id	sid	tid	token	lemma	pos
aiti-7109	1	1	aiti#7109_in	aiti#7109_in	NOUN
aiti-7109	1	2	press__20210618	press__20210618	PROPN
aiti-7109	1	3	advances	advance	VERB
aiti-7109	1	4	in	in	ADP
aiti-7109	1	5	technology	technology	NOUN
aiti-7109	1	6	innovation	innovation	NOUN
aiti-7109	1	7	,	,	PUNCT
aiti-7109	1	8	vol	vol	NOUN
aiti-7109	1	9	.	.	PROPN
aiti-7109	1	10	6	6	NUM
aiti-7109	1	11	,	,	PUNCT
aiti-7109	1	12	no	no	INTJ
aiti-7109	1	13	.	.	NOUN
aiti-7109	1	14	3	3	NUM
aiti-7109	1	15	,	,	PUNCT
aiti-7109	1	16	2021	2021	NUM
aiti-7109	1	17	,	,	PUNCT
aiti-7109	1	18	pp	pp	ADJ
aiti-7109	1	19	.	.	PUNCT
aiti-7109	2	1	137	137	NUM
aiti-7109	2	2	-	-	SYM
aiti-7109	2	3	145	145	NUM
aiti-7109	2	4	driving	driving	NOUN
aiti-7109	2	5	assistance	assistance	NOUN
aiti-7109	2	6	system	system	NOUN
aiti-7109	2	7	with	with	ADP
aiti-7109	2	8	lane	lane	PROPN
aiti-7109	2	9	change	change	PROPN
aiti-7109	2	10	detection	detection	PROPN
aiti-7109	2	11	jia	jia	PROPN
aiti-7109	2	12	-	-	PUNCT
aiti-7109	2	13	shing	she	VERB
aiti-7109	2	14	sheu	sheu	NOUN
aiti-7109	2	15	1	1	NUM
aiti-7109	2	16	,	,	PUNCT
aiti-7109	2	17	*	*	PUNCT
aiti-7109	2	18	,	,	PUNCT
aiti-7109	2	19	chun	chun	PROPN
aiti-7109	2	20	-	-	PUNCT
aiti-7109	2	21	kang	kang	PROPN
aiti-7109	2	22	tsai	tsai	PROPN
aiti-7109	2	23	1	1	NUM
aiti-7109	2	24	,	,	PUNCT
aiti-7109	2	25	po	po	NOUN
aiti-7109	2	26	-	-	PUNCT
aiti-7109	2	27	tong	tong	ADJ
aiti-7109	2	28	wang	wang	PROPN
aiti-7109	2	29	2	2	NUM
aiti-7109	2	30	1	1	NUM
aiti-7109	2	31	department	department	NOUN
aiti-7109	2	32	of	of	ADP
aiti-7109	2	33	computer	computer	NOUN
aiti-7109	2	34	science	science	NOUN
aiti-7109	2	35	,	,	PUNCT
aiti-7109	2	36	national	national	PROPN
aiti-7109	2	37	taipei	taipei	PROPN
aiti-7109	2	38	university	university	PROPN
aiti-7109	2	39	of	of	ADP
aiti-7109	2	40	education	education	PROPN
aiti-7109	2	41	,	,	PUNCT
aiti-7109	2	42	taipei	taipei	PROPN
aiti-7109	2	43	,	,	PUNCT
aiti-7109	2	44	taiwan	taiwan	PROPN
aiti-7109	2	45	2	2	NUM
aiti-7109	2	46	department	department	NOUN
aiti-7109	2	47	of	of	ADP
aiti-7109	2	48	mechanical	mechanical	ADJ
aiti-7109	2	49	engineering	engineering	NOUN
aiti-7109	2	50	,	,	PUNCT
aiti-7109	2	51	minghsin	minghsin	PROPN
aiti-7109	2	52	university	university	PROPN
aiti-7109	2	53	of	of	ADP
aiti-7109	2	54	science	science	NOUN
aiti-7109	2	55	and	and	CCONJ
aiti-7109	2	56	technology	technology	NOUN
aiti-7109	2	57	,	,	PUNCT
aiti-7109	2	58	hsinchu	hsinchu	PROPN
aiti-7109	2	59	,	,	PUNCT
aiti-7109	2	60	taiwan	taiwan	PROPN
aiti-7109	2	61	received	receive	VERB
aiti-7109	2	62	04	04	NUM
aiti-7109	2	63	february	february	NOUN
aiti-7109	2	64	2021	2021	NUM
aiti-7109	2	65	;	;	PUNCT
aiti-7109	2	66	received	receive	VERB
aiti-7109	2	67	in	in	ADP
aiti-7109	2	68	revised	revise	VERB
aiti-7109	2	69	form	form	NOUN
aiti-7109	2	70	10	10	NUM
aiti-7109	2	71	march	march	NOUN
aiti-7109	2	72	2021	2021	NUM
aiti-7109	2	73	;	;	PUNCT
aiti-7109	2	74	accepted	accept	VERB
aiti-7109	2	75	12	12	NUM
aiti-7109	2	76	march	march	NOUN
aiti-7109	2	77	2021	2021	NUM
aiti-7109	2	78	doi	doi	NOUN
aiti-7109	2	79	:	:	PUNCT
aiti-7109	2	80	https://doi.org/10.46604/aiti.2021.7109	https://doi.org/10.46604/aiti.2021.7109	PROPN
aiti-7109	2	81	abstract	abstract	ADJ
aiti-7109	2	82	in	in	ADP
aiti-7109	2	83	this	this	DET
aiti-7109	2	84	study	study	NOUN
aiti-7109	2	85	,	,	PUNCT
aiti-7109	2	86	a	a	DET
aiti-7109	2	87	simple	simple	ADJ
aiti-7109	2	88	technology	technology	NOUN
aiti-7109	2	89	for	for	ADP
aiti-7109	2	90	a	a	DET
aiti-7109	2	91	self	self	NOUN
aiti-7109	2	92	-	-	PUNCT
aiti-7109	2	93	driving	drive	VERB
aiti-7109	2	94	system	system	NOUN
aiti-7109	2	95	called	call	VERB
aiti-7109	2	96	“	"	PUNCT
aiti-7109	2	97	driver	driver	NOUN
aiti-7109	2	98	assistance	assistance	NOUN
aiti-7109	2	99	system	system	NOUN
aiti-7109	2	100	”	"	PUNCT
aiti-7109	2	101	is	be	AUX
aiti-7109	2	102	developed	develop	VERB
aiti-7109	2	103	based	base	VERB
aiti-7109	2	104	on	on	ADP
aiti-7109	2	105	embedded	embed	VERB
aiti-7109	2	106	image	image	NOUN
aiti-7109	2	107	identification	identification	NOUN
aiti-7109	2	108	.	.	PUNCT
aiti-7109	3	1	the	the	DET
aiti-7109	3	2	system	system	NOUN
aiti-7109	3	3	consists	consist	VERB
aiti-7109	3	4	of	of	ADP
aiti-7109	3	5	a	a	DET
aiti-7109	3	6	camera	camera	NOUN
aiti-7109	3	7	,	,	PUNCT
aiti-7109	3	8	a	a	DET
aiti-7109	3	9	raspberry	raspberry	NOUN
aiti-7109	3	10	pi	pi	NOUN
aiti-7109	3	11	board	board	NOUN
aiti-7109	3	12	,	,	PUNCT
aiti-7109	3	13	and	and	CCONJ
aiti-7109	3	14	opencv	opencv	PROPN
aiti-7109	3	15	.	.	PUNCT
aiti-7109	4	1	the	the	DET
aiti-7109	4	2	camera	camera	NOUN
aiti-7109	4	3	is	be	AUX
aiti-7109	4	4	used	use	VERB
aiti-7109	4	5	to	to	PART
aiti-7109	4	6	capture	capture	VERB
aiti-7109	4	7	lane	lane	NOUN
aiti-7109	4	8	images	image	NOUN
aiti-7109	4	9	,	,	PUNCT
aiti-7109	4	10	and	and	CCONJ
aiti-7109	4	11	the	the	DET
aiti-7109	4	12	image	image	NOUN
aiti-7109	4	13	noise	noise	NOUN
aiti-7109	4	14	is	be	AUX
aiti-7109	4	15	overcome	overcome	VERB
aiti-7109	4	16	through	through	ADP
aiti-7109	4	17	color	color	NOUN
aiti-7109	4	18	space	space	NOUN
aiti-7109	4	19	conversion	conversion	NOUN
aiti-7109	4	20	,	,	PUNCT
aiti-7109	4	21	grayscale	grayscale	NOUN
aiti-7109	4	22	,	,	PUNCT
aiti-7109	4	23	otsu	otsu	NOUN
aiti-7109	4	24	thresholding	thresholding	NOUN
aiti-7109	4	25	,	,	PUNCT
aiti-7109	4	26	binarization	binarization	NOUN
aiti-7109	4	27	,	,	PUNCT
aiti-7109	4	28	erosion	erosion	NOUN
aiti-7109	4	29	,	,	PUNCT
aiti-7109	4	30	and	and	CCONJ
aiti-7109	4	31	dilation	dilation	NOUN
aiti-7109	4	32	.	.	PUNCT
aiti-7109	5	1	subsequently	subsequently	ADV
aiti-7109	5	2	,	,	PUNCT
aiti-7109	5	3	two	two	NUM
aiti-7109	5	4	horizontal	horizontal	ADJ
aiti-7109	5	5	lines	line	NOUN
aiti-7109	5	6	parallel	parallel	ADJ
aiti-7109	5	7	to	to	ADP
aiti-7109	5	8	the	the	DET
aiti-7109	5	9	x	x	NOUN
aiti-7109	5	10	-	-	NOUN
aiti-7109	5	11	axis	axis	NOUN
aiti-7109	5	12	with	with	ADP
aiti-7109	5	13	a	a	DET
aiti-7109	5	14	fixed	fix	VERB
aiti-7109	5	15	range	range	NOUN
aiti-7109	5	16	and	and	CCONJ
aiti-7109	5	17	interval	interval	NOUN
aiti-7109	5	18	are	be	AUX
aiti-7109	5	19	used	use	VERB
aiti-7109	5	20	to	to	PART
aiti-7109	5	21	detect	detect	VERB
aiti-7109	5	22	left	left	ADJ
aiti-7109	5	23	and	and	CCONJ
aiti-7109	5	24	right	right	ADJ
aiti-7109	5	25	lane	lane	NOUN
aiti-7109	5	26	lines	line	NOUN
aiti-7109	5	27	.	.	PUNCT
aiti-7109	6	1	the	the	DET
aiti-7109	6	2	intersection	intersection	NOUN
aiti-7109	6	3	points	point	NOUN
aiti-7109	6	4	between	between	ADP
aiti-7109	6	5	the	the	DET
aiti-7109	6	6	left	left	ADJ
aiti-7109	6	7	and	and	CCONJ
aiti-7109	6	8	right	right	ADJ
aiti-7109	6	9	lane	lane	NOUN
aiti-7109	6	10	lines	line	NOUN
aiti-7109	6	11	and	and	CCONJ
aiti-7109	6	12	the	the	DET
aiti-7109	6	13	two	two	NUM
aiti-7109	6	14	horizontal	horizontal	ADJ
aiti-7109	6	15	lines	line	NOUN
aiti-7109	6	16	can	can	AUX
aiti-7109	6	17	be	be	AUX
aiti-7109	6	18	obtained	obtain	VERB
aiti-7109	6	19	,	,	PUNCT
aiti-7109	6	20	and	and	CCONJ
aiti-7109	6	21	can	can	AUX
aiti-7109	6	22	be	be	AUX
aiti-7109	6	23	used	use	VERB
aiti-7109	6	24	to	to	PART
aiti-7109	6	25	calculate	calculate	VERB
aiti-7109	6	26	the	the	DET
aiti-7109	6	27	slopes	slope	NOUN
aiti-7109	6	28	of	of	ADP
aiti-7109	6	29	the	the	DET
aiti-7109	6	30	left	left	ADJ
aiti-7109	6	31	and	and	CCONJ
aiti-7109	6	32	right	right	ADJ
aiti-7109	6	33	lanes	lane	NOUN
aiti-7109	6	34	.	.	PUNCT
aiti-7109	7	1	finally	finally	ADV
aiti-7109	7	2	,	,	PUNCT
aiti-7109	7	3	the	the	DET
aiti-7109	7	4	slope	slope	NOUN
aiti-7109	7	5	change	change	NOUN
aiti-7109	7	6	of	of	ADP
aiti-7109	7	7	the	the	DET
aiti-7109	7	8	left	left	ADJ
aiti-7109	7	9	and	and	CCONJ
aiti-7109	7	10	right	right	ADJ
aiti-7109	7	11	lanes	lane	NOUN
aiti-7109	7	12	and	and	CCONJ
aiti-7109	7	13	the	the	DET
aiti-7109	7	14	offset	offset	NOUN
aiti-7109	7	15	of	of	ADP
aiti-7109	7	16	the	the	DET
aiti-7109	7	17	lane	lane	NOUN
aiti-7109	7	18	intersection	intersection	NOUN
aiti-7109	7	19	are	be	AUX
aiti-7109	7	20	determined	determined	ADJ
aiti-7109	7	21	to	to	PART
aiti-7109	7	22	detect	detect	VERB
aiti-7109	7	23	the	the	DET
aiti-7109	7	24	deviation	deviation	NOUN
aiti-7109	7	25	.	.	PUNCT
aiti-7109	8	1	when	when	SCONJ
aiti-7109	8	2	the	the	DET
aiti-7109	8	3	angle	angle	NOUN
aiti-7109	8	4	of	of	ADP
aiti-7109	8	5	lanes	lane	NOUN
aiti-7109	8	6	changes	change	VERB
aiti-7109	8	7	drastically	drastically	ADV
aiti-7109	8	8	,	,	PUNCT
aiti-7109	8	9	the	the	DET
aiti-7109	8	10	driver	driver	NOUN
aiti-7109	8	11	receives	receive	VERB
aiti-7109	8	12	a	a	DET
aiti-7109	8	13	deviation	deviation	NOUN
aiti-7109	8	14	warning	warn	VERB
aiti-7109	8	15	.	.	PUNCT
aiti-7109	9	1	the	the	DET
aiti-7109	9	2	results	result	NOUN
aiti-7109	9	3	of	of	ADP
aiti-7109	9	4	this	this	DET
aiti-7109	9	5	study	study	NOUN
aiti-7109	9	6	suggest	suggest	VERB
aiti-7109	9	7	that	that	SCONJ
aiti-7109	9	8	the	the	DET
aiti-7109	9	9	proposed	propose	VERB
aiti-7109	9	10	algorithm	algorithm	NOUN
aiti-7109	9	11	is	be	AUX
aiti-7109	9	12	1.96	1.96	NUM
aiti-7109	9	13	times	time	NOUN
aiti-7109	9	14	faster	fast	ADV
aiti-7109	9	15	than	than	ADP
aiti-7109	9	16	the	the	DET
aiti-7109	9	17	conventional	conventional	ADJ
aiti-7109	9	18	algorithm	algorithm	NOUN
aiti-7109	9	19	.	.	PUNCT
aiti-7109	10	1	keywords	keyword	NOUN
aiti-7109	10	2	:	:	PUNCT
aiti-7109	10	3	computer	computer	NOUN
aiti-7109	10	4	vision	vision	NOUN
aiti-7109	10	5	,	,	PUNCT
aiti-7109	10	6	embedded	embed	VERB
aiti-7109	10	7	system	system	NOUN
aiti-7109	10	8	,	,	PUNCT
aiti-7109	10	9	lane	lane	NOUN
aiti-7109	10	10	-	-	PUNCT
aiti-7109	10	11	shift	shift	NOUN
aiti-7109	10	12	detection	detection	NOUN
aiti-7109	10	13	,	,	PUNCT
aiti-7109	10	14	driver	driver	NOUN
aiti-7109	10	15	assistance	assistance	NOUN
aiti-7109	10	16	system	system	NOUN
aiti-7109	10	17	1	1	NUM
aiti-7109	10	18	.	.	PUNCT
aiti-7109	10	19	introduction	introduction	NOUN
aiti-7109	10	20	with	with	ADP
aiti-7109	10	21	the	the	DET
aiti-7109	10	22	increasing	increase	VERB
aiti-7109	10	23	use	use	NOUN
aiti-7109	10	24	of	of	ADP
aiti-7109	10	25	vehicles	vehicle	NOUN
aiti-7109	10	26	,	,	PUNCT
aiti-7109	10	27	frequent	frequent	ADJ
aiti-7109	10	28	traffic	traffic	NOUN
aiti-7109	10	29	accidents	accident	NOUN
aiti-7109	10	30	occurs	occur	VERB
aiti-7109	10	31	worldwide	worldwide	ADV
aiti-7109	10	32	.	.	PUNCT
aiti-7109	11	1	to	to	PART
aiti-7109	11	2	reduce	reduce	VERB
aiti-7109	11	3	the	the	DET
aiti-7109	11	4	casualties	casualty	NOUN
aiti-7109	11	5	caused	cause	VERB
aiti-7109	11	6	by	by	ADP
aiti-7109	11	7	traffic	traffic	NOUN
aiti-7109	11	8	accidents	accident	NOUN
aiti-7109	11	9	,	,	PUNCT
aiti-7109	11	10	this	this	DET
aiti-7109	11	11	study	study	NOUN
aiti-7109	11	12	proposes	propose	VERB
aiti-7109	11	13	a	a	DET
aiti-7109	11	14	lane	lane	NOUN
aiti-7109	11	15	-	-	PUNCT
aiti-7109	11	16	shift	shift	NOUN
aiti-7109	11	17	detection	detection	NOUN
aiti-7109	11	18	system	system	NOUN
aiti-7109	11	19	that	that	PRON
aiti-7109	11	20	combines	combine	VERB
aiti-7109	11	21	an	an	DET
aiti-7109	11	22	embedded	embed	VERB
aiti-7109	11	23	device	device	NOUN
aiti-7109	11	24	and	and	CCONJ
aiti-7109	11	25	image	image	NOUN
aiti-7109	11	26	identification	identification	NOUN
aiti-7109	11	27	.	.	PUNCT
aiti-7109	12	1	in	in	ADP
aiti-7109	12	2	this	this	DET
aiti-7109	12	3	system	system	NOUN
aiti-7109	12	4	,	,	PUNCT
aiti-7109	12	5	the	the	DET
aiti-7109	12	6	embedded	embed	VERB
aiti-7109	12	7	device	device	NOUN
aiti-7109	12	8	and	and	CCONJ
aiti-7109	12	9	a	a	DET
aiti-7109	12	10	camera	camera	NOUN
aiti-7109	12	11	module	module	NOUN
aiti-7109	12	12	are	be	AUX
aiti-7109	12	13	used	use	VERB
aiti-7109	12	14	to	to	PART
aiti-7109	12	15	capture	capture	VERB
aiti-7109	12	16	lane	lane	NOUN
aiti-7109	12	17	images	image	NOUN
aiti-7109	12	18	.	.	PUNCT
aiti-7109	13	1	the	the	DET
aiti-7109	13	2	captured	capture	VERB
aiti-7109	13	3	images	image	NOUN
aiti-7109	13	4	are	be	AUX
aiti-7109	13	5	processed	process	VERB
aiti-7109	13	6	through	through	ADP
aiti-7109	13	7	grayscale	grayscale	NOUN
aiti-7109	13	8	,	,	PUNCT
aiti-7109	13	9	binarization	binarization	NOUN
aiti-7109	13	10	,	,	PUNCT
aiti-7109	13	11	erosion	erosion	NOUN
aiti-7109	13	12	,	,	PUNCT
aiti-7109	13	13	and	and	CCONJ
aiti-7109	13	14	dilation	dilation	NOUN
aiti-7109	13	15	in	in	ADP
aiti-7109	13	16	order	order	NOUN
aiti-7109	13	17	to	to	PART
aiti-7109	13	18	filter	filter	VERB
aiti-7109	13	19	image	image	NOUN
aiti-7109	13	20	noise	noise	NOUN
aiti-7109	13	21	and	and	CCONJ
aiti-7109	13	22	achieve	achieve	VERB
aiti-7109	13	23	lane	lane	NOUN
aiti-7109	13	24	-	-	PUNCT
aiti-7109	13	25	line	line	NOUN
aiti-7109	13	26	labeling	labeling	NOUN
aiti-7109	13	27	.	.	PUNCT
aiti-7109	14	1	when	when	SCONJ
aiti-7109	14	2	an	an	DET
aiti-7109	14	3	irregular	irregular	ADJ
aiti-7109	14	4	deviation	deviation	NOUN
aiti-7109	14	5	from	from	ADP
aiti-7109	14	6	a	a	DET
aiti-7109	14	7	lane	lane	NOUN
aiti-7109	14	8	line	line	NOUN
aiti-7109	14	9	is	be	AUX
aiti-7109	14	10	identified	identify	VERB
aiti-7109	14	11	,	,	PUNCT
aiti-7109	14	12	the	the	DET
aiti-7109	14	13	driver	driver	NOUN
aiti-7109	14	14	is	be	AUX
aiti-7109	14	15	automatically	automatically	ADV
aiti-7109	14	16	warned	warn	VERB
aiti-7109	14	17	of	of	ADP
aiti-7109	14	18	the	the	DET
aiti-7109	14	19	deviation	deviation	NOUN
aiti-7109	14	20	.	.	PUNCT
aiti-7109	15	1	real	real	ADJ
aiti-7109	15	2	-	-	PUNCT
aiti-7109	15	3	time	time	NOUN
aiti-7109	15	4	lane	lane	NOUN
aiti-7109	15	5	detection	detection	NOUN
aiti-7109	15	6	using	use	VERB
aiti-7109	15	7	embedded	embed	VERB
aiti-7109	15	8	devices	device	NOUN
aiti-7109	15	9	is	be	AUX
aiti-7109	15	10	often	often	ADV
aiti-7109	15	11	impossible	impossible	ADJ
aiti-7109	15	12	because	because	SCONJ
aiti-7109	15	13	of	of	ADP
aiti-7109	15	14	the	the	DET
aiti-7109	15	15	high	high	ADJ
aiti-7109	15	16	-	-	PUNCT
aiti-7109	15	17	performance	performance	NOUN
aiti-7109	15	18	hardware	hardware	NOUN
aiti-7109	15	19	required	require	VERB
aiti-7109	15	20	by	by	ADP
aiti-7109	15	21	current	current	ADJ
aiti-7109	15	22	lane	lane	NOUN
aiti-7109	15	23	detection	detection	NOUN
aiti-7109	15	24	algorithms	algorithm	NOUN
aiti-7109	15	25	.	.	PUNCT
aiti-7109	16	1	in	in	ADP
aiti-7109	16	2	the	the	DET
aiti-7109	16	3	proposed	propose	VERB
aiti-7109	16	4	algorithm	algorithm	NOUN
aiti-7109	16	5	,	,	PUNCT
aiti-7109	16	6	a	a	DET
aiti-7109	16	7	substantial	substantial	ADJ
aiti-7109	16	8	reduction	reduction	NOUN
aiti-7109	16	9	in	in	ADP
aiti-7109	16	10	performance	performance	NOUN
aiti-7109	16	11	is	be	AUX
aiti-7109	16	12	required	require	VERB
aiti-7109	16	13	for	for	ADP
aiti-7109	16	14	lane	lane	NOUN
aiti-7109	16	15	detection	detection	NOUN
aiti-7109	16	16	to	to	PART
aiti-7109	16	17	maintain	maintain	VERB
aiti-7109	16	18	the	the	DET
aiti-7109	16	19	lane	lane	NOUN
aiti-7109	16	20	line	line	NOUN
aiti-7109	16	21	detection	detection	NOUN
aiti-7109	16	22	in	in	ADP
aiti-7109	16	23	conventional	conventional	ADJ
aiti-7109	16	24	algorithms	algorithm	NOUN
aiti-7109	16	25	.	.	PUNCT
aiti-7109	17	1	in	in	ADP
aiti-7109	17	2	addition	addition	NOUN
aiti-7109	17	3	,	,	PUNCT
aiti-7109	17	4	traditional	traditional	ADJ
aiti-7109	17	5	algorithms	algorithm	NOUN
aiti-7109	17	6	depend	depend	VERB
aiti-7109	17	7	on	on	ADP
aiti-7109	17	8	the	the	DET
aiti-7109	17	9	use	use	NOUN
aiti-7109	17	10	of	of	ADP
aiti-7109	17	11	masks	mask	NOUN
aiti-7109	17	12	or	or	CCONJ
aiti-7109	17	13	perspective	perspective	NOUN
aiti-7109	17	14	transformation	transformation	NOUN
aiti-7109	18	1	[	[	X
aiti-7109	18	2	1	1	X
aiti-7109	18	3	]	]	PUNCT
aiti-7109	18	4	to	to	PART
aiti-7109	18	5	obtain	obtain	VERB
aiti-7109	18	6	a	a	DET
aiti-7109	18	7	region	region	NOUN
aiti-7109	18	8	of	of	ADP
aiti-7109	18	9	interest	interest	NOUN
aiti-7109	18	10	[	[	X
aiti-7109	18	11	2	2	NUM
aiti-7109	18	12	]	]	PUNCT
aiti-7109	18	13	,	,	PUNCT
aiti-7109	18	14	but	but	CCONJ
aiti-7109	18	15	these	these	DET
aiti-7109	18	16	prior	prior	ADJ
aiti-7109	18	17	manual	manual	ADJ
aiti-7109	18	18	adjustments	adjustment	NOUN
aiti-7109	18	19	and	and	CCONJ
aiti-7109	18	20	lane	lane	NOUN
aiti-7109	18	21	slope	slope	NOUN
aiti-7109	18	22	restrictions	restriction	NOUN
aiti-7109	18	23	are	be	AUX
aiti-7109	18	24	not	not	PART
aiti-7109	18	25	applicable	applicable	ADJ
aiti-7109	18	26	to	to	ADP
aiti-7109	18	27	any	any	DET
aiti-7109	18	28	road	road	NOUN
aiti-7109	18	29	.	.	PUNCT
aiti-7109	19	1	to	to	PART
aiti-7109	19	2	overcome	overcome	VERB
aiti-7109	19	3	the	the	DET
aiti-7109	19	4	shortcomings	shortcoming	NOUN
aiti-7109	19	5	of	of	ADP
aiti-7109	19	6	traditional	traditional	ADJ
aiti-7109	19	7	algorithms	algorithm	NOUN
aiti-7109	19	8	,	,	PUNCT
aiti-7109	19	9	this	this	DET
aiti-7109	19	10	study	study	NOUN
aiti-7109	19	11	proposes	propose	VERB
aiti-7109	19	12	a	a	DET
aiti-7109	19	13	lane	lane	NOUN
aiti-7109	19	14	detection	detection	NOUN
aiti-7109	19	15	algorithm	algorithm	NOUN
aiti-7109	19	16	that	that	PRON
aiti-7109	19	17	can	can	AUX
aiti-7109	19	18	greatly	greatly	ADV
aiti-7109	19	19	reduce	reduce	VERB
aiti-7109	19	20	lane	lane	NOUN
aiti-7109	19	21	-	-	PUNCT
aiti-7109	19	22	image	image	NOUN
aiti-7109	19	23	-	-	PUNCT
aiti-7109	19	24	processing	processing	NOUN
aiti-7109	19	25	time	time	NOUN
aiti-7109	19	26	and	and	CCONJ
aiti-7109	19	27	does	do	AUX
aiti-7109	19	28	not	not	PART
aiti-7109	19	29	depend	depend	VERB
aiti-7109	19	30	on	on	ADP
aiti-7109	19	31	masks	mask	NOUN
aiti-7109	19	32	and	and	CCONJ
aiti-7109	19	33	perspective	perspective	ADJ
aiti-7109	19	34	transformation	transformation	NOUN
aiti-7109	19	35	.	.	PUNCT
aiti-7109	20	1	the	the	DET
aiti-7109	20	2	proposed	propose	VERB
aiti-7109	20	3	intersection	intersection	NOUN
aiti-7109	20	4	detection	detection	NOUN
aiti-7109	20	5	algorithm	algorithm	NOUN
aiti-7109	20	6	can	can	AUX
aiti-7109	20	7	not	not	PART
aiti-7109	20	8	only	only	ADV
aiti-7109	20	9	run	run	VERB
aiti-7109	20	10	smoothly	smoothly	ADV
aiti-7109	20	11	on	on	ADP
aiti-7109	20	12	embedded	embed	VERB
aiti-7109	20	13	devices	device	NOUN
aiti-7109	20	14	,	,	PUNCT
aiti-7109	20	15	but	but	CCONJ
aiti-7109	20	16	can	can	AUX
aiti-7109	20	17	also	also	ADV
aiti-7109	20	18	be	be	AUX
aiti-7109	20	19	adapted	adapt	VERB
aiti-7109	20	20	to	to	ADP
aiti-7109	20	21	lane	lane	NOUN
aiti-7109	20	22	lines	line	NOUN
aiti-7109	20	23	of	of	ADP
aiti-7109	20	24	different	different	ADJ
aiti-7109	20	25	shapes	shape	NOUN
aiti-7109	20	26	.	.	PUNCT
aiti-7109	21	1	because	because	SCONJ
aiti-7109	21	2	the	the	DET
aiti-7109	21	3	intersection	intersection	NOUN
aiti-7109	21	4	detection	detection	NOUN
aiti-7109	21	5	algorithm	algorithm	NOUN
aiti-7109	21	6	does	do	AUX
aiti-7109	21	7	not	not	PART
aiti-7109	21	8	use	use	VERB
aiti-7109	21	9	the	the	DET
aiti-7109	21	10	region	region	NOUN
aiti-7109	21	11	of	of	ADP
aiti-7109	21	12	interest	interest	NOUN
aiti-7109	21	13	algorithm	algorithm	NOUN
aiti-7109	21	14	,	,	PUNCT
aiti-7109	21	15	it	it	PRON
aiti-7109	21	16	can	can	AUX
aiti-7109	21	17	avoid	avoid	VERB
aiti-7109	21	18	mismatches	mismatch	NOUN
aiti-7109	21	19	between	between	ADP
aiti-7109	21	20	the	the	DET
aiti-7109	21	21	region	region	NOUN
aiti-7109	21	22	of	of	ADP
aiti-7109	21	23	interest	interest	NOUN
aiti-7109	21	24	and	and	CCONJ
aiti-7109	21	25	the	the	DET
aiti-7109	21	26	lane	lane	NOUN
aiti-7109	21	27	area	area	NOUN
aiti-7109	21	28	.	.	PUNCT
aiti-7109	22	1	*	*	PUNCT
aiti-7109	22	2	corresponding	correspond	VERB
aiti-7109	22	3	author	author	NOUN
aiti-7109	22	4	.	.	PUNCT
aiti-7109	23	1	e	e	X
aiti-7109	23	2	-	-	NOUN
aiti-7109	23	3	mail	mail	NOUN
aiti-7109	23	4	address	address	NOUN
aiti-7109	23	5	:	:	PUNCT
aiti-7109	23	6	jiashing@tea.ntue.edu.tw	jiashing@tea.ntue.edu.tw	PROPN
aiti-7109	23	7	tel	tel	PROPN
aiti-7109	23	8	.	.	PUNCT
aiti-7109	23	9	:	:	PUNCT
aiti-7109	24	1	+886	+886	NUM
aiti-7109	24	2	-	-	SYM
aiti-7109	24	3	9	9	NUM
aiti-7109	24	4	-	-	PUNCT
aiti-7109	24	5	38397255	38397255	NUM
aiti-7109	24	6	;	;	PUNCT
aiti-7109	24	7	fax	fax	NOUN
aiti-7109	24	8	:	:	PUNCT
aiti-7109	24	9	+886	+886	NUM
aiti-7109	24	10	-	-	PUNCT
aiti-7109	24	11	2	2	NUM
aiti-7109	24	12	-	-	PUNCT
aiti-7109	24	13	27375457	27375457	NUM
aiti-7109	24	14	advances	advance	NOUN
aiti-7109	24	15	in	in	ADP
aiti-7109	24	16	technology	technology	NOUN
aiti-7109	24	17	innovation	innovation	NOUN
aiti-7109	24	18	,	,	PUNCT
