id	sid	tid	token	lemma	pos
ajst-4910	1	1	academic	academic	ADJ
ajst-4910	1	2	journal	journal	NOUN
ajst-4910	1	3	of	of	ADP
ajst-4910	1	4	science	science	NOUN
ajst-4910	1	5	and	and	CCONJ
ajst-4910	1	6	technology	technology	NOUN
ajst-4910	1	7	issn	issn	NOUN
ajst-4910	1	8	:	:	PUNCT
ajst-4910	1	9	2771	2771	NUM
ajst-4910	1	10	-	-	SYM
ajst-4910	1	11	3032	3032	NUM
ajst-4910	1	12	|	|	NOUN
ajst-4910	1	13	vol	vol	NOUN
ajst-4910	1	14	.	.	PROPN
ajst-4910	2	1	4	4	NUM
ajst-4910	2	2	,	,	PUNCT
ajst-4910	2	3	no	no	INTJ
ajst-4910	2	4	.	.	NOUN
ajst-4910	2	5	3	3	NUM
ajst-4910	2	6	,	,	PUNCT
ajst-4910	2	7	2022	2022	NUM
ajst-4910	2	8	120	120	NUM
ajst-4910	2	9	research	research	NOUN
ajst-4910	2	10	on	on	ADP
ajst-4910	2	11	urban	urban	ADJ
ajst-4910	2	12	road	road	NOUN
ajst-4910	2	13	pavement	pavement	NOUN
ajst-4910	2	14	extraction	extraction	NOUN
ajst-4910	2	15	method	method	NOUN
ajst-4910	2	16	based	base	VERB
ajst-4910	2	17	on	on	ADP
ajst-4910	2	18	vehicle	vehicle	NOUN
ajst-4910	2	19	point	point	NOUN
ajst-4910	2	20	cloud	cloud	PROPN
ajst-4910	2	21	data	data	NOUN
ajst-4910	2	22	zhengwei	zhengwei	NOUN
ajst-4910	2	23	zhao1	zhao1	PROPN
ajst-4910	2	24	,	,	PUNCT
ajst-4910	2	25	a	a	DET
ajst-4910	2	26	1school	1school	NUM
ajst-4910	2	27	of	of	ADP
ajst-4910	2	28	surveying	surveying	NOUN
ajst-4910	2	29	and	and	CCONJ
ajst-4910	2	30	land	land	NOUN
ajst-4910	2	31	information	information	NOUN
ajst-4910	2	32	engineering	engineering	PROPN
ajst-4910	2	33	,	,	PUNCT
ajst-4910	2	34	henan	henan	PROPN
ajst-4910	2	35	polytechnic	polytechnic	PROPN
ajst-4910	2	36	university	university	PROPN
ajst-4910	2	37	,	,	PUNCT
ajst-4910	2	38	jiaozuo	jiaozuo	NOUN
ajst-4910	2	39	,	,	PUNCT
ajst-4910	2	40	454000	454000	NUM
ajst-4910	2	41	,	,	PUNCT
ajst-4910	2	42	china	china	PROPN
ajst-4910	2	43	aemail	aemail	NOUN
ajst-4910	2	44	:	:	PUNCT
ajst-4910	2	45	zzw903265071@163.com	zzw903265071@163.com	X
ajst-4910	2	46	abstract	abstract	NOUN
ajst-4910	2	47	:	:	PUNCT
ajst-4910	2	48	in	in	ADP
ajst-4910	2	49	order	order	NOUN
ajst-4910	2	50	to	to	PART
ajst-4910	2	51	extract	extract	VERB
ajst-4910	2	52	structured	structure	VERB
ajst-4910	2	53	urban	urban	ADJ
ajst-4910	2	54	road	road	NOUN
ajst-4910	2	55	surface	surface	NOUN
ajst-4910	2	56	efficiently	efficiently	ADV
ajst-4910	2	57	from	from	ADP
ajst-4910	2	58	vehicle	vehicle	NOUN
ajst-4910	2	59	point	point	NOUN
ajst-4910	2	60	cloud	cloud	PROPN
ajst-4910	2	61	data	datum	NOUN
ajst-4910	2	62	,	,	PUNCT
ajst-4910	2	63	this	this	DET
ajst-4910	2	64	paper	paper	NOUN
ajst-4910	2	65	proposes	propose	VERB
ajst-4910	2	66	a	a	DET
ajst-4910	2	67	road	road	NOUN
ajst-4910	2	68	surface	surface	NOUN
ajst-4910	2	69	extraction	extraction	NOUN
ajst-4910	2	70	method	method	NOUN
ajst-4910	2	71	based	base	VERB
ajst-4910	2	72	on	on	ADP
ajst-4910	2	73	normal	normal	ADJ
ajst-4910	2	74	vector	vector	NOUN
ajst-4910	2	75	clustering	clustering	NOUN
ajst-4910	2	76	.	.	PUNCT
ajst-4910	3	1	first	first	ADV
ajst-4910	3	2	,	,	PUNCT
ajst-4910	3	3	a	a	DET
ajst-4910	3	4	cloth	cloth	NOUN
ajst-4910	3	5	simulation	simulation	NOUN
ajst-4910	3	6	based	base	VERB
ajst-4910	3	7	filtering	filter	VERB
ajst-4910	3	8	algorithm	algorithm	NOUN
ajst-4910	3	9	(	(	PUNCT
ajst-4910	3	10	csf	csf	PROPN
ajst-4910	3	11	)	)	PUNCT
ajst-4910	3	12	is	be	AUX
ajst-4910	3	13	used	use	VERB
ajst-4910	3	14	to	to	PART
ajst-4910	3	15	filter	filter	VERB
ajst-4910	3	16	the	the	DET
ajst-4910	3	17	interference	interference	NOUN
ajst-4910	3	18	of	of	ADP
ajst-4910	3	19	non	non	ADJ
ajst-4910	3	20	-	-	ADJ
ajst-4910	3	21	ground	ground	ADJ
ajst-4910	3	22	points	point	NOUN
ajst-4910	3	23	;	;	PUNCT
ajst-4910	3	24	secondly	secondly	ADV
ajst-4910	3	25	,	,	PUNCT
ajst-4910	3	26	the	the	DET
ajst-4910	3	27	normal	normal	ADJ
ajst-4910	3	28	vector	vector	NOUN
ajst-4910	3	29	and	and	CCONJ
ajst-4910	3	30	curvature	curvature	NOUN
ajst-4910	3	31	of	of	ADP
ajst-4910	3	32	each	each	DET
ajst-4910	3	33	pavement	pavement	NOUN
ajst-4910	3	34	point	point	NOUN
ajst-4910	3	35	are	be	AUX
ajst-4910	3	36	estimated	estimate	VERB
ajst-4910	3	37	by	by	ADP
ajst-4910	3	38	principal	principal	ADJ
ajst-4910	3	39	component	component	NOUN
ajst-4910	3	40	analysis	analysis	NOUN
ajst-4910	3	41	;	;	PUNCT
ajst-4910	3	42	finally	finally	ADV
ajst-4910	3	43	,	,	PUNCT
ajst-4910	3	44	with	with	ADP
ajst-4910	3	45	the	the	DET
ajst-4910	3	46	similarity	similarity	NOUN
ajst-4910	3	47	of	of	ADP
ajst-4910	3	48	point	point	NOUN
ajst-4910	3	49	cloud	cloud	ADJ
ajst-4910	3	50	normal	normal	ADJ
ajst-4910	3	51	vector	vector	NOUN
ajst-4910	3	52	as	as	ADP
ajst-4910	3	53	the	the	DET
ajst-4910	3	54	constraint	constraint	NOUN
ajst-4910	3	55	condition	condition	NOUN
ajst-4910	3	56	,	,	PUNCT
ajst-4910	3	57	the	the	DET
ajst-4910	3	58	road	road	NOUN
ajst-4910	3	59	point	point	NOUN
ajst-4910	3	60	cloud	cloud	NOUN
ajst-4910	3	61	cluster	cluster	NOUN
ajst-4910	3	62	is	be	AUX
ajst-4910	3	63	segmented	segment	VERB
ajst-4910	3	64	.	.	PUNCT
ajst-4910	4	1	the	the	DET
ajst-4910	4	2	vehicle	vehicle	NOUN
ajst-4910	4	3	-	-	PUNCT
ajst-4910	4	4	mounted	mount	VERB
ajst-4910	4	5	point	point	NOUN
ajst-4910	4	6	cloud	cloud	NOUN
ajst-4910	4	7	data	datum	NOUN
ajst-4910	4	8	in	in	ADP
ajst-4910	4	9	the	the	DET
ajst-4910	4	10	scene	scene	NOUN
ajst-4910	4	11	of	of	ADP
ajst-4910	4	12	straight	straight	ADJ
ajst-4910	4	13	and	and	CCONJ
ajst-4910	4	14	turning	turning	NOUN
ajst-4910	4	15	sections	section	NOUN
ajst-4910	4	16	are	be	AUX
ajst-4910	4	17	verified	verify	VERB
ajst-4910	4	18	,	,	PUNCT
ajst-4910	4	19	and	and	CCONJ
ajst-4910	4	20	the	the	DET
ajst-4910	4	21	completeness	completeness	NOUN
ajst-4910	4	22	and	and	CCONJ
ajst-4910	4	23	accuracy	accuracy	NOUN
ajst-4910	4	24	of	of	ADP
ajst-4910	4	25	road	road	NOUN
ajst-4910	4	26	surface	surface	NOUN
ajst-4910	4	27	extraction	extraction	NOUN
ajst-4910	4	28	are	be	AUX
ajst-4910	4	29	both	both	PRON
ajst-4910	4	30	above	above	ADP
ajst-4910	4	31	92	92	NUM
ajst-4910	4	32	%	%	NOUN
ajst-4910	4	33	.	.	PUNCT
ajst-4910	5	1	the	the	DET
ajst-4910	5	2	experimental	experimental	ADJ
ajst-4910	5	3	results	result	NOUN
ajst-4910	5	4	show	show	VERB
ajst-4910	5	5	that	that	SCONJ
ajst-4910	5	6	the	the	DET
ajst-4910	5	7	extraction	extraction	NOUN
ajst-4910	5	8	results	result	NOUN
ajst-4910	5	9	are	be	AUX
ajst-4910	5	10	less	less	ADV
ajst-4910	5	11	affected	affect	VERB
ajst-4910	5	12	by	by	ADP
ajst-4910	5	13	the	the	DET
ajst-4910	5	14	complex	complex	ADJ
ajst-4910	5	15	environment	environment	NOUN
ajst-4910	5	16	of	of	ADP
ajst-4910	5	17	urban	urban	ADJ
ajst-4910	5	18	roads	road	NOUN
ajst-4910	5	19	,	,	PUNCT
ajst-4910	5	20	so	so	SCONJ
ajst-4910	5	21	the	the	DET
ajst-4910	5	22	method	method	NOUN
ajst-4910	5	23	proposed	propose	VERB
ajst-4910	5	24	in	in	ADP
ajst-4910	5	25	this	this	DET
ajst-4910	5	26	paper	paper	NOUN
ajst-4910	5	27	has	have	VERB
ajst-4910	5	28	strong	strong	ADJ
ajst-4910	5	29	applicability	applicability	NOUN
ajst-4910	5	30	.	.	PUNCT
ajst-4910	6	1	keywords	keyword	NOUN
ajst-4910	6	2	:	:	PUNCT
ajst-4910	6	3	urban	urban	ADJ
ajst-4910	6	4	road	road	NOUN
ajst-4910	6	5	,	,	PUNCT
ajst-4910	6	6	vehicle	vehicle	NOUN
ajst-4910	6	7	point	point	NOUN
ajst-4910	6	8	cloud	cloud	NOUN
ajst-4910	6	9	,	,	PUNCT
ajst-4910	6	10	principal	principal	ADJ
ajst-4910	6	11	component	component	NOUN
ajst-4910	6	12	analysis	analysis	NOUN
ajst-4910	6	13	,	,	PUNCT
ajst-4910	6	14	normal	normal	ADJ
ajst-4910	6	15	vector	vector	NOUN
ajst-4910	6	16	.	.	PUNCT
ajst-4910	7	1	1	1	X
ajst-4910	7	2	.	.	X
ajst-4910	7	3	introduction	introduction	NOUN
ajst-4910	7	4	high	high	ADJ
ajst-4910	7	5	precision	precision	NOUN
ajst-4910	7	6	and	and	CCONJ
ajst-4910	7	7	high	high	ADJ
ajst-4910	7	8	current	current	ADJ
ajst-4910	7	9	three	three	NUM
ajst-4910	7	10	-	-	PUNCT
ajst-4910	7	11	dimensional	dimensional	ADJ
ajst-4910	7	12	road	road	NOUN
ajst-4910	7	13	information	information	NOUN
ajst-4910	7	14	is	be	AUX
ajst-4910	7	15	of	of	ADP
ajst-4910	7	16	great	great	ADJ
ajst-4910	7	17	significance	significance	NOUN
ajst-4910	7	18	for	for	ADP
ajst-4910	7	19	intelligent	intelligent	ADJ
ajst-4910	7	20	city	city	NOUN
ajst-4910	7	21	construction	construction	NOUN
ajst-4910	7	22	,	,	PUNCT
ajst-4910	7	23	traffic	traffic	NOUN
ajst-4910	7	24	management	management	NOUN
ajst-4910	7	25	and	and	CCONJ
ajst-4910	7	26	road	road	NOUN
ajst-4910	7	27	maintenance	maintenance	NOUN
ajst-4910	7	28	[	[	X
ajst-4910	7	29	1	1	NUM
ajst-4910	7	30	]	]	PUNCT
ajst-4910	7	31	.	.	PUNCT
ajst-4910	8	1	the	the	DET
ajst-4910	8	2	vehicle	vehicle	NOUN
ajst-4910	8	3	-	-	PUNCT
ajst-4910	8	4	mounted	mount	VERB
ajst-4910	8	5	laser	laser	NOUN
ajst-4910	8	6	scanning	scanning	NOUN
ajst-4910	8	7	system	system	NOUN
ajst-4910	8	8	takes	take	VERB
ajst-4910	8	9	the	the	DET
ajst-4910	8	10	vehicle	vehicle	NOUN
ajst-4910	8	11	as	as	ADP
ajst-4910	8	12	the	the	DET
ajst-4910	8	13	carrying	carrying	NOUN
ajst-4910	8	14	platform	platform	NOUN
ajst-4910	8	15	and	and	CCONJ
ajst-4910	8	16	integrates	integrate	VERB
ajst-4910	8	17	multiple	multiple	ADJ
ajst-4910	8	18	sensors	sensor	NOUN
ajst-4910	8	19	such	such	ADJ
ajst-4910	8	20	as	as	ADP
ajst-4910	8	21	3d	3d	PROPN
ajst-4910	8	22	laser	laser	NOUN
ajst-4910	8	23	scanner	scanner	NOUN
ajst-4910	8	24	,	,	PUNCT
ajst-4910	8	25	gps	gps	PROPN
ajst-4910	8	26	,	,	PUNCT
ajst-4910	8	27	digital	digital	ADJ
ajst-4910	8	28	camera	camera	NOUN
ajst-4910	8	29	,	,	PUNCT
ajst-4910	8	30	inertial	inertial	ADJ
ajst-4910	8	31	navigation	navigation	NOUN
ajst-4910	8	32	system	system	NOUN
ajst-4910	8	33	(	(	PUNCT
ajst-4910	8	34	imu	imu	NOUN
ajst-4910	8	35	)	)	PUNCT
ajst-4910	8	36	,	,	PUNCT
ajst-4910	8	37	etc	etc	X
ajst-4910	8	38	.	.	X
ajst-4910	8	39	,	,	PUNCT
ajst-4910	8	40	and	and	CCONJ
ajst-4910	8	41	can	can	AUX
ajst-4910	8	42	obtain	obtain	VERB
ajst-4910	8	43	the	the	DET
ajst-4910	8	44	3d	3d	PROPN
ajst-4910	8	45	data	datum	NOUN
ajst-4910	8	46	information	information	NOUN
ajst-4910	8	47	and	and	CCONJ
ajst-4910	8	48	texture	texture	ADJ
ajst-4910	8	49	information	information	NOUN
ajst-4910	8	50	provides	provide	VERB
ajst-4910	8	51	a	a	DET
ajst-4910	8	52	new	new	ADJ
ajst-4910	8	53	way	way	NOUN
ajst-4910	8	54	for	for	ADP
ajst-4910	8	55	digital	digital	ADJ
ajst-4910	8	56	detection	detection	NOUN
ajst-4910	8	57	of	of	ADP
ajst-4910	8	58	road	road	NOUN
ajst-4910	8	59	assets	asset	NOUN
ajst-4910	8	60	.	.	PUNCT
ajst-4910	9	1	as	as	ADP
ajst-4910	9	2	an	an	DET
ajst-4910	9	3	advanced	advanced	ADJ
ajst-4910	9	4	measurement	measurement	NOUN
ajst-4910	9	5	method	method	NOUN
ajst-4910	9	6	,	,	PUNCT
ajst-4910	9	7	the	the	DET
ajst-4910	9	8	vehicle	vehicle	NOUN
ajst-4910	9	9	mounted	mount	VERB
ajst-4910	9	10	laser	laser	NOUN
ajst-4910	9	11	scanning	scanning	NOUN
ajst-4910	9	12	system	system	NOUN
ajst-4910	9	13	has	have	VERB
ajst-4910	9	14	the	the	DET
ajst-4910	9	15	characteristics	characteristic	NOUN
ajst-4910	9	16	of	of	ADP
ajst-4910	9	17	fast	fast	ADJ
ajst-4910	9	18	,	,	PUNCT
ajst-4910	9	19	real	real	ADJ
ajst-4910	9	20	-	-	PUNCT
ajst-4910	9	21	time	time	NOUN
ajst-4910	9	22	,	,	PUNCT
ajst-4910	9	23	active	active	ADJ
ajst-4910	9	24	,	,	PUNCT
ajst-4910	9	25	and	and	CCONJ
ajst-4910	9	26	no	no	DET
ajst-4910	9	27	direct	direct	ADJ
ajst-4910	9	28	contact	contact	NOUN
ajst-4910	9	29	.	.	PUNCT
ajst-4910	10	1	vehicle	vehicle	NOUN
ajst-4910	10	2	mounted	mount	VERB
ajst-4910	10	3	laser	laser	NOUN
ajst-4910	10	4	point	point	NOUN
ajst-4910	10	5	cloud	cloud	NOUN
ajst-4910	10	6	system	system	NOUN
ajst-4910	10	7	has	have	AUX
ajst-4910	10	8	been	be	AUX
ajst-4910	10	9	widely	widely	ADV
ajst-4910	10	10	used	use	VERB
ajst-4910	10	11	in	in	ADP
ajst-4910	10	12	the	the	DET
ajst-4910	10	13	field	field	NOUN
ajst-4910	10	14	of	of	ADP
ajst-4910	10	15	smart	smart	ADJ
ajst-4910	10	16	city	city	NOUN
ajst-4910	10	17	construction	construction	NOUN
ajst-4910	10	18	.	.	PUNCT
ajst-4910	11	1	at	at	ADP
ajst-4910	11	2	present	present	ADJ
ajst-4910	11	3	,	,	PUNCT
ajst-4910	11	4	road	road	NOUN
ajst-4910	11	5	surface	surface	NOUN
ajst-4910	11	6	extraction	extraction	NOUN
ajst-4910	11	7	for	for	ADP
ajst-4910	11	8	vehicle	vehicle	NOUN
ajst-4910	11	9	lidar	lidar	NOUN
ajst-4910	11	10	point	point	NOUN
ajst-4910	11	11	cloud	cloud	NOUN
ajst-4910	11	12	includes	include	VERB
ajst-4910	11	13	three	three	NUM
ajst-4910	11	14	methods	method	NOUN
ajst-4910	11	15	:	:	PUNCT
ajst-4910	11	16	feature	feature	NOUN
ajst-4910	11	17	image	image	NOUN
ajst-4910	11	18	based	base	VERB
ajst-4910	11	19	on	on	ADP
ajst-4910	11	20	point	point	NOUN
ajst-4910	11	21	cloud	cloud	NOUN
ajst-4910	11	22	,	,	PUNCT
ajst-4910	11	23	scanning	scan	VERB
ajst-4910	11	24	line	line	NOUN
ajst-4910	11	25	based	base	VERB
ajst-4910	11	26	and	and	CCONJ
ajst-4910	11	27	clustering	clustering	ADJ
ajst-4910	11	28	analysis	analysis	NOUN
ajst-4910	11	29	.	.	PUNCT
ajst-4910	12	1	the	the	DET
ajst-4910	12	2	method	method	NOUN
ajst-4910	12	3	based	base	VERB
ajst-4910	12	4	on	on	ADP
ajst-4910	12	5	feature	feature	NOUN
ajst-4910	12	6	image	image	NOUN
ajst-4910	12	7	is	be	AUX
ajst-4910	12	8	to	to	PART
ajst-4910	12	9	convert	convert	VERB
ajst-4910	12	10	discrete	discrete	ADJ
ajst-4910	12	11	threedimensional	threedimensional	ADJ
ajst-4910	12	12	point	point	NOUN
ajst-4910	12	13	cloud	cloud	NOUN
ajst-4910	12	14	into	into	ADP
ajst-4910	12	15	two	two	NUM
ajst-4910	12	16	-	-	PUNCT
ajst-4910	12	17	dimensional	dimensional	ADJ
ajst-4910	12	18	image	image	NOUN
ajst-4910	12	19	by	by	ADP
ajst-4910	12	20	projection	projection	NOUN
ajst-4910	12	21	method	method	NOUN
ajst-4910	12	22	,	,	PUNCT
ajst-4910	12	23	and	and	CCONJ
ajst-4910	12	24	extract	extract	VERB
