id	sid	tid	token	lemma	pos
ap-1225	1	1	ap-4-10.dvi	ap-4-10.dvi	PROPN
ap-1225	1	2	acta	acta	PROPN
ap-1225	1	3	polytechnica	polytechnica	PROPN
ap-1225	1	4	vol	vol	NOUN
ap-1225	1	5	.	.	PROPN
ap-1225	2	1	50	50	NUM
ap-1225	2	2	no	no	NOUN
ap-1225	2	3	.	.	PUNCT
ap-1225	3	1	4/2010	4/2010	NUM
ap-1225	3	2	projective	projective	ADJ
ap-1225	3	3	3d	3d	NOUN
ap-1225	3	4	-	-	PUNCT
ap-1225	3	5	reconstruction	reconstruction	NOUN
ap-1225	3	6	of	of	ADP
ap-1225	3	7	uncalibrated	uncalibrated	ADJ
ap-1225	3	8	endoscopic	endoscopic	ADJ
ap-1225	3	9	images	image	NOUN
ap-1225	3	10	p.	p.	NOUN
ap-1225	3	11	faltin	faltin	PROPN
ap-1225	3	12	,	,	PUNCT
ap-1225	3	13	a.	a.	NOUN
ap-1225	3	14	behrens	behrens	PROPN
ap-1225	3	15	abstract	abstract	VERB
ap-1225	3	16	the	the	DET
ap-1225	3	17	most	most	ADV
ap-1225	3	18	common	common	ADJ
ap-1225	3	19	medical	medical	ADJ
ap-1225	3	20	diagnostic	diagnostic	ADJ
ap-1225	3	21	method	method	NOUN
ap-1225	3	22	for	for	ADP
ap-1225	3	23	urinary	urinary	ADJ
ap-1225	3	24	bladder	bladder	NOUN
ap-1225	3	25	cancer	cancer	NOUN
ap-1225	3	26	is	be	AUX
ap-1225	3	27	cystoscopy	cystoscopy	NOUN
ap-1225	3	28	.	.	PUNCT
ap-1225	4	1	this	this	DET
ap-1225	4	2	inspection	inspection	NOUN
ap-1225	4	3	of	of	ADP
ap-1225	4	4	the	the	DET
ap-1225	4	5	bladder	bladder	NOUN
ap-1225	4	6	is	be	AUX
ap-1225	4	7	performed	perform	VERB
ap-1225	4	8	by	by	ADP
ap-1225	4	9	a	a	DET
ap-1225	4	10	rigid	rigid	ADJ
ap-1225	4	11	endoscope	endoscope	NOUN
ap-1225	4	12	,	,	PUNCT
ap-1225	4	13	which	which	PRON
ap-1225	4	14	is	be	AUX
ap-1225	4	15	usually	usually	ADV
ap-1225	4	16	guided	guide	VERB
ap-1225	4	17	close	close	ADV
ap-1225	4	18	to	to	ADP
ap-1225	4	19	the	the	DET
ap-1225	4	20	bladder	bladder	NOUN
ap-1225	4	21	wall	wall	NOUN
ap-1225	4	22	.	.	PUNCT
ap-1225	5	1	this	this	PRON
ap-1225	5	2	causes	cause	VERB
ap-1225	5	3	a	a	DET
ap-1225	5	4	very	very	ADV
ap-1225	5	5	limited	limited	ADJ
ap-1225	5	6	field	field	NOUN
ap-1225	5	7	of	of	ADP
ap-1225	5	8	view	view	NOUN
ap-1225	5	9	;	;	PUNCT
ap-1225	5	10	difficulty	difficulty	NOUN
ap-1225	5	11	of	of	ADP
ap-1225	5	12	navigation	navigation	NOUN
ap-1225	5	13	is	be	AUX
ap-1225	5	14	aggravated	aggravate	VERB
ap-1225	5	15	by	by	ADP
ap-1225	5	16	the	the	DET
ap-1225	5	17	usage	usage	NOUN
ap-1225	5	18	of	of	ADP
ap-1225	5	19	angled	angled	ADJ
ap-1225	5	20	endoscopes	endoscope	NOUN
ap-1225	5	21	.	.	PUNCT
ap-1225	6	1	these	these	DET
ap-1225	6	2	factors	factor	NOUN
ap-1225	6	3	cause	cause	VERB
ap-1225	6	4	difficulties	difficulty	NOUN
ap-1225	6	5	in	in	ADP
ap-1225	6	6	orientation	orientation	NOUN
ap-1225	6	7	and	and	CCONJ
ap-1225	6	8	visual	visual	ADJ
ap-1225	6	9	control	control	NOUN
ap-1225	6	10	.	.	PUNCT
ap-1225	7	1	to	to	PART
ap-1225	7	2	overcome	overcome	VERB
ap-1225	7	3	this	this	DET
ap-1225	7	4	problem	problem	NOUN
ap-1225	7	5	,	,	PUNCT
ap-1225	7	6	the	the	DET
ap-1225	7	7	paper	paper	NOUN
ap-1225	7	8	presents	present	VERB
ap-1225	7	9	a	a	DET
ap-1225	7	10	method	method	NOUN
ap-1225	7	11	for	for	ADP
ap-1225	7	12	extracting	extract	VERB
ap-1225	7	13	3d	3d	NUM
ap-1225	7	14	information	information	NOUN
ap-1225	7	15	from	from	ADP
ap-1225	7	16	uncalibrated	uncalibrated	ADJ
ap-1225	7	17	endoscopic	endoscopic	ADJ
ap-1225	7	18	image	image	NOUN
ap-1225	7	19	sequences	sequence	NOUN
ap-1225	7	20	and	and	CCONJ
ap-1225	7	21	for	for	ADP
ap-1225	7	22	reconstructing	reconstruct	VERB
ap-1225	7	23	the	the	DET
ap-1225	7	24	scene	scene	NOUN
ap-1225	7	25	content	content	NOUN
ap-1225	7	26	.	.	PUNCT
ap-1225	8	1	the	the	DET
ap-1225	8	2	method	method	NOUN
ap-1225	8	3	uses	use	VERB
ap-1225	8	4	the	the	DET
ap-1225	8	5	surf	surf	NOUN
ap-1225	8	6	-	-	PUNCT
ap-1225	8	7	algorithm	algorithm	NOUN
ap-1225	8	8	to	to	PART
ap-1225	8	9	extract	extract	VERB
ap-1225	8	10	features	feature	NOUN
ap-1225	8	11	from	from	ADP
ap-1225	8	12	the	the	DET
ap-1225	8	13	images	image	NOUN
ap-1225	8	14	and	and	CCONJ
ap-1225	8	15	relates	relate	VERB
ap-1225	8	16	the	the	DET
ap-1225	8	17	images	image	NOUN
ap-1225	8	18	by	by	ADP
ap-1225	8	19	advanced	advanced	ADJ
ap-1225	8	20	matching	matching	NOUN
ap-1225	8	21	.	.	PUNCT
ap-1225	9	1	to	to	PART
ap-1225	9	2	stabilize	stabilize	VERB
ap-1225	9	3	the	the	DET
ap-1225	9	4	matching	matching	NOUN
ap-1225	9	5	,	,	PUNCT
ap-1225	9	6	the	the	DET
ap-1225	9	7	epipolar	epipolar	ADJ
ap-1225	9	8	geometry	geometry	NOUN
ap-1225	9	9	is	be	AUX
ap-1225	9	10	extracted	extract	VERB
ap-1225	9	11	for	for	ADP
ap-1225	9	12	each	each	DET
ap-1225	9	13	image	image	NOUN
ap-1225	9	14	pair	pair	NOUN
ap-1225	9	15	using	use	VERB
ap-1225	9	16	a	a	DET
ap-1225	9	17	modified	modify	VERB
ap-1225	9	18	ransac	ransac	NOUN
ap-1225	9	19	-	-	PUNCT
ap-1225	9	20	algorithm	algorithm	NOUN
ap-1225	9	21	.	.	PUNCT
ap-1225	10	1	afterwards	afterwards	ADV
ap-1225	10	2	these	these	DET
ap-1225	10	3	matched	match	VERB
ap-1225	10	4	point	point	NOUN
ap-1225	10	5	pairs	pair	NOUN
ap-1225	10	6	are	be	AUX
ap-1225	10	7	used	use	VERB
ap-1225	10	8	to	to	PART
ap-1225	10	9	generate	generate	VERB
ap-1225	10	10	point	point	NOUN
ap-1225	10	11	triplets	triplet	NOUN
ap-1225	10	12	over	over	ADP
ap-1225	10	13	three	three	NUM
ap-1225	10	14	images	image	NOUN
ap-1225	10	15	and	and	CCONJ
ap-1225	10	16	to	to	PART
ap-1225	10	17	describe	describe	VERB
ap-1225	10	18	the	the	DET
ap-1225	10	19	trifocal	trifocal	ADJ
ap-1225	10	20	geometry	geometry	NOUN
ap-1225	10	21	.	.	PUNCT
ap-1225	11	1	the	the	DET
ap-1225	11	2	3d	3d	PROPN
ap-1225	11	3	scene	scene	NOUN
ap-1225	11	4	points	point	NOUN
ap-1225	11	5	are	be	AUX
ap-1225	11	6	determined	determine	VERB
ap-1225	11	7	by	by	ADP
ap-1225	11	8	applying	apply	VERB
ap-1225	11	9	triangulation	triangulation	NOUN
ap-1225	11	10	to	to	ADP
ap-1225	11	11	the	the	DET
ap-1225	11	12	matched	match	VERB
ap-1225	11	13	image	image	NOUN
ap-1225	11	14	points	point	NOUN
ap-1225	11	15	.	.	PUNCT
ap-1225	12	1	thus	thus	ADV
ap-1225	12	2	,	,	PUNCT
ap-1225	12	3	these	these	DET
ap-1225	12	4	points	point	NOUN
ap-1225	12	5	are	be	AUX
ap-1225	12	6	used	use	VERB
ap-1225	12	7	to	to	PART
ap-1225	12	8	generate	generate	VERB
ap-1225	12	9	a	a	DET
ap-1225	12	10	projective	projective	ADJ
ap-1225	12	11	3d	3d	NOUN
ap-1225	12	12	reconstruction	reconstruction	NOUN
ap-1225	12	13	of	of	ADP
ap-1225	12	14	the	the	DET
ap-1225	12	15	scene	scene	NOUN
ap-1225	12	16	,	,	PUNCT
ap-1225	12	17	and	and	CCONJ
ap-1225	12	18	provide	provide	VERB
ap-1225	12	19	the	the	DET
ap-1225	12	20	first	first	ADJ
ap-1225	12	21	step	step	NOUN
ap-1225	12	22	for	for	ADP
ap-1225	12	23	further	further	ADJ
ap-1225	12	24	metric	metric	ADJ
ap-1225	12	25	reconstructions	reconstruction	NOUN
ap-1225	12	26	.	.	PUNCT
ap-1225	13	1	keywords	keyword	NOUN
ap-1225	13	2	:	:	PUNCT
ap-1225	13	3	3d	3d	NUM
ap-1225	13	4	reconstruction	reconstruction	NOUN
ap-1225	13	5	,	,	PUNCT
ap-1225	13	6	uncalibrated	uncalibrated	ADJ
ap-1225	13	7	camera	camera	NOUN
ap-1225	13	8	,	,	PUNCT
ap-1225	13	9	epipolar	epipolar	ADJ
ap-1225	13	10	geometry	geometry	NOUN
ap-1225	13	11	,	,	PUNCT
ap-1225	13	12	trifocal	trifocal	ADJ
ap-1225	13	13	geometry	geometry	NOUN
ap-1225	13	14	,	,	PUNCT
ap-1225	13	15	bladder	bladder	NOUN
ap-1225	13	16	,	,	PUNCT
ap-1225	13	17	cystoscopy	cystoscopy	NOUN
ap-1225	13	18	,	,	PUNCT
ap-1225	13	19	endoscopy	endoscopy	NOUN
ap-1225	13	20	.	.	PUNCT
ap-1225	14	1	1	1	NUM
ap-1225	14	2	introduction	introduction	NOUN
ap-1225	14	3	with	with	ADP
ap-1225	14	4	about	about	ADV
ap-1225	14	5	68	68	NUM
ap-1225	14	6	810	810	NUM
ap-1225	14	7	new	new	ADJ
ap-1225	14	8	cases	case	NOUN
ap-1225	14	9	in	in	ADP
ap-1225	14	10	2008	2008	NUM
ap-1225	14	11	in	in	ADP
ap-1225	14	12	the	the	DET
ap-1225	14	13	united	united	PROPN
ap-1225	14	14	states	states	PROPN
ap-1225	14	15	[	[	X
ap-1225	14	16	1	1	NUM
ap-1225	14	17	]	]	PUNCT
ap-1225	14	18	,	,	PUNCT
ap-1225	14	19	bladder	bladder	NOUN
ap-1225	14	20	cancer	cancer	NOUN
ap-1225	14	21	is	be	AUX
ap-1225	14	22	a	a	DET
ap-1225	14	23	common	common	ADJ
ap-1225	14	24	disease	disease	NOUN
ap-1225	14	25	of	of	ADP
ap-1225	14	26	the	the	DET
ap-1225	14	27	urinary	urinary	ADJ
ap-1225	14	28	system	system	NOUN
ap-1225	14	29	.	.	PUNCT
ap-1225	15	1	tumors	tumor	NOUN
ap-1225	15	2	are	be	AUX
ap-1225	15	3	usually	usually	ADV
ap-1225	15	4	inspected	inspect	VERB
ap-1225	15	5	and	and	CCONJ
ap-1225	15	6	treated	treat	VERB
ap-1225	15	7	by	by	ADP
ap-1225	15	8	endoscopic	endoscopic	ADJ
ap-1225	15	9	interventions	intervention	NOUN
ap-1225	15	10	.	.	PUNCT
ap-1225	16	1	urological	urological	ADJ
ap-1225	16	2	intervention	intervention	NOUN
ap-1225	16	3	of	of	ADP
ap-1225	16	4	the	the	DET
ap-1225	16	5	bladder	bladder	NOUN
ap-1225	16	6	and	and	CCONJ
ap-1225	16	7	urethra	urethra	NOUN
ap-1225	16	8	is	be	AUX
ap-1225	16	9	also	also	ADV
ap-1225	16	10	called	call	VERB
ap-1225	16	11	cystoscopy	cystoscopy	NOUN
ap-1225	16	12	.	.	PUNCT
ap-1225	17	1	the	the	DET
ap-1225	17	2	cystoscope	cystoscope	NOUN
ap-1225	17	3	is	be	AUX
ap-1225	17	4	inserted	insert	VERB
ap-1225	17	5	into	into	ADP
ap-1225	17	6	the	the	DET
ap-1225	17	7	bladder	bladder	NOUN
ap-1225	17	8	through	through	ADP
ap-1225	17	9	the	the	DET
ap-1225	17	10	urethra	urethra	NOUN
ap-1225	17	11	,	,	PUNCT
ap-1225	17	12	which	which	PRON
ap-1225	17	13	allows	allow	VERB
ap-1225	17	14	an	an	DET
ap-1225	17	15	inspection	inspection	NOUN
ap-1225	17	16	of	of	ADP
ap-1225	17	17	the	the	DET
ap-1225	17	18	bladder	bladder	NOUN
ap-1225	17	19	wall	wall	NOUN
ap-1225	17	20	.	.	PUNCT
ap-1225	18	1	the	the	DET
ap-1225	18	2	inspection	inspection	NOUN
ap-1225	18	3	is	be	AUX
ap-1225	18	4	usually	usually	ADV
ap-1225	18	5	performed	perform	VERB
ap-1225	18	6	close	close	ADV
ap-1225	18	7	to	to	ADP
ap-1225	18	8	the	the	DET
ap-1225	18	9	bladder	bladder	NOUN
ap-1225	18	10	wall	wall	NOUN
ap-1225	18	11	,	,	PUNCT
ap-1225	18	12	which	which	PRON
ap-1225	18	13	is	be	AUX
ap-1225	18	14	why	why	SCONJ
ap-1225	18	15	the	the	DET
ap-1225	18	16	field	field	NOUN
ap-1225	18	17	of	of	ADP
ap-1225	18	18	view	view	NOUN
ap-1225	18	19	is	be	AUX
ap-1225	18	20	very	very	ADV
ap-1225	18	21	limited	limited	ADJ
ap-1225	18	22	.	.	PUNCT
ap-1225	19	1	a	a	DET
ap-1225	19	2	possible	possible	ADJ
ap-1225	19	3	way	way	NOUN
ap-1225	19	4	to	to	PART
ap-1225	19	5	improve	improve	VERB
ap-1225	19	6	the	the	DET
ap-1225	19	7	difficult	difficult	ADJ
ap-1225	19	8	orientation	orientation	NOUN
ap-1225	19	9	is	be	AUX
ap-1225	19	10	e.g.	e.g.	ADV
ap-1225	19	11	by	by	ADP
ap-1225	19	12	using	use	VERB
ap-1225	19	13	an	an	DET
ap-1225	19	14	image	image	NOUN
ap-1225	19	15	mosaicking	mosaicke	VERB
ap-1225	19	16	algorithm	algorithm	NOUN
ap-1225	19	17	[	[	X
ap-1225	19	18	2	2	NUM
ap-1225	19	19	]	]	PUNCT
ap-1225	19	20	to	to	PART
ap-1225	19	21	provide	provide	VERB
ap-1225	19	22	a	a	DET
ap-1225	19	23	panoramic	panoramic	ADJ
ap-1225	19	24	overview	overview	NOUN
ap-1225	19	25	image	image	NOUN
ap-1225	19	26	,	,	PUNCT
ap-1225	19	27	or	or	CCONJ
ap-1225	19	28	by	by	ADP
ap-1225	19	29	generating	generate	VERB
ap-1225	19	30	a	a	DET
ap-1225	19	31	3d	3d	NUM
ap-1225	19	32	model	model	NOUN
ap-1225	19	33	of	of	ADP
ap-1225	19	34	the	the	DET
ap-1225	19	35	bladder	bladder	NOUN
ap-1225	19	36	.	.	PUNCT
ap-1225	20	1	this	this	DET
ap-1225	20	2	paper	paper	NOUN
ap-1225	20	3	presents	present	VERB
ap-1225	20	4	a	a	DET
ap-1225	20	5	method	method	NOUN
ap-1225	20	6	for	for	ADP
ap-1225	20	7	extracting	extract	VERB
ap-1225	20	8	3d	3d	NUM
ap-1225	20	9	information	information	NOUN
ap-1225	20	10	from	from	ADP
ap-1225	20	11	an	an	DET
ap-1225	20	12	uncalibrated	uncalibrated	ADJ
ap-1225	20	13	endoscopic	endoscopic	ADJ
ap-1225	20	14	image	image	NOUN
ap-1225	20	15	sequence	sequence	NOUN
ap-1225	20	16	,	,	PUNCT
ap-1225	20	17	which	which	PRON
ap-1225	20	18	is	be	AUX
ap-1225	20	19	then	then	ADV
ap-1225	20	20	used	use	VERB
ap-1225	20	21	for	for	ADP
ap-1225	20	22	a	a	DET
ap-1225	20	23	projective	projective	ADJ
ap-1225	20	24	3d	3d	NUM
ap-1225	20	25	bladder	bladder	NOUN
ap-1225	20	26	reconstruction	reconstruction	NOUN
ap-1225	20	27	.	.	PUNCT
ap-1225	21	1	in	in	ADP
ap-1225	21	2	further	further	ADJ
ap-1225	21	3	steps	step	NOUN
ap-1225	21	4	,	,	PUNCT
ap-1225	21	5	this	this	DET
ap-1225	21	6	information	information	NOUN
ap-1225	21	7	can	can	AUX
ap-1225	21	8	be	be	AUX
ap-1225	21	9	used	use	VERB
ap-1225	21	10	for	for	ADP
ap-1225	21	11	auto	auto	NOUN
ap-1225	21	12	calibration	calibration	NOUN
ap-1225	21	13	of	of	ADP
ap-1225	21	14	the	the	DET
ap-1225	21	15	camera	camera	NOUN
ap-1225	21	16	,	,	PUNCT
ap-1225	21	17	which	which	PRON
ap-1225	21	18	leads	lead	VERB
ap-1225	21	19	to	to	ADP
ap-1225	21	20	the	the	DET
ap-1225	21	21	desired	desire	VERB
ap-1225	21	22	metric	metric	ADJ
ap-1225	21	23	reconstruction	reconstruction	NOUN
ap-1225	21	24	.	.	PUNCT
ap-1225	22	1	the	the	DET
ap-1225	22	2	paper	paper	NOUN
ap-1225	22	3	is	be	AUX
ap-1225	22	4	organized	organize	VERB
ap-1225	22	5	as	as	SCONJ
ap-1225	22	6	follows	follow	VERB
ap-1225	22	7	:	:	PUNCT
ap-1225	22	8	in	in	ADP
ap-1225	22	9	section	section	NOUN
ap-1225	22	10	2	2	NUM
ap-1225	22	11	the	the	DET
ap-1225	22	12	image	image	NOUN
ap-1225	22	13	preprocessing	preprocessing	NOUN
ap-1225	22	14	,	,	PUNCT
ap-1225	22	15	the	the	DET
ap-1225	22	16	mathematical	mathematical	ADJ
ap-1225	22	17	reconstruction	reconstruction	NOUN
ap-1225	22	18	and	and	CCONJ
ap-1225	22	19	the	the	DET
ap-1225	22	20	reconstruction	reconstruction	NOUN
ap-1225	22	21	algorithms	algorithm	NOUN
ap-1225	22	22	are	be	AUX
ap-1225	22	23	described	describe	VERB
ap-1225	22	24	.	.	PUNCT
ap-1225	23	1	in	in	ADP
ap-1225	23	2	section	section	NOUN
ap-1225	23	3	3	3	NUM
ap-1225	23	4	the	the	DET
ap-1225	23	5	evaluated	evaluated	ADJ
ap-1225	23	6	image	image	NOUN
ap-1225	23	7	sequences	sequence	NOUN
ap-1225	23	8	and	and	CCONJ
ap-1225	23	9	the	the	DET
ap-1225	23	10	results	result	NOUN
ap-1225	23	11	are	be	AUX
ap-1225	23	12	presented	present	VERB
ap-1225	23	13	.	.	PUNCT
ap-1225	24	1	finally	finally	ADV
ap-1225	24	2	section	section	VERB
ap-1225	24	3	4	4	NUM
ap-1225	24	4	summarizes	summarize	NOUN
ap-1225	24	5	the	the	DET
ap-1225	24	6	results	result	NOUN
ap-1225	24	7	and	and	CCONJ
ap-1225	24	8	gives	give	VERB
ap-1225	24	9	prospects	prospect	NOUN
ap-1225	24	10	for	for	ADP
ap-1225	24	11	future	future	ADJ
ap-1225	24	12	work	work	NOUN
ap-1225	24	13	.	.	PUNCT
ap-1225	25	1	2	2	NUM
ap-1225	25	2	reconstruction	reconstruction	NOUN
ap-1225	25	3	2.1	2.1	NUM
ap-1225	25	4	imaging	image	VERB
ap-1225	25	5	the	the	DET
ap-1225	25	6	image	image	NOUN
ap-1225	25	7	sequences	sequence	NOUN
ap-1225	25	8	are	be	AUX
ap-1225	25	9	acquired	acquire	VERB
ap-1225	25	10	by	by	ADP
ap-1225	25	11	a	a	DET
ap-1225	25	12	rigid	rigid	ADJ
ap-1225	25	13	video	video	NOUN
ap-1225	25	14	endoscope	endoscope	NOUN
ap-1225	25	15	system	system	NOUN
ap-1225	25	16	,	,	PUNCT
ap-1225	25	17	in	in	ADP
ap-1225	25	18	this	this	DET
ap-1225	25	19	case	case	NOUN
ap-1225	25	20	an	an	DET
ap-1225	25	21	olympus	olympus	X
ap-1225	25	22	evis	evis	PROPN
ap-1225	25	23	exera	exera	PROPN
ap-1225	25	24	ii	ii	PROPN
ap-1225	25	25	platform	platform	NOUN
ap-1225	25	26	.	.	PUNCT
ap-1225	26	1	at	at	ADP
ap-1225	26	2	the	the	DET
ap-1225	26	3	ocular	ocular	NOUN
ap-1225	26	4	of	of	ADP
ap-1225	26	5	the	the	DET
ap-1225	26	6	cystoscope	cystoscope	NOUN
ap-1225	26	7	,	,	PUNCT
ap-1225	26	8	a	a	DET
ap-1225	26	9	ccd	ccd	NOUN
ap-1225	26	10	camera	camera	NOUN
ap-1225	26	11	is	be	AUX
ap-1225	26	12	attached	attach	VERB
ap-1225	26	13	,	,	PUNCT
ap-1225	26	14	which	which	PRON
ap-1225	26	15	delivers	deliver	VERB
ap-1225	26	16	the	the	DET
ap-1225	26	17	data	datum	NOUN
ap-1225	26	18	to	to	ADP
ap-1225	26	19	a	a	DET
ap-1225	26	20	workstation	workstation	NOUN
ap-1225	26	21	.	.	PUNCT
ap-1225	27	1	to	to	PART
ap-1225	27	2	illuminate	illuminate	VERB
ap-1225	27	3	the	the	DET
ap-1225	27	4	organ	organ	NOUN
ap-1225	27	5	,	,	PUNCT
ap-1225	27	6	a	a	DET
ap-1225	27	7	light	light	ADJ
ap-1225	27	8	source	source	NOUN
ap-1225	27	9	is	be	AUX
ap-1225	27	10	coupled	couple	VERB
ap-1225	27	11	into	into	ADP
ap-1225	27	12	the	the	DET
ap-1225	27	13	cystoscope	cystoscope	NOUN
ap-1225	27	14	.	.	PUNCT
ap-1225	28	1	to	to	PART
ap-1225	28	2	increase	increase	VERB
ap-1225	28	3	the	the	DET
ap-1225	28	4	field	field	NOUN
ap-1225	28	5	of	of	ADP
ap-1225	28	6	view	view	NOUN
ap-1225	28	7	,	,	PUNCT
ap-1225	28	8	endoscopes	endoscope	NOUN
ap-1225	28	9	usually	usually	ADV
ap-1225	28	10	have	have	VERB
ap-1225	28	11	a	a	DET
ap-1225	28	12	fish	fish	NOUN
ap-1225	28	13	-	-	PUNCT
ap-1225	28	14	eye	eye	NOUN
ap-1225	28	15	optic	optic	NOUN
ap-1225	28	16	.	.	PUNCT
ap-1225	29	1	a	a	DET
ap-1225	29	2	typical	typical	ADJ
ap-1225	29	3	setup	setup	NOUN
ap-1225	29	4	is	be	AUX
ap-1225	29	5	shown	show	VERB
ap-1225	29	6	in	in	ADP
ap-1225	29	7	fig	fig	NOUN
ap-1225	29	8	.	.	PUNCT
ap-1225	30	1	1	1	X
ap-1225	30	2	.	.	X
ap-1225	31	1	the	the	DET
ap-1225	31	2	realtimeframe	realtimeframe	NOUN
ap-1225	31	3	software	software	NOUN
ap-1225	31	4	framework	framework	NOUN
ap-1225	31	5	[	[	X
ap-1225	31	6	3	3	X