aiti-7109	24	19	vol	vol	NOUN
aiti-7109	24	20	.	.	PROPN
aiti-7109	25	1	6	6	NUM
aiti-7109	25	2	,	,	PUNCT
aiti-7109	25	3	no	no	INTJ
aiti-7109	25	4	.	.	NOUN
aiti-7109	25	5	3	3	NUM
aiti-7109	25	6	,	,	PUNCT
aiti-7109	25	7	2021	2021	NUM
aiti-7109	25	8	,	,	PUNCT
aiti-7109	26	1	pp	pp	ADJ
aiti-7109	26	2	.	.	PUNCT
aiti-7109	27	1	137	137	NUM
aiti-7109	27	2	-	-	SYM
aiti-7109	27	3	145	145	NUM
aiti-7109	27	4	2	2	NUM
aiti-7109	27	5	.	.	PUNCT
aiti-7109	27	6	literature	literature	NOUN
aiti-7109	27	7	review	review	PROPN
aiti-7109	27	8	and	and	CCONJ
aiti-7109	27	9	methodology	methodology	VERB
aiti-7109	27	10	a	a	DET
aiti-7109	27	11	lane	lane	NOUN
aiti-7109	27	12	departure	departure	NOUN
aiti-7109	27	13	detection	detection	NOUN
aiti-7109	27	14	system	system	NOUN
aiti-7109	27	15	is	be	AUX
aiti-7109	27	16	an	an	DET
aiti-7109	27	17	alarm	alarm	NOUN
aiti-7109	27	18	system	system	NOUN
aiti-7109	27	19	that	that	PRON
aiti-7109	27	20	helps	help	VERB
aiti-7109	27	21	drivers	driver	NOUN
aiti-7109	27	22	avoid	avoid	VERB
aiti-7109	27	23	unintentionally	unintentionally	ADV
aiti-7109	27	24	switching	switch	VERB
aiti-7109	27	25	lanes	lane	NOUN
aiti-7109	27	26	.	.	PUNCT
aiti-7109	28	1	driver	driver	NOUN
aiti-7109	28	2	assistance	assistance	NOUN
aiti-7109	28	3	systems	system	NOUN
aiti-7109	28	4	,	,	PUNCT
aiti-7109	28	5	which	which	PRON
aiti-7109	28	6	debuted	debut	VERB
aiti-7109	28	7	in	in	ADP
aiti-7109	28	8	2000	2000	NUM
aiti-7109	28	9	,	,	PUNCT
aiti-7109	28	10	reduce	reduce	VERB
aiti-7109	28	11	the	the	DET
aiti-7109	28	12	number	number	NOUN
aiti-7109	28	13	of	of	ADP
aiti-7109	28	14	vehicle	vehicle	NOUN
aiti-7109	28	15	crashes	crash	NOUN
aiti-7109	28	16	by	by	ADP
aiti-7109	28	17	helping	help	VERB
aiti-7109	28	18	drivers	driver	NOUN
aiti-7109	28	19	preemptively	preemptively	ADV
aiti-7109	28	20	avoid	avoid	VERB
aiti-7109	28	21	accidents	accident	NOUN
aiti-7109	28	22	[	[	X
aiti-7109	28	23	3	3	NUM
aiti-7109	28	24	]	]	PUNCT
aiti-7109	28	25	.	.	PUNCT
aiti-7109	29	1	many	many	ADJ
aiti-7109	29	2	new	new	ADJ
aiti-7109	29	3	vehicles	vehicle	NOUN
aiti-7109	29	4	are	be	AUX
aiti-7109	29	5	equipped	equip	VERB
aiti-7109	29	6	with	with	ADP
aiti-7109	29	7	such	such	DET
aiti-7109	29	8	a	a	DET
aiti-7109	29	9	system	system	NOUN
aiti-7109	29	10	.	.	PUNCT
aiti-7109	30	1	fig	fig	NOUN
aiti-7109	30	2	.	.	PUNCT
aiti-7109	31	1	1	1	NUM
aiti-7109	31	2	traditional	traditional	ADJ
aiti-7109	31	3	lane	lane	NOUN
aiti-7109	31	4	detection	detection	NOUN
aiti-7109	31	5	algorithm	algorithm	NOUN
aiti-7109	31	6	fig	fig	NOUN
aiti-7109	31	7	.	.	PUNCT
aiti-7109	32	1	1	1	NUM
aiti-7109	32	2	presents	present	VERB
aiti-7109	32	3	the	the	DET
aiti-7109	32	4	steps	step	NOUN
aiti-7109	32	5	involved	involve	VERB
aiti-7109	32	6	in	in	ADP
aiti-7109	32	7	the	the	DET
aiti-7109	32	8	most	most	ADV
aiti-7109	32	9	current	current	ADJ
aiti-7109	32	10	lane	lane	NOUN
aiti-7109	32	11	detection	detection	NOUN
aiti-7109	32	12	algorithms	algorithm	NOUN
aiti-7109	32	13	[	[	X
aiti-7109	32	14	4	4	NUM
aiti-7109	32	15	-	-	SYM
aiti-7109	32	16	7	7	NUM
aiti-7109	32	17	]	]	PUNCT
aiti-7109	32	18	.	.	PUNCT
aiti-7109	33	1	in	in	ADP
aiti-7109	33	2	this	this	DET
aiti-7109	33	3	study	study	NOUN
aiti-7109	33	4	,	,	PUNCT
aiti-7109	33	5	a	a	DET
aiti-7109	33	6	new	new	ADJ
aiti-7109	33	7	lane	lane	NOUN
aiti-7109	33	8	detection	detection	NOUN
aiti-7109	33	9	algorithm	algorithm	NOUN
aiti-7109	33	10	is	be	AUX
aiti-7109	33	11	proposed	propose	VERB
aiti-7109	33	12	to	to	PART
aiti-7109	33	13	improve	improve	VERB
aiti-7109	33	14	the	the	DET
aiti-7109	33	15	execution	execution	NOUN
aiti-7109	33	16	efficiency	efficiency	NOUN
aiti-7109	33	17	of	of	ADP
aiti-7109	33	18	traditional	traditional	ADJ
aiti-7109	33	19	lane	lane	NOUN
aiti-7109	33	20	detection	detection	NOUN
aiti-7109	33	21	algorithms	algorithm	NOUN
aiti-7109	33	22	.	.	PUNCT
aiti-7109	34	1	image	image	NOUN
aiti-7109	34	2	processing	processing	NOUN
aiti-7109	34	3	in	in	ADP
aiti-7109	34	4	traditional	traditional	ADJ
aiti-7109	34	5	algorithms	algorithm	NOUN
aiti-7109	34	6	can	can	AUX
aiti-7109	34	7	be	be	AUX
aiti-7109	34	8	roughly	roughly	ADV
aiti-7109	34	9	divided	divide	VERB
aiti-7109	34	10	into	into	ADP
aiti-7109	34	11	five	five	NUM
aiti-7109	34	12	steps	step	NOUN
aiti-7109	34	13	:	:	PUNCT
aiti-7109	34	14	perspective	perspective	NOUN
aiti-7109	34	15	transformation	transformation	NOUN
aiti-7109	34	16	,	,	PUNCT
aiti-7109	34	17	region	region	NOUN
aiti-7109	34	18	of	of	ADP
aiti-7109	34	19	interest	interest	NOUN
aiti-7109	34	20	extraction	extraction	NOUN
aiti-7109	34	21	,	,	PUNCT
aiti-7109	34	22	grayscale	grayscale	NOUN
aiti-7109	34	23	conversion	conversion	NOUN
aiti-7109	34	24	[	[	X
aiti-7109	34	25	8	8	NUM
aiti-7109	34	26	]	]	PUNCT
aiti-7109	34	27	,	,	PUNCT
aiti-7109	34	28	canny	canny	ADJ
aiti-7109	34	29	edge	edge	NOUN
aiti-7109	34	30	detection	detection	NOUN
aiti-7109	35	1	[	[	X
aiti-7109	35	2	9	9	NUM
aiti-7109	35	3	]	]	PUNCT
aiti-7109	35	4	,	,	PUNCT
aiti-7109	35	5	and	and	CCONJ
aiti-7109	35	6	hough	hough	PROPN
aiti-7109	35	7	transformation	transformation	NOUN
aiti-7109	36	1	[	[	X
aiti-7109	36	2	10	10	NUM
aiti-7109	36	3	]	]	PUNCT
aiti-7109	36	4	.	.	PUNCT
aiti-7109	37	1	in	in	ADP
aiti-7109	37	2	the	the	DET
aiti-7109	37	3	proposed	propose	VERB
aiti-7109	37	4	method	method	NOUN
aiti-7109	37	5	,	,	PUNCT
aiti-7109	37	6	grayscale	grayscale	NOUN
aiti-7109	37	7	is	be	AUX
aiti-7109	37	8	retained	retain	VERB
aiti-7109	37	9	;	;	PUNCT
aiti-7109	37	10	perspective	perspective	NOUN
aiti-7109	37	11	transformation	transformation	NOUN
aiti-7109	37	12	,	,	PUNCT
aiti-7109	37	13	region	region	NOUN
aiti-7109	37	14	of	of	ADP
aiti-7109	37	15	interest	interest	NOUN
aiti-7109	37	16	extraction	extraction	NOUN
aiti-7109	37	17	,	,	PUNCT
aiti-7109	37	18	canny	canny	ADJ
aiti-7109	37	19	edge	edge	NOUN
aiti-7109	37	20	detection	detection	NOUN
aiti-7109	37	21	,	,	PUNCT
aiti-7109	37	22	and	and	CCONJ
aiti-7109	37	23	hough	hough	PROPN
aiti-7109	37	24	transformation	transformation	NOUN
aiti-7109	37	25	are	be	AUX
aiti-7109	37	26	removed	remove	VERB
aiti-7109	37	27	.	.	PUNCT
aiti-7109	38	1	in	in	ADP
aiti-7109	38	2	addition	addition	NOUN
aiti-7109	38	3	,	,	PUNCT
aiti-7109	38	4	image	image	NOUN
aiti-7109	38	5	binarization	binarization	NOUN
aiti-7109	38	6	,	,	PUNCT
aiti-7109	38	7	image	image	NOUN
aiti-7109	38	8	morphological	morphological	ADJ
aiti-7109	38	9	erosion	erosion	NOUN
aiti-7109	38	10	,	,	PUNCT
aiti-7109	38	11	expansion	expansion	NOUN
aiti-7109	38	12	operation	operation	NOUN
aiti-7109	38	13	,	,	PUNCT
aiti-7109	38	14	and	and	CCONJ
aiti-7109	38	15	the	the	DET
aiti-7109	38	16	algorithm	algorithm	NOUN
aiti-7109	38	17	for	for	ADP
aiti-7109	38	18	horizontal	horizontal	ADJ
aiti-7109	38	19	line	line	NOUN
aiti-7109	38	20	intersection	intersection	NOUN
aiti-7109	38	21	detection	detection	NOUN
aiti-7109	38	22	are	be	AUX
aiti-7109	38	23	added	add	VERB
aiti-7109	38	24	to	to	ADP
aiti-7109	38	25	the	the	DET
aiti-7109	38	26	method	method	NOUN
aiti-7109	38	27	of	of	ADP
aiti-7109	38	28	detecting	detect	VERB
aiti-7109	38	29	lane	lane	NOUN
aiti-7109	38	30	lines	line	NOUN
aiti-7109	38	31	.	.	PUNCT
aiti-7109	39	1	this	this	DET
aiti-7109	39	2	method	method	NOUN
aiti-7109	39	3	is	be	AUX
aiti-7109	39	4	not	not	PART
aiti-7109	39	5	limited	limit	VERB
aiti-7109	39	6	by	by	ADP
aiti-7109	39	7	the	the	DET
aiti-7109	39	8	region	region	NOUN
aiti-7109	39	9	of	of	ADP
aiti-7109	39	10	interest	interest	NOUN
aiti-7109	39	11	of	of	ADP
aiti-7109	39	12	the	the	DET
aiti-7109	39	13	traditional	traditional	ADJ
aiti-7109	39	14	algorithm	algorithm	NOUN
aiti-7109	39	15	.	.	PUNCT
aiti-7109	40	1	the	the	DET
aiti-7109	40	2	new	new	ADJ
aiti-7109	40	3	algorithm	algorithm	NOUN
aiti-7109	40	4	can	can	AUX
aiti-7109	40	5	be	be	AUX
aiti-7109	40	6	used	use	VERB
aiti-7109	40	7	to	to	PART
aiti-7109	40	8	retain	retain	VERB
aiti-7109	40	9	a	a	DET
aiti-7109	40	10	large	large	ADJ
aiti-7109	40	11	amount	amount	NOUN
aiti-7109	40	12	of	of	ADP
aiti-7109	40	13	the	the	DET
aiti-7109	40	14	lane	lane	NOUN
aiti-7109	40	15	image	image	NOUN
aiti-7109	40	16	information	information	NOUN
aiti-7109	40	17	,	,	PUNCT
aiti-7109	40	18	adapt	adapt	VERB
aiti-7109	40	19	to	to	ADP
aiti-7109	40	20	different	different	ADJ
aiti-7109	40	21	lane	lane	NOUN
aiti-7109	40	22	images	image	NOUN
aiti-7109	40	23	,	,	PUNCT
aiti-7109	40	24	and	and	CCONJ
aiti-7109	40	25	provide	provide	VERB
aiti-7109	40	26	rapid	rapid	ADJ
aiti-7109	40	27	lane	lane	NOUN
aiti-7109	40	28	detection	detection	NOUN
aiti-7109	40	29	real	real	ADJ
aiti-7109	40	30	-	-	PUNCT
aiti-7109	40	31	time	time	NOUN
aiti-7109	40	32	data	datum	NOUN
aiti-7109	40	33	to	to	PART
aiti-7109	40	34	determine	determine	VERB
aiti-7109	40	35	whether	whether	SCONJ
aiti-7109	40	36	the	the	DET
aiti-7109	40	37	vehicle	vehicle	NOUN
aiti-7109	40	38	is	be	AUX
aiti-7109	40	39	deviating	deviate	VERB
aiti-7109	40	40	.	.	PUNCT
aiti-7109	41	1	the	the	DET
aiti-7109	41	2	first	first	ADJ
aiti-7109	41	3	step	step	NOUN
aiti-7109	41	4	of	of	ADP
aiti-7109	41	5	image	image	NOUN
aiti-7109	41	6	processing	processing	NOUN
aiti-7109	41	7	is	be	AUX
aiti-7109	41	8	grayscale	grayscale	NOUN
aiti-7109	41	9	conversion	conversion	NOUN
aiti-7109	41	10	.	.	PUNCT
aiti-7109	42	1	an	an	DET
aiti-7109	42	2	original	original	ADJ
aiti-7109	42	3	image	image	NOUN
aiti-7109	42	4	captured	capture	VERB
aiti-7109	42	5	from	from	ADP
aiti-7109	42	6	a	a	DET
aiti-7109	42	7	camera	camera	NOUN
aiti-7109	42	8	module	module	NOUN
aiti-7109	42	9	[	[	X
aiti-7109	42	10	11	11	NUM
aiti-7109	42	11	]	]	PUNCT
aiti-7109	42	12	is	be	AUX
aiti-7109	42	13	in	in	ADP
aiti-7109	42	14	the	the	DET
aiti-7109	42	15	rgb	rgb	PROPN
aiti-7109	42	16	color	color	NOUN
aiti-7109	42	17	space	space	NOUN
aiti-7109	42	18	,	,	PUNCT
aiti-7109	42	19	and	and	CCONJ
aiti-7109	42	20	such	such	ADJ
aiti-7109	42	21	colored	colored	ADJ
aiti-7109	42	22	images	image	NOUN
aiti-7109	42	23	lead	lead	VERB
aiti-7109	42	24	to	to	ADP
aiti-7109	42	25	poor	poor	ADJ
aiti-7109	42	26	performance	performance	NOUN
aiti-7109	42	27	of	of	ADP
aiti-7109	42	28	direct	direct	ADJ
aiti-7109	42	29	calculations	calculation	NOUN
aiti-7109	42	30	and	and	CCONJ
aiti-7109	42	31	consequent	consequent	ADJ
aiti-7109	42	32	faulty	faulty	ADJ
aiti-7109	42	33	lane	lane	NOUN
aiti-7109	42	34	line	line	NOUN
aiti-7109	42	35	determinations	determination	NOUN
aiti-7109	42	36	.	.	PUNCT
aiti-7109	43	1	the	the	DET
aiti-7109	43	2	grayscale	grayscale	NOUN
aiti-7109	43	3	equation	equation	NOUN
aiti-7109	43	4	(	(	PUNCT
aiti-7109	43	5	eq	eq	NOUN
aiti-7109	43	6	.	.	PUNCT
aiti-7109	43	7	(	(	PUNCT
aiti-7109	43	8	1	1	NUM
aiti-7109	43	9	)	)	PUNCT
aiti-7109	43	10	)	)	PUNCT
aiti-7109	43	11	can	can	AUX
aiti-7109	43	12	be	be	AUX
aiti-7109	43	13	used	use	VERB
aiti-7109	43	14	to	to	PART
aiti-7109	43	15	transform	transform	VERB
aiti-7109	43	16	an	an	DET
aiti-7109	43	17	rgb	rgb	PROPN
aiti-7109	43	18	color	color	NOUN
aiti-7109	43	19	space	space	NOUN
aiti-7109	43	20	into	into	ADP
aiti-7109	43	21	a	a	DET
aiti-7109	43	22	ycbcr	ycbcr	NOUN
aiti-7109	43	23	[	[	X
aiti-7109	43	24	12	12	NUM
aiti-7109	43	25	]	]	PUNCT
aiti-7109	43	26	color	color	NOUN
aiti-7109	43	27	space	space	NOUN
aiti-7109	43	28	.	.	PUNCT
aiti-7109	44	1	as	as	ADP
aiti-7109	44	2	a	a	DET
aiti-7109	44	3	result	result	NOUN
aiti-7109	44	4	,	,	PUNCT
aiti-7109	44	5	the	the	DET
aiti-7109	44	6	computational	computational	ADJ
aiti-7109	44	7	amount	amount	NOUN
aiti-7109	44	8	is	be	AUX
aiti-7109	44	9	reduced	reduce	VERB
aiti-7109	44	10	from	from	ADP
aiti-7109	44	11	24	24	NUM
aiti-7109	44	12	bits	bit	NOUN
aiti-7109	44	13	per	per	ADP
aiti-7109	44	14	pixel	pixel	NOUN
aiti-7109	44	15	to	to	ADP
aiti-7109	44	16	8	8	NUM
aiti-7109	44	17	bits	bit	NOUN
aiti-7109	44	18	per	per	ADP
aiti-7109	44	19	pixel	pixel	NOUN
aiti-7109	44	20	.	.	PUNCT
aiti-7109	45	1	this	this	DET
aiti-7109	45	2	step	step	NOUN
aiti-7109	45	3	is	be	AUX
aiti-7109	45	4	employed	employ	VERB
aiti-7109	45	5	to	to	PART
aiti-7109	45	6	improve	improve	VERB
aiti-7109	45	7	the	the	DET
aiti-7109	45	8	calculation	calculation	NOUN
aiti-7109	45	9	efficiency	efficiency	NOUN
aiti-7109	45	10	and	and	CCONJ
aiti-7109	45	11	accuracy	accuracy	NOUN
aiti-7109	45	12	of	of	ADP
aiti-7109	45	13	lane	lane	NOUN
aiti-7109	45	14	detection	detection	NOUN
aiti-7109	45	15	.	.	PUNCT
aiti-7109	46	1	then	then	ADV
aiti-7109	46	2	,	,	PUNCT
aiti-7109	46	3	the	the	DET
aiti-7109	46	4	y	y	PROPN
aiti-7109	46	5	brightness	brightness	NOUN
aiti-7109	46	6	obtained	obtain	VERB
aiti-7109	46	7	in	in	ADP
aiti-7109	46	8	the	the	DET
aiti-7109	46	9	ycbcr	ycbcr	NOUN
aiti-7109	46	10	color	color	NOUN
aiti-7109	46	11	space	space	NOUN
aiti-7109	46	12	can	can	AUX
aiti-7109	46	13	be	be	AUX
aiti-7109	46	14	considered	consider	VERB
aiti-7109	46	15	the	the	DET
aiti-7109	46	16	grayscale	grayscale	NOUN
aiti-7109	46	17	result	result	NOUN
aiti-7109	46	18	.	.	PUNCT
aiti-7109	47	1	0.299	0.299	NUM
aiti-7109	47	2	0.578	0.578	NUM
aiti-7109	47	3	0.114y	0.114y	NOUN
aiti-7109	47	4	r	r	NOUN
aiti-7109	47	5	g	g	NOUN
aiti-7109	47	6	b=	b=	NOUN
aiti-7109	47	7	+	+	X
aiti-7109	48	1	+	+	CCONJ
aiti-7109	48	2	(	(	PUNCT
aiti-7109	48	3	1	1	X
aiti-7109	48	4	)	)	PUNCT
aiti-7109	48	5	the	the	DET
aiti-7109	48	6	second	second	ADJ
aiti-7109	48	7	step	step	NOUN
aiti-7109	48	8	is	be	AUX
aiti-7109	48	9	canny	canny	ADJ
aiti-7109	48	10	edge	edge	NOUN
aiti-7109	48	11	detection	detection	NOUN
aiti-7109	48	12	,	,	PUNCT
aiti-7109	48	13	a	a	DET
aiti-7109	48	14	compound	compound	NOUN
aiti-7109	48	15	edge	edge	NOUN
aiti-7109	48	16	detection	detection	NOUN
aiti-7109	48	17	algorithm	algorithm	NOUN
aiti-7109	48	18	that	that	PRON
aiti-7109	48	19	integrates	integrate	VERB
aiti-7109	48	20	a	a	DET
aiti-7109	48	21	gaussian	gaussian	ADJ
aiti-7109	48	22	filter	filter	NOUN
aiti-7109	49	1	[	[	X
aiti-7109	49	2	13	13	NUM
aiti-7109	49	3	]	]	PUNCT
aiti-7109	49	4	,	,	PUNCT
aiti-7109	49	5	which	which	PRON
aiti-7109	49	6	is	be	AUX
aiti-7109	49	7	used	use	VERB
aiti-7109	49	8	to	to	PART
aiti-7109	49	9	determine	determine	VERB
aiti-7109	49	10	the	the	DET
aiti-7109	49	11	intensity	intensity	NOUN
aiti-7109	49	12	gradient	gradient	NOUN
aiti-7109	49	13	of	of	ADP
aiti-7109	49	14	images	image	NOUN
aiti-7109	49	15	,	,	PUNCT
aiti-7109	49	16	nonmaximum	nonmaximum	ADJ
aiti-7109	49	17	suppression	suppression	NOUN
aiti-7109	49	18	[	[	X
aiti-7109	49	19	14	14	NUM
aiti-7109	49	20	]	]	X
aiti-7109	49	21	,	,	PUNCT
aiti-7109	49	22	double	double	ADJ
aiti-7109	49	23	threshold	threshold	NOUN
aiti-7109	49	24	,	,	PUNCT
aiti-7109	49	25	and	and	CCONJ
aiti-7109	49	26	edge	edge	NOUN
aiti-7109	49	27	tracking	track	VERB
aiti-7109	49	28	through	through	ADP
aiti-7109	49	29	hysteresis	hysteresis	NOUN
aiti-7109	49	30	for	for	ADP
aiti-7109	49	31	practicing	practice	VERB
aiti-7109	49	32	edge	edge	NOUN
aiti-7109	49	33	detection	detection	NOUN
aiti-7109	49	34	.	.	PUNCT
aiti-7109	50	1	gaussian	gaussian	ADJ
aiti-7109	50	2	filtering	filtering	NOUN
aiti-7109	50	3	can	can	AUX
aiti-7109	50	4	be	be	AUX
aiti-7109	50	5	effectively	effectively	ADV
aiti-7109	50	6	used	use	VERB
aiti-7109	50	7	to	to	PART
aiti-7109	50	8	reduce	reduce	VERB
aiti-7109	50	9	the	the	DET
aiti-7109	50	10	noise	noise	NOUN
aiti-7109	50	11	generated	generate	VERB
aiti-7109	50	12	by	by	ADP
aiti-7109	50	13	grayscale	grayscale	NOUN
aiti-7109	50	14	images	image	NOUN
aiti-7109	50	15	,	,	PUNCT
aiti-7109	50	16	and	and	CCONJ
aiti-7109	50	17	its	its	PRON
aiti-7109	50	18	formula	formula	NOUN
aiti-7109	50	19	is	be	AUX
aiti-7109	50	20	as	as	SCONJ
aiti-7109	50	21	follows	follow	VERB
aiti-7109	50	22	:	:	PUNCT
aiti-7109	50	23	2	2	NUM
aiti-7109	50	24	2	2	NUM
aiti-7109	50	25	22	22	NUM
aiti-7109	50	26	2	2	NUM
aiti-7109	50	27	1	1	NUM
aiti-7109	50	28	(	(	PUNCT
aiti-7109	50	29	,	,	PUNCT
aiti-7109	50	30	)	)	PUNCT
aiti-7109	50	31	2	2	NUM
aiti-7109	50	32	x	x	SYM
aiti-7109	50	33	y	y	NOUN
aiti-7109	50	34	g	g	NOUN
aiti-7109	50	35	x	x	VERB
aiti-7109	50	36	y	y	PROPN
aiti-7109	50	37	e	e	PROPN
aiti-7109	50	38	σ	σ	NOUN
aiti-7109	51	1	πσ	πσ	X
aiti-7109	51	2	+	+	NOUN
aiti-7109	51	3	=	=	SYM
aiti-7109	51	4	(	(	PUNCT
aiti-7109	51	5	2	2	NUM
aiti-7109	51	6	)	)	PUNCT
aiti-7109	51	7	where	where	SCONJ
aiti-7109	51	8	sigma	sigma	PROPN
aiti-7109	51	9	(	(	PUNCT
aiti-7109	51	10	�	�	PROPN
aiti-7109	51	11	)	)	PUNCT
aiti-7109	51	12	of	of	ADP
aiti-7109	51	13	approximately	approximately	ADV
aiti-7109	51	14	0.68	0.68	NUM
aiti-7109	51	15	-	-	SYM
aiti-7109	51	16	0.95	0.95	NUM
aiti-7109	51	17	is	be	AUX
aiti-7109	51	18	suitable	suitable	ADJ
aiti-7109	51	19	(	(	PUNCT
aiti-7109	51	20	normal	normal	ADJ
aiti-7109	51	21	distribution	distribution	NOUN
aiti-7109	51	22	)	)	PUNCT
aiti-7109	51	23	and	and	CCONJ
aiti-7109	51	24	is	be	AUX
aiti-7109	51	25	user	user	NOUN
aiti-7109	51	26	-	-	PUNCT
aiti-7109	51	27	defined	define	VERB
aiti-7109	51	28	.	.	PUNCT
aiti-7109	52	1	the	the	DET
aiti-7109	52	2	commonly	commonly	ADV
aiti-7109	52	3	used	use	VERB
aiti-7109	52	4	3	3	NUM
aiti-7109	52	5	×	×	NOUN
aiti-7109	52	6	3	3	NUM
aiti-7109	52	7	gaussian	gaussian	ADJ
aiti-7109	52	8	filter	filter	NOUN
aiti-7109	52	9	matrix	matrix	NOUN
aiti-7109	52	10	is	be	AUX
aiti-7109	52	11	as	as	SCONJ
aiti-7109	52	12	follows	follow	VERB
aiti-7109	52	13	:	:	PUNCT
aiti-7109	52	14	1	1	NUM
aiti-7109	52	15	2	2	NUM
aiti-7109	52	16	1	1	NUM
aiti-7109	52	17	1	1	NUM
aiti-7109	52	18	2	2	NUM
aiti-7109	52	19	4	4	NUM
aiti-7109	52	20	2	2	NUM
aiti-7109	52	21	16	16	NUM
aiti-7109	52	22	1	1	NUM
aiti-7109	52	23	2	2	NUM
aiti-7109	52	24	1	1	NUM
aiti-7109	52	25	k	k	PROPN
aiti-7109	52	26			PROPN
aiti-7109	52	27			PROPN
aiti-7109	52	28			ADJ
aiti-7109	52	29	=	=	NOUN
aiti-7109	52	30			ADJ
aiti-7109	52	31			PROPN
aiti-7109	52	32			ADJ
aiti-7109	52	33			ADJ
aiti-7109	52	34			NOUN
aiti-7109	52	35	(	(	PUNCT
aiti-7109	52	36	3	3	NUM
aiti-7109	52	37	)	)	PUNCT
aiti-7109	52	38	the	the	DET
aiti-7109	52	39	next	next	ADJ
aiti-7109	52	40	step	step	NOUN
aiti-7109	52	41	is	be	AUX
aiti-7109	52	42	to	to	PART
aiti-7109	52	43	find	find	VERB
aiti-7109	52	44	the	the	DET
aiti-7109	52	45	intensity	intensity	NOUN
aiti-7109	52	46	gradient	gradient	NOUN
aiti-7109	52	47	of	of	ADP
aiti-7109	52	48	images	image	NOUN
aiti-7109	52	49	.	.	PUNCT
aiti-7109	53	1	lane	lane	NOUN
aiti-7109	53	2	lines	line	NOUN
aiti-7109	53	3	can	can	AUX
aiti-7109	53	4	be	be	AUX
aiti-7109	53	5	accurately	accurately	ADV
aiti-7109	53	6	detected	detect	VERB
aiti-7109	53	7	by	by	ADP
aiti-7109	53	8	using	use	VERB
aiti-7109	53	9	canny	canny	ADJ
aiti-7109	53	10	edge	edge	NOUN
aiti-7109	53	11	detection	detection	NOUN
aiti-7109	53	12	to	to	PART
aiti-7109	53	13	select	select	VERB
aiti-7109	53	14	the	the	DET
aiti-7109	53	15	sobel	sobel	NOUN
aiti-7109	53	16	[	[	X
aiti-7109	53	17	15	15	NUM
aiti-7109	53	18	]	]	X
aiti-7109	53	19	operator	operator	NOUN
aiti-7109	53	20	as	as	ADP
aiti-7109	53	21	a	a	DET
aiti-7109	53	22	kernel	kernel	NOUN
aiti-7109	53	23	for	for	ADP
aiti-7109	53	24	calculating	calculate	VERB
aiti-7109	53	25	the	the	DET
aiti-7109	53	26	intensity	intensity	NOUN
aiti-7109	53	27	gradient	gradient	NOUN
aiti-7109	53	28	of	of	ADP
aiti-7109	53	29	images	image	NOUN
aiti-7109	53	30	,	,	PUNCT
aiti-7109	53	31	given	give	VERB
aiti-7109	53	32	by	by	ADP
aiti-7109	53	33	the	the	DET
aiti-7109	53	34	following	follow	VERB
aiti-7109	53	35	equation	equation	NOUN
aiti-7109	53	36	:	:	PUNCT
aiti-7109	53	37	138	138	NUM
aiti-7109	53	38	advances	advance	NOUN
aiti-7109	53	39	in	in	ADP
aiti-7109	53	40	technology	technology	NOUN
aiti-7109	53	41	innovation	innovation	NOUN
aiti-7109	53	42	,	,	PUNCT
aiti-7109	53	43	vol	vol	NOUN
aiti-7109	53	44	.	.	PROPN
aiti-7109	53	45	6	6	NUM
aiti-7109	53	46	,	,	PUNCT
aiti-7109	53	47	no	no	INTJ
aiti-7109	53	48	.	.	NOUN
aiti-7109	53	49	3	3	NUM
aiti-7109	53	50	,	,	PUNCT
aiti-7109	53	51	2021	2021	NUM
aiti-7109	53	52	,	,	PUNCT
aiti-7109	53	53	pp	pp	ADJ
aiti-7109	53	54	.	.	PUNCT
aiti-7109	54	1	137	137	NUM
aiti-7109	54	2	-	-	SYM
aiti-7109	54	3	145	145	NUM
aiti-7109	54	4	2	2	NUM
aiti-7109	54	5	2	2	NUM
aiti-7109	54	6	-1	-1	SYM
aiti-7109	54	7	1	1	NUM
aiti-7109	54	8	0	0	NUM
aiti-7109	54	9	1	1	NUM
aiti-7109	54	10	1	1	NUM
aiti-7109	54	11	2	2	NUM
aiti-7109	54	12	1	1	NUM
aiti-7109	54	13	2	2	NUM
aiti-7109	54	14	0	0	NUM
aiti-7109	54	15	2	2	NUM
aiti-7109	54	16	,	,	PUNCT
aiti-7109	54	17	0	0	NUM
