id	sid	tid	token	lemma	pos
app01-3929	1	1	acta	acta	PROPN
app01-3929	1	2	polytechnica	polytechnica	PROPN
app01-3929	1	3	ctu	ctu	PROPN
app01-3929	1	4	proceedings	proceeding	NOUN
app01-3929	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3929	1	6	/	/	SYM
app01-3929	1	7	app.2016.6.0028	app.2016.6.0028	PROPN
app01-3929	1	8	acta	acta	PROPN
app01-3929	1	9	polytechnica	polytechnica	PROPN
app01-3929	1	10	ctu	ctu	PROPN
app01-3929	1	11	proceedings	proceeding	NOUN
app01-3929	1	12	6:28–33	6:28–33	PROPN
app01-3929	1	13	,	,	PUNCT
app01-3929	1	14	2016	2016	NUM
app01-3929	1	15	©	©	PROPN
app01-3929	1	16	czech	czech	PROPN
app01-3929	1	17	technical	technical	PROPN
app01-3929	1	18	university	university	PROPN
app01-3929	1	19	in	in	ADP
app01-3929	1	20	prague	prague	PROPN
app01-3929	1	21	,	,	PUNCT
app01-3929	1	22	2016	2016	NUM
app01-3929	1	23	available	available	ADJ
app01-3929	1	24	online	online	ADV
app01-3929	1	25	at	at	ADP
app01-3929	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3929	1	27	mapping	map	VERB
app01-3929	1	28	the	the	DET
app01-3929	1	29	surroundings	surrounding	NOUN
app01-3929	1	30	as	as	ADP
app01-3929	1	31	a	a	DET
app01-3929	1	32	requirement	requirement	NOUN
app01-3929	1	33	for	for	ADP
app01-3929	1	34	autonomous	autonomous	ADJ
app01-3929	1	35	driving	drive	VERB
app01-3929	1	36	martin	martin	PROPN
app01-3929	1	37	steininger∗	steininger∗	PROPN
app01-3929	1	38	,	,	PUNCT
app01-3929	1	39	christoph	christoph	PROPN
app01-3929	1	40	stephan	stephan	PROPN
app01-3929	1	41	,	,	PUNCT
app01-3929	1	42	christian	christian	PROPN
app01-3929	1	43	böhm	böhm	NOUN
app01-3929	1	44	,	,	PUNCT
app01-3929	1	45	fabian	fabian	PROPN
app01-3929	1	46	sauer	sauer	PROPN
app01-3929	1	47	,	,	PUNCT
app01-3929	1	48	roland	roland	NOUN
app01-3929	1	49	zink	zink	NOUN
app01-3929	1	50	faculty	faculty	NOUN
app01-3929	1	51	of	of	ADP
app01-3929	1	52	electrical	electrical	ADJ
app01-3929	1	53	,	,	PUNCT
app01-3929	1	54	media	medium	NOUN
app01-3929	1	55	and	and	CCONJ
app01-3929	1	56	computer	computer	NOUN
app01-3929	1	57	engineering	engineering	NOUN
app01-3929	1	58	,	,	PUNCT
app01-3929	1	59	deggendorf	deggendorf	PROPN
app01-3929	1	60	institute	institute	PROPN
app01-3929	1	61	of	of	ADP
app01-3929	1	62	technology	technology	PROPN
app01-3929	1	63	,	,	PUNCT
app01-3929	1	64	94469	94469	NUM
app01-3929	1	65	deggendorf	deggendorf	PROPN
app01-3929	1	66	,	,	PUNCT
app01-3929	1	67	germany	germany	PROPN
app01-3929	1	68	∗	∗	NOUN
app01-3929	1	69	corresponding	correspond	VERB
app01-3929	1	70	author	author	NOUN
app01-3929	1	71	:	:	PUNCT
app01-3929	1	72	martin.steininger@stud.th-deg.de	martin.steininger@stud.th-deg.de	ADJ
app01-3929	1	73	abstract	abstract	NOUN
app01-3929	1	74	.	.	PUNCT
app01-3929	2	1	motivated	motivate	VERB
app01-3929	2	2	by	by	ADP
app01-3929	2	3	the	the	DET
app01-3929	2	4	hype	hype	NOUN
app01-3929	2	5	around	around	ADP
app01-3929	2	6	driverless	driverless	NOUN
app01-3929	2	7	cars	car	NOUN
app01-3929	2	8	and	and	CCONJ
app01-3929	2	9	the	the	DET
app01-3929	2	10	challenges	challenge	NOUN
app01-3929	2	11	of	of	ADP
app01-3929	2	12	the	the	DET
app01-3929	2	13	sensor	sensor	NOUN
app01-3929	2	14	integration	integration	NOUN
app01-3929	2	15	and	and	CCONJ
app01-3929	2	16	data	datum	NOUN
app01-3929	2	17	processing	processing	NOUN
app01-3929	2	18	,	,	PUNCT
app01-3929	2	19	this	this	DET
app01-3929	2	20	paper	paper	NOUN
app01-3929	2	21	presents	present	VERB
app01-3929	2	22	a	a	DET
app01-3929	2	23	model	model	NOUN
app01-3929	2	24	for	for	ADP
app01-3929	2	25	using	use	VERB
app01-3929	2	26	a	a	DET
app01-3929	2	27	xbox	xbox	PROPN
app01-3929	2	28	one	one	NUM
app01-3929	2	29	microsoft	microsoft	PROPN
app01-3929	2	30	kinect	kinect	PROPN
app01-3929	2	31	stereo	stereo	PROPN
app01-3929	2	32	camera	camera	NOUN
app01-3929	2	33	as	as	ADP
app01-3929	2	34	sensor	sensor	NOUN
app01-3929	2	35	for	for	ADP
app01-3929	2	36	mapping	map	VERB
app01-3929	2	37	the	the	DET
app01-3929	2	38	surroundings	surrounding	NOUN
app01-3929	2	39	.	.	PUNCT
app01-3929	3	1	today	today	NOUN
app01-3929	3	2	,	,	PUNCT
app01-3929	3	3	the	the	DET
app01-3929	3	4	recognition	recognition	NOUN
app01-3929	3	5	of	of	ADP
app01-3929	3	6	the	the	DET
app01-3929	3	7	environment	environment	NOUN
app01-3929	3	8	of	of	ADP
app01-3929	3	9	the	the	DET
app01-3929	3	10	car	car	NOUN
app01-3929	3	11	is	be	AUX
app01-3929	3	12	mostly	mostly	ADV
app01-3929	3	13	done	do	VERB
app01-3929	3	14	by	by	ADP
app01-3929	3	15	a	a	DET
app01-3929	3	16	mix	mix	NOUN
app01-3929	3	17	of	of	ADP
app01-3929	3	18	sensors	sensor	NOUN
app01-3929	3	19	like	like	ADP
app01-3929	3	20	lidar	lidar	NOUN
app01-3929	3	21	,	,	PUNCT
app01-3929	3	22	radar	radar	NOUN
app01-3929	3	23	and	and	CCONJ
app01-3929	3	24	cameras	camera	NOUN
app01-3929	3	25	.	.	PUNCT
app01-3929	4	1	in	in	ADP
app01-3929	4	2	the	the	DET
app01-3929	4	3	case	case	NOUN
app01-3929	4	4	of	of	ADP
app01-3929	4	5	the	the	DET
app01-3929	4	6	outdoor	outdoor	ADJ
app01-3929	4	7	delivery	delivery	NOUN
app01-3929	4	8	challenge	challenge	NOUN
app01-3929	4	9	robotour	robotour	NOUN
app01-3929	4	10	2016	2016	NUM
app01-3929	4	11	with	with	ADP
app01-3929	4	12	model	model	NOUN
app01-3929	4	13	cars	car	NOUN
app01-3929	4	14	in	in	ADP
app01-3929	4	15	scale	scale	NOUN
app01-3929	4	16	1	1	NUM
app01-3929	4	17	:	:	SYM
app01-3929	4	18	5	5	NUM
app01-3929	4	19	,	,	PUNCT
app01-3929	4	20	it	it	PRON
app01-3929	4	21	is	be	AUX
app01-3929	4	22	our	our	PRON
app01-3929	4	23	goal	goal	NOUN
app01-3929	4	24	to	to	PART
app01-3929	4	25	solve	solve	VERB
app01-3929	4	26	the	the	DET
app01-3929	4	27	task	task	NOUN
app01-3929	4	28	with	with	ADP
app01-3929	4	29	one	one	NUM
app01-3929	4	30	camera	camera	NOUN
app01-3929	4	31	only	only	ADV
app01-3929	4	32	.	.	PUNCT
app01-3929	5	1	to	to	ADP
app01-3929	5	2	this	this	DET
app01-3929	5	3	end	end	NOUN
app01-3929	5	4	,	,	PUNCT
app01-3929	5	5	a	a	DET
app01-3929	5	6	three	three	NUM
app01-3929	5	7	-	-	PUNCT
app01-3929	5	8	stage	stage	NOUN
app01-3929	5	9	approach	approach	NOUN
app01-3929	5	10	was	be	AUX
app01-3929	5	11	developed	develop	VERB
app01-3929	5	12	.	.	PUNCT
app01-3929	6	1	the	the	DET
app01-3929	6	2	test	test	NOUN
app01-3929	6	3	results	result	NOUN
app01-3929	6	4	show	show	VERB
app01-3929	6	5	that	that	SCONJ
app01-3929	6	6	our	our	PRON
app01-3929	6	7	approach	approach	NOUN
app01-3929	6	8	can	can	AUX
app01-3929	6	9	detect	detect	VERB
app01-3929	6	10	and	and	CCONJ
app01-3929	6	11	locate	locate	ADJ
app01-3929	6	12	objects	object	NOUN
app01-3929	6	13	at	at	ADP
app01-3929	6	14	a	a	DET
app01-3929	6	15	range	range	NOUN
app01-3929	6	16	of	of	ADP
app01-3929	6	17	up	up	ADP
app01-3929	6	18	to	to	PART
app01-3929	6	19	eight	eight	NUM
app01-3929	6	20	meters	meter	NOUN
app01-3929	6	21	in	in	ADP
app01-3929	6	22	order	order	NOUN
app01-3929	6	23	to	to	PART
app01-3929	6	24	incorporate	incorporate	VERB
app01-3929	6	25	them	they	PRON
app01-3929	6	26	as	as	ADP
app01-3929	6	27	barriers	barrier	NOUN
app01-3929	6	28	in	in	ADP
app01-3929	6	29	the	the	DET
app01-3929	6	30	navigation	navigation	NOUN
app01-3929	6	31	process	process	NOUN
app01-3929	6	32	.	.	PUNCT
app01-3929	7	1	keywords	keyword	NOUN
app01-3929	7	2	:	:	PUNCT
app01-3929	7	3	microsoft	microsoft	PROPN
app01-3929	7	4	kinect	kinect	PROPN
app01-3929	7	5	,	,	PUNCT
app01-3929	7	6	mapping	mapping	NOUN
app01-3929	7	7	,	,	PUNCT
app01-3929	7	8	3d	3d	NUM
app01-3929	7	9	mapping	mapping	NOUN
app01-3929	7	10	,	,	PUNCT
app01-3929	7	11	robotour	robotour	ADJ
app01-3929	7	12	,	,	PUNCT
app01-3929	7	13	autonomous	autonomous	ADJ
app01-3929	7	14	driving	driving	NOUN
app01-3929	7	15	.	.	PUNCT
app01-3929	8	1	1	1	X
app01-3929	8	2	.	.	X
app01-3929	8	3	introduction	introduction	NOUN
app01-3929	8	4	in	in	ADP
app01-3929	8	5	addition	addition	NOUN
app01-3929	8	6	to	to	ADP
app01-3929	8	7	the	the	DET
app01-3929	8	8	extensive	extensive	ADJ
app01-3929	8	9	launch	launch	NOUN
app01-3929	8	10	of	of	ADP
app01-3929	8	11	full	full	ADJ
app01-3929	8	12	electric	electric	ADJ
app01-3929	8	13	vehicle	vehicle	NOUN
app01-3929	8	14	(	(	PUNCT
app01-3929	8	15	fev	fev	PROPN
app01-3929	8	16	)	)	PUNCT
app01-3929	8	17	autonomous	autonomous	ADJ
app01-3929	8	18	driving	driving	NOUN
app01-3929	8	19	is	be	AUX
app01-3929	8	20	deemed	deem	VERB
app01-3929	8	21	to	to	PART
app01-3929	8	22	be	be	AUX
app01-3929	8	23	a	a	DET
app01-3929	8	24	key	key	ADJ
app01-3929	8	25	research	research	NOUN
app01-3929	8	26	and	and	CCONJ
app01-3929	8	27	development	development	NOUN
app01-3929	8	28	trend	trend	NOUN
app01-3929	8	29	in	in	ADP
app01-3929	8	30	the	the	DET
app01-3929	8	31	automotive	automotive	ADJ
app01-3929	8	32	industry	industry	NOUN
app01-3929	8	33	.	.	PUNCT
app01-3929	9	1	the	the	DET
app01-3929	9	2	entire	entire	ADJ
app01-3929	9	3	industry	industry	NOUN
app01-3929	9	4	is	be	AUX
app01-3929	9	5	working	work	VERB
app01-3929	9	6	on	on	ADP
app01-3929	9	7	the	the	DET
app01-3929	9	8	topic	topic	NOUN
app01-3929	9	9	and	and	CCONJ
app01-3929	9	10	has	have	AUX
app01-3929	9	11	already	already	ADV
app01-3929	9	12	developed	develop	VERB
app01-3929	9	13	first	first	ADJ
app01-3929	9	14	solutions	solution	NOUN
app01-3929	9	15	for	for	ADP
app01-3929	9	16	automatic	automatic	ADJ
app01-3929	9	17	braking	braking	NOUN
app01-3929	9	18	,	,	PUNCT
app01-3929	9	19	line	line	NOUN
app01-3929	9	20	keeping	keeping	NOUN
app01-3929	9	21	(	(	PUNCT
app01-3929	9	22	i.e.	i.e.	X
app01-3929	9	23	audi	audi	ADJ
app01-3929	9	24	“	"	PUNCT
app01-3929	9	25	active	active	ADJ
app01-3929	9	26	lane	lane	NOUN
app01-3929	9	27	assist	assist	NOUN
app01-3929	9	28	”	"	PUNCT
app01-3929	9	29	or	or	CCONJ
app01-3929	9	30	bmw	bmw	ADJ
app01-3929	9	31	“	"	PUNCT
app01-3929	9	32	active	active	ADJ
app01-3929	9	33	assist	assist	NOUN
app01-3929	9	34	”	"	PUNCT
app01-3929	9	35	)	)	PUNCT
app01-3929	9	36	or	or	CCONJ
app01-3929	9	37	even	even	ADV
app01-3929	9	38	autopilots	autopilot	NOUN
app01-3929	9	39	for	for	ADP
app01-3929	9	40	driverless	driverless	NOUN
app01-3929	9	41	cars	car	NOUN
app01-3929	9	42	like	like	ADP
app01-3929	9	43	tesla	tesla	PROPN
app01-3929	9	44	motors	motors	PROPN
app01-3929	9	45	’	'	PUNCT
app01-3929	9	46	“	"	PUNCT
app01-3929	9	47	autopilot	autopilot	NOUN
app01-3929	9	48	”	"	PUNCT
app01-3929	9	49	or	or	CCONJ
app01-3929	9	50	google	google	PROPN
app01-3929	9	51	’s	’s	PART
app01-3929	9	52	“	"	PUNCT
app01-3929	9	53	driverless	driverless	ADJ
app01-3929	9	54	car	car	NOUN
app01-3929	9	55	”	"	PUNCT
app01-3929	10	1	[	[	X
app01-3929	10	2	1	1	NUM
app01-3929	10	3	]	]	PUNCT
app01-3929	10	4	.	.	PUNCT
app01-3929	11	1	the	the	DET
app01-3929	11	2	used	use	VERB
app01-3929	11	3	navigation	navigation	NOUN
app01-3929	11	4	and	and	CCONJ
app01-3929	11	5	self	self	NOUN
app01-3929	11	6	-	-	PUNCT
app01-3929	11	7	driving	drive	VERB
app01-3929	11	8	algorithms	algorithm	NOUN
app01-3929	11	9	run	run	VERB
app01-3929	11	10	on	on	ADP
app01-3929	11	11	maps	map	NOUN
app01-3929	11	12	[	[	X
app01-3929	11	13	2	2	NUM
app01-3929	11	14	]	]	PUNCT
app01-3929	11	15	and	and	CCONJ
app01-3929	11	16	require	require	VERB
app01-3929	11	17	very	very	ADV
app01-3929	11	18	accurate	accurate	ADJ
app01-3929	11	19	digital	digital	NOUN
app01-3929	11	20	(	(	PUNCT
app01-3929	11	21	geo-)data	geo-)data	NOUN
app01-3929	11	22	of	of	ADP
app01-3929	11	23	the	the	DET
app01-3929	11	24	environment	environment	NOUN
app01-3929	12	1	[	[	X
app01-3929	12	2	3	3	NUM
app01-3929	12	3	]	]	PUNCT
app01-3929	12	4	.	.	PUNCT
app01-3929	13	1	therefore	therefore	ADV
app01-3929	13	2	,	,	PUNCT
app01-3929	13	3	the	the	DET
app01-3929	13	4	spatial	spatial	ADJ
app01-3929	13	5	coverage	coverage	NOUN
app01-3929	13	6	of	of	ADP
app01-3929	13	7	the	the	DET
app01-3929	13	8	surroundings	surrounding	NOUN
app01-3929	13	9	as	as	ADP
app01-3929	13	10	a	a	DET
app01-3929	13	11	basis	basis	NOUN
app01-3929	13	12	for	for	ADP
app01-3929	13	13	autonomous	autonomous	ADJ
app01-3929	13	14	navigation	navigation	NOUN
app01-3929	13	15	of	of	ADP
app01-3929	13	16	the	the	DET
app01-3929	13	17	vehicle	vehicle	NOUN
app01-3929	13	18	is	be	AUX
app01-3929	13	19	common	common	ADJ
app01-3929	13	20	to	to	ADP
app01-3929	13	21	all	all	DET
app01-3929	13	22	applications	application	NOUN
app01-3929	13	23	.	.	PUNCT
app01-3929	14	1	consequently	consequently	ADV
app01-3929	14	2	,	,	PUNCT
app01-3929	14	3	autonomous	autonomous	ADJ
app01-3929	14	4	driving	driving	NOUN
app01-3929	14	5	–	–	PUNCT
app01-3929	14	6	regardless	regardless	ADV
app01-3929	14	7	of	of	ADP
app01-3929	14	8	the	the	DET
app01-3929	14	9	respective	respective	ADJ
app01-3929	14	10	task	task	NOUN
app01-3929	14	11	such	such	ADJ
app01-3929	14	12	as	as	ADP
app01-3929	14	13	automatic	automatic	ADJ
app01-3929	14	14	braking	braking	NOUN
app01-3929	14	15	,	,	PUNCT
app01-3929	14	16	adaptive	adaptive	ADJ
app01-3929	14	17	cruise	cruise	NOUN
app01-3929	14	18	control	control	NOUN
app01-3929	14	19	,	,	PUNCT
app01-3929	14	20	lane	lane	NOUN
app01-3929	14	21	keeping	keeping	NOUN
app01-3929	14	22	or	or	CCONJ
app01-3929	14	23	autonomous	autonomous	ADJ
app01-3929	14	24	driving	driving	NOUN
app01-3929	14	25	–	–	PUNCT
app01-3929	14	26	requires	require	VERB
app01-3929	14	27	detection	detection	NOUN
app01-3929	14	28	and	and	CCONJ
app01-3929	14	29	imaging	imaging	NOUN
app01-3929	14	30	of	of	ADP
app01-3929	14	31	the	the	DET
app01-3929	14	32	space	space	NOUN
app01-3929	14	33	which	which	PRON
app01-3929	14	34	it	it	PRON
app01-3929	14	35	will	will	AUX
app01-3929	14	36	pass	pass	VERB
app01-3929	14	37	through	through	ADP
app01-3929	14	38	.	.	PUNCT
app01-3929	15	1	photo	photo	NOUN
app01-3929	15	2	cameras	camera	NOUN
app01-3929	15	3	,	,	PUNCT
app01-3929	15	4	lidar-	lidar-	X
app01-3929	15	5	,	,	PUNCT
app01-3929	15	6	radaror	radaror	NOUN
app01-3929	15	7	other	other	ADJ
app01-3929	15	8	sensors	sensor	NOUN
app01-3929	15	9	continuously	continuously	ADV
app01-3929	15	10	detect	detect	VERB
app01-3929	15	11	and	and	CCONJ
app01-3929	15	12	measure	measure	VERB
app01-3929	15	13	the	the	DET
app01-3929	15	14	surrounding	surrounding	NOUN
app01-3929	15	15	of	of	ADP
app01-3929	15	16	the	the	DET
app01-3929	15	17	car	car	NOUN
app01-3929	15	18	,	,	PUNCT
app01-3929	15	19	creating	create	VERB
app01-3929	15	20	a	a	DET
app01-3929	15	21	digital	digital	ADJ
app01-3929	15	22	spatial	spatial	ADJ
app01-3929	15	23	image	image	NOUN
app01-3929	15	24	of	of	ADP
app01-3929	15	25	the	the	DET
app01-3929	15	26	area	area	NOUN
app01-3929	15	27	(	(	PUNCT
app01-3929	15	28	map	map	NOUN
app01-3929	15	29	)	)	PUNCT
app01-3929	15	30	.	.	PUNCT
app01-3929	16	1	combined	combine	VERB
app01-3929	16	2	with	with	ADP
app01-3929	16	3	positioning	positioning	NOUN
app01-3929	16	4	services	service	NOUN
app01-3929	16	5	like	like	ADP
app01-3929	16	6	gps	gps	PROPN
app01-3929	16	7	or	or	CCONJ
app01-3929	16	8	galileo	galileo	PROPN
app01-3929	16	9	,	,	PUNCT
app01-3929	16	10	the	the	DET
app01-3929	16	11	location	location	NOUN
app01-3929	16	12	of	of	ADP
app01-3929	16	13	the	the	DET
app01-3929	16	14	vehicle	vehicle	NOUN
app01-3929	16	15	can	can	AUX
app01-3929	16	16	be	be	AUX
app01-3929	16	17	determined	determine	VERB
app01-3929	16	18	and	and	CCONJ
app01-3929	16	19	set	set	VERB
app01-3929	16	20	in	in	ADP
app01-3929	16	21	relation	relation	NOUN
app01-3929	16	22	to	to	ADP
app01-3929	16	23	surrounding	surround	VERB
app01-3929	16	24	objects	object	NOUN
app01-3929	16	25	such	such	ADJ
app01-3929	16	26	as	as	ADP
app01-3929	16	27	other	other	ADJ
app01-3929	16	28	vehicles	vehicle	NOUN
app01-3929	16	29	or	or	CCONJ
app01-3929	16	30	obstacles	obstacle	NOUN
app01-3929	16	31	.	.	PUNCT
app01-3929	17	1	however	however	ADV
app01-3929	17	2	,	,	PUNCT
app01-3929	17	3	it	it	PRON
app01-3929	17	4	is	be	AUX
app01-3929	17	5	not	not	PART
app01-3929	17	6	an	an	DET
app01-3929	17	7	ordinary	ordinary	ADJ
app01-3929	17	8	cartographic	cartographic	ADJ
app01-3929	17	9	map	map	NOUN
app01-3929	17	10	resulting	result	VERB
app01-3929	17	11	from	from	ADP
app01-3929	17	12	the	the	DET
app01-3929	17	13	permanent	permanent	ADJ
app01-3929	17	14	mapping	mapping	NOUN
app01-3929	17	15	process	process	NOUN
app01-3929	17	16	but	but	CCONJ
app01-3929	17	17	digital	digital	ADJ
app01-3929	17	18	images	image	NOUN
app01-3929	17	19	that	that	PRON
app01-3929	17	20	are	be	AUX
app01-3929	17	21	stored	store	VERB
app01-3929	17	22	temporarily	temporarily	ADV
app01-3929	17	23	as	as	ADP
app01-3929	17	24	server	server	NOUN
app01-3929	17	25	frames	frame	NOUN
app01-3929	17	26	for	for	ADP
app01-3929	17	27	the	the	DET
app01-3929	17	28	navigation	navigation	NOUN
app01-3929	17	29	.	.	PUNCT
app01-3929	18	1	the	the	DET
app01-3929	18	2	navigation	navigation	NOUN
app01-3929	18	3	of	of	ADP
app01-3929	18	4	the	the	DET
app01-3929	18	5	car	car	NOUN
app01-3929	18	6	finally	finally	ADV
app01-3929	18	7	relies	rely	VERB
app01-3929	18	8	on	on	ADP
app01-3929	18	9	mathematical	mathematical	ADJ
app01-3929	18	10	functions	function	NOUN
app01-3929	18	11	(	(	PUNCT
app01-3929	18	12	algorithms	algorithm	NOUN
app01-3929	18	13	)	)	PUNCT
app01-3929	18	14	to	to	PART
app01-3929	18	15	pass	pass	VERB
app01-3929	18	16	through	through	ADP
app01-3929	18	17	the	the	DET
app01-3929	18	18	digital	digital	ADJ
app01-3929	18	19	and	and	CCONJ
app01-3929	18	20	real	real	ADJ
app01-3929	18	21	space	space	NOUN
app01-3929	18	22	on	on	ADP
app01-3929	18	23	the	the	DET
app01-3929	18	24	shortest	short	ADJ
app01-3929	18	25	(	(	PUNCT
app01-3929	18	26	spatial	spatial	ADJ
app01-3929	18	27	)	)	PUNCT
app01-3929	18	28	or	or	CCONJ
app01-3929	18	29	fastest	fast	ADJ
app01-3929	18	30	(	(	PUNCT
app01-3929	18	31	time	time	NOUN
app01-3929	18	32	)	)	PUNCT
app01-3929	18	33	way	way	NOUN
app01-3929	18	34	.	.	PUNCT
app01-3929	19	1	this	this	DET
app01-3929	19	2	paper	paper	NOUN
app01-3929	19	3	addresses	address	VERB
app01-3929	19	4	the	the	DET
app01-3929	19	5	issue	issue	NOUN
app01-3929	19	6	of	of	ADP
app01-3929	19	7	the	the	DET
app01-3929	19	8	space	space	NOUN
app01-3929	19	9	detection	detection	NOUN
app01-3929	19	10	which	which	PRON
app01-3929	19	11	is	be	AUX
app01-3929	19	12	considered	consider	VERB
app01-3929	19	13	as	as	ADP
app01-3929	19	14	an	an	DET
app01-3929	19	15	essential	essential	ADJ
app01-3929	19	16	basis	basis	NOUN
app01-3929	19	17	of	of	ADP
app01-3929	19	18	autonomous	autonomous	ADJ
app01-3929	19	19	driving	driving	NOUN
app01-3929	19	20	and	and	CCONJ
app01-3929	19	21	robot	robot	NOUN
app01-3929	19	22	navigation	navigation	NOUN
app01-3929	19	23	(	(	PUNCT
app01-3929	19	24	see	see	VERB
app01-3929	19	25	for	for	ADP
app01-3929	19	26	example	example	NOUN
app01-3929	19	27	[	[	X
app01-3929	19	28	4	4	NUM
app01-3929	19	29	]	]	PUNCT
app01-3929	19	30	)	)	PUNCT
app01-3929	19	31	and	and	CCONJ
app01-3929	19	32	describes	describe	VERB
app01-3929	19	33	the	the	DET
app01-3929	19	34	use	use	NOUN
app01-3929	19	35	of	of	ADP
app01-3929	19	36	a	a	DET
app01-3929	19	37	microsoft	microsoft	PROPN
app01-3929	19	38	x	x	PROPN
app01-3929	19	39	-	-	PROPN
app01-3929	19	40	box	box	NOUN
app01-3929	19	41	one	one	NUM
app01-3929	19	42	kinect	kinect	ADJ
app01-3929	19	43	stereo	stereo	NOUN
app01-3929	19	44	camera	camera	NOUN
app01-3929	19	45	for	for	ADP
app01-3929	19	46	autonomous	autonomous	ADJ
app01-3929	19	47	driving	driving	NOUN
app01-3929	19	48	for	for	ADP
app01-3929	19	49	the	the	DET
app01-3929	19	50	outdoor	outdoor	ADJ
app01-3929	19	51	delivery	delivery	NOUN
app01-3929	19	52	challenge	challenge	NOUN
app01-3929	19	53	robotour	robotour	NOUN
app01-3929	19	54	2016	2016	NUM
app01-3929	19	55	(	(	PUNCT
app01-3929	19	56	robotika.cz	robotika.cz	NOUN
app01-3929	19	57	)	)	PUNCT
app01-3929	19	58	.	.	PUNCT
app01-3929	20	1	we	we	PRON
app01-3929	20	2	present	present	VERB
app01-3929	20	3	an	an	DET
app01-3929	20	4	approach	approach	NOUN
app01-3929	20	5	for	for	ADP
