id	sid	tid	token	lemma	pos
app01-7223	1	1	doi:10.14311	doi:10.14311	NOUN
app01-7223	1	2	/	/	SYM
app01-7223	1	3	app.2021.30.0126	app.2021.30.0126	NOUN
app01-7223	1	4	acta	acta	PROPN
app01-7223	1	5	polytechnica	polytechnica	PROPN
app01-7223	1	6	ctu	ctu	NOUN
app01-7223	1	7	proceedings	proceeding	NOUN
app01-7223	1	8	30:126–130	30:126–130	NUM
app01-7223	1	9	,	,	PUNCT
app01-7223	1	10	2021	2021	NUM
app01-7223	1	11	©	©	PROPN
app01-7223	1	12	czech	czech	PROPN
app01-7223	1	13	technical	technical	PROPN
app01-7223	1	14	university	university	PROPN
app01-7223	1	15	in	in	ADP
app01-7223	1	16	prague	prague	PROPN
app01-7223	1	17	,	,	PUNCT
app01-7223	1	18	2021	2021	NUM
app01-7223	1	19	available	available	ADJ
app01-7223	1	20	online	online	ADV
app01-7223	1	21	at	at	ADP
app01-7223	1	22	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-7223	1	23	automated	automate	VERB
app01-7223	1	24	bim	bim	NOUN
app01-7223	1	25	entity	entity	NOUN
app01-7223	1	26	reconstruction	reconstruction	NOUN
app01-7223	1	27	from	from	ADP
app01-7223	1	28	unstructured	unstructured	ADJ
app01-7223	1	29	3d	3d	PROPN
app01-7223	1	30	pointclouds	pointclouds	PROPN
app01-7223	1	31	jan	jan	PROPN
app01-7223	1	32	voříšek∗	voříšek∗	PROPN
app01-7223	1	33	,	,	PUNCT
app01-7223	1	34	bořek	bořek	PROPN
app01-7223	1	35	patzák	patzák	VERB
app01-7223	1	36	,	,	PUNCT
app01-7223	1	37	edita	edita	PROPN
app01-7223	1	38	dvořáková	dvořáková	PROPN
app01-7223	1	39	,	,	PUNCT
app01-7223	1	40	daniel	daniel	PROPN
app01-7223	1	41	rypl	rypl	PROPN
app01-7223	1	42	czech	czech	PROPN
app01-7223	1	43	technical	technical	PROPN
app01-7223	1	44	university	university	PROPN
app01-7223	1	45	in	in	ADP
app01-7223	1	46	prague	prague	PROPN
app01-7223	1	47	,	,	PUNCT
app01-7223	1	48	faculty	faculty	NOUN
app01-7223	1	49	of	of	ADP
app01-7223	1	50	civil	civil	ADJ
app01-7223	1	51	engineering	engineering	NOUN
app01-7223	1	52	,	,	PUNCT
app01-7223	1	53	department	department	NOUN
app01-7223	1	54	of	of	ADP
app01-7223	1	55	mechanics	mechanic	NOUN
app01-7223	1	56	,	,	PUNCT
app01-7223	1	57	thákurova	thákurova	X
app01-7223	1	58	7	7	NUM
app01-7223	1	59	,	,	PUNCT
app01-7223	1	60	166	166	NUM
app01-7223	1	61	29	29	NUM
app01-7223	1	62	prague	prague	NOUN
app01-7223	1	63	6	6	NUM
app01-7223	1	64	,	,	PUNCT
app01-7223	1	65	czech	czech	PROPN
app01-7223	1	66	republic	republic	NOUN
app01-7223	1	67	∗	∗	NOUN
app01-7223	1	68	corresponding	correspond	VERB
app01-7223	1	69	author	author	NOUN
app01-7223	1	70	:	:	PUNCT
app01-7223	1	71	jan.vorisek@fsv.cvut.cz	jan.vorisek@fsv.cvut.cz	ADJ
app01-7223	1	72	abstract	abstract	NOUN
app01-7223	1	73	.	.	PUNCT
app01-7223	2	1	laser	laser	NOUN
app01-7223	2	2	scanning	scanning	NOUN
app01-7223	2	3	is	be	AUX
app01-7223	2	4	used	use	VERB
app01-7223	2	5	widely	widely	ADV
app01-7223	2	6	in	in	ADP
app01-7223	2	7	architecture	architecture	NOUN
app01-7223	2	8	and	and	CCONJ
app01-7223	2	9	construction	construction	NOUN
app01-7223	2	10	to	to	PART
app01-7223	2	11	document	document	VERB
app01-7223	2	12	existing	exist	VERB
app01-7223	2	13	buildings	building	NOUN
app01-7223	2	14	by	by	ADP
app01-7223	2	15	providing	provide	VERB
app01-7223	2	16	accurate	accurate	ADJ
app01-7223	2	17	data	datum	NOUN
app01-7223	2	18	for	for	ADP
app01-7223	2	19	creating	create	VERB
app01-7223	2	20	a	a	DET
app01-7223	2	21	3d	3d	NUM
app01-7223	2	22	model	model	NOUN
app01-7223	2	23	.	.	PUNCT
app01-7223	3	1	the	the	DET
app01-7223	3	2	output	output	NOUN
app01-7223	3	3	is	be	AUX
app01-7223	3	4	a	a	DET
app01-7223	3	5	set	set	NOUN
app01-7223	3	6	of	of	ADP
app01-7223	3	7	data	datum	NOUN
app01-7223	3	8	points	point	NOUN
app01-7223	3	9	in	in	ADP
app01-7223	3	10	space	space	NOUN
app01-7223	3	11	,	,	PUNCT
app01-7223	3	12	so	so	ADV
app01-7223	3	13	-	-	PUNCT
app01-7223	3	14	called	call	VERB
app01-7223	3	15	point	point	NOUN
app01-7223	3	16	cloud	cloud	NOUN
app01-7223	3	17	.	.	PUNCT
app01-7223	4	1	while	while	SCONJ
app01-7223	4	2	point	point	NOUN
app01-7223	4	3	clouds	cloud	NOUN
app01-7223	4	4	can	can	AUX
app01-7223	4	5	be	be	AUX
app01-7223	4	6	directly	directly	ADV
app01-7223	4	7	rendered	render	VERB
app01-7223	4	8	and	and	CCONJ
app01-7223	4	9	inspected	inspect	VERB
app01-7223	4	10	,	,	PUNCT
app01-7223	4	11	they	they	PRON
app01-7223	4	12	do	do	AUX
app01-7223	4	13	not	not	PART
app01-7223	4	14	hold	hold	VERB
app01-7223	4	15	any	any	DET
app01-7223	4	16	semantics	semantic	NOUN
app01-7223	4	17	.	.	PUNCT
app01-7223	5	1	typically	typically	ADV
app01-7223	5	2	,	,	PUNCT
app01-7223	5	3	engineers	engineer	NOUN
app01-7223	5	4	manually	manually	ADV
app01-7223	5	5	obtain	obtain	VERB
app01-7223	5	6	floor	floor	NOUN
app01-7223	5	7	plans	plan	NOUN
app01-7223	5	8	,	,	PUNCT
app01-7223	5	9	structural	structural	ADJ
app01-7223	5	10	models	model	NOUN
app01-7223	5	11	,	,	PUNCT
app01-7223	5	12	or	or	CCONJ
app01-7223	5	13	the	the	DET
app01-7223	5	14	whole	whole	ADJ
app01-7223	5	15	bim	bim	NOUN
app01-7223	5	16	model	model	NOUN
app01-7223	5	17	,	,	PUNCT
app01-7223	5	18	which	which	PRON
app01-7223	5	19	is	be	AUX
app01-7223	5	20	a	a	DET
app01-7223	5	21	very	very	ADJ
app01-7223	5	22	time	time	NOUN
app01-7223	5	23	-	-	PUNCT
app01-7223	5	24	consuming	consume	VERB
app01-7223	5	25	task	task	NOUN
app01-7223	5	26	for	for	ADP
app01-7223	5	27	large	large	ADJ
app01-7223	5	28	building	building	NOUN
app01-7223	5	29	projects	project	NOUN
app01-7223	5	30	.	.	PUNCT
app01-7223	6	1	in	in	ADP
app01-7223	6	2	this	this	DET
app01-7223	6	3	contribution	contribution	NOUN
app01-7223	6	4	,	,	PUNCT
app01-7223	6	5	we	we	PRON
app01-7223	6	6	present	present	VERB
app01-7223	6	7	the	the	DET
app01-7223	6	8	design	design	NOUN
app01-7223	6	9	and	and	CCONJ
app01-7223	6	10	concept	concept	NOUN
app01-7223	6	11	of	of	ADP
app01-7223	6	12	a	a	DET
app01-7223	6	13	pointcloud2bim	pointcloud2bim	VERB
app01-7223	6	14	library	library	NOUN
app01-7223	6	15	[	[	X
app01-7223	6	16	1	1	NUM
app01-7223	6	17	]	]	PUNCT
app01-7223	6	18	.	.	PUNCT
app01-7223	7	1	it	it	PRON
app01-7223	7	2	provides	provide	VERB
app01-7223	7	3	a	a	DET
app01-7223	7	4	set	set	NOUN
app01-7223	7	5	of	of	ADP
app01-7223	7	6	algorithms	algorithm	NOUN
app01-7223	7	7	for	for	ADP
app01-7223	7	8	automated	automate	VERB
app01-7223	7	9	or	or	CCONJ
app01-7223	7	10	user	user	NOUN
app01-7223	7	11	assisted	assist	VERB
app01-7223	7	12	detection	detection	NOUN
app01-7223	7	13	of	of	ADP
app01-7223	7	14	fundamental	fundamental	ADJ
app01-7223	7	15	entities	entity	NOUN
app01-7223	7	16	from	from	ADP
app01-7223	7	17	scanned	scan	VERB
app01-7223	7	18	point	point	NOUN
app01-7223	7	19	cloud	cloud	NOUN
app01-7223	7	20	data	datum	NOUN
app01-7223	7	21	sets	set	NOUN
app01-7223	7	22	,	,	PUNCT
app01-7223	7	23	such	such	ADJ
app01-7223	7	24	as	as	ADP
app01-7223	7	25	floors	floor	NOUN
app01-7223	7	26	,	,	PUNCT
app01-7223	7	27	rooms	room	NOUN
app01-7223	7	28	,	,	PUNCT
app01-7223	7	29	walls	wall	NOUN
app01-7223	7	30	,	,	PUNCT
app01-7223	7	31	and	and	CCONJ
app01-7223	7	32	openings	opening	NOUN
app01-7223	7	33	,	,	PUNCT
app01-7223	7	34	and	and	CCONJ
app01-7223	7	35	identification	identification	NOUN
app01-7223	7	36	of	of	ADP
app01-7223	7	37	the	the	DET
app01-7223	7	38	mutual	mutual	ADJ
app01-7223	7	39	relationships	relationship	NOUN
app01-7223	7	40	between	between	ADP
app01-7223	7	41	them	they	PRON
app01-7223	7	42	.	.	PUNCT
app01-7223	8	1	the	the	DET
app01-7223	8	2	entity	entity	NOUN
app01-7223	8	3	detection	detection	NOUN
app01-7223	8	4	is	be	AUX
app01-7223	8	5	based	base	VERB
app01-7223	8	6	on	on	ADP
app01-7223	8	7	a	a	DET
app01-7223	8	8	reasonable	reasonable	ADJ
app01-7223	8	9	degree	degree	NOUN
app01-7223	8	10	of	of	ADP
app01-7223	8	11	human	human	ADJ
app01-7223	8	12	interaction	interaction	NOUN
app01-7223	8	13	(	(	PUNCT
app01-7223	8	14	i.e.	i.e.	X
app01-7223	8	15	,	,	PUNCT
app01-7223	8	16	expected	expect	VERB
app01-7223	8	17	wall	wall	NOUN
app01-7223	8	18	thickness	thickness	PROPN
app01-7223	8	19	)	)	PUNCT
app01-7223	8	20	.	.	PUNCT
app01-7223	9	1	the	the	DET
app01-7223	9	2	results	result	NOUN
app01-7223	9	3	reside	reside	VERB
app01-7223	9	4	in	in	ADP
app01-7223	9	5	a	a	DET
app01-7223	9	6	platform	platform	NOUN
app01-7223	9	7	-	-	PUNCT
app01-7223	9	8	agnostic	agnostic	ADJ
app01-7223	9	9	json	json	NOUN
app01-7223	9	10	database	database	NOUN
app01-7223	9	11	allowing	allow	VERB
app01-7223	9	12	future	future	ADJ
app01-7223	9	13	integration	integration	NOUN
app01-7223	9	14	into	into	ADP
app01-7223	9	15	any	any	DET
app01-7223	9	16	existing	exist	VERB
app01-7223	9	17	bim	bim	NOUN
app01-7223	9	18	software	software	NOUN
app01-7223	9	19	.	.	PUNCT
app01-7223	10	1	keywords	keyword	NOUN
app01-7223	10	2	:	:	PUNCT
app01-7223	10	3	3d	3d	NUM
app01-7223	10	4	model	model	NOUN
app01-7223	10	5	,	,	PUNCT
app01-7223	10	6	bim	bim	NOUN
app01-7223	10	7	,	,	PUNCT
app01-7223	10	8	laser	laser	NOUN
app01-7223	10	9	scanning	scanning	NOUN
app01-7223	10	10	,	,	PUNCT
app01-7223	10	11	point	point	NOUN
app01-7223	10	12	cloud	cloud	NOUN
app01-7223	10	13	.	.	PUNCT
app01-7223	11	1	1	1	X
app01-7223	11	2	.	.	X
app01-7223	11	3	introduction	introduction	NOUN
app01-7223	11	4	the	the	DET
app01-7223	11	5	building	building	NOUN
app01-7223	11	6	information	information	NOUN
app01-7223	11	7	modelling	modelling	NOUN
app01-7223	11	8	(	(	PUNCT
app01-7223	11	9	bim	bim	NOUN
app01-7223	11	10	)	)	PUNCT
app01-7223	11	11	brings	bring	VERB
app01-7223	11	12	excellent	excellent	ADJ
app01-7223	11	13	opportunities	opportunity	NOUN
app01-7223	11	14	for	for	ADP
app01-7223	11	15	the	the	DET
app01-7223	11	16	efficient	efficient	ADJ
app01-7223	11	17	and	and	CCONJ
app01-7223	11	18	more	more	ADV
app01-7223	11	19	automated	automate	VERB
app01-7223	11	20	design	design	NOUN
app01-7223	11	21	process	process	NOUN
app01-7223	11	22	of	of	ADP
app01-7223	11	23	building	build	VERB
app01-7223	11	24	structures	structure	NOUN
app01-7223	11	25	and	and	CCONJ
app01-7223	11	26	maintenance	maintenance	NOUN
app01-7223	11	27	and	and	CCONJ
app01-7223	11	28	reconstruction	reconstruction	NOUN
app01-7223	11	29	planning	planning	NOUN
app01-7223	11	30	of	of	ADP
app01-7223	11	31	existing	exist	VERB
app01-7223	11	32	structures	structure	NOUN
app01-7223	11	33	.	.	PUNCT
app01-7223	12	1	obtaining	obtain	VERB
app01-7223	12	2	a	a	DET
app01-7223	12	3	digital	digital	ADJ
app01-7223	12	4	bim	bim	NOUN
app01-7223	12	5	representation	representation	NOUN
app01-7223	12	6	of	of	ADP
app01-7223	12	7	the	the	DET
app01-7223	12	8	latter	latter	NOUN
app01-7223	12	9	is	be	AUX
app01-7223	12	10	often	often	ADV
app01-7223	12	11	a	a	DET
app01-7223	12	12	challenging	challenging	ADJ
app01-7223	12	13	task	task	NOUN
app01-7223	12	14	,	,	PUNCT
app01-7223	12	15	namely	namely	ADV
app01-7223	12	16	when	when	SCONJ
app01-7223	12	17	no	no	DET
app01-7223	12	18	up	up	ADP
app01-7223	12	19	-	-	PUNCT
app01-7223	12	20	to	to	ADP
app01-7223	12	21	-	-	PUNCT
app01-7223	12	22	date	date	NOUN
app01-7223	12	23	(	(	PUNCT
app01-7223	12	24	or	or	CCONJ
app01-7223	12	25	none	none	NOUN
app01-7223	12	26	at	at	ADV
app01-7223	12	27	all	all	ADV
app01-7223	12	28	)	)	PUNCT
app01-7223	12	29	floor	floor	NOUN
app01-7223	12	30	plans	plan	NOUN
app01-7223	12	31	are	be	AUX
app01-7223	12	32	available	available	ADJ
app01-7223	12	33	.	.	PUNCT
app01-7223	13	1	laser	laser	NOUN
app01-7223	13	2	scanning	scanning	NOUN
app01-7223	13	3	is	be	AUX
app01-7223	13	4	a	a	DET
app01-7223	13	5	convenient	convenient	ADJ
app01-7223	13	6	and	and	CCONJ
app01-7223	13	7	accessible	accessible	ADJ
app01-7223	13	8	technology	technology	NOUN
app01-7223	13	9	to	to	PART
app01-7223	13	10	document	document	VERB
app01-7223	13	11	the	the	DET
app01-7223	13	12	existing	exist	VERB
app01-7223	13	13	infrastructure	infrastructure	NOUN
app01-7223	13	14	.	.	PUNCT
app01-7223	14	1	the	the	DET
app01-7223	14	2	output	output	NOUN
app01-7223	14	3	is	be	AUX
app01-7223	14	4	a	a	DET
app01-7223	14	5	dense	dense	ADJ
app01-7223	14	6	set	set	NOUN
app01-7223	14	7	of	of	ADP
app01-7223	14	8	data	datum	NOUN
app01-7223	14	9	points	point	NOUN
app01-7223	14	10	in	in	ADP
app01-7223	14	11	space	space	NOUN
app01-7223	14	12	,	,	PUNCT
app01-7223	14	13	socalled	socalled	ADJ
app01-7223	14	14	point	point	NOUN
app01-7223	14	15	cloud	cloud	NOUN
app01-7223	14	16	.	.	PUNCT
app01-7223	15	1	see	see	VERB
app01-7223	15	2	figure	figure	NOUN
app01-7223	15	3	1	1	NUM
app01-7223	15	4	for	for	ADP
app01-7223	15	5	an	an	DET
app01-7223	15	6	example	example	NOUN
app01-7223	15	7	of	of	ADP
app01-7223	15	8	a	a	DET
app01-7223	15	9	laser	laser	NOUN
app01-7223	15	10	-	-	PUNCT
app01-7223	15	11	scanned	scan	VERB
app01-7223	15	12	building	building	NOUN
app01-7223	15	13	.	.	PUNCT
app01-7223	16	1	each	each	DET
app01-7223	16	2	point	point	NOUN
app01-7223	16	3	carries	carry	VERB
app01-7223	16	4	its	its	PRON
app01-7223	16	5	spatial	spatial	ADJ
app01-7223	16	6	coordinates	coordinate	NOUN
app01-7223	16	7	,	,	PUNCT
app01-7223	16	8	and	and	CCONJ
app01-7223	16	9	some	some	DET
app01-7223	16	10	scanners	scanner	NOUN
app01-7223	16	11	also	also	ADV
app01-7223	16	12	capture	capture	VERB
app01-7223	16	13	the	the	DET
app01-7223	16	14	rgb	rgb	PROPN
app01-7223	16	15	color	color	NOUN
app01-7223	16	16	value	value	NOUN
app01-7223	16	17	and	and	CCONJ
app01-7223	16	18	intensity	intensity	NOUN
app01-7223	16	19	of	of	ADP
app01-7223	16	20	the	the	DET
app01-7223	16	21	scanned	scanned	ADJ
app01-7223	16	22	point	point	NOUN
app01-7223	16	23	.	.	PUNCT
app01-7223	17	1	while	while	SCONJ
app01-7223	17	2	point	point	NOUN
app01-7223	17	3	clouds	cloud	NOUN
app01-7223	17	4	can	can	AUX
app01-7223	17	5	be	be	AUX
app01-7223	17	6	directly	directly	ADV
app01-7223	17	7	rendered	render	VERB
app01-7223	17	8	and	and	CCONJ
app01-7223	17	9	inspected	inspect	VERB
app01-7223	17	10	,	,	PUNCT
app01-7223	17	11	they	they	PRON
app01-7223	17	12	carry	carry	VERB
app01-7223	17	13	no	no	DET
app01-7223	17	14	additional	additional	ADJ
app01-7223	17	15	information	information	NOUN
app01-7223	17	16	about	about	ADP
app01-7223	17	17	the	the	DET
app01-7223	17	18	scanned	scan	VERB
app01-7223	17	19	objects	object	NOUN
app01-7223	17	20	.	.	PUNCT
app01-7223	18	1	there	there	PRON
