id	sid	tid	token	lemma	pos
ijassa-583	1	1	adv	adv	PROPN
ijassa-583	1	2	syst	syst	PROPN
ijassa-583	1	3	sci	sci	PROPN
ijassa-583	1	4	appl	appl	PROPN
ijassa-583	1	5	2018	2018	NUM
ijassa-583	1	6	;	;	PUNCT
ijassa-583	1	7	03:17–28	03:17–28	NUM
ijassa-583	1	8	published	publish	VERB
ijassa-583	1	9	online	online	ADV
ijassa-583	1	10	at	at	ADP
ijassa-583	1	11	http://ijassa.ipu.ru/index.php/ijassa/article/view/583	http://ijassa.ipu.ru/index.php/ijassa/article/view/583	PROPN
ijassa-583	1	12	visual	visual	ADJ
ijassa-583	1	13	odometry	odometry	NOUN
ijassa-583	1	14	approaches	approach	VERB
ijassa-583	1	15	to	to	ADP
ijassa-583	1	16	autonomous	autonomous	ADJ
ijassa-583	1	17	navigation	navigation	NOUN
ijassa-583	1	18	for	for	ADP
ijassa-583	1	19	multicopter	multicopter	PROPN
ijassa-583	1	20	model	model	PROPN
ijassa-583	1	21	in	in	ADP
ijassa-583	1	22	virtual	virtual	ADJ
ijassa-583	1	23	indoor	indoor	ADJ
ijassa-583	1	24	environment	environment	NOUN
ijassa-583	1	25	alexander	alexander	PROPN
ijassa-583	1	26	v.	v.	ADP
ijassa-583	1	27	abdulov1	abdulov1	PROPN
ijassa-583	1	28	,	,	PUNCT
ijassa-583	1	29	alexander	alexander	PROPN
ijassa-583	1	30	n.	n.	PROPN
ijassa-583	1	31	abramenkov1	abramenkov1	PROPN
ijassa-583	1	32	,	,	PUNCT
ijassa-583	1	33	∗andrey	∗andrey	NUM
ijassa-583	1	34	a.	a.	NOUN
ijassa-583	1	35	shevlyakov1	shevlyakov1	NOUN
ijassa-583	1	36	1	1	NUM
ijassa-583	1	37	institute	institute	PROPN
ijassa-583	1	38	of	of	ADP
ijassa-583	1	39	control	control	PROPN
ijassa-583	1	40	sciences	sciences	PROPN
ijassa-583	1	41	of	of	ADP
ijassa-583	1	42	the	the	DET
ijassa-583	1	43	russian	russian	ADJ
ijassa-583	1	44	academy	academy	PROPN
ijassa-583	1	45	of	of	ADP
ijassa-583	1	46	sciences	sciences	PROPN
ijassa-583	1	47	,	,	PUNCT
ijassa-583	1	48	moscow	moscow	PROPN
ijassa-583	1	49	,	,	PUNCT
ijassa-583	1	50	russia	russia	PROPN
ijassa-583	1	51	abstract	abstract	NOUN
ijassa-583	1	52	:	:	PUNCT
ijassa-583	1	53	using	use	VERB
ijassa-583	1	54	simulators	simulator	NOUN
ijassa-583	1	55	and	and	CCONJ
ijassa-583	1	56	virtual	virtual	ADJ
ijassa-583	1	57	environments	environment	NOUN
ijassa-583	1	58	can	can	AUX
ijassa-583	1	59	simplify	simplify	VERB
ijassa-583	1	60	the	the	DET
ijassa-583	1	61	development	development	NOUN
ijassa-583	1	62	and	and	CCONJ
ijassa-583	1	63	testing	testing	NOUN
ijassa-583	1	64	of	of	ADP
ijassa-583	1	65	various	various	ADJ
ijassa-583	1	66	control	control	NOUN
ijassa-583	1	67	,	,	PUNCT
ijassa-583	1	68	behavior	behavior	NOUN
ijassa-583	1	69	and	and	CCONJ
ijassa-583	1	70	navigation	navigation	NOUN
ijassa-583	1	71	scenarios	scenario	NOUN
ijassa-583	1	72	significantly	significantly	ADV
ijassa-583	1	73	.	.	PUNCT
ijassa-583	2	1	in	in	ADP
ijassa-583	2	2	this	this	DET
ijassa-583	2	3	article	article	NOUN
ijassa-583	2	4	we	we	PRON
ijassa-583	2	5	describe	describe	VERB
ijassa-583	2	6	our	our	PRON
ijassa-583	2	7	experience	experience	NOUN
ijassa-583	2	8	using	use	VERB
ijassa-583	2	9	the	the	DET
ijassa-583	2	10	ros	ros	PROPN
ijassa-583	2	11	environment	environment	NOUN
ijassa-583	2	12	and	and	CCONJ
ijassa-583	2	13	the	the	DET
ijassa-583	2	14	gazebo	gazebo	PROPN
ijassa-583	2	15	simulator	simulator	NOUN
ijassa-583	2	16	to	to	PART
ijassa-583	2	17	develop	develop	VERB
ijassa-583	2	18	an	an	DET
ijassa-583	2	19	autonomous	autonomous	ADJ
ijassa-583	2	20	multicopter	multicopter	PROPN
ijassa-583	2	21	uav	uav	PROPN
ijassa-583	2	22	that	that	PRON
ijassa-583	2	23	can	can	AUX
ijassa-583	2	24	navigate	navigate	VERB
ijassa-583	2	25	an	an	DET
ijassa-583	2	26	unknown	unknown	ADJ
ijassa-583	2	27	building	building	NOUN
ijassa-583	2	28	and	and	CCONJ
ijassa-583	2	29	locate	locate	VERB
ijassa-583	2	30	an	an	DET
ijassa-583	2	31	exit	exit	NOUN
ijassa-583	2	32	using	use	VERB
ijassa-583	2	33	computer	computer	NOUN
ijassa-583	2	34	vision	vision	NOUN
ijassa-583	2	35	techniques	technique	NOUN
ijassa-583	2	36	.	.	PUNCT
ijassa-583	3	1	keywords	keyword	NOUN
ijassa-583	3	2	:	:	PUNCT
ijassa-583	3	3	virtual	virtual	ADJ
ijassa-583	3	4	simulation	simulation	NOUN
ijassa-583	3	5	,	,	PUNCT
ijassa-583	3	6	visual	visual	ADJ
ijassa-583	3	7	odometry	odometry	PROPN
ijassa-583	3	8	,	,	PUNCT
ijassa-583	3	9	uav	uav	PROPN
ijassa-583	3	10	,	,	PUNCT
ijassa-583	3	11	autonomous	autonomous	ADJ
ijassa-583	3	12	navigation	navigation	NOUN
ijassa-583	3	13	1	1	NUM
ijassa-583	3	14	.	.	PUNCT
ijassa-583	3	15	introduction	introduction	NOUN
ijassa-583	3	16	as	as	SCONJ
ijassa-583	3	17	more	more	ADV
ijassa-583	3	18	powerful	powerful	ADJ
ijassa-583	3	19	embedded	embed	VERB
ijassa-583	3	20	computers	computer	NOUN
ijassa-583	3	21	appear	appear	VERB
ijassa-583	3	22	,	,	PUNCT
ijassa-583	3	23	along	along	ADP
ijassa-583	3	24	with	with	ADP
ijassa-583	3	25	smaller	small	ADJ
ijassa-583	3	26	cameras	camera	NOUN
ijassa-583	3	27	,	,	PUNCT
ijassa-583	3	28	autonomous	autonomous	ADJ
ijassa-583	3	29	indoor	indoor	ADJ
ijassa-583	3	30	navigation	navigation	NOUN
ijassa-583	3	31	for	for	ADP
ijassa-583	3	32	mobile	mobile	ADJ
ijassa-583	3	33	robots	robot	NOUN
ijassa-583	3	34	becomes	become	VERB
ijassa-583	3	35	a	a	DET
ijassa-583	3	36	sufficiently	sufficiently	ADV
ijassa-583	3	37	interesting	interesting	ADJ
ijassa-583	3	38	and	and	CCONJ
ijassa-583	3	39	tractable	tractable	ADJ
ijassa-583	3	40	problem	problem	NOUN
ijassa-583	3	41	,	,	PUNCT
ijassa-583	3	42	inciting	incite	VERB
ijassa-583	3	43	new	new	ADJ
ijassa-583	3	44	research	research	NOUN
ijassa-583	3	45	[	[	X
ijassa-583	3	46	8	8	NUM
ijassa-583	3	47	,	,	PUNCT
ijassa-583	3	48	13	13	NUM
ijassa-583	3	49	]	]	PUNCT
ijassa-583	3	50	.	.	PUNCT
ijassa-583	4	1	since	since	SCONJ
ijassa-583	4	2	global	global	ADJ
ijassa-583	4	3	positioning	positioning	NOUN
ijassa-583	4	4	signal	signal	NOUN
ijassa-583	4	5	is	be	AUX
ijassa-583	4	6	usually	usually	ADV
ijassa-583	4	7	unavailable	unavailable	ADJ
ijassa-583	4	8	indoors	indoor	NOUN
ijassa-583	4	9	,	,	PUNCT
ijassa-583	4	10	mobile	mobile	ADJ
ijassa-583	4	11	robots	robot	NOUN
ijassa-583	4	12	face	face	VERB
ijassa-583	4	13	hard	hard	ADJ
ijassa-583	4	14	problems	problem	NOUN
ijassa-583	4	15	of	of	ADP
ijassa-583	4	16	determining	determine	VERB
ijassa-583	4	17	their	their	PRON
ijassa-583	4	18	position	position	NOUN
ijassa-583	4	19	in	in	ADP
ijassa-583	4	20	reference	reference	NOUN
ijassa-583	4	21	to	to	ADP
ijassa-583	4	22	some	some	DET
ijassa-583	4	23	external	external	ADJ
ijassa-583	4	24	beacons	beacon	NOUN
ijassa-583	4	25	,	,	PUNCT
ijassa-583	4	26	route	route	NOUN
ijassa-583	4	27	planning	planning	NOUN
ijassa-583	4	28	and	and	CCONJ
ijassa-583	4	29	actuating	actuate	VERB
ijassa-583	4	30	movement	movement	NOUN
ijassa-583	4	31	.	.	PUNCT
ijassa-583	5	1	the	the	DET
ijassa-583	5	2	essential	essential	ADJ
ijassa-583	5	3	difficulty	difficulty	NOUN
ijassa-583	5	4	is	be	AUX
ijassa-583	5	5	not	not	PART
ijassa-583	5	6	navigation	navigation	NOUN
ijassa-583	5	7	per	per	ADP
ijassa-583	5	8	se	se	ADV
ijassa-583	5	9	,	,	PUNCT
ijassa-583	5	10	but	but	CCONJ
ijassa-583	5	11	locating	locate	VERB
ijassa-583	5	12	beacons	beacon	NOUN
ijassa-583	5	13	using	use	VERB
ijassa-583	5	14	available	available	ADJ
ijassa-583	5	15	sensors	sensor	NOUN
ijassa-583	5	16	.	.	PUNCT
ijassa-583	6	1	autonomous	autonomous	ADJ
ijassa-583	6	2	mobile	mobile	ADJ
ijassa-583	6	3	robots	robot	NOUN
ijassa-583	6	4	may	may	AUX
ijassa-583	6	5	face	face	VERB
ijassa-583	6	6	additional	additional	ADJ
ijassa-583	6	7	challenges	challenge	NOUN
ijassa-583	6	8	in	in	ADP
ijassa-583	6	9	dynamic	dynamic	ADJ
ijassa-583	6	10	environments	environment	NOUN
ijassa-583	6	11	.	.	PUNCT
ijassa-583	7	1	today	today	NOUN
ijassa-583	7	2	’s	’s	PART
ijassa-583	7	3	technology	technology	NOUN
ijassa-583	7	4	allows	allow	VERB
ijassa-583	7	5	for	for	ADP
ijassa-583	7	6	relatively	relatively	ADV
ijassa-583	7	7	easy	easy	ADJ
ijassa-583	7	8	development	development	NOUN
ijassa-583	7	9	of	of	ADP
ijassa-583	7	10	autonomous	autonomous	ADJ
ijassa-583	7	11	mobile	mobile	ADJ
ijassa-583	7	12	robots	robot	NOUN
ijassa-583	7	13	that	that	PRON
ijassa-583	7	14	can	can	AUX
ijassa-583	7	15	navigate	navigate	VERB
ijassa-583	7	16	using	use	VERB
ijassa-583	7	17	only	only	ADV
ijassa-583	7	18	onboard	onboard	ADJ
ijassa-583	7	19	sensors	sensor	NOUN
ijassa-583	7	20	[	[	X
ijassa-583	7	21	1	1	NUM
ijassa-583	7	22	,	,	PUNCT
ijassa-583	7	23	9	9	NUM
ijassa-583	7	24	]	]	PUNCT
ijassa-583	7	25	.	.	PUNCT
ijassa-583	8	1	however	however	ADV
ijassa-583	8	2	,	,	PUNCT
ijassa-583	8	3	there	there	PRON
ijassa-583	8	4	are	be	VERB
ijassa-583	8	5	no	no	DET
ijassa-583	8	6	universal	universal	ADJ
ijassa-583	8	7	algorithms	algorithm	NOUN
ijassa-583	8	8	for	for	ADP
ijassa-583	8	9	navigation	navigation	NOUN
ijassa-583	8	10	in	in	ADP
ijassa-583	8	11	unknown	unknown	ADJ
ijassa-583	8	12	scenes	scene	NOUN
ijassa-583	8	13	with	with	ADP
ijassa-583	8	14	dynamic	dynamic	ADJ
ijassa-583	8	15	obstacles	obstacle	NOUN
ijassa-583	8	16	.	.	PUNCT
ijassa-583	9	1	simulation	simulation	NOUN
ijassa-583	9	2	software	software	NOUN
ijassa-583	9	3	exists	exist	VERB
ijassa-583	9	4	to	to	PART
ijassa-583	9	5	facilitate	facilitate	VERB
ijassa-583	9	6	the	the	DET
ijassa-583	9	7	development	development	NOUN
ijassa-583	9	8	and	and	CCONJ
ijassa-583	9	9	lower	low	ADJ
ijassa-583	9	10	the	the	DET
ijassa-583	9	11	entry	entry	NOUN
ijassa-583	9	12	threshold	threshold	NOUN
ijassa-583	9	13	of	of	ADP
ijassa-583	9	14	knowledge	knowledge	NOUN
ijassa-583	9	15	(	(	PUNCT
ijassa-583	9	16	e.g.	e.g.	ADV
ijassa-583	9	17	diy	diy	NOUN
ijassa-583	9	18	robotics	robotic	NOUN
ijassa-583	9	19	)	)	PUNCT
ijassa-583	9	20	.	.	PUNCT
ijassa-583	10	1	well	well	ADV
ijassa-583	10	2	-	-	PUNCT
ijassa-583	10	3	designed	design	VERB
ijassa-583	10	4	simulators	simulator	NOUN
ijassa-583	10	5	(	(	PUNCT
ijassa-583	10	6	see	see	VERB
ijassa-583	10	7	gazebo	gazebo	PROPN
ijassa-583	11	1	[	[	X
ijassa-583	11	2	11	11	NUM
ijassa-583	11	3	]	]	PUNCT
ijassa-583	11	4	)	)	PUNCT
ijassa-583	11	5	make	make	VERB
ijassa-583	11	6	rapid	rapid	ADJ
ijassa-583	11	7	testing	testing	NOUN
ijassa-583	11	8	possible	possible	ADJ
ijassa-583	11	9	,	,	PUNCT
ijassa-583	11	10	as	as	ADV
ijassa-583	11	11	well	well	ADV
ijassa-583	11	12	as	as	ADP
ijassa-583	11	13	robot	robot	NOUN
ijassa-583	11	14	model	model	NOUN
ijassa-583	11	15	building	building	NOUN
ijassa-583	11	16	and	and	CCONJ
ijassa-583	11	17	their	their	PRON
ijassa-583	11	18	deployment	deployment	NOUN
ijassa-583	11	19	in	in	ADP
ijassa-583	11	20	realistic	realistic	ADJ
ijassa-583	11	21	scenarios	scenario	NOUN
ijassa-583	11	22	.	.	PUNCT
ijassa-583	12	1	in	in	ADP
ijassa-583	12	2	this	this	DET
ijassa-583	12	3	article	article	NOUN
ijassa-583	12	4	we	we	PRON
ijassa-583	12	5	share	share	VERB
ijassa-583	12	6	our	our	PRON
ijassa-583	12	7	experience	experience	NOUN
ijassa-583	12	8	if	if	SCONJ
ijassa-583	12	9	solving	solve	VERB
ijassa-583	12	10	a	a	DET
ijassa-583	12	11	problem	problem	NOUN
ijassa-583	12	12	of	of	ADP
ijassa-583	12	13	autonomous	autonomous	ADJ
ijassa-583	12	14	navigation	navigation	NOUN
ijassa-583	12	15	in	in	ADP
ijassa-583	12	16	virtual	virtual	ADJ
ijassa-583	12	17	environment	environment	NOUN
ijassa-583	12	18	using	use	VERB
ijassa-583	12	19	widespread	widespread	ADJ
ijassa-583	12	20	visual	visual	ADJ
ijassa-583	12	21	odometry	odometry	NOUN
ijassa-583	12	22	methods	method	NOUN
ijassa-583	12	23	.	.	PUNCT
ijassa-583	13	1	we	we	PRON
ijassa-583	13	2	proceed	proceed	VERB
ijassa-583	13	3	with	with	ADP
ijassa-583	13	4	the	the	DET
ijassa-583	13	5	problem	problem	NOUN
ijassa-583	13	6	and	and	CCONJ
ijassa-583	13	7	scenario	scenario	NOUN
ijassa-583	13	8	description	description	NOUN
ijassa-583	13	9	,	,	PUNCT
ijassa-583	13	10	which	which	PRON
ijassa-583	13	11	is	be	AUX
ijassa-583	13	12	considered	consider	VERB
ijassa-583	13	13	as	as	ADP
ijassa-583	13	14	a	a	DET
ijassa-583	13	15	test	test	NOUN
ijassa-583	13	16	ground	ground	NOUN
ijassa-583	13	17	for	for	ADP
ijassa-583	13	18	two	two	NUM
ijassa-583	13	19	different	different	ADJ
ijassa-583	13	20	approaches	approach	NOUN
ijassa-583	13	21	.	.	PUNCT
ijassa-583	14	1	we	we	PRON
ijassa-583	14	2	discuss	discuss	VERB
ijassa-583	14	3	strong	strong	ADJ
ijassa-583	14	4	points	point	NOUN
ijassa-583	14	5	and	and	CCONJ
ijassa-583	14	6	limitations	limitation	NOUN
ijassa-583	14	7	of	of	ADP
ijassa-583	14	8	the	the	DET
ijassa-583	14	9	methods	method	NOUN
ijassa-583	14	10	,	,	PUNCT
ijassa-583	14	11	as	as	ADV
ijassa-583	14	12	well	well	ADV
ijassa-583	14	13	as	as	ADP
ijassa-583	14	14	evaluation	evaluation	NOUN
ijassa-583	14	15	of	of	ADP
ijassa-583	14	16	their	their	PRON
ijassa-583	14	17	applicability	applicability	NOUN
ijassa-583	14	18	and	and	CCONJ
ijassa-583	14	19	overall	overall	ADJ
ijassa-583	14	20	difficulties	difficulty	NOUN
ijassa-583	14	21	of	of	ADP
ijassa-583	14	22	this	this	DET
ijassa-583	14	23	type	type	NOUN
ijassa-583	14	24	of	of	ADP
ijassa-583	14	25	research	research	NOUN
ijassa-583	14	26	.	.	PUNCT
ijassa-583	15	1	∗corresponding	∗corresponde	VERB
ijassa-583	15	2	author	author	NOUN
ijassa-583	15	3	:	:	PUNCT
ijassa-583	15	4	aash29@gmail.com	aash29@gmail.com	X
ijassa-583	15	5	18	18	NUM
ijassa-583	15	6	a.v	a.v	PROPN
ijassa-583	15	7	.	.	PROPN
ijassa-583	15	8	abdulov	abdulov	PROPN
ijassa-583	15	9	,	,	PUNCT
ijassa-583	15	10	a.n	a.n	PROPN
ijassa-583	15	11	.	.	PROPN
ijassa-583	15	12	abramenkov	abramenkov	PROPN
ijassa-583	15	13	,	,	PUNCT
ijassa-583	15	14	a.a	a.a	PROPN
ijassa-583	15	15	.	.	PROPN
ijassa-583	15	16	shevlyakov	shevlyakov	PROPN
ijassa-583	15	17	2	2	NUM
ijassa-583	15	18	.	.	X
ijassa-583	15	19	problem	problem	NOUN
ijassa-583	15	20	statement	statement	NOUN
ijassa-583	15	21	as	as	ADP
ijassa-583	15	22	an	an	DET
ijassa-583	15	23	example	example	NOUN
ijassa-583	15	24	of	of	ADP
ijassa-583	15	25	a	a	DET
ijassa-583	15	26	navigation	navigation	NOUN
ijassa-583	15	27	problem	problem	NOUN
ijassa-583	15	28	,	,	PUNCT
ijassa-583	15	29	we	we	PRON
ijassa-583	15	30	chose	choose	VERB
ijassa-583	15	31	the	the	DET
ijassa-583	15	32	following	follow	VERB
ijassa-583	15	33	mission	mission	NOUN
ijassa-583	15	34	:	:	PUNCT
ijassa-583	15	35	a	a	DET
ijassa-583	15	36	multicopter	multicopter	NOUN
ijassa-583	15	37	of	of	ADP
ijassa-583	15	38	a	a	DET
ijassa-583	15	39	specified	specify	VERB
ijassa-583	15	40	model	model	NOUN
ijassa-583	15	41	must	must	AUX
ijassa-583	15	42	autonomously	autonomously	ADV
ijassa-583	15	43	locate	locate	VERB
ijassa-583	15	44	a	a	DET
ijassa-583	15	45	window	window	NOUN
ijassa-583	15	46	in	in	ADP
ijassa-583	15	47	an	an	DET
ijassa-583	15	48	unknown	unknown	ADJ
ijassa-583	15	49	building	building	NOUN
ijassa-583	15	50	and	and	CCONJ
ijassa-583	15	51	leave	leave	VERB
ijassa-583	15	52	via	via	ADP
ijassa-583	15	53	this	this	DET
ijassa-583	15	54	window	window	NOUN
ijassa-583	15	55	,	,	PUNCT
ijassa-583	15	56	without	without	ADP
ijassa-583	15	57	colliding	collide	VERB
ijassa-583	15	58	with	with	ADP
ijassa-583	15	59	obstacles	obstacle	NOUN
ijassa-583	15	60	or	or	CCONJ
ijassa-583	15	61	using	use	VERB
ijassa-583	15	62	any	any	DET
ijassa-583	15	63	kind	kind	NOUN
ijassa-583	15	64	of	of	ADP
ijassa-583	15	65	external	external	ADJ
ijassa-583	15	66	positioning	positioning	NOUN
ijassa-583	15	67	system	system	NOUN
ijassa-583	15	68	.	.	PUNCT
ijassa-583	16	1	onboard	onboard	ADJ
ijassa-583	16	2	sensors	sensor	NOUN
ijassa-583	16	3	include	include	VERB
ijassa-583	16	4	imu	imu	NOUN
ijassa-583	16	5	(	(	PUNCT
ijassa-583	16	6	accelerometers	accelerometer	NOUN
ijassa-583	16	7	and	and	CCONJ
ijassa-583	16	8	gyroscopes	gyroscope	NOUN
ijassa-583	16	9	)	)	PUNCT
ijassa-583	16	10	and	and	CCONJ
ijassa-583	16	11	computer	computer	NOUN
ijassa-583	16	12	vision	vision	NOUN
ijassa-583	16	13	sensors	sensor	NOUN
ijassa-583	16	14	(	(	PUNCT
ijassa-583	16	15	lidar	lidar	NOUN
ijassa-583	16	16	and	and	CCONJ
ijassa-583	16	17	video	video	NOUN
ijassa-583	16	18	cameras	camera	NOUN
ijassa-583	16	19	)	)	PUNCT
ijassa-583	16	20	.	.	PUNCT
ijassa-583	17	1	building	build	VERB
ijassa-583	17	2	in	in	ADP
ijassa-583	17	3	question	question	NOUN
ijassa-583	17	4	is	be	AUX
ijassa-583	17	5	an	an	DET
ijassa-583	17	6	enclosed	enclose	VERB
ijassa-583	17	7	virtual	virtual	ADJ
ijassa-583	17	8	hangar	hangar	NOUN
ijassa-583	17	9	with	with	ADP
ijassa-583	17	10	one	one	NUM
ijassa-583	17	11	open	open	ADJ
ijassa-583	17	12	window	window	NOUN
ijassa-583	17	13	(	(	PUNCT
ijassa-583	17	14	see	see	VERB
ijassa-583	17	15	fig	fig	NOUN
ijassa-583	17	16	.	.	PUNCT
ijassa-583	18	1	2.1	2.1	NUM
ijassa-583	18	2	)	)	PUNCT
ijassa-583	18	3	.	.	PUNCT
ijassa-583	19	1	the	the	DET
ijassa-583	19	2	hangar	hangar	NOUN
ijassa-583	19	3	has	have	VERB
ijassa-583	19	4	a	a	DET
ijassa-583	19	5	rectangular	rectangular	ADJ
ijassa-583	19	6	plan	plan	NOUN
ijassa-583	19	7	.	.	PUNCT
ijassa-583	20	1	texture	texture	NOUN
ijassa-583	20	2	,	,	PUNCT
ijassa-583	20	3	size	size	NOUN
ijassa-583	20	4	and	and	CCONJ
ijassa-583	20	5	color	color	NOUN
ijassa-583	20	6	of	of	ADP
ijassa-583	20	7	walls	wall	NOUN
ijassa-583	20	8	may	may	AUX
ijassa-583	20	9	vary	vary	VERB
ijassa-583	20	10	.	.	PUNCT
ijassa-583	21	1	obstacles	obstacle	NOUN
ijassa-583	21	2	are	be	AUX
ijassa-583	21	3	represented	represent	VERB
ijassa-583	21	4	by	by	ADP
ijassa-583	21	5	cylindrical	cylindrical	ADJ
ijassa-583	21	6	pillars	pillar	NOUN
ijassa-583	21	7	of	of	ADP
ijassa-583	21	8	varying	vary	VERB
ijassa-583	21	9	height	height	NOUN
ijassa-583	21	10	,	,	PUNCT
ijassa-583	21	11	diameter	diameter	NOUN
ijassa-583	21	12	and	and	CCONJ
ijassa-583	21	13	color	color	NOUN
ijassa-583	21	14	.	.	PUNCT
ijassa-583	22	1	pillars	pillar	NOUN
ijassa-583	22	2	are	be	AUX
ijassa-583	22	3	static	static	ADJ
ijassa-583	22	4	,	,	PUNCT
ijassa-583	22	5	but	but	CCONJ
ijassa-583	22	6	their	their	PRON
ijassa-583	22	7	position	position	NOUN
ijassa-583	22	8	is	be	AUX
ijassa-583	22	9	random	random	ADJ
ijassa-583	22	10	.	.	PUNCT
ijassa-583	23	1	they	they	PRON
ijassa-583	23	2	may	may	AUX
ijassa-583	23	3	also	also	ADV
ijassa-583	23	4	be	be	AUX
ijassa-583	23	5	combined	combine	VERB
ijassa-583	23	6	to	to	PART
ijassa-583	23	7	form	form	VERB
ijassa-583	23	8	more	more	ADV
ijassa-583	23	9	complicated	complicated	ADJ
ijassa-583	23	10	structures	structure	NOUN
ijassa-583	23	11	.	.	PUNCT
ijassa-583	24	1	the	the	DET
ijassa-583	24	2	window	window	NOUN
ijassa-583	24	3	is	be	AUX
ijassa-583	24	4	rectangular	rectangular	ADJ
ijassa-583	24	5	,	,	PUNCT
ijassa-583	24	6	although	although	SCONJ
ijassa-583	24	7	its	its	PRON
ijassa-583	24	8	position	position	NOUN