app01-3929	20	6	mapping	map	VERB
app01-3929	20	7	the	the	DET
app01-3929	20	8	surroundings	surrounding	NOUN
app01-3929	20	9	including	include	VERB
app01-3929	20	10	the	the	DET
app01-3929	20	11	three	three	NUM
app01-3929	20	12	steps	step	NOUN
app01-3929	20	13	(	(	PUNCT
app01-3929	20	14	1	1	NUM
app01-3929	20	15	)	)	PUNCT
app01-3929	20	16	3d	3d	NOUN
app01-3929	20	17	capturing	capturing	NOUN
app01-3929	20	18	,	,	PUNCT
app01-3929	20	19	(	(	PUNCT
app01-3929	20	20	2	2	NUM
app01-3929	20	21	)	)	PUNCT
app01-3929	20	22	projection	projection	NOUN
app01-3929	20	23	and	and	CCONJ
app01-3929	20	24	filtering	filtering	NOUN
app01-3929	20	25	and	and	CCONJ
app01-3929	20	26	(	(	PUNCT
app01-3929	20	27	3	3	X
app01-3929	20	28	)	)	PUNCT
app01-3929	20	29	object	object	NOUN
app01-3929	20	30	detection	detection	NOUN
app01-3929	20	31	.	.	PUNCT
app01-3929	21	1	the	the	DET
app01-3929	21	2	hardware	hardware	NOUN
app01-3929	21	3	and	and	CCONJ
app01-3929	21	4	the	the	DET
app01-3929	21	5	approach	approach	NOUN
app01-3929	21	6	are	be	AUX
app01-3929	21	7	implemented	implement	VERB
app01-3929	21	8	on	on	ADP
app01-3929	21	9	a	a	DET
app01-3929	21	10	four	four	NUM
app01-3929	21	11	wheel	wheel	NOUN
app01-3929	21	12	drive	drive	NOUN
app01-3929	21	13	off	off	ADP
app01-3929	21	14	-	-	PUNCT
app01-3929	21	15	road	road	NOUN
app01-3929	21	16	buggy	buggy	ADJ
app01-3929	21	17	,	,	PUNCT
app01-3929	21	18	scale	scale	VERB
app01-3929	21	19	1	1	NUM
app01-3929	21	20	:	:	SYM
app01-3929	21	21	5	5	NUM
app01-3929	21	22	.	.	PUNCT
app01-3929	22	1	the	the	DET
app01-3929	22	2	main	main	ADJ
app01-3929	22	3	hardware	hardware	NOUN
app01-3929	22	4	consists	consist	VERB
app01-3929	22	5	of	of	ADP
app01-3929	22	6	a	a	DET
app01-3929	22	7	congatec	congatec	ADJ
app01-3929	22	8	ts180	ts180	NOUN
app01-3929	22	9	com	com	NOUN
app01-3929	22	10	express	express	NOUN
app01-3929	22	11	module	module	NOUN
app01-3929	22	12	.	.	PUNCT
app01-3929	23	1	for	for	ADP
app01-3929	23	2	the	the	DET
app01-3929	23	3	main	main	ADJ
app01-3929	23	4	processing	processing	NOUN
app01-3929	23	5	,	,	PUNCT
app01-3929	23	6	it	it	PRON
app01-3929	23	7	communicates	communicate	VERB
app01-3929	23	8	with	with	ADP
app01-3929	23	9	the	the	DET
app01-3929	23	10	x	x	NOUN
app01-3929	23	11	-	-	NOUN
app01-3929	23	12	box	box	NOUN
app01-3929	23	13	one	one	NUM
app01-3929	23	14	kinect	kinect	NOUN
app01-3929	23	15	and	and	CCONJ
app01-3929	23	16	a	a	DET
app01-3929	23	17	raspberry	raspberry	NOUN
app01-3929	23	18	pi	pi	NOUN
app01-3929	23	19	and	and	CCONJ
app01-3929	23	20	displays	display	VERB
app01-3929	23	21	the	the	DET
app01-3929	23	22	crucial	crucial	ADJ
app01-3929	23	23	information	information	NOUN
app01-3929	23	24	on	on	ADP
app01-3929	23	25	a	a	DET
app01-3929	23	26	krämer	krämer	NOUN
app01-3929	23	27	v-800	v-800	NOUN
app01-3929	23	28	touchscreen	touchscreen	NOUN
app01-3929	23	29	.	.	PUNCT
app01-3929	24	1	the	the	DET
app01-3929	24	2	raspberry	raspberry	NOUN
app01-3929	24	3	pi	pi	NOUN
app01-3929	24	4	reads	read	VERB
app01-3929	24	5	the	the	DET
app01-3929	24	6	sensor	sensor	NOUN
app01-3929	24	7	values	value	NOUN
app01-3929	24	8	from	from	ADP
app01-3929	24	9	the	the	DET
app01-3929	24	10	gps	gps	PROPN
app01-3929	24	11	and	and	CCONJ
app01-3929	24	12	the	the	DET
app01-3929	24	13	bosch	bosch	PROPN
app01-3929	24	14	bno055	bno055	PROPN
app01-3929	24	15	and	and	CCONJ
app01-3929	24	16	transmits	transmit	VERB
app01-3929	24	17	them	they	PRON
app01-3929	24	18	to	to	ADP
app01-3929	24	19	the	the	DET
app01-3929	24	20	congatec	congatec	ADJ
app01-3929	24	21	module	module	NOUN
app01-3929	24	22	.	.	PUNCT
app01-3929	25	1	it	it	PRON
app01-3929	25	2	receives	receive	VERB
app01-3929	25	3	the	the	DET
app01-3929	25	4	steering	steering	NOUN
app01-3929	25	5	and	and	CCONJ
app01-3929	25	6	speed	speed	NOUN
app01-3929	25	7	values	value	NOUN
app01-3929	25	8	from	from	ADP
app01-3929	25	9	the	the	DET
app01-3929	25	10	congatec	congatec	ADJ
app01-3929	25	11	module	module	NOUN
app01-3929	25	12	,	,	PUNCT
app01-3929	25	13	which	which	PRON
app01-3929	25	14	are	be	AUX
app01-3929	25	15	transmitted	transmit	VERB
app01-3929	25	16	to	to	ADP
app01-3929	25	17	the	the	DET
app01-3929	25	18	freescale	freescale	PROPN
app01-3929	25	19	kl25z	kl25z	PROPN
app01-3929	25	20	microcontroller	microcontroller	PROPN
app01-3929	25	21	,	,	PUNCT
app01-3929	25	22	which	which	PRON
app01-3929	25	23	in	in	ADP
app01-3929	25	24	turn	turn	NOUN
app01-3929	25	25	controls	control	VERB
app01-3929	25	26	the	the	DET
app01-3929	25	27	rc	rc	PROPN
app01-3929	25	28	-	-	PUNCT
app01-3929	25	29	car	car	NOUN
app01-3929	25	30	model	model	NOUN
app01-3929	25	31	via	via	ADP
app01-3929	25	32	pwm	pwm	NOUN
app01-3929	25	33	signals	signal	NOUN
app01-3929	25	34	.	.	PUNCT
app01-3929	26	1	2	2	X
app01-3929	26	2	.	.	X
app01-3929	26	3	approach	approach	VERB
app01-3929	26	4	the	the	DET
app01-3929	26	5	development	development	NOUN
app01-3929	26	6	path	path	NOUN
app01-3929	26	7	of	of	ADP
app01-3929	26	8	the	the	DET
app01-3929	26	9	approach	approach	NOUN
app01-3929	26	10	to	to	PART
app01-3929	26	11	map	map	VERB
app01-3929	26	12	the	the	DET
app01-3929	26	13	surroundings	surrounding	NOUN
app01-3929	26	14	for	for	ADP
app01-3929	26	15	an	an	DET
app01-3929	26	16	autonomous	autonomous	ADJ
app01-3929	26	17	driving	driving	NOUN
app01-3929	26	18	vehicle	vehicle	NOUN
app01-3929	26	19	should	should	AUX
app01-3929	26	20	be	be	AUX
app01-3929	26	21	well	well	ADV
app01-3929	26	22	-	-	PUNCT
app01-3929	26	23	defined	define	VERB
app01-3929	26	24	to	to	PART
app01-3929	26	25	avoid	avoid	VERB
app01-3929	26	26	inconsistencies	inconsistency	NOUN
app01-3929	26	27	.	.	PUNCT
app01-3929	27	1	the	the	DET
app01-3929	27	2	first	first	ADJ
app01-3929	27	3	step	step	NOUN
app01-3929	27	4	is	be	AUX
app01-3929	27	5	answering	answer	VERB
app01-3929	27	6	the	the	DET
app01-3929	27	7	question	question	NOUN
app01-3929	27	8	which	which	DET
app01-3929	27	9	hardware	hardware	NOUN
app01-3929	27	10	will	will	AUX
app01-3929	27	11	be	be	AUX
app01-3929	27	12	used	use	VERB
app01-3929	27	13	to	to	PART
app01-3929	27	14	detect	detect	VERB
app01-3929	27	15	objects	object	NOUN
app01-3929	27	16	.	.	PUNCT
app01-3929	28	1	with	with	ADP
app01-3929	28	2	the	the	DET
app01-3929	28	3	goal	goal	NOUN
app01-3929	28	4	to	to	PART
app01-3929	28	5	use	use	VERB
app01-3929	28	6	only	only	ADV
app01-3929	28	7	a	a	DET
app01-3929	28	8	kinect	kinect	ADJ
app01-3929	28	9	camera	camera	NOUN
app01-3929	28	10	as	as	ADP
app01-3929	28	11	sensor	sensor	NOUN
app01-3929	28	12	,	,	PUNCT
app01-3929	28	13	the	the	DET
app01-3929	28	14	approach	approach	NOUN
app01-3929	28	15	relies	rely	VERB
app01-3929	28	16	on	on	ADP
app01-3929	28	17	the	the	DET
app01-3929	28	18	processing	processing	NOUN
app01-3929	28	19	of	of	ADP
app01-3929	28	20	the	the	DET
app01-3929	28	21	depth	depth	NOUN
app01-3929	28	22	,	,	PUNCT
app01-3929	28	23	and	and	CCONJ
app01-3929	28	24	standard	standard	ADJ
app01-3929	28	25	images	image	NOUN
app01-3929	28	26	.	.	PUNCT
app01-3929	29	1	both	both	DET
app01-3929	29	2	data	datum	NOUN
app01-3929	29	3	represent	represent	VERB
app01-3929	29	4	a	a	DET
app01-3929	29	5	2d	2d	NUM
app01-3929	29	6	respectively	respectively	ADV
app01-3929	29	7	3d	3d	NUM
app01-3929	29	8	model	model	NOUN
app01-3929	29	9	of	of	ADP
app01-3929	29	10	the	the	DET
app01-3929	29	11	environment	environment	NOUN
app01-3929	29	12	.	.	PUNCT
app01-3929	30	1	the	the	DET
app01-3929	30	2	approach	approach	NOUN
app01-3929	30	3	is	be	AUX
app01-3929	30	4	characterised	characterise	VERB
app01-3929	30	5	in	in	ADP
app01-3929	30	6	three	three	NUM
app01-3929	30	7	development	development	NOUN
app01-3929	30	8	steps	step	NOUN
app01-3929	30	9	:	:	PUNCT
app01-3929	30	10	•	•	NOUN
app01-3929	30	11	3d	3d	NUM
app01-3929	30	12	capturing	capturing	NOUN
app01-3929	30	13	,	,	PUNCT
app01-3929	30	14	•	•	NOUN
app01-3929	30	15	projection	projection	NOUN
app01-3929	30	16	,	,	PUNCT
app01-3929	30	17	•	•	NUM
app01-3929	30	18	object	object	NOUN
app01-3929	30	19	recognition	recognition	NOUN
app01-3929	30	20	.	.	PUNCT
app01-3929	31	1	28	28	NUM
app01-3929	31	2	http://dx.doi.org/10.14311/app.2016.6.0028	http://dx.doi.org/10.14311/app.2016.6.0028	ADJ
app01-3929	31	3	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3929	31	4	vol	vol	NOUN
app01-3929	31	5	.	.	PUNCT
app01-3929	32	1	6/2016	6/2016	NUM
app01-3929	32	2	mapping	map	VERB
app01-3929	32	3	the	the	DET
app01-3929	32	4	surroundings	surrounding	NOUN
app01-3929	32	5	as	as	ADP
app01-3929	32	6	a	a	DET
app01-3929	32	7	requirement	requirement	NOUN
app01-3929	32	8	for	for	ADP
app01-3929	32	9	autonomous	autonomous	ADJ
app01-3929	32	10	driving	drive	VERB
app01-3929	32	11	3d	3d	NOUN
app01-3929	32	12	capturing	capture	VERB
app01-3929	32	13	obstacle	obstacle	NOUN
app01-3929	32	14	detec	detec	ADJ
app01-3929	32	15	on	on	ADP
app01-3929	32	16	projec	projec	NOUN
app01-3929	32	17	on	on	ADP
app01-3929	32	18	and	and	CCONJ
app01-3929	32	19	ltering	ltere	VERB
app01-3929	32	20	kinect	kinect	ADJ
app01-3929	32	21	camera	camera	NOUN
app01-3929	32	22	figure	figure	NOUN
app01-3929	32	23	1	1	NUM
app01-3929	32	24	.	.	PUNCT
app01-3929	33	1	spatial	spatial	ADJ
app01-3929	33	2	mapping	mapping	NOUN
app01-3929	33	3	of	of	ADP
app01-3929	33	4	the	the	DET
app01-3929	33	5	current	current	ADJ
app01-3929	33	6	surroundings	surrounding	NOUN
app01-3929	33	7	.	.	PUNCT
app01-3929	34	1	it	it	PRON
app01-3929	34	2	is	be	AUX
app01-3929	34	3	developed	develop	VERB
app01-3929	34	4	to	to	PART
app01-3929	34	5	simplify	simplify	VERB
app01-3929	34	6	complex	complex	ADJ
app01-3929	34	7	processes	process	NOUN
app01-3929	34	8	,	,	PUNCT
app01-3929	34	9	describe	describe	VERB
app01-3929	34	10	them	they	PRON
app01-3929	34	11	in	in	ADP
app01-3929	34	12	a	a	DET
app01-3929	34	13	proper	proper	ADJ
app01-3929	34	14	way	way	NOUN
app01-3929	34	15	and	and	CCONJ
app01-3929	34	16	visualize	visualize	VERB
app01-3929	34	17	all	all	PRON
app01-3929	34	18	of	of	ADP
app01-3929	34	19	the	the	DET
app01-3929	34	20	main	main	ADJ
app01-3929	34	21	development	development	NOUN
app01-3929	34	22	steps	step	NOUN
app01-3929	34	23	in	in	ADP
app01-3929	34	24	a	a	DET
app01-3929	34	25	manner	manner	NOUN
app01-3929	34	26	that	that	PRON
app01-3929	34	27	is	be	AUX
app01-3929	34	28	easy	easy	ADJ
app01-3929	34	29	to	to	PART
app01-3929	34	30	understand	understand	VERB
app01-3929	34	31	.	.	PUNCT
app01-3929	35	1	according	accord	VERB
app01-3929	35	2	to	to	ADP
app01-3929	35	3	the	the	DET
app01-3929	35	4	development	development	NOUN
app01-3929	35	5	steps	step	NOUN
app01-3929	35	6	,	,	PUNCT
app01-3929	35	7	the	the	DET
app01-3929	35	8	approach	approach	NOUN
app01-3929	35	9	is	be	AUX
app01-3929	35	10	divided	divide	VERB
app01-3929	35	11	into	into	ADP
app01-3929	35	12	three	three	NUM
app01-3929	35	13	processes	process	NOUN
app01-3929	35	14	,	,	PUNCT
app01-3929	35	15	see	see	VERB
app01-3929	35	16	figure	figure	NOUN
app01-3929	35	17	1	1	NUM
app01-3929	35	18	.	.	PUNCT
app01-3929	36	1	at	at	ADP
app01-3929	36	2	first	first	ADV
app01-3929	36	3	,	,	PUNCT
app01-3929	36	4	the	the	DET
app01-3929	36	5	kinect	kinect	ADJ
app01-3929	36	6	camera	camera	NOUN
app01-3929	36	7	films	film	NOUN
app01-3929	36	8	the	the	DET
app01-3929	36	9	space	space	NOUN
app01-3929	36	10	in	in	ADP
app01-3929	36	11	front	front	NOUN
app01-3929	36	12	of	of	ADP
app01-3929	36	13	the	the	DET
app01-3929	36	14	vehicle	vehicle	NOUN
app01-3929	36	15	in	in	ADP
app01-3929	36	16	order	order	NOUN
app01-3929	36	17	to	to	PART
app01-3929	36	18	gather	gather	VERB
app01-3929	36	19	potential	potential	ADJ
app01-3929	36	20	obstacles	obstacle	NOUN
app01-3929	36	21	.	.	PUNCT
app01-3929	37	1	the	the	DET
app01-3929	37	2	second	second	ADJ
app01-3929	37	3	step	step	NOUN
app01-3929	37	4	contains	contain	VERB
app01-3929	37	5	the	the	DET
app01-3929	37	6	projection	projection	NOUN
app01-3929	37	7	of	of	ADP
app01-3929	37	8	the	the	DET
app01-3929	37	9	depth	depth	NOUN
app01-3929	37	10	images	image	NOUN
app01-3929	37	11	on	on	ADP
app01-3929	37	12	a	a	DET
app01-3929	37	13	2d	2d	NUM
app01-3929	37	14	ground	ground	NOUN
app01-3929	37	15	plane	plane	NOUN
app01-3929	37	16	.	.	PUNCT
app01-3929	38	1	at	at	ADP
app01-3929	38	2	last	last	ADV
app01-3929	38	3	,	,	PUNCT
app01-3929	38	4	the	the	DET
app01-3929	38	5	obstacles	obstacle	NOUN
app01-3929	38	6	or	or	CCONJ
app01-3929	38	7	object	object	NOUN
app01-3929	38	8	will	will	AUX
app01-3929	38	9	be	be	AUX
app01-3929	38	10	recognized	recognize	VERB
app01-3929	38	11	during	during	ADP
app01-3929	38	12	the	the	DET
app01-3929	38	13	third	third	ADJ
app01-3929	38	14	step	step	NOUN
app01-3929	38	15	.	.	PUNCT
app01-3929	39	1	the	the	DET
app01-3929	39	2	three	three	NUM
app01-3929	39	3	main	main	ADJ
app01-3929	39	4	steps	step	NOUN
app01-3929	39	5	will	will	AUX
app01-3929	39	6	be	be	AUX
app01-3929	39	7	explained	explain	VERB
app01-3929	39	8	below	below	ADV
app01-3929	39	9	.	.	PUNCT
app01-3929	40	1	3	3	X
app01-3929	40	2	.	.	X
app01-3929	40	3	related	relate	VERB
app01-3929	40	4	work	work	NOUN
app01-3929	40	5	in	in	ADP
app01-3929	40	6	2002	2002	NUM
app01-3929	40	7	sebastian	sebastian	PROPN
app01-3929	40	8	thrun	thrun	NOUN
app01-3929	40	9	(	(	PUNCT
app01-3929	40	10	see	see	VERB
app01-3929	40	11	[	[	X
app01-3929	40	12	5	5	NUM
app01-3929	40	13	]	]	PUNCT
app01-3929	40	14	)	)	PUNCT
app01-3929	40	15	showed	show	VERB
app01-3929	40	16	that	that	SCONJ
app01-3929	40	17	the	the	DET
app01-3929	40	18	problem	problem	NOUN
app01-3929	40	19	of	of	ADP
app01-3929	40	20	terrain	terrain	NOUN
app01-3929	40	21	mapping	mapping	NOUN
app01-3929	40	22	is	be	AUX
app01-3929	40	23	to	to	PART
app01-3929	40	24	generate	generate	VERB
app01-3929	40	25	a	a	DET
app01-3929	40	26	spatial	spatial	ADJ
app01-3929	40	27	model	model	NOUN
app01-3929	40	28	of	of	ADP
app01-3929	40	29	a	a	DET
app01-3929	40	30	robot	robot	NOUN
app01-3929	40	31	’s	’s	PART
app01-3929	40	32	or	or	CCONJ
app01-3929	40	33	vehicle	vehicle	NOUN
app01-3929	40	34	’s	’s	PART
app01-3929	40	35	environment	environment	NOUN
app01-3929	40	36	using	use	VERB
app01-3929	40	37	sensors	sensor	NOUN
app01-3929	40	38	and	and	CCONJ
app01-3929	40	39	cameras	camera	NOUN
app01-3929	40	40	.	.	PUNCT
app01-3929	41	1	concerning	concern	VERB
app01-3929	41	2	this	this	DET
app01-3929	41	3	point	point	NOUN
app01-3929	41	4	there	there	PRON
app01-3929	41	5	are	be	VERB
app01-3929	41	6	several	several	ADJ
app01-3929	41	7	more	more	ADJ
app01-3929	41	8	subproblems	subproblem	NOUN
app01-3929	41	9	:	:	PUNCT
app01-3929	41	10	•	•	NUM
app01-3929	41	11	measurement	measurement	NOUN
app01-3929	41	12	noise	noise	NOUN
app01-3929	41	13	,	,	PUNCT
app01-3929	41	14	•	•	NUM
app01-3929	41	15	robot	robot	NOUN
app01-3929	41	16	must	must	AUX
app01-3929	41	17	choose	choose	VERB
app01-3929	41	18	its	its	PRON
app01-3929	41	19	way	way	NOUN
app01-3929	41	20	during	during	ADP
app01-3929	41	21	mapping	mapping	NOUN
app01-3929	41	22	process	process	NOUN
app01-3929	41	23	,	,	PUNCT
app01-3929	41	24	•	•	NUM
app01-3929	41	25	environment	environment	NOUN
app01-3929	41	26	changes	change	VERB
app01-3929	41	27	over	over	ADP
app01-3929	41	28	time	time	NOUN
app01-3929	41	29	,	,	PUNCT
app01-3929	41	30	•	•	ADV
app01-3929	41	31	possibly	possibly	ADV
app01-3929	41	32	the	the	DET
app01-3929	41	33	hardest	hard	ADJ
app01-3929	41	34	problem	problem	NOUN
app01-3929	41	35	—	—	PUNCT
app01-3929	41	36	the	the	DET
app01-3929	41	37	so	so	ADV
app01-3929	41	38	called	call	VERB
app01-3929	41	39	data	data	PROPN
app01-3929	41	40	association	association	PROPN
app01-3929	41	41	problem	problem	NOUN
app01-3929	41	42	:	:	PUNCT
app01-3929	41	43	correspond	correspond	VERB
app01-3929	41	44	sensor	sensor	NOUN
app01-3929	41	45	measurements	measurement	NOUN
app01-3929	41	46	to	to	ADP
app01-3929	41	47	the	the	DET
app01-3929	41	48	same	same	ADJ
app01-3929	41	49	physical	physical	ADJ
app01-3929	41	50	object	object	NOUN
app01-3929	41	51	in	in	ADP
app01-3929	41	52	the	the	DET
app01-3929	41	53	real	real	ADJ
app01-3929	41	54	world	world	NOUN
app01-3929	41	55	.	.	PUNCT
app01-3929	42	1	“	"	PUNCT
app01-3929	42	2	mapping	mapping	NOUN
app01-3929	42	3	is	be	AUX
app01-3929	42	4	largely	largely	ADV
app01-3929	42	5	considered	consider	VERB
app01-3929	42	6	the	the	DET
app01-3929	42	7	most	most	ADV
app01-3929	42	8	difficult	difficult	ADJ
app01-3929	42	9	perceptual	perceptual	ADJ
app01-3929	42	10	problem	problem	NOUN
app01-3929	42	11	in	in	ADP
app01-3929	42	12	robotics	robotic	NOUN
app01-3929	42	13	.	.	PUNCT
app01-3929	42	14	”	"	PUNCT
app01-3929	43	1	[	[	X
app01-3929	43	2	5	5	NUM
app01-3929	43	3	,	,	PUNCT
app01-3929	43	4	p.	p.	NOUN
app01-3929	43	5	6	6	NUM
app01-3929	43	6	]	]	PUNCT
app01-3929	43	7	.	.	PUNCT
app01-3929	44	1	in	in	ADP
app01-3929	44	2	1989	1989	NUM
app01-3929	44	3	herbert	herbert	PROPN
app01-3929	44	4	et	et	PROPN
app01-3929	44	5	al	al	PROPN
app01-3929	44	6	.	.	PROPN
app01-3929	44	7	already	already	ADV
app01-3929	44	8	presented	present	VERB
app01-3929	44	9	the	the	DET
app01-3929	44	10	so	so	ADV
app01-3929	44	11	called	call	VERB
app01-3929	44	12	locus	locus	ADJ
app01-3929	44	13	algorithm	algorithm	NOUN
app01-3929	44	14	to	to	PART
app01-3929	44	15	build	build	VERB
app01-3929	44	16	terrain	terrain	NOUN
app01-3929	44	17	maps	map	NOUN
app01-3929	44	18	based	base	VERB
app01-3929	44	19	on	on	ADP
app01-3929	44	20	a	a	DET
app01-3929	44	21	single	single	ADJ
app01-3929	44	22	active	active	ADJ
app01-3929	44	23	range	range	NOUN
app01-3929	44	24	sensor	sensor	NOUN
app01-3929	44	25	,	,	PUNCT
app01-3929	44	26	by	by	ADP
app01-3929	44	27	“	"	PUNCT
app01-3929	44	28	computing	compute	VERB
app01-3929	44	29	the	the	DET
app01-3929	44	30	intersection	intersection	NOUN
app01-3929	44	31	of	of	ADP
app01-3929	44	32	the	the	DET
app01-3929	44	33	surface	surface	NOUN
app01-3929	44	34	observed	observe	VERB
app01-3929	44	35	by	by	ADP
app01-3929	44	36	the	the	DET
app01-3929	44	37	sensor	sensor	NOUN
app01-3929	44	38	with	with	ADP
app01-3929	44	39	the	the	DET
app01-3929	44	40	vertical	vertical	ADJ
app01-3929	44	41	line	line	NOUN
app01-3929	44	42	passing	pass	VERB
app01-3929	44	43	through	through	ADP
app01-3929	44	44	(	(	PUNCT
app01-3929	44	45	x	x	NOUN
app01-3929	44	46	,	,	PUNCT
app01-3929	44	47	y	y	NOUN
app01-3929	44	48	)	)	PUNCT
app01-3929	44	49	”	"	PUNCT
app01-3929	45	1	[	[	X
app01-3929	45	2	6	6	NUM
app01-3929	45	3	,	,	PUNCT
app01-3929	45	4	p.	p.	NOUN
app01-3929	45	5	998	998	NUM
app01-3929	45	6	]	]	PUNCT
app01-3929	45	7	.	.	PUNCT
app01-3929	46	1	frankhauser	frankhauser	PROPN
app01-3929	46	2	et	et	PROPN
app01-3929	46	3	al	al	PROPN
app01-3929	46	4	.	.	PUNCT
app01-3929	47	1	[	[	X
app01-3929	47	2	4	4	NUM
app01-3929	47	3	,	,	PUNCT
app01-3929	47	4	p.	p.	NOUN
app01-3929	47	5	2	2	NUM
app01-3929	47	6	]	]	PUNCT
app01-3929	47	7	introduced	introduce	VERB
app01-3929	47	8	an	an	DET
app01-3929	47	9	elevation	elevation	NOUN
app01-3929	47	10	mapping	mapping	NOUN
app01-3929	47	11	approach	approach	NOUN
app01-3929	47	12	from	from	ADP
app01-3929	47	13	a	a	DET
app01-3929	47	14	“	"	PUNCT
app01-3929	47	15	robot	robot	NOUN
app01-3929	47	16	-	-	PUNCT
app01-3929	47	17	centric	centric	ADJ
app01-3929	47	18	perspective	perspective	NOUN
app01-3929	47	19	”	"	PUNCT
app01-3929	47	20	with	with	ADP
app01-3929	47	21	relative	relative	ADJ
app01-3929	47	22	distances	distance	NOUN
app01-3929	47	23	to	to	ADP
app01-3929	47	24	the	the	DET
app01-3929	47	25	robot	robot	NOUN
app01-3929	47	26	and	and	CCONJ
app01-3929	47	27	a	a	DET
app01-3929	47	28	permanent	permanent	ADJ
app01-3929	47	29	update	update	NOUN
app01-3929	47	30	process	process	NOUN
app01-3929	47	31	of	of	ADP
app01-3929	47	32	the	the	DET
app01-3929	47	33	entire	entire	ADJ
app01-3929	47	34	elevation	elevation	NOUN
app01-3929	47	35	map	map	NOUN
