id	sid	tid	token	lemma	pos
app01-3396	1	1	acta	acta	PROPN
app01-3396	1	2	polytechnica	polytechnica	PROPN
app01-3396	1	3	ctu	ctu	PROPN
app01-3396	1	4	proceedings	proceeding	NOUN
app01-3396	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3396	1	6	/	/	SYM
app01-3396	1	7	app.2015.1.0022	app.2015.1.0022	PROPN
app01-3396	1	8	acta	acta	PROPN
app01-3396	1	9	polytechnica	polytechnica	PROPN
app01-3396	1	10	ctu	ctu	NOUN
app01-3396	1	11	proceedings	proceeding	NOUN
app01-3396	1	12	2:22–28	2:22–28	NUM
app01-3396	1	13	,	,	PUNCT
app01-3396	1	14	2015	2015	NUM
app01-3396	1	15	©	©	PROPN
app01-3396	1	16	czech	czech	PROPN
app01-3396	1	17	technical	technical	PROPN
app01-3396	1	18	university	university	PROPN
app01-3396	1	19	in	in	ADP
app01-3396	1	20	prague	prague	PROPN
app01-3396	1	21	,	,	PUNCT
app01-3396	1	22	2015	2015	NUM
app01-3396	1	23	available	available	ADJ
app01-3396	1	24	online	online	ADV
app01-3396	1	25	at	at	ADP
app01-3396	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3396	1	27	vector	vector	NOUN
app01-3396	1	28	maps	map	NOUN
app01-3396	1	29	in	in	ADP
app01-3396	1	30	mobile	mobile	ADJ
app01-3396	1	31	robotics	robotic	NOUN
app01-3396	1	32	ales	ale	NOUN
app01-3396	1	33	jelinek	jelinek	PROPN
app01-3396	1	34	central	central	PROPN
app01-3396	1	35	european	european	PROPN
app01-3396	1	36	institute	institute	PROPN
app01-3396	1	37	of	of	ADP
app01-3396	1	38	technology	technology	PROPN
app01-3396	1	39	,	,	PUNCT
app01-3396	1	40	brno	brno	PROPN
app01-3396	1	41	university	university	PROPN
app01-3396	1	42	of	of	ADP
app01-3396	1	43	technology	technology	NOUN
app01-3396	1	44	,	,	PUNCT
app01-3396	1	45	technicka	technicka	NOUN
app01-3396	1	46	10	10	NUM
app01-3396	1	47	,	,	PUNCT
app01-3396	1	48	brno	brno	NOUN
app01-3396	1	49	,	,	PUNCT
app01-3396	1	50	czech	czech	PROPN
app01-3396	1	51	republic	republic	NOUN
app01-3396	1	52	correspondence	correspondence	NOUN
app01-3396	1	53	:	:	PUNCT
app01-3396	1	54	alesjelinek@ceitec.vutbr.cz	alesjelinek@ceitec.vutbr.cz	DET
app01-3396	1	55	abstract	abstract	ADJ
app01-3396	1	56	.	.	PUNCT
app01-3396	2	1	the	the	DET
app01-3396	2	2	aim	aim	NOUN
app01-3396	2	3	of	of	ADP
app01-3396	2	4	this	this	DET
app01-3396	2	5	paper	paper	NOUN
app01-3396	2	6	is	be	AUX
app01-3396	2	7	to	to	PART
app01-3396	2	8	provide	provide	VERB
app01-3396	2	9	a	a	DET
app01-3396	2	10	brief	brief	ADJ
app01-3396	2	11	overview	overview	NOUN
app01-3396	2	12	of	of	ADP
app01-3396	2	13	vector	vector	NOUN
app01-3396	2	14	map	map	NOUN
app01-3396	2	15	techniques	technique	NOUN
app01-3396	2	16	used	use	VERB
app01-3396	2	17	in	in	ADP
app01-3396	2	18	mobile	mobile	ADJ
app01-3396	2	19	robotics	robotic	NOUN
app01-3396	2	20	and	and	CCONJ
app01-3396	2	21	to	to	PART
app01-3396	2	22	present	present	VERB
app01-3396	2	23	current	current	ADJ
app01-3396	2	24	state	state	NOUN
app01-3396	2	25	of	of	ADP
app01-3396	2	26	the	the	DET
app01-3396	2	27	research	research	NOUN
app01-3396	2	28	in	in	ADP
app01-3396	2	29	this	this	DET
app01-3396	2	30	field	field	NOUN
app01-3396	2	31	at	at	ADP
app01-3396	2	32	the	the	DET
app01-3396	2	33	brno	brno	PROPN
app01-3396	2	34	university	university	PROPN
app01-3396	2	35	of	of	ADP
app01-3396	2	36	technology	technology	NOUN
app01-3396	2	37	.	.	PUNCT
app01-3396	3	1	vector	vector	NOUN
app01-3396	3	2	maps	map	NOUN
app01-3396	3	3	are	be	AUX
app01-3396	3	4	described	describe	VERB
app01-3396	3	5	as	as	ADP
app01-3396	3	6	a	a	DET
app01-3396	3	7	part	part	NOUN
app01-3396	3	8	of	of	ADP
app01-3396	3	9	the	the	DET
app01-3396	3	10	simultaneous	simultaneous	ADJ
app01-3396	3	11	localization	localization	NOUN
app01-3396	3	12	and	and	CCONJ
app01-3396	3	13	mapping	mapping	NOUN
app01-3396	3	14	(	(	PUNCT
app01-3396	3	15	slam	slam	NOUN
app01-3396	3	16	)	)	PUNCT
app01-3396	3	17	problem	problem	NOUN
app01-3396	3	18	in	in	ADP
app01-3396	3	19	the	the	DET
app01-3396	3	20	environment	environment	NOUN
app01-3396	3	21	without	without	ADP
app01-3396	3	22	artificial	artificial	ADJ
app01-3396	3	23	landmarks	landmark	NOUN
app01-3396	3	24	or	or	CCONJ
app01-3396	3	25	global	global	ADJ
app01-3396	3	26	navigation	navigation	NOUN
app01-3396	3	27	system	system	NOUN
app01-3396	3	28	.	.	PUNCT
app01-3396	4	1	the	the	DET
app01-3396	4	2	paper	paper	NOUN
app01-3396	4	3	describes	describe	VERB
app01-3396	4	4	algorithms	algorithm	NOUN
app01-3396	4	5	from	from	ADP
app01-3396	4	6	data	datum	NOUN
app01-3396	4	7	acquisition	acquisition	NOUN
app01-3396	4	8	to	to	PART
app01-3396	4	9	map	map	VERB
app01-3396	4	10	building	building	NOUN
app01-3396	4	11	but	but	CCONJ
app01-3396	4	12	particular	particular	ADJ
app01-3396	4	13	emphasis	emphasis	NOUN
app01-3396	4	14	is	be	AUX
app01-3396	4	15	put	put	VERB
app01-3396	4	16	on	on	ADP
app01-3396	4	17	segmentation	segmentation	NOUN
app01-3396	4	18	,	,	PUNCT
app01-3396	4	19	line	line	NOUN
app01-3396	4	20	extraction	extraction	NOUN
app01-3396	4	21	and	and	CCONJ
app01-3396	4	22	scan	scan	ADJ
app01-3396	4	23	matching	matching	NOUN
app01-3396	4	24	algorithms	algorithm	NOUN
app01-3396	4	25	.	.	PUNCT
app01-3396	5	1	all	all	DET
app01-3396	5	2	significant	significant	ADJ
app01-3396	5	3	algorithms	algorithm	NOUN
app01-3396	5	4	are	be	AUX
app01-3396	5	5	illustrated	illustrate	VERB
app01-3396	5	6	with	with	ADP
app01-3396	5	7	experimental	experimental	ADJ
app01-3396	5	8	results	result	NOUN
app01-3396	5	9	.	.	PUNCT
app01-3396	6	1	keywords	keyword	NOUN
app01-3396	6	2	:	:	PUNCT
app01-3396	6	3	robotics	robotic	NOUN
app01-3396	6	4	,	,	PUNCT
app01-3396	6	5	slam	slam	NOUN
app01-3396	6	6	,	,	PUNCT
app01-3396	6	7	vector	vector	NOUN
app01-3396	6	8	map	map	NOUN
app01-3396	6	9	,	,	PUNCT
app01-3396	6	10	point	point	NOUN
app01-3396	6	11	cloud	cloud	NOUN
app01-3396	6	12	,	,	PUNCT
app01-3396	6	13	edge	edge	NOUN
app01-3396	6	14	extraction	extraction	NOUN
app01-3396	6	15	.	.	PUNCT
app01-3396	7	1	1	1	X
app01-3396	7	2	.	.	X
app01-3396	7	3	introduction	introduction	NOUN
app01-3396	7	4	mapping	mapping	NOUN
app01-3396	7	5	in	in	ADP
app01-3396	7	6	robotics	robotic	NOUN
app01-3396	7	7	is	be	AUX
app01-3396	7	8	a	a	DET
app01-3396	7	9	subject	subject	NOUN
app01-3396	7	10	of	of	ADP
app01-3396	7	11	research	research	NOUN
app01-3396	7	12	for	for	ADP
app01-3396	7	13	a	a	DET
app01-3396	7	14	number	number	NOUN
app01-3396	7	15	of	of	ADP
app01-3396	7	16	years	year	NOUN
app01-3396	7	17	and	and	CCONJ
app01-3396	7	18	large	large	ADJ
app01-3396	7	19	progress	progress	NOUN
app01-3396	7	20	was	be	AUX
app01-3396	7	21	already	already	ADV
app01-3396	7	22	achieved	achieve	VERB
app01-3396	7	23	.	.	PUNCT
app01-3396	8	1	paper	paper	NOUN
app01-3396	9	1	[	[	X
app01-3396	9	2	1	1	X
app01-3396	9	3	]	]	AUX
app01-3396	9	4	describes	describe	VERB
app01-3396	9	5	theoretical	theoretical	ADJ
app01-3396	9	6	way	way	NOUN
app01-3396	9	7	,	,	PUNCT
app01-3396	9	8	how	how	SCONJ
app01-3396	9	9	to	to	PART
app01-3396	9	10	build	build	VERB
app01-3396	9	11	and	and	CCONJ
app01-3396	9	12	update	update	VERB
app01-3396	9	13	a	a	DET
app01-3396	9	14	consistent	consistent	ADJ
app01-3396	9	15	map	map	NOUN
app01-3396	9	16	,	,	PUNCT
app01-3396	9	17	which	which	PRON
app01-3396	9	18	converges	converge	VERB
app01-3396	9	19	to	to	ADP
app01-3396	9	20	a	a	DET
app01-3396	9	21	precise	precise	ADJ
app01-3396	9	22	image	image	NOUN
app01-3396	9	23	of	of	ADP
app01-3396	9	24	the	the	DET
app01-3396	9	25	real	real	ADJ
app01-3396	9	26	environment	environment	NOUN
app01-3396	9	27	(	(	PUNCT
app01-3396	9	28	at	at	ADP
app01-3396	9	29	certain	certain	ADJ
app01-3396	9	30	level	level	NOUN
app01-3396	9	31	of	of	ADP
app01-3396	9	32	detail	detail	NOUN
app01-3396	9	33	)	)	PUNCT
app01-3396	9	34	.	.	PUNCT
app01-3396	10	1	through	through	ADP
app01-3396	10	2	the	the	DET
app01-3396	10	3	years	year	NOUN
app01-3396	10	4	,	,	PUNCT
app01-3396	10	5	more	more	ADJ
app01-3396	10	6	improvements	improvement	NOUN
app01-3396	10	7	and	and	CCONJ
app01-3396	10	8	new	new	ADJ
app01-3396	10	9	algorithms	algorithm	NOUN
app01-3396	10	10	were	be	AUX
app01-3396	10	11	invented	invent	VERB
app01-3396	10	12	for	for	ADP
app01-3396	10	13	this	this	DET
app01-3396	10	14	task	task	NOUN
app01-3396	10	15	,	,	PUNCT
app01-3396	10	16	good	good	ADJ
app01-3396	10	17	tutorial	tutorial	ADJ
app01-3396	10	18	papers	paper	NOUN
app01-3396	10	19	are	be	AUX
app01-3396	10	20	for	for	ADP
app01-3396	10	21	example	example	NOUN
app01-3396	11	1	[	[	X
app01-3396	11	2	2	2	X
app01-3396	11	3	]	]	X
app01-3396	11	4	[	[	X
app01-3396	11	5	3	3	NUM
app01-3396	11	6	]	]	PUNCT
app01-3396	11	7	,	,	PUNCT
app01-3396	11	8	or	or	CCONJ
app01-3396	11	9	the	the	DET
app01-3396	11	10	book	book	NOUN
app01-3396	11	11	[	[	X
app01-3396	11	12	4	4	NUM
app01-3396	11	13	]	]	PUNCT
app01-3396	11	14	.	.	PUNCT
app01-3396	12	1	formulation	formulation	NOUN
app01-3396	12	2	and	and	CCONJ
app01-3396	12	3	mathematical	mathematical	ADJ
app01-3396	12	4	description	description	NOUN
app01-3396	12	5	of	of	ADP
app01-3396	12	6	the	the	DET
app01-3396	12	7	slam	slam	NOUN
app01-3396	12	8	problem	problem	NOUN
app01-3396	12	9	is	be	AUX
app01-3396	12	10	unified	unified	ADJ
app01-3396	12	11	and	and	CCONJ
app01-3396	12	12	generally	generally	ADV
app01-3396	12	13	accepted	accept	VERB
app01-3396	12	14	today	today	NOUN
app01-3396	12	15	,	,	PUNCT
app01-3396	12	16	but	but	CCONJ
app01-3396	12	17	a	a	DET
app01-3396	12	18	complete	complete	ADJ
app01-3396	12	19	solution	solution	NOUN
app01-3396	12	20	for	for	ADP
app01-3396	12	21	3d	3d	PROPN
app01-3396	12	22	dynamic	dynamic	ADJ
app01-3396	12	23	environment	environment	NOUN
app01-3396	12	24	is	be	AUX
app01-3396	12	25	still	still	ADV
app01-3396	12	26	not	not	PART
app01-3396	12	27	known	know	VERB
app01-3396	12	28	and	and	CCONJ
app01-3396	12	29	slam	slam	NOUN
app01-3396	12	30	as	as	ADP
app01-3396	12	31	a	a	DET
app01-3396	12	32	whole	whole	NOUN
app01-3396	12	33	is	be	AUX
app01-3396	12	34	still	still	ADV
app01-3396	12	35	under	under	ADP
app01-3396	12	36	active	active	ADJ
app01-3396	12	37	research	research	NOUN
app01-3396	12	38	.	.	PUNCT
app01-3396	13	1	the	the	DET
app01-3396	13	2	most	most	ADJ
app01-3396	13	3	of	of	ADP
app01-3396	13	4	today	today	NOUN
app01-3396	13	5	’s	’s	PART
app01-3396	13	6	work	work	NOUN
app01-3396	13	7	in	in	ADP
app01-3396	13	8	the	the	DET
app01-3396	13	9	field	field	NOUN
app01-3396	13	10	is	be	AUX
app01-3396	13	11	concentrated	concentrate	VERB
app01-3396	13	12	on	on	ADP
app01-3396	13	13	two	two	NUM
app01-3396	13	14	main	main	ADJ
app01-3396	13	15	bottlenecks	bottleneck	NOUN
app01-3396	13	16	of	of	ADP
app01-3396	13	17	known	know	VERB
app01-3396	13	18	algorithms	algorithm	NOUN
app01-3396	13	19	:	:	PUNCT
app01-3396	13	20	(	(	PUNCT
app01-3396	13	21	1	1	X
app01-3396	13	22	.	.	PUNCT
app01-3396	13	23	)	)	PUNCT
app01-3396	13	24	computational	computational	ADJ
app01-3396	13	25	optimization	optimization	NOUN
app01-3396	13	26	.	.	PUNCT
app01-3396	14	1	every	every	DET
app01-3396	14	2	map	map	NOUN
app01-3396	14	3	contains	contain	VERB
app01-3396	14	4	some	some	DET
app01-3396	14	5	data	datum	NOUN
app01-3396	14	6	describing	describe	VERB
app01-3396	14	7	the	the	DET
app01-3396	14	8	real	real	ADJ
app01-3396	14	9	environment	environment	NOUN
app01-3396	14	10	.	.	PUNCT
app01-3396	15	1	computational	computational	ADJ
app01-3396	15	2	efficiency	efficiency	NOUN
app01-3396	15	3	is	be	AUX
app01-3396	15	4	usually	usually	ADV
app01-3396	15	5	evaluated	evaluate	VERB
app01-3396	15	6	in	in	ADP
app01-3396	15	7	big	big	ADJ
app01-3396	15	8	o	o	NOUN
app01-3396	15	9	notation	notation	NOUN
app01-3396	15	10	with	with	ADP
app01-3396	15	11	respect	respect	NOUN
app01-3396	15	12	to	to	ADP
app01-3396	15	13	n	n	CCONJ
app01-3396	15	14	,	,	PUNCT
app01-3396	15	15	reflecting	reflect	VERB
app01-3396	15	16	the	the	DET
app01-3396	15	17	number	number	NOUN
app01-3396	15	18	of	of	ADP
app01-3396	15	19	cells	cell	NOUN
app01-3396	15	20	in	in	ADP
app01-3396	15	21	an	an	DET
app01-3396	15	22	evidence	evidence	NOUN
app01-3396	15	23	-	-	PUNCT
app01-3396	15	24	grid	grid	NOUN
app01-3396	15	25	map	map	NOUN
app01-3396	15	26	,	,	PUNCT
app01-3396	15	27	the	the	DET
app01-3396	15	28	number	number	NOUN
app01-3396	15	29	of	of	ADP
app01-3396	15	30	landmarks	landmark	NOUN
app01-3396	15	31	in	in	ADP
app01-3396	15	32	a	a	DET
app01-3396	15	33	geometric	geometric	ADJ
app01-3396	15	34	map	map	NOUN
app01-3396	15	35	,	,	PUNCT
app01-3396	15	36	etc	etc	X
app01-3396	15	37	.	.	X
app01-3396	15	38	non	non	ADJ
app01-3396	15	39	-	-	ADJ
app01-3396	15	40	optimized	optimize	VERB
app01-3396	15	41	solutions	solution	NOUN
app01-3396	15	42	have	have	VERB
app01-3396	15	43	o(n2	o(n2	ADJ
app01-3396	15	44	)	)	PUNCT
app01-3396	15	45	or	or	CCONJ
app01-3396	15	46	even	even	ADV
app01-3396	15	47	exponential	exponential	ADJ
app01-3396	15	48	complexity	complexity	NOUN
app01-3396	15	49	,	,	PUNCT
app01-3396	15	50	but	but	CCONJ
app01-3396	15	51	several	several	ADJ
app01-3396	15	52	algorithms	algorithm	NOUN
app01-3396	15	53	are	be	AUX
app01-3396	15	54	more	more	ADV
app01-3396	15	55	efficient	efficient	ADJ
app01-3396	15	56	,	,	PUNCT
app01-3396	15	57	for	for	ADP
app01-3396	15	58	example	example	NOUN
app01-3396	15	59	fastslam	fastslam	NOUN
app01-3396	16	1	[	[	X
app01-3396	16	2	5	5	NUM
app01-3396	16	3	]	]	PUNCT
app01-3396	16	4	with	with	ADP
app01-3396	16	5	o(m	o(m	PROPN
app01-3396	16	6	log(n	log(n	NOUN
app01-3396	16	7	)	)	PUNCT
app01-3396	16	8	)	)	PUNCT
app01-3396	16	9	complexity	complexity	NOUN
app01-3396	16	10	(	(	PUNCT
app01-3396	16	11	where	where	SCONJ
app01-3396	16	12	n	n	X
app01-3396	16	13	is	be	AUX
app01-3396	16	14	the	the	DET
app01-3396	16	15	number	number	NOUN
app01-3396	16	16	of	of	ADP
app01-3396	16	17	landmarks	landmark	NOUN
app01-3396	16	18	and	and	CCONJ
app01-3396	16	19	m	m	VERB
app01-3396	16	20	the	the	DET
app01-3396	16	21	number	number	NOUN
app01-3396	16	22	of	of	ADP
app01-3396	16	23	particles	particle	NOUN
app01-3396	16	24	in	in	ADP
app01-3396	16	25	the	the	DET
app01-3396	16	26	rao	rao	NOUN
app01-3396	16	27	-	-	PUNCT
app01-3396	16	28	blackwellized	blackwellize	VERB
app01-3396	16	29	filter	filter	NOUN
app01-3396	16	30	)	)	PUNCT
app01-3396	16	31	.	.	PUNCT
app01-3396	17	1	this	this	DET
app01-3396	17	2	algorithm	algorithm	NOUN
app01-3396	17	3	can	can	AUX
app01-3396	17	4	handle	handle	VERB
app01-3396	17	5	orders	order	NOUN
app01-3396	17	6	of	of	ADP
app01-3396	17	7	magnitude	magnitude	NOUN
app01-3396	17	8	more	more	ADJ
app01-3396	17	9	landmarks	landmark	NOUN
app01-3396	17	10	than	than	ADP
app01-3396	17	11	o(n2	o(n2	ADJ
app01-3396	17	12	)	)	PUNCT
app01-3396	17	13	solutions	solution	NOUN
app01-3396	17	14	.	.	PUNCT
app01-3396	18	1	computational	computational	ADJ
app01-3396	18	2	efficiency	efficiency	NOUN
app01-3396	18	3	is	be	AUX
app01-3396	18	4	a	a	DET
app01-3396	18	5	key	key	NOUN
app01-3396	18	6	to	to	ADP
app01-3396	18	7	large	large	ADJ
app01-3396	18	8	maps	map	NOUN
app01-3396	18	9	with	with	ADP
app01-3396	18	10	a	a	DET
app01-3396	18	11	lot	lot	NOUN
app01-3396	18	12	of	of	ADP
app01-3396	18	13	details	detail	NOUN
app01-3396	18	14	.	.	PUNCT
app01-3396	19	1	(	(	PUNCT
app01-3396	19	2	2	2	NUM
app01-3396	19	3	.	.	PUNCT
app01-3396	19	4	)	)	PUNCT
app01-3396	19	5	feature	feature	NOUN
app01-3396	19	6	recognition	recognition	NOUN
app01-3396	19	7	and	and	CCONJ
app01-3396	19	8	matching	matching	NOUN
app01-3396	19	9	.	.	PUNCT
app01-3396	20	1	robust	robust	ADJ
app01-3396	20	2	and	and	CCONJ
app01-3396	20	3	reliable	reliable	ADJ
app01-3396	20	4	feature	feature	NOUN
app01-3396	20	5	(	(	PUNCT
app01-3396	20	6	landmark	landmark	NOUN
app01-3396	20	7	)	)	PUNCT
app01-3396	20	8	extracting	extract	VERB
app01-3396	20	9	and	and	CCONJ
app01-3396	20	10	matching	matching	NOUN
app01-3396	20	11	is	be	AUX
app01-3396	20	12	crucial	crucial	ADJ
app01-3396	20	13	for	for	ADP
app01-3396	20	14	most	most	ADJ
app01-3396	20	15	of	of	ADP
app01-3396	20	16	slam	slam	NOUN
app01-3396	20	17	algorithms	algorithm	NOUN
app01-3396	20	18	.	.	PUNCT
app01-3396	21	1	new	new	ADJ
app01-3396	21	2	data	datum	NOUN
app01-3396	21	3	has	have	VERB
app01-3396	21	4	to	to	PART
app01-3396	21	5	be	be	AUX
app01-3396	21	6	associated	associate	VERB
app01-3396	21	7	with	with	ADP
app01-3396	21	8	older	old	ADJ
app01-3396	21	9	measurements	measurement	NOUN
app01-3396	21	10	precisely	precisely	ADV
app01-3396	21	11	,	,	PUNCT
app01-3396	21	12	or	or	CCONJ
app01-3396	21	13	at	at	ADP
app01-3396	21	14	least	least	ADJ
app01-3396	21	15	with	with	ADP
app01-3396	21	16	negligible	negligible	ADJ
app01-3396	21	17	number	number	NOUN
app01-3396	21	18	of	of	ADP
app01-3396	21	19	mismatches	mismatch	NOUN
app01-3396	21	20	.	.	PUNCT
app01-3396	22	1	feature	feature	NOUN
app01-3396	22	2	extraction	extraction	NOUN
app01-3396	22	3	is	be	AUX
app01-3396	22	4	needed	need	VERB
app01-3396	22	5	when	when	SCONJ
app01-3396	22	6	camera	camera	NOUN
app01-3396	22	7	or	or	CCONJ
app01-3396	22	8	laser	laser	NOUN
app01-3396	22	9	scanner	scanner	NOUN
app01-3396	22	10	is	be	AUX
app01-3396	22	11	used	use	VERB
app01-3396	22	12	to	to	PART
app01-3396	22	13	provide	provide	VERB
app01-3396	22	14	information	information	NOUN
app01-3396	22	15	about	about	ADP
app01-3396	22	16	the	the	DET
app01-3396	22	17	robot	robot	NOUN
app01-3396	22	18	surroundings	surrounding	VERB
app01-3396	22	19	.	.	PUNCT
app01-3396	23	1	for	for	ADP
app01-3396	23	2	example	example	NOUN
app01-3396	23	3	corners	corner	NOUN
app01-3396	23	4	and	and	CCONJ
app01-3396	23	5	t	t	NOUN
app01-3396	23	6	-	-	PUNCT
app01-3396	23	7	junctions	junction	NOUN
app01-3396	23	8	are	be	AUX
app01-3396	23	9	usually	usually	ADV
app01-3396	23	10	searched	search	VERB
app01-3396	23	11	in	in	ADP
app01-3396	23	12	input	input	NOUN
app01-3396	23	13	data	datum	NOUN
app01-3396	23	14	and	and	CCONJ
app01-3396	23	15	then	then	ADV
app01-3396	23	16	the	the	DET
app01-3396	23	17	whole	whole	ADJ
app01-3396	23	18	pattern	pattern	NOUN
app01-3396	23	19	is	be	AUX
app01-3396	23	20	correlated	correlate	VERB
app01-3396	23	21	with	with	ADP
app01-3396	23	22	an	an	DET
app01-3396	23	23	already	already	ADV
app01-3396	23	24	known	know	VERB
app01-3396	23	25	map	map	NOUN
app01-3396	23	26	.	.	PUNCT
app01-3396	24	1	several	several	ADJ
app01-3396	24	2	complications	complication	NOUN
app01-3396	24	3	may	may	AUX
app01-3396	24	4	arise	arise	VERB
app01-3396	24	5	,	,	PUNCT
app01-3396	24	6	because	because	SCONJ
app01-3396	24	7	the	the	DET
app01-3396	24	8	same	same	ADJ
app01-3396	24	9	feature	feature	NOUN
app01-3396	24	10	may	may	AUX
app01-3396	24	11	look	look	VERB
app01-3396	24	12	different	different	ADJ
app01-3396	24	13	from	from	ADP
app01-3396	24	14	different	different	ADJ
app01-3396	24	15	points	point	NOUN
app01-3396	24	16	of	of	ADP
app01-3396	24	17	view	view	NOUN
app01-3396	24	18	and	and	CCONJ
app01-3396	24	19	data	datum	NOUN
app01-3396	24	20	registration	registration	NOUN
app01-3396	24	21	in	in	ADP
app01-3396	24	22	its	its	PRON
app01-3396	24	23	straightforward	straightforward	ADJ
app01-3396	24	24	implementation	implementation	NOUN
app01-3396	24	25	is	be	AUX
app01-3396	24	26	exponentially	exponentially	ADV
app01-3396	24	27	complex	complex	ADJ
app01-3396	24	28	task	task	NOUN
app01-3396	24	29	.	.	PUNCT
app01-3396	25	1	data	datum	NOUN
app01-3396	25	2	structure	structure	NOUN
app01-3396	25	3	of	of	ADP
app01-3396	25	4	a	a	DET
app01-3396	25	5	map	map	NOUN
app01-3396	25	6	is	be	AUX
app01-3396	25	7	closely	closely	ADV
app01-3396	25	8	related	relate	VERB
app01-3396	25	9	to	to	ADP
app01-3396	25	10	both	both	PRON
app01-3396	25	11	of	of	ADP
app01-3396	25	12	these	these	DET
app01-3396	25	13	problems	problem	NOUN
app01-3396	25	14	.	.	PUNCT
app01-3396	26	1	operations	operation	NOUN
app01-3396	26	2	executed	execute	VERB
app01-3396	26	3	on	on	ADP
app01-3396	26	4	the	the	DET
app01-3396	26	5	map	map	NOUN
app01-3396	26	6	have	have	VERB
app01-3396	26	7	to	to	PART
app01-3396	26	8	be	be	AUX
app01-3396	26	9	as	as	ADV
app01-3396	26	10	fast	fast	ADJ
app01-3396	26	11	as	as	ADP
app01-3396	26	12	possible	possible	ADJ
app01-3396	26	13	especially	especially	ADV
app01-3396	26	14	updates	update	NOUN
app01-3396	26	15	with	with	ADP
app01-3396	26	16	the	the	DET
app01-3396	26	17	new	new	ADJ
app01-3396	26	18	information	information	NOUN
app01-3396	26	19	and	and	CCONJ
app01-3396	26	20	feature	feature	NOUN
app01-3396	26	21	search	search	NOUN
app01-3396	26	22	/	/	SYM
app01-3396	26	23	comparison	comparison	NOUN
app01-3396	26	24	are	be	AUX
app01-3396	26	25	crucial	crucial	ADJ
app01-3396	26	26	.	.	PUNCT
app01-3396	27	1	representation	representation	NOUN
app01-3396	27	2	of	of	ADP
app01-3396	27	3	obstacles	obstacle	NOUN
app01-3396	27	4	,	,	PUNCT
app01-3396	27	5	free	free	ADJ
app01-3396	27	6	space	space	NOUN
app01-3396	27	7	and	and	CCONJ
app01-3396	27	8	unexplored	unexplored	ADJ
app01-3396	27	9	areas	area	NOUN
app01-3396	27	10	effects	effect	NOUN
app01-3396	27	11	feature	feature	VERB
app01-3396	27	12	recognition	recognition	NOUN
app01-3396	27	13	robustness	robustness	NOUN
app01-3396	27	14	.	.	PUNCT
app01-3396	28	1	another	another	DET
app01-3396	28	2	attribute	attribute	NOUN
app01-3396	28	3	of	of	ADP
app01-3396	28	4	a	a	DET
app01-3396	28	5	map	map	NOUN
app01-3396	28	6	is	be	AUX
app01-3396	28	7	its	its	PRON
app01-3396	28	8	ability	ability	NOUN
app01-3396	28	9	to	to	PART
app01-3396	28	10	approximate	approximate	VERB
app01-3396	28	11	the	the	DET
app01-3396	28	12	real	real	ADJ
app01-3396	28	13	environment	environment	NOUN
app01-3396	28	14	.	.	PUNCT
app01-3396	29	1	importance	importance	NOUN
app01-3396	29	2	of	of	ADP
app01-3396	29	3	this	this	DET
app01-3396	29	4	attribute	attribute	NOUN
app01-3396	29	5	depends	depend	VERB
app01-3396	29	6	on	on	ADP
app01-3396	29	7	further	further	ADJ
app01-3396	29	8	usage	usage	NOUN
app01-3396	29	9	of	of	ADP
app01-3396	29	10	the	the	DET
app01-3396	29	11	map	map	NOUN
app01-3396	29	12	.	.	PUNCT
app01-3396	30	1	if	if	SCONJ
app01-3396	30	2	the	the	DET
app01-3396	30	3	robot	robot	NOUN
app01-3396	30	4	is	be	AUX
app01-3396	30	5	meant	mean	VERB
app01-3396	30	6	to	to	PART
app01-3396	30	7	explore	explore	VERB
app01-3396	30	8	unknown	unknown	ADJ
app01-3396	30	9	area	area	NOUN
app01-3396	30	10	and	and	CCONJ
app01-3396	30	11	provide	provide	VERB
app01-3396	30	12	information	information	NOUN
app01-3396	30	13	about	about	ADP
app01-3396	30	14	it	it	PRON
app01-3396	30	15	,	,	PUNCT
app01-3396	30	16	requirements	requirement	NOUN
app01-3396	30	17	will	will	AUX
app01-3396	30	18	be	be	AUX
app01-3396	30	19	probably	probably	ADV
app01-3396	30	20	higher	high	ADJ
app01-3396	30	21	than	than	ADP
app01-3396	30	22	in	in	ADP
app01-3396	30	23	case	case	NOUN
app01-3396	30	24	of	of	ADP
app01-3396	30	25	a	a	DET
app01-3396	30	26	robot	robot	NOUN
app01-3396	30	27	,	,	PUNCT
app01-3396	30	28	which	which	PRON
app01-3396	30	29	just	just	ADV
app01-3396	30	30	needs	need	VERB
app01-3396	30	31	to	to	PART
app01-3396	30	32	avoid	avoid	VERB
app01-3396	30	33	obstacles	obstacle	NOUN
app01-3396	30	34	and	and	CCONJ
app01-3396	30	35	memorize	memorize	VERB
app01-3396	30	36	a	a	DET
app01-3396	30	37	short	short	ADJ
app01-3396	30	38	history	history	NOUN
app01-3396	30	39	of	of	ADP
app01-3396	30	40	its	its	PRON
app01-3396	30	41	path	path	NOUN
app01-3396	30	42	.	.	PUNCT
app01-3396	31	1	there	there	PRON
app01-3396	31	2	are	be	VERB
app01-3396	31	3	more	more	ADV
app01-3396	31	4	possible	possible	ADJ
app01-3396	31	5	ways	way	NOUN
app01-3396	31	6	to	to	PART
app01-3396	31	7	represent	represent	VERB
app01-3396	31	8	a	a	DET
app01-3396	31	9	robotic	robotic	ADJ
app01-3396	31	10	map	map	NOUN
app01-3396	31	11	.	.	PUNCT
app01-3396	32	1	one	one	NUM
app01-3396	32	2	of	of	ADP
app01-3396	32	3	the	the	DET
app01-3396	32	4	most	most	ADV
app01-3396	32	5	common	common	ADJ
app01-3396	32	6	is	be	AUX
app01-3396	32	7	robot	robot	NOUN
app01-3396	32	8	evidence	evidence	NOUN
app01-3396	32	9	grid	grid	NOUN
app01-3396	32	10	,	,	PUNCT
app01-3396	32	11	which	which	PRON
app01-3396	32	12	parcels	parcel	VERB
app01-3396	32	13	continuous	continuous	ADJ
app01-3396	32	14	world	world	NOUN
app01-3396	32	15	into	into	ADP
app01-3396	32	16	a	a	DET
app01-3396	32	17	set	set	NOUN
app01-3396	32	18	of	of	ADP
app01-3396	32	19	squares	square	NOUN
app01-3396	32	20	(	(	PUNCT
app01-3396	32	21	cubes	cube	NOUN
app01-3396	32	22	in	in	ADP
app01-3396	32	23	3d	3d	NUM
app01-3396	32	24	)	)	PUNCT
app01-3396	32	25	.	.	PUNCT
app01-3396	33	1	size	size	NOUN
app01-3396	33	2	of	of	ADP
app01-3396	33	3	a	a	DET
app01-3396	33	4	square	square	NOUN
app01-3396	33	5	is	be	AUX
app01-3396	33	6	optional	optional	ADJ
app01-3396	33	7	and	and	CCONJ
app01-3396	33	8	may	may	AUX
app01-3396	33	9	be	be	AUX
app01-3396	33	10	even	even	ADV
app01-3396	33	11	adaptive	adaptive	ADJ
app01-3396	33	12	to	to	PART
app01-3396	33	13	better	well	ADV
app01-3396	33	14	fit	fit	VERB
app01-3396	33	15	the	the	DET
app01-3396	33	16	reality	reality	NOUN
app01-3396	33	17	,	,	PUNCT
app01-3396	33	18	but	but	CCONJ
app01-3396	33	19	this	this	DET
app01-3396	33	20	style	style	NOUN
app01-3396	33	21	of	of	ADP
app01-3396	33	22	approximation	approximation	NOUN
app01-3396	33	23	of	of	ADP
app01-3396	33	24	smooth	smooth	ADJ
app01-3396	33	25	world	world	NOUN
app01-3396	33	26	is	be	AUX
app01-3396	33	27	still	still	ADV
app01-3396	33	28	rather	rather	ADV
app01-3396	33	29	crude	crude	ADJ
app01-3396	33	30	,	,	PUNCT
app01-3396	33	31	because	because	SCONJ
app01-3396	33	32	straight	straight	ADJ
app01-3396	33	33	edges	edge	NOUN
app01-3396	33	34	which	which	PRON
app01-3396	33	35	are	be	AUX
app01-3396	33	36	not	not	PART
app01-3396	33	37	co	co	NOUN
app01-3396	33	38	-	-	NOUN
app01-3396	33	39	linear	linear	ADJ
app01-3396	33	40	with	with	ADP
app01-3396	33	41	grid	grid	NOUN
app01-3396	33	42	lines	line	NOUN