ijassa-583	24	9	and	and	CCONJ
ijassa-583	24	10	dimensions	dimension	NOUN
ijassa-583	24	11	are	be	AUX
ijassa-583	24	12	not	not	PART
ijassa-583	24	13	known	know	VERB
ijassa-583	24	14	.	.	PUNCT
ijassa-583	25	1	as	as	SCONJ
ijassa-583	25	2	the	the	DET
ijassa-583	25	3	mathematical	mathematical	ADJ
ijassa-583	25	4	models	model	NOUN
ijassa-583	25	5	of	of	ADP
ijassa-583	25	6	sensors	sensor	NOUN
ijassa-583	25	7	and	and	CCONJ
ijassa-583	25	8	whole	whole	ADJ
ijassa-583	25	9	uavs	uavs	NOUN
ijassa-583	25	10	are	be	AUX
ijassa-583	25	11	usually	usually	ADV
ijassa-583	25	12	available	available	ADJ
ijassa-583	25	13	,	,	PUNCT
ijassa-583	25	14	we	we	PRON
ijassa-583	25	15	shall	shall	AUX
ijassa-583	25	16	not	not	PART
ijassa-583	25	17	pay	pay	VERB
ijassa-583	25	18	too	too	ADV
ijassa-583	25	19	much	much	ADJ
ijassa-583	25	20	attention	attention	NOUN
ijassa-583	25	21	to	to	ADP
ijassa-583	25	22	the	the	DET
ijassa-583	25	23	hardware	hardware	NOUN
ijassa-583	25	24	.	.	PUNCT
ijassa-583	26	1	for	for	ADP
ijassa-583	26	2	our	our	PRON
ijassa-583	26	3	research	research	NOUN
ijassa-583	26	4	we	we	PRON
ijassa-583	26	5	chose	choose	VERB
ijassa-583	26	6	a	a	DET
ijassa-583	26	7	quadrotor	quadrotor	NOUN
ijassa-583	26	8	scheme	scheme	NOUN
ijassa-583	26	9	(	(	PUNCT
ijassa-583	26	10	fig	fig	NOUN
ijassa-583	26	11	.	.	PUNCT
ijassa-583	27	1	2.2	2.2	NUM
ijassa-583	27	2	)	)	PUNCT
ijassa-583	28	1	as	as	SCONJ
ijassa-583	28	2	the	the	DET
ijassa-583	28	3	most	most	ADV
ijassa-583	28	4	widespread	widespread	ADJ
ijassa-583	28	5	and	and	CCONJ
ijassa-583	28	6	small	small	ADJ
ijassa-583	28	7	enough	enough	ADV
ijassa-583	28	8	(	(	PUNCT
ijassa-583	28	9	less	less	ADJ
ijassa-583	28	10	than	than	ADP
ijassa-583	28	11	0.5	0.5	NUM
ijassa-583	28	12	m	m	NOUN
ijassa-583	28	13	in	in	ADP
ijassa-583	28	14	dia	dia	PROPN
ijassa-583	28	15	)	)	PUNCT
ijassa-583	28	16	to	to	PART
ijassa-583	28	17	operate	operate	VERB
ijassa-583	28	18	indoors	indoor	NOUN
ijassa-583	28	19	.	.	PUNCT
ijassa-583	29	1	a	a	DET
ijassa-583	29	2	multitude	multitude	NOUN
ijassa-583	29	3	of	of	ADP
ijassa-583	29	4	virtual	virtual	ADJ
ijassa-583	29	5	sensors	sensor	NOUN
ijassa-583	29	6	can	can	AUX
ijassa-583	29	7	be	be	AUX
ijassa-583	29	8	combined	combine	VERB
ijassa-583	29	9	and	and	CCONJ
ijassa-583	29	10	installed	instal	VERB
ijassa-583	29	11	onboard	onboard	ADV
ijassa-583	29	12	.	.	PUNCT
ijassa-583	30	1	virtual	virtual	ADJ
ijassa-583	30	2	multicopter	multicopter	PROPN
ijassa-583	30	3	movement	movement	PROPN
ijassa-583	30	4	is	be	AUX
ijassa-583	30	5	controlled	control	VERB
ijassa-583	30	6	by	by	ADP
ijassa-583	30	7	feeding	feed	VERB
ijassa-583	30	8	an	an	DET
ijassa-583	30	9	embedded	embed	VERB
ijassa-583	30	10	controller	controller	NOUN
ijassa-583	30	11	the	the	DET
ijassa-583	30	12	reference	reference	NOUN
ijassa-583	30	13	values	value	NOUN
ijassa-583	30	14	of	of	ADP
ijassa-583	30	15	linear	linear	ADJ
ijassa-583	30	16	and	and	CCONJ
ijassa-583	30	17	angular	angular	ADJ
ijassa-583	30	18	velocity	velocity	NOUN
ijassa-583	30	19	.	.	PUNCT
ijassa-583	31	1	the	the	DET
ijassa-583	31	2	make	make	NOUN
ijassa-583	31	3	of	of	ADP
ijassa-583	31	4	embedded	embed	VERB
ijassa-583	31	5	controller	controller	NOUN
ijassa-583	31	6	is	be	AUX
ijassa-583	31	7	fixed	fix	VERB
ijassa-583	31	8	,	,	PUNCT
ijassa-583	31	9	thus	thus	ADV
ijassa-583	31	10	we	we	PRON
ijassa-583	31	11	implement	implement	VERB
ijassa-583	31	12	the	the	DET
ijassa-583	31	13	autonomous	autonomous	ADJ
ijassa-583	31	14	movement	movement	NOUN
ijassa-583	31	15	with	with	ADP
ijassa-583	31	16	higher	high	ADJ
ijassa-583	31	17	-	-	PUNCT
ijassa-583	31	18	level	level	NOUN
ijassa-583	31	19	pid	pid	NOUN
ijassa-583	31	20	controllers	controller	NOUN
ijassa-583	31	21	that	that	PRON
ijassa-583	31	22	have	have	VERB
ijassa-583	31	23	to	to	PART
ijassa-583	31	24	be	be	AUX
ijassa-583	31	25	tuned	tune	VERB
ijassa-583	31	26	separately	separately	ADV
ijassa-583	31	27	.	.	PUNCT
ijassa-583	32	1	fig	fig	NOUN
ijassa-583	32	2	.	.	PUNCT
ijassa-583	33	1	2.1	2.1	NUM
ijassa-583	33	2	.	.	PUNCT
ijassa-583	34	1	top	top	ADJ
ijassa-583	34	2	view	view	NOUN
ijassa-583	34	3	of	of	ADP
ijassa-583	34	4	the	the	DET
ijassa-583	34	5	virtual	virtual	ADJ
ijassa-583	34	6	hangar	hangar	NOUN
ijassa-583	34	7	fig	fig	NOUN
ijassa-583	34	8	.	.	PUNCT
ijassa-583	35	1	2.2	2.2	NUM
ijassa-583	35	2	.	.	PUNCT
ijassa-583	36	1	multicopter	multicopter	PROPN
ijassa-583	36	2	model	model	PROPN
ijassa-583	36	3	copyright	copyright	NOUN
ijassa-583	36	4	c	c	ADP
ijassa-583	36	5	©	©	PROPN
ijassa-583	36	6	2018	2018	NUM
ijassa-583	36	7	assa	assa	NOUN
ijassa-583	36	8	.	.	PUNCT
ijassa-583	37	1	adv	adv	PROPN
ijassa-583	37	2	syst	syst	PROPN
ijassa-583	37	3	sci	sci	PROPN
ijassa-583	37	4	appl	appl	PROPN
ijassa-583	37	5	(	(	PUNCT
ijassa-583	37	6	2018	2018	NUM
ijassa-583	37	7	)	)	PUNCT
ijassa-583	37	8	visual	visual	ADJ
ijassa-583	37	9	odometry	odometry	NOUN
ijassa-583	37	10	approaches	approach	NOUN
ijassa-583	37	11	to	to	ADP
ijassa-583	37	12	multicopter	multicopter	PROPN
ijassa-583	37	13	autonomous	autonomous	PROPN
ijassa-583	37	14	navigation	navigation	NOUN
ijassa-583	37	15	19	19	NUM
ijassa-583	37	16	3	3	NUM
ijassa-583	37	17	.	.	PUNCT
ijassa-583	37	18	proposed	propose	VERB
ijassa-583	37	19	solution	solution	NOUN
ijassa-583	37	20	3.1	3.1	NUM
ijassa-583	37	21	.	.	PUNCT
ijassa-583	38	1	technology	technology	NOUN
ijassa-583	38	2	simulation	simulation	NOUN
ijassa-583	38	3	is	be	AUX
ijassa-583	38	4	run	run	VERB
ijassa-583	38	5	on	on	ADP
ijassa-583	38	6	ubuntu	ubuntu	ADJ
ijassa-583	38	7	16.04	16.04	NUM
ijassa-583	38	8	os	os	NOUN
ijassa-583	38	9	with	with	ADP
ijassa-583	38	10	ros	ros	PROPN
ijassa-583	38	11	kinetic	kinetic	PROPN
ijassa-583	38	12	installed	instal	VERB
ijassa-583	38	13	.	.	PUNCT
ijassa-583	39	1	ros	ros	PROPN
ijassa-583	39	2	(	(	PUNCT
ijassa-583	39	3	robot	robot	NOUN
ijassa-583	39	4	operating	operating	NOUN
ijassa-583	39	5	system	system	NOUN
ijassa-583	39	6	)	)	PUNCT
ijassa-583	39	7	is	be	AUX
ijassa-583	39	8	a	a	DET
ijassa-583	39	9	framework	framework	NOUN
ijassa-583	39	10	for	for	ADP
ijassa-583	39	11	robot	robot	NOUN
ijassa-583	39	12	programming	programming	NOUN
ijassa-583	39	13	.	.	PUNCT
ijassa-583	40	1	it	it	PRON
ijassa-583	40	2	is	be	AUX
ijassa-583	40	3	based	base	VERB
ijassa-583	40	4	on	on	ADP
ijassa-583	40	5	graph	graph	NOUN
ijassa-583	40	6	architecture	architecture	NOUN
ijassa-583	40	7	,	,	PUNCT
ijassa-583	40	8	where	where	SCONJ
ijassa-583	40	9	data	datum	NOUN
ijassa-583	40	10	processing	processing	NOUN
ijassa-583	40	11	is	be	AUX
ijassa-583	40	12	performed	perform	VERB
ijassa-583	40	13	in	in	ADP
ijassa-583	40	14	the	the	DET
ijassa-583	40	15	nodes	node	NOUN
ijassa-583	40	16	that	that	PRON
ijassa-583	40	17	can	can	AUX
ijassa-583	40	18	receive	receive	VERB
ijassa-583	40	19	and	and	CCONJ
ijassa-583	40	20	transmit	transmit	VERB
ijassa-583	40	21	messages	message	NOUN
ijassa-583	40	22	to	to	ADP
ijassa-583	40	23	other	other	ADJ
ijassa-583	40	24	nodes	node	NOUN
ijassa-583	40	25	.	.	PUNCT
ijassa-583	41	1	there	there	PRON
ijassa-583	41	2	are	be	VERB
ijassa-583	41	3	many	many	ADJ
ijassa-583	41	4	useful	useful	ADJ
ijassa-583	41	5	packages	package	NOUN
ijassa-583	41	6	for	for	ADP
ijassa-583	41	7	ros	ros	PROPN
ijassa-583	41	8	,	,	PUNCT
ijassa-583	41	9	which	which	PRON
ijassa-583	41	10	can	can	AUX
ijassa-583	41	11	also	also	ADV
ijassa-583	41	12	be	be	AUX
ijassa-583	41	13	written	write	VERB
ijassa-583	41	14	from	from	ADP
ijassa-583	41	15	scratch	scratch	NOUN
ijassa-583	41	16	using	use	VERB
ijassa-583	41	17	standard	standard	ADJ
ijassa-583	41	18	interface	interface	NOUN
ijassa-583	41	19	.	.	PUNCT
ijassa-583	42	1	c++	c++	NOUN
ijassa-583	42	2	and	and	CCONJ
ijassa-583	42	3	python	python	NOUN
ijassa-583	42	4	are	be	AUX
ijassa-583	42	5	supported	support	VERB
ijassa-583	42	6	.	.	PUNCT
ijassa-583	43	1	we	we	PRON
ijassa-583	43	2	should	should	AUX
ijassa-583	43	3	mention	mention	VERB
ijassa-583	43	4	separately	separately	ADV
ijassa-583	43	5	the	the	DET
ijassa-583	43	6	mavros	mavros	PROPN
ijassa-583	43	7	package	package	NOUN
ijassa-583	43	8	that	that	PRON
ijassa-583	43	9	provides	provide	VERB
ijassa-583	43	10	the	the	DET
ijassa-583	43	11	data	datum	NOUN
ijassa-583	43	12	exchange	exchange	NOUN
ijassa-583	43	13	interface	interface	NOUN
ijassa-583	43	14	between	between	ADP
ijassa-583	43	15	ros	ros	PROPN
ijassa-583	43	16	and	and	CCONJ
ijassa-583	43	17	autopilot	autopilot	NOUN
ijassa-583	43	18	firmware	firmware	NOUN
ijassa-583	43	19	using	use	VERB
ijassa-583	43	20	mavlink	mavlink	NOUN
ijassa-583	43	21	(	(	PUNCT
ijassa-583	43	22	micro	micro	ADJ
ijassa-583	43	23	air	air	PROPN
ijassa-583	43	24	vehicle	vehicle	PROPN
ijassa-583	43	25	link	link	PROPN
ijassa-583	43	26	)	)	PUNCT
ijassa-583	43	27	protocol	protocol	NOUN
ijassa-583	43	28	,	,	PUNCT
ijassa-583	43	29	which	which	PRON
ijassa-583	43	30	is	be	AUX
ijassa-583	43	31	designed	design	VERB
ijassa-583	43	32	for	for	ADP
ijassa-583	43	33	uav	uav	PROPN
ijassa-583	43	34	communication	communication	NOUN
ijassa-583	43	35	.	.	PUNCT
ijassa-583	44	1	as	as	ADP
ijassa-583	44	2	a	a	DET
ijassa-583	44	3	simulator	simulator	NOUN
ijassa-583	44	4	we	we	PRON
ijassa-583	44	5	chose	choose	VERB
ijassa-583	44	6	the	the	DET
ijassa-583	44	7	gazebo	gazebo	PROPN
ijassa-583	44	8	software	software	NOUN
ijassa-583	44	9	due	due	ADP
ijassa-583	44	10	to	to	ADP
ijassa-583	44	11	the	the	DET
ijassa-583	44	12	availability	availability	NOUN
ijassa-583	44	13	of	of	ADP
ijassa-583	44	14	necessary	necessary	ADJ
ijassa-583	44	15	uav	uav	PROPN
ijassa-583	44	16	and	and	CCONJ
ijassa-583	44	17	sensor	sensor	NOUN
ijassa-583	44	18	models	model	NOUN
ijassa-583	44	19	,	,	PUNCT
ijassa-583	44	20	as	as	ADV
ijassa-583	44	21	well	well	ADV
ijassa-583	44	22	as	as	ADP
ijassa-583	44	23	ros	ros	PROPN
ijassa-583	44	24	integration	integration	NOUN
ijassa-583	44	25	.	.	PUNCT
ijassa-583	45	1	additionally	additionally	ADV
ijassa-583	45	2	,	,	PUNCT
ijassa-583	45	3	we	we	PRON
ijassa-583	45	4	use	use	VERB
ijassa-583	45	5	opencv	opencv	ADJ
ijassa-583	45	6	library	library	NOUN
ijassa-583	45	7	for	for	ADP
ijassa-583	45	8	image	image	NOUN
ijassa-583	45	9	processing	processing	NOUN
ijassa-583	45	10	and	and	CCONJ
ijassa-583	45	11	dlib	dlib	NOUN
ijassa-583	45	12	library	library	NOUN
ijassa-583	45	13	for	for	ADP
ijassa-583	45	14	numerical	numerical	ADJ
ijassa-583	45	15	optimization	optimization	NOUN
ijassa-583	45	16	.	.	PUNCT
ijassa-583	46	1	3.2	3.2	NUM
ijassa-583	46	2	.	.	PUNCT
ijassa-583	47	1	flight	flight	NOUN
ijassa-583	47	2	strategy	strategy	NOUN
ijassa-583	47	3	high	high	ADJ
ijassa-583	47	4	-	-	PUNCT
ijassa-583	47	5	level	level	NOUN
ijassa-583	47	6	strategy	strategy	NOUN
ijassa-583	47	7	for	for	ADP
ijassa-583	47	8	a	a	DET
ijassa-583	47	9	chosen	choose	VERB
ijassa-583	47	10	uav	uav	PROPN
ijassa-583	47	11	model	model	NOUN
ijassa-583	47	12	is	be	AUX
ijassa-583	47	13	described	describe	VERB
ijassa-583	47	14	as	as	ADP
ijassa-583	47	15	a	a	DET
ijassa-583	47	16	finite	finite	ADJ
ijassa-583	47	17	state	state	NOUN
ijassa-583	47	18	machine	machine	NOUN
ijassa-583	47	19	and	and	CCONJ
ijassa-583	47	20	contains	contain	VERB
ijassa-583	47	21	the	the	DET
ijassa-583	47	22	following	follow	VERB
ijassa-583	47	23	steps	step	NOUN
ijassa-583	47	24	(	(	PUNCT
ijassa-583	47	25	see	see	VERB
ijassa-583	47	26	fig	fig	NOUN
ijassa-583	47	27	.	.	PUNCT
ijassa-583	48	1	3.3a	3.3a	NUM
ijassa-583	48	2	)	)	PUNCT
ijassa-583	48	3	.	.	PUNCT
ijassa-583	49	1	1	1	X
ijassa-583	49	2	.	.	X
ijassa-583	49	3	climb	climb	VERB
ijassa-583	49	4	to	to	ADP
ijassa-583	49	5	a	a	DET
ijassa-583	49	6	given	give	VERB
ijassa-583	49	7	altitude	altitude	NOUN
ijassa-583	49	8	.	.	PUNCT
ijassa-583	50	1	2	2	X
ijassa-583	50	2	.	.	X
ijassa-583	50	3	survey	survey	VERB
ijassa-583	50	4	the	the	DET
ijassa-583	50	5	area	area	NOUN
ijassa-583	50	6	.	.	PUNCT
ijassa-583	51	1	on	on	ADP
ijassa-583	51	2	this	this	DET
ijassa-583	51	3	step	step	NOUN
ijassa-583	51	4	the	the	DET
ijassa-583	51	5	multicopter	multicopter	PROPN
ijassa-583	51	6	rotates	rotate	VERB
ijassa-583	51	7	(	(	PUNCT
ijassa-583	51	8	up	up	ADP
ijassa-583	51	9	to	to	PART
ijassa-583	51	10	360	360	NUM
ijassa-583	51	11	degrees	degree	NOUN
ijassa-583	51	12	)	)	PUNCT
ijassa-583	51	13	.	.	PUNCT
ijassa-583	52	1	two	two	NUM
ijassa-583	52	2	tasks	task	NOUN
ijassa-583	52	3	are	be	AUX
ijassa-583	52	4	accomplished	accomplish	VERB
ijassa-583	52	5	–	–	PUNCT
ijassa-583	52	6	searching	search	VERB
ijassa-583	52	7	for	for	ADP
ijassa-583	52	8	window	window	NOUN
ijassa-583	52	9	and	and	CCONJ
ijassa-583	52	10	building	build	VERB
ijassa-583	52	11	a	a	DET
ijassa-583	52	12	local	local	ADJ
ijassa-583	52	13	obstacle	obstacle	NOUN
ijassa-583	52	14	map	map	NOUN
ijassa-583	52	15	.	.	PUNCT
ijassa-583	53	1	3	3	X
ijassa-583	53	2	.	.	X
ijassa-583	53	3	if	if	SCONJ
ijassa-583	53	4	a	a	DET
ijassa-583	53	5	window	window	NOUN
ijassa-583	53	6	is	be	AUX
ijassa-583	53	7	found	find	VERB
ijassa-583	53	8	,	,	PUNCT
ijassa-583	53	9	multicopter	multicopter	PROPN
ijassa-583	53	10	changes	change	VERB
ijassa-583	53	11	heading	head	VERB
ijassa-583	53	12	to	to	PART
ijassa-583	53	13	face	face	VERB
ijassa-583	53	14	the	the	DET
ijassa-583	53	15	window	window	NOUN
ijassa-583	53	16	,	,	PUNCT
ijassa-583	53	17	and	and	CCONJ
ijassa-583	53	18	next	next	ADJ
ijassa-583	53	19	step	step	NOUN
ijassa-583	53	20	is	be	AUX
ijassa-583	53	21	performed	perform	VERB
ijassa-583	53	22	;	;	PUNCT
ijassa-583	53	23	otherwise	otherwise	ADV
ijassa-583	53	24	,	,	PUNCT
ijassa-583	53	25	multicopter	multicopter	PROPN
ijassa-583	53	26	flies	fly	VERB
ijassa-583	53	27	forward	forward	ADV
ijassa-583	53	28	in	in	ADP
ijassa-583	53	29	the	the	DET
ijassa-583	53	30	direction	direction	NOUN
ijassa-583	53	31	chosen	choose	VERB
ijassa-583	53	32	according	accord	VERB
ijassa-583	53	33	to	to	ADP
ijassa-583	53	34	the	the	DET
ijassa-583	53	35	algorithm	algorithm	NOUN
ijassa-583	53	36	and	and	CCONJ
ijassa-583	53	37	surveys	survey	NOUN
ijassa-583	53	38	again	again	ADV
ijassa-583	53	39	(	(	PUNCT
ijassa-583	53	40	step	step	NOUN
ijassa-583	53	41	2	2	NUM
ijassa-583	53	42	)	)	PUNCT
ijassa-583	53	43	.	.	PUNCT
ijassa-583	54	1	4	4	X
ijassa-583	54	2	.	.	X
ijassa-583	54	3	head	head	VERB
ijassa-583	54	4	to	to	ADP
ijassa-583	54	5	the	the	DET
ijassa-583	54	6	window	window	NOUN
ijassa-583	54	7	avoiding	avoid	VERB
ijassa-583	54	8	obstacles	obstacle	NOUN
ijassa-583	54	9	and	and	CCONJ
ijassa-583	54	10	exit	exit	VERB
ijassa-583	54	11	the	the	DET
ijassa-583	54	12	building	building	NOUN
ijassa-583	54	13	.	.	PUNCT
ijassa-583	55	1	local	local	ADJ
ijassa-583	55	2	obstacles	obstacle	NOUN
ijassa-583	55	3	are	be	AUX
ijassa-583	55	4	mapped	map	VERB
ijassa-583	55	5	using	use	VERB
ijassa-583	55	6	frontal	frontal	ADJ
ijassa-583	55	7	laser	laser	NOUN
ijassa-583	55	8	lidar	lidar	NOUN
ijassa-583	55	9	(	(	PUNCT
ijassa-583	55	10	see	see	VERB
ijassa-583	55	11	fig	fig	NOUN
ijassa-583	55	12	.	.	PUNCT
ijassa-583	56	1	3.3b	3.3b	NUM
ijassa-583	56	2	)	)	PUNCT
ijassa-583	56	3	.	.	PUNCT
ijassa-583	57	1	for	for	ADP
ijassa-583	57	2	each	each	DET
ijassa-583	57	3	heading	head	VERB
ijassa-583	57	4	we	we	PRON
ijassa-583	57	5	save	save	VERB
ijassa-583	57	6	the	the	DET
ijassa-583	57	7	distance	distance	NOUN
ijassa-583	57	8	to	to	ADP
ijassa-583	57	9	the	the	DET
ijassa-583	57	10	nearest	near	ADJ
ijassa-583	57	11	obstacle	obstacle	NOUN
ijassa-583	57	12	and	and	CCONJ
ijassa-583	57	13	add	add	VERB
ijassa-583	57	14	a	a	DET
ijassa-583	57	15	safety	safety	NOUN
ijassa-583	57	16	margin	margin	NOUN
ijassa-583	57	17	which	which	PRON
ijassa-583	57	18	allows	allow	VERB
ijassa-583	57	19	to	to	PART
ijassa-583	57	20	avoid	avoid	VERB
ijassa-583	57	21	collisions	collision	NOUN
ijassa-583	57	22	.	.	PUNCT
ijassa-583	58	1	a	a	DET
ijassa-583	58	2	new	new	ADJ
ijassa-583	58	3	direction	direction	NOUN
ijassa-583	58	4	of	of	ADP
ijassa-583	58	5	movement	movement	NOUN
ijassa-583	58	6	is	be	AUX
ijassa-583	58	7	chosen	choose	VERB
ijassa-583	58	8	as	as	ADP
ijassa-583	58	9	the	the	DET
ijassa-583	58	10	clearest	clear	ADJ
ijassa-583	58	11	one	one	NUM
ijassa-583	58	12	and	and	CCONJ
ijassa-583	58	13	closest	close	ADJ
ijassa-583	58	14	to	to	ADP
ijassa-583	58	15	the	the	DET
ijassa-583	58	16	course	course	NOUN
ijassa-583	58	17	set	set	VERB
ijassa-583	58	18	.	.	PUNCT
ijassa-583	59	1	on	on	ADP
ijassa-583	59	2	a	a	DET
ijassa-583	59	3	lower	low	ADJ
ijassa-583	59	4	level	level	NOUN
ijassa-583	59	5	,	,	PUNCT
ijassa-583	59	6	we	we	PRON
ijassa-583	59	7	must	must	AUX
ijassa-583	59	8	control	control	VERB
ijassa-583	59	9	and	and	CCONJ
ijassa-583	59	10	stabilize	stabilize	VERB
ijassa-583	59	11	the	the	DET
ijassa-583	59	12	uav	uav	PROPN
ijassa-583	59	13	model	model	NOUN
ijassa-583	59	14	by	by	ADP
ijassa-583	59	15	flight	flight	NOUN
ijassa-583	59	16	altitude	altitude	NOUN
ijassa-583	59	17	,	,	PUNCT
ijassa-583	59	18	yaw	yaw	NOUN
ijassa-583	59	19	angle	angle	NOUN
ijassa-583	59	20	and	and	CCONJ
ijassa-583	59	21	linear	linear	ADJ
ijassa-583	59	22	velocity	velocity	NOUN
ijassa-583	59	23	.	.	PUNCT
ijassa-583	60	1	(	(	PUNCT
ijassa-583	60	2	a	a	X
ijassa-583	60	3	)	)	PUNCT
ijassa-583	60	4	flowchart	flowchart	NOUN
ijassa-583	60	5	of	of	ADP
ijassa-583	60	6	states	states	PROPN
ijassa-583	60	7	change	change	VERB
ijassa-583	60	8	(	(	PUNCT
ijassa-583	60	9	b	b	X
ijassa-583	60	10	)	)	PUNCT
ijassa-583	60	11	obstacles	obstacle	NOUN
ijassa-583	60	12	are	be	AUX
ijassa-583	60	13	grey	grey	ADJ
ijassa-583	60	14	,	,	PUNCT
ijassa-583	60	15	safety	safety	NOUN
ijassa-583	60	16	margins	margin	NOUN
ijassa-583	60	17	are	be	AUX
ijassa-583	60	18	pink	pink	ADJ
ijassa-583	60	19	fig	fig	NOUN
ijassa-583	60	20	.	.	PUNCT
ijassa-583	61	1	3.3	3.3	NUM
ijassa-583	61	2	.	.	PUNCT
ijassa-583	62	1	flight	flight	NOUN
ijassa-583	62	2	strategy	strategy	NOUN
ijassa-583	62	3	and	and	CCONJ
ijassa-583	62	4	local	local	ADJ
ijassa-583	62	5	obstacles	obstacle	NOUN
ijassa-583	62	6	map	map	VERB
ijassa-583	62	7	copyright	copyright	NOUN
ijassa-583	62	8	c	c	ADP
ijassa-583	62	9	©	©	PROPN
ijassa-583	62	10	2018	2018	NUM
ijassa-583	62	11	assa	assa	NOUN
ijassa-583	62	12	.	.	PUNCT
ijassa-583	63	1	adv	adv	PROPN
ijassa-583	63	2	syst	syst	PROPN
ijassa-583	63	3	sci	sci	PROPN
ijassa-583	63	4	appl	appl	PROPN
ijassa-583	63	5	(	(	PUNCT
ijassa-583	63	6	2018	2018	NUM
ijassa-583	63	7	)	)	PUNCT
ijassa-583	63	8	20	20	NUM
ijassa-583	63	9	a.v	a.v	PROPN
ijassa-583	63	10	.	.	PROPN
