id	sid	tid	token	lemma	pos
aiti-7192	1	1	2___aiti#7192_in	2___aiti#7192_in	NUM
aiti-7192	1	2	press	press	NOUN
aiti-7192	1	3	advances	advance	NOUN
aiti-7192	1	4	in	in	ADP
aiti-7192	1	5	technology	technology	NOUN
aiti-7192	1	6	innovation	innovation	NOUN
aiti-7192	1	7	,	,	PUNCT
aiti-7192	1	8	vol	vol	NOUN
aiti-7192	1	9	.	.	PROPN
aiti-7192	1	10	6	6	NUM
aiti-7192	1	11	,	,	PUNCT
aiti-7192	1	12	no	no	INTJ
aiti-7192	1	13	.	.	NOUN
aiti-7192	1	14	4	4	NUM
aiti-7192	1	15	,	,	PUNCT
aiti-7192	1	16	2021	2021	NUM
aiti-7192	1	17	,	,	PUNCT
aiti-7192	1	18	pp	pp	ADJ
aiti-7192	1	19	.	.	PUNCT
aiti-7192	2	1	213	213	NUM
aiti-7192	2	2	-	-	SYM
aiti-7192	2	3	221	221	NUM
aiti-7192	2	4	vehicle	vehicle	NOUN
aiti-7192	2	5	path	path	NOUN
aiti-7192	2	6	planning	planning	NOUN
aiti-7192	2	7	with	with	ADP
aiti-7192	2	8	multicloud	multicloud	NOUN
aiti-7192	2	9	computation	computation	NOUN
aiti-7192	2	10	services	service	NOUN
aiti-7192	2	11	po	po	PROPN
aiti-7192	2	12	-	-	PROPN
aiti-7192	2	13	tong	tong	PROPN
aiti-7192	2	14	wang	wang	PROPN
aiti-7192	2	15	1	1	NUM
aiti-7192	2	16	,	,	PUNCT
aiti-7192	2	17	shao	shao	PROPN
aiti-7192	2	18	-	-	PUNCT
aiti-7192	2	19	yu	yu	PROPN
aiti-7192	2	20	lin	lin	PROPN
aiti-7192	2	21	2	2	NUM
aiti-7192	2	22	,	,	PUNCT
aiti-7192	2	23	jia	jia	PROPN
aiti-7192	2	24	-	-	PUNCT
aiti-7192	2	25	shing	she	VERB
aiti-7192	2	26	sheu	sheu	NOUN
aiti-7192	2	27	2	2	NUM
aiti-7192	2	28	,	,	PUNCT
aiti-7192	2	29	*	*	PROPN
aiti-7192	2	30	1	1	NUM
aiti-7192	2	31	department	department	NOUN
aiti-7192	2	32	of	of	ADP
aiti-7192	2	33	electrical	electrical	ADJ
aiti-7192	2	34	engineering	engineering	NOUN
aiti-7192	2	35	,	,	PUNCT
aiti-7192	2	36	lunghwa	lunghwa	PROPN
aiti-7192	2	37	university	university	PROPN
aiti-7192	2	38	of	of	ADP
aiti-7192	2	39	science	science	NOUN
aiti-7192	2	40	and	and	CCONJ
aiti-7192	2	41	technology	technology	NOUN
aiti-7192	2	42	,	,	PUNCT
aiti-7192	2	43	taoyuan	taoyuan	PROPN
aiti-7192	2	44	,	,	PUNCT
aiti-7192	2	45	taiwan	taiwan	PROPN
aiti-7192	2	46	2	2	NUM
aiti-7192	2	47	department	department	NOUN
aiti-7192	2	48	of	of	ADP
aiti-7192	2	49	computer	computer	NOUN
aiti-7192	2	50	science	science	NOUN
aiti-7192	2	51	,	,	PUNCT
aiti-7192	2	52	national	national	PROPN
aiti-7192	2	53	taipei	taipei	PROPN
aiti-7192	2	54	university	university	PROPN
aiti-7192	2	55	of	of	ADP
aiti-7192	2	56	education	education	PROPN
aiti-7192	2	57	,	,	PUNCT
aiti-7192	2	58	taipei	taipei	PROPN
aiti-7192	2	59	,	,	PUNCT
aiti-7192	2	60	taiwan	taiwan	PROPN
aiti-7192	2	61	received	receive	VERB
aiti-7192	2	62	21	21	NUM
aiti-7192	2	63	february	february	NOUN
aiti-7192	2	64	2021	2021	NUM
aiti-7192	2	65	;	;	PUNCT
aiti-7192	2	66	received	receive	VERB
aiti-7192	2	67	in	in	ADP
aiti-7192	2	68	revised	revise	VERB
aiti-7192	2	69	form	form	NOUN
aiti-7192	2	70	09	09	NUM
aiti-7192	2	71	august	august	PROPN
aiti-7192	2	72	2021	2021	NUM
aiti-7192	2	73	;	;	PUNCT
aiti-7192	2	74	accepted	accept	VERB
aiti-7192	2	75	10	10	NUM
aiti-7192	2	76	august	august	PROPN
aiti-7192	2	77	2021	2021	NUM
aiti-7192	2	78	doi	doi	NOUN
aiti-7192	2	79	:	:	PUNCT
aiti-7192	2	80	https://doi.org/10.46604/aiti.2021.7192	https://doi.org/10.46604/aiti.2021.7192	PROPN
aiti-7192	2	81	abstract	abstract	ADJ
aiti-7192	2	82	with	with	ADP
aiti-7192	2	83	the	the	DET
aiti-7192	2	84	development	development	NOUN
aiti-7192	2	85	of	of	ADP
aiti-7192	2	86	artificial	artificial	ADJ
aiti-7192	2	87	intelligence	intelligence	NOUN
aiti-7192	2	88	,	,	PUNCT
aiti-7192	2	89	public	public	ADJ
aiti-7192	2	90	cloud	cloud	NOUN
aiti-7192	2	91	service	service	NOUN
aiti-7192	2	92	platforms	platform	NOUN
aiti-7192	2	93	have	have	AUX
aiti-7192	2	94	begun	begin	VERB
aiti-7192	2	95	to	to	PART
aiti-7192	2	96	provide	provide	VERB
aiti-7192	2	97	common	common	ADJ
aiti-7192	2	98	pretrained	pretraine	VERB
aiti-7192	2	99	object	object	NOUN
aiti-7192	2	100	recognition	recognition	NOUN
aiti-7192	2	101	models	model	NOUN
aiti-7192	2	102	for	for	ADP
aiti-7192	2	103	public	public	ADJ
aiti-7192	2	104	use	use	NOUN
aiti-7192	2	105	.	.	PUNCT
aiti-7192	3	1	in	in	ADP
aiti-7192	3	2	this	this	DET
aiti-7192	3	3	study	study	NOUN
aiti-7192	3	4	,	,	PUNCT
aiti-7192	3	5	a	a	DET
aiti-7192	3	6	dynamic	dynamic	ADJ
aiti-7192	3	7	vehicle	vehicle	NOUN
aiti-7192	3	8	path	path	NOUN
aiti-7192	3	9	-	-	PUNCT
aiti-7192	3	10	planning	planning	NOUN
aiti-7192	3	11	system	system	NOUN
aiti-7192	3	12	is	be	AUX
aiti-7192	3	13	developed	develop	VERB
aiti-7192	3	14	,	,	PUNCT
aiti-7192	3	15	which	which	PRON
aiti-7192	3	16	uses	use	VERB
aiti-7192	3	17	several	several	ADJ
aiti-7192	3	18	general	general	ADJ
aiti-7192	3	19	pretrained	pretraine	VERB
aiti-7192	3	20	cloud	cloud	NOUN
aiti-7192	3	21	models	model	NOUN
aiti-7192	3	22	to	to	PART
aiti-7192	3	23	detect	detect	VERB
aiti-7192	3	24	obstacles	obstacle	NOUN
aiti-7192	3	25	and	and	CCONJ
aiti-7192	3	26	calculate	calculate	VERB
aiti-7192	3	27	the	the	DET
aiti-7192	3	28	navigation	navigation	NOUN
aiti-7192	3	29	area	area	NOUN
aiti-7192	3	30	.	.	PUNCT
aiti-7192	4	1	the	the	DET
aiti-7192	4	2	euclidean	euclidean	ADJ
aiti-7192	4	3	distance	distance	NOUN
aiti-7192	4	4	and	and	CCONJ
aiti-7192	4	5	the	the	DET
aiti-7192	4	6	inequality	inequality	NOUN
aiti-7192	4	7	based	base	VERB
aiti-7192	4	8	on	on	ADP
aiti-7192	4	9	the	the	DET
aiti-7192	4	10	detected	detect	VERB
aiti-7192	4	11	marker	marker	NOUN
aiti-7192	4	12	box	box	NOUN
aiti-7192	4	13	data	datum	NOUN
aiti-7192	4	14	are	be	AUX
aiti-7192	4	15	used	use	VERB
aiti-7192	4	16	for	for	ADP
aiti-7192	4	17	vehicle	vehicle	NOUN
aiti-7192	4	18	path	path	NOUN
aiti-7192	4	19	planning	planning	NOUN
aiti-7192	4	20	.	.	PUNCT
aiti-7192	5	1	experimental	experimental	ADJ
aiti-7192	5	2	results	result	NOUN
aiti-7192	5	3	show	show	VERB
aiti-7192	5	4	that	that	SCONJ
aiti-7192	5	5	the	the	DET
aiti-7192	5	6	proposed	propose	VERB
aiti-7192	5	7	method	method	NOUN
aiti-7192	5	8	can	can	AUX
aiti-7192	5	9	effectively	effectively	ADV
aiti-7192	5	10	identify	identify	VERB
aiti-7192	5	11	the	the	DET
aiti-7192	5	12	driving	drive	VERB
aiti-7192	5	13	area	area	NOUN
aiti-7192	5	14	and	and	CCONJ
aiti-7192	5	15	plan	plan	VERB
aiti-7192	5	16	a	a	DET
aiti-7192	5	17	safe	safe	ADJ
aiti-7192	5	18	route	route	NOUN
aiti-7192	5	19	.	.	PUNCT
aiti-7192	6	1	the	the	DET
aiti-7192	6	2	proposed	propose	VERB
aiti-7192	6	3	method	method	NOUN
aiti-7192	6	4	integrates	integrate	VERB
aiti-7192	6	5	the	the	DET
aiti-7192	6	6	bounding	bounding	NOUN
aiti-7192	6	7	box	box	NOUN
aiti-7192	6	8	information	information	NOUN
aiti-7192	6	9	provided	provide	VERB
aiti-7192	6	10	by	by	ADP
aiti-7192	6	11	multiple	multiple	ADJ
aiti-7192	6	12	cloud	cloud	ADJ
aiti-7192	6	13	object	object	NOUN
aiti-7192	6	14	detection	detection	NOUN
aiti-7192	6	15	services	service	NOUN
aiti-7192	6	16	to	to	PART
aiti-7192	6	17	detect	detect	VERB
aiti-7192	6	18	navigable	navigable	ADJ
aiti-7192	6	19	areas	area	NOUN
aiti-7192	6	20	and	and	CCONJ
aiti-7192	6	21	plan	plan	NOUN
aiti-7192	6	22	routes	route	NOUN
aiti-7192	6	23	.	.	PUNCT
aiti-7192	7	1	the	the	DET
aiti-7192	7	2	time	time	NOUN
aiti-7192	7	3	required	require	VERB
aiti-7192	7	4	for	for	ADP
aiti-7192	7	5	cloud	cloud	NOUN
aiti-7192	7	6	-	-	PUNCT
aiti-7192	7	7	based	base	VERB
aiti-7192	7	8	obstacle	obstacle	NOUN
aiti-7192	7	9	identification	identification	NOUN
aiti-7192	7	10	is	be	AUX
aiti-7192	7	11	2	2	NUM
aiti-7192	7	12	s	s	NOUN
aiti-7192	7	13	per	per	ADP
aiti-7192	7	14	frame	frame	NOUN
aiti-7192	7	15	,	,	PUNCT
aiti-7192	7	16	and	and	CCONJ
aiti-7192	7	17	the	the	DET
aiti-7192	7	18	time	time	NOUN
aiti-7192	7	19	required	require	VERB
aiti-7192	7	20	for	for	ADP
aiti-7192	7	21	feasible	feasible	ADJ
aiti-7192	7	22	area	area	NOUN
aiti-7192	7	23	detection	detection	NOUN
aiti-7192	7	24	and	and	CCONJ
aiti-7192	7	25	action	action	NOUN
aiti-7192	7	26	planning	planning	NOUN
aiti-7192	7	27	is	be	AUX
aiti-7192	7	28	0.001	0.001	NUM
aiti-7192	7	29	s	s	NOUN
aiti-7192	7	30	per	per	ADP
aiti-7192	7	31	frame	frame	NOUN
aiti-7192	7	32	.	.	PUNCT
aiti-7192	8	1	in	in	ADP
aiti-7192	8	2	the	the	DET
aiti-7192	8	3	experiments	experiment	NOUN
aiti-7192	8	4	,	,	PUNCT
aiti-7192	8	5	the	the	DET
aiti-7192	8	6	robot	robot	NOUN
aiti-7192	8	7	that	that	PRON
aiti-7192	8	8	uses	use	VERB
aiti-7192	8	9	the	the	DET
aiti-7192	8	10	proposed	propose	VERB
aiti-7192	8	11	navigation	navigation	NOUN
aiti-7192	8	12	method	method	NOUN
aiti-7192	8	13	can	can	AUX
aiti-7192	8	14	plan	plan	VERB
aiti-7192	8	15	routes	route	NOUN
aiti-7192	8	16	successfully	successfully	ADV
aiti-7192	8	17	.	.	PUNCT
aiti-7192	9	1	keywords	keyword	NOUN
aiti-7192	9	2	:	:	PUNCT
aiti-7192	9	3	computer	computer	NOUN
aiti-7192	9	4	vision	vision	NOUN
aiti-7192	9	5	,	,	PUNCT
aiti-7192	9	6	scene	scene	NOUN
aiti-7192	9	7	recognition	recognition	NOUN
aiti-7192	9	8	,	,	PUNCT
aiti-7192	9	9	cloud	cloud	NOUN
aiti-7192	9	10	computing	computing	NOUN
aiti-7192	9	11	,	,	PUNCT
aiti-7192	9	12	object	object	NOUN
aiti-7192	9	13	detection	detection	NOUN
aiti-7192	9	14	1	1	NUM
aiti-7192	9	15	.	.	PUNCT
aiti-7192	9	16	introduction	introduction	NOUN
aiti-7192	9	17	although	although	SCONJ
aiti-7192	9	18	humans	human	NOUN
aiti-7192	9	19	can	can	AUX
aiti-7192	9	20	walk	walk	VERB
aiti-7192	9	21	small	small	ADJ
aiti-7192	9	22	distances	distance	NOUN
aiti-7192	9	23	,	,	PUNCT
aiti-7192	9	24	walking	walk	VERB
aiti-7192	9	25	long	long	ADJ
aiti-7192	9	26	distances	distance	NOUN
aiti-7192	9	27	is	be	AUX
aiti-7192	9	28	exhausting	exhausting	ADJ
aiti-7192	9	29	and	and	CCONJ
aiti-7192	9	30	time	time	NOUN
aiti-7192	9	31	-	-	PUNCT
aiti-7192	9	32	consuming	consume	VERB
aiti-7192	9	33	.	.	PUNCT
aiti-7192	10	1	therefore	therefore	ADV
aiti-7192	10	2	,	,	PUNCT
aiti-7192	10	3	bicycles	bicycle	NOUN
aiti-7192	10	4	,	,	PUNCT
aiti-7192	10	5	motorcycles	motorcycle	NOUN
aiti-7192	10	6	,	,	PUNCT
aiti-7192	10	7	and	and	CCONJ
aiti-7192	10	8	cars	car	NOUN
aiti-7192	10	9	were	be	AUX
aiti-7192	10	10	invented	invent	VERB
aiti-7192	10	11	over	over	ADP
aiti-7192	10	12	time	time	NOUN
aiti-7192	10	13	,	,	PUNCT
aiti-7192	10	14	and	and	CCONJ
aiti-7192	10	15	their	their	PRON
aiti-7192	10	16	continued	continue	VERB
aiti-7192	10	17	evolution	evolution	NOUN
aiti-7192	10	18	has	have	AUX
aiti-7192	10	19	made	make	VERB
aiti-7192	10	20	movement	movement	NOUN
aiti-7192	10	21	convenient	convenient	ADJ
aiti-7192	10	22	and	and	CCONJ
aiti-7192	10	23	safe	safe	ADJ
aiti-7192	10	24	.	.	PUNCT
aiti-7192	11	1	the	the	DET
aiti-7192	11	2	focus	focus	NOUN
aiti-7192	11	3	of	of	ADP
aiti-7192	11	4	vehicle	vehicle	NOUN
aiti-7192	11	5	development	development	NOUN
aiti-7192	11	6	has	have	AUX
aiti-7192	11	7	now	now	ADV
aiti-7192	11	8	shifted	shift	VERB
aiti-7192	11	9	to	to	ADP
aiti-7192	11	10	the	the	DET
aiti-7192	11	11	production	production	NOUN
aiti-7192	11	12	of	of	ADP
aiti-7192	11	13	low	low	ADJ
aiti-7192	11	14	-	-	PUNCT
aiti-7192	11	15	pollution	pollution	NOUN
aiti-7192	11	16	electric	electric	ADJ
aiti-7192	11	17	vehicles	vehicle	NOUN
aiti-7192	11	18	,	,	PUNCT
aiti-7192	11	19	such	such	ADJ
aiti-7192	11	20	as	as	ADP
aiti-7192	11	21	electric	electric	ADJ
aiti-7192	11	22	bicycles	bicycle	NOUN
aiti-7192	11	23	,	,	PUNCT
aiti-7192	11	24	balance	balance	NOUN
aiti-7192	11	25	bikes	bike	NOUN
aiti-7192	11	26	,	,	PUNCT
aiti-7192	11	27	and	and	CCONJ
aiti-7192	11	28	skateboards	skateboard	NOUN
aiti-7192	11	29	.	.	PUNCT
aiti-7192	12	1	autonomous	autonomous	ADJ
aiti-7192	12	2	driving	driving	NOUN
aiti-7192	12	3	can	can	AUX
aiti-7192	12	4	decrease	decrease	VERB
aiti-7192	12	5	the	the	DET
aiti-7192	12	6	burden	burden	NOUN
aiti-7192	12	7	on	on	ADP
aiti-7192	12	8	human	human	ADJ
aiti-7192	12	9	drivers	driver	NOUN
aiti-7192	12	10	,	,	PUNCT
aiti-7192	12	11	reduce	reduce	VERB
aiti-7192	12	12	road	road	NOUN
aiti-7192	12	13	congestion	congestion	NOUN
aiti-7192	12	14	,	,	PUNCT
aiti-7192	12	15	and	and	CCONJ
aiti-7192	12	16	improve	improve	VERB
aiti-7192	12	17	transportation	transportation	NOUN
aiti-7192	12	18	safety	safety	NOUN
aiti-7192	12	19	[	[	X
aiti-7192	12	20	1	1	NUM
aiti-7192	12	21	]	]	PUNCT
aiti-7192	12	22	.	.	PUNCT
aiti-7192	13	1	planning	plan	VERB
aiti-7192	13	2	a	a	DET
aiti-7192	13	3	safe	safe	ADJ
aiti-7192	13	4	pathway	pathway	NOUN
aiti-7192	13	5	is	be	AUX
aiti-7192	13	6	the	the	DET
aiti-7192	13	7	focus	focus	NOUN
aiti-7192	13	8	of	of	ADP
aiti-7192	13	9	autonomous	autonomous	ADJ
aiti-7192	13	10	driving	driving	NOUN
aiti-7192	13	11	.	.	PUNCT
aiti-7192	14	1	the	the	DET
aiti-7192	14	2	information	information	NOUN
aiti-7192	14	3	regarding	regard	VERB
aiti-7192	14	4	the	the	DET
aiti-7192	14	5	surrounding	surround	VERB
aiti-7192	14	6	environment	environment	NOUN
aiti-7192	14	7	is	be	AUX
aiti-7192	14	8	collected	collect	VERB
aiti-7192	14	9	to	to	PART
aiti-7192	14	10	plan	plan	VERB
aiti-7192	14	11	the	the	DET
aiti-7192	14	12	next	next	ADJ
aiti-7192	14	13	action	action	NOUN
aiti-7192	14	14	.	.	PUNCT
aiti-7192	15	1	to	to	PART
aiti-7192	15	2	prevent	prevent	VERB
aiti-7192	15	3	collisions	collision	NOUN
aiti-7192	15	4	,	,	PUNCT
aiti-7192	15	5	the	the	DET
aiti-7192	15	6	environment	environment	NOUN
aiti-7192	15	7	and	and	CCONJ
aiti-7192	15	8	moving	move	VERB
aiti-7192	15	9	objects	object	NOUN
aiti-7192	15	10	are	be	AUX
aiti-7192	15	11	monitored	monitor	VERB
aiti-7192	15	12	in	in	ADP
aiti-7192	15	13	real	real	ADJ
aiti-7192	15	14	time	time	NOUN
aiti-7192	15	15	for	for	ADP
aiti-7192	15	16	determining	determine	VERB
aiti-7192	15	17	appropriate	appropriate	ADJ
aiti-7192	15	18	responses	response	NOUN
aiti-7192	15	19	.	.	PUNCT
aiti-7192	16	1	however	however	ADV
aiti-7192	16	2	,	,	PUNCT
aiti-7192	16	3	the	the	DET
aiti-7192	16	4	implementation	implementation	NOUN
aiti-7192	16	5	of	of	ADP
aiti-7192	16	6	autonomous	autonomous	ADJ
aiti-7192	16	7	driving	driving	NOUN
aiti-7192	16	8	technologies	technology	NOUN
aiti-7192	16	9	is	be	AUX
aiti-7192	16	10	difficult	difficult	ADJ
aiti-7192	16	11	.	.	PUNCT
aiti-7192	17	1	current	current	ADJ
aiti-7192	17	2	autonomous	autonomous	ADJ
aiti-7192	17	3	vehicles	vehicle	NOUN
aiti-7192	17	4	use	use	VERB
aiti-7192	17	5	multiple	multiple	ADJ
aiti-7192	17	6	ultrasonic	ultrasonic	ADJ
aiti-7192	17	7	or	or	CCONJ
aiti-7192	17	8	optical	optical	ADJ
aiti-7192	17	9	radars	radar	NOUN
aiti-7192	17	10	for	for	ADP
aiti-7192	17	11	detecting	detect	VERB
aiti-7192	17	12	surrounding	surround	VERB
aiti-7192	17	13	objects	object	NOUN
aiti-7192	17	14	to	to	PART
aiti-7192	17	15	create	create	VERB
aiti-7192	17	16	high	high	ADJ
aiti-7192	17	17	-	-	PUNCT
aiti-7192	17	18	quality	quality	NOUN
aiti-7192	17	19	three	three	NUM
aiti-7192	17	20	-	-	PUNCT
aiti-7192	17	21	dimensional	dimensional	ADJ
aiti-7192	17	22	(	(	PUNCT
aiti-7192	17	23	3d	3d	NOUN
aiti-7192	17	24	)	)	PUNCT
aiti-7192	17	25	models	model	NOUN
aiti-7192	17	26	at	at	ADP
aiti-7192	17	27	night	night	NOUN
aiti-7192	17	28	and	and	CCONJ
aiti-7192	17	29	during	during	ADP
aiti-7192	17	30	the	the	DET
aiti-7192	17	31	day	day	NOUN
aiti-7192	17	32	;	;	PUNCT
aiti-7192	17	33	however	however	ADV
aiti-7192	17	34	,	,	PUNCT
aiti-7192	17	35	these	these	DET
aiti-7192	17	36	sensors	sensor	NOUN
aiti-7192	17	37	are	be	AUX
aiti-7192	17	38	expensive	expensive	ADJ
aiti-7192	17	39	.	.	PUNCT
aiti-7192	18	1	furthermore	furthermore	ADV
aiti-7192	18	2	,	,	PUNCT
aiti-7192	18	3	inclement	inclement	NOUN
aiti-7192	18	4	weather	weather	NOUN
aiti-7192	18	5	severely	severely	ADV
aiti-7192	18	6	affects	affect	VERB
aiti-7192	18	7	the	the	DET
aiti-7192	18	8	performance	performance	NOUN
aiti-7192	18	9	of	of	ADP
aiti-7192	18	10	the	the	DET
aiti-7192	18	11	aforementioned	aforementioned	ADJ
aiti-7192	18	12	sensors	sensor	NOUN
aiti-7192	18	13	.	.	PUNCT
aiti-7192	19	1	machine	machine	NOUN
aiti-7192	19	2	vision	vision	PROPN
aiti-7192	19	3	technology	technology	NOUN
aiti-7192	19	4	is	be	AUX
aiti-7192	19	5	used	use	VERB
aiti-7192	19	6	in	in	ADP
aiti-7192	19	7	daily	daily	ADJ
aiti-7192	19	8	life	life	NOUN
aiti-7192	19	9	applications	application	NOUN
aiti-7192	19	10	,	,	PUNCT
aiti-7192	19	11	such	such	ADJ
aiti-7192	19	12	as	as	ADP
aiti-7192	19	13	the	the	DET
aiti-7192	19	14	smart	smart	ADJ
aiti-7192	19	15	face	face	NOUN
aiti-7192	19	16	unlock	unlock	NOUN
aiti-7192	19	17	feature	feature	NOUN
aiti-7192	19	18	in	in	ADP
aiti-7192	19	19	smartphones	smartphone	NOUN
aiti-7192	19	20	,	,	PUNCT
aiti-7192	19	21	instant	instant	ADJ
aiti-7192	19	22	text	text	NOUN
aiti-7192	19	23	translation	translation	NOUN
aiti-7192	19	24	,	,	PUNCT
aiti-7192	19	25	and	and	CCONJ
aiti-7192	19	26	automatic	automatic	ADJ
aiti-7192	19	27	checkout	checkout	NOUN
aiti-7192	19	28	in	in	ADP
aiti-7192	19	29	stores	store	NOUN
aiti-7192	19	30	.	.	PUNCT
aiti-7192	20	1	the	the	DET
aiti-7192	20	2	capabilities	capability	NOUN
aiti-7192	20	3	of	of	ADP
aiti-7192	20	4	hardware	hardware	NOUN
aiti-7192	20	5	equipment	equipment	NOUN
aiti-7192	20	6	,	,	PUNCT
aiti-7192	20	7	such	such	ADJ
aiti-7192	20	8	as	as	ADP
aiti-7192	20	9	high	high	ADJ
aiti-7192	20	10	-	-	PUNCT
aiti-7192	20	11	image	image	NOUN
aiti-7192	20	12	-	-	PUNCT
aiti-7192	20	13	quality	quality	NOUN
aiti-7192	20	14	cameras	camera	NOUN
aiti-7192	20	15	,	,	PUNCT
aiti-7192	20	16	vision	vision	NOUN
aiti-7192	20	17	processors	processor	NOUN
aiti-7192	20	18	,	,	PUNCT
aiti-7192	20	19	and	and	CCONJ
aiti-7192	20	20	5	5	NUM
aiti-7192	20	21	g	g	NOUN
aiti-7192	20	22	networks	network	NOUN
aiti-7192	20	23	,	,	PUNCT
aiti-7192	20	24	are	be	AUX
aiti-7192	20	25	continually	continually	ADV
aiti-7192	20	26	improving	improve	VERB
aiti-7192	20	27	.	.	PUNCT
aiti-7192	21	1	commercially	commercially	ADV
aiti-7192	21	2	available	available	ADJ
aiti-7192	21	3	visual	visual	ADJ
aiti-7192	21	4	models	model	NOUN
aiti-7192	21	5	can	can	AUX
aiti-7192	21	6	accurately	accurately	ADV
aiti-7192	21	7	perform	perform	VERB
aiti-7192	21	8	face	face	NOUN
aiti-7192	21	9	,	,	PUNCT
aiti-7192	21	10	object	object	VERB
aiti-7192	21	11	,	,	PUNCT
aiti-7192	21	12	and	and	CCONJ
aiti-7192	21	13	text	text	NOUN
aiti-7192	21	14	recognition	recognition	NOUN
aiti-7192	21	15	.	.	PUNCT
aiti-7192	22	1	this	this	DET
aiti-7192	22	2	study	study	NOUN
aiti-7192	22	3	realizes	realize	VERB
aiti-7192	22	4	the	the	DET
aiti-7192	22	5	recognition	recognition	NOUN
aiti-7192	22	6	of	of	ADP
aiti-7192	22	7	different	different	ADJ
aiti-7192	22	8	objects	object	NOUN
aiti-7192	22	9	in	in	ADP
aiti-7192	22	10	real	real	ADJ
aiti-7192	22	11	-	-	PUNCT
aiti-7192	22	12	time	time	NOUN
aiti-7192	22	13	images	image	NOUN
aiti-7192	22	14	by	by	ADP
aiti-7192	22	15	using	use	VERB
aiti-7192	22	16	application	application	NOUN
aiti-7192	22	17	programming	programming	NOUN
aiti-7192	22	18	interfaces	interface	NOUN
aiti-7192	22	19	(	(	PUNCT
aiti-7192	22	20	apis	apis	ADJ
aiti-7192	22	21	)	)	PUNCT
aiti-7192	22	22	,	,	PUNCT
aiti-7192	22	23	i.e.	i.e.	X
aiti-7192	22	24	,	,	PUNCT
aiti-7192	22	25	google	google	PROPN
aiti-7192	22	26	cloud	cloud	PROPN
aiti-7192	22	27	vision	vision	NOUN
aiti-7192	22	28	,	,	PUNCT
aiti-7192	22	29	amazon	amazon	NOUN
aiti-7192	22	30	rekognition	rekognition	NOUN
aiti-7192	22	31	,	,	PUNCT
aiti-7192	22	32	and	and	CCONJ
aiti-7192	22	33	azure	azure	ADJ
aiti-7192	22	34	computer	computer	NOUN
aiti-7192	22	35	vision	vision	NOUN
aiti-7192	22	36	.	.	PUNCT
aiti-7192	23	1	the	the	DET
aiti-7192	23	2	obtained	obtain	VERB
aiti-7192	23	3	object	object	NOUN
aiti-7192	23	4	information	information	NOUN
aiti-7192	23	5	is	be	AUX
aiti-7192	23	6	regarded	regard	VERB
aiti-7192	23	7	as	as	ADP
aiti-7192	23	8	the	the	DET
aiti-7192	23	9	current	current	ADJ
aiti-7192	23	10	environmental	environmental	ADJ
aiti-7192	23	11	conditions	condition	NOUN
aiti-7192	23	12	when	when	SCONJ
aiti-7192	23	13	determining	determine	VERB
aiti-7192	23	14	the	the	DET
aiti-7192	23	15	walking	walking	NOUN
aiti-7192	23	16	area	area	NOUN
aiti-7192	23	17	.	.	PUNCT
aiti-7192	24	1	this	this	DET
aiti-7192	24	2	study	study	NOUN
aiti-7192	24	3	uses	use	VERB
aiti-7192	24	4	available	available	ADJ
aiti-7192	24	5	resources	resource	NOUN
aiti-7192	24	6	and	and	CCONJ
aiti-7192	24	7	machine	machine	NOUN
aiti-7192	24	8	vision	vision	NOUN
aiti-7192	24	9	to	to	PART
aiti-7192	24	10	develop	develop	VERB
aiti-7192	24	11	a	a	DET
aiti-7192	24	12	low	low	ADJ
aiti-7192	24	13	-	-	PUNCT
aiti-7192	24	14	cost	cost	NOUN
aiti-7192	24	15	and	and	CCONJ
aiti-7192	24	16	fast	fast	ADJ
aiti-7192	24	17	method	method	NOUN
aiti-7192	24	18	for	for	ADP
aiti-7192	24	19	dynamic	dynamic	ADJ
aiti-7192	24	20	path	path	NOUN
aiti-7192	24	21	discrimination	discrimination	NOUN
aiti-7192	24	22	.	.	PUNCT
aiti-7192	25	1	*	*	PUNCT
aiti-7192	25	2	corresponding	correspond	VERB
aiti-7192	25	3	author	author	NOUN
aiti-7192	25	4	.	.	PUNCT
aiti-7192	26	1	e	e	X
aiti-7192	26	2	-	-	NOUN
aiti-7192	26	3	mail	mail	NOUN
aiti-7192	26	4	address	address	NOUN
aiti-7192	26	5	:	:	PUNCT
aiti-7192	26	6	jiashing@tea.ntue.edu.tw	jiashing@tea.ntue.edu.tw	PROPN
aiti-7192	26	7	tel	tel	PROPN
aiti-7192	26	8	.	.	PUNCT
aiti-7192	26	9	:	:	PUNCT
aiti-7192	27	1	+886	+886	NUM
aiti-7192	27	2	-	-	SYM
aiti-7192	27	3	9	9	NUM
aiti-7192	27	4	-	-	PUNCT
aiti-7192	27	5	38397255	38397255	NUM
aiti-7192	27	6	;	;	PUNCT
aiti-7192	27	7	fax	fax	NOUN
aiti-7192	27	8	:	:	PUNCT
aiti-7192	27	9	+886	+886	NUM
aiti-7192	27	10	-	-	PUNCT
aiti-7192	27	11	2	2	NUM
aiti-7192	27	12	-	-	PUNCT
aiti-7192	27	13	27375457	27375457	NUM
aiti-7192	27	14	advances	advance	NOUN
aiti-7192	27	15	in	in	ADP
