id	sid	tid	token	lemma	pos
ap-9351	1	1	acta	acta	PROPN
ap-9351	1	2	polytechnica	polytechnica	PROPN
ap-9351	1	3	https://doi.org/10.14311/ap.2024.64.0059	https://doi.org/10.14311/ap.2024.64.0059	PROPN
ap-9351	1	4	acta	acta	PROPN
ap-9351	1	5	polytechnica	polytechnica	PROPN
ap-9351	1	6	64(1):59–67	64(1):59–67	NUM
ap-9351	1	7	,	,	PUNCT
ap-9351	1	8	2024	2024	NUM
ap-9351	1	9	©	©	ADP
ap-9351	1	10	2024	2024	NUM
ap-9351	1	11	the	the	DET
ap-9351	1	12	author(s	author(s	NOUN
ap-9351	1	13	)	)	PUNCT
ap-9351	1	14	.	.	PUNCT
ap-9351	2	1	licensed	license	VERB
ap-9351	2	2	under	under	ADP
ap-9351	2	3	a	a	DET
ap-9351	2	4	cc	cc	NOUN
ap-9351	2	5	-	-	PUNCT
ap-9351	2	6	by	by	ADP
ap-9351	2	7	4.0	4.0	NUM
ap-9351	2	8	licence	licence	NOUN
ap-9351	2	9	published	publish	VERB
ap-9351	2	10	by	by	ADP
ap-9351	2	11	the	the	DET
ap-9351	2	12	czech	czech	PROPN
ap-9351	2	13	technical	technical	PROPN
ap-9351	2	14	university	university	PROPN
ap-9351	2	15	in	in	ADP
ap-9351	2	16	prague	prague	PROPN
ap-9351	2	17	digital	digital	PROPN
ap-9351	2	18	model	model	NOUN
ap-9351	2	19	of	of	ADP
ap-9351	2	20	automated	automate	VERB
ap-9351	2	21	unmanned	unmanned	ADJ
ap-9351	2	22	aerial	aerial	ADJ
ap-9351	2	23	vehicle	vehicle	NOUN
ap-9351	2	24	with	with	ADP
ap-9351	2	25	edge	edge	NOUN
ap-9351	2	26	computing	compute	VERB
ap-9351	2	27	application	application	NOUN
ap-9351	2	28	for	for	ADP
ap-9351	2	29	railway	railway	NOUN
ap-9351	2	30	reconnaissance	reconnaissance	NOUN
ap-9351	2	31	aigul	aigul	NOUN
ap-9351	2	32	tulembayevaa	tulembayevaa	NOUN
ap-9351	2	33	,	,	PUNCT
ap-9351	2	34	shayakhmet	shayakhmet	PROPN
ap-9351	2	35	ashirovb	ashirovb	ADV
ap-9351	2	36	,	,	PUNCT
ap-9351	2	37	evgenij	evgenij	VERB
ap-9351	2	38	makarovc	makarovc	ADJ
ap-9351	2	39	,	,	PUNCT
ap-9351	2	40	zhexen	zhexen	NOUN
ap-9351	2	41	seitbattalovd,∗	seitbattalovd,∗	PROPN
ap-9351	3	1	a	a	DET
ap-9351	3	2	ministry	ministry	PROPN
ap-9351	3	3	of	of	ADP
ap-9351	3	4	defense	defense	PROPN
ap-9351	3	5	of	of	ADP
ap-9351	3	6	the	the	DET
ap-9351	3	7	republic	republic	NOUN
ap-9351	3	8	of	of	ADP
ap-9351	3	9	kazakhstan	kazakhstan	PROPN
ap-9351	3	10	,	,	PUNCT
ap-9351	3	11	14	14	NUM
ap-9351	3	12	dostyk	dostyk	PROPN
ap-9351	3	13	ave	ave	PROPN
ap-9351	3	14	.	.	PROPN
ap-9351	3	15	,	,	PUNCT
ap-9351	3	16	010000	010000	NUM
ap-9351	3	17	astana	astana	PROPN
ap-9351	3	18	,	,	PUNCT
ap-9351	3	19	kazakhstan	kazakhstan	PROPN
ap-9351	3	20	b	b	PROPN
ap-9351	3	21	general	general	ADJ
ap-9351	3	22	staff	staff	NOUN
ap-9351	3	23	of	of	ADP
ap-9351	3	24	the	the	DET
ap-9351	3	25	armed	armed	ADJ
ap-9351	3	26	forces	force	NOUN
ap-9351	3	27	of	of	ADP
ap-9351	3	28	the	the	DET
ap-9351	3	29	republic	republic	NOUN
ap-9351	3	30	of	of	ADP
ap-9351	3	31	kazakhstan	kazakhstan	PROPN
ap-9351	3	32	,	,	PUNCT
ap-9351	3	33	department	department	NOUN
ap-9351	3	34	of	of	ADP
ap-9351	3	35	geoinformation	geoinformation	NOUN
ap-9351	3	36	support	support	NOUN
ap-9351	3	37	,	,	PUNCT
ap-9351	3	38	14	14	NUM
ap-9351	3	39	dostyk	dostyk	PROPN
ap-9351	3	40	ave	ave	PROPN
ap-9351	3	41	.	.	PROPN
ap-9351	3	42	,	,	PUNCT
ap-9351	3	43	010000	010000	NUM
ap-9351	3	44	astana	astana	PROPN
ap-9351	3	45	,	,	PUNCT
ap-9351	3	46	kazakhstan	kazakhstan	PROPN
ap-9351	3	47	c	c	PROPN
ap-9351	3	48	national	national	PROPN
ap-9351	3	49	defence	defence	PROPN
ap-9351	3	50	university	university	PROPN
ap-9351	3	51	named	name	VERB
ap-9351	3	52	after	after	ADP
ap-9351	3	53	the	the	DET
ap-9351	3	54	first	first	ADJ
ap-9351	3	55	president	president	NOUN
ap-9351	3	56	of	of	ADP
ap-9351	3	57	the	the	DET
ap-9351	3	58	republic	republic	NOUN
ap-9351	3	59	of	of	ADP
ap-9351	3	60	kazakhstan	kazakhstan	PROPN
ap-9351	3	61	–	–	PUNCT
ap-9351	3	62	elbasi	elbasi	NOUN
ap-9351	3	63	,	,	PUNCT
ap-9351	3	64	department	department	NOUN
ap-9351	3	65	of	of	ADP
ap-9351	3	66	scientific	scientific	ADJ
ap-9351	3	67	information	information	NOUN
ap-9351	3	68	and	and	CCONJ
ap-9351	3	69	innovation	innovation	NOUN
ap-9351	3	70	,	,	PUNCT
ap-9351	3	71	esilsky	esilsky	ADJ
ap-9351	3	72	district	district	NOUN
ap-9351	3	73	,	,	PUNCT
ap-9351	3	74	72	72	NUM
ap-9351	3	75	turan	turan	PROPN
ap-9351	3	76	ave	ave	PROPN
ap-9351	3	77	.	.	PROPN
ap-9351	3	78	,	,	PUNCT
ap-9351	3	79	010000	010000	NUM
ap-9351	3	80	astana	astana	PROPN
ap-9351	3	81	,	,	PUNCT
ap-9351	3	82	kazakhstan	kazakhstan	PROPN
ap-9351	3	83	d	d	PROPN
ap-9351	3	84	l.	l.	PROPN
ap-9351	3	85	n.	n.	PROPN
ap-9351	3	86	gumilyov	gumilyov	PROPN
ap-9351	3	87	eurasian	eurasian	PROPN
ap-9351	3	88	national	national	PROPN
ap-9351	3	89	university	university	PROPN
ap-9351	3	90	,	,	PUNCT
ap-9351	3	91	department	department	NOUN
ap-9351	3	92	of	of	ADP
ap-9351	3	93	computer	computer	NOUN
ap-9351	3	94	and	and	CCONJ
ap-9351	3	95	software	software	NOUN
ap-9351	3	96	engineering	engineering	NOUN
ap-9351	3	97	,	,	PUNCT
ap-9351	3	98	2	2	NUM
ap-9351	3	99	satbaev	satbaev	PROPN
ap-9351	3	100	st	st	PROPN
ap-9351	3	101	.	.	PROPN
ap-9351	3	102	,	,	PUNCT
ap-9351	3	103	010000	010000	NUM
ap-9351	3	104	astana	astana	PROPN
ap-9351	3	105	,	,	PUNCT
ap-9351	3	106	kazakhstan	kazakhstan	PROPN
ap-9351	3	107	∗	∗	PROPN
ap-9351	3	108	corresponding	correspond	VERB
ap-9351	3	109	author	author	NOUN
ap-9351	3	110	:	:	PUNCT
ap-9351	3	111	sbtl.jeks@gmail.com	sbtl.jeks@gmail.com	X
ap-9351	3	112	abstract	abstract	NOUN
ap-9351	3	113	.	.	PUNCT
ap-9351	4	1	in	in	ADP
ap-9351	4	2	the	the	DET
ap-9351	4	3	last	last	ADJ
ap-9351	4	4	decade	decade	NOUN
ap-9351	4	5	,	,	PUNCT
ap-9351	4	6	unmanned	unmanned	ADJ
ap-9351	4	7	aerial	aerial	ADJ
ap-9351	4	8	vehicles	vehicle	NOUN
ap-9351	4	9	have	have	AUX
ap-9351	4	10	been	be	AUX
ap-9351	4	11	widely	widely	ADV
ap-9351	4	12	used	use	VERB
ap-9351	4	13	in	in	ADP
ap-9351	4	14	various	various	ADJ
ap-9351	4	15	civil	civil	ADJ
ap-9351	4	16	and	and	CCONJ
ap-9351	4	17	military	military	ADJ
ap-9351	4	18	field	field	NOUN
ap-9351	4	19	operations	operation	NOUN
ap-9351	4	20	.	.	PUNCT
ap-9351	5	1	most	most	ADJ
ap-9351	5	2	modern	modern	ADJ
ap-9351	5	3	drones	drone	NOUN
ap-9351	5	4	are	be	AUX
ap-9351	5	5	manually	manually	ADV
ap-9351	5	6	controlled	control	VERB
ap-9351	5	7	by	by	ADP
ap-9351	5	8	an	an	DET
ap-9351	5	9	operator	operator	NOUN
ap-9351	5	10	and	and	CCONJ
ap-9351	5	11	require	require	VERB
ap-9351	5	12	decision	decision	NOUN
ap-9351	5	13	making	making	NOUN
ap-9351	5	14	,	,	PUNCT
ap-9351	5	15	which	which	PRON
ap-9351	5	16	requires	require	VERB
ap-9351	5	17	experience	experience	NOUN
ap-9351	5	18	gained	gain	VERB
ap-9351	5	19	through	through	ADP
ap-9351	5	20	training	training	NOUN
ap-9351	5	21	,	,	PUNCT
ap-9351	5	22	which	which	PRON
ap-9351	5	23	is	be	AUX
ap-9351	5	24	time	time	NOUN
ap-9351	5	25	consuming	consume	VERB
ap-9351	5	26	and	and	CCONJ
ap-9351	5	27	expensive	expensive	ADJ
ap-9351	5	28	,	,	PUNCT
ap-9351	5	29	and	and	CCONJ
ap-9351	5	30	even	even	ADV
ap-9351	5	31	with	with	ADP
ap-9351	5	32	experienced	experienced	ADJ
ap-9351	5	33	operators	operator	NOUN
ap-9351	5	34	,	,	PUNCT
ap-9351	5	35	the	the	DET
ap-9351	5	36	human	human	ADJ
ap-9351	5	37	factor	factor	NOUN
ap-9351	5	38	can	can	AUX
ap-9351	5	39	never	never	ADV
ap-9351	5	40	be	be	AUX
ap-9351	5	41	excluded	exclude	VERB
ap-9351	5	42	.	.	PUNCT
ap-9351	6	1	in	in	ADP
ap-9351	6	2	this	this	DET
ap-9351	6	3	paper	paper	NOUN
ap-9351	6	4	,	,	PUNCT
ap-9351	6	5	an	an	DET
ap-9351	6	6	algorithm	algorithm	NOUN
ap-9351	6	7	for	for	ADP
ap-9351	6	8	an	an	DET
ap-9351	6	9	automatic	automatic	ADJ
ap-9351	6	10	flight	flight	NOUN
ap-9351	6	11	mode	mode	NOUN
ap-9351	6	12	of	of	ADP
ap-9351	6	13	unmanned	unmanned	ADJ
ap-9351	6	14	aerial	aerial	ADJ
ap-9351	6	15	vehicles	vehicle	NOUN
ap-9351	6	16	without	without	ADP
ap-9351	6	17	an	an	DET
ap-9351	6	18	operator	operator	NOUN
ap-9351	6	19	’s	’s	PART
ap-9351	6	20	participation	participation	NOUN
ap-9351	6	21	has	have	AUX
ap-9351	6	22	been	be	AUX
ap-9351	6	23	developed	develop	VERB
ap-9351	6	24	.	.	PUNCT
ap-9351	7	1	the	the	DET
ap-9351	7	2	proposed	propose	VERB
ap-9351	7	3	algorithm	algorithm	NOUN
ap-9351	7	4	has	have	AUX
ap-9351	7	5	been	be	AUX
ap-9351	7	6	considered	consider	VERB
ap-9351	7	7	in	in	ADP
ap-9351	7	8	the	the	DET
ap-9351	7	9	military	military	ADJ
ap-9351	7	10	reconnaissance	reconnaissance	NOUN
ap-9351	7	11	of	of	ADP
ap-9351	7	12	railways	railway	NOUN
ap-9351	7	13	using	use	VERB
ap-9351	7	14	edge	edge	NOUN
ap-9351	7	15	computing	computing	NOUN
ap-9351	7	16	and	and	CCONJ
ap-9351	7	17	computer	computer	NOUN
ap-9351	7	18	vision	vision	NOUN
ap-9351	7	19	approaches	approach	NOUN
ap-9351	7	20	to	to	PART
ap-9351	7	21	recognise	recognise	VERB
ap-9351	7	22	railroads	railroad	NOUN
ap-9351	7	23	and	and	CCONJ
ap-9351	7	24	moving	move	VERB
ap-9351	7	25	trains	train	NOUN
ap-9351	7	26	for	for	ADP
ap-9351	7	27	simulated	simulated	ADJ
ap-9351	7	28	and	and	CCONJ
ap-9351	7	29	real	real	ADJ
ap-9351	7	30	cases	case	NOUN
ap-9351	7	31	as	as	ADV
ap-9351	7	32	well	well	ADV
ap-9351	7	33	as	as	ADP
ap-9351	7	34	send	send	VERB
ap-9351	7	35	report	report	NOUN
ap-9351	7	36	data	datum	NOUN
ap-9351	7	37	to	to	ADP
ap-9351	7	38	the	the	DET
ap-9351	7	39	web	web	NOUN
ap-9351	7	40	platform	platform	NOUN
ap-9351	7	41	.	.	PUNCT
ap-9351	8	1	as	as	ADP
ap-9351	8	2	a	a	DET
ap-9351	8	3	result	result	NOUN
ap-9351	8	4	,	,	PUNCT
ap-9351	8	5	the	the	DET
ap-9351	8	6	head	head	NOUN
ap-9351	8	7	of	of	ADP
ap-9351	8	8	the	the	DET
ap-9351	8	9	operation	operation	NOUN
ap-9351	8	10	received	receive	VERB
ap-9351	8	11	information	information	NOUN
ap-9351	8	12	about	about	ADP
ap-9351	8	13	the	the	DET
ap-9351	8	14	number	number	NOUN
ap-9351	8	15	of	of	ADP
ap-9351	8	16	carriages	carriage	NOUN
ap-9351	8	17	and	and	CCONJ
ap-9351	8	18	global	global	ADJ
ap-9351	8	19	positioning	positioning	NOUN
ap-9351	8	20	system	system	NOUN
ap-9351	8	21	coordinates	coordinate	NOUN
ap-9351	8	22	of	of	ADP
ap-9351	8	23	the	the	DET
ap-9351	8	24	recognised	recognise	VERB
ap-9351	8	25	train	train	NOUN
ap-9351	8	26	to	to	PART
ap-9351	8	27	make	make	VERB
ap-9351	8	28	the	the	DET
ap-9351	8	29	necessary	necessary	ADJ
ap-9351	8	30	decisions	decision	NOUN
ap-9351	8	31	.	.	PUNCT
ap-9351	9	1	keywords	keyword	NOUN
ap-9351	9	2	:	:	PUNCT
ap-9351	9	3	drone	drone	NOUN
ap-9351	9	4	,	,	PUNCT
ap-9351	9	5	military	military	ADJ
ap-9351	9	6	intelligence	intelligence	NOUN
ap-9351	9	7	,	,	PUNCT
ap-9351	9	8	image	image	NOUN
ap-9351	9	9	processing	processing	NOUN
ap-9351	9	10	,	,	PUNCT
ap-9351	9	11	tracking	tracking	NOUN
ap-9351	9	12	of	of	ADP
ap-9351	9	13	the	the	DET
ap-9351	9	14	railroad	railroad	NOUN
ap-9351	9	15	,	,	PUNCT
ap-9351	9	16	robotics	robotic	NOUN
ap-9351	9	17	simulator	simulator	NOUN
ap-9351	9	18	.	.	PUNCT
ap-9351	10	1	1	1	X
ap-9351	10	2	.	.	X
ap-9351	10	3	introduction	introduction	NOUN
ap-9351	10	4	modern	modern	ADJ
ap-9351	10	5	unmanned	unmanned	ADJ
ap-9351	10	6	aerial	aerial	ADJ
ap-9351	10	7	vehicles	vehicle	NOUN
ap-9351	10	8	(	(	PUNCT
ap-9351	10	9	uavs	uavs	NOUN
ap-9351	10	10	)	)	PUNCT
ap-9351	10	11	are	be	AUX
ap-9351	10	12	widely	widely	ADV
ap-9351	10	13	used	use	VERB
ap-9351	10	14	in	in	ADP
ap-9351	10	15	the	the	DET
ap-9351	10	16	world	world	NOUN
ap-9351	10	17	for	for	ADP
ap-9351	10	18	many	many	ADJ
ap-9351	10	19	applications	application	NOUN
ap-9351	10	20	,	,	PUNCT
ap-9351	10	21	from	from	ADP
ap-9351	10	22	delivering	deliver	VERB
ap-9351	10	23	packages	package	NOUN
ap-9351	10	24	to	to	ADP
ap-9351	10	25	performing	perform	VERB
ap-9351	10	26	combat	combat	NOUN
ap-9351	10	27	missions	mission	NOUN
ap-9351	10	28	on	on	ADP
ap-9351	10	29	a	a	DET
ap-9351	10	30	battlefield	battlefield	NOUN
ap-9351	10	31	.	.	PUNCT
ap-9351	11	1	the	the	DET
ap-9351	11	2	most	most	ADV
ap-9351	11	3	common	common	ADJ
ap-9351	11	4	civil	civil	ADJ
ap-9351	11	5	task	task	NOUN
ap-9351	11	6	for	for	ADP
ap-9351	11	7	uavs	uavs	NOUN
ap-9351	11	8	is	be	AUX
ap-9351	11	9	reconnaissance	reconnaissance	NOUN
ap-9351	11	10	and	and	CCONJ
ap-9351	11	11	searching	search	VERB
ap-9351	11	12	for	for	ADP
ap-9351	11	13	missing	miss	VERB
ap-9351	11	14	people	people	NOUN
ap-9351	11	15	over	over	ADP
ap-9351	11	16	a	a	DET
ap-9351	11	17	large	large	ADJ
ap-9351	11	18	area	area	NOUN
ap-9351	11	19	[	[	X
ap-9351	11	20	1	1	NUM
ap-9351	11	21	]	]	PUNCT
ap-9351	11	22	.	.	PUNCT
ap-9351	12	1	reconnaissance	reconnaissance	NOUN
ap-9351	12	2	with	with	ADP
ap-9351	12	3	the	the	DET
ap-9351	12	4	application	application	NOUN
ap-9351	12	5	of	of	ADP
ap-9351	12	6	uavs	uavs	NOUN
ap-9351	12	7	often	often	ADV
ap-9351	12	8	uses	use	VERB
ap-9351	12	9	full	full	ADJ
ap-9351	12	10	motion	motion	NOUN
ap-9351	12	11	video	video	NOUN
ap-9351	12	12	to	to	PART
ap-9351	12	13	embed	embed	VERB
ap-9351	12	14	spatial	spatial	ADJ
ap-9351	12	15	information	information	NOUN
ap-9351	12	16	in	in	ADP
ap-9351	12	17	a	a	DET
ap-9351	12	18	video	video	NOUN
ap-9351	12	19	file	file	NOUN
ap-9351	12	20	and	and	CCONJ
ap-9351	12	21	ensure	ensure	VERB
ap-9351	12	22	the	the	DET
ap-9351	12	23	compatibility	compatibility	NOUN
ap-9351	12	24	with	with	ADP
ap-9351	12	25	standard	standard	ADJ
ap-9351	12	26	geographic	geographic	ADJ
ap-9351	12	27	information	information	NOUN
ap-9351	12	28	system	system	NOUN
ap-9351	12	29	environments	environment	NOUN
ap-9351	12	30	[	[	X
ap-9351	12	31	2	2	NUM
ap-9351	12	32	]	]	PUNCT
ap-9351	12	33	.	.	PUNCT
ap-9351	13	1	in	in	ADP
ap-9351	13	2	military	military	ADJ
ap-9351	13	3	operations	operation	NOUN
ap-9351	13	4	,	,	PUNCT
ap-9351	13	5	drones	drone	NOUN
ap-9351	13	6	are	be	AUX
ap-9351	13	7	still	still	ADV
ap-9351	13	8	applied	apply	VERB
ap-9351	13	9	for	for	ADP
ap-9351	13	10	reconnaissance	reconnaissance	NOUN
ap-9351	13	11	of	of	ADP
ap-9351	13	12	enemy	enemy	NOUN
ap-9351	13	13	positions	position	NOUN
ap-9351	13	14	,	,	PUNCT
ap-9351	13	15	weapon	weapon	NOUN
ap-9351	13	16	stores	store	NOUN
ap-9351	13	17	and	and	CCONJ
ap-9351	13	18	military	military	ADJ
ap-9351	13	19	equipment	equipment	NOUN
ap-9351	13	20	as	as	ADV
ap-9351	13	21	well	well	ADV
ap-9351	13	22	as	as	ADP
ap-9351	13	23	to	to	PART
ap-9351	13	24	provide	provide	VERB
ap-9351	13	25	tactical	tactical	ADJ
ap-9351	13	26	support	support	NOUN
ap-9351	13	27	and	and	CCONJ
ap-9351	13	28	humanitarian	humanitarian	ADJ
ap-9351	13	29	aid	aid	NOUN
ap-9351	14	1	[	[	X
ap-9351	14	2	3	3	NUM
ap-9351	14	3	]	]	PUNCT
ap-9351	14	4	.	.	PUNCT
ap-9351	15	1	modern	modern	ADJ
ap-9351	15	2	conflicts	conflict	NOUN
ap-9351	15	3	have	have	AUX
ap-9351	15	4	shown	show	VERB
ap-9351	15	5	that	that	SCONJ
ap-9351	15	6	the	the	DET
ap-9351	15	7	use	use	NOUN
ap-9351	15	8	of	of	ADP
ap-9351	15	9	transport	transport	NOUN
ap-9351	15	10	infrastructure	infrastructure	NOUN
ap-9351	15	11	by	by	ADP
ap-9351	15	12	enemies	enemy	NOUN
ap-9351	15	13	,	,	PUNCT
ap-9351	15	14	particularly	particularly	ADV
ap-9351	15	15	railways	railway	NOUN
ap-9351	15	16	,	,	PUNCT
ap-9351	15	17	is	be	AUX
ap-9351	15	18	critical	critical	ADJ
ap-9351	15	19	to	to	ADP
ap-9351	15	20	the	the	DET
ap-9351	15	21	provision	provision	NOUN
ap-9351	15	22	of	of	ADP
ap-9351	15	23	combat	combat	NOUN
ap-9351	15	24	units	unit	NOUN
ap-9351	15	25	participating	participate	VERB
ap-9351	15	26	on	on	ADP
ap-9351	15	27	the	the	DET
ap-9351	15	28	front	front	ADJ
ap-9351	15	29	lines	line	NOUN
ap-9351	15	30	.	.	PUNCT
ap-9351	16	1	therefore	therefore	ADV
ap-9351	16	2	,	,	PUNCT
ap-9351	16	3	it	it	PRON
ap-9351	16	4	is	be	AUX
ap-9351	16	5	quite	quite	ADV
ap-9351	16	6	important	important	ADJ
ap-9351	16	7	to	to	PART
ap-9351	16	8	conduct	conduct	VERB
ap-9351	16	9	a	a	DET
ap-9351	16	10	reconnaissance	reconnaissance	NOUN
ap-9351	16	11	of	of	ADP
ap-9351	16	12	the	the	DET
ap-9351	16	13	railway	railway	NOUN
ap-9351	16	14	[	[	X
ap-9351	16	15	4	4	X
ap-9351	16	16	]	]	PUNCT
ap-9351	16	17	to	to	PART
ap-9351	16	18	detect	detect	VERB
ap-9351	16	19	moving	move	VERB
ap-9351	16	20	trains	train	NOUN
ap-9351	16	21	with	with	ADP
ap-9351	16	22	weapons	weapon	NOUN
ap-9351	16	23	,	,	PUNCT
ap-9351	16	24	heavy	heavy	ADJ
ap-9351	16	25	equipment	equipment	NOUN
ap-9351	16	26	,	,	PUNCT
ap-9351	16	27	and	and	CCONJ
ap-9351	16	28	enemy	enemy	NOUN
ap-9351	16	29	forces	force	NOUN
ap-9351	16	30	.	.	PUNCT
ap-9351	17	1	however	however	ADV
ap-9351	17	2	,	,	PUNCT
ap-9351	17	3	among	among	ADP
ap-9351	17	4	the	the	DET
ap-9351	17	5	frequently	frequently	ADV
ap-9351	17	6	encountered	encounter	VERB
ap-9351	17	7	technical	technical	ADJ
ap-9351	17	8	problems	problem	NOUN
ap-9351	17	9	in	in	ADP
ap-9351	17	10	using	use	VERB
ap-9351	17	11	uavs	uavs	NOUN
ap-9351	17	12	are	be	AUX
ap-9351	17	13	poor	poor	ADJ
ap-9351	17	14	navigation	navigation	NOUN
ap-9351	17	15	and	and	CCONJ
ap-9351	17	16	a	a	DET
ap-9351	17	17	high	high	ADJ
ap-9351	17	18	vulnerability	vulnerability	NOUN
ap-9351	17	19	to	to	ADP
ap-9351	17	20	jamming	jam	VERB
ap-9351	17	21	and	and	CCONJ
ap-9351	17	22	spoofing	spoof	VERB
ap-9351	17	23	[	[	X
ap-9351	17	24	5	5	NUM
ap-9351	17	25	]	]	PUNCT
ap-9351	17	26	.	.	PUNCT
ap-9351	18	1	in	in	ADP
ap-9351	18	2	addition	addition	NOUN
ap-9351	18	3	,	,	PUNCT
ap-9351	18	4	the	the	DET
ap-9351	18	5	travel	travel	NOUN
ap-9351	18	6	routes	route	NOUN
ap-9351	18	7	optimisation	optimisation	NOUN
ap-9351	19	1	[	[	X
ap-9351	19	2	6	6	NUM
ap-9351	19	3	]	]	PUNCT
ap-9351	19	4	and	and	CCONJ
ap-9351	19	5	minimisation	minimisation	NOUN
ap-9351	19	6	of	of	ADP
ap-9351	19	7	the	the	DET
ap-9351	19	8	data	datum	NOUN
ap-9351	19	9	refreshment	refreshment	NOUN
ap-9351	19	10	rate	rate	NOUN
ap-9351	19	11	[	[	X
ap-9351	19	12	7	7	NUM
ap-9351	19	13	]	]	PUNCT
ap-9351	19	14	are	be	AUX
ap-9351	19	15	quite	quite	ADV
ap-9351	19	16	critical	critical	ADJ
ap-9351	19	17	issues	issue	NOUN
ap-9351	19	18	in	in	ADP
ap-9351	19	19	uav	uav	PROPN
ap-9351	19	20	reconnaissance	reconnaissance	NOUN
ap-9351	19	21	.	.	PUNCT
ap-9351	20	1	the	the	DET
ap-9351	20	2	former	former	ADJ
ap-9351	20	3	could	could	AUX
ap-9351	20	4	be	be	AUX
ap-9351	20	5	solved	solve	VERB
ap-9351	20	6	by	by	ADP
ap-9351	20	7	applying	apply	VERB
ap-9351	20	8	the	the	DET
ap-9351	20	9	ant	ant	ADJ
ap-9351	20	10	colony	colony	NOUN
ap-9351	20	11	algorithm	algorithm	NOUN
ap-9351	20	12	[	[	X
ap-9351	20	13	8	8	NUM
ap-9351	20	14	]	]	PUNCT
ap-9351	20	15	and	and	CCONJ
ap-9351	20	16	the	the	DET
ap-9351	20	17	latter	latter	ADJ
