id	sid	tid	token	lemma	pos
app01-8125	1	1	acta	acta	PROPN
app01-8125	1	2	polytechnica	polytechnica	PROPN
app01-8125	1	3	ctu	ctu	PROPN
app01-8125	1	4	proceedings	proceeding	NOUN
app01-8125	1	5	https://doi.org/10.14311/app.2022.34.0133	https://doi.org/10.14311/app.2022.34.0133	PROPN
app01-8125	1	6	acta	acta	PROPN
app01-8125	1	7	polytechnica	polytechnica	PROPN
app01-8125	1	8	ctu	ctu	PROPN
app01-8125	1	9	proceedings	proceeding	NOUN
app01-8125	1	10	34:133–137	34:133–137	NUM
app01-8125	1	11	,	,	PUNCT
app01-8125	1	12	2022	2022	NUM
app01-8125	1	13	©	©	ADP
app01-8125	1	14	2022	2022	NUM
app01-8125	1	15	the	the	DET
app01-8125	1	16	author(s	author(s	NOUN
app01-8125	1	17	)	)	PUNCT
app01-8125	1	18	.	.	PUNCT
app01-8125	2	1	licensed	license	VERB
app01-8125	2	2	under	under	ADP
app01-8125	2	3	a	a	DET
app01-8125	2	4	cc	cc	NOUN
app01-8125	2	5	-	-	PUNCT
app01-8125	2	6	by	by	ADP
app01-8125	2	7	4.0	4.0	NUM
app01-8125	2	8	licence	licence	NOUN
app01-8125	2	9	published	publish	VERB
app01-8125	2	10	by	by	ADP
app01-8125	2	11	the	the	DET
app01-8125	2	12	czech	czech	PROPN
app01-8125	2	13	technical	technical	PROPN
app01-8125	2	14	university	university	PROPN
app01-8125	2	15	in	in	ADP
app01-8125	2	16	prague	prague	PROPN
app01-8125	2	17	automatic	automatic	ADJ
app01-8125	2	18	extraction	extraction	NOUN
app01-8125	2	19	of	of	ADP
app01-8125	2	20	3d	3d	NUM
app01-8125	2	21	building	building	NOUN
app01-8125	2	22	meshes	mesh	NOUN
app01-8125	2	23	from	from	ADP
app01-8125	2	24	lidar	lidar	NOUN
app01-8125	2	25	data	datum	NOUN
app01-8125	2	26	jan	jan	PROPN
app01-8125	2	27	voříšek∗	voříšek∗	PROPN
app01-8125	2	28	,	,	PUNCT
app01-8125	2	29	bořek	bořek	PROPN
app01-8125	2	30	patzák	patzák	VERB
app01-8125	2	31	,	,	PUNCT
app01-8125	2	32	daniel	daniel	PROPN
app01-8125	2	33	rypl	rypl	PROPN
app01-8125	2	34	czech	czech	PROPN
app01-8125	2	35	technical	technical	PROPN
app01-8125	2	36	university	university	PROPN
app01-8125	2	37	in	in	ADP
app01-8125	2	38	prague	prague	PROPN
app01-8125	2	39	,	,	PUNCT
app01-8125	2	40	faculty	faculty	NOUN
app01-8125	2	41	of	of	ADP
app01-8125	2	42	civil	civil	ADJ
app01-8125	2	43	engineering	engineering	NOUN
app01-8125	2	44	,	,	PUNCT
app01-8125	2	45	thákurova	thákurova	X
app01-8125	2	46	7	7	NUM
app01-8125	2	47	,	,	PUNCT
app01-8125	2	48	166	166	NUM
app01-8125	2	49	29	29	NUM
app01-8125	2	50	prague	prague	NOUN
app01-8125	2	51	6	6	NUM
app01-8125	2	52	,	,	PUNCT
app01-8125	2	53	czech	czech	PROPN
app01-8125	2	54	republic	republic	NOUN
app01-8125	2	55	∗	∗	NOUN
app01-8125	2	56	corresponding	correspond	VERB
app01-8125	2	57	author	author	NOUN
app01-8125	2	58	:	:	PUNCT
app01-8125	2	59	jan.vorisek@fsv.cvut.cz	jan.vorisek@fsv.cvut.cz	ADJ
app01-8125	2	60	abstract	abstract	NOUN
app01-8125	2	61	.	.	PUNCT
app01-8125	3	1	terrestrial	terrestrial	ADJ
app01-8125	3	2	laser	laser	NOUN
app01-8125	3	3	scanning	scanning	NOUN
app01-8125	3	4	and	and	CCONJ
app01-8125	3	5	drone	drone	NOUN
app01-8125	3	6	-	-	PUNCT
app01-8125	3	7	based	base	VERB
app01-8125	3	8	scanning	scanning	NOUN
app01-8125	3	9	are	be	AUX
app01-8125	3	10	often	often	ADV
app01-8125	3	11	combined	combine	VERB
app01-8125	3	12	to	to	PART
app01-8125	3	13	gain	gain	VERB
app01-8125	3	14	a	a	DET
app01-8125	3	15	complete	complete	ADJ
app01-8125	3	16	picture	picture	NOUN
app01-8125	3	17	of	of	ADP
app01-8125	3	18	the	the	DET
app01-8125	3	19	external	external	ADJ
app01-8125	3	20	envelopes	envelope	NOUN
app01-8125	3	21	of	of	ADP
app01-8125	3	22	buildings	building	NOUN
app01-8125	3	23	.	.	PUNCT
app01-8125	4	1	while	while	SCONJ
app01-8125	4	2	the	the	DET
app01-8125	4	3	resulting	result	VERB
app01-8125	4	4	data	data	NOUN
app01-8125	4	5	sets	set	NOUN
app01-8125	4	6	are	be	AUX
app01-8125	4	7	easy	easy	ADJ
app01-8125	4	8	to	to	PART
app01-8125	4	9	understand	understand	VERB
app01-8125	4	10	for	for	ADP
app01-8125	4	11	humans	human	NOUN
app01-8125	4	12	,	,	PUNCT
app01-8125	4	13	extracting	extract	VERB
app01-8125	4	14	any	any	DET
app01-8125	4	15	semantical	semantical	ADJ
app01-8125	4	16	information	information	NOUN
app01-8125	4	17	from	from	ADP
app01-8125	4	18	the	the	DET
app01-8125	4	19	data	data	NOUN
app01-8125	4	20	is	be	AUX
app01-8125	4	21	a	a	DET
app01-8125	4	22	challenging	challenging	ADJ
app01-8125	4	23	task	task	NOUN
app01-8125	4	24	.	.	PUNCT
app01-8125	5	1	creating	create	VERB
app01-8125	5	2	a	a	DET
app01-8125	5	3	bim	bim	NOUN
app01-8125	5	4	model	model	NOUN
app01-8125	5	5	for	for	ADP
app01-8125	5	6	large	large	ADJ
app01-8125	5	7	cities	city	NOUN
app01-8125	5	8	is	be	AUX
app01-8125	5	9	desirable	desirable	ADJ
app01-8125	5	10	,	,	PUNCT
app01-8125	5	11	especially	especially	ADV
app01-8125	5	12	for	for	ADP
app01-8125	5	13	planning	planning	NOUN
app01-8125	5	14	and	and	CCONJ
app01-8125	5	15	inventory	inventory	NOUN
app01-8125	5	16	purposes	purpose	NOUN
app01-8125	5	17	.	.	PUNCT
app01-8125	6	1	nowadays	nowadays	ADV
app01-8125	6	2	,	,	PUNCT
app01-8125	6	3	engineers	engineer	NOUN
app01-8125	6	4	manually	manually	ADV
app01-8125	6	5	separate	separate	ADJ
app01-8125	6	6	buildings	building	NOUN
app01-8125	6	7	and	and	CCONJ
app01-8125	6	8	draw	draw	VERB
app01-8125	6	9	corresponding	correspond	VERB
app01-8125	6	10	floor	floor	NOUN
app01-8125	6	11	plans	plan	NOUN
app01-8125	6	12	or	or	CCONJ
app01-8125	6	13	any	any	DET
app01-8125	6	14	other	other	ADJ
app01-8125	6	15	required	required	ADJ
app01-8125	6	16	entities	entity	NOUN
app01-8125	6	17	,	,	PUNCT
app01-8125	6	18	making	make	VERB
app01-8125	6	19	creating	create	VERB
app01-8125	6	20	such	such	DET
app01-8125	6	21	a	a	DET
app01-8125	6	22	model	model	NOUN
app01-8125	6	23	nearly	nearly	ADV
app01-8125	6	24	impossible	impossible	ADJ
app01-8125	6	25	for	for	ADP
app01-8125	6	26	the	the	DET
app01-8125	6	27	whole	whole	ADJ
app01-8125	6	28	city	city	NOUN
app01-8125	6	29	.	.	PUNCT
app01-8125	7	1	in	in	ADP
app01-8125	7	2	this	this	DET
app01-8125	7	3	contribution	contribution	NOUN
app01-8125	7	4	,	,	PUNCT
app01-8125	7	5	we	we	PRON
app01-8125	7	6	present	present	VERB
app01-8125	7	7	the	the	DET
app01-8125	7	8	design	design	NOUN
app01-8125	7	9	and	and	CCONJ
app01-8125	7	10	concept	concept	NOUN
app01-8125	7	11	of	of	ADP
app01-8125	7	12	a	a	DET
app01-8125	7	13	c++	c++	NOUN
app01-8125	7	14	library	library	NOUN
app01-8125	7	15	that	that	PRON
app01-8125	7	16	provides	provide	VERB
app01-8125	7	17	fundamental	fundamental	ADJ
app01-8125	7	18	algorithmic	algorithmic	ADJ
app01-8125	7	19	tools	tool	NOUN
app01-8125	7	20	for	for	ADP
app01-8125	7	21	automated	automate	VERB
app01-8125	7	22	detection	detection	NOUN
app01-8125	7	23	of	of	ADP
app01-8125	7	24	the	the	DET
app01-8125	7	25	ground	ground	NOUN
app01-8125	7	26	points	point	NOUN
app01-8125	7	27	,	,	PUNCT
app01-8125	7	28	separation	separation	NOUN
app01-8125	7	29	of	of	ADP
app01-8125	7	30	buildings	building	NOUN
app01-8125	7	31	into	into	ADP
app01-8125	7	32	individual	individual	ADJ
app01-8125	7	33	point	point	NOUN
app01-8125	7	34	clouds	cloud	NOUN
app01-8125	7	35	,	,	PUNCT
app01-8125	7	36	and	and	CCONJ
app01-8125	7	37	segmentation	segmentation	NOUN
app01-8125	7	38	of	of	ADP
app01-8125	7	39	walls	wall	NOUN
app01-8125	7	40	and	and	CCONJ
app01-8125	7	41	roofs	roof	NOUN
app01-8125	7	42	.	.	PUNCT
app01-8125	8	1	the	the	DET
app01-8125	8	2	buildings	building	NOUN
app01-8125	8	3	’	'	PUNCT
app01-8125	8	4	3d	3d	NUM
app01-8125	8	5	model	model	NOUN
app01-8125	8	6	(	(	PUNCT
app01-8125	8	7	both	both	CCONJ
app01-8125	8	8	volumetric	volumetric	NOUN
app01-8125	8	9	and	and	CCONJ
app01-8125	8	10	surface	surface	NOUN
app01-8125	8	11	mesh	mesh	NOUN
app01-8125	8	12	)	)	PUNCT
app01-8125	8	13	can	can	AUX
app01-8125	8	14	be	be	AUX
app01-8125	8	15	constructed	construct	VERB
app01-8125	8	16	using	use	VERB
app01-8125	8	17	the	the	DET
app01-8125	8	18	data	datum	NOUN
app01-8125	8	19	.	.	PUNCT
app01-8125	9	1	furthermore	furthermore	ADV
app01-8125	9	2	,	,	PUNCT
app01-8125	9	3	the	the	DET
app01-8125	9	4	building	building	NOUN
app01-8125	9	5	area	area	NOUN
app01-8125	9	6	and	and	CCONJ
app01-8125	9	7	volume	volume	NOUN
app01-8125	9	8	calculation	calculation	NOUN
app01-8125	9	9	can	can	AUX
app01-8125	9	10	be	be	AUX
app01-8125	9	11	performed	perform	VERB
app01-8125	9	12	on	on	ADP
app01-8125	9	13	such	such	DET
app01-8125	9	14	a	a	DET
app01-8125	9	15	model	model	NOUN
app01-8125	9	16	,	,	PUNCT
app01-8125	9	17	which	which	PRON
app01-8125	9	18	can	can	AUX
app01-8125	9	19	then	then	ADV
app01-8125	9	20	be	be	AUX
app01-8125	9	21	compared	compare	VERB
app01-8125	9	22	with	with	ADP
app01-8125	9	23	the	the	DET
app01-8125	9	24	existing	exist	VERB
app01-8125	9	25	city	city	NOUN
app01-8125	9	26	plan	plan	NOUN
app01-8125	9	27	.	.	PUNCT
app01-8125	10	1	keywords	keyword	NOUN
app01-8125	10	2	:	:	PUNCT
app01-8125	10	3	laser	laser	NOUN
app01-8125	10	4	scanning	scanning	NOUN
app01-8125	10	5	,	,	PUNCT
app01-8125	10	6	bim	bim	NOUN
app01-8125	10	7	,	,	PUNCT
app01-8125	10	8	point	point	NOUN
app01-8125	10	9	cloud	cloud	NOUN
app01-8125	10	10	,	,	PUNCT
app01-8125	10	11	city	city	NOUN
app01-8125	10	12	planning	planning	NOUN
app01-8125	10	13	.	.	PUNCT
app01-8125	11	1	1	1	X
app01-8125	11	2	.	.	X
app01-8125	11	3	introduction	introduction	NOUN
app01-8125	11	4	building	build	VERB
app01-8125	11	5	information	information	NOUN
app01-8125	11	6	modelling	modelling	NOUN
app01-8125	11	7	(	(	PUNCT
app01-8125	11	8	bim	bim	NOUN
app01-8125	11	9	)	)	PUNCT
app01-8125	11	10	brings	bring	VERB
app01-8125	11	11	excellent	excellent	ADJ
app01-8125	11	12	opportunities	opportunity	NOUN
app01-8125	11	13	for	for	ADP
app01-8125	11	14	the	the	DET
app01-8125	11	15	efficient	efficient	ADJ
app01-8125	11	16	and	and	CCONJ
app01-8125	11	17	more	more	ADV
app01-8125	11	18	automated	automate	VERB
app01-8125	11	19	design	design	NOUN
app01-8125	11	20	process	process	NOUN
app01-8125	11	21	of	of	ADP
app01-8125	11	22	building	build	VERB
app01-8125	11	23	structures	structure	NOUN
app01-8125	11	24	and	and	CCONJ
app01-8125	11	25	maintenance	maintenance	NOUN
app01-8125	11	26	and	and	CCONJ
app01-8125	11	27	reconstruction	reconstruction	NOUN
app01-8125	11	28	planning	planning	NOUN
app01-8125	11	29	of	of	ADP
app01-8125	11	30	existing	exist	VERB
app01-8125	11	31	city	city	NOUN
app01-8125	11	32	structures	structure	NOUN
app01-8125	11	33	.	.	PUNCT
app01-8125	12	1	however	however	ADV
app01-8125	12	2	,	,	PUNCT
app01-8125	12	3	obtaining	obtain	VERB
app01-8125	12	4	a	a	DET
app01-8125	12	5	digital	digital	ADJ
app01-8125	12	6	bim	bim	NOUN
app01-8125	12	7	representation	representation	NOUN
app01-8125	12	8	of	of	ADP
app01-8125	12	9	the	the	DET
app01-8125	12	10	latter	latter	ADJ
app01-8125	12	11	is	be	AUX
app01-8125	12	12	often	often	ADV
app01-8125	12	13	challenging	challenge	VERB
app01-8125	12	14	when	when	SCONJ
app01-8125	12	15	no	no	DET
app01-8125	12	16	up	up	ADP
app01-8125	12	17	-	-	PUNCT
app01-8125	12	18	to	to	ADP
app01-8125	12	19	-	-	PUNCT
app01-8125	12	20	date	date	NOUN
app01-8125	12	21	city	city	NOUN
app01-8125	12	22	ground	ground	NOUN
app01-8125	12	23	plans	plan	NOUN
app01-8125	12	24	are	be	AUX
app01-8125	12	25	available	available	ADJ
app01-8125	12	26	in	in	ADP
app01-8125	12	27	digital	digital	ADJ
app01-8125	12	28	form	form	NOUN
app01-8125	12	29	.	.	PUNCT
app01-8125	13	1	the	the	DET
app01-8125	13	2	plans	plan	NOUN
app01-8125	13	3	are	be	AUX
app01-8125	13	4	usually	usually	ADV
app01-8125	13	5	just	just	ADV
app01-8125	13	6	a	a	DET
app01-8125	13	7	set	set	NOUN
app01-8125	13	8	of	of	ADP
app01-8125	13	9	polylines	polyline	NOUN
app01-8125	13	10	with	with	ADP
app01-8125	13	11	no	no	DET
app01-8125	13	12	relation	relation	NOUN
app01-8125	13	13	to	to	ADP
app01-8125	13	14	individual	individual	ADJ
app01-8125	13	15	buildings	building	NOUN
app01-8125	13	16	or	or	CCONJ
app01-8125	13	17	other	other	ADJ
app01-8125	13	18	entities	entity	NOUN
app01-8125	13	19	.	.	PUNCT
app01-8125	14	1	laser	laser	NOUN
app01-8125	14	2	scanning	scanning	NOUN
app01-8125	14	3	is	be	AUX
app01-8125	14	4	a	a	DET
app01-8125	14	5	convenient	convenient	ADJ
app01-8125	14	6	and	and	CCONJ
app01-8125	14	7	accessible	accessible	ADJ
app01-8125	14	8	technology	technology	NOUN
app01-8125	14	9	to	to	PART
app01-8125	14	10	document	document	VERB
app01-8125	14	11	the	the	DET
app01-8125	14	12	existing	exist	VERB
app01-8125	14	13	infrastructure	infrastructure	NOUN
app01-8125	14	14	.	.	PUNCT
app01-8125	15	1	for	for	ADP
app01-8125	15	2	cities	city	NOUN
app01-8125	15	3	,	,	PUNCT
app01-8125	15	4	the	the	DET
app01-8125	15	5	combination	combination	NOUN
app01-8125	15	6	of	of	ADP
app01-8125	15	7	the	the	DET
app01-8125	15	8	terrestrial	terrestrial	ADJ
app01-8125	15	9	laser	laser	NOUN
app01-8125	15	10	scanner	scanner	NOUN
app01-8125	15	11	and	and	CCONJ
app01-8125	15	12	drone	drone	NOUN
app01-8125	15	13	-	-	PUNCT
app01-8125	15	14	based	base	VERB
app01-8125	15	15	scanning	scanning	NOUN
app01-8125	15	16	is	be	AUX
app01-8125	15	17	often	often	ADV
app01-8125	15	18	used	use	VERB
app01-8125	15	19	to	to	PART
app01-8125	15	20	capture	capture	VERB
app01-8125	15	21	the	the	DET
app01-8125	15	22	external	external	ADJ
app01-8125	15	23	envelope	envelope	NOUN
app01-8125	15	24	of	of	ADP
app01-8125	15	25	the	the	DET
app01-8125	15	26	buildings	building	NOUN
app01-8125	15	27	.	.	PUNCT
app01-8125	16	1	the	the	DET
app01-8125	16	2	output	output	NOUN
app01-8125	16	3	is	be	AUX
app01-8125	16	4	a	a	DET
app01-8125	16	5	dense	dense	ADJ
app01-8125	16	6	set	set	NOUN
app01-8125	16	7	of	of	ADP
app01-8125	16	8	data	datum	NOUN
app01-8125	16	9	points	point	NOUN
app01-8125	16	10	in	in	ADP
app01-8125	16	11	space	space	NOUN
app01-8125	16	12	,	,	PUNCT
app01-8125	16	13	the	the	DET
app01-8125	16	14	so	so	ADV
app01-8125	16	15	-	-	PUNCT
app01-8125	16	16	called	call	VERB