app01-7223	18	2	are	be	VERB
app01-7223	18	3	no	no	DET
app01-7223	18	4	available	available	ADJ
app01-7223	18	5	tools	tool	NOUN
app01-7223	18	6	to	to	PART
app01-7223	18	7	convert	convert	VERB
app01-7223	18	8	the	the	DET
app01-7223	18	9	raw	raw	ADJ
app01-7223	18	10	point	point	NOUN
app01-7223	18	11	data	datum	NOUN
app01-7223	18	12	into	into	ADP
app01-7223	18	13	a	a	DET
app01-7223	18	14	bim	bim	NOUN
app01-7223	18	15	representation	representation	NOUN
app01-7223	18	16	with	with	ADP
app01-7223	18	17	a	a	DET
app01-7223	18	18	reasonable	reasonable	ADJ
app01-7223	18	19	degree	degree	NOUN
app01-7223	18	20	of	of	ADP
app01-7223	18	21	automation	automation	NOUN
app01-7223	18	22	,	,	PUNCT
app01-7223	18	23	although	although	SCONJ
app01-7223	18	24	research	research	NOUN
app01-7223	18	25	in	in	ADP
app01-7223	18	26	this	this	DET
app01-7223	18	27	field	field	NOUN
app01-7223	18	28	is	be	AUX
app01-7223	18	29	highly	highly	ADV
app01-7223	18	30	emerging	emerge	VERB
app01-7223	18	31	[	[	PUNCT
app01-7223	18	32	2	2	NUM
app01-7223	18	33	,	,	PUNCT
app01-7223	18	34	3	3	NUM
app01-7223	18	35	]	]	PUNCT
app01-7223	18	36	.	.	PUNCT
app01-7223	19	1	currently	currently	ADV
app01-7223	19	2	,	,	PUNCT
app01-7223	19	3	the	the	DET
app01-7223	19	4	civil	civil	ADJ
app01-7223	19	5	engineers	engineer	NOUN
app01-7223	19	6	have	have	VERB
app01-7223	19	7	to	to	PART
app01-7223	19	8	manually	manually	ADV
app01-7223	19	9	identify	identify	VERB
app01-7223	19	10	the	the	DET
app01-7223	19	11	bim	bim	NOUN
app01-7223	19	12	entities	entity	NOUN
app01-7223	19	13	from	from	ADP
app01-7223	19	14	graphical	graphical	ADJ
app01-7223	19	15	visualization	visualization	NOUN
app01-7223	19	16	of	of	ADP
app01-7223	19	17	point	point	NOUN
app01-7223	19	18	cloud	cloud	NOUN
app01-7223	19	19	and	and	CCONJ
app01-7223	19	20	create	create	VERB
app01-7223	19	21	their	their	PRON
app01-7223	19	22	digital	digital	ADJ
app01-7223	19	23	representation	representation	NOUN
app01-7223	19	24	in	in	ADP
app01-7223	19	25	bim	bim	PROPN
app01-7223	19	26	model	model	NOUN
app01-7223	19	27	.	.	PUNCT
app01-7223	20	1	the	the	DET
app01-7223	20	2	long	long	ADJ
app01-7223	20	3	-	-	PUNCT
app01-7223	20	4	term	term	NOUN
app01-7223	20	5	goal	goal	NOUN
app01-7223	20	6	of	of	ADP
app01-7223	20	7	the	the	DET
app01-7223	20	8	project	project	NOUN
app01-7223	20	9	is	be	AUX
app01-7223	20	10	to	to	PART
app01-7223	20	11	develop	develop	VERB
app01-7223	20	12	an	an	DET
app01-7223	20	13	efficient	efficient	ADJ
app01-7223	20	14	and	and	CCONJ
app01-7223	20	15	user	user	NOUN
app01-7223	20	16	friendly	friendly	ADJ
app01-7223	20	17	tool	tool	NOUN
app01-7223	20	18	for	for	ADP
app01-7223	20	19	semiautomated	semiautomated	ADJ
app01-7223	20	20	conversion	conversion	NOUN
app01-7223	20	21	of	of	ADP
app01-7223	20	22	point	point	NOUN
app01-7223	20	23	clouds	cloud	NOUN
app01-7223	20	24	to	to	PART
app01-7223	20	25	bim	bim	VERB
app01-7223	20	26	entities	entity	NOUN
app01-7223	20	27	while	while	SCONJ
app01-7223	20	28	maintaining	maintain	VERB
app01-7223	20	29	user	user	NOUN
app01-7223	20	30	interaction	interaction	NOUN
app01-7223	20	31	.	.	PUNCT
app01-7223	21	1	the	the	DET
app01-7223	21	2	idea	idea	NOUN
app01-7223	21	3	is	be	AUX
app01-7223	21	4	based	base	VERB
app01-7223	21	5	on	on	ADP
app01-7223	21	6	automated	automate	VERB
app01-7223	21	7	identification	identification	NOUN
app01-7223	21	8	of	of	ADP
app01-7223	21	9	entities	entity	NOUN
app01-7223	21	10	,	,	PUNCT
app01-7223	21	11	where	where	SCONJ
app01-7223	21	12	each	each	DET
app01-7223	21	13	entity	entity	NOUN
app01-7223	21	14	is	be	AUX
app01-7223	21	15	labeled	label	VERB
app01-7223	21	16	with	with	ADP
app01-7223	21	17	estimated	estimate	VERB
app01-7223	21	18	degree	degree	NOUN
app01-7223	21	19	of	of	ADP
app01-7223	21	20	identification	identification	NOUN
app01-7223	21	21	reliability	reliability	NOUN
app01-7223	21	22	.	.	PUNCT
app01-7223	22	1	the	the	DET
app01-7223	22	2	individual	individual	ADJ
app01-7223	22	3	identified	identify	VERB
app01-7223	22	4	entities	entity	NOUN
app01-7223	22	5	are	be	AUX
app01-7223	22	6	presented	present	VERB
app01-7223	22	7	to	to	ADP
app01-7223	22	8	the	the	DET
app01-7223	22	9	user	user	NOUN
app01-7223	22	10	who	who	PRON
app01-7223	22	11	can	can	AUX
app01-7223	22	12	accept	accept	VERB
app01-7223	22	13	all	all	DET
app01-7223	22	14	suggested	suggest	VERB
app01-7223	22	15	entities	entity	NOUN
app01-7223	22	16	recognized	recognize	VERB
app01-7223	22	17	with	with	ADP
app01-7223	22	18	reliability	reliability	NOUN
app01-7223	22	19	higher	high	ADJ
app01-7223	22	20	than	than	ADP
app01-7223	22	21	defined	define	VERB
app01-7223	22	22	threshold	threshold	NOUN
app01-7223	22	23	and	and	CCONJ
app01-7223	22	24	manually	manually	ADV
app01-7223	22	25	accepting	accept	VERB
app01-7223	22	26	/	/	SYM
app01-7223	22	27	modifying	modify	VERB
app01-7223	22	28	remainfigure	remainfigure	NOUN
app01-7223	22	29	1	1	NUM
app01-7223	22	30	.	.	PUNCT
app01-7223	23	1	laser	laser	NOUN
app01-7223	23	2	scan	scan	NOUN
app01-7223	23	3	of	of	ADP
app01-7223	23	4	an	an	DET
app01-7223	23	5	unfurnished	unfurnished	ADJ
app01-7223	23	6	office	office	NOUN
app01-7223	23	7	building	building	NOUN
app01-7223	23	8	,	,	PUNCT
app01-7223	23	9	consisting	consist	VERB
app01-7223	23	10	of	of	ADP
app01-7223	23	11	85	85	NUM
app01-7223	23	12	m	m	NOUN
app01-7223	23	13	points	point	NOUN
app01-7223	23	14	,	,	PUNCT
app01-7223	23	15	top	top	ADJ
app01-7223	23	16	view	view	NOUN
app01-7223	23	17	.	.	PUNCT
app01-7223	24	1	ing	ing	ADJ
app01-7223	24	2	suggestions	suggestion	NOUN
app01-7223	24	3	.	.	PUNCT
app01-7223	25	1	the	the	DET
app01-7223	25	2	presented	present	VERB
app01-7223	25	3	paper	paper	NOUN
app01-7223	25	4	describes	describe	VERB
app01-7223	25	5	the	the	DET
app01-7223	25	6	concept	concept	NOUN
app01-7223	25	7	of	of	ADP
app01-7223	25	8	pointcloud2bim	pointcloud2bim	ADJ
app01-7223	25	9	library	library	NOUN
app01-7223	25	10	[	[	X
app01-7223	25	11	1	1	X
app01-7223	25	12	]	]	PUNCT
app01-7223	25	13	for	for	ADP
app01-7223	25	14	point	point	NOUN
app01-7223	25	15	cloud	cloud	NOUN
app01-7223	25	16	manipulation	manipulation	NOUN
app01-7223	25	17	and	and	CCONJ
app01-7223	25	18	bim	bim	NOUN
app01-7223	25	19	entity	entity	NOUN
app01-7223	25	20	identification	identification	NOUN
app01-7223	25	21	.	.	PUNCT
app01-7223	26	1	2	2	X
app01-7223	26	2	.	.	X
app01-7223	26	3	pre	pre	ADJ
app01-7223	26	4	-	-	ADJ
app01-7223	26	5	processing	processing	NOUN
app01-7223	26	6	of	of	ADP
app01-7223	26	7	the	the	DET
app01-7223	26	8	point	point	NOUN
app01-7223	26	9	clouds	clouds	PROPN
app01-7223	26	10	laser	laser	NOUN
app01-7223	26	11	scanners	scanner	NOUN
app01-7223	26	12	produce	produce	VERB
app01-7223	26	13	very	very	ADV
app01-7223	26	14	dense	dense	ADJ
app01-7223	26	15	point	point	NOUN
app01-7223	26	16	clouds	cloud	NOUN
app01-7223	26	17	containing	contain	VERB
app01-7223	26	18	tens	ten	NOUN
app01-7223	26	19	or	or	CCONJ
app01-7223	26	20	hundreds	hundred	NOUN
app01-7223	26	21	of	of	ADP
app01-7223	26	22	millions	million	NOUN
app01-7223	26	23	of	of	ADP
app01-7223	26	24	points	point	NOUN
app01-7223	26	25	.	.	PUNCT
app01-7223	27	1	the	the	DET
app01-7223	27	2	distance	distance	NOUN
app01-7223	27	3	between	between	ADP
app01-7223	27	4	the	the	DET
app01-7223	27	5	scanned	scan	VERB
app01-7223	27	6	points	point	NOUN
app01-7223	27	7	often	often	ADV
app01-7223	27	8	ranges	range	VERB
app01-7223	27	9	in	in	ADP
app01-7223	27	10	millimeters	millimeter	NOUN
app01-7223	27	11	.	.	PUNCT
app01-7223	28	1	therefore	therefore	ADV
app01-7223	28	2	the	the	DET
app01-7223	28	3	point	point	NOUN
app01-7223	28	4	cloud	cloud	NOUN
app01-7223	28	5	data	datum	NOUN
app01-7223	28	6	processing	processing	NOUN
app01-7223	28	7	must	must	AUX
app01-7223	28	8	be	be	AUX
app01-7223	28	9	handled	handle	VERB
app01-7223	28	10	carefully	carefully	ADV
app01-7223	28	11	in	in	ADP
app01-7223	28	12	order	order	NOUN
app01-7223	28	13	to	to	PART
app01-7223	28	14	achieve	achieve	VERB
app01-7223	28	15	competitive	competitive	ADJ
app01-7223	28	16	computation	computation	NOUN
app01-7223	28	17	times	time	NOUN
app01-7223	28	18	and	and	CCONJ
app01-7223	28	19	memory	memory	NOUN
app01-7223	28	20	efficiency	efficiency	NOUN
app01-7223	28	21	.	.	PUNCT
app01-7223	29	1	126	126	NUM
app01-7223	29	2	http://dx.doi.org/10.14311/app.2021.30.0126	http://dx.doi.org/10.14311/app.2021.30.0126	PROPN
app01-7223	29	3	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-7223	29	4	vol	vol	NOUN
app01-7223	29	5	.	.	PROPN
app01-7223	29	6	30/2021	30/2021	NUM
app01-7223	29	7	automated	automate	VERB
app01-7223	29	8	bim	bim	NOUN
app01-7223	29	9	entity	entity	NOUN
app01-7223	29	10	reconstruction	reconstruction	NOUN
app01-7223	29	11	figure	figure	NOUN
app01-7223	29	12	2	2	NUM
app01-7223	29	13	.	.	PUNCT
app01-7223	29	14	wide	wide	ADJ
app01-7223	29	15	figure	figure	NOUN
app01-7223	29	16	.	.	PUNCT
app01-7223	30	1	2.1	2.1	NUM
app01-7223	30	2	.	.	PUNCT
app01-7223	30	3	storage	storage	NOUN
app01-7223	30	4	point	point	NOUN
app01-7223	30	5	information	information	NOUN
app01-7223	30	6	such	such	ADJ
app01-7223	30	7	as	as	ADP
app01-7223	30	8	the	the	DET
app01-7223	30	9	xyz	xyz	PROPN
app01-7223	30	10	coordinates	coordinate	NOUN
app01-7223	30	11	,	,	PUNCT
app01-7223	30	12	rgb	rgb	PROPN
app01-7223	30	13	color	color	NOUN
app01-7223	30	14	,	,	PUNCT
app01-7223	30	15	or	or	CCONJ
app01-7223	30	16	intensity	intensity	NOUN
app01-7223	30	17	value	value	NOUN
app01-7223	30	18	is	be	AUX
app01-7223	30	19	stored	store	VERB
app01-7223	30	20	in	in	ADP
app01-7223	30	21	an	an	DET
app01-7223	30	22	uncompressed	uncompressed	ADJ
app01-7223	30	23	binary	binary	NOUN
app01-7223	30	24	file	file	NOUN
app01-7223	30	25	.	.	PUNCT
app01-7223	31	1	the	the	DET
app01-7223	31	2	main	main	ADJ
app01-7223	31	3	advantage	advantage	NOUN
app01-7223	31	4	is	be	AUX
app01-7223	31	5	that	that	SCONJ
app01-7223	31	6	binary	binary	ADJ
app01-7223	31	7	data	datum	NOUN
app01-7223	31	8	can	can	AUX
app01-7223	31	9	be	be	AUX
app01-7223	31	10	directly	directly	ADV
app01-7223	31	11	read	read	VERB
app01-7223	31	12	into	into	ADP
app01-7223	31	13	c++	c++	NOUN
app01-7223	31	14	structures	structure	NOUN
app01-7223	31	15	instead	instead	ADV
app01-7223	31	16	of	of	ADP
app01-7223	31	17	the	the	DET
app01-7223	31	18	costly	costly	ADJ
app01-7223	31	19	parsing	parsing	NOUN
app01-7223	31	20	of	of	ADP
app01-7223	31	21	text	text	NOUN
app01-7223	31	22	files	file	NOUN
app01-7223	31	23	line	line	NOUN
app01-7223	31	24	-	-	PUNCT
app01-7223	31	25	by	by	ADP
app01-7223	31	26	-	-	PUNCT
app01-7223	31	27	line	line	NOUN
app01-7223	31	28	.	.	PUNCT
app01-7223	32	1	all	all	DET
app01-7223	32	2	the	the	DET
app01-7223	32	3	other	other	ADJ
app01-7223	32	4	project	project	NOUN
app01-7223	32	5	data	datum	NOUN
app01-7223	32	6	reside	reside	VERB
app01-7223	32	7	in	in	ADP
app01-7223	32	8	the	the	DET
app01-7223	32	9	project	project	NOUN
app01-7223	32	10	’s	’s	PART
app01-7223	32	11	json	json	NOUN
app01-7223	32	12	file	file	NOUN
app01-7223	32	13	,	,	PUNCT
app01-7223	32	14	which	which	PRON
app01-7223	32	15	serves	serve	VERB
app01-7223	32	16	as	as	ADP
app01-7223	32	17	a	a	DET
app01-7223	32	18	database	database	NOUN
app01-7223	32	19	of	of	ADP
app01-7223	32	20	point	point	NOUN
app01-7223	32	21	cloud	cloud	NOUN
app01-7223	32	22	metadata	metadata	NOUN
app01-7223	32	23	and	and	CCONJ
app01-7223	32	24	other	other	ADJ
app01-7223	32	25	entities	entity	NOUN
app01-7223	32	26	.	.	PUNCT
app01-7223	33	1	the	the	DET
app01-7223	33	2	json	json	NOUN
app01-7223	33	3	format	format	NOUN
app01-7223	33	4	is	be	AUX
app01-7223	33	5	widely	widely	ADV
app01-7223	33	6	supported	support	VERB
app01-7223	33	7	across	across	ADP
app01-7223	33	8	platforms	platform	NOUN
app01-7223	33	9	and	and	CCONJ
app01-7223	33	10	programming	programming	NOUN
app01-7223	33	11	languages	language	NOUN
app01-7223	33	12	and	and	CCONJ
app01-7223	33	13	was	be	AUX
app01-7223	33	14	selected	select	VERB
app01-7223	33	15	to	to	PART
app01-7223	33	16	allow	allow	VERB
app01-7223	33	17	smooth	smooth	ADJ
app01-7223	33	18	integration	integration	NOUN
app01-7223	33	19	into	into	ADP
app01-7223	33	20	existing	exist	VERB
app01-7223	33	21	software	software	NOUN
app01-7223	33	22	.	.	PUNCT
app01-7223	34	1	an	an	DET
app01-7223	34	2	empty	empty	ADJ
app01-7223	34	3	project	project	NOUN
app01-7223	34	4	file	file	NOUN
app01-7223	34	5	is	be	AUX
app01-7223	34	6	created	create	VERB
app01-7223	34	7	automatically	automatically	ADV
app01-7223	34	8	before	before	ADP
app01-7223	34	9	the	the	DET
app01-7223	34	10	first	first	ADJ
app01-7223	34	11	point	point	NOUN
app01-7223	34	12	cloud	cloud	PROPN
app01-7223	34	13	import	import	NOUN
app01-7223	34	14	.	.	PUNCT
app01-7223	35	1	2.2	2.2	NUM
app01-7223	35	2	.	.	PUNCT
app01-7223	35	3	downsampling	downsample	VERB
app01-7223	35	4	while	while	SCONJ
app01-7223	35	5	storing	store	VERB
app01-7223	35	6	the	the	DET
app01-7223	35	7	points	point	NOUN
app01-7223	35	8	as	as	SCONJ
app01-7223	35	9	binary	binary	ADJ
app01-7223	35	10	data	datum	NOUN
app01-7223	35	11	offers	offer	VERB
app01-7223	35	12	high	high	ADJ
app01-7223	35	13	reading	reading	NOUN
app01-7223	35	14	speeds	speed	NOUN
app01-7223	35	15	,	,	PUNCT
app01-7223	35	16	with	with	ADP
app01-7223	35	17	hundreds	hundred	NOUN
app01-7223	35	18	of	of	ADP
app01-7223	35	19	millions	million	NOUN
app01-7223	35	20	of	of	ADP
app01-7223	35	21	points	point	NOUN
app01-7223	35	22	,	,	PUNCT
app01-7223	35	23	reading	read	VERB
app01-7223	35	24	all	all	DET
app01-7223	35	25	the	the	DET
app01-7223	35	26	values	value	NOUN
app01-7223	35	27	into	into	ADP
app01-7223	35	28	memory	memory	NOUN
app01-7223	35	29	might	might	AUX
app01-7223	35	30	not	not	PART
app01-7223	35	31	be	be	AUX
app01-7223	35	32	possible	possible	ADJ
app01-7223	35	33	on	on	ADP
app01-7223	35	34	a	a	DET
app01-7223	35	35	standard	standard	ADJ
app01-7223	35	36	computer	computer	NOUN
app01-7223	35	37	with	with	ADP
app01-7223	35	38	limited	limited	ADJ
app01-7223	35	39	memory	memory	NOUN
app01-7223	35	40	.	.	PUNCT
app01-7223	36	1	for	for	ADP
app01-7223	36	2	example	example	NOUN
