst-30553 139 82 same same ADJ ajst-30553 139 83 time time NOUN ajst-30553 139 84 . . PUNCT ajst-30553 140 1 from from ADP ajst-30553 140 2 the the DET ajst-30553 140 3 perspective perspective NOUN ajst-30553 140 4 of of ADP ajst-30553 140 5 scientific scientific ADJ ajst-30553 140 6 and and CCONJ ajst-30553 140 7 technological technological ADJ ajst-30553 140 8 exploration exploration NOUN ajst-30553 140 9 , , PUNCT ajst-30553 140 10 this this DET ajst-30553 140 11 project project NOUN ajst-30553 140 12 promotes promote VERB ajst-30553 140 13 the the DET ajst-30553 140 14 cross cross NOUN ajst-30553 140 15 - - NOUN ajst-30553 140 16 fertilisation fertilisation NOUN ajst-30553 140 17 of of ADP ajst-30553 140 18 multiple multiple ADJ ajst-30553 140 19 disciplines discipline NOUN ajst-30553 140 20 , , PUNCT ajst-30553 140 21 closely closely ADV ajst-30553 140 22 integrating integrate VERB ajst-30553 140 23 robotics robotic NOUN ajst-30553 140 24 , , PUNCT ajst-30553 140 25 sensor sensor NOUN ajst-30553 140 26 technology technology NOUN ajst-30553 140 27 , , PUNCT ajst-30553 140 28 computer computer NOUN ajst-30553 140 29 science science NOUN ajst-30553 140 30 , , PUNCT ajst-30553 140 31 artificial artificial ADJ ajst-30553 140 32 intelligence intelligence NOUN ajst-30553 140 33 and and CCONJ ajst-30553 140 34 other other ADJ ajst-30553 140 35 disciplines discipline NOUN ajst-30553 140 36 , , PUNCT ajst-30553 140 37 providing provide VERB ajst-30553 140 38 new new ADJ ajst-30553 140 39 ideas idea NOUN ajst-30553 140 40 and and CCONJ ajst-30553 140 41 practical practical ADJ ajst-30553 140 42 cases case NOUN ajst-30553 140 43 for for ADP ajst-30553 140 44 academic academic ADJ ajst-30553 140 45 research research NOUN ajst-30553 140 46 in in ADP ajst-30553 140 47 related relate VERB ajst-30553 140 48 fields field NOUN ajst-30553 140 49 , , PUNCT ajst-30553 140 50 and and CCONJ ajst-30553 140 51 promoting promote VERB ajst-30553 140 52 the the DET ajst-30553 140 53 further further ADJ ajst-30553 140 54 development development NOUN ajst-30553 140 55 of of ADP ajst-30553 140 56 the the DET ajst-30553 140 57 discipline discipline NOUN ajst-30553 140 58 . . PUNCT ajst-30553 141 1 the the DET ajst-30553 141 2 robot robot NOUN ajst-30553 141 3 builds build VERB ajst-30553 141 4 a a DET ajst-30553 141 5 system system NOUN ajst-30553 141 6 framework framework NOUN ajst-30553 141 7 based base VERB ajst-30553 141 8 on on ADP ajst-30553 141 9 ros ros PROPN ajst-30553 141 10 , , PUNCT ajst-30553 141 11 making make VERB ajst-30553 141 12 full full ADJ ajst-30553 141 13 use use NOUN ajst-30553 141 14 of of ADP ajst-30553 141 15 its its PRON ajst-30553 141 16 advantages advantage NOUN ajst-30553 141 17 of of ADP ajst-30553 141 18 open open ADJ ajst-30553 141 19 source source NOUN ajst-30553 141 20 , , PUNCT