id	sid	tid	token	lemma	pos
app01-3923	1	1	acta	acta	PROPN
app01-3923	1	2	polytechnica	polytechnica	PROPN
app01-3923	1	3	ctu	ctu	PROPN
app01-3923	1	4	proceedings	proceeding	NOUN
app01-3923	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3923	1	6	/	/	SYM
app01-3923	1	7	app.2016.6.0001	app.2016.6.0001	PROPN
app01-3923	1	8	acta	acta	PROPN
app01-3923	1	9	polytechnica	polytechnica	PROPN
app01-3923	1	10	ctu	ctu	NOUN
app01-3923	1	11	proceedings	proceeding	NOUN
app01-3923	1	12	6:1–5	6:1–5	NUM
app01-3923	1	13	,	,	PUNCT
app01-3923	1	14	2016	2016	NUM
app01-3923	1	15	©	©	PROPN
app01-3923	1	16	czech	czech	PROPN
app01-3923	1	17	technical	technical	PROPN
app01-3923	1	18	university	university	PROPN
app01-3923	1	19	in	in	ADP
app01-3923	1	20	prague	prague	PROPN
app01-3923	1	21	,	,	PUNCT
app01-3923	1	22	2016	2016	NUM
app01-3923	1	23	available	available	ADJ
app01-3923	1	24	online	online	ADV
app01-3923	1	25	at	at	ADP
app01-3923	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3923	1	27	on	on	ADP
app01-3923	1	28	construction	construction	NOUN
app01-3923	1	29	of	of	ADP
app01-3923	1	30	a	a	DET
app01-3923	1	31	reliable	reliable	ADJ
app01-3923	1	32	ground	ground	NOUN
app01-3923	1	33	truth	truth	NOUN
app01-3923	1	34	for	for	ADP
app01-3923	1	35	evaluation	evaluation	NOUN
app01-3923	1	36	of	of	ADP
app01-3923	1	37	visual	visual	ADJ
app01-3923	1	38	slam	slam	NOUN
app01-3923	1	39	algorithms	algorithm	NOUN
app01-3923	1	40	jan	jan	PROPN
app01-3923	1	41	bayer∗	bayer∗	VERB
app01-3923	1	42	,	,	PUNCT
app01-3923	1	43	petr	petr	PROPN
app01-3923	1	44	čížek	čížek	PROPN
app01-3923	1	45	,	,	PUNCT
app01-3923	1	46	jan	jan	PROPN
app01-3923	1	47	faigl	faigl	PROPN
app01-3923	1	48	czech	czech	PROPN
app01-3923	1	49	technical	technical	PROPN
app01-3923	1	50	university	university	PROPN
app01-3923	1	51	,	,	PUNCT
app01-3923	1	52	faculty	faculty	NOUN
app01-3923	1	53	of	of	ADP
app01-3923	1	54	electrical	electrical	ADJ
app01-3923	1	55	engineering	engineering	NOUN
app01-3923	1	56	,	,	PUNCT
app01-3923	1	57	technicka	technicka	NOUN
app01-3923	1	58	2	2	NUM
app01-3923	1	59	,	,	PUNCT
app01-3923	1	60	prague	prague	NOUN
app01-3923	1	61	,	,	PUNCT
app01-3923	1	62	czech	czech	PROPN
app01-3923	1	63	republic	republic	NOUN
app01-3923	1	64	∗	∗	NOUN
app01-3923	1	65	corresponding	correspond	VERB
app01-3923	1	66	author	author	NOUN
app01-3923	1	67	:	:	PUNCT
app01-3923	1	68	bayerja1@fel.cvut.cz	bayerja1@fel.cvut.cz	NOUN
app01-3923	1	69	abstract	abstract	ADJ
app01-3923	1	70	.	.	PUNCT
app01-3923	2	1	in	in	ADP
app01-3923	2	2	this	this	DET
app01-3923	2	3	work	work	NOUN
app01-3923	2	4	we	we	PRON
app01-3923	2	5	are	be	AUX
app01-3923	2	6	concerning	concern	VERB
app01-3923	2	7	the	the	DET
app01-3923	2	8	problem	problem	NOUN
app01-3923	2	9	of	of	ADP
app01-3923	2	10	localization	localization	NOUN
app01-3923	2	11	accuracy	accuracy	NOUN
app01-3923	2	12	evaluation	evaluation	NOUN
app01-3923	2	13	of	of	ADP
app01-3923	2	14	visual	visual	ADJ
app01-3923	2	15	-	-	PUNCT
app01-3923	2	16	based	base	VERB
app01-3923	2	17	simultaneous	simultaneous	ADJ
app01-3923	2	18	localization	localization	NOUN
app01-3923	2	19	and	and	CCONJ
app01-3923	2	20	mapping	mapping	NOUN
app01-3923	2	21	(	(	PUNCT
app01-3923	2	22	slam	slam	NOUN
app01-3923	2	23	)	)	PUNCT
app01-3923	2	24	techniques	technique	NOUN
app01-3923	2	25	.	.	PUNCT
app01-3923	3	1	quantitative	quantitative	ADJ
app01-3923	3	2	evaluation	evaluation	NOUN
app01-3923	3	3	of	of	ADP
app01-3923	3	4	the	the	DET
app01-3923	3	5	slam	slam	NOUN
app01-3923	3	6	algorithm	algorithm	NOUN
app01-3923	3	7	performance	performance	NOUN
app01-3923	3	8	is	be	AUX
app01-3923	3	9	usually	usually	ADV
app01-3923	3	10	done	do	VERB
app01-3923	3	11	using	use	VERB
app01-3923	3	12	the	the	DET
app01-3923	3	13	established	establish	VERB
app01-3923	3	14	metrics	metric	NOUN
app01-3923	3	15	of	of	ADP
app01-3923	3	16	relative	relative	ADJ
app01-3923	3	17	pose	pose	NOUN
app01-3923	3	18	error	error	NOUN
app01-3923	3	19	and	and	CCONJ
app01-3923	3	20	absolute	absolute	ADJ
app01-3923	3	21	trajectory	trajectory	NOUN
app01-3923	3	22	error	error	NOUN
app01-3923	3	23	which	which	PRON
app01-3923	3	24	require	require	VERB
app01-3923	3	25	a	a	DET
app01-3923	3	26	precise	precise	ADJ
app01-3923	3	27	and	and	CCONJ
app01-3923	3	28	reliable	reliable	ADJ
app01-3923	3	29	ground	ground	NOUN
app01-3923	3	30	truth	truth	NOUN
app01-3923	3	31	.	.	PUNCT
app01-3923	4	1	such	such	DET
app01-3923	4	2	a	a	DET
app01-3923	4	3	ground	ground	NOUN
app01-3923	4	4	truth	truth	NOUN
app01-3923	4	5	is	be	AUX
app01-3923	4	6	usually	usually	ADV
app01-3923	4	7	hard	hard	ADJ
app01-3923	4	8	to	to	PART
app01-3923	4	9	obtain	obtain	VERB
app01-3923	4	10	,	,	PUNCT
app01-3923	4	11	while	while	SCONJ
app01-3923	4	12	it	it	PRON
app01-3923	4	13	requires	require	VERB
app01-3923	4	14	an	an	DET
app01-3923	4	15	expensive	expensive	ADJ
app01-3923	4	16	external	external	ADJ
app01-3923	4	17	localization	localization	NOUN
app01-3923	4	18	system	system	NOUN
app01-3923	4	19	.	.	PUNCT
app01-3923	5	1	in	in	ADP
app01-3923	5	2	this	this	DET
app01-3923	5	3	work	work	NOUN
app01-3923	5	4	we	we	PRON
app01-3923	5	5	are	be	AUX
app01-3923	5	6	proposing	propose	VERB
app01-3923	5	7	to	to	PART
app01-3923	5	8	use	use	VERB
app01-3923	5	9	the	the	DET
app01-3923	5	10	slam	slam	NOUN
app01-3923	5	11	algorithm	algorithm	NOUN
app01-3923	5	12	itself	itself	PRON
app01-3923	5	13	to	to	PART
app01-3923	5	14	construct	construct	VERB
app01-3923	5	15	a	a	DET
app01-3923	5	16	reliable	reliable	ADJ
app01-3923	5	17	ground	ground	NOUN
app01-3923	5	18	truth	truth	NOUN
app01-3923	5	19	by	by	ADP
app01-3923	5	20	offline	offline	ADJ
app01-3923	5	21	frame	frame	NOUN
app01-3923	5	22	-	-	PUNCT
app01-3923	5	23	by	by	ADP
app01-3923	5	24	-	-	PUNCT
app01-3923	5	25	frame	frame	NOUN
app01-3923	5	26	processing	processing	NOUN
app01-3923	5	27	.	.	PUNCT
app01-3923	6	1	the	the	DET
app01-3923	6	2	generated	generate	VERB
app01-3923	6	3	ground	ground	NOUN
app01-3923	6	4	truth	truth	NOUN
app01-3923	6	5	is	be	AUX
app01-3923	6	6	suitable	suitable	ADJ
app01-3923	6	7	for	for	ADP
app01-3923	6	8	evaluation	evaluation	NOUN
app01-3923	6	9	of	of	ADP
app01-3923	6	10	different	different	ADJ
app01-3923	6	11	slam	slam	NOUN
app01-3923	6	12	systems	system	NOUN
app01-3923	6	13	,	,	PUNCT
app01-3923	6	14	as	as	ADV
app01-3923	6	15	well	well	ADV
app01-3923	6	16	as	as	ADP
app01-3923	6	17	for	for	ADP
app01-3923	6	18	tuning	tune	VERB
app01-3923	6	19	the	the	DET
app01-3923	6	20	parametrization	parametrization	NOUN
app01-3923	6	21	of	of	ADP
app01-3923	6	22	the	the	DET
app01-3923	6	23	on	on	ADP
app01-3923	6	24	-	-	PUNCT
app01-3923	6	25	line	line	NOUN
app01-3923	6	26	slam	slam	NOUN
app01-3923	6	27	.	.	PUNCT
app01-3923	7	1	the	the	DET
app01-3923	7	2	presented	present	VERB
app01-3923	7	3	practical	practical	ADJ
app01-3923	7	4	experimental	experimental	ADJ
app01-3923	7	5	results	result	NOUN
app01-3923	7	6	indicate	indicate	VERB
app01-3923	7	7	the	the	DET
app01-3923	7	8	feasibility	feasibility	NOUN
app01-3923	7	9	of	of	ADP
app01-3923	7	10	the	the	DET
app01-3923	7	11	proposed	propose	VERB
app01-3923	7	12	approach	approach	NOUN
app01-3923	7	13	.	.	PUNCT
app01-3923	8	1	keywords	keyword	NOUN
app01-3923	8	2	:	:	PUNCT
app01-3923	8	3	rgb	rgb	PROPN
app01-3923	8	4	-	-	PROPN
app01-3923	8	5	d	d	PROPN
app01-3923	8	6	slam	slam	NOUN
app01-3923	8	7	,	,	PUNCT
app01-3923	8	8	localization	localization	NOUN
app01-3923	8	9	,	,	PUNCT
app01-3923	8	10	ground	ground	NOUN
app01-3923	8	11	truth	truth	NOUN
app01-3923	8	12	construction	construction	NOUN
app01-3923	8	13	,	,	PUNCT
app01-3923	8	14	legged	legged	ADJ
app01-3923	8	15	robot	robot	NOUN
app01-3923	8	16	,	,	PUNCT
app01-3923	8	17	rough	rough	ADJ
app01-3923	8	18	terrain	terrain	NOUN
app01-3923	8	19	traversal	traversal	NOUN
app01-3923	8	20	,	,	PUNCT
app01-3923	8	21	adaptive	adaptive	ADJ
app01-3923	8	22	motion	motion	NOUN
app01-3923	8	23	gait	gait	NOUN
app01-3923	8	24	.	.	PUNCT
app01-3923	9	1	1	1	X
app01-3923	9	2	.	.	X
app01-3923	9	3	introduction	introduction	NOUN
app01-3923	9	4	reliable	reliable	ADJ
app01-3923	9	5	localization	localization	NOUN
app01-3923	9	6	is	be	AUX
app01-3923	9	7	an	an	DET
app01-3923	9	8	essential	essential	ADJ
app01-3923	9	9	prerequisite	prerequisite	NOUN
app01-3923	9	10	in	in	ADP
app01-3923	9	11	many	many	ADJ
app01-3923	9	12	practical	practical	ADJ
app01-3923	9	13	robotic	robotic	ADJ
app01-3923	9	14	scenarios	scenario	NOUN
app01-3923	9	15	,	,	PUNCT
app01-3923	9	16	thus	thus	ADV
app01-3923	9	17	its	its	PRON
app01-3923	9	18	accuracy	accuracy	NOUN
app01-3923	9	19	is	be	AUX
app01-3923	9	20	the	the	DET
app01-3923	9	21	most	most	ADV
app01-3923	9	22	important	important	ADJ
app01-3923	9	23	parameter	parameter	NOUN
app01-3923	9	24	in	in	ADP
app01-3923	9	25	the	the	DET
app01-3923	9	26	evaluation	evaluation	NOUN
app01-3923	9	27	of	of	ADP
app01-3923	9	28	newly	newly	ADV
app01-3923	9	29	developed	develop	VERB
app01-3923	9	30	localization	localization	NOUN
app01-3923	9	31	techniques	technique	NOUN
app01-3923	9	32	.	.	PUNCT
app01-3923	10	1	there	there	PRON
app01-3923	10	2	are	be	VERB
app01-3923	10	3	numerous	numerous	ADJ
app01-3923	10	4	methods	method	NOUN
app01-3923	10	5	based	base	VERB
app01-3923	10	6	on	on	ADP
app01-3923	10	7	various	various	ADJ
app01-3923	10	8	principles	principle	NOUN
app01-3923	10	9	that	that	PRON
app01-3923	10	10	can	can	AUX
app01-3923	10	11	localize	localize	VERB
app01-3923	10	12	the	the	DET
app01-3923	10	13	robot	robot	NOUN
app01-3923	10	14	in	in	ADP
app01-3923	10	15	its	its	PRON
app01-3923	10	16	operational	operational	ADJ
app01-3923	10	17	environment	environment	NOUN
app01-3923	10	18	.	.	PUNCT
app01-3923	11	1	however	however	ADV
app01-3923	11	2	,	,	PUNCT
app01-3923	11	3	when	when	SCONJ
app01-3923	11	4	benchmarking	benchmarke	VERB
app01-3923	11	5	such	such	ADJ
app01-3923	11	6	localization	localization	NOUN
app01-3923	11	7	methods	method	NOUN
app01-3923	11	8	it	it	PRON
app01-3923	11	9	is	be	AUX
app01-3923	11	10	necessary	necessary	ADJ
app01-3923	11	11	to	to	PART
app01-3923	11	12	use	use	VERB
app01-3923	11	13	a	a	DET
app01-3923	11	14	reliable	reliable	ADJ
app01-3923	11	15	ground	ground	NOUN
app01-3923	11	16	truth	truth	NOUN
app01-3923	11	17	together	together	ADV
app01-3923	11	18	with	with	ADP
app01-3923	11	19	some	some	DET
app01-3923	11	20	established	establish	VERB
app01-3923	11	21	metrics	metric	NOUN
app01-3923	11	22	(	(	PUNCT
app01-3923	11	23	e.g.	e.g.	ADV
app01-3923	11	24	[	[	X
app01-3923	11	25	1	1	NUM
app01-3923	11	26	,	,	PUNCT
app01-3923	11	27	2	2	NUM
app01-3923	11	28	]	]	PUNCT
app01-3923	11	29	)	)	PUNCT
app01-3923	11	30	.	.	PUNCT
app01-3923	12	1	in	in	ADP
app01-3923	12	2	this	this	DET
app01-3923	12	3	work	work	NOUN
app01-3923	12	4	,	,	PUNCT
app01-3923	12	5	we	we	PRON
app01-3923	12	6	address	address	VERB
app01-3923	12	7	the	the	DET
app01-3923	12	8	problem	problem	NOUN
app01-3923	12	9	of	of	ADP
app01-3923	12	10	localization	localization	NOUN
app01-3923	12	11	accuracy	accuracy	NOUN
app01-3923	12	12	assessment	assessment	NOUN
app01-3923	12	13	in	in	ADP
app01-3923	12	14	a	a	DET
app01-3923	12	15	visual	visual	ADJ
app01-3923	12	16	simultaneous	simultaneous	ADJ
app01-3923	12	17	localization	localization	NOUN
app01-3923	12	18	and	and	CCONJ
app01-3923	12	19	mapping	mapping	NOUN
app01-3923	12	20	(	(	PUNCT
app01-3923	12	21	slam	slam	PROPN
app01-3923	12	22	)	)	PUNCT
app01-3923	12	23	task	task	NOUN
app01-3923	12	24	[	[	X
app01-3923	12	25	3	3	NUM
app01-3923	12	26	]	]	PUNCT
app01-3923	12	27	.	.	PUNCT
app01-3923	13	1	in	in	ADP
app01-3923	13	2	principle	principle	NOUN
app01-3923	13	3	,	,	PUNCT
app01-3923	13	4	it	it	PRON
app01-3923	13	5	is	be	AUX
app01-3923	13	6	possible	possible	ADJ
app01-3923	13	7	to	to	PART
app01-3923	13	8	use	use	VERB
app01-3923	13	9	publicly	publicly	ADV
app01-3923	13	10	available	available	ADJ
app01-3923	13	11	datasets	dataset	NOUN
app01-3923	13	12	,	,	PUNCT
app01-3923	13	13	e.g.	e.g.	ADV
app01-3923	13	14	,	,	PUNCT
app01-3923	13	15	the	the	DET
app01-3923	13	16	freiburg	freiburg	PROPN
app01-3923	13	17	uni	uni	PROPN
app01-3923	13	18	dataset	dataset	NOUN
app01-3923	14	1	[	[	X
app01-3923	14	2	1	1	NUM
app01-3923	14	3	]	]	PUNCT
app01-3923	14	4	,	,	PUNCT
app01-3923	14	5	the	the	DET
app01-3923	14	6	rgb	rgb	PROPN
app01-3923	14	7	-	-	PROPN
app01-3923	14	8	d	d	PROPN
app01-3923	14	9	slam	slam	NOUN
app01-3923	14	10	dataset	dataset	NOUN
app01-3923	15	1	[	[	PUNCT
app01-3923	15	2	2	2	NUM
app01-3923	15	3	]	]	PUNCT
app01-3923	15	4	,	,	PUNCT
app01-3923	15	5	or	or	CCONJ
app01-3923	15	6	the	the	DET
app01-3923	15	7	kitty	kitty	NOUN
app01-3923	15	8	dataset	dataset	VERB
app01-3923	16	1	[	[	X
app01-3923	16	2	4	4	NUM
app01-3923	16	3	]	]	PUNCT
app01-3923	16	4	,	,	PUNCT
app01-3923	16	5	to	to	PART
app01-3923	16	6	evaluate	evaluate	VERB
app01-3923	16	7	the	the	DET
app01-3923	16	8	accuracy	accuracy	NOUN
app01-3923	16	9	of	of	ADP
app01-3923	16	10	slam	slam	NOUN
app01-3923	16	11	method	method	NOUN
app01-3923	16	12	.	.	PUNCT
app01-3923	17	1	however	however	ADV
app01-3923	17	2	,	,	PUNCT
app01-3923	17	3	our	our	PRON
app01-3923	17	4	particular	particular	ADJ
app01-3923	17	5	environment	environment	NOUN
app01-3923	17	6	,	,	PUNCT
app01-3923	17	7	setup	setup	NOUN
app01-3923	17	8	,	,	PUNCT
app01-3923	17	9	and	and	CCONJ
app01-3923	17	10	sensory	sensory	ADJ
app01-3923	17	11	equipment	equipment	NOUN
app01-3923	17	12	might	might	AUX
app01-3923	17	13	not	not	PART
app01-3923	17	14	exhibit	exhibit	VERB
app01-3923	17	15	similar	similar	ADJ
app01-3923	17	16	properties	property	NOUN
app01-3923	17	17	as	as	ADP
app01-3923	17	18	the	the	DET
app01-3923	17	19	ones	one	NOUN
app01-3923	17	20	used	use	VERB
app01-3923	17	21	in	in	ADP
app01-3923	17	22	these	these	DET
app01-3923	17	23	standardized	standardized	ADJ
app01-3923	17	24	datasets	dataset	NOUN
app01-3923	17	25	.	.	PUNCT
app01-3923	18	1	therefore	therefore	ADV
app01-3923	18	2	we	we	PRON
app01-3923	18	3	need	need	VERB
app01-3923	18	4	to	to	PART
app01-3923	18	5	construct	construct	VERB
app01-3923	18	6	our	our	PRON
app01-3923	18	7	own	own	ADJ
app01-3923	18	8	dataset	dataset	NOUN
app01-3923	18	9	and	and	CCONJ
app01-3923	18	10	acquire	acquire	VERB
app01-3923	18	11	a	a	DET
app01-3923	18	12	ground	ground	NOUN
app01-3923	18	13	truth	truth	NOUN
app01-3923	18	14	to	to	PART
app01-3923	18	15	assess	assess	VERB
app01-3923	18	16	the	the	DET
app01-3923	18	17	localization	localization	NOUN
app01-3923	18	18	accuracy	accuracy	NOUN
app01-3923	18	19	.	.	PUNCT
app01-3923	19	1	all	all	DET
app01-3923	19	2	the	the	DET
app01-3923	19	3	above	above	ADV
app01-3923	19	4	-	-	PUNCT
app01-3923	19	5	mentioned	mention	VERB
app01-3923	19	6	datasets	dataset	NOUN
app01-3923	19	7	are	be	AUX
app01-3923	19	8	supplied	supply	VERB
app01-3923	19	9	with	with	ADP
app01-3923	19	10	a	a	DET
app01-3923	19	11	centimeter	centimeter	NOUN
app01-3923	19	12	-	-	PUNCT
app01-3923	19	13	level	level	NOUN
app01-3923	19	14	precision	precision	NOUN
app01-3923	19	15	ground	ground	NOUN
app01-3923	19	16	truth	truth	NOUN
app01-3923	19	17	provided	provide	VERB
app01-3923	19	18	by	by	ADP
app01-3923	19	19	an	an	DET
app01-3923	19	20	external	external	ADJ
app01-3923	19	21	localization	localization	NOUN
app01-3923	19	22	system	system	NOUN
app01-3923	19	23	like	like	ADP
app01-3923	19	24	a	a	DET
app01-3923	19	25	differential	differential	ADJ
app01-3923	19	26	gps	gps	NOUN
app01-3923	19	27	[	[	X
app01-3923	19	28	4	4	NUM
app01-3923	19	29	]	]	PUNCT
app01-3923	19	30	,	,	PUNCT
app01-3923	19	31	which	which	PRON
app01-3923	19	32	is	be	AUX
app01-3923	19	33	based	base	VERB
app01-3923	19	34	on	on	ADP
app01-3923	19	35	a	a	DET
app01-3923	19	36	standard	standard	ADJ
app01-3923	19	37	gps	gps	NOUN
app01-3923	19	38	enhanced	enhance	VERB
app01-3923	19	39	with	with	ADP
app01-3923	19	40	ground	ground	NOUN
app01-3923	19	41	reference	reference	NOUN
app01-3923	19	42	stations	station	NOUN
app01-3923	19	43	with	with	ADP
app01-3923	19	44	known	know	VERB
