id	sid	tid	token	lemma	pos
ap-956	1	1	ap07_4-5.vp	ap07_4-5.vp	NOUN
ap-956	1	2	1	1	NUM
ap-956	1	3	introduction	introduction	NOUN
ap-956	1	4	modern	modern	ADJ
ap-956	1	5	point	point	NOUN
ap-956	1	6	matching	match	VERB
ap-956	1	7	algorithms	algorithm	NOUN
ap-956	1	8	like	like	ADP
ap-956	1	9	sift	sift	NOUN
ap-956	1	10	(	(	PUNCT
ap-956	1	11	see	see	VERB
ap-956	1	12	[	[	X
ap-956	1	13	4	4	NUM
ap-956	1	14	,	,	PUNCT
ap-956	1	15	5	5	NUM
ap-956	1	16	]	]	NUM
ap-956	1	17	)	)	PUNCT
ap-956	1	18	,	,	PUNCT
ap-956	1	19	provide	provide	VERB
ap-956	1	20	a	a	DET
ap-956	1	21	large	large	ADJ
ap-956	1	22	number	number	NOUN
ap-956	1	23	of	of	ADP
ap-956	1	24	point	point	NOUN
ap-956	1	25	matches	match	NOUN
ap-956	1	26	,	,	PUNCT
ap-956	1	27	even	even	ADV
ap-956	1	28	in	in	ADP
ap-956	1	29	stereo	stereo	ADJ
ap-956	1	30	image	image	NOUN
ap-956	1	31	pairs	pair	NOUN
ap-956	1	32	with	with	ADP
ap-956	1	33	large	large	ADJ
ap-956	1	34	changes	change	NOUN
ap-956	1	35	in	in	ADP
ap-956	1	36	scale	scale	NOUN
ap-956	1	37	,	,	PUNCT
ap-956	1	38	translation	translation	NOUN
ap-956	1	39	and	and	CCONJ
ap-956	1	40	rotation	rotation	NOUN
ap-956	1	41	between	between	ADP
ap-956	1	42	the	the	DET
ap-956	1	43	images	image	NOUN
ap-956	1	44	.	.	PUNCT
ap-956	2	1	the	the	DET
ap-956	2	2	only	only	ADJ
ap-956	2	3	inconvenience	inconvenience	NOUN
ap-956	2	4	is	be	AUX
ap-956	2	5	that	that	SCONJ
ap-956	2	6	there	there	PRON
ap-956	2	7	are	be	VERB
ap-956	2	8	some	some	DET
ap-956	2	9	wrong	wrong	ADJ
ap-956	2	10	matches	match	NOUN
ap-956	2	11	among	among	ADP
ap-956	2	12	the	the	DET
ap-956	2	13	correspondences	correspondence	NOUN
ap-956	2	14	,	,	PUNCT
ap-956	2	15	especially	especially	ADV
ap-956	2	16	when	when	SCONJ
ap-956	2	17	parts	part	NOUN
ap-956	2	18	of	of	ADP
ap-956	2	19	the	the	DET
ap-956	2	20	first	first	ADJ
ap-956	2	21	image	image	NOUN
ap-956	2	22	are	be	AUX
ap-956	2	23	not	not	PART
ap-956	2	24	visible	visible	ADJ
ap-956	2	25	in	in	ADP
ap-956	2	26	the	the	DET
ap-956	2	27	second	second	NOUN
ap-956	2	28	.	.	PUNCT
ap-956	3	1	algorithms	algorithm	NOUN
ap-956	3	2	for	for	ADP
ap-956	3	3	computing	compute	VERB
ap-956	3	4	the	the	DET
ap-956	3	5	fundamental	fundamental	ADJ
ap-956	3	6	matrix	matrix	NOUN
ap-956	3	7	can	can	AUX
ap-956	3	8	be	be	AUX
ap-956	3	9	classified	classify	VERB
ap-956	3	10	into	into	ADP
ap-956	3	11	algorithms	algorithm	NOUN
ap-956	3	12	sensitive	sensitive	ADJ
ap-956	3	13	to	to	ADP
ap-956	3	14	wrong	wrong	ADJ
ap-956	3	15	matches	match	NOUN
ap-956	3	16	and	and	CCONJ
ap-956	3	17	algorithms	algorithm	NOUN
ap-956	3	18	detecting	detect	VERB
ap-956	3	19	and	and	CCONJ
ap-956	3	20	ignoring	ignore	VERB
ap-956	3	21	so	so	ADV
ap-956	3	22	-	-	PUNCT
ap-956	3	23	called	call	VERB
ap-956	3	24	outliers	outlier	NOUN
ap-956	3	25	like	like	ADP
ap-956	3	26	ransac	ransac	NOUN
ap-956	3	27	or	or	CCONJ
ap-956	3	28	least	least	ADJ
ap-956	3	29	median	median	NOUN
ap-956	3	30	of	of	ADP
ap-956	3	31	squares	square	NOUN
ap-956	3	32	.	.	PUNCT
ap-956	4	1	in	in	ADP
ap-956	4	2	[	[	X
ap-956	4	3	3	3	NUM
ap-956	4	4	]	]	PUNCT
ap-956	4	5	and	and	CCONJ
ap-956	4	6	[	[	X
ap-956	4	7	7	7	X
ap-956	4	8	]	]	SYM
ap-956	4	9	algorithms	algorithms	NOUN
ap-956	4	10	of	of	ADP
ap-956	4	11	both	both	DET
ap-956	4	12	categories	category	NOUN
ap-956	4	13	are	be	AUX
ap-956	4	14	described	describe	VERB
ap-956	4	15	and	and	CCONJ
ap-956	4	16	compared	compare	VERB
ap-956	4	17	.	.	PUNCT
ap-956	5	1	basically	basically	ADV
ap-956	5	2	,	,	PUNCT
ap-956	5	3	algorithms	algorithm	NOUN
ap-956	5	4	of	of	ADP
ap-956	5	5	the	the	DET
ap-956	5	6	first	first	ADJ
ap-956	5	7	category	category	NOUN
ap-956	5	8	should	should	AUX
ap-956	5	9	only	only	ADV
ap-956	5	10	be	be	AUX
ap-956	5	11	used	use	VERB
ap-956	5	12	after	after	ADP
ap-956	5	13	preliminary	preliminary	ADJ
ap-956	5	14	outlier	outlier	NOUN
ap-956	5	15	removal	removal	NOUN
ap-956	5	16	.	.	PUNCT
ap-956	6	1	the	the	DET
ap-956	6	2	motivation	motivation	NOUN
ap-956	6	3	to	to	PART
ap-956	6	4	use	use	VERB
ap-956	6	5	them	they	PRON
ap-956	6	6	is	be	AUX
ap-956	6	7	that	that	SCONJ
ap-956	6	8	some	some	PRON
ap-956	6	9	of	of	ADP
ap-956	6	10	them	they	PRON
ap-956	6	11	perform	perform	VERB
ap-956	6	12	better	well	ADV
ap-956	6	13	than	than	ADP
ap-956	6	14	ransac	ransac	NOUN
ap-956	6	15	or	or	CCONJ
ap-956	6	16	lmeds	lmed	NOUN
ap-956	6	17	(	(	PUNCT
ap-956	6	18	see	see	VERB
ap-956	6	19	[	[	X
ap-956	6	20	3	3	NUM
ap-956	6	21	]	]	NUM
ap-956	6	22	)	)	PUNCT
ap-956	6	23	.	.	PUNCT
ap-956	7	1	based	base	VERB
ap-956	7	2	on	on	ADP
ap-956	7	3	[	[	X
ap-956	7	4	3	3	NUM
ap-956	7	5	]	]	PUNCT
ap-956	7	6	,	,	PUNCT
ap-956	7	7	we	we	PRON
ap-956	7	8	used	use	VERB
ap-956	7	9	ransac	ransac	NOUN
ap-956	7	10	combined	combine	VERB
ap-956	7	11	with	with	ADP
ap-956	7	12	the	the	DET
ap-956	7	13	normalized	normalize	VERB
ap-956	7	14	8	8	NUM
ap-956	7	15	-	-	PUNCT
ap-956	7	16	point	point	NOUN
ap-956	7	17	algorithm	algorithm	NOUN
ap-956	7	18	to	to	PART
ap-956	7	19	compute	compute	VERB
ap-956	7	20	a	a	DET
ap-956	7	21	first	first	ADJ
ap-956	7	22	estimation	estimation	NOUN
ap-956	7	23	of	of	ADP
ap-956	7	24	the	the	DET
ap-956	7	25	fundamental	fundamental	ADJ
ap-956	7	26	matrix	matrix	NOUN
ap-956	7	27	in	in	ADP
ap-956	7	28	order	order	NOUN
ap-956	7	29	to	to	PART
ap-956	7	30	perform	perform	VERB
ap-956	7	31	outlier	outlier	ADJ
ap-956	7	32	removal	removal	NOUN
ap-956	7	33	.	.	PUNCT
ap-956	8	1	an	an	DET
ap-956	8	2	observation	observation	NOUN
ap-956	8	3	is	be	AUX
ap-956	8	4	that	that	SCONJ
ap-956	8	5	using	use	VERB
ap-956	8	6	the	the	DET
ap-956	8	7	criterion	criterion	NOUN
ap-956	8	8	presented	present	VERB
ap-956	8	9	in	in	ADP
ap-956	8	10	[	[	X
ap-956	8	11	7	7	NUM
ap-956	8	12	]	]	PUNCT
ap-956	8	13	,	,	PUNCT
ap-956	8	14	i.e.	i.e.	X
ap-956	8	15	the	the	DET
ap-956	8	16	distance	distance	NOUN
ap-956	8	17	of	of	ADP
ap-956	8	18	a	a	DET
ap-956	8	19	point	point	NOUN
ap-956	8	20	to	to	ADP
ap-956	8	21	its	its	PRON
ap-956	8	22	corresponding	corresponding	ADJ
ap-956	8	23	epipolar	epipolar	ADJ
ap-956	8	24	line	line	NOUN
ap-956	8	25	,	,	PUNCT
ap-956	8	26	some	some	DET
ap-956	8	27	true	true	ADJ
ap-956	8	28	correspondences	correspondence	NOUN
ap-956	8	29	,	,	PUNCT
ap-956	8	30	which	which	PRON
ap-956	8	31	may	may	AUX
ap-956	8	32	be	be	AUX
ap-956	8	33	important	important	ADJ
ap-956	8	34	for	for	ADP
ap-956	8	35	an	an	DET
ap-956	8	36	estimation	estimation	NOUN
ap-956	8	37	of	of	ADP
ap-956	8	38	the	the	DET
ap-956	8	39	epipolar	epipolar	ADJ
ap-956	8	40	geometry	geometry	NOUN
ap-956	8	41	,	,	PUNCT
ap-956	8	42	are	be	AUX
ap-956	8	43	also	also	ADV
ap-956	8	44	eliminated	eliminate	VERB
ap-956	8	45	.	.	PUNCT
ap-956	9	1	as	as	ADP
ap-956	9	2	a	a	DET
ap-956	9	3	consequence	consequence	NOUN
ap-956	9	4	we	we	PRON
ap-956	9	5	have	have	AUX
ap-956	9	6	developed	develop	VERB
ap-956	9	7	a	a	DET
ap-956	9	8	new	new	ADJ
ap-956	9	9	criterion	criterion	NOUN
ap-956	9	10	to	to	PART
ap-956	9	11	evaluate	evaluate	VERB
ap-956	9	12	correspondences	correspondence	NOUN
ap-956	9	13	between	between	ADP
ap-956	9	14	two	two	NUM
ap-956	9	15	images	image	NOUN
ap-956	9	16	,	,	PUNCT
ap-956	9	17	considering	consider	VERB
ap-956	9	18	the	the	DET
ap-956	9	19	estimation	estimation	NOUN
ap-956	9	20	of	of	ADP
ap-956	9	21	the	the	DET
ap-956	9	22	fundamental	fundamental	ADJ
ap-956	9	23	matrix	matrix	NOUN
ap-956	9	24	and	and	CCONJ
ap-956	9	25	its	its	PRON
ap-956	9	26	uncertainty	uncertainty	NOUN
ap-956	9	27	.	.	PUNCT
ap-956	10	1	the	the	DET
ap-956	10	2	paper	paper	NOUN
ap-956	10	3	is	be	AUX
ap-956	10	4	structured	structure	VERB
ap-956	10	5	as	as	SCONJ
ap-956	10	6	follows	follow	VERB
ap-956	10	7	:	:	PUNCT
ap-956	10	8	in	in	ADP
ap-956	10	9	section	section	NOUN
ap-956	10	10	two	two	NUM
ap-956	10	11	,	,	PUNCT
ap-956	10	12	the	the	DET
ap-956	10	13	computation	computation	NOUN
ap-956	10	14	of	of	ADP
ap-956	10	15	the	the	DET
ap-956	10	16	covariance	covariance	NOUN
ap-956	10	17	matrix	matrix	NOUN
ap-956	10	18	of	of	ADP
ap-956	10	19	the	the	DET
ap-956	10	20	fundamental	fundamental	ADJ
ap-956	10	21	matrix	matrix	NOUN
ap-956	10	22	using	use	VERB
ap-956	10	23	monte	monte	PROPN
ap-956	10	24	carlo	carlo	PROPN
ap-956	10	25	simulation	simulation	PROPN
ap-956	10	26	is	be	AUX
ap-956	10	27	described	describe	VERB
ap-956	10	28	.	.	PUNCT
ap-956	11	1	further	far	ADV
ap-956	11	2	we	we	PRON
ap-956	11	3	describe	describe	VERB
ap-956	11	4	the	the	DET
ap-956	11	5	computation	computation	NOUN
ap-956	11	6	leading	lead	VERB
ap-956	11	7	to	to	ADP
ap-956	11	8	the	the	DET
ap-956	11	9	new	new	ADJ
ap-956	11	10	criterion	criterion	NOUN
ap-956	11	11	.	.	PUNCT
ap-956	12	1	in	in	ADP
ap-956	12	2	section	section	NOUN
ap-956	12	3	three	three	NUM
ap-956	12	4	,	,	PUNCT
ap-956	12	5	we	we	PRON
ap-956	12	6	show	show	VERB
ap-956	12	7	how	how	SCONJ
ap-956	12	8	the	the	DET
ap-956	12	9	criterion	criterion	NOUN
ap-956	12	10	can	can	AUX
ap-956	12	11	be	be	AUX
ap-956	12	12	used	use	VERB
ap-956	12	13	in	in	ADP
ap-956	12	14	an	an	DET
ap-956	12	15	effective	effective	ADJ
ap-956	12	16	way	way	NOUN
ap-956	12	17	for	for	ADP
ap-956	12	18	outlier	outlier	NOUN
ap-956	12	19	removal	removal	NOUN
ap-956	12	20	,	,	PUNCT
ap-956	12	21	and	and	CCONJ
ap-956	12	22	we	we	PRON
ap-956	12	23	compare	compare	VERB
ap-956	12	24	our	our	PRON
ap-956	12	25	results	result	NOUN
ap-956	12	26	with	with	ADP
ap-956	12	27	those	those	PRON
ap-956	12	28	using	use	VERB
ap-956	12	29	a	a	DET
ap-956	12	30	conventional	conventional	ADJ
ap-956	12	31	criterion	criterion	NOUN
ap-956	12	32	.	.	PUNCT
ap-956	13	1	in	in	ADP
ap-956	13	2	section	section	NOUN
ap-956	13	3	four	four	NUM
ap-956	13	4	a	a	DET
ap-956	13	5	brief	brief	ADJ
ap-956	13	6	conclusion	conclusion	NOUN
ap-956	13	7	is	be	AUX
ap-956	13	8	given	give	VERB
ap-956	13	9	.	.	PUNCT
ap-956	14	1	2	2	NUM
ap-956	14	2	confidence	confidence	NOUN
ap-956	14	3	measure	measure	NOUN
ap-956	14	4	for	for	ADP
ap-956	14	5	point	point	NOUN
ap-956	14	6	correspondences	correspondence	NOUN
ap-956	14	7	to	to	PART
ap-956	14	8	evaluate	evaluate	VERB
ap-956	14	9	the	the	DET
ap-956	14	10	quality	quality	NOUN
ap-956	14	11	of	of	ADP
ap-956	14	12	a	a	DET
ap-956	14	13	single	single	ADJ
ap-956	14	14	point	point	NOUN
ap-956	14	15	correspondence	correspondence	NOUN
ap-956	14	16	from	from	ADP
ap-956	14	17	a	a	DET
ap-956	14	18	set	set	NOUN
ap-956	14	19	of	of	ADP
ap-956	14	20	point	point	NOUN
ap-956	14	21	correspondences	correspondence	NOUN
ap-956	14	22	,	,	PUNCT
ap-956	14	23	we	we	PRON
ap-956	14	24	use	use	VERB
ap-956	14	25	the	the	DET
ap-956	14	26	only	only	ADJ
ap-956	14	27	available	available	ADJ
ap-956	14	28	geometric	geometric	ADJ
ap-956	14	29	constraint	constraint	NOUN
ap-956	14	30	,	,	PUNCT
ap-956	14	31	the	the	DET
ap-956	14	32	epipolar	epipolar	ADJ
ap-956	14	33	geometry	geometry	NOUN
ap-956	14	34	and	and	CCONJ
ap-956	14	35	its	its	PRON
ap-956	14	36	algebraic	algebraic	ADJ
ap-956	14	37	representation	representation	NOUN
ap-956	14	38	,	,	PUNCT
ap-956	14	39	the	the	DET
ap-956	14	40	fundamental	fundamental	ADJ
ap-956	14	41	matrix	matrix	NOUN
ap-956	14	42	.	.	PUNCT
ap-956	15	1	the	the	DET
ap-956	15	2	computation	computation	NOUN
ap-956	15	3	of	of	ADP
ap-956	15	4	the	the	DET
ap-956	15	5	fundamental	fundamental	ADJ
ap-956	15	6	matrix	matrix	NOUN
ap-956	15	7	using	use	VERB
ap-956	15	8	the	the	DET
ap-956	15	9	random	random	ADJ
ap-956	15	10	sample	sample	NOUN
ap-956	15	11	consensus	consensus	NOUN
ap-956	15	12	combined	combine	VERB
ap-956	15	13	with	with	ADP
ap-956	15	14	the	the	DET
ap-956	15	15	normalized	normalize	VERB
ap-956	15	16	8	8	NUM
ap-956	15	17	-	-	PUNCT
ap-956	15	18	point	point	NOUN
ap-956	15	19	algorithm	algorithm	NOUN
ap-956	15	20	is	be	AUX
ap-956	15	21	described	describe	VERB
ap-956	15	22	in	in	ADP
ap-956	15	23	[	[	X
ap-956	15	24	3	3	NUM
ap-956	15	25	]	]	PUNCT
ap-956	15	26	and	and	CCONJ
ap-956	15	27	[	[	X
ap-956	15	28	7	7	NUM
ap-956	15	29	]	]	PUNCT
ap-956	15	30	.	.	PUNCT
ap-956	16	1	as	as	SCONJ
ap-956	16	2	the	the	DET
ap-956	16	3	locations	location	NOUN
ap-956	16	4	of	of	ADP
ap-956	16	5	point	point	NOUN
ap-956	16	6	correspondences	correspondence	NOUN
ap-956	16	7	are	be	AUX
ap-956	16	8	superimposed	superimpose	VERB
ap-956	16	9	with	with	ADP
ap-956	16	10	noise	noise	NOUN
ap-956	16	11	,	,	PUNCT
ap-956	16	12	the	the	DET
ap-956	16	13	computation	computation	NOUN
ap-956	16	14	of	of	ADP
ap-956	16	15	the	the	DET
ap-956	16	16	covariance	covariance	NOUN
ap-956	16	17	matrix	matrix	NOUN
ap-956	16	18	of	of	ADP
ap-956	16	19	the	the	DET
ap-956	16	20	fundamental	fundamental	ADJ
ap-956	16	21	matrix	matrix	NOUN
ap-956	16	22	provides	provide	VERB
ap-956	16	23	further	further	ADJ
ap-956	16	24	useful	useful	ADJ
ap-956	16	25	information	information	NOUN
ap-956	16	26	.	.	PUNCT
ap-956	17	1	2.1	2.1	NUM
ap-956	17	2	computing	compute	VERB
ap-956	17	3	the	the	DET
ap-956	17	4	covariance	covariance	NOUN
ap-956	17	5	matrix	matrix	NOUN
ap-956	17	6	of	of	ADP
ap-956	17	7	the	the	DET
ap-956	17	8	fundamental	fundamental	ADJ
ap-956	17	9	matrix	matrix	NOUN
ap-956	17	10	to	to	PART
ap-956	17	11	compute	compute	VERB
ap-956	17	12	the	the	DET
ap-956	17	13	covariance	covariance	NOUN
ap-956	17	14	matrix	matrix	NOUN
ap-956	17	15	,	,	PUNCT
ap-956	17	16	we	we	PRON
ap-956	17	17	assume	assume	VERB
ap-956	17	18	that	that	SCONJ
ap-956	17	19	the	the	DET
ap-956	17	20	noise	noise	NOUN
ap-956	17	21	on	on	ADP
ap-956	17	22	the	the	DET
ap-956	17	23	correspondence	correspondence	NOUN
ap-956	17	24	locations	location	NOUN
ap-956	17	25	has	have	VERB
ap-956	17	26	normal	normal	ADJ
ap-956	17	27	distribution	distribution	NOUN
ap-956	17	28	.	.	PUNCT
ap-956	18	1	we	we	PRON
ap-956	18	2	simulate	simulate	VERB
ap-956	18	3	this	this	DET
ap-956	18	4	effect	effect	NOUN
ap-956	18	5	by	by	ADP
ap-956	18	6	adding	add	VERB
ap-956	18	7	gaussian	gaussian	ADJ
ap-956	18	8	noise	noise	NOUN
ap-956	18	9	to	to	ADP
ap-956	18	10	the	the	DET
ap-956	18	11	eight	eight	NUM
ap-956	18	12	correspondences	correspondence	NOUN
ap-956	18	13	selected	select	VERB
ap-956	18	14	by	by	ADP
ap-956	18	15	ransac	ransac	NOUN
ap-956	18	16	during	during	ADP
ap-956	18	17	the	the	DET
ap-956	18	18	fundamental	fundamental	ADJ
ap-956	18	19	matrix	matrix	NOUN
ap-956	18	20	computation	computation	NOUN
ap-956	18	21	.	.	PUNCT
ap-956	19	1	we	we	PRON
ap-956	19	2	obtain	obtain	VERB
ap-956	19	3	a	a	DET
ap-956	19	4	set	set	NOUN
ap-956	19	5	of	of	ADP
ap-956	19	6	different	different	ADJ
ap-956	19	7	versions	version	NOUN
ap-956	19	8	of	of	ADP
ap-956	19	9	the	the	DET
ap-956	19	10	same	same	ADJ
ap-956	19	11	eight	eight	NUM
ap-956	19	12	point	point	NOUN
ap-956	19	13	correspondences	correspondence	NOUN
ap-956	19	14	,	,	PUNCT
ap-956	19	15	and	and	CCONJ
ap-956	19	16	compute	compute	VERB
ap-956	19	17	the	the	DET
ap-956	19	18	fundamental	fundamental	ADJ
ap-956	19	19	matrix	matrix	NOUN
ap-956	19	20	from	from	ADP
ap-956	19	21	each	each	DET
ap-956	19	22	version	version	NOUN
ap-956	19	23	using	use	VERB
ap-956	19	24	the	the	DET
ap-956	19	25	normalized	normalize	VERB
ap-956	19	26	8	8	NUM
ap-956	19	27	-	-	PUNCT
ap-956	19	28	point	point	NOUN
ap-956	19	29	algorithm	algorithm	NOUN
ap-956	19	30	.	.	PUNCT
ap-956	20	1	a	a	DET
ap-956	20	2	large	large	ADJ
ap-956	20	3	number	number	NOUN
ap-956	20	4	of	of	ADP
ap-956	20	5	different	different	ADJ
ap-956	20	6	fundamental	fundamental	ADJ
ap-956	20	7	matrices	matrix	NOUN
ap-956	20	8	is	be	AUX
ap-956	20	9	obtained	obtain	VERB
ap-956	20	10	,	,	PUNCT
ap-956	20	11	showing	show	VERB
ap-956	20	12	how	how	SCONJ
ap-956	20	13	the	the	DET
ap-956	20	14	epipolar	epipolar	ADJ
ap-956	20	15	geometry	geometry	NOUN
ap-956	20	16	varies	vary	VERB
ap-956	20	17	under	under	ADP
ap-956	20	18	slight	slight	ADJ
ap-956	20	19	changes	change	NOUN
ap-956	20	20	in	in	ADP
ap-956	20	21	the	the	DET
ap-956	20	22	point	point	NOUN
ap-956	20	23	correspondence	correspondence	NOUN
ap-956	20	24	locations	location	NOUN
ap-956	20	25	.	.	PUNCT
ap-956	21	1	a	a	DET
ap-956	21	2	good	good	ADJ
ap-956	21	3	description	description	NOUN
ap-956	21	4	of	of	ADP
ap-956	21	5	this	this	DET
ap-956	21	6	effect	effect	NOUN
ap-956	21	7	is	be	AUX
ap-956	21	8	given	give	VERB
ap-956	21	9	by	by	ADP
ap-956	21	10	the	the	DET
ap-956	21	11	covariance	covariance	NOUN
ap-956	21	12	matrix	matrix	NOUN
ap-956	21	13	of	of	ADP
ap-956	21	14	the	the	DET
ap-956	21	15	fundamental	fundamental	ADJ
ap-956	21	16	matrix	matrix	NOUN
ap-956	21	17	,	,	PUNCT
ap-956	21	18	denoted	denote	VERB
ap-956	21	19	by	by	ADP
ap-956	21	20	�	�	PROPN
