id	sid	tid	token	lemma	pos
american_scientific_journal-3593	1	1	306	306	NUM
american_scientific_journal-3593	1	2	american	american	ADJ
american_scientific_journal-3593	1	3	scientific	scientific	ADJ
american_scientific_journal-3593	1	4	research	research	NOUN
american_scientific_journal-3593	1	5	journal	journal	NOUN
american_scientific_journal-3593	1	6	for	for	ADP
american_scientific_journal-3593	1	7	engineering	engineering	NOUN
american_scientific_journal-3593	1	8	,	,	PUNCT
american_scientific_journal-3593	1	9	technology	technology	NOUN
american_scientific_journal-3593	1	10	,	,	PUNCT
american_scientific_journal-3593	1	11	and	and	CCONJ
american_scientific_journal-3593	1	12	sciences	science	NOUN
american_scientific_journal-3593	1	13	(	(	PUNCT
american_scientific_journal-3593	1	14	asrjets	asrjet	NOUN
american_scientific_journal-3593	1	15	)	)	PUNCT
american_scientific_journal-3593	1	16	issn	issn	PROPN
american_scientific_journal-3593	1	17	(	(	PUNCT
american_scientific_journal-3593	1	18	print	print	NOUN
american_scientific_journal-3593	1	19	)	)	PUNCT
american_scientific_journal-3593	1	20	2313	2313	NUM
american_scientific_journal-3593	1	21	-	-	SYM
american_scientific_journal-3593	1	22	4410	4410	NUM
american_scientific_journal-3593	1	23	,	,	PUNCT
american_scientific_journal-3593	1	24	issn	issn	PROPN
american_scientific_journal-3593	1	25	(	(	PUNCT
american_scientific_journal-3593	1	26	online	online	ADJ
american_scientific_journal-3593	1	27	)	)	PUNCT
american_scientific_journal-3593	1	28	2313	2313	NUM
american_scientific_journal-3593	1	29	-	-	SYM
american_scientific_journal-3593	1	30	4402	4402	NUM
american_scientific_journal-3593	1	31	©	©	PROPN
american_scientific_journal-3593	1	32	global	global	ADJ
american_scientific_journal-3593	1	33	society	society	NOUN
american_scientific_journal-3593	1	34	of	of	ADP
american_scientific_journal-3593	1	35	scientific	scientific	ADJ
american_scientific_journal-3593	1	36	research	research	NOUN
american_scientific_journal-3593	1	37	and	and	CCONJ
american_scientific_journal-3593	1	38	researchers	researcher	NOUN
american_scientific_journal-3593	1	39	http://asrjetsjournal.org/	http://asrjetsjournal.org/	NOUN
american_scientific_journal-3593	1	40	vision	vision	NOUN
american_scientific_journal-3593	1	41	-	-	PUNCT
american_scientific_journal-3593	1	42	based	base	VERB
american_scientific_journal-3593	1	43	mobile	mobile	ADJ
american_scientific_journal-3593	1	44	robot	robot	NOUN
american_scientific_journal-3593	1	45	self	self	NOUN
american_scientific_journal-3593	1	46	-	-	PUNCT
american_scientific_journal-3593	1	47	localization	localization	NOUN
american_scientific_journal-3593	1	48	and	and	CCONJ
american_scientific_journal-3593	1	49	mapping	mapping	NOUN
american_scientific_journal-3593	1	50	system	system	NOUN
american_scientific_journal-3593	1	51	for	for	ADP
american_scientific_journal-3593	1	52	indoor	indoor	ADJ
american_scientific_journal-3593	1	53	environment	environment	NOUN
american_scientific_journal-3593	1	54	lei	lei	PROPN
american_scientific_journal-3593	1	55	lei	lei	PROPN
american_scientific_journal-3593	1	56	tun	tun	PROPN
american_scientific_journal-3593	1	57	shwea	shwea	NOUN
american_scientific_journal-3593	1	58	*	*	PUNCT
american_scientific_journal-3593	1	59	,	,	PUNCT
american_scientific_journal-3593	1	60	wut	wut	PROPN
american_scientific_journal-3593	1	61	yi	yi	PROPN
american_scientific_journal-3593	1	62	winb	winb	PROPN
american_scientific_journal-3593	1	63	aph	aph	PROPN
american_scientific_journal-3593	1	64	.	.	PUNCT
american_scientific_journal-3593	2	1	d	d	PRON
american_scientific_journal-3593	2	2	candidate	candidate	NOUN
american_scientific_journal-3593	2	3	,	,	PUNCT
american_scientific_journal-3593	2	4	department	department	NOUN
american_scientific_journal-3593	2	5	of	of	ADP
american_scientific_journal-3593	2	6	mechatronics	mechatronic	NOUN
american_scientific_journal-3593	2	7	engineering	engineering	PROPN
american_scientific_journal-3593	2	8	,	,	PUNCT
american_scientific_journal-3593	2	9	mandalay	mandalay	NOUN
american_scientific_journal-3593	2	10	technological	technological	ADJ
american_scientific_journal-3593	2	11	university	university	NOUN
american_scientific_journal-3593	2	12	,	,	PUNCT
american_scientific_journal-3593	2	13	myanmar	myanmar	PROPN
american_scientific_journal-3593	2	14	bprofessor	bprofessor	NOUN
american_scientific_journal-3593	2	15	and	and	CCONJ
american_scientific_journal-3593	2	16	head	head	NOUN
american_scientific_journal-3593	2	17	,	,	PUNCT
american_scientific_journal-3593	2	18	department	department	NOUN
american_scientific_journal-3593	2	19	of	of	ADP
american_scientific_journal-3593	2	20	mechatronics	mechatronic	NOUN
american_scientific_journal-3593	2	21	engineering	engineering	PROPN
american_scientific_journal-3593	2	22	,	,	PUNCT
american_scientific_journal-3593	2	23	mandalay	mandalay	NOUN
american_scientific_journal-3593	2	24	technological	technological	ADJ
american_scientific_journal-3593	2	25	university	university	NOUN
american_scientific_journal-3593	2	26	,	,	PUNCT
american_scientific_journal-3593	2	27	myanmar	myanmar	PROPN
american_scientific_journal-3593	2	28	aemail	aemail	NOUN
american_scientific_journal-3593	2	29	:	:	PUNCT
american_scientific_journal-3593	2	30	leilei89.mdy@gmail.com	leilei89.mdy@gmail.com	PROPN
american_scientific_journal-3593	2	31	bemail	bemail	NOUN
american_scientific_journal-3593	2	32	:	:	PUNCT
american_scientific_journal-3593	2	33	wutyiwin@gmail.com	wutyiwin@gmail.com	X
american_scientific_journal-3593	3	1	abstract	abstract	ADJ
american_scientific_journal-3593	3	2	localizing	localize	VERB
american_scientific_journal-3593	3	3	accurately	accurately	ADV
american_scientific_journal-3593	3	4	and	and	CCONJ
american_scientific_journal-3593	3	5	building	building	NOUN
american_scientific_journal-3593	3	6	map	map	NOUN
american_scientific_journal-3593	3	7	of	of	ADP
american_scientific_journal-3593	3	8	an	an	DET
american_scientific_journal-3593	3	9	environment	environment	NOUN
american_scientific_journal-3593	3	10	concurrently	concurrently	ADV
american_scientific_journal-3593	3	11	is	be	AUX
american_scientific_journal-3593	3	12	a	a	DET
american_scientific_journal-3593	3	13	key	key	ADJ
american_scientific_journal-3593	3	14	factor	factor	NOUN
american_scientific_journal-3593	3	15	of	of	ADP
american_scientific_journal-3593	3	16	a	a	DET
american_scientific_journal-3593	3	17	mobile	mobile	ADJ
american_scientific_journal-3593	3	18	robot	robot	NOUN
american_scientific_journal-3593	3	19	system	system	NOUN
american_scientific_journal-3593	3	20	.	.	PUNCT
american_scientific_journal-3593	4	1	in	in	ADP
american_scientific_journal-3593	4	2	this	this	DET
american_scientific_journal-3593	4	3	system	system	NOUN
american_scientific_journal-3593	4	4	,	,	PUNCT
american_scientific_journal-3593	4	5	the	the	DET
american_scientific_journal-3593	4	6	robot	robot	NOUN
american_scientific_journal-3593	4	7	makes	make	VERB
american_scientific_journal-3593	4	8	localization	localization	NOUN
american_scientific_journal-3593	4	9	and	and	CCONJ
american_scientific_journal-3593	4	10	mapping	mapping	NOUN
american_scientific_journal-3593	4	11	with	with	ADP
american_scientific_journal-3593	4	12	artificial	artificial	ADJ
american_scientific_journal-3593	4	13	landmarks	landmark	NOUN
american_scientific_journal-3593	4	14	and	and	CCONJ
american_scientific_journal-3593	4	15	map	map	NOUN
american_scientific_journal-3593	4	16	-	-	PUNCT
american_scientific_journal-3593	4	17	based	base	VERB
american_scientific_journal-3593	4	18	system	system	NOUN
american_scientific_journal-3593	4	19	.	.	PUNCT
american_scientific_journal-3593	5	1	it	it	PRON
american_scientific_journal-3593	5	2	is	be	AUX
american_scientific_journal-3593	5	3	a	a	DET
american_scientific_journal-3593	5	4	process	process	NOUN
american_scientific_journal-3593	5	5	by	by	ADP
american_scientific_journal-3593	5	6	which	which	PRON
american_scientific_journal-3593	5	7	a	a	DET
american_scientific_journal-3593	5	8	mobile	mobile	ADJ
american_scientific_journal-3593	5	9	robot	robot	NOUN
american_scientific_journal-3593	5	10	can	can	AUX
american_scientific_journal-3593	5	11	build	build	VERB
american_scientific_journal-3593	5	12	a	a	DET
american_scientific_journal-3593	5	13	map	map	NOUN
american_scientific_journal-3593	5	14	of	of	ADP
american_scientific_journal-3593	5	15	an	an	DET
american_scientific_journal-3593	5	16	environment	environment	NOUN
american_scientific_journal-3593	5	17	while	while	SCONJ
american_scientific_journal-3593	5	18	continuously	continuously	ADV
american_scientific_journal-3593	5	19	determining	determine	VERB
american_scientific_journal-3593	5	20	the	the	DET
american_scientific_journal-3593	5	21	location	location	NOUN
american_scientific_journal-3593	5	22	of	of	ADP
american_scientific_journal-3593	5	23	the	the	DET
american_scientific_journal-3593	5	24	robot	robot	NOUN
american_scientific_journal-3593	5	25	within	within	ADP
american_scientific_journal-3593	5	26	the	the	DET
american_scientific_journal-3593	5	27	map	map	NOUN
american_scientific_journal-3593	5	28	.	.	PUNCT
american_scientific_journal-3593	6	1	the	the	DET
american_scientific_journal-3593	6	2	system	system	NOUN
american_scientific_journal-3593	6	3	estimates	estimate	VERB
american_scientific_journal-3593	6	4	the	the	DET
american_scientific_journal-3593	6	5	robot	robot	NOUN
american_scientific_journal-3593	6	6	position	position	NOUN
american_scientific_journal-3593	6	7	in	in	ADP
american_scientific_journal-3593	6	8	indoor	indoor	ADJ
american_scientific_journal-3593	6	9	environments	environment	NOUN
american_scientific_journal-3593	6	10	using	use	VERB
american_scientific_journal-3593	6	11	sensors	sensor	NOUN
american_scientific_journal-3593	6	12	;	;	PUNCT
american_scientific_journal-3593	6	13	a	a	DET
american_scientific_journal-3593	6	14	camera	camera	NOUN
american_scientific_journal-3593	6	15	,	,	PUNCT
american_scientific_journal-3593	6	16	three	three	NUM
american_scientific_journal-3593	6	17	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	6	18	sensors	sensor	NOUN
american_scientific_journal-3593	6	19	and	and	CCONJ
american_scientific_journal-3593	6	20	encoders	encoder	NOUN
american_scientific_journal-3593	6	21	.	.	PUNCT
american_scientific_journal-3593	7	1	the	the	DET
american_scientific_journal-3593	7	2	main	main	ADJ
american_scientific_journal-3593	7	3	contribution	contribution	NOUN
american_scientific_journal-3593	7	4	of	of	ADP
american_scientific_journal-3593	7	5	this	this	DET
american_scientific_journal-3593	7	6	paper	paper	NOUN
american_scientific_journal-3593	7	7	is	be	AUX
american_scientific_journal-3593	7	8	to	to	PART
american_scientific_journal-3593	7	9	reduce	reduce	VERB
american_scientific_journal-3593	7	10	computational	computational	ADJ
american_scientific_journal-3593	7	11	time	time	NOUN
american_scientific_journal-3593	7	12	and	and	CCONJ
american_scientific_journal-3593	7	13	improve	improve	VERB
american_scientific_journal-3593	7	14	mapping	mapping	NOUN
american_scientific_journal-3593	7	15	with	with	ADP
american_scientific_journal-3593	7	16	map	map	NOUN
american_scientific_journal-3593	7	17	-	-	PUNCT
american_scientific_journal-3593	7	18	based	base	VERB
american_scientific_journal-3593	7	19	system	system	NOUN
american_scientific_journal-3593	7	20	.	.	PUNCT
american_scientific_journal-3593	8	1	the	the	DET
american_scientific_journal-3593	8	2	self	self	NOUN
american_scientific_journal-3593	8	3	-	-	PUNCT
american_scientific_journal-3593	8	4	localization	localization	NOUN
american_scientific_journal-3593	8	5	of	of	ADP
american_scientific_journal-3593	8	6	mobile	mobile	ADJ
american_scientific_journal-3593	8	7	robot	robot	NOUN
american_scientific_journal-3593	8	8	in	in	ADP
american_scientific_journal-3593	8	9	an	an	DET
american_scientific_journal-3593	8	10	indoor	indoor	ADJ
american_scientific_journal-3593	8	11	environment	environment	NOUN
american_scientific_journal-3593	8	12	is	be	AUX
american_scientific_journal-3593	8	13	advanced	advanced	ADJ
american_scientific_journal-3593	8	14	through	through	ADP
american_scientific_journal-3593	8	15	the	the	DET
american_scientific_journal-3593	8	16	construction	construction	NOUN
american_scientific_journal-3593	8	17	of	of	ADP
american_scientific_journal-3593	8	18	map	map	NOUN
american_scientific_journal-3593	8	19	based	base	VERB
american_scientific_journal-3593	8	20	on	on	ADP
american_scientific_journal-3593	8	21	sensors	sensor	NOUN
american_scientific_journal-3593	8	22	and	and	CCONJ
american_scientific_journal-3593	8	23	recognition	recognition	NOUN
american_scientific_journal-3593	8	24	of	of	ADP
american_scientific_journal-3593	8	25	artificial	artificial	ADJ
american_scientific_journal-3593	8	26	landmarks	landmark	NOUN
american_scientific_journal-3593	8	27	.	.	PUNCT
american_scientific_journal-3593	9	1	vision	vision	NOUN
american_scientific_journal-3593	9	2	based	base	VERB
american_scientific_journal-3593	9	3	localization	localization	NOUN
american_scientific_journal-3593	9	4	system	system	NOUN
american_scientific_journal-3593	9	5	can	can	AUX
american_scientific_journal-3593	9	6	benefit	benefit	VERB
american_scientific_journal-3593	9	7	from	from	ADP
american_scientific_journal-3593	9	8	using	use	VERB
american_scientific_journal-3593	9	9	with	with	ADP
american_scientific_journal-3593	9	10	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	9	11	sensors	sensor	NOUN
american_scientific_journal-3593	9	12	.	.	PUNCT
american_scientific_journal-3593	10	1	from	from	ADP
american_scientific_journal-3593	10	2	captured	capture	VERB
american_scientific_journal-3593	10	3	images	image	NOUN
american_scientific_journal-3593	10	4	,	,	PUNCT
american_scientific_journal-3593	10	5	the	the	DET
american_scientific_journal-3593	10	6	system	system	NOUN
american_scientific_journal-3593	10	7	makes	make	VERB
american_scientific_journal-3593	10	8	landmark	landmark	NOUN
american_scientific_journal-3593	10	9	detection	detection	NOUN
american_scientific_journal-3593	10	10	by	by	ADP
american_scientific_journal-3593	10	11	using	use	VERB
american_scientific_journal-3593	10	12	canny	canny	ADJ
american_scientific_journal-3593	10	13	edge	edge	NOUN
american_scientific_journal-3593	10	14	detection	detection	NOUN
american_scientific_journal-3593	10	15	and	and	CCONJ
american_scientific_journal-3593	10	16	chain	chain	NOUN
american_scientific_journal-3593	10	17	-	-	PUNCT
american_scientific_journal-3593	10	18	code	code	NOUN
american_scientific_journal-3593	10	19	approximation	approximation	NOUN
american_scientific_journal-3593	10	20	algorithms	algorithm	NOUN
american_scientific_journal-3593	10	21	to	to	PART
american_scientific_journal-3593	10	22	represent	represent	VERB
american_scientific_journal-3593	10	23	the	the	DET
american_scientific_journal-3593	10	24	contour	contour	NOUN
american_scientific_journal-3593	10	25	of	of	ADP
american_scientific_journal-3593	10	26	landmarks	landmark	NOUN
american_scientific_journal-3593	10	27	by	by	ADP
american_scientific_journal-3593	10	28	using	use	VERB
american_scientific_journal-3593	10	29	edge	edge	NOUN
american_scientific_journal-3593	10	30	points	point	NOUN
american_scientific_journal-3593	10	31	.	.	PUNCT
american_scientific_journal-3593	11	1	the	the	DET
american_scientific_journal-3593	11	2	kalman	kalman	PROPN
american_scientific_journal-3593	11	3	filter	filter	NOUN
american_scientific_journal-3593	11	4	is	be	AUX
american_scientific_journal-3593	11	5	aimed	aim	VERB
american_scientific_journal-3593	11	6	to	to	PART
american_scientific_journal-3593	11	7	accurately	accurately	ADV
american_scientific_journal-3593	11	8	estimate	estimate	VERB
american_scientific_journal-3593	11	9	position	position	NOUN
american_scientific_journal-3593	11	10	and	and	CCONJ
american_scientific_journal-3593	11	11	orientation	orientation	NOUN
american_scientific_journal-3593	11	12	of	of	ADP
american_scientific_journal-3593	11	13	the	the	DET
american_scientific_journal-3593	11	14	robot	robot	NOUN
american_scientific_journal-3593	11	15	using	use	VERB
american_scientific_journal-3593	11	16	relative	relative	ADJ
american_scientific_journal-3593	11	17	distances	distance	NOUN
american_scientific_journal-3593	11	18	to	to	ADP
american_scientific_journal-3593	11	19	walls	wall	NOUN
american_scientific_journal-3593	11	20	or	or	CCONJ
american_scientific_journal-3593	11	21	artificial	artificial	ADJ
american_scientific_journal-3593	11	22	landmarks	landmark	NOUN
american_scientific_journal-3593	11	23	in	in	ADP
american_scientific_journal-3593	11	24	environments	environment	NOUN
american_scientific_journal-3593	11	25	.	.	PUNCT
american_scientific_journal-3593	12	1	a	a	DET
american_scientific_journal-3593	12	2	robotic	robotic	ADJ
american_scientific_journal-3593	12	3	system	system	NOUN
american_scientific_journal-3593	12	4	is	be	AUX
american_scientific_journal-3593	12	5	capable	capable	ADJ
american_scientific_journal-3593	12	6	of	of	ADP
american_scientific_journal-3593	12	7	mapping	mapping	NOUN
american_scientific_journal-3593	12	8	in	in	ADP
american_scientific_journal-3593	12	9	an	an	DET
american_scientific_journal-3593	12	10	indoor	indoor	ADJ
american_scientific_journal-3593	12	11	environment	environment	NOUN
american_scientific_journal-3593	12	12	and	and	CCONJ
american_scientific_journal-3593	12	13	localizing	localize	VERB
american_scientific_journal-3593	12	14	with	with	ADP
american_scientific_journal-3593	12	15	respect	respect	NOUN
american_scientific_journal-3593	12	16	to	to	ADP
american_scientific_journal-3593	12	17	the	the	DET
american_scientific_journal-3593	12	18	map	map	NOUN
american_scientific_journal-3593	12	19	,	,	PUNCT
american_scientific_journal-3593	12	20	in	in	ADP
american_scientific_journal-3593	12	21	real	real	ADJ
american_scientific_journal-3593	12	22	time	time	NOUN
american_scientific_journal-3593	12	23	,	,	PUNCT
american_scientific_journal-3593	12	24	using	use	VERB
american_scientific_journal-3593	12	25	artificial	artificial	ADJ
american_scientific_journal-3593	12	26	landmarks	landmark	NOUN
american_scientific_journal-3593	12	27	and	and	CCONJ
american_scientific_journal-3593	12	28	sensors	sensor	NOUN
american_scientific_journal-3593	12	29	.	.	PUNCT
american_scientific_journal-3593	13	1	keywords	keyword	NOUN
american_scientific_journal-3593	13	2	:	:	PUNCT
american_scientific_journal-3593	13	3	artificial	artificial	ADJ
american_scientific_journal-3593	13	4	landmarks	landmark	NOUN
american_scientific_journal-3593	13	5	;	;	PUNCT
american_scientific_journal-3593	13	6	canny	canny	ADJ
american_scientific_journal-3593	13	7	edge	edge	NOUN
american_scientific_journal-3593	13	8	detection	detection	NOUN
american_scientific_journal-3593	13	9	;	;	PUNCT
american_scientific_journal-3593	13	10	camera	camera	NOUN
american_scientific_journal-3593	13	11	;	;	PUNCT
american_scientific_journal-3593	13	12	kalman	kalman	NOUN
american_scientific_journal-3593	13	13	filter	filter	PROPN
american_scientific_journal-3593	13	14	;	;	PUNCT
american_scientific_journal-3593	13	15	encoders	encoder	NOUN
american_scientific_journal-3593	13	16	;	;	PUNCT
american_scientific_journal-3593	13	17	localization	localization	NOUN
american_scientific_journal-3593	13	18	;	;	PUNCT
american_scientific_journal-3593	13	19	mapping	mapping	NOUN
american_scientific_journal-3593	13	20	.	.	PUNCT
american_scientific_journal-3593	14	1	-----------------------------------------------------------------------	-----------------------------------------------------------------------	PUNCT
american_scientific_journal-3593	15	1	*	*	PUNCT
american_scientific_journal-3593	15	2	corresponding	correspond	VERB
american_scientific_journal-3593	15	3	author	author	NOUN
american_scientific_journal-3593	15	4	.	.	PUNCT
american_scientific_journal-3593	16	1	http://asrjetsjournal.org/	http://asrjetsjournal.org/	PROPN
american_scientific_journal-3593	16	2	american	american	PROPN
american_scientific_journal-3593	16	3	scientific	scientific	PROPN
american_scientific_journal-3593	16	4	research	research	NOUN
american_scientific_journal-3593	16	5	journal	journal	NOUN
american_scientific_journal-3593	16	6	for	for	ADP
american_scientific_journal-3593	16	7	engineering	engineering	NOUN
american_scientific_journal-3593	16	8	,	,	PUNCT
american_scientific_journal-3593	16	9	technology	technology	NOUN
american_scientific_journal-3593	16	10	,	,	PUNCT
american_scientific_journal-3593	16	11	and	and	CCONJ
american_scientific_journal-3593	16	12	sciences	science	NOUN
american_scientific_journal-3593	16	13	(	(	PUNCT
american_scientific_journal-3593	16	14	asrjets	asrjet	NOUN
american_scientific_journal-3593	16	15	)	)	PUNCT
american_scientific_journal-3593	16	16	(	(	PUNCT
american_scientific_journal-3593	16	17	2017	2017	NUM
american_scientific_journal-3593	16	18	)	)	PUNCT
american_scientific_journal-3593	16	19	volume	volume	NOUN
american_scientific_journal-3593	16	20	38	38	NUM
american_scientific_journal-3593	16	21	,	,	PUNCT
american_scientific_journal-3593	16	22	no	no	DET
american_scientific_journal-3593	16	23	1	1	NUM
american_scientific_journal-3593	16	24	,	,	PUNCT
american_scientific_journal-3593	16	25	pp	pp	ADV
american_scientific_journal-3593	16	26	306	306	NUM
american_scientific_journal-3593	16	27	-	-	SYM
american_scientific_journal-3593	16	28	324	324	NUM
american_scientific_journal-3593	16	29	307	307	NUM
american_scientific_journal-3593	16	30	1	1	NUM
american_scientific_journal-3593	16	31	.	.	PUNCT
american_scientific_journal-3593	17	1	introduction	introduction	NOUN
american_scientific_journal-3593	17	2	autonomous	autonomous	ADJ
american_scientific_journal-3593	17	3	navigation	navigation	NOUN
american_scientific_journal-3593	17	4	is	be	AUX
american_scientific_journal-3593	17	5	an	an	DET
american_scientific_journal-3593	17	6	important	important	ADJ
american_scientific_journal-3593	17	7	ability	ability	NOUN
american_scientific_journal-3593	17	8	for	for	ADP
american_scientific_journal-3593	17	9	mobile	mobile	ADJ
american_scientific_journal-3593	17	10	robots	robot	NOUN
american_scientific_journal-3593	17	11	.	.	PUNCT
american_scientific_journal-3593	18	1	unlike	unlike	ADP
american_scientific_journal-3593	18	2	traditional	traditional	ADJ
american_scientific_journal-3593	18	3	industrial	industrial	ADJ
american_scientific_journal-3593	18	4	robotic	robotic	ADJ
american_scientific_journal-3593	18	5	systems	system	NOUN
american_scientific_journal-3593	18	6	which	which	PRON
american_scientific_journal-3593	18	7	are	be	AUX
american_scientific_journal-3593	18	8	made	make	VERB
american_scientific_journal-3593	18	9	up	up	ADP
american_scientific_journal-3593	18	10	of	of	ADP
american_scientific_journal-3593	18	11	linked	link	VERB
american_scientific_journal-3593	18	12	manipulators	manipulator	NOUN
american_scientific_journal-3593	18	13	and	and	CCONJ
american_scientific_journal-3593	18	14	are	be	AUX
american_scientific_journal-3593	18	15	fixed	fix	VERB
american_scientific_journal-3593	18	16	to	to	ADP
american_scientific_journal-3593	18	17	one	one	NUM
american_scientific_journal-3593	18	18	physical	physical	ADJ
american_scientific_journal-3593	18	19	location	location	NOUN
american_scientific_journal-3593	18	20	.	.	PUNCT
american_scientific_journal-3593	19	1	mobile	mobile	ADJ
american_scientific_journal-3593	19	2	robots	robot	NOUN
american_scientific_journal-3593	19	3	have	have	VERB
american_scientific_journal-3593	19	4	the	the	DET
american_scientific_journal-3593	19	5	capability	capability	NOUN
american_scientific_journal-3593	19	6	to	to	PART
american_scientific_journal-3593	19	7	move	move	VERB
american_scientific_journal-3593	19	8	around	around	ADV
american_scientific_journal-3593	19	9	in	in	ADP
american_scientific_journal-3593	19	10	their	their	PRON
american_scientific_journal-3593	19	11	environment	environment	NOUN
american_scientific_journal-3593	19	12	and	and	CCONJ
american_scientific_journal-3593	19	13	are	be	AUX
american_scientific_journal-3593	19	14	not	not	PART
american_scientific_journal-3593	19	15	fixed	fix	VERB
american_scientific_journal-3593	19	16	to	to	ADP
american_scientific_journal-3593	19	17	one	one	NUM
american_scientific_journal-3593	19	18	physical	physical	ADJ
american_scientific_journal-3593	19	19	location	location	NOUN
american_scientific_journal-3593	19	20	.	.	PUNCT
american_scientific_journal-3593	20	1	the	the	DET
american_scientific_journal-3593	20	2	process	process	NOUN
american_scientific_journal-3593	20	3	of	of	ADP
american_scientific_journal-3593	20	4	concurrently	concurrently	ADV
american_scientific_journal-3593	20	5	estimating	estimate	VERB
american_scientific_journal-3593	20	6	the	the	DET
american_scientific_journal-3593	20	7	position	position	NOUN
american_scientific_journal-3593	20	8	of	of	ADP
american_scientific_journal-3593	20	9	a	a	DET
american_scientific_journal-3593	20	10	mobile	mobile	ADJ
american_scientific_journal-3593	20	11	robot	robot	NOUN
american_scientific_journal-3593	20	12	relative	relative	ADJ
american_scientific_journal-3593	20	13	to	to	ADP
american_scientific_journal-3593	20	14	its	its	PRON
american_scientific_journal-3593	20	15	environment	environment	NOUN
american_scientific_journal-3593	20	16	and	and	CCONJ
american_scientific_journal-3593	20	17	building	build	VERB
american_scientific_journal-3593	20	18	a	a	DET
american_scientific_journal-3593	20	19	map	map	NOUN
american_scientific_journal-3593	20	20	of	of	ADP
american_scientific_journal-3593	20	21	the	the	DET
american_scientific_journal-3593	20	22	environment	environment	NOUN
american_scientific_journal-3593	20	23	,	,	PUNCT
american_scientific_journal-3593	20	24	has	have	AUX
american_scientific_journal-3593	20	25	been	be	AUX
american_scientific_journal-3593	20	26	a	a	DET
american_scientific_journal-3593	20	27	fundamental	fundamental	ADJ
american_scientific_journal-3593	20	28	research	research	NOUN
american_scientific_journal-3593	20	29	for	for	ADP
american_scientific_journal-3593	20	30	the	the	DET
american_scientific_journal-3593	20	31	past	past	ADJ
american_scientific_journal-3593	20	32	few	few	ADJ
american_scientific_journal-3593	20	33	years	year	NOUN
american_scientific_journal-3593	20	34	.	.	PUNCT
american_scientific_journal-3593	21	1	mobile	mobile	ADJ
american_scientific_journal-3593	21	2	robots	robot	NOUN
american_scientific_journal-3593	21	3	are	be	AUX
american_scientific_journal-3593	21	4	capable	capable	ADJ
american_scientific_journal-3593	21	5	of	of	ADP
american_scientific_journal-3593	21	6	interacting	interact	VERB
american_scientific_journal-3593	21	7	with	with	ADP
american_scientific_journal-3593	21	8	their	their	PRON
american_scientific_journal-3593	21	9	different	different	ADJ
american_scientific_journal-3593	21	10	environments	environment	NOUN
american_scientific_journal-3593	21	11	autonomously	autonomously	ADV
american_scientific_journal-3593	21	12	[	[	X
american_scientific_journal-3593	21	13	1	1	NUM
american_scientific_journal-3593	21	14	]	]	PUNCT
american_scientific_journal-3593	21	15	.	.	PUNCT
american_scientific_journal-3593	22	1	they	they	PRON
american_scientific_journal-3593	22	2	are	be	AUX
american_scientific_journal-3593	22	3	structured	structure	VERB
american_scientific_journal-3593	22	4	indoor	indoor	ADJ
american_scientific_journal-3593	22	5	environments	environment	NOUN
american_scientific_journal-3593	22	6	and	and	CCONJ
american_scientific_journal-3593	22	7	unstructured	unstructured	ADJ
american_scientific_journal-3593	22	8	outdoor	outdoor	ADJ
american_scientific_journal-3593	22	9	environments	environment	NOUN
american_scientific_journal-3593	22	10	.	.	PUNCT
american_scientific_journal-3593	23	1	this	this	DET
american_scientific_journal-3593	23	2	system	system	NOUN
american_scientific_journal-3593	23	3	is	be	AUX
american_scientific_journal-3593	23	4	intended	intend	VERB
american_scientific_journal-3593	23	5	to	to	PART
american_scientific_journal-3593	23	6	use	use	VERB
american_scientific_journal-3593	23	7	in	in	ADP
american_scientific_journal-3593	23	8	indoor	indoor	ADJ
american_scientific_journal-3593	23	9	environment	environment	NOUN
american_scientific_journal-3593	23	10	.	.	PUNCT
american_scientific_journal-3593	24	1	the	the	DET
american_scientific_journal-3593	24	2	self	self	NOUN
american_scientific_journal-3593	24	3	-	-	PUNCT
american_scientific_journal-3593	24	4	localization	localization	NOUN
american_scientific_journal-3593	24	5	of	of	ADP
american_scientific_journal-3593	24	6	mobile	mobile	ADJ
american_scientific_journal-3593	24	7	robots	robot	NOUN
american_scientific_journal-3593	24	8	in	in	ADP
american_scientific_journal-3593	24	9	a	a	DET
american_scientific_journal-3593	24	10	structured	structured	ADJ
american_scientific_journal-3593	24	11	indoor	indoor	ADJ
american_scientific_journal-3593	24	12	environment	environment	NOUN
american_scientific_journal-3593	24	13	is	be	AUX
american_scientific_journal-3593	24	14	advanced	advanced	ADJ
american_scientific_journal-3593	24	15	through	through	ADP
american_scientific_journal-3593	24	16	the	the	DET
american_scientific_journal-3593	24	17	construction	construction	NOUN
american_scientific_journal-3593	24	18	of	of	ADP
american_scientific_journal-3593	24	19	map	map	NOUN
american_scientific_journal-3593	24	20	.	.	PUNCT
american_scientific_journal-3593	25	1	obtaining	obtain	VERB
american_scientific_journal-3593	25	2	navigation	navigation	NOUN
american_scientific_journal-3593	25	3	information	information	NOUN
american_scientific_journal-3593	25	4	from	from	ADP
american_scientific_journal-3593	25	5	gps	gps	PROPN
american_scientific_journal-3593	25	6	is	be	AUX
american_scientific_journal-3593	25	7	hard	hard	ADJ
american_scientific_journal-3593	25	8	for	for	ADP
american_scientific_journal-3593	25	9	mobile	mobile	ADJ
american_scientific_journal-3593	25	10	robot	robot	NOUN
american_scientific_journal-3593	25	11	if	if	SCONJ
american_scientific_journal-3593	25	12	it	it	PRON
american_scientific_journal-3593	25	13	is	be	AUX
american_scientific_journal-3593	25	14	in	in	ADP
american_scientific_journal-3593	25	15	indoor	indoor	ADJ
american_scientific_journal-3593	25	16	environments	environment	NOUN
american_scientific_journal-3593	25	17	.	.	PUNCT
american_scientific_journal-3593	26	1	there	there	PRON
american_scientific_journal-3593	26	2	are	be	VERB
american_scientific_journal-3593	26	3	not	not	PART
american_scientific_journal-3593	26	4	enough	enough	ADJ
american_scientific_journal-3593	26	5	visible	visible	ADJ
american_scientific_journal-3593	26	6	gps	gps	NOUN
american_scientific_journal-3593	26	7	satellites	satellite	NOUN
american_scientific_journal-3593	26	8	in	in	ADP
american_scientific_journal-3593	26	9	there	there	ADV
american_scientific_journal-3593	26	10	.	.	PUNCT
american_scientific_journal-3593	27	1	for	for	ADP
american_scientific_journal-3593	27	2	this	this	DET
american_scientific_journal-3593	27	3	cases	case	NOUN
american_scientific_journal-3593	27	4	,	,	PUNCT
american_scientific_journal-3593	27	5	vision	vision	NOUN
american_scientific_journal-3593	27	6	-	-	PUNCT
american_scientific_journal-3593	27	7	based	base	VERB
american_scientific_journal-3593	27	8	self	self	NOUN
american_scientific_journal-3593	27	9	-	-	PUNCT
american_scientific_journal-3593	27	10	localization	localization	NOUN
american_scientific_journal-3593	27	11	and	and	CCONJ
american_scientific_journal-3593	27	12	mapping	mapping	NOUN
american_scientific_journal-3593	27	13	method	method	NOUN
american_scientific_journal-3593	27	14	can	can	AUX
american_scientific_journal-3593	27	15	be	be	AUX
american_scientific_journal-3593	27	16	used	use	VERB
american_scientific_journal-3593	27	17	for	for	ADP
american_scientific_journal-3593	27	18	navigation	navigation	NOUN
american_scientific_journal-3593	27	19	system	system	NOUN
american_scientific_journal-3593	27	20	.	.	PUNCT
american_scientific_journal-3593	28	1	there	there	PRON
american_scientific_journal-3593	28	2	are	be	VERB
american_scientific_journal-3593	28	3	various	various	ADJ
american_scientific_journal-3593	28	4	kinds	kind	NOUN
american_scientific_journal-3593	28	5	of	of	ADP
american_scientific_journal-3593	28	6	sensors	sensor	NOUN
american_scientific_journal-3593	28	7	for	for	ADP
american_scientific_journal-3593	28	8	localization	localization	NOUN
american_scientific_journal-3593	28	9	and	and	CCONJ
american_scientific_journal-3593	28	10	mapping	mapping	NOUN
american_scientific_journal-3593	28	11	.	.	PUNCT
american_scientific_journal-3593	29	1	for	for	ADP
american_scientific_journal-3593	29	2	example	example	NOUN
american_scientific_journal-3593	29	3	,	,	PUNCT
american_scientific_journal-3593	29	4	laser	laser	NOUN
american_scientific_journal-3593	29	5	range	range	NOUN
american_scientific_journal-3593	29	6	finder	finder	NOUN
american_scientific_journal-3593	29	7	,	,	PUNCT
american_scientific_journal-3593	29	8	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	29	9	sensor	sensor	NOUN
american_scientific_journal-3593	29	10	,	,	PUNCT
american_scientific_journal-3593	29	11	vision	vision	NOUN
american_scientific_journal-3593	29	12	sensor	sensor	NOUN
american_scientific_journal-3593	29	13	,	,	PUNCT
american_scientific_journal-3593	29	14	etc	etc	X
american_scientific_journal-3593	29	15	.	.	X
american_scientific_journal-3593	30	1	in	in	ADP
american_scientific_journal-3593	30	2	this	this	DET
american_scientific_journal-3593	30	3	system	system	NOUN
american_scientific_journal-3593	30	4	,	,	PUNCT
american_scientific_journal-3593	30	5	a	a	DET
american_scientific_journal-3593	30	6	vision	vision	NOUN
american_scientific_journal-3593	30	7	sensor	sensor	NOUN
american_scientific_journal-3593	30	8	,	,	PUNCT
american_scientific_journal-3593	30	9	three	three	NUM
american_scientific_journal-3593	30	10	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	30	11	sensors	sensor	NOUN
american_scientific_journal-3593	30	12	and	and	CCONJ
american_scientific_journal-3593	30	13	encoders	encoder	NOUN
american_scientific_journal-3593	30	14	are	be	AUX
american_scientific_journal-3593	30	15	used	use	VERB
american_scientific_journal-3593	30	16	to	to	PART
american_scientific_journal-3593	30	17	provide	provide	VERB
american_scientific_journal-3593	30	18	more	more	ADV
american_scientific_journal-3593	30	19	precise	precise	ADJ
american_scientific_journal-3593	30	20	position	position	NOUN
american_scientific_journal-3593	30	21	and	and	CCONJ
american_scientific_journal-3593	30	22	heading	head	VERB
american_scientific_journal-3593	30	23	information	information	NOUN
american_scientific_journal-3593	30	24	for	for	ADP
american_scientific_journal-3593	30	25	localization	localization	NOUN
american_scientific_journal-3593	30	26	and	and	CCONJ
american_scientific_journal-3593	30	27	mapping	mapping	NOUN
american_scientific_journal-3593	30	28	.	.	PUNCT
american_scientific_journal-3593	31	1	camera	camera	NOUN
american_scientific_journal-3593	31	2	is	be	AUX
american_scientific_journal-3593	31	3	used	use	VERB
american_scientific_journal-3593	31	4	for	for	ADP
american_scientific_journal-3593	31	5	getting	get	VERB
american_scientific_journal-3593	31	6	data	datum	NOUN
american_scientific_journal-3593	31	7	to	to	PART
american_scientific_journal-3593	31	8	make	make	VERB
american_scientific_journal-3593	31	9	artificial	artificial	ADJ
american_scientific_journal-3593	31	10	landmarks	landmark	NOUN
american_scientific_journal-3593	31	11	detection	detection	NOUN
american_scientific_journal-3593	31	12	that	that	PRON
american_scientific_journal-3593	31	13	can	can	AUX
american_scientific_journal-3593	31	14	be	be	AUX
american_scientific_journal-3593	31	15	along	along	ADP
american_scientific_journal-3593	31	16	the	the	DET
american_scientific_journal-3593	31	17	robot	robot	NOUN
american_scientific_journal-3593	31	18	moving	move	VERB
american_scientific_journal-3593	31	19	way	way	NOUN
american_scientific_journal-3593	31	20	in	in	ADP
american_scientific_journal-3593	31	21	indoor	indoor	ADJ
american_scientific_journal-3593	31	22	environment	environment	NOUN
american_scientific_journal-3593	31	23	.	.	PUNCT
american_scientific_journal-3593	32	1	and	and	CCONJ
american_scientific_journal-3593	32	2	three	three	NUM
american_scientific_journal-3593	32	3	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	32	4	sensors	sensor	NOUN
american_scientific_journal-3593	32	5	are	be	AUX
american_scientific_journal-3593	32	6	used	use	VERB
american_scientific_journal-3593	32	7	for	for	ADP
american_scientific_journal-3593	32	8	wall	wall	NOUN
american_scientific_journal-3593	32	9	and	and	CCONJ
american_scientific_journal-3593	32	10	obstacles	obstacle	VERB
american_scientific_journal-3593	32	11	detection	detection	NOUN
american_scientific_journal-3593	32	12	to	to	PART
american_scientific_journal-3593	32	13	prevent	prevent	VERB
american_scientific_journal-3593	32	14	from	from	ADP
american_scientific_journal-3593	32	15	collision	collision	NOUN
american_scientific_journal-3593	32	16	while	while	SCONJ
american_scientific_journal-3593	32	17	making	make	VERB
american_scientific_journal-3593	32	18	localization	localization	NOUN
american_scientific_journal-3593	32	19	and	and	CCONJ
american_scientific_journal-3593	32	20	also	also	ADV
american_scientific_journal-3593	32	21	to	to	PART
american_scientific_journal-3593	32	22	get	get	VERB
american_scientific_journal-3593	32	23	the	the	DET
american_scientific_journal-3593	32	24	distance	distance	NOUN
american_scientific_journal-3593	32	25	between	between	ADP
american_scientific_journal-3593	32	26	the	the	DET
american_scientific_journal-3593	32	27	robot	robot	NOUN
american_scientific_journal-3593	32	28	and	and	CCONJ
american_scientific_journal-3593	32	29	the	the	DET
american_scientific_journal-3593	32	30	landmark	landmark	NOUN
american_scientific_journal-3593	32	31	.	.	PUNCT
american_scientific_journal-3593	33	1	to	to	PART
american_scientific_journal-3593	33	2	count	count	VERB
american_scientific_journal-3593	33	3	the	the	DET
american_scientific_journal-3593	33	4	number	number	NOUN
american_scientific_journal-3593	33	5	of	of	ADP
american_scientific_journal-3593	33	6	revolutions	revolution	NOUN
american_scientific_journal-3593	33	7	of	of	ADP
american_scientific_journal-3593	33	8	each	each	DET
american_scientific_journal-3593	33	9	wheel	wheel	NOUN
american_scientific_journal-3593	33	10	,	,	PUNCT
american_scientific_journal-3593	33	11	the	the	DET
american_scientific_journal-3593	33	12	robot	robot	NOUN
american_scientific_journal-3593	33	13	measures	measure	VERB
american_scientific_journal-3593	33	14	the	the	DET
american_scientific_journal-3593	33	15	distance	distance	NOUN
american_scientific_journal-3593	33	16	it	it	PRON
american_scientific_journal-3593	33	17	has	have	AUX
american_scientific_journal-3593	33	18	travelled	travel	VERB
american_scientific_journal-3593	33	19	and	and	CCONJ
american_scientific_journal-3593	33	20	its	its	PRON
american_scientific_journal-3593	33	21	heading	head	VERB
american_scientific_journal-3593	33	22	direction	direction	NOUN
american_scientific_journal-3593	33	23	by	by	ADP
american_scientific_journal-3593	33	24	using	use	VERB
american_scientific_journal-3593	33	25	wheel	wheel	NOUN
american_scientific_journal-3593	33	26	encoders	encoder	NOUN
american_scientific_journal-3593	33	27	.	.	PUNCT
american_scientific_journal-3593	34	1	in	in	ADP
american_scientific_journal-3593	34	2	this	this	DET
american_scientific_journal-3593	34	3	work	work	NOUN
american_scientific_journal-3593	34	4	,	,	PUNCT
american_scientific_journal-3593	34	5	three	three	NUM
american_scientific_journal-3593	34	6	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	34	7	sensors	sensor	NOUN
american_scientific_journal-3593	34	8	and	and	CCONJ
american_scientific_journal-3593	34	9	a	a	DET
american_scientific_journal-3593	34	10	camera	camera	NOUN
american_scientific_journal-3593	34	11	were	be	AUX
american_scientific_journal-3593	34	12	combined	combine	VERB
american_scientific_journal-3593	34	13	to	to	PART
american_scientific_journal-3593	34	14	provide	provide	VERB
american_scientific_journal-3593	34	15	a	a	DET
american_scientific_journal-3593	34	16	sensor	sensor	NOUN
american_scientific_journal-3593	34	17	system	system	NOUN
american_scientific_journal-3593	34	18	for	for	ADP
american_scientific_journal-3593	34	19	a	a	DET
american_scientific_journal-3593	34	20	mobile	mobile	ADJ
american_scientific_journal-3593	34	21	robot	robot	NOUN
american_scientific_journal-3593	34	22	.	.	PUNCT
american_scientific_journal-3593	35	1	these	these	DET
american_scientific_journal-3593	35	2	two	two	NUM
american_scientific_journal-3593	35	3	types	type	NOUN
american_scientific_journal-3593	35	4	of	of	ADP
american_scientific_journal-3593	35	5	data	datum	NOUN
american_scientific_journal-3593	35	6	have	have	VERB
american_scientific_journal-3593	35	7	their	their	PRON
american_scientific_journal-3593	35	8	advantages	advantage	NOUN
american_scientific_journal-3593	35	9	and	and	CCONJ
american_scientific_journal-3593	35	10	are	be	AUX
american_scientific_journal-3593	35	11	very	very	ADV
american_scientific_journal-3593	35	12	often	often	ADV
american_scientific_journal-3593	35	13	used	use	VERB
american_scientific_journal-3593	35	14	in	in	ADP
american_scientific_journal-3593	35	15	robotic	robotic	ADJ
american_scientific_journal-3593	35	16	applications	application	NOUN
american_scientific_journal-3593	35	17	,	,	PUNCT
american_scientific_journal-3593	35	18	but	but	CCONJ
american_scientific_journal-3593	35	19	combining	combine	VERB
american_scientific_journal-3593	35	20	them	they	PRON
american_scientific_journal-3593	35	21	provides	provide	VERB
american_scientific_journal-3593	35	22	even	even	ADV
american_scientific_journal-3593	35	23	more	more	ADV
american_scientific_journal-3593	35	24	useful	useful	ADJ
american_scientific_journal-3593	35	25	information	information	NOUN
american_scientific_journal-3593	35	26	.	.	PUNCT
american_scientific_journal-3593	36	1	the	the	DET
american_scientific_journal-3593	36	2	position	position	NOUN
american_scientific_journal-3593	36	3	estimation	estimation	NOUN
american_scientific_journal-3593	36	4	based	base	VERB
american_scientific_journal-3593	36	5	on	on	ADP
american_scientific_journal-3593	36	6	data	datum	NOUN
american_scientific_journal-3593	36	7	from	from	ADP
american_scientific_journal-3593	36	8	only	only	ADV
american_scientific_journal-3593	36	9	one	one	NUM
american_scientific_journal-3593	36	10	sensor	sensor	NOUN
american_scientific_journal-3593	36	11	is	be	AUX
american_scientific_journal-3593	36	12	often	often	ADV
american_scientific_journal-3593	36	13	not	not	PART
american_scientific_journal-3593	36	14	reliable	reliable	ADJ
american_scientific_journal-3593	36	15	enough	enough	ADV
american_scientific_journal-3593	36	16	to	to	PART
american_scientific_journal-3593	36	17	solve	solve	VERB
american_scientific_journal-3593	36	18	the	the	DET
american_scientific_journal-3593	36	19	localization	localization	NOUN
american_scientific_journal-3593	36	20	and	and	CCONJ
american_scientific_journal-3593	36	21	mapping	mapping	NOUN
american_scientific_journal-3593	36	22	problems	problem	NOUN
american_scientific_journal-3593	36	23	[	[	X
american_scientific_journal-3593	36	24	2	2	NUM
american_scientific_journal-3593	36	25	]	]	PUNCT
american_scientific_journal-3593	36	26	.	.	PUNCT
american_scientific_journal-3593	37	1	so	so	ADV
american_scientific_journal-3593	37	2	,	,	PUNCT
american_scientific_journal-3593	37	3	the	the	DET
american_scientific_journal-3593	37	4	multi	multi	ADJ
american_scientific_journal-3593	37	5	-	-	ADJ
american_scientific_journal-3593	37	6	sensor	sensor	ADJ
american_scientific_journal-3593	37	7	data	datum	NOUN
american_scientific_journal-3593	37	8	fusion	fusion	NOUN
american_scientific_journal-3593	37	9	has	have	AUX
american_scientific_journal-3593	37	10	received	receive	VERB
american_scientific_journal-3593	37	11	much	much	ADJ
american_scientific_journal-3593	37	12	attention	attention	NOUN
american_scientific_journal-3593	37	13	recently	recently	ADV
american_scientific_journal-3593	37	14	due	due	ADP
american_scientific_journal-3593	37	15	to	to	ADP
american_scientific_journal-3593	37	16	its	its	PRON
american_scientific_journal-3593	37	17	ability	ability	NOUN
american_scientific_journal-3593	37	18	to	to	PART
american_scientific_journal-3593	37	19	combine	combine	VERB
american_scientific_journal-3593	37	20	advantages	advantage	NOUN
american_scientific_journal-3593	37	21	of	of	ADP
american_scientific_journal-3593	37	22	each	each	DET
american_scientific_journal-3593	37	23	sensor	sensor	NOUN
american_scientific_journal-3593	37	24	type	type	NOUN
american_scientific_journal-3593	37	25	to	to	PART
american_scientific_journal-3593	37	26	extract	extract	VERB
american_scientific_journal-3593	37	27	more	more	ADV
american_scientific_journal-3593	37	28	accurate	accurate	ADJ
american_scientific_journal-3593	37	29	information	information	NOUN
american_scientific_journal-3593	37	30	.	.	PUNCT
american_scientific_journal-3593	38	1	sensor	sensor	NOUN
american_scientific_journal-3593	38	2	data	datum	NOUN
american_scientific_journal-3593	38	3	are	be	AUX
american_scientific_journal-3593	38	4	used	use	VERB
american_scientific_journal-3593	38	5	to	to	PART
american_scientific_journal-3593	38	6	compute	compute	VERB
american_scientific_journal-3593	38	7	the	the	DET
american_scientific_journal-3593	38	8	robot	robot	NOUN
american_scientific_journal-3593	38	9	pose	pose	VERB
american_scientific_journal-3593	38	10	and	and	CCONJ
american_scientific_journal-3593	38	11	to	to	PART
american_scientific_journal-3593	38	12	construct	construct	VERB
american_scientific_journal-3593	38	13	the	the	DET
american_scientific_journal-3593	38	14	map	map	NOUN
american_scientific_journal-3593	38	15	.	.	PUNCT
american_scientific_journal-3593	39	1	the	the	DET
american_scientific_journal-3593	39	2	system	system	NOUN
american_scientific_journal-3593	39	3	block	block	NOUN
american_scientific_journal-3593	39	4	diagram	diagram	NOUN
american_scientific_journal-3593	39	5	is	be	AUX
american_scientific_journal-3593	39	6	shown	show	VERB
american_scientific_journal-3593	39	7	in	in	ADP
american_scientific_journal-3593	39	8	figure.1	figure.1	PROPN
american_scientific_journal-3593	39	9	.	.	PUNCT
american_scientific_journal-3593	39	10	figure	figure	NOUN
american_scientific_journal-3593	39	11	1	1	NUM
american_scientific_journal-3593	39	12	:	:	PUNCT
american_scientific_journal-3593	39	13	system	system	NOUN
american_scientific_journal-3593	39	14	block	block	NOUN
american_scientific_journal-3593	39	15	diagram	diagram	NOUN
american_scientific_journal-3593	39	16	in	in	ADP
american_scientific_journal-3593	39	17	an	an	DET
american_scientific_journal-3593	39	18	indoor	indoor	ADJ
american_scientific_journal-3593	39	19	environment	environment	NOUN
american_scientific_journal-3593	39	20	,	,	PUNCT
american_scientific_journal-3593	39	21	the	the	DET
american_scientific_journal-3593	39	22	mobile	mobile	NOUN
american_scientific_journal-3593	39	23	robot	robot	NOUN
american_scientific_journal-3593	39	24	is	be	AUX
american_scientific_journal-3593	39	25	moving	move	VERB
american_scientific_journal-3593	39	26	and	and	CCONJ
american_scientific_journal-3593	39	27	captures	capture	VERB
american_scientific_journal-3593	39	28	the	the	DET
american_scientific_journal-3593	39	29	images	image	NOUN
american_scientific_journal-3593	39	30	.	.	PUNCT
american_scientific_journal-3593	40	1	from	from	ADP
american_scientific_journal-3593	40	2	the	the	DET
american_scientific_journal-3593	40	3	starting	starting	NOUN
american_scientific_journal-3593	40	4	point	point	NOUN
american_scientific_journal-3593	40	5	,	,	PUNCT
american_scientific_journal-3593	40	6	the	the	DET
american_scientific_journal-3593	40	7	robot	robot	NOUN
american_scientific_journal-3593	40	8	localizes	localize	VERB
american_scientific_journal-3593	40	9	its	its	PRON
american_scientific_journal-3593	40	10	position	position	NOUN
american_scientific_journal-3593	40	11	and	and	CCONJ
american_scientific_journal-3593	40	12	draws	draw	VERB
american_scientific_journal-3593	40	13	map	map	NOUN
american_scientific_journal-3593	40	14	using	use	VERB
american_scientific_journal-3593	40	15	the	the	DET
american_scientific_journal-3593	40	16	data	datum	NOUN
american_scientific_journal-3593	40	17	from	from	ADP
american_scientific_journal-3593	40	18	encoders	encoder	NOUN
american_scientific_journal-3593	40	19	and	and	CCONJ
american_scientific_journal-3593	40	20	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	40	21	sensors	sensor	NOUN
american_scientific_journal-3593	40	22	.	.	PUNCT
american_scientific_journal-3593	41	1	if	if	SCONJ
american_scientific_journal-3593	41	2	the	the	DET
american_scientific_journal-3593	41	3	robot	robot	NOUN
american_scientific_journal-3593	41	4	found	find	VERB
american_scientific_journal-3593	41	5	landmark	landmark	NOUN
american_scientific_journal-3593	41	6	on	on	ADP
american_scientific_journal-3593	41	7	the	the	DET
american_scientific_journal-3593	41	8	front	front	ADJ
american_scientific_journal-3593	41	9	wall	wall	NOUN
american_scientific_journal-3593	41	10	by	by	ADP
american_scientific_journal-3593	41	11	using	use	VERB
american_scientific_journal-3593	41	12	camera	camera	NOUN
american_scientific_journal-3593	41	13	,	,	PUNCT
american_scientific_journal-3593	41	14	the	the	DET
american_scientific_journal-3593	41	15	front	front	ADJ
american_scientific_journal-3593	41	16	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	41	17	sensor	sensor	NOUN
american_scientific_journal-3593	41	18	will	will	AUX
american_scientific_journal-3593	41	19	detect	detect	VERB
american_scientific_journal-3593	41	20	the	the	DET
american_scientific_journal-3593	41	21	distance	distance	NOUN
american_scientific_journal-3593	41	22	between	between	ADP
american_scientific_journal-3593	41	23	american	american	ADJ
american_scientific_journal-3593	41	24	scientific	scientific	ADJ
american_scientific_journal-3593	41	25	research	research	NOUN
american_scientific_journal-3593	41	26	journal	journal	NOUN
american_scientific_journal-3593	41	27	for	for	ADP
american_scientific_journal-3593	41	28	engineering	engineering	NOUN
american_scientific_journal-3593	41	29	,	,	PUNCT
american_scientific_journal-3593	41	30	technology	technology	NOUN
american_scientific_journal-3593	41	31	,	,	PUNCT
american_scientific_journal-3593	41	32	and	and	CCONJ
american_scientific_journal-3593	41	33	sciences	science	NOUN
american_scientific_journal-3593	41	34	(	(	PUNCT
american_scientific_journal-3593	41	35	asrjets	asrjet	NOUN
american_scientific_journal-3593	41	36	)	)	PUNCT
american_scientific_journal-3593	41	37	(	(	PUNCT
american_scientific_journal-3593	41	38	2017	2017	NUM
american_scientific_journal-3593	41	39	)	)	PUNCT
american_scientific_journal-3593	41	40	volume	volume	NOUN
american_scientific_journal-3593	41	41	38	38	NUM
american_scientific_journal-3593	41	42	,	,	PUNCT
american_scientific_journal-3593	41	43	no	no	DET
american_scientific_journal-3593	41	44	1	1	NUM
american_scientific_journal-3593	41	45	,	,	PUNCT
american_scientific_journal-3593	41	46	pp	pp	ADV
american_scientific_journal-3593	41	47	306	306	NUM
american_scientific_journal-3593	41	48	-	-	SYM
american_scientific_journal-3593	41	49	324	324	NUM
american_scientific_journal-3593	41	50	308	308	NUM
american_scientific_journal-3593	41	51	landmark	landmark	NOUN
american_scientific_journal-3593	41	52	and	and	CCONJ
american_scientific_journal-3593	41	53	robot	robot	NOUN
american_scientific_journal-3593	41	54	.	.	PUNCT
american_scientific_journal-3593	42	1	if	if	SCONJ
american_scientific_journal-3593	42	2	the	the	DET
american_scientific_journal-3593	42	3	system	system	NOUN
american_scientific_journal-3593	42	4	gets	get	VERB
american_scientific_journal-3593	42	5	distance	distance	NOUN
american_scientific_journal-3593	42	6	(	(	PUNCT
american_scientific_journal-3593	42	7	100	100	NUM
american_scientific_journal-3593	42	8	~	~	SYM
american_scientific_journal-3593	42	9	120	120	NUM
american_scientific_journal-3593	42	10	cm	cm	NOUN
american_scientific_journal-3593	42	11	)	)	PUNCT
american_scientific_journal-3593	42	12	from	from	ADP
american_scientific_journal-3593	42	13	front	front	ADJ
american_scientific_journal-3593	42	14	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	42	15	sensor	sensor	NOUN
american_scientific_journal-3593	42	16	,	,	PUNCT
american_scientific_journal-3593	42	17	it	it	PRON
american_scientific_journal-3593	42	18	will	will	AUX
american_scientific_journal-3593	42	19	make	make	VERB
american_scientific_journal-3593	42	20	landmark	landmark	NOUN
american_scientific_journal-3593	42	21	detection	detection	NOUN
american_scientific_journal-3593	42	22	by	by	ADP
american_scientific_journal-3593	42	23	using	use	VERB
american_scientific_journal-3593	42	24	the	the	DET
american_scientific_journal-3593	42	25	data	datum	NOUN
american_scientific_journal-3593	42	26	from	from	ADP
american_scientific_journal-3593	42	27	camera	camera	NOUN
