id	sid	tid	token	lemma	pos
bracis-19064	1	1	long	long	ADJ
bracis-19064	1	2	-	-	PUNCT
bracis-19064	1	3	term	term	NOUN
bracis-19064	1	4	map	map	NOUN
bracis-19064	1	5	maintenance	maintenance	NOUN
bracis-19064	1	6	in	in	ADP
bracis-19064	1	7	 	 	SPACE
bracis-19064	1	8	complex	complex	ADJ
bracis-19064	1	9	environments	environment	NOUN
bracis-19064	1	10	|	|	ADV
bracis-19064	1	11	springer	springer	NOUN
bracis-19064	1	12	nature	nature	PROPN
bracis-19064	1	13	link	link	PROPN
bracis-19064	1	14	(	(	PUNCT
bracis-19064	1	15	formerly	formerly	ADV
bracis-19064	1	16	springerlink	springerlink	NOUN
bracis-19064	1	17	)	)	PUNCT
bracis-19064	1	18	skip	skip	VERB
bracis-19064	1	19	to	to	ADP
bracis-19064	1	20	main	main	ADJ
bracis-19064	1	21	content	content	NOUN
bracis-19064	1	22	advertisement	advertisement	NOUN
bracis-19064	1	23	log	log	NOUN
bracis-19064	1	24	in	in	ADP
bracis-19064	1	25	menu	menu	NOUN
bracis-19064	1	26	find	find	VERB
bracis-19064	1	27	a	a	DET
bracis-19064	1	28	journal	journal	NOUN
bracis-19064	1	29	publish	publish	VERB
bracis-19064	1	30	with	with	ADP
bracis-19064	1	31	us	we	PRON
bracis-19064	1	32	track	track	VERB
bracis-19064	1	33	your	your	PRON
bracis-19064	1	34	research	research	NOUN
bracis-19064	1	35	search	search	NOUN
bracis-19064	1	36	cart	cart	NOUN
bracis-19064	1	37	home	home	NOUN
bracis-19064	1	38	intelligent	intelligent	ADJ
bracis-19064	1	39	systems	system	NOUN
bracis-19064	1	40	conference	conference	NOUN
bracis-19064	1	41	paper	paper	NOUN
bracis-19064	1	42	long	long	ADJ
bracis-19064	1	43	-	-	PUNCT
bracis-19064	1	44	term	term	NOUN
bracis-19064	1	45	map	map	NOUN
bracis-19064	1	46	maintenance	maintenance	NOUN
bracis-19064	1	47	in	in	ADP
bracis-19064	1	48	 	 	SPACE
bracis-19064	1	49	complex	complex	ADJ
bracis-19064	1	50	environments	environment	NOUN
bracis-19064	1	51	conference	conference	NOUN
bracis-19064	1	52	paper	paper	NOUN
bracis-19064	1	53	first	first	ADV
bracis-19064	1	54	online	online	ADV
bracis-19064	1	55	:	:	PUNCT
bracis-19064	1	56	28	28	NUM
bracis-19064	1	57	november	november	NOUN
bracis-19064	1	58	2021	2021	NUM
bracis-19064	1	59	pp	pp	ADP
bracis-19064	1	60	146–161	146–161	NUM
bracis-19064	1	61	cite	cite	VERB
bracis-19064	1	62	this	this	DET
bracis-19064	1	63	conference	conference	NOUN
bracis-19064	1	64	paper	paper	NOUN
bracis-19064	1	65	access	access	NOUN
bracis-19064	1	66	provided	provide	VERB
bracis-19064	1	67	by	by	ADP
bracis-19064	1	68	university	university	PROPN
bracis-19064	1	69	of	of	ADP
bracis-19064	1	70	notre	notre	PROPN
bracis-19064	1	71	dame	dame	PROPN
bracis-19064	1	72	hesburgh	hesburgh	PROPN
bracis-19064	1	73	library	library	PROPN
bracis-19064	1	74	download	download	PROPN
bracis-19064	1	75	book	book	NOUN
bracis-19064	1	76	pdf	pdf	PROPN
bracis-19064	1	77	download	download	NOUN
bracis-19064	1	78	book	book	NOUN
bracis-19064	1	79	epub	epub	PROPN
bracis-19064	1	80	intelligent	intelligent	ADJ
bracis-19064	1	81	systems	system	NOUN
bracis-19064	1	82	(	(	PUNCT
bracis-19064	1	83	bracis	bracis	NOUN
bracis-19064	1	84	2021	2021	NUM
bracis-19064	1	85	)	)	PUNCT
bracis-19064	1	86	long	long	ADJ
bracis-19064	1	87	-	-	PUNCT
bracis-19064	1	88	term	term	NOUN
bracis-19064	1	89	map	map	NOUN
bracis-19064	1	90	maintenance	maintenance	NOUN
bracis-19064	1	91	in	in	ADP
bracis-19064	1	92	 	 	SPACE
bracis-19064	1	93	complex	complex	ADJ
bracis-19064	1	94	environments	environment	NOUN
bracis-19064	1	95	download	download	NOUN
bracis-19064	1	96	book	book	NOUN
bracis-19064	1	97	pdf	pdf	PROPN
bracis-19064	1	98	download	download	NOUN
bracis-19064	1	99	book	book	PROPN
bracis-19064	1	100	epub	epub	PROPN
bracis-19064	1	101	josias	josias	PROPN
bracis-19064	1	102	oliveira10	oliveira10	ADV
bracis-19064	1	103	,	,	PUNCT
bracis-19064	1	104	filipe	filipe	PROPN
bracis-19064	1	105	mutz11	mutz11	NOUN
bracis-19064	1	106	,	,	PUNCT
bracis-19064	1	107	avelino	avelino	PROPN
bracis-19064	1	108	forechi12	forechi12	NOUN
bracis-19064	1	109	,	,	PUNCT
bracis-19064	1	110	pedro	pedro	PROPN
bracis-19064	1	111	azevedo10	azevedo10	PROPN
bracis-19064	1	112	,	,	PUNCT
bracis-19064	1	113	thiago	thiago	PROPN
bracis-19064	1	114	oliveira	oliveira	PROPN
bracis-19064	1	115	-	-	PUNCT
bracis-19064	1	116	santos10	santos10	PROPN
bracis-19064	1	117	,	,	PUNCT
bracis-19064	1	118	alberto	alberto	PROPN
bracis-19064	1	119	f.	f.	PROPN
bracis-19064	1	120	de	de	PROPN
bracis-19064	1	121	souza10	souza10	PROPN
bracis-19064	1	122	&	&	CCONJ
bracis-19064	1	123	…	…	PUNCT
bracis-19064	1	124	claudine	claudine	NOUN
bracis-19064	1	125	badue10	badue10	PROPN
bracis-19064	1	126	  	  	SPACE
bracis-19064	1	127	show	show	VERB
bracis-19064	1	128	authors	author	NOUN
bracis-19064	1	129	part	part	NOUN
bracis-19064	1	130	of	of	ADP
bracis-19064	1	131	the	the	DET
bracis-19064	1	132	book	book	NOUN
bracis-19064	1	133	series	series	NOUN
bracis-19064	1	134	:	:	PUNCT
bracis-19064	1	135	lecture	lecture	NOUN
bracis-19064	1	136	notes	note	NOUN
bracis-19064	1	137	in	in	ADP
bracis-19064	1	138	computer	computer	NOUN
bracis-19064	1	139	science	science	NOUN
bracis-19064	1	140	(	(	PUNCT
bracis-19064	1	141	(	(	PUNCT
bracis-19064	1	142	lnai	lnai	ADJ
bracis-19064	1	143	,	,	PUNCT
bracis-19064	1	144	volume	volume	NOUN
bracis-19064	1	145	13074	13074	NUM
bracis-19064	1	146	)	)	PUNCT
bracis-19064	1	147	)	)	PUNCT
bracis-19064	1	148	included	include	VERB
bracis-19064	1	149	in	in	ADP
bracis-19064	1	150	the	the	DET
bracis-19064	1	151	following	follow	VERB
bracis-19064	1	152	conference	conference	NOUN
bracis-19064	1	153	series	series	NOUN
bracis-19064	1	154	:	:	PUNCT
bracis-19064	1	155	brazilian	brazilian	ADJ
bracis-19064	1	156	conference	conference	NOUN
bracis-19064	1	157	on	on	ADP
bracis-19064	1	158	intelligent	intelligent	ADJ
bracis-19064	1	159	systems	system	NOUN
bracis-19064	1	160	1333	1333	NUM
bracis-19064	1	161	accesses	access	VERB
bracis-19064	1	162	abstract	abstract	ADJ
bracis-19064	1	163	as	as	SCONJ
bracis-19064	1	164	changes	change	NOUN
bracis-19064	1	165	in	in	ADP
bracis-19064	1	166	external	external	ADJ
bracis-19064	1	167	environments	environment	NOUN
bracis-19064	1	168	are	be	AUX
bracis-19064	1	169	inevitable	inevitable	ADJ
bracis-19064	1	170	,	,	PUNCT
bracis-19064	1	171	a	a	DET
bracis-19064	1	172	lifelong	lifelong	ADJ
bracis-19064	1	173	mapping	mapping	NOUN
bracis-19064	1	174	system	system	NOUN
bracis-19064	1	175	is	be	AUX
bracis-19064	1	176	desirable	desirable	ADJ
bracis-19064	1	177	for	for	ADP
bracis-19064	1	178	autonomous	autonomous	ADJ
bracis-19064	1	179	robots	robot	NOUN
bracis-19064	1	180	that	that	PRON
bracis-19064	1	181	aim	aim	VERB
bracis-19064	1	182	at	at	ADP
bracis-19064	1	183	long	long	ADJ
bracis-19064	1	184	-	-	PUNCT
bracis-19064	1	185	term	term	NOUN
bracis-19064	1	186	operation	operation	NOUN
bracis-19064	1	187	.	.	PUNCT
bracis-19064	2	1	capturing	capture	VERB
bracis-19064	2	2	external	external	ADJ
bracis-19064	2	3	environment	environment	NOUN
bracis-19064	2	4	changes	change	NOUN
bracis-19064	2	5	into	into	ADP
bracis-19064	2	6	internal	internal	ADJ
bracis-19064	2	7	representations	representation	NOUN
bracis-19064	2	8	(	(	PUNCT
bracis-19064	2	9	for	for	ADP
bracis-19064	2	10	example	example	NOUN
bracis-19064	2	11	,	,	PUNCT
bracis-19064	2	12	maps	map	NOUN
bracis-19064	2	13	)	)	PUNCT
bracis-19064	2	14	is	be	AUX
bracis-19064	2	15	crucial	crucial	ADJ
bracis-19064	2	16	for	for	ADP
bracis-19064	2	17	proper	proper	ADJ
bracis-19064	2	18	behavior	behavior	NOUN
bracis-19064	2	19	and	and	CCONJ
bracis-19064	2	20	safety	safety	NOUN
bracis-19064	2	21	,	,	PUNCT
bracis-19064	2	22	especially	especially	ADV
bracis-19064	2	23	in	in	ADP
bracis-19064	2	24	the	the	DET
bracis-19064	2	25	case	case	NOUN
bracis-19064	2	26	of	of	ADP
bracis-19064	2	27	autonomous	autonomous	ADJ
bracis-19064	2	28	vehicles	vehicle	NOUN
bracis-19064	2	29	.	.	PUNCT
bracis-19064	3	1	in	in	ADP
bracis-19064	3	2	this	this	DET
bracis-19064	3	3	work	work	NOUN
bracis-19064	3	4	,	,	PUNCT
bracis-19064	3	5	we	we	PRON
bracis-19064	3	6	propose	propose	VERB
bracis-19064	3	7	a	a	DET
bracis-19064	3	8	new	new	ADJ
bracis-19064	3	9	large	large	ADJ
bracis-19064	3	10	-	-	PUNCT
bracis-19064	3	11	scale	scale	NOUN
bracis-19064	3	12	mapping	mapping	NOUN
bracis-19064	3	13	system	system	NOUN
bracis-19064	3	14	for	for	ADP
bracis-19064	3	15	our	our	PRON
bracis-19064	3	16	autonomous	autonomous	ADJ
bracis-19064	3	17	vehicle	vehicle	NOUN
bracis-19064	3	18	or	or	CCONJ
bracis-19064	3	19	any	any	DET
bracis-19064	3	20	other	other	ADJ
bracis-19064	3	21	.	.	PUNCT
bracis-19064	4	1	the	the	DET
bracis-19064	4	2	new	new	ADJ
bracis-19064	4	3	mapping	mapping	NOUN
bracis-19064	4	4	system	system	NOUN
bracis-19064	4	5	is	be	AUX
bracis-19064	4	6	based	base	VERB
bracis-19064	4	7	on	on	ADP
bracis-19064	4	8	the	the	DET
bracis-19064	4	9	graph	graph	NOUN
bracis-19064	4	10	slam	slam	NOUN
bracis-19064	4	11	algorithm	algorithm	NOUN
bracis-19064	4	12	,	,	PUNCT
bracis-19064	4	13	with	with	ADP
bracis-19064	4	14	extensions	extension	NOUN
bracis-19064	4	15	to	to	PART
bracis-19064	4	16	deal	deal	VERB
bracis-19064	4	17	with	with	ADP
bracis-19064	4	18	the	the	DET
bracis-19064	4	19	calibration	calibration	NOUN
bracis-19064	4	20	of	of	ADP
bracis-19064	4	21	odometry	odometry	NOUN
bracis-19064	4	22	directly	directly	ADV
bracis-19064	4	23	in	in	ADP
bracis-19064	4	24	the	the	DET
bracis-19064	4	25	optimization	optimization	NOUN
bracis-19064	4	26	of	of	ADP
bracis-19064	4	27	the	the	DET
bracis-19064	4	28	graph	graph	NOUN
bracis-19064	4	29	and	and	CCONJ
bracis-19064	4	30	to	to	PART
bracis-19064	4	31	address	address	VERB
bracis-19064	4	32	map	map	NOUN
bracis-19064	4	33	merging	merge	VERB
bracis-19064	4	34	for	for	ADP
bracis-19064	4	35	long	long	ADJ
bracis-19064	4	36	-	-	PUNCT
bracis-19064	4	37	term	term	NOUN
bracis-19064	4	38	map	map	NOUN
bracis-19064	4	39	maintenance	maintenance	NOUN
bracis-19064	4	40	.	.	PUNCT
bracis-19064	5	1	the	the	DET
bracis-19064	5	2	mapping	mapping	NOUN
bracis-19064	5	3	system	system	NOUN
bracis-19064	5	4	can	can	AUX
bracis-19064	5	5	use	use	VERB
bracis-19064	5	6	sensor	sensor	NOUN
bracis-19064	5	7	data	datum	NOUN
bracis-19064	5	8	from	from	ADP
bracis-19064	5	9	one	one	NUM
bracis-19064	5	10	or	or	CCONJ
bracis-19064	5	11	more	more	ADJ
bracis-19064	5	12	robots	robot	NOUN
bracis-19064	5	13	to	to	PART
bracis-19064	5	14	build	build	VERB
bracis-19064	5	15	and	and	CCONJ
bracis-19064	5	16	merge	merge	VERB
bracis-19064	5	17	different	different	ADJ
bracis-19064	5	18	types	type	NOUN
bracis-19064	5	19	of	of	ADP
bracis-19064	5	20	occupancy	occupancy	NOUN
bracis-19064	5	21	grid	grid	NOUN
bracis-19064	5	22	maps	map	NOUN
bracis-19064	5	23	.	.	PUNCT
bracis-19064	6	1	the	the	DET
bracis-19064	6	2	system	system	NOUN
bracis-19064	6	3	’s	’s	PART
bracis-19064	6	4	performance	performance	NOUN
bracis-19064	6	5	is	be	AUX
bracis-19064	6	6	evaluated	evaluate	VERB
bracis-19064	6	7	in	in	ADP
bracis-19064	6	8	a	a	DET
bracis-19064	6	9	series	series	NOUN
bracis-19064	6	10	of	of	ADP
bracis-19064	6	11	experiments	experiment	NOUN
bracis-19064	6	12	carried	carry	VERB
bracis-19064	6	13	out	out	ADP
bracis-19064	6	14	with	with	ADP
bracis-19064	6	15	data	datum	NOUN
bracis-19064	6	16	captured	capture	VERB
bracis-19064	6	17	in	in	ADP
bracis-19064	6	18	complex	complex	ADJ
bracis-19064	6	19	real	real	ADJ
bracis-19064	6	20	-	-	PUNCT
bracis-19064	6	21	world	world	NOUN
bracis-19064	6	22	scenarios	scenario	NOUN
bracis-19064	6	23	.	.	PUNCT
bracis-19064	7	1	the	the	DET
bracis-19064	7	2	experimental	experimental	ADJ
bracis-19064	7	3	results	result	NOUN
bracis-19064	7	4	indicate	indicate	VERB
bracis-19064	7	5	that	that	SCONJ
bracis-19064	7	6	the	the	DET
bracis-19064	7	7	new	new	ADJ
bracis-19064	7	8	large	large	ADJ
bracis-19064	7	9	-	-	PUNCT
bracis-19064	7	10	scale	scale	NOUN
bracis-19064	7	11	mapping	mapping	NOUN
bracis-19064	7	12	system	system	NOUN
bracis-19064	7	13	can	can	AUX
bracis-19064	7	14	provide	provide	VERB
bracis-19064	7	15	high	high	ADJ
bracis-19064	7	16	-	-	PUNCT
bracis-19064	7	17	quality	quality	NOUN
bracis-19064	7	18	occupancy	occupancy	NOUN
bracis-19064	7	19	grid	grid	NOUN
bracis-19064	7	20	maps	map	NOUN
bracis-19064	7	21	for	for	ADP
bracis-19064	7	22	later	later	ADJ
bracis-19064	7	23	navigation	navigation	NOUN
bracis-19064	7	24	and	and	CCONJ
bracis-19064	7	25	localization	localization	NOUN
bracis-19064	7	26	of	of	ADP
bracis-19064	7	27	autonomous	autonomous	ADJ
bracis-19064	7	28	vehicles	vehicle	NOUN
bracis-19064	7	29	that	that	PRON
bracis-19064	7	30	use	use	VERB
bracis-19064	7	31	occupancy	occupancy	NOUN
bracis-19064	7	32	grid	grid	NOUN
bracis-19064	7	33	maps	map	NOUN
bracis-19064	7	34	.	.	PUNCT
bracis-19064	8	1	this	this	DET
bracis-19064	8	2	study	study	NOUN
bracis-19064	8	3	was	be	AUX
bracis-19064	8	4	financed	finance	VERB
bracis-19064	8	5	in	in	ADP
bracis-19064	8	6	part	part	NOUN
bracis-19064	8	7	by	by	ADP
bracis-19064	8	8	coordenação	coordenação	PROPN
bracis-19064	8	9	de	de	PROPN
bracis-19064	8	10	aperfeiçoamento	aperfeiçoamento	PROPN
bracis-19064	8	11	de	de	X
bracis-19064	8	12	pessoal	pessoal	PROPN
bracis-19064	8	13	de	de	PROPN
bracis-19064	8	14	nível	nível	PROPN
bracis-19064	8	15	superior	superior	ADJ
bracis-19064	8	16	–	–	PUNCT
bracis-19064	8	17	brasil	brasil	PROPN
bracis-19064	8	18	(	(	PUNCT
bracis-19064	8	19	capes	cape	NOUN
bracis-19064	8	20	)	)	PUNCT
bracis-19064	8	21	–	–	PUNCT
bracis-19064	8	22	finance	finance	NOUN
bracis-19064	8	23	code	code	NOUN
bracis-19064	8	24	001	001	NUM
bracis-19064	8	25	;	;	PUNCT
bracis-19064	8	26	conselho	conselho	X
bracis-19064	8	27	nacional	nacional	PROPN
bracis-19064	8	28	de	de	X
bracis-19064	8	29	desenvolvimento	desenvolvimento	PROPN
bracis-19064	8	30	científico	científico	PROPN
bracis-19064	8	31	e	e	PROPN
bracis-19064	8	32	tecnológico	tecnológico	PROPN
bracis-19064	8	33	brasil	brasil	PROPN
bracis-19064	8	34	(	(	PUNCT
bracis-19064	8	35	cnpq	cnpq	PROPN
bracis-19064	8	36	)	)	PUNCT
bracis-19064	8	37	;	;	PUNCT
bracis-19064	8	38	and	and	CCONJ
bracis-19064	8	39	fundação	fundação	PROPN
bracis-19064	8	40	de	de	X
bracis-19064	8	41	amparo	amparo	PROPN
bracis-19064	8	42	à	à	X
bracis-19064	8	43	pesquisa	pesquisa	PROPN
bracis-19064	8	44	do	do	AUX
bracis-19064	8	45	espírito	espírito	PROPN
bracis-19064	8	46	santo	santo	PROPN
bracis-19064	8	47	brasil	brasil	PROPN
bracis-19064	8	48	(	(	PUNCT
bracis-19064	8	49	fapes	fape	NOUN
bracis-19064	8	50	)	)	PUNCT
bracis-19064	8	51	–	–	PUNCT
bracis-19064	8	52	grants	grant	VERB
bracis-19064	8	53	75537958	75537958	NUM
bracis-19064	8	54	and	and	CCONJ
bracis-19064	8	55	84412844	84412844	NUM
bracis-19064	8	56	.	.	PUNCT
bracis-19064	9	1	access	access	NOUN
bracis-19064	9	2	provided	provide	VERB
bracis-19064	9	3	by	by	ADP
bracis-19064	9	4	university	university	PROPN
bracis-19064	9	5	of	of	ADP
bracis-19064	9	6	notre	notre	PROPN
bracis-19064	9	7	dame	dame	PROPN
bracis-19064	9	8	hesburgh	hesburgh	PROPN
bracis-19064	9	9	library	library	PROPN
bracis-19064	9	10	.	.	PUNCT
bracis-19064	10	1	download	download	PROPN
bracis-19064	10	2	conference	conference	NOUN
bracis-19064	10	3	paper	paper	NOUN
bracis-19064	10	4	pdf	pdf	NOUN
bracis-19064	10	5	similar	similar	ADJ
bracis-19064	10	6	content	content	NOUN
bracis-19064	10	7	being	be	AUX
bracis-19064	10	8	viewed	view	VERB
bracis-19064	10	9	by	by	ADP
bracis-19064	10	10	others	other	NOUN
bracis-19064	10	11	glans	glan	NOUN
bracis-19064	10	12	:	:	PUNCT
bracis-19064	10	13	gis	gis	PROPN
bracis-19064	10	14	based	base	VERB
bracis-19064	10	15	large	large	ADJ
bracis-19064	10	16	-	-	PUNCT
bracis-19064	10	17	scale	scale	NOUN
bracis-19064	10	18	autonomous	autonomous	ADJ
bracis-19064	10	19	navigation	navigation	NOUN
bracis-19064	10	20	system	system	NOUN
bracis-19064	10	21	chapter	chapter	NOUN
bracis-19064	10	22	©	©	PROPN
bracis-19064	10	23	2018	2018	NUM
bracis-19064	10	24	global	global	ADJ
bracis-19064	10	25	map	map	NOUN
bracis-19064	10	26	generation	generation	NOUN
bracis-19064	10	27	using	use	VERB
bracis-19064	10	28	local	local	ADJ
bracis-19064	10	29	feature	feature	NOUN
bracis-19064	10	30	grid	grid	NOUN
bracis-19064	10	31	maps	map	NOUN
bracis-19064	10	32	for	for	ADP
bracis-19064	10	33	autonomous	autonomous	ADJ
bracis-19064	10	34	vehicles	vehicle	NOUN
bracis-19064	10	35	in	in	ADP
bracis-19064	10	36	frequently	frequently	ADV
bracis-19064	10	37	changing	change	VERB
bracis-19064	10	38	off	off	ADP
bracis-19064	10	39	-	-	PUNCT
bracis-19064	10	40	road	road	NOUN
bracis-19064	10	41	environments	environment	NOUN
bracis-19064	10	42	chapter	chapter	NOUN
bracis-19064	10	43	©	©	PROPN
bracis-19064	10	44	2024	2024	NUM
bracis-19064	10	45	vector	vector	NOUN
bracis-19064	10	46	maps	map	NOUN
bracis-19064	10	47	:	:	PUNCT
bracis-19064	10	48	a	a	DET
bracis-19064	10	49	lightweight	lightweight	ADJ
bracis-19064	10	50	and	and	CCONJ
bracis-19064	10	51	accurate	accurate	ADJ
bracis-19064	10	52	map	map	NOUN
bracis-19064	10	53	format	format	NOUN
bracis-19064	10	54	for	for	ADP
bracis-19064	10	55	multi	multi	ADJ
bracis-19064	10	56	-	-	ADJ
bracis-19064	10	57	robot	robot	ADJ
bracis-19064	10	58	systems	system	NOUN
bracis-19064	10	59	chapter	chapter	NOUN
bracis-19064	10	60	©	©	PROPN
bracis-19064	10	61	2016	2016	NUM
bracis-19064	10	62	explore	explore	VERB
bracis-19064	10	63	related	relate	VERB
bracis-19064	10	64	subjects	subject	NOUN
bracis-19064	10	65	discover	discover	VERB
bracis-19064	10	66	the	the	DET
bracis-19064	10	67	latest	late	ADJ
bracis-19064	10	68	articles	article	NOUN
bracis-19064	10	69	,	,	PUNCT
bracis-19064	10	70	books	book	NOUN
bracis-19064	10	71	and	and	CCONJ
bracis-19064	10	72	news	news	NOUN
bracis-19064	10	73	in	in	ADP
bracis-19064	10	74	related	related	ADJ
bracis-19064	10	75	subjects	subject	NOUN
bracis-19064	10	76	,	,	PUNCT
bracis-19064	10	77	suggested	suggest	VERB
bracis-19064	10	78	using	use	VERB
bracis-19064	10	79	machine	machine	NOUN
bracis-19064	10	80	learning	learning	NOUN
bracis-19064	10	81	.	.	PUNCT
bracis-19064	11	1	applied	apply	VERB
bracis-19064	11	2	dynamical	dynamical	ADJ
bracis-19064	11	3	systems	system	NOUN
bracis-19064	11	4	brain	brain	NOUN
bracis-19064	11	5	mapping	mapping	NOUN
bracis-19064	11	6	cartography	cartography	NOUN
bracis-19064	11	7	long	long	ADJ
bracis-19064	11	8	-	-	PUNCT
bracis-19064	11	9	term	term	NOUN
bracis-19064	11	10	potentiation	potentiation	NOUN
bracis-19064	11	11	long	long	ADJ
bracis-19064	11	12	-	-	PUNCT
bracis-19064	11	13	term	term	NOUN
bracis-19064	11	14	memory	memory	NOUN
bracis-19064	11	15	geographical	geographical	ADJ
bracis-19064	11	16	information	information	NOUN
bracis-19064	11	17	system	system	NOUN
bracis-19064	11	18	1	1	NUM
bracis-19064	11	19	introduction	introduction	NOUN
bracis-19064	11	20	autonomous	autonomous	ADJ
bracis-19064	11	21	vehicles	vehicle	NOUN
bracis-19064	11	22	(	(	PUNCT
bracis-19064	11	23	avs	avs	PROPN
bracis-19064	11	24	)	)	PUNCT
bracis-19064	11	25	typically	typically	ADV
bracis-19064	11	26	use	use	VERB
bracis-19064	11	27	maps	map	NOUN
bracis-19064	11	28	of	of	ADP
bracis-19064	11	29	the	the	DET
bracis-19064	11	30	environment	environment	NOUN
bracis-19064	11	31	to	to	PART
bracis-19064	11	32	localize	localize	VERB
bracis-19064	11	33	themselves	themselves	PRON
bracis-19064	11	34	and	and	CCONJ
bracis-19064	11	35	safely	safely	ADV
bracis-19064	11	36	navigate	navigate	VERB
bracis-19064	11	37	in	in	ADP
