id	sid	tid	token	lemma	pos
ajst-32395	1	1	215	215	NUM
ajst-32395	1	2	redundancy	redundancy	NOUN
ajst-32395	1	3	-	-	PUNCT
ajst-32395	1	4	aware	aware	ADJ
ajst-32395	1	5	multi	multi	ADJ
ajst-32395	1	6	-	-	ADJ
ajst-32395	1	7	sensor	sensor	ADJ
ajst-32395	1	8	fusion	fusion	NOUN
ajst-32395	1	9	for	for	ADP
ajst-32395	1	10	resilient	resilient	ADJ
ajst-32395	1	11	perception	perception	NOUN
ajst-32395	1	12	in	in	ADP
ajst-32395	1	13	intelligent	intelligent	ADJ
ajst-32395	1	14	vehicles	vehicle	NOUN
ajst-32395	1	15	tianqi	tianqi	NOUN
ajst-32395	1	16	chu	chu	PROPN
ajst-32395	1	17	*	*	PUNCT
ajst-32395	1	18	department	department	PROPN
ajst-32395	1	19	of	of	ADP
ajst-32395	1	20	mechanical	mechanical	ADJ
ajst-32395	1	21	engineering	engineering	NOUN
ajst-32395	1	22	,	,	PUNCT
ajst-32395	1	23	northeastern	northeastern	ADJ
ajst-32395	1	24	university	university	PROPN
ajst-32395	1	25	,	,	PUNCT
ajst-32395	1	26	beijing	beijing	PROPN
ajst-32395	1	27	,	,	PUNCT
ajst-32395	1	28	china	china	PROPN
ajst-32395	1	29	*	*	PUNCT
ajst-32395	1	30	corresponding	correspond	VERB
ajst-32395	1	31	author	author	NOUN
ajst-32395	1	32	email	email	NOUN
ajst-32395	1	33	:	:	PUNCT
ajst-32395	2	1	chu.tianq@northeastern.edu	chu.tianq@northeastern.edu	PROPN
ajst-32395	2	2	abstract	abstract	ADJ
ajst-32395	2	3	.	.	PUNCT
ajst-32395	3	1	reliable	reliable	ADJ
ajst-32395	3	2	perception	perception	NOUN
ajst-32395	3	3	in	in	ADP
ajst-32395	3	4	intelligent	intelligent	ADJ
ajst-32395	3	5	vehicles	vehicle	NOUN
ajst-32395	3	6	rests	rest	VERB
ajst-32395	3	7	on	on	ADP
ajst-32395	3	8	redundant	redundant	ADJ
ajst-32395	3	9	sensing	sense	VERB
ajst-32395	3	10	and	and	CCONJ
ajst-32395	3	11	fault	fault	NOUN
ajst-32395	3	12	-	-	PUNCT
ajst-32395	3	13	tolerant	tolerant	ADJ
ajst-32395	3	14	data	datum	NOUN
ajst-32395	3	15	fusion	fusion	NOUN
ajst-32395	3	16	rather	rather	ADV
ajst-32395	3	17	than	than	ADP
ajst-32395	3	18	any	any	DET
ajst-32395	3	19	single	single	ADJ
ajst-32395	3	20	modality	modality	NOUN
ajst-32395	3	21	.	.	PUNCT
ajst-32395	4	1	this	this	DET
ajst-32395	4	2	study	study	NOUN
ajst-32395	4	3	explains	explain	VERB
ajst-32395	4	4	how	how	SCONJ
ajst-32395	4	5	redundancy	redundancy	NOUN
ajst-32395	4	6	is	be	AUX
ajst-32395	4	7	realized	realize	VERB
ajst-32395	4	8	in	in	ADP
ajst-32395	4	9	practice	practice	NOUN
ajst-32395	4	10	across	across	ADP
ajst-32395	4	11	cameras	camera	NOUN
ajst-32395	4	12	,	,	PUNCT
ajst-32395	4	13	lidar	lidar	NOUN
ajst-32395	4	14	,	,	PUNCT
ajst-32395	4	15	radar	radar	NOUN
ajst-32395	4	16	,	,	PUNCT
ajst-32395	4	17	and	and	CCONJ
ajst-32395	4	18	gnss	gnss	NOUN
ajst-32395	4	19	/	/	SYM
ajst-32395	4	20	imu	imu	NOUN
ajst-32395	4	21	,	,	PUNCT
ajst-32395	4	22	and	and	CCONJ
ajst-32395	4	23	organizes	organize	VERB
ajst-32395	4	24	fusion	fusion	NOUN
ajst-32395	4	25	techniques	technique	NOUN
ajst-32395	4	26	from	from	ADP
ajst-32395	4	27	rawlevel	rawlevel	NOUN
ajst-32395	4	28	integration	integration	NOUN
ajst-32395	4	29	to	to	PART
ajst-32395	4	30	featureand	featureand	VERB
ajst-32395	4	31	decision	decision	NOUN
ajst-32395	4	32	-	-	PUNCT
ajst-32395	4	33	level	level	NOUN
ajst-32395	4	34	reasoning	reasoning	NOUN
ajst-32395	4	35	.	.	PUNCT
ajst-32395	5	1	emphasis	emphasis	NOUN
ajst-32395	5	2	is	be	AUX
ajst-32395	5	3	placed	place	VERB
ajst-32395	5	4	on	on	ADP
ajst-32395	5	5	reliability	reliability	NOUN
ajst-32395	5	6	awareness	awareness	NOUN
ajst-32395	5	7	—	—	PUNCT
ajst-32395	5	8	detecting	detecting	NOUN
ajst-32395	5	9	,	,	PUNCT
ajst-32395	5	10	isolating	isolate	VERB
ajst-32395	5	11	,	,	PUNCT
ajst-32395	5	12	and	and	CCONJ
ajst-32395	5	13	mitigating	mitigate	VERB
ajst-32395	5	14	sensor	sensor	NOUN
ajst-32395	5	15	faults	fault	NOUN
ajst-32395	5	16	—	—	PUNCT
ajst-32395	5	17	so	so	SCONJ
ajst-32395	5	18	that	that	SCONJ
ajst-32395	5	19	the	the	DET
ajst-32395	5	20	fused	fuse	VERB
ajst-32395	5	21	estimate	estimate	NOUN
ajst-32395	5	22	degrades	degrade	VERB
ajst-32395	5	23	gracefully	gracefully	ADV
ajst-32395	5	24	instead	instead	ADV
ajst-32395	5	25	of	of	ADP
ajst-32395	5	26	catastrophically	catastrophically	ADV
ajst-32395	5	27	.	.	PUNCT
ajst-32395	6	1	quantitative	quantitative	ADJ
ajst-32395	6	2	evidence	evidence	NOUN
ajst-32395	6	3	from	from	ADP
ajst-32395	6	4	recent	recent	ADJ
ajst-32395	6	5	evaluations	evaluation	NOUN
ajst-32395	6	6	anchors	anchor	VERB
ajst-32395	6	7	the	the	DET
ajst-32395	6	8	discussion	discussion	NOUN
ajst-32395	6	9	:	:	PUNCT
ajst-32395	6	10	learning	learn	VERB
ajst-32395	6	11	-	-	PUNCT
ajst-32395	6	12	based	base	VERB
ajst-32395	6	13	health	health	NOUN
ajst-32395	6	14	monitoring	monitoring	NOUN
ajst-32395	6	15	on	on	ADP
ajst-32395	6	16	real	real	ADJ
ajst-32395	6	17	vehicle	vehicle	NOUN
ajst-32395	6	18	bus	bus	NOUN
ajst-32395	6	19	signals	signal	NOUN
ajst-32395	6	20	achieves	achieve	VERB
ajst-32395	6	21	near	near	ADP
ajst-32395	6	22	-	-	PUNCT
ajst-32395	6	23	ceiling	ceiling	NOUN
ajst-32395	6	24	faultdetection	faultdetection	PROPN
ajst-32395	6	25	accuracy	accuracy	NOUN
ajst-32395	6	26	with	with	ADP
ajst-32395	6	27	usable	usable	ADJ
ajst-32395	6	28	fault	fault	NOUN
ajst-32395	6	29	identification	identification	NOUN
ajst-32395	6	30	/	/	SYM
ajst-32395	6	31	isolation	isolation	NOUN
ajst-32395	6	32	;	;	PUNCT
ajst-32395	6	33	fault	fault	NOUN
ajst-32395	6	34	-	-	PUNCT
ajst-32395	6	35	aware	aware	ADJ
ajst-32395	6	36	vision	vision	NOUN
ajst-32395	6	37	fusion	fusion	NOUN
ajst-32395	6	38	consistently	consistently	ADV
ajst-32395	6	39	recovers	recover	NOUN
ajst-32395	6	40	mean	mean	VERB
ajst-32395	6	41	intersection	intersection	NOUN
ajst-32395	6	42	-	-	PUNCT
ajst-32395	6	43	over	over	ADP
ajst-32395	6	44	-	-	PUNCT
ajst-32395	6	45	union	union	NOUN
ajst-32395	6	46	by	by	ADP
ajst-32395	6	47	roughly	roughly	ADV
ajst-32395	6	48	0.08–0.22	0.08–0.22	PRON
ajst-32395	6	49	under	under	ADP
ajst-32395	6	50	defocus	defocus	NOUN
ajst-32395	6	51	and	and	CCONJ
ajst-32395	6	52	field	field	NOUN
ajst-32395	6	53	-	-	PUNCT
ajst-32395	6	54	of	of	ADP
ajst-32395	6	55	-	-	PUNCT
ajst-32395	6	56	view	view	NOUN
ajst-32395	6	57	truncation	truncation	NOUN
ajst-32395	6	58	;	;	PUNCT
ajst-32395	6	59	and	and	CCONJ
ajst-32395	6	60	localization	localization	NOUN
ajst-32395	6	61	pipelines	pipeline	NOUN
ajst-32395	6	62	that	that	PRON
ajst-32395	6	63	adapt	adapt	VERB
ajst-32395	6	64	exclusion	exclusion	NOUN
ajst-32395	6	65	thresholds	threshold	NOUN
ajst-32395	6	66	with	with	ADP
ajst-32395	6	67	a	a	DET
ajst-32395	6	68	deep	deep	ADJ
ajst-32395	6	69	model	model	NOUN
ajst-32395	6	70	reduce	reduce	VERB
ajst-32395	6	71	extreme	extreme	ADJ
ajst-32395	6	72	position	position	NOUN
ajst-32395	6	73	-	-	PUNCT
ajst-32395	6	74	error	error	NOUN
ajst-32395	6	75	tails	tail	NOUN
ajst-32395	6	76	when	when	SCONJ
ajst-32395	6	77	gnss	gnss	NOUN
ajst-32395	6	78	measurements	measurement	NOUN
ajst-32395	6	79	become	become	VERB
ajst-32395	6	80	unreliable	unreliable	ADJ
ajst-32395	6	81	.	.	PUNCT
ajst-32395	7	1	persisting	persist	VERB
ajst-32395	7	2	obstacles	obstacle	NOUN
ajst-32395	7	3	include	include	VERB
ajst-32395	7	4	uncertainty	uncertainty	NOUN
ajst-32395	7	5	miscalibration	miscalibration	NOUN
ajst-32395	7	6	under	under	ADP
ajst-32395	7	7	distribution	distribution	NOUN
ajst-32395	7	8	shift	shift	NOUN
ajst-32395	7	9	,	,	PUNCT
ajst-32395	7	10	limited	limited	ADJ
ajst-32395	7	11	explainability	explainability	NOUN
ajst-32395	7	12	of	of	ADP
ajst-32395	7	13	deep	deep	ADJ
ajst-32395	7	14	fusion	fusion	NOUN
ajst-32395	7	15	,	,	PUNCT
ajst-32395	7	16	compute	compute	NOUN
ajst-32395	7	17	–	–	PUNCT
ajst-32395	7	18	latency	latency	NOUN
ajst-32395	7	19	constraints	constraint	NOUN
ajst-32395	7	20	on	on	ADP
ajst-32395	7	21	embedded	embed	VERB
ajst-32395	7	22	platforms	platform	NOUN
ajst-32395	7	23	,	,	PUNCT
ajst-32395	7	24	and	and	CCONJ
ajst-32395	7	25	the	the	DET
ajst-32395	7	26	absence	absence	NOUN
ajst-32395	7	27	of	of	ADP
ajst-32395	7	28	fault	fault	NOUN
ajst-32395	7	29	-	-	PUNCT
ajst-32395	7	30	rich	rich	ADJ
ajst-32395	7	31	,	,	PUNCT
ajst-32395	7	32	standardized	standardized	ADJ
ajst-32395	7	33	benchmarks	benchmark	NOUN
ajst-32395	7	34	for	for	ADP
ajst-32395	7	35	certification	certification	NOUN
ajst-32395	7	36	.	.	PUNCT
ajst-32395	8	1	the	the	DET
ajst-32395	8	2	paper	paper	NOUN
ajst-32395	8	3	closes	close	VERB
ajst-32395	8	4	by	by	ADP
ajst-32395	8	5	outlining	outline	VERB
ajst-32395	8	6	practical	practical	ADJ
ajst-32395	8	7	directions	direction	NOUN
ajst-32395	8	8	—	—	PUNCT
ajst-32395	8	9	self	self	NOUN
ajst-32395	8	10	-	-	PUNCT
ajst-32395	8	11	auditing	auditing	NOUN
ajst-32395	8	12	fusion	fusion	NOUN
ajst-32395	8	13	that	that	PRON
ajst-32395	8	14	reports	report	VERB
ajst-32395	8	15	sensor	sensor	NOUN
ajst-32395	8	16	contributions	contribution	NOUN
ajst-32395	8	17	and	and	CCONJ
ajst-32395	8	18	uncertainty	uncertainty	NOUN
ajst-32395	8	19	,	,	PUNCT
ajst-32395	8	20	context	context	NOUN
ajst-32395	8	21	-	-	PUNCT
ajst-32395	8	22	aware	aware	ADJ
ajst-32395	8	23	reliability	reliability	NOUN
ajst-32395	8	24	modeling	modeling	NOUN
ajst-32395	8	25	,	,	PUNCT
ajst-32395	8	26	resourceconscious	resourceconscious	ADJ
ajst-32395	8	27	implementations	implementation	NOUN
ajst-32395	8	28	,	,	PUNCT
ajst-32395	8	29	and	and	CCONJ
ajst-32395	8	30	datasets	dataset	NOUN
ajst-32395	8	31	that	that	PRON
ajst-32395	8	32	“	"	PUNCT
ajst-32395	8	33	fail	fail	VERB
ajst-32395	8	34	on	on	ADP
ajst-32395	8	35	purpose”—with	purpose”—with	VERB
ajst-32395	8	36	the	the	DET
ajst-32395	8	37	goal	goal	NOUN
ajst-32395	8	38	of	of	ADP
ajst-32395	8	39	enabling	enable	VERB
ajst-32395	8	40	certifiable	certifiable	ADJ
ajst-32395	8	41	,	,	PUNCT
ajst-32395	8	42	fail	fail	ADJ
ajst-32395	8	43	-	-	PUNCT
ajst-32395	8	44	operational	operational	ADJ
ajst-32395	8	45	perception	perception	NOUN
ajst-32395	8	46	that	that	PRON
ajst-32395	8	47	maintains	maintain	VERB
ajst-32395	8	48	situational	situational	ADJ
ajst-32395	8	49	awareness	awareness	NOUN
ajst-32395	8	50	in	in	ADP
ajst-32395	8	51	the	the	DET
ajst-32395	8	52	adverse	adverse	ADJ
ajst-32395	8	53	and	and	CCONJ
ajst-32395	8	54	ambiguous	ambiguous	ADJ
ajst-32395	8	55	conditions	condition	NOUN
ajst-32395	8	56	where	where	SCONJ
ajst-32395	8	57	safety	safety	NOUN
ajst-32395	8	58	matters	matter	VERB
ajst-32395	8	59	most	most	ADV
ajst-32395	8	60	.	.	PUNCT
ajst-32395	9	1	keywords	keyword	NOUN
ajst-32395	9	2	:	:	PUNCT
ajst-32395	9	3	redundant	redundant	ADJ
ajst-32395	9	4	sensing	sense	VERB
ajst-32395	9	5	,	,	PUNCT
ajst-32395	9	6	multi	multi	ADJ
ajst-32395	9	7	-	-	ADJ
ajst-32395	9	8	sensor	sensor	ADJ
ajst-32395	9	9	fusion	fusion	NOUN
ajst-32395	9	10	,	,	PUNCT
ajst-32395	9	11	fault	fault	VERB
ajst-32395	9	12	detection	detection	NOUN
ajst-32395	9	13	and	and	CCONJ
ajst-32395	9	14	isolation	isolation	NOUN
ajst-32395	9	15	,	,	PUNCT
ajst-32395	9	16	robust	robust	ADJ
ajst-32395	9	17	localization	localization	NOUN
ajst-32395	9	18	,	,	PUNCT
ajst-32395	9	19	explainable	explainable	ADJ
ajst-32395	9	20	autonomy	autonomy	NOUN
ajst-32395	9	21	.	.	PUNCT
ajst-32395	10	1	1	1	X
ajst-32395	10	2	.	.	X
ajst-32395	10	3	introduction	introduction	NOUN
ajst-32395	10	4	in	in	ADP
ajst-32395	10	5	intelligent	intelligent	ADJ
ajst-32395	10	6	and	and	CCONJ
ajst-32395	10	7	automated	automated	ADJ
ajst-32395	10	8	driving	driving	NOUN
ajst-32395	10	9	,	,	PUNCT
ajst-32395	10	10	perception	perception	NOUN
ajst-32395	10	11	constitutes	constitute	VERB
ajst-32395	10	12	the	the	DET
ajst-32395	10	13	operational	operational	ADJ
ajst-32395	10	14	core	core	NOUN
ajst-32395	10	15	of	of	ADP
ajst-32395	10	16	the	the	DET
ajst-32395	10	17	stack	stack	NOUN
ajst-32395	10	18	rather	rather	ADV
ajst-32395	10	19	than	than	ADP
ajst-32395	10	20	a	a	DET
ajst-32395	10	21	peripheral	peripheral	ADJ
ajst-32395	10	22	add‑on	add‑on	PROPN
ajst-32395	10	23	.	.	PUNCT
ajst-32395	11	1	whenever	whenever	SCONJ
ajst-32395	11	2	visibility	visibility	NOUN
ajst-32395	11	3	deteriorates	deteriorate	VERB
ajst-32395	11	4	,	,	PUNCT
ajst-32395	11	5	objects	object	NOUN
ajst-32395	11	6	are	be	AUX
ajst-32395	11	7	partially	partially	ADV
ajst-32395	11	8	occluded	occlude	VERB
ajst-32395	11	9	,	,	PUNCT
ajst-32395	11	10	or	or	CCONJ
ajst-32395	11	11	transducers	transducer	VERB
ajst-32395	11	12	drift	drift	NOUN
ajst-32395	11	13	over	over	ADP
ajst-32395	11	14	time	time	NOUN
ajst-32395	11	15	,	,	PUNCT
ajst-32395	11	16	single‑modality	single‑modality	NOUN
ajst-32395	11	17	pipelines	pipeline	NOUN
ajst-32395	11	18	tend	tend	VERB
ajst-32395	11	19	to	to	PART
ajst-32395	11	20	fail	fail	VERB
ajst-32395	11	21	at	at	ADP
ajst-32395	11	22	precisely	precisely	ADV
ajst-32395	11	23	the	the	DET
ajst-32395	11	24	moments	moment	NOUN
ajst-32395	11	25	when	when	SCONJ
ajst-32395	11	26	reliability	reliability	NOUN
ajst-32395	11	27	is	be	AUX
ajst-32395	11	28	most	most	ADV
ajst-32395	11	29	needed	need	VERB
ajst-32395	11	30	.	.	PUNCT
ajst-32395	12	1	redundancy	redundancy	NOUN
ajst-32395	12	2	and	and	CCONJ
ajst-32395	12	3	data	data	NOUN
ajst-32395	12	4	fusion	fusion	NOUN
ajst-32395	12	5	counter	counter	NOUN
ajst-32395	12	6	this	this	DET
ajst-32395	12	7	fragility	fragility	NOUN
ajst-32395	12	8	by	by	ADP
ajst-32395	12	9	arranging	arrange	VERB
ajst-32395	12	10	for	for	ADP
ajst-32395	12	11	alternate	alternate	ADJ
ajst-32395	12	12	coverage	coverage	NOUN
ajst-32395	12	13	,	,	PUNCT
ajst-32395	12	14	by	by	ADP
ajst-32395	12	15	cross‑checking	cross‑checke	VERB
ajst-32395	12	16	disagreeing	disagree	VERB
ajst-32395	12	17	measurements	measurement	NOUN
ajst-32395	12	18	,	,	PUNCT
ajst-32395	12	19	and	and	CCONJ
ajst-32395	12	20	by	by	ADP
ajst-32395	12	21	enabling	enable	VERB
ajst-32395	12	22	graceful	graceful	ADJ
ajst-32395	12	23	degradation	degradation	NOUN
ajst-32395	12	24	when	when	SCONJ
ajst-32395	12	25	one	one	NUM
ajst-32395	12	26	channel	channel	NOUN
ajst-32395	12	27	becomes	become	VERB
ajst-32395	12	28	unreliable	unreliable	ADJ
ajst-32395	12	29	.	.	PUNCT
ajst-32395	13	1	recent	recent	ADJ
ajst-32395	13	2	empirical	empirical	ADJ
ajst-32395	13	3	results	result	NOUN
ajst-32395	13	4	give	give	VERB
ajst-32395	13	5	quantitative	quantitative	ADJ
ajst-32395	13	6	support	support	NOUN
ajst-32395	13	7	to	to	ADP
ajst-32395	13	8	this	this	DET
ajst-32395	13	9	claim	claim	NOUN
ajst-32395	13	10	.	.	PUNCT
ajst-32395	14	1	a	a	DET
ajst-32395	14	2	unified	unify	VERB
ajst-32395	14	3	vehicle‑health	vehicle‑health	NOUN
ajst-32395	14	4	monitor	monitor	NOUN
ajst-32395	14	5	trained	train	VERB
ajst-32395	14	6	on	on	ADP
ajst-32395	14	7	real	real	ADJ
ajst-32395	14	8	bus	bus	NOUN
ajst-32395	14	9	signals	signal	NOUN
ajst-32395	14	10	—	—	PUNCT
ajst-32395	14	11	accelerator‑pedal	accelerator‑pedal	NOUN
ajst-32395	14	12	position	position	NOUN
ajst-32395	14	13	,	,	PUNCT
ajst-32395	14	14	steering‑wheel	steering‑wheel	PROPN
ajst-32395	14	15	angle	angle	NOUN
ajst-32395	14	16	,	,	PUNCT
ajst-32395	14	17	and	and	CCONJ
ajst-32395	14	18	brake	brake	NOUN
ajst-32395	14	19	pressure	pressure	NOUN
ajst-32395	14	20	—	—	PUNCT
ajst-32395	14	21	reports	report	VERB
ajst-32395	14	22	an	an	DET
ajst-32395	14	23	overall	overall	ADJ
ajst-32395	14	24	fault‑detection	fault‑detection	NOUN
ajst-32395	14	25	accuracy	accuracy	NOUN
ajst-32395	14	26	close	close	ADV
ajst-32395	14	27	to	to	ADP
ajst-32395	14	28	99.84	99.84	NUM
ajst-32395	14	29	%	%	NOUN
ajst-32395	14	30	,	,	PUNCT
ajst-32395	14	31	while	while	SCONJ
ajst-32395	14	32	identification	identification	NOUN
ajst-32395	14	33	and	and	CCONJ
ajst-32395	14	34	isolation	isolation	NOUN
ajst-32395	14	35	rates	rate	NOUN
ajst-32395	14	36	span	span	VERB
ajst-32395	14	37	roughly	roughly	ADV
ajst-32395	14	38	seventy‑three	seventy‑three	NUM
ajst-32395	14	39	to	to	ADP
ajst-32395	14	40	one	one	NUM
ajst-32395	14	41	hundred	hundred	NUM
ajst-32395	14	42	percent	percent	NOUN
ajst-32395	14	43	depending	depend	VERB
ajst-32395	14	44	on	on	ADP
ajst-32395	14	45	fault	fault	NOUN
ajst-32395	14	46	class	class	NOUN
ajst-32395	14	47	,	,	PUNCT
ajst-32395	14	48	with	with	ADP
ajst-32395	14	49	drift	drift	NOUN
ajst-32395	14	50	emerging	emerge	VERB
ajst-32395	14	51	as	as	ADP
ajst-32395	14	52	the	the	DET
ajst-32395	14	53	hardest	hard	ADJ
ajst-32395	14	54	case	case	NOUN
ajst-32395	14	55	to	to	PART
ajst-32395	14	56	type	type	VERB
ajst-32395	14	57	[	[	X
ajst-32395	14	58	1	1	NUM
ajst-32395	14	59	]	]	PUNCT
ajst-32395	14	60	.	.	PUNCT
ajst-32395	15	1	in	in	ADP
ajst-32395	15	2	vision‑centric	vision‑centric	ADJ
ajst-32395	15	3	setups	setup	NOUN
ajst-32395	15	4	,	,	PUNCT
ajst-32395	15	5	on‑line	on‑line	NOUN
ajst-32395	15	6	fusion	fusion	NOUN
ajst-32395	15	7	equipped	equip	VERB
ajst-32395	15	8	with	with	ADP
ajst-32395	15	9	a	a	DET
ajst-32395	15	10	diagnosis‑and‑avoidance	diagnosis‑and‑avoidance	NOUN
ajst-32395	15	11	gate	gate	NOUN
ajst-32395	15	12	consistently	consistently	ADV
ajst-32395	15	13	recovers	recover	NOUN
ajst-32395	15	14	mean	mean	VERB
ajst-32395	15	15	intersection‑over‑union	intersection‑over‑union	NOUN
ajst-32395	15	16	by	by	ADP
ajst-32395	15	17	around	around	ADV
ajst-32395	15	18	eight	eight	NUM
ajst-32395	15	19	to	to	PART
ajst-32395	15	20	twenty‑two	twenty‑two	NUM
ajst-32395	15	21	percentage	percentage	NOUN
ajst-32395	15	22	points	point	NOUN
ajst-32395	15	23	when	when	SCONJ
ajst-32395	15	24	camera	camera	NOUN
ajst-32395	15	25	streams	stream	NOUN
ajst-32395	15	26	are	be	AUX
ajst-32395	15	27	deliberately	deliberately	ADV
ajst-32395	15	28	defocused	defocuse	VERB
ajst-32395	15	29	or	or	CCONJ
ajst-32395	15	30	their	their	PRON
ajst-32395	15	31	fields	field	NOUN
ajst-32395	15	32	of	of	ADP
ajst-32395	15	33	view	view	NOUN
ajst-32395	15	34	are	be	AUX
ajst-32395	15	35	truncated	truncate	VERB
ajst-32395	16	1	[	[	PUNCT
ajst-32395	16	2	2	2	NUM
ajst-32395	16	3	]	]	PUNCT
ajst-32395	16	4	.	.	PUNCT
ajst-32395	17	1	localization	localization	NOUN
ajst-32395	17	2	benefits	benefit	NOUN
ajst-32395	17	3	as	as	ADV
ajst-32395	17	4	well	well	ADV
ajst-32395	17	5	:	:	PUNCT
ajst-32395	17	6	an	an	DET
ajst-32395	17	7	α‑rényi‑divergence	α‑rényi‑divergence	PROPN
ajst-32395	17	8	residual	residual	ADJ
ajst-32395	17	9	whose	whose	DET
ajst-32395	17	10	threshold	threshold	NOUN
ajst-32395	17	11	is	be	AUX
ajst-32395	17	12	adapted	adapt	VERB
ajst-32395	17	13	by	by	ADP
ajst-32395	17	14	a	a	DET
ajst-32395	17	15	deep	deep	ADJ
ajst-32395	17	16	network	network	NOUN
ajst-32395	17	17	preferentially	preferentially	ADV
ajst-32395	17	18	removes	remove	VERB
ajst-32395	17	19	harmful	harmful	ADJ
ajst-32395	17	20	measurements	measurement	NOUN
ajst-32395	17	21	and	and	CCONJ
ajst-32395	17	22	reduces	reduce	VERB
ajst-32395	17	23	extreme	extreme	ADJ
ajst-32395	17	24	position‑error	position‑error	NOUN
ajst-32395	17	25	bursts	burst	NOUN
ajst-32395	17	26	within	within	ADP
ajst-32395	17	27	a	a	DET
ajst-32395	17	28	gnss	gnss	NOUN
ajst-32395	17	29	/	/	SYM
ajst-32395	17	30	ins	ins	PROPN
ajst-32395	17	31	/	/	SYM
ajst-32395	17	32	odometry	odometry	NOUN
ajst-32395	17	33	stack	stack	NOUN
ajst-32395	17	34	[	[	X
ajst-32395	17	35	3	3	NUM
ajst-32395	17	36	]	]	PUNCT
ajst-32395	17	37	.	.	PUNCT
ajst-32395	18	1	guided	guide	VERB
ajst-32395	18	2	by	by	ADP
ajst-32395	18	3	these	these	DET
ajst-32395	18	4	outcomes	outcome	NOUN
ajst-32395	18	5	,	,	PUNCT
ajst-32395	18	6	this	this	DET
ajst-32395	18	7	paper	paper	NOUN
ajst-32395	18	8	reviews	review	NOUN
ajst-32395	18	9	how	how	SCONJ
ajst-32395	18	10	redundancy	redundancy	NOUN
ajst-32395	18	11	is	be	AUX
ajst-32395	18	12	realized	realize	VERB
ajst-32395	18	13	in	in	ADP
ajst-32395	18	14	practice	practice	NOUN
ajst-32395	18	15	across	across	ADP
ajst-32395	18	16	cameras	camera	NOUN
ajst-32395	18	17	,	,	PUNCT
ajst-32395	18	18	lidar	lidar	NOUN
ajst-32395	18	19	,	,	PUNCT
ajst-32395	18	20	radar	radar	NOUN
ajst-32395	18	21	,	,	PUNCT
ajst-32395	18	22	and	and	CCONJ
ajst-32395	18	23	gnss	gnss	NOUN
ajst-32395	18	24	/	/	SYM
ajst-32395	18	25	imu	imu	NOUN
ajst-32395	18	26	;	;	PUNCT
ajst-32395	18	27	organizes	organize	VERB
ajst-32395	18	28	data	data	NOUN
ajst-32395	18	29	fusion	fusion	NOUN
ajst-32395	18	30	techniques	technique	NOUN
ajst-32395	18	31	with	with	ADP
ajst-32395	18	32	attention	attention	NOUN
ajst-32395	18	33	to	to	ADP
ajst-32395	18	34	reliability	reliability	NOUN
ajst-32395	18	35	;	;	PUNCT
ajst-32395	18	36	interprets	interpret	VERB
ajst-32395	18	37	the	the	DET
ajst-32395	18	38	most	most	ADV
ajst-32395	18	39	instructive	instructive	ADJ
ajst-32395	18	40	quantitative	quantitative	ADJ
ajst-32395	18	41	results	result	NOUN
ajst-32395	18	42	;	;	PUNCT
ajst-32395	18	43	and	and	CCONJ
ajst-32395	18	44	sketches	sketch	VERB
ajst-32395	18	45	prospects	prospect	NOUN
ajst-32395	18	46	for	for	ADP
ajst-32395	18	47	self‑auditing	self‑audite	VERB
ajst-32395	18	48	fusion	fusion	NOUN
ajst-32395	18	49	that	that	PRON
ajst-32395	18	50	can	can	AUX
ajst-32395	18	51	meet	meet	VERB
ajst-32395	18	52	fail‑operational	fail‑operational	ADJ
ajst-32395	18	53	requirements	requirement	NOUN
ajst-32395	18	54	without	without	ADP
ajst-32395	18	55	exceeding	exceed	VERB
ajst-32395	18	56	embedded	embed	VERB
ajst-32395	18	57	compute	compute	NOUN
ajst-32395	18	58	budgets	budget	NOUN
ajst-32395	18	59	.	.	PUNCT
ajst-32395	19	1	in	in	ADP
ajst-32395	19	2	addition	addition	NOUN
ajst-32395	19	3	to	to	ADP
ajst-32395	19	4	the	the	DET
ajst-32395	19	5	empirical	empirical	ADJ
ajst-32395	19	6	evidence	evidence	NOUN
ajst-32395	19	7	,	,	PUNCT
ajst-32395	19	8	there	there	PRON
ajst-32395	19	9	is	be	VERB
ajst-32395	19	10	a	a	DET
ajst-32395	19	11	conceptual	conceptual	ADJ
ajst-32395	19	12	reason	reason	NOUN
ajst-32395	19	13	to	to	PART
ajst-32395	19	14	prefer	prefer	VERB
ajst-32395	19	15	fusion	fusion	NOUN
ajst-32395	19	16	over	over	ADP
ajst-32395	19	17	isolated	isolated	ADJ
ajst-32395	19	18	sensing	sensing	NOUN
ajst-32395	19	19	.	.	PUNCT
ajst-32395	20	1	perception	perception	NOUN
ajst-32395	20	2	is	be	AUX
ajst-32395	20	3	not	not	PART
ajst-32395	20	4	a	a	DET
ajst-32395	20	5	single	single	ADJ
ajst-32395	20	6	variable	variable	NOUN
ajst-32395	20	7	but	but	CCONJ
ajst-32395	20	8	a	a	DET
ajst-32395	20	9	coupled	couple	VERB
ajst-32395	20	10	set	set	NOUN
ajst-32395	20	11	of	of	ADP
ajst-32395	20	12	hypotheses	hypothesis	NOUN
ajst-32395	20	13	about	about	ADP
ajst-32395	20	14	geometry	geometry	NOUN
ajst-32395	20	15	,	,	PUNCT
ajst-32395	20	16	semantics	semantic	NOUN
ajst-32395	20	17	and	and	CCONJ
ajst-32395	20	18	motion	motion	NOUN
ajst-32395	20	19	,	,	PUNCT
ajst-32395	20	20	and	and	CCONJ
ajst-32395	20	21	those	those	DET
ajst-32395	20	22	216	216	NUM
ajst-32395	20	23	hypotheses	hypothesis	NOUN
ajst-32395	20	24	are	be	AUX
ajst-32395	20	25	constrained	constrain	VERB
ajst-32395	20	26	by	by	ADP
ajst-32395	20	27	physics	physic	NOUN
ajst-32395	20	28	.	.	PUNCT
ajst-32395	21	1	combining	combine	VERB
ajst-32395	21	2	modalities	modality	NOUN
ajst-32395	21	3	allows	allow	VERB
ajst-32395	21	4	these	these	DET
ajst-32395	21	5	constraints	constraint	NOUN
ajst-32395	21	6	to	to	PART
ajst-32395	21	7	be	be	AUX
ajst-32395	21	8	enforced	enforce	VERB
ajst-32395	21	9	across	across	ADP
ajst-32395	21	10	channels	channel	NOUN
ajst-32395	21	11	:	:	PUNCT
ajst-32395	21	12	inertial	inertial	ADJ
ajst-32395	21	13	increments	increment	NOUN
ajst-32395	21	14	explain	explain	VERB
ajst-32395	21	15	short‑term	short‑term	PROPN
ajst-32395	21	16	motion	motion	NOUN
ajst-32395	21	17	even	even	ADV
ajst-32395	21	18	when	when	SCONJ
ajst-32395	21	19	visual	visual	ADJ
ajst-32395	21	20	texture	texture	NOUN
ajst-32395	21	21	disappears	disappear	VERB
ajst-32395	21	22	;	;	PUNCT
ajst-32395	21	23	radar	radar	NOUN
ajst-32395	21	24	doppler	doppler	NOUN
ajst-32395	21	25	validates	validate	VERB
ajst-32395	21	26	whether	whether	SCONJ
ajst-32395	21	27	a	a	DET
ajst-32395	21	28	visually	visually	ADV
ajst-32395	21	29	detected	detect	VERB
ajst-32395	21	30	target	target	NOUN
ajst-32395	21	31	is	be	AUX
ajst-32395	21	32	stationary	stationary	ADJ
ajst-32395	21	33	or	or	CCONJ
ajst-32395	21	34	moving	moving	NOUN
ajst-32395	21	35	;	;	PUNCT
ajst-32395	21	36	lidar	lidar	NOUN
ajst-32395	21	37	geometry	geometry	NOUN
ajst-32395	21	38	anchors	anchor	NOUN
ajst-32395	21	39	scale	scale	VERB
ajst-32395	21	40	for	for	ADP
ajst-32395	21	41	monocular	monocular	ADJ
ajst-32395	21	42	cameras	camera	NOUN
ajst-32395	21	43	.	.	PUNCT
ajst-32395	22	1	when	when	SCONJ
ajst-32395	22	2	the	the	DET
ajst-32395	22	3	system	system	NOUN
ajst-32395	22	4	reasons	reason	VERB
ajst-32395	22	5	jointly	jointly	ADV
ajst-32395	22	6	,	,	PUNCT
ajst-32395	22	7	it	it	PRON
ajst-32395	22	8	can	can	AUX
ajst-32395	22	9	maintain	maintain	VERB
ajst-32395	22	10	continuity	continuity	NOUN
ajst-32395	22	11	through	through	ADP
ajst-32395	22	12	brief	brief	ADJ
ajst-32395	22	13	dropouts	dropout	NOUN
ajst-32395	22	14	and	and	CCONJ
ajst-32395	22	15	it	it	PRON
ajst-32395	22	16	can	can	AUX
ajst-32395	22	17	expose	expose	VERB
ajst-32395	22	18	contradictions	contradiction	NOUN
ajst-32395	22	19	that	that	PRON
ajst-32395	22	20	are	be	AUX
ajst-32395	22	21	often	often	ADV
ajst-32395	22	22	the	the	DET
ajst-32395	22	23	first	first	ADJ
ajst-32395	22	24	symptom	symptom	NOUN
ajst-32395	22	25	of	of	ADP
ajst-32395	22	26	a	a	DET
ajst-32395	22	27	fault	fault	NOUN
ajst-32395	22	28	.	.	PUNCT
ajst-32395	23	1	the	the	DET
ajst-32395	23	2	following	follow	VERB
ajst-32395	23	3	sections	section	NOUN
ajst-32395	23	4	therefore	therefore	ADV
ajst-32395	23	5	treat	treat	VERB
ajst-32395	23	6	redundancy	redundancy	NOUN
ajst-32395	23	7	and	and	CCONJ
ajst-32395	23	8	fusion	fusion	NOUN
ajst-32395	23	9	not	not	PART
ajst-32395	23	10	as	as	ADP
ajst-32395	23	11	an	an	DET
ajst-32395	23	12	added	add	VERB
ajst-32395	23	13	feature	feature	NOUN
ajst-32395	23	14	but	but	CCONJ
ajst-32395	23	15	as	as	ADP