american_scientific_journal-3593	42	28	.	.	PUNCT
american_scientific_journal-3593	43	1	the	the	DET
american_scientific_journal-3593	43	2	system	system	NOUN
american_scientific_journal-3593	43	3	will	will	AUX
american_scientific_journal-3593	43	4	detect	detect	VERB
american_scientific_journal-3593	43	5	only	only	ADV
american_scientific_journal-3593	43	6	the	the	DET
american_scientific_journal-3593	43	7	artificial	artificial	ADJ
american_scientific_journal-3593	43	8	landmark	landmark	NOUN
american_scientific_journal-3593	43	9	which	which	PRON
american_scientific_journal-3593	43	10	is	be	AUX
american_scientific_journal-3593	43	11	in	in	ADP
american_scientific_journal-3593	43	12	front	front	NOUN
american_scientific_journal-3593	43	13	of	of	ADP
american_scientific_journal-3593	43	14	the	the	DET
american_scientific_journal-3593	43	15	robot	robot	NOUN
american_scientific_journal-3593	43	16	in	in	ADP
american_scientific_journal-3593	43	17	the	the	DET
american_scientific_journal-3593	43	18	environment	environment	NOUN
american_scientific_journal-3593	43	19	.	.	PUNCT
american_scientific_journal-3593	44	1	after	after	ADP
american_scientific_journal-3593	44	2	landmark	landmark	PROPN
american_scientific_journal-3593	44	3	detection	detection	PROPN
american_scientific_journal-3593	44	4	,	,	PUNCT
american_scientific_journal-3593	44	5	the	the	DET
american_scientific_journal-3593	44	6	robot	robot	NOUN
american_scientific_journal-3593	44	7	makes	make	VERB
american_scientific_journal-3593	44	8	pose	pose	NOUN
american_scientific_journal-3593	44	9	estimation	estimation	NOUN
american_scientific_journal-3593	44	10	.	.	PUNCT
american_scientific_journal-3593	45	1	while	while	SCONJ
american_scientific_journal-3593	45	2	estimating	estimate	VERB
american_scientific_journal-3593	45	3	the	the	DET
american_scientific_journal-3593	45	4	position	position	NOUN
american_scientific_journal-3593	45	5	of	of	ADP
american_scientific_journal-3593	45	6	the	the	DET
american_scientific_journal-3593	45	7	robot	robot	NOUN
american_scientific_journal-3593	45	8	,	,	PUNCT
american_scientific_journal-3593	45	9	accurate	accurate	ADJ
american_scientific_journal-3593	45	10	pose	pose	NOUN
american_scientific_journal-3593	45	11	estimation	estimation	NOUN
american_scientific_journal-3593	45	12	could	could	AUX
american_scientific_journal-3593	45	13	n’t	not	PART
american_scientific_journal-3593	45	14	be	be	AUX
american_scientific_journal-3593	45	15	got	get	VERB
american_scientific_journal-3593	45	16	because	because	SCONJ
american_scientific_journal-3593	45	17	of	of	ADP
american_scientific_journal-3593	45	18	the	the	DET
american_scientific_journal-3593	45	19	errors	error	NOUN
american_scientific_journal-3593	45	20	in	in	ADP
american_scientific_journal-3593	45	21	localization	localization	NOUN
american_scientific_journal-3593	45	22	system	system	NOUN
american_scientific_journal-3593	45	23	.	.	PUNCT
american_scientific_journal-3593	46	1	an	an	DET
american_scientific_journal-3593	46	2	accurate	accurate	ADJ
american_scientific_journal-3593	46	3	solution	solution	NOUN
american_scientific_journal-3593	46	4	of	of	ADP
american_scientific_journal-3593	46	5	the	the	DET
american_scientific_journal-3593	46	6	localization	localization	NOUN
american_scientific_journal-3593	46	7	and	and	CCONJ
american_scientific_journal-3593	46	8	mapping	mapping	NOUN
american_scientific_journal-3593	46	9	problem	problem	NOUN
american_scientific_journal-3593	46	10	is	be	AUX
american_scientific_journal-3593	46	11	important	important	ADJ
american_scientific_journal-3593	46	12	for	for	ADP
american_scientific_journal-3593	46	13	navigation	navigation	NOUN
american_scientific_journal-3593	46	14	system	system	NOUN
american_scientific_journal-3593	46	15	so	so	SCONJ
american_scientific_journal-3593	46	16	kalman	kalman	PROPN
american_scientific_journal-3593	46	17	filter	filter	PROPN
american_scientific_journal-3593	46	18	(	(	PUNCT
american_scientific_journal-3593	46	19	kf	kf	PROPN
american_scientific_journal-3593	46	20	)	)	PUNCT
american_scientific_journal-3593	46	21	is	be	AUX
american_scientific_journal-3593	46	22	used	use	VERB
american_scientific_journal-3593	46	23	.	.	PUNCT
american_scientific_journal-3593	47	1	kalman	kalman	NOUN
american_scientific_journal-3593	47	2	filter	filter	PROPN
american_scientific_journal-3593	47	3	is	be	AUX
american_scientific_journal-3593	47	4	widely	widely	ADV
american_scientific_journal-3593	47	5	used	use	VERB
american_scientific_journal-3593	47	6	for	for	ADP
american_scientific_journal-3593	47	7	localization	localization	NOUN
american_scientific_journal-3593	47	8	and	and	CCONJ
american_scientific_journal-3593	47	9	mapping	mapping	NOUN
american_scientific_journal-3593	47	10	system	system	NOUN
american_scientific_journal-3593	47	11	.	.	PUNCT
american_scientific_journal-3593	48	1	kalman	kalman	NOUN
american_scientific_journal-3593	48	2	filters	filter	VERB
american_scientific_journal-3593	48	3	solve	solve	VERB
american_scientific_journal-3593	48	4	uncertainties	uncertainty	NOUN
american_scientific_journal-3593	48	5	in	in	ADP
american_scientific_journal-3593	48	6	robot	robot	NOUN
american_scientific_journal-3593	48	7	localization	localization	NOUN
american_scientific_journal-3593	48	8	,	,	PUNCT
american_scientific_journal-3593	48	9	navigation	navigation	NOUN
american_scientific_journal-3593	48	10	,	,	PUNCT
american_scientific_journal-3593	48	11	following	following	NOUN
american_scientific_journal-3593	48	12	,	,	PUNCT
american_scientific_journal-3593	48	13	tracking	tracking	NOUN
american_scientific_journal-3593	48	14	,	,	PUNCT
american_scientific_journal-3593	48	15	motion	motion	NOUN
american_scientific_journal-3593	48	16	control	control	NOUN
american_scientific_journal-3593	48	17	,	,	PUNCT
american_scientific_journal-3593	48	18	estimation	estimation	NOUN
american_scientific_journal-3593	48	19	and	and	CCONJ
american_scientific_journal-3593	48	20	prediction	prediction	NOUN
american_scientific_journal-3593	48	21	.	.	PUNCT
american_scientific_journal-3593	49	1	kalman	kalman	PROPN
american_scientific_journal-3593	49	2	filter	filter	PROPN
american_scientific_journal-3593	49	3	utilizes	utilize	VERB
american_scientific_journal-3593	49	4	the	the	DET
american_scientific_journal-3593	49	5	data	datum	NOUN
american_scientific_journal-3593	49	6	between	between	ADP
american_scientific_journal-3593	49	7	observed	observed	ADJ
american_scientific_journal-3593	49	8	and	and	CCONJ
american_scientific_journal-3593	49	9	detection	detection	NOUN
american_scientific_journal-3593	49	10	of	of	ADP
american_scientific_journal-3593	49	11	artificial	artificial	ADJ
american_scientific_journal-3593	49	12	landmarks	landmark	NOUN
american_scientific_journal-3593	49	13	,	,	PUNCT
american_scientific_journal-3593	49	14	to	to	PART
american_scientific_journal-3593	49	15	correct	correct	VERB
american_scientific_journal-3593	49	16	the	the	DET
american_scientific_journal-3593	49	17	position	position	NOUN
american_scientific_journal-3593	49	18	and	and	CCONJ
american_scientific_journal-3593	49	19	orientation	orientation	NOUN
american_scientific_journal-3593	49	20	of	of	ADP
american_scientific_journal-3593	49	21	the	the	DET
american_scientific_journal-3593	49	22	robot	robot	NOUN
american_scientific_journal-3593	49	23	.	.	PUNCT
american_scientific_journal-3593	50	1	the	the	DET
american_scientific_journal-3593	50	2	exploration	exploration	NOUN
american_scientific_journal-3593	50	3	of	of	ADP
american_scientific_journal-3593	50	4	an	an	DET
american_scientific_journal-3593	50	5	indoor	indoor	ADJ
american_scientific_journal-3593	50	6	environment	environment	NOUN
american_scientific_journal-3593	50	7	by	by	ADP
american_scientific_journal-3593	50	8	mobile	mobile	ADJ
american_scientific_journal-3593	50	9	robot	robot	NOUN
american_scientific_journal-3593	50	10	is	be	AUX
american_scientific_journal-3593	50	11	a	a	DET
american_scientific_journal-3593	50	12	challenging	challenging	ADJ
american_scientific_journal-3593	50	13	problem	problem	NOUN
american_scientific_journal-3593	50	14	.	.	PUNCT
american_scientific_journal-3593	51	1	for	for	ADP
american_scientific_journal-3593	51	2	self	self	NOUN
american_scientific_journal-3593	51	3	-	-	PUNCT
american_scientific_journal-3593	51	4	localization	localization	NOUN
american_scientific_journal-3593	51	5	,	,	PUNCT
american_scientific_journal-3593	51	6	the	the	DET
american_scientific_journal-3593	51	7	robot	robot	NOUN
american_scientific_journal-3593	51	8	also	also	ADV
american_scientific_journal-3593	51	9	requires	require	VERB
american_scientific_journal-3593	51	10	a	a	DET
american_scientific_journal-3593	51	11	map	map	NOUN
american_scientific_journal-3593	51	12	,	,	PUNCT
american_scientific_journal-3593	51	13	but	but	CCONJ
american_scientific_journal-3593	51	14	to	to	PART
american_scientific_journal-3593	51	15	build	build	VERB
american_scientific_journal-3593	51	16	a	a	DET
american_scientific_journal-3593	51	17	map	map	NOUN
american_scientific_journal-3593	51	18	,	,	PUNCT
american_scientific_journal-3593	51	19	the	the	DET
american_scientific_journal-3593	51	20	pose	pose	NOUN
american_scientific_journal-3593	51	21	of	of	ADP
american_scientific_journal-3593	51	22	the	the	DET
american_scientific_journal-3593	51	23	robot	robot	NOUN
american_scientific_journal-3593	51	24	must	must	AUX
american_scientific_journal-3593	51	25	be	be	AUX
american_scientific_journal-3593	51	26	known	know	VERB
american_scientific_journal-3593	51	27	.	.	PUNCT
american_scientific_journal-3593	52	1	this	this	DET
american_scientific_journal-3593	52	2	research	research	NOUN
american_scientific_journal-3593	52	3	is	be	AUX
american_scientific_journal-3593	52	4	developed	develop	VERB
american_scientific_journal-3593	52	5	in	in	ADP
american_scientific_journal-3593	52	6	the	the	DET
american_scientific_journal-3593	52	7	situation	situation	NOUN
american_scientific_journal-3593	52	8	of	of	ADP
american_scientific_journal-3593	52	9	map	map	NOUN
american_scientific_journal-3593	52	10	-	-	PUNCT
american_scientific_journal-3593	52	11	based	base	VERB
american_scientific_journal-3593	52	12	autonomous	autonomous	ADJ
american_scientific_journal-3593	52	13	navigation	navigation	NOUN
american_scientific_journal-3593	52	14	framework	framework	NOUN
american_scientific_journal-3593	52	15	.	.	PUNCT
american_scientific_journal-3593	53	1	map	map	NOUN
american_scientific_journal-3593	53	2	-	-	PUNCT
american_scientific_journal-3593	53	3	based	base	VERB
american_scientific_journal-3593	53	4	navigation	navigation	NOUN
american_scientific_journal-3593	53	5	considers	consider	VERB
american_scientific_journal-3593	53	6	that	that	SCONJ
american_scientific_journal-3593	53	7	the	the	DET
american_scientific_journal-3593	53	8	navigation	navigation	NOUN
american_scientific_journal-3593	53	9	system	system	NOUN
american_scientific_journal-3593	53	10	is	be	AUX
american_scientific_journal-3593	53	11	provided	provide	VERB
american_scientific_journal-3593	53	12	with	with	ADP
american_scientific_journal-3593	53	13	some	some	DET
american_scientific_journal-3593	53	14	previous	previous	ADJ
american_scientific_journal-3593	53	15	model	model	NOUN
american_scientific_journal-3593	53	16	of	of	ADP
american_scientific_journal-3593	53	17	the	the	DET
american_scientific_journal-3593	53	18	environment	environment	NOUN
american_scientific_journal-3593	53	19	,	,	PUNCT
american_scientific_journal-3593	53	20	also	also	ADV
american_scientific_journal-3593	53	21	called	call	VERB
american_scientific_journal-3593	53	22	a	a	DET
american_scientific_journal-3593	53	23	map	map	NOUN
american_scientific_journal-3593	53	24	.	.	PUNCT
american_scientific_journal-3593	54	1	the	the	DET
american_scientific_journal-3593	54	2	map	map	NOUN
american_scientific_journal-3593	54	3	-	-	PUNCT
american_scientific_journal-3593	54	4	based	base	VERB
american_scientific_journal-3593	54	5	autonomous	autonomous	ADJ
american_scientific_journal-3593	54	6	navigation	navigation	NOUN
american_scientific_journal-3593	54	7	framework	framework	NOUN
american_scientific_journal-3593	54	8	considered	consider	VERB
american_scientific_journal-3593	54	9	in	in	ADP
american_scientific_journal-3593	54	10	this	this	DET
american_scientific_journal-3593	54	11	paper	paper	NOUN
american_scientific_journal-3593	54	12	.	.	PUNCT
american_scientific_journal-3593	55	1	figure	figure	NOUN
american_scientific_journal-3593	55	2	2	2	NUM
american_scientific_journal-3593	55	3	:	:	PUNCT
american_scientific_journal-3593	55	4	plan	plan	VERB
american_scientific_journal-3593	55	5	view	view	NOUN
american_scientific_journal-3593	55	6	and	and	CCONJ
american_scientific_journal-3593	55	7	landmarks	landmark	NOUN
american_scientific_journal-3593	55	8	placements	placement	NOUN
american_scientific_journal-3593	55	9	in	in	ADP
american_scientific_journal-3593	55	10	indoor	indoor	ADJ
american_scientific_journal-3593	55	11	environment	environment	NOUN
american_scientific_journal-3593	55	12	the	the	DET
american_scientific_journal-3593	55	13	plan	plan	NOUN
american_scientific_journal-3593	55	14	view	view	NOUN
american_scientific_journal-3593	55	15	of	of	ADP
american_scientific_journal-3593	55	16	the	the	DET
american_scientific_journal-3593	55	17	indoor	indoor	ADJ
american_scientific_journal-3593	55	18	environment	environment	NOUN
american_scientific_journal-3593	55	19	and	and	CCONJ
american_scientific_journal-3593	55	20	the	the	DET
american_scientific_journal-3593	55	21	artificial	artificial	ADJ
american_scientific_journal-3593	55	22	landmarks	landmark	NOUN
american_scientific_journal-3593	55	23	that	that	PRON
american_scientific_journal-3593	55	24	are	be	AUX
american_scientific_journal-3593	55	25	placed	place	VERB
american_scientific_journal-3593	55	26	in	in	ADP
american_scientific_journal-3593	55	27	the	the	DET
american_scientific_journal-3593	55	28	way	way	NOUN
american_scientific_journal-3593	55	29	of	of	ADP
american_scientific_journal-3593	55	30	the	the	DET
american_scientific_journal-3593	55	31	environment	environment	NOUN
american_scientific_journal-3593	55	32	are	be	AUX
american_scientific_journal-3593	55	33	shown	show	VERB
american_scientific_journal-3593	55	34	in	in	ADP
american_scientific_journal-3593	55	35	figure.2	figure.2	PROPN
american_scientific_journal-3593	55	36	.	.	PROPN
american_scientific_journal-3593	56	1	in	in	ADP
american_scientific_journal-3593	56	2	figure.2	figure.2	ADJ
american_scientific_journal-3593	56	3	,	,	PUNCT
american_scientific_journal-3593	56	4	artificial	artificial	ADJ
american_scientific_journal-3593	56	5	landmarks	landmark	NOUN
american_scientific_journal-3593	56	6	are	be	AUX
american_scientific_journal-3593	56	7	denoted	denote	VERB
american_scientific_journal-3593	56	8	by	by	ADP
american_scientific_journal-3593	56	9	rectangle	rectangle	NOUN
american_scientific_journal-3593	56	10	symbols	symbol	NOUN
american_scientific_journal-3593	56	11	on	on	ADP
american_scientific_journal-3593	56	12	the	the	DET
american_scientific_journal-3593	56	13	walls	wall	NOUN
american_scientific_journal-3593	56	14	.	.	PUNCT
american_scientific_journal-3593	57	1	in	in	ADP
american_scientific_journal-3593	57	2	this	this	DET
american_scientific_journal-3593	57	3	paper	paper	NOUN
american_scientific_journal-3593	57	4	,	,	PUNCT
american_scientific_journal-3593	57	5	indoor	indoor	ADJ
american_scientific_journal-3593	57	6	robot	robot	NOUN
american_scientific_journal-3593	57	7	localization	localization	NOUN
american_scientific_journal-3593	57	8	and	and	CCONJ
american_scientific_journal-3593	57	9	mapping	mapping	NOUN
american_scientific_journal-3593	57	10	system	system	NOUN
american_scientific_journal-3593	57	11	is	be	AUX
american_scientific_journal-3593	57	12	introduced	introduce	VERB
american_scientific_journal-3593	57	13	in	in	ADP
american_scientific_journal-3593	57	14	section	section	NOUN
american_scientific_journal-3593	57	15	1	1	NUM
american_scientific_journal-3593	57	16	.	.	PUNCT
american_scientific_journal-3593	58	1	in	in	ADP
american_scientific_journal-3593	58	2	section	section	NOUN
american_scientific_journal-3593	58	3	2	2	NUM
american_scientific_journal-3593	58	4	,	,	PUNCT
american_scientific_journal-3593	58	5	the	the	DET
american_scientific_journal-3593	58	6	system	system	NOUN
american_scientific_journal-3593	58	7	related	relate	VERB
american_scientific_journal-3593	58	8	works	work	NOUN
american_scientific_journal-3593	58	9	are	be	AUX
american_scientific_journal-3593	58	10	discussed	discuss	VERB
american_scientific_journal-3593	58	11	.	.	PUNCT
american_scientific_journal-3593	59	1	the	the	DET
american_scientific_journal-3593	59	2	system	system	NOUN
american_scientific_journal-3593	59	3	modelling	modelling	NOUN
american_scientific_journal-3593	59	4	is	be	AUX
american_scientific_journal-3593	59	5	described	describe	VERB
american_scientific_journal-3593	59	6	in	in	ADP
american_scientific_journal-3593	59	7	section	section	NOUN
american_scientific_journal-3593	59	8	3	3	NUM
american_scientific_journal-3593	59	9	.	.	PUNCT
american_scientific_journal-3593	60	1	in	in	ADP
american_scientific_journal-3593	60	2	section	section	NOUN
american_scientific_journal-3593	60	3	4	4	NUM
american_scientific_journal-3593	60	4	,	,	PUNCT
american_scientific_journal-3593	60	5	the	the	DET
american_scientific_journal-3593	60	6	proposed	propose	VERB
american_scientific_journal-3593	60	7	system	system	NOUN
american_scientific_journal-3593	60	8	for	for	ADP
american_scientific_journal-3593	60	9	localization	localization	NOUN
american_scientific_journal-3593	60	10	and	and	CCONJ
american_scientific_journal-3593	60	11	mapping	mapping	NOUN
american_scientific_journal-3593	60	12	system	system	NOUN
american_scientific_journal-3593	60	13	.	.	PUNCT
american_scientific_journal-3593	61	1	experimental	experimental	ADJ
american_scientific_journal-3593	61	2	results	result	NOUN
american_scientific_journal-3593	61	3	to	to	PART
american_scientific_journal-3593	61	4	get	get	VERB
american_scientific_journal-3593	61	5	the	the	DET
american_scientific_journal-3593	61	6	accuracy	accuracy	NOUN
american_scientific_journal-3593	61	7	of	of	ADP
american_scientific_journal-3593	61	8	robot	robot	NOUN
american_scientific_journal-3593	61	9	localization	localization	NOUN
american_scientific_journal-3593	61	10	and	and	CCONJ
american_scientific_journal-3593	61	11	mapping	mapping	NOUN
american_scientific_journal-3593	61	12	using	use	VERB
american_scientific_journal-3593	61	13	the	the	DET
american_scientific_journal-3593	61	14	sensor	sensor	NOUN
american_scientific_journal-3593	61	15	readings	reading	NOUN
american_scientific_journal-3593	61	16	are	be	AUX
american_scientific_journal-3593	61	17	presented	present	VERB
american_scientific_journal-3593	61	18	in	in	ADP
american_scientific_journal-3593	61	19	section	section	NOUN
american_scientific_journal-3593	61	20	5	5	NUM
american_scientific_journal-3593	61	21	.	.	PUNCT
american_scientific_journal-3593	62	1	the	the	DET
american_scientific_journal-3593	62	2	paper	paper	NOUN
american_scientific_journal-3593	62	3	concludes	conclude	VERB
american_scientific_journal-3593	62	4	in	in	ADP
american_scientific_journal-3593	62	5	section	section	NOUN
american_scientific_journal-3593	62	6	6	6	NUM
american_scientific_journal-3593	62	7	.	.	NOUN
american_scientific_journal-3593	62	8	2	2	NUM
american_scientific_journal-3593	62	9	.	.	NUM
american_scientific_journal-3593	62	10	related	relate	VERB
american_scientific_journal-3593	62	11	works	work	NOUN
american_scientific_journal-3593	62	12	self	self	NOUN
american_scientific_journal-3593	62	13	-	-	PUNCT
american_scientific_journal-3593	62	14	localization	localization	NOUN
american_scientific_journal-3593	62	15	and	and	CCONJ
american_scientific_journal-3593	62	16	mapping	mapping	NOUN
american_scientific_journal-3593	62	17	is	be	AUX
american_scientific_journal-3593	62	18	an	an	DET
american_scientific_journal-3593	62	19	important	important	ADJ
american_scientific_journal-3593	62	20	skill	skill	NOUN
american_scientific_journal-3593	62	21	for	for	ADP
american_scientific_journal-3593	62	22	autonomous	autonomous	ADJ
american_scientific_journal-3593	62	23	mobile	mobile	ADJ
american_scientific_journal-3593	62	24	system	system	NOUN
american_scientific_journal-3593	62	25	.	.	PUNCT
american_scientific_journal-3593	63	1	the	the	DET
american_scientific_journal-3593	63	2	aim	aim	NOUN
american_scientific_journal-3593	63	3	of	of	ADP
american_scientific_journal-3593	63	4	this	this	DET
american_scientific_journal-3593	63	5	system	system	NOUN
american_scientific_journal-3593	63	6	is	be	AUX
american_scientific_journal-3593	63	7	the	the	DET
american_scientific_journal-3593	63	8	estimation	estimation	NOUN
american_scientific_journal-3593	63	9	of	of	ADP
american_scientific_journal-3593	63	10	the	the	DET
american_scientific_journal-3593	63	11	robot	robot	NOUN
american_scientific_journal-3593	63	12	’s	’s	PART
american_scientific_journal-3593	63	13	pose	pose	VERB
american_scientific_journal-3593	63	14	and	and	CCONJ
american_scientific_journal-3593	63	15	building	building	NOUN
american_scientific_journal-3593	63	16	map	map	NOUN
american_scientific_journal-3593	63	17	in	in	ADP
american_scientific_journal-3593	63	18	an	an	DET
american_scientific_journal-3593	63	19	indoor	indoor	ADJ
american_scientific_journal-3593	63	20	environment	environment	NOUN
american_scientific_journal-3593	63	21	.	.	PUNCT
american_scientific_journal-3593	64	1	over	over	ADP
american_scientific_journal-3593	64	2	the	the	DET
american_scientific_journal-3593	64	3	last	last	ADJ
american_scientific_journal-3593	64	4	decade	decade	NOUN
american_scientific_journal-3593	64	5	,	,	PUNCT
american_scientific_journal-3593	64	6	a	a	DET
american_scientific_journal-3593	64	7	vast	vast	ADJ
american_scientific_journal-3593	64	8	number	number	NOUN
american_scientific_journal-3593	64	9	of	of	ADP
american_scientific_journal-3593	64	10	localization	localization	NOUN
american_scientific_journal-3593	64	11	and	and	CCONJ
american_scientific_journal-3593	64	12	mapping	mapping	NOUN
american_scientific_journal-3593	64	13	system	system	NOUN
american_scientific_journal-3593	64	14	have	have	AUX
american_scientific_journal-3593	64	15	appeared	appear	VERB
american_scientific_journal-3593	64	16	.	.	PUNCT
american_scientific_journal-3593	65	1	the	the	DET
american_scientific_journal-3593	65	2	problem	problem	NOUN
american_scientific_journal-3593	65	3	of	of	ADP
american_scientific_journal-3593	65	4	localization	localization	NOUN
american_scientific_journal-3593	65	5	has	have	VERB
american_scientific_journal-3593	65	6	a	a	DET
american_scientific_journal-3593	65	7	rich	rich	ADJ
american_scientific_journal-3593	65	8	history	history	NOUN
american_scientific_journal-3593	65	9	in	in	ADP
american_scientific_journal-3593	65	10	the	the	DET
american_scientific_journal-3593	65	11	mobile	mobile	ADJ
american_scientific_journal-3593	65	12	robotics	robotic	NOUN
american_scientific_journal-3593	65	13	literature	literature	NOUN
american_scientific_journal-3593	65	14	and	and	CCONJ
american_scientific_journal-3593	65	15	several	several	ADJ
american_scientific_journal-3593	65	16	localization	localization	NOUN
american_scientific_journal-3593	65	17	strategies	strategy	NOUN
american_scientific_journal-3593	65	18	have	have	AUX
american_scientific_journal-3593	65	19	been	be	AUX
american_scientific_journal-3593	65	20	developed	develop	VERB
american_scientific_journal-3593	65	21	using	use	VERB
american_scientific_journal-3593	65	22	several	several	ADJ
american_scientific_journal-3593	65	23	kinds	kind	NOUN
american_scientific_journal-3593	65	24	of	of	ADP
american_scientific_journal-3593	65	25	sensors	sensor	NOUN
american_scientific_journal-3593	65	26	(	(	PUNCT
american_scientific_journal-3593	65	27	e.g.	e.g.	ADV
american_scientific_journal-3593	65	28	laser	laser	NOUN
american_scientific_journal-3593	65	29	scanners	scanner	NOUN
american_scientific_journal-3593	65	30	,	,	PUNCT
american_scientific_journal-3593	65	31	sonars	sonar	NOUN
american_scientific_journal-3593	65	32	,	,	PUNCT
american_scientific_journal-3593	65	33	cameras	camera	NOUN
american_scientific_journal-3593	65	34	)	)	PUNCT
american_scientific_journal-3593	65	35	.	.	PUNCT
american_scientific_journal-3593	66	1	this	this	DET
american_scientific_journal-3593	66	2	information	information	NOUN
american_scientific_journal-3593	66	3	is	be	AUX
american_scientific_journal-3593	66	4	essential	essential	ADJ
american_scientific_journal-3593	66	5	for	for	SCONJ
american_scientific_journal-3593	66	6	the	the	DET
american_scientific_journal-3593	66	7	robot	robot	NOUN
american_scientific_journal-3593	66	8	to	to	PART
american_scientific_journal-3593	66	9	safely	safely	ADV
american_scientific_journal-3593	66	10	interact	interact	VERB
american_scientific_journal-3593	66	11	within	within	ADP
american_scientific_journal-3593	66	12	its	its	PRON
american_scientific_journal-3593	66	13	environment	environment	NOUN
american_scientific_journal-3593	66	14	.	.	PUNCT
american_scientific_journal-3593	67	1	most	most	ADJ
american_scientific_journal-3593	67	2	of	of	ADP
american_scientific_journal-3593	67	3	the	the	DET
american_scientific_journal-3593	67	4	early	early	ADJ
american_scientific_journal-3593	67	5	works	work	NOUN
american_scientific_journal-3593	67	6	use	use	VERB
american_scientific_journal-3593	67	7	a	a	DET
american_scientific_journal-3593	67	8	laser	laser	NOUN
american_scientific_journal-3593	67	9	rangefinder	rangefinder	NOUN
american_scientific_journal-3593	67	10	,	,	PUNCT
american_scientific_journal-3593	67	11	encoders	encoder	NOUN
american_scientific_journal-3593	67	12	,	,	PUNCT
american_scientific_journal-3593	67	13	infrared	infrared	ADJ
american_scientific_journal-3593	67	14	and	and	CCONJ
american_scientific_journal-3593	67	15	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	67	16	sensors	sensor	NOUN
american_scientific_journal-3593	67	17	[	[	X
american_scientific_journal-3593	67	18	3	3	NUM
american_scientific_journal-3593	67	19	,	,	PUNCT
american_scientific_journal-3593	67	20	14	14	NUM
american_scientific_journal-3593	67	21	,	,	PUNCT
american_scientific_journal-3593	67	22	15	15	NUM
american_scientific_journal-3593	67	23	]	]	PUNCT
american_scientific_journal-3593	67	24	.	.	PUNCT
american_scientific_journal-3593	68	1	more	more	ADV
american_scientific_journal-3593	68	2	recently	recently	ADV
american_scientific_journal-3593	68	3	,	,	PUNCT
american_scientific_journal-3593	68	4	visual	visual	ADJ
american_scientific_journal-3593	68	5	sensors	sensor	NOUN
american_scientific_journal-3593	68	6	have	have	AUX
american_scientific_journal-3593	68	7	become	become	VERB
american_scientific_journal-3593	68	8	popular	popular	ADJ
american_scientific_journal-3593	68	9	in	in	ADP
american_scientific_journal-3593	68	10	this	this	DET
american_scientific_journal-3593	68	11	work	work	NOUN
american_scientific_journal-3593	68	12	.	.	PUNCT
american_scientific_journal-3593	69	1	they	they	PRON
american_scientific_journal-3593	69	2	can	can	AUX
american_scientific_journal-3593	69	3	be	be	AUX
american_scientific_journal-3593	69	4	used	use	VERB
american_scientific_journal-3593	69	5	in	in	ADP
american_scientific_journal-3593	69	6	both	both	CCONJ
american_scientific_journal-3593	69	7	indoor	indoor	ADJ
american_scientific_journal-3593	69	8	and	and	CCONJ
american_scientific_journal-3593	69	9	outdoor	outdoor	ADJ
american_scientific_journal-3593	69	10	environments	environment	NOUN
american_scientific_journal-3593	69	11	.	.	PUNCT
american_scientific_journal-3593	70	1	these	these	DET
american_scientific_journal-3593	70	2	characteristics	characteristic	NOUN
american_scientific_journal-3593	70	3	make	make	VERB
american_scientific_journal-3593	70	4	cameras	camera	NOUN
american_scientific_journal-3593	70	5	an	an	DET
american_scientific_journal-3593	70	6	ideal	ideal	ADJ
american_scientific_journal-3593	70	7	choice	choice	NOUN
american_scientific_journal-3593	70	8	for	for	ADP
american_scientific_journal-3593	70	9	multi	multi	ADJ
american_scientific_journal-3593	70	10	-	-	ADJ
american_scientific_journal-3593	70	11	purpose	purpose	ADJ
american_scientific_journal-3593	70	12	mobile	mobile	ADJ
american_scientific_journal-3593	70	13	robotic	robotic	ADJ
american_scientific_journal-3593	70	14	american	american	ADJ
american_scientific_journal-3593	70	15	scientific	scientific	ADJ
american_scientific_journal-3593	70	16	research	research	NOUN
american_scientific_journal-3593	70	17	journal	journal	NOUN
american_scientific_journal-3593	70	18	for	for	ADP
american_scientific_journal-3593	70	19	engineering	engineering	NOUN
american_scientific_journal-3593	70	20	,	,	PUNCT
american_scientific_journal-3593	70	21	technology	technology	NOUN
american_scientific_journal-3593	70	22	,	,	PUNCT
american_scientific_journal-3593	70	23	and	and	CCONJ
american_scientific_journal-3593	70	24	sciences	science	NOUN
american_scientific_journal-3593	70	25	(	(	PUNCT
american_scientific_journal-3593	70	26	asrjets	asrjet	NOUN
american_scientific_journal-3593	70	27	)	)	PUNCT
american_scientific_journal-3593	70	28	(	(	PUNCT
american_scientific_journal-3593	70	29	2017	2017	NUM
american_scientific_journal-3593	70	30	)	)	PUNCT
american_scientific_journal-3593	70	31	volume	volume	NOUN
american_scientific_journal-3593	70	32	38	38	NUM
american_scientific_journal-3593	70	33	,	,	PUNCT
american_scientific_journal-3593	70	34	no	no	DET
american_scientific_journal-3593	70	35	1	1	NUM
american_scientific_journal-3593	70	36	,	,	PUNCT
american_scientific_journal-3593	70	37	pp	pp	ADV
american_scientific_journal-3593	70	38	306	306	NUM
american_scientific_journal-3593	70	39	-	-	SYM
american_scientific_journal-3593	70	40	324	324	NUM
american_scientific_journal-3593	70	41	309	309	NUM
american_scientific_journal-3593	70	42	platforms	platform	NOUN
american_scientific_journal-3593	70	43	.	.	PUNCT
american_scientific_journal-3593	71	1	the	the	DET
american_scientific_journal-3593	71	2	idea	idea	NOUN
american_scientific_journal-3593	71	3	behind	behind	ADP
american_scientific_journal-3593	71	4	this	this	DET
american_scientific_journal-3593	71	5	work	work	NOUN
american_scientific_journal-3593	71	6	is	be	AUX
american_scientific_journal-3593	71	7	to	to	PART
american_scientific_journal-3593	71	8	extend	extend	VERB
american_scientific_journal-3593	71	9	the	the	DET
american_scientific_journal-3593	71	10	state	state	NOUN
american_scientific_journal-3593	71	11	of	of	ADP
american_scientific_journal-3593	71	12	a	a	DET
american_scientific_journal-3593	71	13	kalman	kalman	NOUN
american_scientific_journal-3593	71	14	filter	filter	NOUN
american_scientific_journal-3593	71	15	used	use	VERB
american_scientific_journal-3593	71	16	for	for	ADP
american_scientific_journal-3593	71	17	localization	localization	NOUN
american_scientific_journal-3593	71	18	with	with	ADP
american_scientific_journal-3593	71	19	the	the	DET
american_scientific_journal-3593	71	20	kinematic	kinematic	ADJ
american_scientific_journal-3593	71	21	parameters	parameter	NOUN
american_scientific_journal-3593	71	22	of	of	ADP
american_scientific_journal-3593	71	23	the	the	DET
american_scientific_journal-3593	71	24	wheel	wheel	NOUN
american_scientific_journal-3593	71	25	encoders	encoder	NOUN
american_scientific_journal-3593	71	26	.	.	PUNCT
american_scientific_journal-3593	72	1	whereas	whereas	SCONJ
american_scientific_journal-3593	72	2	this	this	DET
american_scientific_journal-3593	72	3	approach	approach	NOUN
american_scientific_journal-3593	72	4	can	can	AUX
american_scientific_journal-3593	72	5	operate	operate	VERB
american_scientific_journal-3593	72	6	on	on	ADP
american_scientific_journal-3593	72	7	-	-	PUNCT
american_scientific_journal-3593	72	8	line	line	NOUN
american_scientific_journal-3593	72	9	,	,	PUNCT
american_scientific_journal-3593	72	10	it	it	PRON
american_scientific_journal-3593	72	11	requires	require	VERB
american_scientific_journal-3593	72	12	a	a	DET
american_scientific_journal-3593	72	13	-	-	PUNCT
american_scientific_journal-3593	72	14	priori	priori	ADV
american_scientific_journal-3593	72	15	known	know	VERB
american_scientific_journal-3593	72	16	map	map	NOUN
american_scientific_journal-3593	72	17	.	.	PUNCT
american_scientific_journal-3593	73	1	subsequently	subsequently	ADV
american_scientific_journal-3593	73	2	,	,	PUNCT
american_scientific_journal-3593	73	3	jones	jones	PROPN
american_scientific_journal-3593	73	4	and	and	CCONJ
american_scientific_journal-3593	73	5	his	his	PRON
american_scientific_journal-3593	73	6	colleagues	colleague	NOUN
american_scientific_journal-3593	73	7	and	and	CCONJ
american_scientific_journal-3593	73	8	kelly	kelly	PROPN
american_scientific_journal-3593	73	9	and	and	CCONJ
american_scientific_journal-3593	73	10	his	his	PRON
american_scientific_journal-3593	73	11	colleagues	colleague	NOUN
american_scientific_journal-3593	73	12	extended	extend	VERB
american_scientific_journal-3593	73	13	the	the	DET
american_scientific_journal-3593	73	14	ekf	ekf	NOUN
american_scientific_journal-3593	73	15	and	and	CCONJ
american_scientific_journal-3593	73	16	ukf	ukf	NOUN
american_scientific_journal-3593	73	17	algorithm	algorithm	NOUN
american_scientific_journal-3593	73	18	to	to	PART
american_scientific_journal-3593	73	19	include	include	VERB
american_scientific_journal-3593	73	20	calibration	calibration	NOUN
american_scientific_journal-3593	73	21	parameters	parameter	NOUN
american_scientific_journal-3593	73	22	.	.	PUNCT
american_scientific_journal-3593	74	1	in	in	ADP
american_scientific_journal-3593	74	2	the	the	DET
american_scientific_journal-3593	74	3	past	past	NOUN
american_scientific_journal-3593	74	4	,	,	PUNCT
american_scientific_journal-3593	74	5	several	several	ADJ
american_scientific_journal-3593	74	6	approaches	approach	NOUN
american_scientific_journal-3593	74	7	[	[	X
american_scientific_journal-3593	74	8	13,16	13,16	NUM
american_scientific_journal-3593	74	9	]	]	PUNCT
american_scientific_journal-3593	74	10	,	,	PUNCT
american_scientific_journal-3593	74	11	to	to	PART
american_scientific_journal-3593	74	12	tackle	tackle	VERB
american_scientific_journal-3593	74	13	the	the	DET
american_scientific_journal-3593	74	14	data	data	PROPN
american_scientific_journal-3593	74	15	association	association	PROPN
american_scientific_journal-3593	74	16	problem	problem	NOUN
american_scientific_journal-3593	74	17	have	have	AUX
american_scientific_journal-3593	74	18	been	be	AUX
american_scientific_journal-3593	74	19	developed	develop	VERB
american_scientific_journal-3593	74	20	.	.	PUNCT
american_scientific_journal-3593	75	1	whereas	whereas	SCONJ
american_scientific_journal-3593	75	2	highly	highly	ADV
american_scientific_journal-3593	75	3	effective	effective	ADJ
american_scientific_journal-3593	75	4	methods	method	NOUN
american_scientific_journal-3593	75	5	for	for	ADP
american_scientific_journal-3593	75	6	computing	compute	VERB
american_scientific_journal-3593	75	7	a	a	DET
american_scientific_journal-3593	75	8	map	map	NOUN
american_scientific_journal-3593	75	9	given	give	VERB
american_scientific_journal-3593	75	10	the	the	DET
american_scientific_journal-3593	75	11	data	data	NOUN
american_scientific_journal-3593	75	12	associations	association	NOUN
american_scientific_journal-3593	75	13	have	have	AUX
american_scientific_journal-3593	75	14	been	be	AUX
american_scientific_journal-3593	75	15	developed	develop	VERB
american_scientific_journal-3593	75	16	in	in	ADP
american_scientific_journal-3593	75	17	the	the	DET
american_scientific_journal-3593	75	18	past	past	NOUN
american_scientific_journal-3593	75	19	[	[	X
american_scientific_journal-3593	75	20	5	5	NUM
american_scientific_journal-3593	75	21	-	-	SYM
american_scientific_journal-3593	75	22	6	6	NUM
american_scientific_journal-3593	75	23	,	,	PUNCT
american_scientific_journal-3593	75	24	17	17	NUM
american_scientific_journal-3593	75	25	-	-	SYM
american_scientific_journal-3593	75	26	19	19	NUM
american_scientific_journal-3593	75	27	]	]	PUNCT
american_scientific_journal-3593	75	28	,	,	PUNCT
american_scientific_journal-3593	75	29	the	the	DET
american_scientific_journal-3593	75	30	development	development	NOUN
american_scientific_journal-3593	75	31	of	of	ADP
american_scientific_journal-3593	75	32	methods	method	NOUN
american_scientific_journal-3593	75	33	for	for	ADP
american_scientific_journal-3593	75	34	robust	robust	ADJ
american_scientific_journal-3593	75	35	data	datum	NOUN
american_scientific_journal-3593	75	36	association	association	NOUN
american_scientific_journal-3593	75	37	is	be	AUX
american_scientific_journal-3593	75	38	still	still	ADV
american_scientific_journal-3593	75	39	an	an	DET
american_scientific_journal-3593	75	40	open	open	ADJ
american_scientific_journal-3593	75	41	research	research	NOUN
american_scientific_journal-3593	75	42	problem	problem	NOUN
american_scientific_journal-3593	75	43	.	.	PUNCT
american_scientific_journal-3593	76	1	one	one	NUM
american_scientific_journal-3593	76	2	way	way	NOUN
american_scientific_journal-3593	76	3	of	of	ADP
american_scientific_journal-3593	76	4	resolving	resolve	VERB
american_scientific_journal-3593	76	5	uncertainty	uncertainty	NOUN
american_scientific_journal-3593	76	6	in	in	ADP
american_scientific_journal-3593	76	7	the	the	DET
american_scientific_journal-3593	76	8	environment	environment	NOUN
american_scientific_journal-3593	76	9	and	and	CCONJ
american_scientific_journal-3593	76	10	supporting	support	VERB
american_scientific_journal-3593	76	11	data	datum	NOUN
american_scientific_journal-3593	76	12	association	association	NOUN
american_scientific_journal-3593	76	13	is	be	AUX
american_scientific_journal-3593	76	14	to	to	PART
american_scientific_journal-3593	76	15	use	use	VERB
american_scientific_journal-3593	76	16	artificial	artificial	ADJ
american_scientific_journal-3593	76	17	landmarks	landmark	NOUN
american_scientific_journal-3593	76	18	.	.	PUNCT
american_scientific_journal-3593	77	1	inherently	inherently	ADV
american_scientific_journal-3593	77	2	uncertain	uncertain	ADJ
american_scientific_journal-3593	77	3	environments	environment	NOUN
american_scientific_journal-3593	77	4	make	make	VERB
american_scientific_journal-3593	77	5	these	these	DET
american_scientific_journal-3593	77	6	localization	localization	NOUN
american_scientific_journal-3593	77	7	approaches	approach	VERB
american_scientific_journal-3593	77	8	more	more	ADV
american_scientific_journal-3593	77	9	likely	likely	ADJ
american_scientific_journal-3593	77	10	to	to	PART
american_scientific_journal-3593	77	11	fail	fail	VERB
american_scientific_journal-3593	77	12	.	.	PUNCT
american_scientific_journal-3593	78	1	utilizing	utilize	VERB
american_scientific_journal-3593	78	2	artificial	artificial	ADJ
american_scientific_journal-3593	78	3	landmarks	landmark	NOUN
american_scientific_journal-3593	78	4	offers	offer	VERB
american_scientific_journal-3593	78	5	the	the	DET
american_scientific_journal-3593	78	6	possibility	possibility	NOUN
american_scientific_journal-3593	78	7	of	of	ADP
american_scientific_journal-3593	78	8	improving	improve	VERB
american_scientific_journal-3593	78	9	the	the	DET
american_scientific_journal-3593	78	10	reliability	reliability	NOUN
american_scientific_journal-3593	78	11	of	of	ADP
american_scientific_journal-3593	78	12	the	the	DET
american_scientific_journal-3593	78	13	localization	localization	NOUN
american_scientific_journal-3593	78	14	.	.	PUNCT
american_scientific_journal-3593	79	1	some	some	DET
american_scientific_journal-3593	79	2	approaches	approach	NOUN
american_scientific_journal-3593	79	3	[	[	X
american_scientific_journal-3593	79	4	7	7	NUM
american_scientific_journal-3593	79	5	-	-	SYM
american_scientific_journal-3593	79	6	8	8	NUM
american_scientific_journal-3593	79	7	,	,	PUNCT
american_scientific_journal-3593	79	8	20	20	NUM
american_scientific_journal-3593	79	9	-	-	SYM
american_scientific_journal-3593	79	10	23	23	NUM
american_scientific_journal-3593	79	11	]	]	PUNCT
american_scientific_journal-3593	79	12	consider	consider	VERB
american_scientific_journal-3593	79	13	artificial	artificial	ADJ
american_scientific_journal-3593	79	14	landmarks	landmark	NOUN
american_scientific_journal-3593	79	15	that	that	PRON
american_scientific_journal-3593	79	16	can	can	AUX
american_scientific_journal-3593	79	17	be	be	AUX
american_scientific_journal-3593	79	18	uniquely	uniquely	ADV
american_scientific_journal-3593	79	19	identified	identify	VERB
american_scientific_journal-3593	79	20	.	.	PUNCT
american_scientific_journal-3593	80	1	in	in	ADP
american_scientific_journal-3593	80	2	this	this	DET
american_scientific_journal-3593	80	3	research	research	NOUN
american_scientific_journal-3593	80	4	,	,	PUNCT
american_scientific_journal-3593	80	5	visual	visual	ADJ
american_scientific_journal-3593	80	6	pattern	pattern	NOUN
american_scientific_journal-3593	80	7	landmarks	landmark	NOUN
american_scientific_journal-3593	80	8	are	be	AUX
american_scientific_journal-3593	80	9	used	use	VERB
american_scientific_journal-3593	80	10	to	to	PART
american_scientific_journal-3593	80	11	reduce	reduce	VERB
american_scientific_journal-3593	80	12	uncertainty	uncertainty	NOUN
american_scientific_journal-3593	80	13	for	for	ADP
american_scientific_journal-3593	80	14	localization	localization	NOUN
american_scientific_journal-3593	80	15	and	and	CCONJ
american_scientific_journal-3593	80	16	mapping	mapping	NOUN
american_scientific_journal-3593	80	17	.	.	PUNCT
american_scientific_journal-3593	81	1	a	a	DET
american_scientific_journal-3593	81	2	break	break	NOUN
american_scientific_journal-3593	81	3	-	-	PUNCT
american_scientific_journal-3593	81	4	through	through	NOUN
american_scientific_journal-3593	81	5	in	in	ADP
american_scientific_journal-3593	81	6	the	the	DET
american_scientific_journal-3593	81	7	research	research	NOUN
american_scientific_journal-3593	81	8	on	on	ADP
american_scientific_journal-3593	81	9	environment	environment	NOUN
american_scientific_journal-3593	81	10	modelling	modelling	NOUN
american_scientific_journal-3593	81	11	for	for	ADP
american_scientific_journal-3593	81	12	autonomous	autonomous	ADJ
american_scientific_journal-3593	81	13	mobile	mobile	ADJ
american_scientific_journal-3593	81	14	robots	robot	NOUN
american_scientific_journal-3593	81	15	was	be	AUX
american_scientific_journal-3593	81	16	the	the	DET
american_scientific_journal-3593	81	17	formulation	formulation	NOUN
american_scientific_journal-3593	81	18	of	of	ADP
american_scientific_journal-3593	81	19	the	the	DET
american_scientific_journal-3593	81	20	mapping	mapping	NOUN
american_scientific_journal-3593	81	21	and	and	CCONJ
american_scientific_journal-3593	81	22	selflocalization	selflocalization	NOUN
american_scientific_journal-3593	81	23	problems	problem	NOUN
american_scientific_journal-3593	81	24	,	,	PUNCT
american_scientific_journal-3593	81	25	which	which	PRON
american_scientific_journal-3593	81	26	were	be	AUX
american_scientific_journal-3593	81	27	formerly	formerly	ADV
american_scientific_journal-3593	81	28	considered	consider	VERB
american_scientific_journal-3593	81	29	separately	separately	ADV
american_scientific_journal-3593	81	30	,	,	PUNCT
american_scientific_journal-3593	81	31	as	as	ADP
american_scientific_journal-3593	81	32	a	a	DET
american_scientific_journal-3593	81	33	single	single	ADJ
american_scientific_journal-3593	81	34	estimation	estimation	NOUN
american_scientific_journal-3593	81	35	problem	problem	NOUN
american_scientific_journal-3593	81	36	.	.	PUNCT
american_scientific_journal-3593	82	1	in	in	ADP
american_scientific_journal-3593	82	2	this	this	DET
american_scientific_journal-3593	82	3	research	research	NOUN
american_scientific_journal-3593	82	4	,	,	PUNCT
american_scientific_journal-3593	82	5	the	the	DET
american_scientific_journal-3593	82	6	robot	robot	NOUN
american_scientific_journal-3593	82	7	estimates	estimate	VERB
american_scientific_journal-3593	82	8	its	its	PRON
american_scientific_journal-3593	82	9	position	position	NOUN
american_scientific_journal-3593	82	10	with	with	ADP
american_scientific_journal-3593	82	11	map	map	NOUN
american_scientific_journal-3593	82	12	-	-	PUNCT
american_scientific_journal-3593	82	13	based	base	VERB
american_scientific_journal-3593	82	14	autonomous	autonomous	ADJ
american_scientific_journal-3593	82	15	navigation	navigation	NOUN
american_scientific_journal-3593	82	16	framework	framework	NOUN
american_scientific_journal-3593	82	17	to	to	PART
american_scientific_journal-3593	82	18	handle	handle	VERB
american_scientific_journal-3593	82	19	the	the	DET
american_scientific_journal-3593	82	20	localization	localization	NOUN
american_scientific_journal-3593	82	21	problems	problem	NOUN
american_scientific_journal-3593	82	22	.	.	PUNCT
american_scientific_journal-3593	83	1	this	this	DET
american_scientific_journal-3593	83	2	system	system	NOUN
american_scientific_journal-3593	83	3	is	be	AUX
american_scientific_journal-3593	83	4	able	able	ADJ
american_scientific_journal-3593	83	5	to	to	PART
american_scientific_journal-3593	83	6	reduce	reduce	VERB
american_scientific_journal-3593	83	7	uncertainty	uncertainty	NOUN
american_scientific_journal-3593	83	8	for	for	ADP
american_scientific_journal-3593	83	9	localization	localization	NOUN
american_scientific_journal-3593	83	10	and	and	CCONJ
american_scientific_journal-3593	83	11	a	a	DET
american_scientific_journal-3593	83	12	pose	pose	NOUN
american_scientific_journal-3593	83	13	estimation	estimation	NOUN
american_scientific_journal-3593	83	14	scheme	scheme	NOUN
american_scientific_journal-3593	83	15	and	and	CCONJ
american_scientific_journal-3593	83	16	simultaneously	simultaneously	ADV
american_scientific_journal-3593	83	17	builds	build	VERB
american_scientific_journal-3593	83	18	the	the	DET
american_scientific_journal-3593	83	19	map	map	NOUN
american_scientific_journal-3593	83	20	of	of	ADP
american_scientific_journal-3593	83	21	the	the	DET
american_scientific_journal-3593	83	22	environment	environment	NOUN
american_scientific_journal-3593	83	23	.	.	PUNCT
american_scientific_journal-3593	84	1	special	special	ADJ
american_scientific_journal-3593	84	2	preparation	preparation	NOUN
american_scientific_journal-3593	84	3	for	for	ADP
american_scientific_journal-3593	84	4	the	the	DET
american_scientific_journal-3593	84	5	environment	environment	NOUN
american_scientific_journal-3593	84	6	,	,	PUNCT
american_scientific_journal-3593	84	7	artificial	artificial	ADJ
american_scientific_journal-3593	84	8	landmarks	landmark	NOUN
american_scientific_journal-3593	84	9	placement	placement	NOUN
american_scientific_journal-3593	84	10	,	,	PUNCT
american_scientific_journal-3593	84	11	is	be	AUX
american_scientific_journal-3593	84	12	required	require	VERB
american_scientific_journal-3593	84	13	.	.	PUNCT
american_scientific_journal-3593	85	1	simple	simple	ADJ
american_scientific_journal-3593	85	2	artificial	artificial	ADJ
american_scientific_journal-3593	85	3	landmark	landmark	NOUN
american_scientific_journal-3593	85	4	models	model	NOUN
american_scientific_journal-3593	85	5	show	show	VERB
american_scientific_journal-3593	85	6	invariant	invariant	ADJ
american_scientific_journal-3593	85	7	characteristics	characteristic	NOUN
american_scientific_journal-3593	85	8	in	in	ADP
american_scientific_journal-3593	85	9	cluttered	cluttered	ADJ
american_scientific_journal-3593	85	10	environments	environment	NOUN
american_scientific_journal-3593	85	11	.	.	PUNCT
american_scientific_journal-3593	86	1	3	3	X
american_scientific_journal-3593	86	2	.	.	X
american_scientific_journal-3593	86	3	system	system	NOUN
american_scientific_journal-3593	86	4	modeling	modeling	NOUN
american_scientific_journal-3593	86	5	in	in	ADP
american_scientific_journal-3593	86	6	this	this	DET
american_scientific_journal-3593	86	7	research	research	NOUN
american_scientific_journal-3593	86	8	,	,	PUNCT
american_scientific_journal-3593	86	9	a	a	DET
american_scientific_journal-3593	86	10	simple	simple	ADJ
american_scientific_journal-3593	86	11	mobile	mobile	ADJ
american_scientific_journal-3593	86	12	robot	robot	NOUN
american_scientific_journal-3593	86	13	platform	platform	NOUN
american_scientific_journal-3593	86	14	has	have	VERB
american_scientific_journal-3593	86	15	a	a	DET
american_scientific_journal-3593	86	16	vision	vision	NOUN
american_scientific_journal-3593	86	17	sensor	sensor	NOUN
american_scientific_journal-3593	86	18	,	,	PUNCT
american_scientific_journal-3593	86	19	three	three	NUM
american_scientific_journal-3593	86	20	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	86	21	sensors	sensor	NOUN
american_scientific_journal-3593	86	22	and	and	CCONJ
american_scientific_journal-3593	86	23	two	two	NUM
american_scientific_journal-3593	86	24	encoders	encoder	NOUN
american_scientific_journal-3593	86	25	.	.	PUNCT
american_scientific_journal-3593	87	1	when	when	SCONJ
american_scientific_journal-3593	87	2	vision	vision	NOUN
american_scientific_journal-3593	87	3	sensor	sensor	NOUN
american_scientific_journal-3593	87	4	obtains	obtain	VERB
american_scientific_journal-3593	87	5	images	image	NOUN
american_scientific_journal-3593	87	6	continuously	continuously	ADV
american_scientific_journal-3593	87	7	,	,	PUNCT
american_scientific_journal-3593	87	8	the	the	DET
american_scientific_journal-3593	87	9	system	system	NOUN
american_scientific_journal-3593	87	10	detects	detect	VERB
american_scientific_journal-3593	87	11	landmarks	landmark	NOUN
american_scientific_journal-3593	87	12	and	and	CCONJ
american_scientific_journal-3593	87	13	obstacles	obstacle	NOUN
american_scientific_journal-3593	87	14	in	in	ADP
american_scientific_journal-3593	87	15	the	the	DET
american_scientific_journal-3593	87	16	environment	environment	NOUN
american_scientific_journal-3593	87	17	by	by	ADP
american_scientific_journal-3593	87	18	using	use	VERB
american_scientific_journal-3593	87	19	with	with	ADP
american_scientific_journal-3593	87	20	the	the	DET
american_scientific_journal-3593	87	21	data	datum	NOUN
american_scientific_journal-3593	87	22	from	from	ADP
american_scientific_journal-3593	87	23	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	87	24	sensors	sensor	NOUN
american_scientific_journal-3593	87	25	.	.	PUNCT
american_scientific_journal-3593	88	1	the	the	DET
american_scientific_journal-3593	88	2	encoders	encoder	NOUN
american_scientific_journal-3593	88	3	are	be	AUX
american_scientific_journal-3593	88	4	equipped	equip	VERB
american_scientific_journal-3593	88	5	on	on	ADP
american_scientific_journal-3593	88	6	wheels	wheel	NOUN
american_scientific_journal-3593	88	7	and	and	CCONJ
american_scientific_journal-3593	88	8	provide	provide	VERB
american_scientific_journal-3593	88	9	wheel	wheel	NOUN
american_scientific_journal-3593	88	10	rotation	rotation	NOUN
american_scientific_journal-3593	88	11	data	datum	NOUN
american_scientific_journal-3593	88	12	.	.	PUNCT
american_scientific_journal-3593	89	1	there	there	PRON
american_scientific_journal-3593	89	2	are	be	VERB
american_scientific_journal-3593	89	3	various	various	ADJ
american_scientific_journal-3593	89	4	kinds	kind	NOUN
american_scientific_journal-3593	89	5	of	of	ADP
american_scientific_journal-3593	89	6	errors	error	NOUN
american_scientific_journal-3593	89	7	;	;	PUNCT
american_scientific_journal-3593	89	8	wheel	wheel	NOUN
american_scientific_journal-3593	89	9	radius	radius	NOUN
american_scientific_journal-3593	89	10	error	error	NOUN
american_scientific_journal-3593	89	11	,	,	PUNCT
american_scientific_journal-3593	89	12	wheel	wheel	NOUN
american_scientific_journal-3593	89	13	distance	distance	NOUN
american_scientific_journal-3593	89	14	error	error	NOUN
american_scientific_journal-3593	89	15	,	,	PUNCT
american_scientific_journal-3593	89	16	slips	slip	VERB
american_scientific_journal-3593	89	17	error	error	NOUN
american_scientific_journal-3593	89	18	,	,	PUNCT
american_scientific_journal-3593	89	19	conversion	conversion	NOUN
american_scientific_journal-3593	89	20	factor	factor	NOUN
american_scientific_journal-3593	89	21	error	error	NOUN
american_scientific_journal-3593	89	22	,	,	PUNCT
american_scientific_journal-3593	89	23	etc	etc	X
american_scientific_journal-3593	89	24	.	.	X
american_scientific_journal-3593	90	1	in	in	ADP
american_scientific_journal-3593	90	2	this	this	DET
american_scientific_journal-3593	90	3	system	system	NOUN
american_scientific_journal-3593	90	4	,	,	PUNCT
american_scientific_journal-3593	90	5	the	the	DET
american_scientific_journal-3593	90	6	localization	localization	NOUN
american_scientific_journal-3593	90	7	errors	error	NOUN
american_scientific_journal-3593	90	8	are	be	AUX
american_scientific_journal-3593	90	9	reduced	reduce	VERB
american_scientific_journal-3593	90	10	by	by	ADP
american_scientific_journal-3593	90	11	using	use	VERB
american_scientific_journal-3593	90	12	kalman	kalman	NOUN
american_scientific_journal-3593	90	13	filter	filter	NOUN
american_scientific_journal-3593	90	14	and	and	CCONJ
american_scientific_journal-3593	90	15	sensor	sensor	NOUN
american_scientific_journal-3593	90	16	data	data	NOUN
american_scientific_journal-3593	90	17	fusion	fusion	NOUN
american_scientific_journal-3593	90	18	system	system	NOUN