bracis-19064	11	38	it	it	PRON
bracis-19064	11	39	.	.	PUNCT
bracis-19064	12	1	in	in	ADP
bracis-19064	12	2	this	this	DET
bracis-19064	12	3	context	context	NOUN
bracis-19064	12	4	,	,	PUNCT
bracis-19064	12	5	avs	avs	PROPN
bracis-19064	12	6	can	can	AUX
bracis-19064	12	7	localize	localize	VERB
bracis-19064	12	8	themselves	themselves	PRON
bracis-19064	12	9	in	in	ADP
bracis-19064	12	10	relation	relation	NOUN
bracis-19064	12	11	to	to	ADP
bracis-19064	12	12	the	the	DET
bracis-19064	12	13	map	map	NOUN
bracis-19064	12	14	using	use	VERB
bracis-19064	12	15	their	their	PRON
bracis-19064	12	16	sensor	sensor	NOUN
bracis-19064	12	17	measurements	measurement	NOUN
bracis-19064	12	18	(	(	PUNCT
bracis-19064	12	19	localization	localization	NOUN
bracis-19064	12	20	problem	problem	NOUN
bracis-19064	12	21	)	)	PUNCT
bracis-19064	12	22	.	.	PUNCT
bracis-19064	13	1	when	when	SCONJ
bracis-19064	13	2	there	there	PRON
bracis-19064	13	3	is	be	VERB
bracis-19064	13	4	no	no	DET
bracis-19064	13	5	map	map	NOUN
bracis-19064	13	6	,	,	PUNCT
bracis-19064	13	7	they	they	PRON
bracis-19064	13	8	can	can	AUX
bracis-19064	13	9	create	create	VERB
bracis-19064	13	10	a	a	DET
bracis-19064	13	11	new	new	ADJ
bracis-19064	13	12	one	one	NOUN
bracis-19064	13	13	also	also	ADV
bracis-19064	13	14	using	use	VERB
bracis-19064	13	15	their	their	PRON
bracis-19064	13	16	sensors	sensor	NOUN
bracis-19064	13	17	.	.	PUNCT
bracis-19064	14	1	vehicle	vehicle	NOUN
bracis-19064	14	2	poses	pose	NOUN
bracis-19064	14	3	can	can	AUX
bracis-19064	14	4	be	be	AUX
bracis-19064	14	5	known	know	VERB
bracis-19064	14	6	when	when	SCONJ
bracis-19064	14	7	creating	create	VERB
bracis-19064	14	8	the	the	DET
bracis-19064	14	9	map	map	NOUN
bracis-19064	14	10	(	(	PUNCT
bracis-19064	14	11	mapping	mapping	NOUN
bracis-19064	14	12	problem	problem	NOUN
bracis-19064	14	13	)	)	PUNCT
bracis-19064	14	14	or	or	CCONJ
bracis-19064	14	15	can	can	AUX
bracis-19064	14	16	be	be	AUX
bracis-19064	14	17	estimated	estimate	VERB
bracis-19064	14	18	as	as	SCONJ
bracis-19064	14	19	the	the	DET
bracis-19064	14	20	map	map	NOUN
bracis-19064	14	21	is	be	AUX
bracis-19064	14	22	built	build	VERB
bracis-19064	14	23	(	(	PUNCT
bracis-19064	14	24	simultaneous	simultaneous	ADJ
bracis-19064	14	25	localization	localization	NOUN
bracis-19064	14	26	and	and	CCONJ
bracis-19064	14	27	mapping	mapping	NOUN
bracis-19064	14	28	slam	slam	NOUN
bracis-19064	14	29	problem	problem	NOUN
bracis-19064	14	30	 	 	SPACE
bracis-19064	15	1	[	[	X
bracis-19064	15	2	4	4	NUM
bracis-19064	15	3	]	]	NUM
bracis-19064	15	4	)	)	PUNCT
bracis-19064	15	5	.	.	PUNCT
bracis-19064	16	1	one	one	NUM
bracis-19064	16	2	of	of	ADP
bracis-19064	16	3	the	the	DET
bracis-19064	16	4	requirements	requirement	NOUN
bracis-19064	16	5	imposed	impose	VERB
bracis-19064	16	6	on	on	ADP
bracis-19064	16	7	avs	avs	PROPN
bracis-19064	16	8	is	be	AUX
bracis-19064	16	9	the	the	DET
bracis-19064	16	10	ability	ability	NOUN
bracis-19064	16	11	to	to	PART
bracis-19064	16	12	operate	operate	VERB
bracis-19064	16	13	for	for	ADP
bracis-19064	16	14	a	a	DET
bracis-19064	16	15	long	long	ADJ
bracis-19064	16	16	period	period	NOUN
bracis-19064	16	17	of	of	ADP
bracis-19064	16	18	time	time	NOUN
bracis-19064	16	19	without	without	ADP
bracis-19064	16	20	human	human	ADJ
bracis-19064	16	21	intervention	intervention	NOUN
bracis-19064	16	22	.	.	PUNCT
bracis-19064	17	1	therefore	therefore	ADV
bracis-19064	17	2	,	,	PUNCT
bracis-19064	17	3	avs	avs	PROPN
bracis-19064	17	4	must	must	AUX
bracis-19064	17	5	display	display	VERB
bracis-19064	17	6	a	a	DET
bracis-19064	17	7	life	life	NOUN
bracis-19064	17	8	-	-	PUNCT
bracis-19064	17	9	long	long	ADJ
bracis-19064	17	10	mapping	mapping	NOUN
bracis-19064	17	11	capability	capability	NOUN
bracis-19064	17	12	and	and	CCONJ
bracis-19064	17	13	promptly	promptly	ADV
bracis-19064	17	14	update	update	VERB
bracis-19064	17	15	their	their	PRON
bracis-19064	17	16	internal	internal	ADJ
bracis-19064	17	17	maps	map	NOUN
bracis-19064	17	18	whenever	whenever	SCONJ
bracis-19064	17	19	the	the	DET
bracis-19064	17	20	environment	environment	NOUN
bracis-19064	17	21	changes	change	VERB
bracis-19064	17	22	.	.	PUNCT
bracis-19064	18	1	in	in	ADP
bracis-19064	18	2	addition	addition	NOUN
bracis-19064	18	3	,	,	PUNCT
bracis-19064	18	4	when	when	SCONJ
bracis-19064	18	5	operating	operate	VERB
bracis-19064	18	6	outdoors	outdoor	NOUN
bracis-19064	18	7	,	,	PUNCT
bracis-19064	18	8	avs	avs	PROPN
bracis-19064	18	9	face	face	VERB
bracis-19064	18	10	highly	highly	ADV
bracis-19064	18	11	dynamic	dynamic	ADJ
bracis-19064	18	12	objects	object	NOUN
bracis-19064	18	13	(	(	PUNCT
bracis-19064	18	14	for	for	ADP
bracis-19064	18	15	example	example	NOUN
bracis-19064	18	16	,	,	PUNCT
bracis-19064	18	17	pedestrians	pedestrian	NOUN
bracis-19064	18	18	and	and	CCONJ
bracis-19064	18	19	other	other	ADJ
bracis-19064	18	20	vehicles	vehicle	NOUN
bracis-19064	18	21	)	)	PUNCT
bracis-19064	18	22	and	and	CCONJ
bracis-19064	18	23	slightly	slightly	ADV
bracis-19064	18	24	dynamic	dynamic	ADJ
bracis-19064	18	25	objects	object	NOUN
bracis-19064	18	26	(	(	PUNCT
bracis-19064	18	27	for	for	ADP
bracis-19064	18	28	example	example	NOUN
bracis-19064	18	29	,	,	PUNCT
bracis-19064	18	30	parked	park	VERB
bracis-19064	18	31	vehicles	vehicle	NOUN
bracis-19064	18	32	and	and	CCONJ
bracis-19064	18	33	traffic	traffic	NOUN
bracis-19064	18	34	cones	cone	NOUN
bracis-19064	18	35	)	)	PUNCT
bracis-19064	18	36	.	.	PUNCT
bracis-19064	19	1	environments	environment	NOUN
bracis-19064	19	2	may	may	AUX
bracis-19064	19	3	undergo	undergo	VERB
bracis-19064	19	4	slower	slow	ADJ
bracis-19064	19	5	modifications	modification	NOUN
bracis-19064	19	6	to	to	ADP
bracis-19064	19	7	the	the	DET
bracis-19064	19	8	infrastructure	infrastructure	NOUN
bracis-19064	19	9	and	and	CCONJ
bracis-19064	19	10	,	,	PUNCT
bracis-19064	19	11	therefore	therefore	ADV
bracis-19064	19	12	,	,	PUNCT
bracis-19064	19	13	the	the	DET
bracis-19064	19	14	avs	avs	PROPN
bracis-19064	19	15	’	'	PUNCT
bracis-19064	19	16	internal	internal	ADJ
bracis-19064	19	17	maps	map	NOUN
bracis-19064	19	18	must	must	AUX
bracis-19064	19	19	be	be	AUX
bracis-19064	19	20	updated	update	VERB
bracis-19064	19	21	accordingly	accordingly	ADV
bracis-19064	19	22	.	.	PUNCT
bracis-19064	20	1	these	these	DET
bracis-19064	20	2	issues	issue	NOUN
bracis-19064	20	3	,	,	PUNCT
bracis-19064	20	4	altogether	altogether	ADV
bracis-19064	20	5	,	,	PUNCT
bracis-19064	20	6	pose	pose	VERB
bracis-19064	20	7	the	the	DET
bracis-19064	20	8	life	life	NOUN
bracis-19064	20	9	-	-	PUNCT
bracis-19064	20	10	long	long	ADJ
bracis-19064	20	11	mapping	mapping	NOUN
bracis-19064	20	12	problem	problem	NOUN
bracis-19064	20	13	,	,	PUNCT
bracis-19064	20	14	which	which	PRON
bracis-19064	20	15	usually	usually	ADV
bracis-19064	20	16	requires	require	VERB
bracis-19064	20	17	merging	merge	VERB
bracis-19064	20	18	the	the	DET
bracis-19064	20	19	current	current	ADJ
bracis-19064	20	20	map	map	NOUN
bracis-19064	20	21	already	already	ADV
bracis-19064	20	22	built	build	VERB
bracis-19064	20	23	with	with	ADP
bracis-19064	20	24	the	the	DET
bracis-19064	20	25	new	new	ADJ
bracis-19064	20	26	ones	one	NOUN
bracis-19064	20	27	from	from	ADP
bracis-19064	20	28	another	another	DET
bracis-19064	20	29	surveying	surveying	NOUN
bracis-19064	20	30	mission	mission	NOUN
bracis-19064	20	31	with	with	ADP
bracis-19064	20	32	a	a	DET
bracis-19064	20	33	single	single	ADJ
bracis-19064	20	34	robot	robot	NOUN
bracis-19064	20	35	or	or	CCONJ
bracis-19064	20	36	multiple	multiple	ADJ
bracis-19064	20	37	robots	robot	NOUN
bracis-19064	20	38	at	at	ADP
bracis-19064	20	39	the	the	DET
bracis-19064	20	40	same	same	ADJ
bracis-19064	20	41	time	time	NOUN
bracis-19064	20	42	.	.	PUNCT
bracis-19064	21	1	the	the	DET
bracis-19064	21	2	map	map	NOUN
bracis-19064	21	3	merging	merging	NOUN
bracis-19064	21	4	problem	problem	NOUN
bracis-19064	21	5	consists	consist	VERB
bracis-19064	21	6	of	of	ADP
bracis-19064	21	7	combining	combine	VERB
bracis-19064	21	8	two	two	NUM
bracis-19064	21	9	or	or	CCONJ
bracis-19064	21	10	more	more	ADJ
bracis-19064	21	11	individual	individual	ADJ
bracis-19064	21	12	maps	map	NOUN
bracis-19064	21	13	without	without	ADP
bracis-19064	21	14	a	a	DET
bracis-19064	21	15	common	common	ADJ
bracis-19064	21	16	frame	frame	NOUN
bracis-19064	21	17	of	of	ADP
bracis-19064	21	18	reference	reference	NOUN
bracis-19064	21	19	into	into	ADP
bracis-19064	21	20	a	a	DET
bracis-19064	21	21	larger	large	ADJ
bracis-19064	21	22	global	global	ADJ
bracis-19064	21	23	map	map	NOUN
bracis-19064	21	24	.	.	PUNCT
bracis-19064	22	1	fig	fig	NOUN
bracis-19064	22	2	.	.	PUNCT
bracis-19064	23	1	1	1	NUM
bracis-19064	23	2	.	.	X
bracis-19064	23	3	example	example	NOUN
bracis-19064	23	4	of	of	ADP
bracis-19064	23	5	map	map	NOUN
bracis-19064	23	6	merging	merge	VERB
bracis-19064	23	7	.	.	PUNCT
bracis-19064	24	1	the	the	DET
bracis-19064	24	2	lack	lack	NOUN
bracis-19064	24	3	of	of	ADP
bracis-19064	24	4	loop	loop	NOUN
bracis-19064	24	5	closure	closure	NOUN
bracis-19064	24	6	treatment	treatment	NOUN
bracis-19064	24	7	between	between	ADP
bracis-19064	24	8	the	the	DET
bracis-19064	24	9	sessions	session	NOUN
bracis-19064	24	10	results	result	VERB
bracis-19064	24	11	in	in	ADP
bracis-19064	24	12	misalignment	misalignment	NOUN
bracis-19064	24	13	between	between	ADP
bracis-19064	24	14	the	the	DET
bracis-19064	24	15	maps	map	NOUN
bracis-19064	24	16	.	.	PUNCT
bracis-19064	25	1	full	full	ADJ
bracis-19064	25	2	size	size	NOUN
bracis-19064	25	3	image	image	NOUN
bracis-19064	25	4	one	one	NUM
bracis-19064	25	5	of	of	ADP
bracis-19064	25	6	the	the	DET
bracis-19064	25	7	main	main	ADJ
bracis-19064	25	8	challenges	challenge	NOUN
bracis-19064	25	9	in	in	ADP
bracis-19064	25	10	the	the	DET
bracis-19064	25	11	map	map	NOUN
bracis-19064	25	12	merging	merging	NOUN
bracis-19064	25	13	problem	problem	NOUN
bracis-19064	25	14	is	be	AUX
bracis-19064	25	15	illustrated	illustrate	VERB
bracis-19064	25	16	in	in	ADP
bracis-19064	25	17	fig	fig	NOUN
bracis-19064	25	18	.	.	PUNCT
bracis-19064	25	19	 	 	SPACE
bracis-19064	26	1	1	1	NUM
bracis-19064	26	2	,	,	PUNCT
bracis-19064	26	3	where	where	SCONJ
bracis-19064	26	4	red	red	ADJ
bracis-19064	26	5	and	and	CCONJ
bracis-19064	26	6	green	green	ADJ
bracis-19064	26	7	pixels	pixel	NOUN
bracis-19064	26	8	represent	represent	VERB
bracis-19064	26	9	obstacles	obstacle	NOUN
bracis-19064	26	10	reached	reach	VERB
bracis-19064	26	11	by	by	ADP
bracis-19064	26	12	a	a	DET
bracis-19064	26	13	lidar	lidar	NOUN
bracis-19064	26	14	sensor	sensor	NOUN
bracis-19064	26	15	and	and	CCONJ
bracis-19064	26	16	projected	project	VERB
bracis-19064	26	17	in	in	ADP
bracis-19064	26	18	the	the	DET
bracis-19064	26	19	ground	ground	NOUN
bracis-19064	26	20	.	.	PUNCT
bracis-19064	27	1	red	red	ADJ
bracis-19064	27	2	pixels	pixel	NOUN
bracis-19064	27	3	represent	represent	VERB
bracis-19064	27	4	obstacles	obstacle	NOUN
bracis-19064	27	5	in	in	ADP
bracis-19064	27	6	a	a	DET
bracis-19064	27	7	map	map	NOUN
bracis-19064	27	8	while	while	SCONJ
bracis-19064	27	9	green	green	ADJ
bracis-19064	27	10	pixels	pixel	NOUN
bracis-19064	27	11	represent	represent	VERB
bracis-19064	27	12	obstacles	obstacle	NOUN
bracis-19064	27	13	in	in	ADP
bracis-19064	27	14	another	another	PRON
bracis-19064	27	15	.	.	PUNCT
bracis-19064	28	1	considering	consider	VERB
bracis-19064	28	2	the	the	DET
bracis-19064	28	3	final	final	ADJ
bracis-19064	28	4	map	map	NOUN
bracis-19064	28	5	after	after	ADP
bracis-19064	28	6	improper	improper	ADJ
bracis-19064	28	7	merging	merging	NOUN
bracis-19064	28	8	,	,	PUNCT
bracis-19064	28	9	there	there	PRON
bracis-19064	28	10	is	be	VERB
bracis-19064	28	11	a	a	DET
bracis-19064	28	12	prominent	prominent	ADJ
bracis-19064	28	13	misalignment	misalignment	NOUN
bracis-19064	28	14	between	between	ADP
bracis-19064	28	15	the	the	DET
bracis-19064	28	16	two	two	NUM
bracis-19064	28	17	individual	individual	ADJ
bracis-19064	28	18	maps	map	NOUN
bracis-19064	28	19	.	.	PUNCT
bracis-19064	29	1	we	we	PRON
bracis-19064	29	2	have	have	AUX
bracis-19064	29	3	developed	develop	VERB
bracis-19064	29	4	a	a	DET
bracis-19064	29	5	self	self	NOUN
bracis-19064	29	6	-	-	PUNCT
bracis-19064	29	7	driving	drive	VERB
bracis-19064	29	8	car	car	NOUN
bracis-19064	29	9	(	(	PUNCT
bracis-19064	29	10	fig	fig	NOUN
bracis-19064	29	11	.	.	PUNCT
bracis-19064	29	12	 	 	SPACE
bracis-19064	29	13	2	2	NUM
bracis-19064	29	14	)	)	PUNCT
bracis-19064	29	15	,	,	PUNCT
bracis-19064	29	16	whose	whose	DET
bracis-19064	29	17	autonomy	autonomy	NOUN
bracis-19064	29	18	system	system	NOUN
bracis-19064	29	19	follows	follow	VERB
bracis-19064	29	20	the	the	DET
bracis-19064	29	21	typical	typical	ADJ
bracis-19064	29	22	architecture	architecture	NOUN
bracis-19064	29	23	of	of	ADP
bracis-19064	29	24	self	self	NOUN
bracis-19064	29	25	-	-	PUNCT
bracis-19064	29	26	driving	drive	VERB
bracis-19064	29	27	cars	car	NOUN
bracis-19064	29	28	 	 	SPACE
bracis-19064	30	1	[	[	X
bracis-19064	30	2	1	1	NUM
bracis-19064	30	3	]	]	PUNCT
bracis-19064	30	4	.	.	PUNCT
bracis-19064	31	1	our	our	PRON
bracis-19064	31	2	self	self	NOUN
bracis-19064	31	3	-	-	PUNCT
bracis-19064	31	4	driving	drive	VERB
bracis-19064	31	5	car	car	NOUN
bracis-19064	31	6	is	be	AUX
bracis-19064	31	7	based	base	VERB
bracis-19064	31	8	on	on	ADP
bracis-19064	31	9	a	a	DET
bracis-19064	31	10	ford	ford	NOUN
bracis-19064	31	11	escape	escape	NOUN
bracis-19064	31	12	hybrid	hybrid	NOUN
bracis-19064	31	13	tailored	tailor	VERB
bracis-19064	31	14	with	with	ADP
bracis-19064	31	15	a	a	DET
bracis-19064	31	16	variety	variety	NOUN
bracis-19064	31	17	of	of	ADP
bracis-19064	31	18	sensors	sensor	NOUN
bracis-19064	31	19	and	and	CCONJ
bracis-19064	31	20	processing	processing	NOUN
bracis-19064	31	21	units	unit	NOUN
bracis-19064	31	22	.	.	PUNCT
bracis-19064	32	1	its	its	PRON
bracis-19064	32	2	autonomy	autonomy	NOUN
bracis-19064	32	3	system	system	NOUN
bracis-19064	32	4	is	be	AUX
bracis-19064	32	5	composed	compose	VERB
bracis-19064	32	6	of	of	ADP
bracis-19064	32	7	many	many	ADJ
bracis-19064	32	8	modules	module	NOUN
bracis-19064	32	9	,	,	PUNCT
bracis-19064	32	10	which	which	PRON
bracis-19064	32	11	include	include	VERB
bracis-19064	32	12	a	a	DET
bracis-19064	32	13	localizer	localizer	NOUN
bracis-19064	32	14	 	 	SPACE
bracis-19064	32	15	[	[	X
bracis-19064	32	16	6	6	NUM
bracis-19064	32	17	]	]	PUNCT
bracis-19064	32	18	,	,	PUNCT
bracis-19064	32	19	a	a	DET
bracis-19064	32	20	mapper	mapper	NOUN
bracis-19064	32	21	 	 	SPACE
bracis-19064	33	1	[	[	X
bracis-19064	33	2	13	13	NUM
bracis-19064	33	3	]	]	PUNCT
bracis-19064	33	4	,	,	PUNCT
bracis-19064	33	5	a	a	DET
bracis-19064	33	6	moving	move	VERB
bracis-19064	33	7	obstacle	obstacle	NOUN
bracis-19064	33	8	tracker	tracker	NOUN
bracis-19064	33	9	 	 	SPACE
bracis-19064	34	1	[	[	X
bracis-19064	34	2	15	15	NUM
bracis-19064	34	3	]	]	X
bracis-19064	34	4	,	,	PUNCT
bracis-19064	34	5	a	a	DET
bracis-19064	34	6	traffic	traffic	NOUN
bracis-19064	34	7	signalization	signalization	NOUN
bracis-19064	34	8	detector	detector	NOUN
bracis-19064	34	9	 	 	SPACE
bracis-19064	35	1	[	[	X
bracis-19064	35	2	14	14	NUM
bracis-19064	35	3	,	,	PUNCT
bracis-19064	35	4	20	20	NUM
bracis-19064	35	5	]	]	PUNCT
bracis-19064	35	6	,	,	PUNCT
bracis-19064	35	7	a	a	DET
bracis-19064	35	8	route	route	NOUN
bracis-19064	35	9	planner	planner	NOUN
bracis-19064	35	10	,	,	PUNCT
bracis-19064	35	11	a	a	DET
bracis-19064	35	12	path	path	NOUN
bracis-19064	35	13	planner	planner	NOUN
bracis-19064	35	14	for	for	ADP
bracis-19064	35	15	structured	structured	ADJ
bracis-19064	35	16	urban	urban	ADJ
bracis-19064	35	17	areas	area	NOUN
bracis-19064	35	18	,	,	PUNCT
bracis-19064	35	19	a	a	DET
bracis-19064	35	20	behavior	behavior	NOUN
bracis-19064	35	21	selector	selector	NOUN
bracis-19064	35	22	,	,	PUNCT
bracis-19064	35	23	a	a	DET
bracis-19064	35	24	motion	motion	NOUN
bracis-19064	35	25	planner	planner	NOUN
bracis-19064	35	26	 	 	SPACE
bracis-19064	36	1	[	[	X
bracis-19064	36	2	5	5	NUM
bracis-19064	36	3	]	]	PUNCT
bracis-19064	36	4	,	,	PUNCT
bracis-19064	36	5	an	an	DET
bracis-19064	36	6	obstacle	obstacle	NOUN
bracis-19064	36	7	avoider	avoider	NOUN
bracis-19064	36	8	 	 	SPACE
bracis-19064	37	1	[	[	X
bracis-19064	37	2	10	10	NUM
bracis-19064	37	3	]	]	PUNCT
bracis-19064	37	4	,	,	PUNCT
bracis-19064	37	5	and	and	CCONJ
bracis-19064	37	6	a	a	DET
bracis-19064	37	7	controller	controller	NOUN
bracis-19064	37	8	 	 	SPACE
bracis-19064	38	1	[	[	X
bracis-19064	38	2	11	11	NUM
bracis-19064	38	3	]	]	PUNCT
bracis-19064	38	4	,	,	PUNCT
bracis-19064	38	5	among	among	ADP
bracis-19064	38	6	other	other	ADJ
bracis-19064	38	7	modules	module	NOUN
bracis-19064	38	8	.	.	PUNCT
bracis-19064	39	1	fig	fig	NOUN
bracis-19064	39	2	.	.	PUNCT
bracis-19064	40	1	2	2	X
bracis-19064	40	2	.	.	X
bracis-19064	40	3	our	our	PRON
bracis-19064	40	4	self	self	NOUN
bracis-19064	40	5	-	-	PUNCT
bracis-19064	40	6	driving	drive	VERB
bracis-19064	40	7	car	car	NOUN
bracis-19064	40	8	and	and	CCONJ
bracis-19064	40	9	its	its	PRON
bracis-19064	40	10	autonomy	autonomy	NOUN
bracis-19064	40	11	software	software	NOUN
bracis-19064	40	12	system	system	NOUN
bracis-19064	40	13	.	.	PUNCT
bracis-19064	41	1	in	in	ADP
bracis-19064	41	2	light	light	ADJ
bracis-19064	41	3	blue	blue	NOUN
bracis-19064	41	4	,	,	PUNCT
bracis-19064	41	5	perception	perception	NOUN
bracis-19064	41	6	modules	module	NOUN
bracis-19064	41	7	.	.	PUNCT
bracis-19064	42	1	in	in	ADP
bracis-19064	42	2	orange	orange	ADJ
bracis-19064	42	3	,	,	PUNCT
bracis-19064	42	4	decision	decision	NOUN
bracis-19064	42	5	making	make	VERB
bracis-19064	42	6	modules	module	NOUN
bracis-19064	42	7	.	.	PUNCT
bracis-19064	43	1	tsd	tsd	PROPN
bracis-19064	43	2	denotes	denotes	PROPN
bracis-19064	43	3	traffic	traffic	NOUN
bracis-19064	43	4	signalization	signalization	NOUN
bracis-19064	43	5	detection	detection	NOUN
bracis-19064	43	6	and	and	CCONJ
bracis-19064	43	7	mot	mot	NOUN
bracis-19064	43	8	,	,	PUNCT
bracis-19064	43	9	moving	move	VERB
bracis-19064	43	10	objects	object	VERB
bracis-19064	43	11	tracking	tracking	NOUN
bracis-19064	43	12	.	.	PUNCT
bracis-19064	44	1	red	red	ADJ
bracis-19064	44	2	arrows	arrow	NOUN
bracis-19064	44	3	show	show	VERB
bracis-19064	44	4	the	the	DET
bracis-19064	44	5	state	state	NOUN
bracis-19064	44	6	of	of	ADP
bracis-19064	44	7	the	the	DET
bracis-19064	44	8	car	car	NOUN
bracis-19064	44	9	,	,	PUNCT
bracis-19064	44	10	produced	produce	VERB
bracis-19064	44	11	by	by	ADP
bracis-19064	44	12	its	its	PRON
bracis-19064	44	13	localizer	localizer	NOUN
bracis-19064	44	14	module	module	NOUN
bracis-19064	44	15	and	and	CCONJ
bracis-19064	44	16	shared	share	VERB
bracis-19064	44	17	with	with	ADP
bracis-19064	44	18	most	most	ADJ
bracis-19064	44	19	modules	module	NOUN
bracis-19064	44	20	;	;	PUNCT
bracis-19064	44	21	blue	blue	ADJ
bracis-19064	44	22	arrows	arrow	NOUN
bracis-19064	44	23	show	show	VERB
bracis-19064	44	24	the	the	DET
bracis-19064	44	25	car	car	NOUN
bracis-19064	44	26	’s	’s	PART
bracis-19064	44	27	internal	internal	ADJ
bracis-19064	44	28	representation	representation	NOUN
bracis-19064	44	29	of	of	ADP
bracis-19064	44	30	the	the	DET
bracis-19064	44	31	environment	environment	NOUN
bracis-19064	44	32	,	,	PUNCT
bracis-19064	44	33	jointly	jointly	ADV
bracis-19064	44	34	produced	produce	VERB
bracis-19064	44	35	by	by	ADP
bracis-19064	44	36	several	several	ADJ