aiti-7192	27	16	technology	technology	NOUN
aiti-7192	27	17	innovation	innovation	NOUN
aiti-7192	27	18	,	,	PUNCT
aiti-7192	27	19	vol	vol	NOUN
aiti-7192	27	20	.	.	PROPN
aiti-7192	28	1	6	6	NUM
aiti-7192	28	2	,	,	PUNCT
aiti-7192	28	3	no	no	INTJ
aiti-7192	28	4	.	.	NOUN
aiti-7192	28	5	4	4	NUM
aiti-7192	28	6	,	,	PUNCT
aiti-7192	28	7	2021	2021	NUM
aiti-7192	28	8	,	,	PUNCT
aiti-7192	28	9	pp	pp	ADJ
aiti-7192	28	10	.	.	PUNCT
aiti-7192	29	1	213	213	NUM
aiti-7192	29	2	-	-	SYM
aiti-7192	29	3	221	221	NUM
aiti-7192	29	4	the	the	DET
aiti-7192	29	5	remainder	remainder	NOUN
aiti-7192	29	6	of	of	ADP
aiti-7192	29	7	this	this	DET
aiti-7192	29	8	study	study	NOUN
aiti-7192	29	9	is	be	AUX
aiti-7192	29	10	organized	organize	VERB
aiti-7192	29	11	as	as	SCONJ
aiti-7192	29	12	follows	follow	VERB
aiti-7192	29	13	.	.	PUNCT
aiti-7192	30	1	section	section	NOUN
aiti-7192	30	2	2	2	NUM
aiti-7192	30	3	describes	describe	VERB
aiti-7192	30	4	the	the	DET
aiti-7192	30	5	relevant	relevant	ADJ
aiti-7192	30	6	literature	literature	NOUN
aiti-7192	30	7	.	.	PUNCT
aiti-7192	31	1	section	section	NOUN
aiti-7192	31	2	3	3	NUM
aiti-7192	31	3	describes	describe	VERB
aiti-7192	31	4	the	the	DET
aiti-7192	31	5	system	system	NOUN
aiti-7192	31	6	architecture	architecture	NOUN
aiti-7192	31	7	.	.	PUNCT
aiti-7192	32	1	section	section	NOUN
aiti-7192	32	2	4	4	NUM
aiti-7192	32	3	presents	present	VERB
aiti-7192	32	4	a	a	DET
aiti-7192	32	5	description	description	NOUN
aiti-7192	32	6	of	of	ADP
aiti-7192	32	7	the	the	DET
aiti-7192	32	8	experiments	experiment	NOUN
aiti-7192	32	9	and	and	CCONJ
aiti-7192	32	10	the	the	DET
aiti-7192	32	11	experiment	experiment	NOUN
aiti-7192	32	12	results	result	VERB
aiti-7192	32	13	,	,	PUNCT
aiti-7192	32	14	and	and	CCONJ
aiti-7192	32	15	section	section	NOUN
aiti-7192	32	16	5	5	NUM
aiti-7192	32	17	provides	provide	VERB
aiti-7192	32	18	the	the	DET
aiti-7192	32	19	conclusions	conclusion	NOUN
aiti-7192	32	20	of	of	ADP
aiti-7192	32	21	this	this	DET
aiti-7192	32	22	study	study	NOUN
aiti-7192	32	23	.	.	PUNCT
aiti-7192	33	1	2	2	X
aiti-7192	33	2	.	.	X
aiti-7192	33	3	literature	literature	NOUN
aiti-7192	33	4	review	review	PROPN
aiti-7192	33	5	and	and	CCONJ
aiti-7192	33	6	methodology	methodology	NOUN
aiti-7192	33	7	object	object	NOUN
aiti-7192	33	8	detection	detection	NOUN
aiti-7192	33	9	is	be	AUX
aiti-7192	33	10	a	a	DET
aiti-7192	33	11	technique	technique	NOUN
aiti-7192	33	12	for	for	ADP
aiti-7192	33	13	classifying	classify	VERB
aiti-7192	33	14	objects	object	NOUN
aiti-7192	33	15	in	in	ADP
aiti-7192	33	16	an	an	DET
aiti-7192	33	17	image	image	NOUN
aiti-7192	33	18	,	,	PUNCT
aiti-7192	33	19	and	and	CCONJ
aiti-7192	33	20	object	object	VERB
aiti-7192	33	21	detection	detection	NOUN
aiti-7192	33	22	technology	technology	NOUN
aiti-7192	33	23	has	have	AUX
aiti-7192	33	24	evolved	evolve	VERB
aiti-7192	33	25	considerably	considerably	ADV
aiti-7192	33	26	.	.	PUNCT
aiti-7192	34	1	lecun	lecun	PROPN
aiti-7192	34	2	et	et	PROPN
aiti-7192	34	3	al	al	PROPN
aiti-7192	34	4	.	.	PUNCT
aiti-7192	35	1	[	[	X
aiti-7192	35	2	2	2	X
aiti-7192	35	3	]	]	PUNCT
aiti-7192	35	4	proposed	propose	VERB
aiti-7192	35	5	the	the	DET
aiti-7192	35	6	lenet	lenet	ADJ
aiti-7192	35	7	image	image	NOUN
aiti-7192	35	8	recognition	recognition	NOUN
aiti-7192	35	9	network	network	NOUN
aiti-7192	35	10	,	,	PUNCT
aiti-7192	35	11	which	which	PRON
aiti-7192	35	12	was	be	AUX
aiti-7192	35	13	subsequently	subsequently	ADV
aiti-7192	35	14	modified	modify	VERB
aiti-7192	35	15	by	by	ADP
aiti-7192	35	16	krizhevsky	krizhevsky	PROPN
aiti-7192	35	17	et	et	PROPN
aiti-7192	35	18	al	al	PROPN
aiti-7192	35	19	.	.	PUNCT
aiti-7192	36	1	[	[	X
aiti-7192	36	2	3	3	X
aiti-7192	36	3	]	]	PUNCT
aiti-7192	36	4	into	into	ADP
aiti-7192	36	5	alexnet	alexnet	NOUN
aiti-7192	36	6	.	.	PUNCT
aiti-7192	37	1	the	the	DET
aiti-7192	37	2	addition	addition	NOUN
aiti-7192	37	3	of	of	ADP
aiti-7192	37	4	the	the	DET
aiti-7192	37	5	rectified	rectified	ADJ
aiti-7192	37	6	linear	linear	NOUN
aiti-7192	37	7	unit	unit	NOUN
aiti-7192	37	8	and	and	CCONJ
aiti-7192	37	9	dropout	dropout	NOUN
aiti-7192	37	10	nonlinear	nonlinear	ADJ
aiti-7192	37	11	activation	activation	NOUN
aiti-7192	37	12	functions	function	NOUN
aiti-7192	37	13	to	to	PART
aiti-7192	37	14	lenet	lenet	NOUN
aiti-7192	37	15	considerably	considerably	ADV
aiti-7192	37	16	improved	improve	VERB
aiti-7192	37	17	its	its	PRON
aiti-7192	37	18	image	image	NOUN
aiti-7192	37	19	recognition	recognition	NOUN
aiti-7192	37	20	rate	rate	NOUN
aiti-7192	37	21	.	.	PUNCT
aiti-7192	38	1	thus	thus	ADV
aiti-7192	38	2	,	,	PUNCT
aiti-7192	38	3	machine	machine	NOUN
aiti-7192	38	4	vision	vision	NOUN
aiti-7192	38	5	has	have	AUX
aiti-7192	38	6	evolved	evolve	VERB
aiti-7192	38	7	rapidly	rapidly	ADV
aiti-7192	38	8	.	.	PUNCT
aiti-7192	39	1	he	he	PRON
aiti-7192	39	2	et	et	PROPN
aiti-7192	39	3	al	al	PROPN
aiti-7192	39	4	.	.	PUNCT
aiti-7192	40	1	[	[	X
aiti-7192	40	2	4	4	X
aiti-7192	40	3	]	]	PUNCT
aiti-7192	40	4	proposed	propose	VERB
aiti-7192	40	5	residual	residual	ADJ
aiti-7192	40	6	network	network	NOUN
aiti-7192	40	7	architecture	architecture	NOUN
aiti-7192	40	8	to	to	PART
aiti-7192	40	9	solve	solve	VERB
aiti-7192	40	10	the	the	DET
aiti-7192	40	11	problem	problem	NOUN
aiti-7192	40	12	of	of	ADP
aiti-7192	40	13	overfitting	overfitting	NOUN
aiti-7192	40	14	.	.	PUNCT
aiti-7192	41	1	huang	huang	PROPN
aiti-7192	41	2	et	et	PROPN
aiti-7192	41	3	al	al	PROPN
aiti-7192	41	4	.	.	PUNCT
aiti-7192	42	1	[	[	X
aiti-7192	42	2	5	5	NUM
aiti-7192	42	3	]	]	PUNCT
aiti-7192	42	4	and	and	CCONJ
aiti-7192	42	5	wang	wang	PROPN
aiti-7192	42	6	et	et	PROPN
aiti-7192	42	7	al	al	PROPN
aiti-7192	42	8	.	.	PUNCT
aiti-7192	43	1	[	[	X
aiti-7192	43	2	6	6	NUM
aiti-7192	43	3	]	]	PUNCT
aiti-7192	43	4	made	make	VERB
aiti-7192	43	5	subtle	subtle	ADJ
aiti-7192	43	6	changes	change	NOUN
aiti-7192	43	7	and	and	CCONJ
aiti-7192	43	8	proposed	propose	VERB
aiti-7192	43	9	densenet	densenet	NOUN
aiti-7192	43	10	and	and	CCONJ
aiti-7192	43	11	cspnet	cspnet	NOUN
aiti-7192	43	12	,	,	PUNCT
aiti-7192	43	13	respectively	respectively	ADV
aiti-7192	43	14	.	.	PUNCT
aiti-7192	44	1	similar	similar	ADJ
aiti-7192	44	2	concepts	concept	NOUN
aiti-7192	44	3	of	of	ADP
aiti-7192	44	4	cspnet	cspnet	NOUN
aiti-7192	44	5	were	be	AUX
aiti-7192	44	6	used	use	VERB
aiti-7192	44	7	to	to	PART
aiti-7192	44	8	design	design	VERB
aiti-7192	44	9	novel	novel	ADJ
aiti-7192	44	10	architectures	architecture	NOUN
aiti-7192	44	11	that	that	PRON
aiti-7192	44	12	effectively	effectively	ADV
aiti-7192	44	13	enhance	enhance	VERB
aiti-7192	44	14	network	network	NOUN
aiti-7192	44	15	identification	identification	NOUN
aiti-7192	44	16	capabilities	capability	NOUN
aiti-7192	44	17	[	[	X
aiti-7192	44	18	5	5	NUM
aiti-7192	44	19	-	-	SYM
aiti-7192	44	20	6	6	NUM
aiti-7192	44	21	]	]	PUNCT
aiti-7192	44	22	.	.	PUNCT
aiti-7192	45	1	howard	howard	PROPN
aiti-7192	45	2	et	et	PROPN
aiti-7192	45	3	al	al	PROPN
aiti-7192	45	4	.	.	PUNCT
aiti-7192	46	1	[	[	X
aiti-7192	46	2	7	7	X
aiti-7192	46	3	]	]	PUNCT
aiti-7192	46	4	proposed	propose	VERB
aiti-7192	46	5	lightweight	lightweight	ADJ
aiti-7192	46	6	network	network	NOUN
aiti-7192	46	7	architecture	architecture	NOUN
aiti-7192	46	8	to	to	PART
aiti-7192	46	9	increase	increase	VERB
aiti-7192	46	10	the	the	DET
aiti-7192	46	11	processor	processor	NOUN
aiti-7192	46	12	calculation	calculation	NOUN
aiti-7192	46	13	speed	speed	NOUN
aiti-7192	46	14	and	and	CCONJ
aiti-7192	46	15	solve	solve	VERB
aiti-7192	46	16	the	the	DET
aiti-7192	46	17	problem	problem	NOUN
aiti-7192	46	18	of	of	ADP
aiti-7192	46	19	slow	slow	ADJ
aiti-7192	46	20	network	network	NOUN
aiti-7192	46	21	operations	operation	NOUN
aiti-7192	46	22	in	in	ADP
aiti-7192	46	23	mobile	mobile	ADJ
aiti-7192	46	24	devices	device	NOUN
aiti-7192	46	25	and	and	CCONJ
aiti-7192	46	26	embedded	embed	VERB
aiti-7192	46	27	learning	learning	NOUN
aiti-7192	46	28	.	.	PUNCT
aiti-7192	47	1	the	the	DET
aiti-7192	47	2	aforementioned	aforementioned	ADJ
aiti-7192	47	3	network	network	NOUN
aiti-7192	47	4	architectures	architecture	NOUN
aiti-7192	47	5	can	can	AUX
aiti-7192	47	6	be	be	AUX
aiti-7192	47	7	implemented	implement	VERB
aiti-7192	47	8	to	to	PART
aiti-7192	47	9	obtain	obtain	VERB
aiti-7192	47	10	a	a	DET
aiti-7192	47	11	backbone	backbone	NOUN
aiti-7192	47	12	network	network	NOUN
aiti-7192	47	13	for	for	ADP
aiti-7192	47	14	the	the	DET
aiti-7192	47	15	rapid	rapid	ADJ
aiti-7192	47	16	learning	learning	NOUN
aiti-7192	47	17	of	of	ADP
aiti-7192	47	18	image	image	NOUN
aiti-7192	47	19	features	feature	NOUN
aiti-7192	47	20	.	.	PUNCT
aiti-7192	48	1	many	many	ADJ
aiti-7192	48	2	object	object	NOUN
aiti-7192	48	3	recognition	recognition	NOUN
aiti-7192	48	4	networks	network	NOUN
aiti-7192	48	5	use	use	VERB
aiti-7192	48	6	such	such	ADJ
aiti-7192	48	7	backbone	backbone	NOUN
aiti-7192	48	8	networks	network	NOUN
aiti-7192	48	9	for	for	ADP
aiti-7192	48	10	image	image	NOUN
aiti-7192	48	11	feature	feature	NOUN
aiti-7192	48	12	extraction	extraction	NOUN
aiti-7192	48	13	.	.	PUNCT
aiti-7192	49	1	various	various	ADJ
aiti-7192	49	2	calculation	calculation	NOUN
aiti-7192	49	3	methods	method	NOUN
aiti-7192	49	4	are	be	AUX
aiti-7192	49	5	then	then	ADV
aiti-7192	49	6	incorporated	incorporate	VERB
aiti-7192	49	7	into	into	ADP
aiti-7192	49	8	the	the	DET
aiti-7192	49	9	network	network	NOUN
aiti-7192	49	10	to	to	PART
aiti-7192	49	11	learn	learn	VERB
aiti-7192	49	12	the	the	DET
aiti-7192	49	13	category	category	NOUN
aiti-7192	49	14	and	and	CCONJ
aiti-7192	49	15	location	location	NOUN
aiti-7192	49	16	of	of	ADP
aiti-7192	49	17	images	image	NOUN
aiti-7192	49	18	[	[	X
aiti-7192	49	19	8	8	NUM
aiti-7192	49	20	]	]	PUNCT
aiti-7192	49	21	.	.	PUNCT
aiti-7192	50	1	ren	ren	PROPN
aiti-7192	50	2	et	et	PROPN
aiti-7192	50	3	al	al	PROPN
aiti-7192	50	4	.	.	PUNCT
aiti-7192	51	1	[	[	X
aiti-7192	51	2	9	9	NUM
aiti-7192	51	3	]	]	PUNCT
aiti-7192	51	4	developed	develop	VERB
aiti-7192	51	5	a	a	DET
aiti-7192	51	6	two	two	NUM
aiti-7192	51	7	-	-	PUNCT
aiti-7192	51	8	stage	stage	NOUN
aiti-7192	51	9	object	object	NOUN
aiti-7192	51	10	recognition	recognition	NOUN
aiti-7192	51	11	,	,	PUNCT
aiti-7192	51	12	i.e.	i.e.	X
aiti-7192	51	13	,	,	PUNCT
aiti-7192	51	14	faster	fast	ADJ
aiti-7192	51	15	region	region	NOUN
aiti-7192	51	16	based	base	VERB
aiti-7192	51	17	convolutional	convolutional	ADJ
aiti-7192	51	18	neural	neural	ADJ
aiti-7192	51	19	networks	network	NOUN
aiti-7192	51	20	(	(	PUNCT
aiti-7192	51	21	faster	fast	ADJ
aiti-7192	51	22	rcnn	rcnn	PROPN
aiti-7192	51	23	)	)	PUNCT
aiti-7192	51	24	,	,	PUNCT
aiti-7192	51	25	with	with	ADP
aiti-7192	51	26	a	a	DET
aiti-7192	51	27	high	high	ADJ
aiti-7192	51	28	recognition	recognition	NOUN
aiti-7192	51	29	rate	rate	NOUN
aiti-7192	51	30	by	by	ADP
aiti-7192	51	31	using	use	VERB
aiti-7192	51	32	visual	visual	ADJ
aiti-7192	51	33	geometry	geometry	NOUN
aiti-7192	51	34	group	group	NOUN
aiti-7192	51	35	(	(	PUNCT
aiti-7192	51	36	vgg	vgg	PROPN
aiti-7192	51	37	)	)	PUNCT
aiti-7192	51	38	as	as	ADP
aiti-7192	51	39	the	the	DET
aiti-7192	51	40	backbone	backbone	NOUN
aiti-7192	51	41	network	network	NOUN
aiti-7192	51	42	and	and	CCONJ
aiti-7192	51	43	the	the	DET
aiti-7192	51	44	region	region	NOUN
aiti-7192	51	45	proposal	proposal	NOUN
aiti-7192	51	46	network	network	NOUN
aiti-7192	51	47	.	.	PUNCT
aiti-7192	52	1	the	the	DET
aiti-7192	52	2	aforementioned	aforementioned	ADJ
aiti-7192	52	3	architecture	architecture	NOUN
aiti-7192	52	4	was	be	AUX
aiti-7192	52	5	also	also	ADV
aiti-7192	52	6	used	use	VERB
aiti-7192	52	7	in	in	ADP
aiti-7192	52	8	an	an	DET
aiti-7192	52	9	object	object	NOUN
aiti-7192	52	10	recognition	recognition	NOUN
aiti-7192	52	11	network	network	NOUN
aiti-7192	52	12	[	[	X
aiti-7192	52	13	10	10	NUM
aiti-7192	52	14	]	]	X
aiti-7192	52	15	;	;	PUNCT
aiti-7192	52	16	however	however	ADV
aiti-7192	52	17	,	,	PUNCT
aiti-7192	52	18	in	in	ADP
aiti-7192	52	19	contrast	contrast	NOUN
aiti-7192	52	20	to	to	ADP
aiti-7192	52	21	faster	fast	ADJ
aiti-7192	52	22	rcnn	rcnn	PROPN
aiti-7192	52	23	,	,	PUNCT
aiti-7192	52	24	the	the	DET
aiti-7192	52	25	single	single	ADJ
aiti-7192	52	26	-	-	PUNCT
aiti-7192	52	27	shot	shot	NOUN
aiti-7192	52	28	detector	detector	NOUN
aiti-7192	52	29	(	(	PUNCT
aiti-7192	52	30	ssd	ssd	NOUN
aiti-7192	52	31	)	)	PUNCT
aiti-7192	52	32	object	object	NOUN
aiti-7192	52	33	recognition	recognition	NOUN
aiti-7192	52	34	network	network	NOUN
aiti-7192	52	35	performs	perform	VERB
aiti-7192	52	36	one	one	NUM
aiti-7192	52	37	-	-	PUNCT
aiti-7192	52	38	stage	stage	NOUN
aiti-7192	52	39	identification	identification	NOUN
aiti-7192	52	40	in	in	ADP
aiti-7192	52	41	real	real	ADJ
aiti-7192	52	42	time	time	NOUN
aiti-7192	52	43	.	.	PUNCT
aiti-7192	53	1	numerous	numerous	ADJ
aiti-7192	53	2	sophisticated	sophisticated	ADJ
aiti-7192	53	3	,	,	PUNCT
aiti-7192	53	4	fast	fast	ADJ
aiti-7192	53	5	,	,	PUNCT
aiti-7192	53	6	and	and	CCONJ
aiti-7192	53	7	automated	automate	VERB
aiti-7192	53	8	object	object	NOUN
aiti-7192	53	9	detection	detection	NOUN
aiti-7192	53	10	networks	network	NOUN
aiti-7192	53	11	have	have	AUX
aiti-7192	53	12	been	be	AUX
aiti-7192	53	13	proposed	propose	VERB
aiti-7192	53	14	.	.	PUNCT
aiti-7192	54	1	the	the	DET
aiti-7192	54	2	initially	initially	ADV
aiti-7192	54	3	proposed	propose	VERB
aiti-7192	54	4	object	object	NOUN
aiti-7192	54	5	detection	detection	NOUN
aiti-7192	54	6	networks	network	NOUN
aiti-7192	54	7	such	such	ADJ
aiti-7192	54	8	as	as	ADP
aiti-7192	54	9	“	"	PUNCT
aiti-7192	54	10	you	you	PRON
aiti-7192	54	11	only	only	ADV
aiti-7192	54	12	look	look	VERB
aiti-7192	54	13	once	once	ADV
aiti-7192	54	14	(	(	PUNCT
aiti-7192	54	15	yolo	yolo	ADJ
aiti-7192	54	16	)	)	PUNCT
aiti-7192	54	17	”	"	PUNCT
aiti-7192	54	18	do	do	AUX
aiti-7192	54	19	not	not	PART
aiti-7192	54	20	use	use	VERB
aiti-7192	54	21	artificial	artificial	ADJ
aiti-7192	54	22	anchor	anchor	NOUN
aiti-7192	54	23	frames	frame	NOUN
aiti-7192	54	24	[	[	X
aiti-7192	54	25	11	11	NUM
aiti-7192	54	26	]	]	PUNCT
aiti-7192	54	27	.	.	PUNCT
aiti-7192	55	1	law	law	NOUN
aiti-7192	55	2	et	et	PROPN
aiti-7192	55	3	al	al	PROPN
aiti-7192	55	4	.	.	PUNCT
aiti-7192	56	1	[	[	X
aiti-7192	56	2	12	12	NUM
aiti-7192	56	3	]	]	PUNCT
aiti-7192	56	4	proposed	propose	VERB
aiti-7192	56	5	cornernet	cornernet	PROPN
aiti-7192	56	6	,	,	PUNCT
aiti-7192	56	7	which	which	PRON
aiti-7192	56	8	is	be	AUX
aiti-7192	56	9	a	a	DET
aiti-7192	56	10	novel	novel	ADJ
aiti-7192	56	11	anchorless	anchorless	ADJ
aiti-7192	56	12	frame	frame	NOUN
aiti-7192	56	13	network	network	NOUN
aiti-7192	56	14	,	,	PUNCT
aiti-7192	56	15	for	for	ADP
aiti-7192	56	16	self	self	NOUN
aiti-7192	56	17	-	-	PUNCT
aiti-7192	56	18	learning	learn	VERB
aiti-7192	56	19	object	object	NOUN
aiti-7192	56	20	detection	detection	NOUN
aiti-7192	56	21	.	.	PUNCT
aiti-7192	57	1	duan	duan	PROPN
aiti-7192	57	2	et	et	PROPN
aiti-7192	57	3	al	al	PROPN
aiti-7192	57	4	.	.	PUNCT
aiti-7192	58	1	[	[	X
aiti-7192	58	2	13	13	NUM
aiti-7192	58	3	]	]	PUNCT
aiti-7192	58	4	and	and	CCONJ
aiti-7192	58	5	tian	tian	PROPN
aiti-7192	58	6	et	et	PROPN
aiti-7192	58	7	al	al	PROPN
aiti-7192	58	8	.	.	PUNCT
aiti-7192	59	1	[	[	X
aiti-7192	59	2	14	14	NUM
aiti-7192	59	3	]	]	PUNCT
aiti-7192	59	4	subsequently	subsequently	ADV
aiti-7192	59	5	improved	improve	VERB
aiti-7192	59	6	cornernet	cornernet	PROPN
aiti-7192	59	7	and	and	CCONJ
aiti-7192	59	8	achieved	achieve	VERB
aiti-7192	59	9	the	the	DET
aiti-7192	59	10	same	same	ADJ
aiti-7192	59	11	results	result	NOUN
aiti-7192	59	12	as	as	ADP
aiti-7192	59	13	law	law	NOUN
aiti-7192	59	14	et	et	NOUN
aiti-7192	59	15	al	al	PROPN
aiti-7192	59	16	.	.	PUNCT
aiti-7192	60	1	[	[	X
aiti-7192	60	2	12	12	NUM
aiti-7192	60	3	]	]	PUNCT
aiti-7192	60	4	without	without	ADP
aiti-7192	60	5	relying	rely	VERB
aiti-7192	60	6	on	on	ADP
aiti-7192	60	7	anchor	anchor	NOUN
aiti-7192	60	8	frames	frame	NOUN
aiti-7192	60	9	.	.	PUNCT
aiti-7192	61	1	tan	tan	PROPN
aiti-7192	61	2	et	et	PROPN
aiti-7192	61	3	al	al	PROPN
aiti-7192	61	4	.	.	PUNCT
aiti-7192	62	1	[	[	X
aiti-7192	62	2	15	15	NUM
aiti-7192	62	3	]	]	PUNCT
aiti-7192	62	4	developed	develop	VERB
aiti-7192	62	5	efficientdet	efficientdet	NOUN
aiti-7192	62	6	and	and	CCONJ
aiti-7192	62	7	achieved	achieve	VERB
aiti-7192	62	8	up	up	ADP
aiti-7192	62	9	to	to	PART
aiti-7192	62	10	53.7	53.7	NUM
aiti-7192	62	11	average	average	ADJ
aiti-7192	62	12	precision	precision	NOUN
aiti-7192	62	13	(	(	PUNCT
aiti-7192	62	14	ap	ap	PROPN
aiti-7192	62	15	)	)	PUNCT
aiti-7192	62	16	with	with	ADP
aiti-7192	62	17	current	current	ADJ
aiti-7192	62	18	one	one	NUM
aiti-7192	62	19	-	-	PUNCT
aiti-7192	62	20	stage	stage	NOUN
aiti-7192	62	21	object	object	NOUN
aiti-7192	62	22	detectors	detector	NOUN
aiti-7192	62	23	.	.	PUNCT
aiti-7192	63	1	achieving	achieve	VERB
aiti-7192	63	2	simultaneous	simultaneous	ADJ
aiti-7192	63	3	localization	localization	NOUN
aiti-7192	63	4	and	and	CCONJ
aiti-7192	63	5	mapping	mapping	NOUN
aiti-7192	63	6	is	be	AUX
aiti-7192	63	7	critical	critical	ADJ
aiti-7192	63	8	for	for	ADP
aiti-7192	63	9	developing	develop	VERB
aiti-7192	63	10	automated	automate	VERB
aiti-7192	63	11	machinery	machinery	NOUN
aiti-7192	63	12	.	.	PUNCT
aiti-7192	64	1	light	light	ADJ
aiti-7192	64	2	detection	detection	NOUN
aiti-7192	64	3	and	and	CCONJ
aiti-7192	64	4	ranging	range	VERB
aiti-7192	64	5	technology	technology	NOUN
aiti-7192	64	6	can	can	AUX
aiti-7192	64	7	be	be	AUX
aiti-7192	64	8	used	use	VERB
aiti-7192	64	9	to	to	PART
aiti-7192	64	10	sense	sense	VERB
aiti-7192	64	11	the	the	DET
aiti-7192	64	12	surrounding	surround	VERB
aiti-7192	64	13	environment	environment	NOUN
aiti-7192	64	14	and	and	CCONJ
aiti-7192	64	15	dynamically	dynamically	ADV
aiti-7192	64	16	avoid	avoid	VERB
aiti-7192	64	17	moving	move	VERB
aiti-7192	64	18	objects	object	NOUN
aiti-7192	64	19	,	,	PUNCT
aiti-7192	64	20	such	such	ADJ
aiti-7192	64	21	as	as	ADP
aiti-7192	64	22	crowds	crowd	NOUN
aiti-7192	64	23	and	and	CCONJ
aiti-7192	64	24	vehicles	vehicle	NOUN
aiti-7192	64	25	on	on	ADP
aiti-7192	64	26	the	the	DET
aiti-7192	64	27	road	road	NOUN
aiti-7192	65	1	[	[	X
aiti-7192	65	2	16	16	NUM
aiti-7192	65	3	-	-	SYM
aiti-7192	65	4	17	17	NUM
aiti-7192	65	5	]	]	PUNCT
aiti-7192	65	6	.	.	PUNCT
aiti-7192	66	1	furthermore	furthermore	ADV
aiti-7192	66	2	,	,	PUNCT
aiti-7192	66	3	rgbd	rgbd	NOUN
aiti-7192	66	4	-	-	PUNCT
aiti-7192	66	5	based	base	VERB
aiti-7192	66	6	visual	visual	ADJ
aiti-7192	66	7	sensors	sensor	NOUN
aiti-7192	66	8	were	be	AUX
aiti-7192	66	9	used	use	VERB
aiti-7192	66	10	to	to	PART
aiti-7192	66	11	establish	establish	VERB
aiti-7192	66	12	real	real	ADJ
aiti-7192	66	13	-	-	PUNCT
aiti-7192	66	14	time	time	NOUN
aiti-7192	66	15	environmental	environmental	ADJ
aiti-7192	66	16	images	image	NOUN
aiti-7192	66	17	and	and	CCONJ
aiti-7192	66	18	motion	motion	NOUN
aiti-7192	66	19	paths	path	NOUN
aiti-7192	66	20	for	for	ADP
aiti-7192	66	21	augmented	augment	VERB
aiti-7192	66	22	reality	reality	NOUN
aiti-7192	66	23	(	(	PUNCT
aiti-7192	66	24	ar	ar	NOUN
aiti-7192	66	25	)	)	PUNCT
aiti-7192	66	26	,	,	PUNCT
aiti-7192	66	27	virtual	virtual	ADJ
aiti-7192	66	28	reality	reality	NOUN
aiti-7192	66	29	(	(	PUNCT
aiti-7192	66	30	vr	vr	NOUN
aiti-7192	66	31	)	)	PUNCT
aiti-7192	66	32	,	,	PUNCT
aiti-7192	66	33	and	and	CCONJ
aiti-7192	66	34	unmanned	unmanned	ADJ
aiti-7192	66	35	aerial	aerial	ADJ
aiti-7192	66	36	vehicle	vehicle	NOUN
aiti-7192	66	37	(	(	PUNCT
aiti-7192	66	38	uav	uav	PROPN
aiti-7192	66	39	)	)	PUNCT
aiti-7192	66	40	positioning	positioning	NOUN
aiti-7192	66	41	[	[	X
aiti-7192	66	42	18	18	NUM
aiti-7192	66	43	]	]	PUNCT
aiti-7192	66	44	.	.	PUNCT
aiti-7192	67	1	a	a	DET
aiti-7192	67	2	vision	vision	NOUN
aiti-7192	67	3	-	-	PUNCT
aiti-7192	67	4	based	base	VERB
aiti-7192	67	5	deep	deep	ADJ
aiti-7192	67	6	learning	learning	NOUN
aiti-7192	67	7	network	network	NOUN
aiti-7192	67	8	can	can	AUX
aiti-7192	67	9	be	be	AUX
aiti-7192	67	10	used	use	VERB
aiti-7192	67	11	to	to	PART
aiti-7192	67	12	detect	detect	VERB
aiti-7192	67	13	the	the	DET
aiti-7192	67	14	environment	environment	NOUN
aiti-7192	67	15	for	for	ADP
aiti-7192	67	16	conducting	conduct	VERB
aiti-7192	67	17	motion	motion	NOUN
aiti-7192	67	18	detection	detection	NOUN
aiti-7192	67	19	,	,	PUNCT
aiti-7192	67	20	walkable	walkable	ADJ
aiti-7192	67	21	area	area	NOUN
aiti-7192	67	22	detection	detection	NOUN
aiti-7192	67	23	,	,	PUNCT
aiti-7192	67	24	and	and	CCONJ
aiti-7192	67	25	motion	motion	NOUN
aiti-7192	67	26	planning	planning	NOUN
aiti-7192	67	27	[	[	X
aiti-7192	67	28	19	19	NUM
aiti-7192	67	29	]	]	PUNCT
aiti-7192	67	30	.	.	PUNCT
aiti-7192	68	1	obstacle	obstacle	NOUN
aiti-7192	68	2	detection	detection	NOUN
aiti-7192	68	3	can	can	AUX
aiti-7192	68	4	also	also	ADV
aiti-7192	68	5	performed	perform	VERB
aiti-7192	68	6	by	by	ADP
aiti-7192	68	7	object	object	NOUN
aiti-7192	68	8	detection	detection	NOUN
aiti-7192	68	9	,	,	PUNCT
aiti-7192	68	10	and	and	CCONJ
aiti-7192	68	11	the	the	DET
aiti-7192	68	12	technique	technique	NOUN
aiti-7192	68	13	algorithm	algorithm	NOUN
aiti-7192	68	14	will	will	AUX
aiti-7192	68	15	be	be	AUX
aiti-7192	68	16	used	use	VERB
aiti-7192	68	17	to	to	PART
aiti-7192	68	18	mark	mark	VERB
aiti-7192	68	19	walkable	walkable	ADJ
aiti-7192	68	20	areas	area	NOUN
aiti-7192	68	21	and	and	CCONJ
aiti-7192	68	22	relative	relative	ADJ
aiti-7192	68	23	coordinates	coordinate	NOUN
aiti-7192	69	1	[	[	PUNCT
aiti-7192	69	2	20	20	NUM