app01-8125	16	17	point	point	NOUN
app01-8125	16	18	cloud	cloud	NOUN
app01-8125	16	19	.	.	PUNCT
app01-8125	17	1	see	see	VERB
app01-8125	17	2	figure	figure	NOUN
app01-8125	17	3	1	1	NUM
app01-8125	17	4	for	for	ADP
app01-8125	17	5	an	an	DET
app01-8125	17	6	example	example	NOUN
app01-8125	17	7	of	of	ADP
app01-8125	17	8	a	a	DET
app01-8125	17	9	laserscanned	laserscanned	ADJ
app01-8125	17	10	part	part	NOUN
app01-8125	17	11	of	of	ADP
app01-8125	17	12	dublin	dublin	PROPN
app01-8125	17	13	.	.	PUNCT
app01-8125	18	1	the	the	DET
app01-8125	18	2	dataset	dataset	NOUN
app01-8125	18	3	was	be	AUX
app01-8125	18	4	obtained	obtain	VERB
app01-8125	18	5	from	from	ADP
app01-8125	18	6	[	[	X
app01-8125	18	7	1	1	NUM
app01-8125	18	8	]	]	PUNCT
app01-8125	18	9	.	.	PUNCT
app01-8125	19	1	while	while	SCONJ
app01-8125	19	2	point	point	NOUN
app01-8125	19	3	clouds	cloud	NOUN
app01-8125	19	4	can	can	AUX
app01-8125	19	5	be	be	AUX
app01-8125	19	6	directly	directly	ADV
app01-8125	19	7	rendered	render	VERB
app01-8125	19	8	and	and	CCONJ
app01-8125	19	9	inspected	inspect	VERB
app01-8125	19	10	,	,	PUNCT
app01-8125	19	11	they	they	PRON
app01-8125	19	12	carry	carry	VERB
app01-8125	19	13	no	no	DET
app01-8125	19	14	additional	additional	ADJ
app01-8125	19	15	information	information	NOUN
app01-8125	19	16	about	about	ADP
app01-8125	19	17	the	the	DET
app01-8125	19	18	scanned	scan	VERB
app01-8125	19	19	objects	object	NOUN
app01-8125	19	20	.	.	PUNCT
app01-8125	20	1	therefore	therefore	ADV
app01-8125	20	2	,	,	PUNCT
app01-8125	20	3	it	it	PRON
app01-8125	20	4	is	be	AUX
app01-8125	20	5	desirable	desirable	ADJ
app01-8125	20	6	to	to	PART
app01-8125	20	7	convert	convert	VERB
app01-8125	20	8	the	the	DET
app01-8125	20	9	raw	raw	ADJ
app01-8125	20	10	point	point	NOUN
app01-8125	20	11	data	datum	NOUN
app01-8125	20	12	into	into	ADP
app01-8125	20	13	a	a	DET
app01-8125	20	14	bim	bim	NOUN
app01-8125	20	15	representation	representation	NOUN
app01-8125	20	16	.	.	PUNCT
app01-8125	21	1	civil	civil	ADJ
app01-8125	21	2	engineers	engineer	NOUN
app01-8125	21	3	and	and	CCONJ
app01-8125	21	4	architects	architect	NOUN
app01-8125	21	5	must	must	AUX
app01-8125	21	6	identify	identify	VERB
app01-8125	21	7	and	and	CCONJ
app01-8125	21	8	separate	separate	ADJ
app01-8125	21	9	buildings	building	NOUN
app01-8125	21	10	manually	manually	ADV
app01-8125	21	11	,	,	PUNCT
app01-8125	21	12	draw	draw	VERB
app01-8125	21	13	the	the	DET
app01-8125	21	14	corresponding	corresponding	ADJ
app01-8125	21	15	floor	floor	NOUN
app01-8125	21	16	plans	plan	NOUN
app01-8125	21	17	,	,	PUNCT
app01-8125	21	18	and	and	CCONJ
app01-8125	21	19	measure	measure	VERB
app01-8125	21	20	any	any	DET
app01-8125	21	21	desired	desire	VERB
app01-8125	21	22	quantity	quantity	NOUN
app01-8125	21	23	(	(	PUNCT
app01-8125	21	24	i.e.	i.e.	X
app01-8125	21	25	,	,	PUNCT
app01-8125	21	26	building	building	NOUN
app01-8125	21	27	area	area	NOUN
app01-8125	21	28	and	and	CCONJ
app01-8125	21	29	volume	volume	NOUN
app01-8125	21	30	)	)	PUNCT
app01-8125	21	31	.	.	PUNCT
app01-8125	22	1	our	our	PRON
app01-8125	22	2	goal	goal	NOUN
app01-8125	22	3	is	be	AUX
app01-8125	22	4	to	to	PART
app01-8125	22	5	provide	provide	VERB
app01-8125	22	6	automated	automate	VERB
app01-8125	22	7	extraction	extraction	NOUN
app01-8125	22	8	of	of	ADP
app01-8125	22	9	the	the	DET
app01-8125	22	10	individual	individual	ADJ
app01-8125	22	11	buildings	building	NOUN
app01-8125	22	12	from	from	ADP
app01-8125	22	13	the	the	DET
app01-8125	22	14	city	city	NOUN
app01-8125	22	15	point	point	NOUN
app01-8125	22	16	cloud	cloud	NOUN
app01-8125	22	17	and	and	CCONJ
app01-8125	22	18	construction	construction	NOUN
app01-8125	22	19	of	of	ADP
app01-8125	22	20	the	the	DET
app01-8125	22	21	corresponding	corresponding	ADJ
app01-8125	22	22	building	building	NOUN
app01-8125	22	23	meshes	mesh	NOUN
app01-8125	22	24	.	.	PUNCT
app01-8125	23	1	the	the	DET
app01-8125	23	2	idea	idea	NOUN
app01-8125	23	3	is	be	AUX
app01-8125	23	4	based	base	VERB
app01-8125	23	5	on	on	ADP
app01-8125	23	6	the	the	DET
app01-8125	23	7	segmentation	segmentation	NOUN
app01-8125	23	8	of	of	ADP
app01-8125	23	9	the	the	DET
app01-8125	23	10	groundlevel	groundlevel	NOUN
app01-8125	23	11	points	point	NOUN
app01-8125	23	12	.	.	PUNCT
app01-8125	24	1	then	then	ADV
app01-8125	24	2	,	,	PUNCT
app01-8125	24	3	those	those	DET
app01-8125	24	4	points	point	NOUN
app01-8125	24	5	are	be	AUX
app01-8125	24	6	used	use	VERB
app01-8125	24	7	as	as	ADP
app01-8125	24	8	a	a	DET
app01-8125	24	9	filter	filter	NOUN
app01-8125	24	10	to	to	PART
app01-8125	24	11	obtain	obtain	VERB
app01-8125	24	12	all	all	DET
app01-8125	24	13	the	the	DET
app01-8125	24	14	points	point	NOUN
app01-8125	24	15	above	above	ADP
app01-8125	24	16	a	a	DET
app01-8125	24	17	certain	certain	ADJ
app01-8125	24	18	height	height	NOUN
app01-8125	24	19	.	.	PUNCT
app01-8125	25	1	segmentation	segmentation	NOUN
app01-8125	25	2	of	of	ADP
app01-8125	25	3	the	the	DET
app01-8125	25	4	individual	individual	ADJ
app01-8125	25	5	buildings	building	NOUN
app01-8125	25	6	is	be	AUX
app01-8125	25	7	then	then	ADV
app01-8125	25	8	performed	perform	VERB
app01-8125	25	9	on	on	ADP
app01-8125	25	10	the	the	DET
app01-8125	25	11	filtered	filter	VERB
app01-8125	25	12	point	point	NOUN
app01-8125	25	13	cloud	cloud	NOUN
app01-8125	25	14	.	.	PUNCT
app01-8125	26	1	furthermore	furthermore	ADV
app01-8125	26	2	,	,	PUNCT
app01-8125	26	3	the	the	DET
app01-8125	26	4	outer	outer	ADJ
app01-8125	26	5	figure	figure	NOUN
app01-8125	26	6	1	1	NUM
app01-8125	26	7	.	.	PUNCT
app01-8125	27	1	laser	laser	NOUN
app01-8125	27	2	scan	scan	PROPN
app01-8125	27	3	of	of	ADP
app01-8125	27	4	dublin	dublin	PROPN
app01-8125	27	5	consisting	consist	VERB
app01-8125	27	6	of	of	ADP
app01-8125	27	7	226	226	NUM
app01-8125	27	8	million	million	NUM
app01-8125	27	9	points	point	NOUN
app01-8125	27	10	before	before	ADP
app01-8125	27	11	downsampling	downsample	VERB
app01-8125	27	12	.	.	PUNCT
app01-8125	28	1	the	the	DET
app01-8125	28	2	buildings	building	NOUN
app01-8125	28	3	and	and	CCONJ
app01-8125	28	4	streets	street	NOUN
app01-8125	28	5	are	be	AUX
app01-8125	28	6	clearly	clearly	ADV
app01-8125	28	7	visible	visible	ADJ
app01-8125	28	8	because	because	SCONJ
app01-8125	28	9	the	the	DET
app01-8125	28	10	points	point	NOUN
app01-8125	28	11	were	be	AUX
app01-8125	28	12	obtained	obtain	VERB
app01-8125	28	13	from	from	ADP
app01-8125	28	14	an	an	DET
app01-8125	28	15	airplane	airplane	NOUN
app01-8125	28	16	,	,	PUNCT
app01-8125	28	17	so	so	CCONJ
app01-8125	28	18	the	the	DET
app01-8125	28	19	point	point	NOUN
app01-8125	28	20	density	density	NOUN
app01-8125	28	21	is	be	AUX
app01-8125	28	22	much	much	ADV
app01-8125	28	23	higher	high	ADJ
app01-8125	28	24	than	than	ADP
app01-8125	28	25	on	on	ADP
app01-8125	28	26	the	the	DET
app01-8125	28	27	walls	wall	NOUN
app01-8125	28	28	.	.	PUNCT
app01-8125	29	1	unfortunately	unfortunately	ADV
app01-8125	29	2	,	,	PUNCT
app01-8125	29	3	no	no	DET
app01-8125	29	4	rgb	rgb	PROPN
app01-8125	29	5	color	color	NOUN
app01-8125	29	6	information	information	NOUN
app01-8125	29	7	is	be	AUX
app01-8125	29	8	available	available	ADJ
app01-8125	29	9	.	.	PUNCT
app01-8125	30	1	source	source	NOUN
app01-8125	30	2	:	:	PUNCT
app01-8125	31	1	[	[	X
app01-8125	31	2	1	1	NUM
app01-8125	31	3	]	]	PUNCT
app01-8125	31	4	surface	surface	NOUN
app01-8125	31	5	planes	plane	NOUN
app01-8125	31	6	are	be	AUX
app01-8125	31	7	found	find	VERB
app01-8125	31	8	,	,	PUNCT
app01-8125	31	9	and	and	CCONJ
app01-8125	31	10	a	a	DET
app01-8125	31	11	voxel	voxel	PROPN
app01-8125	31	12	-	-	PUNCT
app01-8125	31	13	based	base	VERB
app01-8125	31	14	3d	3d	PROPN
app01-8125	31	15	model	model	NOUN
app01-8125	31	16	is	be	AUX
app01-8125	31	17	built	build	VERB
app01-8125	31	18	for	for	ADP
app01-8125	31	19	each	each	DET
app01-8125	31	20	building	building	NOUN
app01-8125	31	21	.	.	PUNCT
app01-8125	32	1	the	the	DET
app01-8125	32	2	calculation	calculation	NOUN
app01-8125	32	3	of	of	ADP
app01-8125	32	4	the	the	DET
app01-8125	32	5	build133	build133	PROPN
app01-8125	32	6	https://doi.org/10.14311/app.2022.34.0133	https://doi.org/10.14311/app.2022.34.0133	PROPN
app01-8125	32	7	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
app01-8125	32	8	https://www.cvut.cz/en	https://www.cvut.cz/en	PROPN
app01-8125	32	9	j.	j.	PROPN
app01-8125	32	10	voříšek	voříšek	PROPN
app01-8125	32	11	,	,	PUNCT
app01-8125	32	12	b.	b.	PROPN
app01-8125	32	13	patzák	patzák	PROPN
app01-8125	32	14	,	,	PUNCT
app01-8125	32	15	d.	d.	PROPN
app01-8125	32	16	rypl	rypl	PROPN
app01-8125	32	17	acta	acta	PROPN
app01-8125	32	18	polytechnica	polytechnica	PROPN
app01-8125	32	19	ctu	ctu	NOUN
app01-8125	32	20	proceedings	proceeding	NOUN
app01-8125	32	21	ing	ing	ADJ
app01-8125	32	22	volume	volume	NOUN
app01-8125	32	23	is	be	AUX
app01-8125	32	24	straightforward	straightforward	ADJ
app01-8125	32	25	.	.	PUNCT
app01-8125	33	1	by	by	ADP
app01-8125	33	2	extraction	extraction	NOUN
app01-8125	33	3	of	of	ADP
app01-8125	33	4	the	the	DET
app01-8125	33	5	surface	surface	NOUN
app01-8125	33	6	of	of	ADP
app01-8125	33	7	the	the	DET
app01-8125	33	8	voxel	voxel	PROPN
app01-8125	33	9	mesh	mesh	NOUN
app01-8125	33	10	,	,	PUNCT
app01-8125	33	11	the	the	DET
app01-8125	33	12	building	building	NOUN
app01-8125	33	13	area	area	NOUN
app01-8125	33	14	can	can	AUX
app01-8125	33	15	be	be	AUX
app01-8125	33	16	approximated	approximate	VERB
app01-8125	33	17	.	.	PUNCT
app01-8125	34	1	such	such	DET
app01-8125	34	2	a	a	DET
app01-8125	34	3	surface	surface	NOUN
app01-8125	34	4	model	model	NOUN
app01-8125	34	5	may	may	AUX
app01-8125	34	6	be	be	AUX
app01-8125	34	7	suitable	suitable	ADJ
app01-8125	34	8	for	for	ADP
app01-8125	34	9	texture	texture	ADJ
app01-8125	34	10	mapping	mapping	NOUN
app01-8125	34	11	and	and	CCONJ
app01-8125	34	12	city	city	NOUN
app01-8125	34	13	visualization	visualization	NOUN
app01-8125	34	14	in	in	ADP
app01-8125	34	15	planning	planning	NOUN
app01-8125	34	16	and	and	CCONJ
app01-8125	34	17	architectural	architectural	ADJ
app01-8125	34	18	applications	application	NOUN
app01-8125	34	19	.	.	PUNCT
app01-8125	35	1	we	we	PRON
app01-8125	35	2	have	have	AUX
app01-8125	35	3	used	use	VERB
app01-8125	35	4	a	a	DET
app01-8125	35	5	2×2	2×2	NUM
app01-8125	35	6	km	km	NOUN
app01-8125	35	7	area	area	NOUN
app01-8125	35	8	of	of	ADP
app01-8125	35	9	dublin	dublin	PROPN
app01-8125	35	10	for	for	ADP
app01-8125	35	11	the	the	DET
app01-8125	35	12	implementation	implementation	NOUN
app01-8125	35	13	and	and	CCONJ
app01-8125	35	14	verification	verification	NOUN
app01-8125	35	15	of	of	ADP
app01-8125	35	16	our	our	PRON
app01-8125	35	17	implemented	implement	VERB
app01-8125	35	18	algorithms	algorithm	NOUN
app01-8125	35	19	.	.	PUNCT
app01-8125	36	1	the	the	DET
app01-8125	36	2	raw	raw	ADJ
app01-8125	36	3	dataset	dataset	NOUN
app01-8125	36	4	is	be	AUX
app01-8125	36	5	described	describe	VERB
app01-8125	36	6	in	in	ADP
app01-8125	36	7	[	[	X
app01-8125	36	8	1	1	NUM
app01-8125	36	9	]	]	PUNCT
app01-8125	36	10	.	.	PUNCT
app01-8125	37	1	2	2	X
app01-8125	37	2	.	.	X
app01-8125	37	3	pre	pre	ADJ
app01-8125	37	4	-	-	ADJ
app01-8125	37	5	processing	processing	ADJ
app01-8125	37	6	laser	laser	NOUN
app01-8125	37	7	scanners	scanner	NOUN
app01-8125	37	8	produce	produce	VERB
app01-8125	37	9	very	very	ADV
app01-8125	37	10	dense	dense	ADJ
app01-8125	37	11	point	point	NOUN
app01-8125	37	12	clouds	cloud	NOUN
app01-8125	37	13	containing	contain	VERB
app01-8125	37	14	hundreds	hundred	NOUN
app01-8125	37	15	of	of	ADP
app01-8125	37	16	millions	million	NOUN
app01-8125	37	17	of	of	ADP
app01-8125	37	18	points	point	NOUN
app01-8125	37	19	.	.	PUNCT
app01-8125	38	1	the	the	DET
app01-8125	38	2	distance	distance	NOUN
app01-8125	38	3	between	between	ADP
app01-8125	38	4	the	the	DET
app01-8125	38	5	scanned	scan	VERB
app01-8125	38	6	points	point	NOUN
app01-8125	38	7	often	often	ADV
app01-8125	38	8	ranges	range	VERB
app01-8125	38	9	in	in	ADP
app01-8125	38	10	millimeters	millimeter	NOUN
app01-8125	38	11	.	.	PUNCT
app01-8125	39	1	therefore	therefore	ADV
app01-8125	39	2	the	the	DET
app01-8125	39	3	point	point	NOUN
app01-8125	39	4	cloud	cloud	NOUN
app01-8125	39	5	data	datum	NOUN
app01-8125	39	6	processing	processing	NOUN
app01-8125	39	7	must	must	AUX
app01-8125	39	8	be	be	AUX
app01-8125	39	9	handled	handle	VERB
app01-8125	39	10	carefully	carefully	ADV
app01-8125	39	11	in	in	ADP
app01-8125	39	12	order	order	NOUN
app01-8125	39	13	to	to	PART
app01-8125	39	14	achieve	achieve	VERB
app01-8125	39	15	competitive	competitive	ADJ
app01-8125	39	16	computation	computation	NOUN
app01-8125	39	17	times	time	NOUN
app01-8125	39	18	and	and	CCONJ
app01-8125	39	19	memory	memory	NOUN
app01-8125	39	20	efficiency	efficiency	NOUN
app01-8125	39	21	.	.	PUNCT
app01-8125	40	1	2.1	2.1	NUM
app01-8125	40	2	.	.	PUNCT
app01-8125	40	3	downsampling	downsample	VERB
app01-8125	40	4	while	while	SCONJ
app01-8125	40	5	storing	store	VERB
app01-8125	40	6	the	the	DET
app01-8125	40	7	points	point	NOUN
app01-8125	40	8	as	as	SCONJ
app01-8125	40	9	binary	binary	ADJ
app01-8125	40	10	data	datum	NOUN
app01-8125	40	11	offers	offer	VERB
app01-8125	40	12	high	high	ADJ
app01-8125	40	13	reading	reading	NOUN
app01-8125	40	14	speeds	speed	NOUN
app01-8125	40	15	,	,	PUNCT
app01-8125	40	16	with	with	ADP
app01-8125	40	17	hundreds	hundred	NOUN
app01-8125	40	18	of	of	ADP
app01-8125	40	19	millions	million	NOUN
app01-8125	40	20	of	of	ADP
app01-8125	40	21	points	point	NOUN
app01-8125	40	22	,	,	PUNCT
app01-8125	40	23	reading	read	VERB
app01-8125	40	24	all	all	DET
app01-8125	40	25	the	the	DET
app01-8125	40	26	values	value	NOUN
app01-8125	40	27	into	into	ADP
app01-8125	40	28	memory	memory	NOUN
app01-8125	40	29	might	might	AUX
