id	sid	tid	token	lemma	pos
app01-3401	1	1	acta	acta	PROPN
app01-3401	1	2	polytechnica	polytechnica	PROPN
app01-3401	1	3	ctu	ctu	PROPN
app01-3401	1	4	proceedings	proceeding	NOUN
app01-3401	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3401	1	6	/	/	SYM
app01-3401	1	7	app.2015.1.0045	app.2015.1.0045	PROPN
app01-3401	1	8	acta	acta	PROPN
app01-3401	1	9	polytechnica	polytechnica	PROPN
app01-3401	1	10	ctu	ctu	NOUN
app01-3401	1	11	proceedings	proceeding	NOUN
app01-3401	1	12	2:45–50	2:45–50	NUM
app01-3401	1	13	,	,	PUNCT
app01-3401	1	14	2015	2015	NUM
app01-3401	1	15	©	©	PROPN
app01-3401	1	16	czech	czech	PROPN
app01-3401	1	17	technical	technical	PROPN
app01-3401	1	18	university	university	PROPN
app01-3401	1	19	in	in	ADP
app01-3401	1	20	prague	prague	PROPN
app01-3401	1	21	,	,	PUNCT
app01-3401	1	22	2015	2015	NUM
app01-3401	1	23	available	available	ADJ
app01-3401	1	24	online	online	ADV
app01-3401	1	25	at	at	ADP
app01-3401	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3401	1	27	impact	impact	NOUN
app01-3401	1	28	assessment	assessment	NOUN
app01-3401	1	29	of	of	ADP
app01-3401	1	30	image	image	NOUN
app01-3401	1	31	feature	feature	NOUN
app01-3401	1	32	extractors	extractor	NOUN
app01-3401	1	33	on	on	ADP
app01-3401	1	34	the	the	DET
app01-3401	1	35	performance	performance	NOUN
app01-3401	1	36	of	of	ADP
app01-3401	1	37	slam	slam	NOUN
app01-3401	1	38	systems	system	NOUN
app01-3401	1	39	taihú	taihú	PROPN
app01-3401	1	40	pirea,∗	pirea,∗	PROPN
app01-3401	1	41	,	,	PUNCT
app01-3401	1	42	thomas	thomas	PROPN
app01-3401	1	43	fischera	fischera	PROPN
app01-3401	1	44	,	,	PUNCT
app01-3401	1	45	jan	jan	PROPN
app01-3401	1	46	faiglb	faiglb	PROPN
app01-3401	1	47	a	a	DET
app01-3401	1	48	university	university	NOUN
app01-3401	1	49	of	of	ADP
app01-3401	1	50	buenos	buenos	PROPN
app01-3401	1	51	aires	aires	PROPN
app01-3401	1	52	,	,	PUNCT
app01-3401	1	53	intendente	intendente	ADJ
app01-3401	1	54	güiraldes	güiralde	NOUN
app01-3401	1	55	2160	2160	NUM
app01-3401	1	56	,	,	PUNCT
app01-3401	1	57	ciudad	ciudad	PROPN
app01-3401	1	58	autónoma	autónoma	PROPN
app01-3401	1	59	de	de	PROPN
app01-3401	1	60	buenos	buenos	PROPN
app01-3401	1	61	aires	aires	PROPN
app01-3401	1	62	,	,	PUNCT
app01-3401	1	63	argentina	argentina	PROPN
app01-3401	1	64	b	b	PROPN
app01-3401	1	65	department	department	PROPN
app01-3401	1	66	of	of	ADP
app01-3401	1	67	computer	computer	NOUN
app01-3401	1	68	science	science	NOUN
app01-3401	1	69	,	,	PUNCT
app01-3401	1	70	faculty	faculty	NOUN
app01-3401	1	71	of	of	ADP
app01-3401	1	72	electrical	electrical	ADJ
app01-3401	1	73	engineering	engineering	NOUN
app01-3401	1	74	,	,	PUNCT
app01-3401	1	75	czech	czech	PROPN
app01-3401	1	76	technical	technical	PROPN
app01-3401	1	77	university	university	PROPN
app01-3401	1	78	in	in	ADP
app01-3401	1	79	prague	prague	PROPN
app01-3401	1	80	,	,	PUNCT
app01-3401	1	81	technická	technická	NOUN
app01-3401	1	82	2	2	NUM
app01-3401	1	83	,	,	PUNCT
app01-3401	1	84	166	166	NUM
app01-3401	1	85	27	27	NUM
app01-3401	1	86	,	,	PUNCT
app01-3401	1	87	prague	prague	NOUN
app01-3401	1	88	,	,	PUNCT
app01-3401	1	89	czech	czech	PROPN
app01-3401	1	90	republic	republic	NOUN
app01-3401	1	91	∗	∗	NOUN
app01-3401	1	92	corresponding	correspond	VERB
app01-3401	1	93	author	author	NOUN
app01-3401	1	94	:	:	PUNCT
app01-3401	1	95	tpire@dc.uba.ar	tpire@dc.uba.ar	PROPN
app01-3401	1	96	abstract	abstract	NOUN
app01-3401	1	97	.	.	PUNCT
app01-3401	2	1	this	this	DET
app01-3401	2	2	work	work	NOUN
app01-3401	2	3	evaluates	evaluate	VERB
app01-3401	2	4	an	an	DET
app01-3401	2	5	impact	impact	NOUN
app01-3401	2	6	of	of	ADP
app01-3401	2	7	image	image	NOUN
app01-3401	2	8	feature	feature	NOUN
app01-3401	2	9	extractors	extractor	NOUN
app01-3401	2	10	on	on	ADP
app01-3401	2	11	the	the	DET
app01-3401	2	12	performance	performance	NOUN
app01-3401	2	13	of	of	ADP
app01-3401	2	14	a	a	DET
app01-3401	2	15	visual	visual	ADJ
app01-3401	2	16	slam	slam	NOUN
app01-3401	2	17	method	method	NOUN
app01-3401	2	18	in	in	ADP
app01-3401	2	19	terms	term	NOUN
app01-3401	2	20	of	of	ADP
app01-3401	2	21	pose	pose	NOUN
app01-3401	2	22	accuracy	accuracy	NOUN
app01-3401	2	23	and	and	CCONJ
app01-3401	2	24	computational	computational	ADJ
app01-3401	2	25	requirements	requirement	NOUN
app01-3401	2	26	.	.	PUNCT
app01-3401	3	1	in	in	ADP
app01-3401	3	2	particular	particular	ADJ
app01-3401	3	3	,	,	PUNCT
app01-3401	3	4	the	the	DET
app01-3401	3	5	s	s	NOUN
app01-3401	3	6	-	-	PUNCT
app01-3401	3	7	ptam	ptam	NOUN
app01-3401	3	8	(	(	PUNCT
app01-3401	3	9	stereo	stereo	NOUN
app01-3401	3	10	parallel	parallel	ADJ
app01-3401	3	11	tracking	tracking	NOUN
app01-3401	3	12	and	and	CCONJ
app01-3401	3	13	mapping	mapping	NOUN
app01-3401	3	14	)	)	PUNCT
app01-3401	3	15	method	method	NOUN
app01-3401	3	16	is	be	AUX
app01-3401	3	17	considered	consider	VERB
app01-3401	3	18	as	as	ADP
app01-3401	3	19	the	the	DET
app01-3401	3	20	visual	visual	ADJ
app01-3401	3	21	slam	slam	NOUN
app01-3401	3	22	framework	framework	NOUN
app01-3401	3	23	for	for	ADP
app01-3401	3	24	which	which	PRON
app01-3401	3	25	both	both	CCONJ
app01-3401	3	26	the	the	DET
app01-3401	3	27	feature	feature	NOUN
app01-3401	3	28	detector	detector	NOUN
app01-3401	3	29	and	and	CCONJ
app01-3401	3	30	feature	feature	NOUN
app01-3401	3	31	descriptor	descriptor	NOUN
app01-3401	3	32	are	be	AUX
app01-3401	3	33	parametrized	parametrize	VERB
app01-3401	3	34	.	.	PUNCT
app01-3401	4	1	the	the	DET
app01-3401	4	2	evaluation	evaluation	NOUN
app01-3401	4	3	was	be	AUX
app01-3401	4	4	performed	perform	VERB
app01-3401	4	5	with	with	ADP
app01-3401	4	6	a	a	DET
app01-3401	4	7	standard	standard	ADJ
app01-3401	4	8	dataset	dataset	VERB
app01-3401	4	9	with	with	ADP
app01-3401	4	10	ground	ground	NOUN
app01-3401	4	11	-	-	PUNCT
app01-3401	4	12	truth	truth	NOUN
app01-3401	4	13	information	information	NOUN
app01-3401	4	14	and	and	CCONJ
app01-3401	4	15	six	six	NUM
app01-3401	4	16	feature	feature	NOUN
app01-3401	4	17	detectors	detector	NOUN
app01-3401	4	18	and	and	CCONJ
app01-3401	4	19	four	four	NUM
app01-3401	4	20	descriptors	descriptor	NOUN
app01-3401	4	21	.	.	PUNCT
app01-3401	5	1	the	the	DET
app01-3401	5	2	presented	present	VERB
app01-3401	5	3	results	result	NOUN
app01-3401	5	4	indicate	indicate	VERB
app01-3401	5	5	that	that	SCONJ
app01-3401	5	6	the	the	DET
app01-3401	5	7	combination	combination	NOUN
app01-3401	5	8	of	of	ADP
app01-3401	5	9	the	the	DET
app01-3401	5	10	gftt	gftt	NOUN
app01-3401	5	11	detector	detector	NOUN
app01-3401	5	12	and	and	CCONJ
app01-3401	5	13	the	the	DET
app01-3401	5	14	brief	brief	ADJ
app01-3401	5	15	descriptor	descriptor	NOUN
app01-3401	5	16	provides	provide	VERB
app01-3401	5	17	the	the	DET
app01-3401	5	18	best	good	ADJ
app01-3401	5	19	trade	trade	NOUN
app01-3401	5	20	-	-	PUNCT
app01-3401	5	21	off	off	NOUN
app01-3401	5	22	between	between	ADP
app01-3401	5	23	the	the	DET
app01-3401	5	24	localization	localization	NOUN
app01-3401	5	25	precision	precision	NOUN
app01-3401	5	26	and	and	CCONJ
app01-3401	5	27	computational	computational	ADJ
app01-3401	5	28	requirements	requirement	NOUN
app01-3401	5	29	among	among	ADP
app01-3401	5	30	the	the	DET
app01-3401	5	31	evaluated	evaluated	ADJ
app01-3401	5	32	combinations	combination	NOUN
app01-3401	5	33	of	of	ADP
app01-3401	5	34	the	the	DET
app01-3401	5	35	detectors	detector	NOUN
app01-3401	5	36	and	and	CCONJ
app01-3401	5	37	descriptors	descriptor	NOUN
app01-3401	5	38	.	.	PUNCT
app01-3401	6	1	keywords	keyword	NOUN
app01-3401	6	2	:	:	PUNCT
app01-3401	6	3	image	image	NOUN
app01-3401	6	4	features	feature	NOUN
app01-3401	6	5	,	,	PUNCT
app01-3401	6	6	visual	visual	ADJ
app01-3401	6	7	slam	slam	PROPN
app01-3401	6	8	,	,	PUNCT
app01-3401	6	9	stereo	stereo	NOUN
app01-3401	6	10	vision	vision	NOUN
app01-3401	6	11	.	.	PUNCT
app01-3401	7	1	1	1	X
app01-3401	7	2	.	.	X
app01-3401	7	3	introduction	introduction	NOUN
app01-3401	7	4	during	during	ADP
app01-3401	7	5	the	the	DET
app01-3401	7	6	last	last	ADJ
app01-3401	7	7	decade	decade	NOUN
app01-3401	7	8	,	,	PUNCT
app01-3401	7	9	the	the	DET
app01-3401	7	10	simultaneous	simultaneous	ADJ
app01-3401	7	11	localization	localization	NOUN
app01-3401	7	12	and	and	CCONJ
app01-3401	7	13	mapping	mapping	NOUN
app01-3401	7	14	(	(	PUNCT
app01-3401	7	15	slam	slam	NOUN
app01-3401	7	16	)	)	PUNCT
app01-3401	7	17	problem	problem	NOUN
app01-3401	7	18	has	have	AUX
app01-3401	7	19	been	be	AUX
app01-3401	7	20	one	one	NUM
app01-3401	7	21	of	of	ADP
app01-3401	7	22	the	the	DET
app01-3401	7	23	main	main	ADJ
app01-3401	7	24	research	research	NOUN
app01-3401	7	25	interests	interest	NOUN
app01-3401	7	26	in	in	ADP
app01-3401	7	27	mobile	mobile	ADJ
app01-3401	7	28	robotics	robotic	NOUN
app01-3401	7	29	.	.	PUNCT
app01-3401	8	1	particularly	particularly	ADV
app01-3401	8	2	,	,	PUNCT
app01-3401	8	3	the	the	DET
app01-3401	8	4	use	use	NOUN
app01-3401	8	5	of	of	ADP
app01-3401	8	6	cameras	camera	NOUN
app01-3401	8	7	as	as	ADP
app01-3401	8	8	the	the	DET
app01-3401	8	9	main	main	ADJ
app01-3401	8	10	sensors	sensor	NOUN
app01-3401	8	11	has	have	AUX
app01-3401	8	12	been	be	AUX
app01-3401	8	13	given	give	VERB
app01-3401	8	14	a	a	DET
app01-3401	8	15	special	special	ADJ
app01-3401	8	16	attention	attention	NOUN
app01-3401	8	17	[	[	X
app01-3401	8	18	1	1	X
app01-3401	8	19	]	]	X
app01-3401	8	20	[	[	X
app01-3401	8	21	2	2	X
app01-3401	8	22	]	]	X
app01-3401	8	23	[	[	X
app01-3401	8	24	3	3	X
app01-3401	8	25	]	]	X
app01-3401	8	26	[	[	X
app01-3401	8	27	4	4	NUM
app01-3401	8	28	]	]	PUNCT
app01-3401	8	29	because	because	SCONJ
app01-3401	8	30	of	of	ADP
app01-3401	8	31	their	their	PRON
app01-3401	8	32	benefits	benefit	NOUN
app01-3401	8	33	such	such	ADJ
app01-3401	8	34	as	as	ADP
app01-3401	8	35	low	low	ADJ
app01-3401	8	36	-	-	PUNCT
app01-3401	8	37	cost	cost	NOUN
app01-3401	8	38	and	and	CCONJ
app01-3401	8	39	passive	passive	ADJ
app01-3401	8	40	sensing	sensing	NOUN
app01-3401	8	41	.	.	PUNCT
app01-3401	9	1	in	in	ADP
app01-3401	9	2	vision	vision	NOUN
app01-3401	9	3	-	-	PUNCT
app01-3401	9	4	based	base	VERB
app01-3401	9	5	slam	slam	NOUN
app01-3401	9	6	approaches	approach	NOUN
app01-3401	9	7	,	,	PUNCT
app01-3401	9	8	local	local	ADJ
app01-3401	9	9	image	image	NOUN
app01-3401	9	10	features	feature	NOUN
app01-3401	9	11	are	be	AUX
app01-3401	9	12	used	use	VERB
app01-3401	9	13	to	to	PART
app01-3401	9	14	build	build	VERB
app01-3401	9	15	a	a	DET
app01-3401	9	16	map	map	NOUN
app01-3401	9	17	and	and	CCONJ
app01-3401	9	18	simultaneously	simultaneously	ADV
app01-3401	9	19	estimate	estimate	VERB
app01-3401	9	20	the	the	DET
app01-3401	9	21	robot	robot	NOUN
app01-3401	9	22	pose	pose	VERB
app01-3401	9	23	using	use	VERB
app01-3401	9	24	the	the	DET
app01-3401	9	25	environment	environment	NOUN
app01-3401	9	26	landmarks	landmark	NOUN
app01-3401	9	27	represented	represent	VERB
app01-3401	9	28	as	as	SCONJ
app01-3401	9	29	the	the	DET
app01-3401	9	30	image	image	NOUN
app01-3401	9	31	features	feature	VERB
app01-3401	9	32	.	.	PUNCT
app01-3401	10	1	in	in	ADP
app01-3401	10	2	this	this	DET
app01-3401	10	3	way	way	NOUN
app01-3401	10	4	,	,	PUNCT
app01-3401	10	5	the	the	DET
app01-3401	10	6	map	map	NOUN
app01-3401	10	7	is	be	AUX
app01-3401	10	8	represented	represent	VERB
app01-3401	10	9	as	as	ADP
app01-3401	10	10	a	a	DET
app01-3401	10	11	sparse	sparse	ADJ
app01-3401	10	12	point	point	NOUN
app01-3401	10	13	cloud	cloud	NOUN
app01-3401	10	14	,	,	PUNCT
app01-3401	10	15	where	where	SCONJ
app01-3401	10	16	each	each	DET
app01-3401	10	17	point	point	NOUN
app01-3401	10	18	results	result	VERB
app01-3401	10	19	from	from	ADP
app01-3401	10	20	triangulating	triangulate	VERB
app01-3401	10	21	salient	salient	NOUN
app01-3401	10	22	points	point	NOUN
app01-3401	10	23	(	(	PUNCT
app01-3401	10	24	image	image	NOUN
app01-3401	10	25	features	feature	NOUN
app01-3401	10	26	)	)	PUNCT
app01-3401	10	27	matched	match	VERB
app01-3401	10	28	from	from	ADP
app01-3401	10	29	a	a	DET
app01-3401	10	30	pair	pair	NOUN
app01-3401	10	31	of	of	ADP
app01-3401	10	32	stereo	stereo	NOUN
app01-3401	10	33	images	image	NOUN
app01-3401	10	34	.	.	PUNCT
app01-3401	11	1	currently	currently	ADV
app01-3401	11	2	,	,	PUNCT
app01-3401	11	3	there	there	PRON
app01-3401	11	4	exist	exist	VERB
app01-3401	11	5	several	several	ADJ
app01-3401	11	6	local	local	ADJ
app01-3401	11	7	image	image	NOUN
app01-3401	11	8	feature	feature	NOUN
app01-3401	11	9	extractors	extractor	NOUN
app01-3401	11	10	in	in	ADP
app01-3401	11	11	the	the	DET
app01-3401	11	12	literature	literature	NOUN
app01-3401	11	13	.	.	PUNCT
app01-3401	12	1	a	a	DET
app01-3401	12	2	feature	feature	NOUN
app01-3401	12	3	extractor	extractor	NOUN
app01-3401	12	4	is	be	AUX
app01-3401	12	5	a	a	DET
app01-3401	12	6	combination	combination	NOUN
app01-3401	12	7	of	of	ADP
app01-3401	12	8	a	a	DET
app01-3401	12	9	salient	salient	NOUN
app01-3401	12	10	point	point	NOUN
app01-3401	12	11	(	(	PUNCT
app01-3401	12	12	called	call	VERB
app01-3401	12	13	keypoint	keypoint	NOUN
app01-3401	12	14	)	)	PUNCT
app01-3401	12	15	detection	detection	NOUN
app01-3401	12	16	procedure	procedure	NOUN
app01-3401	12	17	and	and	CCONJ
app01-3401	12	18	a	a	DET
app01-3401	12	19	computation	computation	NOUN
app01-3401	12	20	of	of	ADP
app01-3401	12	21	a	a	DET
app01-3401	12	22	unique	unique	ADJ
app01-3401	12	23	signature	signature	NOUN
app01-3401	12	24	(	(	PUNCT
app01-3401	12	25	called	call	VERB
app01-3401	12	26	descriptor	descriptor	NOUN
app01-3401	12	27	)	)	PUNCT
app01-3401	12	28	for	for	ADP
app01-3401	12	29	each	each	DET
app01-3401	12	30	such	such	DET
app01-3401	12	31	a	a	DET
app01-3401	12	32	detected	detect	VERB
app01-3401	12	33	point	point	NOUN
app01-3401	12	34	.	.	PUNCT
app01-3401	13	1	the	the	DET
app01-3401	13	2	most	most	ADV
app01-3401	13	3	commonly	commonly	ADV
app01-3401	13	4	used	use	VERB
app01-3401	13	5	detectors	detector	NOUN
app01-3401	13	6	are	be	AUX
app01-3401	13	7	sift	sift	ADJ
app01-3401	13	8	[	[	X
app01-3401	13	9	5	5	NUM
app01-3401	13	10	]	]	PUNCT
app01-3401	13	11	,	,	PUNCT
app01-3401	13	12	surf	surf	NOUN
app01-3401	13	13	[	[	X
app01-3401	13	14	6	6	NUM
app01-3401	13	15	]	]	PUNCT
app01-3401	13	16	,	,	PUNCT
app01-3401	13	17	star	star	NOUN
app01-3401	13	18	[	[	X
app01-3401	13	19	7	7	NUM
app01-3401	13	20	]	]	PUNCT
app01-3401	13	21	,	,	PUNCT
app01-3401	13	22	gftt	gftt	NOUN
app01-3401	14	1	[	[	X
app01-3401	14	2	8	8	NUM
app01-3401	14	3	]	]	PUNCT
app01-3401	14	4	,	,	PUNCT
app01-3401	14	5	fast	fast	ADJ
app01-3401	14	6	[	[	X
app01-3401	14	7	9	9	NUM
app01-3401	14	8	]	]	PUNCT
app01-3401	14	9	,	,	PUNCT
app01-3401	14	10	and	and	CCONJ
app01-3401	14	11	relatively	relatively	ADV
app01-3401	14	12	recently	recently	ADV
app01-3401	14	13	proposed	propose	VERB
app01-3401	14	14	orb	orb	NOUN
app01-3401	15	1	[	[	X
app01-3401	15	2	10	10	NUM
app01-3401	15	3	]	]	PUNCT
app01-3401	15	4	,	,	PUNCT
app01-3401	15	5	while	while	SCONJ
app01-3401	15	6	among	among	ADP
app01-3401	15	7	the	the	DET
app01-3401	15	8	most	most	ADV
app01-3401	15	9	used	used	ADJ
app01-3401	15	10	descriptors	descriptor	NOUN
app01-3401	15	11	we	we	PRON
app01-3401	15	12	can	can	AUX
app01-3401	15	13	mention	mention	VERB
app01-3401	15	14	sift	sift	ADJ
app01-3401	15	15	,	,	PUNCT
app01-3401	15	16	surf	surf	NOUN
app01-3401	15	17	,	,	PUNCT
app01-3401	15	18	orb	orb	NOUN
app01-3401	15	19	,	,	PUNCT
app01-3401	15	20	brief	brief	ADJ
app01-3401	15	21	[	[	X
app01-3401	15	22	11	11	NUM
app01-3401	15	23	]	]	PUNCT
app01-3401	15	24	,	,	PUNCT
app01-3401	15	25	and	and	CCONJ
app01-3401	15	26	brisk	brisk	ADJ
app01-3401	15	27	[	[	X
app01-3401	15	28	12	12	NUM
app01-3401	15	29	]	]	PUNCT
app01-3401	15	30	.	.	PUNCT
app01-3401	16	1	in	in	ADP
app01-3401	16	2	visual	visual	ADJ
app01-3401	16	3	slam	slam	NOUN
app01-3401	16	4	systems	system	NOUN
app01-3401	16	5	,	,	PUNCT
app01-3401	16	6	the	the	DET
app01-3401	16	7	feature	feature	NOUN
app01-3401	16	8	extraction	extraction	NOUN
app01-3401	16	9	process	process	NOUN
app01-3401	16	10	has	have	VERB
app01-3401	16	11	a	a	DET
app01-3401	16	12	huge	huge	ADJ
app01-3401	16	13	impact	impact	NOUN
