id	sid	tid	token	lemma	pos
aiti-4284	1	1	template	template	NOUN
aiti-4284	1	2	encit2010	encit2010	PROPN
aiti-4284	1	3	advances	advance	VERB
aiti-4284	1	4	in	in	ADP
aiti-4284	1	5	technology	technology	NOUN
aiti-4284	1	6	innovation	innovation	NOUN
aiti-4284	1	7	,	,	PUNCT
aiti-4284	1	8	vol	vol	NOUN
aiti-4284	1	9	.	.	PROPN
aiti-4284	1	10	5	5	NUM
aiti-4284	1	11	,	,	PUNCT
aiti-4284	1	12	no	no	INTJ
aiti-4284	1	13	.	.	NOUN
aiti-4284	1	14	1	1	NUM
aiti-4284	1	15	,	,	PUNCT
aiti-4284	1	16	2020	2020	NUM
aiti-4284	1	17	,	,	PUNCT
aiti-4284	1	18	pp	pp	ADJ
aiti-4284	1	19	.	.	PUNCT
aiti-4284	2	1	10	10	NUM
aiti-4284	2	2	-	-	SYM
aiti-4284	2	3	17	17	NUM
aiti-4284	2	4	combining	combine	VERB
aiti-4284	2	5	cloud	cloud	NOUN
aiti-4284	2	6	computing	computing	NOUN
aiti-4284	2	7	and	and	CCONJ
aiti-4284	2	8	artificial	artificial	ADJ
aiti-4284	2	9	intelligence	intelligence	NOUN
aiti-4284	2	10	scene	scene	NOUN
aiti-4284	2	11	recognition	recognition	NOUN
aiti-4284	2	12	in	in	ADP
aiti-4284	2	13	real	real	ADJ
aiti-4284	2	14	-	-	PUNCT
aiti-4284	2	15	time	time	NOUN
aiti-4284	2	16	environment	environment	NOUN
aiti-4284	2	17	image	image	NOUN
aiti-4284	2	18	planning	planning	NOUN
aiti-4284	2	19	walkable	walkable	ADJ
aiti-4284	2	20	area	area	NOUN
aiti-4284	2	21	jia	jia	PROPN
aiti-4284	2	22	-	-	PUNCT
aiti-4284	2	23	shing	she	VERB
aiti-4284	2	24	sheu	sheu	PROPN
aiti-4284	2	25	*	*	X
aiti-4284	2	26	,	,	PUNCT
aiti-4284	2	27	chen	chen	PROPN
aiti-4284	2	28	-	-	PUNCT
aiti-4284	2	29	yin	yin	PROPN
aiti-4284	2	30	han	han	PROPN
aiti-4284	2	31	department	department	PROPN
aiti-4284	2	32	of	of	ADP
aiti-4284	2	33	computer	computer	NOUN
aiti-4284	2	34	science	science	NOUN
aiti-4284	2	35	,	,	PUNCT
aiti-4284	2	36	national	national	PROPN
aiti-4284	2	37	taipei	taipei	PROPN
aiti-4284	2	38	university	university	PROPN
aiti-4284	2	39	of	of	ADP
aiti-4284	2	40	education	education	PROPN
aiti-4284	2	41	,	,	PUNCT
aiti-4284	2	42	taipei	taipei	PROPN
aiti-4284	2	43	,	,	PUNCT
aiti-4284	2	44	taiwan	taiwan	PROPN
aiti-4284	2	45	received	receive	VERB
aiti-4284	2	46	18	18	NUM
aiti-4284	2	47	may	may	PROPN
aiti-4284	2	48	2019	2019	NUM
aiti-4284	2	49	;	;	PUNCT
aiti-4284	2	50	received	receive	VERB
aiti-4284	2	51	in	in	ADP
aiti-4284	2	52	revised	revise	VERB
aiti-4284	2	53	form	form	NOUN
aiti-4284	2	54	11	11	NUM
aiti-4284	2	55	june	june	PROPN
aiti-4284	2	56	2019	2019	NUM
aiti-4284	2	57	;	;	PUNCT
aiti-4284	2	58	accepted	accept	VERB
aiti-4284	2	59	20	20	NUM
aiti-4284	2	60	august	august	PROPN
aiti-4284	2	61	2019	2019	NUM
aiti-4284	2	62	doi	doi	NOUN
aiti-4284	2	63	:	:	PUNCT
aiti-4284	2	64	https://doi.org/10.46604/aiti.2020.4284	https://doi.org/10.46604/aiti.2020.4284	PROPN
aiti-4284	2	65	abstract	abstract	ADJ
aiti-4284	2	66	this	this	DET
aiti-4284	2	67	study	study	NOUN
aiti-4284	2	68	developed	develop	VERB
aiti-4284	2	69	scene	scene	NOUN
aiti-4284	2	70	recognition	recognition	NOUN
aiti-4284	2	71	and	and	CCONJ
aiti-4284	2	72	cloud	cloud	NOUN
aiti-4284	2	73	computing	compute	VERB
aiti-4284	2	74	technology	technology	NOUN
aiti-4284	2	75	for	for	ADP
aiti-4284	2	76	real	real	ADJ
aiti-4284	2	77	-	-	PUNCT
aiti-4284	2	78	time	time	NOUN
aiti-4284	2	79	environmental	environmental	PROPN
aiti-4284	2	80	imagebased	imagebase	VERB
aiti-4284	2	81	regional	regional	ADJ
aiti-4284	2	82	planning	planning	NOUN
aiti-4284	2	83	using	use	VERB
aiti-4284	2	84	artificial	artificial	ADJ
aiti-4284	2	85	intelligence	intelligence	NOUN
aiti-4284	2	86	.	.	PUNCT
aiti-4284	3	1	tensorflow	tensorflow	NOUN
aiti-4284	3	2	object	object	NOUN
aiti-4284	3	3	detection	detection	NOUN
aiti-4284	3	4	functions	function	NOUN
aiti-4284	3	5	were	be	AUX
aiti-4284	3	6	used	use	VERB
aiti-4284	3	7	for	for	ADP
aiti-4284	3	8	artificial	artificial	ADJ
aiti-4284	3	9	intelligence	intelligence	NOUN
aiti-4284	3	10	technology	technology	NOUN
aiti-4284	3	11	.	.	PUNCT
aiti-4284	4	1	first	first	ADV
aiti-4284	4	2	,	,	PUNCT
aiti-4284	4	3	an	an	DET
aiti-4284	4	4	image	image	NOUN
aiti-4284	4	5	from	from	ADP
aiti-4284	4	6	the	the	DET
aiti-4284	4	7	environment	environment	NOUN
aiti-4284	4	8	is	be	AUX
aiti-4284	4	9	transmitted	transmit	VERB
aiti-4284	4	10	to	to	ADP
aiti-4284	4	11	a	a	DET
aiti-4284	4	12	cloud	cloud	ADJ
aiti-4284	4	13	server	server	NOUN
aiti-4284	4	14	for	for	ADP
aiti-4284	4	15	cloud	cloud	NOUN
aiti-4284	4	16	computing	computing	NOUN
aiti-4284	4	17	,	,	PUNCT
aiti-4284	4	18	and	and	CCONJ
aiti-4284	4	19	all	all	DET
aiti-4284	4	20	objects	object	NOUN
aiti-4284	4	21	in	in	ADP
aiti-4284	4	22	the	the	DET
aiti-4284	4	23	image	image	NOUN
aiti-4284	4	24	are	be	AUX
aiti-4284	4	25	marked	mark	VERB
aiti-4284	4	26	using	use	VERB
aiti-4284	4	27	a	a	DET
aiti-4284	4	28	bounding	bounding	NOUN
aiti-4284	4	29	box	box	NOUN
aiti-4284	4	30	method	method	NOUN
aiti-4284	4	31	.	.	PUNCT
aiti-4284	5	1	obstacle	obstacle	NOUN
aiti-4284	5	2	detection	detection	NOUN
aiti-4284	5	3	is	be	AUX
aiti-4284	5	4	performed	perform	VERB
aiti-4284	5	5	using	use	VERB
aiti-4284	5	6	object	object	NOUN
aiti-4284	5	7	detection	detection	NOUN
aiti-4284	5	8	,	,	PUNCT
aiti-4284	5	9	and	and	CCONJ
aiti-4284	5	10	the	the	DET
aiti-4284	5	11	associated	associated	ADJ
aiti-4284	5	12	technique	technique	NOUN
aiti-4284	5	13	algorithm	algorithm	NOUN
aiti-4284	5	14	is	be	AUX
aiti-4284	5	15	used	use	VERB
aiti-4284	5	16	to	to	PART
aiti-4284	5	17	mark	mark	VERB
aiti-4284	5	18	walkable	walkable	ADJ
aiti-4284	5	19	areas	area	NOUN
aiti-4284	5	20	and	and	CCONJ
aiti-4284	5	21	relative	relative	ADJ
aiti-4284	5	22	coordinates	coordinate	NOUN
aiti-4284	5	23	.	.	PUNCT
aiti-4284	6	1	the	the	DET
aiti-4284	6	2	results	result	NOUN
aiti-4284	6	3	of	of	ADP
aiti-4284	6	4	this	this	DET
aiti-4284	6	5	study	study	NOUN
aiti-4284	6	6	provide	provide	VERB
aiti-4284	6	7	a	a	DET
aiti-4284	6	8	machine	machine	NOUN
aiti-4284	6	9	vision	vision	NOUN
aiti-4284	6	10	application	application	NOUN
aiti-4284	6	11	combined	combine	VERB
aiti-4284	6	12	with	with	ADP
aiti-4284	6	13	cloud	cloud	NOUN
aiti-4284	6	14	computing	computing	NOUN
aiti-4284	6	15	and	and	CCONJ
aiti-4284	6	16	artificial	artificial	ADJ
aiti-4284	6	17	intelligence	intelligence	NOUN
aiti-4284	6	18	scene	scene	NOUN
aiti-4284	6	19	recognition	recognition	NOUN
aiti-4284	6	20	that	that	PRON
aiti-4284	6	21	can	can	AUX
aiti-4284	6	22	be	be	AUX
aiti-4284	6	23	used	use	VERB
aiti-4284	6	24	to	to	PART
aiti-4284	6	25	complete	complete	VERB
aiti-4284	6	26	walking	walking	NOUN
aiti-4284	6	27	space	space	NOUN
aiti-4284	6	28	activities	activity	NOUN
aiti-4284	6	29	planned	plan	VERB
aiti-4284	6	30	by	by	ADP
aiti-4284	6	31	a	a	DET
aiti-4284	6	32	cleaning	cleaning	NOUN
aiti-4284	6	33	robot	robot	NOUN
aiti-4284	6	34	or	or	CCONJ
aiti-4284	6	35	unmanned	unmanned	ADJ
aiti-4284	6	36	vehicle	vehicle	NOUN
aiti-4284	6	37	through	through	ADP
aiti-4284	6	38	real	real	ADJ
aiti-4284	6	39	-	-	PUNCT
aiti-4284	6	40	time	time	NOUN
aiti-4284	6	41	utilization	utilization	NOUN
aiti-4284	6	42	of	of	ADP
aiti-4284	6	43	images	image	NOUN
aiti-4284	6	44	from	from	ADP
aiti-4284	6	45	the	the	DET
aiti-4284	6	46	environment	environment	NOUN
aiti-4284	6	47	.	.	PUNCT
aiti-4284	7	1	keywords	keyword	NOUN
aiti-4284	7	2	:	:	PUNCT
aiti-4284	7	3	tensorflow	tensorflow	NOUN
aiti-4284	7	4	,	,	PUNCT
aiti-4284	7	5	computer	computer	NOUN
aiti-4284	7	6	vision	vision	NOUN
aiti-4284	7	7	,	,	PUNCT
aiti-4284	7	8	neural	neural	ADJ
aiti-4284	7	9	network	network	NOUN
aiti-4284	7	10	,	,	PUNCT
aiti-4284	7	11	scene	scene	NOUN
aiti-4284	7	12	recognition	recognition	NOUN
aiti-4284	7	13	,	,	PUNCT
aiti-4284	7	14	cloud	cloud	NOUN
aiti-4284	7	15	computing	compute	VERB
aiti-4284	7	16	1	1	NUM
aiti-4284	7	17	.	.	PUNCT
aiti-4284	7	18	introduction	introduction	NOUN
aiti-4284	7	19	with	with	ADP
aiti-4284	7	20	the	the	DET
aiti-4284	7	21	rapid	rapid	ADJ
aiti-4284	7	22	development	development	NOUN
aiti-4284	7	23	of	of	ADP
aiti-4284	7	24	technology	technology	NOUN
aiti-4284	7	25	,	,	PUNCT
aiti-4284	7	26	high	high	ADJ
aiti-4284	7	27	-	-	PUNCT
aiti-4284	7	28	quality	quality	NOUN
aiti-4284	7	29	digital	digital	ADJ
aiti-4284	7	30	cameras	camera	NOUN
aiti-4284	7	31	have	have	AUX
aiti-4284	7	32	become	become	AUX
aiti-4284	7	33	commonly	commonly	ADV
aiti-4284	7	34	used	use	VERB
aiti-4284	7	35	for	for	ADP
aiti-4284	7	36	acquiring	acquire	VERB
aiti-4284	7	37	images	image	NOUN
aiti-4284	7	38	.	.	PUNCT
aiti-4284	8	1	these	these	DET
aiti-4284	8	2	cameras	camera	NOUN
aiti-4284	8	3	are	be	AUX
aiti-4284	8	4	used	use	VERB
aiti-4284	8	5	in	in	ADP
aiti-4284	8	6	mobile	mobile	ADJ
aiti-4284	8	7	phones	phone	NOUN
aiti-4284	8	8	,	,	PUNCT
aiti-4284	8	9	personal	personal	ADJ
aiti-4284	8	10	digital	digital	ADJ
aiti-4284	8	11	assistants	assistant	NOUN
aiti-4284	8	12	,	,	PUNCT
aiti-4284	8	13	robots	robot	NOUN
aiti-4284	8	14	,	,	PUNCT
aiti-4284	8	15	medical	medical	ADJ
aiti-4284	8	16	systems	system	NOUN
aiti-4284	8	17	,	,	PUNCT
aiti-4284	8	18	and	and	CCONJ
aiti-4284	8	19	surveillance	surveillance	NOUN
aiti-4284	8	20	and	and	CCONJ
aiti-4284	8	21	home	home	NOUN
aiti-4284	8	22	security	security	NOUN
aiti-4284	8	23	systems	system	NOUN
aiti-4284	8	24	.	.	PUNCT
aiti-4284	9	1	with	with	ADP
aiti-4284	9	2	machine	machine	NOUN
aiti-4284	9	3	learning	learning	NOUN
aiti-4284	9	4	and	and	CCONJ
aiti-4284	9	5	neural	neural	ADJ
aiti-4284	9	6	operations	operation	NOUN
aiti-4284	9	7	,	,	PUNCT
aiti-4284	9	8	the	the	DET
aiti-4284	9	9	image	image	NOUN
aiti-4284	9	10	in	in	ADP
aiti-4284	9	11	the	the	DET
aiti-4284	9	12	cloud	cloud	NOUN
aiti-4284	9	13	can	can	AUX
aiti-4284	9	14	be	be	AUX
aiti-4284	9	15	easily	easily	ADV
aiti-4284	9	16	identified	identify	VERB
aiti-4284	9	17	.	.	PUNCT
aiti-4284	10	1	this	this	DET
aiti-4284	10	2	study	study	NOUN
aiti-4284	10	3	primarily	primarily	ADV
aiti-4284	10	4	used	use	VERB
aiti-4284	10	5	cloud	cloud	NOUN
aiti-4284	10	6	resources	resource	NOUN
aiti-4284	10	7	currently	currently	ADV
aiti-4284	10	8	available	available	ADJ
aiti-4284	10	9	to	to	PART
aiti-4284	10	10	upload	upload	VERB
aiti-4284	10	11	real	real	ADJ
aiti-4284	10	12	-	-	PUNCT
aiti-4284	10	13	time	time	NOUN
aiti-4284	10	14	images	image	NOUN
aiti-4284	10	15	from	from	ADP
aiti-4284	10	16	the	the	DET
aiti-4284	10	17	environment	environment	NOUN
aiti-4284	10	18	obtained	obtain	VERB
aiti-4284	10	19	using	use	VERB
aiti-4284	10	20	a	a	DET
aiti-4284	10	21	digital	digital	ADJ
aiti-4284	10	22	camera	camera	NOUN
aiti-4284	10	23	to	to	ADP
aiti-4284	10	24	the	the	DET
aiti-4284	10	25	cloud	cloud	NOUN
aiti-4284	10	26	and	and	CCONJ
aiti-4284	10	27	cooperate	cooperate	VERB
aiti-4284	10	28	with	with	ADP
aiti-4284	10	29	cloud	cloud	NOUN
aiti-4284	10	30	machine	machine	NOUN
aiti-4284	10	31	learning	learning	NOUN
aiti-4284	10	32	and	and	CCONJ
aiti-4284	10	33	image	image	NOUN
aiti-4284	10	34	recognition	recognition	NOUN
aiti-4284	10	35	for	for	ADP
aiti-4284	10	36	identifying	identify	VERB
aiti-4284	10	37	different	different	ADJ
aiti-4284	10	38	objects	object	NOUN
aiti-4284	10	39	in	in	ADP
aiti-4284	10	40	the	the	DET
aiti-4284	10	41	real	real	ADJ
aiti-4284	10	42	-	-	PUNCT
aiti-4284	10	43	time	time	NOUN
aiti-4284	10	44	image	image	NOUN
aiti-4284	10	45	.	.	PUNCT
aiti-4284	11	1	when	when	SCONJ
aiti-4284	11	2	objects	object	NOUN
aiti-4284	11	3	in	in	ADP
aiti-4284	11	4	a	a	DET
aiti-4284	11	5	live	live	ADJ
aiti-4284	11	6	image	image	NOUN
aiti-4284	11	7	can	can	AUX
aiti-4284	11	8	be	be	AUX
aiti-4284	11	9	successfully	successfully	ADV
aiti-4284	11	10	identified	identify	VERB
aiti-4284	11	11	,	,	PUNCT
aiti-4284	11	12	the	the	DET
aiti-4284	11	13	environmental	environmental	ADJ
aiti-4284	11	14	conditions	condition	NOUN
aiti-4284	11	15	observed	observe	VERB
aiti-4284	11	16	in	in	ADP
aiti-4284	11	17	the	the	DET
aiti-4284	11	18	live	live	ADJ
aiti-4284	11	19	image	image	NOUN
aiti-4284	11	20	can	can	AUX
aiti-4284	11	21	be	be	AUX
aiti-4284	11	22	further	far	ADV
aiti-4284	11	23	distinguished	distinguish	VERB
aiti-4284	11	24	.	.	PUNCT
aiti-4284	12	1	this	this	DET
aiti-4284	12	2	study	study	NOUN
aiti-4284	12	3	used	use	VERB
aiti-4284	12	4	these	these	DET
aiti-4284	12	5	resources	resource	NOUN
aiti-4284	12	6	to	to	PART
aiti-4284	12	7	map	map	VERB
aiti-4284	12	8	real	real	ADJ
aiti-4284	12	9	-	-	PUNCT
aiti-4284	12	10	time	time	NOUN
aiti-4284	12	11	images	image	NOUN
aiti-4284	12	12	from	from	ADP
aiti-4284	12	13	the	the	DET
aiti-4284	12	14	environment	environment	NOUN
aiti-4284	12	15	to	to	ADP
aiti-4284	12	16	walkable	walkable	ADJ
aiti-4284	12	17	areas	area	NOUN
aiti-4284	12	18	by	by	ADP
aiti-4284	12	19	combining	combine	VERB
aiti-4284	12	20	images	image	NOUN
aiti-4284	12	21	obtained	obtain	VERB
aiti-4284	12	22	using	use	VERB
aiti-4284	12	23	digital	digital	ADJ
aiti-4284	12	24	cameras	camera	NOUN
aiti-4284	12	25	,	,	PUNCT
aiti-4284	12	26	which	which	PRON
aiti-4284	12	27	can	can	AUX
aiti-4284	12	28	be	be	AUX
aiti-4284	12	29	used	use	VERB
aiti-4284	12	30	with	with	ADP
aiti-4284	12	31	eye	eye	NOUN
aiti-4284	12	32	-	-	PUNCT
aiti-4284	12	33	like	like	ADJ
aiti-4284	12	34	cameras	camera	NOUN
aiti-4284	12	35	when	when	SCONJ
aiti-4284	12	36	combined	combine	VERB
aiti-4284	12	37	with	with	ADP
aiti-4284	12	38	cloud	cloud	NOUN
aiti-4284	12	39	machine	machine	NOUN
aiti-4284	12	40	learning	learning	NOUN
aiti-4284	12	41	and	and	CCONJ
aiti-4284	12	42	neural	neural	ADJ
aiti-4284	12	43	recognition	recognition	NOUN
aiti-4284	12	44	.	.	PUNCT
aiti-4284	13	1	in	in	ADP
aiti-4284	13	2	the	the	DET
aiti-4284	13	3	study	study	NOUN
aiti-4284	13	4	,	,	PUNCT
aiti-4284	13	5	section	section	NOUN
aiti-4284	13	6	2	2	NUM
aiti-4284	13	7	provides	provide	VERB
aiti-4284	13	8	a	a	DET
aiti-4284	13	9	review	review	NOUN
aiti-4284	13	10	of	of	ADP
aiti-4284	13	11	the	the	DET
aiti-4284	13	12	literature	literature	NOUN
aiti-4284	13	13	and	and	CCONJ
aiti-4284	13	14	methodology	methodology	NOUN
aiti-4284	13	15	.	.	PUNCT
aiti-4284	14	1	the	the	DET
aiti-4284	14	2	structure	structure	NOUN
aiti-4284	14	3	of	of	ADP
aiti-4284	14	4	the	the	DET
aiti-4284	14	5	system	system	NOUN
aiti-4284	14	6	is	be	AUX
aiti-4284	14	7	discussed	discuss	VERB
aiti-4284	14	8	in	in	ADP
aiti-4284	14	9	section	section	NOUN
aiti-4284	14	10	3	3	NUM
aiti-4284	14	11	.	.	PUNCT
aiti-4284	14	12	design	design	NOUN
aiti-4284	14	13	and	and	CCONJ
aiti-4284	14	14	experiments	experiment	NOUN
aiti-4284	14	15	are	be	AUX
aiti-4284	14	16	provided	provide	VERB
aiti-4284	14	17	in	in	ADP
aiti-4284	14	18	section	section	NOUN
aiti-4284	14	19	4	4	NUM
aiti-4284	14	20	.	.	PUNCT
aiti-4284	15	1	finally	finally	ADV
aiti-4284	15	2	,	,	PUNCT
aiti-4284	15	3	conclusions	conclusion	NOUN
aiti-4284	15	4	are	be	AUX
aiti-4284	15	5	provided	provide	VERB
aiti-4284	15	6	in	in	ADP
aiti-4284	15	7	section	section	NOUN
aiti-4284	15	8	5	5	NUM
aiti-4284	15	9	.	.	NOUN
aiti-4284	15	10	2	2	NUM
aiti-4284	15	11	.	.	X
aiti-4284	15	12	literature	literature	NOUN
aiti-4284	15	13	review	review	PROPN
aiti-4284	15	14	and	and	CCONJ
aiti-4284	15	15	methodology	methodology	VERB
aiti-4284	15	16	an	an	DET
aiti-4284	15	17	artificial	artificial	ADJ
aiti-4284	15	18	neural	neural	ADJ
aiti-4284	15	19	network	network	NOUN
aiti-4284	15	20	is	be	AUX
aiti-4284	15	21	a	a	DET
aiti-4284	15	22	mathematical	mathematical	ADJ
aiti-4284	15	23	model	model	NOUN
aiti-4284	15	24	based	base	VERB
aiti-4284	15	25	on	on	ADP
aiti-4284	15	26	a	a	DET
aiti-4284	15	27	neural	neural	ADJ