ajst-30553 141 21 modularity modularity NOUN ajst-30553 141 22 and and CCONJ ajst-30553 141 23 expandability expandability NOUN ajst-30553 141 24 , , PUNCT ajst-30553 141 25 which which PRON ajst-30553 141 26 provides provide VERB ajst-30553 141 27 strong strong ADJ ajst-30553 141 28 support support NOUN ajst-30553 141 29 for for ADP ajst-30553 141 30 the the DET ajst-30553 141 31 efficient efficient ADJ ajst-30553 141 32 collaboration collaboration NOUN ajst-30553 141 33 of of ADP ajst-30553 141 34 the the DET ajst-30553 141 35 robot robot NOUN ajst-30553 141 36 's 's PART ajst-30553 141 37 modules module NOUN ajst-30553 141 38 . . PUNCT ajst-30553 142 1 the the DET ajst-30553 142 2 data datum NOUN ajst-30553 142 3 from from ADP ajst-30553 142 4 different different ADJ ajst-30553 142 5 sensors sensor NOUN ajst-30553 142 6 complement complement VERB ajst-30553 142 7 each each DET ajst-30553 142 8 other other ADJ ajst-30553 142 9 , , PUNCT ajst-30553 142 10 enabling enable VERB ajst-30553 142 11 the the DET ajst-30553 142 12 robot robot NOUN ajst-30553 142 13 231 231 NUM ajst-30553 142 14 to to PART ajst-30553 142 15 perceive perceive VERB ajst-30553 142 16 the the DET ajst-30553 142 17 surrounding surround VERB ajst-30553 142 18 environment environment NOUN ajst-30553 142 19 in in ADP ajst-30553 142 20 an an DET ajst-30553 142 21 all all ADV ajst-30553 142 22 - - PUNCT ajst-30553 142 23 round round ADJ ajst-30553 142 24 and and CCONJ ajst-30553 142 25 high high ADJ ajst-30553 142 26 - - PUNCT ajst-30553 142 27 precision precision NOUN ajst-30553 142 28 way way NOUN ajst-30553 142 29 , , PUNCT ajst-30553 142 30 which which PRON ajst-30553 142 31 greatly greatly ADV ajst-30553 142 32 improves improve VERB ajst-30553 142 33 the the DET ajst-30553 142 34 accuracy accuracy NOUN ajst-30553 142 35 and and CCONJ ajst-30553 142 36 reliability reliability NOUN ajst-30553 142 37 of of ADP ajst-30553 142 38 environmental environmental ADJ ajst-30553 142 39 cognition cognition NOUN ajst-30553 142 40 . . PUNCT ajst-30553 143 1 the the DET ajst-30553 143 2 robot robot NOUN ajst-30553 143 3 can can AUX ajst-30553 143 4 quickly quickly ADV ajst-30553 143 5 plan plan VERB ajst-30553 143 6 a a DET ajst-30553 143 7 reasonable reasonable ADJ ajst-30553 143 8 path path NOUN ajst-30553 143 9 in in ADP ajst-30553 143 10 a a DET ajst-30553 143 11 complex complex ADJ ajst-30553 143 12 dynamic dynamic ADJ ajst-30553 143 13 environment environment NOUN ajst-30553 143 14 , , PUNCT ajst-30553 143 15 make make VERB ajst-30553 143 16 real real ADJ ajst-30553 143 17 - - PUNCT ajst-30553 143 18 time time NOUN ajst-30553 143 19 decisions decision NOUN ajst-30553 143 20 and and CCONJ ajst-30553 143 21 adjustments adjustment NOUN ajst-30553 143 22 according accord VERB ajst-30553 143 23 to to ADP ajst-30553 143 24 