app01-3401	16	14	on	on	ADP
app01-3401	16	15	the	the	DET
app01-3401	16	16	accuracy	accuracy	NOUN
app01-3401	16	17	of	of	ADP
app01-3401	16	18	the	the	DET
app01-3401	16	19	whole	whole	ADJ
app01-3401	16	20	system	system	NOUN
app01-3401	16	21	.	.	PUNCT
app01-3401	17	1	on	on	ADP
app01-3401	17	2	one	one	NUM
app01-3401	17	3	hand	hand	NOUN
app01-3401	17	4	,	,	PUNCT
app01-3401	17	5	the	the	DET
app01-3401	17	6	precision	precision	NOUN
app01-3401	17	7	of	of	ADP
app01-3401	17	8	the	the	DET
app01-3401	17	9	robot	robot	NOUN
app01-3401	17	10	localization	localization	NOUN
app01-3401	17	11	is	be	AUX
app01-3401	17	12	heavily	heavily	ADV
app01-3401	17	13	correlated	correlate	VERB
app01-3401	17	14	to	to	ADP
app01-3401	17	15	the	the	DET
app01-3401	17	16	sparsity	sparsity	NOUN
app01-3401	17	17	of	of	ADP
app01-3401	17	18	features	feature	NOUN
app01-3401	17	19	in	in	ADP
app01-3401	17	20	images	image	NOUN
app01-3401	17	21	and	and	CCONJ
app01-3401	17	22	the	the	DET
app01-3401	17	23	ability	ability	NOUN
app01-3401	17	24	to	to	PART
app01-3401	17	25	track	track	VERB
app01-3401	17	26	them	they	PRON
app01-3401	17	27	for	for	ADP
app01-3401	17	28	a	a	DET
app01-3401	17	29	long	long	ADJ
app01-3401	17	30	period	period	NOUN
app01-3401	17	31	during	during	ADP
app01-3401	17	32	the	the	DET
app01-3401	17	33	robot	robot	NOUN
app01-3401	17	34	navigation	navigation	NOUN
app01-3401	17	35	,	,	PUNCT
app01-3401	17	36	even	even	ADV
app01-3401	17	37	from	from	ADP
app01-3401	17	38	different	different	ADJ
app01-3401	17	39	points	point	NOUN
app01-3401	17	40	of	of	ADP
app01-3401	17	41	view	view	NOUN
app01-3401	17	42	.	.	PUNCT
app01-3401	18	1	on	on	ADP
app01-3401	18	2	the	the	DET
app01-3401	18	3	other	other	ADJ
app01-3401	18	4	hand	hand	NOUN
app01-3401	18	5	,	,	PUNCT
app01-3401	18	6	if	if	SCONJ
app01-3401	18	7	the	the	DET
app01-3401	18	8	number	number	NOUN
app01-3401	18	9	of	of	ADP
app01-3401	18	10	points	point	NOUN
app01-3401	18	11	in	in	ADP
app01-3401	18	12	the	the	DET
app01-3401	18	13	map	map	NOUN
app01-3401	18	14	grows	grow	VERB
app01-3401	18	15	too	too	ADV
app01-3401	18	16	quickly	quickly	ADV
app01-3401	18	17	,	,	PUNCT
app01-3401	18	18	it	it	PRON
app01-3401	18	19	may	may	AUX
app01-3401	18	20	slow	slow	VERB
app01-3401	18	21	down	down	ADP
app01-3401	18	22	the	the	DET
app01-3401	18	23	whole	whole	ADJ
app01-3401	18	24	system	system	NOUN
app01-3401	18	25	.	.	PUNCT
app01-3401	19	1	to	to	PART
app01-3401	19	2	be	be	AUX
app01-3401	19	3	able	able	ADJ
app01-3401	19	4	to	to	PART
app01-3401	19	5	keep	keep	VERB
app01-3401	19	6	the	the	DET
app01-3401	19	7	response	response	NOUN
app01-3401	19	8	of	of	ADP
app01-3401	19	9	the	the	DET
app01-3401	19	10	system	system	NOUN
app01-3401	19	11	under	under	ADP
app01-3401	19	12	real	real	ADJ
app01-3401	19	13	-	-	PUNCT
app01-3401	19	14	time	time	NOUN
app01-3401	19	15	constraints	constraint	NOUN
app01-3401	19	16	,	,	PUNCT
app01-3401	19	17	images	image	NOUN
app01-3401	19	18	have	have	VERB
app01-3401	19	19	to	to	PART
app01-3401	19	20	be	be	AUX
app01-3401	19	21	dropped	drop	VERB
app01-3401	19	22	or	or	CCONJ
app01-3401	19	23	other	other	ADJ
app01-3401	19	24	parts	part	NOUN
app01-3401	19	25	of	of	ADP
app01-3401	19	26	the	the	DET
app01-3401	19	27	system	system	NOUN
app01-3401	19	28	,	,	PUNCT
app01-3401	19	29	like	like	ADP
app01-3401	19	30	optimization	optimization	NOUN
app01-3401	19	31	routines	routine	NOUN
app01-3401	19	32	,	,	PUNCT
app01-3401	19	33	need	need	VERB
app01-3401	19	34	lower	low	ADJ
app01-3401	19	35	computational	computational	ADJ
app01-3401	19	36	requirements	requirement	NOUN
app01-3401	19	37	.	.	PUNCT
app01-3401	20	1	in	in	ADP
app01-3401	20	2	this	this	DET
app01-3401	20	3	work	work	NOUN
app01-3401	20	4	,	,	PUNCT
app01-3401	20	5	we	we	PRON
app01-3401	20	6	evaluate	evaluate	VERB
app01-3401	20	7	the	the	DET
app01-3401	20	8	impact	impact	NOUN
app01-3401	20	9	of	of	ADP
app01-3401	20	10	different	different	ADJ
app01-3401	20	11	state	state	NOUN
app01-3401	20	12	-	-	PUNCT
app01-3401	20	13	of	of	ADP
app01-3401	20	14	-	-	PUNCT
app01-3401	20	15	the	the	DET
app01-3401	20	16	-	-	PUNCT
app01-3401	20	17	art	art	NOUN
app01-3401	20	18	feature	feature	NOUN
app01-3401	20	19	extractors	extractor	NOUN
app01-3401	20	20	on	on	ADP
app01-3401	20	21	the	the	DET
app01-3401	20	22	performance	performance	NOUN
app01-3401	20	23	of	of	ADP
app01-3401	20	24	the	the	DET
app01-3401	20	25	visual	visual	ADJ
app01-3401	20	26	slam	slam	NOUN
app01-3401	20	27	localization	localization	NOUN
app01-3401	20	28	method	method	NOUN
app01-3401	20	29	.	.	PUNCT
app01-3401	21	1	in	in	ADP
app01-3401	21	2	particular	particular	ADJ
app01-3401	21	3	,	,	PUNCT
app01-3401	21	4	the	the	DET
app01-3401	21	5	evaluation	evaluation	NOUN
app01-3401	21	6	is	be	AUX
app01-3401	21	7	based	base	VERB
app01-3401	21	8	on	on	ADP
app01-3401	21	9	the	the	DET
app01-3401	21	10	stereo	stereo	PROPN
app01-3401	21	11	visual	visual	PROPN
app01-3401	21	12	slam	slam	PROPN
app01-3401	21	13	approach	approach	NOUN
app01-3401	21	14	s	s	NOUN
app01-3401	21	15	-	-	PUNCT
app01-3401	21	16	ptam	ptam	NOUN
app01-3401	21	17	introduced	introduce	VERB
app01-3401	21	18	in	in	ADP
app01-3401	21	19	[	[	X
app01-3401	21	20	4	4	NUM
app01-3401	21	21	]	]	PUNCT
app01-3401	21	22	.	.	PUNCT
app01-3401	22	1	the	the	DET
app01-3401	22	2	presented	present	VERB
app01-3401	22	3	results	result	NOUN
app01-3401	22	4	indicated	indicate	VERB
app01-3401	22	5	that	that	SCONJ
app01-3401	22	6	the	the	DET
app01-3401	22	7	combination	combination	NOUN
app01-3401	22	8	of	of	ADP
app01-3401	22	9	the	the	DET
app01-3401	22	10	gftt	gftt	NOUN
app01-3401	22	11	detector	detector	NOUN
app01-3401	22	12	and	and	CCONJ
app01-3401	22	13	brief	brief	ADJ
app01-3401	22	14	descriptor	descriptor	NOUN
app01-3401	22	15	is	be	AUX
app01-3401	22	16	the	the	DET
app01-3401	22	17	most	most	ADV
app01-3401	22	18	reliable	reliable	ADJ
app01-3401	22	19	choice	choice	NOUN
app01-3401	22	20	for	for	ADP
app01-3401	22	21	our	our	PRON
app01-3401	22	22	slam	slam	NOUN
app01-3401	22	23	system	system	NOUN
app01-3401	22	24	among	among	ADP
app01-3401	22	25	the	the	DET
app01-3401	22	26	other	other	ADJ
app01-3401	22	27	evaluated	evaluated	ADJ
app01-3401	22	28	combinations	combination	NOUN
app01-3401	22	29	.	.	PUNCT
app01-3401	23	1	the	the	DET
app01-3401	23	2	rest	rest	NOUN
app01-3401	23	3	of	of	ADP
app01-3401	23	4	the	the	DET
app01-3401	23	5	paper	paper	NOUN
app01-3401	23	6	is	be	AUX
app01-3401	23	7	organized	organize	VERB
app01-3401	23	8	as	as	SCONJ
app01-3401	23	9	follows	follow	VERB
app01-3401	23	10	.	.	PUNCT
app01-3401	24	1	section	section	NOUN
app01-3401	24	2	2	2	NUM
app01-3401	24	3	presents	present	NOUN
app01-3401	24	4	overview	overview	NOUN
app01-3401	24	5	of	of	ADP
app01-3401	24	6	the	the	DET
app01-3401	24	7	related	relate	VERB
app01-3401	24	8	work	work	NOUN
app01-3401	24	9	while	while	SCONJ
app01-3401	24	10	section	section	NOUN
app01-3401	24	11	3	3	NUM
app01-3401	24	12	summarizes	summarize	NOUN
app01-3401	24	13	the	the	DET
app01-3401	24	14	most	most	ADV
app01-3401	24	15	used	used	ADJ
app01-3401	24	16	feature	feature	NOUN
app01-3401	24	17	detectors	detector	NOUN
app01-3401	24	18	and	and	CCONJ
app01-3401	24	19	descriptors	descriptor	NOUN
app01-3401	24	20	in	in	ADP
app01-3401	24	21	the	the	DET
app01-3401	24	22	visual	visual	ADJ
app01-3401	24	23	slam	slam	NOUN
app01-3401	24	24	literature	literature	NOUN
app01-3401	24	25	.	.	PUNCT
app01-3401	25	1	section	section	NOUN
app01-3401	25	2	4	4	NUM
app01-3401	25	3	briefly	briefly	NOUN
app01-3401	25	4	comments	comment	VERB
app01-3401	25	5	the	the	DET
app01-3401	25	6	considered	consider	VERB
app01-3401	25	7	stereo	stereo	ADJ
app01-3401	25	8	visual	visual	ADJ
app01-3401	25	9	slam	slam	NOUN
app01-3401	25	10	system	system	NOUN
app01-3401	25	11	using	use	VERB
app01-3401	25	12	for	for	ADP
app01-3401	25	13	the	the	DET
app01-3401	25	14	evaluation	evaluation	NOUN
app01-3401	25	15	.	.	PUNCT
app01-3401	26	1	in	in	ADP
app01-3401	26	2	section	section	NOUN
app01-3401	26	3	5	5	NUM
app01-3401	26	4	,	,	PUNCT
app01-3401	26	5	we	we	PRON
app01-3401	26	6	present	present	VERB
app01-3401	26	7	the	the	DET
app01-3401	26	8	evaluation	evaluation	NOUN
app01-3401	26	9	of	of	ADP
app01-3401	26	10	the	the	DET
app01-3401	26	11	features	feature	NOUN
app01-3401	26	12	extractors	extractor	NOUN
app01-3401	26	13	and	and	CCONJ
app01-3401	26	14	the	the	DET
app01-3401	26	15	achieved	achieve	VERB
app01-3401	26	16	results	result	NOUN
app01-3401	26	17	.	.	PUNCT
app01-3401	27	1	section	section	NOUN
app01-3401	27	2	6	6	NUM
app01-3401	27	3	is	be	AUX
app01-3401	27	4	dedicated	dedicate	VERB
app01-3401	27	5	to	to	ADP
app01-3401	27	6	the	the	DET
app01-3401	27	7	conclusions	conclusion	NOUN
app01-3401	27	8	and	and	CCONJ
app01-3401	27	9	future	future	ADJ
app01-3401	27	10	work	work	NOUN
app01-3401	27	11	.	.	PUNCT
app01-3401	28	1	2	2	X
app01-3401	28	2	.	.	X
app01-3401	28	3	related	relate	VERB
app01-3401	28	4	work	work	NOUN
app01-3401	28	5	several	several	ADJ
app01-3401	28	6	evaluations	evaluation	NOUN
app01-3401	28	7	of	of	ADP
app01-3401	28	8	features	feature	NOUN
app01-3401	28	9	extractors	extractor	NOUN
app01-3401	28	10	can	can	AUX
app01-3401	28	11	be	be	AUX
app01-3401	28	12	found	find	VERB
app01-3401	28	13	in	in	ADP
app01-3401	28	14	literature	literature	NOUN
app01-3401	28	15	.	.	PUNCT
app01-3401	29	1	each	each	PRON
app01-3401	29	2	of	of	ADP
app01-3401	29	3	them	they	PRON
app01-3401	29	4	is	be	AUX
app01-3401	29	5	driven	drive	VERB
app01-3401	29	6	by	by	ADP
app01-3401	29	7	the	the	DET
app01-3401	29	8	particular	particular	ADJ
app01-3401	29	9	application	application	NOUN
app01-3401	29	10	or	or	CCONJ
app01-3401	29	11	issue	issue	NOUN
app01-3401	29	12	at	at	ADP
app01-3401	29	13	the	the	DET
app01-3401	29	14	hand	hand	NOUN
app01-3401	29	15	they	they	PRON
app01-3401	29	16	are	be	AUX
app01-3401	29	17	aimed	aim	VERB
app01-3401	29	18	to	to	PART
app01-3401	29	19	address	address	VERB
app01-3401	29	20	.	.	PUNCT
app01-3401	30	1	for	for	ADP
app01-3401	30	2	example	example	NOUN
app01-3401	30	3	,	,	PUNCT
app01-3401	30	4	in	in	ADP
app01-3401	30	5	[	[	PUNCT
app01-3401	30	6	13	13	NUM
app01-3401	30	7	]	]	PUNCT
app01-3401	30	8	,	,	PUNCT
app01-3401	30	9	authors	author	NOUN
app01-3401	30	10	evaluate	evaluate	VERB
app01-3401	30	11	several	several	ADJ
app01-3401	30	12	features	feature	NOUN
app01-3401	30	13	extractors	extractor	NOUN
app01-3401	30	14	in	in	ADP
app01-3401	30	15	the	the	DET
app01-3401	30	16	context	context	NOUN
app01-3401	30	17	of	of	ADP
app01-3401	30	18	autonomous	autonomous	ADJ
app01-3401	30	19	navigation	navigation	NOUN
app01-3401	30	20	in	in	ADP
app01-3401	30	21	outdoor	outdoor	ADJ
app01-3401	30	22	environments	environment	NOUN
app01-3401	30	23	under	under	ADP
app01-3401	30	24	seasonal	seasonal	ADJ
app01-3401	30	25	changes	change	NOUN
app01-3401	30	26	.	.	PUNCT
app01-3401	31	1	they	they	PRON
app01-3401	31	2	came	come	VERB
app01-3401	31	3	to	to	ADP
app01-3401	31	4	a	a	DET
app01-3401	31	5	conclusion	conclusion	NOUN
app01-3401	31	6	that	that	SCONJ
app01-3401	31	7	the	the	DET
app01-3401	31	8	best	well	ADV
app01-3401	31	9	performing	performing	NOUN
app01-3401	31	10	method	method	NOUN
app01-3401	31	11	is	be	AUX
app01-3401	31	12	the	the	DET
app01-3401	31	13	star	star	NOUN
app01-3401	31	14	–	–	PUNCT
app01-3401	31	15	brief	brief	ADJ
app01-3401	31	16	combination	combination	NOUN
app01-3401	31	17	of	of	ADP
app01-3401	31	18	the	the	DET
app01-3401	31	19	detector	detector	NOUN
app01-3401	31	20	–	–	PUNCT
app01-3401	31	21	descriptor	descriptor	NOUN
app01-3401	31	22	,	,	PUNCT
app01-3401	31	23	which	which	PRON
app01-3401	31	24	outperforms	outperform	VERB
app01-3401	31	25	sift	sift	ADJ
app01-3401	31	26	by	by	ADP
app01-3401	31	27	more	more	ADJ
app01-3401	31	28	than	than	ADP
app01-3401	31	29	thirty	thirty	NUM
app01-3401	31	30	percentage	percentage	NOUN
app01-3401	31	31	points	point	NOUN
app01-3401	31	32	.	.	PUNCT
app01-3401	32	1	in	in	ADP
app01-3401	32	2	addition	addition	NOUN
app01-3401	32	3	,	,	PUNCT
app01-3401	32	4	they	they	PRON
app01-3401	32	5	argued	argue	VERB
app01-3401	32	6	that	that	SCONJ
app01-3401	32	7	the	the	DET
app01-3401	32	8	star	star	NOUN
app01-3401	32	9	–	–	PUNCT
app01-3401	32	10	brief	brief	ADJ
app01-3401	32	11	extractor	extractor	NOUN
app01-3401	32	12	is	be	AUX
app01-3401	32	13	also	also	ADV
app01-3401	32	14	less	less	ADV
app01-3401	32	15	computationally	computationally	ADV
app01-3401	32	16	demanding	demanding	ADJ
app01-3401	32	17	than	than	ADP
app01-3401	32	18	other	other	ADJ
app01-3401	32	19	extractors	extractor	NOUN
app01-3401	32	20	and	and	CCONJ
app01-3401	32	21	thus	thus	ADV
app01-3401	32	22	it	it	PRON
app01-3401	32	23	seems	seem	VERB
app01-3401	32	24	to	to	PART
app01-3401	32	25	be	be	AUX
app01-3401	32	26	the	the	DET
app01-3401	32	27	most	most	ADV
app01-3401	32	28	suitable	suitable	ADJ
app01-3401	32	29	feature	feature	NOUN
app01-3401	32	30	45	45	NUM
app01-3401	32	31	http://dx.doi.org/10.14311/app.2015.1.0045	http://dx.doi.org/10.14311/app.2015.1.0045	ADJ
app01-3401	32	32	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3401	32	33	t.	t.	NOUN
app01-3401	32	34	pire	pire	NOUN
app01-3401	32	35	,	,	PUNCT
app01-3401	32	36	t.	t.	PROPN
app01-3401	32	37	fischer	fischer	PROPN
app01-3401	32	38	,	,	PUNCT
app01-3401	32	39	j.	j.	PROPN
app01-3401	32	40	faigl	faigl	PROPN
app01-3401	32	41	acta	acta	PROPN
app01-3401	32	42	polytechnica	polytechnica	PROPN
app01-3401	32	43	ctu	ctu	PROPN
app01-3401	32	44	proceedings	proceeding	NOUN
app01-3401	32	45	detector	detector	NOUN
app01-3401	32	46	–	–	PUNCT
app01-3401	32	47	descriptor	descriptor	NOUN
app01-3401	32	48	for	for	ADP
app01-3401	32	49	navigational	navigational	ADJ
app01-3401	32	50	purposes	purpose	NOUN
app01-3401	32	51	.	.	PUNCT
app01-3401	33	1	on	on	ADP
app01-3401	33	2	the	the	DET
app01-3401	33	3	other	other	ADJ
app01-3401	33	4	hand	hand	NOUN
app01-3401	33	5	,	,	PUNCT
app01-3401	33	6	authors	author	NOUN
app01-3401	33	7	of	of	ADP
app01-3401	33	8	[	[	X
app01-3401	33	9	14	14	NUM
app01-3401	33	10	]	]	PUNCT
app01-3401	33	11	provide	provide	VERB
app01-3401	33	12	a	a	DET
app01-3401	33	13	performance	performance	NOUN
app01-3401	33	14	comparison	comparison	NOUN
app01-3401	33	15	of	of	ADP
app01-3401	33	16	feature	feature	NOUN
app01-3401	33	17	extractors	extractor	NOUN
app01-3401	33	18	against	against	ADP
app01-3401	33	19	illumination	illumination	NOUN
app01-3401	33	20	changes	change	NOUN
app01-3401	33	21	in	in	ADP
app01-3401	33	22	outdoor	outdoor	ADJ
app01-3401	33	23	scenes	scene	NOUN
app01-3401	33	24	in	in	ADP
app01-3401	33	25	the	the	DET
app01-3401	33	26	context	context	NOUN
app01-3401	33	27	of	of	ADP
app01-3401	33	28	the	the	DET
app01-3401	33	29	visual	visual	ADJ
app01-3401	33	30	navigation	navigation	NOUN
app01-3401	33	31	.	.	PUNCT
app01-3401	34	1	they	they	PRON
app01-3401	34	2	concluded	conclude	VERB
app01-3401	34	3	that	that	SCONJ
app01-3401	34	4	the	the	DET
app01-3401	34	5	configuration	configuration	NOUN
app01-3401	34	6	of	of	ADP
app01-3401	34	7	the	the	DET
app01-3401	34	8	fast	fast	ADJ
app01-3401	34	9	–	–	PUNCT
app01-3401	34	10	surf	surf	NOUN
app01-3401	34	11	is	be	AUX
app01-3401	34	12	the	the	DET
app01-3401	34	13	optimal	optimal	ADJ
app01-3401	34	14	in	in	ADP
app01-3401	34	15	their	their	PRON
app01-3401	34	16	setup	setup	NOUN
app01-3401	34	17	.	.	PUNCT
app01-3401	35	1	besides	besides	SCONJ
app01-3401	35	2	,	,	PUNCT
app01-3401	35	3	they	they	PRON
app01-3401	35	4	report	report	VERB
app01-3401	35	5	that	that	SCONJ
app01-3401	35	6	this	this	DET
app01-3401	35	7	combination	combination	NOUN
app01-3401	35	8	provides	provide	VERB
app01-3401	35	9	an	an	DET
app01-3401	35	10	effective	effective	ADJ
app01-3401	35	11	computational	computational	ADJ
app01-3401	35	12	time	time	NOUN
app01-3401	35	13	per	per	ADP
app01-3401	35	14	image	image	NOUN
app01-3401	35	15	,	,	PUNCT
app01-3401	35	16	which	which	PRON
app01-3401	35	17	is	be	AUX