aiti-7192	69	3	-	-	SYM
aiti-7192	69	4	21	21	NUM
aiti-7192	69	5	]	]	PUNCT
aiti-7192	69	6	.	.	PUNCT
aiti-7192	70	1	avoiding	avoid	VERB
aiti-7192	70	2	obstacles	obstacle	NOUN
aiti-7192	70	3	is	be	AUX
aiti-7192	70	4	a	a	DET
aiti-7192	70	5	crucial	crucial	ADJ
aiti-7192	70	6	ability	ability	NOUN
aiti-7192	70	7	for	for	ADP
aiti-7192	70	8	autonomous	autonomous	ADJ
aiti-7192	70	9	mobile	mobile	ADJ
aiti-7192	70	10	robots	robot	NOUN
aiti-7192	70	11	,	,	PUNCT
aiti-7192	70	12	which	which	PRON
aiti-7192	70	13	must	must	AUX
aiti-7192	70	14	plan	plan	VERB
aiti-7192	70	15	suitable	suitable	ADJ
aiti-7192	70	16	movement	movement	NOUN
aiti-7192	70	17	routes	route	NOUN
aiti-7192	70	18	.	.	PUNCT
aiti-7192	71	1	when	when	SCONJ
aiti-7192	71	2	moving	move	VERB
aiti-7192	71	3	from	from	ADP
aiti-7192	71	4	the	the	DET
aiti-7192	71	5	current	current	ADJ
aiti-7192	71	6	location	location	NOUN
aiti-7192	71	7	to	to	ADP
aiti-7192	71	8	a	a	DET
aiti-7192	71	9	target	target	NOUN
aiti-7192	71	10	location	location	NOUN
aiti-7192	71	11	,	,	PUNCT
aiti-7192	71	12	the	the	DET
aiti-7192	71	13	most	most	ADV
aiti-7192	71	14	efficient	efficient	ADJ
aiti-7192	71	15	movement	movement	NOUN
aiti-7192	71	16	route	route	NOUN
aiti-7192	71	17	is	be	AUX
aiti-7192	71	18	the	the	DET
aiti-7192	71	19	shortest	short	ADJ
aiti-7192	71	20	path	path	NOUN
aiti-7192	71	21	without	without	ADP
aiti-7192	71	22	any	any	DET
aiti-7192	71	23	restrictions	restriction	NOUN
aiti-7192	71	24	.	.	PUNCT
aiti-7192	72	1	dijkstra	dijkstra	PROPN
aiti-7192	72	2	’s	’s	PART
aiti-7192	72	3	algorithm	algorithm	NOUN
aiti-7192	72	4	and	and	CCONJ
aiti-7192	72	5	the	the	DET
aiti-7192	72	6	a	a	PRON
aiti-7192	72	7	*	*	ADJ
aiti-7192	72	8	algorithm	algorithm	NOUN
aiti-7192	72	9	are	be	AUX
aiti-7192	72	10	common	common	ADJ
aiti-7192	72	11	methods	method	NOUN
aiti-7192	72	12	for	for	ADP
aiti-7192	72	13	determining	determine	VERB
aiti-7192	72	14	the	the	DET
aiti-7192	72	15	shortest	short	ADJ
aiti-7192	72	16	path	path	NOUN
aiti-7192	72	17	.	.	PUNCT
aiti-7192	73	1	dijkstra	dijkstra	PROPN
aiti-7192	73	2	’s	’s	PART
aiti-7192	73	3	algorithm	algorithm	NOUN
aiti-7192	73	4	is	be	AUX
aiti-7192	73	5	similar	similar	ADJ
aiti-7192	73	6	to	to	ADP
aiti-7192	73	7	the	the	DET
aiti-7192	73	8	breadth	breadth	NOUN
aiti-7192	73	9	-	-	PUNCT
aiti-7192	73	10	first	first	ADJ
aiti-7192	73	11	search	search	NOUN
aiti-7192	73	12	method	method	NOUN
aiti-7192	73	13	;	;	PUNCT
aiti-7192	73	14	it	it	PRON
aiti-7192	73	15	searches	search	VERB
aiti-7192	73	16	for	for	ADP
aiti-7192	73	17	the	the	DET
aiti-7192	73	18	shortest	short	ADJ
aiti-7192	73	19	distance	distance	NOUN
aiti-7192	73	20	node	node	NOUN
aiti-7192	73	21	outward	outward	ADV
aiti-7192	73	22	from	from	ADP
aiti-7192	73	23	the	the	DET
aiti-7192	73	24	current	current	ADJ
aiti-7192	73	25	coordinate	coordinate	NOUN
aiti-7192	73	26	point	point	NOUN
aiti-7192	73	27	and	and	CCONJ
aiti-7192	73	28	continues	continue	VERB
aiti-7192	73	29	the	the	DET
aiti-7192	73	30	search	search	NOUN
aiti-7192	73	31	until	until	SCONJ
aiti-7192	73	32	the	the	DET
aiti-7192	73	33	target	target	NOUN
aiti-7192	73	34	point	point	NOUN
aiti-7192	73	35	is	be	AUX
aiti-7192	73	36	found	find	VERB
aiti-7192	73	37	.	.	PUNCT
aiti-7192	74	1	the	the	DET
aiti-7192	74	2	a	a	PROPN
aiti-7192	74	3	*	*	PROPN
aiti-7192	74	4	algorithm	algorithm	NOUN
aiti-7192	74	5	combines	combine	VERB
aiti-7192	74	6	the	the	DET
aiti-7192	74	7	speed	speed	NOUN
aiti-7192	74	8	priority	priority	NOUN
aiti-7192	74	9	and	and	CCONJ
aiti-7192	74	10	dijkstra	dijkstra	ADJ
aiti-7192	74	11	methods	method	NOUN
aiti-7192	74	12	.	.	PUNCT
aiti-7192	75	1	the	the	DET
aiti-7192	75	2	costs	cost	NOUN
aiti-7192	75	3	from	from	ADP
aiti-7192	75	4	the	the	DET
aiti-7192	75	5	starting	starting	NOUN
aiti-7192	75	6	point	point	NOUN
aiti-7192	75	7	to	to	ADP
aiti-7192	75	8	the	the	DET
aiti-7192	75	9	node	node	NOUN
aiti-7192	75	10	and	and	CCONJ
aiti-7192	75	11	from	from	ADP
aiti-7192	75	12	the	the	DET
aiti-7192	75	13	node	node	NOUN
aiti-7192	75	14	to	to	ADP
aiti-7192	75	15	the	the	DET
aiti-7192	75	16	target	target	NOUN
aiti-7192	75	17	point	point	NOUN
aiti-7192	75	18	are	be	AUX
aiti-7192	75	19	added	add	VERB
aiti-7192	75	20	and	and	CCONJ
aiti-7192	75	21	used	use	VERB
aiti-7192	75	22	as	as	ADP
aiti-7192	75	23	the	the	DET
aiti-7192	75	24	node	node	NOUN
aiti-7192	75	25	’s	’s	PART
aiti-7192	75	26	search	search	NOUN
aiti-7192	75	27	cost	cost	NOUN
aiti-7192	75	28	,	,	PUNCT
aiti-7192	75	29	and	and	CCONJ
aiti-7192	75	30	the	the	DET
aiti-7192	75	31	path	path	NOUN
aiti-7192	75	32	with	with	ADP
aiti-7192	75	33	the	the	DET
aiti-7192	75	34	lowest	low	ADJ
aiti-7192	75	35	cost	cost	NOUN
aiti-7192	75	36	is	be	AUX
aiti-7192	75	37	searched	search	VERB
aiti-7192	75	38	for	for	ADP
aiti-7192	75	39	outward	outward	ADV
aiti-7192	75	40	from	from	ADP
aiti-7192	75	41	the	the	DET
aiti-7192	75	42	starting	starting	NOUN
aiti-7192	75	43	point	point	NOUN
aiti-7192	75	44	.	.	PUNCT
aiti-7192	76	1	using	use	VERB
aiti-7192	76	2	the	the	DET
aiti-7192	76	3	method	method	NOUN
aiti-7192	76	4	,	,	PUNCT
aiti-7192	76	5	the	the	DET
aiti-7192	76	6	a	a	PRON
aiti-7192	76	7	*	*	ADJ
aiti-7192	76	8	algorithm	algorithm	NOUN
aiti-7192	76	9	can	can	AUX
aiti-7192	76	10	plan	plan	VERB
aiti-7192	76	11	the	the	DET
aiti-7192	76	12	optimal	optimal	ADJ
aiti-7192	76	13	path	path	NOUN
aiti-7192	76	14	while	while	SCONJ
aiti-7192	76	15	avoiding	avoid	VERB
aiti-7192	76	16	obstacles	obstacle	NOUN
aiti-7192	76	17	.	.	PUNCT
aiti-7192	77	1	the	the	DET
aiti-7192	77	2	obstacle	obstacle	NOUN
aiti-7192	77	3	avoidance	avoidance	NOUN
aiti-7192	77	4	problem	problem	NOUN
aiti-7192	77	5	is	be	AUX
aiti-7192	77	6	also	also	ADV
aiti-7192	77	7	called	call	VERB
aiti-7192	77	8	the	the	DET
aiti-7192	77	9	velocity	velocity	NOUN
aiti-7192	77	10	obstacle	obstacle	NOUN
aiti-7192	77	11	(	(	PUNCT
aiti-7192	77	12	vo	vo	NOUN
aiti-7192	77	13	)	)	PUNCT
aiti-7192	77	14	problem	problem	NOUN
aiti-7192	77	15	.	.	PUNCT
aiti-7192	78	1	if	if	SCONJ
aiti-7192	78	2	a	a	DET
aiti-7192	78	3	robot	robot	NOUN
aiti-7192	78	4	collides	collide	VERB
aiti-7192	78	5	with	with	ADP
aiti-7192	78	6	another	another	DET
aiti-7192	78	7	robot	robot	NOUN
aiti-7192	78	8	when	when	SCONJ
aiti-7192	78	9	maintaining	maintain	VERB
aiti-7192	78	10	its	its	PRON
aiti-7192	78	11	current	current	ADJ
aiti-7192	78	12	speed	speed	NOUN
aiti-7192	78	13	,	,	PUNCT
aiti-7192	78	14	the	the	DET
aiti-7192	78	15	set	set	NOUN
aiti-7192	78	16	of	of	ADP
aiti-7192	78	17	all	all	DET
aiti-7192	78	18	collision	collision	NOUN
aiti-7192	78	19	events	event	NOUN
aiti-7192	78	20	comprises	comprise	VERB
aiti-7192	78	21	the	the	DET
aiti-7192	78	22	vo	vo	NOUN
aiti-7192	79	1	[	[	X
aiti-7192	79	2	22	22	NUM
aiti-7192	79	3	]	]	PUNCT
aiti-7192	79	4	.	.	PUNCT
aiti-7192	80	1	214	214	NUM
aiti-7192	80	2	advances	advance	NOUN
aiti-7192	80	3	in	in	ADP
aiti-7192	80	4	technology	technology	NOUN
aiti-7192	80	5	innovation	innovation	NOUN
aiti-7192	80	6	,	,	PUNCT
aiti-7192	80	7	vol	vol	NOUN
aiti-7192	80	8	.	.	PROPN
aiti-7192	80	9	6	6	NUM
aiti-7192	80	10	,	,	PUNCT
aiti-7192	80	11	no	no	INTJ
aiti-7192	80	12	.	.	NOUN
aiti-7192	80	13	4	4	NUM
aiti-7192	80	14	,	,	PUNCT
aiti-7192	80	15	2021	2021	NUM
aiti-7192	80	16	,	,	PUNCT
aiti-7192	80	17	pp	pp	ADJ
aiti-7192	80	18	.	.	PUNCT
aiti-7192	81	1	213	213	NUM
aiti-7192	81	2	-	-	SYM
aiti-7192	81	3	221	221	NUM
aiti-7192	81	4	3	3	NUM
aiti-7192	81	5	.	.	PUNCT
aiti-7192	81	6	system	system	NOUN
aiti-7192	81	7	structure	structure	NOUN
aiti-7192	81	8	this	this	DET
aiti-7192	81	9	study	study	NOUN
aiti-7192	81	10	proposes	propose	VERB
aiti-7192	81	11	a	a	DET
aiti-7192	81	12	real	real	ADJ
aiti-7192	81	13	-	-	PUNCT
aiti-7192	81	14	time	time	NOUN
aiti-7192	81	15	path	path	NOUN
aiti-7192	81	16	-	-	PUNCT
aiti-7192	81	17	planning	planning	NOUN
aiti-7192	81	18	system	system	NOUN
aiti-7192	81	19	based	base	VERB
aiti-7192	81	20	on	on	ADP
aiti-7192	81	21	neural	neural	ADJ
aiti-7192	81	22	networks	network	NOUN
aiti-7192	81	23	for	for	ADP
aiti-7192	81	24	unmanned	unmanned	ADJ
aiti-7192	81	25	vehicles	vehicle	NOUN
aiti-7192	81	26	.	.	PUNCT
aiti-7192	82	1	the	the	DET
aiti-7192	82	2	image	image	NOUN
aiti-7192	82	3	obtained	obtain	VERB
aiti-7192	82	4	by	by	ADP
aiti-7192	82	5	an	an	DET
aiti-7192	82	6	embedded	embed	VERB
aiti-7192	82	7	camera	camera	NOUN
aiti-7192	82	8	is	be	AUX
aiti-7192	82	9	used	use	VERB
aiti-7192	82	10	as	as	ADP
aiti-7192	82	11	the	the	DET
aiti-7192	82	12	input	input	NOUN
aiti-7192	82	13	,	,	PUNCT
aiti-7192	82	14	and	and	CCONJ
aiti-7192	82	15	multiple	multiple	ADJ
aiti-7192	82	16	public	public	ADJ
aiti-7192	82	17	pretrained	pretraine	VERB
aiti-7192	82	18	neural	neural	ADJ
aiti-7192	82	19	networks	network	NOUN
aiti-7192	82	20	are	be	AUX
aiti-7192	82	21	used	use	VERB
aiti-7192	82	22	to	to	PART
aiti-7192	82	23	increase	increase	VERB
aiti-7192	82	24	the	the	DET
aiti-7192	82	25	amount	amount	NOUN
aiti-7192	82	26	of	of	ADP
aiti-7192	82	27	information	information	NOUN
aiti-7192	82	28	available	available	ADJ
aiti-7192	82	29	on	on	ADP
aiti-7192	82	30	obstacle	obstacle	NOUN
aiti-7192	82	31	positions	position	NOUN
aiti-7192	82	32	.	.	PUNCT
aiti-7192	83	1	the	the	DET
aiti-7192	83	2	drivable	drivable	ADJ
aiti-7192	83	3	area	area	NOUN
aiti-7192	83	4	is	be	AUX
aiti-7192	83	5	determined	determine	VERB
aiti-7192	83	6	from	from	ADP
aiti-7192	83	7	the	the	DET
aiti-7192	83	8	blank	blank	ADJ
aiti-7192	83	9	areas	area	NOUN
aiti-7192	83	10	between	between	ADP
aiti-7192	83	11	multiple	multiple	ADJ
aiti-7192	83	12	objects	object	NOUN
aiti-7192	83	13	,	,	PUNCT
aiti-7192	83	14	and	and	CCONJ
aiti-7192	83	15	safe	safe	ADJ
aiti-7192	83	16	paths	path	NOUN
aiti-7192	83	17	are	be	AUX
aiti-7192	83	18	planned	plan	VERB
aiti-7192	83	19	in	in	ADP
aiti-7192	83	20	drivable	drivable	ADJ
aiti-7192	83	21	areas	area	NOUN
aiti-7192	83	22	.	.	PUNCT
aiti-7192	84	1	fig	fig	NOUN
aiti-7192	84	2	.	.	PUNCT
aiti-7192	85	1	1	1	NUM
aiti-7192	85	2	displays	display	VERB
aiti-7192	85	3	the	the	DET
aiti-7192	85	4	architecture	architecture	NOUN
aiti-7192	85	5	of	of	ADP
aiti-7192	85	6	the	the	DET
aiti-7192	85	7	proposed	propose	VERB
aiti-7192	85	8	system	system	NOUN
aiti-7192	85	9	.	.	PUNCT
aiti-7192	86	1	three	three	NUM
aiti-7192	86	2	steps	step	NOUN
aiti-7192	86	3	are	be	AUX
aiti-7192	86	4	used	use	VERB
aiti-7192	86	5	in	in	ADP
aiti-7192	86	6	this	this	DET
aiti-7192	86	7	study	study	NOUN
aiti-7192	86	8	to	to	PART
aiti-7192	86	9	plan	plan	VERB
aiti-7192	86	10	the	the	DET
aiti-7192	86	11	path	path	NOUN
aiti-7192	86	12	of	of	ADP
aiti-7192	86	13	a	a	DET
aiti-7192	86	14	self	self	NOUN
aiti-7192	86	15	-	-	PUNCT
aiti-7192	86	16	propelled	propel	VERB
aiti-7192	86	17	vehicle	vehicle	NOUN
aiti-7192	86	18	:	:	PUNCT
aiti-7192	86	19	object	object	NOUN
aiti-7192	86	20	detection	detection	NOUN
aiti-7192	86	21	(	(	PUNCT
aiti-7192	86	22	fig	fig	NOUN
aiti-7192	86	23	.	.	PUNCT
aiti-7192	86	24	2	2	NUM
aiti-7192	86	25	)	)	PUNCT
aiti-7192	86	26	,	,	PUNCT
aiti-7192	86	27	path	path	NOUN
aiti-7192	86	28	planning	planning	NOUN
aiti-7192	86	29	(	(	PUNCT
aiti-7192	86	30	fig	fig	NOUN
aiti-7192	86	31	.	.	PUNCT
aiti-7192	87	1	3	3	NUM
aiti-7192	87	2	)	)	PUNCT
aiti-7192	87	3	,	,	PUNCT
aiti-7192	87	4	and	and	CCONJ
aiti-7192	87	5	movement	movement	NOUN
aiti-7192	87	6	control	control	NOUN
aiti-7192	87	7	.	.	PUNCT
aiti-7192	88	1	fig	fig	NOUN
aiti-7192	88	2	.	.	PUNCT
aiti-7192	89	1	1	1	NUM
aiti-7192	89	2	architecture	architecture	NOUN
aiti-7192	89	3	of	of	ADP
aiti-7192	89	4	the	the	DET
aiti-7192	89	5	proposed	propose	VERB
aiti-7192	89	6	system	system	NOUN
aiti-7192	89	7	fig	fig	NOUN
aiti-7192	89	8	.	.	PUNCT
aiti-7192	90	1	2	2	NUM
aiti-7192	90	2	framework	framework	NOUN
aiti-7192	90	3	of	of	ADP
aiti-7192	90	4	cloud	cloud	ADJ
aiti-7192	90	5	object	object	NOUN
aiti-7192	90	6	detection	detection	NOUN
aiti-7192	90	7	fig	fig	NOUN
aiti-7192	90	8	.	.	PUNCT
aiti-7192	91	1	3	3	NUM
aiti-7192	91	2	framework	framework	NOUN
aiti-7192	91	3	of	of	ADP
aiti-7192	91	4	path	path	NOUN
aiti-7192	91	5	planning	plan	VERB
aiti-7192	91	6	3.1	3.1	NUM
aiti-7192	91	7	.	.	PUNCT
aiti-7192	92	1	cloud	cloud	ADJ
aiti-7192	92	2	object	object	NOUN
aiti-7192	92	3	detection	detection	NOUN
aiti-7192	92	4	the	the	DET
aiti-7192	92	5	purpose	purpose	NOUN
aiti-7192	92	6	of	of	ADP
aiti-7192	92	7	object	object	NOUN
aiti-7192	92	8	detection	detection	NOUN
aiti-7192	92	9	is	be	AUX
aiti-7192	92	10	to	to	PART
aiti-7192	92	11	detect	detect	VERB
aiti-7192	92	12	the	the	DET
aiti-7192	92	13	locations	location	NOUN
aiti-7192	92	14	of	of	ADP
aiti-7192	92	15	obstacles	obstacle	NOUN
aiti-7192	92	16	and	and	CCONJ
aiti-7192	92	17	avoid	avoid	VERB
aiti-7192	92	18	them	they	PRON
aiti-7192	92	19	.	.	PUNCT
aiti-7192	93	1	an	an	DET
aiti-7192	93	2	object	object	NOUN
aiti-7192	93	3	detector	detector	NOUN
aiti-7192	93	4	is	be	AUX
aiti-7192	93	5	composed	compose	VERB
aiti-7192	93	6	of	of	ADP
aiti-7192	93	7	a	a	DET
aiti-7192	93	8	backbone	backbone	NOUN
aiti-7192	93	9	,	,	PUNCT
aiti-7192	93	10	neck	neck	NOUN
aiti-7192	93	11	,	,	PUNCT
aiti-7192	93	12	and	and	CCONJ
aiti-7192	93	13	head	head	NOUN
aiti-7192	93	14	.	.	PUNCT
aiti-7192	94	1	the	the	DET
aiti-7192	94	2	backbone	backbone	NOUN
aiti-7192	94	3	is	be	AUX
aiti-7192	94	4	a	a	DET
aiti-7192	94	5	network	network	NOUN
aiti-7192	94	6	for	for	ADP
aiti-7192	94	7	obtaining	obtain	VERB
aiti-7192	94	8	image	image	NOUN
aiti-7192	94	9	features	feature	NOUN
aiti-7192	94	10	,	,	PUNCT
aiti-7192	94	11	the	the	DET
aiti-7192	94	12	neck	neck	NOUN
aiti-7192	94	13	fuses	fuse	VERB
aiti-7192	94	14	the	the	DET
aiti-7192	94	15	feature	feature	NOUN
aiti-7192	94	16	maps	map	NOUN
aiti-7192	94	17	from	from	ADP
aiti-7192	94	18	various	various	ADJ
aiti-7192	94	19	layers	layer	NOUN
aiti-7192	94	20	,	,	PUNCT
aiti-7192	94	21	and	and	CCONJ
aiti-7192	94	22	the	the	DET
aiti-7192	94	23	head	head	NOUN
aiti-7192	94	24	is	be	AUX
aiti-7192	94	25	used	use	VERB
aiti-7192	94	26	for	for	ADP
aiti-7192	94	27	classification	classification	NOUN
aiti-7192	94	28	and	and	CCONJ
aiti-7192	94	29	localization	localization	NOUN
aiti-7192	94	30	.	.	PUNCT
aiti-7192	95	1	the	the	DET
aiti-7192	95	2	model	model	NOUN
aiti-7192	95	3	architecture	architecture	NOUN
aiti-7192	95	4	of	of	ADP
aiti-7192	95	5	an	an	DET
aiti-7192	95	6	object	object	NOUN
aiti-7192	95	7	detector	detector	NOUN
aiti-7192	95	8	is	be	AUX
aiti-7192	95	9	displayed	display	VERB
aiti-7192	95	10	in	in	ADP
aiti-7192	95	11	fig	fig	NOUN
aiti-7192	95	12	.	.	PUNCT
aiti-7192	96	1	4	4	NUM
aiti-7192	96	2	.	.	NOUN
aiti-7192	96	3	215	215	NUM
aiti-7192	96	4	advances	advance	NOUN
aiti-7192	96	5	in	in	ADP
aiti-7192	96	6	technology	technology	NOUN
aiti-7192	96	7	innovation	innovation	NOUN
aiti-7192	96	8	,	,	PUNCT
aiti-7192	96	9	vol	vol	NOUN
aiti-7192	96	10	.	.	PROPN
aiti-7192	96	11	6	6	NUM
aiti-7192	96	12	,	,	PUNCT
aiti-7192	96	13	no	no	INTJ
aiti-7192	96	14	.	.	NOUN
aiti-7192	96	15	4	4	NUM
aiti-7192	96	16	,	,	PUNCT
aiti-7192	96	17	2021	2021	NUM
aiti-7192	96	18	,	,	PUNCT
aiti-7192	96	19	pp	pp	ADJ
aiti-7192	96	20	.	.	PUNCT
aiti-7192	97	1	213	213	NUM
aiti-7192	97	2	-	-	SYM
aiti-7192	97	3	221	221	NUM
aiti-7192	97	4	fig	fig	NOUN
aiti-7192	97	5	.	.	PUNCT
aiti-7192	98	1	4	4	NUM
aiti-7192	98	2	model	model	NOUN
aiti-7192	98	3	architecture	architecture	NOUN
aiti-7192	98	4	of	of	ADP
aiti-7192	98	5	an	an	DET
aiti-7192	98	6	object	object	NOUN
aiti-7192	98	7	detector	detector	NOUN
aiti-7192	98	8	the	the	DET
aiti-7192	98	9	pretrained	pretraine	VERB
aiti-7192	98	10	networks	network	NOUN
aiti-7192	98	11	provided	provide	VERB
aiti-7192	98	12	by	by	ADP
aiti-7192	98	13	google	google	PROPN
aiti-7192	98	14	cloud	cloud	PROPN
aiti-7192	98	15	platform	platform	NOUN
aiti-7192	98	16	(	(	PUNCT
aiti-7192	98	17	gcp	gcp	PROPN
aiti-7192	98	18	)	)	PUNCT
aiti-7192	98	19	,	,	PUNCT
aiti-7192	98	20	microsoft	microsoft	PROPN
aiti-7192	98	21	azure	azure	NOUN
aiti-7192	98	22	,	,	PUNCT
aiti-7192	98	23	and	and	CCONJ
aiti-7192	98	24	amazon	amazon	NOUN
aiti-7192	98	25	web	web	NOUN
aiti-7192	98	26	service	service	NOUN
aiti-7192	98	27	(	(	PUNCT
aiti-7192	98	28	aws	aw	NOUN
aiti-7192	98	29	)	)	PUNCT
aiti-7192	98	30	are	be	AUX
aiti-7192	98	31	used	use	VERB
aiti-7192	98	32	to	to	PART
aiti-7192	98	33	detect	detect	VERB
aiti-7192	98	34	objects	object	NOUN
aiti-7192	98	35	in	in	ADP
aiti-7192	98	36	real	real	ADJ
aiti-7192	98	37	-	-	PUNCT
aiti-7192	98	38	time	time	NOUN
aiti-7192	98	39	images	image	NOUN
aiti-7192	98	40	and	and	CCONJ
aiti-7192	98	41	store	store	VERB
aiti-7192	98	42	the	the	DET
aiti-7192	98	43	data	datum	NOUN
aiti-7192	98	44	from	from	ADP
aiti-7192	98	45	each	each	DET
aiti-7192	98	46	platform	platform	NOUN
aiti-7192	98	47	in	in	ADP
aiti-7192	98	48	the	the	DET
aiti-7192	98	49	following	follow	VERB
aiti-7192	98	50	order	order	NOUN
aiti-7192	98	51	:	:	PUNCT
aiti-7192	98	52	object	object	VERB
aiti-7192	98	53	class	class	NOUN
aiti-7192	98	54	name	name	NOUN
aiti-7192	98	55	,	,	PUNCT
aiti-7192	98	56	confidence	confidence	NOUN
aiti-7192	98	57	score	score	NOUN
aiti-7192	98	58	,	,	PUNCT
aiti-7192	98	59	bounding	bound	VERB
aiti-7192	98	60	box	box	NOUN
aiti-7192	98	61	top	top	ADJ
aiti-7192	98	62	boundary	boundary	ADJ
aiti-7192	98	63	value	value	NOUN
aiti-7192	98	64	,	,	PUNCT
aiti-7192	98	65	bounding	bound	VERB
aiti-7192	98	66	box	box	NOUN
aiti-7192	98	67	bottom	bottom	PROPN
aiti-7192	98	68	boundary	boundary	ADJ
aiti-7192	98	69	value	value	NOUN
aiti-7192	98	70	,	,	PUNCT
aiti-7192	98	71	bounding	bound	VERB
aiti-7192	98	72	box	box	NOUN
aiti-7192	98	73	left	leave	VERB
aiti-7192	98	74	boundary	boundary	ADJ
aiti-7192	98	75	value	value	NOUN
aiti-7192	98	76	,	,	PUNCT
aiti-7192	98	77	and	and	CCONJ
aiti-7192	98	78	bounding	bound	VERB
aiti-7192	98	79	box	box	NOUN
aiti-7192	98	80	right	right	ADJ
aiti-7192	98	81	boundary	boundary	ADJ
aiti-7192	98	82	value	value	NOUN
aiti-7192	98	83	.	.	PUNCT
aiti-7192	99	1	3.2	3.2	NUM
aiti-7192	99	2	.	.	PUNCT
aiti-7192	99	3	path	path	NOUN
aiti-7192	99	4	planning	planning	NOUN
aiti-7192	99	5	for	for	ADP
aiti-7192	99	6	a	a	DET
aiti-7192	99	7	vehicle	vehicle	NOUN
aiti-7192	99	8	3.2.1	3.2.1	NUM
aiti-7192	99	9	.	.	PUNCT
aiti-7192	100	1	deletion	deletion	NOUN
aiti-7192	100	2	of	of	ADP
aiti-7192	100	3	the	the	DET
aiti-7192	100	4	overlapped	overlapped	PROPN
aiti-7192	100	5	box	box	PROPN
aiti-7192	100	6	first	first	ADV
aiti-7192	100	7	,	,	PUNCT
aiti-7192	100	8	the	the	DET
aiti-7192	100	9	coordinates	coordinate	NOUN
aiti-7192	100	10	of	of	ADP
aiti-7192	100	11	the	the	DET
aiti-7192	100	12	object	object	NOUN
aiti-7192	100	13	bounding	bounding	NOUN
aiti-7192	100	14	box	box	NOUN
aiti-7192	100	15	are	be	AUX
aiti-7192	100	16	determined	determine	VERB
aiti-7192	100	17	.	.	PUNCT
aiti-7192	101	1	next	next	ADV
aiti-7192	101	2	,	,	PUNCT
aiti-7192	101	3	whether	whether	SCONJ
aiti-7192	101	4	two	two	NUM
aiti-7192	101	5	object	object	NOUN
aiti-7192	101	6	bounding	bounding	NOUN
aiti-7192	101	7	boxes	box	NOUN
aiti-7192	101	8	overlap	overlap	NOUN
aiti-7192	101	9	is	be	AUX
aiti-7192	101	10	determined	determine	VERB
aiti-7192	101	11	.	.	PUNCT
aiti-7192	102	1	if	if	SCONJ
aiti-7192	102	2	an	an	DET
aiti-7192	102	3	overlap	overlap	NOUN
aiti-7192	102	4	is	be	AUX
aiti-7192	102	5	discovered	discover	VERB
aiti-7192	102	6	,	,	PUNCT
aiti-7192	102	7	the	the	DET
aiti-7192	102	8	bounding	bounding	NOUN
aiti-7192	102	9	box	box	NOUN
aiti-7192	102	10	with	with	ADP
aiti-7192	102	11	the	the	DET
aiti-7192	102	12	higher	high	ADJ
aiti-7192	102	13	bottom	bottom	ADJ
aiti-7192	102	14	boundary	boundary	ADJ
aiti-7192	102	15	value	value	NOUN
aiti-7192	102	16	is	be	AUX
aiti-7192	102	17	removed	remove	VERB
aiti-7192	102	18	.	.	PUNCT
aiti-7192	103	1	the	the	DET
aiti-7192	103	2	left	left	ADJ
aiti-7192	103	3	and	and	CCONJ
aiti-7192	103	4	right	right	ADJ
aiti-7192	103	5	boundary	boundary	ADJ
aiti-7192	103	6	values	value	NOUN
aiti-7192	103	7	of	of	ADP
aiti-7192	103	8	objects	object	NOUN
aiti-7192	103	9	a	a	PRON
aiti-7192	103	10	and	and	CCONJ
aiti-7192	103	11	b	b	NOUN
aiti-7192	103	12	are	be	AUX
aiti-7192	103	13	set	set	VERB
aiti-7192	103	14	as	as	ADP
aiti-7192	103	15	(	(	PUNCT
aiti-7192	103	16	al	al	PROPN
aiti-7192	103	17	,	,	PUNCT
aiti-7192	103	18	ar	ar	PROPN
aiti-7192	103	19	)	)	PUNCT
aiti-7192	103	20	and	and	CCONJ
aiti-7192	103	21	(	(	PUNCT
aiti-7192	103	22	bl	bl	INTJ
aiti-7192	103	23	,	,	PUNCT
aiti-7192	103	24	br	br	PROPN
aiti-7192	103	25	)	)	PUNCT
aiti-7192	103	26	,	,	PUNCT
aiti-7192	103	27	respectively	respectively	ADV
aiti-7192	103	28	.	.	PUNCT
aiti-7192	104	1	if	if	SCONJ
aiti-7192	104	2	the	the	DET
aiti-7192	104	3	bounding	bounding	NOUN
aiti-7192	104	4	boxes	box	NOUN
aiti-7192	104	5	of	of	ADP
aiti-7192	104	6	a	a	PRON
aiti-7192	104	7	and	and	CCONJ
aiti-7192	104	8	b	b	NOUN
aiti-7192	104	9	do	do	AUX
aiti-7192	104	10	not	not	PART
aiti-7192	104	11	overlap	overlap	VERB
aiti-7192	104	12	,	,	PUNCT
aiti-7192	104	13	they	they	PRON
aiti-7192	104	14	must	must	AUX
aiti-7192	104	15	satisfy	satisfy	VERB
aiti-7192	104	16	the	the	DET
aiti-7192	104	17	following	follow	VERB
aiti-7192	104	18	eqs	eqs	PROPN
aiti-7192	104	19	.	.	PUNCT
aiti-7192	105	1	(	(	PUNCT
aiti-7192	105	2	1	1	X
aiti-7192	105	3	)	)	PUNCT
aiti-7192	105	4	and	and	CCONJ
aiti-7192	105	5	(	(	PUNCT
aiti-7192	105	6	2	2	NUM
aiti-7192	105	7	)	)	PUNCT
aiti-7192	105	8	.	.	PUNCT
aiti-7192	106	1	l	l	NOUN