app01-3923	19	45	geospatial	geospatial	ADJ
app01-3923	19	46	positions	position	NOUN
app01-3923	19	47	.	.	PUNCT
app01-3923	20	1	other	other	ADJ
app01-3923	20	2	types	type	NOUN
app01-3923	20	3	of	of	ADP
app01-3923	20	4	external	external	ADJ
app01-3923	20	5	localization	localization	NOUN
app01-3923	20	6	systems	system	NOUN
app01-3923	20	7	used	use	VERB
app01-3923	20	8	in	in	ADP
app01-3923	20	9	publicly	publicly	ADV
app01-3923	20	10	available	available	ADJ
app01-3923	20	11	datasets	dataset	NOUN
app01-3923	20	12	are	be	AUX
app01-3923	20	13	motion	motion	NOUN
app01-3923	20	14	capture	capture	NOUN
app01-3923	20	15	system	system	NOUN
app01-3923	20	16	[	[	X
app01-3923	20	17	2	2	NUM
app01-3923	20	18	]	]	PUNCT
app01-3923	20	19	or	or	CCONJ
app01-3923	20	20	a	a	DET
app01-3923	20	21	total	total	ADJ
app01-3923	20	22	station	station	NOUN
app01-3923	20	23	[	[	X
app01-3923	20	24	5	5	NUM
app01-3923	20	25	]	]	PUNCT
app01-3923	20	26	.	.	PUNCT
app01-3923	21	1	the	the	DET
app01-3923	21	2	former	former	ADJ
app01-3923	21	3	utilizes	utilize	VERB
app01-3923	21	4	the	the	DET
app01-3923	21	5	data	datum	NOUN
app01-3923	21	6	captured	capture	VERB
app01-3923	21	7	by	by	ADP
app01-3923	21	8	camera	camera	NOUN
app01-3923	21	9	sensors	sensor	NOUN
app01-3923	21	10	to	to	PART
app01-3923	21	11	localize	localize	VERB
app01-3923	21	12	the	the	DET
app01-3923	21	13	robot	robot	NOUN
app01-3923	21	14	marked	mark	VERB
app01-3923	21	15	with	with	ADP
app01-3923	21	16	special	special	ADJ
app01-3923	21	17	patterns	pattern	NOUN
app01-3923	21	18	well	well	ADV
app01-3923	21	19	-	-	PUNCT
app01-3923	21	20	distinguishable	distinguishable	ADJ
app01-3923	21	21	in	in	ADP
app01-3923	21	22	the	the	DET
app01-3923	21	23	environment	environment	NOUN
app01-3923	21	24	.	.	PUNCT
app01-3923	22	1	the	the	DET
app01-3923	22	2	later	late	ADJ
app01-3923	22	3	measures	measure	NOUN
app01-3923	22	4	distance	distance	NOUN
app01-3923	22	5	between	between	ADP
app01-3923	22	6	the	the	DET
app01-3923	22	7	observed	observed	ADJ
app01-3923	22	8	object	object	NOUN
app01-3923	22	9	and	and	CCONJ
app01-3923	22	10	the	the	DET
app01-3923	22	11	static	static	ADJ
app01-3923	22	12	ground	ground	NOUN
app01-3923	22	13	station	station	NOUN
app01-3923	22	14	using	use	VERB
app01-3923	22	15	time	time	NOUN
app01-3923	22	16	of	of	ADP
app01-3923	22	17	flight	flight	NOUN
app01-3923	22	18	principle	principle	NOUN
app01-3923	22	19	.	.	PUNCT
app01-3923	23	1	a	a	DET
app01-3923	23	2	3	3	NUM
app01-3923	23	3	-	-	PUNCT
app01-3923	23	4	dof	dof	NOUN
app01-3923	23	5	position	position	NOUN
app01-3923	23	6	of	of	ADP
app01-3923	23	7	the	the	DET
app01-3923	23	8	robot	robot	NOUN
app01-3923	23	9	in	in	ADP
app01-3923	23	10	a	a	DET
app01-3923	23	11	global	global	ADJ
app01-3923	23	12	reference	reference	NOUN
app01-3923	23	13	frame	frame	NOUN
app01-3923	23	14	is	be	AUX
app01-3923	23	15	obtained	obtain	VERB
app01-3923	23	16	from	from	ADP
app01-3923	23	17	figure	figure	NOUN
app01-3923	23	18	1	1	NUM
app01-3923	23	19	.	.	PUNCT
app01-3923	23	20	experimental	experimental	ADJ
app01-3923	23	21	environment	environment	NOUN
app01-3923	23	22	the	the	DET
app01-3923	23	23	distance	distance	NOUN
app01-3923	23	24	and	and	CCONJ
app01-3923	23	25	the	the	DET
app01-3923	23	26	angles	angle	NOUN
app01-3923	23	27	measured	measure	VERB
app01-3923	23	28	by	by	ADP
app01-3923	23	29	the	the	DET
app01-3923	23	30	total	total	ADJ
app01-3923	23	31	station	station	NOUN
app01-3923	23	32	.	.	PUNCT
app01-3923	24	1	however	however	ADV
app01-3923	24	2	,	,	PUNCT
app01-3923	24	3	acquisition	acquisition	NOUN
app01-3923	24	4	of	of	ADP
app01-3923	24	5	a	a	DET
app01-3923	24	6	reliable	reliable	ADJ
app01-3923	24	7	ground	ground	NOUN
app01-3923	24	8	truth	truth	NOUN
app01-3923	24	9	using	use	VERB
app01-3923	24	10	any	any	PRON
app01-3923	24	11	of	of	ADP
app01-3923	24	12	the	the	DET
app01-3923	24	13	mentioned	mention	VERB
app01-3923	24	14	localization	localization	NOUN
app01-3923	24	15	techniques	technique	NOUN
app01-3923	24	16	might	might	AUX
app01-3923	24	17	be	be	AUX
app01-3923	24	18	a	a	DET
app01-3923	24	19	considerable	considerable	ADJ
app01-3923	24	20	problem	problem	NOUN
app01-3923	24	21	while	while	SCONJ
app01-3923	24	22	all	all	PRON
app01-3923	24	23	of	of	ADP
app01-3923	24	24	the	the	DET
app01-3923	24	25	aforementioned	aforementioned	ADJ
app01-3923	24	26	principles	principle	NOUN
app01-3923	24	27	are	be	AUX
app01-3923	24	28	very	very	ADV
app01-3923	24	29	expensive	expensive	ADJ
app01-3923	24	30	.	.	PUNCT
app01-3923	25	1	thus	thus	ADV
app01-3923	25	2	we	we	PRON
app01-3923	25	3	are	be	AUX
app01-3923	25	4	proposing	propose	VERB
app01-3923	25	5	to	to	PART
app01-3923	25	6	use	use	VERB
app01-3923	25	7	the	the	DET
app01-3923	25	8	dataset	dataset	NOUN
app01-3923	25	9	itself	itself	PRON
app01-3923	25	10	for	for	ADP
app01-3923	25	11	the	the	DET
app01-3923	25	12	ground	ground	NOUN
app01-3923	25	13	truth	truth	NOUN
app01-3923	25	14	construction	construction	NOUN
app01-3923	25	15	by	by	ADP
app01-3923	25	16	offline	offline	ADJ
app01-3923	25	17	frame	frame	NOUN
app01-3923	25	18	-	-	PUNCT
app01-3923	25	19	by	by	ADP
app01-3923	25	20	-	-	PUNCT
app01-3923	25	21	frame	frame	NOUN
app01-3923	25	22	processing	processing	NOUN
app01-3923	25	23	of	of	ADP
app01-3923	25	24	the	the	DET
app01-3923	25	25	dataset	dataset	NOUN
app01-3923	25	26	using	use	VERB
app01-3923	25	27	the	the	DET
app01-3923	25	28	slam	slam	NOUN
app01-3923	25	29	algorithm	algorithm	NOUN
app01-3923	25	30	.	.	PUNCT
app01-3923	26	1	in	in	ADP
app01-3923	26	2	such	such	DET
app01-3923	26	3	a	a	DET
app01-3923	26	4	case	case	NOUN
app01-3923	26	5	,	,	PUNCT
app01-3923	26	6	we	we	PRON
app01-3923	26	7	are	be	AUX
app01-3923	26	8	not	not	PART
app01-3923	26	9	interested	interested	ADJ
app01-3923	26	10	in	in	ADP
app01-3923	26	11	an	an	DET
app01-3923	26	12	on	on	ADP
app01-3923	26	13	-	-	PUNCT
app01-3923	26	14	line	line	NOUN
app01-3923	26	15	performance	performance	NOUN
app01-3923	26	16	of	of	ADP
app01-3923	26	17	the	the	DET
app01-3923	26	18	algorithm	algorithm	NOUN
app01-3923	26	19	rather	rather	ADV
app01-3923	26	20	than	than	ADP
app01-3923	26	21	the	the	DET
app01-3923	26	22	reliability	reliability	NOUN
app01-3923	26	23	and	and	CCONJ
app01-3923	26	24	accuracy	accuracy	NOUN
app01-3923	26	25	of	of	ADP
app01-3923	26	26	the	the	DET
app01-3923	26	27	constructed	construct	VERB
app01-3923	26	28	trajectory	trajectory	NOUN
app01-3923	26	29	estimate	estimate	NOUN
app01-3923	26	30	to	to	PART
app01-3923	26	31	be	be	AUX
app01-3923	26	32	used	use	VERB
app01-3923	26	33	as	as	ADP
app01-3923	26	34	a	a	DET
app01-3923	26	35	ground	ground	NOUN
app01-3923	26	36	truth	truth	NOUN
app01-3923	26	37	.	.	PUNCT
app01-3923	27	1	such	such	DET
app01-3923	27	2	a	a	DET
app01-3923	27	3	processing	processing	NOUN
app01-3923	27	4	is	be	AUX
app01-3923	27	5	assumed	assume	VERB
app01-3923	27	6	to	to	PART
app01-3923	27	7	provide	provide	VERB
app01-3923	27	8	the	the	DET
app01-3923	27	9	best	good	ADJ
app01-3923	27	10	trajectory	trajectory	NOUN
app01-3923	27	11	estimate	estimate	NOUN
app01-3923	27	12	for	for	ADP
app01-3923	27	13	the	the	DET
app01-3923	27	14	given	give	VERB
app01-3923	27	15	dataset	dataset	NOUN
app01-3923	27	16	and	and	CCONJ
app01-3923	27	17	localization	localization	NOUN
app01-3923	27	18	technique	technique	NOUN
app01-3923	27	19	.	.	PUNCT
app01-3923	28	1	moreover	moreover	ADV
app01-3923	28	2	,	,	PUNCT
app01-3923	28	3	by	by	ADP
app01-3923	28	4	taking	take	VERB
app01-3923	28	5	into	into	ADP
app01-3923	28	6	account	account	NOUN
app01-3923	28	7	certain	certain	ADJ
app01-3923	28	8	factors	factor	NOUN
app01-3923	28	9	in	in	ADP
app01-3923	28	10	the	the	DET
app01-3923	28	11	dataset	dataset	NOUN
app01-3923	28	12	construction	construction	NOUN
app01-3923	28	13	.	.	PUNCT
app01-3923	29	1	,	,	PUNCT
app01-3923	29	2	which	which	PRON
app01-3923	29	3	are	be	AUX
app01-3923	29	4	discussed	discuss	VERB
app01-3923	29	5	further	far	ADV
app01-3923	29	6	in	in	ADP
app01-3923	29	7	this	this	DET
app01-3923	29	8	paper	paper	NOUN
app01-3923	29	9	,	,	PUNCT
app01-3923	29	10	it	it	PRON
app01-3923	29	11	is	be	AUX
app01-3923	29	12	possible	possible	ADJ
app01-3923	29	13	to	to	PART
app01-3923	29	14	improve	improve	VERB
app01-3923	29	15	the	the	DET
app01-3923	29	16	reliability	reliability	NOUN
app01-3923	29	17	of	of	ADP
app01-3923	29	18	the	the	DET
app01-3923	29	19	generated	generate	VERB
app01-3923	29	20	ground	ground	NOUN
app01-3923	29	21	truth	truth	NOUN
app01-3923	29	22	.	.	PUNCT
app01-3923	30	1	1	1	NUM
app01-3923	30	2	http://dx.doi.org/10.14311/app.2016.6.0001	http://dx.doi.org/10.14311/app.2016.6.0001	NOUN
app01-3923	30	3	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	PROPN
app01-3923	30	4	j.	j.	PROPN
app01-3923	30	5	bayer	bayer	PROPN
app01-3923	30	6	,	,	PUNCT
app01-3923	30	7	p.	p.	PROPN
app01-3923	30	8	čížek	čížek	PROPN
app01-3923	30	9	,	,	PUNCT
app01-3923	30	10	j.	j.	PROPN
app01-3923	30	11	faigl	faigl	PROPN
app01-3923	30	12	acta	acta	PROPN
app01-3923	30	13	polytechnica	polytechnica	PROPN
app01-3923	30	14	ctu	ctu	NOUN
app01-3923	30	15	proceedings	proceeding	NOUN
app01-3923	30	16	to	to	PART
app01-3923	30	17	verify	verify	VERB
app01-3923	30	18	our	our	PRON
app01-3923	30	19	hypothesis	hypothesis	NOUN
app01-3923	30	20	,	,	PUNCT
app01-3923	30	21	we	we	PRON
app01-3923	30	22	are	be	AUX
app01-3923	30	23	reporting	report	VERB
app01-3923	30	24	on	on	ADP
app01-3923	30	25	the	the	DET
app01-3923	30	26	results	result	NOUN
app01-3923	30	27	of	of	ADP
app01-3923	30	28	such	such	DET
app01-3923	30	29	a	a	DET
app01-3923	30	30	ground	ground	NOUN
app01-3923	30	31	truth	truth	NOUN
app01-3923	30	32	construction	construction	NOUN
app01-3923	30	33	evaluation	evaluation	NOUN
app01-3923	30	34	based	base	VERB
app01-3923	30	35	on	on	ADP
app01-3923	30	36	the	the	DET
app01-3923	30	37	rgb	rgb	PROPN
app01-3923	30	38	-	-	PROPN
app01-3923	30	39	d	d	PROPN
app01-3923	30	40	slam	slam	NOUN
app01-3923	30	41	method	method	NOUN
app01-3923	30	42	[	[	X
app01-3923	30	43	6	6	NUM
app01-3923	30	44	]	]	PUNCT
app01-3923	30	45	compared	compare	VERB
app01-3923	30	46	to	to	ADP
app01-3923	30	47	the	the	DET
app01-3923	30	48	ground	ground	NOUN
app01-3923	30	49	truth	truth	NOUN
app01-3923	30	50	provided	provide	VERB
app01-3923	30	51	by	by	ADP
app01-3923	30	52	the	the	DET
app01-3923	30	53	whycon	whycon	NOUN
app01-3923	30	54	motion	motion	NOUN
app01-3923	30	55	capture	capture	NOUN
app01-3923	30	56	system	system	NOUN
app01-3923	30	57	[	[	X
app01-3923	30	58	7	7	NUM
app01-3923	30	59	]	]	PUNCT
app01-3923	30	60	.	.	PUNCT
app01-3923	31	1	we	we	PRON
app01-3923	31	2	evaluated	evaluate	VERB
app01-3923	31	3	the	the	DET
app01-3923	31	4	proposed	propose	VERB
app01-3923	31	5	approach	approach	NOUN
app01-3923	31	6	on	on	ADP
app01-3923	31	7	a	a	DET
app01-3923	31	8	challenging	challenging	ADJ
app01-3923	31	9	dataset	dataset	NOUN
app01-3923	31	10	obtained	obtain	VERB
app01-3923	31	11	with	with	ADP
app01-3923	31	12	the	the	DET
app01-3923	31	13	rgb	rgb	PROPN
app01-3923	31	14	-	-	PROPN
app01-3923	31	15	d	d	PROPN
app01-3923	31	16	camera	camera	NOUN
app01-3923	31	17	mounted	mount	VERB
app01-3923	31	18	on	on	ADP
app01-3923	31	19	a	a	DET
app01-3923	31	20	hexapod	hexapod	NOUN
app01-3923	31	21	walking	walking	NOUN
app01-3923	31	22	robot	robot	NOUN
app01-3923	31	23	crawling	crawl	VERB
app01-3923	31	24	in	in	ADP
app01-3923	31	25	rough	rough	ADJ
app01-3923	31	26	terrain	terrain	NOUN
app01-3923	31	27	(	(	PUNCT
app01-3923	31	28	see	see	VERB
app01-3923	31	29	fig	fig	NOUN
app01-3923	31	30	.	.	PUNCT
app01-3923	32	1	1	1	NUM
app01-3923	32	2	)	)	PUNCT
app01-3923	32	3	.	.	PUNCT
app01-3923	33	1	such	such	DET
app01-3923	33	2	a	a	DET
app01-3923	33	3	scenario	scenario	NOUN
app01-3923	33	4	requires	require	VERB
app01-3923	33	5	full	full	ADJ
app01-3923	33	6	6	6	NUM
app01-3923	33	7	-	-	PUNCT
app01-3923	33	8	dof	dof	NOUN
app01-3923	33	9	position	position	NOUN
app01-3923	33	10	estimation	estimation	NOUN
app01-3923	33	11	,	,	PUNCT
app01-3923	33	12	while	while	SCONJ
app01-3923	33	13	the	the	DET
app01-3923	33	14	camera	camera	NOUN
app01-3923	33	15	is	be	AUX
app01-3923	33	16	subjected	subject	VERB
app01-3923	33	17	to	to	ADP
app01-3923	33	18	unpredictable	unpredictable	ADJ
app01-3923	33	19	motion	motion	NOUN
app01-3923	33	20	and	and	CCONJ
app01-3923	33	21	the	the	DET
app01-3923	33	22	resulting	result	VERB
app01-3923	33	23	dataset	dataset	NOUN
app01-3923	33	24	is	be	AUX
app01-3923	33	25	very	very	ADV
app01-3923	33	26	different	different	ADJ
app01-3923	33	27	in	in	ADP
app01-3923	33	28	comparison	comparison	NOUN
app01-3923	33	29	to	to	ADP
app01-3923	33	30	all	all	DET
app01-3923	33	31	the	the	DET
app01-3923	33	32	standardized	standardized	ADJ
app01-3923	33	33	datasets	dataset	NOUN
app01-3923	33	34	obtained	obtain	VERB
app01-3923	33	35	mainly	mainly	ADV
app01-3923	33	36	by	by	ADP
app01-3923	33	37	wheel	wheel	NOUN
app01-3923	33	38	platforms	platform	NOUN
app01-3923	33	39	.	.	PUNCT
app01-3923	34	1	the	the	DET
app01-3923	34	2	presented	present	VERB
app01-3923	34	3	approach	approach	NOUN
app01-3923	34	4	to	to	ADP
app01-3923	34	5	ground	ground	NOUN
app01-3923	34	6	truth	truth	NOUN
app01-3923	34	7	construction	construction	NOUN
app01-3923	34	8	is	be	AUX
app01-3923	34	9	somehow	somehow	ADV
app01-3923	34	10	similar	similar	ADJ
app01-3923	34	11	to	to	ADP
app01-3923	34	12	the	the	DET
app01-3923	34	13	task	task	NOUN
app01-3923	34	14	of	of	ADP
app01-3923	34	15	structure	structure	NOUN
app01-3923	34	16	-	-	PUNCT
app01-3923	34	17	frommotion	frommotion	NOUN
app01-3923	34	18	studied	study	VERB
app01-3923	34	19	in	in	ADP
app01-3923	34	20	computer	computer	NOUN
app01-3923	34	21	vision	vision	NOUN
app01-3923	34	22	community	community	NOUN
app01-3923	34	23	.	.	PUNCT
app01-3923	35	1	in	in	ADP
app01-3923	35	2	[	[	X
app01-3923	35	3	8	8	NUM
app01-3923	35	4	]	]	PUNCT
app01-3923	35	5	,	,	PUNCT
app01-3923	35	6	the	the	DET
app01-3923	35	7	authors	author	NOUN
app01-3923	35	8	use	use	VERB
app01-3923	35	9	color	color	NOUN
app01-3923	35	10	images	image	NOUN
app01-3923	35	11	from	from	ADP
app01-3923	35	12	the	the	DET
app01-3923	35	13	rgb	rgb	PROPN
app01-3923	35	14	-	-	PROPN
app01-3923	35	15	d	d	PROPN
app01-3923	35	16	microsoft	microsoft	PROPN
app01-3923	35	17	kinect	kinect	PROPN
app01-3923	35	18	camera	camera	NOUN
app01-3923	35	19	to	to	PART
app01-3923	35	20	recover	recover	VERB
app01-3923	35	21	its	its	PRON
app01-3923	35	22	pose	pose	NOUN
app01-3923	35	23	,	,	PUNCT
app01-3923	35	24	but	but	CCONJ
app01-3923	35	25	for	for	ADP
app01-3923	35	26	the	the	DET
app01-3923	35	27	scene	scene	NOUN
app01-3923	35	28	and	and	CCONJ
app01-3923	35	29	object	object	VERB
app01-3923	35	30	recognition	recognition	NOUN
app01-3923	35	31	purposes	purpose	NOUN
app01-3923	35	32	.	.	PUNCT
app01-3923	36	1	however	however	ADV
app01-3923	36	2	,	,	PUNCT
app01-3923	36	3	in	in	ADP
app01-3923	36	4	our	our	PRON
app01-3923	36	5	work	work	NOUN
app01-3923	36	6	we	we	PRON
app01-3923	36	7	are	be	AUX
app01-3923	36	8	focusing	focus	VERB
app01-3923	36	9	solely	solely	ADV
app01-3923	36	10	on	on	ADP
app01-3923	36	11	the	the	DET
app01-3923	36	12	localization	localization	NOUN
app01-3923	36	13	accuracy	accuracy	NOUN
app01-3923	36	14	rather	rather	ADV
app01-3923	36	15	than	than	ADP
app01-3923	36	16	the	the	DET
app01-3923	36	17	quality	quality	NOUN
app01-3923	36	18	of	of	ADP
app01-3923	36	19	the	the	DET
app01-3923	36	20	model	model	NOUN
app01-3923	36	21	(	(	PUNCT
app01-3923	36	22	map	map	NOUN
app01-3923	36	23	)	)	PUNCT
app01-3923	36	24	of	of	ADP
app01-3923	36	25	the	the	DET
app01-3923	36	26	environment	environment	NOUN
app01-3923	36	27	.	.	PUNCT
app01-3923	37	1	the	the	DET
app01-3923	37	2	paper	paper	NOUN
app01-3923	37	3	is	be	AUX
app01-3923	37	4	structured	structure	VERB
app01-3923	37	5	as	as	SCONJ
app01-3923	37	6	follows	follow	VERB
app01-3923	37	7	.	.	PUNCT
app01-3923	38	1	section	section	NOUN
app01-3923	38	2	2	2	NUM
app01-3923	38	3	explains	explain	VERB