ap-956	21	21	f	f	PROPN
ap-956	21	22	.	.	PUNCT
ap-956	22	1	2.2	2.2	NUM
ap-956	22	2	epipolar	epipolar	ADJ
ap-956	22	3	line	line	NOUN
ap-956	22	4	and	and	CCONJ
ap-956	22	5	epipolar	epipolar	ADJ
ap-956	22	6	envelope	envelope	NOUN
ap-956	22	7	for	for	ADP
ap-956	22	8	a	a	DET
ap-956	22	9	given	give	VERB
ap-956	22	10	point	point	NOUN
ap-956	22	11	x	x	PUNCT
ap-956	22	12	in	in	ADP
ap-956	22	13	the	the	DET
ap-956	22	14	first	first	ADJ
ap-956	22	15	image	image	NOUN
ap-956	22	16	,	,	PUNCT
ap-956	22	17	the	the	DET
ap-956	22	18	corresponding	corresponding	ADJ
ap-956	22	19	epipolar	epipolar	ADJ
ap-956	22	20	line	line	NOUN
ap-956	22	21	l	l	NOUN
ap-956	22	22	in	in	ADP
ap-956	22	23	homogeneous	homogeneous	ADJ
ap-956	22	24	coordinates	coordinate	NOUN
ap-956	22	25	is	be	AUX
ap-956	22	26	given	give	VERB
ap-956	22	27	by	by	ADP
ap-956	22	28	l	l	NOUN
ap-956	22	29	x	x	PROPN
ap-956	22	30	�	�	PROPN
ap-956	22	31	f	f	PROPN
ap-956	22	32	,	,	PUNCT
ap-956	22	33	(	(	PUNCT
ap-956	22	34	1	1	X
ap-956	22	35	)	)	PUNCT
ap-956	22	36	©	©	PROPN
ap-956	22	37	czech	czech	PROPN
ap-956	22	38	technical	technical	PROPN
ap-956	22	39	university	university	PROPN
ap-956	22	40	publishing	publishing	NOUN
ap-956	22	41	house	house	NOUN
ap-956	22	42	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-956	22	43	23	23	NUM
ap-956	22	44	acta	acta	PROPN
ap-956	22	45	polytechnica	polytechnica	PROPN
ap-956	22	46	vol	vol	NOUN
ap-956	22	47	.	.	PUNCT
ap-956	23	1	47	47	NUM
ap-956	23	2	no	no	NOUN
ap-956	23	3	.	.	PUNCT
ap-956	24	1	4–5/2007	4–5/2007	NUM
ap-956	24	2	robust	robust	ADJ
ap-956	24	3	detection	detection	NOUN
ap-956	24	4	of	of	ADP
ap-956	24	5	point	point	NOUN
ap-956	24	6	correspondences	correspondence	NOUN
ap-956	24	7	in	in	ADP
ap-956	24	8	stereo	stereo	NOUN
ap-956	24	9	images	image	NOUN
ap-956	24	10	a.	a.	NOUN
ap-956	24	11	stojanovic	stojanovic	PROPN
ap-956	24	12	,	,	PUNCT
ap-956	24	13	m.	m.	NOUN
ap-956	24	14	unger	unger	PROPN
ap-956	24	15	a	a	DET
ap-956	24	16	major	major	ADJ
ap-956	24	17	challenge	challenge	NOUN
ap-956	24	18	in	in	ADP
ap-956	24	19	3d	3d	PROPN
ap-956	24	20	reconstruction	reconstruction	NOUN
ap-956	24	21	is	be	AUX
ap-956	24	22	the	the	DET
ap-956	24	23	computation	computation	NOUN
ap-956	24	24	of	of	ADP
ap-956	24	25	the	the	DET
ap-956	24	26	fundamental	fundamental	ADJ
ap-956	24	27	matrix	matrix	NOUN
ap-956	24	28	.	.	PUNCT
ap-956	25	1	automatic	automatic	ADJ
ap-956	25	2	computation	computation	NOUN
ap-956	25	3	from	from	ADP
ap-956	25	4	uncalibrated	uncalibrated	ADJ
ap-956	25	5	image	image	NOUN
ap-956	25	6	pairs	pair	NOUN
ap-956	25	7	is	be	AUX
ap-956	25	8	performed	perform	VERB
ap-956	25	9	from	from	ADP
ap-956	25	10	point	point	NOUN
ap-956	25	11	correspondences	correspondence	NOUN
ap-956	25	12	.	.	PUNCT
ap-956	26	1	due	due	ADP
ap-956	26	2	to	to	ADP
ap-956	26	3	imprecision	imprecision	NOUN
ap-956	26	4	and	and	CCONJ
ap-956	26	5	wrong	wrong	ADJ
ap-956	26	6	correspondences	correspondence	NOUN
ap-956	26	7	,	,	PUNCT
ap-956	26	8	only	only	ADV
ap-956	26	9	an	an	DET
ap-956	26	10	approximation	approximation	NOUN
ap-956	26	11	of	of	ADP
ap-956	26	12	the	the	DET
ap-956	26	13	true	true	ADJ
ap-956	26	14	fundamental	fundamental	ADJ
ap-956	26	15	matrix	matrix	NOUN
ap-956	26	16	can	can	AUX
ap-956	26	17	be	be	AUX
ap-956	26	18	computed	compute	VERB
ap-956	26	19	.	.	PUNCT
ap-956	27	1	the	the	DET
ap-956	27	2	quality	quality	NOUN
ap-956	27	3	of	of	ADP
ap-956	27	4	the	the	DET
ap-956	27	5	fundamental	fundamental	ADJ
ap-956	27	6	matrix	matrix	NOUN
ap-956	27	7	strongly	strongly	ADV
ap-956	27	8	depends	depend	VERB
ap-956	27	9	on	on	ADP
ap-956	27	10	the	the	DET
ap-956	27	11	location	location	NOUN
ap-956	27	12	and	and	CCONJ
ap-956	27	13	number	number	NOUN
ap-956	27	14	of	of	ADP
ap-956	27	15	point	point	NOUN
ap-956	27	16	correspondences	correspondence	NOUN
ap-956	27	17	.	.	PUNCT
ap-956	28	1	furthermore	furthermore	ADV
ap-956	28	2	,	,	PUNCT
ap-956	28	3	the	the	DET
ap-956	28	4	fundamental	fundamental	ADJ
ap-956	28	5	matrix	matrix	NOUN
ap-956	28	6	is	be	AUX
ap-956	28	7	the	the	DET
ap-956	28	8	only	only	ADJ
ap-956	28	9	geometric	geometric	ADJ
ap-956	28	10	constraint	constraint	NOUN
ap-956	28	11	between	between	ADP
ap-956	28	12	two	two	NUM
ap-956	28	13	uncalibrated	uncalibrated	ADJ
ap-956	28	14	views	view	NOUN
ap-956	28	15	,	,	PUNCT
ap-956	28	16	and	and	CCONJ
ap-956	28	17	hence	hence	ADV
ap-956	28	18	it	it	PRON
ap-956	28	19	can	can	AUX
ap-956	28	20	be	be	AUX
ap-956	28	21	used	use	VERB
ap-956	28	22	for	for	ADP
ap-956	28	23	the	the	DET
ap-956	28	24	detection	detection	NOUN
ap-956	28	25	of	of	ADP
ap-956	28	26	wrong	wrong	ADJ
ap-956	28	27	point	point	NOUN
ap-956	28	28	correspondences	correspondence	NOUN
ap-956	28	29	.	.	PUNCT
ap-956	29	1	this	this	DET
ap-956	29	2	property	property	NOUN
ap-956	29	3	is	be	AUX
ap-956	29	4	used	use	VERB
ap-956	29	5	by	by	ADP
ap-956	29	6	current	current	ADJ
ap-956	29	7	algorithms	algorithm	NOUN
ap-956	29	8	like	like	ADP
ap-956	29	9	ransac	ransac	NOUN
ap-956	29	10	,	,	PUNCT
ap-956	29	11	which	which	PRON
ap-956	29	12	computes	compute	VERB
ap-956	29	13	the	the	DET
ap-956	29	14	fundamental	fundamental	ADJ
ap-956	29	15	matrix	matrix	NOUN
ap-956	29	16	from	from	ADP
ap-956	29	17	a	a	DET
ap-956	29	18	restricted	restricted	ADJ
ap-956	29	19	set	set	NOUN
ap-956	29	20	of	of	ADP
ap-956	29	21	point	point	NOUN
ap-956	29	22	correspondences	correspondence	NOUN
ap-956	29	23	.	.	PUNCT
ap-956	30	1	in	in	ADP
ap-956	30	2	most	most	ADJ
ap-956	30	3	cases	case	NOUN
ap-956	30	4	,	,	PUNCT
ap-956	30	5	not	not	PART
ap-956	30	6	only	only	ADV
ap-956	30	7	wrong	wrong	ADJ
ap-956	30	8	correspondences	correspondence	NOUN
ap-956	30	9	are	be	AUX
ap-956	30	10	disregarded	disregarded	ADJ
ap-956	30	11	,	,	PUNCT
ap-956	30	12	but	but	CCONJ
ap-956	30	13	also	also	ADV
ap-956	30	14	correct	correct	ADJ
ap-956	30	15	ones	one	NOUN
ap-956	30	16	,	,	PUNCT
ap-956	30	17	which	which	PRON
ap-956	30	18	is	be	AUX
ap-956	30	19	due	due	ADJ
ap-956	30	20	to	to	ADP
ap-956	30	21	the	the	DET
ap-956	30	22	criterion	criterion	NOUN
ap-956	30	23	used	use	VERB
ap-956	30	24	to	to	PART
ap-956	30	25	eliminate	eliminate	VERB
ap-956	30	26	outliers	outlier	NOUN
ap-956	30	27	.	.	PUNCT
ap-956	31	1	in	in	ADP
ap-956	31	2	this	this	DET
ap-956	31	3	context	context	NOUN
ap-956	31	4	,	,	PUNCT
ap-956	31	5	a	a	DET
ap-956	31	6	new	new	ADJ
ap-956	31	7	criterion	criterion	NOUN
ap-956	31	8	preserving	preserve	VERB
ap-956	31	9	a	a	DET
ap-956	31	10	maximum	maximum	NOUN
ap-956	31	11	of	of	ADP
ap-956	31	12	correct	correct	ADJ
ap-956	31	13	correspondences	correspondence	NOUN
ap-956	31	14	would	would	AUX
ap-956	31	15	be	be	AUX
ap-956	31	16	useful	useful	ADJ
ap-956	31	17	.	.	PUNCT
ap-956	32	1	in	in	ADP
ap-956	32	2	this	this	DET
ap-956	32	3	paper	paper	NOUN
ap-956	32	4	we	we	PRON
ap-956	32	5	introduce	introduce	VERB
ap-956	32	6	a	a	DET
ap-956	32	7	novel	novel	ADJ
ap-956	32	8	criterion	criterion	NOUN
ap-956	32	9	for	for	ADP
ap-956	32	10	outlier	outlier	ADJ
ap-956	32	11	elimination	elimination	NOUN
ap-956	32	12	based	base	VERB
ap-956	32	13	on	on	ADP
ap-956	32	14	a	a	DET
ap-956	32	15	probabilistic	probabilistic	ADJ
ap-956	32	16	approach	approach	NOUN
ap-956	32	17	.	.	PUNCT
ap-956	33	1	the	the	DET
ap-956	33	2	enhanced	enhanced	ADJ
ap-956	33	3	set	set	NOUN
ap-956	33	4	of	of	ADP
ap-956	33	5	correspondences	correspondence	NOUN
ap-956	33	6	may	may	AUX
ap-956	33	7	be	be	AUX
ap-956	33	8	important	important	ADJ
ap-956	33	9	for	for	ADP
ap-956	33	10	further	further	ADJ
ap-956	33	11	computation	computation	NOUN
ap-956	33	12	towards	towards	ADP
ap-956	33	13	a	a	DET
ap-956	33	14	3d	3d	NOUN
ap-956	33	15	reconstruction	reconstruction	NOUN
ap-956	33	16	of	of	ADP
ap-956	33	17	the	the	DET
ap-956	33	18	scene	scene	NOUN
ap-956	33	19	.	.	PUNCT
ap-956	34	1	keywords	keyword	NOUN
ap-956	34	2	:	:	PUNCT
ap-956	34	3	3d	3d	NUM
ap-956	34	4	reconstruction	reconstruction	NOUN
ap-956	34	5	,	,	PUNCT
ap-956	34	6	robust	robust	ADJ
ap-956	34	7	matching	matching	NOUN
ap-956	34	8	,	,	PUNCT
ap-956	34	9	fundamental	fundamental	ADJ
ap-956	34	10	matrix	matrix	NOUN
ap-956	34	11	,	,	PUNCT
ap-956	34	12	probabilistic	probabilistic	ADJ
ap-956	34	13	epipolar	epipolar	ADJ
ap-956	34	14	geometry	geometry	NOUN
ap-956	34	15	,	,	PUNCT
ap-956	34	16	outlier	outlier	NOUN
ap-956	34	17	elimination	elimination	NOUN
ap-956	34	18	.	.	PUNCT
ap-956	35	1	where	where	SCONJ
ap-956	35	2	f	f	PROPN
ap-956	35	3	is	be	AUX
ap-956	35	4	the	the	DET
ap-956	35	5	fundamental	fundamental	ADJ
ap-956	35	6	matrix	matrix	NOUN
ap-956	35	7	.	.	PUNCT
ap-956	36	1	due	due	ADP
ap-956	36	2	to	to	ADP
ap-956	36	3	the	the	DET
ap-956	36	4	uncertainty	uncertainty	NOUN
ap-956	36	5	of	of	ADP
ap-956	36	6	the	the	DET
ap-956	36	7	fundamental	fundamental	ADJ
ap-956	36	8	matrix	matrix	NOUN
ap-956	36	9	,	,	PUNCT
ap-956	36	10	the	the	DET
ap-956	36	11	point	point	NOUN
ap-956	36	12	correspondence	correspondence	NOUN
ap-956	36	13	is	be	AUX
ap-956	36	14	more	more	ADV
ap-956	36	15	likely	likely	ADJ
ap-956	36	16	to	to	PART
ap-956	36	17	be	be	AUX
ap-956	36	18	located	locate	VERB
ap-956	36	19	within	within	ADP
ap-956	36	20	an	an	DET
ap-956	36	21	area	area	NOUN
ap-956	36	22	around	around	ADP
ap-956	36	23	the	the	DET
ap-956	36	24	epipolar	epipolar	ADJ
ap-956	36	25	line	line	NOUN
ap-956	36	26	.	.	PUNCT
ap-956	37	1	from	from	ADP
ap-956	37	2	the	the	DET
ap-956	37	3	covariance	covariance	NOUN
ap-956	37	4	matrix	matrix	NOUN
ap-956	37	5	of	of	ADP
ap-956	37	6	the	the	DET
ap-956	37	7	fundamental	fundamental	ADJ
ap-956	37	8	matrix	matrix	NOUN
ap-956	37	9	,	,	PUNCT
ap-956	37	10	we	we	PRON
ap-956	37	11	can	can	AUX
ap-956	37	12	compute	compute	VERB
ap-956	37	13	the	the	DET
ap-956	37	14	covariance	covariance	NOUN
ap-956	37	15	matrix	matrix	NOUN
ap-956	37	16	of	of	ADP
ap-956	37	17	the	the	DET
ap-956	37	18	epipolar	epipolar	ADJ
ap-956	37	19	line	line	NOUN
ap-956	37	20	with	with	ADP
ap-956	37	21	�	�	PROPN
ap-956	37	22	l	l	PROPN
ap-956	37	23	�	�	PROPN
ap-956	37	24	jfj	jfj	PROPN
ap-956	37	25	t	t	PROPN
ap-956	37	26	,	,	PUNCT
ap-956	37	27	(	(	PUNCT
ap-956	37	28	2	2	X
ap-956	37	29	)	)	PUNCT
ap-956	37	30	where	where	SCONJ
ap-956	37	31	j	j	PROPN
ap-956	37	32	is	be	AUX
ap-956	37	33	the	the	DET
ap-956	37	34	jacobian	jacobian	NOUN
ap-956	37	35	of	of	ADP
ap-956	37	36	the	the	DET
ap-956	37	37	mapping	mapping	NOUN
ap-956	37	38	l	l	NOUN
ap-956	37	39	x	x	PUNCT
ap-956	37	40	x	x	SYM
ap-956	37	41	�	�	PROPN
ap-956	37	42	f	f	PROPN
ap-956	37	43	f	f	PROPN
ap-956	37	44	.	.	PUNCT
ap-956	38	1	(	(	PUNCT
ap-956	38	2	3	3	X
ap-956	38	3	)	)	PUNCT
ap-956	38	4	the	the	DET
ap-956	38	5	mahalanobis	mahalanobis	ADJ
ap-956	38	6	distance	distance	NOUN
ap-956	38	7	k	k	PROPN
ap-956	38	8	of	of	ADP
ap-956	38	9	a	a	DET
ap-956	38	10	possible	possible	ADJ
ap-956	38	11	epipolar	epipolar	ADJ
ap-956	38	12	line	line	NOUN
ap-956	38	13	m	m	VERB
ap-956	38	14	from	from	ADP
ap-956	38	15	the	the	DET
ap-956	38	16	estimated	estimate	VERB
ap-956	38	17	epipolar	epipolar	ADJ
ap-956	38	18	line	line	NOUN
ap-956	38	19	l	l	NOUN
ap-956	38	20	is	be	AUX
ap-956	38	21	then	then	ADV
ap-956	38	22	given	give	VERB
ap-956	38	23	by	by	ADP
ap-956	38	24	(	(	PUNCT
ap-956	38	25	)	)	PUNCT
ap-956	38	26	(	(	PUNCT
ap-956	38	27	)	)	PUNCT
ap-956	38	28	l	l	NOUN
ap-956	38	29	m	m	VERB
ap-956	38	30	l	l	ADJ
ap-956	38	31	ml	ml	NOUN
ap-956	38	32	�	�	PROPN
ap-956	38	33	�	�	PROPN
ap-956	38	34	�	�	PROPN
ap-956	38	35	�	�	PROPN
ap-956	38	36	t	t	PROPN
ap-956	38	37	�	�	PROPN
ap-956	38	38	k2	k2	PROPN
ap-956	38	39	.	.	PUNCT
ap-956	39	1	thus	thus	ADV
ap-956	39	2	we	we	PRON
ap-956	39	3	have	have	VERB
ap-956	39	4	an	an	DET
ap-956	39	5	approximation	approximation	NOUN
ap-956	39	6	of	of	ADP
ap-956	39	7	how	how	SCONJ
ap-956	39	8	well	well	ADV
ap-956	39	9	a	a	DET
ap-956	39	10	certain	certain	ADJ
ap-956	39	11	epipolar	epipolar	ADJ
ap-956	39	12	line	line	NOUN
ap-956	39	13	m	m	VERB
ap-956	39	14	matches	match	VERB
ap-956	39	15	with	with	ADP
ap-956	39	16	the	the	DET
ap-956	39	17	knowledge	knowledge	NOUN
ap-956	39	18	acquired	acquire	VERB
ap-956	39	19	so	so	ADV
ap-956	39	20	far	far	ADV
ap-956	39	21	about	about	ADP
ap-956	39	22	the	the	DET
ap-956	39	23	epipolar	epipolar	ADJ
ap-956	39	24	geometry	geometry	NOUN
ap-956	39	25	and	and	CCONJ
ap-956	39	26	its	its	PRON
ap-956	39	27	uncertainty	uncertainty	NOUN
ap-956	39	28	.	.	PUNCT
ap-956	40	1	for	for	ADP
ap-956	40	2	a	a	DET
ap-956	40	3	given	give	VERB
ap-956	40	4	value	value	NOUN
ap-956	40	5	of	of	ADP
ap-956	40	6	k2	k2	NOUN
ap-956	40	7	,	,	PUNCT
ap-956	40	8	we	we	PRON
ap-956	40	9	can	can	AUX
ap-956	40	10	compute	compute	VERB
ap-956	40	11	an	an	DET
ap-956	40	12	envelope	envelope	NOUN
ap-956	40	13	of	of	ADP
ap-956	40	14	epipolar	epipolar	ADJ
ap-956	40	15	lines	line	NOUN
ap-956	40	16	containing	contain	VERB
ap-956	40	17	all	all	DET
ap-956	40	18	possible	possible	ADJ
ap-956	40	19	epipolar	epipolar	ADJ
ap-956	40	20	lines	line	NOUN
ap-956	40	21	having	have	VERB
ap-956	40	22	a	a	DET
ap-956	40	23	value	value	NOUN
ap-956	40	24	less	less	ADV
ap-956	40	25	or	or	CCONJ
ap-956	40	26	equal	equal	ADJ
ap-956	40	27	to	to	ADP
ap-956	40	28	k2	k2	PROPN
ap-956	40	29	.	.	PUNCT
ap-956	41	1	with	with	ADP
ap-956	41	2	the	the	DET
ap-956	41	3	assumption	assumption	NOUN
ap-956	41	4	that	that	SCONJ
ap-956	41	5	the	the	DET
ap-956	41	6	elements	element	NOUN
ap-956	41	7	of	of	ADP
ap-956	41	8	l	l	NOUN
ap-956	41	9	have	have	AUX
ap-956	41	10	normal	normal	ADJ
ap-956	41	11	distribution	distribution	NOUN
ap-956	41	12	,	,	PUNCT
ap-956	41	13	k2	k2	PROPN
ap-956	41	14	has	have	VERB
ap-956	41	15	a	a	DET
ap-956	41	16	cumulative	cumulative	ADJ
ap-956	41	17	�	�	NOUN
ap-956	41	18	2	2	NUM
ap-956	41	19	2	2	NUM
ap-956	41	20	distribution	distribution	NOUN
ap-956	41	21	and	and	CCONJ
ap-956	41	22	a	a	DET
ap-956	41	23	probability	probability	NOUN
ap-956	41	24	that	that	SCONJ
ap-956	41	25	the	the	DET
ap-956	41	26	true	true	ADJ
ap-956	41	27	epipolar	epipolar	ADJ
ap-956	41	28	line	line	NOUN
ap-956	41	29	is	be	AUX
ap-956	41	30	within	within	ADP
ap-956	41	31	this	this	DET
ap-956	41	32	envelope	envelope	NOUN
ap-956	41	33	can	can	AUX
ap-956	41	34	be	be	AUX
ap-956	41	35	associated	associate	VERB
ap-956	41	36	to	to	ADP
ap-956	41	37	the	the	DET
ap-956	41	38	k2	k2	ADJ
ap-956	41	39	-	-	PUNCT
ap-956	41	40	value	value	NOUN
ap-956	41	41	,	,	PUNCT
ap-956	41	42	as	as	SCONJ
ap-956	41	43	can	can	AUX
ap-956	41	44	be	be	AUX
ap-956	41	45	seen	see	VERB
ap-956	41	46	in	in	ADP
ap-956	41	47	fig	fig	NOUN
ap-956	41	48	.	.	PUNCT
ap-956	42	1	1	1	X
ap-956	42	2	.	.	X
ap-956	42	3	the	the	DET
ap-956	42	4	region	region	NOUN
ap-956	42	5	can	can	AUX
ap-956	42	6	be	be	AUX
ap-956	42	7	described	describe	VERB
ap-956	42	8	by	by	ADP
ap-956	42	9	a	a	DET
ap-956	42	10	conic	conic	ADJ
ap-956	42	11	c	c	NOUN
ap-956	42	12	defined	define	VERB
ap-956	42	13	in	in	ADP
ap-956	42	14	homogeneous	homogeneous	ADJ
ap-956	42	15	coordinates	coordinate	NOUN
ap-956	42	16	by	by	ADP
ap-956	42	17	c	c	PROPN
ap-956	42	18	�	�	PROPN
ap-956	42	19	�	�	PROPN
ap-956	42	20	ll	ll	PROPN
ap-956	42	21	l	l	PROPN
ap-956	42	22	t	t	PROPN
ap-956	42	23	k2	k2	PROPN
ap-956	42	24	�	�	PROPN
ap-956	42	25	.	.	PUNCT
ap-956	43	1	(	(	PUNCT
ap-956	43	2	4	4	X
ap-956	43	3	)	)	PUNCT
ap-956	43	4	in	in	ADP
ap-956	43	5	[	[	X
ap-956	43	6	3	3	X
ap-956	43	7	]	]	X
ap-956	43	8	the	the	DET
ap-956	43	9	epipolar	epipolar	ADJ
ap-956	43	10	envelope	envelope	NOUN
ap-956	43	11	is	be	AUX
ap-956	43	12	used	use	VERB
ap-956	43	13	for	for	ADP
ap-956	43	14	guided	guide	VERB
ap-956	43	15	matching	matching	NOUN
ap-956	43	16	,	,	PUNCT
ap-956	43	17	i.e.	i.e.	X
ap-956	43	18	searching	search	VERB
ap-956	43	19	correspondences	correspondence	NOUN
ap-956	43	20	within	within	ADP
ap-956	43	21	the	the	DET
ap-956	43	22	epipolar	epipolar	ADJ
ap-956	43	23	band	band	NOUN
ap-956	43	24	after	after	ADP
ap-956	43	25	a	a	DET
ap-956	43	26	first	first	ADJ
ap-956	43	27	estimation	estimation	NOUN
ap-956	43	28	of	of	ADP
ap-956	43	29	the	the	DET
ap-956	43	30	fundamental	fundamental	ADJ
ap-956	43	31	matrix	matrix	NOUN
ap-956	43	32	.	.	PUNCT
ap-956	44	1	we	we	PRON
ap-956	44	2	observed	observe	VERB
ap-956	44	3	that	that	SCONJ
ap-956	44	4	if	if	SCONJ
ap-956	44	5	the	the	DET
ap-956	44	6	fundamental	fundamental	ADJ
ap-956	44	7	matrix	matrix	NOUN
ap-956	44	8	is	be	AUX
ap-956	44	9	computed	compute	VERB
ap-956	44	10	from	from	ADP
ap-956	44	11	correspondences	correspondence	NOUN
ap-956	44	12	located	locate	VERB
ap-956	44	13	only	only	ADV