app01-7223	36	3	,	,	PUNCT
app01-7223	36	4	storing	store	VERB
app01-7223	36	5	100	100	NUM
app01-7223	36	6	million	million	NUM
app01-7223	36	7	xyz	xyz	NOUN
app01-7223	36	8	coordinates	coordinate	NOUN
app01-7223	36	9	(	(	PUNCT
app01-7223	36	10	3x64	3x64	NUM
app01-7223	36	11	bit	bit	NOUN
app01-7223	36	12	float	float	NOUN
app01-7223	36	13	)	)	PUNCT
app01-7223	36	14	occupies	occupy	VERB
app01-7223	36	15	2,4	2,4	NUM
app01-7223	36	16	gb	gb	NOUN
app01-7223	36	17	of	of	ADP
app01-7223	36	18	memory	memory	NOUN
app01-7223	36	19	,	,	PUNCT
app01-7223	36	20	which	which	PRON
app01-7223	36	21	is	be	AUX
app01-7223	36	22	more	more	ADJ
app01-7223	36	23	than	than	ADP
app01-7223	36	24	half	half	NOUN
app01-7223	36	25	of	of	ADP
app01-7223	36	26	a	a	DET
app01-7223	36	27	commonly	commonly	ADV
app01-7223	36	28	available	available	ADJ
app01-7223	36	29	4	4	NUM
app01-7223	36	30	gb	gb	NOUN
app01-7223	36	31	.	.	PUNCT
app01-7223	37	1	reducing	reduce	VERB
app01-7223	37	2	the	the	DET
app01-7223	37	3	number	number	NOUN
app01-7223	37	4	of	of	ADP
app01-7223	37	5	points	point	NOUN
app01-7223	37	6	to	to	PART
app01-7223	37	7	work	work	VERB
app01-7223	37	8	with	with	ADP
app01-7223	37	9	is	be	AUX
app01-7223	37	10	inevitable	inevitable	ADJ
app01-7223	37	11	.	.	PUNCT
app01-7223	38	1	in	in	ADP
app01-7223	38	2	our	our	PRON
app01-7223	38	3	case	case	NOUN
app01-7223	38	4	,	,	PUNCT
app01-7223	38	5	the	the	DET
app01-7223	38	6	points	point	NOUN
app01-7223	38	7	were	be	AUX
app01-7223	38	8	downsampled	downsample	VERB
app01-7223	38	9	in	in	ADP
app01-7223	38	10	a	a	DET
app01-7223	38	11	3d	3d	PROPN
app01-7223	38	12	voxel	voxel	PROPN
app01-7223	38	13	grid	grid	NOUN
app01-7223	38	14	using	use	VERB
app01-7223	38	15	the	the	DET
app01-7223	38	16	efficient	efficient	ADJ
app01-7223	38	17	implementation	implementation	NOUN
app01-7223	38	18	of	of	ADP
app01-7223	38	19	a	a	DET
app01-7223	38	20	c++	c++	NOUN
app01-7223	38	21	hash	hash	NOUN
app01-7223	38	22	map	map	NOUN
app01-7223	39	1	[	[	X
app01-7223	39	2	4	4	NUM
app01-7223	39	3	]	]	PUNCT
app01-7223	39	4	.	.	PUNCT
app01-7223	40	1	reasonable	reasonable	ADJ
app01-7223	40	2	selection	selection	NOUN
app01-7223	40	3	of	of	ADP
app01-7223	40	4	a	a	DET
app01-7223	40	5	grid	grid	NOUN
app01-7223	40	6	step	step	NOUN
app01-7223	40	7	of	of	ADP
app01-7223	40	8	say	say	VERB
app01-7223	40	9	1	1	NUM
app01-7223	40	10	×	×	NOUN
app01-7223	40	11	1	1	NUM
app01-7223	40	12	×	×	NOUN
app01-7223	40	13	1	1	NUM
app01-7223	40	14	cm	cm	NOUN
app01-7223	40	15	reduces	reduce	VERB
app01-7223	40	16	all	all	DET
app01-7223	40	17	the	the	DET
app01-7223	40	18	points	point	NOUN
app01-7223	40	19	within	within	ADP
app01-7223	40	20	the	the	DET
app01-7223	40	21	1	1	NUM
app01-7223	40	22	cm3	cm3	NOUN
app01-7223	40	23	cube	cube	NOUN
app01-7223	40	24	to	to	ADP
app01-7223	40	25	a	a	DET
app01-7223	40	26	single	single	ADJ
app01-7223	40	27	point	point	NOUN
app01-7223	40	28	with	with	ADP
app01-7223	40	29	weighted	weight	VERB
app01-7223	40	30	coordinates	coordinate	NOUN
app01-7223	40	31	.	.	PUNCT
app01-7223	41	1	result	result	NOUN
app01-7223	41	2	of	of	ADP
app01-7223	41	3	downsampling	downsample	VERB
app01-7223	41	4	to	to	ADP
app01-7223	41	5	a	a	DET
app01-7223	41	6	1	1	NUM
app01-7223	41	7	×	×	NOUN
app01-7223	41	8	1	1	NUM
app01-7223	41	9	×	×	NOUN
app01-7223	41	10	1	1	NUM
app01-7223	41	11	grid	grid	NOUN
app01-7223	41	12	is	be	AUX
app01-7223	41	13	summarized	summarize	VERB
app01-7223	41	14	in	in	ADP
app01-7223	41	15	the	the	DET
app01-7223	41	16	table	table	NOUN
app01-7223	41	17	1	1	NUM
app01-7223	41	18	.	.	PUNCT
app01-7223	42	1	#	#	NOUN
app01-7223	42	2	before	before	ADP
app01-7223	42	3	after	after	ADP
app01-7223	42	4	1	1	NUM
app01-7223	42	5	85	85	NUM
app01-7223	42	6	316	316	NUM
app01-7223	42	7	410	410	NUM
app01-7223	42	8	12	12	NUM
app01-7223	42	9	358	358	NUM
app01-7223	42	10	178	178	NUM
app01-7223	42	11	2	2	NUM
app01-7223	42	12	62	62	NUM
app01-7223	42	13	947	947	NUM
app01-7223	42	14	576	576	NUM
app01-7223	42	15	20	20	NUM
app01-7223	42	16	213	213	NUM
app01-7223	42	17	992	992	NUM
app01-7223	42	18	3	3	NUM
app01-7223	42	19	108	108	NUM
app01-7223	42	20	200	200	NUM
app01-7223	42	21	686	686	NUM
app01-7223	42	22	34	34	NUM
app01-7223	42	23	672	672	NUM
app01-7223	42	24	667	667	NUM
app01-7223	42	25	table	table	NOUN
app01-7223	42	26	1	1	NUM
app01-7223	42	27	.	.	PUNCT
app01-7223	43	1	the	the	DET
app01-7223	43	2	effect	effect	NOUN
app01-7223	43	3	of	of	ADP
app01-7223	43	4	downsampling	downsample	VERB
app01-7223	43	5	on	on	ADP
app01-7223	43	6	three	three	NUM
app01-7223	43	7	typical	typical	ADJ
app01-7223	43	8	point	point	NOUN
app01-7223	43	9	clouds	cloud	NOUN
app01-7223	43	10	—	—	PUNCT
app01-7223	43	11	the	the	DET
app01-7223	43	12	number	number	NOUN
app01-7223	43	13	of	of	ADP
app01-7223	43	14	original	original	ADJ
app01-7223	43	15	points	point	NOUN
app01-7223	43	16	and	and	CCONJ
app01-7223	43	17	the	the	DET
app01-7223	43	18	number	number	NOUN
app01-7223	43	19	of	of	ADP
app01-7223	43	20	points	point	NOUN
app01-7223	43	21	after	after	ADP
app01-7223	43	22	downsampling	downsample	VERB
app01-7223	43	23	.	.	PUNCT
app01-7223	44	1	one	one	PRON
app01-7223	44	2	can	can	AUX
app01-7223	44	3	see	see	VERB
app01-7223	44	4	that	that	PRON
app01-7223	44	5	just	just	ADV
app01-7223	44	6	by	by	ADP
app01-7223	44	7	downsampling	downsample	VERB
app01-7223	44	8	to	to	ADP
app01-7223	44	9	a	a	DET
app01-7223	44	10	1	1	NUM
app01-7223	44	11	cm3	cm3	NOUN
app01-7223	44	12	grid	grid	NOUN
app01-7223	44	13	,	,	PUNCT
app01-7223	44	14	the	the	DET
app01-7223	44	15	size	size	NOUN
app01-7223	44	16	of	of	ADP
app01-7223	44	17	points	point	NOUN
app01-7223	44	18	goes	go	VERB
app01-7223	44	19	down	down	ADP
app01-7223	44	20	to	to	ADP
app01-7223	44	21	at	at	ADV
app01-7223	44	22	least	least	ADV
app01-7223	44	23	30	30	NUM
app01-7223	44	24	%	%	NOUN
app01-7223	44	25	.	.	PUNCT
app01-7223	45	1	2.3	2.3	NUM
app01-7223	45	2	.	.	PUNCT
app01-7223	46	1	the	the	DET
app01-7223	46	2	normal	normal	ADJ
app01-7223	46	3	vector	vector	NOUN
app01-7223	46	4	of	of	ADP
app01-7223	46	5	downsampled	downsample	VERB
app01-7223	46	6	points	point	NOUN
app01-7223	46	7	further	further	ADJ
app01-7223	46	8	processing	processing	NOUN
app01-7223	46	9	can	can	AUX
app01-7223	46	10	take	take	VERB
app01-7223	46	11	advantage	advantage	NOUN
app01-7223	46	12	of	of	ADP
app01-7223	46	13	determining	determine	VERB
app01-7223	46	14	the	the	DET
app01-7223	46	15	normal	normal	ADJ
app01-7223	46	16	vector	vector	NOUN
app01-7223	46	17	at	at	ADP
app01-7223	46	18	each	each	DET
app01-7223	46	19	downsampled	downsample	VERB
app01-7223	46	20	point	point	NOUN
app01-7223	46	21	(	(	PUNCT
app01-7223	46	22	voxel	voxel	PROPN
app01-7223	46	23	)	)	PUNCT
app01-7223	46	24	.	.	PUNCT
app01-7223	47	1	this	this	PRON
app01-7223	47	2	is	be	AUX
app01-7223	47	3	done	do	VERB
app01-7223	47	4	in	in	ADP
app01-7223	47	5	the	the	DET
app01-7223	47	6	three	three	NUM
app01-7223	47	7	following	follow	VERB
app01-7223	47	8	steps	step	NOUN
app01-7223	47	9	.	.	PUNCT
app01-7223	48	1	a	a	DET
app01-7223	48	2	single	single	ADJ
app01-7223	48	3	point	point	NOUN
app01-7223	48	4	represents	represent	VERB
app01-7223	48	5	each	each	DET
app01-7223	48	6	voxel	voxel	PROPN
app01-7223	48	7	by	by	ADP
app01-7223	48	8	averaging	average	VERB
app01-7223	48	9	the	the	DET
app01-7223	48	10	coordinates	coordinate	NOUN
app01-7223	48	11	of	of	ADP
app01-7223	48	12	the	the	DET
app01-7223	48	13	inner	inner	ADJ
app01-7223	48	14	points	point	NOUN
app01-7223	48	15	.	.	PUNCT
app01-7223	49	1	there	there	PRON
app01-7223	49	2	are	be	VERB
app01-7223	49	3	up	up	ADP
app01-7223	49	4	to	to	ADP
app01-7223	49	5	26	26	NUM
app01-7223	49	6	(	(	PUNCT
app01-7223	49	7	3	3	NUM
app01-7223	49	8	×	×	NOUN
app01-7223	49	9	3	3	NUM
app01-7223	49	10	×	×	NOUN
app01-7223	49	11	3	3	NUM
app01-7223	49	12	−	−	NOUN
app01-7223	49	13	1	1	NUM
app01-7223	49	14	)	)	PUNCT
app01-7223	49	15	voxels	voxel	NOUN
app01-7223	49	16	surrounding	surround	VERB
app01-7223	49	17	each	each	DET
app01-7223	49	18	voxel	voxel	PROPN
app01-7223	49	19	if	if	SCONJ
app01-7223	49	20	all	all	DET
app01-7223	49	21	the	the	DET
app01-7223	49	22	neighbors	neighbor	NOUN
app01-7223	49	23	are	be	AUX
app01-7223	49	24	activated	activate	VERB
app01-7223	49	25	.	.	PUNCT
app01-7223	50	1	therefore	therefore	ADV
app01-7223	50	2	,	,	PUNCT
app01-7223	50	3	the	the	DET
app01-7223	50	4	total	total	ADJ
app01-7223	50	5	number	number	NOUN
app01-7223	50	6	of	of	ADP
app01-7223	50	7	points	point	NOUN
app01-7223	50	8	n	n	CCONJ
app01-7223	50	9	for	for	ADP
app01-7223	50	10	the	the	DET
app01-7223	50	11	normal	normal	ADJ
app01-7223	50	12	evaluation	evaluation	NOUN
app01-7223	50	13	is	be	AUX
app01-7223	50	14	at	at	ADP
app01-7223	50	15	most	most	ADJ
app01-7223	50	16	27	27	NUM
app01-7223	50	17	.	.	PUNCT
app01-7223	51	1	the	the	DET
app01-7223	51	2	centroid	centroid	NOUN
app01-7223	51	3	of	of	ADP
app01-7223	51	4	the	the	DET
app01-7223	51	5	n	n	NUM
app01-7223	51	6	points	point	NOUN
app01-7223	51	7	is	be	AUX
app01-7223	51	8	calculated	calculate	VERB
app01-7223	51	9	as	as	ADP
app01-7223	51	10	a	a	DET
app01-7223	51	11	weighted	weighted	ADJ
app01-7223	51	12	average	average	NOUN
app01-7223	51	13	of	of	ADP
app01-7223	51	14	the	the	DET
app01-7223	51	15	xyz	xyz	PROPN
app01-7223	51	16	coordinates	coordinate	NOUN
app01-7223	51	17	.	.	PUNCT
app01-7223	52	1	µx	µx	VERB
app01-7223	52	2	=	=	X
app01-7223	52	3	!	!	PUNCT
app01-7223	53	1	n	n	CCONJ
app01-7223	53	2	i=1	i=1	X
app01-7223	53	3	xi	xi	X
app01-7223	53	4	n	n	PROPN
app01-7223	53	5	,	,	PUNCT
app01-7223	53	6	µy	µy	ADV
app01-7223	53	7	=	=	PUNCT
app01-7223	53	8	!	!	PUNCT
app01-7223	54	1	n	n	CCONJ
app01-7223	54	2	i=1	i=1	PROPN
app01-7223	54	3	yi	yi	PROPN
app01-7223	54	4	n	n	PROPN
app01-7223	54	5	,	,	PUNCT
app01-7223	54	6	µz	µz	PROPN
app01-7223	54	7	=	=	PUNCT
app01-7223	54	8	!	!	PUNCT
app01-7223	54	9	n	n	CCONJ
app01-7223	55	1	i=1	i=1	PROPN
app01-7223	55	2	zi	zi	PROPN
app01-7223	55	3	n	n	PROPN
app01-7223	55	4	,	,	PUNCT
app01-7223	55	5	(	(	PUNCT
app01-7223	55	6	1	1	X
app01-7223	55	7	)	)	PUNCT
app01-7223	55	8	the	the	DET
app01-7223	55	9	3	3	NUM
app01-7223	55	10	×	×	NOUN
app01-7223	55	11	3	3	NUM
app01-7223	55	12	covariance	covariance	NOUN
app01-7223	55	13	matrix	matrix	NOUN
app01-7223	55	14	of	of	ADP
app01-7223	55	15	the	the	DET
app01-7223	55	16	point	point	NOUN
app01-7223	55	17	xyz	xyz	PROPN
app01-7223	55	18	coordinates	coordinate	NOUN
app01-7223	55	19	relative	relative	ADJ
app01-7223	55	20	to	to	ADP
app01-7223	55	21	the	the	DET
app01-7223	55	22	centroid	centroid	NOUN
app01-7223	55	23	is	be	AUX
app01-7223	55	24	calculated	calculate	VERB
app01-7223	55	25	using	use	VERB
app01-7223	55	26	the	the	DET
app01-7223	55	27	formula	formula	NOUN
app01-7223	55	28	for	for	ADP
app01-7223	55	29	the	the	DET
app01-7223	55	30	covariance	covariance	NOUN
app01-7223	55	31	of	of	ADP
app01-7223	55	32	a	a	DET
app01-7223	55	33	and	and	CCONJ
app01-7223	55	34	b	b	NOUN
app01-7223	55	35	below	below	ADV
app01-7223	55	36	.	.	PUNCT
app01-7223	56	1	cov(a	cov(a	PROPN
app01-7223	56	2	,	,	PUNCT
app01-7223	56	3	b	b	NOUN
app01-7223	56	4	)	)	PUNCT
app01-7223	56	5	=	=	PUNCT
app01-7223	56	6	!	!	PUNCT
app01-7223	57	1	n	n	X
app01-7223	57	2	i=1(ai	i=1(ai	ADJ
app01-7223	58	1	−	−	PROPN
app01-7223	58	2	µa)(bi	µa)(bi	PUNCT
app01-7223	58	3	−	−	PROPN
app01-7223	58	4	µb	µb	NOUN
app01-7223	58	5	)	)	PUNCT
app01-7223	58	6	n	n	CCONJ
app01-7223	58	7	−	−	PROPN
app01-7223	58	8	1	1	NUM
app01-7223	58	9	(	(	PUNCT
app01-7223	58	10	2	2	NUM
app01-7223	58	11	)	)	PUNCT
app01-7223	58	12	the	the	DET
app01-7223	58	13	smallest	small	ADJ
app01-7223	58	14	eigenvector	eigenvector	NOUN
app01-7223	58	15	of	of	ADP
app01-7223	58	16	the	the	DET
app01-7223	58	17	covariance	covariance	NOUN
app01-7223	58	18	matrix	matrix	NOUN
app01-7223	58	19	is	be	AUX
app01-7223	58	20	the	the	DET
app01-7223	58	21	plane	plane	NOUN
app01-7223	58	22	normal	normal	ADJ
app01-7223	58	23	[	[	X
app01-7223	58	24	5	5	NUM
app01-7223	58	25	]	]	PUNCT
app01-7223	58	26	.	.	PUNCT
app01-7223	59	1	the	the	DET
app01-7223	59	2	direct	direct	ADJ
app01-7223	59	3	solver	solver	NOUN
app01-7223	59	4	of	of	ADP
app01-7223	59	5	eigenvalues	eigenvalue	NOUN
app01-7223	59	6	was	be	AUX
app01-7223	59	7	implemented	implement	VERB
app01-7223	59	8	for	for	ADP
app01-7223	59	9	the	the	DET
app01-7223	59	10	3	3	NUM
app01-7223	59	11	×	×	NOUN
app01-7223	59	12	3	3	NUM
app01-7223	59	13	matrix	matrix	NOUN
app01-7223	59	14	using	use	VERB
app01-7223	59	15	the	the	DET
app01-7223	59	16	arccos	arccos	ADJ
app01-7223	59	17	function	function	NOUN
app01-7223	59	18	,	,	PUNCT
app01-7223	59	19	as	as	SCONJ
app01-7223	59	20	described	describe	VERB
app01-7223	59	21	in	in	ADP
app01-7223	59	22	[	[	X
app01-7223	59	23	6	6	NUM
app01-7223	59	24	]	]	PUNCT
app01-7223	59	25	.	.	PUNCT
app01-7223	60	1	3	3	X
app01-7223	60	2	.	.	X
app01-7223	60	3	bim	bim	NOUN
app01-7223	60	4	entity	entity	NOUN
app01-7223	60	5	extraction	extraction	NOUN
app01-7223	60	6	the	the	DET
app01-7223	60	7	overall	overall	ADJ
app01-7223	60	8	strategy	strategy	NOUN
app01-7223	60	9	of	of	ADP
app01-7223	60	10	point	point	NOUN
app01-7223	60	11	cloud	cloud	NOUN
app01-7223	60	12	transformation	transformation	NOUN
app01-7223	60	13	into	into	ADP
app01-7223	60	14	the	the	DET
app01-7223	60	15	digital	digital	ADJ
app01-7223	60	16	bim	bim	NOUN
app01-7223	60	17	representation	representation	NOUN
app01-7223	60	18	of	of	ADP
app01-7223	60	19	the	the	DET
app01-7223	60	20	building	building	NOUN
app01-7223	60	21	is	be	AUX
app01-7223	60	22	based	base	VERB
app01-7223	60	23	on	on	ADP
app01-7223	60	24	a	a	DET
app01-7223	60	25	gradual	gradual	ADJ
app01-7223	60	26	segmentation	segmentation	NOUN
app01-7223	60	27	of	of	ADP
app01-7223	60	28	floors	floor	NOUN
app01-7223	60	29	,	,	PUNCT
app01-7223	60	30	rooms	room	NOUN
app01-7223	60	31	,	,	PUNCT
app01-7223	60	32	walls	wall	NOUN
app01-7223	60	33	,	,	PUNCT
app01-7223	60	34	and	and	CCONJ
app01-7223	60	35	openings	opening	NOUN
app01-7223	60	36	.	.	PUNCT
app01-7223	61	1	the	the	DET
app01-7223	61	2	overview	overview	NOUN
app01-7223	61	3	of	of	ADP
app01-7223	61	4	this	this	DET