ap-1225	31	7	]	]	PUNCT
ap-1225	31	8	is	be	AUX
ap-1225	31	9	used	use	VERB
ap-1225	31	10	for	for	ADP
ap-1225	31	11	real	real	ADJ
ap-1225	31	12	-	-	PUNCT
ap-1225	31	13	time	time	NOUN
ap-1225	31	14	data	datum	NOUN
ap-1225	31	15	processing	processing	NOUN
ap-1225	31	16	of	of	ADP
ap-1225	31	17	endoscopic	endoscopic	ADJ
ap-1225	31	18	data	datum	NOUN
ap-1225	31	19	.	.	PUNCT
ap-1225	32	1	this	this	DET
ap-1225	32	2	software	software	NOUN
ap-1225	32	3	allows	allow	VERB
ap-1225	32	4	a	a	DET
ap-1225	32	5	very	very	ADV
ap-1225	32	6	rapid	rapid	ADJ
ap-1225	32	7	prototyping	prototyping	NOUN
ap-1225	32	8	of	of	ADP
ap-1225	32	9	algorithms	algorithm	NOUN
ap-1225	32	10	.	.	PUNCT
ap-1225	33	1	fig	fig	NOUN
ap-1225	33	2	.	.	PUNCT
ap-1225	34	1	1	1	NUM
ap-1225	34	2	:	:	PUNCT
ap-1225	34	3	a	a	DET
ap-1225	34	4	schematic	schematic	ADJ
ap-1225	34	5	view	view	NOUN
ap-1225	34	6	of	of	ADP
ap-1225	34	7	a	a	DET
ap-1225	34	8	rigid	rigid	ADJ
ap-1225	34	9	cystoscope	cystoscope	NOUN
ap-1225	34	10	2.2	2.2	NUM
ap-1225	34	11	distortion	distortion	NOUN
ap-1225	34	12	correction	correction	NOUN
ap-1225	34	13	cystoscope	cystoscope	NOUN
ap-1225	34	14	optics	optic	NOUN
ap-1225	34	15	produces	produce	VERB
ap-1225	34	16	a	a	DET
ap-1225	34	17	strongly	strongly	ADV
ap-1225	34	18	radial	radial	ADJ
ap-1225	34	19	distorted	distorted	ADJ
ap-1225	34	20	image	image	NOUN
ap-1225	34	21	,	,	PUNCT
ap-1225	34	22	which	which	PRON
ap-1225	34	23	has	have	VERB
ap-1225	34	24	to	to	PART
ap-1225	34	25	be	be	AUX
ap-1225	34	26	corrected	correct	VERB
ap-1225	34	27	to	to	PART
ap-1225	34	28	extract	extract	VERB
ap-1225	34	29	valid	valid	ADJ
ap-1225	34	30	3d	3d	PROPN
ap-1225	34	31	information	information	NOUN
ap-1225	34	32	.	.	PUNCT
ap-1225	35	1	to	to	PART
ap-1225	35	2	compensate	compensate	VERB
ap-1225	35	3	this	this	DET
ap-1225	35	4	distortion	distortion	NOUN
ap-1225	35	5	,	,	PUNCT
ap-1225	35	6	the	the	DET
ap-1225	35	7	method	method	NOUN
ap-1225	35	8	of	of	ADP
ap-1225	35	9	hartley	hartley	PROPN
ap-1225	35	10	and	and	CCONJ
ap-1225	35	11	kang	kang	PROPN
ap-1225	36	1	[	[	X
ap-1225	36	2	4	4	X
ap-1225	36	3	]	]	PUNCT
ap-1225	36	4	is	be	AUX
ap-1225	36	5	applied	apply	VERB
ap-1225	36	6	to	to	ADP
ap-1225	36	7	each	each	DET
ap-1225	36	8	image	image	NOUN
ap-1225	36	9	in	in	ADP
ap-1225	36	10	a	a	DET
ap-1225	36	11	preprocessing	preprocessing	NOUN
ap-1225	36	12	step	step	NOUN
ap-1225	36	13	.	.	PUNCT
ap-1225	37	1	the	the	DET
ap-1225	37	2	radial	radial	ADJ
ap-1225	37	3	distortion	distortion	NOUN
ap-1225	37	4	is	be	AUX
ap-1225	37	5	modeled	model	VERB
ap-1225	37	6	by	by	ADP
ap-1225	37	7	the	the	DET
ap-1225	37	8	function	function	NOUN
ap-1225	37	9	�	�	PROPN
ap-1225	37	10	xd	xd	NOUN
ap-1225	37	11	=	=	SYM
ap-1225	37	12	�	�	PROPN
ap-1225	37	13	z	z	PROPN
ap-1225	37	14	+	+	NOUN
ap-1225	37	15	λ(r	λ(r	X
ap-1225	37	16	)	)	PUNCT
ap-1225	37	17	·	·	PUNCT
ap-1225	37	18	(	(	PUNCT
ap-1225	37	19	�	�	PROPN
ap-1225	37	20	xu	xu	PROPN
ap-1225	37	21	−	−	PROPN
ap-1225	37	22	�	�	PROPN
ap-1225	37	23	z	z	NOUN
ap-1225	37	24	)	)	PUNCT
ap-1225	37	25	(	(	PUNCT
ap-1225	37	26	1	1	X
ap-1225	37	27	)	)	PUNCT
ap-1225	37	28	with	with	ADP
ap-1225	37	29	distorted	distorted	ADJ
ap-1225	37	30	point	point	NOUN
ap-1225	37	31	�	�	PROPN
ap-1225	37	32	xd	xd	NOUN
ap-1225	37	33	,	,	PUNCT
ap-1225	37	34	center	center	NOUN
ap-1225	37	35	of	of	ADP
ap-1225	37	36	distortion	distortion	NOUN
ap-1225	37	37	�	�	PROPN
ap-1225	37	38	z	z	PROPN
ap-1225	37	39	,	,	PUNCT
ap-1225	37	40	a	a	DET
ap-1225	37	41	function	function	NOUN
ap-1225	37	42	depending	depend	VERB
ap-1225	37	43	on	on	ADP
ap-1225	37	44	the	the	DET
ap-1225	37	45	radius	radius	NOUN
ap-1225	37	46	λ(r	λ(r	NOUN
ap-1225	37	47	)	)	PUNCT
ap-1225	37	48	and	and	CCONJ
ap-1225	37	49	corrected	correct	VERB
ap-1225	37	50	point	point	NOUN
ap-1225	37	51	�	�	PROPN
ap-1225	37	52	xu	xu	PROPN
ap-1225	37	53	.	.	PUNCT
ap-1225	38	1	λ(r	λ(r	X
ap-1225	38	2	)	)	PUNCT
ap-1225	38	3	is	be	AUX
ap-1225	38	4	not	not	PART
ap-1225	38	5	based	base	VERB
ap-1225	38	6	on	on	ADP
ap-1225	38	7	a	a	DET
ap-1225	38	8	fixed	fix	VERB
ap-1225	38	9	model	model	NOUN
ap-1225	38	10	function	function	NOUN
ap-1225	38	11	but	but	CCONJ
ap-1225	38	12	is	be	AUX
ap-1225	38	13	dynamically	dynamically	ADV
ap-1225	38	14	determined	determine	VERB
ap-1225	38	15	,	,	PUNCT
ap-1225	38	16	resulting	result	VERB
ap-1225	38	17	in	in	ADP
ap-1225	38	18	very	very	ADV
ap-1225	38	19	precise	precise	ADJ
ap-1225	38	20	distortion	distortion	NOUN
ap-1225	38	21	correction	correction	NOUN
ap-1225	38	22	.	.	PUNCT
ap-1225	39	1	an	an	DET
ap-1225	39	2	example	example	NOUN
ap-1225	39	3	using	use	VERB
ap-1225	39	4	the	the	DET
ap-1225	39	5	implementation	implementation	NOUN
ap-1225	39	6	from	from	ADP
ap-1225	39	7	[	[	X
ap-1225	39	8	8	8	NUM
ap-1225	39	9	]	]	PUNCT
ap-1225	39	10	is	be	AUX
ap-1225	39	11	shown	show	VERB
ap-1225	39	12	in	in	ADP
ap-1225	39	13	fig	fig	NOUN
ap-1225	39	14	.	.	PUNCT
ap-1225	40	1	2	2	NUM
ap-1225	40	2	.	.	NUM
ap-1225	40	3	29	29	NUM
ap-1225	40	4	acta	acta	PROPN
ap-1225	40	5	polytechnica	polytechnica	PROPN
ap-1225	40	6	vol	vol	NOUN
ap-1225	40	7	.	.	PROPN
ap-1225	41	1	50	50	NUM
ap-1225	41	2	no	no	NOUN
ap-1225	41	3	.	.	PUNCT
ap-1225	42	1	4/2010	4/2010	NUM
ap-1225	42	2	fig	fig	NOUN
ap-1225	42	3	.	.	PUNCT
ap-1225	43	1	2	2	NUM
ap-1225	43	2	:	:	PUNCT
ap-1225	43	3	image	image	NOUN
ap-1225	43	4	distorted	distort	VERB
ap-1225	43	5	(	(	PUNCT
ap-1225	43	6	left	leave	VERB
ap-1225	43	7	)	)	PUNCT
ap-1225	43	8	by	by	ADP
ap-1225	43	9	an	an	DET
ap-1225	43	10	endoscope	endoscope	NOUN
ap-1225	43	11	,	,	PUNCT
ap-1225	43	12	and	and	CCONJ
ap-1225	43	13	image	image	NOUN
ap-1225	43	14	after	after	ADP
ap-1225	43	15	correction	correction	NOUN
ap-1225	43	16	(	(	PUNCT
ap-1225	43	17	right	right	ADJ
ap-1225	43	18	)	)	PUNCT
ap-1225	43	19	2.3	2.3	NUM
ap-1225	43	20	feature	feature	NOUN
ap-1225	43	21	detection	detection	NOUN
ap-1225	43	22	feature	feature	NOUN
ap-1225	43	23	detection	detection	NOUN
ap-1225	43	24	is	be	AUX
ap-1225	43	25	accomplished	accomplish	VERB
ap-1225	43	26	by	by	ADP
ap-1225	43	27	the	the	DET
ap-1225	43	28	surfalgorithm	surfalgorithm	PROPN
ap-1225	43	29	[	[	X
ap-1225	43	30	5	5	NUM
ap-1225	43	31	]	]	PUNCT
ap-1225	43	32	,	,	PUNCT
ap-1225	43	33	which	which	PRON
ap-1225	43	34	extracts	extract	NOUN
ap-1225	43	35	and	and	CCONJ
ap-1225	43	36	describes	describe	VERB
ap-1225	43	37	distinctive	distinctive	ADJ
ap-1225	43	38	points	point	NOUN
ap-1225	43	39	in	in	ADP
ap-1225	43	40	each	each	DET
ap-1225	43	41	image	image	NOUN
ap-1225	43	42	independent	independent	ADJ
ap-1225	43	43	of	of	ADP
ap-1225	43	44	its	its	PRON
ap-1225	43	45	scale	scale	NOUN
ap-1225	43	46	,	,	PUNCT
ap-1225	43	47	position	position	NOUN
ap-1225	43	48	and	and	CCONJ
ap-1225	43	49	rotation	rotation	NOUN
ap-1225	43	50	.	.	PUNCT
ap-1225	44	1	to	to	PART
ap-1225	44	2	detect	detect	VERB
ap-1225	44	3	points	point	NOUN
ap-1225	44	4	of	of	ADP
ap-1225	44	5	interest	interest	NOUN
ap-1225	44	6	,	,	PUNCT
ap-1225	44	7	a	a	DET
ap-1225	44	8	hessian	hessian	ADJ
ap-1225	44	9	matrix	matrix	NOUN
ap-1225	44	10	containing	contain	VERB
ap-1225	44	11	the	the	DET
ap-1225	44	12	approximated	approximate	VERB
ap-1225	44	13	second	second	ADJ
ap-1225	44	14	order	order	NOUN
ap-1225	44	15	partial	partial	ADJ
ap-1225	44	16	derivatives	derivative	NOUN
ap-1225	44	17	of	of	ADP
ap-1225	44	18	a	a	DET
ap-1225	44	19	gaussian	gaussian	ADJ
ap-1225	44	20	function	function	NOUN
ap-1225	44	21	from	from	ADP
ap-1225	44	22	fig	fig	NOUN
ap-1225	44	23	.	.	PUNCT
ap-1225	45	1	3	3	NUM
ap-1225	45	2	is	be	AUX
ap-1225	45	3	used	use	VERB
ap-1225	45	4	.	.	PUNCT
ap-1225	46	1	the	the	DET
ap-1225	46	2	extracted	extract	VERB
ap-1225	46	3	features	feature	NOUN
ap-1225	46	4	are	be	AUX
ap-1225	46	5	described	describe	VERB
ap-1225	46	6	by	by	ADP
ap-1225	46	7	an	an	DET
ap-1225	46	8	analysis	analysis	NOUN
ap-1225	46	9	of	of	ADP
ap-1225	46	10	the	the	DET
ap-1225	46	11	surrounding	surround	VERB
ap-1225	46	12	area	area	NOUN
ap-1225	46	13	via	via	ADP
ap-1225	46	14	haar	haar	PROPN
ap-1225	46	15	wavelets	wavelet	NOUN
ap-1225	46	16	.	.	PUNCT
ap-1225	47	1	the	the	DET
ap-1225	47	2	results	result	NOUN
ap-1225	47	3	are	be	AUX
ap-1225	47	4	stored	store	VERB
ap-1225	47	5	in	in	ADP
ap-1225	47	6	the	the	DET
ap-1225	47	7	descriptor	descriptor	NOUN
ap-1225	47	8	vectors	vector	NOUN
ap-1225	47	9	of	of	ADP
ap-1225	47	10	the	the	DET
ap-1225	47	11	features	feature	NOUN
ap-1225	47	12	.	.	PUNCT
ap-1225	48	1	a	a	DET
ap-1225	48	2	simple	simple	ADJ
ap-1225	48	3	comparison	comparison	NOUN
ap-1225	48	4	of	of	ADP
ap-1225	48	5	different	different	ADJ
ap-1225	48	6	features	feature	NOUN
ap-1225	48	7	can	can	AUX
ap-1225	48	8	be	be	AUX
ap-1225	48	9	made	make	VERB
ap-1225	48	10	by	by	ADP
ap-1225	48	11	summing	sum	VERB
ap-1225	48	12	the	the	DET
ap-1225	48	13	absolute	absolute	ADJ
ap-1225	48	14	summed	summed	ADJ
ap-1225	48	15	differences	difference	NOUN
ap-1225	48	16	of	of	ADP
ap-1225	48	17	these	these	DET
ap-1225	48	18	vectors	vector	NOUN
ap-1225	48	19	.	.	PUNCT
ap-1225	49	1	fig	fig	NOUN
ap-1225	49	2	.	.	PUNCT
ap-1225	50	1	3	3	NUM
ap-1225	50	2	:	:	PUNCT
ap-1225	50	3	box	box	NOUN
ap-1225	50	4	filters	filter	NOUN
ap-1225	50	5	in	in	ADP
ap-1225	50	6	hessian	hessian	ADJ
ap-1225	50	7	matrix	matrix	NOUN
ap-1225	50	8	2.4	2.4	NUM
ap-1225	50	9	2	2	NUM
ap-1225	50	10	-	-	PUNCT
ap-1225	50	11	view	view	NOUN
ap-1225	50	12	correspondences	correspondence	NOUN
ap-1225	50	13	a	a	DET
ap-1225	50	14	simple	simple	ADJ
ap-1225	50	15	method	method	NOUN
ap-1225	50	16	for	for	ADP
ap-1225	50	17	generating	generate	VERB
ap-1225	50	18	correspondences	correspondence	NOUN
ap-1225	50	19	over	over	ADP
ap-1225	50	20	two	two	NUM
ap-1225	50	21	images	image	NOUN
ap-1225	50	22	is	be	AUX
ap-1225	50	23	brute	brute	ADJ
ap-1225	50	24	matching	matching	NOUN
ap-1225	50	25	.	.	PUNCT
ap-1225	51	1	during	during	ADP
ap-1225	51	2	this	this	DET
ap-1225	51	3	process	process	NOUN
ap-1225	51	4	,	,	PUNCT
ap-1225	51	5	each	each	DET
ap-1225	51	6	feature	feature	NOUN
ap-1225	51	7	f1	f1	NOUN
ap-1225	51	8	from	from	ADP
ap-1225	51	9	the	the	DET
ap-1225	51	10	first	first	ADJ
ap-1225	51	11	image	image	NOUN
ap-1225	51	12	is	be	AUX
ap-1225	51	13	compared	compare	VERB
ap-1225	51	14	with	with	ADP
ap-1225	51	15	every	every	DET
ap-1225	51	16	feature	feature	NOUN
ap-1225	51	17	f2	f2	ADV
ap-1225	51	18	from	from	ADP
ap-1225	51	19	the	the	DET
ap-1225	51	20	second	second	ADJ
ap-1225	51	21	image	image	NOUN
ap-1225	51	22	,	,	PUNCT
ap-1225	51	23	and	and	CCONJ
ap-1225	51	24	the	the	DET
ap-1225	51	25	f2	f2	NOUN
ap-1225	51	26	which	which	PRON
ap-1225	51	27	minimizes	minimize	VERB
ap-1225	51	28	the	the	DET
ap-1225	51	29	difference	difference	NOUN
ap-1225	51	30	between	between	ADP
ap-1225	51	31	the	the	DET
ap-1225	51	32	feature	feature	NOUN
ap-1225	51	33	vectors	vector	NOUN
ap-1225	51	34	is	be	AUX
ap-1225	51	35	chosen	choose	VERB
ap-1225	51	36	.	.	PUNCT
ap-1225	52	1	a	a	DET
ap-1225	52	2	correspondence	correspondence	NOUN
ap-1225	52	3	is	be	AUX
ap-1225	52	4	identified	identify	VERB
ap-1225	52	5	,	,	PUNCT
ap-1225	52	6	if	if	SCONJ
ap-1225	52	7	the	the	DET
ap-1225	52	8	difference	difference	NOUN
ap-1225	52	9	is	be	AUX
ap-1225	52	10	less	less	ADJ
ap-1225	52	11	than	than	ADP
ap-1225	52	12	a	a	DET
ap-1225	52	13	given	give	VERB
ap-1225	52	14	threshold	threshold	NOUN
ap-1225	52	15	.	.	PUNCT
ap-1225	53	1	this	this	DET
ap-1225	53	2	process	process	NOUN
ap-1225	53	3	usually	usually	ADV
ap-1225	53	4	results	result	VERB
ap-1225	53	5	in	in	ADP
ap-1225	53	6	a	a	DET
ap-1225	53	7	high	high	ADJ
ap-1225	53	8	number	number	NOUN
ap-1225	53	9	of	of	ADP
ap-1225	53	10	wrong	wrong	ADJ
ap-1225	53	11	correspondences	correspondence	NOUN
ap-1225	53	12	.	.	PUNCT
ap-1225	54	1	thus	thus	ADV
ap-1225	54	2	,	,	PUNCT
ap-1225	54	3	advanced	advanced	ADJ
ap-1225	54	4	matching	matching	NOUN
ap-1225	54	5	is	be	AUX
ap-1225	54	6	applied	apply	VERB
ap-1225	54	7	.	.	PUNCT
ap-1225	55	1	in	in	ADP
ap-1225	55	2	addition	addition	NOUN
ap-1225	55	3	to	to	ADP
ap-1225	55	4	forward	forward	ADV
ap-1225	55	5	matching	matching	NOUN
ap-1225	55	6	,	,	PUNCT
ap-1225	55	7	where	where	SCONJ
ap-1225	55	8	the	the	DET
ap-1225	55	9	best	good	ADJ
ap-1225	55	10	f2	f2	PROPN
ap-1225	55	11	for	for	ADP
ap-1225	55	12	each	each	DET
ap-1225	55	13	f1	f1	NOUN
ap-1225	55	14	is	be	AUX
ap-1225	55	15	chosen	choose	VERB
ap-1225	55	16	,	,	PUNCT
ap-1225	55	17	backward	backward	ADJ
ap-1225	55	18	matching	matching	NOUN
ap-1225	55	19	is	be	AUX
ap-1225	55	20	applied	apply	VERB
ap-1225	55	21	by	by	ADP
ap-1225	55	22	choosing	choose	VERB
ap-1225	55	23	the	the	DET
ap-1225	55	24	best	good	ADJ
ap-1225	55	25	f1	f1	NOUN
ap-1225	55	26	for	for	ADP
ap-1225	55	27	each	each	DET
ap-1225	55	28	f2	f2	NOUN
ap-1225	55	29	.	.	PUNCT
ap-1225	56	1	a	a	DET
ap-1225	56	2	correspondence	correspondence	NOUN
ap-1225	56	3	is	be	AUX
ap-1225	56	4	identified	identify	VERB
ap-1225	56	5	only	only	ADV
ap-1225	56	6	if	if	SCONJ
ap-1225	56	7	these	these	DET
ap-1225	56	8	two	two	NUM
ap-1225	56	9	matchings	matching	NOUN
ap-1225	56	10	are	be	AUX
ap-1225	56	11	equal	equal	ADJ
ap-1225	56	12	.	.	PUNCT
ap-1225	57	1	to	to	PART
ap-1225	57	2	improve	improve	VERB
ap-1225	57	3	the	the	DET
ap-1225	57	4	robustness	robustness	NOUN
ap-1225	57	5	,	,	PUNCT
ap-1225	57	6	a	a	DET
ap-1225	57	7	slight	slight	ADJ
ap-1225	57	8	restriction	restriction	NOUN
ap-1225	57	9	of	of	ADP
ap-1225	57	10	the	the	DET
ap-1225	57	11	scale	scale	NOUN
ap-1225	57	12	and	and	CCONJ
ap-1225	57	13	orientation	orientation	NOUN
ap-1225	57	14	of	of	ADP
ap-1225	57	15	the	the	DET
ap-1225	57	16	features	feature	NOUN
ap-1225	57	17	by	by	ADP
ap-1225	57	18	factor	factor	NOUN
ap-1225	57	19	two	two	NUM
ap-1225	57	20	,	,	PUNCT
ap-1225	57	21	respectively	respectively	ADV
ap-1225	57	22	45	45	NUM
ap-1225	57	23	◦	◦	NOUN
ap-1225	57	24	,	,	PUNCT
ap-1225	57	25	is	be	AUX
ap-1225	57	26	also	also	ADV
ap-1225	57	27	applied	apply	VERB
ap-1225	57	28	.	.	PUNCT
ap-1225	58	1	this	this	DET
ap-1225	58	2	assumption	assumption	NOUN
ap-1225	58	3	is	be	AUX
ap-1225	58	4	valid	valid	ADJ
ap-1225	58	5	since	since	SCONJ
ap-1225	58	6	the	the	DET
ap-1225	58	7	position	position	NOUN
ap-1225	58	8	of	of	ADP
ap-1225	58	9	the	the	DET
ap-1225	58	10	endoscope	endoscope	NOUN
ap-1225	58	11	does	do	AUX
ap-1225	58	12	not	not	PART
ap-1225	58	13	change	change	VERB
ap-1225	58	14	much	much	ADJ
ap-1225	58	15	between	between	ADP
ap-1225	58	16	two	two	NUM
ap-1225	58	17	sequential	sequential	ADJ
ap-1225	58	18	images	image	NOUN
ap-1225	58	19	in	in	ADP
ap-1225	58	20	a	a	DET
ap-1225	58	21	real	real	ADJ
ap-1225	58	22	bladder	bladder	NOUN
ap-1225	58	23	inspection	inspection	NOUN
ap-1225	58	24	.	.	PUNCT
ap-1225	59	1	the	the	DET
ap-1225	59	2	last	last	ADJ
ap-1225	59	3	check	check	NOUN
ap-1225	59	4	is	be	AUX
ap-1225	59	5	whether	whether	SCONJ
ap-1225	59	6	the	the	DET
ap-1225	59	7	detected	detect	VERB
ap-1225	59	8	best	good	ADJ
ap-1225	59	9	correspondence	correspondence	NOUN
ap-1225	59	10	is	be	AUX
ap-1225	59	11	reliable	reliable	ADJ
ap-1225	59	12	by	by	ADP
ap-1225	59	13	comparing	compare	VERB
ap-1225	59	14	its	its	PRON
ap-1225	59	15	distance	distance	NOUN
ap-1225	59	16	dbest	dbest	NOUN
ap-1225	59	17	with	with	ADP
ap-1225	59	18	the	the	DET
ap-1225	59	19	distance	distance	NOUN
ap-1225	59	20	d2ndbest	d2ndbest	NOUN
ap-1225	59	21	from	from	ADP
ap-1225	59	22	the	the	DET
ap-1225	59	23	second	second	ADV
ap-1225	59	24	-	-	PUNCT
ap-1225	59	25	best	good	ADJ
ap-1225	59	26	one	one	NUM
ap-1225	59	27	via	via	ADP
ap-1225	59	28	looking	look	VERB
ap-1225	59	29	at	at	ADP
ap-1225	59	30	their	their	PRON
ap-1225	59	31	ratio	ratio	NOUN
ap-1225	59	32	dbest	dbest	NOUN
ap-1225	59	33	/	/	SYM
ap-1225	59	34	d2ndbest	d2ndb	ADJ
ap-1225	59	35	>	>	X
ap-1225	59	36	τ	τ	PROPN
ap-1225	59	37	.	.	PUNCT
ap-1225	60	1	2.5	2.5	NUM
ap-1225	60	2	epipolar	epipolar	ADJ
ap-1225	60	3	geometry	geometry	NOUN
ap-1225	60	4	epipolar	epipolar	ADJ
ap-1225	60	5	geometry	geometry	NOUN
ap-1225	60	6	describes	describe	VERB
ap-1225	60	7	the	the	DET
ap-1225	60	8	setup	setup	NOUN
ap-1225	60	9	of	of	ADP
ap-1225	60	10	two	two	NUM
ap-1225	60	11	cameras	camera	NOUN
ap-1225	60	12	looking	look	VERB
ap-1225	60	13	at	at	ADP
ap-1225	60	14	the	the	DET
ap-1225	60	15	same	same	ADJ
ap-1225	60	16	scene	scene	NOUN
ap-1225	60	17	from	from	ADP
ap-1225	60	18	different	different	ADJ
ap-1225	60	19	points	point	NOUN
ap-1225	60	20	of	of	ADP
ap-1225	60	21	view	view	NOUN
ap-1225	60	22	.	.	PUNCT
ap-1225	61	1	while	while	SCONJ
ap-1225	61	2	in	in	ADP
ap-1225	61	3	this	this	DET
ap-1225	61	4	section	section	NOUN
ap-1225	61	5	only	only	ADV
ap-1225	61	6	the	the	DET
ap-1225	61	7	basic	basic	ADJ
ap-1225	61	8	fundamentals	fundamental	NOUN
ap-1225	61	9	are	be	AUX
ap-1225	61	10	described	describe	VERB
ap-1225	61	11	,	,	PUNCT
ap-1225	61	12	more	more	ADJ
ap-1225	61	13	details	detail	NOUN
ap-1225	61	14	can	can	AUX
ap-1225	61	15	be	be	AUX
ap-1225	61	16	found	find	VERB
