id	sid	tid	token	lemma	pos
app01-3394	1	1	acta	acta	PROPN
app01-3394	1	2	polytechnica	polytechnica	PROPN
app01-3394	1	3	ctu	ctu	PROPN
app01-3394	1	4	proceedings	proceeding	NOUN
app01-3394	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3394	1	6	/	/	SYM
app01-3394	1	7	app.2015.1.0008	app.2015.1.0008	PROPN
app01-3394	1	8	acta	acta	PROPN
app01-3394	1	9	polytechnica	polytechnica	PROPN
app01-3394	1	10	ctu	ctu	NOUN
app01-3394	1	11	proceedings	proceeding	NOUN
app01-3394	1	12	2:8–14	2:8–14	NUM
app01-3394	1	13	,	,	PUNCT
app01-3394	1	14	2015	2015	NUM
app01-3394	1	15	©	©	PROPN
app01-3394	1	16	czech	czech	PROPN
app01-3394	1	17	technical	technical	PROPN
app01-3394	1	18	university	university	PROPN
app01-3394	1	19	in	in	ADP
app01-3394	1	20	prague	prague	PROPN
app01-3394	1	21	,	,	PUNCT
app01-3394	1	22	2015	2015	NUM
app01-3394	1	23	available	available	ADJ
app01-3394	1	24	online	online	ADV
app01-3394	1	25	at	at	ADP
app01-3394	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3394	1	27	on	on	ADP
app01-3394	1	28	fpga	fpga	PROPN
app01-3394	1	29	based	base	VERB
app01-3394	1	30	acceleration	acceleration	NOUN
app01-3394	1	31	of	of	ADP
app01-3394	1	32	image	image	NOUN
app01-3394	1	33	processing	processing	NOUN
app01-3394	1	34	in	in	ADP
app01-3394	1	35	mobile	mobile	ADJ
app01-3394	1	36	robotics	robotic	NOUN
app01-3394	1	37	petr	petr	PROPN
app01-3394	1	38	čížek∗	čížek∗	PROPN
app01-3394	1	39	,	,	PUNCT
app01-3394	1	40	jan	jan	PROPN
app01-3394	1	41	faigl	faigl	PROPN
app01-3394	1	42	department	department	PROPN
app01-3394	1	43	of	of	ADP
app01-3394	1	44	computer	computer	NOUN
app01-3394	1	45	science	science	NOUN
app01-3394	1	46	,	,	PUNCT
app01-3394	1	47	faculty	faculty	NOUN
app01-3394	1	48	of	of	ADP
app01-3394	1	49	electrical	electrical	ADJ
app01-3394	1	50	engineering	engineering	NOUN
app01-3394	1	51	,	,	PUNCT
app01-3394	1	52	ctu	ctu	NOUN
app01-3394	1	53	in	in	ADP
app01-3394	1	54	prague	prague	PROPN
app01-3394	1	55	,	,	PUNCT
app01-3394	1	56	technická	technická	NOUN
app01-3394	1	57	2	2	NUM
app01-3394	1	58	,	,	PUNCT
app01-3394	1	59	166	166	NUM
app01-3394	1	60	27	27	NUM
app01-3394	1	61	prague	prague	NOUN
app01-3394	1	62	,	,	PUNCT
app01-3394	1	63	czech	czech	PROPN
app01-3394	1	64	republic	republic	NOUN
app01-3394	1	65	∗	∗	NOUN
app01-3394	1	66	corresponding	correspond	VERB
app01-3394	1	67	author	author	NOUN
app01-3394	1	68	:	:	PUNCT
app01-3394	1	69	petr.cizek@fel.cvut.cz	petr.cizek@fel.cvut.cz	NOUN
app01-3394	1	70	abstract	abstract	NOUN
app01-3394	1	71	.	.	PUNCT
app01-3394	2	1	in	in	ADP
app01-3394	2	2	visual	visual	ADJ
app01-3394	2	3	navigation	navigation	NOUN
app01-3394	2	4	tasks	task	NOUN
app01-3394	2	5	,	,	PUNCT
app01-3394	2	6	a	a	DET
app01-3394	2	7	lack	lack	NOUN
app01-3394	2	8	of	of	ADP
app01-3394	2	9	the	the	DET
app01-3394	2	10	computational	computational	ADJ
app01-3394	2	11	resources	resource	NOUN
app01-3394	2	12	is	be	AUX
app01-3394	2	13	one	one	NUM
app01-3394	2	14	of	of	ADP
app01-3394	2	15	the	the	DET
app01-3394	2	16	main	main	ADJ
app01-3394	2	17	limitations	limitation	NOUN
app01-3394	2	18	of	of	ADP
app01-3394	2	19	micro	micro	ADJ
app01-3394	2	20	robotic	robotic	ADJ
app01-3394	2	21	platforms	platform	NOUN
app01-3394	2	22	to	to	PART
app01-3394	2	23	be	be	AUX
app01-3394	2	24	deployed	deploy	VERB
app01-3394	2	25	in	in	ADP
app01-3394	2	26	autonomous	autonomous	ADJ
app01-3394	2	27	missions	mission	NOUN
app01-3394	2	28	.	.	PUNCT
app01-3394	3	1	it	it	PRON
app01-3394	3	2	is	be	AUX
app01-3394	3	3	because	because	SCONJ
app01-3394	3	4	the	the	DET
app01-3394	3	5	most	most	ADJ
app01-3394	3	6	of	of	ADP
app01-3394	3	7	nowadays	nowadays	ADJ
app01-3394	3	8	techniques	technique	NOUN
app01-3394	3	9	of	of	ADP
app01-3394	3	10	visual	visual	ADJ
app01-3394	3	11	navigation	navigation	NOUN
app01-3394	3	12	relies	rely	VERB
app01-3394	3	13	on	on	ADP
app01-3394	3	14	a	a	DET
app01-3394	3	15	detection	detection	NOUN
app01-3394	3	16	of	of	ADP
app01-3394	3	17	salient	salient	ADJ
app01-3394	3	18	points	point	NOUN
app01-3394	3	19	that	that	PRON
app01-3394	3	20	is	be	AUX
app01-3394	3	21	computationally	computationally	ADV
app01-3394	3	22	very	very	ADV
app01-3394	3	23	demanding	demanding	ADJ
app01-3394	3	24	.	.	PUNCT
app01-3394	4	1	in	in	ADP
app01-3394	4	2	this	this	DET
app01-3394	4	3	paper	paper	NOUN
app01-3394	4	4	,	,	PUNCT
app01-3394	4	5	an	an	DET
app01-3394	4	6	fpga	fpga	PROPN
app01-3394	4	7	assisted	assist	VERB
app01-3394	4	8	acceleration	acceleration	NOUN
app01-3394	4	9	of	of	ADP
app01-3394	4	10	image	image	NOUN
app01-3394	4	11	processing	processing	NOUN
app01-3394	4	12	is	be	AUX
app01-3394	4	13	considered	consider	VERB
app01-3394	4	14	to	to	PART
app01-3394	4	15	overcome	overcome	VERB
app01-3394	4	16	limitations	limitation	NOUN
app01-3394	4	17	of	of	ADP
app01-3394	4	18	computational	computational	ADJ
app01-3394	4	19	resources	resource	NOUN
app01-3394	4	20	available	available	ADJ
app01-3394	4	21	on	on	ADP
app01-3394	4	22	-	-	PUNCT
app01-3394	4	23	board	board	NOUN
app01-3394	4	24	and	and	CCONJ
app01-3394	4	25	to	to	PART
app01-3394	4	26	enable	enable	VERB
app01-3394	4	27	high	high	ADJ
app01-3394	4	28	processing	processing	NOUN
app01-3394	4	29	speeds	speed	NOUN
app01-3394	4	30	while	while	SCONJ
app01-3394	4	31	it	it	PRON
app01-3394	4	32	may	may	AUX
app01-3394	4	33	lower	lower	VERB
app01-3394	4	34	the	the	DET
app01-3394	4	35	power	power	NOUN
app01-3394	4	36	consumption	consumption	NOUN
app01-3394	4	37	of	of	ADP
app01-3394	4	38	the	the	DET
app01-3394	4	39	system	system	NOUN
app01-3394	4	40	.	.	PUNCT
app01-3394	5	1	the	the	DET
app01-3394	5	2	paper	paper	NOUN
app01-3394	5	3	reports	report	VERB
app01-3394	5	4	on	on	ADP
app01-3394	5	5	performance	performance	NOUN
app01-3394	5	6	evaluation	evaluation	NOUN
app01-3394	5	7	of	of	ADP
app01-3394	5	8	the	the	DET
app01-3394	5	9	cpu	cpu	NOUN
app01-3394	5	10	–	–	PUNCT
app01-3394	5	11	based	base	VERB
app01-3394	5	12	and	and	CCONJ
app01-3394	5	13	fpga	fpga	PROPN
app01-3394	5	14	–	–	PUNCT
app01-3394	5	15	based	base	VERB
app01-3394	5	16	implementations	implementation	NOUN
app01-3394	5	17	of	of	ADP
app01-3394	5	18	a	a	DET
app01-3394	5	19	visual	visual	ADJ
app01-3394	5	20	teach	teach	NOUN
app01-3394	5	21	-	-	PUNCT
app01-3394	5	22	and	and	CCONJ
app01-3394	5	23	-	-	PUNCT
app01-3394	5	24	repeat	repeat	NOUN
app01-3394	5	25	navigation	navigation	NOUN
app01-3394	5	26	system	system	NOUN
app01-3394	5	27	based	base	VERB
app01-3394	5	28	on	on	ADP
app01-3394	5	29	detection	detection	NOUN
app01-3394	5	30	and	and	CCONJ
app01-3394	5	31	tracking	tracking	NOUN
app01-3394	5	32	of	of	ADP
app01-3394	5	33	the	the	DET
app01-3394	5	34	fast	fast	ADJ
app01-3394	5	35	image	image	NOUN
app01-3394	5	36	salient	salient	NOUN
app01-3394	5	37	points	point	NOUN
app01-3394	5	38	.	.	PUNCT
app01-3394	6	1	the	the	DET
app01-3394	6	2	results	result	NOUN
app01-3394	6	3	indicate	indicate	VERB
app01-3394	6	4	that	that	SCONJ
app01-3394	6	5	even	even	ADV
app01-3394	6	6	a	a	DET
app01-3394	6	7	computationally	computationally	ADV
app01-3394	6	8	efficient	efficient	ADJ
app01-3394	6	9	fast	fast	ADJ
app01-3394	6	10	algorithm	algorithm	NOUN
app01-3394	6	11	can	can	AUX
app01-3394	6	12	benefit	benefit	VERB
app01-3394	6	13	from	from	ADP
app01-3394	6	14	a	a	DET
app01-3394	6	15	parallel	parallel	ADJ
app01-3394	6	16	(	(	PUNCT
app01-3394	6	17	low	low	ADJ
app01-3394	6	18	–	–	PUNCT
app01-3394	6	19	cost	cost	NOUN
app01-3394	6	20	)	)	PUNCT
app01-3394	6	21	fpga	fpga	PROPN
app01-3394	6	22	–	–	PUNCT
app01-3394	6	23	based	base	VERB
app01-3394	6	24	implementation	implementation	NOUN
app01-3394	6	25	that	that	PRON
app01-3394	6	26	has	have	VERB
app01-3394	6	27	a	a	DET
app01-3394	6	28	competitive	competitive	ADJ
app01-3394	6	29	processing	processing	NOUN
app01-3394	6	30	time	time	NOUN
app01-3394	6	31	but	but	CCONJ
app01-3394	6	32	more	more	ADV
app01-3394	6	33	importantly	importantly	ADV
app01-3394	6	34	it	it	PRON
app01-3394	6	35	is	be	AUX
app01-3394	6	36	a	a	DET
app01-3394	6	37	more	more	ADV
app01-3394	6	38	power	power	NOUN
app01-3394	6	39	efficient	efficient	ADJ
app01-3394	6	40	.	.	PUNCT
app01-3394	7	1	keywords	keyword	NOUN
app01-3394	7	2	:	:	PUNCT
app01-3394	7	3	fpga	fpga	NOUN
app01-3394	7	4	,	,	PUNCT
app01-3394	7	5	system	system	NOUN
app01-3394	7	6	–	–	PUNCT
app01-3394	7	7	on	on	ADP
app01-3394	7	8	–	–	PUNCT
app01-3394	7	9	chip	chip	NOUN
app01-3394	7	10	,	,	PUNCT
app01-3394	7	11	image	image	NOUN
app01-3394	7	12	processing	processing	NOUN
app01-3394	7	13	,	,	PUNCT
app01-3394	7	14	fast	fast	ADJ
app01-3394	7	15	feature	feature	NOUN
app01-3394	7	16	detector	detector	NOUN
app01-3394	7	17	,	,	PUNCT
app01-3394	7	18	visual	visual	ADJ
app01-3394	7	19	navigation	navigation	NOUN
app01-3394	7	20	.	.	PUNCT
app01-3394	8	1	1	1	X
app01-3394	8	2	.	.	X
app01-3394	8	3	introduction	introduction	NOUN
app01-3394	8	4	one	one	NUM
app01-3394	8	5	of	of	ADP
app01-3394	8	6	the	the	DET
app01-3394	8	7	key	key	ADJ
app01-3394	8	8	indicators	indicator	NOUN
app01-3394	8	9	of	of	ADP
app01-3394	8	10	the	the	DET
app01-3394	8	11	intelligent	intelligent	ADJ
app01-3394	8	12	behaviour	behaviour	NOUN
app01-3394	8	13	of	of	ADP
app01-3394	8	14	a	a	DET
app01-3394	8	15	mobile	mobile	ADJ
app01-3394	8	16	robot	robot	NOUN
app01-3394	8	17	is	be	AUX
app01-3394	8	18	its	its	PRON
app01-3394	8	19	ability	ability	NOUN
app01-3394	8	20	to	to	PART
app01-3394	8	21	react	react	VERB
app01-3394	8	22	promptly	promptly	ADV
app01-3394	8	23	in	in	ADP
app01-3394	8	24	complex	complex	ADJ
app01-3394	8	25	situations	situation	NOUN
app01-3394	8	26	and	and	CCONJ
app01-3394	8	27	make	make	VERB
app01-3394	8	28	fast	fast	ADJ
app01-3394	8	29	and	and	CCONJ
app01-3394	8	30	correct	correct	ADJ
app01-3394	8	31	decisions	decision	NOUN
app01-3394	8	32	regarding	regard	VERB
app01-3394	8	33	the	the	DET
app01-3394	8	34	robot	robot	NOUN
app01-3394	8	35	goals	goal	NOUN
app01-3394	8	36	.	.	PUNCT
app01-3394	9	1	on	on	ADP
app01-3394	9	2	micro	micro	ADJ
app01-3394	9	3	-	-	ADJ
app01-3394	9	4	robotic	robotic	ADJ
app01-3394	9	5	platforms	platform	NOUN
app01-3394	9	6	,	,	PUNCT
app01-3394	9	7	this	this	PRON
app01-3394	9	8	is	be	AUX
app01-3394	9	9	a	a	DET
app01-3394	9	10	very	very	ADV
app01-3394	9	11	comprehensive	comprehensive	ADJ
app01-3394	9	12	task	task	NOUN
app01-3394	9	13	due	due	ADP
app01-3394	9	14	to	to	ADP
app01-3394	9	15	limited	limited	ADJ
app01-3394	9	16	computational	computational	ADJ
app01-3394	9	17	resources	resource	NOUN
app01-3394	9	18	.	.	PUNCT
app01-3394	10	1	a	a	DET
app01-3394	10	2	typical	typical	ADJ
app01-3394	10	3	example	example	NOUN
app01-3394	10	4	of	of	ADP
app01-3394	10	5	micro	micro	ADJ
app01-3394	10	6	-	-	ADJ
app01-3394	10	7	robotic	robotic	ADJ
app01-3394	10	8	platforms	platform	NOUN
app01-3394	10	9	are	be	AUX
app01-3394	10	10	micro	micro	ADP
app01-3394	10	11	aerial	aerial	ADJ
app01-3394	10	12	vehicles	vehicle	NOUN
app01-3394	10	13	(	(	PUNCT
app01-3394	10	14	mavs	mavs	PROPN
app01-3394	10	15	)	)	PUNCT
app01-3394	11	1	[	[	X
app01-3394	11	2	1	1	NUM
app01-3394	11	3	]	]	PUNCT
app01-3394	11	4	,	,	PUNCT
app01-3394	11	5	small	small	ADJ
app01-3394	11	6	legged	legged	ADJ
app01-3394	11	7	robots	robot	NOUN
app01-3394	11	8	[	[	X
app01-3394	11	9	2	2	NUM
app01-3394	11	10	]	]	PUNCT
app01-3394	11	11	or	or	CCONJ
app01-3394	11	12	robots	robot	NOUN
app01-3394	11	13	used	use	VERB
app01-3394	11	14	to	to	PART
app01-3394	11	15	study	study	VERB
app01-3394	11	16	swarm	swarm	NOUN
app01-3394	11	17	intelligence	intelligence	NOUN
app01-3394	12	1	[	[	X
app01-3394	12	2	3	3	NUM
app01-3394	12	3	]	]	PUNCT
app01-3394	12	4	.	.	PUNCT
app01-3394	13	1	they	they	PRON
app01-3394	13	2	can	can	AUX
app01-3394	13	3	be	be	AUX
app01-3394	13	4	characterized	characterize	VERB
app01-3394	13	5	by	by	ADP
app01-3394	13	6	constrained	constrained	ADJ
app01-3394	13	7	dimensions	dimension	NOUN
app01-3394	13	8	and	and	CCONJ
app01-3394	13	9	payload	payload	NOUN
app01-3394	13	10	,	,	PUNCT
app01-3394	13	11	which	which	PRON
app01-3394	13	12	is	be	AUX
app01-3394	13	13	directly	directly	ADV
app01-3394	13	14	related	relate	VERB
app01-3394	13	15	to	to	ADP
app01-3394	13	16	the	the	DET
app01-3394	13	17	limited	limited	ADJ
app01-3394	13	18	battery	battery	NOUN
app01-3394	13	19	capacity	capacity	NOUN
app01-3394	13	20	.	.	PUNCT
app01-3394	14	1	altogether	altogether	ADV
app01-3394	14	2	,	,	PUNCT
app01-3394	14	3	these	these	DET
app01-3394	14	4	parameters	parameter	NOUN
app01-3394	14	5	determine	determine	VERB
app01-3394	14	6	an	an	DET
app01-3394	14	7	available	available	ADJ
app01-3394	14	8	computational	computational	ADJ
app01-3394	14	9	power	power	NOUN
app01-3394	14	10	on	on	ADP
app01-3394	14	11	-	-	PUNCT
app01-3394	14	12	board	board	NOUN
app01-3394	14	13	of	of	ADP
app01-3394	14	14	the	the	DET
app01-3394	14	15	mobile	mobile	NOUN
app01-3394	14	16	robot	robot	NOUN
app01-3394	14	17	.	.	PUNCT
app01-3394	15	1	a	a	DET
app01-3394	15	2	direct	direct	ADJ
app01-3394	15	3	trade	trade	NOUN
app01-3394	15	4	-	-	PUNCT
app01-3394	15	5	off	off	NOUN
app01-3394	15	6	between	between	ADP
app01-3394	15	7	the	the	DET
app01-3394	15	8	computational	computational	ADJ
app01-3394	15	9	capabilities	capability	NOUN
app01-3394	15	10	and	and	CCONJ
app01-3394	15	11	power	power	NOUN
app01-3394	15	12	consumption	consumption	NOUN
app01-3394	15	13	can	can	AUX
app01-3394	15	14	be	be	AUX
app01-3394	15	15	identified	identify	VERB
app01-3394	15	16	,	,	PUNCT
app01-3394	15	17	characterizing	characterize	VERB
app01-3394	15	18	the	the	DET
app01-3394	15	19	maximum	maximum	ADJ
app01-3394	15	20	time	time	NOUN
app01-3394	15	21	for	for	ADP
app01-3394	15	22	which	which	PRON
app01-3394	15	23	the	the	DET
app01-3394	15	24	robot	robot	NOUN
app01-3394	15	25	can	can	AUX
app01-3394	15	26	perform	perform	VERB
app01-3394	15	27	its	its	PRON
app01-3394	15	28	mission	mission	NOUN
app01-3394	15	29	.	.	PUNCT
app01-3394	16	1	this	this	DET
app01-3394	16	2	trade	trade	NOUN
app01-3394	16	3	-	-	PUNCT
app01-3394	16	4	off	off	NOUN
app01-3394	16	5	between	between	ADP
app01-3394	16	6	computationally	computationally	ADV
app01-3394	16	7	demanding	demanding	ADJ
app01-3394	16	8	and	and	CCONJ
app01-3394	16	9	power	power	NOUN
app01-3394	16	10	efficient	efficient	ADJ
app01-3394	16	11	decision	decision	NOUN
app01-3394	16	12	-	-	PUNCT
app01-3394	16	13	making	make	VERB
app01-3394	16	14	techniques	technique	NOUN
app01-3394	16	15	is	be	AUX
app01-3394	16	16	especially	especially	ADV
app01-3394	16	17	recognizable	recognizable	ADJ
app01-3394	16	18	in	in	ADP
app01-3394	16	19	navigation	navigation	NOUN
app01-3394	16	20	algorithms	algorithm	NOUN
app01-3394	16	21	that	that	PRON
app01-3394	16	22	rely	rely	VERB
app01-3394	16	23	on	on	ADP
app01-3394	16	24	computer	computer	NOUN
app01-3394	16	25	vision	vision	NOUN
app01-3394	16	26	methods	method	NOUN
app01-3394	16	27	based	base	VERB
app01-3394	16	28	on	on	ADP
app01-3394	16	29	processing	processing	NOUN
app01-3394	16	30	of	of	ADP
app01-3394	16	31	a	a	DET
app01-3394	16	32	large	large	ADJ
app01-3394	16	33	amount	amount	NOUN
app01-3394	16	34	of	of	ADP
app01-3394	16	35	visual	visual	ADJ
app01-3394	16	36	data	datum	NOUN
app01-3394	16	37	.	.	PUNCT
app01-3394	17	1	salient	salient	PROPN
app01-3394	17	2	point	point	PROPN
app01-3394	17	3	extractors	extractor	NOUN
app01-3394	17	4	are	be	AUX
app01-3394	17	5	popular	popular	ADJ
app01-3394	17	6	techniques	technique	NOUN
app01-3394	17	7	of	of	ADP
app01-3394	17	8	machine	machine	NOUN
app01-3394	17	9	perception	perception	NOUN
app01-3394	17	10	in	in	ADP
app01-3394	17	11	the	the	DET
app01-3394	17	12	mobile	mobile	NOUN
app01-3394	17	13	robot	robot	NOUN
app01-3394	17	14	navigation	navigation	NOUN
app01-3394	17	15	tasks	task	NOUN
app01-3394	17	16	;	;	PUNCT
app01-3394	17	17	however	however	ADV
app01-3394	17	18	,	,	PUNCT
app01-3394	17	19	not	not	PART
app01-3394	17	20	all	all	DET
app01-3394	17	21	available	available	ADJ
app01-3394	17	22	approaches	approach	NOUN
app01-3394	17	23	are	be	AUX
app01-3394	17	24	currently	currently	ADV
app01-3394	17	25	suitable	suitable	ADJ
app01-3394	17	26	for	for	ADP
app01-3394	17	27	micro	micro	ADJ
app01-3394	17	28	-	-	ADJ
app01-3394	17	29	robotic	robotic	ADJ
app01-3394	17	30	platforms	platform	NOUN
app01-3394	17	31	due	due	ADP
app01-3394	17	32	to	to	ADP
app01-3394	17	33	the	the	DET
app01-3394	17	34	limited	limited	ADJ
app01-3394	17	35	on	on	ADP
app01-3394	17	36	-	-	PUNCT
app01-3394	17	37	board	board	NOUN
app01-3394	17	38	computational	computational	ADJ
app01-3394	17	39	resources	resource	NOUN
app01-3394	17	40	.	.	PUNCT
app01-3394	18	1	moreover	moreover	ADV
app01-3394	18	2	,	,	PUNCT
app01-3394	18	3	a	a	DET
app01-3394	18	4	practical	practical	ADJ
app01-3394	18	5	deployment	deployment	NOUN
app01-3394	18	6	of	of	ADP
app01-3394	18	7	a	a	DET
app01-3394	18	8	mobile	mobile	ADJ
app01-3394	18	9	robot	robot	NOUN
app01-3394	18	10	always	always	ADV
app01-3394	18	11	demands	demand	VERB
app01-3394	18	12	a	a	DET
app01-3394	18	13	real	real	ADJ
app01-3394	18	14	-	-	PUNCT
app01-3394	18	15	time	time	NOUN
app01-3394	18	16	performance	performance	NOUN
app01-3394	18	17	of	of	ADP
app01-3394	18	18	decision	decision	NOUN
app01-3394	18	19	-	-	PUNCT
app01-3394	18	20	making	make	VERB
app01-3394	18	21	algorithms	algorithm	NOUN
app01-3394	18	22	,	,	PUNCT
app01-3394	18	23	which	which	PRON
app01-3394	18	24	imposes	impose	VERB
app01-3394	18	25	further	further	ADJ
app01-3394	18	26	restrictions	restriction	NOUN
app01-3394	18	27	on	on	ADP
app01-3394	18	28	the	the	DET
app01-3394	18	29	applicable	applicable	ADJ
app01-3394	18	30	approaches	approach	NOUN
app01-3394	18	31	regarding	regard	VERB
app01-3394	18	32	the	the	DET
app01-3394	18	33	available	available	ADJ
app01-3394	18	34	resources	resource	NOUN
app01-3394	18	35	.	.	PUNCT
app01-3394	19	1	two	two	NUM
app01-3394	19	2	fundamental	fundamental	ADJ
app01-3394	19	3	approaches	approach	NOUN
app01-3394	19	4	how	how	SCONJ
app01-3394	19	5	to	to	PART
app01-3394	19	6	deal	deal	VERB
app01-3394	19	7	with	with	ADP
app01-3394	19	8	limited	limited	ADJ
app01-3394	19	9	computational	computational	ADJ
app01-3394	19	10	resources	resource	NOUN
app01-3394	19	11	on	on	ADP
app01-3394	19	12	micro	micro	ADJ
app01-3394	19	13	-	-	ADJ
app01-3394	19	14	robotic	robotic	ADJ
app01-3394	19	15	platforms	platform	NOUN
app01-3394	19	16	can	can	AUX
app01-3394	19	17	be	be	AUX
app01-3394	19	18	considered	consider	VERB
app01-3394	19	19	.	.	PUNCT
app01-3394	20	1	the	the	DET
app01-3394	20	2	first	first	ADJ
app01-3394	20	3	approach	approach	NOUN
app01-3394	20	4	is	be	AUX
app01-3394	20	5	a	a	DET
app01-3394	20	6	simplification	simplification	NOUN
app01-3394	20	7	of	of	ADP
app01-3394	20	8	the	the	DET
app01-3394	20	9	computationally	computationally	ADV
app01-3394	20	10	demanding	demand	VERB
app01-3394	20	11	processing	processing	NOUN
app01-3394	20	12	,	,	PUNCT
app01-3394	20	13	e.g.	e.g.	ADV
app01-3394	20	14	,	,	PUNCT
app01-3394	20	15	by	by	ADP
app01-3394	20	16	introducing	introduce	VERB
app01-3394	20	17	approximations	approximation	NOUN
app01-3394	20	18	of	of	ADP
app01-3394	20	19	the	the	DET
app01-3394	20	20	demanding	demanding	ADJ
app01-3394	20	21	method	method	NOUN
app01-3394	20	22	and	and	CCONJ
app01-3394	20	23	simplifying	simplify	VERB
app01-3394	20	24	the	the	DET
app01-3394	20	25	whole	whole	ADJ
app01-3394	20	26	principle	principle	NOUN
app01-3394	20	27	,	,	PUNCT
app01-3394	20	28	which	which	PRON
app01-3394	20	29	can	can	AUX
app01-3394	20	30	be	be	AUX
app01-3394	20	31	a	a	DET
app01-3394	20	32	daunting	daunting	ADJ
app01-3394	20	33	task	task	NOUN
app01-3394	20	34	as	as	SCONJ
app01-3394	20	35	it	it	PRON
app01-3394	20	36	may	may	AUX
app01-3394	20	37	not	not	PART
app01-3394	20	38	be	be	AUX
app01-3394	20	39	always	always	ADV
app01-3394	20	40	possible	possible	ADJ
app01-3394	20	41	.	.	PUNCT
app01-3394	21	1	the	the	DET
app01-3394	21	2	second	second	ADJ
app01-3394	21	3	approach	approach	NOUN
app01-3394	21	4	is	be	AUX
app01-3394	21	5	a	a	DET
app01-3394	21	6	utilization	utilization	NOUN
app01-3394	21	7	of	of	ADP
app01-3394	21	8	the	the	DET
app01-3394	21	9	optimized	optimize	VERB
app01-3394	21	10	implementations	implementation	NOUN
app01-3394	21	11	for	for	ADP
app01-3394	21	12	newly	newly	ADV
app01-3394	21	13	available	available	ADJ
app01-3394	21	14	features	feature	NOUN
app01-3394	21	15	of	of	ADP
app01-3394	21	16	the	the	DET
app01-3394	21	17	modern	modern	ADJ
app01-3394	21	18	processors	processor	NOUN
app01-3394	21	19	,	,	PUNCT
app01-3394	21	20	e.g.	e.g.	ADV
app01-3394	21	21	,	,	PUNCT
app01-3394	21	22	a	a	DET
app01-3394	21	23	dedicated	dedicated	ADJ
app01-3394	21	24	optimization	optimization	NOUN
app01-3394	21	25	for	for	ADP
app01-3394	21	26	special	special	ADJ
app01-3394	21	27	(	(	PUNCT
app01-3394	21	28	typically	typically	ADV
app01-3394	21	29	simd	simd	ADJ
app01-3394	21	30	–	–	PUNCT
app01-3394	21	31	single	single	ADJ
app01-3394	21	32	instruction	instruction	NOUN
app01-3394	21	33	multiple	multiple	ADJ
app01-3394	21	34	data	datum	NOUN
app01-3394	21	35	)	)	PUNCT
app01-3394	21	36	instructions	instruction	NOUN
app01-3394	21	37	of	of	ADP
app01-3394	21	38	the	the	DET
app01-3394	21	39	new	new	ADJ
app01-3394	21	40	cpus	cpu	NOUN
app01-3394	21	41	.	.	PUNCT
app01-3394	22	1	besides	besides	ADV
app01-3394	22	2	,	,	PUNCT
app01-3394	22	3	dedicated	dedicated	ADJ
app01-3394	22	4	co	co	NOUN
app01-3394	22	5	-	-	NOUN
app01-3394	22	6	processors	processor	NOUN
app01-3394	22	7	can	can	AUX
app01-3394	22	8	be	be	AUX
app01-3394	22	9	utilized	utilize	VERB
app01-3394	22	10	to	to	PART
app01-3394	22	11	speedup	speedup	VERB
app01-3394	22	12	the	the	DET
app01-3394	22	13	computationally	computationally	ADV
app01-3394	22	14	demanding	demanding	ADJ
app01-3394	22	15	calculations	calculation	NOUN
app01-3394	22	16	by	by	ADP
app01-3394	22	17	massively	massively	ADV
app01-3394	22	18	parallel	parallel	ADJ
app01-3394	22	19	processing	processing	NOUN
app01-3394	22	20	that	that	PRON
app01-3394	22	21	is	be	AUX
app01-3394	22	22	available	available	ADJ
app01-3394	22	23	using	use	VERB
app01-3394	22	24	conventional	conventional	ADJ
app01-3394	22	25	graphics	graphic	NOUN
app01-3394	22	26	cards	card	NOUN
app01-3394	22	27	,	,	PUNCT
app01-3394	22	28	e.g.	e.g.	ADV
app01-3394	22	29	,	,	PUNCT
app01-3394	22	30	using	use	VERB
app01-3394	22	31	cuda	cuda	NOUN
app01-3394	22	32	or	or	CCONJ
app01-3394	22	33	opencl	opencl	NOUN
app01-3394	22	34	.	.	PUNCT
app01-3394	23	1	although	although	SCONJ
app01-3394	23	2	modern	modern	ADJ
app01-3394	23	3	graphics	graphic	NOUN
app01-3394	23	4	cards	card	NOUN
app01-3394	23	5	are	be	AUX
app01-3394	23	6	able	able	ADJ
app01-3394	23	7	to	to	PART
app01-3394	23	8	provide	provide	VERB
app01-3394	23	9	superior	superior	ADJ
app01-3394	23	10	peak	peak	NOUN
app01-3394	23	11	performance	performance	NOUN
app01-3394	23	12	,	,	PUNCT
app01-3394	23	13	they	they	PRON
app01-3394	23	14	also	also	ADV
app01-3394	23	15	have	have	VERB
app01-3394	23	16	high	high	ADJ
app01-3394	23	17	power	power	NOUN
app01-3394	23	18	consumption	consumption	NOUN
app01-3394	23	19	requirements	requirement	NOUN
app01-3394	23	20	(	(	PUNCT
app01-3394	23	21	in	in	ADP
app01-3394	23	22	order	order	NOUN
app01-3394	23	23	of	of	ADP
app01-3394	23	24	hundreds	hundred	NOUN
app01-3394	23	25	of	of	ADP
app01-3394	23	26	watts	watt	NOUN
app01-3394	23	27	)	)	PUNCT
app01-3394	23	28	and	and	CCONJ
app01-3394	23	29	thus	thus	ADV
app01-3394	23	30	they	they	PRON
app01-3394	23	31	are	be	AUX
app01-3394	23	32	not	not	PART
app01-3394	23	33	suitable	suitable	ADJ
app01-3394	23	34	for	for	ADP
app01-3394	23	35	micro	micro	ADJ
app01-3394	23	36	-	-	ADJ
app01-3394	23	37	robotic	robotic	ADJ
app01-3394	23	38	platforms	platform	NOUN
app01-3394	23	39	.	.	PUNCT
app01-3394	24	1	therefore	therefore	ADV
app01-3394	24	2	,	,	PUNCT
app01-3394	24	3	as	as	ADP
app01-3394	24	4	an	an	DET
app01-3394	24	5	alternative	alternative	ADJ
app01-3394	24	6	solution	solution	NOUN
app01-3394	24	7	for	for	ADP
app01-3394	24	8	parallel	parallel	ADJ
app01-3394	24	9	based	base	VERB
app01-3394	24	10	and	and	CCONJ
app01-3394	24	11	power	power	NOUN
app01-3394	24	12	-	-	PUNCT
app01-3394	24	13	efficient	efficient	ADJ
app01-3394	24	14	computations	computation	NOUN
app01-3394	24	15	,	,	PUNCT
app01-3394	24	16	it	it	PRON
app01-3394	24	17	is	be	AUX
app01-3394	24	18	a	a	DET
app01-3394	24	19	more	more	ADV
app01-3394	24	20	suitable	suitable	ADJ
app01-3394	24	21	to	to	PART
app01-3394	24	22	consider	consider	VERB
app01-3394	24	23	field	field	NOUN
app01-3394	24	24	-	-	PUNCT
app01-3394	24	25	programmable	programmable	ADJ
app01-3394	24	26	gate	gate	NOUN
app01-3394	24	27	array	array	NOUN
app01-3394	24	28	(	(	PUNCT
app01-3394	24	29	fpga	fpga	NOUN
app01-3394	24	30	)	)	PUNCT
app01-3394	24	31	technology	technology	NOUN
app01-3394	24	32	to	to	PART
app01-3394	24	33	develop	develop	VERB
app01-3394	24	34	a	a	DET
app01-3394	24	35	custom	custom	NOUN
app01-3394	24	36	architecture	architecture	NOUN
app01-3394	24	37	specifically	specifically	ADV
app01-3394	24	38	designed	design	VERB
app01-3394	24	39	for	for	ADP
app01-3394	24	40	the	the	DET
app01-3394	24	41	particular	particular	ADJ
app01-3394	24	42	computational	computational	ADJ
app01-3394	24	43	task	task	NOUN
app01-3394	24	44	,	,	PUNCT
app01-3394	24	45	which	which	PRON
app01-3394	24	46	,	,	PUNCT
app01-3394	24	47	in	in	ADP
app01-3394	24	48	the	the	DET
app01-3394	24	49	end	end	NOUN
app01-3394	24	50	,	,	PUNCT
app01-3394	24	51	can	can	AUX
app01-3394	24	52	be	be	AUX
app01-3394	24	53	very	very	ADV
app01-3394	24	54	power	power	NOUN
app01-3394	24	55	and	and	CCONJ
app01-3394	24	56	computationally	computationally	ADV
app01-3394	24	57	efficient	efficient	ADJ
app01-3394	24	58	while	while	NOUN
app01-3394	24	59	also	also	ADV
app01-3394	24	60	small	small	ADJ
app01-3394	24	61	in	in	ADP
app01-3394	24	62	dimensions	dimension	NOUN
app01-3394	24	63	and	and	CCONJ
app01-3394	24	64	cheap	cheap	ADJ
app01-3394	24	65	in	in	ADP
app01-3394	24	66	development	development	NOUN
app01-3394	24	67	.	.	PUNCT
app01-3394	25	1	however	however	ADV
app01-3394	25	2	,	,	PUNCT
app01-3394	25	3	fpga	fpga	PROPN
app01-3394	25	4	-	-	PUNCT
app01-3394	25	5	based	base	VERB
app01-3394	25	6	solutions	solution	NOUN
app01-3394	25	7	need	need	VERB
app01-3394	25	8	a	a	DET