bracis-19064	44	37	perception	perception	NOUN
bracis-19064	44	38	modules	module	NOUN
bracis-19064	44	39	and	and	CCONJ
bracis-19064	44	40	shared	share	VERB
bracis-19064	44	41	with	with	ADP
bracis-19064	44	42	most	most	ADJ
bracis-19064	44	43	decision	decision	NOUN
bracis-19064	44	44	making	make	VERB
bracis-19064	44	45	modules	module	NOUN
bracis-19064	44	46	.	.	PUNCT
bracis-19064	45	1	see	see	VERB
bracis-19064	45	2	details	detail	NOUN
bracis-19064	45	3	in	in	ADP
bracis-19064	45	4	badue	badue	ADJ
bracis-19064	45	5	et	et	PROPN
bracis-19064	45	6	al	al	PROPN
bracis-19064	45	7	.	.	PROPN
bracis-19064	46	1	(	(	PUNCT
bracis-19064	46	2	2020	2020	NUM
bracis-19064	46	3	)	)	PUNCT
bracis-19064	46	4	.	.	PUNCT
bracis-19064	47	1	full	full	ADJ
bracis-19064	47	2	size	size	NOUN
bracis-19064	47	3	image	image	NOUN
bracis-19064	47	4	in	in	ADP
bracis-19064	47	5	this	this	DET
bracis-19064	47	6	work	work	NOUN
bracis-19064	47	7	,	,	PUNCT
bracis-19064	47	8	we	we	PRON
bracis-19064	47	9	propose	propose	VERB
bracis-19064	47	10	a	a	DET
bracis-19064	47	11	new	new	ADJ
bracis-19064	47	12	mapping	mapping	NOUN
bracis-19064	47	13	system	system	NOUN
bracis-19064	47	14	based	base	VERB
bracis-19064	47	15	on	on	ADP
bracis-19064	47	16	graph	graph	NOUN
bracis-19064	47	17	slam	slam	NOUN
bracis-19064	47	18	for	for	ADP
bracis-19064	47	19	solving	solve	VERB
bracis-19064	47	20	the	the	DET
bracis-19064	47	21	map	map	NOUN
bracis-19064	47	22	merging	merging	NOUN
bracis-19064	47	23	problem	problem	NOUN
bracis-19064	47	24	in	in	ADP
bracis-19064	47	25	large	large	ADJ
bracis-19064	47	26	outdoor	outdoor	ADJ
bracis-19064	47	27	environments	environment	NOUN
bracis-19064	47	28	.	.	PUNCT
bracis-19064	48	1	the	the	DET
bracis-19064	48	2	proposed	propose	VERB
bracis-19064	48	3	mapping	mapping	NOUN
bracis-19064	48	4	system	system	NOUN
bracis-19064	48	5	aims	aim	VERB
bracis-19064	48	6	to	to	PART
bracis-19064	48	7	provide	provide	VERB
bracis-19064	48	8	high	high	ADJ
bracis-19064	48	9	quality	quality	NOUN
bracis-19064	48	10	grid	grid	NOUN
bracis-19064	48	11	maps	map	NOUN
bracis-19064	48	12	for	for	ADP
bracis-19064	48	13	autonomous	autonomous	ADJ
bracis-19064	48	14	driving	driving	NOUN
bracis-19064	48	15	.	.	PUNCT
bracis-19064	49	1	it	it	PRON
bracis-19064	49	2	is	be	AUX
bracis-19064	49	3	also	also	ADV
bracis-19064	49	4	able	able	ADJ
bracis-19064	49	5	to	to	PART
bracis-19064	49	6	calibrate	calibrate	VERB
bracis-19064	49	7	the	the	DET
bracis-19064	49	8	vehicle	vehicle	NOUN
bracis-19064	49	9	odometry	odometry	NOUN
bracis-19064	49	10	using	use	VERB
bracis-19064	49	11	a	a	DET
bracis-19064	49	12	new	new	ADJ
bracis-19064	49	13	method	method	NOUN
bracis-19064	49	14	applied	apply	VERB
bracis-19064	49	15	in	in	ADP
bracis-19064	49	16	the	the	DET
bracis-19064	49	17	graph	graph	NOUN
bracis-19064	49	18	optimization	optimization	NOUN
bracis-19064	49	19	.	.	PUNCT
bracis-19064	50	1	the	the	DET
bracis-19064	50	2	system	system	NOUN
bracis-19064	50	3	receives	receive	VERB
bracis-19064	50	4	as	as	ADP
bracis-19064	50	5	input	input	NOUN
bracis-19064	50	6	one	one	NUM
bracis-19064	50	7	or	or	CCONJ
bracis-19064	50	8	more	more	ADJ
bracis-19064	50	9	log	log	NOUN
bracis-19064	50	10	files	file	NOUN
bracis-19064	50	11	containing	contain	VERB
bracis-19064	50	12	the	the	DET
bracis-19064	50	13	surveying	surveying	NOUN
bracis-19064	50	14	missions	mission	NOUN
bracis-19064	50	15	(	(	PUNCT
bracis-19064	50	16	or	or	CCONJ
bracis-19064	50	17	sessions	session	NOUN
bracis-19064	50	18	)	)	PUNCT
bracis-19064	50	19	from	from	ADP
bracis-19064	50	20	a	a	DET
bracis-19064	50	21	single	single	ADJ
bracis-19064	50	22	or	or	CCONJ
bracis-19064	50	23	multiple	multiple	ADJ
bracis-19064	50	24	vehicles	vehicle	NOUN
bracis-19064	50	25	,	,	PUNCT
bracis-19064	50	26	and	and	CCONJ
bracis-19064	50	27	it	it	PRON
bracis-19064	50	28	outputs	output	VERB
bracis-19064	50	29	the	the	DET
bracis-19064	50	30	avs	avs	NOUN
bracis-19064	50	31	’	'	PUNCT
bracis-19064	50	32	poses	pose	NOUN
bracis-19064	50	33	in	in	ADP
bracis-19064	50	34	a	a	DET
bracis-19064	50	35	global	global	ADJ
bracis-19064	50	36	coordinate	coordinate	NOUN
bracis-19064	50	37	frame	frame	NOUN
bracis-19064	50	38	,	,	PUNCT
bracis-19064	50	39	the	the	DET
bracis-19064	50	40	parameters	parameter	NOUN
bracis-19064	50	41	of	of	ADP
bracis-19064	50	42	the	the	DET
bracis-19064	50	43	odometry	odometry	NOUN
bracis-19064	50	44	bias	bias	NOUN
bracis-19064	50	45	calibration	calibration	NOUN
bracis-19064	50	46	for	for	ADP
bracis-19064	50	47	each	each	DET
bracis-19064	50	48	vehicle	vehicle	NOUN
bracis-19064	50	49	and	and	CCONJ
bracis-19064	50	50	different	different	ADJ
bracis-19064	50	51	types	type	NOUN
bracis-19064	50	52	of	of	ADP
bracis-19064	50	53	grid	grid	NOUN
bracis-19064	50	54	maps	map	NOUN
bracis-19064	50	55	.	.	PUNCT
bracis-19064	51	1	we	we	PRON
bracis-19064	51	2	evaluated	evaluate	VERB
bracis-19064	51	3	the	the	DET
bracis-19064	51	4	performance	performance	NOUN
bracis-19064	51	5	of	of	ADP
bracis-19064	51	6	the	the	DET
bracis-19064	51	7	proposed	propose	VERB
bracis-19064	51	8	mapping	mapping	NOUN
bracis-19064	51	9	system	system	NOUN
bracis-19064	51	10	on	on	ADP
bracis-19064	51	11	logs	log	NOUN
bracis-19064	51	12	containing	contain	VERB
bracis-19064	51	13	high	high	ADJ
bracis-19064	51	14	and	and	CCONJ
bracis-19064	51	15	low	low	ADJ
bracis-19064	51	16	dynamics	dynamic	NOUN
bracis-19064	51	17	in	in	ADP
bracis-19064	51	18	real	real	ADJ
bracis-19064	51	19	-	-	PUNCT
bracis-19064	51	20	world	world	NOUN
bracis-19064	51	21	scenarios	scenario	NOUN
bracis-19064	51	22	.	.	PUNCT
bracis-19064	52	1	the	the	DET
bracis-19064	52	2	logs	log	NOUN
bracis-19064	52	3	were	be	AUX
bracis-19064	52	4	collected	collect	VERB
bracis-19064	52	5	using	use	VERB
bracis-19064	52	6	the	the	DET
bracis-19064	52	7	available	available	ADJ
bracis-19064	52	8	sensors	sensor	NOUN
bracis-19064	52	9	in	in	ADP
bracis-19064	52	10	the	the	DET
bracis-19064	52	11	av	av	PROPN
bracis-19064	52	12	over	over	ADP
bracis-19064	52	13	a	a	DET
bracis-19064	52	14	period	period	NOUN
bracis-19064	52	15	of	of	ADP
bracis-19064	52	16	two	two	NUM
bracis-19064	52	17	years	year	NOUN
bracis-19064	52	18	.	.	PUNCT
bracis-19064	53	1	the	the	DET
bracis-19064	53	2	new	new	ADJ
bracis-19064	53	3	odometry	odometry	NOUN
bracis-19064	53	4	bias	bias	NOUN
bracis-19064	53	5	calibration	calibration	NOUN
bracis-19064	53	6	method	method	NOUN
bracis-19064	53	7	was	be	AUX
bracis-19064	53	8	compared	compare	VERB
bracis-19064	53	9	against	against	ADP
bracis-19064	53	10	an	an	DET
bracis-19064	53	11	odometry	odometry	NOUN
bracis-19064	53	12	calibration	calibration	NOUN
bracis-19064	53	13	based	base	VERB
bracis-19064	53	14	on	on	ADP
bracis-19064	53	15	particle	particle	NOUN
bracis-19064	53	16	swarm	swarm	NOUN
bracis-19064	53	17	optimization	optimization	NOUN
bracis-19064	53	18	(	(	PUNCT
bracis-19064	53	19	pso	pso	NOUN
bracis-19064	53	20	)	)	PUNCT
bracis-19064	53	21	proposed	propose	VERB
bracis-19064	53	22	by	by	ADP
bracis-19064	53	23	mutz	mutz	PROPN
bracis-19064	53	24	et	et	PROPN
bracis-19064	53	25	al	al	PROPN
bracis-19064	53	26	.	.	PUNCT
bracis-19064	53	27	 	 	SPACE
bracis-19064	54	1	[	[	X
bracis-19064	54	2	13	13	NUM
bracis-19064	54	3	]	]	PUNCT
bracis-19064	54	4	.	.	PUNCT
bracis-19064	55	1	the	the	DET
bracis-19064	55	2	results	result	NOUN
bracis-19064	55	3	indicate	indicate	VERB
bracis-19064	55	4	that	that	SCONJ
bracis-19064	55	5	the	the	DET
bracis-19064	55	6	new	new	ADJ
bracis-19064	55	7	method	method	NOUN
bracis-19064	55	8	provides	provide	VERB
bracis-19064	55	9	better	well	ADJ
bracis-19064	55	10	calibration	calibration	NOUN
bracis-19064	55	11	values	value	NOUN
bracis-19064	55	12	in	in	ADP
bracis-19064	55	13	all	all	DET
bracis-19064	55	14	logs	log	NOUN
bracis-19064	55	15	.	.	PUNCT
bracis-19064	56	1	the	the	DET
bracis-19064	56	2	new	new	ADJ
bracis-19064	56	3	mapping	mapping	NOUN
bracis-19064	56	4	features	feature	NOUN
bracis-19064	56	5	were	be	AUX
bracis-19064	56	6	also	also	ADV
bracis-19064	56	7	analyzed	analyze	VERB
bracis-19064	56	8	through	through	ADP
bracis-19064	56	9	mapping	mapping	NOUN
bracis-19064	56	10	and	and	CCONJ
bracis-19064	56	11	map	map	VERB
bracis-19064	56	12	merging	merge	VERB
bracis-19064	56	13	experiments	experiment	NOUN
bracis-19064	56	14	.	.	PUNCT
bracis-19064	57	1	the	the	DET
bracis-19064	57	2	results	result	NOUN
bracis-19064	57	3	show	show	VERB
bracis-19064	57	4	that	that	SCONJ
bracis-19064	57	5	the	the	DET
bracis-19064	57	6	proposed	propose	VERB
bracis-19064	57	7	system	system	NOUN
bracis-19064	57	8	is	be	AUX
bracis-19064	57	9	able	able	ADJ
bracis-19064	57	10	to	to	PART
bracis-19064	57	11	correctly	correctly	ADV
bracis-19064	57	12	estimate	estimate	VERB
bracis-19064	57	13	the	the	DET
bracis-19064	57	14	av	av	PROPN
bracis-19064	57	15	poses	pose	VERB
bracis-19064	57	16	in	in	ADP
bracis-19064	57	17	a	a	DET
bracis-19064	57	18	global	global	ADJ
bracis-19064	57	19	reference	reference	NOUN
bracis-19064	57	20	frame	frame	NOUN
bracis-19064	57	21	,	,	PUNCT
bracis-19064	57	22	and	and	CCONJ
bracis-19064	57	23	to	to	PART
bracis-19064	57	24	correctly	correctly	ADV
bracis-19064	57	25	merge	merge	VERB
bracis-19064	57	26	local	local	ADJ
bracis-19064	57	27	maps	map	NOUN
bracis-19064	57	28	without	without	ADP
bracis-19064	57	29	drifts	drift	NOUN
bracis-19064	57	30	and	and	CCONJ
bracis-19064	57	31	misalignment	misalignment	NOUN
bracis-19064	57	32	for	for	ADP
bracis-19064	57	33	all	all	DET
bracis-19064	57	34	logs	log	NOUN
bracis-19064	57	35	.	.	PUNCT
bracis-19064	58	1	the	the	DET
bracis-19064	58	2	remaining	remain	VERB
bracis-19064	58	3	sections	section	NOUN
bracis-19064	58	4	are	be	AUX
bracis-19064	58	5	organized	organize	VERB
bracis-19064	58	6	as	as	SCONJ
bracis-19064	58	7	follows	follow	VERB
bracis-19064	58	8	.	.	PUNCT
bracis-19064	59	1	in	in	ADP
bracis-19064	59	2	sect	sect	NOUN
bracis-19064	59	3	.	.	PUNCT
bracis-19064	59	4	 	 	SPACE
bracis-19064	59	5	2	2	NUM
bracis-19064	59	6	,	,	PUNCT
bracis-19064	59	7	we	we	PRON
bracis-19064	59	8	present	present	VERB
bracis-19064	59	9	related	related	ADJ
bracis-19064	59	10	work	work	NOUN
bracis-19064	59	11	.	.	PUNCT
bracis-19064	60	1	in	in	ADP
bracis-19064	60	2	sect	sect	NOUN
bracis-19064	60	3	.	.	PUNCT
bracis-19064	60	4	 	 	SPACE
bracis-19064	60	5	3	3	NUM
bracis-19064	60	6	,	,	PUNCT
bracis-19064	60	7	we	we	PRON
bracis-19064	60	8	detail	detail	VERB
bracis-19064	60	9	the	the	DET
bracis-19064	60	10	proposed	propose	VERB
bracis-19064	60	11	mapping	mapping	NOUN
bracis-19064	60	12	system	system	NOUN
bracis-19064	60	13	.	.	PUNCT
bracis-19064	61	1	in	in	ADP
bracis-19064	61	2	sect	sect	NOUN
bracis-19064	61	3	.	.	PUNCT
bracis-19064	61	4	 	 	SPACE
bracis-19064	61	5	4	4	NUM
bracis-19064	61	6	,	,	PUNCT
bracis-19064	61	7	we	we	PRON
bracis-19064	61	8	describe	describe	VERB
bracis-19064	61	9	the	the	DET
bracis-19064	61	10	experimental	experimental	ADJ
bracis-19064	61	11	methodology	methodology	NOUN
bracis-19064	61	12	and	and	CCONJ
bracis-19064	61	13	,	,	PUNCT
bracis-19064	61	14	in	in	ADP
bracis-19064	61	15	sect	sect	NOUN
bracis-19064	61	16	.	.	PUNCT
bracis-19064	61	17	 	 	SPACE
bracis-19064	62	1	5	5	NUM
bracis-19064	62	2	,	,	PUNCT
bracis-19064	62	3	we	we	PRON
bracis-19064	62	4	discuss	discuss	VERB
bracis-19064	62	5	experimental	experimental	ADJ
bracis-19064	62	6	results	result	NOUN
bracis-19064	62	7	.	.	PUNCT
bracis-19064	63	1	finally	finally	ADV
bracis-19064	63	2	,	,	PUNCT
bracis-19064	63	3	in	in	ADP
bracis-19064	63	4	sect	sect	NOUN
bracis-19064	63	5	.	.	PUNCT
bracis-19064	63	6	 	 	SPACE
bracis-19064	63	7	6	6	NUM
bracis-19064	63	8	,	,	PUNCT
bracis-19064	63	9	we	we	PRON
bracis-19064	63	10	close	close	VERB
bracis-19064	63	11	with	with	ADP
bracis-19064	63	12	our	our	PRON
bracis-19064	63	13	conclusions	conclusion	NOUN
bracis-19064	63	14	and	and	CCONJ
bracis-19064	63	15	directions	direction	NOUN
bracis-19064	63	16	for	for	ADP
bracis-19064	63	17	future	future	ADJ
bracis-19064	63	18	work	work	NOUN
bracis-19064	63	19	.	.	PUNCT
bracis-19064	64	1	2	2	NUM
bracis-19064	64	2	related	relate	VERB
bracis-19064	64	3	work	work	NOUN
bracis-19064	64	4	progress	progress	NOUN
bracis-19064	64	5	on	on	ADP
bracis-19064	64	6	the	the	DET
bracis-19064	64	7	simultaneous	simultaneous	ADJ
bracis-19064	64	8	localization	localization	NOUN
bracis-19064	64	9	and	and	CCONJ
bracis-19064	64	10	mapping	mapping	NOUN
bracis-19064	64	11	(	(	PUNCT
bracis-19064	64	12	slam	slam	NOUN
bracis-19064	64	13	)	)	PUNCT
bracis-19064	64	14	problem	problem	NOUN
bracis-19064	64	15	can	can	AUX
bracis-19064	64	16	be	be	AUX
bracis-19064	64	17	measured	measure	VERB
bracis-19064	64	18	in	in	ADP
bracis-19064	64	19	terms	term	NOUN
bracis-19064	64	20	of	of	ADP
bracis-19064	64	21	a	a	DET
bracis-19064	64	22	wide	wide	ADJ
bracis-19064	64	23	variety	variety	NOUN
bracis-19064	64	24	of	of	ADP
bracis-19064	64	25	algorithms	algorithm	NOUN
bracis-19064	64	26	,	,	PUNCT
bracis-19064	64	27	techniques	technique	NOUN
bracis-19064	64	28	and	and	CCONJ
bracis-19064	64	29	theoretical	theoretical	ADJ
bracis-19064	64	30	frameworks	framework	NOUN
bracis-19064	64	31	that	that	PRON
bracis-19064	64	32	have	have	AUX
bracis-19064	64	33	been	be	AUX
bracis-19064	64	34	developed	develop	VERB
bracis-19064	64	35	in	in	ADP
bracis-19064	64	36	last	last	ADJ
bracis-19064	64	37	decades	decade	NOUN
bracis-19064	64	38	.	.	PUNCT
bracis-19064	65	1	however	however	ADV
bracis-19064	65	2	,	,	PUNCT
bracis-19064	65	3	unresolved	unresolved	ADJ
bracis-19064	65	4	questions	question	NOUN
bracis-19064	65	5	remain	remain	VERB
bracis-19064	65	6	such	such	ADJ
bracis-19064	65	7	as	as	ADP
bracis-19064	65	8	robustness	robustness	NOUN
bracis-19064	65	9	and	and	CCONJ
bracis-19064	65	10	outlier	outlier	ADJ
bracis-19064	65	11	rejection	rejection	NOUN
bracis-19064	65	12	for	for	ADP
bracis-19064	65	13	long	long	ADJ
bracis-19064	65	14	-	-	PUNCT
bracis-19064	65	15	term	term	NOUN
bracis-19064	65	16	operations	operation	NOUN
bracis-19064	65	17	 	 	SPACE
bracis-19064	66	1	[	[	X
bracis-19064	66	2	4	4	NUM
bracis-19064	66	3	]	]	PUNCT
bracis-19064	66	4	.	.	PUNCT
bracis-19064	67	1	the	the	DET
bracis-19064	67	2	map	map	NOUN
bracis-19064	67	3	merging	merge	VERB
bracis-19064	67	4	problem	problem	NOUN
bracis-19064	67	5	addresses	address	NOUN
bracis-19064	67	6	theses	these	VERB
bracis-19064	67	7	open	open	ADJ
bracis-19064	67	8	issues	issue	NOUN
bracis-19064	67	9	in	in	ADP
bracis-19064	67	10	different	different	ADJ
bracis-19064	67	11	contexts	context	NOUN
bracis-19064	67	12	of	of	ADP
bracis-19064	67	13	application	application	NOUN
bracis-19064	67	14	,	,	PUNCT
bracis-19064	67	15	either	either	CCONJ
bracis-19064	67	16	with	with	ADP
bracis-19064	67	17	multiple	multiple	ADJ
bracis-19064	67	18	robots	robot	NOUN
bracis-19064	67	19	running	run	VERB
bracis-19064	67	20	synchronously	synchronously	ADV
bracis-19064	67	21	or	or	CCONJ
bracis-19064	67	22	with	with	ADP
bracis-19064	67	23	only	only	ADV
bracis-19064	67	24	one	one	NUM
bracis-19064	67	25	robot	robot	NOUN
bracis-19064	67	26	gathering	gather	VERB
bracis-19064	67	27	data	datum	NOUN
bracis-19064	67	28	during	during	ADP
bracis-19064	67	29	multiple	multiple	ADJ
bracis-19064	67	30	sessions	session	NOUN
bracis-19064	67	31	.	.	PUNCT
bracis-19064	68	1	while	while	SCONJ
bracis-19064	68	2	the	the	DET
bracis-19064	68	3	first	first	ADJ
bracis-19064	68	4	is	be	AUX
bracis-19064	68	5	focused	focus	VERB
bracis-19064	68	6	in	in	ADP
bracis-19064	68	7	collaborative	collaborative	ADJ
bracis-19064	68	8	strategies	strategy	NOUN
bracis-19064	68	9	to	to	ADP
bracis-19064	68	10	efficient	efficient	ADJ
bracis-19064	68	11	mapping	mapping	NOUN
bracis-19064	68	12	,	,	PUNCT
bracis-19064	68	13	the	the	DET
bracis-19064	68	14	later	later	ADV
bracis-19064	68	15	is	be	AUX
bracis-19064	68	16	oriented	orient	VERB
bracis-19064	68	17	to	to	ADP
bracis-19064	68	18	long	long	ADJ
bracis-19064	68	19	-	-	PUNCT
bracis-19064	68	20	term	term	NOUN
bracis-19064	68	21	map	map	NOUN
bracis-19064	68	22	maintenance	maintenance	NOUN
bracis-19064	68	23	in	in	ADP
bracis-19064	68	24	order	order	NOUN
bracis-19064	68	25	to	to	PART
bracis-19064	68	26	accommodate	accommodate	VERB
bracis-19064	68	27	infrastructural	infrastructural	ADJ
bracis-19064	68	28	changes	change	NOUN
bracis-19064	68	29	along	along	ADP
bracis-19064	68	30	time	time	NOUN
bracis-19064	68	31	.	.	PUNCT
bracis-19064	69	1	both	both	PRON
bracis-19064	69	2	share	share	VERB
bracis-19064	69	3	the	the	DET
bracis-19064	69	4	same	same	ADJ
bracis-19064	69	5	main	main	ADJ
bracis-19064	69	6	goal	goal	NOUN
bracis-19064	69	7	which	which	PRON
bracis-19064	69	8	is	be	AUX
bracis-19064	69	9	to	to	PART
bracis-19064	69	10	produce	produce	VERB
bracis-19064	69	11	a	a	DET
bracis-19064	69	12	final	final	ADJ
bracis-19064	69	13	aggregated	aggregate	VERB
bracis-19064	69	14	map	map	NOUN
bracis-19064	69	15	alongside	alongside	ADP
bracis-19064	69	16	the	the	DET
bracis-19064	69	17	robot	robot	NOUN
bracis-19064	69	18	trajectories	trajectorie	VERB
bracis-19064	69	19	for	for	ADP
bracis-19064	69	20	all	all	DET
bracis-19064	69	21	sessions	session	NOUN
bracis-19064	69	22	.	.	PUNCT
bracis-19064	70	1	the	the	DET
bracis-19064	70	2	common	common	ADJ
bracis-19064	70	3	approach	approach	NOUN
bracis-19064	70	4	in	in	ADP
bracis-19064	70	5	multi	multi	ADJ
bracis-19064	70	6	-	-	ADJ
bracis-19064	70	7	robot	robot	ADJ
bracis-19064	70	8	scenarios	scenario	NOUN
bracis-19064	70	9	is	be	AUX
bracis-19064	70	10	to	to	PART
bracis-19064	70	11	fetch	fetch	VERB
bracis-19064	70	12	all	all	DET
bracis-19064	70	13	maps	map	NOUN
bracis-19064	70	14	using	use	VERB
bracis-19064	70	15	map	map	NOUN
bracis-19064	70	16	-	-	PUNCT
bracis-19064	70	17	matching	matching	NOUN
bracis-19064	70	18	to	to	PART
bracis-19064	70	19	find	find	VERB
bracis-19064	70	20	the	the	DET
bracis-19064	70	21	relative	relative	ADJ
bracis-19064	70	22	map	map	NOUN
bracis-19064	70	23	transformations	transformation	NOUN
bracis-19064	70	24	and	and	CCONJ
bracis-19064	70	25	merge	merge	VERB
bracis-19064	70	26	all	all	DET
bracis-19064	70	27	maps	map	NOUN
bracis-19064	70	28	into	into	ADP
bracis-19064	70	29	one	one	NUM
bracis-19064	70	30	final	final	ADJ
bracis-19064	70	31	map	map	NOUN
bracis-19064	70	32	alongside	alongside	ADP
bracis-19064	70	33	the	the	DET
bracis-19064	70	34	corresponding	corresponding	ADJ
bracis-19064	70	35	trajectory	trajectory	NOUN
bracis-19064	70	36	of	of	ADP
bracis-19064	70	37	each	each	DET
bracis-19064	70	38	robot	robot	NOUN
bracis-19064	70	39	in	in	ADP
bracis-19064	70	40	that	that	DET
bracis-19064	70	41	map	map	NOUN
bracis-19064	70	42	.	.	PUNCT
bracis-19064	71	1	a	a	DET
bracis-19064	71	2	system	system	NOUN
bracis-19064	71	3	for	for	ADP
bracis-19064	71	4	real	real	ADJ
bracis-19064	71	5	-	-	PUNCT
bracis-19064	71	6	time	time	NOUN
bracis-19064	71	7	multi	multi	ADJ
bracis-19064	71	8	-	-	ADJ
bracis-19064	71	9	robot	robot	ADJ
bracis-19064	71	10	collaborative	collaborative	ADJ
bracis-19064	71	11	slam	slam	NOUN
bracis-19064	71	12	is	be	AUX
bracis-19064	71	13	presented	present	VERB
bracis-19064	71	14	in	in	ADP
bracis-19064	71	15	deutsch	deutsch	PROPN
bracis-19064	71	16	et	et	PROPN
bracis-19064	71	17	al	al	PROPN
bracis-19064	71	18	.	.	PUNCT
bracis-19064	71	19	 	 	SPACE
bracis-19064	72	1	[	[	X
bracis-19064	72	2	7	7	NUM
bracis-19064	72	3	]	]	PUNCT