aiti-4284	15	28	network	network	NOUN
aiti-4284	15	29	system	system	NOUN
aiti-4284	15	30	that	that	PRON
aiti-4284	15	31	mimics	mimic	VERB
aiti-4284	15	32	humans	human	NOUN
aiti-4284	15	33	.	.	PUNCT
aiti-4284	16	1	the	the	DET
aiti-4284	16	2	neural	neural	ADJ
aiti-4284	16	3	network	network	NOUN
aiti-4284	16	4	aims	aim	VERB
aiti-4284	16	5	to	to	PART
aiti-4284	16	6	establish	establish	VERB
aiti-4284	16	7	a	a	DET
aiti-4284	16	8	neural	neural	ADJ
aiti-4284	16	9	network	network	NOUN
aiti-4284	16	10	model	model	NOUN
aiti-4284	16	11	that	that	PRON
aiti-4284	16	12	mimics	mimic	VERB
aiti-4284	16	13	biological	biological	ADJ
aiti-4284	16	14	perception	perception	NOUN
aiti-4284	16	15	in	in	ADP
aiti-4284	16	16	a	a	DET
aiti-4284	16	17	computer	computer	NOUN
aiti-4284	16	18	and	and	CCONJ
aiti-4284	16	19	uses	use	VERB
aiti-4284	16	20	this	this	DET
aiti-4284	16	21	mathematical	mathematical	ADJ
aiti-4284	16	22	statistical	statistical	ADJ
aiti-4284	16	23	model	model	NOUN
aiti-4284	16	24	to	to	PART
aiti-4284	16	25	optimize	optimize	VERB
aiti-4284	16	26	data	datum	NOUN
aiti-4284	16	27	learning	learning	NOUN
aiti-4284	16	28	.	.	PUNCT
aiti-4284	17	1	in	in	ADP
aiti-4284	17	2	the	the	DET
aiti-4284	17	3	cognitive	cognitive	ADJ
aiti-4284	17	4	system	system	NOUN
aiti-4284	17	5	of	of	ADP
aiti-4284	17	6	artificial	artificial	ADJ
aiti-4284	17	7	intelligence	intelligence	NOUN
aiti-4284	17	8	,	,	PUNCT
aiti-4284	17	9	the	the	DET
aiti-4284	17	10	use	use	NOUN
aiti-4284	17	11	of	of	ADP
aiti-4284	17	12	neural	neural	ADJ
aiti-4284	17	13	network	network	NOUN
aiti-4284	17	14	-	-	PUNCT
aiti-4284	17	15	like	like	ADJ
aiti-4284	17	16	algorithms	algorithm	NOUN
aiti-4284	17	17	is	be	AUX
aiti-4284	17	18	more	more	ADV
aiti-4284	17	19	advantageous	advantageous	ADJ
aiti-4284	17	20	than	than	ADP
aiti-4284	17	21	formal	formal	ADJ
aiti-4284	17	22	logic	logic	NOUN
aiti-4284	17	23	inference	inference	NOUN
aiti-4284	17	24	algorithms	algorithm	NOUN
aiti-4284	17	25	.	.	PUNCT
aiti-4284	18	1	because	because	SCONJ
aiti-4284	18	2	the	the	DET
aiti-4284	18	3	neural	neural	ADJ
aiti-4284	18	4	network	network	NOUN
aiti-4284	18	5	has	have	AUX
aiti-4284	18	6	nonfixed	nonfixe	VERB
aiti-4284	18	7	,	,	PUNCT
aiti-4284	18	8	nonconvex	nonconvex	NOUN
aiti-4284	18	9	,	,	PUNCT
aiti-4284	18	10	nonlinear	nonlinear	ADJ
aiti-4284	18	11	,	,	PUNCT
aiti-4284	18	12	and	and	CCONJ
aiti-4284	18	13	nonlimiting	nonlimite	VERB
aiti-4284	18	14	characteristics	characteristic	NOUN
aiti-4284	18	15	,	,	PUNCT
aiti-4284	18	16	different	different	ADJ
aiti-4284	18	17	structures	structure	NOUN
aiti-4284	18	18	,	,	PUNCT
aiti-4284	18	19	functions	function	NOUN
aiti-4284	18	20	,	,	PUNCT
aiti-4284	18	21	and	and	CCONJ
aiti-4284	18	22	learning	learn	VERB
aiti-4284	18	23	algorithms	algorithm	NOUN
aiti-4284	18	24	can	can	AUX
aiti-4284	18	25	be	be	AUX
aiti-4284	18	26	used	use	VERB
aiti-4284	18	27	[	[	PUNCT
aiti-4284	18	28	1	1	NUM
aiti-4284	18	29	-	-	SYM
aiti-4284	18	30	3	3	NUM
aiti-4284	18	31	]	]	PUNCT
aiti-4284	18	32	.	.	PUNCT
aiti-4284	19	1	neural	neural	ADJ
aiti-4284	19	2	networks	network	NOUN
aiti-4284	19	3	can	can	AUX
aiti-4284	19	4	be	be	AUX
aiti-4284	19	5	classified	classify	VERB
aiti-4284	19	6	into	into	ADP
aiti-4284	19	7	various	various	ADJ
aiti-4284	19	8	types	type	NOUN
aiti-4284	19	9	,	,	PUNCT
aiti-4284	19	10	such	such	ADJ
aiti-4284	19	11	as	as	ADP
aiti-4284	19	12	perceptual	perceptual	ADJ
aiti-4284	19	13	neural	neural	ADJ
aiti-4284	19	14	networks	network	NOUN
aiti-4284	19	15	,	,	PUNCT
aiti-4284	19	16	linear	linear	ADJ
aiti-4284	19	17	neural	neural	ADJ
aiti-4284	19	18	*	*	PUNCT
aiti-4284	19	19	corresponding	correspond	VERB
aiti-4284	19	20	author	author	NOUN
aiti-4284	19	21	.	.	PUNCT
aiti-4284	20	1	e	e	X
aiti-4284	20	2	-	-	NOUN
aiti-4284	20	3	mail	mail	NOUN
aiti-4284	20	4	address	address	NOUN
aiti-4284	20	5	:	:	PUNCT
aiti-4284	20	6	jiashing@tea.ntue.edu.tw	jiashing@tea.ntue.edu.tw	PROPN
aiti-4284	20	7	tel	tel	PROPN
aiti-4284	20	8	.	.	PUNCT
aiti-4284	20	9	:	:	PUNCT
aiti-4284	21	1	+886	+886	NUM
aiti-4284	21	2	-	-	SYM
aiti-4284	21	3	2	2	NUM
aiti-4284	21	4	-	-	PUNCT
aiti-4284	21	5	27321104	27321104	NUM
aiti-4284	21	6	ext	ext	NOUN
aiti-4284	21	7	.	.	PROPN
aiti-4284	21	8	55425	55425	NUM
aiti-4284	21	9	;	;	PUNCT
aiti-4284	21	10	fax	fax	NOUN
aiti-4284	21	11	:	:	PUNCT
aiti-4284	21	12	+886	+886	NUM
aiti-4284	21	13	-	-	PUNCT
aiti-4284	21	14	2	2	NUM
aiti-4284	21	15	-	-	PUNCT
aiti-4284	21	16	27375457	27375457	NUM
aiti-4284	21	17	advances	advance	NOUN
aiti-4284	21	18	in	in	ADP
aiti-4284	21	19	technology	technology	NOUN
aiti-4284	21	20	innovation	innovation	NOUN
aiti-4284	21	21	,	,	PUNCT
aiti-4284	21	22	vol	vol	NOUN
aiti-4284	21	23	.	.	PROPN
aiti-4284	22	1	5	5	NUM
aiti-4284	22	2	,	,	PUNCT
aiti-4284	22	3	no	no	INTJ
aiti-4284	22	4	.	.	NOUN
aiti-4284	22	5	1	1	NUM
aiti-4284	22	6	,	,	PUNCT
aiti-4284	22	7	2020	2020	NUM
aiti-4284	22	8	,	,	PUNCT
aiti-4284	22	9	pp	pp	ADJ
aiti-4284	22	10	.	.	PUNCT
aiti-4284	23	1	10	10	NUM
aiti-4284	23	2	-	-	SYM
aiti-4284	23	3	17	17	NUM
aiti-4284	23	4	11	11	NUM
aiti-4284	23	5	networks	network	NOUN
aiti-4284	23	6	,	,	PUNCT
aiti-4284	23	7	inverted	invert	VERB
aiti-4284	23	8	-	-	PUNCT
aiti-4284	23	9	transitive	transitive	ADJ
aiti-4284	23	10	neural	neural	ADJ
aiti-4284	23	11	networks	network	NOUN
aiti-4284	23	12	,	,	PUNCT
aiti-4284	23	13	and	and	CCONJ
aiti-4284	23	14	enhanced	enhance	VERB
aiti-4284	23	15	neural	neural	ADJ
aiti-4284	23	16	networks	network	NOUN
aiti-4284	23	17	.	.	PUNCT
aiti-4284	24	1	because	because	SCONJ
aiti-4284	24	2	an	an	DET
aiti-4284	24	3	inverse	inverse	NOUN
aiti-4284	24	4	-	-	PUNCT
aiti-4284	24	5	transfer	transfer	NOUN
aiti-4284	24	6	-	-	PUNCT
aiti-4284	24	7	like	like	ADJ
aiti-4284	24	8	neural	neural	ADJ
aiti-4284	24	9	network	network	NOUN
aiti-4284	24	10	can	can	AUX
aiti-4284	24	11	approximate	approximate	VERB
aiti-4284	24	12	any	any	DET
aiti-4284	24	13	function	function	NOUN
aiti-4284	24	14	with	with	ADP
aiti-4284	24	15	arbitrary	arbitrary	ADJ
aiti-4284	24	16	precision	precision	NOUN
aiti-4284	24	17	under	under	ADP
aiti-4284	24	18	appropriate	appropriate	ADJ
aiti-4284	24	19	parameter	parameter	NOUN
aiti-4284	24	20	settings	setting	NOUN
aiti-4284	24	21	,	,	PUNCT
aiti-4284	24	22	it	it	PRON
aiti-4284	24	23	can	can	AUX
aiti-4284	24	24	effectively	effectively	ADV
aiti-4284	24	25	predict	predict	VERB
aiti-4284	24	26	the	the	DET
aiti-4284	24	27	problem	problem	NOUN
aiti-4284	24	28	and	and	CCONJ
aiti-4284	24	29	provide	provide	VERB
aiti-4284	24	30	functions	function	NOUN
aiti-4284	24	31	such	such	ADJ
aiti-4284	24	32	as	as	ADP
aiti-4284	24	33	environment	environment	NOUN
aiti-4284	24	34	perception	perception	NOUN
aiti-4284	24	35	,	,	PUNCT
aiti-4284	24	36	pattern	pattern	NOUN
aiti-4284	24	37	recognition	recognition	NOUN
aiti-4284	24	38	,	,	PUNCT
aiti-4284	24	39	and	and	CCONJ
aiti-4284	24	40	prediction	prediction	NOUN
aiti-4284	24	41	.	.	PUNCT
aiti-4284	25	1	neural	neural	ADJ
aiti-4284	25	2	networks	network	NOUN
aiti-4284	25	3	have	have	AUX
aiti-4284	25	4	been	be	AUX
aiti-4284	25	5	applied	apply	VERB
aiti-4284	25	6	in	in	ADP
aiti-4284	25	7	many	many	ADJ
aiti-4284	25	8	fields	field	NOUN
aiti-4284	25	9	,	,	PUNCT
aiti-4284	25	10	including	include	VERB
aiti-4284	25	11	emotion	emotion	NOUN
aiti-4284	25	12	perception	perception	NOUN
aiti-4284	25	13	,	,	PUNCT
aiti-4284	25	14	handwriting	handwriting	NOUN
aiti-4284	25	15	recognition	recognition	NOUN
aiti-4284	25	16	,	,	PUNCT
aiti-4284	25	17	image	image	NOUN
aiti-4284	25	18	recognition	recognition	NOUN
aiti-4284	25	19	,	,	PUNCT
aiti-4284	25	20	and	and	CCONJ
aiti-4284	25	21	language	language	NOUN
aiti-4284	25	22	translation	translation	NOUN
aiti-4284	25	23	[	[	X
aiti-4284	25	24	4	4	NUM
aiti-4284	25	25	-	-	SYM
aiti-4284	25	26	7	7	NUM
aiti-4284	25	27	]	]	PUNCT
aiti-4284	25	28	.	.	PUNCT
aiti-4284	26	1	a	a	DET
aiti-4284	26	2	neural	neural	ADJ
aiti-4284	26	3	network	network	NOUN
aiti-4284	26	4	generally	generally	ADV
aiti-4284	26	5	has	have	VERB
aiti-4284	26	6	several	several	ADJ
aiti-4284	26	7	levels	level	NOUN
aiti-4284	26	8	,	,	PUNCT
aiti-4284	26	9	and	and	CCONJ
aiti-4284	26	10	each	each	DET
aiti-4284	26	11	level	level	NOUN
aiti-4284	26	12	can	can	AUX
aiti-4284	26	13	provide	provide	VERB
aiti-4284	26	14	a	a	DET
aiti-4284	26	15	sufficient	sufficient	ADJ
aiti-4284	26	16	number	number	NOUN
aiti-4284	26	17	of	of	ADP
aiti-4284	26	18	neurons	neuron	NOUN
aiti-4284	26	19	.	.	PUNCT
aiti-4284	27	1	each	each	DET
aiti-4284	27	2	neuron	neuron	NOUN
aiti-4284	27	3	adds	add	VERB
aiti-4284	27	4	up	up	ADP
aiti-4284	27	5	the	the	DET
aiti-4284	27	6	input	input	NOUN
aiti-4284	27	7	of	of	ADP
aiti-4284	27	8	the	the	DET
aiti-4284	27	9	previous	previous	ADJ
aiti-4284	27	10	layer	layer	NOUN
aiti-4284	27	11	of	of	ADP
aiti-4284	27	12	neurons	neuron	NOUN
aiti-4284	27	13	and	and	CCONJ
aiti-4284	27	14	enters	enter	VERB
aiti-4284	27	15	the	the	DET
aiti-4284	27	16	conversion	conversion	NOUN
aiti-4284	27	17	of	of	ADP
aiti-4284	27	18	an	an	DET
aiti-4284	27	19	activation	activation	NOUN
aiti-4284	27	20	function	function	NOUN
aiti-4284	27	21	.	.	PUNCT
aiti-4284	28	1	each	each	DET
aiti-4284	28	2	neuron	neuron	NOUN
aiti-4284	28	3	has	have	VERB
aiti-4284	28	4	a	a	DET
aiti-4284	28	5	distinct	distinct	ADJ
aiti-4284	28	6	connection	connection	NOUN
aiti-4284	28	7	with	with	ADP
aiti-4284	28	8	the	the	DET
aiti-4284	28	9	neurons	neuron	NOUN
aiti-4284	28	10	of	of	ADP
aiti-4284	28	11	the	the	DET
aiti-4284	28	12	subsequent	subsequent	ADJ
aiti-4284	28	13	layer	layer	NOUN
aiti-4284	28	14	,	,	PUNCT
aiti-4284	28	15	and	and	CCONJ
aiti-4284	28	16	thus	thus	ADV
aiti-4284	28	17	,	,	PUNCT
aiti-4284	28	18	the	the	DET
aiti-4284	28	19	output	output	NOUN
aiti-4284	28	20	value	value	NOUN
aiti-4284	28	21	of	of	ADP
aiti-4284	28	22	the	the	DET
aiti-4284	28	23	upper	upper	ADJ
aiti-4284	28	24	layer	layer	NOUN
aiti-4284	28	25	of	of	ADP
aiti-4284	28	26	neurons	neuron	NOUN
aiti-4284	28	27	is	be	AUX
aiti-4284	28	28	weighted	weight	VERB
aiti-4284	28	29	and	and	CCONJ
aiti-4284	28	30	passed	pass	VERB
aiti-4284	28	31	to	to	ADP
aiti-4284	28	32	the	the	DET
aiti-4284	28	33	neurons	neuron	NOUN
aiti-4284	28	34	of	of	ADP
aiti-4284	28	35	the	the	DET
aiti-4284	28	36	subsequent	subsequent	ADJ
aiti-4284	28	37	layer	layer	NOUN
aiti-4284	28	38	.	.	PUNCT
aiti-4284	29	1	the	the	DET
aiti-4284	29	2	neurons	neuron	NOUN
aiti-4284	29	3	in	in	ADP
aiti-4284	29	4	the	the	DET
aiti-4284	29	5	same	same	ADJ
aiti-4284	29	6	layer	layer	NOUN
aiti-4284	29	7	are	be	AUX
aiti-4284	29	8	not	not	PART
aiti-4284	29	9	connected	connect	VERB
aiti-4284	29	10	and	and	CCONJ
aiti-4284	29	11	are	be	AUX
aiti-4284	29	12	distinct	distinct	ADJ
aiti-4284	30	1	[	[	X
aiti-4284	30	2	8	8	NUM
aiti-4284	30	3	-	-	SYM
aiti-4284	30	4	9	9	NUM
aiti-4284	30	5	]	]	PUNCT
aiti-4284	30	6	.	.	PUNCT
aiti-4284	31	1	fig	fig	NOUN
aiti-4284	31	2	.	.	PUNCT
aiti-4284	32	1	1	1	NUM
aiti-4284	32	2	neural	neural	ADJ
aiti-4284	32	3	network	network	NOUN
aiti-4284	32	4	-	-	PUNCT
aiti-4284	32	5	like	like	ADJ
aiti-4284	32	6	simulation	simulation	NOUN
aiti-4284	32	7	of	of	ADP
aiti-4284	32	8	how	how	SCONJ
aiti-4284	32	9	a	a	DET
aiti-4284	32	10	single	single	ADJ
aiti-4284	32	11	neuron	neuron	NOUN
aiti-4284	32	12	operates	operate	VERB
aiti-4284	32	13	the	the	DET
aiti-4284	32	14	neural	neural	ADJ
aiti-4284	32	15	network	network	NOUN
aiti-4284	32	16	is	be	AUX
aiti-4284	32	17	represented	represent	VERB
aiti-4284	32	18	by	by	ADP
aiti-4284	32	19	numerous	numerous	ADJ
aiti-4284	32	20	single	single	ADJ
aiti-4284	32	21	neurons	neuron	NOUN
aiti-4284	32	22	as	as	SCONJ
aiti-4284	32	23	shown	show	VERB
aiti-4284	32	24	in	in	ADP
aiti-4284	32	25	fig	fig	NOUN
aiti-4284	32	26	.	.	PUNCT
aiti-4284	33	1	1	1	NUM
aiti-4284	33	2	,	,	PUNCT
aiti-4284	34	1	and	and	CCONJ
aiti-4284	34	2	comprises	comprise	VERB
aiti-4284	34	3	the	the	DET
aiti-4284	34	4	following	follow	VERB
aiti-4284	34	5	components	component	NOUN
aiti-4284	34	6	:	:	PUNCT
aiti-4284	34	7	(	(	PUNCT
aiti-4284	34	8	1	1	X
aiti-4284	34	9	)	)	PUNCT
aiti-4284	34	10	inputs	input	NOUN
aiti-4284	34	11	:	:	PUNCT
aiti-4284	34	12	receive	receive	VERB
aiti-4284	34	13	signals	signal	NOUN
aiti-4284	34	14	from	from	ADP
aiti-4284	34	15	external	external	ADJ
aiti-4284	34	16	or	or	CCONJ
aiti-4284	34	17	upper	upper	ADJ
aiti-4284	34	18	neurons	neuron	NOUN
aiti-4284	34	19	.	.	PUNCT
aiti-4284	35	1	(	(	PUNCT
aiti-4284	35	2	2	2	X
aiti-4284	35	3	)	)	PUNCT
aiti-4284	35	4	weights	weight	NOUN
aiti-4284	35	5	:	:	PUNCT
aiti-4284	35	6	the	the	DET
aiti-4284	35	7	memory	memory	NOUN
aiti-4284	35	8	of	of	ADP
aiti-4284	35	9	the	the	DET
aiti-4284	35	10	neural	neural	ADJ
aiti-4284	35	11	network	network	NOUN
aiti-4284	35	12	.	.	PUNCT
aiti-4284	36	1	the	the	DET
aiti-4284	36	2	number	number	NOUN
aiti-4284	36	3	of	of	ADP
aiti-4284	36	4	weights	weight	NOUN
aiti-4284	36	5	corresponds	correspond	NOUN
aiti-4284	36	6	to	to	ADP
aiti-4284	36	7	the	the	DET
aiti-4284	36	8	number	number	NOUN
aiti-4284	36	9	of	of	ADP
aiti-4284	36	10	inputs	input	NOUN
aiti-4284	36	11	in	in	ADP
aiti-4284	36	12	the	the	DET
aiti-4284	36	13	input	input	NOUN
aiti-4284	36	14	layer	layer	NOUN
aiti-4284	36	15	;	;	PUNCT
aiti-4284	36	16	that	that	PRON
aiti-4284	36	17	is	is	ADV
aiti-4284	36	18	,	,	PUNCT
aiti-4284	36	19	one	one	NUM
aiti-4284	36	20	weight	weight	NOUN
aiti-4284	36	21	corresponds	correspond	VERB
aiti-4284	36	22	to	to	ADP
aiti-4284	36	23	one	one	NUM
aiti-4284	36	24	input	input	NOUN
aiti-4284	36	25	,	,	PUNCT
aiti-4284	36	26	which	which	PRON
aiti-4284	36	27	is	be	AUX
aiti-4284	36	28	multiplied	multiply	VERB
aiti-4284	36	29	by	by	ADP
aiti-4284	36	30	a	a	DET
aiti-4284	36	31	conversion	conversion	NOUN
aiti-4284	36	32	function	function	NOUN
aiti-4284	36	33	and	and	CCONJ
aiti-4284	36	34	then	then	ADV
aiti-4284	36	35	added	add	VERB
aiti-4284	36	36	to	to	ADP
aiti-4284	36	37	the	the	DET
aiti-4284	36	38	other	other	ADJ
aiti-4284	36	39	values	value	NOUN
aiti-4284	36	40	.	.	PUNCT
aiti-4284	37	1	(	(	PUNCT
aiti-4284	37	2	3	3	X
aiti-4284	37	3	)	)	PUNCT
aiti-4284	37	4	transfer	transfer	NOUN
aiti-4284	37	5	function	function	NOUN
aiti-4284	37	6	:	:	PUNCT
aiti-4284	37	7	the	the	DET
aiti-4284	37	8	transfer	transfer	NOUN
aiti-4284	37	9	function	function	NOUN
aiti-4284	37	10	accumulates	accumulate	VERB
aiti-4284	37	11	the	the	DET
aiti-4284	37	12	product	product	NOUN
aiti-4284	37	13	of	of	ADP
aiti-4284	37	14	all	all	DET
aiti-4284	37	15	input	input	NOUN
aiti-4284	37	16	values	value	NOUN
aiti-4284	37	17	and	and	CCONJ
aiti-4284	37	18	weight	weight	NOUN
aiti-4284	37	19	values	value	NOUN
aiti-4284	37	20	and	and	CCONJ
aiti-4284	37	21	then	then	ADV
aiti-4284	37	22	enters	enter	VERB
aiti-4284	37	23	the	the	DET
aiti-4284	37	24	activation	activation	NOUN
aiti-4284	37	25	function	function	NOUN
aiti-4284	37	26	.	.	PUNCT
aiti-4284	38	1	(	(	PUNCT
aiti-4284	38	2	4	4	X
aiti-4284	38	3	)	)	PUNCT
aiti-4284	38	4	threshold	threshold	NOUN
aiti-4284	38	5	:	:	PUNCT
aiti-4284	38	6	each	each	DET
aiti-4284	38	7	neuron	neuron	NOUN
aiti-4284	38	8	has	have	VERB
aiti-4284	38	9	a	a	DET
aiti-4284	38	10	threshold	threshold	NOUN
aiti-4284	38	11	.	.	PUNCT
aiti-4284	39	1	when	when	SCONJ
aiti-4284	39	2	the	the	DET
aiti-4284	39	3	product	product	NOUN
aiti-4284	39	4	value	value	NOUN
aiti-4284	39	5	is	be	AUX
aiti-4284	39	6	accumulated	accumulate	VERB
aiti-4284	39	7	by	by	ADP