app01-3394	25	9	significantly	significantly	ADV
app01-3394	25	10	different	different	ADJ
app01-3394	25	11	approach	approach	NOUN
app01-3394	25	12	for	for	ADP
app01-3394	25	13	an	an	DET
app01-3394	25	14	efficient	efficient	ADJ
app01-3394	25	15	implementation	implementation	NOUN
app01-3394	25	16	of	of	ADP
app01-3394	25	17	the	the	DET
app01-3394	25	18	particular	particular	ADJ
app01-3394	25	19	algorithms	algorithm	NOUN
app01-3394	25	20	than	than	ADP
app01-3394	25	21	a	a	DET
app01-3394	25	22	conventional	conventional	ADJ
app01-3394	25	23	cpu	cpu	NOUN
app01-3394	25	24	.	.	PUNCT
app01-3394	26	1	thus	thus	ADV
app01-3394	26	2	,	,	PUNCT
app01-3394	26	3	the	the	DET
app01-3394	26	4	deployment	deployment	NOUN
app01-3394	26	5	time	time	NOUN
app01-3394	26	6	can	can	AUX
app01-3394	26	7	be	be	AUX
app01-3394	26	8	high	high	ADJ
app01-3394	26	9	compared	compare	VERB
app01-3394	26	10	to	to	ADP
app01-3394	26	11	a	a	DET
app01-3394	26	12	gain	gain	NOUN
app01-3394	26	13	from	from	ADP
app01-3394	26	14	the	the	DET
app01-3394	26	15	implementation	implementation	NOUN
app01-3394	26	16	of	of	ADP
app01-3394	26	17	a	a	DET
app01-3394	26	18	custom	custom	NOUN
app01-3394	26	19	design	design	NOUN
app01-3394	26	20	computational	computational	ADJ
app01-3394	26	21	architecture	architecture	NOUN
app01-3394	26	22	for	for	ADP
app01-3394	26	23	the	the	DET
app01-3394	26	24	fpga	fpga	PROPN
app01-3394	26	25	.	.	PUNCT
app01-3394	27	1	in	in	ADP
app01-3394	27	2	this	this	DET
app01-3394	27	3	paper	paper	NOUN
app01-3394	27	4	,	,	PUNCT
app01-3394	27	5	we	we	PRON
app01-3394	27	6	report	report	VERB
app01-3394	27	7	our	our	PRON
app01-3394	27	8	results	result	NOUN
app01-3394	27	9	on	on	ADP
app01-3394	27	10	a	a	DET
app01-3394	27	11	comparison	comparison	NOUN
app01-3394	27	12	8	8	NUM
app01-3394	27	13	http://dx.doi.org/10.14311/app.2015.1.0008	http://dx.doi.org/10.14311/app.2015.1.0008	NOUN
app01-3394	27	14	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3394	27	15	vol	vol	NOUN
app01-3394	27	16	.	.	PUNCT
app01-3394	28	1	2/2015	2/2015	NUM
app01-3394	28	2	on	on	ADP
app01-3394	28	3	fpga	fpga	PROPN
app01-3394	28	4	based	base	VERB
app01-3394	28	5	acceleration	acceleration	NOUN
app01-3394	28	6	of	of	ADP
app01-3394	28	7	image	image	NOUN
app01-3394	28	8	processing	processing	NOUN
app01-3394	28	9	in	in	ADP
app01-3394	28	10	mobile	mobile	ADJ
app01-3394	28	11	robotics	robotic	NOUN
app01-3394	28	12	of	of	ADP
app01-3394	28	13	the	the	DET
app01-3394	28	14	selected	select	VERB
app01-3394	28	15	image	image	NOUN
app01-3394	28	16	processing	processing	NOUN
app01-3394	28	17	techniques	technique	NOUN
app01-3394	28	18	suitable	suitable	ADJ
app01-3394	28	19	for	for	ADP
app01-3394	28	20	embedded	embed	VERB
app01-3394	28	21	computation	computation	NOUN
app01-3394	28	22	of	of	ADP
app01-3394	28	23	the	the	DET
app01-3394	28	24	visual	visual	ADJ
app01-3394	28	25	navigation	navigation	NOUN
app01-3394	28	26	task	task	NOUN
app01-3394	28	27	implemented	implement	VERB
app01-3394	28	28	on	on	ADP
app01-3394	28	29	a	a	DET
app01-3394	28	30	conventional	conventional	ADJ
app01-3394	28	31	on	on	ADP
app01-3394	28	32	-	-	PUNCT
app01-3394	28	33	board	board	NOUN
app01-3394	28	34	platform	platform	NOUN
app01-3394	28	35	and	and	CCONJ
app01-3394	28	36	a	a	DET
app01-3394	28	37	dedicated	dedicated	ADJ
app01-3394	28	38	solution	solution	NOUN
app01-3394	28	39	based	base	VERB
app01-3394	28	40	on	on	ADP
app01-3394	28	41	fpga	fpga	PROPN
app01-3394	28	42	processing	processing	NOUN
app01-3394	28	43	of	of	ADP
app01-3394	28	44	the	the	DET
app01-3394	28	45	image	image	NOUN
app01-3394	28	46	data	datum	NOUN
app01-3394	28	47	.	.	PUNCT
app01-3394	29	1	in	in	ADP
app01-3394	29	2	particular	particular	ADJ
app01-3394	29	3	,	,	PUNCT
app01-3394	29	4	we	we	PRON
app01-3394	29	5	consider	consider	VERB
app01-3394	29	6	a	a	DET
app01-3394	29	7	detection	detection	NOUN
app01-3394	29	8	of	of	ADP
app01-3394	29	9	the	the	DET
app01-3394	29	10	salient	salient	NOUN
app01-3394	29	11	points	point	NOUN
app01-3394	29	12	in	in	ADP
app01-3394	29	13	the	the	DET
app01-3394	29	14	image	image	NOUN
app01-3394	29	15	.	.	PUNCT
app01-3394	30	1	the	the	DET
app01-3394	30	2	salient	salient	NOUN
app01-3394	30	3	points	point	NOUN
app01-3394	30	4	are	be	AUX
app01-3394	30	5	image	image	NOUN
app01-3394	30	6	patterns	pattern	NOUN
app01-3394	30	7	which	which	PRON
app01-3394	30	8	differs	differ	VERB
app01-3394	30	9	from	from	ADP
app01-3394	30	10	their	their	PRON
app01-3394	30	11	local	local	ADJ
app01-3394	30	12	neighbourhood	neighbourhood	NOUN
app01-3394	30	13	and	and	CCONJ
app01-3394	30	14	are	be	AUX
app01-3394	30	15	expected	expect	VERB
app01-3394	30	16	to	to	PART
app01-3394	30	17	be	be	AUX
app01-3394	30	18	reliably	reliably	ADV
app01-3394	30	19	and	and	CCONJ
app01-3394	30	20	repeatably	repeatably	ADV
app01-3394	30	21	detectable	detectable	ADJ
app01-3394	30	22	,	,	PUNCT
app01-3394	30	23	preferably	preferably	ADV
app01-3394	30	24	invariant	invariant	ADJ
app01-3394	30	25	to	to	ADP
app01-3394	30	26	camera	camera	NOUN
app01-3394	30	27	viewpoint	viewpoint	NOUN
app01-3394	30	28	changes	change	NOUN
app01-3394	30	29	.	.	PUNCT
app01-3394	31	1	such	such	ADJ
app01-3394	31	2	features	feature	NOUN
app01-3394	31	3	provide	provide	VERB
app01-3394	31	4	a	a	DET
app01-3394	31	5	mobile	mobile	ADJ
app01-3394	31	6	robot	robot	NOUN
app01-3394	31	7	with	with	ADP
app01-3394	31	8	a	a	DET
app01-3394	31	9	limited	limited	ADJ
app01-3394	31	10	set	set	NOUN
app01-3394	31	11	of	of	ADP
app01-3394	31	12	environmental	environmental	ADJ
app01-3394	31	13	anchor	anchor	NOUN
app01-3394	31	14	points	point	NOUN
app01-3394	31	15	which	which	PRON
app01-3394	31	16	are	be	AUX
app01-3394	31	17	then	then	ADV
app01-3394	31	18	utilized	utilize	VERB
app01-3394	31	19	for	for	ADP
app01-3394	31	20	a	a	DET
app01-3394	31	21	vision	vision	NOUN
app01-3394	31	22	-	-	PUNCT
app01-3394	31	23	based	base	VERB
app01-3394	31	24	navigation	navigation	NOUN
app01-3394	31	25	.	.	PUNCT
app01-3394	32	1	feature	feature	NOUN
app01-3394	32	2	based	base	VERB
app01-3394	32	3	methods	method	NOUN
app01-3394	32	4	consist	consist	VERB
app01-3394	32	5	of	of	ADP
app01-3394	32	6	three	three	NUM
app01-3394	32	7	stages	stage	NOUN
app01-3394	32	8	.	.	PUNCT
app01-3394	33	1	the	the	DET
app01-3394	33	2	first	first	ADJ
app01-3394	33	3	stage	stage	NOUN
app01-3394	33	4	is	be	AUX
app01-3394	33	5	a	a	DET
app01-3394	33	6	detection	detection	NOUN
app01-3394	33	7	of	of	ADP
app01-3394	33	8	features	feature	NOUN
app01-3394	33	9	to	to	PART
app01-3394	33	10	identify	identify	VERB
app01-3394	33	11	salient	salient	ADJ
app01-3394	33	12	points	point	NOUN
app01-3394	33	13	in	in	ADP
app01-3394	33	14	the	the	DET
app01-3394	33	15	image	image	NOUN
app01-3394	33	16	.	.	PUNCT
app01-3394	34	1	then	then	ADV
app01-3394	34	2	,	,	PUNCT
app01-3394	34	3	for	for	SCONJ
app01-3394	34	4	each	each	DET
app01-3394	34	5	detected	detect	VERB
app01-3394	34	6	feature	feature	VERB
app01-3394	34	7	its	its	PRON
app01-3394	34	8	descriptor	descriptor	NOUN
app01-3394	34	9	is	be	AUX
app01-3394	34	10	calculated	calculate	VERB
app01-3394	34	11	to	to	PART
app01-3394	34	12	describe	describe	VERB
app01-3394	34	13	the	the	DET
app01-3394	34	14	local	local	ADJ
app01-3394	34	15	image	image	NOUN
app01-3394	34	16	surrounding	surround	VERB
app01-3394	34	17	of	of	ADP
app01-3394	34	18	the	the	DET
app01-3394	34	19	feature	feature	NOUN
app01-3394	34	20	in	in	ADP
app01-3394	34	21	order	order	NOUN
app01-3394	34	22	to	to	PART
app01-3394	34	23	distinguish	distinguish	VERB
app01-3394	34	24	individual	individual	ADJ
app01-3394	34	25	features	feature	NOUN
app01-3394	34	26	.	.	PUNCT
app01-3394	35	1	the	the	DET
app01-3394	35	2	third	third	ADJ
app01-3394	35	3	stage	stage	NOUN
app01-3394	35	4	is	be	AUX
app01-3394	35	5	a	a	DET
app01-3394	35	6	process	process	NOUN
app01-3394	35	7	of	of	ADP
app01-3394	35	8	establishing	establish	VERB
app01-3394	35	9	feature	feature	NOUN
app01-3394	35	10	correspondences	correspondence	NOUN
app01-3394	35	11	which	which	PRON
app01-3394	35	12	is	be	AUX
app01-3394	35	13	called	call	VERB
app01-3394	35	14	feature	feature	NOUN
app01-3394	35	15	matching	matching	NOUN
app01-3394	35	16	.	.	PUNCT
app01-3394	36	1	the	the	DET
app01-3394	36	2	matching	matching	NOUN
app01-3394	36	3	is	be	AUX
app01-3394	36	4	based	base	VERB
app01-3394	36	5	on	on	ADP
app01-3394	36	6	a	a	DET
app01-3394	36	7	comparison	comparison	NOUN
app01-3394	36	8	of	of	ADP
app01-3394	36	9	the	the	DET
app01-3394	36	10	feature	feature	NOUN
app01-3394	36	11	descriptors	descriptor	NOUN
app01-3394	36	12	to	to	PART
app01-3394	36	13	determine	determine	VERB
app01-3394	36	14	whether	whether	SCONJ
app01-3394	36	15	the	the	DET
app01-3394	36	16	features	feature	NOUN
app01-3394	36	17	correspond	correspond	VERB
app01-3394	36	18	to	to	ADP
app01-3394	36	19	the	the	DET
app01-3394	36	20	same	same	ADJ
app01-3394	36	21	salient	salient	NOUN
app01-3394	36	22	object	object	NOUN
app01-3394	36	23	already	already	ADV
app01-3394	36	24	detected	detect	VERB
app01-3394	36	25	in	in	ADP
app01-3394	36	26	the	the	DET
app01-3394	36	27	environment	environment	NOUN
app01-3394	36	28	.	.	PUNCT
app01-3394	37	1	regarding	regard	VERB
app01-3394	37	2	the	the	DET
app01-3394	37	3	computational	computational	ADJ
app01-3394	37	4	complexity	complexity	NOUN
app01-3394	37	5	of	of	ADP
app01-3394	37	6	the	the	DET
app01-3394	37	7	feature	feature	NOUN
app01-3394	37	8	detection	detection	NOUN
app01-3394	37	9	,	,	PUNCT
app01-3394	37	10	we	we	PRON
app01-3394	37	11	can	can	AUX
app01-3394	37	12	classify	classify	VERB
app01-3394	37	13	the	the	DET
app01-3394	37	14	features	feature	NOUN
app01-3394	37	15	to	to	ADP
app01-3394	37	16	artificial	artificial	ADJ
app01-3394	37	17	,	,	PUNCT
app01-3394	37	18	like	like	ADP
app01-3394	37	19	blobs	blob	NOUN
app01-3394	37	20	or	or	CCONJ
app01-3394	37	21	patterns	pattern	NOUN
app01-3394	37	22	,	,	PUNCT
app01-3394	37	23	and	and	CCONJ
app01-3394	37	24	naturally	naturally	ADV
app01-3394	37	25	occurring	occur	VERB
app01-3394	37	26	in	in	ADP
app01-3394	37	27	the	the	DET
app01-3394	37	28	environment	environment	NOUN
app01-3394	37	29	.	.	PUNCT
app01-3394	38	1	for	for	ADP
app01-3394	38	2	the	the	DET
app01-3394	38	3	field	field	NOUN
app01-3394	38	4	robotics	robotic	NOUN
app01-3394	38	5	,	,	PUNCT
app01-3394	38	6	natural	natural	ADJ
app01-3394	38	7	landmarks	landmark	NOUN
app01-3394	38	8	are	be	AUX
app01-3394	38	9	more	more	ADV
app01-3394	38	10	important	important	ADJ
app01-3394	38	11	;	;	PUNCT
app01-3394	38	12	however	however	ADV
app01-3394	38	13	,	,	PUNCT
app01-3394	38	14	artificial	artificial	ADJ
app01-3394	38	15	landmarks	landmark	NOUN
app01-3394	38	16	are	be	AUX
app01-3394	38	17	much	much	ADV
app01-3394	38	18	easier	easy	ADJ
app01-3394	38	19	to	to	PART
app01-3394	38	20	detect	detect	VERB
app01-3394	38	21	.	.	PUNCT
app01-3394	39	1	one	one	NUM
app01-3394	39	2	of	of	ADP
app01-3394	39	3	the	the	DET
app01-3394	39	4	foundational	foundational	ADJ
app01-3394	39	5	feature	feature	NOUN
app01-3394	39	6	detectors	detector	NOUN
app01-3394	39	7	is	be	AUX
app01-3394	39	8	the	the	DET
app01-3394	39	9	scale	scale	NOUN
app01-3394	39	10	-	-	PUNCT
app01-3394	39	11	invariant	invariant	ADJ
app01-3394	39	12	feature	feature	NOUN
app01-3394	39	13	transform	transform	NOUN
app01-3394	39	14	(	(	PUNCT
app01-3394	39	15	sift	sift	NOUN
app01-3394	39	16	)	)	PUNCT
app01-3394	39	17	algorithm	algorithm	NOUN
app01-3394	40	1	[	[	X
app01-3394	40	2	4	4	NUM
app01-3394	40	3	]	]	PUNCT
app01-3394	40	4	,	,	PUNCT
app01-3394	40	5	which	which	PRON
app01-3394	40	6	is	be	AUX
app01-3394	40	7	unfortunately	unfortunately	ADV
app01-3394	40	8	computationally	computationally	ADV
app01-3394	40	9	very	very	ADV
app01-3394	40	10	demanding	demanding	ADJ
app01-3394	40	11	,	,	PUNCT
app01-3394	40	12	and	and	CCONJ
app01-3394	40	13	therefore	therefore	ADV
app01-3394	40	14	,	,	PUNCT
app01-3394	40	15	a	a	DET
app01-3394	40	16	speeded	speed	VERB
app01-3394	40	17	-	-	PUNCT
app01-3394	40	18	up	up	ADP
app01-3394	40	19	robust	robust	ADJ
app01-3394	40	20	features	feature	NOUN
app01-3394	40	21	(	(	PUNCT
app01-3394	40	22	surf	surf	NOUN
app01-3394	40	23	)	)	PUNCT
app01-3394	40	24	algorithm	algorithm	NOUN
app01-3394	40	25	has	have	AUX
app01-3394	40	26	been	be	AUX
app01-3394	40	27	proposed	propose	VERB
app01-3394	40	28	[	[	X
app01-3394	40	29	5	5	NUM
app01-3394	40	30	]	]	PUNCT
app01-3394	40	31	to	to	PART
app01-3394	40	32	provide	provide	VERB
app01-3394	40	33	salient	salient	ADJ
app01-3394	40	34	points	point	NOUN
app01-3394	40	35	with	with	ADP
app01-3394	40	36	less	less	ADJ
app01-3394	40	37	computational	computational	ADJ
app01-3394	40	38	requirements	requirement	NOUN
app01-3394	40	39	.	.	PUNCT
app01-3394	41	1	although	although	SCONJ
app01-3394	41	2	surf	surf	NOUN
app01-3394	41	3	is	be	AUX
app01-3394	41	4	less	less	ADV
app01-3394	41	5	demanding	demanding	ADJ
app01-3394	41	6	than	than	ADP
app01-3394	41	7	sift	sift	ADJ
app01-3394	41	8	,	,	PUNCT
app01-3394	41	9	it	it	PRON
app01-3394	41	10	can	can	AUX
app01-3394	41	11	be	be	AUX
app01-3394	41	12	still	still	ADV
app01-3394	41	13	computationally	computationally	ADV
app01-3394	41	14	restrictive	restrictive	ADJ
app01-3394	41	15	on	on	ADP
app01-3394	41	16	small	small	ADJ
app01-3394	41	17	platforms	platform	NOUN
app01-3394	41	18	.	.	PUNCT
app01-3394	42	1	that	that	PRON
app01-3394	42	2	is	be	AUX
app01-3394	42	3	why	why	SCONJ
app01-3394	42	4	researchers	researcher	NOUN
app01-3394	42	5	investigate	investigate	VERB
app01-3394	42	6	other	other	ADJ
app01-3394	42	7	methods	method	NOUN
app01-3394	42	8	how	how	SCONJ
app01-3394	42	9	to	to	PART
app01-3394	42	10	detect	detect	VERB
app01-3394	42	11	and	and	CCONJ
app01-3394	42	12	describe	describe	VERB
app01-3394	42	13	salient	salient	ADJ
app01-3394	42	14	objects	object	NOUN
app01-3394	42	15	in	in	ADP
app01-3394	42	16	the	the	DET
app01-3394	42	17	environment	environment	NOUN
app01-3394	42	18	by	by	ADP
app01-3394	42	19	a	a	DET
app01-3394	42	20	computationally	computationally	ADV
app01-3394	42	21	efficient	efficient	ADJ
app01-3394	42	22	algorithm	algorithm	NOUN
app01-3394	42	23	such	such	ADJ
app01-3394	42	24	as	as	ADP
app01-3394	42	25	the	the	DET
app01-3394	42	26	fast	fast	ADJ
app01-3394	42	27	feature	feature	NOUN
app01-3394	42	28	detector	detector	NOUN
app01-3394	42	29	[	[	X
app01-3394	42	30	6	6	NUM
app01-3394	42	31	]	]	PUNCT
app01-3394	42	32	.	.	PUNCT
app01-3394	43	1	fast	fast	ADJ
app01-3394	43	2	is	be	AUX
app01-3394	43	3	widely	widely	ADV
app01-3394	43	4	adopted	adopt	VERB
app01-3394	43	5	by	by	ADP
app01-3394	43	6	robotic	robotic	ADJ
app01-3394	43	7	community	community	NOUN
app01-3394	43	8	for	for	ADP
app01-3394	43	9	its	its	PRON
app01-3394	43	10	low	low	ADJ
app01-3394	43	11	computational	computational	ADJ
app01-3394	43	12	complexity	complexity	NOUN
app01-3394	43	13	.	.	PUNCT
app01-3394	44	1	it	it	PRON
app01-3394	44	2	has	have	AUX
app01-3394	44	3	been	be	AUX
app01-3394	44	4	deployed	deploy	VERB
app01-3394	44	5	in	in	ADP
app01-3394	44	6	several	several	ADJ
app01-3394	44	7	visual	visual	ADJ
app01-3394	44	8	navigation	navigation	NOUN
app01-3394	44	9	methods	method	NOUN
app01-3394	44	10	,	,	PUNCT
app01-3394	44	11	e.g.	e.g.	ADV
app01-3394	44	12	,	,	PUNCT
app01-3394	44	13	[	[	X
app01-3394	44	14	7	7	NUM
app01-3394	44	15	,	,	PUNCT
app01-3394	44	16	8	8	NUM
app01-3394	44	17	]	]	PUNCT
app01-3394	44	18	,	,	PUNCT
app01-3394	44	19	and	and	CCONJ
app01-3394	44	20	it	it	PRON
app01-3394	44	21	also	also	ADV
app01-3394	44	22	provides	provide	VERB
app01-3394	44	23	a	a	DET
app01-3394	44	24	base	base	NOUN
app01-3394	44	25	for	for	ADP
app01-3394	44	26	different	different	ADJ
app01-3394	44	27	feature	feature	NOUN
app01-3394	44	28	extractors	extractor	NOUN
app01-3394	45	1	[	[	X
app01-3394	45	2	9	9	NUM
app01-3394	45	3	,	,	PUNCT
app01-3394	45	4	10	10	NUM
app01-3394	45	5	]	]	PUNCT
app01-3394	45	6	.	.	PUNCT
app01-3394	46	1	following	follow	VERB
app01-3394	46	2	our	our	PRON
app01-3394	46	3	intention	intention	NOUN
app01-3394	46	4	to	to	PART
app01-3394	46	5	have	have	AUX
app01-3394	46	6	a	a	DET
app01-3394	46	7	power	power	NOUN
app01-3394	46	8	and	and	CCONJ
app01-3394	46	9	computationally	computationally	ADV
app01-3394	46	10	efficient	efficient	ADJ
app01-3394	46	11	image	image	NOUN
app01-3394	46	12	processing	processing	NOUN
app01-3394	46	13	available	available	ADJ
app01-3394	46	14	on	on	ADP
app01-3394	46	15	a	a	DET
app01-3394	46	16	mobile	mobile	ADJ
app01-3394	46	17	robot	robot	NOUN
app01-3394	46	18	,	,	PUNCT
app01-3394	46	19	we	we	PRON
app01-3394	46	20	consider	consider	VERB
app01-3394	46	21	fast	fast	ADV
app01-3394	46	22	as	as	ADP
app01-3394	46	23	a	a	DET
app01-3394	46	24	suitable	suitable	ADJ
app01-3394	46	25	algorithm	algorithm	NOUN
app01-3394	46	26	for	for	ADP
app01-3394	46	27	visual	visual	ADJ
app01-3394	46	28	navigation	navigation	NOUN
app01-3394	46	29	task	task	NOUN
app01-3394	46	30	computed	compute	VERB
app01-3394	46	31	on	on	ADP
app01-3394	46	32	-	-	PUNCT
app01-3394	46	33	board	board	NOUN
app01-3394	46	34	.	.	PUNCT
app01-3394	47	1	therefore	therefore	ADV
app01-3394	47	2	,	,	PUNCT
app01-3394	47	3	we	we	PRON
app01-3394	47	4	compare	compare	VERB
app01-3394	47	5	a	a	DET
app01-3394	47	6	performance	performance	NOUN
app01-3394	47	7	of	of	ADP
app01-3394	47	8	the	the	DET
app01-3394	47	9	fast	fast	ADJ
app01-3394	47	10	feature	feature	NOUN
app01-3394	47	11	extraction	extraction	NOUN
app01-3394	47	12	implemented	implement	VERB
app01-3394	47	13	on	on	ADP
app01-3394	47	14	a	a	DET
app01-3394	47	15	conventional	conventional	ADJ
app01-3394	47	16	embedded	embed	VERB
app01-3394	47	17	platform	platform	NOUN
app01-3394	47	18	with	with	ADP
app01-3394	47	19	a	a	DET
app01-3394	47	20	cpu	cpu	NOUN
app01-3394	47	21	based	base	VERB
app01-3394	47	22	on	on	ADP
app01-3394	47	23	an	an	DET
app01-3394	47	24	arm	arm	NOUN
app01-3394	47	25	architecture	architecture	NOUN
app01-3394	47	26	and	and	CCONJ
app01-3394	47	27	a	a	DET
app01-3394	47	28	custom	custom	NOUN
app01-3394	47	29	implementation	implementation	NOUN
app01-3394	47	30	of	of	ADP
app01-3394	47	31	the	the	DET
app01-3394	47	32	fast	fast	ADJ
app01-3394	47	33	detector	detector	NOUN
app01-3394	47	34	on	on	ADP
app01-3394	47	35	an	an	DET
app01-3394	47	36	fpga	fpga	NOUN
app01-3394	47	37	-	-	PUNCT
app01-3394	47	38	based	base	VERB
app01-3394	47	39	dedicated	dedicated	ADJ
app01-3394	47	40	co	co	NOUN
app01-3394	47	41	-	-	NOUN
app01-3394	47	42	processor	processor	NOUN
app01-3394	47	43	.	.	PUNCT
app01-3394	48	1	the	the	DET
app01-3394	48	2	comparison	comparison	NOUN
app01-3394	48	3	indicates	indicate	VERB
app01-3394	48	4	that	that	SCONJ
app01-3394	48	5	even	even	ADV
app01-3394	48	6	a	a	DET
app01-3394	48	7	computationally	computationally	ADV
app01-3394	48	8	efficient	efficient	ADJ
app01-3394	48	9	feature	feature	NOUN
app01-3394	48	10	extraction	extraction	NOUN
app01-3394	48	11	based	base	VERB
app01-3394	48	12	on	on	ADP
app01-3394	48	13	the	the	DET
app01-3394	48	14	fast	fast	ADJ
app01-3394	48	15	algorithm	algorithm	NOUN
app01-3394	48	16	can	can	AUX
app01-3394	48	17	benefit	benefit	VERB
app01-3394	48	18	from	from	ADP
app01-3394	48	19	parallel	parallel	ADJ
app01-3394	48	20	fpga	fpga	NOUN
app01-3394	48	21	-	-	PUNCT
app01-3394	48	22	based	base	VERB
app01-3394	48	23	implementation	implementation	NOUN
app01-3394	48	24	that	that	PRON
app01-3394	48	25	has	have	VERB
app01-3394	48	26	a	a	DET
app01-3394	48	27	competitive	competitive	ADJ
app01-3394	48	28	processing	processing	NOUN
app01-3394	48	29	time	time	NOUN
app01-3394	48	30	figure	figure	NOUN
app01-3394	48	31	1	1	NUM
app01-3394	48	32	.	.	PUNCT
app01-3394	48	33	hexapod	hexapod	ADJ
app01-3394	48	34	walking	walking	NOUN
app01-3394	48	35	robot	robot	NOUN
app01-3394	48	36	platform	platform	NOUN
app01-3394	48	37	and	and	CCONJ
app01-3394	48	38	it	it	PRON
app01-3394	48	39	is	be	AUX
app01-3394	48	40	a	a	DET
app01-3394	48	41	more	more	ADV
app01-3394	48	42	power	power	NOUN
app01-3394	48	43	efficient	efficient	ADJ
app01-3394	48	44	.	.	PUNCT
app01-3394	49	1	the	the	DET
app01-3394	49	2	paper	paper	NOUN
app01-3394	49	3	is	be	AUX
app01-3394	49	4	organized	organize	VERB
app01-3394	49	5	as	as	SCONJ
app01-3394	49	6	follows	follow	VERB
app01-3394	49	7	.	.	PUNCT
app01-3394	50	1	an	an	DET
app01-3394	50	2	overview	overview	NOUN
app01-3394	50	3	of	of	ADP
app01-3394	50	4	the	the	DET
app01-3394	50	5	most	most	ADV
app01-3394	50	6	related	related	ADJ
app01-3394	50	7	reports	report	NOUN
app01-3394	50	8	on	on	ADP
app01-3394	50	9	enhanced	enhanced	ADJ
app01-3394	50	10	computationally	computationally	ADV
app01-3394	50	11	and	and	CCONJ
app01-3394	50	12	power	power	NOUN
app01-3394	50	13	efficient	efficient	ADJ
app01-3394	50	14	vision	vision	NOUN
app01-3394	50	15	-	-	PUNCT
app01-3394	50	16	based	base	VERB
app01-3394	50	17	navigation	navigation	NOUN
app01-3394	50	18	approaches	approach	NOUN
app01-3394	50	19	based	base	VERB
app01-3394	50	20	on	on	ADP
app01-3394	50	21	fpga	fpga	PROPN
app01-3394	50	22	co	co	NOUN
app01-3394	50	23	-	-	NOUN
app01-3394	50	24	processor	processor	NOUN
app01-3394	50	25	is	be	AUX
app01-3394	50	26	presented	present	VERB
app01-3394	50	27	in	in	ADP
app01-3394	50	28	section	section	NOUN
app01-3394	50	29	2	2	NUM
app01-3394	50	30	.	.	PUNCT
app01-3394	51	1	the	the	DET
app01-3394	51	2	proposed	propose	VERB
app01-3394	51	3	evaluation	evaluation	NOUN
app01-3394	51	4	of	of	ADP
app01-3394	51	5	the	the	DET
app01-3394	51	6	fpga	fpga	NOUN
app01-3394	51	7	-	-	PUNCT
app01-3394	51	8	based	base	VERB
app01-3394	51	9	image	image	NOUN
app01-3394	51	10	processing	processing	NOUN
app01-3394	51	11	is	be	AUX
app01-3394	51	12	considered	consider	VERB
app01-3394	51	13	in	in	ADP
app01-3394	51	14	the	the	DET
app01-3394	51	15	context	context	NOUN
app01-3394	51	16	of	of	ADP
app01-3394	51	17	a	a	DET
app01-3394	51	18	monocular	monocular	ADJ
app01-3394	51	19	vision	vision	NOUN
app01-3394	51	20	-	-	PUNCT
app01-3394	51	21	based	base	VERB
app01-3394	51	22	teach	teach	NOUN
app01-3394	51	23	-	-	PUNCT
app01-3394	51	24	and	and	CCONJ
app01-3394	51	25	-	-	PUNCT
app01-3394	51	26	repeat	repeat	NOUN
app01-3394	51	27	autonomous	autonomous	ADJ
app01-3394	51	28	navigation	navigation	NOUN
app01-3394	51	29	[	[	X
app01-3394	51	30	11	11	NUM
app01-3394	51	31	]	]	PUNCT
app01-3394	51	32	that	that	PRON
app01-3394	51	33	is	be	AUX
app01-3394	51	34	briefly	briefly	ADV
app01-3394	51	35	described	describe	VERB
app01-3394	51	36	in	in	ADP
app01-3394	51	37	section	section	NOUN
app01-3394	51	38	4	4	NUM
app01-3394	51	39	together	together	ADV
app01-3394	51	40	with	with	ADP
app01-3394	51	41	the	the	DET
app01-3394	51	42	main	main	ADJ
app01-3394	51	43	idea	idea	NOUN
app01-3394	51	44	of	of	ADP
app01-3394	51	45	the	the	DET
app01-3394	51	46	fast	fast	ADJ
app01-3394	51	47	feature	feature	NOUN
app01-3394	51	48	detection	detection	NOUN
app01-3394	51	49	and	and	CCONJ
app01-3394	51	50	the	the	DET
app01-3394	51	51	selected	select	VERB
app01-3394	51	52	brief	brief	ADJ
app01-3394	51	53	feature	feature	NOUN
app01-3394	51	54	descriptor	descriptor	NOUN
app01-3394	52	1	[	[	X
app01-3394	52	2	12	12	NUM
app01-3394	52	3	]	]	PUNCT
app01-3394	52	4	.	.	PUNCT
app01-3394	53	1	results	result	NOUN
app01-3394	53	2	on	on	ADP
app01-3394	53	3	the	the	DET
app01-3394	53	4	evaluation	evaluation	NOUN
app01-3394	53	5	of	of	ADP
app01-3394	53	6	the	the	DET
app01-3394	53	7	computational	computational	ADJ
app01-3394	53	8	burden	burden	NOUN
app01-3394	53	9	reduction	reduction	NOUN
app01-3394	53	10	using	use	VERB
app01-3394	53	11	an	an	DET
app01-3394	53	12	embedded	embed	VERB
app01-3394	53	13	platform	platform	NOUN
app01-3394	53	14	of	of	ADP
app01-3394	53	15	the	the	DET
app01-3394	53	16	hexapod	hexapod	NOUN
app01-3394	53	17	walking	walking	NOUN
app01-3394	53	18	robot	robot	NOUN
app01-3394	53	19	(	(	PUNCT
app01-3394	53	20	see	see	VERB
app01-3394	53	21	figure	figure	NOUN
app01-3394	53	22	1	1	NUM
app01-3394	53	23	)	)	PUNCT
app01-3394	53	24	and	and	CCONJ
app01-3394	53	25	fpga	fpga	PROPN
app01-3394	53	26	–	–	PUNCT
app01-3394	53	27	based	base	VERB
app01-3394	53	28	solution	solution	NOUN
app01-3394	53	29	are	be	AUX
app01-3394	53	30	presented	present	VERB
app01-3394	53	31	in	in	ADP
app01-3394	53	32	section	section	NOUN
app01-3394	53	33	5	5	NUM
app01-3394	53	34	.	.	PUNCT
app01-3394	53	35	concluding	conclude	VERB
app01-3394	53	36	remarks	remark	NOUN
app01-3394	53	37	and	and	CCONJ
app01-3394	53	38	future	future	ADJ
app01-3394	53	39	work	work	NOUN
app01-3394	53	40	is	be	AUX
app01-3394	53	41	dedicated	dedicate	VERB
app01-3394	53	42	to	to	PART
app01-3394	53	43	conclusion	conclusion	NOUN
app01-3394	53	44	in	in	ADP
app01-3394	53	45	section	section	NOUN
app01-3394	53	46	6	6	NUM
app01-3394	53	47	.	.	NOUN
app01-3394	53	48	2	2	NUM
app01-3394	53	49	.	.	X
app01-3394	53	50	related	relate	VERB
app01-3394	53	51	work	work	NOUN
app01-3394	53	52	this	this	DET
app01-3394	53	53	paper	paper	NOUN
app01-3394	53	54	is	be	AUX
app01-3394	53	55	focused	focus	VERB
app01-3394	53	56	on	on	ADP
app01-3394	53	57	fpga	fpga	NOUN
app01-3394	53	58	-	-	PUNCT
app01-3394	53	59	based	base	VERB
app01-3394	53	60	implementations	implementation	NOUN
app01-3394	53	61	of	of	ADP
app01-3394	53	62	computer	computer	NOUN
app01-3394	53	63	vision	vision	NOUN
app01-3394	53	64	techniques	technique	NOUN
app01-3394	53	65	that	that	PRON
app01-3394	53	66	are	be	AUX
app01-3394	53	67	utilized	utilize	VERB
app01-3394	53	68	in	in	ADP
app01-3394	53	69	mobile	mobile	ADJ
app01-3394	53	70	robot	robot	NOUN
app01-3394	53	71	navigation	navigation	NOUN
app01-3394	53	72	tasks	task	NOUN
app01-3394	53	73	.	.	PUNCT
app01-3394	54	1	several	several	ADJ
app01-3394	54	2	approaches	approach	NOUN
app01-3394	54	3	have	have	AUX
app01-3394	54	4	been	be	AUX
app01-3394	54	5	published	publish	VERB
app01-3394	54	6	and	and	CCONJ
app01-3394	54	7	their	their	PRON
app01-3394	54	8	authors	author	NOUN
app01-3394	54	9	reported	report	VERB
app01-3394	54	10	improvements	improvement	NOUN
app01-3394	54	11	of	of	ADP
app01-3394	54	12	the	the	DET
app01-3394	54	13	computational	computational	ADJ
app01-3394	54	14	and	and	CCONJ
app01-3394	54	15	power	power	NOUN
app01-3394	54	16	efficiency	efficiency	NOUN