ijassa-583	63	11	abdulov	abdulov	PROPN
ijassa-583	63	12	,	,	PUNCT
ijassa-583	63	13	a.n	a.n	PROPN
ijassa-583	63	14	.	.	PROPN
ijassa-583	63	15	abramenkov	abramenkov	PROPN
ijassa-583	63	16	,	,	PUNCT
ijassa-583	63	17	a.a	a.a	PROPN
ijassa-583	63	18	.	.	PROPN
ijassa-583	63	19	shevlyakov	shevlyakov	PROPN
ijassa-583	63	20	3.3	3.3	NUM
ijassa-583	63	21	.	.	PUNCT
ijassa-583	64	1	angle	angle	NOUN
ijassa-583	64	2	stabilization	stabilization	NOUN
ijassa-583	64	3	orientation	orientation	NOUN
ijassa-583	64	4	estimate	estimate	NOUN
ijassa-583	64	5	obtained	obtain	VERB
ijassa-583	64	6	via	via	ADP
ijassa-583	64	7	mems	mem	NOUN
ijassa-583	64	8	gyroscopes	gyroscope	NOUN
ijassa-583	64	9	can	can	AUX
ijassa-583	64	10	accumulate	accumulate	VERB
ijassa-583	64	11	error	error	NOUN
ijassa-583	64	12	due	due	ADP
ijassa-583	64	13	to	to	ADP
ijassa-583	64	14	“	"	PUNCT
ijassa-583	64	15	zero	zero	NUM
ijassa-583	64	16	drift	drift	NOUN
ijassa-583	64	17	”	"	PUNCT
ijassa-583	64	18	problem	problem	NOUN
ijassa-583	64	19	.	.	PUNCT
ijassa-583	65	1	algorithms	algorithm	NOUN
ijassa-583	65	2	exist	exist	VERB
ijassa-583	65	3	for	for	ADP
ijassa-583	65	4	fusing	fuse	VERB
ijassa-583	65	5	different	different	ADJ
ijassa-583	65	6	sensors	sensor	NOUN
ijassa-583	65	7	(	(	PUNCT
ijassa-583	65	8	accelerometers	accelerometer	NOUN
ijassa-583	65	9	,	,	PUNCT
ijassa-583	65	10	gyroscopes	gyroscope	NOUN
ijassa-583	65	11	and	and	CCONJ
ijassa-583	65	12	magnetometers	magnetometer	NOUN
ijassa-583	65	13	)	)	PUNCT
ijassa-583	65	14	to	to	PART
ijassa-583	65	15	refine	refine	VERB
ijassa-583	65	16	estimates	estimate	NOUN
ijassa-583	65	17	.	.	PUNCT
ijassa-583	66	1	for	for	ADP
ijassa-583	66	2	example	example	NOUN
ijassa-583	66	3	,	,	PUNCT
ijassa-583	66	4	madgwick	madgwick	PROPN
ijassa-583	66	5	ahrs	ahrs	PROPN
ijassa-583	66	6	[	[	X
ijassa-583	66	7	12	12	NUM
ijassa-583	66	8	]	]	PUNCT
ijassa-583	66	9	algorithm	algorithm	NOUN
ijassa-583	66	10	or	or	CCONJ
ijassa-583	66	11	extended	extend	VERB
ijassa-583	66	12	kalman	kalman	NOUN
ijassa-583	66	13	filter	filter	NOUN
ijassa-583	67	1	[	[	X
ijassa-583	67	2	14	14	NUM
ijassa-583	67	3	]	]	PUNCT
ijassa-583	67	4	.	.	PUNCT
ijassa-583	68	1	we	we	PRON
ijassa-583	68	2	should	should	AUX
ijassa-583	68	3	note	note	VERB
ijassa-583	68	4	that	that	SCONJ
ijassa-583	68	5	the	the	DET
ijassa-583	68	6	model	model	NOUN
ijassa-583	68	7	firmware	firmware	NOUN
ijassa-583	68	8	used	use	VERB
ijassa-583	68	9	imu	imu	NOUN
ijassa-583	68	10	readings	reading	NOUN
ijassa-583	68	11	to	to	PART
ijassa-583	68	12	interpret	interpret	VERB
ijassa-583	68	13	the	the	DET
ijassa-583	68	14	control	control	NOUN
ijassa-583	68	15	signals	signal	NOUN
ijassa-583	68	16	.	.	PUNCT
ijassa-583	69	1	in	in	ADP
ijassa-583	69	2	case	case	NOUN
ijassa-583	69	3	of	of	ADP
ijassa-583	69	4	yaw	yaw	NOUN
ijassa-583	69	5	angle	angle	NOUN
ijassa-583	69	6	error	error	NOUN
ijassa-583	69	7	this	this	DET
ijassa-583	69	8	feature	feature	NOUN
ijassa-583	69	9	did	do	AUX
ijassa-583	69	10	not	not	PART
ijassa-583	69	11	allow	allow	VERB
ijassa-583	69	12	to	to	PART
ijassa-583	69	13	control	control	VERB
ijassa-583	69	14	the	the	DET
ijassa-583	69	15	uav	uav	PROPN
ijassa-583	69	16	correctly	correctly	ADV
ijassa-583	69	17	and	and	CCONJ
ijassa-583	69	18	had	have	VERB
ijassa-583	69	19	to	to	PART
ijassa-583	69	20	be	be	AUX
ijassa-583	69	21	accounted	account	VERB
ijassa-583	69	22	for	for	ADP
ijassa-583	69	23	while	while	SCONJ
ijassa-583	69	24	specifying	specify	VERB
ijassa-583	69	25	control	control	NOUN
ijassa-583	69	26	signal	signal	NOUN
ijassa-583	69	27	.	.	PUNCT
ijassa-583	70	1	since	since	SCONJ
ijassa-583	70	2	in	in	ADP
ijassa-583	70	3	case	case	NOUN
ijassa-583	70	4	of	of	ADP
ijassa-583	70	5	simulation	simulation	NOUN
ijassa-583	70	6	the	the	DET
ijassa-583	70	7	magnetometer	magnetometer	NOUN
ijassa-583	70	8	readings	reading	NOUN
ijassa-583	70	9	were	be	AUX
ijassa-583	70	10	relatively	relatively	ADV
ijassa-583	70	11	accurate	accurate	ADJ
ijassa-583	70	12	,	,	PUNCT
ijassa-583	70	13	they	they	PRON
ijassa-583	70	14	were	be	AUX
ijassa-583	70	15	used	use	VERB
ijassa-583	70	16	to	to	PART
ijassa-583	70	17	rectify	rectify	VERB
ijassa-583	70	18	the	the	DET
ijassa-583	70	19	yaw	yaw	NOUN
ijassa-583	70	20	estimate	estimate	NOUN
ijassa-583	70	21	.	.	PUNCT
ijassa-583	71	1	3.4	3.4	NUM
ijassa-583	71	2	.	.	PUNCT
ijassa-583	71	3	altitude	altitude	NOUN
ijassa-583	71	4	stabilization	stabilization	NOUN
ijassa-583	71	5	it	it	PRON
ijassa-583	71	6	is	be	AUX
ijassa-583	71	7	reasonable	reasonable	ADJ
ijassa-583	71	8	to	to	PART
ijassa-583	71	9	use	use	VERB
ijassa-583	71	10	a	a	DET
ijassa-583	71	11	downward	downward	ADV
ijassa-583	71	12	-	-	PUNCT
ijassa-583	71	13	facing	face	VERB
ijassa-583	71	14	range	range	NOUN
ijassa-583	71	15	-	-	PUNCT
ijassa-583	71	16	finder	finder	NOUN
ijassa-583	71	17	(	(	PUNCT
ijassa-583	71	18	altimeter	altimeter	NOUN
ijassa-583	71	19	)	)	PUNCT
ijassa-583	71	20	to	to	PART
ijassa-583	71	21	stabilize	stabilize	VERB
ijassa-583	71	22	altitude	altitude	NOUN
ijassa-583	71	23	.	.	PUNCT
ijassa-583	72	1	an	an	DET
ijassa-583	72	2	ultrasound	ultrasound	ADJ
ijassa-583	72	3	range	range	NOUN
ijassa-583	72	4	-	-	PUNCT
ijassa-583	72	5	finder	finder	NOUN
ijassa-583	72	6	can	can	AUX
ijassa-583	72	7	be	be	AUX
ijassa-583	72	8	used	use	VERB
ijassa-583	72	9	,	,	PUNCT
ijassa-583	72	10	but	but	CCONJ
ijassa-583	72	11	a	a	DET
ijassa-583	72	12	more	more	ADV
ijassa-583	72	13	narrow	narrow	ADJ
ijassa-583	72	14	-	-	PUNCT
ijassa-583	72	15	bear	bear	NOUN
ijassa-583	72	16	laser	laser	NOUN
ijassa-583	72	17	range	range	NOUN
ijassa-583	72	18	-	-	PUNCT
ijassa-583	72	19	finder	finder	NOUN
ijassa-583	72	20	is	be	AUX
ijassa-583	72	21	preferable	preferable	ADJ
ijassa-583	72	22	.	.	PUNCT
ijassa-583	73	1	additionally	additionally	ADV
ijassa-583	73	2	,	,	PUNCT
ijassa-583	73	3	orientation	orientation	NOUN
ijassa-583	73	4	of	of	ADP
ijassa-583	73	5	the	the	DET
ijassa-583	73	6	aircraft	aircraft	NOUN
ijassa-583	73	7	must	must	AUX
ijassa-583	73	8	be	be	AUX
ijassa-583	73	9	accounted	account	VERB
ijassa-583	73	10	for	for	ADP
ijassa-583	73	11	.	.	PUNCT
ijassa-583	74	1	on	on	ADP
ijassa-583	74	2	the	the	DET
ijassa-583	74	3	basis	basis	NOUN
ijassa-583	74	4	of	of	ADP
ijassa-583	74	5	this	this	DET
ijassa-583	74	6	estimate	estimate	NOUN
ijassa-583	74	7	,	,	PUNCT
ijassa-583	74	8	it	it	PRON
ijassa-583	74	9	is	be	AUX
ijassa-583	74	10	relatively	relatively	ADV
ijassa-583	74	11	simple	simple	ADJ
ijassa-583	74	12	to	to	PART
ijassa-583	74	13	tune	tune	VERB
ijassa-583	74	14	the	the	DET
ijassa-583	74	15	coefficients	coefficient	NOUN
ijassa-583	74	16	for	for	ADP
ijassa-583	74	17	a	a	DET
ijassa-583	74	18	pid	pid	NOUN
ijassa-583	74	19	controller	controller	NOUN
ijassa-583	74	20	which	which	PRON
ijassa-583	74	21	can	can	AUX
ijassa-583	74	22	adequately	adequately	ADV
ijassa-583	74	23	stabilize	stabilize	VERB
ijassa-583	74	24	the	the	DET
ijassa-583	74	25	reference	reference	NOUN
ijassa-583	74	26	altitude	altitude	NOUN
ijassa-583	74	27	(	(	PUNCT
ijassa-583	74	28	see	see	VERB
ijassa-583	74	29	fig	fig	NOUN
ijassa-583	74	30	.	.	PUNCT
ijassa-583	75	1	3.4	3.4	NUM
ijassa-583	75	2	)	)	PUNCT
ijassa-583	75	3	.	.	PUNCT
ijassa-583	76	1	here	here	ADV
ijassa-583	76	2	and	and	CCONJ
ijassa-583	76	3	below	below	ADV
ijassa-583	76	4	,	,	PUNCT
ijassa-583	76	5	we	we	PRON
ijassa-583	76	6	denote	denote	VERB
ijassa-583	76	7	:	:	PUNCT
ijassa-583	76	8	target	target	NOUN
ijassa-583	76	9	–	–	PUNCT
ijassa-583	76	10	reference	reference	NOUN
ijassa-583	76	11	value	value	NOUN
ijassa-583	76	12	;	;	PUNCT
ijassa-583	76	13	real	real	ADJ
ijassa-583	76	14	–	–	PUNCT
ijassa-583	76	15	ground	ground	NOUN
ijassa-583	76	16	truth	truth	NOUN
ijassa-583	76	17	,	,	PUNCT
ijassa-583	76	18	obtained	obtain	VERB
ijassa-583	76	19	from	from	ADP
ijassa-583	76	20	simulator	simulator	NOUN
ijassa-583	76	21	;	;	PUNCT
ijassa-583	76	22	pid	pid	NOUN
ijassa-583	76	23	–	–	PUNCT
ijassa-583	76	24	sensor	sensor	NOUN
ijassa-583	76	25	estimate	estimate	NOUN
ijassa-583	76	26	,	,	PUNCT
ijassa-583	76	27	fed	feed	VERB
ijassa-583	76	28	to	to	ADP
ijassa-583	76	29	the	the	DET
ijassa-583	76	30	pid	pid	NOUN
ijassa-583	76	31	controller	controller	NOUN
ijassa-583	76	32	.	.	PUNCT
ijassa-583	77	1	3.5	3.5	NUM
ijassa-583	77	2	.	.	PUNCT
ijassa-583	78	1	velocity	velocity	NOUN
ijassa-583	78	2	stabilization	stabilization	NOUN
ijassa-583	78	3	in	in	ADP
ijassa-583	78	4	gps	gps	PROPN
ijassa-583	78	5	-	-	PUNCT
ijassa-583	78	6	denied	deny	VERB
ijassa-583	78	7	indoor	indoor	ADJ
ijassa-583	78	8	spaces	space	NOUN
ijassa-583	78	9	we	we	PRON
ijassa-583	78	10	need	need	VERB
ijassa-583	78	11	to	to	PART
ijassa-583	78	12	use	use	VERB
ijassa-583	78	13	other	other	ADJ
ijassa-583	78	14	information	information	NOUN
ijassa-583	78	15	to	to	PART
ijassa-583	78	16	obtain	obtain	VERB
ijassa-583	78	17	current	current	ADJ
ijassa-583	78	18	velocity	velocity	NOUN
ijassa-583	78	19	estimate	estimate	NOUN
ijassa-583	78	20	.	.	PUNCT
ijassa-583	79	1	in	in	ADP
ijassa-583	79	2	principle	principle	NOUN
ijassa-583	79	3	,	,	PUNCT
ijassa-583	79	4	imu	imu	NOUN
ijassa-583	79	5	can	can	AUX
ijassa-583	79	6	be	be	AUX
ijassa-583	79	7	used	use	VERB
ijassa-583	79	8	,	,	PUNCT
ijassa-583	79	9	but	but	CCONJ
ijassa-583	79	10	due	due	ADP
ijassa-583	79	11	to	to	ADP
ijassa-583	79	12	large	large	ADJ
ijassa-583	79	13	errors	error	NOUN
ijassa-583	79	14	it	it	PRON
ijassa-583	79	15	needs	need	VERB
ijassa-583	79	16	to	to	PART
ijassa-583	79	17	be	be	AUX
ijassa-583	79	18	amended	amend	VERB
ijassa-583	79	19	by	by	ADP
ijassa-583	79	20	other	other	ADJ
ijassa-583	79	21	means	mean	NOUN
ijassa-583	79	22	.	.	PUNCT
ijassa-583	80	1	visual	visual	ADJ
ijassa-583	80	2	odometry	odometry	NOUN
ijassa-583	80	3	is	be	AUX
ijassa-583	80	4	a	a	DET
ijassa-583	80	5	promising	promising	ADJ
ijassa-583	80	6	approach	approach	NOUN
ijassa-583	80	7	[	[	X
ijassa-583	80	8	3	3	NUM
ijassa-583	80	9	]	]	PUNCT
ijassa-583	80	10	.	.	PUNCT
ijassa-583	81	1	a	a	DET
ijassa-583	81	2	sequence	sequence	NOUN
ijassa-583	81	3	of	of	ADP
ijassa-583	81	4	images	image	NOUN
ijassa-583	81	5	captured	capture	VERB
ijassa-583	81	6	by	by	ADP
ijassa-583	81	7	camera	camera	NOUN
ijassa-583	81	8	can	can	AUX
ijassa-583	81	9	be	be	AUX
ijassa-583	81	10	a	a	DET
ijassa-583	81	11	main	main	ADJ
ijassa-583	81	12	or	or	CCONJ
ijassa-583	81	13	auxiliary	auxiliary	ADJ
ijassa-583	81	14	source	source	NOUN
ijassa-583	81	15	of	of	ADP
ijassa-583	81	16	position	position	NOUN
ijassa-583	81	17	information	information	NOUN
ijassa-583	81	18	.	.	PUNCT
ijassa-583	82	1	depending	depend	VERB
ijassa-583	82	2	on	on	ADP
ijassa-583	82	3	number	number	NOUN
ijassa-583	82	4	of	of	ADP
ijassa-583	82	5	cameras	camera	NOUN
ijassa-583	82	6	and	and	CCONJ
ijassa-583	82	7	their	their	PRON
ijassa-583	82	8	configuration	configuration	NOUN
ijassa-583	82	9	,	,	PUNCT
ijassa-583	82	10	various	various	ADJ
ijassa-583	82	11	methods	method	NOUN
ijassa-583	82	12	can	can	AUX
ijassa-583	82	13	be	be	AUX
ijassa-583	82	14	used	use	VERB
ijassa-583	82	15	.	.	PUNCT
ijassa-583	83	1	we	we	PRON
ijassa-583	83	2	’ll	’ll	AUX
ijassa-583	83	3	consider	consider	VERB
ijassa-583	83	4	two	two	NUM
ijassa-583	83	5	approaches	approach	NOUN
ijassa-583	83	6	,	,	PUNCT
ijassa-583	83	7	mono	mono	PROPN
ijassa-583	83	8	and	and	CCONJ
ijassa-583	83	9	stereo	stereo	PROPN
ijassa-583	83	10	visual	visual	ADJ
ijassa-583	83	11	odometry	odometry	NOUN
ijassa-583	83	12	,	,	PUNCT
ijassa-583	83	13	that	that	SCONJ
ijassa-583	83	14	necessitate	necessitate	ADJ
ijassa-583	83	15	installing	instal	VERB
ijassa-583	83	16	one	one	NUM
ijassa-583	83	17	or	or	CCONJ
ijassa-583	83	18	two	two	NUM
ijassa-583	83	19	calibrated	calibrate	VERB
ijassa-583	83	20	cameras	camera	NOUN
ijassa-583	83	21	respectively	respectively	ADV
ijassa-583	83	22	.	.	PUNCT
ijassa-583	84	1	fig	fig	NOUN
ijassa-583	84	2	.	.	PUNCT
ijassa-583	85	1	3.4	3.4	NUM
ijassa-583	85	2	.	.	PUNCT
ijassa-583	85	3	flight	flight	NOUN
ijassa-583	85	4	altitude	altitude	NOUN
ijassa-583	85	5	stabilization	stabilization	NOUN
ijassa-583	85	6	by	by	ADP
ijassa-583	85	7	pid	pid	NOUN
ijassa-583	85	8	copyright	copyright	NOUN
ijassa-583	85	9	c	c	ADP
ijassa-583	85	10	©	©	PROPN
ijassa-583	85	11	2018	2018	NUM
ijassa-583	85	12	assa	assa	NOUN
ijassa-583	85	13	.	.	PUNCT
ijassa-583	86	1	adv	adv	PROPN
ijassa-583	86	2	syst	syst	PROPN
ijassa-583	86	3	sci	sci	PROPN
ijassa-583	86	4	appl	appl	PROPN
ijassa-583	86	5	(	(	PUNCT
ijassa-583	86	6	2018	2018	NUM
ijassa-583	86	7	)	)	PUNCT
ijassa-583	86	8	visual	visual	ADJ
ijassa-583	86	9	odometry	odometry	NOUN
ijassa-583	86	10	approaches	approach	NOUN
ijassa-583	86	11	to	to	ADP
ijassa-583	86	12	multicopter	multicopter	PROPN
ijassa-583	86	13	autonomous	autonomous	PROPN
ijassa-583	86	14	navigation	navigation	PROPN
ijassa-583	86	15	21	21	NUM
ijassa-583	86	16	fig	fig	NOUN
ijassa-583	86	17	.	.	PUNCT
ijassa-583	87	1	3.5	3.5	NUM
ijassa-583	87	2	.	.	PUNCT
ijassa-583	88	1	perspective	perspective	PROPN
ijassa-583	88	2	projection	projection	PROPN
ijassa-583	88	3	camera	camera	NOUN
ijassa-583	88	4	model	model	NOUN
ijassa-583	88	5	3.6	3.6	NUM
ijassa-583	88	6	.	.	PUNCT
ijassa-583	89	1	camera	camera	NOUN
ijassa-583	89	2	model	model	PROPN
ijassa-583	89	3	visual	visual	PROPN
ijassa-583	89	4	odometry	odometry	NOUN
ijassa-583	89	5	operates	operate	VERB
ijassa-583	89	6	on	on	ADP
ijassa-583	89	7	a	a	DET
ijassa-583	89	8	basis	basis	NOUN
ijassa-583	89	9	of	of	ADP
ijassa-583	89	10	a	a	DET
ijassa-583	89	11	camera	camera	NOUN
ijassa-583	89	12	model	model	NOUN
ijassa-583	89	13	.	.	PUNCT
ijassa-583	90	1	often	often	ADV
ijassa-583	90	2	this	this	PRON
ijassa-583	90	3	is	be	AUX
ijassa-583	90	4	a	a	DET
ijassa-583	90	5	relatively	relatively	ADV
ijassa-583	90	6	simple	simple	ADJ
ijassa-583	90	7	perspective	perspective	NOUN
ijassa-583	90	8	projection	projection	NOUN
ijassa-583	90	9	model	model	NOUN
ijassa-583	90	10	(	(	PUNCT
ijassa-583	90	11	see	see	VERB
ijassa-583	90	12	fig	fig	NOUN
ijassa-583	90	13	.	.	PUNCT
ijassa-583	91	1	3.5	3.5	NUM
ijassa-583	91	2	)	)	PUNCT
ijassa-583	91	3	,	,	PUNCT
ijassa-583	91	4	represented	represent	VERB
ijassa-583	91	5	by	by	ADP
ijassa-583	91	6	a	a	DET
ijassa-583	91	7	matrix	matrix	NOUN
ijassa-583	91	8	(	(	PUNCT
ijassa-583	91	9	3.1	3.1	NUM
ijassa-583	91	10	)	)	PUNCT
ijassa-583	91	11	of	of	ADP
ijassa-583	91	12	intrinsic	intrinsic	ADJ
ijassa-583	91	13	parameters	parameter	NOUN
ijassa-583	91	14	(	(	PUNCT
ijassa-583	91	15	focal	focal	ADJ
ijassa-583	91	16	length	length	NOUN
ijassa-583	91	17	and	and	CCONJ
ijassa-583	91	18	principal	principal	ADJ
ijassa-583	91	19	point	point	NOUN
ijassa-583	91	20	)	)	PUNCT
ijassa-583	91	21	.	.	PUNCT
ijassa-583	92	1	in	in	ADP
ijassa-583	92	2	more	more	ADV
ijassa-583	92	3	complicated	complicated	ADJ
ijassa-583	92	4	cases	case	NOUN
ijassa-583	92	5	,	,	PUNCT
ijassa-583	92	6	distortion	distortion	NOUN
ijassa-583	92	7	transformations	transformation	NOUN
ijassa-583	92	8	are	be	AUX
ijassa-583	92	9	also	also	ADV
ijassa-583	92	10	accounted	account	VERB
ijassa-583	92	11	for	for	ADP
ijassa-583	92	12	.	.	PUNCT
ijassa-583	93	1	c	c	PROPN
ijassa-583	93	2	=	=	SYM
ijassa-583	94	1	∣∣∣∣∣∣	∣∣∣∣∣∣	PROPN
ijassa-583	94	2	fx	fx	PROPN
ijassa-583	94	3	0	0	NUM
ijassa-583	94	4	cx	cx	PROPN
ijassa-583	94	5	0	0	NUM
ijassa-583	95	1	fy	fy	PROPN
ijassa-583	95	2	cy	cy	PROPN
ijassa-583	95	3	0	0	NUM
ijassa-583	95	4	0	0	NUM
ijassa-583	95	5	1	1	NUM
ijassa-583	95	6	∣∣∣∣∣∣	∣∣∣∣∣∣	X
ijassa-583	95	7	(	(	PUNCT
ijassa-583	95	8	3.1	3.1	NUM
ijassa-583	95	9	)	)	PUNCT
ijassa-583	95	10	usually	usually	ADV
ijassa-583	95	11	the	the	DET
ijassa-583	95	12	intrinsic	intrinsic	ADJ
ijassa-583	95	13	parameters	parameter	NOUN
ijassa-583	95	14	are	be	AUX
ijassa-583	95	15	determined	determine	VERB
ijassa-583	95	16	by	by	ADP
ijassa-583	95	17	camera	camera	NOUN
ijassa-583	95	18	calibration	calibration	NOUN
ijassa-583	95	19	.	.	PUNCT
ijassa-583	96	1	for	for	ADP
ijassa-583	96	2	a	a	DET
ijassa-583	96	3	virtual	virtual	ADJ
ijassa-583	96	4	camera	camera	NOUN
ijassa-583	96	5	we	we	PRON
ijassa-583	96	6	chose	choose	VERB
ijassa-583	96	7	image	image	NOUN
ijassa-583	96	8	center	center	NOUN
ijassa-583	96	9	as	as	ADP
ijassa-583	96	10	the	the	DET
ijassa-583	96	11	principal	principal	ADJ
ijassa-583	96	12	point	point	NOUN
ijassa-583	96	13	(	(	PUNCT
ijassa-583	96	14	cx	cx	NOUN
ijassa-583	96	15	,	,	PUNCT
ijassa-583	96	16	cy	cy	PROPN
ijassa-583	96	17	)	)	PUNCT
ijassa-583	96	18	and	and	CCONJ
ijassa-583	96	19	obtain	obtain	VERB
ijassa-583	96	20	focal	focal	ADJ
ijassa-583	96	21	length	length	NOUN
ijassa-583	96	22	f	f	PROPN
ijassa-583	96	23	=	=	PUNCT
ijassa-583	96	24	fx	fx	PROPN
ijassa-583	96	25	=	=	SYM
ijassa-583	96	26	fy	fy	PROPN
ijassa-583	96	27	from	from	ADP
ijassa-583	96	28	equation	equation	NOUN
ijassa-583	96	29	(	(	PUNCT
ijassa-583	96	30	3.2	3.2	NUM
ijassa-583	96	31	)	)	PUNCT
ijassa-583	96	32	,	,	PUNCT
ijassa-583	96	33	knowing	know	VERB
ijassa-583	96	34	resolution	resolution	NOUN
ijassa-583	96	35	s	s	NOUN
ijassa-583	96	36	and	and	CCONJ
ijassa-583	96	37	field	field	NOUN
ijassa-583	96	38	of	of	ADP
ijassa-583	96	39	view	view	NOUN
ijassa-583	96	40	(	(	PUNCT
ijassa-583	96	41	fov	fov	PROPN
ijassa-583	96	42	)	)	PUNCT
ijassa-583	96	43	angle	angle	NOUN
ijassa-583	96	44	α	α	NOUN
ijassa-583	96	45	.	.	PUNCT
ijassa-583	97	1	α	α	X
ijassa-583	97	2	=	=	SYM
ijassa-583	97	3	2	2	NUM
ijassa-583	97	4	·	·	PUNCT
ijassa-583	97	5	arctan	arctan	PROPN
ijassa-583	97	6	s	s	PART
ijassa-583	97	7	2	2	NUM
ijassa-583	97	8	·	·	SYM
ijassa-583	97	9	f	f	X
ijassa-583	97	10	(	(	PUNCT
ijassa-583	97	11	3.2	3.2	NUM
ijassa-583	97	12	)	)	PUNCT
ijassa-583	97	13	equation	equation	NOUN
ijassa-583	97	14	(	(	PUNCT
ijassa-583	97	15	3.3	3.3	NUM
ijassa-583	97	16	)	)	PUNCT
ijassa-583	97	17	gives	give	VERB
ijassa-583	97	18	us	we	PRON
ijassa-583	97	19	the	the	DET
ijassa-583	97	20	relation	relation	NOUN
ijassa-583	97	21	of	of	ADP
ijassa-583	97	22	point	point	NOUN
ijassa-583	97	23	(	(	PUNCT
ijassa-583	97	24	x	x	X
ijassa-583	97	25	,	,	PUNCT
ijassa-583	97	26	y	y	PROPN
ijassa-583	97	27	,	,	PUNCT
ijassa-583	97	28	z	z	NOUN
ijassa-583	97	29	)	)	PUNCT
ijassa-583	97	30	in	in	ADP
ijassa-583	97	31	3d	3d	NUM
ijassa-583	97	32	scene	scene	NOUN
ijassa-583	97	33	and	and	CCONJ
ijassa-583	97	34	its	its	PRON
ijassa-583	97	35	projection	projection	NOUN
ijassa-583	97	36	(	(	PUNCT
ijassa-583	97	37	u	u	NOUN
ijassa-583	97	38	,	,	PUNCT
ijassa-583	97	39	v	v	NOUN
ijassa-583	97	40	)	)	PUNCT