app01-8125	40	30	still	still	ADV
app01-8125	40	31	not	not	PART
app01-8125	40	32	be	be	AUX
app01-8125	40	33	possible	possible	ADJ
app01-8125	40	34	on	on	ADP
app01-8125	40	35	a	a	DET
app01-8125	40	36	standard	standard	ADJ
app01-8125	40	37	computer	computer	NOUN
app01-8125	40	38	with	with	ADP
app01-8125	40	39	limited	limited	ADJ
app01-8125	40	40	memory	memory	NOUN
app01-8125	40	41	.	.	PUNCT
app01-8125	41	1	for	for	ADP
app01-8125	41	2	example	example	NOUN
app01-8125	41	3	,	,	PUNCT
app01-8125	41	4	storing	store	VERB
app01-8125	41	5	100	100	NUM
app01-8125	41	6	million	million	NUM
app01-8125	41	7	xyz	xyz	NOUN
app01-8125	41	8	coordinates	coordinate	NOUN
app01-8125	41	9	(	(	PUNCT
app01-8125	41	10	3x64	3x64	NUM
app01-8125	41	11	bit	bit	NOUN
app01-8125	41	12	float	float	NOUN
app01-8125	41	13	)	)	PUNCT
app01-8125	41	14	occupies	occupy	VERB
app01-8125	41	15	2.4	2.4	NUM
app01-8125	41	16	gb	gb	NOUN
app01-8125	41	17	of	of	ADP
app01-8125	41	18	memory	memory	NOUN
app01-8125	41	19	,	,	PUNCT
app01-8125	41	20	more	more	ADJ
app01-8125	41	21	than	than	ADP
app01-8125	41	22	half	half	NOUN
app01-8125	41	23	of	of	ADP
app01-8125	41	24	a	a	DET
app01-8125	41	25	commonly	commonly	ADV
app01-8125	41	26	available	available	ADJ
app01-8125	41	27	4	4	NUM
app01-8125	41	28	gb	gb	NOUN
app01-8125	41	29	.	.	PUNCT
app01-8125	42	1	reducing	reduce	VERB
app01-8125	42	2	the	the	DET
app01-8125	42	3	number	number	NOUN
app01-8125	42	4	of	of	ADP
app01-8125	42	5	points	point	NOUN
app01-8125	42	6	to	to	PART
app01-8125	42	7	work	work	VERB
app01-8125	42	8	with	with	ADP
app01-8125	42	9	is	be	AUX
app01-8125	42	10	inevitable	inevitable	ADJ
app01-8125	42	11	.	.	PUNCT
app01-8125	43	1	in	in	ADP
app01-8125	43	2	our	our	PRON
app01-8125	43	3	case	case	NOUN
app01-8125	43	4	,	,	PUNCT
app01-8125	43	5	the	the	DET
app01-8125	43	6	points	point	NOUN
app01-8125	43	7	were	be	AUX
app01-8125	43	8	downsampled	downsample	VERB
app01-8125	43	9	in	in	ADP
app01-8125	43	10	a	a	DET
app01-8125	43	11	3d	3d	PROPN
app01-8125	43	12	voxel	voxel	PROPN
app01-8125	43	13	grid	grid	NOUN
app01-8125	43	14	using	use	VERB
app01-8125	43	15	the	the	DET
app01-8125	43	16	efficient	efficient	ADJ
app01-8125	43	17	implementation	implementation	NOUN
app01-8125	43	18	of	of	ADP
app01-8125	43	19	a	a	DET
app01-8125	43	20	c++	c++	NOUN
app01-8125	43	21	hash	hash	NOUN
app01-8125	43	22	map	map	NOUN
app01-8125	44	1	[	[	X
app01-8125	44	2	2	2	NUM
app01-8125	44	3	]	]	PUNCT
app01-8125	44	4	.	.	PUNCT
app01-8125	45	1	reasonable	reasonable	ADJ
app01-8125	45	2	selection	selection	NOUN
app01-8125	45	3	of	of	ADP
app01-8125	45	4	a	a	DET
app01-8125	45	5	grid	grid	NOUN
app01-8125	45	6	step	step	NOUN
app01-8125	45	7	of	of	ADP
app01-8125	45	8	say	say	VERB
app01-8125	45	9	1	1	NUM
app01-8125	45	10	×	×	NOUN
app01-8125	45	11	1	1	NUM
app01-8125	45	12	×	×	NOUN
app01-8125	45	13	1	1	NUM
app01-8125	45	14	cm	cm	NOUN
app01-8125	45	15	reduces	reduce	VERB
app01-8125	45	16	all	all	DET
app01-8125	45	17	the	the	DET
app01-8125	45	18	points	point	NOUN
app01-8125	45	19	within	within	ADP
app01-8125	45	20	the	the	DET
app01-8125	45	21	1	1	NUM
app01-8125	45	22	cm3	cm3	NOUN
app01-8125	45	23	cube	cube	NOUN
app01-8125	45	24	to	to	ADP
app01-8125	45	25	a	a	DET
app01-8125	45	26	single	single	ADJ
app01-8125	45	27	point	point	NOUN
app01-8125	45	28	with	with	ADP
app01-8125	45	29	weighted	weight	VERB
app01-8125	45	30	coordinates	coordinate	NOUN
app01-8125	45	31	.	.	PUNCT
app01-8125	46	1	as	as	SCONJ
app01-8125	46	2	we	we	PRON
app01-8125	46	3	have	have	AUX
app01-8125	46	4	discussed	discuss	VERB
app01-8125	46	5	in	in	ADP
app01-8125	46	6	[	[	X
app01-8125	46	7	3	3	NUM
app01-8125	46	8	]	]	PUNCT
app01-8125	46	9	,	,	PUNCT
app01-8125	46	10	one	one	PRON
app01-8125	46	11	can	can	AUX
app01-8125	46	12	see	see	VERB
app01-8125	46	13	that	that	PRON
app01-8125	46	14	just	just	ADV
app01-8125	46	15	by	by	ADP
app01-8125	46	16	downsampling	downsample	VERB
app01-8125	46	17	to	to	ADP
app01-8125	46	18	a	a	DET
app01-8125	46	19	1	1	NUM
app01-8125	46	20	cm3	cm3	NOUN
app01-8125	46	21	grid	grid	NOUN
app01-8125	46	22	,	,	PUNCT
app01-8125	46	23	the	the	DET
app01-8125	46	24	size	size	NOUN
app01-8125	46	25	of	of	ADP
app01-8125	46	26	points	point	NOUN
app01-8125	46	27	goes	go	VERB
app01-8125	46	28	down	down	ADP
app01-8125	46	29	to	to	ADP
app01-8125	46	30	at	at	ADV
app01-8125	46	31	least	least	ADV
app01-8125	46	32	30	30	NUM
app01-8125	46	33	%	%	NOUN
app01-8125	46	34	.	.	PUNCT
app01-8125	47	1	in	in	ADP
app01-8125	47	2	the	the	DET
app01-8125	47	3	case	case	NOUN
app01-8125	47	4	of	of	ADP
app01-8125	47	5	city	city	NOUN
app01-8125	47	6	scanning	scanning	NOUN
app01-8125	47	7	,	,	PUNCT
app01-8125	47	8	the	the	DET
app01-8125	47	9	grid	grid	NOUN
app01-8125	47	10	step	step	NOUN
app01-8125	47	11	length	length	NOUN
app01-8125	47	12	may	may	AUX
app01-8125	47	13	be	be	AUX
app01-8125	47	14	much	much	ADV
app01-8125	47	15	longer	long	ADJ
app01-8125	47	16	.	.	PUNCT
app01-8125	48	1	for	for	ADP
app01-8125	48	2	example	example	NOUN
app01-8125	48	3	,	,	PUNCT
app01-8125	48	4	we	we	PRON
app01-8125	48	5	have	have	AUX
app01-8125	48	6	used	use	VERB
app01-8125	48	7	a	a	DET
app01-8125	48	8	downsampling	downsample	VERB
app01-8125	48	9	step	step	NOUN
app01-8125	48	10	of	of	ADP
app01-8125	48	11	5	5	NUM
app01-8125	48	12	cm	cm	NOUN
app01-8125	48	13	for	for	ADP
app01-8125	48	14	the	the	DET
app01-8125	48	15	dublin	dublin	PROPN
app01-8125	48	16	point	point	PROPN
app01-8125	48	17	cloud	cloud	PROPN
app01-8125	48	18	,	,	PUNCT
app01-8125	48	19	and	and	CCONJ
app01-8125	48	20	even	even	ADV
app01-8125	48	21	a	a	DET
app01-8125	48	22	larger	large	ADJ
app01-8125	48	23	step	step	NOUN
app01-8125	48	24	of	of	ADP
app01-8125	48	25	10	10	NUM
app01-8125	48	26	cm	cm	NOUN
app01-8125	48	27	still	still	ADV
app01-8125	48	28	produced	produce	VERB
app01-8125	48	29	satisfying	satisfying	NOUN
app01-8125	48	30	results	result	NOUN
app01-8125	48	31	.	.	PUNCT
app01-8125	49	1	2.2	2.2	NUM
app01-8125	49	2	.	.	PUNCT
app01-8125	50	1	the	the	DET
app01-8125	50	2	normal	normal	ADJ
app01-8125	50	3	vector	vector	NOUN
app01-8125	50	4	of	of	ADP
app01-8125	50	5	downsampled	downsample	VERB
app01-8125	50	6	points	point	NOUN
app01-8125	50	7	further	further	ADJ
app01-8125	50	8	processing	processing	NOUN
app01-8125	50	9	can	can	AUX
app01-8125	50	10	take	take	VERB
app01-8125	50	11	advantage	advantage	NOUN
app01-8125	50	12	of	of	ADP
app01-8125	50	13	determining	determine	VERB
app01-8125	50	14	the	the	DET
app01-8125	50	15	normal	normal	ADJ
app01-8125	50	16	vector	vector	NOUN
app01-8125	50	17	at	at	ADP
app01-8125	50	18	each	each	DET
app01-8125	50	19	downsampled	downsample	VERB
app01-8125	50	20	point	point	NOUN
app01-8125	50	21	.	.	PUNCT
app01-8125	51	1	this	this	PRON
app01-8125	51	2	is	be	AUX
app01-8125	51	3	done	do	VERB
app01-8125	51	4	in	in	ADP
app01-8125	51	5	the	the	DET
app01-8125	51	6	following	follow	VERB
app01-8125	51	7	steps	step	NOUN
app01-8125	51	8	.	.	PUNCT
app01-8125	52	1	for	for	ADP
app01-8125	52	2	each	each	DET
app01-8125	52	3	point	point	NOUN
app01-8125	52	4	,	,	PUNCT
app01-8125	52	5	its	its	PRON
app01-8125	52	6	ten	ten	NUM
app01-8125	52	7	closest	close	ADJ
app01-8125	52	8	points	point	NOUN
app01-8125	52	9	are	be	AUX
app01-8125	52	10	found	find	VERB
app01-8125	52	11	.	.	PUNCT
app01-8125	53	1	this	this	PRON
app01-8125	53	2	is	be	AUX
app01-8125	53	3	done	do	VERB
app01-8125	53	4	by	by	ADP
app01-8125	53	5	implementing	implement	VERB
app01-8125	53	6	and	and	CCONJ
app01-8125	53	7	using	use	VERB
app01-8125	53	8	a	a	DET
app01-8125	53	9	k	k	ADJ
app01-8125	53	10	-	-	ADJ
app01-8125	53	11	d	d	ADJ
app01-8125	53	12	tree	tree	NOUN
app01-8125	53	13	data	datum	NOUN
app01-8125	53	14	structure	structure	NOUN
app01-8125	53	15	.	.	PUNCT
app01-8125	54	1	the	the	DET
app01-8125	54	2	total	total	ADJ
app01-8125	54	3	number	number	NOUN
app01-8125	54	4	of	of	ADP
app01-8125	54	5	points	point	NOUN
app01-8125	54	6	n	n	CCONJ
app01-8125	54	7	for	for	ADP
app01-8125	54	8	the	the	DET
app01-8125	54	9	normal	normal	ADJ
app01-8125	54	10	evaluation	evaluation	NOUN
app01-8125	54	11	is	be	AUX
app01-8125	54	12	at	at	ADP
app01-8125	54	13	most	most	ADJ
app01-8125	54	14	n	n	NOUN
app01-8125	54	15	=	=	SYM
app01-8125	54	16	10	10	NUM
app01-8125	54	17	.	.	PUNCT
app01-8125	55	1	the	the	DET
app01-8125	55	2	3	3	NUM
app01-8125	55	3	×	×	NOUN
app01-8125	55	4	3	3	NUM
app01-8125	55	5	covariance	covariance	NOUN
app01-8125	55	6	matrix	matrix	NOUN
app01-8125	55	7	of	of	ADP
app01-8125	55	8	the	the	DET
app01-8125	55	9	point	point	NOUN
app01-8125	55	10	x	x	NOUN
app01-8125	55	11	,	,	PUNCT
app01-8125	55	12	y	y	PROPN
app01-8125	55	13	,	,	PUNCT
app01-8125	55	14	z	z	NOUN
app01-8125	55	15	coordinates	coordinate	NOUN
app01-8125	55	16	relative	relative	ADJ
app01-8125	55	17	to	to	ADP
app01-8125	55	18	the	the	DET
app01-8125	55	19	point	point	NOUN
app01-8125	55	20	is	be	AUX
app01-8125	55	21	calculated	calculate	VERB
app01-8125	55	22	using	use	VERB
app01-8125	55	23	the	the	DET
app01-8125	55	24	formula	formula	NOUN
app01-8125	55	25	for	for	ADP
app01-8125	55	26	the	the	DET
app01-8125	55	27	covariance	covariance	NOUN
app01-8125	55	28	of	of	ADP
app01-8125	55	29	a	a	DET
app01-8125	55	30	and	and	CCONJ
app01-8125	55	31	b	b	NOUN
app01-8125	55	32	below	below	ADV
app01-8125	55	33	.	.	PUNCT
app01-8125	56	1	cov(a	cov(a	PROPN
app01-8125	56	2	,	,	PUNCT
app01-8125	56	3	b	b	NOUN
app01-8125	56	4	)	)	PUNCT
app01-8125	56	5	=	=	SYM
app01-8125	57	1	∑n	∑n	NOUN
app01-8125	57	2	i=1(ai	i=1(ai	ADJ
app01-8125	58	1	−	−	PROPN
app01-8125	58	2	µa)(bi	µa)(bi	PUNCT
app01-8125	58	3	−	−	PROPN
app01-8125	58	4	µb	µb	NOUN
app01-8125	58	5	)	)	PUNCT
app01-8125	58	6	n−	n−	NOUN
app01-8125	58	7	1	1	NUM
app01-8125	58	8	,	,	PUNCT
app01-8125	58	9	(	(	PUNCT
app01-8125	58	10	1	1	X
app01-8125	58	11	)	)	PUNCT
app01-8125	58	12	where	where	SCONJ
app01-8125	58	13	µx	µx	VERB
app01-8125	58	14	,	,	PUNCT
app01-8125	58	15	µy	µy	ADV
app01-8125	58	16	and	and	CCONJ
app01-8125	58	17	µz	µz	PROPN
app01-8125	58	18	are	be	AUX
app01-8125	58	19	the	the	DET
app01-8125	58	20	coordinates	coordinate	NOUN
app01-8125	58	21	of	of	ADP
app01-8125	58	22	the	the	DET
app01-8125	58	23	subject	subject	NOUN
app01-8125	58	24	point	point	NOUN
app01-8125	58	25	.	.	PUNCT
app01-8125	59	1	the	the	DET
app01-8125	59	2	smallest	small	ADJ
app01-8125	59	3	eigenvector	eigenvector	NOUN
app01-8125	59	4	of	of	ADP
app01-8125	59	5	the	the	DET
app01-8125	59	6	covariance	covariance	NOUN
app01-8125	59	7	matrix	matrix	NOUN
app01-8125	59	8	is	be	AUX
app01-8125	59	9	the	the	DET
app01-8125	59	10	plane	plane	NOUN
app01-8125	59	11	normal	normal	ADJ
app01-8125	59	12	[	[	X
app01-8125	59	13	4	4	NUM
app01-8125	59	14	]	]	PUNCT
app01-8125	59	15	.	.	PUNCT
app01-8125	60	1	the	the	DET
app01-8125	60	2	direct	direct	ADJ
app01-8125	60	3	solver	solver	NOUN
app01-8125	60	4	of	of	ADP
app01-8125	60	5	eigenvalues	eigenvalue	NOUN
app01-8125	60	6	figure	figure	NOUN
app01-8125	60	7	2	2	NUM
app01-8125	60	8	.	.	PUNCT
app01-8125	61	1	the	the	DET
app01-8125	61	2	results	result	NOUN
app01-8125	61	3	of	of	ADP
app01-8125	61	4	a	a	DET
app01-8125	61	5	ground	ground	NOUN
app01-8125	61	6	segmentation	segmentation	NOUN
app01-8125	61	7	:	:	PUNCT
app01-8125	61	8	the	the	DET
app01-8125	61	9	streets	street	NOUN
app01-8125	61	10	are	be	AUX
app01-8125	61	11	dominating	dominate	VERB
app01-8125	61	12	the	the	DET
app01-8125	61	13	picture	picture	NOUN
app01-8125	61	14	.	.	PUNCT
app01-8125	62	1	it	it	PRON
app01-8125	62	2	can	can	AUX
app01-8125	62	3	be	be	AUX
app01-8125	62	4	seen	see	VERB
app01-8125	62	5	that	that	SCONJ
app01-8125	62	6	most	most	ADJ
app01-8125	62	7	of	of	ADP
app01-8125	62	8	the	the	DET
app01-8125	62	9	inner	inner	ADJ
app01-8125	62	10	areas	area	NOUN
app01-8125	62	11	of	of	ADP
app01-8125	62	12	the	the	DET
app01-8125	62	13	building	building	NOUN
app01-8125	62	14	were	be	AUX
app01-8125	62	15	captured	capture	VERB
app01-8125	62	16	as	as	ADV
app01-8125	62	17	well	well	ADV
app01-8125	62	18	.	.	PUNCT
app01-8125	63	1	the	the	DET
app01-8125	63	2	large	large	ADJ
app01-8125	63	3	flat	flat	ADJ
app01-8125	63	4	park	park	NOUN
app01-8125	63	5	area	area	NOUN
app01-8125	63	6	in	in	ADP
app01-8125	63	7	the	the	DET
app01-8125	63	8	top	top	ADJ
app01-8125	63	9	right	right	NOUN
app01-8125	63	10	is	be	AUX
app01-8125	63	11	also	also	ADV
app01-8125	63	12	notable	notable	ADJ
app01-8125	63	13	.	.	PUNCT
app01-8125	64	1	was	be	AUX
app01-8125	64	2	implemented	implement	VERB
app01-8125	64	3	for	for	ADP
app01-8125	64	4	the	the	DET
app01-8125	64	5	3×3	3×3	NUM
app01-8125	64	6	matrix	matrix	NOUN
app01-8125	64	7	using	use	VERB
app01-8125	64	8	the	the	DET
app01-8125	64	9	arccos	arccos	ADJ
app01-8125	64	10	function	function	NOUN
app01-8125	64	11	,	,	PUNCT
app01-8125	64	12	as	as	SCONJ
app01-8125	64	13	described	describe	VERB
app01-8125	64	14	in	in	ADP
app01-8125	64	15	[	[	X
app01-8125	64	16	5	5	NUM
app01-8125	64	17	]	]	PUNCT
app01-8125	64	18	.	.	PUNCT
app01-8125	65	1	3	3	X
app01-8125	65	2	.	.	X
app01-8125	65	3	ground	ground	NOUN
app01-8125	65	4	-	-	PUNCT
app01-8125	65	5	level	level	NOUN
app01-8125	65	6	segmentation	segmentation	NOUN
app01-8125	65	7	there	there	PRON
app01-8125	65	8	are	be	VERB
app01-8125	65	9	numerous	numerous	ADJ
app01-8125	65	10	algorithms	algorithm	NOUN
app01-8125	65	11	for	for	ADP
app01-8125	65	12	ground	ground	NOUN
app01-8125	65	13	segmentation	segmentation	NOUN
app01-8125	65	14	.	.	PUNCT
app01-8125	66	1	for	for	ADP
app01-8125	66	2	example	example	NOUN
app01-8125	66	3	,	,	PUNCT
app01-8125	66	4	in	in	ADP
app01-8125	66	5	[	[	PUNCT
app01-8125	66	6	6	6	NUM
app01-8125	66	7	]	]	PUNCT
app01-8125	66	8	,	,	PUNCT
app01-8125	66	9	they	they	PRON
app01-8125	66	10	use	use	VERB
app01-8125	66	11	a	a	DET