environmental environmental ADJ ajst-30553 143 25 changes change NOUN ajst-30553 143 26 , , PUNCT ajst-30553 143 27 effectively effectively ADV ajst-30553 143 28 avoid avoid VERB ajst-30553 143 29 obstacles obstacle NOUN ajst-30553 143 30 , , PUNCT ajst-30553 143 31 and and CCONJ ajst-30553 143 32 achieve achieve VERB ajst-30553 143 33 stable stable ADJ ajst-30553 143 34 and and CCONJ ajst-30553 143 35 efficient efficient ADJ ajst-30553 143 36 autonomous autonomous ADJ ajst-30553 143 37 navigation navigation NOUN ajst-30553 143 38 . . PUNCT ajst-30553 144 1 in in ADP ajst-30553 144 2 indoor indoor ADJ ajst-30553 144 3 scenarios scenario NOUN ajst-30553 144 4 , , PUNCT ajst-30553 144 5 whether whether SCONJ ajst-30553 144 6 in in ADP ajst-30553 144 7 large large ADJ ajst-30553 144 8 shopping shopping NOUN ajst-30553 144 9 malls mall NOUN ajst-30553 144 10 and and CCONJ ajst-30553 144 11 office office NOUN ajst-30553 144 12 buildings building NOUN ajst-30553 144 13 with with ADP ajst-30553 144 14 complex complex ADJ ajst-30553 144 15 structures structure NOUN ajst-30553 144 16 , , PUNCT ajst-30553 144 17 or or CCONJ ajst-30553 144 18 in in ADP ajst-30553 144 19 family family NOUN ajst-30553 144 20 environments environment NOUN ajst-30553 144 21 with with ADP ajst-30553 144 22 diverse diverse ADJ ajst-30553 144 23 layouts layout NOUN ajst-30553 144 24 , , PUNCT ajst-30553 144 25 the the DET ajst-30553 144 26 robot robot NOUN ajst-30553 144 27 can can AUX ajst-30553 144 28 quickly quickly ADV ajst-30553 144 29 build build VERB ajst-30553 144 30 maps map NOUN ajst-30553 144 31 to to PART ajst-30553 144 32 achieve achieve VERB ajst-30553 144 33 accurate accurate ADJ ajst-30553 144 34 positioning positioning NOUN ajst-30553 144 35 and and CCONJ ajst-30553 144 36 navigation navigation NOUN ajst-30553 144 37 , , PUNCT ajst-30553 144 38 which which PRON ajst-30553 144 39 can can AUX ajst-30553 144 40 be be AUX ajst-30553 144 41 applied apply VERB ajst-30553 144 42 to to ADP ajst-30553 144 43 indoor indoor ADJ ajst-30553 144 44 cleaning cleaning NOUN ajst-30553 144 45 , , PUNCT ajst-30553 144 46 logistics logistic NOUN ajst-30553 144 47 and and CCONJ ajst-30553 144 48 distribution distribution NOUN ajst-30553 144 49 , , PUNCT ajst-30553 144 50 and and CCONJ ajst-30553 144 51 companion companion NOUN ajst-30553 144 52 services service NOUN ajst-30553 144 53 and and CCONJ ajst-30553 144 54 other other ADJ ajst-30553 144 55 fields field NOUN ajst-30553 144 56 . . PUNCT ajst-30553 145 1 in in ADP ajst-30553 145 2 addition addition NOUN ajst-30553 145 3 , , PUNCT ajst-30553 145 4 in in ADP ajst-30553 145 5 some some DET ajst-30553 145 6 special special ADJ ajst-30553 145 7 environments environment NOUN ajst-30553 145 8 , , PUNCT ajst-30553 145 9 such such ADJ ajst-30553 145 10 as as ADP ajst-30553 145 