app01-3396	33	43	are	be	AUX
app01-3396	33	44	jagged	jagged	ADJ
app01-3396	33	45	regardless	regardless	ADV
app01-3396	33	46	of	of	ADP
app01-3396	33	47	grid	grid	NOUN
app01-3396	33	48	resolution	resolution	NOUN
app01-3396	33	49	.	.	PUNCT
app01-3396	34	1	evidence	evidence	NOUN
app01-3396	34	2	grids	grid	NOUN
app01-3396	34	3	are	be	AUX
app01-3396	34	4	widely	widely	ADV
app01-3396	34	5	used	use	VERB
app01-3396	34	6	and	and	CCONJ
app01-3396	34	7	well	well	ADV
app01-3396	34	8	established	establish	VERB
app01-3396	34	9	in	in	ADP
app01-3396	34	10	many	many	ADJ
app01-3396	34	11	applications	application	NOUN
app01-3396	34	12	,	,	PUNCT
app01-3396	34	13	where	where	SCONJ
app01-3396	34	14	this	this	DET
app01-3396	34	15	downside	downside	NOUN
app01-3396	34	16	is	be	AUX
app01-3396	34	17	negligible	negligible	ADJ
app01-3396	34	18	.	.	PUNCT
app01-3396	35	1	visually	visually	ADV
app01-3396	35	2	better	well	ADJ
app01-3396	35	3	results	result	NOUN
app01-3396	35	4	are	be	AUX
app01-3396	35	5	achieved	achieve	VERB
app01-3396	35	6	with	with	ADP
app01-3396	35	7	vector	vector	NOUN
app01-3396	35	8	maps	map	NOUN
app01-3396	35	9	,	,	PUNCT
app01-3396	35	10	where	where	SCONJ
app01-3396	35	11	edges	edge	NOUN
app01-3396	35	12	are	be	AUX
app01-3396	35	13	represented	represent	VERB
app01-3396	35	14	with	with	ADP
app01-3396	35	15	line	line	NOUN
app01-3396	35	16	segments	segment	NOUN
app01-3396	35	17	.	.	PUNCT
app01-3396	36	1	good	good	ADJ
app01-3396	36	2	example	example	NOUN
app01-3396	36	3	of	of	ADP
app01-3396	36	4	classical	classical	ADJ
app01-3396	36	5	vector	vector	NOUN
app01-3396	36	6	based	base	VERB
app01-3396	36	7	mapping	mapping	NOUN
app01-3396	36	8	system	system	NOUN
app01-3396	36	9	is	be	AUX
app01-3396	36	10	vecslam	vecslam	PROPN
app01-3396	36	11	described	describe	VERB
app01-3396	36	12	in	in	ADP
app01-3396	36	13	[	[	X
app01-3396	36	14	6	6	NUM
app01-3396	36	15	]	]	PUNCT
app01-3396	36	16	.	.	PUNCT
app01-3396	37	1	the	the	DET
app01-3396	37	2	aim	aim	NOUN
app01-3396	37	3	of	of	ADP
app01-3396	37	4	authors	author	NOUN
app01-3396	37	5	work	work	VERB
app01-3396	37	6	is	be	AUX
app01-3396	37	7	to	to	PART
app01-3396	37	8	create	create	VERB
app01-3396	37	9	a	a	DET
app01-3396	37	10	system	system	NOUN
app01-3396	37	11	for	for	ADP
app01-3396	37	12	high	high	ADJ
app01-3396	37	13	quality	quality	NOUN
app01-3396	37	14	mapping	mapping	NOUN
app01-3396	37	15	,	,	PUNCT
app01-3396	37	16	therefore	therefore	ADV
app01-3396	37	17	vector	vector	NOUN
app01-3396	37	18	maps	map	NOUN
app01-3396	37	19	were	be	AUX
app01-3396	37	20	chosen	choose	VERB
app01-3396	37	21	as	as	ADP
app01-3396	37	22	a	a	DET
app01-3396	37	23	good	good	ADJ
app01-3396	37	24	approximation	approximation	NOUN
app01-3396	37	25	of	of	ADP
app01-3396	37	26	the	the	DET
app01-3396	37	27	real	real	ADJ
app01-3396	37	28	world	world	NOUN
app01-3396	37	29	.	.	PUNCT
app01-3396	38	1	map	map	NOUN
app01-3396	38	2	representation	representation	NOUN
app01-3396	38	3	is	be	AUX
app01-3396	38	4	only	only	ADV
app01-3396	38	5	one	one	NUM
app01-3396	38	6	part	part	NOUN
app01-3396	38	7	of	of	ADP
app01-3396	38	8	the	the	DET
app01-3396	38	9	problem	problem	NOUN
app01-3396	38	10	.	.	PUNCT
app01-3396	39	1	robot	robot	NOUN
app01-3396	39	2	exploring	explore	VERB
app01-3396	39	3	unknown	unknown	ADJ
app01-3396	39	4	environment	environment	NOUN
app01-3396	39	5	needs	need	VERB
app01-3396	39	6	22	22	NUM
app01-3396	39	7	http://dx.doi.org/10.14311/app.2015.1.0022	http://dx.doi.org/10.14311/app.2015.1.0022	PROPN
app01-3396	39	8	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3396	39	9	vol	vol	NOUN
app01-3396	39	10	.	.	PUNCT
app01-3396	40	1	2/2015	2/2015	NUM
app01-3396	40	2	vector	vector	NOUN
app01-3396	40	3	maps	map	NOUN
app01-3396	40	4	in	in	ADP
app01-3396	40	5	mobile	mobile	ADJ
app01-3396	40	6	robotics	robotic	NOUN
app01-3396	40	7	to	to	PART
app01-3396	40	8	update	update	VERB
app01-3396	40	9	its	its	PRON
app01-3396	40	10	map	map	NOUN
app01-3396	40	11	with	with	ADP
app01-3396	40	12	new	new	ADJ
app01-3396	40	13	information	information	NOUN
app01-3396	40	14	.	.	PUNCT
app01-3396	41	1	data	datum	NOUN
app01-3396	41	2	are	be	AUX
app01-3396	41	3	usually	usually	ADV
app01-3396	41	4	obtained	obtain	VERB
app01-3396	41	5	from	from	ADP
app01-3396	41	6	rangefinder	rangefinder	NOUN
app01-3396	41	7	sensors	sensor	NOUN
app01-3396	41	8	such	such	ADJ
app01-3396	41	9	as	as	ADP
app01-3396	41	10	laser	laser	NOUN
app01-3396	41	11	scanners	scanner	NOUN
app01-3396	41	12	and	and	CCONJ
app01-3396	41	13	sonars	sonar	NOUN
app01-3396	41	14	in	in	ADP
app01-3396	41	15	the	the	DET
app01-3396	41	16	form	form	NOUN
app01-3396	41	17	of	of	ADP
app01-3396	41	18	a	a	DET
app01-3396	41	19	point	point	NOUN
app01-3396	41	20	cloud	cloud	NOUN
app01-3396	41	21	and	and	CCONJ
app01-3396	41	22	need	need	VERB
app01-3396	41	23	to	to	PART
app01-3396	41	24	be	be	AUX
app01-3396	41	25	incorporated	incorporate	VERB
app01-3396	41	26	in	in	ADP
app01-3396	41	27	the	the	DET
app01-3396	41	28	current	current	ADJ
app01-3396	41	29	map	map	NOUN
app01-3396	41	30	.	.	PUNCT
app01-3396	42	1	probably	probably	ADV
app01-3396	42	2	the	the	DET
app01-3396	42	3	most	most	ADV
app01-3396	42	4	used	use	VERB
app01-3396	42	5	technique	technique	NOUN
app01-3396	42	6	for	for	ADP
app01-3396	42	7	point	point	NOUN
app01-3396	42	8	cloud	cloud	NOUN
app01-3396	42	9	registration	registration	NOUN
app01-3396	42	10	is	be	AUX
app01-3396	42	11	iterative	iterative	NOUN
app01-3396	42	12	closest	close	ADJ
app01-3396	42	13	point	point	NOUN
app01-3396	42	14	(	(	PUNCT
app01-3396	42	15	icp	icp	PROPN
app01-3396	42	16	)	)	PUNCT
app01-3396	42	17	.	.	PUNCT
app01-3396	43	1	good	good	ADJ
app01-3396	43	2	description	description	NOUN
app01-3396	43	3	and	and	CCONJ
app01-3396	43	4	historical	historical	ADJ
app01-3396	43	5	survey	survey	NOUN
app01-3396	43	6	of	of	ADP
app01-3396	43	7	this	this	DET
app01-3396	43	8	method	method	NOUN
app01-3396	43	9	is	be	AUX
app01-3396	43	10	available	available	ADJ
app01-3396	43	11	in	in	ADP
app01-3396	43	12	[	[	X
app01-3396	43	13	7	7	NUM
app01-3396	43	14	]	]	PUNCT
app01-3396	43	15	.	.	PUNCT
app01-3396	44	1	efficient	efficient	ADJ
app01-3396	44	2	variants	variant	NOUN
app01-3396	44	3	of	of	ADP
app01-3396	44	4	this	this	DET
app01-3396	44	5	method	method	NOUN
app01-3396	44	6	were	be	AUX
app01-3396	44	7	published	publish	VERB
app01-3396	44	8	in	in	ADP
app01-3396	44	9	[	[	X
app01-3396	44	10	8	8	NUM
app01-3396	44	11	]	]	PUNCT
app01-3396	44	12	.	.	PUNCT
app01-3396	45	1	furthermore	furthermore	ADV
app01-3396	45	2	,	,	PUNCT
app01-3396	45	3	it	it	PRON
app01-3396	45	4	is	be	AUX
app01-3396	45	5	possible	possible	ADJ
app01-3396	45	6	to	to	PART
app01-3396	45	7	use	use	VERB
app01-3396	45	8	icp	icp	PROPN
app01-3396	45	9	for	for	ADP
app01-3396	45	10	registration	registration	NOUN
app01-3396	45	11	of	of	ADP
app01-3396	45	12	more	more	ADJ
app01-3396	45	13	complex	complex	ADJ
app01-3396	45	14	formations	formation	NOUN
app01-3396	45	15	,	,	PUNCT
app01-3396	45	16	such	such	ADJ
app01-3396	45	17	as	as	ADP
app01-3396	45	18	surfaces	surface	NOUN
app01-3396	45	19	of	of	ADP
app01-3396	45	20	scanned	scan	VERB
app01-3396	45	21	objects	object	NOUN
app01-3396	45	22	.	.	PUNCT
app01-3396	46	1	this	this	DET
app01-3396	46	2	approach	approach	NOUN
app01-3396	46	3	is	be	AUX
app01-3396	46	4	described	describe	VERB
app01-3396	46	5	in	in	ADP
app01-3396	46	6	[	[	X
app01-3396	46	7	9	9	NUM
app01-3396	46	8	]	]	PUNCT
app01-3396	46	9	and	and	CCONJ
app01-3396	46	10	[	[	X
app01-3396	46	11	10	10	NUM
app01-3396	46	12	]	]	PUNCT
app01-3396	46	13	.	.	PUNCT
app01-3396	47	1	there	there	PRON
app01-3396	47	2	are	be	VERB
app01-3396	47	3	several	several	ADJ
app01-3396	47	4	alternatives	alternative	NOUN
app01-3396	47	5	to	to	ADP
app01-3396	47	6	icp	icp	PROPN
app01-3396	47	7	,	,	PUNCT
app01-3396	47	8	which	which	PRON
app01-3396	47	9	are	be	AUX
app01-3396	47	10	trying	try	VERB
app01-3396	47	11	to	to	PART
app01-3396	47	12	generalize	generalize	VERB
app01-3396	47	13	the	the	DET
app01-3396	47	14	notion	notion	NOUN
app01-3396	47	15	of	of	ADP
app01-3396	47	16	“	"	PUNCT
app01-3396	47	17	closeness	closeness	NOUN
app01-3396	47	18	”	"	PUNCT
app01-3396	47	19	or	or	CCONJ
app01-3396	47	20	“	"	PUNCT
app01-3396	47	21	similarity	similarity	NOUN
app01-3396	47	22	”	"	PUNCT
app01-3396	47	23	from	from	ADP
app01-3396	47	24	points	point	NOUN
app01-3396	47	25	to	to	ADP
app01-3396	47	26	lines	line	NOUN
app01-3396	47	27	,	,	PUNCT
app01-3396	47	28	triangles	triangle	NOUN
app01-3396	47	29	etc	etc	X
app01-3396	47	30	.	.	X
app01-3396	47	31	similarity	similarity	NOUN
app01-3396	47	32	of	of	ADP
app01-3396	47	33	points	point	NOUN
app01-3396	47	34	is	be	AUX
app01-3396	47	35	usually	usually	ADV
app01-3396	47	36	measured	measure	VERB
app01-3396	47	37	as	as	ADP
app01-3396	47	38	their	their	PRON
app01-3396	47	39	euclidean	euclidean	ADJ
app01-3396	47	40	distance	distance	NOUN
app01-3396	47	41	.	.	PUNCT
app01-3396	48	1	an	an	DET
app01-3396	48	2	edge	edge	NOUN
app01-3396	48	3	is	be	AUX
app01-3396	48	4	often	often	ADV
app01-3396	48	5	described	describe	VERB
app01-3396	48	6	as	as	ADP
app01-3396	48	7	a	a	DET
app01-3396	48	8	segment	segment	NOUN
app01-3396	48	9	of	of	ADP
app01-3396	48	10	a	a	DET
app01-3396	48	11	line	line	NOUN
app01-3396	48	12	.	.	PUNCT
app01-3396	49	1	having	have	VERB
app01-3396	49	2	two	two	NUM
app01-3396	49	3	such	such	ADJ
app01-3396	49	4	segments	segment	NOUN
app01-3396	49	5	,	,	PUNCT
app01-3396	49	6	we	we	PRON
app01-3396	49	7	can	can	AUX
app01-3396	49	8	define	define	VERB
app01-3396	49	9	an	an	DET
app01-3396	49	10	area	area	NOUN
app01-3396	49	11	they	they	PRON
app01-3396	49	12	demarcate	demarcate	VERB
app01-3396	49	13	and	and	CCONJ
app01-3396	49	14	use	use	VERB
app01-3396	49	15	it	it	PRON
app01-3396	49	16	as	as	ADP
app01-3396	49	17	a	a	DET
app01-3396	49	18	measure	measure	NOUN
app01-3396	49	19	of	of	ADP
app01-3396	49	20	similarity	similarity	NOUN
app01-3396	49	21	.	.	PUNCT
app01-3396	50	1	this	this	DET
app01-3396	50	2	definition	definition	NOUN
app01-3396	50	3	is	be	AUX
app01-3396	50	4	not	not	PART
app01-3396	50	5	unified	unified	ADJ
app01-3396	50	6	and	and	CCONJ
app01-3396	50	7	it	it	PRON
app01-3396	50	8	is	be	AUX
app01-3396	50	9	possible	possible	ADJ
app01-3396	50	10	to	to	PART
app01-3396	50	11	find	find	VERB
app01-3396	50	12	several	several	ADJ
app01-3396	50	13	different	different	ADJ
app01-3396	50	14	approaches	approach	NOUN
app01-3396	50	15	,	,	PUNCT
app01-3396	50	16	for	for	ADP
app01-3396	50	17	example	example	NOUN
app01-3396	50	18	sum	sum	NOUN
app01-3396	50	19	of	of	ADP
app01-3396	50	20	squared	squared	ADJ
app01-3396	50	21	distances	distance	NOUN
app01-3396	50	22	from	from	ADP
app01-3396	50	23	point	point	NOUN
app01-3396	50	24	in	in	ADP
app01-3396	50	25	a	a	DET
app01-3396	50	26	scan	scan	NOUN
app01-3396	50	27	to	to	ADP
app01-3396	50	28	the	the	DET
app01-3396	50	29	nearest	near	ADJ
app01-3396	50	30	edge	edge	NOUN
app01-3396	50	31	in	in	ADP
app01-3396	50	32	the	the	DET
app01-3396	50	33	map	map	NOUN
app01-3396	51	1	[	[	X
app01-3396	51	2	11	11	NUM
app01-3396	51	3	]	]	PUNCT
app01-3396	51	4	,	,	PUNCT
app01-3396	51	5	penalizing	penalize	VERB
app01-3396	51	6	function	function	NOUN
app01-3396	51	7	of	of	ADP
app01-3396	51	8	“	"	PUNCT
app01-3396	51	9	non	non	X
app01-3396	51	10	collinearity	collinearity	NOUN
app01-3396	51	11	”	"	PUNCT
app01-3396	51	12	and	and	CCONJ
app01-3396	51	13	spatial	spatial	ADJ
app01-3396	51	14	distance	distance	NOUN
app01-3396	52	1	[	[	X
app01-3396	52	2	12	12	NUM
app01-3396	52	3	]	]	PUNCT
app01-3396	52	4	,	,	PUNCT
app01-3396	52	5	or	or	CCONJ
app01-3396	52	6	a	a	DET
app01-3396	52	7	criterion	criterion	NOUN
app01-3396	52	8	based	base	VERB
app01-3396	52	9	on	on	ADP
app01-3396	52	10	newly	newly	ADV
app01-3396	52	11	introduced	introduce	VERB
app01-3396	52	12	matrix	matrix	NOUN
app01-3396	52	13	scalar	scalar	ADJ
app01-3396	52	14	product	product	NOUN
app01-3396	52	15	[	[	X
app01-3396	52	16	13	13	NUM
app01-3396	52	17	]	]	PUNCT
app01-3396	52	18	.	.	PUNCT
app01-3396	53	1	another	another	DET
app01-3396	53	2	interesting	interesting	ADJ
app01-3396	53	3	approach	approach	NOUN
app01-3396	53	4	is	be	AUX
app01-3396	53	5	critical	critical	ADJ
app01-3396	53	6	ray	ray	NOUN
app01-3396	53	7	method	method	NOUN
app01-3396	53	8	proposed	propose	VERB
app01-3396	53	9	in	in	ADP
app01-3396	53	10	[	[	X
app01-3396	53	11	14	14	NUM
app01-3396	53	12	]	]	PUNCT
app01-3396	53	13	,	,	PUNCT
app01-3396	53	14	which	which	PRON
app01-3396	53	15	does	do	AUX
app01-3396	53	16	not	not	PART
app01-3396	53	17	use	use	VERB
app01-3396	53	18	line	line	NOUN
app01-3396	53	19	similarity	similarity	NOUN
app01-3396	53	20	at	at	ADV
app01-3396	53	21	all	all	ADV
app01-3396	53	22	.	.	PUNCT
app01-3396	54	1	diversity	diversity	NOUN
app01-3396	54	2	of	of	ADP
app01-3396	54	3	these	these	DET
app01-3396	54	4	approaches	approach	NOUN
app01-3396	54	5	is	be	AUX
app01-3396	54	6	high	high	ADJ
app01-3396	54	7	and	and	CCONJ
app01-3396	54	8	none	none	NOUN
app01-3396	54	9	of	of	ADP
app01-3396	54	10	them	they	PRON
app01-3396	54	11	is	be	AUX
app01-3396	54	12	considered	consider	VERB
app01-3396	54	13	to	to	PART
app01-3396	54	14	be	be	AUX
app01-3396	54	15	remarkably	remarkably	ADV
app01-3396	54	16	better	well	ADJ
app01-3396	54	17	than	than	ADP
app01-3396	54	18	the	the	DET
app01-3396	54	19	others	other	NOUN
app01-3396	54	20	,	,	PUNCT
app01-3396	54	21	therefore	therefore	ADV
app01-3396	54	22	the	the	DET
app01-3396	54	23	author	author	NOUN
app01-3396	54	24	have	have	AUX
app01-3396	54	25	decided	decide	VERB
app01-3396	54	26	to	to	PART
app01-3396	54	27	develop	develop	VERB
app01-3396	54	28	his	his	PRON
app01-3396	54	29	own	own	ADJ
app01-3396	54	30	method	method	NOUN
app01-3396	54	31	and	and	CCONJ
app01-3396	54	32	test	test	VERB
app01-3396	54	33	new	new	ADJ
app01-3396	54	34	ideas	idea	NOUN
app01-3396	54	35	,	,	PUNCT
app01-3396	54	36	because	because	SCONJ
app01-3396	54	37	this	this	DET
app01-3396	54	38	field	field	NOUN
app01-3396	54	39	of	of	ADP
app01-3396	54	40	research	research	NOUN
app01-3396	54	41	is	be	AUX
app01-3396	54	42	definitely	definitely	ADV
app01-3396	54	43	not	not	PART
app01-3396	54	44	fully	fully	ADV
app01-3396	54	45	explored	explore	VERB
app01-3396	54	46	.	.	PUNCT
app01-3396	55	1	reducing	reduce	VERB
app01-3396	55	2	point	point	NOUN
app01-3396	55	3	cloud	cloud	NOUN
app01-3396	55	4	to	to	ADP
app01-3396	55	5	a	a	DET
app01-3396	55	6	set	set	NOUN
app01-3396	55	7	of	of	ADP
app01-3396	55	8	line	line	NOUN
app01-3396	55	9	segments	segment	NOUN
app01-3396	55	10	(	(	PUNCT
app01-3396	55	11	in	in	ADP
app01-3396	55	12	2d	2d	NUM
app01-3396	55	13	)	)	PUNCT
app01-3396	55	14	or	or	CCONJ
app01-3396	55	15	triangles	triangle	NOUN
app01-3396	55	16	(	(	PUNCT
app01-3396	55	17	in	in	ADP
app01-3396	55	18	3d	3d	NUM
app01-3396	55	19	)	)	PUNCT
app01-3396	55	20	has	have	VERB
app01-3396	55	21	very	very	ADV
app01-3396	55	22	useful	useful	ADJ
app01-3396	55	23	properties	property	NOUN
app01-3396	55	24	.	.	PUNCT
app01-3396	56	1	at	at	ADP
app01-3396	56	2	first	first	ADV
app01-3396	56	3	,	,	PUNCT
app01-3396	56	4	information	information	NOUN
app01-3396	56	5	from	from	ADP
app01-3396	56	6	hundreds	hundred	NOUN
app01-3396	56	7	or	or	CCONJ
app01-3396	56	8	thousands	thousand	NOUN
app01-3396	56	9	of	of	ADP
app01-3396	56	10	points	point	NOUN
app01-3396	56	11	is	be	AUX
app01-3396	56	12	expressed	express	VERB
app01-3396	56	13	with	with	ADP
app01-3396	56	14	(	(	PUNCT
app01-3396	56	15	at	at	ADP
app01-3396	56	16	most	most	ADJ
app01-3396	56	17	)	)	PUNCT
app01-3396	56	18	tens	ten	NOUN
app01-3396	56	19	of	of	ADP
app01-3396	56	20	objects	object	NOUN
app01-3396	56	21	.	.	PUNCT
app01-3396	57	1	data	datum	NOUN
app01-3396	57	2	reduced	reduce	VERB
app01-3396	57	3	in	in	ADP
app01-3396	57	4	count	count	NOUN
app01-3396	57	5	are	be	AUX
app01-3396	57	6	processed	process	VERB
app01-3396	57	7	faster	fast	ADV
app01-3396	57	8	and	and	CCONJ
app01-3396	57	9	therefore	therefore	ADV
app01-3396	57	10	more	more	ADV
app01-3396	57	11	complex	complex	ADJ
app01-3396	57	12	algorithms	algorithm	NOUN
app01-3396	57	13	may	may	AUX
app01-3396	57	14	be	be	AUX
app01-3396	57	15	used	use	VERB
app01-3396	57	16	.	.	PUNCT
app01-3396	58	1	on	on	ADP
app01-3396	58	2	the	the	DET
app01-3396	58	3	other	other	ADJ
app01-3396	58	4	hand	hand	NOUN
app01-3396	58	5	,	,	PUNCT
app01-3396	58	6	mathematics	mathematic	NOUN
app01-3396	58	7	becomes	become	VERB
app01-3396	58	8	more	more	ADV
app01-3396	58	9	complicated	complicated	ADJ
app01-3396	58	10	,	,	PUNCT
app01-3396	58	11	because	because	SCONJ
app01-3396	58	12	lines	line	NOUN
app01-3396	58	13	and	and	CCONJ
app01-3396	58	14	faces	face	NOUN
app01-3396	58	15	have	have	VERB
app01-3396	58	16	more	more	ADJ
app01-3396	58	17	degrees	degree	NOUN
app01-3396	58	18	of	of	ADP
app01-3396	58	19	freedom	freedom	NOUN
app01-3396	58	20	and	and	CCONJ
app01-3396	58	21	constraints	constraint	NOUN
app01-3396	58	22	than	than	ADP
app01-3396	58	23	points	point	NOUN
app01-3396	58	24	and	and	CCONJ
app01-3396	58	25	as	as	ADP
app01-3396	58	26	written	write	VERB
app01-3396	58	27	above	above	ADV
app01-3396	58	28	,	,	PUNCT
app01-3396	58	29	similarity	similarity	NOUN
app01-3396	58	30	is	be	AUX
app01-3396	58	31	not	not	PART
app01-3396	58	32	as	as	ADV
app01-3396	58	33	easy	easy	ADJ
app01-3396	58	34	to	to	PART
app01-3396	58	35	enumerate	enumerate	VERB
app01-3396	58	36	.	.	PUNCT
app01-3396	59	1	the	the	DET
app01-3396	59	2	process	process	NOUN
app01-3396	59	3	of	of	ADP
app01-3396	59	4	line	line	NOUN
app01-3396	59	5	extraction	extraction	NOUN
app01-3396	59	6	has	have	AUX
app01-3396	59	7	generalizing	generalize	VERB
app01-3396	59	8	ability	ability	NOUN
app01-3396	59	9	.	.	PUNCT
app01-3396	60	1	after	after	ADP
app01-3396	60	2	interpolation	interpolation	NOUN
app01-3396	60	3	by	by	ADP
app01-3396	60	4	line	line	NOUN
app01-3396	60	5	segments	segment	NOUN
app01-3396	60	6	(	(	PUNCT
app01-3396	60	7	or	or	CCONJ
app01-3396	60	8	triangles	triangle	NOUN
app01-3396	60	9	)	)	PUNCT
app01-3396	60	10	,	,	PUNCT
app01-3396	60	11	corners	corner	NOUN
app01-3396	60	12	become	become	VERB
app01-3396	60	13	sharper	sharp	ADJ
app01-3396	60	14	and	and	CCONJ
app01-3396	60	15	noise	noise	NOUN
app01-3396	60	16	is	be	AUX
app01-3396	60	17	suppressed	suppress	VERB
app01-3396	60	18	,	,	PUNCT
app01-3396	60	19	which	which	PRON
app01-3396	60	20	results	result	VERB
app01-3396	60	21	in	in	ADP
app01-3396	60	22	better	well	ADJ
app01-3396	60	23	looking	look	VERB
app01-3396	60	24	(	(	PUNCT
app01-3396	60	25	more	more	ADV
app01-3396	60	26	corresponding	corresponding	ADJ
app01-3396	60	27	to	to	ADP
app01-3396	60	28	the	the	DET
app01-3396	60	29	real	real	ADJ
app01-3396	60	30	world	world	NOUN
app01-3396	60	31	)	)	PUNCT
app01-3396	60	32	map	map	NOUN
app01-3396	60	33	.	.	PUNCT
app01-3396	61	1	in	in	ADP
app01-3396	61	2	addition	addition	NOUN
app01-3396	61	3	(	(	PUNCT
app01-3396	61	4	depending	depend	VERB
app01-3396	61	5	on	on	ADP
app01-3396	61	6	line	line	NOUN
app01-3396	61	7	extraction	extraction	NOUN
app01-3396	61	8	algorithm	algorithm	NOUN
app01-3396	61	9	)	)	PUNCT
app01-3396	61	10	edges	edge	NOUN
app01-3396	61	11	might	might	AUX
app01-3396	61	12	be	be	AUX
app01-3396	61	13	estimated	estimate	VERB
app01-3396	61	14	with	with	ADP
app01-3396	61	15	higher	high	ADJ
app01-3396	61	16	accuracy	accuracy	NOUN
app01-3396	61	17	than	than	ADP
app01-3396	61	18	single	single	ADJ
app01-3396	61	19	point	point	NOUN
app01-3396	61	20	due	due	ADP
app01-3396	61	21	to	to	ADP
app01-3396	61	22	averaging	average	VERB
app01-3396	61	23	effect	effect	NOUN
app01-3396	61	24	.	.	PUNCT
app01-3396	62	1	there	there	PRON
app01-3396	62	2	is	be	VERB
app01-3396	62	3	no	no	DET
app01-3396	62	4	restriction	restriction	NOUN
app01-3396	62	5	on	on	ADP
app01-3396	62	6	using	use	VERB
app01-3396	62	7	n	n	CCONJ
app01-3396	62	8	−	−	NUM
app01-3396	62	9	1	1	NUM
app01-3396	62	10	dimensional	dimensional	ADJ
app01-3396	62	11	objects	object	NOUN
app01-3396	62	12	in	in	ADP
app01-3396	62	13	n	n	CCONJ
app01-3396	62	14	dimensional	dimensional	ADJ
app01-3396	62	15	space	space	NOUN
app01-3396	62	16	.	.	PUNCT
app01-3396	63	1	a	a	DET
app01-3396	63	2	generalization	generalization	NOUN
app01-3396	63	3	of	of	ADP
app01-3396	63	4	icp	icp	PROPN
app01-3396	63	5	for	for	ADP
app01-3396	63	6	lines	line	NOUN
app01-3396	63	7	in	in	ADP
app01-3396	63	8	3d	3d	PROPN
app01-3396	63	9	space	space	NOUN
app01-3396	63	10	is	be	AUX
app01-3396	63	11	described	describe	VERB
app01-3396	63	12	in	in	ADP
app01-3396	63	13	[	[	X
app01-3396	63	14	15	15	NUM
app01-3396	63	15	]	]	PUNCT
app01-3396	63	16	.	.	PUNCT
app01-3396	64	1	paper	paper	NOUN
app01-3396	65	1	[	[	X
app01-3396	65	2	16	16	NUM
app01-3396	65	3	]	]	PUNCT
app01-3396	65	4	describes	describe	VERB
app01-3396	65	5	whole	whole	ADJ
app01-3396	65	6	set	set	NOUN
app01-3396	65	7	of	of	ADP
app01-3396	65	8	algorithms	algorithm	NOUN
app01-3396	65	9	for	for	ADP
app01-3396	65	10	matching	match	VERB
app01-3396	65	11	sets	set	NOUN
app01-3396	65	12	of	of	ADP
app01-3396	65	13	lines	line	NOUN
app01-3396	65	14	in	in	ADP
app01-3396	65	15	3d	3d	NUM
app01-3396	65	16	and	and	CCONJ
app01-3396	65	17	many	many	ADJ
app01-3396	65	18	others	other	NOUN
app01-3396	65	19	are	be	AUX
app01-3396	65	20	possible	possible	ADJ
app01-3396	65	21	to	to	PART
app01-3396	65	22	find	find	VERB
app01-3396	65	23	.	.	PUNCT
app01-3396	66	1	for	for	ADP
app01-3396	66	2	even	even	ADV
app01-3396	66	3	better	well	ADJ
app01-3396	66	4	approximation	approximation	NOUN
app01-3396	66	5	of	of	ADP
app01-3396	66	6	the	the	DET
app01-3396	66	7	real	real	ADJ
app01-3396	66	8	world	world	NOUN
app01-3396	66	9	,	,	PUNCT
app01-3396	66	10	curves	curve	NOUN
app01-3396	66	11	and	and	CCONJ
app01-3396	66	12	curved	curved	ADJ
app01-3396	66	13	planes	plane	NOUN
app01-3396	66	14	could	could	AUX
app01-3396	66	15	be	be	AUX
app01-3396	66	16	used	use	VERB
app01-3396	66	17	.	.	PUNCT
app01-3396	67	1	these	these	PRON
app01-3396	67	2	are	be	AUX
app01-3396	67	3	more	more	ADV
app01-3396	67	4	complicated	complicated	ADJ
app01-3396	67	5	for	for	ADP
app01-3396	67	6	computation	computation	NOUN
app01-3396	67	7	and	and	CCONJ
app01-3396	67	8	not	not	PART
app01-3396	67	9	too	too	ADV
app01-3396	67	10	much	much	ADJ
app01-3396	67	11	papers	paper	NOUN
app01-3396	67	12	are	be	AUX
app01-3396	67	13	related	relate	VERB
app01-3396	67	14	to	to	ADP
app01-3396	67	15	this	this	DET
app01-3396	67	16	topic	topic	NOUN
app01-3396	67	17	.	.	PUNCT
app01-3396	68	1	an	an	DET
app01-3396	68	2	example	example	NOUN
app01-3396	68	3	of	of	ADP
app01-3396	68	4	such	such	ADJ
app01-3396	68	5	approach	approach	NOUN
app01-3396	68	6	is	be	AUX
app01-3396	68	7	a	a	DET
app01-3396	68	8	method	method	NOUN
app01-3396	68	9	[	[	X
app01-3396	68	10	17	17	NUM
app01-3396	68	11	]	]	PUNCT
app01-3396	68	12	based	base	VERB
app01-3396	68	13	on	on	ADP
app01-3396	68	14	graph	graph	NOUN
app01-3396	68	15	theory	theory	NOUN
app01-3396	68	16	.	.	PUNCT
app01-3396	69	1	2	2	X
app01-3396	69	2	.	.	NOUN
app01-3396	69	3	point	point	NOUN
app01-3396	69	4	cloud	cloud	NOUN
app01-3396	69	5	processing	processing	NOUN
app01-3396	69	6	system	system	NOUN
app01-3396	69	7	the	the	DET
app01-3396	69	8	overall	overall	ADJ
app01-3396	69	9	diagram	diagram	NOUN
app01-3396	69	10	of	of	ADP
app01-3396	69	11	the	the	DET
app01-3396	69	12	measurement	measurement	NOUN
app01-3396	69	13	and	and	CCONJ
app01-3396	69	14	mapping	mapping	NOUN
app01-3396	69	15	process	process	NOUN
app01-3396	69	16	is	be	AUX
app01-3396	69	17	depicted	depict	VERB
app01-3396	69	18	in	in	ADP
app01-3396	69	19	fig	fig	NOUN
app01-3396	69	20	.	.	PUNCT
app01-3396	70	1	1	1	X
app01-3396	70	2	.	.	X
app01-3396	70	3	every	every	DET
app01-3396	70	4	time	time	NOUN
app01-3396	70	5	a	a	DET
app01-3396	70	6	measurement	measurement	NOUN
app01-3396	70	7	is	be	AUX
app01-3396	70	8	acquired	acquire	VERB
app01-3396	70	9	,	,	PUNCT
app01-3396	70	10	the	the	DET
app01-3396	70	11	whole	whole	ADJ
app01-3396	70	12	process	process	NOUN
app01-3396	70	13	is	be	AUX
app01-3396	70	14	run	run	VERB
app01-3396	70	15	through	through	ADV
app01-3396	70	16	.	.	PUNCT
app01-3396	71	1	each	each	DET
app01-3396	71	2	rectangular	rectangular	PROPN
app01-3396	71	3	box	box	PROPN
app01-3396	71	4	in	in	ADP
app01-3396	71	5	the	the	DET
app01-3396	71	6	diagram	diagram	NOUN
app01-3396	71	7	means	mean	VERB
app01-3396	71	8	one	one	NUM
app01-3396	71	9	algorithm	algorithm	NOUN
app01-3396	71	10	performing	perform	VERB
app01-3396	71	11	operation	operation	NOUN
app01-3396	71	12	on	on	ADP
app01-3396	71	13	its	its	PRON
app01-3396	71	14	input	input	NOUN
app01-3396	71	15	data	datum	NOUN
app01-3396	71	16	.	.	PUNCT
app01-3396	72	1	the	the	DET
app01-3396	72	2	whole	whole	ADJ
app01-3396	72	3	process	process	NOUN
app01-3396	72	4	leads	lead	VERB
app01-3396	72	5	to	to	ADP
app01-3396	72	6	update	update	NOUN
app01-3396	72	7	of	of	ADP
app01-3396	72	8	the	the	DET
app01-3396	72	9	map	map	NOUN
app01-3396	72	10	the	the	DET
app01-3396	72	11	robot	robot	NOUN
app01-3396	72	12	creates	create	VERB
app01-3396	72	13	and	and	CCONJ
app01-3396	72	14	the	the	DET
app01-3396	72	15	pose	pose	NOUN
app01-3396	72	16	of	of	ADP
app01-3396	72	17	the	the	DET
app01-3396	72	18	robot	robot	NOUN
app01-3396	72	19	itself	itself	PRON
app01-3396	72	20	.	.	PUNCT
app01-3396	73	1	slam	slam	VERB
app01-3396	73	2	itself	itself	PRON
app01-3396	73	3	is	be	AUX
app01-3396	73	4	implemented	implement	VERB
app01-3396	73	5	in	in	ADP
app01-3396	73	6	a	a	DET
app01-3396	73	7	very	very	ADV
app01-3396	73	8	elementary	elementary	ADJ
app01-3396	73	9	way	way	NOUN
app01-3396	73	10	and	and	CCONJ