american_scientific_journal-3593	90	19	.	.	PUNCT
american_scientific_journal-3593	91	1	the	the	DET
american_scientific_journal-3593	91	2	mobile	mobile	ADJ
american_scientific_journal-3593	91	3	robot	robot	NOUN
american_scientific_journal-3593	91	4	equipped	equip	VERB
american_scientific_journal-3593	91	5	with	with	ADP
american_scientific_journal-3593	91	6	sensor	sensor	NOUN
american_scientific_journal-3593	91	7	system	system	NOUN
american_scientific_journal-3593	91	8	is	be	AUX
american_scientific_journal-3593	91	9	shown	show	VERB
american_scientific_journal-3593	91	10	in	in	ADP
american_scientific_journal-3593	91	11	figure.3	figure.3	PROPN
american_scientific_journal-3593	91	12	.	.	PROPN
american_scientific_journal-3593	91	13	figure	figure	NOUN
american_scientific_journal-3593	91	14	3	3	NUM
american_scientific_journal-3593	91	15	:	:	PUNCT
american_scientific_journal-3593	91	16	mobile	mobile	ADJ
american_scientific_journal-3593	91	17	robot	robot	NOUN
american_scientific_journal-3593	91	18	equipped	equip	VERB
american_scientific_journal-3593	91	19	with	with	ADP
american_scientific_journal-3593	91	20	sensor	sensor	NOUN
american_scientific_journal-3593	91	21	system	system	NOUN
american_scientific_journal-3593	91	22	3.1	3.1	NUM
american_scientific_journal-3593	91	23	.	.	PUNCT
american_scientific_journal-3593	91	24	artificial	artificial	ADJ
american_scientific_journal-3593	91	25	landmarks	landmark	NOUN
american_scientific_journal-3593	91	26	american	american	ADJ
american_scientific_journal-3593	91	27	scientific	scientific	ADJ
american_scientific_journal-3593	91	28	research	research	NOUN
american_scientific_journal-3593	91	29	journal	journal	NOUN
american_scientific_journal-3593	91	30	for	for	ADP
american_scientific_journal-3593	91	31	engineering	engineering	NOUN
american_scientific_journal-3593	91	32	,	,	PUNCT
american_scientific_journal-3593	91	33	technology	technology	NOUN
american_scientific_journal-3593	91	34	,	,	PUNCT
american_scientific_journal-3593	91	35	and	and	CCONJ
american_scientific_journal-3593	91	36	sciences	science	NOUN
american_scientific_journal-3593	91	37	(	(	PUNCT
american_scientific_journal-3593	91	38	asrjets	asrjet	NOUN
american_scientific_journal-3593	91	39	)	)	PUNCT
american_scientific_journal-3593	91	40	(	(	PUNCT
american_scientific_journal-3593	91	41	2017	2017	NUM
american_scientific_journal-3593	91	42	)	)	PUNCT
american_scientific_journal-3593	91	43	volume	volume	NOUN
american_scientific_journal-3593	91	44	38	38	NUM
american_scientific_journal-3593	91	45	,	,	PUNCT
american_scientific_journal-3593	91	46	no	no	DET
american_scientific_journal-3593	91	47	1	1	NUM
american_scientific_journal-3593	91	48	,	,	PUNCT
american_scientific_journal-3593	91	49	pp	pp	ADV
american_scientific_journal-3593	91	50	306	306	NUM
american_scientific_journal-3593	91	51	-	-	SYM
american_scientific_journal-3593	91	52	324	324	NUM
american_scientific_journal-3593	91	53	310	310	NUM
american_scientific_journal-3593	91	54	landmarks	landmark	NOUN
american_scientific_journal-3593	91	55	are	be	AUX
american_scientific_journal-3593	91	56	the	the	DET
american_scientific_journal-3593	91	57	defined	define	VERB
american_scientific_journal-3593	91	58	objects	object	NOUN
american_scientific_journal-3593	91	59	in	in	ADP
american_scientific_journal-3593	91	60	the	the	DET
american_scientific_journal-3593	91	61	environment	environment	NOUN
american_scientific_journal-3593	91	62	that	that	PRON
american_scientific_journal-3593	91	63	provide	provide	VERB
american_scientific_journal-3593	91	64	more	more	ADJ
american_scientific_journal-3593	91	65	localization	localization	NOUN
american_scientific_journal-3593	91	66	accuracy	accuracy	NOUN
american_scientific_journal-3593	91	67	.	.	PUNCT
american_scientific_journal-3593	92	1	to	to	PART
american_scientific_journal-3593	92	2	reduce	reduce	VERB
american_scientific_journal-3593	92	3	the	the	DET
american_scientific_journal-3593	92	4	uncertainty	uncertainty	NOUN
american_scientific_journal-3593	92	5	in	in	ADP
american_scientific_journal-3593	92	6	the	the	DET
american_scientific_journal-3593	92	7	environment	environment	NOUN
american_scientific_journal-3593	92	8	,	,	PUNCT
american_scientific_journal-3593	92	9	the	the	DET
american_scientific_journal-3593	92	10	mobile	mobile	NOUN
american_scientific_journal-3593	92	11	robot	robot	NOUN
american_scientific_journal-3593	92	12	uses	use	VERB
american_scientific_journal-3593	92	13	artificial	artificial	ADJ
american_scientific_journal-3593	92	14	landmarks	landmark	NOUN
american_scientific_journal-3593	92	15	for	for	ADP
american_scientific_journal-3593	92	16	estimating	estimate	VERB
american_scientific_journal-3593	92	17	the	the	DET
american_scientific_journal-3593	92	18	position	position	NOUN
american_scientific_journal-3593	92	19	.	.	PUNCT
american_scientific_journal-3593	93	1	artificial	artificial	ADJ
american_scientific_journal-3593	93	2	landmarks	landmark	NOUN
american_scientific_journal-3593	93	3	can	can	AUX
american_scientific_journal-3593	93	4	be	be	AUX
american_scientific_journal-3593	93	5	designed	design	VERB
american_scientific_journal-3593	93	6	in	in	ADP
american_scientific_journal-3593	93	7	order	order	NOUN
american_scientific_journal-3593	93	8	to	to	PART
american_scientific_journal-3593	93	9	be	be	AUX
american_scientific_journal-3593	93	10	uniquely	uniquely	ADV
american_scientific_journal-3593	93	11	identified	identify	VERB
american_scientific_journal-3593	93	12	by	by	ADP
american_scientific_journal-3593	93	13	the	the	DET
american_scientific_journal-3593	93	14	sensor	sensor	NOUN
american_scientific_journal-3593	93	15	.	.	PUNCT
american_scientific_journal-3593	94	1	figure	figure	VERB
american_scientific_journal-3593	94	2	4	4	NUM
american_scientific_journal-3593	94	3	:	:	PUNCT
american_scientific_journal-3593	94	4	signs	sign	NOUN
american_scientific_journal-3593	94	5	of	of	ADP
american_scientific_journal-3593	94	6	artificial	artificial	ADJ
american_scientific_journal-3593	94	7	landmarks	landmark	NOUN
american_scientific_journal-3593	94	8	since	since	SCONJ
american_scientific_journal-3593	94	9	artificial	artificial	ADJ
american_scientific_journal-3593	94	10	landmarks	landmark	NOUN
american_scientific_journal-3593	94	11	are	be	AUX
american_scientific_journal-3593	94	12	supposed	suppose	VERB
american_scientific_journal-3593	94	13	to	to	PART
american_scientific_journal-3593	94	14	simplify	simplify	VERB
american_scientific_journal-3593	94	15	extraction	extraction	NOUN
american_scientific_journal-3593	94	16	of	of	ADP
american_scientific_journal-3593	94	17	location	location	NOUN
american_scientific_journal-3593	94	18	features	feature	NOUN
american_scientific_journal-3593	94	19	,	,	PUNCT
american_scientific_journal-3593	94	20	the	the	DET
american_scientific_journal-3593	94	21	landmarks	landmark	NOUN
american_scientific_journal-3593	94	22	can	can	AUX
american_scientific_journal-3593	94	23	be	be	AUX
american_scientific_journal-3593	94	24	reliably	reliably	ADV
american_scientific_journal-3593	94	25	detected	detect	VERB
american_scientific_journal-3593	94	26	and	and	CCONJ
american_scientific_journal-3593	94	27	identified	identify	VERB
american_scientific_journal-3593	94	28	in	in	ADP
american_scientific_journal-3593	94	29	a	a	DET
american_scientific_journal-3593	94	30	given	give	VERB
american_scientific_journal-3593	94	31	environment	environment	NOUN
american_scientific_journal-3593	94	32	.	.	PUNCT
american_scientific_journal-3593	95	1	the	the	DET
american_scientific_journal-3593	95	2	artificial	artificial	ADJ
american_scientific_journal-3593	95	3	landmarks	landmark	NOUN
american_scientific_journal-3593	95	4	that	that	PRON
american_scientific_journal-3593	95	5	are	be	AUX
american_scientific_journal-3593	95	6	used	use	VERB
american_scientific_journal-3593	95	7	in	in	ADP
american_scientific_journal-3593	95	8	this	this	DET
american_scientific_journal-3593	95	9	research	research	NOUN
american_scientific_journal-3593	95	10	are	be	AUX
american_scientific_journal-3593	95	11	shown	show	VERB
american_scientific_journal-3593	95	12	in	in	ADP
american_scientific_journal-3593	95	13	figure.4	figure.4	PROPN
american_scientific_journal-3593	95	14	.	.	PROPN
american_scientific_journal-3593	96	1	3.2	3.2	NUM
american_scientific_journal-3593	96	2	.	.	PUNCT
american_scientific_journal-3593	97	1	sensor	sensor	NOUN
american_scientific_journal-3593	97	2	fusion	fusion	NOUN
american_scientific_journal-3593	97	3	with	with	ADP
american_scientific_journal-3593	97	4	vision	vision	NOUN
american_scientific_journal-3593	97	5	and	and	CCONJ
american_scientific_journal-3593	97	6	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	97	7	sensors	sensor	NOUN
american_scientific_journal-3593	97	8	the	the	DET
american_scientific_journal-3593	97	9	system	system	NOUN
american_scientific_journal-3593	97	10	uses	use	VERB
american_scientific_journal-3593	97	11	vision	vision	NOUN
american_scientific_journal-3593	97	12	sensor	sensor	NOUN
american_scientific_journal-3593	97	13	to	to	PART
american_scientific_journal-3593	97	14	detect	detect	VERB
american_scientific_journal-3593	97	15	the	the	DET
american_scientific_journal-3593	97	16	landmark	landmark	NOUN
american_scientific_journal-3593	97	17	signs	sign	NOUN
american_scientific_journal-3593	97	18	.	.	PUNCT
american_scientific_journal-3593	98	1	when	when	SCONJ
american_scientific_journal-3593	98	2	the	the	DET
american_scientific_journal-3593	98	3	robot	robot	NOUN
american_scientific_journal-3593	98	4	’s	’s	PART
american_scientific_journal-3593	98	5	front	front	ADJ
american_scientific_journal-3593	98	6	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	98	7	sensor	sensor	NOUN
american_scientific_journal-3593	98	8	gets	get	VERB
american_scientific_journal-3593	98	9	the	the	DET
american_scientific_journal-3593	98	10	distance	distance	NOUN
american_scientific_journal-3593	98	11	which	which	PRON
american_scientific_journal-3593	98	12	is	be	AUX
american_scientific_journal-3593	98	13	within	within	ADP
american_scientific_journal-3593	98	14	the	the	DET
american_scientific_journal-3593	98	15	assigned	assign	VERB
american_scientific_journal-3593	98	16	detection	detection	NOUN
american_scientific_journal-3593	98	17	area	area	NOUN
american_scientific_journal-3593	98	18	,	,	PUNCT
american_scientific_journal-3593	98	19	the	the	DET
american_scientific_journal-3593	98	20	system	system	NOUN
american_scientific_journal-3593	98	21	will	will	AUX
american_scientific_journal-3593	98	22	make	make	VERB
american_scientific_journal-3593	98	23	landmark	landmark	NOUN
american_scientific_journal-3593	98	24	detection	detection	NOUN
american_scientific_journal-3593	98	25	by	by	ADP
american_scientific_journal-3593	98	26	fusing	fuse	VERB
american_scientific_journal-3593	98	27	with	with	ADP
american_scientific_journal-3593	98	28	the	the	DET
american_scientific_journal-3593	98	29	data	datum	NOUN
american_scientific_journal-3593	98	30	from	from	ADP
american_scientific_journal-3593	98	31	vision	vision	PROPN
american_scientific_journal-3593	98	32	sensor	sensor	PROPN
american_scientific_journal-3593	98	33	.	.	PUNCT
american_scientific_journal-3593	99	1	landmark	landmark	PROPN
american_scientific_journal-3593	99	2	detection	detection	NOUN
american_scientific_journal-3593	99	3	are	be	AUX
american_scientific_journal-3593	99	4	made	make	VERB
american_scientific_journal-3593	99	5	with	with	ADP
american_scientific_journal-3593	99	6	image	image	NOUN
american_scientific_journal-3593	99	7	processing	processing	NOUN
american_scientific_journal-3593	99	8	techniques	technique	NOUN
american_scientific_journal-3593	99	9	.	.	PUNCT
american_scientific_journal-3593	100	1	while	while	SCONJ
american_scientific_journal-3593	100	2	processing	processing	NOUN
american_scientific_journal-3593	100	3	,	,	PUNCT
american_scientific_journal-3593	100	4	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	100	5	sensors	sensor	NOUN
american_scientific_journal-3593	100	6	will	will	AUX
american_scientific_journal-3593	100	7	detect	detect	VERB
american_scientific_journal-3593	100	8	walls	wall	NOUN
american_scientific_journal-3593	100	9	and	and	CCONJ
american_scientific_journal-3593	100	10	obstacles	obstacle	NOUN
american_scientific_journal-3593	100	11	in	in	ADP
american_scientific_journal-3593	100	12	the	the	DET
american_scientific_journal-3593	100	13	environment	environment	NOUN
american_scientific_journal-3593	100	14	and	and	CCONJ
american_scientific_journal-3593	100	15	then	then	ADV
american_scientific_journal-3593	100	16	avoid	avoid	VERB
american_scientific_journal-3593	100	17	effectively	effectively	ADV
american_scientific_journal-3593	100	18	.	.	PUNCT
american_scientific_journal-3593	101	1	since	since	SCONJ
american_scientific_journal-3593	101	2	the	the	DET
american_scientific_journal-3593	101	3	speed	speed	NOUN
american_scientific_journal-3593	101	4	of	of	ADP
american_scientific_journal-3593	101	5	the	the	DET
american_scientific_journal-3593	101	6	sound	sound	ADJ
american_scientific_journal-3593	101	7	wave	wave	NOUN
american_scientific_journal-3593	101	8	can	can	AUX
american_scientific_journal-3593	101	9	know	know	VERB
american_scientific_journal-3593	101	10	,	,	PUNCT
american_scientific_journal-3593	101	11	the	the	DET
american_scientific_journal-3593	101	12	system	system	NOUN
american_scientific_journal-3593	101	13	can	can	AUX
american_scientific_journal-3593	101	14	calculate	calculate	VERB
american_scientific_journal-3593	101	15	the	the	DET
american_scientific_journal-3593	101	16	distance	distance	NOUN
american_scientific_journal-3593	101	17	of	of	ADP
american_scientific_journal-3593	101	18	the	the	DET
american_scientific_journal-3593	101	19	obstacles	obstacle	NOUN
american_scientific_journal-3593	101	20	and	and	CCONJ
american_scientific_journal-3593	101	21	landmark	landmark	NOUN
american_scientific_journal-3593	101	22	by	by	ADP
american_scientific_journal-3593	101	23	using	use	VERB
american_scientific_journal-3593	101	24	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	101	25	sensors	sensor	NOUN
american_scientific_journal-3593	101	26	.	.	PUNCT
american_scientific_journal-3593	102	1	distance	distance	NOUN
american_scientific_journal-3593	103	1	=	=	SYM
american_scientific_journal-3593	103	2	speed	speed	NOUN
american_scientific_journal-3593	103	3	x	x	X
american_scientific_journal-3593	103	4	time	time	NOUN
american_scientific_journal-3593	103	5	(	(	PUNCT
american_scientific_journal-3593	103	6	1	1	NUM
american_scientific_journal-3593	103	7	)	)	PUNCT
american_scientific_journal-3593	103	8	the	the	DET
american_scientific_journal-3593	103	9	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	103	10	sensors	sensor	NOUN
american_scientific_journal-3593	103	11	have	have	VERB
american_scientific_journal-3593	103	12	emission	emission	NOUN
american_scientific_journal-3593	103	13	frequencies	frequency	NOUN
american_scientific_journal-3593	103	14	of	of	ADP
american_scientific_journal-3593	103	15	56	56	NUM
american_scientific_journal-3593	103	16	khz	khz	NOUN
american_scientific_journal-3593	103	17	.	.	PUNCT
american_scientific_journal-3593	104	1	the	the	DET
american_scientific_journal-3593	104	2	sensors	sensor	NOUN
american_scientific_journal-3593	104	3	used	use	VERB
american_scientific_journal-3593	104	4	in	in	ADP
american_scientific_journal-3593	104	5	this	this	DET
american_scientific_journal-3593	104	6	work	work	NOUN
american_scientific_journal-3593	104	7	have	have	VERB
american_scientific_journal-3593	104	8	a	a	DET
american_scientific_journal-3593	104	9	range	range	NOUN
american_scientific_journal-3593	104	10	of	of	ADP
american_scientific_journal-3593	104	11	about	about	ADV
american_scientific_journal-3593	104	12	0.30	0.30	NUM
american_scientific_journal-3593	104	13	m	m	NOUN
american_scientific_journal-3593	104	14	to	to	ADP
american_scientific_journal-3593	104	15	10	10	NUM
american_scientific_journal-3593	104	16	m.	m.	NOUN
american_scientific_journal-3593	104	17	block	block	NOUN
american_scientific_journal-3593	104	18	diagram	diagram	NOUN
american_scientific_journal-3593	104	19	of	of	ADP
american_scientific_journal-3593	104	20	the	the	DET
american_scientific_journal-3593	104	21	proposed	propose	VERB
american_scientific_journal-3593	104	22	sensor	sensor	NOUN
american_scientific_journal-3593	104	23	data	data	NOUN
american_scientific_journal-3593	104	24	fusion	fusion	NOUN
american_scientific_journal-3593	104	25	system	system	NOUN
american_scientific_journal-3593	104	26	is	be	AUX
american_scientific_journal-3593	104	27	shown	show	VERB
american_scientific_journal-3593	104	28	in	in	ADP
american_scientific_journal-3593	104	29	figure.5	figure.5	PROPN
american_scientific_journal-3593	104	30	.	.	PUNCT
american_scientific_journal-3593	105	1	the	the	DET
american_scientific_journal-3593	105	2	system	system	NOUN
american_scientific_journal-3593	105	3	obtains	obtain	VERB
american_scientific_journal-3593	105	4	information	information	NOUN
american_scientific_journal-3593	105	5	of	of	ADP
american_scientific_journal-3593	105	6	surrounding	surround	VERB
american_scientific_journal-3593	105	7	environments	environment	NOUN
american_scientific_journal-3593	105	8	using	use	VERB
american_scientific_journal-3593	105	9	its	its	PRON
american_scientific_journal-3593	105	10	sensors	sensor	NOUN
american_scientific_journal-3593	105	11	and	and	CCONJ
american_scientific_journal-3593	105	12	decides	decide	VERB
american_scientific_journal-3593	105	13	its	its	PRON
american_scientific_journal-3593	105	14	way	way	NOUN
american_scientific_journal-3593	105	15	of	of	ADP
american_scientific_journal-3593	105	16	action	action	NOUN
american_scientific_journal-3593	105	17	according	accord	VERB
american_scientific_journal-3593	105	18	to	to	ADP
american_scientific_journal-3593	105	19	its	its	PRON
american_scientific_journal-3593	105	20	programming	programming	NOUN
american_scientific_journal-3593	105	21	and	and	CCONJ
american_scientific_journal-3593	105	22	detection	detection	NOUN
american_scientific_journal-3593	105	23	results	result	NOUN
american_scientific_journal-3593	105	24	.	.	PUNCT
american_scientific_journal-3593	106	1	the	the	DET
american_scientific_journal-3593	106	2	system	system	NOUN
american_scientific_journal-3593	106	3	will	will	AUX
american_scientific_journal-3593	106	4	make	make	VERB
american_scientific_journal-3593	106	5	landmark	landmark	NOUN
american_scientific_journal-3593	106	6	detection	detection	NOUN
american_scientific_journal-3593	106	7	by	by	ADP
american_scientific_journal-3593	106	8	fusion	fusion	NOUN
american_scientific_journal-3593	106	9	the	the	DET
american_scientific_journal-3593	106	10	data	datum	NOUN
american_scientific_journal-3593	106	11	of	of	ADP
american_scientific_journal-3593	106	12	visual	visual	ADJ
american_scientific_journal-3593	106	13	and	and	CCONJ
american_scientific_journal-3593	106	14	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	106	15	sensors	sensor	NOUN
american_scientific_journal-3593	106	16	system	system	NOUN
american_scientific_journal-3593	106	17	by	by	ADP
american_scientific_journal-3593	106	18	using	use	VERB
american_scientific_journal-3593	106	19	image	image	NOUN
american_scientific_journal-3593	106	20	processing	processing	NOUN
american_scientific_journal-3593	106	21	techniques	technique	NOUN
american_scientific_journal-3593	106	22	.	.	PUNCT
american_scientific_journal-3593	107	1	with	with	ADP
american_scientific_journal-3593	107	2	sensor	sensor	NOUN
american_scientific_journal-3593	107	3	data	datum	NOUN
american_scientific_journal-3593	107	4	fusion	fusion	NOUN
american_scientific_journal-3593	107	5	,	,	PUNCT
american_scientific_journal-3593	107	6	the	the	DET
american_scientific_journal-3593	107	7	system	system	NOUN
american_scientific_journal-3593	107	8	can	can	AUX
american_scientific_journal-3593	107	9	predict	predict	VERB
american_scientific_journal-3593	107	10	the	the	DET
american_scientific_journal-3593	107	11	position	position	NOUN
american_scientific_journal-3593	107	12	and	and	CCONJ
american_scientific_journal-3593	107	13	obstacles	obstacle	NOUN
american_scientific_journal-3593	107	14	in	in	ADP
american_scientific_journal-3593	107	15	the	the	DET
american_scientific_journal-3593	107	16	environment	environment	NOUN
american_scientific_journal-3593	107	17	effectively	effectively	ADV
american_scientific_journal-3593	107	18	.	.	PUNCT
american_scientific_journal-3593	108	1	american	american	ADJ
american_scientific_journal-3593	108	2	scientific	scientific	ADJ
american_scientific_journal-3593	108	3	research	research	PROPN
american_scientific_journal-3593	108	4	journal	journal	NOUN
american_scientific_journal-3593	108	5	for	for	ADP
american_scientific_journal-3593	108	6	engineering	engineering	NOUN
american_scientific_journal-3593	108	7	,	,	PUNCT
american_scientific_journal-3593	108	8	technology	technology	NOUN
american_scientific_journal-3593	108	9	,	,	PUNCT
american_scientific_journal-3593	108	10	and	and	CCONJ
american_scientific_journal-3593	108	11	sciences	science	NOUN
american_scientific_journal-3593	108	12	(	(	PUNCT
american_scientific_journal-3593	108	13	asrjets	asrjet	NOUN
american_scientific_journal-3593	108	14	)	)	PUNCT
american_scientific_journal-3593	108	15	(	(	PUNCT
american_scientific_journal-3593	108	16	2017	2017	NUM
american_scientific_journal-3593	108	17	)	)	PUNCT
american_scientific_journal-3593	108	18	volume	volume	NOUN
american_scientific_journal-3593	108	19	38	38	NUM
american_scientific_journal-3593	108	20	,	,	PUNCT
american_scientific_journal-3593	108	21	no	no	DET
american_scientific_journal-3593	108	22	1	1	NUM
american_scientific_journal-3593	108	23	,	,	PUNCT
american_scientific_journal-3593	108	24	pp	pp	ADV
american_scientific_journal-3593	108	25	306	306	NUM
american_scientific_journal-3593	108	26	-	-	SYM
american_scientific_journal-3593	108	27	324	324	NUM
american_scientific_journal-3593	108	28	311	311	NUM
american_scientific_journal-3593	108	29	figure	figure	NOUN
american_scientific_journal-3593	108	30	5	5	NUM
american_scientific_journal-3593	108	31	:	:	PUNCT
american_scientific_journal-3593	108	32	block	block	NOUN
american_scientific_journal-3593	108	33	diagram	diagram	NOUN
american_scientific_journal-3593	108	34	of	of	ADP
american_scientific_journal-3593	108	35	the	the	DET
american_scientific_journal-3593	108	36	sensor	sensor	NOUN
american_scientific_journal-3593	108	37	data	datum	NOUN
american_scientific_journal-3593	108	38	fusion	fusion	NOUN
american_scientific_journal-3593	108	39	system	system	NOUN
american_scientific_journal-3593	108	40	to	to	PART
american_scientific_journal-3593	108	41	make	make	VERB
american_scientific_journal-3593	108	42	pose	pose	NOUN
american_scientific_journal-3593	108	43	estimation	estimation	NOUN
american_scientific_journal-3593	108	44	,	,	PUNCT
american_scientific_journal-3593	108	45	the	the	DET
american_scientific_journal-3593	108	46	system	system	NOUN
american_scientific_journal-3593	108	47	is	be	AUX
american_scientific_journal-3593	108	48	necessary	necessary	ADJ
american_scientific_journal-3593	108	49	to	to	PART
american_scientific_journal-3593	108	50	find	find	VERB
american_scientific_journal-3593	108	51	the	the	DET
american_scientific_journal-3593	108	52	region	region	NOUN
american_scientific_journal-3593	108	53	of	of	ADP
american_scientific_journal-3593	108	54	interest	interest	NOUN
american_scientific_journal-3593	108	55	(	(	PUNCT
american_scientific_journal-3593	108	56	roi	roi	NOUN
american_scientific_journal-3593	108	57	)	)	PUNCT
american_scientific_journal-3593	108	58	at	at	ADP
american_scientific_journal-3593	108	59	the	the	DET
american_scientific_journal-3593	108	60	center	center	NOUN
american_scientific_journal-3593	108	61	of	of	ADP
american_scientific_journal-3593	108	62	the	the	DET
american_scientific_journal-3593	108	63	detected	detect	VERB
american_scientific_journal-3593	108	64	artificial	artificial	ADJ
american_scientific_journal-3593	108	65	landmark	landmark	NOUN
american_scientific_journal-3593	108	66	in	in	ADP
american_scientific_journal-3593	108	67	the	the	DET
american_scientific_journal-3593	108	68	coordinate	coordinate	NOUN
american_scientific_journal-3593	108	69	frame	frame	NOUN
american_scientific_journal-3593	108	70	fixed	fix	VERB
american_scientific_journal-3593	108	71	to	to	ADP
american_scientific_journal-3593	108	72	a	a	DET
american_scientific_journal-3593	108	73	camera	camera	NOUN
american_scientific_journal-3593	108	74	in	in	ADP
american_scientific_journal-3593	108	75	the	the	DET
american_scientific_journal-3593	108	76	case	case	NOUN
american_scientific_journal-3593	108	77	of	of	ADP
american_scientific_journal-3593	108	78	localization	localization	NOUN
american_scientific_journal-3593	108	79	using	use	VERB
american_scientific_journal-3593	108	80	the	the	DET
american_scientific_journal-3593	108	81	image	image	NOUN
american_scientific_journal-3593	108	82	captured	capture	VERB
american_scientific_journal-3593	108	83	by	by	ADP
american_scientific_journal-3593	108	84	the	the	DET
american_scientific_journal-3593	108	85	camera	camera	NOUN
american_scientific_journal-3593	108	86	.	.	PUNCT
american_scientific_journal-3593	109	1	figure	figure	VERB
american_scientific_journal-3593	109	2	6	6	NUM
american_scientific_journal-3593	109	3	:	:	PUNCT
american_scientific_journal-3593	109	4	view	view	NOUN
american_scientific_journal-3593	109	5	angle	angle	NOUN
american_scientific_journal-3593	109	6	of	of	ADP
american_scientific_journal-3593	109	7	the	the	DET
american_scientific_journal-3593	109	8	camera	camera	NOUN
american_scientific_journal-3593	109	9	and	and	CCONJ
american_scientific_journal-3593	109	10	landmark	landmark	PROPN
american_scientific_journal-3593	109	11	detection	detection	NOUN
american_scientific_journal-3593	109	12	area	area	NOUN
american_scientific_journal-3593	109	13	of	of	ADP
american_scientific_journal-3593	109	14	the	the	DET
american_scientific_journal-3593	109	15	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	109	16	sensor	sensor	NOUN
american_scientific_journal-3593	109	17	viewing	view	VERB
american_scientific_journal-3593	109	18	angle	angle	NOUN
american_scientific_journal-3593	109	19	of	of	ADP
american_scientific_journal-3593	109	20	the	the	DET
american_scientific_journal-3593	109	21	camera	camera	NOUN
american_scientific_journal-3593	109	22	and	and	CCONJ
american_scientific_journal-3593	109	23	landmark	landmark	PROPN
american_scientific_journal-3593	109	24	detection	detection	NOUN
american_scientific_journal-3593	109	25	area	area	NOUN
american_scientific_journal-3593	109	26	of	of	ADP
american_scientific_journal-3593	109	27	the	the	DET
american_scientific_journal-3593	109	28	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	109	29	sensor	sensor	NOUN
american_scientific_journal-3593	109	30	is	be	AUX
american_scientific_journal-3593	109	31	shown	show	VERB
american_scientific_journal-3593	109	32	in	in	ADP
american_scientific_journal-3593	109	33	figure.6	figure.6	NOUN
american_scientific_journal-3593	109	34	.	.	PUNCT
american_scientific_journal-3593	110	1	when	when	SCONJ
american_scientific_journal-3593	110	2	the	the	DET
american_scientific_journal-3593	110	3	robot	robot	NOUN
american_scientific_journal-3593	110	4	found	find	VERB
american_scientific_journal-3593	110	5	the	the	DET
american_scientific_journal-3593	110	6	landmark	landmark	NOUN
american_scientific_journal-3593	110	7	within	within	ADP
american_scientific_journal-3593	110	8	the	the	DET
american_scientific_journal-3593	110	9	camera	camera	NOUN
american_scientific_journal-3593	110	10	viewing	view	VERB
american_scientific_journal-3593	110	11	angle	angle	NOUN
american_scientific_journal-3593	110	12	(	(	PUNCT
american_scientific_journal-3593	110	13	54	54	NUM
american_scientific_journal-3593	110	14	degree	degree	NOUN
american_scientific_journal-3593	110	15	)	)	PUNCT
american_scientific_journal-3593	110	16	and	and	CCONJ
american_scientific_journal-3593	110	17	the	the	DET
american_scientific_journal-3593	110	18	front	front	ADJ
american_scientific_journal-3593	110	19	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	110	20	sensor	sensor	NOUN
american_scientific_journal-3593	110	21	detection	detection	NOUN
american_scientific_journal-3593	110	22	range	range	NOUN
american_scientific_journal-3593	110	23	is	be	AUX
american_scientific_journal-3593	110	24	between	between	ADP
american_scientific_journal-3593	110	25	90	90	NUM
american_scientific_journal-3593	110	26	and	and	CCONJ
american_scientific_journal-3593	110	27	120	120	NUM
american_scientific_journal-3593	110	28	cm	cm	NOUN
american_scientific_journal-3593	110	29	,	,	PUNCT
american_scientific_journal-3593	110	30	the	the	DET
american_scientific_journal-3593	110	31	system	system	NOUN
american_scientific_journal-3593	110	32	will	will	AUX
american_scientific_journal-3593	110	33	make	make	VERB
american_scientific_journal-3593	110	34	landmark	landmark	NOUN
american_scientific_journal-3593	110	35	detection	detection	NOUN
american_scientific_journal-3593	110	36	.	.	PUNCT
american_scientific_journal-3593	111	1	3.3	3.3	NUM
american_scientific_journal-3593	111	2	.	.	PUNCT
american_scientific_journal-3593	111	3	landmark	landmark	NOUN
american_scientific_journal-3593	111	4	detection	detection	NOUN
american_scientific_journal-3593	111	5	system	system	NOUN
american_scientific_journal-3593	111	6	to	to	PART
american_scientific_journal-3593	111	7	estimate	estimate	VERB
american_scientific_journal-3593	111	8	the	the	DET
american_scientific_journal-3593	111	9	location	location	NOUN
american_scientific_journal-3593	111	10	of	of	ADP
american_scientific_journal-3593	111	11	the	the	DET
american_scientific_journal-3593	111	12	mobile	mobile	NOUN
american_scientific_journal-3593	111	13	robot	robot	NOUN
american_scientific_journal-3593	111	14	,	,	PUNCT
american_scientific_journal-3593	111	15	the	the	DET
american_scientific_journal-3593	111	16	system	system	NOUN
american_scientific_journal-3593	111	17	will	will	AUX
american_scientific_journal-3593	111	18	have	have	VERB
american_scientific_journal-3593	111	19	to	to	PART
american_scientific_journal-3593	111	20	make	make	VERB
american_scientific_journal-3593	111	21	landmark	landmark	NOUN
american_scientific_journal-3593	111	22	detection	detection	NOUN
american_scientific_journal-3593	111	23	.	.	PUNCT
american_scientific_journal-3593	112	1	after	after	ADP
american_scientific_journal-3593	112	2	landmark	landmark	PROPN
american_scientific_journal-3593	112	3	detection	detection	PROPN
american_scientific_journal-3593	112	4	,	,	PUNCT
american_scientific_journal-3593	112	5	the	the	DET
american_scientific_journal-3593	112	6	robot	robot	NOUN
american_scientific_journal-3593	112	7	will	will	AUX
american_scientific_journal-3593	112	8	know	know	VERB
american_scientific_journal-3593	112	9	the	the	DET
american_scientific_journal-3593	112	10	way	way	NOUN
american_scientific_journal-3593	112	11	where	where	SCONJ
american_scientific_journal-3593	112	12	to	to	PART
american_scientific_journal-3593	112	13	go	go	VERB
american_scientific_journal-3593	112	14	and	and	CCONJ
american_scientific_journal-3593	112	15	how	how	SCONJ
american_scientific_journal-3593	112	16	to	to	PART
american_scientific_journal-3593	112	17	act	act	VERB
american_scientific_journal-3593	112	18	.	.	PUNCT
american_scientific_journal-3593	113	1	the	the	DET
american_scientific_journal-3593	113	2	image	image	NOUN
american_scientific_journal-3593	113	3	processing	processing	NOUN
american_scientific_journal-3593	113	4	steps	step	NOUN
american_scientific_journal-3593	113	5	for	for	ADP
american_scientific_journal-3593	113	6	landmark	landmark	NOUN
american_scientific_journal-3593	113	7	detection	detection	NOUN
american_scientific_journal-3593	113	8	are	be	AUX
american_scientific_journal-3593	113	9	shown	show	VERB
american_scientific_journal-3593	113	10	in	in	ADP
american_scientific_journal-3593	113	11	figure.7	figure.7	NOUN
american_scientific_journal-3593	113	12	.	.	PUNCT
american_scientific_journal-3593	114	1	figure	figure	NOUN
american_scientific_journal-3593	114	2	7	7	NUM
american_scientific_journal-3593	114	3	:	:	PUNCT
american_scientific_journal-3593	114	4	landmark	landmark	NOUN
american_scientific_journal-3593	114	5	detection	detection	NOUN
american_scientific_journal-3593	114	6	steps	step	VERB
american_scientific_journal-3593	114	7	each	each	DET
american_scientific_journal-3593	114	8	step	step	NOUN
american_scientific_journal-3593	114	9	of	of	ADP
american_scientific_journal-3593	114	10	landmark	landmark	NOUN
american_scientific_journal-3593	114	11	detection	detection	NOUN
american_scientific_journal-3593	114	12	algorithm	algorithm	NOUN
american_scientific_journal-3593	114	13	is	be	AUX
american_scientific_journal-3593	114	14	described	describe	VERB
american_scientific_journal-3593	114	15	below	below	ADV
american_scientific_journal-3593	114	16	.	.	PUNCT
american_scientific_journal-3593	115	1	i.	i.	PROPN
american_scientific_journal-3593	115	2	thresholding	thresholde	VERB
american_scientific_journal-3593	115	3	the	the	DET
american_scientific_journal-3593	115	4	mobile	mobile	NOUN
american_scientific_journal-3593	115	5	robot	robot	NOUN
american_scientific_journal-3593	115	6	captures	capture	VERB
american_scientific_journal-3593	115	7	the	the	DET
american_scientific_journal-3593	115	8	images	image	NOUN
american_scientific_journal-3593	115	9	from	from	ADP
american_scientific_journal-3593	115	10	the	the	DET
american_scientific_journal-3593	115	11	camera	camera	NOUN
american_scientific_journal-3593	115	12	and	and	CCONJ
american_scientific_journal-3593	115	13	then	then	ADV
american_scientific_journal-3593	115	14	makes	make	VERB
american_scientific_journal-3593	115	15	thresholding	thresholde	VERB
american_scientific_journal-3593	115	16	the	the	DET
american_scientific_journal-3593	115	17	input	input	NOUN
american_scientific_journal-3593	115	18	color	color	NOUN
american_scientific_journal-3593	115	19	image	image	NOUN
american_scientific_journal-3593	115	20	to	to	ADP
american_scientific_journal-3593	115	21	american	american	ADJ
american_scientific_journal-3593	115	22	scientific	scientific	ADJ
american_scientific_journal-3593	115	23	research	research	NOUN
american_scientific_journal-3593	115	24	journal	journal	NOUN
american_scientific_journal-3593	115	25	for	for	ADP
american_scientific_journal-3593	115	26	engineering	engineering	NOUN
american_scientific_journal-3593	115	27	,	,	PUNCT
american_scientific_journal-3593	115	28	technology	technology	NOUN
american_scientific_journal-3593	115	29	,	,	PUNCT
american_scientific_journal-3593	115	30	and	and	CCONJ
american_scientific_journal-3593	115	31	sciences	science	NOUN
american_scientific_journal-3593	115	32	(	(	PUNCT
american_scientific_journal-3593	115	33	asrjets	asrjet	NOUN
american_scientific_journal-3593	115	34	)	)	PUNCT
american_scientific_journal-3593	115	35	(	(	PUNCT
american_scientific_journal-3593	115	36	2017	2017	NUM
american_scientific_journal-3593	115	37	)	)	PUNCT
american_scientific_journal-3593	115	38	volume	volume	NOUN
american_scientific_journal-3593	115	39	38	38	NUM
american_scientific_journal-3593	115	40	,	,	PUNCT
american_scientific_journal-3593	115	41	no	no	DET
american_scientific_journal-3593	115	42	1	1	NUM
american_scientific_journal-3593	115	43	,	,	PUNCT
american_scientific_journal-3593	115	44	pp	pp	ADV
american_scientific_journal-3593	115	45	306	306	NUM
american_scientific_journal-3593	115	46	-	-	SYM
american_scientific_journal-3593	115	47	324	324	NUM
american_scientific_journal-3593	115	48	312	312	NUM
american_scientific_journal-3593	115	49	retain	retain	VERB
american_scientific_journal-3593	115	50	only	only	ADV
american_scientific_journal-3593	115	51	the	the	DET
american_scientific_journal-3593	115	52	portions	portion	NOUN
american_scientific_journal-3593	115	53	of	of	ADP
american_scientific_journal-3593	115	54	the	the	DET
american_scientific_journal-3593	115	55	image	image	NOUN
american_scientific_journal-3593	115	56	that	that	PRON
american_scientific_journal-3593	115	57	are	be	AUX
american_scientific_journal-3593	115	58	white	white	ADJ
american_scientific_journal-3593	115	59	.	.	PUNCT
american_scientific_journal-3593	116	1	so	so	ADV
american_scientific_journal-3593	116	2	,	,	PUNCT
american_scientific_journal-3593	116	3	the	the	DET
american_scientific_journal-3593	116	4	input	input	NOUN
american_scientific_journal-3593	116	5	color	color	NOUN
american_scientific_journal-3593	116	6	image	image	NOUN
american_scientific_journal-3593	116	7	is	be	AUX
american_scientific_journal-3593	116	8	converted	convert	VERB
american_scientific_journal-3593	116	9	into	into	ADP
american_scientific_journal-3593	116	10	the	the	DET
american_scientific_journal-3593	116	11	gray	gray	ADJ
american_scientific_journal-3593	116	12	scale	scale	NOUN
american_scientific_journal-3593	116	13	image	image	NOUN
american_scientific_journal-3593	116	14	and	and	CCONJ
american_scientific_journal-3593	116	15	normalize	normalize	VERB
american_scientific_journal-3593	116	16	the	the	DET
american_scientific_journal-3593	116	17	image	image	NOUN
american_scientific_journal-3593	116	18	adaptively	adaptively	ADV
american_scientific_journal-3593	116	19	.	.	PUNCT
american_scientific_journal-3593	117	1	the	the	DET
american_scientific_journal-3593	117	2	thresholded	thresholde	VERB
american_scientific_journal-3593	117	3	image	image	NOUN
american_scientific_journal-3593	117	4	is	be	AUX
american_scientific_journal-3593	117	5	used	use	VERB
american_scientific_journal-3593	117	6	to	to	PART
american_scientific_journal-3593	117	7	predict	predict	VERB
american_scientific_journal-3593	117	8	the	the	DET
american_scientific_journal-3593	117	9	orientation	orientation	NOUN
american_scientific_journal-3593	117	10	of	of	ADP
american_scientific_journal-3593	117	11	the	the	DET
american_scientific_journal-3593	117	12	landmark	landmark	NOUN
american_scientific_journal-3593	117	13	in	in	ADP
american_scientific_journal-3593	117	14	the	the	DET
american_scientific_journal-3593	117	15	image	image	NOUN
american_scientific_journal-3593	117	16	.	.	PUNCT
american_scientific_journal-3593	118	1	ii	ii	PROPN
american_scientific_journal-3593	118	2	.	.	PUNCT
american_scientific_journal-3593	119	1	detecting	detect	VERB
american_scientific_journal-3593	119	2	edges	edge	NOUN
american_scientific_journal-3593	119	3	using	use	VERB
american_scientific_journal-3593	119	4	canny	canny	ADJ
american_scientific_journal-3593	119	5	method	method	NOUN
american_scientific_journal-3593	119	6	canny	canny	ADJ
american_scientific_journal-3593	119	7	edge	edge	NOUN
american_scientific_journal-3593	119	8	detection	detection	NOUN
american_scientific_journal-3593	119	9	is	be	AUX
american_scientific_journal-3593	119	10	a	a	DET
american_scientific_journal-3593	119	11	process	process	NOUN
american_scientific_journal-3593	119	12	of	of	ADP
american_scientific_journal-3593	119	13	locating	locate	VERB
american_scientific_journal-3593	119	14	an	an	DET
american_scientific_journal-3593	119	15	edge	edge	NOUN
american_scientific_journal-3593	119	16	of	of	ADP
american_scientific_journal-3593	119	17	an	an	DET
american_scientific_journal-3593	119	18	image	image	NOUN
american_scientific_journal-3593	119	19	.	.	PUNCT
american_scientific_journal-3593	120	1	detection	detection	NOUN
american_scientific_journal-3593	120	2	of	of	ADP
american_scientific_journal-3593	120	3	edges	edge	NOUN
american_scientific_journal-3593	120	4	in	in	ADP
american_scientific_journal-3593	120	5	an	an	DET
american_scientific_journal-3593	120	6	image	image	NOUN
american_scientific_journal-3593	120	7	is	be	AUX
american_scientific_journal-3593	120	8	a	a	DET
american_scientific_journal-3593	120	9	very	very	ADV
american_scientific_journal-3593	120	10	important	important	ADJ
american_scientific_journal-3593	120	11	step	step	NOUN
american_scientific_journal-3593	120	12	towards	towards	ADP
american_scientific_journal-3593	120	13	understanding	understand	VERB
american_scientific_journal-3593	120	14	image	image	NOUN
american_scientific_journal-3593	120	15	features	feature	NOUN
american_scientific_journal-3593	120	16	.	.	PUNCT
american_scientific_journal-3593	121	1	edges	edge	NOUN
american_scientific_journal-3593	121	2	consist	consist	VERB
american_scientific_journal-3593	121	3	of	of	ADP
american_scientific_journal-3593	121	4	meaningful	meaningful	ADJ
american_scientific_journal-3593	121	5	features	feature	NOUN
american_scientific_journal-3593	121	6	and	and	CCONJ
american_scientific_journal-3593	121	7	contain	contain	VERB
american_scientific_journal-3593	121	8	significant	significant	ADJ
american_scientific_journal-3593	121	9	information	information	NOUN
american_scientific_journal-3593	121	10	.	.	PUNCT
american_scientific_journal-3593	122	1	processing	processing	NOUN
american_scientific_journal-3593	122	2	results	result	NOUN
american_scientific_journal-3593	122	3	for	for	ADP
american_scientific_journal-3593	122	4	canny	canny	ADJ
american_scientific_journal-3593	122	5	edge	edge	NOUN
american_scientific_journal-3593	122	6	detection	detection	NOUN
american_scientific_journal-3593	122	7	is	be	AUX
american_scientific_journal-3593	122	8	shown	show	VERB
american_scientific_journal-3593	122	9	in	in	ADP
american_scientific_journal-3593	122	10	figure.8	figure.8	PROPN
american_scientific_journal-3593	122	11	.	.	PROPN
american_scientific_journal-3593	123	1	after	after	ADP
american_scientific_journal-3593	123	2	making	make	VERB
american_scientific_journal-3593	123	3	thresholding	thresholding	NOUN
american_scientific_journal-3593	123	4	,	,	PUNCT
american_scientific_journal-3593	123	5	the	the	DET
american_scientific_journal-3593	123	6	image	image	NOUN
american_scientific_journal-3593	123	7	is	be	AUX
american_scientific_journal-3593	123	8	detected	detect	VERB
american_scientific_journal-3593	123	9	with	with	ADP
american_scientific_journal-3593	123	10	canny	canny	ADJ
american_scientific_journal-3593	123	11	edge	edge	NOUN
american_scientific_journal-3593	123	12	detection	detection	NOUN
american_scientific_journal-3593	123	13	.	.	PUNCT
american_scientific_journal-3593	124	1	in	in	ADP
american_scientific_journal-3593	124	2	canny	canny	ADJ
american_scientific_journal-3593	124	3	edge	edge	NOUN
american_scientific_journal-3593	124	4	detection	detection	NOUN
american_scientific_journal-3593	124	5	algorithm	algorithm	NOUN
american_scientific_journal-3593	124	6	,	,	PUNCT
american_scientific_journal-3593	124	7	it	it	PRON
american_scientific_journal-3593	124	8	is	be	AUX
american_scientific_journal-3593	124	9	firstly	firstly	ADV
american_scientific_journal-3593	124	10	smoothed	smooth	VERB
american_scientific_journal-3593	124	11	the	the	DET
american_scientific_journal-3593	124	12	noise	noise	NOUN
american_scientific_journal-3593	124	13	in	in	ADP
american_scientific_journal-3593	124	14	the	the	DET
american_scientific_journal-3593	124	15	image	image	NOUN
american_scientific_journal-3593	124	16	by	by	ADP
american_scientific_journal-3593	124	17	applying	apply	VERB
american_scientific_journal-3593	124	18	a	a	DET
american_scientific_journal-3593	124	19	gaussian	gaussian	ADJ
american_scientific_journal-3593	124	20	filter	filter	NOUN
american_scientific_journal-3593	124	21	because	because	SCONJ
american_scientific_journal-3593	124	22	all	all	DET
american_scientific_journal-3593	124	23	images	image	NOUN
american_scientific_journal-3593	124	24	taken	take	VERB
american_scientific_journal-3593	124	25	from	from	ADP
american_scientific_journal-3593	124	26	a	a	DET
american_scientific_journal-3593	124	27	camera	camera	NOUN
american_scientific_journal-3593	124	28	will	will	AUX
american_scientific_journal-3593	124	29	contain	contain	VERB
american_scientific_journal-3593	124	30	some	some	DET
american_scientific_journal-3593	124	31	amount	amount	NOUN
american_scientific_journal-3593	124	32	of	of	ADP
american_scientific_journal-3593	124	33	noise	noise	NOUN
american_scientific_journal-3593	124	34	.	.	PUNCT
american_scientific_journal-3593	125	1	then	then	ADV
american_scientific_journal-3593	125	2	,	,	PUNCT
american_scientific_journal-3593	125	3	it	it	PRON
american_scientific_journal-3593	125	4	finds	find	VERB
american_scientific_journal-3593	125	5	the	the	DET
american_scientific_journal-3593	125	6	gradients	gradient	NOUN
american_scientific_journal-3593	125	7	of	of	ADP
american_scientific_journal-3593	125	8	the	the	DET
american_scientific_journal-3593	125	9	landmark	landmark	NOUN
american_scientific_journal-3593	125	10	so	so	SCONJ
american_scientific_journal-3593	125	11	that	that	SCONJ
american_scientific_journal-3593	125	12	the	the	DET
american_scientific_journal-3593	125	13	edges	edge	NOUN
american_scientific_journal-3593	125	14	should	should	AUX
american_scientific_journal-3593	125	15	be	be	AUX
american_scientific_journal-3593	125	16	marked	mark	VERB
american_scientific_journal-3593	125	17	where	where	SCONJ
american_scientific_journal-3593	125	18	the	the	DET
american_scientific_journal-3593	125	19	gradients	gradient	NOUN
american_scientific_journal-3593	125	20	of	of	ADP
american_scientific_journal-3593	125	21	the	the	DET
american_scientific_journal-3593	125	22	image	image	NOUN
american_scientific_journal-3593	125	23	has	have	VERB
american_scientific_journal-3593	125	24	large	large	ADJ
american_scientific_journal-3593	125	25	magnitudes	magnitude	NOUN
american_scientific_journal-3593	125	26	.	.	PUNCT
american_scientific_journal-3593	126	1	it	it	PRON
american_scientific_journal-3593	126	2	reduces	reduce	VERB
american_scientific_journal-3593	126	3	the	the	DET
american_scientific_journal-3593	126	4	number	number	NOUN
american_scientific_journal-3593	126	5	of	of	ADP
american_scientific_journal-3593	126	6	false	false	ADJ
american_scientific_journal-3593	126	7	edges	edge	NOUN
american_scientific_journal-3593	126	8	by	by	ADP
american_scientific_journal-3593	126	9	applying	apply	VERB
american_scientific_journal-3593	126	10	double	double	ADJ
american_scientific_journal-3593	126	11	thresholding	thresholding	NOUN
american_scientific_journal-3593	126	12	.	.	PUNCT
american_scientific_journal-3593	127	1	final	final	ADJ
american_scientific_journal-3593	127	2	edges	edge	NOUN
american_scientific_journal-3593	127	3	are	be	AUX
american_scientific_journal-3593	127	4	determined	determine	VERB
american_scientific_journal-3593	127	5	by	by	ADP
american_scientific_journal-3593	127	6	suppressing	suppress	VERB
american_scientific_journal-3593	127	7	all	all	DET
american_scientific_journal-3593	127	8	edges	edge	NOUN
american_scientific_journal-3593	127	9	that	that	PRON
american_scientific_journal-3593	127	10	are	be	AUX
american_scientific_journal-3593	127	11	not	not	PART
american_scientific_journal-3593	127	12	connected	connect	VERB
american_scientific_journal-3593	127	13	to	to	ADP
american_scientific_journal-3593	127	14	a	a	DET
american_scientific_journal-3593	127	15	very	very	ADV
american_scientific_journal-3593	127	16	certain	certain	ADJ
american_scientific_journal-3593	127	17	(	(	PUNCT
american_scientific_journal-3593	127	18	strong	strong	ADJ
american_scientific_journal-3593	127	19	)	)	PUNCT
american_scientific_journal-3593	127	20	edge	edge	NOUN
american_scientific_journal-3593	127	21	.	.	PUNCT
american_scientific_journal-3593	128	1	figure	figure	NOUN
american_scientific_journal-3593	128	2	8	8	NUM
american_scientific_journal-3593	128	3	:	:	PUNCT
american_scientific_journal-3593	128	4	processing	processing	NOUN
american_scientific_journal-3593	128	5	results	result	NOUN
american_scientific_journal-3593	128	6	for	for	ADP
american_scientific_journal-3593	128	7	canny	canny	ADJ
american_scientific_journal-3593	128	8	edge	edge	NOUN
american_scientific_journal-3593	128	9	detection	detection	NOUN
american_scientific_journal-3593	128	10	i.	i.	NOUN
american_scientific_journal-3593	128	11	contour	contour	NOUN
american_scientific_journal-3593	128	12	representation	representation	NOUN
american_scientific_journal-3593	128	13	using	use	VERB
american_scientific_journal-3593	128	14	edge	edge	NOUN
american_scientific_journal-3593	128	15	points	point	NOUN
american_scientific_journal-3593	128	16	chain	chain	NOUN
american_scientific_journal-3593	128	17	-	-	PUNCT
american_scientific_journal-3593	128	18	code	code	NOUN
american_scientific_journal-3593	128	19	approximation	approximation	NOUN
american_scientific_journal-3593	128	20	algorithm	algorithm	NOUN
american_scientific_journal-3593	128	21	is	be	AUX
american_scientific_journal-3593	128	22	used	use	VERB
american_scientific_journal-3593	128	23	to	to	PART
american_scientific_journal-3593	128	24	represent	represent	VERB
american_scientific_journal-3593	128	25	the	the	DET
american_scientific_journal-3593	128	26	result	result	NOUN
american_scientific_journal-3593	128	27	edge	edge	NOUN
american_scientific_journal-3593	128	28	points	point	NOUN
american_scientific_journal-3593	128	29	as	as	ADP
american_scientific_journal-3593	128	30	contour	contour	NOUN
american_scientific_journal-3593	128	31	of	of	ADP
american_scientific_journal-3593	128	32	the	the	DET
american_scientific_journal-3593	128	33	landmark	landmark	NOUN
american_scientific_journal-3593	128	34	.	.	PUNCT
american_scientific_journal-3593	129	1	edges	edge	NOUN
american_scientific_journal-3593	129	2	must	must	AUX
american_scientific_journal-3593	129	3	be	be	AUX
american_scientific_journal-3593	129	4	linked	link	VERB
american_scientific_journal-3593	129	5	into	into	ADP
american_scientific_journal-3593	129	6	a	a	DET
american_scientific_journal-3593	129	7	representation	representation	NOUN
american_scientific_journal-3593	129	8	for	for	ADP
american_scientific_journal-3593	129	9	a	a	DET
american_scientific_journal-3593	129	10	region	region	NOUN
american_scientific_journal-3593	129	11	boundary	boundary	NOUN
american_scientific_journal-3593	129	12	called	call	VERB
american_scientific_journal-3593	129	13	contour	contour	NOUN
american_scientific_journal-3593	129	14	.	.	PUNCT
american_scientific_journal-3593	130	1	it	it	PRON
american_scientific_journal-3593	130	2	starts	start	VERB
american_scientific_journal-3593	130	3	at	at	ADP
american_scientific_journal-3593	130	4	the	the	DET
american_scientific_journal-3593	130	5	first	first	ADJ
american_scientific_journal-3593	130	6	edge	edge	NOUN
american_scientific_journal-3593	130	7	point	point	NOUN
american_scientific_journal-3593	130	8	and	and	CCONJ
american_scientific_journal-3593	130	9	goes	go	VERB
american_scientific_journal-3593	130	10	clockwise	clockwise	NOUN
american_scientific_journal-3593	130	11	direction	direction	NOUN
american_scientific_journal-3593	130	12	around	around	ADP
american_scientific_journal-3593	130	13	the	the	DET
american_scientific_journal-3593	130	14	contour	contour	NOUN
american_scientific_journal-3593	130	15	.	.	PUNCT
american_scientific_journal-3593	131	1	the	the	DET
american_scientific_journal-3593	131	2	direction	direction	NOUN
american_scientific_journal-3593	131	3	to	to	ADP
american_scientific_journal-3593	131	4	the	the	DET
american_scientific_journal-3593	131	5	next	next	ADJ
american_scientific_journal-3593	131	6	edge	edge	NOUN
american_scientific_journal-3593	131	7	point	point	NOUN
american_scientific_journal-3593	131	8	is	be	AUX
american_scientific_journal-3593	131	9	specified	specify	VERB
american_scientific_journal-3593	131	10	using	use	VERB
american_scientific_journal-3593	131	11	eight	eight	NUM
american_scientific_journal-3593	131	12	quantized	quantize	VERB
american_scientific_journal-3593	131	13	directions	direction	NOUN
american_scientific_journal-3593	131	14	.	.	PUNCT
american_scientific_journal-3593	132	1	a	a	DET
american_scientific_journal-3593	132	2	contour	contour	NOUN
american_scientific_journal-3593	132	3	may	may	AUX
american_scientific_journal-3593	132	4	be	be	AUX
american_scientific_journal-3593	132	5	represented	represent	VERB
american_scientific_journal-3593	132	6	as	as	ADP
american_scientific_journal-3593	132	7	an	an	DET
american_scientific_journal-3593	132	8	ordered	order	VERB
american_scientific_journal-3593	132	9	list	list	NOUN
american_scientific_journal-3593	132	10	of	of	ADP
american_scientific_journal-3593	132	11	edges	edge	NOUN
american_scientific_journal-3593	132	12	.	.	PUNCT
american_scientific_journal-3593	133	1	the	the	DET
american_scientific_journal-3593	133	2	accuracy	accuracy	NOUN
american_scientific_journal-3593	133	3	of	of	ADP
american_scientific_journal-3593	133	4	the	the	DET
american_scientific_journal-3593	133	5	contour	contour	NOUN
american_scientific_journal-3593	133	6	representation	representation	NOUN
american_scientific_journal-3593	133	7	is	be	AUX
american_scientific_journal-3593	133	8	determined	determine	VERB
american_scientific_journal-3593	133	9	by	by	ADP
american_scientific_journal-3593	133	10	the	the	DET
american_scientific_journal-3593	133	11	accuracy	accuracy	NOUN
american_scientific_journal-3593	133	12	of	of	ADP
american_scientific_journal-3593	133	13	the	the	DET
american_scientific_journal-3593	133	14	estimates	estimate	NOUN