11 warehouses warehouse NOUN ajst-30553 145 12 and and CCONJ ajst-30553 145 13 factories factory NOUN ajst-30553 145 14 , , PUNCT ajst-30553 145 15 robots robot NOUN ajst-30553 145 16 are be AUX ajst-30553 145 17 capable capable ADJ ajst-30553 145 18 of of ADP ajst-30553 145 19 handling handle VERB ajst-30553 145 20 materials material NOUN ajst-30553 145 21 and and CCONJ ajst-30553 145 22 inspecting inspect VERB ajst-30553 145 23 equipment equipment NOUN ajst-30553 145 24 , , PUNCT ajst-30553 145 25 showing show VERB ajst-30553 145 26 good good ADJ ajst-30553 145 27 adaptability adaptability NOUN ajst-30553 145 28 to to ADP ajst-30553 145 29 the the DET ajst-30553 145 30 environment environment NOUN ajst-30553 145 31 and and CCONJ ajst-30553 145 32 the the DET ajst-30553 145 33 ability ability NOUN ajst-30553 145 34 to to PART ajst-30553 145 35 perform perform VERB ajst-30553 145 36 tasks task NOUN ajst-30553 145 37 . . PUNCT ajst-30553 146 1 with with ADP ajst-30553 146 2 its its PRON ajst-30553 146 3 advanced advanced ADJ ajst-30553 146 4 technology technology NOUN ajst-30553 146 5 , , PUNCT ajst-30553 146 6 reliable reliable ADJ ajst-30553 146 7 performance performance NOUN ajst-30553 146 8 and and CCONJ ajst-30553 146 9 wide wide ADJ ajst-30553 146 10 range range NOUN ajst-30553 146 11 of of ADP ajst-30553 146 12 applications application NOUN ajst-30553 146 13 , , PUNCT ajst-30553 146 14 this this DET ajst-30553 146 15 work work NOUN ajst-30553 146 16 is be AUX ajst-30553 146 17 well well ADV ajst-30553 146 18 suited suited ADJ ajst-30553 146 19 to to ADP ajst-30553 146 20 the the DET ajst-30553 146 21 market market NOUN ajst-30553 146 22 demand demand NOUN ajst-30553 146 23 . . PUNCT ajst-30553 147 1 if if SCONJ ajst-30553 147 2 it it PRON ajst-30553 147 3 is be AUX ajst-30553 147 4 further far ADV ajst-30553 147 5 optimised optimise VERB ajst-30553 147 6 in in ADP ajst-30553 147 7 terms term NOUN ajst-30553 147 8 of of ADP ajst-30553 147 9 cost cost NOUN ajst-30553 147 10 control control NOUN ajst-30553 147 11 and and CCONJ ajst-30553 147 12 product product NOUN ajst-30553 147 13 stability stability NOUN ajst-30553 147 14 , , PUNCT ajst-30553 147 15 and and CCONJ ajst-30553 147 16 then then ADV ajst-30553 147 17 mass mass ADV ajst-30553 147 18 - - PUNCT ajst-30553 147 19 produced produce VERB ajst-30553 147 20 and and CCONJ ajst-30553 147 21 marketed market VERB ajst-30553 147 22 , , PUNCT ajst-30553 147 23 it it PRON ajst-30553 147 24 is be AUX ajst-30553 147 25 expected expect VERB ajst-30553 147 26 to to PART ajst-30553 147 27 trigger trigger VERB ajst-30553 147 28 changes change NOUN ajst-30553 147 29 in in ADP ajst-30553 147 30 many many ADJ ajst-30553 147 31 industries industry NOUN ajst-30553 147 32 and and CCONJ ajst-30553 147 33 create create VERB ajst-30553 147 34 