app01-3394	54	17	in	in	ADP
app01-3394	54	18	vision	vision	NOUN
app01-3394	54	19	-	-	PUNCT
app01-3394	54	20	based	base	VERB
app01-3394	54	21	navigation	navigation	NOUN
app01-3394	54	22	tasks	task	NOUN
app01-3394	54	23	by	by	ADP
app01-3394	54	24	a	a	DET
app01-3394	54	25	dedicated	dedicated	ADJ
app01-3394	54	26	implementation	implementation	NOUN
app01-3394	54	27	on	on	ADP
app01-3394	54	28	fpga	fpga	PROPN
app01-3394	54	29	.	.	PUNCT
app01-3394	55	1	probably	probably	ADV
app01-3394	55	2	one	one	NUM
app01-3394	55	3	of	of	ADP
app01-3394	55	4	the	the	DET
app01-3394	55	5	first	first	ADJ
app01-3394	55	6	fpga	fpga	PROPN
app01-3394	55	7	based	base	VERB
app01-3394	55	8	implementation	implementation	NOUN
app01-3394	55	9	of	of	ADP
app01-3394	55	10	the	the	DET
app01-3394	55	11	surf	surf	NOUN
app01-3394	55	12	feature	feature	NOUN
app01-3394	55	13	extraction	extraction	NOUN
app01-3394	55	14	has	have	AUX
app01-3394	55	15	been	be	AUX
app01-3394	55	16	introduced	introduce	VERB
app01-3394	55	17	in	in	ADP
app01-3394	55	18	[	[	X
app01-3394	55	19	13	13	NUM
app01-3394	55	20	]	]	PUNCT
app01-3394	55	21	,	,	PUNCT
app01-3394	55	22	where	where	SCONJ
app01-3394	55	23	an	an	DET
app01-3394	55	24	embedded	embed	VERB
app01-3394	55	25	module	module	NOUN
app01-3394	55	26	capable	capable	ADJ
app01-3394	55	27	of	of	ADP
app01-3394	55	28	image	image	NOUN
app01-3394	55	29	processing	processing	NOUN
app01-3394	55	30	suitable	suitable	ADJ
app01-3394	55	31	for	for	ADP
app01-3394	55	32	mobile	mobile	ADJ
app01-3394	55	33	robotics	robotic	NOUN
app01-3394	55	34	is	be	AUX
app01-3394	55	35	presented	present	VERB
app01-3394	55	36	.	.	PUNCT
app01-3394	56	1	the	the	DET
app01-3394	56	2	module	module	NOUN
app01-3394	56	3	implements	implement	VERB
app01-3394	56	4	a	a	DET
app01-3394	56	5	surf	surf	NOUN
app01-3394	56	6	feature	feature	NOUN
app01-3394	56	7	extraction	extraction	NOUN
app01-3394	56	8	[	[	X
app01-3394	56	9	14	14	NUM
app01-3394	56	10	]	]	PUNCT
app01-3394	56	11	from	from	ADP
app01-3394	56	12	images	image	NOUN
app01-3394	56	13	with	with	ADP
app01-3394	56	14	the	the	DET
app01-3394	56	15	resolution	resolution	NOUN
app01-3394	56	16	of	of	ADP
app01-3394	56	17	1024×768	1024×768	NUM
app01-3394	56	18	pixels	pixel	NOUN
app01-3394	56	19	.	.	PUNCT
app01-3394	57	1	the	the	DET
app01-3394	57	2	reported	report	VERB
app01-3394	57	3	frame	frame	NOUN
app01-3394	57	4	rate	rate	NOUN
app01-3394	57	5	is	be	AUX
app01-3394	57	6	15	15	NUM
app01-3394	57	7	fps	fps	PROPN
app01-3394	57	8	,	,	PUNCT
app01-3394	57	9	which	which	PRON
app01-3394	57	10	can	can	AUX
app01-3394	57	11	be	be	AUX
app01-3394	57	12	considered	consider	VERB
app01-3394	57	13	low	low	ADJ
app01-3394	57	14	in	in	ADP
app01-3394	57	15	a	a	DET
app01-3394	57	16	comparison	comparison	NOUN
app01-3394	57	17	to	to	ADP
app01-3394	57	18	the	the	DET
app01-3394	57	19	24	24	NUM
app01-3394	57	20	fps	fps	PROPN
app01-3394	57	21	gpu	gpu	PROPN
app01-3394	57	22	-	-	PUNCT
app01-3394	57	23	based	base	VERB
app01-3394	57	24	implementation	implementation	NOUN
app01-3394	57	25	of	of	ADP
app01-3394	57	26	surf	surf	NOUN
app01-3394	57	27	;	;	PUNCT
app01-3394	57	28	however	however	ADV
app01-3394	57	29	,	,	PUNCT
app01-3394	57	30	the	the	DET
app01-3394	57	31	power	power	NOUN
app01-3394	57	32	consumption	consumption	NOUN
app01-3394	57	33	is	be	AUX
app01-3394	57	34	only	only	ADV
app01-3394	57	35	6	6	NUM
app01-3394	57	36	watts	watt	NOUN
app01-3394	57	37	.	.	PUNCT
app01-3394	58	1	notice	notice	NOUN
app01-3394	58	2	,	,	PUNCT
app01-3394	58	3	the	the	DET
app01-3394	58	4	fpga	fpga	PROPN
app01-3394	58	5	implementation	implementation	NOUN
app01-3394	58	6	outperforms	outperform	VERB
app01-3394	58	7	a	a	DET
app01-3394	58	8	pure	pure	ADJ
app01-3394	58	9	cpu	cpu	NOUN
app01-3394	58	10	implementation	implementation	NOUN
app01-3394	58	11	running	run	VERB
app01-3394	58	12	on	on	ADP
app01-3394	58	13	an	an	DET
app01-3394	58	14	intel	intel	PROPN
app01-3394	58	15	atom	atom	NOUN
app01-3394	58	16	dual	dual	ADJ
app01-3394	58	17	-	-	PUNCT
app01-3394	58	18	core	core	NOUN
app01-3394	58	19	processor	processor	NOUN
app01-3394	58	20	,	,	PUNCT
app01-3394	58	21	which	which	PRON
app01-3394	58	22	is	be	AUX
app01-3394	58	23	able	able	ADJ
app01-3394	58	24	to	to	PART
app01-3394	58	25	process	process	VERB
app01-3394	58	26	only	only	ADV
app01-3394	58	27	a	a	DET
app01-3394	58	28	single	single	ADJ
app01-3394	58	29	frame	frame	NOUN
app01-3394	58	30	per	per	ADP
app01-3394	58	31	second	second	NOUN
app01-3394	58	32	.	.	PUNCT
app01-3394	59	1	another	another	DET
app01-3394	59	2	fpga	fpga	PROPN
app01-3394	59	3	-	-	PUNCT
app01-3394	59	4	based	base	VERB
app01-3394	59	5	module	module	NOUN
app01-3394	59	6	for	for	ADP
app01-3394	59	7	stereo	stereo	ADJ
app01-3394	59	8	image	image	NOUN
app01-3394	59	9	processing	processing	NOUN
app01-3394	59	10	has	have	AUX
app01-3394	59	11	been	be	AUX
app01-3394	59	12	recently	recently	ADV
app01-3394	59	13	introduced	introduce	VERB
app01-3394	59	14	by	by	ADP
app01-3394	59	15	the	the	DET
app01-3394	59	16	eth	eth	PROPN
app01-3394	59	17	9	9	NUM
app01-3394	59	18	petr	petr	PROPN
app01-3394	59	19	čížek	čížek	NOUN
app01-3394	59	20	,	,	PUNCT
app01-3394	59	21	jan	jan	PROPN
app01-3394	59	22	faigl	faigl	PROPN
app01-3394	59	23	acta	acta	PROPN
app01-3394	59	24	polytechnica	polytechnica	PROPN
app01-3394	59	25	ctu	ctu	PROPN
app01-3394	59	26	proceedings	proceeding	NOUN
app01-3394	59	27	computer	computer	NOUN
app01-3394	59	28	vision	vision	NOUN
app01-3394	59	29	and	and	CCONJ
app01-3394	59	30	geometry	geometry	NOUN
app01-3394	59	31	group	group	NOUN
app01-3394	59	32	[	[	X
app01-3394	59	33	15	15	NUM
app01-3394	59	34	]	]	PUNCT
app01-3394	59	35	.	.	PUNCT
app01-3394	60	1	it	it	PRON
app01-3394	60	2	is	be	AUX
app01-3394	60	3	based	base	VERB
app01-3394	60	4	on	on	ADP
app01-3394	60	5	the	the	DET
app01-3394	60	6	fpga	fpga	NOUN
app01-3394	60	7	and	and	CCONJ
app01-3394	60	8	arm	arm	VERB
app01-3394	60	9	cortex	cortex	NOUN
app01-3394	60	10	a9	a9	PROPN
app01-3394	60	11	quad	quad	NOUN
app01-3394	60	12	-	-	PUNCT
app01-3394	60	13	core	core	NOUN
app01-3394	60	14	cpu	cpu	NOUN
app01-3394	60	15	and	and	CCONJ
app01-3394	60	16	calculates	calculate	VERB
app01-3394	60	17	dense	dense	ADJ
app01-3394	60	18	disparity	disparity	NOUN
app01-3394	60	19	images	image	NOUN
app01-3394	60	20	with	with	ADP
app01-3394	60	21	the	the	DET
app01-3394	60	22	resolution	resolution	NOUN
app01-3394	60	23	of	of	ADP
app01-3394	60	24	752×480	752×480	NUM
app01-3394	60	25	pixels	pixel	NOUN
app01-3394	60	26	at	at	ADP
app01-3394	60	27	the	the	DET
app01-3394	60	28	60	60	NUM
app01-3394	60	29	frames	frame	NOUN
app01-3394	60	30	per	per	ADP
app01-3394	60	31	second	second	NOUN
app01-3394	60	32	.	.	PUNCT
app01-3394	61	1	the	the	DET
app01-3394	61	2	disparity	disparity	NOUN
app01-3394	61	3	estimation	estimation	NOUN
app01-3394	61	4	relies	rely	VERB
app01-3394	61	5	on	on	ADP
app01-3394	61	6	the	the	DET
app01-3394	61	7	semi	semi	ADJ
app01-3394	61	8	global	global	ADJ
app01-3394	61	9	matching	matching	NOUN
app01-3394	61	10	approach	approach	NOUN
app01-3394	61	11	,	,	PUNCT
app01-3394	61	12	which	which	PRON
app01-3394	61	13	is	be	AUX
app01-3394	61	14	computationally	computationally	ADV
app01-3394	61	15	a	a	DET
app01-3394	61	16	very	very	ADV
app01-3394	61	17	intensive	intensive	ADJ
app01-3394	61	18	task	task	NOUN
app01-3394	61	19	.	.	PUNCT
app01-3394	62	1	the	the	DET
app01-3394	62	2	reported	report	VERB
app01-3394	62	3	power	power	NOUN
app01-3394	62	4	consumption	consumption	NOUN
app01-3394	62	5	of	of	ADP
app01-3394	62	6	the	the	DET
app01-3394	62	7	module	module	NOUN
app01-3394	62	8	is	be	AUX
app01-3394	62	9	5	5	NUM
app01-3394	62	10	watts	watt	NOUN
app01-3394	62	11	.	.	PUNCT
app01-3394	63	1	in	in	ADP
app01-3394	63	2	[	[	X
app01-3394	63	3	16	16	NUM
app01-3394	63	4	]	]	PUNCT
app01-3394	63	5	,	,	PUNCT
app01-3394	63	6	the	the	DET
app01-3394	63	7	same	same	ADJ
app01-3394	63	8	authors	author	NOUN
app01-3394	63	9	extend	extend	VERB
app01-3394	63	10	their	their	PRON
app01-3394	63	11	module	module	NOUN
app01-3394	63	12	by	by	ADP
app01-3394	63	13	implementing	implement	VERB
app01-3394	63	14	a	a	DET
app01-3394	63	15	reactive	reactive	ADJ
app01-3394	63	16	based	base	VERB
app01-3394	63	17	collision	collision	NOUN
app01-3394	63	18	avoidance	avoidance	NOUN
app01-3394	63	19	method	method	NOUN
app01-3394	63	20	for	for	ADP
app01-3394	63	21	mavs	mavs	PROPN
app01-3394	63	22	and	and	CCONJ
app01-3394	63	23	tested	test	VERB
app01-3394	63	24	it	it	PRON
app01-3394	63	25	in	in	ADP
app01-3394	63	26	an	an	DET
app01-3394	63	27	outdoor	outdoor	ADJ
app01-3394	63	28	environment	environment	NOUN
app01-3394	63	29	.	.	PUNCT
app01-3394	64	1	authors	author	NOUN
app01-3394	64	2	of	of	ADP
app01-3394	64	3	[	[	X
app01-3394	64	4	17	17	NUM
app01-3394	64	5	]	]	PUNCT
app01-3394	64	6	presented	present	VERB
app01-3394	64	7	a	a	DET
app01-3394	64	8	miniature	miniature	ADJ
app01-3394	64	9	module	module	NOUN
app01-3394	64	10	with	with	ADP
app01-3394	64	11	a	a	DET
app01-3394	64	12	low	low	ADJ
app01-3394	64	13	-	-	PUNCT
app01-3394	64	14	cost	cost	NOUN
app01-3394	64	15	fpga	fpga	NOUN
app01-3394	64	16	and	and	CCONJ
app01-3394	64	17	mcu	mcu	PROPN
app01-3394	64	18	for	for	ADP
app01-3394	64	19	visual	visual	ADJ
app01-3394	64	20	navigation	navigation	NOUN
app01-3394	64	21	of	of	ADP
app01-3394	64	22	mavs	mavs	PROPN
app01-3394	64	23	.	.	PUNCT
app01-3394	65	1	they	they	PRON
app01-3394	65	2	utilize	utilize	VERB
app01-3394	65	3	a	a	DET
app01-3394	65	4	reduced	reduced	ADJ
app01-3394	65	5	version	version	NOUN
app01-3394	65	6	of	of	ADP
app01-3394	65	7	the	the	DET
app01-3394	65	8	ptam	ptam	NOUN
app01-3394	65	9	algorithm	algorithm	NOUN
app01-3394	65	10	[	[	X
app01-3394	65	11	8	8	NUM
app01-3394	65	12	]	]	X
app01-3394	65	13	(	(	PUNCT
app01-3394	65	14	mapping	map	VERB
app01-3394	65	15	maximum	maximum	NOUN
app01-3394	65	16	of	of	ADP
app01-3394	65	17	200	200	NUM
app01-3394	65	18	features	feature	NOUN
app01-3394	65	19	due	due	ADJ
app01-3394	65	20	to	to	ADP
app01-3394	65	21	memory	memory	NOUN
app01-3394	65	22	limitations	limitation	NOUN
app01-3394	65	23	)	)	PUNCT
app01-3394	65	24	for	for	ADP
app01-3394	65	25	an	an	DET
app01-3394	65	26	estimation	estimation	NOUN
app01-3394	65	27	of	of	ADP
app01-3394	65	28	the	the	DET
app01-3394	65	29	visual	visual	ADJ
app01-3394	65	30	odometry	odometry	NOUN
app01-3394	65	31	.	.	PUNCT
app01-3394	66	1	their	their	PRON
app01-3394	66	2	approach	approach	NOUN
app01-3394	66	3	is	be	AUX
app01-3394	66	4	based	base	VERB
app01-3394	66	5	on	on	ADP
app01-3394	66	6	the	the	DET
app01-3394	66	7	fpga	fpga	PROPN
app01-3394	66	8	implementation	implementation	NOUN
app01-3394	66	9	of	of	ADP
app01-3394	66	10	the	the	DET
app01-3394	66	11	fast	fast	ADJ
app01-3394	66	12	features	feature	NOUN
app01-3394	66	13	detection	detection	NOUN
app01-3394	66	14	and	and	CCONJ
app01-3394	66	15	brief	brief	ADJ
app01-3394	66	16	[	[	X
app01-3394	66	17	12	12	NUM
app01-3394	66	18	]	]	PUNCT
app01-3394	66	19	feature	feature	NOUN
app01-3394	66	20	description	description	NOUN
app01-3394	66	21	.	.	PUNCT
app01-3394	67	1	the	the	DET
app01-3394	67	2	mcu	mcu	NOUN
app01-3394	67	3	is	be	AUX
app01-3394	67	4	utilized	utilize	VERB
app01-3394	67	5	for	for	ADP
app01-3394	67	6	visual	visual	ADJ
app01-3394	67	7	odometry	odometry	NOUN
app01-3394	67	8	calculation	calculation	NOUN
app01-3394	67	9	and	and	CCONJ
app01-3394	67	10	the	the	DET
app01-3394	67	11	whole	whole	ADJ
app01-3394	67	12	system	system	NOUN
app01-3394	67	13	operates	operate	VERB
app01-3394	67	14	at	at	ADP
app01-3394	67	15	30	30	NUM
app01-3394	67	16	frames	frame	NOUN
app01-3394	67	17	per	per	ADP
app01-3394	67	18	second	second	ADJ
app01-3394	67	19	on	on	ADP
app01-3394	67	20	images	image	NOUN
app01-3394	67	21	with	with	ADP
app01-3394	67	22	the	the	DET
app01-3394	67	23	resolution	resolution	NOUN
app01-3394	67	24	of	of	ADP
app01-3394	67	25	160×120	160×120	NUM
app01-3394	67	26	pixels	pixel	NOUN
app01-3394	67	27	.	.	PUNCT
app01-3394	68	1	in	in	ADP
app01-3394	68	2	[	[	X
app01-3394	68	3	18	18	NUM
app01-3394	68	4	]	]	PUNCT
app01-3394	68	5	,	,	PUNCT
app01-3394	68	6	authors	author	NOUN
app01-3394	68	7	consider	consider	VERB
app01-3394	68	8	the	the	DET
app01-3394	68	9	fpga	fpga	NOUN
app01-3394	68	10	to	to	PART
app01-3394	68	11	synchronize	synchronize	VERB
app01-3394	68	12	data	datum	NOUN
app01-3394	68	13	from	from	ADP
app01-3394	68	14	the	the	DET
app01-3394	68	15	imu	imu	NOUN
app01-3394	68	16	and	and	CCONJ
app01-3394	68	17	fast	fast	ADJ
app01-3394	68	18	feature	feature	NOUN
app01-3394	68	19	extraction	extraction	NOUN
app01-3394	68	20	from	from	ADP
app01-3394	68	21	a	a	DET
app01-3394	68	22	camera	camera	NOUN
app01-3394	68	23	stereo	stereo	NOUN
app01-3394	68	24	pair	pair	NOUN
app01-3394	68	25	for	for	ADP
app01-3394	68	26	a	a	DET
app01-3394	68	27	robust	robust	ADJ
app01-3394	68	28	inertial	inertial	NOUN
app01-3394	68	29	assisted	assist	VERB
app01-3394	68	30	realtime	realtime	ADJ
app01-3394	68	31	visual	visual	ADJ
app01-3394	68	32	slam	slam	NOUN
app01-3394	68	33	.	.	PUNCT
app01-3394	69	1	the	the	DET
app01-3394	69	2	reported	report	VERB
app01-3394	69	3	update	update	NOUN
app01-3394	69	4	rate	rate	NOUN
app01-3394	69	5	is	be	AUX
app01-3394	69	6	about	about	ADV
app01-3394	69	7	20	20	NUM
app01-3394	69	8	frames	frame	NOUN
app01-3394	69	9	per	per	ADP
app01-3394	69	10	second	second	NOUN
app01-3394	69	11	for	for	ADP
app01-3394	69	12	images	image	NOUN
app01-3394	69	13	with	with	ADP
app01-3394	69	14	the	the	DET
app01-3394	69	15	resolution	resolution	NOUN
app01-3394	69	16	of	of	ADP
app01-3394	69	17	752×480	752×480	NUM
app01-3394	69	18	pixels	pixel	NOUN
app01-3394	69	19	.	.	PUNCT
app01-3394	70	1	similar	similar	ADJ
app01-3394	70	2	results	result	NOUN
app01-3394	70	3	with	with	ADP
app01-3394	70	4	a	a	DET
app01-3394	70	5	slightly	slightly	ADV
app01-3394	70	6	different	different	ADJ
app01-3394	70	7	approach	approach	NOUN
app01-3394	70	8	are	be	AUX
app01-3394	70	9	presented	present	VERB
app01-3394	70	10	in	in	ADP
app01-3394	70	11	[	[	X
app01-3394	70	12	19	19	NUM
app01-3394	70	13	]	]	PUNCT
app01-3394	70	14	.	.	PUNCT
app01-3394	71	1	an	an	DET
app01-3394	71	2	embedded	embed	VERB
app01-3394	71	3	fpga	fpga	NOUN
app01-3394	71	4	–	–	PUNCT
app01-3394	71	5	based	base	VERB
app01-3394	71	6	computer	computer	NOUN
app01-3394	71	7	vision	vision	NOUN
app01-3394	71	8	module	module	NOUN
app01-3394	71	9	has	have	AUX
app01-3394	71	10	been	be	AUX
app01-3394	71	11	presented	present	VERB
app01-3394	71	12	in	in	ADP
app01-3394	71	13	[	[	X
app01-3394	71	14	20	20	NUM
app01-3394	71	15	]	]	PUNCT
app01-3394	71	16	.	.	PUNCT
app01-3394	72	1	the	the	DET
app01-3394	72	2	proposed	propose	VERB
app01-3394	72	3	fpga	fpga	PROPN
app01-3394	72	4	architecture	architecture	NOUN
app01-3394	72	5	uses	use	VERB
app01-3394	72	6	an	an	DET
app01-3394	72	7	efficient	efficient	ADJ
app01-3394	72	8	pipelining	pipelining	NOUN
app01-3394	72	9	for	for	ADP
app01-3394	72	10	the	the	DET
app01-3394	72	11	fast	fast	ADJ
app01-3394	72	12	feature	feature	NOUN
app01-3394	72	13	detection	detection	NOUN
app01-3394	72	14	in	in	ADP
app01-3394	72	15	a	a	DET
app01-3394	72	16	video	video	NOUN
app01-3394	72	17	stream	stream	NOUN
app01-3394	72	18	with	with	ADP
app01-3394	72	19	the	the	DET
app01-3394	72	20	resolution	resolution	NOUN
app01-3394	72	21	of	of	ADP
app01-3394	72	22	752×480	752×480	NUM
app01-3394	72	23	pixels	pixel	NOUN
app01-3394	72	24	at	at	ADP
app01-3394	72	25	the	the	DET
app01-3394	72	26	frame	frame	NOUN
app01-3394	72	27	rate	rate	NOUN
app01-3394	72	28	of	of	ADP
app01-3394	72	29	60	60	NUM
app01-3394	72	30	frames	frame	NOUN
app01-3394	72	31	per	per	ADP
app01-3394	72	32	second	second	NOUN
app01-3394	72	33	,	,	PUNCT
app01-3394	72	34	which	which	PRON
app01-3394	72	35	is	be	AUX
app01-3394	72	36	utilized	utilize	VERB
app01-3394	72	37	in	in	ADP
app01-3394	72	38	the	the	DET
app01-3394	72	39	visual	visual	ADJ
app01-3394	72	40	teach	teach	NOUN
app01-3394	72	41	–	–	PUNCT
app01-3394	72	42	and	and	CCONJ
app01-3394	72	43	–	–	PUNCT
app01-3394	72	44	repeat	repeat	NOUN
app01-3394	72	45	navigation	navigation	NOUN
app01-3394	72	46	method	method	NOUN
app01-3394	72	47	.	.	PUNCT
app01-3394	73	1	regarding	regard	VERB
app01-3394	73	2	the	the	DET
app01-3394	73	3	physical	physical	ADJ
app01-3394	73	4	dimensions	dimension	NOUN
app01-3394	73	5	of	of	ADP
app01-3394	73	6	the	the	DET
app01-3394	73	7	aforementioned	aforementioned	ADJ
app01-3394	73	8	modules	module	NOUN
app01-3394	73	9	,	,	PUNCT
app01-3394	73	10	they	they	PRON
app01-3394	73	11	are	be	AUX
app01-3394	73	12	all	all	ADV
app01-3394	73	13	based	base	VERB
app01-3394	73	14	on	on	ADP
app01-3394	73	15	system	system	NOUN
app01-3394	73	16	–	–	PUNCT
app01-3394	73	17	on	on	ADP
app01-3394	73	18	–	–	PUNCT
app01-3394	73	19	chip	chip	NOUN
app01-3394	73	20	(	(	PUNCT
app01-3394	73	21	soc	soc	NOUN
app01-3394	73	22	)	)	PUNCT
app01-3394	73	23	solutions	solution	NOUN
app01-3394	73	24	on	on	ADP
app01-3394	73	25	fpga	fpga	PROPN
app01-3394	73	26	development	development	NOUN
app01-3394	73	27	boards	board	NOUN
app01-3394	73	28	which	which	PRON
app01-3394	73	29	(	(	PUNCT
app01-3394	73	30	in	in	ADP
app01-3394	73	31	all	all	DET
app01-3394	73	32	cases	case	NOUN
app01-3394	73	33	)	)	PUNCT
app01-3394	73	34	do	do	AUX
app01-3394	73	35	not	not	PART
app01-3394	73	36	exceed	exceed	VERB
app01-3394	73	37	12	12	NUM
app01-3394	73	38	cm	cm	NOUN
app01-3394	73	39	×	×	NOUN
app01-3394	73	40	8	8	NUM
app01-3394	73	41	cm	cm	NOUN
app01-3394	73	42	.	.	PUNCT
app01-3394	74	1	the	the	DET
app01-3394	74	2	power	power	NOUN
app01-3394	74	3	consumption	consumption	NOUN
app01-3394	74	4	of	of	ADP
app01-3394	74	5	these	these	DET
app01-3394	74	6	modules	module	NOUN
app01-3394	74	7	is	be	AUX
app01-3394	74	8	less	less	ADJ
app01-3394	74	9	than	than	ADP
app01-3394	74	10	10	10	NUM
app01-3394	74	11	watts	watt	NOUN
app01-3394	74	12	while	while	SCONJ
app01-3394	74	13	all	all	PRON
app01-3394	74	14	of	of	ADP
app01-3394	74	15	them	they	PRON
app01-3394	74	16	exhibit	exhibit	VERB
app01-3394	74	17	a	a	DET
app01-3394	74	18	real	real	ADJ
app01-3394	74	19	-	-	PUNCT
app01-3394	74	20	time	time	NOUN
app01-3394	74	21	performance	performance	NOUN
app01-3394	74	22	in	in	ADP
app01-3394	74	23	the	the	DET
app01-3394	74	24	particular	particular	ADJ
app01-3394	74	25	robotic	robotic	ADJ
app01-3394	74	26	navigation	navigation	NOUN
app01-3394	74	27	task	task	NOUN
app01-3394	74	28	.	.	PUNCT
app01-3394	75	1	the	the	DET
app01-3394	75	2	soc	soc	NOUN
app01-3394	75	3	architecture	architecture	NOUN
app01-3394	75	4	combines	combine	VERB
app01-3394	75	5	the	the	DET
app01-3394	75	6	advantages	advantage	NOUN
app01-3394	75	7	of	of	ADP
app01-3394	75	8	the	the	DET
app01-3394	75	9	fpga	fpga	NOUN
app01-3394	75	10	with	with	ADP
app01-3394	75	11	a	a	DET
app01-3394	75	12	regular	regular	ADJ
app01-3394	75	13	cpu	cpu	NOUN
app01-3394	75	14	in	in	ADP
app01-3394	75	15	order	order	NOUN
app01-3394	75	16	to	to	PART
app01-3394	75	17	reduce	reduce	VERB
app01-3394	75	18	deployment	deployment	NOUN
app01-3394	75	19	costs	cost	NOUN
app01-3394	75	20	and	and	CCONJ
app01-3394	75	21	improve	improve	VERB
app01-3394	75	22	performance	performance	NOUN
app01-3394	75	23	of	of	ADP
app01-3394	75	24	the	the	DET
app01-3394	75	25	system	system	NOUN
app01-3394	75	26	.	.	PUNCT
app01-3394	76	1	its	its	PRON
app01-3394	76	2	main	main	ADJ
app01-3394	76	3	aspects	aspect	NOUN
app01-3394	76	4	are	be	AUX
app01-3394	76	5	described	describe	VERB
app01-3394	76	6	in	in	ADP
app01-3394	76	7	section	section	NOUN
app01-3394	76	8	3	3	NUM
app01-3394	76	9	.	.	PUNCT
app01-3394	77	1	all	all	PRON
app01-3394	77	2	of	of	ADP
app01-3394	77	3	the	the	DET
app01-3394	77	4	discussed	discuss	VERB
app01-3394	77	5	approaches	approach	NOUN
app01-3394	77	6	seem	seem	VERB
app01-3394	77	7	to	to	PART
app01-3394	77	8	be	be	AUX
app01-3394	77	9	a	a	DET
app01-3394	77	10	suitable	suitable	ADJ
app01-3394	77	11	choice	choice	NOUN
app01-3394	77	12	for	for	ADP
app01-3394	77	13	deployment	deployment	NOUN
app01-3394	77	14	on	on	ADP
app01-3394	77	15	a	a	DET
app01-3394	77	16	micro	micro	ADJ
app01-3394	77	17	-	-	ADJ
app01-3394	77	18	robotic	robotic	ADJ
app01-3394	77	19	platform	platform	NOUN
app01-3394	77	20	.	.	PUNCT
app01-3394	78	1	however	however	ADV
app01-3394	78	2	,	,	PUNCT
app01-3394	78	3	the	the	DET
app01-3394	78	4	most	most	ADV
app01-3394	78	5	promising	promising	ADJ
app01-3394	78	6	are	be	AUX
app01-3394	78	7	the	the	DET
app01-3394	78	8	approaches	approach	NOUN
app01-3394	78	9	(	(	PUNCT
app01-3394	78	10	[	[	X
app01-3394	78	11	17	17	NUM
app01-3394	78	12	–	–	PUNCT
app01-3394	78	13	20	20	NUM
app01-3394	78	14	]	]	PUNCT
app01-3394	78	15	)	)	PUNCT
app01-3394	78	16	based	base	VERB
app01-3394	78	17	on	on	ADP
app01-3394	78	18	the	the	DET
app01-3394	78	19	fast	fast	ADJ
app01-3394	78	20	feature	feature	NOUN
app01-3394	78	21	detector	detector	NOUN
app01-3394	78	22	[	[	X
app01-3394	78	23	6	6	NUM
app01-3394	78	24	]	]	PUNCT
app01-3394	78	25	because	because	SCONJ
app01-3394	78	26	this	this	DET
app01-3394	78	27	detector	detector	NOUN
app01-3394	78	28	is	be	AUX
app01-3394	78	29	widely	widely	ADV
app01-3394	78	30	adopted	adopt	VERB
app01-3394	78	31	by	by	ADP
app01-3394	78	32	the	the	DET
app01-3394	78	33	robotic	robotic	ADJ
app01-3394	78	34	community	community	NOUN
app01-3394	78	35	due	due	ADP
app01-3394	78	36	to	to	ADP
app01-3394	78	37	its	its	PRON
app01-3394	78	38	low	low	ADJ
app01-3394	78	39	computational	computational	ADJ
app01-3394	78	40	complexity	complexity	NOUN
app01-3394	78	41	.	.	PUNCT
app01-3394	79	1	hence	hence	ADV
app01-3394	79	2	,	,	PUNCT
app01-3394	79	3	it	it	PRON
app01-3394	79	4	represents	represent	VERB
app01-3394	79	5	a	a	DET
app01-3394	79	6	base	base	NOUN
app01-3394	79	7	for	for	ADP
app01-3394	79	8	further	further	ADJ
app01-3394	79	9	methods	method	NOUN
app01-3394	79	10	.	.	PUNCT
app01-3394	80	1	for	for	ADP
app01-3394	80	2	example	example	NOUN
app01-3394	80	3	,	,	PUNCT
app01-3394	80	4	it	it	PRON
app01-3394	80	5	is	be	AUX
app01-3394	80	6	a	a	DET
app01-3394	80	7	source	source	NOUN
app01-3394	80	8	of	of	ADP
app01-3394	80	9	the	the	DET
app01-3394	80	10	parallel	parallel	ADJ
app01-3394	80	11	tracking	tracking	NOUN
app01-3394	80	12	and	and	CCONJ
app01-3394	80	13	mapping	mapping	NOUN
app01-3394	80	14	(	(	PUNCT
app01-3394	80	15	ptam	ptam	NOUN
app01-3394	80	16	)	)	PUNCT
app01-3394	80	17	method	method	NOUN
app01-3394	80	18	[	[	X
app01-3394	80	19	8	8	NUM
app01-3394	80	20	]	]	PUNCT
app01-3394	80	21	that	that	PRON
app01-3394	80	22	can	can	AUX
app01-3394	80	23	be	be	AUX
app01-3394	80	24	considered	consider	VERB
app01-3394	80	25	as	as	ADP
app01-3394	80	26	a	a	DET
app01-3394	80	27	visual	visual	ADJ
app01-3394	80	28	monocular	monocular	ADJ
app01-3394	80	29	odometry	odometry	NOUN
app01-3394	80	30	(	(	PUNCT
app01-3394	80	31	or	or	CCONJ
app01-3394	80	32	slam	slam	NOUN
app01-3394	80	33	–	–	PUNCT
app01-3394	80	34	simultaneous	simultaneous	ADJ
app01-3394	80	35	localization	localization	NOUN
app01-3394	80	36	and	and	CCONJ
app01-3394	80	37	mapping	mapping	NOUN
app01-3394	80	38	)	)	PUNCT
app01-3394	80	39	technique	technique	NOUN
app01-3394	80	40	,	,	PUNCT
app01-3394	80	41	also	also	ADV
app01-3394	80	42	suitable	suitable	ADJ
app01-3394	80	43	for	for	ADP
app01-3394	80	44	mavs	mavs	PROPN
app01-3394	80	45	,	,	PUNCT
app01-3394	80	46	albeit	albeit	SCONJ
app01-3394	80	47	the	the	DET
app01-3394	80	48	original	original	ADJ
app01-3394	80	49	ptam	ptam	NOUN
app01-3394	80	50	method	method	NOUN
app01-3394	80	51	was	be	AUX
app01-3394	80	52	designed	design	VERB
app01-3394	80	53	to	to	PART
app01-3394	80	54	be	be	AUX
app01-3394	80	55	used	use	VERB
app01-3394	80	56	in	in	ADP
app01-3394	80	57	small	small	ADJ
app01-3394	80	58	augmented	augment	VERB
app01-3394	80	59	reality	reality	NOUN
app01-3394	80	60	workspaces	workspace	NOUN
app01-3394	80	61	.	.	PUNCT
app01-3394	81	1	the	the	DET
app01-3394	81	2	method	method	NOUN
app01-3394	81	3	relies	rely	VERB
app01-3394	81	4	on	on	ADP
app01-3394	81	5	tracking	tracking	NOUN
app01-3394	81	6	and	and	CCONJ
app01-3394	81	7	mapping	mapping	NOUN
app01-3394	81	8	of	of	ADP
app01-3394	81	9	fast	fast	ADJ
app01-3394	81	10	features	feature	NOUN
app01-3394	81	11	for	for	ADP
app01-3394	81	12	the	the	DET
app01-3394	81	13	6dof	6dof	PROPN
app01-3394	81	14	position	position	NOUN
app01-3394	81	15	estimation	estimation	NOUN
app01-3394	81	16	in	in	ADP
app01-3394	81	17	the	the	DET
app01-3394	81	18	environment	environment	NOUN
app01-3394	81	19	.	.	PUNCT
app01-3394	82	1	fast	fast	ADJ
app01-3394	82	2	has	have	AUX
app01-3394	82	3	been	be	AUX
app01-3394	82	4	recently	recently	ADV
app01-3394	82	5	utilized	utilize	VERB
app01-3394	82	6	in	in	ADP
app01-3394	82	7	the	the	DET
app01-3394	82	8	semi	semi	ADJ
app01-3394	82	9	-	-	ADJ
app01-3394	82	10	direct	direct	ADJ
app01-3394	82	11	monocular	monocular	ADJ
app01-3394	82	12	visual	visual	ADJ
app01-3394	82	13	odometry	odometry	NOUN
app01-3394	83	1	[	[	X
app01-3394	83	2	7	7	X
app01-3394	83	3	]	]	PUNCT
app01-3394	83	4	in	in	ADP
app01-3394	83	5	which	which	PRON
app01-3394	83	6	fast	fast	ADJ
app01-3394	83	7	features	feature	NOUN
app01-3394	83	8	are	be	AUX
app01-3394	83	9	tracked	track	VERB
app01-3394	83	10	and	and	CCONJ
app01-3394	83	11	used	use	VERB
app01-3394	83	12	to	to	PART
app01-3394	83	13	build	build	VERB
app01-3394	83	14	a	a	DET
app01-3394	83	15	map	map	NOUN
app01-3394	83	16	that	that	PRON
app01-3394	83	17	is	be	AUX
app01-3394	83	18	further	far	ADV
app01-3394	83	19	used	use	VERB
app01-3394	83	20	for	for	ADP
app01-3394	83	21	a	a	DET
app01-3394	83	22	visual	visual	ADJ
app01-3394	83	23	odometry	odometry	NOUN
app01-3394	83	24	estimation	estimation	NOUN
app01-3394	83	25	.	.	PUNCT
app01-3394	84	1	the	the	DET
app01-3394	84	2	algorithm	algorithm	NOUN
app01-3394	84	3	was	be	AUX
app01-3394	84	4	tested	test	VERB
app01-3394	84	5	on	on	ADP
app01-3394	84	6	mav	mav	PROPN
app01-3394	84	7	equipped	equip	VERB
app01-3394	84	8	with	with	ADP
app01-3394	84	9	the	the	DET
app01-3394	84	10	odroid	odroid	ADJ
app01-3394	84	11	-	-	PUNCT
app01-3394	84	12	u2	u2	NOUN
app01-3394	84	13	arm	arm	NOUN
app01-3394	84	14	quad	quad	NOUN
app01-3394	84	15	-	-	PUNCT
app01-3394	84	16	core	core	NOUN