ap-9351	20	18	by	by	ADP
ap-9351	20	19	adding	add	VERB
ap-9351	20	20	a	a	DET
ap-9351	20	21	few	few	ADJ
ap-9351	20	22	drones	drone	NOUN
ap-9351	20	23	with	with	ADP
ap-9351	20	24	a	a	DET
ap-9351	20	25	genetic	genetic	ADJ
ap-9351	20	26	algorithm	algorithm	NOUN
ap-9351	20	27	to	to	PART
ap-9351	20	28	observe	observe	VERB
ap-9351	20	29	a	a	DET
ap-9351	20	30	point	point	NOUN
ap-9351	20	31	of	of	ADP
ap-9351	20	32	interest	interest	NOUN
ap-9351	20	33	[	[	X
ap-9351	20	34	9	9	NUM
ap-9351	20	35	,	,	PUNCT
ap-9351	20	36	10	10	NUM
ap-9351	20	37	]	]	PUNCT
ap-9351	20	38	.	.	PUNCT
ap-9351	21	1	nevertheless	nevertheless	ADV
ap-9351	21	2	,	,	PUNCT
ap-9351	21	3	the	the	DET
ap-9351	21	4	human	human	ADJ
ap-9351	21	5	factor	factor	NOUN
ap-9351	21	6	is	be	AUX
ap-9351	21	7	a	a	DET
ap-9351	21	8	key	key	ADJ
ap-9351	21	9	parameter	parameter	NOUN
ap-9351	21	10	when	when	SCONJ
ap-9351	21	11	performing	perform	VERB
ap-9351	21	12	a	a	DET
ap-9351	21	13	reconnaissance	reconnaissance	NOUN
ap-9351	21	14	operation	operation	NOUN
ap-9351	21	15	using	use	VERB
ap-9351	21	16	uavs	uavs	NOUN
ap-9351	22	1	[	[	X
ap-9351	22	2	11	11	NUM
ap-9351	22	3	]	]	PUNCT
ap-9351	22	4	.	.	PUNCT
ap-9351	23	1	to	to	PART
ap-9351	23	2	minimise	minimise	VERB
ap-9351	23	3	the	the	DET
ap-9351	23	4	impact	impact	NOUN
ap-9351	23	5	of	of	ADP
ap-9351	23	6	the	the	DET
ap-9351	23	7	human	human	ADJ
ap-9351	23	8	factor	factor	NOUN
ap-9351	23	9	,	,	PUNCT
ap-9351	23	10	we	we	PRON
ap-9351	23	11	proposed	propose	VERB
ap-9351	23	12	to	to	PART
ap-9351	23	13	automate	automate	VERB
ap-9351	23	14	the	the	DET
ap-9351	23	15	process	process	NOUN
ap-9351	23	16	of	of	ADP
ap-9351	23	17	uav	uav	PROPN
ap-9351	23	18	flight	flight	NOUN
ap-9351	23	19	and	and	CCONJ
ap-9351	23	20	detection	detection	NOUN
ap-9351	23	21	of	of	ADP
ap-9351	23	22	reconnaissance	reconnaissance	NOUN
ap-9351	23	23	targets	target	NOUN
ap-9351	23	24	.	.	PUNCT
ap-9351	24	1	the	the	DET
ap-9351	24	2	application	application	NOUN
ap-9351	24	3	of	of	ADP
ap-9351	24	4	artificial	artificial	ADJ
ap-9351	24	5	intelligence	intelligence	NOUN
ap-9351	24	6	(	(	PUNCT
ap-9351	24	7	ai	ai	NOUN
ap-9351	24	8	)	)	PUNCT
ap-9351	24	9	to	to	PART
ap-9351	24	10	solve	solve	VERB
ap-9351	24	11	the	the	DET
ap-9351	24	12	automation	automation	NOUN
ap-9351	24	13	problem	problem	NOUN
ap-9351	24	14	is	be	AUX
ap-9351	24	15	widespread	widespread	ADJ
ap-9351	24	16	around	around	ADP
ap-9351	24	17	the	the	DET
ap-9351	24	18	world	world	NOUN
ap-9351	24	19	.	.	PUNCT
ap-9351	25	1	for	for	ADP
ap-9351	25	2	instance	instance	NOUN
ap-9351	25	3	,	,	PUNCT
ap-9351	25	4	the	the	DET
ap-9351	25	5	ai	ai	NOUN
ap-9351	25	6	-	-	PUNCT
ap-9351	25	7	based	base	VERB
ap-9351	25	8	controller	controller	NOUN
ap-9351	25	9	for	for	ADP
ap-9351	25	10	the	the	DET
ap-9351	25	11	quadcopter	quadcopter	NOUN
ap-9351	25	12	parrot	parrot	NOUN
ap-9351	25	13	bebop	bebop	NOUN
ap-9351	25	14	2	2	NUM
ap-9351	25	15	showed	show	VERB
ap-9351	25	16	a	a	DET
ap-9351	25	17	high	high	ADJ
ap-9351	25	18	performance	performance	NOUN
ap-9351	25	19	and	and	CCONJ
ap-9351	25	20	allowed	allow	VERB
ap-9351	25	21	image	image	NOUN
ap-9351	25	22	processing	processing	NOUN
ap-9351	25	23	to	to	PART
ap-9351	25	24	detect	detect	VERB
ap-9351	25	25	or	or	CCONJ
ap-9351	25	26	track	track	VERB
ap-9351	25	27	targets	target	NOUN
ap-9351	25	28	in	in	ADP
ap-9351	25	29	real	real	ADJ
ap-9351	25	30	-	-	PUNCT
ap-9351	25	31	time	time	NOUN
ap-9351	25	32	[	[	X
ap-9351	25	33	12	12	NUM
ap-9351	25	34	]	]	PUNCT
ap-9351	25	35	.	.	PUNCT
ap-9351	26	1	the	the	DET
ap-9351	26	2	most	most	ADV
ap-9351	26	3	used	used	ADJ
ap-9351	26	4	uav	uav	PROPN
ap-9351	26	5	object	object	NOUN
ap-9351	26	6	detection	detection	NOUN
ap-9351	26	7	method	method	NOUN
ap-9351	26	8	is	be	AUX
ap-9351	26	9	yolo	yolo	ADJ
ap-9351	26	10	.	.	PUNCT
ap-9351	27	1	for	for	ADP
ap-9351	27	2	example	example	NOUN
ap-9351	27	3	,	,	PUNCT
ap-9351	27	4	sungtae	sungtae	PROPN
ap-9351	27	5	moon	moon	PROPN
ap-9351	27	6	applied	apply	VERB
ap-9351	27	7	the	the	DET
ap-9351	27	8	yolov5	yolov5	NOUN
ap-9351	27	9	model	model	NOUN
ap-9351	27	10	,	,	PUNCT
ap-9351	27	11	adding	add	VERB
ap-9351	27	12	the	the	DET
ap-9351	27	13	filter	filter	NOUN
ap-9351	27	14	pruning	pruning	NOUN
ap-9351	27	15	method	method	NOUN
ap-9351	27	16	,	,	PUNCT
ap-9351	27	17	and	and	CCONJ
ap-9351	27	18	as	as	ADP
ap-9351	27	19	a	a	DET
ap-9351	27	20	result	result	NOUN
ap-9351	27	21	,	,	PUNCT
ap-9351	27	22	he	he	PRON
ap-9351	27	23	achieved	achieve	VERB
ap-9351	27	24	40	40	NUM
ap-9351	27	25	%	%	NOUN
ap-9351	27	26	parameter	parameter	NOUN
ap-9351	27	27	reduction	reduction	NOUN
ap-9351	27	28	as	as	SCONJ
ap-9351	27	29	compared	compare	VERB
ap-9351	27	30	to	to	ADP
ap-9351	27	31	the	the	DET
ap-9351	27	32	base	base	NOUN
ap-9351	27	33	model	model	NOUN
ap-9351	28	1	[	[	X
ap-9351	28	2	1	1	NUM
ap-9351	28	3	]	]	PUNCT
ap-9351	28	4	.	.	PUNCT
ap-9351	29	1	this	this	DET
ap-9351	29	2	study	study	NOUN
ap-9351	29	3	aimed	aim	VERB
ap-9351	29	4	to	to	PART
ap-9351	29	5	develop	develop	VERB
ap-9351	29	6	an	an	DET
ap-9351	29	7	automated	automate	VERB
ap-9351	29	8	flight	flight	NOUN
ap-9351	29	9	algorithm	algorithm	NOUN
ap-9351	29	10	for	for	ADP
ap-9351	29	11	the	the	DET
ap-9351	29	12	uav	uav	PROPN
ap-9351	29	13	and	and	CCONJ
ap-9351	29	14	detection	detection	NOUN
ap-9351	29	15	method	method	NOUN
ap-9351	29	16	of	of	ADP
ap-9351	29	17	railroad	railroad	NOUN
ap-9351	29	18	and	and	CCONJ
ap-9351	29	19	moving	move	VERB
ap-9351	29	20	trains	train	NOUN
ap-9351	29	21	for	for	ADP
ap-9351	29	22	military	military	ADJ
ap-9351	29	23	reconnaissance	reconnaissance	NOUN
ap-9351	29	24	,	,	PUNCT
ap-9351	29	25	and	and	CCONJ
ap-9351	29	26	then	then	ADV
ap-9351	29	27	send	send	VERB
ap-9351	29	28	the	the	DET
ap-9351	29	29	global	global	ADJ
ap-9351	29	30	positioning	positioning	NOUN
ap-9351	29	31	system	system	NOUN
ap-9351	29	32	(	(	PUNCT
ap-9351	29	33	gps	gps	PROPN
ap-9351	29	34	)	)	PUNCT
ap-9351	29	35	coordinates	coordinate	NOUN
ap-9351	29	36	of	of	ADP
ap-9351	29	37	detected	detect	VERB
ap-9351	29	38	targets	target	NOUN
ap-9351	29	39	to	to	ADP
ap-9351	29	40	the	the	DET
ap-9351	29	41	head	head	NOUN
ap-9351	29	42	of	of	ADP
ap-9351	29	43	the	the	DET
ap-9351	29	44	operation	operation	NOUN
ap-9351	29	45	for	for	ADP
ap-9351	29	46	decision	decision	NOUN
ap-9351	29	47	making	making	NOUN
ap-9351	29	48	.	.	PUNCT
ap-9351	30	1	59	59	NUM
ap-9351	30	2	https://doi.org/10.14311/ap.2024.64.0059	https://doi.org/10.14311/ap.2024.64.0059	NOUN
ap-9351	30	3	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
ap-9351	30	4	https://www.cvut.cz/en	https://www.cvut.cz/en	PROPN
ap-9351	30	5	a.	a.	NOUN
ap-9351	30	6	tulembayeva	tulembayeva	PROPN
ap-9351	30	7	,	,	PUNCT
ap-9351	30	8	sh	sh	PROPN
ap-9351	30	9	.	.	PROPN
ap-9351	30	10	ashirov	ashirov	PROPN
ap-9351	30	11	,	,	PUNCT
ap-9351	30	12	e.	e.	PROPN
ap-9351	30	13	makarov	makarov	PROPN
ap-9351	30	14	,	,	PUNCT
ap-9351	30	15	z.	z.	PROPN
ap-9351	30	16	seitbattalov	seitbattalov	PROPN
ap-9351	30	17	acta	acta	PROPN
ap-9351	30	18	polytechnica	polytechnica	PROPN
ap-9351	30	19	properties	property	NOUN
ap-9351	30	20	mavic	mavic	PROPN
ap-9351	30	21	2	2	NUM
ap-9351	30	22	pro	pro	X
ap-9351	30	23	mavic	mavic	PROPN
ap-9351	30	24	air	air	PROPN
ap-9351	30	25	global	global	PROPN
ap-9351	30	26	hawk	hawk	PROPN
ap-9351	30	27	scaneagle	scaneagle	PROPN
ap-9351	30	28	lancaster	lancaster	PROPN
ap-9351	30	29	hawkeye	hawkeye	PROPN
ap-9351	30	30	phantom	phantom	PROPN
ap-9351	30	31	vision	vision	NOUN
ap-9351	30	32	2	2	NUM
ap-9351	30	33	price	price	NOUN
ap-9351	30	34	1	1	NUM
ap-9351	30	35	499	499	NUM
ap-9351	30	36	usd	usd	NOUN
ap-9351	30	37	799	799	NUM
ap-9351	30	38	usd	usd	NOUN
ap-9351	30	39	93	93	NUM
ap-9351	30	40	000	000	NUM
ap-9351	30	41	000	000	NUM
ap-9351	30	42	usd	usd	NOUN
ap-9351	30	43	100	100	NUM
ap-9351	30	44	000	000	NUM
ap-9351	30	45	usd	usd	NOUN
ap-9351	30	46	10	10	NUM
ap-9351	30	47	000	000	NUM
ap-9351	30	48	usd	usd	NOUN
ap-9351	30	49	1	1	NUM
ap-9351	30	50	300	300	NUM
ap-9351	30	51	usd	usd	NOUN
ap-9351	30	52	flight	flight	NOUN
ap-9351	30	53	duration	duration	NOUN
ap-9351	30	54	31	31	NUM
ap-9351	30	55	minutes	minute	NOUN
ap-9351	30	56	20	20	NUM
ap-9351	30	57	minutes	minute	NOUN
ap-9351	30	58	28	28	NUM
ap-9351	30	59	hours	hour	NOUN
ap-9351	30	60	24	24	NUM
ap-9351	30	61	hours	hour	NOUN
ap-9351	30	62	45	45	NUM
ap-9351	30	63	minutes	minute	NOUN
ap-9351	30	64	25	25	NUM
ap-9351	30	65	minutes	minute	NOUN
ap-9351	30	66	operating	operate	VERB
ap-9351	30	67	altitude	altitude	NOUN
ap-9351	30	68	8	8	NUM
ap-9351	30	69	000	000	NUM
ap-9351	30	70	meters	meter	NOUN
ap-9351	30	71	4	4	NUM
ap-9351	30	72	000	000	NUM
ap-9351	30	73	meters	meter	NOUN
ap-9351	30	74	18	18	NUM
ap-9351	30	75	288	288	NUM
ap-9351	30	76	meters	meter	NOUN
ap-9351	30	77	5	5	NUM
ap-9351	30	78	943.6	943.6	NUM
ap-9351	30	79	meters	meter	NOUN
ap-9351	30	80	121.92	121.92	NUM
ap-9351	30	81	meters	meter	NOUN
ap-9351	30	82	less	less	ADJ
ap-9351	30	83	than	than	ADP
ap-9351	30	84	121	121	NUM
ap-9351	30	85	meters	meter	NOUN
ap-9351	30	86	speed	speed	NOUN
ap-9351	30	87	72.42	72.42	NUM
ap-9351	30	88	kmph	kmph	PROPN
ap-9351	30	89	67.59	67.59	NUM
ap-9351	30	90	kmph	kmph	PROPN
ap-9351	30	91	574.53	574.53	NUM
ap-9351	30	92	kmph	kmph	NOUN
ap-9351	30	93	91.73	91.73	NUM
ap-9351	30	94	to	to	ADP
ap-9351	30	95	111.01	111.01	NUM
ap-9351	30	96	kmph	kmph	NOUN
ap-9351	30	97	40.23	40.23	NUM
ap-9351	30	98	kmph	kmph	PROPN
ap-9351	30	99	40.23	40.23	NUM
ap-9351	30	100	kmph	kmph	PROPN
ap-9351	30	101	weight	weight	NOUN
ap-9351	30	102	0.9	0.9	NUM
ap-9351	30	103	kg	kg	NOUN
ap-9351	30	104	0.43	0.43	NUM
ap-9351	30	105	kg	kg	NOUN
ap-9351	30	106	14	14	NUM
ap-9351	30	107	628.3	628.3	NUM
ap-9351	30	108	kg	kg	NUM
ap-9351	30	109	22	22	NUM
ap-9351	30	110	kg	kg	NOUN
ap-9351	30	111	1.36	1.36	NUM
ap-9351	30	112	kg	kg	NUM
ap-9351	30	113	1.27	1.27	NUM
ap-9351	30	114	kg	kg	NOUN
ap-9351	30	115	table	table	NOUN
ap-9351	30	116	1	1	NUM
ap-9351	30	117	.	.	PUNCT
ap-9351	30	118	specifications	specification	NOUN
ap-9351	30	119	of	of	ADP
ap-9351	30	120	reconnaissance	reconnaissance	NOUN
ap-9351	30	121	drones	drone	NOUN
ap-9351	30	122	.	.	PUNCT
ap-9351	31	1	1.1	1.1	NUM
ap-9351	31	2	.	.	PUNCT
ap-9351	32	1	related	relate	VERB
ap-9351	32	2	works	work	NOUN
ap-9351	32	3	uavs	uavs	NOUN
ap-9351	32	4	often	often	ADV
ap-9351	32	5	use	use	VERB
ap-9351	32	6	computer	computer	NOUN
ap-9351	32	7	vision	vision	NOUN
ap-9351	32	8	methods	method	NOUN
ap-9351	32	9	to	to	PART
ap-9351	32	10	detect	detect	VERB
ap-9351	32	11	and	and	CCONJ
ap-9351	32	12	inspect	inspect	VERB
ap-9351	32	13	the	the	DET
ap-9351	32	14	railway	railway	NOUN
ap-9351	32	15	infrastructure	infrastructure	NOUN
ap-9351	32	16	.	.	PUNCT
ap-9351	33	1	for	for	ADP
ap-9351	33	2	example	example	NOUN
ap-9351	33	3	,	,	PUNCT
ap-9351	33	4	milan	milan	PROPN
ap-9351	33	5	banic	banic	PROPN
ap-9351	33	6	applied	apply	VERB
ap-9351	33	7	a	a	DET
ap-9351	33	8	gaussian	gaussian	ADJ
ap-9351	33	9	filter	filter	NOUN
ap-9351	33	10	to	to	PART
ap-9351	33	11	reduce	reduce	VERB
ap-9351	33	12	image	image	NOUN
ap-9351	33	13	noise	noise	NOUN
ap-9351	33	14	from	from	ADP
ap-9351	33	15	the	the	DET
ap-9351	33	16	background	background	NOUN
ap-9351	33	17	and	and	CCONJ
ap-9351	33	18	used	use	VERB
ap-9351	33	19	a	a	DET
ap-9351	33	20	double	double	ADJ
ap-9351	33	21	threshold	threshold	NOUN
ap-9351	33	22	to	to	PART
ap-9351	33	23	determine	determine	VERB
ap-9351	33	24	the	the	DET
ap-9351	33	25	boundaries	boundary	NOUN
ap-9351	33	26	of	of	ADP
ap-9351	33	27	the	the	DET
ap-9351	33	28	rails	rail	NOUN
ap-9351	33	29	[	[	PUNCT
ap-9351	33	30	13	13	NUM
ap-9351	33	31	]	]	PUNCT
ap-9351	33	32	.	.	PUNCT
ap-9351	34	1	nevertheless	nevertheless	ADV
ap-9351	34	2	,	,	PUNCT
ap-9351	34	3	considering	consider	VERB
ap-9351	34	4	the	the	DET
ap-9351	34	5	results	result	NOUN
ap-9351	34	6	of	of	ADP
ap-9351	34	7	the	the	DET
ap-9351	34	8	processed	process	VERB
ap-9351	34	9	images	image	NOUN
ap-9351	34	10	,	,	PUNCT
ap-9351	34	11	it	it	PRON
ap-9351	34	12	can	can	AUX
ap-9351	34	13	be	be	AUX
ap-9351	34	14	seen	see	VERB
ap-9351	34	15	that	that	SCONJ
ap-9351	34	16	not	not	PART
ap-9351	34	17	the	the	DET
ap-9351	34	18	entire	entire	ADJ
ap-9351	34	19	length	length	NOUN
ap-9351	34	20	of	of	ADP
ap-9351	34	21	the	the	DET
ap-9351	34	22	railway	railway	NOUN
ap-9351	34	23	was	be	AUX
ap-9351	34	24	recognised	recognise	VERB
ap-9351	34	25	based	base	VERB
ap-9351	34	26	on	on	ADP
ap-9351	34	27	the	the	DET
ap-9351	34	28	proposed	propose	VERB
ap-9351	34	29	algorithm	algorithm	NOUN
ap-9351	34	30	.	.	PUNCT
ap-9351	35	1	there	there	PRON
ap-9351	35	2	were	be	VERB
ap-9351	35	3	unrecognised	unrecognised	ADJ
ap-9351	35	4	areas	area	NOUN
ap-9351	35	5	of	of	ADP
ap-9351	35	6	railway	railway	NOUN
ap-9351	35	7	infrastructure	infrastructure	NOUN
ap-9351	35	8	closer	close	ADV
ap-9351	35	9	to	to	ADP
ap-9351	35	10	the	the	DET
ap-9351	35	11	horizon	horizon	NOUN
ap-9351	35	12	and	and	CCONJ
ap-9351	35	13	to	to	ADP
ap-9351	35	14	the	the	DET
ap-9351	35	15	observer	observer	NOUN
ap-9351	35	16	.	.	PUNCT
ap-9351	36	1	convolutional	convolutional	ADJ
ap-9351	36	2	neural	neural	ADJ
ap-9351	36	3	network	network	NOUN
ap-9351	36	4	(	(	PUNCT
ap-9351	36	5	cnn	cnn	PROPN
ap-9351	36	6	)	)	PUNCT
ap-9351	36	7	based	base	VERB
ap-9351	36	8	on	on	ADP
ap-9351	36	9	u	u	ADJ
ap-9351	36	10	-	-	ADJ
ap-9351	36	11	net	net	ADJ
ap-9351	36	12	network	network	NOUN
ap-9351	36	13	[	[	X
ap-9351	36	14	14	14	NUM
ap-9351	36	15	]	]	PUNCT
ap-9351	36	16	and	and	CCONJ
ap-9351	36	17	deep	deep	ADJ
ap-9351	36	18	cnn	cnn	PROPN
ap-9351	36	19	methods	method	NOUN
ap-9351	36	20	are	be	AUX
ap-9351	36	21	also	also	ADV
ap-9351	36	22	commonly	commonly	ADV
ap-9351	36	23	used	use	VERB
ap-9351	36	24	to	to	PART
ap-9351	36	25	track	track	VERB
ap-9351	36	26	the	the	DET
ap-9351	36	27	railway	railway	NOUN
ap-9351	36	28	and	and	CCONJ
ap-9351	36	29	identify	identify	VERB
ap-9351	36	30	vegetation	vegetation	NOUN
ap-9351	36	31	as	as	ADP
ap-9351	36	32	obstacles	obstacle	NOUN
ap-9351	36	33	along	along	ADP
ap-9351	36	34	the	the	DET
ap-9351	36	35	railway	railway	NOUN
ap-9351	36	36	path	path	NOUN
ap-9351	37	1	[	[	X
ap-9351	37	2	15	15	NUM
ap-9351	37	3	]	]	PUNCT
ap-9351	37	4	.	.	PUNCT
ap-9351	38	1	in	in	ADP
ap-9351	38	2	addition	addition	NOUN
ap-9351	38	3	,	,	PUNCT
ap-9351	38	4	one	one	NUM
ap-9351	38	5	of	of	ADP
ap-9351	38	6	the	the	DET
ap-9351	38	7	alternatives	alternative	NOUN
ap-9351	38	8	for	for	ADP
ap-9351	38	9	railway	railway	NOUN
ap-9351	38	10	recognition	recognition	NOUN
ap-9351	38	11	is	be	AUX
ap-9351	38	12	sleeper	sleeper	ADJ
ap-9351	38	13	detection	detection	NOUN
ap-9351	38	14	based	base	VERB
ap-9351	38	15	on	on	ADP
ap-9351	38	16	the	the	DET
ap-9351	38	17	region	region	NOUN
ap-9351	38	18	-	-	PUNCT
ap-9351	38	19	based	base	VERB
ap-9351	38	20	cnn	cnn	PROPN
ap-9351	38	21	approach	approach	NOUN
ap-9351	38	22	[	[	X
ap-9351	38	23	16	16	NUM
ap-9351	38	24	]	]	PUNCT
ap-9351	38	25	.	.	PUNCT
ap-9351	39	1	the	the	DET
ap-9351	39	2	method	method	NOUN
ap-9351	39	3	based	base	VERB
ap-9351	39	4	on	on	ADP
ap-9351	39	5	the	the	DET
ap-9351	39	6	rsnet	rsnet	NOUN
ap-9351	39	7	network	network	NOUN
ap-9351	39	8	has	have	AUX
ap-9351	39	9	shown	show	VERB
ap-9351	39	10	the	the	DET
ap-9351	39	11	best	good	ADJ
ap-9351	39	12	results	result	NOUN
ap-9351	39	13	in	in	ADP
ap-9351	39	14	railway	railway	NOUN
ap-9351	39	15	recognition	recognition	NOUN
ap-9351	39	16	,	,	PUNCT
ap-9351	39	17	reaching	reach	VERB
ap-9351	39	18	0.973	0.973	NUM
ap-9351	39	19	dice	dice	NOUN
ap-9351	39	20	coefficient	coefficient	NOUN
ap-9351	39	21	and	and	CCONJ
ap-9351	39	22	0.94	0.94	NUM
ap-9351	39	23	jaccard	jaccard	ADJ
ap-9351	39	24	[	[	X
ap-9351	39	25	17	17	NUM
ap-9351	39	26	]	]	PUNCT
ap-9351	39	27	.	.	PUNCT
ap-9351	40	1	despite	despite	SCONJ
ap-9351	40	2	that	that	PRON
ap-9351	40	3	,	,	PUNCT
ap-9351	40	4	all	all	PRON
ap-9351	40	5	considered	consider	VERB
ap-9351	40	6	methods	method	NOUN
ap-9351	40	7	above	above	ADP
ap-9351	40	8	require	require	VERB
ap-9351	40	9	powerful	powerful	ADJ
ap-9351	40	10	computing	computing	NOUN
ap-9351	40	11	resources	resource	NOUN
ap-9351	40	12	and	and	CCONJ
ap-9351	40	13	discrete	discrete	ADJ
ap-9351	40	14	graphics	graphic	NOUN
ap-9351	40	15	cards	card	NOUN
ap-9351	40	16	for	for	ADP
ap-9351	40	17	complex	complex	ADJ
ap-9351	40	18	calculation	calculation	NOUN
ap-9351	40	19	and	and	CCONJ
ap-9351	40	20	object	object	NOUN
ap-9351	40	21	recognition	recognition	NOUN
ap-9351	40	22	.	.	PUNCT
ap-9351	41	1	the	the	DET
ap-9351	41	2	next	next	ADJ
ap-9351	41	3	step	step	NOUN
ap-9351	41	4	is	be	AUX
ap-9351	41	5	to	to	PART
ap-9351	41	6	recognise	recognise	VERB
ap-9351	41	7	a	a	DET
ap-9351	41	8	train	train	NOUN
ap-9351	41	9	.	.	PUNCT
ap-9351	42	1	for	for	ADP
ap-9351	42	2	instance	instance	NOUN
ap-9351	42	3	,	,	PUNCT
ap-9351	42	4	to	to	PART
ap-9351	42	5	solve	solve	VERB
ap-9351	42	6	the	the	DET
ap-9351	42	7	problem	problem	NOUN
ap-9351	42	8	of	of	ADP
ap-9351	42	9	detecting	detect	VERB
ap-9351	42	10	traffic	traffic	NOUN
ap-9351	42	11	jams	jam	NOUN
ap-9351	42	12	and	and	CCONJ
ap-9351	42	13	recognising	recognise	VERB
ap-9351	42	14	crowds	crowd	NOUN
ap-9351	42	15	of	of	ADP
ap-9351	42	16	people	people	NOUN
ap-9351	42	17	to	to	PART
ap-9351	42	18	assist	assist	VERB
ap-9351	42	19	traffic	traffic	NOUN
ap-9351	42	20	police	police	NOUN
ap-9351	42	21	,	,	PUNCT
ap-9351	42	22	drones	drone	NOUN
ap-9351	42	23	with	with	ADP
ap-9351	42	24	the	the	DET
ap-9351	42	25	yolov5	yolov5	NOUN
ap-9351	42	26	model	model	NOUN
ap-9351	42	27	were	be	AUX
ap-9351	42	28	used	use	VERB
ap-9351	42	29	.	.	PUNCT
ap-9351	43	1	however	however	ADV
ap-9351	43	2	,	,	PUNCT
ap-9351	43	3	the	the	DET
ap-9351	43	4	authors	author	NOUN
ap-9351	43	5	noted	note	VERB
ap-9351	43	6	that	that	SCONJ
ap-9351	43	7	the	the	DET
ap-9351	43	8	process	process	NOUN
ap-9351	43	9	of	of	ADP
ap-9351	43	10	recognising	recognise	VERB
ap-9351	43	11	small	small	ADJ
ap-9351	43	12	targets	target	NOUN
ap-9351	43	13	was	be	AUX
ap-9351	43	14	complicated	complicate	VERB
ap-9351	43	15	[	[	X
ap-9351	43	16	18	18	NUM
ap-9351	43	17	]	]	PUNCT
ap-9351	43	18	,	,	PUNCT