app01-3396	73	11	no	no	DET
app01-3396	73	12	attempts	attempt	NOUN
app01-3396	73	13	to	to	PART
app01-3396	73	14	build	build	VERB
app01-3396	73	15	converging	converge	VERB
app01-3396	73	16	map	map	NOUN
app01-3396	73	17	were	be	AUX
app01-3396	73	18	made	make	VERB
app01-3396	73	19	yet	yet	ADV
app01-3396	73	20	.	.	PUNCT
app01-3396	74	1	the	the	DET
app01-3396	74	2	main	main	ADJ
app01-3396	74	3	objective	objective	NOUN
app01-3396	74	4	in	in	ADP
app01-3396	74	5	current	current	ADJ
app01-3396	74	6	state	state	NOUN
app01-3396	74	7	of	of	ADP
app01-3396	74	8	development	development	NOUN
app01-3396	74	9	is	be	AUX
app01-3396	74	10	to	to	PART
app01-3396	74	11	test	test	VERB
app01-3396	74	12	data	datum	NOUN
app01-3396	74	13	processing	processing	NOUN
app01-3396	74	14	,	,	PUNCT
app01-3396	74	15	edge	edge	NOUN
app01-3396	74	16	extraction	extraction	NOUN
app01-3396	74	17	and	and	CCONJ
app01-3396	74	18	scan	scan	ADJ
app01-3396	74	19	registration	registration	NOUN
app01-3396	74	20	algorithms	algorithm	NOUN
app01-3396	74	21	.	.	PUNCT
app01-3396	75	1	laser	laser	NOUN
app01-3396	75	2	scanner	scanner	NOUN
app01-3396	75	3	used	use	VERB
app01-3396	75	4	to	to	PART
app01-3396	75	5	obtain	obtain	VERB
app01-3396	75	6	all	all	DET
app01-3396	75	7	data	datum	NOUN
app01-3396	75	8	in	in	ADP
app01-3396	75	9	this	this	DET
app01-3396	75	10	chapter	chapter	NOUN
app01-3396	75	11	is	be	AUX
app01-3396	75	12	velodyne	velodyne	PROPN
app01-3396	75	13	32	32	NUM
app01-3396	75	14	hdl	hdl	PROPN
app01-3396	75	15	,	,	PUNCT
app01-3396	75	16	which	which	PRON
app01-3396	75	17	provides	provide	VERB
app01-3396	75	18	approximately	approximately	ADV
app01-3396	75	19	two	two	NUM
app01-3396	75	20	thousand	thousand	NUM
app01-3396	75	21	points	point	NOUN
app01-3396	75	22	(	(	PUNCT
app01-3396	75	23	per	per	ADP
app01-3396	75	24	turn	turn	NOUN
app01-3396	75	25	)	)	PUNCT
app01-3396	75	26	in	in	ADP
app01-3396	75	27	polar	polar	ADJ
app01-3396	75	28	coordinates	coordinate	NOUN
app01-3396	75	29	for	for	ADP
app01-3396	75	30	each	each	PRON
app01-3396	75	31	of	of	ADP
app01-3396	75	32	its	its	PRON
app01-3396	75	33	thirty	thirty	NUM
app01-3396	75	34	two	two	NUM
app01-3396	75	35	lasers	laser	NOUN
app01-3396	75	36	.	.	PUNCT
app01-3396	76	1	only	only	ADV
app01-3396	76	2	horizontal	horizontal	ADJ
app01-3396	76	3	set	set	NOUN
app01-3396	76	4	of	of	ADP
app01-3396	76	5	measurements	measurement	NOUN
app01-3396	76	6	was	be	AUX
app01-3396	76	7	taken	take	VERB
app01-3396	76	8	into	into	ADP
app01-3396	76	9	account	account	NOUN
app01-3396	76	10	for	for	ADP
app01-3396	76	11	2d	2d	NUM
app01-3396	76	12	map	map	NOUN
app01-3396	76	13	.	.	PUNCT
app01-3396	77	1	at	at	ADP
app01-3396	77	2	the	the	DET
app01-3396	77	3	beginning	beginning	NOUN
app01-3396	77	4	,	,	PUNCT
app01-3396	77	5	all	all	DET
app01-3396	77	6	data	datum	NOUN
app01-3396	77	7	from	from	ADP
app01-3396	77	8	sensors	sensor	NOUN
app01-3396	77	9	need	need	VERB
app01-3396	77	10	to	to	PART
app01-3396	77	11	be	be	AUX
app01-3396	77	12	converted	convert	VERB
app01-3396	77	13	into	into	ADP
app01-3396	77	14	the	the	DET
app01-3396	77	15	data	data	NOUN
app01-3396	77	16	format	format	NOUN
app01-3396	77	17	useful	useful	ADJ
app01-3396	77	18	for	for	ADP
app01-3396	77	19	following	follow	VERB
app01-3396	77	20	algorithms	algorithm	NOUN
app01-3396	77	21	.	.	PUNCT
app01-3396	78	1	this	this	DET
app01-3396	78	2	step	step	NOUN
app01-3396	78	3	also	also	ADV
app01-3396	78	4	ensures	ensure	VERB
app01-3396	78	5	usability	usability	NOUN
app01-3396	78	6	of	of	ADP
app01-3396	78	7	the	the	DET
app01-3396	78	8	system	system	NOUN
app01-3396	78	9	for	for	ADP
app01-3396	78	10	any	any	DET
app01-3396	78	11	instrumentation	instrumentation	NOUN
app01-3396	78	12	with	with	ADP
app01-3396	78	13	suitable	suitable	ADJ
app01-3396	78	14	properties	property	NOUN
app01-3396	78	15	.	.	PUNCT
app01-3396	79	1	a	a	DET
app01-3396	79	2	disadvantage	disadvantage	NOUN
app01-3396	79	3	of	of	ADP
app01-3396	79	4	this	this	DET
app01-3396	79	5	process	process	NOUN
app01-3396	79	6	is	be	AUX
app01-3396	79	7	a	a	DET
app01-3396	79	8	certain	certain	ADJ
app01-3396	79	9	enlargement	enlargement	NOUN
app01-3396	79	10	of	of	ADP
app01-3396	79	11	data	datum	NOUN
app01-3396	79	12	size	size	NOUN
app01-3396	79	13	,	,	PUNCT
app01-3396	79	14	because	because	SCONJ
app01-3396	79	15	laser	laser	NOUN
app01-3396	79	16	scanners	scanner	NOUN
app01-3396	79	17	and	and	CCONJ
app01-3396	79	18	other	other	ADJ
app01-3396	79	19	sensors	sensor	NOUN
app01-3396	79	20	usually	usually	ADV
app01-3396	79	21	use	use	VERB
app01-3396	79	22	some	some	DET
app01-3396	79	23	sort	sort	NOUN
app01-3396	79	24	of	of	ADP
app01-3396	79	25	data	datum	NOUN
app01-3396	79	26	compression	compression	NOUN
app01-3396	79	27	to	to	PART
app01-3396	79	28	minimize	minimize	VERB
app01-3396	79	29	data	datum	NOUN
app01-3396	79	30	flow	flow	NOUN
app01-3396	79	31	.	.	PUNCT
app01-3396	80	1	in	in	ADP
app01-3396	80	2	case	case	NOUN
app01-3396	80	3	of	of	ADP
app01-3396	80	4	velodyne	velodyne	PROPN
app01-3396	80	5	32	32	NUM
app01-3396	80	6	hdl	hdl	PROPN
app01-3396	80	7	this	this	PRON
app01-3396	80	8	means	mean	VERB
app01-3396	80	9	conversion	conversion	NOUN
app01-3396	80	10	from	from	ADP
app01-3396	80	11	16	16	NUM
app01-3396	80	12	-	-	PUNCT
app01-3396	80	13	bit	bit	NOUN
app01-3396	80	14	integer	integer	NOUN
app01-3396	80	15	to	to	ADP
app01-3396	80	16	32	32	NUM
app01-3396	80	17	-	-	PUNCT
app01-3396	80	18	bit	bit	NOUN
app01-3396	80	19	floating	float	VERB
app01-3396	80	20	point	point	NOUN
app01-3396	80	21	number	number	NOUN
app01-3396	80	22	.	.	PUNCT
app01-3396	81	1	to	to	PART
app01-3396	81	2	speed	speed	VERB
app01-3396	81	3	up	up	ADP
app01-3396	81	4	corresponding	correspond	VERB
app01-3396	81	5	edge	edge	NOUN
app01-3396	81	6	selection	selection	NOUN
app01-3396	81	7	,	,	PUNCT
app01-3396	81	8	crude	crude	NOUN
app01-3396	81	9	pose	pose	NOUN
app01-3396	81	10	estimation	estimation	NOUN
app01-3396	81	11	is	be	AUX
app01-3396	81	12	useful	useful	ADJ
app01-3396	81	13	.	.	PUNCT
app01-3396	82	1	it	it	PRON
app01-3396	82	2	enables	enable	VERB
app01-3396	82	3	to	to	PART
app01-3396	82	4	specify	specify	VERB
app01-3396	82	5	part	part	NOUN
app01-3396	82	6	of	of	ADP
app01-3396	82	7	the	the	DET
app01-3396	82	8	map	map	NOUN
app01-3396	82	9	,	,	PUNCT
app01-3396	82	10	where	where	SCONJ
app01-3396	82	11	the	the	DET
app01-3396	82	12	robot	robot	NOUN
app01-3396	82	13	most	most	ADV
app01-3396	82	14	probably	probably	ADV
app01-3396	82	15	is	be	AUX
app01-3396	82	16	,	,	PUNCT
app01-3396	82	17	and	and	CCONJ
app01-3396	82	18	therefore	therefore	ADV
app01-3396	82	19	,	,	PUNCT
app01-3396	82	20	the	the	DET
app01-3396	82	21	search	search	NOUN
app01-3396	82	22	space	space	NOUN
app01-3396	82	23	of	of	ADP
app01-3396	82	24	correspondences	correspondence	NOUN
app01-3396	82	25	is	be	AUX
app01-3396	82	26	reduced	reduce	VERB
app01-3396	82	27	a	a	DET
app01-3396	82	28	lot	lot	NOUN
app01-3396	82	29	.	.	PUNCT
app01-3396	83	1	as	as	SCONJ
app01-3396	83	2	is	be	AUX
app01-3396	83	3	well	well	ADV
app01-3396	83	4	known	know	VERB
app01-3396	83	5	in	in	ADP
app01-3396	83	6	robotics	robotic	NOUN
app01-3396	83	7	community	community	NOUN
app01-3396	83	8	,	,	PUNCT
app01-3396	83	9	techniques	technique	NOUN
app01-3396	83	10	such	such	ADJ
app01-3396	83	11	as	as	ADP
app01-3396	83	12	inertial	inertial	ADJ
app01-3396	83	13	sensors	sensor	NOUN
app01-3396	83	14	or	or	CCONJ
app01-3396	83	15	odometry	odometry	NOUN
app01-3396	83	16	cause	cause	NOUN
app01-3396	83	17	integration	integration	NOUN
app01-3396	83	18	of	of	ADP
app01-3396	83	19	error	error	NOUN
app01-3396	83	20	of	of	ADP
app01-3396	83	21	pose	pose	NOUN
app01-3396	83	22	estimation	estimation	NOUN
app01-3396	83	23	.	.	PUNCT
app01-3396	84	1	this	this	PRON
app01-3396	84	2	makes	make	VERB
app01-3396	84	3	them	they	PRON
app01-3396	84	4	useless	useless	ADJ
app01-3396	84	5	after	after	ADP
app01-3396	84	6	a	a	DET
app01-3396	84	7	certain	certain	ADJ
app01-3396	84	8	amount	amount	NOUN
app01-3396	84	9	of	of	ADP
app01-3396	84	10	time	time	NOUN
app01-3396	84	11	.	.	PUNCT
app01-3396	85	1	in	in	ADP
app01-3396	85	2	the	the	DET
app01-3396	85	3	presented	present	VERB
app01-3396	85	4	algorithm	algorithm	NOUN
app01-3396	85	5	,	,	PUNCT
app01-3396	85	6	these	these	PRON
app01-3396	85	7	are	be	AUX
app01-3396	85	8	only	only	ADV
app01-3396	85	9	used	use	VERB
app01-3396	85	10	for	for	ADP
app01-3396	85	11	measurement	measurement	NOUN
app01-3396	85	12	of	of	ADP
app01-3396	85	13	relative	relative	ADJ
app01-3396	85	14	pose	pose	NOUN
app01-3396	85	15	change	change	NOUN
app01-3396	85	16	between	between	ADP
app01-3396	85	17	two	two	NUM
app01-3396	85	18	following	follow	VERB
app01-3396	85	19	scans	scan	NOUN
app01-3396	85	20	.	.	PUNCT
app01-3396	86	1	this	this	PRON
app01-3396	86	2	ensures	ensure	VERB
app01-3396	86	3	that	that	SCONJ
app01-3396	86	4	the	the	DET
app01-3396	86	5	estimated	estimate	VERB
app01-3396	86	6	pose	pose	NOUN
app01-3396	86	7	error	error	NOUN
app01-3396	86	8	is	be	AUX
app01-3396	86	9	always	always	ADV
app01-3396	86	10	in	in	ADP
app01-3396	86	11	a	a	DET
app01-3396	86	12	known	know	VERB
app01-3396	86	13	limit	limit	NOUN
app01-3396	86	14	.	.	PUNCT
app01-3396	87	1	to	to	PART
app01-3396	87	2	get	get	VERB
app01-3396	87	3	an	an	DET
app01-3396	87	4	absolute	absolute	ADJ
app01-3396	87	5	pose	pose	NOUN
app01-3396	87	6	,	,	PUNCT
app01-3396	87	7	this	this	DET
app01-3396	87	8	estimation	estimation	NOUN
app01-3396	87	9	is	be	AUX
app01-3396	87	10	added	add	VERB
app01-3396	87	11	to	to	ADP
app01-3396	87	12	the	the	DET
app01-3396	87	13	last	last	ADJ
app01-3396	87	14	known	know	VERB
app01-3396	87	15	pose	pose	NOUN
app01-3396	87	16	,	,	PUNCT
app01-3396	87	17	determined	determine	VERB
app01-3396	87	18	in	in	ADP
app01-3396	87	19	the	the	DET
app01-3396	87	20	previous	previous	ADJ
app01-3396	87	21	iteration	iteration	NOUN
app01-3396	87	22	of	of	ADP
app01-3396	87	23	the	the	DET
app01-3396	87	24	data	data	NOUN
app01-3396	87	25	processing	processing	NOUN
app01-3396	87	26	(	(	PUNCT
app01-3396	87	27	dashed	dash	VERB
app01-3396	87	28	arrow	arrow	NOUN
app01-3396	87	29	leading	lead	VERB
app01-3396	87	30	to	to	ADP
app01-3396	87	31	“	"	PUNCT
app01-3396	87	32	pose	pose	VERB
app01-3396	87	33	estimation	estimation	NOUN
app01-3396	87	34	”	"	PUNCT
app01-3396	87	35	block	block	NOUN
app01-3396	87	36	in	in	ADP
app01-3396	87	37	fig	fig	NOUN
app01-3396	87	38	.	.	PUNCT
app01-3396	88	1	1	1	NUM
app01-3396	88	2	)	)	PUNCT
app01-3396	88	3	.	.	PUNCT
app01-3396	89	1	2.1	2.1	NUM
app01-3396	89	2	.	.	PUNCT
app01-3396	90	1	filtering	filter	VERB
app01-3396	90	2	and	and	CCONJ
app01-3396	90	3	clustering	clustering	ADJ
app01-3396	90	4	treatment	treatment	NOUN
app01-3396	90	5	of	of	ADP
app01-3396	90	6	raw	raw	ADJ
app01-3396	90	7	point	point	NOUN
app01-3396	90	8	cloud	cloud	NOUN
app01-3396	90	9	is	be	AUX
app01-3396	90	10	a	a	DET
app01-3396	90	11	more	more	ADV
app01-3396	90	12	complex	complex	ADJ
app01-3396	90	13	task	task	NOUN
app01-3396	90	14	.	.	PUNCT
app01-3396	91	1	at	at	ADP
app01-3396	91	2	first	first	ADV
app01-3396	91	3	it	it	PRON
app01-3396	91	4	is	be	AUX
app01-3396	91	5	necessary	necessary	ADJ
app01-3396	91	6	to	to	PART
app01-3396	91	7	filter	filter	VERB
app01-3396	91	8	out	out	ADP
app01-3396	91	9	noise	noise	NOUN
app01-3396	91	10	and	and	CCONJ
app01-3396	91	11	outliers	outlier	NOUN
app01-3396	91	12	and	and	CCONJ
app01-3396	91	13	to	to	PART
app01-3396	91	14	find	find	VERB
app01-3396	91	15	dense	dense	ADJ
app01-3396	91	16	clusters	cluster	NOUN
app01-3396	91	17	of	of	ADP
app01-3396	91	18	points	point	NOUN
app01-3396	91	19	defining	define	VERB
app01-3396	91	20	edges	edge	NOUN
app01-3396	91	21	of	of	ADP
app01-3396	91	22	solid	solid	ADJ
app01-3396	91	23	objects	object	NOUN
app01-3396	91	24	in	in	ADP
app01-3396	91	25	the	the	DET
app01-3396	91	26	environment	environment	NOUN
app01-3396	91	27	.	.	PUNCT
app01-3396	92	1	raw	raw	ADJ
app01-3396	92	2	data	datum	NOUN
app01-3396	92	3	from	from	ADP
app01-3396	92	4	one	one	NUM
app01-3396	92	5	set	set	NOUN
app01-3396	92	6	of	of	ADP
app01-3396	92	7	measurements	measurement	NOUN
app01-3396	92	8	are	be	AUX
app01-3396	92	9	shown	show	VERB
app01-3396	92	10	in	in	ADP
app01-3396	92	11	fig	fig	NOUN
app01-3396	92	12	.	.	PUNCT
app01-3396	93	1	2a	2a	NUM
app01-3396	93	2	.	.	PUNCT
app01-3396	94	1	it	it	PRON
app01-3396	94	2	is	be	AUX
app01-3396	94	3	clear	clear	ADJ
app01-3396	94	4	that	that	SCONJ
app01-3396	94	5	scans	scan	NOUN
app01-3396	94	6	are	be	AUX
app01-3396	94	7	full	full	ADJ
app01-3396	94	8	of	of	ADP
app01-3396	94	9	irrelevant	irrelevant	ADJ
app01-3396	94	10	points	point	NOUN
app01-3396	94	11	and	and	CCONJ
app01-3396	94	12	odometry	odometry	NOUN
app01-3396	94	13	was	be	AUX
app01-3396	94	14	not	not	PART
app01-3396	94	15	very	very	ADV
app01-3396	94	16	accurate	accurate	ADJ
app01-3396	94	17	.	.	PUNCT
app01-3396	95	1	some	some	DET
app01-3396	95	2	noise	noise	NOUN
app01-3396	95	3	is	be	AUX
app01-3396	95	4	always	always	ADV
app01-3396	95	5	present	present	ADJ
app01-3396	95	6	.	.	PUNCT
app01-3396	96	1	laser	laser	NOUN
app01-3396	96	2	scanner	scanner	NOUN
app01-3396	96	3	measures	measure	NOUN
app01-3396	96	4	distance	distance	NOUN
app01-3396	96	5	with	with	ADP
app01-3396	96	6	certain	certain	ADJ
app01-3396	96	7	precision	precision	NOUN
app01-3396	96	8	,	,	PUNCT
app01-3396	96	9	which	which	PRON
app01-3396	96	10	is	be	AUX
app01-3396	96	11	stated	state	VERB
app01-3396	96	12	in	in	ADP
app01-3396	96	13	the	the	DET
app01-3396	96	14	datasheet	datasheet	NOUN
app01-3396	96	15	.	.	PUNCT
app01-3396	97	1	the	the	DET
app01-3396	97	2	other	other	ADJ
app01-3396	97	3	sake	sake	NOUN
app01-3396	97	4	of	of	ADP
app01-3396	97	5	noise	noise	NOUN
app01-3396	97	6	is	be	AUX
app01-3396	97	7	too	too	ADV
app01-3396	97	8	dissected	dissect	VERB
app01-3396	97	9	environment	environment	NOUN
app01-3396	97	10	,	,	PUNCT
app01-3396	97	11	where	where	SCONJ
app01-3396	97	12	individual	individual	ADJ
app01-3396	97	13	faces	face	NOUN
app01-3396	97	14	of	of	ADP
app01-3396	97	15	objects	object	NOUN
app01-3396	97	16	23	23	NUM
app01-3396	97	17	ales	ale	NOUN
app01-3396	97	18	jelinek	jelinek	PROPN
app01-3396	97	19	acta	acta	PROPN
app01-3396	97	20	polytechnica	polytechnica	PROPN
app01-3396	97	21	ctu	ctu	NOUN
app01-3396	97	22	proceedings	proceeding	NOUN
app01-3396	97	23	measured	measure	VERB
app01-3396	97	24	data	datum	NOUN
app01-3396	97	25	conversion	conversion	NOUN
app01-3396	97	26	from	from	ADP
app01-3396	97	27	scanner	scanner	NOUN
app01-3396	97	28	data	datum	NOUN
app01-3396	97	29	format	format	NOUN
app01-3396	97	30	to	to	PART
app01-3396	97	31	cartesian	cartesian	ADJ
app01-3396	97	32	and	and	CCONJ
app01-3396	97	33	polar	polar	ADJ
app01-3396	97	34	coordinate	coordinate	NOUN
app01-3396	97	35	system	system	NOUN
app01-3396	97	36	point	point	NOUN
app01-3396	97	37	cloud	cloud	NOUN
app01-3396	97	38	segmentation	segmentation	NOUN
app01-3396	97	39	and	and	CCONJ
app01-3396	97	40	filtering	filtering	NOUN
app01-3396	97	41	edge	edge	NOUN
app01-3396	97	42	extraction	extraction	NOUN
app01-3396	97	43	corresponding	corresponding	ADJ
app01-3396	97	44	edge	edge	NOUN
app01-3396	97	45	selection	selection	NOUN
app01-3396	97	46	finding	find	VERB
app01-3396	97	47	the	the	DET
app01-3396	97	48	best	good	ADJ
app01-3396	97	49	transformation	transformation	NOUN
app01-3396	97	50	for	for	ADP
app01-3396	97	51	incorporation	incorporation	NOUN
app01-3396	97	52	of	of	ADP
app01-3396	97	53	the	the	DET
app01-3396	97	54	scan	scan	NOUN
app01-3396	97	55	in	in	ADP
app01-3396	97	56	a	a	DET
app01-3396	97	57	map	map	NOUN
app01-3396	97	58	map	map	NOUN
app01-3396	97	59	update	update	NOUN
app01-3396	97	60	map	map	NOUN
app01-3396	97	61	inertial	inertial	ADJ
app01-3396	97	62	sensors	sensor	NOUN
app01-3396	97	63	pose	pose	VERB
app01-3396	97	64	estimation	estimation	NOUN
app01-3396	97	65	most	most	ADV
app01-3396	97	66	probable	probable	ADJ
app01-3396	97	67	pose	pose	NOUN
app01-3396	97	68	pose	pose	NOUN
app01-3396	97	69	correction	correction	NOUN
app01-3396	97	70	data	datum	NOUN
app01-3396	97	71	flow	flow	NOUN
app01-3396	97	72	data	datum	NOUN
app01-3396	97	73	from	from	ADP
app01-3396	97	74	previous	previous	ADJ
app01-3396	97	75	step	step	NOUN
app01-3396	97	76	scanner	scanner	NOUN
app01-3396	97	77	data	datum	NOUN
app01-3396	97	78	processing	processing	NOUN
app01-3396	97	79	operation	operation	NOUN
app01-3396	97	80	result	result	NOUN
app01-3396	97	81	conversion	conversion	NOUN
app01-3396	97	82	form	form	NOUN
app01-3396	97	83	scanner	scanner	NOUN
app01-3396	97	84	data	datum	NOUN
app01-3396	97	85	format	format	NOUN
app01-3396	97	86	to	to	ADP
app01-3396	97	87	common	common	ADJ
app01-3396	97	88	physical	physical	ADJ
app01-3396	97	89	quantities	quantity	NOUN
app01-3396	97	90	figure	figure	VERB
app01-3396	97	91	1	1	NUM
app01-3396	97	92	.	.	PUNCT
app01-3396	98	1	overall	overall	ADJ
app01-3396	98	2	scheme	scheme	NOUN
app01-3396	98	3	of	of	ADP
app01-3396	98	4	point	point	NOUN
app01-3396	98	5	cloud	cloud	NOUN
app01-3396	98	6	processing	processing	NOUN
app01-3396	98	7	system	system	NOUN
app01-3396	98	8	from	from	ADP
app01-3396	98	9	data	datum	NOUN
app01-3396	98	10	acquisition	acquisition	NOUN
app01-3396	98	11	to	to	PART
app01-3396	98	12	map	map	VERB
app01-3396	98	13	and	and	CCONJ
app01-3396	98	14	pose	pose	NOUN
app01-3396	98	15	update	update	NOUN
app01-3396	98	16	.	.	PUNCT
app01-3396	99	1	are	be	AUX
app01-3396	99	2	so	so	ADV
app01-3396	99	3	small	small	ADJ
app01-3396	99	4	that	that	SCONJ
app01-3396	99	5	rangefinder	rangefinder	NOUN
app01-3396	99	6	can	can	AUX
app01-3396	99	7	not	not	PART
app01-3396	99	8	scan	scan	VERB
app01-3396	99	9	them	they	PRON
app01-3396	99	10	properly	properly	ADV
app01-3396	99	11	.	.	PUNCT
app01-3396	100	1	a	a	DET
app01-3396	100	2	good	good	ADJ
app01-3396	100	3	examples	example	NOUN
app01-3396	100	4	are	be	AUX
app01-3396	100	5	treetops	treetop	NOUN
app01-3396	100	6	and	and	CCONJ
app01-3396	100	7	bushes	bush	NOUN
app01-3396	100	8	.	.	PUNCT
app01-3396	101	1	noisy	noisy	ADJ
app01-3396	101	2	parts	part	NOUN
app01-3396	101	3	of	of	ADP
app01-3396	101	4	point	point	NOUN
app01-3396	101	5	cloud	cloud	NOUN
app01-3396	101	6	are	be	AUX
app01-3396	101	7	best	good	ADJ
app01-3396	101	8	to	to	PART
app01-3396	101	9	treat	treat	VERB
app01-3396	101	10	as	as	ADP
app01-3396	101	11	a	a	DET
app01-3396	101	12	solid	solid	ADJ
app01-3396	101	13	body	body	NOUN
app01-3396	101	14	with	with	ADP
app01-3396	101	15	defined	define	VERB
app01-3396	101	16	borders	border	NOUN
app01-3396	101	17	and	and	CCONJ
app01-3396	101	18	density	density	NOUN
app01-3396	101	19	.	.	PUNCT
app01-3396	102	1	other	other	ADJ
app01-3396	102	2	possibility	possibility	NOUN
app01-3396	102	3	is	be	AUX
app01-3396	102	4	to	to	PART
app01-3396	102	5	filter	filter	VERB
app01-3396	102	6	them	they	PRON
app01-3396	102	7	out	out	ADP
app01-3396	102	8	,	,	PUNCT
app01-3396	102	9	which	which	PRON
app01-3396	102	10	causes	cause	VERB
app01-3396	102	11	loss	loss	NOUN
app01-3396	102	12	of	of	ADP
app01-3396	102	13	information	information	NOUN
app01-3396	102	14	,	,	PUNCT
app01-3396	102	15	but	but	CCONJ
app01-3396	102	16	on	on	ADP
app01-3396	102	17	the	the	DET
app01-3396	102	18	other	other	ADJ
app01-3396	102	19	hand	hand	NOUN
app01-3396	102	20	,	,	PUNCT
app01-3396	102	21	with	with	ADP
app01-3396	102	22	a	a	DET
app01-3396	102	23	careful	careful	ADJ
app01-3396	102	24	filtering	filtering	NOUN
app01-3396	102	25	,	,	PUNCT
app01-3396	102	26	it	it	PRON
app01-3396	102	27	is	be	AUX
app01-3396	102	28	possible	possible	ADJ
app01-3396	102	29	to	to	PART
app01-3396	102	30	“	"	PUNCT
app01-3396	102	31	see	see	VERB
app01-3396	102	32	”	"	PUNCT
app01-3396	102	33	through	through	ADP
app01-3396	102	34	low	low	ADJ
app01-3396	102	35	density	density	NOUN
app01-3396	102	36	objects	object	NOUN
app01-3396	102	37	(	(	PUNCT
app01-3396	102	38	e.g.	e.g.	ADV
app01-3396	102	39	,	,	PUNCT
app01-3396	102	40	see	see	VERB
app01-3396	102	41	wall	wall	NOUN
app01-3396	102	42	behind	behind	ADP
app01-3396	102	43	a	a	DET
app01-3396	102	44	bush	bush	NOUN
app01-3396	102	45	)	)	PUNCT
app01-3396	102	46	.	.	PUNCT
app01-3396	103	1	outliers	outlier	NOUN
app01-3396	103	2	in	in	ADP
app01-3396	103	3	point	point	NOUN
app01-3396	103	4	cloud	cloud	NOUN
app01-3396	103	5	are	be	AUX
app01-3396	103	6	usually	usually	ADV
app01-3396	103	7	caused	cause	VERB
app01-3396	103	8	by	by	ADP
app01-3396	103	9	scanning	scan	VERB
app01-3396	103	10	too	too	ADV
app01-3396	103	11	distant	distant	ADJ
app01-3396	103	12	or	or	CCONJ
app01-3396	103	13	too	too	ADV
app01-3396	103	14	close	close	ADJ
app01-3396	103	15	objects	object	NOUN
app01-3396	103	16	,	,	PUNCT
app01-3396	103	17	which	which	PRON
app01-3396	103	18	are	be	AUX
app01-3396	103	19	out	out	ADP
app01-3396	103	20	of	of	ADP
app01-3396	103	21	the	the	DET
app01-3396	103	22	range	range	NOUN
app01-3396	103	23	of	of	ADP
app01-3396	103	24	the	the	DET
app01-3396	103	25	particular	particular	ADJ
app01-3396	103	26	laser	laser	NOUN
app01-3396	103	27	scanner	scanner	NOUN
app01-3396	103	28	.	.	PUNCT
app01-3396	104	1	these	these	PRON
app01-3396	104	2	are	be	AUX
app01-3396	104	3	easy	easy	ADJ
app01-3396	104	4	to	to	PART
app01-3396	104	5	identify	identify	VERB
app01-3396	104	6	and	and	CCONJ
app01-3396	104	7	can	can	AUX
app01-3396	104	8	be	be	AUX
app01-3396	104	9	removed	remove	VERB
app01-3396	104	10	without	without	ADP
app01-3396	104	11	serious	serious	ADJ
app01-3396	104	12	impact	impact	NOUN
app01-3396	104	13	on	on	ADP
app01-3396	104	14	the	the	DET
app01-3396	104	15	quality	quality	NOUN
app01-3396	104	16	of	of	ADP
app01-3396	104	17	a	a	DET
app01-3396	104	18	scan	scan	NOUN
app01-3396	104	19	.	.	PUNCT
app01-3396	105	1	more	more	ADV
app01-3396	105	2	interesting	interesting	ADJ
app01-3396	105	3	to	to	PART
app01-3396	105	4	deal	deal	VERB
app01-3396	105	5	with	with	ADP
app01-3396	105	6	are	be	AUX
app01-3396	105	7	outliers	outlier	NOUN
app01-3396	105	8	originating	originate	VERB
app01-3396	105	9	from	from	ADP
app01-3396	105	10	a	a	DET
app01-3396	105	11	reflection	reflection	NOUN
app01-3396	105	12	.	.	PUNCT
app01-3396	106	1	in	in	ADP
app01-3396	106	2	a	a	DET
app01-3396	106	3	common	common	ADJ
app01-3396	106	4	environment	environment	NOUN
app01-3396	106	5	,	,	PUNCT
app01-3396	106	6	there	there	PRON
app01-3396	106	7	can	can	AUX
app01-3396	106	8	always	always	ADV
app01-3396	106	9	be	be	AUX
app01-3396	106	10	objects	object	NOUN
app01-3396	106	11	,	,	PUNCT
app01-3396	106	12	which	which	PRON
app01-3396	106	13	are	be	AUX
app01-3396	106	14	able	able	ADJ
app01-3396	106	15	to	to	PART
app01-3396	106	16	reflect	reflect	VERB
app01-3396	106	17	laser	laser	NOUN
app01-3396	106	18	beam	beam	NOUN
app01-3396	106	19	and	and	CCONJ
app01-3396	106	20	corrupt	corrupt	ADJ
app01-3396	106	21	the	the	DET
app01-3396	106	22	measurement	measurement	NOUN
app01-3396	106	23	.	.	PUNCT
app01-3396	107	1	if	if	SCONJ
app01-3396	107	2	the	the	DET
app01-3396	107	3	reflecting	reflect	VERB
app01-3396	107	4	object	object	NOUN
app01-3396	107	5	is	be	AUX
app01-3396	107	6	small	small	ADJ
app01-3396	107	7	and	and	CCONJ
app01-3396	107	8	curved	curved	ADJ
app01-3396	107	9	,	,	PUNCT
app01-3396	107	10	few	few	ADJ
app01-3396	107	11	beams	beam	NOUN
app01-3396	107	12	,	,	PUNCT
app01-3396	107	13	which	which	PRON
app01-3396	107	14	hit	hit	VERB
app01-3396	107	15	it	it	PRON
app01-3396	107	16	,	,	PUNCT
app01-3396	107	17	are	be	AUX
app01-3396	107	18	scattered	scatter	VERB
app01-3396	107	19	wide	wide	ADV
app01-3396	107	20	apart	apart	ADV
app01-3396	107	21	and	and	CCONJ
app01-3396	107	22	appear	appear	VERB
app01-3396	107	23	as	as	SCONJ
app01-3396	107	24	randomly	randomly	ADV
app01-3396	107	25	distributed	distribute	VERB
app01-3396	107	26	single	single	ADJ
app01-3396	107	27	points	point	NOUN
app01-3396	107	28	in	in	ADP
app01-3396	107	29	a	a	DET
app01-3396	107	30	point	point	NOUN
app01-3396	107	31	cloud	cloud	NOUN
app01-3396	107	32	.	.	PUNCT
app01-3396	108	1	these	these	PRON
app01-3396	108	2	are	be	AUX
app01-3396	108	3	generally	generally	ADV
app01-3396	108	4	easy	easy	ADJ
app01-3396	108	5	to	to	PART
app01-3396	108	6	remove	remove	VERB
app01-3396	108	7	.	.	PUNCT
app01-3396	109	1	another	another	DET
app01-3396	109	2	case	case	NOUN
app01-3396	109	3	are	be	AUX
app01-3396	109	4	large	large	ADJ
app01-3396	109	5	,	,	PUNCT
app01-3396	109	6	flat	flat	ADJ
app01-3396	109	7	objects	object	NOUN
app01-3396	109	8	such	such	ADJ
app01-3396	109	9	as	as	ADP
app01-3396	109	10	mirrors	mirror	NOUN
app01-3396	109	11	and	and	CCONJ
app01-3396	109	12	windows	window	NOUN
app01-3396	109	13	,	,	PUNCT
app01-3396	109	14	which	which	PRON
app01-3396	109	15	uniformly	uniformly	ADV
app01-3396	109	16	reflect	reflect	VERB
app01-3396	109	17	a	a	DET
app01-3396	109	18	large	large	ADJ
app01-3396	109	19	amount	amount	NOUN
app01-3396	109	20	of	of	ADP
app01-3396	109	21	rangefinder	rangefinder	NOUN
app01-3396	109	22	beams	beam	NOUN
app01-3396	109	23	.	.	PUNCT
app01-3396	110	1	this	this	DET
app01-3396	110	2	effect	effect	NOUN
app01-3396	110	3	causes	cause	VERB
app01-3396	110	4	phantom	phantom	ADJ
app01-3396	110	5	objects	object	NOUN
app01-3396	110	6	to	to	PART
app01-3396	110	7	appear	appear	VERB
app01-3396	110	8	in	in	ADP
app01-3396	110	9	the	the	DET
app01-3396	110	10	scan	scan	NOUN
app01-3396	110	11	and	and	CCONJ
app01-3396	110	12	there	there	PRON
app01-3396	110	13	is	be	VERB
app01-3396	110	14	probably	probably	ADV
app01-3396	110	15	no	no	DET
app01-3396	110	16	way	way	NOUN
app01-3396	110	17	to	to	PART
app01-3396	110	18	detect	detect	VERB
app01-3396	110	19	this	this	PRON
app01-3396	110	20	without	without	ADP