ajst-32395	23	16	the	the	DET
ajst-32395	23	17	organizing	organizing	NOUN
ajst-32395	23	18	principle	principle	NOUN
ajst-32395	23	19	behind	behind	ADP
ajst-32395	23	20	a	a	DET
ajst-32395	23	21	robust	robust	ADJ
ajst-32395	23	22	perception	perception	NOUN
ajst-32395	23	23	stack	stack	NOUN
ajst-32395	23	24	.	.	PUNCT
ajst-32395	24	1	2	2	X
ajst-32395	24	2	.	.	X
ajst-32395	24	3	redundant	redundant	ADJ
ajst-32395	24	4	sensing	sense	VERB
ajst-32395	24	5	in	in	ADP
ajst-32395	24	6	intelligent	intelligent	ADJ
ajst-32395	24	7	vehicles	vehicle	NOUN
ajst-32395	24	8	redundancy	redundancy	NOUN
ajst-32395	24	9	in	in	ADP
ajst-32395	24	10	production‑minded	production‑minde	VERB
ajst-32395	24	11	perception	perception	NOUN
ajst-32395	24	12	mixes	mix	VERB
ajst-32395	24	13	hardware	hardware	NOUN
ajst-32395	24	14	overlap	overlap	NOUN
ajst-32395	24	15	with	with	ADP
ajst-32395	24	16	analytical	analytical	ADJ
ajst-32395	24	17	cross‑checking	cross‑checking	NOUN
ajst-32395	24	18	so	so	SCONJ
ajst-32395	24	19	that	that	SCONJ
ajst-32395	24	20	the	the	DET
ajst-32395	24	21	system	system	NOUN
ajst-32395	24	22	can	can	AUX
ajst-32395	24	23	keep	keep	VERB
ajst-32395	24	24	operating	operate	VERB
ajst-32395	24	25	even	even	ADV
ajst-32395	24	26	when	when	SCONJ
ajst-32395	24	27	one	one	NUM
ajst-32395	24	28	input	input	NOUN
ajst-32395	24	29	stream	stream	NOUN
ajst-32395	24	30	degrades	degrade	VERB
ajst-32395	24	31	.	.	PUNCT
ajst-32395	25	1	multiple	multiple	ADJ
ajst-32395	25	2	cameras	camera	NOUN
ajst-32395	25	3	with	with	ADP
ajst-32395	25	4	overlapping	overlap	VERB
ajst-32395	25	5	fields	field	NOUN
ajst-32395	25	6	of	of	ADP
ajst-32395	25	7	view	view	NOUN
ajst-32395	25	8	,	,	PUNCT
ajst-32395	25	9	front	front	ADJ
ajst-32395	25	10	and	and	CCONJ
ajst-32395	25	11	rear	rear	ADJ
ajst-32395	25	12	radars	radar	NOUN
ajst-32395	25	13	with	with	ADP
ajst-32395	25	14	partially	partially	ADV
ajst-32395	25	15	shared	share	VERB
ajst-32395	25	16	coverage	coverage	NOUN
ajst-32395	25	17	,	,	PUNCT
ajst-32395	25	18	and	and	CCONJ
ajst-32395	25	19	both	both	PRON
ajst-32395	25	20	roof‑mounted	roof‑mounte	VERB
ajst-32395	25	21	and	and	CCONJ
ajst-32395	25	22	bumper‑level	bumper‑level	AUX
ajst-32395	25	23	lidars	lidar	NOUN
ajst-32395	25	24	serve	serve	VERB
ajst-32395	25	25	as	as	ADP
ajst-32395	25	26	physical	physical	ADJ
ajst-32395	25	27	insurance	insurance	NOUN
ajst-32395	25	28	against	against	ADP
ajst-32395	25	29	blind	blind	ADJ
ajst-32395	25	30	spots	spot	NOUN
ajst-32395	25	31	and	and	CCONJ
ajst-32395	25	32	single‑point	single‑point	NOUN
ajst-32395	25	33	failures	failure	NOUN
ajst-32395	25	34	.	.	PUNCT
ajst-32395	26	1	analytical	analytical	ADJ
ajst-32395	26	2	redundancy	redundancy	NOUN
ajst-32395	26	3	then	then	ADV
ajst-32395	26	4	reconciles	reconcile	VERB
ajst-32395	26	5	heterogeneous	heterogeneous	ADJ
ajst-32395	26	6	evidence	evidence	NOUN
ajst-32395	26	7	against	against	ADP
ajst-32395	26	8	motion	motion	NOUN
ajst-32395	26	9	priors	prior	NOUN
ajst-32395	26	10	and	and	CCONJ
ajst-32395	26	11	kinematic	kinematic	ADJ
ajst-32395	26	12	constraints	constraint	NOUN
ajst-32395	26	13	.	.	PUNCT
ajst-32395	27	1	if	if	SCONJ
ajst-32395	27	2	a	a	DET
ajst-32395	27	3	channel	channel	NOUN
ajst-32395	27	4	becomes	become	VERB
ajst-32395	27	5	unreliable	unreliable	ADJ
ajst-32395	27	6	,	,	PUNCT
ajst-32395	27	7	the	the	DET
ajst-32395	27	8	fused	fuse	VERB
ajst-32395	27	9	estimate	estimate	NOUN
ajst-32395	27	10	does	do	AUX
ajst-32395	27	11	not	not	PART
ajst-32395	27	12	collapse	collapse	VERB
ajst-32395	27	13	;	;	PUNCT
ajst-32395	27	14	the	the	DET
ajst-32395	27	15	system	system	NOUN
ajst-32395	27	16	either	either	ADV
ajst-32395	27	17	down‑weights	down‑weight	VERB
ajst-32395	27	18	the	the	DET
ajst-32395	27	19	suspect	suspect	ADJ
ajst-32395	27	20	signal	signal	NOUN
ajst-32395	27	21	or	or	CCONJ
ajst-32395	27	22	excludes	exclude	VERB
ajst-32395	27	23	it	it	PRON
ajst-32395	27	24	until	until	SCONJ
ajst-32395	27	25	self‑diagnosis	self‑diagnosis	NOUN
ajst-32395	27	26	clears	clear	VERB
ajst-32395	27	27	the	the	DET
ajst-32395	27	28	fault	fault	NOUN
ajst-32395	27	29	.	.	PUNCT
ajst-32395	28	1	the	the	DET
ajst-32395	28	2	approach	approach	NOUN
ajst-32395	28	3	reflects	reflect	VERB
ajst-32395	28	4	a	a	DET
ajst-32395	28	5	simple	simple	ADJ
ajst-32395	28	6	engineering	engineering	NOUN
ajst-32395	28	7	truth	truth	NOUN
ajst-32395	28	8	:	:	PUNCT
ajst-32395	28	9	no	no	DET
ajst-32395	28	10	single	single	ADJ
ajst-32395	28	11	modality	modality	NOUN
ajst-32395	28	12	dominates	dominate	VERB
ajst-32395	28	13	across	across	ADP
ajst-32395	28	14	the	the	DET
ajst-32395	28	15	full	full	ADJ
ajst-32395	28	16	operational	operational	ADJ
ajst-32395	28	17	design	design	NOUN
ajst-32395	28	18	domain	domain	NOUN
ajst-32395	28	19	,	,	PUNCT
ajst-32395	28	20	hence	hence	ADV
ajst-32395	28	21	resilience	resilience	NOUN
ajst-32395	28	22	must	must	AUX
ajst-32395	28	23	emerge	emerge	VERB
ajst-32395	28	24	from	from	ADP
ajst-32395	28	25	informed	informed	ADJ
ajst-32395	28	26	combination	combination	NOUN
ajst-32395	28	27	rather	rather	ADV
ajst-32395	28	28	than	than	ADP
ajst-32395	28	29	from	from	ADP
ajst-32395	28	30	perfect	perfect	ADJ
ajst-32395	28	31	sensors	sensor	NOUN
ajst-32395	28	32	.	.	PUNCT
ajst-32395	29	1	cameras	camera	NOUN
ajst-32395	29	2	bring	bring	VERB
ajst-32395	29	3	dense	dense	ADJ
ajst-32395	29	4	texture	texture	NOUN
ajst-32395	29	5	and	and	CCONJ
ajst-32395	29	6	semantic	semantic	ADJ
ajst-32395	29	7	cues	cue	NOUN
ajst-32395	29	8	and	and	CCONJ
ajst-32395	29	9	remain	remain	VERB
ajst-32395	29	10	indispensable	indispensable	ADJ
ajst-32395	29	11	for	for	ADP
ajst-32395	29	12	recognition	recognition	NOUN
ajst-32395	29	13	and	and	CCONJ
ajst-32395	29	14	scene	scene	NOUN
ajst-32395	29	15	understanding	understanding	NOUN
ajst-32395	29	16	,	,	PUNCT
ajst-32395	29	17	yet	yet	CCONJ
ajst-32395	29	18	their	their	PRON
ajst-32395	29	19	dependence	dependence	NOUN
ajst-32395	29	20	on	on	ADP
ajst-32395	29	21	illumination	illumination	NOUN
ajst-32395	29	22	makes	make	VERB
ajst-32395	29	23	them	they	PRON
ajst-32395	29	24	fragile	fragile	ADJ
ajst-32395	29	25	in	in	ADP
ajst-32395	29	26	glare	glare	NOUN
ajst-32395	29	27	,	,	PUNCT
ajst-32395	29	28	precipitation	precipitation	NOUN
ajst-32395	29	29	,	,	PUNCT
ajst-32395	29	30	or	or	CCONJ
ajst-32395	29	31	low‑light	low‑light	NUM
ajst-32395	29	32	conditions	condition	NOUN
ajst-32395	29	33	.	.	PUNCT
ajst-32395	30	1	lidar	lidar	NOUN
ajst-32395	30	2	contributes	contribute	VERB
ajst-32395	30	3	precise	precise	ADJ
ajst-32395	30	4	three‑dimensional	three‑dimensional	PROPN
ajst-32395	30	5	geometry	geometry	NOUN
ajst-32395	30	6	that	that	PRON
ajst-32395	30	7	stabilizes	stabilize	VERB
ajst-32395	30	8	depth	depth	NOUN
ajst-32395	30	9	estimates	estimate	NOUN
ajst-32395	30	10	and	and	CCONJ
ajst-32395	30	11	supports	support	VERB
ajst-32395	30	12	mapping	mapping	NOUN
ajst-32395	30	13	,	,	PUNCT
ajst-32395	30	14	but	but	CCONJ
ajst-32395	30	15	rain	rain	NOUN
ajst-32395	30	16	and	and	CCONJ
ajst-32395	30	17	snow	snow	NOUN
ajst-32395	30	18	reduce	reduce	VERB
ajst-32395	30	19	effective	effective	ADJ
ajst-32395	30	20	range	range	NOUN
ajst-32395	30	21	and	and	CCONJ
ajst-32395	30	22	airborne	airborne	ADJ
ajst-32395	30	23	droplets	droplet	NOUN
ajst-32395	30	24	scatter	scatter	VERB
ajst-32395	30	25	the	the	DET
ajst-32395	30	26	signal	signal	NOUN
ajst-32395	30	27	;	;	PUNCT
ajst-32395	30	28	the	the	DET
ajst-32395	30	29	sensor	sensor	NOUN
ajst-32395	30	30	is	be	AUX
ajst-32395	30	31	also	also	ADV
ajst-32395	30	32	susceptible	susceptible	ADJ
ajst-32395	30	33	to	to	ADP
ajst-32395	30	34	occlusion	occlusion	NOUN
ajst-32395	30	35	by	by	ADP
ajst-32395	30	36	grime	grime	NOUN
ajst-32395	30	37	or	or	CCONJ
ajst-32395	30	38	by	by	ADP
ajst-32395	30	39	roof‑rack	roof‑rack	NOUN
ajst-32395	30	40	accessories	accessory	NOUN
ajst-32395	30	41	.	.	PUNCT
ajst-32395	31	1	radar	radar	NOUN
ajst-32395	31	2	is	be	AUX
ajst-32395	31	3	far	far	ADV
ajst-32395	31	4	more	more	ADV
ajst-32395	31	5	tolerant	tolerant	ADJ
ajst-32395	31	6	to	to	ADP
ajst-32395	31	7	adverse	adverse	ADJ
ajst-32395	31	8	weather	weather	NOUN
ajst-32395	31	9	and	and	CCONJ
ajst-32395	31	10	measures	measure	NOUN
ajst-32395	31	11	doppler	doppler	NOUN
ajst-32395	31	12	directly	directly	ADV
ajst-32395	31	13	,	,	PUNCT
ajst-32395	31	14	making	make	VERB
ajst-32395	31	15	it	it	PRON
ajst-32395	31	16	valuable	valuable	ADJ
ajst-32395	31	17	for	for	ADP
ajst-32395	31	18	tracking	tracking	NOUN
ajst-32395	31	19	;	;	PUNCT
ajst-32395	31	20	however	however	ADV
ajst-32395	31	21	,	,	PUNCT
ajst-32395	31	22	multipath	multipath	NOUN
ajst-32395	31	23	and	and	CCONJ
ajst-32395	31	24	ghost	ghost	NOUN
ajst-32395	31	25	targets	target	NOUN
ajst-32395	31	26	complicate	complicate	VERB
ajst-32395	31	27	association	association	NOUN
ajst-32395	31	28	and	and	CCONJ
ajst-32395	31	29	its	its	PRON
ajst-32395	31	30	angular	angular	ADJ
ajst-32395	31	31	resolution	resolution	NOUN
ajst-32395	31	32	lags	lag	VERB
ajst-32395	31	33	behind	behind	ADP
ajst-32395	31	34	the	the	DET
ajst-32395	31	35	pixel‑level	pixel‑level	ADJ
ajst-32395	31	36	detail	detail	NOUN
ajst-32395	31	37	available	available	ADJ
ajst-32395	31	38	to	to	ADP
ajst-32395	31	39	cameras	camera	NOUN
ajst-32395	31	40	.	.	PUNCT
ajst-32395	32	1	gnss	gnss	PROPN
ajst-32395	32	2	anchors	anchors	PROPN
ajst-32395	32	3	global	global	ADJ
ajst-32395	32	4	pose	pose	VERB
ajst-32395	32	5	and	and	CCONJ
ajst-32395	32	6	keeps	keep	VERB
ajst-32395	32	7	the	the	DET
ajst-32395	32	8	vehicle	vehicle	NOUN
ajst-32395	32	9	within	within	ADP
ajst-32395	32	10	a	a	DET
ajst-32395	32	11	broader	broad	ADJ
ajst-32395	32	12	geospatial	geospatial	ADJ
ajst-32395	32	13	frame	frame	NOUN
ajst-32395	32	14	,	,	PUNCT
ajst-32395	32	15	yet	yet	CCONJ
ajst-32395	32	16	it	it	PRON
ajst-32395	32	17	degrades	degrade	VERB
ajst-32395	32	18	in	in	ADP
ajst-32395	32	19	urban	urban	ADJ
ajst-32395	32	20	canyons	canyon	NOUN
ajst-32395	32	21	and	and	CCONJ
ajst-32395	32	22	tunnels	tunnel	NOUN
ajst-32395	32	23	;	;	PUNCT
ajst-32395	32	24	imus	imus	PROPN
ajst-32395	32	25	offer	offer	VERB
ajst-32395	32	26	short‑term	short‑term	PROPN
ajst-32395	32	27	stability	stability	NOUN
ajst-32395	32	28	at	at	ADP
ajst-32395	32	29	the	the	DET
ajst-32395	32	30	cost	cost	NOUN
ajst-32395	32	31	of	of	ADP
ajst-32395	32	32	drift	drift	NOUN
ajst-32395	32	33	,	,	PUNCT
ajst-32395	32	34	which	which	PRON
ajst-32395	32	35	must	must	AUX
ajst-32395	32	36	be	be	AUX
ajst-32395	32	37	corrected	correct	VERB
ajst-32395	32	38	by	by	ADP
ajst-32395	32	39	absolute	absolute	ADJ
ajst-32395	32	40	references	reference	NOUN
ajst-32395	32	41	.	.	PUNCT
ajst-32395	33	1	a	a	DET
ajst-32395	33	2	recent	recent	ADJ
ajst-32395	33	3	survey	survey	NOUN
ajst-32395	33	4	canvassing	canvass	VERB
ajst-32395	33	5	more	more	ADJ
ajst-32395	33	6	than	than	ADP
ajst-32395	33	7	one	one	NUM
ajst-32395	33	8	hundred	hundred	NUM
ajst-32395	33	9	publications	publication	NOUN
ajst-32395	33	10	maps	map	VERB
ajst-32395	33	11	this	this	DET
ajst-32395	33	12	failure	failure	NOUN
ajst-32395	33	13	landscape	landscape	NOUN
ajst-32395	33	14	in	in	ADP
ajst-32395	33	15	detail	detail	NOUN
ajst-32395	33	16	and	and	CCONJ
ajst-32395	33	17	converges	converge	NOUN
ajst-32395	33	18	on	on	ADP
ajst-32395	33	19	the	the	DET
ajst-32395	33	20	same	same	ADJ
ajst-32395	33	21	practical	practical	ADJ
ajst-32395	33	22	conclusion	conclusion	NOUN
ajst-32395	33	23	:	:	PUNCT
ajst-32395	33	24	redundancy	redundancy	NOUN
ajst-32395	33	25	is	be	AUX
ajst-32395	33	26	not	not	PART
ajst-32395	33	27	a	a	DET
ajst-32395	33	28	luxury	luxury	NOUN
ajst-32395	33	29	but	but	CCONJ
ajst-32395	33	30	the	the	DET
ajst-32395	33	31	default	default	NOUN
ajst-32395	33	32	mechanism	mechanism	NOUN
ajst-32395	33	33	for	for	ADP
ajst-32395	33	34	bridging	bridge	VERB
ajst-32395	33	35	complementary	complementary	ADJ
ajst-32395	33	36	strengths	strength	NOUN
ajst-32395	33	37	and	and	CCONJ
ajst-32395	33	38	weaknesses	weakness	NOUN
ajst-32395	33	39	across	across	ADP
ajst-32395	33	40	modalities	modality	NOUN
ajst-32395	33	41	[	[	X
ajst-32395	33	42	4	4	NUM
ajst-32395	33	43	]	]	PUNCT
ajst-32395	33	44	.	.	PUNCT
ajst-32395	34	1	because	because	SCONJ
ajst-32395	34	2	redundancy	redundancy	NOUN
ajst-32395	34	3	incurs	incur	VERB
ajst-32395	34	4	hardware	hardware	NOUN
ajst-32395	34	5	cost	cost	NOUN
ajst-32395	34	6	and	and	CCONJ
ajst-32395	34	7	power	power	NOUN
ajst-32395	34	8	draw	draw	NOUN
ajst-32395	34	9	,	,	PUNCT
ajst-32395	34	10	the	the	DET
ajst-32395	34	11	architecture	architecture	NOUN
ajst-32395	34	12	also	also	ADV
ajst-32395	34	13	has	have	VERB
ajst-32395	34	14	to	to	PART
ajst-32395	34	15	balance	balance	VERB
ajst-32395	34	16	coverage	coverage	NOUN
ajst-32395	34	17	against	against	ADP
ajst-32395	34	18	resources	resource	NOUN
ajst-32395	34	19	.	.	PUNCT
ajst-32395	35	1	designers	designer	NOUN
ajst-32395	35	2	therefore	therefore	ADV
ajst-32395	35	3	exploit	exploit	VERB
ajst-32395	35	4	diversity	diversity	NOUN
ajst-32395	35	5	rather	rather	ADV
ajst-32395	35	6	than	than	ADP
ajst-32395	35	7	mere	mere	ADJ
ajst-32395	35	8	duplication	duplication	NOUN
ajst-32395	35	9	.	.	PUNCT
ajst-32395	36	1	spatial	spatial	ADJ
ajst-32395	36	2	redundancy	redundancy	NOUN
ajst-32395	36	3	ensures	ensure	VERB
ajst-32395	36	4	that	that	SCONJ
ajst-32395	36	5	adjacent	adjacent	ADJ
ajst-32395	36	6	sensors	sensor	NOUN
ajst-32395	36	7	can	can	AUX
ajst-32395	36	8	continue	continue	VERB
ajst-32395	36	9	observing	observe	VERB
ajst-32395	36	10	when	when	SCONJ
ajst-32395	36	11	part	part	NOUN
ajst-32395	36	12	of	of	ADP
ajst-32395	36	13	the	the	DET
ajst-32395	36	14	field	field	NOUN
ajst-32395	36	15	is	be	AUX
ajst-32395	36	16	blocked	block	VERB
ajst-32395	36	17	;	;	PUNCT
ajst-32395	36	18	information	information	NOUN
ajst-32395	36	19	redundancy	redundancy	NOUN
ajst-32395	36	20	,	,	PUNCT
ajst-32395	36	21	expressed	express	VERB
ajst-32395	36	22	through	through	ADP
ajst-32395	36	23	heterogeneous	heterogeneous	ADJ
ajst-32395	36	24	modalities	modality	NOUN
ajst-32395	36	25	measuring	measure	VERB
ajst-32395	36	26	the	the	DET
ajst-32395	36	27	same	same	ADJ
ajst-32395	36	28	quantity	quantity	NOUN
ajst-32395	36	29	,	,	PUNCT
ajst-32395	36	30	allows	allow	VERB
ajst-32395	36	31	the	the	DET
ajst-32395	36	32	system	system	NOUN
ajst-32395	36	33	to	to	PART
ajst-32395	36	34	compensate	compensate	VERB
ajst-32395	36	35	when	when	SCONJ
ajst-32395	36	36	a	a	DET
ajst-32395	36	37	particular	particular	ADJ
ajst-32395	36	38	physics	physics	NOUN
ajst-32395	36	39	channel	channel	NOUN
ajst-32395	36	40	is	be	AUX
ajst-32395	36	41	unreliable	unreliable	ADJ
ajst-32395	36	42	;	;	PUNCT
ajst-32395	36	43	temporal	temporal	ADJ
ajst-32395	36	44	redundancy	redundancy	NOUN
ajst-32395	36	45	uses	use	VERB
ajst-32395	36	46	history	history	NOUN
ajst-32395	36	47	to	to	PART
ajst-32395	36	48	validate	validate	VERB
ajst-32395	36	49	current	current	ADJ
ajst-32395	36	50	readings	reading	NOUN
ajst-32395	36	51	and	and	CCONJ
ajst-32395	36	52	to	to	PART
ajst-32395	36	53	filter	filter	VERB
ajst-32395	36	54	transient	transient	ADJ
ajst-32395	36	55	disturbances	disturbance	NOUN
ajst-32395	36	56	.	.	PUNCT
ajst-32395	37	1	together	together	ADV
ajst-32395	37	2	these	these	DET
ajst-32395	37	3	forms	form	NOUN
ajst-32395	37	4	of	of	ADP
ajst-32395	37	5	redundancy	redundancy	NOUN
ajst-32395	37	6	support	support	NOUN
ajst-32395	37	7	fail‑operational	fail‑operational	ADJ
ajst-32395	37	8	behavior	behavior	NOUN
ajst-32395	37	9	in	in	ADP
ajst-32395	37	10	which	which	PRON
ajst-32395	37	11	the	the	DET
ajst-32395	37	12	vehicle	vehicle	NOUN
ajst-32395	37	13	continues	continue	VERB
ajst-32395	37	14	to	to	PART
ajst-32395	37	15	function	function	VERB
ajst-32395	37	16	safely	safely	ADV
ajst-32395	37	17	even	even	ADV
ajst-32395	37	18	when	when	SCONJ
ajst-32395	37	19	faults	fault	NOUN
ajst-32395	37	20	are	be	AUX
ajst-32395	37	21	present	present	ADJ
ajst-32395	37	22	.	.	PUNCT
ajst-32395	38	1	in	in	ADP
ajst-32395	38	2	practice	practice	NOUN
ajst-32395	38	3	,	,	PUNCT
ajst-32395	38	4	redundancy	redundancy	NOUN
ajst-32395	38	5	earns	earn	VERB
ajst-32395	38	6	its	its	PRON
ajst-32395	38	7	keep	keep	NOUN
ajst-32395	38	8	only	only	ADV
ajst-32395	38	9	when	when	SCONJ
ajst-32395	38	10	combined	combine	VERB
ajst-32395	38	11	with	with	ADP
ajst-32395	38	12	principled	principled	ADJ
ajst-32395	38	13	fusion	fusion	NOUN
ajst-32395	38	14	,	,	PUNCT
ajst-32395	38	15	health	health	NOUN
ajst-32395	38	16	monitoring	monitoring	NOUN
ajst-32395	38	17	,	,	PUNCT
ajst-32395	38	18	and	and	CCONJ
ajst-32395	38	19	clear	clear	ADJ
ajst-32395	38	20	policies	policy	NOUN
ajst-32395	38	21	for	for	ADP
ajst-32395	38	22	exclusion	exclusion	NOUN
ajst-32395	38	23	and	and	CCONJ
ajst-32395	38	24	recovery	recovery	NOUN
ajst-32395	38	25	.	.	PUNCT
ajst-32395	39	1	the	the	DET
ajst-32395	39	2	combination	combination	NOUN
ajst-32395	39	3	is	be	AUX
ajst-32395	39	4	what	what	PRON
ajst-32395	39	5	turns	turn	VERB
ajst-32395	39	6	multiple	multiple	ADJ
ajst-32395	39	7	sensors	sensor	NOUN
ajst-32395	39	8	from	from	ADP
ajst-32395	39	9	parallel	parallel	ADJ
ajst-32395	39	10	liabilities	liability	NOUN
ajst-32395	39	11	into	into	ADP
ajst-32395	39	12	a	a	DET
ajst-32395	39	13	coordinated	coordinated	ADJ
ajst-32395	39	14	,	,	PUNCT
ajst-32395	39	15	robust	robust	ADJ
ajst-32395	39	16	observer	observer	NOUN
ajst-32395	39	17	that	that	PRON
ajst-32395	39	18	can	can	AUX
ajst-32395	39	19	tolerate	tolerate	VERB
ajst-32395	39	20	realistic	realistic	ADJ
ajst-32395	39	21	disturbance	disturbance	NOUN
ajst-32395	39	22	and	and	CCONJ
ajst-32395	39	23	still	still	ADV
ajst-32395	39	24	provide	provide	VERB
ajst-32395	39	25	the	the	DET
ajst-32395	39	26	estimates	estimate	NOUN
ajst-32395	39	27	required	require	VERB
ajst-32395	39	28	by	by	ADP
ajst-32395	39	29	planning	planning	NOUN
ajst-32395	39	30	and	and	CCONJ
ajst-32395	39	31	control	control	NOUN
ajst-32395	39	32	.	.	PUNCT
ajst-32395	40	1	design	design	NOUN
ajst-32395	40	2	practice	practice	NOUN
ajst-32395	40	3	has	have	AUX
ajst-32395	40	4	crystallized	crystallize	VERB
ajst-32395	40	5	several	several	ADJ
ajst-32395	40	6	principles	principle	NOUN
ajst-32395	40	7	for	for	ADP
ajst-32395	40	8	building	build	VERB
ajst-32395	40	9	such	such	ADJ
ajst-32395	40	10	redundancy	redundancy	NOUN
ajst-32395	40	11	.	.	PUNCT
ajst-32395	41	1	spatial	spatial	ADJ
ajst-32395	41	2	placement	placement	NOUN
ajst-32395	41	3	is	be	AUX
ajst-32395	41	4	chosen	choose	VERB
ajst-32395	41	5	so	so	SCONJ
ajst-32395	41	6	that	that	SCONJ
ajst-32395	41	7	overlapping	overlap	VERB
ajst-32395	41	8	coverage	coverage	NOUN
ajst-32395	41	9	exists	exist	VERB
ajst-32395	41	10	without	without	ADP
ajst-32395	41	11	creating	create	VERB
ajst-32395	41	12	perfect	perfect	ADJ
ajst-32395	41	13	correlation	correlation	NOUN
ajst-32395	41	14	;	;	PUNCT
ajst-32395	41	15	the	the	DET
ajst-32395	41	16	goal	goal	NOUN
ajst-32395	41	17	is	be	AUX
ajst-32395	41	18	to	to	PART
ajst-32395	41	19	ensure	ensure	VERB
ajst-32395	41	20	that	that	SCONJ
ajst-32395	41	21	an	an	DET
ajst-32395	41	22	obstruction	obstruction	NOUN
ajst-32395	41	23	affecting	affect	VERB
ajst-32395	41	24	one	one	NUM
ajst-32395	41	25	viewpoint	viewpoint	NOUN
ajst-32395	41	26	is	be	AUX
ajst-32395	41	27	unlikely	unlikely	ADJ
ajst-32395	41	28	to	to	PART
ajst-32395	41	29	affect	affect	VERB
ajst-32395	41	30	all	all	PRON
ajst-32395	41	31	.	.	PUNCT
ajst-32395	42	1	signal	signal	PROPN
ajst-32395	42	2	paths	path	NOUN
ajst-32395	42	3	are	be	AUX
ajst-32395	42	4	routed	route	VERB
ajst-32395	42	5	to	to	PART
ajst-32395	42	6	avoid	avoid	VERB
ajst-32395	42	7	shared	shared	ADJ
ajst-32395	42	8	failure	failure	NOUN
ajst-32395	42	9	points	point	NOUN
ajst-32395	42	10	,	,	PUNCT
ajst-32395	42	11	and	and	CCONJ
ajst-32395	42	12	timing	timing	NOUN
ajst-32395	42	13	is	be	AUX
ajst-32395	42	14	disciplined	discipline	VERB
ajst-32395	42	15	by	by	ADP
ajst-32395	42	16	hardware	hardware	NOUN
ajst-32395	42	17	clocks	clock	NOUN
ajst-32395	42	18	or	or	CCONJ
ajst-32395	42	19	software	software	NOUN
ajst-32395	42	20	time	time	NOUN
ajst-32395	42	21	bases	basis	NOUN
ajst-32395	42	22	so	so	SCONJ
ajst-32395	42	23	that	that	SCONJ
ajst-32395	42	24	the	the	DET
ajst-32395	42	25	same	same	ADJ
ajst-32395	42	26	physical	physical	ADJ
ajst-32395	42	27	event	event	NOUN
ajst-32395	42	28	is	be	AUX
ajst-32395	42	29	observed	observe	VERB
ajst-32395	42	30	in	in	ADP
ajst-32395	42	31	a	a	DET
ajst-32395	42	32	comparable	comparable	ADJ
ajst-32395	42	33	temporal	temporal	ADJ
ajst-32395	42	34	window	window	NOUN
ajst-32395	42	35	.	.	PUNCT
ajst-32395	43	1	analytical	analytical	ADJ
ajst-32395	43	2	redundancy	redundancy	NOUN
ajst-32395	43	3	demands	demand	VERB
ajst-32395	43	4	careful	careful	ADJ
ajst-32395	43	5	calibration	calibration	NOUN
ajst-32395	43	6	.	.	PUNCT
ajst-32395	44	1	intrinsic	intrinsic	ADJ
ajst-32395	44	2	and	and	CCONJ
ajst-32395	44	3	extrinsic	extrinsic	ADJ
ajst-32395	44	4	camera	camera	NOUN
ajst-32395	44	5	parameters	parameter	NOUN
ajst-32395	44	6	,	,	PUNCT
ajst-32395	44	7	lidar	lidar	NOUN
ajst-32395	44	8	–	–	PUNCT
ajst-32395	44	9	camera	camera	NOUN
ajst-32395	44	10	rigid	rigid	ADJ
ajst-32395	44	11	transforms	transform	VERB
ajst-32395	44	12	,	,	PUNCT
ajst-32395	44	13	radar	radar	NOUN
ajst-32395	44	14	boresight	boresight	NOUN
ajst-32395	44	15	and	and	CCONJ
ajst-32395	44	16	lever	lever	NOUN
ajst-32395	44	17	arms	arm	NOUN
ajst-32395	44	18	,	,	PUNCT
ajst-32395	44	19	and	and	CCONJ
ajst-32395	44	20	clock	clock	NOUN
ajst-32395	44	21	offsets	offset	NOUN
ajst-32395	44	22	must	must	AUX
ajst-32395	44	23	be	be	AUX
ajst-32395	44	24	estimated	estimate	VERB
ajst-32395	44	25	and	and	CCONJ
ajst-32395	44	26	monitored	monitor	VERB
ajst-32395	44	27	;	;	PUNCT
ajst-32395	44	28	small	small	ADJ
ajst-32395	44	29	errors	error	NOUN
ajst-32395	44	30	in	in	ADP
ajst-32395	44	31	calibration	calibration	NOUN
ajst-32395	44	32	create	create	VERB
ajst-32395	44	33	large	large	ADJ
ajst-32395	44	34	inconsistencies	inconsistency	NOUN
ajst-32395	44	35	after	after	ADP
ajst-32395	44	36	projection	projection	NOUN
ajst-32395	44	37	,	,	PUNCT
ajst-32395	44	38	which	which	DET
ajst-32395	44	39	fusion	fusion	NOUN
ajst-32395	44	40	can	can	AUX
ajst-32395	44	41	mistakenly	mistakenly	ADV
ajst-32395	44	42	interpret	interpret	VERB
ajst-32395	44	43	as	as	ADP
ajst-32395	44	44	217	217	NUM
ajst-32395	44	45	scene	scene	NOUN
ajst-32395	44	46	changes	change	NOUN
ajst-32395	44	47	.	.	PUNCT
ajst-32395	45	1	long‑term	long‑term	NOUN
ajst-32395	45	2	operation	operation	NOUN
ajst-32395	45	3	adds	add	VERB
ajst-32395	45	4	further	further	ADJ
ajst-32395	45	5	drift	drift	NOUN
ajst-32395	45	6	,	,	PUNCT
ajst-32395	45	7	so	so	CCONJ
ajst-32395	45	8	periodic	periodic	ADJ
ajst-32395	45	9	self‑calibration	self‑calibration	NOUN
ajst-32395	45	10	routines	routine	NOUN
ajst-32395	45	11	are	be	AUX
ajst-32395	45	12	scheduled	schedule	VERB
ajst-32395	45	13	when	when	SCONJ
ajst-32395	45	14	the	the	DET
ajst-32395	45	15	vehicle	vehicle	NOUN
ajst-32395	45	16	is	be	AUX
ajst-32395	45	17	stationary	stationary	ADJ
ajst-32395	45	18	or	or	CCONJ
ajst-32395	45	19	when	when	SCONJ
ajst-32395	45	20	landmarks	landmark	NOUN
ajst-32395	45	21	with	with	ADP
ajst-32395	45	22	known	know	VERB
ajst-32395	45	23	geometry	geometry	NOUN
ajst-32395	45	24	are	be	AUX
ajst-32395	45	25	visible	visible	ADJ
ajst-32395	45	26	.	.	PUNCT
ajst-32395	46	1	functional	functional	ADJ
ajst-32395	46	2	safety	safety	NOUN
ajst-32395	46	3	standards	standard	NOUN
ajst-32395	46	4	such	such	ADJ
ajst-32395	46	5	as	as	ADP
ajst-32395	46	6	iso	iso	NOUN
ajst-32395	46	7	26262	26262	NUM
ajst-32395	46	8	encourage	encourage	VERB
ajst-32395	46	9	this	this	DET
ajst-32395	46	10	discipline	discipline	NOUN
ajst-32395	46	11	by	by	ADP
ajst-32395	46	12	requiring	require	VERB
ajst-32395	46	13	that	that	SCONJ
ajst-32395	46	14	critical	critical	ADJ
ajst-32395	46	15	functions	function	NOUN
ajst-32395	46	16	remain	remain	VERB
ajst-32395	46	17	operational	operational	ADJ
ajst-32395	46	18	under	under	ADP
ajst-32395	46	19	single‑point	single‑point	NOUN
ajst-32395	46	20	failures	failure	NOUN
ajst-32395	46	21	.	.	PUNCT
ajst-32395	47	1	in	in	ADP
ajst-32395	47	2	a	a	DET
ajst-32395	47	3	perception	perception	NOUN
ajst-32395	47	4	context	context	NOUN
ajst-32395	47	5	,	,	PUNCT
ajst-32395	47	6	that	that	DET
ajst-32395	47	7	requirement	requirement	NOUN
ajst-32395	47	8	translates	translate	VERB
ajst-32395	47	9	into	into	ADP
ajst-32395	47	10	explicit	explicit	ADJ
ajst-32395	47	11	fallbacks	fallback	NOUN
ajst-32395	47	12	and	and	CCONJ
ajst-32395	47	13	into	into	ADP
ajst-32395	47	14	evidence	evidence	NOUN
ajst-32395	47	15	that	that	SCONJ
ajst-32395	47	16	the	the	DET
ajst-32395	47	17	system	system	NOUN
ajst-32395	47	18	detects	detect	NOUN
ajst-32395	47	19	,	,	PUNCT
ajst-32395	47	20	announces	announce	NOUN
ajst-32395	47	21	and	and	CCONJ
ajst-32395	47	22	mitigates	mitigate	VERB
ajst-32395	47	23	faults	fault	NOUN
ajst-32395	47	24	within	within	ADP
ajst-32395	47	25	bounded	bounded	ADJ
ajst-32395	47	26	time	time	NOUN
ajst-32395	47	27	.	.	PUNCT
ajst-32395	48	1	redundancy	redundancy	NOUN
ajst-32395	48	2	helps	help	VERB
ajst-32395	48	3	satisfy	satisfy	VERB
ajst-32395	48	4	the	the	DET
ajst-32395	48	5	requirement	requirement	NOUN
ajst-32395	48	6	,	,	PUNCT
ajst-32395	48	7	but	but	CCONJ
ajst-32395	48	8	it	it	PRON
ajst-32395	48	9	also	also	ADV
ajst-32395	48	10	introduces	introduce	VERB
ajst-32395	48	11	cost	cost	NOUN
ajst-32395	48	12	and	and	CCONJ
ajst-32395	48	13	complexity	complexity	NOUN
ajst-32395	48	14	.	.	PUNCT
ajst-32395	49	1	extra	extra	ADJ