aiti-4284	39	8	the	the	DET
aiti-4284	39	9	conversion	conversion	NOUN
aiti-4284	39	10	function	function	NOUN
aiti-4284	39	11	,	,	PUNCT
aiti-4284	39	12	the	the	DET
aiti-4284	39	13	offset	offset	NOUN
aiti-4284	39	14	value	value	NOUN
aiti-4284	39	15	is	be	AUX
aiti-4284	39	16	added	add	VERB
aiti-4284	39	17	.	.	PUNCT
aiti-4284	40	1	the	the	DET
aiti-4284	40	2	excitation	excitation	NOUN
aiti-4284	40	3	function	function	NOUN
aiti-4284	40	4	is	be	AUX
aiti-4284	40	5	provided	provide	VERB
aiti-4284	40	6	to	to	PART
aiti-4284	40	7	determine	determine	VERB
aiti-4284	40	8	whether	whether	SCONJ
aiti-4284	40	9	the	the	DET
aiti-4284	40	10	signal	signal	NOUN
aiti-4284	40	11	needs	need	VERB
aiti-4284	40	12	to	to	PART
aiti-4284	40	13	be	be	AUX
aiti-4284	40	14	output	output	NOUN
aiti-4284	40	15	downward	downward	ADV
aiti-4284	40	16	.	.	PUNCT
aiti-4284	41	1	that	that	PRON
aiti-4284	41	2	is	be	AUX
aiti-4284	41	3	,	,	PUNCT
aiti-4284	41	4	partial	partial	ADJ
aiti-4284	41	5	migration	migration	NOUN
aiti-4284	41	6	is	be	AUX
aiti-4284	41	7	used	use	VERB
aiti-4284	41	8	to	to	PART
aiti-4284	41	9	control	control	VERB
aiti-4284	41	10	the	the	DET
aiti-4284	41	11	continuation	continuation	NOUN
aiti-4284	41	12	of	of	ADP
aiti-4284	41	13	the	the	DET
aiti-4284	41	14	value	value	NOUN
aiti-4284	41	15	.	.	PUNCT
aiti-4284	42	1	(	(	PUNCT
aiti-4284	42	2	5	5	NUM
aiti-4284	42	3	)	)	PUNCT
aiti-4284	42	4	activation	activation	NOUN
aiti-4284	42	5	function	function	NOUN
aiti-4284	42	6	:	:	PUNCT
aiti-4284	42	7	an	an	DET
aiti-4284	42	8	excitation	excitation	NOUN
aiti-4284	42	9	function	function	NOUN
aiti-4284	42	10	of	of	ADP
aiti-4284	42	11	the	the	DET
aiti-4284	42	12	neural	neural	ADJ
aiti-4284	42	13	network	network	NOUN
aiti-4284	42	14	introduces	introduce	VERB
aiti-4284	42	15	the	the	DET
aiti-4284	42	16	characteristics	characteristic	NOUN
aiti-4284	42	17	of	of	ADP
aiti-4284	42	18	the	the	DET
aiti-4284	42	19	nonlinear	nonlinear	ADJ
aiti-4284	42	20	output	output	NOUN
aiti-4284	42	21	,	,	PUNCT
aiti-4284	42	22	and	and	CCONJ
aiti-4284	42	23	thus	thus	ADV
aiti-4284	42	24	,	,	PUNCT
aiti-4284	42	25	the	the	DET
aiti-4284	42	26	neural	neural	ADJ
aiti-4284	42	27	network	network	NOUN
aiti-4284	42	28	can	can	AUX
aiti-4284	42	29	perform	perform	VERB
aiti-4284	42	30	mapping	mapping	NOUN
aiti-4284	42	31	to	to	PART
aiti-4284	42	32	learn	learn	VERB
aiti-4284	42	33	complex	complex	ADJ
aiti-4284	42	34	functions	function	NOUN
aiti-4284	42	35	(	(	PUNCT
aiti-4284	42	36	6	6	NUM
aiti-4284	42	37	)	)	PUNCT
aiti-4284	42	38	outputs	output	NOUN
aiti-4284	42	39	/	/	SYM
aiti-4284	42	40	activation	activation	NOUN
aiti-4284	42	41	:	:	PUNCT
aiti-4284	42	42	the	the	DET
aiti-4284	42	43	output	output	NOUN
aiti-4284	42	44	values	value	NOUN
aiti-4284	42	45	mapped	map	VERB
aiti-4284	42	46	using	use	VERB
aiti-4284	42	47	the	the	DET
aiti-4284	42	48	excitation	excitation	NOUN
aiti-4284	42	49	function	function	NOUN
aiti-4284	42	50	can	can	AUX
aiti-4284	42	51	be	be	AUX
aiti-4284	42	52	used	use	VERB
aiti-4284	42	53	as	as	ADP
aiti-4284	42	54	inputs	input	NOUN
aiti-4284	42	55	to	to	ADP
aiti-4284	42	56	the	the	DET
aiti-4284	42	57	subsequent	subsequent	ADJ
aiti-4284	42	58	layer	layer	NOUN
aiti-4284	42	59	of	of	ADP
aiti-4284	42	60	neurons	neuron	NOUN
aiti-4284	42	61	.	.	PUNCT
aiti-4284	43	1	advances	advance	NOUN
aiti-4284	43	2	in	in	ADP
aiti-4284	43	3	technology	technology	NOUN
aiti-4284	43	4	innovation	innovation	NOUN
aiti-4284	43	5	,	,	PUNCT
aiti-4284	43	6	vol	vol	NOUN
aiti-4284	43	7	.	.	PROPN
aiti-4284	43	8	5	5	NUM
aiti-4284	43	9	,	,	PUNCT
aiti-4284	43	10	no	no	INTJ
aiti-4284	43	11	.	.	NOUN
aiti-4284	43	12	1	1	NUM
aiti-4284	43	13	,	,	PUNCT
aiti-4284	43	14	2020	2020	NUM
aiti-4284	43	15	,	,	PUNCT
aiti-4284	43	16	pp	pp	ADJ
aiti-4284	43	17	.	.	PUNCT
aiti-4284	44	1	10	10	NUM
aiti-4284	44	2	-	-	SYM
aiti-4284	44	3	17	17	NUM
aiti-4284	44	4	12	12	NUM
aiti-4284	44	5	the	the	DET
aiti-4284	44	6	architecture	architecture	NOUN
aiti-4284	44	7	of	of	ADP
aiti-4284	44	8	the	the	DET
aiti-4284	44	9	neural	neural	ADJ
aiti-4284	44	10	network	network	NOUN
aiti-4284	44	11	connects	connect	VERB
aiti-4284	44	12	the	the	DET
aiti-4284	44	13	aforementioned	aforementioned	ADJ
aiti-4284	44	14	single	single	ADJ
aiti-4284	44	15	neurons	neuron	NOUN
aiti-4284	44	16	to	to	PART
aiti-4284	44	17	form	form	VERB
aiti-4284	44	18	a	a	DET
aiti-4284	44	19	model	model	NOUN
aiti-4284	44	20	.	.	PUNCT
aiti-4284	45	1	some	some	DET
aiti-4284	45	2	commonly	commonly	ADV
aiti-4284	45	3	used	use	VERB
aiti-4284	45	4	neural	neural	ADJ
aiti-4284	45	5	network	network	NOUN
aiti-4284	45	6	architectures	architecture	NOUN
aiti-4284	45	7	are	be	AUX
aiti-4284	45	8	inverted	invert	VERB
aiti-4284	45	9	neural	neural	ADJ
aiti-4284	45	10	networks	network	NOUN
aiti-4284	45	11	,	,	PUNCT
aiti-4284	45	12	convolutional	convolutional	ADJ
aiti-4284	45	13	neural	neural	ADJ
aiti-4284	45	14	networks	network	NOUN
aiti-4284	45	15	,	,	PUNCT
aiti-4284	45	16	and	and	CCONJ
aiti-4284	45	17	recurrent	recurrent	ADJ
aiti-4284	45	18	neural	neural	ADJ
aiti-4284	45	19	networks	network	NOUN
aiti-4284	45	20	.	.	PUNCT
aiti-4284	46	1	3	3	X
aiti-4284	46	2	.	.	X
aiti-4284	46	3	system	system	NOUN
aiti-4284	46	4	structure	structure	NOUN
aiti-4284	46	5	the	the	DET
aiti-4284	46	6	study	study	NOUN
aiti-4284	46	7	is	be	AUX
aiti-4284	46	8	primarily	primarily	ADV
aiti-4284	46	9	based	base	VERB
aiti-4284	46	10	on	on	ADP
aiti-4284	46	11	a	a	DET
aiti-4284	46	12	neural	neural	ADJ
aiti-4284	46	13	network	network	NOUN
aiti-4284	46	14	-	-	PUNCT
aiti-4284	46	15	based	base	VERB
aiti-4284	46	16	regional	regional	ADJ
aiti-4284	46	17	identification	identification	NOUN
aiti-4284	46	18	system	system	NOUN
aiti-4284	46	19	,	,	PUNCT
aiti-4284	46	20	its	its	PRON
aiti-4284	46	21	focus	focus	NOUN
aiti-4284	46	22	being	be	AUX
aiti-4284	46	23	on	on	ADP
aiti-4284	46	24	detecting	detect	VERB
aiti-4284	46	25	walkable	walkable	ADJ
aiti-4284	46	26	areas	area	NOUN
aiti-4284	46	27	.	.	PUNCT
aiti-4284	47	1	by	by	ADP
aiti-4284	47	2	inputting	inputte	VERB
aiti-4284	47	3	images	image	NOUN
aiti-4284	47	4	to	to	ADP
aiti-4284	47	5	a	a	DET
aiti-4284	47	6	pre	pre	ADJ
aiti-4284	47	7	-	-	ADJ
aiti-4284	47	8	trained	train	VERB
aiti-4284	47	9	neural	neural	ADJ
aiti-4284	47	10	network	network	NOUN
aiti-4284	47	11	,	,	PUNCT
aiti-4284	47	12	the	the	DET
aiti-4284	47	13	objects	object	NOUN
aiti-4284	47	14	in	in	ADP
aiti-4284	47	15	the	the	DET
aiti-4284	47	16	images	image	NOUN
aiti-4284	47	17	can	can	AUX
aiti-4284	47	18	be	be	AUX
aiti-4284	47	19	identified	identify	VERB
aiti-4284	47	20	.	.	PUNCT
aiti-4284	48	1	the	the	DET
aiti-4284	48	2	empty	empty	ADJ
aiti-4284	48	3	areas	area	NOUN
aiti-4284	48	4	between	between	ADP
aiti-4284	48	5	objects	object	NOUN
aiti-4284	48	6	indicate	indicate	VERB
aiti-4284	48	7	walkable	walkable	ADJ
aiti-4284	48	8	areas	area	NOUN
aiti-4284	48	9	.	.	PUNCT
aiti-4284	49	1	fig	fig	NOUN
aiti-4284	49	2	.	.	PUNCT
aiti-4284	50	1	2	2	NUM
aiti-4284	50	2	presents	present	VERB
aiti-4284	50	3	the	the	DET
aiti-4284	50	4	architecture	architecture	NOUN
aiti-4284	50	5	of	of	ADP
aiti-4284	50	6	the	the	DET
aiti-4284	50	7	system	system	NOUN
aiti-4284	50	8	obtained	obtain	VERB
aiti-4284	50	9	from	from	ADP
aiti-4284	50	10	using	use	VERB
aiti-4284	50	11	ief0	ief0	PROPN
aiti-4284	50	12	[	[	X
aiti-4284	50	13	10	10	NUM
aiti-4284	50	14	]	]	PUNCT
aiti-4284	50	15	.	.	PUNCT
aiti-4284	51	1	to	to	PART
aiti-4284	51	2	achieve	achieve	VERB
aiti-4284	51	3	to	to	AUX
aiti-4284	51	4	mark	mark	VERB
aiti-4284	51	5	walkable	walkable	ADJ
aiti-4284	51	6	areas	area	NOUN
aiti-4284	51	7	and	and	CCONJ
aiti-4284	51	8	relative	relative	ADJ
aiti-4284	51	9	coordinates	coordinate	NOUN
aiti-4284	51	10	,	,	PUNCT
aiti-4284	51	11	this	this	DET
aiti-4284	51	12	study	study	NOUN
aiti-4284	51	13	is	be	AUX
aiti-4284	51	14	divided	divide	VERB
aiti-4284	51	15	into	into	ADP
aiti-4284	51	16	three	three	NUM
aiti-4284	51	17	parts	part	NOUN
aiti-4284	51	18	:	:	PUNCT
aiti-4284	51	19	(	(	PUNCT
aiti-4284	51	20	1	1	X
aiti-4284	51	21	)	)	PUNCT
aiti-4284	51	22	the	the	DET
aiti-4284	51	23	first	first	ADJ
aiti-4284	51	24	part	part	NOUN
aiti-4284	51	25	constitutes	constitute	VERB
aiti-4284	51	26	neural	neural	ADJ
aiti-4284	51	27	network	network	NOUN
aiti-4284	51	28	object	object	NOUN
aiti-4284	51	29	identification	identification	NOUN
aiti-4284	51	30	.	.	PUNCT
aiti-4284	52	1	when	when	SCONJ
aiti-4284	52	2	the	the	DET
aiti-4284	52	3	image	image	NOUN
aiti-4284	52	4	enters	enter	VERB
aiti-4284	52	5	the	the	DET
aiti-4284	52	6	neural	neural	ADJ
aiti-4284	52	7	network	network	NOUN
aiti-4284	52	8	,	,	PUNCT
aiti-4284	52	9	the	the	DET
aiti-4284	52	10	trained	train	VERB
aiti-4284	52	11	model	model	NOUN
aiti-4284	52	12	is	be	AUX
aiti-4284	52	13	used	use	VERB
aiti-4284	52	14	to	to	PART
aiti-4284	52	15	load	load	VERB
aiti-4284	52	16	the	the	DET
aiti-4284	52	17	images	image	NOUN
aiti-4284	52	18	into	into	ADP
aiti-4284	52	19	the	the	DET
aiti-4284	52	20	personal	personal	ADJ
aiti-4284	52	21	computer	computer	NOUN
aiti-4284	52	22	,	,	PUNCT
aiti-4284	52	23	identify	identify	VERB
aiti-4284	52	24	the	the	DET
aiti-4284	52	25	object	object	NOUN
aiti-4284	52	26	position	position	NOUN
aiti-4284	52	27	,	,	PUNCT
aiti-4284	52	28	and	and	CCONJ
aiti-4284	52	29	predict	predict	VERB
aiti-4284	52	30	the	the	DET
aiti-4284	52	31	score	score	NOUN
aiti-4284	52	32	and	and	CCONJ
aiti-4284	52	33	object	object	VERB
aiti-4284	52	34	name	name	NOUN
aiti-4284	52	35	.	.	PUNCT
aiti-4284	53	1	(	(	PUNCT
aiti-4284	53	2	2	2	X
aiti-4284	53	3	)	)	PUNCT
aiti-4284	53	4	the	the	DET
aiti-4284	53	5	second	second	ADJ
aiti-4284	53	6	part	part	NOUN
aiti-4284	53	7	involves	involve	VERB
aiti-4284	53	8	finding	find	VERB
aiti-4284	53	9	the	the	DET
aiti-4284	53	10	path	path	NOUN
aiti-4284	53	11	.	.	PUNCT
aiti-4284	54	1	by	by	ADP
aiti-4284	54	2	using	use	VERB
aiti-4284	54	3	the	the	DET
aiti-4284	54	4	object	object	NOUN
aiti-4284	54	5	position	position	NOUN
aiti-4284	54	6	and	and	CCONJ
aiti-4284	54	7	coordinates	coordinate	NOUN
aiti-4284	54	8	obtained	obtain	VERB
aiti-4284	54	9	using	use	VERB
aiti-4284	54	10	the	the	DET
aiti-4284	54	11	neural	neural	ADJ
aiti-4284	54	12	network	network	NOUN
aiti-4284	54	13	,	,	PUNCT
aiti-4284	54	14	the	the	DET
aiti-4284	54	15	distance	distance	NOUN
aiti-4284	54	16	between	between	ADP
aiti-4284	54	17	the	the	DET
aiti-4284	54	18	objects	object	NOUN
aiti-4284	54	19	is	be	AUX
aiti-4284	54	20	calculated	calculate	VERB
aiti-4284	54	21	,	,	PUNCT
aiti-4284	54	22	and	and	CCONJ
aiti-4284	54	23	the	the	DET
aiti-4284	54	24	shortest	short	ADJ
aiti-4284	54	25	distance	distance	NOUN
aiti-4284	54	26	between	between	ADP
aiti-4284	54	27	objects	object	NOUN
aiti-4284	54	28	is	be	AUX
aiti-4284	54	29	identified	identify	VERB
aiti-4284	54	30	to	to	PART
aiti-4284	54	31	determine	determine	VERB
aiti-4284	54	32	the	the	DET
aiti-4284	54	33	position	position	NOUN
aiti-4284	54	34	of	of	ADP
aiti-4284	54	35	the	the	DET
aiti-4284	54	36	empty	empty	ADJ
aiti-4284	54	37	area	area	NOUN
aiti-4284	54	38	as	as	SCONJ
aiti-4284	54	39	shown	show	VERB
aiti-4284	54	40	in	in	ADP
aiti-4284	54	41	fig	fig	NOUN
aiti-4284	54	42	.	.	PUNCT
aiti-4284	55	1	3	3	X
aiti-4284	55	2	.	.	X
aiti-4284	55	3	(	(	PUNCT
aiti-4284	55	4	3	3	X
aiti-4284	55	5	)	)	PUNCT
aiti-4284	55	6	the	the	DET
aiti-4284	55	7	third	third	ADJ
aiti-4284	55	8	part	part	NOUN
aiti-4284	55	9	includes	include	VERB
aiti-4284	55	10	path	path	NOUN
aiti-4284	55	11	marking	marking	NOUN
aiti-4284	55	12	.	.	PUNCT
aiti-4284	56	1	the	the	DET
aiti-4284	56	2	two	two	NUM
aiti-4284	56	3	points	point	NOUN
aiti-4284	56	4	with	with	ADP
aiti-4284	56	5	the	the	DET
aiti-4284	56	6	shortest	short	ADJ
aiti-4284	56	7	path	path	NOUN
aiti-4284	56	8	are	be	AUX
aiti-4284	56	9	connected	connect	VERB
aiti-4284	56	10	.	.	PUNCT
aiti-4284	57	1	the	the	DET
aiti-4284	57	2	enclosed	enclose	VERB
aiti-4284	57	3	space	space	NOUN
aiti-4284	57	4	inside	inside	ADP
aiti-4284	57	5	the	the	DET
aiti-4284	57	6	line	line	NOUN
aiti-4284	57	7	is	be	AUX
aiti-4284	57	8	the	the	DET
aiti-4284	57	9	walkable	walkable	ADJ
aiti-4284	57	10	area	area	NOUN
aiti-4284	57	11	primarily	primarily	ADV
aiti-4284	57	12	discussed	discuss	VERB
aiti-4284	57	13	in	in	ADP
aiti-4284	57	14	this	this	DET
aiti-4284	57	15	paper	paper	NOUN
aiti-4284	57	16	as	as	SCONJ
aiti-4284	57	17	shown	show	VERB
aiti-4284	57	18	in	in	ADP
aiti-4284	57	19	fig	fig	NOUN
aiti-4284	57	20	.	.	PUNCT
aiti-4284	58	1	4	4	X
aiti-4284	58	2	.	.	X
aiti-4284	58	3	fig	fig	NOUN
aiti-4284	58	4	.	.	PUNCT
aiti-4284	59	1	2	2	NUM
aiti-4284	59	2	the	the	DET
aiti-4284	59	3	architecture	architecture	NOUN
aiti-4284	59	4	of	of	ADP
aiti-4284	59	5	the	the	DET
aiti-4284	59	6	whole	whole	ADJ
aiti-4284	59	7	system	system	NOUN
aiti-4284	59	8	fig	fig	NOUN
aiti-4284	59	9	.	.	PUNCT
aiti-4284	60	1	3	3	NUM
aiti-4284	60	2	the	the	DET
aiti-4284	60	3	architecture	architecture	NOUN
aiti-4284	60	4	of	of	ADP
aiti-4284	60	5	object	object	NOUN
aiti-4284	60	6	detection	detection	NOUN
aiti-4284	60	7	advances	advance	NOUN
aiti-4284	60	8	in	in	ADP
aiti-4284	60	9	technology	technology	NOUN
aiti-4284	60	10	innovation	innovation	NOUN
aiti-4284	60	11	,	,	PUNCT
aiti-4284	60	12	vol	vol	NOUN
aiti-4284	60	13	.	.	PROPN
aiti-4284	60	14	5	5	NUM
aiti-4284	60	15	,	,	PUNCT
aiti-4284	60	16	no	no	INTJ
aiti-4284	60	17	.	.	NOUN
aiti-4284	60	18	1	1	NUM
aiti-4284	60	19	,	,	PUNCT
aiti-4284	60	20	2020	2020	NUM
aiti-4284	60	21	,	,	PUNCT
aiti-4284	60	22	pp	pp	ADJ
aiti-4284	60	23	.	.	PUNCT
aiti-4284	61	1	10	10	NUM
aiti-4284	61	2	-	-	SYM
aiti-4284	61	3	17	17	NUM
aiti-4284	61	4	13	13	NUM
aiti-4284	61	5	fig	fig	NOUN
aiti-4284	61	6	.	.	PUNCT
aiti-4284	62	1	4	4	NUM
aiti-4284	62	2	the	the	DET
aiti-4284	62	3	architecture	architecture	NOUN
aiti-4284	62	4	of	of	ADP
aiti-4284	62	5	walkable	walkable	ADJ
aiti-4284	62	6	area	area	NOUN
aiti-4284	62	7	marked	mark	VERB
aiti-4284	62	8	this	this	DET
aiti-4284	62	9	experiment	experiment	NOUN
aiti-4284	62	10	used	use	VERB
aiti-4284	62	11	tensorflow	tensorflow	NOUN
aiti-4284	62	12	as	as	ADP
aiti-4284	62	13	the	the	DET
aiti-4284	62	14	core	core	NOUN
aiti-4284	62	15	machine	machine	NOUN
aiti-4284	62	16	learning	learn	VERB
aiti-4284	62	17	framework	framework	NOUN
aiti-4284	62	18	and	and	CCONJ
aiti-4284	62	19	an	an	DET
aiti-4284	62	20	open	open	ADJ
aiti-4284	62	21	source	source	NOUN
aiti-4284	62	22	project	project	NOUN
aiti-4284	62	23	tensorflow	tensorflow	NOUN
aiti-4284	62	24	object	object	NOUN
aiti-4284	62	25	detection	detection	NOUN
aiti-4284	62	26	application	application	NOUN
aiti-4284	62	27	programming	programming	NOUN
aiti-4284	62	28	interface	interface	NOUN
aiti-4284	62	29	[	[	X
aiti-4284	62	30	11	11	NUM
aiti-4284	62	31	]	]	PUNCT
aiti-4284	62	32	as	as	ADP
aiti-4284	62	33	the	the	DET
aiti-4284	62	34	core	core	NOUN
aiti-4284	62	35	of	of	ADP
aiti-4284	62	36	object	object	NOUN
aiti-4284	62	37	recognition	recognition	NOUN
aiti-4284	62	38	,	,	PUNCT
aiti-4284	62	39	where	where	SCONJ
aiti-4284	62	40	the	the	DET
aiti-4284	62	41	source	source	NOUN
aiti-4284	62	42	code	code	NOUN
aiti-4284	62	43	allows	allow	VERB
aiti-4284	62	44	the	the	DET
aiti-4284	62	45	use	use	NOUN
aiti-4284	62	46	of	of	ADP
aiti-4284	62	47	trained	train	VERB
aiti-4284	62	48	models	model	NOUN
aiti-4284	62	49	that	that	PRON
aiti-4284	62	50	meet	meet	VERB
aiti-4284	62	51	their	their	PRON