app01-3394	84	17	computer	computer	NOUN
app01-3394	84	18	achieving	achieve	VERB
app01-3394	84	19	computational	computational	ADJ
app01-3394	84	20	speed	speed	NOUN
app01-3394	84	21	of	of	ADP
app01-3394	84	22	50	50	NUM
app01-3394	84	23	frames	frame	NOUN
app01-3394	84	24	per	per	ADP
app01-3394	84	25	second	second	NOUN
app01-3394	84	26	.	.	PUNCT
app01-3394	85	1	despite	despite	SCONJ
app01-3394	85	2	of	of	ADP
app01-3394	85	3	the	the	DET
app01-3394	85	4	cpu	cpu	NOUN
app01-3394	85	5	implementation	implementation	NOUN
app01-3394	85	6	,	,	PUNCT
app01-3394	85	7	the	the	DET
app01-3394	85	8	reported	report	VERB
app01-3394	85	9	power	power	NOUN
app01-3394	85	10	consumption	consumption	NOUN
app01-3394	85	11	of	of	ADP
app01-3394	85	12	the	the	DET
app01-3394	85	13	system	system	NOUN
app01-3394	85	14	is	be	AUX
app01-3394	85	15	10	10	NUM
app01-3394	85	16	watts	watt	NOUN
app01-3394	85	17	,	,	PUNCT
app01-3394	85	18	which	which	PRON
app01-3394	85	19	is	be	AUX
app01-3394	85	20	a	a	DET
app01-3394	85	21	competitive	competitive	ADJ
app01-3394	85	22	to	to	ADP
app01-3394	85	23	the	the	DET
app01-3394	85	24	one	one	NUM
app01-3394	85	25	of	of	ADP
app01-3394	85	26	the	the	DET
app01-3394	85	27	first	first	ADJ
app01-3394	85	28	fpga	fpga	PROPN
app01-3394	85	29	module	module	NOUN
app01-3394	85	30	for	for	ADP
app01-3394	85	31	the	the	DET
app01-3394	85	32	surf	surf	NOUN
app01-3394	85	33	detection	detection	NOUN
app01-3394	85	34	introduced	introduce	VERB
app01-3394	85	35	in	in	ADP
app01-3394	85	36	[	[	X
app01-3394	85	37	13	13	NUM
app01-3394	85	38	]	]	PUNCT
app01-3394	85	39	.	.	PUNCT
app01-3394	86	1	therefore	therefore	ADV
app01-3394	86	2	,	,	PUNCT
app01-3394	86	3	we	we	PRON
app01-3394	86	4	consider	consider	VERB
app01-3394	86	5	the	the	DET
app01-3394	86	6	fast	fast	ADJ
app01-3394	86	7	features	feature	NOUN
app01-3394	86	8	detection	detection	NOUN
app01-3394	86	9	on	on	ADP
app01-3394	86	10	the	the	DET
app01-3394	86	11	arm	arm	NOUN
app01-3394	86	12	–	–	PUNCT
app01-3394	86	13	based	base	VERB
app01-3394	86	14	computer	computer	NOUN
app01-3394	86	15	and	and	CCONJ
app01-3394	86	16	fpga	fpga	PROPN
app01-3394	86	17	–	–	PUNCT
app01-3394	86	18	based	base	VERB
app01-3394	86	19	implementation	implementation	NOUN
app01-3394	86	20	[	[	X
app01-3394	86	21	20	20	NUM
app01-3394	86	22	]	]	PUNCT
app01-3394	86	23	in	in	ADP
app01-3394	86	24	this	this	DET
app01-3394	86	25	evaluation	evaluation	NOUN
app01-3394	86	26	study	study	NOUN
app01-3394	86	27	of	of	ADP
app01-3394	86	28	the	the	DET
app01-3394	86	29	potential	potential	ADJ
app01-3394	86	30	benefits	benefit	NOUN
app01-3394	86	31	of	of	ADP
app01-3394	86	32	the	the	DET
app01-3394	86	33	parallel	parallel	NOUN
app01-3394	86	34	(	(	PUNCT
app01-3394	86	35	fpga	fpga	PROPN
app01-3394	86	36	–	–	PUNCT
app01-3394	86	37	based	base	VERB
app01-3394	86	38	)	)	PUNCT
app01-3394	86	39	implementation	implementation	NOUN
app01-3394	86	40	of	of	ADP
app01-3394	86	41	the	the	DET
app01-3394	86	42	image	image	NOUN
app01-3394	86	43	processing	processing	NOUN
app01-3394	86	44	for	for	ADP
app01-3394	86	45	visual	visual	ADJ
app01-3394	86	46	navigation	navigation	NOUN
app01-3394	86	47	.	.	PUNCT
app01-3394	87	1	3	3	X
app01-3394	87	2	.	.	X
app01-3394	87	3	processor	processor	NOUN
app01-3394	87	4	centric	centric	NOUN
app01-3394	87	5	design	design	VERB
app01-3394	87	6	a	a	DET
app01-3394	87	7	combination	combination	NOUN
app01-3394	87	8	of	of	ADP
app01-3394	87	9	the	the	DET
app01-3394	87	10	fpga	fpga	NOUN
app01-3394	87	11	and	and	CCONJ
app01-3394	87	12	cpu	cpu	NOUN
app01-3394	87	13	allows	allow	VERB
app01-3394	87	14	to	to	PART
app01-3394	87	15	accelerate	accelerate	VERB
app01-3394	87	16	a	a	DET
app01-3394	87	17	computer	computer	NOUN
app01-3394	87	18	vision	vision	NOUN
app01-3394	87	19	application	application	NOUN
app01-3394	87	20	and	and	CCONJ
app01-3394	87	21	also	also	ADV
app01-3394	87	22	allows	allow	VERB
app01-3394	87	23	to	to	PART
app01-3394	87	24	carry	carry	VERB
app01-3394	87	25	out	out	ADP
app01-3394	87	26	more	more	ADV
app01-3394	87	27	complex	complex	ADJ
app01-3394	87	28	tasks	task	NOUN
app01-3394	87	29	by	by	ADP
app01-3394	87	30	an	an	DET
app01-3394	87	31	improved	improved	ADJ
app01-3394	87	32	system	system	NOUN
app01-3394	87	33	.	.	PUNCT
app01-3394	88	1	the	the	DET
app01-3394	88	2	main	main	ADJ
app01-3394	88	3	idea	idea	NOUN
app01-3394	88	4	of	of	ADP
app01-3394	88	5	combining	combine	VERB
app01-3394	88	6	these	these	DET
app01-3394	88	7	two	two	NUM
app01-3394	88	8	types	type	NOUN
app01-3394	88	9	of	of	ADP
app01-3394	88	10	computational	computational	ADJ
app01-3394	88	11	architectures	architecture	NOUN
app01-3394	88	12	is	be	AUX
app01-3394	88	13	the	the	DET
app01-3394	88	14	processor	processor	ADJ
app01-3394	88	15	centric	centric	ADJ
app01-3394	88	16	system	system	NOUN
app01-3394	88	17	–	–	PUNCT
app01-3394	88	18	on	on	ADP
app01-3394	88	19	–	–	PUNCT
app01-3394	88	20	chip	chip	NOUN
app01-3394	88	21	co	co	NOUN
app01-3394	88	22	-	-	NOUN
app01-3394	88	23	design	design	NOUN
app01-3394	88	24	,	,	PUNCT
app01-3394	88	25	which	which	PRON
app01-3394	88	26	allows	allow	VERB
app01-3394	88	27	to	to	PART
app01-3394	88	28	exploit	exploit	VERB
app01-3394	88	29	benefits	benefit	NOUN
app01-3394	88	30	of	of	ADP
app01-3394	88	31	both	both	DET
app01-3394	88	32	architectures	architecture	NOUN
app01-3394	88	33	.	.	PUNCT
app01-3394	89	1	generally	generally	ADV
app01-3394	89	2	,	,	PUNCT
app01-3394	89	3	a	a	DET
app01-3394	89	4	cpu	cpu	NOUN
app01-3394	89	5	is	be	AUX
app01-3394	89	6	a	a	DET
app01-3394	89	7	more	more	ADV
app01-3394	89	8	suitable	suitable	ADJ
app01-3394	89	9	for	for	ADP
app01-3394	89	10	general	general	ADJ
app01-3394	89	11	purpose	purpose	NOUN
app01-3394	89	12	computations	computation	NOUN
app01-3394	89	13	and	and	CCONJ
app01-3394	89	14	it	it	PRON
app01-3394	89	15	is	be	AUX
app01-3394	89	16	also	also	ADV
app01-3394	89	17	a	a	DET
app01-3394	89	18	more	more	ADV
app01-3394	89	19	easily	easily	ADV
app01-3394	89	20	programmable	programmable	ADJ
app01-3394	89	21	.	.	PUNCT
app01-3394	90	1	however	however	ADV
app01-3394	90	2	,	,	PUNCT
app01-3394	90	3	a	a	DET
app01-3394	90	4	parallel	parallel	ADJ
app01-3394	90	5	nature	nature	NOUN
app01-3394	90	6	of	of	ADP
app01-3394	90	7	the	the	DET
app01-3394	90	8	fpga	fpga	PROPN
app01-3394	90	9	fabric	fabric	NOUN
app01-3394	90	10	makes	make	VERB
app01-3394	90	11	it	it	PRON
app01-3394	90	12	well	well	ADV
app01-3394	90	13	suitable	suitable	ADJ
app01-3394	90	14	for	for	ADP
app01-3394	90	15	accelerating	accelerate	VERB
app01-3394	90	16	demanding	demanding	ADJ
app01-3394	90	17	or	or	CCONJ
app01-3394	90	18	repetitive	repetitive	ADJ
app01-3394	90	19	computational	computational	ADJ
app01-3394	90	20	operations	operation	NOUN
app01-3394	90	21	performed	perform	VERB
app01-3394	90	22	by	by	ADP
app01-3394	90	23	the	the	DET
app01-3394	90	24	cpu	cpu	NOUN
app01-3394	90	25	.	.	PUNCT
app01-3394	91	1	besides	besides	ADV
app01-3394	91	2	,	,	PUNCT
app01-3394	91	3	it	it	PRON
app01-3394	91	4	is	be	AUX
app01-3394	91	5	also	also	ADV
app01-3394	91	6	suitable	suitable	ADJ
app01-3394	91	7	for	for	ADP
app01-3394	91	8	online	online	ADJ
app01-3394	91	9	signal	signal	NOUN
app01-3394	91	10	processing	processing	NOUN
app01-3394	91	11	and	and	CCONJ
app01-3394	91	12	sensory	sensory	ADJ
app01-3394	91	13	interfacing	interfacing	NOUN
app01-3394	91	14	[	[	X
app01-3394	91	15	21	21	NUM
app01-3394	91	16	]	]	PUNCT
app01-3394	91	17	.	.	PUNCT
app01-3394	92	1	there	there	PRON
app01-3394	92	2	are	be	VERB
app01-3394	92	3	two	two	NUM
app01-3394	92	4	principal	principal	ADJ
app01-3394	92	5	ways	way	NOUN
app01-3394	92	6	how	how	SCONJ
app01-3394	92	7	to	to	PART
app01-3394	92	8	incorporate	incorporate	VERB
app01-3394	92	9	both	both	CCONJ
app01-3394	92	10	the	the	DET
app01-3394	92	11	fpga	fpga	NOUN
app01-3394	92	12	and	and	CCONJ
app01-3394	92	13	cpu	cpu	NOUN
app01-3394	92	14	in	in	ADP
app01-3394	92	15	a	a	DET
app01-3394	92	16	single	single	ADJ
app01-3394	92	17	embedded	embed	VERB
app01-3394	92	18	design	design	NOUN
app01-3394	92	19	.	.	PUNCT
app01-3394	93	1	it	it	PRON
app01-3394	93	2	is	be	AUX
app01-3394	93	3	possible	possible	ADJ
app01-3394	93	4	to	to	PART
app01-3394	93	5	have	have	VERB
app01-3394	93	6	both	both	PRON
app01-3394	93	7	of	of	ADP
app01-3394	93	8	them	they	PRON
app01-3394	93	9	soldered	solder	VERB
app01-3394	93	10	on	on	ADP
app01-3394	93	11	the	the	DET
app01-3394	93	12	printed	print	VERB
app01-3394	93	13	circuit	circuit	NOUN
app01-3394	93	14	board	board	NOUN
app01-3394	93	15	and	and	CCONJ
app01-3394	93	16	utilize	utilize	VERB
app01-3394	93	17	a	a	DET
app01-3394	93	18	communication	communication	NOUN
app01-3394	93	19	channel	channel	NOUN
app01-3394	93	20	like	like	ADP
app01-3394	93	21	spi	spi	PROPN
app01-3394	93	22	for	for	ADP
app01-3394	93	23	a	a	DET
app01-3394	93	24	fast	fast	ADJ
app01-3394	93	25	data	data	NOUN
app01-3394	93	26	transmission	transmission	NOUN
app01-3394	93	27	between	between	ADP
app01-3394	93	28	them	they	PRON
app01-3394	93	29	.	.	PUNCT
app01-3394	94	1	however	however	ADV
app01-3394	94	2	,	,	PUNCT
app01-3394	94	3	much	much	ADV
app01-3394	94	4	more	more	ADV
app01-3394	94	5	efficient	efficient	ADJ
app01-3394	94	6	is	be	AUX
app01-3394	94	7	to	to	PART
app01-3394	94	8	utilize	utilize	VERB
app01-3394	94	9	the	the	DET
app01-3394	94	10	system	system	NOUN
app01-3394	94	11	-	-	PUNCT
app01-3394	94	12	on	on	ADP
app01-3394	94	13	-	-	PUNCT
app01-3394	94	14	chip	chip	NOUN
app01-3394	94	15	(	(	PUNCT
app01-3394	94	16	soc	soc	NOUN
app01-3394	94	17	)	)	PUNCT
app01-3394	94	18	solution	solution	NOUN
app01-3394	94	19	,	,	PUNCT
app01-3394	94	20	where	where	SCONJ
app01-3394	94	21	the	the	DET
app01-3394	94	22	cpu	cpu	NOUN
app01-3394	94	23	is	be	AUX
app01-3394	94	24	a	a	DET
app01-3394	94	25	part	part	NOUN
app01-3394	94	26	of	of	ADP
app01-3394	94	27	the	the	DET
app01-3394	94	28	fpga	fpga	PROPN
app01-3394	94	29	chip	chip	NOUN
app01-3394	94	30	.	.	PUNCT
app01-3394	95	1	the	the	DET
app01-3394	95	2	cpu	cpu	NOUN
app01-3394	95	3	can	can	AUX
app01-3394	95	4	be	be	AUX
app01-3394	95	5	either	either	CCONJ
app01-3394	95	6	softcore	softcore	ADJ
app01-3394	95	7	or	or	CCONJ
app01-3394	95	8	hardcore	hardcore	NOUN
app01-3394	95	9	.	.	PUNCT
app01-3394	96	1	the	the	DET
app01-3394	96	2	fpga	fpga	PROPN
app01-3394	96	3	fabric	fabric	NOUN
app01-3394	96	4	is	be	AUX
app01-3394	96	5	extremely	extremely	ADV
app01-3394	96	6	versatile	versatile	ADJ
app01-3394	96	7	,	,	PUNCT
app01-3394	96	8	and	and	CCONJ
app01-3394	96	9	therefore	therefore	ADV
app01-3394	96	10	,	,	PUNCT
app01-3394	96	11	it	it	PRON
app01-3394	96	12	can	can	AUX
app01-3394	96	13	implement	implement	VERB
app01-3394	96	14	even	even	ADV
app01-3394	96	15	a	a	DET
app01-3394	96	16	cpu	cpu	NOUN
app01-3394	96	17	in	in	ADP
app01-3394	96	18	its	its	PRON
app01-3394	96	19	fabric	fabric	NOUN
app01-3394	96	20	,	,	PUNCT
app01-3394	96	21	which	which	PRON
app01-3394	96	22	is	be	AUX
app01-3394	96	23	called	call	VERB
app01-3394	96	24	a	a	DET
app01-3394	96	25	softcore	softcore	NOUN
app01-3394	96	26	cpu	cpu	NOUN
app01-3394	96	27	.	.	PUNCT
app01-3394	97	1	on	on	ADP
app01-3394	97	2	the	the	DET
app01-3394	97	3	other	other	ADJ
app01-3394	97	4	hand	hand	NOUN
app01-3394	97	5	,	,	PUNCT
app01-3394	97	6	manufacturers	manufacturer	NOUN
app01-3394	97	7	started	start	VERB
app01-3394	97	8	to	to	PART
app01-3394	97	9	incorporate	incorporate	VERB
app01-3394	97	10	the	the	DET
app01-3394	97	11	cpu	cpu	NOUN
app01-3394	97	12	in	in	ADP
app01-3394	97	13	the	the	DET
app01-3394	97	14	design	design	NOUN
app01-3394	97	15	of	of	ADP
app01-3394	97	16	the	the	DET
app01-3394	97	17	chip	chip	NOUN
app01-3394	97	18	to	to	PART
app01-3394	97	19	further	far	ADV
app01-3394	97	20	exploit	exploit	VERB
app01-3394	97	21	the	the	DET
app01-3394	97	22	fpga	fpga	PROPN
app01-3394	97	23	–	–	PUNCT
app01-3394	97	24	cpu	cpu	NOUN
app01-3394	97	25	co	co	NOUN
app01-3394	97	26	-	-	NOUN
app01-3394	97	27	design	design	ADJ
app01-3394	97	28	possibilities	possibility	NOUN
app01-3394	97	29	.	.	PUNCT
app01-3394	98	1	in	in	ADP
app01-3394	98	2	that	that	DET
app01-3394	98	3	case	case	NOUN
app01-3394	98	4	,	,	PUNCT
app01-3394	98	5	the	the	DET
app01-3394	98	6	cpu	cpu	NOUN
app01-3394	98	7	is	be	AUX
app01-3394	98	8	etched	etch	VERB
app01-3394	98	9	into	into	ADP
app01-3394	98	10	the	the	DET
app01-3394	98	11	silicon	silicon	NOUN
app01-3394	98	12	of	of	ADP
app01-3394	98	13	the	the	DET
app01-3394	98	14	chip	chip	NOUN
app01-3394	98	15	together	together	ADV
app01-3394	98	16	with	with	ADP
app01-3394	98	17	the	the	DET
app01-3394	98	18	fpga	fpga	PROPN
app01-3394	98	19	fabric	fabric	NOUN
app01-3394	98	20	and	and	CCONJ
app01-3394	98	21	such	such	DET
app01-3394	98	22	a	a	DET
app01-3394	98	23	solution	solution	NOUN
app01-3394	98	24	is	be	AUX
app01-3394	98	25	then	then	ADV
app01-3394	98	26	referenced	reference	VERB
app01-3394	98	27	as	as	ADP
app01-3394	98	28	the	the	DET
app01-3394	98	29	hardcore	hardcore	PROPN
app01-3394	98	30	cpu	cpu	NOUN
app01-3394	98	31	.	.	PUNCT
app01-3394	99	1	nowadays	nowadays	ADV
app01-3394	99	2	hardcore	hardcore	PROPN
app01-3394	99	3	processors	processor	NOUN
app01-3394	99	4	are	be	AUX
app01-3394	99	5	usually	usually	ADV
app01-3394	99	6	based	base	VERB
app01-3394	99	7	on	on	ADP
app01-3394	99	8	multi	multi	ADJ
app01-3394	99	9	-	-	ADJ
app01-3394	99	10	core	core	ADJ
app01-3394	99	11	arm	arm	NOUN
app01-3394	99	12	architecture	architecture	NOUN
app01-3394	99	13	and	and	CCONJ
app01-3394	99	14	they	they	PRON
app01-3394	99	15	are	be	AUX
app01-3394	99	16	running	run	VERB
app01-3394	99	17	at	at	ADP
app01-3394	99	18	the	the	DET
app01-3394	99	19	units	unit	NOUN
app01-3394	99	20	of	of	ADP
app01-3394	99	21	ghz	ghz	NOUN
app01-3394	99	22	.	.	PUNCT
app01-3394	100	1	in	in	ADP
app01-3394	100	2	the	the	DET
app01-3394	100	3	case	case	NOUN
app01-3394	100	4	of	of	ADP
app01-3394	100	5	the	the	DET
app01-3394	100	6	softcore	softcore	NOUN
app01-3394	100	7	processors	processor	NOUN
app01-3394	100	8	,	,	PUNCT
app01-3394	100	9	their	their	PRON
app01-3394	100	10	speed	speed	NOUN
app01-3394	100	11	is	be	AUX
app01-3394	100	12	limited	limit	VERB
app01-3394	100	13	to	to	ADP
app01-3394	100	14	around	around	ADP
app01-3394	100	15	200	200	NUM
app01-3394	100	16	mhz	mhz	NOUN
app01-3394	100	17	due	due	ADP
app01-3394	100	18	to	to	ADP
app01-3394	100	19	the	the	DET
app01-3394	100	20	fpga	fpga	PROPN
app01-3394	100	21	fabric	fabric	NOUN
app01-3394	100	22	limitations	limitation	NOUN
app01-3394	100	23	.	.	PUNCT
app01-3394	101	1	the	the	DET
app01-3394	101	2	main	main	ADJ
app01-3394	101	3	advantage	advantage	NOUN
app01-3394	101	4	of	of	ADP
app01-3394	101	5	the	the	DET
app01-3394	101	6	both	both	CCONJ
app01-3394	101	7	hardcore	hardcore	ADJ
app01-3394	101	8	and	and	CCONJ
app01-3394	101	9	softcore	softcore	VERB
app01-3394	101	10	processors	processor	NOUN
app01-3394	101	11	is	be	AUX
app01-3394	101	12	that	that	SCONJ
app01-3394	101	13	they	they	PRON
app01-3394	101	14	10	10	NUM
app01-3394	101	15	vol	vol	NOUN
app01-3394	101	16	.	.	PUNCT
app01-3394	102	1	2/2015	2/2015	NUM
app01-3394	102	2	on	on	ADP
app01-3394	102	3	fpga	fpga	PROPN
app01-3394	102	4	based	base	VERB
app01-3394	102	5	acceleration	acceleration	NOUN
app01-3394	102	6	of	of	ADP
app01-3394	102	7	image	image	NOUN
app01-3394	102	8	processing	processing	NOUN
app01-3394	102	9	in	in	ADP
app01-3394	102	10	mobile	mobile	ADJ
app01-3394	102	11	robotics	robotic	NOUN
app01-3394	102	12	can	can	AUX
app01-3394	102	13	be	be	AUX
app01-3394	102	14	directly	directly	ADV
app01-3394	102	15	programmed	program	VERB
app01-3394	102	16	in	in	ADP
app01-3394	102	17	the	the	DET
app01-3394	102	18	c	c	PROPN
app01-3394	102	19	programming	programming	NOUN
app01-3394	102	20	language	language	NOUN
app01-3394	102	21	.	.	PUNCT
app01-3394	103	1	in	in	ADP
app01-3394	103	2	addition	addition	NOUN
app01-3394	103	3	,	,	PUNCT
app01-3394	103	4	they	they	PRON
app01-3394	103	5	can	can	AUX
app01-3394	103	6	host	host	VERB
app01-3394	103	7	a	a	DET
app01-3394	103	8	real	real	ADJ
app01-3394	103	9	-	-	PUNCT
app01-3394	103	10	time	time	NOUN
app01-3394	103	11	operating	operating	NOUN
app01-3394	103	12	system	system	NOUN
app01-3394	103	13	,	,	PUNCT
app01-3394	103	14	which	which	PRON
app01-3394	103	15	makes	make	VERB
app01-3394	103	16	their	their	PRON
app01-3394	103	17	programming	programming	NOUN
app01-3394	103	18	for	for	ADP
app01-3394	103	19	time	time	NOUN
app01-3394	103	20	critical	critical	ADJ
app01-3394	103	21	applications	application	NOUN
app01-3394	103	22	even	even	ADV
app01-3394	103	23	simpler	simple	ADJ
app01-3394	103	24	.	.	PUNCT
app01-3394	104	1	from	from	ADP
app01-3394	104	2	the	the	DET
app01-3394	104	3	processor	processor	NOUN
app01-3394	104	4	point	point	NOUN
app01-3394	104	5	of	of	ADP
app01-3394	104	6	view	view	NOUN
app01-3394	104	7	,	,	PUNCT
app01-3394	104	8	the	the	DET
app01-3394	104	9	fpga	fpga	PROPN
app01-3394	104	10	fabric	fabric	NOUN
app01-3394	104	11	can	can	AUX
app01-3394	104	12	act	act	VERB
app01-3394	104	13	either	either	CCONJ
app01-3394	104	14	as	as	ADP
app01-3394	104	15	a	a	DET
app01-3394	104	16	memory	memory	NOUN
app01-3394	104	17	mapped	map	VERB
app01-3394	104	18	slave	slave	NOUN
app01-3394	104	19	device	device	NOUN
app01-3394	104	20	or	or	CCONJ
app01-3394	104	21	it	it	PRON
app01-3394	104	22	can	can	AUX
app01-3394	104	23	be	be	AUX
app01-3394	104	24	directly	directly	ADV
app01-3394	104	25	connected	connect	VERB
app01-3394	104	26	to	to	ADP
app01-3394	104	27	the	the	DET
app01-3394	104	28	cpu	cpu	NOUN
app01-3394	104	29	core	core	NOUN
app01-3394	104	30	and	and	CCONJ
app01-3394	104	31	accelerates	accelerate	VERB
app01-3394	104	32	the	the	DET
app01-3394	104	33	processor	processor	NOUN
app01-3394	104	34	instructions	instruction	NOUN
app01-3394	104	35	.	.	PUNCT
app01-3394	105	1	in	in	ADP
app01-3394	105	2	that	that	DET
app01-3394	105	3	case	case	NOUN
app01-3394	105	4	,	,	PUNCT
app01-3394	105	5	the	the	DET
app01-3394	105	6	instruction	instruction	NOUN
app01-3394	105	7	set	set	NOUN
app01-3394	105	8	of	of	ADP
app01-3394	105	9	the	the	DET
app01-3394	105	10	cpu	cpu	NOUN
app01-3394	105	11	is	be	AUX
app01-3394	105	12	extended	extend	VERB
app01-3394	105	13	by	by	ADP
app01-3394	105	14	custom	custom	NOUN
app01-3394	105	15	designed	design	VERB
app01-3394	105	16	instructions	instruction	NOUN
app01-3394	105	17	.	.	PUNCT
app01-3394	106	1	the	the	DET
app01-3394	106	2	main	main	ADJ
app01-3394	106	3	advantage	advantage	NOUN
app01-3394	106	4	of	of	ADP
app01-3394	106	5	fpga	fpga	PROPN
app01-3394	106	6	–	–	PUNCT
app01-3394	106	7	based	base	VERB
app01-3394	106	8	soc	soc	NOUN
app01-3394	106	9	systems	system	NOUN
app01-3394	106	10	is	be	AUX
app01-3394	106	11	their	their	PRON
app01-3394	106	12	versatility	versatility	NOUN
app01-3394	106	13	and	and	CCONJ
app01-3394	106	14	reconfigurability	reconfigurability	NOUN
app01-3394	106	15	which	which	PRON
app01-3394	106	16	may	may	AUX
app01-3394	106	17	be	be	AUX
app01-3394	106	18	of	of	ADP
app01-3394	106	19	a	a	DET
app01-3394	106	20	particular	particular	ADJ
app01-3394	106	21	use	use	NOUN
app01-3394	106	22	in	in	ADP
app01-3394	106	23	the	the	DET
app01-3394	106	24	field	field	NOUN
app01-3394	106	25	of	of	ADP
app01-3394	106	26	mobile	mobile	ADJ
app01-3394	106	27	robotics	robotic	NOUN
app01-3394	106	28	.	.	PUNCT
app01-3394	107	1	the	the	DET
app01-3394	107	2	programmer	programmer	NOUN
app01-3394	107	3	can	can	AUX
app01-3394	107	4	choose	choose	VERB
app01-3394	107	5	components	component	NOUN
app01-3394	107	6	which	which	PRON
app01-3394	107	7	assemble	assemble	VERB
app01-3394	107	8	the	the	DET
app01-3394	107	9	system	system	NOUN
app01-3394	107	10	according	accord	VERB
app01-3394	107	11	to	to	ADP
app01-3394	107	12	the	the	DET
app01-3394	107	13	needs	need	NOUN
app01-3394	107	14	of	of	ADP
app01-3394	107	15	the	the	DET
app01-3394	107	16	particular	particular	ADJ
app01-3394	107	17	application	application	NOUN
app01-3394	107	18	.	.	PUNCT
app01-3394	108	1	the	the	DET
app01-3394	108	2	fpga	fpga	PROPN
app01-3394	108	3	resources	resource	NOUN
app01-3394	108	4	allow	allow	VERB
app01-3394	108	5	to	to	PART
app01-3394	108	6	build	build	VERB
app01-3394	108	7	both	both	PRON
app01-3394	108	8	internal	internal	ADJ
app01-3394	108	9	computational	computational	ADJ
app01-3394	108	10	units	unit	NOUN
app01-3394	108	11	and	and	CCONJ
app01-3394	108	12	io	io	NOUN
app01-3394	108	13	communication	communication	NOUN
app01-3394	108	14	interfaces	interface	NOUN
app01-3394	108	15	,	,	PUNCT
app01-3394	108	16	which	which	PRON
app01-3394	108	17	can	can	AUX
app01-3394	108	18	be	be	AUX
app01-3394	108	19	directly	directly	ADV
app01-3394	108	20	connected	connect	VERB
app01-3394	108	21	to	to	ADP
app01-3394	108	22	the	the	DET
app01-3394	108	23	main	main	ADJ
app01-3394	108	24	cpu	cpu	NOUN
app01-3394	108	25	.	.	PUNCT
app01-3394	109	1	moreover	moreover	ADV
app01-3394	109	2	,	,	PUNCT
app01-3394	109	3	fpga	fpga	PROPN
app01-3394	109	4	always	always	ADV
app01-3394	109	5	posses	posse	VERB
app01-3394	109	6	a	a	DET
app01-3394	109	7	lot	lot	NOUN
app01-3394	109	8	of	of	ADP
app01-3394	109	9	general	general	ADJ
app01-3394	109	10	purpose	purpose	NOUN
app01-3394	109	11	io	io	NOUN
app01-3394	109	12	pins	pin	NOUN
app01-3394	109	13	which	which	PRON
app01-3394	109	14	can	can	AUX
app01-3394	109	15	be	be	AUX
app01-3394	109	16	used	use	VERB
app01-3394	109	17	for	for	ADP
app01-3394	109	18	any	any	DET
app01-3394	109	19	communication	communication	NOUN
app01-3394	109	20	not	not	PART
app01-3394	109	21	exceeding	exceed	VERB
app01-3394	109	22	maximum	maximum	ADJ
app01-3394	109	23	frequency	frequency	NOUN
app01-3394	109	24	of	of	ADP
app01-3394	109	25	the	the	DET
app01-3394	109	26	given	give	VERB
app01-3394	109	27	fpga	fpga	PROPN
app01-3394	109	28	chip	chip	NOUN
app01-3394	109	29	(	(	PUNCT
app01-3394	109	30	usually	usually	ADV
app01-3394	109	31	about	about	ADV
app01-3394	109	32	300∼350	300∼350	NUM
app01-3394	109	33	mhz	mhz	NOUN
app01-3394	109	34	)	)	PUNCT
app01-3394	109	35	regardless	regardless	ADV
app01-3394	109	36	the	the	DET
app01-3394	109	37	communication	communication	NOUN
app01-3394	109	38	,	,	PUNCT
app01-3394	109	39	which	which	PRON
app01-3394	109	40	can	can	AUX
app01-3394	109	41	be	be	AUX
app01-3394	109	42	serial	serial	ADJ
app01-3394	109	43	like	like	ADP
app01-3394	109	44	spi	spi	NOUN
app01-3394	109	45	and	and	CCONJ
app01-3394	109	46	i2c	i2c	NOUN
app01-3394	109	47	or	or	CCONJ
app01-3394	109	48	parallel	parallel	NOUN
app01-3394	109	49	.	.	PUNCT
app01-3394	110	1	in	in	ADP
app01-3394	110	2	addition	addition	NOUN
app01-3394	110	3	,	,	PUNCT
app01-3394	110	4	specialized	specialized	ADJ
app01-3394	110	5	hardcore	hardcore	ADJ
app01-3394	110	6	bus	bus	NOUN
app01-3394	110	7	endpoints	endpoint	NOUN
app01-3394	110	8	for	for	ADP
app01-3394	110	9	a	a	DET
app01-3394	110	10	high	high	ADJ
app01-3394	110	11	-	-	PUNCT
app01-3394	110	12	speed	speed	NOUN
app01-3394	110	13	communication	communication	NOUN
app01-3394	110	14	are	be	AUX
app01-3394	110	15	common	common	ADJ
app01-3394	110	16	integral	integral	ADJ
app01-3394	110	17	parts	part	NOUN
app01-3394	110	18	of	of	ADP
app01-3394	110	19	nowadays	nowaday	NOUN
app01-3394	110	20	fpgas	fpgas	NOUN
app01-3394	110	21	,	,	PUNCT
app01-3394	110	22	e.g.	e.g.	ADV
app01-3394	110	23	,	,	PUNCT
app01-3394	110	24	gigahertz	gigahertz	PROPN
app01-3394	110	25	serial	serial	ADJ
app01-3394	110	26	endpoints	endpoint	NOUN
app01-3394	110	27	like	like	ADP
app01-3394	110	28	pcie	pcie	NOUN
app01-3394	110	29	,	,	PUNCT
app01-3394	110	30	sata	sata	NOUN
app01-3394	110	31	or	or	CCONJ
app01-3394	110	32	parallel	parallel	ADJ
app01-3394	110	33	dram	dram	NOUN
app01-3394	110	34	interfaces	interface	NOUN
app01-3394	110	35	.	.	PUNCT
app01-3394	111	1	4	4	X
app01-3394	111	2	.	.	X
app01-3394	111	3	bearing	bear	VERB
app01-3394	111	4	-	-	PUNCT
app01-3394	111	5	only	only	ADV
app01-3394	111	6	visual	visual	ADJ
app01-3394	111	7	navigation	navigation	NOUN
app01-3394	111	8	the	the	DET
app01-3394	111	9	navigation	navigation	NOUN
app01-3394	111	10	algorithm	algorithm	NOUN
app01-3394	111	11	used	use	VERB
app01-3394	111	12	for	for	ADP
app01-3394	111	13	the	the	DET
app01-3394	111	14	evaluation	evaluation	NOUN
app01-3394	111	15	of	of	ADP
app01-3394	111	16	implementations	implementation	NOUN
app01-3394	111	17	of	of	ADP
app01-3394	111	18	the	the	DET
app01-3394	111	19	fast	fast	ADJ
app01-3394	111	20	feature	feature	NOUN
app01-3394	111	21	detector	detector	NOUN
app01-3394	111	22	on	on	ADP
app01-3394	111	23	the	the	DET
app01-3394	111	24	cpu	cpu	NOUN
app01-3394	111	25	and	and	CCONJ
app01-3394	111	26	fpga	fpga	PROPN
app01-3394	111	27	is	be	AUX
app01-3394	111	28	based	base	VERB
app01-3394	111	29	on	on	ADP
app01-3394	111	30	the	the	DET
app01-3394	111	31	teach	teach	NOUN
app01-3394	111	32	-	-	PUNCT
app01-3394	111	33	and	and	CCONJ
app01-3394	111	34	-	-	PUNCT
app01-3394	111	35	repeat	repeat	NOUN
app01-3394	111	36	navigation	navigation	NOUN
app01-3394	111	37	algorithm	algorithm	NOUN
app01-3394	111	38	proposed	propose	VERB
app01-3394	111	39	in	in	ADP
app01-3394	111	40	[	[	X
app01-3394	111	41	11	11	NUM
app01-3394	111	42	]	]	PUNCT
app01-3394	111	43	.	.	PUNCT
app01-3394	112	1	the	the	DET
app01-3394	112	2	navigation	navigation	NOUN
app01-3394	112	3	is	be	AUX
app01-3394	112	4	based	base	VERB
app01-3394	112	5	on	on	ADP
app01-3394	112	6	tracking	track	VERB
app01-3394	112	7	previously	previously	ADV
app01-3394	112	8	mapped	map	VERB
app01-3394	112	9	visual	visual	ADJ
app01-3394	112	10	features	feature	NOUN
app01-3394	112	11	that	that	PRON
app01-3394	112	12	are	be	AUX
app01-3394	112	13	used	use	VERB
app01-3394	112	14	for	for	ADP
app01-3394	112	15	a	a	DET
app01-3394	112	16	bearing	bearing	NOUN
app01-3394	112	17	-	-	PUNCT
app01-3394	112	18	only	only	ADV
app01-3394	112	19	navigation	navigation	NOUN
app01-3394	112	20	.	.	PUNCT
app01-3394	113	1	the	the	DET
app01-3394	113	2	approach	approach	NOUN
app01-3394	113	3	relies	rely	VERB
app01-3394	113	4	on	on	ADP
app01-3394	113	5	the	the	DET
app01-3394	113	6	relative	relative	ADJ
app01-3394	113	7	localization	localization	NOUN
app01-3394	113	8	provided	provide	VERB
app01-3394	113	9	by	by	ADP
app01-3394	113	10	the	the	DET