ajst-4910	12	25	road	road	NOUN
ajst-4910	12	26	surface	surface	NOUN
ajst-4910	12	27	by	by	ADP
ajst-4910	12	28	using	use	VERB
ajst-4910	12	29	mature	mature	ADJ
ajst-4910	12	30	image	image	NOUN
ajst-4910	12	31	processing	process	VERB
ajst-4910	12	32	technology[2	technology[2	PROPN
ajst-4910	12	33	-	-	PUNCT
ajst-4910	12	34	5	5	NUM
ajst-4910	12	35	]	]	PUNCT
ajst-4910	12	36	.	.	PUNCT
ajst-4910	13	1	this	this	DET
ajst-4910	13	2	method	method	NOUN
ajst-4910	13	3	has	have	VERB
ajst-4910	13	4	a	a	DET
ajst-4910	13	5	certain	certain	ADJ
ajst-4910	13	6	degree	degree	NOUN
ajst-4910	13	7	of	of	ADP
ajst-4910	13	8	accuracy	accuracy	NOUN
ajst-4910	13	9	loss	loss	NOUN
ajst-4910	13	10	in	in	ADP
ajst-4910	13	11	the	the	DET
ajst-4910	13	12	process	process	NOUN
ajst-4910	13	13	of	of	ADP
ajst-4910	13	14	image	image	NOUN
ajst-4910	13	15	generation	generation	NOUN
ajst-4910	13	16	.	.	PUNCT
ajst-4910	14	1	the	the	DET
ajst-4910	14	2	vehicle	vehicle	NOUN
ajst-4910	14	3	-	-	PUNCT
ajst-4910	14	4	mounted	mount	VERB
ajst-4910	14	5	lidar	lidar	NOUN
ajst-4910	14	6	system	system	NOUN
ajst-4910	14	7	uses	use	VERB
ajst-4910	14	8	a	a	DET
ajst-4910	14	9	linear	linear	ADJ
ajst-4910	14	10	scanning	scan	VERB
ajst-4910	14	11	mode	mode	NOUN
ajst-4910	14	12	along	along	ADP
ajst-4910	14	13	the	the	DET
ajst-4910	14	14	vehicle	vehicle	NOUN
ajst-4910	14	15	traveling	travel	VERB
ajst-4910	14	16	direction	direction	NOUN
ajst-4910	14	17	.	.	PUNCT
ajst-4910	15	1	the	the	DET
ajst-4910	15	2	scanning	scanning	NOUN
ajst-4910	15	3	line	line	NOUN
ajst-4910	15	4	is	be	AUX
ajst-4910	15	5	approximately	approximately	ADV
ajst-4910	15	6	perpendicular	perpendicular	ADJ
ajst-4910	15	7	to	to	ADP
ajst-4910	15	8	the	the	DET
ajst-4910	15	9	driving	driving	NOUN
ajst-4910	15	10	track	track	NOUN
ajst-4910	15	11	,	,	PUNCT
ajst-4910	15	12	which	which	PRON
ajst-4910	15	13	is	be	AUX
ajst-4910	15	14	similar	similar	ADJ
ajst-4910	15	15	to	to	ADP
ajst-4910	15	16	a	a	DET
ajst-4910	15	17	cross	cross	NOUN
ajst-4910	15	18	section	section	NOUN
ajst-4910	15	19	of	of	ADP
ajst-4910	15	20	the	the	DET
ajst-4910	15	21	road	road	NOUN
ajst-4910	15	22	.	.	PUNCT
ajst-4910	16	1	therefore	therefore	ADV
ajst-4910	16	2	,	,	PUNCT
ajst-4910	16	3	many	many	ADJ
ajst-4910	16	4	scholars	scholar	NOUN
ajst-4910	16	5	have	have	AUX
ajst-4910	16	6	studied	study	VERB
ajst-4910	16	7	the	the	DET
ajst-4910	16	8	point	point	NOUN
ajst-4910	16	9	cloud	cloud	NOUN
ajst-4910	16	10	feature	feature	NOUN
ajst-4910	16	11	information	information	NOUN
ajst-4910	16	12	in	in	ADP
ajst-4910	16	13	the	the	DET
ajst-4910	16	14	scanning	scanning	NOUN
ajst-4910	16	15	line[6	line[6	NOUN
ajst-4910	16	16	-	-	PUNCT
ajst-4910	16	17	9	9	NUM
ajst-4910	16	18	]	]	PUNCT
ajst-4910	16	19	.	.	PUNCT
ajst-4910	17	1	this	this	DET
ajst-4910	17	2	method	method	NOUN
ajst-4910	17	3	requires	require	VERB
ajst-4910	17	4	high	high	ADJ
ajst-4910	17	5	demand	demand	NOUN
ajst-4910	17	6	for	for	ADP
ajst-4910	17	7	road	road	NOUN
ajst-4910	17	8	conditions	condition	NOUN
ajst-4910	17	9	,	,	PUNCT
ajst-4910	17	10	and	and	CCONJ
ajst-4910	17	11	requires	require	VERB
ajst-4910	17	12	sections	section	NOUN
ajst-4910	17	13	with	with	ADP
ajst-4910	17	14	roadblocks	roadblock	NOUN
ajst-4910	17	15	or	or	CCONJ
ajst-4910	17	16	slopes	slope	NOUN
ajst-4910	17	17	on	on	ADP
ajst-4910	17	18	both	both	DET
ajst-4910	17	19	sides	side	NOUN
ajst-4910	17	20	.	.	PUNCT
ajst-4910	18	1	the	the	DET
ajst-4910	18	2	method	method	NOUN
ajst-4910	18	3	based	base	VERB
ajst-4910	18	4	on	on	ADP
ajst-4910	18	5	cluster	cluster	NOUN
ajst-4910	18	6	analysis	analysis	NOUN
ajst-4910	18	7	is	be	AUX
ajst-4910	18	8	that	that	SCONJ
ajst-4910	18	9	the	the	DET
ajst-4910	18	10	target	target	NOUN
ajst-4910	18	11	has	have	VERB
ajst-4910	18	12	similar	similar	ADJ
ajst-4910	18	13	local	local	ADJ
ajst-4910	18	14	features	feature	NOUN
ajst-4910	18	15	.	.	PUNCT
ajst-4910	19	1	the	the	DET
ajst-4910	19	2	point	point	NOUN
ajst-4910	19	3	clouds	cloud	NOUN
ajst-4910	19	4	with	with	ADP
ajst-4910	19	5	these	these	DET
ajst-4910	19	6	features	feature	NOUN
ajst-4910	19	7	are	be	AUX
ajst-4910	19	8	clustered[10	clustered[10	NUM
ajst-4910	19	9	-	-	SYM
ajst-4910	19	10	13	13	NUM
ajst-4910	19	11	]	]	PUNCT
ajst-4910	19	12	to	to	PART
ajst-4910	19	13	obtain	obtain	VERB
ajst-4910	19	14	the	the	DET
ajst-4910	19	15	road	road	NOUN
ajst-4910	19	16	surface	surface	NOUN
ajst-4910	19	17	,	,	PUNCT
ajst-4910	19	18	this	this	DET
ajst-4910	19	19	method	method	NOUN
ajst-4910	19	20	is	be	AUX
ajst-4910	19	21	difficult	difficult	ADJ
ajst-4910	19	22	to	to	PART
ajst-4910	19	23	control	control	VERB
ajst-4910	19	24	the	the	DET
ajst-4910	19	25	degree	degree	NOUN
ajst-4910	19	26	of	of	ADP
ajst-4910	19	27	segmentation	segmentation	NOUN
ajst-4910	19	28	,	,	PUNCT
ajst-4910	19	29	and	and	CCONJ
ajst-4910	19	30	is	be	AUX
ajst-4910	19	31	prone	prone	ADJ
ajst-4910	19	32	to	to	ADP
ajst-4910	19	33	over	over	ADP
ajst-4910	19	34	segmentation	segmentation	NOUN
ajst-4910	19	35	and	and	CCONJ
ajst-4910	19	36	under	under	ADP
ajst-4910	19	37	segmentation	segmentation	NOUN
ajst-4910	19	38	.	.	PUNCT
ajst-4910	20	1	based	base	VERB
ajst-4910	20	2	on	on	ADP
ajst-4910	20	3	the	the	DET
ajst-4910	20	4	distribution	distribution	NOUN
ajst-4910	20	5	characteristics	characteristic	NOUN
ajst-4910	20	6	of	of	ADP
ajst-4910	20	7	road	road	NOUN
ajst-4910	20	8	surface	surface	NOUN
ajst-4910	20	9	point	point	NOUN
ajst-4910	20	10	cloud	cloud	VERB
ajst-4910	20	11	normal	normal	ADJ
ajst-4910	20	12	vectors	vector	NOUN
ajst-4910	20	13	,	,	PUNCT
ajst-4910	20	14	this	this	DET
ajst-4910	20	15	paper	paper	NOUN
ajst-4910	20	16	proposes	propose	VERB
ajst-4910	20	17	a	a	DET
ajst-4910	20	18	road	road	NOUN
ajst-4910	20	19	extraction	extraction	NOUN
ajst-4910	20	20	algorithm	algorithm	NOUN
ajst-4910	20	21	based	base	VERB
ajst-4910	20	22	on	on	ADP
ajst-4910	20	23	the	the	DET
ajst-4910	20	24	similarity	similarity	NOUN
ajst-4910	20	25	of	of	ADP
ajst-4910	20	26	point	point	NOUN
ajst-4910	20	27	cloud	cloud	ADJ
ajst-4910	20	28	normal	normal	ADJ
ajst-4910	20	29	vectors	vector	NOUN
ajst-4910	20	30	,	,	PUNCT
ajst-4910	20	31	and	and	CCONJ
ajst-4910	20	32	tests	test	VERB
ajst-4910	20	33	the	the	DET
ajst-4910	20	34	effectiveness	effectiveness	NOUN
ajst-4910	20	35	and	and	CCONJ
ajst-4910	20	36	accuracy	accuracy	NOUN
ajst-4910	20	37	of	of	ADP
ajst-4910	20	38	the	the	DET
ajst-4910	20	39	algorithm	algorithm	NOUN
ajst-4910	20	40	.	.	PUNCT
ajst-4910	21	1	table	table	NOUN
ajst-4910	21	2	1	1	NUM
ajst-4910	21	3	.	.	PUNCT
ajst-4910	22	1	three	three	NUM
ajst-4910	22	2	scheme	scheme	NOUN
ajst-4910	22	3	comparing	compare	VERB
ajst-4910	22	4	2	2	NUM
ajst-4910	22	5	.	.	PUNCT
ajst-4910	22	6	urban	urban	ADJ
ajst-4910	22	7	road	road	NOUN
ajst-4910	22	8	extraction	extraction	NOUN
ajst-4910	22	9	method	method	NOUN
ajst-4910	22	10	2.1	2.1	NUM
ajst-4910	22	11	.	.	PUNCT
ajst-4910	23	1	non	non	ADJ
ajst-4910	23	2	-	-	ADJ
ajst-4910	23	3	ground	ground	ADJ
ajst-4910	23	4	points	point	NOUN
ajst-4910	23	5	filtering	filter	VERB
ajst-4910	23	6	there	there	PRON
ajst-4910	23	7	are	be	VERB
ajst-4910	23	8	many	many	ADJ
ajst-4910	23	9	ground	ground	NOUN
ajst-4910	23	10	objects	object	NOUN
ajst-4910	23	11	in	in	ADP
ajst-4910	23	12	the	the	DET
ajst-4910	23	13	urban	urban	ADJ
ajst-4910	23	14	road	road	NOUN
ajst-4910	23	15	scene	scene	NOUN
ajst-4910	23	16	,	,	PUNCT
ajst-4910	23	17	and	and	CCONJ
ajst-4910	23	18	the	the	DET
ajst-4910	23	19	original	original	ADJ
ajst-4910	23	20	point	point	NOUN
ajst-4910	23	21	cloud	cloud	NOUN
ajst-4910	23	22	contains	contain	VERB
ajst-4910	23	23	a	a	DET
ajst-4910	23	24	large	large	ADJ
ajst-4910	23	25	number	number	NOUN
ajst-4910	23	26	of	of	ADP
ajst-4910	23	27	trees	tree	NOUN
ajst-4910	23	28	,	,	PUNCT
ajst-4910	23	29	street	street	NOUN
ajst-4910	23	30	lamps	lamp	NOUN
ajst-4910	23	31	,	,	PUNCT
ajst-4910	23	32	poles	pole	NOUN
ajst-4910	23	33	and	and	CCONJ
ajst-4910	23	34	vehicles	vehicle	NOUN
ajst-4910	23	35	on	on	ADP
ajst-4910	23	36	the	the	DET
ajst-4910	23	37	road	road	NOUN
ajst-4910	23	38	.	.	PUNCT
ajst-4910	24	1	these	these	DET
ajst-4910	24	2	points	point	NOUN
ajst-4910	24	3	that	that	PRON
ajst-4910	24	4	may	may	AUX
ajst-4910	24	5	affect	affect	VERB
ajst-4910	24	6	the	the	DET
ajst-4910	24	7	results	result	NOUN
ajst-4910	24	8	of	of	ADP
ajst-4910	24	9	road	road	NOUN
ajst-4910	24	10	extraction	extraction	NOUN
ajst-4910	24	11	are	be	AUX
ajst-4910	24	12	called	call	VERB
ajst-4910	24	13	noise	noise	NOUN
ajst-4910	24	14	points	point	NOUN
ajst-4910	24	15	,	,	PUNCT
ajst-4910	24	16	which	which	PRON
ajst-4910	24	17	interfere	interfere	VERB
ajst-4910	24	18	with	with	ADP
ajst-4910	24	19	the	the	DET
ajst-4910	24	20	accuracy	accuracy	NOUN
ajst-4910	24	21	of	of	ADP
ajst-4910	24	22	normal	normal	ADJ
ajst-4910	24	23	vector	vector	NOUN
ajst-4910	24	24	estimation	estimation	NOUN
ajst-4910	24	25	and	and	CCONJ
ajst-4910	24	26	the	the	DET
ajst-4910	24	27	efficiency	efficiency	NOUN
ajst-4910	24	28	and	and	CCONJ
ajst-4910	24	29	accuracy	accuracy	NOUN
ajst-4910	24	30	of	of	ADP
ajst-4910	24	31	road	road	NOUN
ajst-4910	24	32	extraction	extraction	NOUN
ajst-4910	24	33	.	.	PUNCT
ajst-4910	25	1	therefore	therefore	ADV
ajst-4910	25	2	,	,	PUNCT
ajst-4910	25	3	it	it	PRON
ajst-4910	25	4	is	be	AUX
ajst-4910	25	5	necessary	necessary	ADJ
ajst-4910	25	6	to	to	PART
ajst-4910	25	7	filter	filter	VERB
ajst-4910	25	8	the	the	DET
ajst-4910	25	9	original	original	ADJ
ajst-4910	25	10	point	point	NOUN
ajst-4910	25	11	cloud	cloud	NOUN
ajst-4910	25	12	to	to	PART
ajst-4910	25	13	remove	remove	VERB
ajst-4910	25	14	nonground	nonground	ADJ
ajst-4910	25	15	points	point	NOUN
ajst-4910	25	16	.	.	PUNCT
ajst-4910	26	1	in	in	ADP
ajst-4910	26	2	this	this	DET
ajst-4910	26	3	paper	paper	NOUN
ajst-4910	26	4	,	,	PUNCT
ajst-4910	26	5	the	the	DET
ajst-4910	26	6	cloth	cloth	NOUN
ajst-4910	26	7	simulation	simulation	NOUN
ajst-4910	26	8	-	-	PUNCT
ajst-4910	26	9	based	base	VERB
ajst-4910	26	10	filtering	filtering	NOUN
ajst-4910	26	11	algorithm	algorithm	NOUN
ajst-4910	26	12	(	(	PUNCT
ajst-4910	26	13	csf	csf	PROPN
ajst-4910	26	14	)	)	PUNCT
ajst-4910	26	15	proposed	propose	VERB
ajst-4910	26	16	by	by	ADP
ajst-4910	26	17	zhang[14	zhang[14	PROPN
ajst-4910	26	18	]	]	X
ajst-4910	26	19	is	be	AUX
ajst-4910	26	20	used	use	VERB
ajst-4910	26	21	to	to	PART
ajst-4910	26	22	remove	remove	VERB
ajst-4910	26	23	non	non	ADJ
ajst-4910	26	24	-	-	ADJ
ajst-4910	26	25	ground	ground	ADJ
ajst-4910	26	26	points	point	NOUN
ajst-4910	26	27	.	.	PUNCT
ajst-4910	27	1	this	this	DET
ajst-4910	27	2	algorithm	algorithm	NOUN
ajst-4910	27	3	has	have	VERB
ajst-4910	27	4	the	the	DET
ajst-4910	27	5	advantages	advantage	NOUN
ajst-4910	27	6	of	of	ADP
ajst-4910	27	7	few	few	ADJ
ajst-4910	27	8	parameters	parameter	NOUN
ajst-4910	27	9	and	and	CCONJ
ajst-4910	27	10	fast	fast	ADJ
ajst-4910	27	11	speed	speed	NOUN
ajst-4910	27	12	,	,	PUNCT
ajst-4910	27	13	and	and	CCONJ
ajst-4910	27	14	is	be	AUX
ajst-4910	27	15	suitable	suitable	ADJ
ajst-4910	27	16	for	for	ADP
ajst-4910	27	17	vehicle	vehicle	NOUN
ajst-4910	27	18	point	point	NOUN
ajst-4910	27	19	cloud	cloud	NOUN
ajst-4910	27	20	filtering	filtering	NOUN
ajst-4910	27	21	.	.	PUNCT
ajst-4910	28	1	the	the	DET
ajst-4910	28	2	principle	principle	NOUN
ajst-4910	28	3	is	be	AUX
ajst-4910	28	4	to	to	PART
ajst-4910	28	5	flip	flip	VERB
ajst-4910	28	6	the	the	DET
ajst-4910	28	7	ground	ground	NOUN
ajst-4910	28	8	point	point	NOUN
ajst-4910	28	9	cloud	cloud	NOUN
ajst-4910	28	10	.	.	PUNCT
ajst-4910	29	1	assuming	assume	VERB
ajst-4910	29	2	that	that	SCONJ
ajst-4910	29	3	there	there	PRON
ajst-4910	29	4	is	be	VERB
ajst-4910	29	5	a	a	DET
ajst-4910	29	6	sufficiently	sufficiently	ADV
ajst-4910	29	7	soft	soft	ADJ
ajst-4910	29	8	cloth	cloth	NOUN
ajst-4910	29	9	above	above	ADP
ajst-4910	29	10	the	the	DET
ajst-4910	29	11	ground	ground	NOUN
ajst-4910	29	12	surface	surface	NOUN
ajst-4910	29	13	,	,	PUNCT
ajst-4910	29	14	it	it	PRON
ajst-4910	29	15	is	be	AUX
ajst-4910	29	16	evenly	evenly	ADV
ajst-4910	29	17	covered	cover	VERB
ajst-4910	29	18	on	on	ADP
ajst-4910	29	19	the	the	DET
ajst-4910	29	20	terrain	terrain	NOUN
ajst-4910	29	21	surface	surface	NOUN
ajst-4910	29	22	under	under	ADP
ajst-4910	29	23	the	the	DET
ajst-4910	29	24	influence	influence	NOUN
ajst-4910	29	25	of	of	ADP
ajst-4910	29	26	gravity	gravity	NOUN
ajst-4910	29	27	,	,	PUNCT
ajst-4910	29	28	and	and	CCONJ
ajst-4910	29	29	the	the	DET
ajst-4910	29	30	final	final	ADJ
ajst-4910	29	31	shape	shape	NOUN
ajst-4910	29	32	of	of	ADP
ajst-4910	29	33	the	the	DET
ajst-4910	29	34	cloth	cloth	NOUN
ajst-4910	29	35	can	can	AUX
ajst-4910	29	36	represent	represent	VERB
ajst-4910	29	37	the	the	DET
ajst-4910	29	38	real	real	ADJ
ajst-4910	29	39	ground	ground	NOUN
ajst-4910	29	40	.	.	PUNCT
ajst-4910	30	1	figure	figure	NOUN
ajst-4910	30	2	1	1	NUM
ajst-4910	30	3	is	be	AUX
ajst-4910	30	4	a	a	DET
ajst-4910	30	5	schematic	schematic	ADJ
ajst-4910	30	6	diagram	diagram	NOUN
ajst-4910	30	7	of	of	ADP
ajst-4910	30	8	the	the	DET
ajst-4910	30	9	csf	csf	ADJ
ajst-4910	30	10	algorithm	algorithm	NOUN
ajst-4910	30	11	.	.	PUNCT
ajst-4910	31	1	121	121	NUM
ajst-4910	31	2	figure	figure	NOUN
ajst-4910	31	3	1	1	NUM
ajst-4910	31	4	.	.	PUNCT
ajst-4910	31	5	schematic	schematic	ADJ
ajst-4910	31	6	diagram	diagram	NOUN
ajst-4910	31	7	of	of	ADP
ajst-4910	31	8	csf	csf	ADJ
ajst-4910	31	9	filtering	filter	VERB
ajst-4910	31	10	2.2	2.2	NUM
ajst-4910	31	11	.	.	PUNCT
ajst-4910	32	1	point	point	NOUN
ajst-4910	32	2	cloud	cloud	ADJ
ajst-4910	32	3	normal	normal	ADJ