ap-9351	43	19	and	and	CCONJ
ap-9351	43	20	it	it	PRON
ap-9351	43	21	should	should	AUX
ap-9351	43	22	also	also	ADV
ap-9351	43	23	be	be	AUX
ap-9351	43	24	noted	note	VERB
ap-9351	43	25	that	that	SCONJ
ap-9351	43	26	the	the	DET
ap-9351	43	27	approach	approach	NOUN
ap-9351	43	28	consumes	consume	VERB
ap-9351	43	29	significant	significant	ADJ
ap-9351	43	30	computing	compute	VERB
ap-9351	43	31	resources	resource	NOUN
ap-9351	43	32	and	and	CCONJ
ap-9351	43	33	energy	energy	NOUN
ap-9351	43	34	of	of	ADP
ap-9351	43	35	the	the	DET
ap-9351	43	36	device	device	NOUN
ap-9351	43	37	.	.	PUNCT
ap-9351	44	1	in	in	ADP
ap-9351	44	2	order	order	NOUN
ap-9351	44	3	to	to	PART
ap-9351	44	4	overcome	overcome	VERB
ap-9351	44	5	these	these	DET
ap-9351	44	6	disadvantages	disadvantage	NOUN
ap-9351	44	7	,	,	PUNCT
ap-9351	44	8	some	some	PRON
ap-9351	44	9	researches	research	VERB
ap-9351	44	10	used	use	VERB
ap-9351	44	11	edge	edge	NOUN
ap-9351	44	12	computing	compute	VERB
ap-9351	44	13	[	[	X
ap-9351	44	14	19	19	NUM
ap-9351	44	15	,	,	PUNCT
ap-9351	44	16	20	20	NUM
ap-9351	44	17	]	]	PUNCT
ap-9351	44	18	.	.	PUNCT
ap-9351	45	1	the	the	DET
ap-9351	45	2	experimental	experimental	ADJ
ap-9351	45	3	results	result	NOUN
ap-9351	45	4	of	of	ADP
ap-9351	45	5	the	the	DET
ap-9351	45	6	study	study	NOUN
ap-9351	45	7	using	use	VERB
ap-9351	45	8	edge	edge	NOUN
ap-9351	45	9	computing	computing	NOUN
ap-9351	45	10	significantly	significantly	ADV
ap-9351	45	11	optimised	optimise	VERB
ap-9351	45	12	the	the	DET
ap-9351	45	13	wireless	wireless	ADJ
ap-9351	45	14	network	network	NOUN
ap-9351	45	15	bandwidth	bandwidth	NOUN
ap-9351	45	16	and	and	CCONJ
ap-9351	45	17	improved	improve	VERB
ap-9351	45	18	scalability	scalability	NOUN
ap-9351	45	19	without	without	ADP
ap-9351	45	20	compromising	compromise	VERB
ap-9351	45	21	the	the	DET
ap-9351	45	22	accuracy	accuracy	NOUN
ap-9351	45	23	of	of	ADP
ap-9351	45	24	the	the	DET
ap-9351	45	25	results	result	NOUN
ap-9351	45	26	and	and	CCONJ
ap-9351	45	27	latency	latency	NOUN
ap-9351	45	28	[	[	X
ap-9351	45	29	21	21	NUM
ap-9351	45	30	,	,	PUNCT
ap-9351	45	31	22	22	NUM
ap-9351	45	32	]	]	PUNCT
ap-9351	45	33	.	.	PUNCT
ap-9351	46	1	2	2	X
ap-9351	46	2	.	.	X
ap-9351	46	3	materials	material	NOUN
ap-9351	46	4	and	and	CCONJ
ap-9351	46	5	methods	method	NOUN
ap-9351	46	6	webots	webot	NOUN
ap-9351	46	7	r2023b	r2023b	PROPN
ap-9351	46	8	has	have	AUX
ap-9351	46	9	been	be	AUX
ap-9351	46	10	chosen	choose	VERB
ap-9351	46	11	as	as	ADP
ap-9351	46	12	the	the	DET
ap-9351	46	13	3	3	NUM
ap-9351	46	14	-	-	PUNCT
ap-9351	46	15	dimensional	dimensional	ADJ
ap-9351	46	16	robot	robot	NOUN
ap-9351	46	17	simulator	simulator	NOUN
ap-9351	46	18	[	[	X
ap-9351	46	19	23	23	NUM
ap-9351	46	20	,	,	PUNCT
ap-9351	46	21	24	24	NUM
ap-9351	46	22	]	]	PUNCT
ap-9351	46	23	to	to	PART
ap-9351	46	24	develop	develop	VERB
ap-9351	46	25	an	an	DET
ap-9351	46	26	automated	automate	VERB
ap-9351	46	27	flight	flight	NOUN
ap-9351	46	28	algorithm	algorithm	NOUN
ap-9351	46	29	for	for	ADP
ap-9351	46	30	uav	uav	PROPN
ap-9351	46	31	,	,	PUNCT
ap-9351	46	32	as	as	SCONJ
ap-9351	46	33	it	it	PRON
ap-9351	46	34	has	have	VERB
ap-9351	46	35	a	a	DET
ap-9351	46	36	wide	wide	ADJ
ap-9351	46	37	scope	scope	NOUN
ap-9351	46	38	of	of	ADP
ap-9351	46	39	applications	application	NOUN
ap-9351	46	40	,	,	PUNCT
ap-9351	46	41	allows	allow	VERB
ap-9351	46	42	programming	program	VERB
ap-9351	46	43	the	the	DET
ap-9351	46	44	controller	controller	NOUN
ap-9351	46	45	,	,	PUNCT
ap-9351	46	46	contains	contain	VERB
ap-9351	46	47	a	a	DET
ap-9351	46	48	large	large	ADJ
ap-9351	46	49	library	library	NOUN
ap-9351	46	50	of	of	ADP
ap-9351	46	51	robots	robot	NOUN
ap-9351	46	52	and	and	CCONJ
ap-9351	46	53	tools	tool	NOUN
ap-9351	46	54	for	for	ADP
ap-9351	46	55	their	their	PRON
ap-9351	46	56	design	design	NOUN
ap-9351	46	57	,	,	PUNCT
ap-9351	46	58	maintains	maintain	VERB
ap-9351	46	59	a	a	DET
ap-9351	46	60	large	large	ADJ
ap-9351	46	61	number	number	NOUN
ap-9351	46	62	of	of	ADP
ap-9351	46	63	widely	widely	ADV
ap-9351	46	64	used	use	VERB
ap-9351	46	65	programming	programming	NOUN
ap-9351	46	66	languages	language	NOUN
ap-9351	46	67	,	,	PUNCT
ap-9351	46	68	and	and	CCONJ
ap-9351	46	69	it	it	PRON
ap-9351	46	70	is	be	AUX
ap-9351	46	71	a	a	DET
ap-9351	46	72	cross	cross	ADJ
ap-9351	46	73	-	-	ADJ
ap-9351	46	74	platform	platform	ADJ
ap-9351	46	75	software	software	NOUN
ap-9351	46	76	.	.	PUNCT
ap-9351	47	1	as	as	ADP
ap-9351	47	2	the	the	DET
ap-9351	47	3	programming	programming	NOUN
ap-9351	47	4	language	language	NOUN
ap-9351	47	5	for	for	ADP
ap-9351	47	6	the	the	DET
ap-9351	47	7	development	development	NOUN
ap-9351	47	8	of	of	ADP
ap-9351	47	9	the	the	DET
ap-9351	47	10	railway	railway	NOUN
ap-9351	47	11	and	and	CCONJ
ap-9351	47	12	moving	move	VERB
ap-9351	47	13	trains	train	NOUN
ap-9351	47	14	recognition	recognition	NOUN
ap-9351	47	15	algorithm	algorithm	NOUN
ap-9351	47	16	,	,	PUNCT
ap-9351	47	17	python	python	PROPN
ap-9351	47	18	has	have	AUX
ap-9351	47	19	been	be	AUX
ap-9351	47	20	chosen	choose	VERB
ap-9351	47	21	,	,	PUNCT
ap-9351	47	22	as	as	SCONJ
ap-9351	47	23	it	it	PRON
ap-9351	47	24	has	have	AUX
ap-9351	47	25	advanced	advanced	ADJ
ap-9351	47	26	and	and	CCONJ
ap-9351	47	27	free	free	ADJ
ap-9351	47	28	libraries	library	NOUN
ap-9351	47	29	in	in	ADP
ap-9351	47	30	the	the	DET
ap-9351	47	31	field	field	NOUN
ap-9351	47	32	of	of	ADP
ap-9351	47	33	computer	computer	NOUN
ap-9351	47	34	vision	vision	NOUN
ap-9351	47	35	.	.	PUNCT
ap-9351	48	1	thingspeak	thingspeak	NOUN
ap-9351	48	2	has	have	AUX
ap-9351	48	3	been	be	AUX
ap-9351	48	4	used	use	VERB
ap-9351	48	5	as	as	ADP
ap-9351	48	6	a	a	DET
ap-9351	48	7	web	web	NOUN
ap-9351	48	8	-	-	PUNCT
ap-9351	48	9	based	base	VERB
ap-9351	48	10	reporting	reporting	NOUN
ap-9351	48	11	platform	platform	NOUN
ap-9351	48	12	since	since	SCONJ
ap-9351	48	13	it	it	PRON
ap-9351	48	14	supports	support	VERB
ap-9351	48	15	graphical	graphical	ADJ
ap-9351	48	16	visualisation	visualisation	NOUN
ap-9351	48	17	.	.	PUNCT
ap-9351	49	1	furthermore	furthermore	ADV
ap-9351	49	2	,	,	PUNCT
ap-9351	49	3	we	we	PRON
ap-9351	49	4	have	have	AUX
ap-9351	49	5	proposed	propose	VERB
ap-9351	49	6	a	a	DET
ap-9351	49	7	general	general	ADJ
ap-9351	49	8	scheme	scheme	NOUN
ap-9351	49	9	of	of	ADP
ap-9351	49	10	the	the	DET
ap-9351	49	11	system	system	NOUN
ap-9351	49	12	with	with	ADP
ap-9351	49	13	a	a	DET
ap-9351	49	14	description	description	NOUN
ap-9351	49	15	of	of	ADP
ap-9351	49	16	the	the	DET
ap-9351	49	17	reconnaissance	reconnaissance	NOUN
ap-9351	49	18	process	process	NOUN
ap-9351	49	19	and	and	CCONJ
ap-9351	49	20	object	object	VERB
ap-9351	49	21	recognition	recognition	NOUN
ap-9351	49	22	of	of	ADP
ap-9351	49	23	a	a	DET
ap-9351	49	24	railway	railway	NOUN
ap-9351	49	25	.	.	PUNCT
ap-9351	50	1	2.1	2.1	NUM
ap-9351	50	2	.	.	PUNCT
ap-9351	50	3	robot	robot	NOUN
ap-9351	50	4	simulator	simulator	NOUN
ap-9351	50	5	and	and	CCONJ
ap-9351	50	6	flight	flight	PROPN
ap-9351	50	7	uav	uav	PROPN
ap-9351	50	8	algorithm	algorithm	PROPN
ap-9351	50	9	from	from	ADP
ap-9351	50	10	the	the	DET
ap-9351	50	11	existing	exist	VERB
ap-9351	50	12	robot	robot	NOUN
ap-9351	50	13	base	base	NOUN
ap-9351	50	14	of	of	ADP
ap-9351	50	15	webots	webot	NOUN
ap-9351	50	16	,	,	PUNCT
ap-9351	50	17	dji	dji	PROPN
ap-9351	50	18	mavic	mavic	PROPN
ap-9351	50	19	2	2	NUM
ap-9351	50	20	pro	pro	X
ap-9351	50	21	has	have	AUX
ap-9351	50	22	been	be	AUX
ap-9351	50	23	chosen	choose	VERB
ap-9351	50	24	as	as	ADP
ap-9351	50	25	the	the	DET
ap-9351	50	26	uav	uav	PROPN
ap-9351	50	27	for	for	ADP
ap-9351	50	28	military	military	ADJ
ap-9351	50	29	intelligence	intelligence	NOUN
ap-9351	50	30	gathering	gathering	NOUN
ap-9351	50	31	.	.	PUNCT
ap-9351	51	1	the	the	DET
ap-9351	51	2	dji	dji	PROPN
ap-9351	51	3	mavic	mavic	PROPN
ap-9351	51	4	2	2	NUM
ap-9351	51	5	pro	pro	X
ap-9351	51	6	has	have	VERB
ap-9351	51	7	the	the	DET
ap-9351	51	8	most	most	ADV
ap-9351	51	9	optimal	optimal	ADJ
ap-9351	51	10	weight	weight	NOUN
ap-9351	51	11	,	,	PUNCT
ap-9351	51	12	wind	wind	NOUN
ap-9351	51	13	tolerance	tolerance	NOUN
ap-9351	51	14	,	,	PUNCT
ap-9351	51	15	and	and	CCONJ
ap-9351	51	16	flight	flight	NOUN
ap-9351	51	17	duration	duration	NOUN
ap-9351	51	18	among	among	ADP
ap-9351	51	19	the	the	DET
ap-9351	51	20	reconnaissance	reconnaissance	NOUN
ap-9351	51	21	drones	drone	NOUN
ap-9351	51	22	.	.	PUNCT
ap-9351	52	1	the	the	DET
ap-9351	52	2	general	general	ADJ
ap-9351	52	3	specification	specification	NOUN
ap-9351	52	4	of	of	ADP
ap-9351	52	5	reconnaissance	reconnaissance	NOUN
ap-9351	52	6	drones	drone	NOUN
ap-9351	52	7	is	be	AUX
ap-9351	52	8	presented	present	VERB
ap-9351	52	9	in	in	ADP
ap-9351	52	10	table	table	NOUN
ap-9351	52	11	1	1	NUM
ap-9351	52	12	.	.	PUNCT
ap-9351	53	1	the	the	DET
ap-9351	53	2	drone	drone	NOUN
ap-9351	53	3	and	and	CCONJ
ap-9351	53	4	designed	design	VERB
ap-9351	53	5	railway	railway	NOUN
ap-9351	53	6	tracks	track	NOUN
ap-9351	53	7	are	be	AUX
ap-9351	53	8	shown	show	VERB
ap-9351	53	9	in	in	ADP
ap-9351	53	10	figure	figure	NOUN
ap-9351	53	11	1	1	NUM
ap-9351	53	12	.	.	PUNCT
ap-9351	53	13	figure	figure	NOUN
ap-9351	53	14	1	1	NUM
ap-9351	53	15	.	.	PUNCT
ap-9351	54	1	mavic	mavic	PROPN
ap-9351	54	2	2	2	NUM
ap-9351	54	3	pro	pro	X
ap-9351	54	4	and	and	CCONJ
ap-9351	54	5	railway	railway	NOUN
ap-9351	54	6	in	in	ADP
ap-9351	54	7	webots	webot	NOUN
ap-9351	54	8	.	.	PUNCT
ap-9351	55	1	the	the	DET
ap-9351	55	2	dji	dji	PROPN
ap-9351	55	3	mavic	mavic	PROPN
ap-9351	55	4	2	2	NUM
ap-9351	55	5	pro	pro	X
ap-9351	55	6	drone	drone	NOUN
ap-9351	55	7	comes	come	VERB
ap-9351	55	8	with	with	ADP
ap-9351	55	9	a	a	DET
ap-9351	55	10	builtin	builtin	NOUN
ap-9351	55	11	gps	gps	NOUN
ap-9351	55	12	module	module	NOUN
ap-9351	55	13	,	,	PUNCT
ap-9351	55	14	a	a	DET
ap-9351	55	15	camera	camera	NOUN
ap-9351	55	16	,	,	PUNCT
ap-9351	55	17	a	a	DET
ap-9351	55	18	gyroscope	gyroscope	NOUN
ap-9351	55	19	,	,	PUNCT
ap-9351	55	20	and	and	CCONJ
ap-9351	55	21	lidars	lidar	NOUN
ap-9351	55	22	.	.	PUNCT
ap-9351	56	1	the	the	DET
ap-9351	56	2	programming	programming	NOUN
ap-9351	56	3	language	language	NOUN
ap-9351	56	4	c	c	PROPN
ap-9351	56	5	was	be	AUX
ap-9351	56	6	used	use	VERB
ap-9351	56	7	to	to	PART
ap-9351	56	8	develop	develop	VERB
ap-9351	56	9	the	the	DET
ap-9351	56	10	drone	drone	NOUN
ap-9351	56	11	controller	controller	NOUN
ap-9351	56	12	.	.	PUNCT
ap-9351	57	1	during	during	ADP
ap-9351	57	2	the	the	DET
ap-9351	57	3	operation	operation	NOUN
ap-9351	57	4	of	of	ADP
ap-9351	57	5	the	the	DET
ap-9351	57	6	uav	uav	PROPN
ap-9351	57	7	,	,	PUNCT
ap-9351	57	8	the	the	DET
ap-9351	57	9	start	start	NOUN
ap-9351	57	10	of	of	ADP
ap-9351	57	11	the	the	DET
ap-9351	57	12	motor	motor	NOUN
ap-9351	57	13	,	,	PUNCT
ap-9351	57	14	gps	gps	NOUN
ap-9351	57	15	module	module	NOUN
ap-9351	57	16	,	,	PUNCT
ap-9351	57	17	camera	camera	NOUN
ap-9351	57	18	,	,	PUNCT
ap-9351	57	19	60	60	NUM
ap-9351	57	20	vol	vol	NOUN
ap-9351	57	21	.	.	PUNCT
ap-9351	58	1	64	64	NUM
ap-9351	58	2	no	no	NOUN
ap-9351	58	3	.	.	PUNCT
ap-9351	59	1	1/2024	1/2024	NUM
ap-9351	59	2	digital	digital	ADJ
ap-9351	59	3	model	model	NOUN
ap-9351	59	4	of	of	ADP
ap-9351	59	5	automated	automate	VERB
ap-9351	59	6	unmanned	unmanned	ADJ
ap-9351	59	7	aerial	aerial	ADJ
ap-9351	59	8	vehicle	vehicle	NOUN
ap-9351	59	9	gyroscope	gyroscope	NOUN
ap-9351	59	10	,	,	PUNCT
ap-9351	59	11	and	and	CCONJ
ap-9351	59	12	lidars	lidar	NOUN
ap-9351	59	13	were	be	AUX
ap-9351	59	14	initialised	initialise	VERB
ap-9351	59	15	.	.	PUNCT
ap-9351	60	1	the	the	DET
ap-9351	60	2	built	build	VERB
ap-9351	60	3	-	-	PUNCT
ap-9351	60	4	in	in	ADP
ap-9351	60	5	object	object	NOUN
ap-9351	60	6	detection	detection	NOUN
ap-9351	60	7	method	method	NOUN
ap-9351	60	8	was	be	AUX
ap-9351	60	9	used	use	VERB
ap-9351	60	10	to	to	PART
ap-9351	60	11	recognise	recognise	VERB
ap-9351	60	12	the	the	DET
ap-9351	60	13	railway	railway	NOUN
ap-9351	60	14	and	and	CCONJ
ap-9351	60	15	the	the	DET
ap-9351	60	16	train	train	NOUN
ap-9351	60	17	in	in	ADP
ap-9351	60	18	the	the	DET
ap-9351	60	19	simulated	simulated	ADJ
ap-9351	60	20	environment	environment	NOUN
ap-9351	60	21	.	.	PUNCT
ap-9351	61	1	the	the	DET
ap-9351	61	2	object	object	NOUN
ap-9351	61	3	recognition	recognition	NOUN
ap-9351	61	4	process	process	NOUN
ap-9351	61	5	is	be	AUX
ap-9351	61	6	discussed	discuss	VERB
ap-9351	61	7	in	in	ADP
ap-9351	61	8	the	the	DET
ap-9351	61	9	next	next	ADJ
ap-9351	61	10	subsection	subsection	NOUN
ap-9351	61	11	.	.	PUNCT
ap-9351	62	1	after	after	ADP
ap-9351	62	2	detecting	detect	VERB
ap-9351	62	3	the	the	DET
ap-9351	62	4	railway	railway	NOUN
ap-9351	62	5	,	,	PUNCT
ap-9351	62	6	the	the	DET
ap-9351	62	7	drone	drone	NOUN
ap-9351	62	8	ran	run	VERB
ap-9351	62	9	an	an	DET
ap-9351	62	10	algorithm	algorithm	NOUN
ap-9351	62	11	for	for	ADP
ap-9351	62	12	following	follow	VERB
ap-9351	62	13	the	the	DET
ap-9351	62	14	recognised	recognise	VERB
ap-9351	62	15	railroad	railroad	NOUN
ap-9351	62	16	track	track	NOUN
ap-9351	62	17	with	with	ADP
ap-9351	62	18	the	the	DET
ap-9351	62	19	transmission	transmission	NOUN
ap-9351	62	20	of	of	ADP
ap-9351	62	21	gps	gps	PROPN
ap-9351	62	22	coordinates	coordinate	NOUN
ap-9351	62	23	in	in	ADP
ap-9351	62	24	the	the	DET
ap-9351	62	25	console	console	NOUN
ap-9351	62	26	.	.	PUNCT
ap-9351	63	1	that	that	DET
ap-9351	63	2	process	process	NOUN
ap-9351	63	3	is	be	AUX
ap-9351	63	4	presented	present	VERB
ap-9351	63	5	in	in	ADP
ap-9351	63	6	figure	figure	NOUN
ap-9351	63	7	2	2	NUM
ap-9351	63	8	.	.	PUNCT
ap-9351	63	9	figure	figure	NOUN
ap-9351	63	10	2	2	NUM
ap-9351	63	11	.	.	PUNCT
ap-9351	63	12	railway	railway	NOUN
ap-9351	63	13	tracking	tracking	NOUN
ap-9351	63	14	using	use	VERB
ap-9351	63	15	uav	uav	PROPN
ap-9351	63	16	and	and	CCONJ
ap-9351	63	17	gps	gps	PROPN
ap-9351	63	18	coordinates	coordinate	NOUN
ap-9351	63	19	transmitting	transmit	VERB
ap-9351	63	20	.	.	PUNCT
ap-9351	64	1	the	the	DET
ap-9351	64	2	sections	section	NOUN
ap-9351	64	3	of	of	ADP
ap-9351	64	4	the	the	DET
ap-9351	64	5	detected	detect	VERB
ap-9351	64	6	railway	railway	NOUN
ap-9351	64	7	are	be	AUX
ap-9351	64	8	marked	mark	VERB
ap-9351	64	9	with	with	ADP
ap-9351	64	10	red	red	ADJ
ap-9351	64	11	rectangles	rectangle	NOUN
ap-9351	64	12	,	,	PUNCT
ap-9351	64	13	and	and	CCONJ
ap-9351	64	14	there	there	PRON
ap-9351	64	15	is	be	VERB
ap-9351	64	16	a	a	DET
ap-9351	64	17	console	console	NOUN
ap-9351	64	18	with	with	ADP
ap-9351	64	19	gps	gps	PROPN
ap-9351	64	20	coordinates	coordinate	NOUN
ap-9351	64	21	at	at	ADP
ap-9351	64	22	the	the	DET
ap-9351	64	23	bottom	bottom	NOUN
ap-9351	64	24	of	of	ADP
ap-9351	64	25	the	the	DET
ap-9351	64	26	program	program	NOUN
ap-9351	64	27	window	window	NOUN
ap-9351	64	28	.	.	PUNCT
ap-9351	65	1	in	in	ADP
ap-9351	65	2	the	the	DET
ap-9351	65	3	case	case	NOUN
ap-9351	65	4	of	of	ADP
ap-9351	65	5	detecting	detect	VERB
ap-9351	65	6	a	a	DET
ap-9351	65	7	train	train	NOUN
ap-9351	65	8	,	,	PUNCT
ap-9351	65	9	the	the	DET
ap-9351	65	10	drone	drone	NOUN
ap-9351	65	11	provided	provide	VERB
ap-9351	65	12	information	information	NOUN
ap-9351	65	13	about	about	ADP
ap-9351	65	14	gps	gps	PROPN
ap-9351	65	15	coordinates	coordinate	NOUN
ap-9351	65	16	to	to	ADP
ap-9351	65	17	the	the	DET
ap-9351	65	18	head	head	NOUN
ap-9351	65	19	of	of	ADP
ap-9351	65	20	the	the	DET
ap-9351	65	21	operation	operation	NOUN
ap-9351	65	22	and	and	CCONJ
ap-9351	65	23	marked	mark	VERB
ap-9351	65	24	the	the	DET
ap-9351	65	25	train	train	NOUN
ap-9351	65	26	with	with	ADP
ap-9351	65	27	a	a	DET
ap-9351	65	28	green	green	ADJ
ap-9351	65	29	rectangle	rectangle	NOUN
ap-9351	65	30	,	,	PUNCT
ap-9351	65	31	as	as	SCONJ
ap-9351	65	32	illustrated	illustrate	VERB
ap-9351	65	33	in	in	ADP
ap-9351	65	34	figure	figure	NOUN
ap-9351	65	35	3	3	NUM
ap-9351	65	36	.	.	PUNCT
ap-9351	65	37	figure	figure	NOUN
ap-9351	65	38	3	3	NUM
ap-9351	65	39	.	.	PUNCT
ap-9351	66	1	the	the	DET
ap-9351	66	2	case	case	NOUN
ap-9351	66	3	of	of	ADP
ap-9351	66	4	detecting	detect	VERB
ap-9351	66	5	a	a	DET
ap-9351	66	6	train	train	NOUN
ap-9351	66	7	in	in	ADP
ap-9351	66	8	webots	webot	NOUN
ap-9351	66	9	.	.	PUNCT
ap-9351	67	1	2.2	2.2	NUM
ap-9351	67	2	.	.	PUNCT
ap-9351	67	3	object	object	NOUN
ap-9351	67	4	detection	detection	NOUN
ap-9351	67	5	to	to	PART
ap-9351	67	6	recognise	recognise	VERB
ap-9351	67	7	objects	object	NOUN
ap-9351	67	8	,	,	PUNCT
ap-9351	67	9	the	the	DET
ap-9351	67	10	opencv	opencv	PROPN
ap-9351	67	11	,	,	PUNCT
ap-9351	67	12	numpy	numpy	NOUN
ap-9351	67	13	,	,	PUNCT
ap-9351	67	14	matplotlib	matplotlib	PROPN
ap-9351	67	15	and	and	CCONJ
ap-9351	67	16	skimage	skimage	NOUN
ap-9351	67	17	libraries	library	NOUN
ap-9351	67	18	of	of	ADP
ap-9351	67	19	the	the	DET
ap-9351	67	20	python	python	NOUN
ap-9351	67	21	programming	programming	NOUN
ap-9351	67	22	language	language	NOUN
ap-9351	67	23	have	have	AUX
ap-9351	67	24	been	be	AUX
ap-9351	67	25	used	use	VERB
ap-9351	67	26	.	.	PUNCT
ap-9351	68	1	figure	figure	NOUN
ap-9351	68	2	4	4	NUM
ap-9351	68	3	demonstrates	demonstrate	VERB
ap-9351	68	4	a	a	DET
ap-9351	68	5	flowchart	flowchart	NOUN
ap-9351	68	6	of	of	ADP
ap-9351	68	7	the	the	DET
ap-9351	68	8	object	object	NOUN
ap-9351	68	9	detection	detection	NOUN
ap-9351	68	10	process	process	NOUN
ap-9351	68	11	.	.	PUNCT
ap-9351	69	1	the	the	DET
ap-9351	69	2	result	result	NOUN
ap-9351	69	3	of	of	ADP
ap-9351	69	4	applying	apply	VERB
ap-9351	69	5	“	"	PUNCT
ap-9351	69	6	equalise	equalise	VERB
ap-9351	69	7	hist	hist	NOUN
ap-9351	69	8	”	"	PUNCT
ap-9351	69	9	is	be	AUX
ap-9351	69	10	shown	show	VERB
ap-9351	69	11	in	in	ADP
ap-9351	69	12	figure	figure	NOUN
ap-9351	69	13	5	5	NUM
ap-9351	69	14	.	.	PUNCT
ap-9351	70	1	at	at	ADP
ap-9351	70	2	the	the	DET
ap-9351	70	3	first	first	ADJ
ap-9351	70	4	stage	stage	NOUN
ap-9351	70	5	,	,	PUNCT
ap-9351	70	6	the	the	DET
ap-9351	70	7	colour	colour	NOUN
ap-9351	70	8	image	image	NOUN
ap-9351	70	9	was	be	AUX
ap-9351	70	10	converted	convert	VERB
ap-9351	70	11	into	into	ADP
ap-9351	70	12	a	a	DET
ap-9351	70	13	grey	grey	ADJ
ap-9351	70	14	scale	scale	NOUN
ap-9351	70	15	image	image	NOUN
ap-9351	70	16	via	via	ADP
ap-9351	70	17	“	"	PUNCT
ap-9351	70	18	color	color	NOUN