ajst-32395	49	2	sensors	sensor	NOUN
ajst-32395	49	3	consume	consume	VERB
ajst-32395	49	4	power	power	NOUN
ajst-32395	49	5	and	and	CCONJ
ajst-32395	49	6	generate	generate	VERB
ajst-32395	49	7	heat	heat	NOUN
ajst-32395	49	8	;	;	PUNCT
ajst-32395	49	9	additional	additional	ADJ
ajst-32395	49	10	data	datum	NOUN
ajst-32395	49	11	increase	increase	NOUN
ajst-32395	49	12	bandwidth	bandwidth	NOUN
ajst-32395	49	13	through	through	ADP
ajst-32395	49	14	the	the	DET
ajst-32395	49	15	compute	compute	NOUN
ajst-32395	49	16	fabric	fabric	NOUN
ajst-32395	49	17	;	;	PUNCT
ajst-32395	49	18	and	and	CCONJ
ajst-32395	49	19	added	add	VERB
ajst-32395	49	20	software	software	NOUN
ajst-32395	49	21	creates	create	VERB
ajst-32395	49	22	more	more	ADJ
ajst-32395	49	23	states	state	NOUN
ajst-32395	49	24	to	to	PART
ajst-32395	49	25	be	be	AUX
ajst-32395	49	26	tested	test	VERB
ajst-32395	49	27	.	.	PUNCT
ajst-32395	50	1	the	the	DET
ajst-32395	50	2	architecture	architecture	NOUN
ajst-32395	50	3	must	must	AUX
ajst-32395	50	4	therefore	therefore	ADV
ajst-32395	50	5	trade	trade	VERB
ajst-32395	50	6	coverage	coverage	NOUN
ajst-32395	50	7	against	against	ADP
ajst-32395	50	8	resources	resource	NOUN
ajst-32395	50	9	.	.	PUNCT
ajst-32395	51	1	practical	practical	ADJ
ajst-32395	51	2	systems	system	NOUN
ajst-32395	51	3	tend	tend	VERB
ajst-32395	51	4	to	to	PART
ajst-32395	51	5	privilege	privilege	VERB
ajst-32395	51	6	diversity	diversity	NOUN
ajst-32395	51	7	:	:	PUNCT
ajst-32395	51	8	a	a	DET
ajst-32395	51	9	wide	wide	ADJ
ajst-32395	51	10	camera	camera	NOUN
ajst-32395	51	11	may	may	AUX
ajst-32395	51	12	complement	complement	VERB
ajst-32395	51	13	a	a	DET
ajst-32395	51	14	telephoto	telephoto	NOUN
ajst-32395	51	15	unit	unit	NOUN
ajst-32395	51	16	;	;	PUNCT
ajst-32395	51	17	a	a	DET
ajst-32395	51	18	short‑range	short‑range	ADJ
ajst-32395	51	19	radar	radar	NOUN
ajst-32395	51	20	can	can	AUX
ajst-32395	51	21	be	be	AUX
ajst-32395	51	22	paired	pair	VERB
ajst-32395	51	23	with	with	ADP
ajst-32395	51	24	a	a	DET
ajst-32395	51	25	long‑range	long‑range	NOUN
ajst-32395	51	26	module	module	NOUN
ajst-32395	51	27	;	;	PUNCT
ajst-32395	51	28	a	a	DET
ajst-32395	51	29	solid‑state	solid‑state	ADJ
ajst-32395	51	30	lidar	lidar	NOUN
ajst-32395	51	31	can	can	AUX
ajst-32395	51	32	share	share	VERB
ajst-32395	51	33	the	the	DET
ajst-32395	51	34	scene	scene	NOUN
ajst-32395	51	35	with	with	ADP
ajst-32395	51	36	a	a	DET
ajst-32395	51	37	rotating	rotate	VERB
ajst-32395	51	38	unit	unit	NOUN
ajst-32395	51	39	.	.	PUNCT
ajst-32395	52	1	diversity	diversity	NOUN
ajst-32395	52	2	reduces	reduce	VERB
ajst-32395	52	3	the	the	DET
ajst-32395	52	4	chance	chance	NOUN
ajst-32395	52	5	that	that	SCONJ
ajst-32395	52	6	a	a	DET
ajst-32395	52	7	single	single	ADJ
ajst-32395	52	8	disturbance	disturbance	NOUN
ajst-32395	52	9	knocks	knock	VERB
ajst-32395	52	10	out	out	ADP
ajst-32395	52	11	every	every	DET
ajst-32395	52	12	view	view	NOUN
ajst-32395	52	13	and	and	CCONJ
ajst-32395	52	14	increases	increase	VERB
ajst-32395	52	15	the	the	DET
ajst-32395	52	16	probability	probability	NOUN
ajst-32395	52	17	that	that	SCONJ
ajst-32395	52	18	at	at	ADV
ajst-32395	52	19	least	least	ADV
ajst-32395	52	20	one	one	NUM
ajst-32395	52	21	channel	channel	NOUN
ajst-32395	52	22	remains	remain	VERB
ajst-32395	52	23	informative	informative	ADJ
ajst-32395	52	24	.	.	PUNCT
ajst-32395	53	1	finally	finally	ADV
ajst-32395	53	2	,	,	PUNCT
ajst-32395	53	3	redundancy	redundancy	NOUN
ajst-32395	53	4	must	must	AUX
ajst-32395	53	5	be	be	AUX
ajst-32395	53	6	visible	visible	ADJ
ajst-32395	53	7	to	to	ADP
ajst-32395	53	8	the	the	DET
ajst-32395	53	9	decision	decision	NOUN
ajst-32395	53	10	layers	layer	NOUN
ajst-32395	53	11	that	that	PRON
ajst-32395	53	12	follow	follow	VERB
ajst-32395	53	13	perception	perception	NOUN
ajst-32395	53	14	.	.	PUNCT
ajst-32395	54	1	planning	planning	NOUN
ajst-32395	54	2	and	and	CCONJ
ajst-32395	54	3	control	control	NOUN
ajst-32395	54	4	reason	reason	NOUN
ajst-32395	54	5	over	over	ADP
ajst-32395	54	6	risk	risk	NOUN
ajst-32395	54	7	,	,	PUNCT
ajst-32395	54	8	not	not	PART
ajst-32395	54	9	just	just	ADV
ajst-32395	54	10	point	point	VERB
ajst-32395	54	11	estimates	estimate	NOUN
ajst-32395	54	12	.	.	PUNCT
ajst-32395	55	1	when	when	SCONJ
ajst-32395	55	2	the	the	DET
ajst-32395	55	3	perception	perception	NOUN
ajst-32395	55	4	stack	stack	NOUN
ajst-32395	55	5	provides	provide	VERB
ajst-32395	55	6	calibrated	calibrated	ADJ
ajst-32395	55	7	uncertainty	uncertainty	NOUN
ajst-32395	55	8	and	and	CCONJ
ajst-32395	55	9	a	a	DET
ajst-32395	55	10	clear	clear	ADJ
ajst-32395	55	11	account	account	NOUN
ajst-32395	55	12	of	of	ADP
ajst-32395	55	13	which	which	PRON
ajst-32395	55	14	channels	channel	NOUN
ajst-32395	55	15	were	be	AUX
ajst-32395	55	16	trusted	trust	VERB
ajst-32395	55	17	,	,	PUNCT
ajst-32395	55	18	the	the	DET
ajst-32395	55	19	downstream	downstream	ADJ
ajst-32395	55	20	modules	module	NOUN
ajst-32395	55	21	can	can	AUX
ajst-32395	55	22	adapt	adapt	VERB
ajst-32395	55	23	their	their	PRON
ajst-32395	55	24	behaviour	behaviour	NOUN
ajst-32395	55	25	for	for	ADP
ajst-32395	55	26	instance	instance	NOUN
ajst-32395	55	27	by	by	ADP
ajst-32395	55	28	lowering	lower	VERB
ajst-32395	55	29	speed	speed	NOUN
ajst-32395	55	30	or	or	CCONJ
ajst-32395	55	31	increasing	increase	VERB
ajst-32395	55	32	following	follow	VERB
ajst-32395	55	33	distance	distance	NOUN
ajst-32395	55	34	-	-	PUNCT
ajst-32395	55	35	so	so	SCONJ
ajst-32395	55	36	that	that	SCONJ
ajst-32395	55	37	the	the	DET
ajst-32395	55	38	whole	whole	ADJ
ajst-32395	55	39	vehicle	vehicle	NOUN
ajst-32395	55	40	behaves	behave	VERB
ajst-32395	55	41	consistently	consistently	ADV
ajst-32395	55	42	with	with	ADP
ajst-32395	55	43	the	the	DET
ajst-32395	55	44	quality	quality	NOUN
ajst-32395	55	45	of	of	ADP
ajst-32395	55	46	its	its	PRON
ajst-32395	55	47	current	current	ADJ
ajst-32395	55	48	observations	observation	NOUN
ajst-32395	55	49	.	.	PUNCT
ajst-32395	56	1	3	3	X
ajst-32395	56	2	.	.	X
ajst-32395	56	3	data	datum	NOUN
ajst-32395	56	4	fusion	fusion	NOUN
ajst-32395	56	5	methods	method	NOUN
ajst-32395	56	6	and	and	CCONJ
ajst-32395	56	7	research	research	NOUN
ajst-32395	56	8	challenges	challenge	NOUN
ajst-32395	56	9	fusion	fusion	NOUN
ajst-32395	56	10	operates	operate	VERB
ajst-32395	56	11	at	at	ADP
ajst-32395	56	12	several	several	ADJ
ajst-32395	56	13	conceptual	conceptual	ADJ
ajst-32395	56	14	levels	level	NOUN
ajst-32395	56	15	that	that	PRON
ajst-32395	56	16	differ	differ	VERB
ajst-32395	56	17	in	in	ADP
ajst-32395	56	18	information	information	NOUN
ajst-32395	56	19	content	content	NOUN
ajst-32395	56	20	,	,	PUNCT
ajst-32395	56	21	synchronization	synchronization	NOUN
ajst-32395	56	22	demands	demand	NOUN
ajst-32395	56	23	,	,	PUNCT
ajst-32395	56	24	and	and	CCONJ
ajst-32395	56	25	certification	certification	NOUN
ajst-32395	56	26	posture	posture	NOUN
ajst-32395	56	27	.	.	PUNCT
ajst-32395	57	1	at	at	ADP
ajst-32395	57	2	the	the	DET
ajst-32395	57	3	raw‑data	raw‑data	PROPN
ajst-32395	57	4	level	level	NOUN
ajst-32395	57	5	,	,	PUNCT
ajst-32395	57	6	estimators	estimator	NOUN
ajst-32395	57	7	combine	combine	VERB
ajst-32395	57	8	unprocessed	unprocessed	ADJ
ajst-32395	57	9	returns	return	NOUN
ajst-32395	57	10	—	—	PUNCT
ajst-32395	57	11	lidar	lidar	NOUN
ajst-32395	57	12	points	point	NOUN
ajst-32395	57	13	with	with	ADP
ajst-32395	57	14	radar	radar	NOUN
ajst-32395	57	15	range	range	NOUN
ajst-32395	57	16	–	–	PUNCT
ajst-32395	57	17	doppler	doppler	NOUN
ajst-32395	57	18	or	or	CCONJ
ajst-32395	57	19	gnss	gnss	NOUN
ajst-32395	57	20	positions	position	NOUN
ajst-32395	57	21	with	with	ADP
ajst-32395	57	22	imu	imu	ADJ
ajst-32395	57	23	increments	increment	NOUN
ajst-32395	57	24	—	—	PUNCT
ajst-32395	57	25	to	to	PART
ajst-32395	57	26	produce	produce	VERB
ajst-32395	57	27	precise	precise	ADJ
ajst-32395	57	28	state	state	NOUN
ajst-32395	57	29	estimates	estimate	NOUN
ajst-32395	57	30	when	when	SCONJ
ajst-32395	57	31	spatial	spatial	ADJ
ajst-32395	57	32	and	and	CCONJ
ajst-32395	57	33	temporal	temporal	ADJ
ajst-32395	57	34	alignment	alignment	NOUN
ajst-32395	57	35	are	be	AUX
ajst-32395	57	36	tight	tight	ADJ
ajst-32395	57	37	.	.	PUNCT
ajst-32395	58	1	kalman	kalman	NOUN
ajst-32395	58	2	and	and	CCONJ
ajst-32395	58	3	information	information	NOUN
ajst-32395	58	4	filters	filter	NOUN
ajst-32395	58	5	,	,	PUNCT
ajst-32395	58	6	along	along	ADP
ajst-32395	58	7	with	with	ADP
ajst-32395	58	8	particle	particle	NOUN
ajst-32395	58	9	filters	filter	NOUN
ajst-32395	58	10	for	for	ADP
ajst-32395	58	11	non‑gaussian	non‑gaussian	ADV
ajst-32395	58	12	regimes	regime	NOUN
ajst-32395	58	13	,	,	PUNCT
ajst-32395	58	14	exemplify	exemplify	VERB
ajst-32395	58	15	this	this	DET
ajst-32395	58	16	layer	layer	NOUN
ajst-32395	58	17	;	;	PUNCT
ajst-32395	58	18	they	they	PRON
ajst-32395	58	19	provide	provide	VERB
ajst-32395	58	20	elegant	elegant	ADJ
ajst-32395	58	21	uncertainty	uncertainty	NOUN
ajst-32395	58	22	propagation	propagation	NOUN
ajst-32395	58	23	but	but	CCONJ
ajst-32395	58	24	become	become	VERB
ajst-32395	58	25	bandwidth	bandwidth	ADJ
ajst-32395	58	26	and	and	CCONJ
ajst-32395	58	27	compute	compute	VERB
ajst-32395	58	28	heavy	heavy	ADJ
ajst-32395	58	29	on	on	ADP
ajst-32395	58	30	embedded	embed	VERB
ajst-32395	58	31	platforms	platform	NOUN
ajst-32395	58	32	.	.	PUNCT
ajst-32395	59	1	feature‑level	feature‑level	ADJ
ajst-32395	59	2	integration	integration	NOUN
ajst-32395	59	3	instead	instead	ADV
ajst-32395	59	4	aligns	align	VERB
ajst-32395	59	5	intermediate	intermediate	ADJ
ajst-32395	59	6	representations	representation	NOUN
ajst-32395	59	7	,	,	PUNCT
ajst-32395	59	8	for	for	ADP
ajst-32395	59	9	instance	instance	NOUN
ajst-32395	59	10	camera	camera	NOUN
ajst-32395	59	11	feature	feature	NOUN
ajst-32395	59	12	pyramids	pyramid	NOUN
ajst-32395	59	13	with	with	ADP
ajst-32395	59	14	lidar	lidar	NOUN
ajst-32395	59	15	bird’s‑eye‑view	bird’s‑eye‑view	NOUN
ajst-32395	59	16	voxels	voxel	NOUN
ajst-32395	59	17	.	.	PUNCT
ajst-32395	60	1	this	this	DET
ajst-32395	60	2	level	level	NOUN
ajst-32395	60	3	has	have	AUX
ajst-32395	60	4	become	become	VERB
ajst-32395	60	5	dominant	dominant	ADJ
ajst-32395	60	6	in	in	ADP
ajst-32395	60	7	three‑dimensional	three‑dimensional	PROPN
ajst-32395	60	8	detection	detection	NOUN
ajst-32395	60	9	because	because	SCONJ
ajst-32395	60	10	it	it	PRON
ajst-32395	60	11	strikes	strike	VERB
ajst-32395	60	12	a	a	DET
ajst-32395	60	13	reasonable	reasonable	ADJ
ajst-32395	60	14	accuracy	accuracy	NOUN
ajst-32395	60	15	–	–	PUNCT
ajst-32395	60	16	latency	latency	NOUN
ajst-32395	60	17	balance	balance	NOUN
ajst-32395	60	18	and	and	CCONJ
ajst-32395	60	19	is	be	AUX
ajst-32395	60	20	less	less	ADV
ajst-32395	60	21	brittle	brittle	ADJ
ajst-32395	60	22	to	to	ADP
ajst-32395	60	23	slight	slight	ADJ
ajst-32395	60	24	miscalibration	miscalibration	PROPN
ajst-32395	60	25	.	.	PUNCT
ajst-32395	61	1	decision‑level	decision‑level	NOUN
ajst-32395	61	2	fusion	fusion	NOUN
ajst-32395	61	3	aggregates	aggregate	NOUN
ajst-32395	61	4	per‑modality	per‑modality	NOUN
ajst-32395	61	5	hypotheses	hypothesis	NOUN
ajst-32395	61	6	through	through	ADP
ajst-32395	61	7	probabilistic	probabilistic	ADJ
ajst-32395	61	8	reasoning	reasoning	NOUN
ajst-32395	61	9	or	or	CCONJ
ajst-32395	61	10	evidential	evidential	ADJ
ajst-32395	61	11	rules	rule	NOUN
ajst-32395	61	12	such	such	ADJ
ajst-32395	61	13	as	as	ADP
ajst-32395	61	14	dempster	dempster	PROPN
ajst-32395	61	15	–	–	PUNCT
ajst-32395	61	16	shafer	shafer	NOUN
ajst-32395	61	17	,	,	PUNCT
ajst-32395	61	18	favoring	favor	VERB
ajst-32395	61	19	modularity	modularity	NOUN
ajst-32395	61	20	and	and	CCONJ
ajst-32395	61	21	facilitating	facilitate	VERB
ajst-32395	61	22	safety	safety	NOUN
ajst-32395	61	23	arguments	argument	NOUN
ajst-32395	61	24	where	where	SCONJ
ajst-32395	61	25	traceability	traceability	NOUN
ajst-32395	61	26	of	of	ADP
ajst-32395	61	27	decisions	decision	NOUN
ajst-32395	61	28	matters	matter	NOUN
ajst-32395	61	29	.	.	PUNCT
ajst-32395	62	1	across	across	ADP
ajst-32395	62	2	levels	level	NOUN
ajst-32395	62	3	,	,	PUNCT
ajst-32395	62	4	fault	fault	NOUN
ajst-32395	62	5	awareness	awareness	NOUN
ajst-32395	62	6	is	be	AUX
ajst-32395	62	7	the	the	DET
ajst-32395	62	8	differentiator	differentiator	NOUN
ajst-32395	62	9	between	between	ADP
ajst-32395	62	10	systems	system	NOUN
ajst-32395	62	11	that	that	PRON
ajst-32395	62	12	merely	merely	ADV
ajst-32395	62	13	concatenate	concatenate	ADJ
ajst-32395	62	14	data	datum	NOUN
ajst-32395	62	15	and	and	CCONJ
ajst-32395	62	16	systems	system	NOUN
ajst-32395	62	17	that	that	PRON
ajst-32395	62	18	remain	remain	VERB
ajst-32395	62	19	reliable	reliable	ADJ
ajst-32395	62	20	under	under	ADP
ajst-32395	62	21	stress	stress	NOUN
ajst-32395	62	22	.	.	PUNCT
ajst-32395	63	1	in	in	ADP
ajst-32395	63	2	a	a	DET
ajst-32395	63	3	detect	detect	NOUN
ajst-32395	63	4	–	–	PUNCT
ajst-32395	63	5	isolate	isolate	NOUN
ajst-32395	63	6	–	–	PUNCT
ajst-32395	63	7	reconfigure	reconfigure	NOUN
ajst-32395	63	8	pattern	pattern	NOUN
ajst-32395	63	9	,	,	PUNCT
ajst-32395	63	10	anomalies	anomaly	NOUN
ajst-32395	63	11	are	be	AUX
ajst-32395	63	12	first	first	ADV
ajst-32395	63	13	flagged	flag	VERB
ajst-32395	63	14	by	by	ADP
ajst-32395	63	15	residual	residual	ADJ
ajst-32395	63	16	analysis	analysis	NOUN
ajst-32395	63	17	or	or	CCONJ
ajst-32395	63	18	learned	learn	VERB
ajst-32395	63	19	detectors	detector	NOUN
ajst-32395	63	20	,	,	PUNCT
ajst-32395	63	21	then	then	ADV
ajst-32395	63	22	typed	type	VERB
ajst-32395	63	23	to	to	ADP
ajst-32395	63	24	the	the	DET
ajst-32395	63	25	extent	extent	NOUN
ajst-32395	63	26	possible	possible	ADJ
ajst-32395	63	27	,	,	PUNCT
ajst-32395	63	28	and	and	CCONJ
ajst-32395	63	29	finally	finally	ADV
ajst-32395	63	30	acted	act	VERB
ajst-32395	63	31	on	on	ADP
ajst-32395	63	32	by	by	ADP
ajst-32395	63	33	excluding	exclude	VERB
ajst-32395	63	34	or	or	CCONJ
ajst-32395	63	35	down‑weighting	down‑weighte	VERB
ajst-32395	63	36	the	the	DET
ajst-32395	63	37	offending	offending	ADJ
ajst-32395	63	38	channel	channel	NOUN
ajst-32395	63	39	.	.	PUNCT
ajst-32395	64	1	reliability‑weighted	reliability‑weighte	VERB
ajst-32395	64	2	integration	integration	NOUN
ajst-32395	64	3	assigns	assign	NOUN
ajst-32395	64	4	confidences	confidence	NOUN
ajst-32395	64	5	per	per	ADP
ajst-32395	64	6	sensor	sensor	NOUN
ajst-32395	64	7	and	and	CCONJ
ajst-32395	64	8	per	per	ADP
ajst-32395	64	9	frame	frame	NOUN
ajst-32395	64	10	so	so	SCONJ
ajst-32395	64	11	that	that	SCONJ
ajst-32395	64	12	healthy	healthy	ADJ
ajst-32395	64	13	views	view	NOUN
ajst-32395	64	14	dominate	dominate	VERB
ajst-32395	64	15	the	the	DET
ajst-32395	64	16	consensus	consensus	NOUN
ajst-32395	64	17	;	;	PUNCT
ajst-32395	64	18	context‑adaptive	context‑adaptive	NUM
ajst-32395	64	19	thresholds	threshold	NOUN
ajst-32395	64	20	,	,	PUNCT
ajst-32395	64	21	as	as	SCONJ
ajst-32395	64	22	demonstrated	demonstrate	VERB
ajst-32395	64	23	in	in	ADP
ajst-32395	64	24	localization	localization	NOUN
ajst-32395	64	25	,	,	PUNCT
ajst-32395	64	26	allow	allow	VERB
ajst-32395	64	27	a	a	DET
ajst-32395	64	28	learned	learn	VERB
ajst-32395	64	29	policy	policy	NOUN
ajst-32395	64	30	to	to	PART
ajst-32395	64	31	remove	remove	VERB
ajst-32395	64	32	particularly	particularly	ADV
ajst-32395	64	33	harmful	harmful	ADJ
ajst-32395	64	34	measurements	measurement	NOUN
ajst-32395	64	35	rather	rather	ADV
ajst-32395	64	36	than	than	ADP
ajst-32395	64	37	applying	apply	VERB
ajst-32395	64	38	a	a	DET
ajst-32395	64	39	static	static	ADJ
ajst-32395	64	40	cutoff	cutoff	NOUN
ajst-32395	65	1	[	[	X
ajst-32395	65	2	1–3	1–3	NOUN
ajst-32395	65	3	]	]	X
ajst-32395	65	4	.	.	PUNCT
ajst-32395	66	1	quantitative	quantitative	ADJ
ajst-32395	66	2	results	result	NOUN
ajst-32395	66	3	clarify	clarify	VERB
ajst-32395	66	4	the	the	DET
ajst-32395	66	5	value	value	NOUN
ajst-32395	66	6	of	of	ADP
ajst-32395	66	7	these	these	DET
ajst-32395	66	8	patterns	pattern	NOUN
ajst-32395	66	9	.	.	PUNCT
ajst-32395	67	1	in	in	ADP
ajst-32395	67	2	vehicle‑health	vehicle‑health	PROPN
ajst-32395	67	3	monitoring	monitoring	NOUN
ajst-32395	67	4	,	,	PUNCT
ajst-32395	67	5	learning‑based	learning‑base	VERB
ajst-32395	67	6	detection	detection	NOUN
ajst-32395	67	7	on	on	ADP
ajst-32395	67	8	multi‑sensor	multi‑sensor	NOUN
ajst-32395	67	9	bus	bus	NOUN
ajst-32395	67	10	signals	signal	NOUN
ajst-32395	67	11	achieves	achieve	VERB
ajst-32395	67	12	accuracy	accuracy	NOUN
ajst-32395	67	13	near	near	ADP
ajst-32395	67	14	ninety‑nine	ninety‑nine	PROPN
ajst-32395	67	15	point	point	NOUN
ajst-32395	67	16	eight	eight	NUM
ajst-32395	67	17	four	four	NUM
ajst-32395	67	18	percent	percent	NOUN
ajst-32395	67	19	overall	overall	ADV
ajst-32395	67	20	,	,	PUNCT
ajst-32395	67	21	while	while	SCONJ
ajst-32395	67	22	identification	identification	NOUN
ajst-32395	67	23	and	and	CCONJ
ajst-32395	67	24	isolation	isolation	NOUN
ajst-32395	67	25	vary	vary	VERB
ajst-32395	67	26	between	between	ADP
ajst-32395	67	27	roughly	roughly	ADV
ajst-32395	67	28	seventy‑three	seventy‑three	NUM
ajst-32395	67	29	and	and	CCONJ
ajst-32395	67	30	one	one	NUM
ajst-32395	67	31	hundred	hundred	NUM
ajst-32395	67	32	percent	percent	NOUN
ajst-32395	67	33	across	across	ADP
ajst-32395	67	34	classes	class	NOUN
ajst-32395	67	35	;	;	PUNCT
ajst-32395	67	36	this	this	DET
ajst-32395	67	37	mixture	mixture	NOUN
ajst-32395	67	38	of	of	ADP
ajst-32395	67	39	high	high	ADJ
ajst-32395	67	40	sensitivity	sensitivity	NOUN
ajst-32395	67	41	with	with	ADP
ajst-32395	67	42	usable	usable	ADJ
ajst-32395	67	43	typing	typing	NOUN
ajst-32395	67	44	suggests	suggest	VERB
ajst-32395	67	45	the	the	DET
ajst-32395	67	46	architecture	architecture	NOUN
ajst-32395	67	47	can	can	AUX
ajst-32395	67	48	support	support	VERB
ajst-32395	67	49	both	both	DET
ajst-32395	67	50	immediate	immediate	ADJ
ajst-32395	67	51	mitigation	mitigation	NOUN
ajst-32395	67	52	and	and	CCONJ
ajst-32395	67	53	longer‑horizon	longer‑horizon	PROPN
ajst-32395	67	54	maintenance	maintenance	NOUN
ajst-32395	67	55	planning	planning	NOUN
ajst-32395	68	1	[	[	X
ajst-32395	68	2	1	1	NUM
ajst-32395	68	3	]	]	PUNCT
ajst-32395	68	4	.	.	PUNCT
ajst-32395	69	1	perception	perception	NOUN
ajst-32395	69	2	under	under	ADP
ajst-32395	69	3	degraded	degraded	ADJ
ajst-32395	69	4	sensing	sensing	NOUN
ajst-32395	69	5	shows	show	VERB
ajst-32395	69	6	a	a	DET
ajst-32395	69	7	similar	similar	ADJ
ajst-32395	69	8	trend	trend	NOUN
ajst-32395	69	9	.	.	PUNCT
ajst-32395	70	1	when	when	SCONJ
ajst-32395	70	2	camera	camera	NOUN
ajst-32395	70	3	streams	stream	NOUN
ajst-32395	70	4	are	be	AUX
ajst-32395	70	5	deliberately	deliberately	ADV
ajst-32395	70	6	defocused	defocuse	VERB
ajst-32395	70	7	or	or	CCONJ
ajst-32395	70	8	their	their	PRON
ajst-32395	70	9	fields	field	NOUN
ajst-32395	70	10	of	of	ADP
ajst-32395	70	11	view	view	NOUN
ajst-32395	70	12	are	be	AUX
ajst-32395	70	13	truncated	truncate	VERB
ajst-32395	70	14	,	,	PUNCT
ajst-32395	70	15	an	an	DET
ajst-32395	70	16	on‑line	on‑line	NOUN
ajst-32395	70	17	fusion	fusion	NOUN
ajst-32395	70	18	network	network	NOUN
ajst-32395	70	19	equipped	equip	VERB
ajst-32395	70	20	with	with	ADP
ajst-32395	70	21	a	a	DET
ajst-32395	70	22	diagnosis‑and‑avoidance	diagnosis‑and‑avoidance	NOUN
ajst-32395	70	23	gate	gate	NOUN
ajst-32395	70	24	consistently	consistently	ADV
ajst-32395	70	25	raises	raise	VERB
ajst-32395	70	26	mean	mean	VERB
ajst-32395	70	27	intersection‑over‑union	intersection‑over‑union	NOUN
ajst-32395	70	28	by	by	ADP
ajst-32395	70	29	about	about	ADV
ajst-32395	70	30	eight	eight	NUM
ajst-32395	70	31	to	to	PART
ajst-32395	70	32	twenty‑two	twenty‑two	NUM
ajst-32395	70	33	percentage	percentage	NOUN
ajst-32395	70	34	points	point	NOUN
ajst-32395	70	35	;	;	PUNCT
ajst-32395	70	36	on	on	ADP
ajst-32395	70	37	a	a	DET
ajst-32395	70	38	representative	representative	ADJ
ajst-32395	70	39	sequence	sequence	NOUN
ajst-32395	70	40	,	,	PUNCT
ajst-32395	70	41	the	the	DET
ajst-32395	70	42	iou	iou	NOUN
ajst-32395	70	43	climbs	climb	VERB
ajst-32395	70	44	from	from	ADP
ajst-32395	70	45	around	around	ADV
ajst-32395	70	46	0.666	0.666	NUM
ajst-32395	70	47	to	to	ADP
ajst-32395	70	48	0.888	0.888	NUM
ajst-32395	70	49	for	for	ADP
ajst-32395	70	50	truncation	truncation	NOUN
ajst-32395	70	51	and	and	CCONJ
ajst-32395	70	52	from	from	ADP
ajst-32395	70	53	0.801	0.801	NUM
ajst-32395	70	54	to	to	ADP
ajst-32395	70	55	0.882	0.882	NUM
ajst-32395	70	56	for	for	ADP
ajst-32395	70	57	defocus	defocus	NOUN
ajst-32395	70	58	,	,	PUNCT
ajst-32395	70	59	with	with	ADP
ajst-32395	70	60	comparable	comparable	ADJ
ajst-32395	70	61	gains	gain	NOUN
ajst-32395	70	62	on	on	ADP
ajst-32395	70	63	additional	additional	ADJ
ajst-32395	70	64	videos	video	NOUN
ajst-32395	70	65	[	[	X
ajst-32395	70	66	2	2	NUM
ajst-32395	70	67	]	]	PUNCT
ajst-32395	70	68	.	.	PUNCT
ajst-32395	71	1	localization	localization	NOUN
ajst-32395	71	2	profits	profit	NOUN
ajst-32395	71	3	when	when	SCONJ
ajst-32395	71	4	fault	fault	NOUN
ajst-32395	71	5	handling	handling	NOUN
ajst-32395	71	6	is	be	AUX
ajst-32395	71	7	inside	inside	ADP
ajst-32395	71	8	the	the	DET
ajst-32395	71	9	loop	loop	NOUN
ajst-32395	71	10	.	.	PUNCT
ajst-32395	72	1	a	a	DET
ajst-32395	72	2	deep	deep	ADJ
ajst-32395	72	3	network	network	NOUN
ajst-32395	72	4	that	that	PRON
ajst-32395	72	5	adapts	adapt	VERB
ajst-32395	72	6	the	the	DET
ajst-32395	72	7	threshold	threshold	NOUN
ajst-32395	72	8	on	on	ADP
ajst-32395	72	9	an	an	DET
ajst-32395	72	10	α‑rényi‑divergence	α‑rényi‑divergence	PROPN
ajst-32395	72	11	residual	residual	ADJ
ajst-32395	72	12	tends	tend	VERB
ajst-32395	72	13	to	to	PART
ajst-32395	72	14	discard	discard	VERB
ajst-32395	72	15	measurements	measurement	NOUN
ajst-32395	72	16	with	with	ADP
ajst-32395	72	17	substantially	substantially	ADV
ajst-32395	72	18	larger	large	ADJ
ajst-32395	72	19	true	true	ADJ
ajst-32395	72	20	errors	error	NOUN
ajst-32395	72	21	—	—	PUNCT
ajst-32395	72	22	on	on	ADP
ajst-32395	72	23	average	average	ADJ
ajst-32395	72	24	a	a	DET
ajst-32395	72	25	little	little	ADJ
ajst-32395	72	26	over	over	ADP
ajst-32395	72	27	eight	eight	NUM
ajst-32395	72	28	meters	meter	NOUN
ajst-32395	72	29	with	with	ADP
ajst-32395	72	30	maxima	maxima	NOUN
ajst-32395	72	31	near	near	ADP
ajst-32395	72	32	eighty	eighty	NUM
ajst-32395	72	33	—	—	PUNCT
ajst-32395	72	34	than	than	ADP
ajst-32395	72	35	those	those	PRON
ajst-32395	72	36	eliminated	eliminate	VERB
ajst-32395	72	37	by	by	ADP
ajst-32395	72	38	218	218	NUM
ajst-32395	72	39	a	a	DET
ajst-32395	72	40	maximum‑likelihood	maximum‑likelihood	NOUN
ajst-32395	72	41	baseline	baseline	NOUN
ajst-32395	72	42	whose	whose	DET
ajst-32395	72	43	discarded	discard	VERB
ajst-32395	72	44	samples	sample	NOUN
ajst-32395	72	45	average	average	VERB
ajst-32395	72	46	closer	close	ADV
ajst-32395	72	47	to	to	ADP
ajst-32395	72	48	three	three	NUM
ajst-32395	72	49	and	and	CCONJ
ajst-32395	72	50	a	a	DET
ajst-32395	72	51	half	half	NOUN
ajst-32395	72	52	meters	meter	NOUN
ajst-32395	72	53	with	with	ADP
ajst-32395	72	54	maxima	maxima	NOUN
ajst-32395	72	55	near	near	ADP
ajst-32395	72	56	fifteen	fifteen	NUM
ajst-32395	72	57	;	;	PUNCT
ajst-32395	72	58	the	the	DET
ajst-32395	72	59	asymmetry	asymmetry	NOUN
ajst-32395	72	60	implies	imply	VERB
ajst-32395	72	61	that	that	SCONJ
ajst-32395	72	62	the	the	DET
ajst-32395	72	63	learned	learn	VERB
ajst-32395	72	64	policy	policy	NOUN
ajst-32395	72	65	targets	target	VERB
ajst-32395	72	66	the	the	DET
ajst-32395	72	67	harmful	harmful	ADJ
ajst-32395	72	68	inputs	input	NOUN
ajst-32395	72	69	and	and	CCONJ
ajst-32395	72	70	reduces	reduce	VERB
ajst-32395	72	71	tail	tail	NOUN
ajst-32395	72	72	risk	risk	NOUN
ajst-32395	72	73	in	in	ADP
ajst-32395	72	74	downstream	downstream	ADJ
ajst-32395	72	75	position	position	NOUN
ajst-32395	72	76	estimates	estimate	NOUN
ajst-32395	72	77	[	[	X
ajst-32395	72	78	3	3	NUM
ajst-32395	72	79	]	]	PUNCT
ajst-32395	72	80	.	.	PUNCT
ajst-32395	73	1	despite	despite	SCONJ
ajst-32395	73	2	these	these	DET
ajst-32395	73	3	advances	advance	NOUN
ajst-32395	73	4	,	,	PUNCT
ajst-32395	73	5	limitations	limitation	NOUN
ajst-32395	73	6	remain	remain	VERB
ajst-32395	73	7	.	.	PUNCT
ajst-32395	74	1	uncertainty	uncertainty	NOUN
ajst-32395	74	2	from	from	ADP
ajst-32395	74	3	learned	learn	VERB
ajst-32395	74	4	fusion	fusion	NOUN
ajst-32395	74	5	is	be	AUX
ajst-32395	74	6	often	often	ADV
ajst-32395	74	7	miscalibrated	miscalibrated	ADJ
ajst-32395	74	8	and	and	CCONJ
ajst-32395	74	9	therefore	therefore	ADV
ajst-32395	74	10	over‑confident	over‑confident	NUM
ajst-32395	74	11	;	;	PUNCT
ajst-32395	74	12	distribution	distribution	NOUN
ajst-32395	74	13	shift	shift	NOUN
ajst-32395	74	14	across	across	ADP
ajst-32395	74	15	weather	weather	NOUN
ajst-32395	74	16	,	,	PUNCT
ajst-32395	74	17	lens	lens	NOUN
ajst-32395	74	18	contamination	contamination	NOUN
ajst-32395	74	19	,	,	PUNCT
ajst-32395	74	20	and	and	CCONJ
ajst-32395	74	21	rare	rare	ADJ
ajst-32395	74	22	targets	target	NOUN
ajst-32395	74	23	remains	remain	VERB
ajst-32395	74	24	under‑represented	under‑represente	VERB
ajst-32395	74	25	in	in	ADP
ajst-32395	74	26	training	training	NOUN
ajst-32395	74	27	and	and	CCONJ
ajst-32395	74	28	evaluation	evaluation	NOUN
ajst-32395	74	29	;	;	PUNCT
ajst-32395	74	30	black‑box	black‑box	NOUN
ajst-32395	74	31	fusion	fusion	NOUN
ajst-32395	74	32	complicates	complicate	VERB
ajst-32395	74	33	safety	safety	NOUN
ajst-32395	74	34	cases	case	NOUN
ajst-32395	74	35	and	and	CCONJ
ajst-32395	74	36	public	public	ADJ
ajst-32395	74	37	trust	trust	NOUN
ajst-32395	74	38	;	;	PUNCT
ajst-32395	74	39	and	and	CCONJ
ajst-32395	74	40	embedded	embed	VERB
ajst-32395	74	41	compute	compute	NOUN
ajst-32395	74	42	budgets	budget	NOUN
ajst-32395	74	43	make	make	VERB