ajst-4910	32	4	vector	vector	NOUN
ajst-4910	32	5	and	and	CCONJ
ajst-4910	32	6	curvature	curvature	NOUN
ajst-4910	32	7	estimation	estimation	NOUN
ajst-4910	32	8	scholars	scholar	NOUN
ajst-4910	32	9	at	at	ADP
ajst-4910	32	10	home	home	ADV
ajst-4910	32	11	and	and	CCONJ
ajst-4910	32	12	abroad	abroad	ADV
ajst-4910	32	13	have	have	AUX
ajst-4910	32	14	proposed	propose	VERB
ajst-4910	32	15	many	many	ADJ
ajst-4910	32	16	methods	method	NOUN
ajst-4910	32	17	for	for	ADP
ajst-4910	32	18	normal	normal	ADJ
ajst-4910	32	19	vector	vector	NOUN
ajst-4910	32	20	estimation[15,16	estimation[15,16	NOUN
ajst-4910	32	21	]	]	PUNCT
ajst-4910	32	22	.	.	PUNCT
ajst-4910	33	1	among	among	ADP
ajst-4910	33	2	them	they	PRON
ajst-4910	33	3	,	,	PUNCT
ajst-4910	33	4	for	for	ADP
ajst-4910	33	5	vehicle	vehicle	NOUN
ajst-4910	33	6	point	point	NOUN
ajst-4910	33	7	cloud	cloud	PROPN
ajst-4910	33	8	data	datum	NOUN
ajst-4910	33	9	,	,	PUNCT
ajst-4910	33	10	the	the	DET
ajst-4910	33	11	process	process	NOUN
ajst-4910	33	12	of	of	ADP
ajst-4910	33	13	modeling	modeling	NOUN
ajst-4910	33	14	based	base	VERB
ajst-4910	33	15	on	on	ADP
ajst-4910	33	16	delaunay	delaunay	PROPN
ajst-4910	33	17	/	/	SYM
ajst-4910	33	18	voronoi	voronoi	PROPN
ajst-4910	33	19	method	method	NOUN
ajst-4910	33	20	and	and	CCONJ
ajst-4910	33	21	robust	robust	ADJ
ajst-4910	33	22	statistics	statistic	NOUN
ajst-4910	33	23	method	method	NOUN
ajst-4910	33	24	is	be	AUX
ajst-4910	33	25	very	very	ADV
ajst-4910	33	26	complex	complex	ADJ
ajst-4910	33	27	,	,	PUNCT
ajst-4910	33	28	which	which	PRON
ajst-4910	33	29	requires	require	VERB
ajst-4910	33	30	a	a	DET
ajst-4910	33	31	lot	lot	NOUN
ajst-4910	33	32	of	of	ADP
ajst-4910	33	33	time	time	NOUN
ajst-4910	33	34	to	to	PART
ajst-4910	33	35	calculate	calculate	VERB
ajst-4910	33	36	.	.	PUNCT
ajst-4910	34	1	this	this	DET
ajst-4910	34	2	paper	paper	NOUN
ajst-4910	34	3	adopts	adopt	VERB
ajst-4910	34	4	a	a	DET
ajst-4910	34	5	method	method	NOUN
ajst-4910	34	6	based	base	VERB
ajst-4910	34	7	on	on	ADP
ajst-4910	34	8	local	local	ADJ
ajst-4910	34	9	surface	surface	NOUN
ajst-4910	34	10	fitting	fitting	ADJ
ajst-4910	34	11	,	,	PUNCT
ajst-4910	34	12	as	as	SCONJ
ajst-4910	34	13	shown	show	VERB
ajst-4910	34	14	in	in	ADP
ajst-4910	34	15	figure	figure	NOUN
ajst-4910	34	16	2	2	NUM
ajst-4910	34	17	,	,	PUNCT
ajst-4910	34	18	which	which	PRON
ajst-4910	34	19	is	be	AUX
ajst-4910	34	20	to	to	PART
ajst-4910	34	21	directly	directly	ADV
ajst-4910	34	22	obtain	obtain	VERB
ajst-4910	34	23	geometric	geometric	ADJ
ajst-4910	34	24	features	feature	NOUN
ajst-4910	34	25	on	on	ADP
ajst-4910	34	26	the	the	DET
ajst-4910	34	27	point	point	NOUN
ajst-4910	34	28	cloud	cloud	NOUN
ajst-4910	34	29	model	model	NOUN
ajst-4910	34	30	.	.	PUNCT
ajst-4910	35	1	this	this	DET
ajst-4910	35	2	method	method	NOUN
ajst-4910	35	3	assumes	assume	VERB
ajst-4910	35	4	that	that	SCONJ
ajst-4910	35	5	the	the	DET
ajst-4910	35	6	point	point	NOUN
ajst-4910	35	7	cloud	cloud	NOUN
ajst-4910	35	8	sampling	sample	VERB
ajst-4910	35	9	plane	plane	NOUN
ajst-4910	35	10	is	be	AUX
ajst-4910	35	11	smooth	smooth	ADJ
ajst-4910	35	12	,	,	PUNCT
ajst-4910	35	13	and	and	CCONJ
ajst-4910	35	14	the	the	DET
ajst-4910	35	15	local	local	ADJ
ajst-4910	35	16	neighborhood	neighborhood	NOUN
ajst-4910	35	17	of	of	ADP
ajst-4910	35	18	the	the	DET
ajst-4910	35	19	sampling	sampling	NOUN
ajst-4910	35	20	point	point	NOUN
ajst-4910	35	21	can	can	AUX
ajst-4910	35	22	be	be	AUX
ajst-4910	35	23	fitted	fit	VERB
ajst-4910	35	24	with	with	ADP
ajst-4910	35	25	a	a	DET
ajst-4910	35	26	plane	plane	NOUN
ajst-4910	35	27	.	.	PUNCT
ajst-4910	36	1	therefore	therefore	ADV
ajst-4910	36	2	,	,	PUNCT
ajst-4910	36	3	the	the	DET
ajst-4910	36	4	geometric	geometric	ADJ
ajst-4910	36	5	features	feature	NOUN
ajst-4910	36	6	of	of	ADP
ajst-4910	36	7	the	the	DET
ajst-4910	36	8	sampling	sampling	NOUN
ajst-4910	36	9	point	point	NOUN
ajst-4910	36	10	can	can	AUX
ajst-4910	36	11	be	be	AUX
ajst-4910	36	12	estimated	estimate	VERB
ajst-4910	36	13	with	with	ADP
ajst-4910	36	14	the	the	DET
ajst-4910	36	15	parameters	parameter	NOUN
ajst-4910	36	16	of	of	ADP
ajst-4910	36	17	the	the	DET
ajst-4910	36	18	plane	plane	NOUN
ajst-4910	36	19	.	.	PUNCT
ajst-4910	37	1	surface	surface	NOUN
ajst-4910	37	2	e	e	PROPN
ajst-4910	37	3	d/2	d/2	PROPN
ajst-4910	37	4	i	i	PRON
ajst-4910	37	5	ni	ni	PROPN
ajst-4910	37	6	pi	pi	PROPN
ajst-4910	37	7	pij	pij	PROPN
ajst-4910	37	8	figure	figure	NOUN
ajst-4910	37	9	2	2	NUM
ajst-4910	37	10	.	.	PUNCT
ajst-4910	37	11	schematic	schematic	ADJ
ajst-4910	37	12	diagram	diagram	NOUN
ajst-4910	37	13	of	of	ADP
ajst-4910	37	14	normal	normal	ADJ
ajst-4910	37	15	vector	vector	NOUN
ajst-4910	37	16	estimation	estimation	NOUN
ajst-4910	37	17	principle	principle	NOUN
ajst-4910	37	18	3d	3d	NUM
ajst-4910	37	19	point	point	NOUN
ajst-4910	37	20	cloud	cloud	NOUN
ajst-4910	37	21	p={p1,p2,	p={p1,p2,	PROPN
ajst-4910	37	22	…	…	PUNCT
ajst-4910	37	23	,pn},any	,pn},any	PUNCT
ajst-4910	37	24	point	point	VERB
ajst-4910	37	25	pi	pi	NOUN
ajst-4910	37	26	in	in	ADP
ajst-4910	37	27	pi∈r3	pi∈r3	NOUN
ajst-4910	37	28	,	,	PUNCT
ajst-4910	37	29	use	use	VERB
ajst-4910	37	30	kd	kd	NOUN
ajst-4910	37	31	-	-	PUNCT
ajst-4910	37	32	tree	tree	NOUN
ajst-4910	37	33	algorithm[17	algorithm[17	ADV
ajst-4910	37	34	]	]	PUNCT
ajst-4910	37	35	to	to	PART
ajst-4910	37	36	find	find	VERB
ajst-4910	37	37	k	k	PROPN
ajst-4910	37	38	adjacent	adjacent	ADJ
ajst-4910	37	39	points	point	NOUN
ajst-4910	37	40	m(p1)={pij|1	m(p1)={pij|1	PROPN
ajst-4910	37	41	≤	≤	X
ajst-4910	37	42	j	j	PROPN
ajst-4910	37	43	≤	≤	PROPN
ajst-4910	38	1	k	k	NOUN
ajst-4910	38	2	}	}	PUNCT
ajst-4910	38	3	of	of	ADP
ajst-4910	38	4	a	a	DET
ajst-4910	38	5	point	point	NOUN
ajst-4910	38	6	.	.	PUNCT
ajst-4910	39	1	finally	finally	ADV
ajst-4910	39	2	,	,	PUNCT
ajst-4910	39	3	use	use	VERB
ajst-4910	39	4	the	the	DET
ajst-4910	39	5	least	least	ADJ
ajst-4910	39	6	square	square	ADJ
ajst-4910	39	7	plane	plane	NOUN
ajst-4910	39	8	to	to	PART
ajst-4910	39	9	fit	fit	VERB
ajst-4910	39	10	a	a	DET
ajst-4910	39	11	local	local	ADJ
ajst-4910	39	12	plane	plane	NOUN
ajst-4910	39	13	e	e	NOUN
ajst-4910	39	14	to	to	PART
ajst-4910	39	15	minimize	minimize	VERB
ajst-4910	39	16	the	the	DET
ajst-4910	39	17	following	follow	VERB
ajst-4910	39	18	equation	equation	NOUN
ajst-4910	39	19	:	:	PUNCT
ajst-4910	39	20	2	2	NUM
ajst-4910	39	21	1	1	NUM
ajst-4910	39	22	(	(	PUNCT
ajst-4910	39	23	(	(	PUNCT
ajst-4910	39	24	)	)	PUNCT
ajst-4910	39	25	)	)	PUNCT
ajst-4910	40	1	k	k	X
ajst-4910	41	1	ij	ij	INTJ
ajst-4910	42	1	i	i	PRON
ajst-4910	42	2	ij	ij	VERB
ajst-4910	42	3	error	error	NOUN
ajst-4910	43	1	p	p	NOUN
ajst-4910	43	2	p	p	X
ajst-4910	43	3			PROPN
ajst-4910	43	4			PROPN
ajst-4910	43	5			PROPN
ajst-4910	43	6			SYM
ajst-4910	43	7	n	n	CCONJ
ajst-4910	43	8	(	(	PUNCT
ajst-4910	43	9	1	1	NUM
ajst-4910	43	10	)	)	PUNCT
ajst-4910	43	11	where	where	SCONJ
ajst-4910	43	12	ni	ni	PROPN
ajst-4910	43	13	is	be	AUX
ajst-4910	43	14	the	the	DET
ajst-4910	43	15	normal	normal	ADJ
ajst-4910	43	16	vector	vector	NOUN
ajst-4910	43	17	of	of	ADP
ajst-4910	43	18	plane	plane	NOUN
ajst-4910	43	19	e.	e.	PROPN
ajst-4910	43	20	perform	perform	VERB
ajst-4910	43	21	principal	principal	ADJ
ajst-4910	43	22	component	component	NOUN
ajst-4910	43	23	analysis	analysis	NOUN
ajst-4910	43	24	(	(	PUNCT
ajst-4910	43	25	principal	principal	NOUN
ajst-4910	43	26	component	component	NOUN
ajst-4910	43	27	analysis，pca	analysis，pca	PROPN
ajst-4910	43	28	)	)	PUNCT
ajst-4910	43	29	on	on	ADP
ajst-4910	43	30	the	the	DET
ajst-4910	43	31	covariance	covariance	NOUN
ajst-4910	43	32	matrix	matrix	NOUN
ajst-4910	43	33	of	of	ADP
ajst-4910	43	34	vertices	vertex	NOUN
ajst-4910	43	35	.	.	PUNCT
ajst-4910	44	1	the	the	DET
ajst-4910	44	2	covariance	covariance	NOUN
ajst-4910	44	3	matrix	matrix	NOUN
ajst-4910	44	4	of	of	ADP
ajst-4910	44	5	the	the	DET
ajst-4910	44	6	pi	pi	NOUN
ajst-4910	44	7	neighborhood	neighborhood	NOUN
ajst-4910	44	8	can	can	AUX
ajst-4910	44	9	be	be	AUX
ajst-4910	44	10	written	write	VERB
ajst-4910	44	11	as	as	ADP
ajst-4910	44	12	:	:	PUNCT
ajst-4910	44	13	1	1	NUM
ajst-4910	44	14	1	1	NUM
ajst-4910	44	15	2	2	NUM
ajst-4910	44	16	2	2	NUM
ajst-4910	44	17	...	...	PUNCT
ajst-4910	44	18	...	...	PUNCT
ajst-4910	45	1	t	t	X
ajst-4910	46	1	i	i	PRON
ajst-4910	47	1	i	i	PRON
ajst-4910	48	1	i	i	PRON
ajst-4910	49	1	i	i	PRON
ajst-4910	50	1	i	i	PRON
ajst-4910	51	1	i	i	PRON
ajst-4910	52	1	i	i	PRON
ajst-4910	53	1	i	i	PRON
ajst-4910	53	2	ik	ik	VERB
ajst-4910	53	3	i	i	PRON
ajst-4910	53	4	ik	ik	VERB
ajst-4910	53	5	i	i	PRON
ajst-4910	53	6	p	p	X
ajst-4910	54	1	p	p	X
ajst-4910	54	2	p	p	X
ajst-4910	54	3	p	p	PROPN
ajst-4910	54	4	p	p	PROPN
ajst-4910	54	5	p	p	PROPN
ajst-4910	54	6	p	p	X
ajst-4910	54	7	p	p	X
ajst-4910	54	8	c	c	NOUN
ajst-4910	54	9	p	p	NOUN
ajst-4910	54	10	p	p	X
ajst-4910	54	11	p	p	PROPN
ajst-4910	54	12	p	p	X
ajst-4910	54	13			PROPN
ajst-4910	54	14			ADJ
ajst-4910	54	15			PROPN
ajst-4910	54	16			PROPN
ajst-4910	54	17			PROPN
ajst-4910	54	18			PROPN
ajst-4910	54	19			NOUN
ajst-4910	54	20			NOUN
ajst-4910	54	21			PROPN
ajst-4910	54	22			NOUN
ajst-4910	54	23			PROPN
ajst-4910	54	24			PROPN
ajst-4910	54	25			NOUN
ajst-4910	54	26			NUM
ajst-4910	54	27			NOUN
ajst-4910	54	28			NOUN
ajst-4910	54	29			NOUN
ajst-4910	54	30			NOUN
ajst-4910	54	31			NOUN
ajst-4910	54	32			NOUN
ajst-4910	54	33			NOUN
ajst-4910	54	34			NOUN
ajst-4910	54	35			NOUN
ajst-4910	54	36			NOUN
ajst-4910	54	37			NOUN
ajst-4910	54	38			NOUN
ajst-4910	54	39			NOUN
ajst-4910	54	40			PROPN
ajst-4910	54	41			VERB
ajst-4910	54	42			PROPN
ajst-4910	54	43	(	(	PUNCT
ajst-4910	54	44	2	2	NUM
ajst-4910	54	45	)	)	PUNCT
ajst-4910	54	46	where	where	SCONJ
ajst-4910	54	47	pi	pi	NOUN
ajst-4910	54	48	is	be	AUX
ajst-4910	54	49	the	the	DET
ajst-4910	54	50	center	center	NOUN
ajst-4910	54	51	of	of	ADP
ajst-4910	54	52	gravity	gravity	NOUN
ajst-4910	54	53	of	of	ADP
ajst-4910	54	54	the	the	DET
ajst-4910	54	55	neighborhood	neighborhood	NOUN
ajst-4910	54	56	point	point	NOUN
ajst-4910	54	57	set	set	VERB
ajst-4910	54	58	m（pi	m（pi	PROPN
ajst-4910	54	59	）	）	PROPN
ajst-4910	54	60	,	,	PUNCT
ajst-4910	54	61	considering	consider	VERB
ajst-4910	54	62	the	the	DET
ajst-4910	54	63	following	follow	VERB
ajst-4910	54	64	characteristic	characteristic	ADJ
ajst-4910	54	65	problems	problem	NOUN
ajst-4910	54	66	:	:	PUNCT
ajst-4910	54	67	,	,	PUNCT
ajst-4910	54	68	{	{	PUNCT
ajst-4910	54	69	1,2,3}m	1,2,3}m	NUM
ajst-4910	54	70	m	m	NOUN
ajst-4910	54	71	mc	mc	NOUN
ajst-4910	54	72	e	e	PROPN
ajst-4910	54	73	e	e	X
ajst-4910	54	74	m	m	PROPN
ajst-4910	54	75			PROPN
ajst-4910	54	76			ADJ
ajst-4910	54	77			NOUN
ajst-4910	54	78	(	(	PUNCT
ajst-4910	54	79	3	3	X
ajst-4910	54	80	)	)	PUNCT
ajst-4910	54	81	let	let	VERB
ajst-4910	54	82	λ1	λ1	PROPN
ajst-4910	54	83	≤	≤	NUM
ajst-4910	54	84	λ2	λ2	PROPN
ajst-4910	54	85	≤λ3	≤λ3	PROPN
ajst-4910	54	86	,	,	PUNCT
ajst-4910	54	87	the	the	DET
ajst-4910	54	88	characteristic	characteristic	ADJ
ajst-4910	54	89	direction	direction	NOUN
ajst-4910	54	90	e1	e1	NOUN
ajst-4910	54	91	corresponding	correspond	VERB
ajst-4910	54	92	to	to	ADP
ajst-4910	54	93	the	the	DET
ajst-4910	54	94	minimum	minimum	ADJ
ajst-4910	54	95	eigenvalueλ1	eigenvalueλ1	NOUN
ajst-4910	54	96	of	of	ADP
ajst-4910	54	97	matrix	matrix	NOUN
ajst-4910	54	98	c	c	NOUN
ajst-4910	54	99	can	can	AUX
ajst-4910	54	100	be	be	AUX
ajst-4910	54	101	used	use	VERB
ajst-4910	54	102	as	as	ADP
ajst-4910	54	103	an	an	DET
ajst-4910	54	104	effective	effective	ADJ
ajst-4910	54	105	estimate	estimate	NOUN
ajst-4910	54	106	of	of	ADP
ajst-4910	54	107	the	the	DET
ajst-4910	54	108	normal	normal	ADJ
ajst-4910	54	109	vector	vector	NOUN
ajst-4910	54	110	ni	ni	PROPN
ajst-4910	54	111	.	.	PUNCT
ajst-4910	55	1	the	the	DET
ajst-4910	55	2	corresponding	correspond	VERB
ajst-4910	55	3	curvature	curvature	NOUN
ajst-4910	55	4	formula	formula	NOUN
ajst-4910	55	5	can	can	AUX
ajst-4910	55	6	be	be	AUX
ajst-4910	55	7	estimated	estimate	VERB
ajst-4910	55	8	by	by	ADP
ajst-4910	55	9	the	the	DET
ajst-4910	55	10	following	follow	VERB
ajst-4910	55	11	formula	formula	NOUN
ajst-4910	55	12	:	:	PUNCT
ajst-4910	55	13	1	1	NUM
ajst-4910	55	14	1	1	NUM
ajst-4910	55	15	2	2	NUM
ajst-4910	55	16	3	3	NUM
ajst-4910	55	17	ih	ih	PROPN
ajst-4910	55	18			PROPN
ajst-4910	55	19			ADJ
ajst-4910	55	20			ADJ
ajst-4910	55	21			X
ajst-4910	55	22			PROPN
ajst-4910	55	23			ADJ
ajst-4910	55	24			X
ajst-4910	55	25	(	(	PUNCT
ajst-4910	55	26	4	4	NUM
ajst-4910	55	27	)	)	PUNCT
ajst-4910	55	28	2.3	2.3	NUM
ajst-4910	55	29	.	.	PUNCT
ajst-4910	56	1	normal	normal	ADJ
ajst-4910	56	2	vector	vector	NOUN
ajst-4910	56	3	clustering	cluster	VERB
ajst-4910	56	4	algorithm	algorithm	NOUN
ajst-4910	56	5	the	the	DET
ajst-4910	56	6	normal	normal	ADJ
ajst-4910	56	7	vector	vector	NOUN
ajst-4910	56	8	distribution	distribution	NOUN
ajst-4910	56	9	of	of	ADP
ajst-4910	56	10	the	the	DET
ajst-4910	56	11	vehicle	vehicle	NOUN
ajst-4910	56	12	point	point	NOUN
ajst-4910	56	13	cloud	cloud	NOUN
ajst-4910	56	14	on	on	ADP
ajst-4910	56	15	the	the	DET
ajst-4910	56	16	road	road	NOUN
ajst-4910	56	17	surface	surface	NOUN
ajst-4910	56	18	is	be	AUX
ajst-4910	56	19	relatively	relatively	ADV
ajst-4910	56	20	concentrated	concentrate	VERB
ajst-4910	56	21	,	,	PUNCT
ajst-4910	56	22	and	and	CCONJ
ajst-4910	56	23	the	the	DET
ajst-4910	56	24	direction	direction	NOUN
ajst-4910	56	25	of	of	ADP
ajst-4910	56	26	the	the	DET
ajst-4910	56	27	road	road	NOUN
ajst-4910	56	28	surface	surface	NOUN
ajst-4910	56	29	normal	normal	ADJ
ajst-4910	56	30	vector	vector	NOUN
ajst-4910	56	31	does	do	AUX