ap-9351	70	19	bgr2gray	bgr2gray	PROPN
ap-9351	70	20	”	"	PUNCT
ap-9351	70	21	.	.	PUNCT
ap-9351	71	1	figure	figure	VERB
ap-9351	71	2	4	4	NUM
ap-9351	71	3	.	.	PUNCT
ap-9351	72	1	the	the	DET
ap-9351	72	2	flowchart	flowchart	NOUN
ap-9351	72	3	of	of	ADP
ap-9351	72	4	the	the	DET
ap-9351	72	5	object	object	NOUN
ap-9351	72	6	detection	detection	NOUN
ap-9351	72	7	process	process	NOUN
ap-9351	72	8	.	.	PUNCT
ap-9351	73	1	figure	figure	NOUN
ap-9351	73	2	5	5	NUM
ap-9351	73	3	.	.	PUNCT
ap-9351	73	4	equalise	equalise	VERB
ap-9351	73	5	hist	hist	ADJ
ap-9351	73	6	image	image	NOUN
ap-9351	73	7	.	.	PUNCT
ap-9351	74	1	then	then	ADV
ap-9351	74	2	“	"	PUNCT
ap-9351	74	3	equalise	equalise	VERB
ap-9351	74	4	hist	hist	NOUN
ap-9351	74	5	”	"	PUNCT
ap-9351	74	6	has	have	AUX
ap-9351	74	7	been	be	AUX
ap-9351	74	8	applied	apply	VERB
ap-9351	74	9	to	to	PART
ap-9351	74	10	improve	improve	VERB
ap-9351	74	11	the	the	DET
ap-9351	74	12	contrast	contrast	NOUN
ap-9351	74	13	in	in	ADP
ap-9351	74	14	the	the	DET
ap-9351	74	15	image	image	NOUN
ap-9351	74	16	to	to	PART
ap-9351	74	17	stretch	stretch	VERB
ap-9351	74	18	out	out	ADP
ap-9351	74	19	the	the	DET
ap-9351	74	20	intensity	intensity	NOUN
ap-9351	74	21	range	range	NOUN
ap-9351	74	22	.	.	PUNCT
ap-9351	75	1	the	the	DET
ap-9351	75	2	next	next	ADJ
ap-9351	75	3	step	step	NOUN
ap-9351	75	4	was	be	AUX
ap-9351	75	5	to	to	PART
ap-9351	75	6	use	use	VERB
ap-9351	75	7	gaussian	gaussian	NOUN
ap-9351	75	8	blur	blur	NOUN
ap-9351	75	9	to	to	ADP
ap-9351	75	10	61	61	NUM
ap-9351	75	11	a.	a.	NOUN
ap-9351	75	12	tulembayeva	tulembayeva	PROPN
ap-9351	75	13	,	,	PUNCT
ap-9351	75	14	sh	sh	PROPN
ap-9351	75	15	.	.	PROPN
ap-9351	75	16	ashirov	ashirov	PROPN
ap-9351	75	17	,	,	PUNCT
ap-9351	75	18	e.	e.	PROPN
ap-9351	75	19	makarov	makarov	PROPN
ap-9351	75	20	,	,	PUNCT
ap-9351	75	21	z.	z.	PROPN
ap-9351	75	22	seitbattalov	seitbattalov	PROPN
ap-9351	75	23	acta	acta	PROPN
ap-9351	75	24	polytechnica	polytechnica	PROPN
ap-9351	75	25	figure	figure	NOUN
ap-9351	75	26	6	6	NUM
ap-9351	75	27	.	.	PUNCT
ap-9351	76	1	the	the	DET
ap-9351	76	2	concept	concept	NOUN
ap-9351	76	3	scheme	scheme	NOUN
ap-9351	76	4	of	of	ADP
ap-9351	76	5	military	military	ADJ
ap-9351	76	6	reconnaissance	reconnaissance	NOUN
ap-9351	76	7	by	by	ADP
ap-9351	76	8	uav	uav	PROPN
ap-9351	76	9	.	.	PUNCT
ap-9351	76	10	reduce	reduce	VERB
ap-9351	76	11	image	image	NOUN
ap-9351	76	12	noise	noise	NOUN
ap-9351	76	13	and	and	CCONJ
ap-9351	76	14	detail	detail	NOUN
ap-9351	76	15	.	.	PUNCT
ap-9351	77	1	otsu	otsu	PROPN
ap-9351	77	2	’s	’s	PART
ap-9351	77	3	thresholding	thresholding	NOUN
ap-9351	77	4	has	have	AUX
ap-9351	77	5	been	be	AUX
ap-9351	77	6	applied	apply	VERB
ap-9351	77	7	to	to	ADP
ap-9351	77	8	the	the	DET
ap-9351	77	9	obtained	obtain	VERB
ap-9351	77	10	result	result	NOUN
ap-9351	77	11	to	to	PART
ap-9351	77	12	separate	separate	VERB
ap-9351	77	13	an	an	DET
ap-9351	77	14	image	image	NOUN
ap-9351	77	15	into	into	ADP
ap-9351	77	16	two	two	NUM
ap-9351	77	17	classes	class	NOUN
ap-9351	77	18	,	,	PUNCT
ap-9351	77	19	foreground	foreground	NOUN
ap-9351	77	20	and	and	CCONJ
ap-9351	77	21	background	background	NOUN
ap-9351	77	22	.	.	PUNCT
ap-9351	78	1	further	far	ADV
ap-9351	78	2	,	,	PUNCT
ap-9351	78	3	canny	canny	ADJ
ap-9351	78	4	edge	edge	NOUN
ap-9351	78	5	has	have	AUX
ap-9351	78	6	been	be	AUX
ap-9351	78	7	used	use	VERB
ap-9351	78	8	to	to	PART
ap-9351	78	9	locate	locate	VERB
ap-9351	78	10	sharp	sharp	ADJ
ap-9351	78	11	intensity	intensity	NOUN
ap-9351	78	12	changes	change	NOUN
ap-9351	78	13	and	and	CCONJ
ap-9351	78	14	to	to	PART
ap-9351	78	15	find	find	VERB
ap-9351	78	16	object	object	NOUN
ap-9351	78	17	boundaries	boundary	NOUN
ap-9351	78	18	in	in	ADP
ap-9351	78	19	the	the	DET
ap-9351	78	20	image	image	NOUN
ap-9351	78	21	.	.	PUNCT
ap-9351	79	1	hough	hough	PROPN
ap-9351	79	2	transform	transform	NOUN
ap-9351	79	3	has	have	AUX
ap-9351	79	4	been	be	AUX
ap-9351	79	5	applied	apply	VERB
ap-9351	79	6	to	to	ADP
ap-9351	79	7	the	the	DET
ap-9351	79	8	final	final	ADJ
ap-9351	79	9	result	result	NOUN
ap-9351	79	10	for	for	ADP
ap-9351	79	11	detecting	detect	VERB
ap-9351	79	12	simple	simple	ADJ
ap-9351	79	13	geometric	geometric	ADJ
ap-9351	79	14	shapes	shape	NOUN
ap-9351	79	15	and	and	CCONJ
ap-9351	79	16	lines	line	NOUN
ap-9351	79	17	in	in	ADP
ap-9351	79	18	images	image	NOUN
ap-9351	79	19	.	.	PUNCT
ap-9351	80	1	and	and	CCONJ
ap-9351	80	2	,	,	PUNCT
ap-9351	80	3	finally	finally	ADV
ap-9351	80	4	,	,	PUNCT
ap-9351	80	5	the	the	DET
ap-9351	80	6	hough	hough	PROPN
ap-9351	80	7	lines	line	NOUN
ap-9351	80	8	have	have	AUX
ap-9351	80	9	been	be	AUX
ap-9351	80	10	combined	combine	VERB
ap-9351	80	11	with	with	ADP
ap-9351	80	12	the	the	DET
ap-9351	80	13	original	original	ADJ
ap-9351	80	14	image	image	NOUN
ap-9351	80	15	.	.	PUNCT
ap-9351	81	1	2.3	2.3	NUM
ap-9351	81	2	.	.	PUNCT
ap-9351	81	3	general	general	ADJ
ap-9351	81	4	scheme	scheme	NOUN
ap-9351	81	5	figure	figure	NOUN
ap-9351	81	6	6	6	NUM
ap-9351	81	7	shows	show	VERB
ap-9351	81	8	a	a	DET
ap-9351	81	9	concept	concept	NOUN
ap-9351	81	10	scheme	scheme	NOUN
ap-9351	81	11	of	of	ADP
ap-9351	81	12	military	military	ADJ
ap-9351	81	13	reconnaissance	reconnaissance	NOUN
ap-9351	81	14	by	by	ADP
ap-9351	81	15	uav	uav	PROPN
ap-9351	81	16	of	of	ADP
ap-9351	81	17	a	a	DET
ap-9351	81	18	railway	railway	NOUN
ap-9351	81	19	track	track	NOUN
ap-9351	81	20	to	to	PART
ap-9351	81	21	represent	represent	VERB
ap-9351	81	22	the	the	DET
ap-9351	81	23	process	process	NOUN
ap-9351	81	24	for	for	ADP
ap-9351	81	25	a	a	DET
ap-9351	81	26	real	real	ADJ
ap-9351	81	27	model	model	NOUN
ap-9351	81	28	.	.	PUNCT
ap-9351	82	1	the	the	DET
ap-9351	82	2	dj	dj	NOUN
ap-9351	82	3	mavic	mavic	PROPN
ap-9351	82	4	2	2	NUM
ap-9351	82	5	pro	pro	X
ap-9351	82	6	transmits	transmit	NOUN
ap-9351	82	7	gps	gps	PROPN
ap-9351	82	8	coordinates	coordinate	NOUN
ap-9351	82	9	and	and	CCONJ
ap-9351	82	10	the	the	DET
ap-9351	82	11	camera	camera	NOUN
ap-9351	82	12	captures	capture	VERB
ap-9351	82	13	an	an	DET
ap-9351	82	14	image	image	NOUN
ap-9351	82	15	of	of	ADP
ap-9351	82	16	the	the	DET
ap-9351	82	17	train	train	NOUN
ap-9351	82	18	and	and	CCONJ
ap-9351	82	19	railways	railway	NOUN
ap-9351	82	20	,	,	PUNCT
ap-9351	82	21	which	which	PRON
ap-9351	82	22	are	be	AUX
ap-9351	82	23	then	then	ADV
ap-9351	82	24	processed	process	VERB
ap-9351	82	25	by	by	ADP
ap-9351	82	26	raspberry	raspberry	NOUN
ap-9351	82	27	pi	pi	NOUN
ap-9351	82	28	4	4	NUM
ap-9351	82	29	model	model	NOUN
ap-9351	82	30	b	b	PROPN
ap-9351	82	31	(	(	PUNCT
ap-9351	82	32	rpi	rpi	PROPN
ap-9351	82	33	)	)	PUNCT
ap-9351	82	34	.	.	PUNCT
ap-9351	83	1	computer	computer	NOUN
ap-9351	83	2	vision	vision	NOUN
ap-9351	83	3	libraries	library	NOUN
ap-9351	83	4	and	and	CCONJ
ap-9351	83	5	frameworks	framework	NOUN
ap-9351	83	6	have	have	AUX
ap-9351	83	7	been	be	AUX
ap-9351	83	8	deployed	deploy	VERB
ap-9351	83	9	on	on	ADP
ap-9351	83	10	the	the	DET
ap-9351	83	11	rpi	rpi	NOUN
ap-9351	84	1	[	[	X
ap-9351	84	2	25	25	NUM
ap-9351	84	3	,	,	PUNCT
ap-9351	84	4	26	26	NUM
ap-9351	84	5	]	]	PUNCT
ap-9351	84	6	.	.	PUNCT
ap-9351	85	1	the	the	DET
ap-9351	85	2	results	result	NOUN
ap-9351	85	3	are	be	AUX
ap-9351	85	4	transmitted	transmit	VERB
ap-9351	85	5	to	to	ADP
ap-9351	85	6	the	the	DET
ap-9351	85	7	head	head	NOUN
ap-9351	85	8	of	of	ADP
ap-9351	85	9	the	the	DET
ap-9351	85	10	reconnaissance	reconnaissance	NOUN
ap-9351	85	11	operation	operation	NOUN
ap-9351	85	12	or	or	CCONJ
ap-9351	85	13	a	a	DET
ap-9351	85	14	cloud	cloud	ADJ
ap-9351	85	15	server	server	NOUN
ap-9351	85	16	.	.	PUNCT
ap-9351	86	1	3	3	X
ap-9351	86	2	.	.	X
ap-9351	86	3	experimental	experimental	ADJ
ap-9351	86	4	results	result	NOUN
ap-9351	86	5	returning	return	VERB
ap-9351	86	6	to	to	ADP
ap-9351	86	7	the	the	DET
ap-9351	86	8	process	process	NOUN
ap-9351	86	9	of	of	ADP
ap-9351	86	10	object	object	NOUN
ap-9351	86	11	recognition	recognition	NOUN
ap-9351	86	12	,	,	PUNCT
ap-9351	86	13	it	it	PRON
ap-9351	86	14	is	be	AUX
ap-9351	86	15	necessary	necessary	ADJ
ap-9351	86	16	to	to	PART
ap-9351	86	17	consider	consider	VERB
ap-9351	86	18	the	the	DET
ap-9351	86	19	results	result	NOUN
ap-9351	86	20	of	of	ADP
ap-9351	86	21	image	image	NOUN
ap-9351	86	22	processing	processing	NOUN
ap-9351	86	23	of	of	ADP
ap-9351	86	24	each	each	DET
ap-9351	86	25	stage	stage	NOUN
ap-9351	86	26	according	accord	VERB
ap-9351	86	27	to	to	ADP
ap-9351	86	28	the	the	DET
ap-9351	86	29	flowchart	flowchart	NOUN
ap-9351	86	30	shown	show	VERB
ap-9351	86	31	in	in	ADP
ap-9351	86	32	figure	figure	NOUN
ap-9351	86	33	4	4	NUM
ap-9351	86	34	.	.	PUNCT
ap-9351	87	1	the	the	DET
ap-9351	87	2	obtained	obtain	VERB
ap-9351	87	3	result	result	NOUN
ap-9351	87	4	of	of	ADP
ap-9351	87	5	converting	convert	VERB
ap-9351	87	6	the	the	DET
ap-9351	87	7	image	image	NOUN
ap-9351	87	8	into	into	ADP
ap-9351	87	9	a	a	DET
ap-9351	87	10	grey	grey	ADJ
ap-9351	87	11	scale	scale	NOUN
ap-9351	87	12	is	be	AUX
ap-9351	87	13	demonstrated	demonstrate	VERB
ap-9351	87	14	in	in	ADP
ap-9351	87	15	figure	figure	NOUN
ap-9351	87	16	7	7	NUM
ap-9351	87	17	.	.	PUNCT
ap-9351	87	18	to	to	PART
ap-9351	87	19	provide	provide	VERB
ap-9351	87	20	a	a	DET
ap-9351	87	21	clearer	clear	ADJ
ap-9351	87	22	explanation	explanation	NOUN
ap-9351	87	23	,	,	PUNCT
ap-9351	87	24	based	base	VERB
ap-9351	87	25	on	on	ADP
ap-9351	87	26	the	the	DET
ap-9351	87	27	image	image	NOUN
ap-9351	87	28	provided	provide	VERB
ap-9351	87	29	below	below	ADV
ap-9351	87	30	,	,	PUNCT
ap-9351	87	31	it	it	PRON
ap-9351	87	32	is	be	AUX
ap-9351	87	33	evident	evident	ADJ
ap-9351	87	34	that	that	SCONJ
ap-9351	87	35	the	the	DET
ap-9351	87	36	pixels	pixel	NOUN
ap-9351	87	37	are	be	AUX
ap-9351	87	38	clustered	cluster	VERB
ap-9351	87	39	around	around	ADP
ap-9351	87	40	the	the	DET
ap-9351	87	41	centre	centre	NOUN
ap-9351	87	42	of	of	ADP
ap-9351	87	43	the	the	DET
ap-9351	87	44	available	available	ADJ
ap-9351	87	45	range	range	NOUN
ap-9351	87	46	of	of	ADP
ap-9351	87	47	intensities	intensity	NOUN
ap-9351	87	48	.	.	PUNCT
ap-9351	88	1	the	the	DET
ap-9351	88	2	purpose	purpose	NOUN
ap-9351	88	3	of	of	ADP
ap-9351	88	4	histogram	histogram	NOUN
ap-9351	88	5	equalization	equalization	NOUN
ap-9351	88	6	is	be	AUX
ap-9351	88	7	to	to	PART
ap-9351	88	8	expand	expand	VERB
ap-9351	88	9	this	this	DET
ap-9351	88	10	range	range	NOUN
ap-9351	88	11	.	.	PUNCT
ap-9351	89	1	a	a	DET
ap-9351	89	2	comparison	comparison	NOUN
ap-9351	89	3	of	of	ADP
ap-9351	89	4	the	the	DET
ap-9351	89	5	global	global	ADJ
ap-9351	89	6	thresholding	thresholding	NOUN
ap-9351	89	7	,	,	PUNCT
ap-9351	89	8	otsu	otsu	NOUN
ap-9351	89	9	’s	’s	PART
ap-9351	89	10	thresholding	thresholding	NOUN
ap-9351	89	11	and	and	CCONJ
ap-9351	89	12	otsu	otsu	NOUN
ap-9351	89	13	’s	’s	PART
ap-9351	89	14	thresholding	thresholding	NOUN
ap-9351	89	15	after	after	SCONJ
ap-9351	89	16	gaussian	gaussian	PROPN
ap-9351	89	17	blur	blur	PROPN
ap-9351	89	18	are	be	AUX
ap-9351	89	19	presented	present	VERB
ap-9351	89	20	in	in	ADP
ap-9351	89	21	figure	figure	NOUN
ap-9351	89	22	8	8	NUM
ap-9351	89	23	.	.	PUNCT
ap-9351	90	1	in	in	ADP
ap-9351	90	2	the	the	DET
ap-9351	90	3	case	case	NOUN
ap-9351	90	4	of	of	ADP
ap-9351	90	5	global	global	ADJ
ap-9351	90	6	thresholding	thresholding	NOUN
ap-9351	90	7	,	,	PUNCT
ap-9351	90	8	we	we	PRON
ap-9351	90	9	have	have	AUX
ap-9351	90	10	selected	select	VERB
ap-9351	90	11	a	a	DET
ap-9351	90	12	threshold	threshold	NOUN
ap-9351	90	13	value	value	NOUN
ap-9351	90	14	arbitrarily	arbitrarily	ADV
ap-9351	90	15	.	.	PUNCT
ap-9351	91	1	however	however	ADV
ap-9351	91	2	,	,	PUNCT
ap-9351	91	3	the	the	DET
ap-9351	91	4	otsu	otsu	NOUN
ap-9351	91	5	’s	’s	PART
ap-9351	91	6	method	method	NOUN
ap-9351	91	7	eliminates	eliminate	VERB
ap-9351	91	8	the	the	DET
ap-9351	91	9	need	need	NOUN
ap-9351	91	10	for	for	ADP
ap-9351	91	11	manual	manual	ADJ
ap-9351	91	12	selection	selection	NOUN
ap-9351	91	13	by	by	ADP
ap-9351	91	14	automatically	automatically	ADV
ap-9351	91	15	determining	determine	VERB
ap-9351	91	16	the	the	DET
ap-9351	91	17	threshold	threshold	NOUN
ap-9351	91	18	value	value	NOUN
ap-9351	91	19	.	.	PUNCT
ap-9351	92	1	gaussian	gaussian	ADJ
ap-9351	92	2	blur	blur	PROPN
ap-9351	92	3	allowed	allow	VERB
ap-9351	92	4	to	to	PART
ap-9351	92	5	get	get	AUX
ap-9351	92	6	rid	rid	VERB
ap-9351	92	7	of	of	ADP
ap-9351	92	8	the	the	DET
ap-9351	92	9	noise	noise	NOUN
ap-9351	92	10	created	create	VERB
ap-9351	92	11	by	by	ADP
ap-9351	92	12	the	the	DET
ap-9351	92	13	desert	desert	NOUN
ap-9351	92	14	sand	sand	NOUN
ap-9351	92	15	.	.	PUNCT
ap-9351	93	1	the	the	DET
ap-9351	93	2	canny	canny	ADJ
ap-9351	93	3	edge	edge	NOUN
ap-9351	93	4	detector	detector	NOUN
ap-9351	93	5	is	be	AUX
ap-9351	93	6	a	a	DET
ap-9351	93	7	commonly	commonly	ADV
ap-9351	93	8	employed	employ	VERB
ap-9351	93	9	technique	technique	NOUN
ap-9351	93	10	in	in	ADP
ap-9351	93	11	computer	computer	NOUN
ap-9351	93	12	vision	vision	NOUN
ap-9351	93	13	for	for	ADP
ap-9351	93	14	identifying	identify	VERB
ap-9351	93	15	areas	area	NOUN
ap-9351	93	16	of	of	ADP
ap-9351	93	17	significant	significant	ADJ
ap-9351	93	18	intensity	intensity	NOUN
ap-9351	93	19	variation	variation	NOUN
ap-9351	93	20	and	and	CCONJ
ap-9351	93	21	detecting	detect	VERB
ap-9351	93	22	the	the	DET
ap-9351	93	23	figure	figure	NOUN
ap-9351	93	24	7	7	NUM
ap-9351	93	25	.	.	PUNCT
ap-9351	93	26	converting	convert	VERB
ap-9351	93	27	the	the	DET
ap-9351	93	28	original	original	ADJ
ap-9351	93	29	image	image	NOUN
ap-9351	93	30	into	into	ADP
ap-9351	93	31	color	color	PROPN
ap-9351	93	32	bgr2gray	bgr2gray	PROPN
ap-9351	93	33	.	.	PUNCT
ap-9351	94	1	figure	figure	NOUN
ap-9351	94	2	8	8	NUM
ap-9351	94	3	.	.	PUNCT
ap-9351	95	1	a	a	DET
ap-9351	95	2	comparison	comparison	NOUN
ap-9351	95	3	of	of	ADP
ap-9351	95	4	the	the	DET
ap-9351	95	5	global	global	ADJ
ap-9351	95	6	thresholding	thresholding	NOUN
ap-9351	95	7	,	,	PUNCT
ap-9351	95	8	otsu	otsu	NOUN
ap-9351	95	9	’s	’s	PART
ap-9351	95	10	thresholding	thresholding	NOUN
ap-9351	95	11	and	and	CCONJ
ap-9351	95	12	otsu	otsu	NOUN
ap-9351	95	13	’s	’s	PART
ap-9351	95	14	thresholding	thresholding	NOUN
ap-9351	95	15	after	after	ADP
ap-9351	95	16	gaussian	gaussian	PROPN
ap-9351	95	17	blur	blur	PROPN
ap-9351	95	18	.	.	PUNCT
ap-9351	96	1	boundaries	boundary	NOUN
ap-9351	96	2	of	of	ADP
ap-9351	96	3	objects	object	NOUN
ap-9351	96	4	within	within	ADP
ap-9351	96	5	an	an	DET
ap-9351	96	6	image	image	NOUN
ap-9351	96	7	.	.	PUNCT
ap-9351	97	1	with	with	ADP
ap-9351	97	2	this	this	DET
ap-9351	97	3	technique	technique	NOUN
ap-9351	97	4	,	,	PUNCT
ap-9351	97	5	the	the	DET
ap-9351	97	6	boundaries	boundary	NOUN
ap-9351	97	7	of	of	ADP
ap-9351	97	8	the	the	DET
ap-9351	97	9	railway	railway	NOUN
ap-9351	97	10	section	section	NOUN
ap-9351	97	11	were	be	AUX
ap-9351	97	12	determined	determine	VERB
ap-9351	97	13	.	.	PUNCT
ap-9351	98	1	the	the	DET
ap-9351	98	2	applied	apply	VERB
ap-9351	98	3	canny	canny	ADJ
ap-9351	98	4	edge	edge	NOUN
ap-9351	98	5	detector	detector	NOUN
ap-9351	98	6	to	to	ADP
ap-9351	98	7	the	the	DET
ap-9351	98	8	otsu	otsu	NOUN
ap-9351	98	9	’s	’s	PART
ap-9351	98	10	thresholding	thresholding	NOUN
ap-9351	98	11	after	after	ADP
ap-9351	98	12	gaussian	gaussian	PROPN
ap-9351	98	13	blur	blur	NOUN
ap-9351	98	14	and	and	CCONJ
ap-9351	98	15	the	the	DET
ap-9351	98	16	final	final	ADJ
ap-9351	98	17	result	result	NOUN
ap-9351	98	18	of	of	ADP
ap-9351	98	19	railway	railway	NOUN
ap-9351	98	20	detection	detection	NOUN
ap-9351	98	21	after	after	SCONJ
ap-9351	98	22	hough	hough	PROPN
ap-9351	98	23	lines	line	NOUN
ap-9351	98	24	is	be	AUX
ap-9351	98	25	presented	present	VERB
ap-9351	98	26	in	in	ADP
ap-9351	98	27	figure	figure	NOUN
ap-9351	98	28	9	9	NUM
ap-9351	98	29	.	.	PUNCT
ap-9351	99	1	the	the	DET
ap-9351	99	2	hough	hough	PROPN
ap-9351	99	3	line	line	NOUN
ap-9351	99	4	transform	transform	NOUN
ap-9351	99	5	is	be	AUX
ap-9351	99	6	a	a	DET
ap-9351	99	7	transform	transform	NOUN
ap-9351	99	8	used	use	VERB
ap-9351	99	9	to	to	PART
ap-9351	99	10	detect	detect	VERB
ap-9351	99	11	straight	straight	ADJ
ap-9351	99	12	lines	line	NOUN
ap-9351	99	13	.	.	PUNCT
ap-9351	100	1	the	the	DET
ap-9351	100	2	hough	hough	PROPN
ap-9351	100	3	lines	line	NOUN
ap-9351	100	4	have	have	AUX
ap-9351	100	5	been	be	AUX
ap-9351	100	6	62	62	NUM
ap-9351	100	7	vol	vol	NOUN
ap-9351	100	8	.	.	PUNCT
ap-9351	101	1	64	64	NUM
ap-9351	101	2	no	no	NOUN
ap-9351	101	3	.	.	PUNCT
ap-9351	102	1	1/2024	1/2024	NUM
ap-9351	102	2	digital	digital	ADJ
ap-9351	102	3	model	model	NOUN
ap-9351	102	4	of	of	ADP
ap-9351	102	5	automated	automate	VERB
ap-9351	102	6	unmanned	unmanned	ADJ
ap-9351	102	7	aerial	aerial	ADJ
ap-9351	102	8	vehicle	vehicle	NOUN
ap-9351	102	9	(	(	PUNCT
ap-9351	102	10	a	a	NOUN
ap-9351	102	11	)	)	PUNCT
ap-9351	102	12	.	.	PUNCT
ap-9351	103	1	canny	canny	ADJ
ap-9351	103	2	edge	edge	NOUN
ap-9351	103	3	detection	detection	NOUN
ap-9351	103	4	(	(	PUNCT
ap-9351	103	5	b	b	NOUN
ap-9351	103	6	)	)	PUNCT
ap-9351	103	7	.	.	PUNCT
ap-9351	104	1	hough	hough	PROPN
ap-9351	104	2	transform	transform	VERB
ap-9351	104	3	figure	figure	NOUN
ap-9351	104	4	9	9	NUM
ap-9351	104	5	.	.	PUNCT
ap-9351	104	6	canny	canny	ADJ
ap-9351	104	7	edge	edge	NOUN
ap-9351	104	8	detector	detector	NOUN
ap-9351	104	9	and	and	CCONJ
ap-9351	104	10	hough	hough	PROPN
ap-9351	104	11	transform	transform	VERB
ap-9351	104	12	over	over	ADP
ap-9351	104	13	the	the	DET
ap-9351	104	14	original	original	ADJ
ap-9351	104	15	image	image	NOUN
ap-9351	104	16	layer	layer	NOUN
ap-9351	104	17	.	.	PUNCT
ap-9351	105	1	pasted	paste	VERB
ap-9351	105	2	into	into	ADP
ap-9351	105	3	the	the	DET
ap-9351	105	4	original	original	ADJ
ap-9351	105	5	image	image	NOUN
ap-9351	105	6	.	.	PUNCT
ap-9351	106	1	thereby	thereby	ADV
ap-9351	106	2	,	,	PUNCT
ap-9351	106	3	the	the	DET
ap-9351	106	4	uav	uav	PROPN
ap-9351	106	5	is	be	AUX
ap-9351	106	6	able	able	ADJ
ap-9351	106	7	to	to	PART
ap-9351	106	8	recognise	recognise	VERB
ap-9351	106	9	the	the	DET
ap-9351	106	10	railroad	railroad	NOUN
ap-9351	106	11	and	and	CCONJ
ap-9351	106	12	trains	train	NOUN
ap-9351	106	13	.	.	PUNCT
ap-9351	107	1	the	the	DET
ap-9351	107	2	results	result	NOUN
ap-9351	107	3	can	can	AUX
