id	sid	tid	token	lemma	pos
ap-1015	1	1	ap08_3.vp	ap08_3.vp	NOUN
ap-1015	1	2	1	1	NUM
ap-1015	1	3	introduction	introduction	NOUN
ap-1015	1	4	despite	despite	SCONJ
ap-1015	1	5	significant	significant	ADJ
ap-1015	1	6	advances	advance	NOUN
ap-1015	1	7	in	in	ADP
ap-1015	1	8	micro	micro	NOUN
ap-1015	1	9	-	-	NOUN
ap-1015	1	10	technology	technology	NOUN
ap-1015	1	11	lasting	last	VERB
ap-1015	1	12	recent	recent	ADJ
ap-1015	1	13	decades	decade	NOUN
ap-1015	1	14	,	,	PUNCT
ap-1015	1	15	precise	precise	ADJ
ap-1015	1	16	and	and	CCONJ
ap-1015	1	17	cost	cost	NOUN
ap-1015	1	18	-	-	PUNCT
ap-1015	1	19	efficient	efficient	ADJ
ap-1015	1	20	welding	welding	NOUN
ap-1015	1	21	still	still	ADV
ap-1015	1	22	poses	pose	VERB
ap-1015	1	23	a	a	DET
ap-1015	1	24	big	big	ADJ
ap-1015	1	25	challenge	challenge	NOUN
ap-1015	1	26	.	.	PUNCT
ap-1015	2	1	usually	usually	ADV
ap-1015	2	2	,	,	PUNCT
ap-1015	2	3	tedious	tedious	ADJ
ap-1015	2	4	and	and	CCONJ
ap-1015	2	5	error	error	NOUN
ap-1015	2	6	-	-	PUNCT
ap-1015	2	7	prone	prone	ADJ
ap-1015	2	8	manual	manual	ADJ
ap-1015	2	9	interaction	interaction	NOUN
ap-1015	2	10	is	be	AUX
ap-1015	2	11	required	require	VERB
ap-1015	2	12	to	to	PART
ap-1015	2	13	adjust	adjust	VERB
ap-1015	2	14	currently	currently	ADV
ap-1015	2	15	available	available	ADJ
ap-1015	2	16	welding	welding	NOUN
ap-1015	2	17	machines	machine	NOUN
ap-1015	2	18	to	to	PART
ap-1015	2	19	precisely	precisely	ADV
ap-1015	2	20	join	join	VERB
ap-1015	2	21	two	two	NUM
ap-1015	2	22	parts	part	NOUN
ap-1015	2	23	with	with	ADP
ap-1015	2	24	a	a	DET
ap-1015	2	25	laser	laser	NOUN
ap-1015	2	26	beam	beam	NOUN
ap-1015	2	27	.	.	PUNCT
ap-1015	3	1	this	this	DET
ap-1015	3	2	adjustment	adjustment	NOUN
ap-1015	3	3	is	be	AUX
ap-1015	3	4	additionally	additionally	ADV
ap-1015	3	5	exacerbated	exacerbate	VERB
ap-1015	3	6	if	if	SCONJ
ap-1015	3	7	flexible	flexible	ADJ
ap-1015	3	8	parts	part	NOUN
ap-1015	3	9	or	or	CCONJ
ap-1015	3	10	parts	part	NOUN
ap-1015	3	11	with	with	ADP
ap-1015	3	12	loosely	loosely	ADV
ap-1015	3	13	fixed	fix	VERB
ap-1015	3	14	counter	counter	NOUN
ap-1015	3	15	pieces	piece	NOUN
ap-1015	3	16	(	(	PUNCT
ap-1015	3	17	see	see	VERB
ap-1015	3	18	fig	fig	NOUN
ap-1015	3	19	.	.	PUNCT
ap-1015	4	1	1	1	NUM
ap-1015	4	2	)	)	PUNCT
ap-1015	4	3	are	be	AUX
ap-1015	4	4	to	to	PART
ap-1015	4	5	be	be	AUX
ap-1015	4	6	welded	weld	VERB
ap-1015	4	7	.	.	PUNCT
ap-1015	5	1	in	in	ADP
ap-1015	5	2	these	these	DET
ap-1015	5	3	cases	case	NOUN
ap-1015	5	4	each	each	DET
ap-1015	5	5	part	part	NOUN
ap-1015	5	6	has	have	VERB
ap-1015	5	7	to	to	PART
ap-1015	5	8	be	be	AUX
ap-1015	5	9	adjusted	adjust	VERB
ap-1015	5	10	individually	individually	ADV
ap-1015	5	11	or	or	CCONJ
ap-1015	5	12	clamped	clamp	VERB
ap-1015	5	13	precisely	precisely	ADV
ap-1015	5	14	,	,	PUNCT
ap-1015	5	15	which	which	PRON
ap-1015	5	16	leads	lead	VERB
ap-1015	5	17	to	to	ADP
ap-1015	5	18	an	an	DET
ap-1015	5	19	increase	increase	NOUN
ap-1015	5	20	in	in	ADP
ap-1015	5	21	production	production	NOUN
ap-1015	5	22	costs	cost	NOUN
ap-1015	5	23	.	.	PUNCT
ap-1015	6	1	one	one	NUM
ap-1015	6	2	of	of	ADP
ap-1015	6	3	the	the	DET
ap-1015	6	4	major	major	ADJ
ap-1015	6	5	applicatios	applicatio	NOUN
ap-1015	6	6	of	of	ADP
ap-1015	6	7	laser	laser	NOUN
ap-1015	6	8	welding	welding	NOUN
ap-1015	6	9	is	be	AUX
ap-1015	6	10	the	the	DET
ap-1015	6	11	production	production	NOUN
ap-1015	6	12	of	of	ADP
ap-1015	6	13	medical	medical	ADJ
ap-1015	6	14	devices	device	NOUN
ap-1015	6	15	,	,	PUNCT
ap-1015	6	16	e.g.	e.g.	ADV
ap-1015	6	17	,	,	PUNCT
ap-1015	6	18	welding	weld	VERB
ap-1015	6	19	the	the	DET
ap-1015	6	20	housing	housing	NOUN
ap-1015	6	21	for	for	ADP
ap-1015	6	22	cardiac	cardiac	ADJ
ap-1015	6	23	pacemakers	pacemaker	NOUN
ap-1015	6	24	or	or	CCONJ
ap-1015	6	25	endoscopes	endoscope	NOUN
ap-1015	6	26	.	.	PUNCT
ap-1015	7	1	other	other	ADJ
ap-1015	7	2	applications	application	NOUN
ap-1015	7	3	are	be	AUX
ap-1015	7	4	in	in	ADP
ap-1015	7	5	environmental	environmental	ADJ
ap-1015	7	6	engineering	engineering	NOUN
ap-1015	7	7	,	,	PUNCT
ap-1015	7	8	e.g.	e.g.	ADV
ap-1015	7	9	,	,	PUNCT
ap-1015	7	10	water	water	NOUN
ap-1015	7	11	filters	filter	NOUN
ap-1015	7	12	that	that	PRON
ap-1015	7	13	are	be	AUX
ap-1015	7	14	capable	capable	ADJ
ap-1015	7	15	of	of	ADP
ap-1015	7	16	filtering	filter	VERB
ap-1015	7	17	harmful	harmful	ADJ
ap-1015	7	18	microorganisms	microorganism	NOUN
ap-1015	7	19	out	out	ADP
ap-1015	7	20	of	of	ADP
ap-1015	7	21	drinking	drinking	NOUN
ap-1015	7	22	water	water	NOUN
ap-1015	7	23	,	,	PUNCT
ap-1015	7	24	see	see	VERB
ap-1015	7	25	fig	fig	NOUN
ap-1015	7	26	.	.	PUNCT
ap-1015	8	1	1	1	X
ap-1015	8	2	.	.	X
ap-1015	8	3	to	to	PART
ap-1015	8	4	provide	provide	VERB
ap-1015	8	5	these	these	DET
ap-1015	8	6	high	high	ADJ
ap-1015	8	7	-	-	PUNCT
ap-1015	8	8	tech	tech	NOUN
ap-1015	8	9	goods	good	NOUN
ap-1015	8	10	for	for	ADP
ap-1015	8	11	emerging	emerge	VERB
ap-1015	8	12	markets	market	NOUN
ap-1015	8	13	,	,	PUNCT
ap-1015	8	14	a	a	DET
ap-1015	8	15	production	production	NOUN
ap-1015	8	16	technology	technology	NOUN
ap-1015	8	17	is	be	AUX
ap-1015	8	18	needed	need	VERB
ap-1015	8	19	which	which	PRON
ap-1015	8	20	meets	meet	VERB
ap-1015	8	21	the	the	DET
ap-1015	8	22	requirements	requirement	NOUN
ap-1015	8	23	concerning	concern	VERB
ap-1015	8	24	accuracy	accuracy	NOUN
ap-1015	8	25	and	and	CCONJ
ap-1015	8	26	production	production	NOUN
ap-1015	8	27	costs	cost	NOUN
ap-1015	8	28	.	.	PUNCT
ap-1015	9	1	we	we	PRON
ap-1015	9	2	therefore	therefore	ADV
ap-1015	9	3	aim	aim	VERB
ap-1015	9	4	to	to	PART
ap-1015	9	5	simplify	simplify	VERB
ap-1015	9	6	the	the	DET
ap-1015	9	7	production	production	NOUN
ap-1015	9	8	process	process	NOUN
ap-1015	9	9	by	by	ADP
ap-1015	9	10	equipping	equip	VERB
ap-1015	9	11	an	an	DET
ap-1015	9	12	existing	exist	VERB
ap-1015	9	13	assembly	assembly	NOUN
ap-1015	9	14	system	system	NOUN
ap-1015	9	15	with	with	ADP
ap-1015	9	16	sensors	sensor	NOUN
ap-1015	9	17	and	and	CCONJ
ap-1015	9	18	intelligence	intelligence	NOUN
ap-1015	9	19	.	.	PUNCT
ap-1015	10	1	to	to	PART
ap-1015	10	2	avoid	avoid	VERB
ap-1015	10	3	an	an	DET
ap-1015	10	4	excessive	excessive	ADJ
ap-1015	10	5	increase	increase	NOUN
ap-1015	10	6	in	in	ADP
ap-1015	10	7	costs	cost	NOUN
ap-1015	10	8	,	,	PUNCT
ap-1015	10	9	we	we	PRON
ap-1015	10	10	try	try	VERB
ap-1015	10	11	to	to	PART
ap-1015	10	12	make	make	VERB
ap-1015	10	13	efficient	efficient	ADJ
ap-1015	10	14	use	use	NOUN
ap-1015	10	15	of	of	ADP
ap-1015	10	16	system	system	NOUN
ap-1015	10	17	-	-	PUNCT
ap-1015	10	18	immanent	immanent	NOUN
ap-1015	10	19	components	component	NOUN
ap-1015	10	20	.	.	PUNCT
ap-1015	11	1	more	more	ADV
ap-1015	11	2	precisely	precisely	ADV
ap-1015	11	3	–	–	PUNCT
ap-1015	11	4	firstly	firstly	ADV
ap-1015	11	5	,	,	PUNCT
ap-1015	11	6	we	we	PRON
ap-1015	11	7	enable	enable	VERB
ap-1015	11	8	the	the	DET
ap-1015	11	9	machine	machine	NOUN
ap-1015	11	10	to	to	PART
ap-1015	11	11	acquire	acquire	VERB
ap-1015	11	12	high	high	ADJ
ap-1015	11	13	-	-	PUNCT
ap-1015	11	14	resolution	resolution	NOUN
ap-1015	11	15	images	image	NOUN
ap-1015	11	16	of	of	ADP
ap-1015	11	17	the	the	DET
ap-1015	11	18	workpieces	workpiece	NOUN
ap-1015	11	19	with	with	ADP
ap-1015	11	20	a	a	DET
ap-1015	11	21	single	single	ADJ
ap-1015	11	22	camera	camera	NOUN
ap-1015	11	23	,	,	PUNCT
ap-1015	11	24	secondly	secondly	ADV
ap-1015	11	25	we	we	PRON
ap-1015	11	26	enable	enable	VERB
ap-1015	11	27	the	the	DET
ap-1015	11	28	positions	position	NOUN
ap-1015	11	29	of	of	ADP
ap-1015	11	30	the	the	DET
ap-1015	11	31	workpiece	workpiece	NOUN
ap-1015	11	32	to	to	PART
ap-1015	11	33	be	be	AUX
ap-1015	11	34	estimated	estimate	VERB
ap-1015	11	35	automatically	automatically	ADV
ap-1015	11	36	,	,	PUNCT
ap-1015	11	37	and	and	CCONJ
ap-1015	11	38	finally	finally	ADV
ap-1015	11	39	we	we	PRON
ap-1015	11	40	adapt	adapt	VERB
ap-1015	11	41	the	the	DET
ap-1015	11	42	position	position	NOUN
ap-1015	11	43	of	of	ADP
ap-1015	11	44	the	the	DET
ap-1015	11	45	laser	laser	NOUN
ap-1015	11	46	to	to	ADP
ap-1015	11	47	possible	possible	ADJ
ap-1015	11	48	offsets	offset	NOUN
ap-1015	11	49	between	between	ADP
ap-1015	11	50	nominal	nominal	ADJ
ap-1015	11	51	and	and	CCONJ
ap-1015	11	52	detected	detect	VERB
ap-1015	11	53	positions	position	NOUN
ap-1015	11	54	.	.	PUNCT
ap-1015	12	1	the	the	DET
ap-1015	12	2	paper	paper	NOUN
ap-1015	12	3	is	be	AUX
ap-1015	12	4	organized	organize	VERB
ap-1015	12	5	as	as	SCONJ
ap-1015	12	6	follows	follow	VERB
ap-1015	12	7	:	:	PUNCT
ap-1015	12	8	first	first	ADV
ap-1015	12	9	,	,	PUNCT
ap-1015	12	10	the	the	DET
ap-1015	12	11	hardware	hardware	NOUN
ap-1015	12	12	setup	setup	NOUN
ap-1015	12	13	for	for	ADP
ap-1015	12	14	welding	welding	NOUN
ap-1015	12	15	and	and	CCONJ
ap-1015	12	16	image	image	NOUN
ap-1015	12	17	acquisition	acquisition	NOUN
ap-1015	12	18	is	be	AUX
ap-1015	12	19	described	describe	VERB
ap-1015	12	20	.	.	PUNCT
ap-1015	13	1	second	second	ADV
ap-1015	13	2	,	,	PUNCT
ap-1015	13	3	the	the	DET
ap-1015	13	4	concept	concept	NOUN
ap-1015	13	5	for	for	ADP
ap-1015	13	6	position	position	NOUN
ap-1015	13	7	estimation	estimation	NOUN
ap-1015	13	8	and	and	CCONJ
ap-1015	13	9	for	for	ADP
ap-1015	13	10	transforming	transform	VERB
ap-1015	13	11	the	the	DET
ap-1015	13	12	welding	welding	NOUN
ap-1015	13	13	contours	contours	NOUN
ap-1015	13	14	is	be	AUX
ap-1015	13	15	introduced	introduce	VERB
ap-1015	13	16	.	.	PUNCT
ap-1015	14	1	finally	finally	ADV
ap-1015	14	2	,	,	PUNCT
ap-1015	14	3	an	an	DET
ap-1015	14	4	evaluation	evaluation	NOUN
ap-1015	14	5	of	of	ADP
ap-1015	14	6	position	position	NOUN
ap-1015	14	7	estimation	estimation	NOUN
ap-1015	14	8	and	and	CCONJ
ap-1015	14	9	a	a	DET
ap-1015	14	10	typical	typical	ADJ
ap-1015	14	11	welding	welding	NOUN
ap-1015	14	12	result	result	NOUN
ap-1015	14	13	is	be	AUX
ap-1015	14	14	presented	present	VERB
ap-1015	14	15	.	.	PUNCT
ap-1015	15	1	the	the	DET
ap-1015	15	2	paper	paper	NOUN
ap-1015	15	3	concludes	conclude	VERB
ap-1015	15	4	with	with	ADP
ap-1015	15	5	a	a	DET
ap-1015	15	6	summary	summary	NOUN
ap-1015	15	7	and	and	CCONJ
ap-1015	15	8	conclusions	conclusion	NOUN
ap-1015	15	9	.	.	PUNCT
ap-1015	16	1	2	2	NUM
ap-1015	16	2	hardware	hardware	NOUN
ap-1015	16	3	setup	setup	NOUN
ap-1015	16	4	to	to	PART
ap-1015	16	5	perform	perform	VERB
ap-1015	16	6	laser	laser	NOUN
ap-1015	16	7	welding	welding	NOUN
ap-1015	16	8	with	with	ADP
ap-1015	16	9	an	an	DET
ap-1015	16	10	assembly	assembly	NOUN
ap-1015	16	11	machine	machine	NOUN
ap-1015	16	12	,	,	PUNCT
ap-1015	16	13	one	one	NUM
ap-1015	16	14	of	of	ADP
ap-1015	16	15	the	the	DET
ap-1015	16	16	most	most	ADV
ap-1015	16	17	important	important	ADJ
ap-1015	16	18	problems	problem	NOUN
ap-1015	16	19	concerns	concern	VERB
ap-1015	16	20	the	the	DET
ap-1015	16	21	positioning	positioning	NOUN
ap-1015	16	22	of	of	ADP
ap-1015	16	23	the	the	DET
ap-1015	16	24	focused	focused	ADJ
ap-1015	16	25	laser	laser	NOUN
ap-1015	16	26	beam	beam	NOUN
ap-1015	16	27	on	on	ADP
ap-1015	16	28	the	the	DET
ap-1015	16	29	object	object	NOUN
ap-1015	16	30	to	to	PART
ap-1015	16	31	be	be	AUX
ap-1015	16	32	welded	weld	VERB
ap-1015	16	33	.	.	PUNCT
ap-1015	17	1	the	the	DET
ap-1015	17	2	solutions	solution	NOUN
ap-1015	17	3	to	to	ADP
ap-1015	17	4	this	this	DET
ap-1015	17	5	problem	problem	NOUN
ap-1015	17	6	are	be	AUX
ap-1015	17	7	highly	highly	ADV
ap-1015	17	8	diverse	diverse	ADJ
ap-1015	17	9	,	,	PUNCT
ap-1015	17	10	ranging	range	VERB
ap-1015	17	11	from	from	ADP
ap-1015	17	12	moving	move	VERB
ap-1015	17	13	workpieces	workpiece	NOUN
ap-1015	17	14	via	via	ADP
ap-1015	17	15	translation	translation	NOUN
ap-1015	17	16	stages	stage	NOUN
ap-1015	17	17	to	to	ADP
ap-1015	17	18	static	static	ADJ
ap-1015	17	19	workpieces	workpiece	NOUN
ap-1015	17	20	with	with	ADP
ap-1015	17	21	fiber	fiber	NOUN
ap-1015	17	22	lasers	laser	NOUN
ap-1015	17	23	moved	move	VERB
ap-1015	17	24	by	by	ADP
ap-1015	17	25	robots	robot	NOUN
ap-1015	17	26	.	.	PUNCT
ap-1015	18	1	we	we	PRON
ap-1015	18	2	chose	choose	VERB
ap-1015	18	3	a	a	DET
ap-1015	18	4	constellation	constellation	NOUN
ap-1015	18	5	which	which	PRON
ap-1015	18	6	is	be	AUX
ap-1015	18	7	close	close	ADJ
ap-1015	18	8	to	to	ADP
ap-1015	18	9	the	the	DET
ap-1015	18	10	latter	latter	ADJ
ap-1015	18	11	.	.	PUNCT
ap-1015	19	1	the	the	DET
ap-1015	19	2	workpiece	workpiece	NOUN
ap-1015	19	3	is	be	AUX
ap-1015	19	4	immobile	immobile	ADJ
ap-1015	19	5	and	and	CCONJ
ap-1015	19	6	the	the	DET
ap-1015	19	7	laser	laser	NOUN
ap-1015	19	8	adapts	adapt	VERB
ap-1015	19	9	to	to	ADP
ap-1015	19	10	the	the	DET
ap-1015	19	11	position	position	NOUN
ap-1015	19	12	of	of	ADP
ap-1015	19	13	the	the	DET
ap-1015	19	14	workpiece	workpiece	NOUN
ap-1015	19	15	.	.	PUNCT
ap-1015	20	1	to	to	PART
ap-1015	20	2	achieve	achieve	VERB
ap-1015	20	3	a	a	DET
ap-1015	20	4	high	high	ADJ
ap-1015	20	5	dynamics	dynamic	NOUN
ap-1015	20	6	of	of	ADP
ap-1015	20	7	the	the	DET
ap-1015	20	8	assembly	assembly	NOUN
ap-1015	20	9	machine	machine	NOUN
ap-1015	20	10	,	,	PUNCT
ap-1015	20	11	a	a	DET
ap-1015	20	12	so	so	ADV
ap-1015	20	13	-	-	PUNCT
ap-1015	20	14	called	call	VERB
ap-1015	20	15	scanner	scanner	NOUN
ap-1015	20	16	is	be	AUX
ap-1015	20	17	employed	employ	VERB
ap-1015	20	18	instead	instead	ADV
ap-1015	20	19	of	of	ADP
ap-1015	20	20	a	a	DET
ap-1015	20	21	robotic	robotic	ADJ
ap-1015	20	22	arm	arm	NOUN
ap-1015	20	23	.	.	PUNCT
ap-1015	21	1	this	this	DET
ap-1015	21	2	scanner	scanner	NOUN
ap-1015	21	3	consists	consist	VERB
ap-1015	21	4	of	of	ADP
ap-1015	21	5	two	two	NUM
ap-1015	21	6	orthogonal	orthogonal	ADJ
ap-1015	21	7	turnable	turnable	ADJ
ap-1015	21	8	mirrors	mirror	NOUN
ap-1015	21	9	,	,	PUNCT
ap-1015	21	10	which	which	PRON
ap-1015	21	11	are	be	AUX
ap-1015	21	12	capable	capable	ADJ
ap-1015	21	13	of	of	ADP
ap-1015	21	14	precisely	precisely	ADV
ap-1015	21	15	positioning	position	VERB
ap-1015	21	16	the	the	DET
ap-1015	21	17	laser	laser	NOUN
ap-1015	21	18	beam	beam	NOUN
ap-1015	21	19	in	in	ADP
ap-1015	21	20	the	the	DET
ap-1015	21	21	plane	plane	NOUN
ap-1015	21	22	of	of	ADP
ap-1015	21	23	the	the	DET
ap-1015	21	24	workpieces	workpiece	NOUN
ap-1015	21	25	(	(	PUNCT
ap-1015	21	26	see	see	VERB
ap-1015	21	27	fig	fig	NOUN
ap-1015	21	28	.	.	PUNCT
ap-1015	22	1	2	2	NUM
ap-1015	22	2	)	)	PUNCT
ap-1015	22	3	.	.	PUNCT
ap-1015	23	1	corresponding	correspond	VERB
ap-1015	23	2	to	to	ADP
ap-1015	23	3	the	the	DET
ap-1015	23	4	reduced	reduce	VERB
ap-1015	23	5	moving	move	VERB
ap-1015	23	6	mass	mass	NOUN
ap-1015	23	7	of	of	ADP
ap-1015	23	8	the	the	DET
ap-1015	23	9	mirrors	mirror	NOUN
ap-1015	23	10	in	in	ADP
ap-1015	23	11	comparison	comparison	NOUN
ap-1015	23	12	to	to	ADP
ap-1015	23	13	a	a	DET
ap-1015	23	14	robotic	robotic	ADJ
ap-1015	23	15	arm	arm	NOUN
ap-1015	23	16	,	,	PUNCT
ap-1015	23	17	the	the	DET
ap-1015	23	18	dynamics	dynamic	NOUN
ap-1015	23	19	and	and	CCONJ
ap-1015	23	20	thus	thus	ADV
ap-1015	23	21	the	the	DET
ap-1015	23	22	throughput	throughput	NOUN
ap-1015	23	23	rates	rate	NOUN
ap-1015	23	24	of	of	ADP
ap-1015	23	25	the	the	DET
ap-1015	23	26	welding	welding	NOUN
ap-1015	23	27	parts	part	NOUN
ap-1015	23	28	can	can	AUX
ap-1015	23	29	be	be	AUX
ap-1015	23	30	significantly	significantly	ADV
ap-1015	23	31	increased	increase	VERB
ap-1015	23	32	.	.	PUNCT
ap-1015	24	1	©	©	PROPN
ap-1015	24	2	czech	czech	PROPN
ap-1015	24	3	technical	technical	PROPN
ap-1015	24	4	university	university	PROPN
ap-1015	24	5	publishing	publishing	NOUN
ap-1015	24	6	house	house	NOUN
ap-1015	24	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1015	24	8	55	55	NUM
ap-1015	24	9	acta	acta	PROPN
ap-1015	24	10	polytechnica	polytechnica	PROPN
ap-1015	24	11	vol	vol	NOUN
ap-1015	24	12	.	.	PUNCT
ap-1015	25	1	48	48	NUM
ap-1015	25	2	no	no	NOUN
ap-1015	25	3	.	.	PUNCT
ap-1015	26	1	3/2008	3/2008	NUM
ap-1015	26	2	automatic	automatic	ADJ
ap-1015	26	3	compensation	compensation	NOUN
ap-1015	26	4	of	of	ADP
ap-1015	26	5	workpiece	workpiece	NOUN
ap-1015	26	6	positioning	positioning	NOUN
ap-1015	26	7	tolerances	tolerance	NOUN
ap-1015	26	8	for	for	ADP
ap-1015	26	9	precise	precise	ADJ
ap-1015	26	10	laser	laser	NOUN
ap-1015	26	11	welding	weld	VERB
ap-1015	26	12	n.	n.	PROPN
ap-1015	26	13	c.	c.	PROPN
ap-1015	26	14	stache	stache	NOUN
ap-1015	26	15	,	,	PUNCT
ap-1015	26	16	t.	t.	PROPN
ap-1015	26	17	p.	p.	PROPN
ap-1015	26	18	nguyen	nguyen	PROPN
ap-1015	27	1	precise	precise	ADJ
ap-1015	27	2	laser	laser	NOUN
ap-1015	27	3	welding	welding	NOUN
ap-1015	27	4	plays	play	VERB
ap-1015	27	5	a	a	DET
ap-1015	27	6	fundamental	fundamental	ADJ
ap-1015	27	7	role	role	NOUN
ap-1015	27	8	in	in	ADP
ap-1015	27	9	the	the	DET
ap-1015	27	10	production	production	NOUN
ap-1015	27	11	of	of	ADP
ap-1015	27	12	high	high	ADJ
ap-1015	27	13	-	-	PUNCT
ap-1015	27	14	tech	tech	NOUN
ap-1015	27	15	goods	good	NOUN
ap-1015	27	16	,	,	PUNCT
ap-1015	27	17	particularly	particularly	ADV
ap-1015	27	18	in	in	ADP
ap-1015	27	19	precision	precision	NOUN
ap-1015	27	20	engineering	engineering	NOUN
ap-1015	27	21	.	.	PUNCT
ap-1015	28	1	in	in	ADP
ap-1015	28	2	this	this	DET
ap-1015	28	3	working	work	VERB
ap-1015	28	4	field	field	NOUN
ap-1015	28	5	,	,	PUNCT
ap-1015	28	6	precise	precise	ADJ
ap-1015	28	7	adjustment	adjustment	NOUN
ap-1015	28	8	and	and	CCONJ
ap-1015	28	9	compensation	compensation	NOUN
ap-1015	28	10	of	of	ADP
ap-1015	28	11	positioning	positioning	NOUN
ap-1015	28	12	tolerances	tolerance	NOUN
ap-1015	28	13	of	of	ADP
ap-1015	28	14	the	the	DET
ap-1015	28	15	parts	part	NOUN
ap-1015	28	16	to	to	PART
ap-1015	28	17	be	be	AUX
ap-1015	28	18	welded	weld	VERB
ap-1015	28	19	with	with	ADP
ap-1015	28	20	respect	respect	NOUN
ap-1015	28	21	to	to	ADP
ap-1015	28	22	the	the	DET
ap-1015	28	23	laser	laser	NOUN
ap-1015	28	24	beam	beam	NOUN
ap-1015	28	25	is	be	AUX
ap-1015	28	26	of	of	ADP
ap-1015	28	27	paramount	paramount	ADJ
ap-1015	28	28	importance	importance	NOUN
ap-1015	28	29	.	.	PUNCT
ap-1015	29	1	this	this	DET
ap-1015	29	2	procedure	procedure	NOUN
ap-1015	29	3	mostly	mostly	ADV
ap-1015	29	4	requires	require	VERB
ap-1015	29	5	tedious	tedious	ADJ
ap-1015	29	6	and	and	CCONJ
ap-1015	29	7	error	error	NOUN
ap-1015	29	8	-	-	PUNCT
ap-1015	29	9	prone	prone	ADJ
ap-1015	29	10	manual	manual	ADJ
ap-1015	29	11	adjustment	adjustment	NOUN
ap-1015	29	12	,	,	PUNCT
ap-1015	29	13	which	which	PRON
ap-1015	29	14	additionally	additionally	ADV
ap-1015	29	15	results	result	VERB
ap-1015	29	16	in	in	ADP
ap-1015	29	17	a	a	DET
ap-1015	29	18	sharp	sharp	ADJ
ap-1015	29	19	increase	increase	NOUN
ap-1015	29	20	in	in	ADP
ap-1015	29	21	production	production	NOUN
ap-1015	29	22	costs	cost	NOUN
ap-1015	29	23	.	.	PUNCT
ap-1015	30	1	we	we	PRON
ap-1015	30	2	therefore	therefore	ADV
ap-1015	30	3	developed	develop	VERB
ap-1015	30	4	a	a	DET
ap-1015	30	5	system	system	NOUN
ap-1015	30	6	which	which	PRON
ap-1015	30	7	automates	automate	VERB
ap-1015	30	8	and	and	CCONJ
ap-1015	30	9	thus	thus	ADV
ap-1015	30	10	accelerates	accelerate	VERB
ap-1015	30	11	this	this	DET
ap-1015	30	12	procedure	procedure	NOUN
ap-1015	30	13	significantly	significantly	ADV
ap-1015	30	14	.	.	PUNCT
ap-1015	31	1	to	to	ADP
ap-1015	31	2	this	this	DET
ap-1015	31	3	end	end	NOUN
ap-1015	31	4	,	,	PUNCT
ap-1015	31	5	the	the	DET
ap-1015	31	6	welding	welding	NOUN
ap-1015	31	7	machine	machine	NOUN