aiti-7109	54	18	0	0	NUM
aiti-7109	54	19	0	0	NUM
aiti-7109	54	20	,	,	PUNCT
aiti-7109	54	21	=	=	PRON
aiti-7109	54	22	,	,	PUNCT
aiti-7109	54	23	=	=	PRON
aiti-7109	54	24	tan	tan	NOUN
aiti-7109	54	25	(	(	PUNCT
aiti-7109	54	26	)	)	PUNCT
aiti-7109	54	27	1	1	NUM
aiti-7109	54	28	0	0	NUM
aiti-7109	54	29	1	1	NUM
aiti-7109	54	30	1	1	NUM
aiti-7109	54	31	2	2	NUM
aiti-7109	54	32	1	1	NUM
aiti-7109	54	33	x	x	SYM
aiti-7109	54	34	x	x	PUNCT
aiti-7109	54	35	y	y	NOUN
aiti-7109	54	36	x	x	X
aiti-7109	54	37	y	y	NOUN
aiti-7109	54	38	y	y	NOUN
aiti-7109	54	39	g	g	PROPN
aiti-7109	54	40	g	g	PROPN
aiti-7109	54	41	g	g	PROPN
aiti-7109	54	42	g	g	PROPN
aiti-7109	54	43	g	g	PROPN
aiti-7109	54	44	g	g	PROPN
aiti-7109	54	45	g	g	PROPN
aiti-7109	54	46	−	−	NOUN
aiti-7109	54	47			PROPN
aiti-7109	54	48			VERB
aiti-7109	54	49			PRON
aiti-7109	54	50			ADJ
aiti-7109	54	51			PROPN
aiti-7109	54	52			NOUN
aiti-7109	54	53	=	=	NOUN
aiti-7109	55	1	−	−	PROPN
aiti-7109	56	1	=	=	PUNCT
aiti-7109	57	1	+	+	ADJ
aiti-7109	57	2			ADJ
aiti-7109	57	3			PROPN
aiti-7109	57	4			NOUN
aiti-7109	57	5			PROPN
aiti-7109	57	6			NOUN
aiti-7109	57	7			PROPN
aiti-7109	57	8			ADJ
aiti-7109	57	9	−	−	ADJ
aiti-7109	57	10	−	−	PROPN
aiti-7109	57	11	−	−	PROPN
aiti-7109	57	12	−	−	PROPN
aiti-7109	57	13			PROPN
aiti-7109	57	14			NOUN
aiti-7109	57	15			PROPN
aiti-7109	57	16	θ	θ	NOUN
aiti-7109	57	17	(	(	PUNCT
aiti-7109	57	18	4	4	NUM
aiti-7109	57	19	)	)	PUNCT
aiti-7109	57	20	non	non	ADJ
aiti-7109	57	21	-	-	ADJ
aiti-7109	57	22	maximum	maximum	ADJ
aiti-7109	57	23	suppression	suppression	NOUN
aiti-7109	57	24	is	be	AUX
aiti-7109	57	25	divided	divide	VERB
aiti-7109	57	26	into	into	ADP
aiti-7109	57	27	three	three	NUM
aiti-7109	57	28	angles	angle	NOUN
aiti-7109	57	29	,	,	PUNCT
aiti-7109	57	30	�	�	PROPN
aiti-7109	57	31	=	=	SYM
aiti-7109	57	32	0	0	NUM
aiti-7109	57	33	°	°	NUM
aiti-7109	57	34	,	,	PUNCT
aiti-7109	57	35	45	45	NUM
aiti-7109	57	36	°	°	NOUN
aiti-7109	57	37	,	,	PUNCT
aiti-7109	57	38	and	and	CCONJ
aiti-7109	57	39	135	135	NUM
aiti-7109	57	40	°	°	NUM
aiti-7109	57	41	.	.	PUNCT
aiti-7109	58	1	the	the	DET
aiti-7109	58	2	algorithm	algorithm	NOUN
aiti-7109	58	3	is	be	AUX
aiti-7109	58	4	employed	employ	VERB
aiti-7109	58	5	to	to	PART
aiti-7109	58	6	determine	determine	VERB
aiti-7109	58	7	a	a	DET
aiti-7109	58	8	point	point	NOUN
aiti-7109	58	9	with	with	ADP
aiti-7109	58	10	the	the	DET
aiti-7109	58	11	highest	high	ADJ
aiti-7109	58	12	gradient	gradient	ADJ
aiti-7109	58	13	change	change	NOUN
aiti-7109	58	14	in	in	ADP
aiti-7109	58	15	each	each	DET
aiti-7109	58	16	angle	angle	NOUN
aiti-7109	58	17	and	and	CCONJ
aiti-7109	58	18	remaining	remain	VERB
aiti-7109	58	19	the	the	DET
aiti-7109	58	20	points	point	NOUN
aiti-7109	58	21	in	in	ADP
aiti-7109	58	22	the	the	DET
aiti-7109	58	23	same	same	ADJ
aiti-7109	58	24	direction	direction	NOUN
aiti-7109	58	25	.	.	PUNCT
aiti-7109	59	1	figs	fig	NOUN
aiti-7109	59	2	.	.	PUNCT
aiti-7109	60	1	2	2	NUM
aiti-7109	60	2	and	and	CCONJ
aiti-7109	60	3	3	3	NUM
aiti-7109	60	4	present	present	VERB
aiti-7109	60	5	the	the	DET
aiti-7109	60	6	example	example	NOUN
aiti-7109	60	7	of	of	ADP
aiti-7109	60	8	nonmaximum	nonmaximum	ADJ
aiti-7109	60	9	suppression	suppression	NOUN
aiti-7109	60	10	.	.	PUNCT
aiti-7109	61	1	fig	fig	NOUN
aiti-7109	61	2	.	.	PUNCT
aiti-7109	62	1	2	2	NUM
aiti-7109	62	2	nonmaximum	nonmaximum	ADJ
aiti-7109	62	3	suppression	suppression	NOUN
aiti-7109	62	4	fig	fig	NOUN
aiti-7109	62	5	.	.	PUNCT
aiti-7109	63	1	3	3	NUM
aiti-7109	63	2	matrix	matrix	NOUN
aiti-7109	63	3	with	with	ADP
aiti-7109	63	4	nonmaximum	nonmaximum	ADJ
aiti-7109	63	5	suppression	suppression	NOUN
aiti-7109	63	6	to	to	PART
aiti-7109	63	7	suppress	suppress	VERB
aiti-7109	63	8	the	the	DET
aiti-7109	63	9	noise	noise	NOUN
aiti-7109	63	10	and	and	CCONJ
aiti-7109	63	11	color	color	NOUN
aiti-7109	63	12	changes	change	NOUN
aiti-7109	63	13	of	of	ADP
aiti-7109	63	14	images	image	NOUN
aiti-7109	63	15	,	,	PUNCT
aiti-7109	63	16	most	most	ADJ
aiti-7109	63	17	algorithms	algorithm	NOUN
aiti-7109	63	18	use	use	VERB
aiti-7109	63	19	double	double	ADJ
aiti-7109	63	20	thresholds	threshold	NOUN
aiti-7109	63	21	for	for	ADP
aiti-7109	63	22	filtering	filtering	NOUN
aiti-7109	63	23	,	,	PUNCT
aiti-7109	63	24	which	which	PRON
aiti-7109	63	25	can	can	AUX
aiti-7109	63	26	be	be	AUX
aiti-7109	63	27	achieved	achieve	VERB
aiti-7109	63	28	with	with	ADP
aiti-7109	63	29	high	high	ADJ
aiti-7109	63	30	and	and	CCONJ
aiti-7109	63	31	low	low	ADJ
aiti-7109	63	32	thresholds	threshold	NOUN
aiti-7109	63	33	.	.	PUNCT
aiti-7109	64	1	the	the	DET
aiti-7109	64	2	nonmaximum	nonmaximum	ADJ
aiti-7109	64	3	suppression	suppression	NOUN
aiti-7109	64	4	algorithm	algorithm	NOUN
aiti-7109	64	5	is	be	AUX
aiti-7109	64	6	as	as	SCONJ
aiti-7109	64	7	follows	follow	VERB
aiti-7109	64	8	:	:	PUNCT
aiti-7109	64	9	first	first	ADV
aiti-7109	64	10	,	,	PUNCT
aiti-7109	64	11	let	let	VERB
aiti-7109	64	12	x	x	PRON
aiti-7109	64	13	be	be	AUX
aiti-7109	64	14	the	the	DET
aiti-7109	64	15	gradient	gradient	ADJ
aiti-7109	64	16	intensity	intensity	NOUN
aiti-7109	64	17	value	value	NOUN
aiti-7109	64	18	of	of	ADP
aiti-7109	64	19	an	an	DET
aiti-7109	64	20	edge	edge	NOUN
aiti-7109	64	21	pixel	pixel	NOUN
aiti-7109	64	22	.	.	PUNCT
aiti-7109	65	1	(	(	PUNCT
aiti-7109	65	2	a	a	X
aiti-7109	65	3	)	)	PUNCT
aiti-7109	65	4	when	when	SCONJ
aiti-7109	65	5	x	x	PRON
aiti-7109	65	6	is	be	AUX
aiti-7109	65	7	higher	high	ADJ
aiti-7109	65	8	than	than	ADP
aiti-7109	65	9	the	the	DET
aiti-7109	65	10	high	high	ADJ
aiti-7109	65	11	threshold	threshold	NOUN
aiti-7109	65	12	value	value	NOUN
aiti-7109	65	13	,	,	PUNCT
aiti-7109	65	14	x	x	PRON
aiti-7109	65	15	is	be	AUX
aiti-7109	65	16	marked	mark	VERB
aiti-7109	65	17	as	as	ADP
aiti-7109	65	18	a	a	DET
aiti-7109	65	19	strong	strong	ADJ
aiti-7109	65	20	edge	edge	NOUN
aiti-7109	65	21	pixel	pixel	NOUN
aiti-7109	65	22	.	.	PUNCT
aiti-7109	66	1	(	(	PUNCT
aiti-7109	66	2	b	b	X
aiti-7109	66	3	)	)	PUNCT
aiti-7109	66	4	when	when	SCONJ
aiti-7109	66	5	x	x	PRON
aiti-7109	66	6	is	be	AUX
aiti-7109	66	7	less	less	ADJ
aiti-7109	66	8	than	than	ADP
aiti-7109	66	9	the	the	DET
aiti-7109	66	10	high	high	ADJ
aiti-7109	66	11	threshold	threshold	NOUN
aiti-7109	66	12	and	and	CCONJ
aiti-7109	66	13	greater	great	ADJ
aiti-7109	66	14	than	than	ADP
aiti-7109	66	15	the	the	DET
aiti-7109	66	16	low	low	ADJ
aiti-7109	66	17	threshold	threshold	NOUN
aiti-7109	66	18	,	,	PUNCT
aiti-7109	66	19	x	x	PRON
aiti-7109	66	20	is	be	AUX
aiti-7109	66	21	marked	mark	VERB
aiti-7109	66	22	as	as	ADP
aiti-7109	66	23	a	a	DET
aiti-7109	66	24	weak	weak	ADJ
aiti-7109	66	25	edge	edge	NOUN
aiti-7109	66	26	pixel	pixel	NOUN
aiti-7109	66	27	.	.	PUNCT
aiti-7109	67	1	(	(	PUNCT
aiti-7109	67	2	c	c	X
aiti-7109	67	3	)	)	PUNCT
aiti-7109	67	4	when	when	SCONJ
aiti-7109	67	5	x	x	PRON
aiti-7109	67	6	is	be	AUX
aiti-7109	67	7	lower	low	ADJ
aiti-7109	67	8	than	than	ADP
aiti-7109	67	9	the	the	DET
aiti-7109	67	10	low	low	ADJ
aiti-7109	67	11	threshold	threshold	NOUN
aiti-7109	67	12	value	value	NOUN
aiti-7109	67	13	,	,	PUNCT
aiti-7109	67	14	x	x	PRON
aiti-7109	67	15	is	be	AUX
aiti-7109	67	16	suppressed	suppress	VERB
aiti-7109	67	17	.	.	PUNCT
aiti-7109	68	1	the	the	DET
aiti-7109	68	2	last	last	ADJ
aiti-7109	68	3	step	step	NOUN
aiti-7109	68	4	of	of	ADP
aiti-7109	68	5	canny	canny	ADJ
aiti-7109	68	6	edge	edge	NOUN
aiti-7109	68	7	detection	detection	NOUN
aiti-7109	68	8	is	be	AUX
aiti-7109	68	9	edge	edge	NOUN
aiti-7109	68	10	tracking	tracking	NOUN
aiti-7109	68	11	using	use	VERB
aiti-7109	68	12	hysteresis	hysteresis	NOUN
aiti-7109	68	13	.	.	PUNCT
aiti-7109	69	1	however	however	ADV
aiti-7109	69	2	,	,	PUNCT
aiti-7109	69	3	weak	weak	ADJ
aiti-7109	69	4	edge	edge	NOUN
aiti-7109	69	5	pixels	pixel	NOUN
aiti-7109	69	6	are	be	AUX
aiti-7109	69	7	controversial	controversial	ADJ
aiti-7109	69	8	because	because	SCONJ
aiti-7109	69	9	they	they	PRON
aiti-7109	69	10	can	can	AUX
aiti-7109	69	11	be	be	AUX
aiti-7109	69	12	extracted	extract	VERB
aiti-7109	69	13	from	from	ADP
aiti-7109	69	14	real	real	ADJ
aiti-7109	69	15	edges	edge	NOUN
aiti-7109	69	16	and	and	CCONJ
aiti-7109	69	17	noise	noise	NOUN
aiti-7109	69	18	/	/	SYM
aiti-7109	69	19	color	color	NOUN
aiti-7109	69	20	changes	change	NOUN
aiti-7109	69	21	.	.	PUNCT
aiti-7109	70	1	to	to	PART
aiti-7109	70	2	determine	determine	VERB
aiti-7109	70	3	whether	whether	SCONJ
aiti-7109	70	4	weak	weak	ADJ
aiti-7109	70	5	edge	edge	NOUN
aiti-7109	70	6	pixels	pixel	NOUN
aiti-7109	70	7	should	should	AUX
aiti-7109	70	8	be	be	AUX
aiti-7109	70	9	judged	judge	VERB
aiti-7109	70	10	in	in	ADP
aiti-7109	70	11	the	the	DET
aiti-7109	70	12	real	real	ADJ
aiti-7109	70	13	edge	edge	NOUN
aiti-7109	70	14	,	,	PUNCT
aiti-7109	70	15	we	we	PRON
aiti-7109	70	16	use	use	VERB
aiti-7109	70	17	eight	eight	NUM
aiti-7109	70	18	adjacent	adjacent	ADJ
aiti-7109	70	19	pixels	pixel	NOUN
aiti-7109	70	20	around	around	ADP
aiti-7109	70	21	the	the	DET
aiti-7109	70	22	weak	weak	ADJ
aiti-7109	70	23	edge	edge	NOUN
aiti-7109	70	24	.	.	PUNCT
aiti-7109	71	1	according	accord	VERB
aiti-7109	71	2	to	to	ADP
aiti-7109	71	3	the	the	DET
aiti-7109	71	4	judgment	judgment	NOUN
aiti-7109	71	5	method	method	NOUN
aiti-7109	71	6	,	,	PUNCT
aiti-7109	71	7	if	if	SCONJ
aiti-7109	71	8	the	the	DET
aiti-7109	71	9	gradient	gradient	ADJ
aiti-7109	71	10	intensity	intensity	NOUN
aiti-7109	71	11	value	value	NOUN
aiti-7109	71	12	of	of	ADP
aiti-7109	71	13	an	an	DET
aiti-7109	71	14	adjacent	adjacent	ADJ
aiti-7109	71	15	pixel	pixel	NOUN
aiti-7109	71	16	is	be	AUX
aiti-7109	71	17	higher	high	ADJ
aiti-7109	71	18	than	than	ADP
aiti-7109	71	19	that	that	PRON
aiti-7109	71	20	of	of	ADP
aiti-7109	71	21	the	the	DET
aiti-7109	71	22	strong	strong	ADJ
aiti-7109	71	23	edge	edge	NOUN
aiti-7109	71	24	pixel	pixel	NOUN
aiti-7109	71	25	,	,	PUNCT
aiti-7109	71	26	the	the	DET
aiti-7109	71	27	weak	weak	ADJ
aiti-7109	71	28	edge	edge	NOUN
aiti-7109	71	29	pixel	pixel	NOUN
aiti-7109	71	30	is	be	AUX
aiti-7109	71	31	considered	consider	VERB
aiti-7109	71	32	the	the	DET
aiti-7109	71	33	real	real	ADJ
aiti-7109	71	34	edge	edge	NOUN
aiti-7109	71	35	.	.	PUNCT
aiti-7109	72	1	otherwise	otherwise	ADV
aiti-7109	72	2	,	,	PUNCT
aiti-7109	72	3	it	it	PRON
aiti-7109	72	4	is	be	AUX
aiti-7109	72	5	suppressed	suppress	VERB
aiti-7109	72	6	.	.	PUNCT
aiti-7109	73	1	traditional	traditional	ADJ
aiti-7109	73	2	image	image	NOUN
aiti-7109	73	3	processing	processing	NOUN
aiti-7109	73	4	uses	use	VERB
aiti-7109	73	5	the	the	DET
aiti-7109	73	6	hough	hough	PROPN
aiti-7109	73	7	transform	transform	VERB
aiti-7109	73	8	to	to	PART
aiti-7109	73	9	detect	detect	VERB
aiti-7109	73	10	lines	line	NOUN
aiti-7109	73	11	.	.	PUNCT
aiti-7109	74	1	hough	hough	PROPN
aiti-7109	74	2	transform	transform	NOUN
aiti-7109	74	3	is	be	AUX
aiti-7109	74	4	an	an	DET
aiti-7109	74	5	algorithm	algorithm	NOUN
aiti-7109	74	6	used	use	VERB
aiti-7109	74	7	for	for	ADP
aiti-7109	74	8	finding	find	VERB
aiti-7109	74	9	straight	straight	ADJ
aiti-7109	74	10	lines	line	NOUN
aiti-7109	74	11	in	in	ADP
aiti-7109	74	12	images	image	NOUN
aiti-7109	74	13	.	.	PUNCT
aiti-7109	75	1	the	the	DET
aiti-7109	75	2	algorithm	algorithm	NOUN
aiti-7109	75	3	uses	use	VERB
aiti-7109	75	4	a	a	DET
aiti-7109	75	5	point	point	NOUN
aiti-7109	75	6	-	-	PUNCT
aiti-7109	75	7	slope	slope	NOUN
aiti-7109	75	8	formula	formula	NOUN
aiti-7109	75	9	to	to	PART
aiti-7109	75	10	convert	convert	VERB
aiti-7109	75	11	the	the	DET
aiti-7109	75	12	original	original	ADJ
aiti-7109	75	13	pixel	pixel	NOUN
aiti-7109	75	14	points	point	NOUN
aiti-7109	75	15	of	of	ADP
aiti-7109	75	16	a	a	DET
aiti-7109	75	17	cartesian	cartesian	ADJ
aiti-7109	75	18	coordinate	coordinate	NOUN
aiti-7109	75	19	system	system	NOUN
aiti-7109	75	20	into	into	ADP
aiti-7109	75	21	the	the	DET
aiti-7109	75	22	polar	polar	ADJ
aiti-7109	75	23	-	-	PUNCT
aiti-7109	75	24	coordinate	coordinate	NOUN
aiti-7109	75	25	system	system	NOUN
aiti-7109	75	26	and	and	CCONJ
aiti-7109	75	27	a	a	DET
aiti-7109	75	28	voting	voting	NOUN
aiti-7109	75	29	mechanism	mechanism	NOUN
aiti-7109	75	30	to	to	PART
aiti-7109	75	31	find	find	VERB
aiti-7109	75	32	the	the	DET
aiti-7109	75	33	required	require	VERB
aiti-7109	75	34	(	(	PUNCT
aiti-7109	75	35	γ	γ	X
aiti-7109	75	36	,	,	PUNCT
aiti-7109	75	37	�	�	PROPN
aiti-7109	75	38	)	)	PUNCT
aiti-7109	75	39	.	.	PUNCT
aiti-7109	76	1	fig	fig	NOUN
aiti-7109	76	2	.	.	PUNCT
aiti-7109	77	1	4	4	NUM
aiti-7109	77	2	hough	hough	PROPN
aiti-7109	77	3	transform	transform	VERB
aiti-7109	77	4	in	in	ADP
aiti-7109	77	5	fig	fig	NOUN
aiti-7109	77	6	.	.	PUNCT
aiti-7109	78	1	4	4	NUM
aiti-7109	78	2	,	,	PUNCT
aiti-7109	78	3	γ	γ	X
aiti-7109	78	4	is	be	AUX
aiti-7109	78	5	the	the	DET
aiti-7109	78	6	shortest	short	ADJ
aiti-7109	78	7	straight	straight	ADJ
aiti-7109	78	8	-	-	PUNCT
aiti-7109	78	9	line	line	NOUN
aiti-7109	78	10	distance	distance	NOUN
aiti-7109	78	11	between	between	ADP
aiti-7109	78	12	the	the	DET
aiti-7109	78	13	origin	origin	NOUN
aiti-7109	78	14	and	and	CCONJ
aiti-7109	78	15	line	line	NOUN
aiti-7109	78	16	,	,	PUNCT
aiti-7109	78	17	and	and	CCONJ
aiti-7109	78	18	�	�	PROPN
aiti-7109	78	19	is	be	AUX
aiti-7109	78	20	the	the	DET
aiti-7109	78	21	angle	angle	NOUN
aiti-7109	78	22	between	between	ADP
aiti-7109	78	23	the	the	DET
aiti-7109	78	24	shortest	short	ADJ
aiti-7109	78	25	line	line	NOUN
aiti-7109	78	26	and	and	CCONJ
aiti-7109	78	27	the	the	DET
aiti-7109	78	28	x	x	NOUN
aiti-7109	78	29	-	-	NOUN
aiti-7109	78	30	axis	axis	NOUN
aiti-7109	78	31	.	.	PUNCT
aiti-7109	79	1	the	the	DET
aiti-7109	79	2	hough	hough	PROPN
aiti-7109	79	3	transform	transform	NOUN
aiti-7109	79	4	is	be	AUX
aiti-7109	79	5	an	an	DET
aiti-7109	79	6	algorithm	algorithm	NOUN
aiti-7109	79	7	used	use	VERB
aiti-7109	79	8	to	to	PART
aiti-7109	79	9	determine	determine	VERB
aiti-7109	79	10	the	the	DET
aiti-7109	79	11	γ	γ	PROPN
aiti-7109	79	12	and	and	CCONJ
aiti-7109	79	13	�	�	PROPN
aiti-7109	79	14	coordinates	coordinate	NOUN
aiti-7109	79	15	,	,	PUNCT
aiti-7109	79	16	and	and	CCONJ
aiti-7109	79	17	after	after	ADP
aiti-7109	79	18	the	the	DET
aiti-7109	79	19	determination	determination	NOUN
aiti-7109	79	20	of	of	ADP
aiti-7109	79	21	these	these	DET
aiti-7109	79	22	two	two	NUM
aiti-7109	79	23	values	value	NOUN
aiti-7109	79	24	,	,	PUNCT
aiti-7109	79	25	it	it	PRON
aiti-7109	79	26	can	can	AUX
aiti-7109	79	27	be	be	AUX
aiti-7109	79	28	used	use	VERB
aiti-7109	79	29	to	to	PART
aiti-7109	79	30	create	create	VERB
aiti-7109	79	31	a	a	DET
aiti-7109	79	32	straight	straight	ADJ
aiti-7109	79	33	line	line	NOUN
aiti-7109	79	34	on	on	ADP
aiti-7109	79	35	the	the	DET
aiti-7109	79	36	image	image	NOUN
aiti-7109	79	37	.	.	PUNCT
aiti-7109	80	1	the	the	DET
aiti-7109	80	2	normal	normal	ADJ
aiti-7109	80	3	representation	representation	NOUN
aiti-7109	80	4	of	of	ADP
aiti-7109	80	5	a	a	DET
aiti-7109	80	6	line	line	NOUN
aiti-7109	80	7	given	give	VERB
aiti-7109	80	8	by	by	ADP
aiti-7109	80	9	the	the	DET
aiti-7109	80	10	following	follow	VERB
aiti-7109	80	11	equation	equation	NOUN
aiti-7109	80	12	is	be	AUX
aiti-7109	80	13	used	use	VERB
aiti-7109	80	14	in	in	ADP
aiti-7109	80	15	this	this	DET
aiti-7109	80	16	study	study	NOUN
aiti-7109	80	17	:	:	PUNCT
aiti-7109	80	18	139	139	NUM
aiti-7109	80	19	advances	advance	NOUN
aiti-7109	80	20	in	in	ADP
aiti-7109	80	21	technology	technology	NOUN
aiti-7109	80	22	innovation	innovation	NOUN
aiti-7109	80	23	,	,	PUNCT
aiti-7109	80	24	vol	vol	NOUN
aiti-7109	80	25	.	.	PROPN
aiti-7109	80	26	6	6	NUM
aiti-7109	80	27	,	,	PUNCT
aiti-7109	80	28	no	no	INTJ
aiti-7109	80	29	.	.	NOUN
aiti-7109	80	30	3	3	NUM
aiti-7109	80	31	,	,	PUNCT
aiti-7109	80	32	2021	2021	NUM
aiti-7109	80	33	,	,	PUNCT
aiti-7109	80	34	pp	pp	ADJ
aiti-7109	80	35	.	.	PUNCT
aiti-7109	81	1	137	137	NUM
aiti-7109	81	2	-	-	SYM
aiti-7109	81	3	145	145	NUM
aiti-7109	81	4	cos	cos	PROPN
aiti-7109	81	5	sinx	sinx	PROPN
aiti-7109	81	6	yγ	yγ	PROPN
aiti-7109	81	7	θ	θ	PROPN
aiti-7109	81	8	θ=	θ=	VERB
aiti-7109	81	9	+	+	CCONJ
aiti-7109	81	10	(	(	PUNCT
aiti-7109	81	11	5	5	NUM
aiti-7109	81	12	)	)	PUNCT
aiti-7109	81	13	where	where	SCONJ
aiti-7109	81	14	�	�	PROPN
aiti-7109	81	15	is	be	AUX
aiti-7109	81	16	the	the	DET
aiti-7109	81	17	angle	angle	NOUN
aiti-7109	81	18	between	between	ADP
aiti-7109	81	19	the	the	DET
aiti-7109	81	20	normal	normal	ADJ
aiti-7109	81	21	straight	straight	ADJ
aiti-7109	81	22	line	line	NOUN
aiti-7109	81	23	,	,	PUNCT
aiti-7109	81	24	and	and	CCONJ
aiti-7109	81	25	the	the	DET
aiti-7109	81	26	x	x	NOUN
aiti-7109	81	27	-	-	NOUN
aiti-7109	81	28	axis	axis	NOUN
aiti-7109	81	29	and	and	CCONJ
aiti-7109	81	30	γ	γ	NOUN
aiti-7109	81	31	is	be	AUX
aiti-7109	81	32	the	the	DET
aiti-7109	81	33	normal	normal	ADJ
aiti-7109	81	34	form	form	NOUN
aiti-7109	81	35	of	of	ADP
aiti-7109	81	36	the	the	DET
aiti-7109	81	37	length	length	NOUN
aiti-7109	81	38	.	.	PUNCT
aiti-7109	82	1	this	this	DET
aiti-7109	82	2	method	method	NOUN
aiti-7109	82	3	of	of	ADP
aiti-7109	82	4	computation	computation	NOUN
aiti-7109	82	5	can	can	AUX
aiti-7109	82	6	solve	solve	VERB
aiti-7109	82	7	an	an	DET
aiti-7109	82	8	infinite	infinite	ADJ
aiti-7109	82	9	number	number	NOUN
aiti-7109	82	10	of	of	ADP
aiti-7109	82	11	problems	problem	NOUN
aiti-7109	82	12	by	by	ADP
aiti-7109	82	13	using	use	VERB
aiti-7109	82	14	the	the	DET
aiti-7109	82	15	characteristics	characteristic	NOUN
aiti-7109	82	16	of	of	ADP
aiti-7109	82	17	a	a	DET
aiti-7109	82	18	triangle	triangle	NOUN
aiti-7109	82	19	function	function	NOUN
aiti-7109	82	20	despite	despite	SCONJ
aiti-7109	82	21	being	be	AUX
aiti-7109	82	22	limited	limit	VERB
aiti-7109	82	23	to	to	ADP
aiti-7109	82	24	a	a	DET
aiti-7109	82	25	certain	certain	ADJ
aiti-7109	82	26	range	range	NOUN
aiti-7109	82	27	of	of	ADP
aiti-7109	82	28	angles	angle	NOUN
aiti-7109	82	29	.	.	PUNCT
aiti-7109	83	1	3	3	X
aiti-7109	83	2	.	.	X
aiti-7109	83	3	system	system	NOUN
aiti-7109	83	4	structure	structure	NOUN
aiti-7109	83	5	this	this	DET
aiti-7109	83	6	study	study	NOUN
aiti-7109	83	7	employs	employ	VERB
aiti-7109	83	8	image	image	NOUN
aiti-7109	83	9	processing	processing	NOUN
aiti-7109	83	10	technology	technology	NOUN
aiti-7109	83	11	to	to	PART
aiti-7109	83	12	realize	realize	VERB
aiti-7109	83	13	a	a	DET
aiti-7109	83	14	lane	lane	NOUN
aiti-7109	83	15	deviation	deviation	NOUN
aiti-7109	83	16	warning	warning	NOUN
aiti-7109	83	17	system	system	NOUN
aiti-7109	83	18	.	.	PUNCT
aiti-7109	84	1	continuous	continuous	ADJ
aiti-7109	84	2	images	image	NOUN
aiti-7109	84	3	captured	capture	VERB
aiti-7109	84	4	by	by	ADP
aiti-7109	84	5	the	the	DET
aiti-7109	84	6	embedded	embed	VERB
aiti-7109	84	7	camera	camera	NOUN
aiti-7109	84	8	are	be	AUX
aiti-7109	84	9	used	use	VERB
aiti-7109	84	10	as	as	ADP
aiti-7109	84	11	input	input	NOUN
aiti-7109	84	12	.	.	PUNCT
aiti-7109	85	1	after	after	ADP
aiti-7109	85	2	image	image	NOUN
aiti-7109	85	3	processing	processing	NOUN
aiti-7109	85	4	,	,	PUNCT
aiti-7109	85	5	it	it	PRON
aiti-7109	85	6	is	be	AUX
aiti-7109	85	7	possible	possible	ADJ
aiti-7109	85	8	to	to	PART
aiti-7109	85	9	judge	judge	VERB
aiti-7109	85	10	whether	whether	SCONJ
aiti-7109	85	11	the	the	DET
aiti-7109	85	12	lane	lane	NOUN
aiti-7109	85	13	is	be	AUX
aiti-7109	85	14	offset	offset	VERB
aiti-7109	85	15	by	by	ADP
aiti-7109	85	16	the	the	DET
aiti-7109	85	17	change	change	NOUN
aiti-7109	85	18	of	of	ADP
aiti-7109	85	19	lane	lane	NOUN
aiti-7109	85	20	line	line	NOUN
aiti-7109	85	21	angle	angle	NOUN
aiti-7109	85	22	.	.	PUNCT
aiti-7109	86	1	in	in	ADP
aiti-7109	86	2	the	the	DET
aiti-7109	86	3	case	case	NOUN
aiti-7109	86	4	of	of	ADP
aiti-7109	86	5	deviation	deviation	NOUN
aiti-7109	86	6	,	,	PUNCT
aiti-7109	86	7	the	the	DET
aiti-7109	86	8	system	system	NOUN
aiti-7109	86	9	warns	warn	VERB
aiti-7109	86	10	drivers	driver	NOUN
aiti-7109	86	11	.	.	PUNCT
aiti-7109	87	1	fig	fig	NOUN
aiti-7109	87	2	.	.	PUNCT
aiti-7109	88	1	5	5	NUM
aiti-7109	88	2	illustrates	illustrate	VERB
aiti-7109	88	3	the	the	DET
aiti-7109	88	4	system	system	NOUN
aiti-7109	88	5	architecture	architecture	NOUN
aiti-7109	88	6	obtained	obtain	VERB
aiti-7109	88	7	by	by	ADP
aiti-7109	88	8	using	use	VERB
aiti-7109	88	9	icam	icam	PROPN
aiti-7109	88	10	definition	definition	NOUN
aiti-7109	88	11	method	method	NOUN
aiti-7109	88	12	0	0	NUM
aiti-7109	88	13	(	(	PUNCT
aiti-7109	88	14	idef0	idef0	PROPN
aiti-7109	88	15	)	)	PUNCT