ajst-32395	74	44	some	some	DET
ajst-32395	74	45	accurate	accurate	ADJ
ajst-32395	74	46	raw‑level	raw‑level	NOUN
ajst-32395	74	47	approaches	approach	NOUN
ajst-32395	74	48	impractical	impractical	ADJ
ajst-32395	74	49	at	at	ADP
ajst-32395	74	50	asil‑d	asil‑d	ADJ
ajst-32395	74	51	deadlines	deadline	NOUN
ajst-32395	74	52	.	.	PUNCT
ajst-32395	75	1	robust	robust	ADJ
ajst-32395	75	2	autonomy	autonomy	NOUN
ajst-32395	75	3	will	will	AUX
ajst-32395	75	4	require	require	VERB
ajst-32395	75	5	methods	method	NOUN
ajst-32395	75	6	that	that	PRON
ajst-32395	75	7	expose	expose	VERB
ajst-32395	75	8	their	their	PRON
ajst-32395	75	9	reasons	reason	NOUN
ajst-32395	75	10	,	,	PUNCT
ajst-32395	75	11	quantify	quantify	ADJ
ajst-32395	75	12	and	and	CCONJ
ajst-32395	75	13	calibrate	calibrate	ADJ
ajst-32395	75	14	uncertainty	uncertainty	NOUN
ajst-32395	75	15	,	,	PUNCT
ajst-32395	75	16	and	and	CCONJ
ajst-32395	75	17	meet	meet	VERB
ajst-32395	75	18	hard	hard	ADJ
ajst-32395	75	19	timing	timing	NOUN
ajst-32395	75	20	without	without	ADP
ajst-32395	75	21	sacrificing	sacrifice	VERB
ajst-32395	75	22	coverage	coverage	NOUN
ajst-32395	75	23	across	across	ADP
ajst-32395	75	24	the	the	DET
ajst-32395	75	25	operational	operational	ADJ
ajst-32395	75	26	design	design	NOUN
ajst-32395	75	27	domain	domain	NOUN
ajst-32395	75	28	.	.	PUNCT
ajst-32395	76	1	a	a	DET
ajst-32395	76	2	closer	close	ADJ
ajst-32395	76	3	look	look	NOUN
ajst-32395	76	4	at	at	ADP
ajst-32395	76	5	canonical	canonical	ADJ
ajst-32395	76	6	algorithms	algorithm	NOUN
ajst-32395	76	7	clarifies	clarify	VERB
ajst-32395	76	8	how	how	SCONJ
ajst-32395	76	9	uncertainty	uncertainty	NOUN
ajst-32395	76	10	is	be	AUX
ajst-32395	76	11	represented	represent	VERB
ajst-32395	76	12	and	and	CCONJ
ajst-32395	76	13	why	why	SCONJ
ajst-32395	76	14	certain	certain	ADJ
ajst-32395	76	15	choices	choice	NOUN
ajst-32395	76	16	interact	interact	VERB
ajst-32395	76	17	well	well	ADV
ajst-32395	76	18	with	with	ADP
ajst-32395	76	19	redundancy	redundancy	NOUN
ajst-32395	76	20	.	.	PUNCT
ajst-32395	77	1	extended	extended	ADJ
ajst-32395	77	2	and	and	CCONJ
ajst-32395	77	3	unscented	unscente	VERB
ajst-32395	77	4	kalman	kalman	NOUN
ajst-32395	77	5	filters	filter	NOUN
ajst-32395	77	6	linearize	linearize	PROPN
ajst-32395	77	7	nonlinear	nonlinear	ADJ
ajst-32395	77	8	motion	motion	NOUN
ajst-32395	77	9	and	and	CCONJ
ajst-32395	77	10	observation	observation	NOUN
ajst-32395	77	11	models	model	NOUN
ajst-32395	77	12	to	to	PART
ajst-32395	77	13	maintain	maintain	VERB
ajst-32395	77	14	a	a	DET
ajst-32395	77	15	gaussian	gaussian	ADJ
ajst-32395	77	16	belief	belief	NOUN
ajst-32395	77	17	over	over	ADP
ajst-32395	77	18	state	state	NOUN
ajst-32395	77	19	;	;	PUNCT
ajst-32395	77	20	the	the	DET
ajst-32395	77	21	machinery	machinery	NOUN
ajst-32395	77	22	exposes	expose	VERB
ajst-32395	77	23	innovation	innovation	NOUN
ajst-32395	77	24	residuals	residual	NOUN
ajst-32395	77	25	that	that	PRON
ajst-32395	77	26	double	double	VERB
ajst-32395	77	27	as	as	ADP
ajst-32395	77	28	health	health	NOUN
ajst-32395	77	29	indicators	indicator	NOUN
ajst-32395	77	30	,	,	PUNCT
ajst-32395	77	31	since	since	SCONJ
ajst-32395	77	32	large	large	ADJ
ajst-32395	77	33	,	,	PUNCT
ajst-32395	77	34	sustained	sustained	ADJ
ajst-32395	77	35	residuals	residual	NOUN
ajst-32395	77	36	often	often	ADV
ajst-32395	77	37	signal	signal	VERB
ajst-32395	77	38	mis‑calibration	mis‑calibration	NOUN
ajst-32395	77	39	or	or	CCONJ
ajst-32395	77	40	sensor	sensor	NOUN
ajst-32395	77	41	failure	failure	NOUN
ajst-32395	77	42	.	.	PUNCT
ajst-32395	78	1	particle	particle	NOUN
ajst-32395	78	2	filters	filter	NOUN
ajst-32395	78	3	approximate	approximate	VERB
ajst-32395	78	4	arbitrary	arbitrary	ADJ
ajst-32395	78	5	distributions	distribution	NOUN
ajst-32395	78	6	at	at	ADP
ajst-32395	78	7	the	the	DET
ajst-32395	78	8	cost	cost	NOUN
ajst-32395	78	9	of	of	ADP
ajst-32395	78	10	computational	computational	ADJ
ajst-32395	78	11	load	load	NOUN
ajst-32395	78	12	and	and	CCONJ
ajst-32395	78	13	are	be	AUX
ajst-32395	78	14	therefore	therefore	ADV
ajst-32395	78	15	attractive	attractive	ADJ
ajst-32395	78	16	when	when	SCONJ
ajst-32395	78	17	measurement	measurement	NOUN
ajst-32395	78	18	likelihoods	likelihood	NOUN
ajst-32395	78	19	are	be	AUX
ajst-32395	78	20	multi‑modal	multi‑modal	ADJ
ajst-32395	78	21	,	,	PUNCT
ajst-32395	78	22	as	as	ADP
ajst-32395	78	23	in	in	ADP
ajst-32395	78	24	urban	urban	ADJ
ajst-32395	78	25	canyons	canyon	NOUN
ajst-32395	78	26	with	with	ADP
ajst-32395	78	27	gnss	gnss	NOUN
ajst-32395	78	28	multipath	multipath	NOUN
ajst-32395	78	29	.	.	PUNCT
ajst-32395	79	1	for	for	ADP
ajst-32395	79	2	feature‑level	feature‑level	ADJ
ajst-32395	79	3	fusion	fusion	NOUN
ajst-32395	79	4	,	,	PUNCT
ajst-32395	79	5	modern	modern	ADJ
ajst-32395	79	6	systems	system	NOUN
ajst-32395	79	7	increasingly	increasingly	ADV
ajst-32395	79	8	rely	rely	VERB
ajst-32395	79	9	on	on	ADP
ajst-32395	79	10	shared	share	VERB
ajst-32395	79	11	intermediate	intermediate	ADJ
ajst-32395	79	12	spaces	space	NOUN
ajst-32395	79	13	such	such	ADJ
ajst-32395	79	14	as	as	ADP
ajst-32395	79	15	bird’s‑eye‑view	bird’s‑eye‑view	NOUN
ajst-32395	79	16	tensors	tensor	NOUN
ajst-32395	79	17	onto	onto	ADP
ajst-32395	79	18	which	which	PRON
ajst-32395	79	19	camera	camera	NOUN
ajst-32395	79	20	features	feature	NOUN
ajst-32395	79	21	are	be	AUX
ajst-32395	79	22	lifted	lift	VERB
ajst-32395	79	23	via	via	ADP
ajst-32395	79	24	geometry	geometry	NOUN
ajst-32395	79	25	and	and	CCONJ
ajst-32395	79	26	lidar	lidar	NOUN
ajst-32395	79	27	points	point	NOUN
ajst-32395	79	28	are	be	AUX
ajst-32395	79	29	voxelized	voxelize	VERB
ajst-32395	79	30	.	.	PUNCT
ajst-32395	80	1	transformer	transformer	ADJ
ajst-32395	80	2	backbones	backbone	NOUN
ajst-32395	80	3	and	and	CCONJ
ajst-32395	80	4	cross‑attention	cross‑attention	NOUN
ajst-32395	80	5	then	then	ADV
ajst-32395	80	6	exchange	exchange	VERB
ajst-32395	80	7	context	context	NOUN
ajst-32395	80	8	across	across	ADP
ajst-32395	80	9	modalities	modality	NOUN
ajst-32395	80	10	so	so	SCONJ
ajst-32395	80	11	that	that	SCONJ
ajst-32395	80	12	complementary	complementary	ADJ
ajst-32395	80	13	cues	cue	NOUN
ajst-32395	80	14	reinforce	reinforce	VERB
ajst-32395	80	15	one	one	NUM
ajst-32395	80	16	another	another	DET
ajst-32395	80	17	.	.	PUNCT
ajst-32395	81	1	decision‑level	decision‑level	NOUN
ajst-32395	81	2	fusion	fusion	NOUN
ajst-32395	81	3	remains	remain	VERB
ajst-32395	81	4	valuable	valuable	ADJ
ajst-32395	81	5	wherever	wherever	SCONJ
ajst-32395	81	6	modularity	modularity	NOUN
ajst-32395	81	7	and	and	CCONJ
ajst-32395	81	8	auditability	auditability	NOUN
ajst-32395	81	9	dominate	dominate	VERB
ajst-32395	81	10	;	;	PUNCT
ajst-32395	81	11	information	information	NOUN
ajst-32395	81	12	filters	filter	NOUN
ajst-32395	81	13	naturally	naturally	ADV
ajst-32395	81	14	combine	combine	VERB
ajst-32395	81	15	estimates	estimate	NOUN
ajst-32395	81	16	from	from	ADP
ajst-32395	81	17	independent	independent	ADJ
ajst-32395	81	18	sources	source	NOUN
ajst-32395	81	19	,	,	PUNCT
ajst-32395	81	20	and	and	CCONJ
ajst-32395	81	21	dempster	dempster	PROPN
ajst-32395	81	22	–	–	PUNCT
ajst-32395	81	23	shafer	shafer	NOUN
ajst-32395	81	24	theory	theory	NOUN
ajst-32395	81	25	offers	offer	VERB
ajst-32395	81	26	a	a	DET
ajst-32395	81	27	way	way	NOUN
ajst-32395	81	28	to	to	PART
ajst-32395	81	29	represent	represent	VERB
ajst-32395	81	30	ignorance	ignorance	NOUN
ajst-32395	81	31	separately	separately	ADV
ajst-32395	81	32	from	from	ADP
ajst-32395	81	33	probability	probability	NOUN
ajst-32395	81	34	,	,	PUNCT
ajst-32395	81	35	which	which	PRON
ajst-32395	81	36	is	be	AUX
ajst-32395	81	37	useful	useful	ADJ
ajst-32395	81	38	when	when	SCONJ
ajst-32395	81	39	sensors	sensor	NOUN
ajst-32395	81	40	provide	provide	VERB
ajst-32395	81	41	conflicting	conflicting	ADJ
ajst-32395	81	42	evidence	evidence	NOUN
ajst-32395	81	43	.	.	PUNCT
ajst-32395	82	1	fault	fault	VERB
ajst-32395	82	2	detection	detection	NOUN
ajst-32395	82	3	and	and	CCONJ
ajst-32395	82	4	isolation	isolation	NOUN
ajst-32395	82	5	methods	method	NOUN
ajst-32395	82	6	span	span	VERB
ajst-32395	82	7	classical	classical	ADJ
ajst-32395	82	8	and	and	CCONJ
ajst-32395	82	9	learned	learn	VERB
ajst-32395	82	10	families	family	NOUN
ajst-32395	82	11	.	.	PUNCT
ajst-32395	83	1	parity‑space	parity‑space	NOUN
ajst-32395	83	2	checks	check	NOUN
ajst-32395	83	3	and	and	CCONJ
ajst-32395	83	4	generalized	generalized	ADJ
ajst-32395	83	5	likelihood	likelihood	NOUN
ajst-32395	83	6	ratio	ratio	NOUN
ajst-32395	83	7	tests	test	NOUN
ajst-32395	83	8	compare	compare	AUX
ajst-32395	83	9	predicted	predict	VERB
ajst-32395	83	10	and	and	CCONJ
ajst-32395	83	11	measured	measure	VERB
ajst-32395	83	12	signals	signal	NOUN
ajst-32395	83	13	to	to	ADP
ajst-32395	83	14	flag	flag	NOUN
ajst-32395	83	15	anomalies	anomaly	NOUN
ajst-32395	83	16	;	;	PUNCT
ajst-32395	83	17	change‑point	change‑point	NOUN
ajst-32395	83	18	detectors	detector	NOUN
ajst-32395	83	19	look	look	VERB
ajst-32395	83	20	for	for	ADP
ajst-32395	83	21	distributional	distributional	ADJ
ajst-32395	83	22	shifts	shift	NOUN
ajst-32395	83	23	;	;	PUNCT
ajst-32395	83	24	autoencoders	autoencoder	NOUN
ajst-32395	83	25	,	,	PUNCT
ajst-32395	83	26	one‑class	one‑class	ADJ
ajst-32395	83	27	classifiers	classifier	NOUN
ajst-32395	83	28	and	and	CCONJ
ajst-32395	83	29	contrastive	contrastive	ADJ
ajst-32395	83	30	models	model	NOUN
ajst-32395	83	31	learn	learn	VERB
ajst-32395	83	32	a	a	DET
ajst-32395	83	33	compact	compact	ADJ
ajst-32395	83	34	description	description	NOUN
ajst-32395	83	35	of	of	ADP
ajst-32395	83	36	normal	normal	ADJ
ajst-32395	83	37	behaviour	behaviour	NOUN
ajst-32395	83	38	and	and	CCONJ
ajst-32395	83	39	raise	raise	VERB
ajst-32395	83	40	alarms	alarm	NOUN
ajst-32395	83	41	when	when	SCONJ
ajst-32395	83	42	deviations	deviation	NOUN
ajst-32395	83	43	exceed	exceed	VERB
ajst-32395	83	44	a	a	DET
ajst-32395	83	45	bound	bind	VERB
ajst-32395	83	46	.	.	PUNCT
ajst-32395	84	1	isolation	isolation	NOUN
ajst-32395	84	2	can	can	AUX
ajst-32395	84	3	be	be	AUX
ajst-32395	84	4	framed	frame	VERB
ajst-32395	84	5	as	as	ADP
ajst-32395	84	6	a	a	DET
ajst-32395	84	7	multi‑class	multi‑class	NOUN
ajst-32395	84	8	classification	classification	NOUN
ajst-32395	84	9	problem	problem	NOUN
ajst-32395	84	10	when	when	SCONJ
ajst-32395	84	11	labelled	label	VERB
ajst-32395	84	12	faults	fault	NOUN
ajst-32395	84	13	exist	exist	VERB
ajst-32395	84	14	,	,	PUNCT
ajst-32395	84	15	or	or	CCONJ
ajst-32395	84	16	as	as	ADP
ajst-32395	84	17	a	a	DET
ajst-32395	84	18	structured	structured	ADJ
ajst-32395	84	19	search	search	NOUN
ajst-32395	84	20	where	where	SCONJ
ajst-32395	84	21	the	the	DET
ajst-32395	84	22	system	system	NOUN
ajst-32395	84	23	explains	explain	VERB
ajst-32395	84	24	residuals	residual	NOUN
ajst-32395	84	25	by	by	ADP
ajst-32395	84	26	hypothesizing	hypothesize	VERB
ajst-32395	84	27	which	which	DET
ajst-32395	84	28	channel	channel	NOUN
ajst-32395	84	29	failed	fail	VERB
ajst-32395	84	30	.	.	PUNCT
ajst-32395	85	1	reconfiguration	reconfiguration	NOUN
ajst-32395	85	2	closes	close	VERB
ajst-32395	85	3	the	the	DET
ajst-32395	85	4	loop	loop	NOUN
ajst-32395	85	5	by	by	ADP
ajst-32395	85	6	excluding	exclude	VERB
ajst-32395	85	7	or	or	CCONJ
ajst-32395	85	8	down‑weighting	down‑weighte	VERB
ajst-32395	85	9	the	the	DET
ajst-32395	85	10	suspect	suspect	ADJ
ajst-32395	85	11	input	input	NOUN
ajst-32395	85	12	and	and	CCONJ
ajst-32395	85	13	by	by	ADP
ajst-32395	85	14	reallocating	reallocate	VERB
ajst-32395	85	15	computation	computation	NOUN
ajst-32395	85	16	to	to	ADP
ajst-32395	85	17	the	the	DET
ajst-32395	85	18	remaining	remain	VERB
ajst-32395	85	19	channels	channel	NOUN
ajst-32395	85	20	.	.	PUNCT
ajst-32395	86	1	the	the	DET
ajst-32395	86	2	numerical	numerical	ADJ
ajst-32395	86	3	results	result	NOUN
ajst-32395	86	4	cited	cite	VERB
ajst-32395	86	5	earlier	early	ADV
ajst-32395	86	6	provide	provide	VERB
ajst-32395	86	7	concrete	concrete	ADJ
ajst-32395	86	8	effect	effect	NOUN
ajst-32395	86	9	sizes	size	NOUN
ajst-32395	86	10	to	to	PART
ajst-32395	86	11	accompany	accompany	VERB
ajst-32395	86	12	these	these	DET
ajst-32395	86	13	mechanisms	mechanism	NOUN
ajst-32395	86	14	.	.	PUNCT
ajst-32395	87	1	the	the	DET
ajst-32395	87	2	bus‑signal	bus‑signal	ADJ
ajst-32395	87	3	detector	detector	NOUN
ajst-32395	87	4	illustrates	illustrate	VERB
ajst-32395	87	5	the	the	DET
ajst-32395	87	6	value	value	NOUN
ajst-32395	87	7	of	of	ADP
ajst-32395	87	8	modelling	model	VERB
ajst-32395	87	9	temporal	temporal	ADJ
ajst-32395	87	10	dependence	dependence	NOUN
ajst-32395	87	11	across	across	ADP
ajst-32395	87	12	correlated	correlate	VERB
ajst-32395	87	13	channels	channel	NOUN
ajst-32395	87	14	;	;	PUNCT
ajst-32395	87	15	its	its	PRON
ajst-32395	87	16	near‑ceiling	near‑ceile	VERB
ajst-32395	87	17	detection	detection	NOUN
ajst-32395	87	18	rate	rate	NOUN
ajst-32395	87	19	implies	imply	VERB
ajst-32395	87	20	that	that	SCONJ
ajst-32395	87	21	the	the	DET
ajst-32395	87	22	model	model	NOUN
ajst-32395	87	23	leverages	leverage	VERB
ajst-32395	87	24	cross‑channel	cross‑channel	NOUN
ajst-32395	87	25	consistency	consistency	NOUN
ajst-32395	87	26	rather	rather	ADV
ajst-32395	87	27	than	than	ADP
ajst-32395	87	28	relying	rely	VERB
ajst-32395	87	29	on	on	ADP
ajst-32395	87	30	any	any	DET
ajst-32395	87	31	single	single	ADJ
ajst-32395	87	32	signal	signal	NOUN
ajst-32395	88	1	[	[	X
ajst-32395	88	2	1	1	NUM
ajst-32395	88	3	]	]	PUNCT
ajst-32395	88	4	.	.	PUNCT
ajst-32395	89	1	the	the	DET
ajst-32395	89	2	vision	vision	NOUN
ajst-32395	89	3	experiments	experiment	NOUN
ajst-32395	89	4	demonstrate	demonstrate	VERB
ajst-32395	89	5	that	that	SCONJ
ajst-32395	89	6	gains	gain	NOUN
ajst-32395	89	7	from	from	ADP
ajst-32395	89	8	fusion	fusion	NOUN
ajst-32395	89	9	are	be	AUX
ajst-32395	89	10	largest	large	ADJ
ajst-32395	89	11	exactly	exactly	ADV
ajst-32395	89	12	when	when	SCONJ
ajst-32395	89	13	a	a	DET
ajst-32395	89	14	mechanism	mechanism	NOUN
ajst-32395	89	15	estimates	estimate	VERB
ajst-32395	89	16	health	health	NOUN
ajst-32395	89	17	and	and	CCONJ
ajst-32395	89	18	acts	act	VERB
ajst-32395	89	19	on	on	ADP
ajst-32395	89	20	it	it	PRON
ajst-32395	89	21	.	.	PUNCT
ajst-32395	90	1	the	the	DET
ajst-32395	90	2	change	change	NOUN
ajst-32395	90	3	in	in	ADP
ajst-32395	90	4	iou	iou	PROPN
ajst-32395	90	5	is	be	AUX
ajst-32395	90	6	not	not	PART
ajst-32395	90	7	a	a	DET
ajst-32395	90	8	small	small	ADJ
ajst-32395	90	9	statistical	statistical	ADJ
ajst-32395	90	10	nuisance	nuisance	NOUN
ajst-32395	90	11	;	;	PUNCT
ajst-32395	90	12	in	in	ADP
ajst-32395	90	13	practice	practice	NOUN
ajst-32395	90	14	it	it	PRON
ajst-32395	90	15	transforms	transform	VERB
ajst-32395	90	16	borderline	borderline	NOUN
ajst-32395	90	17	segmentation	segmentation	NOUN
ajst-32395	90	18	into	into	ADP
ajst-32395	90	19	stable	stable	ADJ
ajst-32395	90	20	object	object	NOUN
ajst-32395	90	21	histories	history	NOUN
ajst-32395	90	22	,	,	PUNCT
ajst-32395	90	23	which	which	PRON
ajst-32395	90	24	in	in	ADP
ajst-32395	90	25	turn	turn	NOUN
ajst-32395	90	26	stabilize	stabilize	VERB
ajst-32395	90	27	planning	planning	NOUN
ajst-32395	90	28	.	.	PUNCT
ajst-32395	91	1	localization	localization	NOUN
ajst-32395	91	2	with	with	ADP
ajst-32395	91	3	adaptive	adaptive	ADJ
ajst-32395	91	4	thresholds	threshold	NOUN
ajst-32395	91	5	shows	show	VERB
ajst-32395	91	6	that	that	SCONJ
ajst-32395	91	7	reliability	reliability	NOUN
ajst-32395	91	8	must	must	AUX
ajst-32395	91	9	be	be	AUX
ajst-32395	91	10	handled	handle	VERB
ajst-32395	91	11	inside	inside	ADP
ajst-32395	91	12	the	the	DET
ajst-32395	91	13	estimator	estimator	NOUN
ajst-32395	91	14	rather	rather	ADV
ajst-32395	91	15	than	than	ADP
ajst-32395	91	16	as	as	ADP
ajst-32395	91	17	a	a	DET
ajst-32395	91	18	post‑hoc	post‑hoc	NOUN
ajst-32395	91	19	filter	filter	NOUN
ajst-32395	91	20	.	.	PUNCT
ajst-32395	92	1	removing	remove	VERB
ajst-32395	92	2	a	a	DET
ajst-32395	92	3	few	few	ADJ
ajst-32395	92	4	deceptive	deceptive	ADJ
ajst-32395	92	5	updates	update	NOUN
ajst-32395	92	6	can	can	AUX
ajst-32395	92	7	reduce	reduce	VERB
ajst-32395	92	8	tail	tail	NOUN
ajst-32395	92	9	risk	risk	NOUN
ajst-32395	92	10	more	more	ADV
ajst-32395	92	11	than	than	ADP
ajst-32395	92	12	marginally	marginally	ADV
ajst-32395	92	13	improving	improve	VERB
ajst-32395	92	14	average	average	ADJ
ajst-32395	92	15	residuals	residual	NOUN
ajst-32395	92	16	,	,	PUNCT
ajst-32395	92	17	and	and	CCONJ
ajst-32395	92	18	that	that	PRON
ajst-32395	92	19	is	be	AUX
ajst-32395	92	20	precisely	precisely	ADV
ajst-32395	92	21	what	what	PRON
ajst-32395	92	22	certification	certification	NOUN
ajst-32395	92	23	cares	care	VERB
ajst-32395	92	24	about	about	ADP
ajst-32395	92	25	[	[	X
ajst-32395	92	26	3	3	NUM
ajst-32395	92	27	]	]	PUNCT
ajst-32395	92	28	.	.	PUNCT
ajst-32395	93	1	against	against	ADP
ajst-32395	93	2	these	these	DET
ajst-32395	93	3	benefits	benefit	NOUN
ajst-32395	93	4	,	,	PUNCT
ajst-32395	93	5	several	several	ADJ
ajst-32395	93	6	research	research	NOUN
ajst-32395	93	7	challenges	challenge	NOUN
ajst-32395	93	8	remain	remain	VERB
ajst-32395	93	9	stubborn	stubborn	ADJ
ajst-32395	93	10	.	.	PUNCT
ajst-32395	94	1	uncertainty	uncertainty	NOUN
ajst-32395	94	2	calibration	calibration	NOUN
ajst-32395	94	3	for	for	ADP
ajst-32395	94	4	deep	deep	ADJ
ajst-32395	94	5	fusion	fusion	NOUN
ajst-32395	94	6	is	be	AUX
ajst-32395	94	7	an	an	DET
ajst-32395	94	8	open	open	ADJ
ajst-32395	94	9	problem	problem	NOUN
ajst-32395	94	10	:	:	PUNCT
ajst-32395	94	11	softmax	softmax	NOUN
ajst-32395	94	12	scores	score	NOUN
ajst-32395	94	13	tend	tend	VERB
ajst-32395	94	14	to	to	PART
ajst-32395	94	15	be	be	AUX
ajst-32395	94	16	over‑confident	over‑confident	NUM
ajst-32395	94	17	,	,	PUNCT
ajst-32395	94	18	and	and	CCONJ
ajst-32395	94	19	naïve	naïve	ADJ
ajst-32395	94	20	temperature	temperature	NOUN
ajst-32395	94	21	scaling	scale	VERB
ajst-32395	94	22	ignores	ignore	VERB
ajst-32395	94	23	multi‑modal	multi‑modal	ADJ
ajst-32395	94	24	structure	structure	NOUN
ajst-32395	94	25	.	.	PUNCT
ajst-32395	95	1	methods	method	NOUN
ajst-32395	95	2	that	that	PRON
ajst-32395	95	3	tie	tie	VERB
ajst-32395	95	4	uncertainty	uncertainty	NOUN
ajst-32395	95	5	to	to	ADP
ajst-32395	95	6	physical	physical	ADJ
ajst-32395	95	7	consistency	consistency	NOUN
ajst-32395	95	8	—	—	PUNCT
ajst-32395	95	9	such	such	ADJ
ajst-32395	95	10	as	as	ADP
ajst-32395	95	11	enforcing	enforce	VERB
ajst-32395	95	12	cycle	cycle	NOUN
ajst-32395	95	13	consistency	consistency	NOUN
ajst-32395	95	14	between	between	ADP
ajst-32395	95	15	reprojections	reprojection	NOUN
ajst-32395	95	16	,	,	PUNCT
ajst-32395	95	17	or	or	CCONJ
ajst-32395	95	18	using	use	VERB
ajst-32395	95	19	self‑supervised	self‑supervise	VERB
ajst-32395	95	20	objectives	objective	NOUN
ajst-32395	95	21	that	that	PRON
ajst-32395	95	22	penalize	penalize	VERB
ajst-32395	95	23	disagreement	disagreement	NOUN
ajst-32395	95	24	across	across	ADP
ajst-32395	95	25	modalities	modality	NOUN
ajst-32395	95	26	—	—	PUNCT
ajst-32395	95	27	are	be	AUX
ajst-32395	95	28	promising	promise	VERB
ajst-32395	95	29	yet	yet	ADV
ajst-32395	95	30	not	not	PART
ajst-32395	95	31	mature	mature	ADJ
ajst-32395	95	32	.	.	PUNCT
ajst-32395	96	1	distribution	distribution	NOUN
ajst-32395	96	2	shift	shift	NOUN
ajst-32395	96	3	raises	raise	VERB
ajst-32395	96	4	parallel	parallel	ADJ
ajst-32395	96	5	concerns	concern	NOUN
ajst-32395	96	6	.	.	PUNCT
ajst-32395	97	1	weather	weather	NOUN
ajst-32395	97	2	,	,	PUNCT
ajst-32395	97	3	lens	lens	NOUN
ajst-32395	97	4	contamination	contamination	NOUN
ajst-32395	97	5	and	and	CCONJ
ajst-32395	97	6	rare	rare	ADJ
ajst-32395	97	7	objects	object	NOUN
ajst-32395	97	8	appear	appear	VERB
ajst-32395	97	9	infrequently	infrequently	ADV
ajst-32395	97	10	in	in	ADP
ajst-32395	97	11	training	training	NOUN
ajst-32395	97	12	data	datum	NOUN
ajst-32395	97	13	;	;	PUNCT
ajst-32395	97	14	without	without	ADP
ajst-32395	97	15	targeted	target	VERB
ajst-32395	97	16	augmentation	augmentation	NOUN
ajst-32395	97	17	or	or	CCONJ
ajst-32395	97	18	explicit	explicit	ADJ
ajst-32395	97	19	fault	fault	NOUN
ajst-32395	97	20	injection	injection	NOUN
ajst-32395	97	21	,	,	PUNCT
ajst-32395	97	22	learned	learn	VERB
ajst-32395	97	23	systems	system	NOUN
ajst-32395	97	24	overfit	overfit	VERB
ajst-32395	97	25	to	to	ADP
ajst-32395	97	26	clean	clean	ADJ
ajst-32395	97	27	conditions	condition	NOUN
ajst-32395	97	28	.	.	PUNCT
ajst-32395	98	1	finally	finally	ADV
ajst-32395	98	2	,	,	PUNCT
ajst-32395	98	3	explainability	explainability	NOUN
ajst-32395	98	4	is	be	AUX
ajst-32395	98	5	not	not	PART
ajst-32395	98	6	merely	merely	ADV
ajst-32395	98	7	a	a	DET
ajst-32395	98	8	social	social	ADJ
ajst-32395	98	9	desideratum	desideratum	NOUN
ajst-32395	98	10	but	but	CCONJ
ajst-32395	98	11	a	a	DET
ajst-32395	98	12	practical	practical	ADJ
ajst-32395	98	13	tool	tool	NOUN
ajst-32395	98	14	.	.	PUNCT
ajst-32395	99	1	engineers	engineer	NOUN
ajst-32395	99	2	must	must	AUX
ajst-32395	99	3	know	know	VERB
ajst-32395	99	4	why	why	SCONJ
ajst-32395	99	5	a	a	DET
ajst-32395	99	6	fused	fuse	VERB
ajst-32395	99	7	estimate	estimate	NOUN
ajst-32395	99	8	changed	change	VERB
ajst-32395	99	9	when	when	SCONJ
ajst-32395	99	10	a	a	DET
ajst-32395	99	11	sensor	sensor	NOUN
ajst-32395	99	12	degraded	degrade	VERB
ajst-32395	99	13	.	.	PUNCT
ajst-32395	100	1	saliency	saliency	NOUN
ajst-32395	100	2	on	on	ADP
ajst-32395	100	3	features	feature	NOUN
ajst-32395	100	4	,	,	PUNCT
ajst-32395	100	5	attribution	attribution	NOUN
ajst-32395	100	6	to	to	ADP
ajst-32395	100	7	sensors	sensor	NOUN
ajst-32395	100	8	,	,	PUNCT
ajst-32395	100	9	and	and	CCONJ
ajst-32395	100	10	causal	causal	ADJ
ajst-32395	100	11	probes	probe	NOUN
ajst-32395	100	12	that	that	PRON
ajst-32395	100	13	measure	measure	VERB
ajst-32395	100	14	the	the	DET
ajst-32395	100	15	effect	effect	NOUN
ajst-32395	100	16	of	of	ADP
ajst-32395	100	17	masking	mask	VERB
ajst-32395	100	18	a	a	DET
ajst-32395	100	19	channel	channel	NOUN
ajst-32395	100	20	can	can	AUX
ajst-32395	100	21	together	together	ADV
ajst-32395	100	22	form	form	VERB
ajst-32395	100	23	the	the	DET
ajst-32395	100	24	basis	basis	NOUN
ajst-32395	100	25	of	of	ADP
ajst-32395	100	26	real‑time	real‑time	ADJ
ajst-32395	100	27	audit	audit	NOUN
ajst-32395	100	28	trails	trail	NOUN
ajst-32395	100	29	that	that	PRON
ajst-32395	100	30	satisfy	satisfy	VERB
ajst-32395	100	31	both	both	DET
ajst-32395	100	32	debugging	debug	VERB
ajst-32395	100	33	needs	need	NOUN
ajst-32395	100	34	and	and	CCONJ
ajst-32395	100	35	regulatory	regulatory	ADJ
ajst-32395	100	36	expectations	expectation	NOUN
ajst-32395	101	1	[	[	X
ajst-32395	101	2	5	5	NUM
ajst-32395	101	3	]	]	PUNCT
ajst-32395	101	4	.	.	PUNCT
ajst-32395	102	1	219	219	NUM
ajst-32395	102	2	4	4	NUM
ajst-32395	102	3	.	.	PUNCT
ajst-32395	102	4	results	result	NOUN
ajst-32395	102	5	and	and	CCONJ
ajst-32395	102	6	indicative	indicative	ADJ
ajst-32395	102	7	evidence	evidence	NOUN
ajst-32395	102	8	the	the	DET
ajst-32395	102	9	quantitative	quantitative	ADJ
ajst-32395	102	10	record	record	NOUN
ajst-32395	102	11	just	just	ADV
ajst-32395	102	12	summarized	summarize	VERB
ajst-32395	102	13	can	can	AUX
ajst-32395	102	14	be	be	AUX
ajst-32395	102	15	interpreted	interpret	VERB
ajst-32395	102	16	through	through	ADP
ajst-32395	102	17	the	the	DET
ajst-32395	102	18	lens	lens	NOUN
ajst-32395	102	19	of	of	ADP
ajst-32395	102	20	reliability	reliability	NOUN
ajst-32395	102	21	economics	economic	NOUN
ajst-32395	102	22	:	:	PUNCT
ajst-32395	102	23	redundancy	redundancy	NOUN
ajst-32395	102	24	pays	pay	VERB
ajst-32395	102	25	only	only	ADV
ajst-32395	102	26	when	when	SCONJ
ajst-32395	102	27	the	the	DET
ajst-32395	102	28	fusion	fusion	NOUN
ajst-32395	102	29	stack	stack	NOUN
ajst-32395	102	30	measures	measure	NOUN
ajst-32395	102	31	trust	trust	NOUN
ajst-32395	102	32	and	and	CCONJ
ajst-32395	102	33	acts	act	VERB
ajst-32395	102	34	on	on	ADP
ajst-32395	102	35	it	it	PRON
ajst-32395	102	36	.	.	PUNCT
ajst-32395	103	1	in	in	ADP
ajst-32395	103	2	the	the	DET
ajst-32395	103	3	bus‑signal	bus‑signal	ADJ
ajst-32395	103	4	detector	detector	NOUN
ajst-32395	103	5	,	,	PUNCT
ajst-32395	103	6	the	the	DET
ajst-32395	103	7	near‑ceiling	near‑ceile	VERB
ajst-32395	103	8	overall	overall	ADJ
ajst-32395	103	9	accuracy	accuracy	NOUN
ajst-32395	103	10	is	be	AUX
ajst-32395	103	11	meaningful	meaningful	ADJ
ajst-32395	103	12	partly	partly	ADV
ajst-32395	103	13	because	because	SCONJ
ajst-32395	103	14	the	the	DET
ajst-32395	103	15	system	system	NOUN
ajst-32395	103	16	also	also	ADV
ajst-32395	103	17	provides	provide	VERB
ajst-32395	103	18	class‑specific	class‑specific	ADJ
ajst-32395	103	19	identification	identification	NOUN
ajst-32395	103	20	and	and	CCONJ
ajst-32395	103	21	isolation	isolation	NOUN
ajst-32395	103	22	rates	rate	NOUN
ajst-32395	103	23	that	that	PRON
ajst-32395	103	24	range	range	VERB
ajst-32395	103	25	from	from	ADP
ajst-32395	103	26	the	the	DET
ajst-32395	103	27	low	low	ADJ
ajst-32395	103	28	seventies	seventy	NOUN
ajst-32395	103	29	to	to	ADP
ajst-32395	103	30	one	one	NUM
ajst-32395	103	31	hundred	hundred	NUM
ajst-32395	103	32	percent	percent	NOUN
ajst-32395	103	33	.	.	PUNCT
ajst-32395	104	1	the	the	DET
ajst-32395	104	2	pattern	pattern	NOUN
ajst-32395	104	3	indicates	indicate	VERB
ajst-32395	104	4	that	that	SCONJ
ajst-32395	104	5	subtle	subtle	ADJ
ajst-32395	104	6	,	,	PUNCT
ajst-32395	104	7	slowly	slowly	ADV
ajst-32395	104	8	accumulating	accumulate	VERB
ajst-32395	104	9	phenomena	phenomenon	NOUN
ajst-32395	104	10	such	such	ADJ
ajst-32395	104	11	as	as	ADP
ajst-32395	104	12	drift	drift	NOUN
ajst-32395	104	13	remain	remain	VERB
ajst-32395	104	14	challenging	challenging	ADJ