app01-3401	35	18	favorable	favorable	ADJ
app01-3401	35	19	for	for	ADP
app01-3401	35	20	the	the	DET
app01-3401	35	21	real	real	ADJ
app01-3401	35	22	-	-	PUNCT
app01-3401	35	23	time	time	NOUN
app01-3401	35	24	vision	vision	NOUN
app01-3401	35	25	-	-	PUNCT
app01-3401	35	26	based	base	VERB
app01-3401	35	27	navigation	navigation	NOUN
app01-3401	35	28	application	application	NOUN
app01-3401	35	29	.	.	PUNCT
app01-3401	36	1	the	the	DET
app01-3401	36	2	work	work	NOUN
app01-3401	36	3	[	[	X
app01-3401	36	4	15	15	NUM
app01-3401	36	5	]	]	X
app01-3401	36	6	compares	compare	VERB
app01-3401	36	7	contemporary	contemporary	ADJ
app01-3401	36	8	point	point	NOUN
app01-3401	36	9	features	feature	VERB
app01-3401	36	10	detector	detector	NOUN
app01-3401	36	11	and	and	CCONJ
app01-3401	36	12	descriptor	descriptor	NOUN
app01-3401	36	13	pairs	pair	NOUN
app01-3401	36	14	in	in	ADP
app01-3401	36	15	order	order	NOUN
app01-3401	36	16	to	to	PART
app01-3401	36	17	determine	determine	VERB
app01-3401	36	18	the	the	DET
app01-3401	36	19	best	good	ADJ
app01-3401	36	20	combination	combination	NOUN
app01-3401	36	21	for	for	ADP
app01-3401	36	22	the	the	DET
app01-3401	36	23	robot	robot	NOUN
app01-3401	36	24	visual	visual	ADJ
app01-3401	36	25	navigation	navigation	NOUN
app01-3401	36	26	.	.	PUNCT
app01-3401	37	1	the	the	DET
app01-3401	37	2	authors	author	NOUN
app01-3401	37	3	concluded	conclude	VERB
app01-3401	37	4	that	that	SCONJ
app01-3401	37	5	the	the	DET
app01-3401	37	6	fast	fast	ADJ
app01-3401	37	7	–	–	PUNCT
app01-3401	37	8	brief	brief	ADJ
app01-3401	37	9	combination	combination	NOUN
app01-3401	37	10	is	be	AUX
app01-3401	37	11	a	a	DET
app01-3401	37	12	good	good	ADJ
app01-3401	37	13	choice	choice	NOUN
app01-3401	37	14	when	when	SCONJ
app01-3401	37	15	processing	processing	NOUN
app01-3401	37	16	speed	speed	NOUN
app01-3401	37	17	is	be	AUX
app01-3401	37	18	an	an	DET
app01-3401	37	19	important	important	ADJ
app01-3401	37	20	parameter	parameter	NOUN
app01-3401	37	21	of	of	ADP
app01-3401	37	22	the	the	DET
app01-3401	37	23	system	system	NOUN
app01-3401	37	24	setup	setup	NOUN
app01-3401	37	25	.	.	PUNCT
app01-3401	38	1	they	they	PRON
app01-3401	38	2	also	also	ADV
app01-3401	38	3	argued	argue	VERB
app01-3401	38	4	that	that	SCONJ
app01-3401	38	5	under	under	ADP
app01-3401	38	6	camera	camera	NOUN
app01-3401	38	7	movement	movement	NOUN
app01-3401	38	8	conditions	condition	NOUN
app01-3401	38	9	,	,	PUNCT
app01-3401	38	10	additional	additional	ADJ
app01-3401	38	11	computational	computational	ADJ
app01-3401	38	12	cost	cost	NOUN
app01-3401	38	13	—	—	PUNCT
app01-3401	38	14	needed	need	VERB
app01-3401	38	15	for	for	ADP
app01-3401	38	16	the	the	DET
app01-3401	38	17	descriptors	descriptor	NOUN
app01-3401	38	18	and	and	CCONJ
app01-3401	38	19	detectors	detector	NOUN
app01-3401	38	20	that	that	PRON
app01-3401	38	21	are	be	AUX
app01-3401	38	22	robust	robust	ADJ
app01-3401	38	23	to	to	ADP
app01-3401	38	24	in	in	ADP
app01-3401	38	25	-	-	PUNCT
app01-3401	38	26	plane	plane	NOUN
app01-3401	38	27	rotation	rotation	NOUN
app01-3401	38	28	and	and	CCONJ
app01-3401	38	29	large	large	ADJ
app01-3401	38	30	scaling	scaling	NOUN
app01-3401	38	31	—	—	PUNCT
app01-3401	38	32	seems	seem	VERB
app01-3401	38	33	to	to	PART
app01-3401	38	34	be	be	AUX
app01-3401	38	35	unjustified	unjustified	ADJ
app01-3401	38	36	.	.	PUNCT
app01-3401	39	1	however	however	ADV
app01-3401	39	2	,	,	PUNCT
app01-3401	39	3	they	they	PRON
app01-3401	39	4	do	do	AUX
app01-3401	39	5	not	not	PART
app01-3401	39	6	tested	test	VERB
app01-3401	39	7	the	the	DET
app01-3401	39	8	method	method	NOUN
app01-3401	39	9	in	in	ADP
app01-3401	39	10	a	a	DET
app01-3401	39	11	real	real	ADJ
app01-3401	39	12	slam	slam	NOUN
app01-3401	39	13	application	application	NOUN
app01-3401	39	14	.	.	PUNCT
app01-3401	40	1	regarding	regard	VERB
app01-3401	40	2	the	the	DET
app01-3401	40	3	aforementioned	aforementioned	ADJ
app01-3401	40	4	evaluation	evaluation	NOUN
app01-3401	40	5	of	of	ADP
app01-3401	40	6	the	the	DET
app01-3401	40	7	detectors	detector	NOUN
app01-3401	40	8	and	and	CCONJ
app01-3401	40	9	descriptors	descriptor	NOUN
app01-3401	40	10	,	,	PUNCT
app01-3401	40	11	the	the	DET
app01-3401	40	12	work	work	NOUN
app01-3401	40	13	presented	present	VERB
app01-3401	40	14	in	in	ADP
app01-3401	40	15	this	this	DET
app01-3401	40	16	paper	paper	NOUN
app01-3401	40	17	is	be	AUX
app01-3401	40	18	within	within	ADP
app01-3401	40	19	the	the	DET
app01-3401	40	20	context	context	NOUN
app01-3401	40	21	of	of	ADP
app01-3401	40	22	the	the	DET
app01-3401	40	23	full	full	ADJ
app01-3401	40	24	6dof	6dof	PROPN
app01-3401	40	25	slam	slam	NOUN
app01-3401	40	26	.	.	PUNCT
app01-3401	41	1	3	3	X
app01-3401	41	2	.	.	X
app01-3401	41	3	local	local	ADJ
app01-3401	41	4	image	image	NOUN
app01-3401	41	5	features	feature	VERB
app01-3401	41	6	an	an	DET
app01-3401	41	7	image	image	NOUN
app01-3401	41	8	feature	feature	NOUN
app01-3401	41	9	extractor	extractor	NOUN
app01-3401	41	10	consists	consist	VERB
app01-3401	41	11	of	of	ADP
app01-3401	41	12	detection	detection	NOUN
app01-3401	41	13	and	and	CCONJ
app01-3401	41	14	description	description	NOUN
app01-3401	41	15	phases	phase	NOUN
app01-3401	41	16	.	.	PUNCT
app01-3401	42	1	the	the	DET
app01-3401	42	2	feature	feature	NOUN
app01-3401	42	3	detector	detector	NOUN
app01-3401	42	4	serves	serve	VERB
app01-3401	42	5	to	to	PART
app01-3401	42	6	locate	locate	VERB
app01-3401	42	7	salient	salient	NOUN
app01-3401	42	8	areas	area	NOUN
app01-3401	42	9	of	of	ADP
app01-3401	42	10	the	the	DET
app01-3401	42	11	image	image	NOUN
app01-3401	42	12	while	while	SCONJ
app01-3401	42	13	the	the	DET
app01-3401	42	14	feature	feature	NOUN
app01-3401	42	15	descriptor	descriptor	NOUN
app01-3401	42	16	captures	capture	VERB
app01-3401	42	17	information	information	NOUN
app01-3401	42	18	about	about	ADP
app01-3401	42	19	the	the	DET
app01-3401	42	20	local	local	ADJ
app01-3401	42	21	neighborhood	neighborhood	NOUN
app01-3401	42	22	of	of	ADP
app01-3401	42	23	the	the	DET
app01-3401	42	24	detected	detect	VERB
app01-3401	42	25	area	area	NOUN
app01-3401	42	26	.	.	PUNCT
app01-3401	43	1	here	here	ADV
app01-3401	43	2	,	,	PUNCT
app01-3401	43	3	we	we	PRON
app01-3401	43	4	provide	provide	VERB
app01-3401	43	5	a	a	DET
app01-3401	43	6	brief	brief	ADJ
app01-3401	43	7	overview	overview	NOUN
app01-3401	43	8	of	of	ADP
app01-3401	43	9	the	the	DET
app01-3401	43	10	considered	consider	VERB
app01-3401	43	11	feature	feature	NOUN
app01-3401	43	12	extractor	extractor	NOUN
app01-3401	43	13	and	and	CCONJ
app01-3401	43	14	descriptor	descriptor	NOUN
app01-3401	43	15	algorithms	algorithm	NOUN
app01-3401	43	16	in	in	ADP
app01-3401	43	17	this	this	DET
app01-3401	43	18	evaluation	evaluation	NOUN
app01-3401	43	19	study	study	NOUN
app01-3401	43	20	.	.	PUNCT
app01-3401	44	1	sift	sift	ADJ
app01-3401	44	2	–	–	PUNCT
app01-3401	44	3	scale	scale	NOUN
app01-3401	44	4	invariant	invariant	ADJ
app01-3401	44	5	feature	feature	NOUN
app01-3401	44	6	transform	transform	NOUN
app01-3401	44	7	[	[	X
app01-3401	44	8	5	5	NUM
app01-3401	44	9	]	]	PUNCT
app01-3401	44	10	.	.	PUNCT
app01-3401	45	1	an	an	DET
app01-3401	45	2	established	establish	VERB
app01-3401	45	3	feature	feature	NOUN
app01-3401	45	4	detector	detector	NOUN
app01-3401	45	5	with	with	ADP
app01-3401	45	6	a	a	DET
app01-3401	45	7	high	high	ADJ
app01-3401	45	8	precision	precision	NOUN
app01-3401	45	9	and	and	CCONJ
app01-3401	45	10	good	good	ADJ
app01-3401	45	11	robustness	robustness	NOUN
app01-3401	45	12	,	,	PUNCT
app01-3401	45	13	which	which	PRON
app01-3401	45	14	is	be	AUX
app01-3401	45	15	known	know	VERB
app01-3401	45	16	to	to	PART
app01-3401	45	17	be	be	AUX
app01-3401	45	18	computationally	computationally	ADV
app01-3401	45	19	demanding	demanding	ADJ
app01-3401	45	20	.	.	PUNCT
app01-3401	46	1	surf	surf	NOUN
app01-3401	46	2	–	–	PUNCT
app01-3401	46	3	speeded	speed	VERB
app01-3401	46	4	up	up	ADP
app01-3401	46	5	robust	robust	ADJ
app01-3401	46	6	features	feature	NOUN
app01-3401	47	1	[	[	X
app01-3401	47	2	6	6	NUM
app01-3401	47	3	]	]	PUNCT
app01-3401	47	4	is	be	AUX
app01-3401	47	5	a	a	DET
app01-3401	47	6	similar	similar	ADJ
app01-3401	47	7	to	to	PART
app01-3401	47	8	sift	sift	VERB
app01-3401	47	9	,	,	PUNCT
app01-3401	47	10	but	but	CCONJ
app01-3401	47	11	it	it	PRON
app01-3401	47	12	is	be	AUX
app01-3401	47	13	computationally	computationally	ADV
app01-3401	47	14	less	less	ADV
app01-3401	47	15	demanding	demanding	ADJ
app01-3401	47	16	due	due	ADJ
app01-3401	47	17	to	to	ADP
app01-3401	47	18	approximations	approximation	NOUN
app01-3401	47	19	.	.	PUNCT
app01-3401	48	1	star	star	NOUN
app01-3401	48	2	–	–	PUNCT
app01-3401	48	3	a	a	DET
app01-3401	48	4	modified	modify	VERB
app01-3401	48	5	version	version	NOUN
app01-3401	48	6	of	of	ADP
app01-3401	48	7	the	the	DET
app01-3401	48	8	censure	censure	NOUN
app01-3401	48	9	(	(	PUNCT
app01-3401	48	10	center	center	NOUN
app01-3401	48	11	surrounded	surround	VERB
app01-3401	48	12	extrema	extrema	NOUN
app01-3401	48	13	)	)	PUNCT
app01-3401	49	1	[	[	X
app01-3401	49	2	7	7	NUM
app01-3401	49	3	]	]	X
app01-3401	49	4	detector	detector	NOUN
app01-3401	49	5	,	,	PUNCT
app01-3401	49	6	which	which	PRON
app01-3401	49	7	is	be	AUX
app01-3401	49	8	computationally	computationally	ADV
app01-3401	49	9	less	less	ADV
app01-3401	49	10	demanding	demanding	ADJ
app01-3401	49	11	at	at	ADP
app01-3401	49	12	the	the	DET
app01-3401	49	13	expense	expense	NOUN
app01-3401	49	14	of	of	ADP
app01-3401	49	15	a	a	DET
app01-3401	49	16	lower	low	ADJ
app01-3401	49	17	precision	precision	NOUN
app01-3401	49	18	.	.	PUNCT
app01-3401	50	1	brief	brief	ADJ
app01-3401	50	2	–	–	PUNCT
app01-3401	50	3	binary	binary	ADJ
app01-3401	50	4	robust	robust	ADJ
app01-3401	50	5	independent	independent	ADJ
app01-3401	50	6	elementary	elementary	PROPN
app01-3401	50	7	features	feature	NOUN
app01-3401	50	8	[	[	X
app01-3401	50	9	11	11	NUM
app01-3401	50	10	]	]	PUNCT
app01-3401	50	11	is	be	AUX
app01-3401	50	12	a	a	DET
app01-3401	50	13	descriptor	descriptor	NOUN
app01-3401	50	14	that	that	PRON
app01-3401	50	15	describes	describe	VERB
app01-3401	50	16	an	an	DET
app01-3401	50	17	image	image	NOUN
app01-3401	50	18	area	area	NOUN
app01-3401	50	19	using	use	VERB
app01-3401	50	20	a	a	DET
app01-3401	50	21	number	number	NOUN
app01-3401	50	22	of	of	ADP
app01-3401	50	23	intensity	intensity	NOUN
app01-3401	50	24	comparisons	comparison	NOUN
app01-3401	50	25	of	of	ADP
app01-3401	50	26	random	random	ADJ
app01-3401	50	27	pixel	pixel	NOUN
app01-3401	50	28	pairs	pair	NOUN
app01-3401	50	29	.	.	PUNCT
app01-3401	51	1	it	it	PRON
app01-3401	51	2	is	be	AUX
app01-3401	51	3	saved	save	VERB
app01-3401	51	4	as	as	ADP
app01-3401	51	5	a	a	DET
app01-3401	51	6	binary	binary	ADJ
app01-3401	51	7	string	string	NOUN
app01-3401	51	8	,	,	PUNCT
app01-3401	51	9	which	which	PRON
app01-3401	51	10	reduces	reduce	VERB
app01-3401	51	11	the	the	DET
app01-3401	51	12	computational	computational	ADJ
app01-3401	51	13	complexity	complexity	NOUN
app01-3401	51	14	of	of	ADP
app01-3401	51	15	the	the	DET
app01-3401	51	16	subsequent	subsequent	ADJ
app01-3401	51	17	matching	matching	NOUN
app01-3401	51	18	.	.	PUNCT
app01-3401	52	1	fast	fast	ADJ
app01-3401	52	2	–	–	PUNCT
app01-3401	52	3	features	feature	NOUN
app01-3401	52	4	from	from	ADP
app01-3401	52	5	accelerated	accelerate	VERB
app01-3401	52	6	segment	segment	NOUN
app01-3401	52	7	test	test	NOUN
app01-3401	52	8	[	[	X
app01-3401	52	9	9	9	NUM
app01-3401	52	10	]	]	PUNCT
app01-3401	52	11	is	be	AUX
app01-3401	52	12	a	a	DET
app01-3401	52	13	feature	feature	NOUN
app01-3401	52	14	detector	detector	NOUN
app01-3401	52	15	focused	focus	VERB
app01-3401	52	16	on	on	ADP
app01-3401	52	17	lowering	lower	VERB
app01-3401	52	18	the	the	DET
app01-3401	52	19	computational	computational	ADJ
app01-3401	52	20	cost	cost	NOUN
app01-3401	52	21	.	.	PUNCT
app01-3401	53	1	brisk	brisk	ADJ
app01-3401	53	2	–	–	PUNCT
app01-3401	53	3	binary	binary	ADJ
app01-3401	53	4	robust	robust	ADJ
app01-3401	53	5	invariant	invariant	ADJ
app01-3401	53	6	scalable	scalable	ADJ
app01-3401	53	7	keypoints	keypoint	NOUN
app01-3401	54	1	[	[	X
app01-3401	54	2	12	12	NUM
app01-3401	54	3	]	]	PUNCT
app01-3401	54	4	is	be	AUX
app01-3401	54	5	a	a	DET
app01-3401	54	6	scale	scale	NOUN
app01-3401	54	7	and	and	CCONJ
app01-3401	54	8	rotation	rotation	NOUN
app01-3401	54	9	invariant	invariant	ADJ
app01-3401	54	10	version	version	NOUN
app01-3401	54	11	of	of	ADP
app01-3401	54	12	brief	brief	NOUN
app01-3401	54	13	,	,	PUNCT
app01-3401	54	14	but	but	CCONJ
app01-3401	54	15	unlike	unlike	ADP
app01-3401	54	16	brief	brief	NOUN
app01-3401	54	17	,	,	PUNCT
app01-3401	54	18	it	it	PRON
app01-3401	54	19	uses	use	VERB
app01-3401	54	20	a	a	DET
app01-3401	54	21	deterministic	deterministic	ADJ
app01-3401	54	22	comparison	comparison	NOUN
app01-3401	54	23	pattern	pattern	NOUN
app01-3401	54	24	.	.	PUNCT
app01-3401	55	1	orb	orb	NOUN
app01-3401	55	2	–	–	PUNCT
app01-3401	55	3	oriented	orient	VERB
app01-3401	55	4	fast	fast	ADJ
app01-3401	55	5	and	and	CCONJ
app01-3401	55	6	rotated	rotate	VERB
app01-3401	55	7	brief	brief	NOUN
app01-3401	55	8	[	[	X
app01-3401	55	9	10	10	NUM
app01-3401	55	10	]	]	PUNCT
app01-3401	55	11	is	be	AUX
app01-3401	55	12	another	another	DET
app01-3401	55	13	attempt	attempt	NOUN
app01-3401	55	14	to	to	PART
app01-3401	55	15	achieve	achieve	VERB
app01-3401	55	16	a	a	DET
app01-3401	55	17	scale	scale	NOUN
app01-3401	55	18	and	and	CCONJ
app01-3401	55	19	rotation	rotation	NOUN
app01-3401	55	20	invariant	invariant	ADJ
app01-3401	55	21	brief	brief	NOUN
app01-3401	55	22	,	,	PUNCT
app01-3401	55	23	as	as	ADP
app01-3401	55	24	a	a	DET
app01-3401	55	25	computationally	computationally	ADV
app01-3401	55	26	efficient	efficient	ADJ
app01-3401	55	27	alternative	alternative	NOUN
app01-3401	55	28	to	to	PART
app01-3401	55	29	sift	sift	VERB
app01-3401	55	30	and	and	CCONJ
app01-3401	55	31	surf	surf	NOUN
app01-3401	55	32	.	.	PUNCT
app01-3401	56	1	it	it	PRON
app01-3401	56	2	uses	use	VERB
app01-3401	56	3	the	the	DET
app01-3401	56	4	fast	fast	ADJ
app01-3401	56	5	detector	detector	NOUN
app01-3401	56	6	to	to	PART
app01-3401	56	7	achieve	achieve	VERB
app01-3401	56	8	low	low	ADJ
app01-3401	56	9	computational	computational	ADJ
app01-3401	56	10	requirements	requirement	NOUN
app01-3401	56	11	.	.	PUNCT
app01-3401	57	1	gftt	gftt	NOUN
app01-3401	57	2	–	–	PUNCT
app01-3401	57	3	a	a	DET
app01-3401	57	4	detector	detector	NOUN
app01-3401	57	5	focused	focus	VERB
app01-3401	57	6	on	on	ADP
app01-3401	57	7	selecting	select	VERB
app01-3401	57	8	features	feature	NOUN
app01-3401	57	9	relevant	relevant	ADJ
app01-3401	57	10	to	to	ADP
app01-3401	57	11	motion	motion	NOUN
app01-3401	57	12	tracking	tracking	NOUN
app01-3401	57	13	by	by	ADP
app01-3401	57	14	analyzing	analyze	VERB
app01-3401	57	15	the	the	DET
app01-3401	57	16	amount	amount	NOUN
app01-3401	57	17	of	of	ADP
app01-3401	57	18	information	information	NOUN
app01-3401	57	19	they	they	PRON
app01-3401	57	20	provide	provide	VERB
app01-3401	57	21	for	for	ADP
app01-3401	57	22	that	that	DET
app01-3401	57	23	particular	particular	ADJ
app01-3401	57	24	task	task	NOUN
app01-3401	57	25	[	[	X
app01-3401	57	26	8	8	NUM
app01-3401	57	27	]	]	PUNCT
app01-3401	57	28	.	.	PUNCT
app01-3401	58	1	the	the	DET
app01-3401	58	2	surf	surf	NOUN
app01-3401	58	3	and	and	CCONJ
app01-3401	58	4	sift	sift	ADJ
app01-3401	58	5	descriptors	descriptor	NOUN
app01-3401	58	6	rely	rely	VERB
app01-3401	58	7	on	on	ADP
app01-3401	58	8	the	the	DET
app01-3401	58	9	their	their	PRON
app01-3401	58	10	own	own	ADJ
app01-3401	58	11	detectors	detector	NOUN
app01-3401	58	12	,	,	PUNCT
app01-3401	58	13	which	which	PRON
app01-3401	58	14	are	be	AUX
app01-3401	58	15	also	also	ADV
app01-3401	58	16	considered	consider	VERB
app01-3401	58	17	in	in	ADP
app01-3401	58	18	the	the	DET
app01-3401	58	19	presented	present	VERB
app01-3401	58	20	evaluation	evaluation	NOUN
app01-3401	58	21	.	.	PUNCT
app01-3401	59	1	however	however	ADV
app01-3401	59	2	,	,	PUNCT
app01-3401	59	3	for	for	ADP