app01-7223	61	5	complex	complex	ADJ
app01-7223	61	6	process	process	NOUN
app01-7223	61	7	is	be	AUX
app01-7223	61	8	demonstrated	demonstrate	VERB
app01-7223	61	9	in	in	ADP
app01-7223	61	10	figure	figure	NOUN
app01-7223	61	11	2	2	NUM
app01-7223	61	12	.	.	SYM
app01-7223	61	13	3.1	3.1	NUM
app01-7223	61	14	.	.	PUNCT
app01-7223	62	1	floor	floor	NOUN
app01-7223	62	2	segmentation	segmentation	NOUN
app01-7223	62	3	the	the	DET
app01-7223	62	4	floor	floor	NOUN
app01-7223	62	5	segmentation	segmentation	NOUN
app01-7223	62	6	is	be	AUX
app01-7223	62	7	based	base	VERB
app01-7223	62	8	on	on	ADP
app01-7223	62	9	the	the	DET
app01-7223	62	10	histogram	histogram	NOUN
app01-7223	62	11	of	of	ADP
app01-7223	62	12	vertical	vertical	ADJ
app01-7223	62	13	coordinates	coordinate	NOUN
app01-7223	62	14	.	.	PUNCT
app01-7223	63	1	from	from	ADP
app01-7223	63	2	the	the	DET
app01-7223	63	3	histogram	histogram	NOUN
app01-7223	63	4	,	,	PUNCT
app01-7223	63	5	the	the	DET
app01-7223	63	6	ceiling	ceiling	NOUN
app01-7223	63	7	and	and	CCONJ
app01-7223	63	8	floor	floor	NOUN
app01-7223	63	9	levels	level	NOUN
app01-7223	63	10	are	be	AUX
app01-7223	63	11	extracted	extract	VERB
app01-7223	63	12	,	,	PUNCT
app01-7223	63	13	corresponding	correspond	VERB
app01-7223	63	14	to	to	ADP
app01-7223	63	15	locations	location	NOUN
app01-7223	63	16	with	with	ADP
app01-7223	63	17	significant	significant	ADJ
app01-7223	63	18	location	location	NOUN
app01-7223	63	19	frequency	frequency	NOUN
app01-7223	63	20	.	.	PUNCT
app01-7223	64	1	more	more	ADV
app01-7223	64	2	accurate	accurate	ADJ
app01-7223	64	3	results	result	NOUN
app01-7223	64	4	can	can	AUX
app01-7223	64	5	be	be	AUX
app01-7223	64	6	obtained	obtain	VERB
app01-7223	64	7	by	by	ADP
app01-7223	64	8	only	only	ADV
app01-7223	64	9	considering	consider	VERB
app01-7223	64	10	points	point	NOUN
app01-7223	64	11	with	with	ADP
app01-7223	64	12	vertical	vertical	ADJ
app01-7223	64	13	normal	normal	ADJ
app01-7223	64	14	in	in	ADP
app01-7223	64	15	the	the	DET
app01-7223	64	16	calculation	calculation	NOUN
app01-7223	64	17	.	.	PUNCT
app01-7223	65	1	the	the	DET
app01-7223	65	2	ceiling	ceiling	NOUN
app01-7223	65	3	level	level	NOUN
app01-7223	65	4	can	can	AUX
app01-7223	65	5	also	also	ADV
app01-7223	65	6	be	be	AUX
app01-7223	65	7	input	input	VERB
app01-7223	65	8	manually	manually	ADV
app01-7223	65	9	by	by	ADP
app01-7223	65	10	inspecting	inspect	VERB
app01-7223	65	11	the	the	DET
app01-7223	65	12	point	point	NOUN
app01-7223	65	13	cloud	cloud	NOUN
app01-7223	65	14	in	in	ADP
app01-7223	65	15	a	a	DET
app01-7223	65	16	suitable	suitable	ADJ
app01-7223	65	17	tool	tool	NOUN
app01-7223	65	18	like	like	ADP
app01-7223	65	19	autodesk	autodesk	PROPN
app01-7223	65	20	recap	recap	NOUN
app01-7223	65	21	.	.	PUNCT
app01-7223	66	1	127	127	NUM
app01-7223	66	2	j.	j.	PROPN
app01-7223	66	3	vorisek	vorisek	PROPN
app01-7223	66	4	,	,	PUNCT
app01-7223	66	5	b.	b.	PROPN
app01-7223	66	6	patzák	patzák	PROPN
app01-7223	66	7	,	,	PUNCT
app01-7223	66	8	e.	e.	PROPN
app01-7223	66	9	dvořáková	dvořáková	PROPN
app01-7223	66	10	,	,	PUNCT
app01-7223	66	11	d.	d.	PROPN
app01-7223	66	12	rypl	rypl	PROPN
app01-7223	66	13	acta	acta	PROPN
app01-7223	66	14	polytechnica	polytechnica	PROPN
app01-7223	66	15	ctu	ctu	PROPN
app01-7223	66	16	proceedings	proceeding	NOUN
app01-7223	66	17	figure	figure	VERB
app01-7223	66	18	3	3	NUM
app01-7223	66	19	.	.	NOUN
app01-7223	66	20	results	result	NOUN
app01-7223	66	21	of	of	ADP
app01-7223	66	22	the	the	DET
app01-7223	66	23	room	room	NOUN
app01-7223	66	24	segmentation	segmentation	NOUN
app01-7223	66	25	of	of	ADP
app01-7223	66	26	the	the	DET
app01-7223	66	27	point	point	NOUN
app01-7223	66	28	cloud	cloud	NOUN
app01-7223	66	29	shown	show	VERB
app01-7223	66	30	in	in	ADP
app01-7223	66	31	figure	figure	NOUN
app01-7223	66	32	1	1	NUM
app01-7223	66	33	.	.	NOUN
app01-7223	66	34	3.2	3.2	NUM
app01-7223	66	35	.	.	PUNCT
app01-7223	67	1	room	room	NOUN
app01-7223	67	2	segmentation	segmentation	VERB
app01-7223	67	3	the	the	DET
app01-7223	67	4	ceiling	ceiling	NOUN
app01-7223	67	5	level	level	NOUN
app01-7223	67	6	of	of	ADP
app01-7223	67	7	the	the	DET
app01-7223	67	8	floor	floor	NOUN
app01-7223	67	9	is	be	AUX
app01-7223	67	10	known	know	VERB
app01-7223	67	11	either	either	CCONJ
app01-7223	67	12	from	from	ADP
app01-7223	67	13	the	the	DET
app01-7223	67	14	histogram	histogram	NOUN
app01-7223	67	15	calculation	calculation	NOUN
app01-7223	67	16	or	or	CCONJ
app01-7223	67	17	from	from	ADP
app01-7223	67	18	user	user	NOUN
app01-7223	67	19	input	input	NOUN
app01-7223	67	20	.	.	PUNCT
app01-7223	68	1	all	all	DET
app01-7223	68	2	the	the	DET
app01-7223	68	3	ceiling	ceiling	NOUN
app01-7223	68	4	plane	plane	NOUN
app01-7223	68	5	points	point	NOUN
app01-7223	68	6	and	and	CCONJ
app01-7223	68	7	points	point	NOUN
app01-7223	68	8	within	within	ADP
app01-7223	68	9	30	30	NUM
app01-7223	68	10	cm	cm	NOUN
app01-7223	68	11	below	below	ADV
app01-7223	68	12	(	(	PUNCT
app01-7223	68	13	as	as	SCONJ
app01-7223	68	14	suggested	suggest	VERB
app01-7223	68	15	in	in	ADP
app01-7223	68	16	[	[	X
app01-7223	68	17	3	3	NUM
app01-7223	68	18	]	]	PUNCT
app01-7223	68	19	)	)	PUNCT
app01-7223	68	20	are	be	AUX
app01-7223	68	21	projected	project	VERB
app01-7223	68	22	onto	onto	ADP
app01-7223	68	23	a	a	DET
app01-7223	68	24	2d	2d	NUM
app01-7223	68	25	grid	grid	NOUN
app01-7223	68	26	(	(	PUNCT
app01-7223	68	27	floor	floor	NOUN
app01-7223	68	28	plan	plan	NOUN
app01-7223	68	29	)	)	PUNCT
app01-7223	68	30	resulting	result	VERB
app01-7223	68	31	in	in	ADP
app01-7223	68	32	a	a	DET
app01-7223	68	33	pixel	pixel	ADJ
app01-7223	68	34	-	-	PUNCT
app01-7223	68	35	like	like	ADJ
app01-7223	68	36	image	image	NOUN
app01-7223	68	37	.	.	PUNCT
app01-7223	69	1	the	the	DET
app01-7223	69	2	step	step	NOUN
app01-7223	69	3	of	of	ADP
app01-7223	69	4	the	the	DET
app01-7223	69	5	grid	grid	NOUN
app01-7223	69	6	should	should	AUX
app01-7223	69	7	be	be	AUX
app01-7223	69	8	at	at	ADV
app01-7223	69	9	least	least	ADJ
app01-7223	69	10	twice	twice	DET
app01-7223	69	11	the	the	DET
app01-7223	69	12	step	step	NOUN
app01-7223	69	13	used	use	VERB
app01-7223	69	14	for	for	ADP
app01-7223	69	15	the	the	DET
app01-7223	69	16	initial	initial	ADJ
app01-7223	69	17	downsampling	downsampling	NOUN
app01-7223	69	18	,	,	PUNCT
app01-7223	69	19	or	or	CCONJ
app01-7223	69	20	the	the	DET
app01-7223	69	21	grid	grid	NOUN
app01-7223	69	22	will	will	AUX
app01-7223	69	23	contain	contain	VERB
app01-7223	69	24	missing	missing	ADJ
app01-7223	69	25	points	point	NOUN
app01-7223	69	26	as	as	SCONJ
app01-7223	69	27	some	some	DET
app01-7223	69	28	points	point	NOUN
app01-7223	69	29	may	may	AUX
app01-7223	69	30	not	not	PART
app01-7223	69	31	be	be	AUX
app01-7223	69	32	appropriately	appropriately	ADV
app01-7223	69	33	captured	capture	VERB
app01-7223	69	34	.	.	PUNCT
app01-7223	70	1	region	region	NOUN
app01-7223	70	2	growing	grow	VERB
app01-7223	71	1	[	[	X
app01-7223	71	2	7	7	NUM
app01-7223	71	3	]	]	PUNCT
app01-7223	71	4	is	be	AUX
app01-7223	71	5	applied	apply	VERB
app01-7223	71	6	to	to	PART
app01-7223	71	7	join	join	VERB
app01-7223	71	8	adjacent	adjacent	ADJ
app01-7223	71	9	pixels	pixel	NOUN
app01-7223	71	10	into	into	ADP
app01-7223	71	11	separate	separate	ADJ
app01-7223	71	12	regions	region	NOUN
app01-7223	71	13	.	.	PUNCT
app01-7223	72	1	backfilling	backfille	VERB
app01-7223	72	2	of	of	ADP
app01-7223	72	3	each	each	PRON
app01-7223	72	4	of	of	ADP
app01-7223	72	5	the	the	DET
app01-7223	72	6	found	find	VERB
app01-7223	72	7	regions	region	NOUN
app01-7223	72	8	is	be	AUX
app01-7223	72	9	performed	perform	VERB
app01-7223	72	10	to	to	PART
app01-7223	72	11	include	include	VERB
app01-7223	72	12	columns	column	NOUN
app01-7223	72	13	and	and	CCONJ
app01-7223	72	14	skylights	skylight	NOUN
app01-7223	72	15	within	within	ADP
app01-7223	72	16	the	the	DET
app01-7223	72	17	room	room	NOUN
app01-7223	72	18	.	.	PUNCT
app01-7223	73	1	knowing	know	VERB
app01-7223	73	2	the	the	DET
app01-7223	73	3	pixel	pixel	PROPN
app01-7223	73	4	count	count	PROPN
app01-7223	73	5	and	and	CCONJ
app01-7223	73	6	pixel	pixel	PROPN
app01-7223	73	7	area	area	NOUN
app01-7223	73	8	(	(	PUNCT
app01-7223	73	9	step	step	NOUN
app01-7223	73	10	x	x	NOUN
app01-7223	73	11	step	step	NOUN
app01-7223	73	12	)	)	PUNCT
app01-7223	73	13	,	,	PUNCT
app01-7223	73	14	area	area	NOUN
app01-7223	73	15	of	of	ADP
app01-7223	73	16	the	the	DET
app01-7223	73	17	subject	subject	ADJ
app01-7223	73	18	rooms	room	NOUN
app01-7223	73	19	or	or	CCONJ
app01-7223	73	20	whole	whole	ADJ
app01-7223	73	21	floor	floor	NOUN
app01-7223	73	22	can	can	AUX
app01-7223	73	23	be	be	AUX
app01-7223	73	24	estimated	estimate	VERB
app01-7223	73	25	.	.	PUNCT
app01-7223	74	1	finally	finally	ADV
app01-7223	74	2	,	,	PUNCT
app01-7223	74	3	the	the	DET
app01-7223	74	4	original	original	ADJ
app01-7223	74	5	point	point	NOUN
app01-7223	74	6	cloud	cloud	NOUN
app01-7223	74	7	is	be	AUX
app01-7223	74	8	iterated	iterate	VERB
app01-7223	74	9	,	,	PUNCT
app01-7223	74	10	and	and	CCONJ
app01-7223	74	11	points	point	NOUN
app01-7223	74	12	inside	inside	ADV
app01-7223	74	13	of	of	ADP
app01-7223	74	14	the	the	DET
app01-7223	74	15	found	find	VERB
app01-7223	74	16	regions	region	NOUN
app01-7223	74	17	(	(	PUNCT
app01-7223	74	18	in	in	ADP
app01-7223	74	19	terms	term	NOUN
app01-7223	74	20	of	of	ADP
app01-7223	74	21	x	x	X
app01-7223	74	22	,	,	PUNCT
app01-7223	74	23	y	y	PROPN
app01-7223	74	24	coordinates	coordinate	NOUN
app01-7223	74	25	)	)	PUNCT
app01-7223	74	26	and	and	CCONJ
app01-7223	74	27	floor	floor	NOUN
app01-7223	74	28	(	(	PUNCT
app01-7223	74	29	given	give	VERB
app01-7223	74	30	z	z	NOUN
app01-7223	74	31	coordinate	coordinate	NOUN
app01-7223	74	32	range	range	NOUN
app01-7223	74	33	)	)	PUNCT
app01-7223	74	34	are	be	AUX
app01-7223	74	35	selected	select	VERB
app01-7223	74	36	.	.	PUNCT
app01-7223	75	1	separate	separate	ADJ
app01-7223	75	2	point	point	NOUN
app01-7223	75	3	clouds	cloud	NOUN
app01-7223	75	4	of	of	ADP
app01-7223	75	5	each	each	DET
app01-7223	75	6	room	room	NOUN
app01-7223	75	7	are	be	AUX
app01-7223	75	8	stored	store	VERB
app01-7223	75	9	in	in	ADP
app01-7223	75	10	the	the	DET
app01-7223	75	11	project	project	NOUN
app01-7223	75	12	file	file	NOUN
app01-7223	75	13	.	.	PUNCT
app01-7223	76	1	an	an	DET
app01-7223	76	2	example	example	NOUN
app01-7223	76	3	of	of	ADP
app01-7223	76	4	room	room	NOUN
app01-7223	76	5	segmentation	segmentation	NOUN
app01-7223	76	6	results	result	NOUN
app01-7223	76	7	can	can	AUX
app01-7223	76	8	be	be	AUX
app01-7223	76	9	seen	see	VERB
app01-7223	76	10	in	in	ADP
app01-7223	76	11	figure	figure	NOUN
app01-7223	76	12	3	3	NUM
app01-7223	76	13	.	.	NOUN
app01-7223	76	14	3.3	3.3	NUM
app01-7223	76	15	.	.	PUNCT
app01-7223	77	1	vertical	vertical	ADJ
app01-7223	77	2	plane	plane	NOUN
app01-7223	77	3	segmentation	segmentation	NOUN
app01-7223	77	4	the	the	DET
app01-7223	77	5	wall	wall	PROPN
app01-7223	77	6	planes	plane	NOUN
app01-7223	77	7	are	be	AUX
app01-7223	77	8	identified	identify	VERB
app01-7223	77	9	in	in	ADP
app01-7223	77	10	each	each	DET
app01-7223	77	11	room	room	NOUN
app01-7223	77	12	using	use	VERB
app01-7223	77	13	the	the	DET
app01-7223	77	14	modified	modify	VERB
app01-7223	77	15	random	random	ADJ
app01-7223	77	16	sample	sample	NOUN
app01-7223	77	17	consensus	consensus	NOUN
app01-7223	77	18	(	(	PUNCT
app01-7223	77	19	ransac	ransac	NOUN
app01-7223	77	20	)	)	PUNCT
app01-7223	78	1	[	[	X
app01-7223	78	2	8	8	NUM
app01-7223	78	3	]	]	PUNCT
app01-7223	78	4	.	.	PUNCT
app01-7223	79	1	only	only	ADV
app01-7223	79	2	points	point	NOUN
app01-7223	79	3	with	with	ADP
app01-7223	79	4	horizontal	horizontal	ADJ
app01-7223	79	5	normal	normal	ADJ
app01-7223	79	6	are	be	AUX
app01-7223	79	7	considered	consider	VERB
app01-7223	79	8	for	for	ADP
app01-7223	79	9	plane	plane	NOUN
app01-7223	79	10	finding	finding	NOUN
app01-7223	79	11	,	,	PUNCT
app01-7223	79	12	a	a	DET
app01-7223	79	13	slight	slight	ADJ
app01-7223	79	14	deviation	deviation	NOUN
app01-7223	79	15	of	of	ADP
app01-7223	79	16	5	5	NUM
app01-7223	79	17	degrees	degree	NOUN
app01-7223	79	18	is	be	AUX
app01-7223	79	19	allowed	allow	VERB
app01-7223	79	20	to	to	PART
app01-7223	79	21	account	account	VERB
app01-7223	79	22	for	for	ADP
app01-7223	79	23	deviations	deviation	NOUN
app01-7223	79	24	in	in	ADP
app01-7223	79	25	construction	construction	NOUN
app01-7223	79	26	.	.	PUNCT
app01-7223	80	1	each	each	DET
app01-7223	80	2	wall	wall	NOUN
app01-7223	80	3	finding	finding	NOUN
app01-7223	80	4	starts	start	VERB
app01-7223	80	5	with	with	ADP
app01-7223	80	6	hypothesis	hypothesis	NOUN
app01-7223	80	7	generation	generation	NOUN
app01-7223	80	8	.	.	PUNCT
app01-7223	81	1	three	three	NUM
app01-7223	81	2	non	non	ADJ
app01-7223	81	3	-	-	ADJ
app01-7223	81	4	collinear	collinear	ADJ
app01-7223	81	5	points	point	NOUN
app01-7223	81	6	a	a	DET
app01-7223	81	7	,	,	PUNCT
app01-7223	81	8	b	b	NOUN
app01-7223	81	9	,	,	PUNCT
app01-7223	81	10	c	c	PROPN
app01-7223	81	11	are	be	AUX
app01-7223	81	12	randomly	randomly	ADV
app01-7223	81	13	selected	select	VERB
app01-7223	81	14	from	from	ADP
app01-7223	81	15	the	the	DET
app01-7223	81	16	point	point	NOUN
app01-7223	81	17	cloud	cloud	NOUN
app01-7223	81	18	for	for	ADP
app01-7223	81	19	which	which	PRON
app01-7223	81	20	the	the	DET
app01-7223	81	21	four	four	NUM
app01-7223	81	22	plane	plane	NOUN
app01-7223	81	23	coefficients	coefficient	NOUN
app01-7223	81	24	a	a	DET
app01-7223	81	25	,	,	PUNCT
app01-7223	81	26	b	b	NOUN
app01-7223	81	27	,	,	PUNCT
app01-7223	81	28	c	c	NOUN
app01-7223	81	29	,	,	PUNCT
app01-7223	81	30	and	and	CCONJ
app01-7223	81	31	d	d	NOUN
app01-7223	81	32	are	be	AUX
app01-7223	81	33	calculated	calculate	VERB
app01-7223	81	34	using	use	VERB
app01-7223	81	35	the	the	DET
app01-7223	81	36	two	two	NUM
app01-7223	81	37	vectors	vector	NOUN
app01-7223	81	38	!	!	PUNCT
app01-7223	82	1	ab	ab	PROPN
app01-7223	82	2	and	and	CCONJ
app01-7223	82	3	!	!	PUNCT
app01-7223	82	4	ac	ac	PROPN
app01-7223	82	5	!	!	PUNCT
app01-7223	83	1	ab	ab	PROPN
app01-7223	83	2	=	=	PUNCT
app01-7223	84	1	(	(	PUNCT
app01-7223	84	2	bx	bx	NOUN
app01-7223	84	3	−	−	PROPN