ijassa-583	97	41	on	on	ADP
ijassa-583	97	42	image	image	NOUN
ijassa-583	97	43	plane	plane	NOUN
ijassa-583	97	44	up	up	ADP
ijassa-583	97	45	to	to	ADP
ijassa-583	97	46	a	a	DET
ijassa-583	97	47	scale	scale	NOUN
ijassa-583	97	48	coefficient	coefficient	NOUN
ijassa-583	97	49	w.	w.	NOUN
ijassa-583	97	50	this	this	PRON
ijassa-583	97	51	is	be	AUX
ijassa-583	97	52	a	a	DET
ijassa-583	97	53	composition	composition	NOUN
ijassa-583	97	54	of	of	ADP
ijassa-583	97	55	rotation	rotation	NOUN
ijassa-583	97	56	matrix	matrix	NOUN
ijassa-583	97	57	r	r	NOUN
ijassa-583	97	58	and	and	CCONJ
ijassa-583	97	59	translation	translation	NOUN
ijassa-583	97	60	vector	vector	PROPN
ijassa-583	97	61	t	t	PROPN
ijassa-583	97	62	.	.	PUNCT
ijassa-583	98	1	w	w	PROPN
ijassa-583	98	2	·	·	PUNCT
ijassa-583	98	3	∣∣∣∣∣∣	∣∣∣∣∣∣	ADP
ijassa-583	98	4	u	u	NOUN
ijassa-583	98	5	v	v	ADP
ijassa-583	98	6	1	1	NUM
ijassa-583	98	7	∣∣∣∣∣∣	∣∣∣∣∣∣	ADP
ijassa-583	98	8	=	=	SYM
ijassa-583	98	9	c	c	PROPN
ijassa-583	98	10	·	·	PUNCT
ijassa-583	98	11	|r	|r	PROPN
ijassa-583	98	12	t	t	PROPN
ijassa-583	98	13	|	|	ADV
ijassa-583	98	14	·	·	PUNCT
ijassa-583	98	15	∣∣∣∣∣∣∣∣	∣∣∣∣∣∣∣∣	ADP
ijassa-583	99	1	x	x	SYM
ijassa-583	99	2	y	y	PROPN
ijassa-583	99	3	z	z	PROPN
ijassa-583	99	4	1	1	NUM
ijassa-583	99	5	∣∣∣∣∣∣∣∣	∣∣∣∣∣∣∣∣	ADP
ijassa-583	99	6	(	(	PUNCT
ijassa-583	99	7	3.3	3.3	NUM
ijassa-583	99	8	)	)	PUNCT
ijassa-583	99	9	3.7	3.7	NUM
ijassa-583	99	10	.	.	PUNCT
ijassa-583	100	1	monocular	monocular	ADJ
ijassa-583	100	2	visual	visual	ADJ
ijassa-583	100	3	odometry	odometry	NOUN
ijassa-583	100	4	consider	consider	VERB
ijassa-583	100	5	a	a	DET
ijassa-583	100	6	case	case	NOUN
ijassa-583	100	7	of	of	ADP
ijassa-583	100	8	one	one	NUM
ijassa-583	100	9	camera	camera	NOUN
ijassa-583	100	10	,	,	PUNCT
ijassa-583	100	11	laser	laser	NOUN
ijassa-583	100	12	altimeter	altimeter	NOUN
ijassa-583	100	13	and	and	CCONJ
ijassa-583	100	14	6	6	NUM
ijassa-583	100	15	-	-	PUNCT
ijassa-583	100	16	axis	axis	NOUN
ijassa-583	100	17	imu	imu	NOUN
ijassa-583	100	18	.	.	PUNCT
ijassa-583	101	1	if	if	SCONJ
ijassa-583	101	2	a	a	DET
ijassa-583	101	3	camera	camera	NOUN
ijassa-583	101	4	is	be	AUX
ijassa-583	101	5	downward	downward	ADV
ijassa-583	101	6	-	-	PUNCT
ijassa-583	101	7	facing	facing	NOUN
ijassa-583	101	8	,	,	PUNCT
ijassa-583	101	9	then	then	ADV
ijassa-583	101	10	we	we	PRON
ijassa-583	101	11	can	can	AUX
ijassa-583	101	12	assume	assume	VERB
ijassa-583	101	13	that	that	SCONJ
ijassa-583	101	14	most	most	ADJ
ijassa-583	101	15	of	of	ADP
ijassa-583	101	16	the	the	DET
ijassa-583	101	17	observed	observe	VERB
ijassa-583	101	18	feature	feature	NOUN
ijassa-583	101	19	points	point	NOUN
ijassa-583	101	20	belong	belong	VERB
ijassa-583	101	21	to	to	ADP
ijassa-583	101	22	one	one	NUM
ijassa-583	101	23	plane	plane	NOUN
ijassa-583	101	24	.	.	PUNCT
ijassa-583	102	1	this	this	PRON
ijassa-583	102	2	is	be	AUX
ijassa-583	102	3	a	a	DET
ijassa-583	102	4	reasonable	reasonable	ADJ
ijassa-583	102	5	assumption	assumption	NOUN
ijassa-583	102	6	if	if	SCONJ
ijassa-583	102	7	the	the	DET
ijassa-583	102	8	flight	flight	NOUN
ijassa-583	102	9	altitude	altitude	NOUN
ijassa-583	102	10	is	be	AUX
ijassa-583	102	11	low	low	ADJ
ijassa-583	102	12	,	,	PUNCT
ijassa-583	102	13	and	and	CCONJ
ijassa-583	102	14	it	it	PRON
ijassa-583	102	15	was	be	AUX
ijassa-583	102	16	almost	almost	ADV
ijassa-583	102	17	always	always	ADV
ijassa-583	102	18	valid	valid	ADJ
ijassa-583	102	19	in	in	ADP
ijassa-583	102	20	our	our	PRON
ijassa-583	102	21	simulation	simulation	NOUN
ijassa-583	102	22	.	.	PUNCT
ijassa-583	103	1	knowing	know	VERB
ijassa-583	103	2	altitude	altitude	NOUN
ijassa-583	103	3	h	h	NOUN
ijassa-583	103	4	and	and	CCONJ
ijassa-583	103	5	camera	camera	NOUN
ijassa-583	103	6	orientation	orientation	NOUN
ijassa-583	103	7	quaternion	quaternion	NOUN
ijassa-583	103	8	qimu	qimu	ADV
ijassa-583	103	9	,	,	PUNCT
ijassa-583	103	10	we	we	PRON
ijassa-583	103	11	can	can	AUX
ijassa-583	103	12	compute	compute	VERB
ijassa-583	103	13	floor	floor	NOUN
ijassa-583	103	14	plane	plane	NOUN
ijassa-583	103	15	equation	equation	NOUN
ijassa-583	103	16	a	a	DET
ijassa-583	103	17	·	·	PUNCT
ijassa-583	103	18	x+	x+	NUM
ijassa-583	103	19	b	b	X
ijassa-583	103	20	·	·	PUNCT
ijassa-583	103	21	y	y	PROPN
ijassa-583	104	1	+	+	CCONJ
ijassa-583	104	2	c	c	X
ijassa-583	104	3	·	·	PUNCT
ijassa-583	104	4	z	z	PUNCT
ijassa-583	105	1	+	+	NUM
ijassa-583	105	2	d	d	NOUN
ijassa-583	105	3	=	=	SYM
ijassa-583	105	4	0	0	NUM
ijassa-583	105	5	coefficients	coefficient	NOUN
ijassa-583	105	6	,	,	PUNCT
ijassa-583	105	7	as	as	SCONJ
ijassa-583	105	8	indicated	indicate	VERB
ijassa-583	105	9	in	in	ADP
ijassa-583	105	10	(	(	PUNCT
ijassa-583	105	11	3.4	3.4	NUM
ijassa-583	105	12	)	)	PUNCT
ijassa-583	105	13	.	.	PUNCT
ijassa-583	106	1	first	first	ADV
ijassa-583	106	2	three	three	NUM
ijassa-583	106	3	coefficients	coefficient	NOUN
ijassa-583	106	4	are	be	AUX
ijassa-583	106	5	obtained	obtain	VERB
ijassa-583	106	6	by	by	ADP
ijassa-583	106	7	rotation	rotation	NOUN
ijassa-583	106	8	operation	operation	NOUN
ijassa-583	106	9	◦	◦	VERB
ijassa-583	106	10	a	a	DET
ijassa-583	106	11	unit	unit	NOUN
ijassa-583	106	12	vector	vector	NOUN
ijassa-583	106	13	pointing	pointing	NOUN
ijassa-583	106	14	along	along	ADP
ijassa-583	106	15	an	an	DET
ijassa-583	106	16	axis	axis	NOUN
ijassa-583	106	17	z.	z.	NOUN
ijassa-583	106	18	(	(	PUNCT
ijassa-583	106	19	a	a	DET
ijassa-583	106	20	,	,	PUNCT
ijassa-583	106	21	b	b	NOUN
ijassa-583	106	22	,	,	PUNCT
ijassa-583	106	23	c	c	NOUN
ijassa-583	106	24	)	)	PUNCT
ijassa-583	106	25	=	=	SYM
ijassa-583	106	26	q−1	q−1	PROPN
ijassa-583	106	27	imu	imu	NOUN
ijassa-583	106	28	◦	◦	NOUN
ijassa-583	106	29	(	(	PUNCT
ijassa-583	106	30	0	0	NUM
ijassa-583	106	31	,	,	PUNCT
ijassa-583	106	32	0	0	NUM
ijassa-583	106	33	,	,	PUNCT
ijassa-583	106	34	1	1	NUM
ijassa-583	106	35	)	)	PUNCT
ijassa-583	106	36	;	;	PUNCT
ijassa-583	107	1	d	d	X
ijassa-583	107	2	=	=	SYM
ijassa-583	107	3	−h	−h	ADJ
ijassa-583	107	4	·	·	PUNCT
ijassa-583	107	5	c	c	X
ijassa-583	107	6	(	(	PUNCT
ijassa-583	107	7	3.4	3.4	NUM
ijassa-583	107	8	)	)	PUNCT
ijassa-583	107	9	copyright	copyright	NOUN
ijassa-583	107	10	c	c	ADP
ijassa-583	107	11	©	©	PROPN
ijassa-583	107	12	2018	2018	NUM
ijassa-583	107	13	assa	assa	NOUN
ijassa-583	107	14	.	.	PUNCT
ijassa-583	108	1	adv	adv	PROPN
ijassa-583	108	2	syst	syst	PROPN
ijassa-583	108	3	sci	sci	PROPN
ijassa-583	108	4	appl	appl	PROPN
ijassa-583	108	5	(	(	PUNCT
ijassa-583	108	6	2018	2018	NUM
ijassa-583	108	7	)	)	PUNCT
ijassa-583	108	8	22	22	NUM
ijassa-583	108	9	a.v	a.v	PROPN
ijassa-583	108	10	.	.	PROPN
ijassa-583	108	11	abdulov	abdulov	PROPN
ijassa-583	108	12	,	,	PUNCT
ijassa-583	108	13	a.n	a.n	PROPN
ijassa-583	108	14	.	.	PROPN
ijassa-583	108	15	abramenkov	abramenkov	PROPN
ijassa-583	108	16	,	,	PUNCT
ijassa-583	108	17	a.a	a.a	PROPN
ijassa-583	108	18	.	.	PROPN
ijassa-583	108	19	shevlyakov	shevlyakov	PROPN
ijassa-583	108	20	(	(	PUNCT
ijassa-583	108	21	a	a	X
ijassa-583	108	22	)	)	PUNCT
ijassa-583	108	23	keypoints	keypoint	NOUN
ijassa-583	108	24	optical	optical	ADJ
ijassa-583	108	25	flow	flow	NOUN
ijassa-583	108	26	with	with	ADP
ijassa-583	108	27	homographic	homographic	ADJ
ijassa-583	108	28	filtering	filtering	NOUN
ijassa-583	108	29	between	between	ADP
ijassa-583	108	30	two	two	NUM
ijassa-583	108	31	consequent	consequent	ADJ
ijassa-583	108	32	images	image	NOUN
ijassa-583	108	33	of	of	ADP
ijassa-583	108	34	floor	floor	NOUN
ijassa-583	108	35	;	;	PUNCT
ijassa-583	108	36	matched	match	VERB
ijassa-583	108	37	points	point	NOUN
ijassa-583	108	38	in	in	ADP
ijassa-583	108	39	green	green	ADJ
ijassa-583	108	40	,	,	PUNCT
ijassa-583	108	41	filtered	filter	VERB
ijassa-583	108	42	points	point	NOUN
ijassa-583	108	43	in	in	ADP
ijassa-583	108	44	red	red	ADJ
ijassa-583	108	45	(	(	PUNCT
ijassa-583	108	46	b	b	NOUN
ijassa-583	108	47	)	)	PUNCT
ijassa-583	108	48	keypoints	keypoint	NOUN
ijassa-583	108	49	flow	flow	NOUN
ijassa-583	108	50	projection	projection	NOUN
ijassa-583	108	51	on	on	ADP
ijassa-583	108	52	the	the	DET
ijassa-583	108	53	floor	floor	NOUN
ijassa-583	108	54	plane	plane	NOUN
ijassa-583	108	55	fig	fig	NOUN
ijassa-583	108	56	.	.	PUNCT
ijassa-583	109	1	3.6	3.6	NUM
ijassa-583	109	2	.	.	X
ijassa-583	109	3	monocular	monocular	ADJ
ijassa-583	109	4	odometry	odometry	NOUN
ijassa-583	109	5	approach	approach	NOUN
ijassa-583	109	6	to	to	ADP
ijassa-583	109	7	velocity	velocity	NOUN
ijassa-583	109	8	estimation	estimation	NOUN
ijassa-583	109	9	taking	take	VERB
ijassa-583	109	10	coordinates	coordinate	NOUN
ijassa-583	109	11	(	(	PUNCT
ijassa-583	109	12	u	u	NOUN
ijassa-583	109	13	,	,	PUNCT
ijassa-583	109	14	v	v	NOUN
ijassa-583	109	15	)	)	PUNCT
ijassa-583	109	16	of	of	ADP
ijassa-583	109	17	floor	floor	NOUN
ijassa-583	109	18	image	image	NOUN
ijassa-583	109	19	feature	feature	NOUN
ijassa-583	109	20	points	point	NOUN
ijassa-583	109	21	and	and	CCONJ
ijassa-583	109	22	substituting	substitute	VERB
ijassa-583	109	23	(	(	PUNCT
ijassa-583	109	24	3.5	3.5	NUM
ijassa-583	109	25	)	)	PUNCT
ijassa-583	109	26	in	in	ADP
ijassa-583	109	27	(	(	PUNCT
ijassa-583	109	28	3.6	3.6	NUM
ijassa-583	109	29	)	)	PUNCT
ijassa-583	109	30	,	,	PUNCT
ijassa-583	109	31	we	we	PRON
ijassa-583	109	32	reconstruct	reconstruct	VERB
ijassa-583	109	33	their	their	PRON
ijassa-583	109	34	position	position	NOUN
ijassa-583	109	35	(	(	PUNCT
ijassa-583	109	36	x	x	X
ijassa-583	109	37	,	,	PUNCT
ijassa-583	109	38	y	y	PROPN
ijassa-583	109	39	,	,	PUNCT
ijassa-583	109	40	z	z	NOUN
ijassa-583	109	41	)	)	PUNCT
ijassa-583	109	42	in	in	ADP
ijassa-583	109	43	camera	camera	NOUN
ijassa-583	109	44	frame	frame	NOUN
ijassa-583	109	45	.	.	PUNCT
ijassa-583	110	1	since	since	SCONJ
ijassa-583	110	2	frame	frame	NOUN
ijassa-583	110	3	used	use	VERB
ijassa-583	110	4	in	in	ADP
ijassa-583	110	5	aircraft	aircraft	NOUN
ijassa-583	110	6	firmware	firmware	NOUN
ijassa-583	110	7	does	do	AUX
ijassa-583	110	8	not	not	PART
ijassa-583	110	9	match	match	VERB
ijassa-583	110	10	the	the	DET
ijassa-583	110	11	camera	camera	NOUN
ijassa-583	110	12	frame	frame	NOUN
ijassa-583	110	13	,	,	PUNCT
ijassa-583	110	14	some	some	DET
ijassa-583	110	15	axes	axis	NOUN
ijassa-583	110	16	and	and	CCONJ
ijassa-583	110	17	signs	sign	NOUN
ijassa-583	110	18	are	be	AUX
ijassa-583	110	19	inverted	invert	VERB
ijassa-583	110	20	in	in	ADP
ijassa-583	110	21	equations	equation	NOUN
ijassa-583	110	22	for	for	ADP
ijassa-583	110	23	x	x	PUNCT
ijassa-583	110	24	and	and	CCONJ
ijassa-583	110	25	y.	y.	PROPN
ijassa-583	110	26	û	û	PRON
ijassa-583	110	27	=	=	SYM
ijassa-583	110	28	u−	u−	PROPN
ijassa-583	110	29	cx	cx	PROPN
ijassa-583	110	30	fx	fx	PROPN
ijassa-583	110	31	;	;	PUNCT
ijassa-583	110	32	v̂	v̂	ADV
ijassa-583	110	33	=	=	SYM
ijassa-583	110	34	v	v	ADP
ijassa-583	110	35	−	−	NOUN
ijassa-583	110	36	cy	cy	PROPN
ijassa-583	110	37	fy	fy	PROPN
ijassa-583	110	38	;	;	PUNCT
ijassa-583	111	1	(	(	PUNCT
ijassa-583	111	2	3.5	3.5	NUM
ijassa-583	111	3	)	)	PUNCT
ijassa-583	111	4	z	z	NOUN
ijassa-583	112	1	=	=	PUNCT
ijassa-583	113	1	d	d	X
ijassa-583	113	2	a	a	DET
ijassa-583	113	3	·	·	PUNCT
ijassa-583	113	4	û+	û+	SYM
ijassa-583	113	5	b	b	NOUN
ijassa-583	113	6	·	·	PUNCT
ijassa-583	113	7	v̂	v̂	X
ijassa-583	113	8	+	+	X
ijassa-583	113	9	c	c	NOUN
ijassa-583	113	10	;	;	PUNCT
ijassa-583	113	11	x	x	SYM
ijassa-583	113	12	=	=	PUNCT
ijassa-583	113	13	−z	−z	NOUN
ijassa-583	113	14	·	·	PUNCT
ijassa-583	113	15	v̂	v̂	NOUN
ijassa-583	113	16	;	;	PUNCT
ijassa-583	113	17	y	y	PROPN
ijassa-583	113	18	=	=	PUNCT
ijassa-583	113	19	−z	−z	PROPN
ijassa-583	113	20	·	·	PUNCT
ijassa-583	113	21	û	û	X
ijassa-583	113	22	(	(	PUNCT
ijassa-583	113	23	3.6	3.6	NUM
ijassa-583	113	24	)	)	PUNCT
ijassa-583	113	25	as	as	ADP
ijassa-583	113	26	a	a	DET
ijassa-583	113	27	result	result	NOUN
ijassa-583	113	28	,	,	PUNCT
ijassa-583	113	29	linear	linear	ADJ
ijassa-583	113	30	velocity	velocity	NOUN
ijassa-583	113	31	estimate	estimate	NOUN
ijassa-583	113	32	is	be	AUX
ijassa-583	113	33	carried	carry	VERB
ijassa-583	113	34	out	out	ADP
ijassa-583	113	35	using	use	VERB
ijassa-583	113	36	feature	feature	NOUN
ijassa-583	113	37	keypoints	keypoint	NOUN
ijassa-583	113	38	position	position	NOUN
ijassa-583	113	39	(	(	PUNCT
ijassa-583	113	40	fast	fast	ADJ
ijassa-583	113	41	[	[	X
ijassa-583	113	42	5	5	NUM
ijassa-583	113	43	]	]	PUNCT
ijassa-583	113	44	,	,	PUNCT
ijassa-583	113	45	good	good	ADJ
ijassa-583	113	46	features	feature	VERB
ijassa-583	113	47	to	to	PART
ijassa-583	113	48	track	track	VERB
ijassa-583	113	49	[	[	X
ijassa-583	113	50	7	7	NUM
ijassa-583	113	51	]	]	PUNCT
ijassa-583	113	52	)	)	PUNCT
ijassa-583	113	53	from	from	ADP
ijassa-583	113	54	to	to	ADP
ijassa-583	113	55	consequent	consequent	ADJ
ijassa-583	113	56	measurements	measurement	NOUN
ijassa-583	113	57	.	.	PUNCT
ijassa-583	114	1	correspondence	correspondence	NOUN
ijassa-583	114	2	between	between	ADP
ijassa-583	114	3	feature	feature	NOUN
ijassa-583	114	4	points	point	NOUN
ijassa-583	114	5	can	can	AUX
ijassa-583	114	6	be	be	AUX
ijassa-583	114	7	found	find	VERB
ijassa-583	114	8	,	,	PUNCT
ijassa-583	114	9	for	for	ADP
ijassa-583	114	10	example	example	NOUN
ijassa-583	114	11	,	,	PUNCT
ijassa-583	114	12	by	by	ADP
ijassa-583	114	13	optical	optical	ADJ
ijassa-583	114	14	flow	flow	NOUN
ijassa-583	114	15	or	or	CCONJ
ijassa-583	114	16	by	by	ADP
ijassa-583	114	17	comparing	compare	VERB
ijassa-583	114	18	descriptors	descriptor	NOUN
ijassa-583	114	19	[	[	X
ijassa-583	114	20	4	4	NUM
ijassa-583	114	21	]	]	PUNCT
ijassa-583	114	22	.	.	PUNCT
ijassa-583	115	1	we	we	PRON
ijassa-583	115	2	used	use	VERB
ijassa-583	115	3	a	a	DET
ijassa-583	115	4	well	well	ADV
ijassa-583	115	5	-	-	PUNCT
ijassa-583	115	6	established	establish	VERB
ijassa-583	115	7	lucas	lucas	NOUN
ijassa-583	115	8	-	-	PUNCT
ijassa-583	115	9	kanade	kanade	PROPN
ijassa-583	115	10	algorithm	algorithm	NOUN
ijassa-583	115	11	[	[	X
ijassa-583	115	12	2	2	NUM
ijassa-583	115	13	]	]	PUNCT
ijassa-583	115	14	,	,	PUNCT
ijassa-583	115	15	due	due	ADP
ijassa-583	115	16	to	to	ADP
ijassa-583	115	17	its	its	PRON
ijassa-583	115	18	modest	modest	ADJ
ijassa-583	115	19	computational	computational	ADJ
ijassa-583	115	20	requirements	requirement	NOUN
ijassa-583	115	21	and	and	CCONJ
ijassa-583	115	22	adequate	adequate	ADJ
ijassa-583	115	23	performance	performance	NOUN
ijassa-583	115	24	in	in	ADP
ijassa-583	115	25	case	case	NOUN
ijassa-583	115	26	of	of	ADP
ijassa-583	115	27	small	small	ADJ
ijassa-583	115	28	movements	movement	NOUN
ijassa-583	115	29	.	.	PUNCT
ijassa-583	116	1	the	the	DET
ijassa-583	116	2	implementation	implementation	NOUN
ijassa-583	116	3	of	of	ADP
ijassa-583	116	4	this	this	DET
ijassa-583	116	5	algorithm	algorithm	NOUN
ijassa-583	116	6	is	be	AUX
ijassa-583	116	7	available	available	ADJ
ijassa-583	116	8	in	in	ADP
ijassa-583	116	9	opencv	opencv	PROPN
ijassa-583	116	10	library	library	NOUN
ijassa-583	116	11	.	.	PUNCT
ijassa-583	117	1	it	it	PRON
ijassa-583	117	2	is	be	AUX
ijassa-583	117	3	useful	useful	ADJ
ijassa-583	117	4	to	to	PART
ijassa-583	117	5	apply	apply	VERB
ijassa-583	117	6	additional	additional	ADJ
ijassa-583	117	7	filters	filter	NOUN
ijassa-583	117	8	to	to	PART
ijassa-583	117	9	reject	reject	VERB
ijassa-583	117	10	outliers	outlier	NOUN
ijassa-583	117	11	:	:	PUNCT
ijassa-583	117	12	mean	mean	VERB
ijassa-583	117	13	velocity	velocity	NOUN
ijassa-583	117	14	,	,	PUNCT
ijassa-583	117	15	direction	direction	NOUN
ijassa-583	117	16	,	,	PUNCT
ijassa-583	117	17	etc	etc	X
ijassa-583	117	18	.	.	X
ijassa-583	118	1	an	an	DET
ijassa-583	118	2	assumption	assumption	NOUN
ijassa-583	118	3	of	of	ADP
ijassa-583	118	4	all	all	DET
ijassa-583	118	5	points	point	NOUN
ijassa-583	118	6	belonging	belong	VERB
ijassa-583	118	7	to	to	ADP
ijassa-583	118	8	one	one	NUM
ijassa-583	118	9	plane	plane	NOUN
ijassa-583	118	10	allows	allow	VERB
ijassa-583	118	11	us	we	PRON
ijassa-583	118	12	to	to	PART
ijassa-583	118	13	successfully	successfully	ADV
ijassa-583	118	14	use	use	VERB
ijassa-583	118	15	the	the	DET
ijassa-583	118	16	filter	filter	NOUN
ijassa-583	118	17	based	base	VERB
ijassa-583	118	18	on	on	ADP
ijassa-583	118	19	homography	homography	NOUN
ijassa-583	118	20	matrix	matrix	NOUN
ijassa-583	118	21	(	(	PUNCT
ijassa-583	118	22	see	see	VERB
ijassa-583	118	23	fig	fig	NOUN
ijassa-583	118	24	.	.	PUNCT
ijassa-583	119	1	3.6a	3.6a	NUM
ijassa-583	119	2	)	)	PUNCT
ijassa-583	119	3	,	,	PUNCT
ijassa-583	119	4	obtained	obtain	VERB
ijassa-583	119	5	on	on	ADP
ijassa-583	119	6	ransac	ransac	NOUN
ijassa-583	119	7	[	[	X
ijassa-583	119	8	10	10	NUM
ijassa-583	119	9	]	]	SYM
ijassa-583	119	10	method	method	NOUN
ijassa-583	119	11	.	.	PUNCT
ijassa-583	120	1	this	this	DET
ijassa-583	120	2	approach	approach	NOUN
ijassa-583	120	3	is	be	AUX
ijassa-583	120	4	schematically	schematically	ADV
ijassa-583	120	5	depicted	depict	VERB
ijassa-583	120	6	on	on	ADP
ijassa-583	120	7	fig	fig	NOUN
ijassa-583	120	8	.	.	PUNCT
ijassa-583	121	1	3.6b	3.6b	NUM
ijassa-583	121	2	.	.	PUNCT
ijassa-583	122	1	in	in	ADP
ijassa-583	122	2	this	this	DET
ijassa-583	122	3	case	case	NOUN
ijassa-583	122	4	,	,	PUNCT
ijassa-583	122	5	multicopter	multicopter	PROPN
ijassa-583	122	6	speed	speed	PROPN
ijassa-583	122	7	is	be	AUX
ijassa-583	122	8	towards	towards	ADP
ijassa-583	122	9	negative	negative	ADJ
ijassa-583	122	10	direction	direction	NOUN
ijassa-583	122	11	of	of	ADP
ijassa-583	122	12	axis	axis	ADJ
ijassa-583	122	13	y	y	PROPN
ijassa-583	122	14	.	.	PUNCT
ijassa-583	123	1	thus	thus	ADV
ijassa-583	123	2	,	,	PUNCT
ijassa-583	123	3	projections	projection	NOUN
ijassa-583	123	4	of	of	ADP
ijassa-583	123	5	feature	feature	NOUN
ijassa-583	123	6	points	point	NOUN
ijassa-583	123	7	are	be	AUX
ijassa-583	123	8	moving	move	VERB
ijassa-583	123	9	in	in	ADP
ijassa-583	123	10	the	the	DET
ijassa-583	123	11	opposite	opposite	ADJ
ijassa-583	123	12	direction	direction	NOUN
ijassa-583	123	13	.	.	PUNCT
ijassa-583	124	1	red	red	ADJ
ijassa-583	124	2	line	line	NOUN
ijassa-583	124	3	is	be	AUX
ijassa-583	124	4	normal	normal	ADJ
ijassa-583	124	5	distance	distance	NOUN
ijassa-583	124	6	to	to	ADP
ijassa-583	124	7	the	the	DET
ijassa-583	124	8	floor	floor	NOUN
ijassa-583	124	9	,	,	PUNCT
ijassa-583	124	10	blue	blue	ADJ
ijassa-583	124	11	line	line	NOUN
ijassa-583	124	12	is	be	AUX
ijassa-583	124	13	its	its	PRON
ijassa-583	124	14	estimate	estimate	NOUN
ijassa-583	124	15	by	by	ADP
ijassa-583	124	16	altimeter	altimeter	NOUN
ijassa-583	124	17	and	and	CCONJ