bracis-19064	72	4	.	.	PUNCT
bracis-19064	73	1	the	the	DET
bracis-19064	73	2	distributed	distribute	VERB
bracis-19064	73	3	robots	robot	NOUN
bracis-19064	73	4	use	use	VERB
bracis-19064	73	5	their	their	PRON
bracis-19064	73	6	own	own	ADJ
bracis-19064	73	7	slam	slam	NOUN
bracis-19064	73	8	system	system	NOUN
bracis-19064	73	9	to	to	PART
bracis-19064	73	10	build	build	VERB
bracis-19064	73	11	local	local	ADJ
bracis-19064	73	12	maps	map	NOUN
bracis-19064	73	13	,	,	PUNCT
bracis-19064	73	14	but	but	CCONJ
bracis-19064	73	15	they	they	PRON
bracis-19064	73	16	also	also	ADV
bracis-19064	73	17	share	share	VERB
bracis-19064	73	18	information	information	NOUN
bracis-19064	73	19	(	(	PUNCT
bracis-19064	73	20	features	feature	NOUN
bracis-19064	73	21	from	from	ADP
bracis-19064	73	22	images	image	NOUN
bracis-19064	73	23	)	)	PUNCT
bracis-19064	73	24	with	with	ADP
bracis-19064	73	25	a	a	DET
bracis-19064	73	26	central	central	ADJ
bracis-19064	73	27	system	system	NOUN
bracis-19064	73	28	,	,	PUNCT
bracis-19064	73	29	which	which	PRON
bracis-19064	73	30	builds	build	VERB
bracis-19064	73	31	a	a	DET
bracis-19064	73	32	global	global	ADJ
bracis-19064	73	33	pose	pose	NOUN
bracis-19064	73	34	graph	graph	NOUN
bracis-19064	73	35	including	include	VERB
bracis-19064	73	36	information	information	NOUN
bracis-19064	73	37	from	from	ADP
bracis-19064	73	38	all	all	DET
bracis-19064	73	39	robots	robot	NOUN
bracis-19064	73	40	.	.	PUNCT
bracis-19064	74	1	after	after	ADP
bracis-19064	74	2	the	the	DET
bracis-19064	74	3	graph	graph	NOUN
bracis-19064	74	4	optimization	optimization	NOUN
bracis-19064	74	5	,	,	PUNCT
bracis-19064	74	6	the	the	DET
bracis-19064	74	7	central	central	ADJ
bracis-19064	74	8	system	system	NOUN
bracis-19064	74	9	sends	send	VERB
bracis-19064	74	10	the	the	DET
bracis-19064	74	11	results	result	NOUN
bracis-19064	74	12	to	to	ADP
bracis-19064	74	13	all	all	DET
bracis-19064	74	14	robots	robot	NOUN
bracis-19064	74	15	,	,	PUNCT
bracis-19064	74	16	so	so	SCONJ
bracis-19064	74	17	they	they	PRON
bracis-19064	74	18	keep	keep	VERB
bracis-19064	74	19	a	a	DET
bracis-19064	74	20	consistent	consistent	ADJ
bracis-19064	74	21	local	local	ADJ
bracis-19064	74	22	position	position	NOUN
bracis-19064	74	23	and	and	CCONJ
bracis-19064	74	24	map	map	NOUN
bracis-19064	74	25	estimates	estimate	NOUN
bracis-19064	74	26	.	.	PUNCT
bracis-19064	75	1	in	in	ADP
bracis-19064	75	2	contrast	contrast	NOUN
bracis-19064	75	3	,	,	PUNCT
bracis-19064	75	4	in	in	ADP
bracis-19064	75	5	our	our	PRON
bracis-19064	75	6	solution	solution	NOUN
bracis-19064	75	7	,	,	PUNCT
bracis-19064	75	8	maps	map	NOUN
bracis-19064	75	9	are	be	AUX
bracis-19064	75	10	built	build	VERB
bracis-19064	75	11	before	before	ADP
bracis-19064	75	12	autonomous	autonomous	ADJ
bracis-19064	75	13	operation	operation	NOUN
bracis-19064	75	14	on	on	ADP
bracis-19064	75	15	outdoor	outdoor	ADJ
bracis-19064	75	16	environments	environment	NOUN
bracis-19064	75	17	.	.	PUNCT
bracis-19064	76	1	ours	ours	PRON
bracis-19064	76	2	can	can	AUX
bracis-19064	76	3	handle	handle	VERB
bracis-19064	76	4	any	any	DET
bracis-19064	76	5	map	map	NOUN
bracis-19064	76	6	size	size	NOUN
bracis-19064	76	7	as	as	SCONJ
bracis-19064	76	8	it	it	PRON
bracis-19064	76	9	depends	depend	VERB
bracis-19064	76	10	only	only	ADV
bracis-19064	76	11	in	in	ADP
bracis-19064	76	12	the	the	DET
bracis-19064	76	13	available	available	ADJ
bracis-19064	76	14	storage	storage	NOUN
bracis-19064	76	15	.	.	PUNCT
bracis-19064	77	1	sun	sun	PROPN
bracis-19064	77	2	et	et	PROPN
bracis-19064	77	3	al	al	PROPN
bracis-19064	77	4	.	.	PUNCT
bracis-19064	77	5	 	 	SPACE
bracis-19064	78	1	[	[	X
bracis-19064	78	2	19	19	NUM
bracis-19064	78	3	]	]	PUNCT
bracis-19064	78	4	convert	convert	VERB
bracis-19064	78	5	the	the	DET
bracis-19064	78	6	map	map	NOUN
bracis-19064	78	7	merging	merging	NOUN
bracis-19064	78	8	problem	problem	NOUN
bracis-19064	78	9	into	into	ADP
bracis-19064	78	10	an	an	DET
bracis-19064	78	11	image	image	NOUN
bracis-19064	78	12	registration	registration	NOUN
bracis-19064	78	13	problem	problem	NOUN
bracis-19064	78	14	.	.	PUNCT
bracis-19064	79	1	when	when	SCONJ
bracis-19064	79	2	two	two	NUM
bracis-19064	79	3	grid	grid	NOUN
bracis-19064	79	4	maps	map	NOUN
bracis-19064	79	5	contains	contain	VERB
bracis-19064	79	6	overlapping	overlap	VERB
bracis-19064	79	7	areas	area	NOUN
bracis-19064	79	8	,	,	PUNCT
bracis-19064	79	9	their	their	PRON
bracis-19064	79	10	approach	approach	NOUN
bracis-19064	79	11	tries	try	VERB
bracis-19064	79	12	to	to	PART
bracis-19064	79	13	find	find	VERB
bracis-19064	79	14	the	the	DET
bracis-19064	79	15	best	good	ADJ
bracis-19064	79	16	transformation	transformation	NOUN
bracis-19064	79	17	which	which	PRON
bracis-19064	79	18	aligns	align	VERB
bracis-19064	79	19	the	the	DET
bracis-19064	79	20	maps	map	NOUN
bracis-19064	79	21	.	.	PUNCT
bracis-19064	80	1	the	the	DET
bracis-19064	80	2	algorithm	algorithm	NOUN
bracis-19064	80	3	extract	extract	VERB
bracis-19064	80	4	features	feature	NOUN
bracis-19064	80	5	from	from	ADP
bracis-19064	80	6	both	both	DET
bracis-19064	80	7	maps	map	NOUN
bracis-19064	80	8	using	use	VERB
bracis-19064	80	9	the	the	DET
bracis-19064	80	10	harris	harris	PROPN
bracis-19064	80	11	corner	corner	PROPN
bracis-19064	80	12	detector	detector	NOUN
bracis-19064	80	13	and	and	CCONJ
bracis-19064	80	14	it	it	PRON
bracis-19064	80	15	uses	use	VERB
bracis-19064	80	16	the	the	DET
bracis-19064	80	17	selected	select	VERB
bracis-19064	80	18	features	feature	NOUN
bracis-19064	80	19	to	to	PART
bracis-19064	80	20	calculate	calculate	VERB
bracis-19064	80	21	a	a	DET
bracis-19064	80	22	initial	initial	ADJ
bracis-19064	80	23	transformation	transformation	NOUN
bracis-19064	80	24	matrix	matrix	NOUN
bracis-19064	80	25	which	which	PRON
bracis-19064	80	26	is	be	AUX
bracis-19064	80	27	later	later	ADV
bracis-19064	80	28	refined	refine	VERB
bracis-19064	80	29	by	by	ADP
bracis-19064	80	30	an	an	DET
bracis-19064	80	31	iterative	iterative	NOUN
bracis-19064	80	32	algorithm	algorithm	NOUN
bracis-19064	80	33	.	.	PUNCT
bracis-19064	81	1	in	in	ADP
bracis-19064	81	2	contrast	contrast	NOUN
bracis-19064	81	3	,	,	PUNCT
bracis-19064	81	4	our	our	PRON
bracis-19064	81	5	method	method	NOUN
bracis-19064	81	6	finds	find	VERB
bracis-19064	81	7	the	the	DET
bracis-19064	81	8	common	common	ADJ
bracis-19064	81	9	reference	reference	NOUN
bracis-19064	81	10	frame	frame	NOUN
bracis-19064	81	11	through	through	ADP
bracis-19064	81	12	the	the	DET
bracis-19064	81	13	graph	graph	NOUN
bracis-19064	81	14	optimization	optimization	NOUN
bracis-19064	81	15	by	by	ADP
bracis-19064	81	16	making	make	VERB
bracis-19064	81	17	usage	usage	NOUN
bracis-19064	81	18	of	of	ADP
bracis-19064	81	19	gps	gps	NOUN
bracis-19064	81	20	and	and	CCONJ
bracis-19064	81	21	lidars	lidar	NOUN
bracis-19064	81	22	sensors	sensor	NOUN
bracis-19064	81	23	,	,	PUNCT
bracis-19064	81	24	hence	hence	ADV
bracis-19064	81	25	the	the	DET
bracis-19064	81	26	proper	proper	ADJ
bracis-19064	81	27	alignments	alignment	NOUN
bracis-19064	81	28	are	be	AUX
bracis-19064	81	29	achieved	achieve	VERB
bracis-19064	81	30	before	before	ADP
bracis-19064	81	31	the	the	DET
bracis-19064	81	32	map	map	NOUN
bracis-19064	81	33	construction	construction	NOUN
bracis-19064	81	34	.	.	PUNCT
bracis-19064	82	1	the	the	DET
bracis-19064	82	2	approach	approach	NOUN
bracis-19064	82	3	in	in	ADP
bracis-19064	82	4	single	single	ADJ
bracis-19064	82	5	-	-	PUNCT
bracis-19064	82	6	robot	robot	NOUN
bracis-19064	82	7	multi	multi	ADJ
bracis-19064	82	8	-	-	NOUN
bracis-19064	82	9	session	session	ADJ
bracis-19064	82	10	scenarios	scenario	NOUN
bracis-19064	82	11	is	be	AUX
bracis-19064	82	12	to	to	PART
bracis-19064	82	13	use	use	VERB
bracis-19064	82	14	the	the	DET
bracis-19064	82	15	all	all	DET
bracis-19064	82	16	maps	map	NOUN
bracis-19064	82	17	using	use	VERB
bracis-19064	82	18	map	map	NOUN
bracis-19064	82	19	-	-	PUNCT
bracis-19064	82	20	matching	matching	NOUN
bracis-19064	82	21	to	to	PART
bracis-19064	82	22	find	find	VERB
bracis-19064	82	23	the	the	DET
bracis-19064	82	24	relative	relative	ADJ
bracis-19064	82	25	map	map	NOUN
bracis-19064	82	26	transformations	transformation	NOUN
bracis-19064	82	27	and	and	CCONJ
bracis-19064	82	28	merge	merge	VERB
bracis-19064	82	29	all	all	DET
bracis-19064	82	30	maps	map	NOUN
bracis-19064	82	31	into	into	ADP
bracis-19064	82	32	one	one	NUM
bracis-19064	82	33	final	final	ADJ
bracis-19064	82	34	map	map	NOUN
bracis-19064	82	35	alongside	alongside	ADP
bracis-19064	82	36	the	the	DET
bracis-19064	82	37	corresponding	corresponding	ADJ
bracis-19064	82	38	trajectory	trajectory	NOUN
bracis-19064	82	39	of	of	ADP
bracis-19064	82	40	each	each	DET
bracis-19064	82	41	robot	robot	NOUN
bracis-19064	82	42	in	in	ADP
bracis-19064	82	43	that	that	DET
bracis-19064	82	44	map	map	NOUN
bracis-19064	82	45	a	a	DET
bracis-19064	82	46	slam	slam	NOUN
bracis-19064	82	47	system	system	NOUN
bracis-19064	82	48	using	use	VERB
bracis-19064	82	49	normal	normal	ADJ
bracis-19064	82	50	distribution	distribution	NOUN
bracis-19064	82	51	transform	transform	NOUN
bracis-19064	82	52	(	(	PUNCT
bracis-19064	82	53	ndt	ndt	NOUN
bracis-19064	82	54	)	)	PUNCT
bracis-19064	82	55	maps	map	NOUN
bracis-19064	82	56	is	be	AUX
bracis-19064	82	57	presented	present	VERB
bracis-19064	82	58	in	in	ADP
bracis-19064	82	59	einhorn	einhorn	PROPN
bracis-19064	82	60	and	and	CCONJ
bracis-19064	82	61	gross	gross	ADJ
bracis-19064	83	1	[	[	X
bracis-19064	83	2	9	9	NUM
bracis-19064	83	3	]	]	PUNCT
bracis-19064	83	4	.	.	PUNCT
bracis-19064	84	1	the	the	DET
bracis-19064	84	2	authors	author	NOUN
bracis-19064	84	3	propose	propose	VERB
bracis-19064	84	4	a	a	DET
bracis-19064	84	5	modification	modification	NOUN
bracis-19064	84	6	in	in	ADP
bracis-19064	84	7	the	the	DET
bracis-19064	84	8	ndt	ndt	PROPN
bracis-19064	84	9	mapping	mapping	NOUN
bracis-19064	84	10	to	to	PART
bracis-19064	84	11	handle	handle	VERB
bracis-19064	84	12	free	free	ADJ
bracis-19064	84	13	-	-	PUNCT
bracis-19064	84	14	space	space	NOUN
bracis-19064	84	15	measurements	measurement	NOUN
bracis-19064	84	16	which	which	PRON
bracis-19064	84	17	makes	make	VERB
bracis-19064	84	18	them	they	PRON
bracis-19064	84	19	better	well	ADV
bracis-19064	84	20	suited	suit	VERB
bracis-19064	84	21	for	for	ADP
bracis-19064	84	22	slam	slam	NOUN
bracis-19064	84	23	.	.	PUNCT
bracis-19064	85	1	the	the	DET
bracis-19064	85	2	map	map	NOUN
bracis-19064	85	3	merging	merging	NOUN
bracis-19064	85	4	is	be	AUX
bracis-19064	85	5	achieved	achieve	VERB
bracis-19064	85	6	by	by	ADP
bracis-19064	85	7	the	the	DET
bracis-19064	85	8	alignment	alignment	NOUN
bracis-19064	85	9	of	of	ADP
bracis-19064	85	10	the	the	DET
bracis-19064	85	11	ndt	ndt	PROPN
bracis-19064	85	12	maps	map	NOUN
bracis-19064	85	13	through	through	ADP
bracis-19064	85	14	registration	registration	NOUN
bracis-19064	85	15	techniques	technique	NOUN
bracis-19064	85	16	.	.	PUNCT
bracis-19064	86	1	bonanni	bonanni	NOUN
bracis-19064	86	2	et	et	PROPN
bracis-19064	86	3	al	al	PROPN
bracis-19064	86	4	.	.	PUNCT
bracis-19064	86	5	 	 	SPACE
bracis-19064	87	1	[	[	X
bracis-19064	87	2	3	3	X
bracis-19064	87	3	]	]	X
bracis-19064	87	4	present	present	VERB
bracis-19064	87	5	a	a	DET
bracis-19064	87	6	slam	slam	NOUN
bracis-19064	87	7	method	method	NOUN
bracis-19064	87	8	that	that	PRON
bracis-19064	87	9	considers	consider	VERB
bracis-19064	87	10	the	the	DET
bracis-19064	87	11	map	map	NOUN
bracis-19064	87	12	as	as	ADP
bracis-19064	87	13	a	a	DET
bracis-19064	87	14	graph	graph	NOUN
bracis-19064	87	15	of	of	ADP
bracis-19064	87	16	point	point	NOUN
bracis-19064	87	17	clouds	cloud	NOUN
bracis-19064	87	18	.	.	PUNCT
bracis-19064	88	1	in	in	ADP
bracis-19064	88	2	order	order	NOUN
bracis-19064	88	3	to	to	PART
bracis-19064	88	4	merge	merge	VERB
bracis-19064	88	5	two	two	NUM
bracis-19064	88	6	maps	map	NOUN
bracis-19064	88	7	,	,	PUNCT
bracis-19064	88	8	it	it	PRON
bracis-19064	88	9	visits	visit	VERB
bracis-19064	88	10	each	each	DET
bracis-19064	88	11	node	node	NOUN
bracis-19064	88	12	in	in	ADP
bracis-19064	88	13	the	the	DET
bracis-19064	88	14	first	first	ADJ
bracis-19064	88	15	graph	graph	NOUN
bracis-19064	88	16	and	and	CCONJ
bracis-19064	88	17	tries	try	VERB
bracis-19064	88	18	to	to	PART
bracis-19064	88	19	find	find	VERB
bracis-19064	88	20	the	the	DET
bracis-19064	88	21	best	good	ADJ
bracis-19064	88	22	match	match	NOUN
bracis-19064	88	23	in	in	ADP
bracis-19064	88	24	the	the	DET
bracis-19064	88	25	second	second	ADJ
bracis-19064	88	26	graph	graph	NOUN
bracis-19064	88	27	.	.	PUNCT
bracis-19064	89	1	normal	normal	ADJ
bracis-19064	89	2	iterative	iterative	NOUN
bracis-19064	89	3	closest	close	ADJ
bracis-19064	89	4	point	point	NOUN
bracis-19064	89	5	(	(	PUNCT
bracis-19064	89	6	nicp	nicp	NOUN
bracis-19064	89	7	)	)	PUNCT
bracis-19064	90	1	[	[	X
bracis-19064	90	2	17	17	NUM
bracis-19064	90	3	]	]	PUNCT
bracis-19064	90	4	is	be	AUX
bracis-19064	90	5	used	use	VERB
bracis-19064	90	6	to	to	PART
bracis-19064	90	7	find	find	VERB
bracis-19064	90	8	the	the	DET
bracis-19064	90	9	registration	registration	NOUN
bracis-19064	90	10	between	between	ADP
bracis-19064	90	11	the	the	DET
bracis-19064	90	12	point	point	NOUN
bracis-19064	90	13	clouds	cloud	NOUN
bracis-19064	90	14	.	.	PUNCT
bracis-19064	91	1	the	the	DET
bracis-19064	91	2	method	method	NOUN
bracis-19064	91	3	is	be	AUX
bracis-19064	91	4	similar	similar	ADJ
bracis-19064	91	5	to	to	ADP
bracis-19064	91	6	our	our	PRON
bracis-19064	91	7	solution	solution	NOUN
bracis-19064	91	8	as	as	SCONJ
bracis-19064	91	9	point	point	NOUN
bracis-19064	91	10	clouds	cloud	NOUN
bracis-19064	91	11	are	be	AUX
bracis-19064	91	12	used	use	VERB
bracis-19064	91	13	to	to	PART
bracis-19064	91	14	provide	provide	VERB
bracis-19064	91	15	the	the	DET
bracis-19064	91	16	correct	correct	ADJ
bracis-19064	91	17	relationship	relationship	NOUN
bracis-19064	91	18	between	between	ADP
bracis-19064	91	19	sessions	session	NOUN
bracis-19064	91	20	.	.	PUNCT
bracis-19064	92	1	we	we	PRON
bracis-19064	92	2	use	use	VERB
bracis-19064	92	3	gps	gps	PROPN
bracis-19064	92	4	and	and	CCONJ
bracis-19064	92	5	a	a	DET
bracis-19064	92	6	nearest	near	ADJ
bracis-19064	92	7	neighbor	neighbor	NOUN
bracis-19064	92	8	algorithm	algorithm	NOUN
bracis-19064	92	9	to	to	PART
bracis-19064	92	10	find	find	VERB
bracis-19064	92	11	the	the	DET
bracis-19064	92	12	best	good	ADJ
bracis-19064	92	13	candidates	candidate	NOUN
bracis-19064	92	14	in	in	ADP
bracis-19064	92	15	the	the	DET
bracis-19064	92	16	second	second	ADJ
bracis-19064	92	17	graph	graph	NOUN
bracis-19064	92	18	.	.	PUNCT
bracis-19064	93	1	the	the	DET
bracis-19064	93	2	work	work	NOUN
bracis-19064	93	3	of	of	ADP
bracis-19064	93	4	ding	ding	NOUN
bracis-19064	93	5	et	et	PROPN
bracis-19064	93	6	al	al	PROPN
bracis-19064	93	7	.	.	PUNCT
bracis-19064	93	8	 	 	SPACE
bracis-19064	94	1	[	[	X
bracis-19064	94	2	8	8	NUM
bracis-19064	94	3	]	]	PUNCT
bracis-19064	94	4	is	be	AUX
bracis-19064	94	5	meant	mean	VERB
bracis-19064	94	6	for	for	ADP
bracis-19064	94	7	large	large	ADJ
bracis-19064	94	8	scale	scale	NOUN
bracis-19064	94	9	outdoor	outdoor	ADJ
bracis-19064	94	10	environments	environment	NOUN
bracis-19064	94	11	,	,	PUNCT
bracis-19064	94	12	as	as	ADP
bracis-19064	94	13	ours	our	NOUN
bracis-19064	94	14	,	,	PUNCT
bracis-19064	94	15	and	and	CCONJ
bracis-19064	94	16	use	use	VERB
bracis-19064	94	17	3d	3d	NUM
bracis-19064	94	18	lidar	lidar	NOUN
bracis-19064	94	19	for	for	ADP
bracis-19064	94	20	loop	loop	NOUN
bracis-19064	94	21	closure	closure	NOUN
bracis-19064	94	22	detection	detection	NOUN
bracis-19064	94	23	whilst	whilst	SCONJ
bracis-19064	94	24	we	we	PRON
bracis-19064	94	25	use	use	VERB
bracis-19064	94	26	gps	gps	PROPN
bracis-19064	94	27	.	.	PUNCT
bracis-19064	95	1	their	their	PRON
bracis-19064	95	2	system	system	NOUN
bracis-19064	95	3	is	be	AUX
bracis-19064	95	4	capable	capable	ADJ
bracis-19064	95	5	of	of	ADP
bracis-19064	95	6	building	building	NOUN
bracis-19064	95	7	maps	map	NOUN
bracis-19064	95	8	using	use	VERB
bracis-19064	95	9	multi	multi	ADJ
bracis-19064	95	10	-	-	ADJ
bracis-19064	95	11	session	session	ADJ
bracis-19064	95	12	data	datum	NOUN
bracis-19064	95	13	as	as	ADP
bracis-19064	95	14	ours	our	NOUN
bracis-19064	95	15	.	.	PUNCT
bracis-19064	96	1	their	their	PRON
bracis-19064	96	2	approach	approach	NOUN
bracis-19064	96	3	splits	split	VERB
bracis-19064	96	4	maps	map	NOUN
bracis-19064	96	5	into	into	ADP
bracis-19064	96	6	submaps	submap	NOUN
bracis-19064	96	7	and	and	CCONJ
bracis-19064	96	8	use	use	VERB
bracis-19064	96	9	an	an	DET
bracis-19064	96	10	efficient	efficient	ADJ
bracis-19064	96	11	method	method	NOUN
bracis-19064	96	12	for	for	ADP
bracis-19064	96	13	loop	loop	NOUN
bracis-19064	96	14	closure	closure	NOUN
bracis-19064	96	15	detection	detection	NOUN
bracis-19064	96	16	using	use	VERB
bracis-19064	96	17	feature	feature	NOUN
bracis-19064	96	18	vectors	vector	NOUN
bracis-19064	96	19	and	and	CCONJ
bracis-19064	96	20	a	a	DET
bracis-19064	96	21	loop	loop	NOUN
bracis-19064	96	22	closure	closure	NOUN
bracis-19064	96	23	database	database	NOUN
bracis-19064	96	24	using	use	VERB
bracis-19064	96	25	the	the	DET
bracis-19064	96	26	kd	kd	NOUN
bracis-19064	96	27	-	-	PUNCT
bracis-19064	96	28	tree	tree	NOUN
bracis-19064	96	29	algorithm	algorithm	NOUN
bracis-19064	96	30	.	.	PUNCT
bracis-19064	97	1	their	their	PRON
bracis-19064	97	2	method	method	NOUN
bracis-19064	97	3	also	also	ADV
bracis-19064	97	4	takes	take	VERB
bracis-19064	97	5	care	care	NOUN
bracis-19064	97	6	of	of	ADP
bracis-19064	97	7	loop	loop	NOUN
bracis-19064	97	8	closure	closure	NOUN
bracis-19064	97	9	outliers	outlier	NOUN
bracis-19064	97	10	and	and	CCONJ
bracis-19064	97	11	actively	actively	ADV
bracis-19064	97	12	detects	detect	VERB
bracis-19064	97	13	changes	change	NOUN
bracis-19064	97	14	in	in	ADP
bracis-19064	97	15	the	the	DET
bracis-19064	97	16	environment	environment	NOUN
bracis-19064	97	17	(	(	PUNCT
bracis-19064	97	18	high	high	ADJ
bracis-19064	97	19	and	and	CCONJ
bracis-19064	97	20	low	low	ADJ
bracis-19064	97	21	dynamics	dynamic	NOUN
bracis-19064	97	22	)	)	PUNCT
bracis-19064	97	23	.	.	PUNCT
bracis-19064	98	1	3	3	NUM
bracis-19064	98	2	large	large	ADJ
bracis-19064	98	3	-	-	PUNCT
bracis-19064	98	4	scale	scale	NOUN
bracis-19064	98	5	mapping	mapping	NOUN
bracis-19064	98	6	system	system	NOUN
bracis-19064	98	7	in	in	ADP
bracis-19064	98	8	this	this	DET
bracis-19064	98	9	section	section	NOUN
bracis-19064	98	10	,	,	PUNCT
bracis-19064	98	11	we	we	PRON
bracis-19064	98	12	describe	describe	VERB
bracis-19064	98	13	the	the	DET
bracis-19064	98	14	proposed	propose	VERB
bracis-19064	98	15	full	full	ADJ
bracis-19064	98	16	slam	slam	NOUN
bracis-19064	98	17	-	-	PUNCT
bracis-19064	98	18	based	base	VERB
bracis-19064	98	19	mapping	mapping	NOUN
bracis-19064	98	20	system	system	NOUN
bracis-19064	98	21	.	.	PUNCT
bracis-19064	99	1	despite	despite	SCONJ
bracis-19064	99	2	being	be	AUX
bracis-19064	99	3	able	able	ADJ
bracis-19064	99	4	to	to	PART
bracis-19064	99	5	build	build	VERB
bracis-19064	99	6	many	many	ADJ
bracis-19064	99	7	types	type	NOUN
bracis-19064	99	8	of	of	ADP
bracis-19064	99	9	grid	grid	NOUN
bracis-19064	99	10	maps	map	NOUN
bracis-19064	99	11	,	,	PUNCT
bracis-19064	99	12	the	the	DET
bracis-19064	99	13	next	next	ADJ
bracis-19064	99	14	sections	section	NOUN
bracis-19064	99	15	will	will	AUX