app01-3396	110	21	additional	additional	ADJ
app01-3396	110	22	sensors	sensor	NOUN
app01-3396	110	23	or	or	CCONJ
app01-3396	110	24	a	a	DET
app01-3396	110	25	set	set	NOUN
app01-3396	110	26	of	of	ADP
app01-3396	110	27	scans	scan	NOUN
app01-3396	110	28	from	from	ADP
app01-3396	110	29	different	different	ADJ
app01-3396	110	30	positions	position	NOUN
app01-3396	110	31	.	.	PUNCT
app01-3396	111	1	clustering	clustering	NOUN
app01-3396	111	2	is	be	AUX
app01-3396	111	3	used	use	VERB
app01-3396	111	4	to	to	PART
app01-3396	111	5	remove	remove	VERB
app01-3396	111	6	all	all	DET
app01-3396	111	7	unnecessary	unnecessary	ADJ
app01-3396	111	8	points	point	NOUN
app01-3396	111	9	from	from	ADP
app01-3396	111	10	a	a	DET
app01-3396	111	11	scan	scan	NOUN
app01-3396	111	12	and	and	CCONJ
app01-3396	111	13	to	to	PART
app01-3396	111	14	determine	determine	VERB
app01-3396	111	15	dense	dense	ADJ
app01-3396	111	16	clusters	cluster	NOUN
app01-3396	111	17	of	of	ADP
app01-3396	111	18	points	point	NOUN
app01-3396	111	19	,	,	PUNCT
app01-3396	111	20	which	which	PRON
app01-3396	111	21	could	could	AUX
app01-3396	111	22	potentially	potentially	ADV
app01-3396	111	23	form	form	VERB
app01-3396	111	24	an	an	DET
app01-3396	111	25	edge	edge	NOUN
app01-3396	111	26	of	of	ADP
app01-3396	111	27	a	a	DET
app01-3396	111	28	real	real	ADJ
app01-3396	111	29	object	object	NOUN
app01-3396	111	30	.	.	PUNCT
app01-3396	112	1	an	an	DET
app01-3396	112	2	algorithm	algorithm	NOUN
app01-3396	112	3	used	use	VERB
app01-3396	112	4	to	to	PART
app01-3396	112	5	get	get	VERB
app01-3396	112	6	result	result	NOUN
app01-3396	112	7	depicted	depict	VERB
app01-3396	112	8	in	in	ADP
app01-3396	112	9	fig	fig	NOUN
app01-3396	112	10	.	.	PUNCT
app01-3396	113	1	2b	2b	NUM
app01-3396	113	2	is	be	AUX
app01-3396	113	3	as	as	SCONJ
app01-3396	113	4	follows	follow	VERB
app01-3396	113	5	:	:	PUNCT
app01-3396	113	6	from	from	ADP
app01-3396	113	7	the	the	DET
app01-3396	113	8	laser	laser	NOUN
app01-3396	113	9	scanner	scanner	NOUN
app01-3396	113	10	we	we	PRON
app01-3396	113	11	get	get	VERB
app01-3396	113	12	data	datum	NOUN
app01-3396	113	13	sorted	sort	VERB
app01-3396	113	14	by	by	ADP
app01-3396	113	15	an	an	DET
app01-3396	113	16	angle	angle	NOUN
app01-3396	113	17	.	.	PUNCT
app01-3396	114	1	algorithm	algorithm	NOUN
app01-3396	114	2	proceeds	proceed	VERB
app01-3396	114	3	from	from	ADP
app01-3396	114	4	one	one	NUM
app01-3396	114	5	point	point	NOUN
app01-3396	114	6	to	to	ADP
app01-3396	114	7	another	another	PRON
app01-3396	114	8	and	and	CCONJ
app01-3396	114	9	checks	check	NOUN
app01-3396	114	10	if	if	SCONJ
app01-3396	114	11	k	k	PROPN
app01-3396	114	12	previous	previous	ADJ
app01-3396	114	13	points	point	NOUN
app01-3396	114	14	are	be	AUX
app01-3396	114	15	closer	close	ADJ
app01-3396	114	16	or	or	CCONJ
app01-3396	114	17	farther	far	ADV
app01-3396	114	18	,	,	PUNCT
app01-3396	114	19	than	than	ADP
app01-3396	114	20	a	a	DET
app01-3396	114	21	certain	certain	ADJ
app01-3396	114	22	distance	distance	NOUN
app01-3396	114	23	.	.	PUNCT
app01-3396	115	1	three	three	NUM
app01-3396	115	2	alternatives	alternative	NOUN
app01-3396	115	3	may	may	AUX
app01-3396	115	4	occur	occur	VERB
app01-3396	115	5	.	.	PUNCT
app01-3396	116	1	a	a	DET
app01-3396	116	2	point	point	NOUN
app01-3396	116	3	might	might	AUX
app01-3396	116	4	be	be	AUX
app01-3396	116	5	too	too	ADV
app01-3396	116	6	far	far	ADV
app01-3396	116	7	away	away	ADV
app01-3396	116	8	from	from	ADP
app01-3396	116	9	all	all	PRON
app01-3396	116	10	of	of	ADP
app01-3396	116	11	the	the	DET
app01-3396	116	12	previous	previous	ADJ
app01-3396	116	13	ones	one	NOUN
app01-3396	116	14	.	.	PUNCT
app01-3396	117	1	this	this	PRON
app01-3396	117	2	leads	lead	VERB
app01-3396	117	3	to	to	ADP
app01-3396	117	4	establishment	establishment	NOUN
app01-3396	117	5	of	of	ADP
app01-3396	117	6	a	a	DET
app01-3396	117	7	new	new	ADJ
app01-3396	117	8	cluster	cluster	NOUN
app01-3396	117	9	.	.	PUNCT
app01-3396	118	1	if	if	SCONJ
app01-3396	118	2	the	the	DET
app01-3396	118	3	working	working	NOUN
app01-3396	118	4	point	point	NOUN
app01-3396	118	5	is	be	AUX
app01-3396	118	6	close	close	ADJ
app01-3396	118	7	enough	enough	ADV
app01-3396	118	8	to	to	ADP
app01-3396	118	9	some	some	DET
app01-3396	118	10	previous	previous	ADJ
app01-3396	118	11	points	point	NOUN
app01-3396	118	12	and	and	CCONJ
app01-3396	118	13	all	all	DET
app01-3396	118	14	these	these	DET
app01-3396	118	15	points	point	NOUN
app01-3396	118	16	belong	belong	VERB
app01-3396	118	17	to	to	ADP
app01-3396	118	18	the	the	DET
app01-3396	118	19	same	same	ADJ
app01-3396	118	20	cluster	cluster	NOUN
app01-3396	118	21	,	,	PUNCT
app01-3396	118	22	the	the	DET
app01-3396	118	23	working	working	NOUN
app01-3396	118	24	point	point	NOUN
app01-3396	118	25	is	be	AUX
app01-3396	118	26	added	add	VERB
app01-3396	118	27	to	to	ADP
app01-3396	118	28	it	it	PRON
app01-3396	118	29	.	.	PUNCT
app01-3396	119	1	third	third	ADJ
app01-3396	119	2	case	case	NOUN
app01-3396	119	3	arises	arise	VERB
app01-3396	119	4	,	,	PUNCT
app01-3396	119	5	when	when	SCONJ
app01-3396	119	6	the	the	DET
app01-3396	119	7	working	working	NOUN
app01-3396	119	8	point	point	NOUN
app01-3396	119	9	can	can	AUX
app01-3396	119	10	belong	belong	VERB
app01-3396	119	11	to	to	ADP
app01-3396	119	12	more	more	ADJ
app01-3396	119	13	than	than	ADP
app01-3396	119	14	one	one	NUM
app01-3396	119	15	cluster	cluster	NOUN
app01-3396	119	16	.	.	PUNCT
app01-3396	120	1	in	in	ADP
app01-3396	120	2	such	such	DET
app01-3396	120	3	a	a	DET
app01-3396	120	4	situation	situation	NOUN
app01-3396	120	5	,	,	PUNCT
app01-3396	120	6	all	all	DET
app01-3396	120	7	those	those	DET
app01-3396	120	8	clusters	cluster	NOUN
app01-3396	120	9	and	and	CCONJ
app01-3396	120	10	the	the	DET
app01-3396	120	11	working	working	NOUN
app01-3396	120	12	point	point	NOUN
app01-3396	120	13	are	be	AUX
app01-3396	120	14	joined	join	VERB
app01-3396	120	15	together	together	ADV
app01-3396	120	16	.	.	PUNCT
app01-3396	121	1	in	in	ADP
app01-3396	121	2	the	the	DET
app01-3396	121	3	end	end	NOUN
app01-3396	121	4	,	,	PUNCT
app01-3396	121	5	clusters	cluster	NOUN
app01-3396	121	6	with	with	ADP
app01-3396	121	7	the	the	DET
app01-3396	121	8	size	size	NOUN
app01-3396	121	9	under	under	ADP
app01-3396	121	10	a	a	DET
app01-3396	121	11	certain	certain	ADJ
app01-3396	121	12	threshold	threshold	NOUN
app01-3396	121	13	are	be	AUX
app01-3396	121	14	called	call	VERB
app01-3396	121	15	outliers	outlier	NOUN
app01-3396	121	16	and	and	CCONJ
app01-3396	121	17	are	be	AUX
app01-3396	121	18	removed	remove	VERB
app01-3396	121	19	from	from	ADP
app01-3396	121	20	the	the	DET
app01-3396	121	21	scan	scan	NOUN
app01-3396	121	22	.	.	PUNCT
app01-3396	122	1	from	from	ADP
app01-3396	122	2	a	a	DET
app01-3396	122	3	practical	practical	ADJ
app01-3396	122	4	point	point	NOUN
app01-3396	122	5	of	of	ADP
app01-3396	122	6	view	view	NOUN
app01-3396	122	7	,	,	PUNCT
app01-3396	122	8	it	it	PRON
app01-3396	122	9	is	be	AUX
app01-3396	122	10	wise	wise	ADJ
app01-3396	122	11	to	to	PART
app01-3396	122	12	make	make	VERB
app01-3396	122	13	the	the	DET
app01-3396	122	14	distance	distance	NOUN
app01-3396	122	15	comparison	comparison	NOUN
app01-3396	122	16	threshold	threshold	NOUN
app01-3396	122	17	adaptive	adaptive	ADJ
app01-3396	122	18	,	,	PUNCT
app01-3396	122	19	because	because	SCONJ
app01-3396	122	20	the	the	PRON
app01-3396	122	21	farther	far	ADV
app01-3396	122	22	the	the	DET
app01-3396	122	23	detected	detect	VERB
app01-3396	122	24	obstacle	obstacle	NOUN
app01-3396	122	25	is	be	AUX
app01-3396	122	26	,	,	PUNCT
app01-3396	122	27	the	the	DET
app01-3396	122	28	sparser	sparse	ADJ
app01-3396	122	29	the	the	DET
app01-3396	122	30	measured	measured	ADJ
app01-3396	122	31	points	point	NOUN
app01-3396	122	32	are	be	AUX
app01-3396	122	33	.	.	PUNCT
app01-3396	123	1	scaling	scale	VERB
app01-3396	123	2	the	the	DET
app01-3396	123	3	threshold	threshold	NOUN
app01-3396	123	4	linearly	linearly	ADV
app01-3396	123	5	with	with	ADP
app01-3396	123	6	the	the	DET
app01-3396	123	7	distance	distance	NOUN
app01-3396	123	8	between	between	ADP
app01-3396	123	9	the	the	DET
app01-3396	123	10	working	working	NOUN
app01-3396	123	11	point	point	NOUN
app01-3396	123	12	and	and	CCONJ
app01-3396	123	13	the	the	DET
app01-3396	123	14	robots	robot	NOUN
app01-3396	123	15	position	position	NOUN
app01-3396	123	16	is	be	AUX
app01-3396	123	17	a	a	DET
app01-3396	123	18	good	good	ADJ
app01-3396	123	19	strategy	strategy	NOUN
app01-3396	123	20	.	.	PUNCT
app01-3396	124	1	the	the	DET
app01-3396	124	2	proposed	propose	VERB
app01-3396	124	3	algorithm	algorithm	NOUN
app01-3396	124	4	safely	safely	ADV
app01-3396	124	5	removes	remove	VERB
app01-3396	124	6	noise	noise	NOUN
app01-3396	124	7	from	from	ADP
app01-3396	124	8	too	too	ADV
app01-3396	124	9	dissected	dissected	ADJ
app01-3396	124	10	objects	object	NOUN
app01-3396	124	11	as	as	ADV
app01-3396	124	12	well	well	ADV
app01-3396	124	13	as	as	ADP
app01-3396	124	14	random	random	ADJ
app01-3396	124	15	outliers	outlier	NOUN
app01-3396	124	16	,	,	PUNCT
app01-3396	124	17	because	because	SCONJ
app01-3396	124	18	these	these	PRON
app01-3396	124	19	create	create	VERB
app01-3396	124	20	large	large	ADJ
app01-3396	124	21	number	number	NOUN
app01-3396	124	22	of	of	ADP
app01-3396	124	23	very	very	ADV
app01-3396	124	24	small	small	ADJ
app01-3396	124	25	clusters	cluster	NOUN
app01-3396	124	26	(	(	PUNCT
app01-3396	124	27	typically	typically	ADV
app01-3396	124	28	less	less	ADJ
app01-3396	124	29	than	than	ADP
app01-3396	124	30	ten	ten	NUM
app01-3396	124	31	points	point	NOUN
app01-3396	124	32	)	)	PUNCT
app01-3396	124	33	,	,	PUNCT
app01-3396	124	34	which	which	PRON
app01-3396	124	35	are	be	AUX
app01-3396	124	36	removed	remove	VERB
app01-3396	124	37	in	in	ADP
app01-3396	124	38	the	the	DET
app01-3396	124	39	final	final	ADJ
app01-3396	124	40	stage	stage	NOUN
app01-3396	124	41	of	of	ADP
app01-3396	124	42	the	the	DET
app01-3396	124	43	process	process	NOUN
app01-3396	124	44	.	.	PUNCT
app01-3396	125	1	phantom	phantom	ADJ
app01-3396	125	2	objects	object	NOUN
app01-3396	125	3	are	be	AUX
app01-3396	125	4	not	not	PART
app01-3396	125	5	recognized	recognize	VERB
app01-3396	125	6	.	.	PUNCT
app01-3396	126	1	noise	noise	NOUN
app01-3396	126	2	caused	cause	VERB
app01-3396	126	3	by	by	ADP
app01-3396	126	4	laser	laser	NOUN
app01-3396	126	5	scanner	scanner	NOUN
app01-3396	126	6	itself	itself	PRON
app01-3396	126	7	removes	remove	VERB
app01-3396	126	8	the	the	DET
app01-3396	126	9	following	follow	VERB
app01-3396	126	10	algorithm	algorithm	NOUN
app01-3396	126	11	for	for	ADP
app01-3396	126	12	line	line	NOUN
app01-3396	126	13	extraction	extraction	NOUN
app01-3396	126	14	.	.	PUNCT
app01-3396	127	1	this	this	DET
app01-3396	127	2	theme	theme	NOUN
app01-3396	127	3	is	be	AUX
app01-3396	127	4	directly	directly	ADV
app01-3396	127	5	related	relate	VERB
app01-3396	127	6	to	to	ADP
app01-3396	127	7	line	line	NOUN
app01-3396	127	8	simplification	simplification	NOUN
app01-3396	127	9	algorithms	algorithm	NOUN
app01-3396	127	10	(	(	PUNCT
app01-3396	127	11	because	because	SCONJ
app01-3396	127	12	points	point	NOUN
app01-3396	127	13	in	in	ADP
app01-3396	127	14	a	a	DET
app01-3396	127	15	scan	scan	NOUN
app01-3396	127	16	are	be	AUX
app01-3396	127	17	sorted	sort	VERB
app01-3396	127	18	)	)	PUNCT
app01-3396	127	19	and	and	CCONJ
app01-3396	127	20	both	both	PRON
app01-3396	127	21	of	of	ADP
app01-3396	127	22	these	these	PRON
app01-3396	127	23	are	be	AUX
app01-3396	127	24	discussed	discuss	VERB
app01-3396	127	25	in	in	ADP
app01-3396	127	26	a	a	DET
app01-3396	127	27	lot	lot	NOUN
app01-3396	127	28	of	of	ADP
app01-3396	127	29	fields	field	NOUN
app01-3396	127	30	of	of	ADP
app01-3396	127	31	re24	re24	PROPN
app01-3396	127	32	vol	vol	NOUN
app01-3396	127	33	.	.	PUNCT
app01-3396	128	1	2/2015	2/2015	NUM
app01-3396	128	2	vector	vector	NOUN
app01-3396	128	3	maps	map	NOUN
app01-3396	128	4	in	in	ADP
app01-3396	128	5	mobile	mobile	ADJ
app01-3396	128	6	robotics	robotic	NOUN
app01-3396	128	7	(	(	PUNCT
app01-3396	128	8	a	a	NOUN
app01-3396	128	9	)	)	PUNCT
app01-3396	128	10	.	.	PUNCT
app01-3396	129	1	raw	raw	ADJ
app01-3396	129	2	data	datum	NOUN
app01-3396	129	3	.	.	PUNCT
app01-3396	130	1	(	(	PUNCT
app01-3396	130	2	b	b	X
app01-3396	130	3	)	)	PUNCT
app01-3396	130	4	.	.	PUNCT
app01-3396	131	1	segmentation	segmentation	NOUN
app01-3396	131	2	.	.	PUNCT
app01-3396	132	1	(	(	PUNCT
app01-3396	132	2	c	c	X
app01-3396	132	3	)	)	PUNCT
app01-3396	132	4	.	.	PUNCT
app01-3396	133	1	line	line	NOUN
app01-3396	133	2	extraction	extraction	NOUN
app01-3396	133	3	.	.	PUNCT
app01-3396	134	1	(	(	PUNCT
app01-3396	134	2	d	d	NOUN
app01-3396	134	3	)	)	PUNCT
app01-3396	134	4	.	.	PUNCT
app01-3396	135	1	complete	complete	ADJ
app01-3396	135	2	map	map	NOUN
app01-3396	135	3	.	.	PUNCT
app01-3396	136	1	figure	figure	NOUN
app01-3396	136	2	2	2	NUM
app01-3396	136	3	.	.	PUNCT
app01-3396	136	4	a	a	X
app01-3396	136	5	)	)	PUNCT
app01-3396	136	6	depiction	depiction	NOUN
app01-3396	136	7	of	of	ADP
app01-3396	136	8	all	all	DET
app01-3396	136	9	measured	measured	ADJ
app01-3396	136	10	point	point	NOUN
app01-3396	136	11	clouds	cloud	NOUN
app01-3396	136	12	(	(	PUNCT
app01-3396	136	13	yellow	yellow	ADJ
app01-3396	136	14	)	)	PUNCT
app01-3396	136	15	with	with	ADP
app01-3396	136	16	estimated	estimate	VERB
app01-3396	136	17	robot	robot	NOUN
app01-3396	136	18	path	path	NOUN
app01-3396	136	19	(	(	PUNCT
app01-3396	136	20	green	green	ADJ
app01-3396	136	21	)	)	PUNCT
app01-3396	136	22	.	.	PUNCT
app01-3396	137	1	no	no	DET
app01-3396	137	2	scan	scan	ADJ
app01-3396	137	3	fitting	fitting	ADJ
app01-3396	137	4	or	or	CCONJ
app01-3396	137	5	other	other	ADJ
app01-3396	137	6	postprocessing	postprocessing	NOUN
app01-3396	137	7	is	be	AUX
app01-3396	137	8	used	use	VERB
app01-3396	137	9	,	,	PUNCT
app01-3396	137	10	image	image	NOUN
app01-3396	137	11	corresponds	correspond	VERB
app01-3396	137	12	to	to	ADP
app01-3396	137	13	raw	raw	ADJ
app01-3396	137	14	data	datum	NOUN
app01-3396	137	15	from	from	ADP
app01-3396	137	16	sensors	sensor	NOUN
app01-3396	137	17	.	.	PUNCT
app01-3396	138	1	b	b	X
app01-3396	138	2	)	)	PUNCT
app01-3396	138	3	segmentation	segmentation	NOUN
app01-3396	138	4	of	of	ADP
app01-3396	138	5	one	one	NUM
app01-3396	138	6	scan	scan	NOUN
app01-3396	138	7	is	be	AUX
app01-3396	138	8	shown	show	VERB
app01-3396	138	9	on	on	ADP
app01-3396	138	10	this	this	DET
app01-3396	138	11	figure	figure	NOUN
app01-3396	138	12	.	.	PUNCT
app01-3396	139	1	each	each	DET
app01-3396	139	2	color	color	NOUN
app01-3396	139	3	means	mean	VERB
app01-3396	139	4	a	a	DET
app01-3396	139	5	cluster	cluster	NOUN
app01-3396	139	6	,	,	PUNCT
app01-3396	139	7	which	which	PRON
app01-3396	139	8	is	be	AUX
app01-3396	139	9	believed	believe	VERB
app01-3396	139	10	to	to	PART
app01-3396	139	11	be	be	AUX
app01-3396	139	12	continuous	continuous	ADJ
app01-3396	139	13	edge	edge	NOUN
app01-3396	139	14	in	in	ADP
app01-3396	139	15	reality	reality	NOUN
app01-3396	139	16	and	and	CCONJ
app01-3396	139	17	which	which	PRON
app01-3396	139	18	is	be	AUX
app01-3396	139	19	separate	separate	ADJ
app01-3396	139	20	from	from	ADP
app01-3396	139	21	the	the	DET
app01-3396	139	22	others	other	NOUN
app01-3396	139	23	.	.	PUNCT
app01-3396	140	1	noise	noise	NOUN
app01-3396	140	2	and	and	CCONJ
app01-3396	140	3	outliers	outlier	NOUN
app01-3396	140	4	are	be	AUX
app01-3396	140	5	filtered	filter	VERB
app01-3396	140	6	out	out	ADP
app01-3396	140	7	and	and	CCONJ
app01-3396	140	8	not	not	PART
app01-3396	140	9	displayed	display	VERB
app01-3396	140	10	.	.	PUNCT
app01-3396	141	1	c	c	X
app01-3396	141	2	)	)	PUNCT
app01-3396	141	3	line	line	NOUN
app01-3396	141	4	extraction	extraction	NOUN
app01-3396	141	5	in	in	ADP
app01-3396	141	6	segmented	segment	VERB
app01-3396	141	7	point	point	NOUN
app01-3396	141	8	cloud	cloud	NOUN
app01-3396	141	9	(	(	PUNCT
app01-3396	141	10	black	black	NOUN
app01-3396	141	11	)	)	PUNCT
app01-3396	141	12	.	.	PUNCT
app01-3396	142	1	each	each	DET
app01-3396	142	2	cluster	cluster	NOUN
app01-3396	142	3	is	be	AUX
app01-3396	142	4	approximated	approximate	VERB
app01-3396	142	5	by	by	ADP
app01-3396	142	6	a	a	DET
app01-3396	142	7	line	line	NOUN
app01-3396	142	8	or	or	CCONJ
app01-3396	142	9	a	a	DET
app01-3396	142	10	poly	poly	ADJ
app01-3396	142	11	-	-	PUNCT
app01-3396	142	12	line	line	NOUN
app01-3396	142	13	(	(	PUNCT
app01-3396	142	14	red	red	ADJ
app01-3396	142	15	)	)	PUNCT
app01-3396	142	16	.	.	PUNCT
app01-3396	143	1	d	d	X
app01-3396	143	2	)	)	PUNCT
app01-3396	143	3	a	a	DET
app01-3396	143	4	map	map	NOUN
app01-3396	143	5	composed	compose	VERB
app01-3396	143	6	using	use	VERB
app01-3396	143	7	the	the	DET
app01-3396	143	8	line	line	NOUN
app01-3396	143	9	similarity	similarity	NOUN
app01-3396	143	10	criterion	criterion	NOUN
app01-3396	143	11	.	.	PUNCT
app01-3396	144	1	red	red	ADJ
app01-3396	144	2	edges	edge	NOUN
app01-3396	144	3	are	be	AUX
app01-3396	144	4	long	long	ADJ
app01-3396	144	5	enough	enough	ADV
app01-3396	144	6	to	to	PART
app01-3396	144	7	participate	participate	VERB
app01-3396	144	8	in	in	ADP
app01-3396	144	9	scan	scan	ADJ
app01-3396	144	10	fitting	fitting	ADJ
app01-3396	144	11	process	process	NOUN
app01-3396	144	12	,	,	PUNCT
app01-3396	144	13	blue	blue	ADJ
app01-3396	144	14	edges	edge	NOUN
app01-3396	144	15	are	be	AUX
app01-3396	144	16	shorter	short	ADJ
app01-3396	144	17	and	and	CCONJ
app01-3396	144	18	just	just	ADV
app01-3396	144	19	add	add	VERB
app01-3396	144	20	details	detail	NOUN
app01-3396	144	21	to	to	ADP
app01-3396	144	22	the	the	DET
app01-3396	144	23	map	map	NOUN
app01-3396	144	24	.	.	PUNCT
app01-3396	145	1	green	green	ADJ
app01-3396	145	2	trajectory	trajectory	NOUN
app01-3396	145	3	is	be	AUX
app01-3396	145	4	acquired	acquire	VERB
app01-3396	145	5	from	from	ADP
app01-3396	145	6	odometry	odometry	NOUN
app01-3396	145	7	and	and	CCONJ
app01-3396	145	8	dark	dark	ADJ
app01-3396	145	9	blue	blue	ADJ
app01-3396	145	10	one	one	NOUN
app01-3396	145	11	is	be	AUX
app01-3396	145	12	an	an	DET
app01-3396	145	13	estimation	estimation	NOUN
app01-3396	145	14	of	of	ADP
app01-3396	145	15	true	true	ADJ
app01-3396	145	16	trajectory	trajectory	NOUN
app01-3396	145	17	.	.	PUNCT
app01-3396	146	1	search	search	NOUN
app01-3396	146	2	.	.	PUNCT
app01-3396	147	1	in	in	ADP
app01-3396	147	2	addition	addition	NOUN
app01-3396	147	3	to	to	ADP
app01-3396	147	4	robotics	robotic	NOUN
app01-3396	147	5	,	,	PUNCT
app01-3396	147	6	similar	similar	ADJ
app01-3396	147	7	approaches	approach	NOUN
app01-3396	147	8	can	can	AUX
app01-3396	147	9	be	be	AUX
app01-3396	147	10	found	find	VERB
app01-3396	147	11	in	in	ADP
app01-3396	147	12	cartography	cartography	NOUN
app01-3396	147	13	,	,	PUNCT
app01-3396	147	14	computer	computer	NOUN
app01-3396	147	15	vision	vision	NOUN
app01-3396	147	16	and	and	CCONJ
app01-3396	147	17	computer	computer	NOUN
app01-3396	147	18	graphics	graphic	NOUN
app01-3396	147	19	.	.	PUNCT
app01-3396	148	1	plenty	plenty	NOUN
app01-3396	148	2	of	of	ADP
app01-3396	148	3	algorithms	algorithm	NOUN
app01-3396	148	4	were	be	AUX
app01-3396	148	5	developed	develop	VERB
app01-3396	148	6	during	during	ADP
app01-3396	148	7	last	last	ADJ
app01-3396	148	8	decades	decade	NOUN
app01-3396	148	9	,	,	PUNCT
app01-3396	148	10	having	have	VERB
app01-3396	148	11	different	different	ADJ
app01-3396	148	12	properties	property	NOUN
app01-3396	148	13	,	,	PUNCT
app01-3396	148	14	such	such	ADJ
app01-3396	148	15	as	as	ADP
app01-3396	148	16	speed	speed	NOUN
app01-3396	148	17	,	,	PUNCT
app01-3396	148	18	memory	memory	NOUN
app01-3396	148	19	requirements	requirement	NOUN
app01-3396	148	20	and	and	CCONJ
app01-3396	148	21	quality	quality	NOUN
app01-3396	148	22	of	of	ADP
app01-3396	148	23	approximation	approximation	NOUN
app01-3396	148	24	.	.	PUNCT
app01-3396	149	1	good	good	ADJ
app01-3396	149	2	survey	survey	NOUN
app01-3396	149	3	comparing	compare	VERB
app01-3396	149	4	line	line	NOUN
app01-3396	149	5	extraction	extraction	NOUN
app01-3396	149	6	/	/	SYM
app01-3396	149	7	simplification	simplification	NOUN
app01-3396	149	8	algorithms	algorithm	NOUN
app01-3396	149	9	in	in	ADP
app01-3396	149	10	robotics	robotic	NOUN
app01-3396	149	11	is	be	AUX
app01-3396	149	12	[	[	X
app01-3396	149	13	18	18	NUM
app01-3396	149	14	]	]	PUNCT
app01-3396	149	15	.	.	PUNCT
app01-3396	150	1	results	result	NOUN
app01-3396	150	2	of	of	ADP
app01-3396	150	3	this	this	DET
app01-3396	150	4	paper	paper	NOUN
app01-3396	150	5	clearly	clearly	ADV
app01-3396	150	6	show	show	VERB
app01-3396	150	7	that	that	SCONJ
app01-3396	150	8	algorithms	algorithm	NOUN
app01-3396	150	9	such	such	ADJ
app01-3396	150	10	as	as	ADP
app01-3396	150	11	ransac	ransac	NOUN
app01-3396	150	12	or	or	CCONJ
app01-3396	150	13	hough	hough	PROPN
app01-3396	150	14	transform	transform	NOUN
app01-3396	150	15	are	be	AUX
app01-3396	150	16	not	not	PART
app01-3396	150	17	fast	fast	ADJ
app01-3396	150	18	enough	enough	ADV
app01-3396	150	19	for	for	ADP
app01-3396	150	20	online	online	ADJ
app01-3396	150	21	processing	processing	NOUN
app01-3396	150	22	of	of	ADP
app01-3396	150	23	point	point	NOUN
app01-3396	150	24	clouds	cloud	NOUN
app01-3396	150	25	.	.	PUNCT
app01-3396	151	1	good	good	ADJ
app01-3396	151	2	performance	performance	NOUN
app01-3396	151	3	was	be	AUX
app01-3396	151	4	observed	observe	VERB
app01-3396	151	5	when	when	SCONJ
app01-3396	151	6	using	use	VERB
app01-3396	151	7	splitmerge	splitmerge	NOUN
app01-3396	151	8	,	,	PUNCT
app01-3396	151	9	incremental	incremental	ADJ
app01-3396	151	10	and	and	CCONJ
app01-3396	151	11	line	line	NOUN
app01-3396	151	12	regression	regression	NOUN
app01-3396	151	13	algorithms	algorithm	NOUN
app01-3396	151	14	.	.	PUNCT
app01-3396	152	1	split	split	NOUN
app01-3396	152	2	-	-	PUNCT
app01-3396	152	3	merge	merge	NOUN
app01-3396	152	4	(	(	PUNCT
app01-3396	152	5	also	also	ADV
app01-3396	152	6	known	know	VERB
app01-3396	152	7	as	as	ADP
app01-3396	152	8	douglas	douglas	PROPN
app01-3396	152	9	-	-	PUNCT
app01-3396	152	10	peucker	peucker	NOUN
app01-3396	152	11	algorithm	algorithm	NOUN
app01-3396	152	12	[	[	X
app01-3396	152	13	19	19	NUM
app01-3396	152	14	]	]	PUNCT
app01-3396	152	15	)	)	PUNCT
app01-3396	152	16	was	be	AUX
app01-3396	152	17	the	the	DET
app01-3396	152	18	fastest	fast	ADJ
app01-3396	152	19	one	one	NUM
app01-3396	152	20	and	and	CCONJ
app01-3396	152	21	belongs	belong	VERB
app01-3396	152	22	to	to	ADP
app01-3396	152	23	wide	wide	ADJ
app01-3396	152	24	family	family	NOUN
app01-3396	152	25	of	of	ADP
app01-3396	152	26	o(n	o(n	PROPN
app01-3396	152	27	)	)	PUNCT
app01-3396	152	28	and	and	CCONJ
app01-3396	152	29	o(n	o(n	PROPN
app01-3396	152	30	log(n	log(n	NOUN
app01-3396	152	31	)	)	PUNCT
app01-3396	152	32	)	)	PUNCT
app01-3396	152	33	complex	complex	ADJ
app01-3396	152	34	algorithms	algorithm	NOUN
app01-3396	152	35	used	use	VERB
app01-3396	152	36	in	in	ADP
app01-3396	152	37	cartography	cartography	NOUN
app01-3396	152	38	[	[	X
app01-3396	152	39	20	20	NUM
app01-3396	152	40	]	]	PUNCT
app01-3396	152	41	.	.	PUNCT
app01-3396	153	1	main	main	ADJ
app01-3396	153	2	drawback	drawback	NOUN
app01-3396	153	3	of	of	ADP
app01-3396	153	4	these	these	DET
app01-3396	153	5	algorithms	algorithm	NOUN
app01-3396	153	6	is	be	AUX
app01-3396	153	7	that	that	SCONJ
app01-3396	153	8	they	they	PRON
app01-3396	153	9	are	be	AUX
app01-3396	153	10	based	base	VERB
app01-3396	153	11	on	on	ADP
app01-3396	153	12	point	point	NOUN
app01-3396	153	13	elimination	elimination	NOUN
app01-3396	153	14	,	,	PUNCT
app01-3396	153	15	and	and	CCONJ
app01-3396	153	16	therefore	therefore	ADV
app01-3396	153	17	,	,	PUNCT
app01-3396	153	18	a	a	DET
app01-3396	153	19	lot	lot	NOUN
app01-3396	153	20	of	of	ADP
app01-3396	153	21	information	information	NOUN
app01-3396	153	22	is	be	AUX
app01-3396	153	23	discarded	discard	VERB
app01-3396	153	24	.	.	PUNCT
app01-3396	154	1	the	the	DET
app01-3396	154	2	edge	edge	NOUN
app01-3396	154	3	extraction	extraction	NOUN
app01-3396	154	4	algorithm	algorithm	NOUN
app01-3396	154	5	from	from	ADP
app01-3396	154	6	the	the	DET
app01-3396	154	7	diagram	diagram	NOUN
app01-3396	154	8	in	in	ADP
app01-3396	154	9	fig	fig	NOUN
app01-3396	154	10	.	.	PUNCT
app01-3396	155	1	1	1	NUM
app01-3396	155	2	is	be	AUX
app01-3396	155	3	based	base	VERB
app01-3396	155	4	on	on	ADP
app01-3396	155	5	line	line	NOUN
app01-3396	155	6	regression	regression	NOUN
app01-3396	155	7	and	and	CCONJ
app01-3396	155	8	works	work	NOUN
app01-3396	155	9	as	as	SCONJ
app01-3396	155	10	follows	follow	VERB
app01-3396	155	11	:	:	PUNCT
app01-3396	155	12	it	it	PRON
app01-3396	155	13	passes	pass	VERB
app01-3396	155	14	through	through	ADP
app01-3396	155	15	the	the	DET
app01-3396	155	16	cluster	cluster	NOUN
app01-3396	155	17	and	and	CCONJ
app01-3396	155	18	computes	compute	VERB
app01-3396	155	19	the	the	DET
app01-3396	155	20	least	least	ADJ
app01-3396	155	21	square	square	ADJ
app01-3396	155	22	approximation	approximation	NOUN
app01-3396	155	23	and	and	CCONJ
app01-3396	155	24	the	the	DET
app01-3396	155	25	variance	variance	NOUN
app01-3396	155	26	of	of	ADP
app01-3396	155	27	selected	select	VERB
app01-3396	155	28	set	set	NOUN
app01-3396	155	29	of	of	ADP
app01-3396	155	30	points	point	NOUN
app01-3396	155	31	.	.	PUNCT
app01-3396	156	1	if	if	SCONJ
app01-3396	156	2	the	the	DET
app01-3396	156	3	variance	variance	NOUN
app01-3396	156	4	gets	get	VERB
app01-3396	156	5	over	over	ADP
app01-3396	156	6	predefined	predefine	VERB
app01-3396	156	7	limit	limit	NOUN
app01-3396	156	8	,	,	PUNCT
app01-3396	156	9	the	the	DET
app01-3396	156	10	line	line	NOUN
app01-3396	156	11	is	be	AUX
app01-3396	156	12	saved	save	VERB
app01-3396	156	13	,	,	PUNCT
app01-3396	156	14	and	and	CCONJ