ajst-32395	104	15	to	to	PART
ajst-32395	104	16	type	type	VERB
ajst-32395	104	17	,	,	PUNCT
ajst-32395	104	18	whereas	whereas	SCONJ
ajst-32395	104	19	abrupt	abrupt	ADJ
ajst-32395	104	20	defects	defect	NOUN
ajst-32395	104	21	are	be	AUX
ajst-32395	104	22	easier	easy	ADJ
ajst-32395	104	23	to	to	PART
ajst-32395	104	24	spot	spot	VERB
ajst-32395	104	25	and	and	CCONJ
ajst-32395	104	26	classify	classify	VERB
ajst-32395	104	27	.	.	PUNCT
ajst-32395	105	1	that	that	DET
ajst-32395	105	2	division	division	NOUN
ajst-32395	105	3	suggests	suggest	VERB
ajst-32395	105	4	a	a	DET
ajst-32395	105	5	practical	practical	ADJ
ajst-32395	105	6	split	split	NOUN
ajst-32395	105	7	of	of	ADP
ajst-32395	105	8	duties	duty	NOUN
ajst-32395	105	9	in	in	ADP
ajst-32395	105	10	an	an	DET
ajst-32395	105	11	engineering	engineering	NOUN
ajst-32395	105	12	deployment	deployment	NOUN
ajst-32395	105	13	.	.	PUNCT
ajst-32395	106	1	a	a	DET
ajst-32395	106	2	conservative	conservative	ADJ
ajst-32395	106	3	front‑end	front‑end	NOUN
ajst-32395	106	4	can	can	AUX
ajst-32395	106	5	maintain	maintain	VERB
ajst-32395	106	6	high	high	ADJ
ajst-32395	106	7	sensitivity	sensitivity	NOUN
ajst-32395	106	8	and	and	CCONJ
ajst-32395	106	9	trigger	trigger	VERB
ajst-32395	106	10	safe	safe	ADJ
ajst-32395	106	11	fallback	fallback	NOUN
ajst-32395	106	12	modes	mode	NOUN
ajst-32395	106	13	,	,	PUNCT
ajst-32395	106	14	while	while	SCONJ
ajst-32395	106	15	a	a	DET
ajst-32395	106	16	slower	slow	ADJ
ajst-32395	106	17	background	background	NOUN
ajst-32395	106	18	process	process	NOUN
ajst-32395	106	19	performs	perform	VERB
ajst-32395	106	20	richer	rich	ADJ
ajst-32395	106	21	diagnosis	diagnosis	NOUN
ajst-32395	106	22	and	and	CCONJ
ajst-32395	106	23	schedules	schedule	VERB
ajst-32395	106	24	maintenance	maintenance	NOUN
ajst-32395	106	25	when	when	SCONJ
ajst-32395	106	26	evidence	evidence	NOUN
ajst-32395	106	27	accumulates	accumulate	VERB
ajst-32395	106	28	.	.	PUNCT
ajst-32395	107	1	the	the	DET
ajst-32395	107	2	two‑speed	two‑speed	NOUN
ajst-32395	107	3	structure	structure	NOUN
ajst-32395	107	4	uses	use	VERB
ajst-32395	107	5	redundancy	redundancy	NOUN
ajst-32395	107	6	not	not	PART
ajst-32395	107	7	only	only	ADV
ajst-32395	107	8	to	to	PART
ajst-32395	107	9	detect	detect	VERB
ajst-32395	107	10	faults	fault	NOUN
ajst-32395	107	11	but	but	CCONJ
ajst-32395	107	12	also	also	ADV
ajst-32395	107	13	to	to	PART
ajst-32395	107	14	plan	plan	VERB
ajst-32395	107	15	around	around	ADP
ajst-32395	107	16	them	they	PRON
ajst-32395	107	17	[	[	X
ajst-32395	107	18	6	6	NUM
ajst-32395	107	19	]	]	PUNCT
ajst-32395	107	20	.	.	PUNCT
ajst-32395	108	1	table	table	NOUN
ajst-32395	108	2	1	1	NUM
ajst-32395	108	3	.	.	PUNCT
ajst-32395	108	4	representative	representative	ADJ
ajst-32395	108	5	quantitative	quantitative	ADJ
ajst-32395	108	6	evidence	evidence	NOUN
ajst-32395	108	7	for	for	ADP
ajst-32395	108	8	redundancy	redundancy	NOUN
ajst-32395	108	9	-	-	PUNCT
ajst-32395	108	10	aware	aware	ADJ
ajst-32395	108	11	fusion	fusion	NOUN
ajst-32395	108	12	in	in	ADP
ajst-32395	108	13	intelligent	intelligent	ADJ
ajst-32395	108	14	vehicles	vehicle	NOUN
ajst-32395	108	15	domain	domain	NOUN
ajst-32395	108	16	/	/	SYM
ajst-32395	108	17	task	task	NOUN
ajst-32395	108	18	signals	signal	NOUN
ajst-32395	108	19	/	/	SYM
ajst-32395	108	20	data	datum	NOUN
ajst-32395	108	21	metric	metric	ADJ
ajst-32395	108	22	value	value	NOUN
ajst-32395	108	23	(	(	PUNCT
ajst-32395	108	24	and	and	CCONJ
ajst-32395	108	25	gain	gain	VERB
ajst-32395	108	26	)	)	PUNCT
ajst-32395	108	27	key	key	ADJ
ajst-32395	108	28	condition	condition	NOUN
ajst-32395	108	29	ref	ref	NOUN
ajst-32395	108	30	.	.	PUNCT
ajst-32395	109	1	vehicle	vehicle	NOUN
ajst-32395	109	2	health	health	NOUN
ajst-32395	109	3	monitoring	monitoring	NOUN
ajst-32395	109	4	(	(	PUNCT
ajst-32395	109	5	fdi	fdi	NOUN
ajst-32395	109	6	/	/	SYM
ajst-32395	109	7	fdii	fdii	NOUN
ajst-32395	109	8	/	/	SYM
ajst-32395	109	9	hf	hf	NOUN
ajst-32395	109	10	)	)	PUNCT
ajst-32395	109	11	vehicle	vehicle	NOUN
ajst-32395	109	12	bus	bus	NOUN
ajst-32395	109	13	signals	signal	NOUN
ajst-32395	109	14	(	(	PUNCT
ajst-32395	109	15	accelerator	accelerator	NOUN
ajst-32395	109	16	pedal	pedal	NOUN
ajst-32395	109	17	,	,	PUNCT
ajst-32395	109	18	steering	steering	NOUN
ajst-32395	109	19	angle	angle	NOUN
ajst-32395	109	20	,	,	PUNCT
ajst-32395	109	21	brake	brake	NOUN
ajst-32395	109	22	pressure	pressure	NOUN
ajst-32395	109	23	)	)	PUNCT
ajst-32395	109	24	fault	fault	NOUN
ajst-32395	109	25	detection	detection	NOUN
ajst-32395	109	26	;	;	PUNCT
ajst-32395	109	27	id	id	X
ajst-32395	109	28	/	/	SYM
ajst-32395	109	29	isolation	isolation	NOUN
ajst-32395	109	30	detection	detection	NOUN
ajst-32395	109	31	≈	≈	PROPN
ajst-32395	109	32	99.84	99.84	NUM
ajst-32395	109	33	%	%	NOUN
ajst-32395	109	34	;	;	PUNCT
ajst-32395	109	35	id	id	X
ajst-32395	109	36	/	/	SYM
ajst-32395	109	37	isolation	isolation	NOUN
ajst-32395	109	38	73–100	73–100	NUM
ajst-32395	109	39	%	%	NOUN
ajst-32395	109	40	(	(	PUNCT
ajst-32395	109	41	drift	drift	NOUN
ajst-32395	109	42	hardest	hard	ADV
ajst-32395	109	43	)	)	PUNCT
ajst-32395	109	44	learned	learn	VERB
ajst-32395	109	45	multisensor	multisensor	NOUN
ajst-32395	109	46	detector	detector	NOUN
ajst-32395	109	47	with	with	ADP
ajst-32395	109	48	prognostics	prognostic	NOUN
ajst-32395	109	49	1	1	NUM
ajst-32395	109	50	perception	perception	NOUN
ajst-32395	109	51	under	under	ADP
ajst-32395	109	52	injected	inject	VERB
ajst-32395	109	53	camera	camera	NOUN
ajst-32395	109	54	faults	fault	NOUN
ajst-32395	109	55	kitti	kitti	PROPN
ajst-32395	109	56	-	-	PUNCT
ajst-32395	109	57	style	style	NOUN
ajst-32395	109	58	sequences	sequence	NOUN
ajst-32395	109	59	(	(	PUNCT
ajst-32395	109	60	defocus	defocus	ADJ
ajst-32395	109	61	;	;	PUNCT
ajst-32395	109	62	fov	fov	NOUN
ajst-32395	109	63	truncation	truncation	NOUN
ajst-32395	109	64	)	)	PUNCT
ajst-32395	109	65	mean	mean	PROPN
ajst-32395	109	66	iou	iou	NOUN
ajst-32395	109	67	(	(	PUNCT
ajst-32395	109	68	segmentation	segmentation	NOUN
ajst-32395	109	69	)	)	PUNCT
ajst-32395	109	70	0.801→0.882	0.801→0.882	PROPN
ajst-32395	109	71	(	(	PUNCT
ajst-32395	109	72	defocus	defocus	PROPN
ajst-32395	109	73	)	)	PUNCT
ajst-32395	109	74	;	;	PUNCT
ajst-32395	109	75	0.666→0.888	0.666→0.888	NOUN
ajst-32395	109	76	(	(	PUNCT
ajst-32395	109	77	truncation	truncation	NOUN
ajst-32395	109	78	)	)	PUNCT
ajst-32395	109	79	;	;	PUNCT
ajst-32395	109	80	gains	gain	NOUN
ajst-32395	109	81	≈	≈	PROPN
ajst-32395	109	82	+0.08	+0.08	PROPN
ajst-32395	109	83	/	/	SYM
ajst-32395	109	84	+0.22	+0.22	PROPN
ajst-32395	109	85	fusion	fusion	NOUN
ajst-32395	109	86	w/	w/	NOUN
ajst-32395	109	87	fault	fault	NOUN
ajst-32395	109	88	diagnosis	diagnosis	NOUN
ajst-32395	109	89	&	&	CCONJ
ajst-32395	109	90	avoidance	avoidance	NOUN
ajst-32395	109	91	(	(	PUNCT
ajst-32395	109	92	fda	fda	PROPN
ajst-32395	109	93	)	)	PUNCT
ajst-32395	109	94	gate	gate	NOUN
ajst-32395	109	95	2	2	NUM
ajst-32395	109	96	localization	localization	NOUN
ajst-32395	109	97	with	with	ADP
ajst-32395	109	98	adaptive	adaptive	ADJ
ajst-32395	109	99	fdi	fdi	NOUN
ajst-32395	109	100	gnss	gnss	NOUN
ajst-32395	109	101	/	/	SYM
ajst-32395	109	102	ins	ins	PROPN
ajst-32395	109	103	/	/	SYM
ajst-32395	109	104	odometry	odometry	NOUN
ajst-32395	109	105	true	true	ADJ
ajst-32395	109	106	error	error	NOUN
ajst-32395	109	107	of	of	ADP
ajst-32395	109	108	removed	remove	VERB
ajst-32395	109	109	measurements	measurement	NOUN
ajst-32395	109	110	dnn	dnn	PROPN
ajst-32395	109	111	-	-	ADJ
ajst-32395	109	112	only	only	ADV
ajst-32395	109	113	removed	remove	VERB
ajst-32395	109	114	:	:	PUNCT
ajst-32395	109	115	mean	mean	VERB
ajst-32395	109	116	8.247	8.247	NUM
ajst-32395	109	117	m	m	NOUN
ajst-32395	109	118	,	,	PUNCT
ajst-32395	109	119	max	max	PROPN
ajst-32395	109	120	80.141	80.141	NUM
ajst-32395	109	121	m	m	NOUN
ajst-32395	109	122	vs.	vs.	X
ajst-32395	109	123	mleonly	mleonly	ADV
ajst-32395	109	124	removed	remove	VERB
ajst-32395	109	125	:	:	PUNCT
ajst-32395	109	126	mean	mean	VERB
ajst-32395	109	127	3.353	3.353	NUM
ajst-32395	109	128	m	m	NOUN
ajst-32395	109	129	,	,	PUNCT
ajst-32395	109	130	max	max	PROPN
ajst-32395	109	131	15.347	15.347	NUM
ajst-32395	109	132	m	m	VERB
ajst-32395	109	133	dnn	dnn	PROPN
ajst-32395	109	134	-	-	ADJ
ajst-32395	109	135	adapted	adapt	VERB
ajst-32395	109	136	αrényi	αrényi	NOUN
ajst-32395	109	137	residual	residual	ADJ
ajst-32395	109	138	threshold	threshold	NOUN
ajst-32395	109	139	3	3	NUM
ajst-32395	109	140	in	in	ADP
ajst-32395	109	141	table	table	NOUN
ajst-32395	109	142	1	1	NUM
ajst-32395	109	143	we	we	PRON
ajst-32395	109	144	summarize	summarize	VERB
ajst-32395	109	145	three	three	NUM
ajst-32395	109	146	representative	representative	ADJ
ajst-32395	109	147	evaluations	evaluation	NOUN
ajst-32395	109	148	spanning	span	VERB
ajst-32395	109	149	detection	detection	NOUN
ajst-32395	109	150	,	,	PUNCT
ajst-32395	109	151	perception	perception	NOUN
ajst-32395	109	152	,	,	PUNCT
ajst-32395	109	153	and	and	CCONJ
ajst-32395	109	154	localization	localization	NOUN
ajst-32395	109	155	.	.	PUNCT
ajst-32395	110	1	the	the	DET
ajst-32395	110	2	figures	figure	NOUN
ajst-32395	110	3	show	show	VERB
ajst-32395	110	4	that	that	SCONJ
ajst-32395	110	5	redundancy	redundancy	NOUN
ajst-32395	110	6	only	only	ADV
ajst-32395	110	7	yields	yield	VERB
ajst-32395	110	8	safety	safety	NOUN
ajst-32395	110	9	margins	margin	NOUN
ajst-32395	110	10	when	when	SCONJ
ajst-32395	110	11	the	the	DET
ajst-32395	110	12	fusion	fusion	NOUN
ajst-32395	110	13	stack	stack	NOUN
ajst-32395	110	14	is	be	AUX
ajst-32395	110	15	reliability	reliability	NOUN
ajst-32395	110	16	-	-	PUNCT
ajst-32395	110	17	aware	aware	ADJ
ajst-32395	110	18	—	—	PUNCT
ajst-32395	110	19	faults	fault	NOUN
ajst-32395	110	20	are	be	AUX
ajst-32395	110	21	detected	detect	VERB
ajst-32395	110	22	,	,	PUNCT
ajst-32395	110	23	isolated	isolate	VERB
ajst-32395	110	24	,	,	PUNCT
ajst-32395	110	25	and	and	CCONJ
ajst-32395	110	26	reflected	reflect	VERB
ajst-32395	110	27	in	in	ADP
ajst-32395	110	28	weights	weight	NOUN
ajst-32395	110	29	or	or	CCONJ
ajst-32395	110	30	exclusions	exclusion	NOUN
ajst-32395	110	31	vision	vision	NOUN
ajst-32395	110	32	experiments	experiment	NOUN
ajst-32395	110	33	with	with	ADP
ajst-32395	110	34	injected	inject	VERB
ajst-32395	110	35	faults	fault	NOUN
ajst-32395	110	36	invite	invite	VERB
ajst-32395	110	37	a	a	DET
ajst-32395	110	38	different	different	ADJ
ajst-32395	110	39	reading	reading	NOUN
ajst-32395	110	40	.	.	PUNCT
ajst-32395	111	1	mean	mean	VERB
ajst-32395	111	2	iou	iou	NOUN
ajst-32395	111	3	gains	gain	NOUN
ajst-32395	111	4	in	in	ADP
ajst-32395	111	5	the	the	DET
ajst-32395	111	6	range	range	NOUN
ajst-32395	111	7	of	of	ADP
ajst-32395	111	8	eight	eight	NUM
ajst-32395	111	9	to	to	PART
ajst-32395	111	10	twenty‑two	twenty‑two	NUM
ajst-32395	111	11	percentage	percentage	NOUN
ajst-32395	111	12	points	point	NOUN
ajst-32395	111	13	are	be	AUX
ajst-32395	111	14	large	large	ADJ
ajst-32395	111	15	enough	enough	ADV
ajst-32395	111	16	to	to	PART
ajst-32395	111	17	matter	matter	VERB
ajst-32395	111	18	for	for	ADP
ajst-32395	111	19	downstream	downstream	ADJ
ajst-32395	111	20	planning	planning	NOUN
ajst-32395	111	21	,	,	PUNCT
ajst-32395	111	22	because	because	SCONJ
ajst-32395	111	23	they	they	PRON
ajst-32395	111	24	convert	convert	VERB
ajst-32395	111	25	borderline	borderline	NOUN
ajst-32395	111	26	detections	detection	NOUN
ajst-32395	111	27	into	into	ADP
ajst-32395	111	28	stable	stable	ADJ
ajst-32395	111	29	tracks	track	NOUN
ajst-32395	111	30	and	and	CCONJ
ajst-32395	111	31	reduce	reduce	VERB
ajst-32395	111	32	spurious	spurious	ADJ
ajst-32395	111	33	obstacles	obstacle	NOUN
ajst-32395	111	34	that	that	PRON
ajst-32395	111	35	would	would	AUX
ajst-32395	111	36	otherwise	otherwise	ADV
ajst-32395	111	37	lead	lead	VERB
ajst-32395	111	38	to	to	ADP
ajst-32395	111	39	unnecessary	unnecessary	ADJ
ajst-32395	111	40	braking	braking	NOUN
ajst-32395	111	41	.	.	PUNCT
ajst-32395	112	1	the	the	DET
ajst-32395	112	2	observation	observation	NOUN
ajst-32395	112	3	that	that	PRON
ajst-32395	112	4	improvements	improvement	NOUN
ajst-32395	112	5	persist	persist	VERB
ajst-32395	112	6	across	across	ADP
ajst-32395	112	7	multiple	multiple	ADJ
ajst-32395	112	8	sequences	sequence	NOUN
ajst-32395	112	9	implies	imply	VERB
ajst-32395	112	10	that	that	SCONJ
ajst-32395	112	11	the	the	DET
ajst-32395	112	12	benefit	benefit	NOUN
ajst-32395	112	13	is	be	AUX
ajst-32395	112	14	not	not	PART
ajst-32395	112	15	tied	tie	VERB
ajst-32395	112	16	to	to	ADP
ajst-32395	112	17	a	a	DET
ajst-32395	112	18	particular	particular	ADJ
ajst-32395	112	19	scene	scene	NOUN
ajst-32395	112	20	but	but	CCONJ
ajst-32395	112	21	arises	arise	VERB
ajst-32395	112	22	from	from	ADP
ajst-32395	112	23	reliability‑weighted	reliability‑weighted	ADJ
ajst-32395	112	24	reallocation	reallocation	NOUN
ajst-32395	112	25	:	:	PUNCT
ajst-32395	112	26	when	when	SCONJ
ajst-32395	112	27	one	one	NUM
ajst-32395	112	28	view	view	NOUN
ajst-32395	112	29	degrades	degrade	VERB
ajst-32395	112	30	,	,	PUNCT
ajst-32395	112	31	the	the	DET
ajst-32395	112	32	network	network	NOUN
ajst-32395	112	33	shifts	shift	NOUN
ajst-32395	112	34	trust	trust	VERB
ajst-32395	112	35	to	to	ADP
ajst-32395	112	36	healthier	healthy	ADJ
ajst-32395	112	37	channels	channel	NOUN
ajst-32395	112	38	instead	instead	ADV
ajst-32395	112	39	of	of	ADP
ajst-32395	112	40	averaging	average	VERB
ajst-32395	112	41	in	in	ADP
ajst-32395	112	42	corrupted	corrupted	ADJ
ajst-32395	112	43	features	feature	NOUN
ajst-32395	112	44	.	.	PUNCT
ajst-32395	113	1	in	in	ADP
ajst-32395	113	2	practical	practical	ADJ
ajst-32395	113	3	systems	system	NOUN
ajst-32395	113	4	,	,	PUNCT
ajst-32395	113	5	the	the	DET
ajst-32395	113	6	same	same	ADJ
ajst-32395	113	7	logic	logic	NOUN
ajst-32395	113	8	extends	extend	VERB
ajst-32395	113	9	to	to	ADP
ajst-32395	113	10	cross‑modal	cross‑modal	ADJ
ajst-32395	113	11	combinations	combination	NOUN
ajst-32395	113	12	,	,	PUNCT
ajst-32395	113	13	where	where	SCONJ
ajst-32395	113	14	radar	radar	NOUN
ajst-32395	113	15	or	or	CCONJ
ajst-32395	113	16	lidar	lidar	NOUN
ajst-32395	113	17	can	can	AUX
ajst-32395	113	18	carry	carry	VERB
ajst-32395	113	19	the	the	DET
ajst-32395	113	20	scene	scene	NOUN
ajst-32395	113	21	when	when	SCONJ
ajst-32395	113	22	cameras	camera	NOUN
ajst-32395	113	23	fail	fail	VERB
ajst-32395	113	24	and	and	CCONJ
ajst-32395	113	25	cameras	camera	NOUN
ajst-32395	113	26	can	can	AUX
ajst-32395	113	27	sharpen	sharpen	VERB
ajst-32395	113	28	classification	classification	NOUN
ajst-32395	113	29	when	when	SCONJ
ajst-32395	113	30	geometry‑centric	geometry‑centric	ADJ
ajst-32395	113	31	sensors	sensor	NOUN
ajst-32395	113	32	are	be	AUX
ajst-32395	113	33	ambiguous	ambiguous	ADJ
ajst-32395	113	34	[	[	X
ajst-32395	113	35	7	7	NUM
ajst-32395	113	36	]	]	PUNCT
ajst-32395	113	37	.	.	PUNCT
ajst-32395	114	1	localization	localization	NOUN
ajst-32395	114	2	tells	tell	VERB
ajst-32395	114	3	yet	yet	ADV
ajst-32395	114	4	another	another	DET
ajst-32395	114	5	story	story	NOUN
ajst-32395	114	6	.	.	PUNCT
ajst-32395	115	1	by	by	ADP
ajst-32395	115	2	adapting	adapt	VERB
ajst-32395	115	3	the	the	DET
ajst-32395	115	4	exclusion	exclusion	NOUN
ajst-32395	115	5	threshold	threshold	NOUN
ajst-32395	115	6	to	to	PART
ajst-32395	115	7	context	context	VERB
ajst-32395	115	8	,	,	PUNCT
ajst-32395	115	9	the	the	DET
ajst-32395	115	10	deep	deep	ADJ
ajst-32395	115	11	network	network	NOUN
ajst-32395	115	12	effectively	effectively	ADV
ajst-32395	115	13	changes	change	VERB
ajst-32395	115	14	which	which	PRON
ajst-32395	115	15	parts	part	NOUN
ajst-32395	115	16	of	of	ADP
ajst-32395	115	17	the	the	DET
ajst-32395	115	18	measurement	measurement	NOUN
ajst-32395	115	19	stream	stream	NOUN
ajst-32395	115	20	are	be	AUX
ajst-32395	115	21	believed	believe	VERB
ajst-32395	115	22	at	at	ADP
ajst-32395	115	23	any	any	DET
ajst-32395	115	24	given	give	VERB
ajst-32395	115	25	time	time	NOUN
ajst-32395	115	26	.	.	PUNCT
ajst-32395	116	1	measurements	measurement	NOUN
ajst-32395	116	2	removed	remove	VERB
ajst-32395	116	3	only	only	ADV
ajst-32395	116	4	by	by	ADP
ajst-32395	116	5	the	the	DET
ajst-32395	116	6	learned	learn	VERB
ajst-32395	116	7	threshold	threshold	NOUN
ajst-32395	116	8	are	be	AUX
ajst-32395	116	9	associated	associate	VERB
ajst-32395	116	10	with	with	ADP
ajst-32395	116	11	larger	large	ADJ
ajst-32395	116	12	true	true	ADJ
ajst-32395	116	13	position	position	NOUN
ajst-32395	116	14	errors	error	NOUN
ajst-32395	116	15	than	than	ADP
ajst-32395	116	16	those	those	PRON
ajst-32395	116	17	removed	remove	VERB
ajst-32395	116	18	only	only	ADV
ajst-32395	116	19	by	by	ADP
ajst-32395	116	20	the	the	DET
ajst-32395	116	21	maximum‑likelihood	maximum‑likelihood	PROPN
ajst-32395	116	22	baseline	baseline	NOUN
ajst-32395	116	23	.	.	PUNCT
ajst-32395	117	1	the	the	DET
ajst-32395	117	2	asymmetry	asymmetry	NOUN
ajst-32395	117	3	is	be	AUX
ajst-32395	117	4	not	not	PART
ajst-32395	117	5	accidental	accidental	ADJ
ajst-32395	117	6	;	;	PUNCT
ajst-32395	117	7	it	it	PRON
ajst-32395	117	8	reveals	reveal	VERB
ajst-32395	117	9	that	that	SCONJ
ajst-32395	117	10	the	the	DET
ajst-32395	117	11	model	model	NOUN
ajst-32395	117	12	has	have	AUX
ajst-32395	117	13	learned	learn	VERB
ajst-32395	117	14	to	to	PART
ajst-32395	117	15	prefer	prefer	VERB
ajst-32395	117	16	discarding	discard	VERB
ajst-32395	117	17	risky	risky	ADJ
ajst-32395	117	18	updates	update	NOUN
ajst-32395	117	19	even	even	ADV
ajst-32395	117	20	if	if	SCONJ
ajst-32395	117	21	that	that	DET
ajst-32395	117	22	choice	choice	NOUN
ajst-32395	117	23	slightly	slightly	ADV
ajst-32395	117	24	increases	increase	VERB
ajst-32395	117	25	nominal	nominal	ADJ
ajst-32395	117	26	variance	variance	NOUN
ajst-32395	117	27	,	,	PUNCT
ajst-32395	117	28	because	because	SCONJ
ajst-32395	117	29	the	the	DET
ajst-32395	117	30	alternative	alternative	NOUN
ajst-32395	117	31	is	be	AUX
ajst-32395	117	32	to	to	PART
ajst-32395	117	33	admit	admit	VERB
ajst-32395	117	34	a	a	DET
ajst-32395	117	35	small	small	ADJ
ajst-32395	117	36	number	number	NOUN
ajst-32395	117	37	of	of	ADP
ajst-32395	117	38	disastrous	disastrous	ADJ
ajst-32395	117	39	outliers	outlier	NOUN
ajst-32395	117	40	that	that	PRON
ajst-32395	117	41	dominate	dominate	VERB
ajst-32395	117	42	tail	tail	NOUN
ajst-32395	117	43	risk	risk	NOUN
ajst-32395	117	44	.	.	PUNCT
ajst-32395	118	1	in	in	ADP
ajst-32395	118	2	certification	certification	NOUN
ajst-32395	118	3	discussions	discussion	NOUN
ajst-32395	118	4	this	this	DET
ajst-32395	118	5	distinction	distinction	NOUN
ajst-32395	118	6	matters	matter	VERB
ajst-32395	118	7	,	,	PUNCT
ajst-32395	118	8	since	since	SCONJ
ajst-32395	118	9	it	it	PRON
ajst-32395	118	10	shows	show	VERB
ajst-32395	118	11	a	a	DET
ajst-32395	118	12	concrete	concrete	ADJ
ajst-32395	118	13	pathway	pathway	NOUN
ajst-32395	118	14	by	by	ADP
ajst-32395	118	15	which	which	PRON
ajst-32395	118	16	learned	learn	VERB
ajst-32395	118	17	policies	policy	NOUN
ajst-32395	118	18	can	can	AUX
ajst-32395	118	19	reduce	reduce	VERB
ajst-32395	118	20	worst‑case	worst‑case	NOUN
ajst-32395	118	21	behaviour	behaviour	NOUN
ajst-32395	118	22	without	without	ADP
ajst-32395	118	23	masking	mask	VERB
ajst-32395	118	24	errors	error	NOUN
ajst-32395	118	25	[	[	X
ajst-32395	118	26	8	8	NUM
ajst-32395	118	27	]	]	PUNCT
ajst-32395	118	28	.	.	PUNCT
ajst-32395	119	1	taken	take	VERB
ajst-32395	119	2	together	together	ADV
ajst-32395	119	3	,	,	PUNCT
ajst-32395	119	4	the	the	DET
ajst-32395	119	5	three	three	NUM
ajst-32395	119	6	strands	strand	NOUN
ajst-32395	119	7	of	of	ADP
ajst-32395	119	8	evidence	evidence	NOUN
ajst-32395	119	9	justify	justify	VERB
ajst-32395	119	10	a	a	DET
ajst-32395	119	11	design	design	NOUN
ajst-32395	119	12	stance	stance	NOUN
ajst-32395	119	13	.	.	PUNCT
ajst-32395	120	1	redundancy	redundancy	NOUN
ajst-32395	120	2	should	should	AUX
ajst-32395	120	3	be	be	AUX
ajst-32395	120	4	coupled	couple	VERB
ajst-32395	120	5	to	to	ADP
ajst-32395	120	6	detectors	detector	NOUN
ajst-32395	120	7	that	that	PRON
ajst-32395	120	8	estimate	estimate	VERB
ajst-32395	120	9	health	health	NOUN
ajst-32395	120	10	,	,	PUNCT
ajst-32395	120	11	to	to	PART
ajst-32395	120	12	fusion	fusion	VERB
ajst-32395	120	13	220	220	NUM
ajst-32395	120	14	rules	rule	NOUN
ajst-32395	120	15	that	that	PRON
ajst-32395	120	16	express	express	VERB
ajst-32395	120	17	those	those	DET
ajst-32395	120	18	estimates	estimate	NOUN
ajst-32395	120	19	as	as	ADP
ajst-32395	120	20	weights	weight	NOUN
ajst-32395	120	21	or	or	CCONJ
ajst-32395	120	22	exclusions	exclusion	NOUN
ajst-32395	120	23	,	,	PUNCT
ajst-32395	120	24	and	and	CCONJ
ajst-32395	120	25	to	to	ADP
ajst-32395	120	26	monitoring	monitor	VERB
ajst-32395	120	27	that	that	SCONJ
ajst-32395	120	28	verifies	verifie	NOUN
ajst-32395	120	29	tail	tail	NOUN
ajst-32395	120	30	behaviour	behaviour	NOUN
ajst-32395	120	31	rather	rather	ADV
ajst-32395	120	32	than	than	ADP
ajst-32395	120	33	average	average	ADJ
ajst-32395	120	34	metrics	metric	NOUN
ajst-32395	120	35	alone	alone	ADV
ajst-32395	120	36	.	.	PUNCT
ajst-32395	121	1	where	where	SCONJ
ajst-32395	121	2	such	such	ADJ
ajst-32395	121	3	couplings	coupling	NOUN
ajst-32395	121	4	exist	exist	VERB
ajst-32395	121	5	,	,	PUNCT
ajst-32395	121	6	the	the	DET
ajst-32395	121	7	data	datum	NOUN
ajst-32395	121	8	show	show	VERB
ajst-32395	121	9	gains	gain	NOUN
ajst-32395	121	10	in	in	ADP
ajst-32395	121	11	detection	detection	NOUN
ajst-32395	121	12	,	,	PUNCT
ajst-32395	121	13	perception	perception	NOUN
ajst-32395	121	14	,	,	PUNCT
ajst-32395	121	15	and	and	CCONJ
ajst-32395	121	16	localization	localization	NOUN
ajst-32395	121	17	that	that	PRON
ajst-32395	121	18	are	be	AUX
ajst-32395	121	19	large	large	ADJ
ajst-32395	121	20	enough	enough	ADV
ajst-32395	121	21	to	to	PART
ajst-32395	121	22	translate	translate	VERB
ajst-32395	121	23	into	into	ADP
ajst-32395	121	24	planning	planning	NOUN
ajst-32395	121	25	and	and	CCONJ
ajst-32395	121	26	control	control	NOUN
ajst-32395	121	27	benefits	benefit	NOUN
ajst-32395	121	28	.	.	PUNCT
ajst-32395	122	1	where	where	SCONJ
ajst-32395	122	2	they	they	PRON
ajst-32395	122	3	do	do	VERB
ajst-32395	122	4	not	not	PART
ajst-32395	122	5	,	,	PUNCT
ajst-32395	122	6	additional	additional	ADJ
ajst-32395	122	7	sensors	sensor	NOUN
ajst-32395	122	8	merely	merely	ADV
ajst-32395	122	9	increase	increase	VERB
ajst-32395	122	10	bandwidth	bandwidth	ADJ
ajst-32395	122	11	and	and	CCONJ
ajst-32395	122	12	cost	cost	VERB
ajst-32395	122	13	without	without	ADP
ajst-32395	122	14	improving	improve	VERB
ajst-32395	122	15	safety	safety	NOUN
ajst-32395	122	16	.	.	PUNCT
ajst-32395	123	1	these	these	DET
ajst-32395	123	2	interpretations	interpretation	NOUN
ajst-32395	123	3	invite	invite	VERB
ajst-32395	123	4	a	a	DET
ajst-32395	123	5	few	few	ADJ
ajst-32395	123	6	caveats	caveat	NOUN
ajst-32395	123	7	.	.	PUNCT
ajst-32395	124	1	reported	report	VERB
ajst-32395	124	2	numbers	number	NOUN
ajst-32395	124	3	depend	depend	VERB
ajst-32395	124	4	on	on	ADP
ajst-32395	124	5	datasets	dataset	NOUN
ajst-32395	124	6	and	and	CCONJ
ajst-32395	124	7	experimental	experimental	ADJ
ajst-32395	124	8	protocols	protocol	NOUN
ajst-32395	124	9	,	,	PUNCT
ajst-32395	124	10	and	and	CCONJ
ajst-32395	124	11	care	care	NOUN
ajst-32395	124	12	must	must	AUX
ajst-32395	124	13	be	be	AUX
ajst-32395	124	14	taken	take	VERB
ajst-32395	124	15	when	when	SCONJ
ajst-32395	124	16	extrapolating	extrapolate	VERB
ajst-32395	124	17	.	.	PUNCT
ajst-32395	125	1	the	the	DET
ajst-32395	125	2	bus‑signal	bus‑signal	PROPN
ajst-32395	125	3	study	study	NOUN
ajst-32395	125	4	uses	use	VERB
ajst-32395	125	5	specific	specific	ADJ
ajst-32395	125	6	vehicle	vehicle	NOUN
ajst-32395	125	7	platforms	platform	NOUN
ajst-32395	125	8	and	and	CCONJ
ajst-32395	125	9	signal	signal	ADJ
ajst-32395	125	10	selections	selection	NOUN
ajst-32395	125	11	;	;	PUNCT
ajst-32395	125	12	different	different	ADJ
ajst-32395	125	13	buses	bus	NOUN
ajst-32395	125	14	with	with	ADP
ajst-32395	125	15	different	different	ADJ
ajst-32395	125	16	sampling	sampling	NOUN
ajst-32395	125	17	rates	rate	NOUN
ajst-32395	125	18	or	or	CCONJ
ajst-32395	125	19	noise	noise	NOUN
ajst-32395	125	20	characteristics	characteristic	NOUN
ajst-32395	125	21	may	may	AUX
ajst-32395	125	22	alter	alter	VERB
ajst-32395	125	23	absolute	absolute	ADJ
ajst-32395	125	24	values	value	NOUN
ajst-32395	125	25	.	.	PUNCT
ajst-32395	126	1	what	what	PRON
ajst-32395	126	2	appears	appear	VERB
ajst-32395	126	3	robust	robust	ADJ
ajst-32395	126	4	is	be	AUX
ajst-32395	126	5	the	the	DET
ajst-32395	126	6	relative	relative	ADJ
ajst-32395	126	7	result	result	NOUN
ajst-32395	126	8	:	:	PUNCT
ajst-32395	126	9	models	model	NOUN
ajst-32395	126	10	that	that	PRON
ajst-32395	126	11	combine	combine	VERB
ajst-32395	126	12	signals	signal	NOUN
ajst-32395	126	13	and	and	CCONJ
ajst-32395	126	14	exploit	exploit	VERB
ajst-32395	126	15	their	their	PRON
ajst-32395	126	16	temporal	temporal	ADJ
ajst-32395	126	17	structure	structure	NOUN
ajst-32395	126	18	detect	detect	VERB
ajst-32395	126	19	more	more	ADJ
ajst-32395	126	20	anomalies	anomaly	NOUN
ajst-32395	126	21	than	than	ADP
ajst-32395	126	22	single‑signal	single‑signal	ADJ
ajst-32395	126	23	baselines	baseline	NOUN
ajst-32395	126	24	.	.	PUNCT
ajst-32395	127	1	in	in	ADP
ajst-32395	127	2	the	the	DET
ajst-32395	127	3	vision	vision	NOUN
ajst-32395	127	4	setting	setting	NOUN
ajst-32395	127	5	,	,	PUNCT
ajst-32395	127	6	injected	inject	VERB
ajst-32395	127	7	faults	fault	NOUN
ajst-32395	127	8	are	be	AUX
ajst-32395	127	9	a	a	DET
ajst-32395	127	10	stand‑in	stand‑in	NOUN
ajst-32395	127	11	for	for	ADP
ajst-32395	127	12	real	real	ADJ