app01-3394	113	11	odometry	odometry	NOUN
app01-3394	113	12	,	,	PUNCT
app01-3394	113	13	which	which	PRON
app01-3394	113	14	would	would	AUX
app01-3394	113	15	eventually	eventually	ADV
app01-3394	113	16	integrate	integrate	VERB
app01-3394	113	17	unbounded	unbounded	ADJ
app01-3394	113	18	position	position	NOUN
app01-3394	113	19	error	error	NOUN
app01-3394	113	20	over	over	ADP
app01-3394	113	21	time	time	NOUN
app01-3394	113	22	.	.	PUNCT
app01-3394	114	1	however	however	ADV
app01-3394	114	2	,	,	PUNCT
app01-3394	114	3	the	the	DET
app01-3394	114	4	approach	approach	NOUN
app01-3394	114	5	considers	consider	VERB
app01-3394	114	6	the	the	DET
app01-3394	114	7	odometry	odometry	NOUN
app01-3394	114	8	only	only	ADV
app01-3394	114	9	locally	locally	ADV
app01-3394	114	10	for	for	ADP
app01-3394	114	11	traversing	traverse	VERB
app01-3394	114	12	a	a	DET
app01-3394	114	13	short	short	ADJ
app01-3394	114	14	straight	straight	ADJ
app01-3394	114	15	line	line	NOUN
app01-3394	114	16	segment	segment	NOUN
app01-3394	114	17	along	along	ADP
app01-3394	114	18	which	which	PRON
app01-3394	114	19	detected	detect	VERB
app01-3394	114	20	visual	visual	ADJ
app01-3394	114	21	landmarks	landmark	NOUN
app01-3394	114	22	are	be	AUX
app01-3394	114	23	utilized	utilize	VERB
app01-3394	114	24	to	to	PART
app01-3394	114	25	correct	correct	VERB
app01-3394	114	26	the	the	DET
app01-3394	114	27	robot	robot	NOUN
app01-3394	114	28	heading	head	VERB
app01-3394	114	29	and	and	CCONJ
app01-3394	114	30	thus	thus	ADV
app01-3394	114	31	suppresses	suppress	VERB
app01-3394	114	32	the	the	DET
app01-3394	114	33	odometric	odometric	ADJ
app01-3394	114	34	error	error	NOUN
app01-3394	114	35	.	.	PUNCT
app01-3394	115	1	the	the	DET
app01-3394	115	2	corrections	correction	NOUN
app01-3394	115	3	of	of	ADP
app01-3394	115	4	the	the	DET
app01-3394	115	5	heading	heading	NOUN
app01-3394	115	6	are	be	AUX
app01-3394	115	7	based	base	VERB
app01-3394	115	8	on	on	ADP
app01-3394	115	9	a	a	DET
app01-3394	115	10	modus	modus	NOUN
app01-3394	115	11	of	of	ADP
app01-3394	115	12	the	the	DET
app01-3394	115	13	horizontal	horizontal	ADJ
app01-3394	115	14	displacements	displacement	NOUN
app01-3394	115	15	of	of	ADP
app01-3394	115	16	the	the	DET
app01-3394	115	17	tentative	tentative	ADJ
app01-3394	115	18	correspondences	correspondence	NOUN
app01-3394	115	19	between	between	ADP
app01-3394	115	20	previously	previously	ADV
app01-3394	115	21	mapped	map	VERB
app01-3394	115	22	and	and	CCONJ
app01-3394	115	23	the	the	DET
app01-3394	115	24	currently	currently	ADV
app01-3394	115	25	perceived	perceive	VERB
app01-3394	115	26	visual	visual	ADJ
app01-3394	115	27	features	feature	NOUN
app01-3394	115	28	.	.	PUNCT
app01-3394	116	1	the	the	DET
app01-3394	116	2	modus	modus	NOUN
app01-3394	116	3	is	be	AUX
app01-3394	116	4	found	find	VERB
app01-3394	116	5	by	by	ADP
app01-3394	116	6	a	a	DET
app01-3394	116	7	histogram	histogram	NOUN
app01-3394	116	8	voting	voting	NOUN
app01-3394	116	9	as	as	SCONJ
app01-3394	116	10	it	it	PRON
app01-3394	116	11	is	be	AUX
app01-3394	116	12	visualized	visualize	VERB
app01-3394	116	13	in	in	ADP
app01-3394	116	14	figure	figure	NOUN
app01-3394	116	15	2	2	NUM
app01-3394	116	16	.	.	PUNCT
app01-3394	117	1	the	the	DET
app01-3394	117	2	tentative	tentative	ADJ
app01-3394	117	3	correspondences	correspondence	NOUN
app01-3394	117	4	are	be	AUX
app01-3394	117	5	established	establish	VERB
app01-3394	117	6	using	use	VERB
app01-3394	117	7	the	the	DET
app01-3394	117	8	fast	fast	ADJ
app01-3394	117	9	feature	feature	NOUN
app01-3394	117	10	detector	detector	NOUN
app01-3394	117	11	and	and	CCONJ
app01-3394	117	12	the	the	DET
app01-3394	117	13	brief	brief	ADJ
app01-3394	117	14	feature	feature	NOUN
app01-3394	117	15	descriptor	descriptor	NOUN
app01-3394	117	16	[	[	X
app01-3394	117	17	12	12	NUM
app01-3394	117	18	]	]	PUNCT
app01-3394	117	19	which	which	PRON
app01-3394	117	20	are	be	AUX
app01-3394	117	21	briefly	briefly	ADV
app01-3394	117	22	described	describe	VERB
app01-3394	117	23	in	in	ADP
app01-3394	117	24	the	the	DET
app01-3394	117	25	following	follow	VERB
app01-3394	117	26	subsections	subsection	NOUN
app01-3394	117	27	.	.	PUNCT
app01-3394	118	1	4.1	4.1	NUM
app01-3394	118	2	.	.	PUNCT
app01-3394	118	3	features	feature	NOUN
app01-3394	118	4	from	from	ADP
app01-3394	118	5	accelerated	accelerate	VERB
app01-3394	118	6	segment	segment	NOUN
app01-3394	118	7	test	test	NOUN
app01-3394	118	8	the	the	DET
app01-3394	118	9	fast	fast	ADJ
app01-3394	118	10	feature	feature	NOUN
app01-3394	118	11	detector	detector	NOUN
app01-3394	118	12	[	[	X
app01-3394	118	13	6	6	NUM
app01-3394	118	14	]	]	PUNCT
app01-3394	118	15	belongs	belong	VERB
app01-3394	118	16	to	to	ADP
app01-3394	118	17	the	the	DET
app01-3394	118	18	family	family	NOUN
app01-3394	118	19	of	of	ADP
app01-3394	118	20	the	the	DET
app01-3394	118	21	so	so	ADV
app01-3394	118	22	called	call	VERB
app01-3394	118	23	appearance	appearance	NOUN
app01-3394	118	24	based	base	VERB
app01-3394	118	25	detectors	detector	NOUN
app01-3394	118	26	because	because	SCONJ
app01-3394	118	27	it	it	PRON
app01-3394	118	28	figure	figure	VERB
app01-3394	118	29	2	2	NUM
app01-3394	118	30	.	.	PUNCT
app01-3394	118	31	surfnav	surfnav	PROPN
app01-3394	118	32	navigation	navigation	PROPN
app01-3394	118	33	algorithm	algorithm	PROPN
app01-3394	118	34	.	.	PUNCT
app01-3394	119	1	matched	match	VERB
app01-3394	119	2	features	feature	NOUN
app01-3394	119	3	from	from	ADP
app01-3394	119	4	the	the	DET
app01-3394	119	5	current	current	ADJ
app01-3394	119	6	and	and	CCONJ
app01-3394	119	7	previously	previously	ADV
app01-3394	119	8	learned	learn	VERB
app01-3394	119	9	image	image	NOUN
app01-3394	119	10	.	.	PUNCT
app01-3394	120	1	the	the	DET
app01-3394	120	2	corresponding	correspond	VERB
app01-3394	120	3	navigation	navigation	NOUN
app01-3394	120	4	histogram	histogram	NOUN
app01-3394	120	5	is	be	AUX
app01-3394	120	6	depicted	depict	VERB
app01-3394	120	7	at	at	ADP
app01-3394	120	8	the	the	DET
app01-3394	120	9	bottom	bottom	NOUN
app01-3394	120	10	.	.	PUNCT
app01-3394	121	1	searches	search	VERB
app01-3394	121	2	the	the	DET
app01-3394	121	3	image	image	NOUN
app01-3394	121	4	for	for	ADP
app01-3394	121	5	corner	corner	NOUN
app01-3394	121	6	-	-	PUNCT
app01-3394	121	7	like	like	ADJ
app01-3394	121	8	structures	structure	NOUN
app01-3394	121	9	.	.	PUNCT
app01-3394	122	1	the	the	DET
app01-3394	122	2	detector	detector	NOUN
app01-3394	122	3	is	be	AUX
app01-3394	122	4	optimized	optimize	VERB
app01-3394	122	5	with	with	ADP
app01-3394	122	6	respect	respect	NOUN
app01-3394	122	7	to	to	ADP
app01-3394	122	8	the	the	DET
app01-3394	122	9	computational	computational	ADJ
app01-3394	122	10	complexity	complexity	NOUN
app01-3394	122	11	.	.	PUNCT
app01-3394	123	1	the	the	DET
app01-3394	123	2	algorithm	algorithm	NOUN
app01-3394	123	3	uses	use	VERB
app01-3394	123	4	a	a	DET
app01-3394	123	5	set	set	NOUN
app01-3394	123	6	of	of	ADP
app01-3394	123	7	comparisons	comparison	NOUN
app01-3394	123	8	between	between	ADP
app01-3394	123	9	the	the	DET
app01-3394	123	10	center	center	NOUN
app01-3394	123	11	pixel	pixel	VERB
app01-3394	123	12	p	p	NOUN
app01-3394	123	13	and	and	CCONJ
app01-3394	123	14	pixels	pixel	NOUN
app01-3394	123	15	defined	define	VERB
app01-3394	123	16	on	on	ADP
app01-3394	123	17	the	the	DET
app01-3394	123	18	7×7	7×7	NUM
app01-3394	123	19	neighbourhood	neighbourhood	NOUN
app01-3394	123	20	using	use	VERB
app01-3394	123	21	the	the	DET
app01-3394	123	22	circle	circle	NOUN
app01-3394	123	23	in	in	ADP
app01-3394	123	24	the	the	DET
app01-3394	123	25	image	image	NOUN
app01-3394	123	26	determined	determine	VERB
app01-3394	123	27	by	by	ADP
app01-3394	123	28	bresenham	bresenham	PROPN
app01-3394	123	29	’s	’s	PROPN
app01-3394	123	30	circle	circle	PROPN
app01-3394	123	31	algorithm	algorithm	NOUN
app01-3394	123	32	,	,	PUNCT
app01-3394	123	33	which	which	PRON
app01-3394	123	34	is	be	AUX
app01-3394	123	35	shown	show	VERB
app01-3394	123	36	in	in	ADP
app01-3394	123	37	figure	figure	NOUN
app01-3394	123	38	3	3	NUM
app01-3394	123	39	.	.	PUNCT
app01-3394	123	40	figure	figure	NOUN
app01-3394	123	41	3	3	NUM
app01-3394	123	42	.	.	NOUN
app01-3394	123	43	fast	fast	ADJ
app01-3394	123	44	feature	feature	NOUN
app01-3394	123	45	detection	detection	NOUN
app01-3394	123	46	.	.	PUNCT
app01-3394	124	1	courtesy	courtesy	NOUN
app01-3394	124	2	of	of	ADP
app01-3394	124	3	[	[	X
app01-3394	124	4	6	6	NUM
app01-3394	124	5	]	]	PUNCT
app01-3394	124	6	.	.	PUNCT
app01-3394	125	1	at	at	ADP
app01-3394	125	2	first	first	ADV
app01-3394	125	3	,	,	PUNCT
app01-3394	125	4	the	the	DET
app01-3394	125	5	pixels	pixel	NOUN
app01-3394	125	6	on	on	ADP
app01-3394	125	7	the	the	DET
app01-3394	125	8	circle	circle	NOUN
app01-3394	125	9	are	be	AUX
app01-3394	125	10	labelled	label	VERB
app01-3394	125	11	dark	dark	ADJ
app01-3394	125	12	or	or	CCONJ
app01-3394	125	13	bright	bright	ADJ
app01-3394	125	14	depending	depend	VERB
app01-3394	125	15	on	on	ADP
app01-3394	125	16	their	their	PRON
app01-3394	125	17	relative	relative	ADJ
app01-3394	125	18	brightness	brightness	NOUN
app01-3394	125	19	to	to	ADP
app01-3394	125	20	the	the	DET
app01-3394	125	21	central	central	ADJ
app01-3394	125	22	pixel	pixel	NOUN
app01-3394	125	23	.	.	PUNCT
app01-3394	126	1	the	the	DET
app01-3394	126	2	candidate	candidate	NOUN
app01-3394	126	3	pixel	pixel	NOUN
app01-3394	126	4	is	be	AUX
app01-3394	126	5	considered	consider	VERB
app01-3394	126	6	as	as	ADP
app01-3394	126	7	a	a	DET
app01-3394	126	8	feature	feature	NOUN
app01-3394	126	9	if	if	SCONJ
app01-3394	126	10	there	there	PRON
app01-3394	126	11	are	be	VERB
app01-3394	126	12	n	n	PRON
app01-3394	126	13	contiguous	contiguous	ADJ
app01-3394	126	14	bright	bright	ADJ
app01-3394	126	15	or	or	CCONJ
app01-3394	126	16	dark	dark	ADJ
app01-3394	126	17	pixels	pixel	NOUN
app01-3394	126	18	in	in	ADP
app01-3394	126	19	the	the	DET
app01-3394	126	20	circle	circle	NOUN
app01-3394	126	21	.	.	PUNCT
app01-3394	127	1	for	for	ADP
app01-3394	127	2	n	n	PROPN
app01-3394	127	3	≥	≥	NUM
app01-3394	127	4	12	12	NUM
app01-3394	127	5	it	it	PRON
app01-3394	127	6	is	be	AUX
app01-3394	127	7	possible	possible	ADJ
app01-3394	127	8	to	to	PART
app01-3394	127	9	use	use	VERB
app01-3394	127	10	a	a	DET
app01-3394	127	11	rapid	rapid	ADJ
app01-3394	127	12	rejection	rejection	NOUN
app01-3394	127	13	method	method	NOUN
app01-3394	127	14	for	for	ADP
app01-3394	127	15	a	a	DET
app01-3394	127	16	faster	fast	ADJ
app01-3394	127	17	outlier	outlier	ADJ
app01-3394	127	18	rejection	rejection	NOUN
app01-3394	127	19	which	which	PRON
app01-3394	127	20	leads	lead	VERB
app01-3394	127	21	to	to	ADP
app01-3394	127	22	a	a	DET
app01-3394	127	23	common	common	ADJ
app01-3394	127	24	setting	setting	NOUN
app01-3394	127	25	of	of	ADP
app01-3394	127	26	n	n	NOUN
app01-3394	127	27	=	=	NUM
app01-3394	127	28	12	12	NUM
app01-3394	127	29	.	.	PUNCT
app01-3394	128	1	however	however	ADV
app01-3394	128	2	,	,	PUNCT
app01-3394	128	3	the	the	DET
app01-3394	128	4	original	original	ADJ
app01-3394	128	5	paper	paper	NOUN
app01-3394	128	6	[	[	X
app01-3394	128	7	6	6	NUM
app01-3394	128	8	]	]	PUNCT
app01-3394	128	9	approved	approve	VERB
app01-3394	128	10	that	that	SCONJ
app01-3394	128	11	the	the	DET
app01-3394	128	12	best	good	ADJ
app01-3394	128	13	repeatability	repeatability	NOUN
app01-3394	128	14	is	be	AUX
app01-3394	128	15	exhibited	exhibit	VERB
app01-3394	128	16	for	for	ADP
app01-3394	128	17	the	the	DET
app01-3394	128	18	setting	setting	NOUN
app01-3394	128	19	of	of	ADP
app01-3394	128	20	n	n	NOUN
app01-3394	128	21	=	=	NOUN
app01-3394	128	22	9	9	NUM
app01-3394	128	23	.	.	PUNCT
app01-3394	129	1	the	the	DET
app01-3394	129	2	corner	corner	NOUN
app01-3394	129	3	score	score	NOUN
app01-3394	129	4	,	,	PUNCT
app01-3394	129	5	which	which	PRON
app01-3394	129	6	is	be	AUX
app01-3394	129	7	necessary	necessary	ADJ
app01-3394	129	8	for	for	ADP
app01-3394	129	9	the	the	DET
app01-3394	129	10	non	non	ADJ
app01-3394	129	11	-	-	ADJ
app01-3394	129	12	maxima	maxima	ADJ
app01-3394	129	13	suppression	suppression	NOUN
app01-3394	129	14	,	,	PUNCT
app01-3394	129	15	is	be	AUX
app01-3394	129	16	calculated	calculate	VERB
app01-3394	129	17	as	as	ADP
app01-3394	129	18	the	the	DET
app01-3394	129	19	sum	sum	NOUN
app01-3394	129	20	of	of	ADP
app01-3394	129	21	the	the	DET
app01-3394	129	22	absolute	absolute	ADJ
app01-3394	129	23	differences	difference	NOUN
app01-3394	129	24	between	between	ADP
app01-3394	129	25	the	the	DET
app01-3394	129	26	pixels	pixel	NOUN
app01-3394	129	27	in	in	ADP
app01-3394	129	28	the	the	DET
app01-3394	129	29	contiguous	contiguous	ADJ
app01-3394	129	30	arc	arc	NOUN
app01-3394	129	31	and	and	CCONJ
app01-3394	129	32	the	the	DET
app01-3394	129	33	central	central	ADJ
app01-3394	129	34	pixel	pixel	PROPN
app01-3394	129	35	.	.	PUNCT
app01-3394	130	1	the	the	DET
app01-3394	130	2	fpga	fpga	PROPN
app01-3394	130	3	architecture	architecture	NOUN
app01-3394	130	4	presented	present	VERB
app01-3394	130	5	in	in	ADP
app01-3394	130	6	[	[	X
app01-3394	130	7	20	20	NUM
app01-3394	130	8	]	]	PUNCT
app01-3394	130	9	uses	use	VERB
app01-3394	130	10	efficient	efficient	ADJ
app01-3394	130	11	pipelining	pipelining	NOUN
app01-3394	130	12	for	for	ADP
app01-3394	130	13	the	the	DET
app01-3394	130	14	fast	fast	ADJ
app01-3394	130	15	feature	feature	NOUN
app01-3394	130	16	detection	detection	NOUN
app01-3394	130	17	acceleration	acceleration	NOUN
app01-3394	130	18	.	.	PUNCT
app01-3394	131	1	the	the	DET
app01-3394	131	2	image	image	NOUN
app01-3394	131	3	data	datum	NOUN
app01-3394	131	4	are	be	AUX
app01-3394	131	5	processed	process	VERB
app01-3394	131	6	as	as	ADP
app01-3394	131	7	an	an	DET
app01-3394	131	8	online	online	ADJ
app01-3394	131	9	stream	stream	NOUN
app01-3394	131	10	and	and	CCONJ
app01-3394	131	11	the	the	DET
app01-3394	131	12	architecture	architecture	NOUN
app01-3394	131	13	performs	perform	VERB
app01-3394	131	14	all	all	DET
app01-3394	131	15	the	the	DET
app01-3394	131	16	steps	step	NOUN
app01-3394	131	17	of	of	ADP
app01-3394	131	18	the	the	DET
app01-3394	131	19	algorithm	algorithm	NOUN
app01-3394	131	20	,	,	PUNCT
app01-3394	131	21	i.e.	i.e.	X
app01-3394	131	22	,	,	PUNCT
app01-3394	131	23	the	the	DET
app01-3394	131	24	corner	corner	NOUN
app01-3394	131	25	detection	detection	NOUN
app01-3394	131	26	,	,	PUNCT
app01-3394	131	27	corner	corner	NOUN
app01-3394	131	28	score	score	NOUN
app01-3394	131	29	calculation	calculation	NOUN
app01-3394	131	30	,	,	PUNCT
app01-3394	131	31	and	and	CCONJ
app01-3394	131	32	non	non	ADJ
app01-3394	131	33	-	-	ADJ
app01-3394	131	34	maxima	maxima	ADJ
app01-3394	131	35	suppression	suppression	NOUN
app01-3394	131	36	,	,	PUNCT
app01-3394	131	37	in	in	ADP
app01-3394	131	38	parallel	parallel	NOUN
app01-3394	131	39	as	as	ADP
app01-3394	131	40	data	datum	NOUN
app01-3394	131	41	are	be	AUX
app01-3394	131	42	transmitted	transmit	VERB
app01-3394	131	43	from	from	ADP
app01-3394	131	44	the	the	DET
app01-3394	131	45	image	image	NOUN
app01-3394	131	46	sensor	sensor	NOUN
app01-3394	131	47	.	.	PUNCT
app01-3394	132	1	the	the	DET
app01-3394	132	2	architecture	architecture	NOUN
app01-3394	132	3	also	also	ADV
app01-3394	132	4	allows	allow	VERB
app01-3394	132	5	to	to	PART
app01-3394	132	6	use	use	VERB
app01-3394	132	7	different	different	ADJ
app01-3394	132	8	values	value	NOUN
app01-3394	132	9	of	of	ADP
app01-3394	132	10	n	n	PRON
app01-3394	132	11	without	without	ADP
app01-3394	132	12	an	an	DET
app01-3394	132	13	impact	impact	NOUN
app01-3394	132	14	on	on	ADP
app01-3394	132	15	the	the	DET
app01-3394	132	16	computational	computational	ADJ
app01-3394	132	17	speed	speed	NOUN
app01-3394	132	18	or	or	CCONJ
app01-3394	132	19	used	use	VERB
app01-3394	132	20	11	11	NUM
app01-3394	132	21	petr	petr	NOUN
app01-3394	132	22	čížek	čížek	NOUN
app01-3394	132	23	,	,	PUNCT
app01-3394	132	24	jan	jan	PROPN
app01-3394	132	25	faigl	faigl	PROPN
app01-3394	132	26	acta	acta	PROPN
app01-3394	132	27	polytechnica	polytechnica	PROPN
app01-3394	132	28	ctu	ctu	PROPN
app01-3394	132	29	proceedings	proceeding	NOUN
app01-3394	132	30	resources	resource	NOUN
app01-3394	132	31	.	.	PUNCT
app01-3394	133	1	4.2	4.2	NUM
app01-3394	133	2	.	.	PUNCT
app01-3394	134	1	binary	binary	PROPN
app01-3394	134	2	robust	robust	ADJ
app01-3394	134	3	independent	independent	ADJ
app01-3394	134	4	elementary	elementary	PROPN
app01-3394	134	5	features	feature	NOUN
app01-3394	134	6	once	once	SCONJ
app01-3394	134	7	features	feature	NOUN
app01-3394	134	8	are	be	AUX
app01-3394	134	9	detected	detect	VERB
app01-3394	134	10	,	,	PUNCT
app01-3394	134	11	individual	individual	ADJ
app01-3394	134	12	salient	salient	NOUN
app01-3394	134	13	points	point	NOUN
app01-3394	134	14	are	be	AUX
app01-3394	134	15	characterized	characterize	VERB
app01-3394	134	16	by	by	ADP
app01-3394	134	17	descriptors	descriptor	NOUN
app01-3394	134	18	.	.	PUNCT
app01-3394	135	1	the	the	DET
app01-3394	135	2	purpose	purpose	NOUN
app01-3394	135	3	of	of	ADP
app01-3394	135	4	the	the	DET
app01-3394	135	5	descriptor	descriptor	NOUN
app01-3394	135	6	is	be	AUX
app01-3394	135	7	to	to	PART
app01-3394	135	8	describe	describe	VERB
app01-3394	135	9	the	the	DET
app01-3394	135	10	image	image	NOUN
app01-3394	135	11	neighbourhood	neighbourhood	NOUN
app01-3394	135	12	of	of	ADP
app01-3394	135	13	the	the	DET
app01-3394	135	14	point	point	NOUN
app01-3394	135	15	and	and	CCONJ
app01-3394	135	16	thus	thus	ADV
app01-3394	135	17	characterize	characterize	VERB
app01-3394	135	18	the	the	DET
app01-3394	135	19	salient	salient	ADJ
app01-3394	135	20	object	object	NOUN
app01-3394	135	21	of	of	ADP
app01-3394	135	22	the	the	DET
app01-3394	135	23	environment	environment	NOUN
app01-3394	135	24	.	.	PUNCT
app01-3394	136	1	in	in	ADP
app01-3394	136	2	the	the	DET
app01-3394	136	3	proposed	propose	VERB
app01-3394	136	4	evaluation	evaluation	NOUN
app01-3394	136	5	,	,	PUNCT
app01-3394	136	6	the	the	DET
app01-3394	136	7	selected	select	VERB
app01-3394	136	8	descriptor	descriptor	NOUN
app01-3394	136	9	is	be	AUX
app01-3394	136	10	the	the	DET
app01-3394	136	11	brief	brief	ADJ
app01-3394	136	12	descriptor	descriptor	NOUN
app01-3394	136	13	which	which	PRON
app01-3394	136	14	stands	stand	VERB
app01-3394	136	15	to	to	ADP
app01-3394	136	16	the	the	DET
app01-3394	136	17	binary	binary	ADJ
app01-3394	136	18	feature	feature	NOUN
app01-3394	136	19	descriptor	descriptor	NOUN
app01-3394	137	1	[	[	X
app01-3394	137	2	12	12	NUM
app01-3394	137	3	]	]	PUNCT
app01-3394	137	4	.	.	PUNCT
app01-3394	138	1	it	it	PRON
app01-3394	138	2	is	be	AUX
app01-3394	138	3	based	base	VERB
app01-3394	138	4	on	on	ADP
app01-3394	138	5	pairwise	pairwise	NOUN
app01-3394	138	6	intensity	intensity	NOUN
app01-3394	138	7	comparisons	comparison	NOUN
app01-3394	138	8	of	of	ADP
app01-3394	138	9	pixels	pixel	NOUN
app01-3394	138	10	inside	inside	ADP
app01-3394	138	11	an	an	DET
app01-3394	138	12	image	image	NOUN
app01-3394	138	13	patch	patch	NOUN
app01-3394	138	14	surrounding	surround	VERB
app01-3394	138	15	the	the	DET
app01-3394	138	16	located	locate	VERB
app01-3394	138	17	feature	feature	NOUN
app01-3394	138	18	.	.	PUNCT
app01-3394	139	1	these	these	DET
app01-3394	139	2	comparisons	comparison	NOUN
app01-3394	139	3	form	form	VERB
app01-3394	139	4	a	a	DET
app01-3394	139	5	set	set	NOUN
app01-3394	139	6	of	of	ADP
app01-3394	139	7	unique	unique	ADJ
app01-3394	139	8	binary	binary	ADJ
app01-3394	139	9	tests	test	NOUN
app01-3394	139	10	which	which	PRON
app01-3394	139	11	are	be	AUX
app01-3394	139	12	subsequently	subsequently	ADV
app01-3394	139	13	stored	store	VERB
app01-3394	139	14	into	into	ADP
app01-3394	139	15	a	a	DET
app01-3394	139	16	q	q	ADJ
app01-3394	139	17	-	-	ADJ
app01-3394	139	18	dimensional	dimensional	ADJ
app01-3394	139	19	bit	bit	NOUN
app01-3394	139	20	vector	vector	NOUN
app01-3394	139	21	.	.	PUNCT
app01-3394	140	1	the	the	DET
app01-3394	140	2	pairwise	pairwise	NOUN
app01-3394	140	3	comparisons	comparison	NOUN
app01-3394	140	4	can	can	AUX
app01-3394	140	5	be	be	AUX
app01-3394	140	6	chosen	choose	VERB
app01-3394	140	7	either	either	CCONJ
app01-3394	140	8	randomly	randomly	ADV
app01-3394	140	9	or	or	CCONJ
app01-3394	140	10	evolutionary	evolutionary	ADJ
app01-3394	140	11	,	,	PUNCT
app01-3394	140	12	e.g.	e.g.	ADV
app01-3394	140	13	,	,	PUNCT
app01-3394	140	14	they	they	PRON
app01-3394	140	15	can	can	AUX
app01-3394	140	16	be	be	AUX
app01-3394	140	17	trained	train	VERB
app01-3394	140	18	by	by	ADP
app01-3394	140	19	methods	method	NOUN
app01-3394	140	20	of	of	ADP
app01-3394	140	21	reinforcement	reinforcement	NOUN
app01-3394	140	22	learning	learning	NOUN
app01-3394	141	1	[	[	X
app01-3394	141	2	22	22	NUM
app01-3394	141	3	]	]	PUNCT
app01-3394	141	4	,	,	PUNCT
app01-3394	141	5	which	which	PRON
app01-3394	141	6	optimize	optimize	VERB
app01-3394	141	7	the	the	DET
app01-3394	141	8	descriptor	descriptor	NOUN
app01-3394	141	9	for	for	ADP
app01-3394	141	10	the	the	DET
app01-3394	141	11	particular	particular	ADJ
app01-3394	141	12	environment	environment	NOUN
app01-3394	141	13	.	.	PUNCT
app01-3394	142	1	typically	typically	ADV
app01-3394	142	2	used	use	VERB
app01-3394	142	3	values	value	NOUN
app01-3394	142	4	of	of	ADP
app01-3394	142	5	q	q	NOUN
app01-3394	142	6	are	be	AUX
app01-3394	142	7	64	64	NUM
app01-3394	142	8	,	,	PUNCT
app01-3394	142	9	128	128	NUM
app01-3394	142	10	,	,	PUNCT
app01-3394	142	11	and	and	CCONJ
app01-3394	142	12	256	256	NUM
app01-3394	142	13	bits	bit	NOUN
app01-3394	142	14	that	that	PRON
app01-3394	142	15	correspond	correspond	VERB
app01-3394	142	16	to	to	ADP
app01-3394	142	17	the	the	DET
app01-3394	142	18	brief8	brief8	PROPN
app01-3394	142	19	,	,	PUNCT
app01-3394	142	20	brief16	brief16	NOUN
app01-3394	142	21	,	,	PUNCT
app01-3394	142	22	and	and	CCONJ
app01-3394	142	23	brief32	brief32	ADJ
app01-3394	142	24	variants	variant	NOUN
app01-3394	142	25	of	of	ADP
app01-3394	142	26	the	the	DET
app01-3394	142	27	feature	feature	NOUN
app01-3394	142	28	descriptor	descriptor	NOUN
app01-3394	142	29	,	,	PUNCT
app01-3394	142	30	respectively	respectively	ADV
app01-3394	142	31	.	.	PUNCT
app01-3394	143	1	the	the	DET
app01-3394	143	2	descriptor	descriptor	NOUN
app01-3394	143	3	similarity	similarity	NOUN
app01-3394	143	4	is	be	AUX
app01-3394	143	5	evaluated	evaluate	VERB
app01-3394	143	6	using	use	VERB
app01-3394	143	7	the	the	DET
app01-3394	143	8	hamming	hamming	ADJ
app01-3394	143	9	distance	distance	NOUN
app01-3394	143	10	that	that	PRON
app01-3394	143	11	computes	compute	VERB
app01-3394	143	12	how	how	SCONJ
app01-3394	143	13	many	many	ADJ
app01-3394	143	14	bits	bit	NOUN
app01-3394	143	15	of	of	ADP
app01-3394	143	16	two	two	NUM
app01-3394	143	17	given	give	VERB
app01-3394	143	18	feature	feature	NOUN
app01-3394	143	19	vectors	vector	NOUN
app01-3394	143	20	are	be	AUX
app01-3394	143	21	different	different	ADJ
app01-3394	143	22	.	.	PUNCT
app01-3394	144	1	5	5	X
app01-3394	144	2	.	.	X
app01-3394	144	3	evaluation	evaluation	NOUN
app01-3394	144	4	the	the	DET
app01-3394	144	5	main	main	ADJ
app01-3394	144	6	motivation	motivation	NOUN
app01-3394	144	7	behind	behind	ADP
app01-3394	144	8	the	the	DET
app01-3394	144	9	utilisation	utilisation	NOUN
app01-3394	144	10	of	of	ADP
app01-3394	144	11	fpga	fpga	PROPN
app01-3394	144	12	–	–	PUNCT
app01-3394	144	13	based	base	VERB
app01-3394	144	14	systems	system	NOUN
app01-3394	144	15	in	in	ADP
app01-3394	144	16	visual	visual	ADJ
app01-3394	144	17	navigation	navigation	NOUN
app01-3394	144	18	tasks	task	NOUN
app01-3394	144	19	is	be	AUX
app01-3394	144	20	a	a	DET
app01-3394	144	21	latency	latency	NOUN
app01-3394	144	22	reduction	reduction	NOUN
app01-3394	144	23	in	in	ADP
app01-3394	144	24	the	the	DET
app01-3394	144	25	robotic	robotic	ADJ
app01-3394	144	26	navigation	navigation	NOUN
app01-3394	144	27	system	system	NOUN
app01-3394	144	28	which	which	PRON
app01-3394	144	29	is	be	AUX
app01-3394	144	30	especially	especially	ADV
app01-3394	144	31	recognizable	recognizable	ADJ
app01-3394	144	32	in	in	ADP
app01-3394	144	33	experiments	experiment	NOUN
app01-3394	144	34	performed	perform	VERB
app01-3394	144	35	in	in	ADP
app01-3394	144	36	dynamic	dynamic	ADJ
app01-3394	144	37	or	or	CCONJ
app01-3394	144	38	confined	confined	ADJ
app01-3394	144	39	environments	environment	NOUN
app01-3394	144	40	,	,	PUNCT
app01-3394	144	41	which	which	PRON
app01-3394	144	42	impose	impose	VERB
app01-3394	144	43	imminent	imminent	ADJ
app01-3394	144	44	threats	threat	NOUN
app01-3394	144	45	to	to	ADP
app01-3394	144	46	the	the	DET
app01-3394	144	47	mobile	mobile	ADJ
app01-3394	144	48	robotic	robotic	ADJ
app01-3394	144	49	platform	platform	NOUN
app01-3394	144	50	[	[	X
app01-3394	144	51	1	1	NUM
app01-3394	144	52	,	,	PUNCT
app01-3394	144	53	23	23	NUM
app01-3394	144	54	]	]	PUNCT
app01-3394	144	55	and	and	CCONJ
app01-3394	144	56	the	the	DET
app01-3394	144	57	reduction	reduction	NOUN
app01-3394	144	58	of	of	ADP
app01-3394	144	59	the	the	DET
app01-3394	144	60	computational	computational	ADJ
app01-3394	144	61	load	load	NOUN
app01-3394	144	62	thus	thus	ADV
app01-3394	144	63	power	power	NOUN
app01-3394	144	64	consumption	consumption	NOUN
app01-3394	144	65	of	of	ADP
app01-3394	144	66	the	the	DET
app01-3394	144	67	mobile	mobile	ADJ
app01-3394	144	68	robot	robot	NOUN
app01-3394	144	69	platforms	platform	NOUN
app01-3394	144	70	.	.	PUNCT
app01-3394	145	1	this	this	DET
app01-3394	145	2	section	section	NOUN
app01-3394	145	3	presents	present	VERB
app01-3394	145	4	the	the	DET
app01-3394	145	5	results	result	NOUN
app01-3394	145	6	of	of	ADP
app01-3394	145	7	the	the	DET
app01-3394	145	8	experimental	experimental	ADJ
app01-3394	145	9	evaluation	evaluation	NOUN
app01-3394	145	10	of	of	ADP
app01-3394	145	11	the	the	DET
app01-3394	145	12	impact	impact	NOUN
app01-3394	145	13	of	of	ADP
app01-3394	145	14	the	the	DET
app01-3394	145	15	fpga	fpga	PROPN
app01-3394	145	16	–	–	PUNCT
app01-3394	145	17	based	base	VERB
app01-3394	145	18	coprocessor	coprocessor	NOUN
app01-3394	145	19	utilization	utilization	NOUN
app01-3394	145	20	on	on	ADP
app01-3394	145	21	the	the	DET
app01-3394	145	22	reduction	reduction	NOUN
app01-3394	145	23	of	of	ADP
app01-3394	145	24	the	the	DET
app01-3394	145	25	computational	computational	ADJ
app01-3394	145	26	burden	burden	NOUN