ap-956	44	14	in	in	ADP
ap-956	44	15	the	the	DET
ap-956	44	16	foreground	foreground	NOUN
ap-956	44	17	,	,	PUNCT
ap-956	44	18	the	the	DET
ap-956	44	19	uncertainty	uncertainty	NOUN
ap-956	44	20	in	in	ADP
ap-956	44	21	the	the	DET
ap-956	44	22	background	background	NOUN
ap-956	44	23	becomes	become	VERB
ap-956	44	24	very	very	ADV
ap-956	44	25	high	high	ADJ
ap-956	44	26	(	(	PUNCT
ap-956	44	27	see	see	VERB
ap-956	44	28	fig	fig	NOUN
ap-956	44	29	.	.	PUNCT
ap-956	45	1	2	2	NUM
ap-956	45	2	)	)	PUNCT
ap-956	45	3	.	.	PUNCT
ap-956	46	1	this	this	PRON
ap-956	46	2	is	be	AUX
ap-956	46	3	the	the	DET
ap-956	46	4	reason	reason	NOUN
ap-956	46	5	why	why	SCONJ
ap-956	46	6	correct	correct	ADJ
ap-956	46	7	matches	match	NOUN
ap-956	46	8	lying	lie	VERB
ap-956	46	9	in	in	ADP
ap-956	46	10	the	the	DET
ap-956	46	11	corners	corner	NOUN
ap-956	46	12	of	of	ADP
ap-956	46	13	the	the	DET
ap-956	46	14	image	image	NOUN
ap-956	46	15	are	be	AUX
ap-956	46	16	often	often	ADV
ap-956	46	17	eliminated	eliminate	VERB
ap-956	46	18	using	use	VERB
ap-956	46	19	a	a	DET
ap-956	46	20	conventional	conventional	ADJ
ap-956	46	21	criterion	criterion	NOUN
ap-956	46	22	.	.	PUNCT
ap-956	47	1	to	to	PART
ap-956	47	2	prevent	prevent	VERB
ap-956	47	3	this	this	PRON
ap-956	47	4	,	,	PUNCT
ap-956	47	5	we	we	PRON
ap-956	47	6	have	have	VERB
ap-956	47	7	to	to	PART
ap-956	47	8	develop	develop	VERB
ap-956	47	9	a	a	DET
ap-956	47	10	new	new	ADJ
ap-956	47	11	criterion	criterion	NOUN
ap-956	47	12	being	be	AUX
ap-956	47	13	less	less	ADV
ap-956	47	14	stringent	stringent	ADJ
ap-956	47	15	for	for	ADP
ap-956	47	16	matches	match	NOUN
ap-956	47	17	in	in	ADP
ap-956	47	18	regions	region	NOUN
ap-956	47	19	of	of	ADP
ap-956	47	20	high	high	ADJ
ap-956	47	21	uncertainty	uncertainty	NOUN
ap-956	47	22	.	.	PUNCT
ap-956	48	1	2.3	2.3	NUM
ap-956	48	2	minimal	minimal	ADJ
ap-956	48	3	mahalanobis	mahalanobis	ADJ
ap-956	48	4	distance	distance	NOUN
ap-956	48	5	for	for	ADP
ap-956	48	6	a	a	DET
ap-956	48	7	point	point	NOUN
ap-956	48	8	correspondence	correspondence	NOUN
ap-956	48	9	basic	basic	ADJ
ap-956	48	10	idea	idea	NOUN
ap-956	48	11	the	the	DET
ap-956	48	12	basic	basic	ADJ
ap-956	48	13	idea	idea	NOUN
ap-956	48	14	for	for	ADP
ap-956	48	15	the	the	DET
ap-956	48	16	new	new	ADJ
ap-956	48	17	criterion	criterion	NOUN
ap-956	48	18	is	be	AUX
ap-956	48	19	to	to	PART
ap-956	48	20	invert	invert	VERB
ap-956	48	21	the	the	DET
ap-956	48	22	problem	problem	NOUN
ap-956	48	23	of	of	ADP
ap-956	48	24	wnding	wnde	VERB
ap-956	48	25	an	an	DET
ap-956	48	26	epipolar	epipolar	ADJ
ap-956	48	27	band	band	NOUN
ap-956	48	28	for	for	ADP
ap-956	48	29	a	a	DET
ap-956	48	30	given	give	VERB
ap-956	48	31	likelihood	likelihood	NOUN
ap-956	48	32	(	(	PUNCT
ap-956	48	33	i.e.	i.e.	X
ap-956	48	34	a	a	DET
ap-956	48	35	given	give	VERB
ap-956	48	36	k2	k2	ADJ
ap-956	48	37	respectively	respectively	ADV
ap-956	48	38	probability	probability	NOUN
ap-956	48	39	�	�	PROPN
ap-956	48	40	)	)	PUNCT
ap-956	48	41	.	.	PUNCT
ap-956	49	1	for	for	ADP
ap-956	49	2	a	a	DET
ap-956	49	3	given	give	VERB
ap-956	49	4	point	point	NOUN
ap-956	49	5	�	�	PROPN
ap-956	49	6	x	x	NOUN
ap-956	49	7	in	in	ADP
ap-956	49	8	the	the	DET
ap-956	49	9	second	second	ADJ
ap-956	49	10	view	view	NOUN
ap-956	49	11	corresponding	correspond	VERB
ap-956	49	12	to	to	ADP
ap-956	49	13	a	a	DET
ap-956	49	14	point	point	NOUN
ap-956	49	15	x	x	X
ap-956	49	16	in	in	ADP
ap-956	49	17	the	the	DET
ap-956	49	18	first	first	ADJ
ap-956	49	19	view	view	NOUN
ap-956	49	20	,	,	PUNCT
ap-956	49	21	we	we	PRON
ap-956	49	22	want	want	VERB
ap-956	49	23	to	to	PART
ap-956	49	24	find	find	VERB
ap-956	49	25	the	the	DET
ap-956	49	26	conic	conic	NOUN
ap-956	49	27	with	with	ADP
ap-956	49	28	minimal	minimal	ADJ
ap-956	49	29	k2	k2	ADJ
ap-956	49	30	comprising	comprising	NOUN
ap-956	49	31	the	the	DET
ap-956	49	32	point	point	NOUN
ap-956	49	33	�	�	NOUN
ap-956	49	34	x	x	NOUN
ap-956	49	35	.	.	PUNCT
ap-956	50	1	in	in	ADP
ap-956	50	2	other	other	ADJ
ap-956	50	3	terms	term	NOUN
ap-956	50	4	,	,	PUNCT
ap-956	50	5	we	we	PRON
ap-956	50	6	are	be	AUX
ap-956	50	7	retrieving	retrieve	VERB
ap-956	50	8	the	the	DET
ap-956	50	9	value	value	NOUN
ap-956	50	10	k2	k2	NOUN
ap-956	50	11	in	in	ADP
ap-956	50	12	equation	equation	NOUN
ap-956	50	13	(	(	PUNCT
ap-956	50	14	4	4	NUM
ap-956	50	15	)	)	PUNCT
ap-956	50	16	that	that	PRON
ap-956	50	17	provides	provide	VERB
ap-956	50	18	a	a	DET
ap-956	50	19	hyperbola	hyperbola	NOUN
ap-956	50	20	passing	pass	VERB
ap-956	50	21	through	through	ADP
ap-956	50	22	�	�	PROPN
ap-956	50	23	x	x	NUM
ap-956	50	24	.	.	PUNCT
ap-956	51	1	the	the	DET
ap-956	51	2	considerations	consideration	NOUN
ap-956	51	3	behind	behind	ADP
ap-956	51	4	this	this	DET
ap-956	51	5	idea	idea	NOUN
ap-956	51	6	are	be	AUX
ap-956	51	7	very	very	ADV
ap-956	51	8	simple	simple	ADJ
ap-956	51	9	if	if	SCONJ
ap-956	51	10	we	we	PRON
ap-956	51	11	know	know	VERB
ap-956	51	12	that	that	SCONJ
ap-956	51	13	the	the	DET
ap-956	51	14	epipolar	epipolar	ADJ
ap-956	51	15	line	line	NOUN
ap-956	51	16	of	of	ADP
ap-956	51	17	a	a	DET
ap-956	51	18	point	point	NOUN
ap-956	51	19	x	x	X
ap-956	51	20	in	in	ADP
ap-956	51	21	the	the	DET
ap-956	51	22	first	first	ADJ
ap-956	51	23	image	image	NOUN
ap-956	51	24	will	will	AUX
ap-956	51	25	lie	lie	VERB
ap-956	51	26	with	with	ADP
ap-956	51	27	a	a	DET
ap-956	51	28	certain	certain	ADJ
ap-956	51	29	probability	probability	NOUN
ap-956	51	30	within	within	ADP
ap-956	51	31	an	an	DET
ap-956	51	32	epipolar	epipolar	ADJ
ap-956	51	33	band	band	NOUN
ap-956	51	34	in	in	ADP
ap-956	51	35	the	the	DET
ap-956	51	36	second	second	ADJ
ap-956	51	37	image	image	NOUN
ap-956	51	38	,	,	PUNCT
ap-956	51	39	the	the	DET
ap-956	51	40	corresponding	corresponding	ADJ
ap-956	51	41	point	point	NOUN
ap-956	51	42	�	�	PROPN
ap-956	51	43	x	x	X
ap-956	51	44	,	,	PUNCT
ap-956	51	45	which	which	PRON
ap-956	51	46	is	be	AUX
ap-956	51	47	located	locate	VERB
ap-956	51	48	somewhere	somewhere	ADV
ap-956	51	49	on	on	ADP
ap-956	51	50	the	the	DET
ap-956	51	51	epipolar	epipolar	ADJ
ap-956	51	52	line	line	NOUN
ap-956	51	53	,	,	PUNCT
ap-956	51	54	will	will	AUX
ap-956	51	55	be	be	AUX
ap-956	51	56	within	within	ADP
ap-956	51	57	the	the	DET
ap-956	51	58	epipolar	epipolar	ADJ
ap-956	51	59	band	band	NOUN
ap-956	51	60	with	with	ADP
ap-956	51	61	the	the	DET
ap-956	51	62	same	same	ADJ
ap-956	51	63	probability	probability	NOUN
ap-956	51	64	.	.	PUNCT
ap-956	52	1	general	general	ADJ
ap-956	52	2	problem	problem	NOUN
ap-956	52	3	statement	statement	NOUN
ap-956	52	4	the	the	DET
ap-956	52	5	point	point	NOUN
ap-956	52	6	�	�	NOUN
ap-956	52	7	x	x	PUNCT
ap-956	52	8	belongs	belong	VERB
ap-956	52	9	to	to	ADP
ap-956	52	10	the	the	DET
ap-956	52	11	conic	conic	ADJ
ap-956	52	12	c	c	NOUN
ap-956	52	13	if	if	SCONJ
ap-956	52	14	the	the	DET
ap-956	52	15	following	follow	VERB
ap-956	52	16	equation	equation	NOUN
ap-956	52	17	is	be	AUX
ap-956	52	18	verified	verify	VERB
ap-956	52	19	�	�	PROPN
ap-956	52	20	�	�	PROPN
ap-956	52	21	�	�	PROPN
ap-956	52	22	x	x	PROPN
ap-956	52	23	xt	xt	PROPN
ap-956	52	24	c	c	NOUN
ap-956	52	25	0	0	NUM
ap-956	52	26	,	,	PUNCT
ap-956	52	27	(	(	PUNCT
ap-956	52	28	5	5	NUM
ap-956	52	29	)	)	PUNCT
ap-956	52	30	where	where	SCONJ
ap-956	52	31	c	c	NOUN
ap-956	52	32	is	be	AUX
ap-956	52	33	given	give	VERB
ap-956	52	34	by	by	ADP
ap-956	52	35	:	:	PUNCT
ap-956	52	36	c	c	PROPN
ap-956	52	37	�	�	PROPN
ap-956	52	38	�	�	PROPN
ap-956	52	39	ll	ll	PROPN
ap-956	52	40	l	l	PROPN
ap-956	52	41	t	t	PROPN
ap-956	52	42	k2	k2	PROPN
ap-956	52	43	�	�	PROPN
ap-956	52	44	.	.	PUNCT
ap-956	53	1	(	(	PUNCT
ap-956	53	2	6	6	NUM
ap-956	53	3	)	)	PUNCT
ap-956	53	4	f	f	PROPN
ap-956	53	5	k2	k2	PROPN
ap-956	53	6	1	1	NUM
ap-956	53	7	2	2	NUM
ap-956	53	8	�	�	PROPN
ap-956	53	9	�	�	PROPN
ap-956	53	10	(	(	PUNCT
ap-956	53	11	)	)	PUNCT
ap-956	53	12	�	�	PROPN
ap-956	53	13	is	be	AUX
ap-956	53	14	the	the	DET
ap-956	53	15	probability	probability	NOUN
ap-956	53	16	to	to	PART
ap-956	53	17	find	find	VERB
ap-956	53	18	�	�	PROPN
ap-956	53	19	x	x	X
ap-956	53	20	within	within	ADP
ap-956	53	21	c.	c.	NOUN
ap-956	53	22	we	we	PRON
ap-956	53	23	use	use	VERB
ap-956	53	24	again	again	ADV
ap-956	53	25	the	the	DET
ap-956	53	26	notation	notation	NOUN
ap-956	53	27	m	m	VERB
ap-956	53	28	for	for	ADP
ap-956	53	29	an	an	DET
ap-956	53	30	epipolar	epipolar	ADJ
ap-956	53	31	line	line	NOUN
ap-956	53	32	in	in	ADP
ap-956	53	33	the	the	DET
ap-956	53	34	second	second	ADJ
ap-956	53	35	image	image	NOUN
ap-956	53	36	.	.	PUNCT
ap-956	54	1	in	in	ADP
ap-956	54	2	fact	fact	NOUN
ap-956	54	3	l	l	NOUN
ap-956	54	4	is	be	AUX
ap-956	54	5	here	here	ADV
ap-956	54	6	the	the	DET
ap-956	54	7	estimated	estimate	VERB
ap-956	54	8	epipolar	epipolar	ADJ
ap-956	54	9	line	line	NOUN
ap-956	54	10	corresponding	correspond	VERB
ap-956	54	11	to	to	ADP
ap-956	54	12	the	the	DET
ap-956	54	13	point	point	NOUN
ap-956	54	14	x	x	X
ap-956	54	15	in	in	ADP
ap-956	54	16	the	the	DET
ap-956	54	17	first	first	ADJ
ap-956	54	18	image	image	NOUN
ap-956	54	19	.	.	PUNCT
ap-956	55	1	it	it	PRON
ap-956	55	2	is	be	AUX
ap-956	55	3	not	not	PART
ap-956	55	4	possible	possible	ADJ
ap-956	55	5	to	to	PART
ap-956	55	6	retrieve	retrieve	VERB
ap-956	55	7	directly	directly	ADV
ap-956	55	8	the	the	DET
ap-956	55	9	corresponding	corresponding	ADJ
ap-956	55	10	value	value	NOUN
ap-956	55	11	k2	k2	NOUN
ap-956	55	12	from	from	ADP
ap-956	55	13	a	a	DET
ap-956	55	14	point	point	NOUN
ap-956	55	15	�	�	NOUN
ap-956	55	16	x	x	VERB
ap-956	55	17	using	use	VERB
ap-956	55	18	the	the	DET
ap-956	55	19	equations	equation	NOUN
ap-956	55	20	above	above	ADV
ap-956	55	21	.	.	PUNCT
ap-956	56	1	one	one	NUM
ap-956	56	2	possi24	possi24	NOUN
ap-956	56	3	©	©	PROPN
ap-956	56	4	czech	czech	PROPN
ap-956	56	5	technical	technical	PROPN
ap-956	56	6	university	university	PROPN
ap-956	56	7	publishing	publishing	NOUN
ap-956	56	8	house	house	NOUN
ap-956	56	9	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-956	56	10	acta	acta	PROPN
ap-956	56	11	polytechnica	polytechnica	PROPN
ap-956	56	12	vol	vol	NOUN
ap-956	56	13	.	.	PUNCT
ap-956	57	1	47	47	NUM
ap-956	57	2	no	no	NOUN
ap-956	57	3	.	.	PUNCT
ap-956	58	1	4–5/2007	4–5/2007	NUM
ap-956	58	2	fig	fig	NOUN
ap-956	58	3	.	.	PUNCT
ap-956	59	1	1	1	NUM
ap-956	59	2	:	:	PUNCT
ap-956	59	3	envelope	envelope	NOUN
ap-956	59	4	of	of	ADP
ap-956	59	5	epipolar	epipolar	ADJ
ap-956	59	6	lines	line	NOUN
ap-956	59	7	:	:	PUNCT
ap-956	59	8	we	we	PRON
ap-956	59	9	computed	compute	VERB
ap-956	59	10	the	the	DET
ap-956	59	11	epipolar	epipolar	ADJ
ap-956	59	12	line	line	NOUN
ap-956	59	13	(	(	PUNCT
ap-956	59	14	dark	dark	ADJ
ap-956	59	15	)	)	PUNCT
ap-956	59	16	and	and	CCONJ
ap-956	59	17	the	the	DET
ap-956	59	18	epipolar	epipolar	ADJ
ap-956	59	19	band	band	NOUN
ap-956	59	20	(	(	PUNCT
ap-956	59	21	light	light	NOUN
ap-956	59	22	)	)	PUNCT
ap-956	59	23	in	in	ADP
ap-956	59	24	the	the	DET
ap-956	59	25	second	second	ADJ
ap-956	59	26	image	image	NOUN
ap-956	59	27	.	.	PUNCT
ap-956	60	1	the	the	DET
ap-956	60	2	point	point	NOUN
ap-956	60	3	in	in	ADP
ap-956	60	4	the	the	DET
ap-956	60	5	first	first	ADJ
ap-956	60	6	image	image	NOUN
ap-956	60	7	that	that	PRON
ap-956	60	8	we	we	PRON
ap-956	60	9	used	use	VERB
ap-956	60	10	for	for	ADP
ap-956	60	11	the	the	DET
ap-956	60	12	computation	computation	NOUN
ap-956	60	13	is	be	AUX
ap-956	60	14	marked	mark	VERB
ap-956	60	15	by	by	ADP
ap-956	60	16	a	a	DET
ap-956	60	17	white	white	ADJ
ap-956	60	18	point	point	NOUN
ap-956	60	19	.	.	PUNCT
ap-956	61	1	the	the	DET
ap-956	61	2	epipolar	epipolar	ADJ
ap-956	61	3	band	band	NOUN
ap-956	61	4	shown	show	VERB
ap-956	61	5	here	here	ADV
ap-956	61	6	represents	represent	VERB
ap-956	61	7	the	the	DET
ap-956	61	8	envelope	envelope	NOUN
ap-956	61	9	of	of	ADP
ap-956	61	10	epipolar	epipolar	ADJ
ap-956	61	11	lines	line	NOUN
ap-956	61	12	with	with	ADP
ap-956	61	13	equal	equal	ADJ
ap-956	61	14	k2	k2	ADJ
ap-956	61	15	599915	599915	NUM
ap-956	61	16	�	�	PROPN
ap-956	61	17	.	.	PUNCT
ap-956	61	18	.	.	PUNCT
ap-956	62	1	the	the	DET
ap-956	62	2	according	accord	VERB
ap-956	62	3	probability	probability	NOUN
ap-956	62	4	that	that	SCONJ
ap-956	62	5	the	the	DET
ap-956	62	6	true	true	ADJ
ap-956	62	7	epipolar	epipolar	ADJ
ap-956	62	8	line	line	NOUN
ap-956	62	9	lies	lie	VERB
ap-956	62	10	within	within	ADP
ap-956	62	11	this	this	DET
ap-956	62	12	band	band	NOUN
ap-956	62	13	is	be	AUX
ap-956	62	14	�	�	PROPN
ap-956	62	15	�	�	PROPN
ap-956	62	16	095	095	NUM
ap-956	62	17	.	.	PUNCT
ap-956	62	18	.	.	PUNCT
ap-956	63	1	we	we	PRON
ap-956	63	2	see	see	VERB
ap-956	63	3	that	that	PRON
ap-956	63	4	for	for	ADP
ap-956	63	5	this	this	DET
ap-956	63	6	value	value	NOUN
ap-956	63	7	the	the	DET
ap-956	63	8	conic	conic	NOUN
ap-956	63	9	is	be	AUX
ap-956	63	10	a	a	DET
ap-956	63	11	hyperbola	hyperbola	NOUN
ap-956	63	12	with	with	ADP
ap-956	63	13	two	two	NUM
ap-956	63	14	branches	branch	NOUN
ap-956	63	15	.	.	PUNCT
ap-956	64	1	fig	fig	NOUN
ap-956	64	2	.	.	PUNCT
ap-956	65	1	2	2	NUM
ap-956	65	2	:	:	PUNCT
ap-956	65	3	high	high	ADJ
ap-956	65	4	insecurity	insecurity	NOUN
ap-956	65	5	for	for	ADP
ap-956	65	6	points	point	NOUN
ap-956	65	7	in	in	ADP
ap-956	65	8	the	the	DET
ap-956	65	9	background	background	NOUN
ap-956	65	10	:	:	PUNCT
ap-956	65	11	in	in	ADP
ap-956	65	12	this	this	DET
ap-956	65	13	figure	figure	NOUN
ap-956	65	14	the	the	DET
ap-956	65	15	effect	effect	NOUN
ap-956	65	16	of	of	ADP
ap-956	65	17	choosing	choose	VERB
ap-956	65	18	points	point	NOUN
ap-956	65	19	only	only	ADV
ap-956	65	20	in	in	ADP
ap-956	65	21	the	the	DET
ap-956	65	22	foreground	foreground	NOUN
ap-956	65	23	is	be	AUX
ap-956	65	24	demonstrated	demonstrate	VERB
ap-956	65	25	.	.	PUNCT
ap-956	66	1	we	we	PRON
ap-956	66	2	see	see	VERB
ap-956	66	3	that	that	SCONJ
ap-956	66	4	the	the	DET
ap-956	66	5	insecurity	insecurity	NOUN
ap-956	66	6	for	for	ADP
ap-956	66	7	points	point	NOUN
ap-956	66	8	in	in	ADP
ap-956	66	9	the	the	DET
ap-956	66	10	background	background	NOUN
ap-956	66	11	is	be	AUX
ap-956	66	12	much	much	ADV
ap-956	66	13	higher	high	ADJ
ap-956	66	14	than	than	ADP
ap-956	66	15	for	for	ADP
ap-956	66	16	points	point	NOUN
ap-956	66	17	in	in	ADP
ap-956	66	18	the	the	DET
ap-956	66	19	foreground	foreground	NOUN
ap-956	66	20	,	,	PUNCT
ap-956	66	21	as	as	SCONJ
ap-956	66	22	the	the	DET
ap-956	66	23	epipolar	epipolar	ADJ
ap-956	66	24	band	band	NOUN
ap-956	66	25	is	be	AUX
ap-956	66	26	much	much	ADV
ap-956	66	27	more	more	ADV
ap-956	66	28	extended	extended	ADJ
ap-956	66	29	.	.	PUNCT
ap-956	67	1	inria	inria	PROPN
ap-956	67	2	syntim	syntim	PROPN
ap-956	67	3	owns	own	VERB
ap-956	67	4	the	the	DET
ap-956	67	5	copyright	copyright	NOUN
ap-956	67	6	of	of	ADP
ap-956	67	7	the	the	DET
ap-956	67	8	image	image	NOUN
ap-956	67	9	.	.	PUNCT
ap-956	68	1	bility	bility	NOUN
ap-956	68	2	would	would	AUX
ap-956	68	3	consist	consist	VERB
ap-956	68	4	in	in	ADP
ap-956	68	5	computing	compute	VERB
ap-956	68	6	a	a	DET
ap-956	68	7	multitude	multitude	NOUN
ap-956	68	8	of	of	ADP
ap-956	68	9	different	different	ADJ
ap-956	68	10	conics	conic	NOUN
ap-956	68	11	using	use	VERB
ap-956	68	12	a	a	DET
ap-956	68	13	range	range	NOUN
ap-956	68	14	of	of	ADP
ap-956	68	15	different	different	ADJ
ap-956	68	16	values	value	NOUN
ap-956	68	17	for	for	ADP
ap-956	68	18	k2	k2	NOUN
ap-956	68	19	,	,	PUNCT
ap-956	68	20	and	and	CCONJ
ap-956	68	21	localize	localize	VERB
ap-956	68	22	�	�	PROPN
ap-956	68	23	x	x	VERB
ap-956	68	24	in	in	ADP
ap-956	68	25	between	between	ADP
ap-956	68	26	the	the	DET
ap-956	68	27	conics	conic	NOUN
ap-956	68	28	.	.	PUNCT
ap-956	69	1	an	an	DET
ap-956	69	2	approximation	approximation	NOUN
ap-956	69	3	for	for	ADP
ap-956	69	4	k2	k2	NOUN
ap-956	69	5	would	would	AUX
ap-956	69	6	be	be	AUX
ap-956	69	7	obtained	obtain	VERB
ap-956	69	8	by	by	ADP
ap-956	69	9	interpolation	interpolation	NOUN
ap-956	69	10	,	,	PUNCT
ap-956	69	11	but	but	CCONJ
ap-956	69	12	we	we	PRON
ap-956	69	13	found	find	VERB
ap-956	69	14	a	a	DET
ap-956	69	15	closed	closed	ADJ
ap-956	69	16	-	-	PUNCT
ap-956	69	17	form	form	NOUN
ap-956	69	18	solution	solution	NOUN
ap-956	69	19	to	to	ADP
ap-956	69	20	the	the	DET
ap-956	69	21	problem	problem	NOUN
ap-956	69	22	,	,	PUNCT
ap-956	69	23	providing	provide	VERB
ap-956	69	24	an	an	DET
ap-956	69	25	exact	exact	ADJ
ap-956	69	26	result	result	NOUN
ap-956	69	27	.	.	PUNCT
ap-956	70	1	closed	closed	ADJ
ap-956	70	2	-	-	PUNCT
ap-956	70	3	form	form	NOUN
ap-956	70	4	solution	solution	NOUN
ap-956	70	5	let	let	VERB
ap-956	70	6	us	we	PRON
ap-956	70	7	assume	assume	VERB