app01-8125	66	12	ground	ground	NOUN
app01-8125	66	13	plane	plane	NOUN
app01-8125	66	14	fitting	fitting	ADJ
app01-8125	66	15	algorithm	algorithm	NOUN
app01-8125	66	16	that	that	PRON
app01-8125	66	17	is	be	AUX
app01-8125	66	18	suitable	suitable	ADJ
app01-8125	66	19	for	for	ADP
app01-8125	66	20	small	small	ADJ
app01-8125	66	21	areas	area	NOUN
app01-8125	66	22	of	of	ADP
app01-8125	66	23	the	the	DET
app01-8125	66	24	point	point	NOUN
app01-8125	66	25	cloud	cloud	NOUN
app01-8125	66	26	.	.	PUNCT
app01-8125	67	1	as	as	SCONJ
app01-8125	67	2	we	we	PRON
app01-8125	67	3	have	have	AUX
app01-8125	67	4	wanted	want	VERB
app01-8125	67	5	to	to	PART
app01-8125	67	6	obtain	obtain	VERB
app01-8125	67	7	ground	ground	NOUN
app01-8125	67	8	points	point	NOUN
app01-8125	67	9	for	for	ADP
app01-8125	67	10	the	the	DET
app01-8125	67	11	whole	whole	ADJ
app01-8125	67	12	dataset	dataset	NOUN
app01-8125	67	13	(	(	PUNCT
app01-8125	67	14	2	2	NUM
app01-8125	67	15	km2	km2	PROPN
app01-8125	67	16	dublin	dublin	PROPN
app01-8125	67	17	area	area	PROPN
app01-8125	67	18	)	)	PUNCT
app01-8125	67	19	,	,	PUNCT
app01-8125	67	20	we	we	PRON
app01-8125	67	21	propose	propose	VERB
app01-8125	67	22	a	a	DET
app01-8125	67	23	different	different	ADJ
app01-8125	67	24	approach	approach	NOUN
app01-8125	67	25	suitable	suitable	ADJ
app01-8125	67	26	for	for	ADP
app01-8125	67	27	cities	city	NOUN
app01-8125	67	28	with	with	ADP
app01-8125	67	29	mostly	mostly	ADV
app01-8125	67	30	vertical	vertical	ADJ
app01-8125	67	31	building	building	NOUN
app01-8125	67	32	walls	wall	NOUN
app01-8125	67	33	.	.	PUNCT
app01-8125	68	1	we	we	PRON
app01-8125	68	2	claim	claim	VERB
app01-8125	68	3	that	that	SCONJ
app01-8125	68	4	this	this	PRON
app01-8125	68	5	is	be	AUX
app01-8125	68	6	a	a	DET
app01-8125	68	7	reasonable	reasonable	ADJ
app01-8125	68	8	approach	approach	NOUN
app01-8125	68	9	for	for	ADP
app01-8125	68	10	most	most	ADJ
app01-8125	68	11	cities	city	NOUN
app01-8125	68	12	.	.	PUNCT
app01-8125	69	1	however	however	ADV
app01-8125	69	2	,	,	PUNCT
app01-8125	69	3	the	the	DET
app01-8125	69	4	algorithm	algorithm	NOUN
app01-8125	69	5	may	may	AUX
app01-8125	69	6	not	not	PART
app01-8125	69	7	perform	perform	VERB
app01-8125	69	8	well	well	ADV
app01-8125	69	9	for	for	ADP
app01-8125	69	10	areas	area	NOUN
app01-8125	69	11	where	where	SCONJ
app01-8125	69	12	no	no	DET
app01-8125	69	13	vertical	vertical	ADJ
app01-8125	69	14	building	building	NOUN
app01-8125	69	15	walls	wall	NOUN
app01-8125	69	16	are	be	AUX
app01-8125	69	17	present	present	ADJ
app01-8125	69	18	.	.	PUNCT
app01-8125	70	1	the	the	DET
app01-8125	70	2	first	first	ADJ
app01-8125	70	3	step	step	NOUN
app01-8125	70	4	is	be	AUX
app01-8125	70	5	to	to	PART
app01-8125	70	6	activate	activate	VERB
app01-8125	70	7	a	a	DET
app01-8125	70	8	two	two	NUM
app01-8125	70	9	-	-	PUNCT
app01-8125	70	10	dimensional	dimensional	ADJ
app01-8125	70	11	grid	grid	NOUN
app01-8125	70	12	in	in	ADP
app01-8125	70	13	the	the	DET
app01-8125	70	14	horizontal	horizontal	ADJ
app01-8125	70	15	plane	plane	NOUN
app01-8125	70	16	.	.	PUNCT
app01-8125	71	1	grid	grid	NOUN
app01-8125	71	2	coordinates	coordinate	NOUN
app01-8125	71	3	are	be	AUX
app01-8125	71	4	calculated	calculate	VERB
app01-8125	71	5	for	for	ADP
app01-8125	71	6	each	each	DET
app01-8125	71	7	point	point	NOUN
app01-8125	71	8	,	,	PUNCT
app01-8125	71	9	and	and	CCONJ
app01-8125	71	10	the	the	DET
app01-8125	71	11	point	point	NOUN
app01-8125	71	12	is	be	AUX
app01-8125	71	13	added	add	VERB
app01-8125	71	14	to	to	ADP
app01-8125	71	15	a	a	DET
app01-8125	71	16	list	list	NOUN
app01-8125	71	17	at	at	ADP
app01-8125	71	18	a	a	DET
app01-8125	71	19	corresponding	corresponding	ADJ
app01-8125	71	20	grid	grid	NOUN
app01-8125	71	21	index	index	NOUN
app01-8125	71	22	.	.	PUNCT
app01-8125	72	1	in	in	ADP
app01-8125	72	2	the	the	DET
app01-8125	72	3	next	next	ADJ
app01-8125	72	4	step	step	NOUN
app01-8125	72	5	,	,	PUNCT
app01-8125	72	6	we	we	PRON
app01-8125	72	7	iterate	iterate	VERB
app01-8125	72	8	over	over	ADP
app01-8125	72	9	all	all	DET
app01-8125	72	10	the	the	DET
app01-8125	72	11	active	active	ADJ
app01-8125	72	12	grid	grid	NOUN
app01-8125	72	13	cells	cell	NOUN
app01-8125	72	14	.	.	PUNCT
app01-8125	73	1	cells	cell	NOUN
app01-8125	73	2	without	without	ADP
app01-8125	73	3	a	a	DET
app01-8125	73	4	sufficient	sufficient	ADJ
app01-8125	73	5	vertical	vertical	ADJ
app01-8125	73	6	coordinate	coordinate	NOUN
app01-8125	73	7	difference	difference	NOUN
app01-8125	73	8	∆z	∆z	PROPN
app01-8125	73	9	will	will	AUX
app01-8125	73	10	be	be	AUX
app01-8125	73	11	removed	remove	VERB
app01-8125	73	12	from	from	ADP
app01-8125	73	13	the	the	DET
app01-8125	73	14	grid	grid	NOUN
app01-8125	73	15	.	.	PUNCT
app01-8125	74	1	the	the	DET
app01-8125	74	2	minimum	minimum	ADJ
app01-8125	74	3	vertical	vertical	ADJ
app01-8125	74	4	coordinate	coordinate	NOUN
app01-8125	74	5	difference	difference	NOUN
app01-8125	74	6	equals	equal	VERB
app01-8125	74	7	the	the	DET
app01-8125	74	8	minimum	minimum	NOUN
app01-8125	74	9	expected	expect	VERB
app01-8125	74	10	building	building	NOUN
app01-8125	74	11	height	height	NOUN
app01-8125	74	12	.	.	PUNCT
app01-8125	75	1	we	we	PRON
app01-8125	75	2	have	have	AUX
app01-8125	75	3	chosen	choose	VERB
app01-8125	75	4	∆z	∆z	PROPN
app01-8125	75	5	=	=	SYM
app01-8125	75	6	3	3	NUM
app01-8125	75	7	m	m	NOUN
app01-8125	75	8	because	because	SCONJ
app01-8125	75	9	we	we	PRON
app01-8125	75	10	do	do	AUX
app01-8125	75	11	not	not	PART
app01-8125	75	12	expect	expect	VERB
app01-8125	75	13	any	any	DET
app01-8125	75	14	building	building	NOUN
app01-8125	75	15	to	to	PART
app01-8125	75	16	be	be	AUX
app01-8125	75	17	smaller	small	ADJ
app01-8125	75	18	than	than	ADP
app01-8125	75	19	such	such	DET
app01-8125	75	20	a	a	DET
app01-8125	75	21	height	height	NOUN
app01-8125	75	22	.	.	PUNCT
app01-8125	76	1	most	most	ADJ
app01-8125	76	2	of	of	ADP
app01-8125	76	3	such	such	ADJ
app01-8125	76	4	selected	select	VERB
app01-8125	76	5	grid	grid	NOUN
app01-8125	76	6	cells	cell	NOUN
app01-8125	76	7	will	will	AUX
app01-8125	76	8	contain	contain	VERB
app01-8125	76	9	building	build	VERB
app01-8125	76	10	wall	wall	NOUN
app01-8125	76	11	points	point	NOUN
app01-8125	76	12	.	.	PUNCT
app01-8125	77	1	however	however	ADV
app01-8125	77	2	,	,	PUNCT
app01-8125	77	3	lamps	lamp	NOUN
app01-8125	77	4	,	,	PUNCT
app01-8125	77	5	some	some	DET
app01-8125	77	6	higher	high	ADJ
app01-8125	77	7	trees	tree	NOUN
app01-8125	77	8	,	,	PUNCT
app01-8125	77	9	or	or	CCONJ
app01-8125	77	10	noise	noise	NOUN
app01-8125	77	11	will	will	AUX
app01-8125	77	12	be	be	AUX
app01-8125	77	13	captured	capture	VERB
app01-8125	77	14	as	as	ADV
app01-8125	77	15	well	well	ADV
app01-8125	77	16	.	.	PUNCT
app01-8125	78	1	a	a	DET
app01-8125	78	2	minimum	minimum	ADJ
app01-8125	78	3	number	number	NOUN
app01-8125	78	4	of	of	ADP
app01-8125	78	5	points	point	NOUN
app01-8125	78	6	nmin	nmin	NOUN
app01-8125	78	7	in	in	ADP
app01-8125	78	8	the	the	DET
app01-8125	78	9	cell	cell	NOUN
app01-8125	78	10	is	be	AUX
app01-8125	78	11	introduced	introduce	VERB
app01-8125	78	12	to	to	PART
app01-8125	78	13	limit	limit	VERB
app01-8125	78	14	the	the	DET
app01-8125	78	15	number	number	NOUN
app01-8125	78	16	of	of	ADP
app01-8125	78	17	false	false	ADJ
app01-8125	78	18	positives	positive	NOUN
app01-8125	78	19	.	.	PUNCT
app01-8125	79	1	the	the	DET
app01-8125	79	2	average	average	ADJ
app01-8125	79	3	point	point	NOUN
app01-8125	79	4	density	density	NOUN
app01-8125	79	5	ρ	ρ	NOUN
app01-8125	79	6	is	be	AUX
app01-8125	79	7	calculated	calculate	VERB
app01-8125	79	8	for	for	ADP
app01-8125	79	9	the	the	DET
app01-8125	79	10	point	point	NOUN
app01-8125	79	11	cloud	cloud	NOUN
app01-8125	79	12	.	.	PUNCT
app01-8125	80	1	for	for	ADP
app01-8125	80	2	the	the	DET
app01-8125	80	3	dublin	dublin	PROPN
app01-8125	80	4	data	data	PROPN
app01-8125	80	5	set	set	PROPN
app01-8125	80	6	,	,	PUNCT
app01-8125	80	7	the	the	DET
app01-8125	80	8	value	value	NOUN
app01-8125	80	9	is	be	AUX
app01-8125	80	10	around	around	ADV
app01-8125	80	11	1	1	NUM
app01-8125	80	12	point	point	NOUN
app01-8125	80	13	per	per	ADP
app01-8125	80	14	3	3	NUM
app01-8125	80	15	cm3	cm3	NOUN
app01-8125	80	16	.	.	PUNCT
app01-8125	81	1	the	the	DET
app01-8125	81	2	average	average	ADJ
app01-8125	81	3	point	point	NOUN
app01-8125	81	4	density	density	NOUN
app01-8125	81	5	ρcell	ρcell	NOUN
app01-8125	81	6	is	be	AUX
app01-8125	81	7	calculated	calculate	VERB
app01-8125	81	8	for	for	ADP
app01-8125	81	9	the	the	DET
app01-8125	81	10	grid	grid	NOUN
app01-8125	81	11	cell	cell	NOUN
app01-8125	81	12	and	and	CCONJ
app01-8125	81	13	compared	compare	VERB
app01-8125	81	14	to	to	ADP
app01-8125	81	15	the	the	DET
app01-8125	81	16	ρ	ρ	NOUN
app01-8125	81	17	.	.	PUNCT
app01-8125	82	1	only	only	ADJ
app01-8125	82	2	cells	cell	NOUN
app01-8125	82	3	with	with	ADP
app01-8125	82	4	ρcell	ρcell	PROPN
app01-8125	82	5	/	/	SYM
app01-8125	82	6	ρ	ρ	PROPN
app01-8125	82	7	>	>	X
app01-8125	82	8	0.25	0.25	NUM
app01-8125	82	9	are	be	AUX
app01-8125	82	10	accepted	accept	VERB
app01-8125	82	11	to	to	PART
app01-8125	82	12	accommodate	accommodate	VERB
app01-8125	82	13	walls	wall	NOUN
app01-8125	82	14	with	with	ADP
app01-8125	82	15	large	large	ADJ
app01-8125	82	16	openings	opening	NOUN
app01-8125	82	17	(	(	PUNCT
app01-8125	82	18	i.e.	i.e.	X
app01-8125	82	19	,	,	PUNCT
app01-8125	82	20	windows	window	NOUN
app01-8125	82	21	,	,	PUNCT
app01-8125	82	22	balconies	balcony	NOUN
app01-8125	82	23	)	)	PUNCT
app01-8125	82	24	.	.	PUNCT
app01-8125	83	1	finally	finally	ADV
app01-8125	83	2	,	,	PUNCT
app01-8125	83	3	any	any	DET
app01-8125	83	4	high	high	ADJ
app01-8125	83	5	walls	wall	NOUN
app01-8125	83	6	present	present	ADJ
app01-8125	83	7	on	on	ADP
app01-8125	83	8	the	the	DET
app01-8125	83	9	buildings	building	NOUN
app01-8125	83	10	and	and	CCONJ
app01-8125	83	11	not	not	PART
app01-8125	83	12	reaching	reach	VERB
app01-8125	83	13	the	the	DET
app01-8125	83	14	ground	ground	NOUN
app01-8125	83	15	need	need	VERB
app01-8125	83	16	to	to	PART
app01-8125	83	17	be	be	AUX
app01-8125	83	18	removed	remove	VERB
app01-8125	83	19	.	.	PUNCT
app01-8125	84	1	another	another	DET
app01-8125	84	2	horizontal	horizontal	ADJ
app01-8125	84	3	grid	grid	NOUN
app01-8125	84	4	with	with	ADP
app01-8125	84	5	a	a	DET
app01-8125	84	6	much	much	ADV
app01-8125	84	7	higher	high	ADJ
app01-8125	84	8	step	step	NOUN
app01-8125	84	9	length	length	NOUN
app01-8125	84	10	134	134	NUM
app01-8125	84	11	vol	vol	NOUN
app01-8125	84	12	.	.	PUNCT
app01-8125	85	1	34/2022	34/2022	NUM
app01-8125	85	2	automatic	automatic	ADJ
app01-8125	85	3	extraction	extraction	NOUN
app01-8125	85	4	of	of	ADP
app01-8125	85	5	3d	3d	NUM
app01-8125	85	6	building	building	NOUN
app01-8125	85	7	meshes	mesh	NOUN
app01-8125	85	8	from	from	ADP
app01-8125	85	9	lidar	lidar	NOUN
app01-8125	85	10	data	datum	NOUN
app01-8125	85	11	figure	figure	NOUN
app01-8125	85	12	3	3	NUM
app01-8125	85	13	.	.	PUNCT
app01-8125	86	1	the	the	DET
app01-8125	86	2	results	result	NOUN
app01-8125	86	3	of	of	ADP
app01-8125	86	4	building	build	VERB
app01-8125	86	5	segmentation	segmentation	NOUN
app01-8125	86	6	:	:	PUNCT
app01-8125	86	7	each	each	PRON
app01-8125	86	8	of	of	ADP
app01-8125	86	9	the	the	DET
app01-8125	86	10	buildings	building	NOUN
app01-8125	86	11	are	be	AUX
app01-8125	86	12	marked	mark	VERB
app01-8125	86	13	in	in	ADP
app01-8125	86	14	a	a	DET
app01-8125	86	15	single	single	ADJ
app01-8125	86	16	color	color	NOUN
app01-8125	86	17	.	.	PUNCT
app01-8125	87	1	it	it	PRON
app01-8125	87	2	can	can	AUX
app01-8125	87	3	be	be	AUX
app01-8125	87	4	seen	see	VERB
app01-8125	87	5	that	that	SCONJ
app01-8125	87	6	noise	noise	NOUN
app01-8125	87	7	is	be	AUX
app01-8125	87	8	present	present	ADJ
app01-8125	87	9	in	in	ADP
app01-8125	87	10	the	the	DET
app01-8125	87	11	results	result	NOUN
app01-8125	87	12	as	as	ADP
app01-8125	87	13	small	small	ADJ
app01-8125	87	14	entities	entity	NOUN
app01-8125	87	15	(	(	PUNCT
app01-8125	87	16	primarily	primarily	ADV
app01-8125	87	17	trees	tree	NOUN
app01-8125	87	18	)	)	PUNCT
app01-8125	87	19	.	.	PUNCT
app01-8125	88	1	multiple	multiple	ADJ
app01-8125	88	2	buildings	building	NOUN
app01-8125	88	3	may	may	AUX
app01-8125	88	4	be	be	AUX
app01-8125	88	5	identified	identify	VERB
app01-8125	88	6	as	as	ADP
app01-8125	88	7	one	one	NUM
app01-8125	88	8	when	when	SCONJ
app01-8125	88	9	some	some	DET
app01-8125	88	10	joining	join	VERB
app01-8125	88	11	element	element	NOUN
app01-8125	88	12	is	be	AUX
app01-8125	88	13	present	present	ADJ
app01-8125	88	14	(	(	PUNCT
app01-8125	88	15	i.e.	i.e.	X
app01-8125	88	16	,	,	PUNCT
app01-8125	88	17	bridge	bridge	NOUN
app01-8125	88	18	or	or	CCONJ
app01-8125	88	19	a	a	DET
app01-8125	88	20	tree	tree	NOUN
app01-8125	88	21	in	in	ADP
app01-8125	88	22	between	between	ADP
app01-8125	88	23	)	)	PUNCT
app01-8125	88	24	.	.	PUNCT
app01-8125	89	1	is	be	AUX
app01-8125	89	2	introduced	introduce	VERB
app01-8125	89	3	(	(	PUNCT
app01-8125	89	4	25	25	NUM
app01-8125	89	5	m	m	NOUN
app01-8125	89	6	in	in	ADP
app01-8125	89	7	our	our	PRON
app01-8125	89	8	case	case	NOUN
app01-8125	89	9	)	)	PUNCT
app01-8125	89	10	.	.	PUNCT
app01-8125	90	1	points	point	NOUN
app01-8125	90	2	from	from	ADP
app01-8125	90	3	the	the	DET
app01-8125	90	4	previous	previous	ADJ
app01-8125	90	5	grid	grid	NOUN
app01-8125	90	6	(	(	PUNCT
app01-8125	90	7	z	z	NOUN
app01-8125	90	8	-	-	PUNCT
app01-8125	90	9	coordinate	coordinate	NOUN
app01-8125	90	10	is	be	AUX
app01-8125	90	11	equal	equal	ADJ
app01-8125	90	12	to	to	ADP
app01-8125	90	13	the	the	DET
app01-8125	90	14	minimum	minimum	ADJ
app01-8125	90	15	vertical	vertical	ADJ
app01-8125	90	16	coordinate	coordinate	NOUN
app01-8125	90	17	in	in	ADP
app01-8125	90	18	the	the	DET
app01-8125	90	19	cell	cell	NOUN