app01-3401	59	4	the	the	DET
app01-3401	59	5	brief	brief	ADJ
app01-3401	59	6	and	and	CCONJ
app01-3401	59	7	brisk	brisk	ADJ
app01-3401	59	8	binary	binary	ADJ
app01-3401	59	9	descriptors	descriptor	NOUN
app01-3401	59	10	the	the	DET
app01-3401	59	11	considered	consider	VERB
app01-3401	59	12	detectors	detector	NOUN
app01-3401	59	13	are	be	AUX
app01-3401	59	14	the	the	DET
app01-3401	59	15	gftt	gftt	NOUN
app01-3401	59	16	,	,	PUNCT
app01-3401	59	17	fast	fast	ADJ
app01-3401	59	18	and	and	CCONJ
app01-3401	59	19	star	star	NOUN
app01-3401	59	20	which	which	PRON
app01-3401	59	21	results	result	VERB
app01-3401	59	22	in	in	ADP
app01-3401	59	23	the	the	DET
app01-3401	59	24	additional	additional	ADJ
app01-3401	59	25	six	six	NUM
app01-3401	59	26	combinations	combination	NOUN
app01-3401	59	27	of	of	ADP
app01-3401	59	28	the	the	DET
app01-3401	59	29	detector	detector	NOUN
app01-3401	59	30	–	–	PUNCT
app01-3401	59	31	descriptor	descriptor	NOUN
app01-3401	59	32	pairs	pair	NOUN
app01-3401	59	33	in	in	ADP
app01-3401	59	34	the	the	DET
app01-3401	59	35	presented	present	VERB
app01-3401	59	36	evaluation	evaluation	NOUN
app01-3401	59	37	.	.	PUNCT
app01-3401	60	1	4	4	X
app01-3401	60	2	.	.	X
app01-3401	60	3	overview	overview	NOUN
app01-3401	60	4	of	of	ADP
app01-3401	60	5	s	s	NOUN
app01-3401	60	6	-	-	PUNCT
app01-3401	60	7	ptam	ptam	NOUN
app01-3401	60	8	s	s	NOUN
app01-3401	60	9	-	-	NOUN
app01-3401	60	10	ptam	ptam	NOUN
app01-3401	60	11	[	[	X
app01-3401	60	12	4	4	NUM
app01-3401	60	13	]	]	PUNCT
app01-3401	60	14	is	be	AUX
app01-3401	60	15	a	a	DET
app01-3401	60	16	stereo	stereo	ADJ
app01-3401	60	17	visual	visual	ADJ
app01-3401	60	18	slam	slam	NOUN
app01-3401	60	19	method	method	NOUN
app01-3401	60	20	for	for	ADP
app01-3401	60	21	a	a	DET
app01-3401	60	22	large	large	ADJ
app01-3401	60	23	scale	scale	NOUN
app01-3401	60	24	map	map	NOUN
app01-3401	60	25	navigation	navigation	NOUN
app01-3401	60	26	based	base	VERB
app01-3401	60	27	on	on	ADP
app01-3401	60	28	the	the	DET
app01-3401	60	29	monocular	monocular	ADJ
app01-3401	60	30	parallel	parallel	ADJ
app01-3401	60	31	tracking	tracking	NOUN
app01-3401	60	32	and	and	CCONJ
app01-3401	60	33	mapping	mapping	NOUN
app01-3401	60	34	(	(	PUNCT
app01-3401	60	35	ptam	ptam	NOUN
app01-3401	60	36	)	)	PUNCT
app01-3401	60	37	method	method	NOUN
app01-3401	60	38	introduced	introduce	VERB
app01-3401	60	39	in	in	ADP
app01-3401	60	40	[	[	X
app01-3401	60	41	1	1	NUM
app01-3401	60	42	]	]	PUNCT
app01-3401	60	43	.	.	PUNCT
app01-3401	61	1	the	the	DET
app01-3401	61	2	method	method	NOUN
app01-3401	61	3	consists	consist	VERB
app01-3401	61	4	of	of	ADP
app01-3401	61	5	two	two	NUM
app01-3401	61	6	processes	process	NOUN
app01-3401	61	7	working	work	VERB
app01-3401	61	8	in	in	ADP
app01-3401	61	9	parallel	parallel	NOUN
app01-3401	61	10	:	:	PUNCT
app01-3401	61	11	1	1	X
app01-3401	61	12	)	)	PUNCT
app01-3401	61	13	the	the	DET
app01-3401	61	14	tracking	tracking	NOUN
app01-3401	61	15	of	of	ADP
app01-3401	61	16	the	the	DET
app01-3401	61	17	detected	detect	VERB
app01-3401	61	18	features	feature	NOUN
app01-3401	61	19	and	and	CCONJ
app01-3401	61	20	;	;	PUNCT
app01-3401	61	21	2	2	X
app01-3401	61	22	)	)	PUNCT
app01-3401	61	23	creating	create	VERB
app01-3401	61	24	a	a	DET
app01-3401	61	25	map	map	NOUN
app01-3401	61	26	of	of	ADP
app01-3401	61	27	the	the	DET
app01-3401	61	28	features	feature	NOUN
app01-3401	61	29	(	(	PUNCT
app01-3401	61	30	mapping	mapping	NOUN
app01-3401	61	31	)	)	PUNCT
app01-3401	61	32	.	.	PUNCT
app01-3401	62	1	during	during	ADP
app01-3401	62	2	a	a	DET
app01-3401	62	3	robot	robot	NOUN
app01-3401	62	4	navigation	navigation	NOUN
app01-3401	62	5	,	,	PUNCT
app01-3401	62	6	the	the	DET
app01-3401	62	7	method	method	NOUN
app01-3401	62	8	works	work	VERB
app01-3401	62	9	as	as	SCONJ
app01-3401	62	10	follows	follow	VERB
app01-3401	62	11	.	.	PUNCT
app01-3401	63	1	s	s	X
app01-3401	63	2	-	-	PUNCT
app01-3401	63	3	ptam	ptam	NOUN
app01-3401	63	4	extracts	extract	NOUN
app01-3401	63	5	features	feature	NOUN
app01-3401	63	6	from	from	ADP
app01-3401	63	7	the	the	DET
app01-3401	63	8	incoming	incoming	ADJ
app01-3401	63	9	stereo	stereo	NOUN
app01-3401	63	10	images	image	NOUN
app01-3401	63	11	to	to	PART
app01-3401	63	12	match	match	VERB
app01-3401	63	13	and	and	CCONJ
app01-3401	63	14	construct	construct	VERB
app01-3401	63	15	a	a	DET
app01-3401	63	16	virtual	virtual	ADJ
app01-3401	63	17	map	map	NOUN
app01-3401	63	18	of	of	ADP
app01-3401	63	19	the	the	DET
app01-3401	63	20	environment	environment	NOUN
app01-3401	63	21	.	.	PUNCT
app01-3401	64	1	the	the	DET
app01-3401	64	2	newly	newly	ADV
app01-3401	64	3	extracted	extract	VERB
app01-3401	64	4	feature	feature	NOUN
app01-3401	64	5	descriptors	descriptor	NOUN
app01-3401	64	6	are	be	AUX
app01-3401	64	7	matched	match	VERB
app01-3401	64	8	against	against	ADP
app01-3401	64	9	descriptors	descriptor	NOUN
app01-3401	64	10	of	of	ADP
app01-3401	64	11	the	the	DET
app01-3401	64	12	points	point	NOUN
app01-3401	64	13	stored	store	VERB
app01-3401	64	14	in	in	ADP
app01-3401	64	15	the	the	DET
app01-3401	64	16	map	map	NOUN
app01-3401	64	17	according	accord	VERB
app01-3401	64	18	to	to	ADP
app01-3401	64	19	the	the	DET
app01-3401	64	20	estimated	estimate	VERB
app01-3401	64	21	field	field	NOUN
app01-3401	64	22	of	of	ADP
app01-3401	64	23	view	view	NOUN
app01-3401	64	24	.	.	PUNCT
app01-3401	65	1	the	the	DET
app01-3401	65	2	matches	match	NOUN
app01-3401	65	3	may	may	AUX
app01-3401	65	4	then	then	ADV
app01-3401	65	5	be	be	AUX
app01-3401	65	6	used	use	VERB
app01-3401	65	7	to	to	PART
app01-3401	65	8	refine	refine	VERB
app01-3401	65	9	the	the	DET
app01-3401	65	10	estimated	estimate	VERB
app01-3401	65	11	camera	camera	NOUN
app01-3401	65	12	pose	pose	NOUN
app01-3401	65	13	using	use	VERB
app01-3401	65	14	an	an	DET
app01-3401	65	15	iterative	iterative	NOUN
app01-3401	65	16	least	least	ADJ
app01-3401	65	17	squares	square	NOUN
app01-3401	65	18	minimization	minimization	NOUN
app01-3401	65	19	method	method	NOUN
app01-3401	65	20	,	,	PUNCT
app01-3401	65	21	e.g.	e.g.	ADV
app01-3401	65	22	,	,	PUNCT
app01-3401	65	23	using	use	VERB
app01-3401	65	24	the	the	DET
app01-3401	65	25	levenberg	levenberg	PROPN
app01-3401	65	26	-	-	PUNCT
app01-3401	65	27	marquardt	marquardt	PROPN
app01-3401	65	28	algorithm	algorithm	PROPN
app01-3401	65	29	.	.	PUNCT
app01-3401	66	1	the	the	DET
app01-3401	66	2	particular	particular	ADJ
app01-3401	66	3	stereo	stereo	NOUN
app01-3401	66	4	matches	match	NOUN
app01-3401	66	5	between	between	ADP
app01-3401	66	6	the	the	DET
app01-3401	66	7	features	feature	NOUN
app01-3401	66	8	that	that	PRON
app01-3401	66	9	can	can	AUX
app01-3401	66	10	not	not	PART
app01-3401	66	11	be	be	AUX
app01-3401	66	12	matched	match	VERB
app01-3401	66	13	to	to	ADP
app01-3401	66	14	the	the	DET
app01-3401	66	15	map	map	NOUN
app01-3401	66	16	are	be	AUX
app01-3401	66	17	triangulated	triangulate	VERB
app01-3401	66	18	and	and	CCONJ
app01-3401	66	19	inserted	insert	VERB
app01-3401	66	20	as	as	ADP
app01-3401	66	21	new	new	ADJ
app01-3401	66	22	map	map	NOUN
app01-3401	66	23	points	point	NOUN
app01-3401	66	24	,	,	PUNCT
app01-3401	66	25	for	for	ADP
app01-3401	66	26	the	the	DET
app01-3401	66	27	tracking	tracking	NOUN
app01-3401	66	28	of	of	ADP
app01-3401	66	29	future	future	ADJ
app01-3401	66	30	frames	frame	NOUN
app01-3401	66	31	.	.	PUNCT
app01-3401	67	1	in	in	ADP
app01-3401	67	2	parallel	parallel	NOUN
app01-3401	67	3	,	,	PUNCT
app01-3401	67	4	a	a	DET
app01-3401	67	5	map	map	NOUN
app01-3401	67	6	refinement	refinement	NOUN
app01-3401	67	7	algorithm	algorithm	NOUN
app01-3401	67	8	is	be	AUX
app01-3401	67	9	running	run	VERB
app01-3401	67	10	.	.	PUNCT
app01-3401	68	1	it	it	PRON
app01-3401	68	2	is	be	AUX
app01-3401	68	3	also	also	ADV
app01-3401	68	4	based	base	VERB
app01-3401	68	5	on	on	ADP
app01-3401	68	6	the	the	DET
app01-3401	68	7	levenberg	levenberg	PROPN
app01-3401	68	8	-	-	PUNCT
app01-3401	68	9	marquardt	marquardt	PROPN
app01-3401	68	10	optimization	optimization	NOUN
app01-3401	68	11	that	that	PRON
app01-3401	68	12	continuously	continuously	ADV
app01-3401	68	13	performs	perform	VERB
app01-3401	68	14	the	the	DET
app01-3401	68	15	bundle	bundle	NOUN
app01-3401	68	16	adjustment	adjustment	NOUN
app01-3401	68	17	on	on	ADP
app01-3401	68	18	the	the	DET
app01-3401	68	19	current	current	ADJ
app01-3401	68	20	local	local	ADJ
app01-3401	68	21	portion	portion	NOUN
app01-3401	68	22	of	of	ADP
app01-3401	68	23	the	the	DET
app01-3401	68	24	map	map	NOUN
app01-3401	68	25	.	.	PUNCT
app01-3401	69	1	in	in	ADP
app01-3401	69	2	[	[	X
app01-3401	69	3	4	4	NUM
app01-3401	69	4	]	]	PUNCT
app01-3401	69	5	,	,	PUNCT
app01-3401	69	6	s	s	NOUN
app01-3401	69	7	-	-	PUNCT
app01-3401	69	8	ptam	ptam	NOUN
app01-3401	69	9	uses	use	VERB
app01-3401	69	10	the	the	DET
app01-3401	69	11	gftt	gftt	NOUN
app01-3401	69	12	feature	feature	NOUN
app01-3401	69	13	detector	detector	NOUN
app01-3401	69	14	and	and	CCONJ
app01-3401	69	15	the	the	DET
app01-3401	69	16	brief	brief	ADJ
app01-3401	69	17	descriptor	descriptor	NOUN
app01-3401	69	18	extractor	extractor	NOUN
app01-3401	69	19	.	.	PUNCT
app01-3401	70	1	in	in	ADP
app01-3401	70	2	this	this	DET
app01-3401	70	3	work	work	NOUN
app01-3401	70	4	,	,	PUNCT
app01-3401	70	5	we	we	PRON
app01-3401	70	6	consider	consider	VERB
app01-3401	70	7	other	other	ADJ
app01-3401	70	8	combinations	combination	NOUN
app01-3401	70	9	of	of	ADP
app01-3401	70	10	the	the	DET
app01-3401	70	11	detector	detector	NOUN
app01-3401	70	12	–	–	PUNCT
app01-3401	70	13	descriptor	descriptor	NOUN
app01-3401	70	14	to	to	PART
app01-3401	70	15	evaluate	evaluate	VERB
app01-3401	70	16	an	an	DET
app01-3401	70	17	impact	impact	NOUN
app01-3401	70	18	of	of	ADP
app01-3401	70	19	the	the	DET
app01-3401	70	20	combination	combination	NOUN
app01-3401	70	21	to	to	ADP
app01-3401	70	22	the	the	DET
app01-3401	70	23	performance	performance	NOUN
app01-3401	70	24	of	of	ADP
app01-3401	70	25	the	the	DET
app01-3401	70	26	localization	localization	NOUN
app01-3401	70	27	and	and	CCONJ
app01-3401	70	28	mapping	mapping	NOUN
app01-3401	70	29	processes	process	NOUN
app01-3401	70	30	.	.	PUNCT
app01-3401	71	1	5	5	X
app01-3401	71	2	.	.	X
app01-3401	71	3	evaluation	evaluation	NOUN
app01-3401	71	4	the	the	DET
app01-3401	71	5	kitti	kitti	PROPN
app01-3401	71	6	vision	vision	PROPN
app01-3401	71	7	benchmark	benchmark	NOUN
app01-3401	71	8	suite	suite	NOUN
app01-3401	71	9	[	[	X
app01-3401	71	10	16	16	NUM
app01-3401	71	11	]	]	PUNCT
app01-3401	71	12	is	be	AUX
app01-3401	71	13	used	use	VERB
app01-3401	71	14	to	to	PART
app01-3401	71	15	evaluate	evaluate	VERB
app01-3401	71	16	s	s	NOUN
app01-3401	71	17	-	-	NOUN
app01-3401	71	18	ptam	ptam	NOUN
app01-3401	71	19	for	for	ADP
app01-3401	71	20	each	each	DET
app01-3401	71	21	type	type	NOUN
app01-3401	71	22	of	of	ADP
app01-3401	71	23	considered	considered	ADJ
app01-3401	71	24	detector	detector	NOUN
app01-3401	71	25	–	–	PUNCT
app01-3401	71	26	descriptor	descriptor	NOUN
app01-3401	71	27	configuration	configuration	NOUN
app01-3401	71	28	.	.	PUNCT
app01-3401	72	1	in	in	ADP
app01-3401	72	2	particular	particular	ADJ
app01-3401	72	3	,	,	PUNCT
app01-3401	72	4	we	we	PRON
app01-3401	72	5	present	present	VERB
app01-3401	72	6	the	the	DET
app01-3401	72	7	results	result	NOUN
app01-3401	72	8	obtained	obtain	VERB
app01-3401	72	9	for	for	ADP
app01-3401	72	10	the	the	DET
app01-3401	72	11	sequence	sequence	NOUN
app01-3401	72	12	00	00	NUM
app01-3401	72	13	,	,	PUNCT
app01-3401	72	14	shown	show	VERB
app01-3401	72	15	in	in	ADP
app01-3401	72	16	figure	figure	NOUN
app01-3401	72	17	1	1	NUM
app01-3401	72	18	.	.	PUNCT
app01-3401	73	1	the	the	DET
app01-3401	73	2	sequence	sequence	NOUN
app01-3401	73	3	records	record	VERB
app01-3401	73	4	the	the	DET
app01-3401	73	5	stereo	stereo	PROPN
app01-3401	73	6	camera	camera	NOUN
app01-3401	73	7	frames	frame	NOUN
app01-3401	73	8	captured	capture	VERB
app01-3401	73	9	by	by	ADP
app01-3401	73	10	a	a	DET
app01-3401	73	11	moving	move	VERB
app01-3401	73	12	car	car	NOUN
app01-3401	73	13	in	in	ADP
app01-3401	73	14	an	an	DET
app01-3401	73	15	urban	urban	ADJ
app01-3401	73	16	scenario	scenario	NOUN
app01-3401	73	17	for	for	ADP
app01-3401	73	18	almost	almost	ADV
app01-3401	73	19	4	4	NUM
app01-3401	73	20	km	km	NOUN
app01-3401	73	21	long	long	ADJ
app01-3401	73	22	path	path	NOUN
app01-3401	73	23	.	.	PUNCT
app01-3401	74	1	the	the	DET
app01-3401	74	2	particular	particular	ADJ
app01-3401	74	3	parameters	parameter	NOUN
app01-3401	74	4	of	of	ADP
app01-3401	74	5	46	46	NUM
app01-3401	74	6	vol	vol	NOUN
app01-3401	74	7	.	.	PUNCT
app01-3401	75	1	2/2015	2/2015	NUM
app01-3401	75	2	impact	impact	NOUN
app01-3401	75	3	assessment	assessment	NOUN
app01-3401	75	4	of	of	ADP
app01-3401	75	5	image	image	NOUN
app01-3401	75	6	feature	feature	NOUN
app01-3401	75	7	extractors	extractor	NOUN
app01-3401	75	8	on	on	ADP
app01-3401	75	9	slam	slam	NOUN
app01-3401	75	10	the	the	DET
app01-3401	75	11	evaluated	evaluated	ADJ
app01-3401	75	12	feature	feature	NOUN
app01-3401	75	13	extractors	extractor	NOUN
app01-3401	75	14	have	have	AUX
app01-3401	75	15	been	be	AUX
app01-3401	75	16	selected	select	VERB
app01-3401	75	17	in	in	ADP
app01-3401	75	18	such	such	DET
app01-3401	75	19	a	a	DET
app01-3401	75	20	way	way	NOUN
app01-3401	75	21	that	that	PRON
app01-3401	75	22	allows	allow	VERB
app01-3401	75	23	s	s	NOUN
app01-3401	75	24	-	-	NOUN
app01-3401	75	25	ptam	ptam	NOUN
app01-3401	75	26	to	to	PART
app01-3401	75	27	run	run	VERB
app01-3401	75	28	without	without	ADP
app01-3401	75	29	ever	ever	ADV
app01-3401	75	30	loosing	loose	VERB
app01-3401	75	31	localization	localization	NOUN
app01-3401	75	32	.	.	PUNCT
app01-3401	76	1	they	they	PRON
app01-3401	76	2	have	have	AUX
app01-3401	76	3	been	be	AUX
app01-3401	76	4	tuned	tune	VERB
app01-3401	76	5	from	from	ADP
app01-3401	76	6	a	a	DET
app01-3401	76	7	strong	strong	ADJ
app01-3401	76	8	restrictive	restrictive	ADJ
app01-3401	76	9	value	value	NOUN
app01-3401	76	10	and	and	CCONJ
app01-3401	76	11	then	then	ADV
app01-3401	76	12	relaxed	relax	VERB
app01-3401	76	13	until	until	SCONJ
app01-3401	76	14	the	the	DET
app01-3401	76	15	method	method	NOUN
app01-3401	76	16	completes	complete	VERB
app01-3401	76	17	the	the	DET
app01-3401	76	18	whole	whole	ADJ
app01-3401	76	19	sequence	sequence	NOUN
app01-3401	76	20	.	.	PUNCT
app01-3401	77	1	the	the	DET
app01-3401	77	2	parameters	parameter	NOUN
app01-3401	77	3	are	be	AUX
app01-3401	77	4	listed	list	VERB
app01-3401	77	5	in	in	ADP
app01-3401	77	6	table	table	NOUN
app01-3401	77	7	1	1	NUM
app01-3401	77	8	.	.	PUNCT
app01-3401	77	9	detector	detector	NOUN
app01-3401	77	10	/	/	SYM
app01-3401	77	11	parameter	parameter	NOUN
app01-3401	77	12	valuedescriptor	valuedescriptor	NOUN
app01-3401	77	13	sift	sift	ADJ
app01-3401	77	14	noctavelayers	noctavelayer	NOUN
app01-3401	77	15	1	1	NUM
app01-3401	77	16	l2normthreshold	l2normthreshold	NUM
app01-3401	77	17	100	100	NUM
app01-3401	77	18	surf	surf	NOUN
app01-3401	77	19	hessianthreshold	hessianthreshold	VERB
app01-3401	77	20	1000	1000	NUM
app01-3401	77	21	noctaves	noctave	NOUN
app01-3401	77	22	1	1	NUM
app01-3401	77	23	l2normthreshold	l2normthreshold	ADJ
app01-3401	77	24	0.2	0.2	NUM
app01-3401	77	25	star	star	NOUN
app01-3401	77	26	responsethreshold	responsethreshold	VERB
app01-3401	77	27	20	20	NUM
app01-3401	77	28	brief	brief	ADJ
app01-3401	77	29	bytes	byte	NOUN
app01-3401	77	30	32	32	NUM
app01-3401	77	31	hammingthreshold	hammingthreshold	NOUN
app01-3401	77	32	25	25	NUM
app01-3401	77	33	fast	fast	ADJ
app01-3401	77	34	threshold	threshold	NOUN
app01-3401	77	35	60	60	NUM
app01-3401	77	36	brisk	brisk	ADJ
app01-3401	77	37	hammingthreshold	hammingthreshold	ADJ
app01-3401	77	38	100	100	NUM
app01-3401	77	39	orb	orb	NOUN
app01-3401	77	40	nfeatures	nfeature	VERB
app01-3401	77	41	2000	2000	NUM
app01-3401	77	42	nlevels	nlevel	NOUN
app01-3401	77	43	1	1	NUM
app01-3401	77	44	hammingthreshold	hammingthreshold	VERB
app01-3401	77	45	50	50	NUM
app01-3401	77	46	gftt	gftt	NOUN