app01-7223	84	4	ax	ax	NOUN
app01-7223	84	5	,	,	PUNCT
app01-7223	84	6	by	by	ADP
app01-7223	84	7	−	−	PROPN
app01-7223	84	8	ay	ay	PROPN
app01-7223	84	9	,	,	PUNCT
app01-7223	84	10	bz	bz	PROPN
app01-7223	84	11	−	−	PROPN
app01-7223	84	12	az	az	PROPN
app01-7223	84	13	)	)	PUNCT
app01-7223	84	14	(	(	PUNCT
app01-7223	84	15	3	3	NUM
app01-7223	84	16	)	)	PUNCT
app01-7223	84	17	!	!	PUNCT
app01-7223	85	1	ac	ac	PROPN
app01-7223	86	1	=	=	PUNCT
app01-7223	86	2	(	(	PUNCT
app01-7223	86	3	cx	cx	INTJ
app01-7223	86	4	−	−	NOUN
app01-7223	86	5	ax	ax	NOUN
app01-7223	86	6	,	,	PUNCT
app01-7223	86	7	cy	cy	ADP
app01-7223	86	8	−	−	PROPN
app01-7223	86	9	ay	ay	NOUN
app01-7223	86	10	,	,	PUNCT
app01-7223	86	11	cz	cz	NOUN
app01-7223	86	12	−	−	PROPN
app01-7223	86	13	az	az	PROPN
app01-7223	86	14	)	)	PUNCT
app01-7223	86	15	(	(	PUNCT
app01-7223	86	16	4	4	X
app01-7223	86	17	)	)	PUNCT
app01-7223	86	18	figure	figure	NOUN
app01-7223	86	19	4	4	NUM
app01-7223	86	20	.	.	PUNCT
app01-7223	86	21	vertical	vertical	ADJ
app01-7223	86	22	plane	plane	NOUN
app01-7223	86	23	segmentation	segmentation	NOUN
app01-7223	86	24	(	(	PUNCT
app01-7223	86	25	top	top	ADJ
app01-7223	86	26	view	view	NOUN
app01-7223	86	27	)	)	PUNCT
app01-7223	86	28	.	.	PUNCT
app01-7223	87	1	door	door	NOUN
app01-7223	87	2	planes	plane	NOUN
app01-7223	87	3	are	be	AUX
app01-7223	87	4	segmented	segment	VERB
app01-7223	87	5	as	as	SCONJ
app01-7223	87	6	they	they	PRON
app01-7223	87	7	cover	cover	VERB
app01-7223	87	8	sufficient	sufficient	ADJ
app01-7223	87	9	area	area	NOUN
app01-7223	87	10	,	,	PUNCT
app01-7223	87	11	also	also	ADV
app01-7223	87	12	notice	notice	VERB
app01-7223	87	13	the	the	DET
app01-7223	87	14	noise	noise	NOUN
app01-7223	87	15	around	around	ADP
app01-7223	87	16	outer	outer	ADJ
app01-7223	87	17	windows	window	NOUN
app01-7223	87	18	and	and	CCONJ
app01-7223	87	19	in	in	ADP
app01-7223	87	20	the	the	DET
app01-7223	87	21	center	center	NOUN
app01-7223	87	22	room	room	NOUN
app01-7223	87	23	.	.	PUNCT
app01-7223	88	1	to	to	PART
app01-7223	88	2	satisfy	satisfy	VERB
app01-7223	88	3	the	the	DET
app01-7223	88	4	plane	plane	NOUN
app01-7223	88	5	equation	equation	NOUN
app01-7223	88	6	ax	ax	NOUN
app01-7223	88	7	+	+	CCONJ
app01-7223	88	8	by	by	ADP
app01-7223	88	9	+	+	CCONJ
app01-7223	88	10	cz	cz	NOUN
app01-7223	88	11	+	+	CCONJ
app01-7223	88	12	d	d	NOUN
app01-7223	88	13	=	=	SYM
app01-7223	88	14	0	0	NUM
app01-7223	88	15	,	,	PUNCT
app01-7223	88	16	plane	plane	NOUN
app01-7223	88	17	coefficients	coefficient	NOUN
app01-7223	88	18	are	be	AUX
app01-7223	88	19	calculated	calculate	VERB
app01-7223	88	20	as	as	SCONJ
app01-7223	88	21	follows	follow	VERB
app01-7223	88	22	a	a	PRON
app01-7223	88	23	=	=	PUNCT
app01-7223	88	24	(	(	PUNCT
app01-7223	88	25	by	by	ADP
app01-7223	88	26	−	−	PROPN
app01-7223	88	27	ay)(cz	ay)(cz	PUNCT
app01-7223	88	28	−	−	PROPN
app01-7223	88	29	az	az	PROPN
app01-7223	88	30	)	)	PUNCT
app01-7223	88	31	−	−	PROPN
app01-7223	89	1	(	(	PUNCT
app01-7223	89	2	cy	cy	PROPN
app01-7223	89	3	−	−	PROPN
app01-7223	89	4	ay)(bz	ay)(bz	PUNCT
app01-7223	89	5	−	−	PROPN
app01-7223	89	6	az	az	PROPN
app01-7223	89	7	)	)	PUNCT
app01-7223	89	8	(	(	PUNCT
app01-7223	89	9	5	5	X
app01-7223	89	10	)	)	PUNCT
app01-7223	89	11	b	b	NOUN
app01-7223	90	1	=	=	SYM
app01-7223	90	2	(	(	PUNCT
app01-7223	90	3	bz	bz	PROPN
app01-7223	90	4	−	−	PROPN
app01-7223	90	5	az)(cx	az)(cx	ADP
app01-7223	90	6	−	−	PROPN
app01-7223	90	7	ax	ax	NOUN
app01-7223	90	8	)	)	PUNCT
app01-7223	90	9	−	−	PROPN
app01-7223	90	10	(	(	PUNCT
app01-7223	90	11	cz	cz	NOUN
app01-7223	90	12	−	−	PROPN
app01-7223	90	13	az)(bx	az)(bx	PUNCT
app01-7223	90	14	−	−	PROPN
app01-7223	90	15	ax	ax	NOUN
app01-7223	90	16	)	)	PUNCT
app01-7223	90	17	(	(	PUNCT
app01-7223	90	18	6	6	NUM
app01-7223	90	19	)	)	PUNCT
app01-7223	90	20	c	c	NOUN
app01-7223	90	21	=	=	SYM
app01-7223	90	22	(	(	PUNCT
app01-7223	90	23	bx	bx	PROPN
app01-7223	90	24	−	−	PROPN
app01-7223	90	25	ax)(cy	ax)(cy	PROPN
app01-7223	90	26	−	−	PROPN
app01-7223	90	27	ay	ay	NOUN
app01-7223	90	28	)	)	PUNCT
app01-7223	90	29	−	−	PROPN
app01-7223	90	30	(	(	PUNCT
app01-7223	90	31	cx	cx	PROPN
app01-7223	90	32	−	−	PROPN
app01-7223	90	33	ax)(by	ax)(by	NUM
app01-7223	90	34	−	−	NOUN
app01-7223	90	35	ay	ay	NOUN
app01-7223	90	36	)	)	PUNCT
app01-7223	90	37	(	(	PUNCT
app01-7223	90	38	7	7	X
app01-7223	90	39	)	)	PUNCT
app01-7223	90	40	d	d	NOUN
app01-7223	90	41	=	=	SYM
app01-7223	90	42	−(aax	−(aax	PROPN
app01-7223	90	43	+	+	NUM
app01-7223	90	44	bay	bay	NOUN
app01-7223	90	45	+	+	CCONJ
app01-7223	90	46	caz	caz	ADJ
app01-7223	90	47	)	)	PUNCT
app01-7223	90	48	(	(	PUNCT
app01-7223	90	49	8)	8)	NUM
app01-7223	90	50	after	after	ADP
app01-7223	90	51	establishing	establish	VERB
app01-7223	90	52	the	the	DET
app01-7223	90	53	hypothesis	hypothesis	NOUN
app01-7223	90	54	,	,	PUNCT
app01-7223	90	55	more	more	ADJ
app01-7223	90	56	points	point	NOUN
app01-7223	90	57	are	be	AUX
app01-7223	90	58	selected	select	VERB
app01-7223	90	59	randomly	randomly	ADV
app01-7223	90	60	,	,	PUNCT
app01-7223	90	61	and	and	CCONJ
app01-7223	90	62	the	the	DET
app01-7223	90	63	distance	distance	NOUN
app01-7223	90	64	from	from	ADP
app01-7223	90	65	an	an	DET
app01-7223	90	66	arbitrary	arbitrary	ADJ
app01-7223	90	67	point	point	NOUN
app01-7223	90	68	to	to	ADP
app01-7223	90	69	the	the	DET
app01-7223	90	70	plane	plane	NOUN
app01-7223	90	71	is	be	AUX
app01-7223	90	72	calculated	calculate	VERB
app01-7223	90	73	.	.	PUNCT
app01-7223	91	1	points	point	NOUN
app01-7223	91	2	within	within	ADP
app01-7223	91	3	sufficient	sufficient	ADJ
app01-7223	91	4	distance	distance	NOUN
app01-7223	91	5	are	be	AUX
app01-7223	91	6	considered	consider	VERB
app01-7223	91	7	in	in	ADP
app01-7223	91	8	the	the	DET
app01-7223	91	9	support	support	NOUN
app01-7223	91	10	set	set	VERB
app01-7223	91	11	.	.	PUNCT
app01-7223	92	1	for	for	ADP
app01-7223	92	2	the	the	DET
app01-7223	92	3	first	first	ADJ
app01-7223	92	4	100	100	NUM
app01-7223	92	5	accepted	accept	VERB
app01-7223	92	6	points	point	NOUN
app01-7223	92	7	,	,	PUNCT
app01-7223	92	8	the	the	DET
app01-7223	92	9	plane	plane	NOUN
app01-7223	92	10	coefficients	coefficient	NOUN
app01-7223	92	11	are	be	AUX
app01-7223	92	12	refined	refine	VERB
app01-7223	92	13	using	use	VERB
app01-7223	92	14	the	the	DET
app01-7223	92	15	algorithm	algorithm	NOUN
app01-7223	92	16	described	describe	VERB
app01-7223	92	17	in	in	ADP
app01-7223	92	18	section	section	NOUN
app01-7223	92	19	2.3	2.3	NUM
app01-7223	92	20	.	.	PUNCT
app01-7223	93	1	3.4	3.4	NUM
app01-7223	93	2	.	.	PUNCT
app01-7223	94	1	wall	wall	PROPN
app01-7223	94	2	segmentation	segmentation	PROPN
app01-7223	94	3	wall	wall	PROPN
app01-7223	94	4	segmentation	segmentation	PROPN
app01-7223	94	5	is	be	AUX
app01-7223	94	6	performed	perform	VERB
app01-7223	94	7	on	on	ADP
app01-7223	94	8	each	each	PRON
app01-7223	94	9	of	of	ADP
app01-7223	94	10	the	the	DET
app01-7223	94	11	vertical	vertical	ADJ
app01-7223	94	12	planes	plane	NOUN
app01-7223	94	13	found	find	VERB
app01-7223	94	14	in	in	ADP
app01-7223	94	15	the	the	DET
app01-7223	94	16	previous	previous	ADJ
app01-7223	94	17	step	step	NOUN
app01-7223	94	18	.	.	PUNCT
app01-7223	95	1	only	only	ADJ
app01-7223	95	2	walls	wall	NOUN
app01-7223	95	3	of	of	ADP
app01-7223	95	4	constant	constant	ADJ
app01-7223	95	5	thickness	thickness	NOUN
app01-7223	95	6	are	be	AUX
app01-7223	95	7	supported	support	VERB
app01-7223	95	8	.	.	PUNCT
app01-7223	96	1	therefore	therefore	ADV
app01-7223	96	2	,	,	PUNCT
app01-7223	96	3	comparing	compare	VERB
app01-7223	96	4	the	the	DET
app01-7223	96	5	angle	angle	NOUN
app01-7223	96	6	between	between	ADP
app01-7223	96	7	every	every	DET
app01-7223	96	8	two	two	NUM
app01-7223	96	9	planes	plane	NOUN
app01-7223	96	10	and	and	CCONJ
app01-7223	96	11	the	the	DET
app01-7223	96	12	distance	distance	NOUN
app01-7223	96	13	between	between	ADP
app01-7223	96	14	the	the	DET
app01-7223	96	15	two	two	NUM
app01-7223	96	16	subject	subject	ADJ
app01-7223	96	17	planes	plane	NOUN
app01-7223	96	18	is	be	AUX
app01-7223	96	19	sufficient	sufficient	ADJ
app01-7223	96	20	to	to	PART
app01-7223	96	21	mark	mark	VERB
app01-7223	96	22	wall	wall	PROPN
app01-7223	96	23	segment	segment	PROPN
app01-7223	96	24	candidates	candidate	NOUN
app01-7223	96	25	.	.	PUNCT
app01-7223	97	1	for	for	ADP
app01-7223	97	2	each	each	DET
app01-7223	97	3	wall	wall	NOUN
app01-7223	97	4	candidate	candidate	NOUN
app01-7223	97	5	,	,	PUNCT
app01-7223	97	6	its	its	PRON
app01-7223	97	7	points	point	NOUN
app01-7223	97	8	are	be	AUX
app01-7223	97	9	projected	project	VERB
app01-7223	97	10	to	to	ADP
app01-7223	97	11	a	a	DET
app01-7223	97	12	single	single	ADJ
app01-7223	97	13	2d	2d	NUM
app01-7223	97	14	plane	plane	NOUN
app01-7223	97	15	.	.	PUNCT
app01-7223	98	1	such	such	DET
app01-7223	98	2	a	a	DET
app01-7223	98	3	transformation	transformation	NOUN
app01-7223	98	4	can	can	AUX
app01-7223	98	5	be	be	AUX
app01-7223	98	6	done	do	VERB
app01-7223	98	7	simply	simply	ADV
app01-7223	98	8	without	without	ADP
app01-7223	98	9	the	the	DET
app01-7223	98	10	transformation	transformation	NOUN
app01-7223	98	11	matrix	matrix	NOUN
app01-7223	98	12	.	.	PUNCT
app01-7223	99	1	the	the	DET
app01-7223	99	2	normal	normal	ADJ
app01-7223	99	3	vector	vector	NOUN
app01-7223	99	4	is	be	AUX
app01-7223	99	5	taken	take	VERB
app01-7223	99	6	from	from	ADP
app01-7223	99	7	plane	plane	NOUN
app01-7223	99	8	segmentation	segmentation	NOUN
app01-7223	99	9	by	by	ADP
app01-7223	99	10	calculating	calculate	VERB
app01-7223	99	11	the	the	DET
app01-7223	99	12	average	average	ADJ
app01-7223	99	13	value	value	NOUN
app01-7223	99	14	of	of	ADP
app01-7223	99	15	all	all	DET
app01-7223	99	16	wall	wall	NOUN
app01-7223	99	17	planes	plane	NOUN
app01-7223	99	18	.	.	PUNCT
app01-7223	100	1	local	local	ADJ
app01-7223	100	2	x	x	NOUN
app01-7223	100	3	-	-	ADJ
app01-7223	100	4	axis	axis	NOUN
app01-7223	100	5	is	be	AUX
app01-7223	100	6	selected	select	VERB
app01-7223	100	7	by	by	ADP
app01-7223	100	8	picking	pick	VERB
app01-7223	100	9	two	two	NUM
app01-7223	100	10	plane	plane	NOUN
app01-7223	100	11	points	point	NOUN
app01-7223	100	12	a	a	DET
app01-7223	100	13	,	,	PUNCT
app01-7223	100	14	b	b	NOUN
app01-7223	100	15	,	,	PUNCT
app01-7223	100	16	and	and	CCONJ
app01-7223	100	17	clipping	clip	VERB
app01-7223	100	18	their	their	PRON
app01-7223	100	19	vector	vector	NOUN
app01-7223	100	20	’s	’s	PART
app01-7223	100	21	z	z	NOUN
app01-7223	100	22	coordinate	coordinate	NOUN
app01-7223	100	23	.	.	PUNCT
app01-7223	101	1	by	by	ADP
app01-7223	101	2	knowing	know	VERB
app01-7223	101	3	the	the	DET
app01-7223	101	4	local	local	ADJ
app01-7223	101	5	x	x	NOUN
app01-7223	101	6	-	-	NOUN
app01-7223	101	7	axis	axis	NOUN
app01-7223	101	8	and	and	CCONJ
app01-7223	101	9	the	the	DET
app01-7223	101	10	normal	normal	ADJ
app01-7223	101	11	vector	vector	NOUN
app01-7223	101	12	,	,	PUNCT
app01-7223	101	13	the	the	DET
app01-7223	101	14	y	y	NOUN
app01-7223	101	15	-	-	PUNCT
app01-7223	101	16	axis	axis	NOUN
app01-7223	101	17	vector	vector	NOUN
app01-7223	101	18	can	can	AUX
app01-7223	101	19	be	be	AUX
app01-7223	101	20	calculated	calculate	VERB
app01-7223	101	21	using	use	VERB
app01-7223	101	22	the	the	DET
app01-7223	101	23	cross	cross	NOUN
app01-7223	101	24	product	product	NOUN
app01-7223	101	25	.	.	PUNCT
app01-7223	102	1	this	this	PRON
app01-7223	102	2	is	be	AUX
app01-7223	102	3	sumarized	sumarize	VERB
app01-7223	102	4	below	below	ADV
app01-7223	102	5	.	.	PUNCT
app01-7223	103	1	xloc	xloc	PROPN
app01-7223	104	1	=	=	PUNCT
app01-7223	104	2	(	(	PUNCT
app01-7223	104	3	bx	bx	NOUN
app01-7223	104	4	−	−	PROPN
app01-7223	104	5	ax	ax	NOUN
app01-7223	104	6	,	,	PUNCT
app01-7223	104	7	by	by	ADP
app01-7223	104	8	−	−	PROPN
app01-7223	104	9	ay	ay	NOUN
app01-7223	104	10	,	,	PUNCT
app01-7223	104	11	0	0	NUM
app01-7223	104	12	)	)	PUNCT
app01-7223	104	13	(	(	PUNCT
app01-7223	104	14	9	9	X
app01-7223	104	15	)	)	PUNCT
app01-7223	104	16	yloc	yloc	NOUN
app01-7223	104	17	=	=	SYM
app01-7223	104	18	n	n	NUM
app01-7223	104	19	×	×	PROPN
app01-7223	104	20	xloc	xloc	PROPN
app01-7223	104	21	(	(	PUNCT
app01-7223	104	22	10	10	NUM
app01-7223	104	23	)	)	PUNCT
app01-7223	104	24	128	128	NUM
app01-7223	104	25	vol	vol	NOUN
app01-7223	104	26	.	.	PUNCT
app01-7223	104	27	30/2021	30/2021	NUM
app01-7223	104	28	automated	automate	VERB
app01-7223	104	29	bim	bim	NOUN
app01-7223	104	30	entity	entity	NOUN
app01-7223	104	31	reconstruction	reconstruction	NOUN
app01-7223	104	32	figure	figure	NOUN
app01-7223	104	33	5	5	NUM
app01-7223	104	34	.	.	PUNCT
app01-7223	104	35	wall	wall	PROPN
app01-7223	104	36	segmentation	segmentation	PROPN
app01-7223	104	37	(	(	PUNCT
app01-7223	104	38	top	top	ADJ
app01-7223	104	39	view	view	NOUN
app01-7223	104	40	)	)	PUNCT
app01-7223	104	41	.	.	PUNCT
app01-7223	105	1	the	the	DET
app01-7223	105	2	wall	wall	PROPN
app01-7223	105	3	local	local	ADJ
app01-7223	105	4	axes	axis	NOUN
app01-7223	105	5	xloc	xloc	PROPN
app01-7223	105	6	and	and	CCONJ
app01-7223	105	7	yloc	yloc	NOUN
app01-7223	105	8	are	be	AUX
app01-7223	105	9	then	then	ADV
app01-7223	105	10	normalized	normalize	VERB
app01-7223	105	11	,	,	PUNCT
app01-7223	105	12	and	and	CCONJ
app01-7223	105	13	for	for	ADP
app01-7223	105	14	each	each	DET
app01-7223	105	15	wall	wall	NOUN
app01-7223	105	16	point	point	PROPN
app01-7223	105	17	p	p	X
app01-7223	105	18	,	,	PUNCT
app01-7223	105	19	the	the	DET
app01-7223	105	20	local	local	ADJ
app01-7223	105	21	coordinates	coordinate	NOUN
app01-7223	105	22	are	be	AUX
app01-7223	105	23	calculated	calculate	VERB
app01-7223	105	24	using	use	VERB
app01-7223	105	25	the	the	DET
app01-7223	105	26	dot	dot	NOUN
app01-7223	105	27	product	product	NOUN
app01-7223	105	28	.	.	PUNCT
app01-7223	106	1	px	px	PROPN
app01-7223	106	2	,	,	PUNCT
app01-7223	106	3	loc	loc	NOUN
app01-7223	106	4	=	=	SYM
app01-7223	106	5	(	(	PUNCT
app01-7223	106	6	p	p	NOUN
app01-7223	106	7	−	−	PROPN
app01-7223	106	8	a	a	NOUN
app01-7223	106	9	)	)	PUNCT
app01-7223	106	10	·	·	PUNCT
app01-7223	106	11	xloc	xloc	PROPN
app01-7223	106	12	(	(	PUNCT
app01-7223	106	13	11	11	NUM
app01-7223	106	14	)	)	PUNCT
app01-7223	106	15	py	py	PROPN