great great ADJ ajst-30553 147 35 economic economic ADJ ajst-30553 147 36 and and CCONJ ajst-30553 147 37 social social ADJ ajst-30553 147 38 benefits benefit NOUN ajst-30553 147 39 . . PUNCT ajst-30553 148 1 future future ADJ ajst-30553 148 2 work work NOUN ajst-30553 148 3 will will AUX ajst-30553 148 4 focus focus VERB ajst-30553 148 5 on on ADP ajst-30553 148 6 dynamic dynamic ADJ ajst-30553 148 7 obstacle obstacle NOUN ajst-30553 148 8 processing processing NOUN ajst-30553 148 9 and and CCONJ ajst-30553 148 10 embedded embed VERB ajst-30553 148 11 platform platform NOUN ajst-30553 148 12 optimisation optimisation NOUN ajst-30553 148 13 to to PART ajst-30553 148 14 further far ADV ajst-30553 148 15 improve improve VERB ajst-30553 148 16 system system NOUN ajst-30553 148 17 real real ADJ ajst-30553 148 18 - - PUNCT ajst-30553 148 19 time time NOUN ajst-30553 148 20 performance performance NOUN ajst-30553 148 21 . . PUNCT ajst-30553 149 1 bibliography bibliography NOUN ajst-30553 150 1 [ [ X ajst-30553 150 2 1 1 NUM ajst-30553 150 3 ] ] PUNCT ajst-30553 150 4 xu xu NOUN ajst-30553 151 1 gongming gongme VERB ajst-30553 151 2 . . PUNCT ajst-30553 152 1 research research NOUN ajst-30553 152 2 on on ADP ajst-30553 152 3 mobile mobile ADJ ajst-30553 152 4 robot robot NOUN ajst-30553 152 5 positioning positioning NOUN ajst-30553 152 6 mapping mapping NOUN ajst-30553 152 7 and and CCONJ ajst-30553 152 8 navigation navigation NOUN ajst-30553 152 9 based base VERB ajst-30553 152 10 on on ADP ajst-30553 152 11 multi multi ADJ ajst-30553 152 12 - - ADJ ajst-30553 152 13 sensor sensor ADJ ajst-30553 152 14 data datum NOUN ajst-30553 152 15 fusion[j fusion[j PROPN ajst-30553 152 16 ] ] PUNCT ajst-30553 152 17 . . PUNCT ajst-30553 153 1 information information NOUN ajst-30553 153 2 technology,2024,07(47):1 technology,2024,07(47):1 NOUN ajst-30553 153 3 - - PROPN ajst-30553 153 4 15 15 NUM ajst-30553 153 5 . . PUNCT ajst-30553 154 1 [ [ X ajst-30553 154 2 2 2 NUM ajst-30553 154 3 ] ] X ajst-30553 154 4 du du PROPN ajst-30553 154 5 x. x. PROPN ajst-30553 154 6 research research PROPN ajst-30553 154 7 and and CCONJ ajst-30553 154 8 implementation implementation NOUN ajst-30553 154 9 of of ADP ajst-30553 154 10 complex complex ADJ ajst-30553 154 11 indoor indoor ADJ ajst-30553 154 12 environment environment NOUN ajst-30553 154 13 composition composition NOUN ajst-30553 154 14 for for ADP ajst-30553 154 15 robots robot NOUN ajst-30553 154 16 based base VERB ajst-30553 154 17 on on ADP ajst-30553 154 18 multi multi ADJ ajst-30553 154 19 - - ADJ ajst-30553 154 20 sensor sensor ADJ ajst-30553 154 21 fusion fusion NOUN ajst-30553 155 1 [ [ X ajst-30553 155 2 d d X ajst-30553 155 3 ] ] X ajst-30553 155 4 . . PUNCT ajst-30553 156 1 xi'an xi'an PROPN ajst-30553 156 2 university university PROPN ajst-30553 