aiti-4284	62	52	requirements	requirement	NOUN
aiti-4284	62	53	.	.	PUNCT
aiti-4284	63	1	the	the	DET
aiti-4284	63	2	pretraining	pretraine	VERB
aiti-4284	63	3	model	model	NOUN
aiti-4284	63	4	compiled	compile	VERB
aiti-4284	63	5	using	use	VERB
aiti-4284	63	6	the	the	DET
aiti-4284	63	7	tensorflow	tensorflow	NOUN
aiti-4284	63	8	detection	detection	NOUN
aiti-4284	63	9	model	model	NOUN
aiti-4284	63	10	zoo	zoo	NOUN
aiti-4284	63	11	was	be	AUX
aiti-4284	63	12	used	use	VERB
aiti-4284	63	13	in	in	ADP
aiti-4284	63	14	this	this	DET
aiti-4284	63	15	study	study	NOUN
aiti-4284	63	16	.	.	PUNCT
aiti-4284	64	1	the	the	DET
aiti-4284	64	2	models	model	NOUN
aiti-4284	64	3	used	use	VERB
aiti-4284	64	4	for	for	ADP
aiti-4284	64	5	object	object	NOUN
aiti-4284	64	6	recognition	recognition	NOUN
aiti-4284	64	7	were	be	AUX
aiti-4284	64	8	faster_rcnn_inception_v2_atrous_coco	faster_rcnn_inception_v2_atrous_coco	PROPN
aiti-4284	64	9	,	,	PUNCT
aiti-4284	64	10	ssd_mobilenet_v1_coco	ssd_mobilenet_v1_coco	PROPN
aiti-4284	64	11	,	,	PUNCT
aiti-4284	64	12	and	and	CCONJ
aiti-4284	64	13	ssd_mobilenet_v1_fpn_coco	ssd_mobilenet_v1_fpn_coco	PROPN
aiti-4284	64	14	.	.	PUNCT
aiti-4284	65	1	with	with	ADP
aiti-4284	65	2	the	the	DET
aiti-4284	65	3	bounding	bounding	NOUN
aiti-4284	65	4	box	box	NOUN
aiti-4284	65	5	coordinates	coordinate	NOUN
aiti-4284	65	6	of	of	ADP
aiti-4284	65	7	the	the	DET
aiti-4284	65	8	object	object	NOUN
aiti-4284	65	9	,	,	PUNCT
aiti-4284	65	10	the	the	DET
aiti-4284	65	11	distance	distance	NOUN
aiti-4284	65	12	between	between	ADP
aiti-4284	65	13	all	all	DET
aiti-4284	65	14	bounding	bounding	NOUN
aiti-4284	65	15	boxes	box	NOUN
aiti-4284	65	16	can	can	AUX
aiti-4284	65	17	be	be	AUX
aiti-4284	65	18	calculated	calculate	VERB
aiti-4284	65	19	.	.	PUNCT
aiti-4284	66	1	the	the	DET
aiti-4284	66	2	algorithm	algorithm	NOUN
aiti-4284	66	3	uses	use	VERB
aiti-4284	66	4	the	the	DET
aiti-4284	66	5	distance	distance	NOUN
aiti-4284	66	6	between	between	ADP
aiti-4284	66	7	each	each	DET
aiti-4284	66	8	point	point	NOUN
aiti-4284	66	9	to	to	PART
aiti-4284	66	10	select	select	VERB
aiti-4284	66	11	the	the	DET
aiti-4284	66	12	shortest	short	ADJ
aiti-4284	66	13	path	path	NOUN
aiti-4284	66	14	,	,	PUNCT
aiti-4284	66	15	which	which	PRON
aiti-4284	66	16	is	be	AUX
aiti-4284	66	17	considered	consider	VERB
aiti-4284	66	18	a	a	DET
aiti-4284	66	19	part	part	NOUN
aiti-4284	66	20	of	of	ADP
aiti-4284	66	21	the	the	DET
aiti-4284	66	22	walkable	walkable	ADJ
aiti-4284	66	23	area	area	NOUN
aiti-4284	66	24	and	and	CCONJ
aiti-4284	66	25	is	be	AUX
aiti-4284	66	26	connected	connect	VERB
aiti-4284	66	27	into	into	ADP
aiti-4284	66	28	a	a	DET
aiti-4284	66	29	large	large	ADJ
aiti-4284	66	30	block	block	NOUN
aiti-4284	66	31	through	through	ADP
aiti-4284	66	32	the	the	DET
aiti-4284	66	33	plurality	plurality	NOUN
aiti-4284	66	34	of	of	ADP
aiti-4284	66	35	lines	line	NOUN
aiti-4284	66	36	.	.	PUNCT
aiti-4284	67	1	according	accord	VERB
aiti-4284	67	2	to	to	ADP
aiti-4284	67	3	an	an	DET
aiti-4284	67	4	axiom	axiom	NOUN
aiti-4284	67	5	in	in	ADP
aiti-4284	67	6	the	the	DET
aiti-4284	67	7	euclidean	euclidean	ADJ
aiti-4284	67	8	geometry	geometry	NOUN
aiti-4284	67	9	system	system	NOUN
aiti-4284	67	10	,	,	PUNCT
aiti-4284	67	11	“	"	PUNCT
aiti-4284	67	12	there	there	PRON
aiti-4284	67	13	are	be	VERB
aiti-4284	67	14	two	two	NUM
aiti-4284	67	15	points	point	NOUN
aiti-4284	67	16	and	and	CCONJ
aiti-4284	67	17	only	only	ADV
aiti-4284	67	18	one	one	NUM
aiti-4284	67	19	line	line	NOUN
aiti-4284	67	20	,	,	PUNCT
aiti-4284	67	21	”	"	PUNCT
aiti-4284	67	22	and	and	CCONJ
aiti-4284	67	23	each	each	DET
aiti-4284	67	24	bounding	bounding	NOUN
aiti-4284	67	25	box	box	NOUN
aiti-4284	67	26	has	have	VERB
aiti-4284	67	27	four	four	NUM
aiti-4284	67	28	points	point	NOUN
aiti-4284	67	29	.	.	PUNCT
aiti-4284	68	1	thus	thus	ADV
aiti-4284	68	2	,	,	PUNCT
aiti-4284	68	3	for	for	ADP
aiti-4284	68	4	n	n	PRON
aiti-4284	68	5	bounding	bounding	NOUN
aiti-4284	68	6	boxes	box	NOUN
aiti-4284	68	7	,	,	PUNCT
aiti-4284	68	8	the	the	DET
aiti-4284	68	9	following	follow	VERB
aiti-4284	68	10	general	general	ADJ
aiti-4284	68	11	formula	formula	NOUN
aiti-4284	68	12	can	can	AUX
aiti-4284	68	13	be	be	AUX
aiti-4284	68	14	used	use	VERB
aiti-4284	68	15	in	in	ADP
aiti-4284	68	16	eq	eq	ADP
aiti-4284	68	17	.	.	PUNCT
aiti-4284	69	1	(	(	PUNCT
aiti-4284	69	2	1	1	NUM
aiti-4284	69	3	):	):	SYM
aiti-4284	69	4	4	4	NUM
aiti-4284	69	5	2	2	NUM
aiti-4284	69	6	2	2	NUM
aiti-4284	69	7	4n	4n	NOUN
aiti-4284	69	8	n	n	CCONJ
aiti-4284	69	9	n	n	PRON
aiti-4284	69	10			NOUN
aiti-4284	69	11			PROPN
aiti-4284	69	12			PROPN
aiti-4284	69	13			NOUN
aiti-4284	70	1			PROPN
aiti-4284	70	2			ADJ
aiti-4284	70	3			PROPN
aiti-4284	70	4			NOUN
aiti-4284	70	5			ADP
aiti-4284	70	6			PROPN
aiti-4284	70	7			NOUN
aiti-4284	70	8	(	(	PUNCT
aiti-4284	70	9	1	1	NUM
aiti-4284	70	10	)	)	PUNCT
aiti-4284	70	11	in	in	ADP
aiti-4284	70	12	any	any	DET
aiti-4284	70	13	two	two	NUM
aiti-4284	70	14	bounding	bounding	NOUN
aiti-4284	70	15	boxes	box	NOUN
aiti-4284	70	16	,	,	PUNCT
aiti-4284	70	17	distance	distance	NOUN
aiti-4284	70	18	d	d	NOUN
aiti-4284	70	19	between	between	ADP
aiti-4284	70	20	any	any	DET
aiti-4284	70	21	two	two	NUM
aiti-4284	70	22	points	point	NOUN
aiti-4284	70	23	is	be	AUX
aiti-4284	70	24	measured	measure	VERB
aiti-4284	70	25	,	,	PUNCT
aiti-4284	70	26	which	which	PRON
aiti-4284	70	27	can	can	AUX
aiti-4284	70	28	be	be	AUX
aiti-4284	70	29	recorded	record	VERB
aiti-4284	70	30	as	as	ADP
aiti-4284	70	31	𝑷𝟏(𝒙𝟏	𝑷𝟏(𝒙𝟏	PROPN
aiti-4284	70	32	,	,	PUNCT
aiti-4284	70	33	𝒚𝟏	𝒚𝟏	PROPN
aiti-4284	70	34	)	)	PUNCT
aiti-4284	70	35	and	and	CCONJ
aiti-4284	70	36	𝑷𝟐(𝒙𝟐	𝑷𝟐(𝒙𝟐	ADV
aiti-4284	70	37	,	,	PUNCT
aiti-4284	70	38	𝒚𝟐	𝒚𝟐	PROPN
aiti-4284	70	39	)	)	PUNCT
aiti-4284	70	40	.	.	PUNCT
aiti-4284	71	1	the	the	DET
aiti-4284	71	2	distance	distance	NOUN
aiti-4284	71	3	between	between	ADP
aiti-4284	71	4	all	all	DET
aiti-4284	71	5	points	point	NOUN
aiti-4284	71	6	is	be	AUX
aiti-4284	71	7	calculated	calculate	VERB
aiti-4284	71	8	using	use	VERB
aiti-4284	71	9	eq	eq	ADP
aiti-4284	71	10	.	.	PUNCT
aiti-4284	72	1	(	(	PUNCT
aiti-4284	72	2	2	2	NUM
aiti-4284	72	3	)	)	PUNCT
aiti-4284	72	4	.	.	PUNCT
aiti-4284	73	1	for	for	ADP
aiti-4284	73	2	each	each	DET
aiti-4284	73	3	length	length	NOUN
aiti-4284	73	4	comparison	comparison	NOUN
aiti-4284	73	5	,	,	PUNCT
aiti-4284	73	6	the	the	DET
aiti-4284	73	7	two	two	NUM
aiti-4284	73	8	shortest	short	ADJ
aiti-4284	73	9	distance	distance	NOUN
aiti-4284	73	10	between	between	ADP
aiti-4284	73	11	all	all	DET
aiti-4284	73	12	bounding	bounding	NOUN
aiti-4284	73	13	boxes	box	NOUN
aiti-4284	73	14	is	be	AUX
aiti-4284	73	15	selected	select	VERB
aiti-4284	73	16	,	,	PUNCT
aiti-4284	73	17	and	and	CCONJ
aiti-4284	73	18	starting	start	VERB
aiti-4284	73	19	and	and	CCONJ
aiti-4284	73	20	ending	end	VERB
aiti-4284	73	21	point	point	NOUN
aiti-4284	73	22	coordinates	coordinate	NOUN
aiti-4284	73	23	are	be	AUX
aiti-4284	73	24	recorded	record	VERB
aiti-4284	73	25	.	.	PUNCT
aiti-4284	74	1	2	2	NUM
aiti-4284	74	2	2	2	NUM
aiti-4284	74	3	2	2	NUM
aiti-4284	74	4	1	1	NUM
aiti-4284	74	5	2	2	NUM
aiti-4284	74	6	1	1	NUM
aiti-4284	74	7	(	(	PUNCT
aiti-4284	74	8	)	)	PUNCT
aiti-4284	74	9	(	(	PUNCT
aiti-4284	74	10	)	)	PUNCT
aiti-4284	74	11	d	d	X
aiti-4284	74	12	x	x	PUNCT
aiti-4284	74	13	x	x	SYM
aiti-4284	74	14	y	y	PROPN
aiti-4284	74	15	y	y	PROPN
aiti-4284	74	16			PROPN
aiti-4284	74	17			PROPN
aiti-4284	74	18			NOUN
aiti-4284	74	19	(	(	PUNCT
aiti-4284	74	20	2	2	NUM
aiti-4284	74	21	)	)	PUNCT
aiti-4284	74	22	the	the	DET
aiti-4284	74	23	start	start	NOUN
aiti-4284	74	24	and	and	CCONJ
aiti-4284	74	25	end	end	NOUN
aiti-4284	74	26	point	point	NOUN
aiti-4284	74	27	coordinates	coordinate	NOUN
aiti-4284	74	28	are	be	AUX
aiti-4284	74	29	obtained	obtain	VERB
aiti-4284	74	30	using	use	VERB
aiti-4284	74	31	the	the	DET
aiti-4284	74	32	aforementioned	aforementioned	ADJ
aiti-4284	74	33	method	method	NOUN
aiti-4284	74	34	,	,	PUNCT
aiti-4284	74	35	and	and	CCONJ
aiti-4284	74	36	the	the	DET
aiti-4284	74	37	line	line	NOUN
aiti-4284	74	38	connecting	connect	VERB
aiti-4284	74	39	the	the	DET
aiti-4284	74	40	points	point	NOUN
aiti-4284	74	41	can	can	AUX
aiti-4284	74	42	form	form	VERB
aiti-4284	74	43	a	a	DET
aiti-4284	74	44	closed	closed	ADJ
aiti-4284	74	45	area	area	NOUN
aiti-4284	74	46	,	,	PUNCT
aiti-4284	74	47	which	which	PRON
aiti-4284	74	48	is	be	AUX
aiti-4284	74	49	the	the	DET
aiti-4284	74	50	walkable	walkable	ADJ
aiti-4284	74	51	area	area	NOUN
aiti-4284	74	52	discussed	discuss	VERB
aiti-4284	74	53	by	by	ADP
aiti-4284	74	54	the	the	DET
aiti-4284	74	55	research	research	PROPN
aiti-4284	74	56	institute	institute	NOUN
aiti-4284	74	57	.	.	PUNCT
aiti-4284	75	1	4	4	X
aiti-4284	75	2	.	.	X
aiti-4284	75	3	experimental	experimental	ADJ
aiti-4284	75	4	results	result	NOUN
aiti-4284	75	5	table	table	VERB
aiti-4284	75	6	1	1	NUM
aiti-4284	75	7	graph	graph	NOUN
aiti-4284	75	8	representations	representation	NOUN
aiti-4284	75	9	components	component	NOUN
aiti-4284	75	10	specification	specification	NOUN
aiti-4284	75	11	operating	operating	NOUN
aiti-4284	75	12	system	system	NOUN
aiti-4284	75	13	debian	debian	NOUN
aiti-4284	75	14	9	9	NUM
aiti-4284	75	15	central	central	ADJ
aiti-4284	75	16	processing	processing	NOUN
aiti-4284	75	17	unit	unit	NOUN
aiti-4284	75	18	amd	amd	VERB
aiti-4284	75	19	ryzen	ryzen	ADJ
aiti-4284	75	20	7	7	NUM
aiti-4284	75	21	2700x	2700x	NOUN
aiti-4284	75	22	random	random	ADJ
aiti-4284	75	23	access	access	NOUN
aiti-4284	75	24	memory	memory	NOUN
aiti-4284	75	25	ddr4	ddr4	PROPN
aiti-4284	75	26	-	-	PUNCT
aiti-4284	75	27	3200	3200	NUM
aiti-4284	75	28	16	16	NUM
aiti-4284	76	1	gb	gb	NOUN
aiti-4284	76	2	graphics	graphic	NOUN
aiti-4284	76	3	processing	processing	NOUN
aiti-4284	76	4	unit	unit	NOUN
aiti-4284	76	5	nvidia	nvidia	PROPN
aiti-4284	76	6	gtx1080ti	gtx1080ti	NOUN
aiti-4284	76	7	a	a	DET
aiti-4284	76	8	car	car	NOUN
aiti-4284	76	9	combined	combine	VERB
aiti-4284	76	10	the	the	DET
aiti-4284	76	11	raspberry	raspberry	NOUN
aiti-4284	76	12	pi	pi	NOUN
aiti-4284	76	13	and	and	CCONJ
aiti-4284	76	14	cmos	cmos	PROPN
aiti-4284	76	15	camera	camera	NOUN
aiti-4284	76	16	is	be	AUX
aiti-4284	76	17	used	use	VERB
aiti-4284	76	18	to	to	PART
aiti-4284	76	19	capture	capture	VERB
aiti-4284	76	20	the	the	DET
aiti-4284	76	21	environmental	environmental	ADJ
aiti-4284	76	22	image	image	NOUN
aiti-4284	76	23	as	as	SCONJ
aiti-4284	76	24	shown	show	VERB
aiti-4284	76	25	in	in	ADP
aiti-4284	76	26	fig	fig	NOUN
aiti-4284	76	27	.	.	PUNCT
aiti-4284	77	1	5	5	X
aiti-4284	77	2	.	.	X
aiti-4284	77	3	the	the	DET
aiti-4284	77	4	raspberry	raspberry	NOUN
aiti-4284	77	5	pi	pi	NOUN
aiti-4284	77	6	is	be	AUX
aiti-4284	77	7	a	a	DET
aiti-4284	77	8	popular	popular	ADJ
aiti-4284	77	9	embedded	embed	VERB
aiti-4284	77	10	system	system	NOUN
aiti-4284	77	11	,	,	PUNCT
aiti-4284	77	12	which	which	PRON
aiti-4284	77	13	is	be	AUX
aiti-4284	77	14	developed	develop	VERB
aiti-4284	77	15	by	by	ADP
aiti-4284	77	16	the	the	DET
aiti-4284	77	17	raspberry	raspberry	PROPN
aiti-4284	77	18	pi	pi	PROPN
aiti-4284	77	19	foundation	foundation	PROPN
aiti-4284	77	20	in	in	ADP
aiti-4284	77	21	the	the	DET
aiti-4284	77	22	united	united	ADJ
aiti-4284	77	23	kingdom	kingdom	PROPN
aiti-4284	77	24	.	.	PUNCT
aiti-4284	78	1	the	the	DET
aiti-4284	78	2	processor	processor	NOUN
aiti-4284	78	3	is	be	AUX
aiti-4284	78	4	boardcom	boardcom	NOUN
aiti-4284	78	5	bcm2837	bcm2837	PROPN
aiti-4284	78	6	soc	soc	PROPN
aiti-4284	78	7	with	with	ADP
aiti-4284	78	8	a	a	DET
aiti-4284	78	9	1.2ghz	1.2ghz	NUM
aiti-4284	78	10	64	64	NUM
aiti-4284	78	11	-	-	PUNCT
aiti-4284	78	12	bit	bit	NOUN
aiti-4284	78	13	quad	quad	ADV
aiti-4284	78	14	-	-	PUNCT
aiti-4284	78	15	core	core	NOUN
aiti-4284	78	16	arm	arm	NOUN
aiti-4284	78	17	cortex	cortex	NOUN
aiti-4284	78	18	-	-	PUNCT
aiti-4284	78	19	a53	a53	PROPN
aiti-4284	78	20	processor	processor	NOUN
aiti-4284	78	21	.	.	PUNCT
aiti-4284	79	1	raspberry	raspberry	NOUN
aiti-4284	79	2	pi	pi	NOUN
aiti-4284	79	3	provides	provide	VERB
aiti-4284	79	4	40	40	NUM
aiti-4284	79	5	-	-	PUNCT
aiti-4284	79	6	pin	pin	NOUN
aiti-4284	79	7	general	general	ADJ
aiti-4284	79	8	purpose	purpose	NOUN
aiti-4284	79	9	input	input	NOUN
aiti-4284	79	10	-	-	PUNCT
aiti-4284	79	11	output	output	NOUN
aiti-4284	79	12	(	(	PUNCT
aiti-4284	79	13	gpio	gpio	NOUN
aiti-4284	79	14	)	)	PUNCT
aiti-4284	79	15	connector	connector	NOUN
aiti-4284	79	16	,	,	PUNCT
aiti-4284	79	17	that	that	PRON
aiti-4284	79	18	allows	allow	VERB
aiti-4284	79	19	user	user	NOUN
aiti-4284	79	20	connect	connect	VERB
aiti-4284	79	21	peripherals	peripheral	NOUN
aiti-4284	79	22	such	such	ADJ
aiti-4284	79	23	as	as	ADP
aiti-4284	79	24	lcd1602	lcd1602	NOUN
aiti-4284	79	25	advances	advance	NOUN
aiti-4284	79	26	in	in	ADP
aiti-4284	79	27	technology	technology	NOUN
aiti-4284	79	28	innovation	innovation	NOUN
aiti-4284	79	29	,	,	PUNCT
aiti-4284	79	30	vol	vol	NOUN
aiti-4284	79	31	.	.	PROPN
aiti-4284	80	1	5	5	NUM
aiti-4284	80	2	,	,	PUNCT
aiti-4284	80	3	no	no	INTJ
aiti-4284	80	4	.	.	NOUN
aiti-4284	80	5	1	1	NUM
aiti-4284	80	6	,	,	PUNCT
aiti-4284	80	7	2020	2020	NUM
aiti-4284	80	8	,	,	PUNCT
aiti-4284	80	9	pp	pp	ADJ
aiti-4284	80	10	.	.	PUNCT
aiti-4284	81	1	10	10	NUM
aiti-4284	81	2	-	-	SYM
aiti-4284	81	3	17	17	NUM
aiti-4284	81	4	14	14	NUM
aiti-4284	81	5	module	module	NOUN
aiti-4284	81	6	,	,	PUNCT
aiti-4284	81	7	sensors	sensor	NOUN
aiti-4284	81	8	,	,	PUNCT
aiti-4284	81	9	etc	etc	X
aiti-4284	81	10	.	.	X
aiti-4284	81	11	via	via	ADP
aiti-4284	81	12	inter	inter	ADJ
aiti-4284	81	13	-	-	ADJ
aiti-4284	81	14	integrated	integrated	ADJ
aiti-4284	81	15	circuit	circuit	NOUN
aiti-4284	81	16	(	(	PUNCT
aiti-4284	81	17	i²c	i²c	CCONJ
aiti-4284	81	18	)	)	PUNCT
aiti-4284	81	19	,	,	PUNCT
aiti-4284	81	20	universal	universal	ADJ
aiti-4284	81	21	asynchronous	asynchronous	ADJ
aiti-4284	81	22	receiver	receiver	NOUN
aiti-4284	81	23	-	-	PUNCT
aiti-4284	81	24	transmitter	transmitter	NOUN
aiti-4284	81	25	(	(	PUNCT
aiti-4284	81	26	uart	uart	PROPN
aiti-4284	81	27	)	)	PUNCT
aiti-4284	81	28	and	and	CCONJ
aiti-4284	81	29	serial	serial	ADJ
aiti-4284	81	30	peripheral	peripheral	ADJ
aiti-4284	81	31	interface	interface	NOUN
aiti-4284	81	32	(	(	PUNCT
aiti-4284	81	33	spi	spi	PROPN
aiti-4284	81	34	)	)	PUNCT
aiti-4284	81	35	.	.	PUNCT
aiti-4284	82	1	raspberry	raspberry	PROPN
aiti-4284	82	2	pi	pi	NOUN
aiti-4284	82	3	also	also	ADV
aiti-4284	82	4	provides	provide	VERB
aiti-4284	82	5	the	the	DET
aiti-4284	82	6	accessories	accessory	NOUN
aiti-4284	82	7	,	,	PUNCT
aiti-4284	82	8	such	such	ADJ
aiti-4284	82	9	as	as	ADP
aiti-4284	82	10	touch	touch	NOUN
aiti-4284	82	11	panel	panel	NOUN
aiti-4284	82	12	and	and	CCONJ
aiti-4284	82	13	camera	camera	NOUN
aiti-4284	82	14	,	,	PUNCT
aiti-4284	82	15	the	the	DET
aiti-4284	82	16	camera	camera	NOUN
aiti-4284	82	17	which	which	PRON
aiti-4284	82	18	is	be	AUX
aiti-4284	82	19	this	this	DET
aiti-4284	82	20	experiment	experiment	NOUN
aiti-4284	82	21	used	use	VERB
aiti-4284	82	22	,	,	PUNCT
aiti-4284	82	23	the	the	DET
aiti-4284	82	24	camera	camera	NOUN
aiti-4284	82	25	can	can	AUX
aiti-4284	82	26	get	get	VERB
aiti-4284	82	27	1024	1024	NUM
aiti-4284	82	28	×	×	NOUN
aiti-4284	82	29	768	768	NUM
aiti-4284	82	30	images	image	NOUN
aiti-4284	82	31	by	by	ADP
aiti-4284	82	32	5	5	NUM
aiti-4284	82	33	million	million	NUM