app01-3401	77	47	nfeatures	nfeature	VERB
app01-3401	77	48	2000	2000	NUM
app01-3401	77	49	mindistance	mindistance	NOUN
app01-3401	77	50	15.0	15.0	NUM
app01-3401	77	51	table	table	NOUN
app01-3401	77	52	1	1	NUM
app01-3401	77	53	.	.	PUNCT
app01-3401	78	1	parameters	parameter	NOUN
app01-3401	78	2	used	use	VERB
app01-3401	78	3	for	for	ADP
app01-3401	78	4	feature	feature	NOUN
app01-3401	78	5	detectors	detector	NOUN
app01-3401	78	6	and	and	CCONJ
app01-3401	78	7	descriptors	descriptor	NOUN
app01-3401	78	8	.	.	PUNCT
app01-3401	79	1	the	the	DET
app01-3401	79	2	parameters	parameter	NOUN
app01-3401	79	3	which	which	PRON
app01-3401	79	4	do	do	AUX
app01-3401	79	5	not	not	PART
app01-3401	79	6	appear	appear	VERB
app01-3401	79	7	in	in	ADP
app01-3401	79	8	the	the	DET
app01-3401	79	9	list	list	NOUN
app01-3401	79	10	use	use	VERB
app01-3401	79	11	the	the	DET
app01-3401	79	12	default	default	NOUN
app01-3401	79	13	value	value	NOUN
app01-3401	79	14	in	in	ADP
app01-3401	79	15	the	the	DET
app01-3401	79	16	opencv	opencv	ADJ
app01-3401	79	17	implementation	implementation	NOUN
app01-3401	79	18	.	.	PUNCT
app01-3401	80	1	in	in	ADP
app01-3401	80	2	the	the	DET
app01-3401	80	3	case	case	NOUN
app01-3401	80	4	of	of	ADP
app01-3401	80	5	the	the	DET
app01-3401	80	6	binary	binary	ADJ
app01-3401	80	7	descriptors	descriptor	NOUN
app01-3401	80	8	,	,	PUNCT
app01-3401	80	9	the	the	DET
app01-3401	80	10	hamming	hamming	NOUN
app01-3401	80	11	distance	distance	NOUN
app01-3401	80	12	is	be	AUX
app01-3401	80	13	used	use	VERB
app01-3401	80	14	to	to	PART
app01-3401	80	15	compute	compute	VERB
app01-3401	80	16	the	the	DET
app01-3401	80	17	valid	valid	ADJ
app01-3401	80	18	matches	match	NOUN
app01-3401	80	19	while	while	SCONJ
app01-3401	80	20	the	the	DET
app01-3401	80	21	l2	l2	NOUN
app01-3401	80	22	norm	norm	NOUN
app01-3401	80	23	is	be	AUX
app01-3401	80	24	used	use	VERB
app01-3401	80	25	for	for	ADP
app01-3401	80	26	the	the	DET
app01-3401	80	27	surf	surf	NOUN
app01-3401	80	28	and	and	CCONJ
app01-3401	80	29	sift	sift	ADJ
app01-3401	80	30	descriptors	descriptor	NOUN
app01-3401	80	31	.	.	PUNCT
app01-3401	81	1	the	the	DET
app01-3401	81	2	evaluation	evaluation	NOUN
app01-3401	81	3	has	have	AUX
app01-3401	81	4	been	be	AUX
app01-3401	81	5	performed	perform	VERB
app01-3401	81	6	using	use	VERB
app01-3401	81	7	an	an	DET
app01-3401	81	8	intel	intel	NOUN
app01-3401	81	9	core	core	NOUN
app01-3401	81	10	i7	i7	NOUN
app01-3401	81	11	processor	processor	NOUN
app01-3401	81	12	with	with	ADP
app01-3401	81	13	4	4	NUM
app01-3401	81	14	cores	core	NOUN
app01-3401	81	15	running	run	VERB
app01-3401	81	16	at	at	ADP
app01-3401	81	17	2.2	2.2	NUM
app01-3401	81	18	ghz	ghz	NOUN
app01-3401	81	19	.	.	PUNCT
app01-3401	82	1	although	although	SCONJ
app01-3401	82	2	s	s	NOUN
app01-3401	82	3	-	-	PUNCT
app01-3401	82	4	ptam	ptam	NOUN
app01-3401	82	5	strongly	strongly	ADV
app01-3401	82	6	exploits	exploit	VERB
app01-3401	82	7	parallelism	parallelism	NOUN
app01-3401	82	8	,	,	PUNCT
app01-3401	82	9	the	the	DET
app01-3401	82	10	experiments	experiment	NOUN
app01-3401	82	11	were	be	AUX
app01-3401	82	12	run	run	VERB
app01-3401	82	13	in	in	ADP
app01-3401	82	14	a	a	DET
app01-3401	82	15	sequential	sequential	ADJ
app01-3401	82	16	fashion	fashion	NOUN
app01-3401	82	17	that	that	PRON
app01-3401	82	18	allow	allow	VERB
app01-3401	82	19	us	we	PRON
app01-3401	82	20	to	to	PART
app01-3401	82	21	simulate	simulate	VERB
app01-3401	82	22	ideal	ideal	ADJ
app01-3401	82	23	conditions	condition	NOUN
app01-3401	82	24	and	and	CCONJ
app01-3401	82	25	abstract	abstract	ADJ
app01-3401	82	26	from	from	ADP
app01-3401	82	27	the	the	DET
app01-3401	82	28	limitations	limitation	NOUN
app01-3401	82	29	of	of	ADP
app01-3401	82	30	the	the	DET
app01-3401	82	31	available	available	ADJ
app01-3401	82	32	computational	computational	ADJ
app01-3401	82	33	power	power	NOUN
app01-3401	82	34	.	.	PUNCT
app01-3401	83	1	this	this	PRON
app01-3401	83	2	ensures	ensure	VERB
app01-3401	83	3	that	that	SCONJ
app01-3401	83	4	no	no	DET
app01-3401	83	5	frames	frame	NOUN
app01-3401	83	6	are	be	AUX
app01-3401	83	7	dropped	drop	VERB
app01-3401	83	8	and	and	CCONJ
app01-3401	83	9	that	that	SCONJ
app01-3401	83	10	the	the	DET
app01-3401	83	11	iterative	iterative	NOUN
app01-3401	83	12	optimization	optimization	NOUN
app01-3401	83	13	routines	routine	NOUN
app01-3401	83	14	always	always	ADV
app01-3401	83	15	converge	converge	VERB
app01-3401	83	16	or	or	CCONJ
app01-3401	83	17	reach	reach	VERB
app01-3401	83	18	a	a	DET
app01-3401	83	19	maximum	maximum	ADJ
app01-3401	83	20	threshold	threshold	NOUN
app01-3401	83	21	of	of	ADP
app01-3401	83	22	iterations	iteration	NOUN
app01-3401	83	23	.	.	PUNCT
app01-3401	84	1	nevertheless	nevertheless	ADV
app01-3401	84	2	,	,	PUNCT
app01-3401	84	3	the	the	DET
app01-3401	84	4	tracking	tracking	NOUN
app01-3401	84	5	process	process	NOUN
app01-3401	84	6	performs	perform	VERB
app01-3401	84	7	pose	pose	VERB
app01-3401	84	8	optimization	optimization	NOUN
app01-3401	84	9	using	use	VERB
app01-3401	84	10	an	an	DET
app01-3401	84	11	iterative	iterative	NOUN
app01-3401	84	12	algorithm	algorithm	NOUN
app01-3401	84	13	;	;	PUNCT
app01-3401	84	14	so	so	CCONJ
app01-3401	84	15	,	,	PUNCT
app01-3401	84	16	the	the	DET
app01-3401	84	17	less	less	ADJ
app01-3401	84	18	time	time	NOUN
app01-3401	84	19	is	be	AUX
app01-3401	84	20	used	use	VERB
app01-3401	84	21	in	in	ADP
app01-3401	84	22	the	the	DET
app01-3401	84	23	features	feature	NOUN
app01-3401	84	24	extraction	extraction	NOUN
app01-3401	84	25	,	,	PUNCT
app01-3401	84	26	the	the	DET
app01-3401	84	27	more	more	ADJ
app01-3401	84	28	iterations	iteration	NOUN
app01-3401	84	29	the	the	DET
app01-3401	84	30	method	method	NOUN
app01-3401	84	31	can	can	AUX
app01-3401	84	32	compute	compute	VERB
app01-3401	84	33	.	.	PUNCT
app01-3401	85	1	figure	figure	NOUN
app01-3401	85	2	2	2	NUM
app01-3401	85	3	shows	show	VERB
app01-3401	85	4	a	a	DET
app01-3401	85	5	characterization	characterization	NOUN
app01-3401	85	6	of	of	ADP
app01-3401	85	7	the	the	DET
app01-3401	85	8	total	total	ADJ
app01-3401	85	9	tracking	tracking	NOUN
app01-3401	85	10	time	time	NOUN
app01-3401	85	11	for	for	ADP
app01-3401	85	12	each	each	DET
app01-3401	85	13	pair	pair	NOUN
app01-3401	85	14	of	of	ADP
app01-3401	85	15	frames	frame	NOUN
app01-3401	85	16	,	,	PUNCT
app01-3401	85	17	as	as	SCONJ
app01-3401	85	18	achieved	achieve	VERB
app01-3401	85	19	by	by	ADP
app01-3401	85	20	using	use	VERB
app01-3401	85	21	the	the	DET
app01-3401	85	22	evaluated	evaluated	ADJ
app01-3401	85	23	extractors	extractor	NOUN
app01-3401	85	24	.	.	PUNCT
app01-3401	86	1	moreover	moreover	ADV
app01-3401	86	2	,	,	PUNCT
app01-3401	86	3	the	the	DET
app01-3401	86	4	iterative	iterative	ADJ
app01-3401	86	5	least	least	ADJ
app01-3401	86	6	-	-	PUNCT
app01-3401	86	7	squares	square	NOUN
app01-3401	86	8	optimization	optimization	NOUN
app01-3401	86	9	,	,	PUNCT
app01-3401	86	10	which	which	PRON
app01-3401	86	11	is	be	AUX
app01-3401	86	12	utilized	utilize	VERB
app01-3401	86	13	in	in	ADP
app01-3401	86	14	the	the	DET
app01-3401	86	15	mapping	mapping	NOUN
app01-3401	86	16	and	and	CCONJ
app01-3401	86	17	tracking	tracking	NOUN
app01-3401	86	18	processes	process	NOUN
app01-3401	86	19	,	,	PUNCT
app01-3401	86	20	depends	depend	VERB
app01-3401	86	21	linearly	linearly	ADV
app01-3401	86	22	on	on	ADP
app01-3401	86	23	the	the	DET
app01-3401	86	24	number	number	NOUN
app01-3401	86	25	of	of	ADP
app01-3401	86	26	tracked	track	VERB
app01-3401	86	27	points	point	NOUN
app01-3401	86	28	(	(	PUNCT
app01-3401	86	29	the	the	DET
app01-3401	86	30	density	density	NOUN
app01-3401	86	31	of	of	ADP
app01-3401	86	32	the	the	DET
app01-3401	86	33	map	map	NOUN
app01-3401	86	34	)	)	PUNCT
app01-3401	86	35	.	.	PUNCT
app01-3401	87	1	thus	thus	ADV
app01-3401	87	2	,	,	PUNCT
app01-3401	87	3	regarding	regard	VERB
app01-3401	87	4	the	the	DET
app01-3401	87	5	computational	computational	ADJ
app01-3401	87	6	burden	burden	NOUN
app01-3401	87	7	,	,	PUNCT
app01-3401	87	8	the	the	DET
app01-3401	87	9	map	map	NOUN
app01-3401	87	10	should	should	AUX
app01-3401	87	11	be	be	AUX
app01-3401	87	12	as	as	ADV
app01-3401	87	13	small	small	ADJ
app01-3401	87	14	as	as	ADP
app01-3401	87	15	possible	possible	ADJ
app01-3401	87	16	while	while	SCONJ
app01-3401	87	17	the	the	DET
app01-3401	87	18	map	map	NOUN
app01-3401	87	19	points	point	NOUN
app01-3401	87	20	should	should	AUX
app01-3401	87	21	contain	contain	VERB
app01-3401	87	22	strong	strong	ADJ
app01-3401	87	23	enough	enough	ADJ
app01-3401	87	24	features	feature	NOUN
app01-3401	87	25	to	to	PART
app01-3401	87	26	support	support	VERB
app01-3401	87	27	a	a	DET
app01-3401	87	28	robust	robust	ADJ
app01-3401	87	29	tracking	tracking	NOUN
app01-3401	87	30	of	of	ADP
app01-3401	87	31	the	the	DET
app01-3401	87	32	figure	figure	NOUN
app01-3401	87	33	1	1	NUM
app01-3401	87	34	.	.	X
app01-3401	87	35	path	path	NOUN
app01-3401	87	36	tracked	track	VERB
app01-3401	87	37	by	by	ADP
app01-3401	87	38	every	every	DET
app01-3401	87	39	method	method	NOUN
app01-3401	87	40	run	run	VERB
app01-3401	87	41	under	under	ADP
app01-3401	87	42	different	different	ADJ
app01-3401	87	43	extractors	extractor	NOUN
app01-3401	87	44	,	,	PUNCT
app01-3401	87	45	against	against	ADP
app01-3401	87	46	the	the	DET
app01-3401	87	47	ground	ground	NOUN
app01-3401	87	48	truth	truth	NOUN
app01-3401	87	49	.	.	PUNCT
app01-3401	88	1	the	the	DET
app01-3401	88	2	path	path	NOUN
app01-3401	88	3	is	be	AUX
app01-3401	88	4	nearly	nearly	ADV
app01-3401	88	5	4	4	NUM
app01-3401	88	6	km	km	NOUN
app01-3401	88	7	long	long	ADV
app01-3401	88	8	.	.	PUNCT
app01-3401	89	1	the	the	DET
app01-3401	89	2	shown	show	VERB
app01-3401	89	3	distances	distance	NOUN
app01-3401	89	4	at	at	ADP
app01-3401	89	5	the	the	DET
app01-3401	89	6	axes	axis	NOUN
app01-3401	89	7	are	be	AUX
app01-3401	89	8	in	in	ADP
app01-3401	89	9	meters	meter	NOUN
app01-3401	89	10	.	.	PUNCT
app01-3401	90	1	figure	figure	NOUN
app01-3401	90	2	2	2	NUM
app01-3401	90	3	.	.	PUNCT
app01-3401	90	4	total	total	ADJ
app01-3401	90	5	tracking	tracking	NOUN
app01-3401	90	6	time	time	NOUN
app01-3401	90	7	achieved	achieve	VERB
app01-3401	90	8	by	by	ADP
app01-3401	90	9	each	each	DET
app01-3401	90	10	configuration	configuration	NOUN
app01-3401	90	11	frames	frame	NOUN
app01-3401	90	12	.	.	PUNCT
app01-3401	91	1	table	table	NOUN
app01-3401	91	2	2	2	NUM
app01-3401	91	3	shows	show	VERB
app01-3401	91	4	the	the	DET
app01-3401	91	5	final	final	ADJ
app01-3401	91	6	number	number	NOUN
app01-3401	91	7	of	of	ADP
app01-3401	91	8	points	point	NOUN
app01-3401	91	9	contained	contain	VERB
app01-3401	91	10	in	in	ADP
app01-3401	91	11	the	the	DET
app01-3401	91	12	map	map	NOUN
app01-3401	91	13	after	after	ADP
app01-3401	91	14	finishing	finish	VERB
app01-3401	91	15	each	each	DET
app01-3401	91	16	trial	trial	NOUN
app01-3401	91	17	for	for	ADP
app01-3401	91	18	a	a	DET
app01-3401	91	19	particular	particular	ADJ
app01-3401	91	20	combination	combination	NOUN
app01-3401	91	21	of	of	ADP
app01-3401	91	22	feature	feature	NOUN
app01-3401	91	23	detector	detector	NOUN
app01-3401	91	24	and	and	CCONJ
app01-3401	91	25	descriptor	descriptor	NOUN
app01-3401	91	26	.	.	PUNCT
app01-3401	92	1	in	in	ADP
app01-3401	92	2	figure	figure	NOUN
app01-3401	92	3	3	3	NUM
app01-3401	92	4	,	,	PUNCT
app01-3401	92	5	we	we	PRON
app01-3401	92	6	can	can	AUX
app01-3401	92	7	see	see	VERB
app01-3401	92	8	how	how	SCONJ
app01-3401	92	9	the	the	DET
app01-3401	92	10	map	map	NOUN
app01-3401	92	11	size	size	NOUN
app01-3401	92	12	impacts	impact	NOUN
app01-3401	92	13	directly	directly	ADV
app01-3401	92	14	on	on	ADP
app01-3401	92	15	the	the	DET
app01-3401	92	16	temporal	temporal	ADJ
app01-3401	92	17	performance	performance	NOUN
app01-3401	92	18	of	of	ADP
app01-3401	92	19	the	the	DET
app01-3401	92	20	tracking	tracking	NOUN
app01-3401	92	21	process	process	NOUN
app01-3401	92	22	.	.	PUNCT
app01-3401	93	1	combinations	combination	NOUN
app01-3401	93	2	of	of	ADP
app01-3401	93	3	the	the	DET
app01-3401	93	4	detector	detector	NOUN
app01-3401	93	5	–	–	PUNCT
app01-3401	93	6	descriptor	descriptor	NOUN
app01-3401	93	7	that	that	PRON
app01-3401	93	8	build	build	VERB
app01-3401	93	9	the	the	DET
app01-3401	93	10	most	most	ADV
app01-3401	93	11	dense	dense	ADJ
app01-3401	93	12	maps	map	NOUN
app01-3401	93	13	also	also	ADV
app01-3401	93	14	take	take	VERB
app01-3401	93	15	the	the	DET
app01-3401	93	16	longest	long	ADJ
app01-3401	93	17	time	time	NOUN
app01-3401	93	18	to	to	PART
app01-3401	93	19	compute	compute	VERB
app01-3401	93	20	.	.	PUNCT
app01-3401	94	1	differences	difference	NOUN
app01-3401	94	2	in	in	ADP
app01-3401	94	3	the	the	DET
app01-3401	94	4	map	map	NOUN
app01-3401	94	5	size	size	NOUN
app01-3401	94	6	for	for	ADP
app01-3401	94	7	the	the	DET
app01-3401	94	8	evaluated	evaluated	ADJ
app01-3401	94	9	descriptor	descriptor	NOUN
app01-3401	94	10	in	in	ADP
app01-3401	94	11	the	the	DET
app01-3401	94	12	feature	feature	NOUN
app01-3401	94	13	extractors	extractor	NOUN
app01-3401	94	14	with	with	ADP
app01-3401	94	15	the	the	DET
app01-3401	94	16	same	same	ADJ
app01-3401	94	17	detector	detector	NOUN
app01-3401	94	18	can	can	AUX
app01-3401	94	19	have	have	VERB
app01-3401	94	20	two	two	NUM
app01-3401	94	21	reasons	reason	NOUN
app01-3401	94	22	.	.	PUNCT
app01-3401	95	1	the	the	DET
app01-3401	95	2	first	first	ADJ
app01-3401	95	3	reason	reason	NOUN
app01-3401	95	4	is	be	AUX
app01-3401	95	5	that	that	SCONJ
app01-3401	95	6	new	new	ADJ
app01-3401	95	7	47	47	NUM
app01-3401	95	8	t.	t.	NOUN
app01-3401	95	9	pire	pire	NOUN
app01-3401	95	10	,	,	PUNCT
app01-3401	95	11	t.	t.	NOUN
app01-3401	95	12	fischer	fischer	PROPN
app01-3401	95	13	,	,	PUNCT
app01-3401	95	14	j.	j.	PROPN
app01-3401	95	15	faigl	faigl	PROPN
app01-3401	95	16	acta	acta	PROPN
app01-3401	95	17	polytechnica	polytechnica	PROPN
app01-3401	95	18	ctu	ctu	PROPN
app01-3401	95	19	proceedings	proceeding	NOUN
app01-3401	95	20	figure	figure	VERB
app01-3401	95	21	3	3	NUM
app01-3401	95	22	.	.	PUNCT
app01-3401	95	23	tracking	tracking	NOUN
app01-3401	95	24	time	time	NOUN
app01-3401	95	25	without	without	ADP
app01-3401	95	26	taking	take	VERB
app01-3401	95	27	into	into	ADP
app01-3401	95	28	account	account	NOUN
app01-3401	95	29	feature	feature	NOUN
app01-3401	95	30	extraction	extraction	NOUN
app01-3401	95	31	points	point	NOUN
app01-3401	95	32	are	be	AUX
app01-3401	95	33	created	create	VERB
app01-3401	95	34	from	from	ADP
app01-3401	95	35	the	the	DET
app01-3401	95	36	stereo	stereo	NOUN
app01-3401	95	37	features	feature	VERB
app01-3401	95	38	only	only	ADV
app01-3401	95	39	if	if	SCONJ
app01-3401	95	40	these	these	DET
app01-3401	95	41	features	feature	NOUN
app01-3401	95	42	are	be	AUX
app01-3401	95	43	not	not	PART
app01-3401	95	44	matched	match	VERB
app01-3401	95	45	to	to	ADP
app01-3401	95	46	the	the	DET
app01-3401	95	47	map	map	NOUN
app01-3401	95	48	.	.	PUNCT
app01-3401	96	1	the	the	DET
app01-3401	96	2	second	second	ADJ
app01-3401	96	3	reason	reason	NOUN
app01-3401	96	4	is	be	AUX
app01-3401	96	5	that	that	SCONJ
app01-3401	96	6	the	the	DET
app01-3401	96	7	points	point	NOUN
app01-3401	96	8	marked	mark	VERB
app01-3401	96	9	as	as	ADP
app01-3401	96	10	outliers	outlier	NOUN
app01-3401	96	11	during	during	ADP
app01-3401	96	12	the	the	DET
app01-3401	96	13	refinement	refinement	NOUN
app01-3401	96	14	processes	process	NOUN
app01-3401	96	15	are	be	AUX
app01-3401	96	16	discarded	discard	VERB
app01-3401	96	17	.	.	PUNCT
app01-3401	97	1	in	in	ADP
app01-3401	97	2	the	the	DET
app01-3401	97	3	first	first	ADJ
app01-3401	97	4	case	case	NOUN
app01-3401	97	5	,	,	PUNCT
app01-3401	97	6	this	this	PRON
app01-3401	97	7	can	can	AUX
app01-3401	97	8	be	be	AUX
app01-3401	97	9	caused	cause	VERB
app01-3401	97	10	by	by	ADP
app01-3401	97	11	descriptors	descriptor	NOUN
app01-3401	97	12	that	that	PRON
app01-3401	97	13	are	be	AUX
app01-3401	97	14	not	not	PART
app01-3401	97	15	robust	robust	ADJ
app01-3401	97	16	enough	enough	ADV
app01-3401	97	17	to	to	PART