aiti-7192	106	2	r	r	NOUN
aiti-7192	106	3	l	l	NOUN
aiti-7192	106	4	rb	rb	NOUN
aiti-7192	106	5	b	b	X
aiti-7192	106	6	a	a	PRON
aiti-7192	106	7	a	a	X
aiti-7192	106	8	<	<	X
aiti-7192	106	9	<	<	X
aiti-7192	106	10	<	<	X
aiti-7192	106	11	(	(	PUNCT
aiti-7192	106	12	1	1	NUM
aiti-7192	106	13	)	)	PUNCT
aiti-7192	106	14	l	l	NOUN
aiti-7192	106	15	r	r	NOUN
aiti-7192	106	16	l	l	NOUN
aiti-7192	106	17	ra	ra	NOUN
aiti-7192	107	1	a	a	DET
aiti-7192	107	2	b	b	X
aiti-7192	107	3	b	b	X
aiti-7192	107	4	<	<	X
aiti-7192	107	5	<	<	X
aiti-7192	107	6	<	<	X
aiti-7192	107	7	(	(	PUNCT
aiti-7192	107	8	2	2	NUM
aiti-7192	107	9	)	)	PUNCT
aiti-7192	107	10	3.2.2	3.2.2	NUM
aiti-7192	107	11	.	.	PUNCT
aiti-7192	108	1	drivable	drivable	PROPN
aiti-7192	108	2	area	area	NOUN
aiti-7192	108	3	detection	detection	NOUN
aiti-7192	108	4	after	after	ADP
aiti-7192	108	5	removing	remove	VERB
aiti-7192	108	6	the	the	DET
aiti-7192	108	7	overlapping	overlap	VERB
aiti-7192	108	8	bounding	bounding	NOUN
aiti-7192	108	9	box	box	NOUN
aiti-7192	108	10	,	,	PUNCT
aiti-7192	108	11	the	the	DET
aiti-7192	108	12	blank	blank	ADJ
aiti-7192	108	13	area	area	NOUN
aiti-7192	108	14	between	between	ADP
aiti-7192	108	15	any	any	DET
aiti-7192	108	16	two	two	NUM
aiti-7192	108	17	nonoverlapping	nonoverlapping	ADJ
aiti-7192	108	18	objects	object	NOUN
aiti-7192	108	19	is	be	AUX
aiti-7192	108	20	considered	consider	VERB
aiti-7192	108	21	the	the	DET
aiti-7192	108	22	movement	movement	NOUN
aiti-7192	108	23	area	area	NOUN
aiti-7192	108	24	.	.	PUNCT
aiti-7192	109	1	the	the	DET
aiti-7192	109	2	distance	distance	NOUN
aiti-7192	109	3	between	between	ADP
aiti-7192	109	4	all	all	DET
aiti-7192	109	5	objects	object	NOUN
aiti-7192	109	6	can	can	AUX
aiti-7192	109	7	be	be	AUX
aiti-7192	109	8	calculated	calculate	VERB
aiti-7192	109	9	from	from	ADP
aiti-7192	109	10	their	their	PRON
aiti-7192	109	11	bounding	bounding	NOUN
aiti-7192	109	12	box	box	NOUN
aiti-7192	109	13	coordinates	coordinate	NOUN
aiti-7192	109	14	.	.	PUNCT
aiti-7192	110	1	according	accord	VERB
aiti-7192	110	2	to	to	ADP
aiti-7192	110	3	an	an	DET
aiti-7192	110	4	axiom	axiom	NOUN
aiti-7192	110	5	in	in	ADP
aiti-7192	110	6	the	the	DET
aiti-7192	110	7	euclidean	euclidean	ADJ
aiti-7192	110	8	geometry	geometry	NOUN
aiti-7192	110	9	system	system	NOUN
aiti-7192	110	10	,	,	PUNCT
aiti-7192	110	11	the	the	DET
aiti-7192	110	12	distance	distance	NOUN
aiti-7192	110	13	d	d	NOUN
aiti-7192	110	14	between	between	ADP
aiti-7192	110	15	any	any	DET
aiti-7192	110	16	two	two	NUM
aiti-7192	110	17	points	point	NOUN
aiti-7192	110	18	p1(x1	p1(x1	ADJ
aiti-7192	110	19	,	,	PUNCT
aiti-7192	110	20	y1	y1	NOUN
aiti-7192	110	21	)	)	PUNCT
aiti-7192	110	22	and	and	CCONJ
aiti-7192	110	23	p2(x2	p2(x2	NOUN
aiti-7192	110	24	,	,	PUNCT
aiti-7192	110	25	y2	y2	PROPN
aiti-7192	110	26	)	)	PUNCT
aiti-7192	110	27	can	can	AUX
aiti-7192	110	28	be	be	AUX
aiti-7192	110	29	calculated	calculate	VERB
aiti-7192	110	30	using	use	VERB
aiti-7192	110	31	eq	eq	ADP
aiti-7192	110	32	.	.	PUNCT
aiti-7192	111	1	(	(	PUNCT
aiti-7192	111	2	3	3	NUM
aiti-7192	111	3	)	)	PUNCT
aiti-7192	111	4	.	.	PUNCT
aiti-7192	112	1	the	the	DET
aiti-7192	112	2	shortest	short	ADJ
aiti-7192	112	3	distance	distance	NOUN
aiti-7192	112	4	between	between	ADP
aiti-7192	112	5	the	the	DET
aiti-7192	112	6	bottom	bottom	ADJ
aiti-7192	112	7	endpoints	endpoint	NOUN
aiti-7192	112	8	of	of	ADP
aiti-7192	112	9	two	two	NUM
aiti-7192	112	10	bounding	bounding	NOUN
aiti-7192	112	11	boxes	box	NOUN
aiti-7192	112	12	,	,	PUNCT
aiti-7192	112	13	that	that	ADV
aiti-7192	112	14	is	is	ADV
aiti-7192	112	15	,	,	PUNCT
aiti-7192	112	16	the	the	DET
aiti-7192	112	17	bottom	bottom	ADJ
aiti-7192	112	18	line	line	NOUN
aiti-7192	112	19	of	of	ADP
aiti-7192	112	20	the	the	DET
aiti-7192	112	21	drivable	drivable	ADJ
aiti-7192	112	22	area	area	NOUN
aiti-7192	112	23	,	,	PUNCT
aiti-7192	112	24	is	be	AUX
aiti-7192	112	25	calculated	calculate	VERB
aiti-7192	112	26	as	as	SCONJ
aiti-7192	112	27	follows	follow	VERB
aiti-7192	112	28	:	:	PUNCT
aiti-7192	112	29	2	2	NUM
aiti-7192	112	30	2	2	NUM
aiti-7192	112	31	1	1	NUM
aiti-7192	112	32	2	2	NUM
aiti-7192	112	33	1	1	NUM
aiti-7192	112	34	2	2	NUM
aiti-7192	112	35	(	(	PUNCT
aiti-7192	112	36	)	)	PUNCT
aiti-7192	112	37	(	(	PUNCT
aiti-7192	112	38	)	)	PUNCT
aiti-7192	112	39	d	d	X
aiti-7192	112	40	x	x	PUNCT
aiti-7192	112	41	x	x	PUNCT
aiti-7192	112	42	y	y	NOUN
aiti-7192	112	43	y=	y=	NUM
aiti-7192	112	44	−	−	PROPN
aiti-7192	113	1	+	+	CCONJ
aiti-7192	113	2	−	−	PROPN
aiti-7192	113	3	(	(	PUNCT
aiti-7192	113	4	3	3	NUM
aiti-7192	113	5	)	)	PUNCT
aiti-7192	113	6	3.2.3	3.2.3	NUM
aiti-7192	113	7	.	.	PUNCT
aiti-7192	114	1	set	set	VERB
aiti-7192	114	2	destination	destination	NOUN
aiti-7192	114	3	the	the	DET
aiti-7192	114	4	drivable	drivable	ADJ
aiti-7192	114	5	area	area	NOUN
aiti-7192	114	6	should	should	AUX
aiti-7192	114	7	be	be	AUX
aiti-7192	114	8	clear	clear	ADJ
aiti-7192	114	9	and	and	CCONJ
aiti-7192	114	10	not	not	PART
aiti-7192	114	11	blocked	block	VERB
aiti-7192	114	12	by	by	ADP
aiti-7192	114	13	intermediate	intermediate	ADJ
aiti-7192	114	14	objects	object	NOUN
aiti-7192	114	15	.	.	PUNCT
aiti-7192	115	1	a	a	PRON
aiti-7192	115	2	and	and	CCONJ
aiti-7192	115	3	b	b	NOUN
aiti-7192	115	4	are	be	AUX
aiti-7192	115	5	set	set	VERB
aiti-7192	115	6	as	as	ADP
aiti-7192	115	7	nonadjacent	nonadjacent	ADJ
aiti-7192	115	8	objects	object	NOUN
aiti-7192	115	9	,	,	PUNCT
aiti-7192	115	10	and	and	CCONJ
aiti-7192	115	11	a	a	PRON
aiti-7192	115	12	is	be	AUX
aiti-7192	115	13	to	to	ADP
aiti-7192	115	14	the	the	DET
aiti-7192	115	15	left	left	NOUN
aiti-7192	115	16	of	of	ADP
aiti-7192	115	17	b.	b.	PROPN
aiti-7192	115	18	the	the	DET
aiti-7192	115	19	four	four	NUM
aiti-7192	115	20	endpoint	endpoint	NOUN
aiti-7192	115	21	coordinates	coordinate	NOUN
aiti-7192	115	22	of	of	ADP
aiti-7192	115	23	the	the	DET
aiti-7192	115	24	bottom	bottom	ADJ
aiti-7192	115	25	boundaries	boundary	NOUN
aiti-7192	115	26	of	of	ADP
aiti-7192	115	27	the	the	DET
aiti-7192	115	28	two	two	NUM
aiti-7192	115	29	objects	object	NOUN
aiti-7192	115	30	are	be	AUX
aiti-7192	115	31	denoted	denote	VERB
aiti-7192	115	32	as	as	ADP
aiti-7192	115	33	al(x1	al(x1	ADJ
aiti-7192	115	34	,	,	PUNCT
aiti-7192	115	35	y1	y1	NOUN
aiti-7192	115	36	)	)	PUNCT
aiti-7192	115	37	,	,	PUNCT
aiti-7192	115	38	ar(x2	ar(x2	NOUN
aiti-7192	115	39	,	,	PUNCT
aiti-7192	115	40	y2	y2	PROPN
aiti-7192	115	41	)	)	PUNCT
aiti-7192	115	42	,	,	PUNCT
aiti-7192	115	43	bl(x1	bl(x1	PROPN
aiti-7192	115	44	,	,	PUNCT
aiti-7192	115	45	y1	y1	NOUN
aiti-7192	115	46	)	)	PUNCT
aiti-7192	115	47	,	,	PUNCT
aiti-7192	115	48	and	and	CCONJ
aiti-7192	115	49	br(x2	br(x2	NOUN
aiti-7192	115	50	,	,	PUNCT
aiti-7192	115	51	y2	y2	PROPN
aiti-7192	115	52	)	)	PUNCT
aiti-7192	115	53	.	.	PUNCT
aiti-7192	116	1	when	when	SCONJ
aiti-7192	116	2	n	n	PRON
aiti-7192	116	3	objects	object	VERB
aiti-7192	116	4	exist	exist	VERB
aiti-7192	116	5	between	between	ADP
aiti-7192	116	6	a	a	PRON
aiti-7192	116	7	and	and	CCONJ
aiti-7192	116	8	b	b	NOUN
aiti-7192	116	9	,	,	PUNCT
aiti-7192	116	10	the	the	DET
aiti-7192	116	11	bottom	bottom	ADJ
aiti-7192	116	12	boundary	boundary	ADJ
aiti-7192	116	13	endpoint	endpoint	NOUN
aiti-7192	116	14	coordinates	coordinate	NOUN
aiti-7192	116	15	of	of	ADP
aiti-7192	116	16	any	any	DET
aiti-7192	116	17	object	object	NOUN
aiti-7192	116	18	can	can	AUX
aiti-7192	116	19	be	be	AUX
aiti-7192	116	20	denoted	denote	VERB
aiti-7192	116	21	as	as	ADP
aiti-7192	116	22	ol(x1	ol(x1	ADJ
aiti-7192	116	23	,	,	PUNCT
aiti-7192	116	24	y1	y1	NOUN
aiti-7192	116	25	)	)	PUNCT
aiti-7192	116	26	or	or	CCONJ
aiti-7192	116	27	or(x2	or(x2	NOUN
aiti-7192	116	28	,	,	PUNCT
aiti-7192	116	29	y2	y2	NOUN
aiti-7192	116	30	)	)	PUNCT
aiti-7192	116	31	.	.	PUNCT
aiti-7192	117	1	if	if	SCONJ
aiti-7192	117	2	the	the	DET
aiti-7192	117	3	area	area	NOUN
aiti-7192	117	4	is	be	AUX
aiti-7192	117	5	not	not	PART
aiti-7192	117	6	blocked	block	VERB
aiti-7192	117	7	,	,	PUNCT
aiti-7192	117	8	eqs	eqs	X
aiti-7192	117	9	.	.	PUNCT
aiti-7192	118	1	(	(	PUNCT
aiti-7192	118	2	4	4	NUM
aiti-7192	118	3	)	)	PUNCT
aiti-7192	118	4	and	and	CCONJ
aiti-7192	118	5	(	(	PUNCT
aiti-7192	118	6	5	5	X
aiti-7192	118	7	)	)	PUNCT
aiti-7192	118	8	are	be	AUX
aiti-7192	118	9	satisfied	satisfied	ADJ
aiti-7192	118	10	.	.	PUNCT
aiti-7192	119	1	when	when	SCONJ
aiti-7192	119	2	the	the	DET
aiti-7192	119	3	denominator	denominator	NOUN
aiti-7192	119	4	in	in	ADP
aiti-7192	119	5	eqs	eqs	PROPN
aiti-7192	119	6	.	.	PUNCT
aiti-7192	120	1	(	(	PUNCT
aiti-7192	120	2	4	4	NUM
aiti-7192	120	3	)	)	PUNCT
aiti-7192	120	4	and	and	CCONJ
aiti-7192	120	5	(	(	PUNCT
aiti-7192	120	6	5	5	X
aiti-7192	120	7	)	)	PUNCT
aiti-7192	120	8	is	be	AUX
aiti-7192	120	9	0	0	NUM
aiti-7192	120	10	,	,	PUNCT
aiti-7192	120	11	the	the	DET
aiti-7192	120	12	bounding	bounding	NOUN
aiti-7192	120	13	boxes	box	NOUN
aiti-7192	120	14	of	of	ADP
aiti-7192	120	15	the	the	DET
aiti-7192	120	16	two	two	NUM
aiti-7192	120	17	objects	object	NOUN
aiti-7192	120	18	overlap	overlap	NOUN
aiti-7192	120	19	.	.	PUNCT
aiti-7192	121	1	this	this	DET
aiti-7192	121	2	overlap	overlap	NOUN
aiti-7192	121	3	is	be	AUX
aiti-7192	121	4	eliminated	eliminate	VERB
aiti-7192	121	5	using	use	VERB
aiti-7192	121	6	eq	eq	ADP
aiti-7192	121	7	.	.	PUNCT
aiti-7192	122	1	(	(	PUNCT
aiti-7192	122	2	1	1	NUM
aiti-7192	122	3	)	)	PUNCT
aiti-7192	122	4	or	or	CCONJ
aiti-7192	122	5	(	(	PUNCT
aiti-7192	122	6	2	2	NUM
aiti-7192	122	7	)	)	PUNCT
aiti-7192	122	8	.	.	PUNCT
aiti-7192	123	1	2	2	NUM
aiti-7192	123	2	1	1	NUM
aiti-7192	123	3	2	2	NUM
aiti-7192	123	4	1	1	NUM
aiti-7192	123	5	2	2	NUM
aiti-7192	123	6	1	1	NUM
aiti-7192	123	7	2	2	NUM
aiti-7192	123	8	1	1	NUM
aiti-7192	123	9	ax	ax	NOUN
aiti-7192	123	10	bx	bx	NOUN
aiti-7192	123	11	ax	ax	NOUN
aiti-7192	123	12	ox	ox	PROPN
aiti-7192	123	13	ay	ay	INTJ
aiti-7192	123	14	by	by	ADP
aiti-7192	123	15	ay	ay	PROPN
aiti-7192	123	16	oy	oy	PROPN
aiti-7192	123	17	−	−	PROPN
aiti-7192	123	18	−	−	PROPN
aiti-7192	123	19	<	<	X
aiti-7192	123	20	−	−	PROPN
aiti-7192	124	1	−	−	PROPN
aiti-7192	125	1	(	(	PUNCT
aiti-7192	125	2	4	4	NUM
aiti-7192	125	3	)	)	SYM
aiti-7192	125	4	2	2	NUM
aiti-7192	125	5	1	1	NUM
aiti-7192	125	6	2	2	NUM
aiti-7192	125	7	2	2	NUM
aiti-7192	125	8	2	2	NUM
aiti-7192	125	9	1	1	NUM
aiti-7192	125	10	2	2	NUM
aiti-7192	125	11	2	2	NUM
aiti-7192	125	12	ax	ax	NOUN
aiti-7192	125	13	bx	bx	NOUN
aiti-7192	125	14	ax	ax	NOUN
aiti-7192	125	15	ox	ox	PROPN
aiti-7192	125	16	ay	ay	INTJ
aiti-7192	125	17	by	by	ADP
aiti-7192	125	18	ay	ay	PROPN
aiti-7192	125	19	oy	oy	PROPN
aiti-7192	125	20	−	−	PROPN
aiti-7192	125	21	−	−	PROPN
aiti-7192	125	22	<	<	X
aiti-7192	125	23	−	−	PROPN
aiti-7192	126	1	−	−	PROPN
aiti-7192	127	1	(	(	PUNCT
aiti-7192	127	2	5	5	NUM
aiti-7192	127	3	)	)	PUNCT
aiti-7192	127	4	216	216	NUM
aiti-7192	127	5	advances	advance	NOUN
aiti-7192	127	6	in	in	ADP
aiti-7192	127	7	technology	technology	NOUN
aiti-7192	127	8	innovation	innovation	NOUN
aiti-7192	127	9	,	,	PUNCT
aiti-7192	127	10	vol	vol	NOUN
aiti-7192	127	11	.	.	PROPN
aiti-7192	128	1	6	6	NUM
aiti-7192	128	2	,	,	PUNCT
aiti-7192	128	3	no	no	INTJ
aiti-7192	128	4	.	.	NOUN
aiti-7192	128	5	4	4	NUM
aiti-7192	128	6	,	,	PUNCT
aiti-7192	128	7	2021	2021	NUM
aiti-7192	128	8	,	,	PUNCT
aiti-7192	128	9	pp	pp	ADJ
aiti-7192	128	10	.	.	PUNCT
aiti-7192	129	1	213	213	NUM
aiti-7192	129	2	-	-	SYM
aiti-7192	129	3	221	221	NUM
aiti-7192	129	4	the	the	DET
aiti-7192	129	5	center	center	ADJ
aiti-7192	129	6	point	point	NOUN
aiti-7192	129	7	of	of	ADP
aiti-7192	129	8	a	a	DET
aiti-7192	129	9	robotic	robotic	ADJ
aiti-7192	129	10	car	car	NOUN
aiti-7192	129	11	is	be	AUX
aiti-7192	129	12	set	set	VERB
aiti-7192	129	13	as	as	ADP
aiti-7192	129	14	the	the	DET
aiti-7192	129	15	midpoint	midpoint	NOUN
aiti-7192	129	16	of	of	ADP
aiti-7192	129	17	the	the	DET
aiti-7192	129	18	bottom	bottom	ADJ
aiti-7192	129	19	boundary	boundary	NOUN
aiti-7192	129	20	of	of	ADP
aiti-7192	129	21	the	the	DET
aiti-7192	129	22	image	image	NOUN
aiti-7192	129	23	.	.	PUNCT
aiti-7192	130	1	the	the	DET
aiti-7192	130	2	center	center	ADJ
aiti-7192	130	3	point	point	NOUN
aiti-7192	130	4	of	of	ADP
aiti-7192	130	5	each	each	DET
aiti-7192	130	6	drivable	drivable	ADJ
aiti-7192	130	7	area	area	NOUN
aiti-7192	130	8	can	can	AUX
aiti-7192	130	9	be	be	AUX
aiti-7192	130	10	calculated	calculate	VERB
aiti-7192	130	11	from	from	ADP
aiti-7192	130	12	the	the	DET
aiti-7192	130	13	endpoint	endpoint	NOUN
aiti-7192	130	14	coordinates	coordinate	NOUN
aiti-7192	130	15	of	of	ADP
aiti-7192	130	16	the	the	DET
aiti-7192	130	17	bottom	bottom	ADJ
aiti-7192	130	18	line	line	NOUN
aiti-7192	130	19	of	of	ADP
aiti-7192	130	20	the	the	DET
aiti-7192	130	21	drivable	drivable	ADJ
aiti-7192	130	22	area	area	NOUN
aiti-7192	130	23	.	.	PUNCT
aiti-7192	131	1	assuming	assume	VERB
aiti-7192	131	2	that	that	SCONJ
aiti-7192	131	3	the	the	DET
aiti-7192	131	4	two	two	NUM
aiti-7192	131	5	endpoints	endpoint	NOUN
aiti-7192	131	6	at	at	ADP
aiti-7192	131	7	the	the	DET
aiti-7192	131	8	bottom	bottom	NOUN
aiti-7192	131	9	of	of	ADP
aiti-7192	131	10	the	the	DET
aiti-7192	131	11	drivable	drivable	ADJ
aiti-7192	131	12	area	area	NOUN
aiti-7192	131	13	are	be	AUX
aiti-7192	131	14	p1(x1	p1(x1	ADJ
aiti-7192	131	15	,	,	PUNCT
aiti-7192	131	16	y1	y1	NOUN
aiti-7192	131	17	)	)	PUNCT
aiti-7192	131	18	and	and	CCONJ
aiti-7192	131	19	p2(x2	p2(x2	NOUN
aiti-7192	131	20	,	,	PUNCT
aiti-7192	131	21	y2	y2	PROPN
aiti-7192	131	22	)	)	PUNCT
aiti-7192	131	23	,	,	PUNCT
aiti-7192	131	24	the	the	DET
aiti-7192	131	25	midpoint	midpoint	NOUN
aiti-7192	131	26	coordinates	coordinate	NOUN
aiti-7192	131	27	of	of	ADP
aiti-7192	131	28	the	the	DET
aiti-7192	131	29	drivable	drivable	ADJ
aiti-7192	131	30	area	area	NOUN
aiti-7192	131	31	,	,	PUNCT
aiti-7192	131	32	namely	namely	ADV
aiti-7192	131	33	pm(xm	pm(xm	ADJ
aiti-7192	131	34	,	,	PUNCT
aiti-7192	131	35	ym	ym	PROPN
aiti-7192	131	36	)	)	PUNCT
aiti-7192	131	37	,	,	PUNCT
aiti-7192	131	38	can	can	AUX
aiti-7192	131	39	be	be	AUX
aiti-7192	131	40	calculated	calculate	VERB
aiti-7192	131	41	using	use	VERB
aiti-7192	131	42	eq	eq	ADP
aiti-7192	131	43	.	.	PUNCT
aiti-7192	132	1	(	(	PUNCT
aiti-7192	132	2	6	6	NUM
aiti-7192	132	3	)	)	PUNCT
aiti-7192	132	4	.	.	PUNCT
aiti-7192	133	1	eq	eq	X
aiti-7192	133	2	.	.	PUNCT
aiti-7192	134	1	(	(	PUNCT
aiti-7192	134	2	3	3	X
aiti-7192	134	3	)	)	PUNCT
aiti-7192	134	4	is	be	AUX
aiti-7192	134	5	used	use	VERB
aiti-7192	134	6	to	to	PART
aiti-7192	134	7	calculate	calculate	VERB
aiti-7192	134	8	the	the	DET
aiti-7192	134	9	distance	distance	NOUN
aiti-7192	134	10	between	between	ADP
aiti-7192	134	11	the	the	DET
aiti-7192	134	12	midpoint	midpoint	NOUN
aiti-7192	134	13	of	of	ADP
aiti-7192	134	14	all	all	DET
aiti-7192	134	15	drivable	drivable	ADJ
aiti-7192	134	16	areas	area	NOUN
aiti-7192	134	17	and	and	CCONJ
aiti-7192	134	18	the	the	DET
aiti-7192	134	19	center	center	ADJ
aiti-7192	134	20	point	point	NOUN
aiti-7192	134	21	of	of	ADP
aiti-7192	134	22	the	the	DET
aiti-7192	134	23	robotic	robotic	ADJ
aiti-7192	134	24	car	car	NOUN
aiti-7192	134	25	.	.	PUNCT
aiti-7192	135	1	the	the	DET
aiti-7192	135	2	midpoint	midpoint	NOUN
aiti-7192	135	3	with	with	ADP
aiti-7192	135	4	the	the	DET
aiti-7192	135	5	shortest	short	ADJ
aiti-7192	135	6	distance	distance	NOUN
aiti-7192	135	7	to	to	ADP
aiti-7192	135	8	the	the	DET
aiti-7192	135	9	center	center	NOUN
aiti-7192	135	10	point	point	NOUN
aiti-7192	135	11	is	be	AUX
aiti-7192	135	12	set	set	VERB
aiti-7192	135	13	as	as	ADP
aiti-7192	135	14	the	the	DET
aiti-7192	135	15	waypoint	waypoint	NOUN
aiti-7192	135	16	,	,	PUNCT
aiti-7192	135	17	and	and	CCONJ
aiti-7192	135	18	the	the	DET
aiti-7192	135	19	straight	straight	ADJ
aiti-7192	135	20	line	line	NOUN
aiti-7192	135	21	from	from	ADP
aiti-7192	135	22	the	the	DET
aiti-7192	135	23	center	center	NOUN
aiti-7192	135	24	point	point	NOUN
aiti-7192	135	25	to	to	ADP
aiti-7192	135	26	the	the	DET
aiti-7192	135	27	waypoint	waypoint	NOUN
aiti-7192	135	28	represents	represent	VERB
aiti-7192	135	29	the	the	DET
aiti-7192	135	30	planned	planned	ADJ
aiti-7192	135	31	route	route	NOUN
aiti-7192	135	32	.	.	PUNCT
aiti-7192	136	1	1	1	NUM
aiti-7192	136	2	2	2	NUM
aiti-7192	136	3	1	1	NUM
aiti-7192	136	4	2	2	NUM
aiti-7192	136	5	(	(	PUNCT
aiti-7192	136	6	,	,	PUNCT
aiti-7192	136	7	)	)	PUNCT
aiti-7192	136	8	(	(	PUNCT
aiti-7192	136	9	,	,	PUNCT
aiti-7192	136	10	)	)	PUNCT
aiti-7192	136	11	2	2	NUM
aiti-7192	136	12	2	2	NUM
aiti-7192	136	13	m	m	NOUN
aiti-7192	136	14	m	m	VERB
aiti-7192	136	15	m	m	VERB
aiti-7192	136	16	x	x	X
aiti-7192	136	17	x	x	PUNCT
aiti-7192	136	18	y	y	VERB
aiti-7192	136	19	y	y	PROPN
aiti-7192	136	20	p	p	NOUN
aiti-7192	136	21	x	x	X
aiti-7192	136	22	y	y	NOUN
aiti-7192	136	23	−	−	NOUN
aiti-7192	136	24	−	−	PROPN
aiti-7192	136	25	=	=	SYM
aiti-7192	136	26	(	(	PUNCT
aiti-7192	136	27	6	6	NUM
aiti-7192	136	28	)	)	PUNCT
aiti-7192	136	29	3.3	3.3	NUM
aiti-7192	136	30	.	.	PUNCT
aiti-7192	137	1	movement	movement	NOUN
aiti-7192	137	2	control	control	VERB
aiti-7192	137	3	the	the	DET
aiti-7192	137	4	coordinates	coordinate	NOUN
aiti-7192	137	5	of	of	ADP
aiti-7192	137	6	the	the	DET
aiti-7192	137	7	center	center	ADJ
aiti-7192	137	8	point	point	NOUN
aiti-7192	137	9	of	of	ADP
aiti-7192	137	10	the	the	DET
aiti-7192	137	11	robotic	robotic	ADJ
aiti-7192	137	12	car	car	NOUN
aiti-7192	137	13	and	and	CCONJ
aiti-7192	137	14	the	the	DET
aiti-7192	137	15	waypoint	waypoint	NOUN
aiti-7192	137	16	can	can	AUX
aiti-7192	137	17	be	be	AUX
aiti-7192	137	18	used	use	VERB
aiti-7192	137	19	to	to	PART
aiti-7192	137	20	calculate	calculate	VERB
aiti-7192	137	21	the	the	DET
aiti-7192	137	22	offset	offset	NOUN
aiti-7192	137	23	angle	angle	NOUN
aiti-7192	137	24	between	between	ADP
aiti-7192	137	25	the	the	DET
aiti-7192	137	26	travel	travel	NOUN
aiti-7192	137	27	direction	direction	NOUN
aiti-7192	137	28	of	of	ADP
aiti-7192	137	29	the	the	DET
aiti-7192	137	30	robotic	robotic	ADJ
aiti-7192	137	31	car	car	NOUN
aiti-7192	137	32	and	and	CCONJ
aiti-7192	137	33	the	the	DET
aiti-7192	137	34	waypoint	waypoint	NOUN
aiti-7192	137	35	.	.	PUNCT
aiti-7192	138	1	first	first	ADV
aiti-7192	138	2	,	,	PUNCT
aiti-7192	138	3	eq	eq	ADJ
aiti-7192	138	4	.	.	PUNCT
aiti-7192	139	1	(	(	PUNCT
aiti-7192	139	2	3	3	X
aiti-7192	139	3	)	)	PUNCT
aiti-7192	139	4	is	be	AUX
aiti-7192	139	5	used	use	VERB
aiti-7192	139	6	to	to	PART
aiti-7192	139	7	calculate	calculate	VERB
aiti-7192	139	8	the	the	DET
aiti-7192	139	9	distance	distance	NOUN
aiti-7192	139	10	between	between	ADP
aiti-7192	139	11	the	the	DET
aiti-7192	139	12	car	car	NOUN
aiti-7192	139	13	and	and	CCONJ
aiti-7192	139	14	waypoint	waypoint	NOUN
aiti-7192	139	15	.	.	PUNCT
aiti-7192	140	1	then	then	ADV
aiti-7192	140	2	,	,	PUNCT
aiti-7192	140	3	the	the	DET
aiti-7192	140	4	cosine	cosine	NOUN
aiti-7192	140	5	value	value	NOUN
aiti-7192	140	6	of	of	ADP
aiti-7192	140	7	the	the	DET
aiti-7192	140	8	angle	angle	NOUN
aiti-7192	140	9	between	between	ADP
aiti-7192	140	10	the	the	DET
aiti-7192	140	11	planned	plan	VERB
aiti-7192	140	12	path	path	NOUN
aiti-7192	140	13	and	and	CCONJ
aiti-7192	140	14	the	the	DET
aiti-7192	140	15	vertical	vertical	ADJ
aiti-7192	140	16	line	line	NOUN
aiti-7192	140	17	is	be	AUX
aiti-7192	140	18	calculated	calculate	VERB
aiti-7192	140	19	.	.	PUNCT
aiti-7192	141	1	the	the	DET
aiti-7192	141	2	angle	angle	NOUN
aiti-7192	141	3	converted	convert	VERB
aiti-7192	141	4	by	by	ADP
aiti-7192	141	5	the	the	DET
aiti-7192	141	6	cosine	cosine	NOUN
aiti-7192	141	7	value	value	NOUN
aiti-7192	141	8	is	be	AUX
aiti-7192	141	9	the	the	DET
aiti-7192	141	10	offset	offset	ADJ
aiti-7192	141	11	angle	angle	NOUN
aiti-7192	141	12	.	.	PUNCT
aiti-7192	142	1	if	if	SCONJ
aiti-7192	142	2	the	the	DET
aiti-7192	142	3	offset	offset	NOUN
aiti-7192	142	4	angle	angle	NOUN
aiti-7192	142	5	does	do	AUX
aiti-7192	142	6	not	not	PART
aiti-7192	142	7	exceed	exceed	VERB
aiti-7192	142	8	the	the	DET
aiti-7192	142	9	preset	preset	ADJ
aiti-7192	142	10	threshold	threshold	NOUN
aiti-7192	142	11	,	,	PUNCT
aiti-7192	142	12	a	a	DET
aiti-7192	142	13	forward	forward	ADJ
aiti-7192	142	14	command	command	NOUN
aiti-7192	142	15	is	be	AUX
aiti-7192	142	16	issued	issue	VERB
aiti-7192	142	17	to	to	PART
aiti-7192	142	18	allow	allow	VERB
aiti-7192	142	19	the	the	DET
aiti-7192	142	20	car	car	NOUN
aiti-7192	142	21	to	to	PART
aiti-7192	142	22	move	move	VERB
aiti-7192	142	23	forward	forward	ADV
aiti-7192	142	24	.	.	PUNCT
aiti-7192	143	1	however	however	ADV
aiti-7192	143	2	,	,	PUNCT
aiti-7192	143	3	if	if	SCONJ
aiti-7192	143	4	the	the	DET
aiti-7192	143	5	offset	offset	NOUN
aiti-7192	143	6	angle	angle	NOUN
aiti-7192	143	7	exceeds	exceed	VERB
aiti-7192	143	8	the	the	DET
aiti-7192	143	9	preset	preset	ADJ
aiti-7192	143	10	threshold	threshold	NOUN
aiti-7192	143	11	,	,	PUNCT
aiti-7192	143	12	a	a	DET
aiti-7192	143	13	turn	turn	NOUN
aiti-7192	143	14	-	-	PUNCT
aiti-7192	143	15	left	leave	VERB
aiti-7192	143	16	or	or	CCONJ
aiti-7192	143	17	turn	turn	VERB
aiti-7192	143	18	-	-	PUNCT
aiti-7192	143	19	right	right	ADJ
aiti-7192	143	20	command	command	NOUN
aiti-7192	143	21	is	be	AUX
aiti-7192	143	22	issued	issue	VERB
aiti-7192	143	23	for	for	ADP
aiti-7192	143	24	appropriately	appropriately	ADV
aiti-7192	143	25	controlling	control	VERB
aiti-7192	143	26	the	the	DET
aiti-7192	143	27	direction	direction	NOUN
aiti-7192	143	28	of	of	ADP
aiti-7192	143	29	car	car	NOUN
aiti-7192	143	30	movement	movement	NOUN