156 3 of of ADP ajst-30553 156 4 technology technology NOUN ajst-30553 156 5 , , PUNCT ajst-30553 156 6 2024 2024 NUM ajst-30553 156 7 . . PUNCT ajst-30553 157 1 [ [ X ajst-30553 157 2 3 3 X ajst-30553 157 3 ] ] X ajst-30553 157 4 liu liu PROPN ajst-30553 157 5 shangfei shangfei PROPN ajst-30553 157 6 , , PUNCT ajst-30553 157 7 wang wang PROPN ajst-30553 157 8 junzheng junzheng PROPN ajst-30553 157 9 , , PUNCT ajst-30553 157 10 liu liu PROPN ajst-30553 157 11 dongchen dongchen PROPN ajst-30553 157 12 , , PUNCT ajst-30553 157 13 et et PROPN ajst-30553 157 14 al al PROPN ajst-30553 157 15 . . PUNCT ajst-30553 158 1 multifunctional multifunctional PROPN ajst-30553 158 2 parallel parallel ADJ ajst-30553 158 3 six six NUM ajst-30553 158 4 - - PUNCT ajst-30553 158 5 wheeled wheel VERB ajst-30553 158 6 foot foot NOUN ajst-30553 158 7 rescue rescue NOUN ajst-30553 158 8 robot[j robot[j NOUN ajst-30553 158 9 ] ] PUNCT ajst-30553 158 10 . . PUNCT ajst-30553 159 1 journal journal PROPN ajst-30553 159 2 of of ADP ajst-30553 159 3 mechanical mechanical ADJ ajst-30553 159 4 engineering engineering NOUN ajst-30553 159 5 , , PUNCT ajst-30553 159 6 2024 2024 NUM ajst-30553 159 7 , , PUNCT ajst-30553 159 8 23(02 23(02 NUM ajst-30553 159 9 ): ): PUNCT ajst-30553 159 10 1 1 NUM ajst-30553 159 11 - - SYM ajst-30553 159 12 13 13 NUM ajst-30553 159 13 . . PUNCT ajst-30553 160 1 [ [ X ajst-30553 160 2 4 4 X ajst-30553 160 3 ] ] X ajst-30553 160 4 bao bao PROPN ajst-30553 160 5 zihan zihan PROPN ajst-30553 160 6 , , PUNCT ajst-30553 160 7 li li PROPN ajst-30553 160 8 longhai longhai PROPN ajst-30553 160 9 , , PUNCT ajst-30553 160 10 liu liu PROPN ajst-30553 160 11 lili lili PROPN ajst-30553 160 12 , , PUNCT ajst-30553 160 13 et et PROPN ajst-30553 160 14 al al PROPN ajst-30553 160 15 . . PROPN ajst-30553 160 16 research research NOUN ajst-30553 160 17 on on ADP ajst-30553 160 18 automatic automatic ADJ ajst-30553 160 19 obstacle obstacle NOUN ajst-30553 160 20 avoidance avoidance NOUN ajst-30553 160 21 technology technology NOUN ajst-30553 160 22 of of ADP ajst-30553 160 23 rescue rescue NOUN ajst-30553 160 24 robot robot NOUN ajst-30553 160 25 based base VERB ajst-30553 160 26 on on ADP ajst-30553 160 27 machine machine NOUN ajst-30553 160 28 vision[j vision[j PROPN ajst-30553 160 29 ] ] PUNCT ajst-30553 160 30 . . PUNCT ajst-30553 161 1 mechanical mechanical ADJ ajst-30553 161 2 manufacturing manufacturing NOUN ajst-30553 161 3 and and CCONJ ajst-30553 161 4 automation automation NOUN ajst-30553 161 5 , , PUNCT ajst-30553 161 6 2024 2024 NUM ajst-30553 161 7 , , PUNCT ajst-30553 161 8 53(01 53(01 NUM ajst-30553 161 9 ): ): PUNCT ajst-30553 161 10 202 202 NUM ajst-30553 161 11 - - SYM ajst-30553 161 12 208 208 NUM ajst-30553 161 13 . . PUNCT ajst-30553 162 1 [ [ X ajst-30553 162 2 5 5 X ajst-30553 162 3 ] ] PUNCT ajst-30553 162 4 stone stone NOUN ajst-30553 162 5 p p NOUN ajst-30553 162 6 , , PUNCT ajst-30553 162 7 brooks brooks PROPN ajst-30553 162 8 r. r. PROPN ajst-30553 162 9 artificial artificial PROPN ajst-30553 162 10 intelligence intelligence NOUN ajst-30553 162 11 and and CCONJ ajst-30553 162 12 life life NOUN ajst-30553 162 13 in in ADP ajst-30553 162 14 2030[r 2030[r NUM ajst-30553 162 15 ] ] PUNCT ajst-30553 162 16 . . PUNCT ajst-30553 163 1 one one NUM ajst-30553 163 2 hundred hundred NUM ajst-30553 163 3 year year NOUN ajst-30553 163 4 study study NOUN ajst-30553 163 5 on on ADP ajst-30553 163 6 artificial artificial ADJ ajst-30553 163 7 intelligence intelligence NOUN ajst-30553 163 8 : : PUNCT ajst-30553 163 9 report report NOUN ajst-30553 163 10 of of ADP ajst-30553 163 11 the the DET ajst-30553 163 12 2015 2015 NUM ajst-30553 163 13 - - SYM ajst-30553 163 14 2016 2016 NUM ajst-30553 163 15 study study NOUN ajst-30553 163 16 panel panel NOUN ajst-30553 163 17 , , PUNCT ajst-30553 163 18 stanford stanford PROPN ajst-30553 163 19 university university PROPN ajst-30553 163 20 , , PUNCT ajst-30553 163 21 stanford stanford PROPN ajst-30553 163 22 , , PUNCT ajst-30553 163 23 ca can AUX ajst-30553 163 24 , , PUNCT ajst-30553 163 25 2016 2016 NUM ajst-30553 163 26 : : PUNCT ajst-30553 163 27 22 22 NUM ajst-30553 163 28 . . PUNCT ajst-30553 164 1 [ [ X ajst-30553 164 2 6 6 NUM ajst-30553 164 3 ] ] SYM ajst-30553 164 4 gerΓ§ek gerΓ§ek PROPN ajst-30553 164 5 d d PROPN ajst-30553 164 6 , , PUNCT ajst-30553 164 7 Γ§eşmeci Γ§eşmeci NOUN ajst-30553 164 8 d d PROPN ajst-30553 164 9 , , PUNCT ajst-30553 164 10 gΓΌllΓΌ gΓΌllΓΌ NOUN ajst-30553 164 11 m.k m.k PROPN ajst-30553 164 12 , , PUNCT ajst-30553 164 13 et et PROPN ajst-30553 164 14 al al PROPN ajst-30553 164 15 . . PUNCT ajst-30553 165 1 an an DET ajst-30553 165 2 automated automate VERB ajst-30553 165 3 fine fine ADJ ajst-30553 165 4 registration registration NOUN ajst-30553 165 5 of of ADP ajst-30553 165 6 multisensor multisensor NOUN ajst-30553 165 7 remote remote ADJ ajst-30553 165 8 sensing sense VERB ajst-30553 165 9 imagery[j imagery[j PROPN ajst-30553 165 10 ] ] PUNCT ajst-30553 165 11 . . PUNCT ajst-30553 166 1 electronics electronic NOUN ajst-30553 166 2 and and CCONJ ajst-30553 166 3 telecomm telecomm NOUN ajst-30553 166 4 , , PUNCT ajst-30553 166 5 2012 2012 NUM ajst-30553 166 6 , , PUNCT ajst-30553 166 7 32(4 32(4 NUM ajst-30553 166 8 ): ): PUNCT ajst-30553 166 9 1631 1631 NUM ajst-30553 166 10 - - SYM ajst-30553 166 11 1634 1634 NUM ajst-30553 166 12 . . PUNCT ajst-30553 167 1 [ [ X ajst-30553 167 2 7 7 NUM ajst-30553 167 3 ] ] X ajst-30553 167 4 shan shan PROPN ajst-30553 167 5 t t PROPN ajst-30553 167 6 , , PUNCT ajst-30553 167 7 englot englot PROPN ajst-30553 167 8 b. b. PROPN ajst-30553 167 9 lio lio PROPN ajst-30553 