app01-3401	97	18	be	be	AUX
app01-3401	97	19	matched	match	VERB
app01-3401	97	20	to	to	ADP
app01-3401	97	21	the	the	DET
app01-3401	97	22	map	map	NOUN
app01-3401	97	23	for	for	ADP
app01-3401	97	24	a	a	DET
app01-3401	97	25	long	long	ADJ
app01-3401	97	26	time	time	NOUN
app01-3401	97	27	.	.	PUNCT
app01-3401	98	1	in	in	ADP
app01-3401	98	2	the	the	DET
app01-3401	98	3	second	second	ADJ
app01-3401	98	4	case	case	NOUN
app01-3401	98	5	,	,	PUNCT
app01-3401	98	6	the	the	DET
app01-3401	98	7	descriptor	descriptor	NOUN
app01-3401	98	8	matching	matching	NOUN
app01-3401	98	9	may	may	AUX
app01-3401	98	10	be	be	AUX
app01-3401	98	11	too	too	ADV
app01-3401	98	12	permissive	permissive	ADJ
app01-3401	98	13	and	and	CCONJ
app01-3401	98	14	it	it	PRON
app01-3401	98	15	allows	allow	VERB
app01-3401	98	16	bad	bad	ADJ
app01-3401	98	17	matches	match	NOUN
app01-3401	98	18	that	that	PRON
app01-3401	98	19	are	be	AUX
app01-3401	98	20	later	later	ADV
app01-3401	98	21	discarded	discard	VERB
app01-3401	98	22	as	as	ADP
app01-3401	98	23	outliers	outlier	NOUN
app01-3401	98	24	.	.	PUNCT
app01-3401	99	1	extractor	extractor	NOUN
app01-3401	99	2	final	final	ADJ
app01-3401	99	3	map	map	NOUN
app01-3401	99	4	size	size	NOUN
app01-3401	99	5	gftt	gftt	NOUN
app01-3401	99	6	/	/	SYM
app01-3401	99	7	brief	brief	ADJ
app01-3401	99	8	990	990	NUM
app01-3401	99	9	455	455	NUM
app01-3401	99	10	gftt	gftt	NOUN
app01-3401	99	11	/	/	SYM
app01-3401	99	12	brisk	brisk	ADJ
app01-3401	99	13	1	1	NUM
app01-3401	99	14	314	314	NUM
app01-3401	99	15	356	356	NUM
app01-3401	99	16	sift	sift	ADJ
app01-3401	99	17	/	/	SYM
app01-3401	99	18	sift	sift	VERB
app01-3401	99	19	1	1	NUM
app01-3401	99	20	581	581	NUM
app01-3401	99	21	876	876	NUM
app01-3401	99	22	star	star	NOUN
app01-3401	99	23	/	/	SYM
app01-3401	99	24	brief	brief	ADJ
app01-3401	99	25	1	1	NUM
app01-3401	99	26	893	893	NUM
app01-3401	99	27	372	372	NUM
app01-3401	99	28	surf	surf	NOUN
app01-3401	99	29	/	/	SYM
app01-3401	99	30	surf	surf	NOUN
app01-3401	99	31	2	2	NUM
app01-3401	99	32	059	059	NUM
app01-3401	99	33	879	879	NUM
app01-3401	99	34	fast	fast	ADJ
app01-3401	99	35	/	/	SYM
app01-3401	99	36	brief	brief	ADJ
app01-3401	99	37	2	2	NUM
app01-3401	99	38	420	420	NUM
app01-3401	99	39	652	652	NUM
app01-3401	99	40	star	star	NOUN
app01-3401	99	41	/	/	SYM
app01-3401	99	42	brisk	brisk	ADJ
app01-3401	99	43	2	2	NUM
app01-3401	99	44	447	447	NUM
app01-3401	99	45	418	418	NUM
app01-3401	99	46	fast	fast	ADJ
app01-3401	99	47	/	/	SYM
app01-3401	99	48	brisk	brisk	ADJ
app01-3401	99	49	3	3	NUM
app01-3401	99	50	207	207	NUM
app01-3401	99	51	003	003	NUM
app01-3401	99	52	orb	orb	NOUN
app01-3401	99	53	/	/	SYM
app01-3401	99	54	orb	orb	NOUN
app01-3401	99	55	5	5	NUM
app01-3401	99	56	192	192	NUM
app01-3401	99	57	885	885	NUM
app01-3401	99	58	table	table	NOUN
app01-3401	99	59	2	2	NUM
app01-3401	99	60	.	.	PUNCT
app01-3401	100	1	the	the	DET
app01-3401	100	2	number	number	NOUN
app01-3401	100	3	of	of	ADP
app01-3401	100	4	points	point	NOUN
app01-3401	100	5	contained	contain	VERB
app01-3401	100	6	in	in	ADP
app01-3401	100	7	the	the	DET
app01-3401	100	8	map	map	NOUN
app01-3401	100	9	after	after	ADP
app01-3401	100	10	completing	complete	VERB
app01-3401	100	11	the	the	DET
app01-3401	100	12	sequence	sequence	NOUN
app01-3401	100	13	for	for	ADP
app01-3401	100	14	each	each	DET
app01-3401	100	15	evaluated	evaluated	ADJ
app01-3401	100	16	extractor	extractor	NOUN
app01-3401	100	17	,	,	PUNCT
app01-3401	100	18	in	in	ADP
app01-3401	100	19	ascending	ascend	VERB
app01-3401	100	20	order	order	NOUN
app01-3401	100	21	.	.	PUNCT
app01-3401	101	1	since	since	SCONJ
app01-3401	101	2	the	the	DET
app01-3401	101	3	goal	goal	NOUN
app01-3401	101	4	of	of	ADP
app01-3401	101	5	this	this	DET
app01-3401	101	6	work	work	NOUN
app01-3401	101	7	is	be	AUX
app01-3401	101	8	to	to	PART
app01-3401	101	9	assess	assess	VERB
app01-3401	101	10	the	the	DET
app01-3401	101	11	impact	impact	NOUN
app01-3401	101	12	of	of	ADP
app01-3401	101	13	the	the	DET
app01-3401	101	14	feature	feature	NOUN
app01-3401	101	15	extractor	extractor	NOUN
app01-3401	101	16	choice	choice	NOUN
app01-3401	101	17	also	also	ADV
app01-3401	101	18	on	on	ADP
app01-3401	101	19	the	the	DET
app01-3401	101	20	accuracy	accuracy	NOUN
app01-3401	101	21	of	of	ADP
app01-3401	101	22	the	the	DET
app01-3401	101	23	slam	slam	NOUN
app01-3401	101	24	method	method	NOUN
app01-3401	101	25	,	,	PUNCT
app01-3401	101	26	the	the	DET
app01-3401	101	27	achieved	achieve	VERB
app01-3401	101	28	performance	performance	NOUN
app01-3401	101	29	is	be	AUX
app01-3401	101	30	presented	present	VERB
app01-3401	101	31	as	as	ADP
app01-3401	101	32	two	two	NUM
app01-3401	101	33	independent	independent	ADJ
app01-3401	101	34	relative	relative	ADJ
app01-3401	101	35	errors	error	NOUN
app01-3401	101	36	for	for	ADP
app01-3401	101	37	each	each	DET
app01-3401	101	38	estimated	estimate	VERB
app01-3401	101	39	pose	pose	VERB
app01-3401	101	40	:	:	PUNCT
app01-3401	101	41	εt	εt	PROPN
app01-3401	101	42	for	for	ADP
app01-3401	101	43	the	the	DET
app01-3401	101	44	translation	translation	NOUN
app01-3401	101	45	error	error	NOUN
app01-3401	101	46	and	and	CCONJ
app01-3401	101	47	;	;	PUNCT
app01-3401	101	48	εθ	εθ	NOUN
app01-3401	101	49	for	for	ADP
app01-3401	101	50	the	the	DET
app01-3401	101	51	orientation	orientation	NOUN
app01-3401	101	52	.	.	PUNCT
app01-3401	102	1	let	let	VERB
app01-3401	102	2	xk	xk	PROPN
app01-3401	102	3	be	be	AUX
app01-3401	102	4	the	the	DET
app01-3401	102	5	estimated	estimate	VERB
app01-3401	102	6	pose	pose	NOUN
app01-3401	102	7	at	at	ADP
app01-3401	102	8	the	the	DET
app01-3401	102	9	frame	frame	NOUN
app01-3401	103	1	k	k	NOUN
app01-3401	103	2	,	,	PUNCT
app01-3401	103	3	which	which	PRON
app01-3401	103	4	can	can	AUX
app01-3401	103	5	be	be	AUX
app01-3401	103	6	decomposed	decompose	VERB
app01-3401	103	7	as	as	ADP
app01-3401	103	8	the	the	DET
app01-3401	103	9	translation	translation	NOUN
app01-3401	103	10	tk	tk	PROPN
app01-3401	103	11	and	and	CCONJ
app01-3401	103	12	the	the	DET
app01-3401	103	13	rotation	rotation	NOUN
app01-3401	103	14	rk	rk	NOUN
app01-3401	103	15	.	.	PUNCT
app01-3401	104	1	let	let	VERB
app01-3401	104	2	x∗k	x∗k	PUNCT
app01-3401	104	3	be	be	AUX
app01-3401	104	4	the	the	DET
app01-3401	104	5	reference	reference	NOUN
app01-3401	104	6	pose	pose	VERB
app01-3401	104	7	,	,	PUNCT
app01-3401	104	8	which	which	PRON
app01-3401	104	9	can	can	AUX
app01-3401	104	10	be	be	AUX
app01-3401	104	11	decomposed	decompose	VERB
app01-3401	104	12	in	in	ADP
app01-3401	104	13	the	the	DET
app01-3401	104	14	same	same	ADJ
app01-3401	104	15	fashion	fashion	NOUN
app01-3401	104	16	.	.	PUNCT
app01-3401	105	1	the	the	DET
app01-3401	105	2	aforementioned	aforementioned	ADJ
app01-3401	105	3	errors	error	NOUN
app01-3401	105	4	are	be	AUX
app01-3401	105	5	computed	compute	VERB
app01-3401	105	6	as	as	ADP
app01-3401	105	7	εt	εt	PROPN
app01-3401	105	8	,	,	PUNCT
app01-3401	105	9	k+1	k+1	X
app01-3401	105	10	=	=	PUNCT
app01-3401	105	11	‖(tk	‖(tk	PROPN
app01-3401	105	12	tk+1	tk+1	VERB
app01-3401	105	13	)	)	PUNCT
app01-3401	105	14	(	(	PUNCT
app01-3401	105	15	t∗k	t∗k	NUM
app01-3401	105	16	t∗k+1	t∗k+1	NOUN
app01-3401	105	17	)	)	PUNCT
app01-3401	106	1	‖	‖	PROPN
app01-3401	106	2	,	,	PUNCT
app01-3401	106	3	εθ	εθ	NOUN
app01-3401	106	4	,	,	PUNCT
app01-3401	106	5	k+1	k+1	X
app01-3401	106	6	=	=	SYM
app01-3401	106	7	angle	angle	NOUN
app01-3401	106	8	(	(	PUNCT
app01-3401	106	9	(	(	PUNCT
app01-3401	106	10	rk	rk	NOUN
app01-3401	106	11	rk+1	rk+1	NOUN
app01-3401	106	12	)	)	PUNCT
app01-3401	106	13	(	(	PUNCT
app01-3401	106	14	r∗k	r∗k	X
app01-3401	106	15	r∗k+1	r∗k+1	VERB
app01-3401	106	16	)	)	PUNCT
app01-3401	106	17	)	)	PUNCT
app01-3401	106	18	,	,	PUNCT
app01-3401	106	19	where	where	SCONJ
app01-3401	106	20	is	be	AUX
app01-3401	106	21	the	the	DET
app01-3401	106	22	inverse	inverse	NOUN
app01-3401	106	23	of	of	ADP
app01-3401	106	24	the	the	DET
app01-3401	106	25	standard	standard	ADJ
app01-3401	106	26	motion	motion	NOUN
app01-3401	106	27	composition	composition	NOUN
app01-3401	106	28	operator	operator	NOUN
app01-3401	106	29	.	.	PUNCT
app01-3401	107	1	for	for	ADP
app01-3401	107	2	pure	pure	ADJ
app01-3401	107	3	translations	translation	NOUN
app01-3401	107	4	,	,	PUNCT
app01-3401	107	5	we	we	PRON
app01-3401	107	6	can	can	AUX
app01-3401	107	7	rewrite	rewrite	VERB
app01-3401	107	8	t1	t1	NOUN
app01-3401	107	9	t2	t2	NOUN
app01-3401	107	10	=	=	SYM
app01-3401	107	11	t2−	t2−	NOUN
app01-3401	107	12	t1	t1	NOUN
app01-3401	107	13	,	,	PUNCT
app01-3401	107	14	and	and	CCONJ
app01-3401	107	15	for	for	ADP
app01-3401	107	16	the	the	DET
app01-3401	107	17	pure	pure	ADJ
app01-3401	107	18	rotations	rotation	NOUN
app01-3401	107	19	as	as	ADP
app01-3401	107	20	r1	r1	PROPN
app01-3401	107	21	r2	r2	PROPN
app01-3401	107	22	=	=	PUNCT
app01-3401	107	23	rt1r2	rt1r2	VERB
app01-3401	107	24	.	.	PUNCT
app01-3401	108	1	‖x‖	‖x‖	PROPN
app01-3401	108	2	stands	stand	VERB
app01-3401	108	3	for	for	ADP
app01-3401	108	4	the	the	DET
app01-3401	108	5	euclidean	euclidean	ADJ
app01-3401	108	6	norm	norm	NOUN
app01-3401	108	7	and	and	CCONJ
app01-3401	108	8	angle	angle	NOUN
app01-3401	108	9	(	(	PUNCT
app01-3401	108	10	r	r	NOUN
app01-3401	108	11	)	)	PUNCT
app01-3401	108	12	extracts	extract	NOUN
app01-3401	108	13	the	the	DET
app01-3401	108	14	magnitude	magnitude	NOUN
app01-3401	108	15	of	of	ADP
app01-3401	108	16	the	the	DET
app01-3401	108	17	rotation	rotation	NOUN
app01-3401	108	18	.	.	PUNCT
app01-3401	109	1	the	the	DET
app01-3401	109	2	computed	compute	VERB
app01-3401	109	3	errors	error	NOUN
app01-3401	109	4	are	be	AUX
app01-3401	109	5	shown	show	VERB
app01-3401	109	6	in	in	ADP
app01-3401	109	7	figure	figure	NOUN
app01-3401	109	8	4	4	NUM
app01-3401	109	9	and	and	CCONJ
app01-3401	109	10	figure	figure	VERB
app01-3401	109	11	5	5	NUM
app01-3401	109	12	,	,	PUNCT
app01-3401	109	13	respectively	respectively	ADV
app01-3401	109	14	.	.	PUNCT
app01-3401	110	1	although	although	SCONJ
app01-3401	110	2	the	the	DET
app01-3401	110	3	angular	angular	ADJ
app01-3401	110	4	deviation	deviation	NOUN
app01-3401	110	5	to	to	ADP
app01-3401	110	6	the	the	DET
app01-3401	110	7	ground	ground	NOUN
app01-3401	110	8	truth	truth	NOUN
app01-3401	110	9	,	,	PUNCT
app01-3401	110	10	shown	show	VERB
app01-3401	110	11	in	in	ADP
app01-3401	110	12	figure	figure	NOUN
app01-3401	110	13	5	5	NUM
app01-3401	110	14	,	,	PUNCT
app01-3401	110	15	seems	seem	VERB
app01-3401	110	16	to	to	PART
app01-3401	110	17	be	be	AUX
app01-3401	110	18	similar	similar	ADJ
app01-3401	110	19	in	in	ADP
app01-3401	110	20	all	all	DET
app01-3401	110	21	methods	method	NOUN
app01-3401	110	22	,	,	PUNCT
app01-3401	110	23	the	the	DET
app01-3401	110	24	same	same	ADJ
app01-3401	110	25	is	be	AUX
app01-3401	110	26	not	not	PART
app01-3401	110	27	true	true	ADJ
app01-3401	110	28	for	for	ADP
app01-3401	110	29	the	the	DET
app01-3401	110	30	translation	translation	NOUN
app01-3401	110	31	error	error	NOUN
app01-3401	110	32	,	,	PUNCT
app01-3401	110	33	as	as	SCONJ
app01-3401	110	34	it	it	PRON
app01-3401	110	35	can	can	AUX
app01-3401	110	36	be	be	AUX
app01-3401	110	37	seen	see	VERB
app01-3401	110	38	in	in	ADP
app01-3401	110	39	figure	figure	NOUN
app01-3401	110	40	4	4	NUM
app01-3401	110	41	.	.	PUNCT
app01-3401	111	1	the	the	DET
app01-3401	111	2	brisk	brisk	ADJ
app01-3401	111	3	descriptor	descriptor	NOUN
app01-3401	111	4	seems	seem	VERB
app01-3401	111	5	to	to	PART
app01-3401	111	6	be	be	AUX
app01-3401	111	7	a	a	DET
app01-3401	111	8	more	more	ADV
app01-3401	111	9	reliable	reliable	ADJ
app01-3401	111	10	with	with	ADP
app01-3401	111	11	the	the	DET
app01-3401	111	12	fast	fast	ADJ
app01-3401	111	13	detector	detector	NOUN
app01-3401	111	14	,	,	PUNCT
app01-3401	111	15	while	while	SCONJ
app01-3401	111	16	the	the	DET
app01-3401	111	17	same	same	ADJ
app01-3401	111	18	holds	hold	VERB
app01-3401	111	19	for	for	ADP
app01-3401	111	20	the	the	DET
app01-3401	111	21	brief	brief	ADJ
app01-3401	111	22	descriptor	descriptor	NOUN
app01-3401	111	23	with	with	ADP
app01-3401	111	24	the	the	DET
app01-3401	111	25	gftt	gftt	NOUN
app01-3401	111	26	detector	detector	NOUN
app01-3401	111	27	.	.	PUNCT
app01-3401	112	1	figure	figure	NOUN
app01-3401	112	2	4	4	NUM
app01-3401	112	3	.	.	PUNCT
app01-3401	112	4	relative	relative	ADJ
app01-3401	112	5	translation	translation	NOUN
app01-3401	112	6	error	error	NOUN
app01-3401	112	7	figure	figure	NOUN
app01-3401	112	8	5	5	NUM
app01-3401	112	9	.	.	PUNCT
app01-3401	112	10	relative	relative	ADJ
app01-3401	112	11	orientation	orientation	NOUN
app01-3401	112	12	error	error	NOUN
app01-3401	112	13	for	for	ADP
app01-3401	112	14	completion	completion	NOUN
app01-3401	112	15	,	,	PUNCT
app01-3401	112	16	the	the	DET
app01-3401	112	17	absolute	absolute	ADJ
app01-3401	112	18	errors	error	NOUN
app01-3401	112	19	ε′t	ε′t	ADP
app01-3401	112	20	,	,	PUNCT
app01-3401	112	21	k	k	PROPN
app01-3401	112	22	=	=	SYM
app01-3401	112	23	‖tk	‖tk	PROPN
app01-3401	112	24	t∗k‖	t∗k‖	X
app01-3401	112	25	ε′θ	ε′θ	X
app01-3401	112	26	,	,	PUNCT
app01-3401	112	27	k	k	PROPN
app01-3401	112	28	=	=	PUNCT
app01-3401	112	29	angle	angle	NOUN
app01-3401	112	30	(	(	PUNCT
app01-3401	112	31	rk	rk	NOUN
app01-3401	112	32	r∗k	r∗k	NUM
app01-3401	112	33	)	)	PUNCT
app01-3401	112	34	are	be	AUX
app01-3401	112	35	shown	show	VERB
app01-3401	112	36	in	in	ADP
app01-3401	112	37	figure	figure	NOUN
app01-3401	112	38	6	6	NUM
app01-3401	112	39	and	and	CCONJ
app01-3401	112	40	figure	figure	VERB
app01-3401	112	41	7	7	NUM
app01-3401	112	42	.	.	NOUN
app01-3401	112	43	48	48	NUM
app01-3401	112	44	vol	vol	NOUN
app01-3401	112	45	.	.	PUNCT
app01-3401	113	1	2/2015	2/2015	NUM
app01-3401	113	2	impact	impact	NOUN
app01-3401	113	3	assessment	assessment	NOUN
app01-3401	113	4	of	of	ADP
app01-3401	113	5	image	image	NOUN
app01-3401	113	6	feature	feature	NOUN
app01-3401	113	7	extractors	extractor	NOUN
app01-3401	113	8	on	on	ADP
app01-3401	113	9	slam	slam	NOUN
app01-3401	113	10	figure	figure	NOUN
app01-3401	113	11	6	6	NUM
app01-3401	113	12	.	.	PUNCT
app01-3401	113	13	absolute	absolute	ADJ
app01-3401	113	14	translation	translation	NOUN
app01-3401	113	15	error	error	NOUN
app01-3401	113	16	figure	figure	NOUN
app01-3401	113	17	7	7	NUM
app01-3401	113	18	.	.	PUNCT
app01-3401	113	19	absolute	absolute	ADJ
app01-3401	113	20	orientation	orientation	NOUN
app01-3401	113	21	error	error	NOUN
app01-3401	113	22	6	6	NUM
app01-3401	113	23	.	.	PUNCT
app01-3401	114	1	conclusions	conclusion	NOUN
app01-3401	114	2	in	in	ADP
app01-3401	114	3	this	this	DET
app01-3401	114	4	paper	paper	NOUN
app01-3401	114	5	,	,	PUNCT
app01-3401	114	6	we	we	PRON
app01-3401	114	7	present	present	VERB
app01-3401	114	8	an	an	DET
app01-3401	114	9	evaluation	evaluation	NOUN
app01-3401	114	10	of	of	ADP
app01-3401	114	11	the	the	DET
app01-3401	114	12	impact	impact	NOUN
app01-3401	114	13	of	of	ADP
app01-3401	114	14	different	different	ADJ
app01-3401	114	15	state	state	NOUN
app01-3401	114	16	-	-	PUNCT
app01-3401	114	17	of	of	ADP
app01-3401	114	18	-	-	PUNCT
app01-3401	114	19	the	the	DET
app01-3401	114	20	-	-	PUNCT
app01-3401	114	21	art	art	NOUN
app01-3401	114	22	image	image	NOUN
app01-3401	114	23	feature	feature	NOUN
app01-3401	114	24	extractors	extractor	NOUN
app01-3401	114	25	on	on	ADP
app01-3401	114	26	the	the	DET
app01-3401	114	27	performance	performance	NOUN
app01-3401	114	28	of	of	ADP
app01-3401	114	29	the	the	DET
app01-3401	114	30	slam	slam	NOUN
app01-3401	114	31	method	method	NOUN
app01-3401	114	32	proposed	propose	VERB
app01-3401	114	33	in	in	ADP
app01-3401	114	34	[	[	X
app01-3401	114	35	4	4	NUM
app01-3401	114	36	]	]	PUNCT
app01-3401	114	37	.	.	PUNCT
app01-3401	115	1	the	the	DET
app01-3401	115	2	kitti	kitti	PROPN
app01-3401	115	3	benchmark	benchmark	PROPN
app01-3401	115	4	suite	suite	NOUN
app01-3401	115	5	dataset	dataset	VERB
app01-3401	115	6	with	with	ADP
app01-3401	115	7	a	a	DET
app01-3401	115	8	ground	ground	NOUN
app01-3401	115	9	truth	truth	NOUN
app01-3401	115	10	is	be	AUX
app01-3401	115	11	used	use	VERB