app01-3396	156	15	algorithm	algorithm	NOUN
app01-3396	156	16	proceeds	proceed	VERB
app01-3396	156	17	computing	compute	VERB
app01-3396	156	18	new	new	ADJ
app01-3396	156	19	line	line	NOUN
app01-3396	156	20	.	.	PUNCT
app01-3396	157	1	the	the	DET
app01-3396	157	2	last	last	ADJ
app01-3396	157	3	line	line	NOUN
app01-3396	157	4	terminates	terminate	VERB
app01-3396	157	5	at	at	ADP
app01-3396	157	6	the	the	DET
app01-3396	157	7	end	end	NOUN
app01-3396	157	8	of	of	ADP
app01-3396	157	9	the	the	DET
app01-3396	157	10	cluster	cluster	NOUN
app01-3396	157	11	.	.	PUNCT
app01-3396	158	1	this	this	DET
app01-3396	158	2	approach	approach	NOUN
app01-3396	158	3	is	be	AUX
app01-3396	158	4	advantageous	advantageous	ADJ
app01-3396	158	5	,	,	PUNCT
app01-3396	158	6	because	because	SCONJ
app01-3396	158	7	all	all	DET
app01-3396	158	8	points	point	NOUN
app01-3396	158	9	contributes	contribute	VERB
app01-3396	158	10	to	to	ADP
app01-3396	158	11	the	the	DET
app01-3396	158	12	result	result	NOUN
app01-3396	158	13	and	and	CCONJ
app01-3396	158	14	contained	contain	VERB
app01-3396	158	15	information	information	NOUN
app01-3396	158	16	is	be	AUX
app01-3396	158	17	better	well	ADV
app01-3396	158	18	utilized	utilize	VERB
app01-3396	158	19	.	.	PUNCT
app01-3396	159	1	although	although	SCONJ
app01-3396	159	2	loss	loss	NOUN
app01-3396	159	3	of	of	ADP
app01-3396	159	4	information	information	NOUN
app01-3396	159	5	was	be	AUX
app01-3396	159	6	overcome	overcome	VERB
app01-3396	159	7	by	by	ADP
app01-3396	159	8	the	the	DET
app01-3396	159	9	least	least	ADJ
app01-3396	159	10	squares	square	NOUN
app01-3396	159	11	approximation	approximation	NOUN
app01-3396	159	12	,	,	PUNCT
app01-3396	159	13	the	the	DET
app01-3396	159	14	algorithm	algorithm	NOUN
app01-3396	159	15	is	be	AUX
app01-3396	159	16	still	still	ADV
app01-3396	159	17	not	not	PART
app01-3396	159	18	optimal	optimal	ADJ
app01-3396	159	19	in	in	ADP
app01-3396	159	20	terms	term	NOUN
app01-3396	159	21	of	of	ADP
app01-3396	159	22	“	"	PUNCT
app01-3396	159	23	best	good	ADJ
app01-3396	159	24	fit	fit	ADJ
app01-3396	159	25	poly	poly	ADJ
app01-3396	159	26	-	-	PUNCT
app01-3396	159	27	line	line	NOUN
app01-3396	159	28	”	"	PUNCT
app01-3396	159	29	.	.	PUNCT
app01-3396	160	1	all	all	PRON
app01-3396	160	2	but	but	SCONJ
app01-3396	160	3	the	the	DET
app01-3396	160	4	last	last	ADJ
app01-3396	160	5	line	line	NOUN
app01-3396	160	6	have	have	AUX
app01-3396	160	7	maximal	maximal	ADV
app01-3396	160	8	permitted	permit	VERB
app01-3396	160	9	variance	variance	NOUN
app01-3396	160	10	,	,	PUNCT
app01-3396	160	11	which	which	PRON
app01-3396	160	12	means	mean	VERB
app01-3396	160	13	,	,	PUNCT
app01-3396	160	14	that	that	SCONJ
app01-3396	160	15	for	for	ADP
app01-3396	160	16	too	too	ADV
app01-3396	160	17	high	high	ADJ
app01-3396	160	18	threshold	threshold	NOUN
app01-3396	160	19	lines	line	NOUN
app01-3396	160	20	go	go	VERB
app01-3396	160	21	over	over	ADP
app01-3396	160	22	corners	corner	NOUN
app01-3396	160	23	and	and	CCONJ
app01-3396	160	24	an	an	DET
app01-3396	160	25	approximation	approximation	NOUN
app01-3396	160	26	is	be	AUX
app01-3396	160	27	worse	bad	ADJ
app01-3396	160	28	,	,	PUNCT
app01-3396	160	29	than	than	SCONJ
app01-3396	160	30	it	it	PRON
app01-3396	160	31	could	could	AUX
app01-3396	160	32	be	be	AUX
app01-3396	160	33	.	.	PUNCT
app01-3396	161	1	more	more	ADV
app01-3396	161	2	technically	technically	ADV
app01-3396	161	3	,	,	PUNCT
app01-3396	161	4	the	the	DET
app01-3396	161	5	total	total	ADJ
app01-3396	161	6	sum	sum	NOUN
app01-3396	161	7	of	of	ADP
app01-3396	161	8	squared	squared	ADJ
app01-3396	161	9	distances	distance	NOUN
app01-3396	161	10	from	from	ADP
app01-3396	161	11	each	each	DET
app01-3396	161	12	point	point	NOUN
app01-3396	161	13	to	to	ADP
app01-3396	161	14	its	its	PRON
app01-3396	161	15	regression	regression	NOUN
app01-3396	161	16	line	line	NOUN
app01-3396	161	17	is	be	AUX
app01-3396	161	18	higher	high	ADJ
app01-3396	161	19	,	,	PUNCT
app01-3396	161	20	than	than	SCONJ
app01-3396	161	21	is	be	AUX
app01-3396	161	22	achievable	achievable	ADJ
app01-3396	161	23	with	with	ADP
app01-3396	161	24	given	give	VERB
app01-3396	161	25	number	number	NOUN
app01-3396	161	26	of	of	ADP
app01-3396	161	27	lines	line	NOUN
app01-3396	161	28	.	.	PUNCT
app01-3396	162	1	fine	fine	ADJ
app01-3396	162	2	tuning	tuning	NOUN
app01-3396	162	3	of	of	ADP
app01-3396	162	4	the	the	DET
app01-3396	162	5	threshold	threshold	NOUN
app01-3396	162	6	is	be	AUX
app01-3396	162	7	therefore	therefore	ADV
app01-3396	162	8	necessary	necessary	ADJ
app01-3396	162	9	.	.	PUNCT
app01-3396	163	1	complexity	complexity	NOUN
app01-3396	163	2	of	of	ADP
app01-3396	163	3	the	the	DET
app01-3396	163	4	algorithm	algorithm	NOUN
app01-3396	163	5	is	be	AUX
app01-3396	163	6	o(n	o(n	NUM
app01-3396	163	7	)	)	PUNCT
app01-3396	163	8	.	.	PUNCT
app01-3396	164	1	result	result	NOUN
app01-3396	164	2	of	of	ADP
app01-3396	164	3	line	line	NOUN
app01-3396	164	4	extraction	extraction	NOUN
app01-3396	164	5	is	be	AUX
app01-3396	164	6	depicted	depict	VERB
app01-3396	164	7	in	in	ADP
app01-3396	164	8	fig	fig	NOUN
app01-3396	164	9	.	.	PUNCT
app01-3396	165	1	2c	2c	NOUN
app01-3396	165	2	.	.	PUNCT
app01-3396	166	1	2.2	2.2	NUM
app01-3396	166	2	.	.	PUNCT
app01-3396	167	1	scan	scan	VERB
app01-3396	167	2	fitting	fitting	ADJ
app01-3396	167	3	when	when	SCONJ
app01-3396	167	4	updating	update	VERB
app01-3396	167	5	a	a	DET
app01-3396	167	6	map	map	NOUN
app01-3396	167	7	with	with	ADP
app01-3396	167	8	a	a	DET
app01-3396	167	9	new	new	ADJ
app01-3396	167	10	scan	scan	NOUN
app01-3396	167	11	,	,	PUNCT
app01-3396	167	12	corresponding	corresponding	ADJ
app01-3396	167	13	edges	edge	NOUN
app01-3396	167	14	must	must	AUX
app01-3396	167	15	be	be	AUX
app01-3396	167	16	selected	select	VERB
app01-3396	167	17	at	at	ADP
app01-3396	167	18	first	first	ADV
app01-3396	167	19	.	.	PUNCT
app01-3396	168	1	it	it	PRON
app01-3396	168	2	is	be	AUX
app01-3396	168	3	responsibility	responsibility	NOUN
app01-3396	168	4	of	of	ADP
app01-3396	168	5	an	an	DET
app01-3396	168	6	operator	operator	NOUN
app01-3396	168	7	or	or	CCONJ
app01-3396	168	8	a	a	DET
app01-3396	168	9	path	path	NOUN
app01-3396	168	10	planing	planing	NOUN
app01-3396	168	11	algorithm	algorithm	NOUN
app01-3396	168	12	to	to	PART
app01-3396	168	13	obtain	obtain	VERB
app01-3396	168	14	new	new	ADJ
app01-3396	168	15	scans	scan	NOUN
app01-3396	168	16	frequently	frequently	ADV
app01-3396	168	17	enough	enough	ADJ
app01-3396	168	18	to	to	PART
app01-3396	168	19	ensure	ensure	VERB
app01-3396	168	20	overlap	overlap	NOUN
app01-3396	168	21	of	of	ADP
app01-3396	168	22	a	a	DET
app01-3396	168	23	new	new	ADJ
app01-3396	168	24	scan	scan	NOUN
app01-3396	168	25	and	and	CCONJ
app01-3396	168	26	the	the	DET
app01-3396	168	27	map	map	NOUN
app01-3396	168	28	.	.	PUNCT
app01-3396	169	1	this	this	PRON
app01-3396	169	2	means	mean	VERB
app01-3396	169	3	the	the	DET
app01-3396	169	4	robot	robot	NOUN
app01-3396	169	5	always	always	ADV
app01-3396	169	6	has	have	VERB
app01-3396	169	7	to	to	PART
app01-3396	169	8	see	see	VERB
app01-3396	169	9	part	part	NOUN
app01-3396	169	10	of	of	ADP
app01-3396	169	11	the	the	DET
app01-3396	169	12	already	already	ADV
app01-3396	169	13	known	know	VERB
app01-3396	169	14	environment	environment	NOUN
app01-3396	169	15	(	(	PUNCT
app01-3396	169	16	except	except	SCONJ
app01-3396	169	17	the	the	DET
app01-3396	169	18	first	first	ADJ
app01-3396	169	19	scan	scan	NOUN
app01-3396	169	20	of	of	ADP
app01-3396	169	21	course	course	NOUN
app01-3396	169	22	)	)	PUNCT
app01-3396	169	23	.	.	PUNCT
app01-3396	170	1	acquiring	acquire	VERB
app01-3396	170	2	more	more	ADJ
app01-3396	170	3	scans	scan	NOUN
app01-3396	170	4	from	from	ADP
app01-3396	170	5	one	one	NUM
app01-3396	170	6	location	location	NOUN
app01-3396	170	7	leads	lead	VERB
app01-3396	170	8	to	to	ADP
app01-3396	170	9	a	a	DET
app01-3396	170	10	more	more	ADV
app01-3396	170	11	precise	precise	ADJ
app01-3396	170	12	map	map	NOUN
app01-3396	170	13	(	(	PUNCT
app01-3396	170	14	averaging	average	VERB
app01-3396	170	15	effect	effect	NOUN
app01-3396	170	16	)	)	PUNCT
app01-3396	170	17	.	.	PUNCT
app01-3396	171	1	scan	scan	PROPN
app01-3396	171	2	fitting	fitting	ADJ
app01-3396	171	3	is	be	AUX
app01-3396	171	4	the	the	DET
app01-3396	171	5	point	point	NOUN
app01-3396	171	6	,	,	PUNCT
app01-3396	171	7	where	where	SCONJ
app01-3396	171	8	crude	crude	ADJ
app01-3396	171	9	pose	pose	NOUN
app01-3396	171	10	estimation	estimation	NOUN
app01-3396	171	11	comes	come	VERB
app01-3396	171	12	in	in	ADP
app01-3396	171	13	useful	useful	ADJ
app01-3396	171	14	,	,	PUNCT
app01-3396	171	15	because	because	SCONJ
app01-3396	171	16	searching	search	VERB
app01-3396	171	17	through	through	ADP
app01-3396	171	18	the	the	DET
app01-3396	171	19	whole	whole	ADJ
app01-3396	171	20	map	map	NOUN
app01-3396	171	21	would	would	AUX
app01-3396	171	22	be	be	AUX
app01-3396	171	23	very	very	ADV
app01-3396	171	24	computationally	computationally	ADV
app01-3396	171	25	expensive	expensive	ADJ
app01-3396	171	26	.	.	PUNCT
app01-3396	172	1	knowing	know	VERB
app01-3396	172	2	approximate	approximate	ADJ
app01-3396	172	3	pose	pose	NOUN
app01-3396	172	4	and	and	CCONJ
app01-3396	172	5	its	its	PRON
app01-3396	172	6	maximal	maximal	ADJ
app01-3396	172	7	error	error	NOUN
app01-3396	172	8	allows	allow	VERB
app01-3396	172	9	us	we	PRON
app01-3396	172	10	to	to	PART
app01-3396	172	11	considerably	considerably	ADV
app01-3396	172	12	reduce	reduce	VERB
app01-3396	172	13	search	search	NOUN
app01-3396	172	14	space	space	NOUN
app01-3396	172	15	and	and	CCONJ
app01-3396	172	16	keep	keep	VERB
app01-3396	172	17	computational	computational	ADJ
app01-3396	172	18	complexity	complexity	NOUN
app01-3396	172	19	constant	constant	ADJ
app01-3396	172	20	,	,	PUNCT
app01-3396	172	21	independent	independent	ADJ
app01-3396	172	22	on	on	ADP
app01-3396	172	23	the	the	DET
app01-3396	172	24	size	size	NOUN
app01-3396	172	25	of	of	ADP
app01-3396	172	26	the	the	DET
app01-3396	172	27	whole	whole	ADJ
app01-3396	172	28	map	map	NOUN
app01-3396	172	29	(	(	PUNCT
app01-3396	172	30	assuming	assume	VERB
app01-3396	172	31	the	the	DET
app01-3396	172	32	number	number	NOUN
app01-3396	172	33	of	of	ADP
app01-3396	172	34	visible	visible	ADJ
app01-3396	172	35	details	detail	NOUN
app01-3396	172	36	is	be	AUX
app01-3396	172	37	comparable	comparable	ADJ
app01-3396	172	38	across	across	ADP
app01-3396	172	39	the	the	DET
app01-3396	172	40	map	map	NOUN
app01-3396	172	41	)	)	PUNCT
app01-3396	172	42	.	.	PUNCT
app01-3396	173	1	if	if	SCONJ
app01-3396	173	2	the	the	DET
app01-3396	173	3	robot	robot	NOUN
app01-3396	173	4	is	be	AUX
app01-3396	173	5	suddenly	suddenly	ADV
app01-3396	173	6	moved	move	VERB
app01-3396	173	7	far	far	ADV
app01-3396	173	8	away	away	ADV
app01-3396	173	9	from	from	ADP
app01-3396	173	10	its	its	PRON
app01-3396	173	11	previous	previous	ADJ
app01-3396	173	12	location	location	NOUN
app01-3396	173	13	,	,	PUNCT
app01-3396	173	14	it	it	PRON
app01-3396	173	15	becomes	becomes	AUX
app01-3396	173	16	lost	lose	VERB
app01-3396	173	17	and	and	CCONJ
app01-3396	173	18	the	the	DET
app01-3396	173	19	algorithm	algorithm	NOUN
app01-3396	173	20	is	be	AUX
app01-3396	173	21	not	not	PART
app01-3396	173	22	capable	capable	ADJ
app01-3396	173	23	of	of	ADP
app01-3396	173	24	working	work	VERB
app01-3396	173	25	correctly	correctly	ADV
app01-3396	173	26	anymore	anymore	ADV
app01-3396	173	27	.	.	PUNCT
app01-3396	174	1	only	only	ADV
app01-3396	174	2	long	long	ADJ
app01-3396	174	3	enough	enough	ADJ
app01-3396	174	4	edges	edge	NOUN
app01-3396	174	5	are	be	AUX
app01-3396	174	6	used	use	VERB
app01-3396	174	7	for	for	ADP
app01-3396	174	8	the	the	DET
app01-3396	174	9	process	process	NOUN
app01-3396	174	10	,	,	PUNCT
app01-3396	174	11	because	because	SCONJ
app01-3396	174	12	the	the	DET
app01-3396	174	13	shorter	short	ADJ
app01-3396	174	14	ones	one	NOUN
app01-3396	174	15	are	be	AUX
app01-3396	174	16	not	not	PART
app01-3396	174	17	determined	determine	VERB
app01-3396	174	18	with	with	ADP
app01-3396	174	19	a	a	DET
app01-3396	174	20	sufficient	sufficient	ADJ
app01-3396	174	21	precision	precision	NOUN
app01-3396	174	22	.	.	PUNCT
app01-3396	175	1	the	the	DET
app01-3396	175	2	maximal	maximal	ADJ
app01-3396	175	3	angular	angular	ADJ
app01-3396	175	4	error	error	NOUN
app01-3396	175	5	of	of	ADP
app01-3396	175	6	the	the	DET
app01-3396	175	7	pose	pose	NOUN
app01-3396	175	8	estimation	estimation	NOUN
app01-3396	175	9	is	be	AUX
app01-3396	175	10	directly	directly	ADV
app01-3396	175	11	used	use	VERB
app01-3396	175	12	as	as	ADP
app01-3396	175	13	the	the	DET
app01-3396	175	14	maximal	maximal	ADJ
app01-3396	175	15	angle	angle	NOUN
app01-3396	175	16	between	between	ADP
app01-3396	175	17	possibly	possibly	ADV
app01-3396	175	18	similar	similar	ADJ
app01-3396	175	19	edges	edge	NOUN
app01-3396	175	20	.	.	PUNCT
app01-3396	176	1	if	if	SCONJ
app01-3396	176	2	the	the	DET
app01-3396	176	3	angle	angle	NOUN
app01-3396	176	4	is	be	AUX
app01-3396	176	5	inside	inside	ADP
app01-3396	176	6	a	a	DET
app01-3396	176	7	tolerance	tolerance	NOUN
app01-3396	176	8	,	,	PUNCT
app01-3396	176	9	shortest	short	ADJ
app01-3396	176	10	distances	distance	NOUN
app01-3396	176	11	of	of	ADP
app01-3396	176	12	end	end	NOUN
app01-3396	176	13	points	point	NOUN
app01-3396	176	14	of	of	ADP
app01-3396	176	15	first	first	ADJ
app01-3396	176	16	edge	edge	NOUN
app01-3396	176	17	to	to	ADP
app01-3396	176	18	the	the	DET
app01-3396	176	19	second	second	ADJ
app01-3396	176	20	edge	edge	NOUN
app01-3396	176	21	are	be	AUX
app01-3396	176	22	computed	compute	VERB
app01-3396	176	23	.	.	PUNCT
app01-3396	177	1	if	if	SCONJ
app01-3396	177	2	at	at	ADV
app01-3396	177	3	least	least	ADV
app01-3396	177	4	25	25	NUM
app01-3396	177	5	ales	ale	NOUN
app01-3396	177	6	jelinek	jelinek	PROPN
app01-3396	177	7	acta	acta	PROPN
app01-3396	177	8	polytechnica	polytechnica	PROPN
app01-3396	177	9	ctu	ctu	NOUN
app01-3396	177	10	proceedings	proceeding	NOUN
app01-3396	177	11	one	one	NUM
app01-3396	177	12	is	be	AUX
app01-3396	177	13	shorter	short	ADJ
app01-3396	177	14	than	than	ADP
app01-3396	177	15	maximal	maximal	ADJ
app01-3396	177	16	permitted	permit	VERB
app01-3396	177	17	shift	shift	NOUN
app01-3396	177	18	between	between	ADP
app01-3396	177	19	two	two	NUM
app01-3396	177	20	scans	scan	NOUN
app01-3396	177	21	,	,	PUNCT
app01-3396	177	22	edges	edge	NOUN
app01-3396	177	23	are	be	AUX
app01-3396	177	24	overlapping	overlap	VERB
app01-3396	177	25	each	each	DET
app01-3396	177	26	other	other	ADJ
app01-3396	177	27	and	and	CCONJ
app01-3396	177	28	can	can	AUX
app01-3396	177	29	belong	belong	VERB
app01-3396	177	30	to	to	ADP
app01-3396	177	31	one	one	NUM
app01-3396	177	32	real	real	ADJ
app01-3396	177	33	edge	edge	NOUN
app01-3396	177	34	.	.	PUNCT
app01-3396	178	1	there	there	PRON
app01-3396	178	2	are	be	VERB
app01-3396	178	3	three	three	NUM
app01-3396	178	4	possible	possible	ADJ
app01-3396	178	5	situations	situation	NOUN
app01-3396	178	6	after	after	ADP
app01-3396	178	7	this	this	DET
app01-3396	178	8	step	step	NOUN
app01-3396	178	9	.	.	PUNCT
app01-3396	179	1	for	for	ADP
app01-3396	179	2	some	some	DET
app01-3396	179	3	edges	edge	NOUN
app01-3396	179	4	from	from	ADP
app01-3396	179	5	the	the	DET
app01-3396	179	6	new	new	ADJ
app01-3396	179	7	scan	scan	NOUN
app01-3396	179	8	,	,	PUNCT
app01-3396	179	9	there	there	PRON
app01-3396	179	10	is	be	VERB
app01-3396	179	11	no	no	DET
app01-3396	179	12	similar	similar	ADJ
app01-3396	179	13	one	one	NOUN
app01-3396	179	14	in	in	ADP
app01-3396	179	15	the	the	DET
app01-3396	179	16	map	map	NOUN
app01-3396	179	17	.	.	PUNCT
app01-3396	180	1	these	these	PRON
app01-3396	180	2	probably	probably	ADV
app01-3396	180	3	belong	belong	VERB
app01-3396	180	4	to	to	ADP
app01-3396	180	5	an	an	DET
app01-3396	180	6	area	area	NOUN
app01-3396	180	7	which	which	PRON
app01-3396	180	8	was	be	AUX
app01-3396	180	9	not	not	PART
app01-3396	180	10	explored	explore	VERB
app01-3396	180	11	yet	yet	ADV
app01-3396	180	12	,	,	PUNCT
app01-3396	180	13	or	or	CCONJ
app01-3396	180	14	where	where	SCONJ
app01-3396	180	15	only	only	ADJ
app01-3396	180	16	short	short	ADJ
app01-3396	180	17	edges	edge	NOUN
app01-3396	180	18	were	be	AUX
app01-3396	180	19	determined	determine	VERB
app01-3396	180	20	.	.	PUNCT
app01-3396	181	1	new	new	ADJ
app01-3396	181	2	edges	edge	NOUN
app01-3396	181	3	do	do	AUX
app01-3396	181	4	not	not	PART
app01-3396	181	5	contribute	contribute	VERB
app01-3396	181	6	to	to	PART
app01-3396	181	7	scan	scan	VERB
app01-3396	181	8	fitting	fitting	ADJ
app01-3396	181	9	process	process	NOUN
app01-3396	181	10	.	.	PUNCT
app01-3396	182	1	the	the	DET
app01-3396	182	2	second	second	ADJ
app01-3396	182	3	group	group	NOUN
app01-3396	182	4	of	of	ADP
app01-3396	182	5	new	new	ADJ
app01-3396	182	6	edges	edge	NOUN
app01-3396	182	7	has	have	VERB
app01-3396	182	8	one	one	NUM
app01-3396	182	9	similar	similar	ADJ
app01-3396	182	10	match	match	NOUN
app01-3396	182	11	in	in	ADP
app01-3396	182	12	the	the	DET
app01-3396	182	13	map	map	NOUN
app01-3396	182	14	and	and	CCONJ
app01-3396	182	15	these	these	PRON
app01-3396	182	16	are	be	AUX
app01-3396	182	17	directly	directly	ADV
app01-3396	182	18	used	use	VERB
app01-3396	182	19	for	for	ADP
app01-3396	182	20	scan	scan	ADJ
app01-3396	182	21	matching	matching	NOUN
app01-3396	182	22	.	.	PUNCT
app01-3396	183	1	in	in	ADP
app01-3396	183	2	the	the	DET
app01-3396	183	3	last	last	ADJ
app01-3396	183	4	group	group	NOUN
app01-3396	183	5	,	,	PUNCT
app01-3396	183	6	there	there	PRON
app01-3396	183	7	are	be	VERB
app01-3396	183	8	edges	edge	NOUN
app01-3396	183	9	with	with	ADP
app01-3396	183	10	more	more	ADJ
app01-3396	183	11	than	than	ADP
app01-3396	183	12	one	one	NUM
app01-3396	183	13	possible	possible	ADJ
app01-3396	183	14	match	match	NOUN
app01-3396	183	15	.	.	PUNCT
app01-3396	184	1	at	at	ADP
app01-3396	184	2	this	this	DET
app01-3396	184	3	situation	situation	NOUN
app01-3396	184	4	,	,	PUNCT
app01-3396	184	5	it	it	PRON
app01-3396	184	6	is	be	AUX
app01-3396	184	7	hard	hard	ADJ
app01-3396	184	8	to	to	PART
app01-3396	184	9	say	say	VERB
app01-3396	184	10	,	,	PUNCT
app01-3396	184	11	which	which	DET
app01-3396	184	12	possible	possible	ADJ
app01-3396	184	13	pair	pair	NOUN
app01-3396	184	14	is	be	AUX
app01-3396	184	15	the	the	DET
app01-3396	184	16	best	good	ADJ
app01-3396	184	17	one	one	NUM
app01-3396	184	18	,	,	PUNCT
app01-3396	184	19	or	or	CCONJ
app01-3396	184	20	if	if	SCONJ
app01-3396	184	21	more	more	ADJ
app01-3396	184	22	edges	edge	NOUN
app01-3396	184	23	should	should	AUX
app01-3396	184	24	be	be	AUX
app01-3396	184	25	connected	connect	VERB
app01-3396	184	26	together	together	ADV
app01-3396	184	27	.	.	PUNCT
app01-3396	185	1	current	current	ADJ
app01-3396	185	2	practice	practice	NOUN
app01-3396	185	3	is	be	AUX
app01-3396	185	4	to	to	PART
app01-3396	185	5	remove	remove	VERB
app01-3396	185	6	edges	edge	NOUN
app01-3396	185	7	already	already	ADV
app01-3396	185	8	used	use	VERB
app01-3396	185	9	in	in	ADP
app01-3396	185	10	the	the	DET
app01-3396	185	11	second	second	ADJ
app01-3396	185	12	group	group	NOUN
app01-3396	185	13	and	and	CCONJ
app01-3396	185	14	from	from	ADP
app01-3396	185	15	the	the	DET
app01-3396	185	16	rest	rest	NOUN
app01-3396	185	17	to	to	PART
app01-3396	185	18	select	select	VERB
app01-3396	185	19	the	the	DET
app01-3396	185	20	closest	close	ADJ
app01-3396	185	21	one	one	NOUN
app01-3396	185	22	(	(	PUNCT
app01-3396	185	23	in	in	ADP
app01-3396	185	24	the	the	DET
app01-3396	185	25	sense	sense	NOUN
app01-3396	185	26	of	of	ADP
app01-3396	185	27	overlapping	overlap	VERB
app01-3396	185	28	)	)	PUNCT
app01-3396	185	29	.	.	PUNCT
app01-3396	186	1	in	in	ADP
app01-3396	186	2	rare	rare	ADJ
app01-3396	186	3	cases	case	NOUN
app01-3396	186	4	,	,	PUNCT
app01-3396	186	5	the	the	DET
app01-3396	186	6	edges	edge	NOUN
app01-3396	186	7	corresponding	correspond	VERB
app01-3396	186	8	in	in	ADP
app01-3396	186	9	real	real	ADJ
app01-3396	186	10	world	world	NOUN
app01-3396	186	11	are	be	AUX
app01-3396	186	12	not	not	PART
app01-3396	186	13	the	the	DET
app01-3396	186	14	closest	close	ADJ
app01-3396	186	15	ones	one	NOUN
app01-3396	186	16	.	.	PUNCT
app01-3396	187	1	this	this	PRON
app01-3396	187	2	leads	lead	VERB
app01-3396	187	3	to	to	PART
app01-3396	187	4	mismatch	mismatch	VERB
app01-3396	187	5	and	and	CCONJ
app01-3396	187	6	can	can	AUX
app01-3396	187	7	even	even	ADV
app01-3396	187	8	corrupt	corrupt	VERB
app01-3396	187	9	the	the	DET
app01-3396	187	10	map	map	NOUN
app01-3396	187	11	,	,	PUNCT
app01-3396	187	12	but	but	CCONJ
app01-3396	187	13	in	in	ADP
app01-3396	187	14	most	most	ADJ
app01-3396	187	15	cases	case	NOUN
app01-3396	187	16	,	,	PUNCT
app01-3396	187	17	correctly	correctly	ADV
app01-3396	187	18	matched	match	VERB
app01-3396	187	19	edges	edge	NOUN
app01-3396	187	20	prevail	prevail	VERB
app01-3396	187	21	and	and	CCONJ
app01-3396	187	22	the	the	DET
app01-3396	187	23	mismatch	mismatch	NOUN
app01-3396	187	24	is	be	AUX
app01-3396	187	25	unnoticeable	unnoticeable	ADJ
app01-3396	187	26	.	.	PUNCT
app01-3396	188	1	at	at	ADP
app01-3396	188	2	this	this	DET
app01-3396	188	3	point	point	NOUN
app01-3396	188	4	,	,	PUNCT
app01-3396	188	5	pairs	pair	NOUN
app01-3396	188	6	of	of	ADP
app01-3396	188	7	corresponding	corresponding	ADJ
app01-3396	188	8	edges	edge	NOUN
app01-3396	188	9	from	from	ADP
app01-3396	188	10	the	the	DET
app01-3396	188	11	new	new	ADJ
app01-3396	188	12	scan	scan	NOUN
app01-3396	188	13	and	and	CCONJ
app01-3396	188	14	the	the	DET
app01-3396	188	15	map	map	NOUN
app01-3396	188	16	are	be	AUX
app01-3396	188	17	known	know	VERB
app01-3396	188	18	and	and	CCONJ
app01-3396	188	19	the	the	DET
app01-3396	188	20	actual	actual	ADJ
app01-3396	188	21	fitting	fitting	NOUN
app01-3396	188	22	may	may	AUX
app01-3396	188	23	take	take	VERB
app01-3396	188	24	place	place	NOUN
app01-3396	188	25	.	.	PUNCT
app01-3396	189	1	as	as	ADV
app01-3396	189	2	well	well	ADV
app01-3396	189	3	as	as	ADP
app01-3396	189	4	in	in	ADP
app01-3396	189	5	the	the	DET
app01-3396	189	6	previous	previous	ADJ
app01-3396	189	7	step	step	NOUN
app01-3396	189	8	,	,	PUNCT
app01-3396	189	9	the	the	DET
app01-3396	189	10	line	line	NOUN
app01-3396	189	11	similarity	similarity	NOUN
app01-3396	189	12	criterion	criterion	NOUN
app01-3396	189	13	will	will	AUX
app01-3396	189	14	be	be	AUX
app01-3396	189	15	used	use	VERB
app01-3396	189	16	,	,	PUNCT
app01-3396	189	17	but	but	CCONJ
app01-3396	189	18	now	now	ADV
app01-3396	189	19	with	with	ADP
app01-3396	189	20	slightly	slightly	ADV
app01-3396	189	21	different	different	ADJ
app01-3396	189	22	properties	property	NOUN
app01-3396	189	23	.	.	PUNCT
app01-3396	190	1	an	an	DET
app01-3396	190	2	idea	idea	NOUN
app01-3396	190	3	,	,	PUNCT
app01-3396	190	4	that	that	SCONJ
app01-3396	190	5	lines	line	NOUN
app01-3396	190	6	are	be	AUX
app01-3396	190	7	more	more	ADV
app01-3396	190	8	similar	similar	ADJ
app01-3396	190	9	as	as	ADP
app01-3396	190	10	the	the	DET
app01-3396	190	11	angle	angle	NOUN
app01-3396	190	12	they	they	PRON
app01-3396	190	13	form	form	VERB
app01-3396	190	14	is	be	AUX
app01-3396	190	15	smaller	small	ADJ
app01-3396	190	16	is	be	AUX
app01-3396	190	17	still	still	ADV
app01-3396	190	18	true	true	ADJ
app01-3396	190	19	,	,	PUNCT
app01-3396	190	20	but	but	CCONJ
app01-3396	190	21	overlapping	overlap	VERB
app01-3396	190	22	criterion	criterion	NOUN
app01-3396	190	23	used	use	VERB
app01-3396	190	24	before	before	ADV
app01-3396	190	25	is	be	AUX
app01-3396	190	26	not	not	PART
app01-3396	190	27	advantageous	advantageous	ADJ
app01-3396	190	28	.	.	PUNCT
app01-3396	191	1	instead	instead	ADV
app01-3396	191	2	,	,	PUNCT
app01-3396	191	3	as	as	SCONJ
app01-3396	191	4	already	already	ADV
app01-3396	191	5	mentioned	mention	VERB
app01-3396	191	6	in	in	ADP
app01-3396	191	7	the	the	DET
app01-3396	191	8	introduction	introduction	NOUN
app01-3396	191	9	,	,	PUNCT
app01-3396	191	10	an	an	DET
app01-3396	191	11	area	area	NOUN
app01-3396	191	12	defined	define	VERB
app01-3396	191	13	by	by	ADP
app01-3396	191	14	both	both	DET
app01-3396	191	15	edges	edge	NOUN
app01-3396	191	16	is	be	AUX
app01-3396	191	17	used	use	VERB
app01-3396	191	18	.	.	PUNCT
app01-3396	192	1	the	the	DET
app01-3396	192	2	main	main	ADJ
app01-3396	192	3	idea	idea	NOUN
app01-3396	192	4	of	of	ADP
app01-3396	192	5	the	the	DET
app01-3396	192	6	criterion	criterion	NOUN
app01-3396	192	7	is	be	AUX
app01-3396	192	8	depicted	depict	VERB
app01-3396	192	9	in	in	ADP
app01-3396	192	10	fig	fig	NOUN
app01-3396	192	11	.	.	PUNCT
app01-3396	193	1	3	3	X
app01-3396	193	2	.	.	X
app01-3396	193	3	let	let	VERB
app01-3396	193	4	two	two	NUM
app01-3396	193	5	edges	edge	NOUN
app01-3396	193	6	be	be	AUX
app01-3396	193	7	defined	define	VERB
app01-3396	193	8	by	by	ADP
app01-3396	193	9	lines	line	NOUN
app01-3396	193	10	p	p	NOUN
app01-3396	193	11	and	and	CCONJ
app01-3396	193	12	q	q	NOUN
app01-3396	193	13	with	with	ADP
app01-3396	193	14	the	the	DET
app01-3396	193	15	end	end	NOUN
app01-3396	193	16	points	point	NOUN
app01-3396	193	17	ab	ab	PROPN
app01-3396	193	18	and	and	CCONJ
app01-3396	193	19	cd	cd	PROPN
app01-3396	193	20	.	.	PUNCT
app01-3396	194	1	at	at	ADP
app01-3396	194	2	first	first	ADV
app01-3396	194	3	,	,	PUNCT
app01-3396	194	4	an	an	DET
app01-3396	194	5	axis	axis	NOUN
app01-3396	194	6	of	of	ADP
app01-3396	194	7	angle	angle	NOUN
app01-3396	194	8	formed	form	VERB
app01-3396	194	9	by	by	ADP
app01-3396	194	10	these	these	DET
app01-3396	194	11	edges	edge	NOUN
app01-3396	194	12	is	be	AUX
app01-3396	194	13	found	find	VERB
app01-3396	194	14	.	.	PUNCT
app01-3396	195	1	then	then	ADV
app01-3396	195	2	,	,	PUNCT
app01-3396	195	3	for	for	ADP