app01-3923	38	4	our	our	PRON
app01-3923	38	5	method	method	NOUN
app01-3923	38	6	of	of	ADP
app01-3923	38	7	getting	get	VERB
app01-3923	38	8	the	the	DET
app01-3923	38	9	ground	ground	NOUN
app01-3923	38	10	truth	truth	NOUN
app01-3923	38	11	for	for	ADP
app01-3923	38	12	the	the	DET
app01-3923	38	13	evaluation	evaluation	NOUN
app01-3923	38	14	and	and	CCONJ
app01-3923	38	15	the	the	DET
app01-3923	38	16	used	used	ADJ
app01-3923	38	17	evaluation	evaluation	NOUN
app01-3923	38	18	metrics	metric	NOUN
app01-3923	38	19	.	.	PUNCT
app01-3923	39	1	the	the	DET
app01-3923	39	2	set	set	NOUN
app01-3923	39	3	-	-	PUNCT
app01-3923	39	4	up	up	NOUN
app01-3923	39	5	of	of	ADP
app01-3923	39	6	a	a	DET
app01-3923	39	7	practical	practical	ADJ
app01-3923	39	8	experiment	experiment	NOUN
app01-3923	39	9	together	together	ADV
app01-3923	39	10	with	with	ADP
app01-3923	39	11	the	the	DET
app01-3923	39	12	evaluation	evaluation	NOUN
app01-3923	39	13	results	result	NOUN
app01-3923	39	14	are	be	AUX
app01-3923	39	15	described	describe	VERB
app01-3923	39	16	in	in	ADP
app01-3923	39	17	section	section	NOUN
app01-3923	39	18	3	3	NUM
app01-3923	39	19	.	.	PUNCT
app01-3923	39	20	conclusion	conclusion	NOUN
app01-3923	39	21	and	and	CCONJ
app01-3923	39	22	remarks	remark	NOUN
app01-3923	39	23	for	for	ADP
app01-3923	39	24	future	future	ADJ
app01-3923	39	25	work	work	NOUN
app01-3923	39	26	are	be	AUX
app01-3923	39	27	dedicated	dedicate	VERB
app01-3923	39	28	to	to	PART
app01-3923	39	29	section	section	NOUN
app01-3923	39	30	4	4	NUM
app01-3923	39	31	.	.	NOUN
app01-3923	39	32	2	2	NUM
app01-3923	39	33	.	.	NUM
app01-3923	39	34	proposed	propose	VERB
app01-3923	39	35	solution	solution	NOUN
app01-3923	39	36	the	the	DET
app01-3923	39	37	main	main	ADJ
app01-3923	39	38	motivation	motivation	NOUN
app01-3923	39	39	of	of	ADP
app01-3923	39	40	our	our	PRON
app01-3923	39	41	work	work	NOUN
app01-3923	39	42	is	be	AUX
app01-3923	39	43	to	to	PART
app01-3923	39	44	provide	provide	VERB
app01-3923	39	45	a	a	DET
app01-3923	39	46	reliable	reliable	ADJ
app01-3923	39	47	ground	ground	NOUN
app01-3923	39	48	truth	truth	NOUN
app01-3923	39	49	estimate	estimate	NOUN
app01-3923	39	50	whenever	whenever	SCONJ
app01-3923	39	51	a	a	DET
app01-3923	39	52	precise	precise	ADJ
app01-3923	39	53	external	external	ADJ
app01-3923	39	54	localization	localization	NOUN
app01-3923	39	55	is	be	AUX
app01-3923	39	56	not	not	PART
app01-3923	39	57	available	available	ADJ
app01-3923	39	58	to	to	PART
app01-3923	39	59	be	be	AUX
app01-3923	39	60	used	use	VERB
app01-3923	39	61	as	as	ADP
app01-3923	39	62	the	the	DET
app01-3923	39	63	ground	ground	NOUN
app01-3923	39	64	truth	truth	NOUN
app01-3923	39	65	.	.	PUNCT
app01-3923	40	1	for	for	ADP
app01-3923	40	2	this	this	DET
app01-3923	40	3	reason	reason	NOUN
app01-3923	40	4	,	,	PUNCT
app01-3923	40	5	we	we	PRON
app01-3923	40	6	are	be	AUX
app01-3923	40	7	proposing	propose	VERB
app01-3923	40	8	to	to	PART
app01-3923	40	9	use	use	VERB
app01-3923	40	10	the	the	DET
app01-3923	40	11	captured	capture	VERB
app01-3923	40	12	dataset	dataset	NOUN
app01-3923	40	13	and	and	CCONJ
app01-3923	40	14	process	process	VERB
app01-3923	40	15	it	it	PRON
app01-3923	40	16	with	with	ADP
app01-3923	40	17	a	a	DET
app01-3923	40	18	slam	slam	NOUN
app01-3923	40	19	system	system	NOUN
app01-3923	40	20	offline	offline	ADJ
app01-3923	40	21	frame	frame	NOUN
app01-3923	40	22	-	-	PUNCT
app01-3923	40	23	by	by	ADP
app01-3923	40	24	-	-	PUNCT
app01-3923	40	25	frame	frame	NOUN
app01-3923	40	26	with	with	ADP
app01-3923	40	27	special	special	ADJ
app01-3923	40	28	settings	setting	NOUN
app01-3923	40	29	of	of	ADP
app01-3923	40	30	parameters	parameter	NOUN
app01-3923	40	31	to	to	PART
app01-3923	40	32	minimize	minimize	VERB
app01-3923	40	33	the	the	DET
app01-3923	40	34	trajectory	trajectory	NOUN
app01-3923	40	35	error	error	NOUN
app01-3923	40	36	.	.	PUNCT
app01-3923	41	1	afterward	afterward	ADV
app01-3923	41	2	,	,	PUNCT
app01-3923	41	3	the	the	DET
app01-3923	41	4	resulting	result	VERB
app01-3923	41	5	trajectory	trajectory	NOUN
app01-3923	41	6	estimate	estimate	NOUN
app01-3923	41	7	can	can	AUX
app01-3923	41	8	be	be	AUX
app01-3923	41	9	used	use	VERB
app01-3923	41	10	as	as	ADP
app01-3923	41	11	a	a	DET
app01-3923	41	12	ground	ground	NOUN
app01-3923	41	13	truth	truth	NOUN
app01-3923	41	14	to	to	PART
app01-3923	41	15	compare	compare	VERB
app01-3923	41	16	to	to	ADP
app01-3923	41	17	the	the	DET
app01-3923	41	18	online	online	ADJ
app01-3923	41	19	generated	generate	VERB
app01-3923	41	20	trajectories	trajectory	NOUN
app01-3923	41	21	,	,	PUNCT
app01-3923	41	22	while	while	SCONJ
app01-3923	41	23	in	in	ADP
app01-3923	41	24	deployment	deployment	NOUN
app01-3923	41	25	scenarios	scenario	NOUN
app01-3923	41	26	we	we	PRON
app01-3923	41	27	are	be	AUX
app01-3923	41	28	interested	interested	ADJ
app01-3923	41	29	in	in	ADP
app01-3923	41	30	the	the	DET
app01-3923	41	31	online	online	ADJ
app01-3923	41	32	performance	performance	NOUN
app01-3923	41	33	of	of	ADP
app01-3923	41	34	slam	slam	NOUN
app01-3923	41	35	methods	method	NOUN
app01-3923	41	36	.	.	PUNCT
app01-3923	42	1	such	such	DET
app01-3923	42	2	an	an	DET
app01-3923	42	3	estimated	estimate	VERB
app01-3923	42	4	ground	ground	NOUN
app01-3923	42	5	truth	truth	NOUN
app01-3923	42	6	can	can	AUX
app01-3923	42	7	be	be	AUX
app01-3923	42	8	used	use	VERB
app01-3923	42	9	to	to	PART
app01-3923	42	10	compare	compare	VERB
app01-3923	42	11	different	different	ADJ
app01-3923	42	12	slam	slam	NOUN
app01-3923	42	13	methods	method	NOUN
app01-3923	42	14	or	or	CCONJ
app01-3923	42	15	to	to	PART
app01-3923	42	16	find	find	VERB
app01-3923	42	17	the	the	DET
app01-3923	42	18	best	good	ADJ
app01-3923	42	19	parametrization	parametrization	NOUN
app01-3923	42	20	for	for	ADP
app01-3923	42	21	the	the	DET
app01-3923	42	22	online	online	ADJ
app01-3923	42	23	slam	slam	NOUN
app01-3923	42	24	trajectory	trajectory	NOUN
app01-3923	42	25	estimation	estimation	NOUN
app01-3923	42	26	.	.	PUNCT
app01-3923	43	1	2.1	2.1	NUM
app01-3923	43	2	.	.	PUNCT
app01-3923	43	3	evaluation	evaluation	NOUN
app01-3923	43	4	metrics	metric	NOUN
app01-3923	43	5	the	the	DET
app01-3923	43	6	slam	slam	NOUN
app01-3923	43	7	algorithms	algorithm	NOUN
app01-3923	43	8	can	can	AUX
app01-3923	43	9	be	be	AUX
app01-3923	43	10	compared	compare	VERB
app01-3923	43	11	either	either	CCONJ
app01-3923	43	12	by	by	ADP
app01-3923	43	13	the	the	DET
app01-3923	43	14	quality	quality	NOUN
app01-3923	43	15	of	of	ADP
app01-3923	43	16	the	the	DET
app01-3923	43	17	generated	generate	VERB
app01-3923	43	18	map	map	NOUN
app01-3923	43	19	or	or	CCONJ
app01-3923	43	20	the	the	DET
app01-3923	43	21	accuracy	accuracy	NOUN
app01-3923	43	22	of	of	ADP
app01-3923	43	23	the	the	DET
app01-3923	43	24	estimated	estimate	VERB
app01-3923	43	25	trajectory	trajectory	NOUN
app01-3923	43	26	.	.	PUNCT
app01-3923	44	1	as	as	ADP
app01-3923	44	2	the	the	DET
app01-3923	44	3	evaluation	evaluation	NOUN
app01-3923	44	4	metrics	metric	NOUN
app01-3923	44	5	,	,	PUNCT
app01-3923	44	6	we	we	PRON
app01-3923	44	7	use	use	VERB
app01-3923	44	8	the	the	DET
app01-3923	44	9	established	establish	VERB
app01-3923	44	10	metrics	metric	NOUN
app01-3923	44	11	of	of	ADP
app01-3923	44	12	ate	ate	NOUN
app01-3923	44	13	(	(	PUNCT
app01-3923	44	14	absolute	absolute	ADJ
app01-3923	44	15	trajectory	trajectory	NOUN
app01-3923	44	16	error	error	NOUN
app01-3923	44	17	)	)	PUNCT
app01-3923	44	18	and	and	CCONJ
app01-3923	44	19	rpe	rpe	PROPN
app01-3923	44	20	(	(	PUNCT
app01-3923	44	21	relative	relative	ADJ
app01-3923	44	22	pose	pose	NOUN
app01-3923	44	23	error	error	NOUN
app01-3923	44	24	)	)	PUNCT
app01-3923	44	25	presented	present	VERB
app01-3923	44	26	in	in	ADP
app01-3923	44	27	[	[	X
app01-3923	44	28	2	2	NUM
app01-3923	44	29	]	]	PUNCT
app01-3923	44	30	.	.	PUNCT
app01-3923	45	1	ate	ate	NOUN
app01-3923	45	2	is	be	AUX
app01-3923	45	3	given	give	VERB
app01-3923	45	4	as	as	ADP
app01-3923	45	5	:	:	PUNCT
app01-3923	45	6	fi	fi	NOUN
app01-3923	46	1	=	=	SYM
app01-3923	46	2	q−1	q−1	PROPN
app01-3923	47	1	i	i	PRON
app01-3923	47	2	spi	spi	VERB
app01-3923	47	3	,	,	PUNCT
app01-3923	47	4	(	(	PUNCT
app01-3923	47	5	1	1	X
app01-3923	47	6	)	)	PUNCT
app01-3923	47	7	where	where	SCONJ
app01-3923	47	8	q−1	q−1	PROPN
app01-3923	47	9	i	i	PRON
app01-3923	47	10	is	be	AUX
app01-3923	47	11	transformation	transformation	NOUN
app01-3923	47	12	matrix	matrix	NOUN
app01-3923	47	13	,	,	PUNCT
app01-3923	47	14	which	which	PRON
app01-3923	47	15	maps	map	VERB
app01-3923	47	16	(	(	PUNCT
app01-3923	47	17	i	i	PRON
app01-3923	47	18	+	+	NOUN
app01-3923	47	19	1)th	1)th	NUM
app01-3923	47	20	point	point	NOUN
app01-3923	47	21	of	of	ADP
app01-3923	47	22	ground	ground	NOUN
app01-3923	47	23	truth	truth	NOUN
app01-3923	47	24	to	to	ADP
app01-3923	47	25	ith	ith	PROPN
app01-3923	47	26	point	point	NOUN
app01-3923	47	27	of	of	ADP
app01-3923	47	28	ground	ground	NOUN
app01-3923	47	29	truth	truth	NOUN
app01-3923	47	30	.	.	PUNCT
app01-3923	48	1	pi	pi	NOUN
app01-3923	48	2	is	be	AUX
app01-3923	48	3	a	a	DET
app01-3923	48	4	similar	similar	ADJ
app01-3923	48	5	matrix	matrix	NOUN
app01-3923	48	6	,	,	PUNCT
app01-3923	48	7	which	which	PRON
app01-3923	48	8	maps	map	VERB
app01-3923	48	9	ith	ith	NOUN
app01-3923	48	10	point	point	NOUN
app01-3923	48	11	of	of	ADP
app01-3923	48	12	the	the	DET
app01-3923	48	13	estimated	estimate	VERB
app01-3923	48	14	trajectory	trajectory	NOUN
app01-3923	48	15	to	to	ADP
app01-3923	48	16	the	the	DET
app01-3923	48	17	(	(	PUNCT
app01-3923	48	18	i	i	PRON
app01-3923	48	19	+	+	NOUN
app01-3923	48	20	1)th	1)th	NUM
app01-3923	48	21	point	point	NOUN
app01-3923	48	22	of	of	ADP
app01-3923	48	23	the	the	DET
app01-3923	48	24	trajectory	trajectory	NOUN
app01-3923	48	25	.	.	PUNCT
app01-3923	49	1	s	s	PART
app01-3923	49	2	is	be	AUX
app01-3923	49	3	a	a	DET
app01-3923	49	4	transformation	transformation	NOUN
app01-3923	49	5	matrix	matrix	NOUN
app01-3923	49	6	,	,	PUNCT
app01-3923	49	7	which	which	PRON
app01-3923	49	8	aligns	align	VERB
app01-3923	49	9	the	the	DET
app01-3923	49	10	estimated	estimate	VERB
app01-3923	49	11	trajectory	trajectory	NOUN
app01-3923	49	12	to	to	ADP
app01-3923	49	13	the	the	DET
app01-3923	49	14	ground	ground	NOUN
app01-3923	49	15	truth	truth	NOUN
app01-3923	49	16	.	.	PUNCT
app01-3923	50	1	ate	eat	VERB
app01-3923	50	2	measures	measure	NOUN
app01-3923	50	3	the	the	DET
app01-3923	50	4	absolute	absolute	ADJ
app01-3923	50	5	error	error	NOUN
app01-3923	50	6	of	of	ADP
app01-3923	50	7	all	all	DET
app01-3923	50	8	estimated	estimate	VERB
app01-3923	50	9	6	6	NUM
app01-3923	50	10	-	-	PUNCT
app01-3923	50	11	dof	dof	NOUN
app01-3923	50	12	positions	position	NOUN
app01-3923	50	13	,	,	PUNCT
app01-3923	50	14	which	which	PRON
app01-3923	50	15	means	mean	VERB
app01-3923	50	16	that	that	PRON
app01-3923	50	17	ate	eat	VERB
app01-3923	50	18	can	can	AUX
app01-3923	50	19	be	be	AUX
app01-3923	50	20	represented	represent	VERB
app01-3923	50	21	by	by	ADP
app01-3923	50	22	atet	atet	NOUN
app01-3923	50	23	and	and	CCONJ
app01-3923	50	24	ateφ	ateφ	ADJ
app01-3923	50	25	,	,	PUNCT
app01-3923	50	26	where	where	SCONJ
app01-3923	50	27	atet	atet	NOUN
app01-3923	50	28	are	be	AUX
app01-3923	50	29	euclidean	euclidean	ADJ
app01-3923	50	30	distances	distance	NOUN
app01-3923	50	31	between	between	ADP
app01-3923	50	32	estimated	estimate	VERB
app01-3923	50	33	poses	pose	NOUN
app01-3923	50	34	and	and	CCONJ
app01-3923	50	35	corresponding	corresponding	ADJ
app01-3923	50	36	ground	ground	NOUN
app01-3923	50	37	truth	truth	NOUN
app01-3923	50	38	positions	position	NOUN
app01-3923	50	39	and	and	CCONJ
app01-3923	50	40	ateφ	ateφ	ADV
app01-3923	50	41	is	be	AUX
app01-3923	50	42	the	the	DET
app01-3923	50	43	absolute	absolute	ADJ
app01-3923	50	44	error	error	NOUN
app01-3923	50	45	of	of	ADP
app01-3923	50	46	the	the	DET
app01-3923	50	47	estimated	estimate	VERB
app01-3923	50	48	orientations	orientation	NOUN
app01-3923	50	49	.	.	PUNCT
app01-3923	51	1	rpe	rpe	PROPN
app01-3923	51	2	measures	measure	VERB
app01-3923	51	3	the	the	DET
app01-3923	51	4	drift	drift	NOUN
app01-3923	51	5	of	of	ADP
app01-3923	51	6	the	the	DET
app01-3923	51	7	estimated	estimate	VERB
app01-3923	51	8	trajectory	trajectory	NOUN
app01-3923	51	9	(	(	PUNCT
app01-3923	51	10	error	error	NOUN
app01-3923	51	11	in	in	ADP
app01-3923	51	12	shape	shape	NOUN
app01-3923	51	13	of	of	ADP
app01-3923	51	14	the	the	DET
app01-3923	51	15	trajectory	trajectory	NOUN
app01-3923	51	16	estimate	estimate	NOUN
app01-3923	51	17	)	)	PUNCT
app01-3923	51	18	and	and	CCONJ
app01-3923	51	19	it	it	PRON
app01-3923	51	20	is	be	AUX
app01-3923	51	21	given	give	VERB
app01-3923	51	22	by	by	ADP
app01-3923	51	23	the	the	DET
app01-3923	51	24	equation	equation	NOUN
app01-3923	51	25	:	:	PUNCT
app01-3923	51	26	ei	ei	X
app01-3923	51	27	=	=	PUNCT
app01-3923	51	28	(	(	PUNCT
app01-3923	51	29	q−1	q−1	NUM
app01-3923	51	30	i	i	PRON
app01-3923	51	31	qi+∆)−1(p−1	qi+∆)−1(p−1	VERB
app01-3923	51	32	i	i	PRON
app01-3923	51	33	pi+∆	pi+∆	PROPN
app01-3923	51	34	)	)	PUNCT
app01-3923	51	35	,	,	PUNCT
app01-3923	51	36	(	(	PUNCT
app01-3923	51	37	2	2	X
app01-3923	51	38	)	)	PUNCT
app01-3923	51	39	where	where	SCONJ
app01-3923	51	40	∆	∆	PROPN
app01-3923	51	41	defines	define	VERB
app01-3923	51	42	a	a	DET
app01-3923	51	43	fixed	fix	VERB
app01-3923	51	44	frame	frame	NOUN
app01-3923	51	45	interval	interval	NOUN
app01-3923	51	46	.	.	PUNCT
app01-3923	52	1	we	we	PRON
app01-3923	52	2	used	use	VERB
app01-3923	52	3	∆	∆	PROPN
app01-3923	52	4	=	=	SYM
app01-3923	52	5	1	1	NUM
app01-3923	52	6	for	for	ADP
app01-3923	52	7	the	the	DET
app01-3923	52	8	evaluation	evaluation	NOUN
app01-3923	52	9	,	,	PUNCT
app01-3923	52	10	which	which	PRON
app01-3923	52	11	means	mean	VERB
app01-3923	52	12	that	that	SCONJ
app01-3923	52	13	rpe	rpe	PROPN
app01-3923	52	14	measures	measure	VERB
app01-3923	52	15	a	a	DET
app01-3923	52	16	drift	drift	NOUN
app01-3923	52	17	of	of	ADP
app01-3923	52	18	visual	visual	ADJ
app01-3923	52	19	odometry	odometry	NOUN
app01-3923	52	20	.	.	PUNCT
app01-3923	53	1	rpe	rpe	PROPN
app01-3923	53	2	can	can	AUX
app01-3923	53	3	be	be	AUX
app01-3923	53	4	also	also	ADV
app01-3923	53	5	represented	represent	VERB
app01-3923	53	6	by	by	ADP
app01-3923	53	7	rpet	rpet	NOUN
app01-3923	53	8	(	(	PUNCT
app01-3923	53	9	the	the	DET
app01-3923	53	10	relative	relative	ADJ
app01-3923	53	11	translational	translational	ADJ
app01-3923	53	12	error	error	NOUN
app01-3923	53	13	)	)	PUNCT
app01-3923	53	14	and	and	CCONJ
app01-3923	53	15	rpeφ	rpeφ	NOUN
app01-3923	53	16	(	(	PUNCT
app01-3923	53	17	the	the	DET
app01-3923	53	18	relative	relative	ADJ
app01-3923	53	19	rotational	rotational	ADJ
app01-3923	53	20	error	error	NOUN
app01-3923	53	21	)	)	PUNCT
app01-3923	53	22	.	.	PUNCT
app01-3923	54	1	3	3	X
app01-3923	54	2	.	.	X
app01-3923	54	3	evaluation	evaluation	NOUN
app01-3923	54	4	to	to	PART
app01-3923	54	5	test	test	VERB
app01-3923	54	6	our	our	PRON
app01-3923	54	7	hypothesis	hypothesis	NOUN
app01-3923	54	8	and	and	CCONJ
app01-3923	54	9	prove	prove	VERB
app01-3923	54	10	its	its	PRON
app01-3923	54	11	feasibility	feasibility	NOUN
app01-3923	54	12	we	we	PRON
app01-3923	54	13	designed	design	VERB
app01-3923	54	14	a	a	DET
app01-3923	54	15	practical	practical	ADJ
app01-3923	54	16	experiment	experiment	NOUN
app01-3923	54	17	where	where	SCONJ
app01-3923	54	18	we	we	PRON
app01-3923	54	19	evaluated	evaluate	VERB
app01-3923	54	20	the	the	DET
app01-3923	54	21	localization	localization	NOUN
app01-3923	54	22	accuracy	accuracy	NOUN
app01-3923	54	23	provided	provide	VERB
app01-3923	54	24	by	by	ADP
app01-3923	54	25	an	an	DET
app01-3923	54	26	offline	offline	ADJ
app01-3923	54	27	frame	frame	NOUN
app01-3923	54	28	-	-	PUNCT
app01-3923	54	29	byframe	byframe	NOUN
app01-3923	54	30	processing	processing	NOUN
app01-3923	54	31	of	of	ADP
app01-3923	54	32	a	a	DET
app01-3923	54	33	visual	visual	ADJ
app01-3923	54	34	slam	slam	NOUN
app01-3923	54	35	dataset	dataset	NOUN
app01-3923	54	36	captured	capture	VERB
app01-3923	54	37	by	by	ADP