ap-1015	31	8	is	be	AUX
ap-1015	31	9	equipped	equip	VERB
ap-1015	31	10	with	with	ADP
ap-1015	31	11	a	a	DET
ap-1015	31	12	camera	camera	NOUN
ap-1015	31	13	to	to	PART
ap-1015	31	14	acquire	acquire	VERB
ap-1015	31	15	high	high	ADJ
ap-1015	31	16	resolution	resolution	NOUN
ap-1015	31	17	images	image	NOUN
ap-1015	31	18	of	of	ADP
ap-1015	31	19	the	the	DET
ap-1015	31	20	parts	part	NOUN
ap-1015	31	21	to	to	PART
ap-1015	31	22	be	be	AUX
ap-1015	31	23	welded	weld	VERB
ap-1015	31	24	.	.	PUNCT
ap-1015	32	1	in	in	ADP
ap-1015	32	2	addition	addition	NOUN
ap-1015	32	3	,	,	PUNCT
ap-1015	32	4	a	a	DET
ap-1015	32	5	software	software	NOUN
ap-1015	32	6	framework	framework	NOUN
ap-1015	32	7	is	be	AUX
ap-1015	32	8	developed	develop	VERB
ap-1015	32	9	which	which	PRON
ap-1015	32	10	enables	enable	VERB
ap-1015	32	11	precise	precise	ADJ
ap-1015	32	12	automatic	automatic	ADJ
ap-1015	32	13	position	position	NOUN
ap-1015	32	14	detection	detection	NOUN
ap-1015	32	15	of	of	ADP
ap-1015	32	16	these	these	DET
ap-1015	32	17	parts	part	NOUN
ap-1015	32	18	and	and	CCONJ
ap-1015	32	19	adjusts	adjust	VERB
ap-1015	32	20	the	the	DET
ap-1015	32	21	position	position	NOUN
ap-1015	32	22	of	of	ADP
ap-1015	32	23	the	the	DET
ap-1015	32	24	welding	welding	NOUN
ap-1015	32	25	contour	contour	NOUN
ap-1015	32	26	correspondingly	correspondingly	ADV
ap-1015	32	27	.	.	PUNCT
ap-1015	33	1	as	as	ADP
ap-1015	33	2	a	a	DET
ap-1015	33	3	result	result	NOUN
ap-1015	33	4	,	,	PUNCT
ap-1015	33	5	the	the	DET
ap-1015	33	6	machine	machine	NOUN
ap-1015	33	7	is	be	AUX
ap-1015	33	8	rapidly	rapidly	ADV
ap-1015	33	9	prepared	prepare	VERB
ap-1015	33	10	for	for	ADP
ap-1015	33	11	welding	welding	NOUN
ap-1015	33	12	,	,	PUNCT
ap-1015	33	13	and	and	CCONJ
ap-1015	33	14	it	it	PRON
ap-1015	33	15	is	be	AUX
ap-1015	33	16	much	much	ADV
ap-1015	33	17	more	more	ADV
ap-1015	33	18	flexible	flexible	ADJ
ap-1015	33	19	in	in	ADP
ap-1015	33	20	adapting	adapt	VERB
ap-1015	33	21	to	to	ADP
ap-1015	33	22	unknown	unknown	ADJ
ap-1015	33	23	parts	part	NOUN
ap-1015	33	24	.	.	PUNCT
ap-1015	34	1	this	this	DET
ap-1015	34	2	paper	paper	NOUN
ap-1015	34	3	describes	describe	VERB
ap-1015	34	4	the	the	DET
ap-1015	34	5	entire	entire	ADJ
ap-1015	34	6	concept	concept	NOUN
ap-1015	34	7	of	of	ADP
ap-1015	34	8	extending	extend	VERB
ap-1015	34	9	a	a	DET
ap-1015	34	10	conventional	conventional	ADJ
ap-1015	34	11	welding	welding	NOUN
ap-1015	34	12	machine	machine	NOUN
ap-1015	34	13	with	with	ADP
ap-1015	34	14	means	mean	NOUN
ap-1015	34	15	for	for	ADP
ap-1015	34	16	image	image	NOUN
ap-1015	34	17	acquisition	acquisition	NOUN
ap-1015	34	18	and	and	CCONJ
ap-1015	34	19	position	position	NOUN
ap-1015	34	20	estimation	estimation	NOUN
ap-1015	34	21	.	.	PUNCT
ap-1015	35	1	in	in	ADP
ap-1015	35	2	addition	addition	NOUN
ap-1015	35	3	to	to	ADP
ap-1015	35	4	this	this	DET
ap-1015	35	5	description	description	NOUN
ap-1015	35	6	,	,	PUNCT
ap-1015	35	7	the	the	DET
ap-1015	35	8	algorithms	algorithm	NOUN
ap-1015	35	9	,	,	PUNCT
ap-1015	35	10	the	the	DET
ap-1015	35	11	results	result	NOUN
ap-1015	35	12	of	of	ADP
ap-1015	35	13	an	an	DET
ap-1015	35	14	evaluation	evaluation	NOUN
ap-1015	35	15	of	of	ADP
ap-1015	35	16	position	position	NOUN
ap-1015	35	17	estimation	estimation	NOUN
ap-1015	35	18	,	,	PUNCT
ap-1015	35	19	and	and	CCONJ
ap-1015	35	20	a	a	DET
ap-1015	35	21	final	final	ADJ
ap-1015	35	22	welding	welding	NOUN
ap-1015	35	23	result	result	NOUN
ap-1015	35	24	are	be	AUX
ap-1015	35	25	presented	present	VERB
ap-1015	35	26	.	.	PUNCT
ap-1015	36	1	keywords	keyword	NOUN
ap-1015	36	2	:	:	PUNCT
ap-1015	36	3	video	video	NOUN
ap-1015	36	4	-	-	PUNCT
ap-1015	36	5	based	base	VERB
ap-1015	36	6	position	position	NOUN
ap-1015	36	7	estimation	estimation	NOUN
ap-1015	36	8	,	,	PUNCT
ap-1015	36	9	automatic	automatic	ADJ
ap-1015	36	10	laser	laser	NOUN
ap-1015	36	11	adjustment	adjustment	NOUN
ap-1015	36	12	,	,	PUNCT
ap-1015	36	13	compensation	compensation	NOUN
ap-1015	36	14	of	of	ADP
ap-1015	36	15	positioning	positioning	NOUN
ap-1015	36	16	tolerances	tolerance	NOUN
ap-1015	36	17	,	,	PUNCT
ap-1015	36	18	precise	precise	ADJ
ap-1015	36	19	welding	welding	NOUN
ap-1015	36	20	,	,	PUNCT
ap-1015	36	21	robust	robust	ADJ
ap-1015	36	22	fitting	fitting	ADJ
ap-1015	36	23	,	,	PUNCT
ap-1015	36	24	contour	contour	NOUN
ap-1015	36	25	point	point	NOUN
ap-1015	36	26	detection	detection	NOUN
ap-1015	36	27	.	.	PUNCT
ap-1015	37	1	fig	fig	NOUN
ap-1015	37	2	.	.	PUNCT
ap-1015	38	1	1	1	NUM
ap-1015	38	2	:	:	PUNCT
ap-1015	38	3	prototype	prototype	NOUN
ap-1015	38	4	of	of	ADP
ap-1015	38	5	a	a	DET
ap-1015	38	6	clear	clear	ADJ
ap-1015	38	7	water	water	NOUN
ap-1015	38	8	filter	filter	NOUN
ap-1015	38	9	:	:	PUNCT
ap-1015	38	10	(	(	PUNCT
ap-1015	38	11	a	a	X
ap-1015	38	12	)	)	PUNCT
ap-1015	38	13	filter	filter	NOUN
ap-1015	38	14	membrane	membrane	NOUN
ap-1015	38	15	,	,	PUNCT
ap-1015	38	16	(	(	PUNCT
ap-1015	38	17	b	b	X
ap-1015	38	18	)	)	PUNCT
ap-1015	38	19	filter	filter	NOUN
ap-1015	38	20	body	body	NOUN
ap-1015	38	21	with	with	ADP
ap-1015	38	22	deepening	deepen	VERB
ap-1015	38	23	,	,	PUNCT
ap-1015	38	24	(	(	PUNCT
ap-1015	38	25	c	c	NOUN
ap-1015	38	26	)	)	PUNCT
ap-1015	38	27	membrane	membrane	NOUN
ap-1015	38	28	loosely	loosely	ADV
ap-1015	38	29	positioned	position	VERB
ap-1015	38	30	within	within	ADP
ap-1015	38	31	the	the	DET
ap-1015	38	32	deepening	deepening	NOUN
ap-1015	38	33	.	.	PUNCT
ap-1015	39	1	to	to	PART
ap-1015	39	2	prevent	prevent	VERB
ap-1015	39	3	it	it	PRON
ap-1015	39	4	from	from	ADP
ap-1015	39	5	warping	warp	VERB
ap-1015	39	6	,	,	PUNCT
ap-1015	39	7	the	the	DET
ap-1015	39	8	membrane	membrane	NOUN
ap-1015	39	9	has	have	VERB
ap-1015	39	10	to	to	PART
ap-1015	39	11	be	be	AUX
ap-1015	39	12	welded	weld	VERB
ap-1015	39	13	exactly	exactly	ADV
ap-1015	39	14	along	along	ADP
ap-1015	39	15	its	its	PRON
ap-1015	39	16	edge	edge	NOUN
ap-1015	39	17	.	.	PUNCT
ap-1015	40	1	in	in	ADP
ap-1015	40	2	addition	addition	NOUN
ap-1015	40	3	to	to	ADP
ap-1015	40	4	laser	laser	NOUN
ap-1015	40	5	positioning	positioning	NOUN
ap-1015	40	6	,	,	PUNCT
ap-1015	40	7	this	this	DET
ap-1015	40	8	setup	setup	NOUN
ap-1015	40	9	can	can	AUX
ap-1015	40	10	be	be	AUX
ap-1015	40	11	beneficially	beneficially	ADV
ap-1015	40	12	used	use	VERB
ap-1015	40	13	for	for	ADP
ap-1015	40	14	high	high	ADJ
ap-1015	40	15	-	-	PUNCT
ap-1015	40	16	resolution	resolution	NOUN
ap-1015	40	17	image	image	NOUN
ap-1015	40	18	acquisition	acquisition	NOUN
ap-1015	40	19	with	with	ADP
ap-1015	40	20	a	a	DET
ap-1015	40	21	standard	standard	ADJ
ap-1015	40	22	camera	camera	NOUN
ap-1015	40	23	.	.	PUNCT
ap-1015	41	1	to	to	ADP
ap-1015	41	2	this	this	DET
ap-1015	41	3	end	end	NOUN
ap-1015	41	4	,	,	PUNCT
ap-1015	41	5	we	we	PRON
ap-1015	41	6	employ	employ	VERB
ap-1015	41	7	specially	specially	ADV
ap-1015	41	8	designed	design	VERB
ap-1015	41	9	beam	beam	NOUN
ap-1015	41	10	splitter	splitter	NOUN
ap-1015	41	11	optics	optic	NOUN
ap-1015	41	12	,	,	PUNCT
ap-1015	41	13	which	which	PRON
ap-1015	41	14	allows	allow	VERB
ap-1015	41	15	the	the	DET
ap-1015	41	16	optical	optical	ADJ
ap-1015	41	17	path	path	NOUN
ap-1015	41	18	of	of	ADP
ap-1015	41	19	the	the	DET
ap-1015	41	20	laser	laser	NOUN
ap-1015	41	21	through	through	ADP
ap-1015	41	22	the	the	DET
ap-1015	41	23	scanner	scanner	NOUN
ap-1015	41	24	to	to	PART
ap-1015	41	25	be	be	AUX
ap-1015	41	26	shared	share	VERB
ap-1015	41	27	with	with	ADP
ap-1015	41	28	that	that	PRON
ap-1015	41	29	of	of	ADP
ap-1015	41	30	the	the	DET
ap-1015	41	31	camera	camera	NOUN
ap-1015	41	32	(	(	PUNCT
ap-1015	41	33	see	see	VERB
ap-1015	41	34	fig	fig	NOUN
ap-1015	41	35	.	.	PUNCT
ap-1015	42	1	3	3	NUM
ap-1015	42	2	)	)	PUNCT
ap-1015	42	3	.	.	PUNCT
ap-1015	43	1	thus	thus	ADV
ap-1015	43	2	,	,	PUNCT
ap-1015	43	3	the	the	DET
ap-1015	43	4	camera	camera	NOUN
ap-1015	43	5	field	field	NOUN
ap-1015	43	6	-	-	PUNCT
ap-1015	43	7	of	of	ADP
ap-1015	43	8	-	-	PUNCT
ap-1015	43	9	view	view	NOUN
ap-1015	43	10	(	(	PUNCT
ap-1015	43	11	fov	fov	NOUN
ap-1015	43	12	)	)	PUNCT
ap-1015	43	13	can	can	AUX
ap-1015	43	14	be	be	AUX
ap-1015	43	15	moved	move	VERB
ap-1015	43	16	within	within	ADP
ap-1015	43	17	the	the	DET
ap-1015	43	18	plane	plane	NOUN
ap-1015	43	19	of	of	ADP
ap-1015	43	20	the	the	DET
ap-1015	43	21	workpiece	workpiece	NOUN
ap-1015	43	22	just	just	ADV
ap-1015	43	23	like	like	ADP
ap-1015	43	24	the	the	DET
ap-1015	43	25	laser	laser	NOUN
ap-1015	43	26	.	.	PUNCT
ap-1015	44	1	with	with	ADP
ap-1015	44	2	this	this	DET
ap-1015	44	3	system	system	NOUN
ap-1015	44	4	we	we	PRON
ap-1015	44	5	acquire	acquire	VERB
ap-1015	44	6	high	high	ADJ
ap-1015	44	7	resolution	resolution	NOUN
ap-1015	44	8	image	image	NOUN
ap-1015	44	9	tiles	tile	NOUN
ap-1015	44	10	and	and	CCONJ
ap-1015	44	11	corresponding	correspond	VERB
ap-1015	44	12	information	information	NOUN
ap-1015	44	13	about	about	ADP
ap-1015	44	14	the	the	DET
ap-1015	44	15	fov	fov	PROPN
ap-1015	44	16	positions	position	NOUN
ap-1015	44	17	in	in	ADP
ap-1015	44	18	order	order	NOUN
ap-1015	44	19	to	to	PART
ap-1015	44	20	stitch	stitch	VERB
ap-1015	44	21	the	the	DET
ap-1015	44	22	tiles	tile	NOUN
ap-1015	44	23	to	to	ADP
ap-1015	44	24	an	an	DET
ap-1015	44	25	overall	overall	ADJ
ap-1015	44	26	image	image	NOUN
ap-1015	44	27	.	.	PUNCT
ap-1015	45	1	in	in	ADP
ap-1015	45	2	contrast	contrast	NOUN
ap-1015	45	3	to	to	ADP
ap-1015	45	4	systems	system	NOUN
ap-1015	45	5	which	which	PRON
ap-1015	45	6	use	use	VERB
ap-1015	45	7	static	static	ADJ
ap-1015	45	8	cameras	camera	NOUN
ap-1015	45	9	,	,	PUNCT
ap-1015	45	10	we	we	PRON
ap-1015	45	11	can	can	AUX
ap-1015	45	12	hence	hence	ADV
ap-1015	45	13	create	create	VERB
ap-1015	45	14	an	an	DET
ap-1015	45	15	overall	overall	ADJ
ap-1015	45	16	picture	picture	NOUN
ap-1015	45	17	with	with	ADP
ap-1015	45	18	much	much	ADV
ap-1015	45	19	greater	great	ADJ
ap-1015	45	20	resolution	resolution	NOUN
ap-1015	45	21	or	or	CCONJ
ap-1015	45	22	size	size	NOUN
ap-1015	45	23	.	.	PUNCT
ap-1015	46	1	high	high	ADJ
ap-1015	46	2	resolution	resolution	NOUN
ap-1015	46	3	is	be	AUX
ap-1015	46	4	required	require	VERB
ap-1015	46	5	because	because	SCONJ
ap-1015	46	6	the	the	DET
ap-1015	46	7	size	size	NOUN
ap-1015	46	8	of	of	ADP
ap-1015	46	9	the	the	DET
ap-1015	46	10	workpieces	workpiece	NOUN
ap-1015	46	11	is	be	AUX
ap-1015	46	12	approximately	approximately	ADV
ap-1015	46	13	6	6	NUM
ap-1015	46	14	orders	order	NOUN
ap-1015	46	15	of	of	ADP
ap-1015	46	16	magnitude	magnitude	NOUN
ap-1015	46	17	higher	high	ADJ
ap-1015	46	18	than	than	ADP
ap-1015	46	19	the	the	DET
ap-1015	46	20	sought	seek	VERB
ap-1015	46	21	accuracy	accuracy	NOUN
ap-1015	46	22	of	of	ADP
ap-1015	46	23	position	position	NOUN
ap-1015	46	24	detection	detection	NOUN
ap-1015	46	25	.	.	PUNCT
ap-1015	47	1	since	since	SCONJ
ap-1015	47	2	the	the	DET
ap-1015	47	3	diameter	diameter	NOUN
ap-1015	47	4	of	of	ADP
ap-1015	47	5	the	the	DET
ap-1015	47	6	welding	welding	NOUN
ap-1015	47	7	spot	spot	NOUN
ap-1015	47	8	is	be	AUX
ap-1015	47	9	approximately	approximately	ADV
ap-1015	47	10	300	300	NUM
ap-1015	47	11	�	�	NOUN
ap-1015	47	12	m	m	PROPN
ap-1015	47	13	,	,	PUNCT
ap-1015	47	14	an	an	DET
ap-1015	47	15	offset	offset	NOUN
ap-1015	47	16	of	of	ADP
ap-1015	47	17	�	�	PROPN
ap-1015	47	18	50	50	NUM
ap-1015	47	19	�	�	NOUN
ap-1015	47	20	m	m	VERB
ap-1015	47	21	is	be	AUX
ap-1015	47	22	in	in	ADP
ap-1015	47	23	most	most	ADJ
ap-1015	47	24	cases	case	NOUN
ap-1015	47	25	tolerable	tolerable	ADJ
ap-1015	47	26	.	.	PUNCT
ap-1015	48	1	3	3	NUM
ap-1015	48	2	structure	structure	NOUN
ap-1015	48	3	of	of	ADP
ap-1015	48	4	the	the	DET
ap-1015	48	5	software	software	NOUN
ap-1015	48	6	framework	framework	NOUN
ap-1015	48	7	in	in	ADP
ap-1015	48	8	order	order	NOUN
ap-1015	48	9	to	to	PART
ap-1015	48	10	implement	implement	VERB
ap-1015	48	11	the	the	DET
ap-1015	48	12	adaptation	adaptation	NOUN
ap-1015	48	13	of	of	ADP
ap-1015	48	14	the	the	DET
ap-1015	48	15	welding	welding	NOUN
ap-1015	48	16	laser	laser	NOUN
ap-1015	48	17	to	to	ADP
ap-1015	48	18	the	the	DET
ap-1015	48	19	position	position	NOUN
ap-1015	48	20	of	of	ADP
ap-1015	48	21	the	the	DET
ap-1015	48	22	workpiece	workpiece	NOUN
ap-1015	48	23	,	,	PUNCT
ap-1015	48	24	several	several	ADJ
ap-1015	48	25	steps	step	NOUN
ap-1015	48	26	have	have	VERB
ap-1015	48	27	to	to	PART
ap-1015	48	28	be	be	AUX
ap-1015	48	29	carried	carry	VERB
ap-1015	48	30	out	out	ADP
ap-1015	48	31	,	,	PUNCT
ap-1015	48	32	as	as	SCONJ
ap-1015	48	33	follows	follow	VERB
ap-1015	48	34	:	:	PUNCT
ap-1015	48	35	1	1	X
ap-1015	48	36	.	.	X
ap-1015	48	37	image	image	NOUN
ap-1015	48	38	acquisition	acquisition	NOUN
ap-1015	48	39	and	and	CCONJ
ap-1015	48	40	stitching	stitching	NOUN
ap-1015	48	41	.	.	PUNCT
ap-1015	49	1	2	2	X
ap-1015	49	2	.	.	X
ap-1015	49	3	feature	feature	NOUN
ap-1015	49	4	extraction	extraction	NOUN
ap-1015	49	5	.	.	PUNCT
ap-1015	50	1	3	3	X
ap-1015	50	2	.	.	X
ap-1015	50	3	feature	feature	NOUN
ap-1015	50	4	based	base	VERB
ap-1015	50	5	position	position	NOUN
ap-1015	50	6	estimation	estimation	NOUN
ap-1015	50	7	and	and	CCONJ
ap-1015	50	8	computation	computation	NOUN
ap-1015	50	9	of	of	ADP
ap-1015	50	10	the	the	DET
ap-1015	50	11	offset	offset	NOUN
ap-1015	50	12	to	to	ADP
ap-1015	50	13	nominal	nominal	ADJ
ap-1015	50	14	position	position	NOUN
ap-1015	50	15	.	.	PUNCT
ap-1015	51	1	4	4	X
ap-1015	51	2	.	.	X
ap-1015	51	3	transformation	transformation	NOUN
ap-1015	51	4	of	of	ADP
ap-1015	51	5	the	the	DET
ap-1015	51	6	welding	welding	NOUN
ap-1015	51	7	contour	contour	NOUN
ap-1015	51	8	.	.	PUNCT
ap-1015	52	1	5	5	X
ap-1015	52	2	.	.	X
ap-1015	52	3	welding	welding	NOUN
ap-1015	52	4	.	.	PUNCT
ap-1015	53	1	first	first	ADV
ap-1015	53	2	,	,	PUNCT
ap-1015	53	3	as	as	SCONJ
ap-1015	53	4	already	already	ADV
ap-1015	53	5	mentioned	mention	VERB
ap-1015	53	6	,	,	PUNCT
ap-1015	53	7	image	image	NOUN
ap-1015	53	8	tiles	tile	NOUN
ap-1015	53	9	have	have	VERB
ap-1015	53	10	to	to	PART
ap-1015	53	11	be	be	AUX
ap-1015	53	12	acquired	acquire	VERB
ap-1015	53	13	and	and	CCONJ
ap-1015	53	14	stitched	stitch	VERB
ap-1015	53	15	to	to	ADP
ap-1015	53	16	an	an	DET
ap-1015	53	17	overall	overall	ADJ
ap-1015	53	18	image	image	NOUN
ap-1015	53	19	.	.	PUNCT
ap-1015	54	1	since	since	SCONJ
ap-1015	54	2	the	the	DET
ap-1015	54	3	scanner	scanner	NOUN
ap-1015	54	4	knows	know	VERB
ap-1015	54	5	the	the	DET
ap-1015	54	6	positions	position	NOUN
ap-1015	54	7	of	of	ADP
ap-1015	54	8	these	these	DET
ap-1015	54	9	tiles	tile	NOUN
ap-1015	54	10	with	with	ADP
ap-1015	54	11	sub	sub	ADJ
ap-1015	54	12	-	-	ADJ
ap-1015	54	13	pixel	pixel	ADJ
ap-1015	54	14	accuracy	accuracy	NOUN
ap-1015	54	15	,	,	PUNCT
ap-1015	54	16	we	we	PRON
ap-1015	54	17	can	can	AUX
ap-1015	54	18	omit	omit	VERB
ap-1015	54	19	time	time	NOUN
ap-1015	54	20	-	-	PUNCT
ap-1015	54	21	consuming	consume	VERB
ap-1015	54	22	matching	matching	NOUN
ap-1015	54	23	and	and	CCONJ
ap-1015	54	24	position	position	NOUN
ap-1015	54	25	estimation	estimation	NOUN
ap-1015	54	26	steps	step	NOUN
ap-1015	54	27	and	and	CCONJ
ap-1015	54	28	directly	directly	ADV
ap-1015	54	29	stitch	stitch	VERB
ap-1015	54	30	the	the	DET
ap-1015	54	31	tiles	tile	NOUN
ap-1015	54	32	at	at	ADP
ap-1015	54	33	the	the	DET
ap-1015	54	34	correct	correct	ADJ
ap-1015	54	35	positions	position	NOUN
ap-1015	54	36	.	.	PUNCT
ap-1015	55	1	however	however	ADV
ap-1015	55	2	,	,	PUNCT
ap-1015	55	3	to	to	PART
ap-1015	55	4	avoid	avoid	VERB
ap-1015	55	5	artifacts	artifact	NOUN
ap-1015	55	6	at	at	ADP
ap-1015	55	7	the	the	DET
ap-1015	55	8	image	image	NOUN
ap-1015	55	9	junctions	junction	NOUN
ap-1015	55	10	due	due	ADJ
ap-1015	55	11	to	to	ADP
ap-1015	55	12	different	different	ADJ
ap-1015	55	13	brightnesses	brightness	NOUN
ap-1015	55	14	,	,	PUNCT
ap-1015	55	15	single	single	ADJ
ap-1015	55	16	-	-	PUNCT
ap-1015	55	17	band	band	NOUN
ap-1015	55	18	blending	blending	NOUN
ap-1015	55	19	is	be	AUX
ap-1015	55	20	used	use	VERB
ap-1015	55	21	,	,	PUNCT
ap-1015	55	22	which	which	PRON
ap-1015	55	23	smoothly	smoothly	ADV
ap-1015	55	24	blends	blend	VERB
ap-1015	55	25	one	one	NUM
ap-1015	55	26	image	image	NOUN
ap-1015	55	27	into	into	ADP
ap-1015	55	28	the	the	DET
ap-1015	55	29	adjacent	adjacent	ADJ
ap-1015	55	30	image	image	NOUN
ap-1015	55	31	.	.	PUNCT
ap-1015	56	1	the	the	DET
ap-1015	56	2	second	second	ADJ
ap-1015	56	3	step	step	NOUN
ap-1015	56	4	is	be	AUX
ap-1015	56	5	to	to	PART
ap-1015	56	6	define	define	VERB
ap-1015	56	7	and	and	CCONJ
ap-1015	56	8	extract	extract	VERB
ap-1015	56	9	the	the	DET
ap-1015	56	10	features	feature	NOUN
ap-1015	56	11	to	to	PART
ap-1015	56	12	be	be	AUX
ap-1015	56	13	used	use	VERB
ap-1015	56	14	for	for	ADP
ap-1015	56	15	identifying	identify	VERB
ap-1015	56	16	the	the	DET
ap-1015	56	17	position	position	NOUN
ap-1015	56	18	of	of	ADP
ap-1015	56	19	the	the	DET
ap-1015	56	20	workpiece	workpiece	NOUN
ap-1015	56	21	.	.	PUNCT
ap-1015	57	1	these	these	DET
ap-1015	57	2	features	feature	NOUN
ap-1015	57	3	have	have	VERB
ap-1015	57	4	once	once	ADV
ap-1015	57	5	to	to	PART
ap-1015	57	6	be	be	AUX
ap-1015	57	7	defined	define	VERB
ap-1015	57	8	by	by	ADP
ap-1015	57	9	the	the	DET
ap-1015	57	10	user	user	NOUN
ap-1015	57	11	,	,	PUNCT
ap-1015	57	12	since	since	SCONJ
ap-1015	57	13	it	it	PRON
ap-1015	57	14	is	be	AUX
ap-1015	57	15	difficult	difficult	ADJ
ap-1015	57	16	to	to	PART
ap-1015	57	17	automatically	automatically	ADV
ap-1015	57	18	omit	omit	VERB
ap-1015	57	19	features	feature	NOUN
ap-1015	57	20	which	which	PRON
ap-1015	57	21	are	be	AUX
ap-1015	57	22	not	not	PART
ap-1015	57	23	relevant	relevant	ADJ
ap-1015	57	24	for	for	ADP
ap-1015	57	25	estimating	estimate	VERB
ap-1015	57	26	the	the	DET
ap-1015	57	27	subsequent	subsequent	ADJ
ap-1015	57	28	position	position	NOUN
ap-1015	57	29	.	.	PUNCT
ap-1015	58	1	the	the	DET
ap-1015	58	2	filter	filter	NOUN
ap-1015	58	3	part	part	NOUN
ap-1015	58	4	in	in	ADP
ap-1015	58	5	fig	fig	NOUN
ap-1015	58	6	.	.	PUNCT
ap-1015	59	1	1	1	NUM
ap-1015	59	2	provides	provide	VERB
ap-1015	59	3	a	a	DET
ap-1015	59	4	good	good	ADJ
ap-1015	59	5	example	example	NOUN
ap-1015	59	6	of	of	ADP
ap-1015	59	7	this	this	PRON
ap-1015	59	8	:	:	PUNCT
ap-1015	59	9	the	the	DET
ap-1015	59	10	aim	aim	NOUN
ap-1015	59	11	is	be	AUX
ap-1015	59	12	to	to	PART
ap-1015	59	13	weld	weld	VERB
ap-1015	59	14	the	the	DET
ap-1015	59	15	loosely	loosely	ADV
ap-1015	59	16	positioned	position	VERB
ap-1015	59	17	membrane	membrane	NOUN
ap-1015	59	18	along	along	ADP
ap-1015	59	19	its	its	PRON
ap-1015	59	20	rim	rim	NOUN
ap-1015	59	21	to	to	ADP
ap-1015	59	22	the	the	DET
ap-1015	59	23	body	body	NOUN
ap-1015	59	24	of	of	ADP
ap-1015	59	25	the	the	DET
ap-1015	59	26	filter	filter	NOUN
ap-1015	59	27	.	.	PUNCT
ap-1015	60	1	therefore	therefore	ADV
ap-1015	60	2	,	,	PUNCT
ap-1015	60	3	it	it	PRON
ap-1015	60	4	is	be	AUX
ap-1015	60	5	essential	essential	ADJ
ap-1015	60	6	to	to	PART
ap-1015	60	7	use	use	VERB
ap-1015	60	8	only	only	ADJ
ap-1015	60	9	features	feature	NOUN
ap-1015	60	10	of	of	ADP
ap-1015	60	11	the	the	DET
ap-1015	60	12	membrane	membrane	NOUN
ap-1015	60	13	,	,	PUNCT
ap-1015	60	14	e.g.	e.g.	ADV
ap-1015	60	15	its	its	PRON
ap-1015	60	16	edge	edge	NOUN
ap-1015	60	17	,	,	PUNCT
ap-1015	60	18	instead	instead	ADV
ap-1015	60	19	of	of	ADP
ap-1015	60	20	features	feature	NOUN