app01-3394	145	27	of	of	ADP
app01-3394	145	28	the	the	DET
app01-3394	145	29	feature	feature	NOUN
app01-3394	145	30	extraction	extraction	NOUN
app01-3394	145	31	process	process	NOUN
app01-3394	145	32	in	in	ADP
app01-3394	145	33	the	the	DET
app01-3394	145	34	monocular	monocular	ADJ
app01-3394	145	35	vision	vision	NOUN
app01-3394	145	36	–	–	PUNCT
app01-3394	145	37	based	base	VERB
app01-3394	145	38	teach	teach	NOUN
app01-3394	145	39	–	–	PUNCT
app01-3394	145	40	and	and	CCONJ
app01-3394	145	41	–	–	PUNCT
app01-3394	145	42	repeat	repeat	VERB
app01-3394	145	43	autonomous	autonomous	ADJ
app01-3394	145	44	navigation	navigation	NOUN
app01-3394	145	45	.	.	PUNCT
app01-3394	146	1	the	the	DET
app01-3394	146	2	particular	particular	ADJ
app01-3394	146	3	parts	part	NOUN
app01-3394	146	4	of	of	ADP
app01-3394	146	5	the	the	DET
app01-3394	146	6	whole	whole	ADJ
app01-3394	146	7	navigation	navigation	NOUN
app01-3394	146	8	system	system	NOUN
app01-3394	146	9	under	under	ADP
app01-3394	146	10	the	the	DET
app01-3394	146	11	evaluation	evaluation	NOUN
app01-3394	146	12	are	be	AUX
app01-3394	146	13	the	the	DET
app01-3394	146	14	feature	feature	NOUN
app01-3394	146	15	extraction	extraction	NOUN
app01-3394	146	16	chain	chain	NOUN
app01-3394	146	17	and	and	CCONJ
app01-3394	146	18	the	the	DET
app01-3394	146	19	computationally	computationally	ADV
app01-3394	146	20	most	most	ADV
app01-3394	146	21	demanding	demanding	ADJ
app01-3394	146	22	parts	part	NOUN
app01-3394	146	23	of	of	ADP
app01-3394	146	24	the	the	DET
app01-3394	146	25	navigation	navigation	NOUN
app01-3394	146	26	algorithm	algorithm	NOUN
app01-3394	146	27	:	:	PUNCT
app01-3394	146	28	the	the	DET
app01-3394	146	29	feature	feature	NOUN
app01-3394	146	30	detection	detection	NOUN
app01-3394	146	31	and	and	CCONJ
app01-3394	146	32	description	description	NOUN
app01-3394	146	33	;	;	PUNCT
app01-3394	146	34	features	feature	NOUN
app01-3394	146	35	matching	match	VERB
app01-3394	146	36	to	to	ADP
app01-3394	146	37	the	the	DET
app01-3394	146	38	map	map	NOUN
app01-3394	146	39	previously	previously	ADV
app01-3394	146	40	created	create	VERB
app01-3394	146	41	in	in	ADP
app01-3394	146	42	the	the	DET
app01-3394	146	43	teach	teach	NOUN
app01-3394	146	44	mode	mode	NOUN
app01-3394	146	45	;	;	PUNCT
app01-3394	146	46	construction	construction	NOUN
app01-3394	146	47	of	of	ADP
app01-3394	146	48	the	the	DET
app01-3394	146	49	navigational	navigational	ADJ
app01-3394	146	50	histogram	histogram	NOUN
app01-3394	146	51	;	;	PUNCT
app01-3394	146	52	and	and	CCONJ
app01-3394	146	53	determination	determination	NOUN
app01-3394	146	54	of	of	ADP
app01-3394	146	55	the	the	DET
app01-3394	146	56	robot	robot	NOUN
app01-3394	146	57	heading	head	VERB
app01-3394	146	58	correction	correction	NOUN
app01-3394	146	59	based	base	VERB
app01-3394	146	60	on	on	ADP
app01-3394	146	61	the	the	DET
app01-3394	146	62	maximum	maximum	ADJ
app01-3394	146	63	peak	peak	NOUN
app01-3394	146	64	in	in	ADP
app01-3394	146	65	the	the	DET
app01-3394	146	66	histogram	histogram	NOUN
app01-3394	146	67	voting	voting	NOUN
app01-3394	146	68	method	method	NOUN
app01-3394	146	69	.	.	PUNCT
app01-3394	147	1	for	for	ADP
app01-3394	147	2	the	the	DET
app01-3394	147	3	feature	feature	NOUN
app01-3394	147	4	extraction	extraction	NOUN
app01-3394	147	5	the	the	DET
app01-3394	147	6	fast	fast	ADJ
app01-3394	147	7	feature	feature	NOUN
app01-3394	147	8	detector	detector	NOUN
app01-3394	147	9	[	[	X
app01-3394	147	10	6	6	NUM
app01-3394	147	11	]	]	PUNCT
app01-3394	147	12	is	be	AUX
app01-3394	147	13	used	use	VERB
app01-3394	147	14	with	with	ADP
app01-3394	147	15	the	the	DET
app01-3394	147	16	setting	setting	NOUN
app01-3394	147	17	of	of	ADP
app01-3394	147	18	n	n	NOUN
app01-3394	147	19	=	=	NUM
app01-3394	147	20	12	12	NUM
app01-3394	147	21	,	,	PUNCT
app01-3394	147	22	while	while	SCONJ
app01-3394	147	23	256	256	NUM
app01-3394	147	24	bit	bit	NOUN
app01-3394	147	25	long	long	ADJ
app01-3394	147	26	brief	brief	ADJ
app01-3394	148	1	[	[	X
app01-3394	148	2	12	12	NUM
app01-3394	148	3	]	]	PUNCT
app01-3394	148	4	(	(	PUNCT
app01-3394	148	5	brief32	brief32	NOUN
app01-3394	148	6	)	)	PUNCT
app01-3394	148	7	is	be	AUX
app01-3394	148	8	utilized	utilize	VERB
app01-3394	148	9	as	as	ADP
app01-3394	148	10	the	the	DET
app01-3394	148	11	feature	feature	NOUN
app01-3394	148	12	descriptor	descriptor	NOUN
app01-3394	148	13	.	.	PUNCT
app01-3394	149	1	the	the	DET
app01-3394	149	2	number	number	NOUN
app01-3394	149	3	of	of	ADP
app01-3394	149	4	features	feature	NOUN
app01-3394	149	5	is	be	AUX
app01-3394	149	6	set	set	VERB
app01-3394	149	7	to	to	ADP
app01-3394	149	8	approx	approx	PROPN
app01-3394	149	9	.	.	PUNCT
app01-3394	150	1	200	200	NUM
app01-3394	150	2	features	feature	NOUN
app01-3394	150	3	per	per	ADP
app01-3394	150	4	image	image	NOUN
app01-3394	150	5	and	and	CCONJ
app01-3394	150	6	the	the	DET
app01-3394	150	7	pre	pre	ADJ
app01-3394	150	8	-	-	ADJ
app01-3394	150	9	learned	learned	ADJ
app01-3394	150	10	map	map	NOUN
app01-3394	150	11	in	in	ADP
app01-3394	150	12	the	the	DET
app01-3394	150	13	navigation	navigation	NOUN
app01-3394	150	14	pipeline	pipeline	NOUN
app01-3394	150	15	evaluation	evaluation	NOUN
app01-3394	150	16	contains	contain	VERB
app01-3394	150	17	200	200	NUM
app01-3394	150	18	features	feature	NOUN
app01-3394	150	19	.	.	PUNCT
app01-3394	151	1	the	the	DET
app01-3394	151	2	pure	pure	ADJ
app01-3394	151	3	cpu	cpu	NOUN
app01-3394	151	4	based	base	VERB
app01-3394	151	5	implementation	implementation	NOUN
app01-3394	151	6	running	run	VERB
app01-3394	151	7	on	on	ADP
app01-3394	151	8	the	the	DET
app01-3394	151	9	odroid	odroid	PROPN
app01-3394	151	10	u3	u3	PROPN
app01-3394	151	11	board	board	PROPN
app01-3394	151	12	[	[	X
app01-3394	151	13	24	24	NUM
app01-3394	151	14	]	]	PUNCT
app01-3394	151	15	was	be	AUX
app01-3394	151	16	compared	compare	VERB
app01-3394	151	17	to	to	ADP
app01-3394	151	18	the	the	DET
app01-3394	151	19	(	(	PUNCT
app01-3394	151	20	a	a	NOUN
app01-3394	151	21	)	)	PUNCT
app01-3394	151	22	.	.	PUNCT
app01-3394	152	1	outdoor	outdoor	ADJ
app01-3394	152	2	urban	urban	ADJ
app01-3394	152	3	env	env	NOUN
app01-3394	152	4	.	.	PUNCT
app01-3394	153	1	(	(	PUNCT
app01-3394	153	2	b	b	NOUN
app01-3394	153	3	)	)	PUNCT
app01-3394	153	4	.	.	PUNCT
app01-3394	154	1	indoor	indoor	ADJ
app01-3394	154	2	lab	lab	NOUN
app01-3394	154	3	env	env	PROPN
app01-3394	154	4	.	.	PUNCT
app01-3394	155	1	figure	figure	NOUN
app01-3394	155	2	4	4	NUM
app01-3394	155	3	.	.	PUNCT
app01-3394	155	4	testing	test	VERB
app01-3394	155	5	environments	environment	NOUN
app01-3394	155	6	.	.	PUNCT
app01-3394	156	1	fpga	fpga	PROPN
app01-3394	156	2	–	–	PUNCT
app01-3394	156	3	based	base	VERB
app01-3394	156	4	soc	soc	NOUN
app01-3394	156	5	implementation	implementation	NOUN
app01-3394	156	6	on	on	ADP
app01-3394	156	7	terasic	terasic	ADJ
app01-3394	156	8	de0nano	de0nano	PROPN
app01-3394	156	9	board	board	NOUN
app01-3394	156	10	[	[	X
app01-3394	156	11	25	25	NUM
app01-3394	156	12	]	]	PUNCT
app01-3394	156	13	.	.	PUNCT
app01-3394	157	1	in	in	ADP
app01-3394	157	2	particular	particular	ADJ
app01-3394	157	3	,	,	PUNCT
app01-3394	157	4	the	the	DET
app01-3394	157	5	hardware	hardware	NOUN
app01-3394	157	6	and	and	CCONJ
app01-3394	157	7	software	software	NOUN
app01-3394	157	8	used	use	VERB
app01-3394	157	9	in	in	ADP
app01-3394	157	10	the	the	DET
app01-3394	157	11	evaluation	evaluation	NOUN
app01-3394	157	12	are	be	AUX
app01-3394	157	13	as	as	SCONJ
app01-3394	157	14	follows	follow	VERB
app01-3394	157	15	:	:	PUNCT
app01-3394	157	16	odroid	odroid	NOUN
app01-3394	157	17	u3	u3	PROPN
app01-3394	157	18	–	–	PUNCT
app01-3394	157	19	a	a	DET
app01-3394	157	20	small	small	ADJ
app01-3394	157	21	embedded	embed	VERB
app01-3394	157	22	micro	micro	NOUN
app01-3394	157	23	-	-	NOUN
app01-3394	157	24	computer	computer	NOUN
app01-3394	157	25	suitable	suitable	ADJ
app01-3394	157	26	for	for	ADP
app01-3394	157	27	robotic	robotic	ADJ
app01-3394	157	28	applications	application	NOUN
app01-3394	157	29	.	.	PUNCT
app01-3394	158	1	it	it	PRON
app01-3394	158	2	features	feature	VERB
app01-3394	158	3	1.7	1.7	NUM
app01-3394	158	4	ghz	ghz	NOUN
app01-3394	158	5	arm	arm	NOUN
app01-3394	158	6	cortex	cortex	NOUN
app01-3394	158	7	a9	a9	PROPN
app01-3394	158	8	quad	quad	NOUN
app01-3394	158	9	-	-	PUNCT
app01-3394	158	10	core	core	NOUN
app01-3394	158	11	microprocessor	microprocessor	NOUN
app01-3394	158	12	(	(	PUNCT
app01-3394	158	13	samsung	samsung	PROPN
app01-3394	158	14	exynos4412	exynos4412	PROPN
app01-3394	158	15	prime	prime	NOUN
app01-3394	158	16	)	)	PUNCT
app01-3394	158	17	running	run	VERB
app01-3394	158	18	the	the	DET
app01-3394	158	19	ubuntu	ubuntu	ADJ
app01-3394	158	20	12.04	12.04	NUM
app01-3394	158	21	linux	linux	PROPN
app01-3394	158	22	operating	operating	NOUN
app01-3394	158	23	system	system	NOUN
app01-3394	158	24	.	.	PUNCT
app01-3394	159	1	the	the	DET
app01-3394	159	2	attached	attached	ADJ
app01-3394	159	3	camera	camera	NOUN
app01-3394	159	4	is	be	AUX
app01-3394	159	5	the	the	DET
app01-3394	159	6	mobius	mobius	PROPN
app01-3394	159	7	actioncam	actioncam	NOUN
app01-3394	159	8	with	with	ADP
app01-3394	159	9	the	the	DET
app01-3394	159	10	resolution	resolution	NOUN
app01-3394	159	11	of	of	ADP
app01-3394	159	12	640×480	640×480	NUM
app01-3394	159	13	with	with	ADP
app01-3394	159	14	60	60	NUM
app01-3394	159	15	fps	fps	PROPN
app01-3394	159	16	.	.	PUNCT
app01-3394	160	1	the	the	DET
app01-3394	160	2	implementation	implementation	NOUN
app01-3394	160	3	of	of	ADP
app01-3394	160	4	the	the	DET
app01-3394	160	5	navigation	navigation	NOUN
app01-3394	160	6	algorithm	algorithm	NOUN
app01-3394	160	7	was	be	AUX
app01-3394	160	8	based	base	VERB
app01-3394	160	9	on	on	ADP
app01-3394	160	10	the	the	DET
app01-3394	160	11	open	open	ADJ
app01-3394	160	12	computer	computer	NOUN
app01-3394	160	13	vision	vision	NOUN
app01-3394	160	14	library	library	NOUN
app01-3394	160	15	[	[	X
app01-3394	160	16	26	26	NUM
app01-3394	160	17	]	]	X
app01-3394	160	18	(	(	PUNCT
app01-3394	160	19	opencv	opencv	NOUN
app01-3394	160	20	2.4.9	2.4.9	NUM
app01-3394	160	21	)	)	PUNCT
app01-3394	160	22	implementations	implementation	NOUN
app01-3394	160	23	of	of	ADP
app01-3394	160	24	the	the	DET
app01-3394	160	25	fast	fast	ADJ
app01-3394	160	26	feature	feature	NOUN
app01-3394	160	27	detector	detector	NOUN
app01-3394	160	28	and	and	CCONJ
app01-3394	160	29	brief32	brief32	NOUN
app01-3394	160	30	descriptor	descriptor	NOUN
app01-3394	160	31	.	.	PUNCT
app01-3394	161	1	de0	de0	PROPN
app01-3394	161	2	-	-	PUNCT
app01-3394	161	3	nano	nano	ADJ
app01-3394	161	4	board	board	NOUN
app01-3394	161	5	–	–	PUNCT
app01-3394	161	6	an	an	DET
app01-3394	161	7	embedded	embed	VERB
app01-3394	161	8	module	module	NOUN
app01-3394	161	9	with	with	ADP
app01-3394	161	10	the	the	DET
app01-3394	161	11	altera	altera	NOUN
app01-3394	161	12	cyclone	cyclone	PROPN
app01-3394	161	13	iv	iv	PROPN
app01-3394	161	14	ep4ce22	ep4ce22	PROPN
app01-3394	161	15	fpga	fpga	PROPN
app01-3394	161	16	equipped	equip	VERB
app01-3394	161	17	with	with	ADP
app01-3394	161	18	the	the	DET
app01-3394	161	19	aptina	aptina	PROPN
app01-3394	161	20	mt9v034	mt9v034	PROPN
app01-3394	161	21	grayscale	grayscale	NOUN
app01-3394	161	22	camera	camera	NOUN
app01-3394	161	23	sensor	sensor	NOUN
app01-3394	161	24	with	with	ADP
app01-3394	161	25	the	the	DET
app01-3394	161	26	global	global	ADJ
app01-3394	161	27	shutter	shutter	NOUN
app01-3394	161	28	and	and	CCONJ
app01-3394	161	29	the	the	DET
app01-3394	161	30	resolution	resolution	NOUN
app01-3394	161	31	of	of	ADP
app01-3394	161	32	752×480	752×480	NUM
app01-3394	161	33	providing	provide	VERB
app01-3394	161	34	images	image	NOUN
app01-3394	161	35	with	with	ADP
app01-3394	161	36	60	60	NUM
app01-3394	161	37	fps	fps	PROPN
app01-3394	161	38	.	.	PUNCT
app01-3394	162	1	the	the	DET
app01-3394	162	2	implementation	implementation	NOUN
app01-3394	162	3	of	of	ADP
app01-3394	162	4	the	the	DET
app01-3394	162	5	navigation	navigation	NOUN
app01-3394	162	6	algorithm	algorithm	NOUN
app01-3394	162	7	follows	follow	VERB
app01-3394	162	8	the	the	DET
app01-3394	162	9	approach	approach	NOUN
app01-3394	162	10	described	describe	VERB
app01-3394	162	11	in	in	ADP
app01-3394	162	12	[	[	X
app01-3394	162	13	20	20	NUM
app01-3394	162	14	]	]	PUNCT
app01-3394	162	15	.	.	PUNCT
app01-3394	163	1	it	it	PRON
app01-3394	163	2	utilizes	utilize	VERB
app01-3394	163	3	the	the	DET
app01-3394	163	4	bare	bare	ADJ
app01-3394	163	5	-	-	PUNCT
app01-3394	163	6	metal	metal	NOUN
app01-3394	163	7	programmed	program	VERB
app01-3394	163	8	nios	nios	PROPN
app01-3394	163	9	iie	iie	PROPN
app01-3394	163	10	softcore	softcore	PROPN
app01-3394	163	11	processor	processor	NOUN
app01-3394	163	12	clocked	clock	VERB
app01-3394	163	13	at	at	ADP
app01-3394	163	14	150	150	NUM
app01-3394	163	15	mhz	mhz	NOUN
app01-3394	163	16	for	for	ADP
app01-3394	163	17	the	the	DET
app01-3394	163	18	feature	feature	NOUN
app01-3394	163	19	description	description	NOUN
app01-3394	163	20	,	,	PUNCT
app01-3394	163	21	matching	matching	NOUN
app01-3394	163	22	,	,	PUNCT
app01-3394	163	23	and	and	CCONJ
app01-3394	163	24	histogram	histogram	NOUN
app01-3394	163	25	voting	voting	NOUN
app01-3394	163	26	and	and	CCONJ
app01-3394	163	27	a	a	DET
app01-3394	163	28	dedicated	dedicated	ADJ
app01-3394	163	29	fpga	fpga	NOUN
app01-3394	163	30	–	–	PUNCT
app01-3394	163	31	based	base	VERB
app01-3394	163	32	parallel	parallel	ADJ
app01-3394	163	33	co	co	NOUN
app01-3394	163	34	-	-	NOUN
app01-3394	163	35	processor	processor	NOUN
app01-3394	163	36	for	for	ADP
app01-3394	163	37	the	the	DET
app01-3394	163	38	fast	fast	ADJ
app01-3394	163	39	feature	feature	NOUN
app01-3394	163	40	detection	detection	NOUN
app01-3394	163	41	.	.	PUNCT
app01-3394	164	1	the	the	DET
app01-3394	164	2	proposed	propose	VERB
app01-3394	164	3	evaluation	evaluation	NOUN
app01-3394	164	4	consists	consist	VERB
app01-3394	164	5	of	of	ADP
app01-3394	164	6	the	the	DET
app01-3394	164	7	focused	focused	ADJ
app01-3394	164	8	examination	examination	NOUN
app01-3394	164	9	of	of	ADP
app01-3394	164	10	the	the	DET
app01-3394	164	11	feature	feature	NOUN
app01-3394	164	12	detector	detector	NOUN
app01-3394	164	13	and	and	CCONJ
app01-3394	164	14	descriptor	descriptor	NOUN
app01-3394	164	15	and	and	CCONJ
app01-3394	164	16	examination	examination	NOUN
app01-3394	164	17	of	of	ADP
app01-3394	164	18	the	the	DET
app01-3394	164	19	performance	performance	NOUN
app01-3394	164	20	of	of	ADP
app01-3394	164	21	the	the	DET
app01-3394	164	22	whole	whole	ADJ
app01-3394	164	23	navigation	navigation	NOUN
app01-3394	164	24	system	system	NOUN
app01-3394	164	25	.	.	PUNCT
app01-3394	165	1	the	the	DET
app01-3394	165	2	tests	test	NOUN
app01-3394	165	3	were	be	AUX
app01-3394	165	4	performed	perform	VERB
app01-3394	165	5	in	in	ADP
app01-3394	165	6	field	field	NOUN
app01-3394	165	7	conditions	condition	NOUN
app01-3394	165	8	both	both	CCONJ
app01-3394	165	9	in	in	ADP
app01-3394	165	10	outdoor	outdoor	ADJ
app01-3394	165	11	urban	urban	ADJ
app01-3394	165	12	(	(	PUNCT
app01-3394	165	13	fig	fig	NOUN
app01-3394	165	14	.	.	PUNCT
app01-3394	165	15	4a	4a	NOUN
app01-3394	165	16	)	)	PUNCT
app01-3394	165	17	and	and	CCONJ
app01-3394	165	18	indoor	indoor	ADJ
app01-3394	165	19	lab	lab	NOUN
app01-3394	165	20	(	(	PUNCT
app01-3394	165	21	fig	fig	NOUN
app01-3394	165	22	.	.	PUNCT
app01-3394	166	1	4b	4b	PROPN
app01-3394	166	2	)	)	PUNCT
app01-3394	166	3	environments	environment	NOUN
app01-3394	166	4	.	.	PUNCT
app01-3394	167	1	first	first	ADV
app01-3394	167	2	,	,	PUNCT
app01-3394	167	3	we	we	PRON
app01-3394	167	4	evaluated	evaluate	VERB
app01-3394	167	5	the	the	DET
app01-3394	167	6	performance	performance	NOUN
app01-3394	167	7	of	of	ADP
app01-3394	167	8	the	the	DET
app01-3394	167	9	fpga	fpga	PROPN
app01-3394	167	10	–	–	PUNCT
app01-3394	167	11	based	base	VERB
app01-3394	167	12	and	and	CCONJ
app01-3394	167	13	cpu	cpu	ADJ
app01-3394	167	14	–	–	PUNCT
app01-3394	167	15	based	base	VERB
app01-3394	167	16	implementations	implementation	NOUN
app01-3394	167	17	of	of	ADP
app01-3394	167	18	the	the	DET
app01-3394	167	19	fast	fast	ADJ
app01-3394	167	20	feature	feature	NOUN
app01-3394	167	21	detector	detector	NOUN
app01-3394	167	22	and	and	CCONJ
app01-3394	167	23	computation	computation	NOUN
app01-3394	167	24	of	of	ADP
app01-3394	167	25	the	the	DET
app01-3394	167	26	brief	brief	ADJ
app01-3394	167	27	descriptor	descriptor	NOUN
app01-3394	167	28	.	.	PUNCT
app01-3394	168	1	two	two	NUM
app01-3394	168	2	criteria	criterion	NOUN
app01-3394	168	3	are	be	AUX
app01-3394	168	4	considered	consider	VERB
app01-3394	168	5	in	in	ADP
app01-3394	168	6	this	this	DET
app01-3394	168	7	evaluation	evaluation	NOUN
app01-3394	168	8	:	:	PUNCT
app01-3394	168	9	correctness	correctness	NOUN
app01-3394	168	10	of	of	ADP
app01-3394	168	11	the	the	DET
app01-3394	168	12	fpga	fpga	PROPN
app01-3394	168	13	–	–	PUNCT
app01-3394	168	14	based	base	VERB
app01-3394	168	15	implementation	implementation	NOUN
app01-3394	168	16	and	and	CCONJ
app01-3394	168	17	computational	computational	ADJ
app01-3394	168	18	requirements	requirement	NOUN
app01-3394	168	19	.	.	PUNCT
app01-3394	169	1	regarding	regard	VERB
app01-3394	169	2	the	the	DET
app01-3394	169	3	correctness	correctness	NOUN
app01-3394	169	4	of	of	ADP
app01-3394	169	5	the	the	DET
app01-3394	169	6	fpga	fpga	PROPN
app01-3394	169	7	–	–	PUNCT
app01-3394	169	8	based	base	VERB
app01-3394	169	9	implementation	implementation	NOUN
app01-3394	169	10	,	,	PUNCT
app01-3394	169	11	it	it	PRON
app01-3394	169	12	provides	provide	VERB
app01-3394	169	13	identical	identical	ADJ
app01-3394	169	14	results	result	NOUN
app01-3394	169	15	to	to	ADP
app01-3394	169	16	the	the	DET
app01-3394	169	17	cpu	cpu	NOUN
app01-3394	169	18	–	–	PUNCT
app01-3394	169	19	based	base	VERB
app01-3394	169	20	counterpart	counterpart	NOUN
app01-3394	169	21	for	for	ADP
app01-3394	169	22	the	the	DET
app01-3394	169	23	detected	detect	VERB
app01-3394	169	24	features	feature	NOUN
app01-3394	169	25	and	and	CCONJ
app01-3394	169	26	also	also	ADV
app01-3394	169	27	the	the	DET
app01-3394	169	28	same	same	ADJ
app01-3394	169	29	descriptors	descriptor	NOUN
app01-3394	169	30	.	.	PUNCT
app01-3394	170	1	this	this	DET
app01-3394	170	2	test	test	NOUN
app01-3394	170	3	was	be	AUX
app01-3394	170	4	performed	perform	VERB
app01-3394	170	5	on	on	ADP
app01-3394	170	6	artificially	artificially	ADV
app01-3394	170	7	generated	generate	VERB
app01-3394	170	8	data	datum	NOUN
app01-3394	170	9	in	in	ADP
app01-3394	170	10	order	order	NOUN
app01-3394	170	11	to	to	PART
app01-3394	170	12	ensure	ensure	VERB
app01-3394	170	13	the	the	DET
app01-3394	170	14	correctness	correctness	NOUN
app01-3394	170	15	of	of	ADP
app01-3394	170	16	the	the	DET
app01-3394	170	17	results	result	NOUN
app01-3394	170	18	.	.	PUNCT
app01-3394	171	1	the	the	DET
app01-3394	171	2	data	data	NOUN
app01-3394	171	3	consists	consist	VERB
app01-3394	171	4	of	of	ADP
app01-3394	171	5	a	a	DET
app01-3394	171	6	checkerboard	checkerboard	NOUN
app01-3394	171	7	pattern	pattern	NOUN
app01-3394	171	8	with	with	ADP
app01-3394	171	9	grayscale	grayscale	NOUN
app01-3394	171	10	gradient	gradient	NOUN
app01-3394	171	11	which	which	PRON
app01-3394	171	12	allows	allow	VERB
app01-3394	171	13	to	to	PART
app01-3394	171	14	detect	detect	VERB
app01-3394	171	15	various	various	ADJ
app01-3394	171	16	number	number	NOUN
app01-3394	171	17	of	of	ADP
app01-3394	171	18	corners	corner	NOUN
app01-3394	171	19	depending	depend	VERB
app01-3394	171	20	on	on	ADP
app01-3394	171	21	the	the	DET
app01-3394	171	22	predefined	predefine	VERB
app01-3394	171	23	threshold	threshold	NOUN
app01-3394	171	24	.	.	PUNCT
app01-3394	172	1	concerning	concern	VERB
app01-3394	172	2	the	the	DET
app01-3394	172	3	computational	computational	ADJ
app01-3394	172	4	requirements	requirement	NOUN
app01-3394	172	5	of	of	ADP
app01-3394	172	6	the	the	DET
app01-3394	172	7	12	12	NUM
app01-3394	172	8	vol	vol	NOUN
app01-3394	172	9	.	.	PUNCT
app01-3394	173	1	2/2015	2/2015	NUM
app01-3394	173	2	on	on	ADP
app01-3394	173	3	fpga	fpga	PROPN
app01-3394	173	4	based	base	VERB
app01-3394	173	5	acceleration	acceleration	NOUN
app01-3394	173	6	of	of	ADP
app01-3394	173	7	image	image	NOUN
app01-3394	173	8	processing	processing	NOUN
app01-3394	173	9	in	in	ADP
app01-3394	173	10	mobile	mobile	ADJ
app01-3394	173	11	robotics	robotic	NOUN
app01-3394	173	12	feature	feature	NOUN
app01-3394	173	13	extractor	extractor	NOUN
app01-3394	173	14	,	,	PUNCT
app01-3394	173	15	the	the	DET
app01-3394	173	16	odroid	odroid	ADJ
app01-3394	173	17	implementation	implementation	NOUN
app01-3394	173	18	needs	need	NOUN
app01-3394	173	19	(	(	PUNCT
app01-3394	173	20	in	in	ADP
app01-3394	173	21	average	average	ADJ
app01-3394	173	22	)	)	PUNCT
app01-3394	173	23	17.07	17.07	NUM
app01-3394	173	24	ms	ms	NOUN
app01-3394	173	25	for	for	ADP
app01-3394	173	26	approximately	approximately	ADV
app01-3394	173	27	200	200	NUM
app01-3394	173	28	fast	fast	ADJ
app01-3394	173	29	feature	feature	NOUN
app01-3394	173	30	detections	detection	NOUN
app01-3394	173	31	with	with	ADP
app01-3394	173	32	brief32	brief32	ADJ
app01-3394	173	33	descriptors	descriptor	NOUN
app01-3394	173	34	in	in	ADP
app01-3394	173	35	an	an	DET
app01-3394	173	36	image	image	NOUN
app01-3394	173	37	with	with	ADP
app01-3394	173	38	the	the	DET
app01-3394	173	39	resolution	resolution	NOUN
app01-3394	173	40	of	of	ADP
app01-3394	173	41	640×480	640×480	NUM
app01-3394	173	42	pixels	pixel	NOUN
app01-3394	173	43	.	.	PUNCT
app01-3394	174	1	the	the	DET
app01-3394	174	2	de0nano	de0nano	PROPN
app01-3394	174	3	implementation	implementation	NOUN
app01-3394	174	4	exhibits	exhibit	VERB
app01-3394	174	5	similar	similar	ADJ
app01-3394	174	6	performance	performance	NOUN
app01-3394	174	7	with	with	ADP
app01-3394	174	8	the	the	DET
app01-3394	174	9	processing	processing	NOUN
app01-3394	174	10	time	time	NOUN
app01-3394	174	11	of	of	ADP
app01-3394	174	12	16.91	16.91	NUM
app01-3394	174	13	ms	ms	NOUN
app01-3394	174	14	for	for	ADP
app01-3394	174	15	200	200	NUM
app01-3394	174	16	feature	feature	NOUN
app01-3394	174	17	detections	detection	NOUN
app01-3394	174	18	and	and	CCONJ
app01-3394	174	19	descriptions	description	NOUN
app01-3394	174	20	.	.	PUNCT
app01-3394	175	1	the	the	DET
app01-3394	175	2	navigation	navigation	NOUN
app01-3394	175	3	stack	stack	NOUN
app01-3394	175	4	performance	performance	NOUN
app01-3394	175	5	benchmarking	benchmarke	VERB
app01-3394	175	6	consists	consist	NOUN
app01-3394	175	7	of	of	ADP
app01-3394	175	8	the	the	DET
app01-3394	175	9	feature	feature	NOUN
app01-3394	175	10	extraction	extraction	NOUN
app01-3394	175	11	,	,	PUNCT
app01-3394	175	12	feature	feature	NOUN
app01-3394	175	13	matching	match	VERB
app01-3394	175	14	against	against	ADP
app01-3394	175	15	the	the	DET
app01-3394	175	16	pre	pre	ADJ
app01-3394	175	17	-	-	ADJ
app01-3394	175	18	learned	learned	ADJ
app01-3394	175	19	map	map	NOUN
app01-3394	175	20	,	,	PUNCT
app01-3394	175	21	and	and	CCONJ
app01-3394	175	22	the	the	DET
app01-3394	175	23	histogram	histogram	NOUN
app01-3394	175	24	voting	voting	NOUN
app01-3394	175	25	method	method	NOUN
app01-3394	175	26	to	to	PART
app01-3394	175	27	establish	establish	VERB
app01-3394	175	28	the	the	DET
app01-3394	175	29	heading	heading	ADJ
app01-3394	175	30	correction	correction	NOUN
app01-3394	175	31	of	of	ADP
app01-3394	175	32	the	the	DET
app01-3394	175	33	robot	robot	NOUN
app01-3394	175	34	.	.	PUNCT
app01-3394	176	1	the	the	DET
app01-3394	176	2	achieved	achieve	VERB
app01-3394	176	3	results	result	NOUN
app01-3394	176	4	are	be	AUX
app01-3394	176	5	summarized	summarize	VERB
app01-3394	176	6	in	in	ADP
app01-3394	176	7	table	table	NOUN
app01-3394	176	8	1	1	NUM
app01-3394	176	9	.	.	PUNCT
app01-3394	177	1	platform	platform	NOUN
app01-3394	177	2	odroid	odroid	PROPN
app01-3394	177	3	u3	u3	PROPN
app01-3394	177	4	de0	de0	PROPN
app01-3394	177	5	-	-	ADJ
app01-3394	177	6	nano	nano	ADJ
app01-3394	177	7	cpu	cpu	NOUN
app01-3394	177	8	cores	core	NOUN
app01-3394	177	9	4	4	NUM
app01-3394	177	10	1	1	NUM
app01-3394	177	11	cpu	cpu	NOUN
app01-3394	177	12	clock	clock	VERB
app01-3394	177	13	1.7	1.7	NUM
app01-3394	177	14	ghz	ghz	NOUN
app01-3394	177	15	150	150	NUM
app01-3394	177	16	mhz	mhz	NOUN
app01-3394	177	17	fpga	fpga	PROPN
app01-3394	177	18	22320∗∗	22320∗∗	NUM
app01-3394	177	19	fpga	fpga	PROPN
app01-3394	177	20	usage	usage	NOUN
app01-3394	177	21	28	28	NUM
app01-3394	177	22	%	%	NOUN
app01-3394	177	23	feature	feature	NOUN
app01-3394	177	24	extraction	extraction	NOUN
app01-3394	177	25	17.07	17.07	NUM
app01-3394	177	26	ms	ms	NOUN
app01-3394	177	27	16.91	16.91	NUM
app01-3394	177	28	ms	ms	PROPN
app01-3394	177	29	navigation	navigation	PROPN
app01-3394	177	30	pipeline	pipeline	PROPN
app01-3394	177	31	35.89	35.89	NUM
app01-3394	177	32	ms	ms	NOUN
app01-3394	177	33	24.38	24.38	NUM
app01-3394	177	34	ms	ms	PROPN
app01-3394	177	35	power	power	NOUN
app01-3394	177	36	consumption	consumption	NOUN
app01-3394	177	37	8.13	8.13	NUM
app01-3394	177	38	w	w	NUM
app01-3394	177	39	1.82	1.82	NUM
app01-3394	177	40	w	w	X
app01-3394	177	41	∗∗	∗∗	NOUN
app01-3394	177	42	the	the	DET
app01-3394	177	43	number	number	NOUN
app01-3394	177	44	of	of	ADP
app01-3394	177	45	available	available	ADJ
app01-3394	177	46	logic	logic	NOUN
app01-3394	177	47	elements	element	NOUN
app01-3394	177	48	.	.	PUNCT
app01-3394	178	1	table	table	NOUN
app01-3394	178	2	1	1	NUM
app01-3394	178	3	.	.	PUNCT
app01-3394	179	1	navigation	navigation	NOUN
app01-3394	179	2	pipeline	pipeline	NOUN
app01-3394	179	3	processing	processing	NOUN
app01-3394	179	4	results	result	NOUN
app01-3394	179	5	of	of	ADP
app01-3394	179	6	odroid	odroid	PROPN
app01-3394	179	7	u3	u3	PROPN
app01-3394	179	8	and	and	CCONJ
app01-3394	179	9	de0	de0	PROPN
app01-3394	179	10	-	-	ADJ
app01-3394	179	11	nano	nano	ADJ
app01-3394	179	12	soc	soc	NOUN
app01-3394	179	13	platforms	platform	VERB
app01-3394	179	14	5.1	5.1	NUM
app01-3394	179	15	.	.	PUNCT
app01-3394	180	1	discussion	discussion	NOUN
app01-3394	180	2	the	the	DET
app01-3394	180	3	results	result	NOUN
app01-3394	180	4	presented	present	VERB
app01-3394	180	5	in	in	ADP
app01-3394	180	6	table	table	NOUN
app01-3394	180	7	1	1	NUM
app01-3394	180	8	indicate	indicate	VERB