ajst-4910	56	32	not	not	PART
ajst-4910	56	33	change	change	VERB
ajst-4910	56	34	much	much	ADV
ajst-4910	56	35	,	,	PUNCT
ajst-4910	56	36	but	but	CCONJ
ajst-4910	56	37	there	there	PRON
ajst-4910	56	38	is	be	VERB
ajst-4910	56	39	a	a	DET
ajst-4910	56	40	significant	significant	ADJ
ajst-4910	56	41	difference	difference	NOUN
ajst-4910	56	42	between	between	ADP
ajst-4910	56	43	the	the	DET
ajst-4910	56	44	normal	normal	ADJ
ajst-4910	56	45	vector	vector	NOUN
ajst-4910	56	46	normal	normal	ADJ
ajst-4910	56	47	phase	phase	NOUN
ajst-4910	56	48	at	at	ADP
ajst-4910	56	49	the	the	DET
ajst-4910	56	50	edge	edge	NOUN
ajst-4910	56	51	of	of	ADP
ajst-4910	56	52	the	the	DET
ajst-4910	56	53	road	road	NOUN
ajst-4910	56	54	and	and	CCONJ
ajst-4910	56	55	the	the	DET
ajst-4910	56	56	curbstone	curbstone	NOUN
ajst-4910	56	57	and	and	CCONJ
ajst-4910	56	58	other	other	ADJ
ajst-4910	56	59	objects	object	NOUN
ajst-4910	56	60	.	.	PUNCT
ajst-4910	57	1	therefore	therefore	ADV
ajst-4910	57	2	,	,	PUNCT
ajst-4910	57	3	the	the	DET
ajst-4910	57	4	normal	normal	ADJ
ajst-4910	57	5	vector	vector	NOUN
ajst-4910	57	6	similarity	similarity	NOUN
ajst-4910	57	7	is	be	AUX
ajst-4910	57	8	used	use	VERB
ajst-4910	57	9	as	as	ADP
ajst-4910	57	10	the	the	DET
ajst-4910	57	11	constraint	constraint	NOUN
ajst-4910	57	12	,	,	PUNCT
ajst-4910	57	13	and	and	CCONJ
ajst-4910	57	14	the	the	DET
ajst-4910	57	15	normal	normal	ADJ
ajst-4910	57	16	vector	vector	NOUN
ajst-4910	57	17	clustering	cluster	VERB
ajst-4910	57	18	algorithm	algorithm	NOUN
ajst-4910	57	19	is	be	AUX
ajst-4910	57	20	used	use	VERB
ajst-4910	57	21	to	to	PART
ajst-4910	57	22	segment	segment	VERB
ajst-4910	57	23	the	the	DET
ajst-4910	57	24	road	road	NOUN
ajst-4910	57	25	surface	surface	NOUN
ajst-4910	57	26	point	point	NOUN
ajst-4910	57	27	cloud	cloud	NOUN
ajst-4910	57	28	.	.	PUNCT
ajst-4910	58	1	the	the	DET
ajst-4910	58	2	clustering	clustering	ADJ
ajst-4910	58	3	segmentation	segmentation	NOUN
ajst-4910	58	4	method	method	NOUN
ajst-4910	58	5	based	base	VERB
ajst-4910	58	6	on	on	ADP
ajst-4910	58	7	the	the	DET
ajst-4910	58	8	similarity	similarity	NOUN
ajst-4910	58	9	of	of	ADP
ajst-4910	58	10	normal	normal	ADJ
ajst-4910	58	11	vectors	vector	NOUN
ajst-4910	58	12	used	use	VERB
ajst-4910	58	13	in	in	ADP
ajst-4910	58	14	this	this	DET
ajst-4910	58	15	paper	paper	NOUN
ajst-4910	58	16	is	be	AUX
ajst-4910	58	17	a	a	DET
ajst-4910	58	18	segmentation	segmentation	NOUN
ajst-4910	58	19	method	method	NOUN
ajst-4910	58	20	derived	derive	VERB
ajst-4910	58	21	from	from	ADP
ajst-4910	58	22	the	the	DET
ajst-4910	58	23	region	region	NOUN
ajst-4910	58	24	growing	grow	VERB
ajst-4910	58	25	algorithm[18	algorithm[18	ADV
ajst-4910	58	26	]	]	PUNCT
ajst-4910	58	27	.	.	PUNCT
ajst-4910	59	1	the	the	DET
ajst-4910	59	2	basic	basic	ADJ
ajst-4910	59	3	idea	idea	NOUN
ajst-4910	59	4	of	of	ADP
ajst-4910	59	5	the	the	DET
ajst-4910	59	6	algorithm	algorithm	NOUN
ajst-4910	59	7	is	be	AUX
ajst-4910	59	8	:	:	PUNCT
ajst-4910	59	9	select	select	VERB
ajst-4910	59	10	a	a	DET
ajst-4910	59	11	seed	seed	NOUN
ajst-4910	59	12	point	point	NOUN
ajst-4910	59	13	from	from	ADP
ajst-4910	59	14	the	the	DET
ajst-4910	59	15	point	point	NOUN
ajst-4910	59	16	cloud	cloud	NOUN
ajst-4910	59	17	,	,	PUNCT
ajst-4910	59	18	use	use	VERB
ajst-4910	59	19	the	the	DET
ajst-4910	59	20	seed	seed	NOUN
ajst-4910	59	21	point	point	NOUN
ajst-4910	59	22	as	as	ADP
ajst-4910	59	23	the	the	DET
ajst-4910	59	24	starting	starting	NOUN
ajst-4910	59	25	point	point	NOUN
ajst-4910	59	26	,	,	PUNCT
ajst-4910	59	27	set	set	VERB
ajst-4910	59	28	a	a	DET
ajst-4910	59	29	threshold	threshold	NOUN
ajst-4910	59	30	value	value	NOUN
ajst-4910	59	31	,	,	PUNCT
ajst-4910	59	32	and	and	CCONJ
ajst-4910	59	33	judge	judge	VERB
ajst-4910	59	34	whether	whether	SCONJ
ajst-4910	59	35	the	the	DET
ajst-4910	59	36	points	point	NOUN
ajst-4910	59	37	within	within	ADP
ajst-4910	59	38	a	a	DET
ajst-4910	59	39	certain	certain	ADJ
ajst-4910	59	40	range	range	NOUN
ajst-4910	59	41	around	around	ADP
ajst-4910	59	42	it	it	PRON
ajst-4910	59	43	can	can	AUX
ajst-4910	59	44	meet	meet	VERB
ajst-4910	59	45	the	the	DET
ajst-4910	59	46	normal	normal	ADJ
ajst-4910	59	47	vector	vector	NOUN
ajst-4910	59	48	difference	difference	NOUN
ajst-4910	59	49	with	with	ADP
ajst-4910	59	50	the	the	DET
ajst-4910	59	51	seed	seed	NOUN
ajst-4910	59	52	point	point	NOUN
ajst-4910	59	53	within	within	ADP
ajst-4910	59	54	the	the	DET
ajst-4910	59	55	threshold	threshold	NOUN
ajst-4910	59	56	value	value	NOUN
ajst-4910	59	57	range	range	NOUN
ajst-4910	59	58	.	.	PUNCT
ajst-4910	60	1	if	if	SCONJ
ajst-4910	60	2	it	it	PRON
ajst-4910	60	3	meets	meet	VERB
ajst-4910	60	4	the	the	DET
ajst-4910	60	5	requirements	requirement	NOUN
ajst-4910	60	6	,	,	PUNCT
ajst-4910	60	7	add	add	VERB
ajst-4910	60	8	it	it	PRON
ajst-4910	60	9	to	to	ADP
ajst-4910	60	10	the	the	DET
ajst-4910	60	11	point	point	NOUN
ajst-4910	60	12	cloud	cloud	NOUN
ajst-4910	60	13	cluster	cluster	NOUN
ajst-4910	60	14	,	,	PUNCT
ajst-4910	60	15	and	and	CCONJ
ajst-4910	60	16	it	it	PRON
ajst-4910	60	17	can	can	AUX
ajst-4910	60	18	be	be	AUX
ajst-4910	60	19	used	use	VERB
ajst-4910	60	20	as	as	ADP
ajst-4910	60	21	the	the	DET
ajst-4910	60	22	seed	seed	NOUN
ajst-4910	60	23	point	point	NOUN
ajst-4910	60	24	that	that	PRON
ajst-4910	60	25	continues	continue	VERB
ajst-4910	60	26	to	to	PART
ajst-4910	60	27	grow	grow	VERB
ajst-4910	60	28	until	until	SCONJ
ajst-4910	60	29	there	there	PRON
ajst-4910	60	30	is	be	VERB
ajst-4910	60	31	no	no	DET
ajst-4910	60	32	similar	similar	ADJ
ajst-4910	60	33	feature	feature	NOUN
ajst-4910	60	34	point	point	NOUN
ajst-4910	60	35	in	in	ADP
ajst-4910	60	36	the	the	DET
ajst-4910	60	37	seed	seed	NOUN
ajst-4910	60	38	point	point	NOUN
ajst-4910	60	39	area	area	NOUN
ajst-4910	60	40	.	.	PUNCT
ajst-4910	61	1	the	the	DET
ajst-4910	61	2	key	key	NOUN
ajst-4910	61	3	of	of	ADP
ajst-4910	61	4	this	this	DET
ajst-4910	61	5	algorithm	algorithm	NOUN
ajst-4910	61	6	lies	lie	VERB
ajst-4910	61	7	in	in	ADP
ajst-4910	61	8	the	the	DET
ajst-4910	61	9	selection	selection	NOUN
ajst-4910	61	10	of	of	ADP
ajst-4910	61	11	seed	seed	NOUN
ajst-4910	61	12	points	point	NOUN
ajst-4910	61	13	.	.	PUNCT
ajst-4910	62	1	considering	consider	VERB
ajst-4910	62	2	the	the	DET
ajst-4910	62	3	characteristics	characteristic	NOUN
ajst-4910	62	4	of	of	ADP
ajst-4910	62	5	urban	urban	ADJ
ajst-4910	62	6	roads	road	NOUN
ajst-4910	62	7	as	as	SCONJ
ajst-4910	62	8	shown	show	VERB
ajst-4910	62	9	in	in	ADP
ajst-4910	62	10	figure	figure	NOUN
ajst-4910	62	11	3	3	NUM
ajst-4910	62	12	,	,	PUNCT
ajst-4910	62	13	the	the	DET
ajst-4910	62	14	road	road	NOUN
ajst-4910	62	15	surface	surface	NOUN
ajst-4910	62	16	is	be	AUX
ajst-4910	62	17	relatively	relatively	ADV
ajst-4910	62	18	flat	flat	ADJ
ajst-4910	62	19	,	,	PUNCT
ajst-4910	62	20	and	and	CCONJ
ajst-4910	62	21	the	the	DET
ajst-4910	62	22	elevation	elevation	NOUN
ajst-4910	62	23	of	of	ADP
ajst-4910	62	24	road	road	NOUN
ajst-4910	62	25	points	point	NOUN
ajst-4910	62	26	is	be	AUX
ajst-4910	62	27	generally	generally	ADV
ajst-4910	62	28	slightly	slightly	ADV
ajst-4910	62	29	lower	low	ADJ
ajst-4910	62	30	than	than	ADP
ajst-4910	62	31	other	other	ADJ
ajst-4910	62	32	features	feature	NOUN
ajst-4910	62	33	such	such	ADJ
ajst-4910	62	34	as	as	ADP
ajst-4910	62	35	the	the	DET
ajst-4910	62	36	channels	channel	NOUN
ajst-4910	62	37	on	on	ADP
ajst-4910	62	38	both	both	DET
ajst-4910	62	39	sides	side	NOUN
ajst-4910	62	40	of	of	ADP
ajst-4910	62	41	the	the	DET
ajst-4910	62	42	road	road	NOUN
ajst-4910	62	43	.	.	PUNCT
ajst-4910	63	1	therefore	therefore	ADV
ajst-4910	63	2	,	,	PUNCT
ajst-4910	63	3	first	first	ADV
ajst-4910	63	4	arrange	arrange	VERB
ajst-4910	63	5	the	the	DET
ajst-4910	63	6	original	original	ADJ
ajst-4910	63	7	point	point	NOUN
ajst-4910	63	8	cloud	cloud	NOUN
ajst-4910	63	9	in	in	ADP
ajst-4910	63	10	ascending	ascend	VERB
ajst-4910	63	11	order	order	NOUN
ajst-4910	63	12	of	of	ADP
ajst-4910	63	13	elevation	elevation	NOUN
ajst-4910	63	14	,	,	PUNCT
ajst-4910	63	15	and	and	CCONJ
ajst-4910	63	16	select	select	VERB
ajst-4910	63	17	the	the	DET
ajst-4910	63	18	point	point	NOUN
ajst-4910	63	19	with	with	ADP
ajst-4910	63	20	the	the	DET
ajst-4910	63	21	lowest	low	ADJ
ajst-4910	63	22	elevation	elevation	NOUN
ajst-4910	63	23	as	as	ADP
ajst-4910	63	24	the	the	DET
ajst-4910	63	25	seed	seed	NOUN
ajst-4910	63	26	point	point	NOUN
ajst-4910	63	27	.	.	PUNCT
ajst-4910	64	1	the	the	DET
ajst-4910	64	2	algorithm	algorithm	NOUN
ajst-4910	64	3	process	process	NOUN
ajst-4910	64	4	is	be	AUX
ajst-4910	64	5	as	as	SCONJ
ajst-4910	64	6	follows	follow	VERB
ajst-4910	64	7	:	:	PUNCT
ajst-4910	64	8	(	(	PUNCT
ajst-4910	64	9	1	1	X
ajst-4910	64	10	)	)	PUNCT
ajst-4910	64	11	arrange	arrange	NOUN
ajst-4910	64	12	the	the	DET
ajst-4910	64	13	original	original	ADJ
ajst-4910	64	14	point	point	NOUN
ajst-4910	64	15	cloud	cloud	NOUN
ajst-4910	64	16	data	datum	NOUN
ajst-4910	64	17	in	in	ADP
ajst-4910	64	18	ascending	ascend	VERB
ajst-4910	64	19	order	order	NOUN
ajst-4910	64	20	of	of	ADP
ajst-4910	64	21	elevation	elevation	NOUN
ajst-4910	64	22	difference	difference	NOUN
ajst-4910	64	23	,	,	PUNCT
ajst-4910	64	24	calculate	calculate	VERB
ajst-4910	64	25	the	the	DET
ajst-4910	64	26	curvature	curvature	NOUN
ajst-4910	64	27	hi	hi	INTJ
ajst-4910	64	28	and	and	CCONJ
ajst-4910	64	29	normal	normal	ADJ
ajst-4910	64	30	vector	vector	NOUN
ajst-4910	64	31	ni	ni	PROPN
ajst-4910	64	32	of	of	ADP
ajst-4910	64	33	all	all	DET
ajst-4910	64	34	points	point	NOUN
ajst-4910	64	35	,	,	PUNCT
ajst-4910	64	36	and	and	CCONJ
ajst-4910	64	37	the	the	DET
ajst-4910	64	38	seed	seed	NOUN
ajst-4910	64	39	point	point	NOUN
ajst-4910	64	40	is	be	AUX
ajst-4910	64	41	the	the	DET
ajst-4910	64	42	point	point	NOUN
ajst-4910	64	43	with	with	ADP
ajst-4910	64	44	the	the	DET
ajst-4910	64	45	smallest	small	ADJ
ajst-4910	64	46	curvature	curvature	NOUN
ajst-4910	64	47	.	.	PUNCT
ajst-4910	65	1	(	(	PUNCT
ajst-4910	65	2	2	2	X
ajst-4910	65	3	)	)	PUNCT
ajst-4910	65	4	search	search	VERB
ajst-4910	65	5	the	the	DET
ajst-4910	65	6	neighborhood	neighborhood	NOUN
ajst-4910	65	7	of	of	ADP
ajst-4910	65	8	the	the	DET
ajst-4910	65	9	current	current	ADJ
ajst-4910	65	10	seed	seed	NOUN
ajst-4910	65	11	point	point	NOUN
ajst-4910	65	12	,	,	PUNCT
ajst-4910	65	13	calculate	calculate	VERB
ajst-4910	65	14	the	the	DET
ajst-4910	65	15	normal	normal	ADJ
ajst-4910	65	16	vectors	vector	NOUN
ajst-4910	65	17	and	and	CCONJ
ajst-4910	65	18	curvature	curvature	NOUN
ajst-4910	65	19	values	value	NOUN
ajst-4910	65	20	of	of	ADP
ajst-4910	65	21	all	all	DET
ajst-4910	65	22	points	point	NOUN
ajst-4910	65	23	in	in	ADP
ajst-4910	65	24	the	the	DET
ajst-4910	65	25	neighborhood	neighborhood	NOUN
ajst-4910	65	26	,	,	PUNCT
ajst-4910	65	27	and	and	CCONJ
ajst-4910	65	28	the	the	DET
ajst-4910	65	29	included	include	VERB
ajst-4910	65	30	angle	angle	NOUN
ajst-4910	65	31	si	si	NOUN
ajst-4910	65	32	with	with	ADP
ajst-4910	65	33	the	the	DET
ajst-4910	65	34	seed	seed	NOUN
ajst-4910	65	35	point	point	VERB
ajst-4910	65	36	normal	normal	ADJ
ajst-4910	65	37	vector	vector	NOUN
ajst-4910	65	38	.	.	PUNCT
ajst-4910	66	1	(	(	PUNCT
ajst-4910	66	2	3	3	X
ajst-4910	66	3	)	)	PUNCT
ajst-4910	66	4	set	set	VERB
ajst-4910	66	5	the	the	DET
ajst-4910	66	6	smoothing	smooth	VERB
ajst-4910	66	7	threshold	threshold	NOUN
ajst-4910	66	8	s	s	PART
ajst-4910	66	9	α	α	NOUN
ajst-4910	66	10	and	and	CCONJ
ajst-4910	66	11	the	the	DET
ajst-4910	66	12	curvature	curvature	NOUN
ajst-4910	66	13	threshold	threshold	NOUN
ajst-4910	66	14	hβ	hβ	PROPN
ajst-4910	66	15	,	,	PUNCT
ajst-4910	66	16	examine	examine	VERB
ajst-4910	66	17	the	the	DET
ajst-4910	66	18	angle	angle	NOUN
ajst-4910	66	19	between	between	ADP
ajst-4910	66	20	the	the	DET
ajst-4910	66	21	current	current	ADJ
ajst-4910	66	22	point	point	NOUN
ajst-4910	66	23	and	and	CCONJ
ajst-4910	66	24	the	the	DET
ajst-4910	66	25	normal	normal	ADJ
ajst-4910	66	26	vector	vector	NOUN
ajst-4910	66	27	of	of	ADP
ajst-4910	66	28	the	the	DET
ajst-4910	66	29	points	point	NOUN
ajst-4910	66	30	in	in	ADP
ajst-4910	66	31	the	the	DET
ajst-4910	66	32	neighborhood	neighborhood	NOUN
ajst-4910	66	33	,	,	PUNCT
ajst-4910	66	34	if	if	SCONJ
ajst-4910	66	35	si	si	PROPN
ajst-4910	66	36	<	<	X
ajst-4910	66	37	sα	sα	ADV
ajst-4910	66	38	,	,	PUNCT
ajst-4910	66	39	add	add	VERB
ajst-4910	66	40	the	the	DET
ajst-4910	66	41	current	current	ADJ
ajst-4910	66	42	point	point	NOUN
ajst-4910	66	43	to	to	ADP
ajst-4910	66	44	the	the	DET
ajst-4910	66	45	seed	seed	NOUN
ajst-4910	66	46	point	point	NOUN
ajst-4910	66	47	area	area	NOUN
ajst-4910	66	48	;	;	PUNCT
ajst-4910	66	49	examine	examine	VERB
ajst-4910	66	50	the	the	DET
ajst-4910	66	51	curvature	curvature	NOUN
ajst-4910	66	52	value	value	NOUN
ajst-4910	66	53	hi	hi	INTJ
ajst-4910	66	54	of	of	ADP
ajst-4910	66	55	the	the	DET
ajst-4910	66	56	current	current	ADJ
ajst-4910	66	57	point	point	NOUN
ajst-4910	66	58	,	,	PUNCT
ajst-4910	66	59	if	if	SCONJ
ajst-4910	66	60	hi	hi	INTJ
ajst-4910	66	61	<	<	X
ajst-4910	66	62	hβ	hβ	PROPN
ajst-4910	66	63	can	can	AUX
ajst-4910	66	64	be	be	AUX
ajst-4910	66	65	satisfied	satisfied	ADJ
ajst-4910	66	66	at	at	ADP
ajst-4910	66	67	the	the	DET
ajst-4910	66	68	same	same	ADJ
ajst-4910	66	69	time	time	NOUN
ajst-4910	66	70	,	,	PUNCT
ajst-4910	66	71	the	the	DET
ajst-4910	66	72	current	current	ADJ
ajst-4910	66	73	point	point	NOUN
ajst-4910	66	74	is	be	AUX
ajst-4910	66	75	added	add	VERB
ajst-4910	66	76	to	to	ADP
ajst-4910	66	77	the	the	DET
ajst-4910	66	78	seed	seed	NOUN
ajst-4910	66	79	point	point	NOUN