ap-1225	61	17	in	in	ADP
ap-1225	61	18	[	[	X
ap-1225	61	19	14	14	NUM
ap-1225	61	20	]	]	PUNCT
ap-1225	61	21	.	.	PUNCT
ap-1225	62	1	an	an	DET
ap-1225	62	2	exemplary	exemplary	ADJ
ap-1225	62	3	camera	camera	NOUN
ap-1225	62	4	setup	setup	NOUN
ap-1225	62	5	showing	show	VERB
ap-1225	62	6	the	the	DET
ap-1225	62	7	camera	camera	NOUN
ap-1225	62	8	centers	center	NOUN
ap-1225	62	9	�	�	PROPN
ap-1225	62	10	c	c	PROPN
ap-1225	62	11	and	and	CCONJ
ap-1225	62	12	�	�	PROPN
ap-1225	62	13	c	c	NOUN
ap-1225	62	14	′	′	NOUN
ap-1225	62	15	is	be	AUX
ap-1225	62	16	given	give	VERB
ap-1225	62	17	in	in	ADP
ap-1225	62	18	fig	fig	NOUN
ap-1225	62	19	.	.	PUNCT
ap-1225	63	1	4	4	X
ap-1225	63	2	.	.	X
ap-1225	63	3	the	the	DET
ap-1225	63	4	3d	3d	NUM
ap-1225	63	5	-	-	PUNCT
ap-1225	63	6	point	point	NOUN
ap-1225	63	7	�	�	NOUN
ap-1225	63	8	x	x	X
ap-1225	63	9	is	be	AUX
ap-1225	63	10	projected	project	VERB
ap-1225	63	11	onto	onto	ADP
ap-1225	63	12	the	the	DET
ap-1225	63	13	image	image	NOUN
ap-1225	63	14	planes	plane	NOUN
ap-1225	63	15	,	,	PUNCT
ap-1225	63	16	resulting	result	VERB
ap-1225	63	17	in	in	ADP
ap-1225	63	18	points	point	NOUN
ap-1225	63	19	�	�	PROPN
ap-1225	63	20	x	x	PROPN
ap-1225	63	21	and	and	CCONJ
ap-1225	63	22	�	�	PROPN
ap-1225	63	23	x	x	NOUN
ap-1225	63	24	′.	′.	NOUN
ap-1225	63	25	the	the	DET
ap-1225	63	26	points	point	NOUN
ap-1225	63	27	�	�	PROPN
ap-1225	63	28	e	e	NOUN
ap-1225	63	29	and	and	CCONJ
ap-1225	63	30	�	�	PROPN
ap-1225	63	31	e	e	NOUN
ap-1225	63	32	′	′	NOUN
ap-1225	63	33	are	be	AUX
ap-1225	63	34	called	call	VERB
ap-1225	63	35	epipoles	epipole	NOUN
ap-1225	63	36	,	,	PUNCT
ap-1225	63	37	and	and	CCONJ
ap-1225	63	38	they	they	PRON
ap-1225	63	39	represent	represent	VERB
ap-1225	63	40	the	the	DET
ap-1225	63	41	projected	project	VERB
ap-1225	63	42	camera	camera	NOUN
ap-1225	63	43	centers	center	NOUN
ap-1225	63	44	on	on	ADP
ap-1225	63	45	the	the	DET
ap-1225	63	46	image	image	NOUN
ap-1225	63	47	planes	plane	NOUN
ap-1225	63	48	.	.	PUNCT
ap-1225	64	1	the	the	DET
ap-1225	64	2	position	position	NOUN
ap-1225	64	3	,	,	PUNCT
ap-1225	64	4	orientation	orientation	NOUN
ap-1225	64	5	and	and	CCONJ
ap-1225	64	6	properties	property	NOUN
ap-1225	64	7	of	of	ADP
ap-1225	64	8	the	the	DET
ap-1225	64	9	two	two	NUM
ap-1225	64	10	cameras	camera	NOUN
ap-1225	64	11	are	be	AUX
ap-1225	64	12	described	describe	VERB
ap-1225	64	13	by	by	ADP
ap-1225	64	14	the	the	DET
ap-1225	64	15	fundamental	fundamental	ADJ
ap-1225	64	16	matrix	matrix	NOUN
ap-1225	64	17	f.	f.	PROPN
ap-1225	65	1	it	it	PRON
ap-1225	65	2	has	have	VERB
ap-1225	65	3	seven	seven	NUM
ap-1225	65	4	degrees	degree	NOUN
ap-1225	65	5	of	of	ADP
ap-1225	65	6	freedom	freedom	NOUN
ap-1225	65	7	and	and	CCONJ
ap-1225	65	8	rank	rank	NOUN
ap-1225	65	9	2	2	NUM
ap-1225	65	10	.	.	PUNCT
ap-1225	66	1	only	only	ADV
ap-1225	66	2	the	the	DET
ap-1225	66	3	intrinsic	intrinsic	ADJ
ap-1225	66	4	geometry	geometry	NOUN
ap-1225	66	5	is	be	AUX
ap-1225	66	6	described	describe	VERB
ap-1225	66	7	,	,	PUNCT
ap-1225	66	8	which	which	PRON
ap-1225	66	9	is	be	AUX
ap-1225	66	10	why	why	SCONJ
ap-1225	66	11	the	the	DET
ap-1225	66	12	fundamental	fundamental	ADJ
ap-1225	66	13	matrix	matrix	NOUN
ap-1225	66	14	is	be	AUX
ap-1225	66	15	independent	independent	ADJ
ap-1225	66	16	of	of	ADP
ap-1225	66	17	the	the	DET
ap-1225	66	18	scene	scene	NOUN
ap-1225	66	19	content	content	NOUN
ap-1225	66	20	.	.	PUNCT
ap-1225	67	1	a	a	DET
ap-1225	67	2	central	central	ADJ
ap-1225	67	3	equation	equation	NOUN
ap-1225	67	4	for	for	ADP
ap-1225	67	5	understanding	understand	VERB
ap-1225	67	6	epipolar	epipolar	ADJ
ap-1225	67	7	geometry	geometry	NOUN
ap-1225	67	8	is	be	AUX
ap-1225	67	9	the	the	DET
ap-1225	67	10	epipolar	epipolar	ADJ
ap-1225	67	11	relation	relation	NOUN
ap-1225	67	12	�	�	PROPN
ap-1225	67	13	x	x	PROPN
ap-1225	67	14	′	′	NUM
ap-1225	67	15	t	t	PROPN
ap-1225	67	16	·	·	SYM
ap-1225	67	17	f	f	X
ap-1225	67	18	·	·	PUNCT
ap-1225	67	19	�	�	PROPN
ap-1225	67	20	x	x	SYM
ap-1225	67	21	=	=	SYM
ap-1225	67	22	0	0	NUM
ap-1225	67	23	(	(	PUNCT
ap-1225	67	24	2	2	NUM
ap-1225	67	25	)	)	PUNCT
ap-1225	67	26	which	which	PRON
ap-1225	67	27	connects	connect	VERB
ap-1225	67	28	an	an	DET
ap-1225	67	29	image	image	NOUN
ap-1225	67	30	point	point	NOUN
ap-1225	67	31	from	from	ADP
ap-1225	67	32	one	one	NUM
ap-1225	67	33	image	image	NOUN
ap-1225	67	34	plane	plane	NOUN
ap-1225	67	35	with	with	ADP
ap-1225	67	36	its	its	PRON
ap-1225	67	37	corresponding	correspond	VERB
ap-1225	67	38	point	point	NOUN
ap-1225	67	39	on	on	ADP
ap-1225	67	40	the	the	DET
ap-1225	67	41	other	other	ADJ
ap-1225	67	42	image	image	NOUN
ap-1225	67	43	plane	plane	NOUN
ap-1225	67	44	.	.	PUNCT
ap-1225	68	1	epipolar	epipolar	ADJ
ap-1225	68	2	lines	line	NOUN
ap-1225	68	3	for	for	ADP
ap-1225	68	4	each	each	DET
ap-1225	68	5	image	image	NOUN
ap-1225	68	6	point	point	NOUN
ap-1225	68	7	can	can	AUX
ap-1225	68	8	be	be	AUX
ap-1225	68	9	calculated	calculate	VERB
ap-1225	68	10	using	use	VERB
ap-1225	68	11	the	the	DET
ap-1225	68	12	fundamental	fundamental	ADJ
ap-1225	68	13	matrix	matrix	NOUN
ap-1225	68	14	.	.	PUNCT
ap-1225	69	1	this	this	DET
ap-1225	69	2	line	line	NOUN
ap-1225	69	3	passes	pass	VERB
ap-1225	69	4	through	through	ADP
ap-1225	69	5	the	the	DET
ap-1225	69	6	position	position	NOUN
ap-1225	69	7	of	of	ADP
ap-1225	69	8	the	the	DET
ap-1225	69	9	corresponding	corresponding	ADJ
ap-1225	69	10	point	point	NOUN
ap-1225	69	11	on	on	ADP
ap-1225	69	12	the	the	DET
ap-1225	69	13	other	other	ADJ
ap-1225	69	14	image	image	NOUN
ap-1225	69	15	plane	plane	NOUN
ap-1225	69	16	.	.	PUNCT
ap-1225	70	1	all	all	DET
ap-1225	70	2	these	these	DET
ap-1225	70	3	lines	line	NOUN
ap-1225	70	4	intersect	intersect	ADJ
ap-1225	70	5	in	in	ADP
ap-1225	70	6	the	the	DET
ap-1225	70	7	epipoles	epipole	NOUN
ap-1225	70	8	.	.	PUNCT
ap-1225	71	1	they	they	PRON
ap-1225	71	2	can	can	AUX
ap-1225	71	3	be	be	AUX
ap-1225	71	4	calculated	calculate	VERB
ap-1225	71	5	by	by	ADP
ap-1225	71	6	�	�	NOUN
ap-1225	71	7	l	l	NOUN
ap-1225	71	8	′	′	NUM
ap-1225	72	1	=	=	PUNCT
ap-1225	72	2	f	f	X
ap-1225	72	3	·	·	PUNCT
ap-1225	72	4	�	�	PROPN
ap-1225	72	5	x	x	NOUN
ap-1225	72	6	or	or	CCONJ
ap-1225	72	7	�	�	NOUN
ap-1225	72	8	l	l	NOUN
ap-1225	72	9	=	=	SYM
ap-1225	72	10	ft	ft	PART
ap-1225	72	11	·	·	PUNCT
ap-1225	72	12	�	�	PROPN
ap-1225	72	13	x	x	SYM
ap-1225	72	14	′	′	NUM
ap-1225	72	15	.	.	PUNCT
ap-1225	73	1	(	(	PUNCT
ap-1225	73	2	3	3	X
ap-1225	73	3	)	)	PUNCT
ap-1225	73	4	a	a	DET
ap-1225	73	5	geometric	geometric	ADJ
ap-1225	73	6	interpretation	interpretation	NOUN
ap-1225	73	7	of	of	ADP
ap-1225	73	8	eq	eq	PROPN
ap-1225	73	9	.	.	PROPN
ap-1225	73	10	3	3	NUM
ap-1225	73	11	is	be	AUX
ap-1225	73	12	visualized	visualize	VERB
ap-1225	73	13	in	in	ADP
ap-1225	73	14	fig	fig	NOUN
ap-1225	73	15	.	.	PUNCT
ap-1225	74	1	5	5	NUM
ap-1225	74	2	.	.	X
ap-1225	74	3	fig	fig	NOUN
ap-1225	74	4	.	.	PUNCT
ap-1225	75	1	4	4	NUM
ap-1225	75	2	:	:	PUNCT
ap-1225	75	3	epipolar	epipolar	ADJ
ap-1225	75	4	geometry	geometry	NOUN
ap-1225	75	5	fig	fig	NOUN
ap-1225	75	6	.	.	PUNCT
ap-1225	76	1	5	5	NUM
ap-1225	76	2	:	:	PUNCT
ap-1225	76	3	epipolar	epipolar	ADJ
ap-1225	76	4	line	line	NOUN
ap-1225	76	5	the	the	DET
ap-1225	76	6	different	different	ADJ
ap-1225	76	7	frames	frame	NOUN
ap-1225	76	8	of	of	ADP
ap-1225	76	9	the	the	DET
ap-1225	76	10	sequence	sequence	NOUN
ap-1225	76	11	are	be	AUX
ap-1225	76	12	interpreted	interpret	VERB
ap-1225	76	13	as	as	ADP
ap-1225	76	14	different	different	ADJ
ap-1225	76	15	views	view	NOUN
ap-1225	76	16	.	.	PUNCT
ap-1225	77	1	this	this	PRON
ap-1225	77	2	is	be	AUX
ap-1225	77	3	correct	correct	ADJ
ap-1225	77	4	if	if	SCONJ
ap-1225	77	5	there	there	PRON
ap-1225	77	6	is	be	VERB
ap-1225	77	7	a	a	DET
ap-1225	77	8	camera	camera	NOUN
ap-1225	77	9	movement	movement	NOUN
ap-1225	77	10	between	between	ADP
ap-1225	77	11	the	the	DET
ap-1225	77	12	frames	frame	NOUN
ap-1225	77	13	and	and	CCONJ
ap-1225	77	14	if	if	SCONJ
ap-1225	77	15	the	the	DET
ap-1225	77	16	scene	scene	NOUN
ap-1225	77	17	is	be	AUX
ap-1225	77	18	stationary	stationary	ADJ
ap-1225	77	19	.	.	PUNCT
ap-1225	78	1	30	30	NUM
ap-1225	78	2	acta	acta	PROPN
ap-1225	78	3	polytechnica	polytechnica	PROPN
ap-1225	78	4	vol	vol	NOUN
ap-1225	78	5	.	.	PROPN
ap-1225	79	1	50	50	NUM
ap-1225	79	2	no	no	NOUN
ap-1225	79	3	.	.	PUNCT
ap-1225	80	1	4/2010	4/2010	NUM
ap-1225	80	2	the	the	DET
ap-1225	80	3	ransac	ransac	NOUN
ap-1225	80	4	-	-	PUNCT
ap-1225	80	5	algorithm	algorithm	NOUN
ap-1225	81	1	[	[	X
ap-1225	81	2	6	6	NUM
ap-1225	81	3	]	]	PUNCT
ap-1225	81	4	is	be	AUX
ap-1225	81	5	applied	apply	VERB
ap-1225	81	6	to	to	PART
ap-1225	81	7	estimate	estimate	VERB
ap-1225	81	8	the	the	DET
ap-1225	81	9	fundamental	fundamental	ADJ
ap-1225	81	10	matrix	matrix	NOUN
ap-1225	81	11	.	.	PUNCT
ap-1225	82	1	this	this	DET
ap-1225	82	2	algorithm	algorithm	NOUN
ap-1225	82	3	generates	generate	VERB
ap-1225	82	4	a	a	DET
ap-1225	82	5	random	random	ADJ
ap-1225	82	6	set	set	NOUN
ap-1225	82	7	of	of	ADP
ap-1225	82	8	correspondences	correspondence	NOUN
ap-1225	82	9	and	and	CCONJ
ap-1225	82	10	calculates	calculate	VERB
ap-1225	82	11	the	the	DET
ap-1225	82	12	fundamental	fundamental	ADJ
ap-1225	82	13	matrix	matrix	NOUN
ap-1225	82	14	.	.	PUNCT
ap-1225	83	1	using	use	VERB
ap-1225	83	2	backprojection	backprojection	NOUN
ap-1225	83	3	,	,	PUNCT
ap-1225	83	4	each	each	DET
ap-1225	83	5	corresponding	corresponding	ADJ
ap-1225	83	6	point	point	NOUN
ap-1225	83	7	is	be	AUX
ap-1225	83	8	classified	classify	VERB
ap-1225	83	9	as	as	ADP
ap-1225	83	10	an	an	DET
ap-1225	83	11	inlier	inlier	NOUN
ap-1225	83	12	or	or	CCONJ
ap-1225	83	13	an	an	DET
ap-1225	83	14	outlier	outlier	NOUN
ap-1225	83	15	.	.	PUNCT
ap-1225	84	1	to	to	PART
ap-1225	84	2	be	be	AUX
ap-1225	84	3	classified	classify	VERB
ap-1225	84	4	as	as	ADP
ap-1225	84	5	an	an	DET
ap-1225	84	6	inlier	inlier	NOUN
ap-1225	84	7	,	,	PUNCT
ap-1225	84	8	the	the	DET
ap-1225	84	9	reprojection	reprojection	NOUN
ap-1225	84	10	error	error	NOUN
ap-1225	84	11	of	of	ADP
ap-1225	84	12	a	a	DET
ap-1225	84	13	point	point	NOUN
ap-1225	84	14	pair	pair	NOUN
ap-1225	84	15	has	have	VERB
ap-1225	84	16	to	to	PART
ap-1225	84	17	be	be	AUX
ap-1225	84	18	smaller	small	ADJ
ap-1225	84	19	than	than	ADP
ap-1225	84	20	a	a	DET
ap-1225	84	21	threshold	threshold	NOUN
ap-1225	84	22	.	.	PUNCT
ap-1225	85	1	for	for	ADP
ap-1225	85	2	an	an	DET
ap-1225	85	3	acceptable	acceptable	ADJ
ap-1225	85	4	computation	computation	NOUN
ap-1225	85	5	time	time	NOUN
ap-1225	85	6	,	,	PUNCT
ap-1225	85	7	the	the	DET
ap-1225	85	8	sampsonapproximation	sampsonapproximation	NOUN
ap-1225	85	9	[	[	X
ap-1225	85	10	9	9	NUM
ap-1225	85	11	]	]	PUNCT
ap-1225	85	12	is	be	AUX
ap-1225	85	13	used	use	VERB
ap-1225	85	14	to	to	PART
ap-1225	85	15	determine	determine	VERB
ap-1225	85	16	the	the	DET
ap-1225	85	17	error	error	NOUN
ap-1225	85	18	.	.	PUNCT
ap-1225	86	1	this	this	DET
ap-1225	86	2	process	process	NOUN
ap-1225	86	3	is	be	AUX
ap-1225	86	4	repeated	repeat	VERB
ap-1225	86	5	iteratively	iteratively	ADV
ap-1225	86	6	for	for	ADP
ap-1225	86	7	other	other	ADJ
ap-1225	86	8	random	random	ADJ
ap-1225	86	9	samples	sample	NOUN
ap-1225	86	10	.	.	PUNCT
ap-1225	87	1	finally	finally	ADV
ap-1225	87	2	,	,	PUNCT
ap-1225	87	3	the	the	DET
ap-1225	87	4	inliers	inlier	NOUN
ap-1225	87	5	of	of	ADP
ap-1225	87	6	the	the	DET
ap-1225	87	7	fundamental	fundamental	ADJ
ap-1225	87	8	matrix	matrix	NOUN
ap-1225	87	9	,	,	PUNCT
ap-1225	87	10	which	which	PRON
ap-1225	87	11	yields	yield	VERB
ap-1225	87	12	to	to	ADP
ap-1225	87	13	the	the	DET
ap-1225	87	14	largest	large	ADJ
ap-1225	87	15	number	number	NOUN
ap-1225	87	16	of	of	ADP
ap-1225	87	17	inliers	inlier	NOUN
ap-1225	87	18	,	,	PUNCT
ap-1225	87	19	are	be	AUX
ap-1225	87	20	chosen	choose	VERB
ap-1225	87	21	to	to	PART
ap-1225	87	22	calculate	calculate	VERB
ap-1225	87	23	the	the	DET
ap-1225	87	24	final	final	ADJ
ap-1225	87	25	fundamental	fundamental	ADJ
ap-1225	87	26	matrix	matrix	NOUN
ap-1225	87	27	,	,	PUNCT
ap-1225	87	28	and	and	CCONJ
ap-1225	87	29	all	all	DET
ap-1225	87	30	outliers	outlier	NOUN
ap-1225	87	31	are	be	AUX
ap-1225	87	32	eliminated	eliminate	VERB
ap-1225	87	33	.	.	PUNCT
ap-1225	88	1	the	the	DET
ap-1225	88	2	ransac	ransac	NOUN
ap-1225	88	3	-	-	PUNCT
ap-1225	88	4	algorithm	algorithm	NOUN
ap-1225	88	5	uses	use	VERB
ap-1225	88	6	the	the	DET
ap-1225	88	7	7	7	NUM
ap-1225	88	8	-	-	PUNCT
ap-1225	88	9	point	point	NOUN
ap-1225	88	10	algorithm	algorithm	NOUN
ap-1225	88	11	to	to	PART
ap-1225	88	12	calculate	calculate	VERB
ap-1225	88	13	the	the	DET
ap-1225	88	14	fundamental	fundamental	ADJ
ap-1225	88	15	matrices	matrix	NOUN
ap-1225	88	16	.	.	PUNCT
ap-1225	89	1	the	the	DET
ap-1225	89	2	final	final	ADJ
ap-1225	89	3	matrix	matrix	NOUN
ap-1225	89	4	is	be	AUX
ap-1225	89	5	estimated	estimate	VERB
ap-1225	89	6	using	use	VERB
ap-1225	89	7	the	the	DET
ap-1225	89	8	8	8	NUM
ap-1225	89	9	-	-	PUNCT
ap-1225	89	10	point	point	NOUN
ap-1225	89	11	algorithm	algorithm	NOUN
ap-1225	90	1	[	[	X
ap-1225	90	2	10	10	NUM
ap-1225	90	3	]	]	PUNCT
ap-1225	90	4	,	,	PUNCT
ap-1225	90	5	which	which	PRON
ap-1225	90	6	can	can	AUX
ap-1225	90	7	handle	handle	VERB
ap-1225	90	8	eight	eight	NUM
ap-1225	90	9	or	or	CCONJ
ap-1225	90	10	more	more	ADJ
ap-1225	90	11	points	point	NOUN
ap-1225	90	12	and	and	CCONJ
ap-1225	90	13	provides	provide	VERB
ap-1225	90	14	a	a	DET
ap-1225	90	15	least	least	ADJ
ap-1225	90	16	squares	square	NOUN
ap-1225	90	17	solution	solution	NOUN
ap-1225	90	18	.	.	PUNCT
ap-1225	91	1	both	both	DET
ap-1225	91	2	algorithms	algorithm	NOUN
ap-1225	91	3	use	use	VERB
ap-1225	91	4	a	a	DET
ap-1225	91	5	system	system	NOUN
ap-1225	91	6	of	of	ADP
ap-1225	91	7	equations	equation	NOUN
ap-1225	91	8	constructed	construct	VERB
ap-1225	91	9	with	with	ADP
ap-1225	91	10	eq	eq	NOUN
ap-1225	91	11	.	.	PROPN
ap-1225	91	12	2	2	NUM
ap-1225	91	13	.	.	NOUN
ap-1225	91	14	2.6	2.6	NUM
ap-1225	91	15	2	2	NUM
ap-1225	91	16	-	-	PUNCT
ap-1225	91	17	view	view	NOUN
ap-1225	91	18	camera	camera	NOUN
ap-1225	91	19	matrices	matrix	NOUN
ap-1225	91	20	to	to	PART
ap-1225	91	21	perform	perform	VERB
ap-1225	91	22	a	a	DET
ap-1225	91	23	reconstruction	reconstruction	NOUN
ap-1225	91	24	at	at	ADP
ap-1225	91	25	least	least	ADV
ap-1225	91	26	two	two	NUM
ap-1225	91	27	camera	camera	NOUN
ap-1225	91	28	matrices	matrix	NOUN
ap-1225	91	29	are	be	AUX
ap-1225	91	30	required	require	VERB
ap-1225	91	31	.	.	PUNCT
ap-1225	92	1	if	if	SCONJ
ap-1225	92	2	the	the	DET
ap-1225	92	3	first	first	ADJ
ap-1225	92	4	camera	camera	NOUN
ap-1225	92	5	is	be	AUX
ap-1225	92	6	chosen	choose	VERB
ap-1225	92	7	with	with	ADP
ap-1225	92	8	p	p	PROPN
ap-1225	92	9	=	=	PUNCT
ap-1225	93	1	[	[	X
ap-1225	93	2	i|	i|	PROPN
ap-1225	93	3	�	�	PROPN
ap-1225	93	4	0	0	NUM
ap-1225	93	5	]	]	PUNCT
ap-1225	93	6	the	the	DET
ap-1225	93	7	second	second	ADJ
ap-1225	93	8	camera	camera	NOUN
ap-1225	93	9	matrix	matrix	NOUN
ap-1225	93	10	is	be	AUX
ap-1225	93	11	defined	define	VERB
ap-1225	93	12	by	by	ADP
ap-1225	93	13	p′	p′	NOUN
ap-1225	93	14	=	=	PUNCT
ap-1225	94	1	[	[	X
ap-1225	94	2	[	[	X
ap-1225	94	3	�	�	X
ap-1225	94	4	e	e	ADJ
ap-1225	94	5	′]×	′]×	PROPN
ap-1225	94	6	·	·	SYM
ap-1225	94	7	f+	f+	X
ap-1225	94	8	�	�	PROPN
ap-1225	94	9	e	e	NOUN
ap-1225	94	10	′	′	NOUN
ap-1225	94	11	·	·	PUNCT
ap-1225	94	12	�	�	PROPN
ap-1225	94	13	v	v	NOUN
ap-1225	94	14	t	t	NOUN
ap-1225	94	15	|λ	|λ	NOUN
ap-1225	94	16	·	·	PUNCT
ap-1225	94	17	�	�	PROPN
ap-1225	94	18	e	e	NOUN
ap-1225	94	19	′	′	NOUN
ap-1225	94	20	]	]	PUNCT
ap-1225	94	21	.	.	PUNCT
ap-1225	95	1	(	(	PUNCT
ap-1225	95	2	4	4	X
ap-1225	95	3	)	)	PUNCT
ap-1225	95	4	the	the	DET
ap-1225	95	5	fundamental	fundamental	ADJ
ap-1225	95	6	matrix	matrix	NOUN
ap-1225	95	7	f	f	PROPN
ap-1225	95	8	and	and	CCONJ
ap-1225	95	9	the	the	DET
ap-1225	95	10	epipole	epipole	PROPN
ap-1225	95	11	�	�	PROPN
ap-1225	95	12	e	e	NOUN
ap-1225	95	13	′	′	NOUN
ap-1225	95	14	are	be	AUX
ap-1225	95	15	known	know	VERB
ap-1225	95	16	,	,	PUNCT
ap-1225	95	17	but	but	CCONJ
ap-1225	95	18	the	the	DET
ap-1225	95	19	scalar	scalar	ADJ
ap-1225	95	20	λ	λ	PROPN
ap-1225	95	21	and	and	CCONJ
ap-1225	95	22	the	the	DET
ap-1225	95	23	vector	vector	PROPN
ap-1225	95	24	�	�	PROPN
ap-1225	95	25	v	v	NOUN
ap-1225	95	26	are	be	AUX
ap-1225	95	27	unknown	unknown	ADJ
ap-1225	95	28	.	.	PUNCT
ap-1225	96	1	correspondingly	correspondingly	ADV
ap-1225	96	2	,	,	PUNCT
ap-1225	96	3	there	there	PRON
ap-1225	96	4	are	be	VERB
ap-1225	96	5	four	four	NUM
ap-1225	96	6	degrees	degree	NOUN
ap-1225	96	7	of	of	ADP
ap-1225	96	8	freedom	freedom	NOUN
ap-1225	96	9	to	to	PART
ap-1225	96	10	choose	choose	VERB
ap-1225	96	11	the	the	DET
ap-1225	96	12	second	second	ADJ
ap-1225	96	13	camera	camera	NOUN
ap-1225	96	14	.	.	PUNCT
ap-1225	97	1	therefore	therefore	ADV
ap-1225	97	2	a	a	DET
ap-1225	97	3	scene	scene	NOUN
ap-1225	97	4	reconstruction	reconstruction	NOUN
ap-1225	97	5	based	base	VERB
ap-1225	97	6	on	on	ADP
ap-1225	97	7	eq	eq	NOUN
ap-1225	97	8	.	.	PROPN
ap-1225	97	9	4	4	NUM