ap-956	70	8	that	that	SCONJ
ap-956	70	9	the	the	DET
ap-956	70	10	confidence	confidence	NOUN
ap-956	70	11	,	,	PUNCT
ap-956	70	12	that	that	SCONJ
ap-956	70	13	any	any	DET
ap-956	70	14	point	point	NOUN
ap-956	70	15	�	�	NOUN
ap-956	70	16	x	x	VERB
ap-956	70	17	in	in	ADP
ap-956	70	18	the	the	DET
ap-956	70	19	second	second	ADJ
ap-956	70	20	image	image	NOUN
ap-956	70	21	corresponds	correspond	VERB
ap-956	70	22	to	to	ADP
ap-956	70	23	a	a	DET
ap-956	70	24	point	point	NOUN
ap-956	70	25	x	x	X
ap-956	70	26	in	in	ADP
ap-956	70	27	the	the	DET
ap-956	70	28	first	first	ADJ
ap-956	70	29	view	view	NOUN
ap-956	70	30	is	be	AUX
ap-956	70	31	in	in	ADP
ap-956	70	32	relation	relation	NOUN
ap-956	70	33	with	with	ADP
ap-956	70	34	the	the	DET
ap-956	70	35	probability	probability	NOUN
ap-956	70	36	of	of	ADP
ap-956	70	37	the	the	DET
ap-956	70	38	epipolar	epipolar	ADJ
ap-956	70	39	geometry	geometry	NOUN
ap-956	70	40	that	that	PRON
ap-956	70	41	would	would	AUX
ap-956	70	42	explain	explain	VERB
ap-956	70	43	the	the	DET
ap-956	70	44	correspondence	correspondence	NOUN
ap-956	70	45	pair	pair	NOUN
ap-956	70	46	x	x	PUNCT
ap-956	70	47	x	x	SYM
ap-956	70	48	�	�	PROPN
ap-956	70	49	�	�	PROPN
ap-956	70	50	and	and	CCONJ
ap-956	70	51	having	have	VERB
ap-956	70	52	at	at	ADP
ap-956	70	53	the	the	DET
ap-956	70	54	same	same	ADJ
ap-956	70	55	time	time	NOUN
ap-956	70	56	the	the	DET
ap-956	70	57	highest	high	ADJ
ap-956	70	58	probability	probability	NOUN
ap-956	70	59	.	.	PUNCT
ap-956	71	1	in	in	ADP
ap-956	71	2	other	other	ADJ
ap-956	71	3	terms	term	NOUN
ap-956	71	4	,	,	PUNCT
ap-956	71	5	for	for	ADP
ap-956	71	6	a	a	DET
ap-956	71	7	potential	potential	ADJ
ap-956	71	8	point	point	NOUN
ap-956	71	9	correspondence	correspondence	NOUN
ap-956	71	10	x	x	PUNCT
ap-956	71	11	x	x	SYM
ap-956	71	12	�	�	PROPN
ap-956	71	13	�	�	PROPN
ap-956	71	14	,	,	PUNCT
ap-956	71	15	we	we	PRON
ap-956	71	16	retrieve	retrieve	VERB
ap-956	71	17	the	the	DET
ap-956	71	18	epipolar	epipolar	ADJ
ap-956	71	19	line	line	NOUN
ap-956	71	20	m	m	AUX
ap-956	71	21	passing	pass	VERB
ap-956	71	22	through	through	ADP
ap-956	71	23	�	�	NOUN
ap-956	71	24	x	x	VERB
ap-956	71	25	having	have	VERB
ap-956	71	26	maximal	maximal	ADJ
ap-956	71	27	probability	probability	NOUN
ap-956	71	28	,	,	PUNCT
ap-956	71	29	i.e.	i.e.	X
ap-956	71	30	minimal	minimal	ADJ
ap-956	71	31	k2	k2	NOUN
ap-956	71	32	regarding	regard	VERB
ap-956	71	33	equation	equation	NOUN
ap-956	71	34	(	(	PUNCT
ap-956	71	35	14	14	NUM
ap-956	71	36	)	)	PUNCT
ap-956	71	37	.	.	PUNCT
ap-956	72	1	this	this	DET
ap-956	72	2	assumption	assumption	NOUN
ap-956	72	3	differs	differ	VERB
ap-956	72	4	from	from	ADP
ap-956	72	5	the	the	DET
ap-956	72	6	assumption	assumption	NOUN
ap-956	72	7	made	make	VERB
ap-956	72	8	in	in	ADP
ap-956	72	9	[	[	X
ap-956	72	10	1	1	NUM
ap-956	72	11	]	]	PUNCT
ap-956	72	12	,	,	PUNCT
ap-956	72	13	and	and	CCONJ
ap-956	72	14	we	we	PRON
ap-956	72	15	obtain	obtain	VERB
ap-956	72	16	a	a	DET
ap-956	72	17	different	different	ADJ
ap-956	72	18	criterion	criterion	NOUN
ap-956	72	19	,	,	PUNCT
ap-956	72	20	which	which	PRON
ap-956	72	21	is	be	AUX
ap-956	72	22	more	more	ADV
ap-956	72	23	suitable	suitable	ADJ
ap-956	72	24	for	for	ADP
ap-956	72	25	our	our	PRON
ap-956	72	26	purpose	purpose	NOUN
ap-956	72	27	.	.	PUNCT
ap-956	73	1	if	if	SCONJ
ap-956	73	2	we	we	PRON
ap-956	73	3	denote	denote	VERB
ap-956	73	4	with	with	ADP
ap-956	73	5	m	m	DET
ap-956	73	6	the	the	DET
ap-956	73	7	unknown	unknown	ADJ
ap-956	73	8	epipolar	epipolar	ADJ
ap-956	73	9	line	line	NOUN
ap-956	73	10	and	and	CCONJ
ap-956	73	11	with	with	ADP
ap-956	73	12	l	l	NOUN
ap-956	73	13	the	the	DET
ap-956	73	14	estimated	estimate	VERB
ap-956	73	15	line	line	NOUN
ap-956	73	16	in	in	ADP
ap-956	73	17	the	the	DET
ap-956	73	18	second	second	ADJ
ap-956	73	19	image	image	NOUN
ap-956	73	20	,	,	PUNCT
ap-956	73	21	the	the	DET
ap-956	73	22	constrained	constrain	VERB
ap-956	73	23	minimization	minimization	NOUN
ap-956	73	24	problem	problem	NOUN
ap-956	73	25	can	can	AUX
ap-956	73	26	be	be	AUX
ap-956	73	27	stated	state	VERB
ap-956	73	28	as	as	SCONJ
ap-956	73	29	follows	follow	VERB
ap-956	73	30	:	:	PUNCT
ap-956	73	31	min	min	NOUN
ap-956	73	32	(	(	PUNCT
ap-956	73	33	)	)	PUNCT
ap-956	73	34	(	(	PUNCT
ap-956	73	35	)	)	PUNCT
ap-956	73	36	l	l	NOUN
ap-956	73	37	m	m	VERB
ap-956	73	38	l	l	NOUN
ap-956	73	39	m	m	VERB
ap-956	73	40	x	x	NOUN
ap-956	73	41	m	m	VERB
ap-956	73	42	l	l	X
ap-956	73	43	�	�	PROPN
ap-956	73	44	�	�	PROPN
ap-956	73	45	�	�	PROPN
ap-956	73	46	�	�	PROPN
ap-956	73	47	�	�	PROPN
ap-956	73	48	�	�	PROPN
ap-956	73	49	�	�	PROPN
ap-956	73	50	t	t	PROPN
ap-956	73	51	t	t	PROPN
ap-956	73	52	�	�	PROPN
ap-956	73	53	0	0	PUNCT
ap-956	73	54	(	(	PUNCT
ap-956	73	55	7	7	X
ap-956	73	56	)	)	PUNCT
ap-956	73	57	if	if	SCONJ
ap-956	73	58	�	�	PROPN
ap-956	73	59	�	�	PROPN
ap-956	73	60	x	x	PROPN
ap-956	73	61	(	(	PUNCT
ap-956	73	62	,	,	PUNCT
ap-956	73	63	,	,	PUNCT
ap-956	73	64	)	)	PUNCT
ap-956	73	65	x	x	PROPN
ap-956	73	66	y	y	PROPN
ap-956	73	67	z	z	PROPN
ap-956	73	68	,	,	PUNCT
ap-956	73	69	m	m	VERB
ap-956	73	70	�	�	PROPN
ap-956	73	71	(	(	PUNCT
ap-956	73	72	,	,	PUNCT
ap-956	73	73	,	,	PUNCT
ap-956	73	74	)	)	PUNCT
ap-956	73	75	a	a	DET
ap-956	73	76	b	b	PROPN
ap-956	73	77	c	c	PROPN
ap-956	73	78	t	t	PROPN
ap-956	73	79	,	,	PUNCT
ap-956	73	80	l	l	PROPN
ap-956	73	81	�	�	PROPN
ap-956	73	82	(	(	PUNCT
ap-956	73	83	,	,	PUNCT
ap-956	73	84	,	,	PUNCT
ap-956	73	85	)	)	PUNCT
ap-956	73	86	l	l	NOUN
ap-956	73	87	l	l	X
ap-956	73	88	l1	l1	PROPN
ap-956	73	89	2	2	NUM
ap-956	73	90	3	3	NUM
ap-956	73	91	t	t	PROPN
ap-956	73	92	,	,	PUNCT
ap-956	73	93	and	and	CCONJ
ap-956	73	94	�	�	PROPN
ap-956	73	95	l	l	PROPN
ap-956	73	96	�	�	PROPN
ap-956	73	97	�	�	PROPN
ap-956	73	98	�	�	PROPN
ap-956	73	99	�	�	PROPN
ap-956	73	100	�	�	PROPN
ap-956	73	101	�	�	PROPN
ap-956	73	102	�	�	PROPN
ap-956	73	103	�	�	PROPN
ap-956	73	104	�	�	PROPN
ap-956	73	105	�	�	PROPN
ap-956	73	106	�	�	PROPN
ap-956	73	107	�	�	PROPN
ap-956	73	108	�	�	PROPN
ap-956	73	109	�	�	PROPN
ap-956	73	110	�	�	PROPN
ap-956	73	111	�	�	PROPN
ap-956	73	112	�	�	PROPN
ap-956	73	113	�	�	PROPN
ap-956	73	114	�	�	PROPN
ap-956	73	115	11	11	NUM
ap-956	73	116	12	12	NUM
ap-956	73	117	13	13	NUM
ap-956	73	118	21	21	NUM
ap-956	73	119	22	22	NUM
ap-956	73	120	23	23	NUM
ap-956	73	121	31	31	NUM
ap-956	73	122	32	32	NUM
ap-956	73	123	33	33	NUM
ap-956	73	124	(	(	PUNCT
ap-956	73	125	8)	8)	NUM
ap-956	73	126	we	we	PRON
ap-956	73	127	obtain	obtain	VERB
ap-956	73	128	function	function	NOUN
ap-956	73	129	f(a	f(a	PROPN
ap-956	73	130	,	,	PUNCT
ap-956	73	131	b	b	NOUN
ap-956	73	132	,	,	PUNCT
ap-956	73	133	c	c	NOUN
ap-956	73	134	)	)	PUNCT
ap-956	73	135	to	to	PART
ap-956	73	136	be	be	AUX
ap-956	73	137	minimized	minimize	VERB
ap-956	73	138	with	with	ADP
ap-956	73	139	f	f	PROPN
ap-956	73	140	a	a	DET
ap-956	73	141	b	b	PROPN
ap-956	73	142	c	c	NOUN
ap-956	73	143	l	l	NOUN
ap-956	73	144	a	a	DET
ap-956	73	145	l	l	NOUN
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ap-956	87	2	(	(	PUNCT
ap-956	87	3	13	13	X
ap-956	87	4	)	)	PUNCT
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ap-956	87	8	13	13	NUM
ap-956	87	9	)	)	PUNCT
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ap-956	87	69	,	,	PUNCT
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ap-956	87	75	x	x	PROPN
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ap-956	87	84	32	32	NUM
ap-956	87	85	1	1	NUM
ap-956	87	86	�	�	PROPN
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ap-956	87	109	3	3	NUM
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ap-956	87	111	332	332	NUM
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ap-956	87	113	�	�	PROPN
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ap-956	87	122	x	x	PUNCT
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ap-956	87	124	h	h	NOUN
ap-956	87	125	,	,	PUNCT
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ap-956	87	132	0	0	NUM
ap-956	87	133	.	.	PUNCT
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ap-956	88	2	h	h	NOUN
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ap-956	88	5	l	l	X
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ap-956	88	8	x	x	PUNCT
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ap-956	88	13	1	1	NUM
ap-956	88	14	11	11	NUM
ap-956	88	15	2	2	NUM
ap-956	88	16	21	21	NUM
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ap-956	88	21	3	3	NUM
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ap-956	88	27	1	1	NUM
ap-956	88	28	2	2	NUM
ap-956	88	29	2	2	NUM
ap-956	88	30	�	�	PROPN
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ap-956	88	52	32	32	NUM
ap-956	88	53	�	�	PROPN
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ap-956	88	83	3	3	NUM
ap-956	88	84	31	31	NUM
ap-956	88	85	2	2	NUM
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ap-956	88	87	3	3	NUM
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ap-956	88	89	3	3	NUM
ap-956	88	90	33	33	NUM
ap-956	88	91	1	1	NUM
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ap-956	88	93	1	1	NUM
ap-956	88	94	�	�	PROPN
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ap-956	88	102	31	31	NUM
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ap-956	88	107	�	�	PROPN
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ap-956	88	110	l	l	NOUN
ap-956	88	111	z	z	PROPN
ap-956	88	112	�	�	PROPN
ap-956	88	113	�	�	PROPN
ap-956	88	114	.	.	PUNCT
ap-956	89	1	this	this	DET
ap-956	89	2	set	set	NOUN
ap-956	89	3	of	of	ADP
ap-956	89	4	equations	equation	NOUN
ap-956	89	5	can	can	AUX
ap-956	89	6	be	be	AUX
ap-956	89	7	easily	easily	ADV
ap-956	89	8	computed	compute	VERB
ap-956	89	9	and	and	CCONJ
ap-956	89	10	the	the	DET
ap-956	89	11	solution	solution	NOUN
ap-956	89	12	vector	vector	NOUN
ap-956	89	13	(	(	PUNCT
ap-956	89	14	,	,	PUNCT
ap-956	89	15	,	,	PUNCT
ap-956	89	16	)	)	PUNCT
ap-956	89	17	a	a	DET
ap-956	89	18	b	b	NOUN
ap-956	89	19	c	c	PROPN
ap-956	89	20	t	t	PROPN
ap-956	89	21	is	be	AUX
ap-956	89	22	the	the	DET
ap-956	89	23	vector	vector	NOUN
ap-956	89	24	m	m	AUX
ap-956	89	25	passing	pass	VERB
ap-956	89	26	through	through	ADP
ap-956	89	27	�	�	PROPN
ap-956	89	28	x	x	PROPN
ap-956	89	29	and	and	CCONJ
ap-956	89	30	having	have	VERB
ap-956	89	31	minimal	minimal	ADJ
ap-956	89	32	k2	k2	NOUN
ap-956	89	33	in	in	ADP
ap-956	89	34	terms	term	NOUN
ap-956	89	35	of	of	ADP
ap-956	89	36	equation	equation	NOUN
ap-956	89	37	(	(	PUNCT
ap-956	89	38	7	7	NUM
ap-956	89	39	)	)	PUNCT
ap-956	89	40	.	.	PUNCT
ap-956	90	1	finally	finally	ADV
ap-956	90	2	,	,	PUNCT
ap-956	90	3	we	we	PRON
ap-956	90	4	obtain	obtain	VERB
ap-956	90	5	coordinates	coordinate	NOUN
ap-956	90	6	of	of	ADP
ap-956	90	7	the	the	DET
ap-956	90	8	line	line	NOUN
ap-956	90	9	m	m	AUX
ap-956	90	10	passing	pass	VERB
ap-956	90	11	through	through	ADP
ap-956	90	12	�	�	PROPN
ap-956	90	13	x	x	PROPN
ap-956	90	14	and	and	CCONJ
ap-956	90	15	the	the	DET
ap-956	90	16	corresponding	corresponding	ADJ
ap-956	90	17	value	value	NOUN
ap-956	90	18	k2	k2	NOUN
ap-956	90	19	that	that	PRON
ap-956	90	20	would	would	AUX
ap-956	90	21	produce	produce	VERB
ap-956	90	22	an	an	DET
ap-956	90	23	epipolar	epipolar	ADJ
ap-956	90	24	band	band	NOUN
ap-956	90	25	delimited	delimit	VERB
ap-956	90	26	by	by	ADP
ap-956	90	27	a	a	DET
ap-956	90	28	hyperbola	hyperbola	PROPN
ap-956	90	29	passing	pass	VERB
ap-956	90	30	through	through	ADP
ap-956	90	31	�	�	PROPN
ap-956	90	32	x	x	SYM
ap-956	90	33	.	.	PUNCT
ap-956	91	1	the	the	DET
ap-956	91	2	value	value	NOUN
ap-956	91	3	k2	k2	PROPN
ap-956	91	4	will	will	AUX
ap-956	91	5	be	be	AUX
ap-956	91	6	of	of	ADP
ap-956	91	7	special	special	ADJ
ap-956	91	8	interest	interest	NOUN
ap-956	91	9	in	in	ADP
ap-956	91	10	applications	application	NOUN
ap-956	91	11	,	,	PUNCT
ap-956	91	12	as	as	SCONJ
ap-956	91	13	we	we	PRON
ap-956	91	14	will	will	AUX
ap-956	91	15	use	use	VERB
ap-956	91	16	it	it	PRON
ap-956	91	17	as	as	ADP
ap-956	91	18	a	a	DET
ap-956	91	19	quality	quality	NOUN
ap-956	91	20	criterion	criterion	NOUN
ap-956	91	21	for	for	ADP
ap-956	91	22	point	point	NOUN
ap-956	91	23	correspondences	correspondence	NOUN
ap-956	91	24	in	in	ADP
ap-956	91	25	our	our	PRON
ap-956	91	26	applications	application	NOUN
ap-956	91	27	.	.	PUNCT
ap-956	92	1	example	example	NOUN
ap-956	92	2	in	in	ADP
ap-956	92	3	an	an	DET
ap-956	92	4	image	image	NOUN
ap-956	92	5	pair	pair	NOUN
ap-956	92	6	to	to	PART
ap-956	92	7	summarize	summarize	VERB
ap-956	92	8	the	the	DET
ap-956	92	9	algorithm	algorithm	NOUN
ap-956	92	10	,	,	PUNCT
ap-956	92	11	we	we	PRON
ap-956	92	12	can	can	AUX
ap-956	92	13	explain	explain	VERB
ap-956	92	14	the	the	DET
ap-956	92	15	different	different	ADJ
ap-956	92	16	steps	step	NOUN
ap-956	92	17	using	use	VERB
ap-956	92	18	an	an	DET
ap-956	92	19	example	example	NOUN
ap-956	92	20	in	in	ADP
ap-956	92	21	an	an	DET
ap-956	92	22	image	image	NOUN
ap-956	92	23	pair	pair	NOUN
ap-956	92	24	(	(	PUNCT
ap-956	92	25	see	see	VERB
ap-956	92	26	fig	fig	NOUN
ap-956	92	27	.	.	PUNCT
ap-956	93	1	3).we	3).we	NUM
ap-956	93	2	start	start	VERB
ap-956	93	3	after	after	ADP
ap-956	93	4	the	the	DET
ap-956	93	5	fundamental	fundamental	ADJ
ap-956	93	6	matrix	matrix	NOUN
ap-956	93	7	and	and	CCONJ
ap-956	93	8	its	its	PRON
ap-956	93	9	covariance	covariance	NOUN
ap-956	93	10	have	have	AUX
ap-956	93	11	been	be	AUX
ap-956	93	12	computed	compute	VERB
ap-956	93	13	for	for	ADP
ap-956	93	14	the	the	DET
ap-956	93	15	given	give	VERB
ap-956	93	16	image	image	NOUN
ap-956	93	17	pair	pair	NOUN
ap-956	93	18	.	.	PUNCT
ap-956	94	1	we	we	PRON
ap-956	94	2	see	see	VERB
ap-956	94	3	the	the	DET
ap-956	94	4	estimated	estimate	VERB
ap-956	94	5	epipolar	epipolar	ADJ
ap-956	94	6	line	line	NOUN
ap-956	94	7	in	in	ADP
ap-956	94	8	the	the	DET
ap-956	94	9	second	second	ADJ
ap-956	94	10	image	image	NOUN
ap-956	94	11	,	,	PUNCT
ap-956	94	12	which	which	PRON
ap-956	94	13	we	we	PRON
ap-956	94	14	denoted	denote	VERB
ap-956	94	15	by	by	ADP
ap-956	94	16	m	m	PROPN
ap-956	94	17	,	,	PUNCT
ap-956	94	18	©	©	PROPN
ap-956	94	19	czech	czech	PROPN
ap-956	94	20	technical	technical	PROPN
ap-956	94	21	university	university	PROPN
ap-956	94	22	publishing	publishing	NOUN
ap-956	94	23	house	house	NOUN
ap-956	94	24	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-956	94	25	25	25	NUM
ap-956	94	26	acta	acta	PROPN
ap-956	94	27	polytechnica	polytechnica	PROPN
ap-956	94	28	vol	vol	NOUN
ap-956	94	29	.	.	PUNCT
ap-956	95	1	47	47	NUM
ap-956	95	2	no	no	NOUN
ap-956	95	3	.	.	PUNCT
ap-956	96	1	4–5/2007	4–5/2007	NUM
ap-956	96	2	that	that	PRON
ap-956	96	3	corresponds	correspond	VERB
ap-956	96	4	to	to	ADP
ap-956	96	5	the	the	DET
ap-956	96	6	point	point	NOUN
ap-956	96	7	x	x	X
ap-956	96	8	in	in	ADP
ap-956	96	9	the	the	DET
ap-956	96	10	first	first	ADJ
ap-956	96	11	image	image	NOUN
ap-956	96	12	which	which	PRON
ap-956	96	13	is	be	AUX
ap-956	96	14	marked	mark	VERB
ap-956	96	15	by	by	ADP
ap-956	96	16	a	a	DET
ap-956	96	17	white	white	ADJ
ap-956	96	18	point	point	NOUN
ap-956	96	19	.	.	PUNCT
ap-956	97	1	further	far	ADV
ap-956	97	2	we	we	PRON
ap-956	97	3	computed	compute	VERB
ap-956	97	4	the	the	DET
ap-956	97	5	epipolar	epipolar	ADJ
ap-956	97	6	band	band	NOUN
ap-956	97	7	(	(	PUNCT
ap-956	97	8	delimited	delimit	VERB
ap-956	97	9	by	by	ADP
ap-956	97	10	the	the	DET
ap-956	97	11	hyperbola	hyperbola	PROPN
ap-956	97	12	)	)	PUNCT
ap-956	97	13	for	for	ADP
ap-956	97	14	a	a	DET
ap-956	97	15	value	value	NOUN
ap-956	97	16	k2	k2	ADJ
ap-956	97	17	59915	59915	NUM
ap-956	97	18	�	�	PROPN
ap-956	97	19	.	.	PUNCT
ap-956	98	1	,	,	PUNCT
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ap-956	98	3	a	a	DET
ap-956	98	4	probability	probability	NOUN
ap-956	98	5	�	�	PROPN
ap-956	98	6	�	�	PROPN
ap-956	98	7	095	095	NUM
ap-956	98	8	.	.	PUNCT
ap-956	99	1	that	that	SCONJ
ap-956	99	2	the	the	DET
ap-956	99	3	true	true	ADJ
ap-956	99	4	epipolar	epipolar	ADJ
ap-956	99	5	line	line	NOUN
ap-956	99	6	will	will	AUX
ap-956	99	7	be	be	AUX
ap-956	99	8	located	locate	VERB
ap-956	99	9	within	within	ADP
ap-956	99	10	this	this	DET
ap-956	99	11	region	region	NOUN
ap-956	99	12	.	.	PUNCT
ap-956	100	1	further	far	ADV
ap-956	100	2	,	,	PUNCT
ap-956	100	3	for	for	ADP
ap-956	100	4	points	point	NOUN
ap-956	100	5	marked	mark	VERB
ap-956	100	6	by	by	ADP
ap-956	100	7	a	a	DET
ap-956	100	8	black	black	ADJ
ap-956	100	9	circle	circle	NOUN
ap-956	100	10	in	in	ADP
ap-956	100	11	the	the	DET
ap-956	100	12	second	second	ADJ
ap-956	100	13	image	image	NOUN
ap-956	100	14	,	,	PUNCT
ap-956	100	15	we	we	PRON
ap-956	100	16	computed	compute	VERB