ap-1015	60	21	of	of	ADP
ap-1015	60	22	the	the	DET
ap-1015	60	23	body	body	NOUN
ap-1015	60	24	of	of	ADP
ap-1015	60	25	the	the	DET
ap-1015	60	26	filter	filter	NOUN
ap-1015	60	27	,	,	PUNCT
ap-1015	60	28	which	which	PRON
ap-1015	60	29	would	would	AUX
ap-1015	60	30	hamper	hamper	VERB
ap-1015	60	31	the	the	DET
ap-1015	60	32	correct	correct	ADJ
ap-1015	60	33	detection	detection	NOUN
ap-1015	60	34	of	of	ADP
ap-1015	60	35	the	the	DET
ap-1015	60	36	membrane	membrane	NOUN
ap-1015	60	37	’s	’s	PART
ap-1015	60	38	position	position	NOUN
ap-1015	60	39	.	.	PUNCT
ap-1015	61	1	a	a	DET
ap-1015	61	2	further	further	ADJ
ap-1015	61	3	aspect	aspect	NOUN
ap-1015	61	4	that	that	PRON
ap-1015	61	5	motivates	motivate	VERB
ap-1015	61	6	the	the	DET
ap-1015	61	7	proposed	propose	VERB
ap-1015	61	8	feature	feature	NOUN
ap-1015	61	9	based	base	VERB
ap-1015	61	10	position	position	NOUN
ap-1015	61	11	estimation	estimation	NOUN
ap-1015	61	12	is	be	AUX
ap-1015	61	13	related	relate	VERB
ap-1015	61	14	to	to	ADP
ap-1015	61	15	the	the	DET
ap-1015	61	16	third	third	ADJ
ap-1015	61	17	step	step	NOUN
ap-1015	61	18	in	in	ADP
ap-1015	61	19	the	the	DET
ap-1015	61	20	item	item	NOUN
ap-1015	61	21	list	list	NOUN
ap-1015	61	22	.	.	PUNCT
ap-1015	62	1	here	here	ADV
ap-1015	62	2	,	,	PUNCT
ap-1015	62	3	the	the	DET
ap-1015	62	4	difficulty	difficulty	NOUN
ap-1015	62	5	is	be	AUX
ap-1015	62	6	to	to	PART
ap-1015	62	7	obtain	obtain	VERB
ap-1015	62	8	nominal	nominal	ADJ
ap-1015	62	9	values	value	NOUN
ap-1015	62	10	for	for	ADP
ap-1015	62	11	the	the	DET
ap-1015	62	12	positions	position	NOUN
ap-1015	62	13	which	which	PRON
ap-1015	62	14	are	be	AUX
ap-1015	62	15	later	later	ADV
ap-1015	62	16	used	use	VERB
ap-1015	62	17	to	to	PART
ap-1015	62	18	determine	determine	VERB
ap-1015	62	19	the	the	DET
ap-1015	62	20	offsets	offset	NOUN
ap-1015	62	21	,	,	PUNCT
ap-1015	62	22	and	and	CCONJ
ap-1015	62	23	to	to	PART
ap-1015	62	24	transform	transform	VERB
ap-1015	62	25	the	the	DET
ap-1015	62	26	welding	welding	NOUN
ap-1015	62	27	contour	contour	NOUN
ap-1015	62	28	correspondingly	correspondingly	ADV
ap-1015	62	29	.	.	PUNCT
ap-1015	63	1	since	since	SCONJ
ap-1015	63	2	these	these	DET
ap-1015	63	3	nominal	nominal	ADJ
ap-1015	63	4	values	value	NOUN
ap-1015	63	5	are	be	AUX
ap-1015	63	6	usually	usually	ADV
ap-1015	63	7	available	available	ADJ
ap-1015	63	8	from	from	ADP
ap-1015	63	9	cad	cad	NOUN
ap-1015	63	10	-	-	PUNCT
ap-1015	63	11	data	datum	NOUN
ap-1015	63	12	(	(	PUNCT
ap-1015	63	13	computer	computer	NOUN
ap-1015	63	14	aided	aid	VERB
ap-1015	63	15	design	design	NOUN
ap-1015	63	16	)	)	PUNCT
ap-1015	63	17	,	,	PUNCT
ap-1015	63	18	it	it	PRON
ap-1015	63	19	is	be	AUX
ap-1015	63	20	meaningful	meaningful	ADJ
ap-1015	63	21	to	to	PART
ap-1015	63	22	use	use	VERB
ap-1015	63	23	a	a	DET
ap-1015	63	24	procedure	procedure	NOUN
ap-1015	63	25	that	that	PRON
ap-1015	63	26	is	be	AUX
ap-1015	63	27	“	"	PUNCT
ap-1015	63	28	compatible	compatible	ADJ
ap-1015	63	29	”	"	PUNCT
ap-1015	63	30	with	with	ADP
ap-1015	63	31	this	this	DET
ap-1015	63	32	data	datum	NOUN
ap-1015	63	33	.	.	PUNCT
ap-1015	64	1	as	as	SCONJ
ap-1015	64	2	the	the	DET
ap-1015	64	3	appearance	appearance	NOUN
ap-1015	64	4	of	of	ADP
ap-1015	64	5	surfaces	surface	NOUN
ap-1015	64	6	is	be	AUX
ap-1015	64	7	still	still	ADV
ap-1015	64	8	only	only	ADV
ap-1015	64	9	coarsely	coarsely	ADV
ap-1015	64	10	modeled	model	VERB
ap-1015	64	11	in	in	ADP
ap-1015	64	12	present	present	ADJ
ap-1015	64	13	-	-	PUNCT
ap-1015	64	14	day	day	NOUN
ap-1015	64	15	cad	cad	NOUN
ap-1015	64	16	-	-	PUNCT
ap-1015	64	17	programs	program	NOUN
ap-1015	64	18	,	,	PUNCT
ap-1015	64	19	and	and	CCONJ
ap-1015	64	20	it	it	PRON
ap-1015	64	21	is	be	AUX
ap-1015	64	22	often	often	ADV
ap-1015	64	23	far	far	ADV
ap-1015	64	24	from	from	ADP
ap-1015	64	25	reality	reality	NOUN
ap-1015	64	26	,	,	PUNCT
ap-1015	64	27	only	only	ADV
ap-1015	64	28	edges	edge	NOUN
ap-1015	64	29	and	and	CCONJ
ap-1015	64	30	their	their	PRON
ap-1015	64	31	geometric	geometric	ADJ
ap-1015	64	32	representations	representation	NOUN
ap-1015	64	33	appear	appear	VERB
ap-1015	64	34	to	to	PART
ap-1015	64	35	be	be	AUX
ap-1015	64	36	suitable	suitable	ADJ
ap-1015	64	37	for	for	ADP
ap-1015	64	38	being	be	AUX
ap-1015	64	39	56	56	NUM
ap-1015	64	40	©	©	PROPN
ap-1015	64	41	czech	czech	PROPN
ap-1015	64	42	technical	technical	PROPN
ap-1015	64	43	university	university	PROPN
ap-1015	64	44	publishing	publishing	NOUN
ap-1015	64	45	house	house	NOUN
ap-1015	64	46	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1015	64	47	acta	acta	PROPN
ap-1015	64	48	polytechnica	polytechnica	PROPN
ap-1015	64	49	vol	vol	NOUN
ap-1015	64	50	.	.	PUNCT
ap-1015	65	1	48	48	NUM
ap-1015	65	2	no	no	NOUN
ap-1015	65	3	.	.	PUNCT
ap-1015	66	1	3/2008	3/2008	NUM
ap-1015	66	2	fig	fig	NOUN
ap-1015	66	3	.	.	PUNCT
ap-1015	67	1	2	2	NUM
ap-1015	67	2	:	:	PUNCT
ap-1015	67	3	scheme	scheme	NOUN
ap-1015	67	4	of	of	ADP
ap-1015	67	5	a	a	DET
ap-1015	67	6	galvanometer	galvanometer	NOUN
ap-1015	67	7	-	-	PUNCT
ap-1015	67	8	driven	drive	VERB
ap-1015	67	9	scanner	scanner	NOUN
ap-1015	67	10	[	[	X
ap-1015	67	11	4	4	NUM
ap-1015	67	12	]	]	X
ap-1015	67	13	fig	fig	NOUN
ap-1015	67	14	.	.	PUNCT
ap-1015	68	1	3	3	NUM
ap-1015	68	2	:	:	PUNCT
ap-1015	68	3	scanner	scanner	NOUN
ap-1015	68	4	-	-	PUNCT
ap-1015	68	5	based	base	VERB
ap-1015	68	6	welding	welding	NOUN
ap-1015	68	7	and	and	CCONJ
ap-1015	68	8	image	image	NOUN
ap-1015	68	9	acquisition	acquisition	NOUN
ap-1015	68	10	system	system	NOUN
ap-1015	68	11	.	.	PUNCT
ap-1015	69	1	the	the	DET
ap-1015	69	2	beam	beam	NOUN
ap-1015	69	3	splitter	splitter	NOUN
ap-1015	69	4	optics	optic	NOUN
ap-1015	69	5	comprises	comprise	VERB
ap-1015	69	6	a	a	DET
ap-1015	69	7	beam	beam	NOUN
ap-1015	69	8	splitter	splitter	NOUN
ap-1015	69	9	mirror	mirror	NOUN
ap-1015	69	10	and	and	CCONJ
ap-1015	69	11	a	a	DET
ap-1015	69	12	dichroit	dichroit	NOUN
ap-1015	69	13	.	.	PUNCT
ap-1015	70	1	the	the	DET
ap-1015	70	2	dichroit	dichroit	NOUN
ap-1015	70	3	is	be	AUX
ap-1015	70	4	a	a	DET
ap-1015	70	5	wavelength	wavelength	NOUN
ap-1015	70	6	dependent	dependent	ADJ
ap-1015	70	7	mirror	mirror	NOUN
ap-1015	70	8	,	,	PUNCT
ap-1015	70	9	which	which	PRON
ap-1015	70	10	,	,	PUNCT
ap-1015	70	11	in	in	ADP
ap-1015	70	12	our	our	PRON
ap-1015	70	13	case	case	NOUN
ap-1015	70	14	,	,	PUNCT
ap-1015	70	15	reflects	reflect	VERB
ap-1015	70	16	the	the	DET
ap-1015	70	17	nd	nd	NOUN
ap-1015	70	18	:	:	PUNCT
ap-1015	70	19	yag	yag	NOUN
ap-1015	70	20	laser	laser	NOUN
ap-1015	70	21	for	for	ADP
ap-1015	70	22	welding	welding	NOUN
ap-1015	70	23	and	and	CCONJ
ap-1015	70	24	lets	let	VERB
ap-1015	70	25	the	the	DET
ap-1015	70	26	illumination	illumination	NOUN
ap-1015	70	27	rays	ray	NOUN
ap-1015	70	28	for	for	ADP
ap-1015	70	29	image	image	NOUN
ap-1015	70	30	acquisition	acquisition	NOUN
ap-1015	70	31	pass	pass	VERB
ap-1015	70	32	through	through	ADP
ap-1015	70	33	.	.	PUNCT
ap-1015	71	1	fig	fig	NOUN
ap-1015	71	2	.	.	PUNCT
ap-1015	72	1	4	4	NUM
ap-1015	72	2	:	:	PUNCT
ap-1015	72	3	image	image	NOUN
ap-1015	72	4	tiles	tile	NOUN
ap-1015	72	5	and	and	CCONJ
ap-1015	72	6	stitched	stitch	VERB
ap-1015	72	7	panorama	panorama	NOUN
ap-1015	72	8	of	of	ADP
ap-1015	72	9	the	the	DET
ap-1015	72	10	clear	clear	ADJ
ap-1015	72	11	water	water	NOUN
ap-1015	72	12	filter	filter	NOUN
ap-1015	72	13	,	,	PUNCT
ap-1015	72	14	fig	fig	NOUN
ap-1015	72	15	.	.	PUNCT
ap-1015	72	16	1	1	NUM
ap-1015	72	17	matched	match	VERB
ap-1015	72	18	with	with	ADP
ap-1015	72	19	real	real	ADJ
ap-1015	72	20	images	image	NOUN
ap-1015	72	21	.	.	PUNCT
ap-1015	73	1	thus	thus	ADV
ap-1015	73	2	,	,	PUNCT
ap-1015	73	3	the	the	DET
ap-1015	73	4	nominal	nominal	ADJ
ap-1015	73	5	values	value	NOUN
ap-1015	73	6	for	for	ADP
ap-1015	73	7	lines	line	NOUN
ap-1015	73	8	,	,	PUNCT
ap-1015	73	9	circles	circle	NOUN
ap-1015	73	10	,	,	PUNCT
ap-1015	73	11	arcs	arc	NOUN
ap-1015	73	12	of	of	ADP
ap-1015	73	13	circles	circle	NOUN
ap-1015	73	14	,	,	PUNCT
ap-1015	73	15	corners	corner	NOUN
ap-1015	73	16	and	and	CCONJ
ap-1015	73	17	ellipses	ellipsis	NOUN
ap-1015	73	18	can	can	AUX
ap-1015	73	19	be	be	AUX
ap-1015	73	20	extracted	extract	VERB
ap-1015	73	21	from	from	ADP
ap-1015	73	22	cad	cad	NOUN
ap-1015	73	23	-	-	PUNCT
ap-1015	73	24	data	datum	NOUN
ap-1015	73	25	without	without	ADP
ap-1015	73	26	excessive	excessive	ADJ
ap-1015	73	27	effort	effort	NOUN
ap-1015	73	28	.	.	PUNCT
ap-1015	74	1	4	4	NUM
ap-1015	74	2	feature	feature	NOUN
ap-1015	74	3	extraction	extraction	NOUN
ap-1015	74	4	the	the	DET
ap-1015	74	5	feature	feature	NOUN
ap-1015	74	6	extraction	extraction	NOUN
ap-1015	74	7	algorithm	algorithm	NOUN
ap-1015	74	8	is	be	AUX
ap-1015	74	9	required	require	VERB
ap-1015	74	10	to	to	PART
ap-1015	74	11	achieve	achieve	VERB
ap-1015	74	12	high	high	ADJ
ap-1015	74	13	robustness	robustness	NOUN
ap-1015	74	14	,	,	PUNCT
ap-1015	74	15	high	high	ADJ
ap-1015	74	16	accuracy	accuracy	NOUN
ap-1015	74	17	and	and	CCONJ
ap-1015	74	18	a	a	DET
ap-1015	74	19	high	high	ADJ
ap-1015	74	20	throughput	throughput	NOUN
ap-1015	74	21	rate	rate	NOUN
ap-1015	74	22	.	.	PUNCT
ap-1015	75	1	since	since	SCONJ
ap-1015	75	2	the	the	DET
ap-1015	75	3	user	user	NOUN
ap-1015	75	4	is	be	AUX
ap-1015	75	5	required	require	VERB
ap-1015	75	6	to	to	PART
ap-1015	75	7	explicitly	explicitly	ADV
ap-1015	75	8	define	define	VERB
ap-1015	75	9	the	the	DET
ap-1015	75	10	features	feature	NOUN
ap-1015	75	11	to	to	PART
ap-1015	75	12	be	be	AUX
ap-1015	75	13	selected	select	VERB
ap-1015	75	14	for	for	ADP
ap-1015	75	15	position	position	NOUN
ap-1015	75	16	estimation	estimation	NOUN
ap-1015	75	17	,	,	PUNCT
ap-1015	75	18	for	for	ADP
ap-1015	75	19	the	the	DET
ap-1015	75	20	reasons	reason	NOUN
ap-1015	75	21	given	give	VERB
ap-1015	75	22	above	above	ADV
ap-1015	75	23	,	,	PUNCT
ap-1015	75	24	it	it	PRON
ap-1015	75	25	is	be	AUX
ap-1015	75	26	not	not	PART
ap-1015	75	27	too	too	ADV
ap-1015	75	28	time	time	NOUN
ap-1015	75	29	-	-	PUNCT
ap-1015	75	30	consuming	consume	VERB
ap-1015	75	31	to	to	PART
ap-1015	75	32	also	also	ADV
ap-1015	75	33	select	select	VERB
ap-1015	75	34	a	a	DET
ap-1015	75	35	region	region	NOUN
ap-1015	75	36	of	of	ADP
ap-1015	75	37	interest	interest	NOUN
ap-1015	75	38	(	(	PUNCT
ap-1015	75	39	roi	roi	NOUN
ap-1015	75	40	)	)	PUNCT
ap-1015	75	41	that	that	PRON
ap-1015	75	42	is	be	AUX
ap-1015	75	43	big	big	ADJ
ap-1015	75	44	enough	enough	ADV
ap-1015	75	45	to	to	PART
ap-1015	75	46	cover	cover	VERB
ap-1015	75	47	position	position	NOUN
ap-1015	75	48	tolerances	tolerance	NOUN
ap-1015	75	49	.	.	PUNCT
ap-1015	76	1	within	within	ADP
ap-1015	76	2	the	the	DET
ap-1015	76	3	roi	roi	NOUN
ap-1015	76	4	,	,	PUNCT
ap-1015	76	5	the	the	DET
ap-1015	76	6	desired	desire	VERB
ap-1015	76	7	feature	feature	NOUN
ap-1015	76	8	is	be	AUX
ap-1015	76	9	extracted	extract	VERB
ap-1015	76	10	robustly	robustly	ADV
ap-1015	76	11	and	and	CCONJ
ap-1015	76	12	with	with	ADP
ap-1015	76	13	sub	sub	ADJ
ap-1015	76	14	-	-	ADJ
ap-1015	76	15	pixel	pixel	ADJ
ap-1015	76	16	accuracy	accuracy	NOUN
ap-1015	76	17	,	,	PUNCT
ap-1015	76	18	as	as	SCONJ
ap-1015	76	19	described	describe	VERB
ap-1015	76	20	in	in	ADP
ap-1015	76	21	greater	great	ADJ
ap-1015	76	22	detail	detail	NOUN
ap-1015	76	23	below	below	ADV
ap-1015	76	24	.	.	PUNCT
ap-1015	77	1	the	the	DET
ap-1015	77	2	detection	detection	NOUN
ap-1015	77	3	of	of	ADP
ap-1015	77	4	only	only	ADV
ap-1015	77	5	one	one	NUM
ap-1015	77	6	feature	feature	NOUN
ap-1015	77	7	per	per	ADP
ap-1015	77	8	roi	roi	NOUN
ap-1015	77	9	may	may	AUX
ap-1015	77	10	be	be	AUX
ap-1015	77	11	seen	see	VERB
ap-1015	77	12	as	as	ADP
ap-1015	77	13	a	a	DET
ap-1015	77	14	restriction	restriction	NOUN
ap-1015	77	15	,	,	PUNCT
ap-1015	77	16	but	but	CCONJ
ap-1015	77	17	it	it	PRON
ap-1015	77	18	inherently	inherently	ADV
ap-1015	77	19	avoids	avoid	VERB
ap-1015	77	20	ambiguity	ambiguity	NOUN
ap-1015	77	21	of	of	ADP
ap-1015	77	22	feature	feature	NOUN
ap-1015	77	23	detection	detection	NOUN
ap-1015	77	24	and	and	CCONJ
ap-1015	77	25	matching	match	VERB
ap-1015	77	26	within	within	ADP
ap-1015	77	27	one	one	NUM
ap-1015	77	28	roi	roi	NOUN
ap-1015	77	29	.	.	PUNCT
ap-1015	78	1	in	in	ADP
ap-1015	78	2	addition	addition	NOUN
ap-1015	78	3	,	,	PUNCT
ap-1015	78	4	it	it	PRON
ap-1015	78	5	has	have	AUX
ap-1015	78	6	not	not	PART
ap-1015	78	7	shown	show	VERB
ap-1015	78	8	to	to	PART
ap-1015	78	9	be	be	AUX
ap-1015	78	10	adverse	adverse	ADJ
ap-1015	78	11	in	in	ADP
ap-1015	78	12	practice	practice	NOUN
ap-1015	78	13	.	.	PUNCT
ap-1015	79	1	after	after	ADP
ap-1015	79	2	defining	define	VERB
ap-1015	79	3	the	the	DET
ap-1015	79	4	roi	roi	NOUN
ap-1015	79	5	and	and	CCONJ
ap-1015	79	6	selecting	select	VERB
ap-1015	79	7	one	one	NUM
ap-1015	79	8	of	of	ADP
ap-1015	79	9	five	five	NUM
ap-1015	79	10	possible	possible	ADJ
ap-1015	79	11	features	feature	NOUN
ap-1015	79	12	–	–	PUNCT
ap-1015	79	13	such	such	ADJ
ap-1015	79	14	as	as	ADP
ap-1015	79	15	line	line	NOUN
ap-1015	79	16	,	,	PUNCT
ap-1015	79	17	circle	circle	NOUN
ap-1015	79	18	,	,	PUNCT
ap-1015	79	19	arc	arc	NOUN
ap-1015	79	20	of	of	ADP
ap-1015	79	21	a	a	DET
ap-1015	79	22	circle	circle	NOUN
ap-1015	79	23	,	,	PUNCT
ap-1015	79	24	ellipse	ellipse	NOUN
ap-1015	79	25	,	,	PUNCT
ap-1015	79	26	corner	corner	NOUN
ap-1015	79	27	–	–	PUNCT
ap-1015	79	28	the	the	DET
ap-1015	79	29	next	next	ADJ
ap-1015	79	30	step	step	NOUN
ap-1015	79	31	is	be	AUX
ap-1015	79	32	robust	robust	ADJ
ap-1015	79	33	and	and	CCONJ
ap-1015	79	34	sub	sub	ADJ
ap-1015	79	35	-	-	ADJ
ap-1015	79	36	pixel	pixel	ADJ
ap-1015	79	37	accurate	accurate	ADJ
ap-1015	79	38	extraction	extraction	NOUN
ap-1015	79	39	.	.	PUNCT
ap-1015	80	1	since	since	SCONJ
ap-1015	80	2	the	the	DET
ap-1015	80	3	size	size	NOUN
ap-1015	80	4	of	of	ADP
ap-1015	80	5	the	the	DET
ap-1015	80	6	overall	overall	ADJ
ap-1015	80	7	image	image	NOUN
ap-1015	80	8	can	can	AUX
ap-1015	80	9	exceed	exceed	VERB
ap-1015	80	10	10	10	NUM
ap-1015	80	11	million	million	NUM
ap-1015	80	12	pixels	pixel	NOUN
ap-1015	80	13	,	,	PUNCT
ap-1015	80	14	the	the	DET
ap-1015	80	15	roi	roi	NOUN
ap-1015	80	16	-	-	PUNCT
ap-1015	80	17	size	size	NOUN
ap-1015	80	18	may	may	AUX
ap-1015	80	19	still	still	ADV
ap-1015	80	20	be	be	AUX
ap-1015	80	21	about	about	ADV
ap-1015	80	22	1	1	NUM
ap-1015	80	23	megapixel	megapixel	NOUN
ap-1015	80	24	and	and	CCONJ
ap-1015	80	25	more	more	ADJ
ap-1015	80	26	.	.	PUNCT
ap-1015	81	1	well	well	ADV
ap-1015	81	2	-	-	PUNCT
ap-1015	81	3	known	know	VERB
ap-1015	81	4	algorithms	algorithm	NOUN
ap-1015	81	5	such	such	ADJ
ap-1015	81	6	as	as	ADP
ap-1015	81	7	the	the	DET
ap-1015	81	8	canny	canny	ADJ
ap-1015	81	9	edge	edge	NOUN
ap-1015	81	10	detector	detector	NOUN
ap-1015	81	11	[	[	X
ap-1015	81	12	2	2	NUM
ap-1015	81	13	]	]	PUNCT
ap-1015	81	14	in	in	ADP
ap-1015	81	15	combination	combination	NOUN
ap-1015	81	16	with	with	ADP
ap-1015	81	17	the	the	DET
ap-1015	81	18	hough	hough	PROPN
ap-1015	81	19	transform	transform	VERB
ap-1015	81	20	[	[	X
ap-1015	81	21	7	7	NUM
ap-1015	81	22	]	]	PUNCT
ap-1015	81	23	for	for	ADP
ap-1015	81	24	line	line	NOUN
ap-1015	81	25	or	or	CCONJ
ap-1015	81	26	circle	circle	NOUN
ap-1015	81	27	fitting	fitting	ADJ
ap-1015	81	28	are	be	AUX
ap-1015	81	29	too	too	ADV
ap-1015	81	30	costly	costly	ADJ
ap-1015	81	31	,	,	PUNCT
ap-1015	81	32	since	since	SCONJ
ap-1015	81	33	they	they	PRON
ap-1015	81	34	are	be	AUX
ap-1015	81	35	not	not	PART
ap-1015	81	36	perfectly	perfectly	ADV
ap-1015	81	37	adapted	adapt	VERB
ap-1015	81	38	to	to	ADP
ap-1015	81	39	the	the	DET
ap-1015	81	40	problem	problem	NOUN
ap-1015	81	41	at	at	ADP
ap-1015	81	42	hand	hand	NOUN
ap-1015	81	43	and	and	CCONJ
ap-1015	81	44	they	they	PRON
ap-1015	81	45	evaluate	evaluate	VERB
ap-1015	81	46	the	the	DET
ap-1015	81	47	entire	entire	ADJ
ap-1015	81	48	roi	roi	NOUN
ap-1015	81	49	.	.	PUNCT
ap-1015	82	1	to	to	PART
ap-1015	82	2	obtain	obtain	VERB
ap-1015	82	3	the	the	DET
ap-1015	82	4	required	require	VERB
ap-1015	82	5	throughput	throughput	NOUN
ap-1015	82	6	in	in	ADP
ap-1015	82	7	detection	detection	NOUN
ap-1015	82	8	,	,	PUNCT
ap-1015	82	9	further	further	ADJ
ap-1015	82	10	speedup	speedup	NOUN
ap-1015	82	11	is	be	AUX
ap-1015	82	12	needed	need	VERB
ap-1015	82	13	.	.	PUNCT
ap-1015	83	1	to	to	ADP
ap-1015	83	2	this	this	DET
ap-1015	83	3	end	end	NOUN
ap-1015	83	4	,	,	PUNCT
ap-1015	83	5	we	we	PRON
ap-1015	83	6	have	have	AUX
ap-1015	83	7	developed	develop	VERB
ap-1015	83	8	an	an	DET
ap-1015	83	9	approach	approach	NOUN
ap-1015	83	10	which	which	PRON
ap-1015	83	11	is	be	AUX
ap-1015	83	12	time	time	NOUN
ap-1015	83	13	-	-	PUNCT
ap-1015	83	14	efficient	efficient	ADJ
ap-1015	83	15	and	and	CCONJ
ap-1015	83	16	robust	robust	ADJ
ap-1015	83	17	.	.	PUNCT
ap-1015	84	1	this	this	DET
ap-1015	84	2	approach	approach	NOUN
ap-1015	84	3	consists	consist	VERB
ap-1015	84	4	of	of	ADP
ap-1015	84	5	two	two	NUM
ap-1015	84	6	steps	step	NOUN
ap-1015	84	7	:	:	PUNCT
ap-1015	84	8	estimating	estimate	VERB
ap-1015	84	9	the	the	DET
ap-1015	84	10	positions	position	NOUN
ap-1015	84	11	of	of	ADP
ap-1015	84	12	contour	contour	NOUN
ap-1015	84	13	points	point	NOUN
ap-1015	84	14	,	,	PUNCT
ap-1015	84	15	and	and	CCONJ
ap-1015	84	16	fitting	fit	VERB
ap-1015	84	17	a	a	DET
ap-1015	84	18	chosen	choose	VERB
ap-1015	84	19	model	model	NOUN
ap-1015	84	20	to	to	ADP
ap-1015	84	21	the	the	DET
ap-1015	84	22	points	point	NOUN
ap-1015	84	23	determined	determine	VERB
ap-1015	84	24	in	in	ADP
ap-1015	84	25	this	this	DET
ap-1015	84	26	way	way	NOUN
ap-1015	84	27	.	.	PUNCT
ap-1015	85	1	this	this	DET
ap-1015	85	2	approach	approach	NOUN
ap-1015	85	3	can	can	AUX
ap-1015	85	4	be	be	AUX
ap-1015	85	5	used	use	VERB
ap-1015	85	6	for	for	ADP
ap-1015	85	7	robust	robust	ADJ
ap-1015	85	8	estimations	estimation	NOUN
ap-1015	85	9	of	of	ADP
ap-1015	85	10	the	the	DET
ap-1015	85	11	parameters	parameter	NOUN
ap-1015	85	12	of	of	ADP
ap-1015	85	13	the	the	DET
ap-1015	85	14	mentioned	mention	VERB
ap-1015	85	15	features	feature	NOUN
ap-1015	85	16	,	,	PUNCT
ap-1015	85	17	except	except	SCONJ
ap-1015	85	18	for	for	ADP
ap-1015	85	19	the	the	DET
ap-1015	85	20	edge	edge	NOUN
ap-1015	85	21	,	,	PUNCT
ap-1015	85	22	which	which	PRON
ap-1015	85	23	is	be	AUX
ap-1015	85	24	determined	determine	VERB
ap-1015	85	25	using	use	VERB
ap-1015	85	26	the	the	DET
ap-1015	85	27	susan	susan	PROPN
ap-1015	85	28	corner	corner	NOUN
ap-1015	85	29	detector	detector	NOUN
ap-1015	86	1	[	[	X
ap-1015	86	2	12	12	NUM
ap-1015	86	3	]	]	PUNCT
ap-1015	86	4	.	.	PUNCT
ap-1015	87	1	4.1	4.1	NUM
ap-1015	87	2	contour	contour	NOUN
ap-1015	87	3	point	point	NOUN
ap-1015	87	4	estimation	estimation	NOUN
ap-1015	87	5	to	to	PART
ap-1015	87	6	estimate	estimate	VERB
ap-1015	87	7	the	the	DET
ap-1015	87	8	contour	contour	NOUN
ap-1015	87	9	points	point	NOUN
ap-1015	87	10	,	,	PUNCT
ap-1015	87	11	a	a	DET
ap-1015	87	12	predetermined	predetermine	VERB
ap-1015	87	13	number	number	NOUN
ap-1015	87	14	of	of	ADP
ap-1015	87	15	line	line	NOUN
ap-1015	87	16	profiles	profile	NOUN
ap-1015	87	17	is	be	AUX
ap-1015	87	18	evaluated	evaluate	VERB
ap-1015	87	19	.	.	PUNCT
ap-1015	88	1	these	these	DET
ap-1015	88	2	profiles	profile	NOUN
ap-1015	88	3	are	be	AUX
ap-1015	88	4	roughly	roughly	ADV
ap-1015	88	5	positioned	position	VERB
ap-1015	88	6	orthogonally	orthogonally	ADV