app01-3396	195	4	all	all	DET
app01-3396	195	5	end	end	NOUN
app01-3396	195	6	points	point	NOUN
app01-3396	195	7	,	,	PUNCT
app01-3396	195	8	their	their	PRON
app01-3396	195	9	perpendicular	perpendicular	ADJ
app01-3396	195	10	projections	projection	NOUN
app01-3396	195	11	(	(	PUNCT
app01-3396	195	12	with	with	ADP
app01-3396	195	13	respect	respect	NOUN
app01-3396	195	14	to	to	ADP
app01-3396	195	15	the	the	DET
app01-3396	195	16	axis	axis	ADJ
app01-3396	195	17	o	o	NOUN
app01-3396	195	18	)	)	PUNCT
app01-3396	195	19	on	on	ADP
app01-3396	195	20	an	an	DET
app01-3396	195	21	opposite	opposite	ADJ
app01-3396	195	22	line	line	NOUN
app01-3396	195	23	are	be	AUX
app01-3396	195	24	found	find	VERB
app01-3396	195	25	.	.	PUNCT
app01-3396	196	1	two	two	NUM
app01-3396	196	2	end	end	NOUN
app01-3396	196	3	points	point	NOUN
app01-3396	196	4	and	and	CCONJ
app01-3396	196	5	their	their	PRON
app01-3396	196	6	projections	projection	NOUN
app01-3396	196	7	form	form	VERB
app01-3396	196	8	a	a	DET
app01-3396	196	9	quadrangle	quadrangle	NOUN
app01-3396	196	10	as	as	SCONJ
app01-3396	196	11	shown	show	VERB
app01-3396	196	12	in	in	ADP
app01-3396	196	13	fig	fig	NOUN
app01-3396	196	14	.	.	PUNCT
app01-3396	197	1	3	3	NUM
app01-3396	197	2	for	for	ADP
app01-3396	197	3	points	point	NOUN
app01-3396	197	4	ab	ab	PROPN
app01-3396	198	1	(	(	PUNCT
app01-3396	198	2	both	both	DET
app01-3396	198	3	cases	case	NOUN
app01-3396	198	4	)	)	PUNCT
app01-3396	198	5	.	.	PUNCT
app01-3396	199	1	there	there	PRON
app01-3396	199	2	are	be	VERB
app01-3396	199	3	six	six	NUM
app01-3396	199	4	possible	possible	ADJ
app01-3396	199	5	quadrangles	quadrangle	NOUN
app01-3396	199	6	and	and	CCONJ
app01-3396	199	7	the	the	DET
app01-3396	199	8	largest	large	ADJ
app01-3396	199	9	one	one	NOUN
app01-3396	199	10	has	have	VERB
app01-3396	199	11	to	to	PART
app01-3396	199	12	be	be	AUX
app01-3396	199	13	used	use	VERB
app01-3396	199	14	for	for	ADP
app01-3396	199	15	the	the	DET
app01-3396	199	16	criterion	criterion	NOUN
app01-3396	199	17	enumeration	enumeration	NOUN
app01-3396	199	18	.	.	PUNCT
app01-3396	200	1	the	the	DET
app01-3396	200	2	square	square	NOUN
app01-3396	200	3	of	of	ADP
app01-3396	200	4	that	that	DET
app01-3396	200	5	area	area	NOUN
app01-3396	200	6	is	be	AUX
app01-3396	200	7	used	use	VERB
app01-3396	200	8	as	as	ADP
app01-3396	200	9	a	a	DET
app01-3396	200	10	similarity	similarity	NOUN
app01-3396	200	11	metric	metric	ADJ
app01-3396	200	12	.	.	PUNCT
app01-3396	201	1	the	the	DET
app01-3396	201	2	function	function	NOUN
app01-3396	201	3	for	for	ADP
app01-3396	201	4	the	the	DET
app01-3396	201	5	similarity	similarity	NOUN
app01-3396	201	6	enumeration	enumeration	NOUN
app01-3396	201	7	is	be	AUX
app01-3396	201	8	not	not	PART
app01-3396	201	9	strictly	strictly	ADV
app01-3396	201	10	convex	convex	ADJ
app01-3396	201	11	,	,	PUNCT
app01-3396	201	12	therefore	therefore	ADV
app01-3396	201	13	for	for	ADP
app01-3396	201	14	one	one	NUM
app01-3396	201	15	pair	pair	NOUN
app01-3396	201	16	of	of	ADP
app01-3396	201	17	edges	edge	NOUN
app01-3396	201	18	,	,	PUNCT
app01-3396	201	19	there	there	PRON
app01-3396	201	20	is	be	VERB
app01-3396	201	21	not	not	PART
app01-3396	201	22	a	a	DET
app01-3396	201	23	single	single	ADJ
app01-3396	201	24	minimum	minimum	NOUN
app01-3396	201	25	defining	define	VERB
app01-3396	201	26	one	one	NUM
app01-3396	201	27	pose	pose	NOUN
app01-3396	201	28	in	in	ADP
app01-3396	201	29	which	which	PRON
app01-3396	201	30	both	both	DET
app01-3396	201	31	edges	edge	NOUN
app01-3396	201	32	are	be	AUX
app01-3396	201	33	the	the	DET
app01-3396	201	34	most	most	ADV
app01-3396	201	35	similar	similar	ADJ
app01-3396	201	36	.	.	PUNCT
app01-3396	202	1	instead	instead	ADV
app01-3396	202	2	,	,	PUNCT
app01-3396	202	3	there	there	PRON
app01-3396	202	4	is	be	VERB
app01-3396	202	5	an	an	DET
app01-3396	202	6	infinite	infinite	ADJ
app01-3396	202	7	number	number	NOUN
app01-3396	202	8	of	of	ADP
app01-3396	202	9	possible	possible	ADJ
app01-3396	202	10	poses	pose	NOUN
app01-3396	202	11	,	,	PUNCT
app01-3396	202	12	in	in	ADP
app01-3396	202	13	which	which	PRON
app01-3396	202	14	the	the	DET
app01-3396	202	15	criterion	criterion	NOUN
app01-3396	202	16	is	be	AUX
app01-3396	202	17	zero	zero	NUM
app01-3396	202	18	.	.	PUNCT
app01-3396	203	1	this	this	DET
app01-3396	203	2	property	property	NOUN
app01-3396	203	3	is	be	AUX
app01-3396	203	4	clear	clear	ADJ
app01-3396	203	5	from	from	ADP
app01-3396	203	6	the	the	DET
app01-3396	203	7	geometrical	geometrical	ADJ
app01-3396	203	8	visualization	visualization	NOUN
app01-3396	203	9	of	of	ADP
app01-3396	203	10	collinear	collinear	ADJ
app01-3396	203	11	edges	edge	NOUN
app01-3396	203	12	sliding	slide	VERB
app01-3396	203	13	over	over	ADP
app01-3396	203	14	each	each	DET
app01-3396	203	15	other	other	ADJ
app01-3396	203	16	and	and	CCONJ
app01-3396	203	17	corresponds	correspond	VERB
app01-3396	203	18	to	to	ADP
app01-3396	203	19	the	the	DET
app01-3396	203	20	problem	problem	NOUN
app01-3396	203	21	of	of	ADP
app01-3396	203	22	localization	localization	NOUN
app01-3396	203	23	in	in	ADP
app01-3396	203	24	a	a	DET
app01-3396	203	25	long	long	ADJ
app01-3396	203	26	corridor	corridor	NOUN
app01-3396	203	27	.	.	PUNCT
app01-3396	204	1	if	if	SCONJ
app01-3396	204	2	a	a	DET
app01-3396	204	3	robot	robot	NOUN
app01-3396	204	4	“	"	PUNCT
app01-3396	204	5	sees	see	VERB
app01-3396	204	6	”	"	PUNCT
app01-3396	204	7	only	only	ADV
app01-3396	204	8	collinear	collinear	ADJ
app01-3396	204	9	walls	wall	NOUN
app01-3396	204	10	,	,	PUNCT
app01-3396	204	11	it	it	PRON
app01-3396	204	12	is	be	AUX
app01-3396	204	13	not	not	PART
app01-3396	204	14	able	able	ADJ
app01-3396	204	15	to	to	PART
app01-3396	204	16	determine	determine	VERB
app01-3396	204	17	the	the	DET
app01-3396	204	18	displacement	displacement	NOUN
app01-3396	204	19	along	along	ADP
app01-3396	204	20	an	an	DET
app01-3396	204	21	axis	axis	NOUN
app01-3396	204	22	of	of	ADP
app01-3396	204	23	the	the	DET
app01-3396	204	24	corridor	corridor	ADJ
app01-3396	204	25	one	one	NUM
app01-3396	204	26	degree	degree	NOUN
app01-3396	204	27	of	of	ADP
app01-3396	204	28	freedom	freedom	NOUN
app01-3396	204	29	can	can	AUX
app01-3396	204	30	not	not	PART
app01-3396	204	31	be	be	AUX
app01-3396	204	32	estimated	estimate	VERB
app01-3396	204	33	from	from	ADP
app01-3396	204	34	available	available	ADJ
app01-3396	204	35	data	datum	NOUN
app01-3396	204	36	.	.	PUNCT
app01-3396	205	1	for	for	ADP
app01-3396	205	2	an	an	DET
app01-3396	205	3	exact	exact	ADJ
app01-3396	205	4	solution	solution	NOUN
app01-3396	205	5	,	,	PUNCT
app01-3396	205	6	at	at	ADV
app01-3396	205	7	least	least	ADV
app01-3396	205	8	two	two	NUM
app01-3396	205	9	skew	skew	ADJ
app01-3396	205	10	pairs	pair	NOUN
app01-3396	205	11	of	of	ADP
app01-3396	205	12	edges	edge	NOUN
app01-3396	205	13	must	must	AUX
app01-3396	205	14	be	be	AUX
app01-3396	205	15	used	use	VERB
app01-3396	205	16	.	.	PUNCT
app01-3396	206	1	fitting	fit	VERB
app01-3396	206	2	itself	itself	PRON
app01-3396	206	3	is	be	AUX
app01-3396	206	4	an	an	DET
app01-3396	206	5	iterative	iterative	NOUN
app01-3396	206	6	process	process	NOUN
app01-3396	206	7	,	,	PUNCT
app01-3396	206	8	because	because	SCONJ
app01-3396	206	9	no	no	DET
app01-3396	206	10	closed	closed	ADJ
app01-3396	206	11	form	form	NOUN
app01-3396	206	12	solution	solution	NOUN
app01-3396	206	13	was	be	AUX
app01-3396	206	14	found	find	VERB
app01-3396	206	15	so	so	ADV
app01-3396	206	16	far	far	ADV
app01-3396	206	17	.	.	PUNCT
app01-3396	207	1	a	a	DET
app01-3396	207	2	new	new	ADJ
app01-3396	207	3	scan	scan	NOUN
app01-3396	207	4	is	be	AUX
app01-3396	207	5	transformed	transform	VERB
app01-3396	207	6	using	use	VERB
app01-3396	207	7	the	the	DET
app01-3396	207	8	standard	standard	ADJ
app01-3396	207	9	homogeneous	homogeneous	ADJ
app01-3396	207	10	transformation	transformation	NOUN
app01-3396	207	11	.	.	PUNCT
app01-3396	208	1	the	the	DET
app01-3396	208	2	goal	goal	NOUN
app01-3396	208	3	is	be	AUX
app01-3396	208	4	to	to	PART
app01-3396	208	5	find	find	VERB
app01-3396	208	6	such	such	ADJ
app01-3396	208	7	translation	translation	NOUN
app01-3396	208	8	and	and	CCONJ
app01-3396	208	9	(	(	PUNCT
app01-3396	208	10	a	a	NOUN
app01-3396	208	11	)	)	PUNCT
app01-3396	208	12	.	.	PUNCT
app01-3396	209	1	no	no	DET
app01-3396	209	2	intersection	intersection	NOUN
app01-3396	209	3	.	.	PUNCT
app01-3396	210	1	(	(	PUNCT
app01-3396	210	2	b	b	NOUN
app01-3396	210	3	)	)	PUNCT
app01-3396	210	4	.	.	PUNCT
app01-3396	211	1	with	with	ADP
app01-3396	211	2	intersection	intersection	NOUN
app01-3396	211	3	.	.	PUNCT
app01-3396	212	1	figure	figure	NOUN
app01-3396	212	2	3	3	NUM
app01-3396	212	3	.	.	PUNCT
app01-3396	212	4	line	line	NOUN
app01-3396	212	5	segments	segment	NOUN
app01-3396	212	6	similarity	similarity	NOUN
app01-3396	212	7	criterion	criterion	NOUN
app01-3396	212	8	.	.	PUNCT
app01-3396	213	1	the	the	DET
app01-3396	213	2	smaller	small	ADJ
app01-3396	213	3	is	be	AUX
app01-3396	213	4	the	the	DET
app01-3396	213	5	gray	gray	ADJ
app01-3396	213	6	area	area	NOUN
app01-3396	213	7	,	,	PUNCT
app01-3396	213	8	the	the	DET
app01-3396	213	9	more	more	ADV
app01-3396	213	10	similar	similar	ADJ
app01-3396	213	11	are	be	AUX
app01-3396	213	12	both	both	DET
app01-3396	213	13	line	line	NOUN
app01-3396	213	14	segments	segment	NOUN
app01-3396	213	15	.	.	PUNCT
app01-3396	214	1	rotation	rotation	NOUN
app01-3396	214	2	,	,	PUNCT
app01-3396	214	3	so	so	SCONJ
app01-3396	214	4	that	that	SCONJ
app01-3396	214	5	the	the	DET
app01-3396	214	6	sum	sum	NOUN
app01-3396	214	7	of	of	ADP
app01-3396	214	8	the	the	DET
app01-3396	214	9	squared	square	VERB
app01-3396	214	10	areas	area	NOUN
app01-3396	214	11	of	of	ADP
app01-3396	214	12	all	all	DET
app01-3396	214	13	edge	edge	NOUN
app01-3396	214	14	pairs	pair	NOUN
app01-3396	214	15	is	be	AUX
app01-3396	214	16	the	the	DET
app01-3396	214	17	smallest	small	ADJ
app01-3396	214	18	possible	possible	ADJ
app01-3396	214	19	.	.	PUNCT
app01-3396	215	1	nelder	nelder	ADJ
app01-3396	215	2	-	-	PUNCT
app01-3396	215	3	mead	mead	NOUN
app01-3396	215	4	simplex	simplex	NOUN
app01-3396	215	5	method	method	NOUN
app01-3396	215	6	was	be	AUX
app01-3396	215	7	used	use	VERB
app01-3396	215	8	to	to	PART
app01-3396	215	9	find	find	VERB
app01-3396	215	10	the	the	DET
app01-3396	215	11	global	global	ADJ
app01-3396	215	12	minimum	minimum	NOUN
app01-3396	215	13	.	.	PUNCT
app01-3396	216	1	for	for	ADP
app01-3396	216	2	longer	long	ADJ
app01-3396	216	3	edges	edge	NOUN
app01-3396	216	4	,	,	PUNCT
app01-3396	216	5	the	the	DET
app01-3396	216	6	area	area	NOUN
app01-3396	216	7	they	they	PRON
app01-3396	216	8	demarcate	demarcate	VERB
app01-3396	216	9	is	be	AUX
app01-3396	216	10	large	large	ADJ
app01-3396	216	11	even	even	ADV
app01-3396	216	12	if	if	SCONJ
app01-3396	216	13	an	an	DET
app01-3396	216	14	angle	angle	NOUN
app01-3396	216	15	they	they	PRON
app01-3396	216	16	form	form	VERB
app01-3396	216	17	is	be	AUX
app01-3396	216	18	relatively	relatively	ADV
app01-3396	216	19	small	small	ADJ
app01-3396	216	20	.	.	PUNCT
app01-3396	217	1	this	this	PRON
app01-3396	217	2	means	mean	VERB
app01-3396	217	3	,	,	PUNCT
app01-3396	217	4	that	that	SCONJ
app01-3396	217	5	longer	long	ADJ
app01-3396	217	6	edges	edge	NOUN
app01-3396	217	7	have	have	VERB
app01-3396	217	8	greater	great	ADJ
app01-3396	217	9	impact	impact	NOUN
app01-3396	217	10	on	on	ADP
app01-3396	217	11	scan	scan	PROPN
app01-3396	217	12	fitting	fitting	PROPN
app01-3396	217	13	,	,	PUNCT
app01-3396	217	14	which	which	PRON
app01-3396	217	15	is	be	AUX
app01-3396	217	16	correct	correct	ADJ
app01-3396	217	17	,	,	PUNCT
app01-3396	217	18	because	because	SCONJ
app01-3396	217	19	long	long	ADJ
app01-3396	217	20	edges	edge	NOUN
app01-3396	217	21	are	be	AUX
app01-3396	217	22	determined	determine	VERB
app01-3396	217	23	by	by	ADP
app01-3396	217	24	more	more	ADJ
app01-3396	217	25	points	point	NOUN
app01-3396	217	26	,	,	PUNCT
app01-3396	217	27	and	and	CCONJ
app01-3396	217	28	therefore	therefore	ADV
app01-3396	217	29	,	,	PUNCT
app01-3396	217	30	be	be	AUX
app01-3396	217	31	more	more	ADV
app01-3396	217	32	precisely	precisely	ADV
app01-3396	217	33	known	known	ADJ
app01-3396	217	34	.	.	PUNCT
app01-3396	218	1	2.3	2.3	NUM
app01-3396	218	2	.	.	PUNCT
app01-3396	218	3	map	map	VERB
app01-3396	218	4	building	building	NOUN
app01-3396	218	5	after	after	SCONJ
app01-3396	218	6	the	the	DET
app01-3396	218	7	fitting	fitting	ADJ
app01-3396	218	8	process	process	NOUN
app01-3396	218	9	is	be	AUX
app01-3396	218	10	finished	finish	VERB
app01-3396	218	11	,	,	PUNCT
app01-3396	218	12	a	a	DET
app01-3396	218	13	new	new	ADJ
app01-3396	218	14	scan	scan	NOUN
app01-3396	218	15	is	be	AUX
app01-3396	218	16	transformed	transform	VERB
app01-3396	218	17	using	use	VERB
app01-3396	218	18	the	the	DET
app01-3396	218	19	found	find	VERB
app01-3396	218	20	parameters	parameter	NOUN
app01-3396	218	21	and	and	CCONJ
app01-3396	218	22	edge	edge	NOUN
app01-3396	218	23	pairs	pair	NOUN
app01-3396	218	24	are	be	AUX
app01-3396	218	25	joined	join	VERB
app01-3396	218	26	to	to	PART
app01-3396	218	27	form	form	VERB
app01-3396	218	28	a	a	DET
app01-3396	218	29	new	new	ADJ
app01-3396	218	30	set	set	NOUN
app01-3396	218	31	of	of	ADP
app01-3396	218	32	edges	edge	NOUN
app01-3396	218	33	in	in	ADP
app01-3396	218	34	updated	update	VERB
app01-3396	218	35	map	map	NOUN
app01-3396	218	36	.	.	PUNCT
app01-3396	219	1	the	the	DET
app01-3396	219	2	same	same	ADJ
app01-3396	219	3	transformation	transformation	NOUN
app01-3396	219	4	,	,	PUNCT
app01-3396	219	5	which	which	PRON
app01-3396	219	6	was	be	AUX
app01-3396	219	7	used	use	VERB
app01-3396	219	8	to	to	PART
app01-3396	219	9	update	update	VERB
app01-3396	219	10	the	the	DET
app01-3396	219	11	map	map	NOUN
app01-3396	219	12	,	,	PUNCT
app01-3396	219	13	is	be	AUX
app01-3396	219	14	applied	apply	VERB
app01-3396	219	15	on	on	ADP
app01-3396	219	16	the	the	DET
app01-3396	219	17	path	path	NOUN
app01-3396	219	18	estimate	estimate	NOUN
app01-3396	219	19	to	to	PART
app01-3396	219	20	correct	correct	VERB
app01-3396	219	21	the	the	DET
app01-3396	219	22	odometry	odometry	NOUN
app01-3396	219	23	error	error	NOUN
app01-3396	219	24	.	.	PUNCT
app01-3396	219	25	assuming	assume	VERB
app01-3396	219	26	static	static	ADJ
app01-3396	219	27	environment	environment	NOUN
app01-3396	219	28	,	,	PUNCT
app01-3396	219	29	the	the	DET
app01-3396	219	30	information	information	NOUN
app01-3396	219	31	about	about	ADP
app01-3396	219	32	pose	pose	NOUN
app01-3396	219	33	gotten	get	VERB
app01-3396	219	34	from	from	ADP
app01-3396	219	35	scan	scan	ADJ
app01-3396	219	36	fitting	fitting	ADJ
app01-3396	219	37	is	be	AUX
app01-3396	219	38	absolute	absolute	ADJ
app01-3396	219	39	,	,	PUNCT
app01-3396	219	40	and	and	CCONJ
app01-3396	219	41	therefore	therefore	ADV
app01-3396	219	42	,	,	PUNCT
app01-3396	219	43	an	an	DET
app01-3396	219	44	error	error	NOUN
app01-3396	219	45	should	should	AUX
app01-3396	219	46	not	not	PART
app01-3396	219	47	have	have	VERB
app01-3396	219	48	integrative	integrative	ADJ
app01-3396	219	49	characteristics	characteristic	NOUN
app01-3396	219	50	,	,	PUNCT
app01-3396	219	51	however	however	ADV
app01-3396	219	52	,	,	PUNCT
app01-3396	219	53	this	this	PRON
app01-3396	219	54	is	be	AUX
app01-3396	219	55	ideal	ideal	ADJ
app01-3396	219	56	state	state	NOUN
app01-3396	219	57	which	which	PRON
app01-3396	219	58	requires	require	VERB
app01-3396	219	59	a	a	DET
app01-3396	219	60	precise	precise	ADJ
app01-3396	219	61	map	map	NOUN
app01-3396	219	62	corresponding	correspond	VERB
app01-3396	219	63	to	to	ADP
app01-3396	219	64	the	the	DET
app01-3396	219	65	environment	environment	NOUN
app01-3396	219	66	.	.	PUNCT
app01-3396	220	1	the	the	DET
app01-3396	220	2	main	main	ADJ
app01-3396	220	3	problem	problem	NOUN
app01-3396	220	4	of	of	ADP
app01-3396	220	5	map	map	NOUN
app01-3396	220	6	building	building	NOUN
app01-3396	220	7	process	process	NOUN
app01-3396	220	8	in	in	ADP
app01-3396	220	9	current	current	ADJ
app01-3396	220	10	state	state	NOUN
app01-3396	220	11	of	of	ADP
app01-3396	220	12	development	development	NOUN
app01-3396	220	13	is	be	AUX
app01-3396	220	14	that	that	SCONJ
app01-3396	220	15	the	the	DET
app01-3396	220	16	map	map	NOUN
app01-3396	220	17	does	do	AUX
app01-3396	220	18	not	not	PART
app01-3396	220	19	converge	converge	VERB
app01-3396	220	20	.	.	PUNCT
app01-3396	221	1	scans	scan	NOUN
app01-3396	221	2	are	be	AUX
app01-3396	221	3	incrementally	incrementally	ADV
app01-3396	221	4	fitted	fit	VERB
app01-3396	221	5	to	to	ADP
app01-3396	221	6	the	the	DET
app01-3396	221	7	map	map	NOUN
app01-3396	221	8	,	,	PUNCT
app01-3396	221	9	but	but	CCONJ
app01-3396	221	10	new	new	ADJ
app01-3396	221	11	measurement	measurement	NOUN
app01-3396	221	12	influences	influence	VERB
app01-3396	221	13	only	only	ADV
app01-3396	221	14	the	the	DET
app01-3396	221	15	part	part	NOUN
app01-3396	221	16	of	of	ADP
app01-3396	221	17	the	the	DET
app01-3396	221	18	map	map	NOUN
app01-3396	221	19	,	,	PUNCT
app01-3396	221	20	which	which	PRON
app01-3396	221	21	is	be	AUX
app01-3396	221	22	currently	currently	ADV
app01-3396	221	23	visible	visible	ADJ
app01-3396	221	24	and	and	CCONJ
app01-3396	221	25	new	new	ADJ
app01-3396	221	26	information	information	NOUN
app01-3396	221	27	is	be	AUX
app01-3396	221	28	not	not	PART
app01-3396	221	29	propagated	propagate	VERB
app01-3396	221	30	through	through	ADP
app01-3396	221	31	the	the	DET
app01-3396	221	32	whole	whole	ADJ
app01-3396	221	33	map	map	NOUN
app01-3396	221	34	to	to	PART
app01-3396	221	35	assure	assure	VERB
app01-3396	221	36	convergence	convergence	NOUN
app01-3396	221	37	.	.	PUNCT
app01-3396	222	1	in	in	ADP
app01-3396	222	2	other	other	ADJ
app01-3396	222	3	words	word	NOUN
app01-3396	222	4	,	,	PUNCT
app01-3396	222	5	change	change	NOUN
app01-3396	222	6	in	in	ADP
app01-3396	222	7	length	length	NOUN
app01-3396	222	8	of	of	ADP
app01-3396	222	9	one	one	NUM
app01-3396	222	10	edge	edge	NOUN
app01-3396	222	11	should	should	AUX
app01-3396	222	12	affect	affect	VERB
app01-3396	222	13	all	all	DET
app01-3396	222	14	connected	connected	ADJ
app01-3396	222	15	edges	edge	NOUN
app01-3396	222	16	(	(	PUNCT
app01-3396	222	17	including	include	VERB
app01-3396	222	18	those	those	PRON
app01-3396	222	19	which	which	PRON
app01-3396	222	20	are	be	AUX
app01-3396	222	21	not	not	PART
app01-3396	222	22	actually	actually	ADV
app01-3396	222	23	seen	see	VERB
app01-3396	222	24	)	)	PUNCT
app01-3396	222	25	,	,	PUNCT
app01-3396	222	26	but	but	CCONJ
app01-3396	222	27	current	current	ADJ
app01-3396	222	28	implementation	implementation	NOUN
app01-3396	222	29	is	be	AUX
app01-3396	222	30	not	not	PART
app01-3396	222	31	able	able	ADJ
app01-3396	222	32	to	to	PART
app01-3396	222	33	handle	handle	VERB
app01-3396	222	34	this	this	PRON
app01-3396	222	35	.	.	PUNCT
app01-3396	223	1	integrative	integrative	ADJ
app01-3396	223	2	26	26	NUM
app01-3396	223	3	vol	vol	NOUN
app01-3396	223	4	.	.	PUNCT
app01-3396	224	1	2/2015	2/2015	NUM
app01-3396	224	2	vector	vector	NOUN
app01-3396	224	3	maps	map	NOUN
app01-3396	224	4	in	in	ADP
app01-3396	224	5	mobile	mobile	ADJ
app01-3396	224	6	robotics	robotic	NOUN
app01-3396	224	7	figure	figure	NOUN
app01-3396	224	8	4	4	NUM
app01-3396	224	9	.	.	PUNCT
app01-3396	225	1	a	a	DET
app01-3396	225	2	larger	large	ADJ
app01-3396	225	3	map	map	NOUN
app01-3396	225	4	composed	compose	VERB
app01-3396	225	5	using	use	VERB
app01-3396	225	6	the	the	DET
app01-3396	225	7	presented	present	VERB
app01-3396	225	8	processing	processing	NOUN
app01-3396	225	9	system	system	NOUN
app01-3396	225	10	.	.	PUNCT
app01-3396	226	1	edges	edge	NOUN
app01-3396	226	2	are	be	AUX
app01-3396	226	3	colored	color	VERB
app01-3396	226	4	in	in	ADP
app01-3396	226	5	the	the	DET
app01-3396	226	6	same	same	ADJ
app01-3396	226	7	way	way	NOUN
app01-3396	226	8	as	as	ADP
app01-3396	226	9	in	in	ADP
app01-3396	226	10	fig	fig	NOUN
app01-3396	226	11	.	.	PUNCT
app01-3396	227	1	2d	2d	NOUN
app01-3396	227	2	.	.	PUNCT
app01-3396	228	1	gray	gray	ADJ
app01-3396	228	2	trajectory	trajectory	NOUN
app01-3396	228	3	is	be	AUX
app01-3396	228	4	acquired	acquire	VERB
app01-3396	228	5	from	from	ADP
app01-3396	228	6	odometry	odometry	NOUN
app01-3396	228	7	and	and	CCONJ
app01-3396	228	8	dark	dark	ADJ
app01-3396	228	9	blue	blue	ADJ
app01-3396	228	10	one	one	NOUN
app01-3396	228	11	is	be	AUX
app01-3396	228	12	an	an	DET
app01-3396	228	13	estimation	estimation	NOUN
app01-3396	228	14	of	of	ADP
app01-3396	228	15	the	the	DET
app01-3396	228	16	true	true	ADJ
app01-3396	228	17	trajectory	trajectory	NOUN
app01-3396	228	18	.	.	PUNCT
app01-3396	229	1	characteristics	characteristic	NOUN
app01-3396	229	2	of	of	ADP
app01-3396	229	3	error	error	NOUN
app01-3396	229	4	of	of	ADP
app01-3396	229	5	pose	pose	NOUN
app01-3396	229	6	and	and	CCONJ
app01-3396	229	7	map	map	NOUN
app01-3396	229	8	is	be	AUX
app01-3396	229	9	therefore	therefore	ADV
app01-3396	229	10	not	not	PART
app01-3396	229	11	suppressed	suppress	VERB
app01-3396	229	12	.	.	PUNCT
app01-3396	230	1	on	on	ADP
app01-3396	230	2	the	the	DET
app01-3396	230	3	other	other	ADJ
app01-3396	230	4	hand	hand	NOUN
app01-3396	230	5	,	,	PUNCT
app01-3396	230	6	using	use	VERB
app01-3396	230	7	edges	edge	NOUN
app01-3396	230	8	and	and	CCONJ
app01-3396	230	9	line	line	NOUN
app01-3396	230	10	similarity	similarity	NOUN
app01-3396	230	11	criterion	criterion	NOUN
app01-3396	230	12	for	for	ADP
app01-3396	230	13	scan	scan	NOUN
app01-3396	230	14	fitting	fitting	ADJ
app01-3396	230	15	is	be	AUX
app01-3396	230	16	very	very	ADV
app01-3396	230	17	accurate	accurate	ADJ
app01-3396	230	18	and	and	CCONJ
app01-3396	230	19	divergence	divergence	NOUN
app01-3396	230	20	process	process	NOUN
app01-3396	230	21	is	be	AUX
app01-3396	230	22	much	much	ADV
app01-3396	230	23	slower	slow	ADJ
app01-3396	230	24	.	.	PUNCT
app01-3396	231	1	results	result	NOUN
app01-3396	231	2	of	of	ADP
app01-3396	231	3	this	this	DET
app01-3396	231	4	step	step	NOUN
app01-3396	231	5	are	be	AUX
app01-3396	231	6	maps	map	NOUN
app01-3396	231	7	in	in	ADP
app01-3396	231	8	fig	fig	NOUN
app01-3396	231	9	.	.	PUNCT
app01-3396	232	1	2d	2d	NOUN
app01-3396	232	2	and	and	CCONJ
app01-3396	232	3	fig	fig	NOUN
app01-3396	232	4	.	.	PUNCT
app01-3396	233	1	4	4	X
app01-3396	233	2	.	.	X
app01-3396	234	1	in	in	ADP
app01-3396	234	2	comparison	comparison	NOUN
app01-3396	234	3	with	with	ADP
app01-3396	234	4	a	a	DET
app01-3396	234	5	naive	naive	ADJ
app01-3396	234	6	scan	scan	NOUN
app01-3396	234	7	merging	merging	NOUN
app01-3396	234	8	in	in	ADP
app01-3396	234	9	fig	fig	NOUN
app01-3396	234	10	.	.	PUNCT
app01-3396	235	1	2a	2a	NUM
app01-3396	235	2	,	,	PUNCT
app01-3396	235	3	new	new	ADJ
app01-3396	235	4	maps	map	NOUN
app01-3396	235	5	are	be	AUX
app01-3396	235	6	much	much	ADV
app01-3396	235	7	more	more	ADV
app01-3396	235	8	usable	usable	ADJ
app01-3396	235	9	for	for	ADP
app01-3396	235	10	navigation	navigation	NOUN
app01-3396	235	11	as	as	ADV
app01-3396	235	12	well	well	ADV
app01-3396	235	13	as	as	ADP
app01-3396	235	14	environment	environment	NOUN
app01-3396	235	15	documentation	documentation	NOUN
app01-3396	235	16	.	.	PUNCT
app01-3396	236	1	further	further	ADJ
app01-3396	236	2	processing	process	VERB
app01-3396	236	3	for	for	ADP
app01-3396	236	4	even	even	ADV
app01-3396	236	5	better	well	ADJ
app01-3396	236	6	results	result	NOUN
app01-3396	236	7	can	can	AUX
app01-3396	236	8	follow	follow	VERB
app01-3396	236	9	at	at	ADP
app01-3396	236	10	this	this	DET
app01-3396	236	11	point	point	NOUN
app01-3396	236	12	,	,	PUNCT
app01-3396	236	13	one	one	NUM
app01-3396	236	14	example	example	NOUN
app01-3396	236	15	of	of	ADP
app01-3396	236	16	possible	possible	ADJ
app01-3396	236	17	operations	operation	NOUN
app01-3396	236	18	is	be	AUX
app01-3396	236	19	additional	additional	ADJ
app01-3396	236	20	merging	merging	NOUN
app01-3396	236	21	of	of	ADP
app01-3396	236	22	shorter	short	ADJ
app01-3396	236	23	edges	edge	NOUN
app01-3396	236	24	(	(	PUNCT
app01-3396	236	25	blue	blue	ADJ
app01-3396	236	26	edges	edge	NOUN
app01-3396	236	27	in	in	ADP
app01-3396	236	28	fig	fig	NOUN
app01-3396	236	29	.	.	PUNCT
app01-3396	237	1	2d	2d	NOUN
app01-3396	237	2	and	and	CCONJ
app01-3396	237	3	fig	fig	NOUN
app01-3396	237	4	.	.	PUNCT
app01-3396	238	1	4	4	NUM
app01-3396	238	2	)	)	PUNCT
app01-3396	238	3	to	to	PART
app01-3396	238	4	form	form	VERB
app01-3396	238	5	a	a	DET
app01-3396	238	6	cleaner	clean	ADJ
app01-3396	238	7	map	map	NOUN
app01-3396	238	8	.	.	PUNCT
app01-3396	239	1	2.4	2.4	NUM
app01-3396	239	2	.	.	PUNCT
app01-3396	240	1	experimental	experimental	ADJ
app01-3396	240	2	results	result	NOUN
app01-3396	240	3	practical	practical	ADJ
app01-3396	240	4	testing	testing	NOUN
app01-3396	240	5	was	be	AUX
app01-3396	240	6	made	make	VERB
app01-3396	240	7	in	in	ADP
app01-3396	240	8	office	office	NOUN
app01-3396	240	9	and	and	CCONJ
app01-3396	240	10	laboratory	laboratory	NOUN
app01-3396	240	11	environment	environment	NOUN
app01-3396	240	12	.	.	PUNCT
app01-3396	241	1	algorithms	algorithm	NOUN
app01-3396	241	2	based	base	VERB
app01-3396	241	3	on	on	ADP
app01-3396	241	4	edge	edge	NOUN
app01-3396	241	5	detection	detection	NOUN
app01-3396	241	6	are	be	AUX
app01-3396	241	7	well	well	ADV
app01-3396	241	8	suited	suited	ADJ
app01-3396	241	9	for	for	ADP
app01-3396	241	10	such	such	ADJ
app01-3396	241	11	application	application	NOUN
app01-3396	241	12	,	,	PUNCT
app01-3396	241	13	because	because	SCONJ
app01-3396	241	14	artificial	artificial	ADJ
app01-3396	241	15	objects	object	NOUN
app01-3396	241	16	are	be	AUX
app01-3396	241	17	usually	usually	ADV
app01-3396	241	18	simply	simply	ADV
app01-3396	241	19	shaped	shape	VERB
app01-3396	241	20	with	with	ADP
app01-3396	241	21	a	a	DET