ijassa-583	124	18	imu	imu	NOUN
ijassa-583	124	19	readings	reading	NOUN
ijassa-583	124	20	,	,	PUNCT
ijassa-583	124	21	magenta	magenta	NOUN
ijassa-583	124	22	plane	plane	NOUN
ijassa-583	124	23	is	be	AUX
ijassa-583	124	24	the	the	DET
ijassa-583	124	25	observed	observed	ADJ
ijassa-583	124	26	floor	floor	NOUN
ijassa-583	124	27	plane	plane	NOUN
ijassa-583	124	28	,	,	PUNCT
ijassa-583	124	29	cyan	cyan	PROPN
ijassa-583	124	30	markers	marker	NOUN
ijassa-583	124	31	are	be	AUX
ijassa-583	124	32	feature	feature	NOUN
ijassa-583	124	33	points	point	NOUN
ijassa-583	124	34	and	and	CCONJ
ijassa-583	124	35	their	their	PRON
ijassa-583	124	36	movement	movement	NOUN
ijassa-583	124	37	.	.	PUNCT
ijassa-583	125	1	in	in	ADP
ijassa-583	125	2	general	general	ADJ
ijassa-583	125	3	,	,	PUNCT
ijassa-583	125	4	monocular	monocular	ADJ
ijassa-583	125	5	approach	approach	NOUN
ijassa-583	125	6	allows	allow	VERB
ijassa-583	125	7	us	we	PRON
ijassa-583	125	8	to	to	PART
ijassa-583	125	9	estimate	estimate	VERB
ijassa-583	125	10	velocity	velocity	NOUN
ijassa-583	125	11	while	while	SCONJ
ijassa-583	125	12	flying	fly	VERB
ijassa-583	125	13	at	at	ADP
ijassa-583	125	14	low	low	ADJ
ijassa-583	125	15	altitude	altitude	NOUN
ijassa-583	125	16	(	(	PUNCT
ijassa-583	125	17	less	less	ADJ
ijassa-583	125	18	than	than	ADP
ijassa-583	125	19	1	1	NUM
ijassa-583	125	20	m	m	NOUN
ijassa-583	125	21	)	)	PUNCT
ijassa-583	125	22	,	,	PUNCT
ijassa-583	125	23	and	and	CCONJ
ijassa-583	125	24	is	be	AUX
ijassa-583	125	25	computationally	computationally	ADV
ijassa-583	125	26	inexpensive	inexpensive	ADJ
ijassa-583	125	27	.	.	PUNCT
ijassa-583	126	1	flying	fly	VERB
ijassa-583	126	2	higher	high	ADJ
ijassa-583	126	3	leads	lead	NOUN
ijassa-583	126	4	to	to	ADP
ijassa-583	126	5	poor	poor	ADJ
ijassa-583	126	6	performance	performance	NOUN
ijassa-583	126	7	.	.	PUNCT
ijassa-583	127	1	this	this	PRON
ijassa-583	127	2	is	be	AUX
ijassa-583	127	3	due	due	ADJ
ijassa-583	127	4	to	to	ADP
ijassa-583	127	5	two	two	NUM
ijassa-583	127	6	factors	factor	NOUN
ijassa-583	127	7	:	:	PUNCT
ijassa-583	127	8	1	1	X
ijassa-583	127	9	.	.	X
ijassa-583	127	10	aircraft	aircraft	NOUN
ijassa-583	127	11	rotation	rotation	NOUN
ijassa-583	127	12	at	at	ADP
ijassa-583	127	13	higher	high	ADJ
ijassa-583	127	14	altitude	altitude	NOUN
ijassa-583	127	15	leads	lead	VERB
ijassa-583	127	16	to	to	ADP
ijassa-583	127	17	more	more	ADJ
ijassa-583	127	18	displacement	displacement	NOUN
ijassa-583	127	19	for	for	ADP
ijassa-583	127	20	optical	optical	ADJ
ijassa-583	127	21	flow	flow	NOUN
ijassa-583	127	22	to	to	PART
ijassa-583	127	23	handle	handle	VERB
ijassa-583	127	24	,	,	PUNCT
ijassa-583	127	25	which	which	PRON
ijassa-583	127	26	leads	lead	VERB
ijassa-583	127	27	to	to	ADP
ijassa-583	127	28	more	more	ADJ
ijassa-583	127	29	errors	error	NOUN
ijassa-583	127	30	and	and	CCONJ
ijassa-583	127	31	outliers	outlier	NOUN
ijassa-583	127	32	.	.	PUNCT
ijassa-583	128	1	2	2	X
ijassa-583	128	2	.	.	NUM
ijassa-583	128	3	flying	fly	VERB
ijassa-583	128	4	higher	high	ADJ
ijassa-583	128	5	increases	increase	VERB
ijassa-583	128	6	the	the	DET
ijassa-583	128	7	probability	probability	NOUN
ijassa-583	128	8	of	of	ADP
ijassa-583	128	9	obstacles	obstacle	NOUN
ijassa-583	128	10	in	in	ADP
ijassa-583	128	11	view	view	NOUN
ijassa-583	128	12	field	field	NOUN
ijassa-583	128	13	,	,	PUNCT
ijassa-583	128	14	which	which	PRON
ijassa-583	128	15	invalidates	invalidate	VERB
ijassa-583	128	16	the	the	DET
ijassa-583	128	17	assumption	assumption	NOUN
ijassa-583	128	18	of	of	ADP
ijassa-583	128	19	all	all	DET
ijassa-583	128	20	points	point	NOUN
ijassa-583	128	21	belonging	belong	VERB
ijassa-583	128	22	to	to	ADP
ijassa-583	128	23	the	the	DET
ijassa-583	128	24	floor	floor	NOUN
ijassa-583	128	25	plane	plane	NOUN
ijassa-583	128	26	.	.	PUNCT
ijassa-583	129	1	here	here	ADV
ijassa-583	129	2	the	the	DET
ijassa-583	129	3	task	task	NOUN
ijassa-583	129	4	of	of	ADP
ijassa-583	129	5	odometry	odometry	NOUN
ijassa-583	129	6	is	be	AUX
ijassa-583	129	7	not	not	PART
ijassa-583	129	8	fully	fully	ADV
ijassa-583	129	9	solved	solve	VERB
ijassa-583	129	10	.	.	PUNCT
ijassa-583	130	1	only	only	ADV
ijassa-583	130	2	velocity	velocity	NOUN
ijassa-583	130	3	is	be	AUX
ijassa-583	130	4	estimated	estimate	VERB
ijassa-583	130	5	,	,	PUNCT
ijassa-583	130	6	and	and	CCONJ
ijassa-583	130	7	then	then	ADV
ijassa-583	130	8	stabilized	stabilize	VERB
ijassa-583	130	9	by	by	ADP
ijassa-583	130	10	a	a	DET
ijassa-583	130	11	suitably	suitably	ADV
ijassa-583	130	12	tuned	tune	VERB
ijassa-583	130	13	pid	pid	NOUN
ijassa-583	130	14	controller	controller	NOUN
ijassa-583	130	15	,	,	PUNCT
ijassa-583	130	16	without	without	ADP
ijassa-583	130	17	trajectory	trajectory	NOUN
ijassa-583	130	18	construction	construction	NOUN
ijassa-583	130	19	.	.	PUNCT
ijassa-583	131	1	copyright	copyright	NOUN
ijassa-583	131	2	c	c	ADP
ijassa-583	131	3	©	©	PROPN
ijassa-583	131	4	2018	2018	NUM
ijassa-583	131	5	assa	assa	NOUN
ijassa-583	131	6	.	.	PUNCT
ijassa-583	132	1	adv	adv	PROPN
ijassa-583	132	2	syst	syst	PROPN
ijassa-583	132	3	sci	sci	PROPN
ijassa-583	132	4	appl	appl	PROPN
ijassa-583	132	5	(	(	PUNCT
ijassa-583	132	6	2018	2018	NUM
ijassa-583	132	7	)	)	PUNCT
ijassa-583	132	8	visual	visual	ADJ
ijassa-583	132	9	odometry	odometry	NOUN
ijassa-583	132	10	approaches	approach	NOUN
ijassa-583	132	11	to	to	ADP
ijassa-583	132	12	multicopter	multicopter	PROPN
ijassa-583	132	13	autonomous	autonomous	PROPN
ijassa-583	132	14	navigation	navigation	PROPN
ijassa-583	132	15	23	23	NUM
ijassa-583	132	16	fig	fig	NOUN
ijassa-583	132	17	.	.	PUNCT
ijassa-583	133	1	3.7	3.7	NUM
ijassa-583	133	2	.	.	PUNCT
ijassa-583	134	1	velocity	velocity	NOUN
ijassa-583	134	2	stabilization	stabilization	NOUN
ijassa-583	134	3	via	via	ADP
ijassa-583	134	4	monocular	monocular	ADJ
ijassa-583	134	5	odometry	odometry	NOUN
ijassa-583	134	6	approach	approach	NOUN
ijassa-583	134	7	therefore	therefore	ADV
ijassa-583	134	8	,	,	PUNCT
ijassa-583	134	9	the	the	DET
ijassa-583	134	10	accuracy	accuracy	NOUN
ijassa-583	134	11	of	of	ADP
ijassa-583	134	12	this	this	DET
ijassa-583	134	13	method	method	NOUN
ijassa-583	134	14	makes	make	VERB
ijassa-583	134	15	it	it	PRON
ijassa-583	134	16	possible	possible	ADJ
ijassa-583	134	17	to	to	PART
ijassa-583	134	18	successfully	successfully	ADV
ijassa-583	134	19	use	use	VERB
ijassa-583	134	20	it	it	PRON
ijassa-583	134	21	.	.	PUNCT
ijassa-583	135	1	speed	speed	NOUN
ijassa-583	135	2	estimates	estimate	NOUN
ijassa-583	135	3	are	be	AUX
ijassa-583	135	4	adequate	adequate	ADJ
ijassa-583	135	5	,	,	PUNCT
ijassa-583	135	6	as	as	SCONJ
ijassa-583	135	7	can	can	AUX
ijassa-583	135	8	be	be	AUX
ijassa-583	135	9	seen	see	VERB
ijassa-583	135	10	on	on	ADP
ijassa-583	135	11	fig	fig	NOUN
ijassa-583	135	12	.	.	PUNCT
ijassa-583	136	1	3.7	3.7	NUM
ijassa-583	136	2	.	.	PUNCT
ijassa-583	137	1	stabilization	stabilization	NOUN
ijassa-583	137	2	time	time	NOUN
ijassa-583	137	3	is	be	AUX
ijassa-583	137	4	acceptable	acceptable	ADJ
ijassa-583	137	5	,	,	PUNCT
ijassa-583	137	6	although	although	SCONJ
ijassa-583	137	7	overshooting	overshooting	NOUN
ijassa-583	137	8	is	be	AUX
ijassa-583	137	9	present	present	ADJ
ijassa-583	137	10	.	.	PUNCT
ijassa-583	138	1	3.8	3.8	NUM
ijassa-583	138	2	.	.	PUNCT
ijassa-583	139	1	stereo	stereo	PROPN
ijassa-583	139	2	visual	visual	PROPN
ijassa-583	139	3	odometry	odometry	PROPN
ijassa-583	139	4	stereo	stereo	PROPN
ijassa-583	139	5	visual	visual	ADJ
ijassa-583	139	6	odometry	odometry	NOUN
ijassa-583	139	7	is	be	AUX
ijassa-583	139	8	an	an	DET
ijassa-583	139	9	alternative	alternative	ADJ
ijassa-583	139	10	approach	approach	NOUN
ijassa-583	139	11	to	to	ADP
ijassa-583	139	12	estimating	estimate	VERB
ijassa-583	139	13	velocity	velocity	NOUN
ijassa-583	139	14	.	.	PUNCT
ijassa-583	140	1	in	in	ADP
ijassa-583	140	2	this	this	DET
ijassa-583	140	3	work	work	NOUN
ijassa-583	140	4	we	we	PRON
ijassa-583	140	5	used	use	VERB
ijassa-583	140	6	a	a	DET
ijassa-583	140	7	stereoscopic	stereoscopic	ADJ
ijassa-583	140	8	method	method	NOUN
ijassa-583	140	9	based	base	VERB
ijassa-583	140	10	on	on	ADP
ijassa-583	140	11	reprojection	reprojection	NOUN
ijassa-583	140	12	error	error	NOUN
ijassa-583	140	13	minimization	minimization	NOUN
ijassa-583	140	14	[	[	X
ijassa-583	140	15	6	6	NUM
ijassa-583	140	16	]	]	PUNCT
ijassa-583	140	17	.	.	PUNCT
ijassa-583	141	1	it	it	PRON
ijassa-583	141	2	consists	consist	VERB
ijassa-583	141	3	of	of	ADP
ijassa-583	141	4	several	several	ADJ
ijassa-583	141	5	steps	step	NOUN
ijassa-583	141	6	:	:	PUNCT
ijassa-583	141	7	1	1	X
ijassa-583	141	8	.	.	X
ijassa-583	141	9	for	for	ADP
ijassa-583	141	10	each	each	DET
ijassa-583	141	11	feature	feature	NOUN
ijassa-583	141	12	point	point	NOUN
ijassa-583	141	13	p	p	NOUN
ijassa-583	141	14	3d	3d	PROPN
ijassa-583	141	15	need	need	VERB
ijassa-583	141	16	to	to	PART
ijassa-583	141	17	find	find	VERB
ijassa-583	141	18	correspondence	correspondence	NOUN
ijassa-583	141	19	between	between	ADP
ijassa-583	141	20	its	its	PRON
ijassa-583	141	21	projections	projection	NOUN
ijassa-583	141	22	on	on	ADP
ijassa-583	141	23	current	current	ADJ
ijassa-583	141	24	left	leave	VERB
ijassa-583	141	25	and	and	CCONJ
ijassa-583	141	26	right	right	ADJ
ijassa-583	141	27	frames	frame	NOUN
ijassa-583	141	28	of	of	ADP
ijassa-583	141	29	a	a	DET
ijassa-583	141	30	stereo	stereo	NOUN
ijassa-583	141	31	camera	camera	NOUN
ijassa-583	141	32	(	(	PUNCT
ijassa-583	141	33	pl	pl	PROPN
ijassa-583	141	34	t	t	PROPN
ijassa-583	141	35	,	,	PUNCT
ijassa-583	141	36	p	p	NOUN
ijassa-583	141	37	r	r	NOUN
ijassa-583	141	38	t	t	NOUN
ijassa-583	141	39	)	)	PUNCT
ijassa-583	141	40	and	and	CCONJ
ijassa-583	141	41	on	on	ADP
ijassa-583	141	42	one	one	NUM
ijassa-583	141	43	of	of	ADP
ijassa-583	141	44	the	the	DET
ijassa-583	141	45	previous	previous	ADJ
ijassa-583	141	46	frames	frame	NOUN
ijassa-583	141	47	(	(	PUNCT
ijassa-583	141	48	pl	pl	PROPN
ijassa-583	141	49	t−1	t−1	PROPN
ijassa-583	141	50	)	)	PUNCT
ijassa-583	141	51	.	.	PUNCT
ijassa-583	142	1	this	this	PRON
ijassa-583	142	2	can	can	AUX
ijassa-583	142	3	be	be	AUX
ijassa-583	142	4	seen	see	VERB
ijassa-583	142	5	in	in	ADP
ijassa-583	142	6	fig	fig	NOUN
ijassa-583	142	7	.	.	PUNCT
ijassa-583	143	1	3.8	3.8	NUM
ijassa-583	143	2	.	.	PUNCT
ijassa-583	144	1	as	as	ADP
ijassa-583	144	2	in	in	ADP
ijassa-583	144	3	monocular	monocular	ADJ
ijassa-583	144	4	case	case	NOUN
ijassa-583	144	5	,	,	PUNCT
ijassa-583	144	6	we	we	PRON
ijassa-583	144	7	use	use	VERB
ijassa-583	144	8	lucas	lucas	PROPN
ijassa-583	144	9	-	-	PUNCT
ijassa-583	144	10	kanade	kanade	PROPN
ijassa-583	144	11	optical	optical	ADJ
ijassa-583	144	12	flow	flow	NOUN
ijassa-583	144	13	.	.	PUNCT
ijassa-583	145	1	2	2	X
ijassa-583	145	2	.	.	X
ijassa-583	145	3	using	use	VERB
ijassa-583	145	4	the	the	DET
ijassa-583	145	5	established	establish	VERB
ijassa-583	145	6	correspondence	correspondence	NOUN
ijassa-583	145	7	between	between	ADP
ijassa-583	145	8	the	the	DET
ijassa-583	145	9	projections	projection	NOUN
ijassa-583	145	10	of	of	ADP
ijassa-583	145	11	all	all	DET
ijassa-583	145	12	feature	feature	NOUN
ijassa-583	145	13	points	point	NOUN
ijassa-583	145	14	on	on	ADP
ijassa-583	145	15	the	the	DET
ijassa-583	145	16	left	left	NOUN
ijassa-583	145	17	(	(	PUNCT
ijassa-583	145	18	ul	ul	INTJ
ijassa-583	145	19	,	,	PUNCT
ijassa-583	145	20	vl	vl	PROPN
ijassa-583	145	21	)	)	PUNCT
ijassa-583	145	22	and	and	CCONJ
ijassa-583	145	23	right	right	INTJ
ijassa-583	145	24	(	(	PUNCT
ijassa-583	145	25	ur	ur	INTJ
ijassa-583	145	26	,	,	PUNCT
ijassa-583	145	27	vr	vr	PROPN
ijassa-583	145	28	)	)	PUNCT
ijassa-583	145	29	frames	frame	NOUN
ijassa-583	145	30	of	of	ADP
ijassa-583	145	31	a	a	DET
ijassa-583	145	32	stereo	stereo	ADJ
ijassa-583	145	33	camera	camera	NOUN
ijassa-583	145	34	with	with	ADP
ijassa-583	145	35	base	base	PROPN
ijassa-583	145	36	b	b	PROPN
ijassa-583	145	37	,	,	PUNCT
ijassa-583	145	38	the	the	DET
ijassa-583	145	39	triangulation	triangulation	NOUN
ijassa-583	145	40	problem	problem	NOUN
ijassa-583	145	41	(	(	PUNCT
ijassa-583	145	42	3.7	3.7	NUM
ijassa-583	145	43	)	)	PUNCT
ijassa-583	145	44	is	be	AUX
ijassa-583	145	45	solved	solve	VERB
ijassa-583	145	46	to	to	PART
ijassa-583	145	47	restore	restore	VERB
ijassa-583	145	48	their	their	PRON
ijassa-583	145	49	position	position	NOUN
ijassa-583	145	50	(	(	PUNCT
ijassa-583	145	51	x	x	X
ijassa-583	145	52	,	,	PUNCT
ijassa-583	145	53	y	y	PROPN
ijassa-583	145	54	,	,	PUNCT
ijassa-583	145	55	z	z	NOUN
ijassa-583	145	56	)	)	PUNCT
ijassa-583	145	57	in	in	ADP
ijassa-583	145	58	3d	3d	NUM
ijassa-583	145	59	space	space	NOUN
ijassa-583	145	60	(	(	PUNCT
ijassa-583	145	61	see	see	VERB
ijassa-583	145	62	fig	fig	NOUN
ijassa-583	145	63	.	.	PUNCT
ijassa-583	146	1	3.9	3.9	NUM
ijassa-583	146	2	)	)	PUNCT
ijassa-583	146	3	.	.	PUNCT
ijassa-583	147	1	(	(	PUNCT
ijassa-583	147	2	x	x	X
ijassa-583	147	3	,	,	PUNCT
ijassa-583	147	4	y	y	PROPN
ijassa-583	147	5	,	,	PUNCT
ijassa-583	147	6	z	z	NOUN
ijassa-583	147	7	)	)	PUNCT
ijassa-583	147	8	=	=	SYM
ijassa-583	147	9	b	b	X
ijassa-583	147	10	ul	ul	INTJ
ijassa-583	147	11	−	−	NOUN
ijassa-583	147	12	ur	ur	INTJ
ijassa-583	147	13	·	·	PUNCT
ijassa-583	147	14	(	(	PUNCT
ijassa-583	147	15	ul	ul	INTJ
ijassa-583	147	16	−	−	PROPN
ijassa-583	148	1	cx	cx	PROPN
ijassa-583	148	2	,	,	PUNCT
ijassa-583	148	3	vl	vl	PROPN
ijassa-583	148	4	−	−	PROPN
ijassa-583	148	5	cy	cy	PROPN
ijassa-583	148	6	,	,	PUNCT
ijassa-583	148	7	f	f	NOUN
ijassa-583	148	8	)	)	PUNCT
ijassa-583	148	9	(	(	PUNCT
ijassa-583	148	10	3.7	3.7	NUM
ijassa-583	148	11	)	)	PUNCT
ijassa-583	148	12	3	3	NUM
ijassa-583	148	13	.	.	X
ijassa-583	148	14	knowing	know	VERB
ijassa-583	148	15	current	current	ADJ
ijassa-583	148	16	position	position	NOUN
ijassa-583	148	17	on	on	ADP
ijassa-583	148	18	each	each	DET
ijassa-583	148	19	feature	feature	NOUN
ijassa-583	148	20	point	point	NOUN
ijassa-583	148	21	p3d	p3d	PUNCT
ijassa-583	148	22	i	i	PRON
ijassa-583	148	23	,	,	PUNCT
ijassa-583	148	24	t	t	PROPN
ijassa-583	148	25	in	in	ADP
ijassa-583	148	26	3d	3d	PROPN
ijassa-583	148	27	space	space	NOUN
ijassa-583	148	28	,	,	PUNCT
ijassa-583	148	29	and	and	CCONJ
ijassa-583	148	30	its	its	PRON
ijassa-583	148	31	projection	projection	NOUN
ijassa-583	148	32	pl	pl	PROPN
ijassa-583	148	33	i	i	PROPN
ijassa-583	148	34	,	,	PUNCT
ijassa-583	148	35	t−1	t−1	PROPN
ijassa-583	148	36	at	at	ADP
ijassa-583	148	37	a	a	DET
ijassa-583	148	38	previous	previous	ADJ
ijassa-583	148	39	time	time	NOUN
ijassa-583	148	40	step	step	NOUN
ijassa-583	148	41	,	,	PUNCT
ijassa-583	148	42	linear	linear	ADJ
ijassa-583	148	43	displacement	displacement	NOUN
ijassa-583	148	44	t	t	PROPN
ijassa-583	148	45	and	and	CCONJ
ijassa-583	148	46	rotation	rotation	NOUN
ijassa-583	148	47	r	r	NOUN
ijassa-583	148	48	are	be	AUX
ijassa-583	148	49	estimated	estimate	VERB
ijassa-583	148	50	by	by	ADP
ijassa-583	148	51	minimizing	minimize	VERB
ijassa-583	148	52	(	(	PUNCT
ijassa-583	148	53	3.8	3.8	NUM
ijassa-583	148	54	)	)	PUNCT
ijassa-583	148	55	reprojection	reprojection	NOUN
ijassa-583	148	56	error	error	NOUN
ijassa-583	148	57	.	.	PUNCT
ijassa-583	149	1	argmin	argmin	PROPN
ijassa-583	149	2	r	r	PROPN
ijassa-583	149	3	,	,	PUNCT
ijassa-583	149	4	t	t	PROPN
ijassa-583	149	5	∑	∑	PROPN
ijassa-583	149	6	i	i	PROPN
ijassa-583	149	7	‖pl	‖pl	PROPN
ijassa-583	149	8	i	i	PROPN
ijassa-583	149	9	,	,	PUNCT
ijassa-583	149	10	t−1	t−1	PROPN
ijassa-583	149	11	−	−	NOUN
ijassa-583	149	12	ĉ(r	ĉ(r	PROPN
ijassa-583	149	13	·	·	PUNCT
ijassa-583	149	14	p3d	p3d	PROPN
ijassa-583	149	15	i	i	PRON
ijassa-583	149	16	,	,	PUNCT
ijassa-583	149	17	t	t	PROPN
ijassa-583	149	18	+	+	NUM
ijassa-583	149	19	t	t	PROPN
ijassa-583	149	20	)	)	PUNCT
ijassa-583	149	21	‖	‖	PROPN
ijassa-583	149	22	(	(	PUNCT
ijassa-583	149	23	3.8	3.8	NUM
ijassa-583	149	24	)	)	PUNCT
ijassa-583	149	25	equation	equation	NOUN
ijassa-583	149	26	(	(	PUNCT
ijassa-583	149	27	3.8	3.8	NUM
ijassa-583	149	28	)	)	PUNCT
ijassa-583	149	29	contains	contain	VERB
ijassa-583	149	30	a	a	DET
ijassa-583	149	31	projection	projection	NOUN
ijassa-583	149	32	operator	operator	NOUN
ijassa-583	149	33	ĉ	ĉ	NOUN
ijassa-583	149	34	that	that	PRON
ijassa-583	149	35	maps	map	VERB
ijassa-583	149	36	a	a	DET
ijassa-583	149	37	point	point	NOUN
ijassa-583	149	38	from	from	ADP
ijassa-583	149	39	3d	3d	NUM
ijassa-583	149	40	space	space	NOUN
ijassa-583	149	41	to	to	ADP
ijassa-583	149	42	the	the	DET
ijassa-583	149	43	image	image	NOUN
ijassa-583	149	44	plane	plane	NOUN
ijassa-583	149	45	according	accord	VERB
ijassa-583	149	46	(	(	PUNCT
ijassa-583	149	47	3.3	3.3	NUM
ijassa-583	149	48	)	)	PUNCT
ijassa-583	149	49	.	.	PUNCT
ijassa-583	150	1	we	we	PRON
ijassa-583	150	2	used	use	VERB
ijassa-583	150	3	the	the	DET
ijassa-583	150	4	euclidian	euclidian	ADJ
ijassa-583	150	5	distance	distance	NOUN
ijassa-583	150	6	‖·‖	‖·‖	NUM
ijassa-583	150	7	as	as	ADP
ijassa-583	150	8	a	a	DET
ijassa-583	150	9	norm	norm	NOUN
ijassa-583	150	10	.	.	PUNCT
ijassa-583	151	1	this	this	DET
ijassa-583	151	2	approach	approach	NOUN
ijassa-583	151	3	is	be	AUX
ijassa-583	151	4	more	more	ADV
ijassa-583	151	5	versatile	versatile	ADJ
ijassa-583	151	6	,	,	PUNCT
ijassa-583	151	7	and	and	CCONJ
ijassa-583	151	8	does	do	AUX
ijassa-583	151	9	not	not	PART
ijassa-583	151	10	demand	demand	VERB
ijassa-583	151	11	additional	additional	ADJ
ijassa-583	151	12	hardware	hardware	NOUN
ijassa-583	151	13	apart	apart	ADV
ijassa-583	151	14	from	from	ADP
ijassa-583	151	15	two	two	NUM
ijassa-583	151	16	properly	properly	ADV
ijassa-583	151	17	fixed	fix	VERB
ijassa-583	151	18	cameras	camera	NOUN
ijassa-583	151	19	(	(	PUNCT
ijassa-583	151	20	downward	downward	ADJ
ijassa-583	151	21	or	or	CCONJ
ijassa-583	151	22	forward	forward	ADV
ijassa-583	151	23	facing	face	VERB
ijassa-583	151	24	)	)	PUNCT
ijassa-583	151	25	.	.	PUNCT
ijassa-583	152	1	the	the	DET
ijassa-583	152	2	main	main	ADJ
ijassa-583	152	3	limitation	limitation	NOUN
ijassa-583	152	4	is	be	AUX
ijassa-583	152	5	the	the	DET
ijassa-583	152	6	necessity	necessity	NOUN
ijassa-583	152	7	of	of	ADP
ijassa-583	152	8	multiple	multiple	ADJ
ijassa-583	152	9	observed	observe	VERB
ijassa-583	152	10	feature	feature	NOUN
ijassa-583	152	11	points	point	NOUN
ijassa-583	152	12	.	.	PUNCT
ijassa-583	153	1	their	their	PRON
ijassa-583	153	2	allowed	allow	VERB
ijassa-583	153	3	distance	distance	NOUN
ijassa-583	153	4	depends	depend	VERB
ijassa-583	153	5	on	on	ADP
ijassa-583	153	6	stereo	stereo	ADJ