app01-3929	47	36	with	with	ADP
app01-3929	47	37	information	information	NOUN
app01-3929	47	38	about	about	ADP
app01-3929	47	39	the	the	DET
app01-3929	47	40	motion	motion	NOUN
app01-3929	47	41	of	of	ADP
app01-3929	47	42	the	the	DET
app01-3929	47	43	robot	robot	NOUN
app01-3929	47	44	.	.	PUNCT
app01-3929	48	1	kleiner	kleiner	PROPN
app01-3929	48	2	and	and	CCONJ
app01-3929	48	3	dornhege	dornhege	NOUN
app01-3929	48	4	presented	present	VERB
app01-3929	48	5	their	their	PRON
app01-3929	48	6	autonomous	autonomous	ADJ
app01-3929	48	7	driving	driving	NOUN
app01-3929	48	8	vehicle	vehicle	NOUN
app01-3929	48	9	for	for	ADP
app01-3929	48	10	urban	urban	ADJ
app01-3929	48	11	search	search	NOUN
app01-3929	48	12	and	and	CCONJ
app01-3929	48	13	rescue	rescue	NOUN
app01-3929	48	14	(	(	PUNCT
app01-3929	48	15	usar	usar	NOUN
app01-3929	48	16	)	)	PUNCT
app01-3929	48	17	with	with	ADP
app01-3929	48	18	two	two	NUM
app01-3929	48	19	different	different	ADJ
app01-3929	48	20	methods	method	NOUN
app01-3929	48	21	.	.	PUNCT
app01-3929	49	1	first	first	ADV
app01-3929	49	2	the	the	DET
app01-3929	49	3	rapid	rapid	ADJ
app01-3929	49	4	mapping	mapping	NOUN
app01-3929	49	5	of	of	ADP
app01-3929	49	6	a	a	DET
app01-3929	49	7	large	large	ADJ
app01-3929	49	8	-	-	PUNCT
app01-3929	49	9	scale	scale	NOUN
app01-3929	49	10	environment	environment	NOUN
app01-3929	49	11	by	by	ADP
app01-3929	49	12	wheeled	wheeled	ADJ
app01-3929	49	13	robots	robot	NOUN
app01-3929	49	14	,	,	PUNCT
app01-3929	49	15	and	and	CCONJ
app01-3929	49	16	second	second	ADJ
app01-3929	49	17	the	the	DET
app01-3929	49	18	mapping	mapping	NOUN
app01-3929	49	19	of	of	ADP
app01-3929	49	20	rough	rough	ADJ
app01-3929	49	21	terrain	terrain	NOUN
app01-3929	49	22	by	by	ADP
app01-3929	49	23	tracked	track	VERB
app01-3929	49	24	robots	robot	NOUN
app01-3929	49	25	[	[	X
app01-3929	49	26	7	7	NUM
app01-3929	49	27	]	]	PUNCT
app01-3929	49	28	.	.	PUNCT
app01-3929	50	1	hornung	hornung	PROPN
app01-3929	50	2	et	et	PROPN
app01-3929	50	3	al	al	PROPN
app01-3929	50	4	.	.	PUNCT
app01-3929	51	1	[	[	X
app01-3929	51	2	6	6	NUM
app01-3929	51	3	]	]	PUNCT
app01-3929	51	4	developed	develop	VERB
app01-3929	51	5	an	an	DET
app01-3929	51	6	open	open	ADJ
app01-3929	51	7	source	source	NOUN
app01-3929	51	8	library	library	NOUN
app01-3929	51	9	to	to	PART
app01-3929	51	10	represent	represent	VERB
app01-3929	51	11	the	the	DET
app01-3929	51	12	environment	environment	NOUN
app01-3929	51	13	in	in	ADP
app01-3929	51	14	memory	memory	NOUN
app01-3929	51	15	using	use	VERB
app01-3929	51	16	octrees	octree	NOUN
app01-3929	51	17	.	.	PUNCT
app01-3929	52	1	the	the	DET
app01-3929	52	2	cells	cell	NOUN
app01-3929	52	3	of	of	ADP
app01-3929	52	4	the	the	DET
app01-3929	52	5	discretized	discretized	ADJ
app01-3929	52	6	space	space	NOUN
app01-3929	52	7	can	can	AUX
app01-3929	52	8	have	have	VERB
app01-3929	52	9	one	one	NUM
app01-3929	52	10	of	of	ADP
app01-3929	52	11	the	the	DET
app01-3929	52	12	following	follow	VERB
app01-3929	52	13	states	state	NOUN
app01-3929	52	14	:	:	PUNCT
app01-3929	52	15	unknown	unknown	ADJ
app01-3929	52	16	,	,	PUNCT
app01-3929	52	17	free	free	ADJ
app01-3929	52	18	or	or	CCONJ
app01-3929	52	19	occupied	occupy	VERB
app01-3929	52	20	.	.	PUNCT
app01-3929	53	1	to	to	PART
app01-3929	53	2	map	map	VERB
app01-3929	53	3	the	the	DET
app01-3929	53	4	sensor	sensor	NOUN
app01-3929	53	5	data	datum	NOUN
app01-3929	53	6	into	into	ADP
app01-3929	53	7	the	the	DET
app01-3929	53	8	octree	octree	NOUN
app01-3929	53	9	they	they	PRON
app01-3929	53	10	use	use	VERB
app01-3929	53	11	a	a	DET
app01-3929	53	12	probabilistic	probabilistic	ADJ
app01-3929	53	13	sensor	sensor	NOUN
app01-3929	53	14	model	model	NOUN
app01-3929	53	15	.	.	PUNCT
app01-3929	54	1	thrun	thrun	NOUN
app01-3929	54	2	et	et	PROPN
app01-3929	54	3	al	al	PROPN
app01-3929	54	4	.	.	PUNCT
app01-3929	55	1	[	[	X
app01-3929	55	2	8	8	NUM
app01-3929	55	3	]	]	AUX
app01-3929	55	4	describes	describe	VERB
app01-3929	55	5	stanley	stanley	PROPN
app01-3929	55	6	,	,	PUNCT
app01-3929	55	7	the	the	DET
app01-3929	55	8	winner	winner	NOUN
app01-3929	55	9	of	of	ADP
app01-3929	55	10	the	the	DET
app01-3929	55	11	2005	2005	NUM
app01-3929	55	12	darpa	darpa	ADJ
app01-3929	55	13	grand	grand	ADJ
app01-3929	55	14	challenge	challenge	NOUN
app01-3929	55	15	.	.	PUNCT
app01-3929	56	1	the	the	DET
app01-3929	56	2	robot	robot	NOUN
app01-3929	56	3	was	be	AUX
app01-3929	56	4	built	build	VERB
app01-3929	56	5	by	by	ADP
app01-3929	56	6	stanford	stanford	PROPN
app01-3929	56	7	university	university	PROPN
app01-3929	56	8	researchers	researcher	NOUN
app01-3929	56	9	and	and	CCONJ
app01-3929	56	10	uses	use	VERB
app01-3929	56	11	laser	laser	NOUN
app01-3929	56	12	figure	figure	NOUN
app01-3929	56	13	2	2	NUM
app01-3929	56	14	.	.	PUNCT
app01-3929	56	15	overview	overview	NOUN
app01-3929	56	16	of	of	ADP
app01-3929	56	17	the	the	DET
app01-3929	56	18	kinect	kinect	ADJ
app01-3929	56	19	camera	camera	NOUN
app01-3929	56	20	.	.	PUNCT
app01-3929	57	1	range	range	NOUN
app01-3929	57	2	finders	finder	NOUN
app01-3929	57	3	as	as	ADV
app01-3929	57	4	well	well	ADV
app01-3929	57	5	as	as	ADP
app01-3929	57	6	radar	radar	NOUN
app01-3929	57	7	sensors	sensor	NOUN
app01-3929	57	8	for	for	ADP
app01-3929	57	9	sensing	sense	VERB
app01-3929	57	10	the	the	DET
app01-3929	57	11	environment	environment	NOUN
app01-3929	57	12	.	.	PUNCT
app01-3929	58	1	the	the	DET
app01-3929	58	2	evaluation	evaluation	NOUN
app01-3929	58	3	of	of	ADP
app01-3929	58	4	the	the	DET
app01-3929	58	5	sensor	sensor	NOUN
app01-3929	58	6	data	datum	NOUN
app01-3929	58	7	is	be	AUX
app01-3929	58	8	supported	support	VERB
app01-3929	58	9	by	by	ADP
app01-3929	58	10	artificial	artificial	ADJ
app01-3929	58	11	intelligence	intelligence	NOUN
app01-3929	58	12	and	and	CCONJ
app01-3929	58	13	machine	machine	NOUN
app01-3929	58	14	learning	learning	NOUN
app01-3929	58	15	algorithms	algorithm	NOUN
app01-3929	58	16	.	.	PUNCT
app01-3929	59	1	4	4	X
app01-3929	59	2	.	.	X
app01-3929	59	3	3d	3d	NUM
app01-3929	59	4	capturing	capturing	NOUN
app01-3929	59	5	as	as	ADP
app01-3929	59	6	a	a	DET
app01-3929	59	7	3d	3d	NUM
app01-3929	59	8	sensor	sensor	NOUN
app01-3929	59	9	is	be	AUX
app01-3929	59	10	a	a	DET
app01-3929	59	11	rather	rather	ADV
app01-3929	59	12	expensive	expensive	ADJ
app01-3929	59	13	component	component	NOUN
app01-3929	59	14	,	,	PUNCT
app01-3929	59	15	the	the	DET
app01-3929	59	16	kinect	kinect	NOUN
app01-3929	59	17	is	be	AUX
app01-3929	59	18	a	a	DET
app01-3929	59	19	cheap	cheap	ADJ
app01-3929	59	20	alternative	alternative	NOUN
app01-3929	59	21	compared	compare	VERB
app01-3929	59	22	to	to	ADP
app01-3929	59	23	the	the	DET
app01-3929	59	24	functions	function	NOUN
app01-3929	59	25	it	it	PRON
app01-3929	59	26	provides	provide	VERB
app01-3929	59	27	.	.	PUNCT
app01-3929	60	1	the	the	DET
app01-3929	60	2	camera	camera	NOUN
app01-3929	60	3	is	be	AUX
app01-3929	60	4	doing	do	VERB
app01-3929	60	5	most	most	ADJ
app01-3929	60	6	of	of	ADP
app01-3929	60	7	the	the	DET
app01-3929	60	8	calculations	calculation	NOUN
app01-3929	60	9	on	on	ADP
app01-3929	60	10	its	its	PRON
app01-3929	60	11	own	own	ADJ
app01-3929	60	12	soc	soc	NOUN
app01-3929	60	13	,	,	PUNCT
app01-3929	60	14	thus	thus	ADV
app01-3929	60	15	reducing	reduce	VERB
app01-3929	60	16	the	the	DET
app01-3929	60	17	processing	processing	NOUN
app01-3929	60	18	effort	effort	NOUN
app01-3929	60	19	for	for	ADP
app01-3929	60	20	the	the	DET
app01-3929	60	21	main	main	ADJ
app01-3929	60	22	unit	unit	NOUN
app01-3929	60	23	.	.	PUNCT
app01-3929	61	1	the	the	DET
app01-3929	61	2	first	first	ADJ
app01-3929	61	3	version	version	NOUN
app01-3929	61	4	of	of	ADP
app01-3929	61	5	microsoft	microsoft	PROPN
app01-3929	61	6	kinect	kinect	PROPN
app01-3929	61	7	camera	camera	NOUN
app01-3929	61	8	was	be	AUX
app01-3929	61	9	developed	develop	VERB
app01-3929	61	10	by	by	ADP
app01-3929	61	11	prime	prime	ADJ
app01-3929	61	12	sense	sense	NOUN
app01-3929	61	13	,	,	PUNCT
app01-3929	61	14	an	an	DET
app01-3929	61	15	israeli	israeli	ADJ
app01-3929	61	16	3d	3d	NOUN
app01-3929	61	17	sensing	sense	VERB
app01-3929	61	18	company	company	NOUN
app01-3929	61	19	,	,	PUNCT
app01-3929	61	20	which	which	PRON
app01-3929	61	21	was	be	AUX
app01-3929	61	22	bought	buy	VERB
app01-3929	61	23	by	by	ADP
app01-3929	61	24	apple	apple	NOUN
app01-3929	61	25	in	in	ADP
app01-3929	61	26	2013	2013	NUM
app01-3929	61	27	.	.	PUNCT
app01-3929	62	1	after	after	ADP
app01-3929	62	2	that	that	PRON
app01-3929	62	3	,	,	PUNCT
app01-3929	62	4	microsoft	microsoft	PROPN
app01-3929	62	5	created	create	VERB
app01-3929	62	6	its	its	PRON
app01-3929	62	7	own	own	ADJ
app01-3929	62	8	system	system	NOUN
app01-3929	62	9	based	base	VERB
app01-3929	62	10	the	the	DET
app01-3929	62	11	existing	exist	VERB
app01-3929	62	12	prime	prime	ADJ
app01-3929	62	13	sense	sense	NOUN
app01-3929	62	14	technology	technology	NOUN
app01-3929	62	15	[	[	X
app01-3929	62	16	9	9	NUM
app01-3929	62	17	]	]	SYM
app01-3929	62	18	.	.	PUNCT
app01-3929	63	1	4.1	4.1	NUM
app01-3929	63	2	.	.	PUNCT
app01-3929	63	3	overview	overview	VERB
app01-3929	63	4	the	the	DET
app01-3929	63	5	kinect	kinect	ADJ
app01-3929	63	6	camera	camera	NOUN
app01-3929	63	7	has	have	VERB
app01-3929	63	8	an	an	DET
app01-3929	63	9	array	array	NOUN
app01-3929	63	10	of	of	ADP
app01-3929	63	11	sensors	sensor	NOUN
app01-3929	63	12	,	,	PUNCT
app01-3929	63	13	which	which	PRON
app01-3929	63	14	can	can	AUX
app01-3929	63	15	be	be	AUX
app01-3929	63	16	divided	divide	VERB
app01-3929	63	17	into	into	ADP
app01-3929	63	18	three	three	NUM
app01-3929	63	19	categories	category	NOUN
app01-3929	63	20	:	:	PUNCT
app01-3929	63	21	a	a	DET
app01-3929	63	22	depth	depth	NOUN
app01-3929	63	23	sensor	sensor	NOUN
app01-3929	63	24	(	(	PUNCT
app01-3929	63	25	green	green	NOUN
app01-3929	63	26	)	)	PUNCT
app01-3929	63	27	,	,	PUNCT
app01-3929	63	28	a	a	DET
app01-3929	63	29	colour	colour	NOUN
app01-3929	63	30	sensor	sensor	NOUN
app01-3929	63	31	(	(	PUNCT
app01-3929	63	32	red	red	NOUN
app01-3929	63	33	)	)	PUNCT
app01-3929	63	34	and	and	CCONJ
app01-3929	63	35	an	an	DET
app01-3929	63	36	audio	audio	ADJ
app01-3929	63	37	sensor	sensor	NOUN
app01-3929	63	38	(	(	PUNCT
app01-3929	63	39	blue	blue	NOUN
app01-3929	63	40	)	)	PUNCT
app01-3929	63	41	,	,	PUNCT
app01-3929	63	42	as	as	SCONJ
app01-3929	63	43	seen	see	VERB
app01-3929	63	44	in	in	ADP
app01-3929	63	45	figure	figure	NOUN
app01-3929	63	46	2	2	NUM
app01-3929	63	47	.	.	PUNCT
app01-3929	64	1	the	the	DET
app01-3929	64	2	audio	audio	ADJ
app01-3929	64	3	sensor	sensor	NOUN
app01-3929	64	4	is	be	AUX
app01-3929	64	5	not	not	PART
app01-3929	64	6	used	use	VERB
app01-3929	64	7	for	for	ADP
app01-3929	64	8	the	the	DET
app01-3929	64	9	3d	3d	PROPN
app01-3929	64	10	reconstruction	reconstruction	NOUN
app01-3929	64	11	.	.	PUNCT
app01-3929	65	1	the	the	DET
app01-3929	65	2	colour	colour	NOUN
app01-3929	65	3	sensor	sensor	NOUN
app01-3929	65	4	consists	consist	VERB
app01-3929	65	5	of	of	ADP
app01-3929	65	6	a	a	DET
app01-3929	65	7	cmos	cmos	ADJ
app01-3929	65	8	camera	camera	NOUN
app01-3929	65	9	with	with	ADP
app01-3929	65	10	an	an	DET
app01-3929	65	11	infrared	infrared	ADJ
app01-3929	65	12	light	light	NOUN
app01-3929	65	13	filter	filter	NOUN
app01-3929	65	14	.	.	PUNCT
app01-3929	66	1	the	the	DET
app01-3929	66	2	main	main	ADJ
app01-3929	66	3	use	use	NOUN
app01-3929	66	4	of	of	ADP
app01-3929	66	5	the	the	DET
app01-3929	66	6	colour	colour	NOUN
app01-3929	66	7	sensor	sensor	NOUN
app01-3929	66	8	is	be	AUX
app01-3929	66	9	the	the	DET
app01-3929	66	10	track	track	NOUN
app01-3929	66	11	detection	detection	NOUN
app01-3929	66	12	.	.	PUNCT
app01-3929	67	1	the	the	DET
app01-3929	67	2	colour	colour	NOUN
app01-3929	67	3	image	image	NOUN
app01-3929	67	4	can	can	AUX
app01-3929	67	5	be	be	AUX
app01-3929	67	6	mapped	map	VERB
app01-3929	67	7	with	with	ADP
app01-3929	67	8	the	the	DET
app01-3929	67	9	depth	depth	NOUN
app01-3929	67	10	information	information	NOUN
app01-3929	67	11	,	,	PUNCT
app01-3929	67	12	although	although	SCONJ
app01-3929	67	13	the	the	DET
app01-3929	67	14	resolution	resolution	NOUN
app01-3929	67	15	of	of	ADP
app01-3929	67	16	the	the	DET
app01-3929	67	17	colour	colour	NOUN
app01-3929	67	18	sensor	sensor	NOUN
app01-3929	67	19	is	be	AUX
app01-3929	67	20	higher	high	ADJ
app01-3929	67	21	than	than	ADP
app01-3929	67	22	that	that	PRON
app01-3929	67	23	of	of	ADP
app01-3929	67	24	the	the	DET
app01-3929	67	25	depth	depth	NOUN
app01-3929	67	26	sensor	sensor	NOUN
app01-3929	67	27	.	.	PUNCT
app01-3929	68	1	that	that	PRON
app01-3929	68	2	is	be	AUX
app01-3929	68	3	the	the	DET
app01-3929	68	4	reason	reason	NOUN
app01-3929	68	5	why	why	SCONJ
app01-3929	68	6	there	there	PRON
app01-3929	68	7	are	be	VERB
app01-3929	68	8	multiple	multiple	ADJ
app01-3929	68	9	colour	colour	NOUN
app01-3929	68	10	pixels	pixel	NOUN
app01-3929	68	11	per	per	ADP
app01-3929	68	12	one	one	NUM
app01-3929	68	13	depth	depth	NOUN
app01-3929	68	14	pixel	pixel	NOUN
app01-3929	68	15	.	.	PUNCT
app01-3929	69	1	if	if	SCONJ
app01-3929	69	2	there	there	PRON
app01-3929	69	3	are	be	VERB
app01-3929	69	4	more	more	ADJ
app01-3929	69	5	depth	depth	NOUN
app01-3929	69	6	pixel	pixel	NOUN
app01-3929	69	7	,	,	PUNCT
app01-3929	69	8	than	than	ADP
app01-3929	69	9	colour	colour	ADJ
app01-3929	69	10	pixels	pixel	NOUN
app01-3929	69	11	,	,	PUNCT
app01-3929	69	12	the	the	DET
app01-3929	69	13	colour	colour	NOUN
app01-3929	69	14	pixels	pixel	NOUN
app01-3929	69	15	need	need	VERB
app01-3929	69	16	to	to	PART
app01-3929	69	17	be	be	AUX
app01-3929	69	18	split	split	VERB
app01-3929	69	19	into	into	ADP
app01-3929	69	20	multiple	multiple	ADJ
app01-3929	69	21	smaller	small	ADJ
app01-3929	69	22	pixel	pixel	NOUN
app01-3929	69	23	,	,	PUNCT
app01-3929	69	24	with	with	ADP
app01-3929	69	25	the	the	DET
app01-3929	69	26	same	same	ADJ
app01-3929	69	27	information	information	NOUN
app01-3929	69	28	.	.	PUNCT
app01-3929	70	1	the	the	DET
app01-3929	70	2	depth	depth	NOUN
app01-3929	70	3	sensor	sensor	NOUN
app01-3929	70	4	consists	consist	VERB
app01-3929	70	5	of	of	ADP
app01-3929	70	6	a	a	DET
app01-3929	70	7	cmos	cmos	ADJ
app01-3929	70	8	camera	camera	NOUN
app01-3929	70	9	and	and	CCONJ
app01-3929	70	10	an	an	DET
app01-3929	70	11	infrared	infrared	ADJ
app01-3929	70	12	led	lead	VERB
app01-3929	70	13	blaster	blaster	NOUN
app01-3929	70	14	.	.	PUNCT
app01-3929	71	1	the	the	DET
app01-3929	71	2	cmos	cmos	PROPN
app01-3929	71	3	camera	camera	NOUN
app01-3929	71	4	is	be	AUX
app01-3929	71	5	filtered	filter	VERB
app01-3929	71	6	so	so	SCONJ
app01-3929	71	7	that	that	SCONJ
app01-3929	71	8	it	it	PRON
app01-3929	71	9	just	just	ADV
app01-3929	71	10	sees	see	VERB
app01-3929	71	11	near	near	ADV
app01-3929	71	12	-	-	PUNCT
app01-3929	71	13	infrared	infrared	ADJ
app01-3929	71	14	light	light	NOUN
app01-3929	71	15	which	which	PRON
app01-3929	71	16	is	be	AUX
app01-3929	71	17	emitted	emit	VERB
app01-3929	71	18	by	by	ADP
app01-3929	71	19	the	the	DET
app01-3929	71	20	infrared	infrared	ADJ
app01-3929	71	21	led	lead	VERB
app01-3929	71	22	blaster	blaster	NOUN
app01-3929	71	23	.	.	PUNCT
app01-3929	72	1	all	all	DET
app01-3929	72	2	the	the	DET
app01-3929	72	3	information	information	NOUN
app01-3929	72	4	is	be	AUX
app01-3929	72	5	processed	process	VERB
app01-3929	72	6	in	in	ADP
app01-3929	72	7	a	a	DET
app01-3929	72	8	specially	specially	ADV
app01-3929	72	9	designed	design	VERB
app01-3929	72	10	soc	soc	NOUN
app01-3929	72	11	(	(	PUNCT
app01-3929	72	12	figure	figure	NOUN
app01-3929	72	13	3	3	NUM
app01-3929	72	14	)	)	PUNCT
app01-3929	72	15	.	.	PUNCT
app01-3929	73	1	this	this	PRON
app01-3929	73	2	allows	allow	VERB
app01-3929	73	3	the	the	DET
app01-3929	73	4	soc	soc	NOUN
app01-3929	73	5	to	to	PART
app01-3929	73	6	process	process	VERB
app01-3929	73	7	a	a	DET
app01-3929	73	8	depth	depth	NOUN
app01-3929	73	9	map	map	NOUN
app01-3929	73	10	containing	contain	VERB
app01-3929	73	11	all	all	DET
app01-3929	73	12	the	the	DET
app01-3929	73	13	depths	depth	NOUN
app01-3929	73	14	for	for	ADP
app01-3929	73	15	every	every	DET
app01-3929	73	16	pixel	pixel	NOUN
app01-3929	73	17	and	and	CCONJ
app01-3929	73	18	map	map	VERB
app01-3929	73	19	the	the	DET
app01-3929	73	20	colour	colour	NOUN
app01-3929	73	21	pixel	pixel	NOUN
app01-3929	73	22	to	to	ADP
app01-3929	73	23	it	it	PRON
app01-3929	73	24	.	.	PUNCT
app01-3929	74	1	the	the	DET
app01-3929	74	2	result	result	NOUN
app01-3929	74	3	of	of	ADP
app01-3929	74	4	the	the	DET
app01-3929	74	5	processing	processing	NOUN
app01-3929	74	6	is	be	AUX
app01-3929	74	7	a	a	DET
app01-3929	74	8	data	data	NOUN
app01-3929	74	9	stream	stream	NOUN
app01-3929	74	10	containing	contain	VERB
app01-3929	74	11	an	an	DET
app01-3929	74	12	audio	audio	NOUN
app01-3929	74	13	,	,	PUNCT
app01-3929	74	14	a	a	DET
app01-3929	74	15	video	video	NOUN
app01-3929	74	16	,	,	PUNCT
app01-3929	74	17	and	and	CCONJ
app01-3929	74	18	a	a	DET
app01-3929	74	19	depth	depth	NOUN
app01-3929	74	20	stream	stream	NOUN
app01-3929	74	21	.	.	PUNCT
app01-3929	75	1	29	29	NUM
app01-3929	75	2	m	m	NOUN
app01-3929	75	3	steininger	steininger	NOUN
app01-3929	75	4	,	,	PUNCT
app01-3929	75	5	c.	c.	PROPN
app01-3929	75	6	stephan	stephan	PROPN
app01-3929	75	7	,	,	PUNCT
app01-3929	75	8	c.	c.	PROPN
app01-3929	75	9	böhm	böhm	PROPN
app01-3929	75	10	et	et	PROPN
app01-3929	75	11	al	al	PROPN
app01-3929	75	12	.	.	PROPN
app01-3929	75	13	acta	acta	PROPN
app01-3929	75	14	polytechnica	polytechnica	PROPN
app01-3929	75	15	ctu	ctu	PROPN
app01-3929	75	16	proceedings	proceeding	NOUN
app01-3929	75	17	figure	figure	VERB
app01-3929	75	18	3	3	NUM
app01-3929	75	19	.	.	PUNCT
app01-3929	75	20	3d	3d	NUM
app01-3929	75	21	reconstruction	reconstruction	NOUN
app01-3929	75	22	of	of	ADP
app01-3929	75	23	the	the	DET
app01-3929	75	24	kinect	kinect	NOUN
app01-3929	76	1	[	[	X
app01-3929	76	2	11	11	NUM
app01-3929	76	3	,	,	PUNCT
app01-3929	76	4	12	12	NUM
app01-3929	76	5	]	]	PUNCT
app01-3929	76	6	.	.	PUNCT
app01-3929	77	1	4.2	4.2	NUM
app01-3929	77	2	.	.	PUNCT
app01-3929	78	1	3d	3d	NUM
app01-3929	78	2	reconstruction	reconstruction	NOUN
app01-3929	78	3	there	there	PRON
app01-3929	78	4	are	be	VERB
app01-3929	78	5	multiple	multiple	ADJ
app01-3929	78	6	ways	way	NOUN
app01-3929	78	7	of	of	ADP
app01-3929	78	8	reconstructing	reconstruct	VERB
app01-3929	78	9	the	the	DET
app01-3929	78	10	depth	depth	NOUN
app01-3929	78	11	information	information	NOUN
app01-3929	78	12	from	from	ADP
app01-3929	78	13	an	an	DET
app01-3929	78	14	image	image	NOUN
app01-3929	78	15	.	.	PUNCT
app01-3929	79	1	the	the	DET
app01-3929	79	2	classic	classic	ADJ
app01-3929	79	3	way	way	NOUN
app01-3929	79	4	needs	need	VERB
app01-3929	79	5	two	two	NUM
app01-3929	79	6	calibrated	calibrate	VERB
app01-3929	79	7	cameras	camera	NOUN
app01-3929	79	8	at	at	ADP
app01-3929	79	9	a	a	DET
app01-3929	79	10	defined	define	VERB
app01-3929	79	11	distance	distance	NOUN
app01-3929	79	12	.	.	PUNCT
app01-3929	80	1	this	this	PRON
app01-3929	80	2	allows	allow	VERB
app01-3929	80	3	for	for	ADP
app01-3929	80	4	calculating	calculate	VERB
app01-3929	80	5	the	the	DET
app01-3929	80	6	distance	distance	NOUN
app01-3929	80	7	to	to	ADP
app01-3929	80	8	the	the	DET
app01-3929	80	9	object	object	NOUN
app01-3929	80	10	with	with	ADP
app01-3929	80	11	trigonometry	trigonometry	NOUN
app01-3929	80	12	formulas	formula	NOUN
app01-3929	80	13	.	.	PUNCT
app01-3929	81	1	the	the	DET
app01-3929	81	2	difficulty	difficulty	NOUN
app01-3929	81	3	will	will	AUX
app01-3929	81	4	be	be	AUX
app01-3929	81	5	in	in	ADP
app01-3929	81	6	differencing	difference	VERB
app01-3929	81	7	the	the	DET
app01-3929	81	8	objects	object	NOUN
app01-3929	81	9	resulting	result	VERB
app01-3929	81	10	in	in	ADP
app01-3929	81	11	the	the	DET
app01-3929	81	12	so	so	ADV