bracis-19064	99	16	focus	focus	VERB
bracis-19064	99	17	only	only	ADV
bracis-19064	99	18	on	on	ADP
bracis-19064	99	19	ogms	ogms	PROPN
bracis-19064	99	20	.	.	PUNCT
bracis-19064	100	1	figure	figure	NOUN
bracis-19064	100	2	 	 	SPACE
bracis-19064	100	3	3	3	NUM
bracis-19064	100	4	shows	show	VERB
bracis-19064	100	5	the	the	DET
bracis-19064	100	6	architecture	architecture	NOUN
bracis-19064	100	7	of	of	ADP
bracis-19064	100	8	the	the	DET
bracis-19064	100	9	proposed	propose	VERB
bracis-19064	100	10	mapping	mapping	NOUN
bracis-19064	100	11	system	system	NOUN
bracis-19064	100	12	.	.	PUNCT
bracis-19064	101	1	the	the	DET
bracis-19064	101	2	pre	pre	ADJ
bracis-19064	101	3	-	-	ADJ
bracis-19064	101	4	processing	processing	NOUN
bracis-19064	101	5	and	and	CCONJ
bracis-19064	101	6	the	the	DET
bracis-19064	101	7	hypergraph	hypergraph	NOUN
bracis-19064	101	8	builder	builder	NOUN
bracis-19064	101	9	modules	module	NOUN
bracis-19064	101	10	are	be	AUX
bracis-19064	101	11	responsible	responsible	ADJ
bracis-19064	101	12	for	for	ADP
bracis-19064	101	13	handling	handle	VERB
bracis-19064	101	14	low	low	ADJ
bracis-19064	101	15	-	-	PUNCT
bracis-19064	101	16	level	level	NOUN
bracis-19064	101	17	information	information	NOUN
bracis-19064	101	18	coming	come	VERB
bracis-19064	101	19	from	from	ADP
bracis-19064	101	20	sensors	sensor	NOUN
bracis-19064	101	21	,	,	PUNCT
bracis-19064	101	22	removing	remove	VERB
bracis-19064	101	23	undesired	undesired	ADJ
bracis-19064	101	24	measurements	measurement	NOUN
bracis-19064	101	25	,	,	PUNCT
bracis-19064	101	26	and	and	CCONJ
bracis-19064	101	27	building	build	VERB
bracis-19064	101	28	the	the	DET
bracis-19064	101	29	hypergraph	hypergraph	NOUN
bracis-19064	101	30	.	.	PUNCT
bracis-19064	102	1	the	the	DET
bracis-19064	102	2	hypergraph	hypergraph	NOUN
bracis-19064	102	3	optimizer	optimizer	NOUN
bracis-19064	102	4	is	be	AUX
bracis-19064	102	5	responsible	responsible	ADJ
bracis-19064	102	6	for	for	ADP
bracis-19064	102	7	estimating	estimate	VERB
bracis-19064	102	8	the	the	DET
bracis-19064	102	9	av	av	PROPN
bracis-19064	102	10	poses	pose	NOUN
bracis-19064	102	11	along	along	ADP
bracis-19064	102	12	the	the	DET
bracis-19064	102	13	sessions	session	NOUN
bracis-19064	102	14	while	while	SCONJ
bracis-19064	102	15	also	also	ADV
bracis-19064	102	16	calibrating	calibrate	VERB
bracis-19064	102	17	the	the	DET
bracis-19064	102	18	odometry	odometry	NOUN
bracis-19064	102	19	bias	bias	NOUN
bracis-19064	102	20	.	.	PUNCT
bracis-19064	103	1	the	the	DET
bracis-19064	103	2	mapper	mapper	PROPN
bracis-19064	103	3	module	module	NOUN
bracis-19064	103	4	builds	build	VERB
bracis-19064	103	5	and	and	CCONJ
bracis-19064	103	6	merges	merge	VERB
bracis-19064	103	7	the	the	DET
bracis-19064	103	8	maps	map	NOUN
bracis-19064	103	9	.	.	PUNCT
bracis-19064	104	1	fig	fig	NOUN
bracis-19064	104	2	.	.	PUNCT
bracis-19064	105	1	3	3	X
bracis-19064	105	2	.	.	X
bracis-19064	105	3	system	system	NOUN
bracis-19064	105	4	overview	overview	NOUN
bracis-19064	105	5	.	.	PUNCT
bracis-19064	106	1	full	full	ADJ
bracis-19064	106	2	size	size	NOUN
bracis-19064	106	3	image	image	NOUN
bracis-19064	106	4	3.1	3.1	NUM
bracis-19064	106	5	pre	pre	NOUN
bracis-19064	106	6	-	-	ADJ
bracis-19064	106	7	processing	process	VERB
bracis-19064	106	8	the	the	DET
bracis-19064	106	9	pre	pre	ADJ
bracis-19064	106	10	-	-	ADJ
bracis-19064	106	11	processing	processing	ADJ
bracis-19064	106	12	module	module	NOUN
bracis-19064	106	13	sorts	sort	NOUN
bracis-19064	106	14	all	all	DET
bracis-19064	106	15	measurements	measurement	NOUN
bracis-19064	106	16	by	by	ADP
bracis-19064	106	17	their	their	PRON
bracis-19064	106	18	timestamps	timestamp	NOUN
bracis-19064	106	19	and	and	CCONJ
bracis-19064	106	20	also	also	ADV
bracis-19064	106	21	discards	discard	VERB
bracis-19064	106	22	measurements	measurement	NOUN
bracis-19064	106	23	in	in	ADP
bracis-19064	106	24	which	which	PRON
bracis-19064	106	25	the	the	DET
bracis-19064	106	26	av	av	PROPN
bracis-19064	106	27	is	be	AUX
bracis-19064	106	28	below	below	ADP
bracis-19064	106	29	a	a	DET
bracis-19064	106	30	minimum	minimum	ADJ
bracis-19064	106	31	speed	speed	NOUN
bracis-19064	106	32	ms	ms	PROPN
bracis-19064	106	33	.	.	PROPN
bracis-19064	107	1	this	this	DET
bracis-19064	107	2	module	module	NOUN
bracis-19064	107	3	also	also	ADV
bracis-19064	107	4	removes	remove	VERB
bracis-19064	107	5	a	a	DET
bracis-19064	107	6	specific	specific	ADJ
bracis-19064	107	7	error	error	NOUN
bracis-19064	107	8	on	on	ADP
bracis-19064	107	9	gps	gps	NOUN
bracis-19064	107	10	measurements	measurement	NOUN
bracis-19064	107	11	as	as	SCONJ
bracis-19064	107	12	illustrated	illustrate	VERB
bracis-19064	107	13	in	in	ADP
bracis-19064	107	14	fig	fig	NOUN
bracis-19064	107	15	.	.	PUNCT
bracis-19064	107	16	 	 	SPACE
bracis-19064	108	1	4	4	NUM
bracis-19064	108	2	.	.	X
bracis-19064	108	3	figure	figure	NOUN
bracis-19064	108	4	 	 	SPACE
bracis-19064	108	5	4(b	4(b	NUM
bracis-19064	108	6	)	)	PUNCT
bracis-19064	108	7	shows	show	VERB
bracis-19064	108	8	the	the	DET
bracis-19064	108	9	poor	poor	ADJ
bracis-19064	108	10	results	result	NOUN
bracis-19064	108	11	after	after	ADP
bracis-19064	108	12	increasing	increase	VERB
bracis-19064	108	13	the	the	DET
bracis-19064	108	14	gps	gps	NOUN
bracis-19064	108	15	error	error	NOUN
bracis-19064	108	16	variance	variance	NOUN
bracis-19064	108	17	in	in	ADP
bracis-19064	108	18	a	a	DET
bracis-19064	108	19	try	try	NOUN
bracis-19064	108	20	to	to	PART
bracis-19064	108	21	solve	solve	VERB
bracis-19064	108	22	this	this	DET
bracis-19064	108	23	issue	issue	NOUN
bracis-19064	108	24	.	.	PUNCT
bracis-19064	109	1	our	our	PRON
bracis-19064	109	2	solution	solution	NOUN
bracis-19064	109	3	is	be	AUX
bracis-19064	109	4	illustrated	illustrate	VERB
bracis-19064	109	5	on	on	ADP
bracis-19064	109	6	fig	fig	NOUN
bracis-19064	109	7	.	.	PUNCT
bracis-19064	109	8	 	 	SPACE
bracis-19064	109	9	4(c	4(c	NUM
bracis-19064	109	10	)	)	PUNCT
bracis-19064	109	11	.	.	PUNCT
bracis-19064	110	1	the	the	DET
bracis-19064	110	2	gps	gps	PROPN
bracis-19064	110	3	measurements	measurement	NOUN
bracis-19064	110	4	are	be	AUX
bracis-19064	110	5	clustered	cluster	VERB
bracis-19064	110	6	together	together	ADV
bracis-19064	110	7	if	if	SCONJ
bracis-19064	110	8	the	the	DET
bracis-19064	110	9	distance	distance	NOUN
bracis-19064	110	10	between	between	ADP
bracis-19064	110	11	immediate	immediate	ADJ
bracis-19064	110	12	neighbors	neighbor	NOUN
bracis-19064	110	13	is	be	AUX
bracis-19064	110	14	less	less	ADJ
bracis-19064	110	15	than	than	ADP
bracis-19064	110	16	neighbordistance	neighbordistance	ADJ
bracis-19064	110	17	.	.	PUNCT
bracis-19064	111	1	after	after	ADP
bracis-19064	111	2	clustering	cluster	VERB
bracis-19064	111	3	,	,	PUNCT
bracis-19064	111	4	all	all	DET
bracis-19064	111	5	groups	group	NOUN
bracis-19064	111	6	containing	contain	VERB
bracis-19064	111	7	fewer	few	ADJ
bracis-19064	111	8	elements	element	NOUN
bracis-19064	111	9	than	than	ADP
bracis-19064	111	10	neighborquantity	neighborquantity	NOUN
bracis-19064	111	11	are	be	AUX
bracis-19064	111	12	removed	remove	VERB
bracis-19064	111	13	.	.	PUNCT
bracis-19064	112	1	fig	fig	NOUN
bracis-19064	112	2	.	.	PUNCT
bracis-19064	113	1	4	4	X
bracis-19064	113	2	.	.	X
bracis-19064	113	3	(	(	PUNCT
bracis-19064	113	4	a	a	X
bracis-19064	113	5	)	)	PUNCT
bracis-19064	113	6	gps	gps	NOUN
bracis-19064	113	7	error	error	NOUN
bracis-19064	113	8	.	.	PUNCT
bracis-19064	114	1	(	(	PUNCT
bracis-19064	114	2	b	b	X
bracis-19064	114	3	)	)	PUNCT
bracis-19064	114	4	increasing	increase	VERB
bracis-19064	114	5	variance	variance	NOUN
bracis-19064	114	6	from	from	ADP
bracis-19064	114	7	left	leave	VERB
bracis-19064	114	8	to	to	ADP
bracis-19064	114	9	right	right	NOUN
bracis-19064	114	10	.	.	PUNCT
bracis-19064	115	1	(	(	PUNCT
bracis-19064	115	2	c	c	X
bracis-19064	115	3	)	)	PUNCT
bracis-19064	115	4	clustering	cluster	VERB
bracis-19064	115	5	gps	gps	NOUN
bracis-19064	115	6	and	and	CCONJ
bracis-19064	115	7	removing	remove	VERB
bracis-19064	115	8	small	small	ADJ
bracis-19064	115	9	groups	group	NOUN
bracis-19064	115	10	.	.	PUNCT
bracis-19064	116	1	full	full	ADJ
bracis-19064	116	2	size	size	NOUN
bracis-19064	116	3	image	image	NOUN
bracis-19064	116	4	3.2	3.2	NUM
bracis-19064	116	5	hypergraph	hypergraph	NOUN
bracis-19064	116	6	building	building	NOUN
bracis-19064	116	7	nodes	node	NOUN
bracis-19064	116	8	in	in	ADP
bracis-19064	116	9	the	the	DET
bracis-19064	116	10	hypergraph	hypergraph	NOUN
bracis-19064	116	11	represent	represent	VERB
bracis-19064	116	12	av	av	PROPN
bracis-19064	116	13	poses	pose	NOUN
bracis-19064	116	14	and	and	CCONJ
bracis-19064	116	15	odometry	odometry	NOUN
bracis-19064	116	16	biases	bias	NOUN
bracis-19064	116	17	.	.	PUNCT
bracis-19064	117	1	edges	edge	NOUN
bracis-19064	117	2	represent	represent	VERB
bracis-19064	117	3	constraints	constraint	NOUN
bracis-19064	117	4	between	between	ADP
bracis-19064	117	5	the	the	DET
bracis-19064	117	6	nodes	node	NOUN
bracis-19064	117	7	.	.	PUNCT
bracis-19064	118	1	a	a	DET
bracis-19064	118	2	pose	pose	NOUN
bracis-19064	118	3	node	node	NOUN
bracis-19064	118	4	\(\boldsymbol{n}_{i}\	\(\boldsymbol{n}_{i}\	NOUN
bracis-19064	118	5	)	)	PUNCT
bracis-19064	118	6	is	be	AUX
bracis-19064	118	7	added	add	VERB
bracis-19064	118	8	to	to	ADP
bracis-19064	118	9	the	the	DET
bracis-19064	118	10	hypergraph	hypergraph	NOUN
bracis-19064	118	11	for	for	ADP
bracis-19064	118	12	each	each	DET
bracis-19064	118	13	sensor	sensor	NOUN
bracis-19064	118	14	measurement	measurement	NOUN
bracis-19064	118	15	\(\boldsymbol{z}_{i}\	\(\boldsymbol{z}_{i}\	PROPN
bracis-19064	118	16	)	)	PUNCT
bracis-19064	118	17	.	.	PUNCT
bracis-19064	119	1	\(\boldsymbol{n}_{i}\	\(\boldsymbol{n}_{i}\	PROPN
bracis-19064	119	2	)	)	PUNCT
bracis-19064	119	3	refers	refer	VERB
bracis-19064	119	4	to	to	ADP
bracis-19064	119	5	an	an	DET
bracis-19064	119	6	unknown	unknown	ADJ
bracis-19064	119	7	pose	pose	NOUN
bracis-19064	119	8	\(\boldsymbol{x}_{i}\	\(\boldsymbol{x}_{i}\	NOUN
bracis-19064	119	9	):	):	PUNCT
bracis-19064	119	10	$	$	SYM
bracis-19064	119	11	$	$	SYM
bracis-19064	119	12	\begin{aligned	\begin{aligne	VERB
bracis-19064	119	13	}	}	PUNCT
bracis-19064	119	14	\boldsymbol{n}_{i	\boldsymbol{n}_{i	PROPN
bracis-19064	119	15	}	}	PUNCT
bracis-19064	119	16	=	=	SYM
bracis-19064	119	17	\boldsymbol{x}_{i	\boldsymbol{x}_{i	PROPN
bracis-19064	119	18	}	}	PUNCT
bracis-19064	119	19	=	=	SYM
bracis-19064	119	20	\left	\left	PROPN
bracis-19064	119	21	(	(	PUNCT
bracis-19064	119	22	x_{i	x_{i	PROPN
bracis-19064	119	23	}	}	PUNCT
bracis-19064	119	24	,	,	PUNCT
bracis-19064	119	25	y_{i	y_{i	NOUN
bracis-19064	119	26	}	}	PUNCT
bracis-19064	119	27	,	,	PUNCT
bracis-19064	119	28	\theta	\theta	PROPN
bracis-19064	119	29	_	_	PUNCT
bracis-19064	119	30	{	{	PUNCT
bracis-19064	119	31	i	i	NOUN
bracis-19064	119	32	}	}	PUNCT
bracis-19064	119	33	\right	\right	PROPN
bracis-19064	119	34	)	)	PUNCT
bracis-19064	119	35	\end{aligned}$$	\end{aligned}$$	X
bracis-19064	119	36	(	(	PUNCT
bracis-19064	119	37	1	1	NUM
bracis-19064	119	38	)	)	PUNCT
bracis-19064	119	39	where	where	SCONJ
bracis-19064	119	40	\((x_{i	\((x_{i	NOUN
bracis-19064	119	41	}	}	PUNCT
bracis-19064	119	42	,	,	PUNCT
bracis-19064	119	43	y_i)\	y_i)\	NUM
bracis-19064	119	44	)	)	PUNCT
bracis-19064	119	45	is	be	AUX
bracis-19064	119	46	the	the	DET
bracis-19064	119	47	position	position	NOUN
bracis-19064	119	48	of	of	ADP
bracis-19064	119	49	the	the	DET
bracis-19064	119	50	vehicle	vehicle	NOUN
bracis-19064	119	51	in	in	ADP
bracis-19064	119	52	the	the	DET
bracis-19064	119	53	ground	ground	NOUN
bracis-19064	119	54	plane	plane	NOUN
bracis-19064	119	55	and	and	CCONJ
bracis-19064	119	56	\(\theta	\(\theta	VERB
bracis-19064	119	57	_	_	PROPN
bracis-19064	119	58	{	{	PUNCT
bracis-19064	119	59	i}\	i}\	NUM
bracis-19064	119	60	)	)	PUNCT
bracis-19064	119	61	is	be	AUX
bracis-19064	119	62	its	its	PRON
bracis-19064	119	63	heading	heading	NOUN
bracis-19064	119	64	.	.	PUNCT
bracis-19064	120	1	for	for	ADP
bracis-19064	120	2	each	each	DET
bracis-19064	120	3	log	log	NOUN
bracis-19064	120	4	,	,	PUNCT
bracis-19064	120	5	the	the	DET
bracis-19064	120	6	hypergraph	hypergraph	NOUN
bracis-19064	120	7	builder	builder	NOUN
bracis-19064	120	8	creates	create	VERB
bracis-19064	120	9	odometry	odometry	NOUN
bracis-19064	120	10	edges	edge	NOUN
bracis-19064	120	11	connecting	connect	VERB
bracis-19064	120	12	each	each	DET
bracis-19064	120	13	pair	pair	NOUN
bracis-19064	120	14	\(\boldsymbol{n}_{i}\	\(\boldsymbol{n}_{i}\	NOUN
bracis-19064	120	15	)	)	PUNCT
bracis-19064	120	16	and	and	CCONJ
bracis-19064	120	17	\(\boldsymbol{n}_{i+1}\	\(\boldsymbol{n}_{i+1}\	ADJ
bracis-19064	120	18	)	)	PUNCT
bracis-19064	120	19	.	.	PUNCT
bracis-19064	121	1	this	this	DET
bracis-19064	121	2	procedure	procedure	NOUN
bracis-19064	121	3	guarantees	guarantee	VERB
bracis-19064	121	4	that	that	SCONJ
bracis-19064	121	5	all	all	DET
bracis-19064	121	6	nodes	node	NOUN
bracis-19064	121	7	in	in	ADP
bracis-19064	121	8	the	the	DET
bracis-19064	121	9	hypergraph	hypergraph	NOUN
bracis-19064	121	10	are	be	AUX
bracis-19064	121	11	connected	connect	VERB
bracis-19064	121	12	by	by	ADP
bracis-19064	121	13	odometry	odometry	NOUN
bracis-19064	121	14	measurements	measurement	NOUN
bracis-19064	121	15	,	,	PUNCT
bracis-19064	121	16	therefore	therefore	ADV
bracis-19064	121	17	,	,	PUNCT
bracis-19064	121	18	there	there	PRON
bracis-19064	121	19	is	be	VERB
bracis-19064	121	20	no	no	DET
bracis-19064	121	21	need	need	NOUN
bracis-19064	121	22	to	to	PART
bracis-19064	121	23	synchronize	synchronize	VERB
bracis-19064	121	24	the	the	DET
bracis-19064	121	25	sensors	sensor	NOUN
bracis-19064	121	26	since	since	SCONJ
bracis-19064	121	27	the	the	DET
bracis-19064	121	28	odometry	odometry	NOUN
bracis-19064	121	29	is	be	AUX
bracis-19064	121	30	used	use	VERB
bracis-19064	121	31	o	o	NOUN
bracis-19064	121	32	join	join	VERB
bracis-19064	121	33	all	all	DET
bracis-19064	121	34	nodes	node	NOUN
bracis-19064	121	35	from	from	ADP
bracis-19064	121	36	the	the	DET
bracis-19064	121	37	same	same	ADJ
bracis-19064	121	38	log	log	NOUN
bracis-19064	121	39	.	.	PUNCT
bracis-19064	122	1	while	while	SCONJ
bracis-19064	122	2	traversing	traverse	VERB
bracis-19064	122	3	the	the	DET
bracis-19064	122	4	nodes	node	NOUN
bracis-19064	122	5	in	in	ADP
bracis-19064	122	6	the	the	DET
bracis-19064	122	7	graph	graph	NOUN
bracis-19064	122	8	,	,	PUNCT
bracis-19064	122	9	the	the	DET
bracis-19064	122	10	system	system	NOUN
bracis-19064	122	11	maintains	maintain	VERB
bracis-19064	122	12	the	the	DET
bracis-19064	122	13	current	current	ADJ
bracis-19064	122	14	command	command	NOUN
bracis-19064	122	15	\(\boldsymbol{u}_{i	\(\boldsymbol{u}_{i	NOUN
bracis-19064	122	16	}	}	PUNCT
bracis-19064	122	17	=	=	SYM
bracis-19064	122	18	(	(	PUNCT
bracis-19064	122	19	v_{i	v_{i	PROPN
bracis-19064	122	20	}	}	PUNCT
bracis-19064	122	21	,	,	PUNCT
bracis-19064	122	22	\varphi	\varphi	PROPN
bracis-19064	122	23	_	_	PRON
bracis-19064	122	24	{	{	PUNCT
bracis-19064	122	25	i	i	NOUN
bracis-19064	122	26	}	}	PUNCT
bracis-19064	122	27	,	,	PUNCT
bracis-19064	122	28	\vardelta	\vardelta	PROPN
bracis-19064	122	29	t)\	t)\	PRON
bracis-19064	122	30	)	)	PUNCT
bracis-19064	122	31	.	.	PUNCT
bracis-19064	123	1	\(\vardelta	\(\vardelta	PROPN
bracis-19064	123	2	t\	t\	VERB
bracis-19064	123	3	)	)	PUNCT
bracis-19064	123	4	is	be	AUX
bracis-19064	123	5	the	the	DET
bracis-19064	123	6	time	time	NOUN
bracis-19064	123	7	difference	difference	NOUN
bracis-19064	123	8	between	between	ADP
bracis-19064	123	9	\(\boldsymbol{n}_{i}\	\(\boldsymbol{n}_{i}\	NOUN
bracis-19064	123	10	)	)	PUNCT
bracis-19064	123	11	and	and	CCONJ
bracis-19064	123	12	\(\boldsymbol{n}_{i+1}\	\(\boldsymbol{n}_{i+1}\	ADJ
bracis-19064	123	13	)	)	PUNCT
bracis-19064	123	14	.	.	PUNCT
bracis-19064	124	1	the	the	DET
bracis-19064	124	2	velocity	velocity	NOUN
bracis-19064	124	3	\(v_{i}\	\(v_{i}\	NOUN
bracis-19064	124	4	)	)	PUNCT
bracis-19064	124	5	and	and	CCONJ
bracis-19064	124	6	steering	steer	VERB
bracis-19064	124	7	angle	angle	NOUN
bracis-19064	124	8	\(\varphi	\(\varphi	NOUN
bracis-19064	124	9	_	_	PUNCT
bracis-19064	124	10	{	{	PUNCT
bracis-19064	124	11	i}\	i}\	NUM
bracis-19064	124	12	)	)	PUNCT
bracis-19064	124	13	are	be	AUX
bracis-19064	124	14	obtained	obtain	VERB
bracis-19064	124	15	from	from	ADP
bracis-19064	124	16	the	the	DET
bracis-19064	124	17	last	last	ADJ
bracis-19064	124	18	odometry	odometry	NOUN
bracis-19064	124	19	measurement	measurement	NOUN
bracis-19064	124	20	and	and	CCONJ
bracis-19064	124	21	they	they	PRON
bracis-19064	124	22	are	be	AUX
bracis-19064	124	23	updated	update	VERB
bracis-19064	124	24	at	at	ADP
bracis-19064	124	25	each	each	DET
bracis-19064	124	26	new	new	ADJ
bracis-19064	124	27	odometry	odometry	NOUN
bracis-19064	124	28	measurement	measurement	NOUN
bracis-19064	124	29	.	.	PUNCT
bracis-19064	125	1	the	the	DET
bracis-19064	125	2	odometry	odometry	NOUN
bracis-19064	125	3	edge	edge	NOUN
bracis-19064	125	4	indicates	indicate	VERB
bracis-19064	125	5	a	a	DET
bracis-19064	125	6	constraint	constraint	NOUN
bracis-19064	125	7	between	between	ADP
bracis-19064	125	8	the	the	DET
bracis-19064	125	9	nodes	node	NOUN
bracis-19064	125	10	\(\boldsymbol{n}_{i}\	\(\boldsymbol{n}_{i}\	ADJ
bracis-19064	125	11	)	)	PUNCT
bracis-19064	125	12	and	and	CCONJ
bracis-19064	125	13	\(\boldsymbol{n}_{i+1}\	\(\boldsymbol{n}_{i+1}\	ADJ
bracis-19064	125	14	)	)	PUNCT
bracis-19064	125	15	through	through	ADP
bracis-19064	125	16	the	the	DET
bracis-19064	125	17	error	error	NOUN
bracis-19064	125	18	function	function	NOUN
bracis-19064	125	19	\(\boldsymbol{e}_{}^{o}(\boldsymbol{x}_i	\(\boldsymbol{e}_{}^{o}(\boldsymbol{x}_i	NOUN
bracis-19064	125	20	,	,	PUNCT
bracis-19064	125	21	\boldsymbol{u}_i)\	\boldsymbol{u}_i)\	NOUN
bracis-19064	125	22	)	)	PUNCT
bracis-19064	125	23	.	.	PUNCT
bracis-19064	126	1	we	we	PRON
bracis-19064	126	2	also	also	ADV
bracis-19064	126	3	simplify	simplify	VERB
bracis-19064	126	4	the	the	DET
bracis-19064	126	5	notation	notation	NOUN
bracis-19064	126	6	by	by	ADP
bracis-19064	126	7	encoding	encode	VERB
bracis-19064	126	8	the	the	DET
bracis-19064	126	9	involved	involved	ADJ
bracis-19064	126	10	quantities	quantity	NOUN
bracis-19064	126	11	in	in	ADP
bracis-19064	126	12	the	the	DET
bracis-19064	126	13	indices	index	NOUN
bracis-19064	126	14	of	of	ADP
bracis-19064	126	15	the	the	DET
bracis-19064	126	16	error	error	NOUN
bracis-19064	126	17	function	function	NOUN
bracis-19064	126	18	as	as	ADP
bracis-19064	126	19	in	in	ADP
bracis-19064	126	20	 	 	SPACE
bracis-19064	126	21	[	[	X
bracis-19064	126	22	12	12	NUM
bracis-19064	126	23	]	]	X
bracis-19064	126	24	:	:	PUNCT
bracis-19064	126	25	$	$	SYM
bracis-19064	126	26	$	$	SYM
bracis-19064	126	27	\begin{aligned	\begin{aligne	VERB
bracis-19064	126	28	}	}	PUNCT
bracis-19064	126	29	\boldsymbol{e}_{}^{o}(\boldsymbol{x}_i	\boldsymbol{e}_{}^{o}(\boldsymbol{x}_i	ADJ
bracis-19064	126	30	,	,	PUNCT
bracis-19064	126	31	\boldsymbol{u}_i	\boldsymbol{u}_i	NOUN
bracis-19064	126	32	)	)	PUNCT
bracis-19064	126	33	{	{	PUNCT
bracis-19064	126	34	\mathop	\mathop	NOUN
bracis-19064	126	35	{	{	PUNCT
bracis-19064	126	36	=	=	NOUN
bracis-19064	126	37	}	}	PUNCT
bracis-19064	126	38	\limits	\limit	NOUN
bracis-19064	126	39	^{def	^{def	NUM
bracis-19064	126	40	.	.	NOUN
bracis-19064	126	41	}	}	PUNCT
bracis-19064	126	42	}	}	PUNCT