ijassa-583	153	7	camera	camera	NOUN
ijassa-583	153	8	base	base	NOUN
ijassa-583	153	9	.	.	PUNCT
ijassa-583	154	1	copyright	copyright	NOUN
ijassa-583	154	2	c	c	ADP
ijassa-583	154	3	©	©	PROPN
ijassa-583	154	4	2018	2018	NUM
ijassa-583	154	5	assa	assa	NOUN
ijassa-583	154	6	.	.	PUNCT
ijassa-583	155	1	adv	adv	PROPN
ijassa-583	155	2	syst	syst	PROPN
ijassa-583	155	3	sci	sci	PROPN
ijassa-583	155	4	appl	appl	PROPN
ijassa-583	155	5	(	(	PUNCT
ijassa-583	155	6	2018	2018	NUM
ijassa-583	155	7	)	)	PUNCT
ijassa-583	155	8	24	24	NUM
ijassa-583	155	9	a.v	a.v	PROPN
ijassa-583	155	10	.	.	PROPN
ijassa-583	155	11	abdulov	abdulov	PROPN
ijassa-583	155	12	,	,	PUNCT
ijassa-583	155	13	a.n	a.n	PROPN
ijassa-583	155	14	.	.	PROPN
ijassa-583	155	15	abramenkov	abramenkov	PROPN
ijassa-583	155	16	,	,	PUNCT
ijassa-583	155	17	a.a	a.a	PROPN
ijassa-583	155	18	.	.	PROPN
ijassa-583	155	19	shevlyakov	shevlyakov	PROPN
ijassa-583	155	20	fig	fig	PROPN
ijassa-583	155	21	.	.	PUNCT
ijassa-583	156	1	3.8	3.8	NUM
ijassa-583	156	2	.	.	PUNCT
ijassa-583	157	1	schematic	schematic	ADJ
ijassa-583	157	2	representation	representation	NOUN
ijassa-583	157	3	of	of	ADP
ijassa-583	157	4	3d	3d	PROPN
ijassa-583	157	5	point	point	NOUN
ijassa-583	157	6	projection	projection	NOUN
ijassa-583	157	7	on	on	ADP
ijassa-583	157	8	stereo	stereo	ADJ
ijassa-583	157	9	camera	camera	NOUN
ijassa-583	157	10	matrix	matrix	NOUN
ijassa-583	157	11	during	during	ADP
ijassa-583	157	12	movement	movement	NOUN
ijassa-583	157	13	.	.	PUNCT
ijassa-583	158	1	cl	cl	PROPN
ijassa-583	158	2	t	t	PROPN
ijassa-583	158	3	,	,	PUNCT
ijassa-583	158	4	cr	cr	PROPN
ijassa-583	158	5	t	t	PROPN
ijassa-583	158	6	–	–	PUNCT
ijassa-583	158	7	left	left	ADJ
ijassa-583	158	8	and	and	CCONJ
ijassa-583	158	9	right	right	ADJ
ijassa-583	158	10	cameras	camera	NOUN
ijassa-583	158	11	at	at	ADP
ijassa-583	158	12	time	time	NOUN
ijassa-583	158	13	t.	t.	PROPN
ijassa-583	158	14	cl	cl	PROPN
ijassa-583	158	15	t−1	t−1	PROPN
ijassa-583	158	16	,	,	PUNCT
ijassa-583	158	17	cr	cr	PROPN
ijassa-583	158	18	t−1	t−1	PROPN
ijassa-583	158	19	–	–	PUNCT
ijassa-583	158	20	left	left	ADJ
ijassa-583	158	21	and	and	CCONJ
ijassa-583	158	22	right	right	ADJ
ijassa-583	158	23	cameras	camera	NOUN
ijassa-583	158	24	at	at	ADP
ijassa-583	158	25	time	time	NOUN
ijassa-583	158	26	t−	t−	PROPN
ijassa-583	158	27	1	1	NUM
ijassa-583	158	28	fig	fig	NOUN
ijassa-583	158	29	.	.	PUNCT
ijassa-583	159	1	3.9	3.9	NUM
ijassa-583	159	2	.	.	PUNCT
ijassa-583	160	1	triangulating	triangulate	VERB
ijassa-583	160	2	p	p	NOUN
ijassa-583	160	3	for	for	ADP
ijassa-583	160	4	a	a	DET
ijassa-583	160	5	stereo	stereo	ADJ
ijassa-583	160	6	camera	camera	NOUN
ijassa-583	160	7	with	with	ADP
ijassa-583	160	8	base	base	PROPN
ijassa-583	160	9	b	b	PROPN
ijassa-583	160	10	stereo	stereo	PROPN
ijassa-583	160	11	visual	visual	PROPN
ijassa-583	160	12	odometry	odometry	NOUN
ijassa-583	160	13	approach	approach	NOUN
ijassa-583	160	14	is	be	AUX
ijassa-583	160	15	also	also	ADV
ijassa-583	160	16	more	more	ADV
ijassa-583	160	17	computationally	computationally	ADV
ijassa-583	160	18	expensive	expensive	ADJ
ijassa-583	160	19	–	–	PUNCT
ijassa-583	160	20	for	for	SCONJ
ijassa-583	160	21	the	the	DET
ijassa-583	160	22	same	same	ADJ
ijassa-583	160	23	video	video	NOUN
ijassa-583	160	24	parameters	parameter	NOUN
ijassa-583	160	25	(	(	PUNCT
ijassa-583	160	26	648x486	648x486	PROPN
ijassa-583	160	27	,	,	PUNCT
ijassa-583	160	28	36fps	36fps	NOUN
ijassa-583	160	29	)	)	PUNCT
ijassa-583	160	30	processing	processing	NOUN
ijassa-583	160	31	was	be	AUX
ijassa-583	160	32	2	2	NUM
ijassa-583	160	33	-	-	SYM
ijassa-583	160	34	3	3	NUM
ijassa-583	160	35	times	time	NOUN
ijassa-583	160	36	longer	long	ADJ
ijassa-583	160	37	.	.	PUNCT
ijassa-583	161	1	in	in	ADP
ijassa-583	161	2	our	our	PRON
ijassa-583	161	3	case	case	NOUN
ijassa-583	161	4	,	,	PUNCT
ijassa-583	161	5	monocular	monocular	ADJ
ijassa-583	161	6	odometry	odometry	NOUN
ijassa-583	161	7	allowed	allow	VERB
ijassa-583	161	8	for	for	ADP
ijassa-583	161	9	real	real	ADJ
ijassa-583	161	10	time	time	NOUN
ijassa-583	161	11	computation	computation	NOUN
ijassa-583	161	12	,	,	PUNCT
ijassa-583	161	13	while	while	SCONJ
ijassa-583	161	14	stereo	stereo	NOUN
ijassa-583	161	15	odometry	odometry	NOUN
ijassa-583	161	16	had	have	VERB
ijassa-583	161	17	to	to	PART
ijassa-583	161	18	skip	skip	VERB
ijassa-583	161	19	a	a	DET
ijassa-583	161	20	half	half	NOUN
ijassa-583	161	21	of	of	ADP
ijassa-583	161	22	available	available	ADJ
ijassa-583	161	23	frames	frame	NOUN
ijassa-583	161	24	.	.	PUNCT
ijassa-583	162	1	it	it	PRON
ijassa-583	162	2	is	be	AUX
ijassa-583	162	3	possible	possible	ADJ
ijassa-583	162	4	,	,	PUNCT
ijassa-583	162	5	however	however	ADV
ijassa-583	162	6	,	,	PUNCT
ijassa-583	162	7	to	to	PART
ijassa-583	162	8	decrease	decrease	VERB
ijassa-583	162	9	the	the	DET
ijassa-583	162	10	precision	precision	NOUN
ijassa-583	162	11	in	in	ADP
ijassa-583	162	12	order	order	NOUN
ijassa-583	162	13	to	to	PART
ijassa-583	162	14	speed	speed	VERB
ijassa-583	162	15	up	up	ADP
ijassa-583	162	16	the	the	DET
ijassa-583	162	17	computations	computation	NOUN
ijassa-583	162	18	.	.	PUNCT
ijassa-583	163	1	in	in	ADP
ijassa-583	163	2	the	the	DET
ijassa-583	163	3	examples	example	NOUN
ijassa-583	163	4	considered	consider	VERB
ijassa-583	163	5	,	,	PUNCT
ijassa-583	163	6	forward	forward	ADV
ijassa-583	163	7	facing	face	VERB
ijassa-583	163	8	camera	camera	NOUN
ijassa-583	163	9	did	do	AUX
ijassa-583	163	10	not	not	PART
ijassa-583	163	11	always	always	ADV
ijassa-583	163	12	perform	perform	VERB
ijassa-583	163	13	well	well	ADV
ijassa-583	163	14	due	due	ADJ
ijassa-583	163	15	to	to	ADP
ijassa-583	163	16	lack	lack	NOUN
ijassa-583	163	17	of	of	ADP
ijassa-583	163	18	texture	texture	NOUN
ijassa-583	163	19	on	on	ADP
ijassa-583	163	20	pillars	pillar	NOUN
ijassa-583	163	21	which	which	PRON
ijassa-583	163	22	yielded	yield	VERB
ijassa-583	163	23	few	few	ADJ
ijassa-583	163	24	feature	feature	NOUN
ijassa-583	163	25	points	point	NOUN
ijassa-583	163	26	.	.	PUNCT
ijassa-583	164	1	downward	downward	ADJ
ijassa-583	164	2	facing	face	VERB
ijassa-583	164	3	camera	camera	NOUN
ijassa-583	164	4	was	be	AUX
ijassa-583	164	5	more	more	ADV
ijassa-583	164	6	stable	stable	ADJ
ijassa-583	164	7	,	,	PUNCT
ijassa-583	164	8	although	although	SCONJ
ijassa-583	164	9	there	there	PRON
ijassa-583	164	10	was	be	VERB
ijassa-583	164	11	a	a	DET
ijassa-583	164	12	minimum	minimum	ADJ
ijassa-583	164	13	necessary	necessary	ADJ
ijassa-583	164	14	altitude	altitude	NOUN
ijassa-583	164	15	that	that	PRON
ijassa-583	164	16	allowed	allow	VERB
ijassa-583	164	17	both	both	DET
ijassa-583	164	18	cameras	camera	NOUN
ijassa-583	164	19	to	to	PART
ijassa-583	164	20	see	see	VERB
ijassa-583	164	21	the	the	DET
ijassa-583	164	22	same	same	ADJ
ijassa-583	164	23	objects	object	NOUN
ijassa-583	164	24	.	.	PUNCT
ijassa-583	165	1	copyright	copyright	NOUN
ijassa-583	165	2	c	c	ADP
ijassa-583	165	3	©	©	PROPN
ijassa-583	165	4	2018	2018	NUM
ijassa-583	165	5	assa	assa	NOUN
ijassa-583	165	6	.	.	PUNCT
ijassa-583	166	1	adv	adv	PROPN
ijassa-583	166	2	syst	syst	PROPN
ijassa-583	166	3	sci	sci	PROPN
ijassa-583	166	4	appl	appl	PROPN
ijassa-583	166	5	(	(	PUNCT
ijassa-583	166	6	2018	2018	NUM
ijassa-583	166	7	)	)	PUNCT
ijassa-583	166	8	visual	visual	ADJ
ijassa-583	166	9	odometry	odometry	NOUN
ijassa-583	166	10	approaches	approach	NOUN
ijassa-583	166	11	to	to	ADP
ijassa-583	166	12	multicopter	multicopter	PROPN
ijassa-583	166	13	autonomous	autonomous	PROPN
ijassa-583	166	14	navigation	navigation	PROPN
ijassa-583	166	15	25	25	NUM
ijassa-583	166	16	fig	fig	NOUN
ijassa-583	166	17	.	.	PUNCT
ijassa-583	167	1	3.10	3.10	NUM
ijassa-583	167	2	.	.	PUNCT
ijassa-583	167	3	velocity	velocity	NOUN
ijassa-583	167	4	stabilization	stabilization	NOUN
ijassa-583	167	5	via	via	ADP
ijassa-583	167	6	stereo	stereo	PROPN
ijassa-583	167	7	odometry	odometry	PROPN
ijassa-583	167	8	approach	approach	NOUN
ijassa-583	167	9	fig	fig	NOUN
ijassa-583	167	10	.	.	PUNCT
ijassa-583	168	1	3.11	3.11	NUM
ijassa-583	168	2	.	.	PUNCT
ijassa-583	169	1	errors	error	NOUN
ijassa-583	169	2	of	of	ADP
ijassa-583	169	3	calculated	calculate	VERB
ijassa-583	169	4	velocities	velocity	NOUN
ijassa-583	169	5	for	for	ADP
ijassa-583	169	6	monocular	monocular	ADJ
ijassa-583	169	7	and	and	CCONJ
ijassa-583	169	8	stereo	stereo	NOUN
ijassa-583	169	9	approaches	approach	NOUN
ijassa-583	169	10	,	,	PUNCT
ijassa-583	169	11	error	error	NOUN
ijassa-583	169	12	=	=	SYM
ijassa-583	169	13	|pid	|pid	NOUN
ijassa-583	169	14	−real|	−real|	PRON
ijassa-583	169	15	figure	figure	VERB
ijassa-583	169	16	3.10	3.10	NUM
ijassa-583	169	17	shows	show	VERB
ijassa-583	169	18	the	the	DET
ijassa-583	169	19	velocity	velocity	NOUN
ijassa-583	169	20	stabilized	stabilize	VERB
ijassa-583	169	21	with	with	ADP
ijassa-583	169	22	tuned	tune	VERB
ijassa-583	169	23	pid	pid	NOUN
ijassa-583	169	24	controllers	controller	NOUN
ijassa-583	169	25	via	via	ADP
ijassa-583	169	26	the	the	DET
ijassa-583	169	27	estimate	estimate	NOUN
ijassa-583	169	28	obtained	obtain	VERB
ijassa-583	169	29	by	by	ADP
ijassa-583	169	30	this	this	DET
ijassa-583	169	31	approach	approach	NOUN
ijassa-583	169	32	.	.	PUNCT
ijassa-583	170	1	velocity	velocity	NOUN
ijassa-583	170	2	estimation	estimation	NOUN
ijassa-583	170	3	is	be	AUX
ijassa-583	170	4	somewhat	somewhat	ADV
ijassa-583	170	5	better	well	ADJ
ijassa-583	170	6	than	than	ADP
ijassa-583	170	7	in	in	ADP
ijassa-583	170	8	monocular	monocular	ADJ
ijassa-583	170	9	case	case	NOUN
ijassa-583	170	10	–	–	PUNCT
ijassa-583	170	11	the	the	DET
ijassa-583	170	12	plots	plot	NOUN
ijassa-583	170	13	of	of	ADP
ijassa-583	170	14	real	real	ADJ
ijassa-583	170	15	and	and	CCONJ
ijassa-583	170	16	pid	pid	NOUN
ijassa-583	170	17	nearly	nearly	ADV
ijassa-583	170	18	match	match	VERB
ijassa-583	170	19	(	(	PUNCT
ijassa-583	170	20	see	see	VERB
ijassa-583	170	21	fig	fig	NOUN
ijassa-583	170	22	.	.	PUNCT
ijassa-583	171	1	3.11	3.11	NUM
ijassa-583	171	2	)	)	PUNCT
ijassa-583	171	3	.	.	PUNCT
ijassa-583	172	1	4	4	X
ijassa-583	172	2	.	.	X
ijassa-583	172	3	search	search	NOUN
ijassa-583	172	4	for	for	ADP
ijassa-583	172	5	window	window	NOUN
ijassa-583	172	6	to	to	PART
ijassa-583	172	7	detect	detect	VERB
ijassa-583	172	8	a	a	DET
ijassa-583	172	9	window	window	NOUN
ijassa-583	172	10	,	,	PUNCT
ijassa-583	172	11	we	we	PRON
ijassa-583	172	12	used	use	VERB
ijassa-583	172	13	color	color	NOUN
ijassa-583	172	14	segmentation	segmentation	NOUN
ijassa-583	172	15	.	.	PUNCT
ijassa-583	173	1	assuming	assume	VERB
ijassa-583	173	2	that	that	SCONJ
ijassa-583	173	3	the	the	DET
ijassa-583	173	4	background	background	NOUN
ijassa-583	173	5	visible	visible	ADJ
ijassa-583	173	6	through	through	ADP
ijassa-583	173	7	the	the	DET
ijassa-583	173	8	window	window	NOUN
ijassa-583	173	9	was	be	AUX
ijassa-583	173	10	a	a	DET
ijassa-583	173	11	different	different	ADJ
ijassa-583	173	12	color	color	NOUN
ijassa-583	173	13	than	than	ADP
ijassa-583	173	14	the	the	DET
ijassa-583	173	15	rest	rest	NOUN
ijassa-583	173	16	of	of	ADP
ijassa-583	173	17	the	the	DET
ijassa-583	173	18	scene	scene	NOUN
ijassa-583	173	19	,	,	PUNCT
ijassa-583	173	20	we	we	PRON
ijassa-583	173	21	needed	need	VERB
ijassa-583	173	22	to	to	PART
ijassa-583	173	23	find	find	VERB
ijassa-583	173	24	a	a	DET
ijassa-583	173	25	suitably	suitably	ADV
ijassa-583	173	26	colored	colored	ADJ
ijassa-583	173	27	shape	shape	NOUN
ijassa-583	173	28	(	(	PUNCT
ijassa-583	173	29	see	see	VERB
ijassa-583	173	30	fig	fig	NOUN
ijassa-583	173	31	.	.	PUNCT
ijassa-583	174	1	4.12a	4.12a	NUM
ijassa-583	174	2	)	)	PUNCT
ijassa-583	174	3	.	.	PUNCT
ijassa-583	175	1	furthermore	furthermore	ADV
ijassa-583	175	2	,	,	PUNCT
ijassa-583	175	3	shape	shape	NOUN
ijassa-583	175	4	filtering	filtering	NOUN
ijassa-583	175	5	,	,	PUNCT
ijassa-583	175	6	e.g.	e.g.	ADV
ijassa-583	175	7	rectangle	rectangle	NOUN
ijassa-583	175	8	detection	detection	NOUN
ijassa-583	175	9	(	(	PUNCT
ijassa-583	175	10	see	see	VERB
ijassa-583	175	11	fig	fig	NOUN
ijassa-583	175	12	.	.	PUNCT
ijassa-583	176	1	4.12b	4.12b	NUM
ijassa-583	176	2	)	)	PUNCT
ijassa-583	176	3	,	,	PUNCT
ijassa-583	176	4	can	can	AUX
ijassa-583	176	5	be	be	AUX
ijassa-583	176	6	used	use	VERB
ijassa-583	176	7	.	.	PUNCT
ijassa-583	177	1	at	at	ADP
ijassa-583	177	2	a	a	DET
ijassa-583	177	3	last	last	ADJ
ijassa-583	177	4	stage	stage	NOUN
ijassa-583	177	5	,	,	PUNCT
ijassa-583	177	6	when	when	SCONJ
ijassa-583	177	7	the	the	DET
ijassa-583	177	8	aircraft	aircraft	NOUN
ijassa-583	177	9	approaches	approach	VERB
ijassa-583	177	10	a	a	DET
ijassa-583	177	11	window	window	NOUN
ijassa-583	177	12	,	,	PUNCT
ijassa-583	177	13	it	it	PRON
ijassa-583	177	14	can	can	AUX
ijassa-583	177	15	become	become	AUX
ijassa-583	177	16	disoriented	disorient	VERB
ijassa-583	177	17	as	as	ADP
ijassa-583	177	18	number	number	NOUN
ijassa-583	177	19	of	of	ADP
ijassa-583	177	20	feature	feature	NOUN
ijassa-583	177	21	points	point	NOUN
ijassa-583	177	22	decreases	decrease	NOUN
ijassa-583	177	23	or	or	CCONJ
ijassa-583	177	24	they	they	PRON
ijassa-583	177	25	disappear	disappear	VERB
ijassa-583	177	26	entirely	entirely	ADV
ijassa-583	177	27	.	.	PUNCT
ijassa-583	178	1	in	in	ADP
ijassa-583	178	2	this	this	DET
ijassa-583	178	3	case	case	NOUN
ijassa-583	178	4	,	,	PUNCT
ijassa-583	178	5	we	we	PRON
ijassa-583	178	6	solve	solve	VERB
ijassa-583	178	7	a	a	DET
ijassa-583	178	8	ballistics	ballistic	NOUN
ijassa-583	178	9	problem	problem	NOUN
ijassa-583	178	10	–	–	PUNCT
ijassa-583	178	11	aim	aim	VERB
ijassa-583	178	12	for	for	ADP
ijassa-583	178	13	the	the	DET
ijassa-583	178	14	window	window	NOUN
ijassa-583	178	15	and	and	CCONJ
ijassa-583	178	16	fix	fix	VERB
ijassa-583	178	17	a	a	DET
ijassa-583	178	18	exit	exit	NOUN
ijassa-583	178	19	speed	speed	NOUN
ijassa-583	178	20	,	,	PUNCT
ijassa-583	178	21	disabling	disable	VERB
ijassa-583	178	22	regular	regular	ADJ
ijassa-583	178	23	velocity	velocity	NOUN
ijassa-583	178	24	controllers	controller	NOUN
ijassa-583	178	25	.	.	PUNCT
ijassa-583	179	1	copyright	copyright	NOUN
ijassa-583	179	2	c	c	ADP
ijassa-583	179	3	©	©	PROPN
ijassa-583	179	4	2018	2018	NUM
ijassa-583	179	5	assa	assa	NOUN
ijassa-583	179	6	.	.	PUNCT
ijassa-583	180	1	adv	adv	PROPN
ijassa-583	180	2	syst	syst	PROPN
ijassa-583	180	3	sci	sci	PROPN
ijassa-583	180	4	appl	appl	PROPN
ijassa-583	180	5	(	(	PUNCT
ijassa-583	180	6	2018	2018	NUM
ijassa-583	180	7	)	)	PUNCT
ijassa-583	180	8	26	26	NUM
ijassa-583	180	9	a.v	a.v	PROPN
ijassa-583	180	10	.	.	PROPN
ijassa-583	180	11	abdulov	abdulov	PROPN
ijassa-583	180	12	,	,	PUNCT
ijassa-583	180	13	a.n	a.n	PROPN
ijassa-583	180	14	.	.	PROPN
ijassa-583	180	15	abramenkov	abramenkov	PROPN
ijassa-583	180	16	,	,	PUNCT
ijassa-583	180	17	a.a	a.a	PROPN
ijassa-583	180	18	.	.	PROPN
ijassa-583	180	19	shevlyakov	shevlyakov	PROPN
ijassa-583	180	20	(	(	PUNCT
ijassa-583	180	21	a	a	X
ijassa-583	180	22	)	)	PUNCT
ijassa-583	180	23	color	color	NOUN
ijassa-583	180	24	segmentation	segmentation	NOUN
ijassa-583	180	25	and	and	CCONJ
ijassa-583	180	26	threshold	threshold	NOUN
ijassa-583	180	27	binarization	binarization	NOUN
ijassa-583	180	28	(	(	PUNCT
ijassa-583	180	29	b	b	NOUN
ijassa-583	180	30	)	)	PUNCT
ijassa-583	180	31	specifically	specifically	ADV
ijassa-583	180	32	-	-	PUNCT
ijassa-583	180	33	colored	color	VERB
ijassa-583	180	34	rectangle	rectangle	NOUN
ijassa-583	180	35	searching	search	VERB
ijassa-583	180	36	fig	fig	NOUN
ijassa-583	180	37	.	.	PUNCT
ijassa-583	181	1	4.12	4.12	NUM
ijassa-583	181	2	.	.	X
ijassa-583	181	3	searching	search	VERB
ijassa-583	181	4	for	for	ADP
ijassa-583	181	5	window	window	NOUN
ijassa-583	181	6	(	(	PUNCT
ijassa-583	181	7	a	a	X
ijassa-583	181	8	)	)	PUNCT
ijassa-583	181	9	simple	simple	ADJ
ijassa-583	181	10	(	(	PUNCT
ijassa-583	181	11	b	b	NOUN
ijassa-583	181	12	)	)	PUNCT
ijassa-583	181	13	difficult	difficult	ADJ
ijassa-583	181	14	fig	fig	NOUN
ijassa-583	181	15	.	.	PUNCT
ijassa-583	182	1	4.13	4.13	NUM
ijassa-583	182	2	.	.	PUNCT
ijassa-583	183	1	examples	example	NOUN
ijassa-583	183	2	of	of	ADP
ijassa-583	183	3	the	the	DET
ijassa-583	183	4	scenes	scene	NOUN
ijassa-583	183	5	5	5	NUM
ijassa-583	183	6	.	.	PUNCT
ijassa-583	183	7	simulation	simulation	NOUN
ijassa-583	183	8	results	result	NOUN
ijassa-583	183	9	as	as	ADP
ijassa-583	183	10	a	a	DET
ijassa-583	183	11	result	result	NOUN
ijassa-583	183	12	of	of	ADP
ijassa-583	183	13	several	several	ADJ
ijassa-583	183	14	simulation	simulation	NOUN
ijassa-583	183	15	trials	trial	NOUN
ijassa-583	183	16	,	,	PUNCT
ijassa-583	183	17	we	we	PRON
ijassa-583	183	18	established	establish	VERB
ijassa-583	183	19	that	that	SCONJ
ijassa-583	183	20	the	the	DET
ijassa-583	183	21	described	describe	VERB
ijassa-583	183	22	approach	approach	NOUN
ijassa-583	183	23	solves	solve	VERB
ijassa-583	183	24	a	a	DET
ijassa-583	183	25	problem	problem	NOUN
ijassa-583	183	26	of	of	ADP
ijassa-583	183	27	exiting	exit	VERB
ijassa-583	183	28	the	the	DET
ijassa-583	183	29	building	building	NOUN
ijassa-583	183	30	through	through	ADP
ijassa-583	183	31	the	the	DET
ijassa-583	183	32	window	window	NOUN
ijassa-583	183	33	.	.	PUNCT
ijassa-583	184	1	two	two	NUM
ijassa-583	184	2	scenes	scene	NOUN
ijassa-583	184	3	of	of	ADP
ijassa-583	184	4	different	different	ADJ
ijassa-583	184	5	layouts	layout	NOUN
ijassa-583	184	6	were	be	AUX
ijassa-583	184	7	explored	explore	VERB
ijassa-583	184	8	.	.	PUNCT
ijassa-583	185	1	simple	simple	ADJ
ijassa-583	185	2	scene	scene	NOUN
ijassa-583	185	3	dimensions	dimension	NOUN
ijassa-583	185	4	are	be	AUX
ijassa-583	185	5	40x50x10	40x50x10	PROPN
ijassa-583	185	6	m	m	VERB
ijassa-583	185	7	(	(	PUNCT
ijassa-583	185	8	see	see	VERB
ijassa-583	185	9	fig.4.13a	fig.4.13a	X
ijassa-583	185	10	)	)	PUNCT
ijassa-583	185	11	.	.	PUNCT
ijassa-583	186	1	obstacles	obstacle	NOUN
ijassa-583	186	2	are	be	AUX
ijassa-583	186	3	represented	represent	VERB
ijassa-583	186	4	by	by	ADP
ijassa-583	186	5	cylindrical	cylindrical	ADJ
ijassa-583	186	6	pillars	pillar	NOUN
ijassa-583	186	7	of	of	ADP
ijassa-583	186	8	different	different	ADJ
ijassa-583	186	9	radii	radius	NOUN
ijassa-583	186	10	.	.	PUNCT
ijassa-583	187	1	aircraft	aircraft	NOUN
ijassa-583	187	2	could	could	AUX
ijassa-583	187	3	detect	detect	VERB
ijassa-583	187	4	the	the	DET
ijassa-583	187	5	window	window	NOUN
ijassa-583	187	6	directly	directly	ADV
ijassa-583	187	7	from	from	ADP
ijassa-583	187	8	the	the	DET
ijassa-583	187	9	starting	starting	NOUN