ajst-4910	66	80	queue	queue	NOUN
ajst-4910	66	81	.	.	PUNCT
ajst-4910	67	1	after	after	SCONJ
ajst-4910	67	2	the	the	DET
ajst-4910	67	3	normal	normal	ADJ
ajst-4910	67	4	vector	vector	NOUN
ajst-4910	67	5	clustering	clustering	NOUN
ajst-4910	67	6	is	be	AUX
ajst-4910	67	7	completed	complete	VERB
ajst-4910	67	8	,	,	PUNCT
ajst-4910	67	9	some	some	DET
ajst-4910	67	10	plane	plane	NOUN
ajst-4910	67	11	point	point	NOUN
ajst-4910	67	12	groups	group	NOUN
ajst-4910	67	13	may	may	AUX
ajst-4910	67	14	be	be	AUX
ajst-4910	67	15	clustered	cluster	VERB
ajst-4910	67	16	outside	outside	ADP
ajst-4910	67	17	the	the	DET
ajst-4910	67	18	road	road	NOUN
ajst-4910	67	19	surface	surface	NOUN
ajst-4910	67	20	range	range	NOUN
ajst-4910	67	21	.	.	PUNCT
ajst-4910	68	1	considering	consider	VERB
ajst-4910	68	2	that	that	SCONJ
ajst-4910	68	3	the	the	DET
ajst-4910	68	4	difference	difference	NOUN
ajst-4910	68	5	between	between	ADP
ajst-4910	68	6	these	these	DET
ajst-4910	68	7	plane	plane	NOUN
ajst-4910	68	8	point	point	NOUN
ajst-4910	68	9	groups	group	NOUN
ajst-4910	68	10	and	and	CCONJ
ajst-4910	68	11	the	the	DET
ajst-4910	68	12	road	road	NOUN
ajst-4910	68	13	point	point	NOUN
ajst-4910	68	14	cloud	cloud	NOUN
ajst-4910	68	15	cluster	cluster	NOUN
ajst-4910	68	16	is	be	AUX
ajst-4910	68	17	that	that	SCONJ
ajst-4910	68	18	the	the	DET
ajst-4910	68	19	122	122	NUM
ajst-4910	68	20	average	average	ADJ
ajst-4910	68	21	elevation	elevation	NOUN
ajst-4910	68	22	of	of	ADP
ajst-4910	68	23	the	the	DET
ajst-4910	68	24	road	road	NOUN
ajst-4910	68	25	point	point	NOUN
ajst-4910	68	26	cloud	cloud	NOUN
ajst-4910	68	27	cluster	cluster	NOUN
ajst-4910	68	28	is	be	AUX
ajst-4910	68	29	low	low	ADJ
ajst-4910	68	30	and	and	CCONJ
ajst-4910	68	31	it	it	PRON
ajst-4910	68	32	is	be	AUX
ajst-4910	68	33	the	the	DET
ajst-4910	68	34	largest	large	ADJ
ajst-4910	68	35	connected	connected	ADJ
ajst-4910	68	36	area	area	NOUN
ajst-4910	68	37	.	.	PUNCT
ajst-4910	69	1	therefore	therefore	ADV
ajst-4910	69	2	,	,	PUNCT
ajst-4910	69	3	the	the	DET
ajst-4910	69	4	road	road	NOUN
ajst-4910	69	5	point	point	NOUN
ajst-4910	69	6	cloud	cloud	NOUN
ajst-4910	69	7	and	and	CCONJ
ajst-4910	69	8	the	the	DET
ajst-4910	69	9	non	non	ADJ
ajst-4910	69	10	-	-	ADJ
ajst-4910	69	11	road	road	ADJ
ajst-4910	69	12	point	point	NOUN
ajst-4910	69	13	cloud	cloud	NOUN
ajst-4910	69	14	can	can	AUX
ajst-4910	69	15	be	be	AUX
ajst-4910	69	16	separated	separate	VERB
ajst-4910	69	17	by	by	ADP
ajst-4910	69	18	the	the	DET
ajst-4910	69	19	method	method	NOUN
ajst-4910	69	20	of	of	ADP
ajst-4910	69	21	elevation	elevation	NOUN
ajst-4910	69	22	filtering	filter	VERB
ajst-4910	69	23	by	by	ADP
ajst-4910	69	24	setting	set	VERB
ajst-4910	69	25	the	the	DET
ajst-4910	69	26	elevation	elevation	NOUN
ajst-4910	69	27	threshold	threshold	NOUN
ajst-4910	69	28	.	.	PUNCT
ajst-4910	70	1	figure	figure	NOUN
ajst-4910	70	2	3	3	NUM
ajst-4910	70	3	.	.	PUNCT
ajst-4910	70	4	point	point	NOUN
ajst-4910	70	5	cloud	cloud	NOUN
ajst-4910	70	6	of	of	ADP
ajst-4910	70	7	urban	urban	ADJ
ajst-4910	70	8	road	road	NOUN
ajst-4910	70	9	scene	scene	NOUN
ajst-4910	71	1	3	3	X
ajst-4910	71	2	.	.	PUNCT
ajst-4910	71	3	experiment	experiment	NOUN
ajst-4910	71	4	and	and	CCONJ
ajst-4910	71	5	analysis	analysis	NOUN
ajst-4910	71	6	3.1	3.1	NUM
ajst-4910	71	7	.	.	PUNCT
ajst-4910	72	1	experimental	experimental	ADJ
ajst-4910	72	2	data	datum	NOUN
ajst-4910	72	3	the	the	DET
ajst-4910	72	4	experimental	experimental	ADJ
ajst-4910	72	5	data	datum	NOUN
ajst-4910	72	6	uses	use	VERB
ajst-4910	72	7	the	the	DET
ajst-4910	72	8	ssw	ssw	PROPN
ajst-4910	72	9	mobile	mobile	PROPN
ajst-4910	72	10	measurement	measurement	NOUN
ajst-4910	72	11	system	system	NOUN
ajst-4910	72	12	developed	develop	VERB
ajst-4910	72	13	by	by	ADP
ajst-4910	72	14	beijing	beijing	PROPN
ajst-4910	72	15	geo	geo	PROPN
ajst-4910	72	16	-	-	PUNCT
ajst-4910	72	17	vision	vision	PROPN
ajst-4910	72	18	technology	technology	NOUN
ajst-4910	72	19	company	company	NOUN
ajst-4910	72	20	limited	limit	VERB
ajst-4910	72	21	as	as	SCONJ
ajst-4910	72	22	the	the	DET
ajst-4910	72	23	data	data	NOUN
ajst-4910	72	24	acquisition	acquisition	NOUN
ajst-4910	72	25	platform	platform	NOUN
ajst-4910	72	26	to	to	PART
ajst-4910	72	27	collect	collect	VERB
ajst-4910	72	28	data	datum	NOUN
ajst-4910	72	29	on	on	ADP
ajst-4910	72	30	the	the	DET
ajst-4910	72	31	urban	urban	ADJ
ajst-4910	72	32	roads	road	NOUN
ajst-4910	72	33	of	of	ADP
ajst-4910	72	34	xinzheng	xinzheng	PROPN
ajst-4910	72	35	city	city	PROPN
ajst-4910	72	36	,	,	PUNCT
ajst-4910	72	37	henan	henan	PROPN
ajst-4910	72	38	province	province	PROPN
ajst-4910	72	39	,	,	PUNCT
ajst-4910	72	40	and	and	CCONJ
ajst-4910	72	41	verify	verify	VERB
ajst-4910	72	42	the	the	DET
ajst-4910	72	43	urban	urban	ADJ
ajst-4910	72	44	road	road	NOUN
ajst-4910	72	45	extraction	extraction	NOUN
ajst-4910	72	46	method	method	NOUN
ajst-4910	72	47	proposed	propose	VERB
ajst-4910	72	48	in	in	ADP
ajst-4910	72	49	this	this	DET
ajst-4910	72	50	paper	paper	NOUN
ajst-4910	72	51	.	.	PUNCT
ajst-4910	73	1	aiming	aim	VERB
ajst-4910	73	2	at	at	ADP
ajst-4910	73	3	the	the	DET
ajst-4910	73	4	complex	complex	ADJ
ajst-4910	73	5	conditions	condition	NOUN
ajst-4910	73	6	of	of	ADP
ajst-4910	73	7	urban	urban	ADJ
ajst-4910	73	8	pavement	pavement	NOUN
ajst-4910	73	9	scenes	scene	NOUN
ajst-4910	73	10	,	,	PUNCT
ajst-4910	73	11	two	two	NUM
ajst-4910	73	12	typical	typical	ADJ
ajst-4910	73	13	point	point	NOUN
ajst-4910	73	14	cloud	cloud	NOUN
ajst-4910	73	15	data	datum	NOUN
ajst-4910	73	16	were	be	AUX
ajst-4910	73	17	selected	select	VERB
ajst-4910	73	18	for	for	ADP
ajst-4910	73	19	the	the	DET
ajst-4910	73	20	experiment	experiment	NOUN
ajst-4910	73	21	.	.	PUNCT
ajst-4910	74	1	data	datum	NOUN
ajst-4910	74	2	1	1	NUM
ajst-4910	74	3	is	be	AUX
ajst-4910	74	4	an	an	DET
ajst-4910	74	5	urban	urban	ADJ
ajst-4910	74	6	straight	straight	ADJ
ajst-4910	74	7	road	road	NOUN
ajst-4910	74	8	with	with	ADP
ajst-4910	74	9	a	a	DET
ajst-4910	74	10	length	length	NOUN
ajst-4910	74	11	of	of	ADP
ajst-4910	74	12	about	about	ADV
ajst-4910	74	13	300	300	NUM
ajst-4910	74	14	meters	meter	NOUN
ajst-4910	74	15	and	and	CCONJ
ajst-4910	74	16	a	a	DET
ajst-4910	74	17	total	total	NOUN
ajst-4910	74	18	of	of	ADP
ajst-4910	74	19	1,893,456	1,893,456	NUM
ajst-4910	74	20	points	point	NOUN
ajst-4910	74	21	.	.	PUNCT
ajst-4910	75	1	the	the	DET
ajst-4910	75	2	road	road	NOUN
ajst-4910	75	3	width	width	NOUN
ajst-4910	75	4	is	be	AUX
ajst-4910	75	5	uniform	uniform	ADJ
ajst-4910	75	6	and	and	CCONJ
ajst-4910	75	7	the	the	DET
ajst-4910	75	8	slope	slope	NOUN
ajst-4910	75	9	is	be	AUX
ajst-4910	75	10	large	large	ADJ
ajst-4910	75	11	.	.	PUNCT
ajst-4910	76	1	data	datum	NOUN
ajst-4910	76	2	2	2	NUM
ajst-4910	76	3	is	be	AUX
ajst-4910	76	4	a	a	DET
ajst-4910	76	5	curved	curved	ADJ
ajst-4910	76	6	road	road	NOUN
ajst-4910	76	7	in	in	ADP
ajst-4910	76	8	the	the	DET
ajst-4910	76	9	urban	urban	ADJ
ajst-4910	76	10	area	area	NOUN
ajst-4910	76	11	,	,	PUNCT
ajst-4910	76	12	which	which	PRON
ajst-4910	76	13	contains	contain	VERB
ajst-4910	76	14	2,504,565	2,504,565	NUM
ajst-4910	76	15	points	point	NOUN
ajst-4910	76	16	in	in	ADP
ajst-4910	76	17	total	total	NOUN
ajst-4910	76	18	,	,	PUNCT
ajst-4910	76	19	with	with	ADP
ajst-4910	76	20	a	a	DET
ajst-4910	76	21	length	length	NOUN
ajst-4910	76	22	of	of	ADP
ajst-4910	76	23	about	about	ADV
ajst-4910	76	24	350	350	NUM
ajst-4910	76	25	meters	meter	NOUN
ajst-4910	76	26	.	.	PUNCT
ajst-4910	77	1	there	there	PRON
ajst-4910	77	2	are	be	VERB
ajst-4910	77	3	local	local	ADJ
ajst-4910	77	4	inconsistencies	inconsistency	NOUN
ajst-4910	77	5	in	in	ADP
ajst-4910	77	6	the	the	DET
ajst-4910	77	7	width	width	NOUN
ajst-4910	77	8	of	of	ADP
ajst-4910	77	9	the	the	DET
ajst-4910	77	10	road	road	NOUN
ajst-4910	77	11	surface	surface	NOUN
ajst-4910	77	12	,	,	PUNCT
ajst-4910	77	13	and	and	CCONJ
ajst-4910	77	14	the	the	DET
ajst-4910	77	15	road	road	NOUN
ajst-4910	77	16	surface	surface	NOUN
ajst-4910	77	17	slope	slope	NOUN
ajst-4910	77	18	is	be	AUX
ajst-4910	77	19	not	not	PART
ajst-4910	77	20	large	large	ADJ
ajst-4910	77	21	.	.	PUNCT
ajst-4910	78	1	data1	data1	PROPN
ajst-4910	78	2	data2	data2	PROPN
ajst-4910	78	3	figure	figure	VERB
ajst-4910	78	4	4	4	NUM
ajst-4910	78	5	.	.	PUNCT
ajst-4910	78	6	raw	raw	ADJ
ajst-4910	78	7	vehicle	vehicle	NOUN
ajst-4910	78	8	points	point	NOUN
ajst-4910	78	9	cloud	cloud	PROPN
ajst-4910	78	10	data	datum	NOUN
ajst-4910	78	11	3.2	3.2	NUM
ajst-4910	78	12	.	.	PUNCT
ajst-4910	79	1	experimental	experimental	ADJ
ajst-4910	79	2	results	result	NOUN
ajst-4910	79	3	first	first	ADV
ajst-4910	79	4	,	,	PUNCT
ajst-4910	79	5	the	the	DET
ajst-4910	79	6	non	non	ADJ
ajst-4910	79	7	-	-	ADJ
ajst-4910	79	8	ground	ground	ADJ
ajst-4910	79	9	points	point	NOUN
ajst-4910	79	10	are	be	AUX
ajst-4910	79	11	removed	remove	VERB
ajst-4910	79	12	by	by	ADP
ajst-4910	79	13	the	the	DET
ajst-4910	79	14	filtering	filter	VERB
ajst-4910	79	15	algorithm	algorithm	NOUN
ajst-4910	79	16	,	,	PUNCT
ajst-4910	79	17	and	and	CCONJ
ajst-4910	79	18	the	the	DET
ajst-4910	79	19	filtering	filtering	NOUN
ajst-4910	79	20	operation	operation	NOUN
ajst-4910	79	21	is	be	AUX
ajst-4910	79	22	performed	perform	VERB
ajst-4910	79	23	by	by	ADP
ajst-4910	79	24	the	the	DET
ajst-4910	79	25	cloth	cloth	NOUN
ajst-4910	79	26	simulation	simulation	NOUN
ajst-4910	79	27	filtering	filter	VERB
ajst-4910	79	28	algorithm	algorithm	NOUN
ajst-4910	79	29	in	in	ADP
ajst-4910	79	30	the	the	DET
ajst-4910	79	31	point	point	NOUN
ajst-4910	79	32	cloud	cloud	NOUN
ajst-4910	79	33	processing	processing	NOUN
ajst-4910	79	34	software	software	NOUN
ajst-4910	79	35	cloud	cloud	PROPN
ajst-4910	79	36	compare	compare	NOUN
ajst-4910	79	37	.	.	PUNCT
ajst-4910	80	1	the	the	DET
ajst-4910	80	2	grid	grid	NOUN
ajst-4910	80	3	resolution	resolution	NOUN
ajst-4910	80	4	is	be	AUX
ajst-4910	80	5	set	set	VERB
ajst-4910	80	6	to	to	ADP
ajst-4910	80	7	1.2	1.2	NUM
ajst-4910	80	8	m	m	NOUN
ajst-4910	80	9	,	,	PUNCT
ajst-4910	80	10	and	and	CCONJ
ajst-4910	80	11	the	the	DET
ajst-4910	80	12	extracted	extract	VERB
ajst-4910	80	13	terrain	terrain	NOUN
ajst-4910	80	14	roughness	roughness	NOUN
ajst-4910	80	15	can	can	AUX
ajst-4910	80	16	meet	meet	VERB
ajst-4910	80	17	the	the	DET
ajst-4910	80	18	requirements	requirement	NOUN
ajst-4910	80	19	.	.	PUNCT
ajst-4910	81	1	the	the	DET
ajst-4910	81	2	number	number	NOUN
ajst-4910	81	3	of	of	ADP
ajst-4910	81	4	iterations	iteration	NOUN
ajst-4910	81	5	is	be	AUX
ajst-4910	81	6	set	set	VERB
ajst-4910	81	7	to	to	ADP
ajst-4910	81	8	500	500	NUM
ajst-4910	81	9	,	,	PUNCT
ajst-4910	81	10	and	and	CCONJ
ajst-4910	81	11	the	the	DET
ajst-4910	81	12	distance	distance	NOUN
ajst-4910	81	13	threshold	threshold	NOUN
ajst-4910	81	14	is	be	AUX
ajst-4910	81	15	set	set	VERB
ajst-4910	81	16	to	to	ADP
ajst-4910	81	17	0.5	0.5	NUM
ajst-4910	81	18	m.	m.	NOUN
ajst-4910	81	19	considering	consider	VERB
ajst-4910	81	20	that	that	DET
ajst-4910	81	21	road	road	NOUN
ajst-4910	81	22	segment	segment	NOUN
ajst-4910	81	23	1	1	NUM
ajst-4910	81	24	has	have	VERB
ajst-4910	81	25	a	a	DET
ajst-4910	81	26	relatively	relatively	ADV
ajst-4910	81	27	large	large	ADJ
ajst-4910	81	28	slope	slope	NOUN
ajst-4910	81	29	,	,	PUNCT
ajst-4910	81	30	while	while	SCONJ
ajst-4910	81	31	road	road	NOUN
ajst-4910	81	32	segment	segment	NOUN
ajst-4910	81	33	2	2	NUM
ajst-4910	81	34	is	be	AUX
ajst-4910	81	35	relatively	relatively	ADV
ajst-4910	81	36	flat	flat	ADJ
ajst-4910	81	37	,	,	PUNCT
ajst-4910	81	38	the	the	DET
ajst-4910	81	39	hardness	hardness	NOUN
ajst-4910	81	40	of	of	ADP
ajst-4910	81	41	road	road	NOUN
ajst-4910	81	42	segment	segment	NOUN
ajst-4910	81	43	1	1	NUM
ajst-4910	81	44	is	be	AUX
ajst-4910	81	45	set	set	VERB
ajst-4910	81	46	to	to	ADP
ajst-4910	81	47	2	2	NUM
ajst-4910	81	48	,	,	PUNCT
ajst-4910	81	49	the	the	DET
ajst-4910	81	50	hardness	hardness	NOUN
ajst-4910	81	51	of	of	ADP
ajst-4910	81	52	road	road	NOUN
ajst-4910	81	53	segment	segment	NOUN
ajst-4910	81	54	2	2	NUM
ajst-4910	81	55	is	be	AUX
ajst-4910	81	56	set	set	VERB
ajst-4910	81	57	to	to	ADP
ajst-4910	81	58	1	1	NUM
ajst-4910	81	59	,	,	PUNCT
ajst-4910	81	60	and	and	CCONJ
ajst-4910	81	61	the	the	DET
ajst-4910	81	62	remaining	remain	VERB
ajst-4910	81	63	parameters	parameter	NOUN
ajst-4910	81	64	are	be	AUX
ajst-4910	81	65	kept	keep	VERB
ajst-4910	81	66	the	the	DET
ajst-4910	81	67	same	same	ADJ
ajst-4910	81	68	.	.	PUNCT
ajst-4910	82	1	the	the	DET
ajst-4910	82	2	filtered	filter	VERB
ajst-4910	82	3	results	result	NOUN
ajst-4910	82	4	of	of	ADP
ajst-4910	82	5	the	the	DET
ajst-4910	82	6	two	two	NUM
ajst-4910	82	7	sections	section	NOUN
ajst-4910	82	8	are	be	AUX
ajst-4910	82	9	shown	show	VERB
ajst-4910	82	10	in	in	ADP
ajst-4910	82	11	figure	figure	NOUN
ajst-4910	82	12	5	5	NUM
ajst-4910	82	13	.	.	PUNCT
ajst-4910	83	1	this	this	DET
ajst-4910	83	2	process	process	NOUN
ajst-4910	83	3	removes	remove	VERB
ajst-4910	83	4	the	the	DET
ajst-4910	83	5	street	street	NOUN
ajst-4910	83	6	lights	light	NOUN
ajst-4910	83	7	,	,	PUNCT
ajst-4910	83	8	poles	pole	NOUN
ajst-4910	83	9	,	,	PUNCT
ajst-4910	83	10	sidewalk	sidewalk	VERB
ajst-4910	83	11	trees	tree	NOUN
ajst-4910	83	12	and	and	CCONJ
ajst-4910	83	13	other	other	ADJ
ajst-4910	83	14	features	feature	NOUN
ajst-4910	83	15	above	above	ADP
ajst-4910	83	16	the	the	DET
ajst-4910	83	17	ground	ground	NOUN
ajst-4910	83	18	,	,	PUNCT
ajst-4910	83	19	and	and	CCONJ
ajst-4910	83	20	mainly	mainly	ADV
ajst-4910	83	21	retains	retain	VERB
ajst-4910	83	22	the	the	DET
ajst-4910	83	23	road	road	NOUN
ajst-4910	83	24	and	and	CCONJ
ajst-4910	83	25	the	the	DET