bracis-19064	126	43	\boldsymbol{e}_{i}^{o}(\boldsymbol{x	\boldsymbol{e}_{i}^{o}(\boldsymbol{x	NOUN
bracis-19064	126	44	}	}	PUNCT
bracis-19064	126	45	,	,	PUNCT
bracis-19064	126	46	\boldsymbol{u	\boldsymbol{u	X
bracis-19064	126	47	}	}	PUNCT
bracis-19064	126	48	)	)	PUNCT
bracis-19064	126	49	\end{aligned}$$	\end{aligned}$$	PROPN
bracis-19064	127	1	(	(	PUNCT
bracis-19064	127	2	2	2	X
bracis-19064	127	3	)	)	PUNCT
bracis-19064	127	4	the	the	DET
bracis-19064	127	5	odometry	odometry	NOUN
bracis-19064	127	6	constraint	constraint	NOUN
bracis-19064	127	7	between	between	ADP
bracis-19064	127	8	each	each	DET
bracis-19064	127	9	node	node	ADJ
bracis-19064	127	10	pair	pair	NOUN
bracis-19064	127	11	is	be	AUX
bracis-19064	127	12	defined	define	VERB
bracis-19064	127	13	as	as	ADP
bracis-19064	127	14	:	:	PUNCT
bracis-19064	127	15	$	$	SYM
bracis-19064	127	16	$	$	SYM
bracis-19064	127	17	\begin{aligned	\begin{aligne	VERB
bracis-19064	127	18	}	}	PUNCT
bracis-19064	127	19	\boldsymbol{e}_{i}^{o}(\boldsymbol{x	\boldsymbol{e}_{i}^{o}(\boldsymbol{x	NOUN
bracis-19064	127	20	}	}	PUNCT
bracis-19064	127	21	,	,	PUNCT
bracis-19064	127	22	\boldsymbol{u	\boldsymbol{u	X
bracis-19064	127	23	}	}	PUNCT
bracis-19064	127	24	)	)	PUNCT
bracis-19064	128	1	=	=	PUNCT
bracis-19064	128	2	(	(	PUNCT
bracis-19064	128	3	\boldsymbol{x}_{i	\boldsymbol{x}_{i	PROPN
bracis-19064	128	4	+	+	NOUN
bracis-19064	128	5	1	1	NUM
bracis-19064	128	6	}	}	PUNCT
bracis-19064	128	7	\ominus	\ominus	PRON
bracis-19064	128	8	\boldsymbol{x}_{i	\boldsymbol{x}_{i	ADP
bracis-19064	128	9	}	}	PUNCT
bracis-19064	128	10	)	)	PUNCT
bracis-19064	128	11	\ominus	\ominus	PROPN
bracis-19064	128	12	k(\boldsymbol{u}_{i	k(\boldsymbol{u}_{i	VERB
bracis-19064	128	13	}	}	PUNCT
bracis-19064	128	14	)	)	PUNCT
bracis-19064	128	15	\end{aligned}$$	\end{aligned}$$	PROPN
bracis-19064	128	16	(	(	PUNCT
bracis-19064	128	17	3	3	NUM
bracis-19064	128	18	)	)	PUNCT
bracis-19064	128	19	where	where	SCONJ
bracis-19064	128	20	\(\ominus	\(\ominus	ADP
bracis-19064	128	21	\	\	NOUN
bracis-19064	128	22	)	)	PUNCT
bracis-19064	128	23	is	be	AUX
bracis-19064	128	24	the	the	DET
bracis-19064	128	25	inverse	inverse	NOUN
bracis-19064	128	26	of	of	ADP
bracis-19064	128	27	the	the	DET
bracis-19064	128	28	motion	motion	NOUN
bracis-19064	128	29	composition	composition	NOUN
bracis-19064	128	30	operator	operator	NOUN
bracis-19064	128	31	\(\oplus	\(\oplus	X
bracis-19064	128	32	\	\	NOUN
bracis-19064	128	33	)	)	PUNCT
bracis-19064	128	34	as	as	SCONJ
bracis-19064	128	35	defined	define	VERB
bracis-19064	128	36	in	in	ADP
bracis-19064	128	37	[	[	X
bracis-19064	128	38	18	18	NUM
bracis-19064	128	39	]	]	PUNCT
bracis-19064	128	40	,	,	PUNCT
bracis-19064	128	41	and	and	CCONJ
bracis-19064	128	42	k	k	X
bracis-19064	128	43	(	(	PUNCT
bracis-19064	128	44	.	.	PUNCT
bracis-19064	128	45	)	)	PUNCT
bracis-19064	128	46	uses	use	VERB
bracis-19064	128	47	the	the	DET
bracis-19064	128	48	ackerman	ackerman	PROPN
bracis-19064	128	49	steering	steering	NOUN
bracis-19064	128	50	geometry	geometry	NOUN
bracis-19064	128	51	with	with	ADP
bracis-19064	128	52	understeer	understeer	NOUN
bracis-19064	128	53	corrections	correction	NOUN
bracis-19064	128	54	 	 	SPACE
bracis-19064	129	1	[	[	X
bracis-19064	129	2	2	2	X
bracis-19064	129	3	]	]	PUNCT
bracis-19064	129	4	to	to	PART
bracis-19064	129	5	compute	compute	VERB
bracis-19064	129	6	a	a	DET
bracis-19064	129	7	relative	relative	ADJ
bracis-19064	129	8	movement	movement	NOUN
bracis-19064	129	9	given	give	VERB
bracis-19064	129	10	the	the	DET
bracis-19064	129	11	command	command	NOUN
bracis-19064	129	12	\(\boldsymbol{u}_{i}\in	\(\boldsymbol{u}_{i}\in	PROPN
bracis-19064	129	13	\boldsymbol{u}\	\boldsymbol{u}\	NOUN
bracis-19064	129	14	)	)	PUNCT
bracis-19064	129	15	,	,	PUNCT
bracis-19064	129	16	and	and	CCONJ
bracis-19064	129	17	\(\boldsymbol{u}\	\(\boldsymbol{u}\	NOUN
bracis-19064	129	18	)	)	PUNCT
bracis-19064	129	19	is	be	AUX
bracis-19064	129	20	a	a	DET
bracis-19064	129	21	vector	vector	NOUN
bracis-19064	129	22	containing	contain	VERB
bracis-19064	129	23	all	all	DET
bracis-19064	129	24	commands	command	NOUN
bracis-19064	129	25	.	.	PUNCT
bracis-19064	130	1	all	all	DET
bracis-19064	130	2	odometry	odometry	NOUN
bracis-19064	130	3	edges	edge	NOUN
bracis-19064	130	4	are	be	AUX
bracis-19064	130	5	combined	combine	VERB
bracis-19064	130	6	in	in	ADP
bracis-19064	130	7	:	:	PUNCT
bracis-19064	130	8	$	$	SYM
bracis-19064	130	9	$	$	SYM
bracis-19064	130	10	\begin{aligned	\begin{aligne	VERB
bracis-19064	130	11	}	}	PUNCT
bracis-19064	130	12	\boldsymbol{j}^{o	\boldsymbol{j}^{o	PRON
bracis-19064	130	13	}	}	PUNCT
bracis-19064	130	14	\left	\left	PROPN
bracis-19064	130	15	(	(	PUNCT
bracis-19064	130	16	\boldsymbol{x	\boldsymbol{x	ADP
bracis-19064	130	17	}	}	PUNCT
bracis-19064	130	18	,	,	PUNCT
bracis-19064	130	19	\boldsymbol{u}\right	\boldsymbol{u}\right	NUM
bracis-19064	130	20	)	)	PUNCT
bracis-19064	131	1	=	=	SYM
bracis-19064	131	2	\sum	\sum	NOUN
bracis-19064	131	3	_	_	PUNCT
bracis-19064	131	4	{	{	PUNCT
bracis-19064	131	5	i}^{n	i}^{n	ADJ
bracis-19064	131	6	}	}	PUNCT
bracis-19064	131	7	\boldsymbol{e}_{i}^{o}(\boldsymbol{x	\boldsymbol{e}_{i}^{o}(\boldsymbol{x	NOUN
bracis-19064	131	8	}	}	PUNCT
bracis-19064	131	9	,	,	PUNCT
bracis-19064	131	10	\boldsymbol{u}^{\intercal	\boldsymbol{u}^{\intercal	ADJ
bracis-19064	131	11	}	}	PUNCT
bracis-19064	131	12	)	)	PUNCT
bracis-19064	131	13	^{\intercal	^{\intercal	X
bracis-19064	131	14	}	}	PUNCT
bracis-19064	131	15	\boldsymbol{\hat{\varomega	\boldsymbol{\hat{\varomega	X
bracis-19064	131	16	}	}	PUNCT
bracis-19064	131	17	}	}	PUNCT
bracis-19064	131	18	_	_	PRON
bracis-19064	131	19	{	{	PUNCT
bracis-19064	131	20	i}^{o	i}^{o	NOUN
bracis-19064	131	21	}	}	PUNCT
bracis-19064	131	22	\boldsymbol{e}_{i}^{o}(\boldsymbol{x	\boldsymbol{e}_{i}^{o}(\boldsymbol{x	NOUN
bracis-19064	131	23	}	}	PUNCT
bracis-19064	131	24	,	,	PUNCT
bracis-19064	131	25	\boldsymbol{u}^{\intercal	\boldsymbol{u}^{\intercal	ADJ
bracis-19064	131	26	}	}	PUNCT
bracis-19064	131	27	)	)	PUNCT
bracis-19064	131	28	\end{aligned}$$	\end{aligned}$$	PROPN
bracis-19064	131	29	(	(	PUNCT
bracis-19064	131	30	4	4	NUM
bracis-19064	131	31	)	)	PUNCT
bracis-19064	131	32	where	where	SCONJ
bracis-19064	131	33	\(\hat{\varomega	\(\hat{\varomega	ADP
bracis-19064	131	34	}	}	PUNCT
bracis-19064	131	35	_	_	PRON
bracis-19064	131	36	{	{	PUNCT
bracis-19064	131	37	i}^{o}\	i}^{o}\	X
bracis-19064	131	38	)	)	PUNCT
bracis-19064	131	39	is	be	AUX
bracis-19064	131	40	the	the	DET
bracis-19064	131	41	odometry	odometry	NOUN
bracis-19064	131	42	information	information	NOUN
bracis-19064	131	43	matrix	matrix	NOUN
bracis-19064	131	44	at	at	ADP
bracis-19064	131	45	node	node	PROPN
bracis-19064	131	46	\(\boldsymbol{n}_{i}\	\(\boldsymbol{n}_{i}\	PROPN
bracis-19064	131	47	)	)	PUNCT
bracis-19064	131	48	projected	project	VERB
bracis-19064	131	49	through	through	ADP
bracis-19064	131	50	the	the	DET
bracis-19064	131	51	non	non	ADJ
bracis-19064	131	52	-	-	ADJ
bracis-19064	131	53	linear	linear	ADJ
bracis-19064	131	54	function	function	NOUN
bracis-19064	131	55	k	k	PROPN
bracis-19064	131	56	(	(	PUNCT
bracis-19064	131	57	.	.	PUNCT
bracis-19064	131	58	)	)	PUNCT
bracis-19064	131	59	via	via	ADP
bracis-19064	131	60	the	the	DET
bracis-19064	131	61	unscented	unscente	VERB
bracis-19064	131	62	transformation	transformation	NOUN
bracis-19064	132	1	[	[	X
bracis-19064	132	2	22	22	NUM
bracis-19064	132	3	]	]	PUNCT
bracis-19064	132	4	.	.	PUNCT
bracis-19064	133	1	each	each	DET
bracis-19064	133	2	node	node	PROPN
bracis-19064	133	3	\(\boldsymbol{n}_{i}\	\(\boldsymbol{n}_{i}\	NOUN
bracis-19064	133	4	)	)	PUNCT
bracis-19064	133	5	created	create	VERB
bracis-19064	133	6	by	by	ADP
bracis-19064	133	7	a	a	DET
bracis-19064	133	8	gps	gps	PROPN
bracis-19064	133	9	measurement	measurement	NOUN
bracis-19064	133	10	\(\boldsymbol{z}_{i}^{gps}\	\(\boldsymbol{z}_{i}^{gps}\	PROPN
bracis-19064	133	11	)	)	PUNCT
bracis-19064	133	12	receives	receive	VERB
bracis-19064	133	13	a	a	DET
bracis-19064	133	14	unary	unary	ADJ
bracis-19064	133	15	edge	edge	NOUN
bracis-19064	133	16	containing	contain	VERB
bracis-19064	133	17	the	the	DET
bracis-19064	133	18	error	error	NOUN
bracis-19064	133	19	:	:	PUNCT
bracis-19064	133	20	$	$	SYM
bracis-19064	133	21	$	$	SYM
bracis-19064	133	22	\begin{aligned	\begin{aligne	VERB
bracis-19064	133	23	}	}	PUNCT
bracis-19064	133	24	\boldsymbol{e}_{i}^{gps	\boldsymbol{e}_{i}^{gps	NOUN
bracis-19064	133	25	}	}	PUNCT
bracis-19064	133	26	\left	\left	PROPN
bracis-19064	133	27	(	(	PUNCT
bracis-19064	133	28	\boldsymbol{x}\right	\boldsymbol{x}\right	PROPN
bracis-19064	133	29	)	)	PUNCT
bracis-19064	133	30	=	=	SYM
bracis-19064	133	31	\boldsymbol{x}_{i	\boldsymbol{x}_{i	PROPN
bracis-19064	133	32	}	}	PUNCT
bracis-19064	133	33	\ominus	\ominus	PROPN
bracis-19064	133	34	\boldsymbol{z}_{i}^{gps	\boldsymbol{z}_{i}^{gp	NOUN
bracis-19064	133	35	}	}	PUNCT
bracis-19064	133	36	\end{aligned}$$	\end{aligned}$$	X
bracis-19064	133	37	(	(	PUNCT
bracis-19064	133	38	5	5	NUM
bracis-19064	133	39	)	)	PUNCT
bracis-19064	133	40	all	all	DET
bracis-19064	133	41	gps	gps	PROPN
bracis-19064	133	42	edges	edge	NOUN
bracis-19064	133	43	constraints	constraint	NOUN
bracis-19064	133	44	are	be	AUX
bracis-19064	133	45	combined	combine	VERB
bracis-19064	133	46	in	in	ADP
bracis-19064	133	47	the	the	DET
bracis-19064	133	48	total	total	ADJ
bracis-19064	133	49	gps	gps	NOUN
bracis-19064	133	50	error	error	NOUN
bracis-19064	133	51	:	:	PUNCT
bracis-19064	133	52	$	$	SYM
bracis-19064	133	53	$	$	SYM
bracis-19064	133	54	\begin{aligned	\begin{aligne	VERB
bracis-19064	133	55	}	}	PUNCT
bracis-19064	133	56	\boldsymbol{j}^{gps	\boldsymbol{j}^{gps	PRON
bracis-19064	133	57	}	}	PUNCT
bracis-19064	133	58	\left	\left	PROPN
bracis-19064	133	59	(	(	PUNCT
bracis-19064	133	60	\boldsymbol{x}\right	\boldsymbol{x}\right	PROPN
bracis-19064	133	61	)	)	PUNCT
bracis-19064	133	62	=	=	VERB
bracis-19064	133	63	\sum	\sum	NOUN
bracis-19064	133	64	_	_	PUNCT
bracis-19064	133	65	{	{	PUNCT
bracis-19064	133	66	i	i	NOUN
bracis-19064	133	67	}	}	PUNCT
bracis-19064	133	68	\boldsymbol{e}_{i}^{gps}(\boldsymbol{x})^{\intercal	\boldsymbol{e}_{i}^{gps}(\boldsymbol{x})^{\intercal	PROPN
bracis-19064	133	69	}	}	PUNCT
bracis-19064	133	70	\boldsymbol{\varomega	\boldsymbol{\varomega	X
bracis-19064	133	71	}	}	PUNCT
bracis-19064	133	72	_	_	PRON
bracis-19064	133	73	{	{	PUNCT
bracis-19064	133	74	i}^{gps	i}^{gps	ADJ
bracis-19064	133	75	}	}	PUNCT
bracis-19064	133	76	\boldsymbol{e}_{i}^{gps}(\boldsymbol{x	\boldsymbol{e}_{i}^{gps}(\boldsymbol{x	NOUN
bracis-19064	133	77	}	}	PUNCT
bracis-19064	133	78	)	)	PUNCT
bracis-19064	133	79	\end{aligned}$$	\end{aligned}$$	X
bracis-19064	133	80	(	(	PUNCT
bracis-19064	133	81	6	6	NUM
bracis-19064	133	82	)	)	PUNCT
bracis-19064	133	83	where	where	SCONJ
bracis-19064	133	84	\(\varomega	\(\varomega	VERB
bracis-19064	133	85	_	_	NOUN
bracis-19064	133	86	{	{	PUNCT
bracis-19064	133	87	i}^{gps}\	i}^{gps}\	X
bracis-19064	133	88	)	)	PUNCT
bracis-19064	133	89	is	be	AUX
bracis-19064	133	90	the	the	DET
bracis-19064	133	91	inverse	inverse	NOUN
bracis-19064	133	92	of	of	ADP
bracis-19064	133	93	the	the	DET
bracis-19064	133	94	gps	gps	PROPN
bracis-19064	133	95	covariance	covariance	NOUN
bracis-19064	133	96	matrix	matrix	NOUN
bracis-19064	133	97	at	at	ADP
bracis-19064	133	98	node	node	PROPN
bracis-19064	133	99	\(\boldsymbol{n}_{i}\	\(\boldsymbol{n}_{i}\	PROPN
bracis-19064	133	100	)	)	PUNCT
bracis-19064	133	101	.	.	PUNCT
bracis-19064	134	1	we	we	PRON
bracis-19064	134	2	use	use	VERB
bracis-19064	134	3	lidar	lidar	NOUN
bracis-19064	134	4	and	and	CCONJ
bracis-19064	134	5	gps	gps	VERB
bracis-19064	134	6	to	to	PART
bracis-19064	134	7	compute	compute	VERB
bracis-19064	134	8	intra	intra	ADJ
bracis-19064	134	9	-	-	ADJ
bracis-19064	134	10	session	session	ADJ
bracis-19064	134	11	loop	loop	NOUN
bracis-19064	134	12	closures	closure	NOUN
bracis-19064	134	13	as	as	ADP
bracis-19064	134	14	in	in	ADP
bracis-19064	134	15	 	 	SPACE
bracis-19064	134	16	[	[	X
bracis-19064	134	17	13	13	NUM
bracis-19064	134	18	]	]	PUNCT
bracis-19064	134	19	.	.	PUNCT
bracis-19064	135	1	however	however	ADV
bracis-19064	135	2	,	,	PUNCT
bracis-19064	135	3	we	we	PRON
bracis-19064	135	4	use	use	VERB
bracis-19064	135	5	an	an	DET
bracis-19064	135	6	ad	ad	NOUN
bracis-19064	135	7	-	-	PUNCT
bracis-19064	135	8	hoc	hoc	X
bracis-19064	135	9	method	method	NOUN
bracis-19064	135	10	to	to	PART
bracis-19064	135	11	reduce	reduce	VERB
bracis-19064	135	12	the	the	DET
bracis-19064	135	13	number	number	NOUN
bracis-19064	135	14	of	of	ADP
bracis-19064	135	15	edges	edge	NOUN
bracis-19064	135	16	in	in	ADP
bracis-19064	135	17	the	the	DET
bracis-19064	135	18	graph	graph	NOUN
bracis-19064	135	19	by	by	ADP
bracis-19064	135	20	only	only	ADV
bracis-19064	135	21	considering	consider	VERB
bracis-19064	135	22	a	a	DET
bracis-19064	135	23	new	new	ADJ
bracis-19064	135	24	loop	loop	NOUN
bracis-19064	135	25	closure	closure	NOUN
bracis-19064	135	26	if	if	SCONJ
bracis-19064	135	27	it	it	PRON
bracis-19064	135	28	is	be	AUX
bracis-19064	135	29	at	at	ADP
bracis-19064	135	30	a	a	DET
bracis-19064	135	31	certain	certain	ADJ
bracis-19064	135	32	distance	distance	NOUN
bracis-19064	135	33	from	from	ADP
bracis-19064	135	34	the	the	DET
bracis-19064	135	35	previous	previous	ADJ
bracis-19064	135	36	one	one	NUM
bracis-19064	135	37	.	.	PUNCT
bracis-19064	136	1	we	we	PRON
bracis-19064	136	2	also	also	ADV
bracis-19064	136	3	extend	extend	VERB
bracis-19064	136	4	this	this	DET
bracis-19064	136	5	approach	approach	NOUN
bracis-19064	136	6	to	to	PART
bracis-19064	136	7	handle	handle	VERB
bracis-19064	136	8	inter	inter	ADJ
bracis-19064	136	9	-	-	ADJ
bracis-19064	136	10	session	session	ADJ
bracis-19064	136	11	loop	loop	NOUN
bracis-19064	136	12	closures	closure	NOUN
bracis-19064	136	13	.	.	PUNCT
bracis-19064	137	1	inter	inter	ADJ
bracis-19064	137	2	-	-	ADJ
bracis-19064	137	3	session	session	ADJ
bracis-19064	137	4	loop	loop	NOUN
bracis-19064	137	5	closures	closure	NOUN
bracis-19064	137	6	provide	provide	VERB
bracis-19064	137	7	the	the	DET
bracis-19064	137	8	required	require	VERB
bracis-19064	137	9	relationships	relationship	NOUN
bracis-19064	137	10	between	between	ADP
bracis-19064	137	11	the	the	DET
bracis-19064	137	12	av	av	PROPN
bracis-19064	137	13	poses	pose	NOUN
bracis-19064	137	14	in	in	ADP
bracis-19064	137	15	multiple	multiple	ADJ
bracis-19064	137	16	logs	log	NOUN
bracis-19064	137	17	.	.	PUNCT
bracis-19064	138	1	a	a	DET
bracis-19064	138	2	loop	loop	NOUN
bracis-19064	138	3	closure	closure	NOUN
bracis-19064	138	4	edge	edge	NOUN
bracis-19064	138	5	computes	compute	VERB
bracis-19064	138	6	the	the	DET
bracis-19064	138	7	following	follow	VERB
bracis-19064	138	8	error	error	NOUN
bracis-19064	138	9	:	:	PUNCT
bracis-19064	138	10	$	$	SYM
bracis-19064	138	11	$	$	SYM
bracis-19064	138	12	\begin{aligned	\begin{aligne	VERB
bracis-19064	138	13	}	}	PUNCT
bracis-19064	138	14	\boldsymbol{e}_{i	\boldsymbol{e}_{i	PROPN
bracis-19064	138	15	,	,	PUNCT
bracis-19064	138	16	j}^{l}(\boldsymbol{x	j}^{l}(\boldsymbol{x	PROPN
bracis-19064	138	17	}	}	PUNCT
bracis-19064	138	18	)	)	PUNCT
bracis-19064	138	19	=	=	SYM
bracis-19064	138	20	(	(	PUNCT
bracis-19064	138	21	\boldsymbol{x}_{j	\boldsymbol{x}_{j	PROPN
bracis-19064	138	22	}	}	PUNCT
bracis-19064	138	23	\oplus	\oplus	PROPN
bracis-19064	138	24	\boldsymbol{s}^{l	\boldsymbol{s}^{l	NUM
bracis-19064	138	25	}	}	PUNCT
bracis-19064	138	26	)	)	PUNCT
bracis-19064	139	1	\ominus	\ominus	PROPN
bracis-19064	139	2	(	(	PUNCT
bracis-19064	139	3	\boldsymbol{x}_{i	\boldsymbol{x}_{i	ADP
bracis-19064	139	4	}	}	PUNCT
bracis-19064	139	5	\oplus	\oplus	PROPN
bracis-19064	139	6	\boldsymbol{s}^{l	\boldsymbol{s}^{l	NUM
bracis-19064	139	7	}	}	PUNCT
bracis-19064	139	8	)	)	PUNCT
bracis-19064	139	9	\ominus	\ominus	PRON
bracis-19064	139	10	icp_{i	icp_{i	NOUN
bracis-19064	139	11	,	,	PUNCT
bracis-19064	139	12	j}^{l	j}^{l	PROPN
bracis-19064	139	13	}	}	PUNCT
bracis-19064	139	14	\end{aligned}$$	\end{aligned}$$	X
bracis-19064	139	15	(	(	PUNCT
bracis-19064	139	16	7	7	NUM
bracis-19064	139	17	)	)	PUNCT
bracis-19064	139	18	where	where	SCONJ
bracis-19064	139	19	\(\boldsymbol{x}_{i}\	\(\boldsymbol{x}_{i}\	NOUN
bracis-19064	139	20	)	)	PUNCT
bracis-19064	139	21	and	and	CCONJ
bracis-19064	139	22	\(\boldsymbol{x}_{j}\	\(\boldsymbol{x}_{j}\	NOUN
bracis-19064	139	23	)	)	PUNCT
bracis-19064	139	24	are	be	AUX
bracis-19064	139	25	the	the	DET
bracis-19064	139	26	av	av	PROPN
bracis-19064	139	27	poses	pose	NOUN
bracis-19064	139	28	that	that	PRON
bracis-19064	139	29	are	be	AUX
bracis-19064	139	30	considered	consider	VERB
bracis-19064	139	31	as	as	ADP
bracis-19064	139	32	a	a	DET
bracis-19064	139	33	loop	loop	NOUN
bracis-19064	139	34	closure	closure	NOUN
bracis-19064	139	35	,	,	PUNCT
bracis-19064	139	36	\(\boldsymbol{s}^{l}\	\(\boldsymbol{s}^{l}\	NOUN
bracis-19064	139	37	)	)	PUNCT
bracis-19064	139	38	is	be	AUX
bracis-19064	139	39	the	the	DET
bracis-19064	139	40	pose	pose	NOUN
bracis-19064	139	41	of	of	ADP
bracis-19064	139	42	the	the	DET
bracis-19064	139	43	lidar	lidar	NOUN
bracis-19064	139	44	sensor	sensor	NOUN
bracis-19064	139	45	in	in	ADP
bracis-19064	139	46	the	the	DET
bracis-19064	139	47	av	av	PROPN
bracis-19064	139	48	reference	reference	NOUN
bracis-19064	139	49	frame	frame	NOUN
bracis-19064	139	50	and	and	CCONJ
bracis-19064	139	51	\(icp_{i	\(icp_{i	NOUN
bracis-19064	139	52	,	,	PUNCT
bracis-19064	139	53	j}^{l}\	j}^{l}\	PROPN
bracis-19064	139	54	)	)	PUNCT
bracis-19064	139	55	is	be	AUX
bracis-19064	139	56	a	a	DET
bracis-19064	139	57	linear	linear	ADJ
bracis-19064	139	58	transform	transform	NOUN
bracis-19064	139	59	that	that	PRON
bracis-19064	139	60	aligns	align	VERB
bracis-19064	139	61	the	the	DET
bracis-19064	139	62	point	point	NOUN
bracis-19064	139	63	cloud	cloud	NOUN
bracis-19064	139	64	\(\boldsymbol{z}_{i}^{l}\	\(\boldsymbol{z}_{i}^{l}\	PROPN
bracis-19064	139	65	)	)	PUNCT
bracis-19064	139	66	with	with	ADP
bracis-19064	139	67	the	the	DET
bracis-19064	139	68	point	point	NOUN
bracis-19064	139	69	cloud	cloud	NOUN
bracis-19064	139	70	\(\boldsymbol{z}_{j}^{l}\	\(\boldsymbol{z}_{j}^{l}\	NOUN
bracis-19064	139	71	)	)	PUNCT
bracis-19064	139	72	.	.	PUNCT
bracis-19064	140	1	we	we	PRON
bracis-19064	140	2	use	use	VERB
bracis-19064	140	3	a	a	DET
bracis-19064	140	4	custom	custom	NOUN
bracis-19064	140	5	method	method	NOUN
bracis-19064	140	6	based	base	VERB
bracis-19064	140	7	on	on	ADP
bracis-19064	140	8	the	the	DET
bracis-19064	140	9	generalized	generalize	VERB
bracis-19064	140	10	iterative	iterative	NOUN
bracis-19064	140	11	closest	close	ADJ
bracis-19064	140	12	point	point	NOUN
bracis-19064	140	13	(	(	PUNCT
bracis-19064	140	14	gicp	gicp	NOUN
bracis-19064	140	15	)	)	PUNCT
bracis-19064	141	1	[	[	X
bracis-19064	141	2	16	16	NUM
bracis-19064	141	3	]	]	PUNCT
bracis-19064	141	4	algorithm	algorithm	NOUN
bracis-19064	141	5	to	to	PART
bracis-19064	141	6	find	find	VERB
bracis-19064	141	7	the	the	DET
bracis-19064	141	8	transform	transform	NOUN
bracis-19064	141	9	.	.	PUNCT
bracis-19064	142	1	the	the	DET
bracis-19064	142	2	error	error	NOUN
bracis-19064	142	3	below	below	ADP
bracis-19064	142	4	combines	combine	VERB
bracis-19064	142	5	the	the	DET
bracis-19064	142	6	constraints	constraint	NOUN
bracis-19064	142	7	of	of	ADP
bracis-19064	142	8	all	all	DET