aiti-7109	89	1	[	[	X
aiti-7109	89	2	16	16	NUM
aiti-7109	89	3	]	]	PUNCT
aiti-7109	89	4	.	.	PUNCT
aiti-7109	90	1	idef0	idef0	PROPN
aiti-7109	90	2	is	be	AUX
aiti-7109	90	3	a	a	DET
aiti-7109	90	4	part	part	NOUN
aiti-7109	90	5	of	of	ADP
aiti-7109	90	6	the	the	DET
aiti-7109	90	7	idef	idef	NOUN
aiti-7109	90	8	family	family	NOUN
aiti-7109	90	9	of	of	ADP
aiti-7109	90	10	modeling	model	VERB
aiti-7109	90	11	languages	language	NOUN
aiti-7109	90	12	used	use	VERB
aiti-7109	90	13	in	in	ADP
aiti-7109	90	14	software	software	NOUN
aiti-7109	90	15	engineering	engineering	NOUN
aiti-7109	90	16	,	,	PUNCT
aiti-7109	90	17	and	and	CCONJ
aiti-7109	90	18	is	be	AUX
aiti-7109	90	19	built	build	VERB
aiti-7109	90	20	on	on	ADP
aiti-7109	90	21	the	the	DET
aiti-7109	90	22	functional	functional	ADJ
aiti-7109	90	23	modeling	modeling	NOUN
aiti-7109	90	24	language	language	NOUN
aiti-7109	90	25	of	of	ADP
aiti-7109	90	26	structured	structured	ADJ
aiti-7109	90	27	analysis	analysis	NOUN
aiti-7109	90	28	and	and	CCONJ
aiti-7109	90	29	design	design	NOUN
aiti-7109	90	30	technique	technique	NOUN
aiti-7109	90	31	(	(	PUNCT
aiti-7109	90	32	sadt	sadt	NOUN
aiti-7109	90	33	)	)	PUNCT
aiti-7109	90	34	.	.	PUNCT
aiti-7109	91	1	this	this	DET
aiti-7109	91	2	study	study	NOUN
aiti-7109	91	3	is	be	AUX
aiti-7109	91	4	divided	divide	VERB
aiti-7109	91	5	into	into	ADP
aiti-7109	91	6	three	three	NUM
aiti-7109	91	7	parts	part	NOUN
aiti-7109	91	8	,	,	PUNCT
aiti-7109	91	9	namely	namely	ADV
aiti-7109	91	10	image	image	NOUN
aiti-7109	91	11	processing	processing	NOUN
aiti-7109	91	12	(	(	PUNCT
aiti-7109	91	13	fig	fig	NOUN
aiti-7109	91	14	.	.	PUNCT
aiti-7109	92	1	6	6	NUM
aiti-7109	92	2	)	)	PUNCT
aiti-7109	92	3	,	,	PUNCT
aiti-7109	92	4	deviation	deviation	NOUN
aiti-7109	92	5	judgment	judgment	NOUN
aiti-7109	92	6	(	(	PUNCT
aiti-7109	92	7	fig	fig	NOUN
aiti-7109	92	8	.	.	PUNCT
aiti-7109	92	9	7	7	NUM
aiti-7109	92	10	)	)	PUNCT
aiti-7109	92	11	,	,	PUNCT
aiti-7109	92	12	and	and	CCONJ
aiti-7109	92	13	notification	notification	NOUN
aiti-7109	92	14	to	to	ADP
aiti-7109	92	15	drivers	driver	NOUN
aiti-7109	92	16	.	.	PUNCT
aiti-7109	93	1	fig	fig	NOUN
aiti-7109	93	2	.	.	PUNCT
aiti-7109	94	1	5	5	NUM
aiti-7109	94	2	system	system	NOUN
aiti-7109	94	3	structure	structure	NOUN
aiti-7109	94	4	fig	fig	NOUN
aiti-7109	94	5	.	.	PUNCT
aiti-7109	95	1	6	6	NUM
aiti-7109	95	2	image	image	NOUN
aiti-7109	95	3	processing	process	VERB
aiti-7109	95	4	fig	fig	NOUN
aiti-7109	95	5	.	.	PUNCT
aiti-7109	96	1	7	7	NUM
aiti-7109	96	2	offset	offset	NOUN
aiti-7109	96	3	judgment	judgment	NOUN
aiti-7109	96	4	140	140	NUM
aiti-7109	96	5	advances	advance	NOUN
aiti-7109	96	6	in	in	ADP
aiti-7109	96	7	technology	technology	NOUN
aiti-7109	96	8	innovation	innovation	NOUN
aiti-7109	96	9	,	,	PUNCT
aiti-7109	96	10	vol	vol	NOUN
aiti-7109	96	11	.	.	PROPN
aiti-7109	97	1	6	6	NUM
aiti-7109	97	2	,	,	PUNCT
aiti-7109	97	3	no	no	INTJ
aiti-7109	97	4	.	.	NOUN
aiti-7109	97	5	3	3	NUM
aiti-7109	97	6	,	,	PUNCT
aiti-7109	97	7	2021	2021	NUM
aiti-7109	97	8	,	,	PUNCT
aiti-7109	98	1	pp	pp	ADJ
aiti-7109	98	2	.	.	PUNCT
aiti-7109	99	1	137	137	NUM
aiti-7109	99	2	-	-	SYM
aiti-7109	99	3	145	145	NUM
aiti-7109	99	4	3.1	3.1	NUM
aiti-7109	99	5	.	.	PUNCT
aiti-7109	100	1	part	part	NOUN
aiti-7109	100	2	1	1	NUM
aiti-7109	100	3	:	:	PUNCT
aiti-7109	100	4	image	image	NOUN
aiti-7109	100	5	processing	processing	NOUN
aiti-7109	100	6	(	(	PUNCT
aiti-7109	100	7	1	1	NUM
aiti-7109	100	8	)	)	PUNCT
aiti-7109	100	9	grayscale	grayscale	NOUN
aiti-7109	100	10	:	:	PUNCT
aiti-7109	100	11	the	the	DET
aiti-7109	100	12	rgb	rgb	PROPN
aiti-7109	100	13	color	color	NOUN
aiti-7109	100	14	space	space	NOUN
aiti-7109	100	15	of	of	ADP
aiti-7109	100	16	the	the	DET
aiti-7109	100	17	lane	lane	NOUN
aiti-7109	100	18	image	image	NOUN
aiti-7109	100	19	captured	capture	VERB
aiti-7109	100	20	by	by	ADP
aiti-7109	100	21	the	the	DET
aiti-7109	100	22	camera	camera	NOUN
aiti-7109	100	23	is	be	AUX
aiti-7109	100	24	converted	convert	VERB
aiti-7109	100	25	to	to	ADP
aiti-7109	100	26	a	a	DET
aiti-7109	100	27	ycbcr	ycbcr	NOUN
aiti-7109	100	28	color	color	NOUN
aiti-7109	100	29	space	space	NOUN
aiti-7109	100	30	by	by	ADP
aiti-7109	100	31	using	use	VERB
aiti-7109	100	32	eq	eq	ADP
aiti-7109	100	33	.	.	PUNCT
aiti-7109	101	1	(	(	PUNCT
aiti-7109	101	2	1	1	NUM
aiti-7109	101	3	)	)	PUNCT
aiti-7109	101	4	.	.	PUNCT
aiti-7109	102	1	(	(	PUNCT
aiti-7109	102	2	2	2	X
aiti-7109	102	3	)	)	PUNCT
aiti-7109	102	4	otsu	otsu	NOUN
aiti-7109	102	5	thresholding	thresholde	VERB
aiti-7109	102	6	[	[	X
aiti-7109	102	7	17	17	NUM
aiti-7109	102	8	]	]	X
aiti-7109	102	9	:	:	PUNCT
aiti-7109	102	10	otsu	otsu	PROPN
aiti-7109	102	11	is	be	AUX
aiti-7109	102	12	used	use	VERB
aiti-7109	102	13	to	to	PART
aiti-7109	102	14	perform	perform	VERB
aiti-7109	102	15	automatic	automatic	ADJ
aiti-7109	102	16	image	image	NOUN
aiti-7109	102	17	thresholding	thresholde	VERB
aiti-7109	102	18	.	.	PUNCT
aiti-7109	103	1	the	the	DET
aiti-7109	103	2	purpose	purpose	NOUN
aiti-7109	103	3	of	of	ADP
aiti-7109	103	4	this	this	DET
aiti-7109	103	5	algorithm	algorithm	NOUN
aiti-7109	103	6	is	be	AUX
aiti-7109	103	7	to	to	PART
aiti-7109	103	8	return	return	VERB
aiti-7109	103	9	a	a	DET
aiti-7109	103	10	threshold	threshold	NOUN
aiti-7109	103	11	that	that	PRON
aiti-7109	103	12	separates	separate	VERB
aiti-7109	103	13	pixels	pixel	NOUN
aiti-7109	103	14	into	into	ADP
aiti-7109	103	15	two	two	NUM
aiti-7109	103	16	classes	class	NOUN
aiti-7109	103	17	,	,	PUNCT
aiti-7109	103	18	the	the	DET
aiti-7109	103	19	foreground	foreground	NOUN
aiti-7109	103	20	and	and	CCONJ
aiti-7109	103	21	the	the	DET
aiti-7109	103	22	background	background	NOUN
aiti-7109	103	23	.	.	PUNCT
aiti-7109	104	1	this	this	DET
aiti-7109	104	2	threshold	threshold	NOUN
aiti-7109	104	3	is	be	AUX
aiti-7109	104	4	determined	determine	VERB
aiti-7109	104	5	by	by	ADP
aiti-7109	104	6	minimizing	minimize	VERB
aiti-7109	104	7	intraclass	intraclass	NOUN
aiti-7109	104	8	intensity	intensity	NOUN
aiti-7109	104	9	variance	variance	NOUN
aiti-7109	104	10	or	or	CCONJ
aiti-7109	104	11	by	by	ADP
aiti-7109	104	12	maximizing	maximize	VERB
aiti-7109	104	13	interclass	interclass	NOUN
aiti-7109	104	14	variance	variance	NOUN
aiti-7109	104	15	.	.	PUNCT
aiti-7109	105	1	in	in	ADP
aiti-7109	105	2	this	this	DET
aiti-7109	105	3	study	study	NOUN
aiti-7109	105	4	’s	’s	PART
aiti-7109	105	5	proposed	propose	VERB
aiti-7109	105	6	system	system	NOUN
aiti-7109	105	7	,	,	PUNCT
aiti-7109	105	8	otsu	otsu	NOUN
aiti-7109	105	9	thresholding	thresholding	NOUN
aiti-7109	105	10	is	be	AUX
aiti-7109	105	11	used	use	VERB
aiti-7109	105	12	to	to	PART
aiti-7109	105	13	separate	separate	VERB
aiti-7109	105	14	the	the	DET
aiti-7109	105	15	lane	lane	NOUN
aiti-7109	105	16	line	line	NOUN
aiti-7109	105	17	from	from	ADP
aiti-7109	105	18	the	the	DET
aiti-7109	105	19	background	background	NOUN
aiti-7109	105	20	.	.	PUNCT
aiti-7109	106	1	(	(	PUNCT
aiti-7109	106	2	3	3	X
aiti-7109	106	3	)	)	PUNCT
aiti-7109	106	4	erode	erode	NOUN
aiti-7109	107	1	[	[	X
aiti-7109	107	2	18	18	NUM
aiti-7109	107	3	]	]	PUNCT
aiti-7109	107	4	:	:	PUNCT
aiti-7109	107	5	by	by	ADP
aiti-7109	107	6	using	use	VERB
aiti-7109	107	7	an	an	DET
aiti-7109	107	8	erosion	erosion	NOUN
aiti-7109	107	9	morphology	morphology	NOUN
aiti-7109	107	10	algorithm	algorithm	NOUN
aiti-7109	107	11	,	,	PUNCT
aiti-7109	107	12	the	the	DET
aiti-7109	107	13	majority	majority	NOUN
aiti-7109	107	14	of	of	ADP
aiti-7109	107	15	the	the	DET
aiti-7109	107	16	noise	noise	NOUN
aiti-7109	107	17	in	in	ADP
aiti-7109	107	18	binary	binary	ADJ
aiti-7109	107	19	black	black	NOUN
aiti-7109	107	20	-	-	PUNCT
aiti-7109	107	21	and	and	CCONJ
aiti-7109	107	22	-	-	PUNCT
aiti-7109	107	23	white	white	ADJ
aiti-7109	107	24	lane	lane	PROPN
aiti-7109	107	25	maps	map	NOUN
aiti-7109	107	26	can	can	AUX
aiti-7109	107	27	be	be	AUX
aiti-7109	107	28	filtered	filter	VERB
aiti-7109	107	29	out	out	ADP
aiti-7109	107	30	,	,	PUNCT
aiti-7109	107	31	and	and	CCONJ
aiti-7109	107	32	the	the	DET
aiti-7109	107	33	main	main	ADJ
aiti-7109	107	34	lane	lane	NOUN
aiti-7109	107	35	lines	line	NOUN
aiti-7109	107	36	can	can	AUX
aiti-7109	107	37	be	be	AUX
aiti-7109	107	38	retained	retain	VERB
aiti-7109	107	39	.	.	PUNCT
aiti-7109	108	1	in	in	ADP
aiti-7109	108	2	this	this	DET
aiti-7109	108	3	part	part	NOUN
aiti-7109	108	4	,	,	PUNCT
aiti-7109	108	5	we	we	PRON
aiti-7109	108	6	use	use	VERB
aiti-7109	108	7	a	a	DET
aiti-7109	108	8	5×5	5×5	NUM
aiti-7109	108	9	rectangle	rectangle	NOUN
aiti-7109	108	10	matrix	matrix	NOUN
aiti-7109	108	11	to	to	PART
aiti-7109	108	12	erode	erode	VERB
aiti-7109	108	13	the	the	DET
aiti-7109	108	14	lane	lane	NOUN
aiti-7109	108	15	map	map	NOUN
aiti-7109	108	16	.	.	PUNCT
aiti-7109	109	1	(	(	PUNCT
aiti-7109	109	2	4	4	X
aiti-7109	109	3	)	)	PUNCT
aiti-7109	109	4	dilate	dilate	VERB
aiti-7109	109	5	[	[	PUNCT
aiti-7109	109	6	19	19	NUM
aiti-7109	109	7	]	]	NOUN
aiti-7109	109	8	:	:	PUNCT
aiti-7109	109	9	lane	lane	PROPN
aiti-7109	109	10	lines	line	NOUN
aiti-7109	109	11	narrowed	narrow	VERB
aiti-7109	109	12	using	use	VERB
aiti-7109	109	13	erosion	erosion	NOUN
aiti-7109	109	14	are	be	AUX
aiti-7109	109	15	expanded	expand	VERB
aiti-7109	109	16	back	back	ADV
aiti-7109	109	17	to	to	ADP
aiti-7109	109	18	their	their	PRON
aiti-7109	109	19	original	original	ADJ
aiti-7109	109	20	width	width	NOUN
aiti-7109	109	21	to	to	PART
aiti-7109	109	22	facilitate	facilitate	VERB
aiti-7109	109	23	the	the	DET
aiti-7109	109	24	next	next	ADJ
aiti-7109	109	25	step	step	NOUN
aiti-7109	109	26	in	in	ADP
aiti-7109	109	27	lane	lane	NOUN
aiti-7109	109	28	detection	detection	NOUN
aiti-7109	109	29	.	.	PUNCT
aiti-7109	110	1	in	in	ADP
aiti-7109	110	2	this	this	DET
aiti-7109	110	3	step	step	NOUN
aiti-7109	110	4	,	,	PUNCT
aiti-7109	110	5	we	we	PRON
aiti-7109	110	6	use	use	VERB
aiti-7109	110	7	the	the	DET
aiti-7109	110	8	5×5	5×5	NUM
aiti-7109	110	9	rectangle	rectangle	NOUN
aiti-7109	110	10	matrix	matrix	NOUN
aiti-7109	110	11	to	to	PART
aiti-7109	110	12	dilate	dilate	VERB
aiti-7109	110	13	the	the	DET
aiti-7109	110	14	lane	lane	NOUN
aiti-7109	110	15	map	map	NOUN
aiti-7109	110	16	.	.	PUNCT
aiti-7109	111	1	by	by	ADP
aiti-7109	111	2	using	use	VERB
aiti-7109	111	3	dilate	dilate	NOUN
aiti-7109	111	4	(	(	PUNCT
aiti-7109	111	5	and	and	CCONJ
aiti-7109	111	6	gate	gate	ADJ
aiti-7109	111	7	)	)	PUNCT
aiti-7109	111	8	characteristics	characteristic	NOUN
aiti-7109	111	9	,	,	PUNCT
aiti-7109	111	10	the	the	DET
aiti-7109	111	11	operation	operation	NOUN
aiti-7109	111	12	time	time	NOUN
aiti-7109	111	13	is	be	AUX
aiti-7109	111	14	reduced	reduce	VERB
aiti-7109	111	15	by	by	ADP
aiti-7109	111	16	half	half	NOUN
aiti-7109	111	17	.	.	PUNCT
aiti-7109	112	1	(	(	PUNCT
aiti-7109	112	2	5	5	X
aiti-7109	112	3	)	)	PUNCT
aiti-7109	112	4	intersection	intersection	NOUN
aiti-7109	112	5	point	point	NOUN
aiti-7109	112	6	detection	detection	NOUN
aiti-7109	112	7	:	:	PUNCT
aiti-7109	112	8	two	two	NUM
aiti-7109	112	9	horizontal	horizontal	ADJ
aiti-7109	112	10	lines	line	NOUN
aiti-7109	112	11	parallel	parallel	ADJ
aiti-7109	112	12	to	to	ADP
aiti-7109	112	13	the	the	DET
aiti-7109	112	14	x	x	NOUN
aiti-7109	112	15	-	-	NOUN
aiti-7109	112	16	axis	axis	NOUN
aiti-7109	112	17	with	with	ADP
aiti-7109	112	18	a	a	DET
aiti-7109	112	19	fixed	fix	VERB
aiti-7109	112	20	range	range	NOUN
aiti-7109	112	21	and	and	CCONJ
aiti-7109	112	22	interval	interval	NOUN
aiti-7109	112	23	are	be	AUX
aiti-7109	112	24	used	use	VERB
aiti-7109	112	25	for	for	ADP
aiti-7109	112	26	intersection	intersection	NOUN
aiti-7109	112	27	detection	detection	NOUN
aiti-7109	112	28	.	.	PUNCT
aiti-7109	113	1	these	these	DET
aiti-7109	113	2	two	two	NUM
aiti-7109	113	3	horizontal	horizontal	ADJ
aiti-7109	113	4	lines	line	NOUN
aiti-7109	113	5	are	be	AUX
aiti-7109	113	6	used	use	VERB
aiti-7109	113	7	to	to	PART
aiti-7109	113	8	determine	determine	VERB
aiti-7109	113	9	four	four	NUM
aiti-7109	113	10	intersection	intersection	NOUN
aiti-7109	113	11	coordinates	coordinate	NOUN
aiti-7109	113	12	between	between	ADP
aiti-7109	113	13	the	the	DET
aiti-7109	113	14	lane	lane	NOUN
aiti-7109	113	15	line	line	NOUN
aiti-7109	113	16	and	and	CCONJ
aiti-7109	113	17	two	two	NUM
aiti-7109	113	18	horizontal	horizontal	ADJ
aiti-7109	113	19	lines	line	NOUN
aiti-7109	113	20	.	.	PUNCT
aiti-7109	114	1	this	this	DET
aiti-7109	114	2	study	study	NOUN
aiti-7109	114	3	simplifies	simplify	VERB
aiti-7109	114	4	the	the	DET
aiti-7109	114	5	intersection	intersection	NOUN
aiti-7109	114	6	detection	detection	NOUN
aiti-7109	114	7	method	method	NOUN
aiti-7109	114	8	.	.	PUNCT
aiti-7109	115	1	given	give	VERB
aiti-7109	115	2	a	a	DET
aiti-7109	115	3	preset	preset	ADJ
aiti-7109	115	4	range	range	NOUN
aiti-7109	115	5	between	between	ADP
aiti-7109	115	6	y1	y1	NOUN
aiti-7109	115	7	and	and	CCONJ
aiti-7109	115	8	y2	y2	NOUN
aiti-7109	115	9	,	,	PUNCT
aiti-7109	115	10	as	as	ADP
aiti-7109	115	11	the	the	DET
aiti-7109	115	12	basic	basic	ADJ
aiti-7109	115	13	y	y	NOUN
aiti-7109	115	14	-	-	PUNCT
aiti-7109	115	15	coordinate	coordinate	NOUN
aiti-7109	115	16	of	of	ADP
aiti-7109	115	17	the	the	DET
aiti-7109	115	18	two	two	NUM
aiti-7109	115	19	horizontal	horizontal	ADJ
aiti-7109	115	20	lines	line	NOUN
aiti-7109	115	21	,	,	PUNCT
aiti-7109	115	22	the	the	DET
aiti-7109	115	23	overlapping	overlap	VERB
aiti-7109	115	24	parts	part	NOUN
aiti-7109	115	25	of	of	ADP
aiti-7109	115	26	the	the	DET
aiti-7109	115	27	two	two	NUM
aiti-7109	115	28	horizontal	horizontal	ADJ
aiti-7109	115	29	lines	line	NOUN
aiti-7109	115	30	and	and	CCONJ
aiti-7109	115	31	the	the	DET
aiti-7109	115	32	lane	lane	NOUN
aiti-7109	115	33	line	line	NOUN
aiti-7109	115	34	are	be	AUX
aiti-7109	115	35	used	use	VERB
aiti-7109	115	36	to	to	PART
aiti-7109	115	37	perform	perform	VERB
aiti-7109	115	38	a	a	DET
aiti-7109	115	39	grouping	group	VERB
aiti-7109	115	40	calculation	calculation	NOUN
aiti-7109	115	41	,	,	PUNCT
aiti-7109	115	42	and	and	CCONJ
aiti-7109	115	43	the	the	DET
aiti-7109	115	44	four	four	NUM
aiti-7109	115	45	possible	possible	ADJ
aiti-7109	115	46	coordinates	coordinate	NOUN
aiti-7109	115	47	(	(	PUNCT
aiti-7109	115	48	ly1	ly1	PROPN
aiti-7109	115	49	,	,	PUNCT
aiti-7109	115	50	y1	y1	PROPN
aiti-7109	115	51	)	)	PUNCT
aiti-7109	115	52	,	,	PUNCT
aiti-7109	115	53	(	(	PUNCT
aiti-7109	115	54	ry1	ry1	VERB
aiti-7109	115	55	,	,	PUNCT
aiti-7109	115	56	y1	y1	NOUN
aiti-7109	115	57	)	)	PUNCT
aiti-7109	115	58	,	,	PUNCT
aiti-7109	115	59	(	(	PUNCT
aiti-7109	115	60	ly2	ly2	ADP
aiti-7109	115	61	,	,	PUNCT
aiti-7109	115	62	y2	y2	NOUN
aiti-7109	115	63	)	)	PUNCT
aiti-7109	115	64	,	,	PUNCT
aiti-7109	115	65	and	and	CCONJ
aiti-7109	115	66	(	(	PUNCT
aiti-7109	115	67	ry2	ry2	NOUN
aiti-7109	115	68	,	,	PUNCT
aiti-7109	115	69	y2	y2	PROPN
aiti-7109	115	70	)	)	PUNCT
aiti-7109	115	71	can	can	AUX
aiti-7109	115	72	be	be	AUX
aiti-7109	115	73	obtained	obtain	VERB
aiti-7109	115	74	.	.	PUNCT
aiti-7109	116	1	the	the	DET
aiti-7109	116	2	four	four	NUM
aiti-7109	116	3	coordinates	coordinate	NOUN
aiti-7109	116	4	are	be	AUX
aiti-7109	116	5	used	use	VERB
aiti-7109	116	6	to	to	PART
aiti-7109	116	7	extend	extend	VERB
aiti-7109	116	8	the	the	DET
aiti-7109	116	9	lane	lane	NOUN
aiti-7109	116	10	line	line	NOUN
aiti-7109	116	11	,	,	PUNCT
aiti-7109	116	12	find	find	VERB
aiti-7109	116	13	the	the	DET
aiti-7109	116	14	intersection	intersection	NOUN
aiti-7109	116	15	of	of	ADP
aiti-7109	116	16	the	the	DET
aiti-7109	116	17	lanes	lane	NOUN
aiti-7109	116	18	,	,	PUNCT
aiti-7109	116	19	and	and	CCONJ
aiti-7109	116	20	present	present	VERB
aiti-7109	116	21	the	the	DET
aiti-7109	116	22	slope	slope	NOUN
aiti-7109	116	23	of	of	ADP
aiti-7109	116	24	the	the	DET
aiti-7109	116	25	left	left	ADJ
aiti-7109	116	26	and	and	CCONJ
aiti-7109	116	27	right	right	ADJ
aiti-7109	116	28	lanes	lane	NOUN
aiti-7109	116	29	,	,	PUNCT
aiti-7109	116	30	as	as	SCONJ
aiti-7109	116	31	shown	show	VERB
aiti-7109	116	32	in	in	ADP
aiti-7109	116	33	fig	fig	NOUN
aiti-7109	116	34	.	.	PUNCT
aiti-7109	117	1	8	8	NUM
aiti-7109	117	2	.	.	X
aiti-7109	117	3	fig	fig	NOUN
aiti-7109	117	4	.	.	PUNCT
aiti-7109	118	1	8	8	NUM
aiti-7109	118	2	intersection	intersection	NOUN
aiti-7109	118	3	point	point	NOUN
aiti-7109	118	4	detection	detection	NOUN
aiti-7109	118	5	3.2	3.2	NUM
aiti-7109	118	6	.	.	PUNCT
aiti-7109	118	7	part	part	NOUN
aiti-7109	118	8	2	2	NUM
aiti-7109	118	9	:	:	PUNCT
aiti-7109	118	10	offset	offset	VERB
aiti-7109	118	11	judgment	judgment	NOUN
aiti-7109	118	12	(	(	PUNCT
aiti-7109	118	13	1	1	NUM
aiti-7109	118	14	)	)	PUNCT
aiti-7109	118	15	calculation	calculation	NOUN
aiti-7109	118	16	of	of	ADP
aiti-7109	118	17	the	the	DET
aiti-7109	118	18	slope	slope	NOUN
aiti-7109	118	19	and	and	CCONJ
aiti-7109	118	20	two	two	NUM
aiti-7109	118	21	lane	lane	NOUN
aiti-7109	118	22	line	line	NOUN
aiti-7109	118	23	intersection	intersection	NOUN
aiti-7109	118	24	coordinates	coordinate	NOUN
aiti-7109	118	25	:	:	PUNCT
aiti-7109	118	26	the	the	DET
aiti-7109	118	27	coordinates	coordinate	NOUN
aiti-7109	118	28	of	of	ADP
aiti-7109	118	29	the	the	DET
aiti-7109	118	30	four	four	NUM
aiti-7109	118	31	intersection	intersection	NOUN
aiti-7109	118	32	points	point	NOUN
aiti-7109	118	33	obtained	obtain	VERB
aiti-7109	118	34	from	from	ADP
aiti-7109	118	35	part	part	NOUN
aiti-7109	118	36	1	1	NUM
aiti-7109	118	37	are	be	AUX
aiti-7109	118	38	used	use	VERB
aiti-7109	118	39	to	to	PART
aiti-7109	118	40	calculate	calculate	VERB
aiti-7109	118	41	the	the	DET
aiti-7109	118	42	slope	slope	NOUN
aiti-7109	118	43	of	of	ADP
aiti-7109	118	44	the	the	DET
aiti-7109	118	45	left	left	ADJ
aiti-7109	118	46	and	and	CCONJ
aiti-7109	118	47	right	right	ADJ
aiti-7109	118	48	lane	lane	NOUN
aiti-7109	118	49	lines	line	NOUN
aiti-7109	118	50	the	the	DET
aiti-7109	118	51	intersection	intersection	NOUN
aiti-7109	118	52	points	point	NOUN
aiti-7109	118	53	of	of	ADP
aiti-7109	118	54	the	the	DET
aiti-7109	118	55	extended	extended	ADJ
aiti-7109	118	56	lane	lane	NOUN
aiti-7109	118	57	lines	line	NOUN
aiti-7109	118	58	and	and	CCONJ
aiti-7109	118	59	the	the	DET
aiti-7109	118	60	left	left	ADJ
aiti-7109	118	61	and	and	CCONJ
aiti-7109	118	62	right	right	ADJ
aiti-7109	118	63	lane	lane	NOUN
aiti-7109	118	64	lines	line	NOUN
aiti-7109	118	65	are	be	AUX
aiti-7109	118	66	marked	mark	VERB
aiti-7109	119	1	[	[	X
aiti-7109	119	2	20	20	NUM
aiti-7109	119	3	]	]	PUNCT
aiti-7109	119	4	.	.	PUNCT
aiti-7109	120	1	(	(	PUNCT
aiti-7109	120	2	2	2	X
aiti-7109	120	3	)	)	PUNCT
aiti-7109	120	4	comparison	comparison	NOUN
aiti-7109	120	5	with	with	ADP
aiti-7109	120	6	a	a	DET
aiti-7109	120	7	previous	previous	ADJ
aiti-7109	120	8	frame	frame	NOUN
aiti-7109	120	9	:	:	PUNCT
aiti-7109	120	10	the	the	DET
aiti-7109	120	11	slope	slope	NOUN
aiti-7109	120	12	of	of	ADP
aiti-7109	120	13	the	the	DET
aiti-7109	120	14	left	left	ADJ
aiti-7109	120	15	and	and	CCONJ
aiti-7109	120	16	right	right	ADJ
aiti-7109	120	17	lane	lane	NOUN
aiti-7109	120	18	lines	line	NOUN
aiti-7109	120	19	and	and	CCONJ
aiti-7109	120	20	the	the	DET
aiti-7109	120	21	intersection	intersection	NOUN
aiti-7109	120	22	coordinates	coordinate	NOUN
aiti-7109	120	23	of	of	ADP
aiti-7109	120	24	the	the	DET
aiti-7109	120	25	extended	extend	VERB
aiti-7109	120	26	left	leave	VERB
aiti-7109	120	27	and	and	CCONJ
aiti-7109	120	28	right	right	ADJ
aiti-7109	120	29	lane	lane	NOUN
aiti-7109	120	30	lines	line	NOUN
aiti-7109	120	31	can	can	AUX
aiti-7109	120	32	be	be	AUX
aiti-7109	120	33	compared	compare	VERB
aiti-7109	120	34	with	with	ADP
aiti-7109	120	35	the	the	DET
aiti-7109	120	36	data	datum	NOUN
aiti-7109	120	37	in	in	ADP
aiti-7109	120	38	previous	previous	ADJ
aiti-7109	120	39	frames	frame	NOUN
aiti-7109	120	40	to	to	PART
aiti-7109	120	41	determine	determine	VERB
aiti-7109	120	42	whether	whether	SCONJ
aiti-7109	120	43	the	the	DET
aiti-7109	120	44	vehicle	vehicle	NOUN
aiti-7109	120	45	has	have	VERB
aiti-7109	120	46	positional	positional	ADJ
aiti-7109	120	47	offset	offset	NOUN
aiti-7109	120	48	.	.	PUNCT
aiti-7109	121	1	(	(	PUNCT
aiti-7109	121	2	3	3	X
aiti-7109	121	3	)	)	PUNCT
aiti-7109	121	4	deviation	deviation	NOUN
aiti-7109	121	5	determination	determination	NOUN
aiti-7109	121	6	:	:	PUNCT
aiti-7109	121	7	to	to	PART
aiti-7109	121	8	prevent	prevent	VERB
aiti-7109	121	9	obtaining	obtain	VERB
aiti-7109	121	10	unclear	unclear	ADJ