app01-3923	54	38	a	a	DET
app01-3923	54	39	hexapod	hexapod	NOUN
app01-3923	54	40	robot	robot	NOUN
app01-3923	54	41	traversing	traverse	VERB
app01-3923	54	42	rough	rough	ADJ
app01-3923	54	43	terrain	terrain	NOUN
app01-3923	54	44	with	with	ADP
app01-3923	54	45	a	a	DET
app01-3923	54	46	ground	ground	NOUN
app01-3923	54	47	truth	truth	NOUN
app01-3923	54	48	provided	provide	VERB
app01-3923	54	49	by	by	ADP
app01-3923	54	50	an	an	DET
app01-3923	54	51	external	external	ADJ
app01-3923	54	52	localization	localization	NOUN
app01-3923	54	53	system	system	NOUN
app01-3923	54	54	.	.	PUNCT
app01-3923	55	1	in	in	ADP
app01-3923	55	2	particular	particular	ADJ
app01-3923	55	3	,	,	PUNCT
app01-3923	55	4	we	we	PRON
app01-3923	55	5	focused	focus	VERB
app01-3923	55	6	on	on	ADP
app01-3923	55	7	evaluation	evaluation	NOUN
app01-3923	55	8	with	with	ADP
app01-3923	55	9	the	the	DET
app01-3923	55	10	structured	structured	ADJ
app01-3923	55	11	light	light	ADJ
app01-3923	55	12	camera	camera	NOUN
app01-3923	55	13	and	and	CCONJ
app01-3923	55	14	rgb	rgb	PROPN
app01-3923	55	15	-	-	PROPN
app01-3923	55	16	d	d	PROPN
app01-3923	55	17	slam	slam	NOUN
app01-3923	55	18	algorithm	algorithm	NOUN
app01-3923	55	19	based	base	VERB
app01-3923	55	20	on	on	ADP
app01-3923	55	21	[	[	X
app01-3923	55	22	6	6	NUM
app01-3923	55	23	]	]	PUNCT
app01-3923	55	24	.	.	PUNCT
app01-3923	56	1	we	we	PRON
app01-3923	56	2	choose	choose	VERB
app01-3923	56	3	to	to	PART
app01-3923	56	4	use	use	VERB
app01-3923	56	5	the	the	DET
app01-3923	56	6	structured	structured	ADJ
app01-3923	56	7	light	light	ADJ
app01-3923	56	8	sensor	sensor	NOUN
app01-3923	56	9	because	because	SCONJ
app01-3923	56	10	it	it	PRON
app01-3923	56	11	is	be	AUX
app01-3923	56	12	inexpensive	inexpensive	ADJ
app01-3923	56	13	and	and	CCONJ
app01-3923	56	14	provide	provide	VERB
app01-3923	56	15	the	the	DET
app01-3923	56	16	slam	slam	NOUN
app01-3923	56	17	method	method	NOUN
app01-3923	56	18	with	with	ADP
app01-3923	56	19	a	a	DET
app01-3923	56	20	metric	metric	ADJ
app01-3923	56	21	information	information	NOUN
app01-3923	56	22	unlike	unlike	ADP
app01-3923	56	23	the	the	DET
app01-3923	56	24	stereo	stereo	NOUN
app01-3923	56	25	and	and	CCONJ
app01-3923	56	26	monocular	monocular	ADJ
app01-3923	56	27	slam	slam	NOUN
app01-3923	56	28	methods	method	NOUN
app01-3923	56	29	which	which	PRON
app01-3923	56	30	can	can	AUX
app01-3923	56	31	estimate	estimate	VERB
app01-3923	56	32	the	the	DET
app01-3923	56	33	trajectory	trajectory	NOUN
app01-3923	56	34	up	up	ADP
app01-3923	56	35	to	to	PART
app01-3923	56	36	scale	scale	VERB
app01-3923	56	37	.	.	PUNCT
app01-3923	57	1	for	for	ADP
app01-3923	57	2	the	the	DET
app01-3923	57	3	establishment	establishment	NOUN
app01-3923	57	4	of	of	ADP
app01-3923	57	5	a	a	DET
app01-3923	57	6	reliable	reliable	ADJ
app01-3923	57	7	ground	ground	NOUN
app01-3923	57	8	truth	truth	NOUN
app01-3923	57	9	,	,	PUNCT
app01-3923	57	10	we	we	PRON
app01-3923	57	11	used	use	VERB
app01-3923	57	12	motion	motion	NOUN
app01-3923	57	13	capture	capture	NOUN
app01-3923	57	14	system	system	NOUN
app01-3923	57	15	whycon	whycon	NOUN
app01-3923	58	1	[	[	X
app01-3923	58	2	7	7	X
app01-3923	58	3	]	]	PUNCT
app01-3923	58	4	which	which	PRON
app01-3923	58	5	tracks	track	VERB
app01-3923	58	6	the	the	DET
app01-3923	58	7	circular	circular	ADJ
app01-3923	58	8	markers	marker	NOUN
app01-3923	58	9	attached	attach	VERB
app01-3923	58	10	to	to	ADP
app01-3923	58	11	the	the	DET
app01-3923	58	12	robot	robot	NOUN
app01-3923	58	13	using	use	VERB
app01-3923	58	14	two	two	NUM
app01-3923	58	15	logitech	logitech	PROPN
app01-3923	58	16	hd	hd	NOUN
app01-3923	58	17	pro	pro	X
app01-3923	58	18	webcam	webcam	PROPN
app01-3923	58	19	c920	c920	PROPN
app01-3923	58	20	cameras	camera	NOUN
app01-3923	58	21	.	.	PUNCT
app01-3923	59	1	used	use	VERB
app01-3923	59	2	external	external	ADJ
app01-3923	59	3	localization	localization	NOUN
app01-3923	59	4	provided	provide	VERB
app01-3923	59	5	centimeter	centimeter	NOUN
app01-3923	59	6	-	-	PUNCT
app01-3923	59	7	level	level	NOUN
app01-3923	59	8	precision	precision	NOUN
app01-3923	59	9	ground	ground	NOUN
app01-3923	59	10	truth	truth	NOUN
app01-3923	59	11	.	.	PUNCT
app01-3923	60	1	we	we	PRON
app01-3923	60	2	used	use	VERB
app01-3923	60	3	the	the	DET
app01-3923	60	4	rgb	rgb	PROPN
app01-3923	60	5	-	-	PROPN
app01-3923	60	6	d	d	PROPN
app01-3923	60	7	camera	camera	NOUN
app01-3923	60	8	asus	asus	PROPN
app01-3923	60	9	xtion	xtion	PROPN
app01-3923	60	10	pro	pro	X
app01-3923	60	11	for	for	ADP
app01-3923	60	12	the	the	DET
app01-3923	60	13	visual	visual	ADJ
app01-3923	60	14	slam	slam	NOUN
app01-3923	60	15	,	,	PUNCT
app01-3923	60	16	which	which	PRON
app01-3923	60	17	acquires	acquire	VERB
app01-3923	60	18	a	a	DET
app01-3923	60	19	color	color	NOUN
app01-3923	60	20	image	image	NOUN
app01-3923	60	21	and	and	CCONJ
app01-3923	60	22	also	also	ADV
app01-3923	60	23	depth	depth	NOUN
app01-3923	60	24	measurements	measurement	NOUN
app01-3923	60	25	.	.	PUNCT
app01-3923	61	1	the	the	DET
app01-3923	61	2	experimental	experimental	ADJ
app01-3923	61	3	dataset	dataset	NOUN
app01-3923	61	4	captured	capture	VERB
app01-3923	61	5	using	use	VERB
app01-3923	61	6	the	the	DET
app01-3923	61	7	rgb	rgb	PROPN
app01-3923	61	8	-	-	PROPN
app01-3923	61	9	d	d	PROPN
app01-3923	61	10	camera	camera	NOUN
app01-3923	61	11	mounted	mount	VERB
app01-3923	61	12	on	on	ADP
app01-3923	61	13	a	a	DET
app01-3923	61	14	hexapod	hexapod	NOUN
app01-3923	61	15	walking	walk	VERB
app01-3923	61	16	platform	platform	NOUN
app01-3923	61	17	contains	contain	VERB
app01-3923	61	18	sequences	sequence	NOUN
app01-3923	61	19	of	of	ADP
app01-3923	61	20	rgb	rgb	PROPN
app01-3923	61	21	and	and	CCONJ
app01-3923	61	22	depth	depth	NOUN
app01-3923	61	23	images	image	NOUN
app01-3923	61	24	in	in	ADP
app01-3923	61	25	full	full	ADJ
app01-3923	61	26	asus	asus	NOUN
app01-3923	61	27	xtion	xtion	PROPN
app01-3923	61	28	pro	pro	ADJ
app01-3923	61	29	resolution	resolution	NOUN
app01-3923	61	30	640	640	NUM
app01-3923	61	31	×	×	NOUN
app01-3923	61	32	480	480	NUM
app01-3923	61	33	px	px	NOUN
app01-3923	61	34	at	at	ADP
app01-3923	61	35	10	10	NUM
app01-3923	61	36	frames	frame	NOUN
app01-3923	61	37	per	per	ADP
app01-3923	61	38	second	second	NOUN
app01-3923	61	39	.	.	PUNCT
app01-3923	62	1	the	the	DET
app01-3923	62	2	whole	whole	ADJ
app01-3923	62	3	dataset	dataset	NOUN
app01-3923	62	4	for	for	ADP
app01-3923	62	5	the	the	DET
app01-3923	62	6	evaluation	evaluation	NOUN
app01-3923	62	7	was	be	AUX
app01-3923	62	8	captured	capture	VERB
app01-3923	62	9	using	use	VERB
app01-3923	62	10	the	the	DET
app01-3923	62	11	ros	ros	PROPN
app01-3923	62	12	framework	framework	NOUN
app01-3923	63	1	[	[	X
app01-3923	63	2	9	9	NUM
app01-3923	63	3	]	]	SYM
app01-3923	63	4	.	.	PUNCT
app01-3923	64	1	3.1	3.1	NUM
app01-3923	64	2	.	.	PUNCT
app01-3923	65	1	rgb	rgb	PROPN
app01-3923	65	2	-	-	PROPN
app01-3923	65	3	d	d	PROPN
app01-3923	65	4	slam	slam	VERB
app01-3923	65	5	the	the	DET
app01-3923	65	6	considered	consider	VERB
app01-3923	65	7	rgb	rgb	PROPN
app01-3923	65	8	-	-	PUNCT
app01-3923	65	9	d	d	ADJ
app01-3923	65	10	slam	slam	NOUN
app01-3923	65	11	system	system	NOUN
app01-3923	65	12	is	be	AUX
app01-3923	65	13	based	base	VERB
app01-3923	65	14	on	on	ADP
app01-3923	65	15	[	[	X
app01-3923	65	16	6	6	NUM
app01-3923	65	17	]	]	PUNCT
app01-3923	65	18	and	and	CCONJ
app01-3923	65	19	it	it	PRON
app01-3923	65	20	operates	operate	VERB
app01-3923	65	21	as	as	SCONJ
app01-3923	65	22	follows	follow	VERB
app01-3923	65	23	.	.	PUNCT
app01-3923	66	1	first	first	ADJ
app01-3923	66	2	positions	position	NOUN
app01-3923	66	3	of	of	ADP
app01-3923	66	4	the	the	DET
app01-3923	66	5	salient	salient	NOUN
app01-3923	66	6	image	image	NOUN
app01-3923	66	7	features	feature	NOUN
app01-3923	66	8	are	be	AUX
app01-3923	66	9	extracted	extract	VERB
app01-3923	66	10	from	from	ADP
app01-3923	66	11	the	the	DET
app01-3923	66	12	rgb	rgb	PROPN
app01-3923	66	13	image	image	NOUN
app01-3923	66	14	supplemented	supplement	VERB
app01-3923	66	15	by	by	ADP
app01-3923	66	16	their	their	PRON
app01-3923	66	17	depth	depth	NOUN
app01-3923	66	18	provided	provide	VERB
app01-3923	66	19	by	by	ADP
app01-3923	66	20	the	the	DET
app01-3923	66	21	rgb	rgb	PROPN
app01-3923	66	22	-	-	PROPN
app01-3923	66	23	d	d	PROPN
app01-3923	66	24	sensor	sensor	NOUN
app01-3923	66	25	.	.	PUNCT
app01-3923	67	1	then	then	ADV
app01-3923	67	2	,	,	PUNCT
app01-3923	67	3	a	a	DET
app01-3923	67	4	rigid	rigid	ADJ
app01-3923	67	5	transformation	transformation	NOUN
app01-3923	67	6	is	be	AUX
app01-3923	67	7	found	find	VERB
app01-3923	67	8	2	2	NUM
app01-3923	67	9	vol	vol	NOUN
app01-3923	67	10	.	.	PUNCT
app01-3923	68	1	6/2016	6/2016	NUM
app01-3923	68	2	on	on	ADP
app01-3923	68	3	construction	construction	NOUN
app01-3923	68	4	of	of	ADP
app01-3923	68	5	a	a	DET
app01-3923	68	6	reliable	reliable	ADJ
app01-3923	68	7	ground	ground	NOUN
app01-3923	68	8	truth	truth	NOUN
app01-3923	68	9	frame	frame	NOUN
app01-3923	68	10	-	-	PUNCT
app01-3923	68	11	by	by	ADP
app01-3923	68	12	-	-	PUNCT
app01-3923	68	13	frame	frame	NOUN
app01-3923	68	14	processing	processing	NOUN
app01-3923	68	15	online	online	ADJ
app01-3923	68	16	processing	processing	NOUN
app01-3923	68	17	trial	trial	NOUN
app01-3923	68	18	atet	atet	NOUN
app01-3923	68	19	ateφ	ateφ	ADV
app01-3923	68	20	rpet	rpet	NOUN
app01-3923	68	21	rpeφ	rpeφ	NOUN
app01-3923	68	22	end	end	VERB
app01-3923	68	23	dist	dist	NOUN
app01-3923	68	24	.	.	PUNCT
app01-3923	69	1	atet	atet	NOUN
app01-3923	69	2	ateφ	ateφ	ADV
app01-3923	69	3	rpet	rpet	NOUN
app01-3923	69	4	rpeφ	rpeφ	NOUN
app01-3923	69	5	end	end	VERB
app01-3923	69	6	dist	dist	NOUN
app01-3923	69	7	.	.	PUNCT
app01-3923	70	1	[	[	X
app01-3923	70	2	cm	cm	X
app01-3923	70	3	]	]	X
app01-3923	71	1	[	[	X
app01-3923	71	2	rad	rad	X
app01-3923	71	3	]	]	X
app01-3923	72	1	[	[	X
app01-3923	72	2	cm	cm	X
app01-3923	72	3	]	]	X
app01-3923	73	1	[	[	X
app01-3923	73	2	rad	rad	X
app01-3923	73	3	]	]	X
app01-3923	74	1	[	[	X
app01-3923	74	2	cm	cm	X
app01-3923	74	3	]	]	X
app01-3923	75	1	[	[	X
app01-3923	75	2	cm	cm	X
app01-3923	75	3	]	]	X
app01-3923	76	1	[	[	X
app01-3923	76	2	rad	rad	X
app01-3923	76	3	]	]	X
app01-3923	77	1	[	[	X
app01-3923	77	2	cm	cm	X
app01-3923	77	3	]	]	X
app01-3923	78	1	[	[	X
app01-3923	78	2	rad	rad	X
app01-3923	78	3	]	]	X
app01-3923	79	1	[	[	X
app01-3923	79	2	cm	cm	X
app01-3923	79	3	]	]	X
app01-3923	79	4	no	no	NOUN
app01-3923	79	5	.	.	NOUN
app01-3923	79	6	1	1	NUM
app01-3923	79	7	4.00	4.00	NUM
app01-3923	79	8	–	–	PUNCT
app01-3923	79	9	0.92	0.92	NUM
app01-3923	79	10	–	–	PUNCT
app01-3923	79	11	7.11	7.11	NUM
app01-3923	79	12	9.60	9.60	NUM
app01-3923	79	13	–	–	PUNCT
app01-3923	79	14	1.13	1.13	NUM
app01-3923	79	15	–	–	PUNCT
app01-3923	79	16	3.5	3.5	NUM
app01-3923	79	17	no	no	NOUN
app01-3923	79	18	.	.	NOUN
app01-3923	79	19	2	2	NUM
app01-3923	79	20	4.32	4.32	NUM
app01-3923	79	21	–	–	PUNCT
app01-3923	79	22	0.54	0.54	NUM
app01-3923	79	23	–	–	PUNCT
app01-3923	79	24	12.54	12.54	NUM
app01-3923	79	25	8.13	8.13	NUM
app01-3923	79	26	–	–	PUNCT
app01-3923	79	27	0.56	0.56	NUM
app01-3923	79	28	–	–	PUNCT
app01-3923	79	29	8.93	8.93	NUM
app01-3923	79	30	no	no	NOUN
app01-3923	79	31	.	.	PROPN
app01-3923	79	32	3	3	NUM
app01-3923	79	33	3.68	3.68	NUM
app01-3923	79	34	–	–	PUNCT
app01-3923	79	35	0.40	0.40	NUM
app01-3923	79	36	–	–	PUNCT
app01-3923	79	37	5.21	5.21	NUM
app01-3923	79	38	22.02	22.02	NUM
app01-3923	79	39	–	–	PUNCT
app01-3923	79	40	0.87	0.87	NUM
app01-3923	79	41	–	–	PUNCT
app01-3923	79	42	33.15	33.15	NUM
app01-3923	79	43	no	no	NOUN
app01-3923	80	1	.	.	NOUN
app01-3923	81	1	4	4	NUM
app01-3923	81	2	9.97	9.97	NUM
app01-3923	81	3	0.08	0.08	NUM
app01-3923	81	4	1.21	1.21	NUM
app01-3923	81	5	0.01	0.01	NUM
app01-3923	81	6	9.13	9.13	NUM
app01-3923	81	7	12.50	12.50	NUM
app01-3923	81	8	0.09	0.09	NUM
app01-3923	81	9	1.31	1.31	NUM
app01-3923	81	10	0.01	0.01	NUM
app01-3923	81	11	7.12	7.12	NUM
app01-3923	81	12	no	no	NOUN
app01-3923	81	13	.	.	NOUN
app01-3923	81	14	5	5	NUM
app01-3923	81	15	11.44	11.44	NUM
app01-3923	81	16	0.06	0.06	NUM
app01-3923	81	17	0.80	0.80	NUM
app01-3923	81	18	0.01	0.01	NUM
app01-3923	81	19	15.96	15.96	NUM
app01-3923	81	20	15.64	15.64	NUM
app01-3923	81	21	0.06	0.06	NUM
app01-3923	81	22	0.94	0.94	NUM
app01-3923	81	23	0.02	0.02	NUM
app01-3923	81	24	27.55	27.55	NUM
app01-3923	81	25	table	table	NOUN
app01-3923	81	26	1	1	NUM
app01-3923	81	27	.	.	PUNCT
app01-3923	81	28	trajectory	trajectory	NOUN
app01-3923	81	29	estimation	estimation	NOUN
app01-3923	81	30	results	result	VERB
app01-3923	81	31	y	y	PROPN
app01-3923	81	32	[	[	X
app01-3923	81	33	m	m	X
app01-3923	81	34	]	]	X
app01-3923	81	35	ground	ground	NOUN
app01-3923	81	36	-	-	PUNCT
app01-3923	81	37	truth	truth	NOUN
app01-3923	81	38	and	and	CCONJ
app01-3923	81	39	rgb	rgb	PROPN
app01-3923	81	40	-	-	PROPN
app01-3923	81	41	d	d	PROPN
app01-3923	81	42	slam	slam	NOUN
app01-3923	81	43	trajectories	trajectory	NOUN
app01-3923	81	44	1	1	NUM
app01-3923	81	45	0.5	0.5	NUM
app01-3923	81	46	0	0	NUM
app01-3923	81	47	-0.5	-0.5	NUM
app01-3923	81	48	-12	-12	PUNCT
app01-3923	81	49	x	x	PUNCT
app01-3923	82	1	[	[	X
app01-3923	82	2	m	m	X
app01-3923	82	3	]	]	X
app01-3923	82	4	1	1	NUM
app01-3923	82	5	0	0	NUM
app01-3923	82	6	1.5	1.5	NUM
app01-3923	82	7	-1	-1	SYM
app01-3923	82	8	-0.5	-0.5	X
app01-3923	82	9	0	0	NUM
app01-3923	82	10	0.5	0.5	NUM
app01-3923	82	11	1	1	NUM
app01-3923	82	12	z	z	NOUN
app01-3923	82	13	[	[	PUNCT
app01-3923	82	14	m	m	NOUN
app01-3923	82	15	]	]	X
app01-3923	82	16	ground	ground	NOUN
app01-3923	82	17	-	-	PUNCT
app01-3923	82	18	truth	truth	NOUN
app01-3923	82	19	rgb	rgb	PROPN
app01-3923	82	20	-	-	PROPN
app01-3923	82	21	d	d	PROPN
app01-3923	82	22	slam	slam	NOUN
app01-3923	82	23	(	(	PUNCT
app01-3923	82	24	a	a	NOUN
app01-3923	82	25	)	)	PUNCT
app01-3923	82	26	.	.	PUNCT
app01-3923	83	1	no.3	no.3	VERB
app01-3923	83	2	y	y	PROPN
app01-3923	84	1	[	[	X
app01-3923	84	2	m	m	X
app01-3923	84	3	]	]	X
app01-3923	84	4	ground	ground	NOUN
app01-3923	84	5	-	-	PUNCT
app01-3923	84	6	truth	truth	NOUN
app01-3923	84	7	and	and	CCONJ
app01-3923	84	8	rgb	rgb	PROPN
app01-3923	84	9	-	-	PROPN
app01-3923	84	10	d	d	PROPN
app01-3923	84	11	slam	slam	NOUN
app01-3923	84	12	trajectories	trajectory	NOUN
app01-3923	84	13	1	1	NUM
app01-3923	84	14	0.5	0.5	NUM
app01-3923	84	15	0	0	NUM
app01-3923	84	16	-0.5	-0.5	NUM
app01-3923	84	17	-12	-12	PUNCT
app01-3923	84	18	x	x	PUNCT
app01-3923	85	1	[	[	X
app01-3923	85	2	m	m	X
app01-3923	85	3	]	]	X
app01-3923	85	4	1	1	NUM
app01-3923	85	5	0	0	NUM
app01-3923	85	6	0.5	0.5	NUM
app01-3923	85	7	-0.5	-0.5	NOUN
app01-3923	85	8	0	0	NUM
app01-3923	85	9	1	1	NUM
app01-3923	85	10	z	z	NOUN
app01-3923	85	11	[	[	PUNCT
app01-3923	85	12	m	m	NOUN
app01-3923	85	13	]	]	X
app01-3923	85	14	ground	ground	NOUN
app01-3923	85	15	-	-	PUNCT
app01-3923	85	16	truth	truth	NOUN
app01-3923	85	17	rgb	rgb	PROPN
app01-3923	85	18	-	-	PROPN
app01-3923	85	19	d	d	PROPN
app01-3923	85	20	slam	slam	NOUN
app01-3923	85	21	(	(	PUNCT
app01-3923	85	22	b	b	NOUN
app01-3923	85	23	)	)	PUNCT
app01-3923	85	24	.	.	PUNCT
app01-3923	86	1	no.4	no.4	PROPN
app01-3923	86	2	y	y	PROPN
app01-3923	86	3	[	[	X
app01-3923	86	4	m	m	X
app01-3923	86	5	]	]	X
app01-3923	86	6	ground	ground	NOUN
app01-3923	86	7	-	-	PUNCT
app01-3923	86	8	truth	truth	NOUN
app01-3923	86	9	and	and	CCONJ
app01-3923	86	10	rgb	rgb	PROPN
app01-3923	86	11	-	-	PROPN
app01-3923	86	12	d	d	PROPN
app01-3923	86	13	slam	slam	NOUN
app01-3923	86	14	trajectories	trajectory	NOUN
app01-3923	86	15	1	1	NUM
app01-3923	86	16	0	0	NUM
app01-3923	86	17	-1	-1	SYM
app01-3923	86	18	2	2	NUM
app01-3923	86	19	x	x	SYM
app01-3923	87	1	[	[	X
app01-3923	87	2	m	m	X
app01-3923	87	3	]	]	X
app01-3923	87	4	1	1	NUM
app01-3923	87	5	0	0	NUM
app01-3923	87	6	1.5	1.5	NUM
app01-3923	87	7	1	1	NUM
app01-3923	87	8	-1	-1	SYM
app01-3923	87	9	0.5	0.5	NUM
app01-3923	87	10	0	0	NUM
app01-3923	87	11	-0.5	-0.5	NUM
app01-3923	87	12	z	z	PROPN
app01-3923	87	13	[	[	PUNCT
app01-3923	87	14	m	m	NOUN
app01-3923	87	15	]	]	X
app01-3923	87	16	ground	ground	NOUN
app01-3923	87	17	-	-	PUNCT