ajst-4910	83	26	sidewalk	sidewalk	NOUN
ajst-4910	83	27	areas	area	NOUN
ajst-4910	83	28	on	on	ADP
ajst-4910	83	29	both	both	DET
ajst-4910	83	30	sides	side	NOUN
ajst-4910	83	31	.	.	PUNCT
ajst-4910	84	1	due	due	ADP
ajst-4910	84	2	to	to	ADP
ajst-4910	84	3	the	the	DET
ajst-4910	84	4	occlusion	occlusion	NOUN
ajst-4910	84	5	of	of	ADP
ajst-4910	84	6	the	the	DET
ajst-4910	84	7	vehicle	vehicle	NOUN
ajst-4910	84	8	in	in	ADP
ajst-4910	84	9	the	the	DET
ajst-4910	84	10	process	process	NOUN
ajst-4910	84	11	of	of	ADP
ajst-4910	84	12	collecting	collect	VERB
ajst-4910	84	13	data	datum	NOUN
ajst-4910	84	14	,	,	PUNCT
ajst-4910	84	15	there	there	PRON
ajst-4910	84	16	are	be	VERB
ajst-4910	84	17	holes	hole	NOUN
ajst-4910	84	18	on	on	ADP
ajst-4910	84	19	the	the	DET
ajst-4910	84	20	road	road	NOUN
ajst-4910	84	21	surface	surface	NOUN
ajst-4910	84	22	after	after	ADP
ajst-4910	84	23	filtering	filter	VERB
ajst-4910	84	24	.	.	PUNCT
ajst-4910	85	1	data1	data1	PROPN
ajst-4910	85	2	data2	data2	PROPN
ajst-4910	85	3	figure	figure	NOUN
ajst-4910	85	4	5	5	NUM
ajst-4910	85	5	.	.	PUNCT
ajst-4910	85	6	csf	csf	ADJ
ajst-4910	85	7	filtering	filtering	NOUN
ajst-4910	85	8	results	result	NOUN
ajst-4910	85	9	ed	ed	NOUN
ajst-4910	85	10	outside	outside	ADP
ajst-4910	85	11	the	the	DET
ajst-4910	85	12	road	road	NOUN
ajst-4910	85	13	surface	surface	NOUN
ajst-4910	85	14	range	range	NOUN
ajst-4910	85	15	.	.	PUNCT
ajst-4910	86	1	considering	consider	VERB
ajst-4910	86	2	that	that	SCONJ
ajst-4910	86	3	the	the	DET
ajst-4910	86	4	difference	difference	NOUN
ajst-4910	86	5	between	between	ADP
ajst-4910	86	6	the	the	DET
ajst-4910	86	7	method	method	NOUN
ajst-4910	86	8	proposed	propose	VERB
ajst-4910	86	9	in	in	ADP
ajst-4910	86	10	this	this	DET
ajst-4910	86	11	paper	paper	NOUN
ajst-4910	86	12	is	be	AUX
ajst-4910	86	13	implemented	implement	VERB
ajst-4910	86	14	using	use	VERB
ajst-4910	86	15	c++	c++	ADJ
ajst-4910	86	16	programming	programming	NOUN
ajst-4910	86	17	in	in	ADP
ajst-4910	86	18	the	the	DET
ajst-4910	86	19	vs2019	vs2019	PROPN
ajst-4910	86	20	environment	environment	NOUN
ajst-4910	86	21	,	,	PUNCT
ajst-4910	86	22	and	and	CCONJ
ajst-4910	86	23	the	the	DET
ajst-4910	86	24	filtered	filter	VERB
ajst-4910	86	25	point	point	NOUN
ajst-4910	86	26	cloud	cloud	NOUN
ajst-4910	86	27	is	be	AUX
ajst-4910	86	28	processed	process	VERB
ajst-4910	86	29	to	to	PART
ajst-4910	86	30	extract	extract	VERB
ajst-4910	86	31	road	road	NOUN
ajst-4910	86	32	point	point	NOUN
ajst-4910	86	33	cloud	cloud	NOUN
ajst-4910	86	34	clusters	cluster	NOUN
ajst-4910	86	35	.	.	PUNCT
ajst-4910	87	1	among	among	ADP
ajst-4910	87	2	them	they	PRON
ajst-4910	87	3	,	,	PUNCT
ajst-4910	87	4	when	when	SCONJ
ajst-4910	87	5	the	the	DET
ajst-4910	87	6	normal	normal	ADJ
ajst-4910	87	7	vector	vector	NOUN
ajst-4910	87	8	is	be	AUX
ajst-4910	87	9	clustered	cluster	VERB
ajst-4910	87	10	,	,	PUNCT
ajst-4910	87	11	the	the	DET
ajst-4910	87	12	point	point	NOUN
ajst-4910	87	13	cloud	cloud	ADJ
ajst-4910	87	14	neighborhood	neighborhood	NOUN
ajst-4910	87	15	search	search	NOUN
ajst-4910	87	16	method	method	NOUN
ajst-4910	87	17	is	be	AUX
ajst-4910	87	18	knn	knn	PROPN
ajst-4910	87	19	,	,	PUNCT
ajst-4910	87	20	the	the	DET
ajst-4910	87	21	number	number	NOUN
ajst-4910	87	22	of	of	ADP
ajst-4910	87	23	search	search	NOUN
ajst-4910	87	24	points	point	NOUN
ajst-4910	87	25	is	be	AUX
ajst-4910	87	26	set	set	VERB
ajst-4910	87	27	to	to	ADP
ajst-4910	87	28	30	30	NUM
ajst-4910	87	29	,	,	PUNCT
ajst-4910	87	30	the	the	DET
ajst-4910	87	31	curvature	curvature	NOUN
ajst-4910	87	32	threshold	threshold	NOUN
ajst-4910	87	33	of	of	ADP
ajst-4910	87	34	the	the	DET
ajst-4910	87	35	two	two	NUM
ajst-4910	87	36	sets	set	NOUN
ajst-4910	87	37	of	of	ADP
ajst-4910	87	38	data	datum	NOUN
ajst-4910	87	39	is	be	AUX
ajst-4910	87	40	set	set	VERB
ajst-4910	87	41	to	to	ADP
ajst-4910	87	42	0.05	0.05	NUM
ajst-4910	87	43	,	,	PUNCT
ajst-4910	87	44	the	the	DET
ajst-4910	87	45	normal	normal	ADJ
ajst-4910	87	46	vector	vector	NOUN
ajst-4910	87	47	angle	angle	NOUN
ajst-4910	87	48	threshold	threshold	NOUN
ajst-4910	87	49	of	of	ADP
ajst-4910	87	50	data	datum	NOUN
ajst-4910	87	51	1	1	NUM
ajst-4910	87	52	is	be	AUX
ajst-4910	87	53	set	set	VERB
ajst-4910	87	54	to	to	ADP
ajst-4910	87	55	8	8	NUM
ajst-4910	87	56	°	°	NOUN
ajst-4910	87	57	,	,	PUNCT
ajst-4910	87	58	and	and	CCONJ
ajst-4910	87	59	data	datum	NOUN
ajst-4910	87	60	2	2	NUM
ajst-4910	87	61	is	be	AUX
ajst-4910	87	62	set	set	VERB
ajst-4910	87	63	to	to	ADP
ajst-4910	87	64	5	5	NUM
ajst-4910	87	65	°	°	NOUN
ajst-4910	87	66	.	.	PUNCT
ajst-4910	88	1	finally	finally	ADV
ajst-4910	88	2	,	,	PUNCT
ajst-4910	88	3	the	the	DET
ajst-4910	88	4	road	road	NOUN
ajst-4910	88	5	surface	surface	NOUN
ajst-4910	88	6	extraction	extraction	NOUN
ajst-4910	88	7	results	result	NOUN
ajst-4910	88	8	of	of	ADP
ajst-4910	88	9	the	the	DET
ajst-4910	88	10	two	two	NUM
ajst-4910	88	11	sets	set	NOUN
ajst-4910	88	12	of	of	ADP
ajst-4910	88	13	data	datum	NOUN
ajst-4910	88	14	are	be	AUX
ajst-4910	88	15	shown	show	VERB
ajst-4910	88	16	in	in	ADP
ajst-4910	88	17	figure	figure	NOUN
ajst-4910	88	18	6	6	NUM
ajst-4910	88	19	.	.	PUNCT
ajst-4910	89	1	data1	data1	PROPN
ajst-4910	89	2	data2	data2	PROPN
ajst-4910	89	3	figure	figure	VERB
ajst-4910	89	4	6	6	NUM
ajst-4910	89	5	.	.	PUNCT
ajst-4910	89	6	road	road	NOUN
ajst-4910	89	7	surface	surface	NOUN
ajst-4910	89	8	extraction	extraction	NOUN
ajst-4910	89	9	results	result	VERB
ajst-4910	89	10	3.3	3.3	NUM
ajst-4910	89	11	.	.	PUNCT
ajst-4910	90	1	experimental	experimental	ADJ
ajst-4910	90	2	data	datum	NOUN
ajst-4910	90	3	accuracy	accuracy	NOUN
ajst-4910	90	4	p	p	NOUN
ajst-4910	90	5	,	,	PUNCT
ajst-4910	90	6	completeness	completeness	NOUN
ajst-4910	90	7	r	r	NOUN
ajst-4910	90	8	,	,	PUNCT
ajst-4910	90	9	and	and	CCONJ
ajst-4910	90	10	detection	detection	NOUN
ajst-4910	90	11	quality	quality	NOUN
ajst-4910	90	12	q	q	NOUN
ajst-4910	90	13	are	be	AUX
ajst-4910	90	14	widely	widely	ADV
ajst-4910	90	15	used	use	VERB
ajst-4910	90	16	quantitative	quantitative	ADJ
ajst-4910	90	17	metrics	metric	NOUN
ajst-4910	90	18	for	for	ADP
ajst-4910	90	19	evaluating	evaluate	VERB
ajst-4910	90	20	road	road	NOUN
ajst-4910	90	21	extraction	extraction	NOUN
ajst-4910	90	22	accuracy.[16	accuracy.[16	NOUN
ajst-4910	90	23	]	]	PUNCT
ajst-4910	90	24	in	in	ADP
ajst-4910	90	25	order	order	NOUN
ajst-4910	90	26	to	to	PART
ajst-4910	90	27	quantitatively	quantitatively	ADV
ajst-4910	90	28	evaluate	evaluate	VERB
ajst-4910	90	29	the	the	DET
ajst-4910	90	30	accuracy	accuracy	NOUN
ajst-4910	90	31	of	of	ADP
ajst-4910	90	32	the	the	DET
ajst-4910	90	33	method	method	NOUN
ajst-4910	90	34	proposed	propose	VERB
ajst-4910	90	35	in	in	ADP
ajst-4910	90	36	this	this	DET
ajst-4910	90	37	paper	paper	NOUN
ajst-4910	90	38	,	,	PUNCT
ajst-4910	90	39	the	the	DET
ajst-4910	90	40	artificially	artificially	ADV
ajst-4910	90	41	extracted	extract	VERB
ajst-4910	90	42	road	road	NOUN
ajst-4910	90	43	pavement	pavement	NOUN
ajst-4910	90	44	points	point	NOUN
ajst-4910	90	45	are	be	AUX
ajst-4910	90	46	used	use	VERB
ajst-4910	90	47	as	as	ADP
ajst-4910	90	48	reference	reference	NOUN
ajst-4910	90	49	data	datum	NOUN
ajst-4910	90	50	,	,	PUNCT
ajst-4910	90	51	and	and	CCONJ
ajst-4910	90	52	the	the	DET
ajst-4910	90	53	above	above	ADJ
ajst-4910	90	54	three	three	NUM
ajst-4910	90	55	evaluation	evaluation	NOUN
ajst-4910	90	56	indicators	indicator	NOUN
ajst-4910	90	57	are	be	AUX
ajst-4910	90	58	calculated	calculate	VERB
ajst-4910	90	59	in	in	ADP
ajst-4910	90	60	combination	combination	NOUN
ajst-4910	90	61	with	with	ADP
ajst-4910	90	62	the	the	DET
ajst-4910	90	63	non	non	ADJ
ajst-4910	90	64	-	-	ADJ
ajst-4910	90	65	road	road	ADJ
ajst-4910	90	66	points	point	NOUN
ajst-4910	90	67	extracted	extract	VERB
ajst-4910	90	68	from	from	ADP
ajst-4910	90	69	the	the	DET
ajst-4910	90	70	test	test	NOUN
ajst-4910	90	71	.	.	PUNCT
ajst-4910	91	1	the	the	DET
ajst-4910	91	2	evaluation	evaluation	NOUN
ajst-4910	91	3	formulas	formula	NOUN
ajst-4910	91	4	of	of	ADP
ajst-4910	91	5	the	the	DET
ajst-4910	91	6	three	three	NUM
ajst-4910	91	7	indicators	indicator	NOUN
ajst-4910	91	8	are	be	AUX
ajst-4910	91	9	as	as	SCONJ
ajst-4910	91	10	follows	follow	VERB
ajst-4910	91	11	:	:	PUNCT
ajst-4910	91	12	/	/	SYM
ajst-4910	91	13	(	(	PUNCT
ajst-4910	92	1	)	)	PUNCT
ajst-4910	92	2	p	p	NOUN
ajst-4910	92	3	tp	tp	ADP
ajst-4910	92	4	tp	tp	ADP
ajst-4910	92	5	fp	fp	NOUN
ajst-4910	92	6			X
ajst-4910	92	7	(	(	PUNCT
ajst-4910	92	8	5	5	NUM
ajst-4910	92	9	)	)	PUNCT
ajst-4910	92	10	/	/	SYM
ajst-4910	92	11	(	(	PUNCT
ajst-4910	92	12	)	)	PUNCT
ajst-4910	92	13	r	r	NOUN
ajst-4910	92	14	tp	tp	NOUN
ajst-4910	92	15	tp	tp	ADP
ajst-4910	92	16	fn	fn	PROPN
ajst-4910	92	17			PUNCT
ajst-4910	92	18	(	(	PUNCT
ajst-4910	92	19	6	6	NUM
ajst-4910	92	20	)	)	PUNCT
ajst-4910	92	21	/	/	SYM
ajst-4910	92	22	(	(	PUNCT
ajst-4910	92	23	)	)	PUNCT
ajst-4910	92	24	q	q	PROPN
ajst-4910	92	25	tp	tp	NOUN
ajst-4910	92	26	tp	tp	ADP
ajst-4910	92	27	fp	fp	PROPN
ajst-4910	92	28	fn	fn	PROPN
ajst-4910	92	29			ADV
ajst-4910	92	30			X
ajst-4910	92	31	(	(	PUNCT
ajst-4910	92	32	7	7	NUM
ajst-4910	92	33	)	)	PUNCT
ajst-4910	92	34	in	in	ADP
ajst-4910	92	35	the	the	DET
ajst-4910	92	36	above	above	ADJ
ajst-4910	92	37	formula	formula	NOUN
ajst-4910	92	38	,	,	PUNCT
ajst-4910	92	39	tp	tp	NOUN
ajst-4910	92	40	is	be	AUX
ajst-4910	92	41	the	the	DET
ajst-4910	92	42	number	number	NOUN
ajst-4910	92	43	of	of	ADP
ajst-4910	92	44	road	road	NOUN
ajst-4910	92	45	points	point	NOUN
ajst-4910	92	46	correctly	correctly	ADV
ajst-4910	92	47	extracted	extract	VERB
ajst-4910	92	48	in	in	ADP
ajst-4910	92	49	the	the	DET
ajst-4910	92	50	test	test	NOUN
ajst-4910	92	51	;	;	PUNCT
ajst-4910	92	52	fp	fp	X
ajst-4910	92	53	is	be	AUX
ajst-4910	92	54	the	the	DET
ajst-4910	92	55	number	number	NOUN
ajst-4910	92	56	of	of	ADP
ajst-4910	92	57	nonpavement	nonpavement	ADJ
ajst-4910	92	58	points	point	NOUN
ajst-4910	92	59	extracted	extract	VERB
ajst-4910	92	60	;	;	PUNCT
ajst-4910	92	61	fn	fn	NOUN
ajst-4910	92	62	is	be	AUX
ajst-4910	92	63	the	the	DET
ajst-4910	92	64	number	number	NOUN
ajst-4910	92	65	of	of	ADP
ajst-4910	92	66	road	road	NOUN
ajst-4910	92	67	points	point	NOUN
ajst-4910	92	68	not	not	PART
ajst-4910	92	69	extracted	extract	VERB
ajst-4910	92	70	.	.	PUNCT
ajst-4910	93	1	the	the	DET
ajst-4910	93	2	statistical	statistical	ADJ
ajst-4910	93	3	analysis	analysis	NOUN
ajst-4910	93	4	results	result	NOUN
ajst-4910	93	5	of	of	ADP
ajst-4910	93	6	the	the	DET
ajst-4910	93	7	pavement	pavement	NOUN
ajst-4910	93	8	points	point	NOUN
ajst-4910	93	9	extracted	extract	VERB
ajst-4910	93	10	from	from	ADP
ajst-4910	93	11	the	the	DET
ajst-4910	93	12	experiment	experiment	NOUN
ajst-4910	93	13	are	be	AUX
ajst-4910	93	14	shown	show	VERB
ajst-4910	93	15	in	in	ADP
ajst-4910	93	16	table	table	NOUN
ajst-4910	93	17	1	1	NUM
ajst-4910	93	18	.	.	PUNCT
ajst-4910	94	1	the	the	DET
ajst-4910	94	2	accuracy	accuracy	NOUN
ajst-4910	94	3	p	p	X
ajst-4910	94	4	,	,	PUNCT
ajst-4910	94	5	completeness	completeness	NOUN
ajst-4910	94	6	r	r	NOUN
ajst-4910	94	7	and	and	CCONJ
ajst-4910	94	8	detection	detection	NOUN
ajst-4910	94	9	quality	quality	NOUN
ajst-4910	94	10	q	q	PROPN
ajst-4910	94	11	of	of	ADP
ajst-4910	94	12	the	the	DET
ajst-4910	94	13	two	two	NUM
ajst-4910	94	14	groups	group	NOUN
ajst-4910	94	15	of	of	ADP
ajst-4910	94	16	data	datum	NOUN
ajst-4910	94	17	are	be	AUX
ajst-4910	94	18	all	all	ADV
ajst-4910	94	19	above	above	ADP
ajst-4910	94	20	92	92	NUM
ajst-4910	94	21	%	%	NOUN
ajst-4910	94	22	.	.	PUNCT
ajst-4910	95	1	a	a	DET
ajst-4910	95	2	small	small	ADJ
ajst-4910	95	3	amount	amount	NOUN
ajst-4910	95	4	of	of	ADP
ajst-4910	95	5	missing	miss	VERB
ajst-4910	95	6	at	at	ADP
ajst-4910	95	7	the	the	DET
ajst-4910	95	8	edge	edge	NOUN
ajst-4910	95	9	of	of	ADP
ajst-4910	95	10	the	the	DET
ajst-4910	95	11	road	road	NOUN
ajst-4910	95	12	is	be	AUX
ajst-4910	95	13	caused	cause	VERB
ajst-4910	95	14	by	by	ADP
ajst-4910	95	15	the	the	DET
ajst-4910	95	16	occlusion	occlusion	NOUN
ajst-4910	95	17	of	of	ADP
ajst-4910	95	18	road	road	NOUN
ajst-4910	95	19	vehicles	vehicle	NOUN
ajst-4910	95	20	,	,	PUNCT
ajst-4910	95	21	ground	ground	NOUN
ajst-4910	95	22	objects	object	NOUN
ajst-4910	95	23	,	,	PUNCT
ajst-4910	95	24	etc	etc	X
ajst-4910	95	25	.	.	X
ajst-4910	96	1	the	the	DET
ajst-4910	96	2	experimental	experimental	ADJ
ajst-4910	96	3	results	result	NOUN
ajst-4910	96	4	show	show	VERB
ajst-4910	96	5	that	that	SCONJ
ajst-4910	96	6	the	the	DET
ajst-4910	96	7	method	method	NOUN
ajst-4910	96	8	proposed	propose	VERB
ajst-4910	96	9	in	in	ADP
ajst-4910	96	10	this	this	DET
ajst-4910	96	11	paper	paper	NOUN
ajst-4910	96	12	can	can	AUX
ajst-4910	96	13	effectively	effectively	ADV
ajst-4910	96	14	extract	extract	VERB
ajst-4910	96	15	the	the	DET
ajst-4910	96	16	urban	urban	ADJ
ajst-4910	96	17	road	road	NOUN
ajst-4910	96	18	pavement	pavement	NOUN
ajst-4910	96	19	,	,	PUNCT
ajst-4910	96	20	and	and	CCONJ
ajst-4910	96	21	the	the	DET
ajst-4910	96	22	factors	factor	NOUN
ajst-4910	96	23	such	such	ADJ
ajst-4910	96	24	as	as	ADP
ajst-4910	96	25	road	road	NOUN
ajst-4910	96	26	shape	shape	NOUN
ajst-4910	96	27	123	123	NUM
ajst-4910	96	28	and	and	CCONJ
ajst-4910	96	29	width	width	ADJ
ajst-4910	96	30	have	have	VERB
ajst-4910	96	31	little	little	ADJ
ajst-4910	96	32	influence	influence	NOUN
ajst-4910	96	33	on	on	ADP
ajst-4910	96	34	the	the	DET
ajst-4910	96	35	extraction	extraction	NOUN
ajst-4910	96	36	results	result	NOUN
ajst-4910	96	37	.	.	PUNCT
ajst-4910	97	1	table	table	NOUN
ajst-4910	97	2	1	1	NUM