aiti-7109	121	11	lane	lane	NOUN
aiti-7109	121	12	lines	line	NOUN
aiti-7109	121	13	or	or	CCONJ
aiti-7109	121	14	noise	noise	NOUN
aiti-7109	121	15	interference	interference	NOUN
aiti-7109	121	16	,	,	PUNCT
aiti-7109	121	17	the	the	DET
aiti-7109	121	18	offset	offset	ADJ
aiti-7109	121	19	data	datum	NOUN
aiti-7109	121	20	of	of	ADP
aiti-7109	121	21	the	the	DET
aiti-7109	121	22	previous	previous	ADJ
aiti-7109	121	23	15	15	NUM
aiti-7109	121	24	frames	frame	NOUN
aiti-7109	121	25	are	be	AUX
aiti-7109	121	26	stored	store	VERB
aiti-7109	121	27	in	in	ADP
aiti-7109	121	28	buffer	buffer	NOUN
aiti-7109	121	29	and	and	CCONJ
aiti-7109	121	30	subsequently	subsequently	ADV
aiti-7109	121	31	compared	compare	VERB
aiti-7109	121	32	with	with	ADP
aiti-7109	121	33	the	the	DET
aiti-7109	121	34	current	current	ADJ
aiti-7109	121	35	data	datum	NOUN
aiti-7109	121	36	to	to	PART
aiti-7109	121	37	increase	increase	VERB
aiti-7109	121	38	the	the	DET
aiti-7109	121	39	judgment	judgment	NOUN
aiti-7109	121	40	accuracy	accuracy	NOUN
aiti-7109	121	41	.	.	PUNCT
aiti-7109	122	1	3.3	3.3	NUM
aiti-7109	122	2	.	.	PUNCT
aiti-7109	122	3	part	part	NOUN
aiti-7109	122	4	3	3	NUM
aiti-7109	122	5	:	:	PUNCT
aiti-7109	122	6	notify	notify	VERB
aiti-7109	122	7	the	the	DET
aiti-7109	122	8	driver	driver	NOUN
aiti-7109	122	9	(	(	PUNCT
aiti-7109	122	10	1	1	X
aiti-7109	122	11	)	)	PUNCT
aiti-7109	122	12	when	when	SCONJ
aiti-7109	122	13	abnormal	abnormal	ADJ
aiti-7109	122	14	deviations	deviation	NOUN
aiti-7109	122	15	in	in	ADP
aiti-7109	122	16	slope	slope	NOUN
aiti-7109	122	17	and	and	CCONJ
aiti-7109	122	18	intersection	intersection	NOUN
aiti-7109	122	19	coordinates	coordinate	NOUN
aiti-7109	122	20	occur	occur	VERB
aiti-7109	122	21	,	,	PUNCT
aiti-7109	122	22	a	a	DET
aiti-7109	122	23	warning	warning	NOUN
aiti-7109	122	24	is	be	AUX
aiti-7109	122	25	sent	send	VERB
aiti-7109	122	26	to	to	PART
aiti-7109	122	27	alert	alert	VERB
aiti-7109	122	28	the	the	DET
aiti-7109	122	29	driver	driver	NOUN
aiti-7109	122	30	.	.	PUNCT
aiti-7109	123	1	141	141	NUM
aiti-7109	123	2	advances	advance	NOUN
aiti-7109	123	3	in	in	ADP
aiti-7109	123	4	technology	technology	NOUN
aiti-7109	123	5	innovation	innovation	NOUN
aiti-7109	123	6	,	,	PUNCT
aiti-7109	123	7	vol	vol	NOUN
aiti-7109	123	8	.	.	PROPN
aiti-7109	123	9	6	6	NUM
aiti-7109	123	10	,	,	PUNCT
aiti-7109	123	11	no	no	INTJ
aiti-7109	123	12	.	.	NOUN
aiti-7109	123	13	3	3	NUM
aiti-7109	123	14	,	,	PUNCT
aiti-7109	123	15	2021	2021	NUM
aiti-7109	123	16	,	,	PUNCT
aiti-7109	123	17	pp	pp	ADJ
aiti-7109	123	18	.	.	PUNCT
aiti-7109	124	1	137	137	NUM
aiti-7109	124	2	-	-	SYM
aiti-7109	124	3	145	145	NUM
aiti-7109	124	4	4	4	NUM
aiti-7109	124	5	.	.	PUNCT
aiti-7109	124	6	experiment	experiment	NOUN
aiti-7109	124	7	results	result	VERB
aiti-7109	124	8	the	the	DET
aiti-7109	124	9	experimental	experimental	ADJ
aiti-7109	124	10	equipment	equipment	NOUN
aiti-7109	124	11	consists	consist	VERB
aiti-7109	124	12	of	of	ADP
aiti-7109	124	13	a	a	DET
aiti-7109	124	14	raspberry	raspberry	NOUN
aiti-7109	124	15	pi	pi	PROPN
aiti-7109	124	16	board	board	NOUN
aiti-7109	124	17	and	and	CCONJ
aiti-7109	124	18	a	a	DET
aiti-7109	124	19	camera	camera	NOUN
aiti-7109	124	20	for	for	ADP
aiti-7109	124	21	still	still	ADV
aiti-7109	124	22	image	image	NOUN
aiti-7109	124	23	processors	processor	NOUN
aiti-7109	124	24	,	,	PUNCT
aiti-7109	124	25	as	as	SCONJ
aiti-7109	124	26	listed	list	VERB
aiti-7109	124	27	in	in	ADP
aiti-7109	124	28	table	table	NOUN
aiti-7109	124	29	1	1	NUM
aiti-7109	124	30	.	.	PUNCT
aiti-7109	125	1	the	the	DET
aiti-7109	125	2	experimental	experimental	ADJ
aiti-7109	125	3	system	system	NOUN
aiti-7109	125	4	is	be	AUX
aiti-7109	125	5	also	also	ADV
aiti-7109	125	6	shown	show	VERB
aiti-7109	125	7	in	in	ADP
aiti-7109	125	8	fig	fig	NOUN
aiti-7109	125	9	.	.	PUNCT
aiti-7109	126	1	9	9	X
aiti-7109	126	2	.	.	X
aiti-7109	126	3	table	table	NOUN
aiti-7109	126	4	1	1	NUM
aiti-7109	126	5	experimental	experimental	ADJ
aiti-7109	126	6	equipment	equipment	NOUN
aiti-7109	126	7	components	component	NOUN
aiti-7109	126	8	specification	specification	NOUN
aiti-7109	126	9	operating	operating	NOUN
aiti-7109	126	10	system	system	NOUN
aiti-7109	126	11	raspbian	raspbian	ADJ
aiti-7109	126	12	central	central	ADJ
aiti-7109	126	13	processing	processing	NOUN
aiti-7109	126	14	unit	unit	NOUN
aiti-7109	126	15	arm	arm	VERB
aiti-7109	126	16	cortex	cortex	NOUN
aiti-7109	126	17	-	-	PUNCT
aiti-7109	126	18	a72	a72	ADJ
aiti-7109	126	19	random	random	ADJ
aiti-7109	126	20	access	access	NOUN
aiti-7109	126	21	memory	memory	NOUN
aiti-7109	126	22	4	4	NUM
aiti-7109	126	23	gb	gb	NOUN
aiti-7109	126	24	(	(	PUNCT
aiti-7109	126	25	lpddr4	lpddr4	PROPN
aiti-7109	126	26	)	)	PUNCT
aiti-7109	126	27	camera	camera	NOUN
aiti-7109	126	28	8mp	8mp	ADJ
aiti-7109	126	29	raspberry	raspberry	PROPN
aiti-7109	126	30	pi	pi	NOUN
aiti-7109	126	31	camera	camera	NOUN
aiti-7109	126	32	module	module	NOUN
aiti-7109	126	33	(	(	PUNCT
aiti-7109	126	34	v2	v2	NOUN
aiti-7109	126	35	)	)	PUNCT
aiti-7109	126	36	fig	fig	NOUN
aiti-7109	126	37	.	.	PUNCT
aiti-7109	127	1	9	9	NUM
aiti-7109	127	2	raspberry	raspberry	NOUN
aiti-7109	127	3	pi	pi	NOUN
aiti-7109	127	4	combined	combine	VERB
aiti-7109	127	5	with	with	ADP
aiti-7109	127	6	the	the	DET
aiti-7109	127	7	camera	camera	NOUN
aiti-7109	127	8	module	module	NOUN
aiti-7109	127	9	and	and	CCONJ
aiti-7109	127	10	a	a	DET
aiti-7109	127	11	7	7	NUM
aiti-7109	127	12	-	-	PUNCT
aiti-7109	127	13	inch	inch	NOUN
aiti-7109	127	14	touch	touch	NOUN
aiti-7109	127	15	display	display	NOUN
aiti-7109	127	16	raspberry	raspberry	NOUN
aiti-7109	127	17	pi	pi	NOUN
aiti-7109	127	18	is	be	AUX
aiti-7109	127	19	a	a	DET
aiti-7109	127	20	popular	popular	ADJ
aiti-7109	127	21	embedded	embed	VERB
aiti-7109	127	22	system	system	NOUN
aiti-7109	127	23	developed	develop	VERB
aiti-7109	127	24	by	by	ADP
aiti-7109	127	25	raspberry	raspberry	PROPN
aiti-7109	127	26	pi	pi	PROPN
aiti-7109	127	27	foundation	foundation	PROPN
aiti-7109	127	28	in	in	ADP
aiti-7109	127	29	the	the	DET
aiti-7109	127	30	united	united	ADJ
aiti-7109	127	31	kingdom	kingdom	PROPN
aiti-7109	127	32	.	.	PUNCT
aiti-7109	128	1	the	the	DET
aiti-7109	128	2	processor	processor	NOUN
aiti-7109	128	3	used	use	VERB
aiti-7109	128	4	in	in	ADP
aiti-7109	128	5	the	the	DET
aiti-7109	128	6	experiment	experiment	NOUN
aiti-7109	128	7	is	be	AUX
aiti-7109	128	8	a	a	DET
aiti-7109	128	9	broadcom	broadcom	NOUN
aiti-7109	128	10	bcm2711	bcm2711	NOUN
aiti-7109	128	11	soc	soc	NOUN
aiti-7109	128	12	with	with	ADP
aiti-7109	128	13	a	a	DET
aiti-7109	128	14	1.5	1.5	NUM
aiti-7109	128	15	-	-	PUNCT
aiti-7109	128	16	ghz	ghz	NOUN
aiti-7109	128	17	64	64	NUM
aiti-7109	128	18	-	-	PUNCT
aiti-7109	128	19	bit	bit	NOUN
aiti-7109	128	20	quad	quad	ADV
aiti-7109	128	21	-	-	PUNCT
aiti-7109	128	22	core	core	NOUN
aiti-7109	128	23	arm	arm	NOUN
aiti-7109	128	24	cortex	cortex	NOUN
aiti-7109	128	25	-	-	PUNCT
aiti-7109	128	26	a72	a72	ADJ
aiti-7109	128	27	processor	processor	NOUN
aiti-7109	128	28	.	.	PUNCT
aiti-7109	129	1	raspberry	raspberry	NOUN
aiti-7109	129	2	pi	pi	NOUN
aiti-7109	129	3	has	have	VERB
aiti-7109	129	4	a	a	DET
aiti-7109	129	5	40	40	NUM
aiti-7109	129	6	-	-	PUNCT
aiti-7109	129	7	pin	pin	NOUN
aiti-7109	129	8	general	general	ADJ
aiti-7109	129	9	purpose	purpose	NOUN
aiti-7109	129	10	input	input	NOUN
aiti-7109	129	11	-	-	PUNCT
aiti-7109	129	12	output	output	NOUN
aiti-7109	129	13	(	(	PUNCT
aiti-7109	129	14	gpio	gpio	NOUN
aiti-7109	129	15	)	)	PUNCT
aiti-7109	129	16	connector	connector	NOUN
aiti-7109	129	17	that	that	PRON
aiti-7109	129	18	enables	enable	VERB
aiti-7109	129	19	users	user	NOUN
aiti-7109	129	20	to	to	PART
aiti-7109	129	21	connect	connect	VERB
aiti-7109	129	22	peripherals	peripheral	NOUN
aiti-7109	129	23	such	such	ADJ
aiti-7109	129	24	as	as	ADP
aiti-7109	129	25	lcd1602	lcd1602	NOUN
aiti-7109	129	26	modules	module	NOUN
aiti-7109	129	27	and	and	CCONJ
aiti-7109	129	28	sensors	sensor	NOUN
aiti-7109	129	29	through	through	ADP
aiti-7109	129	30	inter	inter	ADJ
aiti-7109	129	31	-	-	ADJ
aiti-7109	129	32	integrated	integrated	ADJ
aiti-7109	129	33	circuit	circuit	NOUN
aiti-7109	129	34	(	(	PUNCT
aiti-7109	129	35	i²c	i²c	CCONJ
aiti-7109	129	36	)	)	PUNCT
aiti-7109	129	37	,	,	PUNCT
aiti-7109	129	38	universal	universal	ADJ
aiti-7109	129	39	asynchronous	asynchronous	ADJ
aiti-7109	129	40	receiver	receiver	NOUN
aiti-7109	129	41	-	-	PUNCT
aiti-7109	129	42	transmitter	transmitter	NOUN
aiti-7109	129	43	(	(	PUNCT
aiti-7109	129	44	uart	uart	PROPN
aiti-7109	129	45	)	)	PUNCT
aiti-7109	129	46	,	,	PUNCT
aiti-7109	129	47	and	and	CCONJ
aiti-7109	129	48	serial	serial	ADJ
aiti-7109	129	49	peripheral	peripheral	ADJ
aiti-7109	129	50	interface	interface	NOUN
aiti-7109	129	51	(	(	PUNCT
aiti-7109	129	52	spi	spi	PROPN
aiti-7109	129	53	)	)	PUNCT
aiti-7109	129	54	.	.	PUNCT
aiti-7109	130	1	to	to	PART
aiti-7109	130	2	reduce	reduce	VERB
aiti-7109	130	3	operation	operation	NOUN
aiti-7109	130	4	time	time	NOUN
aiti-7109	130	5	and	and	CCONJ
aiti-7109	130	6	maintain	maintain	VERB
aiti-7109	130	7	accuracy	accuracy	NOUN
aiti-7109	130	8	,	,	PUNCT
aiti-7109	130	9	the	the	DET
aiti-7109	130	10	8	8	NUM
aiti-7109	130	11	-	-	PUNCT
aiti-7109	130	12	mp	mp	NOUN
aiti-7109	130	13	raspberry	raspberry	NOUN
aiti-7109	130	14	pi	pi	NOUN
aiti-7109	130	15	camera	camera	NOUN
aiti-7109	130	16	module	module	NOUN
aiti-7109	130	17	(	(	PUNCT
aiti-7109	130	18	v2	v2	NOUN
aiti-7109	130	19	)	)	PUNCT
aiti-7109	130	20	is	be	AUX
aiti-7109	130	21	used	use	VERB
aiti-7109	130	22	to	to	PART
aiti-7109	130	23	continuously	continuously	ADV
aiti-7109	130	24	capture	capture	VERB
aiti-7109	130	25	images	image	NOUN
aiti-7109	131	1	[	[	X
aiti-7109	131	2	21	21	NUM
aiti-7109	131	3	-	-	SYM
aiti-7109	131	4	22	22	NUM
aiti-7109	131	5	]	]	PUNCT
aiti-7109	131	6	with	with	ADP
aiti-7109	131	7	640	640	NUM
aiti-7109	131	8	×	×	NOUN
aiti-7109	131	9	480	480	NUM
aiti-7109	131	10	pixel	pixel	NOUN
aiti-7109	131	11	resolution	resolution	NOUN
aiti-7109	131	12	(	(	PUNCT
aiti-7109	131	13	fig	fig	NOUN
aiti-7109	131	14	.	.	PUNCT
aiti-7109	131	15	10	10	NUM
aiti-7109	131	16	)	)	PUNCT
aiti-7109	131	17	,	,	PUNCT
aiti-7109	131	18	and	and	CCONJ
aiti-7109	131	19	the	the	DET
aiti-7109	131	20	rgb	rgb	PROPN
aiti-7109	131	21	image	image	NOUN
aiti-7109	131	22	is	be	AUX
aiti-7109	131	23	returned	return	VERB
aiti-7109	131	24	to	to	ADP
aiti-7109	131	25	the	the	DET
aiti-7109	131	26	raspberry	raspberry	NOUN
aiti-7109	131	27	pi	pi	NOUN
aiti-7109	131	28	by	by	ADP
aiti-7109	131	29	using	use	VERB
aiti-7109	131	30	eq	eq	ADP
aiti-7109	131	31	.	.	PUNCT
aiti-7109	132	1	(	(	PUNCT
aiti-7109	132	2	1	1	X
aiti-7109	132	3	)	)	PUNCT
aiti-7109	132	4	for	for	ADP
aiti-7109	132	5	grayscale	grayscale	NOUN
aiti-7109	132	6	pretreatment	pretreatment	NOUN
aiti-7109	132	7	.	.	PUNCT
aiti-7109	133	1	matrix	matrix	NOUN
aiti-7109	133	2	data	datum	NOUN
aiti-7109	133	3	are	be	AUX
aiti-7109	133	4	obtained	obtain	VERB
aiti-7109	133	5	from	from	ADP
aiti-7109	133	6	opencv	opencv	PROPN
aiti-7109	133	7	to	to	PART
aiti-7109	133	8	store	store	VERB
aiti-7109	133	9	the	the	DET
aiti-7109	133	10	grayscale	grayscale	NOUN
aiti-7109	133	11	images	image	NOUN
aiti-7109	133	12	(	(	PUNCT
aiti-7109	133	13	fig	fig	NOUN
aiti-7109	133	14	.	.	PUNCT
aiti-7109	134	1	11	11	NUM
aiti-7109	134	2	)	)	PUNCT
aiti-7109	135	1	in	in	ADP
aiti-7109	135	2	the	the	DET
aiti-7109	135	3	memory	memory	NOUN
aiti-7109	135	4	.	.	PUNCT
aiti-7109	136	1	fig	fig	NOUN
aiti-7109	136	2	.	.	PUNCT
aiti-7109	137	1	10	10	NUM
aiti-7109	137	2	rgb	rgb	PROPN
aiti-7109	137	3	image	image	NOUN
aiti-7109	137	4	fig	fig	NOUN
aiti-7109	137	5	.	.	PUNCT
aiti-7109	138	1	11	11	NUM
aiti-7109	138	2	grayscale	grayscale	NOUN
aiti-7109	138	3	image	image	NOUN
aiti-7109	138	4	after	after	ADP
aiti-7109	138	5	the	the	DET
aiti-7109	138	6	grayscale	grayscale	PROPN
aiti-7109	138	7	conversion	conversion	NOUN
aiti-7109	138	8	,	,	PUNCT
aiti-7109	138	9	image	image	NOUN
aiti-7109	138	10	binarization	binarization	NOUN
aiti-7109	138	11	is	be	AUX
aiti-7109	138	12	performed	perform	VERB
aiti-7109	138	13	to	to	PART
aiti-7109	138	14	accurately	accurately	ADV
aiti-7109	138	15	separate	separate	VERB
aiti-7109	138	16	the	the	DET
aiti-7109	138	17	lane	lane	NOUN
aiti-7109	138	18	lines	line	NOUN
aiti-7109	138	19	from	from	ADP
aiti-7109	138	20	the	the	DET
aiti-7109	138	21	asphalt	asphalt	NOUN
aiti-7109	138	22	.	.	PUNCT
aiti-7109	139	1	in	in	ADP
aiti-7109	139	2	this	this	DET
aiti-7109	139	3	step	step	NOUN
aiti-7109	139	4	,	,	PUNCT
aiti-7109	139	5	the	the	DET
aiti-7109	139	6	otsu	otsu	NOUN
aiti-7109	139	7	algorithm	algorithm	NOUN
aiti-7109	139	8	is	be	AUX
aiti-7109	139	9	used	use	VERB
aiti-7109	139	10	to	to	PART
aiti-7109	139	11	determine	determine	VERB
aiti-7109	139	12	an	an	DET
aiti-7109	139	13	adaptive	adaptive	ADJ
aiti-7109	139	14	threshold	threshold	NOUN
aiti-7109	139	15	,	,	PUNCT
aiti-7109	139	16	and	and	CCONJ
aiti-7109	139	17	the	the	DET
aiti-7109	139	18	threshold	threshold	NOUN
aiti-7109	139	19	is	be	AUX
aiti-7109	139	20	used	use	VERB
aiti-7109	139	21	as	as	ADP
aiti-7109	139	22	a	a	DET
aiti-7109	139	23	boundary	boundary	NOUN
aiti-7109	139	24	,	,	PUNCT
aiti-7109	139	25	as	as	SCONJ
aiti-7109	139	26	shown	show	VERB
aiti-7109	139	27	in	in	ADP
aiti-7109	139	28	fig	fig	NOUN
aiti-7109	139	29	.	.	PUNCT
aiti-7109	140	1	12	12	NUM
aiti-7109	140	2	.	.	PUNCT
aiti-7109	141	1	the	the	DET
aiti-7109	141	2	pixel	pixel	PROPN
aiti-7109	141	3	values	value	NOUN
aiti-7109	141	4	which	which	PRON
aiti-7109	141	5	are	be	AUX
aiti-7109	141	6	lower	low	ADJ
aiti-7109	141	7	and	and	CCONJ
aiti-7109	141	8	higher	high	ADJ
aiti-7109	141	9	than	than	SCONJ
aiti-7109	141	10	this	this	DET
aiti-7109	141	11	threshold	threshold	NOUN
aiti-7109	141	12	value	value	NOUN
aiti-7109	141	13	are	be	AUX
aiti-7109	141	14	classified	classify	VERB
aiti-7109	141	15	as	as	ADP
aiti-7109	141	16	black	black	ADJ
aiti-7109	141	17	(	(	PUNCT
aiti-7109	141	18	lightness	lightness	NOUN
aiti-7109	141	19	y	y	NOUN
aiti-7109	141	20	=	=	NOUN
aiti-7109	141	21	0	0	NUM
aiti-7109	141	22	)	)	PUNCT
aiti-7109	141	23	and	and	CCONJ
aiti-7109	141	24	white	white	ADJ
aiti-7109	141	25	142	142	NUM
aiti-7109	141	26	advances	advance	NOUN
aiti-7109	141	27	in	in	ADP
aiti-7109	141	28	technology	technology	NOUN
aiti-7109	141	29	innovation	innovation	NOUN
aiti-7109	141	30	,	,	PUNCT
aiti-7109	141	31	vol	vol	NOUN
aiti-7109	141	32	.	.	PROPN
aiti-7109	141	33	6	6	NUM
aiti-7109	141	34	,	,	PUNCT
aiti-7109	141	35	no	no	INTJ
aiti-7109	141	36	.	.	NOUN
aiti-7109	141	37	3	3	NUM
aiti-7109	141	38	,	,	PUNCT
aiti-7109	141	39	2021	2021	NUM
aiti-7109	141	40	,	,	PUNCT
aiti-7109	141	41	pp	pp	ADJ
aiti-7109	141	42	.	.	PUNCT
aiti-7109	142	1	137	137	NUM
aiti-7109	142	2	-	-	SYM
aiti-7109	142	3	145	145	NUM
aiti-7109	142	4	(	(	PUNCT
aiti-7109	142	5	lightness	lightness	NOUN
aiti-7109	142	6	y	y	NOUN
aiti-7109	142	7	=	=	NOUN
aiti-7109	142	8	255	255	NUM
aiti-7109	142	9	)	)	PUNCT
aiti-7109	142	10	,	,	PUNCT
aiti-7109	142	11	respectively	respectively	ADV
aiti-7109	142	12	.	.	PUNCT
aiti-7109	143	1	after	after	ADP
aiti-7109	143	2	binarization	binarization	NOUN
aiti-7109	143	3	,	,	PUNCT
aiti-7109	143	4	black	black	ADJ
aiti-7109	143	5	and	and	CCONJ
aiti-7109	143	6	white	white	ADJ
aiti-7109	143	7	images	image	NOUN
aiti-7109	143	8	are	be	AUX
aiti-7109	143	9	subjected	subject	VERB
aiti-7109	143	10	to	to	ADP
aiti-7109	143	11	the	the	DET
aiti-7109	143	12	erosion	erosion	NOUN
aiti-7109	143	13	morphology	morphology	NOUN
aiti-7109	143	14	for	for	ADP
aiti-7109	143	15	filtering	filter	VERB
aiti-7109	143	16	white	white	ADJ
aiti-7109	143	17	impurities	impurity	NOUN
aiti-7109	143	18	remaining	remain	VERB
aiti-7109	143	19	in	in	ADP
aiti-7109	143	20	the	the	DET
aiti-7109	143	21	binarization	binarization	NOUN
aiti-7109	143	22	image	image	NOUN
aiti-7109	143	23	and	and	CCONJ
aiti-7109	143	24	increasing	increase	VERB
aiti-7109	143	25	the	the	DET
aiti-7109	143	26	accuracy	accuracy	NOUN
aiti-7109	143	27	of	of	ADP
aiti-7109	143	28	lane	lane	NOUN
aiti-7109	143	29	line	line	NOUN
aiti-7109	143	30	detection	detection	NOUN
aiti-7109	143	31	.	.	PUNCT
aiti-7109	144	1	in	in	ADP
aiti-7109	144	2	the	the	DET
aiti-7109	144	3	erosion	erosion	NOUN
aiti-7109	144	4	,	,	PUNCT
aiti-7109	144	5	5×5	5×5	NUM
aiti-7109	144	6	rectangular	rectangular	ADJ
aiti-7109	144	7	erosion	erosion	NOUN
aiti-7109	144	8	elements	element	NOUN
aiti-7109	144	9	are	be	AUX
aiti-7109	144	10	used	use	VERB
aiti-7109	144	11	,	,	PUNCT
aiti-7109	144	12	and	and	CCONJ
aiti-7109	144	13	fig	fig	NOUN
aiti-7109	144	14	.	.	PUNCT
aiti-7109	145	1	13	13	NUM
aiti-7109	145	2	presents	present	VERB
aiti-7109	145	3	the	the	DET
aiti-7109	145	4	erosion	erosion	NOUN
aiti-7109	145	5	results	result	NOUN
aiti-7109	145	6	.	.	PUNCT
aiti-7109	146	1	fig	fig	NOUN
aiti-7109	146	2	.	.	PUNCT
aiti-7109	147	1	12	12	NUM
aiti-7109	147	2	otsu	otsu	NOUN
aiti-7109	147	3	thresholding	thresholde	VERB
aiti-7109	147	4	image	image	NOUN
aiti-7109	147	5	fig	fig	NOUN
aiti-7109	147	6	.	.	PUNCT
aiti-7109	148	1	13	13	NUM
aiti-7109	148	2	erosion	erosion	NOUN
aiti-7109	148	3	image	image	NOUN
aiti-7109	148	4	after	after	ADP
aiti-7109	148	5	erosion	erosion	NOUN
aiti-7109	148	6	calculation	calculation	NOUN
aiti-7109	148	7	,	,	PUNCT
aiti-7109	148	8	the	the	DET
aiti-7109	148	9	lane	lane	NOUN
aiti-7109	148	10	line	line	NOUN
aiti-7109	148	11	shape	shape	NOUN
aiti-7109	148	12	is	be	AUX
aiti-7109	148	13	no	no	ADV
aiti-7109	148	14	longer	long	ADV
aiti-7109	148	15	true	true	ADJ
aiti-7109	148	16	.	.	PUNCT
aiti-7109	149	1	therefore	therefore	ADV
aiti-7109	149	2	,	,	PUNCT
aiti-7109	149	3	using	use	VERB
aiti-7109	149	4	an	an	DET
aiti-7109	149	5	expansion	expansion	NOUN
aiti-7109	149	6	operation	operation	NOUN
aiti-7109	149	7	in	in	ADP
aiti-7109	149	8	typology	typology	NOUN
aiti-7109	149	9	is	be	AUX
aiti-7109	149	10	necessary	necessary	ADJ
aiti-7109	149	11	to	to	PART
aiti-7109	149	12	restore	restore	VERB
aiti-7109	149	13	the	the	DET
aiti-7109	149	14	eroded	eroded	ADJ
aiti-7109	149	15	lane	lane	NOUN
aiti-7109	149	16	line	line	NOUN
aiti-7109	149	17	to	to	PART
aiti-7109	149	18	obtain	obtain	VERB
aiti-7109	149	19	an	an	DET
aiti-7109	149	20	appearance	appearance	NOUN
aiti-7109	149	21	consistent	consistent	ADJ
aiti-7109	149	22	with	with	ADP
aiti-7109	149	23	the	the	DET
aiti-7109	149	24	actual	actual	ADJ
aiti-7109	149	25	situation	situation	NOUN
aiti-7109	149	26	.	.	PUNCT
aiti-7109	150	1	moreover	moreover	ADV
aiti-7109	150	2	,	,	PUNCT
aiti-7109	150	3	in	in	ADP
aiti-7109	150	4	the	the	DET
aiti-7109	150	5	expansion	expansion	NOUN
aiti-7109	150	6	operation	operation	NOUN
aiti-7109	150	7	,	,	PUNCT
aiti-7109	150	8	5×5	5×5	NUM
aiti-7109	150	9	rectangular	rectangular	ADJ
aiti-7109	150	10	elements	element	NOUN
aiti-7109	150	11	are	be	AUX
aiti-7109	150	12	used	use	VERB
aiti-7109	150	13	.	.	PUNCT
aiti-7109	151	1	fig	fig	NOUN
aiti-7109	151	2	.	.	PUNCT
aiti-7109	152	1	14	14	NUM
aiti-7109	152	2	presents	present	VERB
aiti-7109	152	3	the	the	DET
aiti-7109	152	4	results	result	NOUN
aiti-7109	152	5	.	.	PUNCT
aiti-7109	153	1	in	in	ADP
aiti-7109	153	2	intersection	intersection	NOUN
aiti-7109	153	3	detection	detection	NOUN
aiti-7109	153	4	,	,	PUNCT
aiti-7109	153	5	two	two	NUM
aiti-7109	153	6	horizontal	horizontal	ADJ
aiti-7109	153	7	lines	line	NOUN
aiti-7109	153	8	parallel	parallel	ADJ
aiti-7109	153	9	to	to	ADP
aiti-7109	153	10	the	the	DET
aiti-7109	153	11	x	x	NOUN
aiti-7109	153	12	-	-	NOUN
aiti-7109	153	13	axis	axis	NOUN
aiti-7109	153	14	are	be	AUX
aiti-7109	153	15	used	use	VERB
aiti-7109	153	16	to	to	PART
aiti-7109	153	17	determine	determine	VERB
aiti-7109	153	18	the	the	DET
aiti-7109	153	19	intersection	intersection	NOUN
aiti-7109	153	20	with	with	ADP
aiti-7109	153	21	the	the	DET
aiti-7109	153	22	lane	lane	NOUN
aiti-7109	153	23	line	line	NOUN
aiti-7109	153	24	.	.	PUNCT
aiti-7109	154	1	the	the	DET
aiti-7109	154	2	method	method	NOUN
aiti-7109	154	3	involves	involve	VERB
aiti-7109	154	4	scanning	scan	VERB
aiti-7109	154	5	for	for	ADP
aiti-7109	154	6	specific	specific	ADJ
aiti-7109	154	7	y	y	PROPN
aiti-7109	154	8	coordinates	coordinate	NOUN
aiti-7109	154	9	in	in	ADP
aiti-7109	154	10	the	the	DET
aiti-7109	154	11	image	image	NOUN
aiti-7109	154	12	,	,	PUNCT