ap-9351	107	4	be	be	AUX
ap-9351	107	5	seen	see	VERB
ap-9351	107	6	in	in	ADP
ap-9351	107	7	figure	figure	NOUN
ap-9351	107	8	10	10	NUM
ap-9351	107	9	.	.	PUNCT
ap-9351	108	1	figure	figure	NOUN
ap-9351	108	2	10	10	NUM
ap-9351	108	3	.	.	PUNCT
ap-9351	109	1	uav	uav	PROPN
ap-9351	109	2	detects	detect	VERB
ap-9351	109	3	the	the	DET
ap-9351	109	4	railway	railway	NOUN
ap-9351	109	5	and	and	CCONJ
ap-9351	109	6	train	train	NOUN
ap-9351	109	7	.	.	PUNCT
ap-9351	110	1	it	it	PRON
ap-9351	110	2	is	be	AUX
ap-9351	110	3	also	also	ADV
ap-9351	110	4	important	important	ADJ
ap-9351	110	5	to	to	PART
ap-9351	110	6	consider	consider	VERB
ap-9351	110	7	the	the	DET
ap-9351	110	8	railway	railway	NOUN
ap-9351	110	9	and	and	CCONJ
ap-9351	110	10	train	train	NOUN
ap-9351	110	11	recognition	recognition	NOUN
ap-9351	110	12	algorithm	algorithm	NOUN
ap-9351	110	13	based	base	VERB
ap-9351	110	14	on	on	ADP
ap-9351	110	15	a	a	DET
ap-9351	110	16	real	real	ADJ
ap-9351	110	17	uav	uav	PROPN
ap-9351	110	18	footage	footage	NOUN
ap-9351	110	19	taken	take	VERB
ap-9351	110	20	from	from	ADP
ap-9351	110	21	open	open	ADJ
ap-9351	110	22	sources	source	NOUN
ap-9351	110	23	[	[	X
ap-9351	110	24	27	27	NUM
ap-9351	110	25	]	]	PUNCT
ap-9351	110	26	.	.	PUNCT
ap-9351	111	1	the	the	DET
ap-9351	111	2	recognition	recognition	NOUN
ap-9351	111	3	algorithm	algorithm	NOUN
ap-9351	111	4	for	for	ADP
ap-9351	111	5	the	the	DET
ap-9351	111	6	real	real	ADJ
ap-9351	111	7	case	case	NOUN
ap-9351	111	8	is	be	AUX
ap-9351	111	9	slightly	slightly	ADV
ap-9351	111	10	different	different	ADJ
ap-9351	111	11	from	from	ADP
ap-9351	111	12	the	the	DET
ap-9351	111	13	simulated	simulate	VERB
ap-9351	111	14	case	case	NOUN
ap-9351	111	15	due	due	ADP
ap-9351	111	16	to	to	ADP
ap-9351	111	17	the	the	DET
ap-9351	111	18	huge	huge	ADJ
ap-9351	111	19	amount	amount	NOUN
ap-9351	111	20	of	of	ADP
ap-9351	111	21	vegetation	vegetation	NOUN
ap-9351	111	22	in	in	ADP
ap-9351	111	23	the	the	DET
ap-9351	111	24	background	background	NOUN
ap-9351	111	25	,	,	PUNCT
ap-9351	111	26	which	which	PRON
ap-9351	111	27	is	be	AUX
ap-9351	111	28	shown	show	VERB
ap-9351	111	29	in	in	ADP
ap-9351	111	30	figure	figure	NOUN
ap-9351	111	31	11	11	NUM
ap-9351	111	32	.	.	PUNCT
ap-9351	112	1	the	the	DET
ap-9351	112	2	original	original	ADJ
ap-9351	112	3	image	image	NOUN
ap-9351	112	4	is	be	AUX
ap-9351	112	5	converted	convert	VERB
ap-9351	112	6	to	to	ADP
ap-9351	112	7	an	an	DET
ap-9351	112	8	hsv	hsv	NOUN
ap-9351	112	9	image	image	NOUN
ap-9351	112	10	figure	figure	NOUN
ap-9351	112	11	11	11	NUM
ap-9351	112	12	.	.	PUNCT
ap-9351	113	1	the	the	DET
ap-9351	113	2	recognition	recognition	NOUN
ap-9351	113	3	process	process	NOUN
ap-9351	113	4	of	of	ADP
ap-9351	113	5	the	the	DET
ap-9351	113	6	railway	railway	NOUN
ap-9351	113	7	for	for	ADP
ap-9351	113	8	a	a	DET
ap-9351	113	9	real	real	ADJ
ap-9351	113	10	case	case	NOUN
ap-9351	113	11	.	.	PUNCT
ap-9351	114	1	and	and	CCONJ
ap-9351	114	2	forms	form	VERB
ap-9351	114	3	a	a	DET
ap-9351	114	4	mask	mask	NOUN
ap-9351	114	5	to	to	PART
ap-9351	114	6	highlight	highlight	VERB
ap-9351	114	7	the	the	DET
ap-9351	114	8	pink	pink	ADJ
ap-9351	114	9	-	-	PUNCT
ap-9351	114	10	magenta	magenta	NOUN
ap-9351	114	11	hue	hue	NOUN
ap-9351	114	12	to	to	PART
ap-9351	114	13	recognise	recognise	VERB
ap-9351	114	14	the	the	DET
ap-9351	114	15	railway	railway	NOUN
ap-9351	114	16	.	.	PUNCT
ap-9351	115	1	next	next	ADV
ap-9351	115	2	,	,	PUNCT
ap-9351	115	3	we	we	PRON
ap-9351	115	4	followed	follow	VERB
ap-9351	115	5	the	the	DET
ap-9351	115	6	standard	standard	ADJ
ap-9351	115	7	steps	step	NOUN
ap-9351	115	8	from	from	ADP
ap-9351	115	9	the	the	DET
ap-9351	115	10	previous	previous	ADJ
ap-9351	115	11	algorithm	algorithm	NOUN
ap-9351	115	12	,	,	PUNCT
ap-9351	115	13	using	use	VERB
ap-9351	115	14	the	the	DET
ap-9351	115	15	canny	canny	ADJ
ap-9351	115	16	edge	edge	NOUN
ap-9351	115	17	detector	detector	NOUN
ap-9351	115	18	and	and	CCONJ
ap-9351	115	19	regions	region	NOUN
ap-9351	115	20	of	of	ADP
ap-9351	115	21	interest	interest	NOUN
ap-9351	115	22	to	to	PART
ap-9351	115	23	display	display	VERB
ap-9351	115	24	the	the	DET
ap-9351	115	25	area	area	NOUN
ap-9351	115	26	of	of	ADP
ap-9351	115	27	the	the	DET
ap-9351	115	28	image	image	NOUN
ap-9351	115	29	with	with	ADP
ap-9351	115	30	the	the	DET
ap-9351	115	31	railroad	railroad	NOUN
ap-9351	115	32	,	,	PUNCT
ap-9351	115	33	and	and	CCONJ
ap-9351	115	34	applied	apply	VERB
ap-9351	115	35	the	the	DET
ap-9351	115	36	hough	hough	PROPN
ap-9351	115	37	line	line	NOUN
ap-9351	115	38	transform	transform	NOUN
ap-9351	115	39	to	to	PART
ap-9351	115	40	detect	detect	VERB
ap-9351	115	41	straight	straight	ADJ
ap-9351	115	42	lines	line	NOUN
ap-9351	115	43	.	.	PUNCT
ap-9351	116	1	yolov4	yolov4	NOUN
ap-9351	116	2	-	-	PUNCT
ap-9351	116	3	tiny	tiny	ADJ
ap-9351	116	4	has	have	AUX
ap-9351	116	5	been	be	AUX
ap-9351	116	6	used	use	VERB
ap-9351	116	7	for	for	ADP
ap-9351	116	8	train	train	NOUN
ap-9351	116	9	detection	detection	NOUN
ap-9351	116	10	since	since	SCONJ
ap-9351	116	11	it	it	PRON
ap-9351	116	12	supports	support	VERB
ap-9351	116	13	mobile	mobile	ADJ
ap-9351	116	14	devices	device	NOUN
ap-9351	116	15	like	like	ADP
ap-9351	116	16	raspberry	raspberry	NOUN
ap-9351	116	17	pi	pi	NOUN
ap-9351	116	18	and	and	CCONJ
ap-9351	116	19	consumes	consume	VERB
ap-9351	116	20	less	less	ADJ
ap-9351	116	21	computing	computing	NOUN
ap-9351	116	22	power	power	NOUN
ap-9351	116	23	than	than	ADP
ap-9351	116	24	other	other	ADJ
ap-9351	116	25	models	model	NOUN
ap-9351	116	26	.	.	PUNCT
ap-9351	117	1	table	table	NOUN
ap-9351	117	2	2	2	NUM
ap-9351	117	3	shows	show	VERB
ap-9351	117	4	the	the	DET
ap-9351	117	5	benchmarking	benchmarke	VERB
ap-9351	117	6	results	result	NOUN
ap-9351	117	7	for	for	ADP
ap-9351	117	8	mobile	mobile	ADJ
ap-9351	117	9	devices	device	NOUN
ap-9351	117	10	,	,	PUNCT
ap-9351	117	11	such	such	ADJ
ap-9351	117	12	as	as	ADP
ap-9351	117	13	raspberry	raspberry	NOUN
ap-9351	117	14	pi	pi	NOUN
ap-9351	117	15	4	4	NUM
ap-9351	117	16	,	,	PUNCT
ap-9351	117	17	jetson	jetson	PROPN
ap-9351	117	18	nano	nano	NOUN
ap-9351	117	19	,	,	PUNCT
ap-9351	117	20	and	and	CCONJ
ap-9351	117	21	rock	rock	NOUN
ap-9351	117	22	5	5	NUM
ap-9351	117	23	[	[	SYM
ap-9351	117	24	28	28	NUM
ap-9351	117	25	,	,	PUNCT
ap-9351	117	26	29	29	NUM
ap-9351	117	27	]	]	PUNCT
ap-9351	117	28	,	,	PUNCT
ap-9351	117	29	in	in	ADP
ap-9351	117	30	frames	frame	NOUN
ap-9351	117	31	per	per	ADP
ap-9351	117	32	second	second	NOUN
ap-9351	117	33	.	.	PUNCT
ap-9351	118	1	the	the	DET
ap-9351	118	2	result	result	NOUN
ap-9351	118	3	of	of	ADP
ap-9351	118	4	train	train	NOUN
ap-9351	118	5	recognition	recognition	NOUN
ap-9351	118	6	is	be	AUX
ap-9351	118	7	shown	show	VERB
ap-9351	118	8	in	in	ADP
ap-9351	118	9	figure	figure	NOUN
ap-9351	118	10	12	12	NUM
ap-9351	118	11	.	.	PUNCT
ap-9351	119	1	figure	figure	NOUN
ap-9351	119	2	12	12	NUM
ap-9351	119	3	.	.	PUNCT
ap-9351	120	1	the	the	DET
ap-9351	120	2	recognition	recognition	NOUN
ap-9351	120	3	process	process	NOUN
ap-9351	120	4	of	of	ADP
ap-9351	120	5	the	the	DET
ap-9351	120	6	train	train	NOUN
ap-9351	120	7	for	for	ADP
ap-9351	120	8	a	a	DET
ap-9351	120	9	real	real	ADJ
ap-9351	120	10	case	case	NOUN
ap-9351	120	11	.	.	PUNCT
ap-9351	121	1	the	the	DET
ap-9351	121	2	mean	mean	ADJ
ap-9351	121	3	average	average	ADJ
ap-9351	121	4	precision	precision	NOUN
ap-9351	121	5	(	(	PUNCT
ap-9351	121	6	map	map	NOUN
ap-9351	121	7	)	)	PUNCT
ap-9351	121	8	for	for	ADP
ap-9351	121	9	train	train	NOUN
ap-9351	121	10	recognition	recognition	NOUN
ap-9351	121	11	is	be	AUX
ap-9351	121	12	96.67	96.67	NUM
ap-9351	121	13	%	%	NOUN
ap-9351	121	14	.	.	PUNCT
ap-9351	122	1	the	the	DET
ap-9351	122	2	graph	graph	NOUN
ap-9351	122	3	of	of	ADP
ap-9351	122	4	loss	loss	NOUN
ap-9351	122	5	function	function	NOUN
ap-9351	122	6	versus	versus	ADP
ap-9351	122	7	iterations	iteration	NOUN
ap-9351	122	8	during	during	ADP
ap-9351	122	9	training	training	NOUN
ap-9351	122	10	is	be	AUX
ap-9351	122	11	shown	show	VERB
ap-9351	122	12	in	in	ADP
ap-9351	122	13	figure	figure	NOUN
ap-9351	122	14	13	13	NUM
ap-9351	122	15	.	.	PUNCT
ap-9351	123	1	it	it	PRON
ap-9351	123	2	should	should	AUX
ap-9351	123	3	be	be	AUX
ap-9351	123	4	noted	note	VERB
ap-9351	123	5	that	that	SCONJ
ap-9351	123	6	as	as	ADP
ap-9351	123	7	the	the	DET
ap-9351	123	8	distance	distance	NOUN
ap-9351	123	9	to	to	ADP
ap-9351	123	10	the	the	DET
ap-9351	123	11	carriage	carriage	NOUN
ap-9351	123	12	increases	increase	NOUN
ap-9351	123	13	,	,	PUNCT
ap-9351	123	14	the	the	DET
ap-9351	123	15	map	map	NOUN
ap-9351	123	16	decreases	decrease	VERB
ap-9351	123	17	.	.	PUNCT
ap-9351	124	1	table	table	NOUN
ap-9351	124	2	3	3	NUM
ap-9351	124	3	shows	show	VERB
ap-9351	124	4	the	the	DET
ap-9351	124	5	map	map	NOUN
ap-9351	124	6	for	for	ADP
ap-9351	124	7	the	the	DET
ap-9351	124	8	various	various	ADJ
ap-9351	124	9	distances	distance	NOUN
ap-9351	124	10	between	between	ADP
ap-9351	124	11	the	the	DET
ap-9351	124	12	observer	observer	NOUN
ap-9351	124	13	and	and	CCONJ
ap-9351	124	14	the	the	DET
ap-9351	124	15	target	target	NOUN
ap-9351	124	16	object	object	NOUN
ap-9351	124	17	.	.	PUNCT
ap-9351	125	1	thanks	thank	NOUN
ap-9351	125	2	to	to	ADP
ap-9351	125	3	edge	edge	NOUN
ap-9351	125	4	computing	computing	NOUN
ap-9351	125	5	,	,	PUNCT
ap-9351	125	6	the	the	DET
ap-9351	125	7	operator	operator	NOUN
ap-9351	125	8	and	and	CCONJ
ap-9351	125	9	head	head	NOUN
ap-9351	125	10	of	of	ADP
ap-9351	125	11	the	the	DET
ap-9351	125	12	operation	operation	NOUN
ap-9351	125	13	received	receive	VERB
ap-9351	125	14	information	information	NOUN
ap-9351	125	15	through	through	ADP
ap-9351	125	16	the	the	DET
ap-9351	125	17	web	web	NOUN
ap-9351	125	18	63	63	NUM
ap-9351	125	19	a.	a.	NOUN
ap-9351	125	20	tulembayeva	tulembayeva	PROPN
ap-9351	125	21	,	,	PUNCT
ap-9351	125	22	sh	sh	PROPN
ap-9351	125	23	.	.	PROPN
ap-9351	125	24	ashirov	ashirov	PROPN
ap-9351	125	25	,	,	PUNCT
ap-9351	125	26	e.	e.	PROPN
ap-9351	125	27	makarov	makarov	PROPN
ap-9351	125	28	,	,	PUNCT
ap-9351	125	29	z.	z.	PROPN
ap-9351	125	30	seitbattalov	seitbattalov	PROPN
ap-9351	125	31	acta	acta	PROPN
ap-9351	125	32	polytechnica	polytechnica	PROPN
ap-9351	125	33	model	model	NOUN
ap-9351	125	34	size	size	NOUN
ap-9351	125	35	objects	object	VERB
ap-9351	125	36	map	map	VERB
ap-9351	126	1	[	[	X
ap-9351	126	2	%	%	X
ap-9351	126	3	]	]	X
ap-9351	126	4	jetson	jetson	PROPN
ap-9351	126	5	nano	nano	PROPN
ap-9351	126	6	,	,	PUNCT
ap-9351	126	7	fps	fps	VERB
ap-9351	126	8	rpi	rpi	PROPN
ap-9351	126	9	4	4	NUM
ap-9351	126	10	,	,	PUNCT
ap-9351	126	11	fps	fps	VERB
ap-9351	126	12	rock	rock	NOUN
ap-9351	126	13	5	5	NUM
ap-9351	126	14	,	,	PUNCT
ap-9351	126	15	fps	fps	PROPN
ap-9351	126	16	nanodet	nanodet	PROPN
ap-9351	126	17	320×320	320×320	NUM
ap-9351	126	18	80	80	NUM
ap-9351	126	19	20.6	20.6	NUM
ap-9351	126	20	26.2	26.2	NUM
ap-9351	126	21	13.0	13.0	NUM
ap-9351	126	22	36.0	36.0	NUM
ap-9351	126	23	nanodet	nanodet	NOUN
ap-9351	126	24	plus	plus	CCONJ
ap-9351	126	25	416×416	416×416	NUM
ap-9351	126	26	80	80	NUM
ap-9351	126	27	30.4	30.4	NUM
ap-9351	126	28	18.5	18.5	NUM
ap-9351	126	29	5.0	5.0	NUM
ap-9351	126	30	24.9	24.9	NUM
ap-9351	126	31	yolofastestv2	yolofastestv2	NOUN
ap-9351	127	1	352×352	352×352	NUM
ap-9351	127	2	80	80	NUM
ap-9351	127	3	24.1	24.1	NUM
ap-9351	127	4	38.4	38.4	NUM
ap-9351	127	5	18.8	18.8	NUM
ap-9351	127	6	65.4	65.4	NUM
ap-9351	127	7	yolov2	yolov2	NOUN
ap-9351	127	8	416×416	416×416	NUM
ap-9351	127	9	20	20	NUM
ap-9351	127	10	19.2	19.2	NUM
ap-9351	127	11	10.1	10.1	NUM
ap-9351	127	12	3.0	3.0	NUM
ap-9351	127	13	20.0	20.0	NUM
ap-9351	127	14	yolov3	yolov3	NOUN
ap-9351	128	1	352×352	352×352	NUM
ap-9351	128	2	tiny	tiny	ADJ
ap-9351	128	3	20	20	NUM
ap-9351	128	4	16.6	16.6	NUM
ap-9351	128	5	17.7	17.7	NUM
ap-9351	128	6	4.4	4.4	NUM
ap-9351	128	7	15.0	15.0	NUM
ap-9351	128	8	yolov4	yolov4	NOUN
ap-9351	129	1	416×416	416×416	NUM
ap-9351	129	2	tiny	tiny	ADJ
ap-9351	129	3	80	80	NUM
ap-9351	129	4	21.7	21.7	NUM
ap-9351	129	5	16.1	16.1	NUM
ap-9351	129	6	3.4	3.4	NUM
ap-9351	129	7	22.4	22.4	NUM
ap-9351	129	8	yolov4	yolov4	NOUN
ap-9351	129	9	608×608	608×608	NUM
ap-9351	129	10	full	full	ADJ
ap-9351	129	11	80	80	NUM
ap-9351	129	12	45.3	45.3	NUM
ap-9351	129	13	1.3	1.3	NUM
ap-9351	129	14	0.2	0.2	NUM
ap-9351	129	15	1.5	1.5	NUM
ap-9351	129	16	yolov5	yolov5	NOUN
ap-9351	129	17	640×640	640×640	NUM
ap-9351	129	18	small	small	ADJ
ap-9351	129	19	80	80	NUM
ap-9351	129	20	22.5	22.5	NUM
ap-9351	129	21	5.0	5.0	NUM
ap-9351	129	22	1.6	1.6	NUM
ap-9351	129	23	12.5	12.5	NUM
ap-9351	129	24	yolov6	yolov6	X
ap-9351	129	25	640×640	640×640	NUM
ap-9351	129	26	nano	nano	NOUN
ap-9351	129	27	80	80	NUM
ap-9351	129	28	35.0	35.0	NUM
ap-9351	129	29	10.5	10.5	NUM
ap-9351	129	30	2.7	2.7	NUM
ap-9351	129	31	20.8	20.8	NUM
ap-9351	129	32	yolov7	yolov7	NOUN
ap-9351	129	33	640×640	640×640	NUM
ap-9351	129	34	tiny	tiny	ADJ
ap-9351	129	35	80	80	NUM
ap-9351	129	36	38.7	38.7	NUM
ap-9351	129	37	8.5	8.5	NUM
ap-9351	129	38	2.1	2.1	NUM
ap-9351	129	39	17.9	17.9	NUM
ap-9351	129	40	yolov8	yolov8	NOUN
ap-9351	129	41	640×640	640×640	NUM
ap-9351	129	42	nano	nano	VERB
ap-9351	129	43	80	80	NUM
ap-9351	129	44	37.3	37.3	NUM
ap-9351	129	45	14.5	14.5	NUM
ap-9351	129	46	3.1	3.1	NUM
ap-9351	129	47	16.3	16.3	NUM
ap-9351	129	48	yolov8	yolov8	NOUN
ap-9351	129	49	640×640	640×640	NUM
ap-9351	129	50	small	small	ADJ
ap-9351	129	51	80	80	NUM
ap-9351	129	52	44.9	44.9	NUM
ap-9351	129	53	4.5	4.5	NUM
ap-9351	129	54	1.47	1.47	NUM
ap-9351	129	55	9.2	9.2	NUM
ap-9351	129	56	yolo×	yolo×	PROPN
ap-9351	129	57	416×416	416×416	NUM
ap-9351	129	58	nano	nano	NOUN
ap-9351	129	59	80	80	NUM
ap-9351	129	60	25.8	25.8	NUM
ap-9351	129	61	22.6	22.6	NUM
ap-9351	129	62	7.0	7.0	NUM
ap-9351	129	63	28.5	28.5	NUM
ap-9351	129	64	yolo×	yolo×	NOUN
ap-9351	129	65	416×416	416×416	NUM
ap-9351	129	66	tiny	tiny	ADJ
ap-9351	129	67	80	80	NUM
ap-9351	129	68	32.8	32.8	NUM
ap-9351	129	69	11.35	11.35	NUM
ap-9351	129	70	2.8	2.8	NUM
ap-9351	129	71	18.1	18.1	NUM
ap-9351	129	72	yolo×	yolo×	NOUN
ap-9351	129	73	640×640	640×640	NUM
ap-9351	129	74	small	small	ADJ
ap-9351	129	75	80	80	NUM
ap-9351	129	76	40.5	40.5	NUM
ap-9351	129	77	3.65	3.65	NUM
ap-9351	129	78	0.9	0.9	NUM
ap-9351	129	79	7.5	7.5	NUM
ap-9351	129	80	table	table	NOUN
ap-9351	129	81	2	2	NUM
ap-9351	129	82	.	.	PUNCT
ap-9351	129	83	benchmark	benchmark	ADJ
ap-9351	129	84	comparison	comparison	NOUN
ap-9351	129	85	for	for	ADP
ap-9351	129	86	various	various	ADJ
ap-9351	129	87	mobile	mobile	ADJ
ap-9351	129	88	devices	device	NOUN
ap-9351	129	89	and	and	CCONJ
ap-9351	129	90	computer	computer	NOUN
ap-9351	129	91	vision	vision	NOUN
ap-9351	129	92	models	model	NOUN
ap-9351	129	93	.	.	PUNCT
ap-9351	130	1	figure	figure	NOUN
ap-9351	130	2	13	13	NUM
ap-9351	130	3	.	.	PUNCT
ap-9351	131	1	the	the	DET
ap-9351	131	2	loss	loss	NOUN
ap-9351	131	3	function	function	NOUN
ap-9351	131	4	versus	versus	ADP
ap-9351	131	5	iterations	iteration	NOUN
ap-9351	131	6	during	during	ADP
ap-9351	131	7	training	training	NOUN
ap-9351	131	8	.	.	PUNCT
ap-9351	132	1	64	64	NUM
ap-9351	132	2	vol	vol	NOUN
ap-9351	132	3	.	.	PUNCT
ap-9351	133	1	64	64	NUM
ap-9351	133	2	no	no	NOUN
ap-9351	133	3	.	.	PUNCT
ap-9351	134	1	1/2024	1/2024	NUM
ap-9351	134	2	digital	digital	ADJ
ap-9351	134	3	model	model	NOUN
ap-9351	134	4	of	of	ADP
ap-9351	134	5	automated	automate	VERB
ap-9351	134	6	unmanned	unmanned	ADJ
ap-9351	134	7	aerial	aerial	ADJ
ap-9351	134	8	vehicle	vehicle	NOUN
ap-9351	134	9	figure	figure	NOUN
ap-9351	134	10	14	14	NUM
ap-9351	134	11	.	.	PUNCT
ap-9351	135	1	the	the	DET
ap-9351	135	2	report	report	NOUN
ap-9351	135	3	on	on	ADP
ap-9351	135	4	the	the	DET
ap-9351	135	5	web	web	NOUN
ap-9351	135	6	platform	platform	NOUN
ap-9351	135	7	thingspeak	thingspeak	NOUN
ap-9351	135	8	.	.	PUNCT
ap-9351	136	1	figure	figure	NOUN
ap-9351	136	2	15	15	NUM
ap-9351	136	3	.	.	PUNCT
ap-9351	137	1	the	the	DET
ap-9351	137	2	network	network	NOUN
ap-9351	137	3	bandwidth	bandwidth	NOUN
ap-9351	137	4	in	in	ADP
ap-9351	137	5	the	the	DET
ap-9351	137	6	‘	'	PUNCT
ap-9351	137	7	monitorix	monitorix	NOUN
ap-9351	137	8	’	'	PUNCT
ap-9351	137	9	web	web	NOUN
ap-9351	137	10	application	application	NOUN
ap-9351	137	11	’	'	PUNCT
ap-9351	137	12	.	.	PUNCT
ap-9351	138	1	distance	distance	NOUN
ap-9351	138	2	,	,	PUNCT
ap-9351	138	3	meters	meter	NOUN
ap-9351	138	4	map	map	NOUN
ap-9351	138	5	,	,	PUNCT
ap-9351	138	6	per	per	ADP
ap-9351	138	7	cent	cent	NOUN
ap-9351	138	8	3–7	3–7	NOUN
ap-9351	138	9	51.27	51.27	NUM
ap-9351	138	10	7–15	7–15	PROPN
ap-9351	138	11	98.19	98.19	NUM
ap-9351	138	12	15–75	15–75	NUM
ap-9351	138	13	90.33	90.33	NUM
ap-9351	138	14	over	over	ADP
ap-9351	138	15	75	75	NUM
ap-9351	138	16	less	less	ADJ
ap-9351	138	17	than	than	ADP
ap-9351	138	18	63.41	63.41	NUM
ap-9351	138	19	table	table	NOUN
ap-9351	138	20	3	3	NUM
ap-9351	138	21	.	.	PUNCT
ap-9351	139	1	dependence	dependence	NOUN
ap-9351	139	2	of	of	ADP
ap-9351	139	3	the	the	DET
ap-9351	139	4	mean	mean	ADJ
ap-9351	139	5	average	average	ADJ
ap-9351	139	6	precision	precision	NOUN
ap-9351	139	7	on	on	ADP
ap-9351	139	8	the	the	DET
ap-9351	139	9	distance	distance	NOUN
ap-9351	139	10	to	to	ADP
ap-9351	139	11	the	the	DET
ap-9351	139	12	object	object	NOUN
ap-9351	139	13	.	.	PUNCT
ap-9351	140	1	platform	platform	NOUN
ap-9351	140	2	thingspeak	thingspeak	NOUN
ap-9351	140	3	about	about	ADP
ap-9351	140	4	the	the	DET
ap-9351	140	5	latitude	latitude	NOUN
ap-9351	140	6	and	and	CCONJ
ap-9351	140	7	longitude	longitude	NOUN
ap-9351	140	8	of	of	ADP
ap-9351	140	9	the	the	DET
ap-9351	140	10	recognised	recognise	VERB
ap-9351	140	11	train	train	NOUN
ap-9351	140	12	,	,	PUNCT
ap-9351	140	13	the	the	DET
ap-9351	140	14	number	number	NOUN
ap-9351	140	15	of	of	ADP
ap-9351	140	16	carriages	carriage	NOUN
ap-9351	140	17	,	,	PUNCT
ap-9351	140	18	and	and	CCONJ
ap-9351	140	19	the	the	DET
ap-9351	140	20	flight	flight	NOUN
ap-9351	140	21	time	time	NOUN
ap-9351	140	22	in	in	ADP
ap-9351	140	23	seconds	second	NOUN
ap-9351	140	24	.	.	PUNCT
ap-9351	141	1	the	the	DET
ap-9351	141	2	interface	interface	NOUN
ap-9351	141	3	of	of	ADP
ap-9351	141	4	the	the	DET
ap-9351	141	5	analytic	analytic	ADJ