ajst-32395	127	13	degradations	degradation	NOUN
ajst-32395	127	14	.	.	PUNCT
ajst-32395	128	1	they	they	PRON
ajst-32395	128	2	approximate	approximate	VERB
ajst-32395	128	3	blur	blur	PROPN
ajst-32395	128	4	,	,	PUNCT
ajst-32395	128	5	occlusion	occlusion	NOUN
ajst-32395	128	6	and	and	CCONJ
ajst-32395	128	7	truncation	truncation	NOUN
ajst-32395	128	8	but	but	CCONJ
ajst-32395	128	9	can	can	AUX
ajst-32395	128	10	not	not	PART
ajst-32395	128	11	capture	capture	VERB
ajst-32395	128	12	every	every	DET
ajst-32395	128	13	nuisance	nuisance	NOUN
ajst-32395	128	14	such	such	ADJ
ajst-32395	128	15	as	as	ADP
ajst-32395	128	16	droplets	droplet	NOUN
ajst-32395	128	17	or	or	CCONJ
ajst-32395	128	18	dirt	dirt	NOUN
ajst-32395	128	19	,	,	PUNCT
ajst-32395	128	20	which	which	PRON
ajst-32395	128	21	produce	produce	VERB
ajst-32395	128	22	structured	structured	ADJ
ajst-32395	128	23	artefacts	artefact	NOUN
ajst-32395	128	24	.	.	PUNCT
ajst-32395	129	1	nevertheless	nevertheless	ADV
ajst-32395	129	2	,	,	PUNCT
ajst-32395	129	3	the	the	DET
ajst-32395	129	4	persistence	persistence	NOUN
ajst-32395	129	5	of	of	ADP
ajst-32395	129	6	gains	gain	NOUN
ajst-32395	129	7	across	across	ADP
ajst-32395	129	8	several	several	ADJ
ajst-32395	129	9	sequences	sequence	NOUN
ajst-32395	129	10	reduces	reduce	VERB
ajst-32395	129	11	the	the	DET
ajst-32395	129	12	likelihood	likelihood	NOUN
ajst-32395	129	13	that	that	SCONJ
ajst-32395	129	14	improvements	improvement	NOUN
ajst-32395	129	15	arise	arise	VERB
ajst-32395	129	16	from	from	ADP
ajst-32395	129	17	chance	chance	NOUN
ajst-32395	129	18	.	.	PUNCT
ajst-32395	130	1	for	for	ADP
ajst-32395	130	2	localization	localization	NOUN
ajst-32395	130	3	,	,	PUNCT
ajst-32395	130	4	the	the	DET
ajst-32395	130	5	learned	learn	VERB
ajst-32395	130	6	thresholding	thresholding	NOUN
ajst-32395	130	7	policy	policy	NOUN
ajst-32395	130	8	must	must	AUX
ajst-32395	130	9	be	be	AUX
ajst-32395	130	10	monitored	monitor	VERB
ajst-32395	130	11	so	so	SCONJ
ajst-32395	130	12	that	that	SCONJ
ajst-32395	130	13	it	it	PRON
ajst-32395	130	14	does	do	AUX
ajst-32395	130	15	not	not	PART
ajst-32395	130	16	over‑reject	over‑reject	VERB
ajst-32395	130	17	measurements	measurement	NOUN
ajst-32395	130	18	and	and	CCONJ
ajst-32395	130	19	silently	silently	ADV
ajst-32395	130	20	degrade	degrade	VERB
ajst-32395	130	21	availability	availability	NOUN
ajst-32395	130	22	;	;	PUNCT
ajst-32395	130	23	here	here	ADV
ajst-32395	130	24	audit	audit	NOUN
ajst-32395	130	25	trails	trail	NOUN
ajst-32395	130	26	that	that	PRON
ajst-32395	130	27	log	log	VERB
ajst-32395	130	28	reasons	reason	NOUN
ajst-32395	130	29	for	for	ADP
ajst-32395	130	30	exclusion	exclusion	NOUN
ajst-32395	130	31	are	be	AUX
ajst-32395	130	32	essential	essential	ADJ
ajst-32395	130	33	companions	companion	NOUN
ajst-32395	130	34	to	to	ADP
ajst-32395	130	35	the	the	DET
ajst-32395	130	36	estimator	estimator	NOUN
ajst-32395	130	37	.	.	PUNCT
ajst-32395	131	1	a	a	DET
ajst-32395	131	2	second	second	ADJ
ajst-32395	131	3	consideration	consideration	NOUN
ajst-32395	131	4	concerns	concern	VERB
ajst-32395	131	5	statistical	statistical	ADJ
ajst-32395	131	6	power	power	NOUN
ajst-32395	131	7	and	and	CCONJ
ajst-32395	131	8	effect	effect	NOUN
ajst-32395	131	9	sizes	size	NOUN
ajst-32395	131	10	.	.	PUNCT
ajst-32395	132	1	improvements	improvement	NOUN
ajst-32395	132	2	in	in	ADP
ajst-32395	132	3	mean	mean	ADJ
ajst-32395	132	4	iou	iou	PROPN
ajst-32395	132	5	of	of	ADP
ajst-32395	132	6	ten	ten	NUM
ajst-32395	132	7	to	to	PART
ajst-32395	132	8	twenty	twenty	NUM
ajst-32395	132	9	points	point	NOUN
ajst-32395	132	10	often	often	ADV
ajst-32395	132	11	change	change	VERB
ajst-32395	132	12	the	the	DET
ajst-32395	132	13	qualitative	qualitative	ADJ
ajst-32395	132	14	behaviour	behaviour	NOUN
ajst-32395	132	15	of	of	ADP
ajst-32395	132	16	a	a	DET
ajst-32395	132	17	downstream	downstream	ADJ
ajst-32395	132	18	planner	planner	NOUN
ajst-32395	132	19	because	because	SCONJ
ajst-32395	132	20	they	they	PRON
ajst-32395	132	21	move	move	VERB
ajst-32395	132	22	detections	detection	NOUN
ajst-32395	132	23	across	across	ADP
ajst-32395	132	24	operational	operational	ADJ
ajst-32395	132	25	thresholds	threshold	NOUN
ajst-32395	132	26	.	.	PUNCT
ajst-32395	133	1	by	by	ADP
ajst-32395	133	2	contrast	contrast	NOUN
ajst-32395	133	3	,	,	PUNCT
ajst-32395	133	4	small	small	ADJ
ajst-32395	133	5	average	average	ADJ
ajst-32395	133	6	changes	change	NOUN
ajst-32395	133	7	in	in	ADP
ajst-32395	133	8	position	position	NOUN
ajst-32395	133	9	error	error	NOUN
ajst-32395	133	10	can	can	AUX
ajst-32395	133	11	still	still	ADV
ajst-32395	133	12	be	be	AUX
ajst-32395	133	13	safety‑relevant	safety‑relevant	NOUN
ajst-32395	133	14	if	if	SCONJ
ajst-32395	133	15	they	they	PRON
ajst-32395	133	16	reflect	reflect	VERB
ajst-32395	133	17	substantial	substantial	ADJ
ajst-32395	133	18	mitigation	mitigation	NOUN
ajst-32395	133	19	of	of	ADP
ajst-32395	133	20	rare	rare	ADJ
ajst-32395	133	21	but	but	CCONJ
ajst-32395	133	22	large	large	ADJ
ajst-32395	133	23	outliers	outlier	NOUN
ajst-32395	133	24	.	.	PUNCT
ajst-32395	134	1	interpreting	interpret	VERB
ajst-32395	134	2	results	result	NOUN
ajst-32395	134	3	through	through	ADP
ajst-32395	134	4	the	the	DET
ajst-32395	134	5	lens	lens	NOUN
ajst-32395	134	6	of	of	ADP
ajst-32395	134	7	decision	decision	NOUN
ajst-32395	134	8	thresholds	threshold	NOUN
ajst-32395	134	9	clarifies	clarifie	NOUN
ajst-32395	134	10	which	which	PRON
ajst-32395	134	11	gains	gain	VERB
ajst-32395	134	12	matter	matter	VERB
ajst-32395	134	13	most	most	ADJ
ajst-32395	134	14	to	to	ADP
ajst-32395	134	15	a	a	DET
ajst-32395	134	16	vehicle	vehicle	NOUN
ajst-32395	134	17	on	on	ADP
ajst-32395	134	18	the	the	DET
ajst-32395	134	19	road	road	NOUN
ajst-32395	134	20	.	.	PUNCT
ajst-32395	135	1	a	a	DET
ajst-32395	135	2	third	third	ADJ
ajst-32395	135	3	consideration	consideration	NOUN
ajst-32395	135	4	is	be	AUX
ajst-32395	135	5	transfer	transfer	NOUN
ajst-32395	135	6	.	.	PUNCT
ajst-32395	136	1	systems	system	NOUN
ajst-32395	136	2	trained	train	VERB
ajst-32395	136	3	on	on	ADP
ajst-32395	136	4	one	one	NUM
ajst-32395	136	5	city	city	NOUN
ajst-32395	136	6	or	or	CCONJ
ajst-32395	136	7	sensor	sensor	NOUN
ajst-32395	136	8	set	set	NOUN
ajst-32395	136	9	may	may	AUX
ajst-32395	136	10	not	not	PART
ajst-32395	136	11	transfer	transfer	VERB
ajst-32395	136	12	cleanly	cleanly	ADV
ajst-32395	136	13	to	to	ADP
ajst-32395	136	14	another	another	PRON
ajst-32395	136	15	.	.	PUNCT
ajst-32395	137	1	redundancy	redundancy	NOUN
ajst-32395	137	2	can	can	AUX
ajst-32395	137	3	ease	ease	VERB
ajst-32395	137	4	transfer	transfer	NOUN
ajst-32395	137	5	by	by	ADP
ajst-32395	137	6	allowing	allow	VERB
ajst-32395	137	7	the	the	DET
ajst-32395	137	8	stack	stack	NOUN
ajst-32395	137	9	to	to	PART
ajst-32395	137	10	rely	rely	VERB
ajst-32395	137	11	on	on	ADP
ajst-32395	137	12	the	the	DET
ajst-32395	137	13	modalities	modality	NOUN
ajst-32395	137	14	that	that	PRON
ajst-32395	137	15	remain	remain	VERB
ajst-32395	137	16	stable	stable	ADJ
ajst-32395	137	17	across	across	ADP
ajst-32395	137	18	environments	environment	NOUN
ajst-32395	137	19	while	while	SCONJ
ajst-32395	137	20	discounting	discount	VERB
ajst-32395	137	21	those	those	PRON
ajst-32395	137	22	that	that	PRON
ajst-32395	137	23	change	change	VERB
ajst-32395	137	24	.	.	PUNCT
ajst-32395	138	1	the	the	DET
ajst-32395	138	2	practical	practical	ADJ
ajst-32395	138	3	value	value	NOUN
ajst-32395	138	4	of	of	ADP
ajst-32395	138	5	reliability	reliability	NOUN
ajst-32395	138	6	estimates	estimate	NOUN
ajst-32395	138	7	becomes	become	VERB
ajst-32395	138	8	obvious	obvious	ADJ
ajst-32395	138	9	in	in	ADP
ajst-32395	138	10	this	this	DET
ajst-32395	138	11	setting	setting	NOUN
ajst-32395	138	12	:	:	PUNCT
ajst-32395	138	13	when	when	SCONJ
ajst-32395	138	14	confidence	confidence	NOUN
ajst-32395	138	15	reflects	reflect	VERB
ajst-32395	138	16	scene	scene	NOUN
ajst-32395	138	17	conditions	condition	NOUN
ajst-32395	138	18	,	,	PUNCT
ajst-32395	138	19	the	the	DET
ajst-32395	138	20	same	same	ADJ
ajst-32395	138	21	fusion	fusion	NOUN
ajst-32395	138	22	logic	logic	NOUN
ajst-32395	138	23	can	can	AUX
ajst-32395	138	24	operate	operate	VERB
ajst-32395	138	25	sensibly	sensibly	ADV
ajst-32395	138	26	even	even	ADV
ajst-32395	138	27	as	as	ADP
ajst-32395	138	28	absolute	absolute	ADJ
ajst-32395	138	29	inputs	input	NOUN
ajst-32395	138	30	shift	shift	NOUN
ajst-32395	138	31	.	.	PUNCT
ajst-32395	139	1	with	with	ADP
ajst-32395	139	2	these	these	DET
ajst-32395	139	3	caveats	caveat	NOUN
ajst-32395	139	4	in	in	ADP
ajst-32395	139	5	view	view	NOUN
ajst-32395	139	6	,	,	PUNCT
ajst-32395	139	7	the	the	DET
ajst-32395	139	8	overall	overall	ADJ
ajst-32395	139	9	message	message	NOUN
ajst-32395	139	10	stands	stand	NOUN
ajst-32395	139	11	.	.	PUNCT
ajst-32395	140	1	redundancy	redundancy	NOUN
ajst-32395	140	2	provides	provide	VERB
ajst-32395	140	3	the	the	DET
ajst-32395	140	4	raw	raw	ADJ
ajst-32395	140	5	material	material	NOUN
ajst-32395	140	6	for	for	ADP
ajst-32395	140	7	resilience	resilience	NOUN
ajst-32395	140	8	;	;	PUNCT
ajst-32395	140	9	reliability‑aware	reliability‑aware	NOUN
ajst-32395	140	10	fusion	fusion	NOUN
ajst-32395	140	11	turns	turn	VERB
ajst-32395	140	12	that	that	DET
ajst-32395	140	13	material	material	NOUN
ajst-32395	140	14	into	into	ADP
ajst-32395	140	15	gains	gain	NOUN
ajst-32395	140	16	that	that	PRON
ajst-32395	140	17	are	be	AUX
ajst-32395	140	18	visible	visible	ADJ
ajst-32395	140	19	in	in	ADP
ajst-32395	140	20	the	the	DET
ajst-32395	140	21	metrics	metric	NOUN
ajst-32395	140	22	that	that	PRON
ajst-32395	140	23	matter	matter	VERB
ajst-32395	140	24	for	for	ADP
ajst-32395	140	25	safety	safety	NOUN
ajst-32395	140	26	.	.	PUNCT
ajst-32395	141	1	where	where	SCONJ
ajst-32395	141	2	the	the	DET
ajst-32395	141	3	pipeline	pipeline	NOUN
ajst-32395	141	4	estimates	estimate	VERB
ajst-32395	141	5	health	health	NOUN
ajst-32395	141	6	and	and	CCONJ
ajst-32395	141	7	takes	take	VERB
ajst-32395	141	8	decisions	decision	NOUN
ajst-32395	141	9	accordingly	accordingly	ADV
ajst-32395	141	10	,	,	PUNCT
ajst-32395	141	11	the	the	DET
ajst-32395	141	12	evidence	evidence	NOUN
ajst-32395	141	13	shows	show	VERB
ajst-32395	141	14	robust	robust	ADJ
ajst-32395	141	15	improvements	improvement	NOUN
ajst-32395	141	16	in	in	ADP
ajst-32395	141	17	detection	detection	NOUN
ajst-32395	141	18	,	,	PUNCT
ajst-32395	141	19	perception	perception	NOUN
ajst-32395	141	20	and	and	CCONJ
ajst-32395	141	21	localization	localization	NOUN
ajst-32395	141	22	;	;	PUNCT
ajst-32395	141	23	where	where	SCONJ
ajst-32395	141	24	it	it	PRON
ajst-32395	141	25	does	do	VERB
ajst-32395	141	26	not	not	PART
ajst-32395	141	27	,	,	PUNCT
ajst-32395	141	28	additional	additional	ADJ
ajst-32395	141	29	sensors	sensor	NOUN
ajst-32395	141	30	contribute	contribute	VERB
ajst-32395	141	31	little	little	ADJ
ajst-32395	141	32	beyond	beyond	ADP
ajst-32395	141	33	cost	cost	NOUN
ajst-32395	141	34	and	and	CCONJ
ajst-32395	141	35	complexity	complexity	NOUN
ajst-32395	141	36	.	.	PUNCT
ajst-32395	142	1	5	5	X
ajst-32395	142	2	.	.	X
ajst-32395	142	3	future	future	ADJ
ajst-32395	142	4	directions	direction	NOUN
ajst-32395	142	5	and	and	CCONJ
ajst-32395	142	6	prospects	prospect	NOUN
ajst-32395	142	7	looking	look	VERB
ajst-32395	142	8	forward	forward	ADV
ajst-32395	142	9	,	,	PUNCT
ajst-32395	142	10	progress	progress	NOUN
ajst-32395	142	11	toward	toward	ADP
ajst-32395	142	12	fail‑operational	fail‑operational	ADJ
ajst-32395	142	13	perception	perception	NOUN
ajst-32395	142	14	will	will	AUX
ajst-32395	142	15	hinge	hinge	VERB
ajst-32395	142	16	on	on	ADP
ajst-32395	142	17	several	several	ADJ
ajst-32395	142	18	complementary	complementary	ADJ
ajst-32395	142	19	strands	strand	NOUN
ajst-32395	142	20	that	that	PRON
ajst-32395	142	21	can	can	AUX
ajst-32395	142	22	be	be	AUX
ajst-32395	142	23	advanced	advance	VERB
ajst-32395	142	24	in	in	ADP
ajst-32395	142	25	parallel	parallel	NOUN
ajst-32395	142	26	.	.	PUNCT
ajst-32395	143	1	the	the	DET
ajst-32395	143	2	first	first	ADJ
ajst-32395	143	3	concerns	concern	NOUN
ajst-32395	143	4	self‑auditing	self‑audite	VERB
ajst-32395	143	5	fusion	fusion	NOUN
ajst-32395	143	6	,	,	PUNCT
ajst-32395	143	7	in	in	ADP
ajst-32395	143	8	which	which	PRON
ajst-32395	143	9	each	each	DET
ajst-32395	143	10	combined	combine	VERB
ajst-32395	143	11	estimate	estimate	NOUN
ajst-32395	143	12	carries	carry	VERB
ajst-32395	143	13	a	a	DET
ajst-32395	143	14	compact	compact	ADJ
ajst-32395	143	15	account	account	NOUN
ajst-32395	143	16	of	of	ADP
ajst-32395	143	17	which	which	PRON
ajst-32395	143	18	sensors	sensor	NOUN
ajst-32395	143	19	dominated	dominate	VERB
ajst-32395	143	20	the	the	DET
ajst-32395	143	21	decision	decision	NOUN
ajst-32395	143	22	,	,	PUNCT
ajst-32395	143	23	which	which	DET
ajst-32395	143	24	inputs	input	NOUN
ajst-32395	143	25	were	be	AUX
ajst-32395	143	26	excluded	exclude	VERB
ajst-32395	143	27	and	and	CCONJ
ajst-32395	143	28	why	why	SCONJ
ajst-32395	143	29	,	,	PUNCT
ajst-32395	143	30	and	and	CCONJ
ajst-32395	143	31	how	how	SCONJ
ajst-32395	143	32	uncertainty	uncertainty	NOUN
ajst-32395	143	33	aggregated	aggregate	VERB
ajst-32395	143	34	.	.	PUNCT
ajst-32395	144	1	real‑time	real‑time	NOUN
ajst-32395	144	2	explainability	explainability	NOUN
ajst-32395	144	3	of	of	ADP
ajst-32395	144	4	this	this	DET
ajst-32395	144	5	kind	kind	NOUN
ajst-32395	144	6	is	be	AUX
ajst-32395	144	7	more	more	ADJ
ajst-32395	144	8	than	than	ADP
ajst-32395	144	9	a	a	DET
ajst-32395	144	10	research	research	NOUN
ajst-32395	144	11	nicety	nicety	NOUN
ajst-32395	144	12	;	;	PUNCT
ajst-32395	144	13	it	it	PRON
ajst-32395	144	14	creates	create	VERB
ajst-32395	144	15	artifacts	artifact	NOUN
ajst-32395	144	16	that	that	PRON
ajst-32395	144	17	can	can	AUX
ajst-32395	144	18	be	be	AUX
ajst-32395	144	19	inspected	inspect	VERB
ajst-32395	144	20	during	during	ADP
ajst-32395	144	21	incident	incident	NOUN
ajst-32395	144	22	analysis	analysis	NOUN
ajst-32395	144	23	and	and	CCONJ
ajst-32395	144	24	formal	formal	ADJ
ajst-32395	144	25	safety	safety	NOUN
ajst-32395	144	26	cases	case	NOUN
ajst-32395	144	27	,	,	PUNCT
ajst-32395	144	28	and	and	CCONJ
ajst-32395	144	29	it	it	PRON
ajst-32395	144	30	allows	allow	VERB
ajst-32395	144	31	engineers	engineer	NOUN
ajst-32395	144	32	to	to	PART
ajst-32395	144	33	diagnose	diagnose	VERB
ajst-32395	144	34	failure	failure	NOUN
ajst-32395	144	35	modes	mode	NOUN
ajst-32395	144	36	without	without	ADP
ajst-32395	144	37	guessing	guess	VERB
ajst-32395	144	38	[	[	X
ajst-32395	144	39	9	9	NUM
ajst-32395	144	40	]	]	PUNCT
ajst-32395	144	41	.	.	PUNCT
ajst-32395	145	1	the	the	DET
ajst-32395	145	2	second	second	ADJ
ajst-32395	145	3	strand	strand	NOUN
ajst-32395	145	4	is	be	AUX
ajst-32395	145	5	context‑aware	context‑aware	NOUN
ajst-32395	145	6	reliability	reliability	NOUN
ajst-32395	145	7	modeling	modeling	NOUN
ajst-32395	145	8	.	.	PUNCT
ajst-32395	146	1	sensor	sensor	NOUN
ajst-32395	146	2	confidences	confidence	NOUN
ajst-32395	146	3	should	should	AUX
ajst-32395	146	4	depend	depend	VERB
ajst-32395	146	5	on	on	ADP
ajst-32395	146	6	weather	weather	NOUN
ajst-32395	146	7	,	,	PUNCT
ajst-32395	146	8	illumination	illumination	NOUN
ajst-32395	146	9	and	and	CCONJ
ajst-32395	146	10	traffic	traffic	NOUN
ajst-32395	146	11	density	density	NOUN
ajst-32395	146	12	,	,	PUNCT
ajst-32395	146	13	not	not	PART
ajst-32395	146	14	just	just	ADV
ajst-32395	146	15	on	on	ADP
ajst-32395	146	16	instantaneous	instantaneous	ADJ
ajst-32395	146	17	residual	residual	ADJ
ajst-32395	146	18	magnitudes	magnitude	NOUN
ajst-32395	146	19	.	.	PUNCT
ajst-32395	147	1	the	the	DET
ajst-32395	147	2	success	success	NOUN
ajst-32395	147	3	of	of	ADP
ajst-32395	147	4	adaptive	adaptive	ADJ
ajst-32395	147	5	thresholds	threshold	NOUN
ajst-32395	147	6	within	within	ADP
ajst-32395	147	7	localization	localization	NOUN
ajst-32395	147	8	suggests	suggest	VERB
ajst-32395	147	9	a	a	DET
ajst-32395	147	10	general	general	ADJ
ajst-32395	147	11	recipe	recipe	NOUN
ajst-32395	147	12	for	for	ADP
ajst-32395	147	13	coupling	couple	VERB
ajst-32395	147	14	fault	fault	NOUN
ajst-32395	147	15	detection	detection	NOUN
ajst-32395	147	16	to	to	ADP
ajst-32395	147	17	environmental	environmental	ADJ
ajst-32395	147	18	context	context	NOUN
ajst-32395	147	19	so	so	SCONJ
ajst-32395	147	20	that	that	DET
ajst-32395	147	21	exclusion	exclusion	NOUN
ajst-32395	147	22	becomes	become	VERB
ajst-32395	147	23	a	a	DET
ajst-32395	147	24	principled	principled	ADJ
ajst-32395	147	25	response	response	NOUN
ajst-32395	147	26	to	to	ADP
ajst-32395	147	27	measured	measure	VERB
ajst-32395	147	28	risk	risk	NOUN
ajst-32395	147	29	rather	rather	ADV
ajst-32395	147	30	than	than	ADP
ajst-32395	147	31	a	a	DET
ajst-32395	147	32	static	static	ADJ
ajst-32395	147	33	rule	rule	NOUN
ajst-32395	147	34	[	[	X
ajst-32395	147	35	10	10	NUM
ajst-32395	147	36	]	]	PUNCT
ajst-32395	147	37	.	.	PUNCT
ajst-32395	148	1	a	a	DET
ajst-32395	148	2	third	third	ADJ
ajst-32395	148	3	strand	strand	NOUN
ajst-32395	148	4	emphasizes	emphasize	VERB
ajst-32395	148	5	resource	resource	NOUN
ajst-32395	148	6	awareness	awareness	NOUN
ajst-32395	148	7	.	.	PUNCT
ajst-32395	149	1	mid‑level	mid‑level	NOUN
ajst-32395	149	2	feature	feature	NOUN
ajst-32395	149	3	sharing	sharing	NOUN
ajst-32395	149	4	,	,	PUNCT
ajst-32395	149	5	dynamic	dynamic	ADJ
ajst-32395	149	6	sensor	sensor	NOUN
ajst-32395	149	7	selection	selection	NOUN
ajst-32395	149	8	,	,	PUNCT
ajst-32395	149	9	and	and	CCONJ
ajst-32395	149	10	adaptive	adaptive	ADJ
ajst-32395	149	11	numerical	numerical	ADJ
ajst-32395	149	12	precision	precision	NOUN
ajst-32395	149	13	can	can	AUX
ajst-32395	149	14	meet	meet	VERB
ajst-32395	149	15	hard	hard	ADJ
ajst-32395	149	16	timing	timing	NOUN
ajst-32395	149	17	requirements	requirement	NOUN
ajst-32395	149	18	while	while	SCONJ
ajst-32395	149	19	preserving	preserve	VERB
ajst-32395	149	20	safety	safety	NOUN
ajst-32395	149	21	margins	margin	NOUN
ajst-32395	149	22	;	;	PUNCT
ajst-32395	149	23	without	without	ADP
ajst-32395	149	24	such	such	ADJ
ajst-32395	149	25	co‑design	co‑design	NOUN
ajst-32395	149	26	,	,	PUNCT
ajst-32395	149	27	otherwise	otherwise	ADV
ajst-32395	149	28	accurate	accurate	ADJ
ajst-32395	149	29	fusion	fusion	NOUN
ajst-32395	149	30	models	model	NOUN
ajst-32395	149	31	may	may	AUX
ajst-32395	149	32	remain	remain	VERB
ajst-32395	149	33	too	too	ADV
ajst-32395	149	34	heavy	heavy	ADJ
ajst-32395	149	35	for	for	ADP
ajst-32395	149	36	embedded	embed	VERB
ajst-32395	149	37	deployment	deployment	NOUN
ajst-32395	149	38	.	.	PUNCT
ajst-32395	150	1	a	a	DET
ajst-32395	150	2	fourth	fourth	ADJ
ajst-32395	150	3	strand	strand	NOUN
ajst-32395	150	4	is	be	AUX
ajst-32395	150	5	the	the	DET
ajst-32395	150	6	construction	construction	NOUN
ajst-32395	150	7	of	of	ADP
ajst-32395	150	8	fault‑rich	fault‑rich	ADJ
ajst-32395	150	9	benchmarks	benchmark	NOUN
ajst-32395	150	10	.	.	PUNCT
ajst-32395	151	1	public	public	ADJ
ajst-32395	151	2	datasets	dataset	NOUN
ajst-32395	151	3	rarely	rarely	ADV
ajst-32395	151	4	fail	fail	VERB
ajst-32395	151	5	on	on	ADP
ajst-32395	151	6	purpose	purpose	NOUN
ajst-32395	151	7	,	,	PUNCT
ajst-32395	151	8	yet	yet	CCONJ
ajst-32395	151	9	certification	certification	NOUN
ajst-32395	151	10	requires	require	VERB
ajst-32395	151	11	repeatable	repeatable	ADJ
ajst-32395	151	12	degradations	degradation	NOUN
ajst-32395	151	13	—	—	PUNCT
ajst-32395	151	14	blur	blur	ADJ
ajst-32395	151	15	,	,	PUNCT
ajst-32395	151	16	occluders	occluder	NOUN
ajst-32395	151	17	,	,	PUNCT
ajst-32395	151	18	interference	interference	NOUN
ajst-32395	151	19	,	,	PUNCT
ajst-32395	151	20	truncation	truncation	NOUN
ajst-32395	151	21	and	and	CCONJ
ajst-32395	151	22	multipath	multipath	NOUN
ajst-32395	151	23	—	—	PUNCT
ajst-32395	151	24	with	with	ADP
ajst-32395	151	25	ground‑truthed	ground‑truthe	VERB
ajst-32395	151	26	exclusions	exclusion	NOUN
ajst-32395	151	27	so	so	SCONJ
ajst-32395	151	28	that	that	SCONJ
ajst-32395	151	29	fail‑operational	fail‑operational	ADJ
ajst-32395	151	30	behaviour	behaviour	NOUN
ajst-32395	151	31	can	can	AUX
ajst-32395	151	32	be	be	AUX
ajst-32395	151	33	measured	measure	VERB
ajst-32395	151	34	rather	rather	ADV
ajst-32395	151	35	than	than	ADP
ajst-32395	151	36	asserted	assert	VERB
ajst-32395	151	37	.	.	PUNCT
ajst-32395	152	1	creating	create	VERB
ajst-32395	152	2	such	such	ADJ
ajst-32395	152	3	suites	suite	NOUN
ajst-32395	152	4	will	will	AUX
ajst-32395	152	5	make	make	VERB
ajst-32395	152	6	research	research	NOUN
ajst-32395	152	7	results	result	NOUN
ajst-32395	152	8	comparable	comparable	ADJ
ajst-32395	152	9	and	and	CCONJ
ajst-32395	152	10	will	will	AUX
ajst-32395	152	11	help	help	VERB
ajst-32395	152	12	close	close	VERB
ajst-32395	152	13	the	the	DET
ajst-32395	152	14	gap	gap	NOUN
ajst-32395	152	15	between	between	ADP
ajst-32395	152	16	laboratory	laboratory	NOUN
ajst-32395	152	17	conditions	condition	NOUN
ajst-32395	152	18	and	and	CCONJ
ajst-32395	152	19	real	real	ADJ
ajst-32395	152	20	roads	road	NOUN
ajst-32395	152	21	.	.	PUNCT
ajst-32395	153	1	these	these	DET
ajst-32395	153	2	technical	technical	ADJ
ajst-32395	153	3	221	221	NUM
ajst-32395	153	4	programs	program	NOUN
ajst-32395	153	5	should	should	AUX
ajst-32395	153	6	be	be	AUX
ajst-32395	153	7	accompanied	accompany	VERB
ajst-32395	153	8	by	by	ADP
ajst-32395	153	9	standardization	standardization	NOUN
ajst-32395	153	10	of	of	ADP
ajst-32395	153	11	testing	testing	NOUN
ajst-32395	153	12	protocols	protocol	NOUN
ajst-32395	153	13	and	and	CCONJ
ajst-32395	153	14	by	by	ADP
ajst-32395	153	15	ethical	ethical	ADJ
ajst-32395	153	16	governance	governance	NOUN
ajst-32395	153	17	that	that	PRON
ajst-32395	153	18	clarifies	clarify	VERB
ajst-32395	153	19	accountability	accountability	NOUN
ajst-32395	153	20	and	and	CCONJ
ajst-32395	153	21	transparency	transparency	NOUN
ajst-32395	153	22	.	.	PUNCT
ajst-32395	154	1	surveys	survey	NOUN
ajst-32395	154	2	from	from	ADP
ajst-32395	154	3	2024–2025	2024–2025	NUM
ajst-32395	154	4	argue	argue	VERB
ajst-32395	154	5	that	that	SCONJ
ajst-32395	154	6	the	the	DET
ajst-32395	154	7	lack	lack	NOUN
ajst-32395	154	8	of	of	ADP
ajst-32395	154	9	explainability	explainability	NOUN
ajst-32395	154	10	in	in	ADP
ajst-32395	154	11	deep	deep	ADJ
ajst-32395	154	12	fusion	fusion	NOUN
ajst-32395	154	13	remains	remain	VERB
ajst-32395	154	14	a	a	DET
ajst-32395	154	15	primary	primary	ADJ
ajst-32395	154	16	barrier	barrier	NOUN
ajst-32395	154	17	to	to	PART
ajst-32395	154	18	acceptance	acceptance	VERB
ajst-32395	154	19	;	;	PUNCT
ajst-32395	154	20	attaching	attach	VERB
ajst-32395	154	21	reasons	reason	NOUN
ajst-32395	154	22	to	to	PART
ajst-32395	154	23	fused	fuse	VERB
ajst-32395	154	24	outputs	output	NOUN
ajst-32395	154	25	and	and	CCONJ
ajst-32395	154	26	exposing	expose	VERB
ajst-32395	154	27	calibrated	calibrate	VERB
ajst-32395	154	28	uncertainty	uncertainty	NOUN
ajst-32395	154	29	would	would	AUX
ajst-32395	154	30	directly	directly	ADV
ajst-32395	154	31	address	address	VERB
ajst-32395	154	32	that	that	DET
ajst-32395	154	33	concern	concern	NOUN
ajst-32395	154	34	[	[	X
ajst-32395	154	35	5	5	NUM
ajst-32395	154	36	]	]	PUNCT
ajst-32395	154	37	.	.	PUNCT
ajst-32395	155	1	equally	equally	ADV
ajst-32395	155	2	important	important	ADJ
ajst-32395	155	3	is	be	AUX
ajst-32395	155	4	the	the	DET
ajst-32395	155	5	integration	integration	NOUN
ajst-32395	155	6	of	of	ADP
ajst-32395	155	7	predictive	predictive	ADJ
ajst-32395	155	8	maintenance	maintenance	NOUN
ajst-32395	155	9	and	and	CCONJ
ajst-32395	155	10	health	health	NOUN
ajst-32395	155	11	forecasting	forecasting	NOUN
ajst-32395	155	12	so	so	SCONJ
ajst-32395	155	13	that	that	SCONJ
ajst-32395	155	14	the	the	DET
ajst-32395	155	15	perception	perception	NOUN
ajst-32395	155	16	stack	stack	VERB
ajst-32395	155	17	not	not	PART
ajst-32395	155	18	only	only	ADV
ajst-32395	155	19	reacts	react	VERB
ajst-32395	155	20	to	to	AUX
ajst-32395	155	21	faults	fault	NOUN
ajst-32395	155	22	but	but	CCONJ
ajst-32395	155	23	also	also	ADV
ajst-32395	155	24	anticipates	anticipate	VERB
ajst-32395	155	25	them	they	PRON
ajst-32395	155	26	.	.	PUNCT
ajst-32395	156	1	evidence	evidence	NOUN
ajst-32395	156	2	from	from	ADP
ajst-32395	156	3	bus‑signal	bus‑signal	ADJ
ajst-32395	156	4	studies	study	NOUN
ajst-32395	156	5	shows	show	VERB
ajst-32395	156	6	that	that	SCONJ
ajst-32395	156	7	learning‑based	learning‑base	VERB
ajst-32395	156	8	prognostics	prognostic	NOUN
ajst-32395	156	9	can	can	AUX
ajst-32395	156	10	support	support	VERB
ajst-32395	156	11	maintenance	maintenance	NOUN
ajst-32395	156	12	scheduling	scheduling	NOUN
ajst-32395	156	13	in	in	ADP
ajst-32395	156	14	ways	way	NOUN
ajst-32395	156	15	that	that	PRON
ajst-32395	156	16	reduce	reduce	VERB
ajst-32395	156	17	spurious	spurious	ADJ
ajst-32395	156	18	alarms	alarm	NOUN
ajst-32395	156	19	and	and	CCONJ
ajst-32395	156	20	avoid	avoid	VERB
ajst-32395	156	21	unplanned	unplanned	ADJ
ajst-32395	156	22	downtime	downtime	NOUN
ajst-32395	156	23	[	[	X
ajst-32395	156	24	1	1	NUM
ajst-32395	156	25	]	]	PUNCT
ajst-32395	156	26	.	.	PUNCT
ajst-32395	157	1	if	if	SCONJ
ajst-32395	157	2	these	these	DET
ajst-32395	157	3	strands	strand	NOUN
ajst-32395	157	4	advance	advance	VERB
ajst-32395	157	5	together	together	ADV
ajst-32395	157	6	—	—	PUNCT
ajst-32395	157	7	self‑auditing	self‑audite	VERB
ajst-32395	157	8	fusion	fusion	NOUN
ajst-32395	157	9	,	,	PUNCT
ajst-32395	157	10	context‑aware	context‑aware	NOUN
ajst-32395	157	11	reliability	reliability	NOUN
ajst-32395	157	12	,	,	PUNCT
ajst-32395	157	13	resource‑conscious	resource‑conscious	ADJ
ajst-32395	157	14	implementation	implementation	NOUN
ajst-32395	157	15	,	,	PUNCT