app01-8125	90	20	)	)	PUNCT
app01-8125	90	21	are	be	AUX
app01-8125	90	22	activated	activate	VERB
app01-8125	90	23	within	within	ADP
app01-8125	90	24	the	the	DET
app01-8125	90	25	larger	large	ADJ
app01-8125	90	26	grid	grid	NOUN
app01-8125	90	27	.	.	PUNCT
app01-8125	91	1	we	we	PRON
app01-8125	91	2	can	can	AUX
app01-8125	91	3	then	then	ADV
app01-8125	91	4	calculate	calculate	VERB
app01-8125	91	5	the	the	DET
app01-8125	91	6	median	median	NOUN
app01-8125	91	7	of	of	ADP
app01-8125	91	8	the	the	DET
app01-8125	91	9	z	z	NOUN
app01-8125	91	10	-	-	PUNCT
app01-8125	91	11	coordinate	coordinate	NOUN
app01-8125	91	12	per	per	ADP
app01-8125	91	13	the	the	DET
app01-8125	91	14	larger	large	ADJ
app01-8125	91	15	grid	grid	NOUN
app01-8125	91	16	’s	’s	PART
app01-8125	91	17	steps	step	NOUN
app01-8125	91	18	and	and	CCONJ
app01-8125	91	19	filter	filter	VERB
app01-8125	91	20	out	out	ADP
app01-8125	91	21	the	the	DET
app01-8125	91	22	smaller	small	ADJ
app01-8125	91	23	grid	grid	NOUN
app01-8125	91	24	by	by	ADP
app01-8125	91	25	not	not	PART
app01-8125	91	26	taking	take	VERB
app01-8125	91	27	into	into	ADP
app01-8125	91	28	account	account	NOUN
app01-8125	91	29	the	the	DET
app01-8125	91	30	points	point	NOUN
app01-8125	91	31	above	above	ADP
app01-8125	91	32	the	the	DET
app01-8125	91	33	median	median	NOUN
app01-8125	91	34	.	.	PUNCT
app01-8125	92	1	finally	finally	ADV
app01-8125	92	2	,	,	PUNCT
app01-8125	92	3	we	we	PRON
app01-8125	92	4	can	can	AUX
app01-8125	92	5	calculate	calculate	VERB
app01-8125	92	6	the	the	DET
app01-8125	92	7	middle	middle	ADJ
app01-8125	92	8	point	point	NOUN
app01-8125	92	9	(	(	PUNCT
app01-8125	92	10	in	in	ADP
app01-8125	92	11	terms	term	NOUN
app01-8125	92	12	of	of	ADP
app01-8125	92	13	x	x	X
app01-8125	92	14	,	,	PUNCT
app01-8125	92	15	y	y	PROPN
app01-8125	92	16	coordinates	coordinate	NOUN
app01-8125	92	17	)	)	PUNCT
app01-8125	92	18	for	for	ADP
app01-8125	92	19	each	each	DET
app01-8125	92	20	active	active	ADJ
app01-8125	92	21	cell	cell	NOUN
app01-8125	92	22	,	,	PUNCT
app01-8125	92	23	and	and	CCONJ
app01-8125	92	24	the	the	DET
app01-8125	92	25	point	point	NOUN
app01-8125	92	26	’s	’s	PART
app01-8125	92	27	z	z	NOUN
app01-8125	92	28	coordinate	coordinate	NOUN
app01-8125	92	29	is	be	AUX
app01-8125	92	30	considered	consider	VERB
app01-8125	92	31	the	the	DET
app01-8125	92	32	minimal	minimal	ADJ
app01-8125	92	33	z	z	NOUN
app01-8125	92	34	coordinate	coordinate	NOUN
app01-8125	92	35	within	within	ADP
app01-8125	92	36	the	the	DET
app01-8125	92	37	cell	cell	NOUN
app01-8125	92	38	.	.	PUNCT
app01-8125	93	1	those	those	DET
app01-8125	93	2	calculated	calculate	VERB
app01-8125	93	3	points	point	NOUN
app01-8125	93	4	are	be	AUX
app01-8125	93	5	considered	consider	VERB
app01-8125	93	6	to	to	PART
app01-8125	93	7	be	be	AUX
app01-8125	93	8	the	the	DET
app01-8125	93	9	ground	ground	NOUN
app01-8125	93	10	-	-	PUNCT
app01-8125	93	11	level	level	NOUN
app01-8125	93	12	approximation	approximation	NOUN
app01-8125	93	13	.	.	PUNCT
app01-8125	94	1	in	in	ADP
app01-8125	94	2	order	order	NOUN
app01-8125	94	3	to	to	PART
app01-8125	94	4	separate	separate	VERB
app01-8125	94	5	the	the	DET
app01-8125	94	6	road	road	NOUN
app01-8125	94	7	surface	surface	NOUN
app01-8125	94	8	and	and	CCONJ
app01-8125	94	9	sidewalks	sidewalk	NOUN
app01-8125	94	10	,	,	PUNCT
app01-8125	94	11	the	the	DET
app01-8125	94	12	z	z	NOUN
app01-8125	94	13	coordinate	coordinate	NOUN
app01-8125	94	14	of	of	ADP
app01-8125	94	15	the	the	DET
app01-8125	94	16	ground	ground	NOUN
app01-8125	94	17	points	point	NOUN
app01-8125	94	18	should	should	AUX
app01-8125	94	19	be	be	AUX
app01-8125	94	20	increased	increase	VERB
app01-8125	94	21	by	by	ADP
app01-8125	94	22	some	some	DET
app01-8125	94	23	small	small	ADJ
app01-8125	94	24	tolerance	tolerance	NOUN
app01-8125	94	25	.	.	PUNCT
app01-8125	95	1	we	we	PRON
app01-8125	95	2	have	have	AUX
app01-8125	95	3	used	use	VERB
app01-8125	95	4	values	value	NOUN
app01-8125	95	5	around	around	ADP
app01-8125	95	6	0.5	0.5	NUM
app01-8125	95	7	m.	m.	NOUN
app01-8125	95	8	it	it	PRON
app01-8125	95	9	is	be	AUX
app01-8125	95	10	then	then	ADV
app01-8125	95	11	possible	possible	ADJ
app01-8125	95	12	to	to	PART
app01-8125	95	13	iterate	iterate	VERB
app01-8125	95	14	over	over	ADP
app01-8125	95	15	all	all	PRON
app01-8125	95	16	of	of	ADP
app01-8125	95	17	the	the	DET
app01-8125	95	18	initial	initial	ADJ
app01-8125	95	19	points	point	NOUN
app01-8125	95	20	and	and	CCONJ
app01-8125	95	21	find	find	VERB
app01-8125	95	22	its	its	PRON
app01-8125	95	23	closest	close	ADJ
app01-8125	95	24	ground	ground	NOUN
app01-8125	95	25	level	level	NOUN
app01-8125	95	26	point	point	NOUN
app01-8125	95	27	.	.	PUNCT
app01-8125	96	1	if	if	SCONJ
app01-8125	96	2	the	the	DET
app01-8125	96	3	point	point	NOUN
app01-8125	96	4	lies	lie	VERB
app01-8125	96	5	below	below	ADP
app01-8125	96	6	the	the	DET
app01-8125	96	7	ground	ground	NOUN
app01-8125	96	8	points	point	NOUN
app01-8125	96	9	,	,	PUNCT
app01-8125	96	10	then	then	ADV
app01-8125	96	11	it	it	PRON
app01-8125	96	12	can	can	AUX
app01-8125	96	13	be	be	AUX
app01-8125	96	14	considered	consider	VERB
app01-8125	96	15	as	as	ADP
app01-8125	96	16	a	a	DET
app01-8125	96	17	surface	surface	NOUN
app01-8125	96	18	point	point	NOUN
app01-8125	96	19	.	.	PUNCT
app01-8125	97	1	the	the	DET
app01-8125	97	2	results	result	NOUN
app01-8125	97	3	of	of	ADP
app01-8125	97	4	a	a	DET
app01-8125	97	5	ground	ground	NOUN
app01-8125	97	6	segmentation	segmentation	NOUN
app01-8125	97	7	can	can	AUX
app01-8125	97	8	be	be	AUX
app01-8125	97	9	seen	see	VERB
app01-8125	97	10	in	in	ADP
app01-8125	97	11	figure	figure	NOUN
app01-8125	97	12	2	2	NUM
app01-8125	97	13	.	.	NOUN
app01-8125	97	14	4	4	X
app01-8125	97	15	.	.	X
app01-8125	98	1	building	build	VERB
app01-8125	98	2	segmentation	segmentation	NOUN
app01-8125	98	3	the	the	DET
app01-8125	98	4	ground	ground	NOUN
app01-8125	98	5	level	level	NOUN
app01-8125	98	6	was	be	AUX
app01-8125	98	7	estimated	estimate	VERB
app01-8125	98	8	to	to	PART
app01-8125	98	9	perform	perform	VERB
app01-8125	98	10	building	build	VERB
app01-8125	98	11	segmentation	segmentation	NOUN
app01-8125	98	12	similarly	similarly	ADV
app01-8125	98	13	as	as	SCONJ
app01-8125	98	14	we	we	PRON
app01-8125	98	15	have	have	AUX
app01-8125	98	16	performed	perform	VERB
app01-8125	98	17	rooms	room	NOUN
app01-8125	98	18	segmentation	segmentation	NOUN
app01-8125	98	19	in	in	ADP
app01-8125	98	20	our	our	PRON
app01-8125	98	21	previous	previous	ADJ
app01-8125	98	22	work	work	NOUN
app01-8125	98	23	[	[	X
app01-8125	98	24	3	3	NUM
app01-8125	98	25	]	]	PUNCT
app01-8125	98	26	.	.	PUNCT
app01-8125	99	1	the	the	DET
app01-8125	99	2	closest	close	ADJ
app01-8125	99	3	ground	ground	NOUN
app01-8125	99	4	point	point	NOUN
app01-8125	99	5	is	be	AUX
app01-8125	99	6	found	find	VERB
app01-8125	99	7	for	for	ADP
app01-8125	99	8	each	each	DET
app01-8125	99	9	point	point	NOUN
app01-8125	99	10	.	.	PUNCT
app01-8125	100	1	each	each	DET
app01-8125	100	2	point	point	NOUN
app01-8125	100	3	that	that	PRON
app01-8125	100	4	is	be	AUX
app01-8125	100	5	at	at	ADV
app01-8125	100	6	least	least	ADJ
app01-8125	100	7	3	3	NUM
app01-8125	100	8	meters	meter	NOUN
app01-8125	100	9	higher	high	ADJ
app01-8125	100	10	than	than	ADP
app01-8125	100	11	the	the	DET
app01-8125	100	12	ground	ground	NOUN
app01-8125	100	13	point	point	NOUN
app01-8125	100	14	is	be	AUX
app01-8125	100	15	projected	project	VERB
app01-8125	100	16	onto	onto	ADP
app01-8125	100	17	a	a	DET
app01-8125	100	18	2d	2d	NUM
app01-8125	100	19	grid	grid	NOUN
app01-8125	100	20	resulting	result	VERB
app01-8125	100	21	in	in	ADP
app01-8125	100	22	a	a	DET
app01-8125	100	23	pixel	pixel	ADJ
app01-8125	100	24	-	-	PUNCT
app01-8125	100	25	like	like	ADJ
app01-8125	100	26	image	image	NOUN
app01-8125	100	27	.	.	PUNCT
app01-8125	101	1	the	the	DET
app01-8125	101	2	step	step	NOUN
app01-8125	101	3	of	of	ADP
app01-8125	101	4	the	the	DET
app01-8125	101	5	grid	grid	NOUN
app01-8125	101	6	should	should	AUX
app01-8125	101	7	be	be	AUX
app01-8125	101	8	at	at	ADV
app01-8125	101	9	least	least	ADJ
app01-8125	101	10	twice	twice	DET
app01-8125	101	11	the	the	DET
app01-8125	101	12	step	step	NOUN
app01-8125	101	13	used	use	VERB
app01-8125	101	14	for	for	ADP
app01-8125	101	15	the	the	DET
app01-8125	101	16	initial	initial	ADJ
app01-8125	101	17	downsampling	downsampling	NOUN
app01-8125	101	18	,	,	PUNCT
app01-8125	101	19	or	or	CCONJ
app01-8125	101	20	the	the	DET
app01-8125	101	21	grid	grid	NOUN
app01-8125	101	22	will	will	AUX
app01-8125	101	23	contain	contain	VERB
app01-8125	101	24	missing	missing	ADJ
app01-8125	101	25	points	point	NOUN
app01-8125	101	26	as	as	SCONJ
app01-8125	101	27	some	some	DET
app01-8125	101	28	points	point	NOUN
app01-8125	101	29	may	may	AUX
app01-8125	101	30	not	not	PART
app01-8125	101	31	be	be	AUX
app01-8125	101	32	appropriately	appropriately	ADV
app01-8125	101	33	captured	capture	VERB
app01-8125	101	34	.	.	PUNCT
app01-8125	102	1	region	region	NOUN
app01-8125	102	2	growing	grow	VERB
app01-8125	103	1	[	[	X
app01-8125	103	2	7	7	NUM
app01-8125	103	3	]	]	PUNCT
app01-8125	103	4	is	be	AUX
app01-8125	103	5	applied	apply	VERB
app01-8125	103	6	to	to	PART
app01-8125	103	7	join	join	VERB
app01-8125	103	8	adjacent	adjacent	ADJ
app01-8125	103	9	pixels	pixel	NOUN
app01-8125	103	10	into	into	ADP
app01-8125	103	11	separate	separate	ADJ
app01-8125	103	12	regions	region	NOUN
app01-8125	103	13	.	.	PUNCT
app01-8125	104	1	each	each	DET
app01-8125	104	2	region	region	NOUN
app01-8125	104	3	corresponds	correspond	VERB
app01-8125	104	4	to	to	ADP
app01-8125	104	5	a	a	DET
app01-8125	104	6	single	single	ADJ
app01-8125	104	7	building	building	NOUN
app01-8125	104	8	.	.	PUNCT
app01-8125	105	1	backfilling	backfille	VERB
app01-8125	105	2	of	of	ADP
app01-8125	105	3	each	each	PRON
app01-8125	105	4	of	of	ADP
app01-8125	105	5	the	the	DET
app01-8125	105	6	found	find	VERB
app01-8125	105	7	regions	region	NOUN
app01-8125	105	8	is	be	AUX
app01-8125	105	9	performed	perform	VERB
app01-8125	105	10	to	to	PART
app01-8125	105	11	include	include	VERB
app01-8125	105	12	missing	miss	VERB
app01-8125	105	13	areas	area	NOUN
app01-8125	105	14	(	(	PUNCT
app01-8125	105	15	i.e.	i.e.	X
app01-8125	105	16	,	,	PUNCT
app01-8125	105	17	chimneys	chimney	NOUN
app01-8125	105	18	)	)	PUNCT
app01-8125	105	19	.	.	PUNCT
app01-8125	106	1	knowing	know	VERB
app01-8125	106	2	the	the	DET
app01-8125	106	3	pixel	pixel	PROPN
app01-8125	106	4	count	count	PROPN
app01-8125	106	5	and	and	CCONJ
app01-8125	106	6	pixel	pixel	PROPN
app01-8125	106	7	area	area	NOUN
app01-8125	106	8	(	(	PUNCT
app01-8125	106	9	step	step	VERB
app01-8125	106	10	×	×	NOUN
app01-8125	106	11	step	step	NOUN
app01-8125	106	12	)	)	PUNCT
app01-8125	106	13	,	,	PUNCT
app01-8125	106	14	the	the	DET
app01-8125	106	15	area	area	NOUN
app01-8125	106	16	of	of	ADP
app01-8125	106	17	the	the	DET
app01-8125	106	18	regions	region	NOUN
app01-8125	106	19	can	can	AUX
app01-8125	106	20	be	be	AUX
app01-8125	106	21	estimated	estimate	VERB
app01-8125	106	22	.	.	PUNCT
app01-8125	107	1	finally	finally	ADV
app01-8125	107	2	,	,	PUNCT
app01-8125	107	3	the	the	DET
app01-8125	107	4	original	original	ADJ
app01-8125	107	5	point	point	NOUN
app01-8125	107	6	cloud	cloud	NOUN
app01-8125	107	7	is	be	AUX
app01-8125	107	8	iterated	iterate	VERB
app01-8125	107	9	,	,	PUNCT
app01-8125	107	10	and	and	CCONJ
app01-8125	107	11	points	point	NOUN
app01-8125	107	12	inside	inside	ADV
app01-8125	107	13	of	of	ADP
app01-8125	107	14	the	the	DET
app01-8125	107	15	found	find	VERB
app01-8125	107	16	regions	region	NOUN
app01-8125	107	17	(	(	PUNCT
app01-8125	107	18	in	in	ADP
app01-8125	107	19	terms	term	NOUN
app01-8125	107	20	of	of	ADP
app01-8125	107	21	x	x	X
app01-8125	107	22	and	and	CCONJ
app01-8125	107	23	y	y	PROPN
app01-8125	107	24	coordinates	coordinate	NOUN
app01-8125	107	25	)	)	PUNCT
app01-8125	107	26	and	and	CCONJ
app01-8125	107	27	above	above	ADP
app01-8125	107	28	the	the	DET
app01-8125	107	29	ground	ground	NOUN
app01-8125	107	30	are	be	AUX
app01-8125	107	31	selected	select	VERB
app01-8125	107	32	.	.	PUNCT
app01-8125	108	1	5	5	X
app01-8125	108	2	.	.	X
app01-8125	108	3	plane	plane	NOUN
app01-8125	108	4	segmentation	segmentation	NOUN
app01-8125	108	5	the	the	DET
app01-8125	108	6	surface	surface	NOUN
app01-8125	108	7	planes	plane	NOUN
app01-8125	108	8	are	be	AUX
app01-8125	108	9	identified	identify	VERB
app01-8125	108	10	for	for	ADP
app01-8125	108	11	each	each	DET
app01-8125	108	12	building	building	NOUN
app01-8125	108	13	using	use	VERB
app01-8125	108	14	the	the	DET
app01-8125	108	15	modified	modify	VERB
app01-8125	108	16	random	random	ADJ
app01-8125	108	17	sample	sample	NOUN
app01-8125	108	18	consensus	consensus	NOUN
app01-8125	108	19	[	[	X
app01-8125	108	20	8	8	NUM
app01-8125	108	21	]	]	PUNCT
app01-8125	108	22	with	with	ADP
app01-8125	108	23	minimum	minimum	ADJ
app01-8125	108	24	area	area	NOUN
app01-8125	108	25	and	and	CCONJ
app01-8125	108	26	continuity	continuity	NOUN
app01-8125	108	27	control	control	NOUN
app01-8125	108	28	.	.	PUNCT
app01-8125	109	1	three	three	NUM
app01-8125	109	2	separate	separate	ADJ
app01-8125	109	3	sets	set	NOUN
app01-8125	109	4	of	of	ADP
app01-8125	109	5	trial	trial	NOUN
app01-8125	109	6	points	point	NOUN
app01-8125	109	7	for	for	ADP
app01-8125	109	8	outer	outer	ADJ
app01-8125	109	9	walls	wall	NOUN
app01-8125	109	10	,	,	PUNCT
app01-8125	109	11	horizontal	horizontal	ADJ
app01-8125	109	12	roofs	roof	NOUN
app01-8125	109	13	,	,	PUNCT
app01-8125	109	14	and	and	CCONJ
app01-8125	109	15	pitched	pitch	VERB
app01-8125	109	16	roofs	roof	NOUN
app01-8125	109	17	are	be	AUX
app01-8125	109	18	constructed	construct	VERB
app01-8125	109	19	.	.	PUNCT