app01-3401	115	12	to	to	PART
app01-3401	115	13	evaluate	evaluate	VERB
app01-3401	115	14	the	the	DET
app01-3401	115	15	achievable	achievable	ADJ
app01-3401	115	16	precision	precision	NOUN
app01-3401	115	17	of	of	ADP
app01-3401	115	18	the	the	DET
app01-3401	115	19	method	method	NOUN
app01-3401	115	20	for	for	ADP
app01-3401	115	21	different	different	ADJ
app01-3401	115	22	feature	feature	NOUN
app01-3401	115	23	extractors	extractor	NOUN
app01-3401	115	24	.	.	PUNCT
app01-3401	116	1	based	base	VERB
app01-3401	116	2	on	on	ADP
app01-3401	116	3	the	the	DET
app01-3401	116	4	presented	present	VERB
app01-3401	116	5	results	result	NOUN
app01-3401	116	6	,	,	PUNCT
app01-3401	116	7	the	the	DET
app01-3401	116	8	main	main	ADJ
app01-3401	116	9	conclusion	conclusion	NOUN
app01-3401	116	10	is	be	AUX
app01-3401	116	11	that	that	SCONJ
app01-3401	116	12	the	the	DET
app01-3401	116	13	gftt	gftt	NOUN
app01-3401	116	14	detector	detector	NOUN
app01-3401	116	15	is	be	AUX
app01-3401	116	16	the	the	DET
app01-3401	116	17	most	most	ADV
app01-3401	116	18	suitable	suitable	ADJ
app01-3401	116	19	choice	choice	NOUN
app01-3401	116	20	for	for	ADP
app01-3401	116	21	the	the	DET
app01-3401	116	22	best	good	ADJ
app01-3401	116	23	performance	performance	NOUN
app01-3401	116	24	in	in	ADP
app01-3401	116	25	the	the	DET
app01-3401	116	26	evaluated	evaluated	ADJ
app01-3401	116	27	dataset	dataset	NOUN
app01-3401	116	28	.	.	PUNCT
app01-3401	117	1	the	the	DET
app01-3401	117	2	gftt	gftt	NOUN
app01-3401	117	3	(	(	PUNCT
app01-3401	117	4	accompanied	accompany	VERB
app01-3401	117	5	with	with	ADP
app01-3401	117	6	the	the	DET
app01-3401	117	7	brief	brief	ADJ
app01-3401	117	8	or	or	CCONJ
app01-3401	117	9	brisk	brisk	ADJ
app01-3401	117	10	descriptors	descriptor	NOUN
app01-3401	117	11	)	)	PUNCT
app01-3401	117	12	outperforms	outperform	VERB
app01-3401	117	13	the	the	DET
app01-3401	117	14	other	other	ADJ
app01-3401	117	15	methods	method	NOUN
app01-3401	117	16	in	in	ADP
app01-3401	117	17	terms	term	NOUN
app01-3401	117	18	of	of	ADP
app01-3401	117	19	the	the	DET
app01-3401	117	20	required	require	VERB
app01-3401	117	21	computational	computational	ADJ
app01-3401	117	22	time	time	NOUN
app01-3401	117	23	and	and	CCONJ
app01-3401	117	24	the	the	DET
app01-3401	117	25	map	map	NOUN
app01-3401	117	26	quality	quality	NOUN
app01-3401	117	27	.	.	PUNCT
app01-3401	118	1	although	although	SCONJ
app01-3401	118	2	the	the	DET
app01-3401	118	3	map	map	NOUN
app01-3401	118	4	density	density	NOUN
app01-3401	118	5	is	be	AUX
app01-3401	118	6	far	far	ADV
app01-3401	118	7	smaller	small	ADJ
app01-3401	118	8	,	,	PUNCT
app01-3401	118	9	the	the	DET
app01-3401	118	10	computed	computed	ADJ
app01-3401	118	11	translation	translation	NOUN
app01-3401	118	12	error	error	NOUN
app01-3401	118	13	is	be	AUX
app01-3401	118	14	similar	similar	ADJ
app01-3401	118	15	,	,	PUNCT
app01-3401	118	16	even	even	ADV
app01-3401	118	17	slightly	slightly	ADV
app01-3401	118	18	better	well	ADJ
app01-3401	118	19	,	,	PUNCT
app01-3401	118	20	than	than	ADP
app01-3401	118	21	the	the	DET
app01-3401	118	22	one	one	NOUN
app01-3401	118	23	achieved	achieve	VERB
app01-3401	118	24	by	by	ADP
app01-3401	118	25	other	other	ADJ
app01-3401	118	26	extractors	extractor	NOUN
app01-3401	118	27	.	.	PUNCT
app01-3401	119	1	this	this	DET
app01-3401	119	2	insight	insight	NOUN
app01-3401	119	3	can	can	AUX
app01-3401	119	4	be	be	AUX
app01-3401	119	5	interpreted	interpret	VERB
app01-3401	119	6	as	as	ADP
app01-3401	119	7	the	the	DET
app01-3401	119	8	most	most	ADV
app01-3401	119	9	useful	useful	ADJ
app01-3401	119	10	features	feature	NOUN
app01-3401	119	11	(	(	PUNCT
app01-3401	119	12	regarding	regard	VERB
app01-3401	119	13	the	the	DET
app01-3401	119	14	navigation	navigation	NOUN
app01-3401	119	15	)	)	PUNCT
app01-3401	119	16	are	be	AUX
app01-3401	119	17	extracted	extract	VERB
app01-3401	119	18	while	while	SCONJ
app01-3401	119	19	the	the	DET
app01-3401	119	20	descriptor	descriptor	NOUN
app01-3401	119	21	also	also	ADV
app01-3401	119	22	support	support	VERB
app01-3401	119	23	efficient	efficient	ADJ
app01-3401	119	24	matching	matching	NOUN
app01-3401	119	25	resulting	result	VERB
app01-3401	119	26	in	in	ADP
app01-3401	119	27	a	a	DET
app01-3401	119	28	more	more	ADV
app01-3401	119	29	precise	precise	ADJ
app01-3401	119	30	localization	localization	NOUN
app01-3401	119	31	.	.	PUNCT
app01-3401	120	1	recently	recently	ADV
app01-3401	120	2	,	,	PUNCT
app01-3401	120	3	a	a	DET
app01-3401	120	4	novel	novel	ADJ
app01-3401	120	5	stereo	stereo	NOUN
app01-3401	120	6	feature	feature	NOUN
app01-3401	120	7	extractors	extractor	NOUN
app01-3401	120	8	have	have	AUX
app01-3401	120	9	been	be	AUX
app01-3401	120	10	proposed	propose	VERB
app01-3401	120	11	,	,	PUNCT
app01-3401	120	12	e.g.	e.g.	ADV
app01-3401	120	13	,	,	PUNCT
app01-3401	120	14	[	[	X
app01-3401	120	15	17	17	NUM
app01-3401	120	16	]	]	PUNCT
app01-3401	120	17	,	,	PUNCT
app01-3401	120	18	which	which	PRON
app01-3401	120	19	motivates	motivate	VERB
app01-3401	120	20	us	we	PRON
app01-3401	120	21	to	to	PART
app01-3401	120	22	consider	consider	VERB
app01-3401	120	23	them	they	PRON
app01-3401	120	24	in	in	ADP
app01-3401	120	25	s	s	NOUN
app01-3401	120	26	-	-	NOUN
app01-3401	120	27	ptam	ptam	NOUN
app01-3401	120	28	.	.	PUNCT
app01-3401	121	1	an	an	DET
app01-3401	121	2	evaluation	evaluation	NOUN
app01-3401	121	3	of	of	ADP
app01-3401	121	4	the	the	DET
app01-3401	121	5	novel	novel	ADJ
app01-3401	121	6	extractors	extractor	NOUN
app01-3401	121	7	is	be	AUX
app01-3401	121	8	a	a	DET
app01-3401	121	9	subject	subject	NOUN
app01-3401	121	10	of	of	ADP
app01-3401	121	11	our	our	PRON
app01-3401	121	12	future	future	ADJ
app01-3401	121	13	work	work	NOUN
app01-3401	121	14	.	.	PUNCT
app01-3401	122	1	acknowledgements	acknowledgement	NOUN
app01-3401	122	2	this	this	DET
app01-3401	122	3	work	work	NOUN
app01-3401	122	4	is	be	AUX
app01-3401	122	5	a	a	DET
app01-3401	122	6	direct	direct	ADJ
app01-3401	122	7	result	result	NOUN
app01-3401	122	8	of	of	ADP
app01-3401	122	9	the	the	DET
app01-3401	122	10	bilateral	bilateral	ADJ
app01-3401	122	11	cooperation	cooperation	NOUN
app01-3401	122	12	program	program	NOUN
app01-3401	122	13	between	between	ADP
app01-3401	122	14	the	the	DET
app01-3401	122	15	czech	czech	ADJ
app01-3401	122	16	and	and	CCONJ
app01-3401	122	17	argentinian	argentinian	ADJ
app01-3401	122	18	republics	republic	NOUN
app01-3401	122	19	support	support	VERB
app01-3401	122	20	by	by	ADP
app01-3401	122	21	the	the	DET
app01-3401	122	22	argentinian	argentinian	ADJ
app01-3401	122	23	project	project	NOUN
app01-3401	122	24	arc/14/06	arc/14/06	PROPN
app01-3401	122	25	and	and	CCONJ
app01-3401	122	26	travel	travel	NOUN
app01-3401	122	27	support	support	NOUN
app01-3401	122	28	of	of	ADP
app01-3401	122	29	the	the	DET
app01-3401	122	30	czech	czech	PROPN
app01-3401	122	31	ministry	ministry	PROPN
app01-3401	122	32	of	of	ADP
app01-3401	122	33	education	education	PROPN
app01-3401	122	34	under	under	ADP
app01-3401	122	35	the	the	DET
app01-3401	122	36	project	project	NOUN
app01-3401	122	37	no	no	INTJ
app01-3401	122	38	.	.	PUNCT
app01-3401	123	1	7amb15ar029	7amb15ar029	NOUN
app01-3401	123	2	.	.	PUNCT
app01-3401	124	1	the	the	DET
app01-3401	124	2	work	work	NOUN
app01-3401	124	3	of	of	ADP
app01-3401	124	4	j.	j.	PROPN
app01-3401	124	5	faigl	faigl	PROPN
app01-3401	124	6	is	be	AUX
app01-3401	124	7	supported	support	VERB
app01-3401	124	8	by	by	ADP
app01-3401	124	9	the	the	DET
app01-3401	124	10	czech	czech	PROPN
app01-3401	124	11	science	science	PROPN
app01-3401	124	12	foundation	foundation	PROPN
app01-3401	124	13	(	(	PUNCT
app01-3401	124	14	gačr	gačr	NOUN
app01-3401	124	15	)	)	PUNCT
app01-3401	124	16	under	under	ADP
app01-3401	124	17	the	the	DET
app01-3401	124	18	research	research	NOUN
app01-3401	124	19	project	project	NOUN
app01-3401	124	20	no	no	INTJ
app01-3401	124	21	.	.	PUNCT
app01-3401	125	1	gj15	gj15	PROPN
app01-3401	125	2	-	-	PUNCT
app01-3401	125	3	09600y	09600y	NUM
app01-3401	125	4	.	.	PUNCT
app01-3401	126	1	references	reference	NOUN
app01-3401	126	2	[	[	X
app01-3401	126	3	1	1	NUM
app01-3401	126	4	]	]	X
app01-3401	126	5	g.	g.	PROPN
app01-3401	126	6	klein	klein	PROPN
app01-3401	126	7	,	,	PUNCT
app01-3401	126	8	d.	d.	PROPN
app01-3401	126	9	murray	murray	PROPN
app01-3401	126	10	.	.	PUNCT
app01-3401	127	1	parallel	parallel	ADJ
app01-3401	127	2	tracking	tracking	NOUN
app01-3401	127	3	and	and	CCONJ
app01-3401	127	4	mapping	mapping	NOUN
app01-3401	127	5	for	for	ADP
app01-3401	127	6	small	small	ADJ
app01-3401	127	7	ar	ar	NOUN
app01-3401	127	8	workspaces	workspace	NOUN
app01-3401	127	9	.	.	PUNCT
app01-3401	128	1	in	in	ADP
app01-3401	128	2	ismar	ismar	NOUN
app01-3401	128	3	,	,	PUNCT
app01-3401	128	4	pp	pp	ADP
app01-3401	128	5	.	.	PUNCT
app01-3401	129	1	1–10	1–10	NOUN
app01-3401	129	2	.	.	PUNCT
app01-3401	130	1	ieee	ieee	PROPN
app01-3401	130	2	computer	computer	NOUN
app01-3401	130	3	society	society	PROPN
app01-3401	130	4	,	,	PUNCT
app01-3401	130	5	washington	washington	PROPN
app01-3401	130	6	,	,	PUNCT
app01-3401	130	7	dc	dc	PROPN
app01-3401	130	8	,	,	PUNCT
app01-3401	130	9	usa	usa	PROPN
app01-3401	130	10	,	,	PUNCT
app01-3401	130	11	2007	2007	NUM
app01-3401	130	12	.	.	PUNCT
app01-3401	131	1	doi:10.1109	doi:10.1109	VERB
app01-3401	131	2	/	/	SYM
app01-3401	131	3	ismar.2007.4538852	ismar.2007.4538852	NOUN
app01-3401	131	4	.	.	PUNCT
app01-3401	132	1	[	[	X
app01-3401	132	2	2	2	NUM
app01-3401	132	3	]	]	PUNCT
app01-3401	132	4	c.	c.	PROPN
app01-3401	132	5	mei	mei	PROPN
app01-3401	132	6	,	,	PUNCT
app01-3401	132	7	g.	g.	PROPN
app01-3401	132	8	sibley	sibley	PROPN
app01-3401	132	9	,	,	PUNCT
app01-3401	132	10	m.	m.	NOUN
app01-3401	132	11	cummins	cummins	PROPN
app01-3401	132	12	,	,	PUNCT
app01-3401	132	13	et	et	PROPN
app01-3401	132	14	al	al	PROPN
app01-3401	132	15	.	.	PUNCT
app01-3401	133	1	rslam	rslam	PROPN
app01-3401	133	2	:	:	PUNCT
app01-3401	133	3	a	a	DET
app01-3401	133	4	system	system	NOUN
app01-3401	133	5	for	for	ADP
app01-3401	133	6	large	large	ADJ
app01-3401	133	7	-	-	PUNCT
app01-3401	133	8	scale	scale	NOUN
app01-3401	133	9	mapping	mapping	NOUN
app01-3401	133	10	in	in	ADP
app01-3401	133	11	constant	constant	ADJ
app01-3401	133	12	-	-	PUNCT
app01-3401	133	13	time	time	NOUN
app01-3401	133	14	using	use	VERB
app01-3401	133	15	stereo	stereo	NOUN
app01-3401	133	16	.	.	PUNCT
app01-3401	134	1	international	international	ADJ
app01-3401	134	2	journal	journal	PROPN
app01-3401	134	3	of	of	ADP
app01-3401	134	4	computer	computer	NOUN
app01-3401	134	5	vision	vision	NOUN
app01-3401	134	6	94(2):198–214	94(2):198–214	NUM
app01-3401	134	7	,	,	PUNCT
app01-3401	134	8	2011	2011	NUM
app01-3401	134	9	.	.	PUNCT
app01-3401	135	1	doi:10.1007	doi:10.1007	VERB
app01-3401	135	2	/	/	SYM
app01-3401	135	3	s11263	s11263	NUM
app01-3401	135	4	-	-	PUNCT
app01-3401	135	5	010	010	NUM
app01-3401	135	6	-	-	PUNCT
app01-3401	135	7	0361	0361	NUM
app01-3401	135	8	-	-	PUNCT
app01-3401	135	9	7	7	NUM
app01-3401	135	10	.	.	PUNCT
app01-3401	136	1	[	[	X
app01-3401	136	2	3	3	X
app01-3401	136	3	]	]	X
app01-3401	136	4	r.	r.	PROPN
app01-3401	136	5	mur	mur	PROPN
app01-3401	136	6	-	-	PROPN
app01-3401	136	7	artal	artal	PROPN
app01-3401	136	8	,	,	PUNCT
app01-3401	136	9	j.	j.	PROPN
app01-3401	136	10	m.	m.	PROPN
app01-3401	136	11	m.	m.	PROPN
app01-3401	136	12	montiel	montiel	PROPN
app01-3401	136	13	,	,	PUNCT
app01-3401	136	14	j.	j.	PROPN
app01-3401	136	15	d.	d.	PROPN
app01-3401	136	16	tardós	tardós	PROPN
app01-3401	136	17	.	.	PUNCT
app01-3401	137	1	orb	orb	NOUN
app01-3401	137	2	-	-	PUNCT
app01-3401	137	3	slam	slam	NOUN
app01-3401	137	4	:	:	PUNCT
app01-3401	137	5	a	a	DET
app01-3401	137	6	versatile	versatile	ADJ
app01-3401	137	7	and	and	CCONJ
app01-3401	137	8	accurate	accurate	ADJ
app01-3401	137	9	monocular	monocular	ADJ
app01-3401	137	10	slam	slam	NOUN
app01-3401	137	11	system	system	NOUN
app01-3401	137	12	.	.	PUNCT
app01-3401	138	1	corr	corr	PROPN
app01-3401	138	2	abs/1502.00956	abs/1502.00956	PROPN
app01-3401	138	3	,	,	PUNCT
app01-3401	138	4	2015	2015	NUM
app01-3401	138	5	.	.	PUNCT
app01-3401	139	1	doi:10.1109	doi:10.1109	VERB
app01-3401	139	2	/	/	SYM
app01-3401	139	3	tro.2015.2463671	tro.2015.2463671	PROPN
app01-3401	139	4	.	.	PUNCT
app01-3401	140	1	[	[	X
app01-3401	140	2	4	4	X
app01-3401	140	3	]	]	X
app01-3401	140	4	t.	t.	NOUN
app01-3401	140	5	pire	pire	NOUN
app01-3401	140	6	,	,	PUNCT
app01-3401	140	7	t.	t.	PROPN
app01-3401	140	8	fischer	fischer	PROPN
app01-3401	140	9	,	,	PUNCT
app01-3401	140	10	j.	j.	PROPN
app01-3401	140	11	civera	civera	PROPN
app01-3401	140	12	,	,	PUNCT
app01-3401	140	13	et	et	PROPN
app01-3401	140	14	al	al	PROPN
app01-3401	140	15	.	.	PROPN
app01-3401	140	16	stereo	stereo	PROPN
app01-3401	140	17	parallel	parallel	ADJ
app01-3401	140	18	tracking	tracking	NOUN
app01-3401	140	19	and	and	CCONJ
app01-3401	140	20	mapping	mapping	NOUN
app01-3401	140	21	for	for	ADP
app01-3401	140	22	robot	robot	NOUN
app01-3401	140	23	localization	localization	NOUN
app01-3401	140	24	.	.	PUNCT
app01-3401	141	1	in	in	ADP
app01-3401	141	2	iros	iro	NOUN
app01-3401	141	3	.	.	PUNCT
app01-3401	141	4	2015	2015	NUM
app01-3401	141	5	.	.	PUNCT
app01-3401	142	1	(	(	PUNCT
app01-3401	142	2	to	to	PART
app01-3401	142	3	appear	appear	VERB
app01-3401	142	4	)	)	PUNCT
app01-3401	142	5	.	.	PUNCT
app01-3401	143	1	[	[	X
app01-3401	143	2	5	5	X
app01-3401	143	3	]	]	PUNCT
app01-3401	143	4	d.	d.	PROPN
app01-3401	143	5	lowe	lowe	PROPN
app01-3401	143	6	.	.	PROPN
app01-3401	144	1	distinctive	distinctive	ADJ
app01-3401	144	2	image	image	NOUN
app01-3401	144	3	features	feature	NOUN
app01-3401	144	4	from	from	ADP
app01-3401	144	5	scale	scale	NOUN
app01-3401	144	6	-	-	PUNCT
app01-3401	144	7	invariant	invariant	ADJ
app01-3401	144	8	keypoints	keypoint	NOUN
app01-3401	144	9	.	.	PUNCT
app01-3401	145	1	international	international	ADJ
app01-3401	145	2	journal	journal	NOUN
app01-3401	145	3	of	of	ADP
app01-3401	145	4	computer	computer	NOUN
app01-3401	145	5	vision	vision	PROPN
app01-3401	145	6	60(2):91–110	60(2):91–110	PROPN
app01-3401	145	7	,	,	PUNCT
app01-3401	145	8	2004	2004	NUM
app01-3401	145	9	.	.	PUNCT
app01-3401	146	1	doi:10.1023	doi:10.1023	NOUN
app01-3401	146	2	/	/	SYM
app01-3401	147	1	b	b	NOUN
app01-3401	147	2	:	:	PUNCT
app01-3401	147	3	visi.0000029664.99615.94	visi.0000029664.99615.94	NOUN
app01-3401	147	4	.	.	PUNCT
app01-3401	148	1	[	[	X
app01-3401	148	2	6	6	NUM
app01-3401	148	3	]	]	PUNCT
app01-3401	148	4	h.	h.	PROPN
app01-3401	148	5	bay	bay	PROPN
app01-3401	148	6	,	,	PUNCT
app01-3401	148	7	t.	t.	NOUN
app01-3401	148	8	tuytelaars	tuytelaar	NOUN
app01-3401	148	9	,	,	PUNCT
app01-3401	148	10	l.	l.	PROPN
app01-3401	148	11	van	van	PROPN
app01-3401	148	12	gool	gool	PROPN
app01-3401	148	13	.	.	PUNCT
app01-3401	149	1	surf	surf	PROPN
app01-3401	149	2	:	:	PUNCT
app01-3401	149	3	speeded	speed	VERB
app01-3401	149	4	up	up	ADP
app01-3401	149	5	robust	robust	ADJ
app01-3401	149	6	features	feature	NOUN
app01-3401	149	7	.	.	PUNCT
app01-3401	150	1	in	in	ADP
app01-3401	150	2	eccv	eccv	ADJ
app01-3401	150	3	,	,	PUNCT
app01-3401	150	4	vol	vol	NOUN
app01-3401	150	5	.	.	PUNCT
app01-3401	151	1	3951	3951	NUM
app01-3401	151	2	of	of	ADP
app01-3401	151	3	lecture	lecture	NOUN
app01-3401	151	4	notes	note	NOUN
app01-3401	151	5	in	in	ADP
app01-3401	151	6	computer	computer	NOUN
app01-3401	151	7	science	science	NOUN
app01-3401	151	8	,	,	PUNCT
app01-3401	151	9	pp	pp	X
app01-3401	151	10	.	.	PUNCT
app01-3401	152	1	404–417	404–417	NUM
app01-3401	152	2	.	.	PUNCT
app01-3401	153	1	springer	springer	PROPN
app01-3401	153	2	berlin	berlin	PROPN
app01-3401	153	3	heidelberg	heidelberg	PROPN
app01-3401	153	4	,	,	PUNCT
app01-3401	153	5	2006	2006	NUM
app01-3401	153	6	.	.	PUNCT
app01-3401	154	1	doi:10.1007/11744023_32	doi:10.1007/11744023_32	NUM
app01-3401	154	2	.	.	PUNCT
app01-3401	155	1	[	[	X
app01-3401	155	2	7	7	X
app01-3401	155	3	]	]	X
app01-3401	155	4	m.	m.	NOUN
app01-3401	155	5	agrawal	agrawal	PROPN