app01-3929	81	13	called	call	VERB
app01-3929	81	14	correspondence	correspondence	NOUN
app01-3929	81	15	problem	problem	NOUN
app01-3929	81	16	which	which	PRON
app01-3929	81	17	“	"	PUNCT
app01-3929	81	18	refers	refer	VERB
app01-3929	81	19	to	to	ADP
app01-3929	81	20	the	the	DET
app01-3929	81	21	problem	problem	NOUN
app01-3929	81	22	of	of	ADP
app01-3929	81	23	ascertaining	ascertain	VERB
app01-3929	81	24	which	which	PRON
app01-3929	81	25	parts	part	NOUN
app01-3929	81	26	of	of	ADP
app01-3929	81	27	one	one	NUM
app01-3929	81	28	image	image	NOUN
app01-3929	81	29	correspond	correspond	VERB
app01-3929	81	30	to	to	ADP
app01-3929	81	31	which	which	PRON
app01-3929	81	32	parts	part	NOUN
app01-3929	81	33	of	of	ADP
app01-3929	81	34	another	another	DET
app01-3929	81	35	image	image	NOUN
app01-3929	81	36	,	,	PUNCT
app01-3929	81	37	where	where	SCONJ
app01-3929	81	38	differences	difference	NOUN
app01-3929	81	39	are	be	AUX
app01-3929	81	40	due	due	ADJ
app01-3929	81	41	to	to	ADP
app01-3929	81	42	movement	movement	NOUN
app01-3929	81	43	of	of	ADP
app01-3929	81	44	the	the	DET
app01-3929	81	45	camera	camera	NOUN
app01-3929	81	46	,	,	PUNCT
app01-3929	81	47	the	the	DET
app01-3929	81	48	elapse	elapse	NOUN
app01-3929	81	49	of	of	ADP
app01-3929	81	50	time	time	NOUN
app01-3929	81	51	,	,	PUNCT
app01-3929	81	52	and/or	and/or	CCONJ
app01-3929	81	53	movement	movement	NOUN
app01-3929	81	54	of	of	ADP
app01-3929	81	55	objects	object	NOUN
app01-3929	81	56	in	in	ADP
app01-3929	81	57	the	the	DET
app01-3929	81	58	photos	photo	NOUN
app01-3929	81	59	.	.	PUNCT
app01-3929	81	60	”	"	PUNCT
app01-3929	82	1	[	[	X
app01-3929	82	2	10	10	NUM
app01-3929	82	3	]	]	PUNCT
app01-3929	82	4	.	.	PUNCT
app01-3929	83	1	the	the	DET
app01-3929	83	2	kinect	kinect	PROPN
app01-3929	83	3	overcomes	overcome	VERB
app01-3929	83	4	this	this	DET
app01-3929	83	5	problem	problem	NOUN
app01-3929	83	6	by	by	ADP
app01-3929	83	7	using	use	VERB
app01-3929	83	8	a	a	DET
app01-3929	83	9	method	method	NOUN
app01-3929	83	10	called	call	VERB
app01-3929	83	11	“	"	PUNCT
app01-3929	83	12	time	time	NOUN
app01-3929	83	13	of	of	ADP
app01-3929	83	14	flight	flight	NOUN
app01-3929	83	15	”	"	PUNCT
app01-3929	83	16	.	.	PUNCT
app01-3929	84	1	in	in	ADP
app01-3929	84	2	this	this	DET
app01-3929	84	3	method	method	NOUN
app01-3929	84	4	the	the	DET
app01-3929	84	5	travel	travel	NOUN
app01-3929	84	6	time	time	NOUN
app01-3929	84	7	of	of	ADP
app01-3929	84	8	infrared	infrared	ADJ
app01-3929	84	9	light	light	NOUN
app01-3929	84	10	,	,	PUNCT
app01-3929	84	11	which	which	PRON
app01-3929	84	12	is	be	AUX
app01-3929	84	13	emitted	emit	VERB
app01-3929	84	14	by	by	ADP
app01-3929	84	15	a	a	DET
app01-3929	84	16	led	lead	VERB
app01-3929	84	17	,	,	PUNCT
app01-3929	84	18	is	be	AUX
app01-3929	84	19	measured	measure	VERB
app01-3929	84	20	for	for	ADP
app01-3929	84	21	each	each	DET
app01-3929	84	22	pixel	pixel	NOUN
app01-3929	84	23	,	,	PUNCT
app01-3929	84	24	as	as	SCONJ
app01-3929	84	25	seen	see	VERB
app01-3929	84	26	in	in	ADP
app01-3929	84	27	3	3	NUM
app01-3929	84	28	.	.	PUNCT
app01-3929	85	1	“	"	PUNCT
app01-3929	85	2	a	a	DET
app01-3929	85	3	strobed	strobe	VERB
app01-3929	85	4	infrared	infrared	ADJ
app01-3929	85	5	light	light	NOUN
app01-3929	85	6	illuminates	illuminate	VERB
app01-3929	85	7	the	the	DET
app01-3929	85	8	scene	scene	NOUN
app01-3929	85	9	,	,	PUNCT
app01-3929	85	10	the	the	DET
app01-3929	85	11	light	light	NOUN
app01-3929	85	12	is	be	AUX
app01-3929	85	13	reflected	reflect	VERB
app01-3929	85	14	by	by	ADP
app01-3929	85	15	obstacles	obstacle	NOUN
app01-3929	85	16	,	,	PUNCT
app01-3929	85	17	and	and	CCONJ
app01-3929	85	18	the	the	DET
app01-3929	85	19	time	time	NOUN
app01-3929	85	20	of	of	ADP
app01-3929	85	21	flight	flight	NOUN
app01-3929	85	22	for	for	ADP
app01-3929	85	23	each	each	DET
app01-3929	85	24	pixel	pixel	NOUN
app01-3929	85	25	is	be	AUX
app01-3929	85	26	registered	register	VERB
app01-3929	85	27	by	by	ADP
app01-3929	85	28	the	the	DET
app01-3929	85	29	infrared	infrared	PROPN
app01-3929	85	30	camera	camera	NOUN
app01-3929	85	31	.	.	PUNCT
app01-3929	86	1	internally	internally	ADV
app01-3929	86	2	,	,	PUNCT
app01-3929	86	3	wave	wave	NOUN
app01-3929	86	4	modulation	modulation	NOUN
app01-3929	86	5	and	and	CCONJ
app01-3929	86	6	phase	phase	NOUN
app01-3929	86	7	detection	detection	NOUN
app01-3929	86	8	is	be	AUX
app01-3929	86	9	used	use	VERB
app01-3929	86	10	to	to	PART
app01-3929	86	11	estimate	estimate	VERB
app01-3929	86	12	the	the	DET
app01-3929	86	13	distance	distance	NOUN
app01-3929	86	14	to	to	ADP
app01-3929	86	15	obstacles	obstacle	NOUN
app01-3929	86	16	(	(	PUNCT
app01-3929	86	17	indirect	indirect	ADJ
app01-3929	86	18	tof	tof	NOUN
app01-3929	86	19	)	)	PUNCT
app01-3929	86	20	”	"	PUNCT
app01-3929	87	1	[	[	X
app01-3929	87	2	13	13	NUM
app01-3929	87	3	]	]	PUNCT
app01-3929	87	4	.	.	PUNCT
app01-3929	88	1	the	the	DET
app01-3929	88	2	problem	problem	NOUN
app01-3929	88	3	is	be	AUX
app01-3929	88	4	that	that	SCONJ
app01-3929	88	5	the	the	DET
app01-3929	88	6	infrared	infrared	ADJ
app01-3929	88	7	light	light	NOUN
app01-3929	88	8	can	can	AUX
app01-3929	88	9	be	be	AUX
app01-3929	88	10	washed	wash	VERB
app01-3929	88	11	out	out	ADP
app01-3929	88	12	by	by	ADP
app01-3929	88	13	other	other	ADJ
app01-3929	88	14	near	near	ADV
app01-3929	88	15	-	-	PUNCT
app01-3929	88	16	infrared	infrare	VERB
app01-3929	88	17	light	light	NOUN
app01-3929	88	18	sources	source	NOUN
app01-3929	88	19	like	like	ADP
app01-3929	88	20	sunlight	sunlight	NOUN
app01-3929	88	21	,	,	PUNCT
app01-3929	88	22	resulting	result	VERB
app01-3929	88	23	in	in	ADP
app01-3929	88	24	the	the	DET
app01-3929	88	25	kinect	kinect	NOUN
app01-3929	88	26	not	not	PART
app01-3929	88	27	being	be	AUX
app01-3929	88	28	able	able	ADJ
app01-3929	88	29	to	to	PART
app01-3929	88	30	detect	detect	VERB
app01-3929	88	31	the	the	DET
app01-3929	88	32	infrared	infrared	ADJ
app01-3929	88	33	light	light	NOUN
app01-3929	88	34	and	and	CCONJ
app01-3929	88	35	losing	lose	VERB
app01-3929	88	36	the	the	DET
app01-3929	88	37	depth	depth	NOUN
app01-3929	88	38	information	information	NOUN
app01-3929	88	39	.	.	PUNCT
app01-3929	89	1	5	5	X
app01-3929	89	2	.	.	X
app01-3929	89	3	projection	projection	NOUN
app01-3929	89	4	and	and	CCONJ
app01-3929	89	5	filtering	filter	VERB
app01-3929	89	6	the	the	DET
app01-3929	89	7	kinect	kinect	ADJ
app01-3929	89	8	camera	camera	NOUN
app01-3929	89	9	is	be	AUX
app01-3929	89	10	mounted	mount	VERB
app01-3929	89	11	on	on	ADP
app01-3929	89	12	the	the	DET
app01-3929	89	13	chassis	chassis	NOUN
app01-3929	89	14	in	in	ADP
app01-3929	89	15	an	an	DET
app01-3929	89	16	arbitrary	arbitrary	ADJ
app01-3929	89	17	fixed	fix	VERB
app01-3929	89	18	angle	angle	NOUN
app01-3929	89	19	,	,	PUNCT
app01-3929	89	20	tilted	tilt	VERB
app01-3929	89	21	to	to	ADP
app01-3929	89	22	the	the	DET
app01-3929	89	23	cars	car	NOUN
app01-3929	89	24	chassis	chassis	NOUN
app01-3929	89	25	.	.	PUNCT
app01-3929	90	1	the	the	DET
app01-3929	90	2	exact	exact	ADJ
app01-3929	90	3	angle	angle	NOUN
app01-3929	90	4	in	in	ADP
app01-3929	90	5	which	which	PRON
app01-3929	90	6	the	the	DET
app01-3929	90	7	camera	camera	NOUN
app01-3929	90	8	is	be	AUX
app01-3929	90	9	mounted	mount	VERB
app01-3929	90	10	to	to	ADP
app01-3929	90	11	the	the	DET
app01-3929	90	12	ground	ground	NOUN
app01-3929	90	13	is	be	AUX
app01-3929	90	14	not	not	PART
app01-3929	90	15	known	know	VERB
app01-3929	90	16	.	.	PUNCT
app01-3929	91	1	it	it	PRON
app01-3929	91	2	can	can	AUX
app01-3929	91	3	be	be	AUX
app01-3929	91	4	measured	measure	VERB
app01-3929	91	5	,	,	PUNCT
app01-3929	91	6	but	but	CCONJ
app01-3929	91	7	to	to	PART
app01-3929	91	8	be	be	AUX
app01-3929	91	9	independent	independent	ADJ
app01-3929	91	10	from	from	ADP
app01-3929	91	11	that	that	DET
app01-3929	91	12	setting	setting	NOUN
app01-3929	91	13	,	,	PUNCT
app01-3929	91	14	the	the	DET
app01-3929	91	15	ground	ground	NOUN
app01-3929	91	16	plane	plane	NOUN
app01-3929	91	17	coefficients	coefficient	NOUN
app01-3929	91	18	,	,	PUNCT
app01-3929	91	19	which	which	PRON
app01-3929	91	20	are	be	AUX
app01-3929	91	21	returned	return	VERB
app01-3929	91	22	from	from	ADP
app01-3929	91	23	the	the	DET
app01-3929	91	24	kinect	kinect	NOUN
app01-3929	91	25	,	,	PUNCT
app01-3929	91	26	are	be	AUX
app01-3929	91	27	used	use	VERB
app01-3929	91	28	.	.	PUNCT
app01-3929	92	1	the	the	DET
app01-3929	92	2	coordinate	coordinate	NOUN
app01-3929	92	3	system	system	NOUN
app01-3929	92	4	of	of	ADP
app01-3929	92	5	the	the	DET
app01-3929	92	6	returned	return	VERB
app01-3929	92	7	3d	3d	NUM
app01-3929	92	8	point	point	NOUN
app01-3929	92	9	cloud	cloud	NOUN
app01-3929	92	10	(	(	PUNCT
app01-3929	92	11	as	as	ADP
app01-3929	92	12	camera	camera	NOUN
app01-3929	92	13	coordinate	coordinate	NOUN
app01-3929	92	14	system	system	NOUN
app01-3929	92	15	in	in	ADP
app01-3929	92	16	the	the	DET
app01-3929	92	17	following	following	NOUN
app01-3929	92	18	;	;	PUNCT
app01-3929	92	19	indicated	indicate	VERB
app01-3929	92	20	with	with	ADP
app01-3929	92	21	a	a	DET
app01-3929	92	22	car	car	NOUN
app01-3929	92	23	subscript	subscript	NOUN
app01-3929	92	24	)	)	PUNCT
app01-3929	92	25	does	do	AUX
app01-3929	92	26	not	not	PART
app01-3929	92	27	match	match	VERB
app01-3929	92	28	with	with	ADP
app01-3929	92	29	the	the	DET
app01-3929	92	30	coordinate	coordinate	NOUN
app01-3929	92	31	system	system	NOUN
app01-3929	92	32	of	of	ADP
app01-3929	92	33	the	the	DET
app01-3929	92	34	car	car	NOUN
app01-3929	92	35	(	(	PUNCT
app01-3929	92	36	as	as	ADP
app01-3929	92	37	car	car	NOUN
app01-3929	92	38	coordinate	coordinate	NOUN
app01-3929	92	39	system	system	NOUN
app01-3929	92	40	in	in	ADP
app01-3929	92	41	the	the	DET
app01-3929	92	42	following	following	NOUN
app01-3929	92	43	;	;	PUNCT
app01-3929	92	44	indicated	indicate	VERB
app01-3929	92	45	with	with	ADP
app01-3929	92	46	a	a	DET
app01-3929	92	47	camera	camera	NOUN
app01-3929	92	48	subscript	subscript	NOUN
app01-3929	92	49	)	)	PUNCT
app01-3929	92	50	.	.	PUNCT
app01-3929	93	1	in	in	ADP
app01-3929	93	2	figure	figure	NOUN
app01-3929	93	3	4	4	NUM
app01-3929	93	4	both	both	DET
app01-3929	93	5	coordinate	coordinate	NOUN
app01-3929	93	6	systems	system	NOUN
app01-3929	93	7	are	be	AUX
app01-3929	93	8	shown	show	VERB
app01-3929	93	9	.	.	PUNCT
app01-3929	94	1	the	the	DET
app01-3929	94	2	body	body	NOUN
app01-3929	94	3	-	-	PUNCT
app01-3929	94	4	frame	frame	NOUN
app01-3929	94	5	which	which	PRON
app01-3929	94	6	can	can	AUX
app01-3929	94	7	be	be	AUX
app01-3929	94	8	requested	request	VERB
app01-3929	94	9	from	from	ADP
app01-3929	94	10	the	the	DET
app01-3929	94	11	camera	camera	NOUN
app01-3929	94	12	contains	contain	VERB
app01-3929	94	13	a	a	DET
app01-3929	94	14	four	four	NUM
app01-3929	94	15	-	-	PUNCT
app01-3929	94	16	dimensional	dimensional	ADJ
app01-3929	94	17	vector	vector	NOUN
app01-3929	94	18	representing	represent	VERB
app01-3929	94	19	the	the	DET
app01-3929	94	20	floor	floor	NOUN
app01-3929	94	21	coefficients	coefficient	NOUN
app01-3929	94	22	by	by	ADP
app01-3929	94	23	~pcoeff	~pcoeff	X
app01-3929	94	24	=	=	SYM
app01-3929	94	25	(	(	PUNCT
app01-3929	94	26	a;b;c;d	a;b;c;d	PROPN
app01-3929	94	27	)	)	PUNCT
app01-3929	94	28	.	.	PUNCT
app01-3929	95	1	figure	figure	VERB
app01-3929	95	2	4	4	NUM
app01-3929	95	3	.	.	PUNCT
app01-3929	96	1	the	the	DET
app01-3929	96	2	camera	camera	NOUN
app01-3929	96	3	coordinate	coordinate	NOUN
app01-3929	96	4	system	system	NOUN
app01-3929	96	5	(	(	PUNCT
app01-3929	96	6	green	green	NOUN
app01-3929	96	7	)	)	PUNCT
app01-3929	96	8	and	and	CCONJ
app01-3929	96	9	the	the	DET
app01-3929	96	10	car	car	NOUN
app01-3929	96	11	coordinate	coordinate	NOUN
app01-3929	96	12	system	system	NOUN
app01-3929	96	13	(	(	PUNCT
app01-3929	96	14	blue	blue	ADJ
app01-3929	96	15	)	)	PUNCT
app01-3929	97	1	[	[	X
app01-3929	97	2	11	11	NUM
app01-3929	97	3	,	,	PUNCT
app01-3929	97	4	12	12	NUM
app01-3929	97	5	]	]	PUNCT
app01-3929	97	6	.	.	PUNCT
app01-3929	98	1	these	these	DET
app01-3929	98	2	coefficients	coefficient	NOUN
app01-3929	98	3	are	be	AUX
app01-3929	98	4	combined	combine	VERB
app01-3929	98	5	in	in	ADP
app01-3929	98	6	(	(	PUNCT
app01-3929	98	7	1	1	NUM
app01-3929	98	8	)	)	PUNCT
app01-3929	98	9	to	to	PART
app01-3929	98	10	receive	receive	VERB
app01-3929	98	11	the	the	DET
app01-3929	98	12	plane	plane	NOUN
app01-3929	98	13	equation	equation	NOUN
app01-3929	98	14	for	for	ADP
app01-3929	98	15	further	further	ADJ
app01-3929	98	16	mathematical	mathematical	ADJ
app01-3929	98	17	operations	operation	NOUN
app01-3929	98	18	:	:	PUNCT
app01-3929	98	19	0	0	PUNCT
app01-3929	99	1	=	=	PUNCT
app01-3929	99	2	ax+by	ax+by	PROPN
app01-3929	100	1	+	+	PUNCT
app01-3929	100	2	cz	cz	NOUN
app01-3929	101	1	+	+	PROPN
app01-3929	101	2	d	d	NOUN
app01-3929	101	3	(	(	PUNCT
app01-3929	101	4	1	1	NUM
app01-3929	101	5	)	)	PUNCT
app01-3929	101	6	in	in	ADP
app01-3929	101	7	a	a	DET
app01-3929	101	8	first	first	ADJ
app01-3929	101	9	step	step	NOUN
app01-3929	101	10	,	,	PUNCT
app01-3929	101	11	the	the	DET
app01-3929	101	12	distance	distance	NOUN
app01-3929	101	13	of	of	ADP
app01-3929	101	14	every	every	DET
app01-3929	101	15	point	point	NOUN
app01-3929	101	16	to	to	ADP
app01-3929	101	17	the	the	DET
app01-3929	101	18	ground	ground	NOUN
app01-3929	101	19	is	be	AUX
app01-3929	101	20	calculated	calculate	VERB
app01-3929	101	21	.	.	PUNCT
app01-3929	102	1	a	a	DET
app01-3929	102	2	point	point	NOUN
app01-3929	102	3	is	be	AUX
app01-3929	102	4	considered	consider	VERB
app01-3929	102	5	to	to	PART
app01-3929	102	6	be	be	AUX
app01-3929	102	7	a	a	DET
app01-3929	102	8	part	part	NOUN
app01-3929	102	9	of	of	ADP
app01-3929	102	10	the	the	DET
app01-3929	102	11	ground	ground	NOUN
app01-3929	102	12	if	if	SCONJ
app01-3929	102	13	a	a	DET
app01-3929	102	14	certain	certain	ADJ
app01-3929	102	15	limit	limit	NOUN
app01-3929	102	16	is	be	AUX
app01-3929	102	17	not	not	PART
app01-3929	102	18	exceeded	exceed	VERB
app01-3929	102	19	.	.	PUNCT
app01-3929	103	1	therefore	therefore	ADV
app01-3929	103	2	they	they	PRON
app01-3929	103	3	are	be	AUX
app01-3929	103	4	removed	remove	VERB
app01-3929	103	5	from	from	ADP
app01-3929	103	6	the	the	DET
app01-3929	103	7	point	point	NOUN
app01-3929	103	8	collection	collection	NOUN
app01-3929	103	9	if	if	SCONJ
app01-3929	103	10	the	the	DET
app01-3929	103	11	distance	distance	NOUN
app01-3929	103	12	to	to	ADP
app01-3929	103	13	the	the	DET
app01-3929	103	14	ground	ground	NOUN
app01-3929	103	15	is	be	AUX
app01-3929	103	16	smaller	small	ADJ
app01-3929	103	17	than	than	ADP
app01-3929	103	18	a	a	DET
app01-3929	103	19	certain	certain	ADJ
app01-3929	103	20	distance	distance	NOUN
app01-3929	103	21	.	.	PUNCT
app01-3929	104	1	the	the	DET
app01-3929	104	2	remaining	remain	VERB
app01-3929	104	3	points	point	NOUN
app01-3929	104	4	are	be	AUX
app01-3929	104	5	processed	process	VERB
app01-3929	104	6	in	in	ADP
app01-3929	104	7	the	the	DET
app01-3929	104	8	following	follow	VERB
app01-3929	104	9	steps	step	NOUN
app01-3929	104	10	.	.	PUNCT
app01-3929	105	1	in	in	ADP
app01-3929	105	2	the	the	DET
app01-3929	105	3	next	next	ADJ
app01-3929	105	4	step	step	NOUN
app01-3929	105	5	,	,	PUNCT
app01-3929	105	6	each	each	DET
app01-3929	105	7	frame	frame	NOUN
app01-3929	105	8	of	of	ADP
app01-3929	105	9	the	the	DET
app01-3929	105	10	kinect	kinect	NOUN
app01-3929	105	11	has	have	VERB
app01-3929	105	12	a	a	DET
app01-3929	105	13	resolution	resolution	NOUN
app01-3929	105	14	of	of	ADP
app01-3929	105	15	512	512	NUM
app01-3929	105	16	by	by	ADP
app01-3929	105	17	424	424	NUM
app01-3929	105	18	and	and	CCONJ
app01-3929	105	19	can	can	AUX
app01-3929	105	20	thereby	thereby	ADV
app01-3929	105	21	result	result	VERB
app01-3929	105	22	in	in	ADP
app01-3929	105	23	a	a	DET
app01-3929	105	24	large	large	ADJ
app01-3929	105	25	amount	amount	NOUN
app01-3929	105	26	of	of	ADP
app01-3929	105	27	3d	3d	NOUN
app01-3929	105	28	-	-	PUNCT
app01-3929	105	29	pixels	pixel	NOUN
app01-3929	105	30	.	.	PUNCT
app01-3929	106	1	a	a	DET
app01-3929	106	2	pixel	pixel	NOUN
app01-3929	106	3	is	be	AUX
app01-3929	106	4	returned	return	VERB
app01-3929	106	5	,	,	PUNCT
app01-3929	106	6	if	if	SCONJ
app01-3929	106	7	it	it	PRON
app01-3929	106	8	is	be	AUX
app01-3929	106	9	in	in	ADP
app01-3929	106	10	the	the	DET
app01-3929	106	11	specified	specified	ADJ
app01-3929	106	12	range	range	NOUN
app01-3929	106	13	of	of	ADP
app01-3929	106	14	the	the	DET
app01-3929	106	15	camera	camera	NOUN
app01-3929	106	16	.	.	PUNCT
app01-3929	107	1	the	the	DET
app01-3929	107	2	nearest	near	ADJ
app01-3929	107	3	distance	distance	NOUN
app01-3929	107	4	the	the	DET
app01-3929	107	5	camera	camera	NOUN
app01-3929	107	6	returns	return	VERB
app01-3929	107	7	a	a	DET
app01-3929	107	8	pixel	pixel	NOUN
app01-3929	107	9	for	for	ADP
app01-3929	107	10	is	be	AUX
app01-3929	107	11	about	about	ADV
app01-3929	107	12	half	half	DET
app01-3929	107	13	a	a	DET
app01-3929	107	14	meter	meter	NOUN
app01-3929	107	15	.	.	PUNCT
app01-3929	108	1	the	the	DET
app01-3929	108	2	maximum	maximum	ADJ
app01-3929	108	3	distance	distance	NOUN
app01-3929	108	4	is	be	AUX
app01-3929	108	5	about	about	ADV
app01-3929	108	6	eight	eight	NUM
app01-3929	108	7	meters	meter	NOUN
app01-3929	108	8	.	.	PUNCT
app01-3929	109	1	so	so	ADV
app01-3929	109	2	there	there	PRON
app01-3929	109	3	are	be	VERB
app01-3929	109	4	quite	quite	DET
app01-3929	109	5	a	a	DET
app01-3929	109	6	large	large	ADJ
app01-3929	109	7	number	number	NOUN
app01-3929	109	8	of	of	ADP
app01-3929	109	9	points	point	NOUN
app01-3929	109	10	waiting	wait	VERB
app01-3929	109	11	to	to	PART
app01-3929	109	12	be	be	AUX
app01-3929	109	13	computed	compute	VERB
app01-3929	109	14	.	.	PUNCT
app01-3929	110	1	the	the	DET
app01-3929	110	2	rather	rather	ADV
app01-3929	110	3	small	small	ADJ
app01-3929	110	4	computing	computing	NOUN
app01-3929	110	5	system	system	NOUN
app01-3929	110	6	with	with	ADP
app01-3929	110	7	limited	limited	ADJ
app01-3929	110	8	processing	processing	NOUN
app01-3929	110	9	power	power	NOUN
app01-3929	110	10	on	on	ADP
app01-3929	110	11	the	the	DET
app01-3929	110	12	car	car	NOUN
app01-3929	110	13	must	must	AUX
app01-3929	110	14	handle	handle	VERB
app01-3929	110	15	this	this	PRON
app01-3929	110	16	in	in	ADP
app01-3929	110	17	real	real	ADJ
app01-3929	110	18	-	-	PUNCT
app01-3929	110	19	time	time	NOUN
app01-3929	110	20	.	.	PUNCT
app01-3929	111	1	for	for	ADP
app01-3929	111	2	the	the	DET
app01-3929	111	3	presented	present	VERB
app01-3929	111	4	project	project	NOUN
app01-3929	111	5	,	,	PUNCT
app01-3929	111	6	a	a	DET
app01-3929	111	7	real	real	ADJ
app01-3929	111	8	-	-	PUNCT
app01-3929	111	9	time	time	NOUN
app01-3929	111	10	reaction	reaction	NOUN
app01-3929	111	11	is	be	AUX
app01-3929	111	12	defined	define	VERB
app01-3929	111	13	with	with	ADP
app01-3929	111	14	a	a	DET
app01-3929	111	15	latency	latency	NOUN
app01-3929	111	16	of	of	ADP
app01-3929	111	17	a	a	DET
app01-3929	111	18	few	few	ADJ
app01-3929	111	19	hundred	hundred	NUM
app01-3929	111	20	milliseconds	millisecond	NOUN
app01-3929	111	21	.	.	PUNCT
app01-3929	112	1	to	to	PART
app01-3929	112	2	reach	reach	VERB
app01-3929	112	3	this	this	DET
app01-3929	112	4	goal	goal	NOUN
app01-3929	112	5	,	,	PUNCT
app01-3929	112	6	one	one	NUM
app01-3929	112	7	issue	issue	NOUN
app01-3929	112	8	is	be	AUX
app01-3929	112	9	making	make	VERB
app01-3929	112	10	the	the	DET
app01-3929	112	11	algorithm	algorithm	NOUN
app01-3929	112	12	faster	fast	ADV
app01-3929	112	13	.	.	PUNCT
app01-3929	113	1	this	this	PRON
app01-3929	113	2	could	could	AUX
app01-3929	113	3	be	be	AUX
app01-3929	113	4	realised	realise	VERB
app01-3929	113	5	by	by	ADP
app01-3929	113	6	:	:	PUNCT
app01-3929	113	7	•	•	ADV
app01-3929	113	8	removing	remove	VERB
app01-3929	113	9	as	as	ADV
app01-3929	113	10	many	many	ADJ