bracis-19064	142	9	loop	loop	NOUN
bracis-19064	142	10	closure	closure	NOUN
bracis-19064	142	11	edges	edge	NOUN
bracis-19064	142	12	:	:	PUNCT
bracis-19064	142	13	$	$	SYM
bracis-19064	142	14	$	$	SYM
bracis-19064	142	15	\begin{aligned	\begin{aligne	VERB
bracis-19064	142	16	}	}	PUNCT
bracis-19064	142	17	\boldsymbol{j}^{l	\boldsymbol{j}^{l	NOUN
bracis-19064	142	18	}	}	PUNCT
bracis-19064	142	19	\left	\left	PROPN
bracis-19064	142	20	(	(	PUNCT
bracis-19064	142	21	\boldsymbol{x}\right	\boldsymbol{x}\right	PROPN
bracis-19064	142	22	)	)	PUNCT
bracis-19064	142	23	=	=	VERB
bracis-19064	143	1	\sum	\sum	NOUN
bracis-19064	143	2	_	_	PUNCT
bracis-19064	143	3	{	{	PUNCT
bracis-19064	143	4	i	i	NOUN
bracis-19064	143	5	}	}	PUNCT
bracis-19064	143	6	\boldsymbol{e}_{i	\boldsymbol{e}_{i	PROPN
bracis-19064	143	7	,	,	PUNCT
bracis-19064	143	8	j}^{l}(\boldsymbol{x})^{\intercal	j}^{l}(\boldsymbol{x})^{\intercal	ADJ
bracis-19064	143	9	}	}	PUNCT
bracis-19064	143	10	\boldsymbol{\varomega	\boldsymbol{\varomega	X
bracis-19064	143	11	}	}	PUNCT
bracis-19064	143	12	_	_	PUNCT
bracis-19064	143	13	{	{	PUNCT
bracis-19064	143	14	i	i	PROPN
bracis-19064	143	15	,	,	PUNCT
bracis-19064	143	16	j}^{l	j}^{l	PROPN
bracis-19064	143	17	}	}	PUNCT
bracis-19064	143	18	\boldsymbol{e}_{i	\boldsymbol{e}_{i	PROPN
bracis-19064	143	19	,	,	PUNCT
bracis-19064	143	20	j}^{l}(\boldsymbol{x	j}^{l}(\boldsymbol{x	PROPN
bracis-19064	143	21	}	}	PUNCT
bracis-19064	143	22	)	)	PUNCT
bracis-19064	143	23	\end{aligned}$$	\end{aligned}$$	PROPN
bracis-19064	143	24	(	(	PUNCT
bracis-19064	143	25	8)	8)	NUM
bracis-19064	143	26	where	where	SCONJ
bracis-19064	143	27	\(\varomega	\(\varomega	NOUN
bracis-19064	143	28	_	_	PUNCT
bracis-19064	143	29	{	{	PUNCT
bracis-19064	143	30	i}^{l}\	i}^{l}\	ADJ
bracis-19064	143	31	)	)	PUNCT
bracis-19064	143	32	is	be	AUX
bracis-19064	143	33	the	the	DET
bracis-19064	143	34	inverse	inverse	NOUN
bracis-19064	143	35	gicp	gicp	NOUN
bracis-19064	143	36	covariance	covariance	PROPN
bracis-19064	143	37	matrix	matrix	NOUN
bracis-19064	143	38	.	.	PUNCT
bracis-19064	144	1	mutz	mutz	PROPN
bracis-19064	144	2	et	et	PROPN
bracis-19064	144	3	al	al	PROPN
bracis-19064	144	4	.	.	PUNCT
bracis-19064	144	5	 	 	SPACE
bracis-19064	145	1	[	[	X
bracis-19064	145	2	13	13	NUM
bracis-19064	145	3	]	]	PUNCT
bracis-19064	145	4	showed	show	VERB
bracis-19064	145	5	that	that	SCONJ
bracis-19064	145	6	odometry	odometry	NOUN
bracis-19064	145	7	measurements	measurement	NOUN
bracis-19064	145	8	are	be	AUX
bracis-19064	145	9	subject	subject	ADJ
bracis-19064	145	10	to	to	ADP
bracis-19064	145	11	biases	bias	NOUN
bracis-19064	145	12	.	.	PUNCT
bracis-19064	146	1	this	this	DET
bracis-19064	146	2	error	error	NOUN
bracis-19064	146	3	can	can	AUX
bracis-19064	146	4	be	be	AUX
bracis-19064	146	5	propagated	propagate	VERB
bracis-19064	146	6	to	to	ADP
bracis-19064	146	7	the	the	DET
bracis-19064	146	8	edges	edge	NOUN
bracis-19064	146	9	in	in	ADP
bracis-19064	146	10	the	the	DET
bracis-19064	146	11	graph	graph	NOUN
bracis-19064	146	12	if	if	SCONJ
bracis-19064	146	13	not	not	PART
bracis-19064	146	14	addressed	address	VERB
bracis-19064	146	15	.	.	PUNCT
bracis-19064	147	1	the	the	DET
bracis-19064	147	2	authors	author	NOUN
bracis-19064	147	3	proposed	propose	VERB
bracis-19064	147	4	a	a	DET
bracis-19064	147	5	pso	pso	NOUN
bracis-19064	147	6	-	-	PUNCT
bracis-19064	147	7	based	base	VERB
bracis-19064	147	8	optimization	optimization	NOUN
bracis-19064	147	9	method	method	NOUN
bracis-19064	147	10	to	to	PART
bracis-19064	147	11	calibrate	calibrate	VERB
bracis-19064	147	12	the	the	DET
bracis-19064	147	13	odometry	odometry	NOUN
bracis-19064	147	14	bias	bias	NOUN
bracis-19064	147	15	before	before	ADP
bracis-19064	147	16	building	build	VERB
bracis-19064	147	17	the	the	DET
bracis-19064	147	18	graph	graph	NOUN
bracis-19064	147	19	.	.	PUNCT
bracis-19064	148	1	the	the	DET
bracis-19064	148	2	calibration	calibration	NOUN
bracis-19064	148	3	is	be	AUX
bracis-19064	148	4	approximated	approximate	VERB
bracis-19064	148	5	by	by	ADP
bracis-19064	148	6	the	the	DET
bracis-19064	148	7	following	follow	VERB
bracis-19064	148	8	linear	linear	PROPN
bracis-19064	148	9	functions	function	NOUN
bracis-19064	148	10	:	:	PUNCT
bracis-19064	148	11	$	$	SYM
bracis-19064	148	12	$	$	SYM
bracis-19064	148	13	\begin{aligned	\begin{aligne	VERB
bracis-19064	148	14	}	}	PUNCT
bracis-19064	148	15	v_{i}^{'}=	v_{i}^{'}=	ADJ
bracis-19064	148	16	v_{i	v_{i	PROPN
bracis-19064	148	17	}	}	PUNCT
bracis-19064	148	18	b_{mult}^{v	b_{mult}^{v	NOUN
bracis-19064	148	19	}	}	PUNCT
bracis-19064	148	20	\end{aligned}$$	\end{aligned}$$	X
bracis-19064	148	21	(	(	PUNCT
bracis-19064	148	22	9	9	NUM
bracis-19064	148	23	)	)	PUNCT
bracis-19064	148	24	$	$	SYM
bracis-19064	148	25	$	$	SYM
bracis-19064	148	26	\begin{aligned	\begin{aligne	VERB
bracis-19064	148	27	}	}	PUNCT
bracis-19064	148	28	\varphi	\varphi	ADP
bracis-19064	148	29	_	_	PRON
bracis-19064	148	30	{	{	PUNCT
bracis-19064	148	31	i}^	i}^	NOUN
bracis-19064	148	32	{	{	PUNCT
bracis-19064	148	33	'	'	PUNCT
bracis-19064	148	34	}	}	PUNCT
bracis-19064	148	35	=	=	PUNCT
bracis-19064	148	36	\varphi	\varphi	PROPN
bracis-19064	148	37	_	_	PRON
bracis-19064	148	38	{	{	PUNCT
bracis-19064	148	39	i}b_{mult}^{\varphi	i}b_{mult}^{\varphi	ADJ
bracis-19064	148	40	}	}	PUNCT
bracis-19064	148	41	+	+	CCONJ
bracis-19064	148	42	b_{add}^{\varphi	b_{add}^{\varphi	ADV
bracis-19064	148	43	}	}	PUNCT
bracis-19064	148	44	\end{aligned}$$	\end{aligned}$$	X
bracis-19064	148	45	(	(	PUNCT
bracis-19064	148	46	10	10	NUM
bracis-19064	148	47	)	)	PUNCT
bracis-19064	148	48	where	where	SCONJ
bracis-19064	148	49	\(b_{mult}^{v}\	\(b_{mult}^{v}\	NOUN
bracis-19064	148	50	)	)	PUNCT
bracis-19064	148	51	is	be	AUX
bracis-19064	148	52	the	the	DET
bracis-19064	148	53	velocity	velocity	NOUN
bracis-19064	148	54	multiplicative	multiplicative	ADJ
bracis-19064	148	55	bias	bias	NOUN
bracis-19064	148	56	,	,	PUNCT
bracis-19064	148	57	\(b_{mult}^{\varphi	\(b_{mult}^{\varphi	ADJ
bracis-19064	148	58	}	}	PUNCT
bracis-19064	148	59	\	\	NOUN
bracis-19064	148	60	)	)	PUNCT
bracis-19064	148	61	and	and	CCONJ
bracis-19064	148	62	\(b_{add}^{\varphi	\(b_{add}^{\varphi	PUNCT
bracis-19064	148	63	}	}	PUNCT
bracis-19064	148	64	\	\	NOUN
bracis-19064	148	65	)	)	PUNCT
bracis-19064	148	66	are	be	AUX
bracis-19064	148	67	the	the	DET
bracis-19064	148	68	steering	steering	NOUN
bracis-19064	148	69	wheel	wheel	NOUN
bracis-19064	148	70	angle	angle	NOUN
bracis-19064	148	71	multiplicative	multiplicative	ADJ
bracis-19064	148	72	and	and	CCONJ
bracis-19064	148	73	additive	additive	ADJ
bracis-19064	148	74	bias	bias	NOUN
bracis-19064	148	75	.	.	PUNCT
bracis-19064	149	1	the	the	DET
bracis-19064	149	2	authors	author	NOUN
bracis-19064	149	3	employed	employ	VERB
bracis-19064	149	4	a	a	DET
bracis-19064	149	5	pso	pso	NOUN
bracis-19064	149	6	-	-	PUNCT
bracis-19064	149	7	based	base	VERB
bracis-19064	149	8	optimization	optimization	NOUN
bracis-19064	149	9	method	method	NOUN
bracis-19064	149	10	using	use	VERB
bracis-19064	149	11	a	a	DET
bracis-19064	149	12	fitness	fitness	NOUN
bracis-19064	149	13	function	function	NOUN
bracis-19064	149	14	,	,	PUNCT
bracis-19064	149	15	which	which	PRON
bracis-19064	149	16	computes	compute	VERB
bracis-19064	149	17	the	the	DET
bracis-19064	149	18	difference	difference	NOUN
bracis-19064	149	19	between	between	ADP
bracis-19064	149	20	gps	gps	NOUN
bracis-19064	149	21	and	and	CCONJ
bracis-19064	149	22	dead	dead	ADJ
bracis-19064	149	23	reckoning	reckoning	NOUN
bracis-19064	149	24	poses	pose	NOUN
bracis-19064	149	25	.	.	PUNCT
bracis-19064	150	1	each	each	DET
bracis-19064	150	2	particle	particle	NOUN
bracis-19064	150	3	contains	contain	VERB
bracis-19064	150	4	the	the	DET
bracis-19064	150	5	odometry	odometry	NOUN
bracis-19064	150	6	bias	bias	NOUN
bracis-19064	150	7	parameters	parameter	NOUN
bracis-19064	150	8	,	,	PUNCT
bracis-19064	150	9	\(\boldsymbol{b	\(\boldsymbol{b	ADJ
bracis-19064	150	10	}	}	PUNCT
bracis-19064	150	11	=	=	SYM
bracis-19064	150	12	\left	\left	PROPN
bracis-19064	150	13	(	(	PUNCT
bracis-19064	150	14	b_{mult}^{v	b_{mult}^{v	NOUN
bracis-19064	150	15	}	}	PUNCT
bracis-19064	150	16	,	,	PUNCT
bracis-19064	150	17	b_{mult}^{\varphi	b_{mult}^{\varphi	ADP
bracis-19064	150	18	}	}	PUNCT
bracis-19064	150	19	,	,	PUNCT
bracis-19064	150	20	b_{add}^{\varphi	b_{add}^{\varphi	ADV
bracis-19064	150	21	}	}	PUNCT
bracis-19064	150	22	\right	\right	NOUN
bracis-19064	150	23	)	)	PUNCT
bracis-19064	150	24	\	\	NOUN
bracis-19064	150	25	)	)	PUNCT
bracis-19064	150	26	,	,	PUNCT
bracis-19064	150	27	and	and	CCONJ
bracis-19064	150	28	the	the	DET
bracis-19064	150	29	best	good	ADJ
bracis-19064	150	30	parameters	parameter	NOUN
bracis-19064	150	31	are	be	AUX
bracis-19064	150	32	used	use	VERB
bracis-19064	150	33	to	to	PART
bracis-19064	150	34	update	update	VERB
bracis-19064	150	35	all	all	DET
bracis-19064	150	36	odometry	odometry	NOUN
bracis-19064	150	37	measurements	measurement	NOUN
bracis-19064	150	38	before	before	SCONJ
bracis-19064	150	39	the	the	DET
bracis-19064	150	40	av	av	PROPN
bracis-19064	150	41	poses	pose	VERB
bracis-19064	150	42	optimization	optimization	NOUN
bracis-19064	150	43	.	.	PUNCT
bracis-19064	151	1	we	we	PRON
bracis-19064	151	2	propose	propose	VERB
bracis-19064	151	3	a	a	DET
bracis-19064	151	4	new	new	ADJ
bracis-19064	151	5	method	method	NOUN
bracis-19064	151	6	,	,	PUNCT
bracis-19064	151	7	which	which	PRON
bracis-19064	151	8	is	be	AUX
bracis-19064	151	9	performed	perform	VERB
bracis-19064	151	10	directly	directly	ADV
bracis-19064	151	11	in	in	ADP
bracis-19064	151	12	the	the	DET
bracis-19064	151	13	hypergraph	hypergraph	NOUN
bracis-19064	151	14	optimization	optimization	NOUN
bracis-19064	151	15	.	.	PUNCT
bracis-19064	152	1	a	a	DET
bracis-19064	152	2	bias	bias	NOUN
bracis-19064	152	3	calibration	calibration	NOUN
bracis-19064	152	4	node	node	NOUN
bracis-19064	152	5	\(\boldsymbol{n}^{b}_{j	\(\boldsymbol{n}^{b}_{j	ADP
bracis-19064	152	6	:	:	PUNCT
bracis-19064	152	7	k}\	k}\	NOUN
bracis-19064	152	8	)	)	PUNCT
bracis-19064	153	1	contains	contain	VERB
bracis-19064	153	2	the	the	DET
bracis-19064	153	3	parameters	parameter	NOUN
bracis-19064	153	4	of	of	ADP
bracis-19064	153	5	the	the	DET
bracis-19064	153	6	eqs	eqs	PROPN
bracis-19064	153	7	.	.	PUNCT
bracis-19064	153	8	 	 	SPACE
bracis-19064	153	9	9	9	NUM
bracis-19064	153	10	and	and	CCONJ
bracis-19064	153	11	10	10	NUM
bracis-19064	153	12	:	:	PUNCT
bracis-19064	154	1	$	$	SYM
bracis-19064	154	2	$	$	SYM
bracis-19064	154	3	\begin{aligned	\begin{aligne	VERB
bracis-19064	154	4	}	}	PUNCT
bracis-19064	154	5	\boldsymbol{n}^{b}_{j	\boldsymbol{n}^{b}_{j	ADP
bracis-19064	154	6	:	:	PUNCT
bracis-19064	154	7	k	k	NOUN
bracis-19064	154	8	}	}	PUNCT
bracis-19064	154	9	=	=	SYM
bracis-19064	154	10	(	(	PUNCT
bracis-19064	154	11	b_{mult}^{v	b_{mult}^{v	NOUN
bracis-19064	154	12	}	}	PUNCT
bracis-19064	154	13	,	,	PUNCT
bracis-19064	154	14	b_{mult}^{\varphi	b_{mult}^{\varphi	ADP
bracis-19064	154	15	}	}	PUNCT
bracis-19064	154	16	,	,	PUNCT
bracis-19064	154	17	b_{add}^{\varphi	b_{add}^{\varphi	ADV
bracis-19064	154	18	}	}	PUNCT
bracis-19064	154	19	)	)	PUNCT
bracis-19064	155	1	_	_	PUNCT
bracis-19064	155	2	{	{	PUNCT
bracis-19064	155	3	j	j	NOUN
bracis-19064	155	4	:	:	PUNCT
bracis-19064	155	5	k	k	X
bracis-19064	155	6	}	}	PUNCT
bracis-19064	155	7	\end{aligned}$$	\end{aligned}$$	X
bracis-19064	155	8	(	(	PUNCT
bracis-19064	155	9	11	11	NUM
bracis-19064	155	10	)	)	PUNCT
bracis-19064	155	11	the	the	DET
bracis-19064	155	12	range	range	NOUN
bracis-19064	155	13	subscript	subscript	NOUN
bracis-19064	155	14	\(j	\(j	PROPN
bracis-19064	155	15	:	:	PUNCT
bracis-19064	155	16	k\	k\	NOUN
bracis-19064	155	17	)	)	PUNCT
bracis-19064	155	18	indicates	indicate	VERB
bracis-19064	155	19	that	that	SCONJ
bracis-19064	155	20	a	a	DET
bracis-19064	155	21	single	single	ADJ
bracis-19064	155	22	bias	bias	NOUN
bracis-19064	155	23	calibration	calibration	NOUN
bracis-19064	155	24	node	node	VERB
bracis-19064	155	25	\(\boldsymbol{n}^{b}_{j	\(\boldsymbol{n}^{b}_{j	ADP
bracis-19064	155	26	:	:	PUNCT
bracis-19064	155	27	k}\	k}\	NOUN
bracis-19064	155	28	)	)	PUNCT
bracis-19064	155	29	can	can	AUX
bracis-19064	155	30	be	be	AUX
bracis-19064	155	31	related	relate	VERB
bracis-19064	155	32	to	to	ADP
bracis-19064	155	33	any	any	DET
bracis-19064	155	34	subgroup	subgroup	NOUN
bracis-19064	155	35	of	of	ADP
bracis-19064	155	36	av	av	PROPN
bracis-19064	155	37	poses	pose	NOUN
bracis-19064	155	38	\(\boldsymbol{x}\	\(\boldsymbol{x}\	NUM
bracis-19064	155	39	)	)	PUNCT
bracis-19064	155	40	containing	contain	VERB
bracis-19064	155	41	all	all	DET
bracis-19064	155	42	consecutive	consecutive	ADJ
bracis-19064	155	43	poses	pose	NOUN
bracis-19064	155	44	from	from	ADP
bracis-19064	155	45	j	j	PROPN
bracis-19064	155	46	to	to	ADP
bracis-19064	155	47	k.	k.	PROPN
bracis-19064	155	48	as	as	SCONJ
bracis-19064	155	49	each	each	DET
bracis-19064	155	50	session	session	NOUN
bracis-19064	155	51	generates	generate	VERB
bracis-19064	155	52	its	its	PRON
bracis-19064	155	53	hypergraph	hypergraph	NOUN
bracis-19064	155	54	and	and	CCONJ
bracis-19064	155	55	each	each	DET
bracis-19064	155	56	hypergraph	hypergraph	NOUN
bracis-19064	155	57	have	have	VERB
bracis-19064	155	58	at	at	ADV
bracis-19064	155	59	least	least	ADV
bracis-19064	155	60	one	one	NUM
bracis-19064	155	61	bias	bias	NOUN
bracis-19064	155	62	calibration	calibration	NOUN
bracis-19064	155	63	node	node	NOUN
bracis-19064	155	64	,	,	PUNCT
bracis-19064	155	65	the	the	DET
bracis-19064	155	66	system	system	NOUN
bracis-19064	155	67	can	can	AUX
bracis-19064	155	68	calibrate	calibrate	VERB
bracis-19064	155	69	the	the	DET
bracis-19064	155	70	odometry	odometry	NOUN
bracis-19064	155	71	bias	bias	NOUN
bracis-19064	155	72	on	on	ADP
bracis-19064	155	73	each	each	DET
bracis-19064	155	74	session	session	NOUN
bracis-19064	155	75	.	.	PUNCT
bracis-19064	156	1	each	each	DET
bracis-19064	156	2	pair	pair	NOUN
bracis-19064	156	3	\(\left	\(\left	PROPN
bracis-19064	156	4	(	(	PUNCT
bracis-19064	156	5	\boldsymbol{n}_{i	\boldsymbol{n}_{i	PROPN
bracis-19064	156	6	}	}	PUNCT
bracis-19064	156	7	,	,	PUNCT
bracis-19064	156	8	\boldsymbol{n}_{i+1	\boldsymbol{n}_{i+1	NOUN
bracis-19064	156	9	}	}	PUNCT
bracis-19064	156	10	\right	\right	PROPN
bracis-19064	156	11	)	)	PUNCT
bracis-19064	156	12	\	\	NOUN
bracis-19064	156	13	)	)	PUNCT
bracis-19064	157	1	is	be	AUX
bracis-19064	157	2	linked	link	VERB
bracis-19064	157	3	to	to	ADP
bracis-19064	157	4	a	a	DET
bracis-19064	157	5	calibration	calibration	NOUN
bracis-19064	157	6	node	node	NOUN
bracis-19064	157	7	,	,	PUNCT
bracis-19064	157	8	forming	form	VERB
bracis-19064	157	9	a	a	DET
bracis-19064	157	10	hyperedge	hyperedge	NOUN
bracis-19064	157	11	.	.	PUNCT
bracis-19064	158	1	we	we	PRON
bracis-19064	158	2	use	use	VERB
bracis-19064	158	3	the	the	DET
bracis-19064	158	4	following	follow	VERB
bracis-19064	158	5	error	error	NOUN
bracis-19064	158	6	to	to	PART
bracis-19064	158	7	calibrate	calibrate	VERB
bracis-19064	158	8	the	the	DET
bracis-19064	158	9	odometry	odometry	NOUN
bracis-19064	158	10	bias	bias	NOUN
bracis-19064	158	11	:	:	PUNCT
bracis-19064	158	12	$	$	SYM
bracis-19064	158	13	$	$	SYM
bracis-19064	158	14	\begin{aligned	\begin{aligne	VERB
bracis-19064	158	15	}	}	PUNCT
bracis-19064	158	16	\boldsymbol{e}_{i	\boldsymbol{e}_{i	PROPN
bracis-19064	158	17	,	,	PUNCT
bracis-19064	158	18	j	j	NOUN
bracis-19064	158	19	:	:	PUNCT
bracis-19064	158	20	k	k	ADJ
bracis-19064	158	21	}	}	PUNCT
bracis-19064	158	22	\left	\left	PROPN
bracis-19064	158	23	(	(	PUNCT
bracis-19064	158	24	\boldsymbol{x	\boldsymbol{x	ADP
bracis-19064	158	25	}	}	PUNCT
bracis-19064	158	26	,	,	PUNCT
bracis-19064	158	27	\boldsymbol{b	\boldsymbol{b	NOUN
bracis-19064	158	28	}	}	PUNCT
bracis-19064	158	29	,	,	PUNCT
bracis-19064	158	30	\boldsymbol{u	\boldsymbol{u	X
bracis-19064	158	31	}	}	PUNCT
bracis-19064	158	32	\right	\right	PROPN
bracis-19064	158	33	)	)	PUNCT
bracis-19064	158	34	=	=	SYM
bracis-19064	158	35	\left	\left	PROPN
bracis-19064	158	36	(	(	PUNCT
bracis-19064	158	37	\boldsymbol{x}_{i+1	\boldsymbol{x}_{i+1	NOUN
bracis-19064	158	38	}	}	PUNCT
bracis-19064	158	39	\ominus	\ominus	NOUN
bracis-19064	158	40	\boldsymbol{x}_{i	\boldsymbol{x}_{i	ADP
bracis-19064	158	41	}	}	PUNCT
bracis-19064	158	42	\right	\right	PROPN
bracis-19064	158	43	)	)	PUNCT
bracis-19064	158	44	\ominus	\ominus	PROPN
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bracis-19064	158	46	:	:	PUNCT
bracis-19064	158	47	k	k	ADJ
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bracis-19064	158	49	,	,	PUNCT
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bracis-19064	158	52	,	,	PUNCT
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bracis-19064	158	55	)	)	PUNCT
bracis-19064	158	56	\end{aligned}$$	\end{aligned}$$	PROPN
bracis-19064	159	1	(	(	PUNCT
bracis-19064	159	2	12	12	NUM
bracis-19064	159	3	)	)	PUNCT
bracis-19064	159	4	where	where	SCONJ
bracis-19064	159	5	\(\overline{k}(.)\	\(\overline{k}(.)\	NOUN
bracis-19064	159	6	)	)	PUNCT
bracis-19064	159	7	is	be	AUX
bracis-19064	159	8	a	a	DET
bracis-19064	159	9	function	function	NOUN
bracis-19064	159	10	that	that	PRON
bracis-19064	159	11	takes	take	VERB
bracis-19064	159	12	the	the	DET
bracis-19064	159	13	bias	bias	NOUN
bracis-19064	159	14	parameters	parameter	NOUN
bracis-19064	159	15	\(\boldsymbol{b}_{j	\(\boldsymbol{b}_{j	VERB
bracis-19064	159	16	:	:	PUNCT
bracis-19064	159	17	k}\	k}\	NOUN
bracis-19064	159	18	)	)	PUNCT
bracis-19064	159	19	at	at	ADP
bracis-19064	159	20	\(\boldsymbol{n}^{b}_{j	\(\boldsymbol{n}^{b}_{j	ADP
bracis-19064	159	21	:	:	PUNCT
bracis-19064	159	22	k}\	k}\	NOUN
bracis-19064	159	23	)	)	PUNCT
bracis-19064	159	24	to	to	PART
bracis-19064	159	25	update	update	VERB
bracis-19064	159	26	the	the	DET
bracis-19064	159	27	command	command	NOUN
bracis-19064	159	28	\(\boldsymbol{u}_{i}\	\(\boldsymbol{u}_{i}\	X
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bracis-19064	159	30	through	through	ADP
bracis-19064	159	31	eqs	eqs	PROPN
bracis-19064	159	32	.	.	PUNCT
bracis-19064	159	33	 	 	SPACE
bracis-19064	159	34	9	9	NUM
bracis-19064	159	35	and	and	CCONJ
bracis-19064	159	36	10	10	NUM
bracis-19064	159	37	,	,	PUNCT
bracis-19064	159	38	and	and	CCONJ
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bracis-19064	159	40	it	it	PRON
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bracis-19064	159	42	k	k	PROPN
bracis-19064	159	43	(	(	PUNCT
bracis-19064	159	44	.	.	PUNCT
bracis-19064	159	45	)	)	PUNCT
bracis-19064	159	46	to	to	PART
bracis-19064	159	47	estimate	estimate	VERB
bracis-19064	159	48	a	a	DET
bracis-19064	159	49	relative	relative	ADJ
bracis-19064	159	50	displacement	displacement	NOUN
bracis-19064	159	51	.	.	PUNCT
bracis-19064	160	1	the	the	DET
bracis-19064	160	2	global	global	PROPN
bracis-19064	160	3	odometry	odometry	NOUN
bracis-19064	160	4	bias	bias	NOUN
bracis-19064	160	5	calibration	calibration	NOUN
bracis-19064	160	6	error	error	NOUN
bracis-19064	160	7	is	be	AUX
bracis-19064	160	8	defined	define	VERB
bracis-19064	160	9	as	as	ADP
bracis-19064	160	10	:	:	PUNCT
bracis-19064	160	11	$	$	SYM
bracis-19064	160	12	$	$	SYM
bracis-19064	160	13	\begin{aligned	\begin{aligne	VERB
bracis-19064	160	14	}	}	PUNCT
bracis-19064	160	15	\boldsymbol{j}^{b}&(\boldsymbol{x	\boldsymbol{j}^{b}&(\boldsymbol{x	PROPN