app01-8125	110	1	running	run	VERB
app01-8125	110	2	the	the	DET
app01-8125	110	3	ransac	ransac	NOUN
app01-8125	110	4	directly	directly	ADV
app01-8125	110	5	on	on	ADP
app01-8125	110	6	the	the	DET
app01-8125	110	7	point	point	NOUN
app01-8125	110	8	cloud	cloud	NOUN
app01-8125	110	9	has	have	VERB
app01-8125	110	10	a	a	DET
app01-8125	110	11	high	high	ADJ
app01-8125	110	12	chance	chance	NOUN
app01-8125	110	13	of	of	ADP
app01-8125	110	14	finding	find	VERB
app01-8125	110	15	a	a	DET
app01-8125	110	16	generally	generally	ADV
app01-8125	110	17	oriented	orient	VERB
app01-8125	110	18	plane	plane	NOUN
app01-8125	110	19	across	across	ADP
app01-8125	110	20	the	the	DET
app01-8125	110	21	building	building	NOUN
app01-8125	110	22	.	.	PUNCT
app01-8125	111	1	the	the	DET
app01-8125	111	2	three	three	NUM
app01-8125	111	3	separated	separate	VERB
app01-8125	111	4	sets	set	NOUN
app01-8125	111	5	of	of	ADP
app01-8125	111	6	points	point	NOUN
app01-8125	111	7	are	be	AUX
app01-8125	111	8	defined	define	VERB
app01-8125	111	9	as	as	ADP
app01-8125	111	10	follows	follow	VERB
app01-8125	111	11	.	.	PUNCT
app01-8125	112	1	outer	outer	ADJ
app01-8125	112	2	walls	wall	NOUN
app01-8125	112	3	only	only	ADV
app01-8125	112	4	points	point	VERB
app01-8125	112	5	with	with	ADP
app01-8125	112	6	horizontal	horizontal	ADJ
app01-8125	112	7	normal	normal	ADJ
app01-8125	112	8	are	be	AUX
app01-8125	112	9	considered	consider	VERB
app01-8125	112	10	for	for	ADP
app01-8125	112	11	plane	plane	NOUN
app01-8125	112	12	finding	finding	NOUN
app01-8125	112	13	,	,	PUNCT
app01-8125	112	14	a	a	DET
app01-8125	112	15	slight	slight	ADJ
app01-8125	112	16	deviation	deviation	NOUN
app01-8125	112	17	of	of	ADP
app01-8125	112	18	15	15	NUM
app01-8125	112	19	degrees	degree	NOUN
app01-8125	112	20	is	be	AUX
app01-8125	112	21	allowed	allow	VERB
app01-8125	112	22	to	to	PART
app01-8125	112	23	account	account	VERB
app01-8125	112	24	for	for	ADP
app01-8125	112	25	deviations	deviation	NOUN
app01-8125	112	26	in	in	ADP
app01-8125	112	27	construction	construction	NOUN
app01-8125	112	28	.	.	PUNCT
app01-8125	113	1	horizontal	horizontal	ADJ
app01-8125	113	2	roofs	roof	NOUN
app01-8125	113	3	only	only	ADV
app01-8125	113	4	points	point	NOUN
app01-8125	113	5	with	with	ADP
app01-8125	113	6	vertical	vertical	ADJ
app01-8125	113	7	normal	normal	ADJ
app01-8125	113	8	are	be	AUX
app01-8125	113	9	considered	consider	VERB
app01-8125	113	10	for	for	ADP
app01-8125	113	11	plane	plane	NOUN
app01-8125	113	12	finding	finding	NOUN
app01-8125	113	13	,	,	PUNCT
app01-8125	113	14	a	a	DET
app01-8125	113	15	slight	slight	ADJ
app01-8125	113	16	deviation	deviation	NOUN
app01-8125	113	17	of	of	ADP
app01-8125	113	18	15	15	NUM
app01-8125	113	19	degrees	degree	NOUN
app01-8125	113	20	is	be	AUX
app01-8125	113	21	allowed	allow	VERB
app01-8125	113	22	to	to	PART
app01-8125	113	23	account	account	VERB
app01-8125	113	24	for	for	ADP
app01-8125	113	25	deviations	deviation	NOUN
app01-8125	113	26	in	in	ADP
app01-8125	113	27	construction	construction	NOUN
app01-8125	113	28	.	.	PUNCT
app01-8125	114	1	pitched	pitch	VERB
app01-8125	114	2	roofs	roof	NOUN
app01-8125	114	3	only	only	ADV
app01-8125	114	4	points	point	NOUN
app01-8125	114	5	not	not	PART
app01-8125	114	6	contained	contain	VERB
app01-8125	114	7	in	in	ADP
app01-8125	114	8	the	the	DET
app01-8125	114	9	previous	previous	ADJ
app01-8125	114	10	two	two	NUM
app01-8125	114	11	datasets	dataset	NOUN
app01-8125	114	12	are	be	AUX
app01-8125	114	13	considered	consider	VERB
app01-8125	114	14	for	for	ADP
app01-8125	114	15	plane	plane	NOUN
app01-8125	114	16	finding	finding	NOUN
app01-8125	114	17	.	.	PUNCT
app01-8125	115	1	the	the	DET
app01-8125	115	2	results	result	NOUN
app01-8125	115	3	of	of	ADP
app01-8125	115	4	a	a	DET
app01-8125	115	5	plane	plane	NOUN
app01-8125	115	6	segmentation	segmentation	NOUN
app01-8125	115	7	for	for	ADP
app01-8125	115	8	one	one	NUM
app01-8125	115	9	of	of	ADP
app01-8125	115	10	the	the	DET
app01-8125	115	11	building	building	NOUN
app01-8125	115	12	can	can	AUX
app01-8125	115	13	be	be	AUX
app01-8125	115	14	seen	see	VERB
app01-8125	115	15	in	in	ADP
app01-8125	115	16	figure	figure	NOUN
app01-8125	115	17	4	4	NUM
app01-8125	115	18	.	.	NOUN
app01-8125	115	19	6	6	NUM
app01-8125	115	20	.	.	X
app01-8125	115	21	building	build	VERB
app01-8125	115	22	mesh	mesh	VERB
app01-8125	115	23	each	each	DET
app01-8125	115	24	building	building	NOUN
app01-8125	115	25	point	point	NOUN
app01-8125	115	26	cloud	cloud	NOUN
app01-8125	115	27	is	be	AUX
app01-8125	115	28	iterated	iterate	VERB
app01-8125	115	29	,	,	PUNCT
app01-8125	115	30	and	and	CCONJ
app01-8125	115	31	its	its	PRON
app01-8125	115	32	points	point	NOUN
app01-8125	115	33	are	be	AUX
app01-8125	115	34	projected	project	VERB
app01-8125	115	35	in	in	ADP
app01-8125	115	36	a	a	DET
app01-8125	115	37	horizontal	horizontal	ADJ
app01-8125	115	38	2d	2d	NUM
app01-8125	115	39	grid	grid	NOUN
app01-8125	115	40	.	.	PUNCT
app01-8125	116	1	the	the	DET
app01-8125	116	2	single	single	ADJ
app01-8125	116	3	region	region	NOUN
app01-8125	116	4	is	be	AUX
app01-8125	116	5	then	then	ADV
app01-8125	116	6	backfilled	backfille	VERB
app01-8125	116	7	to	to	PART
app01-8125	116	8	avoid	avoid	VERB
app01-8125	116	9	losing	lose	VERB
app01-8125	116	10	volume	volume	NOUN
app01-8125	116	11	in	in	ADP
app01-8125	116	12	places	place	NOUN
app01-8125	116	13	with	with	ADP
app01-8125	116	14	no	no	DET
app01-8125	116	15	points	point	NOUN
app01-8125	116	16	captured	capture	VERB
app01-8125	116	17	(	(	PUNCT
app01-8125	116	18	i.e.	i.e.	X
app01-8125	116	19	,	,	PUNCT
app01-8125	116	20	shadows	shadow	NOUN
app01-8125	116	21	or	or	CCONJ
app01-8125	116	22	reflective	reflective	ADJ
app01-8125	116	23	surfaces	surface	NOUN
app01-8125	116	24	)	)	PUNCT
app01-8125	116	25	.	.	PUNCT
app01-8125	117	1	finally	finally	ADV
app01-8125	117	2	,	,	PUNCT
app01-8125	117	3	the	the	DET
app01-8125	117	4	grid	grid	NOUN
app01-8125	117	5	is	be	AUX
app01-8125	117	6	deactivated	deactivate	VERB
app01-8125	117	7	at	at	ADP
app01-8125	117	8	places	place	NOUN
app01-8125	117	9	where	where	SCONJ
app01-8125	117	10	any	any	DET
app01-8125	117	11	points	point	NOUN
app01-8125	117	12	exist	exist	VERB
app01-8125	117	13	below	below	ADP
app01-8125	117	14	the	the	DET
app01-8125	117	15	ground	ground	NOUN
app01-8125	117	16	level	level	NOUN
app01-8125	117	17	.	.	PUNCT
app01-8125	118	1	the	the	DET
app01-8125	118	2	simplest	simple	ADJ
app01-8125	118	3	mesh	mesh	NOUN
app01-8125	118	4	consists	consist	VERB
app01-8125	118	5	of	of	ADP
app01-8125	118	6	blocks	block	NOUN
app01-8125	118	7	,	,	PUNCT
app01-8125	118	8	each	each	PRON
app01-8125	118	9	defined	define	VERB
app01-8125	118	10	by	by	ADP
app01-8125	118	11	the	the	DET
app01-8125	118	12	grid	grid	NOUN
app01-8125	118	13	cells	cell	NOUN
app01-8125	118	14	(	(	PUNCT
app01-8125	118	15	in	in	ADP
app01-8125	118	16	the	the	DET
app01-8125	118	17	xy	xy	PROPN
app01-8125	118	18	plane	plane	NOUN
app01-8125	118	19	)	)	PUNCT
app01-8125	118	20	,	,	PUNCT
app01-8125	118	21	the	the	DET
app01-8125	118	22	ground	ground	NOUN
app01-8125	118	23	level	level	NOUN
app01-8125	118	24	,	,	PUNCT
app01-8125	118	25	and	and	CCONJ
app01-8125	118	26	the	the	DET
app01-8125	118	27	highest	high	ADJ
app01-8125	118	28	point	point	NOUN
app01-8125	118	29	within	within	ADP
app01-8125	118	30	the	the	DET
app01-8125	118	31	cell	cell	NOUN
app01-8125	118	32	.	.	PUNCT
app01-8125	119	1	such	such	DET
app01-8125	119	2	a	a	DET
app01-8125	119	3	model	model	NOUN
app01-8125	119	4	allows	allow	VERB
app01-8125	119	5	for	for	ADP
app01-8125	119	6	a	a	DET
app01-8125	119	7	simple	simple	ADJ
app01-8125	119	8	building	building	NOUN
app01-8125	119	9	volume	volume	NOUN
app01-8125	119	10	calculation	calculation	NOUN
app01-8125	119	11	by	by	ADP
app01-8125	119	12	summing	sum	VERB
app01-8125	119	13	up	up	ADP
app01-8125	119	14	the	the	DET
app01-8125	119	15	volumes	volume	NOUN
app01-8125	119	16	of	of	ADP
app01-8125	119	17	the	the	DET
app01-8125	119	18	blocks	block	NOUN
app01-8125	119	19	.	.	PUNCT
app01-8125	120	1	the	the	DET
app01-8125	120	2	area	area	NOUN
app01-8125	120	3	is	be	AUX
app01-8125	120	4	the	the	DET
app01-8125	120	5	product	product	NOUN
app01-8125	120	6	of	of	ADP
app01-8125	120	7	the	the	DET
app01-8125	120	8	sum	sum	NOUN
app01-8125	120	9	of	of	ADP
app01-8125	120	10	the	the	DET
app01-8125	120	11	active	active	ADJ
app01-8125	120	12	cells	cell	NOUN
app01-8125	120	13	in	in	ADP
app01-8125	120	14	the	the	DET
app01-8125	120	15	grid	grid	NOUN
app01-8125	120	16	and	and	CCONJ
app01-8125	120	17	the	the	DET
app01-8125	120	18	grid	grid	NOUN
app01-8125	120	19	step	step	NOUN
app01-8125	120	20	squared	square	VERB
app01-8125	120	21	.	.	PUNCT
app01-8125	121	1	such	such	DET
app01-8125	121	2	a	a	DET
app01-8125	121	3	mesh	mesh	NOUN
app01-8125	121	4	can	can	AUX
app01-8125	121	5	be	be	AUX
app01-8125	121	6	seen	see	VERB
app01-8125	121	7	in	in	ADP
app01-8125	121	8	figure	figure	NOUN
app01-8125	121	9	5	5	NUM
app01-8125	121	10	.	.	PUNCT
app01-8125	121	11	calculating	calculate	VERB
app01-8125	121	12	the	the	DET
app01-8125	121	13	building	building	NOUN
app01-8125	121	14	volume	volume	NOUN
app01-8125	121	15	,	,	PUNCT
app01-8125	121	16	including	include	VERB
app01-8125	121	17	antennas	antenna	NOUN
app01-8125	121	18	or	or	CCONJ
app01-8125	121	19	chimneys	chimney	NOUN
app01-8125	121	20	,	,	PUNCT
app01-8125	121	21	may	may	AUX
app01-8125	121	22	not	not	PART
app01-8125	121	23	be	be	AUX
app01-8125	121	24	desirable	desirable	ADJ
app01-8125	121	25	.	.	PUNCT
app01-8125	122	1	therefore	therefore	ADV
app01-8125	122	2	,	,	PUNCT
app01-8125	122	3	the	the	DET
app01-8125	122	4	previously	previously	ADV
app01-8125	122	5	found	find	VERB
app01-8125	122	6	roof	roof	NOUN
app01-8125	122	7	planes	plane	NOUN
app01-8125	122	8	can	can	AUX
app01-8125	122	9	be	be	AUX
app01-8125	122	10	used	use	VERB
app01-8125	122	11	to	to	PART
app01-8125	122	12	clip	clip	VERB
app01-8125	122	13	the	the	DET
app01-8125	122	14	blocks	block	NOUN
app01-8125	122	15	so	so	SCONJ
app01-8125	122	16	that	that	SCONJ
app01-8125	122	17	no	no	DET
app01-8125	122	18	z	z	NOUN
app01-8125	122	19	coordinate	coordinate	NOUN
app01-8125	122	20	is	be	AUX
app01-8125	122	21	above	above	ADP
app01-8125	122	22	the	the	DET
app01-8125	122	23	subject	subject	ADJ
app01-8125	122	24	plane	plane	NOUN
app01-8125	122	25	.	.	PUNCT
app01-8125	123	1	voxel	voxel	PROPN
app01-8125	123	2	-	-	PUNCT
app01-8125	123	3	based	base	VERB
app01-8125	123	4	mesh	mesh	NOUN
app01-8125	123	5	does	do	AUX
app01-8125	123	6	not	not	PART
app01-8125	123	7	precisely	precisely	ADV
app01-8125	123	8	represent	represent	VERB
app01-8125	123	9	the	the	DET
app01-8125	123	10	building	building	NOUN
app01-8125	123	11	near	near	ADP
app01-8125	123	12	the	the	DET
app01-8125	123	13	surface	surface	NOUN
app01-8125	123	14	if	if	SCONJ
app01-8125	123	15	the	the	DET
app01-8125	123	16	planes	plane	NOUN
app01-8125	123	17	are	be	AUX
app01-8125	123	18	not	not	PART
app01-8125	123	19	parallel	parallel	ADJ
app01-8125	123	20	to	to	ADP
app01-8125	123	21	the	the	DET
app01-8125	123	22	voxel	voxel	PROPN
app01-8125	123	23	grid	grid	PROPN
app01-8125	123	24	.	.	PUNCT
app01-8125	124	1	the	the	DET
app01-8125	124	2	previously	previously	ADV
app01-8125	124	3	found	find	VERB
app01-8125	124	4	planes	plane	NOUN
app01-8125	124	5	could	could	AUX
app01-8125	124	6	be	be	AUX
app01-8125	124	7	used	use	VERB
app01-8125	124	8	to	to	PART
app01-8125	124	9	straighten	straighten	VERB
app01-8125	124	10	up	up	ADP
app01-8125	124	11	the	the	DET
app01-8125	124	12	voxel	voxel	PROPN
app01-8125	124	13	model	model	NOUN
app01-8125	124	14	by	by	ADP
app01-8125	124	15	moving	move	VERB
app01-8125	124	16	its	its	PRON
app01-8125	124	17	vertices	vertex	NOUN
app01-8125	124	18	onto	onto	ADP
app01-8125	124	19	the	the	DET
app01-8125	124	20	planes	plane	NOUN
app01-8125	124	21	within	within	ADP
app01-8125	124	22	a	a	DET
app01-8125	124	23	small	small	ADJ
app01-8125	124	24	distance	distance	NOUN
app01-8125	124	25	.	.	PUNCT
app01-8125	125	1	135	135	NUM
app01-8125	125	2	j.	j.	PROPN
app01-8125	125	3	voříšek	voříšek	PROPN
app01-8125	125	4	,	,	PUNCT
app01-8125	125	5	b.	b.	PROPN
app01-8125	125	6	patzák	patzák	PROPN
app01-8125	125	7	,	,	PUNCT
app01-8125	125	8	d.	d.	PROPN
app01-8125	125	9	rypl	rypl	PROPN
app01-8125	125	10	acta	acta	PROPN
app01-8125	125	11	polytechnica	polytechnica	PROPN
app01-8125	125	12	ctu	ctu	PROPN
app01-8125	125	13	proceedings	proceeding	NOUN
app01-8125	125	14	figure	figure	VERB
app01-8125	125	15	4	4	NUM
app01-8125	125	16	.	.	PUNCT
app01-8125	126	1	the	the	DET
app01-8125	126	2	results	result	NOUN
app01-8125	126	3	planes	plane	NOUN
app01-8125	126	4	of	of	ADP
app01-8125	126	5	plane	plane	NOUN
app01-8125	126	6	segmentation	segmentation	NOUN
app01-8125	126	7	for	for	ADP
app01-8125	126	8	one	one	NUM
app01-8125	126	9	building	building	NOUN
app01-8125	126	10	:	:	PUNCT
app01-8125	126	11	each	each	PRON
app01-8125	126	12	of	of	ADP
app01-8125	126	13	the	the	DET
app01-8125	126	14	planes	plane	NOUN
app01-8125	126	15	is	be	AUX
app01-8125	126	16	marked	mark	VERB
app01-8125	126	17	with	with	ADP
app01-8125	126	18	a	a	DET
app01-8125	126	19	unique	unique	ADJ
app01-8125	126	20	color	color	NOUN
app01-8125	126	21	.	.	PUNCT
app01-8125	127	1	it	it	PRON
app01-8125	127	2	can	can	AUX
app01-8125	127	3	be	be	AUX
app01-8125	127	4	seen	see	VERB
app01-8125	127	5	that	that	SCONJ
app01-8125	127	6	most	most	ADJ
app01-8125	127	7	of	of	ADP
app01-8125	127	8	the	the	DET
app01-8125	127	9	surface	surface	NOUN
app01-8125	127	10	planes	plane	NOUN
app01-8125	127	11	were	be	AUX
app01-8125	127	12	found	find	VERB
app01-8125	127	13	with	with	ADP
app01-8125	127	14	some	some	DET
app01-8125	127	15	smaller	small	ADJ