aiti-7109	154	13	recording	record	VERB
aiti-7109	154	14	the	the	DET
aiti-7109	154	15	x	x	SYM
aiti-7109	154	16	coordinates	coordinate	NOUN
aiti-7109	154	17	of	of	ADP
aiti-7109	154	18	white	white	ADJ
aiti-7109	154	19	points	point	NOUN
aiti-7109	154	20	,	,	PUNCT
aiti-7109	154	21	and	and	CCONJ
aiti-7109	154	22	dividing	divide	VERB
aiti-7109	154	23	the	the	DET
aiti-7109	154	24	points	point	NOUN
aiti-7109	154	25	into	into	ADP
aiti-7109	154	26	“	"	PUNCT
aiti-7109	154	27	left	leave	VERB
aiti-7109	154	28	”	"	PUNCT
aiti-7109	154	29	and	and	CCONJ
aiti-7109	154	30	“	"	PUNCT
aiti-7109	154	31	right	right	ADJ
aiti-7109	154	32	”	"	PUNCT
aiti-7109	154	33	groups	group	NOUN
aiti-7109	154	34	based	base	VERB
aiti-7109	154	35	on	on	ADP
aiti-7109	154	36	their	their	PRON
aiti-7109	154	37	x	x	ADJ
aiti-7109	154	38	coordinates	coordinate	NOUN
aiti-7109	154	39	.	.	PUNCT
aiti-7109	155	1	in	in	ADP
aiti-7109	155	2	this	this	DET
aiti-7109	155	3	manner	manner	NOUN
aiti-7109	155	4	,	,	PUNCT
aiti-7109	155	5	two	two	NUM
aiti-7109	155	6	specific	specific	ADJ
aiti-7109	155	7	y	y	PROPN
aiti-7109	155	8	coordinates	coordinate	NOUN
aiti-7109	155	9	are	be	AUX
aiti-7109	155	10	selected	select	VERB
aiti-7109	155	11	for	for	ADP
aiti-7109	155	12	scanning	scan	VERB
aiti-7109	155	13	simultaneously	simultaneously	ADV
aiti-7109	155	14	,	,	PUNCT
aiti-7109	155	15	and	and	CCONJ
aiti-7109	155	16	the	the	DET
aiti-7109	155	17	intersection	intersection	NOUN
aiti-7109	155	18	of	of	ADP
aiti-7109	155	19	horizontal	horizontal	ADJ
aiti-7109	155	20	lines	line	NOUN
aiti-7109	155	21	1	1	NUM
aiti-7109	155	22	and	and	CCONJ
aiti-7109	155	23	2	2	NUM
aiti-7109	155	24	with	with	ADP
aiti-7109	155	25	the	the	DET
aiti-7109	155	26	left	left	ADJ
aiti-7109	155	27	and	and	CCONJ
aiti-7109	155	28	right	right	ADJ
aiti-7109	155	29	lane	lane	NOUN
aiti-7109	155	30	lines	line	NOUN
aiti-7109	155	31	is	be	AUX
aiti-7109	155	32	obtained	obtain	VERB
aiti-7109	155	33	,	,	PUNCT
aiti-7109	155	34	which	which	PRON
aiti-7109	155	35	leads	lead	VERB
aiti-7109	155	36	to	to	ADP
aiti-7109	155	37	four	four	NUM
aiti-7109	155	38	intersection	intersection	NOUN
aiti-7109	155	39	points	point	NOUN
aiti-7109	155	40	.	.	PUNCT
aiti-7109	156	1	in	in	ADP
aiti-7109	156	2	this	this	DET
aiti-7109	156	3	step	step	NOUN
aiti-7109	156	4	,	,	PUNCT
aiti-7109	156	5	the	the	DET
aiti-7109	156	6	vehicle	vehicle	NOUN
aiti-7109	156	7	movement	movement	NOUN
aiti-7109	156	8	causes	cause	VERB
aiti-7109	156	9	the	the	DET
aiti-7109	156	10	y	y	PROPN
aiti-7109	156	11	coordinates	coordinate	NOUN
aiti-7109	156	12	of	of	ADP
aiti-7109	156	13	lane	lane	NOUN
aiti-7109	156	14	line	line	NOUN
aiti-7109	156	15	to	to	PART
aiti-7109	156	16	not	not	PART
aiti-7109	156	17	exhibit	exhibit	VERB
aiti-7109	156	18	a	a	DET
aiti-7109	156	19	fixed	fix	VERB
aiti-7109	156	20	relationship	relationship	NOUN
aiti-7109	156	21	.	.	PUNCT
aiti-7109	157	1	approximately	approximately	ADV
aiti-7109	157	2	10	10	NUM
aiti-7109	157	3	groups	group	NOUN
aiti-7109	157	4	of	of	ADP
aiti-7109	157	5	horizontal	horizontal	ADJ
aiti-7109	157	6	lines	line	NOUN
aiti-7109	157	7	with	with	ADP
aiti-7109	157	8	different	different	ADJ
aiti-7109	157	9	y	y	PROPN
aiti-7109	157	10	coordinates	coordinate	NOUN
aiti-7109	157	11	are	be	AUX
aiti-7109	157	12	detected	detect	VERB
aiti-7109	157	13	simultaneously	simultaneously	ADV
aiti-7109	157	14	during	during	ADP
aiti-7109	157	15	calculation	calculation	NOUN
aiti-7109	157	16	to	to	PART
aiti-7109	157	17	improve	improve	VERB
aiti-7109	157	18	the	the	DET
aiti-7109	157	19	detection	detection	NOUN
aiti-7109	157	20	accuracy	accuracy	NOUN
aiti-7109	157	21	of	of	ADP
aiti-7109	157	22	intersection	intersection	NOUN
aiti-7109	157	23	points	point	NOUN
aiti-7109	157	24	.	.	PUNCT
aiti-7109	158	1	fig	fig	NOUN
aiti-7109	158	2	.	.	PUNCT
aiti-7109	159	1	15	15	NUM
aiti-7109	159	2	illustrates	illustrate	VERB
aiti-7109	159	3	the	the	DET
aiti-7109	159	4	detection	detection	NOUN
aiti-7109	159	5	of	of	ADP
aiti-7109	159	6	intersection	intersection	NOUN
aiti-7109	159	7	points	point	NOUN
aiti-7109	159	8	by	by	ADP
aiti-7109	159	9	using	use	VERB
aiti-7109	159	10	two	two	NUM
aiti-7109	159	11	red	red	ADJ
aiti-7109	159	12	horizontal	horizontal	ADJ
aiti-7109	159	13	lines	line	NOUN
aiti-7109	159	14	,	,	PUNCT
aiti-7109	159	15	and	and	CCONJ
aiti-7109	159	16	the	the	DET
aiti-7109	159	17	blue	blue	ADJ
aiti-7109	159	18	circle	circle	NOUN
aiti-7109	159	19	represents	represent	VERB
aiti-7109	159	20	the	the	DET
aiti-7109	159	21	coordinates	coordinate	NOUN
aiti-7109	159	22	of	of	ADP
aiti-7109	159	23	four	four	NUM
aiti-7109	159	24	intersection	intersection	NOUN
aiti-7109	159	25	points	point	NOUN
aiti-7109	159	26	.	.	PUNCT
aiti-7109	160	1	fig	fig	NOUN
aiti-7109	160	2	.	.	PUNCT
aiti-7109	161	1	14	14	NUM
aiti-7109	161	2	dilation	dilation	NOUN
aiti-7109	161	3	image	image	NOUN
aiti-7109	161	4	fig	fig	NOUN
aiti-7109	161	5	.	.	PUNCT
aiti-7109	162	1	15	15	NUM
aiti-7109	162	2	intersection	intersection	NOUN
aiti-7109	162	3	point	point	NOUN
aiti-7109	162	4	detection	detection	NOUN
aiti-7109	162	5	the	the	DET
aiti-7109	162	6	first	first	ADJ
aiti-7109	162	7	step	step	NOUN
aiti-7109	162	8	of	of	ADP
aiti-7109	162	9	the	the	DET
aiti-7109	162	10	migration	migration	NOUN
aiti-7109	162	11	judgment	judgment	NOUN
aiti-7109	162	12	is	be	AUX
aiti-7109	162	13	performed	perform	VERB
aiti-7109	162	14	to	to	PART
aiti-7109	162	15	calculate	calculate	VERB
aiti-7109	162	16	the	the	DET
aiti-7109	162	17	point	point	NOUN
aiti-7109	162	18	of	of	ADP
aiti-7109	162	19	intersection	intersection	NOUN
aiti-7109	162	20	of	of	ADP
aiti-7109	162	21	the	the	DET
aiti-7109	162	22	slope	slope	NOUN
aiti-7109	162	23	and	and	CCONJ
aiti-7109	162	24	the	the	DET
aiti-7109	162	25	two	two	NUM
aiti-7109	162	26	lines	line	NOUN
aiti-7109	162	27	,	,	PUNCT
aiti-7109	162	28	as	as	SCONJ
aiti-7109	162	29	shown	show	VERB
aiti-7109	162	30	in	in	ADP
aiti-7109	162	31	fig	fig	NOUN
aiti-7109	162	32	.	.	PUNCT
aiti-7109	163	1	16	16	NUM
aiti-7109	163	2	.	.	PUNCT
aiti-7109	164	1	by	by	ADP
aiti-7109	164	2	connecting	connect	VERB
aiti-7109	164	3	the	the	DET
aiti-7109	164	4	intersection	intersection	NOUN
aiti-7109	164	5	points	point	NOUN
aiti-7109	164	6	of	of	ADP
aiti-7109	164	7	left	left	ADJ
aiti-7109	164	8	and	and	CCONJ
aiti-7109	164	9	right	right	ADJ
aiti-7109	164	10	groups	group	NOUN
aiti-7109	164	11	and	and	CCONJ
aiti-7109	164	12	extending	extend	VERB
aiti-7109	164	13	them	they	PRON
aiti-7109	164	14	,	,	PUNCT
aiti-7109	164	15	the	the	DET
aiti-7109	164	16	intersection	intersection	NOUN
aiti-7109	164	17	coordinates	coordinate	NOUN
aiti-7109	164	18	of	of	ADP
aiti-7109	164	19	the	the	DET
aiti-7109	164	20	slope	slope	NOUN
aiti-7109	164	21	of	of	ADP
aiti-7109	164	22	left	left	ADJ
aiti-7109	164	23	and	and	CCONJ
aiti-7109	164	24	right	right	ADJ
aiti-7109	164	25	lane	lane	NOUN
aiti-7109	164	26	lines	line	NOUN
aiti-7109	164	27	and	and	CCONJ
aiti-7109	164	28	the	the	DET
aiti-7109	164	29	lane	lane	NOUN
aiti-7109	164	30	lines	line	NOUN
aiti-7109	164	31	of	of	ADP
aiti-7109	164	32	both	both	DET
aiti-7109	164	33	sides	side	NOUN
aiti-7109	164	34	are	be	AUX
aiti-7109	164	35	obtained	obtain	VERB
aiti-7109	164	36	.	.	PUNCT
aiti-7109	165	1	the	the	DET
aiti-7109	165	2	intersection	intersection	NOUN
aiti-7109	165	3	coordinates	coordinate	NOUN
aiti-7109	165	4	of	of	ADP
aiti-7109	165	5	left	left	ADJ
aiti-7109	165	6	and	and	CCONJ
aiti-7109	165	7	right	right	ADJ
aiti-7109	165	8	lane	lane	NOUN
aiti-7109	165	9	lines	line	NOUN
aiti-7109	165	10	and	and	CCONJ
aiti-7109	165	11	the	the	DET
aiti-7109	165	12	lane	lane	NOUN
aiti-7109	165	13	slope	slope	NOUN
aiti-7109	165	14	are	be	AUX
aiti-7109	165	15	stored	store	VERB
aiti-7109	165	16	in	in	ADP
aiti-7109	165	17	buffer	buffer	NOUN
aiti-7109	165	18	,	,	PUNCT
aiti-7109	165	19	and	and	CCONJ
aiti-7109	165	20	the	the	DET
aiti-7109	165	21	next	next	ADJ
aiti-7109	165	22	frame	frame	NOUN
aiti-7109	165	23	of	of	ADP
aiti-7109	165	24	the	the	DET
aiti-7109	165	25	image	image	NOUN
aiti-7109	165	26	is	be	AUX
aiti-7109	165	27	captured	capture	VERB
aiti-7109	165	28	using	use	VERB
aiti-7109	165	29	the	the	DET
aiti-7109	165	30	camera	camera	NOUN
aiti-7109	165	31	.	.	PUNCT
aiti-7109	166	1	in	in	ADP
aiti-7109	166	2	the	the	DET
aiti-7109	166	3	practical	practical	ADJ
aiti-7109	166	4	method	method	NOUN
aiti-7109	166	5	of	of	ADP
aiti-7109	166	6	deviation	deviation	NOUN
aiti-7109	166	7	judgment	judgment	NOUN
aiti-7109	166	8	,	,	PUNCT
aiti-7109	166	9	the	the	DET
aiti-7109	166	10	intersection	intersection	NOUN
aiti-7109	166	11	coordinates	coordinate	NOUN
aiti-7109	166	12	of	of	ADP
aiti-7109	166	13	left	left	ADJ
aiti-7109	166	14	and	and	CCONJ
aiti-7109	166	15	right	right	ADJ
aiti-7109	166	16	lane	lane	NOUN
aiti-7109	166	17	lines	line	NOUN
aiti-7109	166	18	and	and	CCONJ
aiti-7109	166	19	the	the	DET
aiti-7109	166	20	lane	lane	NOUN
aiti-7109	166	21	slope	slope	NOUN
aiti-7109	166	22	of	of	ADP
aiti-7109	166	23	this	this	DET
aiti-7109	166	24	frame	frame	NOUN
aiti-7109	166	25	with	with	ADP
aiti-7109	166	26	the	the	DET
aiti-7109	166	27	historical	historical	ADJ
aiti-7109	166	28	data	datum	NOUN
aiti-7109	166	29	of	of	ADP
aiti-7109	166	30	the	the	DET
aiti-7109	166	31	previous	previous	ADJ
aiti-7109	166	32	15	15	NUM
aiti-7109	166	33	frames	frame	NOUN
aiti-7109	166	34	stored	store	VERB
aiti-7109	166	35	in	in	ADP
aiti-7109	166	36	buffer	buffer	NOUN
aiti-7109	166	37	are	be	AUX
aiti-7109	166	38	compared	compare	VERB
aiti-7109	166	39	.	.	PUNCT
aiti-7109	167	1	when	when	SCONJ
aiti-7109	167	2	abnormal	abnormal	ADJ
aiti-7109	167	3	deviations	deviation	NOUN
aiti-7109	167	4	in	in	ADP
aiti-7109	167	5	slope	slope	NOUN
aiti-7109	167	6	and	and	CCONJ
aiti-7109	167	7	intersection	intersection	NOUN
aiti-7109	167	8	coordinates	coordinate	NOUN
aiti-7109	167	9	occur	occur	VERB
aiti-7109	167	10	,	,	PUNCT
aiti-7109	167	11	a	a	DET
aiti-7109	167	12	warning	warning	NOUN
aiti-7109	167	13	is	be	AUX
aiti-7109	167	14	sent	send	VERB
aiti-7109	167	15	to	to	PART
aiti-7109	167	16	alert	alert	VERB
aiti-7109	167	17	the	the	DET
aiti-7109	167	18	driver	driver	NOUN
aiti-7109	167	19	of	of	ADP
aiti-7109	167	20	lane	lane	PROPN
aiti-7109	167	21	deviation	deviation	NOUN
aiti-7109	167	22	.	.	PUNCT
aiti-7109	168	1	143	143	NUM
aiti-7109	168	2	advances	advance	NOUN
aiti-7109	168	3	in	in	ADP
aiti-7109	168	4	technology	technology	NOUN
aiti-7109	168	5	innovation	innovation	NOUN
aiti-7109	168	6	,	,	PUNCT
aiti-7109	168	7	vol	vol	NOUN
aiti-7109	168	8	.	.	PROPN
aiti-7109	168	9	6	6	NUM
aiti-7109	168	10	,	,	PUNCT
aiti-7109	168	11	no	no	INTJ
aiti-7109	168	12	.	.	NOUN
aiti-7109	168	13	3	3	NUM
aiti-7109	168	14	,	,	PUNCT
aiti-7109	168	15	2021	2021	NUM
aiti-7109	168	16	,	,	PUNCT
aiti-7109	168	17	pp	pp	ADJ
aiti-7109	168	18	.	.	PUNCT
aiti-7109	169	1	137	137	NUM
aiti-7109	169	2	-	-	SYM
aiti-7109	169	3	145	145	NUM
aiti-7109	169	4	fig	fig	NOUN
aiti-7109	169	5	.	.	PUNCT
aiti-7109	170	1	16	16	NUM
aiti-7109	170	2	.	.	PUNCT
aiti-7109	171	1	intersection	intersection	NOUN
aiti-7109	171	2	point	point	NOUN
aiti-7109	171	3	of	of	ADP
aiti-7109	171	4	slope	slope	NOUN
aiti-7109	171	5	and	and	CCONJ
aiti-7109	171	6	two	two	NUM
aiti-7109	171	7	lines	line	NOUN
aiti-7109	171	8	table	table	NOUN
aiti-7109	171	9	2	2	NUM
aiti-7109	171	10	compares	compare	VERB
aiti-7109	171	11	the	the	DET
aiti-7109	171	12	conventional	conventional	ADJ
aiti-7109	171	13	algorithm	algorithm	NOUN
aiti-7109	171	14	[	[	X
aiti-7109	171	15	23	23	NUM
aiti-7109	171	16	]	]	PUNCT
aiti-7109	171	17	with	with	ADP
aiti-7109	171	18	the	the	DET
aiti-7109	171	19	intersection	intersection	NOUN
aiti-7109	171	20	detection	detection	NOUN
aiti-7109	171	21	algorithm	algorithm	NOUN
aiti-7109	171	22	proposed	propose	VERB
aiti-7109	171	23	in	in	ADP
aiti-7109	171	24	this	this	DET
aiti-7109	171	25	paper	paper	NOUN
aiti-7109	171	26	.	.	PUNCT
aiti-7109	172	1	the	the	DET
aiti-7109	172	2	terms	term	NOUN
aiti-7109	172	3	of	of	ADP
aiti-7109	172	4	comparison	comparison	NOUN
aiti-7109	172	5	include	include	VERB
aiti-7109	172	6	the	the	DET
aiti-7109	172	7	time	time	NOUN
aiti-7109	172	8	spent	spend	VERB
aiti-7109	172	9	on	on	ADP
aiti-7109	172	10	each	each	DET
aiti-7109	172	11	step	step	NOUN
aiti-7109	172	12	of	of	ADP
aiti-7109	172	13	image	image	NOUN
aiti-7109	172	14	processing	processing	NOUN
aiti-7109	172	15	for	for	ADP
aiti-7109	172	16	each	each	DET
aiti-7109	172	17	frame	frame	NOUN
aiti-7109	172	18	and	and	CCONJ
aiti-7109	172	19	accuracy	accuracy	NOUN
aiti-7109	172	20	.	.	PUNCT
aiti-7109	173	1	table	table	NOUN
aiti-7109	173	2	2	2	NUM
aiti-7109	173	3	experimental	experimental	ADJ
aiti-7109	173	4	results	result	NOUN
aiti-7109	173	5	procedure	procedure	NOUN
aiti-7109	173	6	/	/	SYM
aiti-7109	173	7	algorithm	algorithm	NOUN
aiti-7109	173	8	traditional	traditional	ADJ
aiti-7109	173	9	lane	lane	NOUN
aiti-7109	173	10	detection	detection	NOUN
aiti-7109	173	11	intersection	intersection	NOUN
aiti-7109	173	12	point	point	NOUN
aiti-7109	173	13	detection	detection	NOUN
aiti-7109	173	14	grayscale	grayscale	NOUN
aiti-7109	173	15	0.005	0.005	NUM
aiti-7109	173	16	sec	sec	PROPN
aiti-7109	173	17	0.005	0.005	NUM
aiti-7109	173	18	sec	sec	PROPN
aiti-7109	173	19	canny	canny	ADJ
aiti-7109	173	20	edge	edge	NOUN
aiti-7109	173	21	detection	detection	NOUN
aiti-7109	173	22	0.018	0.018	NUM
aiti-7109	173	23	sec	sec	PROPN
aiti-7109	173	24	hough	hough	PROPN
aiti-7109	173	25	transform	transform	VERB
aiti-7109	173	26	0.023	0.023	NUM
aiti-7109	173	27	sec	sec	PROPN
aiti-7109	173	28	otsu	otsu	NOUN
aiti-7109	173	29	thresholding	thresholde	VERB
aiti-7109	173	30	0.005	0.005	NUM
aiti-7109	173	31	sec	sec	PROPN
aiti-7109	173	32	erode	erode	VERB
aiti-7109	173	33	0.007	0.007	NUM
aiti-7109	173	34	sec	sec	PROPN
aiti-7109	173	35	dilate	dilate	NOUN
aiti-7109	173	36	0.004	0.004	NUM
aiti-7109	173	37	sec	sec	PROPN
aiti-7109	173	38	intersection	intersection	NOUN
aiti-7109	173	39	point	point	NOUN
aiti-7109	173	40	detection	detection	NOUN
aiti-7109	173	41	0.001	0.001	NUM
aiti-7109	173	42	sec	sec	PROPN
aiti-7109	173	43	0.003	0.003	NUM
aiti-7109	173	44	sec	sec	PROPN
aiti-7109	173	45	sum	sum	NOUN
aiti-7109	173	46	(	(	PUNCT
aiti-7109	173	47	sec)/frame	sec)/frame	PROPN
aiti-7109	173	48	0.047	0.047	NUM
aiti-7109	173	49	sec	sec	PROPN
aiti-7109	173	50	/	/	SYM
aiti-7109	173	51	frame	frame	NOUN
aiti-7109	173	52	0.024	0.024	NUM
aiti-7109	173	53	sec	sec	PROPN
aiti-7109	173	54	/	/	SYM
aiti-7109	173	55	frame	frame	NOUN
aiti-7109	173	56	accuracy	accuracy	NOUN
aiti-7109	173	57	0.981	0.981	NUM
aiti-7109	173	58	0.924	0.924	NUM
aiti-7109	173	59	*	*	PUNCT
aiti-7109	173	60	accuracy	accuracy	NOUN
aiti-7109	173	61	=	=	SYM
aiti-7109	173	62	(	(	PUNCT
aiti-7109	173	63	number	number	NOUN
aiti-7109	173	64	of	of	ADP
aiti-7109	173	65	detected	detect	VERB
aiti-7109	173	66	/	/	SYM
aiti-7109	173	67	actual	actual	ADJ
aiti-7109	173	68	number	number	NOUN
aiti-7109	173	69	of	of	ADP
aiti-7109	173	70	lanes	lane	NOUN
aiti-7109	173	71	)	)	PUNCT
aiti-7109	173	72	5	5	NUM
aiti-7109	173	73	.	.	PUNCT
aiti-7109	174	1	conclusions	conclusion	NOUN
aiti-7109	174	2	the	the	DET
aiti-7109	174	3	intersection	intersection	NOUN
aiti-7109	174	4	detection	detection	NOUN
aiti-7109	174	5	algorithms	algorithm	NOUN
aiti-7109	174	6	proposed	propose	VERB
aiti-7109	174	7	in	in	ADP
aiti-7109	174	8	this	this	DET
aiti-7109	174	9	study	study	NOUN
aiti-7109	174	10	achieved	achieve	VERB
aiti-7109	174	11	a	a	DET
aiti-7109	174	12	higher	high	ADJ
aiti-7109	174	13	testing	testing	NOUN
aiti-7109	174	14	efficiency	efficiency	NOUN
aiti-7109	174	15	than	than	SCONJ
aiti-7109	174	16	the	the	DET
aiti-7109	174	17	traditional	traditional	ADJ
aiti-7109	174	18	lane	lane	NOUN
aiti-7109	174	19	detection	detection	NOUN
aiti-7109	174	20	algorithms	algorithm	NOUN
aiti-7109	174	21	did	do	VERB
aiti-7109	174	22	,	,	PUNCT
aiti-7109	174	23	and	and	CCONJ
aiti-7109	174	24	can	can	AUX
aiti-7109	174	25	be	be	AUX
aiti-7109	174	26	used	use	VERB
aiti-7109	174	27	to	to	PART
aiti-7109	174	28	determine	determine	VERB
aiti-7109	174	29	whether	whether	SCONJ
aiti-7109	174	30	a	a	DET
aiti-7109	174	31	vehicle	vehicle	NOUN
aiti-7109	174	32	is	be	AUX
aiti-7109	174	33	in	in	ADP
aiti-7109	174	34	the	the	DET
aiti-7109	174	35	middle	middle	NOUN
aiti-7109	174	36	of	of	ADP
aiti-7109	174	37	a	a	DET
aiti-7109	174	38	lane	lane	NOUN
aiti-7109	174	39	.	.	PUNCT
aiti-7109	175	1	the	the	DET
aiti-7109	175	2	test	test	NOUN
aiti-7109	175	3	results	result	NOUN
aiti-7109	175	4	revealed	reveal	VERB
aiti-7109	175	5	that	that	SCONJ
aiti-7109	175	6	the	the	DET
aiti-7109	175	7	proposed	propose	VERB
aiti-7109	175	8	algorithm	algorithm	NOUN
aiti-7109	175	9	was	be	AUX
aiti-7109	175	10	1.96	1.96	NUM
aiti-7109	175	11	times	time	NOUN
aiti-7109	175	12	faster	fast	ADV
aiti-7109	175	13	than	than	ADP
aiti-7109	175	14	the	the	DET
aiti-7109	175	15	conventional	conventional	ADJ
aiti-7109	175	16	algorithm	algorithm	NOUN
aiti-7109	175	17	at	at	ADP
aiti-7109	175	18	a	a	DET
aiti-7109	175	19	speed	speed	NOUN
aiti-7109	175	20	of	of	ADP
aiti-7109	175	21	90	90	NUM
aiti-7109	175	22	km	km	NOUN
aiti-7109	175	23	/	/	SYM
aiti-7109	175	24	h	h	NOUN
aiti-7109	175	25	on	on	ADP
aiti-7109	175	26	a	a	DET
aiti-7109	175	27	highway	highway	NOUN
aiti-7109	175	28	.	.	PUNCT
aiti-7109	176	1	moreover	moreover	ADV
aiti-7109	176	2	,	,	PUNCT
aiti-7109	176	3	the	the	DET
aiti-7109	176	4	system	system	NOUN
aiti-7109	176	5	can	can	AUX
aiti-7109	176	6	determine	determine	VERB
aiti-7109	176	7	whether	whether	SCONJ
aiti-7109	176	8	a	a	DET
aiti-7109	176	9	vehicle	vehicle	NOUN
aiti-7109	176	10	is	be	AUX
aiti-7109	176	11	turning	turn	VERB
aiti-7109	176	12	,	,	PUNCT
aiti-7109	176	13	as	as	ADV
aiti-7109	176	14	well	well	ADV
aiti-7109	176	15	as	as	ADP
aiti-7109	176	16	detect	detect	VERB
aiti-7109	176	17	if	if	SCONJ
aiti-7109	176	18	the	the	DET
aiti-7109	176	19	external	external	ADJ
aiti-7109	176	20	environment	environment	NOUN
aiti-7109	176	21	causes	cause	VERB
aiti-7109	176	22	the	the	DET
aiti-7109	176	23	slope	slope	NOUN
aiti-7109	176	24	of	of	ADP
aiti-7109	176	25	the	the	DET
aiti-7109	176	26	lane	lane	NOUN
aiti-7109	176	27	to	to	PART
aiti-7109	176	28	have	have	VERB
aiti-7109	176	29	an	an	DET
aiti-7109	176	30	irregularly	irregularly	ADV
aiti-7109	176	31	large	large	ADJ
aiti-7109	176	32	change	change	NOUN
aiti-7109	176	33	in	in	ADP
aiti-7109	176	34	angle	angle	NOUN
aiti-7109	176	35	and	and	CCONJ
aiti-7109	176	36	send	send	VERB
aiti-7109	176	37	a	a	DET
aiti-7109	176	38	warning	warning	NOUN
aiti-7109	176	39	to	to	ADP
aiti-7109	176	40	the	the	DET
aiti-7109	176	41	driver	driver	NOUN
aiti-7109	176	42	.	.	PUNCT
aiti-7109	177	1	however	however	ADV
aiti-7109	177	2	,	,	PUNCT
aiti-7109	177	3	because	because	SCONJ
aiti-7109	177	4	lane	lane	NOUN
aiti-7109	177	5	detection	detection	NOUN
aiti-7109	177	6	depends	depend	VERB
aiti-7109	177	7	on	on	ADP
aiti-7109	177	8	white	white	ADJ
aiti-7109	177	9	pixels	pixel	NOUN
aiti-7109	177	10	for	for	ADP
aiti-7109	177	11	group	group	NOUN
aiti-7109	177	12	judgment	judgment	NOUN
aiti-7109	177	13	after	after	ADP
aiti-7109	177	14	binarization	binarization	NOUN
aiti-7109	177	15	,	,	PUNCT
aiti-7109	177	16	judgment	judgment	NOUN
aiti-7109	177	17	errors	error	NOUN
aiti-7109	177	18	can	can	AUX
aiti-7109	177	19	occur	occur	VERB
aiti-7109	177	20	when	when	SCONJ
aiti-7109	177	21	white	white	ADJ
aiti-7109	177	22	road	road	NOUN
aiti-7109	177	23	signs	sign	NOUN
aiti-7109	177	24	are	be	AUX
aiti-7109	177	25	located	locate	VERB
aiti-7109	177	26	on	on	ADP
aiti-7109	177	27	the	the	DET
aiti-7109	177	28	lanes	lane	NOUN
aiti-7109	177	29	or	or	CCONJ
aiti-7109	177	30	when	when	SCONJ
aiti-7109	177	31	white	white	ADJ
aiti-7109	177	32	vehicles	vehicle	NOUN
aiti-7109	177	33	are	be	AUX
aiti-7109	177	34	under	under	ADP
aiti-7109	177	35	strong	strong	ADJ
aiti-7109	177	36	light	light	NOUN
aiti-7109	177	37	.	.	PUNCT
aiti-7109	178	1	these	these	DET
aiti-7109	178	2	situations	situation	NOUN
aiti-7109	178	3	may	may	AUX
aiti-7109	178	4	require	require	VERB
aiti-7109	178	5	additional	additional	ADJ
aiti-7109	178	6	lane	lane	NOUN
aiti-7109	178	7	clustering	cluster	VERB
aiti-7109	178	8	to	to	PART
aiti-7109	178	9	reduce	reduce	VERB
aiti-7109	178	10	the	the	DET