app01-3929	113	11	points	point	NOUN
app01-3929	113	12	as	as	ADP
app01-3929	113	13	possible	possible	ADJ
app01-3929	113	14	to	to	PART
app01-3929	113	15	save	save	VERB
app01-3929	113	16	energy	energy	NOUN
app01-3929	113	17	and	and	CCONJ
app01-3929	113	18	processing	processing	NOUN
app01-3929	113	19	effort	effort	NOUN
app01-3929	113	20	converting	convert	VERB
app01-3929	113	21	the	the	DET
app01-3929	113	22	points	point	NOUN
app01-3929	113	23	from	from	ADP
app01-3929	113	24	one	one	NUM
app01-3929	113	25	coordinate	coordinate	NOUN
app01-3929	113	26	system	system	NOUN
app01-3929	113	27	to	to	ADP
app01-3929	113	28	another	another	PRON
app01-3929	113	29	,	,	PUNCT
app01-3929	113	30	•	•	ADV
app01-3929	113	31	adjusting	adjust	VERB
app01-3929	113	32	processes	process	NOUN
app01-3929	113	33	how	how	SCONJ
app01-3929	113	34	the	the	DET
app01-3929	113	35	data	datum	NOUN
app01-3929	113	36	is	be	AUX
app01-3929	113	37	processed	process	VERB
app01-3929	113	38	step	step	NOUN
app01-3929	113	39	by	by	ADP
app01-3929	113	40	step	step	NOUN
app01-3929	113	41	,	,	PUNCT
app01-3929	113	42	•	•	ADV
app01-3929	113	43	using	use	VERB
app01-3929	113	44	a	a	DET
app01-3929	113	45	programming	programming	NOUN
app01-3929	113	46	language	language	NOUN
app01-3929	113	47	with	with	ADP
app01-3929	113	48	small	small	ADJ
app01-3929	113	49	processing	processing	NOUN
app01-3929	113	50	overhead	overhead	NOUN
app01-3929	113	51	.	.	PUNCT
app01-3929	114	1	to	to	PART
app01-3929	114	2	reduce	reduce	VERB
app01-3929	114	3	the	the	DET
app01-3929	114	4	further	further	ADJ
app01-3929	114	5	processing	processing	NOUN
app01-3929	114	6	effort	effort	NOUN
app01-3929	114	7	the	the	DET
app01-3929	114	8	points	point	NOUN
app01-3929	114	9	get	get	AUX
app01-3929	114	10	filtered	filter	VERB
app01-3929	114	11	next	next	ADV
app01-3929	114	12	.	.	PUNCT
app01-3929	115	1	a	a	DET
app01-3929	115	2	new	new	ADJ
app01-3929	115	3	parameter	parameter	NOUN
app01-3929	115	4	named	name	VERB
app01-3929	115	5	mindistance	mindistance	NOUN
app01-3929	115	6	is	be	AUX
app01-3929	115	7	introduced	introduce	VERB
app01-3929	115	8	in	in	ADP
app01-3929	115	9	the	the	DET
app01-3929	115	10	gui	gui	NOUN
app01-3929	115	11	(	(	PUNCT
app01-3929	115	12	graphical	graphical	ADJ
app01-3929	115	13	user	user	NOUN
app01-3929	115	14	interface	interface	NOUN
app01-3929	115	15	)	)	PUNCT
app01-3929	115	16	where	where	SCONJ
app01-3929	115	17	the	the	DET
app01-3929	115	18	points	point	NOUN
app01-3929	115	19	must	must	AUX
app01-3929	115	20	have	have	VERB
app01-3929	115	21	a	a	DET
app01-3929	115	22	greater	great	ADJ
app01-3929	115	23	distance	distance	NOUN
app01-3929	115	24	from	from	ADP
app01-3929	115	25	30	30	NUM
app01-3929	115	26	vol	vol	NOUN
app01-3929	115	27	.	.	PUNCT
app01-3929	116	1	6/2016	6/2016	NUM
app01-3929	116	2	mapping	map	VERB
app01-3929	116	3	the	the	DET
app01-3929	116	4	surroundings	surrounding	NOUN
app01-3929	116	5	as	as	ADP
app01-3929	116	6	a	a	DET
app01-3929	116	7	requirement	requirement	NOUN
app01-3929	116	8	for	for	ADP
app01-3929	116	9	autonomous	autonomous	ADJ
app01-3929	116	10	driving	drive	VERB
app01-3929	116	11	the	the	DET
app01-3929	116	12	camera	camera	NOUN
app01-3929	116	13	than	than	ADP
app01-3929	116	14	that	that	DET
app01-3929	116	15	value	value	NOUN
app01-3929	116	16	,	,	PUNCT
app01-3929	116	17	to	to	PART
app01-3929	116	18	prevent	prevent	VERB
app01-3929	116	19	recognising	recognise	VERB
app01-3929	116	20	parts	part	NOUN
app01-3929	116	21	of	of	ADP
app01-3929	116	22	the	the	DET
app01-3929	116	23	car	car	NOUN
app01-3929	116	24	as	as	ADP
app01-3929	116	25	obstacles	obstacle	NOUN
app01-3929	116	26	.	.	PUNCT
app01-3929	117	1	this	this	PRON
app01-3929	117	2	is	be	AUX
app01-3929	117	3	needed	need	VERB
app01-3929	117	4	due	due	ADP
app01-3929	117	5	to	to	ADP
app01-3929	117	6	the	the	DET
app01-3929	117	7	current	current	ADJ
app01-3929	117	8	setting	setting	NOUN
app01-3929	117	9	of	of	ADP
app01-3929	117	10	the	the	DET
app01-3929	117	11	car	car	NOUN
app01-3929	117	12	.	.	PUNCT
app01-3929	118	1	there	there	PRON
app01-3929	118	2	may	may	AUX
app01-3929	118	3	be	be	AUX
app01-3929	118	4	points	point	NOUN
app01-3929	118	5	above	above	ADP
app01-3929	118	6	the	the	DET
app01-3929	118	7	height	height	NOUN
app01-3929	118	8	of	of	ADP
app01-3929	118	9	the	the	DET
app01-3929	118	10	car	car	NOUN
app01-3929	118	11	so	so	SCONJ
app01-3929	118	12	that	that	SCONJ
app01-3929	118	13	the	the	DET
app01-3929	118	14	car	car	NOUN
app01-3929	118	15	can	can	AUX
app01-3929	118	16	drive	drive	VERB
app01-3929	118	17	beneath	beneath	ADV
app01-3929	118	18	.	.	PUNCT
app01-3929	119	1	these	these	DET
app01-3929	119	2	points	point	NOUN
app01-3929	119	3	get	get	AUX
app01-3929	119	4	removed	remove	VERB
app01-3929	119	5	if	if	SCONJ
app01-3929	119	6	they	they	PRON
app01-3929	119	7	are	be	AUX
app01-3929	119	8	above	above	ADP
app01-3929	119	9	a	a	DET
app01-3929	119	10	maximum	maximum	ADJ
app01-3929	119	11	height	height	NOUN
app01-3929	119	12	from	from	ADP
app01-3929	119	13	the	the	DET
app01-3929	119	14	ground	ground	NOUN
app01-3929	119	15	plane	plane	NOUN
app01-3929	119	16	which	which	PRON
app01-3929	119	17	is	be	AUX
app01-3929	119	18	defined	define	VERB
app01-3929	119	19	as	as	ADP
app01-3929	119	20	a	a	DET
app01-3929	119	21	parameter	parameter	NOUN
app01-3929	119	22	named	name	VERB
app01-3929	119	23	maxheight	maxheight	NOUN
app01-3929	119	24	.	.	PUNCT
app01-3929	120	1	obstacles	obstacle	NOUN
app01-3929	120	2	far	far	ADV
app01-3929	120	3	away	away	ADV
app01-3929	120	4	are	be	AUX
app01-3929	120	5	also	also	ADV
app01-3929	120	6	not	not	PART
app01-3929	120	7	interesting	interesting	ADJ
app01-3929	120	8	for	for	ADP
app01-3929	120	9	the	the	DET
app01-3929	120	10	process	process	NOUN
app01-3929	120	11	at	at	ADP
app01-3929	120	12	the	the	DET
app01-3929	120	13	moment	moment	NOUN
app01-3929	120	14	.	.	PUNCT
app01-3929	121	1	in	in	ADP
app01-3929	121	2	the	the	DET
app01-3929	121	3	same	same	ADJ
app01-3929	121	4	way	way	NOUN
app01-3929	121	5	points	point	VERB
app01-3929	121	6	far	far	ADV
app01-3929	121	7	away	away	ADV
app01-3929	121	8	are	be	AUX
app01-3929	121	9	also	also	ADV
app01-3929	121	10	not	not	PART
app01-3929	121	11	interesting	interesting	ADJ
app01-3929	121	12	and	and	CCONJ
app01-3929	121	13	get	get	AUX
app01-3929	121	14	filtered	filter	VERB
app01-3929	121	15	with	with	ADP
app01-3929	121	16	an	an	DET
app01-3929	121	17	allowed	allow	VERB
app01-3929	121	18	maximum	maximum	ADJ
app01-3929	121	19	distance	distance	NOUN
app01-3929	121	20	named	name	VERB
app01-3929	121	21	maxdistance	maxdistance	NOUN
app01-3929	121	22	.	.	PUNCT
app01-3929	122	1	in	in	ADP
app01-3929	122	2	this	this	DET
app01-3929	122	3	section	section	NOUN
app01-3929	122	4	some	some	DET
app01-3929	122	5	functions	function	NOUN
app01-3929	122	6	are	be	AUX
app01-3929	122	7	introduced	introduce	VERB
app01-3929	122	8	to	to	PART
app01-3929	122	9	simplify	simplify	VERB
app01-3929	122	10	the	the	DET
app01-3929	122	11	explanation	explanation	NOUN
app01-3929	122	12	of	of	ADP
app01-3929	122	13	the	the	DET
app01-3929	122	14	coordinate	coordinate	NOUN
app01-3929	122	15	transformation	transformation	NOUN
app01-3929	122	16	.	.	PUNCT
app01-3929	123	1	the	the	DET
app01-3929	123	2	first	first	ADJ
app01-3929	123	3	three	three	NUM
app01-3929	123	4	equations	equation	NOUN
app01-3929	123	5	deal	deal	VERB
app01-3929	123	6	with	with	ADP
app01-3929	123	7	projections	projection	NOUN
app01-3929	123	8	.	.	PUNCT
app01-3929	124	1	project	project	VERB
app01-3929	124	2	a	a	DET
app01-3929	124	3	vector	vector	NOUN
app01-3929	124	4	v	v	NOUN
app01-3929	124	5	onto	onto	ADP
app01-3929	124	6	another	another	DET
app01-3929	124	7	vector	vector	NOUN
app01-3929	124	8	vonto	vonto	NOUN
app01-3929	124	9	(	(	PUNCT
app01-3929	124	10	2	2	NUM
app01-3929	124	11	)	)	PUNCT
app01-3929	124	12	,	,	PUNCT
app01-3929	124	13	also	also	ADV
app01-3929	124	14	a	a	DET
app01-3929	124	15	vector	vector	NOUN
app01-3929	124	16	v	v	NOUN
app01-3929	124	17	onto	onto	ADP
app01-3929	124	18	a	a	DET
app01-3929	124	19	plane	plane	NOUN
app01-3929	124	20	e	e	NOUN
app01-3929	124	21	:	:	PUNCT
app01-3929	124	22	0	0	PUNCT
app01-3929	124	23	=	=	SYM
app01-3929	124	24	(	(	PUNCT
app01-3929	124	25	~x−	~x−	NOUN
app01-3929	124	26	~r	~r	NUM
app01-3929	124	27	)	)	PUNCT
app01-3929	124	28	·	·	PUNCT
app01-3929	125	1	~n	~n	PUNCT
app01-3929	125	2	(	(	PUNCT
app01-3929	125	3	3	3	X
app01-3929	125	4	)	)	PUNCT
app01-3929	125	5	and	and	CCONJ
app01-3929	125	6	a	a	DET
app01-3929	125	7	point	point	NOUN
app01-3929	125	8	with	with	ADP
app01-3929	125	9	position	position	NOUN
app01-3929	125	10	vector	vector	NOUN
app01-3929	125	11	~x	~x	PUNCT
app01-3929	125	12	onto	onto	ADP
app01-3929	125	13	a	a	DET
app01-3929	125	14	plane	plane	NOUN
app01-3929	125	15	(	(	PUNCT
app01-3929	125	16	4	4	NUM
app01-3929	125	17	):	):	PUNCT
app01-3929	125	18	fv2v(~vorig	fv2v(~vorig	PROPN
app01-3929	125	19	,	,	PUNCT
app01-3929	125	20	~vonto	~vonto	ADP
app01-3929	125	21	)	)	PUNCT
app01-3929	125	22	:	:	PUNCT
app01-3929	125	23	~vproj	~vproj	PUNCT
app01-3929	125	24	=	=	SYM
app01-3929	125	25	(	(	PUNCT
app01-3929	125	26	~vorig	~vorig	NUM
app01-3929	125	27	�	�	X
app01-3929	125	28	~vonto	~vonto	SYM
app01-3929	125	29	|~vonto|	|~vonto|	PRON
app01-3929	125	30	)	)	PUNCT
app01-3929	125	31	(	(	PUNCT
app01-3929	125	32	2	2	X
app01-3929	125	33	)	)	PUNCT
app01-3929	125	34	fv2p(~vorig	fv2p(~vorig	PROPN
app01-3929	125	35	)	)	PUNCT
app01-3929	125	36	:	:	PUNCT
app01-3929	125	37	~vproj	~vproj	NUM
app01-3929	125	38	=	=	SYM
app01-3929	125	39	~vorig	~vorig	NUM
app01-3929	125	40	−	−	NOUN
app01-3929	125	41	fv2v	fv2v	NOUN
app01-3929	125	42	(	(	PUNCT
app01-3929	125	43	~vorig	~vorig	NOUN
app01-3929	125	44	,	,	PUNCT
app01-3929	125	45	~n	~n	NUM
app01-3929	125	46	)	)	PUNCT
app01-3929	125	47	·	·	PUNCT
app01-3929	126	1	~n	~n	PUNCT
app01-3929	126	2	(	(	PUNCT
app01-3929	126	3	3	3	X
app01-3929	126	4	)	)	PUNCT
app01-3929	126	5	fp2p(~xorig	fp2p(~xorig	PROPN
app01-3929	126	6	)	)	PUNCT
app01-3929	126	7	:	:	PUNCT
app01-3929	126	8	~xproj	~xproj	PUNCT
app01-3929	126	9	=	=	X
app01-3929	126	10	~xorig	~xorig	PUNCT
app01-3929	126	11	−	−	ADP
app01-3929	126	12	fv2v	fv2v	NOUN
app01-3929	126	13	(	(	PUNCT
app01-3929	126	14	~xorig	~xorig	NUM
app01-3929	126	15	−	−	ADP
app01-3929	126	16	~r	~r	NUM
app01-3929	126	17	,	,	PUNCT
app01-3929	126	18	~n	~n	NUM
app01-3929	126	19	)	)	PUNCT
app01-3929	126	20	(	(	PUNCT
app01-3929	126	21	4	4	X
app01-3929	126	22	)	)	PUNCT
app01-3929	126	23	next	next	ADP
app01-3929	126	24	the	the	DET
app01-3929	126	25	normalisation	normalisation	NOUN
app01-3929	126	26	is	be	AUX
app01-3929	126	27	defined	define	VERB
app01-3929	126	28	in	in	ADP
app01-3929	126	29	(	(	PUNCT
app01-3929	126	30	5	5	NUM
app01-3929	126	31	):	):	PUNCT
app01-3929	126	32	fn(~vorig	fn(~vorig	NOUN
app01-3929	126	33	)	)	PUNCT
app01-3929	126	34	:	:	PUNCT
app01-3929	127	1	~vnorm	~vnorm	PUNCT
app01-3929	127	2	=	=	PUNCT
app01-3929	127	3	~vorig	~vorig	NUM
app01-3929	127	4	|~vorig|	|~vorig|	NUM
app01-3929	127	5	(	(	PUNCT
app01-3929	127	6	5	5	NUM
app01-3929	127	7	)	)	PUNCT
app01-3929	127	8	since	since	SCONJ
app01-3929	127	9	the	the	DET
app01-3929	127	10	source	source	NOUN
app01-3929	127	11	coordinate	coordinate	NOUN
app01-3929	127	12	system	system	NOUN
app01-3929	127	13	of	of	ADP
app01-3929	127	14	the	the	DET
app01-3929	127	15	kinect	kinect	NOUN
app01-3929	127	16	is	be	AUX
app01-3929	127	17	in	in	ADP
app01-3929	127	18	three	three	NUM
app01-3929	127	19	dimensional	dimensional	ADJ
app01-3929	127	20	space	space	NOUN
app01-3929	127	21	and	and	CCONJ
app01-3929	127	22	the	the	DET
app01-3929	127	23	destination	destination	NOUN
app01-3929	127	24	system	system	NOUN
app01-3929	127	25	is	be	AUX
app01-3929	127	26	only	only	ADV
app01-3929	127	27	two	two	NUM
app01-3929	127	28	dimensional	dimensional	ADJ
app01-3929	127	29	,	,	PUNCT
app01-3929	127	30	it	it	PRON
app01-3929	127	31	is	be	AUX
app01-3929	127	32	necessary	necessary	ADJ
app01-3929	127	33	to	to	PART
app01-3929	127	34	project	project	VERB
app01-3929	127	35	every	every	DET
app01-3929	127	36	detected	detect	VERB
app01-3929	127	37	3d	3d	NOUN
app01-3929	127	38	-	-	PUNCT
app01-3929	127	39	pixel	pixel	NOUN
app01-3929	127	40	onto	onto	ADP
app01-3929	127	41	the	the	DET
app01-3929	127	42	ground	ground	NOUN
app01-3929	127	43	plane	plane	NOUN
app01-3929	127	44	.	.	PUNCT
app01-3929	128	1	in	in	ADP
app01-3929	128	2	the	the	DET
app01-3929	128	3	three	three	NUM
app01-3929	128	4	dimensional	dimensional	ADJ
app01-3929	128	5	coordinate	coordinate	NOUN
app01-3929	128	6	space	space	NOUN
app01-3929	128	7	of	of	ADP
app01-3929	128	8	the	the	DET
app01-3929	128	9	kinect	kinect	NOUN
app01-3929	128	10	we	we	PRON
app01-3929	128	11	define	define	VERB
app01-3929	128	12	a	a	DET
app01-3929	128	13	two	two	NUM
app01-3929	128	14	dimensional	dimensional	ADJ
app01-3929	128	15	coordinate	coordinate	NOUN
app01-3929	128	16	space	space	NOUN
app01-3929	128	17	for	for	ADP
app01-3929	128	18	the	the	DET
app01-3929	128	19	new	new	ADJ
app01-3929	128	20	coordinate	coordinate	NOUN
app01-3929	128	21	system	system	NOUN
app01-3929	128	22	.	.	PUNCT
app01-3929	129	1	the	the	DET
app01-3929	129	2	new	new	ADJ
app01-3929	129	3	coordinate	coordinate	NOUN
app01-3929	129	4	system	system	NOUN
app01-3929	129	5	can	can	AUX
app01-3929	129	6	be	be	AUX
app01-3929	129	7	seen	see	VERB
app01-3929	129	8	as	as	ADP
app01-3929	129	9	a	a	DET
app01-3929	129	10	plane	plane	NOUN
app01-3929	129	11	in	in	ADP
app01-3929	129	12	the	the	DET
app01-3929	129	13	original	original	ADJ
app01-3929	129	14	space	space	NOUN
app01-3929	129	15	.	.	PUNCT
app01-3929	130	1	therefore	therefore	ADV
app01-3929	130	2	an	an	DET
app01-3929	130	3	origin	origin	NOUN
app01-3929	130	4	and	and	CCONJ
app01-3929	130	5	also	also	ADV
app01-3929	130	6	two	two	NUM
app01-3929	130	7	vectors	vector	NOUN
app01-3929	130	8	for	for	ADP
app01-3929	130	9	the	the	DET
app01-3929	130	10	two	two	NUM
app01-3929	130	11	axes	axis	NOUN
app01-3929	130	12	of	of	ADP
app01-3929	130	13	that	that	DET
app01-3929	130	14	coordinate	coordinate	NOUN
app01-3929	130	15	system	system	NOUN
app01-3929	130	16	are	be	AUX
app01-3929	130	17	needed	need	VERB
app01-3929	130	18	.	.	PUNCT
app01-3929	131	1	the	the	DET
app01-3929	131	2	two	two	NUM
app01-3929	131	3	dimensional	dimensional	ADJ
app01-3929	131	4	coordinate	coordinate	NOUN
app01-3929	131	5	system	system	NOUN
app01-3929	131	6	for	for	ADP
app01-3929	131	7	the	the	DET
app01-3929	131	8	obstacle	obstacle	NOUN
app01-3929	131	9	detection	detection	NOUN
app01-3929	131	10	is	be	AUX
app01-3929	131	11	implemented	implement	VERB
app01-3929	131	12	within	within	ADP
app01-3929	131	13	the	the	DET
app01-3929	131	14	three	three	NUM
app01-3929	131	15	dimensional	dimensional	ADJ
app01-3929	131	16	coordinate	coordinate	NOUN
app01-3929	131	17	system	system	NOUN
app01-3929	131	18	of	of	ADP
app01-3929	131	19	the	the	DET
app01-3929	131	20	kinect	kinect	ADJ
app01-3929	131	21	camera	camera	NOUN
app01-3929	131	22	.	.	PUNCT
app01-3929	132	1	the	the	DET
app01-3929	132	2	camera	camera	NOUN
app01-3929	132	3	position	position	NOUN
app01-3929	132	4	perpendicular	perpendicular	NOUN
app01-3929	132	5	above	above	ADP
app01-3929	132	6	the	the	DET
app01-3929	132	7	ground	ground	NOUN
app01-3929	132	8	is	be	AUX
app01-3929	132	9	origin	origin	NOUN
app01-3929	132	10	:	:	PUNCT
app01-3929	132	11	ccamera	ccamera	NOUN
app01-3929	132	12	=	=	SYM
app01-3929	132	13	fp2p(o	fp2p(o	PROPN
app01-3929	132	14	)	)	PUNCT
app01-3929	132	15	with	with	ADP
app01-3929	132	16	o	o	PROPN
app01-3929	132	17	as	as	ADP
app01-3929	132	18	the	the	DET
app01-3929	132	19	origin	origin	NOUN
app01-3929	132	20	of	of	ADP
app01-3929	132	21	coordinate	coordinate	NOUN
app01-3929	132	22	system	system	NOUN
app01-3929	132	23	.	.	PUNCT
app01-3929	133	1	the	the	DET
app01-3929	133	2	axes	axis	NOUN
app01-3929	133	3	are	be	AUX
app01-3929	133	4	defined	define	VERB
app01-3929	133	5	as	as	ADP
app01-3929	133	6	ex	ex	X
app01-3929	133	7	=	=	NOUN
app01-3929	133	8	fn	fn	X
app01-3929	133	9	(	(	PUNCT
app01-3929	133	10	fv2p	fv2p	X
app01-3929	133	11	(	(	PUNCT
app01-3929	133	12	(	(	PUNCT
app01-3929	133	13	0	0	NUM
app01-3929	133	14	;	;	PUNCT
app01-3929	133	15	0;−1	0;−1	NUM
app01-3929	133	16	)	)	PUNCT
app01-3929	133	17	)	)	PUNCT
app01-3929	133	18	)	)	PUNCT
app01-3929	133	19	and	and	CCONJ
app01-3929	133	20	ey	ey	PRON
app01-3929	133	21	=	=	NOUN
app01-3929	133	22	fn	fn	PROPN
app01-3929	133	23	(	(	PUNCT
app01-3929	133	24	fv2p	fv2p	X
app01-3929	133	25	(	(	PUNCT
app01-3929	133	26	(	(	PUNCT
app01-3929	133	27	−1	−1	NOUN
app01-3929	133	28	;	;	PUNCT
app01-3929	133	29	0	0	NUM
app01-3929	133	30	;	;	PUNCT
app01-3929	133	31	0	0	NUM
app01-3929	133	32	)	)	PUNCT
app01-3929	133	33	)	)	PUNCT
app01-3929	133	34	)	)	PUNCT
app01-3929	133	35	.	.	PUNCT
app01-3929	134	1	in	in	ADP
app01-3929	134	2	figure	figure	NOUN
app01-3929	134	3	4	4	NUM
app01-3929	134	4	you	you	PRON
app01-3929	134	5	see	see	VERB
app01-3929	134	6	the	the	DET
app01-3929	134	7	orientation	orientation	NOUN
app01-3929	134	8	of	of	ADP
app01-3929	134	9	the	the	DET
app01-3929	134	10	axis	axis	NOUN
app01-3929	134	11	.	.	PUNCT
app01-3929	135	1	now	now	ADV
app01-3929	135	2	,	,	PUNCT
app01-3929	135	3	(	(	PUNCT
app01-3929	135	4	6	6	X
app01-3929	135	5	)	)	PUNCT
app01-3929	135	6	can	can	AUX
app01-3929	135	7	be	be	AUX
app01-3929	135	8	used	use	VERB
app01-3929	135	9	to	to	PART
app01-3929	135	10	project	project	VERB
app01-3929	135	11	all	all	DET
app01-3929	135	12	points	point	NOUN
app01-3929	135	13	into	into	ADP
app01-3929	135	14	the	the	DET
app01-3929	135	15	new	new	ADJ
app01-3929	135	16	car	car	NOUN
app01-3929	135	17	coordinate	coordinate	NOUN
app01-3929	135	18	system	system	NOUN
app01-3929	135	19	:	:	PUNCT
app01-3929	135	20	pcar	pcar	NOUN
app01-3929	135	21	=	=	SYM
app01-3929	135	22	(	(	PUNCT
app01-3929	135	23	fv2v	fv2v	PROPN
app01-3929	135	24	(	(	PUNCT
app01-3929	135	25	pcamera	pcamera	NOUN
app01-3929	135	26	−	−	PROPN
app01-3929	136	1	ccamera	ccamera	PROPN
app01-3929	136	2	,	,	PUNCT
app01-3929	136	3	ex	ex	NOUN
app01-3929	136	4	)	)	PUNCT
app01-3929	136	5	fv2v	fv2v	NOUN
app01-3929	136	6	(	(	PUNCT
app01-3929	136	7	pcamera	pcamera	NOUN
app01-3929	136	8	−	−	PROPN
app01-3929	136	9	ccamera	ccamera	PROPN
app01-3929	136	10	,	,	PUNCT
app01-3929	136	11	ey	ey	PROPN
app01-3929	136	12	)	)	PUNCT
app01-3929	136	13	)	)	PUNCT
app01-3929	137	1	(	(	PUNCT
app01-3929	137	2	6	6	NUM
app01-3929	137	3	)	)	PUNCT
app01-3929	137	4	next	next	ADV
app01-3929	137	5	,	,	PUNCT
app01-3929	137	6	the	the	DET
app01-3929	137	7	obstacle	obstacle	NOUN
app01-3929	137	8	detection	detection	NOUN
app01-3929	137	9	will	will	AUX
app01-3929	137	10	use	use	VERB
app01-3929	137	11	these	these	DET
app01-3929	137	12	projected	project	VERB
app01-3929	137	13	points	point	NOUN
app01-3929	137	14	and	and	CCONJ
app01-3929	137	15	create	create	VERB
app01-3929	137	16	a	a	DET
app01-3929	137	17	barrier	barrier	NOUN
app01-3929	137	18	along	along	ADP
app01-3929	137	19	the	the	DET
app01-3929	137	20	nearest	near	ADJ
app01-3929	137	21	edge	edge	NOUN
app01-3929	137	22	of	of	ADP
app01-3929	137	23	the	the	DET
app01-3929	137	24	recognized	recognize	VERB
app01-3929	137	25	obstacles	obstacle	NOUN
app01-3929	137	26	.	.	PUNCT
app01-3929	138	1	6	6	X
app01-3929	138	2	.	.	X
app01-3929	138	3	obstacle	obstacle	NOUN
app01-3929	138	4	detection	detection	NOUN
app01-3929	138	5	when	when	SCONJ
app01-3929	138	6	implementing	implement	VERB
app01-3929	138	7	algorithms	algorithm	NOUN
app01-3929	138	8	for	for	ADP
app01-3929	138	9	autonomous	autonomous	ADJ
app01-3929	138	10	vehicles	vehicle	NOUN
app01-3929	138	11	it	it	PRON
app01-3929	138	12	is	be	AUX