ap-1015	88	7	and	and	CCONJ
ap-1015	88	8	equally	equally	ADV
ap-1015	88	9	spaced	space	VERB
ap-1015	88	10	to	to	ADP
ap-1015	88	11	the	the	DET
ap-1015	88	12	sought	seek	VERB
ap-1015	88	13	contour	contour	NOUN
ap-1015	88	14	,	,	PUNCT
ap-1015	88	15	when	when	SCONJ
ap-1015	88	16	defining	define	VERB
ap-1015	88	17	the	the	DET
ap-1015	88	18	roi	roi	NOUN
ap-1015	88	19	.	.	PUNCT
ap-1015	89	1	thus	thus	ADV
ap-1015	89	2	,	,	PUNCT
ap-1015	89	3	the	the	DET
ap-1015	89	4	sought	seek	VERB
ap-1015	89	5	contour	contour	NOUN
ap-1015	89	6	is	be	AUX
ap-1015	89	7	sampled	sample	VERB
ap-1015	89	8	by	by	ADP
ap-1015	89	9	only	only	ADV
ap-1015	89	10	considering	consider	VERB
ap-1015	89	11	the	the	DET
ap-1015	89	12	pixels	pixel	NOUN
ap-1015	89	13	of	of	ADP
ap-1015	89	14	the	the	DET
ap-1015	89	15	line	line	NOUN
ap-1015	89	16	profiles	profile	NOUN
ap-1015	89	17	(	(	PUNCT
ap-1015	89	18	and	and	CCONJ
ap-1015	89	19	their	their	PRON
ap-1015	89	20	neighborhoods	neighborhood	NOUN
ap-1015	89	21	)	)	PUNCT
ap-1015	89	22	,	,	PUNCT
ap-1015	89	23	instead	instead	ADV
ap-1015	89	24	of	of	ADP
ap-1015	89	25	evaluating	evaluate	VERB
ap-1015	89	26	the	the	DET
ap-1015	89	27	entire	entire	ADJ
ap-1015	89	28	roi	roi	NOUN
ap-1015	89	29	.	.	PUNCT
ap-1015	90	1	to	to	PART
ap-1015	90	2	make	make	VERB
ap-1015	90	3	a	a	DET
ap-1015	90	4	robust	robust	ADJ
ap-1015	90	5	estimate	estimate	NOUN
ap-1015	90	6	of	of	ADP
ap-1015	90	7	the	the	DET
ap-1015	90	8	contour	contour	NOUN
ap-1015	90	9	points	point	NOUN
ap-1015	90	10	within	within	ADP
ap-1015	90	11	these	these	DET
ap-1015	90	12	profiles	profile	NOUN
ap-1015	90	13	,	,	PUNCT
ap-1015	90	14	we	we	PRON
ap-1015	90	15	applied	apply	VERB
ap-1015	90	16	two	two	NUM
ap-1015	90	17	different	different	ADJ
ap-1015	90	18	models	model	NOUN
ap-1015	90	19	.	.	PUNCT
ap-1015	91	1	4.1.1	4.1.1	NUM
ap-1015	91	2	step	step	NOUN
ap-1015	91	3	edge	edge	NOUN
ap-1015	91	4	model	model	NOUN
ap-1015	91	5	this	this	DET
ap-1015	91	6	model	model	NOUN
ap-1015	91	7	consists	consist	VERB
ap-1015	91	8	of	of	ADP
ap-1015	91	9	a	a	DET
ap-1015	91	10	set	set	NOUN
ap-1015	91	11	of	of	ADP
ap-1015	91	12	step	step	NOUN
ap-1015	91	13	edges	edge	NOUN
ap-1015	91	14	with	with	ADP
ap-1015	91	15	predefined	predefine	VERB
ap-1015	91	16	edge	edge	NOUN
ap-1015	91	17	positions	position	NOUN
ap-1015	91	18	,	,	PUNCT
ap-1015	91	19	which	which	PRON
ap-1015	91	20	are	be	AUX
ap-1015	91	21	correlated	correlate	VERB
ap-1015	91	22	with	with	ADP
ap-1015	91	23	the	the	DET
ap-1015	91	24	line	line	NOUN
ap-1015	91	25	profiles	profile	NOUN
ap-1015	91	26	[	[	X
ap-1015	91	27	10	10	NUM
ap-1015	91	28	]	]	PUNCT
ap-1015	91	29	.	.	PUNCT
ap-1015	92	1	the	the	DET
ap-1015	92	2	resulting	result	VERB
ap-1015	92	3	position	position	NOUN
ap-1015	92	4	of	of	ADP
ap-1015	92	5	the	the	DET
ap-1015	92	6	contour	contour	NOUN
ap-1015	92	7	point	point	NOUN
ap-1015	92	8	is	be	AUX
ap-1015	92	9	determined	determine	VERB
ap-1015	92	10	by	by	ADP
ap-1015	92	11	evaluating	evaluate	VERB
ap-1015	92	12	which	which	DET
ap-1015	92	13	step	step	NOUN
ap-1015	92	14	edge	edge	NOUN
ap-1015	92	15	model	model	NOUN
ap-1015	92	16	corresponds	correspond	VERB
ap-1015	92	17	to	to	ADP
ap-1015	92	18	the	the	DET
ap-1015	92	19	maximal	maximal	ADJ
ap-1015	92	20	correlation	correlation	NOUN
ap-1015	92	21	value	value	NOUN
ap-1015	92	22	.	.	PUNCT
ap-1015	93	1	thus	thus	ADV
ap-1015	93	2	,	,	PUNCT
ap-1015	93	3	the	the	DET
ap-1015	93	4	position	position	NOUN
ap-1015	93	5	of	of	ADP
ap-1015	93	6	the	the	DET
ap-1015	93	7	step	step	NOUN
ap-1015	93	8	edge	edge	NOUN
ap-1015	93	9	in	in	ADP
ap-1015	93	10	this	this	DET
ap-1015	93	11	model	model	NOUN
ap-1015	93	12	defines	define	VERB
ap-1015	93	13	the	the	DET
ap-1015	93	14	position	position	NOUN
ap-1015	93	15	of	of	ADP
ap-1015	93	16	the	the	DET
ap-1015	93	17	sought	seek	VERB
ap-1015	93	18	contour	contour	NOUN
ap-1015	93	19	point	point	NOUN
ap-1015	93	20	.	.	PUNCT
ap-1015	94	1	since	since	SCONJ
ap-1015	94	2	the	the	DET
ap-1015	94	3	models	model	NOUN
ap-1015	94	4	always	always	ADV
ap-1015	94	5	cover	cover	VERB
ap-1015	94	6	entire	entire	ADJ
ap-1015	94	7	profiles	profile	NOUN
ap-1015	94	8	and	and	CCONJ
ap-1015	94	9	,	,	PUNCT
ap-1015	94	10	consequently	consequently	ADV
ap-1015	94	11	,	,	PUNCT
ap-1015	94	12	all	all	DET
ap-1015	94	13	pixels	pixel	NOUN
ap-1015	94	14	are	be	AUX
ap-1015	94	15	considered	consider	VERB
ap-1015	94	16	,	,	PUNCT
ap-1015	94	17	a	a	DET
ap-1015	94	18	high	high	ADJ
ap-1015	94	19	degree	degree	NOUN
ap-1015	94	20	of	of	ADP
ap-1015	94	21	robustness	robustness	NOUN
ap-1015	94	22	is	be	AUX
ap-1015	94	23	achieved	achieve	VERB
ap-1015	94	24	–	–	PUNCT
ap-1015	94	25	outliers	outlier	NOUN
ap-1015	94	26	due	due	ADJ
ap-1015	94	27	to	to	ADP
ap-1015	94	28	noise	noise	NOUN
ap-1015	94	29	are	be	AUX
ap-1015	94	30	canceled	cancel	VERB
ap-1015	94	31	out	out	ADP
ap-1015	94	32	.	.	PUNCT
ap-1015	95	1	in	in	ADP
ap-1015	95	2	addition	addition	NOUN
ap-1015	95	3	,	,	PUNCT
ap-1015	95	4	the	the	DET
ap-1015	95	5	step	step	NOUN
ap-1015	95	6	edge	edge	NOUN
ap-1015	95	7	approach	approach	NOUN
ap-1015	95	8	is	be	AUX
ap-1015	95	9	well	well	ADV
ap-1015	95	10	tailored	tailor	VERB
ap-1015	95	11	to	to	ADP
ap-1015	95	12	the	the	DET
ap-1015	95	13	problem	problem	NOUN
ap-1015	95	14	,	,	PUNCT
ap-1015	95	15	since	since	SCONJ
ap-1015	95	16	it	it	PRON
ap-1015	95	17	finds	find	VERB
ap-1015	95	18	the	the	DET
ap-1015	95	19	one	one	NOUN
ap-1015	95	20	sought	seek	VERB
ap-1015	95	21	contour	contour	NOUN
ap-1015	95	22	point	point	NOUN
ap-1015	95	23	for	for	ADP
ap-1015	95	24	each	each	DET
ap-1015	95	25	profile	profile	NOUN
ap-1015	95	26	.	.	PUNCT
ap-1015	96	1	the	the	DET
ap-1015	96	2	step	step	NOUN
ap-1015	96	3	edge	edge	NOUN
ap-1015	96	4	approach	approach	NOUN
ap-1015	96	5	is	be	AUX
ap-1015	96	6	most	most	ADV
ap-1015	96	7	suitable	suitable	ADJ
ap-1015	96	8	to	to	PART
ap-1015	96	9	robustly	robustly	ADV
ap-1015	96	10	detect	detect	VERB
ap-1015	96	11	the	the	DET
ap-1015	96	12	transition	transition	NOUN
ap-1015	96	13	between	between	ADP
ap-1015	96	14	two	two	NUM
ap-1015	96	15	adjacent	adjacent	ADJ
ap-1015	96	16	areas	area	NOUN
ap-1015	96	17	of	of	ADP
ap-1015	96	18	slightly	slightly	ADV
ap-1015	96	19	different	different	ADJ
ap-1015	96	20	gray	gray	ADJ
ap-1015	96	21	values	value	NOUN
ap-1015	96	22	,	,	PUNCT
ap-1015	96	23	even	even	ADV
ap-1015	96	24	in	in	ADP
ap-1015	96	25	noisy	noisy	ADJ
ap-1015	96	26	images	image	NOUN
ap-1015	96	27	.	.	PUNCT
ap-1015	97	1	4.1.2	4.1.2	NUM
ap-1015	97	2	sobel	sobel	PROPN
ap-1015	97	3	edge	edge	PROPN
ap-1015	97	4	model	model	PROPN
ap-1015	97	5	the	the	DET
ap-1015	97	6	sobel	sobel	PROPN
ap-1015	97	7	edge	edge	PROPN
ap-1015	97	8	model	model	NOUN
ap-1015	97	9	utilizes	utilize	VERB
ap-1015	97	10	the	the	DET
ap-1015	97	11	well	well	ADV
ap-1015	97	12	-	-	PUNCT
ap-1015	97	13	known	know	VERB
ap-1015	97	14	filter	filter	NOUN
ap-1015	97	15	kernel	kernel	NOUN
ap-1015	97	16	from	from	ADP
ap-1015	97	17	the	the	DET
ap-1015	97	18	sobel	sobel	NOUN
ap-1015	97	19	operator	operator	NOUN
ap-1015	97	20	[	[	X
ap-1015	97	21	1	1	NUM
ap-1015	97	22	]	]	PUNCT
ap-1015	97	23	.	.	PUNCT
ap-1015	98	1	here	here	ADV
ap-1015	98	2	,	,	PUNCT
ap-1015	98	3	it	it	PRON
ap-1015	98	4	is	be	AUX
ap-1015	98	5	assumed	assume	VERB
ap-1015	98	6	that	that	SCONJ
ap-1015	98	7	an	an	DET
ap-1015	98	8	edge	edge	NOUN
ap-1015	98	9	is	be	AUX
ap-1015	98	10	defined	define	VERB
ap-1015	98	11	as	as	ADP
ap-1015	98	12	a	a	DET
ap-1015	98	13	sharp	sharp	ADJ
ap-1015	98	14	transition	transition	NOUN
ap-1015	98	15	orthogonal	orthogonal	NOUN
ap-1015	98	16	to	to	ADP
ap-1015	98	17	the	the	DET
ap-1015	98	18	edge	edge	NOUN
ap-1015	98	19	and	and	CCONJ
ap-1015	98	20	a	a	DET
ap-1015	98	21	small	small	ADJ
ap-1015	98	22	transition	transition	NOUN
ap-1015	98	23	in	in	ADP
ap-1015	98	24	the	the	DET
ap-1015	98	25	direction	direction	NOUN
ap-1015	98	26	of	of	ADP
ap-1015	98	27	the	the	DET
ap-1015	98	28	edge	edge	NOUN
ap-1015	98	29	.	.	PUNCT
ap-1015	99	1	this	this	DET
ap-1015	99	2	model	model	NOUN
ap-1015	99	3	is	be	AUX
ap-1015	99	4	transferred	transfer	VERB
ap-1015	99	5	to	to	ADP
ap-1015	99	6	the	the	DET
ap-1015	99	7	sobel	sobel	PROPN
ap-1015	99	8	filter	filter	PROPN
ap-1015	99	9	kernel	kernel	PROPN
ap-1015	99	10	,	,	PUNCT
ap-1015	99	11	which	which	PRON
ap-1015	99	12	consists	consist	VERB
ap-1015	99	13	of	of	ADP
ap-1015	99	14	gaussian	gaussian	NOUN
ap-1015	99	15	smoothing	smoothing	NOUN
ap-1015	99	16	combined	combine	VERB
ap-1015	99	17	with	with	ADP
ap-1015	99	18	a	a	DET
ap-1015	99	19	derivation	derivation	NOUN
ap-1015	99	20	in	in	ADP
ap-1015	99	21	the	the	DET
ap-1015	99	22	orthogonal	orthogonal	ADJ
ap-1015	99	23	direction	direction	NOUN
ap-1015	99	24	.	.	PUNCT
ap-1015	100	1	to	to	PART
ap-1015	100	2	apply	apply	VERB
ap-1015	100	3	this	this	DET
ap-1015	100	4	model	model	NOUN
ap-1015	100	5	to	to	ADP
ap-1015	100	6	contour	contour	NOUN
ap-1015	100	7	point	point	NOUN
ap-1015	100	8	detection	detection	NOUN
ap-1015	100	9	,	,	PUNCT
ap-1015	100	10	we	we	PRON
ap-1015	100	11	first	first	ADV
ap-1015	100	12	rotated	rotate	VERB
ap-1015	100	13	the	the	DET
ap-1015	100	14	filter	filter	NOUN
ap-1015	100	15	kernel	kernel	NOUN
ap-1015	100	16	so	so	SCONJ
ap-1015	100	17	that	that	SCONJ
ap-1015	100	18	the	the	DET
ap-1015	100	19	derivation	derivation	NOUN
ap-1015	100	20	is	be	AUX
ap-1015	100	21	computed	compute	VERB
ap-1015	100	22	in	in	ADP
ap-1015	100	23	the	the	DET
ap-1015	100	24	direction	direction	NOUN
ap-1015	100	25	of	of	ADP
ap-1015	100	26	the	the	DET
ap-1015	100	27	profile	profile	NOUN
ap-1015	100	28	and	and	CCONJ
ap-1015	100	29	the	the	DET
ap-1015	100	30	smoothing	smoothing	NOUN
ap-1015	100	31	is	be	AUX
ap-1015	100	32	computed	compute	VERB
ap-1015	100	33	orthogonally	orthogonally	ADV
ap-1015	100	34	to	to	ADP
ap-1015	100	35	the	the	DET
ap-1015	100	36	profile	profile	NOUN
ap-1015	100	37	.	.	PUNCT
ap-1015	101	1	then	then	ADV
ap-1015	101	2	,	,	PUNCT
ap-1015	101	3	this	this	DET
ap-1015	101	4	rotated	rotate	VERB
ap-1015	101	5	filter	filter	NOUN
ap-1015	101	6	is	be	AUX
ap-1015	101	7	applied	apply	VERB
ap-1015	101	8	to	to	ADP
ap-1015	101	9	each	each	DET
ap-1015	101	10	pixel	pixel	NOUN
ap-1015	101	11	of	of	ADP
ap-1015	101	12	the	the	DET
ap-1015	101	13	profile	profile	NOUN
ap-1015	101	14	and	and	CCONJ
ap-1015	101	15	its	its	PRON
ap-1015	101	16	neighborhood	neighborhood	NOUN
ap-1015	101	17	.	.	PUNCT
ap-1015	102	1	this	this	DET
ap-1015	102	2	procedure	procedure	NOUN
ap-1015	102	3	yields	yield	VERB
ap-1015	102	4	an	an	DET
ap-1015	102	5	optimal	optimal	ADJ
ap-1015	102	6	response	response	NOUN
ap-1015	102	7	to	to	ADP
ap-1015	102	8	edges	edge	VERB
ap-1015	102	9	orthogonal	orthogonal	ADJ
ap-1015	102	10	to	to	ADP
ap-1015	102	11	the	the	DET
ap-1015	102	12	profiles	profile	NOUN
ap-1015	102	13	.	.	PUNCT
ap-1015	103	1	a	a	DET
ap-1015	103	2	simplification	simplification	NOUN
ap-1015	103	3	of	of	ADP
ap-1015	103	4	this	this	DET
ap-1015	103	5	procedure	procedure	NOUN
ap-1015	103	6	may	may	AUX
ap-1015	103	7	be	be	AUX
ap-1015	103	8	to	to	PART
ap-1015	103	9	compute	compute	VERB
ap-1015	103	10	the	the	DET
ap-1015	103	11	dot	dot	NOUN
ap-1015	103	12	product	product	NOUN
ap-1015	103	13	of	of	ADP
ap-1015	103	14	the	the	DET
ap-1015	103	15	gradient	gradient	NOUN
ap-1015	103	16	and	and	CCONJ
ap-1015	103	17	the	the	DET
ap-1015	103	18	unit	unit	NOUN
ap-1015	103	19	vector	vector	NOUN
ap-1015	103	20	pointing	pointing	NOUN
ap-1015	103	21	in	in	ADP
ap-1015	103	22	the	the	DET
ap-1015	103	23	direction	direction	NOUN
ap-1015	103	24	of	of	ADP
ap-1015	103	25	the	the	DET
ap-1015	103	26	profile	profile	NOUN
ap-1015	103	27	.	.	PUNCT
ap-1015	104	1	however	however	ADV
ap-1015	104	2	,	,	PUNCT
ap-1015	104	3	this	this	DET
ap-1015	104	4	procedure	procedure	NOUN
ap-1015	104	5	would	would	AUX
ap-1015	104	6	lack	lack	VERB
ap-1015	104	7	the	the	DET
ap-1015	104	8	directional	directional	ADJ
ap-1015	104	9	smoothing	smoothing	NOUN
ap-1015	104	10	of	of	ADP
ap-1015	104	11	the	the	DET
ap-1015	104	12	rotated	rotated	ADJ
ap-1015	104	13	sobel	sobel	PROPN
ap-1015	104	14	kernel	kernel	PROPN
ap-1015	104	15	,	,	PUNCT
ap-1015	104	16	and	and	CCONJ
ap-1015	104	17	would	would	AUX
ap-1015	104	18	therefore	therefore	ADV
ap-1015	104	19	yield	yield	VERB
ap-1015	104	20	a	a	DET
ap-1015	104	21	lower	low	ADJ
ap-1015	104	22	degree	degree	NOUN
ap-1015	104	23	of	of	ADP
ap-1015	104	24	robustness	robustness	NOUN
ap-1015	104	25	.	.	PUNCT
ap-1015	105	1	the	the	DET
ap-1015	105	2	sobel	sobel	PROPN
ap-1015	105	3	edge	edge	NOUN
ap-1015	105	4	model	model	NOUN
ap-1015	105	5	is	be	AUX
ap-1015	105	6	suitable	suitable	ADJ
ap-1015	105	7	for	for	ADP
ap-1015	105	8	detecting	detect	VERB
ap-1015	105	9	edges	edge	NOUN
ap-1015	105	10	,	,	PUNCT
ap-1015	105	11	when	when	SCONJ
ap-1015	105	12	the	the	DET
ap-1015	105	13	step	step	NOUN
ap-1015	105	14	edge	edge	NOUN
ap-1015	105	15	model	model	NOUN
ap-1015	105	16	can	can	AUX
ap-1015	105	17	not	not	PART
ap-1015	105	18	be	be	AUX
ap-1015	105	19	applied	apply	VERB
ap-1015	105	20	because	because	SCONJ
ap-1015	105	21	the	the	DET
ap-1015	105	22	constraint	constraint	NOUN
ap-1015	105	23	of	of	ADP
ap-1015	105	24	large	large	ADJ
ap-1015	105	25	adjacent	adjacent	ADJ
ap-1015	105	26	and	and	CCONJ
ap-1015	105	27	homogeneous	homogeneous	ADJ
ap-1015	105	28	areas	area	NOUN
ap-1015	105	29	is	be	AUX
ap-1015	105	30	violated	violate	VERB
ap-1015	105	31	.	.	PUNCT
ap-1015	106	1	4.2	4.2	NUM
ap-1015	106	2	model	model	NOUN
ap-1015	106	3	fitting	fit	VERB
ap-1015	106	4	since	since	SCONJ
ap-1015	106	5	the	the	DET
ap-1015	106	6	detected	detect	VERB
ap-1015	106	7	contour	contour	NOUN
ap-1015	106	8	points	point	NOUN
ap-1015	106	9	may	may	AUX
ap-1015	106	10	not	not	PART
ap-1015	106	11	be	be	AUX
ap-1015	106	12	free	free	ADJ
ap-1015	106	13	from	from	ADP
ap-1015	106	14	outliers	outlier	NOUN
ap-1015	106	15	,	,	PUNCT
ap-1015	106	16	it	it	PRON
ap-1015	106	17	seems	seem	VERB
ap-1015	106	18	reasonable	reasonable	ADJ
ap-1015	106	19	to	to	PART
ap-1015	106	20	use	use	VERB
ap-1015	106	21	robust	robust	ADJ
ap-1015	106	22	methods	method	NOUN
ap-1015	106	23	for	for	ADP
ap-1015	106	24	fitting	fit	VERB
ap-1015	106	25	the	the	DET
ap-1015	106	26	geometric	geometric	ADJ
ap-1015	106	27	models	model	NOUN
ap-1015	106	28	to	to	ADP
ap-1015	106	29	the	the	DET
ap-1015	106	30	points	point	NOUN
ap-1015	106	31	.	.	PUNCT
ap-1015	107	1	to	to	ADP
ap-1015	107	2	this	this	DET
ap-1015	107	3	end	end	NOUN
ap-1015	107	4	,	,	PUNCT
ap-1015	107	5	the	the	DET
ap-1015	107	6	ransac	ransac	NOUN
ap-1015	107	7	algorithm	algorithm	NOUN
ap-1015	107	8	(	(	PUNCT
ap-1015	107	9	random	random	ADJ
ap-1015	107	10	sample	sample	NOUN
ap-1015	107	11	consensus	consensus	NOUN
ap-1015	107	12	)	)	PUNCT
ap-1015	108	1	[	[	X
ap-1015	108	2	3	3	NUM
ap-1015	108	3	,	,	PUNCT
ap-1015	108	4	11	11	NUM
ap-1015	108	5	]	]	PUNCT
ap-1015	108	6	is	be	AUX
ap-1015	108	7	used	use	VERB
ap-1015	108	8	.	.	PUNCT
ap-1015	109	1	this	this	DET
ap-1015	109	2	algorithm	algorithm	NOUN
ap-1015	109	3	is	be	AUX
ap-1015	109	4	able	able	ADJ
ap-1015	109	5	to	to	PART
ap-1015	109	6	eliminate	eliminate	VERB
ap-1015	109	7	outliers	outlier	NOUN
ap-1015	109	8	and	and	CCONJ
ap-1015	109	9	hence	hence	ADV
ap-1015	109	10	use	use	VERB
ap-1015	109	11	the	the	DET
ap-1015	109	12	points	point	NOUN
ap-1015	109	13	that	that	PRON
ap-1015	109	14	are	be	AUX
ap-1015	109	15	assumed	assume	VERB
ap-1015	109	16	to	to	PART
ap-1015	109	17	be	be	AUX
ap-1015	109	18	undisturbed	undisturbed	ADJ
ap-1015	109	19	for	for	ADP
ap-1015	109	20	fitting	fitting	ADJ
ap-1015	109	21	.	.	PUNCT
ap-1015	110	1	to	to	ADP
ap-1015	110	2	this	this	DET
ap-1015	110	3	end	end	NOUN
ap-1015	110	4	,	,	PUNCT
ap-1015	110	5	we	we	PRON
ap-1015	110	6	need	need	VERB
ap-1015	110	7	mathematical	mathematical	ADJ
ap-1015	110	8	definitions	definition	NOUN
ap-1015	110	9	of	of	ADP
ap-1015	110	10	the	the	DET
ap-1015	110	11	geometric	geometric	ADJ
ap-1015	110	12	primitives	primitive	NOUN
ap-1015	110	13	to	to	PART
ap-1015	110	14	be	be	AUX
ap-1015	110	15	fitted	fit	VERB
ap-1015	110	16	and	and	CCONJ
ap-1015	110	17	a	a	DET
ap-1015	110	18	measure	measure	NOUN
ap-1015	110	19	for	for	ADP
ap-1015	110	20	assessing	assess	VERB
ap-1015	110	21	the	the	DET
ap-1015	110	22	distance	distance	NOUN
ap-1015	110	23	of	of	ADP
ap-1015	110	24	each	each	DET
ap-1015	110	25	contour	contour	NOUN
ap-1015	110	26	point	point	NOUN
ap-1015	110	27	to	to	ADP
ap-1015	110	28	the	the	DET
ap-1015	110	29	given	give	VERB
ap-1015	110	30	model	model	NOUN
ap-1015	110	31	.	.	PUNCT
ap-1015	111	1	a	a	DET
ap-1015	111	2	description	description	NOUN
ap-1015	111	3	of	of	ADP
ap-1015	111	4	all	all	DET
ap-1015	111	5	four	four	NUM
ap-1015	111	6	models	model	NOUN
ap-1015	111	7	(	(	PUNCT
ap-1015	111	8	circle	circle	NOUN
ap-1015	111	9	,	,	PUNCT
ap-1015	111	10	circle	circle	NOUN
ap-1015	111	11	arc	arc	NOUN
ap-1015	111	12	,	,	PUNCT
ap-1015	111	13	ellipse	ellipse	NOUN
ap-1015	111	14	,	,	PUNCT
ap-1015	111	15	line	line	NOUN
ap-1015	111	16	)	)	PUNCT
ap-1015	111	17	would	would	AUX
ap-1015	111	18	go	go	VERB
ap-1015	111	19	beyond	beyond	ADP
ap-1015	111	20	the	the	DET
ap-1015	111	21	scope	scope	NOUN
ap-1015	111	22	of	of	ADP
ap-1015	111	23	this	this	DET
ap-1015	111	24	paper	paper	NOUN
ap-1015	111	25	.	.	PUNCT
ap-1015	112	1	we	we	PRON
ap-1015	112	2	therefore	therefore	ADV
ap-1015	112	3	elaborate	elaborate	VERB
ap-1015	112	4	more	more	ADV
ap-1015	112	5	on	on	ADP
ap-1015	112	6	the	the	DET
ap-1015	112	7	example	example	NOUN
ap-1015	112	8	of	of	ADP
ap-1015	112	9	circle	circle	NOUN
ap-1015	112	10	detection	detection	NOUN
ap-1015	112	11	,	,	PUNCT
ap-1015	112	12	since	since	SCONJ
ap-1015	112	13	the	the	DET
ap-1015	112	14	basic	basic	ADJ
ap-1015	112	15	steps	step	NOUN
ap-1015	112	16	are	be	AUX
ap-1015	112	17	similar	similar	ADJ
ap-1015	112	18	to	to	ADP
ap-1015	112	19	the	the	DET
ap-1015	112	20	algorithms	algorithm	NOUN
ap-1015	112	21	for	for	ADP
ap-1015	112	22	the	the	DET
ap-1015	112	23	other	other	ADJ
ap-1015	112	24	models	model	NOUN
ap-1015	112	25	.	.	PUNCT
ap-1015	113	1	the	the	DET
ap-1015	113	2	algebraic	algebraic	ADJ
ap-1015	113	3	model	model	NOUN
ap-1015	113	4	of	of	ADP
ap-1015	113	5	a	a	DET
ap-1015	113	6	circle	circle	NOUN
ap-1015	113	7	in	in	ADP
ap-1015	113	8	the	the	DET
ap-1015	113	9	plane	plane	NOUN
ap-1015	113	10	can	can	AUX
ap-1015	113	11	be	be	AUX
ap-1015	113	12	expressed	express	VERB
ap-1015	113	13	as	as	ADP
ap-1015	113	14	[	[	X
ap-1015	113	15	5	5	NUM
ap-1015	113	16	]	]	PUNCT
ap-1015	113	17	a	a	DET
ap-1015	113	18	ct	ct	NOUN
ap-1015	113	19	tp	tp	ADP
ap-1015	113	20	p	p	PROPN
ap-1015	113	21	b	b	PROPN
ap-1015	113	22	p	p	X
ap-1015	113	23	�	�	PROPN
ap-1015	113	24	�	�	PROPN
ap-1015	113	25	�	�	PROPN
ap-1015	113	26	0	0	NUM
ap-1015	113	27	(	(	PUNCT
ap-1015	113	28	1	1	NUM
ap-1015	113	29	)	)	PUNCT
ap-1015	113	30	with	with	ADP
ap-1015	113	31	a	a	DET
ap-1015	113	32	�	�	PROPN
ap-1015	113	33	0	0	NUM
ap-1015	113	34	,	,	PUNCT
ap-1015	113	35	p	p	PROPN
ap-1015	113	36	�	�	PROPN
ap-1015	113	37	(	(	PUNCT
ap-1015	113	38	,	,	PUNCT
ap-1015	113	39	)	)	PUNCT
ap-1015	113	40	x	x	PROPN
ap-1015	113	41	y	y	PROPN
ap-1015	113	42	t	t	PROPN
ap-1015	113	43	and	and	CCONJ