ajst-4910	97	3	.	.	PUNCT
ajst-4910	98	1	precision	precision	NOUN
ajst-4910	98	2	statistics	statistic	NOUN
ajst-4910	98	3	of	of	ADP
ajst-4910	98	4	extraction	extraction	NOUN
ajst-4910	98	5	results	result	VERB
ajst-4910	99	1	data	datum	NOUN
ajst-4910	99	2	sourse	sourse	ADJ
ajst-4910	99	3	q/%	q/%	PROPN
ajst-4910	99	4	r/%	r/%	PROPN
ajst-4910	99	5	p/%	p/%	PROPN
ajst-4910	99	6	data1	data1	PROPN
ajst-4910	99	7	96.15	96.15	NUM
ajst-4910	99	8	93.76	93.76	NUM
ajst-4910	99	9	96.49	96.49	NUM
ajst-4910	99	10	data2	data2	PROPN
ajst-4910	99	11	93.89	93.89	NUM
ajst-4910	99	12	95.27	95.27	NUM
ajst-4910	99	13	97.34	97.34	NUM
ajst-4910	99	14	4	4	NUM
ajst-4910	99	15	.	.	PUNCT
ajst-4910	99	16	conclusion	conclusion	NOUN
ajst-4910	99	17	aiming	aim	VERB
ajst-4910	99	18	at	at	ADP
ajst-4910	99	19	the	the	DET
ajst-4910	99	20	normal	normal	ADJ
ajst-4910	99	21	vector	vector	NOUN
ajst-4910	99	22	distribution	distribution	NOUN
ajst-4910	99	23	characteristics	characteristic	NOUN
ajst-4910	99	24	of	of	ADP
ajst-4910	99	25	urban	urban	ADJ
ajst-4910	99	26	road	road	NOUN
ajst-4910	99	27	pavement	pavement	NOUN
ajst-4910	99	28	point	point	NOUN
ajst-4910	99	29	cloud	cloud	NOUN
ajst-4910	99	30	,	,	PUNCT
ajst-4910	99	31	this	this	DET
ajst-4910	99	32	paper	paper	NOUN
ajst-4910	99	33	proposes	propose	VERB
ajst-4910	99	34	a	a	DET
ajst-4910	99	35	clustering	cluster	VERB
ajst-4910	99	36	method	method	NOUN
ajst-4910	99	37	based	base	VERB
ajst-4910	99	38	on	on	ADP
ajst-4910	99	39	point	point	NOUN
ajst-4910	99	40	cloud	cloud	ADJ
ajst-4910	99	41	normal	normal	ADJ
ajst-4910	99	42	vector	vector	NOUN
ajst-4910	99	43	characteristics	characteristic	NOUN
ajst-4910	99	44	to	to	PART
ajst-4910	99	45	extract	extract	VERB
ajst-4910	99	46	road	road	NOUN
ajst-4910	99	47	pavement	pavement	NOUN
ajst-4910	99	48	.	.	PUNCT
ajst-4910	100	1	in	in	ADP
ajst-4910	100	2	order	order	NOUN
ajst-4910	100	3	to	to	PART
ajst-4910	100	4	test	test	VERB
ajst-4910	100	5	the	the	DET
ajst-4910	100	6	reliability	reliability	NOUN
ajst-4910	100	7	of	of	ADP
ajst-4910	100	8	the	the	DET
ajst-4910	100	9	method	method	NOUN
ajst-4910	100	10	proposed	propose	VERB
ajst-4910	100	11	in	in	ADP
ajst-4910	100	12	this	this	DET
ajst-4910	100	13	paper	paper	NOUN
ajst-4910	100	14	,	,	PUNCT
ajst-4910	100	15	two	two	NUM
ajst-4910	100	16	representative	representative	ADJ
ajst-4910	100	17	urban	urban	ADJ
ajst-4910	100	18	road	road	NOUN
ajst-4910	100	19	sections	section	NOUN
ajst-4910	100	20	are	be	AUX
ajst-4910	100	21	used	use	VERB
ajst-4910	100	22	for	for	ADP
ajst-4910	100	23	experimental	experimental	ADJ
ajst-4910	100	24	verification	verification	NOUN
ajst-4910	100	25	,	,	PUNCT
ajst-4910	100	26	and	and	CCONJ
ajst-4910	100	27	finally	finally	ADV
ajst-4910	100	28	the	the	DET
ajst-4910	100	29	extraction	extraction	NOUN
ajst-4910	100	30	results	result	NOUN
ajst-4910	100	31	are	be	AUX
ajst-4910	100	32	quantitatively	quantitatively	ADV
ajst-4910	100	33	analyzed	analyze	VERB
ajst-4910	100	34	.	.	PUNCT
ajst-4910	101	1	the	the	DET
ajst-4910	101	2	experimental	experimental	ADJ
ajst-4910	101	3	results	result	NOUN
ajst-4910	101	4	show	show	VERB
ajst-4910	101	5	that	that	SCONJ
ajst-4910	101	6	the	the	DET
ajst-4910	101	7	method	method	NOUN
ajst-4910	101	8	proposed	propose	VERB
ajst-4910	101	9	in	in	ADP
ajst-4910	101	10	this	this	DET
ajst-4910	101	11	paper	paper	NOUN
ajst-4910	101	12	has	have	VERB
ajst-4910	101	13	good	good	ADJ
ajst-4910	101	14	applicability	applicability	NOUN
ajst-4910	101	15	for	for	ADP
ajst-4910	101	16	urban	urban	ADJ
ajst-4910	101	17	road	road	NOUN
ajst-4910	101	18	point	point	NOUN
ajst-4910	101	19	cloud	cloud	NOUN
ajst-4910	101	20	extraction	extraction	NOUN
ajst-4910	101	21	.	.	PUNCT
ajst-4910	102	1	however	however	ADV
ajst-4910	102	2	,	,	PUNCT
ajst-4910	102	3	there	there	PRON
ajst-4910	102	4	are	be	VERB
ajst-4910	102	5	still	still	ADV
ajst-4910	102	6	a	a	DET
ajst-4910	102	7	few	few	ADJ
ajst-4910	102	8	missing	missing	ADJ
ajst-4910	102	9	point	point	NOUN
ajst-4910	102	10	clouds	cloud	NOUN
ajst-4910	102	11	at	at	ADP
ajst-4910	102	12	the	the	DET
ajst-4910	102	13	edge	edge	NOUN
ajst-4910	102	14	of	of	ADP
ajst-4910	102	15	the	the	DET
ajst-4910	102	16	road	road	NOUN
ajst-4910	102	17	.	.	PUNCT
ajst-4910	103	1	further	further	ADJ
ajst-4910	103	2	road	road	NOUN
ajst-4910	103	3	reconstruction	reconstruction	NOUN
ajst-4910	103	4	and	and	CCONJ
ajst-4910	103	5	road	road	NOUN
ajst-4910	103	6	edge	edge	NOUN
ajst-4910	103	7	line	line	NOUN
ajst-4910	103	8	detection	detection	NOUN
ajst-4910	103	9	are	be	AUX
ajst-4910	103	10	the	the	DET
ajst-4910	103	11	main	main	ADJ
ajst-4910	103	12	work	work	NOUN
ajst-4910	103	13	in	in	ADP
ajst-4910	103	14	the	the	DET
ajst-4910	103	15	next	next	ADJ
ajst-4910	103	16	step	step	NOUN
ajst-4910	103	17	for	for	ADP
ajst-4910	103	18	the	the	DET
ajst-4910	103	19	extraction	extraction	NOUN
ajst-4910	103	20	results	result	NOUN
ajst-4910	103	21	.	.	PUNCT
ajst-4910	104	1	references	reference	NOUN
ajst-4910	104	2	[	[	X
ajst-4910	104	3	1	1	NUM
ajst-4910	104	4	]	]	PUNCT
ajst-4910	104	5	ran	run	VERB
ajst-4910	104	6	nini	nini	PROPN
ajst-4910	104	7	:	:	PUNCT
ajst-4910	104	8	point	point	VERB
ajst-4910	104	9	cloud	cloud	ADJ
ajst-4910	104	10	extraction	extraction	NOUN
ajst-4910	104	11	method	method	NOUN
ajst-4910	104	12	of	of	ADP
ajst-4910	104	13	urban	urban	ADJ
ajst-4910	104	14	structured	structured	ADJ
ajst-4910	104	15	road	road	NOUN
ajst-4910	104	16	pavement	pavement	NOUN
ajst-4910	104	17	,	,	PUNCT
ajst-4910	104	18	geomatics	geomatics	NOUN
ajst-4910	104	19	technology	technology	NOUN
ajst-4910	104	20	and	and	CCONJ
ajst-4910	104	21	equipment	equipment	NOUN
ajst-4910	104	22	,	,	PUNCT
ajst-4910	104	23	vol.24(2022)no1	vol.24(2022)no1	NUM
ajst-4910	104	24	,	,	PUNCT
ajst-4910	104	25	p.57	p.57	X
ajst-4910	104	26	-	-	X
ajst-4910	104	27	61	61	NUM
ajst-4910	104	28	.	.	PUNCT
ajst-4910	105	1	[	[	X
ajst-4910	105	2	2	2	NUM
ajst-4910	105	3	]	]	X
ajst-4910	105	4	jaakkola	jaakkola	PROPN
ajst-4910	105	5	a	a	PROPN
ajst-4910	105	6	,	,	PUNCT
ajst-4910	105	7	hyyppa	hyyppa	PROPN
ajst-4910	105	8	j	j	PROPN
ajst-4910	105	9	,	,	PUNCT
ajst-4910	105	10	hyyppa	hyyppa	PROPN
ajst-4910	105	11	h	h	NOUN
ajst-4910	105	12	:	:	PUNCT
ajst-4910	105	13	retrieval	retrieval	NOUN
ajst-4910	105	14	algorithms	algorithm	NOUN
ajst-4910	105	15	for	for	ADP
ajst-4910	105	16	road	road	NOUN
ajst-4910	105	17	surface	surface	NOUN
ajst-4910	105	18	modelling	modelling	NOUN
ajst-4910	105	19	using	use	VERB
ajst-4910	105	20	laser	laser	NOUN
ajst-4910	105	21	-	-	PUNCT
ajst-4910	105	22	based	base	VERB
ajst-4910	105	23	mobile	mobile	ADJ
ajst-4910	105	24	mapping	mapping	NOUN
ajst-4910	105	25	,	,	PUNCT
ajst-4910	105	26	sensors	sensor	NOUN
ajst-4910	105	27	,	,	PUNCT
ajst-4910	105	28	vol.9(2008),p.5238	vol.9(2008),p.5238	PROPN
ajst-4910	105	29	-	-	SYM
ajst-4910	105	30	5249	5249	NUM
ajst-4910	105	31	.	.	PUNCT
ajst-4910	106	1	[	[	X
ajst-4910	106	2	3	3	X
ajst-4910	106	3	]	]	X
ajst-4910	106	4	jaakkola	jaakkola	PROPN
ajst-4910	106	5	a	a	PROPN
ajst-4910	106	6	,	,	PUNCT
ajst-4910	106	7	hyyppa	hyyppa	PROPN
ajst-4910	106	8	j	j	PROPN
ajst-4910	106	9	,	,	PUNCT
ajst-4910	106	10	hyyppa	hyyppa	PROPN
ajst-4910	106	11	h	h	NOUN
ajst-4910	106	12	:	:	PUNCT
ajst-4910	106	13	retrieval	retrieval	NOUN
ajst-4910	106	14	algorithms	algorithm	NOUN
ajst-4910	106	15	for	for	ADP
ajst-4910	106	16	road	road	NOUN
ajst-4910	106	17	surface	surface	NOUN
ajst-4910	106	18	modelling	modelling	NOUN
ajst-4910	106	19	using	use	VERB
ajst-4910	106	20	laser	laser	NOUN
ajst-4910	106	21	-	-	PUNCT
ajst-4910	106	22	based	base	VERB
ajst-4910	106	23	mobile	mobile	ADJ
ajst-4910	106	24	mapping	mapping	NOUN
ajst-4910	106	25	,	,	PUNCT
ajst-4910	106	26	sensors	sensor	NOUN
ajst-4910	106	27	,	,	PUNCT
ajst-4910	106	28	vol.9(2008),p.5238	vol.9(2008),p.5238	PROPN
ajst-4910	106	29	-	-	SYM
ajst-4910	106	30	5249	5249	NUM
ajst-4910	106	31	.	.	PUNCT
ajst-4910	107	1	[	[	X
ajst-4910	107	2	4	4	X
ajst-4910	107	3	]	]	PUNCT
ajst-4910	107	4	li	li	NOUN
ajst-4910	107	5	you	you	PRON
ajst-4910	107	6	:	:	PUNCT
ajst-4910	107	7	research	research	NOUN
ajst-4910	107	8	on	on	ADP
ajst-4910	107	9	street	street	NOUN
ajst-4910	107	10	information	information	NOUN
ajst-4910	107	11	detection	detection	NOUN
ajst-4910	107	12	from	from	ADP
ajst-4910	107	13	mobile	mobile	ADJ
ajst-4910	107	14	laser	laser	NOUN
ajst-4910	107	15	scanning	scan	VERB
ajst-4910	107	16	data	datum	NOUN
ajst-4910	107	17	in	in	ADP
ajst-4910	107	18	urban	urban	ADJ
ajst-4910	107	19	areas(ph.d	areas(ph.d	PROPN
ajst-4910	107	20	.	.	PROPN
ajst-4910	107	21	,	,	PUNCT
ajst-4910	107	22	wuhan	wuhan	PROPN
ajst-4910	107	23	university	university	PROPN
ajst-4910	107	24	,	,	PUNCT
ajst-4910	107	25	china	china	PROPN
ajst-4910	107	26	2017),p.27	2017),p.27	PROPN
ajst-4910	107	27	.	.	PUNCT
ajst-4910	108	1	[	[	X
ajst-4910	108	2	5	5	X
ajst-4910	108	3	]	]	X
ajst-4910	108	4	shi	shi	PROPN
ajst-4910	108	5	wenzhong	wenzhong	PROPN
ajst-4910	108	6	,	,	PUNCT
ajst-4910	108	7	li	li	PROPN
ajst-4910	108	8	bijun	bijun	PROPN
ajst-4910	108	9	,	,	PUNCT
ajst-4910	108	10	li	li	PROPN
ajst-4910	108	11	qingquan	qingquan	PROPN
ajst-4910	108	12	:	:	PUNCT
ajst-4910	108	13	a	a	DET
ajst-4910	108	14	method	method	NOUN
ajst-4910	108	15	for	for	ADP
ajst-4910	108	16	segmentation	segmentation	NOUN
ajst-4910	108	17	of	of	ADP
ajst-4910	108	18	range	range	NOUN
ajst-4910	108	19	lmage	lmage	NOUN
ajst-4910	108	20	captured	capture	VERB
ajst-4910	108	21	by	by	ADP
ajst-4910	108	22	vehicle	vehicle	NOUN
ajst-4910	108	23	-	-	PUNCT
ajst-4910	108	24	borne	bear	VERB
ajst-4910	108	25	laserscanning	laserscanning	NOUN
ajst-4910	108	26	based	base	VERB
ajst-4910	108	27	on	on	ADP
ajst-4910	108	28	the	the	DET
ajst-4910	108	29	density	density	NOUN
ajst-4910	108	30	of	of	ADP
ajst-4910	108	31	projected	project	VERB
ajst-4910	108	32	points	point	NOUN
ajst-4910	108	33	,	,	PUNCT
ajst-4910	108	34	acta	acta	PROPN
ajst-4910	108	35	geodaetica	geodaetica	PROPN
ajst-4910	108	36	et	et	PROPN
ajst-4910	108	37	cartographica	cartographica	PROPN
ajst-4910	108	38	sinica	sinica	PROPN
ajst-4910	108	39	,	,	PUNCT
ajst-4910	108	40	vol.2(2005):p.95	vol.2(2005):p.95	NOUN
ajst-4910	108	41	-	-	PUNCT
ajst-4910	108	42	100	100	NUM
ajst-4910	108	43	.	.	PUNCT
ajst-4910	109	1	[	[	X
ajst-4910	109	2	6	6	NUM
ajst-4910	109	3	]	]	X
ajst-4910	109	4	serna	serna	PROPN
ajst-4910	109	5	a	a	PRON
ajst-4910	109	6	,	,	PUNCT
ajst-4910	109	7	marcotegui	marcotegui	PROPN
ajst-4910	109	8	b	b	PROPN
ajst-4910	109	9	:	:	PUNCT
ajst-4910	109	10	urban	urban	ADJ
ajst-4910	109	11	accessibility	accessibility	NOUN
ajst-4910	109	12	diagnosis	diagnosis	NOUN
ajst-4910	109	13	from	from	ADP
ajst-4910	109	14	mobile	mobile	ADJ
ajst-4910	109	15	laser	laser	NOUN
ajst-4910	109	16	scanning	scan	VERB
ajst-4910	109	17	data	datum	NOUN
ajst-4910	109	18	,	,	PUNCT
ajst-4910	109	19	isprs	isprs	NOUN
ajst-4910	109	20	journal	journal	NOUN
ajst-4910	109	21	of	of	ADP
ajst-4910	109	22	photogrammetry	photogrammetry	NOUN
ajst-4910	109	23	and	and	CCONJ
ajst-4910	109	24	remote	remote	ADJ
ajst-4910	109	25	sensing	sensing	NOUN
ajst-4910	109	26	,	,	PUNCT
ajst-4910	109	27	vol.84(2013	vol.84(2013	NOUN
ajst-4910	109	28	)	)	PUNCT
ajst-4910	109	29	,	,	PUNCT
ajst-4910	109	30	p.23	p.23	PROPN
ajst-4910	109	31	-	-	X
ajst-4910	109	32	32	32	NUM
ajst-4910	109	33	.	.	PUNCT
ajst-4910	110	1	[	[	X
ajst-4910	110	2	7	7	NUM
ajst-4910	110	3	]	]	SYM
ajst-4910	110	4	cabo	cabo	NOUN
ajst-4910	110	5	c	c	X
ajst-4910	110	6	,	,	PUNCT
ajst-4910	110	7	kukko	kukko	VERB
ajst-4910	110	8	a	a	PRON
ajst-4910	110	9	,	,	PUNCT
ajst-4910	110	10	s	s	PART
ajst-4910	110	11	garcía	garcía	ADJ
ajst-4910	110	12	-cortés	-cortés	NOUN
ajst-4910	110	13	:	:	PUNCT
ajst-4910	110	14	an	an	DET
ajst-4910	110	15	algorithm	algorithm	NOUN
ajst-4910	110	16	for	for	ADP
ajst-4910	110	17	automatic	automatic	ADJ
ajst-4910	110	18	road	road	NOUN
ajst-4910	110	19	asphalt	asphalt	NOUN
ajst-4910	110	20	edge	edge	NOUN
ajst-4910	110	21	delineation	delineation	NOUN
ajst-4910	110	22	from	from	ADP
ajst-4910	110	23	mobile	mobile	ADJ
ajst-4910	110	24	laser	laser	NOUN
ajst-4910	110	25	scanner	scanner	NOUN
ajst-4910	110	26	date	date	NOUN
ajst-4910	110	27	using	use	VERB
ajst-4910	110	28	the	the	DET
ajst-4910	110	29	line	line	NOUN
ajst-4910	110	30	clouds	cloud	NOUN
ajst-4910	110	31	concept	concept	NOUN
ajst-4910	110	32	,	,	PUNCT
ajst-4910	110	33	remote	remote	ADJ
ajst-4910	110	34	sensing	sensing	NOUN
ajst-4910	110	35	,	,	PUNCT
ajst-4910	110	36	vol.8(2016)no.9,p.740	vol.8(2016)no.9,p.740	NOUN
ajst-4910	110	37	.	.	PUNCT
ajst-4910	111	1	[	[	X
ajst-4910	111	2	8	8	NUM
ajst-4910	111	3	]	]	X
ajst-4910	111	4	fang	fang	PROPN
ajst-4910	111	5	lina	lina	PROPN
ajst-4910	111	6	,	,	PUNCT
ajst-4910	111	7	yang	yang	PROPN
ajst-4910	111	8	bisheng	bisheng	PROPN
ajst-4910	111	9	:	:	PUNCT
ajst-4910	111	10	automated	automate	VERB
ajst-4910	111	11	extracting	extract	VERB
ajst-4910	111	12	structural	structural	ADJ
ajst-4910	111	13	roads	road	NOUN
ajst-4910	111	14	from	from	ADP
ajst-4910	111	15	mobile	mobile	ADJ
ajst-4910	111	16	laser	laser	NOUN
ajst-4910	111	17	scanning	scanning	NOUN
ajst-4910	111	18	point	point	NOUN
ajst-4910	111	19	clouds	cloud	NOUN
ajst-4910	111	20	,	,	PUNCT
ajst-4910	111	21	acta	acta	PROPN
ajst-4910	111	22	geodaetica	geodaetica	PROPN
ajst-4910	111	23	et	et	PROPN
ajst-4910	111	24	cartographica	cartographica	PROPN
ajst-4910	111	25	sinica	sinica	PROPN
ajst-4910	111	26	,	,	PUNCT
ajst-4910	111	27	vol.42(2013)no.2.p260267	vol.42(2013)no.2.p260267	NOUN
ajst-4910	111	28	.	.	PUNCT