app01-7223	106	16	,	,	PUNCT
app01-7223	106	17	loc	loc	PROPN
app01-7223	106	18	=	=	SYM
app01-7223	106	19	(	(	PUNCT
app01-7223	106	20	p	p	NOUN
app01-7223	106	21	−	−	PROPN
app01-7223	106	22	a	a	NOUN
app01-7223	106	23	)	)	PUNCT
app01-7223	106	24	·	·	PUNCT
app01-7223	106	25	yloc	yloc	NOUN
app01-7223	106	26	(	(	PUNCT
app01-7223	106	27	12	12	NUM
app01-7223	106	28	)	)	PUNCT
app01-7223	106	29	plane	plane	NOUN
app01-7223	106	30	points	point	NOUN
app01-7223	106	31	lie	lie	VERB
app01-7223	106	32	in	in	ADP
app01-7223	106	33	two	two	NUM
app01-7223	106	34	intervals	interval	NOUN
app01-7223	106	35	[	[	X
app01-7223	106	36	a	a	X
app01-7223	106	37	,	,	PUNCT
app01-7223	106	38	b	b	NOUN
app01-7223	106	39	]	]	PUNCT
app01-7223	106	40	and	and	CCONJ
app01-7223	107	1	[	[	X
app01-7223	107	2	c	c	X
app01-7223	107	3	,	,	PUNCT
app01-7223	107	4	d	d	X
app01-7223	107	5	]	]	X
app01-7223	107	6	in	in	ADP
app01-7223	107	7	the	the	DET
app01-7223	107	8	local	local	ADJ
app01-7223	107	9	x	x	ADJ
app01-7223	107	10	-	-	ADJ
app01-7223	107	11	axis	axis	ADJ
app01-7223	107	12	direction	direction	NOUN
app01-7223	107	13	.	.	PUNCT
app01-7223	108	1	the	the	DET
app01-7223	108	2	distance	distance	NOUN
app01-7223	108	3	o	o	NOUN
app01-7223	108	4	in	in	ADP
app01-7223	108	5	the	the	DET
app01-7223	108	6	wall	wall	NOUN
app01-7223	108	7	direction	direction	NOUN
app01-7223	108	8	in	in	ADP
app01-7223	108	9	which	which	PRON
app01-7223	108	10	the	the	DET
app01-7223	108	11	planes	plane	NOUN
app01-7223	108	12	are	be	AUX
app01-7223	108	13	overlapping	overlap	VERB
app01-7223	108	14	is	be	AUX
app01-7223	108	15	calculated	calculate	VERB
app01-7223	108	16	o	o	NOUN
app01-7223	109	1	=	=	PUNCT
app01-7223	110	1	[	[	X
app01-7223	110	2	max(a	max(a	PROPN
app01-7223	110	3	,	,	PUNCT
app01-7223	110	4	c	c	NOUN
app01-7223	110	5	)	)	PUNCT
app01-7223	110	6	,	,	PUNCT
app01-7223	110	7	min(b	min(b	PROPN
app01-7223	110	8	,	,	PUNCT
app01-7223	110	9	d	d	NOUN
app01-7223	110	10	)	)	PUNCT
app01-7223	110	11	]	]	PUNCT
app01-7223	110	12	wall	wall	NOUN
app01-7223	110	13	candidates	candidate	NOUN
app01-7223	110	14	are	be	AUX
app01-7223	110	15	filtered	filter	VERB
app01-7223	110	16	based	base	VERB
app01-7223	110	17	on	on	ADP
app01-7223	110	18	the	the	DET
app01-7223	110	19	user	user	NOUN
app01-7223	110	20	’s	’s	PART
app01-7223	110	21	overlap	overlap	NOUN
app01-7223	110	22	requirements	requirement	NOUN
app01-7223	110	23	,	,	PUNCT
app01-7223	110	24	as	as	SCONJ
app01-7223	110	25	partially	partially	ADV
app01-7223	110	26	overlapping	overlap	VERB
app01-7223	110	27	planes	plane	NOUN
app01-7223	110	28	are	be	AUX
app01-7223	110	29	likely	likely	ADJ
app01-7223	110	30	to	to	PART
app01-7223	110	31	belong	belong	VERB
app01-7223	110	32	to	to	ADP
app01-7223	110	33	a	a	DET
app01-7223	110	34	common	common	ADJ
app01-7223	110	35	wall	wall	NOUN
app01-7223	110	36	.	.	PUNCT
app01-7223	111	1	3.5	3.5	NUM
app01-7223	111	2	.	.	PUNCT
app01-7223	112	1	opening	open	VERB
app01-7223	112	2	segmentation	segmentation	NOUN
app01-7223	112	3	a	a	DET
app01-7223	112	4	naive	naive	ADJ
app01-7223	112	5	way	way	NOUN
app01-7223	112	6	of	of	ADP
app01-7223	112	7	finding	find	VERB
app01-7223	112	8	openings	opening	NOUN
app01-7223	112	9	in	in	ADP
app01-7223	112	10	walls	wall	NOUN
app01-7223	112	11	(	(	PUNCT
app01-7223	112	12	on	on	ADP
app01-7223	112	13	two	two	NUM
app01-7223	112	14	parallel	parallel	ADJ
app01-7223	112	15	planes	plane	NOUN
app01-7223	112	16	)	)	PUNCT
app01-7223	112	17	is	be	AUX
app01-7223	112	18	to	to	PART
app01-7223	112	19	find	find	VERB
app01-7223	112	20	overlap	overlap	NOUN
app01-7223	112	21	of	of	ADP
app01-7223	112	22	missing	miss	VERB
app01-7223	112	23	points	point	NOUN
app01-7223	112	24	on	on	ADP
app01-7223	112	25	both	both	DET
app01-7223	112	26	planes	plane	NOUN
app01-7223	112	27	.	.	PUNCT
app01-7223	113	1	however	however	ADV
app01-7223	113	2	,	,	PUNCT
app01-7223	113	3	such	such	ADJ
app01-7223	113	4	treatment	treatment	NOUN
app01-7223	113	5	produces	produce	VERB
app01-7223	113	6	a	a	DET
app01-7223	113	7	lot	lot	NOUN
app01-7223	113	8	of	of	ADP
app01-7223	113	9	false	false	ADJ
app01-7223	113	10	results	result	NOUN
app01-7223	113	11	.	.	PUNCT
app01-7223	114	1	for	for	ADP
app01-7223	114	2	example	example	NOUN
app01-7223	114	3	,	,	PUNCT
app01-7223	114	4	two	two	NUM
app01-7223	114	5	cabinets	cabinet	NOUN
app01-7223	114	6	on	on	ADP
app01-7223	114	7	each	each	DET
app01-7223	114	8	side	side	NOUN
app01-7223	114	9	of	of	ADP
app01-7223	114	10	the	the	DET
app01-7223	114	11	wall	wall	NOUN
app01-7223	114	12	in	in	ADP
app01-7223	114	13	the	the	DET
app01-7223	114	14	same	same	ADJ
app01-7223	114	15	place	place	NOUN
app01-7223	114	16	do	do	AUX
app01-7223	114	17	not	not	PART
app01-7223	114	18	form	form	VERB
app01-7223	114	19	an	an	DET
app01-7223	114	20	opening	opening	NOUN
app01-7223	114	21	.	.	PUNCT
app01-7223	115	1	points	point	NOUN
app01-7223	115	2	present	present	ADJ
app01-7223	115	3	between	between	ADP
app01-7223	115	4	the	the	DET
app01-7223	115	5	walls	wall	NOUN
app01-7223	115	6	can	can	AUX
app01-7223	115	7	be	be	AUX
app01-7223	115	8	taken	take	VERB
app01-7223	115	9	into	into	ADP
app01-7223	115	10	consideration	consideration	NOUN
app01-7223	115	11	to	to	PART
app01-7223	115	12	improve	improve	VERB
app01-7223	115	13	the	the	DET
app01-7223	115	14	accuracy	accuracy	NOUN
app01-7223	115	15	of	of	ADP
app01-7223	115	16	opening	opening	NOUN
app01-7223	115	17	detection	detection	NOUN
app01-7223	115	18	.	.	PUNCT
app01-7223	116	1	by	by	ADP
app01-7223	116	2	a	a	DET
app01-7223	116	3	combination	combination	NOUN
app01-7223	116	4	of	of	ADP
app01-7223	116	5	inverse	inverse	NOUN
app01-7223	116	6	region	region	NOUN
app01-7223	116	7	growing	grow	VERB
app01-7223	116	8	and	and	CCONJ
app01-7223	116	9	boundary	boundary	ADJ
app01-7223	116	10	detection	detection	NOUN
app01-7223	116	11	,	,	PUNCT
app01-7223	116	12	openings	opening	NOUN
app01-7223	116	13	with	with	ADP
app01-7223	116	14	a	a	DET
app01-7223	116	15	sufficient	sufficient	ADJ
app01-7223	116	16	density	density	NOUN
app01-7223	116	17	of	of	ADP
app01-7223	116	18	intermediate	intermediate	ADJ
app01-7223	116	19	points	point	NOUN
app01-7223	116	20	can	can	AUX
app01-7223	116	21	be	be	AUX
app01-7223	116	22	identified	identify	VERB
app01-7223	116	23	.	.	PUNCT
app01-7223	117	1	by	by	ADP
app01-7223	117	2	calculating	calculate	VERB
app01-7223	117	3	the	the	DET
app01-7223	117	4	bounding	bounding	NOUN
app01-7223	117	5	box	box	NOUN
app01-7223	117	6	of	of	ADP
app01-7223	117	7	an	an	DET
app01-7223	117	8	opening	opening	NOUN
app01-7223	117	9	in	in	ADP
app01-7223	117	10	the	the	DET
app01-7223	117	11	local	local	ADJ
app01-7223	117	12	plane	plane	NOUN
app01-7223	117	13	coordinates	coordinate	NOUN
app01-7223	117	14	,	,	PUNCT
app01-7223	117	15	dimensions	dimension	NOUN
app01-7223	117	16	can	can	AUX
app01-7223	117	17	be	be	AUX
app01-7223	117	18	calculated	calculate	VERB
app01-7223	117	19	for	for	ADP
app01-7223	117	20	rectangular	rectangular	ADJ
app01-7223	117	21	openings	opening	NOUN
app01-7223	117	22	(	(	PUNCT
app01-7223	117	23	i.e.	i.e.	X
app01-7223	117	24	,	,	PUNCT
app01-7223	117	25	doors	door	NOUN
app01-7223	117	26	and	and	CCONJ
app01-7223	117	27	some	some	DET
app01-7223	117	28	windows	window	NOUN
app01-7223	117	29	)	)	PUNCT
app01-7223	117	30	.	.	PUNCT
app01-7223	118	1	doors	door	NOUN
app01-7223	118	2	are	be	AUX
app01-7223	118	3	recognized	recognize	VERB
app01-7223	118	4	by	by	ADP
app01-7223	118	5	comparing	compare	VERB
app01-7223	118	6	their	their	PRON
app01-7223	118	7	bottom	bottom	ADJ
app01-7223	118	8	coordinates	coordinate	NOUN
app01-7223	118	9	to	to	ADP
app01-7223	118	10	the	the	DET
app01-7223	118	11	corresponding	corresponding	ADJ
app01-7223	118	12	floor	floor	NOUN
app01-7223	118	13	level	level	NOUN
app01-7223	118	14	.	.	PUNCT
app01-7223	119	1	opening	opening	NOUN
app01-7223	119	2	visualized	visualize	VERB
app01-7223	119	3	by	by	ADP
app01-7223	119	4	their	their	PRON
app01-7223	119	5	bounding	bounding	NOUN
app01-7223	119	6	box	box	NOUN
app01-7223	119	7	can	can	AUX
app01-7223	119	8	be	be	AUX
app01-7223	119	9	observed	observe	VERB
app01-7223	119	10	in	in	ADP
app01-7223	119	11	figure	figure	NOUN
app01-7223	119	12	6	6	NUM
app01-7223	119	13	.	.	PUNCT
app01-7223	120	1	figure	figure	VERB
app01-7223	120	2	6	6	NUM
app01-7223	120	3	.	.	PUNCT
app01-7223	120	4	opening	opening	NOUN
app01-7223	120	5	detection	detection	NOUN
app01-7223	120	6	—	—	PUNCT
app01-7223	121	1	doors	door	NOUN
app01-7223	121	2	(	(	PUNCT
app01-7223	121	3	red	red	ADJ
app01-7223	121	4	)	)	PUNCT
app01-7223	121	5	,	,	PUNCT
app01-7223	121	6	windows	window	NOUN
app01-7223	121	7	(	(	PUNCT
app01-7223	121	8	blue	blue	ADJ
app01-7223	121	9	)	)	PUNCT
app01-7223	121	10	.	.	PUNCT
app01-7223	122	1	4	4	X
app01-7223	122	2	.	.	X
app01-7223	122	3	demonstration	demonstration	NOUN
app01-7223	122	4	on	on	ADP
app01-7223	122	5	a	a	DET
app01-7223	122	6	sample	sample	NOUN
app01-7223	122	7	point	point	NOUN
app01-7223	122	8	cloud	cloud	VERB
app01-7223	122	9	the	the	DET
app01-7223	122	10	example	example	NOUN
app01-7223	122	11	of	of	ADP
app01-7223	122	12	a	a	DET
app01-7223	122	13	simple	simple	ADJ
app01-7223	122	14	office	office	NOUN
app01-7223	122	15	building	building	NOUN
app01-7223	122	16	with	with	ADP
app01-7223	122	17	just	just	ADV
app01-7223	122	18	a	a	DET
app01-7223	122	19	single	single	ADJ
app01-7223	122	20	floor	floor	NOUN
app01-7223	122	21	with	with	ADP
app01-7223	122	22	eight	eight	NUM
app01-7223	122	23	rooms	room	NOUN
app01-7223	122	24	is	be	AUX
app01-7223	122	25	selected	select	VERB
app01-7223	122	26	to	to	PART
app01-7223	122	27	demonstrate	demonstrate	VERB
app01-7223	122	28	the	the	DET
app01-7223	122	29	capabilities	capability	NOUN
app01-7223	122	30	of	of	ADP
app01-7223	122	31	the	the	DET
app01-7223	122	32	presented	present	VERB
app01-7223	122	33	approach	approach	NOUN
app01-7223	122	34	.	.	PUNCT
app01-7223	123	1	as	as	SCONJ
app01-7223	123	2	the	the	DET
app01-7223	123	3	whole	whole	ADJ
app01-7223	123	4	floor	floor	NOUN
app01-7223	123	5	was	be	AUX
app01-7223	123	6	unfurnished	unfurnished	ADJ
app01-7223	123	7	,	,	PUNCT
app01-7223	123	8	the	the	DET
app01-7223	123	9	overall	overall	ADJ
app01-7223	123	10	floor	floor	NOUN
app01-7223	123	11	envelope	envelope	NOUN
app01-7223	123	12	has	have	VERB
app01-7223	123	13	little	little	ADJ
app01-7223	123	14	to	to	ADP
app01-7223	123	15	none	none	NOUN
app01-7223	123	16	missing	miss	VERB
app01-7223	123	17	points	point	NOUN
app01-7223	123	18	except	except	SCONJ
app01-7223	123	19	for	for	ADP
app01-7223	123	20	the	the	DET
app01-7223	123	21	areas	area	NOUN
app01-7223	123	22	behind	behind	ADP
app01-7223	123	23	doors	door	NOUN
app01-7223	123	24	and	and	CCONJ
app01-7223	123	25	heating	heating	NOUN
app01-7223	123	26	elements	element	NOUN
app01-7223	123	27	.	.	PUNCT
app01-7223	124	1	the	the	DET
app01-7223	124	2	original	original	ADJ
app01-7223	124	3	data	datum	NOUN
app01-7223	124	4	set	set	VERB
app01-7223	124	5	consists	consist	VERB
app01-7223	124	6	of	of	ADP
app01-7223	124	7	85	85	NUM
app01-7223	124	8	316	316	NUM
app01-7223	124	9	410	410	NUM
app01-7223	124	10	points	point	NOUN
app01-7223	124	11	is	be	AUX
app01-7223	124	12	shown	show	VERB
app01-7223	124	13	in	in	ADP
app01-7223	124	14	fig	fig	NOUN
app01-7223	124	15	.	.	PUNCT
app01-7223	125	1	1	1	X
app01-7223	125	2	.	.	PUNCT
app01-7223	125	3	at	at	ADP
app01-7223	125	4	first	first	ADV
app01-7223	125	5	,	,	PUNCT
app01-7223	125	6	the	the	DET
app01-7223	125	7	original	original	ADJ
app01-7223	125	8	point	point	NOUN
app01-7223	125	9	cloud	cloud	NOUN
app01-7223	125	10	was	be	AUX
app01-7223	125	11	downsampled	downsample	VERB
app01-7223	125	12	into	into	ADP
app01-7223	125	13	12	12	NUM
app01-7223	125	14	358	358	NUM
app01-7223	125	15	178	178	NUM
app01-7223	125	16	using	use	VERB
app01-7223	125	17	a	a	DET
app01-7223	125	18	1×1×1	1×1×1	NUM
app01-7223	125	19	cm	cm	NOUN
app01-7223	125	20	grid	grid	NOUN
app01-7223	125	21	.	.	PUNCT
app01-7223	126	1	by	by	ADP
app01-7223	126	2	inspecting	inspect	VERB
app01-7223	126	3	the	the	DET
app01-7223	126	4	point	point	NOUN
app01-7223	126	5	cloud	cloud	NOUN
app01-7223	126	6	,	,	PUNCT
app01-7223	126	7	we	we	PRON
app01-7223	126	8	identify	identify	VERB
app01-7223	126	9	the	the	DET
app01-7223	126	10	floor	floor	NOUN
app01-7223	126	11	and	and	CCONJ
app01-7223	126	12	ceiling	ceiling	NOUN
app01-7223	126	13	levels	level	NOUN
app01-7223	126	14	,	,	PUNCT
app01-7223	126	15	and	and	CCONJ
app01-7223	126	16	we	we	PRON
app01-7223	126	17	use	use	VERB
app01-7223	126	18	all	all	DET
app01-7223	126	19	the	the	DET
app01-7223	126	20	points	point	NOUN
app01-7223	126	21	in	in	ADP
app01-7223	126	22	between	between	ADP
app01-7223	126	23	ceiling	ceiling	NOUN
app01-7223	126	24	level	level	NOUN
app01-7223	126	25	and	and	CCONJ
app01-7223	126	26	30	30	NUM
app01-7223	126	27	cm	cm	NOUN
app01-7223	126	28	below	below	ADV
app01-7223	126	29	for	for	ADP
app01-7223	126	30	room	room	NOUN
app01-7223	126	31	finding	finding	NOUN
app01-7223	126	32	.	.	PUNCT
app01-7223	127	1	the	the	DET
app01-7223	127	2	room	room	NOUN
app01-7223	127	3	finding	finding	NOUN
app01-7223	127	4	performed	perform	VERB
app01-7223	127	5	on	on	ADP
app01-7223	127	6	a	a	DET
app01-7223	127	7	2d	2d	NUM
app01-7223	127	8	floor	floor	NOUN
app01-7223	127	9	plan	plan	NOUN
app01-7223	127	10	grid	grid	VERB
app01-7223	127	11	with	with	ADP
app01-7223	127	12	a	a	DET
app01-7223	127	13	2×2	2×2	NUM
app01-7223	127	14	cm	cm	NOUN
app01-7223	127	15	step	step	NOUN
app01-7223	127	16	yields	yield	NOUN
app01-7223	127	17	all	all	DET
app01-7223	127	18	the	the	DET
app01-7223	127	19	eight	eight	NUM
app01-7223	127	20	identified	identify	VERB
app01-7223	127	21	rooms	room	NOUN
app01-7223	127	22	,	,	PUNCT
app01-7223	127	23	visualized	visualize	VERB
app01-7223	127	24	in	in	ADP
app01-7223	127	25	figure	figure	NOUN
app01-7223	127	26	3	3	NUM
app01-7223	127	27	.	.	PUNCT
app01-7223	128	1	in	in	ADP
app01-7223	128	2	the	the	DET
app01-7223	128	3	same	same	ADJ
app01-7223	128	4	step	step	NOUN
app01-7223	128	5	,	,	PUNCT
app01-7223	128	6	we	we	PRON
app01-7223	128	7	also	also	ADV