ap-1225	97	10	is	be	AUX
ap-1225	97	11	subjected	subject	VERB
ap-1225	97	12	to	to	ADP
ap-1225	97	13	a	a	DET
ap-1225	97	14	projective	projective	ADJ
ap-1225	97	15	transformation	transformation	NOUN
ap-1225	97	16	compared	compare	VERB
ap-1225	97	17	to	to	ADP
ap-1225	97	18	the	the	DET
ap-1225	97	19	original	original	ADJ
ap-1225	97	20	scene	scene	NOUN
ap-1225	97	21	,	,	PUNCT
ap-1225	97	22	as	as	SCONJ
ap-1225	97	23	shown	show	VERB
ap-1225	97	24	in	in	ADP
ap-1225	97	25	[	[	X
ap-1225	97	26	11	11	NUM
ap-1225	97	27	]	]	PUNCT
ap-1225	97	28	.	.	PUNCT
ap-1225	98	1	fig	fig	NOUN
ap-1225	98	2	.	.	PUNCT
ap-1225	99	1	6	6	NUM
ap-1225	99	2	shows	show	VERB
ap-1225	99	3	an	an	DET
ap-1225	99	4	example	example	NOUN
ap-1225	99	5	.	.	PUNCT
ap-1225	100	1	without	without	ADP
ap-1225	100	2	any	any	DET
ap-1225	100	3	camera	camera	NOUN
ap-1225	100	4	calibration	calibration	NOUN
ap-1225	100	5	or	or	CCONJ
ap-1225	100	6	additional	additional	ADJ
ap-1225	100	7	scene	scene	NOUN
ap-1225	100	8	information	information	NOUN
ap-1225	100	9	,	,	PUNCT
ap-1225	100	10	no	no	DET
ap-1225	100	11	metric	metric	ADJ
ap-1225	100	12	reconstruction	reconstruction	NOUN
ap-1225	100	13	from	from	ADP
ap-1225	100	14	two	two	NUM
ap-1225	100	15	views	view	NOUN
ap-1225	100	16	is	be	AUX
ap-1225	100	17	feasible	feasible	ADJ
ap-1225	100	18	.	.	PUNCT
ap-1225	101	1	fig	fig	NOUN
ap-1225	101	2	.	.	PUNCT
ap-1225	102	1	6	6	NUM
ap-1225	102	2	:	:	PUNCT
ap-1225	102	3	reconstruction	reconstruction	NOUN
ap-1225	102	4	with	with	ADP
ap-1225	102	5	projective	projective	ADJ
ap-1225	102	6	transformation	transformation	NOUN
ap-1225	102	7	2.7	2.7	NUM
ap-1225	102	8	3	3	NUM
ap-1225	102	9	-	-	PUNCT
ap-1225	102	10	view	view	NOUN
ap-1225	102	11	correspondences	correspondence	NOUN
ap-1225	102	12	it	it	PRON
ap-1225	102	13	seems	seem	VERB
ap-1225	102	14	to	to	PART
ap-1225	102	15	be	be	AUX
ap-1225	102	16	a	a	DET
ap-1225	102	17	straightforward	straightforward	ADJ
ap-1225	102	18	process	process	NOUN
ap-1225	102	19	to	to	PART
ap-1225	102	20	connect	connect	VERB
ap-1225	102	21	two	two	NUM
ap-1225	102	22	matched	match	VERB
ap-1225	102	23	image	image	NOUN
ap-1225	102	24	pairs	pair	NOUN
ap-1225	102	25	with	with	ADP
ap-1225	102	26	one	one	NUM
ap-1225	102	27	common	common	ADJ
ap-1225	102	28	image	image	NOUN
ap-1225	102	29	to	to	ADP
ap-1225	102	30	an	an	DET
ap-1225	102	31	image	image	NOUN
ap-1225	102	32	triplet	triplet	NOUN
ap-1225	102	33	using	use	VERB
ap-1225	102	34	the	the	DET
ap-1225	102	35	two	two	NUM
ap-1225	102	36	view	view	NOUN
ap-1225	102	37	correspondences	correspondence	NOUN
ap-1225	102	38	.	.	PUNCT
ap-1225	103	1	but	but	CCONJ
ap-1225	103	2	in	in	ADP
ap-1225	103	3	practise	practise	NOUN
ap-1225	103	4	the	the	DET
ap-1225	103	5	surf	surf	NOUN
ap-1225	103	6	-	-	PUNCT
ap-1225	103	7	algorithm	algorithm	NOUN
ap-1225	103	8	can	can	AUX
ap-1225	103	9	not	not	PART
ap-1225	103	10	detect	detect	VERB
ap-1225	103	11	identical	identical	ADJ
ap-1225	103	12	features	feature	NOUN
ap-1225	103	13	in	in	ADP
ap-1225	103	14	the	the	DET
ap-1225	103	15	three	three	NUM
ap-1225	103	16	images	image	NOUN
ap-1225	103	17	,	,	PUNCT
ap-1225	103	18	because	because	SCONJ
ap-1225	103	19	of	of	ADP
ap-1225	103	20	view	view	NOUN
ap-1225	103	21	changes	change	NOUN
ap-1225	103	22	and	and	CCONJ
ap-1225	103	23	noisy	noisy	ADJ
ap-1225	103	24	image	image	NOUN
ap-1225	103	25	data	datum	NOUN
ap-1225	103	26	.	.	PUNCT
ap-1225	104	1	additionally	additionally	ADV
ap-1225	104	2	,	,	PUNCT
ap-1225	104	3	not	not	PART
ap-1225	104	4	all	all	DET
ap-1225	104	5	correspondences	correspondence	NOUN
ap-1225	104	6	could	could	AUX
ap-1225	104	7	be	be	AUX
ap-1225	104	8	identified	identify	VERB
ap-1225	104	9	.	.	PUNCT
ap-1225	105	1	this	this	DET
ap-1225	105	2	results	result	VERB
ap-1225	105	3	in	in	ADP
ap-1225	105	4	situations	situation	NOUN
ap-1225	105	5	where	where	SCONJ
ap-1225	105	6	not	not	PART
ap-1225	105	7	every	every	DET
ap-1225	105	8	feature	feature	NOUN
ap-1225	105	9	could	could	AUX
ap-1225	105	10	be	be	AUX
ap-1225	105	11	retrieved	retrieve	VERB
ap-1225	105	12	in	in	ADP
ap-1225	105	13	all	all	DET
ap-1225	105	14	images	image	NOUN
ap-1225	105	15	.	.	PUNCT
ap-1225	106	1	this	this	PRON
ap-1225	106	2	is	be	AUX
ap-1225	106	3	visualized	visualize	VERB
ap-1225	106	4	in	in	ADP
ap-1225	106	5	fig	fig	NOUN
ap-1225	106	6	.	.	PUNCT
ap-1225	107	1	7	7	X
ap-1225	107	2	.	.	X
ap-1225	107	3	as	as	SCONJ
ap-1225	107	4	can	can	AUX
ap-1225	107	5	easily	easily	ADV
ap-1225	107	6	be	be	AUX
ap-1225	107	7	seen	see	VERB
ap-1225	107	8	,	,	PUNCT
ap-1225	107	9	only	only	ADV
ap-1225	107	10	a	a	DET
ap-1225	107	11	small	small	ADJ
ap-1225	107	12	number	number	NOUN
ap-1225	107	13	of	of	ADP
ap-1225	107	14	correspondences	correspondence	NOUN
ap-1225	107	15	share	share	VERB
ap-1225	107	16	the	the	DET
ap-1225	107	17	same	same	ADJ
ap-1225	107	18	corresponding	corresponding	ADJ
ap-1225	107	19	point	point	NOUN
ap-1225	107	20	in	in	ADP
ap-1225	107	21	the	the	DET
ap-1225	107	22	image	image	NOUN
ap-1225	107	23	i+	i+	PRON
ap-1225	107	24	1	1	NUM
ap-1225	107	25	indicated	indicate	VERB
ap-1225	107	26	by	by	ADP
ap-1225	107	27	surrounding	surround	VERB
ap-1225	107	28	circles	circle	NOUN
ap-1225	107	29	.	.	PUNCT
ap-1225	108	1	to	to	PART
ap-1225	108	2	increase	increase	VERB
ap-1225	108	3	the	the	DET
ap-1225	108	4	number	number	NOUN
ap-1225	108	5	of	of	ADP
ap-1225	108	6	correspondences	correspondence	NOUN
ap-1225	108	7	over	over	ADP
ap-1225	108	8	three	three	NUM
ap-1225	108	9	images	image	NOUN
ap-1225	108	10	,	,	PUNCT
ap-1225	108	11	an	an	DET
ap-1225	108	12	additional	additional	ADJ
ap-1225	108	13	matching	matching	NOUN
ap-1225	108	14	process	process	NOUN
ap-1225	108	15	from	from	ADP
ap-1225	108	16	the	the	DET
ap-1225	108	17	first	first	ADJ
ap-1225	108	18	to	to	ADP
ap-1225	108	19	the	the	DET
ap-1225	108	20	third	third	ADJ
ap-1225	108	21	view	view	NOUN
ap-1225	108	22	is	be	AUX
ap-1225	108	23	performed	perform	VERB
ap-1225	108	24	.	.	PUNCT
ap-1225	109	1	this	this	DET
ap-1225	109	2	step	step	NOUN
ap-1225	109	3	may	may	AUX
ap-1225	109	4	induce	induce	VERB
ap-1225	109	5	new	new	ADJ
ap-1225	109	6	incorrect	incorrect	ADJ
ap-1225	109	7	matches	match	NOUN
ap-1225	109	8	,	,	PUNCT
ap-1225	109	9	which	which	PRON
ap-1225	109	10	have	have	VERB
ap-1225	109	11	to	to	PART
ap-1225	109	12	be	be	AUX
ap-1225	109	13	considered	consider	VERB
ap-1225	109	14	.	.	PUNCT
ap-1225	110	1	thus	thus	ADV
ap-1225	110	2	,	,	PUNCT
ap-1225	110	3	an	an	DET
ap-1225	110	4	advanced	advanced	ADJ
ap-1225	110	5	ransac	ransac	NOUN
ap-1225	110	6	-	-	PUNCT
ap-1225	110	7	algorithm	algorithm	NOUN
ap-1225	110	8	is	be	AUX
ap-1225	110	9	used	use	VERB
ap-1225	110	10	to	to	PART
ap-1225	110	11	join	join	VERB
ap-1225	110	12	the	the	DET
ap-1225	110	13	set	set	NOUN
ap-1225	110	14	of	of	ADP
ap-1225	110	15	tracked	track	VERB
ap-1225	110	16	correspondences	correspondence	NOUN
ap-1225	110	17	and	and	CCONJ
ap-1225	110	18	the	the	DET
ap-1225	110	19	set	set	NOUN
ap-1225	110	20	of	of	ADP
ap-1225	110	21	directly	directly	ADV
ap-1225	110	22	matched	match	VERB
ap-1225	110	23	correspondences	correspondence	NOUN
ap-1225	110	24	,	,	PUNCT
ap-1225	110	25	and	and	CCONJ
ap-1225	110	26	to	to	PART
ap-1225	110	27	detect	detect	VERB
ap-1225	110	28	outliers	outlier	NOUN
ap-1225	110	29	.	.	PUNCT
ap-1225	111	1	the	the	DET
ap-1225	111	2	set	set	NOUN
ap-1225	111	3	of	of	ADP
ap-1225	111	4	tracked	track	VERB
ap-1225	111	5	correspondences	correspondence	NOUN
ap-1225	111	6	contains	contain	VERB
ap-1225	111	7	a	a	DET
ap-1225	111	8	high	high	ADJ
ap-1225	111	9	amount	amount	NOUN
ap-1225	111	10	of	of	ADP
ap-1225	111	11	valid	valid	ADJ
ap-1225	111	12	ones	one	NOUN
ap-1225	111	13	.	.	PUNCT
ap-1225	112	1	to	to	PART
ap-1225	112	2	benefit	benefit	VERB
ap-1225	112	3	from	from	ADP
ap-1225	112	4	this	this	DET
ap-1225	112	5	fact	fact	NOUN
ap-1225	112	6	,	,	PUNCT
ap-1225	112	7	the	the	DET
ap-1225	112	8	ransacalgorithms	ransacalgorithm	NOUN
ap-1225	112	9	fills	fill	VERB
ap-1225	112	10	the	the	DET
ap-1225	112	11	samples	sample	NOUN
ap-1225	112	12	with	with	ADP
ap-1225	112	13	a	a	DET
ap-1225	112	14	higher	high	ADJ
ap-1225	112	15	probability	probability	NOUN
ap-1225	112	16	from	from	ADP
ap-1225	112	17	the	the	DET
ap-1225	112	18	tracked	track	VERB
ap-1225	112	19	set	set	NOUN
ap-1225	112	20	than	than	ADP
ap-1225	112	21	from	from	ADP
ap-1225	112	22	the	the	DET
ap-1225	112	23	directly	directly	ADV
ap-1225	112	24	matched	match	VERB
ap-1225	112	25	set	set	NOUN
ap-1225	112	26	of	of	ADP
ap-1225	112	27	correspondences	correspondence	NOUN
ap-1225	112	28	.	.	PUNCT
ap-1225	113	1	but	but	CCONJ
ap-1225	113	2	even	even	ADV
ap-1225	113	3	if	if	SCONJ
ap-1225	113	4	the	the	DET
ap-1225	113	5	tracked	track	VERB
ap-1225	113	6	correspondences	correspondence	NOUN
ap-1225	113	7	are	be	AUX
ap-1225	113	8	verified	verify	VERB
ap-1225	113	9	by	by	ADP
ap-1225	113	10	epipolar	epipolar	ADJ
ap-1225	113	11	matching	matching	NOUN
ap-1225	113	12	,	,	PUNCT
ap-1225	113	13	they	they	PRON
ap-1225	113	14	should	should	AUX
ap-1225	113	15	not	not	PART
ap-1225	113	16	be	be	AUX
ap-1225	113	17	chosen	choose	VERB
ap-1225	113	18	definitely	definitely	ADV
ap-1225	113	19	,	,	PUNCT
ap-1225	113	20	because	because	SCONJ
ap-1225	113	21	they	they	PRON
ap-1225	113	22	could	could	AUX
ap-1225	113	23	still	still	ADV
ap-1225	113	24	be	be	AUX
ap-1225	113	25	wrong	wrong	ADJ
ap-1225	113	26	,	,	PUNCT
ap-1225	113	27	as	as	ADP
ap-1225	113	28	fig	fig	NOUN
ap-1225	113	29	.	.	PUNCT
ap-1225	114	1	8	8	NUM
ap-1225	114	2	shows	show	NOUN
ap-1225	114	3	.	.	PUNCT
ap-1225	115	1	�	�	PROPN
ap-1225	115	2	x	x	SYM
ap-1225	115	3	′	′	NOUN
ap-1225	115	4	1	1	NUM
ap-1225	115	5	and	and	CCONJ
ap-1225	115	6	�	�	NOUN
ap-1225	115	7	x	x	SYM
ap-1225	115	8	′	′	NUM
ap-1225	115	9	2	2	NUM
ap-1225	115	10	are	be	AUX
ap-1225	115	11	located	locate	VERB
ap-1225	115	12	on	on	ADP
ap-1225	115	13	the	the	DET
ap-1225	115	14	epipolar	epipolar	ADJ
ap-1225	115	15	line	line	NOUN
ap-1225	115	16	,	,	PUNCT
ap-1225	115	17	which	which	PRON
ap-1225	115	18	corresponds	correspond	VERB
ap-1225	115	19	to	to	ADP
ap-1225	115	20	the	the	DET
ap-1225	115	21	point	point	NOUN
ap-1225	115	22	�	�	PROPN
ap-1225	115	23	x1	x1	NUM
ap-1225	115	24	.	.	PUNCT
ap-1225	116	1	this	this	PRON
ap-1225	116	2	implies	imply	VERB
ap-1225	116	3	the	the	DET
ap-1225	116	4	epipolar	epipolar	ADJ
ap-1225	116	5	relation	relation	NOUN
ap-1225	116	6	is	be	AUX
ap-1225	116	7	fulfilled	fulfil	VERB
ap-1225	116	8	,	,	PUNCT
ap-1225	116	9	and	and	CCONJ
ap-1225	116	10	a	a	DET
ap-1225	116	11	correspondence	correspondence	NOUN
ap-1225	116	12	between	between	ADP
ap-1225	116	13	�	�	PROPN
ap-1225	116	14	x1	x1	PROPN
ap-1225	116	15	and	and	CCONJ
ap-1225	116	16	�	�	PROPN
ap-1225	116	17	x	x	SYM
ap-1225	116	18	′	′	NOUN
ap-1225	116	19	1	1	NUM
ap-1225	116	20	or	or	CCONJ
ap-1225	116	21	between	between	ADP
ap-1225	116	22	�	�	PROPN
ap-1225	116	23	x1	x1	PROPN
ap-1225	116	24	and	and	CCONJ
ap-1225	116	25	�	�	PROPN
ap-1225	116	26	x	x	SYM
ap-1225	116	27	′	′	NUM
ap-1225	116	28	2	2	NUM
ap-1225	116	29	appears	appear	VERB
ap-1225	116	30	to	to	PART
ap-1225	116	31	be	be	AUX
ap-1225	116	32	correct	correct	ADJ
ap-1225	116	33	in	in	ADP
ap-1225	116	34	the	the	DET
ap-1225	116	35	second	second	ADJ
ap-1225	116	36	view	view	NOUN
ap-1225	116	37	.	.	PUNCT
ap-1225	117	1	only	only	ADV
ap-1225	117	2	in	in	ADP
ap-1225	117	3	the	the	DET
ap-1225	117	4	third	third	ADJ
ap-1225	117	5	view	view	NOUN
ap-1225	117	6	it	it	PRON
ap-1225	117	7	is	be	AUX
ap-1225	117	8	possible	possible	ADJ
ap-1225	117	9	to	to	PART
ap-1225	117	10	identify	identify	VERB
ap-1225	117	11	the	the	DET
ap-1225	117	12	wrong	wrong	ADJ
ap-1225	117	13	correspondence	correspondence	NOUN
ap-1225	117	14	�	�	NOUN
ap-1225	117	15	x1	x1	PROPN
ap-1225	117	16	and	and	CCONJ
ap-1225	117	17	�	�	PROPN
ap-1225	117	18	x	x	SYM
ap-1225	117	19	′′	′′	PROPN
ap-1225	117	20	2	2	NUM
ap-1225	117	21	.	.	PUNCT
ap-1225	118	1	fig	fig	NOUN
ap-1225	118	2	.	.	PUNCT
ap-1225	119	1	7	7	NUM
ap-1225	119	2	:	:	SYM
ap-1225	119	3	three	three	NUM
ap-1225	119	4	image	image	NOUN
ap-1225	119	5	correspondences	correspondence	NOUN
ap-1225	119	6	fig	fig	NOUN
ap-1225	119	7	.	.	PUNCT
ap-1225	120	1	8	8	NUM
ap-1225	120	2	:	:	PUNCT
ap-1225	120	3	wrong	wrong	ADJ
ap-1225	120	4	correspondence	correspondence	NOUN
ap-1225	120	5	detected	detect	VERB
ap-1225	120	6	in	in	ADP
ap-1225	120	7	three	three	NUM
ap-1225	120	8	views	view	NOUN
ap-1225	120	9	2.8	2.8	NUM
ap-1225	120	10	trifocal	trifocal	ADJ
ap-1225	120	11	geometry	geometry	NOUN
ap-1225	120	12	the	the	DET
ap-1225	120	13	mathematical	mathematical	ADJ
ap-1225	120	14	description	description	NOUN
ap-1225	120	15	of	of	ADP
ap-1225	120	16	trifocal	trifocal	ADJ
ap-1225	120	17	geometry	geometry	NOUN
ap-1225	120	18	uses	use	VERB
ap-1225	120	19	tensor	tensor	NOUN
ap-1225	120	20	notation	notation	NOUN
ap-1225	120	21	.	.	PUNCT
ap-1225	121	1	a	a	DET
ap-1225	121	2	good	good	ADJ
ap-1225	121	3	introduction	introduction	NOUN
ap-1225	121	4	to	to	ADP
ap-1225	121	5	this	this	DET
ap-1225	121	6	topic	topic	NOUN
ap-1225	121	7	can	can	AUX
ap-1225	121	8	be	be	AUX
ap-1225	121	9	found	find	VERB
ap-1225	121	10	in	in	ADP
ap-1225	121	11	[	[	X
ap-1225	121	12	7	7	NUM
ap-1225	121	13	]	]	PUNCT
ap-1225	121	14	and	and	CCONJ
ap-1225	121	15	[	[	X
ap-1225	121	16	14	14	NUM
ap-1225	121	17	]	]	PUNCT
ap-1225	121	18	.	.	PUNCT
ap-1225	122	1	in	in	ADP
ap-1225	122	2	this	this	DET
ap-1225	122	3	paper	paper	NOUN
ap-1225	122	4	,	,	PUNCT
ap-1225	122	5	tensors	tensor	NOUN
ap-1225	122	6	are	be	AUX
ap-1225	122	7	written	write	VERB
ap-1225	122	8	in	in	ADP
ap-1225	122	9	calligraphic	calligraphic	ADJ
ap-1225	122	10	letters	letter	NOUN
ap-1225	122	11	and	and	CCONJ
ap-1225	122	12	the	the	DET
ap-1225	122	13	einstein	einstein	PROPN
ap-1225	122	14	notation	notation	NOUN
ap-1225	122	15	is	be	AUX
ap-1225	122	16	used	use	VERB
ap-1225	122	17	.	.	PUNCT
ap-1225	123	1	31	31	NUM
ap-1225	123	2	acta	acta	PROPN
ap-1225	123	3	polytechnica	polytechnica	PROPN
ap-1225	123	4	vol	vol	NOUN
ap-1225	123	5	.	.	PROPN
ap-1225	124	1	50	50	NUM
ap-1225	124	2	no	no	NOUN
ap-1225	124	3	.	.	PUNCT
ap-1225	125	1	4/2010	4/2010	NUM
ap-1225	125	2	trifocal	trifocal	ADJ
ap-1225	125	3	geometry	geometry	NOUN
ap-1225	125	4	describes	describe	VERB
ap-1225	125	5	the	the	DET
ap-1225	125	6	setup	setup	NOUN
ap-1225	125	7	of	of	ADP
ap-1225	125	8	three	three	NUM
ap-1225	125	9	different	different	ADJ
ap-1225	125	10	views	view	NOUN
ap-1225	125	11	for	for	ADP
ap-1225	125	12	the	the	DET
ap-1225	125	13	same	same	ADJ
ap-1225	125	14	scene	scene	NOUN
ap-1225	125	15	.	.	PUNCT
ap-1225	126	1	like	like	INTJ
ap-1225	126	2	epipolar	epipolar	ADJ
ap-1225	126	3	geometry	geometry	NOUN
ap-1225	126	4	,	,	PUNCT
ap-1225	126	5	trifocal	trifocal	ADJ
ap-1225	126	6	geometry	geometry	NOUN
ap-1225	126	7	is	be	AUX
ap-1225	126	8	also	also	ADV
ap-1225	126	9	intrinsic	intrinsic	ADJ
ap-1225	126	10	and	and	CCONJ
ap-1225	126	11	thus	thus	ADV
ap-1225	126	12	independent	independent	ADJ
ap-1225	126	13	from	from	ADP
ap-1225	126	14	the	the	DET
ap-1225	126	15	scene	scene	NOUN
ap-1225	126	16	content	content	NOUN
ap-1225	126	17	.	.	PUNCT
ap-1225	127	1	a	a	DET
ap-1225	127	2	sample	sample	NOUN
ap-1225	127	3	configuration	configuration	NOUN
ap-1225	127	4	is	be	AUX
ap-1225	127	5	shown	show	VERB
ap-1225	127	6	in	in	ADP
ap-1225	127	7	fig	fig	NOUN
ap-1225	127	8	.	.	PUNCT
ap-1225	128	1	8	8	NUM
ap-1225	128	2	with	with	ADP
ap-1225	128	3	the	the	DET
ap-1225	128	4	camera	camera	NOUN
ap-1225	128	5	centers	center	NOUN
ap-1225	128	6	�	�	PROPN
ap-1225	128	7	c	c	PROPN
ap-1225	128	8	,	,	PUNCT
ap-1225	128	9	�	�	PROPN
ap-1225	128	10	c	c	NOUN
ap-1225	128	11	′	′	NOUN
ap-1225	128	12	and	and	CCONJ
ap-1225	129	1	�	�	PROPN
ap-1225	129	2	c	c	PROPN
ap-1225	129	3	′′.	′′.	NOUN
ap-1225	129	4	the	the	DET
ap-1225	129	5	3d	3d	PROPN
ap-1225	129	6	point	point	NOUN
ap-1225	129	7	�	�	PROPN
ap-1225	129	8	x1	x1	PROPN
ap-1225	129	9	is	be	AUX
ap-1225	129	10	projected	project	VERB
ap-1225	129	11	to	to	ADP
ap-1225	129	12	the	the	DET
ap-1225	129	13	image	image	NOUN
ap-1225	129	14	points	point	VERB
ap-1225	129	15	�	�	PROPN
ap-1225	129	16	x1	x1	PROPN
ap-1225	129	17	,	,	PUNCT
ap-1225	129	18	�	�	PROPN
ap-1225	129	19	x	x	SYM
ap-1225	129	20	′	′	NOUN
ap-1225	129	21	1	1	NUM
ap-1225	129	22	and	and	CCONJ
ap-1225	129	23	�	�	PROPN
ap-1225	129	24	x	x	SYM
ap-1225	129	25	′′	′′	PROPN
ap-1225	129	26	1	1	NUM
ap-1225	129	27	.	.	PUNCT
ap-1225	130	1	the	the	DET
ap-1225	130	2	epipoles	epipole	NOUN
ap-1225	130	3	�	�	PROPN
ap-1225	130	4	e	e	NOUN
ap-1225	130	5	′	′	NOUN
ap-1225	130	6	and	and	CCONJ
ap-1225	130	7	�	�	PROPN
ap-1225	130	8	e	e	ADP
ap-1225	130	9	′′	′′	PROPN
ap-1225	130	10	represent	represent	VERB
ap-1225	130	11	the	the	DET
ap-1225	130	12	projected	project	VERB
ap-1225	130	13	camera	camera	NOUN
ap-1225	130	14	center	center	NOUN
ap-1225	130	15	of	of	ADP
ap-1225	130	16	the	the	DET