app01-3923	87	18	truth	truth	NOUN
app01-3923	87	19	rgb	rgb	PROPN
app01-3923	87	20	-	-	PROPN
app01-3923	87	21	d	d	PROPN
app01-3923	87	22	slam	slam	NOUN
app01-3923	87	23	(	(	PUNCT
app01-3923	87	24	c	c	NOUN
app01-3923	87	25	)	)	PUNCT
app01-3923	87	26	.	.	PUNCT
app01-3923	88	1	no.5	no.5	PROPN
app01-3923	88	2	figure	figure	VERB
app01-3923	88	3	2	2	NUM
app01-3923	88	4	.	.	PUNCT
app01-3923	88	5	trajectory	trajectory	NOUN
app01-3923	88	6	estimation	estimation	NOUN
app01-3923	88	7	results	result	NOUN
app01-3923	88	8	.	.	PUNCT
app01-3923	89	1	using	use	VERB
app01-3923	89	2	the	the	DET
app01-3923	89	3	ransac	ransac	NOUN
app01-3923	89	4	[	[	X
app01-3923	89	5	10	10	NUM
app01-3923	89	6	]	]	X
app01-3923	89	7	algorithm	algorithm	NOUN
app01-3923	89	8	between	between	ADP
app01-3923	89	9	the	the	DET
app01-3923	89	10	currently	currently	ADV
app01-3923	89	11	processed	process	VERB
app01-3923	89	12	frame	frame	NOUN
app01-3923	89	13	and	and	CCONJ
app01-3923	89	14	a	a	DET
app01-3923	89	15	subset	subset	NOUN
app01-3923	89	16	of	of	ADP
app01-3923	89	17	already	already	ADV
app01-3923	89	18	mapped	map	VERB
app01-3923	89	19	frames	frame	NOUN
app01-3923	89	20	.	.	PUNCT
app01-3923	90	1	this	this	DET
app01-3923	90	2	subset	subset	NOUN
app01-3923	90	3	consists	consist	VERB
app01-3923	90	4	of	of	ADP
app01-3923	90	5	np	np	INTJ
app01-3923	90	6	directly	directly	ADV
app01-3923	90	7	preceding	precede	VERB
app01-3923	90	8	frames	frame	NOUN
app01-3923	90	9	,	,	PUNCT
app01-3923	90	10	ng	ng	PROPN
app01-3923	90	11	graph	graph	NOUN
app01-3923	90	12	neighboring	neighboring	NOUN
app01-3923	90	13	frames	frame	NOUN
app01-3923	90	14	and	and	CCONJ
app01-3923	90	15	nr	nr	PRON
app01-3923	90	16	random	random	ADJ
app01-3923	90	17	frames	frame	NOUN
app01-3923	90	18	from	from	ADP
app01-3923	90	19	the	the	DET
app01-3923	90	20	whole	whole	ADJ
app01-3923	90	21	map	map	NOUN
app01-3923	90	22	which	which	PRON
app01-3923	90	23	serves	serve	VERB
app01-3923	90	24	to	to	PART
app01-3923	90	25	detect	detect	VERB
app01-3923	90	26	large	large	ADJ
app01-3923	90	27	loop	loop	NOUN
app01-3923	90	28	closures	closure	NOUN
app01-3923	90	29	.	.	PUNCT
app01-3923	91	1	the	the	DET
app01-3923	91	2	estimated	estimate	VERB
app01-3923	91	3	pose	pose	NOUN
app01-3923	91	4	is	be	AUX
app01-3923	91	5	then	then	ADV
app01-3923	91	6	added	add	VERB
app01-3923	91	7	to	to	ADP
app01-3923	91	8	the	the	DET
app01-3923	91	9	map	map	NOUN
app01-3923	91	10	(	(	PUNCT
app01-3923	91	11	pose	pose	NOUN
app01-3923	91	12	graph	graph	NOUN
app01-3923	91	13	)	)	PUNCT
app01-3923	91	14	and	and	CCONJ
app01-3923	91	15	refined	refined	ADJ
app01-3923	91	16	using	use	VERB
app01-3923	91	17	the	the	DET
app01-3923	91	18	g2o	g2o	PROPN
app01-3923	91	19	graph	graph	NOUN
app01-3923	91	20	optimizing	optimize	VERB
app01-3923	91	21	algorithm	algorithm	NOUN
app01-3923	91	22	[	[	X
app01-3923	91	23	11	11	NUM
app01-3923	91	24	]	]	PUNCT
app01-3923	91	25	.	.	PUNCT
app01-3923	92	1	the	the	DET
app01-3923	92	2	optimization	optimization	NOUN
app01-3923	92	3	is	be	AUX
app01-3923	92	4	especially	especially	ADV
app01-3923	92	5	beneficial	beneficial	ADJ
app01-3923	92	6	in	in	ADP
app01-3923	92	7	case	case	NOUN
app01-3923	92	8	of	of	ADP
app01-3923	92	9	large	large	ADJ
app01-3923	92	10	loop	loop	NOUN
app01-3923	92	11	closures	closure	NOUN
app01-3923	92	12	when	when	SCONJ
app01-3923	92	13	the	the	DET
app01-3923	92	14	whole	whole	ADJ
app01-3923	92	15	trajectory	trajectory	NOUN
app01-3923	92	16	estimate	estimate	NOUN
app01-3923	92	17	is	be	AUX
app01-3923	92	18	improved	improve	VERB
app01-3923	92	19	.	.	PUNCT
app01-3923	93	1	3.2	3.2	NUM
app01-3923	93	2	.	.	PUNCT
app01-3923	94	1	experimental	experimental	ADJ
app01-3923	94	2	setup	setup	NOUN
app01-3923	94	3	experimental	experimental	ADJ
app01-3923	94	4	environment	environment	NOUN
app01-3923	94	5	(	(	PUNCT
app01-3923	94	6	see	see	VERB
app01-3923	94	7	fig	fig	NOUN
app01-3923	94	8	.	.	PUNCT
app01-3923	95	1	1	1	NUM
app01-3923	95	2	)	)	PUNCT
app01-3923	95	3	that	that	PRON
app01-3923	95	4	has	have	AUX
app01-3923	95	5	been	be	AUX
app01-3923	95	6	used	use	VERB
app01-3923	95	7	for	for	ADP
app01-3923	95	8	capturing	capturing	NOUN
app01-3923	95	9	of	of	ADP
app01-3923	95	10	the	the	DET
app01-3923	95	11	dataset	dataset	NOUN
app01-3923	95	12	consists	consist	VERB
app01-3923	95	13	of	of	ADP
app01-3923	95	14	a	a	DET
app01-3923	95	15	plane	plane	NOUN
app01-3923	95	16	,	,	PUNCT
app01-3923	95	17	low	low	ADJ
app01-3923	95	18	stairs	stair	NOUN
app01-3923	95	19	,	,	PUNCT
app01-3923	95	20	ramp	ramp	NOUN
app01-3923	95	21	,	,	PUNCT
app01-3923	95	22	and	and	CCONJ
app01-3923	95	23	square	square	NOUN
app01-3923	95	24	filled	fill	VERB
app01-3923	95	25	with	with	ADP
app01-3923	95	26	wooden	wooden	ADJ
app01-3923	95	27	blocks	block	NOUN
app01-3923	95	28	of	of	ADP
app01-3923	95	29	different	different	ADJ
app01-3923	95	30	heights	height	NOUN
app01-3923	95	31	.	.	PUNCT
app01-3923	96	1	the	the	DET
app01-3923	96	2	dataset	dataset	NOUN
app01-3923	96	3	has	have	AUX
app01-3923	96	4	been	be	AUX
app01-3923	96	5	captured	capture	VERB
app01-3923	96	6	by	by	ADP
app01-3923	96	7	a	a	DET
app01-3923	96	8	hexapod	hexapod	NOUN
app01-3923	96	9	walking	walking	NOUN
app01-3923	96	10	robot	robot	NOUN
app01-3923	96	11	equipped	equip	VERB
app01-3923	96	12	with	with	ADP
app01-3923	96	13	adaptive	adaptive	ADJ
app01-3923	96	14	motion	motion	NOUN
app01-3923	96	15	gait	gait	NOUN
app01-3923	97	1	[	[	X
app01-3923	97	2	12	12	NUM
app01-3923	97	3	]	]	PUNCT
app01-3923	97	4	which	which	PRON
app01-3923	97	5	enables	enable	VERB
app01-3923	97	6	the	the	DET
app01-3923	97	7	robot	robot	NOUN
app01-3923	97	8	to	to	PART
app01-3923	97	9	traverse	traverse	VERB
app01-3923	97	10	difficult	difficult	ADJ
app01-3923	97	11	obstacles	obstacle	NOUN
app01-3923	97	12	.	.	PUNCT
app01-3923	98	1	the	the	DET
app01-3923	98	2	robot	robot	NOUN
app01-3923	98	3	was	be	AUX
app01-3923	98	4	guided	guide	VERB
app01-3923	98	5	by	by	ADP
app01-3923	98	6	an	an	DET
app01-3923	98	7	operator	operator	NOUN
app01-3923	98	8	along	along	ADP
app01-3923	98	9	the	the	DET
app01-3923	98	10	squared	squared	ADJ
app01-3923	98	11	path	path	NOUN
app01-3923	98	12	of	of	ADP
app01-3923	98	13	approx	approx	PROPN
app01-3923	98	14	.	.	PUNCT
app01-3923	99	1	9	9	NUM
app01-3923	99	2	m	m	NOUN
app01-3923	99	3	length	length	NOUN
app01-3923	99	4	.	.	PUNCT
app01-3923	100	1	our	our	PRON
app01-3923	100	2	experimental	experimental	ADJ
app01-3923	100	3	environment	environment	NOUN
app01-3923	100	4	has	have	AUX
app01-3923	100	5	been	be	AUX
app01-3923	100	6	designed	design	VERB
app01-3923	100	7	to	to	PART
app01-3923	100	8	represent	represent	VERB
app01-3923	100	9	some	some	DET
app01-3923	100	10	basic	basic	ADJ
app01-3923	100	11	problems	problem	NOUN
app01-3923	100	12	,	,	PUNCT
app01-3923	100	13	which	which	PRON
app01-3923	100	14	can	can	AUX
app01-3923	100	15	slam	slam	VERB
app01-3923	100	16	method	method	NOUN
app01-3923	100	17	face	face	NOUN
app01-3923	100	18	.	.	PUNCT
app01-3923	101	1	these	these	PRON
app01-3923	101	2	include	include	VERB
app01-3923	101	3	high	high	ADJ
app01-3923	101	4	speed	speed	NOUN
app01-3923	101	5	of	of	ADP
app01-3923	101	6	rotation	rotation	NOUN
app01-3923	101	7	at	at	ADP
app01-3923	101	8	the	the	DET
app01-3923	101	9	corners	corner	NOUN
app01-3923	101	10	of	of	ADP
app01-3923	101	11	the	the	DET
app01-3923	101	12	trajectory	trajectory	NOUN
app01-3923	101	13	,	,	PUNCT
app01-3923	101	14	which	which	PRON
app01-3923	101	15	affects	affect	VERB
app01-3923	101	16	the	the	DET
app01-3923	101	17	precision	precision	NOUN
app01-3923	101	18	of	of	ADP
app01-3923	101	19	rotation	rotation	NOUN
app01-3923	101	20	estimation	estimation	NOUN
app01-3923	101	21	.	.	PUNCT
app01-3923	102	1	the	the	DET
app01-3923	102	2	stairs	stair	NOUN
app01-3923	102	3	and	and	CCONJ
app01-3923	102	4	wooden	wooden	ADJ
app01-3923	102	5	blocks	block	NOUN
app01-3923	102	6	parts	part	NOUN
app01-3923	102	7	of	of	ADP
app01-3923	102	8	the	the	DET
app01-3923	102	9	trajectory	trajectory	NOUN
app01-3923	102	10	force	force	NOUN
app01-3923	102	11	angular	angular	ADJ
app01-3923	102	12	rotations	rotation	NOUN
app01-3923	102	13	along	along	ADP
app01-3923	102	14	the	the	DET
app01-3923	102	15	geometrical	geometrical	ADJ
app01-3923	102	16	axis	axis	NOUN
app01-3923	102	17	and	and	CCONJ
app01-3923	102	18	the	the	DET
app01-3923	102	19	descending	descend	VERB
app01-3923	102	20	ramp	ramp	NOUN
app01-3923	102	21	force	force	NOUN
app01-3923	102	22	the	the	DET
app01-3923	102	23	slam	slam	NOUN
app01-3923	102	24	method	method	NOUN
app01-3923	102	25	to	to	PART
app01-3923	102	26	deal	deal	VERB
app01-3923	102	27	with	with	ADP
app01-3923	102	28	the	the	DET
app01-3923	102	29	limited	limited	ADJ
app01-3923	102	30	number	number	NOUN
app01-3923	102	31	of	of	ADP
app01-3923	102	32	image	image	NOUN
app01-3923	102	33	features	feature	NOUN
app01-3923	102	34	.	.	PUNCT
app01-3923	103	1	moreover	moreover	ADV
app01-3923	103	2	,	,	PUNCT
app01-3923	103	3	the	the	DET
app01-3923	103	4	locomotion	locomotion	NOUN
app01-3923	103	5	of	of	ADP
app01-3923	103	6	the	the	DET
app01-3923	103	7	hexapod	hexapod	NOUN
app01-3923	103	8	robot	robot	NOUN
app01-3923	103	9	induces	induce	VERB
app01-3923	103	10	unpredictable	unpredictable	ADJ
app01-3923	103	11	and	and	CCONJ
app01-3923	103	12	abrupt	abrupt	ADJ
app01-3923	103	13	camera	camera	NOUN
app01-3923	103	14	motions	motion	NOUN
app01-3923	103	15	during	during	ADP
app01-3923	103	16	the	the	DET
app01-3923	103	17	whole	whole	ADJ
app01-3923	103	18	trajectory	trajectory	NOUN
app01-3923	103	19	.	.	PUNCT
app01-3923	104	1	3.3	3.3	NUM
app01-3923	104	2	.	.	PUNCT
app01-3923	105	1	results	result	NOUN
app01-3923	105	2	altogether	altogether	ADV
app01-3923	105	3	5	5	NUM
app01-3923	105	4	trajectories	trajectory	NOUN
app01-3923	105	5	were	be	AUX
app01-3923	105	6	captured	capture	VERB
app01-3923	105	7	and	and	CCONJ
app01-3923	105	8	analyzed	analyze	VERB
app01-3923	105	9	in	in	ADP
app01-3923	105	10	order	order	NOUN
app01-3923	105	11	to	to	PART
app01-3923	105	12	test	test	VERB
app01-3923	105	13	our	our	PRON
app01-3923	105	14	hypothesis	hypothesis	NOUN
app01-3923	105	15	.	.	PUNCT
app01-3923	106	1	ground	ground	NOUN
app01-3923	106	2	truth	truth	NOUN
app01-3923	106	3	for	for	ADP
app01-3923	106	4	the	the	DET
app01-3923	106	5	first	first	ADJ
app01-3923	106	6	three	three	NUM
app01-3923	106	7	trajectories	trajectory	NOUN
app01-3923	106	8	;	;	PUNCT
app01-3923	106	9	however	however	ADV
app01-3923	106	10	,	,	PUNCT
app01-3923	106	11	does	do	AUX
app01-3923	106	12	not	not	PART
app01-3923	106	13	contain	contain	VERB
app01-3923	106	14	information	information	NOUN
app01-3923	106	15	about	about	ADP
app01-3923	106	16	the	the	DET
app01-3923	106	17	heading	heading	NOUN
app01-3923	106	18	of	of	ADP
app01-3923	106	19	the	the	DET
app01-3923	106	20	robot	robot	NOUN
app01-3923	106	21	,	,	PUNCT
app01-3923	106	22	and	and	CCONJ
app01-3923	106	23	thus	thus	ADV
app01-3923	106	24	only	only	ADJ
app01-3923	106	25	translational	translational	ADJ
app01-3923	106	26	component	component	NOUN
app01-3923	106	27	of	of	ADP
app01-3923	106	28	the	the	DET
app01-3923	106	29	ate	ate	NOUN
app01-3923	106	30	and	and	CCONJ
app01-3923	106	31	rpe	rpe	PROPN
app01-3923	106	32	can	can	AUX
app01-3923	106	33	be	be	AUX
app01-3923	106	34	verified	verify	VERB
app01-3923	106	35	.	.	PUNCT
app01-3923	107	1	the	the	DET
app01-3923	107	2	considered	consider	VERB
app01-3923	107	3	rgb	rgb	PROPN
app01-3923	107	4	-	-	PUNCT
app01-3923	107	5	d	d	ADJ
app01-3923	107	6	slam	slam	NOUN
app01-3923	107	7	parametrization	parametrization	NOUN
app01-3923	107	8	for	for	ADP
app01-3923	107	9	the	the	DET
app01-3923	107	10	frame	frame	NOUN
app01-3923	107	11	-	-	PUNCT
app01-3923	107	12	by	by	ADP
app01-3923	107	13	-	-	PUNCT
app01-3923	107	14	frame	frame	NOUN
app01-3923	107	15	dataset	dataset	NOUN
app01-3923	107	16	processing	processing	NOUN
app01-3923	107	17	has	have	AUX
app01-3923	107	18	been	be	AUX
app01-3923	107	19	the	the	DET
app01-3923	107	20	surf	surf	NOUN
app01-3923	107	21	[	[	X
app01-3923	107	22	13	13	NUM
app01-3923	107	23	]	]	PUNCT
app01-3923	107	24	feature	feature	NOUN
app01-3923	107	25	extractor	extractor	NOUN
app01-3923	107	26	detecting	detect	VERB
app01-3923	107	27	600	600	NUM
app01-3923	107	28	features	feature	NOUN
app01-3923	107	29	and	and	CCONJ
app01-3923	107	30	keeping	keep	VERB
app01-3923	107	31	400	400	NUM
app01-3923	107	32	best	good	ADJ
app01-3923	107	33	matches	match	NOUN
app01-3923	107	34	with	with	ADP
app01-3923	107	35	a	a	DET
app01-3923	107	36	very	very	ADV
app01-3923	107	37	long	long	ADJ
app01-3923	107	38	comparison	comparison	NOUN
app01-3923	107	39	horizon	horizon	NOUN
app01-3923	107	40	of	of	ADP
app01-3923	107	41	np	np	NOUN
app01-3923	107	42	=	=	SYM
app01-3923	107	43	16	16	NUM
app01-3923	107	44	,	,	PUNCT
app01-3923	107	45	ng	ng	PROPN
app01-3923	107	46	=	=	SYM
app01-3923	107	47	4	4	NUM
app01-3923	107	48	and	and	CCONJ
app01-3923	107	49	nr	nr	PRON
app01-3923	107	50	=	=	NOUN
app01-3923	107	51	1	1	X
app01-3923	107	52	.	.	NOUN
app01-3923	107	53	ransac	ransac	NOUN
app01-3923	107	54	stopping	stopping	NOUN
app01-3923	107	55	criteria	criterion	NOUN
app01-3923	107	56	have	have	AUX
app01-3923	107	57	been	be	AUX
app01-3923	107	58	set	set	VERB
app01-3923	107	59	to	to	ADP
app01-3923	107	60	85	85	NUM
app01-3923	107	61	%	%	NOUN
app01-3923	107	62	of	of	ADP
app01-3923	107	63	inliers	inlier	NOUN
app01-3923	107	64	and	and	CCONJ
app01-3923	107	65	1000	1000	NUM
app01-3923	107	66	iterations	iteration	NOUN
app01-3923	107	67	considering	consider	VERB
app01-3923	107	68	point	point	NOUN
app01-3923	107	69	an	an	DET
app01-3923	107	70	inlier	inlier	NOUN
app01-3923	107	71	if	if	SCONJ
app01-3923	107	72	it	it	PRON
app01-3923	107	73	is	be	AUX
app01-3923	107	74	not	not	PART
app01-3923	107	75	outside	outside	ADP
app01-3923	107	76	the	the	DET
app01-3923	107	77	range	range	NOUN
app01-3923	107	78	of	of	ADP
app01-3923	107	79	3	3	NUM
app01-3923	107	80	pixels	pixel	NOUN
app01-3923	107	81	.	.	PUNCT
app01-3923	108	1	optimization	optimization	NOUN
app01-3923	108	2	precision	precision	NOUN
app01-3923	108	3	has	have	AUX
app01-3923	108	4	been	be	AUX
app01-3923	108	5	set	set	VERB
app01-3923	108	6	to	to	ADP
app01-3923	108	7	the	the	DET
app01-3923	108	8	best	good	ADJ
app01-3923	108	9	values	value	NOUN
app01-3923	108	10	optimizing	optimize	VERB
app01-3923	108	11	each	each	DET
app01-3923	108	12	individual	individual	ADJ
app01-3923	108	13	frame	frame	NOUN
app01-3923	108	14	.	.	PUNCT
app01-3923	109	1	such	such	DET
app01-3923	109	2	a	a	DET
app01-3923	109	3	processing	processing	NOUN
app01-3923	109	4	took	take	VERB
app01-3923	109	5	more	more	ADJ
app01-3923	109	6	than	than	ADP
app01-3923	109	7	4	4	NUM
app01-3923	109	8	hours	hour	NOUN
app01-3923	109	9	per	per	ADP
app01-3923	109	10	one	one	NUM
app01-3923	109	11	trajectory	trajectory	NOUN
app01-3923	109	12	on	on	ADP
app01-3923	109	13	intel	intel	PROPN
app01-3923	109	14	core	core	PROPN
app01-3923	109	15	i5	i5	PROPN
app01-3923	109	16	machine	machine	NOUN
app01-3923	109	17	.	.	PUNCT
app01-3923	110	1	to	to	PART
app01-3923	110	2	show	show	VERB
app01-3923	110	3	the	the	DET
app01-3923	110	4	feasibility	feasibility	NOUN
app01-3923	110	5	of	of	ADP
app01-3923	110	6	our	our	PRON
app01-3923	110	7	approach	approach	NOUN
app01-3923	110	8	we	we	PRON
app01-3923	110	9	processed	process	VERB
app01-3923	110	10	the	the	DET
app01-3923	110	11	dataset	dataset	NOUN
app01-3923	110	12	online	online	ADV
app01-3923	110	13	as	as	ADV
app01-3923	110	14	well	well	ADV
app01-3923	110	15	.	.	PUNCT
app01-3923	111	1	the	the	DET
app01-3923	111	2	parametrization	parametrization	NOUN
app01-3923	111	3	for	for	ADP
app01-3923	111	4	the	the	DET
app01-3923	111	5	online	online	ADJ
app01-3923	111	6	processing	processing	NOUN
app01-3923	111	7	has	have	AUX
app01-3923	111	8	been	be	AUX
app01-3923	111	9	the	the	DET
app01-3923	111	10	surf	surf	NOUN
app01-3923	111	11	feature	feature	NOUN