app01-8125	127	16	pieces	piece	NOUN
app01-8125	127	17	missing	miss	VERB
app01-8125	127	18	.	.	PUNCT
app01-8125	128	1	figure	figure	NOUN
app01-8125	128	2	5	5	NUM
app01-8125	128	3	.	.	PUNCT
app01-8125	129	1	the	the	DET
app01-8125	129	2	resulting	result	VERB
app01-8125	129	3	voxel	voxel	PROPN
app01-8125	129	4	model	model	NOUN
app01-8125	129	5	of	of	ADP
app01-8125	129	6	a	a	DET
app01-8125	129	7	single	single	ADJ
app01-8125	129	8	building	building	NOUN
app01-8125	129	9	.	.	PUNCT
app01-8125	130	1	7	7	X
app01-8125	130	2	.	.	X
app01-8125	130	3	conclusions	conclusion	NOUN
app01-8125	130	4	this	this	DET
app01-8125	130	5	paper	paper	NOUN
app01-8125	130	6	analyzed	analyze	VERB
app01-8125	130	7	the	the	DET
app01-8125	130	8	methods	method	NOUN
app01-8125	130	9	of	of	ADP
app01-8125	130	10	segmentation	segmentation	NOUN
app01-8125	130	11	of	of	ADP
app01-8125	130	12	the	the	DET
app01-8125	130	13	bim	bim	NOUN
app01-8125	130	14	entities	entity	NOUN
app01-8125	130	15	from	from	ADP
app01-8125	130	16	the	the	DET
app01-8125	130	17	city	city	NOUN
app01-8125	130	18	point	point	NOUN
app01-8125	130	19	clouds	cloud	NOUN
app01-8125	130	20	.	.	PUNCT
app01-8125	131	1	the	the	DET
app01-8125	131	2	primary	primary	ADJ
app01-8125	131	3	motivation	motivation	NOUN
app01-8125	131	4	was	be	AUX
app01-8125	131	5	to	to	PART
app01-8125	131	6	separate	separate	VERB
app01-8125	131	7	individual	individual	ADJ
app01-8125	131	8	building	building	NOUN
app01-8125	131	9	point	point	NOUN
app01-8125	131	10	clouds	cloud	NOUN
app01-8125	131	11	from	from	ADP
app01-8125	131	12	the	the	DET
app01-8125	131	13	large	large	ADJ
app01-8125	131	14	city	city	NOUN
app01-8125	131	15	point	point	NOUN
app01-8125	131	16	cloud	cloud	NOUN
app01-8125	131	17	and	and	CCONJ
app01-8125	131	18	obtain	obtain	VERB
app01-8125	131	19	water	water	NOUN
app01-8125	131	20	-	-	PUNCT
app01-8125	131	21	tight	tight	NOUN
app01-8125	131	22	mesh	mesh	NOUN
app01-8125	131	23	of	of	ADP
app01-8125	131	24	such	such	ADJ
app01-8125	131	25	buildings	building	NOUN
app01-8125	131	26	.	.	PUNCT
app01-8125	132	1	the	the	DET
app01-8125	132	2	meshes	mesh	NOUN
app01-8125	132	3	are	be	AUX
app01-8125	132	4	suitable	suitable	ADJ
app01-8125	132	5	for	for	ADP
app01-8125	132	6	approximation	approximation	NOUN
app01-8125	132	7	of	of	ADP
app01-8125	132	8	the	the	DET
app01-8125	132	9	building	building	NOUN
app01-8125	132	10	volume	volume	NOUN
app01-8125	132	11	and	and	CCONJ
app01-8125	132	12	area	area	NOUN
app01-8125	132	13	.	.	PUNCT
app01-8125	133	1	the	the	DET
app01-8125	133	2	proposed	propose	VERB
app01-8125	133	3	algorithms	algorithm	NOUN
app01-8125	133	4	were	be	AUX
app01-8125	133	5	tested	test	VERB
app01-8125	133	6	on	on	ADP
app01-8125	133	7	a	a	DET
app01-8125	133	8	2015	2015	NUM
app01-8125	133	9	aerial	aerial	ADJ
app01-8125	133	10	laser	laser	NOUN
app01-8125	133	11	and	and	CCONJ
app01-8125	133	12	photogrammetry	photogrammetry	NOUN
app01-8125	133	13	survey	survey	NOUN
app01-8125	133	14	of	of	ADP
app01-8125	133	15	dublin	dublin	PROPN
app01-8125	133	16	city	city	PROPN
app01-8125	133	17	.	.	PUNCT
app01-8125	134	1	the	the	DET
app01-8125	134	2	findings	finding	NOUN
app01-8125	134	3	can	can	AUX
app01-8125	134	4	be	be	AUX
app01-8125	134	5	summarized	summarize	VERB
app01-8125	134	6	as	as	SCONJ
app01-8125	134	7	follows	follow	NOUN
app01-8125	134	8	.	.	PUNCT
app01-8125	135	1	•	•	NOUN
app01-8125	135	2	downsampling	downsample	VERB
app01-8125	135	3	with	with	ADP
app01-8125	135	4	a	a	DET
app01-8125	135	5	step	step	NOUN
app01-8125	135	6	of	of	ADP
app01-8125	135	7	0.05	0.05	NUM
app01-8125	135	8	m	m	NOUN
app01-8125	135	9	dramatically	dramatically	ADV
app01-8125	135	10	reduces	reduce	VERB
app01-8125	135	11	the	the	DET
app01-8125	135	12	number	number	NOUN
app01-8125	135	13	of	of	ADP
app01-8125	135	14	points	point	NOUN
app01-8125	135	15	to	to	ADP
app01-8125	135	16	around	around	ADV
app01-8125	135	17	20	20	NUM
app01-8125	135	18	%	%	NOUN
app01-8125	135	19	of	of	ADP
app01-8125	135	20	the	the	DET
app01-8125	135	21	original	original	ADJ
app01-8125	135	22	dataset	dataset	NOUN
app01-8125	135	23	.	.	PUNCT
app01-8125	136	1	such	such	ADJ
app01-8125	136	2	precision	precision	NOUN
app01-8125	136	3	is	be	AUX
app01-8125	136	4	still	still	ADV
app01-8125	136	5	sufficient	sufficient	ADJ
app01-8125	136	6	for	for	ADP
app01-8125	136	7	the	the	DET
app01-8125	136	8	segmentation	segmentation	NOUN
app01-8125	136	9	of	of	ADP
app01-8125	136	10	the	the	DET
app01-8125	136	11	buildings	building	NOUN
app01-8125	136	12	and	and	CCONJ
app01-8125	136	13	their	their	PRON
app01-8125	136	14	features	feature	NOUN
app01-8125	136	15	.	.	PUNCT
app01-8125	137	1	•	•	NUM
app01-8125	137	2	the	the	DET
app01-8125	137	3	ground	ground	NOUN
app01-8125	137	4	segmentation	segmentation	NOUN
app01-8125	137	5	procedure	procedure	NOUN
app01-8125	137	6	works	work	VERB
app01-8125	137	7	well	well	ADV
app01-8125	137	8	for	for	ADP
app01-8125	137	9	cities	city	NOUN
app01-8125	137	10	with	with	ADP
app01-8125	137	11	mostly	mostly	ADV
app01-8125	137	12	vertical	vertical	ADJ
app01-8125	137	13	building	building	NOUN
app01-8125	137	14	walls	wall	NOUN
app01-8125	137	15	.	.	PUNCT
app01-8125	138	1	more	more	ADJ
app01-8125	138	2	complex	complex	ADJ
app01-8125	138	3	buildings	building	NOUN
app01-8125	138	4	can	can	AUX
app01-8125	138	5	still	still	ADV
app01-8125	138	6	be	be	AUX
app01-8125	138	7	identified	identify	VERB
app01-8125	138	8	if	if	SCONJ
app01-8125	138	9	there	there	PRON
app01-8125	138	10	are	be	VERB
app01-8125	138	11	enough	enough	ADJ
app01-8125	138	12	nearby	nearby	ADJ
app01-8125	138	13	ground	ground	NOUN
app01-8125	138	14	points	point	NOUN
app01-8125	138	15	.	.	PUNCT
app01-8125	139	1	•	•	NUM
app01-8125	139	2	the	the	DET
app01-8125	139	3	building	building	NOUN
app01-8125	139	4	segmentation	segmentation	NOUN
app01-8125	139	5	algorithm	algorithm	NOUN
app01-8125	139	6	works	work	VERB
app01-8125	139	7	well	well	ADV
app01-8125	139	8	for	for	ADP
app01-8125	139	9	buildings	building	NOUN
app01-8125	139	10	with	with	ADP
app01-8125	139	11	a	a	DET
app01-8125	139	12	sufficiently	sufficiently	ADV
app01-8125	139	13	large	large	ADJ
app01-8125	139	14	area	area	NOUN
app01-8125	139	15	.	.	PUNCT
app01-8125	140	1	however	however	ADV
app01-8125	140	2	,	,	PUNCT
app01-8125	140	3	when	when	SCONJ
app01-8125	140	4	using	use	VERB
app01-8125	140	5	a	a	DET
app01-8125	140	6	small	small	ADJ
app01-8125	140	7	minimum	minimum	ADJ
app01-8125	140	8	area	area	NOUN
app01-8125	140	9	of	of	ADP
app01-8125	140	10	around	around	ADP
app01-8125	140	11	ab	ab	PROPN
app01-8125	140	12	,	,	PUNCT
app01-8125	140	13	min	min	PROPN
app01-8125	140	14	<	<	X
app01-8125	140	15	10	10	NUM
app01-8125	140	16	m2	m2	NOUN
app01-8125	140	17	,	,	PUNCT
app01-8125	140	18	it	it	PRON
app01-8125	140	19	is	be	AUX
app01-8125	140	20	not	not	PART
app01-8125	140	21	easily	easily	ADV
app01-8125	140	22	possible	possible	ADJ
app01-8125	140	23	to	to	PART
app01-8125	140	24	distinguish	distinguish	VERB
app01-8125	140	25	between	between	ADP
app01-8125	140	26	a	a	DET
app01-8125	140	27	small	small	ADJ
app01-8125	140	28	building	building	NOUN
app01-8125	140	29	(	(	PUNCT
app01-8125	140	30	i.e.	i.e.	X
app01-8125	140	31	,	,	PUNCT
app01-8125	140	32	a	a	DET
app01-8125	140	33	garage	garage	NOUN
app01-8125	140	34	)	)	PUNCT
app01-8125	140	35	and	and	CCONJ
app01-8125	140	36	a	a	DET
app01-8125	140	37	tree	tree	NOUN
app01-8125	140	38	.	.	PUNCT
app01-8125	141	1	in	in	ADP
app01-8125	141	2	order	order	NOUN
app01-8125	141	3	to	to	PART
app01-8125	141	4	eliminate	eliminate	VERB
app01-8125	141	5	the	the	DET
app01-8125	141	6	trees	tree	NOUN
app01-8125	141	7	,	,	PUNCT
app01-8125	141	8	buildings	building	NOUN
app01-8125	141	9	with	with	ADP
app01-8125	141	10	no	no	DET
app01-8125	141	11	found	find	VERB
app01-8125	141	12	planes	plane	NOUN
app01-8125	141	13	can	can	AUX
app01-8125	141	14	be	be	AUX
app01-8125	141	15	excluded	exclude	VERB
app01-8125	141	16	.	.	PUNCT
app01-8125	142	1	•	•	NUM
app01-8125	142	2	modified	modify	VERB
app01-8125	142	3	ransac	ransac	NOUN
app01-8125	142	4	algorithm	algorithm	NOUN
app01-8125	142	5	with	with	ADP
app01-8125	142	6	minimum	minimum	ADJ
app01-8125	142	7	area	area	NOUN
app01-8125	142	8	and	and	CCONJ
app01-8125	142	9	continuity	continuity	NOUN
app01-8125	142	10	checking	checking	NOUN
app01-8125	142	11	is	be	AUX
app01-8125	142	12	used	use	VERB
app01-8125	142	13	to	to	PART
app01-8125	142	14	find	find	VERB
app01-8125	142	15	the	the	DET
app01-8125	142	16	building	building	NOUN
app01-8125	142	17	surface	surface	NOUN
app01-8125	142	18	planes	plane	NOUN
app01-8125	142	19	.	.	PUNCT
app01-8125	143	1	pre	pre	VERB
app01-8125	143	2	-	-	ADJ
app01-8125	143	3	filtering	filter	VERB
app01-8125	143	4	of	of	ADP
app01-8125	143	5	the	the	DET
app01-8125	143	6	trial	trial	NOUN
app01-8125	143	7	point	point	NOUN
app01-8125	143	8	clouds	cloud	NOUN
app01-8125	143	9	is	be	AUX
app01-8125	143	10	done	do	VERB
app01-8125	143	11	using	use	VERB
app01-8125	143	12	the	the	DET
app01-8125	143	13	point	point	NOUN
app01-8125	143	14	normal	normal	ADJ
app01-8125	143	15	vectors	vector	NOUN
app01-8125	143	16	,	,	PUNCT
app01-8125	143	17	which	which	PRON
app01-8125	143	18	dramatically	dramatically	ADV
app01-8125	143	19	increases	increase	VERB
app01-8125	143	20	performance	performance	NOUN
app01-8125	143	21	.	.	PUNCT
app01-8125	144	1	the	the	DET
app01-8125	144	2	results	result	NOUN
app01-8125	144	3	are	be	AUX
app01-8125	144	4	promising	promise	VERB
app01-8125	144	5	for	for	ADP
app01-8125	144	6	vertical	vertical	ADJ
app01-8125	144	7	(	(	PUNCT
app01-8125	144	8	outer	outer	ADJ
app01-8125	144	9	walls	wall	NOUN
app01-8125	144	10	)	)	PUNCT
app01-8125	144	11	and	and	CCONJ
app01-8125	144	12	horizontal	horizontal	ADJ
app01-8125	144	13	(	(	PUNCT
app01-8125	144	14	roof	roof	NOUN
app01-8125	144	15	)	)	PUNCT
app01-8125	144	16	planes	plane	NOUN
app01-8125	144	17	.	.	PUNCT
app01-8125	145	1	however	however	ADV
app01-8125	145	2	,	,	PUNCT
app01-8125	145	3	some	some	DET
app01-8125	145	4	skewed	skewed	ADJ
app01-8125	145	5	roof	roof	NOUN
app01-8125	145	6	planes	plane	NOUN
app01-8125	145	7	are	be	AUX
app01-8125	145	8	often	often	ADV
app01-8125	145	9	missing	miss	VERB
app01-8125	145	10	due	due	ADJ
app01-8125	145	11	to	to	ADP
app01-8125	145	12	noise	noise	NOUN
app01-8125	145	13	or	or	CCONJ
app01-8125	145	14	additional	additional	ADJ
app01-8125	145	15	structures	structure	NOUN
app01-8125	145	16	(	(	PUNCT
app01-8125	145	17	i.e.	i.e.	X
app01-8125	145	18	,	,	PUNCT
app01-8125	145	19	large	large	ADJ
app01-8125	145	20	chimneys	chimney	NOUN
app01-8125	145	21	)	)	PUNCT
app01-8125	145	22	.	.	PUNCT
app01-8125	146	1	•	•	NUM
app01-8125	146	2	3d	3d	NUM
app01-8125	146	3	voxel	voxel	PROPN
app01-8125	146	4	mesh	mesh	PROPN
app01-8125	146	5	can	can	AUX
app01-8125	146	6	be	be	AUX
app01-8125	146	7	constructed	construct	VERB
app01-8125	146	8	for	for	ADP
app01-8125	146	9	each	each	DET
app01-8125	146	10	building	building	NOUN
app01-8125	146	11	.	.	PUNCT
app01-8125	147	1	the	the	DET
app01-8125	147	2	building	building	NOUN
app01-8125	147	3	area	area	NOUN
app01-8125	147	4	and	and	CCONJ
app01-8125	147	5	volume	volume	NOUN
app01-8125	147	6	can	can	AUX
app01-8125	147	7	be	be	AUX
app01-8125	147	8	easily	easily	ADV
app01-8125	147	9	estimated	estimate	VERB
app01-8125	147	10	from	from	ADP
app01-8125	147	11	the	the	DET
app01-8125	147	12	voxel	voxel	PROPN
app01-8125	147	13	mesh	mesh	NOUN
app01-8125	147	14	.	.	PUNCT
app01-8125	148	1	the	the	DET
app01-8125	148	2	voxel	voxel	PROPN
app01-8125	148	3	mesh	mesh	NOUN
app01-8125	148	4	can	can	AUX
app01-8125	148	5	be	be	AUX
app01-8125	148	6	clipped	clip	VERB
app01-8125	148	7	by	by	ADP
app01-8125	148	8	the	the	DET
app01-8125	148	9	found	find	VERB
app01-8125	148	10	planes	plane	NOUN
app01-8125	148	11	,	,	PUNCT
app01-8125	148	12	removing	remove	VERB
app01-8125	148	13	small	small	ADJ
app01-8125	148	14	features	feature	NOUN
app01-8125	148	15	(	(	PUNCT
app01-8125	148	16	i.e.	i.e.	X
app01-8125	148	17	,	,	PUNCT
app01-8125	148	18	chimneys	chimney	NOUN
app01-8125	148	19	and	and	CCONJ
app01-8125	148	20	antennas	antenna	NOUN
app01-8125	148	21	)	)	PUNCT
app01-8125	148	22	.	.	PUNCT
app01-8125	149	1	the	the	DET
app01-8125	149	2	voxel	voxel	PROPN
app01-8125	149	3	points	point	NOUN
app01-8125	149	4	can	can	AUX
app01-8125	149	5	also	also	ADV
app01-8125	149	6	be	be	AUX
app01-8125	149	7	projected	project	VERB
app01-8125	149	8	onto	onto	ADP
app01-8125	149	9	the	the	DET
app01-8125	149	10	found	find	VERB
app01-8125	149	11	planes	plane	NOUN
app01-8125	149	12	to	to	PART
app01-8125	149	13	straighten	straighten	VERB
app01-8125	149	14	out	out	ADP
app01-8125	149	15	the	the	DET
app01-8125	149	16	surface	surface	NOUN
app01-8125	149	17	.	.	PUNCT
app01-8125	150	1	136	136	NUM
app01-8125	150	2	vol	vol	NOUN
app01-8125	150	3	.	.	PUNCT
app01-8125	151	1	34/2022	34/2022	NUM
app01-8125	151	2	automatic	automatic	ADJ
app01-8125	151	3	extraction	extraction	NOUN
app01-8125	151	4	of	of	ADP
app01-8125	151	5	3d	3d	NUM
app01-8125	151	6	building	building	NOUN
app01-8125	151	7	meshes	mesh	NOUN
app01-8125	151	8	from	from	ADP
app01-8125	151	9	lidar	lidar	NOUN
app01-8125	151	10	data	data	NOUN
app01-8125	151	11	acknowledgements	acknowledgement	NOUN
app01-8125	151	12	the	the	DET
app01-8125	151	13	development	development	NOUN
app01-8125	151	14	of	of	ADP
app01-8125	151	15	this	this	DET
app01-8125	151	16	software	software	NOUN
app01-8125	151	17	was	be	AUX
app01-8125	151	18	supported	support	VERB
app01-8125	151	19	by	by	ADP
app01-8125	151	20	the	the	DET
app01-8125	151	21	technology	technology	NOUN
app01-8125	151	22	agency	agency	NOUN
app01-8125	151	23	of	of	ADP
app01-8125	151	24	the	the	DET