ap-1225	130	17	first	first	ADJ
ap-1225	130	18	camera	camera	NOUN
ap-1225	130	19	on	on	ADP
ap-1225	130	20	the	the	DET
ap-1225	130	21	image	image	NOUN
ap-1225	130	22	planes	plane	NOUN
ap-1225	130	23	of	of	ADP
ap-1225	130	24	the	the	DET
ap-1225	130	25	second	second	ADJ
ap-1225	130	26	and	and	CCONJ
ap-1225	130	27	third	third	ADJ
ap-1225	130	28	view	view	NOUN
ap-1225	130	29	.	.	PUNCT
ap-1225	131	1	the	the	DET
ap-1225	131	2	first	first	ADJ
ap-1225	131	3	camera	camera	NOUN
ap-1225	131	4	is	be	AUX
ap-1225	131	5	defined	define	VERB
ap-1225	131	6	by	by	ADP
ap-1225	131	7	p	p	X
ap-1225	131	8	=	=	PROPN
ap-1225	131	9	[	[	X
ap-1225	131	10	i|	i|	PROPN
ap-1225	131	11	�	�	PROPN
ap-1225	131	12	0	0	NUM
ap-1225	131	13	]	]	PUNCT
ap-1225	131	14	,	,	PUNCT
ap-1225	131	15	whereby	whereby	SCONJ
ap-1225	131	16	the	the	DET
ap-1225	131	17	second	second	ADJ
ap-1225	131	18	camera	camera	NOUN
ap-1225	131	19	is	be	AUX
ap-1225	131	20	p′	p′	NOUN
ap-1225	131	21	=	=	PUNCT
ap-1225	132	1	[	[	X
ap-1225	132	2	a|	a|	PROPN
ap-1225	132	3	�	�	PROPN
ap-1225	132	4	e	e	NOUN
ap-1225	132	5	′	′	NOUN
ap-1225	132	6	]	]	PUNCT
ap-1225	132	7	and	and	CCONJ
ap-1225	132	8	the	the	DET
ap-1225	132	9	third	third	ADJ
ap-1225	132	10	camera	camera	NOUN
ap-1225	132	11	is	be	AUX
ap-1225	132	12	p′′	p′′	PROPN
ap-1225	132	13	=	=	PROPN
ap-1225	133	1	[	[	X
ap-1225	133	2	b|	b|	PROPN
ap-1225	133	3	�	�	PROPN
ap-1225	133	4	e	e	PROPN
ap-1225	133	5	′′	′′	PROPN
ap-1225	133	6	]	]	PUNCT
ap-1225	133	7	.	.	PUNCT
ap-1225	134	1	the	the	DET
ap-1225	134	2	properties	property	NOUN
ap-1225	134	3	and	and	CCONJ
ap-1225	134	4	the	the	DET
ap-1225	134	5	relation	relation	NOUN
ap-1225	134	6	of	of	ADP
ap-1225	134	7	these	these	DET
ap-1225	134	8	cameras	camera	NOUN
ap-1225	134	9	are	be	AUX
ap-1225	134	10	described	describe	VERB
ap-1225	134	11	by	by	ADP
ap-1225	134	12	the	the	DET
ap-1225	134	13	trifocal	trifocal	ADJ
ap-1225	134	14	tensor	tensor	NOUN
ap-1225	134	15	t	t	PROPN
ap-1225	134	16	.	.	PUNCT
ap-1225	135	1	this	this	PRON
ap-1225	135	2	is	be	AUX
ap-1225	135	3	a	a	DET
ap-1225	135	4	3×3×3	3×3×3	NUM
ap-1225	135	5	third	third	ADJ
ap-1225	135	6	-	-	PUNCT
ap-1225	135	7	order	order	NOUN
ap-1225	135	8	tensor	tensor	NOUN
ap-1225	135	9	with	with	ADP
ap-1225	135	10	18	18	NUM
ap-1225	135	11	degrees	degree	NOUN
ap-1225	135	12	of	of	ADP
ap-1225	135	13	freedom	freedom	NOUN
ap-1225	135	14	.	.	PUNCT
ap-1225	136	1	the	the	DET
ap-1225	136	2	reduction	reduction	NOUN
ap-1225	136	3	from	from	ADP
ap-1225	136	4	27	27	NUM
ap-1225	136	5	parameters	parameter	NOUN
ap-1225	136	6	to	to	ADP
ap-1225	136	7	18	18	NUM
ap-1225	136	8	degrees	degree	NOUN
ap-1225	136	9	of	of	ADP
ap-1225	136	10	freedom	freedom	NOUN
ap-1225	136	11	is	be	AUX
ap-1225	136	12	caused	cause	VERB
ap-1225	136	13	by	by	ADP
ap-1225	136	14	the	the	DET
ap-1225	136	15	internal	internal	ADJ
ap-1225	136	16	constraint	constraint	PROPN
ap-1225	137	1	t	t	PROPN
ap-1225	137	2	jk	jk	PROPN
ap-1225	138	1	i	i	PRON
ap-1225	138	2	=	=	PUNCT
ap-1225	139	1	p	p	PROPN
ap-1225	139	2	′i	′i	PROPN
ap-1225	139	3	j	j	PROPN
ap-1225	139	4	p	p	PROPN
ap-1225	139	5	′′k	′′k	VERB
ap-1225	139	6	4	4	NUM
ap-1225	139	7	−	−	NOUN
ap-1225	139	8	p	p	NOUN
ap-1225	139	9	′j	′j	VERB
ap-1225	139	10	4	4	NUM
ap-1225	139	11	p	p	NOUN
ap-1225	139	12	′′k	′′k	NOUN
ap-1225	140	1	i	i	PRON
ap-1225	140	2	(	(	PUNCT
ap-1225	140	3	5	5	NUM
ap-1225	140	4	)	)	PUNCT
ap-1225	140	5	with	with	ADP
ap-1225	140	6	the	the	DET
ap-1225	140	7	camera	camera	NOUN
ap-1225	140	8	matrices	matrice	VERB
ap-1225	140	9	p′	p′	NOUN
ap-1225	140	10	and	and	CCONJ
ap-1225	140	11	p′′	p′′	PROPN
ap-1225	140	12	in	in	ADP
ap-1225	140	13	tensor	tensor	NOUN
ap-1225	140	14	notation	notation	NOUN
ap-1225	140	15	p	p	NOUN
ap-1225	140	16	′	′	NOUN
ap-1225	140	17	and	and	CCONJ
ap-1225	140	18	p	p	NOUN
ap-1225	140	19	′′.	′′.	NOUN
ap-1225	140	20	by	by	ADP
ap-1225	140	21	analogy	analogy	NOUN
ap-1225	140	22	with	with	ADP
ap-1225	140	23	the	the	DET
ap-1225	140	24	epipolar	epipolar	ADJ
ap-1225	140	25	relation	relation	NOUN
ap-1225	140	26	�	�	PROPN
ap-1225	140	27	x	x	SYM
ap-1225	140	28	′t	′t	PROPN
ap-1225	140	29	·	·	SYM
ap-1225	140	30	f·	f·	NOUN
ap-1225	140	31	�	�	PROPN
ap-1225	140	32	x	x	SYM
ap-1225	140	33	=	=	SYM
ap-1225	140	34	0	0	NUM
ap-1225	140	35	of	of	ADP
ap-1225	140	36	two	two	NUM
ap-1225	140	37	view	view	NOUN
ap-1225	140	38	geometry	geometry	NOUN
ap-1225	140	39	,	,	PUNCT
ap-1225	140	40	trifocal	trifocal	ADJ
ap-1225	140	41	geometry	geometry	NOUN
ap-1225	140	42	yields	yield	VERB
ap-1225	140	43	to	to	ADP
ap-1225	140	44	x	x	PRON
ap-1225	140	45	ix	ix	PROPN
ap-1225	140	46	′jx	′jx	PROPN
ap-1225	140	47	′′kejprekqst	′′kejprekqst	PROPN
ap-1225	141	1	pq	pq	INTJ
ap-1225	142	1	i	i	NOUN
ap-1225	142	2	=	=	NOUN
ap-1225	142	3	0rs	0rs	NOUN
ap-1225	142	4	.	.	PUNCT
ap-1225	143	1	(	(	PUNCT
ap-1225	143	2	6	6	X
ap-1225	143	3	)	)	PUNCT
ap-1225	143	4	the	the	DET
ap-1225	143	5	tensor	tensor	NOUN
ap-1225	143	6	e	e	NOUN
ap-1225	143	7	in	in	ADP
ap-1225	143	8	eq	eq	ADP
ap-1225	143	9	.	.	PROPN
ap-1225	143	10	6	6	NUM
ap-1225	143	11	–	–	PUNCT
ap-1225	143	12	called	call	VERB
ap-1225	143	13	the	the	DET
ap-1225	143	14	levi	levi	NOUN
ap-1225	143	15	-	-	PUNCT
ap-1225	143	16	cevita	cevita	NOUN
ap-1225	143	17	symbol	symbol	NOUN
ap-1225	143	18	–	–	PUNCT
ap-1225	143	19	represents	represent	VERB
ap-1225	143	20	the	the	DET
ap-1225	143	21	constant	constant	ADJ
ap-1225	143	22	third	third	ADJ
ap-1225	143	23	-	-	PUNCT
ap-1225	143	24	order	order	NOUN
ap-1225	143	25	3×	3×	NUM
ap-1225	143	26	3×	3×	NUM
ap-1225	143	27	3	3	NUM
ap-1225	143	28	tensor	tensor	NOUN
ap-1225	143	29	erst	erst	NOUN
ap-1225	143	30	=	=	PUNCT
ap-1225	143	31	⎧⎪⎪⎨	⎧⎪⎪⎨	NOUN
ap-1225	143	32	⎪⎪⎩	⎪⎪⎩	PROPN
ap-1225	143	33	0	0	PUNCT
ap-1225	144	1	if	if	SCONJ
ap-1225	144	2	r	r	NOUN
ap-1225	144	3	,	,	PUNCT
ap-1225	144	4	s	s	PART
ap-1225	144	5	,	,	PUNCT
ap-1225	144	6	t	t	NOUN
ap-1225	144	7	not	not	PART
ap-1225	144	8	distinctive	distinctive	ADJ
ap-1225	144	9	+1	+1	NOUN
ap-1225	144	10	if	if	SCONJ
ap-1225	144	11	(	(	PUNCT
ap-1225	144	12	r	r	NOUN
ap-1225	144	13	,	,	PUNCT
ap-1225	144	14	s	s	PROPN
ap-1225	144	15	,	,	PUNCT
ap-1225	144	16	t	t	PROPN
ap-1225	144	17	)	)	PUNCT
ap-1225	144	18	is	be	AUX
ap-1225	144	19	an	an	DET
ap-1225	144	20	even	even	ADJ
ap-1225	144	21	permutation	permutation	NOUN
ap-1225	144	22	−1	−1	NOUN
ap-1225	144	23	if	if	SCONJ
ap-1225	144	24	(	(	PUNCT
ap-1225	144	25	r	r	NOUN
ap-1225	144	26	,	,	PUNCT
ap-1225	144	27	s	s	PROPN
ap-1225	144	28	,	,	PUNCT
ap-1225	144	29	t	t	PROPN
ap-1225	144	30	)	)	PUNCT
ap-1225	144	31	is	be	AUX
ap-1225	144	32	an	an	DET
ap-1225	144	33	odd	odd	ADJ
ap-1225	144	34	permutation	permutation	NOUN
ap-1225	144	35	(	(	PUNCT
ap-1225	144	36	7	7	NUM
ap-1225	144	37	)	)	PUNCT
ap-1225	144	38	with	with	ADP
ap-1225	144	39	r	r	NOUN
ap-1225	144	40	,	,	PUNCT
ap-1225	144	41	s	s	PROPN
ap-1225	144	42	,	,	PUNCT
ap-1225	144	43	t	t	PROPN
ap-1225	144	44	∈	∈	PROPN
ap-1225	144	45	{	{	PUNCT
ap-1225	144	46	1	1	NUM
ap-1225	144	47	,	,	PUNCT
ap-1225	144	48	2	2	NUM
ap-1225	144	49	,	,	PUNCT
ap-1225	144	50	3	3	NUM
ap-1225	144	51	}	}	PUNCT
ap-1225	144	52	.	.	PUNCT
ap-1225	145	1	the	the	DET
ap-1225	145	2	trifocal	trifocal	ADJ
ap-1225	145	3	tensor	tensor	NOUN
ap-1225	145	4	can	can	AUX
ap-1225	145	5	also	also	ADV
ap-1225	145	6	be	be	AUX
ap-1225	145	7	written	write	VERB
ap-1225	145	8	in	in	ADP
ap-1225	145	9	matrix	matrix	NOUN
ap-1225	145	10	notation	notation	NOUN
ap-1225	145	11	using	use	VERB
ap-1225	145	12	the	the	DET
ap-1225	145	13	three	three	NUM
ap-1225	145	14	3×	3×	NUM
ap-1225	145	15	3	3	NUM
ap-1225	145	16	matrices	matrix	NOUN
ap-1225	146	1	ti	ti	NOUN
ap-1225	146	2	jk	jk	PROPN
ap-1225	146	3	=	=	PROPN
ap-1225	146	4	t	t	PROPN
ap-1225	146	5	jk	jk	PROPN
ap-1225	146	6	i	i	PRON
ap-1225	146	7	mit	mit	VERB
ap-1225	146	8	i	i	PRON
ap-1225	146	9	,	,	PUNCT
ap-1225	146	10	j	j	PROPN
ap-1225	146	11	,	,	PUNCT
ap-1225	146	12	k	k	PROPN
ap-1225	146	13	∈	∈	PROPN
ap-1225	146	14	{	{	PUNCT
ap-1225	146	15	1	1	NUM
ap-1225	146	16	,	,	PUNCT
ap-1225	146	17	2	2	NUM
ap-1225	146	18	,	,	PUNCT
ap-1225	146	19	3	3	NUM
ap-1225	146	20	}	}	PUNCT
ap-1225	146	21	.	.	PUNCT
ap-1225	147	1	(	(	PUNCT
ap-1225	147	2	8)	8)	NUM
ap-1225	147	3	this	this	DET
ap-1225	147	4	notation	notation	NOUN
ap-1225	147	5	can	can	AUX
ap-1225	147	6	be	be	AUX
ap-1225	147	7	used	use	VERB
ap-1225	147	8	to	to	PART
ap-1225	147	9	extract	extract	VERB
ap-1225	147	10	the	the	DET
ap-1225	147	11	fundamental	fundamental	ADJ
ap-1225	147	12	matrices	matrix	NOUN
ap-1225	147	13	between	between	ADP
ap-1225	147	14	two	two	NUM
ap-1225	147	15	different	different	ADJ
ap-1225	147	16	views	view	NOUN
ap-1225	147	17	from	from	ADP
ap-1225	147	18	the	the	DET
ap-1225	147	19	trifocal	trifocal	ADJ
ap-1225	147	20	tensor	tensor	NOUN
ap-1225	147	21	using	use	VERB
ap-1225	147	22	the	the	DET
ap-1225	147	23	equations	equation	NOUN
ap-1225	147	24	f21	f21	NOUN
ap-1225	147	25	=	=	PROPN
ap-1225	148	1	[	[	X
ap-1225	148	2	�	�	X
ap-1225	148	3	e	e	NOUN
ap-1225	148	4	′]×	′]×	PROPN
ap-1225	148	5	·	·	PUNCT
ap-1225	149	1	[	[	X
ap-1225	149	2	t1,t2,t3	t1,t2,t3	X
ap-1225	149	3	]	]	X
ap-1225	149	4	·	·	PUNCT
ap-1225	149	5	�	�	PROPN
ap-1225	149	6	e	e	ADP
ap-1225	149	7	′′	′′	PROPN
ap-1225	149	8	(	(	PUNCT
ap-1225	149	9	9	9	NUM
ap-1225	149	10	)	)	PUNCT
ap-1225	149	11	and	and	CCONJ
ap-1225	149	12	f31	f31	X
ap-1225	149	13	=	=	SYM
ap-1225	150	1	[	[	X
ap-1225	150	2	�	�	X
ap-1225	150	3	e	e	NOUN
ap-1225	150	4	′′]×	′′]×	PROPN
ap-1225	150	5	·	·	PUNCT
ap-1225	151	1	[	[	X
ap-1225	151	2	tt	tt	X
ap-1225	151	3	1	1	NUM
ap-1225	151	4	,	,	PUNCT
ap-1225	151	5	tt	tt	PROPN
ap-1225	151	6	2	2	NUM
ap-1225	151	7	,	,	PUNCT
ap-1225	151	8	tt	tt	PROPN
ap-1225	151	9	3	3	NUM
ap-1225	151	10	]	]	PUNCT
ap-1225	151	11	·	·	PUNCT
ap-1225	151	12	�	�	X
ap-1225	151	13	e	e	NOUN
ap-1225	151	14	′	′	NOUN
ap-1225	151	15	.	.	PUNCT
ap-1225	152	1	(	(	PUNCT
ap-1225	152	2	10	10	NUM
ap-1225	152	3	)	)	PUNCT
ap-1225	152	4	here	here	ADV
ap-1225	152	5	the	the	DET
ap-1225	152	6	notation	notation	PROPN
ap-1225	152	7	�	�	PROPN
ap-1225	152	8	a	a	DET
ap-1225	152	9	t	t	NOUN
ap-1225	152	10	·	·	PUNCT
ap-1225	153	1	[	[	X
ap-1225	153	2	m1,m2,m3	m1,m2,m3	X
ap-1225	153	3	]	]	X
ap-1225	153	4	·	·	PUNCT
ap-1225	153	5	�	�	PROPN
ap-1225	153	6	b	b	PROPN
ap-1225	153	7	represents	represent	VERB
ap-1225	153	8	the	the	DET
ap-1225	153	9	vector	vector	NOUN
ap-1225	153	10	(	(	PUNCT
ap-1225	153	11	�	�	PROPN
ap-1225	153	12	a	a	PRON
ap-1225	153	13	t	t	NOUN
ap-1225	153	14	·	·	SYM
ap-1225	153	15	m1	m1	PROPN
ap-1225	153	16	·	·	SYM
ap-1225	153	17	�	�	PROPN
ap-1225	153	18	b,	b,	SYM
ap-1225	153	19	�	�	PROPN
ap-1225	153	20	a	a	DET
ap-1225	153	21	t	t	NOUN
ap-1225	153	22	·	·	SYM
ap-1225	153	23	m2	m2	PROPN
ap-1225	153	24	·	·	SYM
ap-1225	153	25	�	�	PROPN
ap-1225	153	26	b,	b,	SYM
ap-1225	153	27	�	�	PROPN
ap-1225	153	28	a	a	DET
ap-1225	153	29	t	t	NOUN
ap-1225	153	30	·	·	SYM
ap-1225	153	31	m3	m3	PROPN
ap-1225	153	32	·	·	SYM
ap-1225	153	33	�	�	PROPN
ap-1225	153	34	b	b	NOUN
ap-1225	153	35	)	)	PUNCT
ap-1225	153	36	,	,	PUNCT
ap-1225	153	37	and	and	CCONJ
ap-1225	153	38	[	[	X
ap-1225	153	39	�	�	NOUN
ap-1225	153	40	x]×	x]×	NOUN
ap-1225	153	41	denotes	denote	VERB
ap-1225	153	42	the	the	DET
ap-1225	153	43	skew	skew	ADJ
ap-1225	153	44	-	-	PUNCT
ap-1225	153	45	symmetric	symmetric	ADJ
ap-1225	153	46	matrix	matrix	NOUN
ap-1225	153	47	,	,	PUNCT
ap-1225	153	48	which	which	PRON
ap-1225	153	49	for	for	ADP
ap-1225	153	50	a	a	DET
ap-1225	153	51	vector	vector	NOUN
ap-1225	153	52	�	�	NOUN
ap-1225	153	53	a	a	PRON
ap-1225	153	54	is	be	AUX
ap-1225	153	55	given	give	VERB
ap-1225	153	56	by	by	ADP
ap-1225	153	57	[	[	PUNCT
ap-1225	153	58	�	�	PROPN
ap-1225	153	59	a]×	a]×	NOUN
ap-1225	153	60	=	=	SYM
ap-1225	153	61	⎛	⎛	NOUN
ap-1225	153	62	⎜⎜⎝	⎜⎜⎝	NOUN
ap-1225	153	63	0	0	NUM
ap-1225	153	64	−a3	−a3	NOUN
ap-1225	153	65	a2	a2	PROPN
ap-1225	153	66	a3	a3	NOUN
ap-1225	153	67	0	0	PUNCT
ap-1225	153	68	−a1	−a1	PROPN
ap-1225	153	69	−a2	−a2	NOUN
ap-1225	153	70	a1	a1	NOUN
ap-1225	153	71	0	0	NUM
ap-1225	153	72	⎞	⎞	PROPN
ap-1225	153	73	⎟⎟⎠	⎟⎟⎠	PROPN
ap-1225	153	74	.	.	PUNCT
ap-1225	154	1	(	(	PUNCT
ap-1225	154	2	11	11	NUM
ap-1225	154	3	)	)	PUNCT
ap-1225	154	4	the	the	DET
ap-1225	154	5	trifocal	trifocal	ADJ
ap-1225	154	6	tensor	tensor	NOUN
ap-1225	154	7	is	be	AUX
ap-1225	154	8	calculated	calculate	VERB
ap-1225	154	9	by	by	ADP
ap-1225	154	10	the	the	DET
ap-1225	154	11	normalized	normalize	VERB
ap-1225	154	12	linear	linear	ADJ
ap-1225	154	13	algorithm	algorithm	NOUN
ap-1225	154	14	[	[	X
ap-1225	154	15	14	14	NUM
ap-1225	154	16	]	]	PUNCT
ap-1225	154	17	including	include	VERB
ap-1225	154	18	algebraic	algebraic	ADJ
ap-1225	154	19	minimization	minimization	NOUN
ap-1225	154	20	.	.	PUNCT
ap-1225	155	1	the	the	DET
ap-1225	155	2	basic	basic	ADJ
ap-1225	155	3	idea	idea	NOUN
ap-1225	155	4	is	be	AUX
ap-1225	155	5	to	to	PART
ap-1225	155	6	solve	solve	VERB
ap-1225	155	7	a	a	DET
ap-1225	155	8	system	system	NOUN
ap-1225	155	9	of	of	ADP
ap-1225	155	10	equations	equation	NOUN
ap-1225	155	11	generated	generate	VERB
ap-1225	155	12	from	from	ADP
ap-1225	155	13	eq	eq	PROPN
ap-1225	155	14	.	.	PROPN
ap-1225	155	15	6	6	NUM
ap-1225	155	16	and	and	CCONJ
ap-1225	155	17	to	to	PART
ap-1225	155	18	enforce	enforce	VERB
ap-1225	155	19	the	the	DET
ap-1225	155	20	inner	inner	ADJ
ap-1225	155	21	constrains	constrain	NOUN
ap-1225	155	22	given	give	VERB
ap-1225	155	23	by	by	ADP
ap-1225	155	24	eq	eq	ADJ
ap-1225	155	25	.	.	PROPN
ap-1225	155	26	5	5	NUM
ap-1225	155	27	.	.	NOUN
ap-1225	155	28	2.9	2.9	NUM
ap-1225	155	29	triangulation	triangulation	NOUN
ap-1225	155	30	after	after	ADP
ap-1225	155	31	calculating	calculate	VERB
ap-1225	155	32	the	the	DET
ap-1225	155	33	camera	camera	NOUN
ap-1225	155	34	matrices	matrix	NOUN
ap-1225	155	35	,	,	PUNCT
ap-1225	155	36	the	the	DET
ap-1225	155	37	3d	3d	NUM
ap-1225	155	38	points	point	NOUN
ap-1225	155	39	can	can	AUX
ap-1225	155	40	be	be	AUX
ap-1225	155	41	reconstructed	reconstruct	VERB
ap-1225	155	42	using	use	VERB
ap-1225	155	43	triangulation	triangulation	NOUN
ap-1225	155	44	.	.	PUNCT
ap-1225	156	1	the	the	DET
ap-1225	156	2	concept	concept	NOUN
ap-1225	156	3	is	be	AUX
ap-1225	156	4	that	that	SCONJ
ap-1225	156	5	the	the	DET
ap-1225	156	6	projection	projection	NOUN
ap-1225	156	7	lines	line	NOUN
ap-1225	156	8	through	through	ADP
ap-1225	156	9	the	the	DET
ap-1225	156	10	camera	camera	NOUN
ap-1225	156	11	centers	center	NOUN
ap-1225	156	12	�	�	PROPN
ap-1225	156	13	c	c	PROPN
ap-1225	156	14	and	and	CCONJ
ap-1225	156	15	�	�	PROPN
ap-1225	156	16	c	c	NOUN
ap-1225	156	17	′	′	NOUN
ap-1225	156	18	and	and	CCONJ
ap-1225	156	19	the	the	DET
ap-1225	156	20	image	image	NOUN
ap-1225	156	21	points	point	VERB
ap-1225	156	22	�	�	PROPN
ap-1225	156	23	x	x	SYM
ap-1225	156	24	and	and	CCONJ
ap-1225	156	25	�	�	NOUN
ap-1225	156	26	x	x	SYM
ap-1225	156	27	′	′	NUM
ap-1225	156	28	intersect	intersect	NOUN
ap-1225	156	29	in	in	ADP
ap-1225	156	30	the	the	DET
ap-1225	156	31	3d	3d	NUM
ap-1225	156	32	point	point	NOUN
ap-1225	156	33	�	�	PROPN
ap-1225	156	34	x	x	SYM
ap-1225	156	35	,	,	PUNCT
ap-1225	156	36	as	as	SCONJ
ap-1225	156	37	shown	show	VERB
ap-1225	156	38	in	in	ADP
ap-1225	156	39	fig	fig	NOUN
ap-1225	156	40	.	.	PUNCT
ap-1225	157	1	5	5	NUM
ap-1225	157	2	.	.	PUNCT
ap-1225	157	3	to	to	PART
ap-1225	157	4	calculate	calculate	VERB
ap-1225	157	5	�	�	PROPN
ap-1225	157	6	x	x	VERB
ap-1225	157	7	the	the	DET
ap-1225	157	8	equation	equation	NOUN
ap-1225	157	9	⎛	⎛	VERB
ap-1225	157	10	⎜⎜⎜⎜⎝	⎜⎜⎜⎜⎝	NOUN
ap-1225	157	11	x̄	x̄	SYM
ap-1225	157	12	·	·	PUNCT
ap-1225	157	13	�	�	PROPN
ap-1225	157	14	p	p	NOUN
ap-1225	157	15	3	3	NUM
ap-1225	157	16	t	t	NOUN
ap-1225	157	17	−	−	PROPN
ap-1225	157	18	�	�	PROPN
ap-1225	157	19	p	p	PROPN
ap-1225	157	20	1	1	NUM
ap-1225	157	21	t	t	NOUN
ap-1225	157	22	ȳ	ȳ	PROPN
ap-1225	157	23	·	·	PUNCT
ap-1225	157	24	�	�	PROPN
ap-1225	157	25	p	p	NOUN
ap-1225	157	26	3	3	NUM
ap-1225	157	27	t	t	NOUN
ap-1225	157	28	−	−	PROPN
ap-1225	157	29	�	�	PROPN
ap-1225	157	30	p	p	PROPN
ap-1225	157	31	2	2	NUM
ap-1225	157	32	t	t	NOUN
ap-1225	157	33	x̄′	x̄′	PUNCT
ap-1225	157	34	·	·	PUNCT
ap-1225	157	35	�	�	PROPN
ap-1225	157	36	p	p	NOUN
ap-1225	157	37	′3	′3	PROPN
ap-1225	157	38	t	t	PROPN
ap-1225	157	39	−	−	PROPN
ap-1225	157	40	�	�	PROPN
ap-1225	157	41	p	p	NOUN
ap-1225	157	42	′1	′1	PROPN
ap-1225	157	43	t	t	PROPN
ap-1225	157	44	ȳ′	ȳ′	PROPN
ap-1225	157	45	·	·	PUNCT
ap-1225	157	46	�	�	PROPN
ap-1225	157	47	p	p	NOUN
ap-1225	157	48	′3	′3	PROPN
ap-1225	157	49	t	t	PROPN
ap-1225	157	50	−	−	PROPN
ap-1225	157	51	�	�	PROPN
ap-1225	157	52	p	p	NOUN
ap-1225	157	53	′2	′2	PROPN
ap-1225	157	54	t	t	PROPN
ap-1225	157	55	⎞	⎞	PROPN
ap-1225	157	56	⎟⎟⎟⎟⎠	⎟⎟⎟⎟⎠	X
ap-1225	157	57	·	·	PUNCT
ap-1225	157	58	�	�	SYM
ap-1225	157	59	x	x	SYM
ap-1225	157	60	=	=	SYM
ap-1225	157	61	�	�	PROPN
ap-1225	157	62	0	0	NUM
ap-1225	157	63	(	(	PUNCT
ap-1225	157	64	12	12	NUM
ap-1225	157	65	)	)	PUNCT
ap-1225	157	66	is	be	AUX
ap-1225	157	67	solved	solve	VERB