ap-1015	113	44	b	b	PROPN
ap-1015	113	45	�	�	PROPN
ap-1015	113	46	(	(	PUNCT
ap-1015	113	47	,	,	PUNCT
ap-1015	113	48	)	)	PUNCT
ap-1015	113	49	b	b	X
ap-1015	113	50	b	b	PROPN
ap-1015	113	51	t	t	PROPN
ap-1015	113	52	1	1	NUM
ap-1015	113	53	2	2	NUM
ap-1015	113	54	,	,	PUNCT
ap-1015	113	55	p	p	PROPN
ap-1015	113	56	b	b	PROPN
ap-1015	113	57	,	,	PUNCT
ap-1015	113	58	�	�	PROPN
ap-1015	113	59	�	�	PROPN
ap-1015	113	60	2	2	NUM
ap-1015	113	61	.	.	PUNCT
ap-1015	114	1	the	the	DET
ap-1015	114	2	center	center	NOUN
ap-1015	114	3	of	of	ADP
ap-1015	114	4	the	the	DET
ap-1015	114	5	circle	circle	NOUN
ap-1015	114	6	c	c	PROPN
ap-1015	114	7	and	and	CCONJ
ap-1015	114	8	the	the	DET
ap-1015	114	9	radius	radius	NOUN
ap-1015	114	10	r	r	NOUN
ap-1015	114	11	can	can	AUX
ap-1015	114	12	be	be	AUX
ap-1015	114	13	determined	determine	VERB
ap-1015	114	14	from	from	ADP
ap-1015	114	15	these	these	DET
ap-1015	114	16	parameters	parameter	NOUN
ap-1015	114	17	as	as	SCONJ
ap-1015	114	18	c	c	PROPN
ap-1015	114	19	�	�	PROPN
ap-1015	114	20	�	�	PROPN
ap-1015	114	21	�	�	PROPN
ap-1015	114	22	�	�	PROPN
ap-1015	114	23	�	�	PROPN
ap-1015	114	24	�	�	PROPN
ap-1015	114	25	b	b	PROPN
ap-1015	114	26	a	a	DET
ap-1015	114	27	b	b	PROPN
ap-1015	114	28	a	a	DET
ap-1015	114	29	t	t	NOUN
ap-1015	114	30	1	1	NUM
ap-1015	114	31	2	2	NUM
ap-1015	114	32	2	2	NUM
ap-1015	114	33	2	2	NUM
ap-1015	114	34	,	,	PUNCT
ap-1015	114	35	,	,	PUNCT
ap-1015	114	36	(	(	PUNCT
ap-1015	114	37	2	2	X
ap-1015	114	38	)	)	PUNCT
ap-1015	114	39	r	r	NOUN
ap-1015	114	40	b	b	PROPN
ap-1015	114	41	b	b	PROPN
ap-1015	114	42	a	a	PRON
ap-1015	114	43	c	c	NOUN
ap-1015	114	44	a	a	DET
ap-1015	114	45	�	�	PROPN
ap-1015	114	46	�	�	PROPN
ap-1015	114	47	�	�	PROPN
ap-1015	114	48	1	1	NUM
ap-1015	114	49	2	2	NUM
ap-1015	114	50	2	2	NUM
ap-1015	114	51	2	2	NUM
ap-1015	114	52	24	24	NUM
ap-1015	114	53	.	.	PUNCT
ap-1015	115	1	(	(	PUNCT
ap-1015	115	2	3	3	X
ap-1015	115	3	)	)	PUNCT
ap-1015	115	4	the	the	DET
ap-1015	115	5	insertion	insertion	NOUN
ap-1015	115	6	of	of	ADP
ap-1015	115	7	n	n	X
ap-1015	115	8	�	�	PROPN
ap-1015	115	9	3	3	NUM
ap-1015	115	10	contour	contour	NOUN
ap-1015	115	11	points	point	NOUN
ap-1015	116	1	p	p	X
ap-1015	117	1	i	i	PRON
ap-1015	117	2	i	i	PRON
ap-1015	118	1	i	i	PRON
ap-1015	118	2	tx	tx	VERB
ap-1015	118	3	y	y	PROPN
ap-1015	118	4	�	�	PROPN
ap-1015	118	5	(	(	PUNCT
ap-1015	118	6	,	,	PUNCT
ap-1015	118	7	)	)	PUNCT
ap-1015	118	8	(	(	PUNCT
ap-1015	118	9	i	i	PRON
ap-1015	118	10	n	n	CCONJ
ap-1015	118	11	�	�	PROPN
ap-1015	118	12	1	1	NUM
ap-1015	118	13	�	�	PROPN
ap-1015	118	14	)	)	PUNCT
ap-1015	118	15	in	in	ADP
ap-1015	118	16	(	(	PUNCT
ap-1015	118	17	1	1	X
ap-1015	118	18	)	)	PUNCT
ap-1015	118	19	results	result	NOUN
ap-1015	118	20	in	in	ADP
ap-1015	118	21	an	an	DET
ap-1015	118	22	overdetermined	overdetermine	VERB
ap-1015	118	23	linear	linear	NOUN
ap-1015	118	24	system	system	NOUN
ap-1015	118	25	of	of	ADP
ap-1015	118	26	equations	equation	NOUN
ap-1015	118	27	,	,	PUNCT
ap-1015	118	28	which	which	PRON
ap-1015	118	29	is	be	AUX
ap-1015	118	30	bu	bu	PROPN
ap-1015	118	31	0	0	NUM
ap-1015	118	32	�	�	PROPN
ap-1015	118	33	(	(	PUNCT
ap-1015	118	34	4	4	NUM
ap-1015	118	35	)	)	PUNCT
ap-1015	118	36	©	©	PROPN
ap-1015	118	37	czech	czech	PROPN
ap-1015	118	38	technical	technical	PROPN
ap-1015	118	39	university	university	PROPN
ap-1015	118	40	publishing	publishing	NOUN
ap-1015	118	41	house	house	NOUN
ap-1015	118	42	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1015	118	43	57	57	NUM
ap-1015	118	44	acta	acta	PROPN
ap-1015	118	45	polytechnica	polytechnica	PROPN
ap-1015	118	46	vol	vol	NOUN
ap-1015	118	47	.	.	PUNCT
ap-1015	119	1	48	48	NUM
ap-1015	119	2	no	no	NOUN
ap-1015	119	3	.	.	PUNCT
ap-1015	120	1	3/2008	3/2008	NOUN
ap-1015	120	2	with	with	ADP
ap-1015	120	3	b	b	PROPN
ap-1015	120	4	x	x	SYM
ap-1015	120	5	y	y	PROPN
ap-1015	120	6	x	x	SYM
ap-1015	120	7	y	y	NOUN
ap-1015	120	8	x	x	X
ap-1015	120	9	y	y	NOUN
ap-1015	120	10	x	x	PUNCT
ap-1015	120	11	yn	yn	PROPN
ap-1015	120	12	n	n	CCONJ
ap-1015	120	13	n	n	CCONJ
ap-1015	120	14	n	n	CCONJ
ap-1015	120	15	�	�	PROPN
ap-1015	120	16	�	�	PROPN
ap-1015	120	17	�	�	PROPN
ap-1015	120	18	�	�	PROPN
ap-1015	120	19	�	�	PROPN
ap-1015	120	20	�	�	PROPN
ap-1015	120	21	�	�	PROPN
ap-1015	120	22	�	�	PROPN
ap-1015	120	23	�	�	PROPN
ap-1015	120	24	�	�	PROPN
ap-1015	120	25	1	1	NUM
ap-1015	120	26	2	2	NUM
ap-1015	120	27	1	1	NUM
ap-1015	120	28	2	2	NUM
ap-1015	120	29	1	1	NUM
ap-1015	120	30	1	1	NUM
ap-1015	120	31	2	2	NUM
ap-1015	120	32	2	2	NUM
ap-1015	120	33	1	1	NUM
ap-1015	120	34	1	1	NUM
ap-1015	120	35	�	�	PROPN
ap-1015	120	36	�	�	PROPN
ap-1015	120	37	�	�	PROPN
ap-1015	120	38	�	�	PROPN
ap-1015	120	39	,	,	PUNCT
ap-1015	120	40	u	u	PROPN
ap-1015	120	41	�	�	PROPN
ap-1015	120	42	�	�	PROPN
ap-1015	120	43	�	�	PROPN
ap-1015	120	44	�	�	PROPN
ap-1015	120	45	�	�	PROPN
ap-1015	120	46	�	�	PROPN
ap-1015	120	47	�	�	PROPN
ap-1015	120	48	�	�	PROPN
ap-1015	120	49	�	�	PROPN
ap-1015	120	50	�	�	PROPN
ap-1015	120	51	a	a	DET
ap-1015	120	52	b	b	PROPN
ap-1015	120	53	b	b	PROPN
ap-1015	120	54	c	c	NOUN
ap-1015	120	55	1	1	NUM
ap-1015	120	56	2	2	NUM
ap-1015	120	57	.	.	PUNCT
ap-1015	121	1	b	b	X
ap-1015	121	2	is	be	AUX
ap-1015	121	3	the	the	DET
ap-1015	121	4	matrix	matrix	NOUN
ap-1015	121	5	of	of	ADP
ap-1015	121	6	the	the	DET
ap-1015	121	7	contour	contour	NOUN
ap-1015	121	8	points	point	NOUN
ap-1015	121	9	and	and	CCONJ
ap-1015	121	10	u	u	NOUN
ap-1015	121	11	is	be	AUX
ap-1015	121	12	the	the	DET
ap-1015	121	13	vector	vector	NOUN
ap-1015	121	14	of	of	ADP
ap-1015	121	15	the	the	DET
ap-1015	121	16	sought	seek	VERB
ap-1015	121	17	circle	circle	NOUN
ap-1015	121	18	parameters	parameter	NOUN
ap-1015	121	19	.	.	PUNCT
ap-1015	122	1	thus	thus	ADV
ap-1015	122	2	,	,	PUNCT
ap-1015	122	3	the	the	DET
ap-1015	122	4	problem	problem	NOUN
ap-1015	122	5	to	to	PART
ap-1015	122	6	be	be	AUX
ap-1015	122	7	minimized	minimize	VERB
ap-1015	122	8	can	can	AUX
ap-1015	122	9	be	be	AUX
ap-1015	122	10	formulated	formulate	VERB
ap-1015	122	11	as	as	ADP
ap-1015	122	12	q	q	PROPN
ap-1015	122	13	b	b	PROPN
ap-1015	122	14	b	b	PROPN
ap-1015	122	15	b	b	PROPN
ap-1015	122	16	b	b	PROPN
ap-1015	122	17	bt	bt	PROPN
ap-1015	122	18	t	t	PROPN
ap-1015	122	19	t	t	PROPN
ap-1015	122	20	(	(	PUNCT
ap-1015	122	21	)	)	PUNCT
ap-1015	122	22	(	(	PUNCT
ap-1015	122	23	)	)	PUNCT
ap-1015	122	24	minu	minu	NOUN
ap-1015	122	25	u	u	NOUN
ap-1015	122	26	u	u	NOUN
ap-1015	122	27	u	u	X
ap-1015	122	28	u	u	X
ap-1015	122	29	u	u	PRON
ap-1015	122	30	�	�	PROPN
ap-1015	122	31	�	�	PROPN
ap-1015	122	32	�	�	PROPN
ap-1015	122	33	�	�	PROPN
ap-1015	122	34	2	2	NUM
ap-1015	122	35	2	2	NUM
ap-1015	122	36	,	,	PUNCT
ap-1015	122	37	(	(	PUNCT
ap-1015	122	38	5	5	NUM
ap-1015	122	39	)	)	PUNCT
ap-1015	122	40	with	with	ADP
ap-1015	122	41	the	the	DET
ap-1015	122	42	constraint	constraint	NOUN
ap-1015	122	43	of	of	ADP
ap-1015	122	44	u	u	NOUN
ap-1015	122	45	2	2	NUM
ap-1015	122	46	1	1	NUM
ap-1015	122	47	�	�	PROPN
ap-1015	122	48	to	to	PART
ap-1015	122	49	avoid	avoid	VERB
ap-1015	122	50	obtaining	obtain	VERB
ap-1015	122	51	the	the	DET
ap-1015	122	52	trivial	trivial	ADJ
ap-1015	122	53	solution	solution	NOUN
ap-1015	122	54	.	.	PUNCT
ap-1015	123	1	this	this	PRON
ap-1015	123	2	can	can	AUX
ap-1015	123	3	be	be	AUX
ap-1015	123	4	reformulated	reformulate	VERB
ap-1015	123	5	as	as	ADP
ap-1015	123	6	q	q	NOUN
ap-1015	123	7	b	b	NOUN
ap-1015	123	8	bi	bi	NOUN
ap-1015	124	1	i	i	PRON
ap-1015	124	2	t	t	PROPN
ap-1015	124	3	t	t	X
ap-1015	125	1	i	i	PRON
ap-1015	125	2	i	i	PROPN
ap-1015	125	3	(	(	PUNCT
ap-1015	125	4	)	)	PUNCT
ap-1015	125	5	minv	minv	VERB
ap-1015	125	6	v	v	ADP
ap-1015	125	7	v	v	ADP
ap-1015	125	8	�	�	PROPN
ap-1015	125	9	�	�	PROPN
ap-1015	125	10	�	�	PROPN
ap-1015	125	11	�	�	PROPN
ap-1015	125	12	,	,	PUNCT
ap-1015	125	13	(	(	PUNCT
ap-1015	125	14	6	6	NUM
ap-1015	125	15	)	)	PUNCT
ap-1015	125	16	where	where	SCONJ
ap-1015	125	17	the	the	DET
ap-1015	125	18	eigenvector	eigenvector	NOUN
ap-1015	125	19	vopt	vopt	NOUN
ap-1015	125	20	of	of	ADP
ap-1015	125	21	btb	btb	NOUN
ap-1015	125	22	,	,	PUNCT
ap-1015	125	23	which	which	PRON
ap-1015	125	24	belongs	belong	VERB
ap-1015	125	25	to	to	ADP
ap-1015	125	26	the	the	DET
ap-1015	125	27	smallest	small	ADJ
ap-1015	125	28	eigenvalue	eigenvalue	ADJ
ap-1015	125	29	�	�	NOUN
ap-1015	125	30	4	4	NUM
ap-1015	125	31	,	,	PUNCT
ap-1015	125	32	equals	equal	VERB
ap-1015	125	33	the	the	DET
ap-1015	125	34	sought	seek	VERB
ap-1015	125	35	parameter	parameter	NOUN
ap-1015	125	36	vector	vector	NOUN
ap-1015	125	37	u.	u.	PROPN
ap-1015	125	38	thus	thus	ADV
ap-1015	125	39	,	,	PUNCT
ap-1015	125	40	the	the	DET
ap-1015	125	41	circle	circle	NOUN
ap-1015	125	42	parameters	parameter	NOUN
ap-1015	125	43	c	c	PROPN
ap-1015	125	44	and	and	CCONJ
ap-1015	125	45	r	r	NOUN
ap-1015	125	46	can	can	AUX
ap-1015	125	47	be	be	AUX
ap-1015	125	48	determined	determine	VERB
ap-1015	125	49	.	.	PUNCT
ap-1015	126	1	as	as	SCONJ
ap-1015	126	2	already	already	ADV
ap-1015	126	3	mentioned	mention	VERB
ap-1015	126	4	,	,	PUNCT
ap-1015	126	5	the	the	DET
ap-1015	126	6	detected	detect	VERB
ap-1015	126	7	contour	contour	NOUN
ap-1015	126	8	points	point	NOUN
ap-1015	126	9	may	may	AUX
ap-1015	126	10	be	be	AUX
ap-1015	126	11	subject	subject	ADJ
ap-1015	126	12	to	to	ADP
ap-1015	126	13	gross	gross	ADJ
ap-1015	126	14	outliers	outlier	NOUN
ap-1015	126	15	,	,	PUNCT
ap-1015	126	16	which	which	PRON
ap-1015	126	17	can	can	AUX
ap-1015	126	18	corrupt	corrupt	VERB
ap-1015	126	19	the	the	DET
ap-1015	126	20	fitting	fitting	ADJ
ap-1015	126	21	result	result	NOUN
ap-1015	126	22	and	and	CCONJ
ap-1015	126	23	thus	thus	ADV
ap-1015	126	24	deteriorate	deteriorate	VERB
ap-1015	126	25	the	the	DET
ap-1015	126	26	accuracy	accuracy	NOUN
ap-1015	126	27	of	of	ADP
ap-1015	126	28	the	the	DET
ap-1015	126	29	position	position	NOUN
ap-1015	126	30	estimation	estimation	NOUN
ap-1015	126	31	.	.	PUNCT
ap-1015	127	1	therefore	therefore	ADV
ap-1015	127	2	,	,	PUNCT
ap-1015	127	3	we	we	PRON
ap-1015	127	4	utilize	utilize	VERB
ap-1015	127	5	the	the	DET
ap-1015	127	6	ransac	ransac	NOUN
ap-1015	127	7	algorithm	algorithm	NOUN
ap-1015	127	8	for	for	ADP
ap-1015	127	9	robust	robust	ADJ
ap-1015	127	10	outlier	outlier	ADJ
ap-1015	127	11	elimination	elimination	NOUN
ap-1015	127	12	.	.	PUNCT
ap-1015	128	1	in	in	ADP
ap-1015	128	2	the	the	DET
ap-1015	128	3	case	case	NOUN
ap-1015	128	4	of	of	ADP
ap-1015	128	5	circle	circle	PROPN
ap-1015	128	6	fitting	fitting	PROPN
ap-1015	128	7	,	,	PUNCT
ap-1015	128	8	the	the	DET
ap-1015	128	9	procedure	procedure	NOUN
ap-1015	128	10	is	be	AUX
ap-1015	128	11	as	as	SCONJ
ap-1015	128	12	follows	follow	VERB
ap-1015	128	13	[	[	X
ap-1015	128	14	3	3	NUM
ap-1015	128	15	]	]	X
ap-1015	128	16	:	:	PUNCT
ap-1015	128	17	1	1	X
ap-1015	128	18	.	.	X
ap-1015	128	19	select	select	VERB
ap-1015	128	20	a	a	DET
ap-1015	128	21	set	set	NOUN
ap-1015	128	22	of	of	ADP
ap-1015	128	23	at	at	ADV
ap-1015	128	24	least	least	ADV
ap-1015	128	25	three	three	NUM
ap-1015	128	26	determined	determined	ADJ
ap-1015	128	27	contour	contour	NOUN
ap-1015	128	28	points	point	NOUN
ap-1015	128	29	randomly	randomly	ADV
ap-1015	128	30	,	,	PUNCT
ap-1015	128	31	2	2	X
ap-1015	128	32	.	.	X
ap-1015	128	33	construct	construct	VERB
ap-1015	128	34	a	a	DET
ap-1015	128	35	circle	circle	NOUN
ap-1015	128	36	through	through	ADP
ap-1015	128	37	these	these	DET
ap-1015	128	38	(	(	PUNCT
ap-1015	128	39	e.g.	e.g.	ADV
ap-1015	128	40	with	with	ADP
ap-1015	128	41	least	least	ADJ
ap-1015	128	42	squares	square	NOUN
ap-1015	128	43	circle	circle	PROPN
ap-1015	128	44	fitting	fitting	ADJ
ap-1015	128	45	)	)	PUNCT
ap-1015	128	46	,	,	PUNCT
ap-1015	128	47	3	3	X
ap-1015	128	48	.	.	X
ap-1015	128	49	count	count	VERB
ap-1015	128	50	the	the	DET
ap-1015	128	51	number	number	NOUN
ap-1015	128	52	of	of	ADP
ap-1015	128	53	points	point	NOUN
ap-1015	128	54	which	which	PRON
ap-1015	128	55	lie	lie	VERB
ap-1015	128	56	within	within	ADP
ap-1015	128	57	a	a	DET
ap-1015	128	58	predetermined	predetermine	VERB
ap-1015	128	59	error	error	NOUN
ap-1015	128	60	tolerance	tolerance	NOUN
ap-1015	128	61	to	to	ADP
ap-1015	128	62	the	the	DET
ap-1015	128	63	circle	circle	NOUN
ap-1015	128	64	(	(	PUNCT
ap-1015	128	65	so	so	ADV
ap-1015	128	66	-	-	PUNCT
ap-1015	128	67	called	call	VERB
ap-1015	128	68	inliers	inlier	NOUN
ap-1015	128	69	)	)	PUNCT
ap-1015	128	70	,	,	PUNCT
ap-1015	129	1	4	4	X
ap-1015	129	2	.	.	X
ap-1015	130	1	if	if	SCONJ
ap-1015	130	2	the	the	DET
ap-1015	130	3	number	number	NOUN
ap-1015	130	4	of	of	ADP
ap-1015	130	5	inliers	inlier	NOUN
ap-1015	130	6	is	be	AUX
ap-1015	130	7	greater	great	ADJ
ap-1015	130	8	than	than	ADP
ap-1015	130	9	some	some	DET
ap-1015	130	10	predefined	predefine	VERB
ap-1015	130	11	threshold	threshold	NOUN
ap-1015	130	12	,	,	PUNCT
ap-1015	130	13	do	do	AUX
ap-1015	130	14	least	least	ADJ
ap-1015	130	15	squares	square	NOUN
ap-1015	130	16	circle	circle	PROPN
ap-1015	130	17	fitting	fitting	ADJ
ap-1015	130	18	(	(	PUNCT
ap-1015	130	19	as	as	SCONJ
ap-1015	130	20	explained	explain	VERB
ap-1015	130	21	above	above	ADV
ap-1015	130	22	)	)	PUNCT
ap-1015	130	23	for	for	ADP
ap-1015	130	24	all	all	DET
ap-1015	130	25	inliers	inlier	NOUN
ap-1015	130	26	,	,	PUNCT
ap-1015	130	27	else	else	ADV
ap-1015	130	28	repeat	repeat	VERB
ap-1015	130	29	the	the	DET
ap-1015	130	30	process	process	NOUN
ap-1015	130	31	,	,	PUNCT
ap-1015	130	32	i.e.	i.e.	X
ap-1015	130	33	start	start	VERB
ap-1015	130	34	again	again	ADV
ap-1015	130	35	at	at	ADP
ap-1015	130	36	1	1	NUM
ap-1015	130	37	.	.	PUNCT
ap-1015	130	38	,	,	PUNCT
ap-1015	130	39	until	until	SCONJ
ap-1015	130	40	a	a	DET
ap-1015	130	41	maximum	maximum	ADJ
ap-1015	130	42	number	number	NOUN
ap-1015	130	43	of	of	ADP
ap-1015	130	44	trials	trial	NOUN
ap-1015	130	45	is	be	AUX
ap-1015	130	46	reached	reach	VERB
ap-1015	130	47	.	.	PUNCT
ap-1015	131	1	with	with	ADP
ap-1015	131	2	this	this	DET
ap-1015	131	3	procedure	procedure	NOUN
ap-1015	131	4	,	,	PUNCT
ap-1015	131	5	a	a	DET
ap-1015	131	6	circle	circle	NOUN
ap-1015	131	7	can	can	AUX
ap-1015	131	8	be	be	AUX
ap-1015	131	9	correctly	correctly	ADV
ap-1015	131	10	fitted	fit	VERB
ap-1015	131	11	even	even	ADV
ap-1015	131	12	in	in	ADP
ap-1015	131	13	challenging	challenging	ADJ
ap-1015	131	14	images	image	NOUN
ap-1015	131	15	.	.	PUNCT
ap-1015	132	1	the	the	DET
ap-1015	132	2	use	use	NOUN
ap-1015	132	3	of	of	ADP
ap-1015	132	4	line	line	NOUN
ap-1015	132	5	-	-	PUNCT
ap-1015	132	6	shaped	shape	VERB
ap-1015	132	7	profiles	profile	NOUN
ap-1015	132	8	for	for	ADP
ap-1015	132	9	contour	contour	NOUN
ap-1015	132	10	point	point	NOUN
ap-1015	132	11	detection	detection	NOUN
ap-1015	132	12	instead	instead	ADV
ap-1015	132	13	of	of	ADP
ap-1015	132	14	entire	entire	ADJ
ap-1015	132	15	images	image	NOUN
ap-1015	132	16	or	or	CCONJ
ap-1015	132	17	rois	rois	NOUN
ap-1015	132	18	permits	permit	VERB
ap-1015	132	19	a	a	DET
ap-1015	132	20	speed	speed	NOUN
ap-1015	132	21	up	up	ADP
ap-1015	132	22	,	,	PUNCT
ap-1015	132	23	which	which	PRON
ap-1015	132	24	is	be	AUX
ap-1015	132	25	required	require	VERB
ap-1015	132	26	for	for	ADP
ap-1015	132	27	executing	execute	VERB
ap-1015	132	28	one	one	NUM
ap-1015	132	29	detection	detection	NOUN
ap-1015	132	30	and	and	CCONJ
ap-1015	132	31	welding	weld	VERB
ap-1015	132	32	cycle	cycle	NOUN
ap-1015	132	33	per	per	ADP
ap-1015	132	34	second	second	ADJ
ap-1015	132	35	(	(	PUNCT
ap-1015	132	36	detection	detection	NOUN
ap-1015	132	37	with	with	ADP
ap-1015	132	38	a	a	DET
ap-1015	132	39	standard	standard	ADJ
ap-1015	132	40	pc	pc	NOUN
ap-1015	132	41	,	,	PUNCT
ap-1015	132	42	2.6	2.6	NUM
ap-1015	132	43	ghz	ghz	NOUN
ap-1015	132	44	,	,	PUNCT
ap-1015	132	45	dual	dual	ADJ
ap-1015	132	46	-	-	PUNCT
ap-1015	132	47	core	core	NOUN
ap-1015	132	48	,	,	PUNCT
ap-1015	132	49	c	c	PROPN
ap-1015	132	50	�	�	NOUN
ap-1015	132	51	�	�	NOUN
ap-1015	132	52	implementation	implementation	NOUN
ap-1015	132	53	)	)	PUNCT
ap-1015	132	54	.	.	PUNCT
ap-1015	133	1	in	in	ADP
ap-1015	133	2	addition	addition	NOUN
ap-1015	133	3	,	,	PUNCT
ap-1015	133	4	sub	sub	ADJ
ap-1015	133	5	-	-	ADJ
ap-1015	133	6	pixel	pixel	ADJ
ap-1015	133	7	accuracy	accuracy	NOUN
ap-1015	133	8	is	be	AUX
ap-1015	133	9	accomplished	accomplish	VERB
ap-1015	133	10	by	by	ADP
ap-1015	133	11	means	mean	NOUN
ap-1015	133	12	of	of	ADP
ap-1015	133	13	least	least	ADJ
ap-1015	133	14	squares	square	NOUN
ap-1015	133	15	fitting	fitting	ADJ
ap-1015	133	16	to	to	ADP
ap-1015	133	17	the	the	DET
ap-1015	133	18	ransac	ransac	NOUN
ap-1015	133	19	-	-	PUNCT
ap-1015	133	20	inliers	inlier	NOUN
ap-1015	133	21	.	.	PUNCT
ap-1015	134	1	5	5	NUM
ap-1015	134	2	offset	offset	NOUN
ap-1015	134	3	computation	computation	NOUN
ap-1015	134	4	and	and	CCONJ
ap-1015	134	5	correction	correction	NOUN
ap-1015	134	6	in	in	ADP
ap-1015	134	7	the	the	DET
ap-1015	134	8	case	case	NOUN
ap-1015	134	9	of	of	ADP
ap-1015	134	10	extracting	extract	VERB
ap-1015	134	11	a	a	DET
ap-1015	134	12	single	single	ADJ
ap-1015	134	13	feature	feature	NOUN
ap-1015	134	14	,	,	PUNCT
ap-1015	134	15	e.g.	e.g.	ADV
ap-1015	134	16	a	a	DET
ap-1015	134	17	circle	circle	NOUN
ap-1015	134	18	,	,	PUNCT
ap-1015	134	19	it	it	PRON
ap-1015	134	20	is	be	AUX
ap-1015	134	21	easy	easy	ADJ
ap-1015	134	22	to	to	PART
ap-1015	134	23	determine	determine	VERB
ap-1015	134	24	an	an	DET
ap-1015	134	25	offset	offset	NOUN
ap-1015	134	26	between	between	ADP
ap-1015	134	27	the	the	DET
ap-1015	134	28	detected	detect	VERB
ap-1015	134	29	value	value	NOUN
ap-1015	134	30	and	and	CCONJ
ap-1015	134	31	a	a	DET
ap-1015	134	32	given	give	VERB
ap-1015	134	33	nominal	nominal	ADJ
ap-1015	134	34	value	value	NOUN
ap-1015	134	35	.	.	PUNCT
ap-1015	135	1	since	since	SCONJ
ap-1015	135	2	the	the	DET
ap-1015	135	3	system	system	NOUN
ap-1015	135	4	is	be	AUX
ap-1015	135	5	restricted	restrict	VERB
ap-1015	135	6	to	to	ADP
ap-1015	135	7	the	the	DET
ap-1015	135	8	correction	correction	NOUN
ap-1015	135	9	of	of	ADP
ap-1015	135	10	translation	translation	NOUN
ap-1015	135	11	and	and	CCONJ
ap-1015	135	12	rotation	rotation	NOUN
ap-1015	135	13	,	,	PUNCT
ap-1015	135	14	one	one	NUM
ap-1015	135	15	circle	circle	NOUN
ap-1015	135	16	only	only	ADV
ap-1015	135	17	contributes	contribute	VERB
ap-1015	135	18	to	to	ADP
ap-1015	135	19	translation	translation	NOUN
ap-1015	135	20	estimation	estimation	NOUN
ap-1015	135	21	.	.	PUNCT
ap-1015	136	1	thus	thus	ADV
ap-1015	136	2	,	,	PUNCT
ap-1015	136	3	correction	correction	NOUN
ap-1015	136	4	of	of	ADP
ap-1015	136	5	the	the	DET
ap-1015	136	6	welding	welding	NOUN
ap-1015	136	7	contour	contour	NOUN
ap-1015	136	8	is	be	AUX
ap-1015	136	9	a	a	DET
ap-1015	136	10	simple	simple	ADJ
ap-1015	136	11	shift	shift	NOUN
ap-1015	136	12	in	in	ADP
ap-1015	136	13	its	its	PRON
ap-1015	136	14	coordinates	coordinate	NOUN
ap-1015	136	15	.	.	PUNCT
ap-1015	137	1	in	in	ADP
ap-1015	137	2	the	the	DET
ap-1015	137	3	case	case	NOUN
ap-1015	137	4	of	of	ADP
ap-1015	137	5	two	two	NUM
ap-1015	137	6	or	or	CCONJ
ap-1015	137	7	more	more	ADV
ap-1015	137	8	detected	detect	VERB
ap-1015	137	9	circles	circle	NOUN
ap-1015	137	10	with	with	ADP
ap-1015	137	11	different	different	ADJ
ap-1015	137	12	center	center	NOUN
ap-1015	137	13	positions	position	NOUN
ap-1015	137	14	,	,	PUNCT
ap-1015	137	15	a	a	DET