app01-7223	128	8	identify	identify	VERB
app01-7223	128	9	all	all	DET
app01-7223	128	10	the	the	DET
app01-7223	128	11	93	93	NUM
app01-7223	128	12	vertical	vertical	ADJ
app01-7223	128	13	planes	plane	NOUN
app01-7223	128	14	,	,	PUNCT
app01-7223	128	15	as	as	SCONJ
app01-7223	128	16	can	can	AUX
app01-7223	128	17	be	be	AUX
app01-7223	128	18	seen	see	VERB
app01-7223	128	19	in	in	ADP
app01-7223	128	20	fig	fig	NOUN
app01-7223	128	21	.	.	PUNCT
app01-7223	129	1	4	4	X
app01-7223	129	2	.	.	X
app01-7223	129	3	the	the	DET
app01-7223	129	4	planes	plane	NOUN
app01-7223	129	5	assigned	assign	VERB
app01-7223	129	6	to	to	ADP
app01-7223	129	7	their	their	PRON
app01-7223	129	8	source	source	NOUN
app01-7223	129	9	rooms	room	NOUN
app01-7223	129	10	are	be	AUX
app01-7223	129	11	then	then	ADV
app01-7223	129	12	passed	pass	VERB
app01-7223	129	13	to	to	ADP
app01-7223	129	14	the	the	DET
app01-7223	129	15	next	next	ADJ
app01-7223	129	16	step	step	NOUN
app01-7223	129	17	for	for	ADP
app01-7223	129	18	wall	wall	NOUN
app01-7223	129	19	matching	match	VERB
app01-7223	129	20	even	even	ADV
app01-7223	129	21	if	if	SCONJ
app01-7223	129	22	some	some	PRON
app01-7223	129	23	of	of	ADP
app01-7223	129	24	the	the	DET
app01-7223	129	25	identified	identify	VERB
app01-7223	129	26	planes	plane	NOUN
app01-7223	129	27	might	might	AUX
app01-7223	129	28	be	be	AUX
app01-7223	129	29	out	out	ADP
app01-7223	129	30	of	of	ADP
app01-7223	129	31	our	our	PRON
app01-7223	129	32	interest	interest	NOUN
app01-7223	129	33	(	(	PUNCT
app01-7223	129	34	i.e.	i.e.	X
app01-7223	129	35	,	,	PUNCT
app01-7223	129	36	doors	door	NOUN
app01-7223	129	37	or	or	CCONJ
app01-7223	129	38	noise	noise	NOUN
app01-7223	129	39	)	)	PUNCT
app01-7223	129	40	.	.	PUNCT
app01-7223	130	1	in	in	ADP
app01-7223	130	2	figure	figure	NOUN
app01-7223	130	3	5	5	NUM
app01-7223	130	4	,	,	PUNCT
app01-7223	130	5	we	we	PRON
app01-7223	130	6	can	can	AUX
app01-7223	130	7	observe	observe	VERB
app01-7223	130	8	all	all	DET
app01-7223	130	9	the	the	DET
app01-7223	130	10	matched	match	VERB
app01-7223	130	11	walls	wall	NOUN
app01-7223	130	12	on	on	ADP
app01-7223	130	13	the	the	DET
app01-7223	130	14	subject	subject	ADJ
app01-7223	130	15	floor	floor	NOUN
app01-7223	130	16	.	.	PUNCT
app01-7223	131	1	while	while	SCONJ
app01-7223	131	2	all	all	DET
app01-7223	131	3	the	the	DET
app01-7223	131	4	inner	inner	ADJ
app01-7223	131	5	walls	wall	NOUN
app01-7223	131	6	were	be	AUX
app01-7223	131	7	identified	identify	VERB
app01-7223	131	8	,	,	PUNCT
app01-7223	131	9	the	the	DET
app01-7223	131	10	exterior	exterior	ADJ
app01-7223	131	11	walls	wall	NOUN
app01-7223	131	12	are	be	AUX
app01-7223	131	13	missing	miss	VERB
app01-7223	131	14	as	as	SCONJ
app01-7223	131	15	the	the	DET
app01-7223	131	16	exterior	exterior	ADJ
app01-7223	131	17	scan	scan	NOUN
app01-7223	131	18	of	of	ADP
app01-7223	131	19	the	the	DET
app01-7223	131	20	office	office	NOUN
app01-7223	131	21	building	building	NOUN
app01-7223	131	22	was	be	AUX
app01-7223	131	23	not	not	PART
app01-7223	131	24	available	available	ADJ
app01-7223	131	25	.	.	PUNCT
app01-7223	132	1	however	however	ADV
app01-7223	132	2	,	,	PUNCT
app01-7223	132	3	some	some	PRON
app01-7223	132	4	of	of	ADP
app01-7223	132	5	the	the	DET
app01-7223	132	6	external	external	ADJ
app01-7223	132	7	walls	wall	NOUN
app01-7223	132	8	are	be	AUX
app01-7223	132	9	obtained	obtain	VERB
app01-7223	132	10	thanks	thank	NOUN
app01-7223	132	11	to	to	ADP
app01-7223	132	12	the	the	DET
app01-7223	132	13	scan	scan	NOUN
app01-7223	132	14	capturing	capture	VERB
app01-7223	132	15	the	the	DET
app01-7223	132	16	window	window	NOUN
app01-7223	132	17	frames	frame	NOUN
app01-7223	132	18	’	’	PART
app01-7223	132	19	internal	internal	ADJ
app01-7223	132	20	and	and	CCONJ
app01-7223	132	21	external	external	ADJ
app01-7223	132	22	planes	plane	NOUN
app01-7223	132	23	.	.	PUNCT
app01-7223	133	1	these	these	PRON
app01-7223	133	2	reveal	reveal	VERB
app01-7223	133	3	the	the	DET
app01-7223	133	4	estimated	estimate	VERB
app01-7223	133	5	window	window	NOUN
app01-7223	133	6	positions	position	NOUN
app01-7223	133	7	as	as	ADV
app01-7223	133	8	well	well	ADV
app01-7223	133	9	as	as	ADP
app01-7223	133	10	exterior	exterior	ADJ
app01-7223	133	11	wall	wall	NOUN
app01-7223	133	12	location	location	NOUN
app01-7223	133	13	,	,	PUNCT
app01-7223	133	14	excluding	exclude	VERB
app01-7223	133	15	its	its	PRON
app01-7223	133	16	wall	wall	NOUN
app01-7223	133	17	thickness	thickness	NOUN
app01-7223	133	18	.	.	PUNCT
app01-7223	134	1	5	5	X
app01-7223	134	2	.	.	X
app01-7223	134	3	conclusions	conclusion	NOUN
app01-7223	134	4	the	the	DET
app01-7223	134	5	library	library	NOUN
app01-7223	134	6	was	be	AUX
app01-7223	134	7	implemented	implement	VERB
app01-7223	134	8	in	in	ADP
app01-7223	134	9	c++	c++	NOUN
app01-7223	134	10	based	base	VERB
app01-7223	134	11	on	on	ADP
app01-7223	134	12	the	the	DET
app01-7223	134	13	previously	previously	ADV
app01-7223	134	14	formulated	formulate	VERB
app01-7223	134	15	methodology	methodology	NOUN
app01-7223	134	16	.	.	PUNCT
app01-7223	135	1	it	it	PRON
app01-7223	135	2	can	can	AUX
app01-7223	135	3	be	be	AUX
app01-7223	135	4	inte129	inte129	PROPN
app01-7223	135	5	j.	j.	PROPN
app01-7223	135	6	vorisek	vorisek	PROPN
app01-7223	135	7	,	,	PUNCT
app01-7223	135	8	b.	b.	PROPN
app01-7223	135	9	patzák	patzák	PROPN
app01-7223	135	10	,	,	PUNCT
app01-7223	135	11	e.	e.	PROPN
app01-7223	135	12	dvořáková	dvořáková	PROPN
app01-7223	135	13	,	,	PUNCT
app01-7223	135	14	d.	d.	PROPN
app01-7223	135	15	rypl	rypl	PROPN
app01-7223	135	16	acta	acta	PROPN
app01-7223	135	17	polytechnica	polytechnica	PROPN
app01-7223	135	18	ctu	ctu	NOUN
app01-7223	135	19	proceedings	proceeding	NOUN
app01-7223	135	20	grated	grate	VERB
app01-7223	135	21	into	into	ADP
app01-7223	135	22	any	any	DET
app01-7223	135	23	bim	bim	NOUN
app01-7223	135	24	software	software	NOUN
app01-7223	135	25	to	to	PART
app01-7223	135	26	assist	assist	VERB
app01-7223	135	27	the	the	DET
app01-7223	135	28	conversion	conversion	NOUN
app01-7223	135	29	of	of	ADP
app01-7223	135	30	point	point	NOUN
app01-7223	135	31	clouds	cloud	NOUN
app01-7223	135	32	into	into	ADP
app01-7223	135	33	digital	digital	ADJ
app01-7223	135	34	bim	bim	NOUN
app01-7223	135	35	representation	representation	NOUN
app01-7223	135	36	.	.	PUNCT
app01-7223	136	1	the	the	DET
app01-7223	136	2	library	library	PROPN
app01-7223	136	3	api	api	NOUN
app01-7223	136	4	is	be	AUX
app01-7223	136	5	documented	document	VERB
app01-7223	136	6	in	in	ADP
app01-7223	136	7	the	the	DET
app01-7223	136	8	reference	reference	NOUN
app01-7223	136	9	manual	manual	NOUN
app01-7223	136	10	[	[	X
app01-7223	136	11	9	9	NUM
app01-7223	136	12	]	]	PUNCT
app01-7223	136	13	.	.	PUNCT
app01-7223	137	1	the	the	DET
app01-7223	137	2	library	library	NOUN
app01-7223	137	3	also	also	ADV
app01-7223	137	4	works	work	VERB
app01-7223	137	5	as	as	ADP
app01-7223	137	6	a	a	DET
app01-7223	137	7	standalone	standalone	NOUN
app01-7223	137	8	toolkit	toolkit	NOUN
app01-7223	137	9	without	without	ADP
app01-7223	137	10	any	any	DET
app01-7223	137	11	dependency	dependency	NOUN
app01-7223	137	12	on	on	ADP
app01-7223	137	13	bim	bim	NOUN
app01-7223	137	14	software	software	NOUN
app01-7223	137	15	.	.	PUNCT
app01-7223	138	1	a	a	DET
app01-7223	138	2	set	set	NOUN
app01-7223	138	3	of	of	ADP
app01-7223	138	4	command	command	NOUN
app01-7223	138	5	-	-	PUNCT
app01-7223	138	6	line	line	NOUN
app01-7223	138	7	executables	executable	NOUN
app01-7223	138	8	is	be	AUX
app01-7223	138	9	available	available	ADJ
app01-7223	138	10	to	to	PART
app01-7223	138	11	perform	perform	VERB
app01-7223	138	12	the	the	DET
app01-7223	138	13	individual	individual	ADJ
app01-7223	138	14	steps	step	NOUN
app01-7223	138	15	introduced	introduce	VERB
app01-7223	138	16	above	above	ADV
app01-7223	138	17	.	.	PUNCT
app01-7223	139	1	each	each	PRON
app01-7223	139	2	of	of	ADP
app01-7223	139	3	the	the	DET
app01-7223	139	4	tools	tool	NOUN
app01-7223	139	5	operates	operate	VERB
app01-7223	139	6	on	on	ADP
app01-7223	139	7	top	top	NOUN
app01-7223	139	8	of	of	ADP
app01-7223	139	9	a	a	DET
app01-7223	139	10	common	common	ADJ
app01-7223	139	11	database	database	NOUN
app01-7223	139	12	-	-	PUNCT
app01-7223	139	13	like	like	ADJ
app01-7223	139	14	file	file	NOUN
app01-7223	139	15	(	(	PUNCT
app01-7223	139	16	json	json	NOUN
app01-7223	139	17	)	)	PUNCT
app01-7223	139	18	with	with	ADP
app01-7223	139	19	point	point	NOUN
app01-7223	139	20	data	datum	NOUN
app01-7223	139	21	stored	store	VERB
app01-7223	139	22	separately	separately	ADV
app01-7223	139	23	in	in	ADP
app01-7223	139	24	binary	binary	ADJ
app01-7223	139	25	files	file	NOUN
app01-7223	139	26	.	.	PUNCT
app01-7223	140	1	a	a	DET
app01-7223	140	2	single	single	ADJ
app01-7223	140	3	floor	floor	NOUN
app01-7223	140	4	of	of	ADP
app01-7223	140	5	an	an	DET
app01-7223	140	6	unfurnished	unfurnished	ADJ
app01-7223	140	7	office	office	NOUN
app01-7223	140	8	building	building	NOUN
app01-7223	140	9	was	be	AUX
app01-7223	140	10	successfully	successfully	ADV
app01-7223	140	11	segmented	segment	VERB
app01-7223	140	12	into	into	ADP
app01-7223	140	13	separate	separate	ADJ
app01-7223	140	14	rooms	room	NOUN
app01-7223	140	15	(	(	PUNCT
app01-7223	140	16	compare	compare	NOUN
app01-7223	140	17	figures	figure	NOUN
app01-7223	140	18	1	1	NUM
app01-7223	140	19	and	and	CCONJ
app01-7223	140	20	3	3	NUM
app01-7223	140	21	)	)	PUNCT
app01-7223	140	22	.	.	PUNCT
app01-7223	141	1	plane	plane	NOUN
app01-7223	141	2	matching	matching	NOUN
app01-7223	141	3	results	result	NOUN
app01-7223	141	4	can	can	AUX
app01-7223	141	5	be	be	AUX
app01-7223	141	6	seen	see	VERB
app01-7223	141	7	in	in	ADP
app01-7223	141	8	figure	figure	NOUN
app01-7223	141	9	4	4	NUM
app01-7223	141	10	with	with	ADP
app01-7223	141	11	the	the	DET
app01-7223	141	12	25	25	NUM
app01-7223	141	13	distinct	distinct	ADJ
app01-7223	141	14	wall	wall	NOUN
app01-7223	141	15	segments	segment	NOUN
app01-7223	141	16	considering	consider	VERB
app01-7223	141	17	the	the	DET
app01-7223	141	18	exterior	exterior	ADJ
app01-7223	141	19	windows	window	NOUN
app01-7223	141	20	as	as	ADP
app01-7223	141	21	walls	wall	NOUN
app01-7223	141	22	.	.	PUNCT
app01-7223	142	1	the	the	DET
app01-7223	142	2	success	success	NOUN
app01-7223	142	3	of	of	ADP
app01-7223	142	4	opening	opening	NOUN
app01-7223	142	5	detection	detection	NOUN
app01-7223	142	6	can	can	AUX
app01-7223	142	7	be	be	AUX
app01-7223	142	8	examined	examine	VERB
app01-7223	142	9	in	in	ADP
app01-7223	142	10	figure	figure	NOUN
app01-7223	142	11	6	6	NUM
app01-7223	142	12	where	where	SCONJ
app01-7223	142	13	six	six	NUM
app01-7223	142	14	doors	door	NOUN
app01-7223	142	15	were	be	AUX
app01-7223	142	16	identified	identify	VERB
app01-7223	142	17	and	and	CCONJ
app01-7223	142	18	eight	eight	NUM
app01-7223	142	19	exterior	exterior	ADJ
app01-7223	142	20	windows	window	NOUN
app01-7223	142	21	(	(	PUNCT
app01-7223	142	22	two	two	NUM
app01-7223	142	23	of	of	ADP
app01-7223	142	24	which	which	PRON
app01-7223	142	25	are	be	AUX
app01-7223	142	26	found	find	VERB
app01-7223	142	27	twice	twice	ADV
app01-7223	142	28	)	)	PUNCT
app01-7223	142	29	.	.	PUNCT
app01-7223	143	1	6	6	X
app01-7223	143	2	.	.	X
app01-7223	143	3	future	future	ADJ
app01-7223	143	4	work	work	VERB
app01-7223	143	5	our	our	PRON
app01-7223	143	6	main	main	ADJ
app01-7223	143	7	goal	goal	NOUN
app01-7223	143	8	is	be	AUX
app01-7223	143	9	to	to	PART
app01-7223	143	10	create	create	VERB
app01-7223	143	11	a	a	DET
app01-7223	143	12	robust	robust	ADJ
app01-7223	143	13	and	and	CCONJ
app01-7223	143	14	easy	easy	ADV
app01-7223	143	15	-	-	PUNCT
app01-7223	143	16	tointegrate	tointegrate	ADJ
app01-7223	143	17	solution	solution	NOUN
app01-7223	143	18	of	of	ADP
app01-7223	143	19	converting	convert	VERB
app01-7223	143	20	the	the	DET
app01-7223	143	21	raw	raw	ADJ
app01-7223	143	22	point	point	NOUN
app01-7223	143	23	cloud	cloud	NOUN
app01-7223	143	24	files	file	NOUN
app01-7223	143	25	into	into	ADP
app01-7223	143	26	the	the	DET
app01-7223	143	27	corresponding	correspond	VERB
app01-7223	143	28	bim	bim	NOUN
app01-7223	143	29	entities	entity	NOUN
app01-7223	143	30	.	.	PUNCT
app01-7223	144	1	while	while	SCONJ
app01-7223	144	2	our	our	PRON
app01-7223	144	3	library	library	NOUN
app01-7223	144	4	provides	provide	VERB
app01-7223	144	5	enough	enough	ADJ
app01-7223	144	6	functionality	functionality	NOUN
app01-7223	144	7	to	to	ADP
app01-7223	144	8	process	process	VERB
app01-7223	144	9	,	,	PUNCT
app01-7223	144	10	analyze	analyze	VERB
app01-7223	144	11	,	,	PUNCT
app01-7223	144	12	and	and	CCONJ
app01-7223	144	13	visualize	visualize	VERB
app01-7223	144	14	the	the	DET
app01-7223	144	15	point	point	NOUN
app01-7223	144	16	clouds	cloud	NOUN
app01-7223	144	17	and	and	CCONJ
app01-7223	144	18	calculated	calculate	VERB
app01-7223	144	19	results	result	NOUN
app01-7223	144	20	,	,	PUNCT
app01-7223	144	21	more	more	ADJ
app01-7223	144	22	research	research	NOUN
app01-7223	144	23	is	be	AUX
app01-7223	144	24	desired	desire	VERB
app01-7223	144	25	,	,	PUNCT
app01-7223	144	26	especially	especially	ADV
app01-7223	144	27	in	in	ADP
app01-7223	144	28	the	the	DET
app01-7223	144	29	area	area	NOUN
app01-7223	144	30	of	of	ADP
app01-7223	144	31	opening	opening	NOUN
app01-7223	144	32	detection	detection	NOUN
app01-7223	144	33	and	and	CCONJ
app01-7223	144	34	overall	overall	ADJ
app01-7223	144	35	confidence	confidence	NOUN
app01-7223	144	36	rate	rate	NOUN
app01-7223	144	37	evaluation	evaluation	NOUN
app01-7223	144	38	of	of	ADP
app01-7223	144	39	the	the	DET
app01-7223	144	40	reconstructed	reconstructed	ADJ
app01-7223	144	41	bim	bim	NOUN
app01-7223	144	42	entities	entity	NOUN
app01-7223	144	43	.	.	PUNCT
app01-7223	145	1	further	further	ADJ
app01-7223	145	2	research	research	NOUN
app01-7223	145	3	is	be	AUX
app01-7223	145	4	needed	need	VERB
app01-7223	145	5	to	to	PART
app01-7223	145	6	integrate	integrate	VERB
app01-7223	145	7	the	the	DET
app01-7223	145	8	library	library	NOUN
app01-7223	145	9	into	into	ADP
app01-7223	145	10	some	some	PRON
app01-7223	145	11	of	of	ADP
app01-7223	145	12	the	the	DET