ap-1225	157	68	,	,	PUNCT
ap-1225	157	69	where	where	SCONJ
ap-1225	157	70	�	�	PROPN
ap-1225	157	71	p	p	NOUN
ap-1225	157	72	it	it	PRON
ap-1225	157	73	and	and	CCONJ
ap-1225	157	74	�	�	PROPN
ap-1225	157	75	p	p	PART
ap-1225	157	76	′it	′it	NOUN
ap-1225	157	77	are	be	AUX
ap-1225	157	78	the	the	DET
ap-1225	157	79	i	i	PROPN
ap-1225	157	80	-	-	PUNCT
ap-1225	157	81	th	th	X
ap-1225	157	82	row	row	NOUN
ap-1225	157	83	vector	vector	NOUN
ap-1225	157	84	of	of	ADP
ap-1225	157	85	p	p	NOUN
ap-1225	157	86	and	and	CCONJ
ap-1225	157	87	p′.	p′.	NOUN
ap-1225	157	88	since	since	SCONJ
ap-1225	157	89	subpixel	subpixel	ADJ
ap-1225	157	90	positions	position	NOUN
ap-1225	157	91	can	can	AUX
ap-1225	157	92	only	only	ADV
ap-1225	157	93	be	be	AUX
ap-1225	157	94	determined	determine	VERB
ap-1225	157	95	by	by	ADP
ap-1225	157	96	interpolation	interpolation	NOUN
ap-1225	157	97	and	and	CCONJ
ap-1225	157	98	additional	additional	ADJ
ap-1225	157	99	distortion	distortion	NOUN
ap-1225	157	100	is	be	AUX
ap-1225	157	101	induced	induce	VERB
ap-1225	157	102	by	by	ADP
ap-1225	157	103	the	the	DET
ap-1225	157	104	camera	camera	NOUN
ap-1225	157	105	system	system	NOUN
ap-1225	157	106	,	,	PUNCT
ap-1225	157	107	the	the	DET
ap-1225	157	108	detected	detect	VERB
ap-1225	157	109	image	image	NOUN
ap-1225	157	110	points	point	NOUN
ap-1225	157	111	are	be	AUX
ap-1225	157	112	noisy	noisy	ADJ
ap-1225	157	113	.	.	PUNCT
ap-1225	158	1	this	this	DET
ap-1225	158	2	results	result	VERB
ap-1225	158	3	in	in	ADP
ap-1225	158	4	the	the	DET
ap-1225	158	5	effect	effect	NOUN
ap-1225	158	6	that	that	SCONJ
ap-1225	158	7	two	two	NUM
ap-1225	158	8	projection	projection	NOUN
ap-1225	158	9	lines	line	NOUN
ap-1225	158	10	do	do	AUX
ap-1225	158	11	not	not	PART
ap-1225	158	12	meet	meet	VERB
ap-1225	158	13	in	in	ADP
ap-1225	158	14	space	space	NOUN
ap-1225	158	15	and	and	CCONJ
ap-1225	158	16	instead	instead	ADV
ap-1225	158	17	form	form	VERB
ap-1225	158	18	two	two	NUM
ap-1225	158	19	skew	skew	ADJ
ap-1225	158	20	lines	line	NOUN
ap-1225	158	21	.	.	PUNCT
ap-1225	159	1	to	to	PART
ap-1225	159	2	overcome	overcome	VERB
ap-1225	159	3	this	this	DET
ap-1225	159	4	problem	problem	NOUN
ap-1225	159	5	,	,	PUNCT
ap-1225	159	6	the	the	DET
ap-1225	159	7	image	image	NOUN
ap-1225	159	8	points	point	VERB
ap-1225	159	9	�	�	PROPN
ap-1225	159	10	x	x	SYM
ap-1225	159	11	and	and	CCONJ
ap-1225	159	12	�	�	PROPN
ap-1225	159	13	x	x	SYM
ap-1225	159	14	′	′	NUM
ap-1225	159	15	are	be	AUX
ap-1225	159	16	adjusted	adjust	VERB
ap-1225	159	17	to	to	PART
ap-1225	159	18	meet	meet	VERB
ap-1225	159	19	the	the	DET
ap-1225	159	20	epipolar	epipolar	ADJ
ap-1225	159	21	relation	relation	NOUN
ap-1225	159	22	and	and	CCONJ
ap-1225	159	23	are	be	AUX
ap-1225	159	24	called	call	VERB
ap-1225	159	25	�	�	PROPN
ap-1225	159	26	̄x	̄x	VERB
ap-1225	159	27	and	and	CCONJ
ap-1225	159	28	�	�	PROPN
ap-1225	159	29	̄x	̄x	VERB
ap-1225	159	30	′.	′.	NOUN
ap-1225	159	31	simultaneously	simultaneously	ADV
ap-1225	159	32	,	,	PUNCT
ap-1225	159	33	the	the	DET
ap-1225	159	34	sum	sum	NOUN
ap-1225	159	35	of	of	ADP
ap-1225	159	36	the	the	DET
ap-1225	159	37	euclidean	euclidean	ADJ
ap-1225	159	38	distance	distance	NOUN
ap-1225	159	39	sum	sum	NOUN
ap-1225	159	40	d(	d(	PROPN
ap-1225	159	41	�	�	PROPN
ap-1225	159	42	x	x	SYM
ap-1225	159	43	,	,	PUNCT
ap-1225	159	44	�	�	X
ap-1225	159	45	̄x)2	̄x)2	PRON
ap-1225	159	46	+	+	CCONJ
ap-1225	159	47	d(	d(	PROPN
ap-1225	159	48	�	�	NOUN
ap-1225	159	49	x	x	SYM
ap-1225	159	50	′	′	PROPN
ap-1225	159	51	,	,	PUNCT
ap-1225	159	52	�	�	PROPN
ap-1225	159	53	̄x	̄x	VERB
ap-1225	159	54	′)2	′)2	PROPN
ap-1225	159	55	is	be	AUX
ap-1225	159	56	minimized	minimize	VERB
ap-1225	159	57	.	.	PUNCT
ap-1225	160	1	3	3	NUM
ap-1225	160	2	results	result	VERB
ap-1225	160	3	the	the	DET
ap-1225	160	4	four	four	NUM
ap-1225	160	5	different	different	ADJ
ap-1225	160	6	endoscopic	endoscopic	ADJ
ap-1225	160	7	video	video	NOUN
ap-1225	160	8	sequences	sequence	NOUN
ap-1225	160	9	from	from	ADP
ap-1225	160	10	fig	fig	NOUN
ap-1225	160	11	.	.	PUNCT
ap-1225	161	1	9	9	NUM
ap-1225	161	2	are	be	AUX
ap-1225	161	3	used	use	VERB
ap-1225	161	4	to	to	PART
ap-1225	161	5	analyze	analyze	VERB
ap-1225	161	6	the	the	DET
ap-1225	161	7	different	different	ADJ
ap-1225	161	8	steps	step	NOUN
ap-1225	161	9	of	of	ADP
ap-1225	161	10	the	the	DET
ap-1225	161	11	algorithm	algorithm	NOUN
ap-1225	161	12	.	.	PUNCT
ap-1225	162	1	a	a	DET
ap-1225	162	2	)	)	PUNCT
ap-1225	162	3	pisa	pisa	PROPN
ap-1225	162	4	b	b	PROPN
ap-1225	162	5	)	)	PUNCT
ap-1225	162	6	rome	rome	PROPN
ap-1225	162	7	c	c	X
ap-1225	162	8	)	)	PUNCT
ap-1225	162	9	train	train	NOUN
ap-1225	162	10	station	station	NOUN
ap-1225	162	11	d	d	NOUN
ap-1225	162	12	)	)	PUNCT
ap-1225	162	13	wooden	wooden	ADJ
ap-1225	162	14	house	house	NOUN
ap-1225	162	15	fig	fig	NOUN
ap-1225	162	16	.	.	PUNCT
ap-1225	163	1	9	9	NUM
ap-1225	163	2	:	:	PUNCT
ap-1225	163	3	test	test	NOUN
ap-1225	163	4	sequences	sequence	NOUN
ap-1225	163	5	32	32	NUM
ap-1225	163	6	acta	acta	PROPN
ap-1225	163	7	polytechnica	polytechnica	PROPN
ap-1225	163	8	vol	vol	NOUN
ap-1225	163	9	.	.	PROPN
ap-1225	164	1	50	50	NUM
ap-1225	164	2	no	no	NOUN
ap-1225	164	3	.	.	PUNCT
ap-1225	165	1	4/2010	4/2010	NUM
ap-1225	165	2	fig	fig	NOUN
ap-1225	165	3	.	.	PUNCT
ap-1225	166	1	10	10	NUM
ap-1225	166	2	:	:	PUNCT
ap-1225	166	3	correspondences	correspondence	NOUN
ap-1225	166	4	for	for	ADP
ap-1225	166	5	two	two	NUM
ap-1225	166	6	views	view	NOUN
ap-1225	166	7	boxplots	boxplot	NOUN
ap-1225	166	8	are	be	AUX
ap-1225	166	9	used	use	VERB
ap-1225	166	10	to	to	PART
ap-1225	166	11	compare	compare	VERB
ap-1225	166	12	the	the	DET
ap-1225	166	13	data	datum	NOUN
ap-1225	166	14	statistically	statistically	ADV
ap-1225	166	15	over	over	ADP
ap-1225	166	16	all	all	DET
ap-1225	166	17	frames	frame	NOUN
ap-1225	166	18	of	of	ADP
ap-1225	166	19	the	the	DET
ap-1225	166	20	sequences	sequence	NOUN
ap-1225	166	21	.	.	PUNCT
ap-1225	167	1	25	25	NUM
ap-1225	167	2	%	%	NOUN
ap-1225	167	3	or	or	CCONJ
ap-1225	167	4	75	75	NUM
ap-1225	167	5	%	%	NOUN
ap-1225	167	6	of	of	ADP
ap-1225	167	7	all	all	DET
ap-1225	167	8	measured	measure	VERB
ap-1225	167	9	values	value	NOUN
ap-1225	167	10	are	be	AUX
ap-1225	167	11	below	below	ADP
ap-1225	167	12	the	the	DET
ap-1225	167	13	values	value	NOUN
ap-1225	167	14	indicated	indicate	VERB
ap-1225	167	15	by	by	ADP
ap-1225	167	16	the	the	DET
ap-1225	167	17	box	box	NOUN
ap-1225	167	18	borders	border	NOUN
ap-1225	167	19	.	.	PUNCT
ap-1225	168	1	the	the	DET
ap-1225	168	2	line	line	NOUN
ap-1225	168	3	inside	inside	ADP
ap-1225	168	4	the	the	DET
ap-1225	168	5	box	box	NOUN
ap-1225	168	6	is	be	AUX
ap-1225	168	7	the	the	DET
ap-1225	168	8	median	median	NOUN
ap-1225	168	9	and	and	CCONJ
ap-1225	168	10	the	the	DET
ap-1225	168	11	whiskers	whisker	NOUN
ap-1225	168	12	indicate	indicate	VERB
ap-1225	168	13	the	the	DET
ap-1225	168	14	5	5	NUM
ap-1225	168	15	%	%	NOUN
ap-1225	168	16	and	and	CCONJ
ap-1225	168	17	95	95	NUM
ap-1225	168	18	%	%	NOUN
ap-1225	168	19	percentile	percentile	ADJ
ap-1225	168	20	.	.	PUNCT
ap-1225	169	1	fig	fig	NOUN
ap-1225	169	2	.	.	PUNCT
ap-1225	170	1	10	10	NUM
ap-1225	170	2	analyses	analyse	VERB
ap-1225	170	3	the	the	DET
ap-1225	170	4	matching	matching	NOUN
ap-1225	170	5	process	process	NOUN
ap-1225	170	6	for	for	ADP
ap-1225	170	7	three	three	NUM
ap-1225	170	8	views	view	NOUN
ap-1225	170	9	,	,	PUNCT
ap-1225	170	10	as	as	SCONJ
ap-1225	170	11	described	describe	VERB
ap-1225	170	12	in	in	ADP
ap-1225	170	13	section	section	NOUN
ap-1225	170	14	2.7	2.7	NUM
ap-1225	170	15	.	.	PUNCT
ap-1225	171	1	the	the	DET
ap-1225	171	2	number	number	NOUN
ap-1225	171	3	of	of	ADP
ap-1225	171	4	correspondences	correspondence	NOUN
ap-1225	171	5	is	be	AUX
ap-1225	171	6	shown	show	VERB
ap-1225	171	7	on	on	ADP
ap-1225	171	8	the	the	DET
ap-1225	171	9	left	left	ADJ
ap-1225	171	10	side	side	NOUN
ap-1225	171	11	of	of	ADP
ap-1225	171	12	the	the	DET
ap-1225	171	13	boxplots	boxplot	NOUN
ap-1225	171	14	.	.	PUNCT
ap-1225	172	1	on	on	ADP
ap-1225	172	2	the	the	DET
ap-1225	172	3	right	right	ADJ
ap-1225	172	4	side	side	NOUN
ap-1225	172	5	,	,	PUNCT
ap-1225	172	6	the	the	DET
ap-1225	172	7	related	related	ADJ
ap-1225	172	8	reprojection	reprojection	NOUN
ap-1225	172	9	error	error	NOUN
ap-1225	172	10	is	be	AUX
ap-1225	172	11	shown	show	VERB
ap-1225	172	12	.	.	PUNCT
ap-1225	173	1	the	the	DET
ap-1225	173	2	first	first	ADJ
ap-1225	173	3	row	row	NOUN
ap-1225	173	4	shows	show	VERB
ap-1225	173	5	the	the	DET
ap-1225	173	6	results	result	NOUN
ap-1225	173	7	from	from	ADP
ap-1225	173	8	the	the	DET
ap-1225	173	9	two	two	NUM
ap-1225	173	10	-	-	PUNCT
ap-1225	173	11	view	view	NOUN
ap-1225	173	12	process	process	NOUN
ap-1225	173	13	using	use	VERB
ap-1225	173	14	the	the	DET
ap-1225	173	15	advanced	advanced	ADJ
ap-1225	173	16	matching	matching	NOUN
ap-1225	173	17	from	from	ADP
ap-1225	173	18	section	section	NOUN
ap-1225	173	19	2.5	2.5	NUM
ap-1225	173	20	compared	compare	VERB
ap-1225	173	21	to	to	ADP
ap-1225	173	22	the	the	DET
ap-1225	173	23	three	three	NUM
ap-1225	173	24	-	-	PUNCT
ap-1225	173	25	view	view	NOUN
ap-1225	173	26	process	process	NOUN
ap-1225	173	27	.	.	PUNCT
ap-1225	174	1	analysing	analyse	VERB
ap-1225	174	2	the	the	DET
ap-1225	174	3	“	"	PUNCT
ap-1225	174	4	wooden	wooden	ADJ
ap-1225	174	5	house	house	NOUN
ap-1225	174	6	”	"	PUNCT
ap-1225	174	7	sequence	sequence	NOUN
ap-1225	174	8	it	it	PRON
ap-1225	174	9	is	be	AUX
ap-1225	174	10	observable	observable	ADJ
ap-1225	174	11	that	that	SCONJ
ap-1225	174	12	the	the	DET
ap-1225	174	13	number	number	NOUN
ap-1225	174	14	of	of	ADP
ap-1225	174	15	tracked	track	VERB
ap-1225	174	16	correspondences	correspondence	NOUN
ap-1225	174	17	(	(	PUNCT
ap-1225	174	18	1–3	1–3	NOUN
ap-1225	174	19	)	)	PUNCT
ap-1225	174	20	of	of	ADP
ap-1225	174	21	about	about	ADV
ap-1225	174	22	60	60	NUM
ap-1225	174	23	is	be	AUX
ap-1225	174	24	significantly	significantly	ADV
ap-1225	174	25	lower	low	ADJ
ap-1225	174	26	than	than	ADP
ap-1225	174	27	the	the	DET
ap-1225	174	28	number	number	NOUN
ap-1225	174	29	representing	represent	VERB
ap-1225	174	30	the	the	DET
ap-1225	174	31	directly	directly	ADV
ap-1225	174	32	identified	identify	VERB
ap-1225	174	33	correspondences	correspondence	NOUN
ap-1225	174	34	(	(	PUNCT
ap-1225	174	35	1–2	1–2	NOUN
ap-1225	174	36	)	)	PUNCT
ap-1225	174	37	,	,	PUNCT
ap-1225	174	38	which	which	PRON
ap-1225	174	39	is	be	AUX
ap-1225	174	40	of	of	ADP
ap-1225	174	41	about	about	ADP
ap-1225	174	42	125	125	NUM
ap-1225	174	43	.	.	PUNCT
ap-1225	175	1	the	the	DET
ap-1225	175	2	advanced	advanced	ADJ
ap-1225	175	3	matching	matching	NOUN
ap-1225	175	4	between	between	ADP
ap-1225	175	5	the	the	DET
ap-1225	175	6	first	first	ADJ
ap-1225	175	7	and	and	CCONJ
ap-1225	175	8	third	third	ADJ
ap-1225	175	9	view	view	NOUN
ap-1225	175	10	(	(	PUNCT
ap-1225	175	11	1–3	1–3	NOUN
ap-1225	175	12	)	)	PUNCT
ap-1225	175	13	is	be	AUX
ap-1225	175	14	only	only	ADV
ap-1225	175	15	slightly	slightly	ADV
ap-1225	175	16	inferior	inferior	ADJ
ap-1225	175	17	than	than	ADP
ap-1225	175	18	the	the	DET
ap-1225	175	19	matching	matching	NOUN
ap-1225	175	20	from	from	ADP
ap-1225	175	21	the	the	DET
ap-1225	175	22	first	first	ADJ
ap-1225	175	23	view	view	NOUN
ap-1225	175	24	to	to	ADP
ap-1225	175	25	the	the	DET
ap-1225	175	26	second	second	ADJ
ap-1225	175	27	view	view	NOUN
ap-1225	175	28	(	(	PUNCT
ap-1225	175	29	1–2	1–2	NOUN
ap-1225	175	30	)	)	PUNCT
ap-1225	175	31	.	.	PUNCT
ap-1225	176	1	this	this	PRON
ap-1225	176	2	can	can	AUX
ap-1225	176	3	be	be	AUX
ap-1225	176	4	explained	explain	VERB
ap-1225	176	5	by	by	ADP
ap-1225	176	6	the	the	DET
ap-1225	176	7	higher	high	ADJ
ap-1225	176	8	temporal	temporal	ADJ
ap-1225	176	9	distance	distance	NOUN
ap-1225	176	10	between	between	ADP
ap-1225	176	11	the	the	DET
ap-1225	176	12	images	image	NOUN
ap-1225	176	13	,	,	PUNCT
ap-1225	176	14	which	which	PRON
ap-1225	176	15	leads	lead	VERB
ap-1225	176	16	to	to	ADP
ap-1225	176	17	higher	high	ADJ
ap-1225	176	18	variation	variation	NOUN
ap-1225	176	19	of	of	ADP
ap-1225	176	20	the	the	DET
ap-1225	176	21	image	image	NOUN
ap-1225	176	22	data	datum	NOUN
ap-1225	176	23	.	.	PUNCT
ap-1225	177	1	in	in	ADP
ap-1225	177	2	the	the	DET
ap-1225	177	3	fourth	fourth	ADJ
ap-1225	177	4	row	row	NOUN
ap-1225	177	5	,	,	PUNCT
ap-1225	177	6	the	the	DET
ap-1225	177	7	tracked	track	VERB
ap-1225	177	8	and	and	CCONJ
ap-1225	177	9	newly	newly	ADV
ap-1225	177	10	matched	match	VERB
ap-1225	177	11	correspondences	correspondence	NOUN
ap-1225	177	12	are	be	AUX
ap-1225	177	13	joined	join	VERB
ap-1225	177	14	using	use	VERB
ap-1225	177	15	the	the	DET
ap-1225	177	16	advanced	advanced	ADJ
ap-1225	177	17	ransac	ransac	NOUN
ap-1225	177	18	-	-	PUNCT
ap-1225	177	19	algorithm	algorithm	NOUN
ap-1225	177	20	(	(	PUNCT
ap-1225	177	21	1–3	1–3	NOUN
ap-1225	177	22	)	)	PUNCT
ap-1225	177	23	,	,	PUNCT
ap-1225	177	24	which	which	PRON
ap-1225	177	25	leads	lead	VERB
ap-1225	177	26	to	to	ADP
ap-1225	177	27	the	the	DET
ap-1225	177	28	higher	high	ADJ
ap-1225	177	29	number	number	NOUN
ap-1225	177	30	of	of	ADP
ap-1225	177	31	about	about	ADV
ap-1225	177	32	150	150	NUM
ap-1225	177	33	correspondences	correspondence	NOUN
ap-1225	177	34	,	,	PUNCT
ap-1225	177	35	compared	compare	VERB
ap-1225	177	36	to	to	ADP
ap-1225	177	37	the	the	DET
ap-1225	177	38	matching	matching	NOUN
ap-1225	177	39	among	among	ADP
ap-1225	177	40	the	the	DET
ap-1225	177	41	first	first	ADJ
ap-1225	177	42	and	and	CCONJ
ap-1225	177	43	second	second	ADJ
ap-1225	177	44	view	view	NOUN
ap-1225	177	45	.	.	PUNCT
ap-1225	178	1	finally	finally	ADV
ap-1225	178	2	only	only	ADV
ap-1225	178	3	correspondences	correspondence	NOUN
ap-1225	178	4	between	between	ADP
ap-1225	178	5	all	all	DET
ap-1225	178	6	three	three	NUM
ap-1225	178	7	views	view	NOUN
ap-1225	178	8	(	(	PUNCT
ap-1225	178	9	1–2–3	1–2–3	NUM
ap-1225	178	10	)	)	PUNCT
ap-1225	178	11	,	,	PUNCT
ap-1225	178	12	called	call	VERB
ap-1225	178	13	triplets	triplet	NOUN
ap-1225	178	14	,	,	PUNCT
ap-1225	178	15	are	be	AUX
ap-1225	178	16	selected	select	VERB
ap-1225	178	17	,	,	PUNCT
ap-1225	178	18	which	which	PRON
ap-1225	178	19	reduces	reduce	VERB
ap-1225	178	20	the	the	DET
ap-1225	178	21	total	total	ADJ
ap-1225	178	22	number	number	NOUN
ap-1225	178	23	to	to	ADP
ap-1225	178	24	about	about	ADV
ap-1225	178	25	90	90	NUM
ap-1225	178	26	.	.	PUNCT
ap-1225	179	1	the	the	DET
ap-1225	179	2	mean	mean	ADJ
ap-1225	179	3	error	error	NOUN
ap-1225	179	4	of	of	ADP
ap-1225	179	5	about	about	ADV
ap-1225	179	6	0.3	0.3	NUM
ap-1225	179	7	pixels	pixel	NOUN
ap-1225	179	8	is	be	AUX
ap-1225	179	9	constantly	constantly	ADV
ap-1225	179	10	low	low	ADJ
ap-1225	179	11	.	.	PUNCT
ap-1225	180	1	only	only	ADV
ap-1225	180	2	the	the	DET
ap-1225	180	3	tracked	track	VERB
ap-1225	180	4	correspondences	correspondence	NOUN
ap-1225	180	5	(	(	PUNCT
ap-1225	180	6	1–3	1–3	NOUN
ap-1225	180	7	)	)	PUNCT
ap-1225	180	8	show	show	VERB
ap-1225	180	9	slightly	slightly	ADV
ap-1225	180	10	higher	high	ADJ
ap-1225	180	11	error	error	NOUN
ap-1225	180	12	and	and	CCONJ
ap-1225	180	13	variation	variation	NOUN
ap-1225	180	14	,	,	PUNCT
ap-1225	180	15	before	before	ADP
ap-1225	180	16	applying	apply	VERB
ap-1225	180	17	the	the	DET
ap-1225	180	18	ransac	ransac	NOUN
ap-1225	180	19	-	-	PUNCT
ap-1225	180	20	algorithm	algorithm	NOUN
ap-1225	180	21	.	.	PUNCT
ap-1225	181	1	this	this	PRON
ap-1225	181	2	is	be	AUX
ap-1225	181	3	caused	cause	VERB
ap-1225	181	4	by	by	ADP
ap-1225	181	5	sporadic	sporadic	ADJ
ap-1225	181	6	wrong	wrong	ADJ
ap-1225	181	7	correspondences	correspondence	NOUN
ap-1225	181	8	,	,	PUNCT
ap-1225	181	9	as	as	SCONJ
ap-1225	181	10	described	describe	VERB
ap-1225	181	11	in	in	ADP
ap-1225	181	12	section	section	NOUN
ap-1225	181	13	2.7	2.7	NUM
ap-1225	181	14	.	.	PUNCT
ap-1225	182	1	finally	finally	ADV
ap-1225	182	2	,	,	PUNCT
ap-1225	182	3	the	the	DET
ap-1225	182	4	reprojection	reprojection	NOUN
ap-1225	182	5	error	error	NOUN
ap-1225	182	6	from	from	ADP
ap-1225	182	7	the	the	DET
ap-1225	182	8	estimated	estimate	VERB
ap-1225	182	9	trifocal	trifocal	ADJ
ap-1225	182	10	tensor	tensor	NOUN
ap-1225	182	11	is	be	AUX
ap-1225	182	12	analyzed	analyze	VERB
ap-1225	182	13	.	.	PUNCT
ap-1225	183	1	for	for	ADP
ap-1225	183	2	this	this	DET
ap-1225	183	3	step	step	NOUN
ap-1225	183	4	,	,	PUNCT
ap-1225	183	5	two	two	NUM
ap-1225	183	6	fundamental	fundamental	ADJ
ap-1225	183	7	matrices	matrix	NOUN
ap-1225	183	8	are	be	AUX
ap-1225	183	9	calculated	calculate	VERB
ap-1225	183	10	from	from	ADP
ap-1225	183	11	the	the	DET
ap-1225	183	12	trifocal	trifocal	ADJ
ap-1225	183	13	tensor	tensor	NOUN
ap-1225	183	14	by	by	ADP
ap-1225	183	15	eq	eq	PROPN
ap-1225	183	16	.	.	PROPN
ap-1225	183	17	9	9	NUM
ap-1225	183	18	(	(	PUNCT
ap-1225	183	19	1–2	1–2	NOUN
ap-1225	183	20	)	)	PUNCT
ap-1225	183	21	and	and	CCONJ
ap-1225	183	22	10	10	NUM
ap-1225	183	23	(	(	PUNCT
ap-1225	183	24	1–3	1–3	NOUN
ap-1225	183	25	)	)	PUNCT