ap-1015	137	16	rotation	rotation	NOUN
ap-1015	137	17	may	may	AUX
ap-1015	137	18	be	be	AUX
ap-1015	137	19	additionally	additionally	ADV
ap-1015	137	20	determined	determine	VERB
ap-1015	137	21	.	.	PUNCT
ap-1015	138	1	to	to	PART
ap-1015	138	2	avoid	avoid	VERB
ap-1015	138	3	approaches	approach	NOUN
ap-1015	138	4	such	such	ADJ
ap-1015	138	5	as	as	ADP
ap-1015	138	6	chamfer	chamfer	NOUN
ap-1015	138	7	matching	match	VERB
ap-1015	138	8	[	[	X
ap-1015	138	9	6	6	NUM
ap-1015	138	10	]	]	PUNCT
ap-1015	138	11	,	,	PUNCT
ap-1015	138	12	which	which	PRON
ap-1015	138	13	require	require	VERB
ap-1015	138	14	costly	costly	ADJ
ap-1015	138	15	iterative	iterative	NOUN
ap-1015	138	16	optimization	optimization	NOUN
ap-1015	138	17	for	for	ADP
ap-1015	138	18	position	position	NOUN
ap-1015	138	19	estimation	estimation	NOUN
ap-1015	138	20	,	,	PUNCT
ap-1015	138	21	we	we	PRON
ap-1015	138	22	used	use	VERB
ap-1015	138	23	a	a	DET
ap-1015	138	24	direct	direct	ADJ
ap-1015	138	25	algebraic	algebraic	ADJ
ap-1015	138	26	and	and	CCONJ
ap-1015	138	27	model	model	ADV
ap-1015	138	28	-	-	PUNCT
ap-1015	138	29	oriented	orient	VERB
ap-1015	138	30	way	way	NOUN
ap-1015	138	31	.	.	PUNCT
ap-1015	139	1	in	in	ADP
ap-1015	139	2	contrast	contrast	NOUN
ap-1015	139	3	to	to	ADP
ap-1015	139	4	(	(	PUNCT
ap-1015	139	5	local	local	ADJ
ap-1015	139	6	)	)	PUNCT
ap-1015	139	7	optimization	optimization	NOUN
ap-1015	139	8	approaches	approach	NOUN
ap-1015	139	9	,	,	PUNCT
ap-1015	139	10	we	we	PRON
ap-1015	139	11	thus	thus	ADV
ap-1015	139	12	avoid	avoid	VERB
ap-1015	139	13	missing	miss	VERB
ap-1015	139	14	the	the	DET
ap-1015	139	15	global	global	ADJ
ap-1015	139	16	optimum	optimum	NOUN
ap-1015	139	17	,	,	PUNCT
ap-1015	139	18	which	which	PRON
ap-1015	139	19	represents	represent	VERB
ap-1015	139	20	the	the	DET
ap-1015	139	21	sought	seek	VERB
ap-1015	139	22	position	position	NOUN
ap-1015	139	23	.	.	PUNCT
ap-1015	140	1	in	in	ADP
ap-1015	140	2	order	order	NOUN
ap-1015	140	3	to	to	PART
ap-1015	140	4	apply	apply	VERB
ap-1015	140	5	our	our	PRON
ap-1015	140	6	direct	direct	ADJ
ap-1015	140	7	algebraic	algebraic	ADJ
ap-1015	140	8	approach	approach	NOUN
ap-1015	140	9	,	,	PUNCT
ap-1015	140	10	which	which	PRON
ap-1015	140	11	uses	use	VERB
ap-1015	140	12	the	the	DET
ap-1015	140	13	ransac	ransac	NOUN
ap-1015	140	14	algorithm	algorithm	NOUN
ap-1015	140	15	and	and	CCONJ
ap-1015	140	16	the	the	DET
ap-1015	140	17	similarity	similarity	NOUN
ap-1015	140	18	transform	transform	VERB
ap-1015	140	19	[	[	X
ap-1015	140	20	9	9	NUM
ap-1015	140	21	]	]	PUNCT
ap-1015	140	22	,	,	PUNCT
ap-1015	140	23	the	the	DET
ap-1015	140	24	different	different	ADJ
ap-1015	140	25	features	feature	NOUN
ap-1015	140	26	have	have	VERB
ap-1015	140	27	first	first	ADJ
ap-1015	140	28	to	to	PART
ap-1015	140	29	be	be	AUX
ap-1015	140	30	brought	bring	VERB
ap-1015	140	31	to	to	ADP
ap-1015	140	32	a	a	DET
ap-1015	140	33	uniform	uniform	ADJ
ap-1015	140	34	level	level	NOUN
ap-1015	140	35	.	.	PUNCT
ap-1015	141	1	to	to	ADP
ap-1015	141	2	this	this	DET
ap-1015	141	3	end	end	NOUN
ap-1015	141	4	,	,	PUNCT
ap-1015	141	5	an	an	DET
ap-1015	141	6	examination	examination	NOUN
ap-1015	141	7	of	of	ADP
ap-1015	141	8	the	the	DET
ap-1015	141	9	descriptions	description	NOUN
ap-1015	141	10	of	of	ADP
ap-1015	141	11	the	the	DET
ap-1015	141	12	feature	feature	NOUN
ap-1015	141	13	is	be	AUX
ap-1015	141	14	replaced	replace	VERB
ap-1015	141	15	by	by	ADP
ap-1015	141	16	considering	consider	VERB
ap-1015	141	17	(	(	PUNCT
ap-1015	141	18	center	center	NOUN
ap-1015	141	19	)	)	PUNCT
ap-1015	141	20	points	point	NOUN
ap-1015	141	21	and	and	CCONJ
ap-1015	141	22	angles	angle	NOUN
ap-1015	141	23	.	.	PUNCT
ap-1015	142	1	thus	thus	ADV
ap-1015	142	2	,	,	PUNCT
ap-1015	142	3	e.g.	e.g.	ADV
ap-1015	142	4	an	an	DET
ap-1015	142	5	ellipse	ellipse	NOUN
ap-1015	142	6	is	be	AUX
ap-1015	142	7	represented	represent	VERB
ap-1015	142	8	by	by	ADP
ap-1015	142	9	its	its	PRON
ap-1015	142	10	centroid	centroid	NOUN
ap-1015	142	11	and	and	CCONJ
ap-1015	142	12	an	an	DET
ap-1015	142	13	angle	angle	NOUN
ap-1015	142	14	,	,	PUNCT
ap-1015	142	15	a	a	DET
ap-1015	142	16	circle	circle	NOUN
ap-1015	142	17	is	be	AUX
ap-1015	142	18	represented	represent	VERB
ap-1015	142	19	by	by	ADP
ap-1015	142	20	its	its	PRON
ap-1015	142	21	center	center	NOUN
ap-1015	142	22	,	,	PUNCT
ap-1015	142	23	and	and	CCONJ
ap-1015	142	24	so	so	ADV
ap-1015	142	25	on	on	ADV
ap-1015	142	26	.	.	PUNCT
ap-1015	143	1	in	in	ADP
ap-1015	143	2	the	the	DET
ap-1015	143	3	next	next	ADJ
ap-1015	143	4	step	step	NOUN
ap-1015	143	5	,	,	PUNCT
ap-1015	143	6	the	the	DET
ap-1015	143	7	ransac	ransac	NOUN
ap-1015	143	8	algorithm	algorithm	NOUN
ap-1015	143	9	is	be	AUX
ap-1015	143	10	used	use	VERB
ap-1015	143	11	to	to	PART
ap-1015	143	12	eliminate	eliminate	VERB
ap-1015	143	13	outliers	outlier	NOUN
ap-1015	143	14	.	.	PUNCT
ap-1015	144	1	then	then	ADV
ap-1015	144	2	,	,	PUNCT
ap-1015	144	3	at	at	ADP
ap-1015	144	4	first	first	ADV
ap-1015	144	5	,	,	PUNCT
ap-1015	144	6	a	a	DET
ap-1015	144	7	rotation	rotation	NOUN
ap-1015	144	8	is	be	AUX
ap-1015	144	9	computed	compute	VERB
ap-1015	144	10	by	by	ADP
ap-1015	144	11	only	only	ADV
ap-1015	144	12	considering	consider	VERB
ap-1015	144	13	the	the	DET
ap-1015	144	14	mentioned	mention	VERB
ap-1015	144	15	points	point	NOUN
ap-1015	144	16	and	and	CCONJ
ap-1015	144	17	their	their	PRON
ap-1015	144	18	corresponding	corresponding	ADJ
ap-1015	144	19	nominal	nominal	ADJ
ap-1015	144	20	values	value	NOUN
ap-1015	144	21	(	(	PUNCT
ap-1015	144	22	angles	angle	NOUN
ap-1015	144	23	are	be	AUX
ap-1015	144	24	considered	consider	VERB
ap-1015	144	25	later	later	ADV
ap-1015	144	26	)	)	PUNCT
ap-1015	144	27	.	.	PUNCT
ap-1015	145	1	hence	hence	ADV
ap-1015	145	2	,	,	PUNCT
ap-1015	145	3	we	we	PRON
ap-1015	145	4	use	use	VERB
ap-1015	145	5	the	the	DET
ap-1015	145	6	similarity	similarity	NOUN
ap-1015	145	7	transform	transform	NOUN
ap-1015	145	8	in	in	ADP
ap-1015	145	9	order	order	NOUN
ap-1015	145	10	to	to	PART
ap-1015	145	11	obtain	obtain	VERB
ap-1015	145	12	a	a	DET
ap-1015	145	13	linear	linear	ADJ
ap-1015	145	14	set	set	NOUN
ap-1015	145	15	of	of	ADP
ap-1015	145	16	equations	equation	NOUN
ap-1015	145	17	and	and	CCONJ
ap-1015	145	18	thus	thus	ADV
ap-1015	145	19	avoid	avoid	VERB
ap-1015	145	20	sine	sine	NOUN
ap-1015	145	21	and	and	CCONJ
ap-1015	145	22	cosine	cosine	NOUN
ap-1015	145	23	terms	term	NOUN
ap-1015	145	24	.	.	PUNCT
ap-1015	146	1	the	the	DET
ap-1015	146	2	structure	structure	NOUN
ap-1015	146	3	of	of	ADP
ap-1015	146	4	the	the	DET
ap-1015	146	5	linear	linear	ADJ
ap-1015	146	6	equation	equation	NOUN
ap-1015	146	7	set	set	VERB
ap-1015	146	8	is	be	AUX
ap-1015	146	9	u	u	NOUN
ap-1015	146	10	u	u	NOUN
ap-1015	146	11	u	u	NOUN
ap-1015	146	12	u	u	NOUN
ap-1015	146	13	v	v	ADP
ap-1015	146	14	v	v	ADP
ap-1015	146	15	v	v	NOUN
ap-1015	146	16	v	v	NOUN
ap-1015	146	17	x	x	SYM
ap-1015	146	18	y	y	NOUN
ap-1015	146	19	xm	xm	PROPN
ap-1015	147	1	ym	ym	INTJ
ap-1015	147	2	x	x	VERB
ap-1015	148	1	y	y	NOUN
ap-1015	148	2	y	y	PROPN
ap-1015	148	3	x	x	SYM
ap-1015	148	4	1	1	NUM
ap-1015	148	5	1	1	NUM
ap-1015	148	6	1	1	NUM
ap-1015	148	7	1	1	NUM
ap-1015	148	8	1	1	NUM
ap-1015	148	9	1	1	NUM
ap-1015	148	10	1	1	NUM
ap-1015	148	11	0	0	NUM
ap-1015	148	12	0	0	NUM
ap-1015	148	13	1	1	NUM
ap-1015	148	14	�	�	PROPN
ap-1015	148	15	�	�	PROPN
ap-1015	148	16	�	�	PROPN
ap-1015	148	17	�	�	PROPN
ap-1015	148	18	�	�	PROPN
ap-1015	148	19	�	�	PROPN
ap-1015	148	20	�	�	PROPN
ap-1015	148	21	�	�	PROPN
ap-1015	148	22	�	�	PROPN
ap-1015	148	23	�	�	PROPN
ap-1015	148	24	�	�	PROPN
ap-1015	148	25	�	�	PROPN
ap-1015	148	26	�	�	PROPN
ap-1015	148	27	�	�	PROPN
ap-1015	148	28	�	�	PROPN
ap-1015	148	29	�	�	PROPN
ap-1015	148	30	�	�	PROPN
ap-1015	148	31	�	�	PROPN
ap-1015	148	32	�	�	PROPN
ap-1015	148	33	�	�	PROPN
ap-1015	148	34	v	v	ADP
ap-1015	148	35	v	v	NUM
ap-1015	148	36	v	v	NOUN
ap-1015	148	37	v	v	ADP
ap-1015	148	38	a	a	DET
ap-1015	148	39	b	b	NOUN
ap-1015	148	40	c	c	NOUN
ap-1015	148	41	dxm	dxm	NOUN
ap-1015	149	1	ym	ym	INTJ
ap-1015	150	1	ym	ym	INTJ
ap-1015	150	2	xm	xm	PROPN
ap-1015	150	3	�	�	PROPN
ap-1015	150	4	�	�	PROPN
ap-1015	150	5	�	�	PROPN
ap-1015	150	6	�	�	PROPN
ap-1015	150	7	�	�	PROPN
ap-1015	150	8	�	�	PROPN
ap-1015	150	9	�	�	PROPN
ap-1015	150	10	�	�	PROPN
ap-1015	150	11	�	�	PROPN
ap-1015	150	12	�	�	PROPN
ap-1015	150	13	�	�	PROPN
ap-1015	150	14	�	�	PROPN
ap-1015	150	15	�	�	PROPN
ap-1015	150	16	�	�	PROPN
ap-1015	150	17	�	�	PROPN
ap-1015	150	18	�	�	PROPN
ap-1015	150	19	�	�	PROPN
ap-1015	150	20	�	�	PROPN
ap-1015	150	21	�	�	PROPN
ap-1015	150	22	�	�	PROPN
ap-1015	150	23	�	�	PROPN
ap-1015	150	24	�	�	PROPN
ap-1015	150	25	�	�	PROPN
ap-1015	150	26	1	1	NUM
ap-1015	150	27	0	0	NUM
ap-1015	150	28	0	0	NUM
ap-1015	150	29	1	1	NUM
ap-1015	150	30	�	�	PROPN
ap-1015	150	31	,	,	PUNCT
ap-1015	150	32	(	(	PUNCT
ap-1015	150	33	7	7	X
ap-1015	150	34	)	)	PUNCT
ap-1015	150	35	where	where	SCONJ
ap-1015	150	36	u	u	NOUN
ap-1015	150	37	i	i	PRON
ap-1015	150	38	xi	xi	PROPN
ap-1015	150	39	yi	yi	PROPN
ap-1015	150	40	tu	tu	PROPN
ap-1015	150	41	u	u	PRON
ap-1015	150	42	�	�	PROPN
ap-1015	150	43	(	(	PUNCT
ap-1015	150	44	,	,	PUNCT
ap-1015	150	45	)	)	PUNCT
ap-1015	150	46	,	,	PUNCT
ap-1015	150	47	and	and	CCONJ
ap-1015	150	48	vi	vi	X
ap-1015	150	49	xi	xi	X
ap-1015	151	1	yi	yi	PROPN
ap-1015	151	2	tv	tv	PROPN
ap-1015	151	3	v	v	PROPN
ap-1015	151	4	�	�	PROPN
ap-1015	151	5	(	(	PUNCT
ap-1015	151	6	,	,	PUNCT
ap-1015	151	7	)	)	PUNCT
ap-1015	151	8	,	,	PUNCT
ap-1015	151	9	i	i	PRON
ap-1015	151	10	m	m	VERB
ap-1015	151	11	�	�	PROPN
ap-1015	151	12	1	1	NUM
ap-1015	151	13	�	�	PROPN
ap-1015	151	14	,	,	PUNCT
ap-1015	151	15	build	build	VERB
ap-1015	151	16	a	a	DET
ap-1015	151	17	set	set	NOUN
ap-1015	151	18	of	of	ADP
ap-1015	151	19	m	m	NOUN
ap-1015	151	20	point	point	NOUN
ap-1015	151	21	pairs	pair	NOUN
ap-1015	151	22	,	,	PUNCT
ap-1015	151	23	which	which	PRON
ap-1015	151	24	are	be	AUX
ap-1015	151	25	composed	compose	VERB
ap-1015	151	26	of	of	ADP
ap-1015	151	27	the	the	DET
ap-1015	151	28	detected	detect	VERB
ap-1015	151	29	points	point	NOUN
ap-1015	151	30	such	such	ADJ
ap-1015	151	31	as	as	ADP
ap-1015	151	32	the	the	DET
ap-1015	151	33	centers	center	NOUN
ap-1015	151	34	of	of	ADP
ap-1015	151	35	the	the	DET
ap-1015	151	36	circles	circle	NOUN
ap-1015	151	37	and	and	CCONJ
ap-1015	151	38	their	their	PRON
ap-1015	151	39	corresponding	corresponding	ADJ
ap-1015	151	40	nominal	nominal	ADJ
ap-1015	151	41	values	value	NOUN
ap-1015	151	42	.	.	PUNCT
ap-1015	152	1	the	the	DET
ap-1015	152	2	parameters	parameter	NOUN
ap-1015	152	3	a	a	DET
ap-1015	152	4	,	,	PUNCT
ap-1015	152	5	b	b	PROPN
ap-1015	152	6	,	,	PUNCT
ap-1015	152	7	c	c	NOUN
ap-1015	152	8	,	,	PUNCT
ap-1015	152	9	d	d	PRON
ap-1015	152	10	form	form	VERB
ap-1015	152	11	the	the	DET
ap-1015	152	12	matrix	matrix	NOUN
ap-1015	152	13	of	of	ADP
ap-1015	152	14	the	the	DET
ap-1015	152	15	similarity	similarity	NOUN
ap-1015	152	16	transform	transform	VERB
ap-1015	152	17	and	and	CCONJ
ap-1015	152	18	encode	encode	VERB
ap-1015	152	19	the	the	DET
ap-1015	152	20	sought	seek	VERB
ap-1015	152	21	rotation	rotation	NOUN
ap-1015	152	22	and	and	CCONJ
ap-1015	152	23	a	a	DET
ap-1015	152	24	scaling	scaling	NOUN
ap-1015	152	25	.	.	PUNCT
ap-1015	153	1	the	the	DET
ap-1015	153	2	rotation	rotation	NOUN
ap-1015	153	3	angle	angle	PROPN
ap-1015	153	4	�	�	PROPN
ap-1015	153	5	can	can	AUX
ap-1015	153	6	be	be	AUX
ap-1015	153	7	computed	compute	VERB
ap-1015	153	8	by	by	ADP
ap-1015	153	9	determining	determine	VERB
ap-1015	153	10	the	the	DET
ap-1015	153	11	pseudoinverse	pseudoinverse	NOUN
ap-1015	153	12	of	of	ADP
ap-1015	153	13	a	a	PRON
ap-1015	153	14	,	,	PUNCT
ap-1015	153	15	e.g.	e.g.	ADV
ap-1015	153	16	,	,	PUNCT
ap-1015	153	17	via	via	ADP
ap-1015	153	18	singular	singular	ADJ
ap-1015	153	19	value	value	NOUN
ap-1015	153	20	decomposition	decomposition	NOUN
ap-1015	153	21	and	and	CCONJ
ap-1015	153	22	the	the	DET
ap-1015	153	23	computation	computation	NOUN
ap-1015	153	24	of	of	ADP
ap-1015	153	25	�	�	PROPN
ap-1015	153	26	�	�	PROPN
ap-1015	153	27	arctan	arctan	PROPN
ap-1015	153	28	(	(	PUNCT
ap-1015	153	29	,	,	PUNCT
ap-1015	153	30	)	)	PUNCT
ap-1015	153	31	2	2	NUM
ap-1015	153	32	b	b	NOUN
ap-1015	153	33	a	a	NOUN
ap-1015	153	34	.	.	PUNCT
ap-1015	154	1	(	(	PUNCT
ap-1015	154	2	8)	8)	NUM
ap-1015	154	3	between	between	ADP
ap-1015	154	4	this	this	DET
ap-1015	154	5	value	value	NOUN
ap-1015	154	6	and	and	CCONJ
ap-1015	154	7	the	the	DET
ap-1015	154	8	angles	angle	NOUN
ap-1015	154	9	,	,	PUNCT
ap-1015	154	10	possibly	possibly	ADV
ap-1015	154	11	determined	determine	VERB
ap-1015	154	12	directly	directly	ADV
ap-1015	154	13	by	by	ADP
ap-1015	154	14	the	the	DET
ap-1015	154	15	features	feature	NOUN
ap-1015	154	16	(	(	PUNCT
ap-1015	154	17	e.g.	e.g.	ADV
ap-1015	154	18	the	the	DET
ap-1015	154	19	angles	angle	NOUN
ap-1015	154	20	of	of	ADP
ap-1015	154	21	lines	line	NOUN
ap-1015	154	22	and	and	CCONJ
ap-1015	154	23	ellipses	ellipsis	NOUN
ap-1015	154	24	)	)	PUNCT
ap-1015	154	25	,	,	PUNCT
ap-1015	154	26	the	the	DET
ap-1015	154	27	weighted	weight	VERB
ap-1015	154	28	average	average	NOUN
ap-1015	154	29	is	be	AUX
ap-1015	154	30	computed	compute	VERB
ap-1015	154	31	.	.	PUNCT
ap-1015	155	1	after	after	ADP
ap-1015	155	2	the	the	DET
ap-1015	155	3	computation	computation	NOUN
ap-1015	155	4	of	of	ADP
ap-1015	155	5	this	this	DET
ap-1015	155	6	result	result	NOUN
ap-1015	155	7	,	,	PUNCT
ap-1015	155	8	the	the	DET
ap-1015	155	9	points	point	NOUN
ap-1015	155	10	of	of	ADP
ap-1015	155	11	the	the	DET
ap-1015	155	12	feature	feature	NOUN
ap-1015	155	13	are	be	AUX
ap-1015	155	14	rotated	rotate	VERB
ap-1015	155	15	inversely	inversely	ADV
ap-1015	155	16	and	and	CCONJ
ap-1015	155	17	the	the	DET
ap-1015	155	18	translation	translation	NOUN
ap-1015	155	19	is	be	AUX
ap-1015	155	20	determined	determine	VERB
ap-1015	155	21	as	as	ADP
ap-1015	155	22	the	the	DET
ap-1015	155	23	mean	mean	NOUN
ap-1015	155	24	of	of	ADP
ap-1015	155	25	the	the	DET
ap-1015	155	26	distances	distance	NOUN
ap-1015	155	27	between	between	ADP
ap-1015	155	28	the	the	DET
ap-1015	155	29	point	point	NOUN
ap-1015	155	30	pairs	pair	NOUN
ap-1015	155	31	.	.	PUNCT
ap-1015	156	1	hence	hence	ADV
ap-1015	156	2	,	,	PUNCT
ap-1015	156	3	the	the	DET
ap-1015	156	4	sought	seek	VERB
ap-1015	156	5	rotation	rotation	NOUN
ap-1015	156	6	and	and	CCONJ
ap-1015	156	7	the	the	DET
ap-1015	156	8	offset	offset	NOUN
ap-1015	156	9	are	be	AUX
ap-1015	156	10	determined	determine	VERB
ap-1015	156	11	robustly	robustly	ADV
ap-1015	156	12	and	and	CCONJ
ap-1015	156	13	without	without	ADP
ap-1015	156	14	iterative	iterative	NOUN
ap-1015	156	15	optimization	optimization	NOUN
ap-1015	156	16	steps	step	NOUN
ap-1015	156	17	.	.	PUNCT
ap-1015	157	1	finally	finally	ADV
ap-1015	157	2	,	,	PUNCT
ap-1015	157	3	the	the	DET
ap-1015	157	4	welding	welding	NOUN
ap-1015	157	5	contour	contour	NOUN
ap-1015	157	6	has	have	VERB
ap-1015	157	7	to	to	PART
ap-1015	157	8	be	be	AUX
ap-1015	157	9	transformed	transform	VERB
ap-1015	157	10	correspondingly	correspondingly	ADV
ap-1015	157	11	.	.	PUNCT
ap-1015	158	1	this	this	PRON
ap-1015	158	2	is	be	AUX
ap-1015	158	3	straightforwardly	straightforwardly	ADV
ap-1015	158	4	implemented	implement	VERB
ap-1015	158	5	as	as	ADP
ap-1015	158	6	a	a	DET
ap-1015	158	7	multiplication	multiplication	NOUN
ap-1015	158	8	of	of	ADP
ap-1015	158	9	the	the	DET
ap-1015	158	10	welding	welding	NOUN
ap-1015	158	11	coordinates	coordinate	NOUN
ap-1015	158	12	with	with	ADP
ap-1015	158	13	an	an	DET
ap-1015	158	14	adapted	adapt	VERB
ap-1015	158	15	transformation	transformation	NOUN
ap-1015	158	16	matrix	matrix	NOUN
ap-1015	158	17	.	.	PUNCT
ap-1015	159	1	6	6	NUM
ap-1015	159	2	experimental	experimental	ADJ
ap-1015	159	3	results	result	NOUN
ap-1015	159	4	to	to	PART
ap-1015	159	5	evaluate	evaluate	VERB
ap-1015	159	6	the	the	DET
ap-1015	159	7	accuracy	accuracy	NOUN
ap-1015	159	8	of	of	ADP
ap-1015	159	9	the	the	DET
ap-1015	159	10	position	position	NOUN
ap-1015	159	11	estimation	estimation	NOUN
ap-1015	159	12	,	,	PUNCT
ap-1015	159	13	images	image	NOUN
ap-1015	159	14	of	of	ADP
ap-1015	159	15	real	real	ADJ
ap-1015	159	16	workpieces	workpiece	NOUN
ap-1015	159	17	were	be	AUX
ap-1015	159	18	acquired	acquire	VERB
ap-1015	159	19	using	use	VERB
ap-1015	159	20	a	a	DET
ap-1015	159	21	galvanometer	galvanometer	NOUN
ap-1015	159	22	scanner	scanner	NOUN
ap-1015	159	23	and	and	CCONJ
ap-1015	159	24	stitched	stitch	VERB
ap-1015	159	25	(	(	PUNCT
ap-1015	159	26	see	see	VERB
ap-1015	159	27	fig	fig	NOUN
ap-1015	159	28	.	.	PUNCT
ap-1015	160	1	5	5	NUM
ap-1015	160	2	)	)	PUNCT
ap-1015	160	3	.	.	PUNCT
ap-1015	161	1	these	these	DET
ap-1015	161	2	images	image	NOUN
ap-1015	161	3	were	be	AUX
ap-1015	161	4	synthetically	synthetically	ADV
ap-1015	161	5	rotated	rotate	VERB
ap-1015	161	6	and	and	CCONJ
ap-1015	161	7	shifted	shift	VERB
ap-1015	161	8	with	with	ADP
ap-1015	161	9	sub	sub	ADJ
ap-1015	161	10	-	-	ADJ
ap-1015	161	11	pixel	pixel	ADJ
ap-1015	161	12	accuracy	accuracy	NOUN
ap-1015	161	13	.	.	PUNCT
ap-1015	162	1	hence	hence	ADV
ap-1015	162	2	,	,	PUNCT
ap-1015	162	3	a	a	DET
ap-1015	162	4	reliable	reliable	ADJ
ap-1015	162	5	ground	ground	NOUN
ap-1015	162	6	truth	truth	NOUN
ap-1015	162	7	is	be	AUX
ap-1015	162	8	created	create	VERB
ap-1015	162	9	.	.	PUNCT
ap-1015	163	1	within	within	ADP
ap-1015	163	2	these	these	DET
ap-1015	163	3	images	image	NOUN
ap-1015	163	4	,	,	PUNCT
ap-1015	163	5	the	the	DET
ap-1015	163	6	pro58	pro58	ADJ
ap-1015	163	7	©	©	PROPN
ap-1015	163	8	czech	czech	PROPN
ap-1015	163	9	technical	technical	PROPN
ap-1015	163	10	university	university	PROPN
ap-1015	163	11	publishing	publishing	NOUN
ap-1015	163	12	house	house	NOUN
ap-1015	163	13	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1015	163	14	acta	acta	PROPN
ap-1015	163	15	polytechnica	polytechnica	PROPN
ap-1015	163	16	vol	vol	NOUN
ap-1015	163	17	.	.	PUNCT
ap-1015	164	1	48	48	NUM
ap-1015	164	2	no	no	NOUN
ap-1015	164	3	.	.	PUNCT
ap-1015	165	1	3/2008	3/2008	NUM
ap-1015	165	2	fig	fig	NOUN
ap-1015	165	3	.	.	PUNCT
ap-1015	166	1	5	5	NUM
ap-1015	166	2	:	:	PUNCT
ap-1015	166	3	stitched	stitch	VERB
ap-1015	166	4	images	image	NOUN
ap-1015	166	5	used	use	VERB
ap-1015	166	6	for	for	ADP
ap-1015	166	7	evaluating	evaluate	VERB
ap-1015	166	8	the	the	DET
ap-1015	166	9	accuracy	accuracy	NOUN
ap-1015	166	10	in	in	ADP
ap-1015	166	11	position	position	NOUN
ap-1015	166	12	estimation	estimation	NOUN
ap-1015	166	13	posed	pose	VERB
ap-1015	166	14	algorithms	algorithm	NOUN
ap-1015	166	15	for	for	ADP
ap-1015	166	16	feature	feature	NOUN
ap-1015	166	17	extraction	extraction	NOUN
ap-1015	166	18	and	and	CCONJ
ap-1015	166	19	offset	offset	NOUN
ap-1015	166	20	estimation	estimation	NOUN
ap-1015	166	21	are	be	AUX
ap-1015	166	22	applied	apply	VERB
ap-1015	166	23	.	.	PUNCT
ap-1015	167	1	the	the	DET
ap-1015	167	2	results	result	NOUN
ap-1015	167	3	obtained	obtain	VERB
ap-1015	167	4	with	with	ADP
ap-1015	167	5	the	the	DET
ap-1015	167	6	images	image	NOUN
ap-1015	167	7	in	in	ADP
ap-1015	167	8	fig	fig	NOUN
ap-1015	167	9	.	.	PUNCT
ap-1015	167	10	5	5	NUM
ap-1015	167	11	are	be	AUX
ap-1015	167	12	presented	present	VERB
ap-1015	167	13	in	in	ADP