app01-3401	155	6	,	,	PUNCT
app01-3401	155	7	k.	k.	PROPN
app01-3401	155	8	konolige	konolige	PROPN
app01-3401	155	9	,	,	PUNCT
app01-3401	155	10	m.	m.	NOUN
app01-3401	155	11	blas	blas	PROPN
app01-3401	155	12	.	.	PUNCT
app01-3401	156	1	censure	censure	PROPN
app01-3401	156	2	:	:	PUNCT
app01-3401	157	1	center	center	NOUN
app01-3401	157	2	surround	surround	VERB
app01-3401	157	3	extremas	extrema	NOUN
app01-3401	157	4	for	for	ADP
app01-3401	157	5	realtime	realtime	ADJ
app01-3401	157	6	feature	feature	NOUN
app01-3401	157	7	detection	detection	NOUN
app01-3401	157	8	and	and	CCONJ
app01-3401	157	9	matching	matching	NOUN
app01-3401	157	10	.	.	PUNCT
app01-3401	158	1	in	in	ADP
app01-3401	158	2	eccv	eccv	ADJ
app01-3401	158	3	,	,	PUNCT
app01-3401	158	4	vol	vol	NOUN
app01-3401	158	5	.	.	PUNCT
app01-3401	158	6	5305	5305	NUM
app01-3401	158	7	of	of	ADP
app01-3401	158	8	lecture	lecture	NOUN
app01-3401	158	9	notes	note	NOUN
app01-3401	158	10	in	in	ADP
app01-3401	158	11	computer	computer	NOUN
app01-3401	158	12	science	science	NOUN
app01-3401	158	13	,	,	PUNCT
app01-3401	158	14	pp	pp	ADJ
app01-3401	158	15	.	.	PUNCT
app01-3401	159	1	102–115	102–115	NUM
app01-3401	159	2	.	.	PUNCT
app01-3401	160	1	springer	springer	PROPN
app01-3401	160	2	berlin	berlin	PROPN
app01-3401	160	3	heidelberg	heidelberg	PROPN
app01-3401	160	4	,	,	PUNCT
app01-3401	160	5	2008	2008	NUM
app01-3401	160	6	.	.	PUNCT
app01-3401	161	1	doi:10.1007/978	doi:10.1007/978	ADJ
app01-3401	161	2	-	-	PUNCT
app01-3401	161	3	3	3	NUM
app01-3401	161	4	-	-	PUNCT
app01-3401	161	5	540	540	NUM
app01-3401	161	6	-	-	PUNCT
app01-3401	161	7	88693	88693	NUM
app01-3401	161	8	-	-	PUNCT
app01-3401	161	9	8_8	8_8	NUM
app01-3401	161	10	.	.	PUNCT
app01-3401	162	1	[	[	X
app01-3401	162	2	8	8	X
app01-3401	162	3	]	]	PUNCT
app01-3401	162	4	j.	j.	PROPN
app01-3401	162	5	shi	shi	PROPN
app01-3401	162	6	,	,	PUNCT
app01-3401	162	7	c.	c.	PROPN
app01-3401	162	8	tomasi	tomasi	PROPN
app01-3401	162	9	.	.	PUNCT
app01-3401	163	1	good	good	ADJ
app01-3401	163	2	features	feature	NOUN
app01-3401	163	3	to	to	PART
app01-3401	163	4	track	track	VERB
app01-3401	163	5	.	.	PUNCT
app01-3401	164	1	in	in	ADP
app01-3401	164	2	cvpr	cvpr	NOUN
app01-3401	164	3	,	,	PUNCT
app01-3401	164	4	pp	pp	ADV
app01-3401	164	5	.	.	PUNCT
app01-3401	165	1	593–600	593–600	NUM
app01-3401	165	2	.	.	PUNCT
app01-3401	165	3	1994	1994	NUM
app01-3401	165	4	.	.	PUNCT
app01-3401	166	1	doi:10.1109	doi:10.1109	VERB
app01-3401	166	2	/	/	SYM
app01-3401	166	3	cvpr.1994.323794	cvpr.1994.323794	NOUN
app01-3401	166	4	.	.	PUNCT
app01-3401	167	1	[	[	X
app01-3401	167	2	9	9	NUM
app01-3401	167	3	]	]	X
app01-3401	167	4	e.	e.	PROPN
app01-3401	167	5	rosten	rosten	PROPN
app01-3401	167	6	,	,	PUNCT
app01-3401	167	7	t.	t.	PROPN
app01-3401	167	8	drummond	drummond	PROPN
app01-3401	167	9	.	.	PUNCT
app01-3401	168	1	machine	machine	NOUN
app01-3401	168	2	learning	learn	VERB
app01-3401	168	3	for	for	ADP
app01-3401	168	4	highspeed	highspeed	NOUN
app01-3401	168	5	corner	corner	NOUN
app01-3401	168	6	detection	detection	NOUN
app01-3401	168	7	.	.	PUNCT
app01-3401	169	1	in	in	ADP
app01-3401	169	2	eccv	eccv	ADJ
app01-3401	169	3	,	,	PUNCT
app01-3401	169	4	vol	vol	NOUN
app01-3401	169	5	.	.	PUNCT
app01-3401	170	1	3951	3951	NUM
app01-3401	170	2	of	of	ADP
app01-3401	170	3	lecture	lecture	NOUN
app01-3401	170	4	notes	note	NOUN
app01-3401	170	5	in	in	ADP
app01-3401	170	6	computer	computer	NOUN
app01-3401	170	7	science	science	NOUN
app01-3401	170	8	,	,	PUNCT
app01-3401	170	9	pp	pp	ADJ
app01-3401	170	10	.	.	PUNCT
app01-3401	171	1	430–443	430–443	NUM
app01-3401	171	2	.	.	PUNCT
app01-3401	172	1	springer	springer	PROPN
app01-3401	172	2	berlin	berlin	PROPN
app01-3401	172	3	heidelberg	heidelberg	PROPN
app01-3401	172	4	,	,	PUNCT
app01-3401	172	5	2006	2006	NUM
app01-3401	172	6	.	.	PUNCT
app01-3401	173	1	doi:10.1007/11744023_34	doi:10.1007/11744023_34	NOUN
app01-3401	173	2	.	.	PUNCT
app01-3401	174	1	[	[	X
app01-3401	174	2	10	10	NUM
app01-3401	174	3	]	]	X
app01-3401	174	4	e.	e.	PROPN
app01-3401	174	5	rublee	rublee	PROPN
app01-3401	174	6	,	,	PUNCT
app01-3401	174	7	v.	v.	PROPN
app01-3401	174	8	rabaud	rabaud	PROPN
app01-3401	174	9	,	,	PUNCT
app01-3401	174	10	k.	k.	PROPN
app01-3401	174	11	konolige	konolige	PROPN
app01-3401	174	12	,	,	PUNCT
app01-3401	174	13	g.	g.	PROPN
app01-3401	174	14	bradski	bradski	PROPN
app01-3401	174	15	.	.	PUNCT
app01-3401	175	1	orb	orb	PROPN
app01-3401	175	2	:	:	PUNCT
app01-3401	175	3	an	an	DET
app01-3401	175	4	efficient	efficient	ADJ
app01-3401	175	5	alternative	alternative	NOUN
app01-3401	175	6	to	to	PART
app01-3401	175	7	sift	sift	VERB
app01-3401	175	8	or	or	CCONJ
app01-3401	175	9	surf	surf	NOUN
app01-3401	175	10	.	.	PUNCT
app01-3401	176	1	in	in	ADP
app01-3401	176	2	iccv	iccv	PROPN
app01-3401	176	3	,	,	PUNCT
app01-3401	176	4	pp	pp	ADJ
app01-3401	176	5	.	.	PUNCT
app01-3401	177	1	2564–2571	2564–2571	NUM
app01-3401	177	2	.	.	PUNCT
app01-3401	178	1	2011	2011	NUM
app01-3401	178	2	.	.	PUNCT
app01-3401	179	1	doi:10.1109	doi:10.1109	ADJ
app01-3401	179	2	/	/	SYM
app01-3401	179	3	iccv.2011.6126544	iccv.2011.6126544	PROPN
app01-3401	179	4	.	.	PUNCT
app01-3401	180	1	[	[	X
app01-3401	180	2	11	11	NUM
app01-3401	180	3	]	]	PUNCT
app01-3401	180	4	m.	m.	NOUN
app01-3401	180	5	calonder	calonder	PROPN
app01-3401	180	6	,	,	PUNCT
app01-3401	180	7	v.	v.	ADP
app01-3401	180	8	lepetit	lepetit	PROPN
app01-3401	180	9	,	,	PUNCT
app01-3401	180	10	c.	c.	PROPN
app01-3401	180	11	strecha	strecha	PROPN
app01-3401	180	12	,	,	PUNCT
app01-3401	180	13	p.	p.	PROPN
app01-3401	180	14	fua	fua	PROPN
app01-3401	180	15	.	.	PUNCT
app01-3401	181	1	brief	brief	ADJ
app01-3401	181	2	:	:	PUNCT
app01-3401	181	3	binary	binary	ADJ
app01-3401	181	4	robust	robust	ADJ
app01-3401	181	5	independent	independent	ADJ
app01-3401	181	6	elementary	elementary	ADJ
app01-3401	181	7	features	feature	NOUN
app01-3401	181	8	.	.	PUNCT
app01-3401	182	1	in	in	ADP
app01-3401	182	2	eccv	eccv	ADJ
app01-3401	182	3	,	,	PUNCT
app01-3401	182	4	vol	vol	NOUN
app01-3401	182	5	.	.	PROPN
app01-3401	182	6	6314	6314	NUM
app01-3401	182	7	of	of	ADP
app01-3401	182	8	lecture	lecture	NOUN
app01-3401	182	9	notes	note	NOUN
app01-3401	182	10	in	in	ADP
app01-3401	182	11	computer	computer	NOUN
app01-3401	182	12	science	science	NOUN
app01-3401	182	13	,	,	PUNCT
app01-3401	182	14	pp	pp	ADP
app01-3401	182	15	.	.	PUNCT
app01-3401	183	1	778–792	778–792	NUM
app01-3401	183	2	.	.	PUNCT
app01-3401	183	3	springer	springer	PROPN
app01-3401	183	4	berlin	berlin	PROPN
app01-3401	183	5	heidelberg	heidelberg	PROPN
app01-3401	183	6	,	,	PUNCT
app01-3401	183	7	2010	2010	NUM
app01-3401	183	8	.	.	PUNCT
app01-3401	184	1	doi:10.1007/978	doi:10.1007/978	ADJ
app01-3401	184	2	-	-	PUNCT
app01-3401	184	3	3	3	NUM
app01-3401	184	4	-	-	PUNCT
app01-3401	184	5	642	642	NUM
app01-3401	184	6	-	-	PUNCT
app01-3401	184	7	15561	15561	NUM
app01-3401	184	8	-	-	PUNCT
app01-3401	184	9	1_56	1_56	NUM
app01-3401	184	10	.	.	PUNCT
app01-3401	185	1	[	[	X
app01-3401	185	2	12	12	NUM
app01-3401	185	3	]	]	X
app01-3401	185	4	s.	s.	PROPN
app01-3401	185	5	leutenegger	leutenegger	PROPN
app01-3401	185	6	,	,	PUNCT
app01-3401	185	7	m.	m.	NOUN
app01-3401	185	8	chli	chli	PROPN
app01-3401	185	9	,	,	PUNCT
app01-3401	185	10	r.	r.	PROPN
app01-3401	185	11	siegwart	siegwart	PROPN
app01-3401	185	12	.	.	PUNCT
app01-3401	186	1	brisk	brisk	ADJ
app01-3401	186	2	:	:	PUNCT
app01-3401	186	3	binary	binary	ADJ
app01-3401	186	4	robust	robust	ADJ
app01-3401	186	5	invariant	invariant	ADJ
app01-3401	186	6	scalable	scalable	ADJ
app01-3401	186	7	keypoints	keypoint	NOUN
app01-3401	186	8	.	.	PUNCT
app01-3401	187	1	in	in	ADP
app01-3401	187	2	iccv	iccv	PROPN
app01-3401	187	3	,	,	PUNCT
app01-3401	187	4	pp	pp	ADJ
app01-3401	187	5	.	.	PUNCT
app01-3401	188	1	2548–2555	2548–2555	NUM
app01-3401	188	2	.	.	PUNCT
app01-3401	189	1	2011	2011	NUM
app01-3401	189	2	.	.	PUNCT
app01-3401	190	1	doi:10.1109	doi:10.1109	VERB
app01-3401	190	2	/	/	SYM
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app01-3401	190	4	.	.	PUNCT
app01-3401	191	1	49	49	NUM
app01-3401	191	2	http://dx.doi.org/10.1109/ismar.2007.4538852	http://dx.doi.org/10.1109/ismar.2007.4538852	NOUN
app01-3401	191	3	http://dx.doi.org/10.1007/s11263-010-0361-7	http://dx.doi.org/10.1007/s11263-010-0361-7	PROPN
app01-3401	192	1	http://dx.doi.org/10.1109/tro.2015.2463671	http://dx.doi.org/10.1109/tro.2015.2463671	PROPN
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app01-3401	192	5	http://dx.doi.org/10.1109/cvpr.1994.323794	http://dx.doi.org/10.1109/cvpr.1994.323794	NOUN
app01-3401	192	6	http://dx.doi.org/10.1007/11744023_34	http://dx.doi.org/10.1007/11744023_34	NOUN
app01-3401	192	7	http://dx.doi.org/10.1109/iccv.2011.6126544	http://dx.doi.org/10.1109/iccv.2011.6126544	PROPN
app01-3401	192	8	http://dx.doi.org/10.1007/978-3-642-15561-1_56	http://dx.doi.org/10.1007/978-3-642-15561-1_56	PROPN
app01-3401	192	9	http://dx.doi.org/10.1109/iccv.2011.6126542	http://dx.doi.org/10.1109/iccv.2011.6126542	NOUN
app01-3401	192	10	t.	t.	NOUN
app01-3401	192	11	pire	pire	NOUN
app01-3401	192	12	,	,	PUNCT
app01-3401	192	13	t.	t.	NOUN
app01-3401	192	14	fischer	fischer	PROPN
app01-3401	192	15	,	,	PUNCT
app01-3401	192	16	j.	j.	PROPN
app01-3401	192	17	faigl	faigl	PROPN
app01-3401	192	18	acta	acta	PROPN
app01-3401	192	19	polytechnica	polytechnica	PROPN
app01-3401	192	20	ctu	ctu	NOUN
app01-3401	192	21	proceedings	proceeding	NOUN
app01-3401	192	22	[	[	X
app01-3401	192	23	13	13	NUM
app01-3401	192	24	]	]	PUNCT
app01-3401	192	25	t.	t.	PROPN
app01-3401	192	26	krajník	krajník	PROPN
app01-3401	192	27	,	,	PUNCT
app01-3401	192	28	p.	p.	PROPN
app01-3401	192	29	de	de	X
app01-3401	192	30	cristóforis	cristóforis	PROPN
app01-3401	192	31	,	,	PUNCT
app01-3401	192	32	m.	m.	NOUN
app01-3401	192	33	nitche	nitche	PROPN
app01-3401	192	34	,	,	PUNCT
app01-3401	192	35	et	et	PROPN
app01-3401	192	36	al	al	PROPN
app01-3401	192	37	.	.	PUNCT
app01-3401	193	1	image	image	NOUN
app01-3401	193	2	features	feature	NOUN
app01-3401	193	3	and	and	CCONJ
app01-3401	193	4	seasons	season	NOUN
app01-3401	193	5	revisited	revisit	VERB
app01-3401	193	6	.	.	PUNCT
app01-3401	194	1	in	in	ADP
app01-3401	194	2	european	european	ADJ
app01-3401	194	3	conference	conference	NOUN
app01-3401	194	4	on	on	ADP
app01-3401	194	5	mobile	mobile	ADJ
app01-3401	194	6	robotics	robotic	NOUN
app01-3401	194	7	(	(	PUNCT
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app01-3401	194	9	)	)	PUNCT
app01-3401	194	10	.	.	PUNCT
app01-3401	195	1	2015	2015	NUM
app01-3401	195	2	.	.	PUNCT
app01-3401	196	1	(	(	PUNCT
app01-3401	196	2	to	to	PART
app01-3401	196	3	appear	appear	VERB
app01-3401	196	4	)	)	PUNCT
app01-3401	196	5	.	.	PUNCT
app01-3401	197	1	[	[	X
app01-3401	197	2	14	14	NUM
app01-3401	197	3	]	]	PUNCT
app01-3401	197	4	dzulfahmi	dzulfahmi	NOUN
app01-3401	197	5	,	,	PUNCT
app01-3401	197	6	n.	n.	NOUN
app01-3401	197	7	ohta	ohta	NOUN
app01-3401	197	8	.	.	PUNCT
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app01-3401	198	2	evaluation	evaluation	NOUN
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app01-3401	198	4	image	image	NOUN
app01-3401	198	5	feature	feature	NOUN
app01-3401	198	6	detectors	detector	NOUN
app01-3401	198	7	and	and	CCONJ
app01-3401	198	8	descriptors	descriptor	NOUN
app01-3401	198	9	for	for	ADP
app01-3401	198	10	outdoor	outdoor	ADJ
app01-3401	198	11	-	-	PUNCT
app01-3401	198	12	scene	scene	NOUN
app01-3401	198	13	visual	visual	ADJ
app01-3401	198	14	navigation	navigation	NOUN
app01-3401	198	15	.	.	PUNCT
app01-3401	199	1	in	in	ADP
app01-3401	199	2	acpr	acpr	PROPN
app01-3401	199	3	,	,	PUNCT
app01-3401	199	4	pp	pp	ADJ
app01-3401	199	5	.	.	PUNCT
app01-3401	200	1	872–876	872–876	NUM
app01-3401	200	2	.	.	PUNCT
app01-3401	201	1	2013	2013	NUM
app01-3401	201	2	.	.	PUNCT
app01-3401	202	1	doi:10.1109	doi:10.1109	VERB
app01-3401	202	2	/	/	SYM
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app01-3401	202	4	.	.	PUNCT
app01-3401	203	1	[	[	X
app01-3401	203	2	15	15	NUM
app01-3401	203	3	]	]	PUNCT
app01-3401	203	4	a.	a.	NOUN
app01-3401	203	5	schmidt	schmidt	PROPN
app01-3401	203	6	,	,	PUNCT
app01-3401	203	7	m.	m.	NOUN
app01-3401	203	8	kraft	kraft	PROPN
app01-3401	203	9	,	,	PUNCT
app01-3401	203	10	m.	m.	NOUN
app01-3401	203	11	fularz	fularz	PROPN
app01-3401	203	12	,	,	PUNCT
app01-3401	203	13	z.	z.	PROPN
app01-3401	203	14	domagala	domagala	PROPN
app01-3401	203	15	.	.	PUNCT
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app01-3401	204	2	assessment	assessment	NOUN
app01-3401	204	3	of	of	ADP
app01-3401	204	4	point	point	NOUN
app01-3401	204	5	feature	feature	NOUN
app01-3401	204	6	detectors	detector	NOUN
app01-3401	204	7	in	in	ADP
app01-3401	204	8	the	the	DET
app01-3401	204	9	context	context	NOUN
app01-3401	204	10	of	of	ADP
app01-3401	204	11	robot	robot	NOUN
app01-3401	204	12	navigation	navigation	PROPN
app01-3401	204	13	.	.	PUNCT
app01-3401	205	1	journal	journal	PROPN
app01-3401	205	2	of	of	ADP
app01-3401	205	3	automation	automation	NOUN
app01-3401	205	4	,	,	PUNCT
app01-3401	205	5	mobile	mobile	ADJ
app01-3401	205	6	robotics	robotic	NOUN
app01-3401	205	7	and	and	CCONJ
app01-3401	205	8	intelligent	intelligent	ADJ
app01-3401	205	9	systems	system	NOUN
app01-3401	205	10	7(1):11–20	7(1):11–20	NUM
app01-3401	205	11	,	,	PUNCT
app01-3401	205	12	2013	2013	NUM
app01-3401	205	13	.	.	PUNCT
app01-3401	206	1	[	[	X
app01-3401	206	2	16	16	NUM
app01-3401	206	3	]	]	PUNCT
app01-3401	206	4	a.	a.	NOUN
app01-3401	206	5	geiger	geiger	PROPN
app01-3401	206	6	,	,	PUNCT
app01-3401	206	7	p.	p.	PROPN
app01-3401	206	8	lenz	lenz	PROPN
app01-3401	206	9	,	,	PUNCT
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app01-3401	206	13	r.	r.	PROPN
app01-3401	206	14	urtasun	urtasun	PROPN
app01-3401	206	15	.	.	PUNCT
app01-3401	207	1	vision	vision	NOUN
app01-3401	207	2	meets	meet	VERB
app01-3401	207	3	robotics	robotic	NOUN
app01-3401	207	4	:	:	PUNCT
app01-3401	207	5	the	the	DET
app01-3401	207	6	kitti	kitti	PROPN
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app01-3401	208	5	,	,	PUNCT
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app01-3401	210	5	arroyo	arroyo	PROPN
app01-3401	210	6	,	,	PUNCT
app01-3401	210	7	p.	p.	NOUN
app01-3401	210	8	alcantarilla	alcantarilla	NOUN
app01-3401	210	9	,	,	PUNCT
app01-3401	210	10	l.	l.	PROPN
app01-3401	210	11	bergasa	bergasa	PROPN
app01-3401	210	12	,	,	PUNCT
app01-3401	210	13	et	et	PROPN
app01-3401	210	14	al	al	PROPN
app01-3401	210	15	.	.	PROPN
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app01-3401	211	2	and	and	CCONJ
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app01-3401	211	4	visual	visual	ADJ
app01-3401	211	5	place	place	NOUN
app01-3401	211	6	recognition	recognition	NOUN
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app01-3401	213	2	.	.	PUNCT
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app01-3401	214	2	.	.	PUNCT
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app01-3401	215	2	/	/	SYM
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app01-3401	217	1	50	50	NUM
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app01-3401	218	8	,	,	PUNCT
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app01-3401	218	10	1	1	NUM
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app01-3401	218	12	2	2	NUM
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app01-3401	218	14	work	work	NOUN
app01-3401	218	15	3	3	NUM
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app01-3401	218	17	image	image	NOUN
app01-3401	218	18	features	feature	VERB
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app01-3401	218	22	s	s	NOUN
app01-3401	218	23	-	-	PUNCT
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app01-3401	218	25	5	5	NUM
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app01-3401	218	27	6	6	NUM
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app01-3401	218	29	acknowledgements	acknowledgement	NOUN
app01-3401	218	30	references	reference	NOUN