aiti-7192	143	31	.	.	PUNCT
aiti-7192	144	1	4	4	X
aiti-7192	144	2	.	.	X
aiti-7192	144	3	experimental	experimental	ADJ
aiti-7192	144	4	results	result	NOUN
aiti-7192	144	5	table	table	NOUN
aiti-7192	144	6	1	1	NUM
aiti-7192	144	7	lists	list	VERB
aiti-7192	144	8	the	the	DET
aiti-7192	144	9	experimental	experimental	ADJ
aiti-7192	144	10	equipment	equipment	NOUN
aiti-7192	144	11	used	use	VERB
aiti-7192	144	12	in	in	ADP
aiti-7192	144	13	this	this	DET
aiti-7192	144	14	study	study	NOUN
aiti-7192	144	15	.	.	PUNCT
aiti-7192	145	1	the	the	DET
aiti-7192	145	2	raspberry	raspberry	NOUN
aiti-7192	145	3	pi	pi	NOUN
aiti-7192	145	4	is	be	AUX
aiti-7192	145	5	a	a	DET
aiti-7192	145	6	single	single	ADJ
aiti-7192	145	7	-	-	PUNCT
aiti-7192	145	8	chip	chip	NOUN
aiti-7192	145	9	computer	computer	NOUN
aiti-7192	145	10	developed	develop	VERB
aiti-7192	145	11	by	by	ADP
aiti-7192	145	12	the	the	DET
aiti-7192	145	13	raspberry	raspberry	PROPN
aiti-7192	145	14	pi	pi	PROPN
aiti-7192	145	15	foundation	foundation	PROPN
aiti-7192	145	16	for	for	ADP
aiti-7192	145	17	improving	improve	VERB
aiti-7192	145	18	students	student	NOUN
aiti-7192	145	19	’	’	PART
aiti-7192	145	20	understanding	understanding	NOUN
aiti-7192	145	21	of	of	ADP
aiti-7192	145	22	computing	compute	VERB
aiti-7192	145	23	science	science	NOUN
aiti-7192	145	24	.	.	PUNCT
aiti-7192	146	1	the	the	DET
aiti-7192	146	2	experiment	experiment	NOUN
aiti-7192	146	3	uses	use	VERB
aiti-7192	146	4	docker	docker	PROPN
aiti-7192	146	5	to	to	PART
aiti-7192	146	6	construct	construct	VERB
aiti-7192	146	7	an	an	DET
aiti-7192	146	8	image	image	NOUN
aiti-7192	146	9	file	file	NOUN
aiti-7192	146	10	with	with	ADP
aiti-7192	146	11	the	the	DET
aiti-7192	146	12	official	official	ADJ
aiti-7192	146	13	raspberry	raspberry	NOUN
aiti-7192	146	14	pi	pi	NOUN
aiti-7192	146	15	operating	operating	NOUN
aiti-7192	146	16	system	system	NOUN
aiti-7192	146	17	and	and	CCONJ
aiti-7192	146	18	the	the	DET
aiti-7192	146	19	python	python	NOUN
aiti-7192	146	20	3	3	NUM
aiti-7192	146	21	language	language	NOUN
aiti-7192	146	22	for	for	ADP
aiti-7192	146	23	research	research	NOUN
aiti-7192	146	24	.	.	PUNCT
aiti-7192	147	1	table	table	NOUN
aiti-7192	147	2	1	1	NUM
aiti-7192	147	3	experimental	experimental	ADJ
aiti-7192	147	4	equipment	equipment	NOUN
aiti-7192	147	5	used	use	VERB
aiti-7192	147	6	in	in	ADP
aiti-7192	147	7	this	this	DET
aiti-7192	147	8	study	study	NOUN
aiti-7192	147	9	components	component	NOUN
aiti-7192	147	10	specification	specification	NOUN
aiti-7192	147	11	operating	operating	NOUN
aiti-7192	147	12	system	system	NOUN
aiti-7192	147	13	raspbian	raspbian	ADJ
aiti-7192	147	14	central	central	ADJ
aiti-7192	147	15	processing	processing	NOUN
aiti-7192	147	16	unit	unit	NOUN
aiti-7192	147	17	arm	arm	VERB
aiti-7192	147	18	cortex	cortex	NOUN
aiti-7192	147	19	-	-	PUNCT
aiti-7192	147	20	a72	a72	ADJ
aiti-7192	147	21	random	random	ADJ
aiti-7192	147	22	access	access	NOUN
aiti-7192	147	23	memory	memory	NOUN
aiti-7192	147	24	4	4	NUM
aiti-7192	147	25	gb	gb	NOUN
aiti-7192	147	26	(	(	PUNCT
aiti-7192	147	27	lpddr4	lpddr4	PROPN
aiti-7192	147	28	)	)	PUNCT
aiti-7192	147	29	camera	camera	NOUN
aiti-7192	147	30	logitech	logitech	NOUN
aiti-7192	147	31	c310	c310	PROPN
aiti-7192	147	32	fig	fig	NOUN
aiti-7192	147	33	.	.	PUNCT
aiti-7192	148	1	5	5	NUM
aiti-7192	148	2	displays	display	VERB
aiti-7192	148	3	a	a	DET
aiti-7192	148	4	self	self	NOUN
aiti-7192	148	5	-	-	PUNCT
aiti-7192	148	6	propelled	propel	VERB
aiti-7192	148	7	vehicle	vehicle	NOUN
aiti-7192	148	8	equipped	equip	VERB
aiti-7192	148	9	with	with	ADP
aiti-7192	148	10	a	a	DET
aiti-7192	148	11	raspberry	raspberry	NOUN
aiti-7192	148	12	pi	pi	NOUN
aiti-7192	148	13	4	4	NUM
aiti-7192	148	14	computer	computer	NOUN
aiti-7192	148	15	and	and	CCONJ
aiti-7192	148	16	complementary	complementary	ADJ
aiti-7192	148	17	metal	metal	NOUN
aiti-7192	148	18	oxide	oxide	NOUN
aiti-7192	148	19	semiconductor	semiconductor	NOUN
aiti-7192	148	20	(	(	PUNCT
aiti-7192	148	21	cmos	cmos	NOUN
aiti-7192	148	22	)	)	PUNCT
aiti-7192	148	23	lens	lens	NOUN
aiti-7192	148	24	assembly	assembly	NOUN
aiti-7192	148	25	for	for	ADP
aiti-7192	148	26	capturing	capture	VERB
aiti-7192	148	27	environmental	environmental	ADJ
aiti-7192	148	28	images	image	NOUN
aiti-7192	148	29	.	.	PUNCT
aiti-7192	149	1	the	the	DET
aiti-7192	149	2	raspberry	raspberry	NOUN
aiti-7192	149	3	pi	pi	NOUN
aiti-7192	149	4	4	4	NUM
aiti-7192	149	5	has	have	VERB
aiti-7192	149	6	a	a	DET
aiti-7192	149	7	40	40	NUM
aiti-7192	149	8	-	-	PUNCT
aiti-7192	149	9	pin	pin	NOUN
aiti-7192	149	10	universal	universal	ADJ
aiti-7192	149	11	input	input	NOUN
aiti-7192	149	12	and	and	CCONJ
aiti-7192	149	13	output	output	NOUN
aiti-7192	149	14	that	that	PRON
aiti-7192	149	15	can	can	AUX
aiti-7192	149	16	be	be	AUX
aiti-7192	149	17	used	use	VERB
aiti-7192	149	18	for	for	ADP
aiti-7192	149	19	external	external	ADJ
aiti-7192	149	20	screens	screen	NOUN
aiti-7192	149	21	and	and	CCONJ
aiti-7192	149	22	sensors	sensor	NOUN
aiti-7192	149	23	.	.	PUNCT
aiti-7192	150	1	the	the	DET
aiti-7192	150	2	raspberry	raspberry	NOUN
aiti-7192	150	3	pi	pi	NOUN
aiti-7192	150	4	4	4	NUM
aiti-7192	150	5	is	be	AUX
aiti-7192	150	6	connected	connect	VERB
aiti-7192	150	7	to	to	ADP
aiti-7192	150	8	a	a	DET
aiti-7192	150	9	power	power	NOUN
aiti-7192	150	10	source	source	NOUN
aiti-7192	150	11	motor	motor	NOUN
aiti-7192	150	12	for	for	ADP
aiti-7192	150	13	controlling	control	VERB
aiti-7192	150	14	the	the	DET
aiti-7192	150	15	movement	movement	NOUN
aiti-7192	150	16	of	of	ADP
aiti-7192	150	17	a	a	DET
aiti-7192	150	18	robotic	robotic	ADJ
aiti-7192	150	19	car	car	NOUN
aiti-7192	150	20	.	.	PUNCT
aiti-7192	151	1	a	a	DET
aiti-7192	151	2	logitech	logitech	PROPN
aiti-7192	151	3	c310	c310	PROPN
aiti-7192	151	4	fixed	fix	VERB
aiti-7192	151	5	-	-	PUNCT
aiti-7192	151	6	focus	focus	NOUN
aiti-7192	151	7	lens	lens	NOUN
aiti-7192	151	8	is	be	AUX
aiti-7192	151	9	used	use	VERB
aiti-7192	151	10	to	to	PART
aiti-7192	151	11	obtain	obtain	VERB
aiti-7192	151	12	a	a	DET
aiti-7192	151	13	5	5	NUM
aiti-7192	151	14	-	-	PUNCT
aiti-7192	151	15	million	million	NUM
aiti-7192	151	16	-	-	PUNCT
aiti-7192	151	17	pixel	pixel	NOUN
aiti-7192	151	18	image	image	NOUN
aiti-7192	151	19	with	with	ADP
aiti-7192	151	20	a	a	DET
aiti-7192	151	21	size	size	NOUN
aiti-7192	151	22	of	of	ADP
aiti-7192	151	23	1280	1280	NUM
aiti-7192	151	24	×	×	NOUN
aiti-7192	151	25	960	960	NUM
aiti-7192	151	26	.	.	PUNCT
aiti-7192	152	1	this	this	DET
aiti-7192	152	2	lens	lens	NOUN
aiti-7192	152	3	is	be	AUX
aiti-7192	152	4	connected	connect	VERB
aiti-7192	152	5	to	to	ADP
aiti-7192	152	6	the	the	DET
aiti-7192	152	7	raspberry	raspberry	NOUN
aiti-7192	152	8	pi	pi	NOUN
aiti-7192	152	9	4	4	NUM
aiti-7192	152	10	through	through	ADP
aiti-7192	152	11	a	a	DET
aiti-7192	152	12	universal	universal	ADJ
aiti-7192	152	13	serial	serial	ADJ
aiti-7192	152	14	bus	bus	NOUN
aiti-7192	152	15	(	(	PUNCT
aiti-7192	152	16	usb	usb	NOUN
aiti-7192	152	17	)	)	PUNCT
aiti-7192	152	18	interface	interface	NOUN
aiti-7192	152	19	.	.	PUNCT
aiti-7192	153	1	raspberry	raspberry	PROPN
aiti-7192	153	2	pi	pi	NOUN
aiti-7192	153	3	4	4	NUM
aiti-7192	153	4	has	have	VERB
aiti-7192	153	5	a	a	DET
aiti-7192	153	6	rated	rate	VERB
aiti-7192	153	7	power	power	NOUN
aiti-7192	153	8	of	of	ADP
aiti-7192	153	9	5	5	NUM
aiti-7192	153	10	v/3	v/3	PUNCT
aiti-7192	153	11	a.	a.	NOUN
aiti-7192	153	12	a	a	DET
aiti-7192	153	13	mobile	mobile	NOUN
aiti-7192	153	14	power	power	NOUN
aiti-7192	153	15	bank	bank	NOUN
aiti-7192	153	16	is	be	AUX
aiti-7192	153	17	used	use	VERB
aiti-7192	153	18	as	as	ADP
aiti-7192	153	19	a	a	DET
aiti-7192	153	20	power	power	NOUN
aiti-7192	153	21	source	source	NOUN
aiti-7192	153	22	through	through	ADP
aiti-7192	153	23	usb	usb	NOUN
aiti-7192	153	24	-	-	PUNCT
aiti-7192	153	25	c	c	NOUN
aiti-7192	153	26	to	to	PART
aiti-7192	153	27	provide	provide	VERB
aiti-7192	153	28	a	a	DET
aiti-7192	153	29	maximum	maximum	ADJ
aiti-7192	153	30	output	output	NOUN
aiti-7192	153	31	of	of	ADP
aiti-7192	153	32	5	5	NUM
aiti-7192	153	33	v/2.1	v/2.1	NOUN
aiti-7192	153	34	a	a	PRON
aiti-7192	153	35	to	to	ADP
aiti-7192	153	36	the	the	DET
aiti-7192	153	37	raspberry	raspberry	NOUN
aiti-7192	153	38	pi	pi	NOUN
aiti-7192	153	39	4	4	NUM
aiti-7192	153	40	.	.	PUNCT
aiti-7192	154	1	(	(	PUNCT
aiti-7192	154	2	a	a	X
aiti-7192	154	3	)	)	PUNCT
aiti-7192	154	4	front	front	ADJ
aiti-7192	154	5	view	view	NOUN
aiti-7192	154	6	of	of	ADP
aiti-7192	154	7	the	the	DET
aiti-7192	154	8	vehicle	vehicle	NOUN
aiti-7192	154	9	(	(	PUNCT
aiti-7192	154	10	b	b	NOUN
aiti-7192	154	11	)	)	PUNCT
aiti-7192	154	12	top	top	ADJ
aiti-7192	154	13	view	view	NOUN
aiti-7192	154	14	of	of	ADP
aiti-7192	154	15	the	the	DET
aiti-7192	154	16	vehicle	vehicle	NOUN
aiti-7192	154	17	fig	fig	NOUN
aiti-7192	154	18	.	.	PUNCT
aiti-7192	155	1	5	5	NUM
aiti-7192	156	1	the	the	DET
aiti-7192	156	2	robotic	robotic	ADJ
aiti-7192	156	3	car	car	NOUN
aiti-7192	156	4	equipped	equip	VERB
aiti-7192	156	5	with	with	ADP
aiti-7192	156	6	raspberry	raspberry	NOUN
aiti-7192	156	7	pi	pi	NOUN
aiti-7192	156	8	4	4	NUM
aiti-7192	156	9	and	and	CCONJ
aiti-7192	156	10	cmos	cmos	PROPN
aiti-7192	156	11	camera	camera	NOUN
aiti-7192	156	12	217	217	NUM
aiti-7192	156	13	advances	advance	NOUN
aiti-7192	156	14	in	in	ADP
aiti-7192	156	15	technology	technology	NOUN
aiti-7192	156	16	innovation	innovation	NOUN
aiti-7192	156	17	,	,	PUNCT
aiti-7192	156	18	vol	vol	NOUN
aiti-7192	156	19	.	.	PROPN
aiti-7192	157	1	6	6	NUM
aiti-7192	157	2	,	,	PUNCT
aiti-7192	157	3	no	no	INTJ
aiti-7192	157	4	.	.	NOUN
aiti-7192	157	5	4	4	NUM
aiti-7192	157	6	,	,	PUNCT
aiti-7192	157	7	2021	2021	NUM
aiti-7192	157	8	,	,	PUNCT
aiti-7192	157	9	pp	pp	ADJ
aiti-7192	157	10	.	.	PUNCT
aiti-7192	158	1	213	213	NUM
aiti-7192	158	2	-	-	SYM
aiti-7192	158	3	221	221	NUM
aiti-7192	158	4	4.1	4.1	NUM
aiti-7192	158	5	.	.	PUNCT
aiti-7192	159	1	drivable	drivable	PROPN
aiti-7192	159	2	area	area	NOUN
aiti-7192	159	3	detection	detection	NOUN
aiti-7192	159	4	the	the	DET
aiti-7192	159	5	raspberry	raspberry	NOUN
aiti-7192	159	6	pi	pi	NOUN
aiti-7192	159	7	4	4	NUM
aiti-7192	159	8	and	and	CCONJ
aiti-7192	159	9	a	a	DET
aiti-7192	159	10	streaming	streaming	NOUN
aiti-7192	159	11	service	service	NOUN
aiti-7192	159	12	are	be	AUX
aiti-7192	159	13	started	start	VERB
aiti-7192	159	14	.	.	PUNCT
aiti-7192	160	1	the	the	DET
aiti-7192	160	2	streaming	streaming	NOUN
aiti-7192	160	3	service	service	NOUN
aiti-7192	160	4	is	be	AUX
aiti-7192	160	5	based	base	VERB
aiti-7192	160	6	on	on	ADP
aiti-7192	160	7	real	real	ADJ
aiti-7192	160	8	time	time	NOUN
aiti-7192	160	9	streaming	streaming	NOUN
aiti-7192	160	10	protocol	protocol	NOUN
aiti-7192	160	11	(	(	PUNCT
aiti-7192	160	12	rtsp	rtsp	NOUN
aiti-7192	160	13	)	)	PUNCT
aiti-7192	160	14	.	.	PUNCT
aiti-7192	161	1	streaming	streaming	NOUN
aiti-7192	161	2	images	image	NOUN
aiti-7192	161	3	are	be	AUX
aiti-7192	161	4	sent	send	VERB
aiti-7192	161	5	to	to	ADP
aiti-7192	161	6	the	the	DET
aiti-7192	161	7	cloud	cloud	NOUN
aiti-7192	161	8	through	through	ADP
aiti-7192	161	9	cloud	cloud	NOUN
aiti-7192	161	10	platforms	platform	NOUN
aiti-7192	161	11	,	,	PUNCT
aiti-7192	161	12	and	and	CCONJ
aiti-7192	161	13	apis	apis	PROPN
aiti-7192	161	14	are	be	AUX
aiti-7192	161	15	used	use	VERB
aiti-7192	161	16	for	for	ADP
aiti-7192	161	17	object	object	NOUN
aiti-7192	161	18	identification	identification	NOUN
aiti-7192	161	19	.	.	PUNCT
aiti-7192	162	1	the	the	DET
aiti-7192	162	2	object	object	NOUN
aiti-7192	162	3	detection	detection	NOUN
aiti-7192	162	4	services	service	NOUN
aiti-7192	162	5	used	use	VERB
aiti-7192	162	6	in	in	ADP
aiti-7192	162	7	this	this	DET
aiti-7192	162	8	study	study	NOUN
aiti-7192	162	9	are	be	AUX
aiti-7192	162	10	provided	provide	VERB
aiti-7192	162	11	by	by	ADP
aiti-7192	162	12	google	google	PROPN
aiti-7192	162	13	cloud	cloud	PROPN
aiti-7192	162	14	vision	vision	PROPN
aiti-7192	162	15	,	,	PUNCT
aiti-7192	162	16	amazon	amazon	NOUN
aiti-7192	162	17	rekognition	rekognition	NOUN
aiti-7192	162	18	,	,	PUNCT
aiti-7192	162	19	and	and	CCONJ
aiti-7192	162	20	azure	azure	ADJ
aiti-7192	162	21	computer	computer	NOUN
aiti-7192	162	22	vision	vision	PROPN
aiti-7192	162	23	cloud	cloud	NOUN
aiti-7192	162	24	platforms	platform	NOUN
aiti-7192	162	25	to	to	PART
aiti-7192	162	26	obtain	obtain	VERB
aiti-7192	162	27	the	the	DET
aiti-7192	162	28	position	position	NOUN
aiti-7192	162	29	coordinates	coordinate	NOUN
aiti-7192	162	30	,	,	PUNCT
aiti-7192	162	31	category	category	NOUN
aiti-7192	162	32	names	name	NOUN
aiti-7192	162	33	,	,	PUNCT
aiti-7192	162	34	and	and	CCONJ
aiti-7192	162	35	confidence	confidence	NOUN
aiti-7192	162	36	scores	score	NOUN
aiti-7192	162	37	for	for	ADP
aiti-7192	162	38	the	the	DET
aiti-7192	162	39	objects	object	NOUN
aiti-7192	162	40	in	in	ADP
aiti-7192	162	41	an	an	DET
aiti-7192	162	42	image	image	NOUN
aiti-7192	162	43	.	.	PUNCT
aiti-7192	163	1	obstacles	obstacle	NOUN
aiti-7192	163	2	are	be	AUX
aiti-7192	163	3	identified	identify	VERB
aiti-7192	163	4	by	by	ADP
aiti-7192	163	5	using	use	VERB
aiti-7192	163	6	multiple	multiple	ADJ
aiti-7192	163	7	clouds	cloud	NOUN
aiti-7192	163	8	to	to	PART
aiti-7192	163	9	increase	increase	VERB
aiti-7192	163	10	the	the	DET
aiti-7192	163	11	amount	amount	NOUN
aiti-7192	163	12	of	of	ADP
aiti-7192	163	13	information	information	NOUN
aiti-7192	163	14	because	because	SCONJ
aiti-7192	163	15	insufficient	insufficient	ADJ
aiti-7192	163	16	information	information	NOUN
aiti-7192	163	17	would	would	AUX
aiti-7192	163	18	have	have	AUX
aiti-7192	163	19	negatively	negatively	ADV
aiti-7192	163	20	affected	affect	VERB
aiti-7192	163	21	the	the	DET
aiti-7192	163	22	suitability	suitability	NOUN
aiti-7192	163	23	of	of	ADP
aiti-7192	163	24	the	the	DET
aiti-7192	163	25	planned	plan	VERB
aiti-7192	163	26	path	path	NOUN
aiti-7192	163	27	.	.	PUNCT
aiti-7192	164	1	moreover	moreover	ADV
aiti-7192	164	2	,	,	PUNCT
aiti-7192	164	3	accurate	accurate	ADJ
aiti-7192	164	4	object	object	NOUN
aiti-7192	164	5	class	class	NOUN
aiti-7192	164	6	names	name	NOUN
aiti-7192	164	7	and	and	CCONJ
aiti-7192	164	8	confidence	confidence	NOUN
aiti-7192	164	9	scores	score	NOUN
aiti-7192	164	10	are	be	AUX
aiti-7192	164	11	not	not	PART
aiti-7192	164	12	required	require	VERB
aiti-7192	164	13	because	because	SCONJ
aiti-7192	164	14	the	the	DET
aiti-7192	164	15	aim	aim	NOUN
aiti-7192	164	16	is	be	AUX
aiti-7192	164	17	to	to	PART
aiti-7192	164	18	obtain	obtain	VERB
aiti-7192	164	19	information	information	NOUN
aiti-7192	164	20	on	on	ADP
aiti-7192	164	21	surrounding	surround	VERB
aiti-7192	164	22	obstacles	obstacle	NOUN
aiti-7192	164	23	.	.	PUNCT
aiti-7192	165	1	fig	fig	NOUN
aiti-7192	165	2	.	.	PUNCT
aiti-7192	166	1	6	6	NUM
aiti-7192	166	2	displays	display	VERB
aiti-7192	166	3	the	the	DET
aiti-7192	166	4	results	result	NOUN
aiti-7192	166	5	of	of	ADP
aiti-7192	166	6	object	object	NOUN
aiti-7192	166	7	marking	mark	VERB
aiti-7192	166	8	when	when	SCONJ
aiti-7192	166	9	using	use	VERB
aiti-7192	166	10	multiple	multiple	ADJ
aiti-7192	166	11	cloud	cloud	NOUN
aiti-7192	166	12	platforms	platform	NOUN
aiti-7192	166	13	,	,	PUNCT
aiti-7192	166	14	and	and	CCONJ
aiti-7192	166	15	the	the	DET
aiti-7192	166	16	marked	mark	VERB
aiti-7192	166	17	boxes	box	NOUN
aiti-7192	166	18	of	of	ADP
aiti-7192	166	19	the	the	DET
aiti-7192	166	20	same	same	ADJ
aiti-7192	166	21	color	color	NOUN
aiti-7192	166	22	represent	represent	VERB
aiti-7192	166	23	the	the	DET
aiti-7192	166	24	detection	detection	NOUN
aiti-7192	166	25	results	result	NOUN
aiti-7192	166	26	obtained	obtain	VERB
aiti-7192	166	27	from	from	ADP
aiti-7192	166	28	the	the	DET
aiti-7192	166	29	same	same	ADJ
aiti-7192	166	30	platform	platform	NOUN
aiti-7192	166	31	.	.	PUNCT
aiti-7192	167	1	here	here	ADV
aiti-7192	167	2	,	,	PUNCT
aiti-7192	167	3	the	the	DET
aiti-7192	167	4	gcp	gcp	ADJ
aiti-7192	167	5	vision	vision	NOUN
aiti-7192	167	6	is	be	AUX
aiti-7192	167	7	presented	present	VERB
aiti-7192	167	8	by	by	ADP
aiti-7192	167	9	red	red	ADJ
aiti-7192	167	10	color	color	NOUN
aiti-7192	167	11	and	and	CCONJ
aiti-7192	167	12	the	the	DET
aiti-7192	167	13	azure	azure	ADJ
aiti-7192	167	14	vision	vision	NOUN
aiti-7192	167	15	is	be	AUX
aiti-7192	167	16	presented	present	VERB
aiti-7192	167	17	by	by	ADP
aiti-7192	167	18	blue	blue	ADJ
aiti-7192	167	19	color	color	NOUN
aiti-7192	167	20	.	.	PUNCT
aiti-7192	168	1	the	the	DET
aiti-7192	168	2	program	program	NOUN
aiti-7192	168	3	for	for	ADP
aiti-7192	168	4	drivable	drivable	ADJ
aiti-7192	168	5	area	area	NOUN
aiti-7192	168	6	detection	detection	NOUN
aiti-7192	168	7	is	be	AUX
aiti-7192	168	8	written	write	VERB
aiti-7192	168	9	in	in	ADP
aiti-7192	168	10	the	the	DET
aiti-7192	168	11	python	python	NOUN
aiti-7192	168	12	3	3	NUM
aiti-7192	168	13	language	language	NOUN
aiti-7192	168	14	.	.	PUNCT
aiti-7192	169	1	first	first	ADV
aiti-7192	169	2	,	,	PUNCT
aiti-7192	169	3	the	the	DET
aiti-7192	169	4	overlapping	overlap	VERB
aiti-7192	169	5	object	object	NOUN
aiti-7192	169	6	bounding	bounding	NOUN
aiti-7192	169	7	boxes	box	NOUN
aiti-7192	169	8	are	be	AUX
aiti-7192	169	9	removed	remove	VERB
aiti-7192	169	10	.	.	PUNCT
aiti-7192	170	1	then	then	ADV
aiti-7192	170	2	,	,	PUNCT
aiti-7192	170	3	the	the	DET
aiti-7192	170	4	drivable	drivable	ADJ
aiti-7192	170	5	area	area	NOUN
aiti-7192	170	6	is	be	AUX
aiti-7192	170	7	detected	detect	VERB
aiti-7192	170	8	and	and	CCONJ
aiti-7192	170	9	the	the	DET
aiti-7192	170	10	waypoint	waypoint	NOUN
aiti-7192	170	11	is	be	AUX
aiti-7192	170	12	set	set	VERB
aiti-7192	170	13	.	.	PUNCT
aiti-7192	171	1	fig	fig	NOUN
aiti-7192	171	2	.	.	PUNCT
aiti-7192	172	1	7	7	NUM
aiti-7192	172	2	displays	display	VERB
aiti-7192	172	3	the	the	DET
aiti-7192	172	4	result	result	NOUN
aiti-7192	172	5	obtained	obtain	VERB
aiti-7192	172	6	after	after	ADP
aiti-7192	172	7	subjecting	subject	VERB
aiti-7192	172	8	fig	fig	NOUN
aiti-7192	172	9	.	.	PUNCT
aiti-7192	173	1	6	6	NUM
aiti-7192	173	2	to	to	PART
aiti-7192	173	3	drivable	drivable	VERB
aiti-7192	173	4	area	area	NOUN
aiti-7192	173	5	detection	detection	NOUN
aiti-7192	173	6	.	.	PUNCT
aiti-7192	174	1	the	the	DET
aiti-7192	174	2	green	green	ADJ
aiti-7192	174	3	lines	line	NOUN
aiti-7192	174	4	represent	represent	VERB
aiti-7192	174	5	the	the	DET
aiti-7192	174	6	bottom	bottom	ADJ
aiti-7192	174	7	lines	line	NOUN
aiti-7192	174	8	of	of	ADP
aiti-7192	174	9	multiple	multiple	ADJ
aiti-7192	174	10	drivable	drivable	ADJ
aiti-7192	174	11	areas	area	NOUN
aiti-7192	174	12	.	.	PUNCT
aiti-7192	175	1	fig	fig	NOUN
aiti-7192	175	2	.	.	PUNCT
aiti-7192	176	1	6	6	NUM
aiti-7192	176	2	results	result	NOUN
aiti-7192	176	3	of	of	ADP
aiti-7192	176	4	the	the	DET
aiti-7192	176	5	comprehensive	comprehensive	ADJ
aiti-7192	176	6	mark	mark	NOUN
aiti-7192	176	7	bounding	bounding	NOUN
aiti-7192	176	8	box	box	NOUN
aiti-7192	176	9	of	of	ADP
aiti-7192	176	10	cloud	cloud	ADJ
aiti-7192	176	11	object	object	NOUN
aiti-7192	176	12	detection	detection	NOUN
aiti-7192	176	13	fig	fig	NOUN
aiti-7192	176	14	.	.	PUNCT
aiti-7192	177	1	7	7	NUM
aiti-7192	177	2	schematic	schematic	ADJ
aiti-7192	177	3	of	of	ADP
aiti-7192	177	4	drivable	drivable	ADJ
aiti-7192	177	5	area	area	NOUN
aiti-7192	177	6	detection	detection	NOUN
aiti-7192	177	7	4.2	4.2	NUM
aiti-7192	177	8	.	.	PUNCT
aiti-7192	178	1	results	result	NOUN
aiti-7192	178	2	and	and	CCONJ
aiti-7192	178	3	analysis	analysis	NOUN
aiti-7192	178	4	fig	fig	NOUN
aiti-7192	178	5	.	.	PUNCT
aiti-7192	179	1	8	8	NUM
aiti-7192	179	2	depicts	depict	VERB
aiti-7192	179	3	the	the	DET
aiti-7192	179	4	two	two	NUM
aiti-7192	179	5	areas	area	NOUN
aiti-7192	179	6	used	use	VERB
aiti-7192	179	7	in	in	ADP
aiti-7192	179	8	the	the	DET
aiti-7192	179	9	experiment	experiment	NOUN
aiti-7192	179	10	.	.	PUNCT
aiti-7192	180	1	fig	fig	NOUN
aiti-7192	180	2	.	.	PUNCT
aiti-7192	181	1	8(a	8(a	NUM
aiti-7192	181	2	)	)	PUNCT
aiti-7192	181	3	displays	display	VERB
aiti-7192	181	4	a	a	DET
aiti-7192	181	5	narrow	narrow	ADJ
aiti-7192	181	6	walking	walking	NOUN
aiti-7192	181	7	passage	passage	NOUN
aiti-7192	181	8	in	in	ADP
aiti-7192	181	9	a	a	DET
aiti-7192	181	10	laboratory	laboratory	NOUN
aiti-7192	181	11	.	.	PUNCT
aiti-7192	182	1	this	this	DET
aiti-7192	182	2	image	image	NOUN
aiti-7192	182	3	indicates	indicate	VERB
aiti-7192	182	4	that	that	SCONJ
aiti-7192	182	5	the	the	DET
aiti-7192	182	6	exit	exit	NOUN
aiti-7192	182	7	of	of	ADP
aiti-7192	182	8	the	the	DET
aiti-7192	182	9	aisle	aisle	NOUN
aiti-7192	182	10	is	be	AUX
aiti-7192	182	11	on	on	ADP
aiti-7192	182	12	the	the	DET
aiti-7192	182	13	left	left	NOUN
aiti-7192	182	14	;	;	PUNCT
aiti-7192	182	15	therefore	therefore	ADV
aiti-7192	182	16	,	,	PUNCT
aiti-7192	182	17	the	the	DET
aiti-7192	182	18	robotic	robotic	ADJ
aiti-7192	182	19	car	car	NOUN
aiti-7192	182	20	should	should	AUX
aiti-7192	182	21	turn	turn	VERB
aiti-7192	182	22	to	to	ADP
aiti-7192	182	23	the	the	DET
aiti-7192	182	24	left	left	NOUN
aiti-7192	182	25	at	at	ADP
aiti-7192	182	26	the	the	DET
aiti-7192	182	27	end	end	NOUN
aiti-7192	182	28	of	of	ADP
aiti-7192	182	29	this	this	DET
aiti-7192	182	30	aisle	aisle	NOUN
aiti-7192	182	31	to	to	PART
aiti-7192	182	32	avoid	avoid	VERB
aiti-7192	182	33	collision	collision	NOUN
aiti-7192	182	34	with	with	ADP
aiti-7192	182	35	the	the	DET
aiti-7192	182	36	stacked	stack	VERB
aiti-7192	182	37	boxes	box	NOUN