ap-1225	183	26	.	.	PUNCT
ap-1225	184	1	fig	fig	NOUN
ap-1225	184	2	.	.	PUNCT
ap-1225	185	1	11	11	NUM
ap-1225	185	2	shows	show	NOUN
ap-1225	185	3	for	for	ADP
ap-1225	185	4	all	all	DET
ap-1225	185	5	sequences	sequence	NOUN
ap-1225	185	6	nearly	nearly	ADV
ap-1225	185	7	the	the	DET
ap-1225	185	8	same	same	ADJ
ap-1225	185	9	subpixel	subpixel	NOUN
ap-1225	185	10	error	error	NOUN
ap-1225	185	11	of	of	ADP
ap-1225	185	12	about	about	ADV
ap-1225	185	13	0.3	0.3	NUM
ap-1225	185	14	pixels	pixel	NOUN
ap-1225	185	15	(	(	PUNCT
ap-1225	185	16	1–2	1–2	NOUN
ap-1225	185	17	)	)	PUNCT
ap-1225	185	18	or	or	CCONJ
ap-1225	185	19	∼	∼	NOUN
ap-1225	185	20	0.6	0.6	NUM
ap-1225	185	21	pixels	pixel	NOUN
ap-1225	185	22	(	(	PUNCT
ap-1225	185	23	1–3	1–3	NOUN
ap-1225	185	24	)	)	PUNCT
ap-1225	185	25	,	,	PUNCT
ap-1225	185	26	respectively	respectively	ADV
ap-1225	185	27	.	.	PUNCT
ap-1225	186	1	compared	compare	VERB
ap-1225	186	2	to	to	ADP
ap-1225	186	3	epipolar	epipolar	ADJ
ap-1225	186	4	geometry	geometry	NOUN
ap-1225	186	5	,	,	PUNCT
ap-1225	186	6	the	the	DET
ap-1225	186	7	temporal	temporal	ADJ
ap-1225	186	8	distance	distance	NOUN
ap-1225	186	9	has	have	VERB
ap-1225	186	10	a	a	DET
ap-1225	186	11	stronger	strong	ADJ
ap-1225	186	12	impact	impact	NOUN
ap-1225	186	13	.	.	PUNCT
ap-1225	187	1	since	since	SCONJ
ap-1225	187	2	no	no	DET
ap-1225	187	3	ransac	ransac	NOUN
ap-1225	187	4	-	-	PUNCT
ap-1225	187	5	algorithm	algorithm	NOUN
ap-1225	187	6	has	have	AUX
ap-1225	187	7	yet	yet	ADV
ap-1225	187	8	been	be	AUX
ap-1225	187	9	applied	apply	VERB
ap-1225	187	10	for	for	ADP
ap-1225	187	11	estimating	estimate	VERB
ap-1225	187	12	the	the	DET
ap-1225	187	13	trifocal	trifocal	ADJ
ap-1225	187	14	tensor	tensor	NOUN
ap-1225	187	15	,	,	PUNCT
ap-1225	187	16	outliers	outlier	NOUN
ap-1225	187	17	have	have	VERB
ap-1225	187	18	a	a	DET
ap-1225	187	19	direct	direct	ADJ
ap-1225	187	20	impact	impact	NOUN
ap-1225	187	21	on	on	ADP
ap-1225	187	22	the	the	DET
ap-1225	187	23	error	error	NOUN
ap-1225	187	24	value	value	NOUN
ap-1225	187	25	.	.	PUNCT
ap-1225	188	1	fig	fig	NOUN
ap-1225	188	2	.	.	PUNCT
ap-1225	189	1	11	11	NUM
ap-1225	189	2	:	:	PUNCT
ap-1225	189	3	trifocal	trifocal	ADJ
ap-1225	189	4	error	error	NOUN
ap-1225	189	5	an	an	DET
ap-1225	189	6	exemplary	exemplary	ADJ
ap-1225	189	7	reconstruction	reconstruction	NOUN
ap-1225	189	8	of	of	ADP
ap-1225	189	9	the	the	DET
ap-1225	189	10	“	"	PUNCT
ap-1225	189	11	pisa	pisa	ADJ
ap-1225	189	12	”	"	PUNCT
ap-1225	189	13	sequence	sequence	NOUN
ap-1225	189	14	is	be	AUX
ap-1225	189	15	shown	show	VERB
ap-1225	189	16	in	in	ADP
ap-1225	189	17	fig	fig	NOUN
ap-1225	189	18	.	.	PUNCT
ap-1225	190	1	12	12	NUM
ap-1225	190	2	.	.	PUNCT
ap-1225	191	1	in	in	ADP
ap-1225	191	2	the	the	DET
ap-1225	191	3	left	left	ADJ
ap-1225	191	4	image	image	NOUN
ap-1225	191	5	all	all	DET
ap-1225	191	6	detected	detect	VERB
ap-1225	191	7	features	feature	NOUN
ap-1225	191	8	are	be	AUX
ap-1225	191	9	shown	show	VERB
ap-1225	191	10	on	on	ADP
ap-1225	191	11	the	the	DET
ap-1225	191	12	image	image	NOUN
ap-1225	191	13	plane	plane	NOUN
ap-1225	191	14	,	,	PUNCT
ap-1225	191	15	and	and	CCONJ
ap-1225	191	16	in	in	ADP
ap-1225	191	17	the	the	DET
ap-1225	191	18	right	right	ADJ
ap-1225	191	19	image	image	NOUN
ap-1225	191	20	a	a	DET
ap-1225	191	21	3d	3d	NUM
ap-1225	191	22	reconstruction	reconstruction	NOUN
ap-1225	191	23	from	from	ADP
ap-1225	191	24	these	these	DET
ap-1225	191	25	points	point	NOUN
ap-1225	191	26	is	be	AUX
ap-1225	191	27	shown	show	VERB
ap-1225	191	28	.	.	PUNCT
ap-1225	192	1	corresponding	correspond	VERB
ap-1225	192	2	points	point	NOUN
ap-1225	192	3	have	have	VERB
ap-1225	192	4	the	the	DET
ap-1225	192	5	same	same	ADJ
ap-1225	192	6	color	color	NOUN
ap-1225	192	7	.	.	PUNCT
ap-1225	193	1	the	the	DET
ap-1225	193	2	reconstruction	reconstruction	NOUN
ap-1225	193	3	is	be	AUX
ap-1225	193	4	compressed	compress	VERB
ap-1225	193	5	in	in	ADP
ap-1225	193	6	the	the	DET
ap-1225	193	7	x	x	NOUN
ap-1225	193	8	-	-	NOUN
ap-1225	193	9	direction	direction	NOUN
ap-1225	193	10	,	,	PUNCT
ap-1225	193	11	caused	cause	VERB
ap-1225	193	12	by	by	ADP
ap-1225	193	13	the	the	DET
ap-1225	193	14	projective	projective	ADJ
ap-1225	193	15	transformation	transformation	NOUN
ap-1225	193	16	described	describe	VERB
ap-1225	193	17	in	in	ADP
ap-1225	193	18	section	section	NOUN
ap-1225	193	19	2.6	2.6	NUM
ap-1225	193	20	.	.	PUNCT
ap-1225	194	1	fig	fig	NOUN
ap-1225	194	2	.	.	PUNCT
ap-1225	195	1	12	12	NUM
ap-1225	195	2	:	:	PUNCT
ap-1225	195	3	image	image	NOUN
ap-1225	195	4	from	from	ADP
ap-1225	195	5	sequence	sequence	NOUN
ap-1225	195	6	“	"	PUNCT
ap-1225	195	7	pisa	pisa	PROPN
ap-1225	195	8	”	"	PUNCT
ap-1225	195	9	and	and	CCONJ
ap-1225	195	10	related	relate	VERB
ap-1225	195	11	reconstruction	reconstruction	NOUN
ap-1225	195	12	4	4	NUM
ap-1225	195	13	summary	summary	NOUN
ap-1225	195	14	and	and	CCONJ
ap-1225	195	15	prospects	prospect	VERB
ap-1225	195	16	this	this	DET
ap-1225	195	17	paper	paper	NOUN
ap-1225	195	18	presents	present	VERB
ap-1225	195	19	a	a	DET
ap-1225	195	20	method	method	NOUN
ap-1225	195	21	for	for	ADP
ap-1225	195	22	reconstructing	reconstruct	VERB
ap-1225	195	23	3d	3d	NUM
ap-1225	195	24	scene	scene	NOUN
ap-1225	195	25	content	content	NOUN
ap-1225	195	26	from	from	ADP
ap-1225	195	27	uncalibrated	uncalibrated	ADJ
ap-1225	195	28	endoscopic	endoscopic	ADJ
ap-1225	195	29	sequences	sequence	NOUN
ap-1225	195	30	based	base	VERB
ap-1225	195	31	on	on	ADP
ap-1225	195	32	surf	surf	NOUN
ap-1225	195	33	-	-	PUNCT
ap-1225	195	34	features	feature	NOUN
ap-1225	195	35	.	.	PUNCT
ap-1225	196	1	the	the	DET
ap-1225	196	2	different	different	ADJ
ap-1225	196	3	steps	step	NOUN
ap-1225	196	4	yield	yield	VERB
ap-1225	196	5	robust	robust	ADJ
ap-1225	196	6	results	result	NOUN
ap-1225	196	7	by	by	ADP
ap-1225	196	8	using	use	VERB
ap-1225	196	9	the	the	DET
ap-1225	196	10	ransac	ransac	NOUN
ap-1225	196	11	-	-	PUNCT
ap-1225	196	12	algorithm	algorithm	NOUN
ap-1225	196	13	in	in	ADP
ap-1225	196	14	33	33	NUM
ap-1225	196	15	acta	acta	PROPN
ap-1225	196	16	polytechnica	polytechnica	PROPN
ap-1225	196	17	vol	vol	NOUN
ap-1225	196	18	.	.	PROPN
ap-1225	197	1	50	50	NUM
ap-1225	197	2	no	no	NOUN
ap-1225	197	3	.	.	PUNCT
ap-1225	198	1	4/2010	4/2010	NUM
ap-1225	198	2	adapted	adapt	VERB
ap-1225	198	3	forms	form	NOUN
ap-1225	198	4	.	.	PUNCT
ap-1225	199	1	it	it	PRON
ap-1225	199	2	has	have	AUX
ap-1225	199	3	been	be	AUX
ap-1225	199	4	shown	show	VERB
ap-1225	199	5	that	that	SCONJ
ap-1225	199	6	an	an	DET
ap-1225	199	7	epipolar	epipolar	ADJ
ap-1225	199	8	geometry	geometry	NOUN
ap-1225	199	9	and	and	CCONJ
ap-1225	199	10	a	a	DET
ap-1225	199	11	trifocal	trifocal	ADJ
ap-1225	199	12	geometry	geometry	NOUN
ap-1225	199	13	can	can	AUX
ap-1225	199	14	be	be	AUX
ap-1225	199	15	extracted	extract	VERB
ap-1225	199	16	with	with	ADP
ap-1225	199	17	high	high	ADJ
ap-1225	199	18	precision	precision	NOUN
ap-1225	199	19	,	,	PUNCT
ap-1225	199	20	whereby	whereby	SCONJ
ap-1225	199	21	subpixel	subpixel	ADJ
ap-1225	199	22	-	-	PUNCT
ap-1225	199	23	precise	precise	ADJ
ap-1225	199	24	reconstruction	reconstruction	NOUN
ap-1225	199	25	is	be	AUX
ap-1225	199	26	possible	possible	ADJ
ap-1225	199	27	.	.	PUNCT
ap-1225	200	1	an	an	DET
ap-1225	200	2	important	important	ADJ
ap-1225	200	3	application	application	NOUN
ap-1225	200	4	for	for	ADP
ap-1225	200	5	trifocal	trifocal	ADJ
ap-1225	200	6	geometry	geometry	NOUN
ap-1225	200	7	is	be	AUX
ap-1225	200	8	for	for	ADP
ap-1225	200	9	extracting	extract	VERB
ap-1225	200	10	consistent	consistent	ADJ
ap-1225	200	11	camera	camera	NOUN
ap-1225	200	12	matrices	matrix	NOUN
ap-1225	200	13	for	for	ADP
ap-1225	200	14	the	the	DET
ap-1225	200	15	whole	whole	ADJ
ap-1225	200	16	sequence	sequence	NOUN
ap-1225	200	17	by	by	ADP
ap-1225	200	18	a	a	DET
ap-1225	200	19	linear	linear	ADJ
ap-1225	200	20	method	method	NOUN
ap-1225	200	21	,	,	PUNCT
ap-1225	200	22	like	like	ADP
ap-1225	200	23	in	in	ADP
ap-1225	200	24	[	[	X
ap-1225	200	25	12	12	NUM
ap-1225	200	26	]	]	PUNCT
ap-1225	200	27	or	or	CCONJ
ap-1225	200	28	[	[	X
ap-1225	200	29	13	13	NUM
ap-1225	200	30	]	]	PUNCT
ap-1225	200	31	.	.	PUNCT
ap-1225	201	1	subsequently	subsequently	ADV
ap-1225	201	2	these	these	DET
ap-1225	201	3	cameras	camera	NOUN
ap-1225	201	4	can	can	AUX
ap-1225	201	5	be	be	AUX
ap-1225	201	6	used	use	VERB
ap-1225	201	7	for	for	ADP
ap-1225	201	8	auto	auto	NOUN
ap-1225	201	9	calibration	calibration	NOUN
ap-1225	201	10	[	[	X
ap-1225	201	11	14	14	NUM
ap-1225	201	12	]	]	PUNCT
ap-1225	201	13	,	,	PUNCT
ap-1225	201	14	which	which	PRON
ap-1225	201	15	allows	allow	VERB
ap-1225	201	16	metric	metric	ADJ
ap-1225	201	17	reconstruction	reconstruction	NOUN
ap-1225	201	18	.	.	PUNCT
ap-1225	202	1	acknowledgement	acknowledgement	NOUN
ap-1225	202	2	we	we	PRON
ap-1225	202	3	would	would	AUX
ap-1225	202	4	like	like	VERB
ap-1225	202	5	to	to	PART
ap-1225	202	6	thank	thank	VERB
ap-1225	202	7	prof	prof	NOUN
ap-1225	202	8	.	.	PUNCT
ap-1225	203	1	dr.-ing	dr.-e	VERB
ap-1225	203	2	.	.	PUNCT
ap-1225	204	1	til	til	ADV
ap-1225	204	2	aach	aach	PROPN
ap-1225	204	3	,	,	PUNCT
ap-1225	204	4	institute	institute	NOUN
ap-1225	204	5	of	of	ADP
ap-1225	204	6	imaging	imaging	NOUN
ap-1225	204	7	and	and	CCONJ
ap-1225	204	8	computer	computer	NOUN
ap-1225	204	9	vision	vision	NOUN
ap-1225	204	10	,	,	PUNCT
ap-1225	204	11	rwth	rwth	PROPN
ap-1225	204	12	aachen	aachen	PROPN
ap-1225	204	13	university	university	PROPN
ap-1225	204	14	,	,	PUNCT
ap-1225	204	15	germany	germany	PROPN
ap-1225	204	16	for	for	ADP
ap-1225	204	17	supervising	supervise	VERB
ap-1225	204	18	this	this	DET
ap-1225	204	19	project	project	NOUN
ap-1225	204	20	.	.	PUNCT
ap-1225	205	1	additionally	additionally	ADV
ap-1225	205	2	we	we	PRON
ap-1225	205	3	would	would	AUX
ap-1225	205	4	like	like	VERB
ap-1225	205	5	to	to	PART
ap-1225	205	6	thank	thank	VERB
ap-1225	205	7	olympus	olympus	PROPN
ap-1225	205	8	&	&	CCONJ
ap-1225	205	9	winter	winter	PROPN
ap-1225	205	10	ibe	ibe	PROPN
ap-1225	205	11	gmbh	gmbh	PROPN
ap-1225	205	12	for	for	ADP
ap-1225	205	13	providing	provide	VERB
ap-1225	205	14	a	a	DET
ap-1225	205	15	video	video	NOUN
ap-1225	205	16	endoscope	endoscope	NOUN
ap-1225	205	17	system	system	NOUN
ap-1225	205	18	.	.	PUNCT
ap-1225	206	1	references	reference	NOUN
ap-1225	206	2	[	[	X
ap-1225	206	3	1	1	NUM
ap-1225	206	4	]	]	PUNCT
ap-1225	206	5	american	american	ADJ
ap-1225	206	6	cancer	cancer	NOUN
ap-1225	206	7	society	society	NOUN
ap-1225	206	8	:	:	PUNCT
ap-1225	206	9	cancer	cancer	NOUN
ap-1225	206	10	facts	fact	NOUN
ap-1225	206	11	&	&	CCONJ
ap-1225	206	12	figures	figure	NOUN
ap-1225	206	13	2008	2008	NUM
ap-1225	206	14	.	.	PUNCT
ap-1225	207	1	american	american	ADJ
ap-1225	207	2	cancer	cancer	NOUN
ap-1225	207	3	society	society	NOUN
ap-1225	207	4	,	,	PUNCT
ap-1225	207	5	2008	2008	NUM
ap-1225	207	6	.	.	PUNCT
ap-1225	208	1	[	[	X
ap-1225	208	2	2	2	NUM
ap-1225	208	3	]	]	PUNCT
ap-1225	208	4	behrens	behren	NOUN
ap-1225	208	5	,	,	PUNCT
ap-1225	208	6	a.	a.	NOUN
ap-1225	208	7	,	,	PUNCT
ap-1225	208	8	bommes	bomme	NOUN
ap-1225	208	9	,	,	PUNCT
ap-1225	208	10	m.	m.	NOUN
ap-1225	208	11	,	,	PUNCT
ap-1225	208	12	stehle	stehle	ADV
ap-1225	208	13	,	,	PUNCT
ap-1225	208	14	t.	t.	PROPN
ap-1225	208	15	,	,	PUNCT
ap-1225	208	16	gross	gross	ADJ
ap-1225	208	17	,	,	PUNCT
ap-1225	208	18	s.	s.	PROPN
ap-1225	208	19	,	,	PUNCT
ap-1225	208	20	leonhardt	leonhardt	PROPN
ap-1225	208	21	,	,	PUNCT
ap-1225	208	22	s.	s.	PROPN
ap-1225	208	23	,	,	PUNCT
ap-1225	208	24	aach	aach	NOUN
ap-1225	208	25	,	,	PUNCT
ap-1225	208	26	t.	t.	PROPN
ap-1225	208	27	:	:	PUNCT
ap-1225	208	28	a	a	DET
ap-1225	208	29	multi	multi	ADJ
ap-1225	208	30	-	-	ADJ
ap-1225	208	31	threaded	threaded	ADJ
ap-1225	208	32	mosaicking	mosaicking	NOUN
ap-1225	208	33	algorithm	algorithm	NOUN
ap-1225	208	34	for	for	ADP
ap-1225	208	35	fast	fast	ADJ
ap-1225	208	36	image	image	NOUN
ap-1225	208	37	composition	composition	NOUN
ap-1225	208	38	of	of	ADP
ap-1225	208	39	fluorescence	fluorescence	ADJ
ap-1225	208	40	bladder	bladder	NOUN
ap-1225	208	41	images	image	NOUN
ap-1225	208	42	.	.	PUNCT
ap-1225	209	1	medical	medical	ADJ
ap-1225	209	2	imaging	imaging	NOUN
ap-1225	209	3	2010	2010	NUM
ap-1225	209	4	:	:	PUNCT
ap-1225	209	5	visualization	visualization	NOUN
ap-1225	209	6	,	,	PUNCT
ap-1225	209	7	image	image	NOUN
ap-1225	209	8	-	-	PUNCT
ap-1225	209	9	guided	guide	VERB
ap-1225	209	10	procedures	procedure	NOUN
ap-1225	209	11	,	,	PUNCT
ap-1225	209	12	and	and	CCONJ
ap-1225	209	13	modeling	modeling	NOUN
ap-1225	209	14	,	,	PUNCT
ap-1225	209	15	vol	vol	NOUN
ap-1225	209	16	.	.	PROPN
ap-1225	209	17	7	7	NUM
ap-1225	209	18	625	625	NUM
ap-1225	209	19	,	,	PUNCT
ap-1225	209	20	san	san	PROPN
ap-1225	209	21	diego	diego	PROPN
ap-1225	209	22	,	,	PUNCT
ap-1225	209	23	ca	ca	PROPN
ap-1225	209	24	,	,	PUNCT
ap-1225	209	25	usa	usa	PROPN
ap-1225	209	26	,	,	PUNCT
ap-1225	209	27	2010	2010	NUM
ap-1225	209	28	.	.	PUNCT
ap-1225	210	1	[	[	X
ap-1225	210	2	3	3	NUM
ap-1225	210	3	]	]	X
ap-1225	210	4	gross	gross	ADJ
ap-1225	210	5	,	,	PUNCT
ap-1225	210	6	s.	s.	PROPN
ap-1225	210	7	,	,	PUNCT
ap-1225	210	8	behrens	behrens	PROPN
ap-1225	210	9	,	,	PUNCT
ap-1225	210	10	a.	a.	NOUN
ap-1225	210	11	,	,	PUNCT
ap-1225	210	12	stehle	stehle	ADV
ap-1225	210	13	,	,	PUNCT
ap-1225	210	14	t.	t.	PROPN
ap-1225	210	15	:	:	PUNCT
ap-1225	210	16	rapid	rapid	ADJ
ap-1225	210	17	development	development	NOUN
ap-1225	210	18	of	of	ADP
ap-1225	210	19	video	video	NOUN
ap-1225	210	20	processing	processing	NOUN
ap-1225	210	21	algorithms	algorithm	NOUN
ap-1225	210	22	with	with	ADP
ap-1225	210	23	realtimeframe	realtimeframe	NOUN
ap-1225	210	24	.	.	PUNCT
ap-1225	211	1	conference	conference	NOUN
ap-1225	211	2	book	book	NOUN
ap-1225	211	3	biomedica	biomedica	PROPN
ap-1225	211	4	,	,	PUNCT
ap-1225	211	5	liege	liege	PROPN
ap-1225	211	6	,	,	PUNCT
ap-1225	211	7	belgium	belgium	PROPN
ap-1225	211	8	,	,	PUNCT
ap-1225	211	9	2009	2009	NUM
ap-1225	211	10	,	,	PUNCT
ap-1225	211	11	pp	pp	ADV
ap-1225	211	12	.	.	PUNCT
ap-1225	212	1	217–220	217–220	NUM
ap-1225	212	2	.	.	PUNCT
ap-1225	213	1	[	[	X
ap-1225	213	2	4	4	NUM
ap-1225	213	3	]	]	X
ap-1225	213	4	hartley	hartley	PROPN
ap-1225	213	5	,	,	PUNCT
ap-1225	213	6	r.	r.	PROPN
ap-1225	213	7	,	,	PUNCT
ap-1225	213	8	kang	kang	PROPN
ap-1225	213	9	,	,	PUNCT
ap-1225	213	10	s.	s.	PROPN
ap-1225	213	11	b.	b.	PROPN
ap-1225	213	12	:	:	PUNCT
ap-1225	213	13	parameter	parameter	NOUN
ap-1225	213	14	-	-	PUNCT
ap-1225	213	15	free	free	ADJ
ap-1225	213	16	radial	radial	ADJ
ap-1225	213	17	distortion	distortion	NOUN
ap-1225	213	18	correction	correction	NOUN
ap-1225	213	19	with	with	ADP
ap-1225	213	20	center	center	NOUN
ap-1225	213	21	of	of	ADP
ap-1225	213	22	distortion	distortion	NOUN
ap-1225	213	23	estimation	estimation	NOUN
ap-1225	213	24	.	.	PUNCT
ap-1225	214	1	ieee	ieee	NOUN
ap-1225	214	2	transactions	transaction	NOUN
ap-1225	214	3	on	on	ADP
ap-1225	214	4	pattern	pattern	NOUN
ap-1225	214	5	analysis	analysis	NOUN
ap-1225	214	6	and	and	CCONJ
ap-1225	214	7	machine	machine	NOUN
ap-1225	214	8	intelligence	intelligence	NOUN
ap-1225	214	9	,	,	PUNCT
ap-1225	214	10	2007	2007	NUM
ap-1225	214	11	,	,	PUNCT
ap-1225	214	12	vol	vol	NOUN
ap-1225	214	13	.	.	PROPN
ap-1225	214	14	29	29	NUM
ap-1225	214	15	,	,	PUNCT
ap-1225	214	16	no	no	INTJ
ap-1225	214	17	.	.	NOUN
ap-1225	214	18	8	8	NUM
ap-1225	214	19	,	,	PUNCT
ap-1225	214	20	pp	pp	ADJ
ap-1225	214	21	.	.	PUNCT
ap-1225	215	1	1	1	NUM
ap-1225	215	2	309–1321	309–1321	NUM
ap-1225	215	3	.	.	PUNCT
ap-1225	216	1	[	[	X
ap-1225	216	2	5	5	NUM
ap-1225	216	3	]	]	X
ap-1225	216	4	bay	bay	NOUN
ap-1225	216	5	,	,	PUNCT
ap-1225	216	6	h.	h.	PROPN
ap-1225	216	7	,	,	PUNCT
ap-1225	216	8	ess	ess	PROPN
ap-1225	216	9	,	,	PUNCT
ap-1225	216	10	a.	a.	NOUN
ap-1225	216	11	,	,	PUNCT
ap-1225	216	12	tuytelaars	tuytelaar	NOUN
ap-1225	216	13	,	,	PUNCT
ap-1225	216	14	t.	t.	PROPN
ap-1225	216	15	,	,	PUNCT
ap-1225	216	16	gool	gool	PROPN
ap-1225	216	17	,	,	PUNCT
ap-1225	216	18	l.	l.	PROPN
ap-1225	216	19	v.	v.	PROPN
ap-1225	216	20	:	:	PUNCT
ap-1225	216	21	speeded	speed	VERB
ap-1225	216	22	-	-	PUNCT
ap-1225	216	23	up	up	ADP
ap-1225	216	24	robust	robust	ADJ
ap-1225	216	25	features	feature	NOUN
ap-1225	216	26	(	(	PUNCT
ap-1225	216	27	surf	surf	NOUN
ap-1225	216	28	)	)	PUNCT
ap-1225	216	29	.	.	PUNCT
ap-1225	217	1	computer	computer	NOUN
ap-1225	217	2	vision	vision	NOUN
ap-1225	217	3	and	and	CCONJ
ap-1225	217	4	image	image	NOUN
ap-1225	217	5	understanding	understanding	NOUN
ap-1225	217	6	,	,	PUNCT
ap-1225	217	7	2008	2008	NUM
ap-1225	217	8	,	,	PUNCT
ap-1225	217	9	vol	vol	NOUN
ap-1225	217	10	.	.	PROPN
ap-1225	218	1	110	110	NUM
ap-1225	218	2	,	,	PUNCT
ap-1225	218	3	no	no	INTJ
ap-1225	218	4	.	.	NOUN
ap-1225	218	5	3	3	NUM
ap-1225	218	6	,	,	PUNCT
ap-1225	218	7	pp	pp	ADJ
ap-1225	218	8	.	.	PUNCT
ap-1225	219	1	346–359	346–359	NUM
ap-1225	219	2	.	.	PUNCT
ap-1225	220	1	[	[	X
ap-1225	220	2	6	6	NUM
ap-1225	220	3	]	]	SYM