aiti-7109	178	11	likelihood	likelihood	NOUN
aiti-7109	178	12	of	of	ADP
aiti-7109	178	13	judgment	judgment	NOUN
aiti-7109	178	14	errors	error	NOUN
aiti-7109	178	15	.	.	PUNCT
aiti-7109	179	1	conflicts	conflict	NOUN
aiti-7109	179	2	of	of	ADP
aiti-7109	179	3	interest	interest	NOUN
aiti-7109	179	4	the	the	DET
aiti-7109	179	5	authors	author	NOUN
aiti-7109	179	6	declare	declare	VERB
aiti-7109	179	7	no	no	DET
aiti-7109	179	8	conflict	conflict	NOUN
aiti-7109	179	9	of	of	ADP
aiti-7109	179	10	interest	interest	NOUN
aiti-7109	179	11	.	.	PUNCT
aiti-7109	180	1	references	reference	NOUN
aiti-7109	180	2	[	[	X
aiti-7109	180	3	1	1	NUM
aiti-7109	180	4	]	]	PUNCT
aiti-7109	180	5	f.	f.	PROPN
aiti-7109	180	6	bonin	bonin	PROPN
aiti-7109	180	7	-	-	PUNCT
aiti-7109	180	8	font	font	NOUN
aiti-7109	180	9	,	,	PUNCT
aiti-7109	180	10	a.	a.	NOUN
aiti-7109	180	11	burguera	burguera	NOUN
aiti-7109	180	12	,	,	PUNCT
aiti-7109	180	13	a.	a.	PROPN
aiti-7109	180	14	ortiz	ortiz	PROPN
aiti-7109	180	15	,	,	PUNCT
aiti-7109	180	16	and	and	CCONJ
aiti-7109	180	17	g.	g.	PROPN
aiti-7109	180	18	oliver	oliver	PROPN
aiti-7109	180	19	,	,	PUNCT
aiti-7109	180	20	“	"	PUNCT
aiti-7109	180	21	concurrent	concurrent	ADJ
aiti-7109	180	22	visual	visual	ADJ
aiti-7109	180	23	navigation	navigation	NOUN
aiti-7109	180	24	and	and	CCONJ
aiti-7109	180	25	localization	localization	NOUN
aiti-7109	180	26	using	use	VERB
aiti-7109	180	27	inverse	inverse	NOUN
aiti-7109	180	28	perspective	perspective	NOUN
aiti-7109	180	29	transformation	transformation	NOUN
aiti-7109	180	30	,	,	PUNCT
aiti-7109	180	31	”	"	PUNCT
aiti-7109	180	32	iet	iet	PROPN
aiti-7109	180	33	electronics	electronic	NOUN
aiti-7109	180	34	letters	letter	NOUN
aiti-7109	180	35	,	,	PUNCT
aiti-7109	180	36	vol	vol	NOUN
aiti-7109	180	37	.	.	PROPN
aiti-7109	180	38	48	48	NUM
aiti-7109	180	39	,	,	PUNCT
aiti-7109	180	40	no	no	INTJ
aiti-7109	180	41	.	.	NOUN
aiti-7109	180	42	5	5	NUM
aiti-7109	180	43	,	,	PUNCT
aiti-7109	180	44	pp	pp	ADJ
aiti-7109	180	45	.	.	PUNCT
aiti-7109	181	1	264	264	NUM
aiti-7109	181	2	-	-	SYM
aiti-7109	181	3	266	266	NUM
aiti-7109	181	4	,	,	PUNCT
aiti-7109	181	5	march	march	PROPN
aiti-7109	181	6	2012	2012	NUM
aiti-7109	181	7	.	.	PUNCT
aiti-7109	182	1	[	[	X
aiti-7109	182	2	2	2	X
aiti-7109	182	3	]	]	PUNCT
aiti-7109	182	4	l.	l.	PROPN
aiti-7109	182	5	zhang	zhang	PROPN
aiti-7109	182	6	and	and	CCONJ
aiti-7109	182	7	k.	k.	PROPN
aiti-7109	182	8	yang	yang	PROPN
aiti-7109	182	9	,	,	PUNCT
aiti-7109	182	10	“	"	PUNCT
aiti-7109	182	11	region	region	NOUN
aiti-7109	182	12	-	-	PUNCT
aiti-7109	182	13	of	of	ADP
aiti-7109	182	14	-	-	PUNCT
aiti-7109	182	15	interest	interest	NOUN
aiti-7109	182	16	extraction	extraction	NOUN
aiti-7109	182	17	based	base	VERB
aiti-7109	182	18	on	on	ADP
aiti-7109	182	19	frequency	frequency	NOUN
aiti-7109	182	20	domain	domain	NOUN
aiti-7109	182	21	analysis	analysis	NOUN
aiti-7109	182	22	and	and	CCONJ
aiti-7109	182	23	salient	salient	NOUN
aiti-7109	182	24	region	region	NOUN
aiti-7109	182	25	detection	detection	NOUN
aiti-7109	182	26	for	for	ADP
aiti-7109	182	27	remote	remote	ADJ
aiti-7109	182	28	sensing	sense	VERB
aiti-7109	182	29	image	image	NOUN
aiti-7109	182	30	,	,	PUNCT
aiti-7109	182	31	”	"	PUNCT
aiti-7109	182	32	ieee	ieee	NOUN
aiti-7109	182	33	geoscience	geoscience	NOUN
aiti-7109	182	34	and	and	CCONJ
aiti-7109	182	35	remote	remote	ADJ
aiti-7109	182	36	sensing	sense	VERB
aiti-7109	182	37	letters	letter	NOUN
aiti-7109	182	38	,	,	PUNCT
aiti-7109	182	39	vol	vol	NOUN
aiti-7109	182	40	.	.	PROPN
aiti-7109	182	41	11	11	NUM
aiti-7109	182	42	,	,	PUNCT
aiti-7109	182	43	no	no	INTJ
aiti-7109	182	44	.	.	NOUN
aiti-7109	182	45	5	5	NUM
aiti-7109	182	46	,	,	PUNCT
aiti-7109	182	47	pp	pp	ADJ
aiti-7109	182	48	.	.	PUNCT
aiti-7109	183	1	916	916	NUM
aiti-7109	183	2	-	-	SYM
aiti-7109	183	3	920	920	NUM
aiti-7109	183	4	,	,	PUNCT
aiti-7109	183	5	may	may	AUX
aiti-7109	183	6	2014	2014	NUM
aiti-7109	183	7	.	.	PUNCT
aiti-7109	184	1	144	144	NUM
aiti-7109	184	2	advances	advance	NOUN
aiti-7109	184	3	in	in	ADP
aiti-7109	184	4	technology	technology	NOUN
aiti-7109	184	5	innovation	innovation	NOUN
aiti-7109	184	6	,	,	PUNCT
aiti-7109	184	7	vol	vol	NOUN
aiti-7109	184	8	.	.	PROPN
aiti-7109	184	9	6	6	NUM
aiti-7109	184	10	,	,	PUNCT
aiti-7109	184	11	no	no	INTJ
aiti-7109	184	12	.	.	NOUN
aiti-7109	184	13	3	3	NUM
aiti-7109	184	14	,	,	PUNCT
aiti-7109	184	15	2021	2021	NUM
aiti-7109	184	16	,	,	PUNCT
aiti-7109	184	17	pp	pp	ADJ
aiti-7109	184	18	.	.	PUNCT
aiti-7109	185	1	137	137	NUM
aiti-7109	185	2	-	-	SYM
aiti-7109	185	3	145	145	NUM
aiti-7109	185	4	[	[	X
aiti-7109	185	5	3	3	NUM
aiti-7109	185	6	]	]	PUNCT
aiti-7109	185	7	j.	j.	PROPN
aiti-7109	185	8	s.	s.	PROPN
aiti-7109	185	9	sheu	sheu	PROPN
aiti-7109	185	10	,	,	PUNCT
aiti-7109	185	11	c.	c.	PROPN
aiti-7109	185	12	h.	h.	PROPN
aiti-7109	185	13	chang	chang	PROPN
aiti-7109	185	14	,	,	PUNCT
aiti-7109	185	15	t.	t.	PROPN
aiti-7109	185	16	l.	l.	PROPN
aiti-7109	185	17	huang	huang	PROPN
aiti-7109	185	18	,	,	PUNCT
aiti-7109	185	19	and	and	CCONJ
aiti-7109	185	20	h.	h.	PROPN
aiti-7109	185	21	j.	j.	PROPN
aiti-7109	185	22	lin	lin	PROPN
aiti-7109	185	23	,	,	PUNCT
aiti-7109	185	24	“	"	PUNCT
aiti-7109	185	25	lane	lane	NOUN
aiti-7109	185	26	departure	departure	NOUN
aiti-7109	185	27	warning	warning	NOUN
aiti-7109	185	28	system	system	NOUN
aiti-7109	185	29	using	use	VERB
aiti-7109	185	30	front	front	ADJ
aiti-7109	185	31	-	-	PUNCT
aiti-7109	185	32	view	view	NOUN
aiti-7109	185	33	and	and	CCONJ
aiti-7109	185	34	two	two	NUM
aiti-7109	185	35	mirror	mirror	NOUN
aiti-7109	185	36	-	-	PUNCT
aiti-7109	185	37	view	view	NOUN
aiti-7109	185	38	cameras	camera	NOUN
aiti-7109	185	39	,	,	PUNCT
aiti-7109	185	40	”	"	PUNCT
aiti-7109	185	41	scientia	scientia	PROPN
aiti-7109	185	42	iranica	iranica	PROPN
aiti-7109	185	43	,	,	PUNCT
aiti-7109	185	44	vol	vol	NOUN
aiti-7109	185	45	.	.	PROPN
aiti-7109	186	1	22	22	NUM
aiti-7109	186	2	,	,	PUNCT
aiti-7109	186	3	no	no	INTJ
aiti-7109	186	4	.	.	NOUN
aiti-7109	186	5	6	6	NUM
aiti-7109	186	6	,	,	PUNCT
aiti-7109	186	7	pp	pp	ADJ
aiti-7109	186	8	.	.	PUNCT
aiti-7109	187	1	2126	2126	NUM
aiti-7109	187	2	-	-	SYM
aiti-7109	187	3	2133	2133	NUM
aiti-7109	187	4	,	,	PUNCT
aiti-7109	187	5	january	january	PROPN
aiti-7109	187	6	2015	2015	NUM
aiti-7109	187	7	.	.	PUNCT
aiti-7109	188	1	[	[	X
aiti-7109	188	2	4	4	X
aiti-7109	188	3	]	]	X
aiti-7109	188	4	d.	d.	PROPN
aiti-7109	188	5	c.	c.	PROPN
aiti-7109	188	6	andrade	andrade	PROPN
aiti-7109	188	7	,	,	PUNCT
aiti-7109	188	8	f.	f.	PROPN
aiti-7109	188	9	bueno	bueno	PROPN
aiti-7109	188	10	,	,	PUNCT
aiti-7109	188	11	f.	f.	PROPN
aiti-7109	188	12	r.	r.	PROPN
aiti-7109	188	13	franco	franco	PROPN
aiti-7109	188	14	,	,	PUNCT
aiti-7109	188	15	r.	r.	PROPN
aiti-7109	188	16	a.	a.	PROPN
aiti-7109	188	17	silva	silva	PROPN
aiti-7109	188	18	,	,	PUNCT
aiti-7109	188	19	j.	j.	PROPN
aiti-7109	188	20	h.	h.	PROPN
aiti-7109	188	21	z.	z.	PROPN
aiti-7109	188	22	neme	neme	PROPN
aiti-7109	188	23	,	,	PUNCT
aiti-7109	188	24	e.	e.	PROPN
aiti-7109	188	25	margraf	margraf	PROPN
aiti-7109	188	26	,	,	PUNCT
aiti-7109	188	27	et	et	PROPN
aiti-7109	188	28	al	al	PROPN
aiti-7109	188	29	.	.	PROPN
aiti-7109	188	30	,	,	PUNCT
aiti-7109	188	31	“	"	PUNCT
aiti-7109	188	32	a	a	DET
aiti-7109	188	33	novel	novel	ADJ
aiti-7109	188	34	strategy	strategy	NOUN
aiti-7109	188	35	for	for	ADP
aiti-7109	188	36	road	road	NOUN
aiti-7109	188	37	lane	lane	NOUN
aiti-7109	188	38	detection	detection	NOUN
aiti-7109	188	39	and	and	CCONJ
aiti-7109	188	40	tracking	tracking	NOUN
aiti-7109	188	41	based	base	VERB
aiti-7109	188	42	on	on	ADP
aiti-7109	188	43	a	a	DET
aiti-7109	188	44	vehicle	vehicle	NOUN
aiti-7109	188	45	’s	’s	PART
aiti-7109	188	46	forward	forward	ADV
aiti-7109	188	47	monocular	monocular	ADJ
aiti-7109	188	48	camera	camera	NOUN
aiti-7109	188	49	,	,	PUNCT
aiti-7109	188	50	”	"	PUNCT
aiti-7109	188	51	ieee	ieee	NOUN
aiti-7109	188	52	transactions	transaction	NOUN
aiti-7109	188	53	on	on	ADP
aiti-7109	188	54	intelligent	intelligent	ADJ
aiti-7109	188	55	transportation	transportation	NOUN
aiti-7109	188	56	systems	system	NOUN
aiti-7109	188	57	,	,	PUNCT
aiti-7109	188	58	vol	vol	NOUN
aiti-7109	188	59	.	.	PROPN
aiti-7109	188	60	20	20	NUM
aiti-7109	188	61	,	,	PUNCT
aiti-7109	188	62	no	no	INTJ
aiti-7109	188	63	.	.	NOUN
aiti-7109	188	64	4	4	NUM
aiti-7109	188	65	,	,	PUNCT
aiti-7109	188	66	pp	pp	ADJ
aiti-7109	188	67	.	.	PUNCT
aiti-7109	188	68	1497	1497	NUM
aiti-7109	188	69	-	-	SYM
aiti-7109	188	70	1507	1507	NUM
aiti-7109	188	71	,	,	PUNCT
aiti-7109	188	72	april	april	PROPN
aiti-7109	188	73	2019	2019	NUM
aiti-7109	188	74	.	.	PUNCT
aiti-7109	189	1	[	[	X
aiti-7109	189	2	5	5	X
aiti-7109	189	3	]	]	PUNCT
aiti-7109	189	4	s.	s.	PROPN
aiti-7109	189	5	jung	jung	PROPN
aiti-7109	189	6	,	,	PUNCT
aiti-7109	189	7	j.	j.	PROPN
aiti-7109	189	8	youn	youn	PROPN
aiti-7109	189	9	,	,	PUNCT
aiti-7109	189	10	and	and	CCONJ
aiti-7109	189	11	s.	s.	PROPN
aiti-7109	189	12	sull	sull	PROPN
aiti-7109	189	13	,	,	PUNCT
aiti-7109	189	14	“	"	PUNCT
aiti-7109	189	15	efficient	efficient	ADJ
aiti-7109	189	16	lane	lane	NOUN
aiti-7109	189	17	detection	detection	NOUN
aiti-7109	189	18	based	base	VERB
aiti-7109	189	19	on	on	ADP
aiti-7109	189	20	spatiotemporal	spatiotemporal	ADJ
aiti-7109	189	21	images	image	NOUN
aiti-7109	189	22	,	,	PUNCT
aiti-7109	189	23	”	"	PUNCT
aiti-7109	189	24	ieee	ieee	NOUN
aiti-7109	189	25	transactions	transaction	NOUN
aiti-7109	189	26	on	on	ADP
aiti-7109	189	27	intelligent	intelligent	ADJ
aiti-7109	189	28	transportation	transportation	NOUN
aiti-7109	189	29	systems	system	NOUN
aiti-7109	189	30	,	,	PUNCT
aiti-7109	189	31	vol	vol	NOUN
aiti-7109	189	32	.	.	PROPN
aiti-7109	189	33	17	17	NUM
aiti-7109	189	34	,	,	PUNCT
aiti-7109	189	35	no	no	INTJ
aiti-7109	189	36	.	.	NOUN
aiti-7109	189	37	1	1	NUM
aiti-7109	189	38	,	,	PUNCT
aiti-7109	189	39	pp	pp	ADJ
aiti-7109	189	40	.	.	PUNCT
aiti-7109	190	1	289	289	NUM
aiti-7109	190	2	-	-	SYM
aiti-7109	190	3	295	295	NUM
aiti-7109	190	4	,	,	PUNCT
aiti-7109	190	5	august	august	PROPN
aiti-7109	190	6	2015	2015	NUM
aiti-7109	190	7	.	.	PUNCT
aiti-7109	191	1	[	[	X
aiti-7109	191	2	6	6	NUM
aiti-7109	191	3	]	]	PUNCT
aiti-7109	191	4	h.	h.	PROPN
aiti-7109	191	5	wang	wang	PROPN
aiti-7109	191	6	,	,	PUNCT
aiti-7109	191	7	y.	y.	PROPN
aiti-7109	191	8	wang	wang	PROPN
aiti-7109	191	9	,	,	PUNCT
aiti-7109	191	10	x.	x.	PROPN
aiti-7109	191	11	zhao	zhao	PROPN
aiti-7109	191	12	,	,	PUNCT
aiti-7109	191	13	g.	g.	PROPN
aiti-7109	191	14	wang	wang	PROPN
aiti-7109	191	15	,	,	PUNCT
aiti-7109	191	16	h.	h.	PROPN
aiti-7109	191	17	huang	huang	PROPN
aiti-7109	191	18	,	,	PUNCT
aiti-7109	191	19	and	and	CCONJ
aiti-7109	191	20	j.	j.	PROPN
aiti-7109	191	21	zhang	zhang	PROPN
aiti-7109	191	22	,	,	PUNCT
aiti-7109	191	23	“	"	PUNCT
aiti-7109	191	24	lane	lane	NOUN
aiti-7109	191	25	detection	detection	NOUN
aiti-7109	191	26	of	of	ADP
aiti-7109	191	27	curving	curve	VERB
aiti-7109	191	28	road	road	NOUN
aiti-7109	191	29	for	for	ADP
aiti-7109	191	30	structural	structural	ADJ
aiti-7109	191	31	highway	highway	NOUN
aiti-7109	191	32	with	with	ADP
aiti-7109	191	33	straight	straight	ADJ
aiti-7109	191	34	-	-	PUNCT
aiti-7109	191	35	curve	curve	NOUN
aiti-7109	191	36	model	model	NOUN
aiti-7109	191	37	on	on	ADP
aiti-7109	191	38	vision	vision	NOUN
aiti-7109	191	39	,	,	PUNCT
aiti-7109	191	40	”	"	PUNCT
aiti-7109	191	41	ieee	ieee	NOUN
aiti-7109	191	42	transactions	transaction	NOUN
aiti-7109	191	43	on	on	ADP
aiti-7109	191	44	vehicular	vehicular	ADJ
aiti-7109	191	45	technology	technology	NOUN
aiti-7109	191	46	,	,	PUNCT
aiti-7109	191	47	vol	vol	NOUN
aiti-7109	191	48	.	.	PROPN
aiti-7109	192	1	68	68	NUM
aiti-7109	192	2	,	,	PUNCT
aiti-7109	192	3	no	no	INTJ
aiti-7109	192	4	.	.	NOUN
aiti-7109	192	5	6	6	NUM
aiti-7109	192	6	,	,	PUNCT
aiti-7109	192	7	pp	pp	ADJ
aiti-7109	192	8	.	.	PUNCT
aiti-7109	193	1	5321	5321	NUM
aiti-7109	193	2	-	-	SYM
aiti-7109	193	3	5330	5330	NUM
aiti-7109	193	4	,	,	PUNCT
aiti-7109	193	5	june	june	PROPN
aiti-7109	193	6	2019	2019	NUM
aiti-7109	193	7	.	.	PUNCT
aiti-7109	194	1	[	[	X
aiti-7109	194	2	7	7	X
aiti-7109	194	3	]	]	X
aiti-7109	194	4	c.	c.	PROPN
aiti-7109	194	5	lee	lee	PROPN
aiti-7109	194	6	and	and	CCONJ
aiti-7109	194	7	j.	j.	PROPN
aiti-7109	194	8	h.	h.	PROPN
aiti-7109	194	9	moon	moon	PROPN
aiti-7109	194	10	,	,	PUNCT
aiti-7109	194	11	“	"	PUNCT
aiti-7109	194	12	robust	robust	ADJ
aiti-7109	194	13	lane	lane	NOUN
aiti-7109	194	14	detection	detection	NOUN
aiti-7109	194	15	and	and	CCONJ
aiti-7109	194	16	tracking	track	VERB
aiti-7109	194	17	for	for	ADP
aiti-7109	194	18	real	real	ADJ
aiti-7109	194	19	-	-	PUNCT
aiti-7109	194	20	time	time	NOUN
aiti-7109	194	21	applications	application	NOUN
aiti-7109	194	22	,	,	PUNCT
aiti-7109	194	23	”	"	PUNCT
aiti-7109	194	24	ieee	ieee	NOUN
aiti-7109	194	25	transactions	transaction	NOUN
aiti-7109	194	26	on	on	ADP
aiti-7109	194	27	intelligent	intelligent	ADJ
aiti-7109	194	28	transportation	transportation	NOUN
aiti-7109	194	29	systems	system	NOUN
aiti-7109	194	30	,	,	PUNCT
aiti-7109	194	31	vol	vol	NOUN
aiti-7109	194	32	.	.	PROPN
aiti-7109	194	33	19	19	NUM
aiti-7109	194	34	,	,	PUNCT
aiti-7109	194	35	no	no	INTJ
aiti-7109	194	36	.	.	NOUN
aiti-7109	194	37	12	12	NUM
aiti-7109	194	38	,	,	PUNCT
aiti-7109	194	39	pp	pp	ADJ
aiti-7109	194	40	.	.	PUNCT
aiti-7109	195	1	4043	4043	NUM
aiti-7109	195	2	-	-	SYM
aiti-7109	195	3	4048	4048	NUM
aiti-7109	195	4	,	,	PUNCT
aiti-7109	195	5	february	february	PROPN
aiti-7109	195	6	2018	2018	NUM
aiti-7109	195	7	.	.	PUNCT
aiti-7109	196	1	[	[	X
aiti-7109	196	2	8	8	X
aiti-7109	196	3	]	]	PUNCT
aiti-7109	196	4	s.	s.	PROPN
aiti-7109	196	5	m.	m.	PROPN
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aiti-7109	196	7	,	,	PUNCT
aiti-7109	196	8	a.	a.	NOUN
aiti-7109	196	9	m.	m.	NOUN
aiti-7109	196	10	borodkin	borodkin	PROPN
aiti-7109	196	11	,	,	PUNCT
aiti-7109	196	12	and	and	CCONJ
aiti-7109	196	13	i.	i.	PROPN
aiti-7109	196	14	b.	b.	PROPN
aiti-7109	197	1	muchnik	muchnik	PROPN
aiti-7109	197	2	,	,	PUNCT
aiti-7109	197	3	“	"	PUNCT
aiti-7109	197	4	optimal	optimal	ADJ
aiti-7109	197	5	requantization	requantization	NOUN
aiti-7109	197	6	of	of	ADP
aiti-7109	197	7	deep	deep	ADJ
aiti-7109	197	8	grayscale	grayscale	NOUN
aiti-7109	197	9	images	image	NOUN
aiti-7109	197	10	and	and	CCONJ
aiti-7109	197	11	lloyd	lloyd	PROPN
aiti-7109	197	12	–	–	PUNCT
aiti-7109	197	13	max	max	PROPN
aiti-7109	197	14	quantization	quantization	NOUN
aiti-7109	197	15	,	,	PUNCT
aiti-7109	197	16	”	"	PUNCT
aiti-7109	197	17	ieee	ieee	NOUN
aiti-7109	197	18	transactions	transaction	NOUN
aiti-7109	197	19	on	on	ADP
aiti-7109	197	20	image	image	NOUN
aiti-7109	197	21	processing	processing	NOUN
aiti-7109	197	22	,	,	PUNCT
aiti-7109	197	23	vol	vol	NOUN
aiti-7109	197	24	.	.	PROPN
aiti-7109	197	25	15	15	NUM
aiti-7109	197	26	,	,	PUNCT
aiti-7109	197	27	no	no	INTJ
aiti-7109	197	28	.	.	NOUN
aiti-7109	197	29	2	2	NUM
aiti-7109	197	30	,	,	PUNCT
aiti-7109	197	31	pp	pp	ADJ
aiti-7109	197	32	.	.	PUNCT
aiti-7109	198	1	445	445	NUM
aiti-7109	198	2	-	-	SYM
aiti-7109	198	3	448	448	NUM
aiti-7109	198	4	,	,	PUNCT
aiti-7109	198	5	february	february	PROPN
aiti-7109	198	6	2006	2006	NUM
aiti-7109	198	7	.	.	PUNCT
aiti-7109	199	1	[	[	X
aiti-7109	199	2	9	9	X
aiti-7109	199	3	]	]	PUNCT
aiti-7109	199	4	j.	j.	PROPN
aiti-7109	199	5	lee	lee	PROPN
aiti-7109	199	6	,	,	PUNCT
aiti-7109	199	7	h.	h.	PROPN
aiti-7109	199	8	tang	tang	PROPN
aiti-7109	199	9	,	,	PUNCT
aiti-7109	199	10	and	and	CCONJ
aiti-7109	199	11	j.	j.	PROPN
aiti-7109	199	12	park	park	PROPN
aiti-7109	199	13	,	,	PUNCT
aiti-7109	199	14	“	"	PUNCT
aiti-7109	199	15	energy	energy	NOUN
aiti-7109	199	16	efficient	efficient	ADJ
aiti-7109	199	17	canny	canny	ADJ
aiti-7109	199	18	edge	edge	NOUN
aiti-7109	199	19	detector	detector	NOUN
aiti-7109	199	20	for	for	ADP
aiti-7109	199	21	advanced	advanced	ADJ
aiti-7109	199	22	mobile	mobile	ADJ
aiti-7109	199	23	vision	vision	NOUN
aiti-7109	199	24	applications	application	NOUN
aiti-7109	199	25	,	,	PUNCT
aiti-7109	199	26	”	"	PUNCT
aiti-7109	199	27	ieee	ieee	NOUN
aiti-7109	199	28	transactions	transaction	NOUN
aiti-7109	199	29	on	on	ADP
aiti-7109	199	30	circuits	circuit	NOUN
aiti-7109	199	31	and	and	CCONJ
aiti-7109	199	32	systems	system	NOUN
aiti-7109	199	33	for	for	ADP
aiti-7109	199	34	video	video	NOUN
aiti-7109	199	35	technology	technology	NOUN
aiti-7109	199	36	,	,	PUNCT
aiti-7109	199	37	vol	vol	NOUN
aiti-7109	199	38	.	.	PROPN
aiti-7109	199	39	28	28	NUM
aiti-7109	199	40	,	,	PUNCT
aiti-7109	199	41	no	no	INTJ
aiti-7109	199	42	.	.	NOUN
aiti-7109	199	43	4	4	NUM
aiti-7109	199	44	,	,	PUNCT
aiti-7109	199	45	pp	pp	ADJ
aiti-7109	199	46	.	.	PUNCT
aiti-7109	199	47	1037	1037	NUM
aiti-7109	199	48	-	-	SYM
aiti-7109	199	49	1046	1046	NUM
aiti-7109	199	50	,	,	PUNCT
aiti-7109	199	51	december	december	PROPN
aiti-7109	199	52	2016	2016	NUM
aiti-7109	199	53	.	.	PUNCT
aiti-7109	200	1	[	[	X
aiti-7109	200	2	10	10	NUM
aiti-7109	200	3	]	]	X
aiti-7109	200	4	r.	r.	PROPN
aiti-7109	200	5	k.	k.	PROPN
aiti-7109	200	6	satzoda	satzoda	PROPN
aiti-7109	200	7	,	,	PUNCT
aiti-7109	200	8	s.	s.	PROPN
aiti-7109	200	9	sathyanarayana	sathyanarayana	PROPN
aiti-7109	200	10	,	,	PUNCT
aiti-7109	200	11	t.	t.	NOUN
aiti-7109	200	12	srikanthan	srikanthan	PROPN
aiti-7109	200	13	,	,	PUNCT
aiti-7109	200	14	and	and	CCONJ
aiti-7109	200	15	s.	s.	PROPN
aiti-7109	200	16	sathyanarayana	sathyanarayana	PROPN
aiti-7109	200	17	,	,	PUNCT
aiti-7109	200	18	“	"	PUNCT
aiti-7109	200	19	hierarchical	hierarchical	ADJ
aiti-7109	200	20	additive	additive	ADJ
aiti-7109	200	21	hough	hough	PROPN
aiti-7109	200	22	transform	transform	VERB
aiti-7109	200	23	for	for	ADP
aiti-7109	200	24	lane	lane	NOUN
aiti-7109	200	25	detection	detection	NOUN
aiti-7109	200	26	,	,	PUNCT
aiti-7109	200	27	”	"	PUNCT
aiti-7109	200	28	ieee	ieee	NOUN
aiti-7109	200	29	embedded	embed	VERB
aiti-7109	200	30	systems	system	NOUN
aiti-7109	200	31	letters	letter	NOUN
aiti-7109	200	32	,	,	PUNCT
aiti-7109	200	33	vol	vol	NOUN
aiti-7109	200	34	.	.	PROPN
aiti-7109	201	1	2	2	NUM
aiti-7109	201	2	,	,	PUNCT
aiti-7109	201	3	no	no	INTJ
aiti-7109	201	4	.	.	NOUN
aiti-7109	201	5	2	2	NUM
aiti-7109	201	6	,	,	PUNCT
aiti-7109	201	7	pp	pp	ADJ
aiti-7109	201	8	.	.	PUNCT
aiti-7109	202	1	23	23	NUM
aiti-7109	202	2	-	-	SYM
aiti-7109	202	3	26	26	NUM
aiti-7109	202	4	,	,	PUNCT
aiti-7109	202	5	july	july	PROPN
aiti-7109	202	6	2010	2010	NUM
aiti-7109	202	7	.	.	PUNCT
aiti-7109	203	1	[	[	X
aiti-7109	203	2	11	11	NUM
aiti-7109	203	3	]	]	PUNCT
aiti-7109	203	4	a.	a.	NOUN
aiti-7109	203	5	gupta	gupta	PROPN
aiti-7109	203	6	and	and	CCONJ
aiti-7109	203	7	a.	a.	PROPN
aiti-7109	203	8	choudhary	choudhary	PROPN
aiti-7109	203	9	,	,	PUNCT
aiti-7109	203	10	“	"	PUNCT
aiti-7109	203	11	a	a	DET
aiti-7109	203	12	framework	framework	NOUN
aiti-7109	203	13	for	for	ADP
aiti-7109	203	14	camera	camera	NOUN
aiti-7109	203	15	-	-	PUNCT
aiti-7109	203	16	based	base	VERB
aiti-7109	203	17	real	real	ADJ
aiti-7109	203	18	-	-	PUNCT
aiti-7109	203	19	time	time	NOUN
aiti-7109	203	20	lane	lane	NOUN
aiti-7109	203	21	and	and	CCONJ
aiti-7109	203	22	road	road	NOUN
aiti-7109	203	23	surface	surface	NOUN
aiti-7109	203	24	marking	mark	VERB
aiti-7109	203	25	detection	detection	NOUN
aiti-7109	203	26	and	and	CCONJ
aiti-7109	203	27	recognition	recognition	NOUN
aiti-7109	203	28	,	,	PUNCT
aiti-7109	203	29	”	"	PUNCT
aiti-7109	203	30	ieee	ieee	NOUN
aiti-7109	203	31	transactions	transaction	NOUN
aiti-7109	203	32	on	on	ADP
aiti-7109	203	33	intelligent	intelligent	ADJ
aiti-7109	203	34	vehicles	vehicle	NOUN
aiti-7109	203	35	,	,	PUNCT
aiti-7109	203	36	vol	vol	NOUN
aiti-7109	203	37	.	.	PROPN
aiti-7109	203	38	3	3	NUM
aiti-7109	203	39	,	,	PUNCT
aiti-7109	203	40	no	no	INTJ
aiti-7109	203	41	.	.	NOUN
aiti-7109	203	42	4	4	NUM
aiti-7109	203	43	,	,	PUNCT
aiti-7109	203	44	pp	pp	ADJ
aiti-7109	203	45	.	.	PUNCT
aiti-7109	204	1	476	476	NUM
aiti-7109	204	2	-	-	NUM
aiti-7109	204	3	485	485	NUM
aiti-7109	204	4	,	,	PUNCT
aiti-7109	204	5	december	december	PROPN
aiti-7109	204	6	2018	2018	NUM
aiti-7109	204	7	.	.	PUNCT
aiti-7109	205	1	[	[	X
aiti-7109	205	2	12	12	NUM
aiti-7109	205	3	]	]	X
aiti-7109	205	4	s.	s.	PROPN
aiti-7109	205	5	lee	lee	PROPN
aiti-7109	205	6	,	,	PUNCT
aiti-7109	205	7	y.	y.	PROPN
aiti-7109	205	8	kwak	kwak	PROPN
aiti-7109	205	9	,	,	PUNCT
aiti-7109	205	10	y.	y.	PROPN