ap-9351	141	6	platform	platform	NOUN
ap-9351	141	7	service	service	NOUN
ap-9351	141	8	,	,	PUNCT
ap-9351	141	9	channel	channel	NOUN
ap-9351	141	10	,	,	PUNCT
ap-9351	141	11	widgets	widget	NOUN
ap-9351	141	12	,	,	PUNCT
ap-9351	141	13	and	and	CCONJ
ap-9351	141	14	report	report	NOUN
ap-9351	141	15	are	be	AUX
ap-9351	141	16	shown	show	VERB
ap-9351	141	17	in	in	ADP
ap-9351	141	18	figure	figure	NOUN
ap-9351	141	19	14	14	NUM
ap-9351	141	20	.	.	PUNCT
ap-9351	142	1	as	as	SCONJ
ap-9351	142	2	can	can	AUX
ap-9351	142	3	be	be	AUX
ap-9351	142	4	seen	see	VERB
ap-9351	142	5	from	from	ADP
ap-9351	142	6	the	the	DET
ap-9351	142	7	report	report	NOUN
ap-9351	142	8	results	result	NOUN
ap-9351	142	9	,	,	PUNCT
ap-9351	142	10	6	6	NUM
ap-9351	142	11	carriages	carriage	NOUN
ap-9351	142	12	for	for	ADP
ap-9351	142	13	transporting	transport	VERB
ap-9351	142	14	people	people	NOUN
ap-9351	142	15	were	be	AUX
ap-9351	142	16	recognised	recognise	VERB
ap-9351	142	17	,	,	PUNCT
ap-9351	142	18	the	the	DET
ap-9351	142	19	uav	uav	PROPN
ap-9351	142	20	’s	’s	PART
ap-9351	142	21	flight	flight	NOUN
ap-9351	142	22	time	time	NOUN
ap-9351	142	23	was	be	AUX
ap-9351	142	24	8.22	8.22	NUM
ap-9351	142	25	seconds	second	NOUN
ap-9351	142	26	,	,	PUNCT
ap-9351	142	27	coordinates	coordinate	NOUN
ap-9351	142	28	of	of	ADP
ap-9351	142	29	the	the	DET
ap-9351	142	30	detected	detect	VERB
ap-9351	142	31	train	train	NOUN
ap-9351	142	32	:	:	PUNCT
ap-9351	142	33	latitude	latitude	NOUN
ap-9351	142	34	–	–	PUNCT
ap-9351	142	35	46.69335	46.69335	NUM
ap-9351	142	36	and	and	CCONJ
ap-9351	142	37	longitude	longitude	ADJ
ap-9351	142	38	–	–	PUNCT
ap-9351	142	39	41.96025	41.96025	NUM
ap-9351	142	40	.	.	PUNCT
ap-9351	143	1	the	the	DET
ap-9351	143	2	use	use	NOUN
ap-9351	143	3	of	of	ADP
ap-9351	143	4	edge	edge	NOUN
ap-9351	143	5	computing	computing	NOUN
ap-9351	143	6	made	make	VERB
ap-9351	143	7	it	it	PRON
ap-9351	143	8	possible	possible	ADJ
ap-9351	143	9	to	to	PART
ap-9351	143	10	optimize	optimize	VERB
ap-9351	143	11	network	network	NOUN
ap-9351	143	12	bandwidth	bandwidth	NOUN
ap-9351	143	13	,	,	PUNCT
ap-9351	143	14	reaching	reach	VERB
ap-9351	143	15	13	13	NUM
ap-9351	143	16	kilobytes	kilobyte	NOUN
ap-9351	143	17	per	per	ADP
ap-9351	143	18	second	second	ADJ
ap-9351	143	19	or	or	CCONJ
ap-9351	143	20	33	33	NUM
ap-9351	143	21	packets	packet	NOUN
ap-9351	143	22	per	per	ADP
ap-9351	143	23	second	second	NOUN
ap-9351	143	24	without	without	ADP
ap-9351	143	25	errors	error	NOUN
ap-9351	143	26	during	during	ADP
ap-9351	143	27	data	data	NOUN
ap-9351	143	28	transmission	transmission	NOUN
ap-9351	143	29	(	(	PUNCT
ap-9351	143	30	figure	figure	NOUN
ap-9351	143	31	15	15	NUM
ap-9351	143	32	)	)	PUNCT
ap-9351	143	33	.	.	PUNCT
ap-9351	144	1	thus	thus	ADV
ap-9351	144	2	,	,	PUNCT
ap-9351	144	3	the	the	DET
ap-9351	144	4	application	application	NOUN
ap-9351	144	5	of	of	ADP
ap-9351	144	6	edge	edge	NOUN
ap-9351	144	7	computing	computing	NOUN
ap-9351	144	8	reduces	reduce	VERB
ap-9351	144	9	the	the	DET
ap-9351	144	10	load	load	NOUN
ap-9351	144	11	on	on	ADP
ap-9351	144	12	the	the	DET
ap-9351	144	13	server	server	NOUN
ap-9351	144	14	,	,	PUNCT
ap-9351	144	15	allowing	allow	VERB
ap-9351	144	16	data	datum	NOUN
ap-9351	144	17	to	to	PART
ap-9351	144	18	be	be	AUX
ap-9351	144	19	processed	process	VERB
ap-9351	144	20	on	on	ADP
ap-9351	144	21	the	the	DET
ap-9351	144	22	spot	spot	NOUN
ap-9351	144	23	and	and	CCONJ
ap-9351	144	24	transfer	transfer	VERB
ap-9351	144	25	the	the	DET
ap-9351	144	26	final	final	ADJ
ap-9351	144	27	results	result	NOUN
ap-9351	144	28	to	to	ADP
ap-9351	144	29	the	the	DET
ap-9351	144	30	server	server	NOUN
ap-9351	144	31	for	for	ADP
ap-9351	144	32	reporting	reporting	NOUN
ap-9351	144	33	and	and	CCONJ
ap-9351	144	34	decision	decision	NOUN
ap-9351	144	35	making	making	NOUN
ap-9351	144	36	.	.	PUNCT
ap-9351	145	1	4	4	X
ap-9351	145	2	.	.	X
ap-9351	145	3	discussion	discussion	NOUN
ap-9351	145	4	thereby	thereby	ADV
ap-9351	145	5	,	,	PUNCT
ap-9351	145	6	the	the	DET
ap-9351	145	7	application	application	NOUN
ap-9351	145	8	of	of	ADP
ap-9351	145	9	edge	edge	NOUN
ap-9351	145	10	computing	computing	NOUN
ap-9351	145	11	has	have	AUX
ap-9351	145	12	contributed	contribute	VERB
ap-9351	145	13	to	to	ADP
ap-9351	145	14	the	the	DET
ap-9351	145	15	optimisation	optimisation	NOUN
ap-9351	145	16	of	of	ADP
ap-9351	145	17	network	network	NOUN
ap-9351	145	18	bandwidth	bandwidth	NOUN
ap-9351	145	19	,	,	PUNCT
ap-9351	145	20	in	in	ADP
ap-9351	145	21	contrast	contrast	NOUN
ap-9351	145	22	to	to	ADP
ap-9351	145	23	cloud	cloud	NOUN
ap-9351	145	24	computing	computing	NOUN
ap-9351	145	25	,	,	PUNCT
ap-9351	145	26	which	which	PRON
ap-9351	145	27	requires	require	VERB
ap-9351	145	28	at	at	ADP
ap-9351	145	29	least	least	ADV
ap-9351	145	30	1.5	1.5	NUM
ap-9351	145	31	megabits	megabit	NOUN
ap-9351	145	32	per	per	ADP
ap-9351	145	33	second	second	NOUN
ap-9351	145	34	for	for	ADP
ap-9351	145	35	video	video	NOUN
ap-9351	145	36	streaming	streaming	NOUN
ap-9351	145	37	[	[	X
ap-9351	145	38	25	25	NUM
ap-9351	145	39	]	]	PUNCT
ap-9351	145	40	.	.	PUNCT
ap-9351	146	1	as	as	ADP
ap-9351	146	2	a	a	DET
ap-9351	146	3	result	result	NOUN
ap-9351	146	4	,	,	PUNCT
ap-9351	146	5	the	the	DET
ap-9351	146	6	proposed	propose	VERB
ap-9351	146	7	algorithm	algorithm	NOUN
ap-9351	146	8	reduced	reduce	VERB
ap-9351	146	9	the	the	DET
ap-9351	146	10	load	load	NOUN
ap-9351	146	11	on	on	ADP
ap-9351	146	12	the	the	DET
ap-9351	146	13	server	server	NOUN
ap-9351	146	14	and	and	CCONJ
ap-9351	146	15	also	also	ADV
ap-9351	146	16	allowed	allow	VERB
ap-9351	146	17	it	it	PRON
ap-9351	146	18	to	to	PART
ap-9351	146	19	perform	perform	VERB
ap-9351	146	20	other	other	ADJ
ap-9351	146	21	tasks	task	NOUN
ap-9351	146	22	.	.	PUNCT
ap-9351	147	1	however	however	ADV
ap-9351	147	2	,	,	PUNCT
ap-9351	147	3	it	it	PRON
ap-9351	147	4	should	should	AUX
ap-9351	147	5	be	be	AUX
ap-9351	147	6	noted	note	VERB
ap-9351	147	7	that	that	SCONJ
ap-9351	147	8	frames	frame	NOUN
ap-9351	147	9	per	per	ADP
ap-9351	147	10	second	second	ADJ
ap-9351	147	11	readings	reading	NOUN
ap-9351	147	12	on	on	ADP
ap-9351	147	13	the	the	DET
ap-9351	147	14	raspberry	raspberry	NOUN
ap-9351	147	15	pi	pi	NOUN
ap-9351	147	16	will	will	AUX
ap-9351	147	17	be	be	AUX
ap-9351	147	18	significantly	significantly	ADV
ap-9351	147	19	lower	low	ADJ
ap-9351	147	20	than	than	ADP
ap-9351	147	21	on	on	ADP
ap-9351	147	22	workstations	workstation	NOUN
ap-9351	147	23	and	and	CCONJ
ap-9351	147	24	personal	personal	ADJ
ap-9351	147	25	computers	computer	NOUN
ap-9351	147	26	.	.	PUNCT
ap-9351	148	1	comparing	compare	VERB
ap-9351	148	2	the	the	DET
ap-9351	148	3	maps	map	NOUN
ap-9351	148	4	of	of	ADP
ap-9351	148	5	our	our	PRON
ap-9351	148	6	study	study	NOUN
ap-9351	148	7	,	,	PUNCT
ap-9351	148	8	it	it	PRON
ap-9351	148	9	is	be	AUX
ap-9351	148	10	worth	worth	ADJ
ap-9351	148	11	noting	note	VERB
ap-9351	148	12	that	that	SCONJ
ap-9351	148	13	very	very	ADV
ap-9351	148	14	good	good	ADJ
ap-9351	148	15	results	result	NOUN
ap-9351	148	16	were	be	AUX
ap-9351	148	17	obtained	obtain	VERB
ap-9351	148	18	compared	compare	VERB
ap-9351	148	19	to	to	ADP
ap-9351	148	20	the	the	DET
ap-9351	148	21	accuracy	accuracy	NOUN
ap-9351	148	22	of	of	ADP
ap-9351	148	23	35.3	35.3	NUM
ap-9351	148	24	%	%	NOUN
ap-9351	148	25	for	for	ADP
ap-9351	148	26	the	the	DET
ap-9351	148	27	gbs	gbs	NOUN
ap-9351	148	28	-	-	PUNCT
ap-9351	148	29	yolov5	yolov5	NOUN
ap-9351	149	1	[	[	X
ap-9351	149	2	18	18	NUM
ap-9351	149	3	]	]	PUNCT
ap-9351	149	4	and	and	CCONJ
ap-9351	149	5	95.6	95.6	NUM
ap-9351	149	6	%	%	NOUN
ap-9351	149	7	for	for	ADP
ap-9351	149	8	the	the	DET
ap-9351	149	9	all	all	ADV
ap-9351	149	10	-	-	PUNCT
ap-9351	149	11	in	in	ADP
ap-9351	149	12	-	-	PUNCT
ap-9351	149	13	one	one	NUM
ap-9351	149	14	yolo	yolo	NOUN
ap-9351	150	1	[	[	X
ap-9351	150	2	30	30	NUM
ap-9351	150	3	]	]	SYM
ap-9351	150	4	.	.	PUNCT
ap-9351	151	1	65	65	NUM
ap-9351	151	2	a.	a.	NOUN
ap-9351	151	3	tulembayeva	tulembayeva	PROPN
ap-9351	151	4	,	,	PUNCT
ap-9351	151	5	sh	sh	PROPN
ap-9351	151	6	.	.	PROPN
ap-9351	151	7	ashirov	ashirov	PROPN
ap-9351	151	8	,	,	PUNCT
ap-9351	151	9	e.	e.	PROPN
ap-9351	151	10	makarov	makarov	PROPN
ap-9351	151	11	,	,	PUNCT
ap-9351	151	12	z.	z.	PROPN
ap-9351	151	13	seitbattalov	seitbattalov	PROPN
ap-9351	151	14	acta	acta	PROPN
ap-9351	151	15	polytechnica	polytechnica	PROPN
ap-9351	151	16	5	5	NUM
ap-9351	151	17	.	.	PUNCT
ap-9351	152	1	conclusions	conclusion	NOUN
ap-9351	152	2	this	this	DET
ap-9351	152	3	study	study	NOUN
ap-9351	152	4	has	have	AUX
ap-9351	152	5	introduced	introduce	VERB
ap-9351	152	6	an	an	DET
ap-9351	152	7	automated	automate	VERB
ap-9351	152	8	flight	flight	NOUN
ap-9351	152	9	algorithm	algorithm	NOUN
ap-9351	152	10	for	for	ADP
ap-9351	152	11	unmanned	unmanned	ADJ
ap-9351	152	12	aerial	aerial	ADJ
ap-9351	152	13	vehicles	vehicle	NOUN
ap-9351	152	14	(	(	PUNCT
ap-9351	152	15	uavs	uavs	NOUN
ap-9351	152	16	)	)	PUNCT
ap-9351	152	17	and	and	CCONJ
ap-9351	152	18	a	a	DET
ap-9351	152	19	detection	detection	NOUN
ap-9351	152	20	method	method	NOUN
ap-9351	152	21	for	for	ADP
ap-9351	152	22	identifying	identify	VERB
ap-9351	152	23	railroads	railroad	NOUN
ap-9351	152	24	and	and	CCONJ
ap-9351	152	25	moving	move	VERB
ap-9351	152	26	trains	train	NOUN
ap-9351	152	27	for	for	ADP
ap-9351	152	28	simulated	simulated	ADJ
ap-9351	152	29	and	and	CCONJ
ap-9351	152	30	real	real	ADJ
ap-9351	152	31	cases	case	NOUN
ap-9351	152	32	.	.	PUNCT
ap-9351	153	1	this	this	DET
ap-9351	153	2	research	research	NOUN
ap-9351	153	3	allowed	allow	VERB
ap-9351	153	4	the	the	DET
ap-9351	153	5	transmission	transmission	NOUN
ap-9351	153	6	of	of	ADP
ap-9351	153	7	the	the	DET
ap-9351	153	8	uav	uav	PROPN
ap-9351	153	9	flight	flight	NOUN
ap-9351	153	10	time	time	NOUN
ap-9351	153	11	,	,	PUNCT
ap-9351	153	12	gps	gps	PROPN
ap-9351	153	13	coordinates	coordinate	NOUN
ap-9351	153	14	,	,	PUNCT
ap-9351	153	15	and	and	CCONJ
ap-9351	153	16	the	the	DET
ap-9351	153	17	number	number	NOUN
ap-9351	153	18	of	of	ADP
ap-9351	153	19	detected	detect	VERB
ap-9351	153	20	targets	target	NOUN
ap-9351	153	21	to	to	ADP
ap-9351	153	22	the	the	DET
ap-9351	153	23	operation	operation	NOUN
ap-9351	153	24	leader	leader	NOUN
ap-9351	153	25	.	.	PUNCT
ap-9351	154	1	additionally	additionally	ADV
ap-9351	154	2	,	,	PUNCT
ap-9351	154	3	the	the	DET
ap-9351	154	4	algorithm	algorithm	NOUN
ap-9351	154	5	proposed	propose	VERB
ap-9351	154	6	in	in	ADP
ap-9351	154	7	this	this	DET
ap-9351	154	8	study	study	NOUN
ap-9351	154	9	aims	aim	VERB
ap-9351	154	10	to	to	PART
ap-9351	154	11	reduce	reduce	VERB
ap-9351	154	12	the	the	DET
ap-9351	154	13	time	time	NOUN
ap-9351	154	14	and	and	CCONJ
ap-9351	154	15	financial	financial	ADJ
ap-9351	154	16	resources	resource	NOUN
ap-9351	154	17	required	require	VERB
ap-9351	154	18	for	for	ADP
ap-9351	154	19	operator	operator	NOUN
ap-9351	154	20	training	training	NOUN
ap-9351	154	21	,	,	PUNCT
ap-9351	154	22	while	while	SCONJ
ap-9351	154	23	also	also	ADV
ap-9351	154	24	minimising	minimise	VERB
ap-9351	154	25	human	human	ADJ
ap-9351	154	26	error	error	NOUN
ap-9351	154	27	.	.	PUNCT
ap-9351	155	1	moreover	moreover	ADV
ap-9351	155	2	,	,	PUNCT
ap-9351	155	3	the	the	DET
ap-9351	155	4	scheme	scheme	NOUN
ap-9351	155	5	of	of	ADP
ap-9351	155	6	military	military	ADJ
ap-9351	155	7	reconnaissance	reconnaissance	NOUN
ap-9351	155	8	by	by	ADP
ap-9351	155	9	uav	uav	PROPN
ap-9351	155	10	has	have	AUX
ap-9351	155	11	been	be	AUX
ap-9351	155	12	proposed	propose	VERB
ap-9351	155	13	for	for	ADP
ap-9351	155	14	the	the	DET
ap-9351	155	15	simulated	simulate	VERB
ap-9351	155	16	and	and	CCONJ
ap-9351	155	17	real	real	ADJ
ap-9351	155	18	cases	case	NOUN
ap-9351	155	19	.	.	PUNCT
ap-9351	156	1	as	as	ADP
ap-9351	156	2	a	a	DET
ap-9351	156	3	suggestion	suggestion	NOUN
ap-9351	156	4	for	for	ADP
ap-9351	156	5	future	future	ADJ
ap-9351	156	6	research	research	NOUN
ap-9351	156	7	,	,	PUNCT
ap-9351	156	8	this	this	DET
ap-9351	156	9	study	study	NOUN
ap-9351	156	10	could	could	AUX
ap-9351	156	11	be	be	AUX
ap-9351	156	12	expanded	expand	VERB
ap-9351	156	13	to	to	PART
ap-9351	156	14	include	include	VERB
ap-9351	156	15	features	feature	NOUN
ap-9351	156	16	,	,	PUNCT
ap-9351	156	17	such	such	ADJ
ap-9351	156	18	as	as	ADP
ap-9351	156	19	recognizing	recognize	VERB
ap-9351	156	20	types	type	NOUN
ap-9351	156	21	of	of	ADP
ap-9351	156	22	civilian	civilian	ADJ
ap-9351	156	23	carriages	carriage	NOUN
ap-9351	156	24	and	and	CCONJ
ap-9351	156	25	armoured	armoured	ADJ
ap-9351	156	26	trains	train	NOUN
ap-9351	156	27	,	,	PUNCT
ap-9351	156	28	and	and	CCONJ
ap-9351	156	29	adding	add	VERB
ap-9351	156	30	an	an	DET
ap-9351	156	31	infrared	infrared	ADJ
ap-9351	156	32	camera	camera	NOUN
ap-9351	156	33	for	for	ADP
ap-9351	156	34	night	night	NOUN
ap-9351	156	35	reconnaissance	reconnaissance	NOUN
ap-9351	156	36	.	.	PUNCT
ap-9351	157	1	the	the	DET
ap-9351	157	2	development	development	NOUN
ap-9351	157	3	of	of	ADP
ap-9351	157	4	a	a	DET
ap-9351	157	5	similar	similar	ADJ
ap-9351	157	6	system	system	NOUN
ap-9351	157	7	based	base	VERB
ap-9351	157	8	on	on	ADP
ap-9351	157	9	an	an	DET
ap-9351	157	10	fpga	fpga	NOUN
ap-9351	157	11	is	be	AUX
ap-9351	157	12	being	be	AUX
ap-9351	157	13	considered	consider	VERB
ap-9351	157	14	to	to	PART
ap-9351	157	15	increase	increase	VERB
ap-9351	157	16	the	the	DET
ap-9351	157	17	recognition	recognition	NOUN
ap-9351	157	18	speed	speed	NOUN
ap-9351	157	19	.	.	PUNCT
ap-9351	158	1	acknowledgements	acknowledgement	NOUN
ap-9351	158	2	this	this	DET
ap-9351	158	3	research	research	NOUN
ap-9351	158	4	is	be	AUX
ap-9351	158	5	funded	fund	VERB
ap-9351	158	6	by	by	ADP
ap-9351	158	7	the	the	DET
ap-9351	158	8	committee	committee	NOUN
ap-9351	158	9	of	of	ADP
ap-9351	158	10	science	science	NOUN
ap-9351	158	11	of	of	ADP
ap-9351	158	12	the	the	DET
ap-9351	158	13	ministry	ministry	PROPN
ap-9351	158	14	of	of	ADP
ap-9351	158	15	science	science	PROPN
ap-9351	158	16	and	and	CCONJ
ap-9351	158	17	higher	high	ADJ
ap-9351	158	18	education	education	NOUN
ap-9351	158	19	of	of	ADP
ap-9351	158	20	the	the	DET
ap-9351	158	21	republic	republic	NOUN
ap-9351	158	22	of	of	ADP
ap-9351	158	23	kazakhstan	kazakhstan	PROPN
ap-9351	158	24	(	(	PUNCT
ap-9351	158	25	project	project	NOUN
ap-9351	158	26	no	no	INTJ
ap-9351	158	27	.	.	PUNCT
ap-9351	158	28	br117020/0221	br117020/0221	VERB
ap-9351	158	29	)	)	PUNCT
ap-9351	158	30	.	.	PUNCT
ap-9351	159	1	references	reference	NOUN
ap-9351	159	2	[	[	X
ap-9351	159	3	1	1	NUM
ap-9351	159	4	]	]	PUNCT
ap-9351	159	5	s.	s.	PROPN
ap-9351	159	6	moon	moon	PROPN
ap-9351	159	7	,	,	PUNCT
ap-9351	159	8	j.	j.	PROPN
ap-9351	159	9	jeon	jeon	PROPN
ap-9351	159	10	,	,	PUNCT
ap-9351	159	11	d.	d.	PROPN
ap-9351	159	12	kim	kim	PROPN
ap-9351	159	13	,	,	PUNCT
ap-9351	159	14	y.	y.	PROPN
ap-9351	159	15	kim	kim	PROPN
ap-9351	159	16	.	.	PUNCT
ap-9351	160	1	swarm	swarm	NOUN
ap-9351	160	2	reconnaissance	reconnaissance	NOUN
ap-9351	160	3	drone	drone	NOUN
ap-9351	160	4	system	system	NOUN
ap-9351	160	5	for	for	ADP
ap-9351	160	6	real	real	ADJ
ap-9351	160	7	-	-	PUNCT
ap-9351	160	8	time	time	NOUN
ap-9351	160	9	object	object	NOUN
ap-9351	160	10	detection	detection	NOUN
ap-9351	160	11	over	over	ADP
ap-9351	160	12	a	a	DET
ap-9351	160	13	large	large	ADJ
ap-9351	160	14	area	area	NOUN
ap-9351	160	15	.	.	PUNCT
ap-9351	161	1	ieee	ieee	NOUN
ap-9351	161	2	access	access	NOUN
ap-9351	161	3	11:23505–23516	11:23505–23516	NUM
ap-9351	161	4	,	,	PUNCT
ap-9351	161	5	2023	2023	NUM
ap-9351	161	6	.	.	PUNCT
ap-9351	162	1	https://doi.org/10.1109/access.2022.3233841	https://doi.org/10.1109/access.2022.3233841	PROPN
ap-9351	162	2	[	[	X
ap-9351	162	3	2	2	X
ap-9351	162	4	]	]	PUNCT
ap-9351	162	5	m.	m.	NOUN
ap-9351	162	6	a.	a.	PROPN
ap-9351	162	7	mohamad	mohamad	PROPN
ap-9351	162	8	sharom	sharom	PROPN
ap-9351	162	9	,	,	PUNCT
ap-9351	162	10	m.	m.	PROPN
ap-9351	162	11	f.	f.	PROPN
ap-9351	162	12	ahmad	ahmad	PROPN
ap-9351	162	13	fauzi	fauzi	PROPN
ap-9351	162	14	,	,	PUNCT
ap-9351	162	15	m.	m.	PROPN
ap-9351	162	16	azmi	azmi	PROPN
ap-9351	162	17	,	,	PUNCT
ap-9351	162	18	a.	a.	NOUN
ap-9351	162	19	sipit	sipit	PROPN
ap-9351	162	20	.	.	PUNCT
ap-9351	163	1	development	development	NOUN
ap-9351	163	2	of	of	ADP
ap-9351	163	3	video	video	NOUN
ap-9351	163	4	data	datum	NOUN
ap-9351	163	5	post	post	ADJ
ap-9351	163	6	-	-	ADJ
ap-9351	163	7	processing	processing	ADJ
ap-9351	163	8	technique	technique	NOUN
ap-9351	163	9	:	:	PUNCT
ap-9351	163	10	generating	generate	VERB
ap-9351	163	11	consumer	consumer	NOUN
ap-9351	163	12	drone	drone	NOUN
ap-9351	163	13	full	full	ADJ
ap-9351	163	14	motion	motion	NOUN
ap-9351	163	15	video	video	NOUN
ap-9351	163	16	(	(	PUNCT
ap-9351	163	17	fmv	fmv	PROPN
ap-9351	163	18	)	)	PUNCT
ap-9351	163	19	data	datum	NOUN
ap-9351	163	20	for	for	ADP
ap-9351	163	21	intelligence	intelligence	NOUN
ap-9351	163	22	,	,	PUNCT
ap-9351	163	23	surveillance	surveillance	NOUN
ap-9351	163	24	and	and	CCONJ
ap-9351	163	25	reconnaissance	reconnaissance	NOUN
ap-9351	163	26	(	(	PUNCT
ap-9351	163	27	isr	isr	NOUN
ap-9351	163	28	)	)	PUNCT
ap-9351	163	29	.	.	PUNCT
ap-9351	164	1	defence	defence	NOUN
ap-9351	164	2	s	s	PROPN
ap-9351	164	3	and	and	CCONJ
ap-9351	164	4	t	t	PROPN
ap-9351	164	5	technical	technical	ADJ
ap-9351	164	6	bulletin	bulletin	NOUN
ap-9351	164	7	14(1):70–81	14(1):70–81	NUM
ap-9351	164	8	,	,	PUNCT
ap-9351	164	9	2021	2021	NUM
ap-9351	164	10	.	.	PUNCT
ap-9351	165	1	[	[	X
ap-9351	165	2	3	3	X
ap-9351	165	3	]	]	X
ap-9351	165	4	c.	c.	PROPN
ap-9351	165	5	bender	bender	PROPN
ap-9351	165	6	,	,	PUNCT
ap-9351	165	7	j.	j.	PROPN
ap-9351	165	8	staggs	staggs	PROPN
ap-9351	165	9	.	.	PUNCT
ap-9351	166	1	leveling	level	VERB
ap-9351	166	2	the	the	DET
ap-9351	166	3	playing	play	VERB
ap-9351	166	4	field	field	NOUN
ap-9351	166	5	:	:	PUNCT
ap-9351	166	6	equipping	equip	VERB
ap-9351	166	7	ukrainian	ukrainian	ADJ
ap-9351	166	8	freedom	freedom	NOUN
ap-9351	166	9	fighters	fighter	NOUN
ap-9351	166	10	with	with	ADP
ap-9351	166	11	low	low	ADJ
ap-9351	166	12	-	-	PUNCT
ap-9351	166	13	cost	cost	NOUN
ap-9351	166	14	drone	drone	NOUN
ap-9351	166	15	detection	detection	NOUN