ap-956	100	17	the	the	DET
ap-956	100	18	line	line	NOUN
ap-956	100	19	passing	pass	VERB
ap-956	100	20	through	through	ADP
ap-956	100	21	the	the	DET
ap-956	100	22	point	point	NOUN
ap-956	100	23	and	and	CCONJ
ap-956	100	24	having	have	VERB
ap-956	100	25	a	a	DET
ap-956	100	26	minimal	minimal	ADJ
ap-956	100	27	k2	k2	NOUN
ap-956	100	28	in	in	ADP
ap-956	100	29	terms	term	NOUN
ap-956	100	30	of	of	ADP
ap-956	100	31	equation	equation	NOUN
ap-956	100	32	(	(	PUNCT
ap-956	100	33	7	7	NUM
ap-956	100	34	)	)	PUNCT
ap-956	100	35	.	.	PUNCT
ap-956	101	1	the	the	DET
ap-956	101	2	lines	line	NOUN
ap-956	101	3	are	be	AUX
ap-956	101	4	dark	dark	ADJ
ap-956	101	5	and	and	CCONJ
ap-956	101	6	represent	represent	VERB
ap-956	101	7	the	the	DET
ap-956	101	8	lines	line	NOUN
ap-956	101	9	previously	previously	ADV
ap-956	101	10	denoted	denote	VERB
ap-956	101	11	by	by	ADP
ap-956	101	12	m.	m.	NOUN
ap-956	101	13	a	a	DET
ap-956	101	14	further	further	ADJ
ap-956	101	15	question	question	NOUN
ap-956	101	16	to	to	PART
ap-956	101	17	answer	answer	VERB
ap-956	101	18	is	be	AUX
ap-956	101	19	the	the	DET
ap-956	101	20	value	value	NOUN
ap-956	101	21	k2	k2	NOUN
ap-956	101	22	of	of	ADP
ap-956	101	23	the	the	DET
ap-956	101	24	chosen	choose	VERB
ap-956	101	25	line	line	NOUN
ap-956	101	26	m.	m.	NOUN
ap-956	101	27	it	it	PRON
ap-956	101	28	can	can	AUX
ap-956	101	29	be	be	AUX
ap-956	101	30	easily	easily	ADV
ap-956	101	31	computed	compute	VERB
ap-956	101	32	using	use	VERB
ap-956	101	33	(	(	PUNCT
ap-956	101	34	)	)	PUNCT
ap-956	101	35	(	(	PUNCT
ap-956	101	36	)	)	PUNCT
ap-956	101	37	l	l	NOUN
ap-956	101	38	m	m	VERB
ap-956	101	39	l	l	ADJ
ap-956	101	40	ml	ml	NOUN
ap-956	101	41	�	�	PROPN
ap-956	101	42	�	�	PROPN
ap-956	101	43	�	�	PROPN
ap-956	101	44	�	�	PROPN
ap-956	101	45	t	t	PROPN
ap-956	101	46	�	�	PROPN
ap-956	101	47	k2	k2	PROPN
ap-956	101	48	.	.	PUNCT
ap-956	102	1	in	in	ADP
ap-956	102	2	fig	fig	NOUN
ap-956	102	3	.	.	PUNCT
ap-956	103	1	3	3	NUM
ap-956	103	2	we	we	PRON
ap-956	103	3	obtain	obtain	VERB
ap-956	103	4	a	a	DET
ap-956	103	5	value	value	NOUN
ap-956	103	6	of	of	ADP
ap-956	103	7	k2	k2	ADJ
ap-956	103	8	848178	848178	NUM
ap-956	103	9	�	�	PROPN
ap-956	103	10	.	.	PUNCT
ap-956	104	1	for	for	ADP
ap-956	104	2	the	the	DET
ap-956	104	3	central	central	ADJ
ap-956	104	4	point	point	NOUN
ap-956	104	5	associated	associate	VERB
ap-956	104	6	to	to	ADP
ap-956	104	7	the	the	DET
ap-956	104	8	vertical	vertical	ADJ
ap-956	104	9	line	line	NOUN
ap-956	104	10	m	m	PROPN
ap-956	104	11	,	,	PUNCT
ap-956	104	12	and	and	CCONJ
ap-956	104	13	a	a	DET
ap-956	104	14	value	value	NOUN
ap-956	104	15	of	of	ADP
ap-956	104	16	k2	k2	ADJ
ap-956	104	17	607	607	NUM
ap-956	104	18	�	�	PROPN
ap-956	104	19	.	.	PUNCT
ap-956	105	1	for	for	ADP
ap-956	105	2	the	the	DET
ap-956	105	3	point	point	NOUN
ap-956	105	4	in	in	ADP
ap-956	105	5	the	the	DET
ap-956	105	6	right	right	ADJ
ap-956	105	7	side	side	NOUN
ap-956	105	8	of	of	ADP
ap-956	105	9	the	the	DET
ap-956	105	10	image	image	NOUN
ap-956	105	11	.	.	PUNCT
ap-956	106	1	the	the	DET
ap-956	106	2	fact	fact	NOUN
ap-956	106	3	that	that	SCONJ
ap-956	106	4	this	this	DET
ap-956	106	5	value	value	NOUN
ap-956	106	6	is	be	AUX
ap-956	106	7	almost	almost	ADV
ap-956	106	8	equal	equal	ADJ
ap-956	106	9	to	to	ADP
ap-956	106	10	5.991	5.991	NUM
ap-956	106	11	and	and	CCONJ
ap-956	106	12	the	the	DET
ap-956	106	13	corresponding	correspond	VERB
ap-956	106	14	line	line	NOUN
ap-956	106	15	m	m	VERB
ap-956	106	16	is	be	AUX
ap-956	106	17	tangent	tangent	ADJ
ap-956	106	18	to	to	ADP
ap-956	106	19	the	the	DET
ap-956	106	20	hyperbola	hyperbola	PROPN
ap-956	106	21	is	be	AUX
ap-956	106	22	an	an	DET
ap-956	106	23	interesting	interesting	ADJ
ap-956	106	24	observation	observation	NOUN
ap-956	106	25	,	,	PUNCT
ap-956	106	26	and	and	CCONJ
ap-956	106	27	will	will	AUX
ap-956	106	28	be	be	AUX
ap-956	106	29	discussed	discuss	VERB
ap-956	106	30	later	later	ADV
ap-956	106	31	.	.	PUNCT
ap-956	107	1	properties	property	NOUN
ap-956	107	2	we	we	PRON
ap-956	107	3	want	want	VERB
ap-956	107	4	to	to	PART
ap-956	107	5	briefly	briefly	ADV
ap-956	107	6	show	show	VERB
ap-956	107	7	some	some	DET
ap-956	107	8	special	special	ADJ
ap-956	107	9	cases	case	NOUN
ap-956	107	10	of	of	ADP
ap-956	107	11	lines	line	NOUN
ap-956	107	12	with	with	ADP
ap-956	107	13	minimal	minimal	ADJ
ap-956	107	14	k2	k2	NOUN
ap-956	107	15	.	.	PUNCT
ap-956	108	1	one	one	NUM
ap-956	108	2	of	of	ADP
ap-956	108	3	the	the	DET
ap-956	108	4	reasons	reason	NOUN
ap-956	108	5	why	why	SCONJ
ap-956	108	6	we	we	PRON
ap-956	108	7	can	can	AUX
ap-956	108	8	not	not	PART
ap-956	108	9	use	use	VERB
ap-956	108	10	the	the	DET
ap-956	108	11	criterion	criterion	NOUN
ap-956	108	12	from	from	ADP
ap-956	108	13	[	[	X
ap-956	108	14	1	1	NUM
ap-956	108	15	]	]	PUNCT
ap-956	108	16	is	be	AUX
ap-956	108	17	because	because	SCONJ
ap-956	108	18	it	it	PRON
ap-956	108	19	also	also	ADV
ap-956	108	20	contains	contain	VERB
ap-956	108	21	depth	depth	NOUN
ap-956	108	22	information	information	NOUN
ap-956	108	23	coming	come	VERB
ap-956	108	24	from	from	ADP
ap-956	108	25	the	the	DET
ap-956	108	26	chosen	choose	VERB
ap-956	108	27	point	point	NOUN
ap-956	108	28	correspondences	correspondence	NOUN
ap-956	108	29	to	to	PART
ap-956	108	30	compute	compute	VERB
ap-956	108	31	the	the	DET
ap-956	108	32	fundamental	fundamental	ADJ
ap-956	108	33	matrix	matrix	NOUN
ap-956	108	34	and	and	CCONJ
ap-956	108	35	its	its	PRON
ap-956	108	36	covariance	covariance	NOUN
ap-956	108	37	.	.	PUNCT
ap-956	109	1	in	in	ADP
ap-956	109	2	practice	practice	NOUN
ap-956	109	3	,	,	PUNCT
ap-956	109	4	this	this	PRON
ap-956	109	5	becomes	become	VERB
ap-956	109	6	visible	visible	ADJ
ap-956	109	7	in	in	ADP
ap-956	109	8	the	the	DET
ap-956	109	9	property	property	NOUN
ap-956	109	10	that	that	PRON
ap-956	109	11	points	point	VERB
ap-956	109	12	lying	lie	VERB
ap-956	109	13	on	on	ADP
ap-956	109	14	the	the	DET
ap-956	109	15	estimated	estimate	VERB
ap-956	109	16	epipolar	epipolar	ADJ
ap-956	109	17	line	line	NOUN
ap-956	109	18	(	(	PUNCT
ap-956	109	19	which	which	PRON
ap-956	109	20	is	be	AUX
ap-956	109	21	of	of	ADP
ap-956	109	22	course	course	NOUN
ap-956	109	23	the	the	DET
ap-956	109	24	most	most	ADV
ap-956	109	25	probable	probable	ADJ
ap-956	109	26	epipolar	epipolar	ADJ
ap-956	109	27	line	line	NOUN
ap-956	109	28	)	)	PUNCT
ap-956	109	29	do	do	AUX
ap-956	109	30	not	not	PART
ap-956	109	31	have	have	VERB
ap-956	109	32	the	the	DET
ap-956	109	33	same	same	ADJ
ap-956	109	34	probability	probability	NOUN
ap-956	109	35	.	.	PUNCT
ap-956	110	1	in	in	ADP
ap-956	110	2	fig	fig	NOUN
ap-956	110	3	.	.	PUNCT
ap-956	111	1	4	4	NUM
ap-956	111	2	we	we	PRON
ap-956	111	3	see	see	VERB
ap-956	111	4	that	that	SCONJ
ap-956	111	5	the	the	DET
ap-956	111	6	line	line	NOUN
ap-956	111	7	m	m	VERB
ap-956	111	8	is	be	AUX
ap-956	111	9	identical	identical	ADJ
ap-956	111	10	to	to	ADP
ap-956	111	11	the	the	DET
ap-956	111	12	estimated	estimate	VERB
ap-956	111	13	epipolar	epipolar	ADJ
ap-956	111	14	line	line	NOUN
ap-956	111	15	l.	l.	PROPN
ap-956	112	1	thus	thus	ADV
ap-956	112	2	we	we	PRON
ap-956	112	3	have	have	VERB
ap-956	112	4	k2	k2	PROPN
ap-956	112	5	0	0	NUM
ap-956	112	6	�	�	PROPN
ap-956	112	7	for	for	ADP
ap-956	112	8	each	each	DET
ap-956	112	9	point	point	NOUN
ap-956	112	10	on	on	ADP
ap-956	112	11	the	the	DET
ap-956	112	12	estimated	estimate	VERB
ap-956	112	13	line	line	NOUN
ap-956	112	14	.	.	PUNCT
ap-956	113	1	another	another	DET
ap-956	113	2	effect	effect	NOUN
ap-956	113	3	is	be	AUX
ap-956	113	4	shown	show	VERB
ap-956	113	5	in	in	ADP
ap-956	113	6	fig	fig	NOUN
ap-956	113	7	.	.	PUNCT
ap-956	114	1	5	5	X
ap-956	114	2	.	.	X
ap-956	114	3	we	we	PRON
ap-956	114	4	computed	compute	VERB
ap-956	114	5	the	the	DET
ap-956	114	6	line	line	NOUN
ap-956	114	7	m	m	VERB
ap-956	114	8	for	for	ADP
ap-956	114	9	a	a	DET
ap-956	114	10	point	point	NOUN
ap-956	114	11	on	on	ADP
ap-956	114	12	the	the	DET
ap-956	114	13	hyperbola	hyperbola	PROPN
ap-956	114	14	delimiting	delimiting	PROPN
ap-956	114	15	the	the	DET
ap-956	114	16	epipolar	epipolar	ADJ
ap-956	114	17	band	band	NOUN
ap-956	114	18	.	.	PUNCT
ap-956	115	1	we	we	PRON
ap-956	115	2	see	see	VERB
ap-956	115	3	that	that	SCONJ
ap-956	115	4	the	the	DET
ap-956	115	5	dark	dark	ADJ
ap-956	115	6	line	line	NOUN
ap-956	115	7	that	that	PRON
ap-956	115	8	we	we	PRON
ap-956	115	9	obtain	obtain	VERB
ap-956	115	10	is	be	AUX
ap-956	115	11	tangent	tangent	NOUN
ap-956	115	12	to	to	ADP
ap-956	115	13	the	the	DET
ap-956	115	14	hyperbola	hyperbola	PROPN
ap-956	115	15	and	and	CCONJ
ap-956	115	16	the	the	DET
ap-956	115	17	value	value	NOUN
ap-956	115	18	for	for	ADP
ap-956	115	19	k2	k2	NOUN
ap-956	115	20	is	be	AUX
ap-956	115	21	equal	equal	ADJ
ap-956	115	22	to	to	ADP
ap-956	115	23	the	the	DET
ap-956	115	24	value	value	NOUN
ap-956	115	25	we	we	PRON
ap-956	115	26	used	use	VERB
ap-956	115	27	for	for	SCONJ
ap-956	115	28	k2	k2	PROPN
ap-956	115	29	to	to	PART
ap-956	115	30	compute	compute	VERB
ap-956	115	31	the	the	DET
ap-956	115	32	hyperbola	hyperbola	PROPN
ap-956	115	33	.	.	PUNCT
ap-956	116	1	in	in	ADP
ap-956	116	2	other	other	ADJ
ap-956	116	3	terms	term	NOUN
ap-956	116	4	,	,	PUNCT
ap-956	116	5	if	if	SCONJ
ap-956	116	6	we	we	PRON
ap-956	116	7	want	want	VERB
ap-956	116	8	to	to	PART
ap-956	116	9	retrieve	retrieve	VERB
ap-956	116	10	the	the	DET
ap-956	116	11	value	value	NOUN
ap-956	116	12	k2	k2	NOUN
ap-956	116	13	for	for	ADP
ap-956	116	14	a	a	DET
ap-956	116	15	hyperbola	hyperbola	PROPN
ap-956	116	16	passing	pass	VERB
ap-956	116	17	through	through	ADP
ap-956	116	18	26	26	NUM
ap-956	116	19	©	©	PROPN
ap-956	116	20	czech	czech	PROPN
ap-956	116	21	technical	technical	PROPN
ap-956	116	22	university	university	PROPN
ap-956	116	23	publishing	publishing	NOUN
ap-956	116	24	house	house	NOUN
ap-956	116	25	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-956	116	26	acta	acta	PROPN
ap-956	116	27	polytechnica	polytechnica	PROPN
ap-956	116	28	vol	vol	NOUN
ap-956	116	29	.	.	PUNCT
ap-956	117	1	47	47	NUM
ap-956	117	2	no	no	NOUN
ap-956	117	3	.	.	PUNCT
ap-956	118	1	4–5/2007	4–5/2007	NUM
ap-956	118	2	fig	fig	NOUN
ap-956	118	3	.	.	PUNCT
ap-956	119	1	3	3	NUM
ap-956	119	2	:	:	PUNCT
ap-956	119	3	example	example	NOUN
ap-956	119	4	of	of	ADP
ap-956	119	5	an	an	DET
ap-956	119	6	image	image	NOUN
ap-956	119	7	pair	pair	NOUN
ap-956	119	8	with	with	ADP
ap-956	119	9	points	point	NOUN
ap-956	119	10	and	and	CCONJ
ap-956	119	11	their	their	PRON
ap-956	119	12	respective	respective	ADJ
ap-956	119	13	line	line	NOUN
ap-956	119	14	with	with	ADP
ap-956	119	15	minimal	minimal	ADJ
ap-956	119	16	k2	k2	NOUN
ap-956	119	17	:	:	PUNCT
ap-956	119	18	we	we	PRON
ap-956	119	19	see	see	VERB
ap-956	119	20	the	the	DET
ap-956	119	21	estimated	estimate	VERB
ap-956	119	22	epipolar	epipolar	ADJ
ap-956	119	23	line	line	NOUN
ap-956	119	24	in	in	ADP
ap-956	119	25	the	the	DET
ap-956	119	26	second	second	ADJ
ap-956	119	27	image	image	NOUN
ap-956	119	28	,	,	PUNCT
ap-956	119	29	l	l	NOUN
ap-956	119	30	,	,	PUNCT
ap-956	119	31	that	that	PRON
ap-956	119	32	corresponds	correspond	VERB
ap-956	119	33	to	to	ADP
ap-956	119	34	the	the	DET
ap-956	119	35	point	point	NOUN
ap-956	119	36	x	x	X
ap-956	119	37	in	in	ADP
ap-956	119	38	the	the	DET
ap-956	119	39	first	first	ADJ
ap-956	119	40	image	image	NOUN
ap-956	119	41	,	,	PUNCT
ap-956	119	42	which	which	PRON
ap-956	119	43	is	be	AUX
ap-956	119	44	marked	mark	VERB
ap-956	119	45	by	by	ADP
ap-956	119	46	a	a	DET
ap-956	119	47	white	white	ADJ
ap-956	119	48	point	point	NOUN
ap-956	119	49	.	.	PUNCT
ap-956	120	1	the	the	DET
ap-956	120	2	epipolar	epipolar	ADJ
ap-956	120	3	band	band	NOUN
ap-956	120	4	for	for	ADP
ap-956	120	5	a	a	DET
ap-956	120	6	value	value	NOUN
ap-956	120	7	k2	k2	ADJ
ap-956	120	8	59915	59915	NUM
ap-956	120	9	�	�	PROPN
ap-956	120	10	.	.	PUNCT
ap-956	120	11	,	,	PUNCT
ap-956	120	12	respectively	respectively	ADV
ap-956	120	13	a	a	DET
ap-956	120	14	probability	probability	NOUN
ap-956	120	15	�	�	PROPN
ap-956	120	16	�	�	PROPN
ap-956	120	17	095	095	NUM
ap-956	120	18	.	.	PUNCT
ap-956	120	19	is	be	AUX
ap-956	120	20	within	within	ADP
ap-956	120	21	the	the	DET
ap-956	120	22	hyperbola	hyperbola	PROPN
ap-956	120	23	.	.	PUNCT
ap-956	120	24	points	point	NOUN
ap-956	120	25	marked	mark	VERB
ap-956	120	26	by	by	ADP
ap-956	120	27	a	a	DET
ap-956	120	28	black	black	ADJ
ap-956	120	29	circle	circle	NOUN
ap-956	120	30	in	in	ADP
ap-956	120	31	the	the	DET
ap-956	120	32	second	second	ADJ
ap-956	120	33	image	image	NOUN
ap-956	120	34	are	be	AUX
ap-956	120	35	shown	show	VERB
ap-956	120	36	together	together	ADV
ap-956	120	37	with	with	ADP
ap-956	120	38	the	the	DET
ap-956	120	39	lines	line	NOUN
ap-956	120	40	of	of	ADP
ap-956	120	41	minimal	minimal	ADJ
ap-956	120	42	k2	k2	NOUN
ap-956	120	43	,	,	PUNCT
ap-956	120	44	denoted	denote	VERB
ap-956	120	45	by	by	ADP
ap-956	120	46	m	m	PROPN
ap-956	120	47	,	,	PUNCT
ap-956	120	48	and	and	CCONJ
ap-956	120	49	represented	represent	VERB
ap-956	120	50	dark	dark	ADJ
ap-956	120	51	.	.	PUNCT
ap-956	121	1	fig	fig	NOUN
ap-956	121	2	.	.	PUNCT
ap-956	122	1	4	4	NUM
ap-956	122	2	:	:	PUNCT
ap-956	122	3	line	line	NOUN
ap-956	122	4	with	with	ADP
ap-956	122	5	minimal	minimal	ADJ
ap-956	122	6	k2	k2	NOUN
ap-956	122	7	computed	compute	VERB
ap-956	122	8	for	for	ADP
ap-956	122	9	a	a	DET
ap-956	122	10	point	point	NOUN
ap-956	122	11	on	on	ADP
ap-956	122	12	the	the	DET
ap-956	122	13	estimated	estimate	VERB
ap-956	122	14	epipolar	epipolar	ADJ
ap-956	122	15	line	line	NOUN
ap-956	122	16	:	:	PUNCT
ap-956	122	17	we	we	PRON
ap-956	122	18	see	see	VERB
ap-956	122	19	the	the	DET
ap-956	122	20	epipolar	epipolar	ADJ
ap-956	122	21	band	band	NOUN
ap-956	122	22	for	for	ADP
ap-956	122	23	a	a	DET
ap-956	122	24	value	value	NOUN
ap-956	122	25	k2	k2	ADJ
ap-956	122	26	59915	59915	NUM
ap-956	122	27	�	�	PROPN
ap-956	122	28	.	.	PUNCT
ap-956	122	29	,	,	PUNCT
ap-956	122	30	marked	mark	VERB
ap-956	122	31	by	by	ADP
ap-956	122	32	the	the	DET
ap-956	122	33	hyperbola	hyperbola	PROPN
ap-956	122	34	,	,	PUNCT
ap-956	122	35	corresponding	correspond	VERB
ap-956	122	36	to	to	ADP
ap-956	122	37	the	the	DET
ap-956	122	38	point	point	NOUN
ap-956	122	39	x	x	X
ap-956	122	40	in	in	ADP
ap-956	122	41	the	the	DET
ap-956	122	42	first	first	ADJ
ap-956	122	43	image	image	NOUN
ap-956	122	44	,	,	PUNCT
ap-956	122	45	which	which	PRON
ap-956	122	46	is	be	AUX
ap-956	122	47	marked	mark	VERB
ap-956	122	48	by	by	ADP
ap-956	122	49	a	a	DET
ap-956	122	50	white	white	ADJ
ap-956	122	51	point	point	NOUN
ap-956	122	52	.	.	PUNCT
ap-956	123	1	obviously	obviously	ADV
ap-956	123	2	the	the	DET
ap-956	123	3	epipolar	epipolar	ADJ
ap-956	123	4	line	line	NOUN
ap-956	123	5	with	with	ADP
ap-956	123	6	smallest	small	ADJ
ap-956	123	7	k2	k2	NOUN
ap-956	123	8	for	for	ADP
ap-956	123	9	points	point	NOUN
ap-956	123	10	on	on	ADP
ap-956	123	11	the	the	DET
ap-956	123	12	estimated	estimate	VERB
ap-956	123	13	epipolar	epipolar	ADJ
ap-956	123	14	line	line	NOUN
ap-956	123	15	is	be	AUX
ap-956	123	16	the	the	DET
ap-956	123	17	epipolar	epipolar	ADJ
ap-956	123	18	line	line	NOUN
ap-956	123	19	itself	itself	PRON
ap-956	123	20	.	.	PUNCT
ap-956	124	1	here	here	ADV
ap-956	124	2	we	we	PRON
ap-956	124	3	see	see	VERB
ap-956	124	4	that	that	SCONJ
ap-956	124	5	these	these	DET
ap-956	124	6	two	two	NUM
ap-956	124	7	lines	line	NOUN
ap-956	124	8	are	be	AUX
ap-956	124	9	superposed	superpose	VERB
ap-956	124	10	.	.	PUNCT
ap-956	125	1	the	the	DET
ap-956	125	2	corresponding	corresponding	ADJ
ap-956	125	3	value	value	NOUN
ap-956	125	4	is	be	AUX
ap-956	125	5	k2	k2	PROPN
ap-956	125	6	0	0	NUM
ap-956	125	7	�	�	PROPN
ap-956	125	8	.	.	PUNCT
ap-956	126	1	fig	fig	NOUN
ap-956	126	2	.	.	PUNCT
ap-956	127	1	5	5	NUM
ap-956	127	2	:	:	PUNCT
ap-956	127	3	line	line	NOUN
ap-956	127	4	with	with	ADP
ap-956	127	5	minimal	minimal	ADJ
ap-956	127	6	k2	k2	NOUN
ap-956	127	7	computed	compute	VERB
ap-956	127	8	for	for	ADP
ap-956	127	9	a	a	DET
ap-956	127	10	point	point	NOUN
ap-956	127	11	on	on	ADP
ap-956	127	12	the	the	DET
ap-956	127	13	hyperbola	hyperbola	PROPN
ap-956	127	14	:	:	PUNCT
ap-956	127	15	we	we	PRON
ap-956	127	16	see	see	VERB
ap-956	127	17	the	the	DET
ap-956	127	18	epipolar	epipolar	ADJ
ap-956	127	19	band	band	NOUN
ap-956	127	20	for	for	ADP
ap-956	127	21	a	a	DET
ap-956	127	22	value	value	NOUN
ap-956	127	23	k2	k2	ADJ
ap-956	127	24	59915	59915	NUM
ap-956	127	25	�	�	PROPN
ap-956	127	26	.	.	PUNCT
ap-956	127	27	,	,	PUNCT
ap-956	127	28	marked	mark	VERB