aiti-7109	205	11	j.	j.	PROPN
aiti-7109	205	12	kim	kim	PROPN
aiti-7109	205	13	,	,	PUNCT
aiti-7109	205	14	s.	s.	PROPN
aiti-7109	205	15	park	park	PROPN
aiti-7109	205	16	,	,	PUNCT
aiti-7109	205	17	and	and	CCONJ
aiti-7109	205	18	j.	j.	PROPN
aiti-7109	205	19	kim	kim	PROPN
aiti-7109	205	20	,	,	PUNCT
aiti-7109	205	21	“	"	PUNCT
aiti-7109	205	22	contrast	contrast	NOUN
aiti-7109	205	23	-	-	PUNCT
aiti-7109	205	24	preserved	preserve	VERB
aiti-7109	205	25	chroma	chroma	NOUN
aiti-7109	205	26	enhancement	enhancement	NOUN
aiti-7109	205	27	technique	technique	NOUN
aiti-7109	205	28	using	use	VERB
aiti-7109	205	29	ycbcr	ycbcr	NOUN
aiti-7109	205	30	color	color	NOUN
aiti-7109	205	31	space	space	NOUN
aiti-7109	205	32	,	,	PUNCT
aiti-7109	205	33	”	"	PUNCT
aiti-7109	205	34	ieee	ieee	NOUN
aiti-7109	205	35	transactions	transaction	NOUN
aiti-7109	205	36	on	on	ADP
aiti-7109	205	37	consumer	consumer	NOUN
aiti-7109	205	38	electronics	electronic	NOUN
aiti-7109	205	39	,	,	PUNCT
aiti-7109	205	40	vol	vol	NOUN
aiti-7109	205	41	.	.	PROPN
aiti-7109	206	1	58	58	NUM
aiti-7109	206	2	,	,	PUNCT
aiti-7109	206	3	no	no	INTJ
aiti-7109	206	4	.	.	NOUN
aiti-7109	206	5	2	2	NUM
aiti-7109	206	6	,	,	PUNCT
aiti-7109	206	7	pp	pp	ADJ
aiti-7109	206	8	.	.	PUNCT
aiti-7109	207	1	641	641	NUM
aiti-7109	207	2	-	-	SYM
aiti-7109	207	3	645	645	NUM
aiti-7109	207	4	,	,	PUNCT
aiti-7109	207	5	may	may	PROPN
aiti-7109	207	6	2012	2012	NUM
aiti-7109	207	7	.	.	PUNCT
aiti-7109	208	1	[	[	X
aiti-7109	208	2	13	13	NUM
aiti-7109	208	3	]	]	X
aiti-7109	208	4	c.	c.	PROPN
aiti-7109	208	5	c.	c.	PROPN
aiti-7109	208	6	lee	lee	PROPN
aiti-7109	208	7	and	and	CCONJ
aiti-7109	208	8	w.	w.	PROPN
aiti-7109	208	9	l.	l.	PROPN
aiti-7109	208	10	hwang	hwang	PROPN
aiti-7109	208	11	,	,	PUNCT
aiti-7109	208	12	“	"	PUNCT
aiti-7109	208	13	mixture	mixture	NOUN
aiti-7109	208	14	of	of	ADP
aiti-7109	208	15	gaussian	gaussian	ADJ
aiti-7109	208	16	blur	blur	PROPN
aiti-7109	208	17	kernel	kernel	PROPN
aiti-7109	208	18	representation	representation	NOUN
aiti-7109	208	19	for	for	ADP
aiti-7109	208	20	blind	blind	ADJ
aiti-7109	208	21	image	image	NOUN
aiti-7109	208	22	restoration	restoration	NOUN
aiti-7109	208	23	,	,	PUNCT
aiti-7109	208	24	”	"	PUNCT
aiti-7109	208	25	ieee	ieee	NOUN
aiti-7109	208	26	transactions	transaction	NOUN
aiti-7109	208	27	on	on	ADP
aiti-7109	208	28	computational	computational	ADJ
aiti-7109	208	29	imaging	imaging	NOUN
aiti-7109	208	30	,	,	PUNCT
aiti-7109	208	31	vol	vol	NOUN
aiti-7109	208	32	.	.	PROPN
aiti-7109	209	1	3	3	NUM
aiti-7109	209	2	,	,	PUNCT
aiti-7109	209	3	no	no	INTJ
aiti-7109	209	4	.	.	NOUN
aiti-7109	209	5	4	4	NUM
aiti-7109	209	6	,	,	PUNCT
aiti-7109	209	7	pp	pp	ADJ
aiti-7109	209	8	.	.	PUNCT
aiti-7109	210	1	783	783	NUM
aiti-7109	210	2	-	-	SYM
aiti-7109	210	3	797	797	NUM
aiti-7109	210	4	,	,	PUNCT
aiti-7109	210	5	december	december	PROPN
aiti-7109	210	6	2017	2017	NUM
aiti-7109	210	7	.	.	PUNCT
aiti-7109	211	1	[	[	X
aiti-7109	211	2	14	14	NUM
aiti-7109	211	3	]	]	X
aiti-7109	211	4	s.	s.	PROPN
aiti-7109	211	5	jiang	jiang	PROPN
aiti-7109	211	6	,	,	PUNCT
aiti-7109	211	7	t.	t.	PROPN
aiti-7109	211	8	xu	xu	PROPN
aiti-7109	211	9	,	,	PUNCT
aiti-7109	211	10	j.	j.	PROPN
aiti-7109	211	11	li	li	PROPN
aiti-7109	211	12	,	,	PUNCT
aiti-7109	211	13	b.	b.	PROPN
aiti-7109	211	14	huang	huang	PROPN
aiti-7109	211	15	,	,	PUNCT
aiti-7109	211	16	j.	j.	PROPN
aiti-7109	211	17	guo	guo	PROPN
aiti-7109	211	18	,	,	PUNCT
aiti-7109	211	19	and	and	CCONJ
aiti-7109	211	20	z.	z.	PROPN
aiti-7109	211	21	bian	bian	PROPN
aiti-7109	211	22	,	,	PUNCT
aiti-7109	211	23	“	"	PUNCT
aiti-7109	211	24	identifynet	identifynet	NOUN
aiti-7109	211	25	for	for	ADP
aiti-7109	211	26	non	non	ADJ
aiti-7109	211	27	-	-	ADJ
aiti-7109	211	28	maximum	maximum	ADJ
aiti-7109	211	29	suppression	suppression	NOUN
aiti-7109	211	30	,	,	PUNCT
aiti-7109	211	31	”	"	PUNCT
aiti-7109	211	32	ieee	ieee	NOUN
aiti-7109	211	33	access	access	NOUN
aiti-7109	211	34	,	,	PUNCT
aiti-7109	211	35	vol	vol	NOUN
aiti-7109	211	36	.	.	PROPN
aiti-7109	211	37	7	7	NUM
aiti-7109	211	38	,	,	PUNCT
aiti-7109	211	39	pp	pp	ADJ
aiti-7109	211	40	.	.	PUNCT
aiti-7109	212	1	148245	148245	NUM
aiti-7109	212	2	-	-	SYM
aiti-7109	212	3	148253	148253	NUM
aiti-7109	212	4	,	,	PUNCT
aiti-7109	212	5	september	september	PROPN
aiti-7109	212	6	2019	2019	NUM
aiti-7109	212	7	.	.	PUNCT
aiti-7109	213	1	[	[	X
aiti-7109	213	2	15	15	NUM
aiti-7109	213	3	]	]	X
aiti-7109	213	4	n.	n.	PROPN
aiti-7109	213	5	kanopoulos	kanopoulos	PROPN
aiti-7109	213	6	,	,	PUNCT
aiti-7109	213	7	n.	n.	PROPN
aiti-7109	213	8	vasanthavada	vasanthavada	PROPN
aiti-7109	213	9	,	,	PUNCT
aiti-7109	213	10	and	and	CCONJ
aiti-7109	213	11	r.	r.	PROPN
aiti-7109	213	12	l.	l.	PROPN
aiti-7109	213	13	baker	baker	PROPN
aiti-7109	213	14	,	,	PUNCT
aiti-7109	213	15	“	"	PUNCT
aiti-7109	213	16	design	design	NOUN
aiti-7109	213	17	of	of	ADP
aiti-7109	213	18	an	an	DET
aiti-7109	213	19	image	image	NOUN
aiti-7109	213	20	edge	edge	NOUN
aiti-7109	213	21	detection	detection	NOUN
aiti-7109	213	22	filter	filter	NOUN
aiti-7109	213	23	using	use	VERB
aiti-7109	213	24	the	the	DET
aiti-7109	213	25	sobel	sobel	NOUN
aiti-7109	213	26	operator	operator	NOUN
aiti-7109	213	27	,	,	PUNCT
aiti-7109	213	28	”	"	PUNCT
aiti-7109	213	29	ieee	ieee	NOUN
aiti-7109	213	30	journal	journal	NOUN
aiti-7109	213	31	of	of	ADP
aiti-7109	213	32	solid	solid	ADJ
aiti-7109	213	33	-	-	PUNCT
aiti-7109	213	34	state	state	NOUN
aiti-7109	213	35	circuits	circuit	NOUN
aiti-7109	213	36	,	,	PUNCT
aiti-7109	213	37	vol	vol	NOUN
aiti-7109	213	38	.	.	PROPN
aiti-7109	213	39	23	23	NUM
aiti-7109	213	40	,	,	PUNCT
aiti-7109	213	41	no	no	INTJ
aiti-7109	213	42	.	.	NOUN
aiti-7109	213	43	2	2	NUM
aiti-7109	213	44	,	,	PUNCT
aiti-7109	213	45	pp	pp	ADJ
aiti-7109	213	46	.	.	PUNCT
aiti-7109	214	1	358	358	NUM
aiti-7109	214	2	-	-	SYM
aiti-7109	214	3	367	367	NUM
aiti-7109	214	4	,	,	PUNCT
aiti-7109	214	5	april	april	PROPN
aiti-7109	214	6	1998	1998	NUM
aiti-7109	214	7	.	.	PUNCT
aiti-7109	215	1	[	[	X
aiti-7109	215	2	16	16	NUM
aiti-7109	215	3	]	]	PUNCT
aiti-7109	215	4	j.	j.	PROPN
aiti-7109	215	5	s.	s.	PROPN
aiti-7109	215	6	sheu	sheu	PROPN
aiti-7109	215	7	and	and	CCONJ
aiti-7109	215	8	c.	c.	PROPN
aiti-7109	215	9	y.	y.	PROPN
aiti-7109	215	10	han	han	PROPN
aiti-7109	215	11	,	,	PUNCT
aiti-7109	215	12	“	"	PUNCT
aiti-7109	215	13	combining	combine	VERB
aiti-7109	215	14	cloud	cloud	NOUN
aiti-7109	215	15	computing	computing	NOUN
aiti-7109	215	16	and	and	CCONJ
aiti-7109	215	17	artificial	artificial	ADJ
aiti-7109	215	18	intelligence	intelligence	NOUN
aiti-7109	215	19	scene	scene	NOUN
aiti-7109	215	20	recognition	recognition	NOUN
aiti-7109	215	21	in	in	ADP
aiti-7109	215	22	real	real	ADJ
aiti-7109	215	23	-	-	PUNCT
aiti-7109	215	24	time	time	NOUN
aiti-7109	215	25	environment	environment	NOUN
aiti-7109	215	26	image	image	NOUN
aiti-7109	215	27	planning	planning	NOUN
aiti-7109	215	28	walkable	walkable	ADJ
aiti-7109	215	29	area	area	NOUN
aiti-7109	215	30	,	,	PUNCT
aiti-7109	215	31	”	"	PUNCT
aiti-7109	215	32	advances	advance	NOUN
aiti-7109	215	33	in	in	ADP
aiti-7109	215	34	technology	technology	NOUN
aiti-7109	215	35	innovation	innovation	NOUN
aiti-7109	215	36	,	,	PUNCT
aiti-7109	215	37	vol	vol	NOUN
aiti-7109	215	38	.	.	PROPN
aiti-7109	215	39	5	5	NUM
aiti-7109	215	40	,	,	PUNCT
aiti-7109	215	41	no	no	INTJ
aiti-7109	215	42	.	.	NOUN
aiti-7109	215	43	1	1	NUM
aiti-7109	215	44	,	,	PUNCT
aiti-7109	215	45	pp	pp	ADJ
aiti-7109	215	46	.	.	PUNCT
aiti-7109	216	1	10	10	NUM
aiti-7109	216	2	-	-	SYM
aiti-7109	216	3	17	17	NUM
aiti-7109	216	4	,	,	PUNCT
aiti-7109	216	5	january	january	PROPN
aiti-7109	216	6	2020	2020	NUM
aiti-7109	216	7	.	.	PUNCT
aiti-7109	217	1	[	[	X
aiti-7109	217	2	17	17	NUM
aiti-7109	217	3	]	]	X
aiti-7109	217	4	q.	q.	PROPN
aiti-7109	217	5	chen	chen	PROPN
aiti-7109	217	6	,	,	PUNCT
aiti-7109	217	7	l.	l.	PROPN
aiti-7109	217	8	zhao	zhao	PROPN
aiti-7109	217	9	,	,	PUNCT
aiti-7109	217	10	j.	j.	PROPN
aiti-7109	217	11	lu	lu	PROPN
aiti-7109	217	12	,	,	PUNCT
aiti-7109	217	13	g.	g.	PROPN
aiti-7109	217	14	kuang	kuang	PROPN
aiti-7109	217	15	,	,	PUNCT
aiti-7109	217	16	n.	n.	PROPN
aiti-7109	217	17	wang	wang	PROPN
aiti-7109	217	18	,	,	PUNCT
aiti-7109	217	19	and	and	CCONJ
aiti-7109	217	20	y.	y.	PROPN
aiti-7109	217	21	jiang	jiang	PROPN
aiti-7109	217	22	,	,	PUNCT
aiti-7109	217	23	“	"	PUNCT
aiti-7109	217	24	modified	modify	VERB
aiti-7109	217	25	two	two	NUM
aiti-7109	217	26	-	-	PUNCT
aiti-7109	217	27	dimensional	dimensional	ADJ
aiti-7109	217	28	otsu	otsu	ADJ
aiti-7109	217	29	image	image	NOUN
aiti-7109	217	30	segmentation	segmentation	NOUN
aiti-7109	217	31	algorithm	algorithm	NOUN
aiti-7109	217	32	and	and	CCONJ
aiti-7109	217	33	fast	fast	ADJ
aiti-7109	217	34	realization	realization	NOUN
aiti-7109	217	35	,	,	PUNCT
aiti-7109	217	36	”	"	PUNCT
aiti-7109	217	37	iet	iet	PROPN
aiti-7109	217	38	image	image	NOUN
aiti-7109	217	39	processing	processing	NOUN
aiti-7109	217	40	,	,	PUNCT
aiti-7109	217	41	vol	vol	NOUN
aiti-7109	217	42	.	.	PROPN
aiti-7109	217	43	6	6	NUM
aiti-7109	217	44	,	,	PUNCT
aiti-7109	217	45	no	no	INTJ
aiti-7109	217	46	.	.	NOUN
aiti-7109	217	47	4	4	NUM
aiti-7109	217	48	,	,	PUNCT
aiti-7109	217	49	pp	pp	ADJ
aiti-7109	217	50	.	.	PUNCT
aiti-7109	218	1	426	426	NUM
aiti-7109	218	2	-	-	SYM
aiti-7109	218	3	433	433	NUM
aiti-7109	218	4	,	,	PUNCT
aiti-7109	218	5	june	june	PROPN
aiti-7109	218	6	2012	2012	NUM
aiti-7109	218	7	.	.	PUNCT
aiti-7109	219	1	[	[	X
aiti-7109	219	2	18	18	NUM
aiti-7109	219	3	]	]	PUNCT
aiti-7109	219	4	j.	j.	PROPN
aiti-7109	219	5	y.	y.	PROPN
aiti-7109	219	6	gil	gil	PROPN
aiti-7109	219	7	and	and	CCONJ
aiti-7109	219	8	r.	r.	PROPN
aiti-7109	219	9	kimmel	kimmel	PROPN
aiti-7109	219	10	,	,	PUNCT
aiti-7109	219	11	“	"	PUNCT
aiti-7109	219	12	efficient	efficient	ADJ
aiti-7109	219	13	dilation	dilation	NOUN
aiti-7109	219	14	,	,	PUNCT
aiti-7109	219	15	erosion	erosion	NOUN
aiti-7109	219	16	,	,	PUNCT
aiti-7109	219	17	opening	opening	NOUN
aiti-7109	219	18	,	,	PUNCT
aiti-7109	219	19	and	and	CCONJ
aiti-7109	219	20	closing	closing	NOUN
aiti-7109	219	21	algorithms	algorithm	NOUN
aiti-7109	219	22	,	,	PUNCT
aiti-7109	219	23	”	"	PUNCT
aiti-7109	219	24	ieee	ieee	NOUN
aiti-7109	219	25	transactions	transaction	NOUN
aiti-7109	219	26	on	on	ADP
aiti-7109	219	27	pattern	pattern	NOUN
aiti-7109	219	28	analysis	analysis	NOUN
aiti-7109	219	29	and	and	CCONJ
aiti-7109	219	30	machine	machine	NOUN
aiti-7109	219	31	intelligence	intelligence	NOUN
aiti-7109	219	32	,	,	PUNCT
aiti-7109	219	33	vol	vol	NOUN
aiti-7109	219	34	.	.	PROPN
aiti-7109	219	35	24	24	NUM
aiti-7109	219	36	,	,	PUNCT
aiti-7109	219	37	no	no	INTJ
aiti-7109	219	38	.	.	NOUN
aiti-7109	219	39	12	12	NUM
aiti-7109	219	40	,	,	PUNCT
aiti-7109	219	41	pp	pp	ADJ
aiti-7109	219	42	.	.	PUNCT
aiti-7109	220	1	1606	1606	NUM
aiti-7109	220	2	-	-	SYM
aiti-7109	220	3	1617	1617	NUM
aiti-7109	220	4	,	,	PUNCT
aiti-7109	220	5	december	december	PROPN
aiti-7109	220	6	2002	2002	NUM
aiti-7109	220	7	.	.	PUNCT
aiti-7109	221	1	[	[	X
aiti-7109	221	2	19	19	NUM
aiti-7109	221	3	]	]	X
aiti-7109	221	4	d.	d.	PROPN
aiti-7109	221	5	nadadur	nadadur	PROPN
aiti-7109	221	6	and	and	CCONJ
aiti-7109	221	7	r.	r.	PROPN
aiti-7109	221	8	m.	m.	PROPN
aiti-7109	221	9	haralick	haralick	PROPN
aiti-7109	221	10	,	,	PUNCT
aiti-7109	221	11	“	"	PUNCT
aiti-7109	221	12	recursive	recursive	ADJ
aiti-7109	221	13	binary	binary	ADJ
aiti-7109	221	14	dilation	dilation	NOUN
aiti-7109	221	15	and	and	CCONJ
aiti-7109	221	16	erosion	erosion	NOUN
aiti-7109	221	17	using	use	VERB
aiti-7109	221	18	digital	digital	ADJ
aiti-7109	221	19	line	line	NOUN
aiti-7109	221	20	structuring	structure	VERB
aiti-7109	221	21	elements	element	NOUN
aiti-7109	221	22	in	in	ADP
aiti-7109	221	23	arbitrary	arbitrary	ADJ
aiti-7109	221	24	orientations	orientation	NOUN
aiti-7109	221	25	,	,	PUNCT
aiti-7109	221	26	”	"	PUNCT
aiti-7109	221	27	ieee	ieee	NOUN
aiti-7109	221	28	transactions	transaction	NOUN
aiti-7109	221	29	on	on	ADP
aiti-7109	221	30	image	image	NOUN
aiti-7109	221	31	processing	processing	NOUN
aiti-7109	221	32	,	,	PUNCT
aiti-7109	221	33	vol	vol	NOUN
aiti-7109	221	34	.	.	NOUN
aiti-7109	221	35	9	9	NUM
aiti-7109	221	36	,	,	PUNCT
aiti-7109	221	37	no	no	INTJ
aiti-7109	221	38	.	.	NOUN
aiti-7109	221	39	5	5	NUM
aiti-7109	221	40	,	,	PUNCT
aiti-7109	221	41	pp	pp	ADJ
aiti-7109	221	42	.	.	PUNCT
aiti-7109	222	1	749	749	NUM
aiti-7109	222	2	-	-	SYM
aiti-7109	222	3	759	759	NUM
aiti-7109	222	4	,	,	PUNCT
aiti-7109	222	5	february	february	PROPN
aiti-7109	222	6	2000	2000	NUM
aiti-7109	222	7	.	.	PUNCT
aiti-7109	223	1	[	[	X
aiti-7109	223	2	20	20	NUM
aiti-7109	223	3	]	]	PUNCT
aiti-7109	223	4	m.	m.	PROPN
aiti-7109	223	5	hua	hua	PROPN
aiti-7109	223	6	,	,	PUNCT
aiti-7109	223	7	m.	m.	PROPN
aiti-7109	223	8	k.	k.	PROPN
aiti-7109	223	9	lau	lau	PROPN
aiti-7109	223	10	,	,	PUNCT
aiti-7109	223	11	j.	j.	PROPN
aiti-7109	223	12	pei	pei	PROPN
aiti-7109	223	13	,	,	PUNCT
aiti-7109	223	14	and	and	CCONJ
aiti-7109	223	15	k.	k.	PROPN
aiti-7109	223	16	wu	wu	PROPN
aiti-7109	223	17	,	,	PUNCT
aiti-7109	223	18	“	"	PUNCT
aiti-7109	223	19	continuous	continuous	ADJ
aiti-7109	223	20	k	k	NOUN
aiti-7109	223	21	-	-	PUNCT
aiti-7109	223	22	means	mean	VERB
aiti-7109	223	23	monitoring	monitoring	NOUN
aiti-7109	223	24	with	with	ADP
aiti-7109	223	25	low	low	ADJ
aiti-7109	223	26	reporting	reporting	NOUN
aiti-7109	223	27	cost	cost	NOUN
aiti-7109	223	28	in	in	ADP
aiti-7109	223	29	sensor	sensor	NOUN
aiti-7109	223	30	networks	network	NOUN
aiti-7109	223	31	,	,	PUNCT
aiti-7109	223	32	”	"	PUNCT
aiti-7109	223	33	ieee	ieee	NOUN
aiti-7109	223	34	transactions	transaction	NOUN
aiti-7109	223	35	on	on	ADP
aiti-7109	223	36	knowledge	knowledge	NOUN
aiti-7109	223	37	and	and	CCONJ
aiti-7109	223	38	data	datum	NOUN
aiti-7109	223	39	engineering	engineering	NOUN
aiti-7109	223	40	,	,	PUNCT
aiti-7109	223	41	vol	vol	NOUN
aiti-7109	223	42	.	.	PROPN
aiti-7109	223	43	21	21	NUM
aiti-7109	223	44	,	,	PUNCT
aiti-7109	223	45	no	no	INTJ
aiti-7109	223	46	.	.	NOUN
aiti-7109	223	47	12	12	NUM
aiti-7109	223	48	,	,	PUNCT
aiti-7109	223	49	pp	pp	ADJ
aiti-7109	223	50	.	.	PUNCT
aiti-7109	223	51	1679	1679	NUM
aiti-7109	223	52	-	-	SYM
aiti-7109	223	53	1691	1691	NUM
aiti-7109	223	54	,	,	PUNCT
aiti-7109	223	55	december	december	PROPN
aiti-7109	223	56	2009	2009	NUM
aiti-7109	223	57	.	.	PUNCT
aiti-7109	224	1	[	[	X
aiti-7109	224	2	21	21	NUM
aiti-7109	224	3	]	]	X
aiti-7109	224	4	s.	s.	PROPN
aiti-7109	224	5	fernandes	fernandes	PROPN
aiti-7109	224	6	,	,	PUNCT
aiti-7109	224	7	d.	d.	PROPN
aiti-7109	224	8	duseja	duseja	PROPN
aiti-7109	224	9	,	,	PUNCT
aiti-7109	224	10	and	and	CCONJ
aiti-7109	224	11	r.	r.	PROPN
aiti-7109	224	12	muthalagu	muthalagu	NOUN
aiti-7109	224	13	,	,	PUNCT
aiti-7109	224	14	“	"	PUNCT
aiti-7109	224	15	application	application	NOUN
aiti-7109	224	16	of	of	ADP
aiti-7109	224	17	image	image	NOUN
aiti-7109	224	18	processing	processing	NOUN
aiti-7109	224	19	techniques	technique	NOUN
aiti-7109	224	20	for	for	ADP
aiti-7109	224	21	autonomous	autonomous	ADJ
aiti-7109	224	22	cars	car	NOUN
aiti-7109	224	23	,	,	PUNCT
aiti-7109	224	24	”	"	PUNCT
aiti-7109	224	25	proceedings	proceeding	NOUN
aiti-7109	224	26	of	of	ADP
aiti-7109	224	27	engineering	engineering	NOUN
aiti-7109	224	28	and	and	CCONJ
aiti-7109	224	29	technology	technology	NOUN
aiti-7109	224	30	innovation	innovation	NOUN
aiti-7109	224	31	,	,	PUNCT
aiti-7109	224	32	vol.17	vol.17	ADJ
aiti-7109	224	33	,	,	PUNCT
aiti-7109	224	34	pp	pp	ADJ
aiti-7109	224	35	.	.	PUNCT
aiti-7109	225	1	1	1	NUM
aiti-7109	225	2	-	-	SYM
aiti-7109	225	3	12	12	NUM
aiti-7109	225	4	,	,	PUNCT
aiti-7109	225	5	january	january	NOUN
aiti-7109	225	6	2021	2021	NUM
aiti-7109	225	7	.	.	PUNCT
aiti-7109	226	1	[	[	X
aiti-7109	226	2	22	22	NUM
aiti-7109	226	3	]	]	PUNCT
aiti-7109	226	4	j.	j.	PROPN
aiti-7109	226	5	s.	s.	PROPN
aiti-7109	226	6	sheu	sheu	PROPN
aiti-7109	226	7	and	and	CCONJ
aiti-7109	226	8	w.	w.	PROPN
aiti-7109	226	9	h.	h.	PROPN
aiti-7109	226	10	tsai	tsai	PROPN
aiti-7109	226	11	,	,	PUNCT
aiti-7109	226	12	“	"	PUNCT
aiti-7109	226	13	implementation	implementation	NOUN
aiti-7109	226	14	of	of	ADP
aiti-7109	226	15	a	a	DET
aiti-7109	226	16	following	follow	VERB
aiti-7109	226	17	wheel	wheel	NOUN
aiti-7109	226	18	robot	robot	NOUN
aiti-7109	226	19	featuring	feature	VERB
aiti-7109	226	20	stereoscopic	stereoscopic	ADJ
aiti-7109	226	21	vision	vision	NOUN
aiti-7109	226	22	,	,	PUNCT
aiti-7109	226	23	”	"	PUNCT
aiti-7109	226	24	multimedia	multimedia	NOUN
aiti-7109	226	25	tools	tool	NOUN
aiti-7109	226	26	and	and	CCONJ
aiti-7109	226	27	applications	application	NOUN
aiti-7109	226	28	,	,	PUNCT
aiti-7109	226	29	vol	vol	NOUN
aiti-7109	226	30	.	.	PROPN
aiti-7109	226	31	76	76	NUM
aiti-7109	226	32	,	,	PUNCT
aiti-7109	226	33	pp	pp	ADP
aiti-7109	226	34	25161	25161	NUM
aiti-7109	226	35	-	-	SYM
aiti-7109	226	36	25177	25177	NUM
aiti-7109	226	37	,	,	PUNCT
aiti-7109	226	38	january	january	PROPN
aiti-7109	226	39	2017	2017	NUM
aiti-7109	226	40	.	.	PUNCT
aiti-7109	227	1	[	[	X
aiti-7109	227	2	23	23	NUM
aiti-7109	227	3	]	]	PUNCT
aiti-7109	227	4	j.	j.	PROPN
aiti-7109	227	5	h.	h.	PROPN
aiti-7109	227	6	yoo	yoo	PROPN
aiti-7109	227	7	,	,	PUNCT
aiti-7109	227	8	s.	s.	PROPN
aiti-7109	227	9	w.	w.	PROPN
aiti-7109	227	10	lee	lee	PROPN
aiti-7109	227	11	,	,	PUNCT
aiti-7109	227	12	s.	s.	PROPN
aiti-7109	227	13	k.	k.	PROPN
aiti-7109	227	14	park	park	PROPN
aiti-7109	227	15	,	,	PUNCT
aiti-7109	227	16	and	and	CCONJ
aiti-7109	227	17	d.	d.	PROPN
aiti-7109	227	18	h.	h.	PROPN
aiti-7109	227	19	kim	kim	PROPN
aiti-7109	227	20	,	,	PUNCT
aiti-7109	227	21	“	"	PUNCT
aiti-7109	227	22	a	a	DET
aiti-7109	227	23	robust	robust	ADJ
aiti-7109	227	24	lane	lane	NOUN
aiti-7109	227	25	detection	detection	NOUN
aiti-7109	227	26	method	method	NOUN
aiti-7109	227	27	based	base	VERB
aiti-7109	227	28	on	on	ADP
aiti-7109	227	29	vanishing	vanish	VERB
aiti-7109	227	30	point	point	NOUN
aiti-7109	227	31	estimation	estimation	NOUN
aiti-7109	227	32	using	use	VERB
aiti-7109	227	33	the	the	DET
aiti-7109	227	34	relevance	relevance	NOUN
aiti-7109	227	35	of	of	ADP
aiti-7109	227	36	line	line	NOUN
aiti-7109	227	37	segments	segment	NOUN
aiti-7109	227	38	,	,	PUNCT
aiti-7109	227	39	”	"	PUNCT
aiti-7109	227	40	ieee	ieee	NOUN
aiti-7109	227	41	transactions	transaction	NOUN
aiti-7109	227	42	on	on	ADP
aiti-7109	227	43	intelligent	intelligent	ADJ
aiti-7109	227	44	transportation	transportation	NOUN
aiti-7109	227	45	systems	system	NOUN
aiti-7109	227	46	,	,	PUNCT
aiti-7109	227	47	vol	vol	NOUN
aiti-7109	227	48	.	.	PROPN
aiti-7109	227	49	18	18	NUM
aiti-7109	227	50	,	,	PUNCT
aiti-7109	227	51	no	no	INTJ
aiti-7109	227	52	.	.	NOUN
aiti-7109	227	53	12	12	NUM
aiti-7109	227	54	,	,	PUNCT
aiti-7109	227	55	pp	pp	ADJ
aiti-7109	227	56	.	.	PUNCT
aiti-7109	228	1	3254	3254	NUM
aiti-7109	228	2	-	-	SYM
aiti-7109	228	3	3266	3266	NUM
aiti-7109	228	4	,	,	PUNCT
aiti-7109	228	5	december	december	PROPN
aiti-7109	228	6	2017	2017	NUM
aiti-7109	228	7	.	.	PUNCT
aiti-7109	229	1	copyright	copyright	NOUN
aiti-7109	229	2	©	©	PROPN
aiti-7109	229	3	by	by	ADP
aiti-7109	229	4	the	the	DET
aiti-7109	229	5	authors	author	NOUN
aiti-7109	229	6	.	.	PUNCT
aiti-7109	230	1	licensee	licensee	PROPN
aiti-7109	230	2	taeti	taeti	PROPN
aiti-7109	230	3	,	,	PUNCT
aiti-7109	230	4	taiwan	taiwan	PROPN
aiti-7109	230	5	.	.	PUNCT
aiti-7109	231	1	this	this	DET
aiti-7109	231	2	article	article	NOUN
aiti-7109	231	3	is	be	AUX
aiti-7109	231	4	an	an	DET
aiti-7109	231	5	open	open	ADJ
aiti-7109	231	6	access	access	NOUN
aiti-7109	231	7	article	article	NOUN
aiti-7109	231	8	distributed	distribute	VERB
aiti-7109	231	9	under	under	ADP
aiti-7109	231	10	the	the	DET
aiti-7109	231	11	terms	term	NOUN
aiti-7109	231	12	and	and	CCONJ
aiti-7109	231	13	conditions	condition	NOUN
aiti-7109	231	14	of	of	ADP
aiti-7109	231	15	the	the	DET
aiti-7109	231	16	creative	creative	ADJ
aiti-7109	231	17	commons	common	NOUN
aiti-7109	231	18	attribution	attribution	NOUN
aiti-7109	231	19	(	(	PUNCT
aiti-7109	231	20	cc	cc	NOUN
aiti-7109	231	21	by	by	ADP
aiti-7109	231	22	-	-	PUNCT
aiti-7109	231	23	nc	nc	NOUN
aiti-7109	231	24	)	)	PUNCT
aiti-7109	231	25	license	license	NOUN
aiti-7109	231	26	(	(	PUNCT
aiti-7109	231	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-7109	231	28	)	)	PUNCT
aiti-7109	231	29	.	.	PUNCT
aiti-7109	232	1	145	145	NUM