ap-9351	166	16	capabilities	capability	NOUN
ap-9351	166	17	.	.	PUNCT
ap-9351	167	1	in	in	ADP
ap-9351	167	2	15th	15th	ADJ
ap-9351	167	3	international	international	ADJ
ap-9351	167	4	conference	conference	NOUN
ap-9351	167	5	on	on	ADP
ap-9351	167	6	cyber	cyber	PROPN
ap-9351	167	7	conflict	conflict	NOUN
ap-9351	167	8	,	,	PUNCT
ap-9351	167	9	cycon	cycon	NOUN
ap-9351	167	10	2023	2023	NUM
ap-9351	167	11	,	,	PUNCT
ap-9351	167	12	vol	vol	NOUN
ap-9351	167	13	.	.	PUNCT
ap-9351	168	1	2023	2023	NUM
ap-9351	168	2	-	-	PUNCT
ap-9351	168	3	may	may	AUX
ap-9351	168	4	,	,	PUNCT
ap-9351	168	5	pp	pp	ADV
ap-9351	168	6	.	.	PUNCT
ap-9351	169	1	287–312	287–312	NUM
ap-9351	169	2	.	.	NOUN
ap-9351	169	3	2023	2023	NUM
ap-9351	169	4	.	.	PUNCT
ap-9351	170	1	https	https	NOUN
ap-9351	170	2	:	:	PUNCT
ap-9351	170	3	//doi.org/10.23919	//doi.org/10.23919	PROPN
ap-9351	170	4	/	/	SYM
ap-9351	170	5	cycon58705.2023.10181421	cycon58705.2023.10181421	PROPN
ap-9351	170	6	[	[	X
ap-9351	170	7	4	4	NUM
ap-9351	170	8	]	]	PUNCT
ap-9351	170	9	a.	a.	NOUN
ap-9351	170	10	o.	o.	PROPN
ap-9351	170	11	lebedev	lebedev	PROPN
ap-9351	170	12	,	,	PUNCT
ap-9351	170	13	v.	v.	ADP
ap-9351	170	14	v.	v.	ADP
ap-9351	170	15	vasil’ev	vasil’ev	PROPN
ap-9351	170	16	.	.	PUNCT
ap-9351	171	1	uav	uav	PROPN
ap-9351	171	2	control	control	PROPN
ap-9351	171	3	algorithm	algorithm	PROPN
ap-9351	171	4	in	in	ADP
ap-9351	171	5	automatic	automatic	ADJ
ap-9351	171	6	mode	mode	NOUN
ap-9351	171	7	using	use	VERB
ap-9351	171	8	computer	computer	NOUN
ap-9351	171	9	vision	vision	NOUN
ap-9351	171	10	.	.	PUNCT
ap-9351	172	1	optoelectronics	optoelectronic	NOUN
ap-9351	172	2	instrumentation	instrumentation	NOUN
ap-9351	172	3	and	and	CCONJ
ap-9351	172	4	data	datum	NOUN
ap-9351	172	5	processing	process	VERB
ap-9351	172	6	57(4):406–411	57(4):406–411	PROPN
ap-9351	172	7	,	,	PUNCT
ap-9351	172	8	2021	2021	NUM
ap-9351	172	9	.	.	PUNCT
ap-9351	173	1	https://doi.org/10.3103/s8756699021040075	https://doi.org/10.3103/s8756699021040075	NUM
ap-9351	174	1	[	[	X
ap-9351	174	2	5	5	X
ap-9351	174	3	]	]	PUNCT
ap-9351	174	4	p.	p.	PROPN
ap-9351	174	5	kozak	kozak	PROPN
ap-9351	174	6	,	,	PUNCT
ap-9351	174	7	m.	m.	NOUN
ap-9351	174	8	vrsecka	vrsecka	NOUN
ap-9351	174	9	.	.	PUNCT
ap-9351	175	1	the	the	DET
ap-9351	175	2	use	use	NOUN
ap-9351	175	3	of	of	ADP
ap-9351	175	4	drones	drone	NOUN
ap-9351	175	5	in	in	ADP
ap-9351	175	6	military	military	ADJ
ap-9351	175	7	conflict	conflict	NOUN
ap-9351	175	8	.	.	PUNCT
ap-9351	176	1	in	in	ADP
ap-9351	176	2	9th	9th	ADJ
ap-9351	176	3	international	international	ADJ
ap-9351	176	4	conference	conference	NOUN
ap-9351	176	5	on	on	ADP
ap-9351	176	6	military	military	ADJ
ap-9351	176	7	technologies	technology	NOUN
ap-9351	176	8	,	,	PUNCT
ap-9351	176	9	icmt	icmt	NOUN
ap-9351	176	10	2023	2023	NUM
ap-9351	176	11	,	,	PUNCT
ap-9351	176	12	pp	pp	ADJ
ap-9351	176	13	.	.	PUNCT
ap-9351	177	1	1–6	1–6	NUM
ap-9351	177	2	.	.	PUNCT
ap-9351	178	1	2023	2023	NUM
ap-9351	178	2	.	.	PUNCT
ap-9351	179	1	https://doi.org/10.1109/icmt58149.2023.10171263	https://doi.org/10.1109/icmt58149.2023.10171263	PROPN
ap-9351	179	2	[	[	X
ap-9351	179	3	6	6	NUM
ap-9351	179	4	]	]	X
ap-9351	179	5	n.	n.	PROPN
ap-9351	179	6	ahn	ahn	PROPN
ap-9351	179	7	,	,	PUNCT
ap-9351	179	8	s.	s.	PROPN
ap-9351	179	9	kim	kim	PROPN
ap-9351	179	10	.	.	PUNCT
ap-9351	180	1	optimal	optimal	ADJ
ap-9351	180	2	and	and	CCONJ
ap-9351	180	3	heuristic	heuristic	ADJ
ap-9351	180	4	algorithms	algorithm	NOUN
ap-9351	180	5	for	for	ADP
ap-9351	180	6	the	the	DET
ap-9351	180	7	multi	multi	ADJ
ap-9351	180	8	-	-	ADJ
ap-9351	180	9	objective	objective	ADJ
ap-9351	180	10	vehicle	vehicle	NOUN
ap-9351	180	11	routing	routing	NOUN
ap-9351	180	12	problem	problem	NOUN
ap-9351	180	13	with	with	ADP
ap-9351	180	14	drones	drone	NOUN
ap-9351	180	15	for	for	ADP
ap-9351	180	16	military	military	ADJ
ap-9351	180	17	surveillance	surveillance	NOUN
ap-9351	180	18	operations	operation	NOUN
ap-9351	180	19	.	.	PUNCT
ap-9351	181	1	journal	journal	NOUN
ap-9351	181	2	of	of	ADP
ap-9351	181	3	industrial	industrial	ADJ
ap-9351	181	4	and	and	CCONJ
ap-9351	181	5	management	management	NOUN
ap-9351	181	6	optimization	optimization	NOUN
ap-9351	181	7	18(3):1651	18(3):1651	NUM
ap-9351	181	8	–	–	PUNCT
ap-9351	181	9	1663	1663	NUM
ap-9351	181	10	,	,	PUNCT
ap-9351	181	11	2022	2022	NUM
ap-9351	181	12	.	.	PUNCT
ap-9351	182	1	https://doi.org/10.3934/jimo.2021037	https://doi.org/10.3934/jimo.2021037	NOUN
ap-9351	182	2	[	[	X
ap-9351	182	3	7	7	X
ap-9351	182	4	]	]	X
ap-9351	182	5	d.	d.	PROPN
ap-9351	182	6	kim	kim	PROPN
ap-9351	182	7	,	,	PUNCT
ap-9351	182	8	l.	l.	PROPN
ap-9351	182	9	xue	xue	PROPN
ap-9351	182	10	,	,	PUNCT
ap-9351	182	11	d.	d.	PROPN
ap-9351	182	12	li	li	PROPN
ap-9351	182	13	,	,	PUNCT
ap-9351	182	14	et	et	PROPN
ap-9351	182	15	al	al	PROPN
ap-9351	182	16	.	.	PROPN
ap-9351	183	1	on	on	ADP
ap-9351	183	2	theoretical	theoretical	ADJ
ap-9351	183	3	trajectory	trajectory	NOUN
ap-9351	183	4	planning	planning	NOUN
ap-9351	183	5	of	of	ADP
ap-9351	183	6	multiple	multiple	ADJ
ap-9351	183	7	drones	drone	NOUN
ap-9351	183	8	to	to	PART
ap-9351	183	9	minimize	minimize	VERB
ap-9351	183	10	latency	latency	NOUN
ap-9351	183	11	in	in	ADP
ap-9351	183	12	search	search	NOUN
ap-9351	183	13	-	-	PUNCT
ap-9351	183	14	and	and	CCONJ
ap-9351	183	15	-	-	PUNCT
ap-9351	183	16	reconnaissance	reconnaissance	NOUN
ap-9351	183	17	operations	operation	NOUN
ap-9351	183	18	.	.	PUNCT
ap-9351	184	1	ieee	ieee	NOUN
ap-9351	184	2	transactions	transaction	NOUN
ap-9351	184	3	on	on	ADP
ap-9351	184	4	mobile	mobile	ADJ
ap-9351	184	5	computing	computing	NOUN
ap-9351	184	6	16(11):3156–3166	16(11):3156–3166	NUM
ap-9351	184	7	,	,	PUNCT
ap-9351	184	8	2017	2017	NUM
ap-9351	184	9	.	.	PUNCT
ap-9351	185	1	https://doi.org/10.1109/tmc.2017.2689013	https://doi.org/10.1109/tmc.2017.2689013	VERB
ap-9351	185	2	[	[	X
ap-9351	185	3	8	8	NUM
ap-9351	185	4	]	]	PUNCT
ap-9351	185	5	l.	l.	PROPN
ap-9351	185	6	ji	ji	PROPN
ap-9351	185	7	,	,	PUNCT
ap-9351	185	8	c.	c.	PROPN
ap-9351	185	9	zhang	zhang	PROPN
ap-9351	185	10	,	,	PUNCT
ap-9351	185	11	z.	z.	PROPN
ap-9351	185	12	li	li	PROPN
ap-9351	185	13	,	,	PUNCT
ap-9351	185	14	m.	m.	PROPN
ap-9351	185	15	liu	liu	PROPN
ap-9351	185	16	.	.	PROPN
ap-9351	186	1	path	path	PROPN
ap-9351	186	2	planning	planning	NOUN
ap-9351	186	3	for	for	ADP
ap-9351	186	4	drones	drone	NOUN
ap-9351	186	5	reconnaissance	reconnaissance	NOUN
ap-9351	186	6	based	base	VERB
ap-9351	186	7	on	on	ADP
ap-9351	186	8	ant	ant	ADJ
ap-9351	186	9	colony	colony	NOUN
ap-9351	186	10	algorithms	algorithm	NOUN
ap-9351	186	11	.	.	PUNCT
ap-9351	187	1	iop	iop	PROPN
ap-9351	187	2	conference	conference	PROPN
ap-9351	187	3	series	series	PROPN
ap-9351	187	4	:	:	PUNCT
ap-9351	187	5	earth	earth	NOUN
ap-9351	187	6	and	and	CCONJ
ap-9351	187	7	environmental	environmental	ADJ
ap-9351	187	8	science	science	NOUN
ap-9351	187	9	330(5):052047	330(5):052047	NUM
ap-9351	187	10	,	,	PUNCT
ap-9351	187	11	2019	2019	NUM
ap-9351	187	12	.	.	PUNCT
ap-9351	188	1	https://doi.org/10.1088/1755-1315/330/5/052047	https://doi.org/10.1088/1755-1315/330/5/052047	CCONJ
ap-9351	189	1	[	[	X
ap-9351	189	2	9	9	NUM
ap-9351	189	3	]	]	X
ap-9351	189	4	j.	j.	PROPN
ap-9351	189	5	tian	tian	PROPN
ap-9351	189	6	,	,	PUNCT
ap-9351	189	7	l.	l.	PROPN
ap-9351	189	8	shen	shen	PROPN
ap-9351	189	9	,	,	PUNCT
ap-9351	189	10	y.	y.	PROPN
ap-9351	189	11	zheng	zheng	PROPN
ap-9351	189	12	.	.	PUNCT
ap-9351	190	1	genetic	genetic	ADJ
ap-9351	190	2	algorithm	algorithm	NOUN
ap-9351	190	3	based	base	VERB
ap-9351	190	4	approach	approach	NOUN
ap-9351	190	5	for	for	ADP
ap-9351	190	6	multi	multi	ADJ
ap-9351	190	7	-	-	ADJ
ap-9351	190	8	uav	uav	ADJ
ap-9351	190	9	cooperative	cooperative	ADJ
ap-9351	190	10	reconnaissance	reconnaissance	NOUN
ap-9351	190	11	mission	mission	NOUN
ap-9351	190	12	planning	planning	NOUN
ap-9351	190	13	problem	problem	NOUN
ap-9351	190	14	.	.	PUNCT
ap-9351	191	1	in	in	ADP
ap-9351	191	2	ismis	ismis	NOUN
ap-9351	191	3	2006	2006	NUM
ap-9351	191	4	:	:	PUNCT
ap-9351	192	1	foundations	foundation	NOUN
ap-9351	192	2	of	of	ADP
ap-9351	192	3	intelligent	intelligent	ADJ
ap-9351	192	4	systems	system	NOUN
ap-9351	192	5	,	,	PUNCT
ap-9351	192	6	vol	vol	NOUN
ap-9351	192	7	.	.	PUNCT
ap-9351	192	8	4203	4203	NUM
ap-9351	192	9	lnai	lnai	ADJ
ap-9351	192	10	,	,	PUNCT
ap-9351	192	11	pp	pp	ADJ
ap-9351	192	12	.	.	PUNCT
ap-9351	193	1	101–110	101–110	NUM
ap-9351	193	2	.	.	PUNCT
ap-9351	193	3	bari	bari	NOUN
ap-9351	193	4	,	,	PUNCT
ap-9351	193	5	2006	2006	NUM
ap-9351	193	6	.	.	PUNCT
ap-9351	194	1	https://doi.org/10.1007/11875604_13	https://doi.org/10.1007/11875604_13	NOUN
ap-9351	195	1	[	[	X
ap-9351	195	2	10	10	NUM
ap-9351	195	3	]	]	PUNCT
ap-9351	195	4	k.	k.	PROPN
ap-9351	195	5	moldamurat	moldamurat	PROPN
ap-9351	195	6	,	,	PUNCT
ap-9351	195	7	a.	a.	PROPN
ap-9351	195	8	s.	s.	PROPN
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ap-9351	195	10	,	,	PUNCT
ap-9351	195	11	s.	s.	PROPN
ap-9351	195	12	s.	s.	PROPN
ap-9351	195	13	brimzhanova	brimzhanova	PROPN
ap-9351	195	14	,	,	PUNCT
ap-9351	195	15	et	et	PROPN
ap-9351	195	16	al	al	PROPN
ap-9351	195	17	.	.	PUNCT
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ap-9351	195	19	of	of	ADP
ap-9351	195	20	a	a	DET
ap-9351	195	21	software	software	NOUN
ap-9351	195	22	simulator	simulator	NOUN
ap-9351	195	23	for	for	ADP
ap-9351	195	24	small	small	ADJ
ap-9351	195	25	satellite	satellite	NOUN
ap-9351	195	26	swarm	swarm	NOUN
ap-9351	195	27	control	control	NOUN
ap-9351	195	28	.	.	PUNCT
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ap-9351	196	2	2021	2021	NUM
ap-9351	196	3	16th	16th	ADJ
ap-9351	196	4	international	international	ADJ
ap-9351	196	5	conference	conference	NOUN
ap-9351	196	6	on	on	ADP
ap-9351	196	7	electronics	electronic	NOUN
ap-9351	196	8	computer	computer	NOUN
ap-9351	196	9	and	and	CCONJ
ap-9351	196	10	computation	computation	NOUN
ap-9351	196	11	(	(	PUNCT
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ap-9351	196	13	)	)	PUNCT
ap-9351	196	14	,	,	PUNCT
ap-9351	196	15	vol	vol	NOUN
ap-9351	196	16	.	.	PROPN
ap-9351	196	17	2021	2021	NUM
ap-9351	196	18	,	,	PUNCT
ap-9351	196	19	pp	pp	ADV
ap-9351	196	20	.	.	PUNCT
ap-9351	197	1	1–5	1–5	NUM
ap-9351	197	2	.	.	NOUN
ap-9351	197	3	2021	2021	NUM
ap-9351	197	4	.	.	PUNCT
ap-9351	198	1	https	https	NOUN
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ap-9351	199	1	[	[	X
ap-9351	199	2	11	11	NUM
ap-9351	199	3	]	]	PUNCT
ap-9351	199	4	m.	m.	NOUN
ap-9351	199	5	lehto	lehto	PROPN
ap-9351	199	6	,	,	PUNCT
ap-9351	199	7	b.	b.	PROPN
ap-9351	199	8	hutchinson	hutchinson	PROPN
ap-9351	199	9	.	.	PUNCT
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ap-9351	200	2	-	-	NOUN
ap-9351	200	3	drones	drone	NOUN
ap-9351	200	4	swarms	swarm	NOUN
ap-9351	200	5	and	and	CCONJ
ap-9351	200	6	their	their	PRON
ap-9351	200	7	potential	potential	NOUN
ap-9351	200	8	in	in	ADP
ap-9351	200	9	conflict	conflict	NOUN
ap-9351	200	10	situations	situation	NOUN
ap-9351	200	11	.	.	PUNCT
ap-9351	201	1	in	in	ADP
ap-9351	201	2	15th	15th	ADJ
ap-9351	201	3	international	international	ADJ
ap-9351	201	4	conference	conference	NOUN
ap-9351	201	5	on	on	ADP
ap-9351	201	6	cyber	cyber	ADJ
ap-9351	201	7	warfare	warfare	NOUN
ap-9351	201	8	and	and	CCONJ
ap-9351	201	9	security	security	NOUN
ap-9351	201	10	,	,	PUNCT
ap-9351	201	11	iccws	iccw	NOUN
ap-9351	201	12	2020	2020	NUM
ap-9351	201	13	,	,	PUNCT
ap-9351	201	14	pp	pp	ADV
ap-9351	201	15	.	.	PUNCT
ap-9351	201	16	326–334	326–334	NUM
ap-9351	201	17	.	.	PUNCT
ap-9351	201	18	2020	2020	NUM
ap-9351	201	19	.	.	PUNCT
ap-9351	202	1	https://doi.org/10.34190/iccws.20.084	https://doi.org/10.34190/iccws.20.084	ADJ
ap-9351	202	2	[	[	X
ap-9351	202	3	12	12	NUM
ap-9351	202	4	]	]	X
ap-9351	202	5	c.	c.	PROPN
ap-9351	202	6	paucar	paucar	PROPN
ap-9351	202	7	,	,	PUNCT
ap-9351	202	8	l.	l.	PROPN
ap-9351	202	9	morales	morales	PROPN
ap-9351	202	10	,	,	PUNCT
ap-9351	202	11	k.	k.	PROPN
ap-9351	202	12	pinto	pinto	PROPN
ap-9351	202	13	,	,	PUNCT
ap-9351	202	14	et	et	PROPN
ap-9351	202	15	al	al	PROPN
ap-9351	202	16	.	.	PUNCT
ap-9351	202	17	use	use	NOUN
ap-9351	202	18	of	of	ADP
ap-9351	202	19	drones	drone	NOUN
ap-9351	202	20	for	for	ADP
ap-9351	202	21	surveillance	surveillance	NOUN
ap-9351	202	22	and	and	CCONJ
ap-9351	202	23	reconnaissance	reconnaissance	NOUN
ap-9351	202	24	of	of	ADP
ap-9351	202	25	military	military	ADJ
ap-9351	202	26	areas	area	NOUN
ap-9351	202	27	.	.	PUNCT
ap-9351	203	1	in	in	ADP
ap-9351	203	2	micrads	micrad	NOUN
ap-9351	203	3	2018	2018	NUM
ap-9351	203	4	:	:	PUNCT
ap-9351	203	5	developments	development	NOUN
ap-9351	203	6	and	and	CCONJ
ap-9351	203	7	advances	advance	NOUN
ap-9351	203	8	in	in	ADP
ap-9351	203	9	defense	defense	NOUN
ap-9351	203	10	and	and	CCONJ
ap-9351	203	11	security	security	NOUN
ap-9351	203	12	,	,	PUNCT
ap-9351	203	13	vol	vol	NOUN
ap-9351	203	14	.	.	PROPN
ap-9351	203	15	94	94	NUM
ap-9351	203	16	,	,	PUNCT
ap-9351	203	17	pp	pp	ADJ
ap-9351	203	18	.	.	PUNCT
ap-9351	204	1	119–132	119–132	NUM
ap-9351	204	2	.	.	NOUN
ap-9351	204	3	2018	2018	NUM
ap-9351	204	4	.	.	PUNCT
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ap-9351	205	3	13	13	NUM
ap-9351	205	4	]	]	PUNCT
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ap-9351	205	11	m.	m.	NOUN
ap-9351	205	12	pavlovic	pavlovic	PROPN
ap-9351	205	13	,	,	PUNCT
ap-9351	205	14	i.	i.	PROPN
ap-9351	205	15	ciric	ciric	PROPN
ap-9351	205	16	.	.	PUNCT
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ap-9351	206	2	machine	machine	NOUN
ap-9351	206	3	vision	vision	NOUN
ap-9351	206	4	based	base	VERB
ap-9351	206	5	railway	railway	NOUN
ap-9351	206	6	infrastructure	infrastructure	NOUN
ap-9351	206	7	inspection	inspection	NOUN
ap-9351	206	8	and	and	CCONJ
ap-9351	206	9	monitoring	monitoring	NOUN
ap-9351	206	10	using	use	VERB
ap-9351	206	11	uav	uav	PROPN
ap-9351	206	12	.	.	PUNCT
ap-9351	207	1	facta	facta	PROPN
ap-9351	207	2	universitatis	universitatis	PROPN
ap-9351	207	3	-	-	PUNCT
ap-9351	207	4	series	series	NOUN
ap-9351	207	5	mechanical	mechanical	ADJ
ap-9351	207	6	engineering	engineering	NOUN
ap-9351	207	7	17(3):357–364	17(3):357–364	PROPN
ap-9351	207	8	,	,	PUNCT
ap-9351	207	9	2019	2019	NUM
ap-9351	207	10	.	.	PUNCT
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ap-9351	209	1	[	[	X
ap-9351	209	2	14	14	NUM
ap-9351	209	3	]	]	PUNCT
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ap-9351	209	11	y.	y.	PROPN
ap-9351	209	12	zhao	zhao	PROPN
ap-9351	209	13	.	.	PUNCT
ap-9351	210	1	uav	uav	PROPN
ap-9351	210	2	-	-	PUNCT
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ap-9351	210	5	track	track	NOUN
ap-9351	210	6	segmentation	segmentation	NOUN
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ap-9351	210	9	convolutional	convolutional	ADJ
ap-9351	210	10	neural	neural	ADJ
ap-9351	210	11	networks	network	NOUN
ap-9351	210	12	.	.	PUNCT
ap-9351	211	1	in	in	ADP
ap-9351	211	2	93rd	93rd	ADJ
ap-9351	211	3	ieee	ieee	NOUN
ap-9351	211	4	vehicular	vehicular	ADJ
ap-9351	211	5	technology	technology	NOUN
ap-9351	211	6	conference	conference	NOUN
ap-9351	211	7	,	,	PUNCT
ap-9351	211	8	vtc	vtc	PROPN
ap-9351	211	9	2021	2021	NUM
ap-9351	211	10	-	-	PUNCT
ap-9351	211	11	spring	spring	NOUN
ap-9351	211	12	,	,	PUNCT
ap-9351	211	13	pp	pp	ADJ
ap-9351	211	14	.	.	PUNCT
ap-9351	212	1	1–7	1–7	X
ap-9351	212	2	.	.	NOUN
ap-9351	212	3	2021	2021	NUM
ap-9351	212	4	.	.	PUNCT
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ap-9351	213	2	.	.	PUNCT
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ap-9351	215	5	a.	a.	PROPN
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ap-9351	215	8	a.	a.	NOUN
ap-9351	215	9	mammeri	mammeri	PROPN
ap-9351	215	10	.	.	PUNCT
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ap-9351	216	2	detection	detection	NOUN
ap-9351	216	3	in	in	ADP
ap-9351	216	4	uav	uav	PROPN
ap-9351	216	5	imagery	imagery	NOUN
ap-9351	216	6	for	for	ADP
ap-9351	216	7	railway	railway	NOUN
ap-9351	216	8	monitoring	monitoring	NOUN
ap-9351	216	9	.	.	PUNCT
ap-9351	217	1	in	in	ADP
ap-9351	217	2	proceedings	proceeding	NOUN
ap-9351	217	3	of	of	ADP
ap-9351	217	4	the	the	DET
ap-9351	217	5	7th	7th	ADJ
ap-9351	217	6	international	international	ADJ
ap-9351	217	7	conference	conference	NOUN
ap-9351	217	8	on	on	ADP
ap-9351	217	9	vehicle	vehicle	NOUN
ap-9351	217	10	technology	technology	NOUN
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ap-9351	217	12	intelligent	intelligent	ADJ
ap-9351	217	13	transport	transport	NOUN
ap-9351	217	14	systems	system	NOUN
ap-9351	217	15	vehits	vehit	NOUN
ap-9351	217	16	volume	volume	NOUN
ap-9351	217	17	1	1	NUM
ap-9351	217	18	,	,	PUNCT
ap-9351	217	19	pp	pp	ADJ
ap-9351	217	20	.	.	PUNCT
ap-9351	218	1	457–464	457–464	NUM
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ap-9351	218	3	2021	2021	NUM
ap-9351	218	4	.	.	PUNCT
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ap-9351	220	1	[	[	X
ap-9351	220	2	16	16	NUM
ap-9351	220	3	]	]	PUNCT
ap-9351	220	4	a.	a.	PROPN
ap-9351	220	5	k.	k.	PROPN
ap-9351	220	6	singh	singh	PROPN
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ap-9351	220	8	a.	a.	PROPN
ap-9351	220	9	k.	k.	PROPN
ap-9351	220	10	dwivedi	dwivedi	PROPN
ap-9351	220	11	,	,	PUNCT
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ap-9351	220	14	,	,	PUNCT
ap-9351	220	15	d.	d.	PROPN
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ap-9351	221	2	efficient	efficient	ADJ
ap-9351	221	3	approach	approach	NOUN
ap-9351	221	4	for	for	ADP
ap-9351	221	5	instance	instance	NOUN
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ap-9351	221	7	of	of	ADP
ap-9351	221	8	railway	railway	NOUN
ap-9351	221	9	track	track	NOUN
ap-9351	221	10	sleepers	sleeper	NOUN
ap-9351	221	11	in	in	ADP
ap-9351	221	12	low	low	ADJ
ap-9351	221	13	altitude	altitude	NOUN
ap-9351	221	14	uav	uav	PROPN
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ap-9351	221	17	mask	mask	NOUN
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ap-9351	222	4	–	–	PUNCT
ap-9351	222	5	2022	2022	NUM
ap-9351	222	6	ieee	ieee	NOUN
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ap-9351	222	8	geoscience	geoscience	PROPN
ap-9351	222	9	and	and	CCONJ