app01-3923	111	12	extractor	extractor	NOUN
app01-3923	111	13	detecting	detect	VERB
app01-3923	111	14	400	400	NUM
app01-3923	111	15	features	feature	NOUN
app01-3923	111	16	and	and	CCONJ
app01-3923	111	17	keeping	keep	VERB
app01-3923	111	18	250	250	NUM
app01-3923	111	19	of	of	ADP
app01-3923	111	20	them	they	PRON
app01-3923	111	21	,	,	PUNCT
app01-3923	111	22	np	np	ADP
app01-3923	111	23	=	=	SYM
app01-3923	111	24	3	3	NUM
app01-3923	111	25	,	,	PUNCT
app01-3923	111	26	ng	ng	PROPN
app01-3923	111	27	=	=	SYM
app01-3923	111	28	3	3	NUM
app01-3923	111	29	and	and	CCONJ
app01-3923	111	30	nr	nr	PRON
app01-3923	111	31	=	=	NOUN
app01-3923	111	32	1	1	NUM
app01-3923	111	33	with	with	ADP
app01-3923	111	34	500	500	NUM
app01-3923	111	35	ransac	ransac	NOUN
app01-3923	111	36	iterations	iteration	NOUN
app01-3923	111	37	and	and	CCONJ
app01-3923	111	38	optimization	optimization	NOUN
app01-3923	111	39	after	after	ADP
app01-3923	111	40	every	every	DET
app01-3923	111	41	10	10	NUM
app01-3923	111	42	frames	frame	NOUN
app01-3923	111	43	.	.	PUNCT
app01-3923	112	1	such	such	DET
app01-3923	112	2	a	a	DET
app01-3923	112	3	processing	processing	NOUN
app01-3923	112	4	achieves	achieve	VERB
app01-3923	112	5	an	an	DET
app01-3923	112	6	online	online	ADJ
app01-3923	112	7	performance	performance	NOUN
app01-3923	112	8	of	of	ADP
app01-3923	112	9	average	average	ADJ
app01-3923	112	10	5.2	5.2	NUM
app01-3923	112	11	frames	frame	NOUN
app01-3923	112	12	per	per	ADP
app01-3923	112	13	second	second	NOUN
app01-3923	112	14	on	on	ADP
app01-3923	112	15	the	the	DET
app01-3923	112	16	same	same	ADJ
app01-3923	112	17	evaluation	evaluation	NOUN
app01-3923	112	18	hardware	hardware	NOUN
app01-3923	112	19	.	.	PUNCT
app01-3923	113	1	the	the	DET
app01-3923	113	2	results	result	NOUN
app01-3923	113	3	are	be	AUX
app01-3923	113	4	summarized	summarize	VERB
app01-3923	113	5	in	in	ADP
app01-3923	113	6	table	table	NOUN
app01-3923	113	7	1	1	NUM
app01-3923	113	8	.	.	PUNCT
app01-3923	113	9	resulting	result	VERB
app01-3923	113	10	trajectories	trajectory	NOUN
app01-3923	113	11	for	for	ADP
app01-3923	113	12	trials	trial	NOUN
app01-3923	114	1	no	no	NOUN
app01-3923	114	2	.	.	NOUN
app01-3923	115	1	3	3	NUM
app01-3923	115	2	,	,	PUNCT
app01-3923	115	3	no	no	INTJ
app01-3923	115	4	.	.	NOUN
app01-3923	115	5	4	4	NUM
app01-3923	115	6	and	and	CCONJ
app01-3923	115	7	no	no	INTJ
app01-3923	115	8	.	.	NOUN
app01-3923	115	9	5	5	NUM
app01-3923	115	10	are	be	AUX
app01-3923	115	11	depicted	depict	VERB
app01-3923	115	12	in	in	ADP
app01-3923	115	13	figure	figure	NOUN
app01-3923	115	14	2	2	NUM
app01-3923	115	15	.	.	SYM
app01-3923	115	16	3	3	NUM
app01-3923	115	17	j.	j.	PROPN
app01-3923	115	18	bayer	bayer	PROPN
app01-3923	115	19	,	,	PUNCT
app01-3923	115	20	p.	p.	PROPN
app01-3923	115	21	čížek	čížek	PROPN
app01-3923	115	22	,	,	PUNCT
app01-3923	115	23	j.	j.	PROPN
app01-3923	115	24	faigl	faigl	PROPN
app01-3923	115	25	acta	acta	PROPN
app01-3923	115	26	polytechnica	polytechnica	PROPN
app01-3923	115	27	ctu	ctu	NOUN
app01-3923	115	28	proceedings	proceeding	NOUN
app01-3923	115	29	3.4	3.4	NUM
app01-3923	115	30	.	.	PUNCT
app01-3923	116	1	discussion	discussion	NOUN
app01-3923	116	2	table	table	NOUN
app01-3923	116	3	1	1	NUM
app01-3923	116	4	indicates	indicate	VERB
app01-3923	116	5	that	that	SCONJ
app01-3923	116	6	an	an	DET
app01-3923	116	7	average	average	ADJ
app01-3923	116	8	atet	atet	NOUN
app01-3923	116	9	,	,	PUNCT
app01-3923	116	10	when	when	SCONJ
app01-3923	116	11	using	use	VERB
app01-3923	116	12	frame	frame	NOUN
app01-3923	116	13	-	-	PUNCT
app01-3923	116	14	by	by	ADP
app01-3923	116	15	-	-	PUNCT
app01-3923	116	16	frame	frame	NOUN
app01-3923	116	17	processing	processing	NOUN
app01-3923	116	18	,	,	PUNCT
app01-3923	116	19	is	be	AUX
app01-3923	116	20	about	about	ADV
app01-3923	116	21	1	1	NUM
app01-3923	116	22	%	%	NOUN
app01-3923	116	23	of	of	ADP
app01-3923	116	24	the	the	DET
app01-3923	116	25	trajectory	trajectory	NOUN
app01-3923	116	26	length	length	NOUN
app01-3923	116	27	and	and	CCONJ
app01-3923	116	28	the	the	DET
app01-3923	116	29	average	average	ADJ
app01-3923	116	30	rpet	rpet	NOUN
app01-3923	116	31	is	be	AUX
app01-3923	116	32	under	under	ADP
app01-3923	116	33	1	1	NUM
app01-3923	116	34	cm	cm	NOUN
app01-3923	116	35	.	.	PUNCT
app01-3923	117	1	notice	notice	VERB
app01-3923	117	2	the	the	DET
app01-3923	117	3	atet	atet	NOUN
app01-3923	117	4	and	and	CCONJ
app01-3923	117	5	rpet	rpet	NOUN
app01-3923	117	6	values	value	NOUN
app01-3923	117	7	are	be	AUX
app01-3923	117	8	always	always	ADV
app01-3923	117	9	higher	high	ADJ
app01-3923	117	10	for	for	ADP
app01-3923	117	11	the	the	DET
app01-3923	117	12	online	online	ADJ
app01-3923	117	13	processing	processing	NOUN
app01-3923	117	14	results	result	NOUN
app01-3923	117	15	.	.	PUNCT
app01-3923	118	1	on	on	ADP
app01-3923	118	2	the	the	DET
app01-3923	118	3	other	other	ADJ
app01-3923	118	4	hand	hand	NOUN
app01-3923	118	5	,	,	PUNCT
app01-3923	118	6	differences	difference	NOUN
app01-3923	118	7	in	in	ADP
app01-3923	118	8	the	the	DET
app01-3923	118	9	ateφ	ateφ	ADJ
app01-3923	118	10	and	and	CCONJ
app01-3923	118	11	rpeφ	rpeφ	NOUN
app01-3923	118	12	are	be	AUX
app01-3923	118	13	neglectable	neglectable	ADJ
app01-3923	118	14	although	although	SCONJ
app01-3923	118	15	the	the	DET
app01-3923	118	16	slight	slight	ADJ
app01-3923	118	17	imperfections	imperfection	NOUN
app01-3923	118	18	in	in	ADP
app01-3923	118	19	the	the	DET
app01-3923	118	20	orientation	orientation	NOUN
app01-3923	118	21	estimation	estimation	NOUN
app01-3923	118	22	are	be	AUX
app01-3923	118	23	the	the	DET
app01-3923	118	24	most	most	ADV
app01-3923	118	25	influencing	influence	VERB
app01-3923	118	26	factor	factor	NOUN
app01-3923	118	27	in	in	ADP
app01-3923	118	28	the	the	DET
app01-3923	118	29	accuracy	accuracy	NOUN
app01-3923	118	30	of	of	ADP
app01-3923	118	31	the	the	DET
app01-3923	118	32	localization	localization	NOUN
app01-3923	118	33	[	[	X
app01-3923	118	34	14	14	NUM
app01-3923	118	35	]	]	PUNCT
app01-3923	118	36	.	.	PUNCT
app01-3923	119	1	the	the	DET
app01-3923	119	2	results	result	NOUN
app01-3923	119	3	also	also	ADV
app01-3923	119	4	indicate	indicate	VERB
app01-3923	119	5	that	that	SCONJ
app01-3923	119	6	the	the	DET
app01-3923	119	7	frame	frame	NOUN
app01-3923	119	8	-	-	PUNCT
app01-3923	119	9	by	by	ADP
app01-3923	119	10	-	-	PUNCT
app01-3923	119	11	frame	frame	NOUN
app01-3923	119	12	processing	processing	NOUN
app01-3923	119	13	provides	provide	VERB
app01-3923	119	14	the	the	DET
app01-3923	119	15	best	good	ADJ
app01-3923	119	16	result	result	NOUN
app01-3923	119	17	obtainable	obtainable	ADJ
app01-3923	119	18	by	by	ADP
app01-3923	119	19	a	a	DET
app01-3923	119	20	given	give	VERB
app01-3923	119	21	slam	slam	NOUN
app01-3923	119	22	method	method	NOUN
app01-3923	119	23	.	.	PUNCT
app01-3923	120	1	thus	thus	ADV
app01-3923	120	2	,	,	PUNCT
app01-3923	120	3	it	it	PRON
app01-3923	120	4	is	be	AUX
app01-3923	120	5	possible	possible	ADJ
app01-3923	120	6	to	to	PART
app01-3923	120	7	use	use	VERB
app01-3923	120	8	the	the	DET
app01-3923	120	9	estimated	estimate	VERB
app01-3923	120	10	ground	ground	NOUN
app01-3923	120	11	truth	truth	NOUN
app01-3923	120	12	for	for	ADP
app01-3923	120	13	the	the	DET
app01-3923	120	14	evaluation	evaluation	NOUN
app01-3923	120	15	of	of	ADP
app01-3923	120	16	the	the	DET
app01-3923	120	17	online	online	ADJ
app01-3923	120	18	versions	version	NOUN
app01-3923	120	19	of	of	ADP
app01-3923	120	20	the	the	DET
app01-3923	120	21	same	same	ADJ
app01-3923	120	22	algorithm	algorithm	NOUN
app01-3923	120	23	to	to	PART
app01-3923	120	24	find	find	VERB
app01-3923	120	25	the	the	DET
app01-3923	120	26	best	good	ADJ
app01-3923	120	27	parametrization	parametrization	NOUN
app01-3923	120	28	which	which	PRON
app01-3923	120	29	is	be	AUX
app01-3923	120	30	deployable	deployable	ADJ
app01-3923	120	31	online	online	ADJ
app01-3923	120	32	onboard	onboard	NOUN
app01-3923	120	33	of	of	ADP
app01-3923	120	34	the	the	DET
app01-3923	120	35	mobile	mobile	NOUN
app01-3923	120	36	robot	robot	NOUN
app01-3923	120	37	.	.	PUNCT
app01-3923	121	1	note	note	NOUN
app01-3923	121	2	,	,	PUNCT
app01-3923	121	3	the	the	DET
app01-3923	121	4	resulting	result	VERB
app01-3923	121	5	localization	localization	NOUN
app01-3923	121	6	accuracy	accuracy	NOUN
app01-3923	121	7	is	be	AUX
app01-3923	121	8	also	also	ADV
app01-3923	121	9	greatly	greatly	ADV
app01-3923	121	10	influenced	influence	VERB
app01-3923	121	11	by	by	ADP
app01-3923	121	12	the	the	DET
app01-3923	121	13	loop	loop	NOUN
app01-3923	121	14	closure	closure	NOUN
app01-3923	121	15	in	in	ADP
app01-3923	121	16	case	case	NOUN
app01-3923	121	17	the	the	DET
app01-3923	121	18	robot	robot	NOUN
app01-3923	121	19	visits	visit	VERB
app01-3923	121	20	previously	previously	ADV
app01-3923	121	21	mapped	map	VERB
app01-3923	121	22	location	location	NOUN
app01-3923	121	23	.	.	PUNCT
app01-3923	122	1	if	if	SCONJ
app01-3923	122	2	there	there	PRON
app01-3923	122	3	is	be	VERB
app01-3923	122	4	no	no	DET
app01-3923	122	5	loop	loop	NOUN
app01-3923	122	6	closure	closure	NOUN
app01-3923	122	7	,	,	PUNCT
app01-3923	122	8	then	then	ADV
app01-3923	122	9	the	the	DET
app01-3923	122	10	trajectory	trajectory	NOUN
app01-3923	122	11	estimate	estimate	NOUN
app01-3923	122	12	is	be	AUX
app01-3923	122	13	given	give	VERB
app01-3923	122	14	as	as	ADP
app01-3923	122	15	the	the	DET
app01-3923	122	16	visual	visual	ADJ
app01-3923	122	17	odometry	odometry	NOUN
app01-3923	122	18	only	only	ADV
app01-3923	122	19	,	,	PUNCT
app01-3923	122	20	which	which	DET
app01-3923	122	21	error	error	NOUN
app01-3923	122	22	is	be	AUX
app01-3923	122	23	asymptotically	asymptotically	ADV
app01-3923	122	24	unbound	unbound	ADJ
app01-3923	122	25	.	.	PUNCT
app01-3923	123	1	in	in	ADP
app01-3923	123	2	case	case	NOUN
app01-3923	123	3	the	the	DET
app01-3923	123	4	loop	loop	NOUN
app01-3923	123	5	closure	closure	NOUN
app01-3923	123	6	is	be	AUX
app01-3923	123	7	detected	detect	VERB
app01-3923	123	8	,	,	PUNCT
app01-3923	123	9	the	the	DET
app01-3923	123	10	optimization	optimization	NOUN
app01-3923	123	11	process	process	NOUN
app01-3923	123	12	corrects	correct	VERB
app01-3923	123	13	the	the	DET
app01-3923	123	14	pose	pose	NOUN
app01-3923	123	15	estimates	estimate	NOUN
app01-3923	123	16	along	along	ADP
app01-3923	123	17	the	the	DET
app01-3923	123	18	whole	whole	ADJ
app01-3923	123	19	trajectory	trajectory	NOUN
app01-3923	123	20	.	.	PUNCT
app01-3923	124	1	the	the	DET
app01-3923	124	2	phenomenon	phenomenon	NOUN
app01-3923	124	3	is	be	AUX
app01-3923	124	4	illustrated	illustrate	VERB
app01-3923	124	5	in	in	ADP
app01-3923	124	6	figure	figure	NOUN
app01-3923	124	7	2c	2c	NOUN
app01-3923	124	8	,	,	PUNCT
app01-3923	124	9	where	where	SCONJ
app01-3923	124	10	the	the	DET
app01-3923	124	11	loop	loop	NOUN
app01-3923	124	12	did	do	AUX
app01-3923	124	13	not	not	PART
app01-3923	124	14	close	close	VERB
app01-3923	124	15	;	;	PUNCT
app01-3923	124	16	thus	thus	ADV
app01-3923	124	17	,	,	PUNCT
app01-3923	124	18	the	the	DET
app01-3923	124	19	trajectory	trajectory	NOUN
app01-3923	124	20	estimate	estimate	NOUN
app01-3923	124	21	exhibits	exhibit	VERB
app01-3923	124	22	higher	high	ADJ
app01-3923	124	23	error	error	NOUN
app01-3923	124	24	in	in	ADP
app01-3923	124	25	the	the	DET
app01-3923	124	26	end	end	NOUN
app01-3923	124	27	part	part	NOUN
app01-3923	124	28	of	of	ADP
app01-3923	124	29	the	the	DET
app01-3923	124	30	trajectory	trajectory	NOUN
app01-3923	124	31	,	,	PUNCT
app01-3923	124	32	and	and	CCONJ
app01-3923	124	33	figure	figure	VERB
app01-3923	124	34	3	3	NUM
app01-3923	124	35	which	which	PRON
app01-3923	124	36	presents	present	VERB
app01-3923	124	37	the	the	DET
app01-3923	124	38	results	result	NOUN
app01-3923	124	39	of	of	ADP
app01-3923	124	40	the	the	DET
app01-3923	124	41	frame	frame	NOUN
app01-3923	124	42	-	-	PUNCT
app01-3923	124	43	by	by	ADP
app01-3923	124	44	-	-	PUNCT
app01-3923	124	45	frame	frame	NOUN
app01-3923	124	46	processing	processing	NOUN
app01-3923	124	47	of	of	ADP
app01-3923	124	48	the	the	DET
app01-3923	124	49	same	same	ADJ
app01-3923	124	50	trajectory	trajectory	NOUN
app01-3923	124	51	with	with	ADP
app01-3923	124	52	open	open	ADJ
app01-3923	124	53	-	-	PUNCT
app01-3923	124	54	loop	loop	NOUN
app01-3923	124	55	enabled	enable	VERB
app01-3923	124	56	and	and	CCONJ
app01-3923	124	57	disabled	disabled	ADJ
app01-3923	124	58	.	.	PUNCT
app01-3923	125	1	the	the	DET
app01-3923	125	2	results	result	NOUN
app01-3923	125	3	for	for	ADP
app01-3923	125	4	the	the	DET
app01-3923	125	5	closed	closed	ADJ
app01-3923	125	6	-	-	PUNCT
app01-3923	125	7	loop	loop	NOUN
app01-3923	125	8	trajectory	trajectory	NOUN
app01-3923	125	9	are	be	AUX
app01-3923	125	10	atet	atet	NOUN
app01-3923	125	11	=	=	NOUN
app01-3923	125	12	4.19	4.19	NUM
app01-3923	125	13	cm	cm	NOUN
app01-3923	125	14	,	,	PUNCT
app01-3923	125	15	rpet	rpet	NOUN
app01-3923	125	16	=	=	PROPN
app01-3923	125	17	0.94	0.94	NUM
app01-3923	125	18	rad·10−2	rad·10−2	NOUN
app01-3923	125	19	and	and	CCONJ
app01-3923	125	20	end	end	VERB
app01-3923	125	21	dist	dist	NOUN
app01-3923	125	22	=	=	PUNCT
app01-3923	125	23	7.33	7.33	NUM
app01-3923	125	24	cm	cm	NOUN
app01-3923	125	25	,	,	PUNCT
app01-3923	125	26	while	while	SCONJ
app01-3923	125	27	for	for	ADP
app01-3923	125	28	the	the	DET
app01-3923	125	29	open	open	ADJ
app01-3923	125	30	-	-	PUNCT
app01-3923	125	31	loop	loop	NOUN
app01-3923	125	32	trajectory	trajectory	NOUN
app01-3923	125	33	are	be	AUX
app01-3923	125	34	atet	atet	NOUN
app01-3923	125	35	=	=	NOUN
app01-3923	125	36	8.72	8.72	NUM
app01-3923	125	37	cm	cm	NOUN
app01-3923	125	38	,	,	PUNCT
app01-3923	125	39	rpet	rpet	NOUN
app01-3923	125	40	=	=	NOUN
app01-3923	125	41	0.96	0.96	NUM
app01-3923	125	42	rad·10−2	rad·10−2	NOUN
app01-3923	125	43	and	and	CCONJ
app01-3923	125	44	end	end	VERB
app01-3923	125	45	dist	dist	NOUN
app01-3923	125	46	=	=	PUNCT
app01-3923	125	47	13.73	13.73	NUM
app01-3923	125	48	cm	cm	NOUN
app01-3923	125	49	.	.	PUNCT
app01-3923	126	1	although	although	SCONJ
app01-3923	126	2	the	the	DET
app01-3923	126	3	drift	drift	NOUN
app01-3923	126	4	of	of	ADP
app01-3923	126	5	the	the	DET
app01-3923	126	6	visual	visual	ADJ
app01-3923	126	7	odometry	odometry	NOUN
app01-3923	126	8	represented	represent	VERB
app01-3923	126	9	by	by	ADP
app01-3923	126	10	the	the	DET
app01-3923	126	11	rpet	rpet	NOUN
app01-3923	126	12	is	be	AUX
app01-3923	126	13	similar	similar	ADJ
app01-3923	126	14	in	in	ADP
app01-3923	126	15	both	both	DET
app01-3923	126	16	cases	case	NOUN
app01-3923	126	17	,	,	PUNCT
app01-3923	126	18	the	the	DET
app01-3923	126	19	resulting	result	VERB
app01-3923	126	20	end	end	NOUN
app01-3923	126	21	distance	distance	NOUN
app01-3923	126	22	and	and	CCONJ
app01-3923	126	23	absolute	absolute	ADJ
app01-3923	126	24	trajectory	trajectory	NOUN
app01-3923	126	25	error	error	NOUN
app01-3923	126	26	are	be	AUX
app01-3923	126	27	higher	high	ADJ
app01-3923	126	28	when	when	SCONJ
app01-3923	126	29	the	the	DET
app01-3923	126	30	open	open	ADJ
app01-3923	126	31	-	-	PUNCT
app01-3923	126	32	loop	loop	NOUN
app01-3923	126	33	scenario	scenario	NOUN
app01-3923	126	34	is	be	AUX
app01-3923	126	35	considered	consider	VERB
app01-3923	126	36	.	.	PUNCT
app01-3923	127	1	thus	thus	ADV
app01-3923	127	2	,	,	PUNCT
app01-3923	127	3	we	we	PRON
app01-3923	127	4	recommend	recommend	VERB
app01-3923	127	5	designing	design	VERB
app01-3923	127	6	the	the	DET
app01-3923	127	7	experimental	experimental	ADJ
app01-3923	127	8	trajectory	trajectory	NOUN
app01-3923	127	9	to	to	PART
app01-3923	127	10	exploit	exploit	VERB
app01-3923	127	11	the	the	DET
app01-3923	127	12	loop	loop	NOUN
app01-3923	127	13	closures	closure	NOUN
app01-3923	127	14	to	to	PART
app01-3923	127	15	obtain	obtain	VERB
app01-3923	127	16	a	a	DET
app01-3923	127	17	better	well	ADJ
app01-3923	127	18	ground	ground	NOUN
app01-3923	127	19	truth	truth	NOUN
app01-3923	127	20	estimate	estimate	NOUN
app01-3923	127	21	.	.	PUNCT
app01-3923	128	1	note	note	VERB
app01-3923	128	2	the	the	DET
app01-3923	128	3	prerequisite	prerequisite	NOUN