aiti-7192	182	38	.	.	PUNCT
aiti-7192	183	1	fig	fig	NOUN
aiti-7192	183	2	.	.	PUNCT
aiti-7192	184	1	8(b	8(b	NUM
aiti-7192	184	2	)	)	PUNCT
aiti-7192	184	3	displays	display	VERB
aiti-7192	184	4	a	a	DET
aiti-7192	184	5	wide	wide	ADJ
aiti-7192	184	6	laboratory	laboratory	NOUN
aiti-7192	184	7	area	area	NOUN
aiti-7192	184	8	with	with	ADP
aiti-7192	184	9	two	two	NUM
aiti-7192	184	10	exits	exit	NOUN
aiti-7192	184	11	.	.	PUNCT
aiti-7192	185	1	fig	fig	NOUN
aiti-7192	185	2	.	.	PUNCT
aiti-7192	186	1	9	9	NUM
aiti-7192	186	2	displays	display	VERB
aiti-7192	186	3	the	the	DET
aiti-7192	186	4	legend	legend	NOUN
aiti-7192	186	5	for	for	ADP
aiti-7192	186	6	the	the	DET
aiti-7192	186	7	different	different	ADJ
aiti-7192	186	8	bounding	bounding	NOUN
aiti-7192	186	9	box	box	NOUN
aiti-7192	186	10	colors	color	NOUN
aiti-7192	186	11	in	in	ADP
aiti-7192	186	12	figs	fig	NOUN
aiti-7192	186	13	.	.	PUNCT
aiti-7192	187	1	10	10	NUM
aiti-7192	187	2	and	and	CCONJ
aiti-7192	187	3	11	11	NUM
aiti-7192	187	4	,	,	PUNCT
aiti-7192	187	5	which	which	PRON
aiti-7192	187	6	depict	depict	VERB
aiti-7192	187	7	the	the	DET
aiti-7192	187	8	continuous	continuous	ADJ
aiti-7192	187	9	images	image	NOUN
aiti-7192	187	10	obtained	obtain	VERB
aiti-7192	187	11	when	when	SCONJ
aiti-7192	187	12	the	the	DET
aiti-7192	187	13	robot	robot	NOUN
aiti-7192	187	14	car	car	NOUN
aiti-7192	187	15	moves	move	NOUN
aiti-7192	187	16	according	accord	VERB
aiti-7192	187	17	to	to	ADP
aiti-7192	187	18	the	the	DET
aiti-7192	187	19	system	system	NOUN
aiti-7192	187	20	instructions	instruction	NOUN
aiti-7192	187	21	in	in	ADP
aiti-7192	187	22	the	the	DET
aiti-7192	187	23	narrow	narrow	ADJ
aiti-7192	187	24	and	and	CCONJ
aiti-7192	187	25	wide	wide	ADJ
aiti-7192	187	26	laboratory	laboratory	NOUN
aiti-7192	187	27	areas	area	NOUN
aiti-7192	187	28	,	,	PUNCT
aiti-7192	187	29	respectively	respectively	ADV
aiti-7192	187	30	.	.	PUNCT
aiti-7192	188	1	in	in	ADP
aiti-7192	188	2	these	these	DET
aiti-7192	188	3	images	image	NOUN
aiti-7192	188	4	,	,	PUNCT
aiti-7192	188	5	different	different	ADJ
aiti-7192	188	6	colors	color	NOUN
aiti-7192	188	7	are	be	AUX
aiti-7192	188	8	used	use	VERB
aiti-7192	188	9	to	to	PART
aiti-7192	188	10	represent	represent	VERB
aiti-7192	188	11	the	the	DET
aiti-7192	188	12	obstacles	obstacle	NOUN
aiti-7192	188	13	identified	identify	VERB
aiti-7192	188	14	using	use	VERB
aiti-7192	188	15	different	different	ADJ
aiti-7192	188	16	platforms	platform	NOUN
aiti-7192	188	17	.	.	PUNCT
aiti-7192	189	1	the	the	DET
aiti-7192	189	2	yellow	yellow	ADJ
aiti-7192	189	3	lines	line	NOUN
aiti-7192	189	4	in	in	ADP
aiti-7192	189	5	figs	fig	NOUN
aiti-7192	189	6	.	.	PUNCT
aiti-7192	190	1	10	10	NUM
aiti-7192	190	2	and	and	CCONJ
aiti-7192	190	3	11	11	NUM
aiti-7192	190	4	indicate	indicate	VERB
aiti-7192	190	5	the	the	DET
aiti-7192	190	6	real	real	ADJ
aiti-7192	190	7	-	-	PUNCT
aiti-7192	190	8	time	time	NOUN
aiti-7192	190	9	planned	plan	VERB
aiti-7192	190	10	path	path	NOUN
aiti-7192	190	11	for	for	ADP
aiti-7192	190	12	each	each	DET
aiti-7192	190	13	image	image	NOUN
aiti-7192	190	14	.	.	PUNCT
aiti-7192	191	1	the	the	DET
aiti-7192	191	2	images	image	NOUN
aiti-7192	191	3	in	in	ADP
aiti-7192	191	4	the	the	DET
aiti-7192	191	5	aforementioned	aforementioned	ADJ
aiti-7192	191	6	figures	figure	NOUN
aiti-7192	191	7	prove	prove	VERB
aiti-7192	191	8	that	that	SCONJ
aiti-7192	191	9	visual	visual	ADJ
aiti-7192	191	10	recognition	recognition	NOUN
aiti-7192	191	11	could	could	AUX
aiti-7192	191	12	be	be	AUX
aiti-7192	191	13	used	use	VERB
aiti-7192	191	14	to	to	PART
aiti-7192	191	15	obtain	obtain	VERB
aiti-7192	191	16	a	a	DET
aiti-7192	191	17	bounding	bounding	NOUN
aiti-7192	191	18	box	box	NOUN
aiti-7192	191	19	for	for	ADP
aiti-7192	191	20	path	path	NOUN
aiti-7192	191	21	planning	planning	NOUN
aiti-7192	191	22	.	.	PUNCT
aiti-7192	192	1	thus	thus	ADV
aiti-7192	192	2	,	,	PUNCT
aiti-7192	192	3	cloud	cloud	NOUN
aiti-7192	192	4	computing	computing	NOUN
aiti-7192	192	5	facilitates	facilitate	VERB
aiti-7192	192	6	real	real	ADJ
aiti-7192	192	7	-	-	PUNCT
aiti-7192	192	8	time	time	NOUN
aiti-7192	192	9	dynamic	dynamic	ADJ
aiti-7192	192	10	path	path	NOUN
aiti-7192	192	11	planning	planning	NOUN
aiti-7192	192	12	.	.	PUNCT
aiti-7192	193	1	(	(	PUNCT
aiti-7192	193	2	a	a	X
aiti-7192	193	3	)	)	PUNCT
aiti-7192	193	4	narrow	narrow	ADJ
aiti-7192	193	5	area	area	NOUN
aiti-7192	193	6	(	(	PUNCT
aiti-7192	193	7	b	b	NOUN
aiti-7192	193	8	)	)	PUNCT
aiti-7192	193	9	wide	wide	ADJ
aiti-7192	193	10	area	area	NOUN
aiti-7192	193	11	fig	fig	NOUN
aiti-7192	193	12	.	.	PUNCT
aiti-7192	194	1	8	8	NUM
aiti-7192	194	2	panoramic	panoramic	ADJ
aiti-7192	194	3	images	image	NOUN
aiti-7192	194	4	of	of	ADP
aiti-7192	194	5	the	the	DET
aiti-7192	194	6	experimental	experimental	ADJ
aiti-7192	194	7	areas	area	NOUN
aiti-7192	194	8	218	218	NUM
aiti-7192	194	9	advances	advance	NOUN
aiti-7192	194	10	in	in	ADP
aiti-7192	194	11	technology	technology	NOUN
aiti-7192	194	12	innovation	innovation	NOUN
aiti-7192	194	13	,	,	PUNCT
aiti-7192	194	14	vol	vol	NOUN
aiti-7192	194	15	.	.	PROPN
aiti-7192	195	1	6	6	NUM
aiti-7192	195	2	,	,	PUNCT
aiti-7192	195	3	no	no	INTJ
aiti-7192	195	4	.	.	NOUN
aiti-7192	195	5	4	4	NUM
aiti-7192	195	6	,	,	PUNCT
aiti-7192	195	7	2021	2021	NUM
aiti-7192	195	8	,	,	PUNCT
aiti-7192	195	9	pp	pp	ADJ
aiti-7192	195	10	.	.	PUNCT
aiti-7192	196	1	213	213	NUM
aiti-7192	196	2	-	-	SYM
aiti-7192	196	3	221	221	NUM
aiti-7192	196	4	fig	fig	NOUN
aiti-7192	196	5	.	.	PUNCT
aiti-7192	197	1	9	9	NUM
aiti-7192	197	2	legend	legend	NOUN
aiti-7192	197	3	of	of	ADP
aiti-7192	197	4	the	the	DET
aiti-7192	197	5	bounding	bounding	NOUN
aiti-7192	197	6	box	box	NOUN
aiti-7192	197	7	colors	color	NOUN
aiti-7192	197	8	the	the	DET
aiti-7192	197	9	third	third	ADJ
aiti-7192	197	10	perspective	perspective	NOUN
aiti-7192	197	11	the	the	DET
aiti-7192	197	12	third	third	ADJ
aiti-7192	197	13	perspective	perspective	NOUN
aiti-7192	197	14	the	the	DET
aiti-7192	197	15	third	third	ADJ
aiti-7192	197	16	perspective	perspective	NOUN
aiti-7192	197	17	the	the	DET
aiti-7192	197	18	third	third	ADJ
aiti-7192	197	19	perspective	perspective	NOUN
aiti-7192	197	20	the	the	DET
aiti-7192	197	21	vehicle	vehicle	NOUN
aiti-7192	197	22	view	view	VERB
aiti-7192	197	23	the	the	DET
aiti-7192	197	24	vehicle	vehicle	NOUN
aiti-7192	197	25	view	view	VERB
aiti-7192	197	26	the	the	DET
aiti-7192	197	27	vehicle	vehicle	NOUN
aiti-7192	197	28	view	view	VERB
aiti-7192	197	29	the	the	DET
aiti-7192	197	30	vehicle	vehicle	NOUN
aiti-7192	197	31	view	view	NOUN
aiti-7192	197	32	(	(	PUNCT
aiti-7192	197	33	a	a	X
aiti-7192	197	34	)	)	PUNCT
aiti-7192	197	35	at	at	ADP
aiti-7192	197	36	5	5	NUM
aiti-7192	197	37	s	s	PART
aiti-7192	197	38	(	(	PUNCT
aiti-7192	197	39	b	b	NOUN
aiti-7192	197	40	)	)	PUNCT
aiti-7192	197	41	at	at	ADP
aiti-7192	197	42	15	15	NUM
aiti-7192	197	43	s	s	PART
aiti-7192	197	44	(	(	PUNCT
aiti-7192	197	45	c	c	NOUN
aiti-7192	197	46	)	)	PUNCT
aiti-7192	197	47	at	at	ADP
aiti-7192	197	48	25	25	NUM
aiti-7192	197	49	s	s	PART
aiti-7192	197	50	(	(	PUNCT
aiti-7192	197	51	d	d	NOUN
aiti-7192	197	52	)	)	PUNCT
aiti-7192	197	53	at	at	ADP
aiti-7192	197	54	35	35	NUM
aiti-7192	197	55	s	s	NOUN
aiti-7192	197	56	fig	fig	NOUN
aiti-7192	197	57	.	.	PUNCT
aiti-7192	198	1	10	10	NUM
aiti-7192	198	2	real	real	ADJ
aiti-7192	198	3	-	-	PUNCT
aiti-7192	198	4	time	time	NOUN
aiti-7192	198	5	images	image	NOUN
aiti-7192	198	6	of	of	ADP
aiti-7192	198	7	the	the	DET
aiti-7192	198	8	path	path	NOUN
aiti-7192	198	9	planning	planning	NOUN
aiti-7192	198	10	and	and	CCONJ
aiti-7192	198	11	movement	movement	NOUN
aiti-7192	198	12	of	of	ADP
aiti-7192	198	13	the	the	DET
aiti-7192	198	14	robotic	robotic	ADJ
aiti-7192	198	15	car	car	NOUN
aiti-7192	198	16	in	in	ADP
aiti-7192	198	17	the	the	DET
aiti-7192	198	18	narrow	narrow	ADJ
aiti-7192	198	19	laboratory	laboratory	NOUN
aiti-7192	198	20	area	area	NOUN
aiti-7192	198	21	the	the	DET
aiti-7192	198	22	third	third	ADJ
aiti-7192	198	23	perspective	perspective	NOUN
aiti-7192	198	24	the	the	DET
aiti-7192	198	25	third	third	ADJ
aiti-7192	198	26	perspective	perspective	NOUN
aiti-7192	198	27	the	the	DET
aiti-7192	198	28	third	third	ADJ
aiti-7192	198	29	perspective	perspective	NOUN
aiti-7192	198	30	the	the	DET
aiti-7192	198	31	third	third	ADJ
aiti-7192	198	32	perspective	perspective	NOUN
aiti-7192	198	33	the	the	DET
aiti-7192	198	34	vehicle	vehicle	NOUN
aiti-7192	198	35	view	view	VERB
aiti-7192	198	36	the	the	DET
aiti-7192	198	37	vehicle	vehicle	NOUN
aiti-7192	198	38	view	view	VERB
aiti-7192	198	39	the	the	DET
aiti-7192	198	40	vehicle	vehicle	NOUN
aiti-7192	198	41	view	view	VERB
aiti-7192	198	42	the	the	DET
aiti-7192	198	43	vehicle	vehicle	NOUN
aiti-7192	198	44	view	view	NOUN
aiti-7192	198	45	(	(	PUNCT
aiti-7192	198	46	a	a	X
aiti-7192	198	47	)	)	PUNCT
aiti-7192	198	48	at	at	ADP
aiti-7192	198	49	5	5	NUM
aiti-7192	198	50	s	s	PART
aiti-7192	198	51	(	(	PUNCT
aiti-7192	198	52	b	b	NOUN
aiti-7192	198	53	)	)	PUNCT
aiti-7192	198	54	at	at	ADP
aiti-7192	198	55	15	15	NUM
aiti-7192	198	56	s	s	PART
aiti-7192	198	57	(	(	PUNCT
aiti-7192	198	58	c	c	NOUN
aiti-7192	198	59	)	)	PUNCT
aiti-7192	198	60	at	at	ADP
aiti-7192	198	61	25	25	NUM
aiti-7192	198	62	s	s	PART
aiti-7192	198	63	(	(	PUNCT
aiti-7192	198	64	d	d	NOUN
aiti-7192	198	65	)	)	PUNCT
aiti-7192	198	66	at	at	ADP
aiti-7192	198	67	35	35	NUM
aiti-7192	198	68	s	s	NOUN
aiti-7192	198	69	fig	fig	NOUN
aiti-7192	198	70	.	.	PUNCT
aiti-7192	199	1	11	11	NUM
aiti-7192	199	2	real	real	ADJ
aiti-7192	199	3	-	-	PUNCT
aiti-7192	199	4	time	time	NOUN
aiti-7192	199	5	images	image	NOUN
aiti-7192	199	6	of	of	ADP
aiti-7192	199	7	the	the	DET
aiti-7192	199	8	path	path	NOUN
aiti-7192	199	9	planning	planning	NOUN
aiti-7192	199	10	and	and	CCONJ
aiti-7192	199	11	movement	movement	NOUN
aiti-7192	199	12	of	of	ADP
aiti-7192	199	13	the	the	DET
aiti-7192	199	14	robotic	robotic	ADJ
aiti-7192	199	15	car	car	NOUN
aiti-7192	199	16	in	in	ADP
aiti-7192	199	17	the	the	DET
aiti-7192	199	18	wide	wide	ADJ
aiti-7192	199	19	laboratory	laboratory	NOUN
aiti-7192	199	20	area	area	NOUN
aiti-7192	199	21	all	all	DET
aiti-7192	199	22	the	the	DET
aiti-7192	199	23	obstacles	obstacle	NOUN
aiti-7192	199	24	on	on	ADP
aiti-7192	199	25	the	the	DET
aiti-7192	199	26	ground	ground	NOUN
aiti-7192	199	27	are	be	AUX
aiti-7192	199	28	marked	mark	VERB
aiti-7192	199	29	with	with	ADP
aiti-7192	199	30	white	white	ADJ
aiti-7192	199	31	bounding	bounding	NOUN
aiti-7192	199	32	boxes	box	NOUN
aiti-7192	199	33	because	because	SCONJ
aiti-7192	199	34	the	the	DET
aiti-7192	199	35	correct	correct	ADJ
aiti-7192	199	36	labeling	labeling	NOUN
aiti-7192	199	37	of	of	ADP
aiti-7192	199	38	the	the	DET
aiti-7192	199	39	object	object	NOUN
aiti-7192	199	40	category	category	NOUN
aiti-7192	199	41	is	be	AUX
aiti-7192	199	42	not	not	PART
aiti-7192	199	43	crucial	crucial	ADJ
aiti-7192	199	44	.	.	PUNCT
aiti-7192	200	1	moreover	moreover	ADV
aiti-7192	200	2	,	,	PUNCT
aiti-7192	200	3	the	the	DET
aiti-7192	200	4	threshold	threshold	NOUN
aiti-7192	200	5	to	to	PART
aiti-7192	200	6	limit	limit	VERB
aiti-7192	200	7	the	the	DET
aiti-7192	200	8	object	object	NOUN
aiti-7192	200	9	discrimination	discrimination	NOUN
aiti-7192	200	10	rate	rate	NOUN
aiti-7192	200	11	is	be	AUX
aiti-7192	200	12	obtained	obtain	VERB
aiti-7192	200	13	.	.	PUNCT
aiti-7192	201	1	multiple	multiple	ADJ
aiti-7192	201	2	travel	travel	NOUN
aiti-7192	201	3	zones	zone	NOUN
aiti-7192	201	4	are	be	AUX
aiti-7192	201	5	detected	detect	VERB
aiti-7192	201	6	by	by	ADP
aiti-7192	201	7	using	use	VERB
aiti-7192	201	8	a	a	DET
aiti-7192	201	9	self	self	NOUN
aiti-7192	201	10	-	-	PUNCT
aiti-7192	201	11	developed	develop	VERB
aiti-7192	201	12	algorithm	algorithm	NOUN
aiti-7192	201	13	,	,	PUNCT
aiti-7192	201	14	and	and	CCONJ
aiti-7192	201	15	path	path	NOUN
aiti-7192	201	16	planning	planning	NOUN
aiti-7192	201	17	is	be	AUX
aiti-7192	201	18	completed	complete	VERB
aiti-7192	201	19	rapidly	rapidly	ADV
aiti-7192	201	20	by	by	ADP
aiti-7192	201	21	using	use	VERB
aiti-7192	201	22	the	the	DET
aiti-7192	201	23	obtained	obtain	VERB
aiti-7192	201	24	obstacle	obstacle	NOUN
aiti-7192	201	25	information	information	NOUN
aiti-7192	201	26	.	.	PUNCT
aiti-7192	202	1	detailed	detailed	ADJ
aiti-7192	202	2	experimental	experimental	ADJ
aiti-7192	202	3	data	datum	NOUN
aiti-7192	202	4	are	be	AUX
aiti-7192	202	5	listed	list	VERB
aiti-7192	202	6	in	in	ADP
aiti-7192	202	7	tables	table	NOUN
aiti-7192	202	8	2	2	NUM
aiti-7192	202	9	and	and	CCONJ
aiti-7192	202	10	3	3	NUM
aiti-7192	202	11	.	.	X
aiti-7192	202	12	legend	legend	PROPN
aiti-7192	202	13	google	google	PROPN
aiti-7192	202	14	amazon	amazon	PROPN
aiti-7192	202	15	microsoft	microsoft	PROPN
aiti-7192	202	16	obstacles	obstacle	VERB
aiti-7192	202	17	219	219	NUM
aiti-7192	202	18	advances	advance	NOUN
aiti-7192	202	19	in	in	ADP
aiti-7192	202	20	technology	technology	NOUN
aiti-7192	202	21	innovation	innovation	NOUN
aiti-7192	202	22	,	,	PUNCT
aiti-7192	202	23	vol	vol	NOUN
aiti-7192	202	24	.	.	PROPN
aiti-7192	203	1	6	6	NUM
aiti-7192	203	2	,	,	PUNCT
aiti-7192	203	3	no	no	INTJ
aiti-7192	203	4	.	.	NOUN
aiti-7192	203	5	4	4	NUM
aiti-7192	203	6	,	,	PUNCT
aiti-7192	203	7	2021	2021	NUM
aiti-7192	203	8	,	,	PUNCT
aiti-7192	203	9	pp	pp	ADJ
aiti-7192	203	10	.	.	PUNCT
aiti-7192	204	1	213	213	NUM
aiti-7192	204	2	-	-	SYM
aiti-7192	204	3	221	221	NUM
aiti-7192	204	4	table	table	NOUN
aiti-7192	204	5	2	2	NUM
aiti-7192	204	6	detailed	detailed	ADJ
aiti-7192	204	7	experimental	experimental	ADJ
aiti-7192	204	8	results	result	NOUN
aiti-7192	204	9	for	for	ADP
aiti-7192	204	10	cloud	cloud	ADJ
aiti-7192	204	11	object	object	NOUN
aiti-7192	204	12	detection	detection	NOUN
aiti-7192	204	13	figure	figure	NOUN
aiti-7192	204	14	path	path	NOUN
aiti-7192	204	15	planning	planning	NOUN
aiti-7192	204	16	time	time	NOUN
aiti-7192	204	17	(	(	PUNCT
aiti-7192	204	18	s	s	NOUN
aiti-7192	204	19	)	)	PUNCT
aiti-7192	204	20	cloud	cloud	NOUN
aiti-7192	204	21	platform	platform	NOUN
aiti-7192	204	22	class	class	NOUN
aiti-7192	204	23	name	name	NOUN
aiti-7192	204	24	detection	detection	NOUN
aiti-7192	204	25	confidence	confidence	NOUN
aiti-7192	204	26	score	score	NOUN
aiti-7192	204	27	left	leave	VERB
aiti-7192	204	28	boundary	boundary	ADJ
aiti-7192	204	29	value	value	NOUN
aiti-7192	204	30	right	right	ADV
aiti-7192	204	31	boundary	boundary	ADJ
aiti-7192	204	32	value	value	NOUN
aiti-7192	204	33	top	top	ADJ
aiti-7192	204	34	boundary	boundary	ADJ
aiti-7192	204	35	value	value	NOUN
aiti-7192	204	36	bottom	bottom	NOUN
aiti-7192	204	37	boundary	boundary	ADJ
aiti-7192	204	38	value	value	NOUN
aiti-7192	204	39	10(a	10(a	NUM
aiti-7192	204	40	)	)	PUNCT
aiti-7192	204	41	0.001	0.001	NUM
aiti-7192	204	42	gcp	gcp	NOUN
aiti-7192	204	43	packaged	package	VERB
aiti-7192	204	44	goods	good	NOUN
aiti-7192	204	45	0.76	0.76	NUM
aiti-7192	204	46	60	60	NUM
aiti-7192	204	47	259	259	NUM
aiti-7192	204	48	0	0	NUM
aiti-7192	204	49	109	109	NUM
aiti-7192	204	50	aws	aw	NOUN
aiti-7192	204	51	box	box	PROPN
aiti-7192	204	52	0.95	0.95	NUM
aiti-7192	204	53	66	66	NUM
aiti-7192	204	54	345	345	NUM
aiti-7192	204	55	139	139	NUM
aiti-7192	204	56	444	444	NUM
aiti-7192	204	57	gcp	gcp	ADJ
aiti-7192	204	58	packaged	package	VERB
aiti-7192	204	59	goods	good	NOUN
aiti-7192	204	60	0.69	0.69	NUM
aiti-7192	204	61	67	67	NUM
aiti-7192	204	62	261	261	NUM
aiti-7192	204	63	64	64	NUM
aiti-7192	204	64	171	171	NUM
aiti-7192	204	65	gcp	gcp	NOUN
aiti-7192	204	66	shipping	shipping	NOUN
aiti-7192	204	67	box	box	PROPN
aiti-7192	204	68	0.61	0.61	NUM
aiti-7192	204	69	79	79	NUM
aiti-7192	204	70	340	340	NUM
aiti-7192	204	71	150	150	NUM
aiti-7192	204	72	432	432	NUM
aiti-7192	204	73	azure	azure	NOUN
aiti-7192	204	74	wall	wall	NOUN
aiti-7192	204	75	0.35	0.35	NUM
aiti-7192	204	76	656	656	NUM
aiti-7192	204	77	878	878	NUM
aiti-7192	204	78	0	0	NUM
aiti-7192	204	79	391	391	NUM
aiti-7192	204	80	10(b	10(b	NUM
aiti-7192	204	81	)	)	PUNCT
aiti-7192	204	82	0.02	0.02	NUM
aiti-7192	204	83	gcp	gcp	NOUN
aiti-7192	204	84	shipping	shipping	NOUN
aiti-7192	204	85	box	box	NOUN
aiti-7192	204	86	0.76	0.76	NUM
aiti-7192	204	87	0	0	NUM
aiti-7192	204	88	230	230	NUM
aiti-7192	204	89	85	85	NUM
aiti-7192	204	90	511	511	NUM
aiti-7192	204	91	aws	aw	NOUN
aiti-7192	204	92	box	box	NOUN
aiti-7192	204	93	0.56	0.56	NUM
aiti-7192	204	94	0	0	NUM
aiti-7192	204	95	232	232	NUM
aiti-7192	204	96	103	103	NUM
aiti-7192	204	97	500	500	NUM
aiti-7192	204	98	10(c	10(c	NUM
aiti-7192	204	99	)	)	PUNCT
aiti-7192	204	100	0.001	0.001	NUM
aiti-7192	204	101	azure	azure	NOUN
aiti-7192	204	102	box	box	PROPN
aiti-7192	204	103	0.68	0.68	NUM
aiti-7192	204	104	0	0	NUM
aiti-7192	204	105	238	238	NUM
aiti-7192	204	106	0	0	NUM
aiti-7192	204	107	549	549	NUM
aiti-7192	204	108	gcp	gcp	NOUN
aiti-7192	204	109	shipping	shipping	NOUN
aiti-7192	204	110	box	box	PROPN
aiti-7192	204	111	0.71	0.71	NUM
aiti-7192	204	112	2	2	NUM
aiti-7192	204	113	221	221	NUM
aiti-7192	204	114	0	0	NUM
aiti-7192	204	115	489	489	NUM
aiti-7192	204	116	azure	azure	NOUN
aiti-7192	204	117	wall	wall	NOUN
aiti-7192	204	118	0.56	0.56	NUM
aiti-7192	204	119	896	896	NUM
aiti-7192	204	120	1280	1280	NUM
aiti-7192	204	121	10	10	NUM
aiti-7192	204	122	503	503	NUM
aiti-7192	204	123	10(d	10(d	NUM
aiti-7192	204	124	)	)	PUNCT
aiti-7192	204	125	0.001	0.001	NUM
aiti-7192	204	126	gcp	gcp	NOUN
aiti-7192	204	127	shoe	shoe	NOUN
aiti-7192	204	128	0.62	0.62	NUM
aiti-7192	204	129	765	765	NUM
aiti-7192	204	130	1004	1004	NUM
aiti-7192	204	131	285	285	NUM
aiti-7192	204	132	344	344	NUM
aiti-7192	204	133	azure	azure	NOUN
aiti-7192	204	134	cabinet	cabinet	NOUN
aiti-7192	204	135	0.36	0.36	NUM
aiti-7192	204	136	1118	1118	NUM
aiti-7192	204	137	1272	1272	NUM
aiti-7192	204	138	0	0	NUM
aiti-7192	204	139	468	468	NUM
aiti-7192	204	140	11(a	11(a	NUM
aiti-7192	204	141	)	)	PUNCT
aiti-7192	204	142	0.001	0.001	NUM
aiti-7192	204	143	gcp	gcp	NOUN
aiti-7192	204	144	furniture	furniture	NOUN
aiti-7192	204	145	0.59	0.59	NUM
aiti-7192	204	146	3	3	NUM
aiti-7192	204	147	538	538	NUM
aiti-7192	204	148	0	0	NUM
aiti-7192	204	149	386	386	NUM
aiti-7192	204	150	azure	azure	NOUN
aiti-7192	204	151	chair	chair	NOUN
aiti-7192	204	152	0.38	0.38	NUM
aiti-7192	204	153	628	628	NUM
aiti-7192	204	154	1073	1073	NUM
aiti-7192	204	155	0	0	NUM
aiti-7192	204	156	249	249	NUM
aiti-7192	204	157	11(b	11(b	NUM
aiti-7192	204	158	)	)	PUNCT
aiti-7192	204	159	0.001	0.001	NUM
aiti-7192	204	160	gcp	gcp	ADJ
aiti-7192	204	161	person	person	NOUN
aiti-7192	204	162	0.73	0.73	NUM
aiti-7192	204	163	2	2	NUM
aiti-7192	204	164	243	243	NUM
aiti-7192	204	165	2	2	NUM
aiti-7192	204	166	427	427	NUM
aiti-7192	204	167	aws	aw	NOUN
aiti-7192	204	168	high	high	ADJ
aiti-7192	204	169	heel	heel	NOUN
aiti-7192	204	170	0.55	0.55	NUM
aiti-7192	204	171	5	5	NUM
aiti-7192	204	172	240	240	NUM
aiti-7192	204	173	133	133	NUM
aiti-7192	204	174	418	418	NUM
aiti-7192	204	175	gcp	gcp	ADJ
aiti-7192	204	176	person	person	NOUN
aiti-7192	204	177	0.71	0.71	NUM
aiti-7192	204	178	10	10	NUM
aiti-7192	204	179	254	254	NUM
aiti-7192	204	180	1	1	NUM
aiti-7192	204	181	434	434	NUM
aiti-7192	204	182	azure	azure	NOUN
aiti-7192	204	183	chair	chair	NOUN
aiti-7192	204	184	0.51	0.51	NUM
aiti-7192	204	185	829	829	NUM
aiti-7192	204	186	1253	1253	NUM
aiti-7192	204	187	74	74	NUM
aiti-7192	204	188	292	292	NUM
aiti-7192	204	189	azure	azure	NOUN
aiti-7192	204	190	wall	wall	NOUN
aiti-7192	204	191	0.36	0.36	NUM
aiti-7192	204	192	862	862	NUM
aiti-7192	204	193	1216	1216	NUM
aiti-7192	204	194	20	20	NUM
aiti-7192	204	195	216	216	NUM
aiti-7192	204	196	11(c	11(c	NUM
aiti-7192	204	197	)	)	PUNCT
aiti-7192	204	198	0.001	0.001	NUM
aiti-7192	204	199	azure	azure	NOUN
aiti-7192	204	200	chair	chair	NOUN
aiti-7192	204	201	0.45	0.45	NUM
aiti-7192	204	202	2	2	NUM
aiti-7192	204	203	94	94	NUM
aiti-7192	204	204	274	274	NUM
aiti-7192	204	205	481	481	NUM
aiti-7192	204	206	azure	azure	ADJ
aiti-7192	204	207	chair	chair	NOUN
aiti-7192	204	208	0.44	0.44	NUM
aiti-7192	204	209	916	916	NUM
aiti-7192	204	210	1280	1280	NUM
aiti-7192	204	211	78	78	NUM
aiti-7192	204	212	267	267	NUM
aiti-7192	204	213	11(d	11(d	NUM
aiti-7192	204	214	)	)	PUNCT
aiti-7192	204	215	0.001	0.001	NUM
aiti-7192	204	216	azure	azure	NOUN
aiti-7192	204	217	chair	chair	NOUN
aiti-7192	204	218	0.38	0.38	NUM
aiti-7192	204	219	124	124	NUM
aiti-7192	204	220	323	323	NUM
aiti-7192	204	221	0	0	NUM
aiti-7192	204	222	387	387	NUM
aiti-7192	204	223	aws	aw	NOUN
aiti-7192	204	224	airplane	airplane	VERB
aiti-7192	204	225	0.82	0.82	NUM
aiti-7192	205	1	497	497	NUM
aiti-7192	205	2	1248	1248	NUM
aiti-7192	205	3	0	0	NUM
aiti-7192	205	4	288	288	NUM
aiti-7192	205	5	gcp	gcp	ADJ
aiti-7192	205	6	person	person	NOUN
aiti-7192	205	7	0.69	0.69	NUM
aiti-7192	205	8	787	787	NUM
aiti-7192	205	9	1105	1105	NUM
aiti-7192	205	10	0	0	NUM
aiti-7192	205	11	264	264	NUM
aiti-7192	205	12	gcp	gcp	NOUN
aiti-7192	205	13	home	home	NOUN
aiti-7192	205	14	appliance	appliance	NOUN
aiti-7192	205	15	0.54	0.54	NUM
aiti-7192	205	16	791	791	NUM
aiti-7192	205	17	1121	1121	NUM
aiti-7192	205	18	0	0	NUM
aiti-7192	205	19	266	266	NUM
aiti-7192	205	20	table	table	NOUN
aiti-7192	205	21	3	3	NUM
aiti-7192	205	22	average	average	ADJ
aiti-7192	205	23	time	time	NOUN
aiti-7192	205	24	required	require	VERB
aiti-7192	205	25	for	for	ADP
aiti-7192	205	26	cloud	cloud	NOUN
aiti-7192	205	27	service	service	NOUN