ajst-32395	157	16	fault‑rich	fault‑rich	ADJ
ajst-32395	157	17	evaluation	evaluation	NOUN
ajst-32395	157	18	,	,	PUNCT
ajst-32395	157	19	and	and	CCONJ
ajst-32395	157	20	predictive	predictive	ADJ
ajst-32395	157	21	maintenance	maintenance	NOUN
ajst-32395	157	22	—	—	PUNCT
ajst-32395	157	23	the	the	DET
ajst-32395	157	24	result	result	NOUN
ajst-32395	157	25	will	will	AUX
ajst-32395	157	26	be	be	AUX
ajst-32395	157	27	perception	perception	NOUN
ajst-32395	157	28	systems	system	NOUN
ajst-32395	157	29	that	that	PRON
ajst-32395	157	30	satisfy	satisfy	VERB
ajst-32395	157	31	both	both	DET
ajst-32395	157	32	engineering	engineering	NOUN
ajst-32395	157	33	pragmatics	pragmatic	NOUN
ajst-32395	157	34	and	and	CCONJ
ajst-32395	157	35	regulatory	regulatory	ADJ
ajst-32395	157	36	demands	demand	NOUN
ajst-32395	157	37	.	.	PUNCT
ajst-32395	158	1	cooperative	cooperative	ADJ
ajst-32395	158	2	perception	perception	NOUN
ajst-32395	158	3	amplifies	amplify	VERB
ajst-32395	158	4	these	these	DET
ajst-32395	158	5	themes	theme	NOUN
ajst-32395	158	6	.	.	PUNCT
ajst-32395	159	1	vehicle‑to‑everything	vehicle‑to‑everythe	VERB
ajst-32395	159	2	communication	communication	NOUN
ajst-32395	159	3	allows	allow	VERB
ajst-32395	159	4	one	one	NUM
ajst-32395	159	5	platform	platform	NOUN
ajst-32395	159	6	to	to	PART
ajst-32395	159	7	borrow	borrow	VERB
ajst-32395	159	8	sight	sight	NOUN
ajst-32395	159	9	from	from	ADP
ajst-32395	159	10	another	another	PRON
ajst-32395	159	11	and	and	CCONJ
ajst-32395	159	12	extends	extend	VERB
ajst-32395	159	13	redundancy	redundancy	NOUN
ajst-32395	159	14	beyond	beyond	ADP
ajst-32395	159	15	the	the	DET
ajst-32395	159	16	physical	physical	ADJ
ajst-32395	159	17	footprint	footprint	NOUN
ajst-32395	159	18	of	of	ADP
ajst-32395	159	19	a	a	DET
ajst-32395	159	20	single	single	ADJ
ajst-32395	159	21	car	car	NOUN
ajst-32395	159	22	.	.	PUNCT
ajst-32395	160	1	sharing	sharing	NOUN
ajst-32395	160	2	detections	detection	NOUN
ajst-32395	160	3	,	,	PUNCT
ajst-32395	160	4	intentions	intention	NOUN
ajst-32395	160	5	and	and	CCONJ
ajst-32395	160	6	environmental	environmental	ADJ
ajst-32395	160	7	context	context	NOUN
ajst-32395	160	8	can	can	AUX
ajst-32395	160	9	resolve	resolve	VERB
ajst-32395	160	10	occlusions	occlusion	NOUN
ajst-32395	160	11	and	and	CCONJ
ajst-32395	160	12	blind	blind	ADJ
ajst-32395	160	13	spots	spot	NOUN
ajst-32395	160	14	that	that	SCONJ
ajst-32395	160	15	no	no	DET
ajst-32395	160	16	amount	amount	NOUN
ajst-32395	160	17	of	of	ADP
ajst-32395	160	18	on‑board	on‑board	ADJ
ajst-32395	160	19	hardware	hardware	NOUN
ajst-32395	160	20	can	can	AUX
ajst-32395	160	21	overcome	overcome	VERB
ajst-32395	160	22	.	.	PUNCT
ajst-32395	161	1	the	the	DET
ajst-32395	161	2	same	same	ADJ
ajst-32395	161	3	reliability	reliability	NOUN
ajst-32395	161	4	questions	question	NOUN
ajst-32395	161	5	reappear	reappear	VERB
ajst-32395	161	6	at	at	ADP
ajst-32395	161	7	network	network	NOUN
ajst-32395	161	8	scale	scale	NOUN
ajst-32395	161	9	:	:	PUNCT
ajst-32395	161	10	messages	message	NOUN
ajst-32395	161	11	must	must	AUX
ajst-32395	161	12	advertise	advertise	VERB
ajst-32395	161	13	uncertainty	uncertainty	NOUN
ajst-32395	161	14	and	and	CCONJ
ajst-32395	161	15	provenance	provenance	NOUN
ajst-32395	161	16	;	;	PUNCT
ajst-32395	161	17	fusion	fusion	NOUN
ajst-32395	161	18	must	must	AUX
ajst-32395	161	19	discount	discount	VERB
ajst-32395	161	20	stale	stale	ADJ
ajst-32395	161	21	or	or	CCONJ
ajst-32395	161	22	untrusted	untrusted	ADJ
ajst-32395	161	23	data	datum	NOUN
ajst-32395	161	24	;	;	PUNCT
ajst-32395	161	25	and	and	CCONJ
ajst-32395	161	26	cybersecurity	cybersecurity	NOUN
ajst-32395	161	27	must	must	AUX
ajst-32395	161	28	be	be	AUX
ajst-32395	161	29	treated	treat	VERB
ajst-32395	161	30	as	as	ADP
ajst-32395	161	31	part	part	NOUN
ajst-32395	161	32	of	of	ADP
ajst-32395	161	33	perception	perception	NOUN
ajst-32395	161	34	rather	rather	ADV
ajst-32395	161	35	than	than	ADP
ajst-32395	161	36	a	a	DET
ajst-32395	161	37	separate	separate	ADJ
ajst-32395	161	38	concern	concern	NOUN
ajst-32395	161	39	.	.	PUNCT
ajst-32395	162	1	edge	edge	NOUN
ajst-32395	162	2	computing	computing	NOUN
ajst-32395	162	3	provides	provide	VERB
ajst-32395	162	4	the	the	DET
ajst-32395	162	5	architectural	architectural	ADJ
ajst-32395	162	6	counterpart	counterpart	NOUN
ajst-32395	162	7	by	by	ADP
ajst-32395	162	8	pushing	push	VERB
ajst-32395	162	9	light‑weight	light‑weight	CCONJ
ajst-32395	162	10	fusion	fusion	NOUN
ajst-32395	162	11	to	to	ADP
ajst-32395	162	12	sensors	sensor	NOUN
ajst-32395	162	13	and	and	CCONJ
ajst-32395	162	14	microcontrollers	microcontroller	NOUN
ajst-32395	162	15	while	while	SCONJ
ajst-32395	162	16	reserving	reserve	VERB
ajst-32395	162	17	global	global	ADJ
ajst-32395	162	18	aggregation	aggregation	NOUN
ajst-32395	162	19	for	for	ADP
ajst-32395	162	20	more	more	ADV
ajst-32395	162	21	capable	capable	ADJ
ajst-32395	162	22	units	unit	NOUN
ajst-32395	162	23	.	.	PUNCT
ajst-32395	163	1	hybrid	hybrid	ADJ
ajst-32395	163	2	designs	design	NOUN
ajst-32395	163	3	reduce	reduce	VERB
ajst-32395	163	4	bandwidth	bandwidth	NOUN
ajst-32395	163	5	without	without	ADP
ajst-32395	163	6	abandoning	abandon	VERB
ajst-32395	163	7	the	the	DET
ajst-32395	163	8	benefits	benefit	NOUN
ajst-32395	163	9	of	of	ADP
ajst-32395	163	10	a	a	DET
ajst-32395	163	11	consolidated	consolidated	ADJ
ajst-32395	163	12	world	world	NOUN
ajst-32395	163	13	model	model	NOUN
ajst-32395	163	14	.	.	PUNCT
ajst-32395	164	1	another	another	DET
ajst-32395	164	2	near‑term	near‑term	PROPN
ajst-32395	164	3	opportunity	opportunity	NOUN
ajst-32395	164	4	lies	lie	VERB
ajst-32395	164	5	in	in	ADP
ajst-32395	164	6	deliberate	deliberate	ADJ
ajst-32395	164	7	data	data	NOUN
ajst-32395	164	8	generation	generation	NOUN
ajst-32395	164	9	.	.	PUNCT
ajst-32395	165	1	fault‑rich	fault‑rich	ADJ
ajst-32395	165	2	benchmarks	benchmark	NOUN
ajst-32395	165	3	should	should	AUX
ajst-32395	165	4	encode	encode	VERB
ajst-32395	165	5	repeatable	repeatable	ADJ
ajst-32395	165	6	degradations	degradation	NOUN
ajst-32395	165	7	with	with	ADP
ajst-32395	165	8	ground‑truth	ground‑truth	ADJ
ajst-32395	165	9	exclusions	exclusion	NOUN
ajst-32395	165	10	so	so	SCONJ
ajst-32395	165	11	that	that	SCONJ
ajst-32395	165	12	fail‑operational	fail‑operational	ADJ
ajst-32395	165	13	behaviour	behaviour	NOUN
ajst-32395	165	14	can	can	AUX
ajst-32395	165	15	be	be	AUX
ajst-32395	165	16	measured	measure	VERB
ajst-32395	165	17	.	.	PUNCT
ajst-32395	166	1	synthetic	synthetic	ADJ
ajst-32395	166	2	pipelines	pipeline	NOUN
ajst-32395	166	3	can	can	AUX
ajst-32395	166	4	create	create	VERB
ajst-32395	166	5	controlled	control	VERB
ajst-32395	166	6	perturbations	perturbation	NOUN
ajst-32395	166	7	—	—	PUNCT
ajst-32395	166	8	fog	fog	NOUN
ajst-32395	166	9	,	,	PUNCT
ajst-32395	166	10	rain	rain	NOUN
ajst-32395	166	11	,	,	PUNCT
ajst-32395	166	12	turbidity	turbidity	NOUN
ajst-32395	166	13	,	,	PUNCT
ajst-32395	166	14	occluders	occluder	NOUN
ajst-32395	166	15	,	,	PUNCT
ajst-32395	166	16	multipath	multipath	NOUN
ajst-32395	166	17	and	and	CCONJ
ajst-32395	166	18	spoofing	spoof	VERB
ajst-32395	166	19	—	—	PUNCT
ajst-32395	166	20	and	and	CCONJ
ajst-32395	166	21	can	can	AUX
ajst-32395	166	22	blend	blend	VERB
ajst-32395	166	23	them	they	PRON
ajst-32395	166	24	with	with	ADP
ajst-32395	166	25	real	real	ADJ
ajst-32395	166	26	sequences	sequence	NOUN
ajst-32395	166	27	to	to	PART
ajst-32395	166	28	approximate	approximate	VERB
ajst-32395	166	29	rare	rare	ADJ
ajst-32395	166	30	events	event	NOUN
ajst-32395	166	31	.	.	PUNCT
ajst-32395	167	1	when	when	SCONJ
ajst-32395	167	2	evaluation	evaluation	NOUN
ajst-32395	167	3	protocols	protocol	NOUN
ajst-32395	167	4	reward	reward	VERB
ajst-32395	167	5	tail‑risk	tail‑risk	NOUN
ajst-32395	167	6	reduction	reduction	NOUN
ajst-32395	167	7	rather	rather	ADV
ajst-32395	167	8	than	than	ADP
ajst-32395	167	9	only	only	ADJ
ajst-32395	167	10	average	average	ADJ
ajst-32395	167	11	accuracy	accuracy	NOUN
ajst-32395	167	12	,	,	PUNCT
ajst-32395	167	13	research	research	NOUN
ajst-32395	167	14	will	will	AUX
ajst-32395	167	15	naturally	naturally	ADV
ajst-32395	167	16	move	move	VERB
ajst-32395	167	17	toward	toward	ADP
ajst-32395	167	18	the	the	DET
ajst-32395	167	19	behaviours	behaviour	NOUN
ajst-32395	167	20	that	that	PRON
ajst-32395	167	21	most	most	ADV
ajst-32395	167	22	affect	affect	VERB
ajst-32395	167	23	safety	safety	NOUN
ajst-32395	167	24	.	.	PUNCT
ajst-32395	168	1	finally	finally	ADV
ajst-32395	168	2	,	,	PUNCT
ajst-32395	168	3	deployment	deployment	NOUN
ajst-32395	168	4	will	will	AUX
ajst-32395	168	5	benefit	benefit	VERB
ajst-32395	168	6	from	from	ADP
ajst-32395	168	7	simple	simple	ADJ
ajst-32395	168	8	contracts	contract	NOUN
ajst-32395	168	9	between	between	ADP
ajst-32395	168	10	perception	perception	NOUN
ajst-32395	168	11	and	and	CCONJ
ajst-32395	168	12	the	the	DET
ajst-32395	168	13	rest	rest	NOUN
ajst-32395	168	14	of	of	ADP
ajst-32395	168	15	the	the	DET
ajst-32395	168	16	stack	stack	NOUN
ajst-32395	168	17	.	.	PUNCT
ajst-32395	169	1	if	if	SCONJ
ajst-32395	169	2	a	a	DET
ajst-32395	169	3	fused	fuse	VERB
ajst-32395	169	4	estimate	estimate	NOUN
ajst-32395	169	5	is	be	AUX
ajst-32395	169	6	accompanied	accompany	VERB
ajst-32395	169	7	by	by	ADP
ajst-32395	169	8	calibrated	calibrate	VERB
ajst-32395	169	9	uncertainty	uncertainty	NOUN
ajst-32395	169	10	,	,	PUNCT
ajst-32395	169	11	by	by	ADP
ajst-32395	169	12	a	a	DET
ajst-32395	169	13	compact	compact	ADJ
ajst-32395	169	14	explanation	explanation	NOUN
ajst-32395	169	15	of	of	ADP
ajst-32395	169	16	sensor	sensor	NOUN
ajst-32395	169	17	contributions	contribution	NOUN
ajst-32395	169	18	,	,	PUNCT
ajst-32395	169	19	and	and	CCONJ
ajst-32395	169	20	by	by	ADP
ajst-32395	169	21	flags	flag	NOUN
ajst-32395	169	22	that	that	PRON
ajst-32395	169	23	summarize	summarize	VERB
ajst-32395	169	24	recent	recent	ADJ
ajst-32395	169	25	health	health	NOUN
ajst-32395	169	26	trends	trend	NOUN
ajst-32395	169	27	,	,	PUNCT
ajst-32395	169	28	planners	planner	NOUN
ajst-32395	169	29	can	can	AUX
ajst-32395	169	30	adapt	adapt	VERB
ajst-32395	169	31	aggressiveness	aggressiveness	NOUN
ajst-32395	169	32	and	and	CCONJ
ajst-32395	169	33	speed	speed	NOUN
ajst-32395	169	34	profiles	profile	NOUN
ajst-32395	169	35	to	to	ADP
ajst-32395	169	36	current	current	ADJ
ajst-32395	169	37	observability	observability	NOUN
ajst-32395	169	38	.	.	PUNCT
ajst-32395	170	1	such	such	ADJ
ajst-32395	170	2	contracts	contract	NOUN
ajst-32395	170	3	turn	turn	VERB
ajst-32395	170	4	perception	perception	NOUN
ajst-32395	170	5	from	from	ADP
ajst-32395	170	6	a	a	DET
ajst-32395	170	7	brittle	brittle	ADJ
ajst-32395	170	8	source	source	NOUN
ajst-32395	170	9	of	of	ADP
ajst-32395	170	10	numbers	number	NOUN
ajst-32395	170	11	into	into	ADP
ajst-32395	170	12	a	a	DET
ajst-32395	170	13	negotiated	negotiate	VERB
ajst-32395	170	14	interface	interface	NOUN
ajst-32395	170	15	that	that	PRON
ajst-32395	170	16	expresses	express	VERB
ajst-32395	170	17	both	both	PRON
ajst-32395	170	18	content	content	NOUN
ajst-32395	170	19	and	and	CCONJ
ajst-32395	170	20	quality	quality	NOUN
ajst-32395	170	21	.	.	PUNCT
ajst-32395	171	1	over	over	ADP
ajst-32395	171	2	time	time	NOUN
ajst-32395	171	3	,	,	PUNCT
ajst-32395	171	4	the	the	DET
ajst-32395	171	5	result	result	NOUN
ajst-32395	171	6	should	should	AUX
ajst-32395	171	7	be	be	AUX
ajst-32395	171	8	vehicles	vehicle	NOUN
ajst-32395	171	9	that	that	PRON
ajst-32395	171	10	drive	drive	VERB
ajst-32395	171	11	not	not	PART
ajst-32395	171	12	only	only	ADV
ajst-32395	171	13	accurately	accurately	ADV
ajst-32395	171	14	but	but	CCONJ
ajst-32395	171	15	also	also	ADV
ajst-32395	171	16	cautiously	cautiously	ADV
ajst-32395	171	17	when	when	SCONJ
ajst-32395	171	18	the	the	DET
ajst-32395	171	19	world	world	NOUN
ajst-32395	171	20	becomes	become	VERB
ajst-32395	171	21	difficult	difficult	ADJ
ajst-32395	171	22	.	.	PUNCT
ajst-32395	172	1	a	a	DET
ajst-32395	172	2	related	relate	VERB
ajst-32395	172	3	research	research	NOUN
ajst-32395	172	4	lane	lane	NOUN
ajst-32395	172	5	pursues	pursue	VERB
ajst-32395	172	6	metrics	metric	NOUN
ajst-32395	172	7	and	and	CCONJ
ajst-32395	172	8	tooling	tool	VERB
ajst-32395	172	9	for	for	ADP
ajst-32395	172	10	explainability	explainability	NOUN
ajst-32395	172	11	that	that	PRON
ajst-32395	172	12	are	be	AUX
ajst-32395	172	13	specific	specific	ADJ
ajst-32395	172	14	to	to	PART
ajst-32395	172	15	fusion	fusion	NOUN
ajst-32395	172	16	.	.	PUNCT
ajst-32395	173	1	generic	generic	ADJ
ajst-32395	173	2	saliency	saliency	NOUN
ajst-32395	173	3	often	often	ADV
ajst-32395	173	4	highlights	highlight	VERB
ajst-32395	173	5	textures	texture	NOUN
ajst-32395	173	6	rather	rather	ADV
ajst-32395	173	7	than	than	ADP
ajst-32395	173	8	the	the	DET
ajst-32395	173	9	modal	modal	ADJ
ajst-32395	173	10	contributions	contribution	NOUN
ajst-32395	173	11	that	that	PRON
ajst-32395	173	12	matter	matter	VERB
ajst-32395	173	13	for	for	ADP
ajst-32395	173	14	safety	safety	NOUN
ajst-32395	173	15	.	.	PUNCT
ajst-32395	174	1	what	what	PRON
ajst-32395	174	2	is	be	AUX
ajst-32395	174	3	needed	need	VERB
ajst-32395	174	4	are	be	AUX
ajst-32395	174	5	per‑sensor	per‑sensor	NOUN
ajst-32395	174	6	attributions	attribution	NOUN
ajst-32395	174	7	and	and	CCONJ
ajst-32395	174	8	compact	compact	ADJ
ajst-32395	174	9	rationales	rationale	NOUN
ajst-32395	174	10	that	that	PRON
ajst-32395	174	11	tell	tell	VERB
ajst-32395	174	12	an	an	DET
ajst-32395	174	13	engineer	engineer	NOUN
ajst-32395	174	14	,	,	PUNCT
ajst-32395	174	15	and	and	CCONJ
ajst-32395	174	16	eventually	eventually	ADV
ajst-32395	174	17	a	a	DET
ajst-32395	174	18	regulator	regulator	NOUN
ajst-32395	174	19	,	,	PUNCT
ajst-32395	174	20	why	why	SCONJ
ajst-32395	174	21	radar	radar	NOUN
ajst-32395	174	22	outweighed	outweigh	VERB
ajst-32395	174	23	camera	camera	NOUN
ajst-32395	174	24	on	on	ADP
ajst-32395	174	25	a	a	DET
ajst-32395	174	26	particular	particular	ADJ
ajst-32395	174	27	frame	frame	NOUN
ajst-32395	174	28	,	,	PUNCT
ajst-32395	174	29	or	or	CCONJ
ajst-32395	174	30	why	why	SCONJ
ajst-32395	174	31	gnss	gnss	NOUN
ajst-32395	174	32	updates	update	NOUN
ajst-32395	174	33	were	be	AUX
ajst-32395	174	34	excluded	exclude	VERB
ajst-32395	174	35	during	during	ADP
ajst-32395	174	36	a	a	DET
ajst-32395	174	37	localization	localization	NOUN
ajst-32395	174	38	spike	spike	NOUN
ajst-32395	174	39	.	.	PUNCT
ajst-32395	175	1	lightweight	lightweight	ADJ
ajst-32395	175	2	shapley‑style	shapley‑style	NOUN
ajst-32395	175	3	proxies	proxy	NOUN
ajst-32395	175	4	and	and	CCONJ
ajst-32395	175	5	counterfactual	counterfactual	ADJ
ajst-32395	175	6	probes	probe	NOUN
ajst-32395	175	7	—	—	PUNCT
ajst-32395	175	8	masking	mask	VERB
ajst-32395	175	9	a	a	DET
ajst-32395	175	10	channel	channel	NOUN
ajst-32395	175	11	and	and	CCONJ
ajst-32395	175	12	measuring	measure	VERB
ajst-32395	175	13	the	the	DET
ajst-32395	175	14	delta	delta	NOUN
ajst-32395	175	15	in	in	ADP
ajst-32395	175	16	the	the	DET
ajst-32395	175	17	fused	fuse	VERB
ajst-32395	175	18	estimate	estimate	NOUN
ajst-32395	175	19	—	—	PUNCT
ajst-32395	175	20	can	can	AUX
ajst-32395	175	21	supply	supply	VERB
ajst-32395	175	22	such	such	ADJ
ajst-32395	175	23	evidence	evidence	NOUN
ajst-32395	175	24	without	without	ADP
ajst-32395	175	25	halting	halt	VERB
ajst-32395	175	26	real‑time	real‑time	ADJ
ajst-32395	175	27	execution	execution	NOUN
ajst-32395	175	28	.	.	PUNCT
ajst-32395	176	1	on	on	ADP
ajst-32395	176	2	the	the	DET
ajst-32395	176	3	uncertainty	uncertainty	NOUN
ajst-32395	176	4	front	front	NOUN
ajst-32395	176	5	,	,	PUNCT
ajst-32395	176	6	calibration	calibration	NOUN
ajst-32395	176	7	should	should	AUX
ajst-32395	176	8	be	be	AUX
ajst-32395	176	9	evaluated	evaluate	VERB
ajst-32395	176	10	at	at	ADP
ajst-32395	176	11	the	the	DET
ajst-32395	176	12	object	object	NOUN
ajst-32395	176	13	,	,	PUNCT
ajst-32395	176	14	trajectory	trajectory	NOUN
ajst-32395	176	15	and	and	CCONJ
ajst-32395	176	16	scene	scene	NOUN
ajst-32395	176	17	levels	level	NOUN
ajst-32395	176	18	rather	rather	ADV
ajst-32395	176	19	than	than	ADP
ajst-32395	176	20	only	only	ADV
ajst-32395	176	21	per‑pixel	per‑pixel	PROPN
ajst-32395	176	22	or	or	CCONJ
ajst-32395	176	23	per‑detection	per‑detection	NOUN
ajst-32395	176	24	.	.	PUNCT
ajst-32395	177	1	metrics	metric	NOUN
ajst-32395	177	2	that	that	PRON
ajst-32395	177	3	penalize	penalize	VERB
ajst-32395	177	4	over‑confidence	over‑confidence	NOUN
ajst-32395	177	5	in	in	ADP
ajst-32395	177	6	the	the	DET
ajst-32395	177	7	tails	tail	NOUN
ajst-32395	177	8	encourage	encourage	VERB
ajst-32395	177	9	models	model	NOUN
ajst-32395	177	10	that	that	PRON
ajst-32395	177	11	align	align	VERB
ajst-32395	177	12	stated	state	VERB
ajst-32395	177	13	confidence	confidence	NOUN
ajst-32395	177	14	with	with	ADP
ajst-32395	177	15	empirical	empirical	ADJ
ajst-32395	177	16	error	error	NOUN
ajst-32395	177	17	,	,	PUNCT
ajst-32395	177	18	which	which	PRON
ajst-32395	177	19	is	be	AUX
ajst-32395	177	20	the	the	DET
ajst-32395	177	21	quantity	quantity	NOUN
ajst-32395	177	22	planners	planner	NOUN
ajst-32395	177	23	actually	actually	ADV
ajst-32395	177	24	consume	consume	VERB
ajst-32395	177	25	.	.	PUNCT
ajst-32395	178	1	validation	validation	NOUN
ajst-32395	178	2	infrastructure	infrastructure	NOUN
ajst-32395	178	3	will	will	AUX
ajst-32395	178	4	need	need	VERB
ajst-32395	178	5	to	to	PART
ajst-32395	178	6	grow	grow	VERB
ajst-32395	178	7	accordingly	accordingly	ADV
ajst-32395	178	8	.	.	PUNCT
ajst-32395	179	1	hardware‑in‑the‑loop	hardware‑in‑the‑loop	NOUN
ajst-32395	179	2	testbeds	testbed	VERB
ajst-32395	179	3	that	that	SCONJ
ajst-32395	179	4	replay	replay	NOUN
ajst-32395	179	5	synchronized	synchronize	VERB
ajst-32395	179	6	multi‑modal	multi‑modal	NOUN
ajst-32395	179	7	logs	log	NOUN
ajst-32395	179	8	through	through	ADP
ajst-32395	179	9	real	real	ADJ
ajst-32395	179	10	sensors	sensor	NOUN
ajst-32395	179	11	and	and	CCONJ
ajst-32395	179	12	compute	compute	NOUN
ajst-32395	179	13	stacks	stack	NOUN
ajst-32395	179	14	can	can	AUX
ajst-32395	179	15	expose	expose	VERB
ajst-32395	179	16	timing	timing	NOUN
ajst-32395	179	17	issues	issue	NOUN
ajst-32395	179	18	and	and	CCONJ
ajst-32395	179	19	bus	bus	NOUN
ajst-32395	179	20	saturation	saturation	NOUN
ajst-32395	179	21	that	that	PRON
ajst-32395	179	22	do	do	AUX
ajst-32395	179	23	not	not	PART
ajst-32395	179	24	appear	appear	VERB
ajst-32395	179	25	in	in	ADP
ajst-32395	179	26	offline	offline	ADJ
ajst-32395	179	27	experiments	experiment	NOUN
ajst-32395	179	28	.	.	PUNCT
ajst-32395	180	1	scenario	scenario	NOUN
ajst-32395	180	2	libraries	library	NOUN
ajst-32395	180	3	that	that	PRON
ajst-32395	180	4	combine	combine	VERB
ajst-32395	180	5	naturalistic	naturalistic	ADJ
ajst-32395	180	6	traffic	traffic	NOUN
ajst-32395	180	7	with	with	ADP
ajst-32395	180	8	scripted	script	VERB
ajst-32395	180	9	degradations	degradation	NOUN
ajst-32395	180	10	make	make	VERB
ajst-32395	180	11	it	it	PRON
ajst-32395	180	12	possible	possible	ADJ
ajst-32395	180	13	to	to	PART
ajst-32395	180	14	reproduce	reproduce	VERB
ajst-32395	180	15	edge	edge	NOUN
ajst-32395	180	16	cases	case	NOUN
ajst-32395	180	17	,	,	PUNCT
ajst-32395	180	18	and	and	CCONJ
ajst-32395	180	19	coverage	coverage	NOUN
ajst-32395	180	20	tools	tool	NOUN
ajst-32395	180	21	can	can	AUX
ajst-32395	180	22	track	track	VERB
ajst-32395	180	23	which	which	DET
ajst-32395	180	24	combinations	combination	NOUN
ajst-32395	180	25	of	of	ADP
ajst-32395	180	26	weather	weather	NOUN
ajst-32395	180	27	,	,	PUNCT
ajst-32395	180	28	lighting	lighting	NOUN
ajst-32395	180	29	,	,	PUNCT
ajst-32395	180	30	speed	speed	NOUN
ajst-32395	180	31	and	and	CCONJ
ajst-32395	180	32	sensor	sensor	NOUN
ajst-32395	180	33	health	health	NOUN
ajst-32395	180	34	have	have	AUX
ajst-32395	180	35	been	be	AUX
ajst-32395	180	36	tested	test	VERB
ajst-32395	180	37	.	.	PUNCT
ajst-32395	181	1	finally	finally	ADV
ajst-32395	181	2	,	,	PUNCT
ajst-32395	181	3	governance	governance	NOUN
ajst-32395	181	4	must	must	AUX
ajst-32395	181	5	keep	keep	VERB
ajst-32395	181	6	pace	pace	NOUN
ajst-32395	181	7	with	with	ADP
ajst-32395	181	8	engineering	engineering	NOUN
ajst-32395	181	9	.	.	PUNCT
ajst-32395	182	1	clear	clear	ADJ
ajst-32395	182	2	responsibilities	responsibility	NOUN
ajst-32395	182	3	for	for	ADP
ajst-32395	182	4	audit	audit	NOUN
ajst-32395	182	5	trails	trail	NOUN
ajst-32395	182	6	,	,	PUNCT
ajst-32395	182	7	retention	retention	NOUN
ajst-32395	182	8	of	of	ADP
ajst-32395	182	9	fusion	fusion	NOUN
ajst-32395	182	10	rationales	rationale	NOUN
ajst-32395	182	11	,	,	PUNCT
ajst-32395	182	12	and	and	CCONJ
ajst-32395	182	13	disclosure	disclosure	NOUN
ajst-32395	182	14	of	of	ADP
ajst-32395	182	15	known	know	VERB
ajst-32395	182	16	failure	failure	NOUN
ajst-32395	182	17	modes	mode	NOUN
ajst-32395	182	18	will	will	AUX
ajst-32395	182	19	accelerate	accelerate	VERB
ajst-32395	182	20	acceptance	acceptance	NOUN
ajst-32395	182	21	and	and	CCONJ
ajst-32395	182	22	allow	allow	VERB
ajst-32395	182	23	independent	independent	ADJ
ajst-32395	182	24	assessment	assessment	NOUN
ajst-32395	182	25	.	.	PUNCT
ajst-32395	183	1	in	in	ADP
ajst-32395	183	2	short	short	ADJ
ajst-32395	183	3	,	,	PUNCT
ajst-32395	183	4	the	the	DET
ajst-32395	183	5	next	next	ADJ
ajst-32395	183	6	phase	phase	NOUN
ajst-32395	183	7	is	be	AUX
ajst-32395	183	8	as	as	ADV
ajst-32395	183	9	much	much	ADJ
ajst-32395	183	10	about	about	ADP
ajst-32395	183	11	making	make	VERB
ajst-32395	183	12	reliable	reliable	ADJ
ajst-32395	183	13	systems	system	NOUN
ajst-32395	183	14	inspectable	inspectable	ADJ
ajst-32395	183	15	as	as	SCONJ
ajst-32395	183	16	it	it	PRON
ajst-32395	183	17	is	be	AUX
ajst-32395	183	18	about	about	ADP
ajst-32395	183	19	making	make	VERB
ajst-32395	183	20	them	they	PRON
ajst-32395	183	21	accurate	accurate	ADJ
ajst-32395	183	22	.	.	PUNCT
ajst-32395	184	1	222	222	NUM
ajst-32395	184	2	6	6	NUM
ajst-32395	184	3	.	.	PUNCT
ajst-32395	185	1	conclusion	conclusion	NOUN
ajst-32395	185	2	redundancy	redundancy	NOUN
ajst-32395	185	3	without	without	ADP
ajst-32395	185	4	a	a	DET
ajst-32395	185	5	notion	notion	NOUN
ajst-32395	185	6	of	of	ADP
ajst-32395	185	7	reliability	reliability	NOUN
ajst-32395	185	8	spreads	spread	VERB
ajst-32395	185	9	errors	error	NOUN
ajst-32395	185	10	across	across	ADP
ajst-32395	185	11	channels	channel	NOUN
ajst-32395	185	12	,	,	PUNCT
ajst-32395	185	13	while	while	SCONJ
ajst-32395	185	14	reliability	reliability	NOUN
ajst-32395	185	15	without	without	ADP
ajst-32395	185	16	fusion	fusion	NOUN
ajst-32395	185	17	leaves	leave	VERB
ajst-32395	185	18	large	large	ADJ
ajst-32395	185	19	blind	blind	ADJ
ajst-32395	185	20	spots	spot	NOUN
ajst-32395	185	21	.	.	PUNCT
ajst-32395	186	1	the	the	DET
ajst-32395	186	2	quantitative	quantitative	ADJ
ajst-32395	186	3	record	record	NOUN
ajst-32395	186	4	now	now	ADV
ajst-32395	186	5	supports	support	VERB
ajst-32395	186	6	a	a	DET
ajst-32395	186	7	middle	middle	ADJ
ajst-32395	186	8	course	course	NOUN
ajst-32395	186	9	in	in	ADP
ajst-32395	186	10	which	which	PRON
ajst-32395	186	11	redundancy‑aware	redundancy‑aware	NOUN
ajst-32395	186	12	fusion	fusion	NOUN
ajst-32395	186	13	detects	detect	NOUN
ajst-32395	186	14	,	,	PUNCT
ajst-32395	186	15	isolates	isolate	NOUN
ajst-32395	186	16	and	and	CCONJ
ajst-32395	186	17	responds	respond	VERB
ajst-32395	186	18	to	to	PART
ajst-32395	186	19	faults	fault	NOUN
ajst-32395	186	20	,	,	PUNCT
ajst-32395	186	21	yielding	yield	VERB
ajst-32395	186	22	measurable	measurable	ADJ
ajst-32395	186	23	safety	safety	NOUN
ajst-32395	186	24	margins	margin	NOUN
ajst-32395	186	25	in	in	ADP
ajst-32395	186	26	detection	detection	NOUN
ajst-32395	186	27	,	,	PUNCT
ajst-32395	186	28	perception	perception	NOUN
ajst-32395	186	29	and	and	CCONJ
ajst-32395	186	30	localization	localization	NOUN
ajst-32395	186	31	.	.	PUNCT
ajst-32395	187	1	the	the	DET
ajst-32395	187	2	examples	example	NOUN
ajst-32395	187	3	considered	consider	VERB
ajst-32395	187	4	here	here	ADV
ajst-32395	187	5	show	show	VERB
ajst-32395	187	6	how	how	SCONJ
ajst-32395	187	7	accuracy	accuracy	NOUN
ajst-32395	187	8	improves	improve	VERB
ajst-32395	187	9	when	when	SCONJ
ajst-32395	187	10	camera	camera	NOUN
ajst-32395	187	11	faults	fault	NOUN
ajst-32395	187	12	are	be	AUX
ajst-32395	187	13	injected	inject	VERB
ajst-32395	187	14	yet	yet	ADV
ajst-32395	187	15	handled	handle	VERB
ajst-32395	187	16	by	by	ADP
ajst-32395	187	17	diagnosis‑and‑avoidance	diagnosis‑and‑avoidance	NOUN
ajst-32395	187	18	gates	gate	NOUN
ajst-32395	187	19	,	,	PUNCT
ajst-32395	187	20	and	and	CCONJ
ajst-32395	187	21	how	how	SCONJ
ajst-32395	187	22	position‑error	position‑error	NOUN
ajst-32395	187	23	tails	tail	NOUN
ajst-32395	187	24	contract	contract	VERB
ajst-32395	187	25	when	when	SCONJ
ajst-32395	187	26	adaptive	adaptive	ADJ
ajst-32395	187	27	thresholds	threshold	NOUN
ajst-32395	187	28	remove	remove	VERB
ajst-32395	187	29	harmful	harmful	ADJ
ajst-32395	187	30	gnss	gnss	NOUN
ajst-32395	187	31	measurements	measurement	NOUN
ajst-32395	187	32	.	.	PUNCT
ajst-32395	188	1	outstanding	outstanding	ADJ
ajst-32395	188	2	issues	issue	NOUN
ajst-32395	188	3	-	-	PUNCT
ajst-32395	188	4	uncertainty	uncertainty	NOUN
ajst-32395	188	5	calibration	calibration	NOUN
ajst-32395	188	6	,	,	PUNCT
ajst-32395	188	7	explainability	explainability	NOUN
ajst-32395	188	8	,	,	PUNCT
ajst-32395	188	9	and	and	CCONJ
ajst-32395	188	10	compute	compute	ADJ
ajst-32395	188	11	ceilings	ceiling	NOUN
ajst-32395	188	12	on	on	ADP
ajst-32395	188	13	embedded	embed	VERB
ajst-32395	188	14	platforms	platform	NOUN
ajst-32395	188	15	—	—	PUNCT
ajst-32395	188	16	should	should	AUX
ajst-32395	188	17	be	be	AUX
ajst-32395	188	18	treated	treat	VERB