ap-9351	222	10	remote	remote	ADJ
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ap-9351	222	13	,	,	PUNCT
ap-9351	222	14	pp	pp	PROPN
ap-9351	222	15	.	.	PUNCT
ap-9351	222	16	4895–4898	4895–4898	NUM
ap-9351	222	17	.	.	PUNCT
ap-9351	223	1	2022	2022	NUM
ap-9351	223	2	.	.	PUNCT
ap-9351	224	1	https	https	NOUN
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ap-9351	225	3	17	17	NUM
ap-9351	225	4	]	]	X
ap-9351	225	5	r.	r.	PROPN
ap-9351	225	6	s.	s.	PROPN
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ap-9351	225	9	sabarinathan	sabarinathan	PROPN
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ap-9351	225	11	r.	r.	PROPN
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ap-9351	226	4	semantic	semantic	ADJ
ap-9351	226	5	segmentation	segmentation	NOUN
ap-9351	226	6	network	network	NOUN
ap-9351	226	7	for	for	ADP
ap-9351	226	8	extracting	extract	VERB
ap-9351	226	9	aerial	aerial	ADJ
ap-9351	226	10	railroad	railroad	NOUN
ap-9351	226	11	images	image	NOUN
ap-9351	226	12	.	.	PUNCT
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ap-9351	227	4	and	and	CCONJ
ap-9351	227	5	fuzzy	fuzzy	ADJ
ap-9351	227	6	systems	system	NOUN
ap-9351	227	7	41(2):4051–4068	41(2):4051–4068	NUM
ap-9351	227	8	,	,	PUNCT
ap-9351	227	9	2021	2021	NUM
ap-9351	227	10	.	.	PUNCT
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ap-9351	228	21	https://doi.org/10.1109/igarss46834.2022.9883474	https://doi.org/10.1109/igarss46834.2022.9883474	PROPN
ap-9351	228	22	https://doi.org/10.3233/jifs-210349	https://doi.org/10.3233/jifs-210349	PROPN
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ap-9351	228	24	.	.	PROPN
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ap-9351	229	2	no	no	NOUN
ap-9351	229	3	.	.	PUNCT
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ap-9351	230	3	model	model	NOUN
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ap-9351	230	5	automated	automate	VERB
ap-9351	230	6	unmanned	unmanned	ADJ
ap-9351	230	7	aerial	aerial	ADJ
ap-9351	230	8	vehicle	vehicle	NOUN
ap-9351	230	9	[	[	X
ap-9351	230	10	18	18	NUM
ap-9351	230	11	]	]	X
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ap-9351	230	15	x.	x.	PROPN
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ap-9351	230	17	,	,	PUNCT
ap-9351	230	18	h.	h.	PROPN
ap-9351	230	19	lou	lou	PROPN
ap-9351	230	20	,	,	PUNCT
ap-9351	230	21	et	et	PROPN
ap-9351	230	22	al	al	PROPN
ap-9351	230	23	.	.	PROPN
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ap-9351	230	25	gbs	gbs	PROPN
ap-9351	230	26	-	-	PUNCT
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ap-9351	230	28	algorithm	algorithm	NOUN
ap-9351	230	29	based	base	VERB
ap-9351	230	30	on	on	ADP
ap-9351	230	31	yolov5	yolov5	NOUN
ap-9351	230	32	applied	apply	VERB
ap-9351	230	33	to	to	ADP
ap-9351	230	34	uav	uav	PROPN
ap-9351	230	35	intelligent	intelligent	ADJ
ap-9351	230	36	traffic	traffic	NOUN
ap-9351	230	37	.	.	PUNCT
ap-9351	231	1	scientific	scientific	ADJ
ap-9351	231	2	reports	report	NOUN
ap-9351	231	3	13(1):9577	13(1):9577	NUM
ap-9351	231	4	,	,	PUNCT
ap-9351	231	5	2023	2023	NUM
ap-9351	231	6	.	.	PUNCT
ap-9351	232	1	https://doi.org/10.1038/s41598-023-36781-2	https://doi.org/10.1038/s41598-023-36781-2	NUM
ap-9351	233	1	[	[	X
ap-9351	233	2	19	19	NUM
ap-9351	233	3	]	]	X
ap-9351	233	4	j.	j.	PROPN
ap-9351	233	5	dick	dick	PROPN
ap-9351	233	6	,	,	PUNCT
ap-9351	233	7	c.	c.	PROPN
ap-9351	233	8	phillips	phillips	PROPN
ap-9351	233	9	,	,	PUNCT
ap-9351	233	10	s.	s.	PROPN
ap-9351	233	11	h.	h.	PROPN
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ap-9351	233	13	,	,	PUNCT
ap-9351	233	14	e.	e.	PROPN
ap-9351	233	15	de	de	PROPN
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ap-9351	234	2	speed	speed	NOUN
ap-9351	234	3	object	object	NOUN
ap-9351	234	4	tracking	tracking	NOUN
ap-9351	234	5	using	use	VERB
ap-9351	234	6	edge	edge	NOUN
ap-9351	234	7	computing	computing	NOUN
ap-9351	234	8	.	.	PUNCT
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ap-9351	235	4	17	17	NUM
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ap-9351	235	11	/	/	SYM
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ap-9351	235	13	symposium	symposium	NOUN
ap-9351	235	14	on	on	ADP
ap-9351	235	15	edge	edge	NOUN
ap-9351	235	16	computing	computing	NOUN
ap-9351	235	17	,	,	PUNCT
ap-9351	235	18	p.	p.	NOUN
ap-9351	235	19	26	26	NUM
ap-9351	235	20	.	.	X
ap-9351	235	21	2017	2017	NUM
ap-9351	235	22	.	.	PUNCT
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ap-9351	237	2	20	20	NUM
ap-9351	237	3	]	]	PUNCT
ap-9351	237	4	t.	t.	PROPN
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ap-9351	237	8	polychronis	polychronis	PROPN
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ap-9351	237	10	m.	m.	NOUN
ap-9351	237	11	koutsoubelias	koutsoubelias	PROPN
ap-9351	237	12	,	,	PUNCT
ap-9351	237	13	s.	s.	PROPN
ap-9351	237	14	lalis	lalis	PROPN
ap-9351	237	15	.	.	PUNCT
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ap-9351	238	2	the	the	DET
ap-9351	238	3	mission	mission	NOUN
ap-9351	238	4	time	time	NOUN
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ap-9351	238	6	drone	drone	NOUN
ap-9351	238	7	applications	application	NOUN
ap-9351	238	8	through	through	ADP
ap-9351	238	9	location	location	NOUN
ap-9351	238	10	-	-	PUNCT
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ap-9351	238	12	edge	edge	NOUN
ap-9351	238	13	computing	computing	NOUN
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ap-9351	239	1	in	in	ADP
ap-9351	239	2	2021	2021	NUM
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ap-9351	239	4	5th	5th	ADJ
ap-9351	239	5	international	international	ADJ
ap-9351	239	6	conference	conference	NOUN
ap-9351	239	7	on	on	ADP
ap-9351	239	8	fog	fog	NOUN
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ap-9351	239	11	computing	computing	NOUN
ap-9351	239	12	(	(	PUNCT
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ap-9351	239	14	)	)	PUNCT
ap-9351	239	15	,	,	PUNCT
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ap-9351	239	17	.	.	PUNCT
ap-9351	239	18	45–52	45–52	NUM
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ap-9351	239	20	2021	2021	NUM
ap-9351	239	21	.	.	PUNCT
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ap-9351	241	2	21	21	NUM
ap-9351	241	3	]	]	PUNCT
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ap-9351	241	10	z.	z.	PROPN
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ap-9351	241	17	-	-	PUNCT
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ap-9351	242	5	,	,	PUNCT
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ap-9351	242	7	.	.	PUNCT
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ap-9351	244	2	22	22	NUM
ap-9351	244	3	]	]	PUNCT
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ap-9351	244	8	z.	z.	PROPN
ap-9351	244	9	y.	y.	PROPN
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ap-9351	244	12	z.	z.	PROPN
ap-9351	244	13	s.	s.	PROPN
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ap-9351	245	2	an	an	DET
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ap-9351	245	9	-	-	PUNCT
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ap-9351	246	1	in	in	ADP
ap-9351	246	2	2021	2021	NUM
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ap-9351	246	4	international	international	ADJ
ap-9351	246	5	conference	conference	NOUN
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ap-9351	246	7	electronics	electronic	NOUN
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ap-9351	247	4	.	.	PUNCT
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ap-9351	249	10	s.	s.	PROPN
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ap-9351	249	19	a	a	DET
ap-9351	249	20	software	software	NOUN
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ap-9351	249	23	small	small	ADJ
ap-9351	249	24	satellite	satellite	NOUN
ap-9351	249	25	swarm	swarm	NOUN
ap-9351	249	26	control	control	NOUN
ap-9351	249	27	.	.	PUNCT
ap-9351	250	1	in	in	ADP
ap-9351	250	2	2021	2021	NUM
ap-9351	250	3	16th	16th	ADJ
ap-9351	250	4	international	international	ADJ
ap-9351	250	5	conference	conference	NOUN
ap-9351	250	6	on	on	ADP
ap-9351	250	7	electronics	electronic	NOUN
ap-9351	250	8	computer	computer	NOUN
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ap-9351	250	10	computation	computation	NOUN
ap-9351	250	11	(	(	PUNCT
ap-9351	250	12	icecco	icecco	PROPN
ap-9351	250	13	)	)	PUNCT
ap-9351	250	14	,	,	PUNCT
ap-9351	250	15	pp	pp	ADP
ap-9351	250	16	.	.	PUNCT
ap-9351	251	1	1–5	1–5	X
ap-9351	251	2	.	.	NOUN
ap-9351	251	3	2021	2021	NUM
ap-9351	251	4	.	.	PUNCT
ap-9351	252	1	https	https	NOUN
ap-9351	252	2	:	:	PUNCT
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ap-9351	252	4	/	/	PUNCT
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ap-9351	253	2	24	24	NUM
ap-9351	253	3	]	]	PUNCT
ap-9351	253	4	z.	z.	PROPN
ap-9351	253	5	y.	y.	PROPN
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ap-9351	253	7	,	,	PUNCT
ap-9351	253	8	s.	s.	PROPN
ap-9351	253	9	k.	k.	PROPN
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ap-9351	253	11	,	,	PUNCT
ap-9351	253	12	z.	z.	PROPN
ap-9351	253	13	s.	s.	PROPN
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ap-9351	253	15	.	.	PUNCT
ap-9351	254	1	an	an	DET
ap-9351	254	2	intelligent	intelligent	ADJ
ap-9351	254	3	decision	decision	NOUN
ap-9351	254	4	support	support	NOUN
ap-9351	254	5	system	system	NOUN
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ap-9351	254	7	aircraft	aircraft	NOUN
ap-9351	254	8	landing	landing	NOUN
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ap-9351	254	10	on	on	ADP
ap-9351	254	11	the	the	DET
ap-9351	254	12	runway	runway	NOUN
ap-9351	254	13	surface	surface	NOUN
ap-9351	254	14	.	.	PUNCT
ap-9351	255	1	in	in	ADP
ap-9351	255	2	2021	2021	NUM
ap-9351	255	3	ieee	ieee	NOUN
ap-9351	255	4	international	international	ADJ
ap-9351	255	5	conference	conference	NOUN
ap-9351	255	6	on	on	ADP
ap-9351	255	7	smart	smart	ADJ
ap-9351	255	8	information	information	NOUN
ap-9351	255	9	systems	system	NOUN
ap-9351	255	10	and	and	CCONJ
ap-9351	255	11	technologies	technology	NOUN
ap-9351	255	12	(	(	PUNCT
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ap-9351	255	14	)	)	PUNCT
ap-9351	255	15	,	,	PUNCT
ap-9351	255	16	vol	vol	NOUN
ap-9351	255	17	.	.	PROPN
ap-9351	255	18	2021	2021	NUM
ap-9351	255	19	,	,	PUNCT
ap-9351	255	20	pp	pp	ADV
ap-9351	255	21	.	.	PUNCT
ap-9351	256	1	1–5	1–5	NUM
ap-9351	256	2	.	.	NOUN
ap-9351	256	3	2021	2021	NUM
ap-9351	256	4	.	.	PUNCT
ap-9351	257	1	https://doi.org/10.1109/sist50301.2021.9466000	https://doi.org/10.1109/sist50301.2021.9466000	X
ap-9351	258	1	[	[	X
ap-9351	258	2	25	25	NUM
ap-9351	258	3	]	]	PUNCT
ap-9351	258	4	z.	z.	PROPN
ap-9351	258	5	r.	r.	PROPN
ap-9351	258	6	burnayev	burnayev	PROPN
ap-9351	258	7	,	,	PUNCT
ap-9351	258	8	d.	d.	PROPN
ap-9351	258	9	o.	o.	PROPN
ap-9351	258	10	toibazarov	toibazarov	PROPN
ap-9351	258	11	,	,	PUNCT
ap-9351	258	12	s.	s.	PROPN
ap-9351	258	13	k.	k.	PROPN
ap-9351	258	14	atanov	atanov	PROPN
ap-9351	258	15	,	,	PUNCT
ap-9351	258	16	et	et	PROPN
ap-9351	258	17	al	al	PROPN
ap-9351	258	18	.	.	PUNCT
ap-9351	258	19	weapons	weapon	NOUN
ap-9351	258	20	detection	detection	NOUN
ap-9351	258	21	system	system	NOUN
ap-9351	258	22	based	base	VERB
ap-9351	258	23	on	on	ADP
ap-9351	258	24	edge	edge	NOUN
ap-9351	258	25	computing	computing	NOUN
ap-9351	258	26	and	and	CCONJ
ap-9351	258	27	computer	computer	NOUN
ap-9351	258	28	vision	vision	NOUN
ap-9351	258	29	.	.	PUNCT
ap-9351	259	1	international	international	ADJ
ap-9351	259	2	journal	journal	NOUN
ap-9351	259	3	of	of	ADP
ap-9351	259	4	advanced	advanced	ADJ
ap-9351	259	5	computer	computer	NOUN
ap-9351	259	6	science	science	NOUN
ap-9351	259	7	and	and	CCONJ
ap-9351	259	8	applications	application	NOUN
ap-9351	259	9	14(5):812–820	14(5):812–820	NOUN
ap-9351	259	10	,	,	PUNCT
ap-9351	259	11	2023	2023	NUM
ap-9351	259	12	.	.	PUNCT
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ap-9351	260	2	[	[	SYM
ap-9351	260	3	26	26	NUM
ap-9351	260	4	]	]	X
ap-9351	260	5	c.	c.	PROPN
ap-9351	260	6	christakis	christakis	PROPN
ap-9351	260	7	,	,	PUNCT
ap-9351	260	8	k.	k.	PROPN
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ap-9351	260	11	s.	s.	PROPN
ap-9351	260	12	sautbekov	sautbekov	PROPN
ap-9351	260	13	,	,	PUNCT
ap-9351	260	14	et	et	PROPN
ap-9351	260	15	al	al	PROPN
ap-9351	260	16	.	.	PUNCT
ap-9351	261	1	the	the	DET
ap-9351	261	2	radiation	radiation	NOUN
ap-9351	261	3	problem	problem	NOUN
ap-9351	261	4	from	from	ADP
ap-9351	261	5	a	a	DET
ap-9351	261	6	vertical	vertical	ADJ
ap-9351	261	7	short	short	ADJ
ap-9351	261	8	dipole	dipole	NOUN
ap-9351	261	9	antenna	antenna	NOUN
ap-9351	261	10	above	above	ADP
ap-9351	261	11	flat	flat	ADJ
ap-9351	261	12	and	and	CCONJ
ap-9351	261	13	lossy	lossy	ADJ
ap-9351	261	14	ground	ground	NOUN
ap-9351	261	15	:	:	PUNCT
ap-9351	261	16	novel	novel	ADJ
ap-9351	261	17	formulation	formulation	NOUN
ap-9351	261	18	in	in	ADP
ap-9351	261	19	the	the	DET
ap-9351	261	20	spectral	spectral	ADJ
ap-9351	261	21	domain	domain	NOUN
ap-9351	261	22	with	with	ADP
ap-9351	261	23	closed	closed	ADJ
ap-9351	261	24	–	–	PUNCT
ap-9351	261	25	form	form	NOUN
ap-9351	261	26	analytical	analytical	ADJ
ap-9351	261	27	solution	solution	NOUN
ap-9351	261	28	in	in	ADP
ap-9351	261	29	the	the	DET
ap-9351	261	30	high	high	ADJ
ap-9351	261	31	frequency	frequency	NOUN
ap-9351	261	32	regime	regime	NOUN
ap-9351	261	33	.	.	PUNCT
ap-9351	262	1	elektronika	elektronika	PROPN
ap-9351	262	2	ir	ir	PROPN
ap-9351	262	3	elektrotechnika	elektrotechnika	X
ap-9351	262	4	20(9):35–38	20(9):35–38	NUM
ap-9351	262	5	,	,	PUNCT
ap-9351	262	6	2014	2014	NUM
ap-9351	262	7	.	.	PUNCT
ap-9351	263	1	https://doi.org/10.5755/j01.eee.20.9.8710	https://doi.org/10.5755/j01.eee.20.9.8710	PRON
ap-9351	263	2	[	[	X
ap-9351	263	3	27	27	NUM
ap-9351	263	4	]	]	X
ap-9351	263	5	active	active	ADJ
ap-9351	263	6	fpv	fpv	NOUN
ap-9351	263	7	.	.	PUNCT
ap-9351	263	8	dji	dji	PROPN
ap-9351	263	9	fpv	fpv	PROPN
ap-9351	263	10	max	max	PROPN
ap-9351	263	11	speed	speed	PROPN
ap-9351	263	12	140	140	NUM
ap-9351	263	13	km	km	NOUN
ap-9351	263	14	/	/	SYM
ap-9351	263	15	h	h	NOUN
ap-9351	263	16	vs	vs	ADP
ap-9351	263	17	train	train	NOUN
ap-9351	263	18	uncut	uncut	ADJ
ap-9351	263	19	flight[m	flight[m	NOUN
ap-9351	263	20	-	-	PUNCT
ap-9351	263	21	mode	mode	NOUN
ap-9351	263	22	]	]	PUNCT
ap-9351	263	23	||	||	NOUN
ap-9351	264	1	dji	dji	PROPN
ap-9351	264	2	action2	action2	NOUN
ap-9351	264	3	footage[2.7k	footage[2.7k	NOUN
ap-9351	264	4	]	]	X
ap-9351	264	5	fpv	fpv	PROPN
ap-9351	264	6	thailand	thailand	PROPN
ap-9351	264	7	.	.	PUNCT
ap-9351	265	1	[	[	X
ap-9351	265	2	2023	2023	NUM
ap-9351	265	3	-	-	SYM
ap-9351	265	4	08	08	NUM
ap-9351	265	5	-	-	SYM
ap-9351	265	6	29	29	NUM
ap-9351	265	7	]	]	PUNCT
ap-9351	265	8	.	.	PUNCT
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ap-9351	266	3	28	28	NUM
ap-9351	266	4	]	]	X
ap-9351	266	5	q	q	NOUN
ap-9351	266	6	-	-	PUNCT
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ap-9351	266	8	.	.	PUNCT
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ap-9351	267	2	ncnn	ncnn	PROPN
ap-9351	267	3	raspberry	raspberry	PROPN
ap-9351	267	4	pi	pi	NOUN
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ap-9351	267	6	.	.	PUNCT
ap-9351	268	1	[	[	X
ap-9351	268	2	2023	2023	NUM
ap-9351	268	3	-	-	SYM
ap-9351	268	4	09	09	NUM
ap-9351	268	5	-	-	SYM
ap-9351	268	6	16	16	NUM
ap-9351	268	7	]	]	PUNCT
ap-9351	268	8	.	.	PUNCT
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ap-9351	269	3	-	-	PUNCT
ap-9351	269	4	ncnn	ncnn	PROPN
ap-9351	269	5	-	-	PUNCT
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ap-9351	269	7	-	-	PUNCT
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ap-9351	270	2	29	29	NUM
ap-9351	270	3	]	]	PUNCT
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ap-9351	270	5	s.	s.	PROPN
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ap-9351	270	8	k.	k.	PROPN
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ap-9351	270	11	a.	a.	PROPN
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ap-9351	270	14	et	et	PROPN
ap-9351	270	15	al	al	PROPN
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ap-9351	270	22	control	control	NOUN
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ap-9351	270	25	cruise	cruise	NOUN
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ap-9351	270	28	on	on	ADP
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ap-9351	270	31	.	.	PUNCT
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ap-9351	271	2	2021	2021	NUM
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ap-9351	271	5	conference	conference	NOUN
ap-9351	271	6	on	on	ADP
ap-9351	271	7	electronics	electronic	NOUN
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ap-9351	271	11	(	(	PUNCT
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ap-9351	271	13	)	)	PUNCT
ap-9351	271	14	,	,	PUNCT
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ap-9351	271	18	,	,	PUNCT
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ap-9351	271	20	.	.	PUNCT
ap-9351	272	1	1–6	1–6	NUM
ap-9351	272	2	.	.	NOUN
ap-9351	272	3	2021	2021	NUM
ap-9351	272	4	.	.	PUNCT
ap-9351	273	1	https	https	NOUN
ap-9351	273	2	:	:	PUNCT
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ap-9351	275	3	track	track	NOUN
ap-9351	275	4	components	component	NOUN
ap-9351	275	5	inspection	inspection	NOUN
ap-9351	275	6	using	use	VERB
ap-9351	275	7	hybrid	hybrid	ADJ
ap-9351	275	8	deep	deep	ADJ
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ap-9351	275	10	framework	framework	NOUN
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ap-9351	276	4	instrumentation	instrumentation	NOUN
ap-9351	276	5	and	and	CCONJ
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ap-9351	276	7	72:1–15	72:1–15	NUM
ap-9351	276	8	,	,	PUNCT
ap-9351	276	9	2023	2023	NUM
ap-9351	276	10	.	.	PUNCT
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ap-9351	278	39	4	4	NUM
ap-9351	278	40	discussion	discussion	NOUN
ap-9351	278	41	5	5	NUM
ap-9351	278	42	conclusions	conclusion	NOUN
ap-9351	278	43	acknowledgements	acknowledgement	NOUN
ap-9351	278	44	references	reference	NOUN