american_scientific_journal-3593	133	15	of	of	ADP
american_scientific_journal-3593	133	16	edge	edge	NOUN
american_scientific_journal-3593	133	17	location	location	NOUN
american_scientific_journal-3593	133	18	.	.	PUNCT
american_scientific_journal-3593	134	1	higher	high	ADJ
american_scientific_journal-3593	134	2	accuracy	accuracy	NOUN
american_scientific_journal-3593	134	3	can	can	AUX
american_scientific_journal-3593	134	4	be	be	AUX
american_scientific_journal-3593	134	5	obtained	obtain	VERB
american_scientific_journal-3593	134	6	by	by	ADP
american_scientific_journal-3593	134	7	computing	compute	VERB
american_scientific_journal-3593	134	8	an	an	DET
american_scientific_journal-3593	134	9	approximation	approximation	NOUN
american_scientific_journal-3593	134	10	that	that	PRON
american_scientific_journal-3593	134	11	is	be	AUX
american_scientific_journal-3593	134	12	not	not	PART
american_scientific_journal-3593	134	13	forced	force	VERB
american_scientific_journal-3593	134	14	to	to	PART
american_scientific_journal-3593	134	15	pass	pass	VERB
american_scientific_journal-3593	134	16	through	through	ADP
american_scientific_journal-3593	134	17	particular	particular	ADJ
american_scientific_journal-3593	134	18	edge	edge	NOUN
american_scientific_journal-3593	134	19	points	point	NOUN
american_scientific_journal-3593	134	20	.	.	PUNCT
american_scientific_journal-3593	135	1	approximation	approximation	NOUN
american_scientific_journal-3593	135	2	-	-	PUNCT
american_scientific_journal-3593	135	3	based	base	VERB
american_scientific_journal-3593	135	4	methods	method	NOUN
american_scientific_journal-3593	135	5	use	use	VERB
american_scientific_journal-3593	135	6	all	all	DET
american_scientific_journal-3593	135	7	the	the	DET
american_scientific_journal-3593	135	8	edge	edge	NOUN
american_scientific_journal-3593	135	9	points	point	NOUN
american_scientific_journal-3593	135	10	to	to	PART
american_scientific_journal-3593	135	11	find	find	VERB
american_scientific_journal-3593	135	12	a	a	DET
american_scientific_journal-3593	135	13	good	good	ADJ
american_scientific_journal-3593	135	14	fit	fit	NOUN
american_scientific_journal-3593	135	15	.	.	PUNCT
american_scientific_journal-3593	136	1	processing	processing	NOUN
american_scientific_journal-3593	136	2	results	result	NOUN
american_scientific_journal-3593	136	3	for	for	ADP
american_scientific_journal-3593	136	4	contour	contour	NOUN
american_scientific_journal-3593	136	5	representation	representation	NOUN
american_scientific_journal-3593	136	6	is	be	AUX
american_scientific_journal-3593	136	7	shown	show	VERB
american_scientific_journal-3593	136	8	in	in	ADP
american_scientific_journal-3593	136	9	figure.9	figure.9	NOUN
american_scientific_journal-3593	136	10	.	.	PUNCT
american_scientific_journal-3593	137	1	american	american	ADJ
american_scientific_journal-3593	137	2	scientific	scientific	ADJ
american_scientific_journal-3593	137	3	research	research	PROPN
american_scientific_journal-3593	137	4	journal	journal	NOUN
american_scientific_journal-3593	137	5	for	for	ADP
american_scientific_journal-3593	137	6	engineering	engineering	NOUN
american_scientific_journal-3593	137	7	,	,	PUNCT
american_scientific_journal-3593	137	8	technology	technology	NOUN
american_scientific_journal-3593	137	9	,	,	PUNCT
american_scientific_journal-3593	137	10	and	and	CCONJ
american_scientific_journal-3593	137	11	sciences	science	NOUN
american_scientific_journal-3593	137	12	(	(	PUNCT
american_scientific_journal-3593	137	13	asrjets	asrjet	NOUN
american_scientific_journal-3593	137	14	)	)	PUNCT
american_scientific_journal-3593	137	15	(	(	PUNCT
american_scientific_journal-3593	137	16	2017	2017	NUM
american_scientific_journal-3593	137	17	)	)	PUNCT
american_scientific_journal-3593	137	18	volume	volume	NOUN
american_scientific_journal-3593	137	19	38	38	NUM
american_scientific_journal-3593	137	20	,	,	PUNCT
american_scientific_journal-3593	137	21	no	no	DET
american_scientific_journal-3593	137	22	1	1	NUM
american_scientific_journal-3593	137	23	,	,	PUNCT
american_scientific_journal-3593	137	24	pp	pp	ADV
american_scientific_journal-3593	137	25	306	306	NUM
american_scientific_journal-3593	137	26	-	-	SYM
american_scientific_journal-3593	137	27	324	324	NUM
american_scientific_journal-3593	137	28	313	313	NUM
american_scientific_journal-3593	137	29	figure	figure	NOUN
american_scientific_journal-3593	137	30	9	9	NUM
american_scientific_journal-3593	137	31	:	:	PUNCT
american_scientific_journal-3593	137	32	processing	processing	NOUN
american_scientific_journal-3593	137	33	results	result	NOUN
american_scientific_journal-3593	137	34	for	for	ADP
american_scientific_journal-3593	137	35	contour	contour	NOUN
american_scientific_journal-3593	137	36	representation	representation	NOUN
american_scientific_journal-3593	137	37	ii	ii	PROPN
american_scientific_journal-3593	137	38	.	.	PUNCT
american_scientific_journal-3593	137	39	corner	corner	PROPN
american_scientific_journal-3593	137	40	localization	localization	NOUN
american_scientific_journal-3593	137	41	to	to	PART
american_scientific_journal-3593	137	42	recognize	recognize	VERB
american_scientific_journal-3593	137	43	the	the	DET
american_scientific_journal-3593	137	44	landmarks	landmark	NOUN
american_scientific_journal-3593	137	45	whether	whether	SCONJ
american_scientific_journal-3593	137	46	it	it	PRON
american_scientific_journal-3593	137	47	is	be	AUX
american_scientific_journal-3593	137	48	or	or	CCONJ
american_scientific_journal-3593	137	49	not	not	PART
american_scientific_journal-3593	137	50	,	,	PUNCT
american_scientific_journal-3593	137	51	the	the	DET
american_scientific_journal-3593	137	52	robot	robot	NOUN
american_scientific_journal-3593	137	53	have	have	VERB
american_scientific_journal-3593	137	54	to	to	PART
american_scientific_journal-3593	137	55	find	find	VERB
american_scientific_journal-3593	137	56	the	the	DET
american_scientific_journal-3593	137	57	four	four	NUM
american_scientific_journal-3593	137	58	corners	corner	NOUN
american_scientific_journal-3593	137	59	of	of	ADP
american_scientific_journal-3593	137	60	the	the	DET
american_scientific_journal-3593	137	61	rectangle	rectangle	NOUN
american_scientific_journal-3593	137	62	of	of	ADP
american_scientific_journal-3593	137	63	the	the	DET
american_scientific_journal-3593	137	64	landmark	landmark	NOUN
american_scientific_journal-3593	137	65	that	that	PRON
american_scientific_journal-3593	137	66	enclose	enclose	VERB
american_scientific_journal-3593	137	67	the	the	DET
american_scientific_journal-3593	137	68	symbol	symbol	NOUN
american_scientific_journal-3593	137	69	.	.	PUNCT
american_scientific_journal-3593	138	1	the	the	DET
american_scientific_journal-3593	138	2	robot	robot	NOUN
american_scientific_journal-3593	138	3	finds	find	VERB
american_scientific_journal-3593	138	4	four	four	NUM
american_scientific_journal-3593	138	5	corners	corner	NOUN
american_scientific_journal-3593	138	6	(	(	PUNCT
american_scientific_journal-3593	138	7	top	top	NOUN
american_scientific_journal-3593	138	8	left	left	ADJ
american_scientific_journal-3593	138	9	,	,	PUNCT
american_scientific_journal-3593	138	10	top	top	ADJ
american_scientific_journal-3593	138	11	right	right	NOUN
american_scientific_journal-3593	138	12	,	,	PUNCT
american_scientific_journal-3593	138	13	bottom	bottom	NOUN
american_scientific_journal-3593	138	14	left	left	ADJ
american_scientific_journal-3593	138	15	,	,	PUNCT
american_scientific_journal-3593	138	16	and	and	CCONJ
american_scientific_journal-3593	138	17	bottom	bottom	ADJ
american_scientific_journal-3593	138	18	right	right	NOUN
american_scientific_journal-3593	138	19	)	)	PUNCT
american_scientific_journal-3593	138	20	to	to	PART
american_scientific_journal-3593	138	21	be	be	AUX
american_scientific_journal-3593	138	22	more	more	ADV
american_scientific_journal-3593	138	23	sure	sure	ADJ
american_scientific_journal-3593	138	24	the	the	DET
american_scientific_journal-3593	138	25	location	location	NOUN
american_scientific_journal-3593	138	26	of	of	ADP
american_scientific_journal-3593	138	27	the	the	DET
american_scientific_journal-3593	138	28	landmark	landmark	NOUN
american_scientific_journal-3593	138	29	.	.	PUNCT
american_scientific_journal-3593	139	1	processing	processing	NOUN
american_scientific_journal-3593	139	2	results	result	NOUN
american_scientific_journal-3593	139	3	for	for	ADP
american_scientific_journal-3593	139	4	corner	corner	NOUN
american_scientific_journal-3593	139	5	localization	localization	NOUN
american_scientific_journal-3593	139	6	is	be	AUX
american_scientific_journal-3593	139	7	shown	show	VERB
american_scientific_journal-3593	139	8	in	in	ADP
american_scientific_journal-3593	139	9	figure.10	figure.10	NOUN
american_scientific_journal-3593	139	10	.	.	PUNCT
american_scientific_journal-3593	140	1	figure	figure	NOUN
american_scientific_journal-3593	140	2	10	10	NUM
american_scientific_journal-3593	140	3	:	:	PUNCT
american_scientific_journal-3593	140	4	processing	processing	NOUN
american_scientific_journal-3593	140	5	results	result	NOUN
american_scientific_journal-3593	140	6	for	for	ADP
american_scientific_journal-3593	140	7	corner	corner	NOUN
american_scientific_journal-3593	140	8	localization	localization	PROPN
american_scientific_journal-3593	140	9	iii	iii	PROPN
american_scientific_journal-3593	140	10	.	.	PUNCT
american_scientific_journal-3593	140	11	matching	match	VERB
american_scientific_journal-3593	140	12	landmarks	landmark	NOUN
american_scientific_journal-3593	140	13	with	with	ADP
american_scientific_journal-3593	140	14	xor	xor	PROPN
american_scientific_journal-3593	140	15	after	after	ADP
american_scientific_journal-3593	140	16	corner	corner	NOUN
american_scientific_journal-3593	140	17	localization	localization	NOUN
american_scientific_journal-3593	140	18	,	,	PUNCT
american_scientific_journal-3593	140	19	the	the	DET
american_scientific_journal-3593	140	20	system	system	NOUN
american_scientific_journal-3593	140	21	will	will	AUX
american_scientific_journal-3593	140	22	match	match	VERB
american_scientific_journal-3593	140	23	the	the	DET
american_scientific_journal-3593	140	24	detected	detect	VERB
american_scientific_journal-3593	140	25	artificial	artificial	ADJ
american_scientific_journal-3593	140	26	landmark	landmark	NOUN
american_scientific_journal-3593	140	27	with	with	ADP
american_scientific_journal-3593	140	28	the	the	DET
american_scientific_journal-3593	140	29	predefined	predefine	VERB
american_scientific_journal-3593	140	30	landmarks	landmark	NOUN
american_scientific_journal-3593	140	31	which	which	PRON
american_scientific_journal-3593	140	32	are	be	AUX
american_scientific_journal-3593	140	33	already	already	ADV
american_scientific_journal-3593	140	34	stored	store	VERB
american_scientific_journal-3593	140	35	in	in	ADP
american_scientific_journal-3593	140	36	the	the	DET
american_scientific_journal-3593	140	37	system	system	NOUN
american_scientific_journal-3593	140	38	as	as	ADP
american_scientific_journal-3593	140	39	database	database	NOUN
american_scientific_journal-3593	140	40	by	by	ADP
american_scientific_journal-3593	140	41	using	use	VERB
american_scientific_journal-3593	140	42	xor	xor	PROPN
american_scientific_journal-3593	140	43	function	function	NOUN
american_scientific_journal-3593	140	44	.	.	PUNCT
american_scientific_journal-3593	141	1	processing	processing	NOUN
american_scientific_journal-3593	141	2	results	result	NOUN
american_scientific_journal-3593	141	3	for	for	ADP
american_scientific_journal-3593	141	4	matching	match	VERB
american_scientific_journal-3593	141	5	landmark	landmark	NOUN
american_scientific_journal-3593	141	6	using	use	VERB
american_scientific_journal-3593	141	7	xor	xor	PROPN
american_scientific_journal-3593	141	8	is	be	AUX
american_scientific_journal-3593	141	9	shown	show	VERB
american_scientific_journal-3593	141	10	in	in	ADP
american_scientific_journal-3593	141	11	figure.11	figure.11	NOUN
american_scientific_journal-3593	141	12	.	.	PUNCT
american_scientific_journal-3593	142	1	after	after	ADP
american_scientific_journal-3593	142	2	making	make	VERB
american_scientific_journal-3593	142	3	the	the	DET
american_scientific_journal-3593	142	4	landmark	landmark	NOUN
american_scientific_journal-3593	142	5	detection	detection	NOUN
american_scientific_journal-3593	142	6	processes	process	NOUN
american_scientific_journal-3593	142	7	,	,	PUNCT
american_scientific_journal-3593	142	8	the	the	DET
american_scientific_journal-3593	142	9	system	system	NOUN
american_scientific_journal-3593	142	10	will	will	AUX
american_scientific_journal-3593	142	11	get	get	VERB
american_scientific_journal-3593	142	12	the	the	DET
american_scientific_journal-3593	142	13	detected	detect	VERB
american_scientific_journal-3593	142	14	artificial	artificial	ADJ
american_scientific_journal-3593	142	15	landmark	landmark	NOUN
american_scientific_journal-3593	142	16	and	and	CCONJ
american_scientific_journal-3593	142	17	will	will	AUX
american_scientific_journal-3593	142	18	show	show	VERB
american_scientific_journal-3593	142	19	the	the	DET
american_scientific_journal-3593	142	20	sign	sign	NOUN
american_scientific_journal-3593	142	21	of	of	ADP
american_scientific_journal-3593	142	22	the	the	DET
american_scientific_journal-3593	142	23	landmark	landmark	NOUN
american_scientific_journal-3593	142	24	with	with	ADP
american_scientific_journal-3593	142	25	words	word	NOUN
american_scientific_journal-3593	142	26	(	(	PUNCT
american_scientific_journal-3593	142	27	e.g.	e.g.	ADV
american_scientific_journal-3593	142	28	go	go	VERB
american_scientific_journal-3593	142	29	,	,	PUNCT
american_scientific_journal-3593	142	30	turn	turn	VERB
american_scientific_journal-3593	142	31	left	left	ADJ
american_scientific_journal-3593	142	32	,	,	PUNCT
american_scientific_journal-3593	142	33	etc	etc	X
american_scientific_journal-3593	142	34	)	)	PUNCT
american_scientific_journal-3593	142	35	.	.	PUNCT
american_scientific_journal-3593	143	1	figure	figure	VERB
american_scientific_journal-3593	143	2	11	11	NUM
american_scientific_journal-3593	143	3	:	:	PUNCT
american_scientific_journal-3593	143	4	processing	processing	NOUN
american_scientific_journal-3593	143	5	results	result	NOUN
american_scientific_journal-3593	143	6	for	for	ADP
american_scientific_journal-3593	143	7	matching	match	VERB
american_scientific_journal-3593	143	8	landmark	landmark	NOUN
american_scientific_journal-3593	143	9	using	use	VERB
american_scientific_journal-3593	143	10	xor	xor	PROPN
american_scientific_journal-3593	143	11	the	the	DET
american_scientific_journal-3593	143	12	results	result	NOUN
american_scientific_journal-3593	143	13	of	of	ADP
american_scientific_journal-3593	143	14	the	the	DET
american_scientific_journal-3593	143	15	detected	detect	VERB
american_scientific_journal-3593	143	16	artificial	artificial	ADJ
american_scientific_journal-3593	143	17	landmarks	landmark	NOUN
american_scientific_journal-3593	143	18	are	be	AUX
american_scientific_journal-3593	143	19	shown	show	VERB
american_scientific_journal-3593	143	20	in	in	ADP
american_scientific_journal-3593	143	21	figure	figure	NOUN
american_scientific_journal-3593	143	22	.	.	PUNCT
american_scientific_journal-3593	144	1	12(a	12(a	NUM
american_scientific_journal-3593	144	2	)	)	PUNCT
american_scientific_journal-3593	144	3	.	.	PUNCT
american_scientific_journal-3593	145	1	in	in	ADP
american_scientific_journal-3593	145	2	this	this	DET
american_scientific_journal-3593	145	3	system	system	NOUN
american_scientific_journal-3593	145	4	,	,	PUNCT
american_scientific_journal-3593	145	5	landmark	landmark	NOUN
american_scientific_journal-3593	145	6	detection	detection	NOUN
american_scientific_journal-3593	145	7	method	method	NOUN
american_scientific_journal-3593	145	8	is	be	AUX
american_scientific_journal-3593	145	9	applicable	applicable	ADJ
american_scientific_journal-3593	145	10	to	to	ADP
american_scientific_journal-3593	145	11	mobile	mobile	ADJ
american_scientific_journal-3593	145	12	robot	robot	NOUN
american_scientific_journal-3593	145	13	localization	localization	NOUN
american_scientific_journal-3593	145	14	.	.	PUNCT
american_scientific_journal-3593	146	1	it	it	PRON
american_scientific_journal-3593	146	2	proved	prove	VERB
american_scientific_journal-3593	146	3	to	to	PART
american_scientific_journal-3593	146	4	achieve	achieve	VERB
american_scientific_journal-3593	146	5	solutions	solution	NOUN
american_scientific_journal-3593	146	6	with	with	ADP
american_scientific_journal-3593	146	7	less	less	ADV
american_scientific_journal-3593	146	8	computational	computational	ADJ
american_scientific_journal-3593	146	9	times	time	NOUN
american_scientific_journal-3593	146	10	which	which	PRON
american_scientific_journal-3593	146	11	provide	provide	VERB
american_scientific_journal-3593	146	12	detection	detection	NOUN
american_scientific_journal-3593	146	13	more	more	ADV
american_scientific_journal-3593	146	14	precisely	precisely	ADV
american_scientific_journal-3593	146	15	whatever	whatever	PRON
american_scientific_journal-3593	146	16	the	the	DET
american_scientific_journal-3593	146	17	landmark	landmark	NOUN
american_scientific_journal-3593	146	18	position	position	NOUN
american_scientific_journal-3593	147	1	and	and	CCONJ
american_scientific_journal-3593	147	2	it	it	PRON
american_scientific_journal-3593	147	3	only	only	ADV
american_scientific_journal-3593	147	4	need	need	VERB
american_scientific_journal-3593	147	5	to	to	PART
american_scientific_journal-3593	147	6	focus	focus	VERB
american_scientific_journal-3593	147	7	on	on	ADP
american_scientific_journal-3593	147	8	the	the	DET
american_scientific_journal-3593	147	9	area	area	NOUN
american_scientific_journal-3593	147	10	which	which	PRON
american_scientific_journal-3593	147	11	has	have	VERB
american_scientific_journal-3593	147	12	landmark	landmark	NOUN
american_scientific_journal-3593	147	13	.	.	PUNCT
american_scientific_journal-3593	148	1	the	the	DET
american_scientific_journal-3593	148	2	results	result	NOUN
american_scientific_journal-3593	148	3	of	of	ADP
american_scientific_journal-3593	148	4	the	the	DET
american_scientific_journal-3593	148	5	detectable	detectable	ADJ
american_scientific_journal-3593	148	6	pictures	picture	NOUN
american_scientific_journal-3593	148	7	of	of	ADP
american_scientific_journal-3593	148	8	landmarks	landmark	NOUN
american_scientific_journal-3593	148	9	are	be	AUX
american_scientific_journal-3593	148	10	shown	show	VERB
american_scientific_journal-3593	148	11	in	in	ADP
american_scientific_journal-3593	148	12	figure	figure	NOUN
american_scientific_journal-3593	148	13	.	.	PUNCT
american_scientific_journal-3593	149	1	12(b	12(b	NUM
american_scientific_journal-3593	149	2	)	)	PUNCT
american_scientific_journal-3593	149	3	.	.	PUNCT
american_scientific_journal-3593	150	1	american	american	PROPN
american_scientific_journal-3593	150	2	scientific	scientific	ADJ
american_scientific_journal-3593	150	3	research	research	PROPN
american_scientific_journal-3593	150	4	journal	journal	NOUN
american_scientific_journal-3593	150	5	for	for	ADP
american_scientific_journal-3593	150	6	engineering	engineering	NOUN
american_scientific_journal-3593	150	7	,	,	PUNCT
american_scientific_journal-3593	150	8	technology	technology	NOUN
american_scientific_journal-3593	150	9	,	,	PUNCT
american_scientific_journal-3593	150	10	and	and	CCONJ
american_scientific_journal-3593	150	11	sciences	science	NOUN
american_scientific_journal-3593	150	12	(	(	PUNCT
american_scientific_journal-3593	150	13	asrjets	asrjet	NOUN
american_scientific_journal-3593	150	14	)	)	PUNCT
american_scientific_journal-3593	150	15	(	(	PUNCT
american_scientific_journal-3593	150	16	2017	2017	NUM
american_scientific_journal-3593	150	17	)	)	PUNCT
american_scientific_journal-3593	150	18	volume	volume	NOUN
american_scientific_journal-3593	150	19	38	38	NUM
american_scientific_journal-3593	150	20	,	,	PUNCT
american_scientific_journal-3593	150	21	no	no	DET
american_scientific_journal-3593	150	22	1	1	NUM
american_scientific_journal-3593	150	23	,	,	PUNCT
american_scientific_journal-3593	150	24	pp	pp	ADV
american_scientific_journal-3593	150	25	306	306	NUM
american_scientific_journal-3593	150	26	-	-	SYM
american_scientific_journal-3593	150	27	324	324	NUM
american_scientific_journal-3593	150	28	314	314	NUM
american_scientific_journal-3593	150	29	(	(	PUNCT
american_scientific_journal-3593	150	30	a	a	NOUN
american_scientific_journal-3593	150	31	)	)	PUNCT
american_scientific_journal-3593	150	32	(	(	PUNCT
american_scientific_journal-3593	150	33	b	b	X
american_scientific_journal-3593	150	34	)	)	PUNCT
american_scientific_journal-3593	150	35	figure	figure	NOUN
american_scientific_journal-3593	150	36	12	12	NUM
american_scientific_journal-3593	150	37	:	:	PUNCT
american_scientific_journal-3593	150	38	(	(	PUNCT
american_scientific_journal-3593	150	39	a	a	X
american_scientific_journal-3593	150	40	)	)	PUNCT
american_scientific_journal-3593	150	41	results	result	NOUN
american_scientific_journal-3593	150	42	of	of	ADP
american_scientific_journal-3593	150	43	the	the	DET
american_scientific_journal-3593	150	44	landmark	landmark	NOUN
american_scientific_journal-3593	150	45	detection	detection	NOUN
american_scientific_journal-3593	150	46	with	with	ADP
american_scientific_journal-3593	150	47	image	image	NOUN
american_scientific_journal-3593	150	48	processing	processing	NOUN
american_scientific_journal-3593	150	49	techniques	technique	NOUN
american_scientific_journal-3593	150	50	(	(	PUNCT
american_scientific_journal-3593	150	51	b	b	NOUN
american_scientific_journal-3593	150	52	)	)	PUNCT
american_scientific_journal-3593	150	53	detectable	detectable	ADJ
american_scientific_journal-3593	150	54	pictures	picture	NOUN
american_scientific_journal-3593	150	55	of	of	ADP
american_scientific_journal-3593	150	56	landmarks	landmark	NOUN
american_scientific_journal-3593	150	57	3.4	3.4	NUM
american_scientific_journal-3593	150	58	.	.	PUNCT
american_scientific_journal-3593	151	1	kalman	kalman	NOUN
american_scientific_journal-3593	151	2	filtering	filtering	NOUN
american_scientific_journal-3593	151	3	system	system	NOUN
american_scientific_journal-3593	151	4	in	in	ADP
american_scientific_journal-3593	151	5	localization	localization	NOUN
american_scientific_journal-3593	151	6	method	method	NOUN
american_scientific_journal-3593	151	7	,	,	PUNCT
american_scientific_journal-3593	151	8	kalman	kalman	PROPN
american_scientific_journal-3593	151	9	filter	filter	PROPN
american_scientific_journal-3593	151	10	estimates	estimate	VERB
american_scientific_journal-3593	151	11	the	the	DET
american_scientific_journal-3593	151	12	current	current	ADJ
american_scientific_journal-3593	151	13	position	position	NOUN
american_scientific_journal-3593	151	14	of	of	ADP
american_scientific_journal-3593	151	15	the	the	DET
american_scientific_journal-3593	151	16	robot	robot	NOUN
american_scientific_journal-3593	151	17	and	and	CCONJ
american_scientific_journal-3593	151	18	also	also	ADV
american_scientific_journal-3593	151	19	reduces	reduce	VERB
american_scientific_journal-3593	151	20	the	the	DET
american_scientific_journal-3593	151	21	localization	localization	NOUN
american_scientific_journal-3593	151	22	errors	error	NOUN
american_scientific_journal-3593	151	23	that	that	PRON
american_scientific_journal-3593	151	24	are	be	AUX
american_scientific_journal-3593	151	25	caused	cause	VERB
american_scientific_journal-3593	151	26	by	by	ADP
american_scientific_journal-3593	151	27	sensors	sensor	NOUN
american_scientific_journal-3593	151	28	.	.	PUNCT
american_scientific_journal-3593	152	1	the	the	DET
american_scientific_journal-3593	152	2	estimated	estimate	VERB
american_scientific_journal-3593	152	3	probability	probability	NOUN
american_scientific_journal-3593	152	4	distribution	distribution	NOUN
american_scientific_journal-3593	152	5	evolves	evolve	NOUN
american_scientific_journal-3593	152	6	according	accord	VERB
american_scientific_journal-3593	152	7	to	to	ADP
american_scientific_journal-3593	152	8	kalman	kalman	PROPN
american_scientific_journal-3593	152	9	filter	filter	NOUN
american_scientific_journal-3593	152	10	that	that	PRON
american_scientific_journal-3593	152	11	updates	update	VERB
american_scientific_journal-3593	152	12	the	the	DET
american_scientific_journal-3593	152	13	current	current	ADJ
american_scientific_journal-3593	152	14	position	position	NOUN
american_scientific_journal-3593	152	15	according	accord	VERB
american_scientific_journal-3593	152	16	to	to	ADP
american_scientific_journal-3593	152	17	the	the	DET
american_scientific_journal-3593	152	18	new	new	ADJ
american_scientific_journal-3593	152	19	observations	observation	NOUN
american_scientific_journal-3593	152	20	data	datum	NOUN
american_scientific_journal-3593	152	21	from	from	ADP
american_scientific_journal-3593	152	22	sensor	sensor	NOUN
american_scientific_journal-3593	152	23	system	system	NOUN
american_scientific_journal-3593	152	24	as	as	SCONJ
american_scientific_journal-3593	152	25	they	they	PRON
american_scientific_journal-3593	152	26	are	be	AUX
american_scientific_journal-3593	152	27	gathered	gather	VERB
american_scientific_journal-3593	152	28	by	by	ADP
american_scientific_journal-3593	152	29	the	the	DET
american_scientific_journal-3593	152	30	robot	robot	NOUN
american_scientific_journal-3593	152	31	in	in	ADP
american_scientific_journal-3593	152	32	successive	successive	ADJ
american_scientific_journal-3593	152	33	time	time	NOUN
american_scientific_journal-3593	152	34	steps	step	NOUN
american_scientific_journal-3593	152	35	.	.	PUNCT
american_scientific_journal-3593	153	1	at	at	ADP
american_scientific_journal-3593	153	2	each	each	DET
american_scientific_journal-3593	153	3	time	time	NOUN
american_scientific_journal-3593	153	4	while	while	SCONJ
american_scientific_journal-3593	153	5	localizing	localize	VERB
american_scientific_journal-3593	153	6	,	,	PUNCT
american_scientific_journal-3593	153	7	kf	kf	PROPN
american_scientific_journal-3593	153	8	calculates	calculate	VERB
american_scientific_journal-3593	153	9	the	the	DET
american_scientific_journal-3593	153	10	best	good	ADJ
american_scientific_journal-3593	153	11	estimate	estimate	NOUN
american_scientific_journal-3593	153	12	of	of	ADP
american_scientific_journal-3593	153	13	the	the	DET
american_scientific_journal-3593	153	14	state	state	NOUN
american_scientific_journal-3593	153	15	vector	vector	NOUN
american_scientific_journal-3593	153	16	in	in	ADP
american_scientific_journal-3593	153	17	two	two	NUM
american_scientific_journal-3593	153	18	steps	step	NOUN
american_scientific_journal-3593	153	19	[	[	X
american_scientific_journal-3593	153	20	25	25	NUM
american_scientific_journal-3593	153	21	]	]	PUNCT
american_scientific_journal-3593	153	22	:	:	PUNCT
american_scientific_journal-3593	153	23	i.	i.	PROPN
american_scientific_journal-3593	153	24	the	the	DET
american_scientific_journal-3593	153	25	prediction	prediction	NOUN
american_scientific_journal-3593	153	26	step	step	NOUN
american_scientific_journal-3593	153	27	in	in	ADP
american_scientific_journal-3593	153	28	this	this	DET
american_scientific_journal-3593	153	29	step	step	NOUN
american_scientific_journal-3593	153	30	,	,	PUNCT
american_scientific_journal-3593	153	31	the	the	DET
american_scientific_journal-3593	153	32	system	system	NOUN
american_scientific_journal-3593	153	33	predicts	predict	VERB
american_scientific_journal-3593	153	34	the	the	DET
american_scientific_journal-3593	153	35	current	current	ADJ
american_scientific_journal-3593	153	36	state	state	NOUN
american_scientific_journal-3593	153	37	based	base	VERB
american_scientific_journal-3593	153	38	on	on	ADP
american_scientific_journal-3593	153	39	the	the	DET
american_scientific_journal-3593	153	40	previous	previous	ADJ
american_scientific_journal-3593	153	41	state	state	NOUN
american_scientific_journal-3593	153	42	and	and	CCONJ
american_scientific_journal-3593	153	43	on	on	ADP
american_scientific_journal-3593	153	44	the	the	DET
american_scientific_journal-3593	153	45	applied	apply	VERB
american_scientific_journal-3593	153	46	input	input	NOUN
american_scientific_journal-3593	153	47	signals	signal	NOUN
american_scientific_journal-3593	153	48	kkkkk	kkkkk	PROPN
american_scientific_journal-3593	153	49	buxax	buxax	VERB
american_scientific_journal-3593	154	1	+	+	NOUN
american_scientific_journal-3593	154	2	=	=	NOUN
american_scientific_journal-3593	154	3	−−−	−−−	NOUN
american_scientific_journal-3593	154	4	1|11|	1|11|	NUM
american_scientific_journal-3593	154	5	ˆˆ	ˆˆ	PROPN
american_scientific_journal-3593	154	6	(	(	PUNCT
american_scientific_journal-3593	154	7	2	2	NUM
american_scientific_journal-3593	154	8	)	)	PUNCT
american_scientific_journal-3593	154	9	qaapp	qaapp	NOUN
american_scientific_journal-3593	154	10	t	t	PROPN
american_scientific_journal-3593	154	11	kkkk	kkkk	PROPN
american_scientific_journal-3593	155	1	+	+	PROPN
american_scientific_journal-3593	155	2	=	=	NOUN
american_scientific_journal-3593	155	3	−−−	−−−	X
american_scientific_journal-3593	155	4	1|11|	1|11|	NUM
american_scientific_journal-3593	155	5	(	(	PUNCT
american_scientific_journal-3593	155	6	3	3	NUM
american_scientific_journal-3593	155	7	)	)	PUNCT
american_scientific_journal-3593	155	8	where	where	SCONJ
american_scientific_journal-3593	155	9	ku	ku	PROPN
american_scientific_journal-3593	155	10	is	be	AUX
american_scientific_journal-3593	155	11	the	the	DET
american_scientific_journal-3593	155	12	vector	vector	NOUN
american_scientific_journal-3593	155	13	containing	contain	VERB
american_scientific_journal-3593	155	14	control	control	NOUN
american_scientific_journal-3593	155	15	inputs	input	NOUN
american_scientific_journal-3593	155	16	,	,	PUNCT
american_scientific_journal-3593	155	17	a	a	PRON
american_scientific_journal-3593	155	18	is	be	AUX
american_scientific_journal-3593	155	19	the	the	DET
american_scientific_journal-3593	155	20	state	state	NOUN
american_scientific_journal-3593	155	21	matrix	matrix	NOUN
american_scientific_journal-3593	155	22	which	which	PRON
american_scientific_journal-3593	155	23	applies	apply	VERB
american_scientific_journal-3593	155	24	the	the	DET
american_scientific_journal-3593	155	25	effect	effect	NOUN
american_scientific_journal-3593	155	26	of	of	ADP
american_scientific_journal-3593	155	27	each	each	DET
american_scientific_journal-3593	155	28	system	system	NOUN
american_scientific_journal-3593	155	29	state	state	NOUN
american_scientific_journal-3593	155	30	parameter	parameter	NOUN
american_scientific_journal-3593	155	31	at	at	ADP
american_scientific_journal-3593	155	32	time	time	NOUN
american_scientific_journal-3593	155	33	transition	transition	PROPN
american_scientific_journal-3593	155	34	k-1	k-1	PROPN
american_scientific_journal-3593	155	35	on	on	ADP
american_scientific_journal-3593	155	36	the	the	DET
american_scientific_journal-3593	155	37	system	system	NOUN
american_scientific_journal-3593	155	38	state	state	NOUN
american_scientific_journal-3593	155	39	at	at	ADP
american_scientific_journal-3593	155	40	time	time	NOUN
american_scientific_journal-3593	155	41	t	t	PROPN
american_scientific_journal-3593	155	42	and	and	CCONJ
american_scientific_journal-3593	155	43	𝑩𝑩	𝑩𝑩	PROPN
american_scientific_journal-3593	155	44	is	be	AUX
american_scientific_journal-3593	155	45	the	the	DET
american_scientific_journal-3593	155	46	control	control	NOUN
american_scientific_journal-3593	155	47	input	input	NOUN
american_scientific_journal-3593	155	48	matrix	matrix	NOUN
american_scientific_journal-3593	155	49	which	which	PRON
american_scientific_journal-3593	155	50	applies	apply	VERB
american_scientific_journal-3593	155	51	the	the	DET
american_scientific_journal-3593	155	52	effect	effect	NOUN
american_scientific_journal-3593	155	53	of	of	ADP
american_scientific_journal-3593	155	54	each	each	DET
american_scientific_journal-3593	155	55	control	control	NOUN
american_scientific_journal-3593	155	56	input	input	NOUN
american_scientific_journal-3593	155	57	parameter	parameter	NOUN
american_scientific_journal-3593	155	58	in	in	ADP
american_scientific_journal-3593	155	59	the	the	DET
american_scientific_journal-3593	155	60	vector	vector	NOUN
american_scientific_journal-3593	155	61	ku	ku	PROPN
american_scientific_journal-3593	155	62	on	on	ADP
american_scientific_journal-3593	155	63	the	the	DET
american_scientific_journal-3593	155	64	state	state	NOUN
american_scientific_journal-3593	155	65	vector	vector	NOUN
american_scientific_journal-3593	155	66	.	.	PUNCT
american_scientific_journal-3593	156	1	1|	1|	NUM
american_scientific_journal-3593	156	2	−kkp	−kkp	PUNCT
american_scientific_journal-3593	156	3	is	be	AUX
american_scientific_journal-3593	156	4	the	the	DET
american_scientific_journal-3593	156	5	variances	variance	NOUN
american_scientific_journal-3593	156	6	associated	associate	VERB
american_scientific_journal-3593	156	7	with	with	ADP
american_scientific_journal-3593	156	8	the	the	DET
american_scientific_journal-3593	156	9	corresponding	corresponding	ADJ
american_scientific_journal-3593	156	10	terms	term	NOUN
american_scientific_journal-3593	156	11	in	in	ADP
american_scientific_journal-3593	156	12	the	the	DET
american_scientific_journal-3593	156	13	state	state	NOUN
american_scientific_journal-3593	156	14	vector	vector	NOUN
american_scientific_journal-3593	156	15	.	.	PUNCT
american_scientific_journal-3593	157	1	q	q	PUNCT
american_scientific_journal-3593	157	2	is	be	AUX
american_scientific_journal-3593	157	3	the	the	DET
american_scientific_journal-3593	157	4	process	process	NOUN
american_scientific_journal-3593	157	5	noise	noise	NOUN
american_scientific_journal-3593	157	6	is	be	AUX
american_scientific_journal-3593	157	7	assumed	assume	VERB
american_scientific_journal-3593	157	8	to	to	PART
american_scientific_journal-3593	157	9	be	be	AUX
american_scientific_journal-3593	157	10	drawn	draw	VERB
american_scientific_journal-3593	157	11	from	from	ADP
american_scientific_journal-3593	157	12	normal	normal	ADJ
american_scientific_journal-3593	157	13	distribution	distribution	NOUN
american_scientific_journal-3593	157	14	with	with	ADP
american_scientific_journal-3593	157	15	covariance	covariance	NOUN
american_scientific_journal-3593	157	16	.	.	PUNCT
american_scientific_journal-3593	158	1	the	the	DET
american_scientific_journal-3593	158	2	flow	flow	NOUN
american_scientific_journal-3593	158	3	chart	chart	NOUN
american_scientific_journal-3593	158	4	of	of	ADP
american_scientific_journal-3593	158	5	kalman	kalman	PROPN
american_scientific_journal-3593	158	6	filter	filter	PROPN
american_scientific_journal-3593	158	7	is	be	AUX
american_scientific_journal-3593	158	8	shown	show	VERB
american_scientific_journal-3593	158	9	in	in	ADP
american_scientific_journal-3593	158	10	figure.13	figure.13	PROPN
american_scientific_journal-3593	158	11	.	.	PUNCT
american_scientific_journal-3593	159	1	initial	initial	ADJ
american_scientific_journal-3593	159	2	estimate	estimate	NOUN
american_scientific_journal-3593	159	3	xk\k-1	xk\k-1	NOUN
american_scientific_journal-3593	159	4	,	,	PUNCT
american_scientific_journal-3593	159	5	pk\k-1	pk\k-1	ADP
american_scientific_journal-3593	159	6	kalman	kalman	PROPN
american_scientific_journal-3593	159	7	filter	filter	PROPN
american_scientific_journal-3593	159	8	jk	jk	PROPN
american_scientific_journal-3593	159	9	update	update	NOUN
american_scientific_journal-3593	159	10	estimate	estimate	NOUN
american_scientific_journal-3593	159	11	update	update	NOUN
american_scientific_journal-3593	159	12	covariance	covariance	NOUN
american_scientific_journal-3593	159	13	pk\k	pk\k	ADP
american_scientific_journal-3593	159	14	measurement	measurement	NOUN
american_scientific_journal-3593	159	15	yk	yk	PROPN
american_scientific_journal-3593	159	16	update	update	NOUN
american_scientific_journal-3593	159	17	state	state	NOUN
american_scientific_journal-3593	159	18	estimate	estimate	NOUN
american_scientific_journal-3593	159	19	xk\k	xk\k	PUNCT
american_scientific_journal-3593	159	20	projected	project	VERB
american_scientific_journal-3593	159	21	estimate	estimate	NOUN
american_scientific_journal-3593	159	22	figure	figure	NOUN
american_scientific_journal-3593	159	23	13	13	NUM
american_scientific_journal-3593	159	24	:	:	PUNCT
american_scientific_journal-3593	159	25	flowchart	flowchart	NOUN
american_scientific_journal-3593	159	26	of	of	ADP
american_scientific_journal-3593	159	27	kalman	kalman	PROPN
american_scientific_journal-3593	159	28	filter	filter	PROPN
american_scientific_journal-3593	159	29	american	american	PROPN
american_scientific_journal-3593	159	30	scientific	scientific	PROPN
american_scientific_journal-3593	159	31	research	research	PROPN
american_scientific_journal-3593	159	32	journal	journal	NOUN
american_scientific_journal-3593	159	33	for	for	ADP
american_scientific_journal-3593	159	34	engineering	engineering	NOUN
american_scientific_journal-3593	159	35	,	,	PUNCT
american_scientific_journal-3593	159	36	technology	technology	NOUN
american_scientific_journal-3593	159	37	,	,	PUNCT
american_scientific_journal-3593	159	38	and	and	CCONJ
american_scientific_journal-3593	159	39	sciences	science	NOUN
american_scientific_journal-3593	159	40	(	(	PUNCT
american_scientific_journal-3593	159	41	asrjets	asrjet	NOUN
american_scientific_journal-3593	159	42	)	)	PUNCT
american_scientific_journal-3593	159	43	(	(	PUNCT
american_scientific_journal-3593	159	44	2017	2017	NUM
american_scientific_journal-3593	159	45	)	)	PUNCT
american_scientific_journal-3593	159	46	volume	volume	NOUN
american_scientific_journal-3593	159	47	38	38	NUM
american_scientific_journal-3593	159	48	,	,	PUNCT
american_scientific_journal-3593	159	49	no	no	DET
american_scientific_journal-3593	159	50	1	1	NUM
american_scientific_journal-3593	159	51	,	,	PUNCT
american_scientific_journal-3593	159	52	pp	pp	ADV
american_scientific_journal-3593	159	53	306	306	NUM
american_scientific_journal-3593	159	54	-	-	SYM
american_scientific_journal-3593	159	55	324	324	NUM
american_scientific_journal-3593	159	56	315	315	NUM
american_scientific_journal-3593	159	57	ii	ii	NOUN
american_scientific_journal-3593	159	58	.	.	PUNCT
american_scientific_journal-3593	160	1	the	the	DET
american_scientific_journal-3593	160	2	update	update	NOUN
american_scientific_journal-3593	160	3	step	step	NOUN
american_scientific_journal-3593	160	4	this	this	DET
american_scientific_journal-3593	160	5	step	step	NOUN
american_scientific_journal-3593	160	6	uses	use	VERB
american_scientific_journal-3593	160	7	system	system	NOUN
american_scientific_journal-3593	160	8	to	to	PART
american_scientific_journal-3593	160	9	correct	correct	VERB
american_scientific_journal-3593	160	10	the	the	DET
american_scientific_journal-3593	160	11	predicted	predict	VERB
american_scientific_journal-3593	160	12	state	state	NOUN
american_scientific_journal-3593	160	13	by	by	ADP
american_scientific_journal-3593	160	14	verifying	verify	VERB
american_scientific_journal-3593	160	15	with	with	ADP
american_scientific_journal-3593	160	16	the	the	DET
american_scientific_journal-3593	160	17	actual	actual	ADJ
american_scientific_journal-3593	160	18	sensor	sensor	NOUN
american_scientific_journal-3593	160	19	measurements	measurement	NOUN
american_scientific_journal-3593	160	20	.	.	PUNCT
american_scientific_journal-3593	161	1	1	1	NUM
american_scientific_journal-3593	161	2	1|1|	1|1|	NOUN
american_scientific_journal-3593	161	3	)	)	PUNCT
american_scientific_journal-3593	161	4	(	(	PUNCT
american_scientific_journal-3593	161	5	−	−	PROPN
american_scientific_journal-3593	161	6	−−	−−	NOUN
american_scientific_journal-3593	161	7	+	+	NOUN
american_scientific_journal-3593	161	8	=	=	SYM
american_scientific_journal-3593	161	9	rccpcpj	rccpcpj	VERB
american_scientific_journal-3593	161	10	t	t	PROPN
american_scientific_journal-3593	161	11	kk	kk	PROPN
american_scientific_journal-3593	161	12	t	t	PROPN
american_scientific_journal-3593	161	13	kkk	kkk	PROPN
american_scientific_journal-3593	161	14	(	(	PUNCT
american_scientific_journal-3593	161	15	4	4	NUM
american_scientific_journal-3593	161	16	)	)	PUNCT
american_scientific_journal-3593	161	17	)	)	PUNCT
american_scientific_journal-3593	162	1	ˆ(ˆˆ	ˆ(ˆˆ	NOUN
american_scientific_journal-3593	162	2	1|1||	1|1||	NUM
american_scientific_journal-3593	162	3	−−	−−	NOUN
american_scientific_journal-3593	162	4	−+=	−+=	X
american_scientific_journal-3593	162	5	kkkkkkkk	kkkkkkkk	PROPN
american_scientific_journal-3593	162	6	xcyjxx	xcyjxx	PROPN
american_scientific_journal-3593	162	7	(	(	PUNCT
american_scientific_journal-3593	162	8	5	5	NUM
american_scientific_journal-3593	162	9	)	)	PUNCT
american_scientific_journal-3593	162	10	1||	1||	NUM
american_scientific_journal-3593	162	11	)	)	PUNCT
american_scientific_journal-3593	162	12	(	(	PUNCT
american_scientific_journal-3593	162	13	−−=	−−=	NOUN
american_scientific_journal-3593	162	14	kkkkk	kkkkk	INTJ
american_scientific_journal-3593	162	15	pcjip	pcjip	PROPN
american_scientific_journal-3593	162	16	(	(	PUNCT
american_scientific_journal-3593	162	17	6	6	NUM
american_scientific_journal-3593	162	18	)	)	PUNCT
american_scientific_journal-3593	162	19	figure	figure	NOUN
american_scientific_journal-3593	162	20	14	14	NUM
american_scientific_journal-3593	162	21	:	:	PUNCT
american_scientific_journal-3593	162	22	processing	processing	NOUN
american_scientific_journal-3593	162	23	results	result	NOUN
american_scientific_journal-3593	162	24	for	for	ADP
american_scientific_journal-3593	162	25	kalman	kalman	NOUN
american_scientific_journal-3593	162	26	filtering	filter	VERB
american_scientific_journal-3593	162	27	the	the	DET
american_scientific_journal-3593	162	28	matrix	matrix	NOUN
american_scientific_journal-3593	162	29	kj	kj	NOUN
american_scientific_journal-3593	162	30	is	be	AUX
american_scientific_journal-3593	162	31	called	call	VERB
american_scientific_journal-3593	162	32	the	the	DET
american_scientific_journal-3593	162	33	kalman	kalman	NOUN
american_scientific_journal-3593	162	34	gain	gain	NOUN
american_scientific_journal-3593	162	35	and	and	CCONJ
american_scientific_journal-3593	162	36	the	the	DET
american_scientific_journal-3593	162	37	system	system	NOUN
american_scientific_journal-3593	162	38	calculates	calculate	VERB
american_scientific_journal-3593	162	39	the	the	DET
american_scientific_journal-3593	162	40	kalman	kalman	NOUN
american_scientific_journal-3593	162	41	gain	gain	VERB
american_scientific_journal-3593	162	42	from	from	ADP
american_scientific_journal-3593	162	43	the	the	DET
american_scientific_journal-3593	162	44	errors	error	NOUN
american_scientific_journal-3593	162	45	in	in	ADP
american_scientific_journal-3593	162	46	estimate	estimate	NOUN
american_scientific_journal-3593	162	47	and	and	CCONJ
american_scientific_journal-3593	162	48	data	datum	NOUN
american_scientific_journal-3593	162	49	measurement	measurement	NOUN
american_scientific_journal-3593	162	50	.	.	PUNCT
american_scientific_journal-3593	163	1	then	then	ADV
american_scientific_journal-3593	163	2	,	,	PUNCT
american_scientific_journal-3593	163	3	the	the	DET
american_scientific_journal-3593	163	4	current	current	ADJ
american_scientific_journal-3593	163	5	estimate	estimate	NOUN
american_scientific_journal-3593	163	6	,	,	PUNCT
american_scientific_journal-3593	163	7	kkx	kkx	NOUN
american_scientific_journal-3593	163	8	|	|	ADV
american_scientific_journal-3593	163	9	ˆ	ˆ	ADJ
american_scientific_journal-3593	163	10	is	be	AUX
american_scientific_journal-3593	163	11	calculated	calculate	VERB
american_scientific_journal-3593	163	12	by	by	ADP
american_scientific_journal-3593	163	13	the	the	DET
american_scientific_journal-3593	163	14	previous	previous	ADJ
american_scientific_journal-3593	163	15	estimate	estimate	NOUN
american_scientific_journal-3593	163	16	and	and	CCONJ
american_scientific_journal-3593	163	17	the	the	DET
american_scientific_journal-3593	163	18	measurement	measurement	NOUN
american_scientific_journal-3593	163	19	value	value	NOUN
american_scientific_journal-3593	163	20	.	.	PUNCT
american_scientific_journal-3593	164	1	after	after	ADP
american_scientific_journal-3593	164	2	that	that	DET
american_scientific_journal-3593	164	3	new	new	ADJ
american_scientific_journal-3593	164	4	error	error	NOUN
american_scientific_journal-3593	164	5	in	in	ADP
american_scientific_journal-3593	164	6	the	the	DET
american_scientific_journal-3593	164	7	estimate	estimate	NOUN
american_scientific_journal-3593	164	8	,	,	PUNCT
american_scientific_journal-3593	164	9	kkp	kkp	PROPN
american_scientific_journal-3593	164	10	|	|	ADV
american_scientific_journal-3593	164	11	is	be	AUX
american_scientific_journal-3593	164	12	calculated	calculate	VERB
american_scientific_journal-3593	164	13	to	to	PART
american_scientific_journal-3593	164	14	make	make	VERB
american_scientific_journal-3593	164	15	next	next	ADJ
american_scientific_journal-3593	164	16	pose	pose	NOUN
american_scientific_journal-3593	164	17	estimation	estimation	NOUN
american_scientific_journal-3593	164	18	.	.	PUNCT
american_scientific_journal-3593	165	1	when	when	SCONJ
american_scientific_journal-3593	165	2	the	the	DET
american_scientific_journal-3593	165	3	robot	robot	NOUN
american_scientific_journal-3593	165	4	can	can	AUX
american_scientific_journal-3593	165	5	define	define	VERB
american_scientific_journal-3593	165	6	the	the	DET
american_scientific_journal-3593	165	7	sign	sign	NOUN
american_scientific_journal-3593	165	8	of	of	ADP
american_scientific_journal-3593	165	9	the	the	DET
american_scientific_journal-3593	165	10	landmark	landmark	NOUN
american_scientific_journal-3593	165	11	,	,	PUNCT
american_scientific_journal-3593	165	12	it	it	PRON
american_scientific_journal-3593	165	13	will	will	AUX
american_scientific_journal-3593	165	14	know	know	VERB
american_scientific_journal-3593	165	15	where	where	SCONJ
american_scientific_journal-3593	165	16	to	to	PART
american_scientific_journal-3593	165	17	go	go	VERB
american_scientific_journal-3593	165	18	.	.	PUNCT
american_scientific_journal-3593	166	1	finally	finally	ADV
american_scientific_journal-3593	166	2	,	,	PUNCT
american_scientific_journal-3593	166	3	it	it	PRON
american_scientific_journal-3593	166	4	will	will	AUX
american_scientific_journal-3593	166	5	make	make	VERB
american_scientific_journal-3593	166	6	pose	pose	NOUN
american_scientific_journal-3593	166	7	estimation	estimation	NOUN
american_scientific_journal-3593	166	8	to	to	PART
american_scientific_journal-3593	166	9	know	know	VERB
american_scientific_journal-3593	166	10	the	the	DET
american_scientific_journal-3593	166	11	location	location	NOUN
american_scientific_journal-3593	166	12	of	of	ADP
american_scientific_journal-3593	166	13	robot	robot	NOUN
american_scientific_journal-3593	166	14	by	by	ADP
american_scientific_journal-3593	166	15	using	use	VERB
american_scientific_journal-3593	166	16	kalman	kalman	NOUN
american_scientific_journal-3593	166	17	filter	filter	NOUN
american_scientific_journal-3593	166	18	.	.	PUNCT
american_scientific_journal-3593	167	1	in	in	ADP
american_scientific_journal-3593	167	2	figure.14	figure.14	PROPN
american_scientific_journal-3593	167	3	,	,	PUNCT
american_scientific_journal-3593	167	4	red	red	ADJ
american_scientific_journal-3593	167	5	color	color	PROPN
american_scientific_journal-3593	167	6	cross	cross	PROPN
american_scientific_journal-3593	167	7	shows	show	VERB
american_scientific_journal-3593	167	8	the	the	DET
american_scientific_journal-3593	167	9	measurement	measurement	NOUN
american_scientific_journal-3593	167	10	value	value	NOUN
american_scientific_journal-3593	167	11	result	result	VERB
american_scientific_journal-3593	167	12	from	from	ADP
american_scientific_journal-3593	167	13	sensors	sensor	NOUN
american_scientific_journal-3593	167	14	and	and	CCONJ
american_scientific_journal-3593	167	15	blue	blue	ADJ
american_scientific_journal-3593	167	16	color	color	NOUN
american_scientific_journal-3593	167	17	cross	cross	NOUN
american_scientific_journal-3593	167	18	describes	describe	VERB
american_scientific_journal-3593	167	19	the	the	DET
american_scientific_journal-3593	167	20	estimated	estimate	VERB
american_scientific_journal-3593	167	21	value	value	NOUN
american_scientific_journal-3593	167	22	by	by	ADP
american_scientific_journal-3593	167	23	calculating	calculate	VERB
american_scientific_journal-3593	167	24	the	the	DET
american_scientific_journal-3593	167	25	result	result	NOUN
american_scientific_journal-3593	167	26	data	datum	NOUN
american_scientific_journal-3593	167	27	with	with	ADP
american_scientific_journal-3593	167	28	kalman	kalman	PROPN
american_scientific_journal-3593	167	29	filter	filter	PROPN
american_scientific_journal-3593	167	30	.	.	PUNCT
american_scientific_journal-3593	168	1	3.5	3.5	NUM
american_scientific_journal-3593	168	2	.	.	PUNCT
american_scientific_journal-3593	168	3	software	software	NOUN
american_scientific_journal-3593	168	4	system	system	NOUN
american_scientific_journal-3593	168	5	the	the	DET
american_scientific_journal-3593	168	6	implementation	implementation	NOUN
american_scientific_journal-3593	168	7	of	of	ADP
american_scientific_journal-3593	168	8	the	the	DET
american_scientific_journal-3593	168	9	localization	localization	NOUN
american_scientific_journal-3593	168	10	and	and	CCONJ
american_scientific_journal-3593	168	11	mapping	mapping	NOUN
american_scientific_journal-3593	168	12	system	system	NOUN
american_scientific_journal-3593	168	13	have	have	AUX
american_scientific_journal-3593	168	14	been	be	AUX
american_scientific_journal-3593	168	15	performed	perform	VERB
american_scientific_journal-3593	168	16	by	by	ADP
american_scientific_journal-3593	168	17	opencv	opencv	PROPN
american_scientific_journal-3593	168	18	framework	framework	NOUN
american_scientific_journal-3593	168	19	.	.	PUNCT
american_scientific_journal-3593	169	1	the	the	DET
american_scientific_journal-3593	169	2	performance	performance	NOUN
american_scientific_journal-3593	169	3	of	of	ADP
american_scientific_journal-3593	169	4	this	this	DET
american_scientific_journal-3593	169	5	system	system	NOUN
american_scientific_journal-3593	169	6	was	be	AUX
american_scientific_journal-3593	169	7	implemented	implement	VERB
american_scientific_journal-3593	169	8	on	on	ADP
american_scientific_journal-3593	169	9	the	the	DET
american_scientific_journal-3593	169	10	raspberry	raspberry	NOUN
american_scientific_journal-3593	169	11	pi	pi	NOUN
american_scientific_journal-3593	169	12	.	.	PUNCT
american_scientific_journal-3593	170	1	opencv	opencv	PROPN
american_scientific_journal-3593	170	2	is	be	AUX
american_scientific_journal-3593	170	3	an	an	DET
american_scientific_journal-3593	170	4	open	open	ADJ
american_scientific_journal-3593	170	5	source	source	NOUN
american_scientific_journal-3593	170	6	computer	computer	NOUN
american_scientific_journal-3593	170	7	vision	vision	NOUN
american_scientific_journal-3593	170	8	library	library	NOUN
american_scientific_journal-3593	170	9	from	from	ADP
american_scientific_journal-3593	170	10	intel	intel	PROPN
american_scientific_journal-3593	170	11	.	.	PUNCT
american_scientific_journal-3593	171	1	it	it	PRON
american_scientific_journal-3593	171	2	is	be	AUX
american_scientific_journal-3593	171	3	intended	intend	VERB
american_scientific_journal-3593	171	4	for	for	ADP
american_scientific_journal-3593	171	5	use	use	NOUN
american_scientific_journal-3593	171	6	by	by	ADP
american_scientific_journal-3593	171	7	both	both	CCONJ
american_scientific_journal-3593	171	8	commercial	commercial	ADJ
american_scientific_journal-3593	171	9	and	and	CCONJ
american_scientific_journal-3593	171	10	non	non	ADJ
american_scientific_journal-3593	171	11	-	-	ADJ
american_scientific_journal-3593	171	12	commercial	commercial	ADJ
american_scientific_journal-3593	171	13	users	user	NOUN
american_scientific_journal-3593	171	14	including	include	VERB
american_scientific_journal-3593	171	15	researchers	researcher	NOUN
american_scientific_journal-3593	171	16	,	,	PUNCT
american_scientific_journal-3593	171	17	commercial	commercial	ADJ
american_scientific_journal-3593	171	18	software	software	NOUN
american_scientific_journal-3593	171	19	developers	developer	NOUN
american_scientific_journal-3593	171	20	,	,	PUNCT
american_scientific_journal-3593	171	21	governments	government	NOUN
american_scientific_journal-3593	171	22	and	and	CCONJ
american_scientific_journal-3593	171	23	camera	camera	NOUN
american_scientific_journal-3593	171	24	vendors	vendor	NOUN
american_scientific_journal-3593	171	25	.	.	PUNCT
american_scientific_journal-3593	172	1	it	it	PRON
american_scientific_journal-3593	172	2	consists	consist	VERB
american_scientific_journal-3593	172	3	of	of	ADP
american_scientific_journal-3593	172	4	c	c	NOUN
american_scientific_journal-3593	172	5	functions	function	NOUN
american_scientific_journal-3593	172	6	which	which	PRON
american_scientific_journal-3593	172	7	implement	implement	VERB
american_scientific_journal-3593	172	8	standard	standard	ADJ
american_scientific_journal-3593	172	9	computer	computer	NOUN
american_scientific_journal-3593	172	10	vision	vision	NOUN
american_scientific_journal-3593	172	11	algorithms	algorithm	NOUN
american_scientific_journal-3593	172	12	such	such	ADJ