ajst-32395	188	19	as	as	ADP
ajst-32395	188	20	design	design	NOUN
ajst-32395	188	21	constraints	constraint	NOUN
ajst-32395	188	22	rather	rather	ADV
ajst-32395	188	23	than	than	ADP
ajst-32395	188	24	afterthoughts	afterthought	NOUN
ajst-32395	188	25	.	.	PUNCT
ajst-32395	189	1	by	by	ADP
ajst-32395	189	2	pairing	pair	VERB
ajst-32395	189	3	self‑auditing	self‑audite	VERB
ajst-32395	189	4	fusion	fusion	NOUN
ajst-32395	189	5	with	with	ADP
ajst-32395	189	6	context‑aware	context‑aware	NOUN
ajst-32395	189	7	reliability	reliability	NOUN
ajst-32395	189	8	models	model	NOUN
ajst-32395	189	9	and	and	CCONJ
ajst-32395	189	10	resource‑conscious	resource‑conscious	ADJ
ajst-32395	189	11	implementations	implementation	NOUN
ajst-32395	189	12	,	,	PUNCT
ajst-32395	189	13	and	and	CCONJ
ajst-32395	189	14	by	by	ADP
ajst-32395	189	15	evaluating	evaluate	VERB
ajst-32395	189	16	these	these	DET
ajst-32395	189	17	systems	system	NOUN
ajst-32395	189	18	on	on	ADP
ajst-32395	189	19	benchmarks	benchmark	NOUN
ajst-32395	189	20	that	that	PRON
ajst-32395	189	21	encode	encode	VERB
ajst-32395	189	22	realistic	realistic	ADJ
ajst-32395	189	23	failures	failure	NOUN
ajst-32395	189	24	,	,	PUNCT
ajst-32395	189	25	the	the	DET
ajst-32395	189	26	field	field	NOUN
ajst-32395	189	27	can	can	AUX
ajst-32395	189	28	move	move	VERB
ajst-32395	189	29	toward	toward	ADP
ajst-32395	189	30	certifiable	certifiable	ADJ
ajst-32395	189	31	,	,	PUNCT
ajst-32395	189	32	fail‑operational	fail‑operational	ADJ
ajst-32395	189	33	perception	perception	NOUN
ajst-32395	189	34	suitable	suitable	ADJ
ajst-32395	189	35	for	for	ADP
ajst-32395	189	36	complex	complex	ADJ
ajst-32395	189	37	,	,	PUNCT
ajst-32395	189	38	dynamic	dynamic	ADJ
ajst-32395	189	39	environments	environment	NOUN
ajst-32395	189	40	.	.	PUNCT
ajst-32395	190	1	the	the	DET
ajst-32395	190	2	practical	practical	ADJ
ajst-32395	190	3	message	message	NOUN
ajst-32395	190	4	is	be	AUX
ajst-32395	190	5	straightforward	straightforward	ADJ
ajst-32395	190	6	:	:	PUNCT
ajst-32395	190	7	additional	additional	ADJ
ajst-32395	190	8	sensors	sensor	NOUN
ajst-32395	190	9	add	add	VERB
ajst-32395	190	10	value	value	NOUN
ajst-32395	190	11	only	only	ADV
ajst-32395	190	12	when	when	SCONJ
ajst-32395	190	13	their	their	PRON
ajst-32395	190	14	reliability	reliability	NOUN
ajst-32395	190	15	is	be	AUX
ajst-32395	190	16	explicitly	explicitly	ADV
ajst-32395	190	17	measured	measure	VERB
ajst-32395	190	18	and	and	CCONJ
ajst-32395	190	19	expressed	express	VERB
ajst-32395	190	20	in	in	ADP
ajst-32395	190	21	the	the	DET
ajst-32395	190	22	fusion	fusion	NOUN
ajst-32395	190	23	logic	logic	NOUN
ajst-32395	190	24	that	that	PRON
ajst-32395	190	25	informs	inform	VERB
ajst-32395	190	26	planning	planning	NOUN
ajst-32395	190	27	and	and	CCONJ
ajst-32395	190	28	control	control	NOUN
ajst-32395	190	29	.	.	PUNCT
ajst-32395	191	1	the	the	DET
ajst-32395	191	2	review	review	NOUN
ajst-32395	191	3	also	also	ADV
ajst-32395	191	4	exposes	expose	VERB
ajst-32395	191	5	limits	limit	NOUN
ajst-32395	191	6	that	that	PRON
ajst-32395	191	7	should	should	AUX
ajst-32395	191	8	temper	temper	NOUN
ajst-32395	191	9	expectations	expectation	NOUN
ajst-32395	191	10	.	.	PUNCT
ajst-32395	192	1	fusion	fusion	NOUN
ajst-32395	192	2	can	can	AUX
ajst-32395	192	3	not	not	PART
ajst-32395	192	4	create	create	VERB
ajst-32395	192	5	information	information	NOUN
ajst-32395	192	6	that	that	PRON
ajst-32395	192	7	was	be	AUX
ajst-32395	192	8	never	never	ADV
ajst-32395	192	9	observed	observe	VERB
ajst-32395	192	10	;	;	PUNCT
ajst-32395	192	11	it	it	PRON
ajst-32395	192	12	can	can	AUX
ajst-32395	192	13	only	only	ADV
ajst-32395	192	14	recombine	recombine	VERB
ajst-32395	192	15	and	and	CCONJ
ajst-32395	192	16	qualify	qualify	VERB
ajst-32395	192	17	what	what	PRON
ajst-32395	192	18	the	the	DET
ajst-32395	192	19	sensors	sensor	NOUN
ajst-32395	192	20	provide	provide	VERB
ajst-32395	192	21	.	.	PUNCT
ajst-32395	193	1	when	when	SCONJ
ajst-32395	193	2	all	all	DET
ajst-32395	193	3	channels	channel	NOUN
ajst-32395	193	4	degrade	degrade	VERB
ajst-32395	193	5	simultaneously	simultaneously	ADV
ajst-32395	193	6	-	-	PUNCT
ajst-32395	193	7	for	for	ADP
ajst-32395	193	8	instance	instance	NOUN
ajst-32395	193	9	in	in	ADP
ajst-32395	193	10	heavy	heavy	ADJ
ajst-32395	193	11	snow	snow	NOUN
ajst-32395	193	12	at	at	ADP
ajst-32395	193	13	night	night	NOUN
ajst-32395	193	14	-	-	PUNCT
ajst-32395	193	15	no	no	PRON
ajst-32395	193	16	amount	amount	NOUN
ajst-32395	193	17	of	of	ADP
ajst-32395	193	18	cleverness	cleverness	NOUN
ajst-32395	193	19	removes	remove	VERB
ajst-32395	193	20	the	the	DET
ajst-32395	193	21	need	need	NOUN
ajst-32395	193	22	for	for	ADP
ajst-32395	193	23	graceful	graceful	ADJ
ajst-32395	193	24	fallback	fallback	NOUN
ajst-32395	193	25	policies	policy	NOUN
ajst-32395	193	26	that	that	PRON
ajst-32395	193	27	reduce	reduce	VERB
ajst-32395	193	28	speed	speed	NOUN
ajst-32395	193	29	or	or	CCONJ
ajst-32395	193	30	suspend	suspend	VERB
ajst-32395	193	31	automation	automation	NOUN
ajst-32395	193	32	.	.	PUNCT
ajst-32395	194	1	likewise	likewise	ADV
ajst-32395	194	2	,	,	PUNCT
ajst-32395	194	3	explainability	explainability	NOUN
ajst-32395	194	4	and	and	CCONJ
ajst-32395	194	5	calibration	calibration	NOUN
ajst-32395	194	6	add	add	VERB
ajst-32395	194	7	overhead	overhead	ADV
ajst-32395	194	8	,	,	PUNCT
ajst-32395	194	9	and	and	CCONJ
ajst-32395	194	10	there	there	PRON
ajst-32395	194	11	will	will	AUX
ajst-32395	194	12	always	always	ADV
ajst-32395	194	13	be	be	AUX
ajst-32395	194	14	pressure	pressure	NOUN
ajst-32395	194	15	to	to	PART
ajst-32395	194	16	trade	trade	VERB
ajst-32395	194	17	them	they	PRON
ajst-32395	194	18	away	away	ADV
ajst-32395	194	19	for	for	ADP
ajst-32395	194	20	nominal	nominal	ADJ
ajst-32395	194	21	accuracy	accuracy	NOUN
ajst-32395	194	22	.	.	PUNCT
ajst-32395	195	1	the	the	DET
ajst-32395	195	2	case	case	NOUN
ajst-32395	195	3	made	make	VERB
ajst-32395	195	4	here	here	ADV
ajst-32395	195	5	is	be	AUX
ajst-32395	195	6	that	that	SCONJ
ajst-32395	195	7	the	the	DET
ajst-32395	195	8	trade	trade	NOUN
ajst-32395	195	9	is	be	AUX
ajst-32395	195	10	false	false	ADJ
ajst-32395	195	11	:	:	PUNCT
ajst-32395	195	12	systems	system	NOUN
ajst-32395	195	13	that	that	PRON
ajst-32395	195	14	explain	explain	VERB
ajst-32395	195	15	themselves	themselves	PRON
ajst-32395	195	16	and	and	CCONJ
ajst-32395	195	17	that	that	PRON
ajst-32395	195	18	quantify	quantify	VERB
ajst-32395	195	19	their	their	PRON
ajst-32395	195	20	uncertainty	uncertainty	NOUN
ajst-32395	195	21	are	be	AUX
ajst-32395	195	22	precisely	precisely	ADV
ajst-32395	195	23	those	those	PRON
ajst-32395	195	24	that	that	PRON
ajst-32395	195	25	avoid	avoid	VERB
ajst-32395	195	26	catastrophic	catastrophic	ADJ
ajst-32395	195	27	mistakes	mistake	NOUN
ajst-32395	195	28	and	and	CCONJ
ajst-32395	195	29	that	that	PRON
ajst-32395	195	30	earn	earn	VERB
ajst-32395	195	31	public	public	ADJ
ajst-32395	195	32	trust	trust	NOUN
ajst-32395	195	33	.	.	PUNCT
ajst-32395	196	1	the	the	DET
ajst-32395	196	2	practical	practical	ADJ
ajst-32395	196	3	path	path	NOUN
ajst-32395	196	4	forward	forward	ADV
ajst-32395	196	5	is	be	AUX
ajst-32395	196	6	incremental	incremental	ADJ
ajst-32395	196	7	.	.	PUNCT
ajst-32395	197	1	add	add	VERB
ajst-32395	197	2	reliability	reliability	NOUN
ajst-32395	197	3	estimates	estimate	NOUN
ajst-32395	197	4	where	where	SCONJ
ajst-32395	197	5	they	they	PRON
ajst-32395	197	6	are	be	AUX
ajst-32395	197	7	missing	miss	VERB
ajst-32395	197	8	;	;	PUNCT
ajst-32395	197	9	attach	attach	VERB
ajst-32395	197	10	concise	concise	ADJ
ajst-32395	197	11	reasons	reason	NOUN
ajst-32395	197	12	to	to	ADP
ajst-32395	197	13	major	major	ADJ
ajst-32395	197	14	fusion	fusion	NOUN
ajst-32395	197	15	decisions	decision	NOUN
ajst-32395	197	16	;	;	PUNCT
ajst-32395	197	17	and	and	CCONJ
ajst-32395	197	18	test	test	VERB
ajst-32395	197	19	on	on	ADP
ajst-32395	197	20	datasets	dataset	NOUN
ajst-32395	197	21	that	that	PRON
ajst-32395	197	22	fail	fail	VERB
ajst-32395	197	23	on	on	ADP
ajst-32395	197	24	purpose	purpose	NOUN
ajst-32395	197	25	.	.	PUNCT
ajst-32395	198	1	even	even	ADV
ajst-32395	198	2	modest	modest	ADJ
ajst-32395	198	3	progress	progress	NOUN
ajst-32395	198	4	on	on	ADP
ajst-32395	198	5	these	these	DET
ajst-32395	198	6	fronts	front	NOUN
ajst-32395	198	7	will	will	AUX
ajst-32395	198	8	compound	compound	VERB
ajst-32395	198	9	into	into	ADP
ajst-32395	198	10	perception	perception	NOUN
ajst-32395	198	11	stacks	stack	NOUN
ajst-32395	198	12	that	that	PRON
ajst-32395	198	13	remain	remain	VERB
ajst-32395	198	14	effective	effective	ADJ
ajst-32395	198	15	when	when	SCONJ
ajst-32395	198	16	conditions	condition	NOUN
ajst-32395	198	17	are	be	AUX
ajst-32395	198	18	worst	bad	ADJ
ajst-32395	198	19	,	,	PUNCT
ajst-32395	198	20	which	which	PRON
ajst-32395	198	21	is	be	AUX
ajst-32395	198	22	when	when	SCONJ
ajst-32395	198	23	safety	safety	NOUN
ajst-32395	198	24	matters	matter	VERB
ajst-32395	198	25	most	most	ADV
ajst-32395	198	26	.	.	PUNCT
ajst-32395	199	1	in	in	ADP
ajst-32395	199	2	bringing	bring	VERB
ajst-32395	199	3	these	these	DET
ajst-32395	199	4	strands	strand	NOUN
ajst-32395	199	5	together	together	ADV
ajst-32395	199	6	,	,	PUNCT
ajst-32395	199	7	the	the	DET
ajst-32395	199	8	paper	paper	NOUN
ajst-32395	199	9	argues	argue	VERB
ajst-32395	199	10	for	for	ADP
ajst-32395	199	11	treating	treat	VERB
ajst-32395	199	12	redundancy‑aware	redundancy‑aware	NOUN
ajst-32395	199	13	fusion	fusion	NOUN
ajst-32395	199	14	as	as	ADP
ajst-32395	199	15	the	the	DET
ajst-32395	199	16	architectural	architectural	ADJ
ajst-32395	199	17	center	center	NOUN
ajst-32395	199	18	of	of	ADP
ajst-32395	199	19	the	the	DET
ajst-32395	199	20	perception	perception	NOUN
ajst-32395	199	21	stack	stack	NOUN
ajst-32395	199	22	and	and	CCONJ
ajst-32395	199	23	for	for	ADP
ajst-32395	199	24	equipping	equip	VERB
ajst-32395	199	25	it	it	PRON
ajst-32395	199	26	with	with	ADP
ajst-32395	199	27	the	the	DET
ajst-32395	199	28	diagnostics	diagnostic	NOUN
ajst-32395	199	29	,	,	PUNCT
ajst-32395	199	30	explanations	explanation	NOUN
ajst-32395	199	31	and	and	CCONJ
ajst-32395	199	32	calibrated	calibrate	VERB
ajst-32395	199	33	uncertainties	uncertainty	NOUN
ajst-32395	199	34	that	that	SCONJ
ajst-32395	199	35	downstream	downstream	ADJ
ajst-32395	199	36	modules	module	NOUN
ajst-32395	199	37	require	require	VERB
ajst-32395	199	38	.	.	PUNCT
ajst-32395	200	1	the	the	DET
ajst-32395	200	2	quantitative	quantitative	ADJ
ajst-32395	200	3	examples	example	NOUN
ajst-32395	200	4	—	—	PUNCT
ajst-32395	200	5	high	high	ADJ
ajst-32395	200	6	detection	detection	NOUN
ajst-32395	200	7	and	and	CCONJ
ajst-32395	200	8	usable	usable	ADJ
ajst-32395	200	9	isolation	isolation	NOUN
ajst-32395	200	10	on	on	ADP
ajst-32395	200	11	vehicle	vehicle	NOUN
ajst-32395	200	12	buses	bus	NOUN
ajst-32395	200	13	,	,	PUNCT
ajst-32395	200	14	large	large	ADJ
ajst-32395	200	15	perception	perception	NOUN
ajst-32395	200	16	gains	gain	NOUN
ajst-32395	200	17	under	under	ADP
ajst-32395	200	18	camera	camera	NOUN
ajst-32395	200	19	faults	fault	NOUN
ajst-32395	200	20	,	,	PUNCT
ajst-32395	200	21	and	and	CCONJ
ajst-32395	200	22	localization	localization	NOUN
ajst-32395	200	23	improvements	improvement	NOUN
ajst-32395	200	24	from	from	ADP
ajst-32395	200	25	adaptive	adaptive	ADJ
ajst-32395	200	26	exclusion	exclusion	NOUN
ajst-32395	200	27	—	—	PUNCT
ajst-32395	200	28	serve	serve	VERB
ajst-32395	200	29	as	as	ADP
ajst-32395	200	30	proof	proof	NOUN
ajst-32395	200	31	points	point	VERB
ajst-32395	200	32	that	that	SCONJ
ajst-32395	200	33	such	such	DET
ajst-32395	200	34	a	a	DET
ajst-32395	200	35	stance	stance	NOUN
ajst-32395	200	36	is	be	AUX
ajst-32395	200	37	both	both	PRON
ajst-32395	200	38	technically	technically	ADV
ajst-32395	200	39	feasible	feasible	ADJ
ajst-32395	200	40	and	and	CCONJ
ajst-32395	200	41	practically	practically	ADV
ajst-32395	200	42	meaningful	meaningful	ADJ
ajst-32395	200	43	.	.	PUNCT
ajst-32395	201	1	what	what	PRON
ajst-32395	201	2	remains	remain	VERB
ajst-32395	201	3	is	be	AUX
ajst-32395	201	4	sustained	sustain	VERB
ajst-32395	201	5	engineering	engineering	NOUN
ajst-32395	201	6	to	to	PART
ajst-32395	201	7	turn	turn	VERB
ajst-32395	201	8	these	these	DET
ajst-32395	201	9	patterns	pattern	NOUN
ajst-32395	201	10	into	into	ADP
ajst-32395	201	11	defaults	default	NOUN
ajst-32395	201	12	across	across	ADP
ajst-32395	201	13	platforms	platform	NOUN
ajst-32395	201	14	.	.	PUNCT
ajst-32395	202	1	if	if	SCONJ
ajst-32395	202	2	that	that	PRON
ajst-32395	202	3	happens	happen	VERB
ajst-32395	202	4	,	,	PUNCT
ajst-32395	202	5	intelligent	intelligent	ADJ
ajst-32395	202	6	vehicles	vehicle	NOUN
ajst-32395	202	7	will	will	AUX
ajst-32395	202	8	not	not	PART
ajst-32395	202	9	simply	simply	ADV
ajst-32395	202	10	perceive	perceive	VERB
ajst-32395	202	11	more	more	ADV
ajst-32395	202	12	accurately	accurately	ADV
ajst-32395	202	13	on	on	ADP
ajst-32395	202	14	average	average	ADJ
ajst-32395	202	15	;	;	PUNCT
ajst-32395	202	16	they	they	PRON
ajst-32395	202	17	will	will	AUX
ajst-32395	202	18	behave	behave	VERB
ajst-32395	202	19	more	more	ADV
ajst-32395	202	20	predictably	predictably	ADV
ajst-32395	202	21	when	when	SCONJ
ajst-32395	202	22	the	the	DET
ajst-32395	202	23	environment	environment	NOUN
ajst-32395	202	24	is	be	AUX
ajst-32395	202	25	at	at	ADP
ajst-32395	202	26	its	its	PRON
ajst-32395	202	27	worst	bad	ADJ
ajst-32395	202	28	,	,	PUNCT
ajst-32395	202	29	which	which	PRON
ajst-32395	202	30	is	be	AUX
ajst-32395	202	31	the	the	DET
ajst-32395	202	32	standard	standard	NOUN
ajst-32395	202	33	by	by	ADP
ajst-32395	202	34	which	which	PRON
ajst-32395	202	35	safety‑critical	safety‑critical	ADJ
ajst-32395	202	36	systems	system	NOUN
ajst-32395	202	37	are	be	AUX
ajst-32395	202	38	ultimately	ultimately	ADV
ajst-32395	202	39	judged	judge	VERB
ajst-32395	202	40	.	.	PUNCT
ajst-32395	203	1	references	reference	NOUN
ajst-32395	203	2	[	[	X
ajst-32395	203	3	1	1	NUM
ajst-32395	203	4	]	]	PUNCT
ajst-32395	203	5	safavi	safavi	NOUN
ajst-32395	203	6	,	,	PUNCT
ajst-32395	203	7	s.	s.	PROPN
ajst-32395	203	8	,	,	PUNCT
ajst-32395	203	9	hamid	hamid	PROPN
ajst-32395	203	10	,	,	PUNCT
ajst-32395	203	11	h.	h.	PROPN
ajst-32395	203	12	,	,	PUNCT
ajst-32395	203	13	fallah	fallah	PROPN
ajst-32395	203	14	,	,	PUNCT
ajst-32395	203	15	s.	s.	PROPN
ajst-32395	203	16	multi	multi	PROPN
ajst-32395	203	17	-	-	ADJ
ajst-32395	203	18	sensor	sensor	ADJ
ajst-32395	203	19	fault	fault	NOUN
ajst-32395	203	20	detection	detection	NOUN
ajst-32395	203	21	,	,	PUNCT
ajst-32395	203	22	identification	identification	NOUN
ajst-32395	203	23	,	,	PUNCT
ajst-32395	203	24	isolation	isolation	NOUN
ajst-32395	203	25	and	and	CCONJ
ajst-32395	203	26	health	health	NOUN
ajst-32395	203	27	forecasting	forecasting	NOUN
ajst-32395	203	28	for	for	ADP
ajst-32395	203	29	autonomous	autonomous	ADJ
ajst-32395	203	30	vehicles	vehicle	NOUN
ajst-32395	203	31	.	.	PUNCT
ajst-32395	204	1	sensors	sensor	NOUN
ajst-32395	204	2	,	,	PUNCT
ajst-32395	204	3	21	21	NUM
ajst-32395	204	4	(	(	PUNCT
ajst-32395	204	5	7):2547	7):2547	NOUN
ajst-32395	204	6	,	,	PUNCT
ajst-32395	204	7	2021	2021	NUM
ajst-32395	204	8	.	.	PUNCT
ajst-32395	205	1	[	[	X
ajst-32395	205	2	2	2	NUM
ajst-32395	205	3	]	]	X
ajst-32395	205	4	pan	pan	PROPN
ajst-32395	205	5	,	,	PUNCT
ajst-32395	205	6	h.	h.	PROPN
ajst-32395	205	7	,	,	PUNCT
ajst-32395	205	8	sun	sun	PROPN
ajst-32395	205	9	,	,	PUNCT
ajst-32395	205	10	w.	w.	PROPN
ajst-32395	205	11	,	,	PUNCT
ajst-32395	205	12	gao	gao	PROPN
ajst-32395	205	13	,	,	PUNCT
ajst-32395	205	14	h.	h.	PROPN
ajst-32395	205	15	,	,	PUNCT
ajst-32395	205	16	et	et	PROPN
ajst-32395	205	17	al	al	PROPN
ajst-32395	205	18	.	.	PUNCT
ajst-32395	206	1	deep	deep	ADJ
ajst-32395	206	2	learning	learning	NOUN
ajst-32395	206	3	based	base	VERB
ajst-32395	206	4	data	datum	NOUN
ajst-32395	206	5	fusion	fusion	NOUN
ajst-32395	206	6	for	for	ADP
ajst-32395	206	7	sensor	sensor	NOUN
ajst-32395	206	8	fault	fault	NOUN
ajst-32395	206	9	diagnosis	diagnosis	NOUN
ajst-32395	206	10	and	and	CCONJ
ajst-32395	206	11	tolerance	tolerance	NOUN
ajst-32395	206	12	in	in	ADP
ajst-32395	206	13	autonomous	autonomous	ADJ
ajst-32395	206	14	vehicles	vehicle	NOUN
ajst-32395	206	15	.	.	PUNCT
ajst-32395	207	1	chinese	chinese	ADJ
ajst-32395	207	2	journal	journal	PROPN
ajst-32395	207	3	of	of	ADP
ajst-32395	207	4	mechanical	mechanical	ADJ
ajst-32395	207	5	engineering	engineering	NOUN
ajst-32395	207	6	,	,	PUNCT
ajst-32395	207	7	34	34	NUM
ajst-32395	207	8	(	(	PUNCT
ajst-32395	207	9	6):115	6):115	NUM
ajst-32395	207	10	,	,	PUNCT
ajst-32395	207	11	2021	2021	NUM
ajst-32395	207	12	.	.	PUNCT
ajst-32395	208	1	[	[	X
ajst-32395	208	2	3	3	NUM
ajst-32395	208	3	]	]	X
ajst-32395	208	4	harbaoui	harbaoui	PROPN
ajst-32395	208	5	,	,	PUNCT
ajst-32395	208	6	n.	n.	PROPN
ajst-32395	208	7	,	,	PUNCT
ajst-32395	208	8	et	et	PROPN
ajst-32395	208	9	al	al	PROPN
ajst-32395	208	10	.	.	PUNCT
ajst-32395	209	1	context	context	NOUN
ajst-32395	209	2	-	-	PUNCT
ajst-32395	209	3	adaptive	adaptive	ADJ
ajst-32395	209	4	fault	fault	NOUN
ajst-32395	209	5	-	-	PUNCT
ajst-32395	209	6	tolerant	tolerant	ADJ
ajst-32395	209	7	multi	multi	ADJ
ajst-32395	209	8	-	-	ADJ
ajst-32395	209	9	sensor	sensor	ADJ
ajst-32395	209	10	fusion	fusion	NOUN
ajst-32395	209	11	for	for	ADP
ajst-32395	209	12	vehicle	vehicle	NOUN
ajst-32395	209	13	localization	localization	NOUN
ajst-32395	209	14	.	.	PUNCT
ajst-32395	210	1	journal	journal	PROPN
ajst-32395	210	2	of	of	ADP
ajst-32395	210	3	intelligent	intelligent	ADJ
ajst-32395	210	4	&	&	CCONJ
ajst-32395	210	5	robotic	robotic	ADJ
ajst-32395	210	6	systems	system	NOUN
ajst-32395	210	7	,	,	PUNCT
ajst-32395	210	8	2024	2024	NUM
ajst-32395	210	9	.	.	PUNCT
ajst-32395	211	1	[	[	X
ajst-32395	211	2	4	4	NUM
ajst-32395	211	3	]	]	X
ajst-32395	211	4	matos	matos	PROPN
ajst-32395	211	5	,	,	PUNCT
ajst-32395	211	6	f.	f.	PROPN
ajst-32395	211	7	,	,	PUNCT
ajst-32395	211	8	bernardino	bernardino	PROPN
ajst-32395	211	9	,	,	PUNCT
ajst-32395	211	10	j.	j.	PROPN
ajst-32395	211	11	,	,	PUNCT
ajst-32395	211	12	durães	durães	NOUN
ajst-32395	211	13	,	,	PUNCT
ajst-32395	211	14	j.	j.	PROPN
ajst-32395	211	15	,	,	PUNCT
ajst-32395	211	16	cunha	cunha	PROPN
ajst-32395	211	17	,	,	PUNCT
ajst-32395	211	18	j.	j.	PROPN
ajst-32395	211	19	a	a	DET
ajst-32395	211	20	survey	survey	NOUN
ajst-32395	211	21	on	on	ADP
ajst-32395	211	22	sensor	sensor	NOUN
ajst-32395	211	23	failures	failure	NOUN
ajst-32395	211	24	in	in	ADP
ajst-32395	211	25	autonomous	autonomous	ADJ
ajst-32395	211	26	vehicles	vehicle	NOUN
ajst-32395	211	27	:	:	PUNCT
ajst-32395	211	28	challenges	challenge	NOUN
ajst-32395	211	29	and	and	CCONJ
ajst-32395	211	30	solutions	solution	NOUN
ajst-32395	211	31	.	.	PUNCT
ajst-32395	212	1	sensors	sensor	NOUN
ajst-32395	212	2	,	,	PUNCT
ajst-32395	212	3	24	24	NUM
ajst-32395	212	4	(	(	PUNCT
ajst-32395	212	5	16):5108	16):5108	NUM
ajst-32395	212	6	,	,	PUNCT
ajst-32395	212	7	2024	2024	NUM
ajst-32395	212	8	.	.	PUNCT
ajst-32395	213	1	[	[	X
ajst-32395	213	2	5	5	NUM
ajst-32395	213	3	]	]	X
ajst-32395	213	4	panduru	panduru	NOUN
ajst-32395	213	5	,	,	PUNCT
ajst-32395	213	6	k.	k.	PROPN
ajst-32395	213	7	,	,	PUNCT
ajst-32395	213	8	walsh	walsh	PROPN
ajst-32395	213	9	,	,	PUNCT
ajst-32395	213	10	j.	j.	PROPN
ajst-32395	213	11	exploring	explore	VERB
ajst-32395	213	12	the	the	DET
ajst-32395	213	13	unseen	unseen	NOUN
ajst-32395	213	14	:	:	PUNCT
ajst-32395	213	15	a	a	DET
ajst-32395	213	16	survey	survey	NOUN
ajst-32395	213	17	of	of	ADP
ajst-32395	213	18	multi	multi	ADJ
ajst-32395	213	19	-	-	ADJ
ajst-32395	213	20	sensor	sensor	ADJ
ajst-32395	213	21	fusion	fusion	NOUN
ajst-32395	213	22	and	and	CCONJ
ajst-32395	213	23	the	the	DET
ajst-32395	213	24	role	role	NOUN
ajst-32395	213	25	of	of	ADP
ajst-32395	213	26	xai	xai	PROPN
ajst-32395	213	27	in	in	ADP
ajst-32395	213	28	autonomous	autonomous	ADJ
ajst-32395	213	29	vehicles	vehicle	NOUN
ajst-32395	213	30	.	.	PUNCT
ajst-32395	214	1	sensors	sensor	NOUN
ajst-32395	214	2	,	,	PUNCT
ajst-32395	214	3	25	25	NUM
ajst-32395	214	4	(	(	PUNCT
ajst-32395	214	5	3	3	NUM
ajst-32395	214	6	)	)	PUNCT
ajst-32395	214	7	,	,	PUNCT
ajst-32395	214	8	2025	2025	NUM
ajst-32395	214	9	.	.	PUNCT
ajst-32395	215	1	[	[	X
ajst-32395	215	2	6	6	NUM
ajst-32395	215	3	]	]	X
ajst-32395	215	4	zhang	zhang	PROPN
ajst-32395	215	5	,	,	PUNCT
ajst-32395	215	6	y.	y.	PROPN
ajst-32395	215	7	,	,	PUNCT
ajst-32395	215	8	tu	tu	PROPN
ajst-32395	215	9	,	,	PUNCT
ajst-32395	215	10	c.	c.	PROPN
ajst-32395	215	11	,	,	PUNCT
ajst-32395	215	12	gao	gao	PROPN
ajst-32395	215	13	,	,	PUNCT
ajst-32395	215	14	k.	k.	PROPN
ajst-32395	215	15	,	,	PUNCT
ajst-32395	215	16	wang	wang	PROPN
ajst-32395	215	17	,	,	PUNCT
ajst-32395	215	18	l.	l.	PROPN
ajst-32395	215	19	multisensor	multisensor	PROPN
ajst-32395	215	20	information	information	NOUN
ajst-32395	215	21	fusion	fusion	NOUN
ajst-32395	215	22	:	:	PUNCT
ajst-32395	215	23	future	future	NOUN
ajst-32395	215	24	of	of	ADP
ajst-32395	215	25	environmental	environmental	ADJ
ajst-32395	215	26	perception	perception	NOUN
ajst-32395	215	27	in	in	ADP
ajst-32395	215	28	intelligent	intelligent	ADJ
ajst-32395	215	29	vehicles	vehicle	NOUN
ajst-32395	215	30	.	.	PUNCT
ajst-32395	216	1	journal	journal	NOUN
ajst-32395	216	2	of	of	ADP
ajst-32395	216	3	intelligent	intelligent	ADJ
ajst-32395	216	4	and	and	CCONJ
ajst-32395	216	5	connected	connected	ADJ
ajst-32395	216	6	vehicles	vehicle	NOUN
ajst-32395	216	7	,	,	PUNCT
ajst-32395	216	8	2024	2024	NUM
ajst-32395	216	9	.	.	PUNCT
ajst-32395	217	1	[	[	X
ajst-32395	217	2	7	7	NUM
ajst-32395	217	3	]	]	SYM
ajst-32395	217	4	omoseebi	omoseebi	NOUN
ajst-32395	217	5	,	,	PUNCT
ajst-32395	217	6	a.	a.	PROPN
ajst-32395	217	7	,	,	PUNCT
ajst-32395	217	8	ali	ali	PROPN
ajst-32395	217	9	,	,	PUNCT
ajst-32395	217	10	a.	a.	NOUN
ajst-32395	217	11	,	,	PUNCT
ajst-32395	217	12	muthanna	muthanna	NOUN
ajst-32395	217	13	,	,	PUNCT
ajst-32395	217	14	a.	a.	NOUN
ajst-32395	217	15	,	,	PUNCT
ajst-32395	217	16	et	et	PROPN
ajst-32395	217	17	al	al	PROPN
ajst-32395	217	18	.	.	PROPN
ajst-32395	217	19	predictive	predictive	ADJ
ajst-32395	217	20	maintenance	maintenance	NOUN
ajst-32395	217	21	of	of	ADP
ajst-32395	217	22	autonomous	autonomous	ADJ
ajst-32395	217	23	vehicles	vehicle	NOUN
ajst-32395	217	24	based	base	VERB
ajst-32395	217	25	on	on	ADP
ajst-32395	217	26	sensor	sensor	NOUN
ajst-32395	217	27	fault	fault	NOUN
ajst-32395	217	28	detection	detection	NOUN
ajst-32395	217	29	.	.	PUNCT
ajst-32395	218	1	researchgate	researchgate	NOUN
ajst-32395	218	2	preprint	preprint	NOUN
ajst-32395	218	3	,	,	PUNCT
ajst-32395	218	4	2025	2025	NUM
ajst-32395	218	5	.	.	PUNCT
ajst-32395	219	1	223	223	NUM
ajst-32395	220	1	[	[	X
ajst-32395	220	2	8	8	NUM
ajst-32395	220	3	]	]	PUNCT
ajst-32395	220	4	romanelli	romanelli	PROPN
ajst-32395	220	5	,	,	PUNCT
ajst-32395	220	6	f.	f.	PROPN
ajst-32395	220	7	multi	multi	ADJ
ajst-32395	220	8	-	-	ADJ
ajst-32395	220	9	sensor	sensor	ADJ
ajst-32395	220	10	fusion	fusion	NOUN
ajst-32395	220	11	for	for	ADP
ajst-32395	220	12	autonomous	autonomous	ADJ
ajst-32395	220	13	resilient	resilient	ADJ
ajst-32395	220	14	perception	perception	NOUN
ajst-32395	220	15	:	:	PUNCT
ajst-32395	220	16	classical	classical	ADJ
ajst-32395	220	17	vs.	vs.	ADP
ajst-32395	220	18	deep	deep	ADJ
ajst-32395	220	19	learning	learning	NOUN
ajst-32395	220	20	techniques	technique	NOUN
ajst-32395	220	21	.	.	PUNCT
ajst-32395	221	1	thesis	thesis	NOUN
ajst-32395	221	2	,	,	PUNCT
ajst-32395	221	3	2025	2025	NUM
ajst-32395	221	4	.	.	PUNCT
ajst-32395	222	1	[	[	X
ajst-32395	222	2	9	9	NUM
ajst-32395	222	3	]	]	SYM
ajst-32395	222	4	nemra	nemra	NOUN
ajst-32395	222	5	,	,	PUNCT
ajst-32395	222	6	a.	a.	PROPN
ajst-32395	222	7	,	,	PUNCT
ajst-32395	222	8	et	et	PROPN
ajst-32395	222	9	al	al	PROPN
ajst-32395	222	10	.	.	PUNCT
ajst-32395	223	1	fault	fault	VERB
ajst-32395	223	2	diagnosis	diagnosis	NOUN
ajst-32395	223	3	and	and	CCONJ
ajst-32395	223	4	reconfiguration	reconfiguration	NOUN
ajst-32395	223	5	for	for	ADP
ajst-32395	223	6	mobile	mobile	ADJ
ajst-32395	223	7	robot	robot	NOUN
ajst-32395	223	8	localization	localization	NOUN
ajst-32395	223	9	based	base	VERB
ajst-32395	223	10	on	on	ADP
ajst-32395	223	11	multisensor	multisensor	NOUN
ajst-32395	223	12	data	datum	NOUN
ajst-32395	223	13	fusion	fusion	NOUN
ajst-32395	223	14	.	.	PUNCT
ajst-32395	224	1	unmanned	unmanned	ADJ
ajst-32395	224	2	systems	system	NOUN
ajst-32395	224	3	,	,	PUNCT
ajst-32395	224	4	2022	2022	NUM
ajst-32395	224	5	.	.	PUNCT
ajst-32395	225	1	[	[	X
ajst-32395	225	2	10	10	NUM
ajst-32395	225	3	]	]	X
ajst-32395	225	4	rodger	rodger	NOUN
ajst-32395	225	5	,	,	PUNCT
ajst-32395	225	6	j.	j.	PROPN
ajst-32395	225	7	a.	a.	NOUN
ajst-32395	225	8	reducing	reduce	VERB
ajst-32395	225	9	failure	failure	NOUN
ajst-32395	225	10	risk	risk	NOUN
ajst-32395	225	11	in	in	ADP
ajst-32395	225	12	integrated	integrate	VERB
ajst-32395	225	13	vehicle	vehicle	NOUN
ajst-32395	225	14	health	health	NOUN
ajst-32395	225	15	maintenance	maintenance	NOUN
ajst-32395	225	16	:	:	PUNCT
ajst-32395	225	17	a	a	DET
ajst-32395	225	18	fuzzy	fuzzy	ADJ
ajst-32395	225	19	multi	multi	ADJ
ajst-32395	225	20	-	-	ADJ
ajst-32395	225	21	sensor	sensor	ADJ
ajst-32395	225	22	kalman	kalman	NOUN
ajst-32395	225	23	filter	filter	NOUN
ajst-32395	225	24	approach	approach	NOUN
ajst-32395	225	25	.	.	PUNCT
ajst-32395	226	1	expert	expert	NOUN
ajst-32395	226	2	systems	system	NOUN
ajst-32395	226	3	with	with	ADP
ajst-32395	226	4	applications	application	NOUN
ajst-32395	226	5	,	,	PUNCT
ajst-32395	226	6	39	39	NUM
ajst-32395	226	7	(	(	PUNCT
ajst-32395	226	8	10):9821–9836	10):9821–9836	NUM
ajst-32395	226	9	,	,	PUNCT
ajst-32395	226	10	2012	2012	NUM
ajst-32395	226	11	.	.	PUNCT