app01-8125	151	25	czech	czech	PROPN
app01-8125	151	26	republic	republic	NOUN
app01-8125	151	27	under	under	ADP
app01-8125	151	28	the	the	DET
app01-8125	151	29	program	program	NOUN
app01-8125	151	30	of	of	ADP
app01-8125	151	31	the	the	DET
app01-8125	151	32	national	national	ADJ
app01-8125	151	33	competence	competence	NOUN
app01-8125	151	34	center	center	NOUN
app01-8125	151	35	1	1	NUM
app01-8125	151	36	as	as	ADP
app01-8125	151	37	a	a	DET
app01-8125	151	38	project	project	NOUN
app01-8125	151	39	“	"	PUNCT
app01-8125	151	40	center	center	NOUN
app01-8125	151	41	for	for	ADP
app01-8125	151	42	advanced	advanced	ADJ
app01-8125	151	43	materials	material	NOUN
app01-8125	151	44	and	and	CCONJ
app01-8125	151	45	efficient	efficient	ADJ
app01-8125	151	46	buildings	building	NOUN
app01-8125	151	47	”	"	PUNCT
app01-8125	151	48	(	(	PUNCT
app01-8125	151	49	cameb	cameb	NOUN
app01-8125	151	50	)	)	PUNCT
app01-8125	151	51	project	project	NOUN
app01-8125	151	52	registration	registration	NOUN
app01-8125	151	53	no	no	NOUN
app01-8125	151	54	.	.	PUNCT
app01-8125	152	1	tn01000056	tn01000056	PROPN
app01-8125	152	2	and	and	CCONJ
app01-8125	152	3	by	by	ADP
app01-8125	152	4	the	the	DET
app01-8125	152	5	grant	grant	PROPN
app01-8125	152	6	agency	agency	NOUN
app01-8125	152	7	of	of	ADP
app01-8125	152	8	the	the	DET
app01-8125	152	9	czech	czech	PROPN
app01-8125	152	10	technical	technical	PROPN
app01-8125	152	11	university	university	PROPN
app01-8125	152	12	in	in	ADP
app01-8125	152	13	prague	prague	PROPN
app01-8125	152	14	(	(	PUNCT
app01-8125	152	15	sgs	sgs	PROPN
app01-8125	152	16	project	project	NOUN
app01-8125	152	17	no	no	INTJ
app01-8125	152	18	.	.	PUNCT
app01-8125	153	1	sgs21/037	sgs21/037	PROPN
app01-8125	153	2	/	/	SYM
app01-8125	153	3	ohk1/1t/11	ohk1/1t/11	PROPN
app01-8125	153	4	)	)	PUNCT
app01-8125	153	5	,	,	PUNCT
app01-8125	153	6	both	both	PRON
app01-8125	153	7	gratefully	gratefully	ADV
app01-8125	153	8	acknowledged	acknowledge	VERB
app01-8125	153	9	.	.	PUNCT
app01-8125	154	1	references	reference	NOUN
app01-8125	154	2	[	[	X
app01-8125	154	3	1	1	X
app01-8125	154	4	]	]	PUNCT
app01-8125	154	5	d.	d.	PROPN
app01-8125	154	6	f.	f.	PROPN
app01-8125	154	7	laefer	laefer	PROPN
app01-8125	154	8	,	,	PUNCT
app01-8125	154	9	s.	s.	PROPN
app01-8125	154	10	abuwarda	abuwarda	PROPN
app01-8125	154	11	,	,	PUNCT
app01-8125	154	12	anh	anh	NOUN
app01-8125	154	13	-	-	PUNCT
app01-8125	154	14	vu	vu	NOUN
app01-8125	154	15	vo	vo	NOUN
app01-8125	154	16	,	,	PUNCT
app01-8125	154	17	et	et	PROPN
app01-8125	154	18	al	al	PROPN
app01-8125	154	19	.	.	PROPN
app01-8125	154	20	2015	2015	NUM
app01-8125	154	21	aerial	aerial	ADJ
app01-8125	154	22	laser	laser	NOUN
app01-8125	154	23	and	and	CCONJ
app01-8125	154	24	photogrammetry	photogrammetry	NOUN
app01-8125	154	25	datasets	dataset	NOUN
app01-8125	154	26	for	for	ADP
app01-8125	154	27	dublin	dublin	PROPN
app01-8125	154	28	,	,	PUNCT
app01-8125	154	29	ireland	ireland	PROPN
app01-8125	154	30	’s	’s	PART
app01-8125	154	31	city	city	PROPN
app01-8125	154	32	center	center	NOUN
app01-8125	154	33	,	,	PUNCT
app01-8125	154	34	2017	2017	NUM
app01-8125	154	35	.	.	PUNCT
app01-8125	155	1	https://doi.org/10.17609/n8mq0n	https://doi.org/10.17609/n8mq0n	NOUN
app01-8125	155	2	.	.	PUNCT
app01-8125	156	1	[	[	X
app01-8125	156	2	2	2	NUM
app01-8125	156	3	]	]	X
app01-8125	156	4	g.	g.	PROPN
app01-8125	156	5	popovitch	popovitch	PROPN
app01-8125	156	6	.	.	PUNCT
app01-8125	157	1	the	the	DET
app01-8125	157	2	parallel	parallel	ADJ
app01-8125	157	3	hashmap	hashmap	NOUN
app01-8125	157	4	or	or	CCONJ
app01-8125	157	5	abseiling	abseil	VERB
app01-8125	157	6	from	from	ADP
app01-8125	157	7	the	the	DET
app01-8125	157	8	shoulders	shoulder	NOUN
app01-8125	157	9	of	of	ADP
app01-8125	157	10	giants	giant	NOUN
app01-8125	157	11	.	.	PUNCT
app01-8125	158	1	https://greg7mdp.github.io/parallel-hashmap/.	https://greg7mdp.github.io/parallel-hashmap/.	PROPN
app01-8125	158	2	accessed	access	VERB
app01-8125	158	3	:	:	PUNCT
app01-8125	158	4	2020	2020	NUM
app01-8125	158	5	-	-	SYM
app01-8125	158	6	04	04	NUM
app01-8125	158	7	-	-	PUNCT
app01-8125	158	8	14	14	NUM
app01-8125	158	9	.	.	PUNCT
app01-8125	159	1	[	[	X
app01-8125	159	2	3	3	X
app01-8125	159	3	]	]	X
app01-8125	159	4	j.	j.	PROPN
app01-8125	159	5	voříšek	voříšek	PROPN
app01-8125	159	6	,	,	PUNCT
app01-8125	159	7	b.	b.	PROPN
app01-8125	159	8	patzák	patzák	PROPN
app01-8125	159	9	,	,	PUNCT
app01-8125	159	10	e.	e.	PROPN
app01-8125	159	11	dvořáková	dvořáková	PROPN
app01-8125	159	12	,	,	PUNCT
app01-8125	159	13	d.	d.	PROPN
app01-8125	159	14	rypl	rypl	PROPN
app01-8125	159	15	.	.	PUNCT
app01-8125	160	1	automated	automate	VERB
app01-8125	160	2	bim	bim	NOUN
app01-8125	160	3	entity	entity	NOUN
app01-8125	160	4	reconstruction	reconstruction	NOUN
app01-8125	160	5	from	from	ADP
app01-8125	160	6	unstructured	unstructured	ADJ
app01-8125	160	7	3d	3d	PROPN
app01-8125	160	8	pointclouds	pointclouds	PROPN
app01-8125	160	9	.	.	PUNCT
app01-8125	161	1	acta	acta	PROPN
app01-8125	161	2	polytechnica	polytechnica	PROPN
app01-8125	161	3	ctu	ctu	NOUN
app01-8125	161	4	proceedings	proceeding	NOUN
app01-8125	161	5	30:126–130	30:126–130	NUM
app01-8125	161	6	,	,	PUNCT
app01-8125	161	7	2021	2021	NUM
app01-8125	161	8	.	.	PUNCT
app01-8125	162	1	https://doi.org/10.14311/app.2021.30.0126	https://doi.org/10.14311/app.2021.30.0126	NOUN
app01-8125	162	2	.	.	PUNCT
app01-8125	163	1	[	[	X
app01-8125	163	2	4	4	X
app01-8125	163	3	]	]	X
app01-8125	163	4	e.	e.	PROPN
app01-8125	163	5	ernerfeldt	ernerfeldt	PROPN
app01-8125	163	6	.	.	PUNCT
app01-8125	164	1	fitting	fit	VERB
app01-8125	164	2	a	a	DET
app01-8125	164	3	plane	plane	NOUN
app01-8125	164	4	to	to	ADP
app01-8125	164	5	noisy	noisy	ADJ
app01-8125	164	6	points	point	NOUN
app01-8125	164	7	in	in	ADP
app01-8125	164	8	3d	3d	NUM
app01-8125	164	9	.	.	PUNCT
app01-8125	165	1	https://www.ilikebigbits.com/2017_09_25_plane	https://www.ilikebigbits.com/2017_09_25_plane	X
app01-8125	166	1	_	_	PRON
app01-8125	166	2	from_points_2.html	from_points_2.html	NOUN
app01-8125	166	3	,	,	PUNCT
app01-8125	166	4	2017	2017	NUM
app01-8125	166	5	.	.	PUNCT
app01-8125	167	1	accessed	access	VERB
app01-8125	167	2	:	:	PUNCT
app01-8125	167	3	2020	2020	NUM
app01-8125	167	4	-	-	SYM
app01-8125	167	5	04	04	NUM
app01-8125	167	6	-	-	PUNCT
app01-8125	167	7	14	14	NUM
app01-8125	167	8	.	.	PUNCT
app01-8125	168	1	[	[	X
app01-8125	168	2	5	5	X
app01-8125	168	3	]	]	PUNCT
app01-8125	168	4	s.	s.	PROPN
app01-8125	168	5	hartmann	hartmann	PROPN
app01-8125	168	6	.	.	PUNCT
app01-8125	168	7	computational	computational	ADJ
app01-8125	168	8	aspects	aspect	NOUN
app01-8125	168	9	of	of	ADP
app01-8125	168	10	the	the	DET
app01-8125	168	11	symmetric	symmetric	ADJ
app01-8125	168	12	eigenvalue	eigenvalue	PROPN
app01-8125	168	13	problem	problem	NOUN
app01-8125	168	14	of	of	ADP
app01-8125	168	15	second	second	ADJ
app01-8125	168	16	order	order	NOUN
app01-8125	168	17	tensors	tensor	NOUN
app01-8125	168	18	.	.	PUNCT
app01-8125	169	1	technische	technische	PROPN
app01-8125	169	2	mechanik	mechanik	X
app01-8125	170	1	23:283–294	23:283–294	NOUN
app01-8125	170	2	,	,	PUNCT
app01-8125	170	3	2003	2003	NUM
app01-8125	170	4	.	.	PUNCT
app01-8125	171	1	[	[	X
app01-8125	171	2	6	6	NUM
app01-8125	171	3	]	]	PUNCT
app01-8125	171	4	d.	d.	PROPN
app01-8125	171	5	zermas	zermas	PROPN
app01-8125	171	6	,	,	PUNCT
app01-8125	171	7	i.	i.	PROPN
app01-8125	171	8	izzat	izzat	PROPN
app01-8125	171	9	,	,	PUNCT
app01-8125	171	10	n.	n.	PROPN
app01-8125	171	11	papanikolopoulos	papanikolopoulos	PROPN
app01-8125	171	12	.	.	PUNCT
app01-8125	172	1	fast	fast	ADJ
app01-8125	172	2	segmentation	segmentation	NOUN
app01-8125	172	3	of	of	ADP
app01-8125	172	4	3d	3d	NUM
app01-8125	172	5	point	point	NOUN
app01-8125	172	6	clouds	cloud	NOUN
app01-8125	172	7	:	:	PUNCT
app01-8125	172	8	a	a	DET
app01-8125	172	9	paradigm	paradigm	NOUN
app01-8125	172	10	on	on	ADP
app01-8125	172	11	lidar	lidar	NOUN
app01-8125	172	12	data	datum	NOUN
app01-8125	172	13	for	for	ADP
app01-8125	172	14	autonomous	autonomous	ADJ
app01-8125	172	15	vehicle	vehicle	NOUN
app01-8125	172	16	applications	application	NOUN
app01-8125	172	17	.	.	PUNCT
app01-8125	173	1	in	in	ADP
app01-8125	173	2	2017	2017	NUM
app01-8125	173	3	ieee	ieee	NOUN
app01-8125	173	4	international	international	ADJ
app01-8125	173	5	conference	conference	NOUN
app01-8125	173	6	on	on	ADP
app01-8125	173	7	robotics	robotic	NOUN
app01-8125	173	8	and	and	CCONJ
app01-8125	173	9	automation	automation	NOUN
app01-8125	173	10	(	(	PUNCT
app01-8125	173	11	icra	icra	PROPN
app01-8125	173	12	)	)	PUNCT
app01-8125	173	13	,	,	PUNCT
app01-8125	173	14	pp	pp	ADJ
app01-8125	173	15	.	.	PUNCT
app01-8125	174	1	5067–5073	5067–5073	NUM
app01-8125	174	2	.	.	PUNCT
app01-8125	175	1	2017	2017	NUM
app01-8125	175	2	.	.	PUNCT
app01-8125	176	1	https://doi.org/10.1109/icra.2017.7989591	https://doi.org/10.1109/icra.2017.7989591	PROPN
app01-8125	176	2	.	.	PUNCT
app01-8125	177	1	[	[	X
app01-8125	177	2	7	7	X
app01-8125	177	3	]	]	X
app01-8125	177	4	m.	m.	NOUN
app01-8125	177	5	montoya	montoya	PROPN
app01-8125	177	6	,	,	PUNCT
app01-8125	177	7	c.	c.	PROPN
app01-8125	177	8	gil	gil	PROPN
app01-8125	177	9	,	,	PUNCT
app01-8125	177	10	i.	i.	PROPN
app01-8125	177	11	garcía	garcía	PROPN
app01-8125	177	12	fernandez	fernandez	PROPN
app01-8125	177	13	.	.	PUNCT
app01-8125	178	1	implementation	implementation	NOUN
app01-8125	178	2	of	of	ADP
app01-8125	178	3	a	a	DET
app01-8125	178	4	region	region	NOUN
app01-8125	178	5	growing	grow	VERB
app01-8125	178	6	algorithm	algorithm	NOUN
app01-8125	178	7	on	on	ADP
app01-8125	178	8	multicomputers	multicomputer	NOUN
app01-8125	178	9	:	:	PUNCT
app01-8125	178	10	analysis	analysis	NOUN
app01-8125	178	11	of	of	ADP
app01-8125	178	12	the	the	DET
app01-8125	178	13	work	work	NOUN
app01-8125	178	14	load	load	NOUN
app01-8125	178	15	balance	balance	NOUN
app01-8125	178	16	.	.	PUNCT
app01-8125	178	17	,	,	PUNCT
app01-8125	178	18	2000	2000	NUM
app01-8125	178	19	.	.	PUNCT
app01-8125	179	1	[	[	X
app01-8125	179	2	8	8	NUM
app01-8125	179	3	]	]	PUNCT
app01-8125	179	4	m.	m.	NOUN
app01-8125	179	5	a.	a.	NOUN
app01-8125	179	6	fischler	fischler	NOUN
app01-8125	179	7	,	,	PUNCT
app01-8125	179	8	r.	r.	PROPN
app01-8125	179	9	c.	c.	PROPN
app01-8125	179	10	bolles	bolles	PROPN
app01-8125	179	11	.	.	PUNCT
app01-8125	180	1	random	random	ADJ
app01-8125	180	2	sample	sample	NOUN
app01-8125	180	3	consensus	consensus	NOUN
app01-8125	180	4	:	:	PUNCT
app01-8125	180	5	a	a	DET
app01-8125	180	6	paradigm	paradigm	NOUN
app01-8125	180	7	for	for	ADP
app01-8125	180	8	model	model	NOUN
app01-8125	180	9	fitting	fit	VERB
app01-8125	180	10	with	with	ADP
app01-8125	180	11	applications	application	NOUN
app01-8125	180	12	to	to	PART
app01-8125	180	13	image	image	VERB
app01-8125	180	14	analysis	analysis	NOUN
app01-8125	180	15	and	and	CCONJ
app01-8125	180	16	automated	automate	VERB
app01-8125	180	17	cartography	cartography	NOUN
app01-8125	180	18	.	.	PUNCT
app01-8125	181	1	communications	communication	NOUN
app01-8125	181	2	of	of	ADP
app01-8125	181	3	the	the	DET
app01-8125	181	4	acm	acm	PROPN
app01-8125	181	5	24(6):381–395	24(6):381–395	PROPN
app01-8125	181	6	,	,	PUNCT
app01-8125	181	7	1981	1981	NUM
app01-8125	181	8	.	.	PUNCT
app01-8125	182	1	https://doi.org/10.1145/358669.358692	https://doi.org/10.1145/358669.358692	X
app01-8125	182	2	.	.	PUNCT
app01-8125	182	3	137	137	NUM
app01-8125	182	4	https://doi.org/10.17609/n8mq0n	https://doi.org/10.17609/n8mq0n	NOUN
app01-8125	182	5	https://greg7mdp.github.io/parallel-hashmap/	https://greg7mdp.github.io/parallel-hashmap/	PROPN
app01-8125	182	6	https://doi.org/10.14311/app.2021.30.0126	https://doi.org/10.14311/app.2021.30.0126	NOUN
app01-8125	182	7	https://www.ilikebigbits.com/2017_09_25_plane_from_points_2.html	https://www.ilikebigbits.com/2017_09_25_plane_from_points_2.html	PROPN
app01-8125	182	8	https://www.ilikebigbits.com/2017_09_25_plane_from_points_2.html	https://www.ilikebigbits.com/2017_09_25_plane_from_points_2.html	PROPN
app01-8125	182	9	https://doi.org/10.1109/icra.2017.7989591	https://doi.org/10.1109/icra.2017.7989591	PROPN
app01-8125	182	10	https://doi.org/10.1145/358669.358692	https://doi.org/10.1145/358669.358692	PROPN
app01-8125	182	11	acta	acta	PROPN
app01-8125	182	12	polytechnica	polytechnica	PROPN
app01-8125	182	13	ctu	ctu	PROPN
app01-8125	182	14	proceedings	proceeding	NOUN
app01-8125	182	15	34:133–137	34:133–137	NUM
app01-8125	182	16	,	,	PUNCT
app01-8125	182	17	2022	2022	NUM
app01-8125	182	18	1	1	NUM
app01-8125	182	19	introduction	introduction	NOUN
app01-8125	182	20	2	2	NUM
app01-8125	182	21	pre	pre	ADJ
app01-8125	182	22	-	-	ADJ
app01-8125	182	23	processing	process	VERB
app01-8125	182	24	2.1	2.1	NUM
app01-8125	182	25	downsampling	downsample	VERB
app01-8125	182	26	2.2	2.2	NUM
app01-8125	182	27	the	the	DET
app01-8125	182	28	normal	normal	ADJ
app01-8125	182	29	vector	vector	NOUN
app01-8125	182	30	of	of	ADP
app01-8125	182	31	downsampled	downsample	VERB
app01-8125	182	32	points	point	NOUN
app01-8125	182	33	3	3	NUM
app01-8125	182	34	ground	ground	NOUN
app01-8125	182	35	-	-	PUNCT
app01-8125	182	36	level	level	NOUN
app01-8125	182	37	segmentation	segmentation	NOUN
app01-8125	182	38	4	4	NUM
app01-8125	182	39	building	building	NOUN
app01-8125	182	40	segmentation	segmentation	NOUN
app01-8125	182	41	5	5	NUM
app01-8125	182	42	plane	plane	NOUN
app01-8125	182	43	segmentation	segmentation	NOUN
app01-8125	182	44	6	6	NUM
app01-8125	182	45	building	building	NOUN
app01-8125	182	46	mesh	mesh	NOUN
app01-8125	182	47	7	7	NUM
app01-8125	182	48	conclusions	conclusion	NOUN
app01-8125	182	49	acknowledgements	acknowledgement	NOUN
app01-8125	182	50	references	reference	NOUN