app01-3394	180	9	that	that	SCONJ
app01-3394	180	10	the	the	DET
app01-3394	180	11	fpga	fpga	PROPN
app01-3394	180	12	–	–	PUNCT
app01-3394	180	13	based	base	VERB
app01-3394	180	14	soc	soc	NOUN
app01-3394	180	15	approach	approach	NOUN
app01-3394	180	16	does	do	AUX
app01-3394	180	17	not	not	PART
app01-3394	180	18	significantly	significantly	ADV
app01-3394	180	19	reduce	reduce	VERB
app01-3394	180	20	the	the	DET
app01-3394	180	21	required	require	VERB
app01-3394	180	22	time	time	NOUN
app01-3394	180	23	for	for	ADP
app01-3394	180	24	feature	feature	NOUN
app01-3394	180	25	extraction	extraction	NOUN
app01-3394	180	26	;	;	PUNCT
app01-3394	180	27	however	however	ADV
app01-3394	180	28	,	,	PUNCT
app01-3394	180	29	the	the	DET
app01-3394	180	30	power	power	NOUN
app01-3394	180	31	consumption	consumption	NOUN
app01-3394	180	32	is	be	AUX
app01-3394	180	33	reduced	reduce	VERB
app01-3394	180	34	by	by	ADP
app01-3394	180	35	4.5	4.5	NUM
app01-3394	180	36	times	time	NOUN
app01-3394	180	37	magnitude	magnitude	NOUN
app01-3394	180	38	in	in	ADP
app01-3394	180	39	comparison	comparison	NOUN
app01-3394	180	40	to	to	ADP
app01-3394	180	41	the	the	DET
app01-3394	180	42	purely	purely	ADV
app01-3394	180	43	cpu	cpu	ADJ
app01-3394	180	44	–	–	PUNCT
app01-3394	180	45	based	base	VERB
app01-3394	180	46	implementation	implementation	NOUN
app01-3394	180	47	.	.	PUNCT
app01-3394	181	1	regarding	regard	VERB
app01-3394	181	2	the	the	DET
app01-3394	181	3	update	update	NOUN
app01-3394	181	4	rate	rate	NOUN
app01-3394	181	5	of	of	ADP
app01-3394	181	6	individual	individual	ADJ
app01-3394	181	7	methods	method	NOUN
app01-3394	181	8	the	the	DET
app01-3394	181	9	fpga	fpga	PROPN
app01-3394	181	10	–	–	PUNCT
app01-3394	181	11	based	base	VERB
app01-3394	181	12	implementation	implementation	NOUN
app01-3394	181	13	is	be	AUX
app01-3394	181	14	capable	capable	ADJ
app01-3394	181	15	to	to	PART
app01-3394	181	16	process	process	VERB
app01-3394	181	17	each	each	DET
app01-3394	181	18	other	other	ADJ
app01-3394	181	19	image	image	NOUN
app01-3394	181	20	in	in	ADP
app01-3394	181	21	the	the	DET
app01-3394	181	22	60	60	NUM
app01-3394	181	23	fps	fps	PROPN
app01-3394	181	24	camera	camera	NOUN
app01-3394	181	25	stream	stream	NOUN
app01-3394	181	26	,	,	PUNCT
app01-3394	181	27	which	which	PRON
app01-3394	181	28	gives	give	VERB
app01-3394	181	29	about	about	ADV
app01-3394	181	30	30	30	NUM
app01-3394	181	31	processed	process	VERB
app01-3394	181	32	images	image	NOUN
app01-3394	181	33	per	per	ADP
app01-3394	181	34	second	second	NOUN
app01-3394	181	35	while	while	SCONJ
app01-3394	181	36	the	the	DET
app01-3394	181	37	cpu	cpu	NOUN
app01-3394	181	38	–	–	PUNCT
app01-3394	181	39	based	base	VERB
app01-3394	181	40	implementation	implementation	NOUN
app01-3394	181	41	can	can	AUX
app01-3394	181	42	process	process	VERB
app01-3394	181	43	20	20	NUM
app01-3394	181	44	frames	frame	NOUN
app01-3394	181	45	per	per	ADP
app01-3394	181	46	second	second	NOUN
app01-3394	181	47	if	if	SCONJ
app01-3394	181	48	we	we	PRON
app01-3394	181	49	consider	consider	VERB
app01-3394	181	50	a	a	DET
app01-3394	181	51	uniform	uniform	ADJ
app01-3394	181	52	image	image	NOUN
app01-3394	181	53	retrieval	retrieval	NOUN
app01-3394	181	54	;	;	PUNCT
app01-3394	181	55	otherwise	otherwise	ADV
app01-3394	181	56	the	the	DET
app01-3394	181	57	update	update	NOUN
app01-3394	181	58	rate	rate	NOUN
app01-3394	181	59	of	of	ADP
app01-3394	181	60	the	the	DET
app01-3394	181	61	cpu	cpu	NOUN
app01-3394	181	62	–	–	PUNCT
app01-3394	181	63	based	base	VERB
app01-3394	181	64	implementation	implementation	NOUN
app01-3394	181	65	is	be	AUX
app01-3394	181	66	27	27	NUM
app01-3394	181	67	fps	fps	NOUN
app01-3394	181	68	but	but	CCONJ
app01-3394	181	69	images	image	NOUN
app01-3394	181	70	are	be	AUX
app01-3394	181	71	dropped	drop	VERB
app01-3394	181	72	at	at	ADP
app01-3394	181	73	non	non	ADJ
app01-3394	181	74	-	-	ADJ
app01-3394	181	75	deterministic	deterministic	ADJ
app01-3394	181	76	way	way	NOUN
app01-3394	181	77	which	which	PRON
app01-3394	181	78	leads	lead	VERB
app01-3394	181	79	to	to	ADP
app01-3394	181	80	uneven	uneven	ADJ
app01-3394	181	81	distribution	distribution	NOUN
app01-3394	181	82	of	of	ADP
app01-3394	181	83	information	information	NOUN
app01-3394	181	84	in	in	ADP
app01-3394	181	85	time	time	NOUN
app01-3394	181	86	.	.	PUNCT
app01-3394	182	1	the	the	DET
app01-3394	182	2	fast	fast	ADJ
app01-3394	182	3	feature	feature	NOUN
app01-3394	182	4	detector	detector	NOUN
app01-3394	182	5	of	of	ADP
app01-3394	182	6	the	the	DET
app01-3394	182	7	de0	de0	PROPN
app01-3394	182	8	-	-	ADJ
app01-3394	182	9	nano	nano	ADJ
app01-3394	182	10	implementation	implementation	NOUN
app01-3394	182	11	performs	perform	VERB
app01-3394	182	12	feature	feature	NOUN
app01-3394	182	13	detection	detection	NOUN
app01-3394	182	14	online	online	ADV
app01-3394	182	15	on	on	ADP
app01-3394	182	16	the	the	DET
app01-3394	182	17	stream	stream	NOUN
app01-3394	182	18	of	of	ADP
app01-3394	182	19	camera	camera	NOUN
app01-3394	182	20	data	datum	NOUN
app01-3394	182	21	,	,	PUNCT
app01-3394	182	22	which	which	PRON
app01-3394	182	23	implies	imply	VERB
app01-3394	182	24	that	that	SCONJ
app01-3394	182	25	the	the	DET
app01-3394	182	26	image	image	NOUN
app01-3394	182	27	coordinates	coordinate	NOUN
app01-3394	182	28	of	of	ADP
app01-3394	182	29	all	all	DET
app01-3394	182	30	salient	salient	ADJ
app01-3394	182	31	points	point	NOUN
app01-3394	182	32	in	in	ADP
app01-3394	182	33	the	the	DET
app01-3394	182	34	image	image	NOUN
app01-3394	182	35	are	be	AUX
app01-3394	182	36	known	know	VERB
app01-3394	182	37	during	during	ADP
app01-3394	182	38	the	the	DET
app01-3394	182	39	readout	readout	NOUN
app01-3394	182	40	of	of	ADP
app01-3394	182	41	a	a	DET
app01-3394	182	42	single	single	ADJ
app01-3394	182	43	image	image	NOUN
app01-3394	182	44	from	from	ADP
app01-3394	182	45	the	the	DET
app01-3394	182	46	camera	camera	NOUN
app01-3394	182	47	sensor	sensor	NOUN
app01-3394	182	48	.	.	PUNCT
app01-3394	183	1	the	the	DET
app01-3394	183	2	feature	feature	NOUN
app01-3394	183	3	description	description	NOUN
app01-3394	183	4	and	and	CCONJ
app01-3394	183	5	matching	match	VERB
app01-3394	183	6	to	to	ADP
app01-3394	183	7	the	the	DET
app01-3394	183	8	pre	pre	ADJ
app01-3394	183	9	-	-	ADJ
app01-3394	183	10	learned	learned	ADJ
app01-3394	183	11	map	map	NOUN
app01-3394	183	12	is	be	AUX
app01-3394	183	13	performed	perform	VERB
app01-3394	183	14	in	in	ADP
app01-3394	183	15	an	an	DET
app01-3394	183	16	instant	instant	NOUN
app01-3394	183	17	when	when	SCONJ
app01-3394	183	18	the	the	DET
app01-3394	183	19	feature	feature	NOUN
app01-3394	183	20	is	be	AUX
app01-3394	183	21	detected	detect	VERB
app01-3394	183	22	in	in	ADP
app01-3394	183	23	the	the	DET
app01-3394	183	24	camera	camera	NOUN
app01-3394	183	25	stream	stream	NOUN
app01-3394	183	26	.	.	PUNCT
app01-3394	184	1	however	however	ADV
app01-3394	184	2	,	,	PUNCT
app01-3394	184	3	256	256	NUM
app01-3394	184	4	bit	bit	NOUN
app01-3394	184	5	long	long	ADJ
app01-3394	184	6	brief32	brief32	NOUN
app01-3394	184	7	descriptor	descriptor	NOUN
app01-3394	184	8	calculation	calculation	NOUN
app01-3394	184	9	together	together	ADV
app01-3394	184	10	with	with	ADP
app01-3394	184	11	matching	match	VERB
app01-3394	184	12	to	to	ADP
app01-3394	184	13	approx	approx	PROPN
app01-3394	184	14	.	.	PUNCT
app01-3394	185	1	200	200	NUM
app01-3394	185	2	features	feature	NOUN
app01-3394	185	3	from	from	ADP
app01-3394	185	4	pre	pre	ADJ
app01-3394	185	5	-	-	ADJ
app01-3394	185	6	learned	learned	ADJ
app01-3394	185	7	map	map	NOUN
app01-3394	185	8	on	on	ADP
app01-3394	185	9	the	the	DET
app01-3394	185	10	150	150	NUM
app01-3394	185	11	mhz	mhz	NOUN
app01-3394	185	12	single	single	ADJ
app01-3394	185	13	core	core	NOUN
app01-3394	185	14	cpu	cpu	NOUN
app01-3394	185	15	makes	make	VERB
app01-3394	185	16	it	it	PRON
app01-3394	185	17	impossible	impossible	ADJ
app01-3394	185	18	to	to	PART
app01-3394	185	19	finish	finish	VERB
app01-3394	185	20	all	all	DET
app01-3394	185	21	the	the	DET
app01-3394	185	22	computations	computation	NOUN
app01-3394	185	23	during	during	ADP
app01-3394	185	24	the	the	DET
app01-3394	185	25	readout	readout	NOUN
app01-3394	185	26	of	of	ADP
app01-3394	185	27	one	one	NUM
app01-3394	185	28	single	single	ADJ
app01-3394	185	29	image	image	NOUN
app01-3394	185	30	.	.	PUNCT
app01-3394	186	1	therefore	therefore	ADV
app01-3394	186	2	,	,	PUNCT
app01-3394	186	3	each	each	DET
app01-3394	186	4	other	other	ADJ
app01-3394	186	5	frame	frame	NOUN
app01-3394	186	6	in	in	ADP
app01-3394	186	7	a	a	DET
app01-3394	186	8	60	60	NUM
app01-3394	186	9	hz	hz	PRON
app01-3394	186	10	camera	camera	NOUN
app01-3394	186	11	stream	stream	NOUN
app01-3394	186	12	is	be	AUX
app01-3394	186	13	skipped	skip	VERB
app01-3394	186	14	,	,	PUNCT
app01-3394	186	15	which	which	PRON
app01-3394	186	16	allows	allow	VERB
app01-3394	186	17	the	the	DET
app01-3394	186	18	algorithm	algorithm	NOUN
app01-3394	186	19	to	to	PART
app01-3394	186	20	finish	finish	VERB
app01-3394	186	21	all	all	DET
app01-3394	186	22	the	the	DET
app01-3394	186	23	calculations	calculation	NOUN
app01-3394	186	24	in	in	ADP
app01-3394	186	25	less	less	ADJ
app01-3394	186	26	than	than	ADP
app01-3394	186	27	32	32	NUM
app01-3394	186	28	ms	ms	NOUN
app01-3394	186	29	during	during	ADP
app01-3394	186	30	the	the	DET
app01-3394	186	31	readout	readout	NOUN
app01-3394	186	32	of	of	ADP
app01-3394	186	33	the	the	DET
app01-3394	186	34	next	next	ADJ
app01-3394	186	35	image	image	NOUN
app01-3394	186	36	.	.	PUNCT
app01-3394	187	1	6	6	X
app01-3394	187	2	.	.	X
app01-3394	187	3	conclusion	conclusion	NOUN
app01-3394	187	4	in	in	ADP
app01-3394	187	5	this	this	DET
app01-3394	187	6	paper	paper	NOUN
app01-3394	187	7	,	,	PUNCT
app01-3394	187	8	we	we	PRON
app01-3394	187	9	consider	consider	VERB
app01-3394	187	10	a	a	DET
app01-3394	187	11	problem	problem	NOUN
app01-3394	187	12	of	of	ADP
app01-3394	187	13	decreasing	decrease	VERB
app01-3394	187	14	the	the	DET
app01-3394	187	15	computational	computational	ADJ
app01-3394	187	16	load	load	NOUN
app01-3394	187	17	of	of	ADP
app01-3394	187	18	the	the	DET
app01-3394	187	19	embedded	embed	VERB
app01-3394	187	20	computational	computational	ADJ
app01-3394	187	21	resources	resource	NOUN
app01-3394	187	22	utilized	utilize	VERB
app01-3394	187	23	in	in	ADP
app01-3394	187	24	the	the	DET
app01-3394	187	25	vision	vision	NOUN
app01-3394	187	26	-	-	PUNCT
app01-3394	187	27	based	base	VERB
app01-3394	187	28	navigation	navigation	NOUN
app01-3394	187	29	tasks	task	NOUN
app01-3394	187	30	.	.	PUNCT
app01-3394	188	1	the	the	DET
app01-3394	188	2	presented	present	VERB
app01-3394	188	3	results	result	NOUN
app01-3394	188	4	show	show	VERB
app01-3394	188	5	that	that	SCONJ
app01-3394	188	6	although	although	SCONJ
app01-3394	188	7	the	the	DET
app01-3394	188	8	processing	processing	NOUN
app01-3394	188	9	times	time	NOUN
app01-3394	188	10	of	of	ADP
app01-3394	188	11	both	both	CCONJ
app01-3394	188	12	the	the	DET
app01-3394	188	13	fpga	fpga	PROPN
app01-3394	188	14	–	–	PUNCT
app01-3394	188	15	based	base	VERB
app01-3394	188	16	and	and	CCONJ
app01-3394	188	17	cpu	cpu	ADJ
app01-3394	188	18	–	–	PUNCT
app01-3394	188	19	based	base	VERB
app01-3394	188	20	implementations	implementation	NOUN
app01-3394	188	21	are	be	AUX
app01-3394	188	22	almost	almost	ADV
app01-3394	188	23	similar	similar	ADJ
app01-3394	188	24	most	most	ADV
app01-3394	188	25	-	-	PUNCT
app01-3394	188	26	likely	likely	ADJ
app01-3394	188	27	due	due	ADP
app01-3394	188	28	to	to	ADP
app01-3394	188	29	the	the	DET
app01-3394	188	30	overall	overall	ADJ
app01-3394	188	31	low	low	ADJ
app01-3394	188	32	complexity	complexity	NOUN
app01-3394	188	33	of	of	ADP
app01-3394	188	34	the	the	DET
app01-3394	188	35	used	use	VERB
app01-3394	188	36	feature	feature	NOUN
app01-3394	188	37	extraction	extraction	NOUN
app01-3394	188	38	,	,	PUNCT
app01-3394	188	39	the	the	DET
app01-3394	188	40	fpga	fpga	PROPN
app01-3394	188	41	–	–	PUNCT
app01-3394	188	42	based	base	VERB
app01-3394	188	43	system	system	NOUN
app01-3394	188	44	–	–	PUNCT
app01-3394	188	45	on	on	ADP
app01-3394	188	46	–	–	PUNCT
app01-3394	188	47	chip	chip	NOUN
app01-3394	188	48	design	design	NOUN
app01-3394	188	49	can	can	AUX
app01-3394	188	50	significantly	significantly	ADV
app01-3394	188	51	reduce	reduce	VERB
app01-3394	188	52	the	the	DET
app01-3394	188	53	power	power	NOUN
app01-3394	188	54	consumption	consumption	NOUN
app01-3394	188	55	of	of	ADP
app01-3394	188	56	the	the	DET
app01-3394	188	57	embedded	embed	VERB
app01-3394	188	58	processor	processor	NOUN
app01-3394	188	59	in	in	ADP
app01-3394	188	60	comparison	comparison	NOUN
app01-3394	188	61	to	to	ADP
app01-3394	188	62	a	a	DET
app01-3394	188	63	purely	purely	ADV
app01-3394	188	64	cpu	cpu	ADJ
app01-3394	188	65	–	–	PUNCT
app01-3394	188	66	based	base	VERB
app01-3394	188	67	solution	solution	NOUN
app01-3394	188	68	.	.	PUNCT
app01-3394	189	1	in	in	ADP
app01-3394	189	2	order	order	NOUN
app01-3394	189	3	to	to	PART
app01-3394	189	4	further	far	ADV
app01-3394	189	5	verify	verify	VERB
app01-3394	189	6	and	and	CCONJ
app01-3394	189	7	quantify	quantify	VERB
app01-3394	189	8	the	the	DET
app01-3394	189	9	results	result	NOUN
app01-3394	189	10	,	,	PUNCT
app01-3394	189	11	we	we	PRON
app01-3394	189	12	plan	plan	VERB
app01-3394	189	13	to	to	PART
app01-3394	189	14	thoroughly	thoroughly	ADV
app01-3394	189	15	benchmark	benchmark	VERB
app01-3394	189	16	each	each	DET
app01-3394	189	17	part	part	NOUN
app01-3394	189	18	of	of	ADP
app01-3394	189	19	the	the	DET
app01-3394	189	20	visual	visual	ADJ
app01-3394	189	21	navigation	navigation	NOUN
app01-3394	189	22	algorithm	algorithm	NOUN
app01-3394	189	23	stack	stack	NOUN
app01-3394	189	24	and	and	CCONJ
app01-3394	189	25	incorporate	incorporate	VERB
app01-3394	189	26	the	the	DET
app01-3394	189	27	fpga	fpga	NOUN
app01-3394	189	28	-	-	PUNCT
app01-3394	189	29	based	base	VERB
app01-3394	189	30	image	image	NOUN
app01-3394	189	31	processing	processing	NOUN
app01-3394	189	32	in	in	ADP
app01-3394	189	33	a	a	DET
app01-3394	189	34	more	more	ADV
app01-3394	189	35	complex	complex	ADJ
app01-3394	189	36	navigation	navigation	NOUN
app01-3394	189	37	task	task	NOUN
app01-3394	189	38	of	of	ADP
app01-3394	189	39	a	a	DET
app01-3394	189	40	visual	visual	ADJ
app01-3394	189	41	slam	slam	NOUN
app01-3394	189	42	,	,	PUNCT
app01-3394	189	43	where	where	SCONJ
app01-3394	189	44	the	the	DET
app01-3394	189	45	computational	computational	ADJ
app01-3394	189	46	power	power	NOUN
app01-3394	189	47	of	of	ADP
app01-3394	189	48	the	the	DET
app01-3394	189	49	fpga	fpga	PROPN
app01-3394	189	50	platform	platform	NOUN
app01-3394	189	51	can	can	AUX
app01-3394	189	52	be	be	AUX
app01-3394	189	53	of	of	ADP
app01-3394	189	54	potential	potential	ADJ
app01-3394	189	55	benefit	benefit	NOUN
app01-3394	189	56	.	.	PUNCT
app01-3394	190	1	acknowledgements	acknowledgement	NOUN
app01-3394	190	2	the	the	DET
app01-3394	190	3	presented	present	VERB
app01-3394	190	4	work	work	NOUN
app01-3394	190	5	has	have	AUX
app01-3394	190	6	been	be	AUX
app01-3394	190	7	supported	support	VERB
app01-3394	190	8	by	by	ADP
app01-3394	190	9	the	the	DET
app01-3394	190	10	czech	czech	PROPN
app01-3394	190	11	science	science	PROPN
app01-3394	190	12	foundation	foundation	PROPN
app01-3394	190	13	(	(	PUNCT
app01-3394	190	14	gačr	gačr	NOUN
app01-3394	190	15	)	)	PUNCT
app01-3394	190	16	under	under	ADP
app01-3394	190	17	research	research	NOUN
app01-3394	190	18	project	project	NOUN
app01-3394	190	19	no	no	NOUN
app01-3394	190	20	.	.	NOUN
app01-3394	191	1	13	13	NUM
app01-3394	191	2	-	-	SYM
app01-3394	191	3	18316p	18316p	NUM
app01-3394	191	4	.	.	PUNCT
app01-3394	192	1	references	reference	NOUN
app01-3394	192	2	[	[	X
app01-3394	192	3	1	1	NUM
app01-3394	192	4	]	]	X
app01-3394	192	5	n.	n.	PROPN
app01-3394	192	6	michael	michael	PROPN
app01-3394	192	7	,	,	PUNCT
app01-3394	192	8	d.	d.	PROPN
app01-3394	192	9	mellinger	mellinger	PROPN
app01-3394	192	10	,	,	PUNCT
app01-3394	192	11	q.	q.	PROPN
app01-3394	192	12	lindsey	lindsey	PROPN
app01-3394	192	13	,	,	PUNCT
app01-3394	192	14	v.	v.	PROPN
app01-3394	192	15	kumar	kumar	PROPN
app01-3394	192	16	.	.	PUNCT
app01-3394	193	1	the	the	DET
app01-3394	193	2	grasp	grasp	NOUN
app01-3394	193	3	multiple	multiple	ADJ
app01-3394	193	4	micro	micro	PROPN
app01-3394	193	5	-	-	PROPN
app01-3394	193	6	uav	uav	PROPN
app01-3394	193	7	testbed	testbe	VERB
app01-3394	193	8	.	.	PUNCT
app01-3394	194	1	robotics	robotic	NOUN
app01-3394	194	2	automation	automation	NOUN
app01-3394	194	3	magazine	magazine	NOUN
app01-3394	194	4	,	,	PUNCT
app01-3394	194	5	ieee	ieee	NOUN
app01-3394	194	6	17(3):56–65	17(3):56–65	NUM
app01-3394	194	7	,	,	PUNCT
app01-3394	194	8	2010	2010	NUM
app01-3394	194	9	.	.	PUNCT
app01-3394	195	1	doi:10.1109	doi:10.1109	VERB
app01-3394	195	2	/	/	SYM
app01-3394	195	3	mra.2010.937855	mra.2010.937855	PROPN
app01-3394	195	4	.	.	PUNCT
app01-3394	196	1	[	[	X
app01-3394	196	2	2	2	NUM
app01-3394	196	3	]	]	PUNCT
app01-3394	196	4	d.	d.	PROPN
app01-3394	196	5	belter	belter	PROPN
app01-3394	196	6	,	,	PUNCT
app01-3394	196	7	p.	p.	NOUN
app01-3394	196	8	skrzypczyński	skrzypczyński	NOUN
app01-3394	196	9	,	,	PUNCT
app01-3394	196	10	k.	k.	PROPN
app01-3394	196	11	walas	walas	PROPN
app01-3394	196	12	,	,	PUNCT
app01-3394	196	13	d.	d.	PROPN
app01-3394	196	14	wlodkowic	wlodkowic	PROPN
app01-3394	196	15	.	.	PUNCT
app01-3394	197	1	affordable	affordable	ADJ
app01-3394	197	2	multi	multi	ADJ
app01-3394	197	3	-	-	ADJ
app01-3394	197	4	legged	legged	ADJ
app01-3394	197	5	robots	robot	NOUN
app01-3394	197	6	for	for	ADP
app01-3394	197	7	research	research	NOUN
app01-3394	197	8	and	and	CCONJ
app01-3394	197	9	stem	stem	NOUN
app01-3394	197	10	education	education	NOUN
app01-3394	197	11	:	:	PUNCT
app01-3394	197	12	a	a	DET
app01-3394	197	13	case	case	NOUN
app01-3394	197	14	study	study	NOUN
app01-3394	197	15	of	of	ADP
app01-3394	197	16	design	design	NOUN
app01-3394	197	17	and	and	CCONJ
app01-3394	197	18	technological	technological	ADJ
app01-3394	197	19	aspects	aspect	NOUN
app01-3394	197	20	.	.	PUNCT
app01-3394	198	1	in	in	ADP
app01-3394	198	2	progress	progress	NOUN
app01-3394	198	3	in	in	ADP
app01-3394	198	4	automation	automation	NOUN
app01-3394	198	5	,	,	PUNCT
app01-3394	198	6	robotics	robotic	NOUN
app01-3394	198	7	and	and	CCONJ
app01-3394	198	8	measuring	measure	VERB
app01-3394	198	9	techniques	technique	NOUN
app01-3394	198	10	,	,	PUNCT
app01-3394	198	11	vol	vol	NOUN
app01-3394	198	12	.	.	PROPN
app01-3394	198	13	351	351	NUM
app01-3394	198	14	of	of	ADP
app01-3394	198	15	advances	advance	NOUN
app01-3394	198	16	in	in	ADP
app01-3394	198	17	intelligent	intelligent	ADJ
app01-3394	198	18	systems	system	NOUN
app01-3394	198	19	and	and	CCONJ
app01-3394	198	20	computing	computing	NOUN
app01-3394	198	21	,	,	PUNCT
app01-3394	198	22	pp	pp	ADJ
app01-3394	198	23	.	.	PUNCT
app01-3394	198	24	23–34	23–34	NUM
app01-3394	198	25	.	.	PUNCT
app01-3394	198	26	springer	springer	NOUN
app01-3394	198	27	international	international	ADJ
app01-3394	198	28	publishing	publishing	NOUN
app01-3394	198	29	,	,	PUNCT
app01-3394	198	30	2015	2015	NUM
app01-3394	198	31	.	.	PUNCT
app01-3394	199	1	doi:10.1007/978	doi:10.1007/978	NOUN
app01-3394	199	2	-	-	PUNCT
app01-3394	199	3	3	3	NUM
app01-3394	199	4	-	-	NUM
app01-3394	199	5	319	319	NUM
app01-3394	199	6	-	-	PUNCT
app01-3394	199	7	15847	15847	NUM
app01-3394	199	8	-	-	SYM
app01-3394	199	9	1_3	1_3	NUM
app01-3394	199	10	.	.	PUNCT
app01-3394	200	1	[	[	X
app01-3394	200	2	3	3	NUM
app01-3394	200	3	]	]	X
app01-3394	200	4	f.	f.	PROPN
app01-3394	200	5	arvin	arvin	PROPN
app01-3394	200	6	,	,	PUNCT
app01-3394	200	7	j.	j.	PROPN
app01-3394	200	8	murray	murray	PROPN
app01-3394	200	9	,	,	PUNCT
app01-3394	200	10	c.	c.	PROPN
app01-3394	200	11	zhang	zhang	PROPN
app01-3394	200	12	,	,	PUNCT
app01-3394	200	13	et	et	PROPN
app01-3394	200	14	al	al	PROPN
app01-3394	200	15	.	.	PROPN
app01-3394	200	16	colias	colias	PROPN
app01-3394	200	17	:	:	PUNCT
app01-3394	200	18	an	an	DET
app01-3394	200	19	autonomous	autonomous	PROPN
app01-3394	200	20	micro	micro	PROPN
app01-3394	200	21	robot	robot	NOUN
app01-3394	200	22	for	for	ADP
app01-3394	200	23	swarm	swarm	NOUN
app01-3394	200	24	robotic	robotic	ADJ
app01-3394	200	25	applications	application	NOUN
app01-3394	200	26	.	.	PUNCT
app01-3394	201	1	international	international	ADJ
app01-3394	201	2	journal	journal	NOUN
app01-3394	201	3	of	of	ADP
app01-3394	201	4	advanced	advanced	ADJ
app01-3394	201	5	robotic	robotic	ADJ
app01-3394	201	6	systems	system	NOUN
app01-3394	201	7	11(113):1–10	11(113):1–10	PROPN
app01-3394	201	8	,	,	PUNCT
app01-3394	201	9	2014	2014	NUM
app01-3394	201	10	.	.	PUNCT
app01-3394	202	1	doi:10.5772/58730	doi:10.5772/58730	X
app01-3394	202	2	.	.	PUNCT
app01-3394	203	1	[	[	X
app01-3394	203	2	4	4	X
app01-3394	203	3	]	]	X
app01-3394	203	4	d.	d.	PROPN
app01-3394	203	5	g.	g.	PROPN
app01-3394	203	6	lowe	lowe	PROPN
app01-3394	203	7	.	.	PUNCT
app01-3394	204	1	distinctive	distinctive	ADJ
app01-3394	204	2	image	image	NOUN
app01-3394	204	3	features	feature	NOUN
app01-3394	204	4	from	from	ADP
app01-3394	204	5	scale	scale	NOUN
app01-3394	204	6	-	-	PUNCT
app01-3394	204	7	invariant	invariant	ADJ
app01-3394	204	8	keypoints	keypoint	NOUN
app01-3394	204	9	.	.	PUNCT
app01-3394	205	1	international	international	ADJ
app01-3394	205	2	journal	journal	NOUN
app01-3394	205	3	of	of	ADP
app01-3394	205	4	computer	computer	NOUN
app01-3394	205	5	vision	vision	PROPN
app01-3394	205	6	60(2):91–110	60(2):91–110	PROPN
app01-3394	205	7	,	,	PUNCT
app01-3394	205	8	2004	2004	NUM
app01-3394	205	9	.	.	PUNCT
app01-3394	206	1	doi:10.1023	doi:10.1023	NOUN
app01-3394	206	2	/	/	SYM
app01-3394	207	1	b	b	NOUN
app01-3394	207	2	:	:	PUNCT
app01-3394	207	3	visi.0000029664.99615.94	visi.0000029664.99615.94	NOUN
app01-3394	207	4	.	.	PUNCT
app01-3394	208	1	[	[	X
app01-3394	208	2	5	5	X
app01-3394	208	3	]	]	PUNCT
app01-3394	208	4	h.	h.	PROPN
app01-3394	208	5	bay	bay	PROPN
app01-3394	208	6	,	,	PUNCT
app01-3394	208	7	a.	a.	PROPN
app01-3394	208	8	ess	ess	PROPN
app01-3394	208	9	,	,	PUNCT
app01-3394	208	10	t.	t.	NOUN
app01-3394	208	11	tuytelaars	tuytelaar	NOUN
app01-3394	208	12	,	,	PUNCT
app01-3394	208	13	l.	l.	PROPN
app01-3394	208	14	van	van	PROPN
app01-3394	208	15	gool	gool	PROPN
app01-3394	208	16	.	.	PUNCT
app01-3394	208	17	speeded	speed	VERB
app01-3394	208	18	-	-	PUNCT
app01-3394	208	19	up	up	ADP
app01-3394	208	20	robust	robust	ADJ
app01-3394	208	21	features	feature	NOUN
app01-3394	208	22	(	(	PUNCT
app01-3394	208	23	surf	surf	NOUN
app01-3394	208	24	)	)	PUNCT
app01-3394	208	25	.	.	PUNCT
app01-3394	209	1	computer	computer	NOUN
app01-3394	209	2	vision	vision	NOUN
app01-3394	209	3	and	and	CCONJ
app01-3394	209	4	image	image	NOUN
app01-3394	209	5	understanding	understanding	NOUN
app01-3394	209	6	110(3):346–359	110(3):346–359	NUM
app01-3394	209	7	,	,	PUNCT
app01-3394	209	8	2008	2008	NUM
app01-3394	209	9	.	.	PUNCT
app01-3394	210	1	doi:10.1016	doi:10.1016	PROPN
app01-3394	210	2	/	/	SYM
app01-3394	210	3	j.cviu.2007.09.014	j.cviu.2007.09.014	PROPN
app01-3394	210	4	.	.	PUNCT
app01-3394	211	1	[	[	X
app01-3394	211	2	6	6	NUM
app01-3394	211	3	]	]	PUNCT
app01-3394	211	4	rosten	rosten	ADJ
app01-3394	211	5	,	,	PUNCT
app01-3394	211	6	edward	edward	NOUN
app01-3394	211	7	and	and	CCONJ
app01-3394	211	8	drummond	drummond	PROPN
app01-3394	211	9	,	,	PUNCT
app01-3394	211	10	tom	tom	PROPN
app01-3394	211	11	.	.	PROPN
app01-3394	211	12	machine	machine	NOUN
app01-3394	211	13	learning	learn	VERB
app01-3394	211	14	for	for	ADP
app01-3394	211	15	high	high	ADJ
app01-3394	211	16	-	-	PUNCT
app01-3394	211	17	speed	speed	NOUN
app01-3394	211	18	corner	corner	NOUN
app01-3394	211	19	detection	detection	NOUN
app01-3394	211	20	.	.	PUNCT
app01-3394	212	1	in	in	ADP
app01-3394	212	2	eccv	eccv	ADJ
app01-3394	212	3	2006	2006	NUM
app01-3394	212	4	,	,	PUNCT
app01-3394	212	5	vol	vol	NOUN
app01-3394	212	6	.	.	PROPN
app01-3394	212	7	1	1	NUM
app01-3394	212	8	,	,	PUNCT
app01-3394	212	9	pp	pp	ADJ
app01-3394	212	10	.	.	PUNCT
app01-3394	212	11	430–443	430–443	NUM
app01-3394	212	12	.	.	PUNCT
app01-3394	213	1	doi:10.1007/11744023_34	doi:10.1007/11744023_34	NOUN
app01-3394	213	2	.	.	PUNCT
app01-3394	214	1	[	[	X
app01-3394	214	2	7	7	X
app01-3394	214	3	]	]	X
app01-3394	214	4	c.	c.	PROPN
app01-3394	214	5	forster	forster	PROPN
app01-3394	214	6	,	,	PUNCT
app01-3394	214	7	m.	m.	NOUN
app01-3394	214	8	pizzoli	pizzoli	PROPN
app01-3394	214	9	,	,	PUNCT
app01-3394	214	10	d.	d.	PROPN
app01-3394	214	11	scaramuzza	scaramuzza	PROPN
app01-3394	214	12	.	.	PUNCT
app01-3394	215	1	svo	svo	NOUN
app01-3394	215	2	:	:	PUNCT
app01-3394	215	3	fast	fast	ADJ
app01-3394	215	4	semi	semi	ADJ
app01-3394	215	5	-	-	ADJ
app01-3394	215	6	direct	direct	ADJ
app01-3394	215	7	monocular	monocular	ADJ
app01-3394	215	8	visual	visual	ADJ
app01-3394	215	9	odometry	odometry	NOUN
app01-3394	215	10	.	.	PUNCT
app01-3394	216	1	in	in	ADP
app01-3394	216	2	icra	icra	PROPN
app01-3394	216	3	2014	2014	NUM
app01-3394	216	4	,	,	PUNCT
app01-3394	216	5	pp	pp	ADJ
app01-3394	216	6	.	.	PUNCT
app01-3394	217	1	15–22	15–22	NUM
app01-3394	217	2	.	.	PUNCT
app01-3394	218	1	doi:10.1109	doi:10.1109	PROPN
app01-3394	218	2	/	/	SYM
app01-3394	218	3	icra.2014.6906584	icra.2014.6906584	PROPN
app01-3394	218	4	.	.	PROPN
app01-3394	219	1	13	13	NUM
app01-3394	219	2	http://dx.doi.org/10.1109/mra.2010.937855	http://dx.doi.org/10.1109/mra.2010.937855	NOUN
app01-3394	219	3	http://dx.doi.org/10.1007/978-3-319-15847-1_3	http://dx.doi.org/10.1007/978-3-319-15847-1_3	INTJ
app01-3394	219	4	http://dx.doi.org/10.5772/58730	http://dx.doi.org/10.5772/58730	ADV
app01-3394	220	1	http://dx.doi.org/10.1023/b:visi.0000029664.99615.94	http://dx.doi.org/10.1023/b:visi.0000029664.99615.94	PROPN
app01-3394	220	2	http://dx.doi.org/10.1016/j.cviu.2007.09.014	http://dx.doi.org/10.1016/j.cviu.2007.09.014	PROPN
app01-3394	220	3	http://dx.doi.org/10.1007/11744023_34	http://dx.doi.org/10.1007/11744023_34	NOUN
app01-3394	220	4	http://dx.doi.org/10.1109/icra.2014.6906584	http://dx.doi.org/10.1109/icra.2014.6906584	NOUN
app01-3394	220	5	petr	petr	PROPN
app01-3394	220	6	čížek	čížek	PROPN
app01-3394	220	7	,	,	PUNCT