american_scientific_journal-3593	172	13	as	as	ADP
american_scientific_journal-3593	172	14	edge	edge	NOUN
american_scientific_journal-3593	172	15	and	and	CCONJ
american_scientific_journal-3593	172	16	corner	corner	NOUN
american_scientific_journal-3593	172	17	detection	detection	NOUN
american_scientific_journal-3593	172	18	and	and	CCONJ
american_scientific_journal-3593	172	19	motion	motion	NOUN
american_scientific_journal-3593	172	20	analysis	analysis	NOUN
american_scientific_journal-3593	172	21	.	.	PUNCT
american_scientific_journal-3593	173	1	other	other	ADJ
american_scientific_journal-3593	173	2	features	feature	NOUN
american_scientific_journal-3593	173	3	include	include	VERB
american_scientific_journal-3593	173	4	linear	linear	PROPN
american_scientific_journal-3593	173	5	algebra	algebra	PROPN
american_scientific_journal-3593	173	6	and	and	CCONJ
american_scientific_journal-3593	173	7	raw	raw	ADJ
american_scientific_journal-3593	173	8	matrix	matrix	NOUN
american_scientific_journal-3593	173	9	support	support	NOUN
american_scientific_journal-3593	173	10	,	,	PUNCT
american_scientific_journal-3593	173	11	windowing	windowe	VERB
american_scientific_journal-3593	173	12	system	system	NOUN
american_scientific_journal-3593	173	13	and	and	CCONJ
american_scientific_journal-3593	173	14	functions	function	NOUN
american_scientific_journal-3593	173	15	and	and	CCONJ
american_scientific_journal-3593	173	16	data	datum	NOUN
american_scientific_journal-3593	173	17	structures	structure	NOUN
american_scientific_journal-3593	173	18	for	for	ADP
american_scientific_journal-3593	173	19	reading	reading	NOUN
american_scientific_journal-3593	173	20	and	and	CCONJ
american_scientific_journal-3593	173	21	writing	writing	NOUN
american_scientific_journal-3593	173	22	and	and	CCONJ
american_scientific_journal-3593	173	23	images	image	VERB
american_scientific_journal-3593	173	24	video	video	NOUN
american_scientific_journal-3593	173	25	streams	stream	NOUN
american_scientific_journal-3593	173	26	.	.	PUNCT
american_scientific_journal-3593	174	1	in	in	ADP
american_scientific_journal-3593	174	2	this	this	DET
american_scientific_journal-3593	174	3	research	research	NOUN
american_scientific_journal-3593	174	4	,	,	PUNCT
american_scientific_journal-3593	174	5	opencv	opencv	PROPN
american_scientific_journal-3593	174	6	is	be	AUX
american_scientific_journal-3593	174	7	used	use	VERB
american_scientific_journal-3593	174	8	for	for	ADP
american_scientific_journal-3593	174	9	processing	processing	NOUN
american_scientific_journal-3593	174	10	system	system	NOUN
american_scientific_journal-3593	174	11	by	by	ADP
american_scientific_journal-3593	174	12	loading	load	VERB
american_scientific_journal-3593	174	13	information	information	NOUN
american_scientific_journal-3593	174	14	from	from	ADP
american_scientific_journal-3593	174	15	sensor	sensor	NOUN
american_scientific_journal-3593	174	16	system	system	NOUN
american_scientific_journal-3593	174	17	for	for	ADP
american_scientific_journal-3593	174	18	extracting	extract	VERB
american_scientific_journal-3593	174	19	features	feature	NOUN
american_scientific_journal-3593	174	20	while	while	SCONJ
american_scientific_journal-3593	174	21	localizing	localize	VERB
american_scientific_journal-3593	174	22	and	and	CCONJ
american_scientific_journal-3593	174	23	mapping	mapping	NOUN
american_scientific_journal-3593	174	24	.	.	PUNCT
american_scientific_journal-3593	175	1	3.6	3.6	NUM
american_scientific_journal-3593	175	2	.	.	PUNCT
american_scientific_journal-3593	176	1	encoders	encoder	NOUN
american_scientific_journal-3593	176	2	system	system	VERB
american_scientific_journal-3593	176	3	american	american	PROPN
american_scientific_journal-3593	176	4	scientific	scientific	ADJ
american_scientific_journal-3593	176	5	research	research	NOUN
american_scientific_journal-3593	176	6	journal	journal	NOUN
american_scientific_journal-3593	176	7	for	for	ADP
american_scientific_journal-3593	176	8	engineering	engineering	NOUN
american_scientific_journal-3593	176	9	,	,	PUNCT
american_scientific_journal-3593	176	10	technology	technology	NOUN
american_scientific_journal-3593	176	11	,	,	PUNCT
american_scientific_journal-3593	176	12	and	and	CCONJ
american_scientific_journal-3593	176	13	sciences	science	NOUN
american_scientific_journal-3593	176	14	(	(	PUNCT
american_scientific_journal-3593	176	15	asrjets	asrjet	NOUN
american_scientific_journal-3593	176	16	)	)	PUNCT
american_scientific_journal-3593	176	17	(	(	PUNCT
american_scientific_journal-3593	176	18	2017	2017	NUM
american_scientific_journal-3593	176	19	)	)	PUNCT
american_scientific_journal-3593	176	20	volume	volume	NOUN
american_scientific_journal-3593	176	21	38	38	NUM
american_scientific_journal-3593	176	22	,	,	PUNCT
american_scientific_journal-3593	176	23	no	no	DET
american_scientific_journal-3593	176	24	1	1	NUM
american_scientific_journal-3593	176	25	,	,	PUNCT
american_scientific_journal-3593	176	26	pp	pp	ADV
american_scientific_journal-3593	176	27	306	306	NUM
american_scientific_journal-3593	176	28	-	-	SYM
american_scientific_journal-3593	176	29	324	324	NUM
american_scientific_journal-3593	176	30	316	316	NUM
american_scientific_journal-3593	176	31	the	the	DET
american_scientific_journal-3593	176	32	mobile	mobile	NOUN
american_scientific_journal-3593	176	33	robot	robot	NOUN
american_scientific_journal-3593	176	34	has	have	VERB
american_scientific_journal-3593	176	35	four	four	NUM
american_scientific_journal-3593	176	36	drive	drive	ADJ
american_scientific_journal-3593	176	37	wheels	wheel	NOUN
american_scientific_journal-3593	176	38	.	.	PUNCT
american_scientific_journal-3593	177	1	these	these	DET
american_scientific_journal-3593	177	2	drive	drive	ADJ
american_scientific_journal-3593	177	3	wheels	wheel	NOUN
american_scientific_journal-3593	177	4	are	be	AUX
american_scientific_journal-3593	177	5	connected	connect	VERB
american_scientific_journal-3593	177	6	to	to	ADP
american_scientific_journal-3593	177	7	dc	dc	PROPN
american_scientific_journal-3593	177	8	motors	motor	NOUN
american_scientific_journal-3593	177	9	and	and	CCONJ
american_scientific_journal-3593	177	10	only	only	ADV
american_scientific_journal-3593	177	11	two	two	NUM
american_scientific_journal-3593	177	12	drive	drive	ADJ
american_scientific_journal-3593	177	13	wheels	wheel	NOUN
american_scientific_journal-3593	177	14	are	be	AUX
american_scientific_journal-3593	177	15	attached	attach	VERB
american_scientific_journal-3593	177	16	with	with	ADP
american_scientific_journal-3593	177	17	wheel	wheel	NOUN
american_scientific_journal-3593	177	18	encoders	encoder	NOUN
american_scientific_journal-3593	177	19	.	.	PUNCT
american_scientific_journal-3593	178	1	these	these	DET
american_scientific_journal-3593	178	2	encoders	encoder	NOUN
american_scientific_journal-3593	178	3	are	be	AUX
american_scientific_journal-3593	178	4	capable	capable	ADJ
american_scientific_journal-3593	178	5	of	of	ADP
american_scientific_journal-3593	178	6	monitoring	monitor	VERB
american_scientific_journal-3593	178	7	the	the	DET
american_scientific_journal-3593	178	8	revolutions	revolution	NOUN
american_scientific_journal-3593	178	9	and	and	CCONJ
american_scientific_journal-3593	178	10	steering	steering	NOUN
american_scientific_journal-3593	178	11	angles	angle	NOUN
american_scientific_journal-3593	178	12	of	of	ADP
american_scientific_journal-3593	178	13	the	the	DET
american_scientific_journal-3593	178	14	drive	drive	ADJ
american_scientific_journal-3593	178	15	wheels	wheel	NOUN
american_scientific_journal-3593	178	16	.	.	PUNCT
american_scientific_journal-3593	179	1	the	the	DET
american_scientific_journal-3593	179	2	main	main	ADJ
american_scientific_journal-3593	179	3	advantage	advantage	NOUN
american_scientific_journal-3593	179	4	offered	offer	VERB
american_scientific_journal-3593	179	5	by	by	ADP
american_scientific_journal-3593	179	6	these	these	DET
american_scientific_journal-3593	179	7	encoders	encoder	NOUN
american_scientific_journal-3593	179	8	is	be	AUX
american_scientific_journal-3593	179	9	their	their	PRON
american_scientific_journal-3593	179	10	high	high	ADJ
american_scientific_journal-3593	179	11	resolution	resolution	NOUN
american_scientific_journal-3593	179	12	.	.	PUNCT
american_scientific_journal-3593	180	1	the	the	DET
american_scientific_journal-3593	180	2	two	two	NUM
american_scientific_journal-3593	180	3	output	output	NOUN
american_scientific_journal-3593	180	4	channels	channel	NOUN
american_scientific_journal-3593	180	5	of	of	ADP
american_scientific_journal-3593	180	6	the	the	DET
american_scientific_journal-3593	180	7	encoder	encoder	NOUN
american_scientific_journal-3593	180	8	indicate	indicate	VERB
american_scientific_journal-3593	180	9	both	both	DET
american_scientific_journal-3593	180	10	position	position	NOUN
american_scientific_journal-3593	180	11	and	and	CCONJ
american_scientific_journal-3593	180	12	direction	direction	NOUN
american_scientific_journal-3593	180	13	of	of	ADP
american_scientific_journal-3593	180	14	rotation	rotation	NOUN
american_scientific_journal-3593	180	15	.	.	PUNCT
american_scientific_journal-3593	181	1	the	the	DET
american_scientific_journal-3593	181	2	distance	distance	NOUN
american_scientific_journal-3593	181	3	travelled	travel	VERB
american_scientific_journal-3593	181	4	by	by	ADP
american_scientific_journal-3593	181	5	the	the	DET
american_scientific_journal-3593	181	6	robot	robot	NOUN
american_scientific_journal-3593	181	7	is	be	AUX
american_scientific_journal-3593	181	8	the	the	DET
american_scientific_journal-3593	181	9	number	number	NOUN
american_scientific_journal-3593	181	10	of	of	ADP
american_scientific_journal-3593	181	11	rotations	rotation	NOUN
american_scientific_journal-3593	181	12	times	time	NOUN
american_scientific_journal-3593	181	13	the	the	DET
american_scientific_journal-3593	181	14	wheel	wheel	NOUN
american_scientific_journal-3593	181	15	’s	’s	PART
american_scientific_journal-3593	181	16	circumference	circumference	NOUN
american_scientific_journal-3593	181	17	.	.	PUNCT
american_scientific_journal-3593	182	1	the	the	DET
american_scientific_journal-3593	182	2	wheel	wheel	NOUN
american_scientific_journal-3593	182	3	’s	’s	PART
american_scientific_journal-3593	182	4	circumference	circumference	NOUN
american_scientific_journal-3593	182	5	is	be	AUX
american_scientific_journal-3593	182	6	given	give	VERB
american_scientific_journal-3593	182	7	by	by	ADP
american_scientific_journal-3593	182	8	(	(	PUNCT
american_scientific_journal-3593	182	9	2	2	NUM
american_scientific_journal-3593	182	10	*	*	PUNCT
american_scientific_journal-3593	182	11	pi	pi	NOUN
american_scientific_journal-3593	182	12	*	*	PUNCT
american_scientific_journal-3593	182	13	r	r	NOUN
american_scientific_journal-3593	182	14	)	)	PUNCT
american_scientific_journal-3593	182	15	,	,	PUNCT
american_scientific_journal-3593	182	16	where	where	SCONJ
american_scientific_journal-3593	182	17	r	r	NOUN
american_scientific_journal-3593	182	18	is	be	AUX
american_scientific_journal-3593	182	19	the	the	DET
american_scientific_journal-3593	182	20	wheel	wheel	NOUN
american_scientific_journal-3593	182	21	’s	’s	PART
american_scientific_journal-3593	182	22	radius	radius	NOUN
american_scientific_journal-3593	182	23	.	.	PUNCT
american_scientific_journal-3593	183	1	the	the	DET
american_scientific_journal-3593	183	2	mobile	mobile	ADJ
american_scientific_journal-3593	183	3	robot	robot	NOUN
american_scientific_journal-3593	183	4	will	will	AUX
american_scientific_journal-3593	183	5	make	make	VERB
american_scientific_journal-3593	183	6	localization	localization	NOUN
american_scientific_journal-3593	183	7	and	and	CCONJ
american_scientific_journal-3593	183	8	mapping	mapping	NOUN
american_scientific_journal-3593	183	9	with	with	ADP
american_scientific_journal-3593	183	10	wheel	wheel	NOUN
american_scientific_journal-3593	183	11	revolutions	revolution	NOUN
american_scientific_journal-3593	183	12	when	when	SCONJ
american_scientific_journal-3593	183	13	there	there	PRON
american_scientific_journal-3593	183	14	is	be	VERB
american_scientific_journal-3593	183	15	no	no	DET
american_scientific_journal-3593	183	16	landmark	landmark	NOUN
american_scientific_journal-3593	183	17	signs	sign	NOUN
american_scientific_journal-3593	183	18	in	in	ADP
american_scientific_journal-3593	183	19	the	the	DET
american_scientific_journal-3593	183	20	environment	environment	NOUN
american_scientific_journal-3593	183	21	.	.	PUNCT
american_scientific_journal-3593	184	1	3.7	3.7	NUM
american_scientific_journal-3593	184	2	.	.	PUNCT
american_scientific_journal-3593	184	3	robot	robot	NOUN
american_scientific_journal-3593	184	4	controlling	control	VERB
american_scientific_journal-3593	184	5	system	system	NOUN
american_scientific_journal-3593	184	6	in	in	ADP
american_scientific_journal-3593	184	7	mobile	mobile	ADJ
american_scientific_journal-3593	184	8	robot	robot	NOUN
american_scientific_journal-3593	184	9	control	control	NOUN
american_scientific_journal-3593	184	10	system	system	NOUN
american_scientific_journal-3593	184	11	,	,	PUNCT
american_scientific_journal-3593	184	12	the	the	DET
american_scientific_journal-3593	184	13	system	system	NOUN
american_scientific_journal-3593	184	14	will	will	AUX
american_scientific_journal-3593	184	15	make	make	VERB
american_scientific_journal-3593	184	16	motor	motor	NOUN
american_scientific_journal-3593	184	17	driving	driving	NOUN
american_scientific_journal-3593	184	18	control	control	NOUN
american_scientific_journal-3593	184	19	after	after	SCONJ
american_scientific_journal-3593	184	20	the	the	DET
american_scientific_journal-3593	184	21	position	position	NOUN
american_scientific_journal-3593	184	22	estimation	estimation	NOUN
american_scientific_journal-3593	184	23	data	datum	NOUN
american_scientific_journal-3593	184	24	(	(	PUNCT
american_scientific_journal-3593	184	25	i.e.	i.e.	X
american_scientific_journal-3593	184	26	x	x	X
american_scientific_journal-3593	184	27	,	,	PUNCT
american_scientific_journal-3593	184	28	y	y	PROPN
american_scientific_journal-3593	184	29	position	position	NOUN
american_scientific_journal-3593	184	30	and	and	CCONJ
american_scientific_journal-3593	184	31	heading	heading	ADJ
american_scientific_journal-3593	184	32	angle	angle	NOUN
american_scientific_journal-3593	184	33	)	)	PUNCT
american_scientific_journal-3593	184	34	are	be	AUX
american_scientific_journal-3593	184	35	got	get	VERB
american_scientific_journal-3593	184	36	from	from	ADP
american_scientific_journal-3593	184	37	processing	processing	NOUN
american_scientific_journal-3593	184	38	techniques	technique	NOUN
american_scientific_journal-3593	184	39	by	by	ADP
american_scientific_journal-3593	184	40	using	use	VERB
american_scientific_journal-3593	184	41	with	with	ADP
american_scientific_journal-3593	184	42	wheel	wheel	NOUN
american_scientific_journal-3593	184	43	encoders	encoder	NOUN
american_scientific_journal-3593	184	44	and	and	CCONJ
american_scientific_journal-3593	184	45	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	184	46	sensors	sensor	NOUN
american_scientific_journal-3593	184	47	.	.	PUNCT
american_scientific_journal-3593	185	1	in	in	ADP
american_scientific_journal-3593	185	2	this	this	DET
american_scientific_journal-3593	185	3	states	state	NOUN
american_scientific_journal-3593	185	4	,	,	PUNCT
american_scientific_journal-3593	185	5	the	the	DET
american_scientific_journal-3593	185	6	robot	robot	NOUN
american_scientific_journal-3593	185	7	will	will	AUX
american_scientific_journal-3593	185	8	go	go	VERB
american_scientific_journal-3593	185	9	straight	straight	ADV
american_scientific_journal-3593	185	10	forward	forward	ADV
american_scientific_journal-3593	185	11	and	and	CCONJ
american_scientific_journal-3593	185	12	simultaneously	simultaneously	ADV
american_scientific_journal-3593	185	13	make	make	VERB
american_scientific_journal-3593	185	14	localization	localization	NOUN
american_scientific_journal-3593	185	15	and	and	CCONJ
american_scientific_journal-3593	185	16	mapping	mapping	NOUN
american_scientific_journal-3593	185	17	by	by	ADP
american_scientific_journal-3593	185	18	using	use	VERB
american_scientific_journal-3593	185	19	these	these	DET
american_scientific_journal-3593	185	20	two	two	NUM
american_scientific_journal-3593	185	21	sensors	sensor	NOUN
american_scientific_journal-3593	185	22	until	until	SCONJ
american_scientific_journal-3593	185	23	it	it	PRON
american_scientific_journal-3593	185	24	finds	find	VERB
american_scientific_journal-3593	185	25	the	the	DET
american_scientific_journal-3593	185	26	artificial	artificial	ADJ
american_scientific_journal-3593	185	27	landmark	landmark	NOUN
american_scientific_journal-3593	185	28	.	.	PUNCT
american_scientific_journal-3593	186	1	when	when	SCONJ
american_scientific_journal-3593	186	2	it	it	PRON
american_scientific_journal-3593	186	3	found	find	VERB
american_scientific_journal-3593	186	4	landmark	landmark	NOUN
american_scientific_journal-3593	186	5	,	,	PUNCT
american_scientific_journal-3593	186	6	it	it	PRON
american_scientific_journal-3593	186	7	will	will	AUX
american_scientific_journal-3593	186	8	make	make	VERB
american_scientific_journal-3593	186	9	image	image	NOUN
american_scientific_journal-3593	186	10	processing	processing	NOUN
american_scientific_journal-3593	186	11	for	for	ADP
american_scientific_journal-3593	186	12	detecting	detect	VERB
american_scientific_journal-3593	186	13	landmark	landmark	NOUN
american_scientific_journal-3593	186	14	by	by	ADP
american_scientific_journal-3593	186	15	using	use	VERB
american_scientific_journal-3593	186	16	with	with	ADP
american_scientific_journal-3593	186	17	camera	camera	NOUN
american_scientific_journal-3593	186	18	and	and	CCONJ
american_scientific_journal-3593	186	19	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	186	20	sensors	sensor	NOUN
american_scientific_journal-3593	186	21	.	.	PUNCT
american_scientific_journal-3593	187	1	when	when	SCONJ
american_scientific_journal-3593	187	2	it	it	PRON
american_scientific_journal-3593	187	3	gets	get	VERB
american_scientific_journal-3593	187	4	the	the	DET
american_scientific_journal-3593	187	5	matching	matching	NOUN
american_scientific_journal-3593	187	6	results	result	NOUN
american_scientific_journal-3593	187	7	(	(	PUNCT
american_scientific_journal-3593	187	8	i.e.	i.e.	X
american_scientific_journal-3593	187	9	the	the	DET
american_scientific_journal-3593	187	10	name	name	NOUN
american_scientific_journal-3593	187	11	of	of	ADP
american_scientific_journal-3593	187	12	detected	detect	VERB
american_scientific_journal-3593	187	13	landmark	landmark	NOUN
american_scientific_journal-3593	187	14	sign	sign	NOUN
american_scientific_journal-3593	187	15	)	)	PUNCT
american_scientific_journal-3593	187	16	from	from	ADP
american_scientific_journal-3593	187	17	landmark	landmark	NOUN
american_scientific_journal-3593	187	18	detection	detection	NOUN
american_scientific_journal-3593	187	19	process	process	NOUN
american_scientific_journal-3593	187	20	and	and	CCONJ
american_scientific_journal-3593	187	21	has	have	AUX
american_scientific_journal-3593	187	22	assigned	assign	VERB
american_scientific_journal-3593	187	23	detection	detection	NOUN
american_scientific_journal-3593	187	24	distance	distance	NOUN
american_scientific_journal-3593	187	25	range	range	NOUN
american_scientific_journal-3593	187	26	of	of	ADP
american_scientific_journal-3593	187	27	front	front	ADJ
american_scientific_journal-3593	187	28	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	187	29	sensor	sensor	NOUN
american_scientific_journal-3593	187	30	,	,	PUNCT
american_scientific_journal-3593	187	31	the	the	DET
american_scientific_journal-3593	187	32	system	system	NOUN
american_scientific_journal-3593	187	33	will	will	AUX
american_scientific_journal-3593	187	34	send	send	VERB
american_scientific_journal-3593	187	35	the	the	DET
american_scientific_journal-3593	187	36	result	result	NOUN
american_scientific_journal-3593	187	37	data	datum	NOUN
american_scientific_journal-3593	187	38	to	to	ADP
american_scientific_journal-3593	187	39	arduino	arduino	PROPN
american_scientific_journal-3593	187	40	control	control	PROPN
american_scientific_journal-3593	187	41	board	board	PROPN
american_scientific_journal-3593	187	42	for	for	ADP
american_scientific_journal-3593	187	43	motor	motor	NOUN
american_scientific_journal-3593	187	44	driving	driving	NOUN
american_scientific_journal-3593	187	45	control	control	NOUN
american_scientific_journal-3593	187	46	.	.	PUNCT
american_scientific_journal-3593	188	1	motor	motor	NOUN
american_scientific_journal-3593	188	2	driving	driving	NOUN
american_scientific_journal-3593	188	3	system	system	NOUN
american_scientific_journal-3593	188	4	for	for	ADP
american_scientific_journal-3593	188	5	localization	localization	NOUN
american_scientific_journal-3593	188	6	and	and	CCONJ
american_scientific_journal-3593	188	7	mapping	mapping	NOUN
american_scientific_journal-3593	188	8	is	be	AUX
american_scientific_journal-3593	188	9	shown	show	VERB
american_scientific_journal-3593	188	10	below	below	ADP
american_scientific_journal-3593	188	11	:	:	PUNCT
american_scientific_journal-3593	188	12	1	1	X
american_scientific_journal-3593	188	13	.	.	X
american_scientific_journal-3593	188	14	start	start	VERB
american_scientific_journal-3593	188	15	2	2	NUM
american_scientific_journal-3593	188	16	.	.	X
american_scientific_journal-3593	188	17	detect	detect	VERB
american_scientific_journal-3593	188	18	artificial	artificial	ADJ
american_scientific_journal-3593	188	19	landmark	landmark	NOUN
american_scientific_journal-3593	188	20	3	3	NUM
american_scientific_journal-3593	188	21	.	.	PUNCT
american_scientific_journal-3593	189	1	if	if	SCONJ
american_scientific_journal-3593	189	2	go	go	VERB
american_scientific_journal-3593	189	3	sign	sign	VERB
american_scientific_journal-3593	189	4	landmark	landmark	NOUN
american_scientific_journal-3593	189	5	and	and	CCONJ
american_scientific_journal-3593	189	6	front	front	ADJ
american_scientific_journal-3593	189	7	distance	distance	NOUN
american_scientific_journal-3593	189	8	is	be	AUX
american_scientific_journal-3593	189	9	90	90	NUM
american_scientific_journal-3593	189	10	~	~	SYM
american_scientific_journal-3593	189	11	120	120	NUM
american_scientific_journal-3593	189	12	4	4	NUM
american_scientific_journal-3593	189	13	.	.	PUNCT
american_scientific_journal-3593	190	1	then	then	ADV
american_scientific_journal-3593	190	2	mobile	mobile	NOUN
american_scientific_journal-3593	190	3	robot	robot	NOUN
american_scientific_journal-3593	190	4	moves	move	VERB
american_scientific_journal-3593	190	5	forward	forward	ADV
american_scientific_journal-3593	190	6	5	5	NUM
american_scientific_journal-3593	190	7	.	.	PUNCT
american_scientific_journal-3593	191	1	until	until	ADP
american_scientific_journal-3593	191	2	next	next	ADJ
american_scientific_journal-3593	191	3	landmark	landmark	NOUN
american_scientific_journal-3593	191	4	detect	detect	VERB
american_scientific_journal-3593	191	5	6	6	NUM
american_scientific_journal-3593	191	6	.	.	PUNCT
american_scientific_journal-3593	192	1	if	if	SCONJ
american_scientific_journal-3593	192	2	turn	turn	NOUN
american_scientific_journal-3593	192	3	left	left	ADJ
american_scientific_journal-3593	192	4	sign	sign	NOUN
american_scientific_journal-3593	192	5	landmark	landmark	NOUN
american_scientific_journal-3593	192	6	and	and	CCONJ
american_scientific_journal-3593	192	7	front	front	ADJ
american_scientific_journal-3593	192	8	distance	distance	NOUN
american_scientific_journal-3593	192	9	is	be	AUX
american_scientific_journal-3593	192	10	90	90	NUM
american_scientific_journal-3593	192	11	~	~	SYM
american_scientific_journal-3593	192	12	120	120	NUM
american_scientific_journal-3593	192	13	7	7	NUM
american_scientific_journal-3593	192	14	.	.	PUNCT
american_scientific_journal-3593	193	1	then	then	ADV
american_scientific_journal-3593	193	2	mobile	mobile	ADJ
american_scientific_journal-3593	193	3	robot	robot	NOUN
american_scientific_journal-3593	193	4	turns	turn	VERB
american_scientific_journal-3593	193	5	left	leave	VERB
american_scientific_journal-3593	193	6	8	8	NUM
american_scientific_journal-3593	193	7	.	.	PUNCT
american_scientific_journal-3593	194	1	and	and	CCONJ
american_scientific_journal-3593	194	2	then	then	ADV
american_scientific_journal-3593	194	3	moves	move	VERB
american_scientific_journal-3593	194	4	straight	straight	ADV
american_scientific_journal-3593	194	5	forward	forward	ADV
american_scientific_journal-3593	194	6	9	9	NUM
american_scientific_journal-3593	194	7	.	.	PUNCT
american_scientific_journal-3593	195	1	until	until	ADP
american_scientific_journal-3593	195	2	next	next	ADJ
american_scientific_journal-3593	195	3	landmark	landmark	NOUN
american_scientific_journal-3593	195	4	detect	detect	PROPN
american_scientific_journal-3593	195	5	10	10	NUM
american_scientific_journal-3593	195	6	.	.	PUNCT
american_scientific_journal-3593	196	1	if	if	SCONJ
american_scientific_journal-3593	196	2	turn	turn	VERB
american_scientific_journal-3593	196	3	right	right	ADJ
american_scientific_journal-3593	196	4	sign	sign	NOUN
american_scientific_journal-3593	196	5	landmark	landmark	NOUN
american_scientific_journal-3593	196	6	and	and	CCONJ
american_scientific_journal-3593	196	7	front	front	ADJ
american_scientific_journal-3593	196	8	distance	distance	NOUN
american_scientific_journal-3593	196	9	is	be	AUX
american_scientific_journal-3593	196	10	90	90	NUM
american_scientific_journal-3593	196	11	~	~	SYM
american_scientific_journal-3593	196	12	120	120	NUM
american_scientific_journal-3593	196	13	11	11	NUM
american_scientific_journal-3593	196	14	.	.	PUNCT
american_scientific_journal-3593	197	1	then	then	ADV
american_scientific_journal-3593	197	2	mobile	mobile	ADJ
american_scientific_journal-3593	197	3	robot	robot	NOUN
american_scientific_journal-3593	197	4	turns	turn	VERB
american_scientific_journal-3593	197	5	right	right	ADJ
american_scientific_journal-3593	197	6	12	12	NUM
american_scientific_journal-3593	197	7	.	.	PUNCT
american_scientific_journal-3593	198	1	and	and	CCONJ
american_scientific_journal-3593	198	2	then	then	ADV
american_scientific_journal-3593	198	3	moves	move	VERB
american_scientific_journal-3593	198	4	straight	straight	ADV
american_scientific_journal-3593	198	5	forward	forward	ADV
american_scientific_journal-3593	198	6	13	13	NUM
american_scientific_journal-3593	198	7	.	.	PUNCT
american_scientific_journal-3593	199	1	until	until	ADP
american_scientific_journal-3593	199	2	next	next	ADJ
american_scientific_journal-3593	199	3	landmark	landmark	NOUN
american_scientific_journal-3593	199	4	detect	detect	PROPN
american_scientific_journal-3593	199	5	14	14	NUM
american_scientific_journal-3593	199	6	.	.	PUNCT
american_scientific_journal-3593	200	1	if	if	SCONJ
american_scientific_journal-3593	200	2	stop	stop	AUX
american_scientific_journal-3593	200	3	sign	sign	VERB
american_scientific_journal-3593	200	4	landmark	landmark	NOUN
american_scientific_journal-3593	200	5	and	and	CCONJ
american_scientific_journal-3593	200	6	front	front	ADJ
american_scientific_journal-3593	200	7	distance	distance	NOUN
american_scientific_journal-3593	200	8	is	be	AUX
american_scientific_journal-3593	200	9	90	90	NUM
american_scientific_journal-3593	200	10	~	~	SYM
american_scientific_journal-3593	200	11	120	120	NUM
american_scientific_journal-3593	200	12	15	15	NUM
american_scientific_journal-3593	200	13	.	.	PUNCT
american_scientific_journal-3593	201	1	then	then	ADV
american_scientific_journal-3593	201	2	mobile	mobile	ADJ
american_scientific_journal-3593	201	3	robot	robot	NOUN
american_scientific_journal-3593	201	4	stops	stop	VERB
american_scientific_journal-3593	201	5	16	16	NUM
american_scientific_journal-3593	201	6	.	.	PUNCT
american_scientific_journal-3593	202	1	end	end	NOUN
american_scientific_journal-3593	202	2	4	4	NUM
american_scientific_journal-3593	202	3	.	.	PUNCT
american_scientific_journal-3593	202	4	proposed	propose	VERB
american_scientific_journal-3593	202	5	system	system	NOUN
american_scientific_journal-3593	202	6	for	for	ADP
american_scientific_journal-3593	202	7	localization	localization	NOUN
american_scientific_journal-3593	202	8	and	and	CCONJ
american_scientific_journal-3593	202	9	mapping	mapping	NOUN
american_scientific_journal-3593	202	10	in	in	ADP
american_scientific_journal-3593	202	11	robot	robot	NOUN
american_scientific_journal-3593	202	12	localization	localization	NOUN
american_scientific_journal-3593	202	13	problem	problem	NOUN
american_scientific_journal-3593	202	14	,	,	PUNCT
american_scientific_journal-3593	202	15	the	the	DET
american_scientific_journal-3593	202	16	robot	robot	NOUN
american_scientific_journal-3593	202	17	has	have	VERB
american_scientific_journal-3593	202	18	to	to	PART
american_scientific_journal-3593	202	19	find	find	VERB
american_scientific_journal-3593	202	20	out	out	ADP
american_scientific_journal-3593	202	21	its	its	PRON
american_scientific_journal-3593	202	22	location	location	NOUN
american_scientific_journal-3593	202	23	relative	relative	ADJ
american_scientific_journal-3593	202	24	to	to	ADP
american_scientific_journal-3593	202	25	the	the	DET
american_scientific_journal-3593	202	26	environment	environment	NOUN
american_scientific_journal-3593	202	27	.	.	PUNCT
american_scientific_journal-3593	203	1	to	to	PART
american_scientific_journal-3593	203	2	know	know	VERB
american_scientific_journal-3593	203	3	the	the	DET
american_scientific_journal-3593	203	4	location	location	NOUN
american_scientific_journal-3593	203	5	pose	pose	VERB
american_scientific_journal-3593	203	6	or	or	CCONJ
american_scientific_journal-3593	203	7	position	position	NOUN
american_scientific_journal-3593	203	8	of	of	ADP
american_scientific_journal-3593	203	9	the	the	DET
american_scientific_journal-3593	203	10	robot	robot	NOUN
american_scientific_journal-3593	203	11	,	,	PUNCT
american_scientific_journal-3593	203	12	the	the	DET
american_scientific_journal-3593	203	13	x	x	X
american_scientific_journal-3593	203	14	and	and	CCONJ
american_scientific_journal-3593	203	15	y	y	PROPN
american_scientific_journal-3593	203	16	coordinates	coordinate	NOUN
american_scientific_journal-3593	203	17	and	and	CCONJ
american_scientific_journal-3593	203	18	heading	head	VERB
american_scientific_journal-3593	203	19	direction	direction	NOUN
american_scientific_journal-3593	203	20	need	need	VERB
american_scientific_journal-3593	203	21	to	to	PART
american_scientific_journal-3593	203	22	be	be	AUX
american_scientific_journal-3593	203	23	estimated	estimate	VERB
american_scientific_journal-3593	203	24	.	.	PUNCT
american_scientific_journal-3593	204	1	for	for	ADP
american_scientific_journal-3593	204	2	properly	properly	ADV
american_scientific_journal-3593	204	3	initializing	initialize	VERB
american_scientific_journal-3593	204	4	the	the	DET
american_scientific_journal-3593	204	5	navigation	navigation	NOUN
american_scientific_journal-3593	204	6	system	system	NOUN
american_scientific_journal-3593	204	7	,	,	PUNCT
american_scientific_journal-3593	204	8	as	as	SCONJ
american_scientific_journal-3593	204	9	accurate	accurate	ADJ
american_scientific_journal-3593	204	10	solution	solution	NOUN
american_scientific_journal-3593	204	11	of	of	ADP
american_scientific_journal-3593	204	12	the	the	DET
american_scientific_journal-3593	204	13	localization	localization	NOUN
american_scientific_journal-3593	204	14	problem	problem	NOUN
american_scientific_journal-3593	204	15	is	be	AUX
american_scientific_journal-3593	204	16	important	important	ADJ
american_scientific_journal-3593	204	17	,	,	PUNCT
american_scientific_journal-3593	204	18	kalman	kalman	PROPN
american_scientific_journal-3593	204	19	american	american	PROPN
american_scientific_journal-3593	204	20	scientific	scientific	PROPN
american_scientific_journal-3593	204	21	research	research	PROPN
american_scientific_journal-3593	204	22	journal	journal	NOUN
american_scientific_journal-3593	204	23	for	for	ADP
american_scientific_journal-3593	204	24	engineering	engineering	NOUN
american_scientific_journal-3593	204	25	,	,	PUNCT
american_scientific_journal-3593	204	26	technology	technology	NOUN
american_scientific_journal-3593	204	27	,	,	PUNCT
american_scientific_journal-3593	204	28	and	and	CCONJ
american_scientific_journal-3593	204	29	sciences	science	NOUN
american_scientific_journal-3593	204	30	(	(	PUNCT
american_scientific_journal-3593	204	31	asrjets	asrjet	NOUN
american_scientific_journal-3593	204	32	)	)	PUNCT
american_scientific_journal-3593	204	33	(	(	PUNCT
american_scientific_journal-3593	204	34	2017	2017	NUM
american_scientific_journal-3593	204	35	)	)	PUNCT
american_scientific_journal-3593	204	36	volume	volume	NOUN
american_scientific_journal-3593	204	37	38	38	NUM
american_scientific_journal-3593	204	38	,	,	PUNCT
american_scientific_journal-3593	204	39	no	no	DET
american_scientific_journal-3593	204	40	1	1	NUM
american_scientific_journal-3593	204	41	,	,	PUNCT
american_scientific_journal-3593	204	42	pp	pp	ADV
american_scientific_journal-3593	204	43	306	306	NUM
american_scientific_journal-3593	204	44	-	-	SYM
american_scientific_journal-3593	204	45	324	324	NUM
american_scientific_journal-3593	204	46	317	317	NUM
american_scientific_journal-3593	204	47	filter	filter	NOUN
american_scientific_journal-3593	204	48	is	be	AUX
american_scientific_journal-3593	204	49	used	use	VERB
american_scientific_journal-3593	204	50	.	.	PUNCT
american_scientific_journal-3593	205	1	the	the	DET
american_scientific_journal-3593	205	2	mobile	mobile	ADJ
american_scientific_journal-3593	205	3	robot	robot	NOUN
american_scientific_journal-3593	205	4	and	and	CCONJ
american_scientific_journal-3593	205	5	its	its	PRON
american_scientific_journal-3593	205	6	sample	sample	NOUN
american_scientific_journal-3593	205	7	localization	localization	NOUN
american_scientific_journal-3593	205	8	and	and	CCONJ
american_scientific_journal-3593	205	9	mapping	mapping	NOUN
american_scientific_journal-3593	205	10	system	system	NOUN
american_scientific_journal-3593	205	11	are	be	AUX
american_scientific_journal-3593	205	12	shown	show	VERB
american_scientific_journal-3593	205	13	in	in	ADP
american_scientific_journal-3593	205	14	figure.15	figure.15	NOUN
american_scientific_journal-3593	205	15	.	.	PUNCT
american_scientific_journal-3593	206	1	in	in	ADP
american_scientific_journal-3593	206	2	this	this	DET
american_scientific_journal-3593	206	3	localization	localization	NOUN
american_scientific_journal-3593	206	4	system	system	NOUN
american_scientific_journal-3593	206	5	,	,	PUNCT
american_scientific_journal-3593	206	6	the	the	DET
american_scientific_journal-3593	206	7	mobile	mobile	NOUN
american_scientific_journal-3593	206	8	robot	robot	NOUN
american_scientific_journal-3593	206	9	makes	make	VERB
american_scientific_journal-3593	206	10	self	self	NOUN
american_scientific_journal-3593	206	11	-	-	PUNCT
american_scientific_journal-3593	206	12	localization	localization	NOUN
american_scientific_journal-3593	206	13	by	by	ADP
american_scientific_journal-3593	206	14	using	use	VERB
american_scientific_journal-3593	206	15	the	the	DET
american_scientific_journal-3593	206	16	data	datum	NOUN
american_scientific_journal-3593	206	17	from	from	ADP
american_scientific_journal-3593	206	18	encoders	encoder	NOUN
american_scientific_journal-3593	206	19	and	and	CCONJ
american_scientific_journal-3593	206	20	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	206	21	sensors	sensor	NOUN
american_scientific_journal-3593	206	22	unless	unless	SCONJ
american_scientific_journal-3593	206	23	there	there	PRON
american_scientific_journal-3593	206	24	is	be	VERB
american_scientific_journal-3593	206	25	artificial	artificial	ADJ
american_scientific_journal-3593	206	26	landmarks	landmark	NOUN
american_scientific_journal-3593	206	27	in	in	ADP
american_scientific_journal-3593	206	28	the	the	DET
american_scientific_journal-3593	206	29	environment	environment	NOUN
american_scientific_journal-3593	206	30	.	.	PUNCT
american_scientific_journal-3593	207	1	from	from	ADP
american_scientific_journal-3593	207	2	starting	start	VERB
american_scientific_journal-3593	207	3	point	point	NOUN
american_scientific_journal-3593	207	4	,	,	PUNCT
american_scientific_journal-3593	207	5	the	the	DET
american_scientific_journal-3593	207	6	robot	robot	NOUN
american_scientific_journal-3593	207	7	will	will	AUX
american_scientific_journal-3593	207	8	know	know	VERB
american_scientific_journal-3593	207	9	x	x	PRON
american_scientific_journal-3593	207	10	,	,	PUNCT
american_scientific_journal-3593	207	11	y	y	PROPN
american_scientific_journal-3593	207	12	position	position	NOUN
american_scientific_journal-3593	207	13	and	and	CCONJ
american_scientific_journal-3593	207	14	heading	head	VERB
american_scientific_journal-3593	207	15	information	information	NOUN
american_scientific_journal-3593	207	16	.	.	PUNCT
american_scientific_journal-3593	208	1	the	the	DET
american_scientific_journal-3593	208	2	system	system	NOUN
american_scientific_journal-3593	208	3	will	will	AUX
american_scientific_journal-3593	208	4	estimate	estimate	VERB
american_scientific_journal-3593	208	5	the	the	DET
american_scientific_journal-3593	208	6	position	position	NOUN
american_scientific_journal-3593	208	7	of	of	ADP
american_scientific_journal-3593	208	8	the	the	DET
american_scientific_journal-3593	208	9	robot	robot	NOUN
american_scientific_journal-3593	208	10	by	by	ADP
american_scientific_journal-3593	208	11	calculating	calculate	VERB
american_scientific_journal-3593	208	12	the	the	DET
american_scientific_journal-3593	208	13	data	datum	NOUN
american_scientific_journal-3593	208	14	of	of	ADP
american_scientific_journal-3593	208	15	wheel	wheel	NOUN
american_scientific_journal-3593	208	16	revolutions	revolution	NOUN
american_scientific_journal-3593	208	17	from	from	ADP
american_scientific_journal-3593	208	18	encoders	encoder	NOUN
american_scientific_journal-3593	208	19	and	and	CCONJ
american_scientific_journal-3593	208	20	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	208	21	sensors	sensor	NOUN
american_scientific_journal-3593	208	22	with	with	ADP
american_scientific_journal-3593	208	23	kalman	kalman	PROPN
american_scientific_journal-3593	208	24	filter	filter	PROPN
american_scientific_journal-3593	208	25	.	.	PUNCT
american_scientific_journal-3593	209	1	so	so	ADV
american_scientific_journal-3593	209	2	,	,	PUNCT
american_scientific_journal-3593	209	3	the	the	DET
american_scientific_journal-3593	209	4	system	system	NOUN
american_scientific_journal-3593	209	5	can	can	AUX
american_scientific_journal-3593	209	6	estimate	estimate	VERB
american_scientific_journal-3593	209	7	the	the	DET
american_scientific_journal-3593	209	8	position	position	NOUN
american_scientific_journal-3593	209	9	more	more	ADV
american_scientific_journal-3593	209	10	accurately	accurately	ADV
american_scientific_journal-3593	209	11	and	and	CCONJ
american_scientific_journal-3593	209	12	can	can	AUX
american_scientific_journal-3593	209	13	avoid	avoid	VERB
american_scientific_journal-3593	209	14	the	the	DET
american_scientific_journal-3593	209	15	obstacles	obstacle	NOUN
american_scientific_journal-3593	209	16	effectively	effectively	ADV
american_scientific_journal-3593	209	17	.	.	PUNCT
american_scientific_journal-3593	210	1	(	(	PUNCT
american_scientific_journal-3593	210	2	a	a	X
american_scientific_journal-3593	210	3	)	)	PUNCT
american_scientific_journal-3593	210	4	(	(	PUNCT
american_scientific_journal-3593	210	5	b	b	X
american_scientific_journal-3593	210	6	)	)	PUNCT
american_scientific_journal-3593	210	7	figure	figure	NOUN
american_scientific_journal-3593	210	8	15	15	NUM
american_scientific_journal-3593	210	9	:	:	PUNCT
american_scientific_journal-3593	210	10	(	(	PUNCT
american_scientific_journal-3593	210	11	a	a	X
american_scientific_journal-3593	210	12	)	)	PUNCT
american_scientific_journal-3593	210	13	mobile	mobile	NOUN
american_scientific_journal-3593	210	14	robot	robot	NOUN
american_scientific_journal-3593	210	15	and	and	CCONJ
american_scientific_journal-3593	210	16	(	(	PUNCT
american_scientific_journal-3593	210	17	b	b	NOUN
american_scientific_journal-3593	210	18	)	)	PUNCT
american_scientific_journal-3593	210	19	sample	sample	NOUN
american_scientific_journal-3593	210	20	mobile	mobile	NOUN
american_scientific_journal-3593	210	21	robot	robot	NOUN
american_scientific_journal-3593	210	22	localization	localization	NOUN
american_scientific_journal-3593	210	23	and	and	CCONJ
american_scientific_journal-3593	210	24	mapping	mapping	NOUN
american_scientific_journal-3593	210	25	system	system	NOUN
american_scientific_journal-3593	210	26	when	when	SCONJ
american_scientific_journal-3593	210	27	the	the	DET
american_scientific_journal-3593	210	28	robot	robot	NOUN
american_scientific_journal-3593	210	29	found	find	VERB
american_scientific_journal-3593	210	30	the	the	DET
american_scientific_journal-3593	210	31	landmark	landmark	NOUN
american_scientific_journal-3593	210	32	,	,	PUNCT
american_scientific_journal-3593	210	33	it	it	PRON
american_scientific_journal-3593	210	34	will	will	AUX
american_scientific_journal-3593	210	35	make	make	VERB
american_scientific_journal-3593	210	36	landmark	landmark	NOUN
american_scientific_journal-3593	210	37	detection	detection	NOUN
american_scientific_journal-3593	210	38	by	by	ADP
american_scientific_journal-3593	210	39	fusing	fuse	VERB
american_scientific_journal-3593	210	40	the	the	DET
american_scientific_journal-3593	210	41	data	datum	NOUN
american_scientific_journal-3593	210	42	from	from	ADP
american_scientific_journal-3593	210	43	camera	camera	NOUN
american_scientific_journal-3593	210	44	and	and	CCONJ
american_scientific_journal-3593	210	45	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	210	46	sensors	sensor	NOUN
american_scientific_journal-3593	210	47	.	.	PUNCT
american_scientific_journal-3593	211	1	after	after	ADP
american_scientific_journal-3593	211	2	that	that	PRON
american_scientific_journal-3593	211	3	,	,	PUNCT
american_scientific_journal-3593	211	4	the	the	DET
american_scientific_journal-3593	211	5	robot	robot	NOUN
american_scientific_journal-3593	211	6	will	will	AUX
american_scientific_journal-3593	211	7	know	know	VERB
american_scientific_journal-3593	211	8	where	where	SCONJ
american_scientific_journal-3593	211	9	to	to	PART
american_scientific_journal-3593	211	10	go	go	VERB
american_scientific_journal-3593	211	11	and	and	CCONJ
american_scientific_journal-3593	211	12	how	how	SCONJ
american_scientific_journal-3593	211	13	to	to	PART
american_scientific_journal-3593	211	14	act	act	VERB
american_scientific_journal-3593	211	15	.	.	PUNCT
american_scientific_journal-3593	212	1	after	after	ADP
american_scientific_journal-3593	212	2	moving	move	VERB
american_scientific_journal-3593	212	3	by	by	ADP
american_scientific_journal-3593	212	4	reading	read	VERB
american_scientific_journal-3593	212	5	with	with	ADP
american_scientific_journal-3593	212	6	the	the	DET
american_scientific_journal-3593	212	7	sign	sign	NOUN
american_scientific_journal-3593	212	8	of	of	ADP
american_scientific_journal-3593	212	9	the	the	DET
american_scientific_journal-3593	212	10	detected	detect	VERB
american_scientific_journal-3593	212	11	landmark	landmark	NOUN
american_scientific_journal-3593	212	12	,	,	PUNCT
american_scientific_journal-3593	212	13	the	the	DET
american_scientific_journal-3593	212	14	robot	robot	NOUN
american_scientific_journal-3593	212	15	will	will	AUX
american_scientific_journal-3593	212	16	go	go	VERB
american_scientific_journal-3593	212	17	straight	straight	ADV
american_scientific_journal-3593	212	18	until	until	SCONJ
american_scientific_journal-3593	212	19	it	it	PRON
american_scientific_journal-3593	212	20	finds	find	VERB
american_scientific_journal-3593	212	21	next	next	ADJ
american_scientific_journal-3593	212	22	landmark	landmark	NOUN
american_scientific_journal-3593	212	23	by	by	ADP
american_scientific_journal-3593	212	24	localizing	localize	VERB
american_scientific_journal-3593	212	25	with	with	ADP
american_scientific_journal-3593	212	26	wheel	wheel	NOUN
american_scientific_journal-3593	212	27	encoders	encoder	NOUN
american_scientific_journal-3593	212	28	and	and	CCONJ
american_scientific_journal-3593	212	29	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	212	30	sensors	sensor	NOUN
american_scientific_journal-3593	212	31	.	.	PUNCT
american_scientific_journal-3593	213	1	the	the	DET
american_scientific_journal-3593	213	2	localization	localization	NOUN
american_scientific_journal-3593	213	3	techniques	technique	NOUN
american_scientific_journal-3593	213	4	need	need	VERB
american_scientific_journal-3593	213	5	a	a	DET
american_scientific_journal-3593	213	6	map	map	NOUN
american_scientific_journal-3593	213	7	of	of	ADP
american_scientific_journal-3593	213	8	the	the	DET
american_scientific_journal-3593	213	9	environment	environment	NOUN
american_scientific_journal-3593	213	10	in	in	ADP
american_scientific_journal-3593	213	11	which	which	PRON
american_scientific_journal-3593	213	12	the	the	DET
american_scientific_journal-3593	213	13	robot	robot	NOUN
american_scientific_journal-3593	213	14	operates	operate	VERB
american_scientific_journal-3593	213	15	for	for	ADP
american_scientific_journal-3593	213	16	localization	localization	NOUN
american_scientific_journal-3593	213	17	.	.	PUNCT
american_scientific_journal-3593	214	1	in	in	ADP
american_scientific_journal-3593	214	2	order	order	NOUN
american_scientific_journal-3593	214	3	to	to	PART
american_scientific_journal-3593	214	4	autonomously	autonomously	ADV
american_scientific_journal-3593	214	5	build	build	VERB
american_scientific_journal-3593	214	6	a	a	DET
american_scientific_journal-3593	214	7	map	map	NOUN
american_scientific_journal-3593	214	8	of	of	ADP
american_scientific_journal-3593	214	9	an	an	DET
american_scientific_journal-3593	214	10	environment	environment	NOUN
american_scientific_journal-3593	214	11	,	,	PUNCT
american_scientific_journal-3593	214	12	the	the	DET
american_scientific_journal-3593	214	13	robot	robot	NOUN
american_scientific_journal-3593	214	14	must	must	AUX
american_scientific_journal-3593	214	15	know	know	VERB
american_scientific_journal-3593	214	16	where	where	SCONJ
american_scientific_journal-3593	214	17	it	it	PRON
american_scientific_journal-3593	214	18	is	be	AUX
american_scientific_journal-3593	214	19	within	within	ADP
american_scientific_journal-3593	214	20	the	the	DET
american_scientific_journal-3593	214	21	environment	environment	NOUN
american_scientific_journal-3593	214	22	(	(	PUNCT
american_scientific_journal-3593	214	23	localize	localize	VERB
american_scientific_journal-3593	214	24	itself	itself	PRON
american_scientific_journal-3593	214	25	)	)	PUNCT
american_scientific_journal-3593	214	26	.	.	PUNCT
american_scientific_journal-3593	215	1	so	so	ADV
american_scientific_journal-3593	215	2	as	as	SCONJ
american_scientific_journal-3593	215	3	to	to	PART
american_scientific_journal-3593	215	4	achieve	achieve	VERB
american_scientific_journal-3593	215	5	this	this	PRON
american_scientific_journal-3593	215	6	,	,	PUNCT
american_scientific_journal-3593	215	7	the	the	DET
american_scientific_journal-3593	215	8	robot	robot	NOUN
american_scientific_journal-3593	215	9	must	must	AUX
american_scientific_journal-3593	215	10	concurrently	concurrently	ADV
american_scientific_journal-3593	215	11	localize	localize	VERB
american_scientific_journal-3593	215	12	itself	itself	PRON
american_scientific_journal-3593	215	13	and	and	CCONJ
american_scientific_journal-3593	215	14	build	build	VERB
american_scientific_journal-3593	215	15	a	a	DET
american_scientific_journal-3593	215	16	map	map	NOUN
american_scientific_journal-3593	215	17	of	of	ADP
american_scientific_journal-3593	215	18	the	the	DET
american_scientific_journal-3593	215	19	environment	environment	NOUN
american_scientific_journal-3593	215	20	.	.	PUNCT
american_scientific_journal-3593	216	1	in	in	ADP
american_scientific_journal-3593	216	2	this	this	DET
american_scientific_journal-3593	216	3	research	research	NOUN
american_scientific_journal-3593	216	4	,	,	PUNCT
american_scientific_journal-3593	216	5	the	the	DET
american_scientific_journal-3593	216	6	mobile	mobile	NOUN
american_scientific_journal-3593	216	7	robot	robot	NOUN
american_scientific_journal-3593	216	8	is	be	AUX
american_scientific_journal-3593	216	9	intended	intend	VERB
american_scientific_journal-3593	216	10	to	to	PART
american_scientific_journal-3593	216	11	use	use	VERB
american_scientific_journal-3593	216	12	in	in	ADP
american_scientific_journal-3593	216	13	a	a	DET
american_scientific_journal-3593	216	14	structured	structured	ADJ
american_scientific_journal-3593	216	15	indoor	indoor	ADJ
american_scientific_journal-3593	216	16	environment	environment	NOUN
american_scientific_journal-3593	216	17	.	.	PUNCT
american_scientific_journal-3593	217	1	so	so	ADV
american_scientific_journal-3593	217	2	,	,	PUNCT
american_scientific_journal-3593	217	3	the	the	DET
american_scientific_journal-3593	217	4	robot	robot	NOUN
american_scientific_journal-3593	217	5	made	make	VERB
american_scientific_journal-3593	217	6	self	self	NOUN
american_scientific_journal-3593	217	7	-	-	PUNCT
american_scientific_journal-3593	217	8	localization	localization	NOUN
american_scientific_journal-3593	217	9	and	and	CCONJ
american_scientific_journal-3593	217	10	mapping	mapping	NOUN
american_scientific_journal-3593	217	11	by	by	ADP
american_scientific_journal-3593	217	12	map	map	NOUN
american_scientific_journal-3593	217	13	-	-	PUNCT
american_scientific_journal-3593	217	14	based	base	VERB
american_scientific_journal-3593	217	15	system	system	NOUN
american_scientific_journal-3593	217	16	.	.	PUNCT
american_scientific_journal-3593	218	1	4.1	4.1	NUM
american_scientific_journal-3593	218	2	.	.	PUNCT
american_scientific_journal-3593	218	3	system	system	NOUN
american_scientific_journal-3593	218	4	flow	flow	NOUN
american_scientific_journal-3593	218	5	chart	chart	NOUN
american_scientific_journal-3593	218	6	for	for	ADP
american_scientific_journal-3593	218	7	localization	localization	NOUN
american_scientific_journal-3593	218	8	and	and	CCONJ
american_scientific_journal-3593	218	9	mapping	mapping	NOUN
american_scientific_journal-3593	218	10	for	for	ADP
american_scientific_journal-3593	218	11	mobile	mobile	ADJ
american_scientific_journal-3593	218	12	robot	robot	NOUN
american_scientific_journal-3593	218	13	self	self	NOUN
american_scientific_journal-3593	218	14	-	-	PUNCT
american_scientific_journal-3593	218	15	localization	localization	NOUN
american_scientific_journal-3593	218	16	and	and	CCONJ
american_scientific_journal-3593	218	17	mapping	mapping	NOUN
american_scientific_journal-3593	218	18	,	,	PUNCT
american_scientific_journal-3593	218	19	step	step	NOUN
american_scientific_journal-3593	218	20	-	-	PUNCT
american_scientific_journal-3593	218	21	by	by	ADP
american_scientific_journal-3593	218	22	-	-	PUNCT
american_scientific_journal-3593	218	23	step	step	NOUN
american_scientific_journal-3593	218	24	system	system	NOUN
american_scientific_journal-3593	218	25	working	working	NOUN
american_scientific_journal-3593	218	26	flow	flow	NOUN
american_scientific_journal-3593	218	27	is	be	AUX
american_scientific_journal-3593	218	28	shown	show	VERB
american_scientific_journal-3593	218	29	in	in	ADP
american_scientific_journal-3593	218	30	figure	figure	NOUN
american_scientific_journal-3593	218	31	.	.	PUNCT
american_scientific_journal-3593	219	1	16(a	16(a	NUM
american_scientific_journal-3593	219	2	)	)	PUNCT
american_scientific_journal-3593	219	3	.	.	PUNCT
american_scientific_journal-3593	220	1	firstly	firstly	ADV
american_scientific_journal-3593	220	2	,	,	PUNCT
american_scientific_journal-3593	220	3	the	the	DET
american_scientific_journal-3593	220	4	mobile	mobile	NOUN
american_scientific_journal-3593	220	5	robot	robot	NOUN
american_scientific_journal-3593	220	6	captures	capture	VERB
american_scientific_journal-3593	220	7	the	the	DET
american_scientific_journal-3593	220	8	images	image	NOUN
american_scientific_journal-3593	220	9	from	from	ADP
american_scientific_journal-3593	220	10	camera	camera	NOUN
american_scientific_journal-3593	220	11	and	and	CCONJ
american_scientific_journal-3593	220	12	then	then	ADV
american_scientific_journal-3593	220	13	it	it	PRON
american_scientific_journal-3593	220	14	makes	make	VERB
american_scientific_journal-3593	220	15	landmark	landmark	NOUN
american_scientific_journal-3593	220	16	detection	detection	NOUN
american_scientific_journal-3593	220	17	to	to	PART
american_scientific_journal-3593	220	18	decide	decide	VERB
american_scientific_journal-3593	220	19	if	if	SCONJ
american_scientific_journal-3593	220	20	it	it	PRON
american_scientific_journal-3593	220	21	is	be	AUX
american_scientific_journal-3593	220	22	landmark	landmark	ADJ
american_scientific_journal-3593	220	23	or	or	CCONJ
american_scientific_journal-3593	220	24	not	not	PART
american_scientific_journal-3593	220	25	.	.	PUNCT
american_scientific_journal-3593	221	1	if	if	SCONJ
american_scientific_journal-3593	221	2	there	there	PRON
american_scientific_journal-3593	221	3	is	be	VERB