app01-3396	241	22	lot	lot	NOUN
app01-3396	241	23	of	of	ADP
app01-3396	241	24	flat	flat	ADJ
app01-3396	241	25	surfaces	surface	NOUN
app01-3396	241	26	.	.	PUNCT
app01-3396	242	1	on	on	ADP
app01-3396	242	2	the	the	DET
app01-3396	242	3	contrary	contrary	NOUN
app01-3396	242	4	,	,	PUNCT
app01-3396	242	5	a	a	DET
app01-3396	242	6	natural	natural	ADJ
app01-3396	242	7	environment	environment	NOUN
app01-3396	242	8	is	be	AUX
app01-3396	242	9	much	much	ADV
app01-3396	242	10	more	more	ADV
app01-3396	242	11	complicated	complicated	ADJ
app01-3396	242	12	with	with	ADP
app01-3396	242	13	lot	lot	NOUN
app01-3396	242	14	of	of	ADP
app01-3396	242	15	details	detail	NOUN
app01-3396	242	16	and	and	CCONJ
app01-3396	242	17	lack	lack	NOUN
app01-3396	242	18	of	of	ADP
app01-3396	242	19	flat	flat	ADJ
app01-3396	242	20	surfaces	surface	NOUN
app01-3396	242	21	,	,	PUNCT
app01-3396	242	22	therefore	therefore	ADV
app01-3396	242	23	effective	effective	ADJ
app01-3396	242	24	line	line	NOUN
app01-3396	242	25	extraction	extraction	NOUN
app01-3396	242	26	would	would	AUX
app01-3396	242	27	be	be	AUX
app01-3396	242	28	very	very	ADV
app01-3396	242	29	complicated	complicated	ADJ
app01-3396	242	30	or	or	CCONJ
app01-3396	242	31	even	even	ADV
app01-3396	242	32	impossible	impossible	ADJ
app01-3396	242	33	.	.	PUNCT
app01-3396	243	1	the	the	DET
app01-3396	243	2	robot	robot	NOUN
app01-3396	243	3	used	use	VERB
app01-3396	243	4	for	for	ADP
app01-3396	243	5	testing	testing	NOUN
app01-3396	243	6	was	be	AUX
app01-3396	243	7	orpheus	orpheus	NOUN
app01-3396	243	8	x3	x3	PROPN
app01-3396	243	9	,	,	PUNCT
app01-3396	243	10	which	which	PRON
app01-3396	243	11	is	be	AUX
app01-3396	243	12	four	four	NUM
app01-3396	243	13	-	-	PUNCT
app01-3396	243	14	wheeled	wheel	VERB
app01-3396	243	15	vehicle	vehicle	NOUN
app01-3396	243	16	with	with	ADP
app01-3396	243	17	differential	differential	ADJ
app01-3396	243	18	steering	steering	NOUN
app01-3396	243	19	.	.	PUNCT
app01-3396	244	1	laser	laser	NOUN
app01-3396	244	2	scanner	scanner	NOUN
app01-3396	244	3	used	use	VERB
app01-3396	244	4	was	be	AUX
app01-3396	244	5	velodyne	velodyne	PROPN
app01-3396	244	6	32	32	NUM
app01-3396	244	7	hdl	hdl	PROPN
app01-3396	244	8	.	.	PUNCT
app01-3396	245	1	during	during	ADP
app01-3396	245	2	the	the	DET
app01-3396	245	3	experiments	experiment	NOUN
app01-3396	245	4	,	,	PUNCT
app01-3396	245	5	the	the	DET
app01-3396	245	6	robot	robot	NOUN
app01-3396	245	7	was	be	AUX
app01-3396	245	8	manually	manually	ADV
app01-3396	245	9	operated	operate	VERB
app01-3396	245	10	and	and	CCONJ
app01-3396	245	11	all	all	DET
app01-3396	245	12	measurements	measurement	NOUN
app01-3396	245	13	were	be	AUX
app01-3396	245	14	taken	take	VERB
app01-3396	245	15	,	,	PUNCT
app01-3396	245	16	when	when	SCONJ
app01-3396	245	17	the	the	DET
app01-3396	245	18	robot	robot	NOUN
app01-3396	245	19	was	be	AUX
app01-3396	245	20	not	not	PART
app01-3396	245	21	moving	move	VERB
app01-3396	245	22	.	.	PUNCT
app01-3396	246	1	the	the	DET
app01-3396	246	2	first	first	ADJ
app01-3396	246	3	experiment	experiment	NOUN
app01-3396	246	4	used	use	VERB
app01-3396	246	5	for	for	ADP
app01-3396	246	6	demonstration	demonstration	NOUN
app01-3396	246	7	of	of	ADP
app01-3396	246	8	the	the	DET
app01-3396	246	9	processing	processing	NOUN
app01-3396	246	10	pipeline	pipeline	NOUN
app01-3396	246	11	is	be	AUX
app01-3396	246	12	depicted	depict	VERB
app01-3396	246	13	in	in	ADP
app01-3396	246	14	fig	fig	NOUN
app01-3396	246	15	.	.	PUNCT
app01-3396	247	1	2a	2a	NUM
app01-3396	247	2	to	to	ADP
app01-3396	247	3	fig	fig	VERB
app01-3396	247	4	.	.	PUNCT
app01-3396	248	1	2d	2d	NOUN
app01-3396	248	2	.	.	PUNCT
app01-3396	249	1	ten	ten	NUM
app01-3396	249	2	measurements	measurement	NOUN
app01-3396	249	3	60	60	NUM
app01-3396	249	4	centimeters	centimeter	NOUN
app01-3396	249	5	apart	apart	ADV
app01-3396	249	6	were	be	AUX
app01-3396	249	7	taken	take	VERB
app01-3396	249	8	.	.	PUNCT
app01-3396	250	1	the	the	DET
app01-3396	250	2	odometry	odometry	NOUN
app01-3396	250	3	error	error	NOUN
app01-3396	250	4	was	be	AUX
app01-3396	250	5	intentionally	intentionally	ADV
app01-3396	250	6	increased	increase	VERB
app01-3396	250	7	to	to	PART
app01-3396	250	8	demonstrate	demonstrate	VERB
app01-3396	250	9	correction	correction	NOUN
app01-3396	250	10	ability	ability	NOUN
app01-3396	250	11	of	of	ADP
app01-3396	250	12	scan	scan	ADJ
app01-3396	250	13	fitting	fitting	ADJ
app01-3396	250	14	algorithm	algorithm	NOUN
app01-3396	250	15	.	.	PUNCT
app01-3396	251	1	outliers	outlier	NOUN
app01-3396	251	2	and	and	CCONJ
app01-3396	251	3	noise	noise	NOUN
app01-3396	251	4	filtration	filtration	NOUN
app01-3396	251	5	was	be	AUX
app01-3396	251	6	also	also	ADV
app01-3396	251	7	proved	prove	VERB
app01-3396	251	8	to	to	PART
app01-3396	251	9	be	be	AUX
app01-3396	251	10	working	work	VERB
app01-3396	251	11	,	,	PUNCT
app01-3396	251	12	for	for	ADP
app01-3396	251	13	example	example	NOUN
app01-3396	251	14	small	small	ADJ
app01-3396	251	15	cloud	cloud	NOUN
app01-3396	251	16	of	of	ADP
app01-3396	251	17	points	point	NOUN
app01-3396	251	18	on	on	ADP
app01-3396	251	19	top	top	NOUN
app01-3396	251	20	of	of	ADP
app01-3396	251	21	fig	fig	NOUN
app01-3396	251	22	.	.	PUNCT
app01-3396	252	1	2a	2a	NUM
app01-3396	252	2	was	be	AUX
app01-3396	252	3	correctly	correctly	ADV
app01-3396	252	4	removed	remove	VERB
app01-3396	252	5	.	.	PUNCT
app01-3396	253	1	the	the	DET
app01-3396	253	2	second	second	ADJ
app01-3396	253	3	experiment	experiment	NOUN
app01-3396	253	4	was	be	AUX
app01-3396	253	5	made	make	VERB
app01-3396	253	6	in	in	ADP
app01-3396	253	7	a	a	DET
app01-3396	253	8	larger	large	ADJ
app01-3396	253	9	scale	scale	NOUN
app01-3396	253	10	on	on	ADP
app01-3396	253	11	a	a	DET
app01-3396	253	12	corridor	corridor	NOUN
app01-3396	253	13	and	and	CCONJ
app01-3396	253	14	resulting	result	VERB
app01-3396	253	15	map	map	NOUN
app01-3396	253	16	is	be	AUX
app01-3396	253	17	shown	show	VERB
app01-3396	253	18	in	in	ADP
app01-3396	253	19	fig	fig	NOUN
app01-3396	253	20	.	.	PUNCT
app01-3396	254	1	4	4	X
app01-3396	254	2	.	.	X
app01-3396	254	3	robot	robot	NOUN
app01-3396	254	4	moved	move	VERB
app01-3396	254	5	from	from	ADP
app01-3396	254	6	starting	start	VERB
app01-3396	254	7	position	position	NOUN
app01-3396	254	8	to	to	ADP
app01-3396	254	9	the	the	DET
app01-3396	254	10	end	end	NOUN
app01-3396	254	11	of	of	ADP
app01-3396	254	12	the	the	DET
app01-3396	254	13	corridor	corridor	NOUN
app01-3396	254	14	and	and	CCONJ
app01-3396	254	15	then	then	ADV
app01-3396	254	16	returned	return	VERB
app01-3396	254	17	back	back	ADV
app01-3396	254	18	.	.	PUNCT
app01-3396	255	1	total	total	ADJ
app01-3396	255	2	length	length	NOUN
app01-3396	255	3	of	of	ADP
app01-3396	255	4	the	the	DET
app01-3396	255	5	traveled	travel	VERB
app01-3396	255	6	path	path	NOUN
app01-3396	255	7	was	be	AUX
app01-3396	255	8	46.710	46.710	NUM
app01-3396	255	9	meters	meter	NOUN
app01-3396	255	10	and	and	CCONJ
app01-3396	255	11	33	33	NUM
app01-3396	255	12	measurements	measurement	NOUN
app01-3396	255	13	were	be	AUX
app01-3396	255	14	taken	take	VERB
app01-3396	255	15	along	along	ADP
app01-3396	255	16	the	the	DET
app01-3396	255	17	way	way	NOUN
app01-3396	255	18	.	.	PUNCT
app01-3396	256	1	the	the	DET
app01-3396	256	2	difference	difference	NOUN
app01-3396	256	3	between	between	ADP
app01-3396	256	4	the	the	DET
app01-3396	256	5	real	real	NOUN
app01-3396	256	6	and	and	CCONJ
app01-3396	256	7	the	the	DET
app01-3396	256	8	estimated	estimate	VERB
app01-3396	256	9	position	position	NOUN
app01-3396	256	10	of	of	ADP
app01-3396	256	11	the	the	DET
app01-3396	256	12	last	last	ADJ
app01-3396	256	13	point	point	NOUN
app01-3396	256	14	of	of	ADP
app01-3396	256	15	trajectory	trajectory	NOUN
app01-3396	256	16	was	be	AUX
app01-3396	256	17	only	only	ADV
app01-3396	256	18	6	6	NUM
app01-3396	256	19	mm	mm	NOUN
app01-3396	256	20	,	,	PUNCT
app01-3396	256	21	which	which	PRON
app01-3396	256	22	is	be	AUX
app01-3396	256	23	even	even	ADV
app01-3396	256	24	less	less	ADJ
app01-3396	256	25	than	than	ADP
app01-3396	256	26	the	the	DET
app01-3396	256	27	precision	precision	NOUN
app01-3396	256	28	of	of	ADP
app01-3396	256	29	used	use	VERB
app01-3396	256	30	laser	laser	NOUN
app01-3396	256	31	scanner	scanner	NOUN
app01-3396	256	32	(	(	PUNCT
app01-3396	256	33	20	20	NUM
app01-3396	256	34	mm	mm	NOUN
app01-3396	256	35	)	)	PUNCT
app01-3396	256	36	.	.	PUNCT
app01-3396	257	1	the	the	DET
app01-3396	257	2	experiment	experiment	NOUN
app01-3396	257	3	was	be	AUX
app01-3396	257	4	held	hold	VERB
app01-3396	257	5	only	only	ADV
app01-3396	257	6	once	once	ADV
app01-3396	257	7	,	,	PUNCT
app01-3396	257	8	therefore	therefore	ADV
app01-3396	257	9	repeatability	repeatability	NOUN
app01-3396	257	10	is	be	AUX
app01-3396	257	11	not	not	PART
app01-3396	257	12	yet	yet	ADV
app01-3396	257	13	determined	determine	VERB
app01-3396	257	14	.	.	PUNCT
app01-3396	258	1	fairly	fairly	ADV
app01-3396	258	2	good	good	ADJ
app01-3396	258	3	results	result	NOUN
app01-3396	258	4	are	be	AUX
app01-3396	258	5	caused	cause	VERB
app01-3396	258	6	by	by	ADP
app01-3396	258	7	two	two	NUM
app01-3396	258	8	main	main	ADJ
app01-3396	258	9	factors	factor	NOUN
app01-3396	258	10	.	.	PUNCT
app01-3396	259	1	at	at	ADP
app01-3396	259	2	first	first	ADV
app01-3396	259	3	,	,	PUNCT
app01-3396	259	4	the	the	DET
app01-3396	259	5	line	line	NOUN
app01-3396	259	6	extraction	extraction	NOUN
app01-3396	259	7	algorithm	algorithm	NOUN
app01-3396	259	8	with	with	ADP
app01-3396	259	9	the	the	DET
app01-3396	259	10	least	least	ADJ
app01-3396	259	11	squares	square	NOUN
app01-3396	259	12	approximation	approximation	NOUN
app01-3396	259	13	is	be	AUX
app01-3396	259	14	capable	capable	ADJ
app01-3396	259	15	of	of	ADP
app01-3396	259	16	reducing	reduce	VERB
app01-3396	259	17	noise	noise	NOUN
app01-3396	259	18	through	through	ADP
app01-3396	259	19	averaging	averaging	NOUN
app01-3396	259	20	and	and	CCONJ
app01-3396	259	21	provide	provide	VERB
app01-3396	259	22	more	more	ADV
app01-3396	259	23	accurate	accurate	ADJ
app01-3396	259	24	edge	edge	NOUN
app01-3396	259	25	positions	position	NOUN
app01-3396	259	26	than	than	ADP
app01-3396	259	27	single	single	ADJ
app01-3396	259	28	points	point	NOUN
app01-3396	259	29	in	in	ADP
app01-3396	259	30	a	a	DET
app01-3396	259	31	point	point	NOUN
app01-3396	259	32	cloud	cloud	NOUN
app01-3396	259	33	.	.	PUNCT
app01-3396	260	1	the	the	DET
app01-3396	260	2	second	second	ADJ
app01-3396	260	3	reason	reason	NOUN
app01-3396	260	4	is	be	AUX
app01-3396	260	5	that	that	SCONJ
app01-3396	260	6	the	the	DET
app01-3396	260	7	robot	robot	NOUN
app01-3396	260	8	moves	move	VERB
app01-3396	260	9	in	in	ADP
app01-3396	260	10	one	one	NUM
app01-3396	260	11	room	room	NOUN
app01-3396	260	12	and	and	CCONJ
app01-3396	260	13	always	always	ADV
app01-3396	260	14	sees	see	VERB
app01-3396	260	15	edges	edge	NOUN
app01-3396	260	16	from	from	ADP
app01-3396	260	17	the	the	DET
app01-3396	260	18	first	first	ADJ
app01-3396	260	19	scan	scan	NOUN
app01-3396	260	20	,	,	PUNCT
app01-3396	260	21	therefore	therefore	ADV
app01-3396	260	22	an	an	DET
app01-3396	260	23	error	error	NOUN
app01-3396	260	24	of	of	ADP
app01-3396	260	25	map	map	NOUN
app01-3396	260	26	and	and	CCONJ
app01-3396	260	27	pose	pose	NOUN
app01-3396	260	28	is	be	AUX
app01-3396	260	29	not	not	PART
app01-3396	260	30	integrating	integrate	VERB
app01-3396	260	31	.	.	PUNCT
app01-3396	261	1	if	if	SCONJ
app01-3396	261	2	the	the	DET
app01-3396	261	3	robot	robot	NOUN
app01-3396	261	4	would	would	AUX
app01-3396	261	5	move	move	VERB
app01-3396	261	6	along	along	ADP
app01-3396	261	7	a	a	DET
app01-3396	261	8	path	path	NOUN
app01-3396	261	9	with	with	ADP
app01-3396	261	10	a	a	DET
app01-3396	261	11	lot	lot	NOUN
app01-3396	261	12	of	of	ADP
app01-3396	261	13	turns	turn	NOUN
app01-3396	261	14	and	and	CCONJ
app01-3396	261	15	after	after	ADP
app01-3396	261	16	some	some	DET
app01-3396	261	17	time	time	NOUN
app01-3396	261	18	would	would	AUX
app01-3396	261	19	not	not	PART
app01-3396	261	20	see	see	VERB
app01-3396	261	21	its	its	PRON
app01-3396	261	22	starting	starting	NOUN
app01-3396	261	23	location	location	NOUN
app01-3396	261	24	,	,	PUNCT
app01-3396	261	25	this	this	DET
app01-3396	261	26	problem	problem	NOUN
app01-3396	261	27	would	would	AUX
app01-3396	261	28	start	start	VERB
app01-3396	261	29	to	to	PART
app01-3396	261	30	manifest	manifest	VERB
app01-3396	261	31	.	.	PUNCT
app01-3396	262	1	however	however	ADV
app01-3396	262	2	,	,	PUNCT
app01-3396	262	3	these	these	DET
app01-3396	262	4	experiments	experiment	NOUN
app01-3396	262	5	were	be	AUX
app01-3396	262	6	made	make	VERB
app01-3396	262	7	to	to	PART
app01-3396	262	8	proof	proof	VERB
app01-3396	262	9	the	the	DET
app01-3396	262	10	concept	concept	NOUN
app01-3396	262	11	of	of	ADP
app01-3396	262	12	scan	scan	NOUN
app01-3396	262	13	fitting	fitting	ADJ
app01-3396	262	14	via	via	ADP
app01-3396	262	15	edge	edge	NOUN
app01-3396	262	16	similarity	similarity	NOUN
app01-3396	262	17	criterion	criterion	NOUN
app01-3396	262	18	and	and	CCONJ
app01-3396	262	19	slam	slam	NOUN
app01-3396	262	20	itself	itself	PRON
app01-3396	262	21	is	be	AUX
app01-3396	262	22	not	not	PART
app01-3396	262	23	yet	yet	ADV
app01-3396	262	24	at	at	ADP
app01-3396	262	25	the	the	DET
app01-3396	262	26	center	center	NOUN
app01-3396	262	27	of	of	ADP
app01-3396	262	28	the	the	DET
app01-3396	262	29	research	research	NOUN
app01-3396	262	30	.	.	PUNCT
app01-3396	263	1	3	3	X
app01-3396	263	2	.	.	X
app01-3396	263	3	conclusion	conclusion	NOUN
app01-3396	263	4	and	and	CCONJ
app01-3396	263	5	future	future	ADJ
app01-3396	263	6	work	work	NOUN
app01-3396	263	7	the	the	DET
app01-3396	263	8	paper	paper	NOUN
app01-3396	263	9	presents	present	VERB
app01-3396	263	10	the	the	DET
app01-3396	263	11	set	set	NOUN
app01-3396	263	12	of	of	ADP
app01-3396	263	13	algorithms	algorithm	NOUN
app01-3396	263	14	used	use	VERB
app01-3396	263	15	to	to	PART
app01-3396	263	16	process	process	VERB
app01-3396	263	17	data	datum	NOUN
app01-3396	263	18	from	from	ADP
app01-3396	263	19	laser	laser	NOUN
app01-3396	263	20	scanner	scanner	NOUN
app01-3396	263	21	and	and	CCONJ
app01-3396	263	22	build	build	VERB
app01-3396	263	23	a	a	DET
app01-3396	263	24	vector	vector	NOUN
app01-3396	263	25	based	base	VERB
app01-3396	263	26	map	map	NOUN
app01-3396	263	27	.	.	PUNCT
app01-3396	264	1	the	the	DET
app01-3396	264	2	whole	whole	ADJ
app01-3396	264	3	scheme	scheme	NOUN
app01-3396	264	4	of	of	ADP
app01-3396	264	5	the	the	DET
app01-3396	264	6	process	process	NOUN
app01-3396	264	7	is	be	AUX
app01-3396	264	8	depicted	depict	VERB
app01-3396	264	9	in	in	ADP
app01-3396	264	10	fig	fig	NOUN
app01-3396	264	11	.	.	PUNCT
app01-3396	265	1	1	1	X
app01-3396	265	2	.	.	X
app01-3396	266	1	most	most	ADJ
app01-3396	266	2	algorithms	algorithm	NOUN
app01-3396	266	3	used	use	VERB
app01-3396	266	4	are	be	AUX
app01-3396	266	5	new	new	ADJ
app01-3396	266	6	and	and	CCONJ
app01-3396	266	7	still	still	ADV
app01-3396	266	8	under	under	ADP
app01-3396	266	9	testing	testing	NOUN
app01-3396	266	10	,	,	PUNCT
app01-3396	266	11	but	but	CCONJ
app01-3396	266	12	findings	finding	NOUN
app01-3396	266	13	stated	state	VERB
app01-3396	266	14	in	in	ADP
app01-3396	266	15	literature	literature	NOUN
app01-3396	266	16	(	(	PUNCT
app01-3396	266	17	e.g.	e.g.	ADV
app01-3396	266	18	,	,	PUNCT
app01-3396	266	19	[	[	X
app01-3396	266	20	10	10	NUM
app01-3396	266	21	]	]	PUNCT
app01-3396	266	22	,	,	PUNCT
app01-3396	266	23	[	[	X
app01-3396	266	24	12	12	NUM
app01-3396	266	25	]	]	PUNCT
app01-3396	266	26	,	,	PUNCT
app01-3396	267	1	[	[	X
app01-3396	267	2	16	16	NUM
app01-3396	267	3	]	]	PUNCT
app01-3396	267	4	)	)	PUNCT
app01-3396	267	5	were	be	AUX
app01-3396	267	6	proved	prove	VERB
app01-3396	267	7	to	to	PART
app01-3396	267	8	be	be	AUX
app01-3396	267	9	true	true	ADJ
app01-3396	267	10	,	,	PUNCT
app01-3396	267	11	because	because	SCONJ
app01-3396	267	12	scan	scan	ADJ
app01-3396	267	13	matching	matching	NOUN
app01-3396	267	14	based	base	VERB
app01-3396	267	15	on	on	ADP
app01-3396	267	16	edge	edge	NOUN
app01-3396	267	17	detection	detection	NOUN
app01-3396	267	18	yields	yield	VERB
app01-3396	267	19	quality	quality	NOUN
app01-3396	267	20	results	result	NOUN
app01-3396	267	21	and	and	CCONJ
app01-3396	267	22	definitely	definitely	ADV
app01-3396	267	23	can	can	AUX
app01-3396	267	24	be	be	AUX
app01-3396	267	25	used	use	VERB
app01-3396	267	26	for	for	ADP
app01-3396	267	27	solving	solve	VERB
app01-3396	267	28	slam	slam	NOUN
app01-3396	267	29	problem	problem	NOUN
app01-3396	267	30	.	.	PUNCT
app01-3396	268	1	at	at	ADP
app01-3396	268	2	least	least	ADJ
app01-3396	268	3	,	,	PUNCT
app01-3396	268	4	considering	consider	VERB
app01-3396	268	5	results	result	NOUN
app01-3396	268	6	in	in	ADP
app01-3396	268	7	fig	fig	NOUN
app01-3396	268	8	.	.	PUNCT
app01-3396	269	1	2d	2d	NOUN
app01-3396	269	2	and	and	CCONJ
app01-3396	269	3	fig	fig	NOUN
app01-3396	269	4	.	.	PUNCT
app01-3396	270	1	4	4	NUM
app01-3396	270	2	,	,	PUNCT
app01-3396	270	3	current	current	ADJ
app01-3396	270	4	state	state	NOUN
app01-3396	270	5	of	of	ADP
app01-3396	270	6	the	the	DET
app01-3396	270	7	research	research	NOUN
app01-3396	270	8	is	be	AUX
app01-3396	270	9	very	very	ADV
app01-3396	270	10	promising	promising	ADJ
app01-3396	270	11	.	.	PUNCT
app01-3396	271	1	the	the	DET
app01-3396	271	2	main	main	ADJ
app01-3396	271	3	task	task	NOUN
app01-3396	271	4	for	for	ADP
app01-3396	271	5	the	the	DET
app01-3396	271	6	nearest	near	ADJ
app01-3396	271	7	future	future	NOUN
app01-3396	271	8	is	be	AUX
app01-3396	271	9	development	development	NOUN
app01-3396	271	10	of	of	ADP
app01-3396	271	11	good	good	ADJ
app01-3396	271	12	representation	representation	NOUN
app01-3396	271	13	of	of	ADP
app01-3396	271	14	the	the	DET
app01-3396	271	15	topological	topological	ADJ
app01-3396	271	16	-	-	PUNCT
app01-3396	271	17	metric	metric	ADJ
app01-3396	271	18	map	map	NOUN
app01-3396	271	19	,	,	PUNCT
app01-3396	271	20	to	to	PART
app01-3396	271	21	enable	enable	VERB
app01-3396	271	22	a	a	DET
app01-3396	271	23	real	real	ADJ
app01-3396	271	24	slam	slam	NOUN
app01-3396	271	25	to	to	PART
app01-3396	271	26	be	be	AUX
app01-3396	271	27	implemented	implement	VERB
app01-3396	271	28	.	.	PUNCT
app01-3396	272	1	topological	topological	ADJ
app01-3396	272	2	information	information	NOUN
app01-3396	272	3	is	be	AUX
app01-3396	272	4	necessary	necessary	ADJ
app01-3396	272	5	for	for	ADP
app01-3396	272	6	visible	visible	ADJ
app01-3396	272	7	(	(	PUNCT
app01-3396	272	8	or	or	CCONJ
app01-3396	272	9	just	just	ADV
app01-3396	272	10	close	close	ADJ
app01-3396	272	11	)	)	PUNCT
app01-3396	272	12	edges	edge	NOUN
app01-3396	272	13	finding	find	VERB
app01-3396	272	14	algorithm	algorithm	NOUN
app01-3396	272	15	and	and	CCONJ
app01-3396	272	16	for	for	ADP
app01-3396	272	17	path	path	NOUN
app01-3396	272	18	planning	planning	NOUN
app01-3396	272	19	.	.	PUNCT
app01-3396	273	1	metric	metric	ADJ
app01-3396	273	2	information	information	NOUN
app01-3396	273	3	is	be	AUX
app01-3396	273	4	crucial	crucial	ADJ
app01-3396	273	5	for	for	ADP
app01-3396	273	6	mapping	map	VERB
app01-3396	273	7	itself	itself	PRON
app01-3396	273	8	,	,	PUNCT
app01-3396	273	9	scan	scan	ADJ
app01-3396	273	10	matching	matching	NOUN
app01-3396	273	11	,	,	PUNCT
app01-3396	273	12	and	and	CCONJ
app01-3396	273	13	path	path	NOUN
app01-3396	273	14	planning	planning	NOUN
app01-3396	273	15	.	.	PUNCT
app01-3396	274	1	term	term	NOUN
app01-3396	274	2	“	"	PUNCT
app01-3396	274	3	good	good	ADJ
app01-3396	274	4	representation	representation	NOUN
app01-3396	274	5	”	"	PUNCT
app01-3396	274	6	means	mean	VERB
app01-3396	274	7	such	such	ADJ
app01-3396	274	8	data	data	NOUN
app01-3396	274	9	structure	structure	NOUN
app01-3396	274	10	,	,	PUNCT
app01-3396	274	11	that	that	PRON
app01-3396	274	12	would	would	AUX
app01-3396	274	13	be	be	AUX
app01-3396	274	14	efficient	efficient	ADJ
app01-3396	274	15	for	for	ADP
app01-3396	274	16	search	search	NOUN
app01-3396	274	17	and	and	CCONJ
app01-3396	274	18	computing	computing	NOUN
app01-3396	274	19	algorithms	algorithm	NOUN
app01-3396	274	20	.	.	PUNCT
app01-3396	275	1	nearest	near	ADJ
app01-3396	275	2	neighbor	neighbor	NOUN
app01-3396	275	3	of	of	ADP
app01-3396	275	4	polygon	polygon	PROPN
app01-3396	275	5	search	search	NOUN
app01-3396	275	6	or	or	CCONJ
app01-3396	275	7	finding	find	VERB
app01-3396	275	8	an	an	DET
app01-3396	275	9	edge	edge	NOUN
app01-3396	275	10	in	in	ADP
app01-3396	275	11	area	area	NOUN
app01-3396	275	12	with	with	ADP
app01-3396	275	13	certain	certain	ADJ
app01-3396	275	14	coordinates	coordinate	NOUN
app01-3396	275	15	are	be	AUX
app01-3396	275	16	only	only	ADV
app01-3396	275	17	a	a	DET
app01-3396	275	18	few	few	ADJ
app01-3396	275	19	examples	example	NOUN
app01-3396	275	20	of	of	ADP
app01-3396	275	21	problems	problem	NOUN
app01-3396	275	22	which	which	PRON
app01-3396	275	23	are	be	AUX
app01-3396	275	24	necessary	necessary	ADJ
app01-3396	275	25	to	to	PART
app01-3396	275	26	be	be	AUX
app01-3396	275	27	efficient	efficient	ADJ
app01-3396	275	28	in	in	ADP
app01-3396	275	29	a	a	DET
app01-3396	275	30	good	good	ADJ
app01-3396	275	31	mapping	mapping	NOUN
app01-3396	275	32	algorithm	algorithm	NOUN
app01-3396	275	33	.	.	PUNCT
app01-3396	276	1	the	the	DET
app01-3396	276	2	second	second	ADJ
app01-3396	276	3	requirement	requirement	NOUN
app01-3396	276	4	expected	expect	VERB
app01-3396	276	5	from	from	ADP
app01-3396	276	6	a	a	DET
app01-3396	276	7	good	good	ADJ
app01-3396	276	8	map	map	NOUN
app01-3396	276	9	is	be	AUX
app01-3396	276	10	a	a	DET
app01-3396	276	11	convergence	convergence	NOUN
app01-3396	276	12	.	.	PUNCT
app01-3396	277	1	as	as	SCONJ
app01-3396	277	2	the	the	DET
app01-3396	277	3	robot	robot	NOUN
app01-3396	277	4	explores	explore	NOUN
app01-3396	277	5	surrounding	surround	VERB
app01-3396	277	6	27	27	NUM
app01-3396	277	7	ales	ale	NOUN
app01-3396	277	8	jelinek	jelinek	PROPN
app01-3396	277	9	acta	acta	PROPN
app01-3396	277	10	polytechnica	polytechnica	PROPN
app01-3396	277	11	ctu	ctu	PROPN
app01-3396	277	12	proceedings	proceeding	NOUN
app01-3396	277	13	environment	environment	NOUN
app01-3396	277	14	,	,	PUNCT
app01-3396	277	15	the	the	DET
app01-3396	277	16	map	map	NOUN
app01-3396	277	17	should	should	AUX
app01-3396	277	18	adapt	adapt	VERB
app01-3396	277	19	to	to	PART
app01-3396	277	20	be	be	AUX
app01-3396	277	21	closer	close	ADJ
app01-3396	277	22	to	to	ADP
app01-3396	277	23	reality	reality	NOUN
app01-3396	277	24	.	.	PUNCT
app01-3396	278	1	this	this	PRON
app01-3396	278	2	is	be	AUX
app01-3396	278	3	not	not	PART
app01-3396	278	4	achieved	achieve	VERB
app01-3396	278	5	now	now	ADV
app01-3396	278	6	and	and	CCONJ
app01-3396	278	7	lot	lot	NOUN
app01-3396	278	8	of	of	ADP
app01-3396	278	9	work	work	NOUN
app01-3396	278	10	is	be	AUX
app01-3396	278	11	focused	focus	VERB
app01-3396	278	12	on	on	ADP
app01-3396	278	13	this	this	DET
app01-3396	278	14	task	task	NOUN
app01-3396	278	15	.	.	PUNCT
app01-3396	279	1	with	with	ADP
app01-3396	279	2	an	an	DET
app01-3396	279	3	authentic	authentic	ADJ
app01-3396	279	4	map	map	NOUN
app01-3396	279	5	and	and	CCONJ
app01-3396	279	6	well	well	ADV
app01-3396	279	7	working	work	VERB
app01-3396	279	8	fitting	fitting	ADJ
app01-3396	279	9	algorithm	algorithm	NOUN
app01-3396	279	10	,	,	PUNCT
app01-3396	279	11	localization	localization	NOUN
app01-3396	279	12	itself	itself	PRON
app01-3396	279	13	should	should	AUX
app01-3396	279	14	not	not	PART
app01-3396	279	15	be	be	AUX
app01-3396	279	16	too	too	ADV
app01-3396	279	17	complicated	complicated	ADJ
app01-3396	279	18	and	and	CCONJ
app01-3396	279	19	a	a	DET
app01-3396	279	20	solution	solution	NOUN
app01-3396	279	21	for	for	ADP
app01-3396	279	22	the	the	DET
app01-3396	279	23	slam	slam	NOUN
app01-3396	279	24	problem	problem	NOUN
app01-3396	279	25	using	use	VERB
app01-3396	279	26	vector	vector	NOUN
app01-3396	279	27	maps	map	NOUN
app01-3396	279	28	should	should	AUX
app01-3396	279	29	be	be	AUX
app01-3396	279	30	completed	complete	VERB
app01-3396	279	31	(	(	PUNCT
app01-3396	279	32	at	at	ADP
app01-3396	279	33	least	least	ADJ
app01-3396	279	34	in	in	ADP
app01-3396	279	35	its	its	PRON
app01-3396	279	36	main	main	ADJ
app01-3396	279	37	aspects	aspect	NOUN
app01-3396	279	38	)	)	PUNCT
app01-3396	279	39	.	.	PUNCT
app01-3396	280	1	acknowledgements	acknowledgement	NOUN
app01-3396	280	2	this	this	DET
app01-3396	280	3	work	work	NOUN
app01-3396	280	4	was	be	AUX
app01-3396	280	5	supported	support	VERB
app01-3396	280	6	by	by	ADP
app01-3396	280	7	the	the	DET
app01-3396	280	8	project	project	NOUN
app01-3396	280	9	ceitec	ceitec	ADJ
app01-3396	280	10	central	central	ADJ
app01-3396	280	11	european	european	PROPN
app01-3396	280	12	institute	institute	PROPN
app01-3396	280	13	of	of	ADP
app01-3396	280	14	technology	technology	PROPN
app01-3396	280	15	(	(	PUNCT
app01-3396	280	16	cz.1.05/1.1.00/02.0068	cz.1.05/1.1.00/02.0068	PROPN
app01-3396	280	17	)	)	PUNCT
app01-3396	280	18	financed	finance	VERB
app01-3396	280	19	from	from	ADP
app01-3396	280	20	european	european	PROPN
app01-3396	280	21	regional	regional	PROPN
app01-3396	280	22	development	development	PROPN
app01-3396	280	23	fund	fund	PROPN
app01-3396	280	24	.	.	PUNCT
app01-3396	281	1	references	reference	NOUN
app01-3396	281	2	[	[	X
app01-3396	281	3	1	1	NUM
app01-3396	281	4	]	]	PUNCT
app01-3396	281	5	m.	m.	NOUN
app01-3396	281	6	dissanayake	dissanayake	PROPN
app01-3396	281	7	,	,	PUNCT
app01-3396	281	8	p.	p.	PROPN
app01-3396	281	9	newman	newman	PROPN
app01-3396	281	10	,	,	PUNCT
app01-3396	281	11	s.	s.	PROPN
app01-3396	281	12	clark	clark	PROPN
app01-3396	281	13	,	,	PUNCT
app01-3396	281	14	et	et	PROPN
app01-3396	281	15	al	al	PROPN