app01-3394	220	8	jan	jan	PROPN
app01-3394	220	9	faigl	faigl	PROPN
app01-3394	220	10	acta	acta	PROPN
app01-3394	220	11	polytechnica	polytechnica	PROPN
app01-3394	220	12	ctu	ctu	NOUN
app01-3394	220	13	proceedings	proceeding	NOUN
app01-3394	220	14	[	[	X
app01-3394	220	15	8	8	X
app01-3394	220	16	]	]	X
app01-3394	220	17	g.	g.	PROPN
app01-3394	220	18	klein	klein	PROPN
app01-3394	220	19	,	,	PUNCT
app01-3394	220	20	d.	d.	PROPN
app01-3394	220	21	murray	murray	PROPN
app01-3394	220	22	.	.	PUNCT
app01-3394	221	1	parallel	parallel	ADJ
app01-3394	221	2	tracking	tracking	NOUN
app01-3394	221	3	and	and	CCONJ
app01-3394	221	4	mapping	mapping	NOUN
app01-3394	221	5	for	for	ADP
app01-3394	221	6	small	small	ADJ
app01-3394	221	7	ar	ar	NOUN
app01-3394	221	8	workspaces	workspace	NOUN
app01-3394	221	9	.	.	PUNCT
app01-3394	222	1	in	in	ADP
app01-3394	222	2	proceedings	proceeding	NOUN
app01-3394	222	3	of	of	ADP
app01-3394	222	4	the	the	DET
app01-3394	222	5	2007	2007	NUM
app01-3394	222	6	6th	6th	ADJ
app01-3394	222	7	ieee	ieee	NOUN
app01-3394	222	8	and	and	CCONJ
app01-3394	222	9	acm	acm	PROPN
app01-3394	222	10	international	international	ADJ
app01-3394	222	11	symposium	symposium	NOUN
app01-3394	222	12	on	on	ADP
app01-3394	222	13	mixed	mixed	ADJ
app01-3394	222	14	and	and	CCONJ
app01-3394	222	15	augmented	augment	VERB
app01-3394	222	16	reality	reality	NOUN
app01-3394	222	17	,	,	PUNCT
app01-3394	222	18	pp	pp	ADJ
app01-3394	222	19	.	.	PUNCT
app01-3394	223	1	225–234	225–234	NUM
app01-3394	223	2	.	.	PUNCT
app01-3394	224	1	doi:10.1109	doi:10.1109	VERB
app01-3394	224	2	/	/	SYM
app01-3394	224	3	ismar.2007.4538852	ismar.2007.4538852	NOUN
app01-3394	224	4	.	.	PUNCT
app01-3394	225	1	[	[	X
app01-3394	225	2	9	9	NUM
app01-3394	225	3	]	]	PUNCT
app01-3394	225	4	s.	s.	PROPN
app01-3394	225	5	leutenegger	leutenegger	PROPN
app01-3394	225	6	,	,	PUNCT
app01-3394	225	7	m.	m.	NOUN
app01-3394	225	8	chli	chli	PROPN
app01-3394	225	9	,	,	PUNCT
app01-3394	225	10	r.	r.	PROPN
app01-3394	225	11	siegwart	siegwart	PROPN
app01-3394	225	12	.	.	PUNCT
app01-3394	226	1	brisk	brisk	ADJ
app01-3394	226	2	:	:	PUNCT
app01-3394	226	3	binary	binary	ADJ
app01-3394	226	4	robust	robust	ADJ
app01-3394	226	5	invariant	invariant	ADJ
app01-3394	226	6	scalable	scalable	ADJ
app01-3394	226	7	keypoints	keypoint	NOUN
app01-3394	226	8	.	.	PUNCT
app01-3394	227	1	in	in	ADP
app01-3394	227	2	iccv	iccv	NOUN
app01-3394	227	3	2011	2011	NUM
app01-3394	227	4	,	,	PUNCT
app01-3394	227	5	pp	pp	ADV
app01-3394	227	6	.	.	PUNCT
app01-3394	228	1	2548–2555	2548–2555	NUM
app01-3394	228	2	.	.	PUNCT
app01-3394	229	1	2011	2011	NUM
app01-3394	229	2	.	.	PUNCT
app01-3394	230	1	doi:10.1109	doi:10.1109	VERB
app01-3394	230	2	/	/	SYM
app01-3394	230	3	iccv.2011.6126542	iccv.2011.6126542	PROPN
app01-3394	230	4	.	.	PUNCT
app01-3394	231	1	[	[	X
app01-3394	231	2	10	10	NUM
app01-3394	231	3	]	]	X
app01-3394	231	4	e.	e.	PROPN
app01-3394	231	5	rublee	rublee	PROPN
app01-3394	231	6	,	,	PUNCT
app01-3394	231	7	v.	v.	PROPN
app01-3394	231	8	rabaud	rabaud	PROPN
app01-3394	231	9	,	,	PUNCT
app01-3394	231	10	k.	k.	PROPN
app01-3394	231	11	konolige	konolige	PROPN
app01-3394	231	12	,	,	PUNCT
app01-3394	231	13	g.	g.	PROPN
app01-3394	231	14	bradski	bradski	PROPN
app01-3394	231	15	.	.	PUNCT
app01-3394	232	1	orb	orb	PROPN
app01-3394	232	2	:	:	PUNCT
app01-3394	232	3	an	an	DET
app01-3394	232	4	efficient	efficient	ADJ
app01-3394	232	5	alternative	alternative	NOUN
app01-3394	232	6	to	to	PART
app01-3394	232	7	sift	sift	VERB
app01-3394	232	8	or	or	CCONJ
app01-3394	232	9	surf	surf	NOUN
app01-3394	232	10	.	.	PUNCT
app01-3394	233	1	in	in	ADP
app01-3394	233	2	iccv	iccv	NOUN
app01-3394	233	3	2011	2011	NUM
app01-3394	233	4	,	,	PUNCT
app01-3394	233	5	pp	pp	ADV
app01-3394	233	6	.	.	PUNCT
app01-3394	234	1	2564–2571	2564–2571	NUM
app01-3394	234	2	.	.	PUNCT
app01-3394	235	1	doi:10.1109	doi:10.1109	ADJ
app01-3394	235	2	/	/	SYM
app01-3394	235	3	iccv.2011.6126544	iccv.2011.6126544	PROPN
app01-3394	235	4	.	.	PUNCT
app01-3394	236	1	[	[	X
app01-3394	236	2	11	11	NUM
app01-3394	236	3	]	]	PUNCT
app01-3394	236	4	t.	t.	PROPN
app01-3394	236	5	krajník	krajník	PROPN
app01-3394	236	6	,	,	PUNCT
app01-3394	236	7	j.	j.	PROPN
app01-3394	236	8	faigl	faigl	PROPN
app01-3394	236	9	,	,	PUNCT
app01-3394	236	10	m.	m.	NOUN
app01-3394	236	11	vonásek	vonásek	PROPN
app01-3394	236	12	,	,	PUNCT
app01-3394	236	13	v.	v.	PROPN
app01-3394	236	14	kulich	kulich	PROPN
app01-3394	236	15	,	,	PUNCT
app01-3394	236	16	et	et	PROPN
app01-3394	236	17	al	al	PROPN
app01-3394	236	18	.	.	PROPN
app01-3394	236	19	simple	simple	ADJ
app01-3394	236	20	yet	yet	CCONJ
app01-3394	236	21	stable	stable	ADJ
app01-3394	236	22	bearing	bearing	NOUN
app01-3394	236	23	-	-	PUNCT
app01-3394	236	24	only	only	ADV
app01-3394	236	25	navigation	navigation	NOUN
app01-3394	236	26	.	.	PUNCT
app01-3394	237	1	journal	journal	PROPN
app01-3394	237	2	of	of	ADP
app01-3394	237	3	field	field	NOUN
app01-3394	237	4	robotics	robotic	NOUN
app01-3394	237	5	2010	2010	NUM
app01-3394	237	6	.	.	PUNCT
app01-3394	238	1	doi:10.1002	doi:10.1002	NOUN
app01-3394	238	2	/	/	SYM
app01-3394	238	3	rob.20354	rob.20354	NUM
app01-3394	238	4	.	.	PUNCT
app01-3394	239	1	[	[	X
app01-3394	239	2	12	12	NUM
app01-3394	239	3	]	]	PUNCT
app01-3394	239	4	m.	m.	NOUN
app01-3394	239	5	calonder	calonder	PROPN
app01-3394	239	6	,	,	PUNCT
app01-3394	239	7	v.	v.	ADP
app01-3394	239	8	lepetit	lepetit	PROPN
app01-3394	239	9	,	,	PUNCT
app01-3394	239	10	c.	c.	PROPN
app01-3394	239	11	strecha	strecha	PROPN
app01-3394	239	12	,	,	PUNCT
app01-3394	239	13	p.	p.	PROPN
app01-3394	239	14	fua	fua	PROPN
app01-3394	239	15	.	.	PUNCT
app01-3394	240	1	brief	brief	ADJ
app01-3394	240	2	:	:	PUNCT
app01-3394	240	3	binary	binary	ADJ
app01-3394	240	4	robust	robust	ADJ
app01-3394	240	5	independent	independent	ADJ
app01-3394	240	6	elementary	elementary	ADJ
app01-3394	240	7	features	feature	NOUN
app01-3394	240	8	.	.	PUNCT
app01-3394	241	1	in	in	ADP
app01-3394	241	2	eccv	eccv	ADJ
app01-3394	241	3	2010	2010	NUM
app01-3394	241	4	,	,	PUNCT
app01-3394	241	5	pp	pp	ADJ
app01-3394	241	6	.	.	PUNCT
app01-3394	242	1	778–792	778–792	NUM
app01-3394	242	2	.	.	PUNCT
app01-3394	242	3	springer	springer	NOUN
app01-3394	242	4	.	.	PUNCT
app01-3394	243	1	doi:10.1007/978	doi:10.1007/978	PROPN
app01-3394	243	2	-	-	PUNCT
app01-3394	243	3	3	3	NUM
app01-3394	243	4	-	-	PUNCT
app01-3394	243	5	642	642	NUM
app01-3394	243	6	-	-	PUNCT
app01-3394	243	7	15561	15561	NUM
app01-3394	243	8	-	-	PUNCT
app01-3394	243	9	1_56	1_56	NUM
app01-3394	243	10	.	.	PUNCT
app01-3394	244	1	[	[	X
app01-3394	244	2	13	13	NUM
app01-3394	244	3	]	]	PUNCT
app01-3394	244	4	t.	t.	PROPN
app01-3394	244	5	krajník	krajník	PROPN
app01-3394	244	6	,	,	PUNCT
app01-3394	244	7	j.	j.	PROPN
app01-3394	244	8	šváb	šváb	PROPN
app01-3394	244	9	,	,	PUNCT
app01-3394	244	10	s.	s.	PROPN
app01-3394	244	11	pedre	pedre	PROPN
app01-3394	244	12	,	,	PUNCT
app01-3394	244	13	et	et	PROPN
app01-3394	245	1	al	al	PROPN
app01-3394	245	2	.	.	PUNCT
app01-3394	245	3	fpga	fpga	PROPN
app01-3394	245	4	-	-	PUNCT
app01-3394	245	5	based	base	VERB
app01-3394	245	6	module	module	NOUN
app01-3394	245	7	for	for	ADP
app01-3394	245	8	surf	surf	NOUN
app01-3394	245	9	extraction	extraction	NOUN
app01-3394	245	10	.	.	PUNCT
app01-3394	246	1	machine	machine	NOUN
app01-3394	246	2	vision	vision	NOUN
app01-3394	246	3	and	and	CCONJ
app01-3394	246	4	applications	application	NOUN
app01-3394	246	5	25(3):787–800	25(3):787–800	PROPN
app01-3394	246	6	,	,	PUNCT
app01-3394	246	7	2014	2014	NUM
app01-3394	246	8	.	.	PUNCT
app01-3394	247	1	doi:10.1007	doi:10.1007	VERB
app01-3394	247	2	/	/	SYM
app01-3394	247	3	s00138	s00138	VERB
app01-3394	247	4	-	-	PUNCT
app01-3394	247	5	014	014	NUM
app01-3394	247	6	-	-	PUNCT
app01-3394	247	7	0599	0599	NUM
app01-3394	247	8	-	-	PUNCT
app01-3394	247	9	0	0	NUM
app01-3394	247	10	.	.	PUNCT
app01-3394	248	1	[	[	X
app01-3394	248	2	14	14	NUM
app01-3394	248	3	]	]	X
app01-3394	248	4	h.	h.	PROPN
app01-3394	248	5	bay	bay	PROPN
app01-3394	248	6	,	,	PUNCT
app01-3394	248	7	a.	a.	PROPN
app01-3394	248	8	ess	ess	PROPN
app01-3394	248	9	,	,	PUNCT
app01-3394	248	10	t.	t.	NOUN
app01-3394	248	11	tuytelaars	tuytelaar	NOUN
app01-3394	248	12	,	,	PUNCT
app01-3394	248	13	l.	l.	PROPN
app01-3394	248	14	van	van	PROPN
app01-3394	248	15	gool	gool	PROPN
app01-3394	248	16	.	.	PUNCT
app01-3394	248	17	speeded	speed	VERB
app01-3394	248	18	-	-	PUNCT
app01-3394	248	19	up	up	ADP
app01-3394	248	20	robust	robust	ADJ
app01-3394	248	21	features	feature	NOUN
app01-3394	248	22	(	(	PUNCT
app01-3394	248	23	surf	surf	NOUN
app01-3394	248	24	)	)	PUNCT
app01-3394	248	25	.	.	PUNCT
app01-3394	249	1	computer	computer	NOUN
app01-3394	249	2	vision	vision	NOUN
app01-3394	249	3	and	and	CCONJ
app01-3394	249	4	image	image	NOUN
app01-3394	249	5	understanding	understanding	NOUN
app01-3394	249	6	110(3):346–359	110(3):346–359	NUM
app01-3394	249	7	,	,	PUNCT
app01-3394	249	8	2008	2008	NUM
app01-3394	249	9	.	.	PUNCT
app01-3394	250	1	doi:10.1016	doi:10.1016	PROPN
app01-3394	250	2	/	/	SYM
app01-3394	250	3	j.cviu.2007.09.014	j.cviu.2007.09.014	PROPN
app01-3394	250	4	.	.	PUNCT
app01-3394	251	1	[	[	X
app01-3394	251	2	15	15	NUM
app01-3394	251	3	]	]	X
app01-3394	251	4	d.	d.	PROPN
app01-3394	251	5	honegger	honegger	PROPN
app01-3394	251	6	,	,	PUNCT
app01-3394	251	7	h.	h.	PROPN
app01-3394	251	8	oleynikova	oleynikova	PROPN
app01-3394	251	9	,	,	PUNCT
app01-3394	251	10	m.	m.	NOUN
app01-3394	251	11	pollefeys	pollefeys	PROPN
app01-3394	251	12	.	.	PUNCT
app01-3394	252	1	real	real	ADJ
app01-3394	252	2	-	-	PUNCT
app01-3394	252	3	time	time	NOUN
app01-3394	252	4	and	and	CCONJ
app01-3394	252	5	low	low	ADJ
app01-3394	252	6	latency	latency	NOUN
app01-3394	252	7	embedded	embed	VERB
app01-3394	252	8	computer	computer	NOUN
app01-3394	252	9	vision	vision	NOUN
app01-3394	252	10	hardware	hardware	NOUN
app01-3394	252	11	based	base	VERB
app01-3394	252	12	on	on	ADP
app01-3394	252	13	a	a	DET
app01-3394	252	14	combination	combination	NOUN
app01-3394	252	15	of	of	ADP
app01-3394	252	16	fpga	fpga	PROPN
app01-3394	252	17	and	and	CCONJ
app01-3394	252	18	mobile	mobile	ADJ
app01-3394	252	19	cpu	cpu	NOUN
app01-3394	252	20	.	.	PUNCT
app01-3394	253	1	iros	iro	NOUN
app01-3394	253	2	2014	2014	NUM
app01-3394	253	3	doi:10.1109	doi:10.1109	VERB
app01-3394	253	4	/	/	SYM
app01-3394	253	5	iros.2014.6943263	iros.2014.6943263	PROPN
app01-3394	253	6	.	.	PUNCT
app01-3394	254	1	[	[	X
app01-3394	254	2	16	16	NUM
app01-3394	254	3	]	]	PUNCT
app01-3394	254	4	h.	h.	PROPN
app01-3394	254	5	oleynikova	oleynikova	PROPN
app01-3394	254	6	,	,	PUNCT
app01-3394	254	7	d.	d.	PROPN
app01-3394	254	8	honegger	honegger	NOUN
app01-3394	254	9	,	,	PUNCT
app01-3394	254	10	m.	m.	NOUN
app01-3394	254	11	pollefeys	pollefeys	PROPN
app01-3394	254	12	.	.	PUNCT
app01-3394	255	1	reactive	reactive	ADJ
app01-3394	255	2	avoidance	avoidance	NOUN
app01-3394	255	3	using	use	VERB
app01-3394	255	4	embedded	embed	VERB
app01-3394	255	5	stereo	stereo	ADJ
app01-3394	255	6	vision	vision	NOUN
app01-3394	255	7	for	for	ADP
app01-3394	255	8	mav	mav	PROPN
app01-3394	255	9	flight	flight	NOUN
app01-3394	255	10	.	.	PUNCT
app01-3394	256	1	in	in	ADP
app01-3394	256	2	icra	icra	PROPN
app01-3394	256	3	2015	2015	NUM
app01-3394	256	4	,	,	PUNCT
app01-3394	256	5	pp	pp	ADJ
app01-3394	256	6	.	.	PUNCT
app01-3394	257	1	50–56	50–56	NUM
app01-3394	257	2	.	.	PUNCT
app01-3394	258	1	ieee	ieee	PROPN
app01-3394	258	2	.	.	PUNCT
app01-3394	259	1	doi:10.1109	doi:10.1109	VERB
app01-3394	259	2	/	/	SYM
app01-3394	259	3	icra.2015.7138979	icra.2015.7138979	NOUN
app01-3394	259	4	.	.	PUNCT
app01-3394	260	1	[	[	X
app01-3394	260	2	17	17	NUM
app01-3394	260	3	]	]	X
app01-3394	260	4	r.	r.	PROPN
app01-3394	260	5	konomura	konomura	PROPN
app01-3394	260	6	,	,	PUNCT
app01-3394	260	7	k.	k.	PROPN
app01-3394	260	8	hori	hori	PROPN
app01-3394	260	9	.	.	PUNCT
app01-3394	261	1	visual	visual	ADJ
app01-3394	261	2	3d	3d	PROPN
app01-3394	261	3	self	self	NOUN
app01-3394	261	4	localization	localization	NOUN
app01-3394	261	5	with	with	ADP
app01-3394	261	6	8	8	NUM
app01-3394	261	7	gram	gram	NOUN
app01-3394	261	8	circuit	circuit	NOUN
app01-3394	261	9	board	board	NOUN
app01-3394	261	10	for	for	ADP
app01-3394	261	11	very	very	ADV
app01-3394	261	12	compact	compact	ADJ
app01-3394	261	13	and	and	CCONJ
app01-3394	261	14	fully	fully	ADV
app01-3394	261	15	autonomous	autonomous	ADJ
app01-3394	261	16	unmanned	unmanned	ADJ
app01-3394	261	17	aerial	aerial	ADJ
app01-3394	261	18	vehicles	vehicle	NOUN
app01-3394	261	19	.	.	PUNCT
app01-3394	262	1	in	in	ADP
app01-3394	262	2	icra	icra	PROPN
app01-3394	262	3	2014	2014	NUM
app01-3394	262	4	,	,	PUNCT
app01-3394	262	5	pp	pp	ADJ
app01-3394	262	6	.	.	PUNCT
app01-3394	263	1	5215–5220	5215–5220	NUM
app01-3394	263	2	.	.	PUNCT
app01-3394	263	3	doi:10.1109	doi:10.1109	PROPN
app01-3394	263	4	/	/	SYM
app01-3394	263	5	icra.2014.6907625	icra.2014.6907625	PROPN
app01-3394	263	6	.	.	PUNCT
app01-3394	264	1	[	[	X
app01-3394	264	2	18	18	NUM
app01-3394	264	3	]	]	PUNCT
app01-3394	264	4	j.	j.	PROPN
app01-3394	264	5	nikolic	nikolic	PROPN
app01-3394	264	6	,	,	PUNCT
app01-3394	264	7	j.	j.	PROPN
app01-3394	264	8	rehder	rehder	PROPN
app01-3394	264	9	,	,	PUNCT
app01-3394	264	10	m.	m.	NOUN
app01-3394	264	11	burri	burri	NOUN
app01-3394	264	12	,	,	PUNCT
app01-3394	264	13	et	et	PROPN
app01-3394	264	14	al	al	PROPN
app01-3394	264	15	.	.	PUNCT
app01-3394	265	1	a	a	DET
app01-3394	265	2	synchronized	synchronize	VERB
app01-3394	265	3	visual	visual	ADJ
app01-3394	265	4	-	-	PUNCT
app01-3394	265	5	inertial	inertial	NOUN
app01-3394	265	6	sensor	sensor	NOUN
app01-3394	265	7	system	system	NOUN
app01-3394	265	8	with	with	ADP
app01-3394	265	9	fpga	fpga	PROPN
app01-3394	265	10	pre	pre	NOUN
app01-3394	265	11	-	-	NOUN
app01-3394	265	12	processing	process	VERB
app01-3394	265	13	for	for	ADP
app01-3394	265	14	accurate	accurate	ADJ
app01-3394	265	15	real	real	ADJ
app01-3394	265	16	-	-	PUNCT
app01-3394	265	17	time	time	NOUN
app01-3394	265	18	slam	slam	NOUN
app01-3394	265	19	.	.	PUNCT
app01-3394	266	1	in	in	ADP
app01-3394	266	2	icra	icra	PROPN
app01-3394	266	3	2014	2014	NUM
app01-3394	266	4	,	,	PUNCT
app01-3394	266	5	pp	pp	ADV
app01-3394	266	6	.	.	PUNCT
app01-3394	267	1	431–437	431–437	NUM
app01-3394	267	2	.	.	PUNCT
app01-3394	268	1	doi:10.1109	doi:10.1109	VERB
app01-3394	268	2	/	/	SYM
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app01-3394	268	4	.	.	PUNCT
app01-3394	269	1	[	[	X
app01-3394	269	2	19	19	NUM
app01-3394	269	3	]	]	PUNCT
app01-3394	269	4	g.	g.	PROPN
app01-3394	269	5	zhou	zhou	PROPN
app01-3394	269	6	,	,	PUNCT
app01-3394	269	7	j.	j.	PROPN
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app01-3394	269	9	,	,	PUNCT
app01-3394	269	10	w.	w.	PROPN
app01-3394	269	11	ren	ren	PROPN
app01-3394	269	12	,	,	PUNCT
app01-3394	269	13	et	et	PROPN
app01-3394	269	14	al	al	PROPN
app01-3394	269	15	.	.	PROPN
app01-3394	270	1	on	on	ADP
app01-3394	270	2	-	-	PUNCT
app01-3394	270	3	board	board	NOUN
app01-3394	270	4	inertial	inertial	NOUN
app01-3394	270	5	-	-	PUNCT
app01-3394	270	6	assisted	assist	VERB
app01-3394	270	7	visual	visual	ADJ
app01-3394	270	8	odometer	odometer	NOUN
app01-3394	270	9	on	on	ADP
app01-3394	270	10	an	an	DET
app01-3394	270	11	embedded	embed	VERB
app01-3394	270	12	system	system	NOUN
app01-3394	270	13	.	.	PUNCT
app01-3394	271	1	in	in	ADP
app01-3394	271	2	icra	icra	PROPN
app01-3394	271	3	2014	2014	NUM
app01-3394	271	4	,	,	PUNCT
app01-3394	271	5	pp	pp	ADJ
app01-3394	271	6	.	.	PUNCT
app01-3394	272	1	2602–2608	2602–2608	NUM
app01-3394	272	2	.	.	PUNCT
app01-3394	273	1	doi:10.1109	doi:10.1109	VERB
app01-3394	273	2	/	/	SYM
app01-3394	273	3	icra.2014.6907232	icra.2014.6907232	PROPN
app01-3394	273	4	.	.	PUNCT
app01-3394	274	1	[	[	X
app01-3394	274	2	20	20	NUM
app01-3394	274	3	]	]	PUNCT
app01-3394	274	4	p.	p.	NOUN
app01-3394	274	5	čížek	čížek	NOUN
app01-3394	274	6	.	.	PUNCT
app01-3394	275	1	embedded	embed	VERB
app01-3394	275	2	module	module	NOUN
app01-3394	275	3	for	for	ADP
app01-3394	275	4	image	image	NOUN
app01-3394	275	5	processing	processing	NOUN
app01-3394	275	6	.	.	PUNCT
app01-3394	276	1	master	master	NOUN
app01-3394	276	2	’s	’s	PART
app01-3394	276	3	thesis	thesis	NOUN
app01-3394	276	4	,	,	PUNCT
app01-3394	276	5	ctu	ctu	NOUN
app01-3394	276	6	,	,	PUNCT
app01-3394	276	7	faculty	faculty	NOUN
app01-3394	276	8	of	of	ADP
app01-3394	276	9	electrical	electrical	ADJ
app01-3394	276	10	engineering	engineering	NOUN
app01-3394	276	11	,	,	PUNCT
app01-3394	276	12	2015	2015	NUM
app01-3394	276	13	.	.	PUNCT
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app01-3394	277	2	21	21	NUM
app01-3394	277	3	]	]	X
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app01-3394	277	5	,	,	PUNCT
app01-3394	277	6	gabriel	gabriel	PROPN
app01-3394	277	7	j	j	PROPN
app01-3394	277	8	and	and	CCONJ
app01-3394	277	9	jara	jara	PROPN
app01-3394	277	10	,	,	PUNCT
app01-3394	277	11	carlos	carlos	PROPN
app01-3394	277	12	a	a	PRON
app01-3394	277	13	and	and	CCONJ
app01-3394	277	14	pomares	pomare	NOUN
app01-3394	277	15	,	,	PUNCT
app01-3394	277	16	jorge	jorge	NOUN
app01-3394	277	17	and	and	CCONJ
app01-3394	277	18	alabdo	alabdo	NOUN
app01-3394	277	19	,	,	PUNCT
app01-3394	277	20	aiman	aiman	PROPN
app01-3394	277	21	and	and	CCONJ
app01-3394	277	22	poggi	poggi	PROPN
app01-3394	277	23	,	,	PUNCT
app01-3394	277	24	lucas	lucas	PROPN
app01-3394	277	25	m	m	PROPN
app01-3394	277	26	and	and	CCONJ
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app01-3394	277	28	,	,	PUNCT
app01-3394	277	29	fernando	fernando	PROPN
app01-3394	277	30	.	.	PUNCT
app01-3394	278	1	a	a	DET
app01-3394	278	2	survey	survey	NOUN
app01-3394	278	3	on	on	ADP
app01-3394	278	4	fpga	fpga	PROPN
app01-3394	278	5	-	-	PUNCT
app01-3394	278	6	based	base	VERB
app01-3394	278	7	sensor	sensor	NOUN
app01-3394	278	8	systems	system	NOUN
app01-3394	278	9	:	:	PUNCT
app01-3394	278	10	towards	towards	ADP
app01-3394	278	11	intelligent	intelligent	ADJ
app01-3394	278	12	and	and	CCONJ
app01-3394	278	13	reconfigurable	reconfigurable	ADJ
app01-3394	278	14	low	low	ADJ
app01-3394	278	15	-	-	PUNCT
app01-3394	278	16	power	power	NOUN
app01-3394	278	17	sensors	sensor	NOUN
app01-3394	278	18	for	for	ADP
app01-3394	278	19	computer	computer	NOUN
app01-3394	278	20	vision	vision	NOUN
app01-3394	278	21	,	,	PUNCT
app01-3394	278	22	control	control	NOUN
app01-3394	278	23	and	and	CCONJ
app01-3394	278	24	signal	signal	ADJ
app01-3394	278	25	processing	processing	NOUN
app01-3394	278	26	.	.	PUNCT
app01-3394	279	1	sensors	sensor	NOUN
app01-3394	279	2	14(4):6247–6278	14(4):6247–6278	NUM
app01-3394	279	3	,	,	PUNCT
app01-3394	279	4	2014	2014	NUM
app01-3394	279	5	.	.	PUNCT
app01-3394	280	1	doi:10.3390	doi:10.3390	NOUN
app01-3394	280	2	/	/	SYM
app01-3394	280	3	s140406247	s140406247	PROPN
app01-3394	280	4	.	.	PUNCT
app01-3394	281	1	[	[	X
app01-3394	281	2	22	22	NUM
app01-3394	281	3	]	]	PUNCT
app01-3394	281	4	t.	t.	PROPN
app01-3394	281	5	krajník	krajník	PROPN
app01-3394	281	6	,	,	PUNCT
app01-3394	281	7	p.	p.	PROPN
app01-3394	281	8	decristoforis	decristoforis	PROPN
app01-3394	281	9	,	,	PUNCT
app01-3394	281	10	m.	m.	NOUN
app01-3394	281	11	nitsche	nitsche	PROPN
app01-3394	281	12	,	,	PUNCT
app01-3394	281	13	et	et	PROPN
app01-3394	281	14	al	al	PROPN
app01-3394	281	15	.	.	PUNCT
app01-3394	281	16	image	image	NOUN
app01-3394	281	17	features	feature	NOUN
app01-3394	281	18	and	and	CCONJ
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app01-3394	281	20	revisited	revisit	VERB
app01-3394	281	21	.	.	PUNCT
app01-3394	282	1	ecmr	ecmr	ADJ
app01-3394	282	2	2015	2015	NUM
app01-3394	282	3	–	–	PUNCT
app01-3394	282	4	to	to	PART
app01-3394	282	5	appear	appear	VERB
app01-3394	282	6	.	.	PUNCT
app01-3394	283	1	[	[	X
app01-3394	283	2	23	23	NUM
app01-3394	283	3	]	]	X
app01-3394	283	4	s.	s.	PROPN
app01-3394	283	5	lupashin	lupashin	PROPN
app01-3394	283	6	,	,	PUNCT
app01-3394	283	7	m.	m.	PROPN
app01-3394	283	8	hehn	hehn	PROPN
app01-3394	283	9	,	,	PUNCT
app01-3394	283	10	m.	m.	PROPN
app01-3394	283	11	w.	w.	PROPN
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app01-3394	283	13	,	,	PUNCT
app01-3394	283	14	et	et	PROPN
app01-3394	283	15	al	al	PROPN
app01-3394	283	16	.	.	PUNCT
app01-3394	284	1	a	a	DET
app01-3394	284	2	platform	platform	NOUN
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app01-3394	284	4	aerial	aerial	ADJ
app01-3394	284	5	robotics	robotic	NOUN
app01-3394	284	6	research	research	NOUN
app01-3394	284	7	and	and	CCONJ
app01-3394	284	8	demonstration	demonstration	NOUN
app01-3394	284	9	:	:	PUNCT
app01-3394	284	10	the	the	DET
app01-3394	284	11	flying	fly	VERB
app01-3394	284	12	machine	machine	NOUN
app01-3394	284	13	arena	arena	NOUN
app01-3394	284	14	.	.	PUNCT
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app01-3394	285	3	,	,	PUNCT
app01-3394	285	4	2014	2014	NUM
app01-3394	285	5	.	.	PUNCT
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app01-3394	286	2	/	/	SYM
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app01-3394	286	4	.	.	PUNCT
app01-3394	287	1	[	[	X
app01-3394	287	2	24	24	NUM
app01-3394	287	3	]	]	SYM
app01-3394	287	4	collective	collective	NOUN
app01-3394	287	5	of	of	ADP
app01-3394	287	6	authors	author	NOUN
app01-3394	287	7	.	.	PUNCT
app01-3394	288	1	hardkernel	hardkernel	PROPN
app01-3394	288	2	co.	co.	PROPN
app01-3394	288	3	,	,	PUNCT
app01-3394	288	4	ltd.@online	ltd.@online	PROPN
app01-3394	288	5	.	.	PUNCT
app01-3394	288	6	http://www.hardkernel.com	http://www.hardkernel.com	PROPN
app01-3394	288	7	,	,	PUNCT
app01-3394	288	8	cited	cite	VERB
app01-3394	288	9	on	on	ADP
app01-3394	288	10	2015/08/17	2015/08/17	NUM
app01-3394	288	11	.	.	PUNCT
app01-3394	289	1	[	[	X
app01-3394	289	2	25	25	NUM
app01-3394	289	3	]	]	X
app01-3394	289	4	collective	collective	NOUN
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app01-3394	289	7	.	.	PUNCT
app01-3394	290	1	terasic	terasic	ADJ
app01-3394	290	2	,	,	PUNCT
app01-3394	290	3	inc.@online	inc.@online	NOUN
app01-3394	290	4	.	.	PUNCT
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app01-3394	290	6	,	,	PUNCT
app01-3394	290	7	cited	cite	VERB
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app01-3394	290	10	.	.	PUNCT
app01-3394	291	1	[	[	X
app01-3394	291	2	26	26	NUM
app01-3394	291	3	]	]	PUNCT
app01-3394	291	4	bradski	bradski	NOUN
app01-3394	291	5	,	,	PUNCT
app01-3394	291	6	g.	g.	PROPN
app01-3394	291	7	and	and	CCONJ
app01-3394	291	8	kaebler	kaebler	PROPN
app01-3394	291	9	,	,	PUNCT
app01-3394	291	10	a.	a.	NOUN
app01-3394	291	11	computer	computer	NOUN
app01-3394	291	12	vision	vision	NOUN
app01-3394	291	13	with	with	ADP
app01-3394	291	14	the	the	DET
app01-3394	291	15	opencv	opencv	PROPN
app01-3394	291	16	library	library	NOUN
app01-3394	291	17	.	.	PUNCT
app01-3394	292	1	o’reilly	o’reilly	ADV
app01-3394	292	2	media	medium	NOUN
app01-3394	292	3	,	,	PUNCT
app01-3394	292	4	2008	2008	NUM
app01-3394	292	5	.	.	PUNCT
app01-3394	293	1	14	14	NUM
app01-3394	293	2	http://dx.doi.org/10.1109/ismar.2007.4538852	http://dx.doi.org/10.1109/ismar.2007.4538852	NOUN
app01-3394	293	3	http://dx.doi.org/10.1109/iccv.2011.6126542	http://dx.doi.org/10.1109/iccv.2011.6126542	NOUN
app01-3394	293	4	http://dx.doi.org/10.1109/iccv.2011.6126544	http://dx.doi.org/10.1109/iccv.2011.6126544	PROPN
app01-3394	293	5	http://dx.doi.org/10.1002/rob.20354	http://dx.doi.org/10.1002/rob.20354	PROPN
app01-3394	293	6	http://dx.doi.org/10.1007/978-3-642-15561-1_56	http://dx.doi.org/10.1007/978-3-642-15561-1_56	PROPN
app01-3394	293	7	http://dx.doi.org/10.1007/s00138-014-0599-0	http://dx.doi.org/10.1007/s00138-014-0599-0	PROPN
app01-3394	293	8	http://dx.doi.org/10.1016/j.cviu.2007.09.014	http://dx.doi.org/10.1016/j.cviu.2007.09.014	PROPN
app01-3394	293	9	http://dx.doi.org/10.1109/iros.2014.6943263	http://dx.doi.org/10.1109/iros.2014.6943263	PROPN
app01-3394	293	10	http://dx.doi.org/10.1109/icra.2015.7138979	http://dx.doi.org/10.1109/icra.2015.7138979	PROPN
app01-3394	293	11	http://dx.doi.org/10.1109/icra.2014.6907625	http://dx.doi.org/10.1109/icra.2014.6907625	PROPN
app01-3394	293	12	http://dx.doi.org/10.1109/icra.2014.6906892	http://dx.doi.org/10.1109/icra.2014.6906892	PROPN
app01-3394	293	13	http://dx.doi.org/10.1109/icra.2014.6907232	http://dx.doi.org/10.1109/icra.2014.6907232	PROPN
app01-3394	293	14	http://dx.doi.org/10.3390/s140406247	http://dx.doi.org/10.3390/s140406247	VERB
app01-3394	293	15	http://dx.doi.org/10.1016/j.mechatronics.2013.11.006	http://dx.doi.org/10.1016/j.mechatronics.2013.11.006	PROPN
app01-3394	293	16	http://www.hardkernel.com	http://www.hardkernel.com	X
app01-3394	293	17	http://www.terasic.com.tw	http://www.terasic.com.tw	NOUN
app01-3394	293	18	acta	acta	PROPN
app01-3394	293	19	polytechnica	polytechnica	PROPN
app01-3394	293	20	ctu	ctu	NOUN
app01-3394	293	21	proceedings	proceeding	NOUN
app01-3394	293	22	2:8–14	2:8–14	NUM
app01-3394	293	23	,	,	PUNCT
app01-3394	293	24	2015	2015	NUM
app01-3394	293	25	1	1	NUM
app01-3394	293	26	introduction	introduction	NOUN
app01-3394	293	27	2	2	NUM
app01-3394	293	28	related	relate	VERB
app01-3394	293	29	work	work	NOUN
app01-3394	293	30	3	3	NUM
app01-3394	293	31	processor	processor	NOUN
app01-3394	293	32	centric	centric	ADJ
app01-3394	293	33	design	design	NOUN
app01-3394	293	34	4	4	NUM
app01-3394	293	35	bearing	bearing	NOUN
app01-3394	293	36	-	-	PUNCT
app01-3394	293	37	only	only	ADV
app01-3394	293	38	visual	visual	ADJ
app01-3394	293	39	navigation	navigation	NOUN
app01-3394	293	40	4.1	4.1	NUM
app01-3394	293	41	features	feature	NOUN
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app01-3394	293	44	segment	segment	NOUN
app01-3394	293	45	test	test	NOUN
app01-3394	293	46	4.2	4.2	NUM
app01-3394	293	47	binary	binary	NOUN
app01-3394	293	48	robust	robust	ADJ
app01-3394	293	49	independent	independent	ADJ
app01-3394	293	50	elementary	elementary	NOUN
app01-3394	293	51	features	feature	VERB
app01-3394	293	52	5	5	NUM
app01-3394	293	53	evaluation	evaluation	NOUN
app01-3394	293	54	5.1	5.1	NUM
app01-3394	293	55	discussion	discussion	NOUN
app01-3394	293	56	6	6	NUM
app01-3394	293	57	conclusion	conclusion	NOUN
app01-3394	293	58	acknowledgements	acknowledgement	NOUN
app01-3394	293	59	references	reference	NOUN