app01-3929	138	13	mandatory	mandatory	ADJ
app01-3929	138	14	to	to	PART
app01-3929	138	15	detect	detect	VERB
app01-3929	138	16	and	and	CCONJ
app01-3929	138	17	tag	tag	VERB
app01-3929	138	18	obstacles	obstacle	NOUN
app01-3929	138	19	in	in	ADP
app01-3929	138	20	front	front	NOUN
app01-3929	138	21	of	of	ADP
app01-3929	138	22	the	the	DET
app01-3929	138	23	craft	craft	NOUN
app01-3929	138	24	.	.	PUNCT
app01-3929	139	1	as	as	SCONJ
app01-3929	139	2	described	describe	VERB
app01-3929	139	3	,	,	PUNCT
app01-3929	139	4	a	a	DET
app01-3929	139	5	depth	depth	NOUN
app01-3929	139	6	image	image	NOUN
app01-3929	139	7	is	be	AUX
app01-3929	139	8	0	0	NUM
app01-3929	139	9	0.5	0.5	NUM
app01-3929	139	10	1	1	NUM
app01-3929	139	11	1.5	1.5	NUM
app01-3929	139	12	2	2	NUM
app01-3929	139	13	2.5	2.5	NUM
app01-3929	139	14	3	3	NUM
app01-3929	139	15	3.5	3.5	NUM
app01-3929	139	16	4	4	NUM
app01-3929	139	17	0	0	NUM
app01-3929	139	18	1	1	NUM
app01-3929	139	19	2	2	NUM
app01-3929	139	20	3	3	NUM
app01-3929	139	21	4	4	NUM
app01-3929	139	22	5	5	NUM
app01-3929	139	23	6	6	NUM
app01-3929	139	24	7	7	NUM
app01-3929	139	25	8	8	NUM
app01-3929	139	26	l	l	NOUN
app01-3929	139	27	o	o	NOUN
app01-3929	139	28	g	g	NOUN
app01-3929	139	29	a	a	DET
app01-3929	139	30	ri	ri	NOUN
app01-3929	139	31	th	th	X
app01-3929	139	32	m	m	NOUN
app01-3929	139	33	ic	ic	PROPN
app01-3929	139	34	s	s	PROPN
app01-3929	139	35	c	c	PROPN
app01-3929	139	36	a	a	DET
app01-3929	139	37	lin	lin	PROPN
app01-3929	139	38	g	g	PROPN
app01-3929	139	39	o	o	PROPN
app01-3929	140	1	f	f	PROPN
app01-3929	140	2	d	d	NOUN
app01-3929	140	3	is	be	AUX
app01-3929	140	4	ta	ta	ADP
app01-3929	140	5	n	n	ADV
app01-3929	140	6	c	c	NOUN
app01-3929	140	7	e	e	ADP
app01-3929	140	8	distance	distance	NOUN
app01-3929	140	9	(	(	PUNCT
app01-3929	140	10	m	m	NOUN
app01-3929	140	11	)	)	PUNCT
app01-3929	140	12	figure	figure	NOUN
app01-3929	140	13	5	5	NUM
app01-3929	140	14	.	.	PUNCT
app01-3929	140	15	logarithmic	logarithmic	ADJ
app01-3929	140	16	distance	distance	NOUN
app01-3929	140	17	scaling	scaling	NOUN
app01-3929	140	18	for	for	ADP
app01-3929	140	19	image	image	NOUN
app01-3929	140	20	size	size	NOUN
app01-3929	140	21	reduction	reduction	NOUN
app01-3929	140	22	purposes	purpose	NOUN
app01-3929	140	23	.	.	PUNCT
app01-3929	141	1	provided	provide	VERB
app01-3929	141	2	by	by	ADP
app01-3929	141	3	the	the	DET
app01-3929	141	4	kinect	kinect	ADJ
app01-3929	141	5	camera	camera	NOUN
app01-3929	141	6	from	from	ADP
app01-3929	141	7	where	where	SCONJ
app01-3929	141	8	each	each	DET
app01-3929	141	9	single	single	ADJ
app01-3929	141	10	depth	depth	NOUN
app01-3929	141	11	pixel	pixel	NOUN
app01-3929	141	12	is	be	AUX
app01-3929	141	13	projected	project	VERB
app01-3929	141	14	to	to	ADP
app01-3929	141	15	a	a	DET
app01-3929	141	16	ground	ground	NOUN
app01-3929	141	17	plane	plane	NOUN
app01-3929	141	18	with	with	ADP
app01-3929	141	19	each	each	PRON
app01-3929	141	20	having	have	VERB
app01-3929	141	21	the	the	DET
app01-3929	141	22	correct	correct	ADJ
app01-3929	141	23	distance	distance	NOUN
app01-3929	141	24	and	and	CCONJ
app01-3929	141	25	position	position	NOUN
app01-3929	141	26	to	to	ADP
app01-3929	141	27	the	the	DET
app01-3929	141	28	camera	camera	NOUN
app01-3929	141	29	’s	’s	PART
app01-3929	141	30	point	point	NOUN
app01-3929	141	31	of	of	ADP
app01-3929	141	32	view	view	NOUN
app01-3929	141	33	during	during	ADP
app01-3929	141	34	the	the	DET
app01-3929	141	35	first	first	ADJ
app01-3929	141	36	stage	stage	NOUN
app01-3929	141	37	of	of	ADP
app01-3929	141	38	image	image	NOUN
app01-3929	141	39	processing	processing	NOUN
app01-3929	141	40	.	.	PUNCT
app01-3929	142	1	as	as	ADP
app01-3929	142	2	a	a	DET
app01-3929	142	3	first	first	ADJ
app01-3929	142	4	step	step	NOUN
app01-3929	142	5	,	,	PUNCT
app01-3929	142	6	the	the	DET
app01-3929	142	7	depth	depth	NOUN
app01-3929	142	8	points	point	NOUN
app01-3929	142	9	contributed	contribute	VERB
app01-3929	142	10	by	by	ADP
app01-3929	142	11	the	the	DET
app01-3929	142	12	kinect	kinect	ADJ
app01-3929	142	13	camera	camera	NOUN
app01-3929	142	14	and	and	CCONJ
app01-3929	142	15	the	the	DET
app01-3929	142	16	projection	projection	NOUN
app01-3929	142	17	to	to	ADP
app01-3929	142	18	the	the	DET
app01-3929	142	19	ground	ground	NOUN
app01-3929	142	20	plane	plane	NOUN
app01-3929	142	21	are	be	AUX
app01-3929	142	22	transformed	transform	VERB
app01-3929	142	23	into	into	ADP
app01-3929	142	24	a	a	DET
app01-3929	142	25	2d	2d	NUM
app01-3929	142	26	image	image	NOUN
app01-3929	142	27	.	.	PUNCT
app01-3929	143	1	the	the	DET
app01-3929	143	2	next	next	ADJ
app01-3929	143	3	three	three	NUM
app01-3929	143	4	steps	step	NOUN
app01-3929	143	5	described	describe	VERB
app01-3929	143	6	in	in	ADP
app01-3929	143	7	this	this	DET
app01-3929	143	8	section	section	NOUN
app01-3929	143	9	include	include	VERB
app01-3929	143	10	:	:	PUNCT
app01-3929	143	11	•	•	NUM
app01-3929	143	12	distance	distance	NOUN
app01-3929	143	13	scaling	scaling	NOUN
app01-3929	143	14	,	,	PUNCT
app01-3929	143	15	•	•	NUM
app01-3929	143	16	gaussian	gaussian	ADJ
app01-3929	143	17	functions	function	NOUN
app01-3929	143	18	,	,	PUNCT
app01-3929	143	19	•	•	NOUN
app01-3929	143	20	and	and	CCONJ
app01-3929	143	21	the	the	DET
app01-3929	143	22	actual	actual	ADJ
app01-3929	143	23	object	object	NOUN
app01-3929	143	24	and	and	CCONJ
app01-3929	143	25	obstacle	obstacle	NOUN
app01-3929	143	26	detection	detection	NOUN
app01-3929	143	27	.	.	PUNCT
app01-3929	144	1	6.1	6.1	NUM
app01-3929	144	2	.	.	PUNCT
app01-3929	144	3	distance	distance	NOUN
app01-3929	144	4	scaling	scale	VERB
app01-3929	144	5	the	the	DET
app01-3929	144	6	project	project	NOUN
app01-3929	144	7	team	team	NOUN
app01-3929	144	8	faced	face	VERB
app01-3929	144	9	problems	problem	NOUN
app01-3929	144	10	concerning	concern	VERB
app01-3929	144	11	computing	compute	VERB
app01-3929	144	12	power	power	NOUN
app01-3929	144	13	:	:	PUNCT
app01-3929	144	14	the	the	DET
app01-3929	144	15	large	large	ADJ
app01-3929	144	16	number	number	NOUN
app01-3929	144	17	of	of	ADP
app01-3929	144	18	pixels	pixel	NOUN
app01-3929	144	19	coming	come	VERB
app01-3929	144	20	from	from	ADP
app01-3929	144	21	a	a	DET
app01-3929	144	22	depth	depth	NOUN
app01-3929	144	23	frame	frame	NOUN
app01-3929	144	24	provided	provide	VERB
app01-3929	144	25	by	by	ADP
app01-3929	144	26	the	the	DET
app01-3929	144	27	kinect	kinect	PROPN
app01-3929	144	28	camera	camera	NOUN
app01-3929	144	29	exceeded	exceed	VERB
app01-3929	144	30	the	the	DET
app01-3929	144	31	available	available	ADJ
app01-3929	144	32	and	and	CCONJ
app01-3929	144	33	limited	limited	ADJ
app01-3929	144	34	hardware	hardware	NOUN
app01-3929	144	35	.	.	PUNCT
app01-3929	145	1	for	for	ADP
app01-3929	145	2	the	the	DET
app01-3929	145	3	purpose	purpose	NOUN
app01-3929	145	4	of	of	ADP
app01-3929	145	5	reducing	reduce	VERB
app01-3929	145	6	the	the	DET
app01-3929	145	7	computing	computing	NOUN
app01-3929	145	8	effort	effort	NOUN
app01-3929	145	9	for	for	ADP
app01-3929	145	10	processing	process	VERB
app01-3929	145	11	the	the	DET
app01-3929	145	12	gaussian	gaussian	ADJ
app01-3929	145	13	function	function	NOUN
app01-3929	145	14	(	(	PUNCT
app01-3929	145	15	see	see	VERB
app01-3929	145	16	subsection	subsection	NOUN
app01-3929	145	17	6.2	6.2	NUM
app01-3929	145	18	)	)	PUNCT
app01-3929	145	19	the	the	DET
app01-3929	145	20	project	project	NOUN
app01-3929	145	21	team	team	NOUN
app01-3929	145	22	decided	decide	VERB
app01-3929	145	23	to	to	PART
app01-3929	145	24	scale	scale	VERB
app01-3929	145	25	the	the	DET
app01-3929	145	26	projected	project	VERB
app01-3929	145	27	image	image	NOUN
app01-3929	145	28	’s	’s	PART
app01-3929	145	29	size	size	NOUN
app01-3929	145	30	by	by	ADP
app01-3929	145	31	its	its	PRON
app01-3929	145	32	height	height	NOUN
app01-3929	145	33	logarithmically	logarithmically	ADV
app01-3929	145	34	.	.	PUNCT
app01-3929	146	1	as	as	SCONJ
app01-3929	146	2	shown	show	VERB
app01-3929	146	3	in	in	ADP
app01-3929	146	4	figure	figure	NOUN
app01-3929	146	5	5	5	NUM
app01-3929	146	6	,	,	PUNCT
app01-3929	146	7	the	the	DET
app01-3929	146	8	scaling	scaling	NOUN
app01-3929	146	9	of	of	ADP
app01-3929	146	10	distances	distance	NOUN
app01-3929	146	11	allows	allow	VERB
app01-3929	146	12	to	to	PART
app01-3929	146	13	have	have	VERB
app01-3929	146	14	more	more	ADV
app01-3929	146	15	detailed	detailed	ADJ
app01-3929	146	16	image	image	NOUN
app01-3929	146	17	information	information	NOUN
app01-3929	146	18	in	in	ADP
app01-3929	146	19	a	a	DET
app01-3929	146	20	closer	close	ADJ
app01-3929	146	21	range	range	NOUN
app01-3929	146	22	to	to	ADP
app01-3929	146	23	the	the	DET
app01-3929	146	24	camera	camera	NOUN
app01-3929	146	25	’s	’s	PART
app01-3929	146	26	origin	origin	NOUN
app01-3929	146	27	than	than	ADP
app01-3929	146	28	in	in	ADP
app01-3929	146	29	a	a	DET
app01-3929	146	30	larger	large	ADJ
app01-3929	146	31	distance	distance	NOUN
app01-3929	146	32	to	to	ADP
app01-3929	146	33	this	this	DET
app01-3929	146	34	specific	specific	ADJ
app01-3929	146	35	point	point	NOUN
app01-3929	146	36	.	.	PUNCT
app01-3929	147	1	the	the	DET
app01-3929	147	2	distance	distance	NOUN
app01-3929	147	3	we	we	PRON
app01-3929	147	4	get	get	VERB
app01-3929	147	5	from	from	ADP
app01-3929	147	6	the	the	DET
app01-3929	147	7	kinect	kinect	ADJ
app01-3929	147	8	camera	camera	NOUN
app01-3929	147	9	is	be	AUX
app01-3929	147	10	a	a	DET
app01-3929	147	11	floating	float	VERB
app01-3929	147	12	point	point	NOUN
app01-3929	147	13	number	number	NOUN
app01-3929	147	14	,	,	PUNCT
app01-3929	147	15	the	the	DET
app01-3929	147	16	index	index	NOUN
app01-3929	147	17	we	we	PRON
app01-3929	147	18	need	need	VERB
app01-3929	147	19	to	to	PART
app01-3929	147	20	reference	reference	VERB
app01-3929	147	21	a	a	DET
app01-3929	147	22	pixel	pixel	NOUN
app01-3929	147	23	within	within	ADP
app01-3929	147	24	and	and	CCONJ
app01-3929	147	25	on	on	ADP
app01-3929	147	26	the	the	DET
app01-3929	147	27	image	image	NOUN
app01-3929	147	28	is	be	AUX
app01-3929	147	29	an	an	DET
app01-3929	147	30	integer	integer	NOUN
app01-3929	147	31	.	.	PUNCT
app01-3929	148	1	if	if	SCONJ
app01-3929	148	2	the	the	DET
app01-3929	148	3	distance	distance	NOUN
app01-3929	148	4	is	be	AUX
app01-3929	148	5	only	only	ADV
app01-3929	148	6	rounded	rounded	ADJ
app01-3929	148	7	to	to	ADP
app01-3929	148	8	the	the	DET
app01-3929	148	9	next	next	ADJ
app01-3929	148	10	integer	integer	NOUN
app01-3929	148	11	value	value	NOUN
app01-3929	148	12	there	there	PRON
app01-3929	148	13	is	be	VERB
app01-3929	148	14	one	one	NUM
app01-3929	148	15	pixel	pixel	NOUN
app01-3929	148	16	per	per	ADP
app01-3929	148	17	meter	meter	NOUN
app01-3929	148	18	.	.	PUNCT
app01-3929	149	1	because	because	SCONJ
app01-3929	149	2	of	of	ADP
app01-3929	149	3	this	this	PRON
app01-3929	149	4	a	a	DET
app01-3929	149	5	parameter	parameter	NOUN
app01-3929	149	6	is	be	AUX
app01-3929	149	7	introduced	introduce	VERB
app01-3929	149	8	which	which	PRON
app01-3929	149	9	represents	represent	VERB
app01-3929	149	10	the	the	DET
app01-3929	149	11	resolution	resolution	NOUN
app01-3929	149	12	of	of	ADP
app01-3929	149	13	the	the	DET
app01-3929	149	14	image	image	NOUN
app01-3929	149	15	’s	’s	PART
app01-3929	149	16	distances	distance	NOUN
app01-3929	149	17	.	.	PUNCT
app01-3929	150	1	the	the	DET
app01-3929	150	2	scaled	scale	VERB
app01-3929	150	3	value	value	NOUN
app01-3929	150	4	is	be	AUX
app01-3929	150	5	divided	divide	VERB
app01-3929	150	6	by	by	ADP
app01-3929	150	7	this	this	DET
app01-3929	150	8	value	value	NOUN
app01-3929	150	9	to	to	PART
app01-3929	150	10	get	get	VERB
app01-3929	150	11	the	the	DET
app01-3929	150	12	index	index	NOUN
app01-3929	150	13	as	as	ADP
app01-3929	150	14	an	an	DET
app01-3929	150	15	integer	integer	NOUN
app01-3929	150	16	,	,	PUNCT
app01-3929	150	17	after	after	ADP
app01-3929	150	18	rounding	round	VERB
app01-3929	150	19	of	of	ADP
app01-3929	150	20	this	this	DET
app01-3929	150	21	new	new	ADJ
app01-3929	150	22	integer	integer	NOUN
app01-3929	150	23	we	we	PRON
app01-3929	150	24	get	get	VERB
app01-3929	150	25	the	the	DET
app01-3929	150	26	correct	correct	ADJ
app01-3929	150	27	index	index	NOUN
app01-3929	150	28	value	value	NOUN
app01-3929	150	29	for	for	ADP
app01-3929	150	30	the	the	DET
app01-3929	150	31	image	image	NOUN
app01-3929	150	32	.	.	PUNCT
app01-3929	151	1	for	for	ADP
app01-3929	151	2	example	example	NOUN
app01-3929	151	3	,	,	PUNCT
app01-3929	151	4	0.5	0.5	NUM
app01-3929	151	5	m	m	NOUN
app01-3929	151	6	in	in	ADP
app01-3929	151	7	reality	reality	NOUN
app01-3929	151	8	are	be	AUX
app01-3929	151	9	mapped	map	VERB
app01-3929	151	10	to	to	ADP
app01-3929	151	11	an	an	DET
app01-3929	151	12	index	index	NOUN
app01-3929	151	13	value	value	NOUN
app01-3929	151	14	of	of	ADP
app01-3929	151	15	0.585	0.585	NUM
app01-3929	151	16	after	after	ADP
app01-3929	151	17	the	the	DET
app01-3929	151	18	scaling	scaling	NOUN
app01-3929	151	19	,	,	PUNCT
app01-3929	151	20	while	while	SCONJ
app01-3929	151	21	8	8	NUM
app01-3929	151	22	m	m	VERB
app01-3929	151	23	in	in	ADP
app01-3929	151	24	the	the	DET
app01-3929	151	25	real	real	ADJ
app01-3929	151	26	world	world	NOUN
app01-3929	151	27	,	,	PUNCT
app01-3929	151	28	which	which	PRON
app01-3929	151	29	is	be	AUX
app01-3929	151	30	the	the	DET
app01-3929	151	31	kinect	kinect	PROPN
app01-3929	151	32	camera	camera	NOUN
app01-3929	151	33	’s	’s	PART
app01-3929	151	34	maximum	maximum	ADJ
app01-3929	151	35	recognition	recognition	NOUN
app01-3929	151	36	distance	distance	NOUN
app01-3929	151	37	,	,	PUNCT
app01-3929	151	38	correspond	correspond	VERB
app01-3929	151	39	to	to	ADP
app01-3929	151	40	an	an	DET
app01-3929	151	41	index	index	NOUN
app01-3929	151	42	value	value	NOUN
app01-3929	151	43	3.171	3.171	NUM
app01-3929	151	44	logarithmically	logarithmically	ADV
app01-3929	151	45	scaled	scale	VERB
app01-3929	151	46	.	.	PUNCT
app01-3929	152	1	31	31	NUM
app01-3929	152	2	m	m	PROPN
app01-3929	152	3	steininger	steininger	NOUN
app01-3929	152	4	,	,	PUNCT
app01-3929	152	5	c.	c.	PROPN
app01-3929	152	6	stephan	stephan	PROPN
app01-3929	152	7	,	,	PUNCT
app01-3929	152	8	c.	c.	PROPN
app01-3929	152	9	böhm	böhm	PROPN
app01-3929	152	10	et	et	PROPN
app01-3929	152	11	al	al	PROPN
app01-3929	152	12	.	.	PROPN
app01-3929	152	13	acta	acta	PROPN
app01-3929	152	14	polytechnica	polytechnica	PROPN
app01-3929	152	15	ctu	ctu	NOUN
app01-3929	152	16	proceedings	proceeding	NOUN
app01-3929	152	17	g(x	g(x	PROPN
app01-3929	152	18	,	,	PUNCT
app01-3929	152	19	y	y	PROPN
app01-3929	152	20	)	)	PUNCT
app01-3929	152	21	x	x	PROPN
app01-3929	152	22	y	y	PROPN
app01-3929	152	23	g(x	g(x	PROPN
app01-3929	152	24	,	,	PUNCT
app01-3929	152	25	y	y	NOUN
app01-3929	152	26	)	)	PUNCT
app01-3929	152	27	figure	figure	NOUN
app01-3929	152	28	6	6	NUM
app01-3929	152	29	.	.	PUNCT
app01-3929	153	1	gaussian	gaussian	ADJ
app01-3929	153	2	distribution	distribution	NOUN
app01-3929	153	3	in	in	ADP
app01-3929	153	4	2d	2d	NOUN
app01-3929	153	5	.	.	PUNCT
app01-3929	154	1	as	as	SCONJ
app01-3929	154	2	can	can	AUX
app01-3929	154	3	be	be	AUX
app01-3929	154	4	seen	see	VERB
app01-3929	154	5	in	in	ADP
app01-3929	154	6	figure	figure	NOUN
app01-3929	154	7	7	7	NUM
app01-3929	154	8	the	the	DET
app01-3929	154	9	opening	opening	NOUN
app01-3929	154	10	angle	angle	NOUN
app01-3929	154	11	of	of	ADP
app01-3929	154	12	the	the	DET
app01-3929	154	13	camera	camera	NOUN
app01-3929	154	14	is	be	AUX
app01-3929	154	15	segmented	segment	VERB
app01-3929	154	16	with	with	ADP
app01-3929	154	17	a	a	DET
app01-3929	154	18	specific	specific	ADJ
app01-3929	154	19	resolution	resolution	NOUN
app01-3929	154	20	,	,	PUNCT
app01-3929	154	21	which	which	PRON
app01-3929	154	22	can	can	AUX
app01-3929	154	23	be	be	AUX
app01-3929	154	24	set	set	VERB
app01-3929	154	25	as	as	ADP
app01-3929	154	26	a	a	DET
app01-3929	154	27	parameter	parameter	NOUN
app01-3929	154	28	.	.	PUNCT
app01-3929	155	1	every	every	DET
app01-3929	155	2	segment	segment	NOUN
app01-3929	155	3	is	be	AUX
app01-3929	155	4	mapped	map	VERB
app01-3929	155	5	to	to	ADP
app01-3929	155	6	a	a	DET
app01-3929	155	7	single	single	ADJ
app01-3929	155	8	rectangular	rectangular	ADJ
app01-3929	155	9	column	column	NOUN
app01-3929	155	10	into	into	ADP
app01-3929	155	11	the	the	DET
app01-3929	155	12	projected	project	VERB
app01-3929	155	13	image	image	NOUN
app01-3929	155	14	.	.	PUNCT
app01-3929	156	1	the	the	DET
app01-3929	156	2	advantage	advantage	NOUN
app01-3929	156	3	of	of	ADP
app01-3929	156	4	this	this	DET
app01-3929	156	5	approach	approach	NOUN
app01-3929	156	6	is	be	AUX
app01-3929	156	7	that	that	SCONJ
app01-3929	156	8	near	near	ADP
app01-3929	156	9	distance	distance	NOUN
app01-3929	156	10	pixels	pixel	NOUN
app01-3929	156	11	are	be	AUX
app01-3929	156	12	richer	rich	ADJ
app01-3929	156	13	in	in	ADP
app01-3929	156	14	detail	detail	NOUN
app01-3929	156	15	than	than	ADP
app01-3929	156	16	more	more	ADV
app01-3929	156	17	distant	distant	ADJ
app01-3929	156	18	pixels	pixel	NOUN
app01-3929	156	19	.	.	PUNCT
app01-3929	157	1	6.2	6.2	NUM
app01-3929	157	2	.	.	PUNCT
app01-3929	158	1	gaussian	gaussian	ADJ
app01-3929	158	2	function	function	NOUN
app01-3929	158	3	the	the	DET
app01-3929	158	4	next	next	ADJ
app01-3929	158	5	step	step	NOUN
app01-3929	158	6	is	be	AUX
app01-3929	158	7	to	to	PART
app01-3929	158	8	smoothen	smoothen	VERB
app01-3929	158	9	the	the	DET
app01-3929	158	10	depth	depth	NOUN
app01-3929	158	11	image	image	NOUN
app01-3929	158	12	to	to	PART
app01-3929	158	13	reduce	reduce	VERB
app01-3929	158	14	single	single	ADJ
app01-3929	158	15	error	error	NOUN
app01-3929	158	16	pixels	pixel	NOUN
app01-3929	158	17	or	or	CCONJ
app01-3929	158	18	noise	noise	NOUN
app01-3929	158	19	and	and	CCONJ
app01-3929	158	20	smoothen	smoothen	ADV
app01-3929	158	21	pixel	pixel	VERB
app01-3929	158	22	clouds	cloud	NOUN
app01-3929	158	23	for	for	ADP
app01-3929	158	24	further	further	ADJ
app01-3929	158	25	and	and	CCONJ
app01-3929	158	26	more	more	ADV
app01-3929	158	27	precise	precise	ADJ
app01-3929	158	28	computations	computation	NOUN
app01-3929	158	29	and	and	CCONJ
app01-3929	158	30	calculations	calculation	NOUN
app01-3929	158	31	.	.	PUNCT
app01-3929	159	1	although	although	SCONJ
app01-3929	159	2	there	there	PRON
app01-3929	159	3	are	be	VERB
app01-3929	159	4	several	several	ADJ
app01-3929	159	5	options	option	NOUN
app01-3929	159	6	for	for	ADP
app01-3929	159	7	smoothing	smooth	VERB
app01-3929	159	8	images	image	NOUN
app01-3929	159	9	,	,	PUNCT
app01-3929	159	10	the	the	DET
app01-3929	159	11	chosen	choose	VERB
app01-3929	159	12	solution	solution	NOUN
app01-3929	159	13	is	be	AUX
app01-3929	159	14	the	the	DET
app01-3929	159	15	gaussian	gaussian	ADJ
app01-3929	159	16	filter	filter	NOUN
app01-3929	159	17	g(x	g(x	PROPN
app01-3929	159	18	,	,	PUNCT
app01-3929	159	19	y	y	NOUN
app01-3929	159	20	)	)	PUNCT
app01-3929	159	21	=	=	SYM
app01-3929	160	1	1	1	NUM
app01-3929	160	2	2πσ2	2πσ2	NUM
app01-3929	160	3	e	e	NOUN
app01-3929	160	4	−	−	PROPN
app01-3929	160	5	x2+y2	x2+y2	PROPN
app01-3929	160	6	2σ2	2σ2	NUM
app01-3929	160	7	(	(	PUNCT
app01-3929	160	8	7	7	NUM
app01-3929	160	9	)	)	PUNCT
app01-3929	160	10	in	in	ADP
app01-3929	160	11	(	(	PUNCT
app01-3929	160	12	7	7	NUM
app01-3929	160	13	)	)	PUNCT
app01-3929	160	14	,	,	PUNCT
app01-3929	160	15	the	the	DET
app01-3929	160	16	gaussian	gaussian	ADJ
app01-3929	160	17	function	function	NOUN
app01-3929	160	18	for	for	ADP
app01-3929	160	19	two	two	NUM
app01-3929	160	20	dimensions	dimension	NOUN
app01-3929	160	21	is	be	AUX
app01-3929	160	22	shown	show	VERB
app01-3929	160	23	.	.	PUNCT
app01-3929	161	1	where	where	SCONJ
app01-3929	161	2	x	x	PRON
app01-3929	161	3	is	be	AUX
app01-3929	161	4	the	the	DET
app01-3929	161	5	distance	distance	NOUN
app01-3929	161	6	from	from	ADP
app01-3929	161	7	the	the	DET