aiti-7192	205	28	object	object	NOUN
aiti-7192	205	29	identification	identification	NOUN
aiti-7192	205	30	google	google	PROPN
aiti-7192	205	31	cloud	cloud	PROPN
aiti-7192	205	32	vision	vision	PROPN
aiti-7192	205	33	api	api	NOUN
aiti-7192	205	34	0.356	0.356	NUM
aiti-7192	205	35	(	(	PUNCT
aiti-7192	205	36	s	s	NOUN
aiti-7192	205	37	)	)	PUNCT
aiti-7192	205	38	microsoft	microsoft	PROPN
aiti-7192	205	39	azure	azure	PROPN
aiti-7192	205	40	computer	computer	PROPN
aiti-7192	205	41	vision	vision	PROPN
aiti-7192	205	42	api	api	PROPN
aiti-7192	205	43	1.042	1.042	NUM
aiti-7192	205	44	(	(	PUNCT
aiti-7192	205	45	s	s	NOUN
aiti-7192	205	46	)	)	PUNCT
aiti-7192	205	47	amazon	amazon	NOUN
aiti-7192	205	48	web	web	NOUN
aiti-7192	205	49	services	service	NOUN
aiti-7192	205	50	rekognition	rekognition	NOUN
aiti-7192	205	51	api	api	NOUN
aiti-7192	205	52	2.098	2.098	NUM
aiti-7192	205	53	(	(	PUNCT
aiti-7192	205	54	s	s	NOUN
aiti-7192	205	55	)	)	PUNCT
aiti-7192	205	56	5	5	NUM
aiti-7192	205	57	.	.	PUNCT
aiti-7192	206	1	conclusions	conclusion	NOUN
aiti-7192	206	2	this	this	DET
aiti-7192	206	3	study	study	NOUN
aiti-7192	206	4	developed	develop	VERB
aiti-7192	206	5	a	a	DET
aiti-7192	206	6	method	method	NOUN
aiti-7192	206	7	in	in	ADP
aiti-7192	206	8	which	which	PRON
aiti-7192	206	9	the	the	DET
aiti-7192	206	10	bounding	bounding	NOUN
aiti-7192	206	11	box	box	NOUN
aiti-7192	206	12	information	information	NOUN
aiti-7192	206	13	returned	return	VERB
aiti-7192	206	14	by	by	ADP
aiti-7192	206	15	multiple	multiple	ADJ
aiti-7192	206	16	cloud	cloud	ADJ
aiti-7192	206	17	object	object	NOUN
aiti-7192	206	18	detection	detection	NOUN
aiti-7192	206	19	services	service	NOUN
aiti-7192	206	20	is	be	AUX
aiti-7192	206	21	integrated	integrate	VERB
aiti-7192	206	22	to	to	PART
aiti-7192	206	23	detect	detect	VERB
aiti-7192	206	24	the	the	DET
aiti-7192	206	25	drivable	drivable	ADJ
aiti-7192	206	26	area	area	NOUN
aiti-7192	206	27	and	and	CCONJ
aiti-7192	206	28	plan	plan	VERB
aiti-7192	206	29	a	a	DET
aiti-7192	206	30	movement	movement	NOUN
aiti-7192	206	31	route	route	NOUN
aiti-7192	206	32	.	.	PUNCT
aiti-7192	207	1	the	the	DET
aiti-7192	207	2	experimental	experimental	ADJ
aiti-7192	207	3	results	result	NOUN
aiti-7192	207	4	reveal	reveal	VERB
aiti-7192	207	5	that	that	SCONJ
aiti-7192	207	6	robotic	robotic	ADJ
aiti-7192	207	7	cars	car	NOUN
aiti-7192	207	8	can	can	AUX
aiti-7192	207	9	perform	perform	VERB
aiti-7192	207	10	appropriate	appropriate	ADJ
aiti-7192	207	11	path	path	NOUN
aiti-7192	207	12	planning	planning	NOUN
aiti-7192	207	13	by	by	ADP
aiti-7192	207	14	using	use	VERB
aiti-7192	207	15	the	the	DET
aiti-7192	207	16	developed	develop	VERB
aiti-7192	207	17	method	method	NOUN
aiti-7192	207	18	.	.	PUNCT
aiti-7192	208	1	the	the	DET
aiti-7192	208	2	obtained	obtain	VERB
aiti-7192	208	3	images	image	NOUN
aiti-7192	208	4	indicate	indicate	VERB
aiti-7192	208	5	that	that	SCONJ
aiti-7192	208	6	the	the	DET
aiti-7192	208	7	planned	plan	VERB
aiti-7192	208	8	route	route	NOUN
aiti-7192	208	9	using	use	VERB
aiti-7192	208	10	the	the	DET
aiti-7192	208	11	developed	develop	VERB
aiti-7192	208	12	method	method	NOUN
aiti-7192	208	13	is	be	AUX
aiti-7192	208	14	safe	safe	ADJ
aiti-7192	208	15	.	.	PUNCT
aiti-7192	209	1	the	the	DET
aiti-7192	209	2	goals	goal	NOUN
aiti-7192	209	3	of	of	ADP
aiti-7192	209	4	this	this	DET
aiti-7192	209	5	research	research	NOUN
aiti-7192	209	6	were	be	AUX
aiti-7192	209	7	to	to	PART
aiti-7192	209	8	reduce	reduce	VERB
aiti-7192	209	9	the	the	DET
aiti-7192	209	10	cost	cost	NOUN
aiti-7192	209	11	of	of	ADP
aiti-7192	209	12	developing	develop	VERB
aiti-7192	209	13	a	a	DET
aiti-7192	209	14	collision	collision	NOUN
aiti-7192	209	15	-	-	PUNCT
aiti-7192	209	16	avoidance	avoidance	NOUN
aiti-7192	209	17	system	system	NOUN
aiti-7192	209	18	,	,	PUNCT
aiti-7192	209	19	the	the	DET
aiti-7192	209	20	cost	cost	NOUN
aiti-7192	209	21	of	of	ADP
aiti-7192	209	22	computing	computing	NOUN
aiti-7192	209	23	,	,	PUNCT
aiti-7192	209	24	and	and	CCONJ
aiti-7192	209	25	the	the	DET
aiti-7192	209	26	dependence	dependence	NOUN
aiti-7192	209	27	on	on	ADP
aiti-7192	209	28	an	an	DET
aiti-7192	209	29	object	object	NOUN
aiti-7192	209	30	sensor	sensor	NOUN
aiti-7192	209	31	.	.	PUNCT
aiti-7192	210	1	cloud	cloud	ADJ
aiti-7192	210	2	vision	vision	NOUN
aiti-7192	210	3	models	model	NOUN
aiti-7192	210	4	are	be	AUX
aiti-7192	210	5	used	use	VERB
aiti-7192	210	6	to	to	PART
aiti-7192	210	7	reduce	reduce	VERB
aiti-7192	210	8	the	the	DET
aiti-7192	210	9	amount	amount	NOUN
aiti-7192	210	10	of	of	ADP
aiti-7192	210	11	computing	computing	NOUN
aiti-7192	210	12	in	in	ADP
aiti-7192	210	13	the	the	DET
aiti-7192	210	14	designed	design	VERB
aiti-7192	210	15	system	system	NOUN
aiti-7192	210	16	.	.	PUNCT
aiti-7192	211	1	the	the	DET
aiti-7192	211	2	designed	design	VERB
aiti-7192	211	3	system	system	NOUN
aiti-7192	211	4	is	be	AUX
aiti-7192	211	5	simple	simple	ADJ
aiti-7192	211	6	,	,	PUNCT
aiti-7192	211	7	has	have	VERB
aiti-7192	211	8	low	low	ADJ
aiti-7192	211	9	cost	cost	NOUN
aiti-7192	211	10	,	,	PUNCT
aiti-7192	211	11	and	and	CCONJ
aiti-7192	211	12	contains	contain	VERB
aiti-7192	211	13	only	only	ADV
aiti-7192	211	14	one	one	NUM
aiti-7192	211	15	lens	len	NOUN
aiti-7192	211	16	.	.	PUNCT
aiti-7192	212	1	routes	route	NOUN
aiti-7192	212	2	are	be	AUX
aiti-7192	212	3	planned	plan	VERB
aiti-7192	212	4	through	through	ADP
aiti-7192	212	5	simple	simple	ADJ
aiti-7192	212	6	mathematical	mathematical	ADJ
aiti-7192	212	7	operations	operation	NOUN
aiti-7192	212	8	that	that	PRON
aiti-7192	212	9	do	do	AUX
aiti-7192	212	10	not	not	PART
aiti-7192	212	11	burden	burden	VERB
aiti-7192	212	12	the	the	DET
aiti-7192	212	13	developed	develop	VERB
aiti-7192	212	14	real	real	ADJ
aiti-7192	212	15	-	-	PUNCT
aiti-7192	212	16	time	time	NOUN
aiti-7192	212	17	path	path	NOUN
aiti-7192	212	18	-	-	PUNCT
aiti-7192	212	19	planning	planning	NOUN
aiti-7192	212	20	system	system	NOUN
aiti-7192	212	21	.	.	PUNCT
aiti-7192	213	1	latency	latency	NOUN
aiti-7192	213	2	is	be	AUX
aiti-7192	213	3	a	a	DET
aiti-7192	213	4	critical	critical	ADJ
aiti-7192	213	5	real	real	ADJ
aiti-7192	213	6	-	-	PUNCT
aiti-7192	213	7	time	time	NOUN
aiti-7192	213	8	problem	problem	NOUN
aiti-7192	213	9	that	that	PRON
aiti-7192	213	10	should	should	AUX
aiti-7192	213	11	be	be	AUX
aiti-7192	213	12	considered	consider	VERB
aiti-7192	213	13	when	when	SCONJ
aiti-7192	213	14	using	use	VERB
aiti-7192	213	15	cloud	cloud	NOUN
aiti-7192	213	16	computing	compute	VERB
aiti-7192	213	17	local	local	ADJ
aiti-7192	213	18	area	area	NOUN
aiti-7192	213	19	network	network	NOUN
aiti-7192	213	20	signals	signal	NOUN
aiti-7192	213	21	because	because	SCONJ
aiti-7192	213	22	it	it	PRON
aiti-7192	213	23	affects	affect	VERB
aiti-7192	213	24	system	system	NOUN
aiti-7192	213	25	operation	operation	NOUN
aiti-7192	213	26	.	.	PUNCT
aiti-7192	214	1	the	the	DET
aiti-7192	214	2	delay	delay	NOUN
aiti-7192	214	3	problem	problem	NOUN
aiti-7192	214	4	can	can	AUX
aiti-7192	214	5	be	be	AUX
aiti-7192	214	6	solved	solve	VERB
aiti-7192	214	7	using	use	VERB
aiti-7192	214	8	next	next	ADJ
aiti-7192	214	9	-	-	PUNCT
aiti-7192	214	10	generation	generation	NOUN
aiti-7192	214	11	high	high	ADJ
aiti-7192	214	12	-	-	PUNCT
aiti-7192	214	13	speed	speed	NOUN
aiti-7192	214	14	networks	network	NOUN
aiti-7192	214	15	that	that	PRON
aiti-7192	214	16	provide	provide	VERB
aiti-7192	214	17	high	high	ADJ
aiti-7192	214	18	transmission	transmission	NOUN
aiti-7192	214	19	speeds	speed	NOUN
aiti-7192	214	20	with	with	ADP
aiti-7192	214	21	novel	novel	ADJ
aiti-7192	214	22	visual	visual	ADJ
aiti-7192	214	23	recognition	recognition	NOUN
aiti-7192	214	24	models	model	NOUN
aiti-7192	214	25	.	.	PUNCT
aiti-7192	215	1	conflicts	conflict	NOUN
aiti-7192	215	2	of	of	ADP
aiti-7192	215	3	interest	interest	NOUN
aiti-7192	215	4	the	the	DET
aiti-7192	215	5	authors	author	NOUN
aiti-7192	215	6	declare	declare	VERB
aiti-7192	215	7	no	no	DET
aiti-7192	215	8	conflict	conflict	NOUN
aiti-7192	215	9	of	of	ADP
aiti-7192	215	10	interest	interest	NOUN
aiti-7192	215	11	.	.	PUNCT
aiti-7192	216	1	220	220	NUM
aiti-7192	216	2	advances	advance	NOUN
aiti-7192	216	3	in	in	ADP
aiti-7192	216	4	technology	technology	NOUN
aiti-7192	216	5	innovation	innovation	NOUN
aiti-7192	216	6	,	,	PUNCT
aiti-7192	216	7	vol	vol	NOUN
aiti-7192	216	8	.	.	PROPN
aiti-7192	216	9	6	6	NUM
aiti-7192	216	10	,	,	PUNCT
aiti-7192	216	11	no	no	INTJ
aiti-7192	216	12	.	.	NOUN
aiti-7192	216	13	4	4	NUM
aiti-7192	216	14	,	,	PUNCT
aiti-7192	216	15	2021	2021	NUM
aiti-7192	216	16	,	,	PUNCT
aiti-7192	216	17	pp	pp	ADJ
aiti-7192	216	18	.	.	PUNCT
aiti-7192	217	1	213	213	NUM
aiti-7192	217	2	-	-	SYM
aiti-7192	217	3	221	221	NUM
aiti-7192	217	4	references	reference	NOUN
aiti-7192	217	5	[	[	X
aiti-7192	217	6	1	1	NUM
aiti-7192	217	7	]	]	PUNCT
aiti-7192	217	8	p.	p.	NOUN
aiti-7192	217	9	h.	h.	PROPN
aiti-7192	217	10	lin	lin	PROPN
aiti-7192	217	11	,	,	PUNCT
aiti-7192	217	12	c.	c.	PROPN
aiti-7192	217	13	y.	y.	PROPN
aiti-7192	217	14	lin	lin	PROPN
aiti-7192	217	15	,	,	PUNCT
aiti-7192	217	16	c.	c.	PROPN
aiti-7192	217	17	t.	t.	PROPN
aiti-7192	217	18	hung	hung	PROPN
aiti-7192	217	19	,	,	PUNCT
aiti-7192	217	20	j.	j.	PROPN
aiti-7192	217	21	j.	j.	PROPN
aiti-7192	217	22	chen	chen	PROPN
aiti-7192	217	23	,	,	PUNCT
aiti-7192	217	24	and	and	CCONJ
aiti-7192	217	25	j.	j.	PROPN
aiti-7192	217	26	m.	m.	PROPN
aiti-7192	217	27	liang	liang	PROPN
aiti-7192	217	28	,	,	PUNCT
aiti-7192	217	29	“	"	PUNCT
aiti-7192	217	30	the	the	DET
aiti-7192	217	31	autonomous	autonomous	ADJ
aiti-7192	217	32	shopping	shopping	NOUN
aiti-7192	217	33	-	-	PUNCT
aiti-7192	217	34	guide	guide	NOUN
aiti-7192	217	35	robot	robot	NOUN
aiti-7192	217	36	in	in	ADP
aiti-7192	217	37	cashier	cashier	NOUN
aiti-7192	217	38	-	-	PUNCT
aiti-7192	217	39	less	less	ADJ
aiti-7192	217	40	convenience	convenience	NOUN
aiti-7192	217	41	stores	store	NOUN
aiti-7192	217	42	,	,	PUNCT
aiti-7192	217	43	”	"	PUNCT
aiti-7192	217	44	proceedings	proceeding	NOUN
aiti-7192	217	45	of	of	ADP
aiti-7192	217	46	engineering	engineering	NOUN
aiti-7192	217	47	and	and	CCONJ
aiti-7192	217	48	technology	technology	NOUN
aiti-7192	217	49	innovation	innovation	NOUN
aiti-7192	217	50	,	,	PUNCT
aiti-7192	217	51	vol	vol	NOUN
aiti-7192	217	52	.	.	PROPN
aiti-7192	217	53	14	14	NUM
aiti-7192	217	54	,	,	PUNCT
aiti-7192	217	55	pp	pp	ADJ
aiti-7192	217	56	.	.	PUNCT
aiti-7192	218	1	9	9	NUM
aiti-7192	218	2	-	-	SYM
aiti-7192	218	3	15	15	NUM
aiti-7192	218	4	,	,	PUNCT
aiti-7192	218	5	january	january	PROPN
aiti-7192	218	6	2020	2020	NUM
aiti-7192	218	7	.	.	PUNCT
aiti-7192	219	1	[	[	X
aiti-7192	219	2	2	2	X
aiti-7192	219	3	]	]	X
aiti-7192	219	4	y.	y.	NOUN
aiti-7192	219	5	lecun	lecun	PROPN
aiti-7192	219	6	,	,	PUNCT
aiti-7192	219	7	l.	l.	PROPN
aiti-7192	219	8	bottou	bottou	PROPN
aiti-7192	219	9	,	,	PUNCT
aiti-7192	219	10	y.	y.	PROPN
aiti-7192	219	11	bengio	bengio	PROPN
aiti-7192	219	12	,	,	PUNCT
aiti-7192	219	13	and	and	CCONJ
aiti-7192	219	14	p.	p.	PROPN
aiti-7192	219	15	haffner	haffner	NOUN
aiti-7192	219	16	,	,	PUNCT
aiti-7192	219	17	“	"	PUNCT
aiti-7192	219	18	gradient	gradient	NOUN
aiti-7192	219	19	-	-	PUNCT
aiti-7192	219	20	based	base	VERB
aiti-7192	219	21	learning	learning	NOUN
aiti-7192	219	22	applied	apply	VERB
aiti-7192	219	23	to	to	ADP
aiti-7192	219	24	document	document	NOUN
aiti-7192	219	25	recognition	recognition	NOUN
aiti-7192	219	26	,	,	PUNCT
aiti-7192	219	27	”	"	PUNCT
aiti-7192	219	28	proceedings	proceeding	NOUN
aiti-7192	219	29	of	of	ADP
aiti-7192	219	30	the	the	DET
aiti-7192	219	31	ieee	ieee	NOUN
aiti-7192	219	32	,	,	PUNCT
aiti-7192	219	33	vol	vol	NOUN
aiti-7192	219	34	.	.	PROPN
aiti-7192	219	35	86	86	NUM
aiti-7192	219	36	,	,	PUNCT
aiti-7192	219	37	no	no	INTJ
aiti-7192	219	38	.	.	NOUN
aiti-7192	219	39	11	11	NUM
aiti-7192	219	40	,	,	PUNCT
aiti-7192	219	41	pp	pp	ADJ
aiti-7192	219	42	.	.	PUNCT
aiti-7192	219	43	2278	2278	NUM
aiti-7192	219	44	-	-	SYM
aiti-7192	219	45	2324	2324	NUM
aiti-7192	219	46	,	,	PUNCT
aiti-7192	219	47	november	november	PROPN
aiti-7192	219	48	1998	1998	NUM
aiti-7192	219	49	.	.	PUNCT
aiti-7192	220	1	[	[	X
aiti-7192	220	2	3	3	NUM
aiti-7192	220	3	]	]	PUNCT
aiti-7192	220	4	a.	a.	NOUN
aiti-7192	220	5	krizhevsky	krizhevsky	PROPN
aiti-7192	220	6	,	,	PUNCT
aiti-7192	220	7	i.	i.	PROPN
aiti-7192	220	8	sutskever	sutskever	PROPN
aiti-7192	220	9	,	,	PUNCT
aiti-7192	220	10	and	and	CCONJ
aiti-7192	220	11	g.	g.	PROPN
aiti-7192	220	12	e.	e.	PROPN
aiti-7192	220	13	hinton	hinton	PROPN
aiti-7192	220	14	,	,	PUNCT
aiti-7192	220	15	“	"	PUNCT
aiti-7192	220	16	imagenet	imagenet	NOUN
aiti-7192	220	17	classification	classification	NOUN
aiti-7192	220	18	with	with	ADP
aiti-7192	220	19	deep	deep	ADJ
aiti-7192	220	20	convolutional	convolutional	ADJ
aiti-7192	220	21	neural	neural	ADJ
aiti-7192	220	22	networks	network	NOUN
aiti-7192	220	23	,	,	PUNCT
aiti-7192	220	24	”	"	PUNCT
aiti-7192	220	25	communications	communication	NOUN
aiti-7192	220	26	of	of	ADP
aiti-7192	220	27	the	the	DET
aiti-7192	220	28	acm	acm	NOUN
aiti-7192	220	29	,	,	PUNCT
aiti-7192	220	30	vol	vol	NOUN
aiti-7192	220	31	.	.	PROPN
aiti-7192	220	32	60	60	NUM
aiti-7192	220	33	,	,	PUNCT
aiti-7192	220	34	no	no	INTJ
aiti-7192	220	35	.	.	NOUN
aiti-7192	220	36	6	6	NUM
aiti-7192	220	37	,	,	PUNCT
aiti-7192	220	38	pp	pp	ADJ
aiti-7192	220	39	.	.	PUNCT
aiti-7192	220	40	84	84	NUM
aiti-7192	220	41	-	-	SYM
aiti-7192	220	42	90	90	NUM
aiti-7192	220	43	,	,	PUNCT
aiti-7192	220	44	june	june	PROPN
aiti-7192	220	45	2017	2017	NUM
aiti-7192	220	46	.	.	PUNCT
aiti-7192	221	1	[	[	X
aiti-7192	221	2	4	4	X
aiti-7192	221	3	]	]	PUNCT
aiti-7192	221	4	k.	k.	NOUN
aiti-7192	222	1	he	he	PROPN
aiti-7192	222	2	,	,	PUNCT
aiti-7192	222	3	x.	x.	PROPN
aiti-7192	222	4	zhang	zhang	PROPN
aiti-7192	222	5	,	,	PUNCT
aiti-7192	222	6	s.	s.	PROPN
aiti-7192	222	7	ren	ren	PROPN
aiti-7192	222	8	,	,	PUNCT
aiti-7192	222	9	and	and	CCONJ
aiti-7192	222	10	j.	j.	PROPN
aiti-7192	222	11	sun	sun	PROPN
aiti-7192	222	12	,	,	PUNCT
aiti-7192	222	13	“	"	PUNCT
aiti-7192	222	14	deep	deep	ADJ
aiti-7192	222	15	residual	residual	ADJ
aiti-7192	222	16	learning	learning	NOUN
aiti-7192	222	17	for	for	ADP
aiti-7192	222	18	image	image	NOUN
aiti-7192	222	19	recognition	recognition	NOUN
aiti-7192	222	20	,	,	PUNCT
aiti-7192	222	21	”	"	PUNCT
aiti-7192	222	22	ieee	ieee	NOUN
aiti-7192	222	23	conference	conference	NOUN
aiti-7192	222	24	on	on	ADP
aiti-7192	222	25	computer	computer	NOUN
aiti-7192	222	26	vision	vision	NOUN
aiti-7192	222	27	and	and	CCONJ
aiti-7192	222	28	pattern	pattern	NOUN
aiti-7192	222	29	recognition	recognition	NOUN
aiti-7192	222	30	,	,	PUNCT
aiti-7192	222	31	june	june	PROPN
aiti-7192	222	32	2016	2016	NUM
aiti-7192	222	33	,	,	PUNCT
aiti-7192	222	34	pp	pp	ADJ
aiti-7192	222	35	.	.	PUNCT
aiti-7192	223	1	770	770	NUM
aiti-7192	223	2	-	-	SYM
aiti-7192	223	3	778	778	NUM
aiti-7192	223	4	.	.	PUNCT
aiti-7192	224	1	[	[	X
aiti-7192	224	2	5	5	X
aiti-7192	224	3	]	]	X
aiti-7192	224	4	g.	g.	PROPN
aiti-7192	224	5	huang	huang	PROPN
aiti-7192	224	6	,	,	PUNCT
aiti-7192	224	7	z.	z.	PROPN
aiti-7192	224	8	liu	liu	PROPN
aiti-7192	224	9	,	,	PUNCT
aiti-7192	224	10	l.	l.	PROPN
aiti-7192	224	11	v.	v.	PROPN
aiti-7192	224	12	d.	d.	PROPN
aiti-7192	224	13	maaten	maaten	VERB
aiti-7192	224	14	,	,	PUNCT
aiti-7192	224	15	and	and	CCONJ
aiti-7192	224	16	k.	k.	PROPN
aiti-7192	224	17	q.	q.	PROPN
aiti-7192	224	18	weinberger	weinberger	PROPN
aiti-7192	224	19	,	,	PUNCT
aiti-7192	224	20	“	"	PUNCT
aiti-7192	224	21	densely	densely	ADV
aiti-7192	224	22	connected	connected	ADJ
aiti-7192	224	23	convolutional	convolutional	ADJ
aiti-7192	224	24	networks	network	NOUN
aiti-7192	224	25	,	,	PUNCT
aiti-7192	224	26	”	"	PUNCT
aiti-7192	224	27	ieee	ieee	NOUN
aiti-7192	224	28	conference	conference	NOUN
aiti-7192	224	29	on	on	ADP
aiti-7192	224	30	computer	computer	NOUN
aiti-7192	224	31	vision	vision	NOUN
aiti-7192	224	32	and	and	CCONJ
aiti-7192	224	33	pattern	pattern	NOUN
aiti-7192	224	34	recognition	recognition	NOUN
aiti-7192	224	35	,	,	PUNCT
aiti-7192	224	36	july	july	PROPN
aiti-7192	224	37	2017	2017	NUM
aiti-7192	224	38	,	,	PUNCT
aiti-7192	224	39	pp	pp	ADP
aiti-7192	224	40	.	.	PUNCT
aiti-7192	225	1	2261	2261	NUM
aiti-7192	225	2	-	-	SYM
aiti-7192	225	3	2269	2269	NUM
aiti-7192	225	4	.	.	PUNCT
aiti-7192	226	1	[	[	X
aiti-7192	226	2	6	6	NUM
aiti-7192	226	3	]	]	PUNCT
aiti-7192	226	4	c.	c.	PROPN
aiti-7192	226	5	y.	y.	PROPN
aiti-7192	226	6	wang	wang	PROPN
aiti-7192	226	7	,	,	PUNCT
aiti-7192	226	8	h.	h.	PROPN
aiti-7192	226	9	y.	y.	PROPN
aiti-7192	226	10	m.	m.	PROPN
aiti-7192	226	11	liao	liao	PROPN
aiti-7192	226	12	,	,	PUNCT
aiti-7192	226	13	y.	y.	PROPN
aiti-7192	226	14	h.	h.	PROPN
aiti-7192	226	15	wu	wu	PROPN
aiti-7192	226	16	,	,	PUNCT
aiti-7192	226	17	p.	p.	PROPN
aiti-7192	226	18	y.	y.	PROPN
aiti-7192	226	19	chen	chen	PROPN
aiti-7192	226	20	,	,	PUNCT
aiti-7192	226	21	j.	j.	PROPN
aiti-7192	226	22	w.	w.	PROPN
aiti-7192	226	23	hsieh	hsieh	PROPN
aiti-7192	226	24	,	,	PUNCT
aiti-7192	226	25	and	and	CCONJ
aiti-7192	226	26	i.	i.	PROPN
aiti-7192	226	27	h.	h.	PROPN
aiti-7192	226	28	yeh	yeh	PROPN
aiti-7192	226	29	,	,	PUNCT
aiti-7192	226	30	“	"	PUNCT
aiti-7192	226	31	cspnet	cspnet	NOUN
aiti-7192	226	32	:	:	PUNCT
aiti-7192	226	33	a	a	DET
aiti-7192	226	34	new	new	ADJ
aiti-7192	226	35	backbone	backbone	NOUN
aiti-7192	226	36	that	that	PRON
aiti-7192	226	37	can	can	AUX
aiti-7192	226	38	enhance	enhance	VERB
aiti-7192	226	39	learning	learn	VERB
aiti-7192	226	40	capability	capability	NOUN
aiti-7192	226	41	of	of	ADP
aiti-7192	226	42	cnn	cnn	PROPN
aiti-7192	226	43	,	,	PUNCT
aiti-7192	226	44	”	"	PUNCT
aiti-7192	226	45	ieee	ieee	NOUN
aiti-7192	226	46	/	/	SYM
aiti-7192	226	47	cvf	cvf	NOUN
aiti-7192	226	48	conference	conference	NOUN
aiti-7192	226	49	on	on	ADP
aiti-7192	226	50	computer	computer	NOUN
aiti-7192	226	51	vision	vision	NOUN
aiti-7192	226	52	and	and	CCONJ
aiti-7192	226	53	pattern	pattern	NOUN
aiti-7192	226	54	recognition	recognition	NOUN
aiti-7192	226	55	workshops	workshop	NOUN
aiti-7192	226	56	,	,	PUNCT
aiti-7192	226	57	june	june	PROPN
aiti-7192	226	58	2020	2020	NUM
aiti-7192	226	59	,	,	PUNCT
aiti-7192	226	60	pp	pp	ADV
aiti-7192	226	61	.	.	PUNCT
aiti-7192	227	1	1571	1571	NUM
aiti-7192	227	2	-	-	SYM
aiti-7192	227	3	1580	1580	NUM
aiti-7192	227	4	.	.	PUNCT
aiti-7192	228	1	[	[	X
aiti-7192	228	2	7	7	X
aiti-7192	228	3	]	]	PUNCT
aiti-7192	228	4	a.	a.	NOUN
aiti-7192	228	5	g.	g.	PROPN
aiti-7192	228	6	howard	howard	PROPN
aiti-7192	228	7	,	,	PUNCT
aiti-7192	228	8	m.	m.	PROPN
aiti-7192	228	9	zhu	zhu	PROPN
aiti-7192	228	10	,	,	PUNCT
aiti-7192	228	11	b.	b.	PROPN
aiti-7192	228	12	chen	chen	PROPN
aiti-7192	228	13	,	,	PUNCT
aiti-7192	228	14	d.	d.	PROPN
aiti-7192	228	15	kalenichenko	kalenichenko	PROPN
aiti-7192	228	16	,	,	PUNCT
aiti-7192	228	17	w.	w.	PROPN
aiti-7192	228	18	wang	wang	PROPN
aiti-7192	228	19	,	,	PUNCT
aiti-7192	228	20	t.	t.	PROPN
aiti-7192	228	21	weyand	weyand	PROPN
aiti-7192	228	22	,	,	PUNCT
aiti-7192	228	23	et	et	PROPN
aiti-7192	228	24	al	al	PROPN
aiti-7192	228	25	.	.	PROPN
aiti-7192	228	26	,	,	PUNCT
aiti-7192	228	27	“	"	PUNCT
aiti-7192	228	28	mobilenets	mobilenet	NOUN
aiti-7192	228	29	:	:	PUNCT
aiti-7192	228	30	efficient	efficient	ADJ
aiti-7192	228	31	convolutional	convolutional	ADJ
aiti-7192	228	32	neural	neural	ADJ
aiti-7192	228	33	networks	network	NOUN
aiti-7192	228	34	for	for	ADP
aiti-7192	228	35	mobile	mobile	ADJ
aiti-7192	228	36	vision	vision	NOUN
aiti-7192	228	37	applications	application	NOUN
aiti-7192	228	38	,	,	PUNCT
aiti-7192	228	39	”	"	PUNCT
aiti-7192	228	40	https://arxiv.org/pdf/1704.04861.pdf	https://arxiv.org/pdf/1704.04861.pdf	PROPN
aiti-7192	228	41	,	,	PUNCT
aiti-7192	228	42	april	april	PROPN
aiti-7192	228	43	17	17	NUM
aiti-7192	228	44	,	,	PUNCT
aiti-7192	228	45	2017	2017	NUM
aiti-7192	228	46	.	.	PUNCT
aiti-7192	229	1	[	[	X
aiti-7192	229	2	8	8	X
aiti-7192	229	3	]	]	PUNCT
aiti-7192	229	4	k.	k.	PROPN
aiti-7192	229	5	h.	h.	PROPN
aiti-7192	229	6	shih	shih	PROPN
aiti-7192	229	7	,	,	PUNCT
aiti-7192	229	8	c.	c.	PROPN
aiti-7192	229	9	t.	t.	PROPN
aiti-7192	229	10	chiu	chiu	PROPN
aiti-7192	229	11	,	,	PUNCT
aiti-7192	229	12	j.	j.	PROPN
aiti-7192	229	13	a.	a.	PROPN
aiti-7192	229	14	lin	lin	PROPN
aiti-7192	229	15	,	,	PUNCT
aiti-7192	229	16	and	and	CCONJ
aiti-7192	229	17	y.	y.	PROPN
aiti-7192	229	18	y.	y.	PROPN
aiti-7192	229	19	bu	bu	PROPN
aiti-7192	229	20	,	,	PUNCT
aiti-7192	229	21	“	"	PUNCT
aiti-7192	229	22	real	real	ADJ
aiti-7192	229	23	-	-	PUNCT
aiti-7192	229	24	time	time	NOUN
aiti-7192	229	25	object	object	NOUN
aiti-7192	229	26	detection	detection	NOUN
aiti-7192	229	27	with	with	ADP
aiti-7192	229	28	reduced	reduced	ADJ
aiti-7192	229	29	region	region	NOUN
aiti-7192	229	30	proposal	proposal	NOUN
aiti-7192	229	31	network	network	NOUN
aiti-7192	229	32	via	via	ADP
aiti-7192	229	33	multi	multi	ADJ
aiti-7192	229	34	-	-	ADJ
aiti-7192	229	35	feature	feature	ADJ
aiti-7192	229	36	concatenation	concatenation	NOUN
aiti-7192	229	37	,	,	PUNCT
aiti-7192	229	38	”	"	PUNCT
aiti-7192	229	39	ieee	ieee	NOUN
aiti-7192	229	40	transactions	transaction	NOUN
aiti-7192	229	41	on	on	ADP
aiti-7192	229	42	neural	neural	ADJ
aiti-7192	229	43	networks	network	NOUN
aiti-7192	229	44	and	and	CCONJ
aiti-7192	229	45	learning	learning	NOUN
aiti-7192	229	46	systems	system	NOUN
aiti-7192	229	47	,	,	PUNCT