app01-3923	128	4	of	of	ADP
app01-3923	128	5	our	our	PRON
app01-3923	128	6	method	method	NOUN
app01-3923	128	7	is	be	AUX
app01-3923	128	8	that	that	SCONJ
app01-3923	128	9	there	there	PRON
app01-3923	128	10	are	be	VERB
app01-3923	128	11	no	no	DET
app01-3923	128	12	systematic	systematic	ADJ
app01-3923	128	13	errors	error	NOUN
app01-3923	128	14	,	,	PUNCT
app01-3923	128	15	which	which	PRON
app01-3923	128	16	can	can	AUX
app01-3923	128	17	significantly	significantly	ADV
app01-3923	128	18	decrease	decrease	VERB
app01-3923	128	19	the	the	DET
app01-3923	128	20	precision	precision	NOUN
app01-3923	128	21	of	of	ADP
app01-3923	128	22	ground	ground	NOUN
app01-3923	128	23	truth	truth	NOUN
app01-3923	128	24	estimate	estimate	NOUN
app01-3923	128	25	.	.	PUNCT
app01-3923	129	1	to	to	PART
app01-3923	129	2	avoid	avoid	VERB
app01-3923	129	3	systematic	systematic	ADJ
app01-3923	129	4	errors	error	NOUN
app01-3923	129	5	we	we	PRON
app01-3923	129	6	recommend	recommend	VERB
app01-3923	129	7	to	to	PART
app01-3923	129	8	use	use	VERB
app01-3923	129	9	a	a	DET
app01-3923	129	10	special	special	ADJ
app01-3923	129	11	shape	shape	NOUN
app01-3923	129	12	of	of	ADP
app01-3923	129	13	the	the	DET
app01-3923	129	14	robot	robot	NOUN
app01-3923	129	15	’s	’s	PART
app01-3923	129	16	path	path	NOUN
app01-3923	129	17	,	,	PUNCT
app01-3923	129	18	e.g.	e.g.	ADV
app01-3923	129	19	,	,	PUNCT
app01-3923	129	20	square	square	ADJ
app01-3923	129	21	.	.	PUNCT
app01-3923	130	1	4	4	X
app01-3923	130	2	.	.	X
app01-3923	130	3	conclusion	conclusion	NOUN
app01-3923	130	4	in	in	ADP
app01-3923	130	5	this	this	DET
app01-3923	130	6	paper	paper	NOUN
app01-3923	130	7	,	,	PUNCT
app01-3923	130	8	we	we	PRON
app01-3923	130	9	have	have	AUX
app01-3923	130	10	studied	study	VERB
app01-3923	130	11	the	the	DET
app01-3923	130	12	problem	problem	NOUN
app01-3923	130	13	of	of	ADP
app01-3923	130	14	the	the	DET
app01-3923	130	15	localization	localization	NOUN
app01-3923	130	16	accuracy	accuracy	NOUN
app01-3923	130	17	assessment	assessment	NOUN
app01-3923	130	18	in	in	ADP
app01-3923	130	19	a	a	DET
app01-3923	130	20	slam	slam	NOUN
app01-3923	130	21	task	task	NOUN
app01-3923	130	22	whenever	whenever	SCONJ
app01-3923	130	23	a	a	DET
app01-3923	130	24	reliable	reliable	ADJ
app01-3923	130	25	ground	ground	NOUN
app01-3923	130	26	truth	truth	NOUN
app01-3923	130	27	provided	provide	VERB
app01-3923	130	28	by	by	ADP
app01-3923	130	29	an	an	DET
app01-3923	130	30	external	external	ADJ
app01-3923	130	31	localization	localization	NOUN
app01-3923	130	32	system	system	NOUN
app01-3923	130	33	is	be	AUX
app01-3923	130	34	not	not	PART
app01-3923	130	35	available	available	ADJ
app01-3923	130	36	.	.	PUNCT
app01-3923	131	1	we	we	PRON
app01-3923	131	2	have	have	AUX
app01-3923	131	3	proposed	propose	VERB
app01-3923	131	4	to	to	PART
app01-3923	131	5	use	use	VERB
app01-3923	131	6	frame	frame	NOUN
app01-3923	131	7	-	-	PUNCT
app01-3923	131	8	by	by	ADP
app01-3923	131	9	-	-	PUNCT
app01-3923	131	10	frame	frame	NOUN
app01-3923	131	11	processing	processing	NOUN
app01-3923	131	12	of	of	ADP
app01-3923	131	13	the	the	DET
app01-3923	131	14	captured	capture	VERB
app01-3923	131	15	dataset	dataset	NOUN
app01-3923	131	16	to	to	PART
app01-3923	131	17	obtain	obtain	VERB
app01-3923	131	18	a	a	DET
app01-3923	131	19	sufficiently	sufficiently	ADV
app01-3923	131	20	reliable	reliable	ADJ
app01-3923	131	21	ground	ground	NOUN
app01-3923	131	22	truth	truth	NOUN
app01-3923	131	23	for	for	ADP
app01-3923	131	24	the	the	DET
app01-3923	131	25	quantitative	quantitative	ADJ
app01-3923	131	26	evaluation	evaluation	NOUN
app01-3923	131	27	of	of	ADP
app01-3923	131	28	the	the	DET
app01-3923	131	29	online	online	ADJ
app01-3923	131	30	slam	slam	NOUN
app01-3923	131	31	systems	system	NOUN
app01-3923	131	32	.	.	PUNCT
app01-3923	132	1	the	the	DET
app01-3923	132	2	estimated	estimate	VERB
app01-3923	132	3	ground	ground	NOUN
app01-3923	132	4	truth	truth	NOUN
app01-3923	132	5	is	be	AUX
app01-3923	132	6	then	then	ADV
app01-3923	132	7	suitable	suitable	ADJ
app01-3923	132	8	for	for	ADP
app01-3923	132	9	the	the	DET
app01-3923	132	10	comparison	comparison	NOUN
app01-3923	132	11	of	of	ADP
app01-3923	132	12	different	different	ADJ
app01-3923	132	13	slam	slam	NOUN
app01-3923	132	14	methods	method	NOUN
app01-3923	132	15	or	or	CCONJ
app01-3923	132	16	determination	determination	NOUN
app01-3923	132	17	of	of	ADP
app01-3923	132	18	the	the	DET
app01-3923	132	19	best	good	ADJ
app01-3923	132	20	parametrization	parametrization	NOUN
app01-3923	132	21	of	of	ADP
app01-3923	132	22	the	the	DET
app01-3923	132	23	online	online	ADJ
app01-3923	132	24	slam	slam	PROPN
app01-3923	132	25	.	.	PUNCT
app01-3923	133	1	note	note	NOUN
app01-3923	133	2	,	,	PUNCT
app01-3923	133	3	the	the	DET
app01-3923	133	4	important	important	ADJ
app01-3923	133	5	thing	thing	NOUN
app01-3923	133	6	for	for	ADP
app01-3923	133	7	the	the	DET
app01-3923	133	8	dataset	dataset	NOUN
app01-3923	133	9	creation	creation	NOUN
app01-3923	133	10	is	be	AUX
app01-3923	133	11	ground	ground	NOUN
app01-3923	133	12	-	-	PUNCT
app01-3923	133	13	truth	truth	NOUN
app01-3923	133	14	and	and	CCONJ
app01-3923	133	15	rgb	rgb	PROPN
app01-3923	133	16	-	-	PROPN
app01-3923	133	17	d	d	PROPN
app01-3923	133	18	slam	slam	NOUN
app01-3923	133	19	trajectories	trajectory	NOUN
app01-3923	133	20	-2	-2	PUNCT
app01-3923	134	1	-1.5	-1.5	PUNCT
app01-3923	134	2	x	x	PUNCT
app01-3923	135	1	[	[	X
app01-3923	135	2	m	m	X
app01-3923	135	3	]	]	X
app01-3923	135	4	-1	-1	X
app01-3923	135	5	-0.5	-0.5	X
app01-3923	135	6	0	0	NUM
app01-3923	135	7	1.5	1.5	NUM
app01-3923	135	8	1	1	NUM
app01-3923	135	9	0.5	0.5	NUM
app01-3923	135	10	y	y	PROPN
app01-3923	136	1	[	[	X
app01-3923	136	2	m	m	X
app01-3923	136	3	]	]	X
app01-3923	136	4	0	0	NUM
app01-3923	136	5	-0.5	-0.5	X
app01-3923	136	6	0	0	NUM
app01-3923	136	7	0.6	0.6	NUM
app01-3923	136	8	0.4	0.4	NUM
app01-3923	136	9	0.2	0.2	NUM
app01-3923	136	10	z	z	NOUN
app01-3923	136	11	[	[	PUNCT
app01-3923	136	12	m	m	NOUN
app01-3923	136	13	]	]	X
app01-3923	136	14	ground	ground	NOUN
app01-3923	136	15	-	-	PUNCT
app01-3923	136	16	truth	truth	NOUN
app01-3923	136	17	closed	close	VERB
app01-3923	136	18	-	-	PUNCT
app01-3923	136	19	loop	loop	NOUN
app01-3923	136	20	open	open	ADJ
app01-3923	136	21	-	-	PUNCT
app01-3923	136	22	loop	loop	NOUN
app01-3923	136	23	figure	figure	NOUN
app01-3923	136	24	3	3	NUM
app01-3923	136	25	.	.	NOUN
app01-3923	136	26	comparison	comparison	NOUN
app01-3923	136	27	of	of	ADP
app01-3923	136	28	closed	closed	ADJ
app01-3923	136	29	-	-	PUNCT
app01-3923	136	30	loop	loop	NOUN
app01-3923	136	31	and	and	CCONJ
app01-3923	136	32	open	open	ADJ
app01-3923	136	33	-	-	PUNCT
app01-3923	136	34	loop	loop	NOUN
app01-3923	136	35	frame	frame	NOUN
app01-3923	136	36	-	-	PUNCT
app01-3923	136	37	by	by	ADP
app01-3923	136	38	-	-	PUNCT
app01-3923	136	39	frame	frame	NOUN
app01-3923	136	40	processed	process	VERB
app01-3923	136	41	trajectories	trajectory	NOUN
app01-3923	136	42	the	the	DET
app01-3923	136	43	loop	loop	NOUN
app01-3923	136	44	closing	closing	NOUN
app01-3923	136	45	,	,	PUNCT
app01-3923	136	46	which	which	PRON
app01-3923	136	47	can	can	AUX
app01-3923	136	48	significantly	significantly	ADV
app01-3923	136	49	improve	improve	VERB
app01-3923	136	50	the	the	DET
app01-3923	136	51	robot	robot	NOUN
app01-3923	136	52	localization	localization	NOUN
app01-3923	136	53	and	and	CCONJ
app01-3923	136	54	it	it	PRON
app01-3923	136	55	is	be	AUX
app01-3923	136	56	also	also	ADV
app01-3923	136	57	important	important	ADJ
app01-3923	136	58	to	to	PART
app01-3923	136	59	design	design	VERB
app01-3923	136	60	the	the	DET
app01-3923	136	61	shape	shape	NOUN
app01-3923	136	62	of	of	ADP
app01-3923	136	63	the	the	DET
app01-3923	136	64	path	path	NOUN
app01-3923	136	65	in	in	ADP
app01-3923	136	66	order	order	NOUN
app01-3923	136	67	to	to	PART
app01-3923	136	68	avoid	avoid	VERB
app01-3923	136	69	systematic	systematic	ADJ
app01-3923	136	70	errors	error	NOUN
app01-3923	136	71	.	.	PUNCT
app01-3923	137	1	we	we	PRON
app01-3923	137	2	tested	test	VERB
app01-3923	137	3	the	the	DET
app01-3923	137	4	presented	present	VERB
app01-3923	137	5	method	method	NOUN
app01-3923	137	6	with	with	ADP
app01-3923	137	7	a	a	DET
app01-3923	137	8	hexapod	hexapod	NOUN
app01-3923	137	9	crawling	crawling	NOUN
app01-3923	137	10	robot	robot	NOUN
app01-3923	137	11	and	and	CCONJ
app01-3923	137	12	rgb	rgb	PROPN
app01-3923	137	13	-	-	PROPN
app01-3923	137	14	d	d	PROPN
app01-3923	137	15	slam	slam	NOUN
app01-3923	137	16	system	system	NOUN
app01-3923	137	17	,	,	PUNCT
app01-3923	137	18	but	but	CCONJ
app01-3923	137	19	we	we	PRON
app01-3923	137	20	suppose	suppose	VERB
app01-3923	137	21	that	that	SCONJ
app01-3923	137	22	the	the	DET
app01-3923	137	23	proposed	propose	VERB
app01-3923	137	24	method	method	NOUN
app01-3923	137	25	is	be	AUX
app01-3923	137	26	applicable	applicable	ADJ
app01-3923	137	27	to	to	ADP
app01-3923	137	28	different	different	ADJ
app01-3923	137	29	slam	slam	NOUN
app01-3923	137	30	methods	method	NOUN
app01-3923	137	31	and	and	CCONJ
app01-3923	137	32	different	different	ADJ
app01-3923	137	33	platforms	platform	NOUN
app01-3923	137	34	too	too	ADV
app01-3923	137	35	.	.	PUNCT
app01-3923	138	1	presented	present	VERB
app01-3923	138	2	results	result	NOUN
app01-3923	138	3	support	support	VERB
app01-3923	138	4	the	the	DET
app01-3923	138	5	feasibility	feasibility	NOUN
app01-3923	138	6	of	of	ADP
app01-3923	138	7	the	the	DET
app01-3923	138	8	proposed	propose	VERB
app01-3923	138	9	approach	approach	NOUN
app01-3923	138	10	and	and	CCONJ
app01-3923	138	11	can	can	AUX
app01-3923	138	12	be	be	AUX
app01-3923	138	13	utilized	utilize	VERB
app01-3923	138	14	in	in	ADP
app01-3923	138	15	cases	case	NOUN
app01-3923	138	16	when	when	SCONJ
app01-3923	138	17	expensive	expensive	ADJ
app01-3923	138	18	and	and	CCONJ
app01-3923	138	19	hard	hard	ADJ
app01-3923	138	20	to	to	PART
app01-3923	138	21	setup	setup	VERB
app01-3923	138	22	external	external	ADJ
app01-3923	138	23	localization	localization	NOUN
app01-3923	138	24	systems	system	NOUN
app01-3923	138	25	are	be	AUX
app01-3923	138	26	not	not	PART
app01-3923	138	27	available	available	ADJ
app01-3923	138	28	or	or	CCONJ
app01-3923	138	29	suitable	suitable	ADJ
app01-3923	138	30	.	.	PUNCT
app01-3923	139	1	acknowledgements	acknowledgement	NOUN
app01-3923	139	2	the	the	DET
app01-3923	139	3	presented	present	VERB
app01-3923	139	4	work	work	NOUN
app01-3923	139	5	was	be	AUX
app01-3923	139	6	supported	support	VERB
app01-3923	139	7	by	by	ADP
app01-3923	139	8	the	the	DET
app01-3923	139	9	czech	czech	PROPN
app01-3923	139	10	science	science	PROPN
app01-3923	139	11	foundation	foundation	PROPN
app01-3923	139	12	(	(	PUNCT
app01-3923	139	13	gačr	gačr	NOUN
app01-3923	139	14	)	)	PUNCT
app01-3923	139	15	under	under	ADP
app01-3923	139	16	research	research	NOUN
app01-3923	139	17	project	project	NOUN
app01-3923	139	18	no	no	NOUN
app01-3923	139	19	.	.	NOUN
app01-3923	139	20	15	15	NUM
app01-3923	139	21	-	-	PUNCT
app01-3923	139	22	09600y	09600y	NUM
app01-3923	139	23	.	.	PUNCT
app01-3923	140	1	the	the	DET
app01-3923	140	2	support	support	NOUN
app01-3923	140	3	of	of	ADP
app01-3923	140	4	grant	grant	NOUN
app01-3923	140	5	no	no	INTJ
app01-3923	140	6	.	.	PUNCT
app01-3923	140	7	sgs16/235	sgs16/235	PROPN
app01-3923	140	8	/	/	SYM
app01-3923	140	9	ohk3/3t/13	ohk3/3t/13	ADJ
app01-3923	140	10	to	to	PART
app01-3923	140	11	petr	petr	PROPN
app01-3923	140	12	čížek	čížek	PROPN
app01-3923	140	13	is	be	AUX
app01-3923	140	14	also	also	ADV
app01-3923	140	15	gratefully	gratefully	ADV
app01-3923	140	16	acknowledged	acknowledge	VERB
app01-3923	140	17	.	.	PUNCT
app01-3923	141	1	references	reference	NOUN
app01-3923	141	2	[	[	X
app01-3923	141	3	1	1	NUM
app01-3923	141	4	]	]	PUNCT
app01-3923	141	5	r.	r.	PROPN
app01-3923	141	6	kümmerle	kümmerle	PROPN
app01-3923	141	7	,	,	PUNCT
app01-3923	141	8	b.	b.	PROPN
app01-3923	141	9	steder	steder	PROPN
app01-3923	141	10	,	,	PUNCT
app01-3923	141	11	c.	c.	PROPN
app01-3923	141	12	dornhege	dornhege	PROPN
app01-3923	141	13	,	,	PUNCT
app01-3923	141	14	et	et	PROPN
app01-3923	141	15	al	al	PROPN
app01-3923	141	16	.	.	PROPN
app01-3923	142	1	on	on	ADP
app01-3923	142	2	measuring	measure	VERB
app01-3923	142	3	the	the	DET
app01-3923	142	4	accuracy	accuracy	NOUN
app01-3923	142	5	of	of	ADP
app01-3923	142	6	slam	slam	NOUN
app01-3923	142	7	algorithms	algorithm	NOUN
app01-3923	142	8	.	.	PUNCT
app01-3923	143	1	autonomous	autonomous	ADJ
app01-3923	143	2	robots	robots	PROPN
app01-3923	143	3	27(4):387–407	27(4):387–407	PROPN
app01-3923	143	4	,	,	PUNCT
app01-3923	143	5	2009	2009	NUM
app01-3923	143	6	.	.	PUNCT
app01-3923	144	1	doi:10.1007	doi:10.1007	VERB
app01-3923	144	2	/	/	SYM
app01-3923	144	3	s10514	s10514	NOUN
app01-3923	144	4	-	-	PUNCT
app01-3923	144	5	009	009	NUM
app01-3923	144	6	-	-	PUNCT
app01-3923	144	7	9155	9155	NUM
app01-3923	144	8	-	-	SYM
app01-3923	144	9	6	6	NUM
app01-3923	144	10	.	.	PUNCT
app01-3923	145	1	[	[	X
app01-3923	145	2	2	2	X
app01-3923	145	3	]	]	PUNCT
app01-3923	145	4	j.	j.	PROPN
app01-3923	145	5	sturm	sturm	PROPN
app01-3923	145	6	,	,	PUNCT
app01-3923	145	7	n.	n.	PROPN
app01-3923	145	8	engelhard	engelhard	PROPN
app01-3923	145	9	,	,	PUNCT
app01-3923	145	10	f.	f.	PROPN
app01-3923	145	11	endres	endres	PROPN
app01-3923	145	12	,	,	PUNCT
app01-3923	145	13	et	et	PROPN
app01-3923	145	14	al	al	PROPN
app01-3923	145	15	.	.	PUNCT
app01-3923	146	1	a	a	DET
app01-3923	146	2	benchmark	benchmark	NOUN
app01-3923	146	3	for	for	ADP
app01-3923	146	4	the	the	DET
app01-3923	146	5	evaluation	evaluation	NOUN
app01-3923	146	6	of	of	ADP
app01-3923	146	7	rgb	rgb	PROPN
app01-3923	146	8	-	-	PROPN
app01-3923	146	9	d	d	PROPN
app01-3923	146	10	slam	slam	NOUN
app01-3923	146	11	systems	system	NOUN
app01-3923	146	12	.	.	PUNCT
app01-3923	147	1	in	in	ADP
app01-3923	147	2	ieee	ieee	PROPN
app01-3923	147	3	international	international	PROPN
app01-3923	147	4	conference	conference	NOUN
app01-3923	147	5	on	on	ADP
app01-3923	147	6	intelligent	intelligent	ADJ
app01-3923	147	7	robots	robot	NOUN
app01-3923	147	8	and	and	CCONJ
app01-3923	147	9	systems	system	NOUN
app01-3923	147	10	,	,	PUNCT
app01-3923	147	11	pp	pp	ADP
app01-3923	147	12	.	.	PUNCT
app01-3923	148	1	573–580	573–580	NUM
app01-3923	148	2	.	.	NOUN
app01-3923	148	3	2012	2012	NUM
app01-3923	148	4	.	.	PUNCT
app01-3923	149	1	doi:10.1109	doi:10.1109	VERB
app01-3923	149	2	/	/	SYM
app01-3923	149	3	iros.2012.6385773	iros.2012.6385773	PROPN
app01-3923	149	4	.	.	PUNCT
app01-3923	150	1	[	[	X
app01-3923	150	2	3	3	X
app01-3923	150	3	]	]	PUNCT
app01-3923	150	4	s.	s.	PROPN
app01-3923	150	5	thrun	thrun	PROPN
app01-3923	150	6	,	,	PUNCT
app01-3923	150	7	w.	w.	PROPN
app01-3923	150	8	burgard	burgard	PROPN
app01-3923	150	9	,	,	PUNCT
app01-3923	150	10	d.	d.	PROPN
app01-3923	150	11	fox	fox	PROPN
app01-3923	150	12	.	.	PUNCT
app01-3923	151	1	probabilistic	probabilistic	ADJ
app01-3923	151	2	robotics	robotic	NOUN
app01-3923	151	3	.	.	PUNCT
app01-3923	152	1	mit	mit	PROPN
app01-3923	152	2	press	press	NOUN
app01-3923	152	3	,	,	PUNCT
app01-3923	152	4	2005	2005	NUM
app01-3923	152	5	.	.	PUNCT
app01-3923	153	1	doi:10.1162	doi:10.1162	NOUN
app01-3923	153	2	/	/	SYM
app01-3923	153	3	artl.2008.14.2.227	artl.2008.14.2.227	PROPN
app01-3923	153	4	.	.	PUNCT
app01-3923	154	1	[	[	X
app01-3923	154	2	4	4	NUM
app01-3923	154	3	]	]	PUNCT
app01-3923	154	4	m.	m.	NOUN
app01-3923	154	5	menze	menze	PROPN
app01-3923	154	6	,	,	PUNCT
app01-3923	154	7	a.	a.	NOUN
app01-3923	154	8	geiger	geiger	PROPN
app01-3923	154	9	.	.	PUNCT
app01-3923	154	10	object	object	NOUN
app01-3923	154	11	scene	scene	NOUN
app01-3923	154	12	flow	flow	NOUN
app01-3923	154	13	for	for	ADP
app01-3923	154	14	autonomous	autonomous	ADJ
app01-3923	154	15	vehicles	vehicle	NOUN
app01-3923	154	16	.	.	PUNCT
app01-3923	155	1	in	in	ADP
app01-3923	155	2	conference	conference	NOUN
app01-3923	155	3	on	on	ADP
app01-3923	155	4	computer	computer	NOUN
app01-3923	155	5	vision	vision	NOUN