ap-1225	220	4	fischler	fischler	NOUN
ap-1225	220	5	,	,	PUNCT
ap-1225	220	6	m.	m.	NOUN
ap-1225	220	7	a.	a.	PROPN
ap-1225	220	8	,	,	PUNCT
ap-1225	220	9	bolles	bolles	PROPN
ap-1225	220	10	,	,	PUNCT
ap-1225	220	11	r.	r.	PROPN
ap-1225	220	12	c.	c.	PROPN
ap-1225	220	13	:	:	PUNCT
ap-1225	220	14	random	random	ADJ
ap-1225	220	15	sample	sample	NOUN
ap-1225	220	16	consensus	consensus	NOUN
ap-1225	220	17	:	:	PUNCT
ap-1225	220	18	a	a	DET
ap-1225	220	19	paradigm	paradigm	NOUN
ap-1225	220	20	for	for	ADP
ap-1225	220	21	model	model	NOUN
ap-1225	220	22	fitting	fit	VERB
ap-1225	220	23	with	with	ADP
ap-1225	220	24	applications	application	NOUN
ap-1225	220	25	to	to	PART
ap-1225	220	26	image	image	VERB
ap-1225	220	27	analysis	analysis	NOUN
ap-1225	220	28	and	and	CCONJ
ap-1225	220	29	automated	automate	VERB
ap-1225	220	30	cartography	cartography	NOUN
ap-1225	220	31	.	.	PUNCT
ap-1225	221	1	communications	communication	NOUN
ap-1225	221	2	of	of	ADP
ap-1225	221	3	the	the	DET
ap-1225	221	4	acm	acm	NOUN
ap-1225	221	5	,	,	PUNCT
ap-1225	221	6	1981	1981	NUM
ap-1225	221	7	,	,	PUNCT
ap-1225	221	8	vol	vol	NOUN
ap-1225	221	9	.	.	PROPN
ap-1225	221	10	24	24	NUM
ap-1225	221	11	,	,	PUNCT
ap-1225	221	12	no	no	INTJ
ap-1225	221	13	.	.	NOUN
ap-1225	221	14	6	6	NUM
ap-1225	221	15	,	,	PUNCT
ap-1225	221	16	pp	pp	ADJ
ap-1225	221	17	.	.	PUNCT
ap-1225	222	1	381–395	381–395	NUM
ap-1225	222	2	.	.	PUNCT
ap-1225	223	1	[	[	X
ap-1225	223	2	7	7	NUM
ap-1225	223	3	]	]	X
ap-1225	223	4	triggs	triggs	PROPN
ap-1225	223	5	,	,	PUNCT
ap-1225	223	6	w.	w.	PROPN
ap-1225	223	7	:	:	PUNCT
ap-1225	223	8	the	the	DET
ap-1225	223	9	geometry	geometry	NOUN
ap-1225	223	10	of	of	ADP
ap-1225	223	11	projective	projective	ADJ
ap-1225	223	12	reconstruction	reconstruction	NOUN
ap-1225	224	1	i	i	PRON
ap-1225	224	2	:	:	PUNCT
ap-1225	224	3	matching	match	VERB
ap-1225	224	4	constraints	constraint	NOUN
ap-1225	224	5	and	and	CCONJ
ap-1225	224	6	the	the	DET
ap-1225	224	7	joint	joint	ADJ
ap-1225	224	8	image	image	NOUN
ap-1225	224	9	.	.	PUNCT
ap-1225	225	1	proc	proc	NOUN
ap-1225	225	2	.	.	PUNCT
ap-1225	226	1	international	international	ADJ
ap-1225	226	2	conference	conference	NOUN
ap-1225	226	3	on	on	ADP
ap-1225	226	4	computer	computer	NOUN
ap-1225	226	5	vision	vision	PROPN
ap-1225	226	6	,	,	PUNCT
ap-1225	226	7	boston	boston	PROPN
ap-1225	226	8	,	,	PUNCT
ap-1225	226	9	ma	ma	PROPN
ap-1225	226	10	,	,	PUNCT
ap-1225	226	11	usa	usa	PROPN
ap-1225	226	12	,	,	PUNCT
ap-1225	226	13	1995	1995	NUM
ap-1225	226	14	,	,	PUNCT
ap-1225	226	15	pp	pp	ADJ
ap-1225	226	16	.	.	PUNCT
ap-1225	227	1	338–343	338–343	NUM
ap-1225	227	2	.	.	PUNCT
ap-1225	228	1	[	[	X
ap-1225	228	2	8	8	NUM
ap-1225	228	3	]	]	X
ap-1225	228	4	stehle	stehle	ADV
ap-1225	228	5	,	,	PUNCT
ap-1225	228	6	t.	t.	NOUN
ap-1225	228	7	,	,	PUNCT
ap-1225	228	8	truhn	truhn	NOUN
ap-1225	228	9	,	,	PUNCT
ap-1225	228	10	d.	d.	PROPN
ap-1225	228	11	,	,	PUNCT
ap-1225	228	12	aach	aach	NOUN
ap-1225	228	13	,	,	PUNCT
ap-1225	228	14	t.	t.	PROPN
ap-1225	228	15	,	,	PUNCT
ap-1225	228	16	trautwein	trautwein	PROPN
ap-1225	228	17	,	,	PUNCT
ap-1225	228	18	c.	c.	PROPN
ap-1225	228	19	,	,	PUNCT
ap-1225	228	20	tischendorf	tischendorf	PROPN
ap-1225	228	21	,	,	PUNCT
ap-1225	228	22	j.	j.	PROPN
ap-1225	228	23	:	:	PUNCT
ap-1225	228	24	camera	camera	NOUN
ap-1225	228	25	calibration	calibration	NOUN
ap-1225	228	26	for	for	ADP
ap-1225	228	27	fish	fish	NOUN
ap-1225	228	28	-	-	PUNCT
ap-1225	228	29	eye	eye	NOUN
ap-1225	228	30	lenses	lense	NOUN
ap-1225	228	31	in	in	ADP
ap-1225	228	32	endoscopy	endoscopy	NOUN
ap-1225	228	33	with	with	ADP
ap-1225	228	34	an	an	DET
ap-1225	228	35	application	application	NOUN
ap-1225	228	36	to	to	ADP
ap-1225	228	37	3d	3d	PROPN
ap-1225	228	38	reconstruction	reconstruction	NOUN
ap-1225	228	39	.	.	PUNCT
ap-1225	229	1	proceedings	proceeding	NOUN
ap-1225	229	2	ieee	ieee	VERB
ap-1225	229	3	international	international	ADJ
ap-1225	229	4	symposium	symposium	NOUN
ap-1225	229	5	on	on	ADP
ap-1225	229	6	biomedical	biomedical	ADJ
ap-1225	229	7	imaging	imaging	NOUN
ap-1225	229	8	,	,	PUNCT
ap-1225	229	9	washington	washington	PROPN
ap-1225	229	10	,	,	PUNCT
ap-1225	229	11	d.c	d.c	PROPN
ap-1225	229	12	.	.	PROPN
ap-1225	229	13	,	,	PUNCT
ap-1225	229	14	usa	usa	PROPN
ap-1225	229	15	,	,	PUNCT
ap-1225	229	16	2007	2007	NUM
ap-1225	229	17	.	.	PUNCT
ap-1225	230	1	[	[	X
ap-1225	230	2	9	9	NUM
ap-1225	230	3	]	]	X
ap-1225	230	4	sampson	sampson	NOUN
ap-1225	230	5	,	,	PUNCT
ap-1225	230	6	p.	p.	PROPN
ap-1225	230	7	d.	d.	PROPN
ap-1225	230	8	:	:	PUNCT
ap-1225	230	9	fitting	fitting	ADJ
ap-1225	230	10	conic	conic	ADJ
ap-1225	230	11	sections	section	NOUN
ap-1225	230	12	to	to	ADP
ap-1225	230	13	‘	'	PUNCT
ap-1225	230	14	very	very	ADV
ap-1225	230	15	scattered	scattered	ADJ
ap-1225	230	16	’	'	PUNCT
ap-1225	230	17	data	datum	NOUN
ap-1225	230	18	:	:	PUNCT
ap-1225	230	19	an	an	DET
ap-1225	230	20	iterative	iterative	NOUN
ap-1225	230	21	refinement	refinement	NOUN
ap-1225	230	22	of	of	ADP
ap-1225	230	23	the	the	DET
ap-1225	230	24	bookstein	bookstein	ADJ
ap-1225	230	25	algorithm	algorithm	NOUN
ap-1225	230	26	.	.	PUNCT
ap-1225	231	1	computer	computer	NOUN
ap-1225	231	2	graphics	graphic	NOUN
ap-1225	231	3	and	and	CCONJ
ap-1225	231	4	image	image	NOUN
ap-1225	231	5	processing	processing	NOUN
ap-1225	231	6	.	.	PUNCT
ap-1225	232	1	fitting	fitting	ADJ
ap-1225	232	2	conic	conic	ADJ
ap-1225	232	3	sections	section	NOUN
ap-1225	232	4	to	to	ADP
ap-1225	232	5	scattered	scatter	VERB
ap-1225	232	6	data	datum	NOUN
ap-1225	232	7	,	,	PUNCT
ap-1225	232	8	1982	1982	NUM
ap-1225	232	9	,	,	PUNCT
ap-1225	232	10	vol	vol	NOUN
ap-1225	232	11	.	.	PROPN
ap-1225	232	12	18	18	NUM
ap-1225	232	13	,	,	PUNCT
ap-1225	232	14	no	no	INTJ
ap-1225	232	15	.	.	NOUN
ap-1225	232	16	1	1	NUM
ap-1225	232	17	,	,	PUNCT
ap-1225	232	18	pp	pp	ADJ
ap-1225	232	19	.	.	PUNCT
ap-1225	233	1	97–108	97–108	NUM
ap-1225	233	2	.	.	PUNCT
ap-1225	234	1	[	[	X
ap-1225	234	2	10	10	NUM
ap-1225	234	3	]	]	X
ap-1225	234	4	hartley	hartley	PROPN
ap-1225	234	5	,	,	PUNCT
ap-1225	234	6	r.	r.	PROPN
ap-1225	234	7	:	:	PUNCT
ap-1225	234	8	in	in	ADP
ap-1225	234	9	defense	defense	NOUN
ap-1225	234	10	of	of	ADP
ap-1225	234	11	the	the	DET
ap-1225	234	12	eight	eight	NUM
ap-1225	234	13	-	-	PUNCT
ap-1225	234	14	point	point	NOUN
ap-1225	234	15	algorithm	algorithm	NOUN
ap-1225	234	16	.	.	PUNCT
ap-1225	235	1	ieee	ieee	NOUN
ap-1225	235	2	transactions	transaction	NOUN
ap-1225	235	3	on	on	ADP
ap-1225	235	4	pattern	pattern	NOUN
ap-1225	235	5	analysis	analysis	NOUN
ap-1225	235	6	and	and	CCONJ
ap-1225	235	7	machine	machine	NOUN
ap-1225	235	8	intelligence	intelligence	NOUN
ap-1225	235	9	,	,	PUNCT
ap-1225	235	10	1997	1997	NUM
ap-1225	235	11	,	,	PUNCT
ap-1225	235	12	vol	vol	NOUN
ap-1225	235	13	.	.	PROPN
ap-1225	235	14	19	19	NUM
ap-1225	235	15	,	,	PUNCT
ap-1225	235	16	no	no	INTJ
ap-1225	235	17	.	.	NOUN
ap-1225	235	18	6	6	NUM
ap-1225	235	19	,	,	PUNCT
ap-1225	235	20	pp	pp	ADJ
ap-1225	235	21	.	.	PUNCT
ap-1225	236	1	580–593	580–593	NUM
ap-1225	236	2	.	.	PUNCT
ap-1225	237	1	[	[	X
ap-1225	237	2	11	11	NUM
ap-1225	237	3	]	]	PUNCT
ap-1225	237	4	pollefeys	pollefey	NOUN
ap-1225	237	5	,	,	PUNCT
ap-1225	237	6	m.	m.	NOUN
ap-1225	237	7	:	:	PUNCT
ap-1225	237	8	self	self	NOUN
ap-1225	237	9	-	-	PUNCT
ap-1225	237	10	calibration	calibration	NOUN
ap-1225	237	11	and	and	CCONJ
ap-1225	237	12	metric	metric	ADJ
ap-1225	237	13	3d	3d	PROPN
ap-1225	237	14	reconstruction	reconstruction	NOUN
ap-1225	237	15	from	from	ADP
ap-1225	237	16	uncalibrated	uncalibrated	ADJ
ap-1225	237	17	image	image	NOUN
ap-1225	237	18	sequences	sequence	NOUN
ap-1225	237	19	.	.	PUNCT
ap-1225	238	1	phd	phd	NOUN
ap-1225	238	2	thesis	thesis	PROPN
ap-1225	238	3	,	,	PUNCT
ap-1225	238	4	leuven	leuven	PROPN
ap-1225	238	5	,	,	PUNCT
ap-1225	238	6	belgium	belgium	NOUN
ap-1225	238	7	,	,	PUNCT
ap-1225	238	8	1999	1999	NUM
ap-1225	238	9	.	.	PUNCT
ap-1225	239	1	[	[	X
ap-1225	239	2	12	12	NUM
ap-1225	239	3	]	]	X
ap-1225	239	4	triggs	triggs	PROPN
ap-1225	239	5	,	,	PUNCT
ap-1225	239	6	b.	b.	PROPN
ap-1225	239	7	:	:	PUNCT
ap-1225	239	8	linear	linear	PROPN
ap-1225	239	9	projective	projective	ADJ
ap-1225	239	10	reconstruction	reconstruction	NOUN
ap-1225	239	11	from	from	ADP
ap-1225	239	12	matching	match	VERB
ap-1225	239	13	tensors	tensor	NOUN
ap-1225	239	14	.	.	PUNCT
ap-1225	240	1	image	image	NOUN
ap-1225	240	2	and	and	CCONJ
ap-1225	240	3	vision	vision	NOUN
ap-1225	240	4	computing	computing	NOUN
ap-1225	240	5	,	,	PUNCT
ap-1225	240	6	1997	1997	NUM
ap-1225	240	7	,	,	PUNCT
ap-1225	240	8	vol	vol	NOUN
ap-1225	240	9	.	.	PROPN
ap-1225	240	10	15	15	NUM
ap-1225	240	11	,	,	PUNCT
ap-1225	240	12	issue	issue	NOUN
ap-1225	240	13	8	8	NUM
ap-1225	240	14	,	,	PUNCT
ap-1225	240	15	pp	pp	ADJ
ap-1225	240	16	.	.	PUNCT
ap-1225	241	1	617–625	617–625	NUM
ap-1225	241	2	.	.	PUNCT
ap-1225	242	1	[	[	X
ap-1225	242	2	13	13	NUM
ap-1225	242	3	]	]	SYM
ap-1225	242	4	avidan	avidan	PROPN
ap-1225	242	5	,	,	PUNCT
ap-1225	242	6	s.	s.	PROPN
ap-1225	242	7	,	,	PUNCT
ap-1225	242	8	shashua	shashua	PROPN
ap-1225	242	9	,	,	PUNCT
ap-1225	242	10	a.	a.	NOUN
ap-1225	242	11	:	:	PUNCT
ap-1225	242	12	threading	thread	VERB
ap-1225	242	13	fundamental	fundamental	ADJ
ap-1225	242	14	matrices	matrix	NOUN
ap-1225	242	15	.	.	PUNCT
ap-1225	243	1	ieee	ieee	NOUN
ap-1225	243	2	transactions	transaction	NOUN
ap-1225	243	3	on	on	ADP
ap-1225	243	4	pattern	pattern	NOUN
ap-1225	243	5	analysis	analysis	NOUN
ap-1225	243	6	and	and	CCONJ
ap-1225	243	7	machine	machine	NOUN
ap-1225	243	8	intelligence	intelligence	NOUN
ap-1225	243	9	,	,	PUNCT
ap-1225	243	10	2001	2001	NUM
ap-1225	243	11	,	,	PUNCT
ap-1225	243	12	vol	vol	NOUN
ap-1225	243	13	.	.	PROPN
ap-1225	243	14	23	23	NUM
ap-1225	243	15	,	,	PUNCT
ap-1225	243	16	no	no	INTJ
ap-1225	243	17	.	.	NOUN
ap-1225	243	18	1	1	NUM
ap-1225	243	19	,	,	PUNCT
ap-1225	243	20	pp	pp	ADJ
ap-1225	243	21	.	.	PUNCT
ap-1225	244	1	73–77	73–77	X
ap-1225	244	2	.	.	PUNCT
ap-1225	245	1	[	[	X
ap-1225	245	2	14	14	NUM
ap-1225	245	3	]	]	X
ap-1225	245	4	hartley	hartley	PROPN
ap-1225	245	5	,	,	PUNCT
ap-1225	245	6	r.	r.	PROPN
ap-1225	245	7	,	,	PUNCT
ap-1225	245	8	zisserman	zisserman	NOUN
ap-1225	245	9	,	,	PUNCT
ap-1225	245	10	a.	a.	NOUN
ap-1225	245	11	:	:	PUNCT
ap-1225	245	12	multiple	multiple	ADJ
ap-1225	245	13	view	view	NOUN
ap-1225	245	14	geometry	geometry	NOUN
ap-1225	245	15	in	in	ADP
ap-1225	245	16	computer	computer	NOUN
ap-1225	245	17	vision	vision	NOUN
ap-1225	245	18	.	.	PUNCT
ap-1225	246	1	2nd	2nd	ADJ
ap-1225	246	2	ed	ed	PROPN
ap-1225	246	3	.	.	PUNCT
ap-1225	247	1	cambridge	cambridge	PROPN
ap-1225	247	2	university	university	PROPN
ap-1225	247	3	press	press	NOUN
ap-1225	247	4	,	,	PUNCT
ap-1225	247	5	2003	2003	NUM
ap-1225	247	6	.	.	PUNCT
ap-1225	248	1	about	about	ADP
ap-1225	248	2	the	the	DET
ap-1225	248	3	authors	author	NOUN
ap-1225	248	4	peter	peter	PROPN
ap-1225	248	5	faltin	faltin	PROPN
ap-1225	248	6	was	be	AUX
ap-1225	248	7	born	bear	VERB
ap-1225	248	8	in	in	ADP
ap-1225	248	9	1983	1983	NUM
ap-1225	248	10	in	in	ADP
ap-1225	248	11	cologne	cologne	NOUN
ap-1225	248	12	,	,	PUNCT
ap-1225	248	13	germany	germany	PROPN
ap-1225	248	14	.	.	PUNCT
ap-1225	249	1	he	he	PRON
ap-1225	249	2	studied	study	VERB
ap-1225	249	3	computer	computer	NOUN
ap-1225	249	4	engineering	engineering	NOUN
ap-1225	249	5	at	at	ADP
ap-1225	249	6	rwth	rwth	PROPN
ap-1225	249	7	aachen	aachen	PROPN
ap-1225	249	8	university	university	PROPN
ap-1225	249	9	and	and	CCONJ
ap-1225	249	10	received	receive	VERB
ap-1225	249	11	his	his	PRON
ap-1225	249	12	dipl.-ing	dipl.-ing	NOUN
ap-1225	249	13	.	.	PUNCT
ap-1225	250	1	in	in	ADP
ap-1225	250	2	2010	2010	NUM
ap-1225	250	3	.	.	PUNCT
ap-1225	251	1	since	since	SCONJ
ap-1225	251	2	then	then	ADV
ap-1225	251	3	he	he	PRON
ap-1225	251	4	has	have	AUX
ap-1225	251	5	held	hold	VERB
ap-1225	251	6	a	a	DET
ap-1225	251	7	phd	phd	NOUN
ap-1225	251	8	position	position	NOUN
ap-1225	251	9	at	at	ADP
ap-1225	251	10	the	the	DET
ap-1225	251	11	institute	institute	PROPN
ap-1225	251	12	of	of	ADP
ap-1225	251	13	imaging	imaging	PROPN
ap-1225	251	14	&	&	CCONJ
ap-1225	251	15	computer	computer	PROPN
ap-1225	251	16	vision	vision	NOUN
ap-1225	251	17	at	at	ADP
ap-1225	251	18	rwth	rwth	PROPN
ap-1225	251	19	aachen	aachen	PROPN
ap-1225	251	20	university	university	PROPN
ap-1225	251	21	.	.	PUNCT
ap-1225	252	1	his	his	PRON
ap-1225	252	2	research	research	NOUN
ap-1225	252	3	focuses	focus	VERB
ap-1225	252	4	on	on	ADP
ap-1225	252	5	medical	medical	ADJ
ap-1225	252	6	image	image	NOUN
ap-1225	252	7	processing	processing	NOUN
ap-1225	252	8	,	,	PUNCT
ap-1225	252	9	video	video	NOUN
ap-1225	252	10	processing	processing	NOUN
ap-1225	252	11	,	,	PUNCT
ap-1225	252	12	signal	signal	NOUN
ap-1225	252	13	processing	processing	NOUN
ap-1225	252	14	and	and	CCONJ
ap-1225	252	15	computer	computer	NOUN
ap-1225	252	16	vision	vision	NOUN
ap-1225	252	17	.	.	PUNCT
ap-1225	253	1	alexander	alexander	PROPN
ap-1225	253	2	behrens	behrens	PROPN
ap-1225	253	3	was	be	AUX
ap-1225	253	4	born	bear	VERB
ap-1225	253	5	in	in	ADP
ap-1225	253	6	bückeburg	bückeburg	PROPN
ap-1225	253	7	,	,	PUNCT
ap-1225	253	8	germany	germany	PROPN
ap-1225	253	9	in	in	ADP
ap-1225	253	10	1980	1980	NUM
ap-1225	253	11	.	.	PUNCT
ap-1225	254	1	he	he	PRON
ap-1225	254	2	received	receive	VERB
ap-1225	254	3	a	a	DET
ap-1225	254	4	dipl.-ing	dipl.-ing	ADJ
ap-1225	254	5	.	.	PUNCT
ap-1225	254	6	degree	degree	NOUN
ap-1225	254	7	in	in	ADP
ap-1225	254	8	electrical	electrical	ADJ
ap-1225	254	9	engineering	engineering	NOUN
ap-1225	254	10	from	from	ADP
ap-1225	254	11	the	the	DET
ap-1225	254	12	leibniz	leibniz	PROPN
ap-1225	254	13	university	university	PROPN
ap-1225	254	14	of	of	ADP
ap-1225	254	15	hannover	hannover	PROPN
ap-1225	254	16	,	,	PUNCT
ap-1225	254	17	hannover	hannover	PROPN
ap-1225	254	18	,	,	PUNCT
ap-1225	254	19	germany	germany	PROPN
ap-1225	254	20	,	,	PUNCT
ap-1225	254	21	in	in	ADP
ap-1225	254	22	2006	2006	NUM
ap-1225	254	23	.	.	PUNCT
ap-1225	255	1	after	after	ADP
ap-1225	255	2	receiving	receive	VERB
ap-1225	255	3	the	the	DET
ap-1225	255	4	degree	degree	NOUN
ap-1225	255	5	,	,	PUNCT
ap-1225	255	6	he	he	PRON
ap-1225	255	7	worked	work	VERB
ap-1225	255	8	as	as	ADP
ap-1225	255	9	a	a	DET
ap-1225	255	10	research	research	NOUN
ap-1225	255	11	scientist	scientist	NOUN
ap-1225	255	12	at	at	ADP
ap-1225	255	13	the	the	DET
ap-1225	255	14	university	university	NOUN
ap-1225	255	15	’s	’s	PART
ap-1225	255	16	institut	institut	PROPN
ap-1225	255	17	für	für	ADV
ap-1225	255	18	informationsverarbeitung	informationsverarbeitung	VERB
ap-1225	255	19	.	.	PUNCT
ap-1225	256	1	since	since	SCONJ
ap-1225	256	2	2007	2007	NUM
ap-1225	256	3	,	,	PUNCT
ap-1225	256	4	he	he	PRON
ap-1225	256	5	has	have	AUX
ap-1225	256	6	been	be	AUX
ap-1225	256	7	a	a	DET
ap-1225	256	8	ph.d	ph.d	PROPN
ap-1225	256	9	.	.	PUNCT
ap-1225	256	10	candidate	candidate	NOUN
ap-1225	256	11	at	at	ADP
ap-1225	256	12	the	the	DET
ap-1225	256	13	institute	institute	PROPN
ap-1225	256	14	of	of	ADP
ap-1225	256	15	imaging	imaging	NOUN
ap-1225	256	16	and	and	CCONJ
ap-1225	256	17	computer	computer	NOUN
ap-1225	256	18	vision	vision	NOUN
ap-1225	256	19	,	,	PUNCT
ap-1225	256	20	rwth	rwth	PROPN
ap-1225	256	21	aachen	aachen	PROPN
ap-1225	256	22	university	university	PROPN
ap-1225	256	23	,	,	PUNCT
ap-1225	256	24	aachen	aachen	PROPN
ap-1225	256	25	,	,	PUNCT
ap-1225	256	26	germany	germany	PROPN
ap-1225	256	27	.	.	PUNCT
ap-1225	257	1	his	his	PRON
ap-1225	257	2	research	research	NOUN
ap-1225	257	3	interests	interest	NOUN
ap-1225	257	4	are	be	AUX
ap-1225	257	5	in	in	ADP
ap-1225	257	6	medical	medical	ADJ
ap-1225	257	7	image	image	NOUN
ap-1225	257	8	processing	processing	NOUN
ap-1225	257	9	,	,	PUNCT
ap-1225	257	10	signal	signal	NOUN
ap-1225	257	11	processing	processing	NOUN
ap-1225	257	12	,	,	PUNCT
ap-1225	257	13	pattern	pattern	NOUN
ap-1225	257	14	recognition	recognition	NOUN
ap-1225	257	15	,	,	PUNCT
ap-1225	257	16	and	and	CCONJ
ap-1225	257	17	computer	computer	NOUN
ap-1225	257	18	vision	vision	NOUN
ap-1225	257	19	.	.	PUNCT
ap-1225	258	1	peter	peter	PROPN
ap-1225	258	2	faltin	faltin	PROPN
ap-1225	258	3	alexander	alexander	PROPN
ap-1225	258	4	behrens	behrens	PROPN
ap-1225	258	5	e	e	PROPN
ap-1225	258	6	-	-	NOUN
ap-1225	258	7	mail	mail	NOUN
ap-1225	258	8	:	:	PUNCT
ap-1225	258	9	peter.faltin@lfb.rwth-aachen.de	peter.faltin@lfb.rwth-aachen.de	NUM
ap-1225	258	10	alexander.behrens@lfb.rwth-aachen.de	alexander.behrens@lfb.rwth-aachen.de	NUM
ap-1225	258	11	institute	institute	NOUN
ap-1225	258	12	of	of	ADP
ap-1225	258	13	imaging	imaging	PROPN
ap-1225	258	14	&	&	CCONJ
ap-1225	258	15	computer	computer	PROPN
ap-1225	258	16	vision	vision	PROPN
ap-1225	258	17	rwth	rwth	PROPN
ap-1225	258	18	aachen	aachen	PROPN
ap-1225	258	19	university	university	PROPN
ap-1225	258	20	d-52056	d-52056	PROPN
ap-1225	258	21	aachen	aachen	PROPN
ap-1225	258	22	,	,	PUNCT
ap-1225	258	23	germany	germany	PROPN
ap-1225	258	24	34	34	NUM