app01-3929	161	8	origin	origin	NOUN
app01-3929	161	9	on	on	ADP
app01-3929	161	10	the	the	DET
app01-3929	161	11	horizontal	horizontal	ADJ
app01-3929	161	12	axis	axis	NOUN
app01-3929	161	13	and	and	CCONJ
app01-3929	161	14	y	y	PROPN
app01-3929	161	15	is	be	AUX
app01-3929	161	16	the	the	DET
app01-3929	161	17	distance	distance	NOUN
app01-3929	161	18	from	from	ADP
app01-3929	161	19	the	the	DET
app01-3929	161	20	origin	origin	NOUN
app01-3929	161	21	on	on	ADP
app01-3929	161	22	the	the	DET
app01-3929	161	23	vertical	vertical	ADJ
app01-3929	161	24	axis	axis	NOUN
app01-3929	161	25	,	,	PUNCT
app01-3929	161	26	and	and	CCONJ
app01-3929	161	27	σ	σ	PROPN
app01-3929	161	28	is	be	AUX
app01-3929	161	29	the	the	DET
app01-3929	161	30	standard	standard	ADJ
app01-3929	161	31	deviation	deviation	NOUN
app01-3929	161	32	of	of	ADP
app01-3929	161	33	the	the	DET
app01-3929	161	34	gaussian	gaussian	ADJ
app01-3929	161	35	distribution	distribution	NOUN
app01-3929	161	36	.	.	PUNCT
app01-3929	162	1	the	the	DET
app01-3929	162	2	distribution	distribution	NOUN
app01-3929	162	3	can	can	AUX
app01-3929	162	4	be	be	AUX
app01-3929	162	5	seen	see	VERB
app01-3929	162	6	in	in	ADP
app01-3929	162	7	figure	figure	NOUN
app01-3929	162	8	6	6	NUM
app01-3929	162	9	for	for	ADP
app01-3929	162	10	two	two	NUM
app01-3929	162	11	-	-	PUNCT
app01-3929	162	12	dimensional	dimensional	ADJ
app01-3929	162	13	gaussian	gaussian	ADJ
app01-3929	162	14	functions	function	NOUN
app01-3929	162	15	.	.	PUNCT
app01-3929	163	1	this	this	DET
app01-3929	163	2	formula	formula	NOUN
app01-3929	163	3	produces	produce	VERB
app01-3929	163	4	a	a	DET
app01-3929	163	5	surface	surface	NOUN
app01-3929	163	6	of	of	ADP
app01-3929	163	7	concentric	concentric	ADJ
app01-3929	163	8	circles	circle	NOUN
app01-3929	163	9	with	with	ADP
app01-3929	163	10	a	a	DET
app01-3929	163	11	gaussian	gaussian	ADJ
app01-3929	163	12	distribution	distribution	NOUN
app01-3929	163	13	from	from	ADP
app01-3929	163	14	the	the	DET
app01-3929	163	15	center	center	NOUN
app01-3929	163	16	point	point	NOUN
app01-3929	163	17	.	.	PUNCT
app01-3929	164	1	the	the	DET
app01-3929	164	2	new	new	ADJ
app01-3929	164	3	value	value	NOUN
app01-3929	164	4	of	of	ADP
app01-3929	164	5	each	each	DET
app01-3929	164	6	pixel	pixel	NOUN
app01-3929	164	7	is	be	AUX
app01-3929	164	8	set	set	VERB
app01-3929	164	9	to	to	ADP
app01-3929	164	10	a	a	DET
app01-3929	164	11	weighted	weighted	ADJ
app01-3929	164	12	average	average	NOUN
app01-3929	164	13	of	of	ADP
app01-3929	164	14	that	that	DET
app01-3929	164	15	specific	specific	ADJ
app01-3929	164	16	pixel	pixel	PROPN
app01-3929	164	17	’s	’s	PART
app01-3929	164	18	neighborhood	neighborhood	NOUN
app01-3929	164	19	.	.	PUNCT
app01-3929	165	1	the	the	DET
app01-3929	165	2	original	original	ADJ
app01-3929	165	3	pixel	pixel	PROPN
app01-3929	165	4	’s	’s	PART
app01-3929	165	5	value	value	NOUN
app01-3929	165	6	receives	receive	VERB
app01-3929	165	7	the	the	DET
app01-3929	165	8	highest	high	ADJ
app01-3929	165	9	gaussian	gaussian	ADJ
app01-3929	165	10	value	value	NOUN
app01-3929	165	11	and	and	CCONJ
app01-3929	165	12	neighborhood	neighborhood	NOUN
app01-3929	165	13	pixels	pixel	NOUN
app01-3929	165	14	receive	receive	VERB
app01-3929	165	15	smaller	small	ADJ
app01-3929	165	16	weights	weight	NOUN
app01-3929	165	17	as	as	ADP
app01-3929	165	18	their	their	PRON
app01-3929	165	19	distance	distance	NOUN
app01-3929	165	20	to	to	ADP
app01-3929	165	21	the	the	DET
app01-3929	165	22	original	original	ADJ
app01-3929	165	23	pixel	pixel	NOUN
app01-3929	165	24	increases	increase	NOUN
app01-3929	165	25	.	.	PUNCT
app01-3929	166	1	this	this	DET
app01-3929	166	2	results	result	NOUN
app01-3929	166	3	in	in	ADP
app01-3929	166	4	a	a	DET
app01-3929	166	5	blur	blur	ADJ
app01-3929	166	6	effect	effect	NOUN
app01-3929	166	7	[	[	X
app01-3929	166	8	14	14	NUM
app01-3929	166	9	,	,	PUNCT
app01-3929	166	10	15	15	NUM
app01-3929	166	11	]	]	PUNCT
app01-3929	166	12	.	.	PUNCT
app01-3929	167	1	figure	figure	NOUN
app01-3929	167	2	7	7	NUM
app01-3929	167	3	shows	show	VERB
app01-3929	167	4	three	three	NUM
app01-3929	167	5	identical	identical	ADJ
app01-3929	167	6	depth	depth	NOUN
app01-3929	167	7	frames	frame	NOUN
app01-3929	167	8	which	which	PRON
app01-3929	167	9	are	be	AUX
app01-3929	167	10	already	already	ADV
app01-3929	167	11	projected	project	VERB
app01-3929	167	12	to	to	ADP
app01-3929	167	13	a	a	DET
app01-3929	167	14	ground	ground	NOUN
app01-3929	167	15	plane	plane	NOUN
app01-3929	167	16	(	(	PUNCT
app01-3929	167	17	you	you	PRON
app01-3929	167	18	see	see	VERB
app01-3929	167	19	the	the	DET
app01-3929	167	20	frames	frame	NOUN
app01-3929	167	21	in	in	ADP
app01-3929	167	22	a	a	DET
app01-3929	167	23	top	top	ADJ
app01-3929	167	24	view	view	NOUN
app01-3929	167	25	)	)	PUNCT
app01-3929	167	26	and	and	CCONJ
app01-3929	167	27	transformed	transform	VERB
app01-3929	167	28	into	into	ADP
app01-3929	167	29	a	a	DET
app01-3929	167	30	gray	gray	ADJ
app01-3929	167	31	image	image	NOUN
app01-3929	167	32	.	.	PUNCT
app01-3929	168	1	on	on	ADP
app01-3929	168	2	the	the	DET
app01-3929	168	3	left	left	ADJ
app01-3929	168	4	-	-	PUNCT
app01-3929	168	5	hand	hand	NOUN
app01-3929	168	6	side	side	NOUN
app01-3929	168	7	,	,	PUNCT
app01-3929	168	8	the	the	DET
app01-3929	168	9	single	single	ADJ
app01-3929	168	10	frame	frame	NOUN
app01-3929	168	11	is	be	AUX
app01-3929	168	12	displayed	display	VERB
app01-3929	168	13	without	without	ADP
app01-3929	168	14	any	any	DET
app01-3929	168	15	filtering	filtering	NOUN
app01-3929	168	16	or	or	CCONJ
app01-3929	168	17	blurring	blurring	NOUN
app01-3929	168	18	.	.	PUNCT
app01-3929	169	1	there	there	PRON
app01-3929	169	2	are	be	VERB
app01-3929	169	3	many	many	ADJ
app01-3929	169	4	false	false	ADJ
app01-3929	169	5	pixels	pixel	NOUN
app01-3929	169	6	,	,	PUNCT
app01-3929	169	7	noise	noise	NOUN
app01-3929	169	8	and	and	CCONJ
app01-3929	169	9	distortion	distortion	NOUN
app01-3929	169	10	.	.	PUNCT
app01-3929	170	1	a	a	DET
app01-3929	170	2	gaussian	gaussian	ADJ
app01-3929	170	3	filter	filter	NOUN
app01-3929	170	4	is	be	AUX
app01-3929	170	5	already	already	ADV
app01-3929	170	6	used	use	VERB
app01-3929	170	7	in	in	ADP
app01-3929	170	8	the	the	DET
app01-3929	170	9	middle	middle	ADJ
app01-3929	170	10	frame	frame	NOUN
app01-3929	170	11	,	,	PUNCT
app01-3929	170	12	nevertheless	nevertheless	ADV
app01-3929	170	13	quite	quite	DET
app01-3929	170	14	a	a	DET
app01-3929	170	15	lot	lot	NOUN
app01-3929	170	16	noise	noise	NOUN
app01-3929	170	17	and	and	CCONJ
app01-3929	170	18	other	other	ADJ
app01-3929	170	19	false	false	ADJ
app01-3929	170	20	pixels	pixel	NOUN
app01-3929	170	21	can	can	AUX
app01-3929	170	22	be	be	AUX
app01-3929	170	23	seen	see	VERB
app01-3929	170	24	.	.	PUNCT
app01-3929	171	1	the	the	DET
app01-3929	171	2	approach	approach	NOUN
app01-3929	171	3	works	work	VERB
app01-3929	171	4	in	in	ADP
app01-3929	171	5	practice	practice	NOUN
app01-3929	171	6	but	but	CCONJ
app01-3929	171	7	still	still	ADV
app01-3929	171	8	needs	need	VERB
app01-3929	171	9	a	a	DET
app01-3929	171	10	little	little	ADJ
app01-3929	171	11	fine	fine	ADJ
app01-3929	171	12	tuning	tuning	NOUN
app01-3929	171	13	.	.	PUNCT
app01-3929	172	1	therefore	therefore	ADV
app01-3929	172	2	a	a	DET
app01-3929	172	3	smoother	smooth	ADJ
app01-3929	172	4	configuration	configuration	NOUN
app01-3929	172	5	of	of	ADP
app01-3929	172	6	the	the	DET
app01-3929	172	7	gaussian	gaussian	ADJ
app01-3929	172	8	settings	setting	NOUN
app01-3929	172	9	was	be	AUX
app01-3929	172	10	used	use	VERB
app01-3929	172	11	.	.	PUNCT
app01-3929	173	1	the	the	DET
app01-3929	173	2	third	third	ADJ
app01-3929	173	3	frame	frame	NOUN
app01-3929	173	4	on	on	ADP
app01-3929	173	5	the	the	DET
app01-3929	173	6	right	right	ADJ
app01-3929	173	7	-	-	PUNCT
app01-3929	173	8	hand	hand	NOUN
app01-3929	173	9	side	side	NOUN
app01-3929	173	10	displays	display	NOUN
app01-3929	173	11	very	very	ADV
app01-3929	173	12	little	little	ADJ
app01-3929	173	13	distortion	distortion	NOUN
app01-3929	173	14	,	,	PUNCT
app01-3929	173	15	noise	noise	NOUN
app01-3929	173	16	and	and	CCONJ
app01-3929	173	17	false	false	ADJ
app01-3929	173	18	pixels	pixel	NOUN
app01-3929	173	19	,	,	PUNCT
app01-3929	173	20	but	but	CCONJ
app01-3929	173	21	provides	provide	VERB
app01-3929	173	22	clearly	clearly	ADV
app01-3929	173	23	identifiable	identifiable	ADJ
app01-3929	173	24	pixel	pixel	NOUN
app01-3929	173	25	clouds	cloud	NOUN
app01-3929	173	26	.	.	PUNCT
app01-3929	174	1	these	these	DET
app01-3929	174	2	pixel	pixel	PROPN
app01-3929	174	3	clouds	cloud	NOUN
app01-3929	174	4	mostly	mostly	ADV
app01-3929	174	5	represent	represent	VERB
app01-3929	174	6	objects	object	NOUN
app01-3929	174	7	or	or	CCONJ
app01-3929	174	8	other	other	ADJ
app01-3929	174	9	obstacles	obstacle	NOUN
app01-3929	174	10	in	in	ADP
app01-3929	174	11	the	the	DET
app01-3929	174	12	range	range	NOUN
app01-3929	174	13	of	of	ADP
app01-3929	174	14	the	the	DET
app01-3929	174	15	kinect	kinect	ADJ
app01-3929	174	16	camera	camera	NOUN
app01-3929	174	17	.	.	PUNCT
app01-3929	175	1	1	1	NUM
app01-3929	175	2	2	2	NUM
app01-3929	175	3	3	3	NUM
app01-3929	175	4	figure	figure	NOUN
app01-3929	175	5	7	7	NUM
app01-3929	175	6	.	.	NOUN
app01-3929	175	7	three	three	NUM
app01-3929	175	8	identical	identical	ADJ
app01-3929	175	9	frames	frame	NOUN
app01-3929	175	10	with	with	ADP
app01-3929	175	11	no	no	DET
app01-3929	175	12	gaussian	gaussian	ADJ
app01-3929	175	13	filtering	filtering	NOUN
app01-3929	175	14	in	in	ADP
app01-3929	175	15	frame	frame	NOUN
app01-3929	175	16	1	1	NUM
app01-3929	175	17	,	,	PUNCT
app01-3929	175	18	minimal	minimal	ADJ
app01-3929	175	19	gaussian	gaussian	ADJ
app01-3929	175	20	filtering	filtering	NOUN
app01-3929	175	21	in	in	ADP
app01-3929	175	22	frame	frame	NOUN
app01-3929	175	23	2	2	NUM
app01-3929	175	24	and	and	CCONJ
app01-3929	175	25	for	for	ADP
app01-3929	175	26	the	the	DET
app01-3929	175	27	project	project	NOUN
app01-3929	175	28	’s	’s	PART
app01-3929	175	29	obstacle	obstacle	NOUN
app01-3929	175	30	detection	detection	PROPN
app01-3929	175	31	best	good	ADJ
app01-3929	175	32	gaussian	gaussian	ADJ
app01-3929	175	33	filtering	filtering	NOUN
app01-3929	175	34	settings	setting	NOUN
app01-3929	175	35	in	in	ADP
app01-3929	175	36	frame	frame	NOUN
app01-3929	175	37	3	3	NUM
app01-3929	175	38	.	.	PROPN
app01-3929	175	39	6.3	6.3	NUM
app01-3929	175	40	.	.	PUNCT
app01-3929	176	1	detect	detect	VERB
app01-3929	176	2	obstacles	obstacle	NOUN
app01-3929	176	3	the	the	DET
app01-3929	176	4	last	last	ADJ
app01-3929	176	5	step	step	NOUN
app01-3929	176	6	before	before	ADP
app01-3929	176	7	actually	actually	ADV
app01-3929	176	8	being	be	AUX
app01-3929	176	9	able	able	ADJ
app01-3929	176	10	to	to	PART
app01-3929	176	11	detect	detect	VERB
app01-3929	176	12	obstacles	obstacle	NOUN
app01-3929	176	13	is	be	AUX
app01-3929	176	14	removing	remove	VERB
app01-3929	176	15	unnecessary	unnecessary	ADJ
app01-3929	176	16	pixels	pixel	NOUN
app01-3929	176	17	which	which	PRON
app01-3929	176	18	still	still	ADV
app01-3929	176	19	are	be	AUX
app01-3929	176	20	in	in	ADP
app01-3929	176	21	the	the	DET
app01-3929	176	22	image	image	NOUN
app01-3929	176	23	after	after	ADP
app01-3929	176	24	applying	apply	VERB
app01-3929	176	25	a	a	DET
app01-3929	176	26	gaussian	gaussian	ADJ
app01-3929	176	27	filter	filter	NOUN
app01-3929	176	28	.	.	PUNCT
app01-3929	177	1	in	in	ADP
app01-3929	177	2	the	the	DET
app01-3929	177	3	scope	scope	NOUN
app01-3929	177	4	of	of	ADP
app01-3929	177	5	the	the	DET
app01-3929	177	6	project	project	NOUN
app01-3929	177	7	a	a	DET
app01-3929	177	8	parameter	parameter	NOUN
app01-3929	177	9	was	be	AUX
app01-3929	177	10	added	add	VERB
app01-3929	177	11	to	to	PART
app01-3929	177	12	set	set	VERB
app01-3929	177	13	a	a	DET
app01-3929	177	14	tolerance	tolerance	NOUN
app01-3929	177	15	for	for	ADP
app01-3929	177	16	still	still	ADV
app01-3929	177	17	existing	exist	VERB
app01-3929	177	18	false	false	ADJ
app01-3929	177	19	or	or	CCONJ
app01-3929	177	20	error	error	NOUN
app01-3929	177	21	pixels	pixel	NOUN
app01-3929	177	22	:	:	PUNCT
app01-3929	177	23	threshold	threshold	NOUN
app01-3929	177	24	.	.	PUNCT
app01-3929	178	1	it	it	PRON
app01-3929	178	2	’s	’	VERB
app01-3929	178	3	inevitable	inevitable	ADJ
app01-3929	178	4	to	to	PART
app01-3929	178	5	do	do	VERB
app01-3929	178	6	so	so	ADV
app01-3929	178	7	,	,	PUNCT
app01-3929	178	8	due	due	ADP
app01-3929	178	9	to	to	ADP
app01-3929	178	10	the	the	DET
app01-3929	178	11	fact	fact	NOUN
app01-3929	178	12	that	that	SCONJ
app01-3929	178	13	there	there	PRON
app01-3929	178	14	are	be	VERB
app01-3929	178	15	not	not	PART
app01-3929	178	16	only	only	ADV
app01-3929	178	17	black	black	ADJ
app01-3929	178	18	and	and	CCONJ
app01-3929	178	19	white	white	ADJ
app01-3929	178	20	pixels	pixel	NOUN
app01-3929	178	21	anymore	anymore	ADV
app01-3929	178	22	(	(	PUNCT
app01-3929	178	23	values	value	NOUN
app01-3929	178	24	0	0	NUM
app01-3929	178	25	and	and	CCONJ
app01-3929	178	26	255	255	NUM
app01-3929	178	27	)	)	PUNCT
app01-3929	178	28	because	because	SCONJ
app01-3929	178	29	of	of	ADP
app01-3929	178	30	the	the	DET
app01-3929	178	31	gaussian	gaussian	ADJ
app01-3929	178	32	filtering	filtering	NOUN
app01-3929	178	33	but	but	CCONJ
app01-3929	178	34	also	also	ADV
app01-3929	178	35	values	value	VERB
app01-3929	178	36	in	in	ADP
app01-3929	178	37	between	between	ADP
app01-3929	178	38	.	.	PUNCT
app01-3929	179	1	the	the	DET
app01-3929	179	2	final	final	ADJ
app01-3929	179	3	step	step	NOUN
app01-3929	179	4	is	be	AUX
app01-3929	179	5	to	to	PART
app01-3929	179	6	find	find	VERB
app01-3929	179	7	objects	object	NOUN
app01-3929	179	8	in	in	ADP
app01-3929	179	9	the	the	DET
app01-3929	179	10	distancescaled	distancescale	VERB
app01-3929	179	11	and	and	CCONJ
app01-3929	179	12	gaussian	gaussian	ADJ
app01-3929	179	13	filtered	filter	VERB
app01-3929	179	14	image	image	NOUN
app01-3929	179	15	.	.	PUNCT
app01-3929	180	1	after	after	ADP
app01-3929	180	2	preparation	preparation	NOUN
app01-3929	180	3	of	of	ADP
app01-3929	180	4	the	the	DET
app01-3929	180	5	given	give	VERB
app01-3929	180	6	depth	depth	NOUN
app01-3929	180	7	image	image	NOUN
app01-3929	180	8	with	with	ADP
app01-3929	180	9	gaussian	gaussian	ADJ
app01-3929	180	10	filtering	filtering	NOUN
app01-3929	180	11	and	and	CCONJ
app01-3929	180	12	logarithmic	logarithmic	ADJ
app01-3929	180	13	distance	distance	NOUN
app01-3929	180	14	scaling	scaling	NOUN
app01-3929	180	15	,	,	PUNCT
app01-3929	180	16	the	the	DET
app01-3929	180	17	final	final	ADJ
app01-3929	180	18	step	step	NOUN
app01-3929	180	19	for	for	ADP
app01-3929	180	20	finding	find	VERB
app01-3929	180	21	and	and	CCONJ
app01-3929	180	22	detecting	detect	VERB
app01-3929	180	23	objects	object	NOUN
app01-3929	180	24	in	in	ADP
app01-3929	180	25	range	range	NOUN
app01-3929	180	26	is	be	AUX
app01-3929	180	27	to	to	PART
app01-3929	180	28	find	find	VERB
app01-3929	180	29	pixel	pixel	ADJ
app01-3929	180	30	clouds	cloud	NOUN
app01-3929	180	31	with	with	ADP
app01-3929	180	32	a	a	DET
app01-3929	180	33	defined	define	VERB
app01-3929	180	34	minimal	minimal	ADJ
app01-3929	180	35	distance	distance	NOUN
app01-3929	180	36	(	(	PUNCT
app01-3929	180	37	parameter	parameter	NOUN
app01-3929	180	38	in	in	ADP
app01-3929	180	39	algorithm	algorithm	NOUN
app01-3929	180	40	:	:	PUNCT
app01-3929	180	41	mindistancebetweenobstacles	mindistancebetweenobstacle	NOUN
app01-3929	180	42	in	in	ADP
app01-3929	180	43	meters	meter	NOUN
app01-3929	180	44	)	)	PUNCT
app01-3929	180	45	to	to	ADP
app01-3929	180	46	other	other	ADJ
app01-3929	180	47	clouds	cloud	NOUN
app01-3929	180	48	and	and	CCONJ
app01-3929	180	49	therefore	therefore	ADV
app01-3929	180	50	to	to	ADP
app01-3929	180	51	other	other	ADJ
app01-3929	180	52	obstacles	obstacle	NOUN
app01-3929	180	53	.	.	PUNCT
app01-3929	181	1	when	when	SCONJ
app01-3929	181	2	a	a	DET
app01-3929	181	3	pixel	pixel	PROPN
app01-3929	181	4	cloud	cloud	NOUN
app01-3929	181	5	(	(	PUNCT
app01-3929	181	6	respectively	respectively	ADV
app01-3929	181	7	an	an	DET
app01-3929	181	8	obstacle	obstacle	NOUN
app01-3929	181	9	)	)	PUNCT
app01-3929	181	10	is	be	AUX
app01-3929	181	11	detected	detect	VERB
app01-3929	181	12	with	with	ADP
app01-3929	181	13	no	no	DET
app01-3929	181	14	other	other	ADJ
app01-3929	181	15	obstacle	obstacle	NOUN
app01-3929	181	16	in	in	ADP
app01-3929	181	17	range	range	NOUN
app01-3929	181	18	of	of	ADP
app01-3929	181	19	mindistancebetweenobstacles	mindistancebetweenobstacle	NOUN
app01-3929	181	20	,	,	PUNCT
app01-3929	181	21	it	it	PRON
app01-3929	181	22	is	be	AUX
app01-3929	181	23	marked	mark	VERB
app01-3929	181	24	as	as	ADP
app01-3929	181	25	a	a	DET
app01-3929	181	26	detected	detect	VERB
app01-3929	181	27	obstacle	obstacle	NOUN
app01-3929	181	28	.	.	PUNCT
app01-3929	182	1	7	7	X
app01-3929	182	2	.	.	X
app01-3929	182	3	conclusions	conclusion	NOUN
app01-3929	182	4	the	the	DET
app01-3929	182	5	autonomous	autonomous	ADJ
app01-3929	182	6	driving	driving	NOUN
app01-3929	182	7	requires	require	VERB
app01-3929	182	8	the	the	DET
app01-3929	182	9	continuous	continuous	ADJ
app01-3929	182	10	mapping	mapping	NOUN
app01-3929	182	11	of	of	ADP
app01-3929	182	12	the	the	DET
app01-3929	182	13	surroundings	surrounding	NOUN
app01-3929	182	14	.	.	PUNCT
app01-3929	183	1	the	the	DET
app01-3929	183	2	presented	present	VERB
app01-3929	183	3	approach	approach	NOUN
app01-3929	183	4	and	and	CCONJ
app01-3929	183	5	the	the	DET
app01-3929	183	6	hardware	hardware	NOUN
app01-3929	183	7	setting	set	VERB
app01-3929	183	8	show	show	VERB
app01-3929	183	9	that	that	SCONJ
app01-3929	183	10	the	the	DET
app01-3929	183	11	mapping	mapping	NOUN
app01-3929	183	12	can	can	AUX
app01-3929	183	13	be	be	AUX
app01-3929	183	14	done	do	VERB
app01-3929	183	15	with	with	ADP
app01-3929	183	16	a	a	DET
app01-3929	183	17	kinect	kinect	ADJ
app01-3929	183	18	camera	camera	NOUN
app01-3929	183	19	in	in	ADP
app01-3929	183	20	the	the	DET
app01-3929	183	21	case	case	NOUN
app01-3929	183	22	of	of	ADP
app01-3929	183	23	model	model	NOUN
app01-3929	183	24	cars	car	NOUN
app01-3929	183	25	in	in	ADP
app01-3929	183	26	a	a	DET
app01-3929	183	27	scale	scale	NOUN
app01-3929	183	28	up	up	ADP
app01-3929	183	29	to	to	PART
app01-3929	183	30	1	1	NUM
app01-3929	183	31	:	:	SYM
app01-3929	183	32	5	5	NUM
app01-3929	183	33	.	.	X
app01-3929	183	34	with	with	ADP
app01-3929	183	35	the	the	DET
app01-3929	183	36	3d	3d	NUM
app01-3929	183	37	capturing	capturing	NOUN
app01-3929	183	38	of	of	ADP
app01-3929	183	39	the	the	DET
app01-3929	183	40	surroundings	surrounding	NOUN
app01-3929	183	41	,	,	PUNCT
app01-3929	183	42	the	the	DET
app01-3929	183	43	projection	projection	NOUN
app01-3929	183	44	and	and	CCONJ
app01-3929	183	45	filtering	filtering	NOUN
app01-3929	183	46	and	and	CCONJ
app01-3929	183	47	obstacle	obstacle	NOUN
app01-3929	183	48	detection	detection	NOUN
app01-3929	183	49	,	,	PUNCT
app01-3929	183	50	it	it	PRON
app01-3929	183	51	is	be	AUX
app01-3929	183	52	possible	possible	ADJ
app01-3929	183	53	to	to	PART
app01-3929	183	54	get	get	VERB
app01-3929	183	55	a	a	DET
app01-3929	183	56	temporary	temporary	ADJ
app01-3929	183	57	map	map	NOUN
app01-3929	183	58	of	of	ADP
app01-3929	183	59	the	the	DET
app01-3929	183	60	car	car	NOUN
app01-3929	183	61	’s	’s	PART
app01-3929	183	62	environment	environment	NOUN
app01-3929	183	63	as	as	ADP
app01-3929	183	64	a	a	DET
app01-3929	183	65	basis	basis	NOUN
app01-3929	183	66	for	for	ADP
app01-3929	183	67	the	the	DET
app01-3929	183	68	navigation	navigation	NOUN
app01-3929	183	69	process	process	NOUN
app01-3929	183	70	.	.	PUNCT
app01-3929	184	1	the	the	DET
app01-3929	184	2	navigation	navigation	NOUN
app01-3929	184	3	itself	itself	PRON
app01-3929	184	4	relies	rely	VERB