aiti-4284	82	34	pixels	pixel	NOUN
aiti-4284	82	35	,	,	PUNCT
aiti-4284	82	36	it	it	PRON
aiti-4284	82	37	connects	connect	VERB
aiti-4284	82	38	raspberry	raspberry	NOUN
aiti-4284	82	39	pi	pi	NOUN
aiti-4284	82	40	by	by	ADP
aiti-4284	82	41	camera	camera	NOUN
aiti-4284	82	42	serial	serial	ADJ
aiti-4284	82	43	interface	interface	NOUN
aiti-4284	82	44	(	(	PUNCT
aiti-4284	82	45	csi	csi	PROPN
aiti-4284	82	46	)	)	PUNCT
aiti-4284	82	47	with	with	ADP
aiti-4284	82	48	a	a	DET
aiti-4284	82	49	flexible	flexible	ADJ
aiti-4284	82	50	flat	flat	ADJ
aiti-4284	82	51	cable	cable	NOUN
aiti-4284	82	52	.	.	PUNCT
aiti-4284	83	1	raspberry	raspberry	PROPN
aiti-4284	83	2	pi	pi	PROPN
aiti-4284	83	3	’s	’s	PART
aiti-4284	83	4	power	power	NOUN
aiti-4284	83	5	rating	rating	NOUN
aiti-4284	83	6	is	be	AUX
aiti-4284	83	7	5v/1.34a	5v/1.34a	NUM
aiti-4284	83	8	(	(	PUNCT
aiti-4284	83	9	1.5w	1.5w	NUM
aiti-4284	83	10	)	)	PUNCT
aiti-4284	83	11	,	,	PUNCT
aiti-4284	83	12	we	we	PRON
aiti-4284	83	13	use	use	VERB
aiti-4284	83	14	a	a	DET
aiti-4284	83	15	mobile	mobile	ADJ
aiti-4284	83	16	power	power	NOUN
aiti-4284	83	17	as	as	ADP
aiti-4284	83	18	a	a	DET
aiti-4284	83	19	power	power	NOUN
aiti-4284	83	20	source	source	NOUN
aiti-4284	83	21	by	by	ADP
aiti-4284	83	22	microusb	microusb	PROPN
aiti-4284	83	23	,	,	PUNCT
aiti-4284	83	24	providing	provide	VERB
aiti-4284	83	25	maximum	maximum	ADJ
aiti-4284	83	26	5v/2.4a	5v/2.4a	NUM
aiti-4284	83	27	(	(	PUNCT
aiti-4284	83	28	12w	12w	NUM
aiti-4284	83	29	)	)	PUNCT
aiti-4284	83	30	output	output	NOUN
aiti-4284	83	31	.	.	PUNCT
aiti-4284	84	1	in	in	ADP
aiti-4284	84	2	this	this	DET
aiti-4284	84	3	experiment	experiment	NOUN
aiti-4284	84	4	,	,	PUNCT
aiti-4284	84	5	we	we	PRON
aiti-4284	84	6	use	use	VERB
aiti-4284	84	7	wireless	wireless	ADJ
aiti-4284	84	8	local	local	ADJ
aiti-4284	84	9	area	area	NOUN
aiti-4284	84	10	network	network	NOUN
aiti-4284	84	11	(	(	PUNCT
aiti-4284	84	12	wlan	wlan	NOUN
aiti-4284	84	13	)	)	PUNCT
aiti-4284	84	14	and	and	CCONJ
aiti-4284	84	15	local	local	ADJ
aiti-4284	84	16	area	area	NOUN
aiti-4284	84	17	network	network	NOUN
aiti-4284	84	18	(	(	PUNCT
aiti-4284	84	19	lan	lan	PROPN
aiti-4284	84	20	)	)	PUNCT
aiti-4284	84	21	connect	connect	VERB
aiti-4284	84	22	raspberry	raspberry	NOUN
aiti-4284	84	23	pi	pi	NOUN
aiti-4284	84	24	and	and	CCONJ
aiti-4284	84	25	server	server	NOUN
aiti-4284	84	26	.	.	PUNCT
aiti-4284	85	1	raspbian	raspbian	PROPN
aiti-4284	85	2	was	be	AUX
aiti-4284	85	3	chosen	choose	VERB
aiti-4284	85	4	for	for	ADP
aiti-4284	85	5	the	the	DET
aiti-4284	85	6	operating	operating	NOUN
aiti-4284	85	7	system	system	NOUN
aiti-4284	85	8	,	,	PUNCT
aiti-4284	85	9	it	it	PRON
aiti-4284	85	10	is	be	AUX
aiti-4284	85	11	a	a	DET
aiti-4284	85	12	debian	debian	NOUN
aiti-4284	85	13	-	-	PUNCT
aiti-4284	85	14	based	base	VERB
aiti-4284	85	15	for	for	ADP
aiti-4284	85	16	raspberry	raspberry	NOUN
aiti-4284	85	17	pi	pi	NOUN
aiti-4284	85	18	,	,	PUNCT
aiti-4284	85	19	officially	officially	ADV
aiti-4284	85	20	provided	provide	VERB
aiti-4284	85	21	by	by	ADP
aiti-4284	85	22	raspberry	raspberry	PROPN
aiti-4284	85	23	pi	pi	PROPN
aiti-4284	85	24	foundation	foundation	PROPN
aiti-4284	85	25	.	.	PUNCT
aiti-4284	86	1	raspbian	raspbian	PROPN
aiti-4284	86	2	is	be	AUX
aiti-4284	86	3	highly	highly	ADV
aiti-4284	86	4	optimized	optimize	VERB
aiti-4284	86	5	for	for	ADP
aiti-4284	86	6	the	the	DET
aiti-4284	86	7	raspberry	raspberry	NOUN
aiti-4284	86	8	pi	pi	PROPN
aiti-4284	86	9	line	line	NOUN
aiti-4284	86	10	’s	’s	PART
aiti-4284	86	11	low	low	ADJ
aiti-4284	86	12	-	-	PUNCT
aiti-4284	86	13	performance	performance	NOUN
aiti-4284	86	14	arm	arm	NOUN
aiti-4284	86	15	cpus	cpu	NOUN
aiti-4284	86	16	,	,	PUNCT
aiti-4284	86	17	also	also	ADV
aiti-4284	86	18	provide	provide	VERB
aiti-4284	86	19	a	a	DET
aiti-4284	86	20	desktop	desktop	NOUN
aiti-4284	86	21	environment	environment	NOUN
aiti-4284	86	22	for	for	ADP
aiti-4284	86	23	beginners	beginner	NOUN
aiti-4284	86	24	.	.	PUNCT
aiti-4284	87	1	in	in	ADP
aiti-4284	87	2	the	the	DET
aiti-4284	87	3	beginning	beginning	NOUN
aiti-4284	87	4	,	,	PUNCT
aiti-4284	87	5	raspberry	raspberry	NOUN
aiti-4284	87	6	pi	pi	NOUN
aiti-4284	87	7	boots	boot	NOUN
aiti-4284	87	8	into	into	ADP
aiti-4284	87	9	the	the	DET
aiti-4284	87	10	system	system	NOUN
aiti-4284	87	11	,	,	PUNCT
aiti-4284	87	12	then	then	ADV
aiti-4284	87	13	startup	startup	VERB
aiti-4284	87	14	streaming	streaming	NOUN
aiti-4284	87	15	service	service	NOUN
aiti-4284	87	16	,	,	PUNCT
aiti-4284	87	17	the	the	DET
aiti-4284	87	18	protocol	protocol	NOUN
aiti-4284	87	19	is	be	AUX
aiti-4284	87	20	using	use	VERB
aiti-4284	87	21	real	real	ADJ
aiti-4284	87	22	time	time	NOUN
aiti-4284	87	23	streaming	streaming	NOUN
aiti-4284	87	24	protocol	protocol	NOUN
aiti-4284	87	25	(	(	PUNCT
aiti-4284	87	26	rtsp	rtsp	NOUN
aiti-4284	87	27	)	)	PUNCT
aiti-4284	87	28	.	.	PUNCT
aiti-4284	88	1	at	at	ADP
aiti-4284	88	2	the	the	DET
aiti-4284	88	3	server	server	NOUN
aiti-4284	88	4	side	side	NOUN
aiti-4284	88	5	,	,	PUNCT
aiti-4284	88	6	the	the	DET
aiti-4284	88	7	server	server	NOUN
aiti-4284	88	8	captures	capture	VERB
aiti-4284	88	9	the	the	DET
aiti-4284	88	10	image	image	NOUN
aiti-4284	88	11	from	from	ADP
aiti-4284	88	12	raspberry	raspberry	PROPN
aiti-4284	88	13	pi	pi	NOUN
aiti-4284	88	14	,	,	PUNCT
aiti-4284	88	15	tensorflow	tensorflow	ADJ
aiti-4284	88	16	object	object	NOUN
aiti-4284	88	17	detection	detection	NOUN
aiti-4284	88	18	program	program	NOUN
aiti-4284	88	19	will	will	AUX
aiti-4284	88	20	detect	detect	VERB
aiti-4284	88	21	the	the	DET
aiti-4284	88	22	object	object	NOUN
aiti-4284	88	23	from	from	ADP
aiti-4284	88	24	the	the	DET
aiti-4284	88	25	image	image	NOUN
aiti-4284	88	26	,	,	PUNCT
aiti-4284	88	27	in	in	ADP
aiti-4284	88	28	this	this	DET
aiti-4284	88	29	experiment	experiment	NOUN
aiti-4284	88	30	,	,	PUNCT
aiti-4284	88	31	we	we	PRON
aiti-4284	88	32	use	use	VERB
aiti-4284	88	33	“	"	PUNCT
aiti-4284	88	34	faster_rcnn_inception	faster_rcnn_inception	NOUN
aiti-4284	88	35	_	_	SYM
aiti-4284	89	1	resnet_v2_atrous_coco	resnet_v2_atrous_coco	NOUN
aiti-4284	89	2	”	"	PUNCT
aiti-4284	89	3	as	as	ADP
aiti-4284	89	4	frozen	frozen	ADJ
aiti-4284	89	5	model	model	NOUN
aiti-4284	89	6	to	to	PART
aiti-4284	89	7	detect	detect	VERB
aiti-4284	89	8	object	object	NOUN
aiti-4284	89	9	,	,	PUNCT
aiti-4284	89	10	the	the	DET
aiti-4284	89	11	reason	reason	NOUN
aiti-4284	89	12	we	we	PRON
aiti-4284	89	13	chose	choose	VERB
aiti-4284	89	14	this	this	DET
aiti-4284	89	15	model	model	NOUN
aiti-4284	89	16	,	,	PUNCT
aiti-4284	89	17	it	it	PRON
aiti-4284	89	18	can	can	AUX
aiti-4284	89	19	recognize	recognize	VERB
aiti-4284	89	20	object	object	VERB
aiti-4284	89	21	more	more	ADJ
aiti-4284	89	22	than	than	ADP
aiti-4284	89	23	the	the	DET
aiti-4284	89	24	other	other	ADJ
aiti-4284	89	25	two	two	NUM
aiti-4284	89	26	frozen	frozen	ADJ
aiti-4284	89	27	model	model	NOUN
aiti-4284	89	28	,	,	PUNCT
aiti-4284	89	29	but	but	CCONJ
aiti-4284	89	30	disadvantage	disadvantage	NOUN
aiti-4284	89	31	of	of	ADP
aiti-4284	89	32	this	this	DET
aiti-4284	89	33	model	model	NOUN
aiti-4284	89	34	is	be	AUX
aiti-4284	89	35	using	use	VERB
aiti-4284	89	36	more	more	ADJ
aiti-4284	89	37	time	time	NOUN
aiti-4284	89	38	.	.	PUNCT
aiti-4284	90	1	after	after	ADP
aiti-4284	90	2	detected	detect	VERB
aiti-4284	90	3	,	,	PUNCT
aiti-4284	90	4	the	the	DET
aiti-4284	90	5	program	program	NOUN
aiti-4284	90	6	will	will	AUX
aiti-4284	90	7	generate	generate	VERB
aiti-4284	90	8	object	object	NOUN
aiti-4284	90	9	coordinate	coordinate	NOUN
aiti-4284	90	10	,	,	PUNCT
aiti-4284	90	11	name	name	NOUN
aiti-4284	90	12	and	and	CCONJ
aiti-4284	90	13	detected	detect	VERB
aiti-4284	90	14	score	score	NOUN
aiti-4284	90	15	,	,	PUNCT
aiti-4284	90	16	to	to	PART
aiti-4284	90	17	validate	validate	VERB
aiti-4284	90	18	our	our	PRON
aiti-4284	90	19	theory	theory	NOUN
aiti-4284	90	20	,	,	PUNCT
aiti-4284	90	21	we	we	PRON
aiti-4284	90	22	need	need	VERB
aiti-4284	90	23	coordinate	coordinate	NOUN
aiti-4284	90	24	data	datum	NOUN
aiti-4284	90	25	to	to	PART
aiti-4284	90	26	calculate	calculate	VERB
aiti-4284	90	27	the	the	DET
aiti-4284	90	28	walkable	walkable	ADJ
aiti-4284	90	29	area	area	NOUN
aiti-4284	90	30	,	,	PUNCT
aiti-4284	90	31	then	then	ADV
aiti-4284	90	32	,	,	PUNCT
aiti-4284	90	33	the	the	DET
aiti-4284	90	34	program	program	NOUN
aiti-4284	90	35	will	will	AUX
aiti-4284	90	36	send	send	VERB
aiti-4284	90	37	object	object	NOUN
aiti-4284	90	38	coordinate	coordinate	NOUN
aiti-4284	90	39	data	datum	NOUN
aiti-4284	90	40	and	and	CCONJ
aiti-4284	90	41	source	source	NOUN
aiti-4284	90	42	imaged	image	VERB
aiti-4284	90	43	to	to	ADP
aiti-4284	90	44	the	the	DET
aiti-4284	90	45	walkable	walkable	ADJ
aiti-4284	90	46	area	area	NOUN
aiti-4284	90	47	program	program	NOUN
aiti-4284	90	48	,	,	PUNCT
aiti-4284	90	49	name	name	NOUN
aiti-4284	90	50	and	and	CCONJ
aiti-4284	90	51	score	score	NOUN
aiti-4284	90	52	data	datum	NOUN
aiti-4284	90	53	are	be	AUX
aiti-4284	90	54	optional	optional	ADJ
aiti-4284	90	55	data	datum	NOUN
aiti-4284	90	56	,	,	PUNCT
aiti-4284	90	57	but	but	CCONJ
aiti-4284	90	58	in	in	ADP
aiti-4284	90	59	this	this	DET
aiti-4284	90	60	experiment	experiment	NOUN
aiti-4284	90	61	,	,	PUNCT
aiti-4284	90	62	we	we	PRON
aiti-4284	90	63	did	do	AUX
aiti-4284	90	64	n’t	not	PART
aiti-4284	90	65	use	use	VERB
aiti-4284	90	66	them	they	PRON
aiti-4284	90	67	,	,	PUNCT
aiti-4284	90	68	those	those	DET
aiti-4284	90	69	data	datum	NOUN
aiti-4284	90	70	contain	contain	VERB
aiti-4284	90	71	the	the	DET
aiti-4284	90	72	object	object	NOUN
aiti-4284	90	73	name	name	NOUN
aiti-4284	90	74	and	and	CCONJ
aiti-4284	90	75	detected	detect	VERB
aiti-4284	90	76	score	score	NOUN
aiti-4284	90	77	.	.	PUNCT
aiti-4284	91	1	the	the	DET
aiti-4284	91	2	walkable	walkable	ADJ
aiti-4284	91	3	area	area	NOUN
aiti-4284	91	4	program	program	NOUN
aiti-4284	91	5	was	be	AUX
aiti-4284	91	6	used	use	VERB
aiti-4284	91	7	in	in	ADP
aiti-4284	91	8	python	python	PROPN
aiti-4284	91	9	3	3	NUM
aiti-4284	91	10	as	as	ADP
aiti-4284	91	11	programming	programming	NOUN
aiti-4284	91	12	language	language	NOUN
aiti-4284	91	13	,	,	PUNCT
aiti-4284	91	14	in	in	ADP
aiti-4284	91	15	this	this	DET
aiti-4284	91	16	program	program	NOUN
aiti-4284	91	17	,	,	PUNCT
aiti-4284	91	18	coordinate	coordinate	VERB
aiti-4284	91	19	data	datum	NOUN
aiti-4284	91	20	from	from	ADP
aiti-4284	91	21	tensorflow	tensorflow	ADJ
aiti-4284	91	22	object	object	NOUN
aiti-4284	91	23	detection	detection	NOUN
aiti-4284	91	24	is	be	AUX
aiti-4284	91	25	playing	play	VERB
aiti-4284	91	26	an	an	DET
aiti-4284	91	27	important	important	ADJ
aiti-4284	91	28	part	part	NOUN
aiti-4284	91	29	in	in	ADP
aiti-4284	91	30	this	this	DET
aiti-4284	91	31	experiment	experiment	NOUN
aiti-4284	91	32	,	,	PUNCT
aiti-4284	91	33	first	first	ADJ
aiti-4284	91	34	step	step	NOUN
aiti-4284	91	35	,	,	PUNCT
aiti-4284	91	36	we	we	PRON
aiti-4284	91	37	use	use	VERB
aiti-4284	91	38	the	the	DET
aiti-4284	91	39	coordinate	coordinate	NOUN
aiti-4284	91	40	data	datum	NOUN
aiti-4284	91	41	to	to	PART
aiti-4284	91	42	mark	mark	VERB
aiti-4284	91	43	the	the	DET
aiti-4284	91	44	bounding	bounding	NOUN
aiti-4284	91	45	box	box	NOUN
aiti-4284	91	46	,	,	PUNCT
aiti-4284	91	47	second	second	ADJ
aiti-4284	91	48	step	step	NOUN
aiti-4284	91	49	,	,	PUNCT
aiti-4284	91	50	using	use	VERB
aiti-4284	91	51	the	the	DET
aiti-4284	91	52	algorithm	algorithm	NOUN
aiti-4284	91	53	to	to	PART
aiti-4284	91	54	find	find	VERB
aiti-4284	91	55	the	the	DET
aiti-4284	91	56	walkable	walkable	ADJ
aiti-4284	91	57	area	area	NOUN
aiti-4284	91	58	of	of	ADP
aiti-4284	91	59	this	this	DET
aiti-4284	91	60	image	image	NOUN
aiti-4284	91	61	,	,	PUNCT
aiti-4284	91	62	then	then	ADV
aiti-4284	91	63	,	,	PUNCT
aiti-4284	91	64	the	the	DET
aiti-4284	91	65	program	program	NOUN
aiti-4284	91	66	will	will	AUX
aiti-4284	91	67	generate	generate	VERB
aiti-4284	91	68	the	the	DET
aiti-4284	91	69	marked	mark	VERB
aiti-4284	91	70	image	image	NOUN
aiti-4284	91	71	.	.	PUNCT
aiti-4284	92	1	(	(	PUNCT
aiti-4284	92	2	a	a	X
aiti-4284	92	3	)	)	PUNCT
aiti-4284	92	4	the	the	DET
aiti-4284	92	5	raspberry	raspberry	NOUN
aiti-4284	92	6	pi	pi	NOUN
aiti-4284	92	7	(	(	PUNCT
aiti-4284	92	8	b	b	NOUN
aiti-4284	92	9	)	)	PUNCT
aiti-4284	92	10	cmos	cmos	NOUN
aiti-4284	92	11	camera	camera	NOUN
aiti-4284	92	12	fig	fig	NOUN
aiti-4284	92	13	.	.	PUNCT
aiti-4284	93	1	5	5	NUM
aiti-4284	93	2	a	a	DET
aiti-4284	93	3	car	car	NOUN
aiti-4284	93	4	combined	combine	VERB
aiti-4284	93	5	the	the	DET
aiti-4284	93	6	raspberry	raspberry	NOUN
aiti-4284	93	7	pi	pi	NOUN
aiti-4284	93	8	and	and	CCONJ
aiti-4284	93	9	cmos	cmos	PROPN
aiti-4284	93	10	camera	camera	NOUN
aiti-4284	93	11	figs	fig	NOUN
aiti-4284	93	12	.	.	PUNCT
aiti-4284	94	1	(	(	PUNCT
aiti-4284	94	2	6	6	NUM
aiti-4284	94	3	-	-	SYM
aiti-4284	94	4	7	7	NUM
aiti-4284	94	5	)	)	PUNCT
aiti-4284	94	6	present	present	VERB
aiti-4284	94	7	the	the	DET
aiti-4284	94	8	original	original	ADJ
aiti-4284	94	9	input	input	NOUN
aiti-4284	94	10	,	,	PUNCT
aiti-4284	94	11	result	result	NOUN
aiti-4284	94	12	detected	detect	VERB
aiti-4284	94	13	using	use	VERB
aiti-4284	94	14	tensorflow	tensorflow	NOUN
aiti-4284	94	15	object	object	NOUN
aiti-4284	94	16	detection	detection	NOUN
aiti-4284	94	17	,	,	PUNCT
aiti-4284	94	18	and	and	CCONJ
aiti-4284	94	19	walkable	walkable	ADJ
aiti-4284	94	20	area	area	NOUN
aiti-4284	94	21	determined	determine	VERB
aiti-4284	94	22	using	use	VERB
aiti-4284	94	23	the	the	DET
aiti-4284	94	24	program	program	NOUN
aiti-4284	94	25	,	,	PUNCT
aiti-4284	94	26	respectively	respectively	ADV
aiti-4284	94	27	.	.	PUNCT
aiti-4284	95	1	the	the	DET
aiti-4284	95	2	program	program	NOUN
aiti-4284	95	3	was	be	AUX
aiti-4284	95	4	developed	develop	VERB
aiti-4284	95	5	according	accord	VERB
aiti-4284	95	6	to	to	ADP
aiti-4284	95	7	the	the	DET
aiti-4284	95	8	aforementioned	aforementioned	ADJ
aiti-4284	95	9	theory	theory	NOUN
aiti-4284	95	10	.	.	PUNCT
aiti-4284	96	1	fig	fig	NOUN
aiti-4284	96	2	.	.	PUNCT
aiti-4284	97	1	7	7	NUM
aiti-4284	97	2	shows	show	VERB
aiti-4284	97	3	the	the	DET
aiti-4284	97	4	result	result	NOUN
aiti-4284	97	5	of	of	ADP
aiti-4284	97	6	the	the	DET
aiti-4284	97	7	system	system	NOUN
aiti-4284	97	8	output	output	NOUN
aiti-4284	97	9	,	,	PUNCT
aiti-4284	97	10	bounding	bound	VERB
aiti-4284	97	11	box	box	NOUN
aiti-4284	97	12	in	in	ADP
aiti-4284	97	13	green	green	PROPN
aiti-4284	97	14	represent	represent	VERB
aiti-4284	97	15	the	the	DET
aiti-4284	97	16	object	object	NOUN
aiti-4284	97	17	,	,	PUNCT
aiti-4284	97	18	the	the	DET
aiti-4284	97	19	two	two	NUM
aiti-4284	97	20	red	red	ADJ
aiti-4284	97	21	lines	line	NOUN
aiti-4284	97	22	represent	represent	VERB
aiti-4284	97	23	the	the	DET
aiti-4284	97	24	two	two	NUM
aiti-4284	97	25	shortest	short	ADJ
aiti-4284	97	26	distance	distance	NOUN
aiti-4284	97	27	between	between	ADP
aiti-4284	97	28	two	two	NUM
aiti-4284	97	29	bounding	bounding	NOUN
aiti-4284	97	30	boxes	box	NOUN
aiti-4284	97	31	,	,	PUNCT
aiti-4284	97	32	two	two	NUM
aiti-4284	97	33	lines	line	NOUN
aiti-4284	97	34	means	mean	VERB
aiti-4284	97	35	we	we	PRON
aiti-4284	97	36	have	have	VERB
aiti-4284	97	37	four	four	NUM
aiti-4284	97	38	coordinates	coordinate	NOUN
aiti-4284	97	39	.	.	PUNCT
aiti-4284	98	1	to	to	PART
aiti-4284	98	2	show	show	VERB
aiti-4284	98	3	the	the	DET
aiti-4284	98	4	walkable	walkable	ADJ
aiti-4284	98	5	area	area	NOUN
aiti-4284	98	6	,	,	PUNCT