app01-3396	281	16	.	.	PUNCT
app01-3396	282	1	a	a	DET
app01-3396	282	2	solution	solution	NOUN
app01-3396	282	3	to	to	ADP
app01-3396	282	4	the	the	DET
app01-3396	282	5	simultaneous	simultaneous	ADJ
app01-3396	282	6	localization	localization	NOUN
app01-3396	282	7	and	and	CCONJ
app01-3396	282	8	map	map	VERB
app01-3396	282	9	building	building	NOUN
app01-3396	282	10	(	(	PUNCT
app01-3396	282	11	slam	slam	NOUN
app01-3396	282	12	)	)	PUNCT
app01-3396	282	13	problem	problem	NOUN
app01-3396	282	14	.	.	PUNCT
app01-3396	283	1	ieee	ieee	NOUN
app01-3396	283	2	transactions	transaction	NOUN
app01-3396	283	3	on	on	ADP
app01-3396	283	4	robotics	robotic	NOUN
app01-3396	283	5	and	and	CCONJ
app01-3396	283	6	automation	automation	NOUN
app01-3396	283	7	17(3):229–241	17(3):229–241	NUM
app01-3396	283	8	,	,	PUNCT
app01-3396	283	9	2001	2001	NUM
app01-3396	283	10	.	.	PUNCT
app01-3396	284	1	doi:10.1109/70.938381	doi:10.1109/70.938381	NOUN
app01-3396	284	2	.	.	PUNCT
app01-3396	285	1	[	[	X
app01-3396	285	2	2	2	X
app01-3396	285	3	]	]	PUNCT
app01-3396	285	4	h.	h.	PROPN
app01-3396	285	5	durrant	durrant	PROPN
app01-3396	285	6	-	-	PUNCT
app01-3396	285	7	whyte	whyte	PROPN
app01-3396	285	8	,	,	PUNCT
app01-3396	285	9	t.	t.	PROPN
app01-3396	285	10	bailey	bailey	PROPN
app01-3396	285	11	.	.	PUNCT
app01-3396	286	1	simultaneous	simultaneous	ADJ
app01-3396	286	2	localization	localization	NOUN
app01-3396	286	3	and	and	CCONJ
app01-3396	286	4	mapping	mapping	NOUN
app01-3396	286	5	:	:	PUNCT
app01-3396	286	6	part	part	PROPN
app01-3396	286	7	i.	i.	PROPN
app01-3396	286	8	ieee	ieee	PROPN
app01-3396	286	9	robotics	robotics	PROPN
app01-3396	286	10	&	&	CCONJ
app01-3396	286	11	automation	automation	PROPN
app01-3396	286	12	magazine	magazine	PROPN
app01-3396	286	13	13(2):99–110	13(2):99–110	PROPN
app01-3396	286	14	,	,	PUNCT
app01-3396	286	15	2006	2006	NUM
app01-3396	286	16	.	.	PUNCT
app01-3396	287	1	doi:10.1109	doi:10.1109	PROPN
app01-3396	287	2	/	/	SYM
app01-3396	287	3	mra.2006.1638022	mra.2006.1638022	PROPN
app01-3396	287	4	.	.	PUNCT
app01-3396	288	1	[	[	X
app01-3396	288	2	3	3	X
app01-3396	288	3	]	]	X
app01-3396	288	4	t.	t.	NOUN
app01-3396	288	5	bailey	bailey	PROPN
app01-3396	288	6	,	,	PUNCT
app01-3396	288	7	h.	h.	PROPN
app01-3396	288	8	durrant	durrant	PROPN
app01-3396	288	9	-	-	PUNCT
app01-3396	288	10	whyte	whyte	PROPN
app01-3396	288	11	.	.	PUNCT
app01-3396	289	1	simultaneous	simultaneous	ADJ
app01-3396	289	2	localization	localization	NOUN
app01-3396	289	3	and	and	CCONJ
app01-3396	289	4	mapping	mapping	NOUN
app01-3396	289	5	(	(	PUNCT
app01-3396	289	6	slam	slam	PROPN
app01-3396	289	7	):	):	PUNCT
app01-3396	289	8	part	part	PROPN
app01-3396	289	9	ii	ii	PROPN
app01-3396	289	10	.	.	PROPN
app01-3396	290	1	ieee	ieee	PROPN
app01-3396	290	2	robotics	robotic	NOUN
app01-3396	290	3	&	&	CCONJ
app01-3396	290	4	automation	automation	PROPN
app01-3396	290	5	magazine	magazine	PROPN
app01-3396	290	6	13(3):108–117	13(3):108–117	NUM
app01-3396	290	7	,	,	PUNCT
app01-3396	290	8	2006	2006	NUM
app01-3396	290	9	.	.	PUNCT
app01-3396	291	1	doi:10.1109	doi:10.1109	VERB
app01-3396	291	2	/	/	SYM
app01-3396	291	3	mra.2006.1678144	mra.2006.1678144	PROPN
app01-3396	291	4	.	.	PUNCT
app01-3396	292	1	[	[	X
app01-3396	292	2	4	4	X
app01-3396	292	3	]	]	PUNCT
app01-3396	292	4	s.	s.	PROPN
app01-3396	292	5	thrun	thrun	PROPN
app01-3396	292	6	,	,	PUNCT
app01-3396	292	7	w.	w.	PROPN
app01-3396	292	8	burgard	burgard	PROPN
app01-3396	292	9	,	,	PUNCT
app01-3396	292	10	d.	d.	PROPN
app01-3396	292	11	fox	fox	PROPN
app01-3396	292	12	.	.	PUNCT
app01-3396	293	1	probabilistic	probabilistic	ADJ
app01-3396	293	2	robotics	robotic	NOUN
app01-3396	293	3	.	.	PUNCT
app01-3396	294	1	the	the	DET
app01-3396	294	2	mit	mit	PROPN
app01-3396	294	3	press	press	NOUN
app01-3396	294	4	,	,	PUNCT
app01-3396	294	5	2005	2005	NUM
app01-3396	294	6	.	.	PUNCT
app01-3396	295	1	[	[	X
app01-3396	295	2	5	5	X
app01-3396	295	3	]	]	PUNCT
app01-3396	295	4	m.	m.	NOUN
app01-3396	295	5	montemerlo	montemerlo	PROPN
app01-3396	295	6	,	,	PUNCT
app01-3396	295	7	s.	s.	PROPN
app01-3396	295	8	thrun	thrun	PROPN
app01-3396	295	9	,	,	PUNCT
app01-3396	295	10	d.	d.	PROPN
app01-3396	295	11	koller	koller	PROPN
app01-3396	295	12	,	,	PUNCT
app01-3396	295	13	b.	b.	PROPN
app01-3396	295	14	wegbreit	wegbreit	PROPN
app01-3396	295	15	.	.	PUNCT
app01-3396	296	1	fastslam	fastslam	PROPN
app01-3396	296	2	:	:	PUNCT
app01-3396	296	3	a	a	DET
app01-3396	296	4	factored	factor	VERB
app01-3396	296	5	solution	solution	NOUN
app01-3396	296	6	to	to	ADP
app01-3396	296	7	the	the	DET
app01-3396	296	8	simultaneous	simultaneous	ADJ
app01-3396	296	9	localization	localization	NOUN
app01-3396	296	10	and	and	CCONJ
app01-3396	296	11	mapping	mapping	NOUN
app01-3396	296	12	problem	problem	NOUN
app01-3396	296	13	.	.	PUNCT
app01-3396	297	1	aaai	aaai	PROPN
app01-3396	297	2	/	/	SYM
app01-3396	297	3	iaai	iaai	PROPN
app01-3396	297	4	2002	2002	NUM
app01-3396	297	5	.	.	PUNCT
app01-3396	298	1	[	[	X
app01-3396	298	2	6	6	NUM
app01-3396	298	3	]	]	PUNCT
app01-3396	298	4	h.	h.	PROPN
app01-3396	298	5	j.	j.	PROPN
app01-3396	298	6	sohn	sohn	PROPN
app01-3396	298	7	,	,	PUNCT
app01-3396	298	8	b.	b.	PROPN
app01-3396	298	9	k.	k.	PROPN
app01-3396	298	10	kim	kim	PROPN
app01-3396	298	11	.	.	PUNCT
app01-3396	299	1	vecslam	vecslam	PROPN
app01-3396	299	2	:	:	PUNCT
app01-3396	299	3	an	an	DET
app01-3396	299	4	efficient	efficient	ADJ
app01-3396	299	5	vectorbased	vectorbase	VERB
app01-3396	299	6	slam	slam	NOUN
app01-3396	299	7	algorithm	algorithm	NOUN
app01-3396	299	8	for	for	ADP
app01-3396	299	9	indoor	indoor	ADJ
app01-3396	299	10	environments	environment	NOUN
app01-3396	299	11	.	.	PUNCT
app01-3396	300	1	journal	journal	NOUN
app01-3396	300	2	of	of	ADP
app01-3396	300	3	intelligent	intelligent	ADJ
app01-3396	300	4	and	and	CCONJ
app01-3396	300	5	robotic	robotic	ADJ
app01-3396	300	6	systems	system	NOUN
app01-3396	300	7	56(3):301–318	56(3):301–318	PROPN
app01-3396	300	8	,	,	PUNCT
app01-3396	300	9	2009	2009	NUM
app01-3396	300	10	.	.	PUNCT
app01-3396	301	1	doi:10.1007	doi:10.1007	VERB
app01-3396	301	2	/	/	SYM
app01-3396	301	3	s10846	s10846	PROPN
app01-3396	301	4	-	-	PUNCT
app01-3396	301	5	009	009	NUM
app01-3396	301	6	-	-	PUNCT
app01-3396	301	7	9313	9313	NUM
app01-3396	301	8	-	-	SYM
app01-3396	301	9	2	2	NUM
app01-3396	301	10	.	.	PUNCT
app01-3396	302	1	[	[	X
app01-3396	302	2	7	7	X
app01-3396	302	3	]	]	X
app01-3396	302	4	l.	l.	PROPN
app01-3396	302	5	oswald	oswald	PROPN
app01-3396	302	6	.	.	PUNCT
app01-3396	303	1	recent	recent	ADJ
app01-3396	303	2	development	development	NOUN
app01-3396	303	3	of	of	ADP
app01-3396	303	4	the	the	DET
app01-3396	303	5	iterative	iterative	NOUN
app01-3396	303	6	closest	close	ADJ
app01-3396	303	7	point	point	NOUN
app01-3396	303	8	algorithm	algorithm	NOUN
app01-3396	303	9	,	,	PUNCT
app01-3396	303	10	2010	2010	NUM
app01-3396	303	11	.	.	PUNCT
app01-3396	304	1	[	[	X
app01-3396	304	2	8	8	X
app01-3396	304	3	]	]	PUNCT
app01-3396	304	4	s.	s.	PROPN
app01-3396	304	5	rusinkiewicz	rusinkiewicz	PROPN
app01-3396	304	6	,	,	PUNCT
app01-3396	304	7	m.	m.	NOUN
app01-3396	304	8	levoy	levoy	PROPN
app01-3396	304	9	.	.	PUNCT
app01-3396	305	1	efficient	efficient	ADJ
app01-3396	305	2	variants	variant	NOUN
app01-3396	305	3	of	of	ADP
app01-3396	305	4	the	the	DET
app01-3396	305	5	icp	icp	PROPN
app01-3396	305	6	algorithm	algorithm	NOUN
app01-3396	305	7	.	.	PUNCT
app01-3396	306	1	proceedings	proceeding	NOUN
app01-3396	306	2	third	third	ADJ
app01-3396	306	3	international	international	ADJ
app01-3396	306	4	conference	conference	NOUN
app01-3396	306	5	on	on	ADP
app01-3396	306	6	3	3	NUM
app01-3396	306	7	-	-	SYM
app01-3396	306	8	d	d	NOUN
app01-3396	306	9	digital	digital	ADJ
app01-3396	306	10	imaging	imaging	NOUN
app01-3396	306	11	and	and	CCONJ
app01-3396	306	12	modeling	modeling	NOUN
app01-3396	306	13	pp	pp	PRON
app01-3396	306	14	.	.	PUNCT
app01-3396	307	1	145–152	145–152	NUM
app01-3396	307	2	.	.	PUNCT
app01-3396	308	1	doi:10.1109	doi:10.1109	PROPN
app01-3396	308	2	/	/	SYM
app01-3396	308	3	im.2001.924423	im.2001.924423	PROPN
app01-3396	308	4	.	.	PUNCT
app01-3396	309	1	[	[	X
app01-3396	309	2	9	9	NUM
app01-3396	309	3	]	]	PUNCT
app01-3396	309	4	p.	p.	NOUN
app01-3396	309	5	besl	besl	NOUN
app01-3396	309	6	,	,	PUNCT
app01-3396	309	7	h.	h.	PROPN
app01-3396	309	8	mckay	mckay	PROPN
app01-3396	309	9	.	.	PUNCT
app01-3396	310	1	a	a	DET
app01-3396	310	2	method	method	NOUN
app01-3396	310	3	for	for	ADP
app01-3396	310	4	registration	registration	NOUN
app01-3396	310	5	of	of	ADP
app01-3396	310	6	3	3	NUM
app01-3396	310	7	-	-	PUNCT
app01-3396	310	8	d	d	NOUN
app01-3396	310	9	shapes	shape	NOUN
app01-3396	310	10	.	.	PUNCT
app01-3396	311	1	ieee	ieee	NOUN
app01-3396	311	2	transactions	transaction	NOUN
app01-3396	311	3	on	on	ADP
app01-3396	311	4	pattern	pattern	NOUN
app01-3396	311	5	analysis	analysis	NOUN
app01-3396	311	6	and	and	CCONJ
app01-3396	311	7	machine	machine	NOUN
app01-3396	311	8	intelligence	intelligence	NOUN
app01-3396	311	9	14(2):239–256	14(2):239–256	NUM
app01-3396	311	10	,	,	PUNCT
app01-3396	311	11	1992	1992	NUM
app01-3396	311	12	.	.	PUNCT
app01-3396	312	1	doi:10.1109/34.121791	doi:10.1109/34.121791	ADV
app01-3396	312	2	.	.	PUNCT
app01-3396	313	1	[	[	X
app01-3396	313	2	10	10	NUM
app01-3396	313	3	]	]	PUNCT
app01-3396	314	1	z.	z.	PROPN
app01-3396	314	2	zhang	zhang	PROPN
app01-3396	314	3	.	.	PROPN
app01-3396	315	1	iterative	iterative	PROPN
app01-3396	315	2	point	point	NOUN
app01-3396	315	3	matching	match	VERB
app01-3396	315	4	for	for	ADP
app01-3396	315	5	registration	registration	NOUN
app01-3396	315	6	of	of	ADP
app01-3396	315	7	free	free	ADJ
app01-3396	315	8	-	-	PUNCT
app01-3396	315	9	form	form	NOUN
app01-3396	315	10	curves	curve	NOUN
app01-3396	315	11	and	and	CCONJ
app01-3396	315	12	surfaces	surface	NOUN
app01-3396	315	13	.	.	PUNCT
app01-3396	316	1	international	international	ADJ
app01-3396	316	2	journal	journal	NOUN
app01-3396	316	3	of	of	ADP
app01-3396	316	4	computer	computer	NOUN
app01-3396	316	5	vision	vision	NOUN
app01-3396	316	6	13(2):119–152	13(2):119–152	PROPN
app01-3396	316	7	,	,	PUNCT
app01-3396	316	8	1994	1994	NUM
app01-3396	316	9	.	.	PUNCT
app01-3396	317	1	[	[	X
app01-3396	317	2	11	11	NUM
app01-3396	317	3	]	]	X
app01-3396	317	4	h.	h.	PROPN
app01-3396	317	5	pottmann	pottmann	PROPN
app01-3396	317	6	,	,	PUNCT
app01-3396	317	7	s.	s.	PROPN
app01-3396	317	8	leopoldseder	leopoldseder	PROPN
app01-3396	317	9	,	,	PUNCT
app01-3396	317	10	m.	m.	NOUN
app01-3396	317	11	hofer	hofer	PROPN
app01-3396	317	12	.	.	PUNCT
app01-3396	317	13	registration	registration	NOUN
app01-3396	317	14	without	without	ADP
app01-3396	317	15	icp	icp	PROPN
app01-3396	317	16	.	.	PUNCT
app01-3396	318	1	computer	computer	NOUN
app01-3396	318	2	vision	vision	NOUN
app01-3396	318	3	and	and	CCONJ
app01-3396	318	4	image	image	NOUN
app01-3396	318	5	understanding	understanding	NOUN
app01-3396	318	6	95(1):54–71	95(1):54–71	NUM
app01-3396	318	7	,	,	PUNCT
app01-3396	318	8	2004	2004	NUM
app01-3396	318	9	.	.	PUNCT
app01-3396	319	1	doi:10.1016	doi:10.1016	PROPN
app01-3396	319	2	/	/	SYM
app01-3396	319	3	j.cviu.2004.04.002	j.cviu.2004.04.002	PROPN
app01-3396	319	4	.	.	PUNCT
app01-3396	320	1	[	[	X
app01-3396	320	2	12	12	NUM
app01-3396	320	3	]	]	PUNCT
app01-3396	320	4	j.	j.	PROPN
app01-3396	320	5	elseberg	elseberg	PROPN
app01-3396	320	6	,	,	PUNCT
app01-3396	320	7	r.	r.	PROPN
app01-3396	320	8	t.	t.	PROPN
app01-3396	320	9	creed	creed	PROPN
app01-3396	320	10	,	,	PUNCT
app01-3396	320	11	r.	r.	PROPN
app01-3396	320	12	lakaemper	lakaemper	PROPN
app01-3396	320	13	.	.	PUNCT
app01-3396	321	1	a	a	DET
app01-3396	321	2	line	line	NOUN
app01-3396	321	3	segment	segment	NOUN
app01-3396	321	4	based	base	VERB
app01-3396	321	5	system	system	NOUN
app01-3396	321	6	for	for	ADP
app01-3396	321	7	2d	2d	NUM
app01-3396	321	8	global	global	ADJ
app01-3396	321	9	mapping	mapping	NOUN
app01-3396	321	10	.	.	PUNCT
app01-3396	322	1	2010	2010	NUM
app01-3396	322	2	ieee	ieee	PROPN
app01-3396	322	3	international	international	ADJ
app01-3396	322	4	conference	conference	NOUN
app01-3396	322	5	on	on	ADP
app01-3396	322	6	robotics	robotic	NOUN
app01-3396	322	7	and	and	CCONJ
app01-3396	322	8	automation	automation	NOUN
app01-3396	322	9	pp	pp	X
app01-3396	322	10	.	.	PUNCT
app01-3396	323	1	3924–3931	3924–3931	NUM
app01-3396	323	2	,	,	PUNCT
app01-3396	323	3	2010	2010	NUM
app01-3396	323	4	.	.	PUNCT
app01-3396	324	1	doi:10.1109	doi:10.1109	VERB
app01-3396	324	2	/	/	SYM
app01-3396	324	3	robot.2010.5509138	robot.2010.5509138	PROPN
app01-3396	324	4	.	.	PUNCT
app01-3396	325	1	[	[	X
app01-3396	325	2	13	13	NUM
app01-3396	325	3	]	]	PUNCT
app01-3396	325	4	q.	q.	PROPN
app01-3396	325	5	li	li	PROPN
app01-3396	325	6	,	,	PUNCT
app01-3396	325	7	j.	j.	PROPN
app01-3396	325	8	griffiths	griffiths	PROPN
app01-3396	325	9	.	.	PROPN
app01-3396	325	10	iterative	iterative	PROPN
app01-3396	325	11	closest	close	ADJ
app01-3396	325	12	geometric	geometric	ADJ
app01-3396	325	13	objects	object	NOUN
app01-3396	325	14	registration	registration	NOUN
app01-3396	325	15	.	.	PUNCT
app01-3396	326	1	computers	computer	NOUN
app01-3396	326	2	&	&	CCONJ
app01-3396	326	3	mathematics	mathematics	PROPN
app01-3396	326	4	with	with	ADP
app01-3396	326	5	applications	application	NOUN
app01-3396	326	6	40(10	40(10	NOUN
app01-3396	326	7	-	-	ADJ
app01-3396	326	8	11):1171–1188	11):1171–1188	PROPN
app01-3396	326	9	,	,	PUNCT
app01-3396	326	10	2000	2000	NUM
app01-3396	326	11	.	.	PUNCT
app01-3396	327	1	doi:10.1016	doi:10.1016	PROPN
app01-3396	327	2	/	/	SYM
app01-3396	327	3	s0898	s0898	PROPN
app01-3396	327	4	-	-	ADJ
app01-3396	327	5	1221(00)00230	1221(00)00230	NUM
app01-3396	327	6	-	-	PUNCT
app01-3396	327	7	3	3	NUM
app01-3396	327	8	.	.	PUNCT
app01-3396	328	1	[	[	X
app01-3396	328	2	14	14	NUM
app01-3396	328	3	]	]	X
app01-3396	328	4	e.	e.	PROPN
app01-3396	328	5	tsardoulias	tsardoulias	PROPN
app01-3396	328	6	,	,	PUNCT
app01-3396	328	7	l.	l.	PROPN
app01-3396	328	8	petrou	petrou	PROPN
app01-3396	328	9	.	.	PUNCT
app01-3396	329	1	critical	critical	ADJ
app01-3396	329	2	rays	ray	NOUN
app01-3396	329	3	scan	scan	PROPN
app01-3396	329	4	match	match	PROPN
app01-3396	329	5	slam	slam	PROPN
app01-3396	329	6	.	.	PUNCT
app01-3396	330	1	journal	journal	PROPN
app01-3396	330	2	of	of	ADP
app01-3396	330	3	intelligent	intelligent	ADJ
app01-3396	330	4	&	&	CCONJ
app01-3396	330	5	robotic	robotic	ADJ
app01-3396	330	6	systems	system	NOUN
app01-3396	330	7	72(3	72(3	NUM
app01-3396	330	8	-	-	SYM
app01-3396	330	9	4):441–462	4):441–462	NUM
app01-3396	330	10	,	,	PUNCT
app01-3396	330	11	2013	2013	NUM
app01-3396	330	12	.	.	PUNCT
app01-3396	331	1	doi:10.1007	doi:10.1007	VERB
app01-3396	331	2	/	/	SYM
app01-3396	331	3	s10846	s10846	PROPN
app01-3396	331	4	-	-	PUNCT
app01-3396	331	5	012	012	NUM
app01-3396	331	6	-	-	PUNCT
app01-3396	331	7	9811	9811	NUM
app01-3396	331	8	-	-	SYM
app01-3396	331	9	5	5	NUM
app01-3396	331	10	.	.	PUNCT
app01-3396	332	1	[	[	X
app01-3396	332	2	15	15	NUM
app01-3396	332	3	]	]	X
app01-3396	332	4	m.	m.	NOUN
app01-3396	332	5	alshawa	alshawa	PROPN
app01-3396	332	6	.	.	PUNCT
app01-3396	333	1	icl	icl	PROPN
app01-3396	333	2	:	:	PUNCT
app01-3396	333	3	iterative	iterative	VERB
app01-3396	333	4	closest	close	ADJ
app01-3396	333	5	line	line	NOUN
app01-3396	333	6	a	a	DET
app01-3396	333	7	novel	novel	ADJ
app01-3396	333	8	point	point	NOUN
app01-3396	333	9	cloud	cloud	NOUN
app01-3396	333	10	registration	registration	NOUN
app01-3396	333	11	algorithm	algorithm	NOUN
app01-3396	333	12	based	base	VERB
app01-3396	333	13	on	on	ADP
app01-3396	333	14	linear	linear	PROPN
app01-3396	333	15	features	feature	NOUN
app01-3396	333	16	.	.	PUNCT
app01-3396	334	1	ekscentar	ekscentar	NOUN
app01-3396	334	2	(	(	PUNCT
app01-3396	334	3	10):53–59	10):53–59	NUM
app01-3396	334	4	,	,	PUNCT
app01-3396	334	5	2007	2007	NUM
app01-3396	334	6	.	.	PUNCT
app01-3396	335	1	[	[	X
app01-3396	335	2	16	16	NUM
app01-3396	335	3	]	]	X
app01-3396	335	4	b.	b.	PROPN
app01-3396	335	5	kamgar	kamgar	NOUN
app01-3396	335	6	-	-	PUNCT
app01-3396	335	7	parsi	parsi	NOUN
app01-3396	335	8	,	,	PUNCT
app01-3396	335	9	b.	b.	PROPN
app01-3396	335	10	kamgar	kamgar	PROPN
app01-3396	335	11	-	-	PUNCT
app01-3396	335	12	parsi	parsi	NOUN
app01-3396	335	13	.	.	PUNCT
app01-3396	336	1	algorithms	algorithm	NOUN
app01-3396	336	2	for	for	ADP
app01-3396	336	3	matching	match	VERB
app01-3396	336	4	3d	3d	NUM
app01-3396	336	5	line	line	NOUN
app01-3396	336	6	sets	set	NOUN
app01-3396	336	7	.	.	PUNCT
app01-3396	337	1	ieee	ieee	NOUN
app01-3396	337	2	transactions	transaction	NOUN
app01-3396	337	3	on	on	ADP
app01-3396	337	4	pattern	pattern	NOUN
app01-3396	337	5	analysis	analysis	NOUN
app01-3396	337	6	and	and	CCONJ
app01-3396	337	7	machine	machine	NOUN
app01-3396	337	8	intelligence	intelligence	NOUN
app01-3396	337	9	26(5):582–93	26(5):582–93	NUM
app01-3396	337	10	,	,	PUNCT
app01-3396	337	11	2004	2004	NUM
app01-3396	337	12	.	.	PUNCT
app01-3396	338	1	doi:10.1109	doi:10.1109	ADJ
app01-3396	338	2	/	/	SYM
app01-3396	338	3	tpami.2004.1273930	tpami.2004.1273930	NUM
app01-3396	338	4	.	.	PUNCT
app01-3396	339	1	[	[	X
app01-3396	339	2	17	17	NUM
app01-3396	339	3	]	]	PUNCT
app01-3396	339	4	k.	k.	PROPN
app01-3396	339	5	demarsin	demarsin	PROPN
app01-3396	339	6	,	,	PUNCT
app01-3396	339	7	d.	d.	PROPN
app01-3396	339	8	vanderstraeten	vanderstraeten	PROPN
app01-3396	339	9	,	,	PUNCT
app01-3396	339	10	t.	t.	PROPN
app01-3396	339	11	volodine	volodine	PROPN
app01-3396	339	12	,	,	PUNCT
app01-3396	339	13	d.	d.	PROPN
app01-3396	339	14	roose	roose	PROPN
app01-3396	339	15	.	.	PUNCT
app01-3396	340	1	detection	detection	NOUN
app01-3396	340	2	of	of	ADP
app01-3396	340	3	closed	closed	ADJ
app01-3396	340	4	sharp	sharp	ADJ
app01-3396	340	5	edges	edge	NOUN
app01-3396	340	6	in	in	ADP
app01-3396	340	7	point	point	NOUN
app01-3396	340	8	clouds	cloud	NOUN
app01-3396	340	9	using	use	VERB
app01-3396	340	10	normal	normal	ADJ
app01-3396	340	11	estimation	estimation	NOUN
app01-3396	340	12	and	and	CCONJ
app01-3396	340	13	graph	graph	NOUN
app01-3396	340	14	theory	theory	NOUN
app01-3396	340	15	.	.	PUNCT
app01-3396	341	1	computer	computer	NOUN
app01-3396	341	2	-	-	PUNCT
app01-3396	341	3	aided	aid	VERB
app01-3396	341	4	design	design	NOUN
app01-3396	341	5	39(4):276–283	39(4):276–283	NUM
app01-3396	341	6	,	,	PUNCT
app01-3396	341	7	2007	2007	NUM
app01-3396	341	8	.	.	PUNCT
app01-3396	342	1	doi:10.1016	doi:10.1016	PROPN
app01-3396	342	2	/	/	SYM
app01-3396	342	3	j.cad.2006.12.005	j.cad.2006.12.005	PROPN
app01-3396	342	4	.	.	PUNCT
app01-3396	343	1	[	[	X
app01-3396	343	2	18	18	NUM
app01-3396	343	3	]	]	PUNCT
app01-3396	343	4	v.	v.	CCONJ
app01-3396	343	5	nguyen	nguyen	PROPN
app01-3396	343	6	,	,	PUNCT
app01-3396	343	7	s.	s.	PROPN
app01-3396	343	8	gächter	gächter	PROPN
app01-3396	343	9	,	,	PUNCT
app01-3396	343	10	a.	a.	PROPN
app01-3396	343	11	martinelli	martinelli	PROPN
app01-3396	343	12	,	,	PUNCT
app01-3396	343	13	et	et	PROPN
app01-3396	343	14	al	al	PROPN
app01-3396	343	15	.	.	PUNCT
app01-3396	344	1	a	a	DET
app01-3396	344	2	comparison	comparison	NOUN
app01-3396	344	3	of	of	ADP
app01-3396	344	4	line	line	NOUN
app01-3396	344	5	extraction	extraction	NOUN
app01-3396	344	6	algorithms	algorithm	NOUN
app01-3396	344	7	using	use	VERB
app01-3396	344	8	2d	2d	NUM
app01-3396	344	9	range	range	NOUN
app01-3396	344	10	data	datum	NOUN
app01-3396	344	11	for	for	ADP
app01-3396	344	12	indoor	indoor	ADJ
app01-3396	344	13	mobile	mobile	ADJ
app01-3396	344	14	robotics	robotic	NOUN
app01-3396	344	15	.	.	PUNCT
app01-3396	345	1	autonomous	autonomous	ADJ
app01-3396	345	2	robots	robot	NOUN
app01-3396	345	3	23(2):97–111	23(2):97–111	NUM
app01-3396	345	4	,	,	PUNCT
app01-3396	345	5	2007	2007	NUM
app01-3396	345	6	.	.	PUNCT
app01-3396	346	1	doi:10.1007	doi:10.1007	VERB
app01-3396	346	2	/	/	SYM
app01-3396	346	3	s10514	s10514	NOUN
app01-3396	346	4	-	-	PUNCT
app01-3396	346	5	007	007	NUM
app01-3396	346	6	-	-	PUNCT
app01-3396	346	7	9034	9034	NUM
app01-3396	346	8	-	-	PUNCT
app01-3396	346	9	y.	y.	NOUN
app01-3396	347	1	[	[	X
app01-3396	347	2	19	19	NUM
app01-3396	347	3	]	]	X
app01-3396	347	4	d.	d.	PROPN
app01-3396	347	5	h.	h.	PROPN
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app01-3396	347	7	,	,	PUNCT
app01-3396	347	8	t.	t.	PROPN
app01-3396	347	9	k.	k.	PROPN
app01-3396	347	10	peucker	peucker	PROPN
app01-3396	347	11	.	.	PUNCT
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app01-3396	348	2	for	for	ADP
app01-3396	348	3	the	the	DET
app01-3396	348	4	reduction	reduction	NOUN
app01-3396	348	5	of	of	ADP
app01-3396	348	6	the	the	DET
app01-3396	348	7	number	number	NOUN
app01-3396	348	8	of	of	ADP
app01-3396	348	9	points	point	NOUN
app01-3396	348	10	required	require	VERB
app01-3396	348	11	to	to	PART
app01-3396	348	12	represent	represent	VERB
app01-3396	348	13	a	a	DET
app01-3396	348	14	diditized	diditize	VERB
app01-3396	348	15	line	line	NOUN
app01-3396	348	16	or	or	CCONJ
app01-3396	348	17	its	its	PRON
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app01-3396	348	19	.	.	PUNCT
app01-3396	349	1	cartographica	cartographica	PROPN
app01-3396	349	2	:	:	PUNCT
app01-3396	350	1	the	the	DET
app01-3396	350	2	international	international	ADJ
app01-3396	350	3	journal	journal	NOUN
app01-3396	350	4	for	for	ADP
app01-3396	350	5	geographic	geographic	ADJ
app01-3396	350	6	information	information	NOUN
app01-3396	350	7	and	and	CCONJ
app01-3396	350	8	geovisualization	geovisualization	NOUN
app01-3396	350	9	10(2):112–122	10(2):112–122	PROPN
app01-3396	350	10	,	,	PUNCT
app01-3396	350	11	1973	1973	NUM
app01-3396	350	12	.	.	PUNCT
app01-3396	351	1	doi:10.3138	doi:10.3138	PROPN
app01-3396	351	2	/	/	SYM
app01-3396	351	3	fm57	fm57	PROPN
app01-3396	351	4	-	-	PUNCT
app01-3396	351	5	6770	6770	NUM
app01-3396	351	6	-	-	PUNCT
app01-3396	351	7	u75u-7727	u75u-7727	ADJ
app01-3396	351	8	.	.	PUNCT
app01-3396	352	1	[	[	X
app01-3396	352	2	20	20	NUM
app01-3396	352	3	]	]	X
app01-3396	352	4	w.	w.	PROPN
app01-3396	352	5	shi	shi	PROPN
app01-3396	352	6	,	,	PUNCT
app01-3396	352	7	c.	c.	PROPN
app01-3396	352	8	cheung	cheung	PROPN
app01-3396	352	9	.	.	PUNCT
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app01-3396	353	2	evaluation	evaluation	NOUN
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app01-3396	353	4	line	line	NOUN
app01-3396	353	5	simplification	simplification	NOUN
app01-3396	353	6	algorithms	algorithm	NOUN
app01-3396	353	7	for	for	ADP
app01-3396	353	8	vector	vector	NOUN
app01-3396	353	9	generalization	generalization	NOUN
app01-3396	353	10	.	.	PUNCT
app01-3396	354	1	the	the	DET
app01-3396	354	2	cartographic	cartographic	ADJ
app01-3396	354	3	journal	journal	NOUN
app01-3396	354	4	43(1):27–44	43(1):27–44	NUM
app01-3396	354	5	,	,	PUNCT
app01-3396	354	6	2006	2006	NUM
app01-3396	354	7	.	.	PUNCT
app01-3396	355	1	doi:10.1179/000870406x93490	doi:10.1179/000870406x93490	PROPN
app01-3396	355	2	.	.	PUNCT
app01-3396	356	1	28	28	NUM
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app01-3396	356	4	http://dx.doi.org/10.1109/mra.2006.1678144	http://dx.doi.org/10.1109/mra.2006.1678144	X
app01-3396	356	5	http://dx.doi.org/10.1007/s10846-009-9313-2	http://dx.doi.org/10.1007/s10846-009-9313-2	X
app01-3396	356	6	http://dx.doi.org/10.1109/im.2001.924423	http://dx.doi.org/10.1109/im.2001.924423	ADJ
app01-3396	356	7	http://dx.doi.org/10.1109/34.121791	http://dx.doi.org/10.1109/34.121791	PUNCT
app01-3396	356	8	http://dx.doi.org/10.1016/j.cviu.2004.04.002	http://dx.doi.org/10.1016/j.cviu.2004.04.002	PROPN
app01-3396	356	9	http://dx.doi.org/10.1109/robot.2010.5509138	http://dx.doi.org/10.1109/robot.2010.5509138	PROPN
app01-3396	356	10	http://dx.doi.org/10.1016/s0898-1221(00)00230-3	http://dx.doi.org/10.1016/s0898-1221(00)00230-3	NOUN
app01-3396	356	11	http://dx.doi.org/10.1007/s10846-012-9811-5	http://dx.doi.org/10.1007/s10846-012-9811-5	NUM
app01-3396	356	12	http://dx.doi.org/10.1109/tpami.2004.1273930	http://dx.doi.org/10.1109/tpami.2004.1273930	NOUN
app01-3396	356	13	http://dx.doi.org/10.1016/j.cad.2006.12.005	http://dx.doi.org/10.1016/j.cad.2006.12.005	VERB
app01-3396	356	14	http://dx.doi.org/10.1007/s10514-007-9034-y	http://dx.doi.org/10.1007/s10514-007-9034-y	PROPN
app01-3396	356	15	http://dx.doi.org/10.3138/fm57-6770-u75u-7727	http://dx.doi.org/10.3138/fm57-6770-u75u-7727	X
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app01-3396	356	17	acta	acta	PROPN
app01-3396	356	18	polytechnica	polytechnica	PROPN
app01-3396	356	19	ctu	ctu	NOUN
app01-3396	356	20	proceedings	proceeding	NOUN
app01-3396	356	21	2:22–28	2:22–28	NUM
app01-3396	356	22	,	,	PUNCT
app01-3396	356	23	2015	2015	NUM
app01-3396	356	24	1	1	NUM
app01-3396	356	25	introduction	introduction	NOUN
app01-3396	356	26	2	2	NUM
app01-3396	356	27	point	point	NOUN
app01-3396	356	28	cloud	cloud	NOUN
app01-3396	356	29	processing	processing	NOUN
app01-3396	356	30	system	system	NOUN
app01-3396	356	31	2.1	2.1	NUM
app01-3396	356	32	filtering	filter	VERB
app01-3396	356	33	and	and	CCONJ
app01-3396	356	34	clustering	cluster	VERB
app01-3396	356	35	2.2	2.2	NUM
app01-3396	356	36	scan	scan	NOUN
app01-3396	356	37	fitting	fit	VERB
app01-3396	356	38	2.3	2.3	NUM
app01-3396	356	39	map	map	NOUN
app01-3396	356	40	building	build	VERB
app01-3396	356	41	2.4	2.4	NUM
app01-3396	356	42	experimental	experimental	ADJ
app01-3396	356	43	results	result	NOUN
app01-3396	356	44	3	3	NUM
app01-3396	356	45	conclusion	conclusion	NOUN
app01-3396	356	46	and	and	CCONJ
app01-3396	356	47	future	future	ADJ
app01-3396	356	48	work	work	NOUN
app01-3396	356	49	acknowledgements	acknowledgement	NOUN
app01-3396	356	50	references	reference	NOUN