ap-956	127	29	by	by	ADP
ap-956	127	30	the	the	DET
ap-956	127	31	hyperbola	hyperbola	PROPN
ap-956	127	32	,	,	PUNCT
ap-956	127	33	corresponding	correspond	VERB
ap-956	127	34	to	to	ADP
ap-956	127	35	the	the	DET
ap-956	127	36	point	point	NOUN
ap-956	127	37	x	x	X
ap-956	127	38	in	in	ADP
ap-956	127	39	the	the	DET
ap-956	127	40	first	first	ADJ
ap-956	127	41	image	image	NOUN
ap-956	127	42	which	which	PRON
ap-956	127	43	is	be	AUX
ap-956	127	44	marked	mark	VERB
ap-956	127	45	by	by	ADP
ap-956	127	46	a	a	DET
ap-956	127	47	white	white	ADJ
ap-956	127	48	point	point	NOUN
ap-956	127	49	.	.	PUNCT
ap-956	128	1	the	the	DET
ap-956	128	2	line	line	NOUN
ap-956	128	3	m	m	VERB
ap-956	128	4	with	with	ADP
ap-956	128	5	minimal	minimal	ADJ
ap-956	128	6	k2	k2	NOUN
ap-956	128	7	for	for	ADP
ap-956	128	8	the	the	DET
ap-956	128	9	black	black	ADJ
ap-956	128	10	point	point	NOUN
ap-956	128	11	on	on	ADP
ap-956	128	12	the	the	DET
ap-956	128	13	hyperbola	hyperbola	PROPN
ap-956	128	14	is	be	AUX
ap-956	128	15	tangent	tangent	ADJ
ap-956	128	16	to	to	ADP
ap-956	128	17	the	the	DET
ap-956	128	18	hyperbola	hyperbola	PROPN
ap-956	128	19	.	.	PUNCT
ap-956	129	1	the	the	DET
ap-956	129	2	corresponding	corresponding	ADJ
ap-956	129	3	value	value	NOUN
ap-956	129	4	for	for	ADP
ap-956	129	5	k2	k2	NOUN
ap-956	129	6	is	be	AUX
ap-956	129	7	equal	equal	ADJ
ap-956	129	8	to	to	ADP
ap-956	129	9	the	the	DET
ap-956	129	10	value	value	NOUN
ap-956	129	11	we	we	PRON
ap-956	129	12	choose	choose	VERB
ap-956	129	13	to	to	PART
ap-956	129	14	compute	compute	VERB
ap-956	129	15	the	the	DET
ap-956	129	16	hyperbola	hyperbola	PROPN
ap-956	129	17	,	,	PUNCT
ap-956	129	18	i.e.	i.e.	X
ap-956	129	19	k2	k2	PROPN
ap-956	129	20	5991	5991	NUM
ap-956	129	21	�	�	PROPN
ap-956	129	22	.	.	PUNCT
ap-956	129	23	.	.	PUNCT
ap-956	130	1	the	the	DET
ap-956	130	2	point	point	NOUN
ap-956	130	3	x	x	X
ap-956	130	4	,	,	PUNCT
ap-956	130	5	it	it	PRON
ap-956	130	6	is	be	AUX
ap-956	130	7	sufficient	sufficient	ADJ
ap-956	130	8	to	to	PART
ap-956	130	9	compute	compute	VERB
ap-956	130	10	the	the	DET
ap-956	130	11	line	line	NOUN
ap-956	130	12	with	with	ADP
ap-956	130	13	minimal	minimal	ADJ
ap-956	130	14	k2	k2	NOUN
ap-956	130	15	as	as	SCONJ
ap-956	130	16	the	the	DET
ap-956	130	17	k2	k2	PROPN
ap-956	130	18	obtained	obtain	VERB
ap-956	130	19	for	for	ADP
ap-956	130	20	the	the	DET
ap-956	130	21	line	line	NOUN
ap-956	130	22	will	will	AUX
ap-956	130	23	be	be	AUX
ap-956	130	24	equal	equal	ADJ
ap-956	130	25	to	to	ADP
ap-956	130	26	the	the	DET
ap-956	130	27	value	value	NOUN
ap-956	130	28	obtained	obtain	VERB
ap-956	130	29	if	if	SCONJ
ap-956	130	30	we	we	PRON
ap-956	130	31	retrieved	retrieve	VERB
ap-956	130	32	the	the	DET
ap-956	130	33	hyperbola	hyperbola	PROPN
ap-956	130	34	.	.	PUNCT
ap-956	131	1	results	result	NOUN
ap-956	131	2	we	we	PRON
ap-956	131	3	started	start	VERB
ap-956	131	4	from	from	ADP
ap-956	131	5	the	the	DET
ap-956	131	6	situation	situation	NOUN
ap-956	131	7	that	that	SCONJ
ap-956	131	8	for	for	ADP
ap-956	131	9	a	a	DET
ap-956	131	10	point	point	NOUN
ap-956	131	11	x	x	X
ap-956	131	12	in	in	ADP
ap-956	131	13	a	a	DET
ap-956	131	14	first	first	ADJ
ap-956	131	15	image	image	NOUN
ap-956	131	16	a	a	DET
ap-956	131	17	region	region	NOUN
ap-956	131	18	in	in	ADP
ap-956	131	19	the	the	DET
ap-956	131	20	second	second	ADJ
ap-956	131	21	image	image	NOUN
ap-956	131	22	,	,	PUNCT
ap-956	131	23	delimited	delimit	VERB
ap-956	131	24	by	by	ADP
ap-956	131	25	a	a	DET
ap-956	131	26	hyperbola	hyperbola	PROPN
ap-956	131	27	,	,	PUNCT
ap-956	131	28	was	be	AUX
ap-956	131	29	defined	define	VERB
ap-956	131	30	.	.	PUNCT
ap-956	132	1	we	we	PRON
ap-956	132	2	knew	know	VERB
ap-956	132	3	from	from	ADP
ap-956	132	4	the	the	DET
ap-956	132	5	epipolar	epipolar	ADJ
ap-956	132	6	geometry	geometry	NOUN
ap-956	132	7	and	and	CCONJ
ap-956	132	8	its	its	PRON
ap-956	132	9	uncertainty	uncertainty	NOUN
ap-956	132	10	that	that	SCONJ
ap-956	132	11	its	its	PRON
ap-956	132	12	correspondence	correspondence	NOUN
ap-956	132	13	�	�	NOUN
ap-956	132	14	x	x	VERB
ap-956	132	15	would	would	AUX
ap-956	132	16	be	be	AUX
ap-956	132	17	located	locate	VERB
ap-956	132	18	within	within	ADP
ap-956	132	19	this	this	DET
ap-956	132	20	region	region	NOUN
ap-956	132	21	with	with	ADP
ap-956	132	22	a	a	DET
ap-956	132	23	given	give	VERB
ap-956	132	24	probability	probability	NOUN
ap-956	132	25	�	�	PROPN
ap-956	132	26	,	,	PUNCT
ap-956	132	27	which	which	PRON
ap-956	132	28	was	be	AUX
ap-956	132	29	derived	derive	VERB
ap-956	132	30	from	from	ADP
ap-956	132	31	the	the	DET
ap-956	132	32	mahalanobis	mahalanobis	ADJ
ap-956	132	33	distance	distance	NOUN
ap-956	132	34	k.	k.	PROPN
ap-956	133	1	the	the	DET
ap-956	133	2	result	result	NOUN
ap-956	133	3	is	be	AUX
ap-956	133	4	that	that	SCONJ
ap-956	133	5	we	we	PRON
ap-956	133	6	can	can	AUX
ap-956	133	7	now	now	ADV
ap-956	133	8	compute	compute	VERB
ap-956	133	9	for	for	ADP
ap-956	133	10	a	a	DET
ap-956	133	11	pair	pair	NOUN
ap-956	133	12	of	of	ADP
ap-956	133	13	corresponding	corresponding	ADJ
ap-956	133	14	points	point	NOUN
ap-956	133	15	x	x	PUNCT
ap-956	133	16	x	x	X
ap-956	133	17	�	�	PROPN
ap-956	133	18	�	�	PROPN
ap-956	133	19	the	the	DET
ap-956	133	20	corresponding	corresponding	ADJ
ap-956	133	21	hyperbola	hyperbola	PROPN
ap-956	133	22	,	,	PUNCT
ap-956	133	23	passing	pass	VERB
ap-956	133	24	through	through	ADP
ap-956	133	25	�	�	PROPN
ap-956	133	26	x	x	SYM
ap-956	133	27	,	,	PUNCT
ap-956	133	28	and	and	CCONJ
ap-956	133	29	the	the	DET
ap-956	133	30	value	value	NOUN
ap-956	133	31	k2	k2	PROPN
ap-956	133	32	corresponding	corresponding	NOUN
ap-956	133	33	to	to	ADP
ap-956	133	34	the	the	DET
ap-956	133	35	hyperbola	hyperbola	PROPN
ap-956	133	36	.	.	PUNCT
ap-956	134	1	in	in	ADP
ap-956	134	2	the	the	DET
ap-956	134	3	old	old	ADJ
ap-956	134	4	application	application	NOUN
ap-956	134	5	the	the	DET
ap-956	134	6	probability	probability	NOUN
ap-956	134	7	to	to	PART
ap-956	134	8	find	find	VERB
ap-956	134	9	the	the	DET
ap-956	134	10	corresponding	correspond	VERB
ap-956	134	11	point	point	NOUN
ap-956	134	12	�	�	PROPN
ap-956	134	13	x	x	NOUN
ap-956	134	14	within	within	ADP
ap-956	134	15	the	the	DET
ap-956	134	16	hyperbola	hyperbola	PROPN
ap-956	134	17	was	be	AUX
ap-956	134	18	increasing	increase	VERB
ap-956	134	19	with	with	ADP
ap-956	134	20	higher	high	ADJ
ap-956	134	21	values	value	NOUN
ap-956	134	22	for	for	ADP
ap-956	134	23	k2	k2	NOUN
ap-956	134	24	,	,	PUNCT
ap-956	134	25	(	(	PUNCT
ap-956	134	26	the	the	DET
ap-956	134	27	region	region	NOUN
ap-956	134	28	bounded	bound	VERB
ap-956	134	29	by	by	ADP
ap-956	134	30	the	the	DET
ap-956	134	31	hyperbola	hyperbola	PROPN
ap-956	134	32	increases	increase	VERB
ap-956	134	33	with	with	ADP
ap-956	134	34	higher	high	ADJ
ap-956	134	35	values	value	NOUN
ap-956	134	36	of	of	ADP
ap-956	134	37	k2	k2	NOUN
ap-956	134	38	)	)	PUNCT
ap-956	134	39	,	,	PUNCT
ap-956	134	40	in	in	ADP
ap-956	134	41	our	our	PRON
ap-956	134	42	application	application	NOUN
ap-956	134	43	a	a	DET
ap-956	134	44	low	low	ADJ
ap-956	134	45	value	value	NOUN
ap-956	134	46	for	for	ADP
ap-956	134	47	k2	k2	NOUN
ap-956	134	48	indicates	indicate	VERB
ap-956	134	49	that	that	SCONJ
ap-956	134	50	the	the	DET
ap-956	134	51	probability	probability	NOUN
ap-956	134	52	that	that	SCONJ
ap-956	134	53	x	x	SYM
ap-956	134	54	x	x	X
ap-956	134	55	�	�	PROPN
ap-956	134	56	�	�	PROPN
ap-956	134	57	are	be	AUX
ap-956	134	58	corresponding	correspond	VERB
ap-956	134	59	points	point	NOUN
ap-956	134	60	is	be	AUX
ap-956	134	61	high	high	ADJ
ap-956	134	62	and	and	CCONJ
ap-956	134	63	vice	vice	ADV
ap-956	134	64	versa	versa	ADV
ap-956	134	65	.	.	PUNCT
ap-956	135	1	the	the	DET
ap-956	135	2	way	way	NOUN
ap-956	135	3	to	to	PART
ap-956	135	4	find	find	VERB
ap-956	135	5	the	the	DET
ap-956	135	6	value	value	NOUN
ap-956	135	7	for	for	ADP
ap-956	135	8	k2	k2	NOUN
ap-956	135	9	,	,	PUNCT
ap-956	135	10	which	which	PRON
ap-956	135	11	is	be	AUX
ap-956	135	12	actually	actually	ADV
ap-956	135	13	the	the	DET
ap-956	135	14	mahalanobis	mahalanobis	ADJ
ap-956	135	15	distance	distance	NOUN
ap-956	135	16	k	k	INTJ
ap-956	135	17	between	between	ADP
ap-956	135	18	the	the	DET
ap-956	135	19	estimated	estimate	VERB
ap-956	135	20	epipolar	epipolar	ADJ
ap-956	135	21	line	line	NOUN
ap-956	135	22	and	and	CCONJ
ap-956	135	23	the	the	DET
ap-956	135	24	line	line	NOUN
ap-956	135	25	passing	pass	VERB
ap-956	135	26	through	through	ADP
ap-956	135	27	�	�	PROPN
ap-956	135	28	x	x	PUNCT
ap-956	135	29	with	with	ADP
ap-956	135	30	minimal	minimal	ADJ
ap-956	135	31	k	k	NOUN
ap-956	135	32	,	,	PUNCT
ap-956	135	33	is	be	AUX
ap-956	135	34	of	of	ADP
ap-956	135	35	no	no	DET
ap-956	135	36	relevance	relevance	NOUN
ap-956	135	37	in	in	ADP
ap-956	135	38	applications	application	NOUN
ap-956	135	39	.	.	PUNCT
ap-956	136	1	this	this	PRON
ap-956	136	2	means	mean	VERB
ap-956	136	3	that	that	SCONJ
ap-956	136	4	in	in	ADP
ap-956	136	5	our	our	PRON
ap-956	136	6	applications	application	NOUN
ap-956	136	7	,	,	PUNCT
ap-956	136	8	for	for	ADP
ap-956	136	9	a	a	DET
ap-956	136	10	point	point	NOUN
ap-956	136	11	�	�	NOUN
ap-956	136	12	x	x	SYM
ap-956	136	13	,	,	PUNCT
ap-956	136	14	we	we	PRON
ap-956	136	15	will	will	AUX
ap-956	136	16	only	only	ADV
ap-956	136	17	be	be	AUX
ap-956	136	18	interested	interested	ADJ
ap-956	136	19	in	in	ADP
ap-956	136	20	the	the	DET
ap-956	136	21	mahalanobis	mahalanobis	ADJ
ap-956	136	22	distance	distance	NOUN
ap-956	136	23	of	of	ADP
ap-956	136	24	the	the	DET
ap-956	136	25	corresponding	correspond	VERB
ap-956	136	26	line	line	NOUN
ap-956	136	27	m	m	NOUN
ap-956	136	28	,	,	PUNCT
ap-956	136	29	not	not	PART
ap-956	136	30	in	in	ADP
ap-956	136	31	the	the	DET
ap-956	136	32	line	line	NOUN
ap-956	136	33	itself	itself	PRON
ap-956	136	34	.	.	PUNCT
ap-956	137	1	for	for	ADP
ap-956	137	2	the	the	DET
ap-956	137	3	purpose	purpose	NOUN
ap-956	137	4	of	of	ADP
ap-956	137	5	illustration	illustration	NOUN
ap-956	137	6	we	we	PRON
ap-956	137	7	generated	generate	VERB
ap-956	137	8	fig	fig	NOUN
ap-956	137	9	.	.	PUNCT
ap-956	138	1	6	6	NUM
ap-956	138	2	,	,	PUNCT
ap-956	138	3	where	where	SCONJ
ap-956	138	4	for	for	ADP
ap-956	138	5	each	each	DET
ap-956	138	6	pixel	pixel	PROPN
ap-956	138	7	�	�	PROPN
ap-956	138	8	x	x	PRON
ap-956	138	9	we	we	PRON
ap-956	138	10	computed	compute	VERB
ap-956	138	11	the	the	DET
ap-956	138	12	mahalanobis	mahalanobis	ADJ
ap-956	138	13	distance	distance	NOUN
ap-956	138	14	k2	k2	NOUN
ap-956	138	15	according	accord	VERB
ap-956	138	16	to	to	ADP
ap-956	138	17	the	the	DET
ap-956	138	18	minimization	minimization	NOUN
ap-956	138	19	problem	problem	NOUN
ap-956	138	20	from	from	ADP
ap-956	138	21	equation	equation	NOUN
ap-956	138	22	(	(	PUNCT
ap-956	138	23	7	7	NUM
ap-956	138	24	)	)	PUNCT
ap-956	138	25	and	and	CCONJ
ap-956	138	26	represented	represent	VERB
ap-956	138	27	it	it	PRON
ap-956	138	28	using	use	VERB
ap-956	138	29	grayscales	grayscale	NOUN
ap-956	138	30	.	.	PUNCT
ap-956	139	1	in	in	ADP
ap-956	139	2	particular	particular	ADJ
ap-956	139	3	,	,	PUNCT
ap-956	139	4	points	point	NOUN
ap-956	139	5	in	in	ADP
ap-956	139	6	white	white	PROPN
ap-956	139	7	have	have	VERB
ap-956	139	8	values	value	NOUN
ap-956	139	9	close	close	ADJ
ap-956	139	10	to	to	ADP
ap-956	139	11	k2	k2	PROPN
ap-956	139	12	0	0	NUM
ap-956	139	13	�	�	PROPN
ap-956	139	14	,	,	PUNCT
ap-956	139	15	points	point	VERB
ap-956	139	16	in	in	ADP
ap-956	139	17	black	black	ADJ
ap-956	139	18	,	,	PUNCT
ap-956	139	19	a	a	DET
ap-956	139	20	value	value	NOUN
ap-956	139	21	close	close	ADV
ap-956	139	22	to	to	ADP
ap-956	139	23	the	the	DET
ap-956	139	24	maximum	maximum	ADJ
ap-956	139	25	value	value	NOUN
ap-956	139	26	on	on	ADP
ap-956	139	27	the	the	DET
ap-956	139	28	image	image	NOUN
ap-956	139	29	.	.	PUNCT
ap-956	140	1	we	we	PRON
ap-956	140	2	used	use	VERB
ap-956	140	3	the	the	DET
ap-956	140	4	whole	whole	ADJ
ap-956	140	5	range	range	NOUN
ap-956	140	6	of	of	ADP
ap-956	140	7	k2	k2	ADJ
ap-956	140	8	values	value	NOUN
ap-956	140	9	on	on	ADP
ap-956	140	10	the	the	DET
ap-956	140	11	second	second	ADJ
ap-956	140	12	image	image	NOUN
ap-956	140	13	and	and	CCONJ
ap-956	140	14	divided	divide	VERB
ap-956	140	15	the	the	DET
ap-956	140	16	range	range	NOUN
ap-956	140	17	into	into	ADP
ap-956	140	18	256	256	NUM
ap-956	140	19	levels	level	NOUN
ap-956	140	20	of	of	ADP
ap-956	140	21	equal	equal	ADJ
ap-956	140	22	width	width	NOUN
ap-956	140	23	,	,	PUNCT
ap-956	140	24	each	each	DET
ap-956	140	25	one	one	NOUN
ap-956	140	26	represented	represent	VERB
ap-956	140	27	by	by	ADP
ap-956	140	28	its	its	PRON
ap-956	140	29	relative	relative	ADJ
ap-956	140	30	grayscale	grayscale	NOUN
ap-956	140	31	level	level	NOUN
ap-956	140	32	.	.	PUNCT
ap-956	141	1	3	3	NUM
ap-956	141	2	application	application	NOUN
ap-956	141	3	to	to	ADP
ap-956	141	4	outlier	outlier	NOUN
ap-956	141	5	removal	removal	NOUN
ap-956	141	6	the	the	DET
ap-956	141	7	initial	initial	ADJ
ap-956	141	8	aim	aim	NOUN
ap-956	141	9	was	be	AUX
ap-956	141	10	to	to	PART
ap-956	141	11	develop	develop	VERB
ap-956	141	12	a	a	DET
ap-956	141	13	new	new	ADJ
ap-956	141	14	criterion	criterion	NOUN
ap-956	141	15	for	for	ADP
ap-956	141	16	robust	robust	ADJ
ap-956	141	17	outlier	outlier	ADJ
ap-956	141	18	elimination	elimination	NOUN
ap-956	141	19	.	.	PUNCT
ap-956	142	1	existing	exist	VERB
ap-956	142	2	algorithms	algorithm	NOUN
ap-956	142	3	use	use	VERB
ap-956	142	4	criteria	criterion	NOUN
ap-956	142	5	based	base	VERB
ap-956	142	6	on	on	ADP
ap-956	142	7	the	the	DET
ap-956	142	8	distance	distance	NOUN
ap-956	142	9	of	of	ADP
ap-956	142	10	a	a	DET
ap-956	142	11	point	point	NOUN
ap-956	142	12	to	to	ADP
ap-956	142	13	its	its	PRON
ap-956	142	14	corresponding	corresponding	ADJ
ap-956	142	15	epipolar	epipolar	ADJ
ap-956	142	16	line	line	NOUN
ap-956	142	17	.	.	PUNCT
ap-956	143	1	for	for	ADP
ap-956	143	2	distance	distance	NOUN
ap-956	143	3	based	base	VERB
ap-956	143	4	algorithms	algorithm	NOUN
ap-956	143	5	,	,	PUNCT
ap-956	143	6	in	in	ADP
ap-956	143	7	the	the	DET
ap-956	143	8	background	background	NOUN
ap-956	143	9	,	,	PUNCT
ap-956	143	10	the	the	DET
ap-956	143	11	distance	distance	NOUN
ap-956	143	12	to	to	ADP
ap-956	143	13	the	the	DET
ap-956	143	14	epipolar	epipolar	ADJ
ap-956	143	15	line	line	NOUN
ap-956	143	16	will	will	AUX
ap-956	143	17	increase	increase	VERB
ap-956	143	18	as	as	SCONJ
ap-956	143	19	the	the	DET
ap-956	143	20	estimation	estimation	NOUN
ap-956	143	21	of	of	ADP
ap-956	143	22	the	the	DET
ap-956	143	23	fundamental	fundamental	ADJ
ap-956	143	24	matrix	matrix	NOUN
ap-956	143	25	will	will	AUX
ap-956	143	26	be	be	AUX
ap-956	143	27	far	far	ADV
ap-956	143	28	better	well	ADJ
ap-956	143	29	for	for	ADP
ap-956	143	30	points	point	NOUN
ap-956	143	31	in	in	ADP
ap-956	143	32	the	the	DET
ap-956	143	33	foreground	foreground	NOUN
ap-956	143	34	.	.	PUNCT
ap-956	144	1	the	the	DET
ap-956	144	2	use	use	NOUN
ap-956	144	3	of	of	ADP
ap-956	144	4	a	a	DET
ap-956	144	5	threshold	threshold	NOUN
ap-956	144	6	distance	distance	NOUN
ap-956	144	7	to	to	PART
ap-956	144	8	eliminate	eliminate	VERB
ap-956	144	9	outliers	outlier	NOUN
ap-956	144	10	will	will	AUX
ap-956	144	11	lead	lead	VERB
ap-956	144	12	to	to	ADP
ap-956	144	13	an	an	DET
ap-956	144	14	elimination	elimination	NOUN
ap-956	144	15	of	of	ADP
ap-956	144	16	points	point	NOUN
ap-956	144	17	further	far	ADV
ap-956	144	18	away	away	ADV
ap-956	144	19	from	from	ADP
ap-956	144	20	the	the	DET
ap-956	144	21	central	central	ADJ
ap-956	144	22	points	point	NOUN
ap-956	144	23	,	,	PUNCT
ap-956	144	24	as	as	SCONJ
ap-956	144	25	we	we	PRON
ap-956	144	26	can	can	AUX
ap-956	144	27	observe	observe	VERB
ap-956	144	28	in	in	ADP
ap-956	144	29	fig	fig	NOUN
ap-956	144	30	.	.	PUNCT
ap-956	145	1	8	8	NUM
ap-956	145	2	(	(	PUNCT
ap-956	145	3	b	b	NOUN
ap-956	145	4	)	)	PUNCT
ap-956	145	5	.	.	PUNCT
ap-956	146	1	similar	similar	ADJ
ap-956	146	2	to	to	ADP
ap-956	146	3	other	other	ADJ
ap-956	146	4	applications	application	NOUN
ap-956	146	5	,	,	PUNCT
ap-956	146	6	we	we	PRON
ap-956	146	7	could	could	AUX
ap-956	146	8	consider	consider	VERB
ap-956	146	9	using	use	VERB
ap-956	146	10	the	the	DET
ap-956	146	11	epipolar	epipolar	ADJ
ap-956	146	12	band	band	NOUN
ap-956	146	13	to	to	PART
ap-956	146	14	remove	remove	VERB
ap-956	146	15	outliers	outlier	NOUN
ap-956	146	16	.	.	PUNCT
ap-956	147	1	this	this	PRON
ap-956	147	2	means	mean	VERB
ap-956	147	3	that	that	SCONJ
ap-956	147	4	instead	instead	ADV
ap-956	147	5	of	of	ADP