app01-7223	145	13	industry	industry	NOUN
app01-7223	145	14	-	-	PUNCT
app01-7223	145	15	leading	lead	VERB
app01-7223	145	16	bim	bim	NOUN
app01-7223	145	17	applications	application	NOUN
app01-7223	145	18	(	(	PUNCT
app01-7223	145	19	i.e.	i.e.	X
app01-7223	145	20	autodesk	autodesk	X
app01-7223	145	21	revit	revit	PROPN
app01-7223	145	22	)	)	PUNCT
app01-7223	145	23	.	.	PUNCT
app01-7223	146	1	such	such	ADJ
app01-7223	146	2	integration	integration	NOUN
app01-7223	146	3	is	be	AUX
app01-7223	146	4	required	require	VERB
app01-7223	146	5	to	to	PART
app01-7223	146	6	validate	validate	VERB
app01-7223	146	7	and	and	CCONJ
app01-7223	146	8	refine	refine	VERB
app01-7223	146	9	our	our	PRON
app01-7223	146	10	methodology	methodology	NOUN
app01-7223	146	11	using	use	VERB
app01-7223	146	12	a	a	DET
app01-7223	146	13	variety	variety	NOUN
app01-7223	146	14	of	of	ADP
app01-7223	146	15	point	point	NOUN
app01-7223	146	16	clouds	cloud	NOUN
app01-7223	146	17	from	from	ADP
app01-7223	146	18	different	different	ADJ
app01-7223	146	19	environments	environment	NOUN
app01-7223	146	20	.	.	PUNCT
app01-7223	147	1	acknowledgements	acknowledgement	VERB
app01-7223	147	2	the	the	DET
app01-7223	147	3	development	development	NOUN
app01-7223	147	4	of	of	ADP
app01-7223	147	5	this	this	DET
app01-7223	147	6	software	software	NOUN
app01-7223	147	7	was	be	AUX
app01-7223	147	8	supported	support	VERB
app01-7223	147	9	by	by	ADP
app01-7223	147	10	the	the	DET
app01-7223	147	11	technology	technology	NOUN
app01-7223	147	12	agency	agency	NOUN
app01-7223	147	13	of	of	ADP
app01-7223	147	14	the	the	DET
app01-7223	147	15	czech	czech	PROPN
app01-7223	147	16	republic	republic	NOUN
app01-7223	147	17	under	under	ADP
app01-7223	147	18	the	the	DET
app01-7223	147	19	program	program	NOUN
app01-7223	147	20	of	of	ADP
app01-7223	147	21	the	the	DET
app01-7223	147	22	national	national	ADJ
app01-7223	147	23	competence	competence	NOUN
app01-7223	147	24	center	center	NOUN
app01-7223	147	25	1	1	NUM
app01-7223	147	26	as	as	ADP
app01-7223	147	27	a	a	DET
app01-7223	147	28	project	project	NOUN
app01-7223	147	29	“	"	PUNCT
app01-7223	147	30	center	center	NOUN
app01-7223	147	31	for	for	ADP
app01-7223	147	32	advanced	advanced	ADJ
app01-7223	147	33	materials	material	NOUN
app01-7223	147	34	and	and	CCONJ
app01-7223	147	35	efficient	efficient	ADJ
app01-7223	147	36	buildings	building	NOUN
app01-7223	147	37	”	"	PUNCT
app01-7223	147	38	(	(	PUNCT
app01-7223	147	39	cameb	cameb	NOUN
app01-7223	147	40	)	)	PUNCT
app01-7223	147	41	project	project	NOUN
app01-7223	147	42	registration	registration	NOUN
app01-7223	147	43	no	no	NOUN
app01-7223	147	44	.	.	PUNCT
app01-7223	148	1	tn01000056	tn01000056	PROPN
app01-7223	148	2	and	and	CCONJ
app01-7223	148	3	by	by	ADP
app01-7223	148	4	the	the	DET
app01-7223	148	5	grant	grant	PROPN
app01-7223	148	6	agency	agency	NOUN
app01-7223	148	7	of	of	ADP
app01-7223	148	8	the	the	DET
app01-7223	148	9	czech	czech	PROPN
app01-7223	148	10	technical	technical	PROPN
app01-7223	148	11	university	university	PROPN
app01-7223	148	12	in	in	ADP
app01-7223	148	13	prague	prague	PROPN
app01-7223	148	14	(	(	PUNCT
app01-7223	148	15	sgs	sgs	PROPN
app01-7223	148	16	project	project	NOUN
app01-7223	148	17	no	no	INTJ
app01-7223	148	18	.	.	PUNCT
app01-7223	149	1	sgs20/038	sgs20/038	PROPN
app01-7223	149	2	/	/	SYM
app01-7223	149	3	ohk1/1t/11	ohk1/1t/11	PROPN
app01-7223	149	4	)	)	PUNCT
app01-7223	149	5	,	,	PUNCT
app01-7223	149	6	both	both	PRON
app01-7223	149	7	gratefully	gratefully	ADV
app01-7223	149	8	acknowledged	acknowledge	VERB
app01-7223	149	9	.	.	PUNCT
app01-7223	150	1	references	reference	NOUN
app01-7223	150	2	[	[	X
app01-7223	150	3	1	1	X
app01-7223	150	4	]	]	PUNCT
app01-7223	150	5	pointcloud2bim	pointcloud2bim	X
app01-7223	150	6	library	library	NOUN
app01-7223	150	7	for	for	ADP
app01-7223	150	8	automated	automate	VERB
app01-7223	150	9	identification	identification	NOUN
app01-7223	150	10	of	of	ADP
app01-7223	150	11	bim	bim	NOUN
app01-7223	150	12	entities	entity	NOUN
app01-7223	150	13	from	from	ADP
app01-7223	150	14	point	point	NOUN
app01-7223	150	15	clouds	cloud	NOUN
app01-7223	150	16	.	.	PUNCT
app01-7223	151	1	http://mech2018.fsv.cvut.cz/pc2bim	http://mech2018.fsv.cvut.cz/pc2bim	NOUN
app01-7223	151	2	.	.	PUNCT
app01-7223	152	1	accessed	access	VERB
app01-7223	152	2	:	:	PUNCT
app01-7223	152	3	2020	2020	NUM
app01-7223	152	4	-	-	SYM
app01-7223	152	5	08	08	NUM
app01-7223	152	6	-	-	PUNCT
app01-7223	152	7	06	06	NUM
app01-7223	152	8	.	.	PUNCT
app01-7223	153	1	[	[	X
app01-7223	153	2	2	2	NUM
app01-7223	153	3	]	]	PUNCT
app01-7223	153	4	c.	c.	PROPN
app01-7223	153	5	wang	wang	PROPN
app01-7223	153	6	,	,	PUNCT
app01-7223	153	7	y.	y.	PROPN
app01-7223	153	8	cho	cho	PROPN
app01-7223	153	9	,	,	PUNCT
app01-7223	153	10	c.	c.	PROPN
app01-7223	153	11	kim	kim	PROPN
app01-7223	153	12	.	.	PUNCT
app01-7223	154	1	automatic	automatic	ADJ
app01-7223	154	2	bim	bim	NOUN
app01-7223	154	3	component	component	NOUN
app01-7223	154	4	extraction	extraction	NOUN
app01-7223	154	5	from	from	ADP
app01-7223	154	6	point	point	NOUN
app01-7223	154	7	clouds	cloud	NOUN
app01-7223	154	8	of	of	ADP
app01-7223	154	9	existing	exist	VERB
app01-7223	154	10	buildings	building	NOUN
app01-7223	154	11	for	for	ADP
app01-7223	154	12	sustainability	sustainability	NOUN
app01-7223	154	13	applications	application	NOUN
app01-7223	154	14	.	.	PUNCT
app01-7223	155	1	automation	automation	NOUN
app01-7223	155	2	in	in	ADP
app01-7223	155	3	construction	construction	NOUN
app01-7223	155	4	56	56	NUM
app01-7223	155	5	,	,	PUNCT
app01-7223	155	6	2015	2015	NUM
app01-7223	155	7	.	.	PUNCT
app01-7223	156	1	doi:10.1016	doi:10.1016	PROPN
app01-7223	156	2	/	/	SYM
app01-7223	156	3	j.autcon.2015.04.001	j.autcon.2015.04.001	PROPN
app01-7223	156	4	.	.	PUNCT
app01-7223	157	1	[	[	X
app01-7223	157	2	3	3	X
app01-7223	157	3	]	]	X
app01-7223	157	4	h.	h.	PROPN
app01-7223	157	5	macher	macher	PROPN
app01-7223	157	6	,	,	PUNCT
app01-7223	157	7	t.	t.	PROPN
app01-7223	157	8	landes	landes	PROPN
app01-7223	157	9	,	,	PUNCT
app01-7223	157	10	p.	p.	NOUN
app01-7223	157	11	grussenmeyer	grussenmeyer	PROPN
app01-7223	157	12	.	.	PUNCT
app01-7223	158	1	from	from	ADP
app01-7223	158	2	point	point	NOUN
app01-7223	158	3	clouds	cloud	NOUN
app01-7223	158	4	to	to	ADP
app01-7223	158	5	building	build	VERB
app01-7223	158	6	information	information	NOUN
app01-7223	158	7	models	model	NOUN
app01-7223	158	8	:	:	PUNCT
app01-7223	158	9	3d	3d	NUM
app01-7223	158	10	semi	semi	ADJ
app01-7223	158	11	-	-	ADJ
app01-7223	158	12	automatic	automatic	ADJ
app01-7223	158	13	reconstruction	reconstruction	NOUN
app01-7223	158	14	of	of	ADP
app01-7223	158	15	indoors	indoor	NOUN
app01-7223	158	16	of	of	ADP
app01-7223	158	17	existing	exist	VERB
app01-7223	158	18	buildings	building	NOUN
app01-7223	158	19	.	.	PUNCT
app01-7223	159	1	applied	apply	VERB
app01-7223	159	2	sciences	science	NOUN
app01-7223	159	3	7:1030	7:1030	NUM
app01-7223	159	4	,	,	PUNCT
app01-7223	159	5	2017	2017	NUM
app01-7223	159	6	.	.	PUNCT
app01-7223	160	1	doi:10.3390	doi:10.3390	NOUN
app01-7223	160	2	/	/	SYM
app01-7223	160	3	app7101030	app7101030	NOUN
app01-7223	160	4	.	.	PUNCT
app01-7223	161	1	[	[	X
app01-7223	161	2	4	4	X
app01-7223	161	3	]	]	X
app01-7223	161	4	g.	g.	PROPN
app01-7223	161	5	popovitch	popovitch	PROPN
app01-7223	161	6	.	.	PUNCT
app01-7223	162	1	the	the	DET
app01-7223	162	2	parallel	parallel	ADJ
app01-7223	162	3	hashmap	hashmap	NOUN
app01-7223	162	4	or	or	CCONJ
app01-7223	162	5	abseiling	abseil	VERB
app01-7223	162	6	from	from	ADP
app01-7223	162	7	the	the	DET
app01-7223	162	8	shoulders	shoulder	NOUN
app01-7223	162	9	of	of	ADP
app01-7223	162	10	giants	giant	NOUN
app01-7223	162	11	.	.	PUNCT
app01-7223	163	1	https://greg7mdp.github.io/parallel-hashmap/.	https://greg7mdp.github.io/parallel-hashmap/.	PROPN
app01-7223	163	2	accessed	access	VERB
app01-7223	163	3	:	:	PUNCT
app01-7223	163	4	2020	2020	NUM
app01-7223	163	5	-	-	SYM
app01-7223	163	6	04	04	NUM
app01-7223	163	7	-	-	PUNCT
app01-7223	163	8	14	14	NUM
app01-7223	163	9	.	.	PUNCT
app01-7223	164	1	[	[	X
app01-7223	164	2	5	5	X
app01-7223	164	3	]	]	PUNCT
app01-7223	164	4	e.	e.	PROPN
app01-7223	164	5	ernerfeldt	ernerfeldt	PROPN
app01-7223	164	6	.	.	PUNCT
app01-7223	165	1	fitting	fit	VERB
app01-7223	165	2	a	a	DET
app01-7223	165	3	plane	plane	NOUN
app01-7223	165	4	to	to	ADP
app01-7223	165	5	noisy	noisy	ADJ
app01-7223	165	6	points	point	NOUN
app01-7223	165	7	in	in	ADP
app01-7223	165	8	3d	3d	NUM
app01-7223	165	9	.	.	PUNCT
app01-7223	166	1	https://www.ilikebigbits.com/2017_09_25_plane	https://www.ilikebigbits.com/2017_09_25_plane	X
app01-7223	167	1	_	_	PRON
app01-7223	167	2	from_points_2.html	from_points_2.html	NOUN
app01-7223	167	3	,	,	PUNCT
app01-7223	167	4	2017	2017	NUM
app01-7223	167	5	.	.	PUNCT
app01-7223	168	1	accessed	access	VERB
app01-7223	168	2	:	:	PUNCT
app01-7223	168	3	2020	2020	NUM
app01-7223	168	4	-	-	SYM
app01-7223	168	5	04	04	NUM
app01-7223	168	6	-	-	PUNCT
app01-7223	168	7	14	14	NUM
app01-7223	168	8	.	.	PUNCT
app01-7223	169	1	[	[	X
app01-7223	169	2	6	6	NUM
app01-7223	169	3	]	]	PUNCT
app01-7223	169	4	s.	s.	PROPN
app01-7223	169	5	hartmann	hartmann	PROPN
app01-7223	169	6	.	.	PUNCT
app01-7223	169	7	computational	computational	ADJ
app01-7223	169	8	aspects	aspect	NOUN
app01-7223	169	9	of	of	ADP
app01-7223	169	10	the	the	DET
app01-7223	169	11	symmetric	symmetric	ADJ
app01-7223	169	12	eigenvalue	eigenvalue	PROPN
app01-7223	169	13	problem	problem	NOUN
app01-7223	169	14	of	of	ADP
app01-7223	169	15	second	second	ADJ
app01-7223	169	16	order	order	NOUN
app01-7223	169	17	tensors	tensor	NOUN
app01-7223	169	18	.	.	PUNCT
app01-7223	170	1	technische	technische	PROPN
app01-7223	170	2	mechanik	mechanik	X
app01-7223	171	1	23:283–294	23:283–294	NOUN
app01-7223	171	2	,	,	PUNCT
app01-7223	171	3	2003	2003	NUM
app01-7223	171	4	.	.	PUNCT
app01-7223	172	1	[	[	X
app01-7223	172	2	7	7	X
app01-7223	172	3	]	]	X
app01-7223	172	4	m.	m.	NOUN
app01-7223	172	5	montoya	montoya	PROPN
app01-7223	172	6	,	,	PUNCT
app01-7223	172	7	c.	c.	PROPN
app01-7223	172	8	gil	gil	PROPN
app01-7223	172	9	,	,	PUNCT
app01-7223	172	10	i.	i.	PROPN
app01-7223	172	11	garcía	garcía	PROPN
app01-7223	172	12	fernandez	fernandez	PROPN
app01-7223	172	13	.	.	PUNCT
app01-7223	173	1	implementation	implementation	NOUN
app01-7223	173	2	of	of	ADP
app01-7223	173	3	a	a	DET
app01-7223	173	4	region	region	NOUN
app01-7223	173	5	growing	grow	VERB
app01-7223	173	6	algorithm	algorithm	NOUN
app01-7223	173	7	on	on	ADP
app01-7223	173	8	multicomputers	multicomputer	NOUN
app01-7223	173	9	:	:	PUNCT
app01-7223	173	10	analysis	analysis	NOUN
app01-7223	173	11	of	of	ADP
app01-7223	173	12	the	the	DET
app01-7223	173	13	work	work	NOUN
app01-7223	173	14	load	load	NOUN
app01-7223	173	15	balance	balance	NOUN
app01-7223	173	16	.	.	PUNCT
app01-7223	173	17	,	,	PUNCT
app01-7223	173	18	2000	2000	NUM
app01-7223	173	19	.	.	PUNCT
app01-7223	174	1	[	[	X
app01-7223	174	2	8	8	NUM
app01-7223	174	3	]	]	PUNCT
app01-7223	174	4	m.	m.	NOUN
app01-7223	174	5	a.	a.	NOUN
app01-7223	174	6	fischler	fischler	NOUN
app01-7223	174	7	,	,	PUNCT
app01-7223	174	8	r.	r.	PROPN
app01-7223	174	9	c.	c.	PROPN
app01-7223	174	10	bolles	bolles	PROPN
app01-7223	174	11	.	.	PUNCT
app01-7223	175	1	random	random	ADJ
app01-7223	175	2	sample	sample	NOUN
app01-7223	175	3	consensus	consensus	NOUN
app01-7223	175	4	:	:	PUNCT
app01-7223	175	5	a	a	DET
app01-7223	175	6	paradigm	paradigm	NOUN
app01-7223	175	7	for	for	ADP
app01-7223	175	8	model	model	NOUN
app01-7223	175	9	fitting	fit	VERB
app01-7223	175	10	with	with	ADP
app01-7223	175	11	applications	application	NOUN
app01-7223	175	12	to	to	PART
app01-7223	175	13	image	image	VERB
app01-7223	175	14	analysis	analysis	NOUN
app01-7223	175	15	and	and	CCONJ
app01-7223	175	16	automated	automate	VERB
app01-7223	175	17	cartography	cartography	NOUN
app01-7223	175	18	.	.	PUNCT
app01-7223	176	1	communications	communication	NOUN
app01-7223	176	2	of	of	ADP
app01-7223	176	3	the	the	DET
app01-7223	176	4	acm	acm	PROPN
app01-7223	176	5	24(6):381–395	24(6):381–395	PROPN
app01-7223	176	6	,	,	PUNCT
app01-7223	176	7	1981	1981	NUM
app01-7223	176	8	.	.	PUNCT
app01-7223	176	9	doi:10.1145/358669.358692	doi:10.1145/358669.358692	NOUN
app01-7223	176	10	.	.	PUNCT
app01-7223	177	1	[	[	X
app01-7223	177	2	9	9	NUM
app01-7223	177	3	]	]	X
app01-7223	177	4	j.	j.	PROPN
app01-7223	177	5	voříšek	voříšek	PROPN
app01-7223	177	6	,	,	PUNCT
app01-7223	177	7	d.	d.	PROPN
app01-7223	177	8	rypl	rypl	PROPN
app01-7223	177	9	,	,	PUNCT
app01-7223	177	10	b.	b.	PROPN
app01-7223	177	11	patzák	patzák	PROPN
app01-7223	177	12	,	,	PUNCT
app01-7223	177	13	e.	e.	PROPN
app01-7223	177	14	dvořáková	dvořáková	PROPN
app01-7223	177	15	.	.	PUNCT
app01-7223	178	1	pointcloud2bim	pointcloud2bim	X
app01-7223	178	2	library	library	NOUN
app01-7223	178	3	:	:	PUNCT
app01-7223	178	4	pointcloud2bim	pointcloud2bim	X
app01-7223	178	5	library	library	NOUN
app01-7223	178	6	reference	reference	NOUN
app01-7223	178	7	manual	manual	NOUN
app01-7223	178	8	.	.	PUNCT
app01-7223	179	1	http://mech2018.fsv.cvut.cz/	http://mech2018.fsv.cvut.cz/	PROPN
app01-7223	179	2	pc2bim	pc2bim	PROPN
app01-7223	179	3	/	/	SYM
app01-7223	179	4	www	www	PROPN
app01-7223	179	5	/	/	SYM
app01-7223	179	6	refman	refman	PROPN
app01-7223	179	7	/	/	SYM
app01-7223	179	8	html	html	NOUN
app01-7223	179	9	/	/	SYM
app01-7223	179	10	index.html	index.html	PROPN
app01-7223	179	11	.	.	PUNCT
app01-7223	179	12	130	130	NUM
app01-7223	179	13	http://mech2018.fsv.cvut.cz/pc2bim	http://mech2018.fsv.cvut.cz/pc2bim	NOUN
app01-7223	179	14	https://doi.org/10.1016/j.autcon.2015.04.001	https://doi.org/10.1016/j.autcon.2015.04.001	PROPN
app01-7223	179	15	https://doi.org/10.3390/app7101030	https://doi.org/10.3390/app7101030	NOUN
app01-7223	179	16	https://greg7mdp.github.io/parallel-hashmap/	https://greg7mdp.github.io/parallel-hashmap/	PROPN
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app01-7223	179	19	http://mech2018.fsv.cvut.cz/pc2bim/www/refman/html/index.html	http://mech2018.fsv.cvut.cz/pc2bim/www/refman/html/index.html	PROPN