american_scientific_journal-3593	221	4	artificial	artificial	ADJ
american_scientific_journal-3593	221	5	landmark	landmark	NOUN
american_scientific_journal-3593	221	6	on	on	ADP
american_scientific_journal-3593	221	7	the	the	DET
american_scientific_journal-3593	221	8	robot	robot	NOUN
american_scientific_journal-3593	221	9	’s	’s	PART
american_scientific_journal-3593	221	10	front	front	ADJ
american_scientific_journal-3593	221	11	wall	wall	NOUN
american_scientific_journal-3593	221	12	,	,	PUNCT
american_scientific_journal-3593	221	13	the	the	DET
american_scientific_journal-3593	221	14	system	system	NOUN
american_scientific_journal-3593	221	15	will	will	AUX
american_scientific_journal-3593	221	16	make	make	VERB
american_scientific_journal-3593	221	17	landmark	landmark	NOUN
american_scientific_journal-3593	221	18	detection	detection	NOUN
american_scientific_journal-3593	221	19	by	by	ADP
american_scientific_journal-3593	221	20	fusing	fuse	VERB
american_scientific_journal-3593	221	21	the	the	DET
american_scientific_journal-3593	221	22	data	datum	NOUN
american_scientific_journal-3593	221	23	with	with	ADP
american_scientific_journal-3593	221	24	vision	vision	NOUN
american_scientific_journal-3593	221	25	sensor	sensor	NOUN
american_scientific_journal-3593	221	26	and	and	CCONJ
american_scientific_journal-3593	221	27	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	221	28	sensor	sensor	NOUN
american_scientific_journal-3593	221	29	and	and	CCONJ
american_scientific_journal-3593	221	30	then	then	ADV
american_scientific_journal-3593	221	31	will	will	AUX
american_scientific_journal-3593	221	32	get	get	VERB
american_scientific_journal-3593	221	33	x	x	PUNCT
american_scientific_journal-3593	221	34	and	and	CCONJ
american_scientific_journal-3593	221	35	y	y	PROPN
american_scientific_journal-3593	221	36	coordinates	coordinate	NOUN
american_scientific_journal-3593	221	37	from	from	ADP
american_scientific_journal-3593	221	38	detection	detection	NOUN
american_scientific_journal-3593	221	39	process	process	NOUN
american_scientific_journal-3593	221	40	.	.	PUNCT
american_scientific_journal-3593	222	1	after	after	ADP
american_scientific_journal-3593	222	2	that	that	SCONJ
american_scientific_journal-3593	222	3	these	these	DET
american_scientific_journal-3593	222	4	data	datum	NOUN
american_scientific_journal-3593	222	5	are	be	AUX
american_scientific_journal-3593	222	6	sent	send	VERB
american_scientific_journal-3593	222	7	to	to	ADP
american_scientific_journal-3593	222	8	kalman	kalman	PROPN
american_scientific_journal-3593	222	9	filter	filter	NOUN
american_scientific_journal-3593	222	10	to	to	PART
american_scientific_journal-3593	222	11	estimate	estimate	VERB
american_scientific_journal-3593	222	12	the	the	DET
american_scientific_journal-3593	222	13	position	position	NOUN
american_scientific_journal-3593	222	14	of	of	ADP
american_scientific_journal-3593	222	15	the	the	DET
american_scientific_journal-3593	222	16	mobile	mobile	ADJ
american_scientific_journal-3593	222	17	robot	robot	NOUN
american_scientific_journal-3593	222	18	.	.	PUNCT
american_scientific_journal-3593	223	1	the	the	DET
american_scientific_journal-3593	223	2	robot	robot	NOUN
american_scientific_journal-3593	223	3	can	can	AUX
american_scientific_journal-3593	223	4	make	make	VERB
american_scientific_journal-3593	223	5	localization	localization	NOUN
american_scientific_journal-3593	223	6	more	more	ADV
american_scientific_journal-3593	223	7	accurately	accurately	ADV
american_scientific_journal-3593	223	8	by	by	ADP
american_scientific_journal-3593	223	9	calculating	calculate	VERB
american_scientific_journal-3593	223	10	the	the	DET
american_scientific_journal-3593	223	11	received	receive	VERB
american_scientific_journal-3593	223	12	data	datum	NOUN
american_scientific_journal-3593	223	13	with	with	ADP
american_scientific_journal-3593	223	14	kalman	kalman	PROPN
american_scientific_journal-3593	223	15	filter	filter	PROPN
american_scientific_journal-3593	223	16	.	.	PUNCT
american_scientific_journal-3593	224	1	in	in	ADP
american_scientific_journal-3593	224	2	kalman	kalman	PROPN
american_scientific_journal-3593	224	3	filtering	filtering	NOUN
american_scientific_journal-3593	224	4	process	process	NOUN
american_scientific_journal-3593	224	5	,	,	PUNCT
american_scientific_journal-3593	224	6	the	the	DET
american_scientific_journal-3593	224	7	system	system	NOUN
american_scientific_journal-3593	224	8	predicts	predict	VERB
american_scientific_journal-3593	224	9	the	the	DET
american_scientific_journal-3593	224	10	robot	robot	NOUN
american_scientific_journal-3593	224	11	state	state	NOUN
american_scientific_journal-3593	224	12	at	at	ADP
american_scientific_journal-3593	224	13	k	k	PROPN
american_scientific_journal-3593	224	14	time	time	NOUN
american_scientific_journal-3593	224	15	step	step	NOUN
american_scientific_journal-3593	224	16	by	by	ADP
american_scientific_journal-3593	224	17	using	use	VERB
american_scientific_journal-3593	224	18	the	the	DET
american_scientific_journal-3593	224	19	data	datum	NOUN
american_scientific_journal-3593	224	20	of	of	ADP
american_scientific_journal-3593	224	21	the	the	DET
american_scientific_journal-3593	224	22	robot	robot	NOUN
american_scientific_journal-3593	224	23	’s	’s	PART
american_scientific_journal-3593	224	24	state	state	NOUN
american_scientific_journal-3593	224	25	and	and	CCONJ
american_scientific_journal-3593	224	26	map	map	NOUN
american_scientific_journal-3593	224	27	at	at	ADP
american_scientific_journal-3593	224	28	k-1	k-1	PROPN
american_scientific_journal-3593	224	29	time	time	PROPN
american_scientific_journal-3593	224	30	step	step	NOUN
american_scientific_journal-3593	224	31	and	and	CCONJ
american_scientific_journal-3593	224	32	measurement	measurement	NOUN
american_scientific_journal-3593	224	33	values	value	NOUN
american_scientific_journal-3593	224	34	from	from	ADP
american_scientific_journal-3593	224	35	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	224	36	sensors	sensor	NOUN
american_scientific_journal-3593	224	37	and	and	CCONJ
american_scientific_journal-3593	224	38	wheel	wheel	NOUN
american_scientific_journal-3593	224	39	encoders	encoder	NOUN
american_scientific_journal-3593	224	40	.	.	PUNCT
american_scientific_journal-3593	225	1	from	from	ADP
american_scientific_journal-3593	225	2	observation	observation	NOUN
american_scientific_journal-3593	225	3	american	american	PROPN
american_scientific_journal-3593	225	4	scientific	scientific	ADJ
american_scientific_journal-3593	225	5	research	research	NOUN
american_scientific_journal-3593	225	6	journal	journal	NOUN
american_scientific_journal-3593	225	7	for	for	ADP
american_scientific_journal-3593	225	8	engineering	engineering	NOUN
american_scientific_journal-3593	225	9	,	,	PUNCT
american_scientific_journal-3593	225	10	technology	technology	NOUN
american_scientific_journal-3593	225	11	,	,	PUNCT
american_scientific_journal-3593	225	12	and	and	CCONJ
american_scientific_journal-3593	225	13	sciences	science	NOUN
american_scientific_journal-3593	225	14	(	(	PUNCT
american_scientific_journal-3593	225	15	asrjets	asrjet	NOUN
american_scientific_journal-3593	225	16	)	)	PUNCT
american_scientific_journal-3593	225	17	(	(	PUNCT
american_scientific_journal-3593	225	18	2017	2017	NUM
american_scientific_journal-3593	225	19	)	)	PUNCT
american_scientific_journal-3593	225	20	volume	volume	NOUN
american_scientific_journal-3593	225	21	38	38	NUM
american_scientific_journal-3593	225	22	,	,	PUNCT
american_scientific_journal-3593	225	23	no	no	DET
american_scientific_journal-3593	225	24	1	1	NUM
american_scientific_journal-3593	225	25	,	,	PUNCT
american_scientific_journal-3593	225	26	pp	pp	ADV
american_scientific_journal-3593	225	27	306	306	NUM
american_scientific_journal-3593	225	28	-	-	SYM
american_scientific_journal-3593	225	29	324	324	NUM
american_scientific_journal-3593	225	30	318	318	NUM
american_scientific_journal-3593	225	31	landmarks	landmark	NOUN
american_scientific_journal-3593	225	32	at	at	ADP
american_scientific_journal-3593	225	33	k	k	PROPN
american_scientific_journal-3593	225	34	time	time	NOUN
american_scientific_journal-3593	225	35	step	step	NOUN
american_scientific_journal-3593	225	36	,	,	PUNCT
american_scientific_journal-3593	225	37	the	the	DET
american_scientific_journal-3593	225	38	system	system	NOUN
american_scientific_journal-3593	225	39	makes	make	VERB
american_scientific_journal-3593	225	40	estimation	estimation	NOUN
american_scientific_journal-3593	225	41	of	of	ADP
american_scientific_journal-3593	225	42	the	the	DET
american_scientific_journal-3593	225	43	robot	robot	NOUN
american_scientific_journal-3593	225	44	and	and	CCONJ
american_scientific_journal-3593	225	45	the	the	DET
american_scientific_journal-3593	225	46	map	map	NOUN
american_scientific_journal-3593	225	47	state	state	NOUN
american_scientific_journal-3593	225	48	.	.	PUNCT
american_scientific_journal-3593	226	1	(	(	PUNCT
american_scientific_journal-3593	226	2	a	a	X
american_scientific_journal-3593	226	3	)	)	PUNCT
american_scientific_journal-3593	226	4	(	(	PUNCT
american_scientific_journal-3593	226	5	b	b	X
american_scientific_journal-3593	226	6	)	)	PUNCT
american_scientific_journal-3593	226	7	figure	figure	NOUN
american_scientific_journal-3593	226	8	16	16	NUM
american_scientific_journal-3593	226	9	:	:	PUNCT
american_scientific_journal-3593	226	10	(	(	PUNCT
american_scientific_journal-3593	226	11	a	a	X
american_scientific_journal-3593	226	12	)	)	PUNCT
american_scientific_journal-3593	226	13	system	system	NOUN
american_scientific_journal-3593	226	14	flow	flow	NOUN
american_scientific_journal-3593	226	15	chart	chart	NOUN
american_scientific_journal-3593	226	16	and	and	CCONJ
american_scientific_journal-3593	226	17	(	(	PUNCT
american_scientific_journal-3593	226	18	b	b	NOUN
american_scientific_journal-3593	226	19	)	)	PUNCT
american_scientific_journal-3593	226	20	flowchart	flowchart	NOUN
american_scientific_journal-3593	226	21	of	of	ADP
american_scientific_journal-3593	226	22	kalman	kalman	PROPN
american_scientific_journal-3593	226	23	filtering	filtering	NOUN
american_scientific_journal-3593	226	24	process	process	NOUN
american_scientific_journal-3593	226	25	for	for	ADP
american_scientific_journal-3593	226	26	localization	localization	NOUN
american_scientific_journal-3593	226	27	and	and	CCONJ
american_scientific_journal-3593	226	28	mapping	mapping	NOUN
american_scientific_journal-3593	226	29	then	then	ADV
american_scientific_journal-3593	226	30	,	,	PUNCT
american_scientific_journal-3593	226	31	the	the	DET
american_scientific_journal-3593	226	32	system	system	NOUN
american_scientific_journal-3593	226	33	updates	update	VERB
american_scientific_journal-3593	226	34	the	the	DET
american_scientific_journal-3593	226	35	current	current	ADJ
american_scientific_journal-3593	226	36	state	state	NOUN
american_scientific_journal-3593	226	37	(	(	PUNCT
american_scientific_journal-3593	226	38	k	k	PROPN
american_scientific_journal-3593	226	39	time	time	NOUN
american_scientific_journal-3593	226	40	step	step	NOUN
american_scientific_journal-3593	226	41	)	)	PUNCT
american_scientific_journal-3593	226	42	of	of	ADP
american_scientific_journal-3593	226	43	the	the	DET
american_scientific_journal-3593	226	44	robot	robot	NOUN
american_scientific_journal-3593	226	45	and	and	CCONJ
american_scientific_journal-3593	226	46	continuously	continuously	ADV
american_scientific_journal-3593	226	47	makes	make	VERB
american_scientific_journal-3593	226	48	mapping	mapping	NOUN
american_scientific_journal-3593	226	49	.	.	PUNCT
american_scientific_journal-3593	227	1	when	when	SCONJ
american_scientific_journal-3593	227	2	the	the	DET
american_scientific_journal-3593	227	3	robot	robot	NOUN
american_scientific_journal-3593	227	4	knows	know	VERB
american_scientific_journal-3593	227	5	its	its	PRON
american_scientific_journal-3593	227	6	position	position	NOUN
american_scientific_journal-3593	227	7	,	,	PUNCT
american_scientific_journal-3593	227	8	the	the	DET
american_scientific_journal-3593	227	9	data	datum	NOUN
american_scientific_journal-3593	227	10	are	be	AUX
american_scientific_journal-3593	227	11	sent	send	VERB
american_scientific_journal-3593	227	12	to	to	ADP
american_scientific_journal-3593	227	13	the	the	DET
american_scientific_journal-3593	227	14	control	control	PROPN
american_scientific_journal-3593	227	15	board	board	PROPN
american_scientific_journal-3593	227	16	to	to	PART
american_scientific_journal-3593	227	17	drive	drive	VERB
american_scientific_journal-3593	227	18	the	the	DET
american_scientific_journal-3593	227	19	motor	motor	NOUN
american_scientific_journal-3593	227	20	.	.	PUNCT
american_scientific_journal-3593	228	1	then	then	ADV
american_scientific_journal-3593	228	2	,	,	PUNCT
american_scientific_journal-3593	228	3	the	the	DET
american_scientific_journal-3593	228	4	robot	robot	NOUN
american_scientific_journal-3593	228	5	moves	move	VERB
american_scientific_journal-3593	228	6	forward	forward	ADV
american_scientific_journal-3593	228	7	around	around	ADV
american_scientific_journal-3593	228	8	in	in	ADP
american_scientific_journal-3593	228	9	the	the	DET
american_scientific_journal-3593	228	10	structured	structured	ADJ
american_scientific_journal-3593	228	11	indoor	indoor	ADJ
american_scientific_journal-3593	228	12	environment	environment	NOUN
american_scientific_journal-3593	228	13	by	by	ADP
american_scientific_journal-3593	228	14	making	make	VERB
american_scientific_journal-3593	228	15	localizing	localize	VERB
american_scientific_journal-3593	228	16	and	and	CCONJ
american_scientific_journal-3593	228	17	mapping	mapping	NOUN
american_scientific_journal-3593	228	18	simultaneously	simultaneously	ADV
american_scientific_journal-3593	228	19	.	.	PUNCT
american_scientific_journal-3593	229	1	5	5	X
american_scientific_journal-3593	229	2	.	.	NUM
american_scientific_journal-3593	229	3	tests	test	NOUN
american_scientific_journal-3593	229	4	and	and	CCONJ
american_scientific_journal-3593	229	5	results	result	NOUN
american_scientific_journal-3593	229	6	for	for	ADP
american_scientific_journal-3593	229	7	localization	localization	NOUN
american_scientific_journal-3593	229	8	and	and	CCONJ
american_scientific_journal-3593	229	9	mapping	map	VERB
american_scientific_journal-3593	229	10	the	the	DET
american_scientific_journal-3593	229	11	implementation	implementation	NOUN
american_scientific_journal-3593	229	12	of	of	ADP
american_scientific_journal-3593	229	13	the	the	DET
american_scientific_journal-3593	229	14	landmark	landmark	NOUN
american_scientific_journal-3593	229	15	detection	detection	NOUN
american_scientific_journal-3593	229	16	algorithm	algorithm	NOUN
american_scientific_journal-3593	229	17	and	and	CCONJ
american_scientific_journal-3593	229	18	localization	localization	NOUN
american_scientific_journal-3593	229	19	system	system	NOUN
american_scientific_journal-3593	229	20	have	have	AUX
american_scientific_journal-3593	229	21	been	be	AUX
american_scientific_journal-3593	229	22	performed	perform	VERB
american_scientific_journal-3593	229	23	by	by	ADP
american_scientific_journal-3593	229	24	opencv	opencv	PROPN
american_scientific_journal-3593	229	25	framework	framework	NOUN
american_scientific_journal-3593	229	26	.	.	PUNCT
american_scientific_journal-3593	230	1	the	the	DET
american_scientific_journal-3593	230	2	performance	performance	NOUN
american_scientific_journal-3593	230	3	of	of	ADP
american_scientific_journal-3593	230	4	this	this	DET
american_scientific_journal-3593	230	5	system	system	NOUN
american_scientific_journal-3593	230	6	was	be	AUX
american_scientific_journal-3593	230	7	implemented	implement	VERB
american_scientific_journal-3593	230	8	on	on	ADP
american_scientific_journal-3593	230	9	the	the	DET
american_scientific_journal-3593	230	10	raspberry	raspberry	NOUN
american_scientific_journal-3593	230	11	pi	pi	NOUN
american_scientific_journal-3593	230	12	.	.	PUNCT
american_scientific_journal-3593	231	1	in	in	ADP
american_scientific_journal-3593	231	2	the	the	DET
american_scientific_journal-3593	231	3	detection	detection	NOUN
american_scientific_journal-3593	231	4	phase	phase	NOUN
american_scientific_journal-3593	231	5	,	,	PUNCT
american_scientific_journal-3593	231	6	the	the	DET
american_scientific_journal-3593	231	7	landmark	landmark	NOUN
american_scientific_journal-3593	231	8	samples	sample	NOUN
american_scientific_journal-3593	231	9	are	be	AUX
american_scientific_journal-3593	231	10	acquired	acquire	VERB
american_scientific_journal-3593	231	11	by	by	ADP
american_scientific_journal-3593	231	12	a	a	DET
american_scientific_journal-3593	231	13	camera	camera	NOUN
american_scientific_journal-3593	231	14	mounted	mount	VERB
american_scientific_journal-3593	231	15	on	on	ADP
american_scientific_journal-3593	231	16	a	a	DET
american_scientific_journal-3593	231	17	vehicle	vehicle	NOUN
american_scientific_journal-3593	231	18	.	.	PUNCT
american_scientific_journal-3593	232	1	the	the	DET
american_scientific_journal-3593	232	2	mobile	mobile	ADJ
american_scientific_journal-3593	232	3	robot	robot	NOUN
american_scientific_journal-3593	232	4	extracts	extract	VERB
american_scientific_journal-3593	232	5	the	the	DET
american_scientific_journal-3593	232	6	features	feature	NOUN
american_scientific_journal-3593	232	7	of	of	ADP
american_scientific_journal-3593	232	8	the	the	DET
american_scientific_journal-3593	232	9	proposed	propose	VERB
american_scientific_journal-3593	232	10	landmarks	landmark	NOUN
american_scientific_journal-3593	232	11	by	by	ADP
american_scientific_journal-3593	232	12	using	use	VERB
american_scientific_journal-3593	232	13	the	the	DET
american_scientific_journal-3593	232	14	landmark	landmark	NOUN
american_scientific_journal-3593	232	15	detection	detection	NOUN
american_scientific_journal-3593	232	16	algorithms	algorithm	NOUN
american_scientific_journal-3593	232	17	.	.	PUNCT
american_scientific_journal-3593	233	1	5.1	5.1	NUM
american_scientific_journal-3593	233	2	.	.	PUNCT
american_scientific_journal-3593	234	1	experimental	experimental	ADJ
american_scientific_journal-3593	234	2	results	result	NOUN
american_scientific_journal-3593	234	3	for	for	ADP
american_scientific_journal-3593	234	4	localization	localization	NOUN
american_scientific_journal-3593	234	5	system	system	NOUN
american_scientific_journal-3593	234	6	artificial	artificial	ADJ
american_scientific_journal-3593	234	7	landmark	landmark	NOUN
american_scientific_journal-3593	234	8	-	-	PUNCT
american_scientific_journal-3593	234	9	based	base	VERB
american_scientific_journal-3593	234	10	localization	localization	NOUN
american_scientific_journal-3593	234	11	algorithm	algorithm	NOUN
american_scientific_journal-3593	234	12	is	be	AUX
american_scientific_journal-3593	234	13	proposed	propose	VERB
american_scientific_journal-3593	234	14	to	to	PART
american_scientific_journal-3593	234	15	localize	localize	VERB
american_scientific_journal-3593	234	16	the	the	DET
american_scientific_journal-3593	234	17	mobile	mobile	ADJ
american_scientific_journal-3593	234	18	robot	robot	NOUN
american_scientific_journal-3593	234	19	in	in	ADP
american_scientific_journal-3593	234	20	indoor	indoor	ADJ
american_scientific_journal-3593	234	21	environment	environment	NOUN
american_scientific_journal-3593	234	22	.	.	PUNCT
american_scientific_journal-3593	235	1	the	the	DET
american_scientific_journal-3593	235	2	system	system	NOUN
american_scientific_journal-3593	235	3	will	will	AUX
american_scientific_journal-3593	235	4	detect	detect	VERB
american_scientific_journal-3593	235	5	only	only	ADV
american_scientific_journal-3593	235	6	the	the	DET
american_scientific_journal-3593	235	7	landmarks	landmark	NOUN
american_scientific_journal-3593	235	8	which	which	PRON
american_scientific_journal-3593	235	9	is	be	AUX
american_scientific_journal-3593	235	10	on	on	ADP
american_scientific_journal-3593	235	11	the	the	DET
american_scientific_journal-3593	235	12	front	front	ADJ
american_scientific_journal-3593	235	13	wall	wall	NOUN
american_scientific_journal-3593	235	14	of	of	ADP
american_scientific_journal-3593	235	15	the	the	DET
american_scientific_journal-3593	235	16	robot	robot	NOUN
american_scientific_journal-3593	235	17	in	in	ADP
american_scientific_journal-3593	235	18	the	the	DET
american_scientific_journal-3593	235	19	environment	environment	NOUN
american_scientific_journal-3593	235	20	.	.	PUNCT
american_scientific_journal-3593	236	1	if	if	SCONJ
american_scientific_journal-3593	236	2	the	the	DET
american_scientific_journal-3593	236	3	system	system	NOUN
american_scientific_journal-3593	236	4	gets	get	VERB
american_scientific_journal-3593	236	5	distance	distance	NOUN
american_scientific_journal-3593	236	6	between	between	ADP
american_scientific_journal-3593	236	7	robot	robot	NOUN
american_scientific_journal-3593	236	8	and	and	CCONJ
american_scientific_journal-3593	236	9	landmark	landmark	NOUN
american_scientific_journal-3593	236	10	(	(	PUNCT
american_scientific_journal-3593	236	11	100	100	NUM
american_scientific_journal-3593	236	12	~	~	SYM
american_scientific_journal-3593	236	13	120	120	NUM
american_scientific_journal-3593	236	14	cm	cm	NOUN
american_scientific_journal-3593	236	15	)	)	PUNCT
american_scientific_journal-3593	236	16	from	from	ADP
american_scientific_journal-3593	236	17	front	front	ADJ
american_scientific_journal-3593	236	18	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	236	19	sensor	sensor	NOUN
american_scientific_journal-3593	236	20	,	,	PUNCT
american_scientific_journal-3593	236	21	it	it	PRON
american_scientific_journal-3593	236	22	will	will	AUX
american_scientific_journal-3593	236	23	make	make	VERB
american_scientific_journal-3593	236	24	landmark	landmark	NOUN
american_scientific_journal-3593	236	25	detection	detection	NOUN
american_scientific_journal-3593	236	26	by	by	ADP
american_scientific_journal-3593	236	27	fusing	fuse	VERB
american_scientific_journal-3593	236	28	with	with	ADP
american_scientific_journal-3593	236	29	the	the	DET
american_scientific_journal-3593	236	30	data	datum	NOUN
american_scientific_journal-3593	236	31	from	from	ADP
american_scientific_journal-3593	236	32	camera	camera	NOUN
american_scientific_journal-3593	236	33	.	.	PUNCT
american_scientific_journal-3593	237	1	after	after	ADP
american_scientific_journal-3593	237	2	landmark	landmark	PROPN
american_scientific_journal-3593	237	3	detection	detection	PROPN
american_scientific_journal-3593	237	4	,	,	PUNCT
american_scientific_journal-3593	237	5	the	the	DET
american_scientific_journal-3593	237	6	robot	robot	NOUN
american_scientific_journal-3593	237	7	will	will	AUX
american_scientific_journal-3593	237	8	know	know	VERB
american_scientific_journal-3593	237	9	how	how	SCONJ
american_scientific_journal-3593	237	10	to	to	PART
american_scientific_journal-3593	237	11	act	act	VERB
american_scientific_journal-3593	237	12	and	and	CCONJ
american_scientific_journal-3593	237	13	where	where	SCONJ
american_scientific_journal-3593	237	14	to	to	PART
american_scientific_journal-3593	237	15	go	go	VERB
american_scientific_journal-3593	237	16	by	by	ADP
american_scientific_journal-3593	237	17	extracting	extract	VERB
american_scientific_journal-3593	237	18	the	the	DET
american_scientific_journal-3593	237	19	landmark	landmark	NOUN
american_scientific_journal-3593	237	20	signs	sign	NOUN
american_scientific_journal-3593	237	21	american	american	ADJ
american_scientific_journal-3593	237	22	scientific	scientific	ADJ
american_scientific_journal-3593	237	23	research	research	NOUN
american_scientific_journal-3593	237	24	journal	journal	NOUN
american_scientific_journal-3593	237	25	for	for	ADP
american_scientific_journal-3593	237	26	engineering	engineering	NOUN
american_scientific_journal-3593	237	27	,	,	PUNCT
american_scientific_journal-3593	237	28	technology	technology	NOUN
american_scientific_journal-3593	237	29	,	,	PUNCT
american_scientific_journal-3593	237	30	and	and	CCONJ
american_scientific_journal-3593	237	31	sciences	science	NOUN
american_scientific_journal-3593	237	32	(	(	PUNCT
american_scientific_journal-3593	237	33	asrjets	asrjet	NOUN
american_scientific_journal-3593	237	34	)	)	PUNCT
american_scientific_journal-3593	237	35	(	(	PUNCT
american_scientific_journal-3593	237	36	2017	2017	NUM
american_scientific_journal-3593	237	37	)	)	PUNCT
american_scientific_journal-3593	237	38	volume	volume	NOUN
american_scientific_journal-3593	237	39	38	38	NUM
american_scientific_journal-3593	237	40	,	,	PUNCT
american_scientific_journal-3593	237	41	no	no	DET
american_scientific_journal-3593	237	42	1	1	NUM
american_scientific_journal-3593	237	43	,	,	PUNCT
american_scientific_journal-3593	237	44	pp	pp	ADV
american_scientific_journal-3593	237	45	306	306	NUM
american_scientific_journal-3593	237	46	-	-	SYM
american_scientific_journal-3593	237	47	324	324	NUM
american_scientific_journal-3593	237	48	319	319	NUM
american_scientific_journal-3593	237	49	which	which	PRON
american_scientific_journal-3593	237	50	are	be	AUX
american_scientific_journal-3593	237	51	directed	direct	VERB
american_scientific_journal-3593	237	52	.	.	PUNCT
american_scientific_journal-3593	238	1	when	when	SCONJ
american_scientific_journal-3593	238	2	the	the	DET
american_scientific_journal-3593	238	3	robot	robot	NOUN
american_scientific_journal-3593	238	4	knows	know	VERB
american_scientific_journal-3593	238	5	its	its	PRON
american_scientific_journal-3593	238	6	way	way	NOUN
american_scientific_journal-3593	238	7	where	where	SCONJ
american_scientific_journal-3593	238	8	to	to	PART
american_scientific_journal-3593	238	9	go	go	VERB
american_scientific_journal-3593	238	10	,	,	PUNCT
american_scientific_journal-3593	238	11	it	it	PRON
american_scientific_journal-3593	238	12	will	will	AUX
american_scientific_journal-3593	238	13	go	go	VERB
american_scientific_journal-3593	238	14	straight	straight	ADV
american_scientific_journal-3593	238	15	forward	forward	ADV
american_scientific_journal-3593	238	16	until	until	SCONJ
american_scientific_journal-3593	238	17	it	it	PRON
american_scientific_journal-3593	238	18	finds	find	VERB
american_scientific_journal-3593	238	19	next	next	ADJ
american_scientific_journal-3593	238	20	landmark	landmark	NOUN
american_scientific_journal-3593	238	21	.	.	PUNCT
american_scientific_journal-3593	239	1	detecting	detect	VERB
american_scientific_journal-3593	239	2	go	go	NOUN
american_scientific_journal-3593	239	3	sign	sign	NOUN
american_scientific_journal-3593	239	4	landmark	landmark	NOUN
american_scientific_journal-3593	239	5	is	be	AUX
american_scientific_journal-3593	239	6	shown	show	VERB
american_scientific_journal-3593	239	7	in	in	ADP
american_scientific_journal-3593	239	8	figure	figure	NOUN
american_scientific_journal-3593	239	9	17	17	NUM
american_scientific_journal-3593	239	10	.	.	PUNCT
american_scientific_journal-3593	240	1	figure	figure	NOUN
american_scientific_journal-3593	240	2	17	17	NUM
american_scientific_journal-3593	240	3	:	:	PUNCT
american_scientific_journal-3593	240	4	detect	detect	NOUN
american_scientific_journal-3593	240	5	go	go	NOUN
american_scientific_journal-3593	240	6	sign	sign	VERB
american_scientific_journal-3593	240	7	landmark	landmark	NOUN
american_scientific_journal-3593	240	8	and	and	CCONJ
american_scientific_journal-3593	240	9	move	move	VERB
american_scientific_journal-3593	240	10	figure	figure	NOUN
american_scientific_journal-3593	240	11	18	18	NUM
american_scientific_journal-3593	240	12	:	:	PUNCT
american_scientific_journal-3593	240	13	detect	detect	VERB
american_scientific_journal-3593	240	14	turn	turn	NOUN
american_scientific_journal-3593	240	15	right	right	ADJ
american_scientific_journal-3593	240	16	sign	sign	NOUN
american_scientific_journal-3593	240	17	landmark	landmark	NOUN
american_scientific_journal-3593	240	18	and	and	CCONJ
american_scientific_journal-3593	240	19	turn	turn	VERB
american_scientific_journal-3593	240	20	when	when	SCONJ
american_scientific_journal-3593	240	21	the	the	DET
american_scientific_journal-3593	240	22	robot	robot	NOUN
american_scientific_journal-3593	240	23	knows	know	VERB
american_scientific_journal-3593	240	24	its	its	PRON
american_scientific_journal-3593	240	25	way	way	NOUN
american_scientific_journal-3593	240	26	where	where	SCONJ
american_scientific_journal-3593	240	27	to	to	PART
american_scientific_journal-3593	240	28	go	go	VERB
american_scientific_journal-3593	240	29	,	,	PUNCT
american_scientific_journal-3593	240	30	it	it	PRON
american_scientific_journal-3593	240	31	will	will	AUX
american_scientific_journal-3593	240	32	detect	detect	VERB
american_scientific_journal-3593	240	33	nothing	nothing	PRON
american_scientific_journal-3593	240	34	for	for	ADP
american_scientific_journal-3593	240	35	a	a	DET
american_scientific_journal-3593	240	36	while	while	NOUN
american_scientific_journal-3593	240	37	until	until	SCONJ
american_scientific_journal-3593	240	38	it	it	PRON
american_scientific_journal-3593	240	39	finds	find	VERB
american_scientific_journal-3593	240	40	next	next	ADJ
american_scientific_journal-3593	240	41	landmark	landmark	NOUN
american_scientific_journal-3593	240	42	,	,	PUNCT
american_scientific_journal-3593	240	43	except	except	SCONJ
american_scientific_journal-3593	240	44	obstacle	obstacle	NOUN
american_scientific_journal-3593	240	45	and	and	CCONJ
american_scientific_journal-3593	240	46	wall	wall	PROPN
american_scientific_journal-3593	240	47	detection	detection	PROPN
american_scientific_journal-3593	240	48	.	.	PUNCT
american_scientific_journal-3593	241	1	the	the	DET
american_scientific_journal-3593	241	2	robot	robot	NOUN
american_scientific_journal-3593	241	3	moving	move	VERB
american_scientific_journal-3593	241	4	and	and	CCONJ
american_scientific_journal-3593	241	5	working	working	NOUN
american_scientific_journal-3593	241	6	process	process	NOUN
american_scientific_journal-3593	241	7	of	of	ADP
american_scientific_journal-3593	241	8	turning	turn	VERB
american_scientific_journal-3593	241	9	right	right	ADV
american_scientific_journal-3593	241	10	and	and	CCONJ
american_scientific_journal-3593	241	11	left	left	ADJ
american_scientific_journal-3593	241	12	are	be	AUX
american_scientific_journal-3593	241	13	shown	show	VERB
american_scientific_journal-3593	241	14	in	in	ADP
american_scientific_journal-3593	241	15	figure.18	figure.18	PROPN
american_scientific_journal-3593	241	16	and	and	CCONJ
american_scientific_journal-3593	241	17	19	19	NUM
american_scientific_journal-3593	241	18	.	.	PUNCT
american_scientific_journal-3593	241	19	figure	figure	NOUN
american_scientific_journal-3593	241	20	19	19	NUM
american_scientific_journal-3593	241	21	:	:	PUNCT
american_scientific_journal-3593	241	22	detect	detect	VERB
american_scientific_journal-3593	241	23	turn	turn	NOUN
american_scientific_journal-3593	241	24	right	right	ADJ
american_scientific_journal-3593	241	25	sign	sign	NOUN
american_scientific_journal-3593	241	26	landmark	landmark	NOUN
american_scientific_journal-3593	241	27	and	and	CCONJ
american_scientific_journal-3593	241	28	turn	turn	VERB
american_scientific_journal-3593	241	29	the	the	DET
american_scientific_journal-3593	241	30	stop	stop	NOUN
american_scientific_journal-3593	241	31	sign	sign	VERB
american_scientific_journal-3593	241	32	detection	detection	NOUN
american_scientific_journal-3593	241	33	process	process	NOUN
american_scientific_journal-3593	241	34	of	of	ADP
american_scientific_journal-3593	241	35	mobile	mobile	NOUN
american_scientific_journal-3593	241	36	robot	robot	NOUN
american_scientific_journal-3593	241	37	is	be	AUX
american_scientific_journal-3593	241	38	shown	show	VERB
american_scientific_journal-3593	241	39	in	in	ADP
american_scientific_journal-3593	241	40	figure.20	figure.20	PROPN
american_scientific_journal-3593	241	41	.	.	PUNCT
american_scientific_journal-3593	242	1	the	the	DET
american_scientific_journal-3593	242	2	system	system	NOUN
american_scientific_journal-3593	242	3	can	can	AUX
american_scientific_journal-3593	242	4	reduce	reduce	VERB
american_scientific_journal-3593	242	5	computational	computational	ADJ
american_scientific_journal-3593	242	6	time	time	NOUN
american_scientific_journal-3593	242	7	because	because	SCONJ
american_scientific_journal-3593	242	8	it	it	PRON
american_scientific_journal-3593	242	9	only	only	ADV
american_scientific_journal-3593	242	10	need	need	VERB
american_scientific_journal-3593	242	11	to	to	PART
american_scientific_journal-3593	242	12	focus	focus	VERB
american_scientific_journal-3593	242	13	on	on	ADP
american_scientific_journal-3593	242	14	the	the	DET
american_scientific_journal-3593	242	15	probable	probable	ADJ
american_scientific_journal-3593	242	16	area	area	NOUN
american_scientific_journal-3593	242	17	which	which	PRON
american_scientific_journal-3593	242	18	has	have	VERB
american_scientific_journal-3593	242	19	landmark	landmark	NOUN
american_scientific_journal-3593	242	20	.	.	PUNCT
american_scientific_journal-3593	243	1	figure	figure	NOUN
american_scientific_journal-3593	243	2	20	20	NUM
american_scientific_journal-3593	243	3	:	:	PUNCT
american_scientific_journal-3593	243	4	detect	detect	VERB
american_scientific_journal-3593	243	5	stop	stop	NOUN
american_scientific_journal-3593	243	6	sign	sign	VERB
american_scientific_journal-3593	243	7	landmark	landmark	NOUN
american_scientific_journal-3593	243	8	and	and	CCONJ
american_scientific_journal-3593	243	9	then	then	ADV
american_scientific_journal-3593	243	10	stop	stop	VERB
american_scientific_journal-3593	243	11	american	american	PROPN
american_scientific_journal-3593	243	12	scientific	scientific	ADJ
american_scientific_journal-3593	243	13	research	research	NOUN
american_scientific_journal-3593	243	14	journal	journal	NOUN
american_scientific_journal-3593	243	15	for	for	ADP
american_scientific_journal-3593	243	16	engineering	engineering	NOUN
american_scientific_journal-3593	243	17	,	,	PUNCT
american_scientific_journal-3593	243	18	technology	technology	NOUN
american_scientific_journal-3593	243	19	,	,	PUNCT
american_scientific_journal-3593	243	20	and	and	CCONJ
american_scientific_journal-3593	243	21	sciences	science	NOUN
american_scientific_journal-3593	243	22	(	(	PUNCT
american_scientific_journal-3593	243	23	asrjets	asrjet	NOUN
american_scientific_journal-3593	243	24	)	)	PUNCT
american_scientific_journal-3593	243	25	(	(	PUNCT
american_scientific_journal-3593	243	26	2017	2017	NUM
american_scientific_journal-3593	243	27	)	)	PUNCT
american_scientific_journal-3593	243	28	volume	volume	NOUN
american_scientific_journal-3593	243	29	38	38	NUM
american_scientific_journal-3593	243	30	,	,	PUNCT
american_scientific_journal-3593	243	31	no	no	DET
american_scientific_journal-3593	243	32	1	1	NUM
american_scientific_journal-3593	243	33	,	,	PUNCT
american_scientific_journal-3593	243	34	pp	pp	ADV
american_scientific_journal-3593	243	35	306	306	NUM
american_scientific_journal-3593	243	36	-	-	SYM
american_scientific_journal-3593	243	37	324	324	NUM
american_scientific_journal-3593	243	38	320	320	NUM
american_scientific_journal-3593	243	39	the	the	DET
american_scientific_journal-3593	243	40	results	result	NOUN
american_scientific_journal-3593	243	41	of	of	ADP
american_scientific_journal-3593	243	42	the	the	DET
american_scientific_journal-3593	243	43	mobile	mobile	ADJ
american_scientific_journal-3593	243	44	robot	robot	NOUN
american_scientific_journal-3593	243	45	self	self	NOUN
american_scientific_journal-3593	243	46	-	-	PUNCT
american_scientific_journal-3593	243	47	localization	localization	NOUN
american_scientific_journal-3593	243	48	system	system	NOUN
american_scientific_journal-3593	243	49	by	by	ADP
american_scientific_journal-3593	243	50	reducing	reduce	VERB
american_scientific_journal-3593	243	51	position	position	NOUN
american_scientific_journal-3593	243	52	errors	error	NOUN
american_scientific_journal-3593	243	53	are	be	AUX
american_scientific_journal-3593	243	54	shown	show	VERB
american_scientific_journal-3593	243	55	in	in	ADP
american_scientific_journal-3593	243	56	the	the	DET
american_scientific_journal-3593	243	57	table	table	NOUN
american_scientific_journal-3593	243	58	1	1	NUM
american_scientific_journal-3593	243	59	.	.	PUNCT
american_scientific_journal-3593	244	1	the	the	DET
american_scientific_journal-3593	244	2	experimental	experimental	ADJ
american_scientific_journal-3593	244	3	results	result	NOUN
american_scientific_journal-3593	244	4	have	have	AUX
american_scientific_journal-3593	244	5	confirmed	confirm	VERB
american_scientific_journal-3593	244	6	the	the	DET
american_scientific_journal-3593	244	7	capability	capability	NOUN
american_scientific_journal-3593	244	8	and	and	CCONJ
american_scientific_journal-3593	244	9	performance	performance	NOUN
american_scientific_journal-3593	244	10	of	of	ADP
american_scientific_journal-3593	244	11	the	the	DET
american_scientific_journal-3593	244	12	system	system	NOUN
american_scientific_journal-3593	244	13	.	.	PUNCT
american_scientific_journal-3593	245	1	the	the	DET
american_scientific_journal-3593	245	2	results	result	NOUN
american_scientific_journal-3593	245	3	of	of	ADP
american_scientific_journal-3593	245	4	applying	apply	VERB
american_scientific_journal-3593	245	5	sensor	sensor	NOUN
american_scientific_journal-3593	245	6	fusion	fusion	NOUN
american_scientific_journal-3593	245	7	can	can	AUX
american_scientific_journal-3593	245	8	reduce	reduce	VERB
american_scientific_journal-3593	245	9	the	the	DET
american_scientific_journal-3593	245	10	localization	localization	NOUN
american_scientific_journal-3593	245	11	errors	error	NOUN
american_scientific_journal-3593	245	12	in	in	ADP
american_scientific_journal-3593	245	13	indoor	indoor	ADJ
american_scientific_journal-3593	245	14	environment	environment	NOUN
american_scientific_journal-3593	245	15	efficiently	efficiently	ADV
american_scientific_journal-3593	245	16	.	.	PUNCT
american_scientific_journal-3593	246	1	table	table	NOUN
american_scientific_journal-3593	246	2	1	1	NUM
american_scientific_journal-3593	246	3	:	:	PUNCT
american_scientific_journal-3593	246	4	localization	localization	NOUN
american_scientific_journal-3593	246	5	error	error	NOUN
american_scientific_journal-3593	246	6	between	between	ADP
american_scientific_journal-3593	246	7	measurement	measurement	NOUN
american_scientific_journal-3593	246	8	and	and	CCONJ
american_scientific_journal-3593	246	9	kalman	kalman	PROPN
american_scientific_journal-3593	246	10	calculated	calculate	VERB
american_scientific_journal-3593	246	11	values	value	NOUN
american_scientific_journal-3593	246	12	measurement	measurement	NOUN
american_scientific_journal-3593	246	13	value	value	NOUN
american_scientific_journal-3593	246	14	kalman	kalman	PROPN
american_scientific_journal-3593	246	15	value	value	NOUN
american_scientific_journal-3593	246	16	error	error	NOUN
american_scientific_journal-3593	246	17	(	(	PUNCT
american_scientific_journal-3593	246	18	%	%	INTJ
american_scientific_journal-3593	246	19	)	)	PUNCT
american_scientific_journal-3593	246	20	x	x	PUNCT
american_scientific_journal-3593	247	1	y	y	NOUN
american_scientific_journal-3593	247	2	x	x	PUNCT
american_scientific_journal-3593	247	3	y	y	NOUN
american_scientific_journal-3593	247	4	x	x	SYM
american_scientific_journal-3593	247	5	y	y	PROPN
american_scientific_journal-3593	247	6	28.0	28.0	NUM
american_scientific_journal-3593	247	7	19.0	19.0	NUM
american_scientific_journal-3593	247	8	22.5	22.5	NUM
american_scientific_journal-3593	247	9	15.6	15.6	NUM
american_scientific_journal-3593	247	10	24.4	24.4	NUM
american_scientific_journal-3593	247	11	21.8	21.8	NUM
american_scientific_journal-3593	247	12	28.9	28.9	NUM
american_scientific_journal-3593	247	13	18.2	18.2	NUM
american_scientific_journal-3593	247	14	26.1	26.1	NUM
american_scientific_journal-3593	247	15	20.2	20.2	NUM
american_scientific_journal-3593	247	16	2.9	2.9	NUM
american_scientific_journal-3593	247	17	9.9	9.9	NUM
american_scientific_journal-3593	247	18	29.6	29.6	NUM
american_scientific_journal-3593	247	19	18.9	18.9	NUM
american_scientific_journal-3593	247	20	30.6	30.6	NUM
american_scientific_journal-3593	247	21	17.9	17.9	NUM
american_scientific_journal-3593	247	22	10.7	10.7	NUM
american_scientific_journal-3593	247	23	5.6	5.6	NUM
american_scientific_journal-3593	247	24	30.5	30.5	NUM
american_scientific_journal-3593	247	25	18.7	18.7	NUM
american_scientific_journal-3593	247	26	31.4	31.4	NUM
american_scientific_journal-3593	247	27	19.3	19.3	NUM
american_scientific_journal-3593	247	28	3.3	3.3	NUM
american_scientific_journal-3593	247	29	3.1	3.1	NUM
american_scientific_journal-3593	247	30	30.2	30.2	NUM
american_scientific_journal-3593	247	31	17.9	17.9	NUM
american_scientific_journal-3593	247	32	31.0	31.0	NUM
american_scientific_journal-3593	247	33	17.7	17.7	NUM
american_scientific_journal-3593	247	34	2.6	2.6	NUM
american_scientific_journal-3593	247	35	1.2	1.2	NUM
american_scientific_journal-3593	247	36	30.9	30.9	NUM
american_scientific_journal-3593	247	37	17.5	17.5	NUM
american_scientific_journal-3593	247	38	30.6	30.6	NUM
american_scientific_journal-3593	247	39	17.4	17.4	NUM
american_scientific_journal-3593	247	40	1.0	1.0	NUM
american_scientific_journal-3593	247	41	0.6	0.6	NUM
american_scientific_journal-3593	247	42	30.4	30.4	NUM
american_scientific_journal-3593	247	43	17.4	17.4	NUM
american_scientific_journal-3593	247	44	30.3	30.3	NUM
american_scientific_journal-3593	247	45	17.3	17.3	NUM
american_scientific_journal-3593	247	46	0.3	0.3	NUM
american_scientific_journal-3593	247	47	0.5	0.5	NUM
american_scientific_journal-3593	247	48	5.2	5.2	NUM
american_scientific_journal-3593	247	49	.	.	PUNCT
american_scientific_journal-3593	248	1	experimental	experimental	ADJ
american_scientific_journal-3593	248	2	results	result	NOUN
american_scientific_journal-3593	248	3	for	for	ADP
american_scientific_journal-3593	248	4	mapping	mapping	NOUN
american_scientific_journal-3593	248	5	system	system	NOUN
american_scientific_journal-3593	248	6	the	the	DET
american_scientific_journal-3593	248	7	robot	robot	NOUN
american_scientific_journal-3593	248	8	makes	make	VERB
american_scientific_journal-3593	248	9	localization	localization	NOUN
american_scientific_journal-3593	248	10	and	and	CCONJ
american_scientific_journal-3593	248	11	mapping	mapping	NOUN
american_scientific_journal-3593	248	12	depending	depend	VERB
american_scientific_journal-3593	248	13	on	on	ADP
american_scientific_journal-3593	248	14	the	the	DET
american_scientific_journal-3593	248	15	artificial	artificial	ADJ
american_scientific_journal-3593	248	16	landmarks	landmark	NOUN
american_scientific_journal-3593	248	17	that	that	PRON
american_scientific_journal-3593	248	18	are	be	AUX
american_scientific_journal-3593	248	19	placed	place	VERB
american_scientific_journal-3593	248	20	in	in	ADP
american_scientific_journal-3593	248	21	the	the	DET
american_scientific_journal-3593	248	22	environment	environment	NOUN
american_scientific_journal-3593	248	23	.	.	PUNCT
american_scientific_journal-3593	249	1	the	the	DET
american_scientific_journal-3593	249	2	system	system	NOUN
american_scientific_journal-3593	249	3	reduces	reduce	VERB
american_scientific_journal-3593	249	4	the	the	DET
american_scientific_journal-3593	249	5	localization	localization	NOUN
american_scientific_journal-3593	249	6	errors	error	NOUN
american_scientific_journal-3593	249	7	by	by	ADP
american_scientific_journal-3593	249	8	using	use	VERB
american_scientific_journal-3593	249	9	kalman	kalman	NOUN
american_scientific_journal-3593	249	10	filter	filter	NOUN
american_scientific_journal-3593	249	11	.	.	PUNCT
american_scientific_journal-3593	250	1	so	so	ADV
american_scientific_journal-3593	250	2	,	,	PUNCT
american_scientific_journal-3593	250	3	the	the	DET
american_scientific_journal-3593	250	4	robot	robot	NOUN
american_scientific_journal-3593	250	5	can	can	AUX
american_scientific_journal-3593	250	6	make	make	VERB
american_scientific_journal-3593	250	7	localization	localization	NOUN
american_scientific_journal-3593	250	8	and	and	CCONJ
american_scientific_journal-3593	250	9	mapping	mapping	NOUN
american_scientific_journal-3593	250	10	with	with	ADP
american_scientific_journal-3593	250	11	less	less	ADJ
american_scientific_journal-3593	250	12	errors	error	NOUN
american_scientific_journal-3593	250	13	in	in	ADP
american_scientific_journal-3593	250	14	the	the	DET
american_scientific_journal-3593	250	15	environment	environment	NOUN
american_scientific_journal-3593	250	16	.	.	PUNCT
american_scientific_journal-3593	251	1	the	the	DET
american_scientific_journal-3593	251	2	experimental	experimental	ADJ
american_scientific_journal-3593	251	3	results	result	NOUN
american_scientific_journal-3593	251	4	of	of	ADP
american_scientific_journal-3593	251	5	the	the	DET
american_scientific_journal-3593	251	6	mobile	mobile	ADJ
american_scientific_journal-3593	251	7	robot	robot	NOUN
american_scientific_journal-3593	251	8	localization	localization	NOUN
american_scientific_journal-3593	251	9	and	and	CCONJ
american_scientific_journal-3593	251	10	mapping	mapping	NOUN
american_scientific_journal-3593	251	11	in	in	ADP
american_scientific_journal-3593	251	12	the	the	DET
american_scientific_journal-3593	251	13	environment	environment	NOUN
american_scientific_journal-3593	251	14	using	use	VERB
american_scientific_journal-3593	251	15	a	a	DET
american_scientific_journal-3593	251	16	camera	camera	NOUN
american_scientific_journal-3593	251	17	,	,	PUNCT
american_scientific_journal-3593	251	18	three	three	NUM
american_scientific_journal-3593	251	19	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	251	20	sensors	sensor	NOUN
american_scientific_journal-3593	251	21	and	and	CCONJ
american_scientific_journal-3593	251	22	encoders	encoder	NOUN
american_scientific_journal-3593	251	23	are	be	AUX
american_scientific_journal-3593	251	24	shown	show	VERB
american_scientific_journal-3593	251	25	in	in	ADP
american_scientific_journal-3593	251	26	figure.21	figure.21	NOUN
american_scientific_journal-3593	251	27	.	.	PUNCT
american_scientific_journal-3593	252	1	in	in	ADP
american_scientific_journal-3593	252	2	this	this	DET
american_scientific_journal-3593	252	3	mapping	mapping	NOUN
american_scientific_journal-3593	252	4	system	system	NOUN
american_scientific_journal-3593	252	5	,	,	PUNCT
american_scientific_journal-3593	252	6	blue	blue	ADJ
american_scientific_journal-3593	252	7	line	line	NOUN
american_scientific_journal-3593	252	8	represents	represent	VERB
american_scientific_journal-3593	252	9	the	the	DET
american_scientific_journal-3593	252	10	real	real	ADJ
american_scientific_journal-3593	252	11	trajectory	trajectory	NOUN
american_scientific_journal-3593	252	12	and	and	CCONJ
american_scientific_journal-3593	252	13	blue	blue	ADJ
american_scientific_journal-3593	252	14	dot	dot	NOUN
american_scientific_journal-3593	252	15	line	line	NOUN
american_scientific_journal-3593	252	16	shows	show	VERB
american_scientific_journal-3593	252	17	the	the	DET
american_scientific_journal-3593	252	18	estimated	estimate	VERB
american_scientific_journal-3593	252	19	location	location	NOUN
american_scientific_journal-3593	252	20	and	and	CCONJ
american_scientific_journal-3593	252	21	map	map	NOUN
american_scientific_journal-3593	252	22	of	of	ADP
american_scientific_journal-3593	252	23	the	the	DET
american_scientific_journal-3593	252	24	mobile	mobile	ADJ
american_scientific_journal-3593	252	25	robot	robot	NOUN
american_scientific_journal-3593	252	26	in	in	ADP
american_scientific_journal-3593	252	27	the	the	DET
american_scientific_journal-3593	252	28	environment	environment	NOUN
american_scientific_journal-3593	252	29	.	.	PUNCT
american_scientific_journal-3593	253	1	the	the	DET
american_scientific_journal-3593	253	2	artificial	artificial	ADJ
american_scientific_journal-3593	253	3	landmarks	landmark	NOUN
american_scientific_journal-3593	253	4	are	be	AUX
american_scientific_journal-3593	253	5	shown	show	VERB
american_scientific_journal-3593	253	6	with	with	ADP
american_scientific_journal-3593	253	7	black	black	ADJ
american_scientific_journal-3593	253	8	color	color	NOUN
american_scientific_journal-3593	253	9	rectangle	rectangle	NOUN
american_scientific_journal-3593	253	10	shapes	shape	NOUN
american_scientific_journal-3593	253	11	figure	figure	NOUN
american_scientific_journal-3593	253	12	21	21	NUM
american_scientific_journal-3593	253	13	:	:	PUNCT
american_scientific_journal-3593	253	14	the	the	DET
american_scientific_journal-3593	253	15	mobile	mobile	NOUN
american_scientific_journal-3593	253	16	robot	robot	NOUN
american_scientific_journal-3593	253	17	starts	start	VERB
american_scientific_journal-3593	253	18	localization	localization	NOUN
american_scientific_journal-3593	253	19	and	and	CCONJ
american_scientific_journal-3593	253	20	mapping	mapping	NOUN
american_scientific_journal-3593	253	21	in	in	ADP
american_scientific_journal-3593	253	22	the	the	DET
american_scientific_journal-3593	253	23	environment	environment	NOUN
american_scientific_journal-3593	253	24	the	the	DET
american_scientific_journal-3593	253	25	experimental	experimental	ADJ
american_scientific_journal-3593	253	26	results	result	NOUN
american_scientific_journal-3593	253	27	of	of	ADP
american_scientific_journal-3593	253	28	the	the	DET
american_scientific_journal-3593	253	29	mobile	mobile	ADJ
american_scientific_journal-3593	253	30	robot	robot	NOUN
american_scientific_journal-3593	253	31	localization	localization	NOUN
american_scientific_journal-3593	253	32	and	and	CCONJ
american_scientific_journal-3593	253	33	mapping	mapping	NOUN
american_scientific_journal-3593	253	34	in	in	ADP
american_scientific_journal-3593	253	35	the	the	DET
american_scientific_journal-3593	253	36	environment	environment	NOUN
american_scientific_journal-3593	253	37	using	use	VERB
american_scientific_journal-3593	253	38	a	a	DET
american_scientific_journal-3593	253	39	camera	camera	NOUN
american_scientific_journal-3593	253	40	,	,	PUNCT
american_scientific_journal-3593	253	41	three	three	NUM
american_scientific_journal-3593	253	42	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	253	43	sensors	sensor	NOUN
american_scientific_journal-3593	253	44	and	and	CCONJ
american_scientific_journal-3593	253	45	encoders	encoder	NOUN
american_scientific_journal-3593	253	46	are	be	AUX
american_scientific_journal-3593	253	47	shown	show	VERB
american_scientific_journal-3593	253	48	in	in	ADP
american_scientific_journal-3593	253	49	figure.22	figure.22	NOUN
american_scientific_journal-3593	253	50	.	.	PUNCT
american_scientific_journal-3593	253	51	.	.	PUNCT
american_scientific_journal-3593	254	1	the	the	DET
american_scientific_journal-3593	254	2	robot	robot	NOUN
american_scientific_journal-3593	254	3	detects	detect	VERB
american_scientific_journal-3593	254	4	the	the	DET
american_scientific_journal-3593	254	5	landmark	landmark	NOUN
american_scientific_journal-3593	254	6	which	which	PRON
american_scientific_journal-3593	254	7	is	be	AUX
american_scientific_journal-3593	254	8	in	in	ADP
american_scientific_journal-3593	254	9	front	front	NOUN
american_scientific_journal-3593	254	10	of	of	ADP
american_scientific_journal-3593	254	11	it	it	PRON
american_scientific_journal-3593	254	12	.	.	PUNCT
american_scientific_journal-3593	255	1	american	american	ADJ
american_scientific_journal-3593	255	2	scientific	scientific	ADJ
american_scientific_journal-3593	255	3	research	research	PROPN
american_scientific_journal-3593	255	4	journal	journal	NOUN
american_scientific_journal-3593	255	5	for	for	ADP
american_scientific_journal-3593	255	6	engineering	engineering	NOUN
american_scientific_journal-3593	255	7	,	,	PUNCT
american_scientific_journal-3593	255	8	technology	technology	NOUN
american_scientific_journal-3593	255	9	,	,	PUNCT
american_scientific_journal-3593	255	10	and	and	CCONJ
american_scientific_journal-3593	255	11	sciences	science	NOUN
american_scientific_journal-3593	255	12	(	(	PUNCT
american_scientific_journal-3593	255	13	asrjets	asrjet	NOUN
american_scientific_journal-3593	255	14	)	)	PUNCT
american_scientific_journal-3593	255	15	(	(	PUNCT
american_scientific_journal-3593	255	16	2017	2017	NUM
american_scientific_journal-3593	255	17	)	)	PUNCT
american_scientific_journal-3593	255	18	volume	volume	NOUN
american_scientific_journal-3593	255	19	38	38	NUM
american_scientific_journal-3593	255	20	,	,	PUNCT
american_scientific_journal-3593	255	21	no	no	DET
american_scientific_journal-3593	255	22	1	1	NUM
american_scientific_journal-3593	255	23	,	,	PUNCT
american_scientific_journal-3593	255	24	pp	pp	ADV
american_scientific_journal-3593	255	25	306	306	NUM
american_scientific_journal-3593	255	26	-	-	SYM
american_scientific_journal-3593	255	27	324	324	NUM
american_scientific_journal-3593	255	28	321	321	NUM
american_scientific_journal-3593	255	29	if	if	SCONJ
american_scientific_journal-3593	255	30	there	there	PRON
american_scientific_journal-3593	255	31	is	be	VERB
american_scientific_journal-3593	255	32	landmark	landmark	NOUN
american_scientific_journal-3593	255	33	which	which	PRON
american_scientific_journal-3593	255	34	is	be	AUX
american_scientific_journal-3593	255	35	in	in	ADP
american_scientific_journal-3593	255	36	the	the	DET
american_scientific_journal-3593	255	37	front	front	ADJ