aiti-4284	98	7	creating	create	VERB
aiti-4284	98	8	an	an	DET
aiti-4284	98	9	empty	empty	ADJ
aiti-4284	98	10	layer	layer	NOUN
aiti-4284	98	11	,	,	PUNCT
aiti-4284	98	12	same	same	ADJ
aiti-4284	98	13	width	width	NOUN
aiti-4284	98	14	and	and	CCONJ
aiti-4284	98	15	height	height	NOUN
aiti-4284	98	16	as	as	ADP
aiti-4284	98	17	origin	origin	NOUN
aiti-4284	98	18	image	image	NOUN
aiti-4284	98	19	,	,	PUNCT
aiti-4284	98	20	using	use	VERB
aiti-4284	98	21	these	these	DET
aiti-4284	98	22	coordinates	coordinate	NOUN
aiti-4284	98	23	to	to	PART
aiti-4284	98	24	create	create	VERB
aiti-4284	98	25	a	a	DET
aiti-4284	98	26	polygon	polygon	NOUN
aiti-4284	98	27	on	on	ADP
aiti-4284	98	28	it	it	PRON
aiti-4284	98	29	,	,	PUNCT
aiti-4284	98	30	filling	fill	VERB
aiti-4284	98	31	in	in	ADP
aiti-4284	98	32	blue	blue	ADJ
aiti-4284	98	33	color	color	NOUN
aiti-4284	98	34	in	in	ADP
aiti-4284	98	35	a	a	DET
aiti-4284	98	36	closed	closed	ADJ
aiti-4284	98	37	area	area	NOUN
aiti-4284	98	38	,	,	PUNCT
aiti-4284	98	39	after	after	ADP
aiti-4284	98	40	creating	create	VERB
aiti-4284	98	41	the	the	DET
aiti-4284	98	42	layer	layer	NOUN
aiti-4284	98	43	,	,	PUNCT
aiti-4284	98	44	it	it	PRON
aiti-4284	98	45	will	will	AUX
aiti-4284	98	46	overlay	overlay	VERB
aiti-4284	98	47	on	on	ADP
aiti-4284	98	48	the	the	DET
aiti-4284	98	49	origin	origin	NOUN
aiti-4284	98	50	image	image	NOUN
aiti-4284	98	51	.	.	PUNCT
aiti-4284	99	1	the	the	DET
aiti-4284	99	2	marked	mark	VERB
aiti-4284	99	3	area	area	NOUN
aiti-4284	99	4	is	be	AUX
aiti-4284	99	5	the	the	DET
aiti-4284	99	6	walkable	walkable	ADJ
aiti-4284	99	7	area	area	NOUN
aiti-4284	99	8	that	that	SCONJ
aiti-4284	99	9	the	the	DET
aiti-4284	99	10	system	system	NOUN
aiti-4284	99	11	determined	determine	VERB
aiti-4284	99	12	.	.	PUNCT
aiti-4284	100	1	advances	advance	NOUN
aiti-4284	100	2	in	in	ADP
aiti-4284	100	3	technology	technology	NOUN
aiti-4284	100	4	innovation	innovation	NOUN
aiti-4284	100	5	,	,	PUNCT
aiti-4284	100	6	vol	vol	NOUN
aiti-4284	100	7	.	.	PROPN
aiti-4284	100	8	5	5	NUM
aiti-4284	100	9	,	,	PUNCT
aiti-4284	100	10	no	no	INTJ
aiti-4284	100	11	.	.	NOUN
aiti-4284	100	12	1	1	NUM
aiti-4284	100	13	,	,	PUNCT
aiti-4284	100	14	2020	2020	NUM
aiti-4284	100	15	,	,	PUNCT
aiti-4284	100	16	pp	pp	ADJ
aiti-4284	100	17	.	.	PUNCT
aiti-4284	101	1	10	10	NUM
aiti-4284	101	2	-	-	SYM
aiti-4284	101	3	17	17	NUM
aiti-4284	101	4	15	15	NUM
aiti-4284	101	5	fig	fig	NOUN
aiti-4284	101	6	.	.	PUNCT
aiti-4284	102	1	6	6	NUM
aiti-4284	103	1	the	the	DET
aiti-4284	103	2	environmental	environmental	ADJ
aiti-4284	103	3	image	image	NOUN
aiti-4284	103	4	captured	capture	VERB
aiti-4284	103	5	by	by	ADP
aiti-4284	103	6	the	the	DET
aiti-4284	103	7	cmos	cmos	PROPN
aiti-4284	103	8	camera	camera	NOUN
aiti-4284	103	9	fig	fig	NOUN
aiti-4284	103	10	.	.	PUNCT
aiti-4284	104	1	7	7	NUM
aiti-4284	105	1	the	the	DET
aiti-4284	105	2	walkable	walkable	ADJ
aiti-4284	105	3	area	area	NOUN
aiti-4284	105	4	determined	determine	VERB
aiti-4284	105	5	using	use	VERB
aiti-4284	105	6	the	the	DET
aiti-4284	105	7	system	system	NOUN
aiti-4284	105	8	marked	mark	VERB
aiti-4284	105	9	by	by	ADP
aiti-4284	105	10	blue	blue	ADJ
aiti-4284	105	11	color	color	NOUN
aiti-4284	105	12	in	in	ADP
aiti-4284	105	13	fig	fig	NOUN
aiti-4284	105	14	.	.	PUNCT
aiti-4284	106	1	8	8	NUM
aiti-4284	106	2	,	,	PUNCT
aiti-4284	106	3	this	this	DET
aiti-4284	106	4	environment	environment	NOUN
aiti-4284	106	5	is	be	AUX
aiti-4284	106	6	a	a	DET
aiti-4284	106	7	walking	walk	VERB
aiti-4284	106	8	area	area	NOUN
aiti-4284	106	9	in	in	ADP
aiti-4284	106	10	the	the	DET
aiti-4284	106	11	laboratory	laboratory	NOUN
aiti-4284	106	12	,	,	PUNCT
aiti-4284	106	13	in	in	ADP
aiti-4284	106	14	human	human	ADJ
aiti-4284	106	15	thinking	thinking	NOUN
aiti-4284	106	16	,	,	PUNCT
aiti-4284	106	17	we	we	PRON
aiti-4284	106	18	can	can	AUX
aiti-4284	106	19	pass	pass	VERB
aiti-4284	106	20	through	through	ADP
aiti-4284	106	21	by	by	ADP
aiti-4284	106	22	the	the	DET
aiti-4284	106	23	box	box	NOUN
aiti-4284	106	24	’s	’s	PART
aiti-4284	106	25	lefthand	lefthand	PROPN
aiti-4284	106	26	side	side	NOUN
aiti-4284	106	27	,	,	PUNCT
aiti-4284	106	28	but	but	CCONJ
aiti-4284	106	29	there	there	PRON
aiti-4284	106	30	was	be	VERB
aiti-4284	106	31	a	a	DET
aiti-4284	106	32	wheel	wheel	NOUN
aiti-4284	106	33	of	of	ADP
aiti-4284	106	34	the	the	DET
aiti-4284	106	35	chair	chair	NOUN
aiti-4284	106	36	in	in	ADP
aiti-4284	106	37	the	the	DET
aiti-4284	106	38	left	left	NOUN
aiti-4284	106	39	,	,	PUNCT
aiti-4284	106	40	so	so	ADV
aiti-4284	106	41	we	we	PRON
aiti-4284	106	42	pass	pass	VERB
aiti-4284	106	43	through	through	ADP
aiti-4284	106	44	between	between	ADP
aiti-4284	106	45	these	these	DET
aiti-4284	106	46	two	two	NUM
aiti-4284	106	47	objects	object	NOUN
aiti-4284	106	48	.	.	PUNCT
aiti-4284	107	1	the	the	DET
aiti-4284	107	2	program	program	NOUN
aiti-4284	107	3	will	will	AUX
aiti-4284	107	4	detect	detect	VERB
aiti-4284	107	5	the	the	DET
aiti-4284	107	6	objects	object	NOUN
aiti-4284	107	7	using	use	VERB
aiti-4284	107	8	fig	fig	NOUN
aiti-4284	107	9	.	.	PUNCT
aiti-4284	108	1	8	8	NUM
aiti-4284	108	2	,	,	PUNCT
aiti-4284	108	3	then	then	ADV
aiti-4284	108	4	the	the	DET
aiti-4284	108	5	program	program	NOUN
aiti-4284	108	6	used	use	VERB
aiti-4284	108	7	an	an	DET
aiti-4284	108	8	algorithm	algorithm	NOUN
aiti-4284	108	9	to	to	PART
aiti-4284	108	10	calculate	calculate	VERB
aiti-4284	108	11	the	the	DET
aiti-4284	108	12	walkable	walkable	ADJ
aiti-4284	108	13	area	area	NOUN
aiti-4284	108	14	between	between	ADP
aiti-4284	108	15	these	these	DET
aiti-4284	108	16	two	two	NUM
aiti-4284	108	17	objects	object	NOUN
aiti-4284	108	18	,	,	PUNCT
aiti-4284	108	19	shown	show	VERB
aiti-4284	108	20	in	in	ADP
aiti-4284	108	21	fig	fig	NOUN
aiti-4284	108	22	.	.	PUNCT
aiti-4284	109	1	9	9	X
aiti-4284	109	2	.	.	X
aiti-4284	109	3	you	you	PRON
aiti-4284	109	4	can	can	AUX
aiti-4284	109	5	see	see	VERB
aiti-4284	109	6	that	that	SCONJ
aiti-4284	109	7	the	the	DET
aiti-4284	109	8	program	program	NOUN
aiti-4284	109	9	marks	mark	VERB
aiti-4284	109	10	the	the	DET
aiti-4284	109	11	walkable	walkable	ADJ
aiti-4284	109	12	area	area	NOUN
aiti-4284	109	13	by	by	ADP
aiti-4284	109	14	blue	blue	ADJ
aiti-4284	109	15	color	color	NOUN
aiti-4284	109	16	,	,	PUNCT
aiti-4284	109	17	so	so	ADV
aiti-4284	109	18	does	do	VERB
aiti-4284	109	19	human	human	ADJ
aiti-4284	109	20	thinking	thinking	NOUN
aiti-4284	109	21	.	.	PUNCT
aiti-4284	110	1	but	but	CCONJ
aiti-4284	110	2	in	in	ADP
aiti-4284	110	3	fig	fig	NOUN
aiti-4284	110	4	.	.	PUNCT
aiti-4284	111	1	9	9	NUM
aiti-4284	111	2	,	,	PUNCT
aiti-4284	111	3	some	some	DET
aiti-4284	111	4	object	object	NOUN
aiti-4284	111	5	is	be	AUX
aiti-4284	111	6	not	not	PART
aiti-4284	111	7	marked	mark	VERB
aiti-4284	111	8	,	,	PUNCT
aiti-4284	111	9	for	for	ADP
aiti-4284	111	10	example	example	NOUN
aiti-4284	111	11	,	,	PUNCT
aiti-4284	111	12	the	the	DET
aiti-4284	111	13	cabinet	cabinet	NOUN
aiti-4284	111	14	in	in	ADP
aiti-4284	111	15	the	the	DET
aiti-4284	111	16	middle	middle	NOUN
aiti-4284	111	17	of	of	ADP
aiti-4284	111	18	fig	fig	NOUN
aiti-4284	111	19	.	.	PUNCT
aiti-4284	112	1	9	9	NUM
aiti-4284	112	2	,	,	PUNCT
aiti-4284	112	3	algorithm	algorithm	NOUN
aiti-4284	112	4	skip	skip	VERB
aiti-4284	112	5	that	that	DET
aiti-4284	112	6	object	object	NOUN
aiti-4284	112	7	,	,	PUNCT
aiti-4284	112	8	the	the	DET
aiti-4284	112	9	blue	blue	ADJ
aiti-4284	112	10	area	area	NOUN
aiti-4284	112	11	is	be	AUX
aiti-4284	112	12	overlapped	overlap	VERB
aiti-4284	112	13	on	on	ADP
aiti-4284	112	14	it	it	PRON
aiti-4284	112	15	.	.	PUNCT
aiti-4284	113	1	fig	fig	NOUN
aiti-4284	113	2	.	.	PUNCT
aiti-4284	113	3	8	8	NUM
aiti-4284	114	1	the	the	DET
aiti-4284	114	2	environmental	environmental	ADJ
aiti-4284	114	3	image	image	NOUN
aiti-4284	114	4	captured	capture	VERB
aiti-4284	114	5	by	by	ADP
aiti-4284	114	6	the	the	DET
aiti-4284	114	7	cmos	cmos	PROPN
aiti-4284	114	8	camera	camera	NOUN
aiti-4284	114	9	fig	fig	NOUN
aiti-4284	114	10	.	.	PUNCT
aiti-4284	115	1	9	9	NUM
aiti-4284	116	1	the	the	DET
aiti-4284	116	2	walkable	walkable	ADJ
aiti-4284	116	3	area	area	NOUN
aiti-4284	116	4	determined	determine	VERB
aiti-4284	116	5	using	use	VERB
aiti-4284	116	6	the	the	DET
aiti-4284	116	7	system	system	NOUN
aiti-4284	116	8	,	,	PUNCT
aiti-4284	116	9	marked	mark	VERB
aiti-4284	116	10	by	by	ADP
aiti-4284	116	11	blue	blue	ADJ
aiti-4284	116	12	color	color	NOUN
aiti-4284	116	13	fig	fig	NOUN
aiti-4284	116	14	.	.	PUNCT
aiti-4284	117	1	10	10	NUM
aiti-4284	118	1	the	the	DET
aiti-4284	118	2	environmental	environmental	ADJ
aiti-4284	118	3	image	image	NOUN
aiti-4284	118	4	captured	capture	VERB
aiti-4284	118	5	by	by	ADP
aiti-4284	118	6	the	the	DET
aiti-4284	118	7	cmos	cmos	PROPN
aiti-4284	118	8	camera	camera	NOUN
aiti-4284	118	9	fig	fig	NOUN
aiti-4284	118	10	.	.	PUNCT
aiti-4284	119	1	11	11	NUM
aiti-4284	120	1	the	the	DET
aiti-4284	120	2	walkable	walkable	ADJ
aiti-4284	120	3	area	area	NOUN
aiti-4284	120	4	determined	determine	VERB
aiti-4284	120	5	using	use	VERB
aiti-4284	120	6	the	the	DET
aiti-4284	120	7	system	system	NOUN
aiti-4284	120	8	,	,	PUNCT
aiti-4284	120	9	marked	mark	VERB
aiti-4284	120	10	by	by	ADP
aiti-4284	120	11	blue	blue	ADJ
aiti-4284	120	12	color	color	NOUN
aiti-4284	120	13	table	table	NOUN
aiti-4284	120	14	2	2	NUM
aiti-4284	120	15	presents	present	VERB
aiti-4284	120	16	the	the	DET
aiti-4284	120	17	detail	detail	NOUN
aiti-4284	120	18	of	of	ADP
aiti-4284	120	19	the	the	DET
aiti-4284	120	20	detection	detection	NOUN
aiti-4284	120	21	,	,	PUNCT
aiti-4284	120	22	we	we	PRON
aiti-4284	120	23	chosen	choose	VERB
aiti-4284	120	24	google	google	PROPN
aiti-4284	120	25	’s	’s	PART
aiti-4284	120	26	tensorflow	tensorflow	NOUN
aiti-4284	120	27	object	object	NOUN
aiti-4284	120	28	detection	detection	NOUN
aiti-4284	120	29	api	api	NOUN
aiti-4284	120	30	“	"	PUNCT
aiti-4284	120	31	faster_rcnn	faster_rcnn	PROPN
aiti-4284	120	32	_	_	PUNCT
aiti-4284	120	33	inception_resnet_v2_atrous_coco	inception_resnet_v2_atrous_coco	PROPN
aiti-4284	120	34	”	"	PUNCT
aiti-4284	120	35	frozen	frozen	ADJ
aiti-4284	120	36	model	model	NOUN
aiti-4284	120	37	as	as	ADP
aiti-4284	120	38	object	object	NOUN
aiti-4284	120	39	detection	detection	NOUN
aiti-4284	120	40	model	model	NOUN
aiti-4284	120	41	,	,	PUNCT
aiti-4284	120	42	“	"	PUNCT
aiti-4284	120	43	ssd_mobilenet_v1_coco	ssd_mobilenet_v1_coco	PROPN
aiti-4284	120	44	,	,	PUNCT
aiti-4284	120	45	”	"	PUNCT
aiti-4284	120	46	and	and	CCONJ
aiti-4284	120	47	“	"	PUNCT
aiti-4284	120	48	ssd_mobilenet	ssd_mobilenet	ADJ
aiti-4284	120	49	advances	advance	NOUN
aiti-4284	120	50	in	in	ADP
aiti-4284	120	51	technology	technology	NOUN
aiti-4284	120	52	innovation	innovation	NOUN
aiti-4284	120	53	,	,	PUNCT
aiti-4284	120	54	vol	vol	NOUN
aiti-4284	120	55	.	.	PROPN
aiti-4284	120	56	5	5	NUM
aiti-4284	120	57	,	,	PUNCT
aiti-4284	120	58	no	no	INTJ
aiti-4284	120	59	.	.	NOUN
aiti-4284	120	60	1	1	NUM
aiti-4284	120	61	,	,	PUNCT
aiti-4284	120	62	2020	2020	NUM
aiti-4284	120	63	,	,	PUNCT
aiti-4284	120	64	pp	pp	ADJ
aiti-4284	120	65	.	.	PUNCT
aiti-4284	121	1	10	10	NUM
aiti-4284	121	2	-	-	SYM
aiti-4284	121	3	17	17	NUM
aiti-4284	121	4	16	16	NUM
aiti-4284	121	5	_	_	PUNCT
aiti-4284	121	6	v1	v1	NOUN
aiti-4284	121	7	_	_	NOUN
aiti-4284	121	8	fpn_coco	fpn_coco	NOUN
aiti-4284	121	9	”	"	PUNCT
aiti-4284	121	10	are	be	AUX
aiti-4284	121	11	not	not	PART
aiti-4284	121	12	used	use	VERB
aiti-4284	121	13	here	here	ADV
aiti-4284	121	14	,	,	PUNCT
aiti-4284	121	15	two	two	NUM
aiti-4284	121	16	of	of	ADP
aiti-4284	121	17	them	they	PRON
aiti-4284	121	18	ca	can	AUX
aiti-4284	121	19	n’t	not	PART
aiti-4284	121	20	recognize	recognize	VERB
aiti-4284	121	21	more	more	ADJ
aiti-4284	121	22	than	than	ADP
aiti-4284	121	23	two	two	NUM
aiti-4284	121	24	objects	object	NOUN
aiti-4284	121	25	,	,	PUNCT
aiti-4284	121	26	by	by	ADP
aiti-4284	121	27	this	this	DET
aiti-4284	121	28	reason	reason	NOUN
aiti-4284	121	29	,	,	PUNCT
aiti-4284	121	30	the	the	DET
aiti-4284	121	31	algorithm	algorithm	NOUN
aiti-4284	121	32	needs	need	VERB
aiti-4284	121	33	two	two	NUM
aiti-4284	121	34	or	or	CCONJ
aiti-4284	121	35	more	more	ADJ
aiti-4284	121	36	objects	object	NOUN
aiti-4284	121	37	input	input	NOUN
aiti-4284	121	38	,	,	PUNCT
aiti-4284	121	39	which	which	PRON
aiti-4284	121	40	is	be	AUX
aiti-4284	121	41	the	the	DET
aiti-4284	121	42	area	area	NOUN
aiti-4284	121	43	that	that	PRON
aiti-4284	121	44	we	we	PRON
aiti-4284	121	45	want	want	VERB
aiti-4284	121	46	to	to	PART
aiti-4284	121	47	find	find	VERB
aiti-4284	121	48	.	.	PUNCT
aiti-4284	122	1	table	table	NOUN
aiti-4284	122	2	2	2	NUM
aiti-4284	122	3	detection	detection	NOUN
aiti-4284	122	4	details	detail	NOUN
aiti-4284	122	5	for	for	ADP
aiti-4284	122	6	figs	fig	NOUN
aiti-4284	122	7	.	.	PUNCT
aiti-4284	123	1	(	(	PUNCT
aiti-4284	123	2	7	7	NUM
aiti-4284	123	3	,	,	PUNCT
aiti-4284	123	4	9	9	NUM
aiti-4284	123	5	,	,	PUNCT
aiti-4284	123	6	11	11	NUM
aiti-4284	123	7	)	)	PUNCT
aiti-4284	123	8	number	number	NOUN
aiti-4284	123	9	of	of	ADP
aiti-4284	123	10	detections	detection	NOUN
aiti-4284	123	11	detection	detection	NOUN
aiti-4284	123	12	classes	class	NOUN
aiti-4284	123	13	time	time	NOUN
aiti-4284	123	14	(	(	PUNCT
aiti-4284	123	15	sec	sec	PROPN
aiti-4284	123	16	.	.	PUNCT
aiti-4284	123	17	)	)	PUNCT
aiti-4284	124	1	fig	fig	NOUN
aiti-4284	124	2	.	.	PUNCT
aiti-4284	125	1	7	7	NUM
aiti-4284	125	2	4	4	NUM
aiti-4284	125	3	toilet	toilet	NOUN
aiti-4284	125	4	,	,	PUNCT
aiti-4284	125	5	microwave	microwave	NOUN
aiti-4284	125	6	,	,	PUNCT
aiti-4284	125	7	oven	oven	ADJ
aiti-4284	125	8	,	,	PUNCT
aiti-4284	125	9	chair	chair	NOUN
aiti-4284	125	10	0.0157	0.0157	NUM
aiti-4284	125	11	fig	fig	NOUN
aiti-4284	125	12	.	.	PUNCT
aiti-4284	126	1	9	9	NUM
aiti-4284	126	2	4	4	NUM
aiti-4284	126	3	refrigerator	refrigerator	NOUN
aiti-4284	126	4	,	,	PUNCT
aiti-4284	126	5	chair	chair	NOUN
aiti-4284	126	6	,	,	PUNCT
aiti-4284	126	7	bowl	bowl	VERB
aiti-4284	126	8	0.0161	0.0161	NUM
aiti-4284	126	9	fig	fig	NOUN
aiti-4284	126	10	.	.	PUNCT
aiti-4284	127	1	11	11	NUM
aiti-4284	127	2	2	2	NUM
aiti-4284	127	3	chair	chair	NOUN
aiti-4284	127	4	0.0191	0.0191	NUM
aiti-4284	127	5	by	by	ADP
aiti-4284	127	6	experiment	experiment	NOUN
aiti-4284	127	7	results	result	NOUN
aiti-4284	127	8	,	,	PUNCT
aiti-4284	127	9	this	this	DET
aiti-4284	127	10	algorithm	algorithm	NOUN
aiti-4284	127	11	needs	need	VERB
aiti-4284	127	12	more	more	ADJ
aiti-4284	127	13	object	object	NOUN
aiti-4284	127	14	data	datum	NOUN
aiti-4284	127	15	,	,	PUNCT
aiti-4284	127	16	accuracy	accuracy	NOUN
aiti-4284	127	17	will	will	AUX
aiti-4284	127	18	be	be	AUX
aiti-4284	127	19	increased	increase	VERB
aiti-4284	127	20	.	.	PUNCT
aiti-4284	128	1	choosing	choose	VERB
aiti-4284	128	2	a	a	DET
aiti-4284	128	3	model	model	NOUN
aiti-4284	128	4	is	be	AUX
aiti-4284	128	5	a	a	DET
aiti-4284	128	6	subject	subject	NOUN
aiti-4284	128	7	in	in	ADP
aiti-4284	128	8	this	this	DET
aiti-4284	128	9	study	study	NOUN
aiti-4284	128	10	,	,	PUNCT
aiti-4284	128	11	we	we	PRON
aiti-4284	128	12	can	can	AUX
aiti-4284	128	13	train	train	VERB
aiti-4284	128	14	the	the	DET
aiti-4284	128	15	model	model	NOUN
aiti-4284	128	16	base	base	NOUN
aiti-4284	128	17	on	on	ADP
aiti-4284	128	18	the	the	DET
aiti-4284	128	19	existing	exist	VERB
aiti-4284	128	20	model	model	NOUN
aiti-4284	128	21	,	,	PUNCT
aiti-4284	128	22	so	so	SCONJ
aiti-4284	128	23	we	we	PRON