app01-3923	155	6	and	and	CCONJ
app01-3923	155	7	pattern	pattern	NOUN
app01-3923	155	8	recognition	recognition	NOUN
app01-3923	155	9	,	,	PUNCT
app01-3923	155	10	pp	pp	X
app01-3923	155	11	.	.	PUNCT
app01-3923	156	1	3061–3070	3061–3070	NUM
app01-3923	156	2	.	.	X
app01-3923	156	3	2015	2015	NUM
app01-3923	156	4	.	.	PUNCT
app01-3923	157	1	doi:10.1109	doi:10.1109	VERB
app01-3923	157	2	/	/	SYM
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app01-3923	157	4	.	.	PUNCT
app01-3923	158	1	[	[	X
app01-3923	158	2	5	5	NUM
app01-3923	158	3	]	]	PUNCT
app01-3923	158	4	n.	n.	PROPN
app01-3923	158	5	sünderhauf	sünderhauf	PROPN
app01-3923	158	6	,	,	PUNCT
app01-3923	158	7	k.	k.	PROPN
app01-3923	158	8	konolige	konolige	PROPN
app01-3923	158	9	,	,	PUNCT
app01-3923	158	10	s.	s.	PROPN
app01-3923	158	11	lacroix	lacroix	PROPN
app01-3923	158	12	,	,	PUNCT
app01-3923	158	13	p.	p.	PROPN
app01-3923	158	14	protzel	protzel	NOUN
app01-3923	158	15	.	.	PUNCT
app01-3923	159	1	visual	visual	ADJ
app01-3923	159	2	odometry	odometry	NOUN
app01-3923	159	3	using	use	VERB
app01-3923	159	4	sparse	sparse	ADJ
app01-3923	159	5	bundle	bundle	NOUN
app01-3923	159	6	adjustment	adjustment	NOUN
app01-3923	159	7	on	on	ADP
app01-3923	159	8	an	an	DET
app01-3923	159	9	autonomous	autonomous	ADJ
app01-3923	159	10	outdoor	outdoor	ADJ
app01-3923	159	11	vehicle	vehicle	NOUN
app01-3923	159	12	,	,	PUNCT
app01-3923	159	13	pp	pp	X
app01-3923	159	14	.	.	PUNCT
app01-3923	160	1	157–163	157–163	NUM
app01-3923	160	2	.	.	PUNCT
app01-3923	160	3	springer	springer	PROPN
app01-3923	160	4	berlin	berlin	PROPN
app01-3923	160	5	heidelberg	heidelberg	PROPN
app01-3923	160	6	,	,	PUNCT
app01-3923	160	7	2006	2006	NUM
app01-3923	160	8	.	.	PUNCT
app01-3923	161	1	doi:10.1007/3	doi:10.1007/3	PROPN
app01-3923	161	2	-	-	PUNCT
app01-3923	161	3	540	540	NUM
app01-3923	161	4	-	-	PUNCT
app01-3923	161	5	30292	30292	NUM
app01-3923	161	6	-	-	SYM
app01-3923	161	7	1_20	1_20	NOUN
app01-3923	161	8	.	.	PUNCT
app01-3923	162	1	[	[	X
app01-3923	162	2	6	6	NUM
app01-3923	162	3	]	]	X
app01-3923	162	4	f.	f.	PROPN
app01-3923	162	5	endres	endres	PROPN
app01-3923	162	6	,	,	PUNCT
app01-3923	162	7	j.	j.	PROPN
app01-3923	162	8	hess	hess	PROPN
app01-3923	162	9	,	,	PUNCT
app01-3923	162	10	n.	n.	PROPN
app01-3923	162	11	engelhard	engelhard	PROPN
app01-3923	162	12	,	,	PUNCT
app01-3923	162	13	et	et	PROPN
app01-3923	162	14	al	al	PROPN
app01-3923	162	15	.	.	PUNCT
app01-3923	163	1	an	an	DET
app01-3923	163	2	evaluation	evaluation	NOUN
app01-3923	163	3	of	of	ADP
app01-3923	163	4	the	the	DET
app01-3923	163	5	rgb	rgb	PROPN
app01-3923	163	6	-	-	PROPN
app01-3923	163	7	d	d	PROPN
app01-3923	163	8	slam	slam	NOUN
app01-3923	163	9	system	system	NOUN
app01-3923	163	10	.	.	PUNCT
app01-3923	164	1	in	in	ADP
app01-3923	164	2	ieee	ieee	PROPN
app01-3923	164	3	international	international	ADJ
app01-3923	164	4	conference	conference	NOUN
app01-3923	164	5	on	on	ADP
app01-3923	164	6	robotics	robotic	NOUN
app01-3923	164	7	and	and	CCONJ
app01-3923	164	8	automation	automation	NOUN
app01-3923	164	9	,	,	PUNCT
app01-3923	164	10	pp	pp	X
app01-3923	164	11	.	.	PUNCT
app01-3923	164	12	1691–1696	1691–1696	NUM
app01-3923	164	13	.	.	PUNCT
app01-3923	164	14	2012	2012	NUM
app01-3923	164	15	.	.	PUNCT
app01-3923	165	1	doi:10.1109	doi:10.1109	VERB
app01-3923	165	2	/	/	SYM
app01-3923	165	3	icra.2012.6225199	icra.2012.6225199	NOUN
app01-3923	165	4	.	.	PROPN
app01-3923	165	5	4	4	NUM
app01-3923	165	6	http://dx.doi.org/10.1007/s10514-009-9155-6	http://dx.doi.org/10.1007/s10514-009-9155-6	NUM
app01-3923	166	1	http://dx.doi.org/10.1109/iros.2012.6385773	http://dx.doi.org/10.1109/iros.2012.6385773	NOUN
app01-3923	166	2	http://dx.doi.org/10.1162/artl.2008.14.2.227	http://dx.doi.org/10.1162/artl.2008.14.2.227	PROPN
app01-3923	166	3	http://dx.doi.org/10.1109/cvpr.2015.7298925	http://dx.doi.org/10.1109/cvpr.2015.7298925	PROPN
app01-3923	166	4	http://dx.doi.org/10.1007/3-540-30292-1_20	http://dx.doi.org/10.1007/3-540-30292-1_20	PROPN
app01-3923	166	5	http://dx.doi.org/10.1109/icra.2012.6225199	http://dx.doi.org/10.1109/icra.2012.6225199	PROPN
app01-3923	166	6	vol	vol	NOUN
app01-3923	166	7	.	.	PUNCT
app01-3923	167	1	6/2016	6/2016	NUM
app01-3923	167	2	on	on	ADP
app01-3923	167	3	construction	construction	NOUN
app01-3923	167	4	of	of	ADP
app01-3923	167	5	a	a	DET
app01-3923	167	6	reliable	reliable	ADJ
app01-3923	167	7	ground	ground	NOUN
app01-3923	167	8	truth	truth	NOUN
app01-3923	167	9	[	[	X
app01-3923	167	10	7	7	X
app01-3923	167	11	]	]	PUNCT
app01-3923	167	12	t.	t.	PROPN
app01-3923	167	13	krajník	krajník	PROPN
app01-3923	167	14	,	,	PUNCT
app01-3923	167	15	m.	m.	NOUN
app01-3923	167	16	nitsche	nitsche	PROPN
app01-3923	167	17	,	,	PUNCT
app01-3923	167	18	j.	j.	PROPN
app01-3923	167	19	faigl	faigl	PROPN
app01-3923	167	20	,	,	PUNCT
app01-3923	167	21	et	et	PROPN
app01-3923	167	22	al	al	PROPN
app01-3923	167	23	.	.	PUNCT
app01-3923	168	1	a	a	DET
app01-3923	168	2	practical	practical	ADJ
app01-3923	168	3	multirobot	multirobot	NOUN
app01-3923	168	4	localization	localization	NOUN
app01-3923	168	5	system	system	NOUN
app01-3923	168	6	.	.	PUNCT
app01-3923	169	1	journal	journal	NOUN
app01-3923	169	2	of	of	ADP
app01-3923	169	3	intelligent	intelligent	ADJ
app01-3923	169	4	&	&	CCONJ
app01-3923	169	5	robotic	robotic	ADJ
app01-3923	169	6	systems	system	NOUN
app01-3923	169	7	76(3	76(3	NOUN
app01-3923	169	8	-	-	PUNCT
app01-3923	169	9	4	4	NUM
app01-3923	169	10	)	)	PUNCT
app01-3923	169	11	,	,	PUNCT
app01-3923	169	12	2014	2014	NUM
app01-3923	169	13	.	.	PUNCT
app01-3923	170	1	doi:10.1007	doi:10.1007	VERB
app01-3923	170	2	/	/	SYM
app01-3923	170	3	s10846	s10846	PROPN
app01-3923	170	4	-	-	PUNCT
app01-3923	170	5	014	014	NUM
app01-3923	170	6	-	-	PUNCT
app01-3923	170	7	0041	0041	NUM
app01-3923	170	8	-	-	PUNCT
app01-3923	170	9	x.	x.	NOUN
app01-3923	171	1	[	[	X
app01-3923	171	2	8	8	X
app01-3923	171	3	]	]	PUNCT
app01-3923	171	4	s.	s.	PROPN
app01-3923	171	5	bao	bao	PROPN
app01-3923	171	6	.	.	PUNCT
app01-3923	172	1	semantic	semantic	ADJ
app01-3923	172	2	structure	structure	NOUN
app01-3923	172	3	from	from	ADP
app01-3923	172	4	motion	motion	NOUN
app01-3923	172	5	.	.	PUNCT
app01-3923	173	1	in	in	ADP
app01-3923	173	2	intl	intl	PROPN
app01-3923	173	3	.	.	PUNCT
app01-3923	174	1	conf	conf	PROPN
app01-3923	174	2	.	.	PUNCT
app01-3923	175	1	on	on	ADP
app01-3923	175	2	computer	computer	NOUN
app01-3923	175	3	vision	vision	NOUN
app01-3923	175	4	and	and	CCONJ
app01-3923	175	5	pattern	pattern	NOUN
app01-3923	175	6	recognition	recognition	NOUN
app01-3923	175	7	(	(	PUNCT
app01-3923	175	8	cvpr	cvpr	NOUN
app01-3923	175	9	)	)	PUNCT
app01-3923	175	10	,	,	PUNCT
app01-3923	175	11	pp	pp	ADJ
app01-3923	175	12	.	.	PUNCT
app01-3923	175	13	2025–2032	2025–2032	NUM
app01-3923	175	14	.	.	PUNCT
app01-3923	175	15	2011	2011	NUM
app01-3923	175	16	.	.	PUNCT
app01-3923	176	1	doi:10.1109	doi:10.1109	VERB
app01-3923	176	2	/	/	SYM
app01-3923	176	3	cvpr.2011.5995462	cvpr.2011.5995462	NOUN
app01-3923	176	4	.	.	PUNCT
app01-3923	177	1	[	[	X
app01-3923	177	2	9	9	NUM
app01-3923	177	3	]	]	PUNCT
app01-3923	177	4	m.	m.	NOUN
app01-3923	177	5	quigley	quigley	PROPN
app01-3923	177	6	,	,	PUNCT
app01-3923	177	7	k.	k.	PROPN
app01-3923	177	8	conley	conley	PROPN
app01-3923	177	9	,	,	PUNCT
app01-3923	177	10	b.	b.	PROPN
app01-3923	177	11	p.	p.	PROPN
app01-3923	177	12	gerkey	gerkey	PROPN
app01-3923	177	13	,	,	PUNCT
app01-3923	177	14	et	et	PROPN
app01-3923	177	15	al	al	PROPN
app01-3923	177	16	.	.	PUNCT
app01-3923	178	1	ros	ros	PROPN
app01-3923	178	2	:	:	PUNCT
app01-3923	178	3	an	an	DET
app01-3923	178	4	open	open	ADJ
app01-3923	178	5	-	-	PUNCT
app01-3923	178	6	source	source	NOUN
app01-3923	178	7	robot	robot	NOUN
app01-3923	178	8	operating	operating	NOUN
app01-3923	178	9	system	system	NOUN
app01-3923	178	10	.	.	PUNCT
app01-3923	179	1	in	in	ADP
app01-3923	179	2	ieee	ieee	PROPN
app01-3923	179	3	international	international	ADJ
app01-3923	179	4	conference	conference	NOUN
app01-3923	179	5	on	on	ADP
app01-3923	179	6	robotics	robotic	NOUN
app01-3923	179	7	and	and	CCONJ
app01-3923	179	8	automation	automation	NOUN
app01-3923	179	9	(	(	PUNCT
app01-3923	179	10	icra	icra	PROPN
app01-3923	179	11	)	)	PUNCT
app01-3923	179	12	–	–	PUNCT
app01-3923	179	13	workshop	workshop	NOUN
app01-3923	179	14	on	on	ADP
app01-3923	179	15	open	open	ADJ
app01-3923	179	16	source	source	NOUN
app01-3923	179	17	robotics	robotic	NOUN
app01-3923	179	18	.	.	PUNCT
app01-3923	180	1	2009	2009	NUM
app01-3923	180	2	.	.	PUNCT
app01-3923	181	1	[	[	X
app01-3923	181	2	10	10	NUM
app01-3923	181	3	]	]	PUNCT
app01-3923	181	4	m.	m.	NOUN
app01-3923	181	5	a.	a.	NOUN
app01-3923	181	6	fischler	fischler	NOUN
app01-3923	181	7	,	,	PUNCT
app01-3923	181	8	r.	r.	PROPN
app01-3923	181	9	c.	c.	PROPN
app01-3923	181	10	bolles	bolles	PROPN
app01-3923	181	11	.	.	PUNCT
app01-3923	182	1	random	random	ADJ
app01-3923	182	2	sample	sample	NOUN
app01-3923	182	3	consensus	consensus	NOUN
app01-3923	182	4	:	:	PUNCT
app01-3923	182	5	a	a	DET
app01-3923	182	6	paradigm	paradigm	NOUN
app01-3923	182	7	for	for	ADP
app01-3923	182	8	model	model	NOUN
app01-3923	182	9	fitting	fit	VERB
app01-3923	182	10	with	with	ADP
app01-3923	182	11	applications	application	NOUN
app01-3923	182	12	to	to	PART
app01-3923	182	13	image	image	VERB
app01-3923	182	14	analysis	analysis	NOUN
app01-3923	182	15	and	and	CCONJ
app01-3923	182	16	automated	automate	VERB
app01-3923	182	17	cartography	cartography	NOUN
app01-3923	182	18	.	.	PUNCT
app01-3923	183	1	communications	communication	NOUN
app01-3923	183	2	of	of	ADP
app01-3923	183	3	the	the	DET
app01-3923	183	4	acm	acm	PROPN
app01-3923	183	5	24(6):381–395	24(6):381–395	PROPN
app01-3923	183	6	,	,	PUNCT
app01-3923	183	7	1981	1981	NUM
app01-3923	183	8	.	.	PUNCT
app01-3923	184	1	[	[	X
app01-3923	184	2	11	11	NUM
app01-3923	184	3	]	]	X
app01-3923	184	4	r.	r.	PROPN
app01-3923	184	5	kümmerle	kümmerle	PROPN
app01-3923	184	6	,	,	PUNCT
app01-3923	184	7	g.	g.	PROPN
app01-3923	184	8	grisetti	grisetti	PROPN
app01-3923	184	9	,	,	PUNCT
app01-3923	184	10	h.	h.	PROPN
app01-3923	184	11	strasdat	strasdat	PROPN
app01-3923	184	12	,	,	PUNCT
app01-3923	184	13	et	et	PROPN
app01-3923	184	14	al	al	PROPN
app01-3923	184	15	.	.	PUNCT
app01-3923	185	1	g2o	g2o	PROPN
app01-3923	185	2	:	:	PUNCT
app01-3923	185	3	a	a	DET
app01-3923	185	4	general	general	ADJ
app01-3923	185	5	framework	framework	NOUN
app01-3923	185	6	for	for	ADP
app01-3923	185	7	graph	graph	NOUN
app01-3923	185	8	optimization	optimization	NOUN
app01-3923	185	9	.	.	PUNCT
app01-3923	186	1	in	in	ADP
app01-3923	186	2	ieee	ieee	PROPN
app01-3923	186	3	international	international	ADJ
app01-3923	186	4	conference	conference	NOUN
app01-3923	186	5	on	on	ADP
app01-3923	186	6	robotics	robotic	NOUN
app01-3923	186	7	and	and	CCONJ
app01-3923	186	8	automation	automation	NOUN
app01-3923	186	9	,	,	PUNCT
app01-3923	186	10	pp	pp	X
app01-3923	186	11	.	.	PUNCT
app01-3923	187	1	3607–3613	3607–3613	NUM
app01-3923	187	2	.	.	PUNCT
app01-3923	187	3	2011	2011	NUM
app01-3923	187	4	.	.	PUNCT
app01-3923	188	1	doi:10.1109	doi:10.1109	VERB
app01-3923	188	2	/	/	SYM
app01-3923	188	3	icra.2011.5979949	icra.2011.5979949	NOUN
app01-3923	188	4	.	.	PUNCT
app01-3923	189	1	[	[	X
app01-3923	189	2	12	12	NUM
app01-3923	189	3	]	]	PUNCT
app01-3923	189	4	j.	j.	PROPN
app01-3923	189	5	mrva	mrva	PROPN
app01-3923	189	6	,	,	PUNCT
app01-3923	189	7	j.	j.	PROPN
app01-3923	189	8	faigl	faigl	PROPN
app01-3923	189	9	.	.	PUNCT
app01-3923	190	1	tactile	tactile	ADJ
app01-3923	190	2	sensing	sense	VERB
app01-3923	190	3	with	with	ADP
app01-3923	190	4	servo	servo	NOUN
app01-3923	190	5	drives	drive	VERB
app01-3923	190	6	feedback	feedback	NOUN
app01-3923	190	7	only	only	ADV
app01-3923	190	8	for	for	ADP
app01-3923	190	9	blind	blind	ADJ
app01-3923	190	10	hexapod	hexapod	NOUN
app01-3923	190	11	walking	walking	NOUN
app01-3923	190	12	robot	robot	NOUN
app01-3923	190	13	.	.	PUNCT
app01-3923	191	1	in	in	ADP
app01-3923	191	2	10th	10th	ADJ
app01-3923	191	3	international	international	ADJ
app01-3923	191	4	workshop	workshop	NOUN
app01-3923	191	5	on	on	ADP
app01-3923	191	6	robot	robot	NOUN
app01-3923	191	7	motion	motion	NOUN
app01-3923	191	8	and	and	CCONJ
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app01-3923	191	10	,	,	PUNCT
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app01-3923	191	12	,	,	PUNCT
app01-3923	191	13	pp	pp	ADV
app01-3923	191	14	.	.	PUNCT
app01-3923	192	1	240–245	240–245	NUM
app01-3923	192	2	.	.	PUNCT
app01-3923	192	3	2015	2015	NUM
app01-3923	192	4	.	.	PUNCT
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app01-3923	193	2	/	/	SYM
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app01-3923	193	4	.	.	PUNCT
app01-3923	194	1	[	[	X
app01-3923	194	2	13	13	NUM
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app01-3923	194	12	,	,	PUNCT
app01-3923	194	13	l.	l.	PROPN
app01-3923	194	14	van	van	PROPN
app01-3923	194	15	gool	gool	PROPN
app01-3923	194	16	.	.	PUNCT
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app01-3923	194	18	-	-	PUNCT
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app01-3923	194	22	(	(	PUNCT
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app01-3923	194	25	.	.	PUNCT
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app01-3923	195	7	,	,	PUNCT
app01-3923	195	8	2008	2008	NUM
app01-3923	195	9	.	.	PUNCT
app01-3923	196	1	doi:10.1016	doi:10.1016	PROPN
app01-3923	196	2	/	/	SYM
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app01-3923	197	2	14	14	NUM
app01-3923	197	3	]	]	X
app01-3923	197	4	p.	p.	NOUN
app01-3923	197	5	čížek	čížek	PROPN
app01-3923	197	6	,	,	PUNCT
app01-3923	197	7	j.	j.	PROPN
app01-3923	197	8	faigl	faigl	PROPN
app01-3923	197	9	.	.	PUNCT
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app01-3923	198	3	and	and	CCONJ
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app01-3923	198	7	-	-	PROPN
app01-3923	198	8	d	d	PROPN
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app01-3923	199	5	on	on	ADP
app01-3923	199	6	systems	system	NOUN
app01-3923	199	7	,	,	PUNCT
app01-3923	199	8	man	man	NOUN
app01-3923	199	9	,	,	PUNCT
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app01-3923	199	11	cybernetics	cybernetic	NOUN
app01-3923	199	12	,	,	PUNCT
app01-3923	199	13	pp	pp	X
app01-3923	199	14	.	.	PUNCT
app01-3923	199	15	2273–2278	2273–2278	NUM
app01-3923	199	16	.	.	NOUN
app01-3923	199	17	2016	2016	NUM
app01-3923	199	18	.	.	X
app01-3923	200	1	5	5	NUM
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app01-3923	200	4	http://dx.doi.org/10.1109/icra.2011.5979949	http://dx.doi.org/10.1109/icra.2011.5979949	VERB
app01-3923	200	5	http://dx.doi.org/10.1109/romoco.2015.7219742	http://dx.doi.org/10.1109/romoco.2015.7219742	PROPN
app01-3923	201	1	http://dx.doi.org/10.1016/j.cviu.2007.09.014	http://dx.doi.org/10.1016/j.cviu.2007.09.014	PROPN
app01-3923	201	2	acta	acta	PROPN
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app01-3923	201	5	proceedings	proceeding	NOUN
app01-3923	201	6	6:1–5	6:1–5	NUM
app01-3923	201	7	,	,	PUNCT
app01-3923	201	8	2016	2016	NUM
app01-3923	201	9	1	1	NUM
app01-3923	201	10	introduction	introduction	NOUN
app01-3923	201	11	2	2	NUM
app01-3923	201	12	proposed	propose	VERB
app01-3923	201	13	solution	solution	NOUN
app01-3923	201	14	2.1	2.1	NUM
app01-3923	201	15	evaluation	evaluation	NOUN
app01-3923	201	16	metrics	metric	NOUN
app01-3923	201	17	3	3	NUM
app01-3923	201	18	evaluation	evaluation	NOUN
app01-3923	201	19	3.1	3.1	NUM
app01-3923	201	20	rgb	rgb	PROPN
app01-3923	201	21	-	-	PROPN
app01-3923	201	22	d	d	PROPN
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app01-3923	201	26	setup	setup	NOUN
app01-3923	201	27	3.3	3.3	NUM
app01-3923	201	28	results	result	VERB
app01-3923	201	29	3.4	3.4	NUM
app01-3923	201	30	discussion	discussion	NOUN
app01-3923	201	31	4	4	NUM
app01-3923	201	32	conclusion	conclusion	NOUN
app01-3923	201	33	acknowledgements	acknowledgement	NOUN
app01-3923	201	34	references	reference	NOUN