ijassa-583	187	10	point	point	NOUN
ijassa-583	187	11	and	and	CCONJ
ijassa-583	187	12	approached	approach	VERB
ijassa-583	187	13	it	it	PRON
ijassa-583	187	14	while	while	SCONJ
ijassa-583	187	15	avoiding	avoid	VERB
ijassa-583	187	16	the	the	DET
ijassa-583	187	17	obstacles	obstacle	NOUN
ijassa-583	187	18	.	.	PUNCT
ijassa-583	188	1	difficult	difficult	ADJ
ijassa-583	188	2	scene	scene	NOUN
ijassa-583	188	3	dimensions	dimension	NOUN
ijassa-583	188	4	are	be	AUX
ijassa-583	188	5	50x90x15	50x90x15	ADJ
ijassa-583	188	6	m	m	NOUN
ijassa-583	188	7	,	,	PUNCT
ijassa-583	188	8	obstacles	obstacle	NOUN
ijassa-583	188	9	are	be	AUX
ijassa-583	188	10	simple	simple	ADJ
ijassa-583	188	11	pillars	pillar	NOUN
ijassa-583	188	12	and	and	CCONJ
ijassa-583	188	13	composite	composite	ADJ
ijassa-583	188	14	objects	object	NOUN
ijassa-583	188	15	of	of	ADP
ijassa-583	188	16	several	several	ADJ
ijassa-583	188	17	different	different	ADJ
ijassa-583	188	18	-	-	PUNCT
ijassa-583	188	19	sized	sized	ADJ
ijassa-583	188	20	cylinders	cylinder	NOUN
ijassa-583	188	21	,	,	PUNCT
ijassa-583	188	22	imitating	imitate	VERB
ijassa-583	188	23	trees	tree	NOUN
ijassa-583	188	24	.	.	PUNCT
ijassa-583	189	1	(	(	PUNCT
ijassa-583	189	2	see	see	VERB
ijassa-583	189	3	fig	fig	NOUN
ijassa-583	189	4	.	.	PUNCT
ijassa-583	190	1	2.1	2.1	NUM
ijassa-583	190	2	,	,	PUNCT
ijassa-583	190	3	4.13b	4.13b	NUM
ijassa-583	190	4	)	)	PUNCT
ijassa-583	190	5	.	.	PUNCT
ijassa-583	191	1	in	in	ADP
ijassa-583	191	2	this	this	DET
ijassa-583	191	3	case	case	NOUN
ijassa-583	191	4	,	,	PUNCT
ijassa-583	191	5	obstacles	obstacle	NOUN
ijassa-583	191	6	blocked	block	VERB
ijassa-583	191	7	the	the	DET
ijassa-583	191	8	window	window	NOUN
ijassa-583	191	9	completely	completely	ADV
ijassa-583	191	10	,	,	PUNCT
ijassa-583	191	11	thus	thus	ADV
ijassa-583	191	12	search	search	NOUN
ijassa-583	191	13	strategy	strategy	NOUN
ijassa-583	191	14	had	have	VERB
ijassa-583	191	15	to	to	PART
ijassa-583	191	16	be	be	AUX
ijassa-583	191	17	activated	activate	VERB
ijassa-583	191	18	.	.	PUNCT
ijassa-583	192	1	the	the	DET
ijassa-583	192	2	parameters	parameter	NOUN
ijassa-583	192	3	chosen	choose	VERB
ijassa-583	192	4	resulted	result	VERB
ijassa-583	192	5	in	in	ADP
ijassa-583	192	6	a	a	DET
ijassa-583	192	7	fairly	fairly	ADV
ijassa-583	192	8	conservative	conservative	ADJ
ijassa-583	192	9	behavior	behavior	NOUN
ijassa-583	192	10	–	–	PUNCT
ijassa-583	192	11	there	there	PRON
ijassa-583	192	12	was	be	VERB
ijassa-583	192	13	no	no	DET
ijassa-583	192	14	collisions	collision	NOUN
ijassa-583	192	15	,	,	PUNCT
ijassa-583	192	16	but	but	CCONJ
ijassa-583	192	17	search	search	NOUN
ijassa-583	192	18	required	require	VERB
ijassa-583	192	19	a	a	DET
ijassa-583	192	20	sufficiently	sufficiently	ADV
ijassa-583	192	21	long	long	ADJ
ijassa-583	192	22	time	time	NOUN
ijassa-583	192	23	.	.	PUNCT
ijassa-583	193	1	thus	thus	ADV
ijassa-583	193	2	,	,	PUNCT
ijassa-583	193	3	a	a	DET
ijassa-583	193	4	relatively	relatively	ADV
ijassa-583	193	5	simple	simple	ADJ
ijassa-583	193	6	search	search	NOUN
ijassa-583	193	7	algorithm	algorithm	NOUN
ijassa-583	193	8	,	,	PUNCT
ijassa-583	193	9	that	that	PRON
ijassa-583	193	10	did	do	AUX
ijassa-583	193	11	n’t	not	PART
ijassa-583	193	12	map	map	VERB
ijassa-583	193	13	the	the	DET
ijassa-583	193	14	scene	scene	NOUN
ijassa-583	193	15	or	or	CCONJ
ijassa-583	193	16	localize	localize	VERB
ijassa-583	193	17	of	of	ADP
ijassa-583	193	18	the	the	DET
ijassa-583	193	19	aircraft	aircraft	NOUN
ijassa-583	193	20	,	,	PUNCT
ijassa-583	193	21	could	could	AUX
ijassa-583	193	22	accomplish	accomplish	VERB
ijassa-583	193	23	the	the	DET
ijassa-583	193	24	task	task	NOUN
ijassa-583	193	25	of	of	ADP
ijassa-583	193	26	exiting	exit	VERB
ijassa-583	193	27	the	the	DET
ijassa-583	193	28	building	building	NOUN
ijassa-583	193	29	.	.	PUNCT
ijassa-583	194	1	6	6	X
ijassa-583	194	2	.	.	PUNCT
ijassa-583	194	3	technical	technical	ADJ
ijassa-583	194	4	difficulties	difficulty	NOUN
ijassa-583	194	5	we	we	PRON
ijassa-583	194	6	encountered	encounter	VERB
ijassa-583	194	7	some	some	DET
ijassa-583	194	8	complications	complication	NOUN
ijassa-583	194	9	while	while	SCONJ
ijassa-583	194	10	using	use	VERB
ijassa-583	194	11	the	the	DET
ijassa-583	194	12	gazebo	gazebo	PROPN
ijassa-583	194	13	simulator	simulator	NOUN
ijassa-583	194	14	,	,	PUNCT
ijassa-583	194	15	which	which	PRON
ijassa-583	194	16	should	should	AUX
ijassa-583	194	17	be	be	AUX
ijassa-583	194	18	accounted	account	VERB
ijassa-583	194	19	for	for	ADP
ijassa-583	194	20	.	.	PUNCT
ijassa-583	195	1	notably	notably	ADV
ijassa-583	195	2	,	,	PUNCT
ijassa-583	195	3	high	high	ADJ
ijassa-583	195	4	computational	computational	ADJ
ijassa-583	195	5	requirements	requirement	NOUN
ijassa-583	195	6	,	,	PUNCT
ijassa-583	195	7	which	which	PRON
ijassa-583	195	8	resulted	result	VERB
ijassa-583	195	9	in	in	ADP
ijassa-583	195	10	unstable	unstable	ADJ
ijassa-583	195	11	work	work	NOUN
ijassa-583	195	12	.	.	PUNCT
ijassa-583	196	1	sometimes	sometimes	ADV
ijassa-583	196	2	,	,	PUNCT
ijassa-583	196	3	a	a	DET
ijassa-583	196	4	kind	kind	NOUN
ijassa-583	196	5	of	of	ADP
ijassa-583	196	6	“	"	PUNCT
ijassa-583	196	7	numerical	numerical	ADJ
ijassa-583	196	8	wind	wind	NOUN
ijassa-583	196	9	”	"	PUNCT
ijassa-583	196	10	was	be	AUX
ijassa-583	196	11	apparent	apparent	ADJ
ijassa-583	196	12	,	,	PUNCT
ijassa-583	196	13	a	a	DET
ijassa-583	196	14	seemingly	seemingly	ADV
ijassa-583	196	15	random	random	ADJ
ijassa-583	196	16	perturbations	perturbation	NOUN
ijassa-583	196	17	that	that	PRON
ijassa-583	196	18	forced	force	VERB
ijassa-583	196	19	the	the	DET
ijassa-583	196	20	aircraft	aircraft	NOUN
ijassa-583	196	21	to	to	PART
ijassa-583	196	22	crash	crash	VERB
ijassa-583	196	23	.	.	PUNCT
ijassa-583	197	1	copyright	copyright	NOUN
ijassa-583	197	2	c	c	ADP
ijassa-583	197	3	©	©	PROPN
ijassa-583	197	4	2018	2018	NUM
ijassa-583	197	5	assa	assa	NOUN
ijassa-583	197	6	.	.	PUNCT
ijassa-583	198	1	adv	adv	PROPN
ijassa-583	198	2	syst	syst	PROPN
ijassa-583	198	3	sci	sci	PROPN
ijassa-583	198	4	appl	appl	PROPN
ijassa-583	198	5	(	(	PUNCT
ijassa-583	198	6	2018	2018	NUM
ijassa-583	198	7	)	)	PUNCT
ijassa-583	198	8	visual	visual	ADJ
ijassa-583	198	9	odometry	odometry	NOUN
ijassa-583	198	10	approaches	approach	NOUN
ijassa-583	198	11	to	to	ADP
ijassa-583	198	12	multicopter	multicopter	PROPN
ijassa-583	198	13	autonomous	autonomous	PROPN
ijassa-583	198	14	navigation	navigation	NOUN
ijassa-583	198	15	27	27	NUM
ijassa-583	198	16	the	the	DET
ijassa-583	198	17	effect	effect	NOUN
ijassa-583	198	18	could	could	AUX
ijassa-583	198	19	be	be	AUX
ijassa-583	198	20	reproduced	reproduce	VERB
ijassa-583	198	21	by	by	ADP
ijassa-583	198	22	running	run	VERB
ijassa-583	198	23	both	both	CCONJ
ijassa-583	198	24	client	client	NOUN
ijassa-583	198	25	and	and	CCONJ
ijassa-583	198	26	server	server	NOUN
ijassa-583	198	27	parts	part	NOUN
ijassa-583	198	28	of	of	ADP
ijassa-583	198	29	the	the	DET
ijassa-583	198	30	simulator	simulator	NOUN
ijassa-583	198	31	on	on	ADP
ijassa-583	198	32	the	the	DET
ijassa-583	198	33	same	same	ADJ
ijassa-583	198	34	medium	medium	ADJ
ijassa-583	198	35	-	-	PUNCT
ijassa-583	198	36	powered	power	VERB
ijassa-583	198	37	computer	computer	NOUN
ijassa-583	198	38	.	.	PUNCT
ijassa-583	199	1	for	for	ADP
ijassa-583	199	2	all	all	DET
ijassa-583	199	3	our	our	PRON
ijassa-583	199	4	experiments	experiment	NOUN
ijassa-583	199	5	we	we	PRON
ijassa-583	199	6	used	use	VERB
ijassa-583	199	7	an	an	DET
ijassa-583	199	8	intel	intel	PROPN
ijassa-583	199	9	core	core	NOUN
ijassa-583	199	10	i7	i7	NOUN
ijassa-583	199	11	-	-	PUNCT
ijassa-583	199	12	4510u	4510u	NUM
ijassa-583	199	13	cpu	cpu	NOUN
ijassa-583	199	14	@	@	ADP
ijassa-583	199	15	2.00ghz	2.00ghz	NUM
ijassa-583	199	16	,	,	PUNCT
ijassa-583	199	17	8	8	NUM
ijassa-583	199	18	gb	gb	NOUN
ijassa-583	199	19	ram	ram	NOUN
ijassa-583	199	20	pc	pc	NOUN
ijassa-583	199	21	.	.	PUNCT
ijassa-583	200	1	additional	additional	ADJ
ijassa-583	200	2	disturbances	disturbance	NOUN
ijassa-583	200	3	were	be	AUX
ijassa-583	200	4	created	create	VERB
ijassa-583	200	5	by	by	ADP
ijassa-583	200	6	other	other	ADJ
ijassa-583	200	7	applications	application	NOUN
ijassa-583	200	8	running	run	VERB
ijassa-583	200	9	in	in	ADP
ijassa-583	200	10	the	the	DET
ijassa-583	200	11	background	background	NOUN
ijassa-583	200	12	.	.	PUNCT
ijassa-583	201	1	practically	practically	ADV
ijassa-583	201	2	,	,	PUNCT
ijassa-583	201	3	gazebo	gazebo	PROPN
ijassa-583	201	4	is	be	AUX
ijassa-583	201	5	not	not	PART
ijassa-583	201	6	the	the	DET
ijassa-583	201	7	most	most	ADV
ijassa-583	201	8	comfortable	comfortable	ADJ
ijassa-583	201	9	software	software	NOUN
ijassa-583	201	10	to	to	PART
ijassa-583	201	11	use	use	VERB
ijassa-583	201	12	in	in	ADP
ijassa-583	201	13	case	case	NOUN
ijassa-583	201	14	of	of	ADP
ijassa-583	201	15	multiple	multiple	ADJ
ijassa-583	201	16	test	test	NOUN
ijassa-583	201	17	runs	run	NOUN
ijassa-583	201	18	.	.	PUNCT
ijassa-583	202	1	each	each	PRON
ijassa-583	202	2	run	run	VERB
ijassa-583	202	3	required	require	VERB
ijassa-583	202	4	restarting	restart	VERB
ijassa-583	202	5	the	the	DET
ijassa-583	202	6	whole	whole	ADJ
ijassa-583	202	7	virtual	virtual	ADJ
ijassa-583	202	8	environment	environment	NOUN
ijassa-583	202	9	and	and	CCONJ
ijassa-583	202	10	took	take	VERB
ijassa-583	202	11	a	a	DET
ijassa-583	202	12	lot	lot	NOUN
ijassa-583	202	13	of	of	ADP
ijassa-583	202	14	time	time	NOUN
ijassa-583	202	15	,	,	PUNCT
ijassa-583	202	16	which	which	PRON
ijassa-583	202	17	combined	combine	VERB
ijassa-583	202	18	with	with	ADP
ijassa-583	202	19	the	the	DET
ijassa-583	202	20	“	"	PUNCT
ijassa-583	202	21	numerical	numerical	ADJ
ijassa-583	202	22	wind	wind	NOUN
ijassa-583	202	23	”	"	PUNCT
ijassa-583	202	24	made	make	VERB
ijassa-583	202	25	our	our	PRON
ijassa-583	202	26	work	work	NOUN
ijassa-583	202	27	more	more	ADV
ijassa-583	202	28	difficult	difficult	ADJ
ijassa-583	202	29	–	–	PUNCT
ijassa-583	202	30	especially	especially	ADV
ijassa-583	202	31	the	the	DET
ijassa-583	202	32	tuning	tuning	NOUN
ijassa-583	202	33	of	of	ADP
ijassa-583	202	34	pid	pid	NOUN
ijassa-583	202	35	controllers	controller	NOUN
ijassa-583	202	36	.	.	PUNCT
ijassa-583	203	1	we	we	PRON
ijassa-583	203	2	encountered	encounter	VERB
ijassa-583	203	3	various	various	ADJ
ijassa-583	203	4	other	other	ADJ
ijassa-583	203	5	difficulties	difficulty	NOUN
ijassa-583	203	6	,	,	PUNCT
ijassa-583	203	7	including	include	VERB
ijassa-583	203	8	the	the	DET
ijassa-583	203	9	necessity	necessity	NOUN
ijassa-583	203	10	to	to	PART
ijassa-583	203	11	convert	convert	VERB
ijassa-583	203	12	between	between	ADP
ijassa-583	203	13	every	every	DET
ijassa-583	203	14	coordinate	coordinate	NOUN
ijassa-583	203	15	frame	frame	NOUN
ijassa-583	203	16	involved	involve	VERB
ijassa-583	203	17	(	(	PUNCT
ijassa-583	203	18	world	world	NOUN
ijassa-583	203	19	,	,	PUNCT
ijassa-583	203	20	aircraft	aircraft	NOUN
ijassa-583	203	21	,	,	PUNCT
ijassa-583	203	22	sensor	sensor	NOUN
ijassa-583	203	23	)	)	PUNCT
ijassa-583	203	24	.	.	PUNCT
ijassa-583	204	1	this	this	PRON
ijassa-583	204	2	,	,	PUNCT
ijassa-583	204	3	however	however	ADV
ijassa-583	204	4	,	,	PUNCT
ijassa-583	204	5	is	be	AUX
ijassa-583	204	6	anticipated	anticipate	VERB
ijassa-583	204	7	by	by	ADP
ijassa-583	204	8	mavlink	mavlink	NOUN
ijassa-583	204	9	protocol	protocol	NOUN
ijassa-583	204	10	which	which	PRON
ijassa-583	204	11	offers	offer	VERB
ijassa-583	204	12	the	the	DET
ijassa-583	204	13	possibility	possibility	NOUN
ijassa-583	204	14	of	of	ADP
ijassa-583	204	15	specifying	specify	VERB
ijassa-583	204	16	control	control	NOUN
ijassa-583	204	17	in	in	ADP
ijassa-583	204	18	several	several	ADJ
ijassa-583	204	19	coordinate	coordinate	NOUN
ijassa-583	204	20	frames	frame	NOUN
ijassa-583	204	21	(	(	PUNCT
ijassa-583	204	22	ned	ned	PROPN
ijassa-583	204	23	,	,	PUNCT
ijassa-583	204	24	enu	enu	PROPN
ijassa-583	204	25	,	,	PUNCT
ijassa-583	204	26	etc	etc	X
ijassa-583	204	27	.	.	X
ijassa-583	204	28	)	)	PUNCT
ijassa-583	205	1	7	7	X
ijassa-583	205	2	.	.	X
ijassa-583	205	3	results	result	NOUN
ijassa-583	205	4	numeric	numeric	ADP
ijassa-583	205	5	simulation	simulation	NOUN
ijassa-583	205	6	using	use	VERB
ijassa-583	205	7	the	the	DET
ijassa-583	205	8	ros	ros	PROPN
ijassa-583	205	9	framework	framework	NOUN
ijassa-583	205	10	,	,	PUNCT
ijassa-583	205	11	the	the	DET
ijassa-583	205	12	gazebo	gazebo	PROPN
ijassa-583	205	13	simulator	simulator	NOUN
ijassa-583	205	14	and	and	CCONJ
ijassa-583	205	15	the	the	DET
ijassa-583	205	16	rest	rest	NOUN
ijassa-583	205	17	of	of	ADP
ijassa-583	205	18	the	the	DET
ijassa-583	205	19	corresponding	corresponding	ADJ
ijassa-583	205	20	ecosystem	ecosystem	NOUN
ijassa-583	205	21	allowed	allow	VERB
ijassa-583	205	22	us	we	PRON
ijassa-583	205	23	to	to	PART
ijassa-583	205	24	test	test	VERB
ijassa-583	205	25	the	the	DET
ijassa-583	205	26	applicability	applicability	NOUN
ijassa-583	205	27	of	of	ADP
ijassa-583	205	28	the	the	DET
ijassa-583	205	29	chosen	choose	VERB
ijassa-583	205	30	algorithms	algorithm	NOUN
ijassa-583	205	31	in	in	ADP
ijassa-583	205	32	specified	specified	ADJ
ijassa-583	205	33	conditions	condition	NOUN
ijassa-583	205	34	.	.	PUNCT
ijassa-583	206	1	use	use	NOUN
ijassa-583	206	2	of	of	ADP
ijassa-583	206	3	this	this	DET
ijassa-583	206	4	class	class	NOUN
ijassa-583	206	5	of	of	ADP
ijassa-583	206	6	simulators	simulator	NOUN
ijassa-583	206	7	and	and	CCONJ
ijassa-583	206	8	frameworks	framework	NOUN
ijassa-583	206	9	can	can	AUX
ijassa-583	206	10	be	be	AUX
ijassa-583	206	11	of	of	ADP
ijassa-583	206	12	much	much	ADJ
ijassa-583	206	13	help	help	NOUN
ijassa-583	206	14	while	while	SCONJ
ijassa-583	206	15	developing	develop	VERB
ijassa-583	206	16	real	real	ADJ
ijassa-583	206	17	hardware	hardware	NOUN
ijassa-583	206	18	and	and	CCONJ
ijassa-583	206	19	software	software	NOUN
ijassa-583	206	20	platforms	platform	NOUN
ijassa-583	206	21	for	for	ADP
ijassa-583	206	22	uavs	uavs	NOUN
ijassa-583	206	23	.	.	PUNCT
ijassa-583	207	1	references	reference	NOUN
ijassa-583	207	2	[	[	X
ijassa-583	207	3	1	1	NUM
ijassa-583	207	4	]	]	PUNCT
ijassa-583	207	5	a.	a.	NOUN
ijassa-583	207	6	weinstein	weinstein	PROPN
ijassa-583	207	7	,	,	PUNCT
ijassa-583	207	8	a.	a.	PROPN
ijassa-583	207	9	cho	cho	PROPN
ijassa-583	207	10	,	,	PUNCT
ijassa-583	207	11	g.	g.	PROPN
ijassa-583	207	12	loianno	loianno	PROPN
ijassa-583	207	13	,	,	PUNCT
ijassa-583	207	14	&	&	CCONJ
ijassa-583	207	15	v.	v.	PROPN
ijassa-583	207	16	kumar	kumar	PROPN
ijassa-583	207	17	.	.	PUNCT
ijassa-583	208	1	(	(	PUNCT
ijassa-583	208	2	2018	2018	NUM
ijassa-583	208	3	)	)	PUNCT
ijassa-583	208	4	.	.	PUNCT
ijassa-583	209	1	visual	visual	ADJ
ijassa-583	209	2	inertial	inertial	PROPN
ijassa-583	209	3	odometry	odometry	NOUN
ijassa-583	209	4	swarm	swarm	NOUN
ijassa-583	209	5	:	:	PUNCT
ijassa-583	209	6	an	an	DET
ijassa-583	209	7	autonomous	autonomous	ADJ
ijassa-583	209	8	swarm	swarm	NOUN
ijassa-583	209	9	of	of	ADP
ijassa-583	209	10	vision	vision	NOUN
ijassa-583	209	11	-	-	PUNCT
ijassa-583	209	12	based	base	VERB
ijassa-583	209	13	quadrotors	quadrotor	NOUN
ijassa-583	209	14	.	.	PUNCT
ijassa-583	210	1	ieee	ieee	NOUN
ijassa-583	210	2	robotics	robotic	NOUN
ijassa-583	210	3	and	and	CCONJ
ijassa-583	210	4	automation	automation	NOUN
ijassa-583	210	5	letters	letter	NOUN
ijassa-583	210	6	,	,	PUNCT
ijassa-583	210	7	3	3	NUM
ijassa-583	210	8	(	(	PUNCT
ijassa-583	210	9	3	3	NUM
ijassa-583	210	10	)	)	PUNCT
ijassa-583	210	11	,	,	PUNCT
ijassa-583	210	12	1801–1807	1801–1807	NUM
ijassa-583	210	13	.	.	PUNCT
ijassa-583	211	1	[	[	X
ijassa-583	211	2	2	2	NUM
ijassa-583	211	3	]	]	X
ijassa-583	211	4	b.d	b.d	PROPN
ijassa-583	211	5	.	.	PROPN
ijassa-583	211	6	lucas	lucas	PROPN
ijassa-583	211	7	,	,	PUNCT
ijassa-583	211	8	&	&	CCONJ
ijassa-583	211	9	t.	t.	PROPN
ijassa-583	211	10	kanade	kanade	PROPN
ijassa-583	211	11	.	.	PUNCT
ijassa-583	212	1	(	(	PUNCT
ijassa-583	212	2	1981	1981	NUM
ijassa-583	212	3	)	)	PUNCT
ijassa-583	212	4	.	.	PUNCT
ijassa-583	213	1	an	an	DET
ijassa-583	213	2	iterative	iterative	NOUN
ijassa-583	213	3	image	image	NOUN
ijassa-583	213	4	registration	registration	NOUN
ijassa-583	213	5	technique	technique	NOUN
ijassa-583	213	6	with	with	ADP
ijassa-583	213	7	an	an	DET
ijassa-583	213	8	application	application	NOUN
ijassa-583	213	9	to	to	ADP
ijassa-583	213	10	stereo	stereo	NOUN
ijassa-583	213	11	vision	vision	NOUN
ijassa-583	213	12	.	.	PUNCT
ijassa-583	214	1	international	international	ADJ
ijassa-583	214	2	joint	joint	ADJ
ijassa-583	214	3	conference	conference	NOUN
ijassa-583	214	4	on	on	ADP
ijassa-583	214	5	artificial	artificial	ADJ
ijassa-583	214	6	intelligence	intelligence	NOUN
ijassa-583	214	7	,	,	PUNCT
ijassa-583	214	8	647–679	647–679	NUM
ijassa-583	214	9	.	.	PUNCT
ijassa-583	215	1	[	[	X
ijassa-583	215	2	3	3	X
ijassa-583	215	3	]	]	X
ijassa-583	215	4	c.	c.	PROPN
ijassa-583	215	5	cadena	cadena	PROPN
ijassa-583	215	6	,	,	PUNCT
ijassa-583	215	7	l.	l.	PROPN
ijassa-583	215	8	carlone	carlone	PROPN
ijassa-583	215	9	,	,	PUNCT
ijassa-583	215	10	h.	h.	PROPN
ijassa-583	215	11	carrillo	carrillo	PROPN
ijassa-583	215	12	,	,	PUNCT
ijassa-583	215	13	y.	y.	PROPN
ijassa-583	215	14	latif	latif	PROPN
ijassa-583	215	15	,	,	PUNCT
ijassa-583	215	16	d.	d.	PROPN
ijassa-583	215	17	scaramuzza	scaramuzza	PROPN
ijassa-583	215	18	,	,	PUNCT
ijassa-583	215	19	j.	j.	PROPN
ijassa-583	215	20	neira	neira	PROPN
ijassa-583	215	21	,	,	PUNCT
ijassa-583	215	22	.	.	PUNCT
ijassa-583	215	23	.	.	PUNCT
ijassa-583	215	24	.	.	PUNCT
ijassa-583	216	1	j.j	j.j	PROPN
ijassa-583	216	2	.	.	PROPN
ijassa-583	216	3	leonard	leonard	PROPN
ijassa-583	216	4	.	.	PUNCT
ijassa-583	217	1	(	(	PUNCT
ijassa-583	217	2	2016	2016	NUM
ijassa-583	217	3	)	)	PUNCT
ijassa-583	217	4	.	.	PUNCT
ijassa-583	218	1	past	past	ADJ
ijassa-583	218	2	,	,	PUNCT
ijassa-583	218	3	present	present	ADJ
ijassa-583	218	4	,	,	PUNCT
ijassa-583	218	5	and	and	CCONJ
ijassa-583	218	6	future	future	NOUN
ijassa-583	218	7	of	of	ADP
ijassa-583	218	8	simultaneous	simultaneous	ADJ
ijassa-583	218	9	localization	localization	NOUN
ijassa-583	218	10	and	and	CCONJ
ijassa-583	218	11	mapping	mapping	NOUN
ijassa-583	218	12	:	:	PUNCT
ijassa-583	218	13	towards	towards	ADP
ijassa-583	218	14	the	the	DET
ijassa-583	218	15	robust	robust	ADJ
ijassa-583	218	16	-	-	PUNCT
ijassa-583	218	17	perception	perception	NOUN
ijassa-583	218	18	age	age	NOUN
ijassa-583	218	19	.	.	PUNCT
ijassa-583	219	1	ieee	ieee	NOUN