aiti-4284	128	24	should	should	AUX
aiti-4284	128	25	prepare	prepare	VERB
aiti-4284	128	26	the	the	DET
aiti-4284	128	27	object	object	NOUN
aiti-4284	128	28	that	that	PRON
aiti-4284	128	29	appears	appear	VERB
aiti-4284	128	30	indoor	indoor	ADV
aiti-4284	128	31	frequently	frequently	ADV
aiti-4284	128	32	,	,	PUNCT
aiti-4284	128	33	such	such	ADJ
aiti-4284	128	34	as	as	ADP
aiti-4284	128	35	sofa	sofa	NOUN
aiti-4284	128	36	,	,	PUNCT
aiti-4284	128	37	chairs	chair	NOUN
aiti-4284	128	38	,	,	PUNCT
aiti-4284	128	39	cabinet	cabinet	NOUN
aiti-4284	128	40	,	,	PUNCT
aiti-4284	128	41	fans	fan	NOUN
aiti-4284	128	42	,	,	PUNCT
aiti-4284	128	43	computers	computer	NOUN
aiti-4284	128	44	,	,	PUNCT
aiti-4284	128	45	etc	etc	X
aiti-4284	128	46	.	.	X
aiti-4284	129	1	another	another	DET
aiti-4284	129	2	problem	problem	NOUN
aiti-4284	129	3	is	be	AUX
aiti-4284	129	4	,	,	PUNCT
aiti-4284	129	5	vision	vision	NOUN
aiti-4284	129	6	is	be	AUX
aiti-4284	129	7	limited	limit	VERB
aiti-4284	129	8	,	,	PUNCT
aiti-4284	129	9	the	the	DET
aiti-4284	129	10	camera	camera	NOUN
aiti-4284	129	11	can	can	AUX
aiti-4284	129	12	not	not	PART
aiti-4284	129	13	capture	capture	VERB
aiti-4284	129	14	whole	whole	ADJ
aiti-4284	129	15	object	object	NOUN
aiti-4284	129	16	,	,	PUNCT
aiti-4284	129	17	only	only	ADV
aiti-4284	129	18	a	a	DET
aiti-4284	129	19	part	part	NOUN
aiti-4284	129	20	of	of	ADP
aiti-4284	129	21	an	an	DET
aiti-4284	129	22	object	object	NOUN
aiti-4284	129	23	,	,	PUNCT
aiti-4284	129	24	chair	chair	NOUN
aiti-4284	129	25	foot	foot	NOUN
aiti-4284	129	26	is	be	AUX
aiti-4284	129	27	an	an	DET
aiti-4284	129	28	obvious	obvious	ADJ
aiti-4284	129	29	case	case	NOUN
aiti-4284	129	30	,	,	PUNCT
aiti-4284	129	31	sometimes	sometimes	ADV
aiti-4284	129	32	object	object	VERB
aiti-4284	129	33	detection	detection	NOUN
aiti-4284	129	34	can	can	AUX
aiti-4284	129	35	not	not	PART
aiti-4284	129	36	detect	detect	VERB
aiti-4284	129	37	what	what	PRON
aiti-4284	129	38	the	the	DET
aiti-4284	129	39	object	object	NOUN
aiti-4284	129	40	is	be	AUX
aiti-4284	129	41	,	,	PUNCT
aiti-4284	129	42	or	or	CCONJ
aiti-4284	129	43	it	it	PRON
aiti-4284	129	44	is	be	AUX
aiti-4284	129	45	an	an	DET
aiti-4284	129	46	object	object	NOUN
aiti-4284	129	47	,	,	PUNCT
aiti-4284	129	48	cause	cause	SCONJ
aiti-4284	129	49	the	the	DET
aiti-4284	129	50	program	program	NOUN
aiti-4284	129	51	can	can	AUX
aiti-4284	129	52	not	not	PART
aiti-4284	129	53	find	find	VERB
aiti-4284	129	54	the	the	DET
aiti-4284	129	55	walkable	walkable	ADJ
aiti-4284	129	56	area	area	NOUN
aiti-4284	129	57	.	.	PUNCT
aiti-4284	130	1	the	the	DET
aiti-4284	130	2	problem	problem	NOUN
aiti-4284	130	3	as	as	SCONJ
aiti-4284	130	4	descript	descript	NOUN
aiti-4284	130	5	above	above	ADP
aiti-4284	130	6	mentioned	mention	VERB
aiti-4284	130	7	,	,	PUNCT
aiti-4284	130	8	this	this	DET
aiti-4284	130	9	problem	problem	NOUN
aiti-4284	130	10	is	be	AUX
aiti-4284	130	11	future	future	ADJ
aiti-4284	130	12	work	work	NOUN
aiti-4284	130	13	that	that	PRON
aiti-4284	130	14	we	we	PRON
aiti-4284	130	15	need	need	VERB
aiti-4284	130	16	to	to	PART
aiti-4284	130	17	solve	solve	VERB
aiti-4284	130	18	them	they	PRON
aiti-4284	130	19	.	.	PUNCT
aiti-4284	131	1	5	5	X
aiti-4284	131	2	.	.	X
aiti-4284	131	3	conclusions	conclusion	NOUN
aiti-4284	131	4	this	this	DET
aiti-4284	131	5	study	study	NOUN
aiti-4284	131	6	proposed	propose	VERB
aiti-4284	131	7	the	the	DET
aiti-4284	131	8	use	use	NOUN
aiti-4284	131	9	of	of	ADP
aiti-4284	131	10	recent	recent	ADJ
aiti-4284	131	11	paths	path	NOUN
aiti-4284	131	12	between	between	ADP
aiti-4284	131	13	all	all	DET
aiti-4284	131	14	objects	object	NOUN
aiti-4284	131	15	to	to	PART
aiti-4284	131	16	determine	determine	VERB
aiti-4284	131	17	the	the	DET
aiti-4284	131	18	walkable	walkable	ADJ
aiti-4284	131	19	area	area	NOUN
aiti-4284	131	20	,	,	PUNCT
aiti-4284	131	21	the	the	DET
aiti-4284	131	22	experiment	experiment	NOUN
aiti-4284	131	23	showed	show	VERB
aiti-4284	131	24	the	the	DET
aiti-4284	131	25	result	result	NOUN
aiti-4284	131	26	,	,	PUNCT
aiti-4284	131	27	it	it	PRON
aiti-4284	131	28	proofs	proof	VERB
aiti-4284	131	29	the	the	DET
aiti-4284	131	30	algorithm	algorithm	NOUN
aiti-4284	131	31	can	can	AUX
aiti-4284	131	32	find	find	VERB
aiti-4284	131	33	the	the	DET
aiti-4284	131	34	walkable	walkable	ADJ
aiti-4284	131	35	area	area	NOUN
aiti-4284	131	36	by	by	ADP
aiti-4284	131	37	tensorflow	tensorflow	NOUN
aiti-4284	131	38	object	object	NOUN
aiti-4284	131	39	detection	detection	NOUN
aiti-4284	131	40	.	.	PUNCT
aiti-4284	132	1	enhanced	enhance	VERB
aiti-4284	132	2	this	this	DET
aiti-4284	132	3	algorithm	algorithm	NOUN
aiti-4284	132	4	is	be	AUX
aiti-4284	132	5	the	the	DET
aiti-4284	132	6	most	most	ADV
aiti-4284	132	7	important	important	ADJ
aiti-4284	132	8	job	job	NOUN
aiti-4284	132	9	in	in	ADP
aiti-4284	132	10	the	the	DET
aiti-4284	132	11	future	future	NOUN
aiti-4284	132	12	,	,	PUNCT
aiti-4284	132	13	low	low	ADJ
aiti-4284	132	14	latency	latency	NOUN
aiti-4284	132	15	is	be	AUX
aiti-4284	132	16	the	the	DET
aiti-4284	132	17	goal	goal	NOUN
aiti-4284	132	18	of	of	ADP
aiti-4284	132	19	this	this	DET
aiti-4284	132	20	algorithm	algorithm	NOUN
aiti-4284	132	21	,	,	PUNCT
aiti-4284	132	22	the	the	DET
aiti-4284	132	23	real	real	ADJ
aiti-4284	132	24	-	-	PUNCT
aiti-4284	132	25	time	time	NOUN
aiti-4284	132	26	system	system	NOUN
aiti-4284	132	27	does	do	AUX
aiti-4284	132	28	not	not	PART
aiti-4284	132	29	allow	allow	VERB
aiti-4284	132	30	high	high	ADJ
aiti-4284	132	31	latency	latency	NOUN
aiti-4284	132	32	.	.	PUNCT
aiti-4284	133	1	for	for	ADP
aiti-4284	133	2	example	example	NOUN
aiti-4284	133	3	,	,	PUNCT
aiti-4284	133	4	the	the	DET
aiti-4284	133	5	cleaning	cleaning	NOUN
aiti-4284	133	6	robot	robot	NOUN
aiti-4284	133	7	needs	need	VERB
aiti-4284	133	8	to	to	PART
aiti-4284	133	9	know	know	VERB
aiti-4284	133	10	which	which	DET
aiti-4284	133	11	area	area	NOUN
aiti-4284	133	12	can	can	AUX
aiti-4284	133	13	not	not	PART
aiti-4284	133	14	entry	entry	VERB
aiti-4284	133	15	,	,	PUNCT
aiti-4284	133	16	low	low	ADJ
aiti-4284	133	17	latency	latency	NOUN
aiti-4284	133	18	can	can	AUX
aiti-4284	133	19	speed	speed	VERB
aiti-4284	133	20	up	up	ADP
aiti-4284	133	21	the	the	DET
aiti-4284	133	22	efficiency	efficiency	NOUN
aiti-4284	133	23	of	of	ADP
aiti-4284	133	24	the	the	DET
aiti-4284	133	25	cleaning	cleaning	NOUN
aiti-4284	133	26	work	work	NOUN
aiti-4284	133	27	.	.	PUNCT
aiti-4284	134	1	with	with	ADP
aiti-4284	134	2	the	the	DET
aiti-4284	134	3	popularity	popularity	NOUN
aiti-4284	134	4	of	of	ADP
aiti-4284	134	5	high	high	ADJ
aiti-4284	134	6	-	-	PUNCT
aiti-4284	134	7	bandwidth	bandwidth	ADJ
aiti-4284	134	8	networks	network	NOUN
aiti-4284	134	9	,	,	PUNCT
aiti-4284	134	10	cloud	cloud	NOUN
aiti-4284	134	11	computing	computing	NOUN
aiti-4284	134	12	was	be	AUX
aiti-4284	134	13	used	use	VERB
aiti-4284	134	14	to	to	PART
aiti-4284	134	15	obtain	obtain	VERB
aiti-4284	134	16	the	the	DET
aiti-4284	134	17	desired	desire	VERB
aiti-4284	134	18	results	result	NOUN
aiti-4284	134	19	.	.	PUNCT
aiti-4284	135	1	with	with	ADP
aiti-4284	135	2	technological	technological	ADJ
aiti-4284	135	3	developments	development	NOUN
aiti-4284	135	4	,	,	PUNCT
aiti-4284	135	5	the	the	DET
aiti-4284	135	6	tensor	tensor	NOUN
aiti-4284	135	7	calculation	calculation	NOUN
aiti-4284	135	8	of	of	ADP
aiti-4284	135	9	embedded	embed	VERB
aiti-4284	135	10	systems	system	NOUN
aiti-4284	135	11	can	can	AUX
aiti-4284	135	12	considerably	considerably	ADV
aiti-4284	135	13	improve	improve	VERB
aiti-4284	135	14	computing	compute	VERB
aiti-4284	135	15	efficiency	efficiency	NOUN
aiti-4284	135	16	.	.	PUNCT
aiti-4284	136	1	in	in	ADP
aiti-4284	136	2	the	the	DET
aiti-4284	136	3	near	near	ADJ
aiti-4284	136	4	future	future	NOUN
aiti-4284	136	5	,	,	PUNCT
aiti-4284	136	6	this	this	DET
aiti-4284	136	7	algorithm	algorithm	NOUN
aiti-4284	136	8	can	can	AUX
aiti-4284	136	9	be	be	AUX
aiti-4284	136	10	installed	instal	VERB
aiti-4284	136	11	in	in	ADP
aiti-4284	136	12	embedded	embed	VERB
aiti-4284	136	13	systems	system	NOUN
aiti-4284	136	14	,	,	PUNCT
aiti-4284	136	15	which	which	PRON
aiti-4284	136	16	will	will	AUX
aiti-4284	136	17	be	be	AUX
aiti-4284	136	18	a	a	DET
aiti-4284	136	19	significant	significant	ADJ
aiti-4284	136	20	development	development	NOUN
aiti-4284	136	21	for	for	ADP
aiti-4284	136	22	robot	robot	NOUN
aiti-4284	136	23	vision	vision	NOUN
aiti-4284	136	24	.	.	PUNCT
aiti-4284	137	1	conflicts	conflict	NOUN
aiti-4284	137	2	of	of	ADP
aiti-4284	137	3	interest	interest	NOUN
aiti-4284	137	4	the	the	DET
aiti-4284	137	5	authors	author	NOUN
aiti-4284	137	6	declare	declare	VERB
aiti-4284	137	7	no	no	DET
aiti-4284	137	8	conflict	conflict	NOUN
aiti-4284	137	9	of	of	ADP
aiti-4284	137	10	interest	interest	NOUN
aiti-4284	137	11	.	.	PUNCT
aiti-4284	138	1	references	reference	NOUN
aiti-4284	138	2	[	[	X
aiti-4284	138	3	1	1	X
aiti-4284	138	4	]	]	PUNCT
aiti-4284	138	5	s.	s.	PROPN
aiti-4284	138	6	ren	ren	PROPN
aiti-4284	138	7	,	,	PUNCT
aiti-4284	138	8	k.	k.	PROPN
aiti-4284	139	1	he	he	PRON
aiti-4284	139	2	,	,	PUNCT
aiti-4284	139	3	r.	r.	PROPN
aiti-4284	139	4	girshick	girshick	PROPN
aiti-4284	139	5	,	,	PUNCT
aiti-4284	139	6	and	and	CCONJ
aiti-4284	139	7	j.	j.	PROPN
aiti-4284	139	8	sun	sun	PROPN
aiti-4284	139	9	,	,	PUNCT
aiti-4284	139	10	“	"	PUNCT
aiti-4284	139	11	faster	fast	ADJ
aiti-4284	139	12	r	r	NOUN
aiti-4284	139	13	-	-	PUNCT
aiti-4284	139	14	cnn	cnn	NOUN
aiti-4284	139	15	:	:	PUNCT
aiti-4284	139	16	towards	towards	ADP
aiti-4284	139	17	real	real	ADJ
aiti-4284	139	18	-	-	PUNCT
aiti-4284	139	19	time	time	NOUN
aiti-4284	139	20	object	object	NOUN
aiti-4284	139	21	detection	detection	NOUN
aiti-4284	139	22	with	with	ADP
aiti-4284	139	23	region	region	NOUN
aiti-4284	139	24	proposal	proposal	NOUN
aiti-4284	139	25	networks	network	NOUN
aiti-4284	139	26	,	,	PUNCT
aiti-4284	139	27	”	"	PUNCT
aiti-4284	139	28	ieee	ieee	NOUN
aiti-4284	139	29	transactions	transaction	NOUN
aiti-4284	139	30	on	on	ADP
aiti-4284	139	31	pattern	pattern	NOUN
aiti-4284	139	32	analysis	analysis	NOUN
aiti-4284	139	33	and	and	CCONJ
aiti-4284	139	34	machine	machine	NOUN
aiti-4284	139	35	intelligence	intelligence	NOUN
aiti-4284	139	36	,	,	PUNCT
aiti-4284	139	37	vol	vol	NOUN
aiti-4284	139	38	.	.	PROPN
aiti-4284	139	39	39	39	NUM
aiti-4284	139	40	,	,	PUNCT
aiti-4284	139	41	no	no	INTJ
aiti-4284	139	42	.	.	NOUN
aiti-4284	139	43	6	6	NUM
aiti-4284	139	44	,	,	PUNCT
aiti-4284	139	45	pp	pp	ADJ
aiti-4284	139	46	.	.	PUNCT
aiti-4284	139	47	1137	1137	NUM
aiti-4284	139	48	-	-	SYM
aiti-4284	139	49	1149	1149	NUM
aiti-4284	139	50	,	,	PUNCT
aiti-4284	139	51	2017	2017	NUM
aiti-4284	139	52	.	.	PUNCT
aiti-4284	140	1	[	[	X
aiti-4284	140	2	2	2	X
aiti-4284	140	3	]	]	PUNCT
aiti-4284	140	4	t.	t.	PROPN
aiti-4284	140	5	y.	y.	PROPN
aiti-4284	140	6	lin	lin	PROPN
aiti-4284	140	7	,	,	PUNCT
aiti-4284	140	8	m.	m.	NOUN
aiti-4284	140	9	maire	maire	PROPN
aiti-4284	140	10	,	,	PUNCT
aiti-4284	140	11	s.	s.	PROPN
aiti-4284	140	12	belongie	belongie	PROPN
aiti-4284	140	13	,	,	PUNCT
aiti-4284	140	14	l.	l.	PROPN
aiti-4284	140	15	bourdev	bourdev	PROPN
aiti-4284	140	16	,	,	PUNCT
aiti-4284	140	17	r.	r.	PROPN
aiti-4284	140	18	girshick	girshick	PROPN
aiti-4284	140	19	,	,	PUNCT
aiti-4284	140	20	j.	j.	PROPN
aiti-4284	140	21	hays	hays	PROPN
aiti-4284	140	22	,	,	PUNCT
aiti-4284	140	23	p.	p.	PROPN
aiti-4284	140	24	perona	perona	PROPN
aiti-4284	140	25	,	,	PUNCT
aiti-4284	140	26	d.	d.	PROPN
aiti-4284	140	27	ramanan	ramanan	PROPN
aiti-4284	140	28	,	,	PUNCT
aiti-4284	140	29	c.	c.	PROPN
aiti-4284	140	30	l.	l.	PROPN
aiti-4284	140	31	zitnick	zitnick	PROPN
aiti-4284	140	32	,	,	PUNCT
aiti-4284	140	33	and	and	CCONJ
aiti-4284	140	34	p.	p.	NOUN
aiti-4284	140	35	dollár	dollár	NOUN
aiti-4284	140	36	,	,	PUNCT
aiti-4284	140	37	“	"	PUNCT
aiti-4284	140	38	microsoft	microsoft	PROPN
aiti-4284	140	39	coco	coco	PROPN
aiti-4284	140	40	:	:	PUNCT
aiti-4284	140	41	common	common	ADJ
aiti-4284	140	42	objects	object	NOUN
aiti-4284	140	43	in	in	ADP
aiti-4284	140	44	context	context	NOUN
aiti-4284	140	45	,	,	PUNCT
aiti-4284	140	46	”	"	PUNCT
aiti-4284	140	47	arxiv:1405.0312v3	arxiv:1405.0312v3	PROPN
aiti-4284	140	48	[	[	X
aiti-4284	140	49	cs	cs	PROPN
aiti-4284	140	50	.	.	PROPN
aiti-4284	140	51	cv	cv	PROPN
aiti-4284	140	52	]	]	X
aiti-4284	140	53	,	,	PUNCT
aiti-4284	140	54	february	february	PROPN
aiti-4284	140	55	2015	2015	NUM
aiti-4284	140	56	.	.	PUNCT
aiti-4284	141	1	[	[	X
aiti-4284	141	2	3	3	X
aiti-4284	141	3	]	]	PUNCT
aiti-4284	141	4	a.	a.	NOUN
aiti-4284	141	5	g.	g.	PROPN
aiti-4284	141	6	howard	howard	PROPN
aiti-4284	141	7	,	,	PUNCT
aiti-4284	141	8	m.	m.	PROPN
aiti-4284	141	9	zhu	zhu	PROPN
aiti-4284	141	10	,	,	PUNCT
aiti-4284	141	11	b.	b.	PROPN
aiti-4284	141	12	chen	chen	PROPN
aiti-4284	141	13	,	,	PUNCT
aiti-4284	141	14	d.	d.	PROPN
aiti-4284	141	15	kalenichenko	kalenichenko	PROPN
aiti-4284	141	16	,	,	PUNCT
aiti-4284	141	17	w.	w.	PROPN
aiti-4284	141	18	wang	wang	PROPN
aiti-4284	141	19	,	,	PUNCT
aiti-4284	141	20	t.	t.	PROPN
aiti-4284	141	21	weyand	weyand	PROPN
aiti-4284	141	22	,	,	PUNCT
aiti-4284	141	23	m.	m.	NOUN
aiti-4284	141	24	andreetto	andreetto	NOUN
aiti-4284	141	25	,	,	PUNCT
aiti-4284	141	26	and	and	CCONJ
aiti-4284	141	27	h.	h.	PROPN
aiti-4284	141	28	adam	adam	PROPN
aiti-4284	141	29	,	,	PUNCT
aiti-4284	141	30	“	"	PUNCT
aiti-4284	141	31	mobilenets	mobilenet	NOUN
aiti-4284	141	32	:	:	PUNCT
aiti-4284	141	33	efficient	efficient	ADJ
aiti-4284	141	34	convolutional	convolutional	ADJ
aiti-4284	141	35	neural	neural	ADJ
aiti-4284	141	36	networks	network	NOUN
aiti-4284	141	37	for	for	ADP
aiti-4284	141	38	mobile	mobile	ADJ
aiti-4284	141	39	vision	vision	NOUN
aiti-4284	141	40	applications	application	NOUN
aiti-4284	141	41	,	,	PUNCT
aiti-4284	141	42	”	"	PUNCT
aiti-4284	141	43	arxiv:1704.04861	arxiv:1704.04861	NUM
aiti-4284	141	44	[	[	X
aiti-4284	141	45	cs	cs	PROPN
aiti-4284	141	46	.	.	PROPN
aiti-4284	141	47	cv	cv	PROPN
aiti-4284	141	48	]	]	X
aiti-4284	141	49	,	,	PUNCT
aiti-4284	141	50	2017	2017	NUM
aiti-4284	141	51	.	.	PUNCT
aiti-4284	142	1	[	[	X
aiti-4284	142	2	4	4	NUM
aiti-4284	142	3	]	]	X
aiti-4284	142	4	r.	r.	PROPN
aiti-4284	142	5	girshick	girshick	PROPN
aiti-4284	142	6	,	,	PUNCT
aiti-4284	142	7	j.	j.	PROPN
aiti-4284	142	8	donahue	donahue	PROPN
aiti-4284	142	9	,	,	PUNCT
aiti-4284	142	10	t.	t.	PROPN
aiti-4284	142	11	darrell	darrell	PROPN
aiti-4284	142	12	,	,	PUNCT
aiti-4284	142	13	and	and	CCONJ
aiti-4284	142	14	j.	j.	PROPN
aiti-4284	142	15	malik	malik	PROPN
aiti-4284	142	16	,	,	PUNCT
aiti-4284	142	17	“	"	PUNCT
aiti-4284	142	18	rich	rich	ADJ
aiti-4284	142	19	feature	feature	NOUN
aiti-4284	142	20	hierarchies	hierarchy	NOUN
aiti-4284	142	21	for	for	ADP
aiti-4284	142	22	accurate	accurate	ADJ
aiti-4284	142	23	object	object	NOUN
aiti-4284	142	24	detection	detection	NOUN
aiti-4284	142	25	and	and	CCONJ
aiti-4284	142	26	semantic	semantic	ADJ
aiti-4284	142	27	segmentation	segmentation	NOUN
aiti-4284	142	28	,	,	PUNCT
aiti-4284	142	29	”	"	PUNCT
aiti-4284	142	30	proc	proc	NOUN
aiti-4284	142	31	.	.	PUNCT
aiti-4284	143	1	the	the	DET
aiti-4284	143	2	ieee	ieee	NOUN
aiti-4284	143	3	conference	conference	NOUN
aiti-4284	143	4	on	on	ADP
aiti-4284	143	5	computer	computer	NOUN
aiti-4284	143	6	vision	vision	NOUN
aiti-4284	143	7	and	and	CCONJ
aiti-4284	143	8	pattern	pattern	NOUN
aiti-4284	143	9	recognition	recognition	NOUN