167 10 - - PROPN ajst-30553 167 11 sam sam PROPN ajst-30553 167 12 : : PUNCT ajst-30553 167 13 tightly tightly ADV ajst-30553 167 14 - - PUNCT ajst-30553 167 15 coupled couple VERB ajst-30553 167 16 lidar lidar NOUN ajst-30553 167 17 inertial inertial NOUN ajst-30553 167 18 odometry odometry NOUN ajst-30553 167 19 via via ADP ajst-30553 167 20 smoothing smoothing NOUN ajst-30553 167 21 and and CCONJ ajst-30553 167 22 mapping[c mapping[c NOUN ajst-30553 167 23 ] ] PUNCT ajst-30553 167 24 . . PUNCT ajst-30553 168 1 iros iro NOUN ajst-30553 168 2 , , PUNCT ajst-30553 168 3 2020 2020 NUM ajst-30553 168 4 . . PUNCT ajst-30553 169 1 [ [ X ajst-30553 169 2 8 8 NUM ajst-30553 169 3 ] ] PUNCT ajst-30553 169 4 xu xu PROPN ajst-30553 169 5 w w PROPN ajst-30553 169 6 , , PUNCT ajst-30553 169 7 cai cai PROPN ajst-30553 170 1 y y PROPN ajst-30553 170 2 , , PUNCT ajst-30553 170 3 he he PRON ajst-30553 170 4 d d VERB ajst-30553 170 5 , , PUNCT ajst-30553 170 6 et et PROPN ajst-30553 170 7 al al PROPN ajst-30553 170 8 . . PUNCT ajst-30553 171 1 fast fast ADJ ajst-30553 171 2 - - PUNCT ajst-30553 171 3 lio2 lio2 ADJ ajst-30553 171 4 : : PUNCT ajst-30553 171 5 fast fast ADJ ajst-30553 171 6 direct direct ADJ ajst-30553 171 7 lidarinertial lidarinertial ADJ ajst-30553 171 8 odometry[j odometry[j NOUN ajst-30553 171 9 ] ] PUNCT ajst-30553 171 10 . . PUNCT ajst-30553 172 1 ieee ieee NOUN ajst-30553 172 2 transactions transaction NOUN ajst-30553 172 3 on on ADP ajst-30553 172 4 robotics robotic NOUN ajst-30553 172 5 , , PUNCT ajst-30553 172 6 2022 2022 NUM ajst-30553 172 7 . . PUNCT ajst-30553 173 1 [ [ X ajst-30553 173 2 9 9 NUM ajst-30553 173 3 ] ] X ajst-30553 173 4 mur mur PROPN ajst-30553 173 5 - - PROPN ajst-30553 173 6 artal artal ADJ ajst-30553 173 7 r r PROPN ajst-30553 173 8 , , PUNCT ajst-30553 173 9 tardΓ³s tardΓ³s PROPN ajst-30553 173 10 j j PROPN ajst-30553 173 11 d. d. PROPN ajst-30553 173 12 orb orb PROPN ajst-30553 173 13 - - PUNCT ajst-30553 173 14 slam2 slam2 NOUN ajst-30553 173 15 : : PUNCT ajst-30553 173 16 an an DET ajst-30553 173 17 open open ADJ ajst-30553 173 18 - - PUNCT ajst-30553 173 19 source source NOUN ajst-30553 173 20 slam slam NOUN ajst-30553 173 21 system system NOUN ajst-30553 173 22 for for ADP ajst-30553 173 23 monocular monocular ADJ ajst-30553 173 24 , , PUNCT ajst-30553 173 25 stereo stereo ADJ ajst-30553 173 26 , , PUNCT ajst-30553 173 27 and and CCONJ ajst-30553 173 28 rgb rgb PROPN ajst-30553 173 29 - - PROPN ajst-30553 173 30 d d PROPN ajst-30553 173 31 cameras[j cameras[j PROPN ajst-30553 173 32 ] ] PUNCT ajst-30553 173 33 . . PUNCT ajst-30553 174 1 ieee ieee NOUN ajst-30553 174 2 transactions transaction NOUN ajst-30553 174 3 on on ADP ajst-30553 174 4 robotics robotic NOUN ajst-30553 174 5 , , PUNCT ajst-30553 174 6 2017 2017 NUM ajst-30553 174 7 . . PUNCT