american_scientific_journal-3593	255	38	wall	wall	NOUN
american_scientific_journal-3593	255	39	of	of	ADP
american_scientific_journal-3593	255	40	the	the	DET
american_scientific_journal-3593	255	41	robot	robot	NOUN
american_scientific_journal-3593	255	42	,	,	PUNCT
american_scientific_journal-3593	255	43	the	the	DET
american_scientific_journal-3593	255	44	robot	robot	NOUN
american_scientific_journal-3593	255	45	will	will	AUX
american_scientific_journal-3593	255	46	make	make	VERB
american_scientific_journal-3593	255	47	detection	detection	NOUN
american_scientific_journal-3593	255	48	and	and	CCONJ
american_scientific_journal-3593	255	49	measure	measure	VERB
american_scientific_journal-3593	255	50	the	the	DET
american_scientific_journal-3593	255	51	distance	distance	NOUN
american_scientific_journal-3593	255	52	of	of	ADP
american_scientific_journal-3593	255	53	these	these	DET
american_scientific_journal-3593	255	54	landmarks	landmark	NOUN
american_scientific_journal-3593	255	55	by	by	ADP
american_scientific_journal-3593	255	56	using	use	VERB
american_scientific_journal-3593	255	57	camera	camera	NOUN
american_scientific_journal-3593	255	58	and	and	CCONJ
american_scientific_journal-3593	255	59	front	front	ADJ
american_scientific_journal-3593	255	60	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	255	61	sensor	sensor	NOUN
american_scientific_journal-3593	255	62	and	and	CCONJ
american_scientific_journal-3593	255	63	also	also	ADV
american_scientific_journal-3593	255	64	the	the	DET
american_scientific_journal-3593	255	65	other	other	ADJ
american_scientific_journal-3593	255	66	two	two	NUM
american_scientific_journal-3593	255	67	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	255	68	sensors	sensor	NOUN
american_scientific_journal-3593	255	69	makes	make	VERB
american_scientific_journal-3593	255	70	wall	wall	NOUN
american_scientific_journal-3593	255	71	and	and	CCONJ
american_scientific_journal-3593	255	72	obstacles	obstacle	VERB
american_scientific_journal-3593	255	73	detection	detection	NOUN
american_scientific_journal-3593	255	74	not	not	PART
american_scientific_journal-3593	255	75	to	to	PART
american_scientific_journal-3593	255	76	be	be	AUX
american_scientific_journal-3593	255	77	collide	collide	NOUN
american_scientific_journal-3593	255	78	while	while	SCONJ
american_scientific_journal-3593	255	79	localization	localization	NOUN
american_scientific_journal-3593	255	80	and	and	CCONJ
american_scientific_journal-3593	255	81	continuously	continuously	ADV
american_scientific_journal-3593	255	82	makes	make	VERB
american_scientific_journal-3593	255	83	mapping	mapping	NOUN
american_scientific_journal-3593	255	84	by	by	ADP
american_scientific_journal-3593	255	85	using	use	VERB
american_scientific_journal-3593	255	86	wheel	wheel	NOUN
american_scientific_journal-3593	255	87	encoders	encoder	NOUN
american_scientific_journal-3593	255	88	.	.	PUNCT
american_scientific_journal-3593	256	1	this	this	DET
american_scientific_journal-3593	256	2	results	result	NOUN
american_scientific_journal-3593	256	3	show	show	VERB
american_scientific_journal-3593	256	4	that	that	SCONJ
american_scientific_journal-3593	256	5	the	the	DET
american_scientific_journal-3593	256	6	robot	robot	NOUN
american_scientific_journal-3593	256	7	can	can	AUX
american_scientific_journal-3593	256	8	make	make	VERB
american_scientific_journal-3593	256	9	localization	localization	NOUN
american_scientific_journal-3593	256	10	and	and	CCONJ
american_scientific_journal-3593	256	11	mapping	mapping	NOUN
american_scientific_journal-3593	256	12	with	with	ADP
american_scientific_journal-3593	256	13	less	less	ADJ
american_scientific_journal-3593	256	14	position	position	NOUN
american_scientific_journal-3593	256	15	estimation	estimation	NOUN
american_scientific_journal-3593	256	16	errors	error	NOUN
american_scientific_journal-3593	256	17	by	by	ADP
american_scientific_journal-3593	256	18	using	use	VERB
american_scientific_journal-3593	256	19	kalman	kalman	NOUN
american_scientific_journal-3593	256	20	filter	filter	NOUN
american_scientific_journal-3593	256	21	and	and	CCONJ
american_scientific_journal-3593	256	22	artificial	artificial	ADJ
american_scientific_journal-3593	256	23	landmarks	landmark	NOUN
american_scientific_journal-3593	256	24	.	.	PUNCT
american_scientific_journal-3593	257	1	figure	figure	VERB
american_scientific_journal-3593	257	2	22	22	NUM
american_scientific_journal-3593	257	3	:	:	PUNCT
american_scientific_journal-3593	257	4	mapping	mapping	NOUN
american_scientific_journal-3593	257	5	along	along	ADP
american_scientific_journal-3593	257	6	the	the	DET
american_scientific_journal-3593	257	7	moving	move	VERB
american_scientific_journal-3593	257	8	way	way	NOUN
american_scientific_journal-3593	257	9	of	of	ADP
american_scientific_journal-3593	257	10	mobile	mobile	ADJ
american_scientific_journal-3593	257	11	robot	robot	NOUN
american_scientific_journal-3593	257	12	localization	localization	NOUN
american_scientific_journal-3593	257	13	with	with	ADP
american_scientific_journal-3593	257	14	sensor	sensor	NOUN
american_scientific_journal-3593	257	15	fusion	fusion	NOUN
american_scientific_journal-3593	257	16	in	in	ADP
american_scientific_journal-3593	257	17	indoor	indoor	ADJ
american_scientific_journal-3593	257	18	environment	environment	NOUN
american_scientific_journal-3593	257	19	when	when	SCONJ
american_scientific_journal-3593	257	20	making	make	VERB
american_scientific_journal-3593	257	21	localization	localization	NOUN
american_scientific_journal-3593	257	22	and	and	CCONJ
american_scientific_journal-3593	257	23	mapping	mapping	NOUN
american_scientific_journal-3593	257	24	,	,	PUNCT
american_scientific_journal-3593	257	25	the	the	DET
american_scientific_journal-3593	257	26	robot	robot	NOUN
american_scientific_journal-3593	257	27	can	can	AUX
american_scientific_journal-3593	257	28	find	find	VERB
american_scientific_journal-3593	257	29	out	out	ADP
american_scientific_journal-3593	257	30	and	and	CCONJ
american_scientific_journal-3593	257	31	face	face	VERB
american_scientific_journal-3593	257	32	with	with	ADP
american_scientific_journal-3593	257	33	obstacles	obstacle	NOUN
american_scientific_journal-3593	257	34	in	in	ADP
american_scientific_journal-3593	257	35	the	the	DET
american_scientific_journal-3593	257	36	environment	environment	NOUN
american_scientific_journal-3593	257	37	.	.	PUNCT
american_scientific_journal-3593	258	1	the	the	DET
american_scientific_journal-3593	258	2	robot	robot	NOUN
american_scientific_journal-3593	258	3	can	can	AUX
american_scientific_journal-3593	258	4	detect	detect	VERB
american_scientific_journal-3593	258	5	and	and	CCONJ
american_scientific_journal-3593	258	6	avoid	avoid	VERB
american_scientific_journal-3593	258	7	the	the	DET
american_scientific_journal-3593	258	8	obstacles	obstacle	NOUN
american_scientific_journal-3593	258	9	effectively	effectively	ADV
american_scientific_journal-3593	258	10	by	by	ADP
american_scientific_journal-3593	258	11	using	use	VERB
american_scientific_journal-3593	258	12	three	three	NUM
american_scientific_journal-3593	258	13	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	258	14	sensors	sensor	NOUN
american_scientific_journal-3593	258	15	that	that	PRON
american_scientific_journal-3593	258	16	are	be	AUX
american_scientific_journal-3593	258	17	mounted	mount	VERB
american_scientific_journal-3593	258	18	on	on	ADP
american_scientific_journal-3593	258	19	each	each	DET
american_scientific_journal-3593	258	20	side	side	NOUN
american_scientific_journal-3593	258	21	of	of	ADP
american_scientific_journal-3593	258	22	the	the	DET
american_scientific_journal-3593	258	23	vehicle	vehicle	NOUN
american_scientific_journal-3593	258	24	.	.	PUNCT
american_scientific_journal-3593	259	1	mobile	mobile	ADJ
american_scientific_journal-3593	259	2	robot	robot	NOUN
american_scientific_journal-3593	259	3	localization	localization	NOUN
american_scientific_journal-3593	259	4	and	and	CCONJ
american_scientific_journal-3593	259	5	mapping	mapping	NOUN
american_scientific_journal-3593	259	6	with	with	ADP
american_scientific_journal-3593	259	7	obstacle	obstacle	NOUN
american_scientific_journal-3593	259	8	avoidance	avoidance	NOUN
american_scientific_journal-3593	259	9	is	be	AUX
american_scientific_journal-3593	259	10	shown	show	VERB
american_scientific_journal-3593	259	11	in	in	ADP
american_scientific_journal-3593	259	12	figure.23	figure.23	PROPN
american_scientific_journal-3593	259	13	and	and	CCONJ
american_scientific_journal-3593	259	14	the	the	DET
american_scientific_journal-3593	259	15	obstacle	obstacle	NOUN
american_scientific_journal-3593	259	16	is	be	AUX
american_scientific_journal-3593	259	17	shown	show	VERB
american_scientific_journal-3593	259	18	with	with	ADP
american_scientific_journal-3593	259	19	square	square	ADJ
american_scientific_journal-3593	259	20	shapes	shape	NOUN
american_scientific_journal-3593	259	21	.	.	PUNCT
american_scientific_journal-3593	260	1	the	the	DET
american_scientific_journal-3593	260	2	robot	robot	NOUN
american_scientific_journal-3593	260	3	made	make	VERB
american_scientific_journal-3593	260	4	localization	localization	NOUN
american_scientific_journal-3593	260	5	and	and	CCONJ
american_scientific_journal-3593	260	6	mapping	mapping	NOUN
american_scientific_journal-3593	260	7	successfully	successfully	ADV
american_scientific_journal-3593	260	8	in	in	ADP
american_scientific_journal-3593	260	9	the	the	DET
american_scientific_journal-3593	260	10	structured	structured	ADJ
american_scientific_journal-3593	260	11	indoor	indoor	ADJ
american_scientific_journal-3593	260	12	environment	environment	NOUN
american_scientific_journal-3593	260	13	with	with	ADP
american_scientific_journal-3593	260	14	less	less	ADJ
american_scientific_journal-3593	260	15	uncertainty	uncertainty	NOUN
american_scientific_journal-3593	260	16	position	position	NOUN
american_scientific_journal-3593	260	17	errors	error	NOUN
american_scientific_journal-3593	260	18	.	.	PUNCT
american_scientific_journal-3593	261	1	in	in	ADP
american_scientific_journal-3593	261	2	this	this	DET
american_scientific_journal-3593	261	3	system	system	NOUN
american_scientific_journal-3593	261	4	,	,	PUNCT
american_scientific_journal-3593	261	5	artificial	artificial	ADJ
american_scientific_journal-3593	261	6	landmarks	landmark	NOUN
american_scientific_journal-3593	261	7	are	be	AUX
american_scientific_journal-3593	261	8	used	use	VERB
american_scientific_journal-3593	261	9	to	to	PART
american_scientific_journal-3593	261	10	reduce	reduce	VERB
american_scientific_journal-3593	261	11	uncertainty	uncertainty	NOUN
american_scientific_journal-3593	261	12	and	and	CCONJ
american_scientific_journal-3593	261	13	kalman	kalman	NOUN
american_scientific_journal-3593	261	14	filter	filter	NOUN
american_scientific_journal-3593	261	15	is	be	AUX
american_scientific_journal-3593	261	16	also	also	ADV
american_scientific_journal-3593	261	17	used	use	VERB
american_scientific_journal-3593	261	18	for	for	ADP
american_scientific_journal-3593	261	19	lessen	lessen	VERB
american_scientific_journal-3593	261	20	the	the	DET
american_scientific_journal-3593	261	21	errors	error	NOUN
american_scientific_journal-3593	261	22	in	in	ADP
american_scientific_journal-3593	261	23	the	the	DET
american_scientific_journal-3593	261	24	position	position	NOUN
american_scientific_journal-3593	261	25	estimation	estimation	NOUN
american_scientific_journal-3593	261	26	of	of	ADP
american_scientific_journal-3593	261	27	mobile	mobile	NOUN
american_scientific_journal-3593	261	28	robot	robot	NOUN
american_scientific_journal-3593	261	29	.	.	PUNCT
american_scientific_journal-3593	262	1	figure	figure	VERB
american_scientific_journal-3593	262	2	23	23	NUM
american_scientific_journal-3593	262	3	:	:	PUNCT
american_scientific_journal-3593	262	4	mobile	mobile	ADJ
american_scientific_journal-3593	262	5	robot	robot	NOUN
american_scientific_journal-3593	262	6	localization	localization	NOUN
american_scientific_journal-3593	262	7	and	and	CCONJ
american_scientific_journal-3593	262	8	mapping	mapping	NOUN
american_scientific_journal-3593	262	9	with	with	ADP
american_scientific_journal-3593	262	10	obstacle	obstacle	NOUN
american_scientific_journal-3593	262	11	avoidance	avoidance	NOUN
american_scientific_journal-3593	262	12	using	use	VERB
american_scientific_journal-3593	262	13	sensor	sensor	NOUN
american_scientific_journal-3593	262	14	fusion	fusion	NOUN
american_scientific_journal-3593	262	15	in	in	ADP
american_scientific_journal-3593	262	16	indoor	indoor	ADJ
american_scientific_journal-3593	262	17	environment	environment	NOUN
american_scientific_journal-3593	262	18	in	in	ADP
american_scientific_journal-3593	262	19	this	this	DET
american_scientific_journal-3593	262	20	research	research	NOUN
american_scientific_journal-3593	262	21	,	,	PUNCT
american_scientific_journal-3593	262	22	localization	localization	NOUN
american_scientific_journal-3593	262	23	and	and	CCONJ
american_scientific_journal-3593	262	24	mapping	mapping	NOUN
american_scientific_journal-3593	262	25	system	system	NOUN
american_scientific_journal-3593	262	26	are	be	AUX
american_scientific_journal-3593	262	27	also	also	ADV
american_scientific_journal-3593	262	28	tested	test	VERB
american_scientific_journal-3593	262	29	by	by	ADP
american_scientific_journal-3593	262	30	using	use	VERB
american_scientific_journal-3593	262	31	with	with	ADP
american_scientific_journal-3593	262	32	camera	camera	NOUN
american_scientific_journal-3593	262	33	only	only	ADV
american_scientific_journal-3593	262	34	.	.	PUNCT
american_scientific_journal-3593	263	1	if	if	SCONJ
american_scientific_journal-3593	263	2	the	the	DET
american_scientific_journal-3593	263	3	system	system	NOUN
american_scientific_journal-3593	263	4	uses	use	VERB
american_scientific_journal-3593	263	5	only	only	ADJ
american_scientific_journal-3593	263	6	vision	vision	NOUN
american_scientific_journal-3593	263	7	sensor	sensor	NOUN
american_scientific_journal-3593	263	8	,	,	PUNCT
american_scientific_journal-3593	263	9	the	the	DET
american_scientific_journal-3593	263	10	robot	robot	NOUN
american_scientific_journal-3593	263	11	can	can	AUX
american_scientific_journal-3593	263	12	estimate	estimate	VERB
american_scientific_journal-3593	263	13	the	the	DET
american_scientific_journal-3593	263	14	position	position	NOUN
american_scientific_journal-3593	263	15	with	with	ADP
american_scientific_journal-3593	263	16	much	much	ADJ
american_scientific_journal-3593	263	17	errors	error	NOUN
american_scientific_journal-3593	263	18	than	than	ADP
american_scientific_journal-3593	263	19	using	use	VERB
american_scientific_journal-3593	263	20	sensor	sensor	NOUN
american_scientific_journal-3593	263	21	fusion	fusion	NOUN
american_scientific_journal-3593	263	22	system	system	NOUN
american_scientific_journal-3593	263	23	.	.	PUNCT
american_scientific_journal-3593	264	1	the	the	DET
american_scientific_journal-3593	264	2	experimental	experimental	ADJ
american_scientific_journal-3593	264	3	results	result	NOUN
american_scientific_journal-3593	264	4	of	of	ADP
american_scientific_journal-3593	264	5	localization	localization	NOUN
american_scientific_journal-3593	264	6	and	and	CCONJ
american_scientific_journal-3593	264	7	mapping	mapping	NOUN
american_scientific_journal-3593	264	8	system	system	NOUN
american_scientific_journal-3593	264	9	using	use	VERB
american_scientific_journal-3593	264	10	a	a	DET
american_scientific_journal-3593	264	11	camera	camera	NOUN
american_scientific_journal-3593	264	12	is	be	AUX
american_scientific_journal-3593	264	13	shown	show	VERB
american_scientific_journal-3593	264	14	in	in	ADP
american_scientific_journal-3593	264	15	figure.24	figure.24	PROPN
american_scientific_journal-3593	264	16	.	.	PUNCT
american_scientific_journal-3593	265	1	american	american	ADJ
american_scientific_journal-3593	265	2	scientific	scientific	ADJ
american_scientific_journal-3593	265	3	research	research	PROPN
american_scientific_journal-3593	265	4	journal	journal	NOUN
american_scientific_journal-3593	265	5	for	for	ADP
american_scientific_journal-3593	265	6	engineering	engineering	NOUN
american_scientific_journal-3593	265	7	,	,	PUNCT
american_scientific_journal-3593	265	8	technology	technology	NOUN
american_scientific_journal-3593	265	9	,	,	PUNCT
american_scientific_journal-3593	265	10	and	and	CCONJ
american_scientific_journal-3593	265	11	sciences	science	NOUN
american_scientific_journal-3593	265	12	(	(	PUNCT
american_scientific_journal-3593	265	13	asrjets	asrjet	NOUN
american_scientific_journal-3593	265	14	)	)	PUNCT
american_scientific_journal-3593	265	15	(	(	PUNCT
american_scientific_journal-3593	265	16	2017	2017	NUM
american_scientific_journal-3593	265	17	)	)	PUNCT
american_scientific_journal-3593	265	18	volume	volume	NOUN
american_scientific_journal-3593	265	19	38	38	NUM
american_scientific_journal-3593	265	20	,	,	PUNCT
american_scientific_journal-3593	265	21	no	no	DET
american_scientific_journal-3593	265	22	1	1	NUM
american_scientific_journal-3593	265	23	,	,	PUNCT
american_scientific_journal-3593	265	24	pp	pp	ADV
american_scientific_journal-3593	265	25	306	306	NUM
american_scientific_journal-3593	265	26	-	-	SYM
american_scientific_journal-3593	265	27	324	324	NUM
american_scientific_journal-3593	265	28	322	322	NUM
american_scientific_journal-3593	265	29	figure	figure	NOUN
american_scientific_journal-3593	265	30	24	24	NUM
american_scientific_journal-3593	265	31	:	:	PUNCT
american_scientific_journal-3593	265	32	mobile	mobile	ADJ
american_scientific_journal-3593	265	33	robot	robot	NOUN
american_scientific_journal-3593	265	34	localization	localization	NOUN
american_scientific_journal-3593	265	35	and	and	CCONJ
american_scientific_journal-3593	265	36	mapping	mapping	NOUN
american_scientific_journal-3593	265	37	using	use	VERB
american_scientific_journal-3593	265	38	camera	camera	NOUN
american_scientific_journal-3593	265	39	only	only	ADV
american_scientific_journal-3593	265	40	in	in	ADP
american_scientific_journal-3593	265	41	indoor	indoor	ADJ
american_scientific_journal-3593	265	42	environment	environment	NOUN
american_scientific_journal-3593	265	43	if	if	SCONJ
american_scientific_journal-3593	265	44	a	a	DET
american_scientific_journal-3593	265	45	robot	robot	NOUN
american_scientific_journal-3593	265	46	needs	need	VERB
american_scientific_journal-3593	265	47	to	to	PART
american_scientific_journal-3593	265	48	gain	gain	VERB
american_scientific_journal-3593	265	49	a	a	DET
american_scientific_journal-3593	265	50	more	more	ADV
american_scientific_journal-3593	265	51	or	or	CCONJ
american_scientific_journal-3593	265	52	less	less	ADV
american_scientific_journal-3593	265	53	complete	complete	ADJ
american_scientific_journal-3593	265	54	information	information	NOUN
american_scientific_journal-3593	265	55	of	of	ADP
american_scientific_journal-3593	265	56	its	its	PRON
american_scientific_journal-3593	265	57	environment	environment	NOUN
american_scientific_journal-3593	265	58	,	,	PUNCT
american_scientific_journal-3593	265	59	it	it	PRON
american_scientific_journal-3593	265	60	can	can	AUX
american_scientific_journal-3593	265	61	not	not	PART
american_scientific_journal-3593	265	62	rely	rely	VERB
american_scientific_journal-3593	265	63	only	only	ADV
american_scientific_journal-3593	265	64	on	on	ADP
american_scientific_journal-3593	265	65	one	one	NUM
american_scientific_journal-3593	265	66	type	type	NOUN
american_scientific_journal-3593	265	67	of	of	ADP
american_scientific_journal-3593	265	68	sensor	sensor	NOUN
american_scientific_journal-3593	265	69	.	.	PUNCT
american_scientific_journal-3593	266	1	since	since	SCONJ
american_scientific_journal-3593	266	2	a	a	DET
american_scientific_journal-3593	266	3	single	single	ADJ
american_scientific_journal-3593	266	4	sensor	sensor	NOUN
american_scientific_journal-3593	266	5	is	be	AUX
american_scientific_journal-3593	266	6	not	not	PART
american_scientific_journal-3593	266	7	capable	capable	ADJ
american_scientific_journal-3593	266	8	of	of	ADP
american_scientific_journal-3593	266	9	doing	do	VERB
american_scientific_journal-3593	266	10	the	the	DET
american_scientific_journal-3593	266	11	task	task	NOUN
american_scientific_journal-3593	266	12	,	,	PUNCT
american_scientific_journal-3593	266	13	sensor	sensor	NOUN
american_scientific_journal-3593	266	14	fusion	fusion	NOUN
american_scientific_journal-3593	266	15	rises	rise	VERB
american_scientific_journal-3593	266	16	in	in	ADP
american_scientific_journal-3593	266	17	importance	importance	NOUN
american_scientific_journal-3593	266	18	.	.	PUNCT
american_scientific_journal-3593	267	1	information	information	NOUN
american_scientific_journal-3593	267	2	from	from	ADP
american_scientific_journal-3593	267	3	different	different	ADJ
american_scientific_journal-3593	267	4	sensors	sensor	NOUN
american_scientific_journal-3593	267	5	are	be	AUX
american_scientific_journal-3593	267	6	obtained	obtain	VERB
american_scientific_journal-3593	267	7	and	and	CCONJ
american_scientific_journal-3593	267	8	combined	combine	VERB
american_scientific_journal-3593	267	9	to	to	PART
american_scientific_journal-3593	267	10	find	find	VERB
american_scientific_journal-3593	267	11	the	the	DET
american_scientific_journal-3593	267	12	location	location	NOUN
american_scientific_journal-3593	267	13	of	of	ADP
american_scientific_journal-3593	267	14	the	the	DET
american_scientific_journal-3593	267	15	robot	robot	NOUN
american_scientific_journal-3593	267	16	,	,	PUNCT
american_scientific_journal-3593	267	17	detect	detect	VERB
american_scientific_journal-3593	267	18	obstacle	obstacle	NOUN
american_scientific_journal-3593	267	19	and	and	CCONJ
american_scientific_journal-3593	267	20	avoid	avoid	VERB
american_scientific_journal-3593	267	21	it	it	PRON
american_scientific_journal-3593	267	22	.	.	PUNCT
american_scientific_journal-3593	268	1	so	so	ADV
american_scientific_journal-3593	268	2	,	,	PUNCT
american_scientific_journal-3593	268	3	sensor	sensor	NOUN
american_scientific_journal-3593	268	4	fusion	fusion	NOUN
american_scientific_journal-3593	268	5	is	be	AUX
american_scientific_journal-3593	268	6	applicable	applicable	ADJ
american_scientific_journal-3593	268	7	for	for	ADP
american_scientific_journal-3593	268	8	mobile	mobile	NOUN
american_scientific_journal-3593	268	9	robot	robot	NOUN
american_scientific_journal-3593	268	10	navigation	navigation	NOUN
american_scientific_journal-3593	268	11	.	.	PUNCT
american_scientific_journal-3593	269	1	6	6	X
american_scientific_journal-3593	269	2	.	.	X
american_scientific_journal-3593	269	3	conclusions	conclusion	NOUN
american_scientific_journal-3593	269	4	in	in	ADP
american_scientific_journal-3593	269	5	this	this	DET
american_scientific_journal-3593	269	6	research	research	NOUN
american_scientific_journal-3593	269	7	,	,	PUNCT
american_scientific_journal-3593	269	8	self	self	NOUN
american_scientific_journal-3593	269	9	-	-	PUNCT
american_scientific_journal-3593	269	10	localization	localization	NOUN
american_scientific_journal-3593	269	11	and	and	CCONJ
american_scientific_journal-3593	269	12	mapping	mapping	NOUN
american_scientific_journal-3593	269	13	system	system	NOUN
american_scientific_journal-3593	269	14	for	for	ADP
american_scientific_journal-3593	269	15	autonomous	autonomous	ADJ
american_scientific_journal-3593	269	16	mobile	mobile	NOUN
american_scientific_journal-3593	269	17	robot	robot	NOUN
american_scientific_journal-3593	269	18	navigation	navigation	NOUN
american_scientific_journal-3593	269	19	is	be	AUX
american_scientific_journal-3593	269	20	used	use	VERB
american_scientific_journal-3593	269	21	in	in	ADP
american_scientific_journal-3593	269	22	a	a	DET
american_scientific_journal-3593	269	23	structured	structured	ADJ
american_scientific_journal-3593	269	24	indoor	indoor	ADJ
american_scientific_journal-3593	269	25	environment	environment	NOUN
american_scientific_journal-3593	269	26	.	.	PUNCT
american_scientific_journal-3593	270	1	it	it	PRON
american_scientific_journal-3593	270	2	is	be	AUX
american_scientific_journal-3593	270	3	based	base	VERB
american_scientific_journal-3593	270	4	on	on	ADP
american_scientific_journal-3593	270	5	the	the	DET
american_scientific_journal-3593	270	6	visual	visual	ADJ
american_scientific_journal-3593	270	7	detecting	detecting	NOUN
american_scientific_journal-3593	270	8	process	process	NOUN
american_scientific_journal-3593	270	9	by	by	ADP
american_scientific_journal-3593	270	10	fusing	fuse	VERB
american_scientific_journal-3593	270	11	with	with	ADP
american_scientific_journal-3593	270	12	the	the	DET
american_scientific_journal-3593	270	13	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	270	14	sensor	sensor	NOUN
american_scientific_journal-3593	270	15	sensing	sensing	NOUN
american_scientific_journal-3593	270	16	and	and	CCONJ
american_scientific_journal-3593	270	17	encoder	encoder	NOUN
american_scientific_journal-3593	270	18	method	method	NOUN
american_scientific_journal-3593	270	19	.	.	PUNCT
american_scientific_journal-3593	271	1	artificial	artificial	ADJ
american_scientific_journal-3593	271	2	landmarks	landmark	NOUN
american_scientific_journal-3593	271	3	were	be	AUX
american_scientific_journal-3593	271	4	used	use	VERB
american_scientific_journal-3593	271	5	for	for	ADP
american_scientific_journal-3593	271	6	robot	robot	NOUN
american_scientific_journal-3593	271	7	localization	localization	NOUN
american_scientific_journal-3593	271	8	,	,	PUNCT
american_scientific_journal-3593	271	9	in	in	ADP
american_scientific_journal-3593	271	10	which	which	PRON
american_scientific_journal-3593	271	11	landmark	landmark	NOUN
american_scientific_journal-3593	271	12	distances	distance	NOUN
american_scientific_journal-3593	271	13	and	and	CCONJ
american_scientific_journal-3593	271	14	landmark	landmark	PROPN
american_scientific_journal-3593	271	15	recognition	recognition	NOUN
american_scientific_journal-3593	271	16	were	be	AUX
american_scientific_journal-3593	271	17	worked	work	VERB
american_scientific_journal-3593	271	18	out	out	ADP
american_scientific_journal-3593	271	19	using	use	VERB
american_scientific_journal-3593	271	20	camera	camera	NOUN
american_scientific_journal-3593	271	21	and	and	CCONJ
american_scientific_journal-3593	271	22	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	271	23	sensor	sensor	NOUN
american_scientific_journal-3593	271	24	.	.	PUNCT
american_scientific_journal-3593	272	1	by	by	ADP
american_scientific_journal-3593	272	2	using	use	VERB
american_scientific_journal-3593	272	3	the	the	DET
american_scientific_journal-3593	272	4	artificial	artificial	ADJ
american_scientific_journal-3593	272	5	landmarks	landmark	NOUN
american_scientific_journal-3593	272	6	,	,	PUNCT
american_scientific_journal-3593	272	7	the	the	DET
american_scientific_journal-3593	272	8	robot	robot	NOUN
american_scientific_journal-3593	272	9	can	can	AUX
american_scientific_journal-3593	272	10	reduce	reduce	VERB
american_scientific_journal-3593	272	11	the	the	DET
american_scientific_journal-3593	272	12	uncertainty	uncertainty	NOUN
american_scientific_journal-3593	272	13	in	in	ADP
american_scientific_journal-3593	272	14	the	the	DET
american_scientific_journal-3593	272	15	environment	environment	NOUN
american_scientific_journal-3593	272	16	while	while	SCONJ
american_scientific_journal-3593	272	17	estimating	estimate	VERB
american_scientific_journal-3593	272	18	the	the	DET
american_scientific_journal-3593	272	19	position	position	NOUN
american_scientific_journal-3593	272	20	more	more	ADV
american_scientific_journal-3593	272	21	accurately	accurately	ADV
american_scientific_journal-3593	272	22	.	.	PUNCT
american_scientific_journal-3593	273	1	in	in	ADP
american_scientific_journal-3593	273	2	addition	addition	NOUN
american_scientific_journal-3593	273	3	,	,	PUNCT
american_scientific_journal-3593	273	4	the	the	DET
american_scientific_journal-3593	273	5	coordinates	coordinate	NOUN
american_scientific_journal-3593	273	6	of	of	ADP
american_scientific_journal-3593	273	7	each	each	DET
american_scientific_journal-3593	273	8	detected	detect	VERB
american_scientific_journal-3593	273	9	landmark	landmark	NOUN
american_scientific_journal-3593	273	10	were	be	AUX
american_scientific_journal-3593	273	11	combined	combine	VERB
american_scientific_journal-3593	273	12	with	with	ADP
american_scientific_journal-3593	273	13	distance	distance	NOUN
american_scientific_journal-3593	273	14	to	to	ADP
american_scientific_journal-3593	273	15	the	the	DET
american_scientific_journal-3593	273	16	robot	robot	NOUN
american_scientific_journal-3593	273	17	from	from	ADP
american_scientific_journal-3593	273	18	wheel	wheel	NOUN
american_scientific_journal-3593	273	19	encoders	encoder	NOUN
american_scientific_journal-3593	273	20	for	for	ADP
american_scientific_journal-3593	273	21	estimation	estimation	NOUN
american_scientific_journal-3593	273	22	of	of	ADP
american_scientific_journal-3593	273	23	the	the	DET
american_scientific_journal-3593	273	24	robot	robot	NOUN
american_scientific_journal-3593	273	25	location	location	NOUN
american_scientific_journal-3593	273	26	.	.	PUNCT
american_scientific_journal-3593	274	1	the	the	DET
american_scientific_journal-3593	274	2	system	system	NOUN
american_scientific_journal-3593	274	3	is	be	AUX
american_scientific_journal-3593	274	4	based	base	VERB
american_scientific_journal-3593	274	5	on	on	ADP
american_scientific_journal-3593	274	6	kalman	kalman	PROPN
american_scientific_journal-3593	274	7	filter	filter	PROPN
american_scientific_journal-3593	274	8	,	,	PUNCT
american_scientific_journal-3593	274	9	which	which	PRON
american_scientific_journal-3593	274	10	utilizes	utilize	VERB
american_scientific_journal-3593	274	11	the	the	DET
american_scientific_journal-3593	274	12	data	datum	NOUN
american_scientific_journal-3593	274	13	between	between	ADP
american_scientific_journal-3593	274	14	previous	previous	ADJ
american_scientific_journal-3593	274	15	observed	observe	VERB
american_scientific_journal-3593	274	16	position	position	NOUN
american_scientific_journal-3593	274	17	and	and	CCONJ
american_scientific_journal-3593	274	18	the	the	DET
american_scientific_journal-3593	274	19	detection	detection	NOUN
american_scientific_journal-3593	274	20	of	of	ADP
american_scientific_journal-3593	274	21	artificial	artificial	ADJ
american_scientific_journal-3593	274	22	landmark	landmark	NOUN
american_scientific_journal-3593	274	23	to	to	PART
american_scientific_journal-3593	274	24	correct	correct	VERB
american_scientific_journal-3593	274	25	the	the	DET
american_scientific_journal-3593	274	26	position	position	NOUN
american_scientific_journal-3593	274	27	and	and	CCONJ
american_scientific_journal-3593	274	28	orientation	orientation	NOUN
american_scientific_journal-3593	274	29	of	of	ADP
american_scientific_journal-3593	274	30	the	the	DET
american_scientific_journal-3593	274	31	mobile	mobile	NOUN
american_scientific_journal-3593	274	32	robot	robot	NOUN
american_scientific_journal-3593	274	33	.	.	PUNCT
american_scientific_journal-3593	275	1	this	this	DET
american_scientific_journal-3593	275	2	method	method	NOUN
american_scientific_journal-3593	275	3	is	be	AUX
american_scientific_journal-3593	275	4	applicable	applicable	ADJ
american_scientific_journal-3593	275	5	to	to	ADP
american_scientific_journal-3593	275	6	mobile	mobile	ADJ
american_scientific_journal-3593	275	7	robot	robot	NOUN
american_scientific_journal-3593	275	8	localization	localization	NOUN
american_scientific_journal-3593	275	9	and	and	CCONJ
american_scientific_journal-3593	275	10	proved	prove	VERB
american_scientific_journal-3593	275	11	to	to	PART
american_scientific_journal-3593	275	12	achieve	achieve	VERB
american_scientific_journal-3593	275	13	solutions	solution	NOUN
american_scientific_journal-3593	275	14	with	with	ADP
american_scientific_journal-3593	275	15	less	less	ADV
american_scientific_journal-3593	275	16	computational	computational	ADJ
american_scientific_journal-3593	275	17	times	time	NOUN
american_scientific_journal-3593	275	18	.	.	PUNCT
american_scientific_journal-3593	276	1	the	the	DET
american_scientific_journal-3593	276	2	system	system	NOUN
american_scientific_journal-3593	276	3	only	only	ADV
american_scientific_journal-3593	276	4	needs	need	VERB
american_scientific_journal-3593	276	5	to	to	PART
american_scientific_journal-3593	276	6	focus	focus	VERB
american_scientific_journal-3593	276	7	on	on	ADP
american_scientific_journal-3593	276	8	the	the	DET
american_scientific_journal-3593	276	9	area	area	NOUN
american_scientific_journal-3593	276	10	which	which	PRON
american_scientific_journal-3593	276	11	has	have	VERB
american_scientific_journal-3593	276	12	artificial	artificial	ADJ
american_scientific_journal-3593	276	13	landmark	landmark	NOUN
american_scientific_journal-3593	276	14	to	to	PART
american_scientific_journal-3593	276	15	extract	extract	VERB
american_scientific_journal-3593	276	16	feature	feature	NOUN
american_scientific_journal-3593	276	17	while	while	SCONJ
american_scientific_journal-3593	276	18	making	make	VERB
american_scientific_journal-3593	276	19	localization	localization	NOUN
american_scientific_journal-3593	276	20	.	.	PUNCT
american_scientific_journal-3593	277	1	so	so	ADV
american_scientific_journal-3593	277	2	,	,	PUNCT
american_scientific_journal-3593	277	3	this	this	DET
american_scientific_journal-3593	277	4	system	system	NOUN
american_scientific_journal-3593	277	5	is	be	AUX
american_scientific_journal-3593	277	6	able	able	ADJ
american_scientific_journal-3593	277	7	to	to	PART
american_scientific_journal-3593	277	8	reduce	reduce	VERB
american_scientific_journal-3593	277	9	the	the	DET
american_scientific_journal-3593	277	10	cost	cost	NOUN
american_scientific_journal-3593	277	11	and	and	CCONJ
american_scientific_journal-3593	277	12	computational	computational	ADJ
american_scientific_journal-3593	277	13	time	time	NOUN
american_scientific_journal-3593	277	14	up	up	ADP
american_scientific_journal-3593	277	15	to	to	PART
american_scientific_journal-3593	277	16	15	15	NUM
american_scientific_journal-3593	277	17	minutes	minute	NOUN
american_scientific_journal-3593	277	18	because	because	SCONJ
american_scientific_journal-3593	277	19	of	of	ADP
american_scientific_journal-3593	277	20	the	the	DET
american_scientific_journal-3593	277	21	sensor	sensor	NOUN
american_scientific_journal-3593	277	22	fusion	fusion	NOUN
american_scientific_journal-3593	277	23	and	and	CCONJ
american_scientific_journal-3593	277	24	image	image	NOUN
american_scientific_journal-3593	277	25	processing	processing	NOUN
american_scientific_journal-3593	277	26	techniques	technique	NOUN
american_scientific_journal-3593	277	27	.	.	PUNCT
american_scientific_journal-3593	278	1	in	in	ADP
american_scientific_journal-3593	278	2	this	this	DET
american_scientific_journal-3593	278	3	research	research	NOUN
american_scientific_journal-3593	278	4	,	,	PUNCT
american_scientific_journal-3593	278	5	map	map	NOUN
american_scientific_journal-3593	278	6	-	-	PUNCT
american_scientific_journal-3593	278	7	based	base	VERB
american_scientific_journal-3593	278	8	self	self	NOUN
american_scientific_journal-3593	278	9	-	-	PUNCT
american_scientific_journal-3593	278	10	localization	localization	NOUN
american_scientific_journal-3593	278	11	and	and	CCONJ
american_scientific_journal-3593	278	12	mapping	mapping	NOUN
american_scientific_journal-3593	278	13	system	system	NOUN
american_scientific_journal-3593	278	14	is	be	AUX
american_scientific_journal-3593	278	15	used	use	VERB
american_scientific_journal-3593	278	16	to	to	PART
american_scientific_journal-3593	278	17	be	be	AUX
american_scientific_journal-3593	278	18	more	more	ADV
american_scientific_journal-3593	278	19	efficient	efficient	ADJ
american_scientific_journal-3593	278	20	in	in	ADP
american_scientific_journal-3593	278	21	the	the	DET
american_scientific_journal-3593	278	22	structured	structured	ADJ
american_scientific_journal-3593	278	23	indoor	indoor	ADJ
american_scientific_journal-3593	278	24	environment	environment	NOUN
american_scientific_journal-3593	278	25	.	.	PUNCT
american_scientific_journal-3593	279	1	7	7	X
american_scientific_journal-3593	279	2	.	.	X
american_scientific_journal-3593	279	3	recommendation	recommendation	NOUN
american_scientific_journal-3593	279	4	results	result	NOUN
american_scientific_journal-3593	279	5	in	in	ADP
american_scientific_journal-3593	279	6	both	both	PRON
american_scientific_journal-3593	279	7	simulation	simulation	NOUN
american_scientific_journal-3593	279	8	and	and	CCONJ
american_scientific_journal-3593	279	9	real	real	ADJ
american_scientific_journal-3593	279	10	world	world	NOUN
american_scientific_journal-3593	279	11	experiments	experiment	NOUN
american_scientific_journal-3593	279	12	show	show	VERB
american_scientific_journal-3593	279	13	that	that	SCONJ
american_scientific_journal-3593	279	14	the	the	DET
american_scientific_journal-3593	279	15	maps	map	NOUN
american_scientific_journal-3593	279	16	obtained	obtain	VERB
american_scientific_journal-3593	279	17	present	present	ADJ
american_scientific_journal-3593	279	18	high	high	ADJ
american_scientific_journal-3593	279	19	quality	quality	NOUN
american_scientific_journal-3593	279	20	and	and	CCONJ
american_scientific_journal-3593	279	21	are	be	AUX
american_scientific_journal-3593	279	22	able	able	ADJ
american_scientific_journal-3593	279	23	to	to	PART
american_scientific_journal-3593	279	24	effectively	effectively	ADV
american_scientific_journal-3593	279	25	localize	localize	VERB
american_scientific_journal-3593	279	26	in	in	ADP
american_scientific_journal-3593	279	27	the	the	DET
american_scientific_journal-3593	279	28	environment	environment	NOUN
american_scientific_journal-3593	279	29	.	.	PUNCT
american_scientific_journal-3593	280	1	the	the	DET
american_scientific_journal-3593	280	2	results	result	NOUN
american_scientific_journal-3593	280	3	show	show	VERB
american_scientific_journal-3593	280	4	that	that	SCONJ
american_scientific_journal-3593	280	5	it	it	PRON
american_scientific_journal-3593	280	6	is	be	AUX
american_scientific_journal-3593	280	7	possible	possible	ADJ
american_scientific_journal-3593	280	8	to	to	PART
american_scientific_journal-3593	280	9	use	use	VERB
american_scientific_journal-3593	280	10	of	of	ADP
american_scientific_journal-3593	280	11	robots	robot	NOUN
american_scientific_journal-3593	280	12	to	to	PART
american_scientific_journal-3593	280	13	explore	explore	VERB
american_scientific_journal-3593	280	14	and	and	CCONJ
american_scientific_journal-3593	280	15	navigate	navigate	VERB
american_scientific_journal-3593	280	16	in	in	ADP
american_scientific_journal-3593	280	17	known	known	ADJ
american_scientific_journal-3593	280	18	environments	environment	NOUN
american_scientific_journal-3593	280	19	.	.	PUNCT
american_scientific_journal-3593	281	1	however	however	ADV
american_scientific_journal-3593	281	2	,	,	PUNCT
american_scientific_journal-3593	281	3	some	some	DET
american_scientific_journal-3593	281	4	limitations	limitation	NOUN
american_scientific_journal-3593	281	5	identified	identify	VERB
american_scientific_journal-3593	281	6	in	in	ADP
american_scientific_journal-3593	281	7	this	this	DET
american_scientific_journal-3593	281	8	system	system	NOUN
american_scientific_journal-3593	281	9	are	be	AUX
american_scientific_journal-3593	281	10	that	that	SCONJ
american_scientific_journal-3593	281	11	there	there	PRON
american_scientific_journal-3593	281	12	will	will	AUX
american_scientific_journal-3593	281	13	be	be	AUX
american_scientific_journal-3593	281	14	walls	wall	NOUN
american_scientific_journal-3593	281	15	in	in	ADP
american_scientific_journal-3593	281	16	the	the	DET
american_scientific_journal-3593	281	17	environment	environment	NOUN
american_scientific_journal-3593	281	18	so	so	SCONJ
american_scientific_journal-3593	281	19	that	that	SCONJ
american_scientific_journal-3593	281	20	the	the	DET
american_scientific_journal-3593	281	21	ultrasonic	ultrasonic	ADJ
american_scientific_journal-3593	281	22	sensors	sensor	NOUN
american_scientific_journal-3593	281	23	can	can	AUX
american_scientific_journal-3593	281	24	sense	sense	VERB
american_scientific_journal-3593	281	25	effectively	effectively	ADV
american_scientific_journal-3593	281	26	and	and	CCONJ
american_scientific_journal-3593	281	27	can	can	AUX
american_scientific_journal-3593	281	28	control	control	VERB
american_scientific_journal-3593	281	29	the	the	DET
american_scientific_journal-3593	281	30	mobile	mobile	ADJ
american_scientific_journal-3593	281	31	robot	robot	NOUN
american_scientific_journal-3593	281	32	to	to	PART
american_scientific_journal-3593	281	33	go	go	VERB
american_scientific_journal-3593	281	34	straight	straight	ADV
american_scientific_journal-3593	281	35	.	.	PUNCT
american_scientific_journal-3593	282	1	this	this	DET
american_scientific_journal-3593	282	2	system	system	NOUN
american_scientific_journal-3593	282	3	ca	can	AUX
american_scientific_journal-3593	282	4	n’t	not	PART
american_scientific_journal-3593	282	5	be	be	AUX
american_scientific_journal-3593	282	6	used	use	VERB
american_scientific_journal-3593	282	7	in	in	ADP
american_scientific_journal-3593	282	8	outdoor	outdoor	ADJ
american_scientific_journal-3593	282	9	environment	environment	NOUN
american_scientific_journal-3593	282	10	.	.	PUNCT
american_scientific_journal-3593	283	1	if	if	SCONJ
american_scientific_journal-3593	283	2	we	we	PRON
american_scientific_journal-3593	283	3	want	want	VERB
american_scientific_journal-3593	283	4	to	to	PART
american_scientific_journal-3593	283	5	use	use	VERB
american_scientific_journal-3593	283	6	this	this	DET
american_scientific_journal-3593	283	7	mobile	mobile	ADJ
american_scientific_journal-3593	283	8	robot	robot	NOUN
american_scientific_journal-3593	283	9	in	in	ADP
american_scientific_journal-3593	283	10	outdoor	outdoor	ADJ
american_scientific_journal-3593	283	11	environment	environment	NOUN
american_scientific_journal-3593	283	12	,	,	PUNCT
american_scientific_journal-3593	283	13	the	the	DET
american_scientific_journal-3593	283	14	system	system	NOUN
american_scientific_journal-3593	283	15	have	have	VERB
american_scientific_journal-3593	283	16	to	to	PART
american_scientific_journal-3593	283	17	use	use	VERB
american_scientific_journal-3593	283	18	natural	natural	ADJ
american_scientific_journal-3593	283	19	landmarks	landmark	NOUN
american_scientific_journal-3593	283	20	that	that	PRON
american_scientific_journal-3593	283	21	are	be	AUX
american_scientific_journal-3593	283	22	in	in	ADP
american_scientific_journal-3593	283	23	the	the	DET
american_scientific_journal-3593	283	24	environment	environment	NOUN
american_scientific_journal-3593	283	25	.	.	PUNCT
american_scientific_journal-3593	284	1	american	american	ADJ
american_scientific_journal-3593	284	2	scientific	scientific	ADJ
american_scientific_journal-3593	284	3	research	research	PROPN
american_scientific_journal-3593	284	4	journal	journal	NOUN
american_scientific_journal-3593	284	5	for	for	ADP
american_scientific_journal-3593	284	6	engineering	engineering	NOUN
american_scientific_journal-3593	284	7	,	,	PUNCT
american_scientific_journal-3593	284	8	technology	technology	NOUN
american_scientific_journal-3593	284	9	,	,	PUNCT
american_scientific_journal-3593	284	10	and	and	CCONJ
american_scientific_journal-3593	284	11	sciences	science	NOUN
american_scientific_journal-3593	284	12	(	(	PUNCT
american_scientific_journal-3593	284	13	asrjets	asrjet	NOUN
american_scientific_journal-3593	284	14	)	)	PUNCT
american_scientific_journal-3593	284	15	(	(	PUNCT
american_scientific_journal-3593	284	16	2017	2017	NUM
american_scientific_journal-3593	284	17	)	)	PUNCT
american_scientific_journal-3593	284	18	volume	volume	NOUN
american_scientific_journal-3593	284	19	38	38	NUM
american_scientific_journal-3593	284	20	,	,	PUNCT
american_scientific_journal-3593	284	21	no	no	DET
american_scientific_journal-3593	284	22	1	1	NUM
american_scientific_journal-3593	284	23	,	,	PUNCT
american_scientific_journal-3593	284	24	pp	pp	ADV
american_scientific_journal-3593	284	25	306	306	NUM
american_scientific_journal-3593	284	26	-	-	SYM
american_scientific_journal-3593	284	27	324	324	NUM
american_scientific_journal-3593	284	28	323	323	NUM
american_scientific_journal-3593	284	29	acknowledgements	acknowledgement	NOUN
american_scientific_journal-3593	284	30	the	the	DET
american_scientific_journal-3593	284	31	author	author	NOUN
american_scientific_journal-3593	284	32	is	be	AUX
american_scientific_journal-3593	284	33	deeply	deeply	ADV
american_scientific_journal-3593	284	34	gratitude	gratitude	ADJ
american_scientific_journal-3593	284	35	to	to	ADP
american_scientific_journal-3593	284	36	dr	dr	PROPN
american_scientific_journal-3593	284	37	.	.	PROPN
american_scientific_journal-3593	284	38	sint	sint	PROPN
american_scientific_journal-3593	284	39	soe	soe	PROPN
american_scientific_journal-3593	284	40	,	,	PUNCT
american_scientific_journal-3593	284	41	rector	rector	NOUN
american_scientific_journal-3593	284	42	of	of	ADP
american_scientific_journal-3593	284	43	mandalay	mandalay	NOUN
american_scientific_journal-3593	284	44	technological	technological	ADJ
american_scientific_journal-3593	284	45	university	university	NOUN
american_scientific_journal-3593	284	46	(	(	PUNCT
american_scientific_journal-3593	284	47	mtu	mtu	NOUN
american_scientific_journal-3593	284	48	)	)	PUNCT
american_scientific_journal-3593	284	49	for	for	ADP
american_scientific_journal-3593	284	50	his	his	PRON
american_scientific_journal-3593	284	51	kind	kind	ADJ
american_scientific_journal-3593	284	52	permission	permission	NOUN
american_scientific_journal-3593	284	53	to	to	PART
american_scientific_journal-3593	284	54	submit	submit	VERB
american_scientific_journal-3593	284	55	this	this	DET
american_scientific_journal-3593	284	56	research	research	NOUN
american_scientific_journal-3593	284	57	.	.	PUNCT
american_scientific_journal-3593	285	1	the	the	DET
american_scientific_journal-3593	285	2	author	author	NOUN
american_scientific_journal-3593	285	3	would	would	AUX
american_scientific_journal-3593	285	4	like	like	VERB
american_scientific_journal-3593	285	5	to	to	PART
american_scientific_journal-3593	285	6	thank	thank	VERB
american_scientific_journal-3593	285	7	all	all	DET
american_scientific_journal-3593	285	8	the	the	DET
american_scientific_journal-3593	285	9	teachers	teacher	NOUN
american_scientific_journal-3593	285	10	from	from	ADP
american_scientific_journal-3593	285	11	the	the	DET
american_scientific_journal-3593	285	12	department	department	NOUN
american_scientific_journal-3593	285	13	of	of	ADP
american_scientific_journal-3593	285	14	mechatronic	mechatronic	ADJ
american_scientific_journal-3593	285	15	engineering	engineering	NOUN
american_scientific_journal-3593	285	16	,	,	PUNCT
american_scientific_journal-3593	285	17	mandalay	mandalay	NOUN
american_scientific_journal-3593	285	18	technological	technological	ADJ
american_scientific_journal-3593	285	19	university	university	NOUN
american_scientific_journal-3593	285	20	(	(	PUNCT
american_scientific_journal-3593	285	21	mtu	mtu	NOUN
american_scientific_journal-3593	285	22	)	)	PUNCT
american_scientific_journal-3593	285	23	.	.	PUNCT
american_scientific_journal-3593	286	1	and	and	CCONJ
american_scientific_journal-3593	286	2	she	she	PRON
american_scientific_journal-3593	286	3	also	also	ADV
american_scientific_journal-3593	286	4	would	would	AUX
american_scientific_journal-3593	286	5	like	like	VERB
american_scientific_journal-3593	286	6	to	to	PART
american_scientific_journal-3593	286	7	thank	thank	VERB
american_scientific_journal-3593	286	8	her	her	PRON
american_scientific_journal-3593	286	9	family	family	NOUN
american_scientific_journal-3593	286	10	and	and	CCONJ
american_scientific_journal-3593	286	11	her	her	PRON
american_scientific_journal-3593	286	12	friends	friend	NOUN
american_scientific_journal-3593	286	13	who	who	PRON
american_scientific_journal-3593	286	14	have	have	AUX
american_scientific_journal-3593	286	15	helped	help	VERB
american_scientific_journal-3593	286	16	her	she	PRON
american_scientific_journal-3593	286	17	throughout	throughout	ADP
american_scientific_journal-3593	286	18	the	the	DET
american_scientific_journal-3593	286	19	year	year	NOUN
american_scientific_journal-3593	286	20	.	.	PUNCT
american_scientific_journal-3593	287	1	references	reference	NOUN
american_scientific_journal-3593	287	2	[	[	X
american_scientific_journal-3593	287	3	1	1	NUM
american_scientific_journal-3593	287	4	]	]	PUNCT
american_scientific_journal-3593	287	5	i.	i.	PROPN
american_scientific_journal-3593	287	6	j.	j.	PROPN
american_scientific_journal-3593	287	7	cox	cox	PROPN
american_scientific_journal-3593	287	8	and	and	CCONJ
american_scientific_journal-3593	287	9	g.	g.	PROPN
american_scientific_journal-3593	287	10	wilfong	wilfong	PROPN
american_scientific_journal-3593	287	11	(	(	PUNCT
american_scientific_journal-3593	287	12	editors	editor	NOUN
american_scientific_journal-3593	287	13	)	)	PUNCT
american_scientific_journal-3593	287	14	,	,	PUNCT
american_scientific_journal-3593	287	15	autonomous	autonomous	ADJ
american_scientific_journal-3593	287	16	robot	robot	NOUN
american_scientific_journal-3593	287	17	vehicles	vehicle	NOUN
american_scientific_journal-3593	287	18	,	,	PUNCT
american_scientific_journal-3593	287	19	springer	springer	NOUN
american_scientific_journal-3593	287	20	-	-	PUNCT
american_scientific_journal-3593	287	21	verlag	verlag	PROPN
american_scientific_journal-3593	287	22	,	,	PUNCT
american_scientific_journal-3593	287	23	new	new	PROPN
american_scientific_journal-3593	287	24	york	york	PROPN
american_scientific_journal-3593	287	25	(	(	PUNCT
american_scientific_journal-3593	287	26	1990	1990	NUM
american_scientific_journal-3593	287	27	)	)	PUNCT
american_scientific_journal-3593	287	28	.	.	PUNCT
american_scientific_journal-3593	288	1	[	[	X
american_scientific_journal-3593	288	2	2	2	X
american_scientific_journal-3593	288	3	]	]	PUNCT
american_scientific_journal-3593	288	4	d.	d.	PROPN
american_scientific_journal-3593	288	5	l.	l.	PROPN
american_scientific_journal-3593	288	6	hall	hall	PROPN
american_scientific_journal-3593	288	7	and	and	CCONJ
american_scientific_journal-3593	288	8	j.	j.	PROPN
american_scientific_journal-3593	288	9	llinas	llinas	PROPN
american_scientific_journal-3593	288	10	,	,	PUNCT
american_scientific_journal-3593	288	11	“	"	PUNCT
american_scientific_journal-3593	288	12	a	a	DET
american_scientific_journal-3593	288	13	challenge	challenge	NOUN
american_scientific_journal-3593	288	14	for	for	ADP
american_scientific_journal-3593	288	15	the	the	DET
american_scientific_journal-3593	288	16	data	datum	NOUN
american_scientific_journal-3593	288	17	fusion	fusion	NOUN
american_scientific_journal-3593	288	18	community	community	NOUN
american_scientific_journal-3593	288	19	i	i	PRON
american_scientific_journal-3593	288	20	:	:	PUNCT
american_scientific_journal-3593	288	21	research	research	VERB
american_scientific_journal-3593	288	22	imperatives	imperative	NOUN
american_scientific_journal-3593	288	23	for	for	ADP
american_scientific_journal-3593	288	24	improved	improved	ADJ
american_scientific_journal-3593	288	25	processing	processing	NOUN
american_scientific_journal-3593	288	26	,	,	PUNCT
american_scientific_journal-3593	288	27	”	"	PUNCT
american_scientific_journal-3593	288	28	in	in	ADP
american_scientific_journal-3593	288	29	proc	proc	NOUN
american_scientific_journal-3593	288	30	.	.	PUNCT
american_scientific_journal-3593	289	1	7th	7th	ADJ
american_scientific_journal-3593	289	2	natl	natl	PROPN
american_scientific_journal-3593	289	3	.	.	PUNCT
american_scientific_journal-3593	289	4	symp	symp	PROPN
american_scientific_journal-3593	289	5	.	.	PUNCT
american_scientific_journal-3593	290	1	on	on	ADP
american_scientific_journal-3593	290	2	sensor	sensor	NOUN
american_scientific_journal-3593	290	3	fusion	fusion	NOUN
american_scientific_journal-3593	290	4	,	,	PUNCT
american_scientific_journal-3593	290	5	albuquerque	albuquerque	NOUN
american_scientific_journal-3593	290	6	,	,	PUNCT
american_scientific_journal-3593	290	7	nm	nm	PROPN
american_scientific_journal-3593	290	8	,	,	PUNCT
american_scientific_journal-3593	290	9	mar	mar	PROPN
american_scientific_journal-3593	290	10	.	.	PROPN
american_scientific_journal-3593	290	11	1994	1994	NUM
american_scientific_journal-3593	290	12	.	.	PUNCT
american_scientific_journal-3593	291	1	[	[	X
american_scientific_journal-3593	291	2	3	3	X
american_scientific_journal-3593	291	3	]	]	X
american_scientific_journal-3593	291	4	j.	j.	PROPN
american_scientific_journal-3593	291	5	leonard	leonard	PROPN
american_scientific_journal-3593	291	6	and	and	CCONJ
american_scientific_journal-3593	291	7	h.	h.	PROPN
american_scientific_journal-3593	291	8	durrant	durrant	PROPN
american_scientific_journal-3593	291	9	-	-	PUNCT
american_scientific_journal-3593	291	10	whyte	whyte	PROPN
american_scientific_journal-3593	291	11	,	,	PUNCT
american_scientific_journal-3593	291	12	“	"	PUNCT
american_scientific_journal-3593	291	13	mobile	mobile	ADJ
american_scientific_journal-3593	291	14	robot	robot	NOUN