aiti-4284	143	10	(	(	PUNCT
aiti-4284	143	11	cvpr	cvpr	NOUN
aiti-4284	143	12	)	)	PUNCT
aiti-4284	143	13	,	,	PUNCT
aiti-4284	143	14	ieee	ieee	NOUN
aiti-4284	143	15	press	press	PROPN
aiti-4284	143	16	,	,	PUNCT
aiti-4284	143	17	june	june	PROPN
aiti-4284	143	18	2014	2014	NUM
aiti-4284	143	19	,	,	PUNCT
aiti-4284	143	20	pp	pp	ADJ
aiti-4284	143	21	.	.	PUNCT
aiti-4284	144	1	580	580	NUM
aiti-4284	144	2	-	-	SYM
aiti-4284	144	3	587	587	NUM
aiti-4284	144	4	.	.	PUNCT
aiti-4284	145	1	[	[	X
aiti-4284	145	2	5	5	X
aiti-4284	145	3	]	]	PUNCT
aiti-4284	145	4	w.	w.	PROPN
aiti-4284	145	5	liu	liu	PROPN
aiti-4284	145	6	,	,	PUNCT
aiti-4284	145	7	d.	d.	PROPN
aiti-4284	145	8	anguelov	anguelov	PROPN
aiti-4284	145	9	,	,	PUNCT
aiti-4284	145	10	d.	d.	PROPN
aiti-4284	145	11	erhan	erhan	PROPN
aiti-4284	145	12	,	,	PUNCT
aiti-4284	145	13	c.	c.	PROPN
aiti-4284	145	14	szegedy	szegedy	PROPN
aiti-4284	145	15	,	,	PUNCT
aiti-4284	145	16	s.	s.	PROPN
aiti-4284	145	17	reed	reed	PROPN
aiti-4284	145	18	,	,	PUNCT
aiti-4284	145	19	c.	c.	PROPN
aiti-4284	145	20	y.	y.	PROPN
aiti-4284	145	21	fu	fu	PROPN
aiti-4284	145	22	,	,	PUNCT
aiti-4284	145	23	and	and	CCONJ
aiti-4284	145	24	a.	a.	PROPN
aiti-4284	145	25	c.	c.	PROPN
aiti-4284	145	26	berg	berg	PROPN
aiti-4284	145	27	,	,	PUNCT
aiti-4284	145	28	“	"	PUNCT
aiti-4284	145	29	ssd	ssd	NOUN
aiti-4284	145	30	:	:	PUNCT
aiti-4284	145	31	single	single	ADJ
aiti-4284	145	32	shot	shot	PROPN
aiti-4284	145	33	multibox	multibox	NOUN
aiti-4284	145	34	detector	detector	NOUN
aiti-4284	145	35	,	,	PUNCT
aiti-4284	145	36	”	"	PUNCT
aiti-4284	145	37	proc	proc	NOUN
aiti-4284	145	38	.	.	PUNCT
aiti-4284	146	1	part	part	NOUN
aiti-4284	147	1	i	i	NOUN
aiti-4284	147	2	:	:	PUNCT
aiti-4284	147	3	eccv	eccv	ADV
aiti-4284	147	4	2016	2016	NUM
aiti-4284	147	5	-	-	NUM
aiti-4284	147	6	the	the	DET
aiti-4284	147	7	14th	14th	ADJ
aiti-4284	147	8	european	european	ADJ
aiti-4284	147	9	conference	conference	NOUN
aiti-4284	147	10	,	,	PUNCT
aiti-4284	147	11	amsterdam	amsterdam	PROPN
aiti-4284	147	12	,	,	PUNCT
aiti-4284	147	13	netherlands	netherlands	PROPN
aiti-4284	147	14	,	,	PUNCT
aiti-4284	147	15	october	october	PROPN
aiti-4284	147	16	2016	2016	NUM
aiti-4284	147	17	,	,	PUNCT
aiti-4284	147	18	pp	pp	ADJ
aiti-4284	147	19	.	.	PUNCT
aiti-4284	148	1	21	21	NUM
aiti-4284	148	2	-	-	SYM
aiti-4284	148	3	37	37	NUM
aiti-4284	148	4	.	.	PUNCT
aiti-4284	149	1	[	[	X
aiti-4284	149	2	6	6	NUM
aiti-4284	149	3	]	]	PUNCT
aiti-4284	149	4	k.	k.	NOUN
aiti-4284	150	1	he	he	PROPN
aiti-4284	150	2	,	,	PUNCT
aiti-4284	150	3	x.	x.	PROPN
aiti-4284	150	4	zhang	zhang	PROPN
aiti-4284	150	5	,	,	PUNCT
aiti-4284	150	6	s.	s.	PROPN
aiti-4284	150	7	ren	ren	PROPN
aiti-4284	150	8	,	,	PUNCT
aiti-4284	150	9	and	and	CCONJ
aiti-4284	150	10	j.	j.	PROPN
aiti-4284	150	11	sun	sun	PROPN
aiti-4284	150	12	,	,	PUNCT
aiti-4284	150	13	“	"	PUNCT
aiti-4284	150	14	deep	deep	ADJ
aiti-4284	150	15	residual	residual	ADJ
aiti-4284	150	16	learning	learning	NOUN
aiti-4284	150	17	for	for	ADP
aiti-4284	150	18	image	image	NOUN
aiti-4284	150	19	recognition	recognition	NOUN
aiti-4284	150	20	,	,	PUNCT
aiti-4284	150	21	”	"	PUNCT
aiti-4284	150	22	proc	proc	NOUN
aiti-4284	150	23	.	.	PUNCT
aiti-4284	151	1	2016	2016	NUM
aiti-4284	151	2	ieee	ieee	NOUN
aiti-4284	151	3	conference	conference	NOUN
aiti-4284	151	4	on	on	ADP
aiti-4284	151	5	computer	computer	NOUN
aiti-4284	151	6	vision	vision	NOUN
aiti-4284	151	7	and	and	CCONJ
aiti-4284	151	8	pattern	pattern	NOUN
aiti-4284	151	9	recognition	recognition	NOUN
aiti-4284	151	10	(	(	PUNCT
aiti-4284	151	11	cvpr	cvpr	NOUN
aiti-4284	151	12	)	)	PUNCT
aiti-4284	151	13	,	,	PUNCT
aiti-4284	151	14	ieee	ieee	NOUN
aiti-4284	151	15	press	press	PROPN
aiti-4284	151	16	,	,	PUNCT
aiti-4284	151	17	jun	jun	PROPN
aiti-4284	151	18	.	.	PROPN
aiti-4284	151	19	2016	2016	NUM
aiti-4284	151	20	,	,	PUNCT
aiti-4284	151	21	pp	pp	ADJ
aiti-4284	151	22	.	.	PUNCT
aiti-4284	152	1	770	770	NUM
aiti-4284	152	2	-	-	SYM
aiti-4284	152	3	778	778	NUM
aiti-4284	152	4	.	.	PUNCT
aiti-4284	153	1	[	[	X
aiti-4284	153	2	7	7	X
aiti-4284	153	3	]	]	X
aiti-4284	153	4	c.	c.	PROPN
aiti-4284	153	5	ning	ning	PROPN
aiti-4284	153	6	,	,	PUNCT
aiti-4284	153	7	h.	h.	PROPN
aiti-4284	153	8	zhou	zhou	PROPN
aiti-4284	153	9	,	,	PUNCT
aiti-4284	153	10	y.	y.	PROPN
aiti-4284	153	11	song	song	PROPN
aiti-4284	153	12	,	,	PUNCT
aiti-4284	153	13	and	and	CCONJ
aiti-4284	153	14	j.	j.	PROPN
aiti-4284	153	15	tang	tang	PROPN
aiti-4284	153	16	,	,	PUNCT
aiti-4284	153	17	“	"	PUNCT
aiti-4284	153	18	inception	inception	ADJ
aiti-4284	153	19	single	single	ADJ
aiti-4284	153	20	shot	shot	NOUN
aiti-4284	153	21	multibox	multibox	NOUN
aiti-4284	153	22	detector	detector	NOUN
aiti-4284	153	23	for	for	ADP
aiti-4284	153	24	object	object	NOUN
aiti-4284	153	25	detection	detection	NOUN
aiti-4284	153	26	,	,	PUNCT
aiti-4284	153	27	”	"	PUNCT
aiti-4284	153	28	proc	proc	NOUN
aiti-4284	153	29	.	.	PUNCT
aiti-4284	153	30	2017	2017	NUM
aiti-4284	153	31	ieee	ieee	PROPN
aiti-4284	153	32	international	international	ADJ
aiti-4284	153	33	conference	conference	NOUN
aiti-4284	153	34	on	on	ADP
aiti-4284	153	35	multimedia	multimedia	PROPN
aiti-4284	153	36	&	&	CCONJ
aiti-4284	153	37	expo	expo	NOUN
aiti-4284	153	38	workshops	workshop	NOUN
aiti-4284	153	39	(	(	PUNCT
aiti-4284	153	40	icmew	icmew	NOUN
aiti-4284	153	41	)	)	PUNCT
aiti-4284	153	42	,	,	PUNCT
aiti-4284	153	43	ieee	ieee	NOUN
aiti-4284	153	44	press	press	NOUN
aiti-4284	153	45	,	,	PUNCT
aiti-4284	153	46	2017	2017	NUM
aiti-4284	153	47	,	,	PUNCT
aiti-4284	153	48	pp	pp	ADJ
aiti-4284	153	49	.	.	PUNCT
aiti-4284	153	50	549	549	NUM
aiti-4284	153	51	-	-	SYM
aiti-4284	153	52	554	554	NUM
aiti-4284	153	53	.	.	PUNCT
aiti-4284	154	1	[	[	X
aiti-4284	154	2	8	8	X
aiti-4284	154	3	]	]	PUNCT
aiti-4284	154	4	j.	j.	PROPN
aiti-4284	154	5	s.	s.	PROPN
aiti-4284	154	6	sheu	sheu	PROPN
aiti-4284	154	7	and	and	CCONJ
aiti-4284	154	8	y.	y.	PROPN
aiti-4284	154	9	l.	l.	PROPN
aiti-4284	154	10	huang	huang	PROPN
aiti-4284	154	11	,	,	PUNCT
aiti-4284	154	12	“	"	PUNCT
aiti-4284	154	13	implementation	implementation	NOUN
aiti-4284	154	14	of	of	ADP
aiti-4284	154	15	an	an	DET
aiti-4284	154	16	interactive	interactive	ADJ
aiti-4284	154	17	tv	tv	NOUN
aiti-4284	154	18	interface	interface	NOUN
aiti-4284	154	19	via	via	ADP
aiti-4284	154	20	gesture	gesture	NOUN
aiti-4284	154	21	and	and	CCONJ
aiti-4284	154	22	handwritten	handwritten	ADJ
aiti-4284	154	23	numeral	numeral	ADJ
aiti-4284	154	24	recognition	recognition	NOUN
aiti-4284	154	25	,	,	PUNCT
aiti-4284	154	26	”	"	PUNCT
aiti-4284	154	27	multimedia	multimedia	NOUN
aiti-4284	154	28	tools	tool	NOUN
aiti-4284	154	29	and	and	CCONJ
aiti-4284	154	30	applications	application	NOUN
aiti-4284	154	31	,	,	PUNCT
aiti-4284	154	32	vol	vol	NOUN
aiti-4284	154	33	.	.	PROPN
aiti-4284	154	34	75	75	NUM
aiti-4284	154	35	,	,	PUNCT
aiti-4284	154	36	no	no	INTJ
aiti-4284	154	37	.	.	NOUN
aiti-4284	154	38	16	16	NUM
aiti-4284	154	39	,	,	PUNCT
aiti-4284	154	40	pp	pp	ADJ
aiti-4284	154	41	.	.	PUNCT
aiti-4284	154	42	9685	9685	NUM
aiti-4284	154	43	-	-	SYM
aiti-4284	154	44	9706	9706	NUM
aiti-4284	154	45	,	,	PUNCT
aiti-4284	154	46	2016	2016	NUM
aiti-4284	154	47	.	.	PUNCT
aiti-4284	155	1	advances	advance	NOUN
aiti-4284	155	2	in	in	ADP
aiti-4284	155	3	technology	technology	NOUN
aiti-4284	155	4	innovation	innovation	NOUN
aiti-4284	155	5	,	,	PUNCT
aiti-4284	155	6	vol	vol	NOUN
aiti-4284	155	7	.	.	PROPN
aiti-4284	155	8	5	5	NUM
aiti-4284	155	9	,	,	PUNCT
aiti-4284	155	10	no	no	INTJ
aiti-4284	155	11	.	.	NOUN
aiti-4284	155	12	1	1	NUM
aiti-4284	155	13	,	,	PUNCT
aiti-4284	155	14	2020	2020	NUM
aiti-4284	155	15	,	,	PUNCT
aiti-4284	155	16	pp	pp	ADJ
aiti-4284	155	17	.	.	PUNCT
aiti-4284	156	1	10	10	NUM
aiti-4284	156	2	-	-	SYM
aiti-4284	156	3	17	17	NUM
aiti-4284	156	4	17	17	NUM
aiti-4284	156	5	[	[	X
aiti-4284	156	6	9	9	NUM
aiti-4284	156	7	]	]	SYM
aiti-4284	156	8	r.	r.	PROPN
aiti-4284	156	9	kaluri	kaluri	PROPN
aiti-4284	156	10	and	and	CCONJ
aiti-4284	156	11	p.	p.	PROPN
aiti-4284	156	12	reddy	reddy	PROPN
aiti-4284	156	13	,	,	PUNCT
aiti-4284	156	14	“	"	PUNCT
aiti-4284	156	15	optimized	optimize	VERB
aiti-4284	156	16	feature	feature	NOUN
aiti-4284	156	17	extraction	extraction	NOUN
aiti-4284	156	18	for	for	ADP
aiti-4284	156	19	precise	precise	ADJ
aiti-4284	156	20	sign	sign	NOUN
aiti-4284	156	21	gesture	gesture	NOUN
aiti-4284	156	22	recognition	recognition	NOUN
aiti-4284	156	23	using	use	VERB
aiti-4284	156	24	self	self	NOUN
aiti-4284	156	25	-	-	PUNCT
aiti-4284	156	26	improved	improve	VERB
aiti-4284	156	27	genetic	genetic	ADJ
aiti-4284	156	28	algorithm	algorithm	NOUN
aiti-4284	156	29	,	,	PUNCT
aiti-4284	156	30	”	"	PUNCT
aiti-4284	156	31	international	international	ADJ
aiti-4284	156	32	journal	journal	NOUN
aiti-4284	156	33	of	of	ADP
aiti-4284	156	34	engineering	engineering	NOUN
aiti-4284	156	35	and	and	CCONJ
aiti-4284	156	36	technology	technology	NOUN
aiti-4284	156	37	innovation	innovation	NOUN
aiti-4284	156	38	,	,	PUNCT
aiti-4284	156	39	vol	vol	NOUN
aiti-4284	156	40	.	.	PROPN
aiti-4284	156	41	8	8	NUM
aiti-4284	156	42	,	,	PUNCT
aiti-4284	156	43	no	no	INTJ
aiti-4284	156	44	.	.	NOUN
aiti-4284	156	45	1	1	NUM
aiti-4284	156	46	,	,	PUNCT
aiti-4284	156	47	pp	pp	ADJ
aiti-4284	156	48	.	.	PUNCT
aiti-4284	157	1	25	25	NUM
aiti-4284	157	2	-	-	SYM
aiti-4284	157	3	37	37	NUM
aiti-4284	157	4	,	,	PUNCT
aiti-4284	157	5	2018	2018	NUM
aiti-4284	157	6	.	.	PUNCT
aiti-4284	158	1	[	[	X
aiti-4284	158	2	10	10	NUM
aiti-4284	158	3	]	]	X
aiti-4284	158	4	c.	c.	PROPN
aiti-4284	158	5	h.	h.	PROPN
aiti-4284	158	6	chen	chen	PROPN
aiti-4284	158	7	,	,	PUNCT
aiti-4284	158	8	c.	c.	PROPN
aiti-4284	158	9	m.	m.	PROPN
aiti-4284	158	10	kuo	kuo	PROPN
aiti-4284	158	11	,	,	PUNCT
aiti-4284	158	12	c.	c.	PROPN
aiti-4284	158	13	y.	y.	PROPN
aiti-4284	158	14	chen	chen	PROPN
aiti-4284	158	15	,	,	PUNCT
aiti-4284	158	16	and	and	CCONJ
aiti-4284	158	17	j.	j.	PROPN
aiti-4284	158	18	h.	h.	PROPN
aiti-4284	158	19	dai	dai	PROPN
aiti-4284	158	20	,	,	PUNCT
aiti-4284	158	21	“	"	PUNCT
aiti-4284	158	22	retracted	retract	VERB
aiti-4284	158	23	:	:	PUNCT
aiti-4284	158	24	the	the	DET
aiti-4284	158	25	design	design	NOUN
aiti-4284	158	26	and	and	CCONJ
aiti-4284	158	27	synthesis	synthesis	NOUN
aiti-4284	158	28	using	use	VERB
aiti-4284	158	29	hierarchical	hierarchical	ADJ
aiti-4284	158	30	robotic	robotic	ADJ
aiti-4284	158	31	discrete	discrete	ADJ
aiti-4284	158	32	-	-	PUNCT
aiti-4284	158	33	event	event	NOUN
aiti-4284	158	34	modeling	modeling	NOUN
aiti-4284	158	35	,	,	PUNCT
aiti-4284	158	36	”	"	PUNCT
aiti-4284	158	37	journal	journal	NOUN
aiti-4284	158	38	of	of	ADP
aiti-4284	158	39	vibration	vibration	NOUN
aiti-4284	158	40	and	and	CCONJ
aiti-4284	158	41	control	control	NOUN
aiti-4284	158	42	,	,	PUNCT
aiti-4284	158	43	vol	vol	NOUN
aiti-4284	158	44	.	.	PROPN
aiti-4284	158	45	19	19	NUM
aiti-4284	158	46	,	,	PUNCT
aiti-4284	158	47	no	no	INTJ
aiti-4284	158	48	.	.	NOUN
aiti-4284	158	49	11	11	NUM
aiti-4284	158	50	,	,	PUNCT
aiti-4284	158	51	pp	pp	ADJ
aiti-4284	158	52	.	.	PUNCT
aiti-4284	158	53	1603	1603	NUM
aiti-4284	158	54	-	-	SYM
aiti-4284	158	55	1613	1613	NUM
aiti-4284	158	56	,	,	PUNCT
aiti-4284	158	57	2012	2012	NUM
aiti-4284	158	58	.	.	PUNCT
aiti-4284	159	1	[	[	X
aiti-4284	159	2	11	11	NUM
aiti-4284	159	3	]	]	PUNCT
aiti-4284	159	4	m.	m.	NOUN
aiti-4284	159	5	abadi	abadi	PROPN
aiti-4284	159	6	,	,	PUNCT
aiti-4284	159	7	p.	p.	PROPN
aiti-4284	159	8	barham	barham	PROPN
aiti-4284	159	9	,	,	PUNCT
aiti-4284	159	10	j.	j.	PROPN
aiti-4284	159	11	chen	chen	PROPN
aiti-4284	159	12	,	,	PUNCT
aiti-4284	159	13	z.	z.	PROPN
aiti-4284	159	14	chen	chen	PROPN
aiti-4284	159	15	,	,	PUNCT
aiti-4284	159	16	a.	a.	PROPN
aiti-4284	159	17	davis	davis	PROPN
aiti-4284	159	18	,	,	PUNCT
aiti-4284	159	19	j.	j.	PROPN
aiti-4284	159	20	dean	dean	PROPN
aiti-4284	159	21	,	,	PUNCT
aiti-4284	159	22	m.	m.	NOUN
aiti-4284	159	23	devin	devin	PROPN
aiti-4284	159	24	,	,	PUNCT
aiti-4284	159	25	s.	s.	PROPN
aiti-4284	159	26	ghemawat	ghemawat	PROPN
aiti-4284	159	27	,	,	PUNCT
aiti-4284	159	28	g.	g.	PROPN
aiti-4284	159	29	irving	irving	PROPN
aiti-4284	159	30	,	,	PUNCT
aiti-4284	159	31	m.	m.	NOUN
aiti-4284	159	32	isard	isard	PROPN
aiti-4284	159	33	,	,	PUNCT
aiti-4284	159	34	m.	m.	PROPN
aiti-4284	159	35	kudlur	kudlur	PROPN
aiti-4284	159	36	,	,	PUNCT
aiti-4284	159	37	j.	j.	PROPN
aiti-4284	159	38	levenberg	levenberg	PROPN
aiti-4284	159	39	,	,	PUNCT
aiti-4284	159	40	r.	r.	PROPN
aiti-4284	159	41	monga	monga	PROPN
aiti-4284	159	42	,	,	PUNCT
aiti-4284	159	43	s.	s.	PROPN
aiti-4284	159	44	moore	moore	PROPN
aiti-4284	159	45	,	,	PUNCT
aiti-4284	159	46	d.	d.	PROPN
aiti-4284	159	47	g.	g.	PROPN
aiti-4284	159	48	murray	murray	PROPN
aiti-4284	159	49	,	,	PUNCT
aiti-4284	159	50	b.	b.	PROPN
aiti-4284	159	51	steiner	steiner	PROPN
aiti-4284	159	52	,	,	PUNCT
aiti-4284	159	53	p.	p.	PROPN
aiti-4284	159	54	tucker	tucker	PROPN
aiti-4284	159	55	,	,	PUNCT
aiti-4284	159	56	v.	v.	PROPN
aiti-4284	159	57	vasudevan	vasudevan	PROPN
aiti-4284	159	58	,	,	PUNCT
aiti-4284	159	59	p.	p.	PROPN
aiti-4284	159	60	warden	warden	PROPN
aiti-4284	159	61	,	,	PUNCT
aiti-4284	159	62	m.	m.	NOUN
aiti-4284	159	63	wicke	wicke	PROPN
aiti-4284	159	64	,	,	PUNCT
aiti-4284	159	65	y.	y.	PROPN
aiti-4284	159	66	yu	yu	PROPN
aiti-4284	159	67	,	,	PUNCT
aiti-4284	159	68	and	and	CCONJ
aiti-4284	159	69	x.	x.	NOUN
aiti-4284	159	70	zheng	zheng	PROPN
aiti-4284	159	71	,	,	PUNCT
aiti-4284	159	72	“	"	PUNCT
aiti-4284	159	73	tensorflow	tensorflow	NOUN
aiti-4284	159	74	:	:	PUNCT
aiti-4284	159	75	a	a	DET
aiti-4284	159	76	system	system	NOUN
aiti-4284	159	77	for	for	ADP
aiti-4284	159	78	large	large	ADJ
aiti-4284	159	79	-	-	PUNCT
aiti-4284	159	80	scale	scale	NOUN
aiti-4284	159	81	machine	machine	NOUN
aiti-4284	159	82	learning	learning	NOUN
aiti-4284	159	83	,	,	PUNCT
aiti-4284	159	84	”	"	PUNCT
aiti-4284	159	85	arxiv:1605.08695	arxiv:1605.08695	X
aiti-4284	159	86	[	[	X
aiti-4284	159	87	cs.cv	cs.cv	X
aiti-4284	159	88	]	]	X
aiti-4284	159	89	,	,	PUNCT
aiti-4284	159	90	2016	2016	NUM
aiti-4284	159	91	.	.	PUNCT
aiti-4284	160	1	copyright	copyright	NOUN
aiti-4284	160	2	©	©	PROPN
aiti-4284	160	3	by	by	ADP
aiti-4284	160	4	the	the	DET
aiti-4284	160	5	authors	author	NOUN
aiti-4284	160	6	.	.	PUNCT
aiti-4284	161	1	licensee	licensee	PROPN
aiti-4284	161	2	taeti	taeti	PROPN
aiti-4284	161	3	,	,	PUNCT
aiti-4284	161	4	taiwan	taiwan	PROPN
aiti-4284	161	5	.	.	PUNCT
aiti-4284	162	1	this	this	DET
aiti-4284	162	2	article	article	NOUN
aiti-4284	162	3	is	be	AUX
aiti-4284	162	4	an	an	DET
aiti-4284	162	5	open	open	ADJ
aiti-4284	162	6	access	access	NOUN
aiti-4284	162	7	article	article	NOUN
aiti-4284	162	8	distributed	distribute	VERB
aiti-4284	162	9	under	under	ADP
aiti-4284	162	10	the	the	DET
aiti-4284	162	11	terms	term	NOUN
aiti-4284	162	12	and	and	CCONJ
aiti-4284	162	13	conditions	condition	NOUN
aiti-4284	162	14	of	of	ADP
aiti-4284	162	15	the	the	DET
aiti-4284	162	16	creative	creative	ADJ
aiti-4284	162	17	commons	common	NOUN
aiti-4284	162	18	attribution	attribution	NOUN
aiti-4284	162	19	(	(	PUNCT
aiti-4284	162	20	cc	cc	NOUN
aiti-4284	162	21	by	by	ADP
aiti-4284	162	22	-	-	PUNCT
aiti-4284	162	23	nc	nc	NOUN
aiti-4284	162	24	)	)	PUNCT
aiti-4284	162	25	license	license	NOUN
aiti-4284	162	26	(	(	PUNCT
aiti-4284	162	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-4284	162	28	)	)	PUNCT
aiti-4284	162	29	.	.	PUNCT