ap-956	147	6	computing	compute	VERB
ap-956	147	7	the	the	DET
ap-956	147	8	epipolar	epipolar	ADJ
ap-956	147	9	line	line	NOUN
ap-956	147	10	and	and	CCONJ
ap-956	147	11	the	the	DET
ap-956	147	12	distance	distance	NOUN
ap-956	147	13	of	of	ADP
ap-956	147	14	a	a	DET
ap-956	147	15	point	point	NOUN
ap-956	147	16	to	to	ADP
ap-956	147	17	the	the	DET
ap-956	147	18	epipolar	epipolar	ADJ
ap-956	147	19	line	line	NOUN
ap-956	147	20	,	,	PUNCT
ap-956	147	21	we	we	PRON
ap-956	147	22	just	just	ADV
ap-956	147	23	compute	compute	VERB
ap-956	147	24	the	the	DET
ap-956	147	25	epipolar	epipolar	ADJ
ap-956	147	26	band	band	NOUN
ap-956	147	27	,	,	PUNCT
ap-956	147	28	and	and	CCONJ
ap-956	147	29	remove	remove	VERB
ap-956	147	30	points	point	NOUN
ap-956	147	31	located	locate	VERB
ap-956	147	32	outside	outside	ADP
ap-956	147	33	the	the	DET
ap-956	147	34	epipolar	epipolar	ADJ
ap-956	147	35	band	band	NOUN
ap-956	147	36	.	.	PUNCT
ap-956	148	1	this	this	PRON
ap-956	148	2	would	would	AUX
ap-956	148	3	resolve	resolve	VERB
ap-956	148	4	the	the	DET
ap-956	148	5	problem	problem	NOUN
ap-956	148	6	of	of	ADP
ap-956	148	7	removing	remove	VERB
ap-956	148	8	points	point	NOUN
ap-956	148	9	from	from	ADP
ap-956	148	10	the	the	DET
ap-956	148	11	background	background	NOUN
ap-956	148	12	.	.	PUNCT
ap-956	149	1	although	although	SCONJ
ap-956	149	2	this	this	DET
ap-956	149	3	application	application	NOUN
ap-956	149	4	seems	seem	VERB
ap-956	149	5	suitable	suitable	ADJ
ap-956	149	6	,	,	PUNCT
ap-956	149	7	two	two	NUM
ap-956	149	8	parameters	parameter	NOUN
ap-956	149	9	have	have	VERB
ap-956	149	10	to	to	PART
ap-956	149	11	be	be	AUX
ap-956	149	12	set	set	VERB
ap-956	149	13	.	.	PUNCT
ap-956	150	1	first	first	ADV
ap-956	150	2	we	we	PRON
ap-956	150	3	have	have	VERB
ap-956	150	4	to	to	PART
ap-956	150	5	make	make	VERB
ap-956	150	6	an	an	DET
ap-956	150	7	assumption	assumption	NOUN
ap-956	150	8	about	about	ADP
ap-956	150	9	the	the	DET
ap-956	150	10	variance	variance	NOUN
ap-956	150	11	of	of	ADP
ap-956	150	12	the	the	DET
ap-956	150	13	point	point	NOUN
ap-956	150	14	correspondences	correspondence	NOUN
ap-956	150	15	,	,	PUNCT
ap-956	150	16	and	and	CCONJ
ap-956	150	17	the	the	DET
ap-956	150	18	value	value	NOUN
ap-956	150	19	for	for	ADP
ap-956	150	20	k2	k2	NOUN
ap-956	150	21	from	from	ADP
ap-956	150	22	where	where	SCONJ
ap-956	150	23	we	we	PRON
ap-956	150	24	compute	compute	VERB
ap-956	150	25	the	the	DET
ap-956	150	26	epipolar	epipolar	ADJ
ap-956	150	27	band	band	NOUN
ap-956	150	28	needs	need	VERB
ap-956	150	29	to	to	PART
ap-956	150	30	be	be	AUX
ap-956	150	31	set	set	VERB
ap-956	150	32	.	.	PUNCT
ap-956	151	1	in	in	ADP
ap-956	151	2	the	the	DET
ap-956	151	3	following	following	NOUN
ap-956	151	4	we	we	PRON
ap-956	151	5	present	present	VERB
ap-956	151	6	an	an	DET
ap-956	151	7	algorithm	algorithm	NOUN
ap-956	151	8	overcoming	overcome	VERB
ap-956	151	9	the	the	DET
ap-956	151	10	drawbacks	drawback	NOUN
ap-956	151	11	of	of	ADP
ap-956	151	12	the	the	DET
ap-956	151	13	algorithms	algorithm	NOUN
ap-956	151	14	mentioned	mention	VERB
ap-956	151	15	above	above	ADV
ap-956	151	16	by	by	ADP
ap-956	151	17	using	use	VERB
ap-956	151	18	our	our	PRON
ap-956	151	19	new	new	ADJ
ap-956	151	20	criterion	criterion	NOUN
ap-956	151	21	.	.	PUNCT
ap-956	152	1	3.1	3.1	NUM
ap-956	152	2	algorithm	algorithm	NOUN
ap-956	152	3	the	the	DET
ap-956	152	4	values	value	NOUN
ap-956	152	5	chosen	choose	VERB
ap-956	152	6	for	for	ADP
ap-956	152	7	the	the	DET
ap-956	152	8	standard	standard	ADJ
ap-956	152	9	deviation	deviation	NOUN
ap-956	152	10	�	�	PROPN
ap-956	152	11	of	of	ADP
ap-956	152	12	points	point	NOUN
ap-956	152	13	to	to	PART
ap-956	152	14	compute	compute	VERB
ap-956	152	15	the	the	DET
ap-956	152	16	covariance	covariance	NOUN
ap-956	152	17	matrix	matrix	NOUN
ap-956	152	18	of	of	ADP
ap-956	152	19	the	the	DET
ap-956	152	20	fundamental	fundamental	ADJ
ap-956	152	21	matrix	matrix	NOUN
ap-956	152	22	are	be	AUX
ap-956	152	23	varying	vary	VERB
ap-956	152	24	,	,	PUNCT
ap-956	152	25	and	and	CCONJ
ap-956	152	26	thus	thus	ADV
ap-956	152	27	we	we	PRON
ap-956	152	28	first	first	ADV
ap-956	152	29	computed	compute	VERB
ap-956	152	30	the	the	DET
ap-956	152	31	value	value	NOUN
ap-956	152	32	k2	k2	NOUN
ap-956	152	33	of	of	ADP
ap-956	152	34	each	each	DET
ap-956	152	35	used	use	VERB
ap-956	152	36	point	point	NOUN
ap-956	152	37	correspondence	correspondence	NOUN
ap-956	152	38	.	.	PUNCT
ap-956	153	1	if	if	SCONJ
ap-956	153	2	we	we	PRON
ap-956	153	3	consider	consider	VERB
ap-956	153	4	the	the	DET
ap-956	153	5	distribution	distribution	NOUN
ap-956	153	6	of	of	ADP
ap-956	153	7	the	the	DET
ap-956	153	8	value	value	NOUN
ap-956	153	9	k2	k2	NOUN
ap-956	153	10	for	for	ADP
ap-956	153	11	each	each	DET
ap-956	153	12	point	point	NOUN
ap-956	153	13	in	in	ADP
ap-956	153	14	fig	fig	NOUN
ap-956	153	15	.	.	PUNCT
ap-956	154	1	7	7	NUM
ap-956	154	2	,	,	PUNCT
ap-956	154	3	we	we	PRON
ap-956	154	4	see	see	VERB
ap-956	154	5	that	that	SCONJ
ap-956	154	6	most	most	ADJ
ap-956	154	7	of	of	ADP
ap-956	154	8	the	the	DET
ap-956	154	9	correspondences	correspondence	NOUN
ap-956	154	10	are	be	AUX
ap-956	154	11	very	very	ADV
ap-956	154	12	small	small	ADJ
ap-956	154	13	,	,	PUNCT
ap-956	154	14	whereas	whereas	SCONJ
ap-956	154	15	some	some	DET
ap-956	154	16	correspondences	correspondence	NOUN
ap-956	154	17	have	have	VERB
ap-956	154	18	huge	huge	ADJ
ap-956	154	19	k2	k2	ADJ
ap-956	154	20	values	value	NOUN
ap-956	154	21	.	.	PUNCT
ap-956	155	1	a	a	DET
ap-956	155	2	classification	classification	NOUN
ap-956	155	3	of	of	ADP
ap-956	155	4	inliers	inlier	NOUN
ap-956	155	5	and	and	CCONJ
ap-956	155	6	outliers	outlier	NOUN
ap-956	155	7	can	can	AUX
ap-956	155	8	be	be	AUX
ap-956	155	9	easily	easily	ADV
ap-956	155	10	performed	perform	VERB
ap-956	155	11	.	.	PUNCT
ap-956	156	1	©	©	PROPN
ap-956	156	2	czech	czech	PROPN
ap-956	156	3	technical	technical	PROPN
ap-956	156	4	university	university	PROPN
ap-956	156	5	publishing	publishing	NOUN
ap-956	156	6	house	house	NOUN
ap-956	156	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-956	156	8	27	27	NUM
ap-956	156	9	acta	acta	PROPN
ap-956	156	10	polytechnica	polytechnica	PROPN
ap-956	156	11	vol	vol	NOUN
ap-956	156	12	.	.	PUNCT
ap-956	157	1	47	47	NUM
ap-956	157	2	no	no	NOUN
ap-956	157	3	.	.	PUNCT
ap-956	158	1	4–5/2007	4–5/2007	NUM
ap-956	158	2	fig	fig	NOUN
ap-956	158	3	.	.	PUNCT
ap-956	159	1	6	6	NUM
ap-956	159	2	:	:	PUNCT
ap-956	159	3	image	image	NOUN
ap-956	159	4	representing	represent	VERB
ap-956	159	5	the	the	DET
ap-956	159	6	mahalanobis	mahalanobis	ADJ
ap-956	159	7	distance	distance	NOUN
ap-956	159	8	k2	k2	PROPN
ap-956	159	9	over	over	ADP
ap-956	159	10	an	an	DET
ap-956	159	11	image	image	NOUN
ap-956	159	12	:	:	PUNCT
ap-956	159	13	the	the	DET
ap-956	159	14	right	right	ADJ
ap-956	159	15	image	image	NOUN
ap-956	159	16	shows	show	VERB
ap-956	159	17	the	the	DET
ap-956	159	18	epipolar	epipolar	ADJ
ap-956	159	19	band	band	NOUN
ap-956	159	20	for	for	ADP
ap-956	159	21	k2	k2	ADJ
ap-956	159	22	5991	5991	NUM
ap-956	159	23	�	�	PROPN
ap-956	159	24	.	.	PUNCT
ap-956	159	25	.	.	PUNCT
ap-956	160	1	in	in	ADP
ap-956	160	2	the	the	DET
ap-956	160	3	left	left	ADJ
ap-956	160	4	image	image	NOUN
ap-956	160	5	we	we	PRON
ap-956	160	6	computed	compute	VERB
ap-956	160	7	for	for	ADP
ap-956	160	8	each	each	DET
ap-956	160	9	pixel	pixel	PROPN
ap-956	160	10	�	�	PROPN
ap-956	160	11	x	x	PROPN
ap-956	160	12	the	the	DET
ap-956	160	13	mahalanobis	mahalanobis	ADJ
ap-956	160	14	distance	distance	NOUN
ap-956	160	15	k2	k2	NOUN
ap-956	160	16	and	and	CCONJ
ap-956	160	17	represented	represent	VERB
ap-956	160	18	it	it	PRON
ap-956	160	19	using	use	VERB
ap-956	160	20	grayscales	grayscale	NOUN
ap-956	160	21	.	.	PUNCT
ap-956	161	1	in	in	ADP
ap-956	161	2	particular	particular	ADJ
ap-956	161	3	,	,	PUNCT
ap-956	161	4	points	point	NOUN
ap-956	161	5	in	in	ADP
ap-956	161	6	white	white	PROPN
ap-956	161	7	have	have	VERB
ap-956	161	8	values	value	NOUN
ap-956	161	9	close	close	ADJ
ap-956	161	10	to	to	ADP
ap-956	161	11	k2	k2	PROPN
ap-956	161	12	0	0	NUM
ap-956	161	13	�	�	PROPN
ap-956	161	14	,	,	PUNCT
ap-956	161	15	points	point	VERB
ap-956	161	16	in	in	ADP
ap-956	161	17	black	black	ADJ
ap-956	161	18	,	,	PUNCT
ap-956	161	19	a	a	DET
ap-956	161	20	value	value	NOUN
ap-956	161	21	close	close	ADV
ap-956	161	22	to	to	ADP
ap-956	161	23	the	the	DET
ap-956	161	24	maximum	maximum	ADJ
ap-956	161	25	value	value	NOUN
ap-956	161	26	on	on	ADP
ap-956	161	27	the	the	DET
ap-956	161	28	image	image	NOUN
ap-956	161	29	.	.	PUNCT
ap-956	162	1	we	we	PRON
ap-956	162	2	used	use	VERB
ap-956	162	3	the	the	DET
ap-956	162	4	whole	whole	ADJ
ap-956	162	5	range	range	NOUN
ap-956	162	6	of	of	ADP
ap-956	162	7	k2	k2	ADJ
ap-956	162	8	values	value	NOUN
ap-956	162	9	and	and	CCONJ
ap-956	162	10	divided	divide	VERB
ap-956	162	11	the	the	DET
ap-956	162	12	range	range	NOUN
ap-956	162	13	into	into	ADP
ap-956	162	14	256	256	NUM
ap-956	162	15	levels	level	NOUN
ap-956	162	16	of	of	ADP
ap-956	162	17	equal	equal	ADJ
ap-956	162	18	width	width	NOUN
ap-956	162	19	,	,	PUNCT
ap-956	162	20	each	each	DET
ap-956	162	21	one	one	NOUN
ap-956	162	22	represented	represent	VERB
ap-956	162	23	by	by	ADP
ap-956	162	24	its	its	PRON
ap-956	162	25	relative	relative	ADJ
ap-956	162	26	grayscale	grayscale	NOUN
ap-956	162	27	level	level	NOUN
ap-956	162	28	.	.	PUNCT
ap-956	163	1	fig	fig	NOUN
ap-956	163	2	.	.	PUNCT
ap-956	164	1	7	7	X
ap-956	164	2	.	.	X
ap-956	164	3	distribution	distribution	NOUN
ap-956	164	4	of	of	ADP
ap-956	164	5	the	the	DET
ap-956	164	6	values	value	NOUN
ap-956	164	7	of	of	ADP
ap-956	164	8	k2	k2	NOUN
ap-956	164	9	:	:	PUNCT
ap-956	164	10	this	this	DET
ap-956	164	11	figure	figure	NOUN
ap-956	164	12	shows	show	VERB
ap-956	164	13	a	a	DET
ap-956	164	14	histogram	histogram	NOUN
ap-956	164	15	over	over	ADP
ap-956	164	16	the	the	DET
ap-956	164	17	values	value	NOUN
ap-956	164	18	for	for	ADP
ap-956	164	19	k2	k2	NOUN
ap-956	164	20	of	of	ADP
ap-956	164	21	the	the	DET
ap-956	164	22	point	point	NOUN
ap-956	164	23	correspondences	correspondence	NOUN
ap-956	164	24	from	from	ADP
ap-956	164	25	fig	fig	NOUN
ap-956	164	26	.	.	PUNCT
ap-956	165	1	8	8	NUM
ap-956	165	2	(	(	PUNCT
ap-956	165	3	a	a	X
ap-956	165	4	)	)	PUNCT
ap-956	165	5	our	our	PRON
ap-956	165	6	proposition	proposition	NOUN
ap-956	165	7	is	be	AUX
ap-956	165	8	to	to	PART
ap-956	165	9	compute	compute	VERB
ap-956	165	10	the	the	DET
ap-956	165	11	median	median	ADJ
ap-956	165	12	value	value	NOUN
ap-956	165	13	of	of	ADP
ap-956	165	14	k2	k2	PROPN
ap-956	165	15	.	.	PUNCT
ap-956	166	1	as	as	SCONJ
ap-956	166	2	the	the	DET
ap-956	166	3	ransac	ransac	NOUN
ap-956	166	4	algorithm	algorithm	NOUN
ap-956	166	5	does	do	AUX
ap-956	166	6	not	not	PART
ap-956	166	7	perform	perform	VERB
ap-956	166	8	well	well	ADV
ap-956	166	9	in	in	ADP
ap-956	166	10	the	the	DET
ap-956	166	11	case	case	NOUN
ap-956	166	12	of	of	ADP
ap-956	166	13	more	more	ADJ
ap-956	166	14	than	than	ADP
ap-956	166	15	50	50	NUM
ap-956	166	16	percent	percent	NOUN
ap-956	166	17	outliers	outlier	NOUN
ap-956	166	18	,	,	PUNCT
ap-956	166	19	we	we	PRON
ap-956	166	20	only	only	ADV
ap-956	166	21	consider	consider	VERB
ap-956	166	22	the	the	DET
ap-956	166	23	case	case	NOUN
ap-956	166	24	of	of	ADP
ap-956	166	25	having	have	VERB
ap-956	166	26	at	at	ADV
ap-956	166	27	least	least	ADV
ap-956	166	28	50	50	NUM
ap-956	166	29	percent	percent	NOUN
ap-956	166	30	inliers	inlier	NOUN
ap-956	166	31	.	.	PUNCT
ap-956	167	1	as	as	ADP
ap-956	167	2	a	a	DET
ap-956	167	3	consequence	consequence	NOUN
ap-956	167	4	the	the	DET
ap-956	167	5	median	median	ADJ
ap-956	167	6	value	value	NOUN
ap-956	167	7	for	for	ADP
ap-956	167	8	k2	k2	NOUN
ap-956	167	9	will	will	AUX
ap-956	167	10	be	be	AUX
ap-956	167	11	the	the	DET
ap-956	167	12	value	value	NOUN
ap-956	167	13	of	of	ADP
ap-956	167	14	an	an	DET
ap-956	167	15	inlier	inlier	NOUN
ap-956	167	16	.	.	PUNCT
ap-956	168	1	an	an	DET
ap-956	168	2	observation	observation	NOUN
ap-956	168	3	was	be	AUX
ap-956	168	4	that	that	SCONJ
ap-956	168	5	the	the	DET
ap-956	168	6	values	value	NOUN
ap-956	168	7	for	for	ADP
ap-956	168	8	inlier	inlier	NOUN
ap-956	168	9	were	be	AUX
ap-956	168	10	very	very	ADV
ap-956	168	11	similar	similar	ADJ
ap-956	168	12	,	,	PUNCT
ap-956	168	13	whereas	whereas	SCONJ
ap-956	168	14	the	the	DET
ap-956	168	15	values	value	NOUN
ap-956	168	16	for	for	ADP
ap-956	168	17	outliers	outlier	NOUN
ap-956	168	18	were	be	AUX
ap-956	168	19	huge	huge	ADJ
ap-956	168	20	.	.	PUNCT
ap-956	169	1	in	in	ADP
ap-956	169	2	practice	practice	NOUN
ap-956	169	3	we	we	PRON
ap-956	169	4	therefore	therefore	ADV
ap-956	169	5	eliminate	eliminate	VERB
ap-956	169	6	every	every	DET
ap-956	169	7	point	point	NOUN
ap-956	169	8	correspondence	correspondence	NOUN
ap-956	169	9	with	with	ADP
ap-956	169	10	a	a	DET
ap-956	169	11	value	value	NOUN
ap-956	169	12	of	of	ADP
ap-956	169	13	more	more	ADJ
ap-956	169	14	than	than	ADP
ap-956	169	15	ten	ten	NUM
ap-956	169	16	times	time	NOUN
ap-956	169	17	the	the	DET
ap-956	169	18	median	median	ADJ
ap-956	169	19	value	value	NOUN
ap-956	169	20	.	.	PUNCT
ap-956	170	1	another	another	DET
ap-956	170	2	proportion	proportion	NOUN
ap-956	170	3	may	may	AUX
ap-956	170	4	be	be	AUX
ap-956	170	5	used	use	VERB
ap-956	170	6	but	but	CCONJ
ap-956	170	7	in	in	ADP
ap-956	170	8	our	our	PRON
ap-956	170	9	tests	test	NOUN
ap-956	170	10	we	we	PRON
ap-956	170	11	obtained	obtain	VERB
ap-956	170	12	reasonably	reasonably	ADV
ap-956	170	13	good	good	ADJ
ap-956	170	14	results	result	NOUN
ap-956	170	15	.	.	PUNCT
ap-956	171	1	3.2	3.2	NUM
ap-956	171	2	results	result	VERB
ap-956	171	3	the	the	DET
ap-956	171	4	results	result	NOUN
ap-956	171	5	presented	present	VERB
ap-956	171	6	here	here	ADV
ap-956	171	7	were	be	AUX
ap-956	171	8	obtained	obtain	VERB
ap-956	171	9	using	use	VERB
ap-956	171	10	ransac	ransac	NOUN
ap-956	171	11	for	for	ADP
ap-956	171	12	an	an	DET
ap-956	171	13	estimation	estimation	NOUN
ap-956	171	14	of	of	ADP
ap-956	171	15	the	the	DET
ap-956	171	16	fundamental	fundamental	ADJ
ap-956	171	17	matrix	matrix	NOUN
ap-956	171	18	.	.	PUNCT
ap-956	172	1	further	far	ADV
ap-956	172	2	,	,	PUNCT
ap-956	172	3	the	the	DET
ap-956	172	4	covariance	covariance	NOUN
ap-956	172	5	matrix	matrix	NOUN
ap-956	172	6	of	of	ADP
ap-956	172	7	the	the	DET
ap-956	172	8	fundamental	fundamental	ADJ
ap-956	172	9	matrix	matrix	NOUN
ap-956	172	10	was	be	AUX
ap-956	172	11	computed	compute	VERB
ap-956	172	12	by	by	ADP
ap-956	172	13	adding	add	VERB
ap-956	172	14	noise	noise	NOUN
ap-956	172	15	to	to	ADP
ap-956	172	16	the	the	DET
ap-956	172	17	eight	eight	NUM
ap-956	172	18	point	point	NOUN
ap-956	172	19	correspondences	correspondence	NOUN
ap-956	172	20	used	use	VERB
ap-956	172	21	to	to	PART
ap-956	172	22	compute	compute	VERB
ap-956	172	23	the	the	DET
ap-956	172	24	fundamental	fundamental	ADJ
ap-956	172	25	matrix	matrix	NOUN
ap-956	172	26	.	.	PUNCT
ap-956	173	1	in	in	ADP
ap-956	173	2	fact	fact	NOUN
ap-956	173	3	we	we	PRON
ap-956	173	4	obtained	obtain	VERB
ap-956	173	5	the	the	DET
ap-956	173	6	same	same	ADJ
ap-956	173	7	results	result	NOUN
ap-956	173	8	for	for	ADP
ap-956	173	9	the	the	DET
ap-956	173	10	outlier	outlier	ADJ
ap-956	173	11	elimination	elimination	NOUN
ap-956	173	12	using	use	VERB
ap-956	173	13	a	a	DET
ap-956	173	14	standard	standard	ADJ
ap-956	173	15	deviation	deviation	NOUN
ap-956	173	16	�	�	PROPN
ap-956	173	17	in	in	ADP
ap-956	173	18	the	the	DET
ap-956	173	19	range	range	NOUN
ap-956	173	20	of	of	ADP
ap-956	173	21	0.02	0.02	NUM
ap-956	173	22	to	to	PART
ap-956	173	23	10	10	NUM
ap-956	173	24	pixels	pixel	NOUN
ap-956	173	25	.	.	PUNCT
ap-956	174	1	therefore	therefore	ADV
ap-956	174	2	no	no	DET
ap-956	174	3	knowledge	knowledge	NOUN
ap-956	174	4	about	about	ADP
ap-956	174	5	the	the	DET
ap-956	174	6	quality	quality	NOUN
ap-956	174	7	of	of	ADP
ap-956	174	8	the	the	DET
ap-956	174	9	image	image	NOUN
ap-956	174	10	and	and	CCONJ
ap-956	174	11	the	the	DET
ap-956	174	12	variance	variance	NOUN
ap-956	174	13	of	of	ADP
ap-956	174	14	the	the	DET
ap-956	174	15	correspondences	correspondence	NOUN
ap-956	174	16	is	be	AUX
ap-956	174	17	needed	need	VERB
ap-956	174	18	for	for	ADP
ap-956	174	19	the	the	DET
ap-956	174	20	outlier	outlier	ADJ
ap-956	174	21	removal	removal	NOUN
ap-956	174	22	with	with	ADP
ap-956	174	23	the	the	DET
ap-956	174	24	new	new	ADJ
ap-956	174	25	criterion	criterion	NOUN
ap-956	174	26	.	.	PUNCT
ap-956	175	1	the	the	DET