ap-1015	167	14	the	the	DET
ap-1015	167	15	boxplot	boxplot	NOUN
ap-1015	167	16	[	[	X
ap-1015	167	17	8	8	NUM
ap-1015	167	18	]	]	PUNCT
ap-1015	167	19	in	in	ADP
ap-1015	167	20	fig	fig	NOUN
ap-1015	167	21	.	.	PUNCT
ap-1015	168	1	6	6	NUM
ap-1015	168	2	.	.	PUNCT
ap-1015	168	3	despite	despite	SCONJ
ap-1015	168	4	the	the	DET
ap-1015	168	5	challenging	challenging	ADJ
ap-1015	168	6	real	real	ADJ
ap-1015	168	7	world	world	NOUN
ap-1015	168	8	images	image	NOUN
ap-1015	168	9	,	,	PUNCT
ap-1015	168	10	the	the	DET
ap-1015	168	11	range	range	NOUN
ap-1015	168	12	of	of	ADP
ap-1015	168	13	deviations	deviation	NOUN
ap-1015	168	14	for	for	ADP
ap-1015	168	15	circle	circle	NOUN
ap-1015	168	16	detection	detection	NOUN
ap-1015	168	17	is	be	AUX
ap-1015	168	18	smaller	small	ADJ
ap-1015	168	19	than	than	ADP
ap-1015	168	20	2	2	NUM
ap-1015	168	21	pixels	pixel	NOUN
ap-1015	168	22	,	,	PUNCT
ap-1015	168	23	which	which	PRON
ap-1015	168	24	is	be	AUX
ap-1015	168	25	in	in	ADP
ap-1015	168	26	our	our	PRON
ap-1015	168	27	case	case	NOUN
ap-1015	168	28	less	less	ADJ
ap-1015	168	29	than	than	ADP
ap-1015	168	30	13	13	NUM
ap-1015	168	31	�	�	NOUN
ap-1015	168	32	m.	m.	NOUN
ap-1015	168	33	in	in	ADP
ap-1015	168	34	case	case	NOUN
ap-1015	168	35	of	of	ADP
ap-1015	168	36	the	the	DET
ap-1015	168	37	arc	arc	NOUN
ap-1015	168	38	of	of	ADP
ap-1015	168	39	a	a	DET
ap-1015	168	40	circle	circle	NOUN
ap-1015	168	41	,	,	PUNCT
ap-1015	168	42	the	the	DET
ap-1015	168	43	same	same	ADJ
ap-1015	168	44	image	image	NOUN
ap-1015	168	45	is	be	AUX
ap-1015	168	46	used	use	VERB
ap-1015	168	47	but	but	CCONJ
ap-1015	168	48	only	only	ADV
ap-1015	168	49	a	a	DET
ap-1015	168	50	quarter	quarter	NOUN
ap-1015	168	51	of	of	ADP
ap-1015	168	52	a	a	DET
ap-1015	168	53	circle	circle	NOUN
ap-1015	168	54	is	be	AUX
ap-1015	168	55	employed	employ	VERB
ap-1015	168	56	for	for	ADP
ap-1015	168	57	position	position	NOUN
ap-1015	168	58	detection	detection	NOUN
ap-1015	168	59	.	.	PUNCT
ap-1015	169	1	this	this	PRON
ap-1015	169	2	is	be	AUX
ap-1015	169	3	more	more	ADJ
ap-1015	169	4	time	time	NOUN
ap-1015	169	5	efficient	efficient	ADJ
ap-1015	169	6	,	,	PUNCT
ap-1015	169	7	since	since	SCONJ
ap-1015	169	8	only	only	ADV
ap-1015	169	9	a	a	DET
ap-1015	169	10	quarter	quarter	NOUN
ap-1015	169	11	of	of	ADP
ap-1015	169	12	the	the	DET
ap-1015	169	13	overall	overall	ADJ
ap-1015	169	14	image	image	NOUN
ap-1015	169	15	has	have	VERB
ap-1015	169	16	to	to	PART
ap-1015	169	17	be	be	AUX
ap-1015	169	18	acquired	acquire	VERB
ap-1015	169	19	,	,	PUNCT
ap-1015	169	20	but	but	CCONJ
ap-1015	169	21	the	the	DET
ap-1015	169	22	accuracy	accuracy	NOUN
ap-1015	169	23	is	be	AUX
ap-1015	169	24	significantly	significantly	ADV
ap-1015	169	25	decreased	decrease	VERB
ap-1015	169	26	.	.	PUNCT
ap-1015	170	1	in	in	ADP
ap-1015	170	2	position	position	NOUN
ap-1015	170	3	estimation	estimation	NOUN
ap-1015	170	4	with	with	ADP
ap-1015	170	5	two	two	NUM
ap-1015	170	6	orthogonally	orthogonally	ADV
ap-1015	170	7	intersecting	intersecting	ADJ
ap-1015	170	8	lines	line	NOUN
ap-1015	170	9	,	,	PUNCT
ap-1015	170	10	the	the	DET
ap-1015	170	11	worst	bad	ADJ
ap-1015	170	12	case	case	NOUN
ap-1015	170	13	scenario	scenario	NOUN
ap-1015	170	14	is	be	AUX
ap-1015	170	15	a	a	DET
ap-1015	170	16	deviation	deviation	NOUN
ap-1015	170	17	of	of	ADP
ap-1015	170	18	9	9	NUM
ap-1015	170	19	pixels	pixel	NOUN
ap-1015	170	20	,	,	PUNCT
ap-1015	170	21	which	which	PRON
ap-1015	170	22	corresponds	correspond	VERB
ap-1015	170	23	to	to	ADP
ap-1015	170	24	60	60	NUM
ap-1015	170	25	�	�	NOUN
ap-1015	170	26	m.	m.	NOUN
ap-1015	170	27	however	however	ADV
ap-1015	170	28	,	,	PUNCT
ap-1015	170	29	the	the	DET
ap-1015	170	30	image	image	NOUN
ap-1015	170	31	used	use	VERB
ap-1015	170	32	for	for	ADP
ap-1015	170	33	line	line	NOUN
ap-1015	170	34	detection	detection	NOUN
ap-1015	170	35	depicts	depict	VERB
ap-1015	170	36	an	an	DET
ap-1015	170	37	smd	smd	NOUN
ap-1015	170	38	-	-	PUNCT
ap-1015	170	39	chip	chip	NOUN
ap-1015	170	40	(	(	PUNCT
ap-1015	170	41	surface	surface	NOUN
ap-1015	170	42	mounted	mount	VERB
ap-1015	170	43	device	device	NOUN
ap-1015	170	44	)	)	PUNCT
ap-1015	170	45	,	,	PUNCT
ap-1015	170	46	where	where	SCONJ
ap-1015	170	47	the	the	DET
ap-1015	170	48	lines	line	NOUN
ap-1015	170	49	are	be	AUX
ap-1015	170	50	fitted	fit	VERB
ap-1015	170	51	to	to	ADP
ap-1015	170	52	the	the	DET
ap-1015	170	53	rows	row	NOUN
ap-1015	170	54	of	of	ADP
ap-1015	170	55	pins	pin	NOUN
ap-1015	170	56	.	.	PUNCT
ap-1015	171	1	the	the	DET
ap-1015	171	2	rows	row	NOUN
ap-1015	171	3	are	be	AUX
ap-1015	171	4	fragmented	fragment	VERB
ap-1015	171	5	due	due	ADP
ap-1015	171	6	to	to	ADP
ap-1015	171	7	the	the	DET
ap-1015	171	8	gaps	gap	NOUN
ap-1015	171	9	between	between	ADP
ap-1015	171	10	the	the	DET
ap-1015	171	11	pins	pin	NOUN
ap-1015	171	12	.	.	PUNCT
ap-1015	172	1	this	this	PRON
ap-1015	172	2	complicates	complicate	VERB
ap-1015	172	3	the	the	DET
ap-1015	172	4	task	task	NOUN
ap-1015	172	5	of	of	ADP
ap-1015	172	6	fitting	fit	VERB
ap-1015	172	7	a	a	DET
ap-1015	172	8	line	line	NOUN
ap-1015	172	9	with	with	ADP
ap-1015	172	10	such	such	ADJ
ap-1015	172	11	high	high	ADJ
ap-1015	172	12	accuracy	accuracy	NOUN
ap-1015	172	13	.	.	PUNCT
ap-1015	173	1	the	the	DET
ap-1015	173	2	image	image	NOUN
ap-1015	173	3	of	of	ADP
ap-1015	173	4	the	the	DET
ap-1015	173	5	ellipse	ellipse	NOUN
ap-1015	173	6	is	be	AUX
ap-1015	173	7	affected	affect	VERB
ap-1015	173	8	by	by	ADP
ap-1015	173	9	strong	strong	ADJ
ap-1015	173	10	artifacts	artifact	NOUN
ap-1015	173	11	which	which	PRON
ap-1015	173	12	hamper	hamper	VERB
ap-1015	173	13	higher	high	ADJ
ap-1015	173	14	accuracy	accuracy	NOUN
ap-1015	173	15	.	.	PUNCT
ap-1015	174	1	in	in	ADP
ap-1015	174	2	addition	addition	NOUN
ap-1015	174	3	,	,	PUNCT
ap-1015	174	4	the	the	DET
ap-1015	174	5	ellipse	ellipse	NOUN
ap-1015	174	6	has	have	VERB
ap-1015	174	7	the	the	DET
ap-1015	174	8	highest	high	ADJ
ap-1015	174	9	number	number	NOUN
ap-1015	174	10	of	of	ADP
ap-1015	174	11	degrees	degree	NOUN
ap-1015	174	12	of	of	ADP
ap-1015	174	13	freedom	freedom	NOUN
ap-1015	174	14	.	.	PUNCT
ap-1015	175	1	since	since	SCONJ
ap-1015	175	2	the	the	DET
ap-1015	175	3	number	number	NOUN
ap-1015	175	4	of	of	ADP
ap-1015	175	5	contour	contour	NOUN
ap-1015	175	6	points	point	NOUN
ap-1015	175	7	which	which	PRON
ap-1015	175	8	are	be	AUX
ap-1015	175	9	used	use	VERB
ap-1015	175	10	for	for	ADP
ap-1015	175	11	fitting	fitting	ADJ
ap-1015	175	12	is	be	AUX
ap-1015	175	13	constant	constant	ADJ
ap-1015	175	14	,	,	PUNCT
ap-1015	175	15	the	the	DET
ap-1015	175	16	relative	relative	ADJ
ap-1015	175	17	number	number	NOUN
ap-1015	175	18	(	(	PUNCT
ap-1015	175	19	related	relate	VERB
ap-1015	175	20	to	to	ADP
ap-1015	175	21	the	the	DET
ap-1015	175	22	degrees	degree	NOUN
ap-1015	175	23	of	of	ADP
ap-1015	175	24	freedom	freedom	NOUN
ap-1015	175	25	)	)	PUNCT
ap-1015	175	26	for	for	ADP
ap-1015	175	27	the	the	DET
ap-1015	175	28	ellipse	ellipse	NOUN
ap-1015	175	29	is	be	AUX
ap-1015	175	30	lower	low	ADJ
ap-1015	175	31	.	.	PUNCT
ap-1015	176	1	this	this	PRON
ap-1015	176	2	causes	cause	VERB
ap-1015	176	3	a	a	DET
ap-1015	176	4	decay	decay	NOUN
ap-1015	176	5	in	in	ADP
ap-1015	176	6	accuracy	accuracy	NOUN
ap-1015	176	7	.	.	PUNCT
ap-1015	177	1	the	the	DET
ap-1015	177	2	results	result	NOUN
ap-1015	177	3	of	of	ADP
ap-1015	177	4	the	the	DET
ap-1015	177	5	algorithm	algorithm	NOUN
ap-1015	177	6	for	for	ADP
ap-1015	177	7	offset	offset	ADJ
ap-1015	177	8	computation	computation	NOUN
ap-1015	177	9	are	be	AUX
ap-1015	177	10	used	use	VERB
ap-1015	177	11	for	for	ADP
ap-1015	177	12	rotating	rotate	VERB
ap-1015	177	13	and	and	CCONJ
ap-1015	177	14	shifting	shift	VERB
ap-1015	177	15	the	the	DET
ap-1015	177	16	welding	welding	NOUN
ap-1015	177	17	contour	contour	NOUN
ap-1015	177	18	correspondingly	correspondingly	ADV
ap-1015	177	19	.	.	PUNCT
ap-1015	178	1	the	the	DET
ap-1015	178	2	final	final	ADJ
ap-1015	178	3	aim	aim	NOUN
ap-1015	178	4	is	be	AUX
ap-1015	178	5	to	to	PART
ap-1015	178	6	execute	execute	VERB
ap-1015	178	7	the	the	DET
ap-1015	178	8	welding	welding	NOUN
ap-1015	178	9	process	process	NOUN
ap-1015	178	10	at	at	ADP
ap-1015	178	11	the	the	DET
ap-1015	178	12	correct	correct	ADJ
ap-1015	178	13	position	position	NOUN
ap-1015	178	14	.	.	PUNCT
ap-1015	179	1	in	in	ADP
ap-1015	179	2	order	order	NOUN
ap-1015	179	3	to	to	PART
ap-1015	179	4	obtain	obtain	VERB
ap-1015	179	5	preliminary	preliminary	ADJ
ap-1015	179	6	evidence	evidence	NOUN
ap-1015	179	7	,	,	PUNCT
ap-1015	179	8	three	three	NUM
ap-1015	179	9	of	of	ADP
ap-1015	179	10	the	the	DET
ap-1015	179	11	filter	filter	NOUN
ap-1015	179	12	membranes	membrane	NOUN
ap-1015	179	13	in	in	ADP
ap-1015	179	14	fig	fig	NOUN
ap-1015	179	15	.	.	PUNCT
ap-1015	179	16	1	1	NUM
ap-1015	179	17	have	have	AUX
ap-1015	179	18	been	be	AUX
ap-1015	179	19	welded	weld	VERB
ap-1015	179	20	at	at	ADP
ap-1015	179	21	position	position	NOUN
ap-1015	179	22	variations	variation	NOUN
ap-1015	179	23	of	of	ADP
ap-1015	179	24	about	about	ADV
ap-1015	179	25	1	1	NUM
ap-1015	179	26	mm	mm	NOUN
ap-1015	179	27	.	.	PUNCT
ap-1015	180	1	the	the	DET
ap-1015	180	2	final	final	ADJ
ap-1015	180	3	position	position	NOUN
ap-1015	180	4	deviation	deviation	NOUN
ap-1015	180	5	of	of	ADP
ap-1015	180	6	the	the	DET
ap-1015	180	7	overall	overall	ADJ
ap-1015	180	8	system	system	NOUN
ap-1015	180	9	did	do	AUX
ap-1015	180	10	not	not	PART
ap-1015	180	11	exceed	exceed	VERB
ap-1015	180	12	30	30	NUM
ap-1015	180	13	�	�	NOUN
ap-1015	180	14	m.	m.	NOUN
ap-1015	180	15	an	an	DET
ap-1015	180	16	example	example	NOUN
ap-1015	180	17	of	of	ADP
ap-1015	180	18	successive	successive	ADJ
ap-1015	180	19	welding	welding	NOUN
ap-1015	180	20	obtained	obtain	VERB
ap-1015	180	21	with	with	ADP
ap-1015	180	22	our	our	PRON
ap-1015	180	23	system	system	NOUN
ap-1015	180	24	is	be	AUX
ap-1015	180	25	presented	present	VERB
ap-1015	180	26	in	in	ADP
ap-1015	180	27	fig	fig	NOUN
ap-1015	180	28	.	.	PUNCT
ap-1015	181	1	7	7	NUM
ap-1015	181	2	.	.	SYM
ap-1015	181	3	7	7	NUM
ap-1015	181	4	summary	summary	NOUN
ap-1015	181	5	,	,	PUNCT
ap-1015	181	6	conclusions	conclusion	NOUN
ap-1015	181	7	this	this	DET
ap-1015	181	8	paper	paper	NOUN
ap-1015	181	9	addresses	address	VERB
ap-1015	181	10	the	the	DET
ap-1015	181	11	problem	problem	NOUN
ap-1015	181	12	of	of	ADP
ap-1015	181	13	tedious	tedious	ADJ
ap-1015	181	14	and	and	CCONJ
ap-1015	181	15	error	error	NOUN
ap-1015	181	16	-	-	PUNCT
ap-1015	181	17	prone	prone	ADJ
ap-1015	181	18	adjustment	adjustment	NOUN
ap-1015	181	19	of	of	ADP
ap-1015	181	20	present	present	ADJ
ap-1015	181	21	-	-	PUNCT
ap-1015	181	22	day	day	NOUN
ap-1015	181	23	laser	laser	NOUN
ap-1015	181	24	welding	welding	NOUN
ap-1015	181	25	machines	machine	NOUN
ap-1015	181	26	.	.	PUNCT
ap-1015	182	1	especially	especially	ADV
ap-1015	182	2	for	for	ADP
ap-1015	182	3	high	high	ADJ
ap-1015	182	4	-	-	PUNCT
ap-1015	182	5	tech	tech	NOUN
ap-1015	182	6	goods	good	NOUN
ap-1015	182	7	in	in	ADP
ap-1015	182	8	medical	medical	ADJ
ap-1015	182	9	or	or	CCONJ
ap-1015	182	10	environmental	environmental	ADJ
ap-1015	182	11	applications	application	NOUN
ap-1015	182	12	,	,	PUNCT
ap-1015	182	13	high	high	ADJ
ap-1015	182	14	precision	precision	NOUN
ap-1015	182	15	is	be	AUX
ap-1015	182	16	required	require	VERB
ap-1015	182	17	at	at	ADP
ap-1015	182	18	moderate	moderate	ADJ
ap-1015	182	19	levels	level	NOUN
ap-1015	182	20	of	of	ADP
ap-1015	182	21	production	production	NOUN
ap-1015	182	22	costs	cost	NOUN
ap-1015	182	23	.	.	PUNCT
ap-1015	183	1	to	to	ADP
ap-1015	183	2	this	this	DET
ap-1015	183	3	end	end	NOUN
ap-1015	183	4	,	,	PUNCT
ap-1015	183	5	a	a	DET
ap-1015	183	6	conventional	conventional	ADJ
ap-1015	183	7	welding	welding	NOUN
ap-1015	183	8	machine	machine	NOUN
ap-1015	183	9	has	have	AUX
ap-1015	183	10	been	be	AUX
ap-1015	183	11	equipped	equip	VERB
ap-1015	183	12	with	with	ADP
ap-1015	183	13	the	the	DET
ap-1015	183	14	capability	capability	NOUN
ap-1015	183	15	to	to	PART
ap-1015	183	16	react	react	VERB
ap-1015	183	17	automatically	automatically	ADV
ap-1015	183	18	to	to	ADP
ap-1015	183	19	varying	vary	VERB
ap-1015	183	20	positions	position	NOUN
ap-1015	183	21	of	of	ADP
ap-1015	183	22	the	the	DET
ap-1015	183	23	parts	part	NOUN
ap-1015	183	24	to	to	PART
ap-1015	183	25	be	be	AUX
ap-1015	183	26	welded	weld	VERB
ap-1015	183	27	.	.	PUNCT
ap-1015	184	1	in	in	ADP
ap-1015	184	2	this	this	DET
ap-1015	184	3	way	way	NOUN
ap-1015	184	4	,	,	PUNCT
ap-1015	184	5	costly	costly	ADJ
ap-1015	184	6	manual	manual	ADJ
ap-1015	184	7	adjustment	adjustment	NOUN
ap-1015	184	8	can	can	AUX
ap-1015	184	9	be	be	AUX
ap-1015	184	10	reduced	reduce	VERB
ap-1015	184	11	to	to	ADP
ap-1015	184	12	a	a	DET
ap-1015	184	13	minimum	minimum	ADJ
ap-1015	184	14	and	and	CCONJ
ap-1015	184	15	high	high	ADJ
ap-1015	184	16	-	-	PUNCT
ap-1015	184	17	tech	tech	NOUN
ap-1015	184	18	goods	good	NOUN
ap-1015	184	19	could	could	AUX
ap-1015	184	20	become	become	VERB
ap-1015	184	21	more	more	ADV
ap-1015	184	22	attractive	attractive	ADJ
ap-1015	184	23	for	for	ADP
ap-1015	184	24	emerging	emerge	VERB
ap-1015	184	25	markets	market	NOUN
ap-1015	184	26	.	.	PUNCT
ap-1015	185	1	the	the	DET
ap-1015	185	2	proposed	propose	VERB
ap-1015	185	3	procedure	procedure	NOUN
ap-1015	185	4	can	can	AUX
ap-1015	185	5	be	be	AUX
ap-1015	185	6	subdivided	subdivide	VERB
ap-1015	185	7	into	into	ADP
ap-1015	185	8	the	the	DET
ap-1015	185	9	steps	step	NOUN
ap-1015	185	10	of	of	ADP
ap-1015	185	11	image	image	NOUN
ap-1015	185	12	acquisition	acquisition	NOUN
ap-1015	185	13	,	,	PUNCT
ap-1015	185	14	stitching	stitching	NOUN
ap-1015	185	15	,	,	PUNCT
ap-1015	185	16	feature	feature	NOUN
ap-1015	185	17	extraction	extraction	NOUN
ap-1015	185	18	,	,	PUNCT
ap-1015	185	19	position	position	NOUN
ap-1015	185	20	estimation	estimation	NOUN
ap-1015	185	21	,	,	PUNCT
ap-1015	185	22	transformation	transformation	NOUN
ap-1015	185	23	of	of	ADP
ap-1015	185	24	the	the	DET
ap-1015	185	25	welding	welding	NOUN
ap-1015	185	26	contour	contour	NOUN
ap-1015	185	27	and	and	CCONJ
ap-1015	185	28	,	,	PUNCT
ap-1015	185	29	finally	finally	ADV
ap-1015	185	30	,	,	PUNCT
ap-1015	185	31	successful	successful	ADJ
ap-1015	185	32	welding	welding	NOUN
ap-1015	185	33	.	.	PUNCT
ap-1015	186	1	these	these	DET
ap-1015	186	2	steps	step	NOUN
ap-1015	186	3	have	have	AUX
ap-1015	186	4	been	be	AUX
ap-1015	186	5	described	describe	VERB
ap-1015	186	6	and	and	CCONJ
ap-1015	186	7	eval	eval	NOUN
ap-1015	186	8	©	©	PROPN
ap-1015	186	9	czech	czech	PROPN
ap-1015	186	10	technical	technical	PROPN
ap-1015	186	11	university	university	PROPN
ap-1015	186	12	publishing	publishing	NOUN
ap-1015	186	13	house	house	NOUN
ap-1015	186	14	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1015	186	15	59	59	NUM
ap-1015	186	16	acta	acta	PROPN
ap-1015	186	17	polytechnica	polytechnica	PROPN
ap-1015	186	18	vol	vol	NOUN
ap-1015	186	19	.	.	PUNCT
ap-1015	187	1	48	48	NUM
ap-1015	187	2	no	no	NOUN
ap-1015	187	3	.	.	PUNCT
ap-1015	188	1	3/2008	3/2008	NUM
ap-1015	188	2	fig	fig	NOUN
ap-1015	188	3	.	.	PUNCT
ap-1015	189	1	6	6	NUM
ap-1015	189	2	:	:	PUNCT
ap-1015	189	3	boxplot	boxplot	NOUN
ap-1015	189	4	,	,	PUNCT
ap-1015	189	5	illustrating	illustrate	VERB
ap-1015	189	6	the	the	DET
ap-1015	189	7	deviations	deviation	NOUN
ap-1015	189	8	of	of	ADP
ap-1015	189	9	20	20	NUM
ap-1015	189	10	measurements	measurement	NOUN
ap-1015	189	11	from	from	ADP
ap-1015	189	12	ground	ground	NOUN
ap-1015	189	13	truth	truth	NOUN
ap-1015	189	14	(	(	PUNCT
ap-1015	189	15	“	"	PUNCT
ap-1015	189	16	circle	circle	NOUN
ap-1015	189	17	x	x	NOUN
ap-1015	189	18	”	"	PUNCT
ap-1015	189	19	e.g.	e.g.	ADV
ap-1015	189	20	denotes	denote	VERB
ap-1015	189	21	the	the	DET
ap-1015	189	22	deviations	deviation	NOUN
ap-1015	189	23	in	in	ADP
ap-1015	189	24	the	the	DET
ap-1015	189	25	x	x	NOUN
ap-1015	189	26	-	-	NOUN
ap-1015	189	27	direction	direction	NOUN
ap-1015	189	28	,	,	PUNCT
ap-1015	189	29	when	when	SCONJ
ap-1015	189	30	a	a	DET
ap-1015	189	31	circle	circle	NOUN
ap-1015	189	32	is	be	AUX
ap-1015	189	33	used	use	VERB
ap-1015	189	34	for	for	ADP
ap-1015	189	35	position	position	NOUN
ap-1015	189	36	estimation	estimation	NOUN
ap-1015	189	37	.	.	PUNCT
ap-1015	190	1	“	"	PUNCT
ap-1015	190	2	lines	line	NOUN
ap-1015	190	3	rot	rot	VERB
ap-1015	190	4	.	.	PUNCT
ap-1015	190	5	”	"	PUNCT
ap-1015	190	6	denotes	denote	VERB
ap-1015	190	7	the	the	DET
ap-1015	190	8	deviation	deviation	NOUN
ap-1015	190	9	of	of	ADP
ap-1015	190	10	the	the	DET
ap-1015	190	11	determined	determined	ADJ
ap-1015	190	12	rotation	rotation	NOUN
ap-1015	190	13	from	from	ADP
ap-1015	190	14	ground	ground	NOUN
ap-1015	190	15	truth	truth	NOUN
ap-1015	190	16	,	,	PUNCT
ap-1015	190	17	in	in	ADP
ap-1015	190	18	degrees	degree	NOUN
ap-1015	190	19	)	)	PUNCT
ap-1015	190	20	.	.	PUNCT
ap-1015	191	1	the	the	DET
ap-1015	191	2	lines	line	NOUN
ap-1015	191	3	in	in	ADP
ap-1015	191	4	the	the	DET
ap-1015	191	5	boxes	box	NOUN
ap-1015	191	6	mark	mark	VERB
ap-1015	191	7	the	the	DET
ap-1015	191	8	medians	median	NOUN
ap-1015	191	9	,	,	PUNCT
ap-1015	191	10	the	the	DET
ap-1015	191	11	boxes	box	NOUN
ap-1015	191	12	encompass	encompass	VERB
ap-1015	191	13	the	the	DET
ap-1015	191	14	two	two	NUM
ap-1015	191	15	inner	inner	ADJ
ap-1015	191	16	quartiles	quartile	NOUN
ap-1015	191	17	of	of	ADP
ap-1015	191	18	the	the	DET
ap-1015	191	19	quantity	quantity	NOUN
ap-1015	191	20	of	of	ADP
ap-1015	191	21	results	result	NOUN
ap-1015	191	22	,	,	PUNCT
ap-1015	191	23	while	while	SCONJ
ap-1015	191	24	the	the	DET
ap-1015	191	25	“	"	PUNCT
ap-1015	191	26	whiskers	whisker	NOUN
ap-1015	191	27	”	"	PUNCT
ap-1015	191	28	and	and	CCONJ
ap-1015	191	29	crosses	crosse	NOUN
ap-1015	191	30	mark	mark	VERB
ap-1015	191	31	the	the	DET
ap-1015	191	32	two	two	NUM
ap-1015	191	33	remaining	remain	VERB
ap-1015	191	34	outer	outer	ADJ
ap-1015	191	35	quartiles	quartile	NOUN
ap-1015	191	36	.	.	PUNCT
ap-1015	192	1	fig	fig	NOUN
ap-1015	192	2	.	.	PUNCT
ap-1015	193	1	7	7	NUM
ap-1015	193	2	:	:	PUNCT
ap-1015	193	3	welding	welding	NOUN
ap-1015	193	4	result	result	NOUN
ap-1015	193	5	:	:	PUNCT
ap-1015	193	6	filter	filter	NOUN
ap-1015	193	7	part	part	NOUN
ap-1015	193	8	and	and	CCONJ
ap-1015	193	9	its	its	PRON
ap-1015	193	10	weld	weld	NOUN
ap-1015	193	11	seam	seam	NOUN
ap-1015	193	12	uated	uate	VERB
ap-1015	193	13	in	in	ADP
ap-1015	193	14	detail	detail	NOUN
ap-1015	193	15	.	.	PUNCT
ap-1015	194	1	the	the	DET
ap-1015	194	2	evaluation	evaluation	NOUN
ap-1015	194	3	results	result	NOUN
ap-1015	194	4	show	show	VERB
ap-1015	194	5	that	that	SCONJ
ap-1015	194	6	high	high	ADJ
ap-1015	194	7	standards	standard	NOUN
ap-1015	194	8	of	of	ADP
ap-1015	194	9	accuracy	accuracy	NOUN
ap-1015	194	10	can	can	AUX
ap-1015	194	11	be	be	AUX
ap-1015	194	12	achieved	achieve	VERB
ap-1015	194	13	by	by	ADP
ap-1015	194	14	the	the	DET
ap-1015	194	15	entire	entire	ADJ
ap-1015	194	16	system	system	NOUN
ap-1015	194	17	.	.	PUNCT
ap-1015	195	1	acknowledgments	acknowledgment	NOUN
ap-1015	195	2	the	the	DET
ap-1015	195	3	authors	author	NOUN
ap-1015	195	4	would	would	AUX
ap-1015	195	5	like	like	VERB
ap-1015	195	6	to	to	PART
ap-1015	195	7	thank	thank	VERB
ap-1015	195	8	professor	professor	PROPN
ap-1015	195	9	dr.-ing	dr.-ing	PROPN