american_scientific_journal-3593	291	15	localization	localization	NOUN
american_scientific_journal-3593	291	16	by	by	ADP
american_scientific_journal-3593	291	17	tracking	track	VERB
american_scientific_journal-3593	291	18	geometric	geometric	ADJ
american_scientific_journal-3593	291	19	beacons	beacon	NOUN
american_scientific_journal-3593	291	20	,	,	PUNCT
american_scientific_journal-3593	291	21	”	"	PUNCT
american_scientific_journal-3593	291	22	robotics	robotic	NOUN
american_scientific_journal-3593	291	23	and	and	CCONJ
american_scientific_journal-3593	291	24	automation	automation	NOUN
american_scientific_journal-3593	291	25	,	,	PUNCT
american_scientific_journal-3593	291	26	ieee	ieee	NOUN
american_scientific_journal-3593	291	27	transactions	transaction	NOUN
american_scientific_journal-3593	291	28	on	on	ADP
american_scientific_journal-3593	291	29	,	,	PUNCT
american_scientific_journal-3593	291	30	vol	vol	NOUN
american_scientific_journal-3593	291	31	.	.	PROPN
american_scientific_journal-3593	291	32	7	7	NUM
american_scientific_journal-3593	291	33	,	,	PUNCT
american_scientific_journal-3593	291	34	no	no	INTJ
american_scientific_journal-3593	291	35	.	.	NOUN
american_scientific_journal-3593	291	36	3	3	NUM
american_scientific_journal-3593	291	37	,	,	PUNCT
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american_scientific_journal-3593	291	39	.	.	PUNCT
american_scientific_journal-3593	291	40	376	376	NUM
american_scientific_journal-3593	291	41	–	–	PUNCT
american_scientific_journal-3593	291	42	382	382	NUM
american_scientific_journal-3593	291	43	,	,	PUNCT
american_scientific_journal-3593	291	44	jun	jun	PROPN
american_scientific_journal-3593	291	45	.	.	PROPN
american_scientific_journal-3593	291	46	1991	1991	NUM
american_scientific_journal-3593	291	47	.	.	PUNCT
american_scientific_journal-3593	292	1	[	[	X
american_scientific_journal-3593	292	2	4	4	X
american_scientific_journal-3593	292	3	]	]	X
american_scientific_journal-3593	292	4	w.	w.	PROPN
american_scientific_journal-3593	292	5	burgard	burgard	PROPN
american_scientific_journal-3593	292	6	,	,	PUNCT
american_scientific_journal-3593	292	7	d.	d.	PROPN
american_scientific_journal-3593	292	8	fox	fox	PROPN
american_scientific_journal-3593	292	9	,	,	PUNCT
american_scientific_journal-3593	292	10	d.	d.	PROPN
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american_scientific_journal-3593	292	12	,	,	PUNCT
american_scientific_journal-3593	292	13	and	and	CCONJ
american_scientific_journal-3593	292	14	t.	t.	PROPN
american_scientific_journal-3593	292	15	schmidt	schmidt	PROPN
american_scientific_journal-3593	292	16	,	,	PUNCT
american_scientific_journal-3593	292	17	“	"	PUNCT
american_scientific_journal-3593	292	18	estimating	estimate	VERB
american_scientific_journal-3593	292	19	the	the	DET
american_scientific_journal-3593	292	20	absolute	absolute	ADJ
american_scientific_journal-3593	292	21	position	position	NOUN
american_scientific_journal-3593	292	22	of	of	ADP
american_scientific_journal-3593	292	23	a	a	DET
american_scientific_journal-3593	292	24	mobile	mobile	ADJ
american_scientific_journal-3593	292	25	robot	robot	NOUN
american_scientific_journal-3593	292	26	using	use	VERB
american_scientific_journal-3593	292	27	position	position	NOUN
american_scientific_journal-3593	292	28	probability	probability	NOUN
american_scientific_journal-3593	292	29	grids	grid	NOUN
american_scientific_journal-3593	292	30	,	,	PUNCT
american_scientific_journal-3593	292	31	”	"	PUNCT
american_scientific_journal-3593	292	32	in	in	ADP
american_scientific_journal-3593	292	33	proc	proc	NOUN
american_scientific_journal-3593	292	34	.	.	PUNCT
american_scientific_journal-3593	292	35	of	of	ADP
american_scientific_journal-3593	292	36	the	the	DET
american_scientific_journal-3593	292	37	national	national	ADJ
american_scientific_journal-3593	292	38	conference	conference	NOUN
american_scientific_journal-3593	292	39	-	-	PUNCT
american_scientific_journal-3593	292	40	on	on	ADP
american_scientific_journal-3593	292	41	artificial	artificial	ADJ
american_scientific_journal-3593	292	42	intelligence	intelligence	NOUN
american_scientific_journal-3593	292	43	,	,	PUNCT
american_scientific_journal-3593	292	44	1996	1996	NUM
american_scientific_journal-3593	292	45	.	.	PUNCT
american_scientific_journal-3593	293	1	[	[	X
american_scientific_journal-3593	293	2	5	5	X
american_scientific_journal-3593	293	3	]	]	PUNCT
american_scientific_journal-3593	293	4	g.	g.	PROPN
american_scientific_journal-3593	293	5	grisetti	grisetti	PROPN
american_scientific_journal-3593	293	6	,	,	PUNCT
american_scientific_journal-3593	293	7	d.	d.	PROPN
american_scientific_journal-3593	293	8	l.	l.	PROPN
american_scientific_journal-3593	293	9	rizzini	rizzini	PROPN
american_scientific_journal-3593	293	10	,	,	PUNCT
american_scientific_journal-3593	293	11	c.	c.	PROPN
american_scientific_journal-3593	293	12	stachniss	stachniss	PROPN
american_scientific_journal-3593	293	13	,	,	PUNCT
american_scientific_journal-3593	293	14	e.	e.	PROPN
american_scientific_journal-3593	293	15	olson	olson	PROPN
american_scientific_journal-3593	293	16	,	,	PUNCT
american_scientific_journal-3593	293	17	and	and	CCONJ
american_scientific_journal-3593	293	18	w.	w.	PROPN
american_scientific_journal-3593	293	19	burgard	burgard	PROPN
american_scientific_journal-3593	293	20	.	.	PUNCT
american_scientific_journal-3593	294	1	online	online	ADJ
american_scientific_journal-3593	294	2	constraint	constraint	NOUN
american_scientific_journal-3593	294	3	network	network	NOUN
american_scientific_journal-3593	294	4	optimization	optimization	NOUN
american_scientific_journal-3593	294	5	for	for	ADP
american_scientific_journal-3593	294	6	efficient	efficient	ADJ
american_scientific_journal-3593	294	7	maximum	maximum	ADJ
american_scientific_journal-3593	294	8	likelihood	likelihood	NOUN
american_scientific_journal-3593	294	9	map	map	NOUN
american_scientific_journal-3593	294	10	learning	learn	VERB
american_scientific_journal-3593	294	11	.	.	PUNCT
american_scientific_journal-3593	295	1	in	in	ADP
american_scientific_journal-3593	295	2	proc	proc	PROPN
american_scientific_journal-3593	295	3	.	.	PUNCT
american_scientific_journal-3593	296	1	of	of	ADP
american_scientific_journal-3593	296	2	the	the	DET
american_scientific_journal-3593	296	3	ieee	ieee	NOUN
american_scientific_journal-3593	296	4	int	int	NOUN
american_scientific_journal-3593	296	5	.	.	PUNCT
american_scientific_journal-3593	296	6	conf	conf	PROPN
american_scientific_journal-3593	296	7	.	.	PUNCT
american_scientific_journal-3593	297	1	on	on	ADP
american_scientific_journal-3593	297	2	robotics	robotic	NOUN
american_scientific_journal-3593	297	3	&	&	CCONJ
american_scientific_journal-3593	297	4	automation	automation	PROPN
american_scientific_journal-3593	297	5	(	(	PUNCT
american_scientific_journal-3593	297	6	icra	icra	PROPN
american_scientific_journal-3593	297	7	)	)	PUNCT
american_scientific_journal-3593	297	8	,	,	PUNCT
american_scientific_journal-3593	297	9	2008	2008	NUM
american_scientific_journal-3593	297	10	.	.	PUNCT
american_scientific_journal-3593	298	1	[	[	X
american_scientific_journal-3593	298	2	6	6	NUM
american_scientific_journal-3593	298	3	]	]	PUNCT
american_scientific_journal-3593	298	4	r.	r.	PROPN
american_scientific_journal-3593	298	5	k¨ummerle	k¨ummerle	PROPN
american_scientific_journal-3593	298	6	,	,	PUNCT
american_scientific_journal-3593	298	7	g.	g.	PROPN
american_scientific_journal-3593	298	8	grisetti	grisetti	PROPN
american_scientific_journal-3593	298	9	,	,	PUNCT
american_scientific_journal-3593	298	10	h.	h.	PROPN
american_scientific_journal-3593	298	11	strasdat	strasdat	PROPN
american_scientific_journal-3593	298	12	,	,	PUNCT
american_scientific_journal-3593	298	13	k.	k.	PROPN
american_scientific_journal-3593	298	14	konolige	konolige	PROPN
american_scientific_journal-3593	298	15	,	,	PUNCT
american_scientific_journal-3593	298	16	and	and	CCONJ
american_scientific_journal-3593	298	17	w.	w.	PROPN
american_scientific_journal-3593	298	18	burgard	burgard	PROPN
american_scientific_journal-3593	298	19	.	.	PUNCT
american_scientific_journal-3593	299	1	g2o	g2o	PROPN
american_scientific_journal-3593	299	2	:	:	PUNCT
american_scientific_journal-3593	299	3	a	a	DET
american_scientific_journal-3593	299	4	general	general	ADJ
american_scientific_journal-3593	299	5	framework	framework	NOUN
american_scientific_journal-3593	299	6	for	for	ADP
american_scientific_journal-3593	299	7	graph	graph	NOUN
american_scientific_journal-3593	299	8	optimization	optimization	NOUN
american_scientific_journal-3593	299	9	.	.	PUNCT
american_scientific_journal-3593	300	1	in	in	ADP
american_scientific_journal-3593	300	2	proc	proc	PROPN
american_scientific_journal-3593	300	3	.	.	PUNCT
american_scientific_journal-3593	301	1	of	of	ADP
american_scientific_journal-3593	301	2	the	the	DET
american_scientific_journal-3593	301	3	ieee	ieee	NOUN
american_scientific_journal-3593	301	4	int	int	NOUN
american_scientific_journal-3593	301	5	.	.	PUNCT
american_scientific_journal-3593	301	6	conf	conf	PROPN
american_scientific_journal-3593	301	7	.	.	PUNCT
american_scientific_journal-3593	302	1	on	on	ADP
american_scientific_journal-3593	302	2	robotics	robotic	NOUN
american_scientific_journal-3593	302	3	and	and	CCONJ
american_scientific_journal-3593	302	4	automation	automation	NOUN
american_scientific_journal-3593	302	5	(	(	PUNCT
american_scientific_journal-3593	302	6	icra	icra	PROPN
american_scientific_journal-3593	302	7	)	)	PUNCT
american_scientific_journal-3593	302	8	,	,	PUNCT
american_scientific_journal-3593	302	9	2011	2011	NUM
american_scientific_journal-3593	302	10	.	.	PUNCT
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american_scientific_journal-3593	303	2	7	7	X
american_scientific_journal-3593	303	3	]	]	PUNCT
american_scientific_journal-3593	303	4	a.	a.	NOUN
american_scientific_journal-3593	303	5	howard	howard	PROPN
american_scientific_journal-3593	303	6	,	,	PUNCT
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american_scientific_journal-3593	303	8	mataric	mataric	ADJ
american_scientific_journal-3593	303	9	,	,	PUNCT
american_scientific_journal-3593	303	10	and	and	CCONJ
american_scientific_journal-3593	303	11	g.	g.	PROPN
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american_scientific_journal-3593	303	13	,	,	PUNCT
american_scientific_journal-3593	303	14	“	"	PUNCT
american_scientific_journal-3593	303	15	relaxation	relaxation	NOUN
american_scientific_journal-3593	303	16	on	on	ADP
american_scientific_journal-3593	303	17	a	a	DET
american_scientific_journal-3593	303	18	mesh	mesh	NOUN
american_scientific_journal-3593	303	19	:	:	PUNCT
american_scientific_journal-3593	303	20	a	a	DET
american_scientific_journal-3593	303	21	formalism	formalism	NOUN
american_scientific_journal-3593	303	22	for	for	ADP
american_scientific_journal-3593	303	23	generalized	generalized	ADJ
american_scientific_journal-3593	303	24	localization	localization	NOUN
american_scientific_journal-3593	303	25	,	,	PUNCT
american_scientific_journal-3593	303	26	”	"	PUNCT
american_scientific_journal-3593	303	27	in	in	ADP
american_scientific_journal-3593	303	28	proc	proc	NOUN
american_scientific_journal-3593	303	29	.	.	PUNCT
american_scientific_journal-3593	303	30	of	of	ADP
american_scientific_journal-3593	303	31	the	the	DET
american_scientific_journal-3593	303	32	ieee	ieee	NOUN
american_scientific_journal-3593	303	33	/	/	SYM
american_scientific_journal-3593	303	34	rsj	rsj	NOUN
american_scientific_journal-3593	303	35	int	int	NOUN
american_scientific_journal-3593	303	36	.	.	PUNCT
american_scientific_journal-3593	303	37	conf	conf	PROPN
american_scientific_journal-3593	303	38	.	.	PUNCT
american_scientific_journal-3593	304	1	on	on	ADP
american_scientific_journal-3593	304	2	intelligent	intelligent	ADJ
american_scientific_journal-3593	304	3	robots	robot	NOUN
american_scientific_journal-3593	304	4	and	and	CCONJ
american_scientific_journal-3593	304	5	systems	system	NOUN
american_scientific_journal-3593	304	6	(	(	PUNCT
american_scientific_journal-3593	304	7	iros	iro	NOUN
american_scientific_journal-3593	304	8	)	)	PUNCT
american_scientific_journal-3593	304	9	,	,	PUNCT
american_scientific_journal-3593	304	10	2001	2001	NUM
american_scientific_journal-3593	304	11	.	.	PUNCT
american_scientific_journal-3593	305	1	[	[	X
american_scientific_journal-3593	305	2	8	8	NUM
american_scientific_journal-3593	305	3	]	]	X
american_scientific_journal-3593	305	4	c.	c.	NOUN
american_scientific_journal-3593	305	5	rafflin	rafflin	PROPN
american_scientific_journal-3593	305	6	and	and	CCONJ
american_scientific_journal-3593	305	7	a.	a.	NOUN
american_scientific_journal-3593	305	8	fournier	fournier	PROPN
american_scientific_journal-3593	305	9	,	,	PUNCT
american_scientific_journal-3593	305	10	“	"	PUNCT
american_scientific_journal-3593	305	11	learning	learn	VERB
american_scientific_journal-3593	305	12	with	with	ADP
american_scientific_journal-3593	305	13	a	a	DET
american_scientific_journal-3593	305	14	friendly	friendly	ADJ
american_scientific_journal-3593	305	15	interactive	interactive	ADJ
american_scientific_journal-3593	305	16	robot	robot	NOUN
american_scientific_journal-3593	305	17	for	for	ADP
american_scientific_journal-3593	305	18	service	service	NOUN
american_scientific_journal-3593	305	19	tasks	task	NOUN
american_scientific_journal-3593	305	20	in	in	ADP
american_scientific_journal-3593	305	21	hospital	hospital	NOUN
american_scientific_journal-3593	305	22	environments	environment	NOUN
american_scientific_journal-3593	305	23	,	,	PUNCT
american_scientific_journal-3593	305	24	”	"	PUNCT
american_scientific_journal-3593	305	25	autonomous	autonomous	ADJ
american_scientific_journal-3593	305	26	robots	robot	NOUN
american_scientific_journal-3593	305	27	,	,	PUNCT
american_scientific_journal-3593	305	28	vol	vol	NOUN
american_scientific_journal-3593	305	29	.	.	PROPN
american_scientific_journal-3593	306	1	3	3	NUM
american_scientific_journal-3593	306	2	,	,	PUNCT
american_scientific_journal-3593	306	3	pp	pp	ADJ
american_scientific_journal-3593	306	4	.	.	PUNCT
american_scientific_journal-3593	307	1	399–414	399–414	NUM
american_scientific_journal-3593	307	2	,	,	PUNCT
american_scientific_journal-3593	307	3	1996	1996	NUM
american_scientific_journal-3593	307	4	.	.	PUNCT
american_scientific_journal-3593	308	1	[	[	X
american_scientific_journal-3593	308	2	9	9	NUM
american_scientific_journal-3593	308	3	]	]	PUNCT
american_scientific_journal-3593	308	4	h.	h.	PROPN
american_scientific_journal-3593	308	5	hu	hu	PROPN
american_scientific_journal-3593	308	6	and	and	CCONJ
american_scientific_journal-3593	308	7	d.	d.	PROPN
american_scientific_journal-3593	308	8	gu	gu	PROPN
american_scientific_journal-3593	308	9	.	.	PROPN
american_scientific_journal-3593	308	10	landmark	landmark	PROPN
american_scientific_journal-3593	308	11	-	-	PUNCT
american_scientific_journal-3593	308	12	based	base	VERB
american_scientific_journal-3593	308	13	navigation	navigation	NOUN
american_scientific_journal-3593	308	14	of	of	ADP
american_scientific_journal-3593	308	15	autonomous	autonomous	ADJ
american_scientific_journal-3593	308	16	robots	robot	NOUN
american_scientific_journal-3593	308	17	in	in	ADP
american_scientific_journal-3593	308	18	industry	industry	NOUN
american_scientific_journal-3593	308	19	.	.	PUNCT
american_scientific_journal-3593	309	1	international	international	ADJ
american_scientific_journal-3593	309	2	journal	journal	PROPN
american_scientific_journal-3593	309	3	of	of	ADP
american_scientific_journal-3593	309	4	industrial	industrial	ADJ
american_scientific_journal-3593	309	5	robot	robot	NOUN
american_scientific_journal-3593	309	6	,	,	PUNCT
american_scientific_journal-3593	309	7	27(6):458–467	27(6):458–467	PROPN
american_scientific_journal-3593	309	8	,	,	PUNCT
american_scientific_journal-3593	309	9	november	november	PROPN
american_scientific_journal-3593	309	10	2000	2000	NUM
american_scientific_journal-3593	309	11	.	.	PUNCT
american_scientific_journal-3593	310	1	[	[	X
american_scientific_journal-3593	310	2	10	10	NUM
american_scientific_journal-3593	310	3	]	]	X
american_scientific_journal-3593	310	4	e.	e.	PROPN
american_scientific_journal-3593	310	5	jones	jones	PROPN
american_scientific_journal-3593	310	6	,	,	PUNCT
american_scientific_journal-3593	310	7	a.	a.	NOUN
american_scientific_journal-3593	310	8	vedaldi	vedaldi	PROPN
american_scientific_journal-3593	310	9	,	,	PUNCT
american_scientific_journal-3593	310	10	and	and	CCONJ
american_scientific_journal-3593	310	11	s.	s.	PROPN
american_scientific_journal-3593	310	12	soatto	soatto	PROPN
american_scientific_journal-3593	310	13	,	,	PUNCT
american_scientific_journal-3593	310	14	“	"	PUNCT
american_scientific_journal-3593	310	15	inertial	inertial	ADJ
american_scientific_journal-3593	310	16	structure	structure	NOUN
american_scientific_journal-3593	310	17	from	from	ADP
american_scientific_journal-3593	310	18	motion	motion	NOUN
american_scientific_journal-3593	310	19	with	with	ADP
american_scientific_journal-3593	310	20	autocalibration	autocalibration	NOUN
american_scientific_journal-3593	310	21	,	,	PUNCT
american_scientific_journal-3593	310	22	”	"	PUNCT
american_scientific_journal-3593	310	23	in	in	ADP
american_scientific_journal-3593	310	24	proceedings	proceeding	NOUN
american_scientific_journal-3593	310	25	of	of	ADP
american_scientific_journal-3593	310	26	the	the	DET
american_scientific_journal-3593	310	27	internetional	internetional	ADJ
american_scientific_journal-3593	310	28	conference	conference	NOUN
american_scientific_journal-3593	310	29	on	on	ADP
american_scientific_journal-3593	310	30	computer	computer	NOUN
american_scientific_journal-3593	310	31	vision	vision	NOUN
american_scientific_journal-3593	310	32	workshop	workshop	NOUN
american_scientific_journal-3593	310	33	on	on	ADP
american_scientific_journal-3593	310	34	dynamical	dynamical	ADJ
american_scientific_journal-3593	310	35	vision	vision	NOUN
american_scientific_journal-3593	310	36	,	,	PUNCT
american_scientific_journal-3593	310	37	2007	2007	NUM
american_scientific_journal-3593	310	38	.	.	PUNCT
american_scientific_journal-3593	311	1	[	[	X
american_scientific_journal-3593	311	2	11	11	NUM
american_scientific_journal-3593	311	3	]	]	PUNCT
american_scientific_journal-3593	311	4	j.	j.	PROPN
american_scientific_journal-3593	311	5	kelly	kelly	PROPN
american_scientific_journal-3593	311	6	and	and	CCONJ
american_scientific_journal-3593	311	7	g.	g.	PROPN
american_scientific_journal-3593	311	8	s.	s.	PROPN
american_scientific_journal-3593	311	9	sukhatme	sukhatme	PROPN
american_scientific_journal-3593	311	10	,	,	PUNCT
american_scientific_journal-3593	311	11	“	"	PUNCT
american_scientific_journal-3593	311	12	visual	visual	ADJ
american_scientific_journal-3593	311	13	-	-	PUNCT
american_scientific_journal-3593	311	14	inertial	inertial	NOUN
american_scientific_journal-3593	311	15	sensor	sensor	NOUN
american_scientific_journal-3593	311	16	fusion	fusion	NOUN
american_scientific_journal-3593	311	17	:	:	PUNCT
american_scientific_journal-3593	311	18	localization	localization	NOUN
american_scientific_journal-3593	311	19	,	,	PUNCT
american_scientific_journal-3593	311	20	mapping	mapping	NOUN
american_scientific_journal-3593	311	21	and	and	CCONJ
american_scientific_journal-3593	311	22	sensor	sensor	NOUN
american_scientific_journal-3593	311	23	-	-	PUNCT
american_scientific_journal-3593	311	24	tosensor	tosensor	NOUN
american_scientific_journal-3593	311	25	self	self	NOUN
american_scientific_journal-3593	311	26	-	-	PUNCT
american_scientific_journal-3593	311	27	calibration	calibration	NOUN
american_scientific_journal-3593	311	28	,	,	PUNCT
american_scientific_journal-3593	311	29	”	"	PUNCT
american_scientific_journal-3593	311	30	int	int	NOUN
american_scientific_journal-3593	311	31	.	.	PUNCT
american_scientific_journal-3593	312	1	journal	journal	PROPN
american_scientific_journal-3593	312	2	of	of	ADP
american_scientific_journal-3593	312	3	robotics	robotic	NOUN
american_scientific_journal-3593	312	4	research	research	NOUN
american_scientific_journal-3593	312	5	,	,	PUNCT
american_scientific_journal-3593	312	6	vol	vol	NOUN
american_scientific_journal-3593	312	7	.	.	PROPN
american_scientific_journal-3593	312	8	30	30	NUM
american_scientific_journal-3593	312	9	,	,	PUNCT
american_scientific_journal-3593	312	10	no	no	INTJ
american_scientific_journal-3593	312	11	.	.	NOUN
american_scientific_journal-3593	312	12	1	1	NUM
american_scientific_journal-3593	312	13	,	,	PUNCT
american_scientific_journal-3593	312	14	pp	pp	ADJ
american_scientific_journal-3593	312	15	.	.	PUNCT
american_scientific_journal-3593	313	1	56–79	56–79	NUM
american_scientific_journal-3593	313	2	,	,	PUNCT
american_scientific_journal-3593	313	3	2011	2011	NUM
american_scientific_journal-3593	313	4	.	.	PUNCT
american_scientific_journal-3593	314	1	american	american	ADJ
american_scientific_journal-3593	314	2	scientific	scientific	ADJ
american_scientific_journal-3593	314	3	research	research	PROPN
american_scientific_journal-3593	314	4	journal	journal	NOUN
american_scientific_journal-3593	314	5	for	for	ADP
american_scientific_journal-3593	314	6	engineering	engineering	NOUN
american_scientific_journal-3593	314	7	,	,	PUNCT
american_scientific_journal-3593	314	8	technology	technology	NOUN
american_scientific_journal-3593	314	9	,	,	PUNCT
american_scientific_journal-3593	314	10	and	and	CCONJ
american_scientific_journal-3593	314	11	sciences	science	NOUN
american_scientific_journal-3593	314	12	(	(	PUNCT
american_scientific_journal-3593	314	13	asrjets	asrjet	NOUN
american_scientific_journal-3593	314	14	)	)	PUNCT
american_scientific_journal-3593	314	15	(	(	PUNCT
american_scientific_journal-3593	314	16	2017	2017	NUM
american_scientific_journal-3593	314	17	)	)	PUNCT
american_scientific_journal-3593	314	18	volume	volume	NOUN
american_scientific_journal-3593	314	19	38	38	NUM
american_scientific_journal-3593	314	20	,	,	PUNCT
american_scientific_journal-3593	314	21	no	no	DET
american_scientific_journal-3593	314	22	1	1	NUM
american_scientific_journal-3593	314	23	,	,	PUNCT
american_scientific_journal-3593	314	24	pp	pp	ADV
american_scientific_journal-3593	314	25	306	306	NUM
american_scientific_journal-3593	314	26	-	-	SYM
american_scientific_journal-3593	314	27	324	324	NUM
american_scientific_journal-3593	314	28	324	324	NUM
american_scientific_journal-3593	314	29	[	[	X
american_scientific_journal-3593	314	30	12	12	NUM
american_scientific_journal-3593	314	31	]	]	PUNCT
american_scientific_journal-3593	314	32	m.	m.	NOUN
american_scientific_journal-3593	314	33	c.	c.	PROPN
american_scientific_journal-3593	314	34	silpa	silpa	PROPN
american_scientific_journal-3593	314	35	-	-	PUNCT
american_scientific_journal-3593	314	36	anan	anan	PROPN
american_scientific_journal-3593	314	37	,	,	PUNCT
american_scientific_journal-3593	314	38	s.	s.	PROPN
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american_scientific_journal-3593	314	40	,	,	PUNCT
american_scientific_journal-3593	314	41	and	and	CCONJ
american_scientific_journal-3593	314	42	d.	d.	PROPN
american_scientific_journal-3593	314	43	wettergreen	wettergreen	PROPN
american_scientific_journal-3593	314	44	,	,	PUNCT
american_scientific_journal-3593	314	45	development	development	NOUN
american_scientific_journal-3593	314	46	of	of	ADP
american_scientific_journal-3593	314	47	autonomous	autonomous	ADJ
american_scientific_journal-3593	314	48	underwater	underwater	ADJ
american_scientific_journal-3593	314	49	vehicle	vehicle	NOUN
american_scientific_journal-3593	314	50	towards	towards	ADP
american_scientific_journal-3593	314	51	visual	visual	ADJ
american_scientific_journal-3593	314	52	servo	servo	NOUN
american_scientific_journal-3593	314	53	control	control	NOUN
american_scientific_journal-3593	314	54	.	.	PUNCT
american_scientific_journal-3593	315	1	proceedings	proceeding	NOUN
american_scientific_journal-3593	315	2	of	of	ADP
american_scientific_journal-3593	315	3	the	the	DET
american_scientific_journal-3593	315	4	australian	australian	ADJ
american_scientific_journal-3593	315	5	conference	conference	NOUN
american_scientific_journal-3593	315	6	on	on	ADP
american_scientific_journal-3593	315	7	robotics	robotic	NOUN
american_scientific_journal-3593	315	8	and	and	CCONJ
american_scientific_journal-3593	315	9	automation	automation	NOUN
american_scientific_journal-3593	315	10	.	.	PUNCT
american_scientific_journal-3593	316	1	melbourne	melbourne	PROPN
american_scientific_journal-3593	316	2	,	,	PUNCT
american_scientific_journal-3593	316	3	australia	australia	PROPN
american_scientific_journal-3593	316	4	(	(	PUNCT
american_scientific_journal-3593	316	5	2000	2000	NUM
american_scientific_journal-3593	316	6	)	)	PUNCT
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american_scientific_journal-3593	317	2	13	13	NUM
american_scientific_journal-3593	317	3	]	]	X
american_scientific_journal-3593	317	4	i.	i.	PROPN
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american_scientific_journal-3593	317	6	cox	cox	PROPN
american_scientific_journal-3593	317	7	and	and	CCONJ
american_scientific_journal-3593	317	8	g.	g.	PROPN
american_scientific_journal-3593	317	9	wilfong	wilfong	PROPN
american_scientific_journal-3593	317	10	(	(	PUNCT
american_scientific_journal-3593	317	11	editors	editor	NOUN
american_scientific_journal-3593	317	12	)	)	PUNCT
american_scientific_journal-3593	317	13	,	,	PUNCT
american_scientific_journal-3593	317	14	autonomous	autonomous	ADJ
american_scientific_journal-3593	317	15	robot	robot	NOUN
american_scientific_journal-3593	317	16	vehicles	vehicle	NOUN
american_scientific_journal-3593	317	17	,	,	PUNCT
american_scientific_journal-3593	317	18	springer	springer	NOUN
american_scientific_journal-3593	317	19	-	-	PUNCT
american_scientific_journal-3593	317	20	verlag	verlag	PROPN
american_scientific_journal-3593	317	21	,	,	PUNCT
american_scientific_journal-3593	317	22	new	new	PROPN
american_scientific_journal-3593	317	23	york	york	PROPN
american_scientific_journal-3593	317	24	(	(	PUNCT
american_scientific_journal-3593	317	25	1990	1990	NUM
american_scientific_journal-3593	317	26	)	)	PUNCT
american_scientific_journal-3593	317	27	.	.	PUNCT
american_scientific_journal-3593	318	1	[	[	X
american_scientific_journal-3593	318	2	14	14	NUM
american_scientific_journal-3593	318	3	]	]	PUNCT
american_scientific_journal-3593	318	4	j.	j.	PROPN
american_scientific_journal-3593	318	5	l.	l.	PROPN
american_scientific_journal-3593	318	6	crowley	crowley	PROPN
american_scientific_journal-3593	318	7	,	,	PUNCT
american_scientific_journal-3593	318	8	mathematical	mathematical	ADJ
american_scientific_journal-3593	318	9	foundations	foundation	NOUN
american_scientific_journal-3593	318	10	of	of	ADP
american_scientific_journal-3593	318	11	navigation	navigation	NOUN
american_scientific_journal-3593	318	12	and	and	CCONJ
american_scientific_journal-3593	318	13	perception	perception	NOUN
american_scientific_journal-3593	318	14	for	for	ADP
american_scientific_journal-3593	318	15	an	an	DET
american_scientific_journal-3593	318	16	autonomous	autonomous	ADJ
american_scientific_journal-3593	318	17	mobile	mobile	ADJ
american_scientific_journal-3593	318	18	robot	robot	NOUN
american_scientific_journal-3593	318	19	.	.	PUNCT
american_scientific_journal-3593	319	1	reasoning	reason	VERB
american_scientific_journal-3593	319	2	with	with	ADP
american_scientific_journal-3593	319	3	uncertainty	uncertainty	NOUN
american_scientific_journal-3593	319	4	in	in	ADP
american_scientific_journal-3593	319	5	robotics	robotic	NOUN
american_scientific_journal-3593	319	6	(	(	PUNCT
american_scientific_journal-3593	319	7	1995	1995	NUM
american_scientific_journal-3593	319	8	)	)	PUNCT
american_scientific_journal-3593	320	1	[	[	X
american_scientific_journal-3593	320	2	15	15	NUM
american_scientific_journal-3593	320	3	]	]	X
american_scientific_journal-3593	320	4	i.	i.	NOUN
american_scientific_journal-3593	320	5	loevsky	loevsky	PROPN
american_scientific_journal-3593	320	6	and	and	CCONJ
american_scientific_journal-3593	320	7	i.	i.	PROPN
american_scientific_journal-3593	320	8	shimshoni	shimshoni	PROPN
american_scientific_journal-3593	320	9	,	,	PUNCT
american_scientific_journal-3593	320	10	“	"	PUNCT
american_scientific_journal-3593	320	11	reliable	reliable	ADJ
american_scientific_journal-3593	320	12	and	and	CCONJ
american_scientific_journal-3593	320	13	efficient	efficient	ADJ
american_scientific_journal-3593	320	14	landmark	landmark	NOUN
american_scientific_journal-3593	320	15	-	-	PUNCT
american_scientific_journal-3593	320	16	based	base	VERB
american_scientific_journal-3593	320	17	localization	localization	NOUN
american_scientific_journal-3593	320	18	for	for	ADP
american_scientific_journal-3593	320	19	mobile	mobile	ADJ
american_scientific_journal-3593	320	20	robots	robot	NOUN
american_scientific_journal-3593	320	21	,	,	PUNCT
american_scientific_journal-3593	320	22	”	"	PUNCT
american_scientific_journal-3593	320	23	robotics	robotic	NOUN
american_scientific_journal-3593	320	24	and	and	CCONJ
american_scientific_journal-3593	320	25	autonomous	autonomous	ADJ
american_scientific_journal-3593	320	26	systems	system	NOUN
american_scientific_journal-3593	320	27	,	,	PUNCT
american_scientific_journal-3593	320	28	vol	vol	NOUN
american_scientific_journal-3593	320	29	.	.	PUNCT
american_scientific_journal-3593	320	30	in	in	ADP
american_scientific_journal-3593	320	31	press	press	NOUN
american_scientific_journal-3593	320	32	,	,	PUNCT
american_scientific_journal-3593	320	33	2010	2010	NUM
american_scientific_journal-3593	320	34	.	.	PUNCT
american_scientific_journal-3593	321	1	[	[	X
american_scientific_journal-3593	321	2	16	16	NUM
american_scientific_journal-3593	321	3	]	]	X
american_scientific_journal-3593	321	4	j.	j.	PROPN
american_scientific_journal-3593	321	5	leonard	leonard	PROPN
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american_scientific_journal-3593	321	9	-	-	PUNCT
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american_scientific_journal-3593	321	11	,	,	PUNCT
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american_scientific_journal-3593	321	13	mo	mo	ADJ
american_scientific_journal-3593	321	14	-	-	ADJ
american_scientific_journal-3593	321	15	bile	bile	NOUN
american_scientific_journal-3593	321	16	robot	robot	NOUN
american_scientific_journal-3593	321	17	localization	localization	NOUN
american_scientific_journal-3593	321	18	by	by	ADP
american_scientific_journal-3593	321	19	tracking	track	VERB
american_scientific_journal-3593	321	20	geometric	geometric	ADJ
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american_scientific_journal-3593	321	22	,	,	PUNCT
american_scientific_journal-3593	321	23	”	"	PUNCT
american_scientific_journal-3593	321	24	robotics	robotic	NOUN
american_scientific_journal-3593	321	25	and	and	CCONJ
american_scientific_journal-3593	321	26	automation	automation	NOUN
american_scientific_journal-3593	321	27	,	,	PUNCT
american_scientific_journal-3593	321	28	ieee	ieee	NOUN
american_scientific_journal-3593	321	29	transactions	transaction	NOUN
american_scientific_journal-3593	321	30	on	on	ADP
american_scientific_journal-3593	321	31	,	,	PUNCT
american_scientific_journal-3593	321	32	vol	vol	NOUN
american_scientific_journal-3593	321	33	.	.	PROPN
american_scientific_journal-3593	321	34	7	7	NUM
american_scientific_journal-3593	321	35	,	,	PUNCT
american_scientific_journal-3593	321	36	no	no	INTJ
american_scientific_journal-3593	321	37	.	.	NOUN
american_scientific_journal-3593	321	38	3	3	NUM
american_scientific_journal-3593	321	39	,	,	PUNCT
american_scientific_journal-3593	321	40	pp	pp	ADJ
american_scientific_journal-3593	321	41	.	.	PUNCT
american_scientific_journal-3593	322	1	376	376	NUM
american_scientific_journal-3593	322	2	–	–	PUNCT
american_scientific_journal-3593	322	3	382	382	NUM
american_scientific_journal-3593	322	4	,	,	PUNCT
american_scientific_journal-3593	322	5	jun	jun	PROPN
american_scientific_journal-3593	322	6	.	.	PROPN
american_scientific_journal-3593	322	7	1991	1991	NUM
american_scientific_journal-3593	322	8	.	.	PUNCT
american_scientific_journal-3593	323	1	[	[	X
american_scientific_journal-3593	323	2	17	17	NUM
american_scientific_journal-3593	323	3	]	]	PUNCT
american_scientific_journal-3593	323	4	w.	w.	PROPN
american_scientific_journal-3593	323	5	burgard	burgard	PROPN
american_scientific_journal-3593	323	6	,	,	PUNCT
american_scientific_journal-3593	323	7	d.	d.	PROPN
american_scientific_journal-3593	323	8	fox	fox	PROPN
american_scientific_journal-3593	323	9	,	,	PUNCT
american_scientific_journal-3593	323	10	d.	d.	PROPN
american_scientific_journal-3593	323	11	hennig	hennig	PROPN
american_scientific_journal-3593	323	12	,	,	PUNCT
american_scientific_journal-3593	323	13	and	and	CCONJ
american_scientific_journal-3593	323	14	t.	t.	PROPN
american_scientific_journal-3593	323	15	schmidt	schmidt	PROPN
american_scientific_journal-3593	323	16	,	,	PUNCT
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american_scientific_journal-3593	323	19	the	the	DET
american_scientific_journal-3593	323	20	absolute	absolute	ADJ
american_scientific_journal-3593	323	21	position	position	NOUN
american_scientific_journal-3593	323	22	of	of	ADP
american_scientific_journal-3593	323	23	a	a	DET
american_scientific_journal-3593	323	24	mobile	mobile	ADJ
american_scientific_journal-3593	323	25	robot	robot	NOUN
american_scientific_journal-3593	323	26	using	use	VERB
american_scientific_journal-3593	323	27	position	position	NOUN
american_scientific_journal-3593	323	28	probability	probability	NOUN
american_scientific_journal-3593	323	29	grids	grid	NOUN
american_scientific_journal-3593	323	30	,	,	PUNCT
american_scientific_journal-3593	323	31	”	"	PUNCT
american_scientific_journal-3593	323	32	in	in	ADP
american_scientific_journal-3593	323	33	proc	proc	NOUN
american_scientific_journal-3593	323	34	.	.	PUNCT
american_scientific_journal-3593	323	35	of	of	ADP
american_scientific_journal-3593	323	36	the	the	DET
american_scientific_journal-3593	323	37	national	national	ADJ
american_scientific_journal-3593	323	38	conference	conference	NOUN
american_scientific_journal-3593	323	39	-	-	PUNCT
american_scientific_journal-3593	323	40	on	on	ADP
american_scientific_journal-3593	323	41	artificial	artificial	ADJ
american_scientific_journal-3593	323	42	intelligence	intelligence	NOUN
american_scientific_journal-3593	323	43	,	,	PUNCT
american_scientific_journal-3593	323	44	1996	1996	NUM
american_scientific_journal-3593	323	45	.	.	PUNCT
american_scientific_journal-3593	324	1	[	[	X
american_scientific_journal-3593	324	2	18	18	NUM
american_scientific_journal-3593	324	3	]	]	X
american_scientific_journal-3593	324	4	g.	g.	PROPN
american_scientific_journal-3593	324	5	grisetti	grisetti	PROPN
american_scientific_journal-3593	324	6	,	,	PUNCT
american_scientific_journal-3593	324	7	d.	d.	PROPN
american_scientific_journal-3593	324	8	l.	l.	PROPN
american_scientific_journal-3593	324	9	rizzini	rizzini	PROPN
american_scientific_journal-3593	324	10	,	,	PUNCT
american_scientific_journal-3593	324	11	c.	c.	PROPN
american_scientific_journal-3593	324	12	stachniss	stachniss	PROPN
american_scientific_journal-3593	324	13	,	,	PUNCT
american_scientific_journal-3593	324	14	e.	e.	PROPN
american_scientific_journal-3593	324	15	olson	olson	PROPN
american_scientific_journal-3593	324	16	,	,	PUNCT
american_scientific_journal-3593	324	17	and	and	CCONJ
american_scientific_journal-3593	324	18	w.	w.	PROPN
american_scientific_journal-3593	324	19	burgard	burgard	PROPN
american_scientific_journal-3593	324	20	.	.	PUNCT
american_scientific_journal-3593	325	1	online	online	ADJ
american_scientific_journal-3593	325	2	constraint	constraint	NOUN
american_scientific_journal-3593	325	3	network	network	NOUN
american_scientific_journal-3593	325	4	optimization	optimization	NOUN
american_scientific_journal-3593	325	5	for	for	ADP
american_scientific_journal-3593	325	6	efficient	efficient	ADJ
american_scientific_journal-3593	325	7	maximum	maximum	ADJ
american_scientific_journal-3593	325	8	likelihood	likelihood	NOUN
american_scientific_journal-3593	325	9	map	map	NOUN
american_scientific_journal-3593	325	10	learning	learn	VERB
american_scientific_journal-3593	325	11	.	.	PUNCT
american_scientific_journal-3593	326	1	in	in	ADP
american_scientific_journal-3593	326	2	proc	proc	PROPN
american_scientific_journal-3593	326	3	.	.	PUNCT
american_scientific_journal-3593	327	1	of	of	ADP
american_scientific_journal-3593	327	2	the	the	DET
american_scientific_journal-3593	327	3	ieee	ieee	NOUN
american_scientific_journal-3593	327	4	int	int	NOUN
american_scientific_journal-3593	327	5	.	.	PUNCT
american_scientific_journal-3593	327	6	conf	conf	PROPN
american_scientific_journal-3593	327	7	.	.	PUNCT
american_scientific_journal-3593	328	1	on	on	ADP
american_scientific_journal-3593	328	2	robotics	robotic	NOUN
american_scientific_journal-3593	328	3	&	&	CCONJ
american_scientific_journal-3593	328	4	automation	automation	PROPN
american_scientific_journal-3593	328	5	(	(	PUNCT
american_scientific_journal-3593	328	6	icra	icra	PROPN
american_scientific_journal-3593	328	7	)	)	PUNCT
american_scientific_journal-3593	328	8	,	,	PUNCT
american_scientific_journal-3593	328	9	2008	2008	NUM
american_scientific_journal-3593	328	10	.	.	PUNCT
american_scientific_journal-3593	329	1	[	[	X
american_scientific_journal-3593	329	2	19	19	NUM
american_scientific_journal-3593	329	3	]	]	X
american_scientific_journal-3593	329	4	r.	r.	PROPN
american_scientific_journal-3593	329	5	k¨ummerle	k¨ummerle	PROPN
american_scientific_journal-3593	329	6	,	,	PUNCT
american_scientific_journal-3593	329	7	g.	g.	PROPN
american_scientific_journal-3593	329	8	grisetti	grisetti	PROPN
american_scientific_journal-3593	329	9	,	,	PUNCT
american_scientific_journal-3593	329	10	h.	h.	PROPN
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american_scientific_journal-3593	329	12	,	,	PUNCT
american_scientific_journal-3593	329	13	k.	k.	PROPN
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american_scientific_journal-3593	329	15	,	,	PUNCT
american_scientific_journal-3593	329	16	and	and	CCONJ
american_scientific_journal-3593	329	17	w.	w.	PROPN
american_scientific_journal-3593	329	18	burgard	burgard	PROPN
american_scientific_journal-3593	329	19	.	.	PUNCT
american_scientific_journal-3593	330	1	g2o	g2o	PROPN
american_scientific_journal-3593	330	2	:	:	PUNCT
american_scientific_journal-3593	330	3	a	a	DET
american_scientific_journal-3593	330	4	general	general	ADJ
american_scientific_journal-3593	330	5	framework	framework	NOUN
american_scientific_journal-3593	330	6	for	for	ADP
american_scientific_journal-3593	330	7	graph	graph	NOUN
american_scientific_journal-3593	330	8	optimization	optimization	NOUN
american_scientific_journal-3593	330	9	.	.	PUNCT
american_scientific_journal-3593	331	1	in	in	ADP
american_scientific_journal-3593	331	2	proc	proc	PROPN
american_scientific_journal-3593	331	3	.	.	PUNCT
american_scientific_journal-3593	332	1	of	of	ADP
american_scientific_journal-3593	332	2	the	the	DET
american_scientific_journal-3593	332	3	ieee	ieee	NOUN
american_scientific_journal-3593	332	4	int	int	NOUN
american_scientific_journal-3593	332	5	.	.	PUNCT
american_scientific_journal-3593	332	6	conf	conf	PROPN
american_scientific_journal-3593	332	7	.	.	PUNCT
american_scientific_journal-3593	333	1	on	on	ADP
american_scientific_journal-3593	333	2	robotics	robotic	NOUN
american_scientific_journal-3593	333	3	and	and	CCONJ
american_scientific_journal-3593	333	4	automation	automation	NOUN
american_scientific_journal-3593	333	5	(	(	PUNCT
american_scientific_journal-3593	333	6	icra	icra	PROPN
american_scientific_journal-3593	333	7	)	)	PUNCT
american_scientific_journal-3593	333	8	,	,	PUNCT
american_scientific_journal-3593	333	9	2011	2011	NUM
american_scientific_journal-3593	333	10	.	.	PUNCT
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american_scientific_journal-3593	334	2	20	20	NUM
american_scientific_journal-3593	334	3	]	]	PUNCT
american_scientific_journal-3593	334	4	a.	a.	NOUN
american_scientific_journal-3593	334	5	howard	howard	PROPN
american_scientific_journal-3593	334	6	,	,	PUNCT
american_scientific_journal-3593	334	7	m.	m.	NOUN
american_scientific_journal-3593	334	8	mataric	mataric	ADJ
american_scientific_journal-3593	334	9	,	,	PUNCT
american_scientific_journal-3593	334	10	and	and	CCONJ
american_scientific_journal-3593	334	11	g.	g.	PROPN
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american_scientific_journal-3593	334	13	,	,	PUNCT
american_scientific_journal-3593	334	14	“	"	PUNCT
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american_scientific_journal-3593	334	16	on	on	ADP
american_scientific_journal-3593	334	17	a	a	DET
american_scientific_journal-3593	334	18	mesh	mesh	NOUN
american_scientific_journal-3593	334	19	:	:	PUNCT
american_scientific_journal-3593	334	20	a	a	DET
american_scientific_journal-3593	334	21	formalism	formalism	NOUN
american_scientific_journal-3593	334	22	for	for	ADP
american_scientific_journal-3593	334	23	generalized	generalized	ADJ
american_scientific_journal-3593	334	24	localization	localization	NOUN
american_scientific_journal-3593	334	25	,	,	PUNCT
american_scientific_journal-3593	334	26	”	"	PUNCT
american_scientific_journal-3593	334	27	in	in	ADP
american_scientific_journal-3593	334	28	proc	proc	NOUN
american_scientific_journal-3593	334	29	.	.	PUNCT
american_scientific_journal-3593	335	1	of	of	ADP
american_scientific_journal-3593	335	2	the	the	DET
american_scientific_journal-3593	335	3	ieee	ieee	NOUN
american_scientific_journal-3593	335	4	/	/	SYM
american_scientific_journal-3593	335	5	rsj	rsj	NOUN
american_scientific_journal-3593	335	6	int	int	NOUN
american_scientific_journal-3593	335	7	.	.	PUNCT
american_scientific_journal-3593	336	1	conf	conf	PROPN
american_scientific_journal-3593	336	2	.	.	PUNCT
american_scientific_journal-3593	337	1	on	on	ADP
american_scientific_journal-3593	337	2	intelligent	intelligent	ADJ
american_scientific_journal-3593	337	3	robots	robot	NOUN
american_scientific_journal-3593	337	4	and	and	CCONJ
american_scientific_journal-3593	337	5	systems	system	NOUN
american_scientific_journal-3593	337	6	(	(	PUNCT
american_scientific_journal-3593	337	7	iros	iro	NOUN
american_scientific_journal-3593	337	8	)	)	PUNCT
american_scientific_journal-3593	337	9	,	,	PUNCT
american_scientific_journal-3593	337	10	2001	2001	NUM
american_scientific_journal-3593	337	11	.	.	PUNCT
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american_scientific_journal-3593	338	2	21	21	NUM
american_scientific_journal-3593	338	3	]	]	PUNCT
american_scientific_journal-3593	338	4	j.	j.	PROPN
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american_scientific_journal-3593	338	6	,	,	PUNCT
american_scientific_journal-3593	338	7	a.	a.	PROPN
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american_scientific_journal-3593	338	9	,	,	PUNCT
american_scientific_journal-3593	338	10	and	and	CCONJ
american_scientific_journal-3593	338	11	a.	a.	NOUN
american_scientific_journal-3593	338	12	ollero	ollero	NOUN
american_scientific_journal-3593	338	13	,	,	PUNCT
american_scientific_journal-3593	338	14	“	"	PUNCT
american_scientific_journal-3593	338	15	an	an	DET
american_scientific_journal-3593	338	16	iconic	iconic	ADJ
american_scientific_journal-3593	338	17	position	position	NOUN
american_scientific_journal-3593	338	18	estimator	estimator	NOUN
american_scientific_journal-3593	338	19	for	for	ADP
american_scientific_journal-3593	338	20	a	a	DET
american_scientific_journal-3593	338	21	2d	2d	NUM
american_scientific_journal-3593	338	22	laser	laser	NOUN
american_scientific_journal-3593	338	23	range	range	NOUN
american_scientific_journal-3593	338	24	finger	finger	NOUN
american_scientific_journal-3593	338	25	,	,	PUNCT
american_scientific_journal-3593	338	26	”	"	PUNCT
american_scientific_journal-3593	338	27	proc	proc	NOUN
american_scientific_journal-3593	338	28	.	.	PUNCT
american_scientific_journal-3593	339	1	of	of	ADP
american_scientific_journal-3593	339	2	ieee	ieee	PROPN
american_scientific_journal-3593	339	3	international	international	ADJ
american_scientific_journal-3593	339	4	conference	conference	NOUN
american_scientific_journal-3593	339	5	on	on	ADP
american_scientific_journal-3593	339	6	robotics	robotic	NOUN
american_scientific_journal-3593	339	7	and	and	CCONJ
american_scientific_journal-3593	339	8	automation	automation	NOUN
american_scientific_journal-3593	339	9	,	,	PUNCT
american_scientific_journal-3593	339	10	pp	pp	ADP
american_scientific_journal-3593	339	11	.	.	PUNCT
american_scientific_journal-3593	339	12	2646	2646	NUM
american_scientific_journal-3593	339	13	-	-	SYM
american_scientific_journal-3593	339	14	2651	2651	NUM
american_scientific_journal-3593	339	15	,	,	PUNCT
american_scientific_journal-3593	339	16	1992	1992	NUM
american_scientific_journal-3593	339	17	.	.	PUNCT
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american_scientific_journal-3593	340	2	22	22	NUM
american_scientific_journal-3593	340	3	]	]	PUNCT
american_scientific_journal-3593	340	4	f.	f.	NOUN
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american_scientific_journal-3593	340	6	and	and	CCONJ
american_scientific_journal-3593	340	7	j.	j.	PROPN
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american_scientific_journal-3593	340	9	,	,	PUNCT
american_scientific_journal-3593	340	10	“	"	PUNCT
american_scientific_journal-3593	340	11	position	position	NOUN
american_scientific_journal-3593	340	12	estimation	estimation	NOUN
american_scientific_journal-3593	340	13	for	for	ADP
american_scientific_journal-3593	340	14	a	a	DET
american_scientific_journal-3593	340	15	mobile	mobile	ADJ
american_scientific_journal-3593	340	16	robot	robot	NOUN
american_scientific_journal-3593	340	17	using	use	VERB
american_scientific_journal-3593	340	18	vision	vision	NOUN
american_scientific_journal-3593	340	19	and	and	CCONJ
american_scientific_journal-3593	340	20	odometry	odometry	NOUN
american_scientific_journal-3593	340	21	,	,	PUNCT
american_scientific_journal-3593	340	22	”	"	PUNCT
american_scientific_journal-3593	340	23	proc	proc	NOUN
american_scientific_journal-3593	340	24	.	.	PUNCT
american_scientific_journal-3593	341	1	of	of	ADP
american_scientific_journal-3593	341	2	ieee	ieee	PROPN
american_scientific_journal-3593	341	3	international	international	ADJ
american_scientific_journal-3593	341	4	conference	conference	NOUN
american_scientific_journal-3593	341	5	on	on	ADP
american_scientific_journal-3593	341	6	robotics	robotic	NOUN
american_scientific_journal-3593	341	7	and	and	CCONJ
american_scientific_journal-3593	341	8	automation	automation	NOUN
american_scientific_journal-3593	341	9	,	,	PUNCT
american_scientific_journal-3593	341	10	pp	pp	ADP
american_scientific_journal-3593	341	11	.	.	PUNCT
american_scientific_journal-3593	342	1	2588	2588	NUM
american_scientific_journal-3593	342	2	-	-	SYM
american_scientific_journal-3593	342	3	2593	2593	NUM
american_scientific_journal-3593	342	4	,	,	PUNCT
american_scientific_journal-3593	342	5	1992	1992	NUM
american_scientific_journal-3593	342	6	.	.	PUNCT
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american_scientific_journal-3593	343	2	23	23	NUM
american_scientific_journal-3593	343	3	]	]	PUNCT
american_scientific_journal-3593	343	4	k.	k.	NOUN
american_scientific_journal-3593	343	5	sugihara	sugihara	PROPN
american_scientific_journal-3593	343	6	,	,	PUNCT
american_scientific_journal-3593	343	7	“	"	PUNCT
american_scientific_journal-3593	343	8	some	some	DET
american_scientific_journal-3593	343	9	location	location	NOUN
american_scientific_journal-3593	343	10	problems	problem	NOUN
american_scientific_journal-3593	343	11	for	for	ADP
american_scientific_journal-3593	343	12	robot	robot	NOUN
american_scientific_journal-3593	343	13	navigation	navigation	NOUN
american_scientific_journal-3593	343	14	using	use	VERB
american_scientific_journal-3593	343	15	a	a	DET
american_scientific_journal-3593	343	16	single	single	ADJ
american_scientific_journal-3593	343	17	camera	camera	NOUN
american_scientific_journal-3593	343	18	,	,	PUNCT
american_scientific_journal-3593	343	19	”	"	PUNCT
american_scientific_journal-3593	343	20	computer	computer	NOUN
american_scientific_journal-3593	343	21	vision	vision	NOUN
american_scientific_journal-3593	343	22	,	,	PUNCT
american_scientific_journal-3593	343	23	graphics	graphic	NOUN
american_scientific_journal-3593	343	24	and	and	CCONJ
american_scientific_journal-3593	343	25	image	image	NOUN
american_scientific_journal-3593	343	26	processing	processing	NOUN
american_scientific_journal-3593	343	27	,	,	PUNCT
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american_scientific_journal-3593	344	2	,	,	PUNCT
american_scientific_journal-3593	344	3	no	no	INTJ
american_scientific_journal-3593	344	4	.	.	NOUN
american_scientific_journal-3593	344	5	1	1	NUM
american_scientific_journal-3593	344	6	,	,	PUNCT
american_scientific_journal-3593	344	7	pp	pp	ADJ
american_scientific_journal-3593	344	8	.	.	PUNCT
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american_scientific_journal-3593	345	2	-	-	SYM
american_scientific_journal-3593	345	3	129	129	NUM
american_scientific_journal-3593	345	4	,	,	PUNCT
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american_scientific_journal-3593	345	6	.	.	PUNCT
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american_scientific_journal-3593	346	2	24	24	NUM
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american_scientific_journal-3593	346	6	and	and	CCONJ
american_scientific_journal-3593	346	7	a.	a.	PROPN
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american_scientific_journal-3593	346	9	,	,	PUNCT
american_scientific_journal-3593	346	10	kalman	kalman	PROPN
american_scientific_journal-3593	346	11	filtering	filtering	PROPN
american_scientific_journal-3593	346	12	:	:	PUNCT
american_scientific_journal-3593	346	13	theory	theory	NOUN
american_scientific_journal-3593	346	14	and	and	CCONJ
american_scientific_journal-3593	346	15	practice	practice	NOUN
american_scientific_journal-3593	346	16	,	,	PUNCT
american_scientific_journal-3593	346	17	prentice	prentice	NOUN
american_scientific_journal-3593	346	18	-	-	PUNCT
american_scientific_journal-3593	346	19	hall	hall	NOUN
american_scientific_journal-3593	346	20	,	,	PUNCT
american_scientific_journal-3593	346	21	inc	inc	PROPN
american_scientific_journal-3593	346	22	.	.	PROPN
american_scientific_journal-3593	346	23	,	,	PUNCT
american_scientific_journal-3593	346	24	englewood	englewood	PROPN
american_scientific_journal-3593	346	25	cliffs	cliffs	PROPN
american_scientific_journal-3593	346	26	,	,	PUNCT
american_scientific_journal-3593	346	27	new	new	PROPN
american_scientific_journal-3593	346	28	jersey	jersey	PROPN
american_scientific_journal-3593	346	29	(	(	PUNCT
american_scientific_journal-3593	346	30	1993	1993	NUM
american_scientific_journal-3593	346	31	)	)	PUNCT
american_scientific_journal-3593	346	32	.	.	PUNCT
american_scientific_journal-3593	347	1	[	[	X
american_scientific_journal-3593	347	2	25	25	NUM
american_scientific_journal-3593	347	3	]	]	X
american_scientific_journal-3593	347	4	g.	g.	PROPN
american_scientific_journal-3593	347	5	hager	hager	PROPN
american_scientific_journal-3593	347	6	and	and	CCONJ
american_scientific_journal-3593	347	7	s.	s.	PROPN
american_scientific_journal-3593	347	8	atiya	atiya	PROPN
american_scientific_journal-3593	347	9	,	,	PUNCT
american_scientific_journal-3593	347	10	“	"	PUNCT
american_scientific_journal-3593	347	11	real	real	ADJ
american_scientific_journal-3593	347	12	-	-	PUNCT
american_scientific_journal-3593	347	13	time	time	NOUN
american_scientific_journal-3593	347	14	vision	vision	NOUN
american_scientific_journal-3593	347	15	-	-	PUNCT
american_scientific_journal-3593	347	16	based	base	VERB
american_scientific_journal-3593	347	17	robot	robot	NOUN
american_scientific_journal-3593	347	18	localization	localization	NOUN
american_scientific_journal-3593	347	19	,	,	PUNCT
american_scientific_journal-3593	347	20	”	"	PUNCT
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american_scientific_journal-3593	348	2	robotics	robotic	NOUN
american_scientific_journal-3593	348	3	and	and	CCONJ
american_scientific_journal-3593	348	4	automation	automation	NOUN
american_scientific_journal-3593	348	5	,	,	PUNCT
american_scientific_journal-3593	348	6	vol	vol	NOUN
american_scientific_journal-3593	348	7	.	.	PROPN
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american_scientific_journal-3593	348	9	,	,	PUNCT
american_scientific_journal-3593	348	10	no	no	INTJ
american_scientific_journal-3593	348	11	.	.	NOUN
american_scientific_journal-3593	348	12	6	6	NUM
american_scientific_journal-3593	348	13	,	,	PUNCT
american_scientific_journal-3593	348	14	pp	pp	ADJ
american_scientific_journal-3593	348	15	.	.	PUNCT
american_scientific_journal-3593	348	16	785	785	NUM
american_scientific_journal-3593	348	17	-	-	SYM
american_scientific_journal-3593	348	18	800	800	NUM
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american_scientific_journal-3593	348	20	1993	1993	NUM
american_scientific_journal-3593	348	21	.	.	PUNCT