app01-3929	184	5	on	on	ADP
app01-3929	184	6	the	the	DET
app01-3929	184	7	a*-algorithm	a*-algorithm	NOUN
app01-3929	184	8	and	and	CCONJ
app01-3929	184	9	uses	use	VERB
app01-3929	184	10	the	the	DET
app01-3929	184	11	projected	project	VERB
app01-3929	184	12	map	map	NOUN
app01-3929	184	13	including	include	VERB
app01-3929	184	14	the	the	DET
app01-3929	184	15	detected	detect	VERB
app01-3929	184	16	32	32	NUM
app01-3929	184	17	vol	vol	NOUN
app01-3929	184	18	.	.	PUNCT
app01-3929	185	1	6/2016	6/2016	NUM
app01-3929	185	2	mapping	map	VERB
app01-3929	185	3	the	the	DET
app01-3929	185	4	surroundings	surrounding	NOUN
app01-3929	185	5	as	as	ADP
app01-3929	185	6	a	a	DET
app01-3929	185	7	requirement	requirement	NOUN
app01-3929	185	8	for	for	ADP
app01-3929	185	9	autonomous	autonomous	ADJ
app01-3929	185	10	driving	driving	NOUN
app01-3929	185	11	obstacles	obstacle	NOUN
app01-3929	185	12	as	as	SCONJ
app01-3929	185	13	the	the	DET
app01-3929	185	14	digital	digital	PROPN
app01-3929	185	15	weighted	weight	VERB
app01-3929	185	16	spatial	spatial	ADJ
app01-3929	185	17	information	information	NOUN
app01-3929	185	18	.	.	PUNCT
app01-3929	186	1	in	in	ADP
app01-3929	186	2	a	a	DET
app01-3929	186	3	next	next	ADJ
app01-3929	186	4	step	step	NOUN
app01-3929	186	5	,	,	PUNCT
app01-3929	186	6	we	we	PRON
app01-3929	186	7	are	be	AUX
app01-3929	186	8	planning	plan	VERB
app01-3929	186	9	to	to	PART
app01-3929	186	10	test	test	VERB
app01-3929	186	11	the	the	DET
app01-3929	186	12	whole	whole	ADJ
app01-3929	186	13	configuration	configuration	NOUN
app01-3929	186	14	and	and	CCONJ
app01-3929	186	15	the	the	DET
app01-3929	186	16	navigation	navigation	NOUN
app01-3929	186	17	process	process	NOUN
app01-3929	186	18	under	under	ADP
app01-3929	186	19	different	different	ADJ
app01-3929	186	20	conditions	condition	NOUN
app01-3929	186	21	,	,	PUNCT
app01-3929	186	22	i.e.	i.e.	X
app01-3929	186	23	different	different	ADJ
app01-3929	186	24	surfaces	surface	NOUN
app01-3929	186	25	or	or	CCONJ
app01-3929	186	26	different	different	ADJ
app01-3929	186	27	weather	weather	NOUN
app01-3929	186	28	conditions	condition	NOUN
app01-3929	186	29	.	.	PUNCT
app01-3929	187	1	the	the	DET
app01-3929	187	2	aim	aim	NOUN
app01-3929	187	3	is	be	AUX
app01-3929	187	4	to	to	PART
app01-3929	187	5	obtain	obtain	VERB
app01-3929	187	6	feedback	feedback	NOUN
app01-3929	187	7	on	on	ADP
app01-3929	187	8	the	the	DET
app01-3929	187	9	use	use	NOUN
app01-3929	187	10	and	and	CCONJ
app01-3929	187	11	the	the	DET
app01-3929	187	12	performance	performance	NOUN
app01-3929	187	13	of	of	ADP
app01-3929	187	14	the	the	DET
app01-3929	187	15	stereo	stereo	NOUN
app01-3929	187	16	camera	camera	NOUN
app01-3929	187	17	and	and	CCONJ
app01-3929	187	18	the	the	DET
app01-3929	187	19	navigation	navigation	NOUN
app01-3929	187	20	algorithm	algorithm	NOUN
app01-3929	187	21	.	.	PUNCT
app01-3929	188	1	beyond	beyond	ADP
app01-3929	188	2	the	the	DET
app01-3929	188	3	self	self	NOUN
app01-3929	188	4	-	-	PUNCT
app01-3929	188	5	driving	drive	VERB
app01-3929	188	6	car	car	NOUN
app01-3929	188	7	,	,	PUNCT
app01-3929	188	8	the	the	DET
app01-3929	188	9	presented	present	VERB
app01-3929	188	10	approach	approach	NOUN
app01-3929	188	11	can	can	AUX
app01-3929	188	12	be	be	AUX
app01-3929	188	13	implemented	implement	VERB
app01-3929	188	14	in	in	ADP
app01-3929	188	15	other	other	ADJ
app01-3929	188	16	vehicles	vehicle	NOUN
app01-3929	188	17	,	,	PUNCT
app01-3929	188	18	like	like	ADP
app01-3929	188	19	unmanned	unmanned	ADJ
app01-3929	188	20	aerial	aerial	ADJ
app01-3929	188	21	vehicles	vehicle	NOUN
app01-3929	188	22	(	(	PUNCT
app01-3929	188	23	uav	uav	PROPN
app01-3929	188	24	)	)	PUNCT
app01-3929	188	25	,	,	PUNCT
app01-3929	188	26	autonomous	autonomous	ADJ
app01-3929	188	27	underwater	underwater	ADJ
app01-3929	188	28	vehicles	vehicle	NOUN
app01-3929	188	29	(	(	PUNCT
app01-3929	188	30	auv	auv	NOUN
app01-3929	188	31	)	)	PUNCT
app01-3929	188	32	or	or	CCONJ
app01-3929	188	33	even	even	ADV
app01-3929	188	34	in	in	ADP
app01-3929	188	35	robots	robot	NOUN
app01-3929	188	36	for	for	ADP
app01-3929	188	37	different	different	ADJ
app01-3929	188	38	services	service	NOUN
app01-3929	188	39	.	.	PUNCT
app01-3929	189	1	references	reference	NOUN
app01-3929	189	2	[	[	X
app01-3929	189	3	1	1	NUM
app01-3929	189	4	]	]	PUNCT
app01-3929	189	5	a.	a.	NOUN
app01-3929	189	6	m.	m.	PROPN
app01-3929	189	7	kessler	kessler	PROPN
app01-3929	189	8	.	.	PUNCT
app01-3929	190	1	elon	elon	PROPN
app01-3929	190	2	musk	musk	PROPN
app01-3929	190	3	says	say	VERB
app01-3929	190	4	self	self	NOUN
app01-3929	190	5	-	-	PUNCT
app01-3929	190	6	driving	drive	VERB
app01-3929	190	7	tesla	tesla	PROPN
app01-3929	190	8	cars	car	NOUN
app01-3929	190	9	will	will	AUX
app01-3929	190	10	be	be	AUX
app01-3929	190	11	in	in	ADP
app01-3929	190	12	the	the	DET
app01-3929	190	13	u.s	u.s	PROPN
app01-3929	190	14	.	.	PROPN
app01-3929	190	15	by	by	ADP
app01-3929	190	16	summer	summer	NOUN
app01-3929	190	17	the	the	DET
app01-3929	190	18	new	new	PROPN
app01-3929	190	19	york	york	PROPN
app01-3929	190	20	times	times	PROPN
app01-3929	190	21	,	,	PUNCT
app01-3929	190	22	2015	2015	NUM
app01-3929	190	23	.	.	PUNCT
app01-3929	191	1	[	[	X
app01-3929	191	2	2	2	NUM
app01-3929	191	3	]	]	PUNCT
app01-3929	191	4	a.	a.	NOUN
app01-3929	191	5	fisher	fisher	PROPN
app01-3929	191	6	.	.	PUNCT
app01-3929	192	1	google	google	PROPN
app01-3929	192	2	’s	’s	PART
app01-3929	192	3	road	road	NOUN
app01-3929	192	4	map	map	NOUN
app01-3929	192	5	to	to	ADP
app01-3929	192	6	global	global	ADJ
app01-3929	192	7	domination	domination	NOUN
app01-3929	192	8	the	the	DET
app01-3929	192	9	new	new	PROPN
app01-3929	192	10	york	york	PROPN
app01-3929	192	11	times	times	PROPN
app01-3929	192	12	,	,	PUNCT
app01-3929	192	13	2013	2013	NUM
app01-3929	192	14	.	.	PUNCT
app01-3929	193	1	[	[	X
app01-3929	193	2	3	3	NUM
app01-3929	193	3	]	]	PUNCT
app01-3929	193	4	a.	a.	NOUN
app01-3929	193	5	geiger	geiger	PROPN
app01-3929	193	6	,	,	PUNCT
app01-3929	193	7	p.	p.	PROPN
app01-3929	193	8	lenz	lenz	PROPN
app01-3929	193	9	,	,	PUNCT
app01-3929	193	10	r.	r.	PROPN
app01-3929	193	11	urtasun	urtasun	PROPN
app01-3929	193	12	.	.	PUNCT
app01-3929	193	13	are	be	AUX
app01-3929	193	14	we	we	PRON
app01-3929	193	15	ready	ready	ADJ
app01-3929	193	16	for	for	ADP
app01-3929	193	17	autonomous	autonomous	ADJ
app01-3929	193	18	driving	driving	NOUN
app01-3929	193	19	?	?	PUNCT
app01-3929	194	1	the	the	DET
app01-3929	194	2	kitti	kitti	PROPN
app01-3929	194	3	vision	vision	PROPN
app01-3929	194	4	benchmark	benchmark	PROPN
app01-3929	194	5	suite	suite	NOUN
app01-3929	194	6	.	.	PUNCT
app01-3929	195	1	in	in	ADP
app01-3929	195	2	ieee	ieee	PROPN
app01-3929	195	3	conference	conference	NOUN
app01-3929	195	4	on	on	ADP
app01-3929	195	5	computer	computer	NOUN
app01-3929	195	6	vision	vision	NOUN
app01-3929	195	7	and	and	CCONJ
app01-3929	195	8	pattern	pattern	NOUN
app01-3929	195	9	recognition	recognition	NOUN
app01-3929	195	10	(	(	PUNCT
app01-3929	195	11	cvpr	cvpr	NOUN
app01-3929	195	12	)	)	PUNCT
app01-3929	195	13	,	,	PUNCT
app01-3929	195	14	pp	pp	ADJ
app01-3929	195	15	.	.	PUNCT
app01-3929	196	1	3354–3361	3354–3361	NOUN
app01-3929	196	2	.	.	PUNCT
app01-3929	196	3	2012	2012	NUM
app01-3929	196	4	.	.	PUNCT
app01-3929	197	1	doi:10.1109	doi:10.1109	VERB
app01-3929	197	2	/	/	SYM
app01-3929	197	3	cvpr.2012.6248074	cvpr.2012.6248074	PROPN
app01-3929	197	4	.	.	PUNCT
app01-3929	198	1	[	[	X
app01-3929	198	2	4	4	NUM
app01-3929	198	3	]	]	X
app01-3929	198	4	p.	p.	NOUN
app01-3929	198	5	fankhauser	fankhauser	PROPN
app01-3929	198	6	,	,	PUNCT
app01-3929	198	7	m.	m.	PROPN
app01-3929	198	8	bloesch	bloesch	PROPN
app01-3929	198	9	,	,	PUNCT
app01-3929	198	10	c.	c.	PROPN
app01-3929	198	11	gehring	gehring	PROPN
app01-3929	198	12	,	,	PUNCT
app01-3929	198	13	et	et	PROPN
app01-3929	198	14	al	al	PROPN
app01-3929	198	15	.	.	PROPN
app01-3929	198	16	robot	robot	NOUN
app01-3929	198	17	-	-	PUNCT
app01-3929	198	18	centric	centric	ADJ
app01-3929	198	19	elevation	elevation	NOUN
app01-3929	198	20	mapping	mapping	NOUN
app01-3929	198	21	with	with	ADP
app01-3929	198	22	uncertainty	uncertainty	NOUN
app01-3929	198	23	estimates	estimate	NOUN
app01-3929	198	24	.	.	PUNCT
app01-3929	199	1	in	in	ADP
app01-3929	199	2	international	international	ADJ
app01-3929	199	3	conference	conference	NOUN
app01-3929	199	4	on	on	ADP
app01-3929	199	5	climbing	climbing	NOUN
app01-3929	199	6	and	and	CCONJ
app01-3929	199	7	walking	walking	NOUN
app01-3929	199	8	robots	robot	NOUN
app01-3929	199	9	(	(	PUNCT
app01-3929	199	10	clawar	clawar	NOUN
app01-3929	199	11	)	)	PUNCT
app01-3929	199	12	,	,	PUNCT
app01-3929	199	13	epfl	epfl	NOUN
app01-3929	199	14	-	-	PUNCT
app01-3929	199	15	conf-198746	conf-198746	NOUN
app01-3929	199	16	.	.	PUNCT
app01-3929	199	17	2014	2014	NUM
app01-3929	199	18	.	.	PUNCT
app01-3929	200	1	doi:10.1142/9789814623353_0051	doi:10.1142/9789814623353_0051	PROPN
app01-3929	200	2	.	.	PUNCT
app01-3929	201	1	[	[	X
app01-3929	201	2	5	5	X
app01-3929	201	3	]	]	PUNCT
app01-3929	201	4	s.	s.	PROPN
app01-3929	201	5	thrun	thrun	PROPN
app01-3929	201	6	,	,	PUNCT
app01-3929	201	7	et	et	PROPN
app01-3929	201	8	al	al	PROPN
app01-3929	201	9	.	.	PUNCT
app01-3929	201	10	exploring	explore	VERB
app01-3929	201	11	artificial	artificial	ADJ
app01-3929	201	12	intelligence	intelligence	NOUN
app01-3929	201	13	in	in	ADP
app01-3929	201	14	the	the	DET
app01-3929	201	15	new	new	ADJ
app01-3929	201	16	millennium	millennium	NOUN
app01-3929	201	17	.	.	PUNCT
app01-3929	202	1	vol	vol	NOUN
app01-3929	202	2	.	.	PROPN
app01-3929	203	1	1	1	NUM
app01-3929	203	2	,	,	PUNCT
app01-3929	203	3	chap	chap	NOUN
app01-3929	203	4	.	.	PUNCT
app01-3929	204	1	robotic	robotic	ADJ
app01-3929	204	2	mapping	mapping	NOUN
app01-3929	204	3	:	:	PUNCT
app01-3929	204	4	a	a	DET
app01-3929	204	5	survey	survey	NOUN
app01-3929	204	6	,	,	PUNCT
app01-3929	204	7	pp	pp	ADP
app01-3929	204	8	.	.	PUNCT
app01-3929	205	1	1–35	1–35	PROPN
app01-3929	205	2	.	.	PUNCT
app01-3929	206	1	2002	2002	NUM
app01-3929	206	2	.	.	PUNCT
app01-3929	207	1	[	[	X
app01-3929	207	2	6	6	NUM
app01-3929	207	3	]	]	PUNCT
app01-3929	207	4	m.	m.	PROPN
app01-3929	207	5	herbert	herbert	PROPN
app01-3929	207	6	,	,	PUNCT
app01-3929	207	7	c.	c.	PROPN
app01-3929	207	8	caillas	caillas	PROPN
app01-3929	207	9	,	,	PUNCT
app01-3929	207	10	e.	e.	PROPN
app01-3929	207	11	krotkov	krotkov	PROPN
app01-3929	207	12	,	,	PUNCT
app01-3929	207	13	et	et	PROPN
app01-3929	207	14	al	al	PROPN
app01-3929	207	15	.	.	PUNCT
app01-3929	207	16	terrain	terrain	NOUN
app01-3929	207	17	mapping	mapping	NOUN
app01-3929	207	18	for	for	ADP
app01-3929	207	19	a	a	DET
app01-3929	207	20	roving	rove	VERB
app01-3929	207	21	planetary	planetary	ADJ
app01-3929	207	22	explorer	explorer	NOUN
app01-3929	207	23	.	.	PUNCT
app01-3929	208	1	in	in	ADP
app01-3929	208	2	ieee	ieee	PROPN
app01-3929	208	3	international	international	ADJ
app01-3929	208	4	conference	conference	NOUN
app01-3929	208	5	on	on	ADP
app01-3929	208	6	robotics	robotic	NOUN
app01-3929	208	7	and	and	CCONJ
app01-3929	208	8	automation	automation	NOUN
app01-3929	208	9	,	,	PUNCT
app01-3929	208	10	pp	pp	ADP
app01-3929	208	11	.	.	PUNCT
app01-3929	208	12	997–1002	997–1002	NUM
app01-3929	208	13	.	.	X
app01-3929	208	14	1989	1989	NUM
app01-3929	208	15	.	.	PUNCT
app01-3929	209	1	doi:10.1109	doi:10.1109	VERB
app01-3929	209	2	/	/	SYM
app01-3929	209	3	robot.1989.100111	robot.1989.100111	PROPN
app01-3929	209	4	.	.	PUNCT
app01-3929	210	1	[	[	X
app01-3929	210	2	7	7	NUM
app01-3929	210	3	]	]	PUNCT
app01-3929	210	4	a.	a.	NOUN
app01-3929	210	5	kleiner	kleiner	PROPN
app01-3929	210	6	,	,	PUNCT
app01-3929	210	7	c.	c.	PROPN
app01-3929	210	8	dornhege	dornhege	PROPN
app01-3929	210	9	.	.	PUNCT
app01-3929	211	1	real	real	ADJ
app01-3929	211	2	-	-	PUNCT
app01-3929	211	3	time	time	NOUN
app01-3929	211	4	localization	localization	NOUN
app01-3929	211	5	and	and	CCONJ
app01-3929	211	6	elevation	elevation	NOUN
app01-3929	211	7	mapping	mapping	NOUN
app01-3929	211	8	within	within	ADP
app01-3929	211	9	urban	urban	ADJ
app01-3929	211	10	search	search	NOUN
app01-3929	211	11	and	and	CCONJ
app01-3929	211	12	rescue	rescue	NOUN
app01-3929	211	13	scenarios	scenario	NOUN
app01-3929	211	14	.	.	PUNCT
app01-3929	212	1	journal	journal	NOUN
app01-3929	212	2	of	of	ADP
app01-3929	212	3	field	field	NOUN
app01-3929	212	4	robotics	robotic	NOUN
app01-3929	212	5	24(8	24(8	NOUN
app01-3929	212	6	-	-	SYM
app01-3929	212	7	9):723–745	9):723–745	NUM
app01-3929	212	8	,	,	PUNCT
app01-3929	212	9	2007	2007	NUM
app01-3929	212	10	.	.	PUNCT
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app01-3929	213	2	/	/	SYM
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app01-3929	213	4	.	.	PUNCT
app01-3929	214	1	[	[	X
app01-3929	214	2	8	8	NUM
app01-3929	214	3	]	]	PUNCT
app01-3929	214	4	s.	s.	PROPN
app01-3929	214	5	thrun	thrun	PROPN
app01-3929	214	6	,	,	PUNCT
app01-3929	214	7	m.	m.	NOUN
app01-3929	214	8	montemerlo	montemerlo	PROPN
app01-3929	214	9	,	,	PUNCT
app01-3929	214	10	h.	h.	PROPN
app01-3929	214	11	dahlkamp	dahlkamp	PROPN
app01-3929	214	12	,	,	PUNCT
app01-3929	214	13	et	et	PROPN
app01-3929	214	14	al	al	PROPN
app01-3929	214	15	.	.	PROPN
app01-3929	214	16	stanley	stanley	PROPN
app01-3929	214	17	:	:	PUNCT
app01-3929	214	18	the	the	DET
app01-3929	214	19	robot	robot	NOUN
app01-3929	214	20	that	that	PRON
app01-3929	214	21	won	win	VERB
app01-3929	214	22	the	the	DET
app01-3929	214	23	darpa	darpa	ADJ
app01-3929	214	24	grand	grand	ADJ
app01-3929	214	25	challenge	challenge	NOUN
app01-3929	214	26	.	.	PUNCT
app01-3929	215	1	journal	journal	NOUN
app01-3929	215	2	of	of	ADP
app01-3929	215	3	field	field	NOUN
app01-3929	215	4	robotics	robotic	NOUN
app01-3929	215	5	23(9):661–692	23(9):661–692	PROPN
app01-3929	215	6	,	,	PUNCT
app01-3929	215	7	2006	2006	NUM
app01-3929	215	8	.	.	PUNCT
app01-3929	216	1	doi:10.1002	doi:10.1002	NOUN
app01-3929	216	2	/	/	SYM
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app01-3929	216	4	.	.	PUNCT
app01-3929	217	1	[	[	X
app01-3929	217	2	9	9	NUM
app01-3929	217	3	]	]	SYM
app01-3929	217	4	primesense	primesense	NOUN
app01-3929	217	5	,	,	PUNCT
app01-3929	217	6	2016	2016	NUM
app01-3929	217	7	.	.	PUNCT
app01-3929	218	1	page	page	NOUN
app01-3929	218	2	version	version	NOUN
app01-3929	219	1	i	i	PROPN
app01-3929	219	2	d	d	PROPN
app01-3929	219	3	:	:	PUNCT
app01-3929	219	4	710008223	710008223	NUM
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app01-3929	220	1	[	[	X
app01-3929	220	2	10	10	NUM
app01-3929	220	3	]	]	PUNCT
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app01-3929	220	7	2015	2015	NUM
app01-3929	220	8	.	.	PUNCT
app01-3929	221	1	page	page	NOUN
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app01-3929	222	1	i	i	PROPN
app01-3929	222	2	d	d	PROPN
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app01-3929	223	2	11	11	NUM
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app01-3929	223	6	.	.	PUNCT
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app01-3929	224	3	xd	xd	PROPN
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app01-3929	224	7	duty	duty	NOUN
app01-3929	224	8	:	:	PUNCT
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app01-3929	224	10	ops	op	NOUN
app01-3929	224	11	)	)	PUNCT
app01-3929	224	12	3d	3d	NUM
app01-3929	224	13	warehouse	warehouse	NOUN
app01-3929	224	14	.	.	PUNCT
app01-3929	225	1	[	[	X
app01-3929	225	2	12	12	NUM
app01-3929	225	3	]	]	PUNCT
app01-3929	225	4	t.	t.	NOUN
app01-3929	225	5	plus	plus	CCONJ
app01-3929	225	6	.	.	PUNCT
app01-3929	226	1	kinect	kinect	PROPN
app01-3929	226	2	from	from	ADP
app01-3929	226	3	microsoft	microsoft	PROPN
app01-3929	226	4	3d	3d	PROPN
app01-3929	226	5	warehouse	warehouse	NOUN
app01-3929	226	6	.	.	PUNCT
app01-3929	227	1	[	[	X
app01-3929	227	2	13	13	NUM
app01-3929	227	3	]	]	PUNCT
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app01-3929	227	7	m.	m.	PROPN
app01-3929	227	8	bloesch	bloesch	PROPN
app01-3929	227	9	,	,	PUNCT
app01-3929	227	10	d.	d.	PROPN
app01-3929	227	11	rodriguez	rodriguez	PROPN
app01-3929	227	12	,	,	PUNCT
app01-3929	227	13	et	et	PROPN
app01-3929	227	14	al	al	PROPN
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app01-3929	227	21	navigation	navigation	NOUN
app01-3929	227	22	:	:	PUNCT
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app01-3929	227	24	and	and	CCONJ
app01-3929	227	25	modeling	modeling	NOUN
app01-3929	227	26	.	.	PUNCT
app01-3929	228	1	in	in	ADP
app01-3929	228	2	international	international	ADJ
app01-3929	228	3	conference	conference	NOUN
app01-3929	228	4	on	on	ADP
app01-3929	228	5	advanced	advanced	ADJ
app01-3929	228	6	robotics	robotic	NOUN
app01-3929	228	7	(	(	PUNCT
app01-3929	228	8	icar	icar	ADJ
app01-3929	228	9	)	)	PUNCT
app01-3929	228	10	,	,	PUNCT
app01-3929	228	11	pp	pp	ADP
app01-3929	228	12	.	.	PUNCT
app01-3929	229	1	388–394	388–394	NUM
app01-3929	229	2	.	.	NOUN
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app01-3929	229	4	.	.	PUNCT
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app01-3929	230	2	/	/	SYM
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app01-3929	230	4	.	.	PUNCT
app01-3929	231	1	[	[	X
app01-3929	231	2	14	14	NUM
app01-3929	231	3	]	]	PUNCT
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app01-3929	231	5	s.	s.	PROPN
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app01-3929	231	8	a.	a.	PROPN
app01-3929	231	9	s.	s.	PROPN
app01-3929	231	10	aguado	aguado	PROPN
app01-3929	231	11	.	.	PUNCT
app01-3929	232	1	feature	feature	NOUN
app01-3929	232	2	extraction	extraction	NOUN
app01-3929	232	3	and	and	CCONJ
app01-3929	232	4	image	image	NOUN
app01-3929	232	5	processing	processing	NOUN
app01-3929	232	6	.	.	PUNCT
app01-3929	233	1	newnes	newnes	PROPN
app01-3929	233	2	,	,	PUNCT
app01-3929	233	3	oxford	oxford	PROPN
app01-3929	233	4	;	;	PUNCT
app01-3929	233	5	boston	boston	PROPN
app01-3929	233	6	,	,	PUNCT
app01-3929	233	7	1st	1st	ADJ
app01-3929	233	8	edn	edn	PROPN
app01-3929	233	9	.	.	PUNCT
app01-3929	233	10	,	,	PUNCT
app01-3929	233	11	2002	2002	NUM
app01-3929	233	12	.	.	PUNCT
app01-3929	234	1	oclc	oclc	NOUN
app01-3929	234	2	:	:	PUNCT
app01-3929	234	3	ocm49045100	ocm49045100	NOUN
app01-3929	234	4	.	.	PUNCT
app01-3929	235	1	[	[	X
app01-3929	235	2	15	15	NUM
app01-3929	235	3	]	]	X
app01-3929	235	4	l.	l.	PROPN
app01-3929	235	5	g.	g.	PROPN
app01-3929	235	6	shapiro	shapiro	PROPN
app01-3929	235	7	,	,	PUNCT
app01-3929	235	8	g.	g.	PROPN
app01-3929	235	9	c.	c.	PROPN
app01-3929	235	10	stockman	stockman	PROPN
app01-3929	235	11	.	.	PUNCT
app01-3929	236	1	computer	computer	NOUN
app01-3929	236	2	vision	vision	NOUN
app01-3929	236	3	.	.	PUNCT
app01-3929	237	1	prentice	prentice	PROPN
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app01-3929	238	10	ctu	ctu	PROPN
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app01-3929	238	15	1	1	NUM
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app01-3929	238	19	3	3	NUM
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app01-3929	238	27	4.2	4.2	NUM
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app01-3929	238	30	5	5	NUM
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app01-3929	238	34	6	6	NUM
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app01-3929	238	36	detection	detection	NOUN
app01-3929	238	37	6.1	6.1	NUM
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app01-3929	238	40	6.2	6.2	NUM
app01-3929	238	41	gaussian	gaussian	ADJ
app01-3929	238	42	function	function	NOUN
app01-3929	238	43	6.3	6.3	NUM
app01-3929	238	44	detect	detect	NOUN
app01-3929	238	45	obstacles	obstacle	NOUN
app01-3929	238	46	7	7	NUM
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app01-3929	238	48	references	reference	NOUN