ajst-4910	112	1	[	[	X
ajst-4910	112	2	9	9	NUM
ajst-4910	112	3	]	]	X
ajst-4910	112	4	man	man	NOUN
ajst-4910	112	5	dan	dan	PROPN
ajst-4910	112	6	,	,	PUNCT
ajst-4910	112	7	wang	wang	PROPN
ajst-4910	112	8	hui	hui	PROPN
ajst-4910	112	9	,	,	PUNCT
ajst-4910	112	10	li	li	PROPN
ajst-4910	112	11	shuo	shuo	PROPN
ajst-4910	112	12	.	.	PUNCT
ajst-4910	112	13	et	et	PROPN
ajst-4910	112	14	al	al	PROPN
ajst-4910	112	15	:	:	PUNCT
ajst-4910	112	16	extraction	extraction	NOUN
ajst-4910	112	17	of	of	ADP
ajst-4910	112	18	road	road	NOUN
ajst-4910	112	19	boundary	boundary	ADJ
ajst-4910	112	20	from	from	ADP
ajst-4910	112	21	vehicle	vehicle	NOUN
ajst-4910	112	22	laser	laser	NOUN
ajst-4910	112	23	scanning	scan	VERB
ajst-4910	112	24	data	datum	NOUN
ajst-4910	112	25	,	,	PUNCT
ajst-4910	112	26	journal	journal	NOUN
ajst-4910	112	27	of	of	ADP
ajst-4910	112	28	geomatics	geomatics	PROPN
ajst-4910	112	29	science	science	NOUN
ajst-4910	112	30	and	and	CCONJ
ajst-4910	112	31	technology	technology	NOUN
ajst-4910	112	32	|	|	ADV
ajst-4910	112	33	j	j	PROPN
ajst-4910	112	34	geom	geom	PROPN
ajst-4910	112	35	sci	sci	PROPN
ajst-4910	112	36	technol	technol	PROPN
ajst-4910	112	37	,	,	PUNCT
ajst-4910	112	38	vol.34(2017)no.6,p.612	vol.34(2017)no.6,p.612	PROPN
ajst-4910	112	39	-	-	PUNCT
ajst-4910	112	40	616	616	NUM
ajst-4910	112	41	.	.	PUNCT
ajst-4910	113	1	[	[	X
ajst-4910	113	2	10	10	NUM
ajst-4910	113	3	]	]	X
ajst-4910	113	4	li	li	PROPN
ajst-4910	113	5	yongqiang	yongqiang	PROPN
ajst-4910	113	6	,	,	PUNCT
ajst-4910	113	7	dong	dong	PROPN
ajst-4910	113	8	yahan	yahan	PROPN
ajst-4910	113	9	,	,	PUNCT
ajst-4910	113	10	zhang	zhang	PROPN
ajst-4910	113	11	xitong	xitong	PROPN
ajst-4910	113	12	,	,	PUNCT
ajst-4910	113	13	et	et	PROPN
ajst-4910	113	14	al	al	PROPN
ajst-4910	113	15	:	:	PUNCT
ajst-4910	113	16	point	point	NOUN
ajst-4910	113	17	cloud	cloud	ADJ
ajst-4910	113	18	information	information	NOUN
ajst-4910	113	19	extraction	extraction	NOUN
ajst-4910	113	20	for	for	ADP
ajst-4910	113	21	streetlights	streetlight	NOUN
ajst-4910	113	22	with	with	ADP
ajst-4910	113	23	vehicle	vehicle	NOUN
ajst-4910	113	24	-	-	PUNCT
ajst-4910	113	25	borne	bear	VERB
ajst-4910	113	26	lidar	lidar	NOUN
ajst-4910	113	27	,	,	PUNCT
ajst-4910	113	28	acta	acta	PROPN
ajst-4910	113	29	geodaetica	geodaetica	PROPN
ajst-4910	113	30	et	et	PROPN
ajst-4910	113	31	cartographica	cartographica	PROPN
ajst-4910	113	32	sinica	sinica	PROPN
ajst-4910	113	33	,	,	PUNCT
ajst-4910	113	34	vol.47	vol.47	X
ajst-4910	113	35	(	(	PUNCT
ajst-4910	113	36	2018)no.2,p.247	2018)no.2,p.247	NOUN
ajst-4910	113	37	-	-	SYM
ajst-4910	113	38	259	259	NUM
ajst-4910	113	39	.	.	PUNCT
ajst-4910	114	1	[	[	X
ajst-4910	114	2	11	11	NUM
ajst-4910	114	3	]	]	X
ajst-4910	114	4	an	an	DET
ajst-4910	114	5	yaojun	yaojun	PROPN
ajst-4910	114	6	,	,	PUNCT
ajst-4910	114	7	chen	chen	PROPN
ajst-4910	114	8	xiaoxuan	xiaoxuan	PROPN
ajst-4910	114	9	,	,	PUNCT
ajst-4910	114	10	sui	sui	PROPN
ajst-4910	114	11	lichun	lichun	PROPN
ajst-4910	114	12	,	,	PUNCT
ajst-4910	114	13	et	et	PROPN
ajst-4910	114	14	al	al	PROPN
ajst-4910	114	15	:	:	PUNCT
ajst-4910	114	16	a	a	DET
ajst-4910	114	17	structural	structural	ADJ
ajst-4910	114	18	road	road	NOUN
ajst-4910	114	19	extraction	extraction	NOUN
ajst-4910	114	20	method	method	NOUN
ajst-4910	114	21	based	base	VERB
ajst-4910	114	22	on	on	ADP
ajst-4910	114	23	normal	normal	ADJ
ajst-4910	114	24	vectors	vector	NOUN
ajst-4910	114	25	similarity	similarity	NOUN
ajst-4910	114	26	of	of	ADP
ajst-4910	114	27	point	point	NOUN
ajst-4910	114	28	clouds	cloud	NOUN
ajst-4910	114	29	,	,	PUNCT
ajst-4910	114	30	bulletin	bulletin	NOUN
ajst-4910	114	31	of	of	ADP
ajst-4910	114	32	surveying	surveying	NOUN
ajst-4910	114	33	and	and	CCONJ
ajst-4910	114	34	mapping	mapping	NOUN
ajst-4910	114	35	|	|	CCONJ
ajst-4910	114	36	bull	bull	NOUN
ajst-4910	114	37	surv	surv	NOUN
ajst-4910	114	38	map	map	NOUN
ajst-4910	114	39	,	,	PUNCT
ajst-4910	114	40	(	(	PUNCT
ajst-4910	114	41	2018)no.11,p.69	2018)no.11,p.69	NOUN
ajst-4910	114	42	-	-	SYM
ajst-4910	114	43	72	72	NUM
ajst-4910	114	44	.	.	PUNCT
ajst-4910	115	1	[	[	X
ajst-4910	115	2	12	12	NUM
ajst-4910	115	3	]	]	X
ajst-4910	115	4	hu	hu	PROPN
ajst-4910	115	5	xiao	xiao	PROPN
ajst-4910	115	6	:	:	PUNCT
ajst-4910	115	7	research	research	NOUN
ajst-4910	115	8	on	on	ADP
ajst-4910	115	9	road	road	NOUN
ajst-4910	115	10	element	element	NOUN
ajst-4910	115	11	extraction	extraction	NOUN
ajst-4910	115	12	method	method	NOUN
ajst-4910	115	13	of	of	ADP
ajst-4910	115	14	vehicle	vehicle	NOUN
ajst-4910	115	15	-	-	PUNCT
ajst-4910	115	16	borne	bear	VERB
ajst-4910	115	17	laser	laser	NOUN
ajst-4910	115	18	scanning	scan	VERB
ajst-4910	115	19	data	datum	NOUN
ajst-4910	115	20	,	,	PUNCT
ajst-4910	115	21	(	(	PUNCT
ajst-4910	115	22	ph.d	ph.d	PROPN
ajst-4910	115	23	.	.	PROPN
ajst-4910	115	24	,	,	PUNCT
ajst-4910	115	25	beljing	belje	VERB
ajst-4910	115	26	university	university	NOUN
ajst-4910	115	27	of	of	ADP
ajst-4910	115	28	civil	civil	ADJ
ajst-4910	115	29	engineeringand	engineeringand	NOUN
ajst-4910	115	30	architecture	architecture	PROPN
ajst-4910	115	31	beijing	beijing	PROPN
ajst-4910	115	32	university	university	PROPN
ajst-4910	115	33	of	of	ADP
ajst-4910	115	34	civil	civil	ADJ
ajst-4910	115	35	engineering	engineering	NOUN
ajst-4910	115	36	and	and	CCONJ
ajst-4910	115	37	architecture	architecture	NOUN
ajst-4910	115	38	,	,	PUNCT
ajst-4910	115	39	china2019),p.34	china2019),p.34	NOUN
ajst-4910	115	40	.	.	PUNCT
ajst-4910	116	1	[	[	X
ajst-4910	116	2	13	13	NUM
ajst-4910	116	3	]	]	X
ajst-4910	116	4	yan	yan	PROPN
ajst-4910	116	5	li	li	PROPN
ajst-4910	116	6	,	,	PUNCT
ajst-4910	116	7	liu	liu	PROPN
ajst-4910	116	8	chang	chang	PROPN
ajst-4910	116	9	,	,	PUNCT
ajst-4910	116	10	xie	xie	PROPN
ajst-4910	116	11	hong	hong	PROPN
ajst-4910	116	12	,	,	PUNCT
ajst-4910	116	13	et.al	et.al	PROPN
ajst-4910	116	14	:	:	PUNCT
ajst-4910	116	15	a	a	DET
ajst-4910	116	16	point	point	NOUN
ajst-4910	116	17	cloud	cloud	NOUN
ajst-4910	116	18	filtering	filtering	NOUN
ajst-4910	116	19	method	method	NOUN
ajst-4910	116	20	in	in	ADP
ajst-4910	116	21	complex	complex	ADJ
ajst-4910	116	22	scene	scene	NOUN
ajst-4910	116	23	based	base	VERB
ajst-4910	116	24	on	on	ADP
ajst-4910	116	25	piecewise	piecewise	NOUN
ajst-4910	116	26	energy	energy	NOUN
ajst-4910	116	27	function	function	NOUN
ajst-4910	116	28	optimization	optimization	NOUN
ajst-4910	116	29	,	,	PUNCT
ajst-4910	116	30	science	science	NOUN
ajst-4910	116	31	of	of	ADP
ajst-4910	116	32	surveying	surveying	NOUN
ajst-4910	116	33	and	and	CCONJ
ajst-4910	116	34	mapping	mapping	NOUN
ajst-4910	116	35	,	,	PUNCT
ajst-4910	116	36	vol.48	vol.48	PROPN
ajst-4910	116	37	(	(	PUNCT
ajst-4910	116	38	2021)no.1,p.84	2021)no.1,p.84	NOUN
ajst-4910	116	39	-	-	PUNCT
ajst-4910	116	40	92	92	NUM
ajst-4910	116	41	.	.	PUNCT
ajst-4910	117	1	[	[	X
ajst-4910	117	2	14	14	NUM
ajst-4910	117	3	]	]	X
ajst-4910	117	4	li	li	PROPN
ajst-4910	117	5	huibin	huibin	PROPN
ajst-4910	117	6	,	,	PUNCT
ajst-4910	117	7	shi	shi	PROPN
ajst-4910	117	8	yun	yun	PROPN
ajst-4910	117	9	,	,	PUNCT
ajst-4910	117	10	zhang	zhang	PROPN
ajst-4910	117	11	wenli	wenli	PROPN
ajst-4910	117	12	,	,	PUNCT
ajst-4910	117	13	et	et	PROPN
ajst-4910	117	14	al	al	PROPN
ajst-4910	117	15	:	:	PUNCT
ajst-4910	117	16	road	road	NOUN
ajst-4910	117	17	boundary	boundary	ADJ
ajst-4910	117	18	detection	detection	NOUN
ajst-4910	117	19	based	base	VERB
ajst-4910	117	20	on	on	ADP
ajst-4910	117	21	vehicle	vehicle	NOUN
ajst-4910	117	22	lidar	lidar	NOUN
ajst-4910	117	23	,	,	PUNCT
ajst-4910	117	24	engineering	engineering	NOUN
ajst-4910	117	25	of	of	ADP
ajst-4910	117	26	surveying	surveying	NOUN
ajst-4910	117	27	and	and	CCONJ
ajst-4910	117	28	mapping	mapping	NOUN
ajst-4910	117	29	,	,	PUNCT
ajst-4910	117	30	vol.27(2018)no.12.p.40	vol.27(2018)no.12.p.40	NOUN
ajst-4910	117	31	-	-	PUNCT
ajst-4910	117	32	46	46	NUM
ajst-4910	117	33	.	.	PUNCT
ajst-4910	118	1	[	[	X
ajst-4910	118	2	15	15	NUM
ajst-4910	118	3	]	]	X
ajst-4910	118	4	r	r	NOUN
ajst-4910	118	5	abbani	abbani	PROPN
ajst-4910	118	6	t	t	PROPN
ajst-4910	118	7	,	,	PUNCT
ajst-4910	118	8	heuvel	heuvel	PROPN
ajst-4910	118	9	vav	vav	PROPN
ajst-4910	118	10	den	den	PROPN
ajst-4910	118	11	,	,	PUNCT
ajst-4910	118	12	vosselman	vosselman	NOUN
ajst-4910	118	13	g	g	NOUN
ajst-4910	118	14	:	:	PUNCT
ajst-4910	118	15	segmentation	segmentation	NOUN
ajst-4910	118	16	of	of	ADP
ajst-4910	118	17	point	point	NOUN
ajst-4910	118	18	clouds	cloud	NOUN
ajst-4910	118	19	using	use	VERB
ajst-4910	118	20	smoothness	smoothness	ADJ
ajst-4910	118	21	constraint[j].international	constraint[j].international	ADJ
ajst-4910	118	22	archives	archive	NOUN
ajst-4910	118	23	of	of	ADP
ajst-4910	118	24	photogrammetry	photogrammetry	NOUN
ajst-4910	118	25	,	,	PUNCT
ajst-4910	118	26	remote	remote	ADJ
ajst-4910	118	27	sensing	sensing	NOUN
ajst-4910	118	28	&	&	CCONJ
ajst-4910	118	29	spatial	spatial	ADJ
ajst-4910	118	30	information	information	NOUN
ajst-4910	118	31	sciences	science	NOUN
ajst-4910	118	32	,	,	PUNCT
ajst-4910	118	33	(	(	PUNCT
ajst-4910	118	34	2012	2012	NUM
ajst-4910	118	35	)	)	PUNCT
ajst-4910	118	36	no.36,p.38	no.36,p.38	NOUN
ajst-4910	118	37	-	-	PUNCT
ajst-4910	118	38	50	50	NUM
ajst-4910	118	39	.	.	PUNCT
ajst-4910	119	1	[	[	X
ajst-4910	119	2	16	16	NUM
ajst-4910	119	3	]	]	PUNCT
ajst-4910	119	4	amenta	amenta	NOUN
ajst-4910	119	5	n	n	CCONJ
ajst-4910	119	6	,	,	PUNCT
ajst-4910	119	7	bern	bern	PROPN
ajst-4910	119	8	m	m	PROPN
ajst-4910	119	9	:	:	PUNCT
ajst-4910	119	10	surface	surface	NOUN
ajst-4910	119	11	reconstruction	reconstruction	NOUN
ajst-4910	119	12	by	by	ADP
ajst-4910	119	13	voronoifiltering	voronoifiltere	VERB
ajst-4910	119	14	,	,	PUNCT
ajst-4910	119	15	discrete	discrete	ADJ
ajst-4910	119	16	&	&	CCONJ
ajst-4910	119	17	computational	computational	ADJ
ajst-4910	119	18	geometry	geometry	NOUN
ajst-4910	119	19	,	,	PUNCT
ajst-4910	119	20	vol.22	vol.22	NOUN
ajst-4910	119	21	(	(	PUNCT
ajst-4910	119	22	1999	1999	NUM
ajst-4910	119	23	)	)	PUNCT
ajst-4910	119	24	no.44,p.81	no.44,p.81	PROPN
ajst-4910	119	25	-	-	PUNCT
ajst-4910	119	26	504	504	NUM
ajst-4910	119	27	.	.	PUNCT
ajst-4910	120	1	[	[	X
ajst-4910	120	2	17	17	NUM
ajst-4910	120	3	]	]	X
ajst-4910	120	4	huang	huang	PROPN
ajst-4910	120	5	j	j	PROPN
ajst-4910	120	6	,	,	PUNCT
ajst-4910	120	7	menq	menq	PROPN
ajst-4910	120	8	c	c	NOUN
ajst-4910	120	9	h	h	NOUN
ajst-4910	120	10	:	:	PUNCT
ajst-4910	120	11	automatic	automatic	ADJ
ajst-4910	120	12	data	datum	NOUN
ajst-4910	120	13	segmentation	segmentation	NOUN
ajst-4910	120	14	for	for	ADP
ajst-4910	120	15	geometric	geometric	ADJ
ajst-4910	120	16	feature	feature	NOUN
ajst-4910	120	17	extraction	extraction	NOUN
ajst-4910	120	18	form	form	NOUN
ajst-4910	120	19	unorganized	unorganized	ADJ
ajst-4910	120	20	3	3	NUM
ajst-4910	120	21	-	-	PUNCT
ajst-4910	120	22	d	d	NOUN
ajst-4910	120	23	coordinate	coordinate	NOUN
ajst-4910	120	24	points	point	NOUN
ajst-4910	120	25	,	,	PUNCT
ajst-4910	120	26	ieee	ieee	NOUN
ajst-4910	120	27	transactions	transaction	NOUN
ajst-4910	120	28	on	on	ADP
ajst-4910	120	29	robotics	robotic	NOUN
ajst-4910	120	30	and	and	CCONJ
ajst-4910	120	31	automation	automation	NOUN
ajst-4910	120	32	,	,	PUNCT
ajst-4910	120	33	vol.17(2001)no.3,p.268	vol.17(2001)no.3,p.268	PROPN
ajst-4910	120	34	-	-	NOUN
ajst-4910	120	35	279	279	NUM
ajst-4910	120	36	.	.	PUNCT
ajst-4910	121	1	[	[	X
ajst-4910	121	2	18	18	NUM
ajst-4910	121	3	]	]	X
ajst-4910	121	4	alexa	alexa	PROPN
ajst-4910	121	5	m	m	PROPN
ajst-4910	121	6	,	,	PUNCT
ajst-4910	121	7	behr	behr	PROPN
ajst-4910	121	8	j	j	PROPN
ajst-4910	121	9	,	,	PUNCT
ajst-4910	121	10	cohen	cohen	PROPN
ajst-4910	121	11	-	-	PUNCT
ajst-4910	121	12	or	or	CCONJ
ajst-4910	121	13	d	d	NOUN
ajst-4910	121	14	,	,	PUNCT
ajst-4910	121	15	et	et	PROPN
ajst-4910	121	16	al	al	PROPN
ajst-4910	121	17	.	.	PROPN
ajst-4910	121	18	point	point	PROPN
ajst-4910	121	19	set	set	VERB
ajst-4910	121	20	surfaces[c]//san	surfaces[c]//san	PROPN
ajst-4910	121	21	diego	diego	NOUN
ajst-4910	121	22	:	:	PUNCT
ajst-4910	121	23	proceedings	proceeding	NOUN
ajst-4910	121	24	of	of	ADP
ajst-4910	121	25	ieee	ieee	NOUN
ajst-4910	121	26	visualization	visualization	NOUN
ajst-4910	121	27	2001,2001:21	2001,2001:21	NUM
ajst-4910	121	28	-	-	SYM
ajst-4910	121	29	28	28	NUM
ajst-4910	121	30	.	.	PUNCT
ajst-4910	122	1	[	[	X
ajst-4910	122	2	19	19	NUM
ajst-4910	122	3	]	]	PUNCT
ajst-4910	122	4	ni	ni	PROPN
ajst-4910	122	5	weiwei	weiwei	PROPN
ajst-4910	122	6	,	,	PUNCT
ajst-4910	122	7	chen	chen	PROPN
ajst-4910	122	8	gang	gang	PROPN
ajst-4910	122	9	,	,	PUNCT
ajst-4910	122	10	lu	lu	PROPN
ajst-4910	122	11	jieping	jieping	NOUN
ajst-4910	122	12	,	,	PUNCT
ajst-4910	122	13	et	et	PROPN
ajst-4910	122	14	al	al	PROPN
ajst-4910	122	15	.	.	PUNCT
ajst-4910	122	16	:	:	PUNCT
ajst-4910	123	1	local	local	ADJ
ajst-4910	123	2	entropy	entropy	NOUN
ajst-4910	123	3	based	base	VERB
ajst-4910	123	4	weighted	weight	VERB
ajst-4910	123	5	subspace	subspace	NOUN
ajst-4910	123	6	outlier	outlier	NOUN
ajst-4910	123	7	mining	mining	NOUN
ajst-4910	123	8	algorithm	algorithm	NOUN
ajst-4910	123	9	,	,	PUNCT
ajst-4910	123	10	journal	journal	NOUN
ajst-4910	123	11	of	of	ADP
ajst-4910	123	12	computer	computer	NOUN
ajst-4910	123	13	research	research	NOUN
ajst-4910	123	14	and	and	CCONJ
ajst-4910	123	15	dvelopment	dvelopment	ADJ
ajst-4910	123	16	,	,	PUNCT
ajst-4910	123	17	vol.45	vol.45	X
ajst-4910	123	18	(	(	PUNCT
ajst-4910	123	19	2008	2008	NUM
ajst-4910	123	20	)	)	PUNCT
ajst-4910	123	21	no.7,p.1189	no.7,p.1189	PROPN
ajst-4910	123	22	-	-	PUNCT
ajst-4910	123	23	1194	1194	NUM
ajst-4910	123	24	.	.	PUNCT