aiti-7192	229	48	vol	vol	NOUN
aiti-7192	229	49	.	.	PROPN
aiti-7192	229	50	31	31	NUM
aiti-7192	229	51	,	,	PUNCT
aiti-7192	229	52	no	no	INTJ
aiti-7192	229	53	.	.	NOUN
aiti-7192	229	54	6	6	NUM
aiti-7192	229	55	,	,	PUNCT
aiti-7192	229	56	pp	pp	ADJ
aiti-7192	229	57	.	.	PUNCT
aiti-7192	229	58	2164	2164	NUM
aiti-7192	229	59	-	-	SYM
aiti-7192	229	60	2173	2173	NUM
aiti-7192	229	61	,	,	PUNCT
aiti-7192	229	62	june	june	PROPN
aiti-7192	229	63	2020	2020	NUM
aiti-7192	229	64	.	.	PUNCT
aiti-7192	230	1	[	[	X
aiti-7192	230	2	9	9	NUM
aiti-7192	230	3	]	]	PUNCT
aiti-7192	230	4	s.	s.	PROPN
aiti-7192	230	5	ren	ren	PROPN
aiti-7192	230	6	,	,	PUNCT
aiti-7192	230	7	k.	k.	PROPN
aiti-7192	231	1	he	he	PRON
aiti-7192	231	2	,	,	PUNCT
aiti-7192	231	3	r.	r.	PROPN
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aiti-7192	231	5	,	,	PUNCT
aiti-7192	231	6	and	and	CCONJ
aiti-7192	231	7	j.	j.	PROPN
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aiti-7192	231	9	,	,	PUNCT
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aiti-7192	231	12	r	r	NOUN
aiti-7192	231	13	-	-	PUNCT
aiti-7192	231	14	cnn	cnn	NOUN
aiti-7192	231	15	:	:	PUNCT
aiti-7192	231	16	towards	towards	ADP
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aiti-7192	231	18	-	-	PUNCT
aiti-7192	231	19	time	time	NOUN
aiti-7192	231	20	object	object	NOUN
aiti-7192	231	21	detection	detection	NOUN
aiti-7192	231	22	with	with	ADP
aiti-7192	231	23	region	region	NOUN
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aiti-7192	231	25	networks	network	NOUN
aiti-7192	231	26	,	,	PUNCT
aiti-7192	231	27	”	"	PUNCT
aiti-7192	231	28	ieee	ieee	NOUN
aiti-7192	231	29	transactions	transaction	NOUN
aiti-7192	231	30	on	on	ADP
aiti-7192	231	31	pattern	pattern	NOUN
aiti-7192	231	32	analysis	analysis	NOUN
aiti-7192	231	33	and	and	CCONJ
aiti-7192	231	34	machine	machine	NOUN
aiti-7192	231	35	intelligence	intelligence	NOUN
aiti-7192	231	36	,	,	PUNCT
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aiti-7192	231	38	.	.	PROPN
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aiti-7192	231	40	,	,	PUNCT
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aiti-7192	231	42	.	.	NOUN
aiti-7192	231	43	6	6	NUM
aiti-7192	231	44	,	,	PUNCT
aiti-7192	231	45	pp	pp	ADJ
aiti-7192	231	46	.	.	PUNCT
aiti-7192	231	47	1137	1137	NUM
aiti-7192	231	48	-	-	SYM
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aiti-7192	231	50	,	,	PUNCT
aiti-7192	231	51	june	june	PROPN
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aiti-7192	231	53	.	.	PUNCT
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aiti-7192	232	6	,	,	PUNCT
aiti-7192	232	7	c.	c.	PROPN
aiti-7192	232	8	haase	haase	PROPN
aiti-7192	232	9	-	-	PUNCT
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aiti-7192	232	11	,	,	PUNCT
aiti-7192	232	12	l.	l.	PROPN
aiti-7192	232	13	rosenbaum	rosenbaum	PROPN
aiti-7192	232	14	,	,	PUNCT
aiti-7192	232	15	h.	h.	PROPN
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aiti-7192	232	17	,	,	PUNCT
aiti-7192	232	18	c.	c.	PROPN
aiti-7192	232	19	gläser	gläser	PROPN
aiti-7192	232	20	,	,	PUNCT
aiti-7192	232	21	f.	f.	PROPN
aiti-7192	232	22	timm	timm	PROPN
aiti-7192	232	23	,	,	PUNCT
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aiti-7192	232	25	al	al	PROPN
aiti-7192	232	26	.	.	PROPN
aiti-7192	232	27	,	,	PUNCT
aiti-7192	232	28	“	"	PUNCT
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aiti-7192	232	35	and	and	CCONJ
aiti-7192	232	36	semantic	semantic	ADJ
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aiti-7192	232	41	:	:	PUNCT
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aiti-7192	232	56	,	,	PUNCT
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aiti-7192	232	58	.	.	PROPN
aiti-7192	233	1	22	22	NUM
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aiti-7192	233	6	,	,	PUNCT
aiti-7192	233	7	pp	pp	ADJ
aiti-7192	233	8	.	.	PUNCT
aiti-7192	234	1	1341	1341	NUM
aiti-7192	234	2	-	-	SYM
aiti-7192	234	3	1360	1360	NUM
aiti-7192	234	4	,	,	PUNCT
aiti-7192	234	5	march	march	PROPN
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aiti-7192	234	7	.	.	PUNCT
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aiti-7192	235	3	]	]	PUNCT
aiti-7192	235	4	w.	w.	PROPN
aiti-7192	235	5	he	he	PROPN
aiti-7192	235	6	,	,	PUNCT
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aiti-7192	235	9	,	,	PUNCT
aiti-7192	235	10	z.	z.	PROPN
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aiti-7192	235	12	,	,	PUNCT
aiti-7192	235	13	c.	c.	PROPN
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aiti-7192	235	15	,	,	PUNCT
aiti-7192	235	16	and	and	CCONJ
aiti-7192	235	17	b.	b.	PROPN
aiti-7192	235	18	guo	guo	PROPN
aiti-7192	235	19	,	,	PUNCT
aiti-7192	235	20	“	"	PUNCT
aiti-7192	235	21	tf	tf	PROPN
aiti-7192	235	22	-	-	PUNCT
aiti-7192	235	23	yolo	yolo	PROPN
aiti-7192	235	24	:	:	PUNCT
aiti-7192	235	25	an	an	DET
aiti-7192	235	26	improved	improved	ADJ
aiti-7192	235	27	incremental	incremental	ADJ
aiti-7192	235	28	network	network	NOUN
aiti-7192	235	29	for	for	ADP
aiti-7192	235	30	real	real	ADJ
aiti-7192	235	31	-	-	PUNCT
aiti-7192	235	32	time	time	NOUN
aiti-7192	235	33	object	object	NOUN
aiti-7192	235	34	detection	detection	NOUN
aiti-7192	235	35	,	,	PUNCT
aiti-7192	235	36	”	"	PUNCT
aiti-7192	235	37	applied	apply	VERB
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aiti-7192	235	39	,	,	PUNCT
aiti-7192	235	40	vol	vol	NOUN
aiti-7192	235	41	.	.	NOUN
aiti-7192	235	42	9	9	NUM
aiti-7192	235	43	,	,	PUNCT
aiti-7192	235	44	no	no	INTJ
aiti-7192	235	45	.	.	NOUN
aiti-7192	235	46	16	16	NUM
aiti-7192	235	47	,	,	PUNCT
aiti-7192	235	48	3225	3225	NUM
aiti-7192	235	49	,	,	PUNCT
aiti-7192	235	50	august	august	PROPN
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aiti-7192	235	52	.	.	PUNCT
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aiti-7192	236	4	h.	h.	PROPN
aiti-7192	236	5	law	law	PROPN
aiti-7192	236	6	and	and	CCONJ
aiti-7192	236	7	j.	j.	PROPN
aiti-7192	236	8	deng	deng	PROPN
aiti-7192	236	9	,	,	PUNCT
aiti-7192	236	10	“	"	PUNCT
aiti-7192	236	11	cornernet	cornernet	PROPN
aiti-7192	236	12	:	:	PUNCT
aiti-7192	236	13	detecting	detect	VERB
aiti-7192	236	14	objects	object	NOUN
aiti-7192	236	15	as	as	ADP
aiti-7192	236	16	paired	pair	VERB
aiti-7192	236	17	keypoints	keypoint	NOUN
aiti-7192	236	18	,	,	PUNCT
aiti-7192	236	19	”	"	PUNCT
aiti-7192	236	20	european	european	ADJ
aiti-7192	236	21	conference	conference	NOUN
aiti-7192	236	22	on	on	ADP
aiti-7192	236	23	computer	computer	NOUN
aiti-7192	236	24	vision	vision	NOUN
aiti-7192	236	25	,	,	PUNCT
aiti-7192	236	26	september	september	PROPN
aiti-7192	236	27	2018	2018	NUM
aiti-7192	236	28	,	,	PUNCT
aiti-7192	236	29	pp	pp	ADJ
aiti-7192	236	30	.	.	PUNCT
aiti-7192	237	1	734	734	NUM
aiti-7192	237	2	-	-	SYM
aiti-7192	237	3	750	750	NUM
aiti-7192	237	4	.	.	PUNCT
aiti-7192	238	1	[	[	X
aiti-7192	238	2	13	13	NUM
aiti-7192	238	3	]	]	PUNCT
aiti-7192	238	4	k.	k.	PROPN
aiti-7192	238	5	duan	duan	PROPN
aiti-7192	238	6	,	,	PUNCT
aiti-7192	238	7	s.	s.	PROPN
aiti-7192	238	8	bai	bai	PROPN
aiti-7192	238	9	,	,	PUNCT
aiti-7192	238	10	l.	l.	PROPN
aiti-7192	238	11	xie	xie	PROPN
aiti-7192	238	12	,	,	PUNCT
aiti-7192	238	13	h.	h.	PROPN
aiti-7192	238	14	qi	qi	PROPN
aiti-7192	238	15	,	,	PUNCT
aiti-7192	238	16	q.	q.	PROPN
aiti-7192	238	17	huang	huang	PROPN
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aiti-7192	238	19	and	and	CCONJ
aiti-7192	238	20	q.	q.	PROPN
aiti-7192	238	21	tian	tian	PROPN
aiti-7192	238	22	,	,	PUNCT
aiti-7192	238	23	“	"	PUNCT
aiti-7192	238	24	centernet	centernet	NOUN
aiti-7192	238	25	:	:	PUNCT
aiti-7192	238	26	keypoint	keypoint	VERB
aiti-7192	238	27	triplets	triplet	NOUN
aiti-7192	238	28	for	for	ADP
aiti-7192	238	29	object	object	NOUN
aiti-7192	238	30	detection	detection	NOUN
aiti-7192	238	31	,	,	PUNCT
aiti-7192	238	32	”	"	PUNCT
aiti-7192	238	33	ieee	ieee	NOUN
aiti-7192	238	34	/	/	SYM
aiti-7192	238	35	cvf	cvf	NOUN
aiti-7192	238	36	international	international	ADJ
aiti-7192	238	37	conference	conference	NOUN
aiti-7192	238	38	on	on	ADP
aiti-7192	238	39	computer	computer	NOUN
aiti-7192	238	40	vision	vision	NOUN
aiti-7192	238	41	,	,	PUNCT
aiti-7192	238	42	october	october	PROPN
aiti-7192	238	43	2019	2019	NUM
aiti-7192	238	44	,	,	PUNCT
aiti-7192	238	45	pp	pp	ADJ
aiti-7192	238	46	.	.	PUNCT
aiti-7192	239	1	6569	6569	NUM
aiti-7192	239	2	-	-	SYM
aiti-7192	239	3	6578	6578	NUM
aiti-7192	239	4	.	.	PUNCT
aiti-7192	240	1	[	[	X
aiti-7192	240	2	14	14	NUM
aiti-7192	240	3	]	]	X
aiti-7192	240	4	z.	z.	PROPN
aiti-7192	240	5	tian	tian	PROPN
aiti-7192	240	6	,	,	PUNCT
aiti-7192	240	7	c.	c.	PROPN
aiti-7192	240	8	shen	shen	PROPN
aiti-7192	240	9	,	,	PUNCT
aiti-7192	240	10	h.	h.	PROPN
aiti-7192	240	11	chen	chen	PROPN
aiti-7192	240	12	,	,	PUNCT
aiti-7192	240	13	and	and	CCONJ
aiti-7192	240	14	t.	t.	PROPN
aiti-7192	240	15	he	he	PRON
aiti-7192	240	16	,	,	PUNCT
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aiti-7192	240	18	fcos	fcos	PROPN
aiti-7192	240	19	:	:	PUNCT
aiti-7192	240	20	fully	fully	ADV
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aiti-7192	240	22	one	one	NUM
aiti-7192	240	23	-	-	PUNCT
aiti-7192	240	24	stage	stage	NOUN
aiti-7192	240	25	object	object	NOUN
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aiti-7192	240	27	,	,	PUNCT
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aiti-7192	240	29	ieee	ieee	NOUN
aiti-7192	240	30	/	/	SYM
aiti-7192	240	31	cvf	cvf	NOUN
aiti-7192	240	32	international	international	ADJ
aiti-7192	240	33	conference	conference	NOUN
aiti-7192	240	34	on	on	ADP
aiti-7192	240	35	computer	computer	NOUN
aiti-7192	240	36	vision	vision	NOUN
aiti-7192	240	37	,	,	PUNCT
aiti-7192	240	38	october	october	PROPN
aiti-7192	240	39	2019	2019	NUM
aiti-7192	240	40	,	,	PUNCT
aiti-7192	240	41	pp	pp	ADJ
aiti-7192	240	42	.	.	PUNCT
aiti-7192	241	1	9626	9626	NUM
aiti-7192	241	2	-	-	SYM
aiti-7192	241	3	9635	9635	NUM
aiti-7192	241	4	.	.	PUNCT
aiti-7192	242	1	[	[	X
aiti-7192	242	2	15	15	NUM
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aiti-7192	242	4	m.	m.	NOUN
aiti-7192	242	5	tan	tan	PROPN
aiti-7192	242	6	,	,	PUNCT
aiti-7192	242	7	r.	r.	PROPN
aiti-7192	242	8	pang	pang	PROPN
aiti-7192	242	9	,	,	PUNCT
aiti-7192	242	10	and	and	CCONJ
aiti-7192	242	11	q.	q.	PROPN
aiti-7192	242	12	v.	v.	CCONJ
aiti-7192	242	13	le	le	X
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aiti-7192	242	16	:	:	PUNCT
aiti-7192	242	17	scalable	scalable	ADJ
aiti-7192	242	18	and	and	CCONJ
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aiti-7192	242	20	object	object	NOUN
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aiti-7192	242	22	,	,	PUNCT
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aiti-7192	242	24	ieee	ieee	NOUN
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aiti-7192	242	27	conference	conference	NOUN
aiti-7192	242	28	on	on	ADP
aiti-7192	242	29	computer	computer	NOUN
aiti-7192	242	30	vision	vision	NOUN
aiti-7192	242	31	and	and	CCONJ
aiti-7192	242	32	pattern	pattern	NOUN
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aiti-7192	242	34	,	,	PUNCT
aiti-7192	242	35	june	june	PROPN
aiti-7192	242	36	2020	2020	NUM
aiti-7192	242	37	,	,	PUNCT
aiti-7192	242	38	pp	pp	ADV
aiti-7192	242	39	.	.	PUNCT
aiti-7192	243	1	10778	10778	NUM
aiti-7192	243	2	-	-	SYM
aiti-7192	243	3	10787	10787	NUM
aiti-7192	243	4	.	.	PUNCT
aiti-7192	244	1	[	[	X
aiti-7192	244	2	16	16	NUM
aiti-7192	244	3	]	]	PUNCT
aiti-7192	244	4	j.	j.	PROPN
aiti-7192	244	5	chen	chen	PROPN
aiti-7192	244	6	,	,	PUNCT
aiti-7192	244	7	w.	w.	PROPN
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aiti-7192	244	9	,	,	PUNCT
aiti-7192	244	10	and	and	CCONJ
aiti-7192	244	11	m.	m.	NOUN
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aiti-7192	244	13	,	,	PUNCT
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aiti-7192	244	15	autonomous	autonomous	ADJ
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aiti-7192	244	22	lqr	lqr	NOUN
aiti-7192	244	23	,	,	PUNCT
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aiti-7192	244	27	on	on	ADP
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aiti-7192	244	29	vehicles	vehicle	NOUN
aiti-7192	244	30	,	,	PUNCT
aiti-7192	244	31	vol	vol	NOUN
aiti-7192	244	32	.	.	PROPN
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aiti-7192	244	34	,	,	PUNCT
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aiti-7192	244	36	.	.	NOUN
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aiti-7192	244	38	,	,	PUNCT
aiti-7192	244	39	pp	pp	ADJ
aiti-7192	244	40	.	.	PUNCT
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aiti-7192	245	2	-	-	SYM
aiti-7192	245	3	254	254	NUM
aiti-7192	245	4	,	,	PUNCT
aiti-7192	245	5	june	june	PROPN
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aiti-7192	245	7	.	.	PUNCT
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aiti-7192	246	2	17	17	NUM
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aiti-7192	246	4	y.	y.	PROPN
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aiti-7192	246	9	,	,	PUNCT
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aiti-7192	246	21	d.	d.	PROPN
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aiti-7192	246	26	:	:	PUNCT
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aiti-7192	246	43	,	,	PUNCT
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aiti-7192	246	45	.	.	PROPN
aiti-7192	247	1	3	3	NUM
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aiti-7192	247	6	,	,	PUNCT
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aiti-7192	247	8	.	.	PUNCT
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aiti-7192	248	2	-	-	SYM
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aiti-7192	248	4	,	,	PUNCT
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aiti-7192	248	7	.	.	PUNCT
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aiti-7192	249	15	j.	j.	PROPN
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aiti-7192	249	23	:	:	PUNCT
aiti-7192	249	24	a	a	DET
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aiti-7192	249	37	,	,	PUNCT
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aiti-7192	249	39	.	.	PROPN
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aiti-7192	250	4	.	.	NOUN
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aiti-7192	250	6	,	,	PUNCT
aiti-7192	250	7	pp	pp	ADJ
aiti-7192	250	8	.	.	PUNCT
aiti-7192	251	1	1147	1147	NUM
aiti-7192	251	2	-	-	SYM
aiti-7192	251	3	1163	1163	NUM
aiti-7192	251	4	,	,	PUNCT
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aiti-7192	252	8	s.	s.	PROPN
aiti-7192	252	9	p.	p.	PROPN
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aiti-7192	252	11	,	,	PUNCT
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aiti-7192	252	33	,	,	PUNCT
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aiti-7192	252	39	.	.	NOUN
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aiti-7192	252	41	,	,	PUNCT
aiti-7192	252	42	pp	pp	ADJ
aiti-7192	252	43	.	.	PUNCT
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aiti-7192	252	45	-	-	SYM
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aiti-7192	252	47	,	,	PUNCT
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aiti-7192	252	50	.	.	PUNCT
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aiti-7192	253	10	z.	z.	PROPN
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aiti-7192	253	13	and	and	CCONJ
aiti-7192	253	14	g.	g.	PROPN
aiti-7192	253	15	yang	yang	PROPN
aiti-7192	253	16	,	,	PUNCT
aiti-7192	253	17	“	"	PUNCT
aiti-7192	253	18	a	a	DET
aiti-7192	253	19	deep	deep	ADJ
aiti-7192	253	20	learning	learning	NOUN
aiti-7192	253	21	-	-	PUNCT
aiti-7192	253	22	based	base	VERB
aiti-7192	253	23	semantic	semantic	ADJ
aiti-7192	253	24	filter	filter	NOUN
aiti-7192	253	25	for	for	ADP
aiti-7192	253	26	ransac	ransac	NOUN
aiti-7192	253	27	-	-	PUNCT
aiti-7192	253	28	based	base	VERB
aiti-7192	253	29	fundamental	fundamental	ADJ
aiti-7192	253	30	matrix	matrix	NOUN
aiti-7192	253	31	calculation	calculation	NOUN
aiti-7192	253	32	and	and	CCONJ
aiti-7192	253	33	the	the	DET
aiti-7192	253	34	orb	orb	NOUN
aiti-7192	253	35	-	-	PUNCT
aiti-7192	253	36	slam	slam	NOUN
aiti-7192	253	37	system	system	NOUN
aiti-7192	253	38	,	,	PUNCT
aiti-7192	253	39	”	"	PUNCT
aiti-7192	253	40	ieee	ieee	NOUN
aiti-7192	253	41	access	access	NOUN
aiti-7192	253	42	,	,	PUNCT
aiti-7192	253	43	vol	vol	NOUN
aiti-7192	253	44	.	.	PROPN
aiti-7192	253	45	8	8	NUM
aiti-7192	253	46	,	,	PUNCT
aiti-7192	253	47	pp	pp	ADJ
aiti-7192	253	48	.	.	PUNCT
aiti-7192	253	49	3212	3212	NUM
aiti-7192	253	50	-	-	SYM
aiti-7192	253	51	3223	3223	NUM
aiti-7192	253	52	,	,	PUNCT
aiti-7192	253	53	2019	2019	NUM
aiti-7192	253	54	.	.	PUNCT
aiti-7192	254	1	[	[	X
aiti-7192	254	2	21	21	NUM
aiti-7192	254	3	]	]	PUNCT
aiti-7192	254	4	j.	j.	PROPN
aiti-7192	254	5	s.	s.	PROPN
aiti-7192	254	6	sheu	sheu	PROPN
aiti-7192	254	7	and	and	CCONJ
aiti-7192	254	8	c.	c.	PROPN
aiti-7192	254	9	y.	y.	PROPN
aiti-7192	254	10	han	han	PROPN
aiti-7192	254	11	,	,	PUNCT
aiti-7192	254	12	“	"	PUNCT
aiti-7192	254	13	combining	combine	VERB
aiti-7192	254	14	cloud	cloud	NOUN
aiti-7192	254	15	computing	computing	NOUN
aiti-7192	254	16	and	and	CCONJ
aiti-7192	254	17	artificial	artificial	ADJ
aiti-7192	254	18	intelligence	intelligence	NOUN
aiti-7192	254	19	scene	scene	NOUN
aiti-7192	254	20	recognition	recognition	NOUN
aiti-7192	254	21	in	in	ADP
aiti-7192	254	22	real	real	ADJ
aiti-7192	254	23	-	-	PUNCT
aiti-7192	254	24	time	time	NOUN
aiti-7192	254	25	environment	environment	NOUN
aiti-7192	254	26	image	image	NOUN
aiti-7192	254	27	planning	planning	NOUN
aiti-7192	254	28	walkable	walkable	ADJ
aiti-7192	254	29	area	area	NOUN
aiti-7192	254	30	,	,	PUNCT
aiti-7192	254	31	”	"	PUNCT
aiti-7192	254	32	advances	advance	NOUN
aiti-7192	254	33	in	in	ADP
aiti-7192	254	34	technology	technology	NOUN
aiti-7192	254	35	innovation	innovation	NOUN
aiti-7192	254	36	,	,	PUNCT
aiti-7192	254	37	vol	vol	NOUN
aiti-7192	254	38	.	.	PROPN
aiti-7192	254	39	5	5	NUM
aiti-7192	254	40	,	,	PUNCT
aiti-7192	254	41	no	no	INTJ
aiti-7192	254	42	.	.	NOUN
aiti-7192	254	43	1	1	NUM
aiti-7192	254	44	,	,	PUNCT
aiti-7192	254	45	pp	pp	ADJ
aiti-7192	254	46	.	.	PUNCT
aiti-7192	255	1	10	10	NUM
aiti-7192	255	2	-	-	SYM
aiti-7192	255	3	17	17	NUM
aiti-7192	255	4	,	,	PUNCT
aiti-7192	255	5	december	december	PROPN
aiti-7192	255	6	2019	2019	NUM
aiti-7192	255	7	.	.	PUNCT
aiti-7192	256	1	[	[	X
aiti-7192	256	2	22	22	NUM
aiti-7192	256	3	]	]	PUNCT
aiti-7192	256	4	t.	t.	PROPN
aiti-7192	256	5	xu	xu	PROPN
aiti-7192	256	6	,	,	PUNCT
aiti-7192	256	7	s.	s.	PROPN
aiti-7192	256	8	zhang	zhang	PROPN
aiti-7192	256	9	,	,	PUNCT
aiti-7192	256	10	z.	z.	PROPN
aiti-7192	256	11	jiang	jiang	PROPN
aiti-7192	256	12	,	,	PUNCT
aiti-7192	256	13	z.	z.	PROPN
aiti-7192	256	14	liu	liu	PROPN
aiti-7192	256	15	,	,	PUNCT
aiti-7192	256	16	and	and	CCONJ
aiti-7192	256	17	h.	h.	PROPN
aiti-7192	256	18	cheng	cheng	PROPN
aiti-7192	256	19	,	,	PUNCT
aiti-7192	256	20	“	"	PUNCT
aiti-7192	256	21	collision	collision	NOUN
aiti-7192	256	22	avoidance	avoidance	NOUN
aiti-7192	256	23	of	of	ADP
aiti-7192	256	24	high	high	ADJ
aiti-7192	256	25	-	-	PUNCT
aiti-7192	256	26	speed	speed	NOUN
aiti-7192	256	27	obstacles	obstacle	NOUN
aiti-7192	256	28	for	for	ADP
aiti-7192	256	29	mobile	mobile	ADJ
aiti-7192	256	30	robots	robot	NOUN
aiti-7192	256	31	via	via	ADP
aiti-7192	256	32	maximum	maximum	ADJ
aiti-7192	256	33	-	-	PUNCT
aiti-7192	256	34	speed	speed	NOUN
aiti-7192	256	35	aware	aware	ADJ
aiti-7192	256	36	velocity	velocity	NOUN
aiti-7192	256	37	obstacle	obstacle	NOUN
aiti-7192	256	38	method	method	NOUN
aiti-7192	256	39	,	,	PUNCT
aiti-7192	256	40	”	"	PUNCT
aiti-7192	256	41	ieee	ieee	NOUN
aiti-7192	256	42	access	access	NOUN
aiti-7192	256	43	,	,	PUNCT
aiti-7192	256	44	vol	vol	NOUN
aiti-7192	256	45	.	.	NOUN
aiti-7192	256	46	8	8	NUM
aiti-7192	256	47	,	,	PUNCT
aiti-7192	256	48	pp.138493	pp.138493	PROPN
aiti-7192	256	49	-	-	NOUN
aiti-7192	256	50	138507	138507	NUM
aiti-7192	256	51	,	,	PUNCT
aiti-7192	256	52	2020	2020	NUM
aiti-7192	256	53	.	.	PUNCT
aiti-7192	257	1	copyright	copyright	NOUN
aiti-7192	257	2	©	©	PROPN
aiti-7192	257	3	by	by	ADP
aiti-7192	257	4	the	the	DET
aiti-7192	257	5	authors	author	NOUN
aiti-7192	257	6	.	.	PUNCT
aiti-7192	258	1	licensee	licensee	PROPN
aiti-7192	258	2	taeti	taeti	PROPN
aiti-7192	258	3	,	,	PUNCT
aiti-7192	258	4	taiwan	taiwan	PROPN
aiti-7192	258	5	.	.	PUNCT
aiti-7192	259	1	this	this	DET
aiti-7192	259	2	article	article	NOUN
aiti-7192	259	3	is	be	AUX
aiti-7192	259	4	an	an	DET
aiti-7192	259	5	open	open	ADJ
aiti-7192	259	6	access	access	NOUN
aiti-7192	259	7	article	article	NOUN
aiti-7192	259	8	distributed	distribute	VERB
aiti-7192	259	9	under	under	ADP
aiti-7192	259	10	the	the	DET
aiti-7192	259	11	terms	term	NOUN
aiti-7192	259	12	and	and	CCONJ
aiti-7192	259	13	conditions	condition	NOUN
aiti-7192	259	14	of	of	ADP
aiti-7192	259	15	the	the	DET
aiti-7192	259	16	creative	creative	ADJ
aiti-7192	259	17	commons	common	NOUN
aiti-7192	259	18	attribution	attribution	NOUN
aiti-7192	259	19	(	(	PUNCT
aiti-7192	259	20	cc	cc	NOUN
aiti-7192	259	21	by	by	ADP
aiti-7192	259	22	-	-	PUNCT
aiti-7192	259	23	nc	nc	NOUN
aiti-7192	259	24	)	)	PUNCT
aiti-7192	259	25	license	license	NOUN
aiti-7192	259	26	(	(	PUNCT
aiti-7192	259	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-7192	259	28	)	)	PUNCT
aiti-7192	259	29	.	.	PUNCT
aiti-7192	260	1	221	221	NUM