ap-956	175	2	results	result	NOUN
ap-956	175	3	are	be	AUX
ap-956	175	4	presented	present	VERB
ap-956	175	5	in	in	ADP
ap-956	175	6	fig	fig	NOUN
ap-956	175	7	.	.	PUNCT
ap-956	176	1	8	8	NUM
ap-956	176	2	.	.	X
ap-956	176	3	4	4	NUM
ap-956	176	4	discussion	discussion	NOUN
ap-956	176	5	we	we	PRON
ap-956	176	6	have	have	AUX
ap-956	176	7	seen	see	VERB
ap-956	176	8	that	that	SCONJ
ap-956	176	9	the	the	DET
ap-956	176	10	new	new	ADJ
ap-956	176	11	criterion	criterion	NOUN
ap-956	176	12	can	can	AUX
ap-956	176	13	be	be	AUX
ap-956	176	14	used	use	VERB
ap-956	176	15	for	for	ADP
ap-956	176	16	outlier	outlier	ADJ
ap-956	176	17	removal	removal	NOUN
ap-956	176	18	without	without	ADP
ap-956	176	19	side	side	ADJ
ap-956	176	20	information	information	NOUN
ap-956	176	21	about	about	ADP
ap-956	176	22	the	the	DET
ap-956	176	23	image	image	NOUN
ap-956	176	24	quality	quality	NOUN
ap-956	176	25	and	and	CCONJ
ap-956	176	26	brings	bring	VERB
ap-956	176	27	the	the	DET
ap-956	176	28	advantage	advantage	NOUN
ap-956	176	29	of	of	ADP
ap-956	176	30	providing	provide	VERB
ap-956	176	31	a	a	DET
ap-956	176	32	larger	large	ADJ
ap-956	176	33	set	set	NOUN
ap-956	176	34	of	of	ADP
ap-956	176	35	point	point	NOUN
ap-956	176	36	correspondences	correspondence	NOUN
ap-956	176	37	.	.	PUNCT
ap-956	177	1	an	an	DET
ap-956	177	2	observation	observation	NOUN
ap-956	177	3	is	be	AUX
ap-956	177	4	that	that	SCONJ
ap-956	177	5	the	the	DET
ap-956	177	6	points	point	NOUN
ap-956	177	7	preserved	preserve	VERB
ap-956	177	8	by	by	ADP
ap-956	177	9	the	the	DET
ap-956	177	10	new	new	ADJ
ap-956	177	11	algorithm	algorithm	NOUN
ap-956	177	12	are	be	AUX
ap-956	177	13	more	more	ADV
ap-956	177	14	widely	widely	ADV
ap-956	177	15	spread	spread	VERB
ap-956	177	16	throughout	throughout	ADP
ap-956	177	17	the	the	DET
ap-956	177	18	image	image	NOUN
ap-956	177	19	than	than	ADP
ap-956	177	20	the	the	DET
ap-956	177	21	points	point	NOUN
ap-956	177	22	obtained	obtain	VERB
ap-956	177	23	with	with	ADP
ap-956	177	24	a	a	DET
ap-956	177	25	conventional	conventional	ADJ
ap-956	177	26	criterion	criterion	NOUN
ap-956	177	27	.	.	PUNCT
ap-956	178	1	hence	hence	ADV
ap-956	178	2	the	the	DET
ap-956	178	3	initial	initial	ADJ
ap-956	178	4	fundamental	fundamental	ADJ
ap-956	178	5	matrix	matrix	NOUN
ap-956	178	6	estimation	estimation	NOUN
ap-956	178	7	rather	rather	ADV
ap-956	178	8	seems	seem	VERB
ap-956	178	9	to	to	PART
ap-956	178	10	suit	suit	VERB
ap-956	178	11	point	point	NOUN
ap-956	178	12	correspondences	correspondence	NOUN
ap-956	178	13	in	in	ADP
ap-956	178	14	the	the	DET
ap-956	178	15	center	center	NOUN
ap-956	178	16	of	of	ADP
ap-956	178	17	the	the	DET
ap-956	178	18	image	image	NOUN
ap-956	178	19	.	.	PUNCT
ap-956	179	1	our	our	PRON
ap-956	179	2	current	current	ADJ
ap-956	179	3	research	research	NOUN
ap-956	179	4	is	be	AUX
ap-956	179	5	focused	focus	VERB
ap-956	179	6	on	on	ADP
ap-956	179	7	comparing	compare	VERB
ap-956	179	8	fundamental	fundamental	ADJ
ap-956	179	9	matrices	matrix	NOUN
ap-956	179	10	computed	compute	VERB
ap-956	179	11	from	from	ADP
ap-956	179	12	the	the	DET
ap-956	179	13	initial	initial	ADJ
ap-956	179	14	set	set	NOUN
ap-956	179	15	of	of	ADP
ap-956	179	16	point	point	NOUN
ap-956	179	17	correspondences	correspondence	NOUN
ap-956	179	18	to	to	ADP
ap-956	179	19	those	those	PRON
ap-956	179	20	obtained	obtain	VERB
ap-956	179	21	with	with	ADP
ap-956	179	22	the	the	DET
ap-956	179	23	enhanced	enhanced	ADJ
ap-956	179	24	set	set	NOUN
ap-956	179	25	,	,	PUNCT
ap-956	179	26	using	use	VERB
ap-956	179	27	image	image	NOUN
ap-956	179	28	pairs	pair	NOUN
ap-956	179	29	with	with	ADP
ap-956	179	30	known	know	VERB
ap-956	179	31	epipolar	epipolar	ADJ
ap-956	179	32	geometry	geometry	NOUN
ap-956	179	33	,	,	PUNCT
ap-956	179	34	i.e.	i.e.	X
ap-956	179	35	a	a	DET
ap-956	179	36	comparison	comparison	NOUN
ap-956	179	37	to	to	ADP
ap-956	179	38	ground	ground	NOUN
ap-956	179	39	truth	truth	NOUN
ap-956	179	40	.	.	PUNCT
ap-956	180	1	furthermore	furthermore	ADV
ap-956	180	2	we	we	PRON
ap-956	180	3	try	try	VERB
ap-956	180	4	to	to	PART
ap-956	180	5	identify	identify	VERB
ap-956	180	6	different	different	ADJ
ap-956	180	7	planes	plane	NOUN
ap-956	180	8	spanned	span	VERB
ap-956	180	9	in	in	ADP
ap-956	180	10	space	space	NOUN
ap-956	180	11	by	by	ADP
ap-956	180	12	the	the	DET
ap-956	180	13	point	point	NOUN
ap-956	180	14	correspondences	correspondence	NOUN
ap-956	180	15	,	,	PUNCT
ap-956	180	16	in	in	ADP
ap-956	180	17	order	order	NOUN
ap-956	180	18	to	to	PART
ap-956	180	19	examine	examine	VERB
ap-956	180	20	the	the	DET
ap-956	180	21	influence	influence	NOUN
ap-956	180	22	of	of	ADP
ap-956	180	23	the	the	DET
ap-956	180	24	depth	depth	NOUN
ap-956	180	25	distribution	distribution	NOUN
ap-956	180	26	of	of	ADP
ap-956	180	27	the	the	DET
ap-956	180	28	correspondences	correspondence	NOUN
ap-956	180	29	onto	onto	ADP
ap-956	180	30	the	the	DET
ap-956	180	31	accuracy	accuracy	NOUN
ap-956	180	32	of	of	ADP
ap-956	180	33	the	the	DET
ap-956	180	34	computed	computed	ADJ
ap-956	180	35	fundamental	fundamental	ADJ
ap-956	180	36	matrix	matrix	NOUN
ap-956	180	37	.	.	PUNCT
ap-956	181	1	acknowledgments	acknowledgment	NOUN
ap-956	181	2	the	the	DET
ap-956	181	3	research	research	NOUN
ap-956	181	4	described	describe	VERB
ap-956	181	5	in	in	ADP
ap-956	181	6	this	this	DET
ap-956	181	7	paper	paper	NOUN
ap-956	181	8	was	be	AUX
ap-956	181	9	supervised	supervise	VERB
ap-956	181	10	by	by	ADP
ap-956	181	11	prof	prof	PROPN
ap-956	181	12	.	.	PUNCT
ap-956	182	1	j.-r	j.-r	PROPN
ap-956	182	2	.	.	PUNCT
ap-956	183	1	ohm	ohm	PROPN
ap-956	183	2	,	,	PUNCT
ap-956	183	3	ient	ient	ADJ
ap-956	183	4	rwth	rwth	PROPN
ap-956	183	5	aachen	aachen	PROPN
ap-956	183	6	university	university	PROPN
ap-956	183	7	.	.	PUNCT
ap-956	184	1	the	the	DET
ap-956	184	2	authors	author	NOUN
ap-956	184	3	wish	wish	VERB
ap-956	184	4	to	to	PART
ap-956	184	5	thank	thank	VERB
ap-956	184	6	the	the	DET
ap-956	184	7	team	team	NOUN
ap-956	184	8	at	at	ADP
ap-956	184	9	ient	ient	NOUN
ap-956	184	10	,	,	PUNCT
ap-956	184	11	rwth	rwth	PROPN
ap-956	184	12	aachen	aachen	PROPN
ap-956	184	13	university	university	PROPN
ap-956	184	14	for	for	ADP
ap-956	184	15	its	its	PRON
ap-956	184	16	assistance	assistance	NOUN
ap-956	184	17	and	and	CCONJ
ap-956	184	18	help	help	NOUN
ap-956	184	19	.	.	PUNCT
ap-956	185	1	references	reference	NOUN
ap-956	185	2	[	[	X
ap-956	185	3	1	1	NUM
ap-956	185	4	]	]	PUNCT
ap-956	185	5	brandt	brandt	PROPN
ap-956	185	6	,	,	PUNCT
ap-956	185	7	s.	s.	PROPN
ap-956	185	8	:	:	PUNCT
ap-956	185	9	on	on	ADP
ap-956	185	10	the	the	DET
ap-956	185	11	probabilistic	probabilistic	ADJ
ap-956	185	12	epipolar	epipolar	ADJ
ap-956	185	13	geometry	geometry	NOUN
ap-956	185	14	.	.	PUNCT
ap-956	186	1	journal	journal	PROPN
ap-956	186	2	of	of	ADP
ap-956	186	3	mathematical	mathematical	ADJ
ap-956	186	4	imaging	imaging	NOUN
ap-956	186	5	and	and	CCONJ
ap-956	186	6	vision	vision	NOUN
ap-956	186	7	,	,	PUNCT
ap-956	186	8	in	in	ADP
ap-956	186	9	press	press	NOUN
ap-956	186	10	,	,	PUNCT
ap-956	186	11	2007	2007	NUM
ap-956	186	12	.	.	PUNCT
ap-956	187	1	[	[	X
ap-956	187	2	2	2	NUM
ap-956	187	3	]	]	PUNCT
ap-956	187	4	hartley	hartley	NOUN
ap-956	187	5	,	,	PUNCT
ap-956	187	6	r.-i	r.-i	ADJ
ap-956	187	7	.	.	PUNCT
ap-956	187	8	:	:	PUNCT
ap-956	188	1	in	in	ADP
ap-956	188	2	defense	defense	NOUN
ap-956	188	3	of	of	ADP
ap-956	188	4	the	the	DET
ap-956	188	5	8	8	NUM
ap-956	188	6	-	-	PUNCT
ap-956	188	7	point	point	NOUN
ap-956	188	8	algorithm	algorithm	NOUN
ap-956	188	9	.	.	PUNCT
ap-956	189	1	proceedings	proceeding	NOUN
ap-956	189	2	of	of	ADP
ap-956	189	3	the	the	DET
ap-956	189	4	5th	5th	ADJ
ap-956	189	5	international	international	ADJ
ap-956	189	6	conference	conference	NOUN
ap-956	189	7	on	on	ADP
ap-956	189	8	computer	computer	NOUN
ap-956	189	9	vision	vision	NOUN
ap-956	189	10	,	,	PUNCT
ap-956	189	11	june	june	PROPN
ap-956	189	12	1995	1995	NUM
ap-956	189	13	,	,	PUNCT
ap-956	189	14	p.	p.	NOUN
ap-956	189	15	1064–1070	1064–1070	NUM
ap-956	189	16	.	.	PUNCT
ap-956	190	1	[	[	X
ap-956	190	2	3	3	NUM
ap-956	190	3	]	]	X
ap-956	190	4	hartley	hartley	NOUN
ap-956	190	5	,	,	PUNCT
ap-956	190	6	r.-i	r.-i	ADJ
ap-956	190	7	.	.	PROPN
ap-956	190	8	,	,	PUNCT
ap-956	190	9	zisserman	zisserman	NOUN
ap-956	190	10	,	,	PUNCT
ap-956	190	11	a.	a.	NOUN
ap-956	190	12	:	:	PUNCT
ap-956	190	13	multiple	multiple	ADJ
ap-956	190	14	view	view	NOUN
ap-956	190	15	geometry	geometry	NOUN
ap-956	190	16	in	in	ADP
ap-956	190	17	computer	computer	NOUN
ap-956	190	18	vision	vision	NOUN
ap-956	190	19	.	.	PUNCT
ap-956	191	1	second	second	ADJ
ap-956	191	2	edition	edition	PROPN
ap-956	191	3	.	.	PUNCT
ap-956	192	1	cambridge	cambridge	PROPN
ap-956	192	2	university	university	PROPN
ap-956	192	3	press	press	NOUN
ap-956	192	4	,	,	PUNCT
ap-956	192	5	2004	2004	NUM
ap-956	192	6	.	.	PUNCT
ap-956	193	1	[	[	X
ap-956	193	2	4	4	NUM
ap-956	193	3	]	]	X
ap-956	193	4	lowe	lowe	PROPN
ap-956	193	5	,	,	PUNCT
ap-956	193	6	d.	d.	PROPN
ap-956	193	7	:	:	PUNCT
ap-956	193	8	object	object	VERB
ap-956	193	9	recognition	recognition	NOUN
ap-956	193	10	from	from	ADP
ap-956	193	11	scale	scale	NOUN
ap-956	193	12	invariant	invariant	ADJ
ap-956	193	13	features	feature	NOUN
ap-956	193	14	.	.	PUNCT
ap-956	194	1	proceedings	proceeding	NOUN
ap-956	194	2	of	of	ADP
ap-956	194	3	the	the	DET
ap-956	194	4	7th	7th	ADJ
ap-956	194	5	international	international	ADJ
ap-956	194	6	conference	conference	NOUN
ap-956	194	7	on	on	ADP
ap-956	194	8	computer	computer	NOUN
ap-956	194	9	vision	vision	NOUN
ap-956	194	10	.	.	PUNCT
ap-956	195	1	corfu	corfu	PROPN
ap-956	195	2	,	,	PUNCT
ap-956	195	3	greece	greece	PROPN
ap-956	195	4	,	,	PUNCT
ap-956	195	5	vol	vol	NOUN
ap-956	195	6	.	.	PROPN
ap-956	195	7	2	2	NUM
ap-956	195	8	(	(	PUNCT
ap-956	195	9	1999	1999	NUM
ap-956	195	10	)	)	PUNCT
ap-956	195	11	,	,	PUNCT
ap-956	195	12	p.	p.	NOUN
ap-956	195	13	1150–1157	1150–1157	NUM
ap-956	195	14	.	.	PUNCT
ap-956	196	1	[	[	X
ap-956	196	2	5	5	NUM
ap-956	196	3	]	]	X
ap-956	196	4	lowe	lowe	PROPN
ap-956	196	5	,	,	PUNCT
ap-956	196	6	d.	d.	PROPN
ap-956	196	7	:	:	PUNCT
ap-956	196	8	distinctive	distinctive	ADJ
ap-956	196	9	image	image	NOUN
ap-956	196	10	features	feature	NOUN
ap-956	196	11	from	from	ADP
ap-956	196	12	scale	scale	NOUN
ap-956	196	13	-	-	PUNCT
ap-956	196	14	invariant	invariant	ADJ
ap-956	196	15	keypoints	keypoint	NOUN
ap-956	196	16	.	.	PUNCT
ap-956	197	1	international	international	ADJ
ap-956	197	2	journal	journal	NOUN
ap-956	197	3	of	of	ADP
ap-956	197	4	computer	computer	NOUN
ap-956	197	5	vision	vision	NOUN
ap-956	197	6	,	,	PUNCT
ap-956	197	7	(	(	PUNCT
ap-956	197	8	2004	2004	NUM
ap-956	197	9	)	)	PUNCT
ap-956	197	10	,	,	PUNCT
ap-956	197	11	p.	p.	NOUN
ap-956	197	12	91–110	91–110	NUM
ap-956	197	13	.	.	PUNCT
ap-956	198	1	[	[	X
ap-956	198	2	6	6	NUM
ap-956	198	3	]	]	X
ap-956	198	4	zhang	zhang	PROPN
ap-956	198	5	z.	z.	PROPN
ap-956	198	6	,	,	PUNCT
ap-956	198	7	deriche	deriche	PROPN
ap-956	198	8	,	,	PUNCT
ap-956	198	9	r.	r.	PROPN
ap-956	198	10	,	,	PUNCT
ap-956	198	11	faugeras	faugera	NOUN
ap-956	198	12	,	,	PUNCT
ap-956	198	13	o.	o.	PROPN
ap-956	198	14	,	,	PUNCT
ap-956	198	15	luong	luong	PROPN
ap-956	198	16	,	,	PUNCT
ap-956	198	17	q.-t	q.-t	NOUN
ap-956	198	18	.	.	PUNCT
ap-956	198	19	:	:	PUNCT
ap-956	198	20	a	a	DET
ap-956	198	21	robust	robust	ADJ
ap-956	198	22	technique	technique	NOUN
ap-956	198	23	for	for	ADP
ap-956	198	24	matching	match	VERB
ap-956	198	25	two	two	NUM
ap-956	198	26	uncalibrated	uncalibrated	ADJ
ap-956	198	27	images	image	NOUN
ap-956	198	28	through	through	ADP
ap-956	198	29	the	the	DET
ap-956	198	30	recovery	recovery	NOUN
ap-956	198	31	of	of	ADP
ap-956	198	32	the	the	DET
ap-956	198	33	unknown	unknown	ADJ
ap-956	198	34	epipolar	epipolar	ADJ
ap-956	198	35	geometry	geometry	NOUN
ap-956	198	36	.	.	PUNCT
ap-956	199	1	artificial	artificial	ADJ
ap-956	199	2	intelligence	intelligence	NOUN
ap-956	199	3	,	,	PUNCT
ap-956	199	4	november	november	PROPN
ap-956	199	5	1995	1995	NUM
ap-956	199	6	.	.	PUNCT
ap-956	200	1	[	[	X
ap-956	200	2	7	7	NUM
ap-956	200	3	]	]	X
ap-956	200	4	zhang	zhang	PROPN
ap-956	200	5	,	,	PUNCT
ap-956	200	6	z.	z.	PROPN
ap-956	200	7	:	:	PUNCT
ap-956	200	8	determining	determine	VERB
ap-956	200	9	the	the	DET
ap-956	200	10	epipolar	epipolar	ADJ
ap-956	200	11	geometry	geometry	NOUN
ap-956	200	12	and	and	CCONJ
ap-956	200	13	its	its	PRON
ap-956	200	14	uncertainty	uncertainty	NOUN
ap-956	200	15	:	:	PUNCT
ap-956	200	16	a	a	DET
ap-956	200	17	review	review	NOUN
ap-956	200	18	.	.	PUNCT
ap-956	201	1	international	international	ADJ
ap-956	201	2	journal	journal	PROPN
ap-956	201	3	on	on	ADP
ap-956	201	4	computer	computer	NOUN
ap-956	201	5	vision	vision	NOUN
ap-956	201	6	,	,	PUNCT
ap-956	201	7	vol	vol	NOUN
ap-956	201	8	.	.	PROPN
ap-956	201	9	27	27	NUM
ap-956	201	10	(	(	PUNCT
ap-956	201	11	1998	1998	NUM
ap-956	201	12	)	)	PUNCT
ap-956	201	13	,	,	PUNCT
ap-956	201	14	no	no	INTJ
ap-956	201	15	.	.	NOUN
ap-956	201	16	2	2	NUM
ap-956	201	17	,	,	PUNCT
ap-956	201	18	p.	p.	NOUN
ap-956	201	19	161–195	161–195	NUM
ap-956	201	20	.	.	PUNCT
ap-956	202	1	ing	ing	ADJ
ap-956	202	2	.	.	PUNCT
ap-956	203	1	aleksandar	aleksandar	PROPN
ap-956	203	2	stojanovic	stojanovic	PROPN
ap-956	203	3	e	e	NOUN
ap-956	203	4	-	-	NOUN
ap-956	203	5	mail	mail	NOUN
ap-956	203	6	:	:	PUNCT
ap-956	203	7	stojanovic@ient.rwth-aachen.de	stojanovic@ient.rwth-aachen.de	PROPN
ap-956	203	8	ing	ing	PROPN
ap-956	203	9	.	.	PUNCT
ap-956	204	1	michael	michael	PROPN
ap-956	204	2	unger	unger	PROPN
ap-956	204	3	e	e	PROPN
ap-956	204	4	-	-	NOUN
ap-956	204	5	mail	mail	NOUN
ap-956	204	6	:	:	PUNCT
ap-956	204	7	unger@ient.rwth-aachen.de	unger@ient.rwth-aachen.de	PROPN
ap-956	204	8	institute	institute	NOUN
ap-956	204	9	of	of	ADP
ap-956	204	10	communication	communication	NOUN
ap-956	204	11	engineering	engineering	NOUN
ap-956	204	12	rwth	rwth	PROPN
ap-956	204	13	aachen	aachen	PROPN
ap-956	204	14	university	university	PROPN
ap-956	204	15	52056	52056	NUM
ap-956	204	16	aachen	aachen	PROPN
ap-956	204	17	,	,	PUNCT
ap-956	204	18	germany	germany	PROPN
ap-956	204	19	28	28	NUM
ap-956	204	20	©	©	PROPN
ap-956	204	21	czech	czech	PROPN
ap-956	204	22	technical	technical	PROPN
ap-956	204	23	university	university	PROPN
ap-956	204	24	publishing	publishing	NOUN
ap-956	204	25	house	house	NOUN
ap-956	204	26	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-956	204	27	acta	acta	PROPN
ap-956	204	28	polytechnica	polytechnica	PROPN
ap-956	204	29	vol	vol	NOUN
ap-956	204	30	.	.	PUNCT
ap-956	205	1	47	47	NUM
ap-956	205	2	no	no	NOUN
ap-956	205	3	.	.	PUNCT
ap-956	206	1	4–5/2007	4–5/2007	NUM
ap-956	206	2	fig	fig	NOUN
ap-956	206	3	.	.	PUNCT
ap-956	207	1	8	8	NUM
ap-956	207	2	:	:	PUNCT
ap-956	207	3	results	result	VERB
ap-956	207	4	:	:	PUNCT
ap-956	207	5	(	(	PUNCT
ap-956	207	6	a	a	X
ap-956	207	7	)	)	PUNCT
ap-956	207	8	stereo	stereo	NOUN
ap-956	207	9	image	image	NOUN
ap-956	207	10	pair	pair	NOUN
ap-956	207	11	with	with	ADP
ap-956	207	12	sift	sift	ADJ
ap-956	207	13	correspondences	correspondence	NOUN
ap-956	207	14	,	,	PUNCT
ap-956	207	15	the	the	DET
ap-956	207	16	8	8	NUM
ap-956	207	17	points	point	NOUN
ap-956	207	18	selected	select	VERB
ap-956	207	19	by	by	ADP
ap-956	207	20	ransac	ransac	NOUN
ap-956	207	21	are	be	AUX
ap-956	207	22	dark	dark	ADJ
ap-956	207	23	.	.	PUNCT
ap-956	208	1	(	(	PUNCT
ap-956	208	2	b	b	X
ap-956	208	3	)	)	PUNCT
ap-956	208	4	remaining	remain	VERB
ap-956	208	5	point	point	NOUN
ap-956	208	6	correspondences	correspondence	NOUN
ap-956	208	7	after	after	ADP
ap-956	208	8	outlier	outlier	NOUN
ap-956	208	9	removal	removal	NOUN
ap-956	208	10	using	use	VERB
ap-956	208	11	the	the	DET
ap-956	208	12	distance	distance	NOUN
ap-956	208	13	from	from	ADP
ap-956	208	14	the	the	DET
ap-956	208	15	epipolar	epipolar	ADJ
ap-956	208	16	line	line	NOUN
ap-956	208	17	.	.	PUNCT
ap-956	209	1	(	(	PUNCT
ap-956	209	2	c	c	X
ap-956	209	3	)	)	PUNCT
ap-956	209	4	enhanced	enhance	VERB
ap-956	209	5	point	point	NOUN
ap-956	209	6	correspondence	correspondence	NOUN
ap-956	209	7	set	set	VERB
ap-956	209	8	using	use	VERB
ap-956	209	9	the	the	DET
ap-956	209	10	new	new	ADJ
ap-956	209	11	criterion	criterion	NOUN
ap-956	209	12	.	.	PUNCT
ap-956	210	1	inria	inria	PROPN
ap-956	210	2	syntim	syntim	PROPN
ap-956	210	3	owns	own	VERB
ap-956	210	4	the	the	DET
ap-956	210	5	copyright	copyright	NOUN
ap-956	210	6	of	of	ADP
ap-956	210	7	the	the	DET
ap-956	210	8	image	image	NOUN
ap-956	210	9	pair	pair	NOUN
ap-956	210	10	.	.	PUNCT