ap-1015	195	10	.	.	PUNCT
ap-1015	196	1	til	til	ADV
ap-1015	196	2	aach	aach	PROPN
ap-1015	196	3	,	,	PUNCT
ap-1015	196	4	institute	institute	NOUN
ap-1015	196	5	of	of	ADP
ap-1015	196	6	imaging	imaging	NOUN
ap-1015	196	7	and	and	CCONJ
ap-1015	196	8	computer	computer	NOUN
ap-1015	196	9	vision	vision	NOUN
ap-1015	196	10	,	,	PUNCT
ap-1015	196	11	rwth	rwth	PROPN
ap-1015	196	12	aachen	aachen	PROPN
ap-1015	196	13	university	university	PROPN
ap-1015	196	14	,	,	PUNCT
ap-1015	196	15	and	and	CCONJ
ap-1015	196	16	dr.-ing	dr.-ing	NOUN
ap-1015	196	17	.	.	PUNCT
ap-1015	197	1	alexander	alexander	PROPN
ap-1015	197	2	olowinsky	olowinsky	PROPN
ap-1015	197	3	,	,	PUNCT
ap-1015	197	4	fraunhofer	fraunhofer	PROPN
ap-1015	197	5	institute	institute	PROPN
ap-1015	197	6	for	for	ADP
ap-1015	197	7	laser	laser	NOUN
ap-1015	197	8	technology	technology	NOUN
ap-1015	197	9	,	,	PUNCT
ap-1015	197	10	who	who	PRON
ap-1015	197	11	supervised	supervise	VERB
ap-1015	197	12	this	this	DET
ap-1015	197	13	project	project	NOUN
ap-1015	197	14	.	.	PUNCT
ap-1015	198	1	the	the	DET
ap-1015	198	2	authors	author	NOUN
ap-1015	198	3	would	would	AUX
ap-1015	198	4	also	also	ADV
ap-1015	198	5	like	like	VERB
ap-1015	198	6	to	to	PART
ap-1015	198	7	thank	thank	VERB
ap-1015	198	8	dipl.-ing	dipl.-e	VERB
ap-1015	198	9	.	.	PUNCT
ap-1015	199	1	jens	jens	PROPN
ap-1015	199	2	gedicke	gedicke	PROPN
ap-1015	199	3	,	,	PUNCT
ap-1015	199	4	fraunhofer	fraunhofer	PROPN
ap-1015	199	5	institute	institute	PROPN
ap-1015	199	6	for	for	ADP
ap-1015	199	7	laser	laser	NOUN
ap-1015	199	8	technology	technology	NOUN
ap-1015	199	9	who	who	PRON
ap-1015	199	10	,	,	PUNCT
ap-1015	199	11	among	among	ADP
ap-1015	199	12	others	other	NOUN
ap-1015	199	13	,	,	PUNCT
ap-1015	199	14	was	be	AUX
ap-1015	199	15	involved	involve	VERB
ap-1015	199	16	in	in	ADP
ap-1015	199	17	creating	create	VERB
ap-1015	199	18	the	the	DET
ap-1015	199	19	hardware	hardware	NOUN
ap-1015	199	20	setup	setup	NOUN
ap-1015	199	21	,	,	PUNCT
ap-1015	199	22	for	for	ADP
ap-1015	199	23	his	his	PRON
ap-1015	199	24	kind	kind	ADJ
ap-1015	199	25	support	support	NOUN
ap-1015	199	26	.	.	PUNCT
ap-1015	200	1	this	this	DET
ap-1015	200	2	work	work	NOUN
ap-1015	200	3	is	be	AUX
ap-1015	200	4	funded	fund	VERB
ap-1015	200	5	by	by	ADP
ap-1015	200	6	the	the	DET
ap-1015	200	7	“	"	PUNCT
ap-1015	200	8	intakt	intakt	NOUN
ap-1015	200	9	”	"	PUNCT
ap-1015	200	10	collaborative	collaborative	ADJ
ap-1015	200	11	research	research	NOUN
ap-1015	200	12	project	project	NOUN
ap-1015	200	13	in	in	ADP
ap-1015	200	14	the	the	DET
ap-1015	200	15	“	"	PUNCT
ap-1015	200	16	innonet	innonet	ADJ
ap-1015	200	17	”	"	PUNCT
ap-1015	200	18	program	program	NOUN
ap-1015	200	19	,	,	PUNCT
ap-1015	200	20	funded	fund	VERB
ap-1015	200	21	by	by	ADP
ap-1015	200	22	german	german	ADJ
ap-1015	200	23	federal	federal	PROPN
ap-1015	200	24	ministry	ministry	PROPN
ap-1015	200	25	of	of	ADP
ap-1015	200	26	economics	economic	NOUN
ap-1015	200	27	and	and	CCONJ
ap-1015	200	28	technology	technology	NOUN
ap-1015	200	29	(	(	PUNCT
ap-1015	200	30	bmwi	bmwi	NOUN
ap-1015	200	31	)	)	PUNCT
ap-1015	200	32	with	with	ADP
ap-1015	200	33	vdi	vdi	NOUN
ap-1015	200	34	/	/	SYM
ap-1015	200	35	vde	vde	NOUN
ap-1015	200	36	-	-	PUNCT
ap-1015	200	37	it	it	PRON
ap-1015	200	38	.	.	PUNCT
ap-1015	201	1	the	the	DET
ap-1015	201	2	authors	author	NOUN
ap-1015	201	3	gratefully	gratefully	ADV
ap-1015	201	4	acknowledge	acknowledge	VERB
ap-1015	201	5	this	this	DET
ap-1015	201	6	support	support	NOUN
ap-1015	201	7	as	as	ADV
ap-1015	201	8	well	well	ADV
ap-1015	201	9	as	as	ADP
ap-1015	201	10	the	the	DET
ap-1015	201	11	active	active	ADJ
ap-1015	201	12	cooperation	cooperation	NOUN
ap-1015	201	13	of	of	ADP
ap-1015	201	14	all	all	DET
ap-1015	201	15	project	project	NOUN
ap-1015	201	16	partners	partner	NOUN
ap-1015	201	17	.	.	PUNCT
ap-1015	202	1	references	reference	NOUN
ap-1015	202	2	[	[	X
ap-1015	202	3	1	1	NUM
ap-1015	202	4	]	]	X
ap-1015	202	5	jähne	jähne	NOUN
ap-1015	202	6	,	,	PUNCT
ap-1015	202	7	b.	b.	PROPN
ap-1015	202	8	:	:	PUNCT
ap-1015	202	9	digitale	digitale	PROPN
ap-1015	202	10	bildverarbeitung	bildverarbeitung	PROPN
ap-1015	202	11	.	.	PUNCT
ap-1015	203	1	springer	springer	NOUN
ap-1015	203	2	verlag	verlag	PROPN
ap-1015	203	3	,	,	PUNCT
ap-1015	203	4	berlin	berlin	PROPN
ap-1015	203	5	,	,	PUNCT
ap-1015	203	6	heidelberg	heidelberg	PROPN
ap-1015	203	7	,	,	PUNCT
ap-1015	203	8	6	6	NUM
ap-1015	203	9	.	.	X
ap-1015	203	10	edition	edition	NOUN
ap-1015	203	11	,	,	PUNCT
ap-1015	203	12	2005	2005	NUM
ap-1015	203	13	.	.	PUNCT
ap-1015	204	1	[	[	X
ap-1015	204	2	2	2	NUM
ap-1015	204	3	]	]	X
ap-1015	204	4	canny	canny	ADJ
ap-1015	204	5	,	,	PUNCT
ap-1015	204	6	j.	j.	PROPN
ap-1015	204	7	:	:	PUNCT
ap-1015	204	8	a	a	DET
ap-1015	204	9	computational	computational	ADJ
ap-1015	204	10	approach	approach	NOUN
ap-1015	204	11	to	to	ADP
ap-1015	204	12	edge	edge	NOUN
ap-1015	204	13	detection	detection	NOUN
ap-1015	204	14	.	.	PUNCT
ap-1015	205	1	ieee	ieee	PROPN
ap-1015	205	2	trans	trans	PROPN
ap-1015	205	3	.	.	PUNCT
ap-1015	206	1	pattern	pattern	NOUN
ap-1015	206	2	analysis	analysis	NOUN
ap-1015	206	3	and	and	CCONJ
ap-1015	206	4	machine	machine	NOUN
ap-1015	206	5	intelligence	intelligence	NOUN
ap-1015	206	6	,	,	PUNCT
ap-1015	206	7	vol	vol	NOUN
ap-1015	206	8	.	.	PROPN
ap-1015	206	9	8	8	NUM
ap-1015	206	10	(	(	PUNCT
ap-1015	206	11	1986	1986	NUM
ap-1015	206	12	)	)	PUNCT
ap-1015	206	13	,	,	PUNCT
ap-1015	206	14	p.	p.	NOUN
ap-1015	206	15	679–714	679–714	NUM
ap-1015	206	16	.	.	PUNCT
ap-1015	207	1	[	[	X
ap-1015	207	2	3	3	NUM
ap-1015	207	3	]	]	SYM
ap-1015	207	4	fischler	fischler	NOUN
ap-1015	207	5	,	,	PUNCT
ap-1015	207	6	m.	m.	NOUN
ap-1015	207	7	a.	a.	PROPN
ap-1015	207	8	,	,	PUNCT
ap-1015	207	9	bolles	bolles	PROPN
ap-1015	207	10	,	,	PUNCT
ap-1015	207	11	r.	r.	PROPN
ap-1015	207	12	c.	c.	PROPN
ap-1015	207	13	:	:	PUNCT
ap-1015	207	14	random	random	ADJ
ap-1015	207	15	sample	sample	NOUN
ap-1015	207	16	consensus	consensus	NOUN
ap-1015	207	17	:	:	PUNCT
ap-1015	207	18	a	a	DET
ap-1015	207	19	paradigm	paradigm	NOUN
ap-1015	207	20	for	for	ADP
ap-1015	207	21	model	model	NOUN
ap-1015	207	22	fitting	fit	VERB
ap-1015	207	23	with	with	ADP
ap-1015	207	24	applications	application	NOUN
ap-1015	207	25	to	to	PART
ap-1015	207	26	image	image	VERB
ap-1015	207	27	analysis	analysis	NOUN
ap-1015	207	28	and	and	CCONJ
ap-1015	207	29	automated	automate	VERB
ap-1015	207	30	cartography	cartography	NOUN
ap-1015	207	31	.	.	PUNCT
ap-1015	208	1	commun	commun	PROPN
ap-1015	208	2	.	.	PUNCT
ap-1015	209	1	acm	acm	PROPN
ap-1015	209	2	,	,	PUNCT
ap-1015	209	3	vol	vol	NOUN
ap-1015	209	4	.	.	PROPN
ap-1015	209	5	24	24	NUM
ap-1015	209	6	(	(	PUNCT
ap-1015	209	7	1981	1981	NUM
ap-1015	209	8	)	)	PUNCT
ap-1015	209	9	,	,	PUNCT
ap-1015	209	10	no	no	INTJ
ap-1015	209	11	.	.	NOUN
ap-1015	209	12	6	6	NUM
ap-1015	209	13	,	,	PUNCT
ap-1015	209	14	p.	p.	NOUN
ap-1015	209	15	381–395	381–395	NUM
ap-1015	209	16	.	.	PUNCT
ap-1015	210	1	[	[	X
ap-1015	210	2	4	4	NUM
ap-1015	210	3	]	]	SYM
ap-1015	210	4	furlong	furlong	PROPN
ap-1015	210	5	,	,	PUNCT
ap-1015	210	6	b.	b.	PROPN
ap-1015	210	7	,	,	PUNCT
ap-1015	210	8	motakef	motakef	NOUN
ap-1015	210	9	,	,	PUNCT
ap-1015	210	10	s.	s.	PROPN
ap-1015	210	11	:	:	PUNCT
ap-1015	210	12	scanning	scan	VERB
ap-1015	210	13	lenses	lense	NOUN
ap-1015	210	14	and	and	CCONJ
ap-1015	210	15	systems	system	NOUN
ap-1015	210	16	.	.	PUNCT
ap-1015	211	1	news	news	NOUN
ap-1015	211	2	form	form	NOUN
ap-1015	211	3	cvi	cvi	PROPN
ap-1015	211	4	melles	melles	PROPN
ap-1015	211	5	griot	griot	NOUN
ap-1015	211	6	,	,	PUNCT
ap-1015	211	7	november	november	PROPN
ap-1015	211	8	,	,	PUNCT
ap-1015	211	9	28	28	NUM
ap-1015	211	10	2007	2007	NUM
ap-1015	211	11	.	.	PUNCT
ap-1015	212	1	[	[	X
ap-1015	212	2	5	5	NUM
ap-1015	212	3	]	]	X
ap-1015	212	4	gander	gander	NOUN
ap-1015	212	5	,	,	PUNCT
ap-1015	212	6	w.	w.	PROPN
ap-1015	212	7	,	,	PUNCT
ap-1015	212	8	golub	golub	PROPN
ap-1015	212	9	,	,	PUNCT
ap-1015	212	10	g.	g.	PROPN
ap-1015	212	11	h.	h.	PROPN
ap-1015	212	12	,	,	PUNCT
ap-1015	212	13	strebel	strebel	NOUN
ap-1015	212	14	,	,	PUNCT
ap-1015	212	15	r.	r.	PROPN
ap-1015	212	16	:	:	PUNCT
ap-1015	212	17	least	least	ADJ
ap-1015	212	18	-	-	PUNCT
ap-1015	212	19	squares	square	NOUN
ap-1015	212	20	fitting	fitting	ADJ
ap-1015	212	21	of	of	ADP
ap-1015	212	22	circles	circle	NOUN
ap-1015	212	23	and	and	CCONJ
ap-1015	212	24	ellipses	ellipsis	NOUN
ap-1015	212	25	.	.	PUNCT
ap-1015	213	1	in	in	ADP
ap-1015	213	2	numerical	numerical	ADJ
ap-1015	213	3	analysis	analysis	NOUN
ap-1015	213	4	(	(	PUNCT
ap-1015	213	5	in	in	ADP
ap-1015	213	6	honour	honour	NOUN
ap-1015	213	7	of	of	ADP
ap-1015	213	8	jean	jean	PROPN
ap-1015	213	9	meinguet	meinguet	PROPN
ap-1015	213	10	)	)	PUNCT
ap-1015	213	11	,	,	PUNCT
ap-1015	213	12	1996	1996	NUM
ap-1015	213	13	p.	p.	NOUN
ap-1015	213	14	63–84	63–84	NOUN
ap-1015	213	15	.	.	PUNCT
ap-1015	214	1	[	[	X
ap-1015	214	2	6	6	NUM
ap-1015	214	3	]	]	PUNCT
ap-1015	214	4	borgefors	borgefor	NOUN
ap-1015	214	5	,	,	PUNCT
ap-1015	214	6	g.	g.	NOUN
ap-1015	214	7	:	:	PUNCT
ap-1015	214	8	hierarchical	hierarchical	ADJ
ap-1015	214	9	chamfer	chamfer	NOUN
ap-1015	214	10	matching	matching	NOUN
ap-1015	214	11	:	:	PUNCT
ap-1015	214	12	a	a	DET
ap-1015	214	13	parametric	parametric	ADJ
ap-1015	214	14	edge	edge	NOUN
ap-1015	214	15	matching	matching	NOUN
ap-1015	214	16	algorithm	algorithm	NOUN
ap-1015	214	17	.	.	PUNCT
ap-1015	215	1	ieee	ieee	NOUN
ap-1015	215	2	transaction	transaction	NOUN
ap-1015	215	3	on	on	ADP
ap-1015	215	4	pattern	pattern	NOUN
ap-1015	215	5	analysis	analysis	NOUN
ap-1015	215	6	and	and	CCONJ
ap-1015	215	7	machine	machine	NOUN
ap-1015	215	8	intelligence	intelligence	NOUN
ap-1015	215	9	,	,	PUNCT
ap-1015	215	10	vol	vol	NOUN
ap-1015	215	11	.	.	PROPN
ap-1015	216	1	10	10	NUM
ap-1015	216	2	(	(	PUNCT
ap-1015	216	3	1988	1988	NUM
ap-1015	216	4	)	)	PUNCT
ap-1015	216	5	,	,	PUNCT
ap-1015	216	6	no	no	INTJ
ap-1015	216	7	.	.	NOUN
ap-1015	216	8	6	6	NUM
ap-1015	216	9	,	,	PUNCT
ap-1015	216	10	p.	p.	NOUN
ap-1015	216	11	849–865	849–865	NUM
ap-1015	216	12	,	,	PUNCT
ap-1015	216	13	november	november	PROPN
ap-1015	216	14	1988	1988	NUM
ap-1015	216	15	.	.	PUNCT
ap-1015	217	1	[	[	X
ap-1015	217	2	7	7	X
ap-1015	217	3	]	]	X
ap-1015	217	4	hough	hough	PROPN
ap-1015	217	5	,	,	PUNCT
ap-1015	217	6	p.	p.	NOUN
ap-1015	217	7	v.	v.	CCONJ
ap-1015	217	8	c.	c.	PROPN
ap-1015	217	9	,	,	PUNCT
ap-1015	217	10	arbor	arbor	PROPN
ap-1015	217	11	,	,	PUNCT
ap-1015	217	12	a.	a.	NOUN
ap-1015	217	13	:	:	PUNCT
ap-1015	217	14	method	method	NOUN
ap-1015	217	15	and	and	CCONJ
ap-1015	217	16	means	mean	VERB
ap-1015	217	17	for	for	ADP
ap-1015	217	18	recognizing	recognize	VERB
ap-1015	217	19	complex	complex	ADJ
ap-1015	217	20	patterns	pattern	NOUN
ap-1015	217	21	.	.	PUNCT
ap-1015	218	1	united	united	PROPN
ap-1015	218	2	states	states	PROPN
ap-1015	218	3	patent	patent	PROPN
ap-1015	218	4	and	and	CCONJ
ap-1015	218	5	trademark	trademark	NOUN
ap-1015	218	6	office	office	NOUN
ap-1015	218	7	,	,	PUNCT
ap-1015	218	8	3069654	3069654	NUM
ap-1015	218	9	,	,	PUNCT
ap-1015	218	10	1962	1962	NUM
ap-1015	218	11	.	.	PUNCT
ap-1015	219	1	[	[	X
ap-1015	219	2	8	8	NUM
ap-1015	219	3	]	]	X
ap-1015	219	4	mcgill	mcgill	PROPN
ap-1015	219	5	,	,	PUNCT
ap-1015	219	6	r.	r.	PROPN
ap-1015	219	7	,	,	PUNCT
ap-1015	219	8	tukey	tukey	PROPN
ap-1015	219	9	,	,	PUNCT
ap-1015	219	10	w.	w.	PROPN
ap-1015	219	11	j.	j.	PROPN
ap-1015	219	12	,	,	PUNCT
ap-1015	219	13	larsen	larsen	PROPN
ap-1015	219	14	,	,	PUNCT
ap-1015	219	15	w.	w.	PROPN
ap-1015	219	16	a.	a.	PROPN
ap-1015	219	17	:	:	PUNCT
ap-1015	219	18	variations	variation	NOUN
ap-1015	219	19	of	of	ADP
ap-1015	219	20	box	box	NOUN
ap-1015	219	21	plots	plot	NOUN
ap-1015	219	22	.	.	PUNCT
ap-1015	220	1	in	in	ADP
ap-1015	220	2	the	the	DET
ap-1015	220	3	american	american	PROPN
ap-1015	220	4	statistician	statistician	PROPN
ap-1015	220	5	,	,	PUNCT
ap-1015	220	6	vol	vol	NOUN
ap-1015	220	7	.	.	PROPN
ap-1015	220	8	32	32	NUM
ap-1015	220	9	(	(	PUNCT
ap-1015	220	10	1978	1978	NUM
ap-1015	220	11	)	)	PUNCT
ap-1015	220	12	,	,	PUNCT
ap-1015	220	13	p.	p.	NOUN
ap-1015	220	14	12–16	12–16	NUM
ap-1015	220	15	,	,	PUNCT
ap-1015	220	16	feb	feb	PROPN
ap-1015	220	17	.	.	PROPN
ap-1015	220	18	1978	1978	NUM
ap-1015	220	19	.	.	PUNCT
ap-1015	221	1	[	[	X
ap-1015	221	2	9	9	NUM
ap-1015	221	3	]	]	X
ap-1015	221	4	werman	werman	PROPN
ap-1015	221	5	,	,	PUNCT
ap-1015	221	6	m.	m.	NOUN
ap-1015	221	7	,	,	PUNCT
ap-1015	221	8	weinshall	weinshall	PROPN
ap-1015	221	9	,	,	PUNCT
ap-1015	221	10	d.	d.	PROPN
ap-1015	221	11	:	:	PUNCT
ap-1015	221	12	similarity	similarity	NOUN
ap-1015	221	13	and	and	CCONJ
ap-1015	221	14	affine	affine	NOUN
ap-1015	221	15	distance	distance	NOUN
ap-1015	221	16	between	between	ADP
ap-1015	221	17	2d	2d	NUM
ap-1015	221	18	point	point	NOUN
ap-1015	221	19	sets	set	NOUN
ap-1015	221	20	.	.	PUNCT
ap-1015	222	1	in	in	ADP
ap-1015	222	2	proceedings	proceeding	NOUN
ap-1015	222	3	of	of	ADP
ap-1015	222	4	the	the	DET
ap-1015	222	5	12th	12th	ADJ
ap-1015	222	6	iapr	iapr	NOUN
ap-1015	222	7	international	international	ADJ
ap-1015	222	8	conference	conference	NOUN
ap-1015	222	9	on	on	ADP
ap-1015	222	10	pattern	pattern	NOUN
ap-1015	222	11	recognition	recognition	NOUN
ap-1015	222	12	,	,	PUNCT
ap-1015	222	13	vol	vol	NOUN
ap-1015	222	14	.	.	PROPN
ap-1015	222	15	1	1	NUM
ap-1015	222	16	(	(	PUNCT
ap-1015	222	17	1994	1994	NUM
ap-1015	222	18	)	)	PUNCT
ap-1015	222	19	,	,	PUNCT
ap-1015	222	20	p.	p.	NOUN
ap-1015	222	21	723	723	NUM
ap-1015	222	22	–	–	PUNCT
ap-1015	222	23	725	725	NUM
ap-1015	222	24	,	,	PUNCT
ap-1015	222	25	jerusalem	jerusalem	PROPN
ap-1015	222	26	,	,	PUNCT
ap-1015	222	27	israel	israel	PROPN
ap-1015	222	28	,	,	PUNCT
ap-1015	222	29	october	october	PROPN
ap-1015	222	30	1994	1994	NUM
ap-1015	222	31	.	.	PUNCT
ap-1015	223	1	ieee	ieee	NOUN
ap-1015	223	2	.	.	PUNCT
ap-1015	224	1	[	[	X
ap-1015	224	2	10	10	NUM
ap-1015	224	3	]	]	PUNCT
ap-1015	224	4	stache	stache	NOUN
ap-1015	224	5	,	,	PUNCT
ap-1015	224	6	n.	n.	PROPN
ap-1015	224	7	c.	c.	PROPN
ap-1015	224	8	,	,	PUNCT
ap-1015	224	9	zimmer	zimmer	PROPN
ap-1015	224	10	,	,	PUNCT
ap-1015	224	11	h.	h.	PROPN
ap-1015	224	12	,	,	PUNCT
ap-1015	224	13	gedicke	gedicke	PROPN
ap-1015	224	14	,	,	PUNCT
ap-1015	224	15	j.	j.	PROPN
ap-1015	224	16	,	,	PUNCT
ap-1015	224	17	olowinsky	olowinsky	ADJ
ap-1015	224	18	,	,	PUNCT
ap-1015	224	19	a.	a.	NOUN
ap-1015	224	20	,	,	PUNCT
ap-1015	224	21	aach	aach	NOUN
ap-1015	224	22	,	,	PUNCT
ap-1015	224	23	t.	t.	PROPN
ap-1015	224	24	:	:	PUNCT
ap-1015	224	25	robust	robust	ADJ
ap-1015	224	26	high	high	ADJ
ap-1015	224	27	-	-	PUNCT
ap-1015	224	28	speed	speed	NOUN
ap-1015	224	29	melt	melt	NOUN
ap-1015	224	30	pool	pool	NOUN
ap-1015	224	31	measurements	measurement	NOUN
ap-1015	224	32	for	for	ADP
ap-1015	224	33	laser	laser	NOUN
ap-1015	224	34	welding	welding	NOUN
ap-1015	224	35	with	with	ADP
ap-1015	224	36	sputter	sputter	NOUN
ap-1015	224	37	detection	detection	NOUN
ap-1015	224	38	capability	capability	NOUN
ap-1015	224	39	.	.	PUNCT
ap-1015	225	1	in	in	ADP
ap-1015	225	2	dagm07	dagm07	PROPN
ap-1015	225	3	:	:	PUNCT
ap-1015	225	4	29th	29th	ADJ
ap-1015	225	5	annual	annual	ADJ
ap-1015	225	6	symposium	symposium	NOUN
ap-1015	225	7	of	of	ADP
ap-1015	225	8	the	the	DET
ap-1015	225	9	german	german	ADJ
ap-1015	225	10	association	association	NOUN
ap-1015	225	11	for	for	ADP
ap-1015	225	12	pattern	pattern	NOUN
ap-1015	225	13	recognition	recognition	NOUN
ap-1015	225	14	,	,	PUNCT
ap-1015	225	15	heidelberg	heidelberg	PROPN
ap-1015	225	16	,	,	PUNCT
ap-1015	225	17	september	september	PROPN
ap-1015	225	18	2007	2007	NUM
ap-1015	225	19	.	.	PUNCT
ap-1015	226	1	german	german	ADJ
ap-1015	226	2	association	association	NOUN
ap-1015	226	3	for	for	ADP
ap-1015	226	4	pattern	pattern	NOUN
ap-1015	226	5	recognition	recognition	NOUN
ap-1015	226	6	,	,	PUNCT
ap-1015	226	7	springer	springer	NOUN
ap-1015	226	8	verlag	verlag	NOUN
ap-1015	226	9	.	.	PUNCT
ap-1015	227	1	[	[	X
ap-1015	227	2	11	11	NUM
ap-1015	227	3	]	]	X
ap-1015	227	4	hartley	hartley	PROPN
ap-1015	227	5	,	,	PUNCT
ap-1015	227	6	r.	r.	PROPN
ap-1015	227	7	,	,	PUNCT
ap-1015	227	8	zisserman	zisserman	NOUN
ap-1015	227	9	,	,	PUNCT
ap-1015	227	10	a.	a.	NOUN
ap-1015	227	11	:	:	PUNCT
ap-1015	227	12	multiple	multiple	ADJ
ap-1015	227	13	view	view	NOUN
ap-1015	227	14	geometry	geometry	NOUN
ap-1015	227	15	in	in	ADP
ap-1015	227	16	computer	computer	NOUN
ap-1015	227	17	vision	vision	NOUN
ap-1015	227	18	.	.	PUNCT
ap-1015	228	1	cambridge	cambridge	PROPN
ap-1015	228	2	university	university	PROPN
ap-1015	228	3	press	press	NOUN
ap-1015	228	4	,	,	PUNCT
ap-1015	228	5	2000	2000	NUM
ap-1015	228	6	.	.	PUNCT
ap-1015	229	1	[	[	X
ap-1015	229	2	12	12	NUM
ap-1015	229	3	]	]	X
ap-1015	229	4	smith	smith	PROPN
ap-1015	229	5	,	,	PUNCT
ap-1015	229	6	s.	s.	PROPN
ap-1015	229	7	m.	m.	PROPN
ap-1015	229	8	,	,	PUNCT
ap-1015	229	9	brady	brady	PROPN
ap-1015	229	10	,	,	PUNCT
ap-1015	229	11	j.	j.	PROPN
ap-1015	229	12	m.	m.	PROPN
ap-1015	229	13	:	:	PUNCT
ap-1015	229	14	susan	susan	PROPN
ap-1015	229	15	–	–	PUNCT
ap-1015	229	16	a	a	DET
ap-1015	229	17	new	new	ADJ
ap-1015	229	18	approach	approach	NOUN
ap-1015	229	19	to	to	ADP
ap-1015	229	20	low	low	ADJ
ap-1015	229	21	level	level	NOUN
ap-1015	229	22	image	image	NOUN
ap-1015	229	23	processing	processing	NOUN
ap-1015	229	24	.	.	PUNCT
ap-1015	230	1	technical	technical	ADJ
ap-1015	230	2	report	report	PROPN
ap-1015	230	3	tr95sms1c	tr95sms1c	NOUN
ap-1015	230	4	,	,	PUNCT
ap-1015	230	5	oxford	oxford	PROPN
ap-1015	230	6	university	university	NOUN
ap-1015	230	7	,	,	PUNCT
ap-1015	230	8	chertsey	chertsey	NOUN
ap-1015	230	9	,	,	PUNCT
ap-1015	230	10	surrey	surrey	PROPN
ap-1015	230	11	,	,	PUNCT
ap-1015	230	12	uk	uk	PROPN
ap-1015	230	13	,	,	PUNCT
ap-1015	230	14	1995	1995	NUM
ap-1015	230	15	.	.	PUNCT
ap-1015	231	1	nicolaj	nicolaj	PROPN
ap-1015	231	2	c.	c.	PROPN
ap-1015	231	3	stache	stache	NOUN
ap-1015	231	4	e	e	NOUN
ap-1015	231	5	-	-	NOUN
ap-1015	231	6	mail	mail	NOUN
ap-1015	231	7	:	:	PUNCT
ap-1015	231	8	nicolaj.stache@lfb.rwth-aachen.de	nicolaj.stache@lfb.rwth-aachen.de	NUM
ap-1015	231	9	thi	thi	ADP
ap-1015	231	10	porn	porn	PROPN
ap-1015	231	11	nguyen	nguyen	PROPN
ap-1015	231	12	institute	institute	PROPN
ap-1015	231	13	of	of	ADP
ap-1015	231	14	imaging	imaging	PROPN
ap-1015	231	15	&	&	CCONJ
ap-1015	231	16	computer	computer	PROPN
ap-1015	231	17	vision	vision	PROPN
ap-1015	231	18	rwth	rwth	PROPN
ap-1015	231	19	aachen	aachen	PROPN
ap-1015	231	20	university	university	PROPN
ap-1015	231	21	d-52056	d-52056	PROPN
ap-1015	231	22	aachen	aachen	PROPN
ap-1015	231	23	,	,	PUNCT
ap-1015	231	24	germany	germany	PROPN
ap-1015	231	25	60	60	NUM
ap-1015	231	26	©	©	PROPN
ap-1015	231	27	czech	czech	PROPN
ap-1015	231	28	technical	technical	PROPN
ap-1015	231	29	university	university	PROPN
ap-1015	231	30	publishing	publishing	NOUN
ap-1015	231	31	house	house	NOUN
ap-1015	231	32	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-1015	231	33	acta	acta	PROPN
ap-1015	231	34	polytechnica	polytechnica	PROPN
ap-1015	231	35	vol	vol	NOUN
ap-1015	231	36	.	.	PUNCT
ap-1015	232	1	48	48	NUM
ap-1015	232	2	no	no	NOUN
ap-1015	232	3	.	.	PUNCT
ap-1015	233	1	3/2008	3/2008	NUM