ijassa-583	219	2	transactions	transaction	NOUN
ijassa-583	219	3	on	on	ADP
ijassa-583	219	4	robotics	robotic	NOUN
ijassa-583	219	5	,	,	PUNCT
ijassa-583	219	6	32	32	NUM
ijassa-583	219	7	(	(	PUNCT
ijassa-583	219	8	6	6	NUM
ijassa-583	219	9	)	)	PUNCT
ijassa-583	219	10	,	,	PUNCT
ijassa-583	219	11	1309–1332	1309–1332	NUM
ijassa-583	219	12	.	.	PUNCT
ijassa-583	220	1	[	[	X
ijassa-583	220	2	4	4	X
ijassa-583	220	3	]	]	X
ijassa-583	220	4	d.	d.	PROPN
ijassa-583	220	5	bekele	bekele	PROPN
ijassa-583	220	6	,	,	PUNCT
ijassa-583	220	7	m.	m.	NOUN
ijassa-583	220	8	teutsch	teutsch	PROPN
ijassa-583	220	9	,	,	PUNCT
ijassa-583	220	10	&	&	CCONJ
ijassa-583	220	11	t.	t.	PROPN
ijassa-583	220	12	schuchert	schuchert	PROPN
ijassa-583	220	13	.	.	PUNCT
ijassa-583	221	1	(	(	PUNCT
ijassa-583	221	2	2013	2013	NUM
ijassa-583	221	3	)	)	PUNCT
ijassa-583	221	4	.	.	PUNCT
ijassa-583	222	1	evaluation	evaluation	NOUN
ijassa-583	222	2	of	of	ADP
ijassa-583	222	3	binary	binary	PROPN
ijassa-583	222	4	keypoint	keypoint	PROPN
ijassa-583	222	5	descriptors	descriptor	NOUN
ijassa-583	222	6	.	.	PUNCT
ijassa-583	223	1	in	in	ADP
ijassa-583	223	2	2013	2013	NUM
ijassa-583	223	3	ieee	ieee	NOUN
ijassa-583	223	4	international	international	ADJ
ijassa-583	223	5	conference	conference	NOUN
ijassa-583	223	6	on	on	ADP
ijassa-583	223	7	image	image	NOUN
ijassa-583	223	8	processing	processing	NOUN
ijassa-583	223	9	(	(	PUNCT
ijassa-583	223	10	pp	pp	ADJ
ijassa-583	223	11	.	.	PUNCT
ijassa-583	223	12	3652–3656	3652–3656	NUM
ijassa-583	223	13	)	)	PUNCT
ijassa-583	223	14	.	.	PUNCT
ijassa-583	224	1	doi:10.1109	doi:10.1109	VERB
ijassa-583	224	2	/	/	SYM
ijassa-583	224	3	icip.2013.6738753	icip.2013.6738753	PROPN
ijassa-583	224	4	[	[	X
ijassa-583	224	5	5	5	X
ijassa-583	224	6	]	]	PUNCT
ijassa-583	224	7	e.	e.	PROPN
ijassa-583	224	8	rosten	rosten	PROPN
ijassa-583	224	9	,	,	PUNCT
ijassa-583	224	10	&	&	CCONJ
ijassa-583	224	11	t.	t.	PROPN
ijassa-583	224	12	drummond	drummond	PROPN
ijassa-583	224	13	.	.	PUNCT
ijassa-583	225	1	(	(	PUNCT
ijassa-583	225	2	2006	2006	NUM
ijassa-583	225	3	)	)	PUNCT
ijassa-583	225	4	.	.	PUNCT
ijassa-583	226	1	machine	machine	NOUN
ijassa-583	226	2	learning	learn	VERB
ijassa-583	226	3	for	for	ADP
ijassa-583	226	4	high	high	ADJ
ijassa-583	226	5	speed	speed	NOUN
ijassa-583	226	6	corner	corner	NOUN
ijassa-583	226	7	detection	detection	NOUN
ijassa-583	226	8	.	.	PUNCT
ijassa-583	227	1	9th	9th	ADJ
ijassa-583	227	2	european	european	ADJ
ijassa-583	227	3	conference	conference	NOUN
ijassa-583	227	4	on	on	ADP
ijassa-583	227	5	computer	computer	NOUN
ijassa-583	227	6	vision	vision	NOUN
ijassa-583	227	7	,	,	PUNCT
ijassa-583	227	8	1	1	NUM
ijassa-583	227	9	,	,	PUNCT
ijassa-583	227	10	430–443	430–443	NUM
ijassa-583	227	11	.	.	PUNCT
ijassa-583	228	1	[	[	X
ijassa-583	228	2	6	6	NUM
ijassa-583	228	3	]	]	X
ijassa-583	228	4	h.	h.	PROPN
ijassa-583	228	5	badino	badino	PROPN
ijassa-583	228	6	,	,	PUNCT
ijassa-583	228	7	&	&	CCONJ
ijassa-583	228	8	t.	t.	PROPN
ijassa-583	228	9	kanade	kanade	PROPN
ijassa-583	228	10	.	.	PUNCT
ijassa-583	229	1	(	(	PUNCT
ijassa-583	229	2	2011	2011	NUM
ijassa-583	229	3	)	)	PUNCT
ijassa-583	229	4	.	.	PUNCT
ijassa-583	230	1	a	a	DET
ijassa-583	230	2	head	head	NOUN
ijassa-583	230	3	-	-	PUNCT
ijassa-583	230	4	wearable	wearable	ADJ
ijassa-583	230	5	short	short	ADJ
ijassa-583	230	6	-	-	PUNCT
ijassa-583	230	7	baseline	baseline	NOUN
ijassa-583	230	8	stereo	stereo	NOUN
ijassa-583	230	9	system	system	NOUN
ijassa-583	230	10	for	for	ADP
ijassa-583	230	11	the	the	DET
ijassa-583	230	12	simultaneous	simultaneous	ADJ
ijassa-583	230	13	estimation	estimation	NOUN
ijassa-583	230	14	of	of	ADP
ijassa-583	230	15	structure	structure	NOUN
ijassa-583	230	16	and	and	CCONJ
ijassa-583	230	17	motion	motion	NOUN
ijassa-583	230	18	.	.	PUNCT
ijassa-583	231	1	iapr	iapr	PROPN
ijassa-583	231	2	conference	conference	NOUN
ijassa-583	231	3	on	on	ADP
ijassa-583	231	4	machine	machine	NOUN
ijassa-583	231	5	vision	vision	NOUN
ijassa-583	231	6	applications	application	NOUN
ijassa-583	231	7	(	(	PUNCT
ijassa-583	231	8	mva),nara	mva),nara	PROPN
ijassa-583	231	9	,	,	PUNCT
ijassa-583	231	10	japan	japan	PROPN
ijassa-583	231	11	.	.	PUNCT
ijassa-583	232	1	[	[	X
ijassa-583	232	2	7	7	X
ijassa-583	232	3	]	]	X
ijassa-583	232	4	j.	j.	PROPN
ijassa-583	232	5	shi	shi	PROPN
ijassa-583	232	6	,	,	PUNCT
ijassa-583	232	7	&	&	CCONJ
ijassa-583	232	8	c.	c.	PROPN
ijassa-583	232	9	tomasi	tomasi	PROPN
ijassa-583	232	10	.	.	PUNCT
ijassa-583	233	1	(	(	PUNCT
ijassa-583	233	2	1994	1994	NUM
ijassa-583	233	3	)	)	PUNCT
ijassa-583	233	4	.	.	PUNCT
ijassa-583	234	1	good	good	ADJ
ijassa-583	234	2	features	feature	VERB
ijassa-583	234	3	to	to	PART
ijassa-583	234	4	track	track	VERB
ijassa-583	234	5	.	.	PUNCT
ijassa-583	235	1	proceedings	proceeding	NOUN
ijassa-583	235	2	of	of	ADP
ijassa-583	235	3	ieee	ieee	NOUN
ijassa-583	235	4	conference	conference	NOUN
ijassa-583	235	5	on	on	ADP
ijassa-583	235	6	computer	computer	NOUN
ijassa-583	235	7	vision	vision	NOUN
ijassa-583	235	8	and	and	CCONJ
ijassa-583	235	9	pattern	pattern	NOUN
ijassa-583	235	10	recognition	recognition	NOUN
ijassa-583	235	11	,	,	PUNCT
ijassa-583	235	12	593–600	593–600	NUM
ijassa-583	235	13	.	.	PUNCT
ijassa-583	236	1	[	[	X
ijassa-583	236	2	8	8	NUM
ijassa-583	236	3	]	]	X
ijassa-583	236	4	k.	k.	PROPN
ijassa-583	236	5	mo	mo	PROPN
ijassa-583	236	6	,	,	PUNCT
ijassa-583	236	7	h.	h.	PROPN
ijassa-583	236	8	li	li	PROPN
ijassa-583	236	9	,	,	PUNCT
ijassa-583	236	10	zh	zh	PROPN
ijassa-583	236	11	.	.	PUNCT
ijassa-583	236	12	lin	lin	PROPN
ijassa-583	236	13	,	,	PUNCT
ijassa-583	236	14	&	&	CCONJ
ijassa-583	236	15	j.	j.	PROPN
ijassa-583	236	16	lee	lee	PROPN
ijassa-583	236	17	.	.	PUNCT
ijassa-583	237	1	(	(	PUNCT
ijassa-583	237	2	2018	2018	NUM
ijassa-583	237	3	)	)	PUNCT
ijassa-583	237	4	.	.	PUNCT
ijassa-583	238	1	the	the	DET
ijassa-583	238	2	adobeindoornav	adobeindoornav	PROPN
ijassa-583	238	3	dataset	dataset	PROPN
ijassa-583	238	4	:	:	PUNCT
ijassa-583	238	5	towards	towards	ADP
ijassa-583	238	6	deep	deep	ADJ
ijassa-583	238	7	reinforcement	reinforcement	NOUN
ijassa-583	238	8	learning	learning	NOUN
ijassa-583	238	9	based	base	VERB
ijassa-583	238	10	real	real	ADJ
ijassa-583	238	11	-	-	PUNCT
ijassa-583	238	12	world	world	NOUN
ijassa-583	238	13	indoor	indoor	PROPN
ijassa-583	238	14	robot	robot	NOUN
ijassa-583	238	15	visual	visual	ADJ
ijassa-583	238	16	navigation	navigation	NOUN
ijassa-583	238	17	.	.	PUNCT
ijassa-583	239	1	arxiv	arxiv	PROPN
ijassa-583	239	2	preprint	preprint	PROPN
ijassa-583	239	3	arxiv:1802.08824	arxiv:1802.08824	NOUN
ijassa-583	239	4	.	.	PUNCT
ijassa-583	240	1	[	[	X
ijassa-583	240	2	9	9	NUM
ijassa-583	240	3	]	]	PUNCT
ijassa-583	240	4	l.	l.	PROPN
ijassa-583	240	5	silvestri	silvestri	PROPN
ijassa-583	240	6	,	,	PUNCT
ijassa-583	240	7	l.	l.	PROPN
ijassa-583	240	8	pallottino	pallottino	PROPN
ijassa-583	240	9	,	,	PUNCT
ijassa-583	240	10	&	&	CCONJ
ijassa-583	240	11	s.	s.	PROPN
ijassa-583	240	12	nardi	nardi	PROPN
ijassa-583	240	13	.	.	PUNCT
ijassa-583	241	1	(	(	PUNCT
ijassa-583	241	2	2017	2017	NUM
ijassa-583	241	3	)	)	PUNCT
ijassa-583	241	4	.	.	PUNCT
ijassa-583	242	1	design	design	NOUN
ijassa-583	242	2	of	of	ADP
ijassa-583	242	3	an	an	DET
ijassa-583	242	4	indoor	indoor	ADJ
ijassa-583	242	5	autonomous	autonomous	ADJ
ijassa-583	242	6	robot	robot	NOUN
ijassa-583	242	7	navigation	navigation	NOUN
ijassa-583	242	8	system	system	NOUN
ijassa-583	242	9	for	for	ADP
ijassa-583	242	10	unknown	unknown	ADJ
ijassa-583	242	11	environments	environment	NOUN
ijassa-583	242	12	.	.	PUNCT
ijassa-583	243	1	in	in	ADP
ijassa-583	243	2	international	international	ADJ
ijassa-583	243	3	conference	conference	NOUN
ijassa-583	243	4	on	on	ADP
ijassa-583	243	5	modelling	modelling	NOUN
ijassa-583	243	6	and	and	CCONJ
ijassa-583	243	7	simulation	simulation	NOUN
ijassa-583	243	8	for	for	ADP
ijassa-583	243	9	autonomous	autonomous	ADJ
ijassa-583	243	10	systems	system	NOUN
ijassa-583	243	11	(	(	PUNCT
ijassa-583	243	12	pp	pp	ADJ
ijassa-583	243	13	.	.	PUNCT
ijassa-583	243	14	153–169	153–169	NUM
ijassa-583	243	15	)	)	PUNCT
ijassa-583	243	16	.	.	PUNCT
ijassa-583	244	1	springer	springer	NOUN
ijassa-583	244	2	.	.	PUNCT
ijassa-583	245	1	[	[	X
ijassa-583	245	2	10	10	NUM
ijassa-583	245	3	]	]	X
ijassa-583	245	4	m.a	m.a	PROPN
ijassa-583	245	5	.	.	PROPN
ijassa-583	245	6	fischler	fischler	NOUN
ijassa-583	245	7	,	,	PUNCT
ijassa-583	245	8	&	&	CCONJ
ijassa-583	245	9	r.c	r.c	PROPN
ijassa-583	245	10	.	.	PROPN
ijassa-583	245	11	bolles	bolles	PROPN
ijassa-583	245	12	.	.	PUNCT
ijassa-583	246	1	(	(	PUNCT
ijassa-583	246	2	1981	1981	NUM
ijassa-583	246	3	)	)	PUNCT
ijassa-583	246	4	.	.	PUNCT
ijassa-583	247	1	random	random	ADJ
ijassa-583	247	2	sample	sample	NOUN
ijassa-583	247	3	consensus	consensus	NOUN
ijassa-583	247	4	:	:	PUNCT
ijassa-583	247	5	a	a	DET
ijassa-583	247	6	paradigm	paradigm	NOUN
ijassa-583	247	7	for	for	ADP
ijassa-583	247	8	model	model	NOUN
ijassa-583	247	9	fitting	fit	VERB
ijassa-583	247	10	with	with	ADP
ijassa-583	247	11	applications	application	NOUN
ijassa-583	247	12	to	to	PART
ijassa-583	247	13	image	image	VERB
ijassa-583	247	14	analysis	analysis	NOUN
ijassa-583	247	15	and	and	CCONJ
ijassa-583	247	16	automated	automate	VERB
ijassa-583	247	17	cartography	cartography	NOUN
ijassa-583	247	18	.	.	PUNCT
ijassa-583	248	1	commun	commun	PROPN
ijassa-583	248	2	.	.	PUNCT
ijassa-583	249	1	acm	acm	PROPN
ijassa-583	249	2	,	,	PUNCT
ijassa-583	249	3	24	24	NUM
ijassa-583	249	4	(	(	PUNCT
ijassa-583	249	5	6	6	NUM
ijassa-583	249	6	)	)	PUNCT
ijassa-583	249	7	,	,	PUNCT
ijassa-583	249	8	381–395	381–395	NUM
ijassa-583	249	9	.	.	NOUN
ijassa-583	249	10	doi:10.1145/358669.358692	doi:10.1145/358669.358692	NOUN
ijassa-583	249	11	copyright	copyright	NOUN
ijassa-583	249	12	c	c	ADP
ijassa-583	249	13	©	©	PROPN
ijassa-583	249	14	2018	2018	NUM
ijassa-583	249	15	assa	assa	NOUN
ijassa-583	249	16	.	.	PUNCT
ijassa-583	250	1	adv	adv	PROPN
ijassa-583	250	2	syst	syst	PROPN
ijassa-583	250	3	sci	sci	PROPN
ijassa-583	250	4	appl	appl	PROPN
ijassa-583	250	5	(	(	PUNCT
ijassa-583	250	6	2018	2018	NUM
ijassa-583	250	7	)	)	PUNCT
ijassa-583	250	8	https://dx.doi.org/10.1109/icip.2013.6738753	https://dx.doi.org/10.1109/icip.2013.6738753	VERB
ijassa-583	250	9	https://dx.doi.org/10.1145/358669.358692	https://dx.doi.org/10.1145/358669.358692	NOUN
ijassa-583	250	10	28	28	NUM
ijassa-583	250	11	a.v	a.v	PROPN
ijassa-583	250	12	.	.	PROPN
ijassa-583	250	13	abdulov	abdulov	PROPN
ijassa-583	250	14	,	,	PUNCT
ijassa-583	250	15	a.n	a.n	PROPN
ijassa-583	250	16	.	.	PROPN
ijassa-583	250	17	abramenkov	abramenkov	PROPN
ijassa-583	250	18	,	,	PUNCT
ijassa-583	250	19	a.a	a.a	PROPN
ijassa-583	250	20	.	.	PROPN
ijassa-583	250	21	shevlyakov	shevlyakov	PROPN
ijassa-583	251	1	[	[	X
ijassa-583	251	2	11	11	NUM
ijassa-583	251	3	]	]	X
ijassa-583	251	4	n.	n.	PROPN
ijassa-583	251	5	koenig	koenig	PROPN
ijassa-583	251	6	,	,	PUNCT
ijassa-583	251	7	&	&	CCONJ
ijassa-583	251	8	a.	a.	PROPN
ijassa-583	251	9	howard	howard	PROPN
ijassa-583	251	10	.	.	PUNCT
ijassa-583	252	1	(	(	PUNCT
ijassa-583	252	2	2004	2004	NUM
ijassa-583	252	3	)	)	PUNCT
ijassa-583	252	4	.	.	PUNCT
ijassa-583	253	1	design	design	NOUN
ijassa-583	253	2	and	and	CCONJ
ijassa-583	253	3	use	use	VERB
ijassa-583	253	4	paradigms	paradigm	NOUN
ijassa-583	253	5	for	for	ADP
ijassa-583	253	6	gazebo	gazebo	NOUN
ijassa-583	253	7	,	,	PUNCT
ijassa-583	253	8	an	an	DET
ijassa-583	253	9	open	open	ADJ
ijassa-583	253	10	-	-	PUNCT
ijassa-583	253	11	source	source	NOUN
ijassa-583	253	12	multi	multi	ADJ
ijassa-583	253	13	-	-	ADJ
ijassa-583	253	14	robot	robot	ADJ
ijassa-583	253	15	simulator	simulator	NOUN
ijassa-583	253	16	.	.	PUNCT
ijassa-583	254	1	proceedings	proceeding	NOUN
ijassa-583	254	2	of	of	ADP
ijassa-583	254	3	2004	2004	NUM
ijassa-583	254	4	ieee	ieee	NOUN
ijassa-583	254	5	/	/	SYM
ijassa-583	254	6	rsj	rsj	NOUN
ijassa-583	254	7	international	international	ADJ
ijassa-583	254	8	conference	conference	NOUN
ijassa-583	254	9	on	on	ADP
ijassa-583	254	10	intelligent	intelligent	ADJ
ijassa-583	254	11	robots	robot	NOUN
ijassa-583	254	12	and	and	CCONJ
ijassa-583	254	13	systems	system	NOUN
ijassa-583	254	14	,	,	PUNCT
ijassa-583	254	15	2149–2154	2149–2154	NUM
ijassa-583	254	16	.	.	PUNCT
ijassa-583	255	1	[	[	X
ijassa-583	255	2	12	12	NUM
ijassa-583	255	3	]	]	PUNCT
ijassa-583	255	4	s.	s.	PROPN
ijassa-583	255	5	madgwick	madgwick	PROPN
ijassa-583	255	6	.	.	PUNCT
ijassa-583	256	1	(	(	PUNCT
ijassa-583	256	2	2010	2010	NUM
ijassa-583	256	3	)	)	PUNCT
ijassa-583	256	4	.	.	PUNCT
ijassa-583	257	1	an	an	DET
ijassa-583	257	2	efficient	efficient	ADJ
ijassa-583	257	3	orientation	orientation	NOUN
ijassa-583	257	4	filter	filter	NOUN
ijassa-583	257	5	for	for	ADP
ijassa-583	257	6	inertial	inertial	NOUN
ijassa-583	257	7	and	and	CCONJ
ijassa-583	257	8	inertial	inertial	ADJ
ijassa-583	257	9	/	/	SYM
ijassa-583	257	10	magnetic	magnetic	ADJ
ijassa-583	257	11	sensor	sensor	NOUN
ijassa-583	257	12	arrays	array	VERB
ijassa-583	257	13	.	.	PUNCT
ijassa-583	258	1	retrieved	retrieve	VERB
ijassa-583	258	2	from	from	ADP
ijassa-583	258	3	http	http	NOUN
ijassa-583	258	4	:	:	PUNCT
ijassa-583	258	5	//x	//x	PUNCT
ijassa-583	259	1	io	io	X
ijassa-583	259	2	.	.	PUNCT
ijassa-583	260	1	co	co	PROPN
ijassa-583	260	2	.uk/	.uk/	PUNCT
ijassa-583	260	3	res	re	NOUN
ijassa-583	260	4	/	/	SYM
ijassa-583	260	5	doc/	doc/	PROPN
ijassa-583	260	6	madgwick	madgwick	PROPN
ijassa-583	260	7	internal	internal	PROPN
ijassa-583	260	8	report.pdf	report.pdf	PROPN
ijassa-583	260	9	[	[	X
ijassa-583	260	10	13	13	NUM
ijassa-583	260	11	]	]	X
ijassa-583	260	12	sh	sh	PROPN
ijassa-583	260	13	.	.	PROPN
ijassa-583	260	14	yang	yang	PROPN
ijassa-583	260	15	,	,	PUNCT
ijassa-583	260	16	s.a	s.a	PROPN
ijassa-583	260	17	.	.	PROPN
ijassa-583	260	18	scherer	scherer	PROPN
ijassa-583	260	19	,	,	PUNCT
ijassa-583	260	20	x.	x.	PROPN
ijassa-583	260	21	yi	yi	PROPN
ijassa-583	260	22	,	,	PUNCT
ijassa-583	260	23	&	&	CCONJ
ijassa-583	260	24	a.	a.	PROPN
ijassa-583	260	25	zell	zell	PROPN
ijassa-583	260	26	.	.	PUNCT
ijassa-583	261	1	(	(	PUNCT
ijassa-583	261	2	2017	2017	NUM
ijassa-583	261	3	)	)	PUNCT
ijassa-583	261	4	.	.	PUNCT
ijassa-583	262	1	multi	multi	ADJ
ijassa-583	262	2	-	-	ADJ
ijassa-583	262	3	camera	camera	ADJ
ijassa-583	262	4	visual	visual	ADJ
ijassa-583	262	5	slam	slam	NOUN
ijassa-583	262	6	for	for	ADP
ijassa-583	262	7	autonomous	autonomous	ADJ
ijassa-583	262	8	navigation	navigation	NOUN
ijassa-583	262	9	of	of	ADP
ijassa-583	262	10	micro	micro	ADJ
ijassa-583	262	11	aerial	aerial	ADJ
ijassa-583	262	12	vehicles	vehicle	NOUN
ijassa-583	262	13	.	.	PUNCT
ijassa-583	263	1	robotics	robotic	NOUN
ijassa-583	263	2	and	and	CCONJ
ijassa-583	263	3	autonomous	autonomous	ADJ
ijassa-583	263	4	systems	system	NOUN
ijassa-583	263	5	,	,	PUNCT
ijassa-583	263	6	93	93	NUM
ijassa-583	263	7	,	,	PUNCT
ijassa-583	263	8	116–134	116–134	NUM
ijassa-583	263	9	.	.	PUNCT
ijassa-583	264	1	[	[	X
ijassa-583	264	2	14	14	NUM
ijassa-583	264	3	]	]	PUNCT
ijassa-583	264	4	x.	x.	NOUN
ijassa-583	264	5	li	li	PROPN
ijassa-583	264	6	,	,	PUNCT
ijassa-583	264	7	m.	m.	PROPN
ijassa-583	264	8	chen	chen	PROPN
ijassa-583	264	9	,	,	PUNCT
ijassa-583	264	10	&	&	CCONJ
ijassa-583	264	11	l.	l.	PROPN
ijassa-583	264	12	zhang	zhang	PROPN
ijassa-583	264	13	.	.	PUNCT
ijassa-583	264	14	(	(	PUNCT
ijassa-583	264	15	2016	2016	NUM
ijassa-583	264	16	)	)	PUNCT
ijassa-583	264	17	.	.	PUNCT
ijassa-583	265	1	quaternion	quaternion	NOUN
ijassa-583	265	2	-	-	PUNCT
ijassa-583	265	3	based	base	VERB
ijassa-583	265	4	robust	robust	ADJ
ijassa-583	265	5	extended	extended	ADJ
ijassa-583	265	6	kalman	kalman	NOUN
ijassa-583	265	7	filter	filter	NOUN
ijassa-583	265	8	for	for	ADP
ijassa-583	265	9	attitude	attitude	NOUN
ijassa-583	265	10	estimation	estimation	NOUN
ijassa-583	265	11	of	of	ADP
ijassa-583	265	12	micro	micro	ADJ
ijassa-583	265	13	quadrotors	quadrotor	NOUN
ijassa-583	265	14	using	use	VERB
ijassa-583	265	15	low	low	ADJ
ijassa-583	265	16	-	-	PUNCT
ijassa-583	265	17	cost	cost	NOUN
ijassa-583	265	18	mems	mem	NOUN
ijassa-583	265	19	.	.	PUNCT
ijassa-583	266	1	control	control	PROPN
ijassa-583	266	2	conference	conference	PROPN
ijassa-583	266	3	(	(	PUNCT
ijassa-583	266	4	ccc	ccc	PROPN
ijassa-583	266	5	)	)	PUNCT
ijassa-583	266	6	,	,	PUNCT
ijassa-583	266	7	2016	2016	NUM
ijassa-583	266	8	35th	35th	ADJ
ijassa-583	266	9	chinese	chinese	PROPN
ijassa-583	266	10	,	,	PUNCT
ijassa-583	266	11	10712–10717	10712–10717	NUM
ijassa-583	266	12	.	.	PUNCT
ijassa-583	267	1	copyright	copyright	NOUN
ijassa-583	267	2	c	c	ADP
ijassa-583	267	3	©	©	PROPN
ijassa-583	267	4	2018	2018	NUM
ijassa-583	267	5	assa	assa	NOUN
ijassa-583	267	6	.	.	PUNCT
ijassa-583	268	1	adv	adv	PROPN
ijassa-583	268	2	syst	syst	PROPN
ijassa-583	268	3	sci	sci	PROPN
ijassa-583	268	4	appl	appl	PROPN
ijassa-583	268	5	(	(	PUNCT
ijassa-583	268	6	2018	2018	NUM
ijassa-583	268	7	)	)	PUNCT
ijassa-583	268	8	http://x-io.co.uk/res/doc/madgwick_internal_report.pdf	http://x-io.co.uk/res/doc/madgwick_internal_report.pdf	PROPN
ijassa-583	268	9	http://x-io.co.uk/res/doc/madgwick_internal_report.pdf	http://x-io.co.uk/res/doc/madgwick_internal_report.pdf	PROPN
ijassa-583	268	10	introduction	introduction	NOUN
ijassa-583	268	11	problem	problem	NOUN
ijassa-583	268	12	statement	statement	NOUN
ijassa-583	268	13	proposed	propose	VERB
ijassa-583	268	14	solution	solution	NOUN
ijassa-583	268	15	technology	technology	NOUN
ijassa-583	268	16	flight	flight	NOUN
ijassa-583	268	17	strategy	strategy	NOUN
ijassa-583	268	18	angle	angle	NOUN
ijassa-583	268	19	stabilization	stabilization	NOUN
ijassa-583	268	20	altitude	altitude	NOUN
ijassa-583	268	21	stabilization	stabilization	NOUN
ijassa-583	268	22	velocity	velocity	NOUN
ijassa-583	268	23	stabilization	stabilization	NOUN
ijassa-583	268	24	camera	camera	NOUN
ijassa-583	268	25	model	model	NOUN
ijassa-583	268	26	monocular	monocular	PROPN
ijassa-583	268	27	visual	visual	ADJ
ijassa-583	268	28	odometry	odometry	NOUN
ijassa-583	268	29	stereo	stereo	PROPN
ijassa-583	268	30	visual	visual	PROPN
ijassa-583	268	31	odometry	odometry	NOUN
ijassa-583	268	32	search	search	NOUN
ijassa-583	268	33	for	for	ADP
ijassa-583	268	34	window	window	NOUN
ijassa-583	268	35	simulation	simulation	NOUN
ijassa-583	268	36	results	result	VERB
ijassa-583	268	37	technical	technical	ADJ
ijassa-583	268	38	difficulties	difficulty	NOUN
ijassa-583	268	39	results	result	VERB