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bracis-19064	160	17	,	,	PUNCT
bracis-19064	160	18	\boldsymbol{b	\boldsymbol{b	NOUN
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bracis-19064	160	20	,	,	PUNCT
bracis-19064	160	21	\boldsymbol{u	\boldsymbol{u	X
bracis-19064	160	22	}	}	PUNCT
bracis-19064	160	23	)	)	PUNCT
bracis-19064	161	1	\nonumber	\nonumber	AUX
bracis-19064	161	2	\\&=\,\sum	\\&=\,\sum	VERB
bracis-19064	161	3	_	_	PRON
bracis-19064	161	4	{	{	PUNCT
bracis-19064	161	5	j	j	NOUN
bracis-19064	161	6	:	:	PUNCT
bracis-19064	161	7	k	k	ADJ
bracis-19064	161	8	}	}	PUNCT
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bracis-19064	162	1	_	_	PUNCT
bracis-19064	162	2	{	{	PUNCT
bracis-19064	162	3	i	i	PRON
bracis-19064	162	4	=	=	SYM
bracis-19064	162	5	j}^{k-1	j}^{k-1	X
bracis-19064	162	6	}	}	PUNCT
bracis-19064	162	7	\boldsymbol{e}_{i	\boldsymbol{e}_{i	PROPN
bracis-19064	162	8	,	,	PUNCT
bracis-19064	162	9	j	j	NOUN
bracis-19064	162	10	:	:	PUNCT
bracis-19064	162	11	k	k	ADJ
bracis-19064	162	12	}	}	PUNCT
bracis-19064	162	13	\left	\left	PROPN
bracis-19064	162	14	(	(	PUNCT
bracis-19064	162	15	\boldsymbol{x	\boldsymbol{x	ADP
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bracis-19064	162	17	,	,	PUNCT
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bracis-19064	162	20	,	,	PUNCT
bracis-19064	162	21	\boldsymbol{u	\boldsymbol{u	X
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bracis-19064	162	24	)	)	PUNCT
bracis-19064	162	25	^{\intercal	^{\intercal	NUM
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bracis-19064	162	27	\boldsymbol{\hat{\varomega	\boldsymbol{\hat{\varomega	X
bracis-19064	162	28	}	}	PUNCT
bracis-19064	162	29	}	}	PUNCT
bracis-19064	162	30	_	_	PRON
bracis-19064	162	31	{	{	PUNCT
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bracis-19064	162	38	k	k	ADJ
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bracis-19064	162	41	(	(	PUNCT
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bracis-19064	162	44	,	,	PUNCT
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bracis-19064	162	47	,	,	PUNCT
bracis-19064	162	48	\boldsymbol{u	\boldsymbol{u	X
bracis-19064	162	49	}	}	PUNCT
bracis-19064	162	50	\right	\right	PROPN
bracis-19064	162	51	)	)	PUNCT
bracis-19064	162	52	\end{aligned}$$	\end{aligned}$$	X
bracis-19064	162	53	(	(	PUNCT
bracis-19064	162	54	13	13	NUM
bracis-19064	162	55	)	)	PUNCT
bracis-19064	162	56	where	where	SCONJ
bracis-19064	162	57	\(\hat{\varomega	\(\hat{\varomega	ADP
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bracis-19064	162	60	{	{	PUNCT
bracis-19064	162	61	i}^{b}\	i}^{b}\	NOUN
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bracis-19064	162	65	odometry	odometry	NOUN
bracis-19064	162	66	information	information	NOUN
bracis-19064	162	67	matrix	matrix	NOUN
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bracis-19064	162	76	.	.	PUNCT
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bracis-19064	163	2	this	this	DET
bracis-19064	163	3	case	case	NOUN
bracis-19064	163	4	,	,	PUNCT
bracis-19064	163	5	the	the	DET
bracis-19064	163	6	projection	projection	NOUN
bracis-19064	163	7	must	must	AUX
bracis-19064	163	8	be	be	AUX
bracis-19064	163	9	updated	update	VERB
bracis-19064	163	10	when	when	SCONJ
bracis-19064	163	11	the	the	DET
bracis-19064	163	12	bias	bias	NOUN
bracis-19064	163	13	changes	change	VERB
bracis-19064	163	14	substantially	substantially	ADV
bracis-19064	163	15	.	.	PUNCT
bracis-19064	164	1	fig	fig	NOUN
bracis-19064	164	2	.	.	PUNCT
bracis-19064	165	1	5	5	X
bracis-19064	165	2	.	.	X
bracis-19064	165	3	graph	graph	NOUN
bracis-19064	165	4	containing	contain	VERB
bracis-19064	165	5	edges	edge	NOUN
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bracis-19064	165	7	odometry	odometry	NOUN
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bracis-19064	165	12	closure	closure	NOUN
bracis-19064	165	13	.	.	PUNCT
bracis-19064	166	1	full	full	ADJ
bracis-19064	166	2	size	size	NOUN
bracis-19064	166	3	image	image	NOUN
bracis-19064	166	4	fig	fig	NOUN
bracis-19064	166	5	.	.	PUNCT
bracis-19064	167	1	6	6	NUM
bracis-19064	167	2	.	.	X
bracis-19064	167	3	odometry	odometry	NOUN
bracis-19064	167	4	bias	bias	PROPN
bracis-19064	167	5	calibration	calibration	NOUN
bracis-19064	167	6	node	node	NOUN
bracis-19064	167	7	and	and	CCONJ
bracis-19064	167	8	hyperedges	hyperedge	NOUN
bracis-19064	167	9	.	.	PUNCT
bracis-19064	168	1	full	full	ADJ
bracis-19064	168	2	size	size	NOUN
bracis-19064	168	3	image	image	NOUN
bracis-19064	168	4	the	the	DET
bracis-19064	168	5	resulting	result	VERB
bracis-19064	168	6	hypergraph	hypergraph	NOUN
bracis-19064	168	7	contains	contain	VERB
bracis-19064	168	8	all	all	PRON
bracis-19064	168	9	av	av	PROPN
bracis-19064	168	10	pose	pose	NOUN
bracis-19064	168	11	nodes	node	NOUN
bracis-19064	168	12	,	,	PUNCT
bracis-19064	168	13	the	the	DET
bracis-19064	168	14	odometry	odometry	NOUN
bracis-19064	168	15	bias	bias	NOUN
bracis-19064	168	16	calibration	calibration	NOUN
bracis-19064	168	17	nodes	node	NOUN
bracis-19064	168	18	and	and	CCONJ
bracis-19064	168	19	all	all	DET
bracis-19064	168	20	required	require	VERB
bracis-19064	168	21	edges	edge	NOUN
bracis-19064	168	22	to	to	PART
bracis-19064	168	23	impose	impose	VERB
bracis-19064	168	24	the	the	DET
bracis-19064	168	25	constraints	constraint	NOUN
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bracis-19064	168	27	in	in	ADP
bracis-19064	168	28	eqs	eqs	PROPN
bracis-19064	168	29	.	.	PUNCT
bracis-19064	168	30	 	 	SPACE
bracis-19064	168	31	4	4	NUM
bracis-19064	168	32	,	,	PUNCT
bracis-19064	168	33	6	6	NUM
bracis-19064	168	34	,	,	PUNCT
bracis-19064	168	35	8	8	NUM
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bracis-19064	168	37	13	13	NUM
bracis-19064	168	38	.	.	PUNCT
bracis-19064	169	1	figure	figure	NOUN
bracis-19064	169	2	 	 	SPACE
bracis-19064	169	3	5	5	NUM
bracis-19064	169	4	illustrates	illustrate	VERB
bracis-19064	169	5	the	the	DET
bracis-19064	169	6	relationships	relationship	NOUN
bracis-19064	169	7	between	between	ADP
bracis-19064	169	8	the	the	DET
bracis-19064	169	9	elements	element	NOUN
bracis-19064	169	10	of	of	ADP
bracis-19064	169	11	the	the	DET
bracis-19064	169	12	hypergraph	hypergraph	NOUN
bracis-19064	169	13	,	,	PUNCT
bracis-19064	169	14	including	include	VERB
bracis-19064	169	15	pose	pose	NOUN
bracis-19064	169	16	nodes	node	NOUN
bracis-19064	169	17	,	,	PUNCT
bracis-19064	169	18	odometry	odometry	NOUN
bracis-19064	169	19	edges	edge	NOUN
bracis-19064	169	20	,	,	PUNCT
bracis-19064	169	21	a	a	DET
bracis-19064	169	22	gps	gps	NOUN
bracis-19064	169	23	edge	edge	NOUN
bracis-19064	169	24	,	,	PUNCT
bracis-19064	169	25	and	and	CCONJ
bracis-19064	169	26	a	a	DET
bracis-19064	169	27	loop	loop	NOUN
bracis-19064	169	28	closure	closure	NOUN
bracis-19064	169	29	edge	edge	NOUN
bracis-19064	169	30	.	.	PUNCT
bracis-19064	170	1	figure	figure	NOUN
bracis-19064	170	2	 	 	SPACE
bracis-19064	170	3	6	6	NUM
bracis-19064	170	4	displays	display	VERB
bracis-19064	170	5	an	an	DET
bracis-19064	170	6	odometry	odometry	NOUN
bracis-19064	170	7	bias	bias	NOUN
bracis-19064	170	8	calibration	calibration	NOUN
bracis-19064	170	9	node	node	NOUN
bracis-19064	170	10	and	and	CCONJ
bracis-19064	170	11	some	some	DET
bracis-19064	170	12	calibration	calibration	NOUN
bracis-19064	170	13	hyperedges	hyperedge	NOUN
bracis-19064	170	14	represented	represent	VERB
bracis-19064	170	15	by	by	ADP
bracis-19064	170	16	regions	region	NOUN
bracis-19064	170	17	with	with	ADP
bracis-19064	170	18	different	different	ADJ
bracis-19064	170	19	colors	color	NOUN
bracis-19064	170	20	for	for	ADP
bracis-19064	170	21	better	well	ADJ
bracis-19064	170	22	visualization	visualization	NOUN
bracis-19064	170	23	.	.	PUNCT
bracis-19064	171	1	3.3	3.3	NUM
bracis-19064	171	2	hypergraph	hypergraph	NOUN
bracis-19064	171	3	optimization	optimization	NOUN
bracis-19064	171	4	the	the	DET
bracis-19064	171	5	hypergraph	hypergraph	NOUN
bracis-19064	171	6	optimization	optimization	NOUN
bracis-19064	171	7	is	be	AUX
bracis-19064	171	8	an	an	DET
bracis-19064	171	9	iterative	iterative	NOUN
bracis-19064	171	10	process	process	NOUN
bracis-19064	171	11	limited	limit	VERB
bracis-19064	171	12	by	by	ADP
bracis-19064	171	13	a	a	DET
bracis-19064	171	14	pre	pre	ADJ
bracis-19064	171	15	-	-	ADJ
bracis-19064	171	16	defined	define	VERB
bracis-19064	171	17	number	number	NOUN
bracis-19064	171	18	of	of	ADP
bracis-19064	171	19	iterations	iteration	NOUN
bracis-19064	171	20	and	and	CCONJ
bracis-19064	171	21	it	it	PRON
bracis-19064	171	22	is	be	AUX
bracis-19064	171	23	separated	separate	VERB
bracis-19064	171	24	in	in	ADP
bracis-19064	171	25	two	two	NUM
bracis-19064	171	26	main	main	ADJ
bracis-19064	171	27	steps	step	NOUN
bracis-19064	171	28	.	.	PUNCT
bracis-19064	172	1	the	the	DET
bracis-19064	172	2	first	first	ADJ
bracis-19064	172	3	step	step	NOUN
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bracis-19064	172	8	of	of	ADP
bracis-19064	172	9	the	the	DET
bracis-19064	172	10	av	av	PROPN
bracis-19064	172	11	poses	pose	NOUN
bracis-19064	172	12	by	by	ADP
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bracis-19064	172	14	eqs	eqs	PROPN
bracis-19064	172	15	.	.	PUNCT
bracis-19064	172	16	 	 	SPACE
bracis-19064	172	17	4	4	NUM
bracis-19064	172	18	,	,	PUNCT
bracis-19064	172	19	6	6	NUM
bracis-19064	172	20	and	and	CCONJ
bracis-19064	172	21	8	8	NUM
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bracis-19064	172	23	excluding	exclude	VERB
bracis-19064	172	24	eq	eq	NOUN
bracis-19064	172	25	.	.	PUNCT
bracis-19064	172	26	 	 	SPACE
bracis-19064	172	27	13	13	NUM
bracis-19064	172	28	:	:	PUNCT
bracis-19064	172	29	$	$	SYM
bracis-19064	172	30	$	$	SYM
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bracis-19064	172	35	\left	\left	PROPN
bracis-19064	172	36	(	(	PUNCT
bracis-19064	172	37	\boldsymbol{x	\boldsymbol{x	ADP
bracis-19064	172	38	}	}	PUNCT
bracis-19064	172	39	,	,	PUNCT
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bracis-19064	172	42	=	=	PUNCT
bracis-19064	172	43	\boldsymbol{j}^{o	\boldsymbol{j}^{o	X
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bracis-19064	172	45	\left	\left	PROPN
bracis-19064	172	46	(	(	PUNCT
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bracis-19064	173	1	+	+	CCONJ
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bracis-19064	173	4	\left	\left	PROPN
bracis-19064	173	5	(	(	PUNCT
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bracis-19064	173	7	)	)	PUNCT
bracis-19064	173	8	+	+	CCONJ
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bracis-19064	173	11	\left	\left	PROPN
bracis-19064	173	12	(	(	PUNCT
bracis-19064	173	13	\boldsymbol{x}\right	\boldsymbol{x}\right	PROPN
bracis-19064	173	14	)	)	PUNCT
bracis-19064	173	15	\end{aligned}$$	\end{aligned}$$	PROPN
bracis-19064	173	16	(	(	PUNCT
bracis-19064	173	17	14	14	NUM
bracis-19064	173	18	)	)	PUNCT
bracis-19064	173	19	the	the	DET
bracis-19064	173	20	second	second	ADJ
bracis-19064	173	21	step	step	NOUN
bracis-19064	173	22	swaps	swap	VERB
bracis-19064	173	23	the	the	DET
bracis-19064	173	24	node	node	ADJ
bracis-19064	173	25	update	update	NOUN
bracis-19064	173	26	strategy	strategy	NOUN
bracis-19064	173	27	by	by	ADP
bracis-19064	173	28	handling	handle	VERB
bracis-19064	173	29	only	only	ADV
bracis-19064	173	30	the	the	DET
bracis-19064	173	31	odometry	odometry	NOUN
bracis-19064	173	32	bias	bias	NOUN
bracis-19064	173	33	calibration	calibration	NOUN
bracis-19064	173	34	:	:	PUNCT
bracis-19064	173	35	$	$	SYM
bracis-19064	173	36	$	$	SYM
bracis-19064	173	37	\begin{aligned	\begin{aligne	VERB
bracis-19064	173	38	}	}	PUNCT
bracis-19064	173	39	\boldsymbol{j}_{2	\boldsymbol{j}_{2	ADJ
bracis-19064	173	40	}	}	PUNCT
bracis-19064	173	41	=	=	SYM
bracis-19064	173	42	\boldsymbol{j}^{b	\boldsymbol{j}^{b	X
bracis-19064	173	43	}	}	PUNCT
bracis-19064	173	44	(	(	PUNCT
bracis-19064	173	45	\boldsymbol{x	\boldsymbol{x	ADP
bracis-19064	173	46	}	}	PUNCT
bracis-19064	173	47	,	,	PUNCT
bracis-19064	173	48	\boldsymbol{b	\boldsymbol{b	NOUN
bracis-19064	173	49	}	}	PUNCT
bracis-19064	173	50	,	,	PUNCT
bracis-19064	173	51	\boldsymbol{u	\boldsymbol{u	X
bracis-19064	173	52	}	}	PUNCT
bracis-19064	173	53	)	)	PUNCT
bracis-19064	173	54	\end{aligned}$$	\end{aligned}$$	PROPN
bracis-19064	173	55	(	(	PUNCT
bracis-19064	173	56	15	15	NUM
bracis-19064	173	57	)	)	PUNCT
bracis-19064	173	58	when	when	SCONJ
bracis-19064	173	59	the	the	DET
bracis-19064	173	60	second	second	ADJ
bracis-19064	173	61	step	step	NOUN
bracis-19064	173	62	reaches	reach	VERB
bracis-19064	173	63	a	a	DET
bracis-19064	173	64	defined	define	VERB
bracis-19064	173	65	number	number	NOUN
bracis-19064	173	66	of	of	ADP
bracis-19064	173	67	iterations	iteration	NOUN
bracis-19064	173	68	,	,	PUNCT
bracis-19064	173	69	the	the	DET
bracis-19064	173	70	new	new	ADJ
bracis-19064	173	71	odometry	odometry	NOUN
bracis-19064	173	72	biases	bias	NOUN
bracis-19064	173	73	are	be	AUX
bracis-19064	173	74	used	use	VERB
bracis-19064	173	75	to	to	PART
bracis-19064	173	76	update	update	VERB
bracis-19064	173	77	all	all	DET
bracis-19064	173	78	edges	edge	NOUN
bracis-19064	173	79	related	relate	VERB
bracis-19064	173	80	to	to	ADP
bracis-19064	173	81	eq	eq	PROPN
bracis-19064	173	82	.	.	PUNCT
bracis-19064	173	83	 	 	SPACE
bracis-19064	173	84	7	7	NUM
bracis-19064	173	85	by	by	ADP
bracis-19064	173	86	first	first	ADV
bracis-19064	173	87	updating	update	VERB
bracis-19064	173	88	the	the	DET
bracis-19064	173	89	corresponding	corresponding	ADJ
bracis-19064	173	90	commands	command	NOUN
bracis-19064	173	91	\(\boldsymbol{u}\	\(\boldsymbol{u}\	NOUN
bracis-19064	173	92	)	)	PUNCT
bracis-19064	173	93	using	use	VERB
bracis-19064	173	94	eqs	eqs	PROPN
bracis-19064	173	95	.	.	PUNCT
bracis-19064	173	96	 	 	SPACE
bracis-19064	173	97	9	9	NUM
bracis-19064	173	98	and	and	CCONJ
bracis-19064	173	99	10	10	NUM
bracis-19064	173	100	.	.	PUNCT
bracis-19064	174	1	after	after	ADP
bracis-19064	174	2	these	these	DET
bracis-19064	174	3	updates	update	NOUN
bracis-19064	174	4	,	,	PUNCT
bracis-19064	174	5	the	the	DET
bracis-19064	174	6	optimization	optimization	NOUN
bracis-19064	174	7	process	process	NOUN
bracis-19064	174	8	restarts	restart	NOUN
bracis-19064	174	9	from	from	ADP
bracis-19064	174	10	the	the	DET
bracis-19064	174	11	first	first	ADJ
bracis-19064	174	12	step	step	NOUN
bracis-19064	174	13	.	.	PUNCT
bracis-19064	175	1	after	after	ADP
bracis-19064	175	2	repeating	repeat	VERB
bracis-19064	175	3	the	the	DET
bracis-19064	175	4	two	two	NUM
bracis-19064	175	5	steps	step	NOUN
bracis-19064	175	6	for	for	ADP
bracis-19064	175	7	a	a	DET
bracis-19064	175	8	desired	desire	VERB
bracis-19064	175	9	number	number	NOUN
bracis-19064	175	10	of	of	ADP
bracis-19064	175	11	iterations	iteration	NOUN
bracis-19064	175	12	,	,	PUNCT
bracis-19064	175	13	the	the	DET
bracis-19064	175	14	optimization	optimization	NOUN
bracis-19064	175	15	returns	return	VERB
bracis-19064	175	16	the	the	DET
bracis-19064	175	17	avs	avs	NOUN
bracis-19064	175	18	poses	pose	NOUN
bracis-19064	175	19	and	and	CCONJ
bracis-19064	175	20	the	the	DET
bracis-19064	175	21	odometry	odometry	NOUN
bracis-19064	175	22	calibration	calibration	NOUN
bracis-19064	175	23	biases	bias	NOUN
bracis-19064	175	24	.	.	PUNCT
bracis-19064	176	1	3.4	3.4	NUM
bracis-19064	176	2	large	large	ADJ
bracis-19064	176	3	-	-	PUNCT
bracis-19064	176	4	scale	scale	NOUN
bracis-19064	176	5	environment	environment	NOUN
bracis-19064	176	6	mapping	mapping	NOUN
bracis-19064	176	7	the	the	DET
bracis-19064	176	8	map	map	NOUN
bracis-19064	176	9	is	be	AUX
bracis-19064	176	10	represented	represent	VERB
bracis-19064	176	11	in	in	ADP
bracis-19064	176	12	log	log	NOUN
bracis-19064	176	13	-	-	PUNCT
bracis-19064	176	14	odds	odd	NOUN
bracis-19064	176	15	to	to	PART
bracis-19064	176	16	avoid	avoid	VERB
bracis-19064	176	17	numerical	numerical	ADJ
bracis-19064	176	18	instabilities	instability	NOUN
bracis-19064	176	19	 	 	SPACE
bracis-19064	177	1	[	[	X
bracis-19064	177	2	21	21	NUM
bracis-19064	177	3	]	]	PUNCT
bracis-19064	177	4	.	.	PUNCT
bracis-19064	178	1	the	the	DET
bracis-19064	178	2	log	log	NOUN
bracis-19064	178	3	-	-	PUNCT
bracis-19064	178	4	odds	odd	NOUN
bracis-19064	178	5	of	of	ADP
bracis-19064	178	6	a	a	DET
bracis-19064	178	7	given	give	VERB
bracis-19064	178	8	cell	cell	NOUN
bracis-19064	178	9	\(\boldsymbol{m}_{c}\	\(\boldsymbol{m}_{c}\	NOUN
bracis-19064	178	10	)	)	PUNCT
bracis-19064	178	11	in	in	ADP
bracis-19064	178	12	the	the	DET
bracis-19064	178	13	map	map	NOUN
bracis-19064	178	14	is	be	AUX
bracis-19064	178	15	defined	define	VERB
bracis-19064	178	16	as	as	ADP
bracis-19064	178	17	:	:	PUNCT
bracis-19064	178	18	$	$	SYM
bracis-19064	178	19	$	$	SYM
bracis-19064	178	20	\begin{aligned	\begin{aligne	VERB
bracis-19064	178	21	}	}	PUNCT
bracis-19064	178	22	l_{c	l_{c	PROPN
bracis-19064	178	23	}	}	PUNCT
bracis-19064	178	24	=	=	SYM
bracis-19064	178	25	\log	\log	PROPN
bracis-19064	178	26	{	{	PUNCT
bracis-19064	178	27	\frac{p	\frac{p	NOUN
bracis-19064	178	28	\left	\left	PROPN
bracis-19064	178	29	(	(	PUNCT
bracis-19064	178	30	\boldsymbol{m}_{c}|	\boldsymbol{m}_{c}|	PROPN
bracis-19064	178	31	\boldsymbol{x	\boldsymbol{x	PROPN
bracis-19064	178	32	}	}	PUNCT
bracis-19064	178	33	,	,	PUNCT
bracis-19064	178	34	\boldsymbol{z}\right	\boldsymbol{z}\right	NUM
bracis-19064	178	35	)	)	PUNCT
bracis-19064	178	36	}	}	PUNCT
bracis-19064	178	37	{	{	PUNCT
bracis-19064	178	38	1	1	NUM
bracis-19064	178	39	p	p	PRON
bracis-19064	178	40	\left	\left	PROPN
bracis-19064	178	41	(	(	PUNCT
bracis-19064	178	42	\boldsymbol{m}_{c}|	\boldsymbol{m}_{c}|	PROPN
bracis-19064	178	43	\boldsymbol{x	\boldsymbol{x	PROPN
bracis-19064	178	44	}	}	PUNCT
bracis-19064	178	45	,	,	PUNCT
bracis-19064	178	46	\boldsymbol{z}\right	\boldsymbol{z}\right	NUM
bracis-19064	178	47	)	)	PUNCT
bracis-19064	178	48	}	}	PUNCT
bracis-19064	178	49	}	}	PUNCT
bracis-19064	178	50	\end{aligned}$$	\end{aligned}$$	PROPN
bracis-19064	178	51	(	(	PUNCT
bracis-19064	178	52	16	16	NUM
bracis-19064	178	53	)	)	PUNCT
bracis-19064	178	54	where	where	SCONJ
bracis-19064	178	55	\(p	\(p	PROPN
bracis-19064	178	56	\left	\left	PROPN
bracis-19064	178	57	(	(	PUNCT
bracis-19064	178	58	\boldsymbol{m}_{c}|	\boldsymbol{m}_{c}|	PROPN
bracis-19064	178	59	\boldsymbol{x	\boldsymbol{x	PROPN
bracis-19064	178	60	}	}	PUNCT
bracis-19064	178	61	,	,	PUNCT
bracis-19064	178	62	\boldsymbol{z}\right	\boldsymbol{z}\right	NUM
bracis-19064	178	63	)	)	PUNCT
bracis-19064	178	64	\	\	NOUN
bracis-19064	178	65	)	)	PUNCT
bracis-19064	178	66	is	be	AUX
bracis-19064	178	67	the	the	DET
bracis-19064	178	68	probability	probability	NOUN
bracis-19064	178	69	of	of	ADP
bracis-19064	178	70	\(\boldsymbol{m}_{c}\	\(\boldsymbol{m}_{c}\	NOUN
bracis-19064	178	71	)	)	PUNCT
bracis-19064	178	72	being	be	AUX
bracis-19064	178	73	occupied	occupy	VERB
bracis-19064	178	74	given	give	VERB
bracis-19064	178	75	\(\boldsymbol{x}\	\(\boldsymbol{x}\	NUM
bracis-19064	178	76	)	)	PUNCT
bracis-19064	178	77	and	and	CCONJ
bracis-19064	178	78	\(\boldsymbol{z}\	\(\boldsymbol{z}\	NUM
bracis-19064	178	79	)	)	PUNCT
bracis-19064	178	80	.	.	PUNCT
bracis-19064	179	1	initially	initially	ADV
bracis-19064	179	2	,	,	PUNCT
bracis-19064	179	3	all	all	DET
bracis-19064	179	4	grid	grid	NOUN
bracis-19064	179	5	cells	cell	NOUN
bracis-19064	179	6	are	be	AUX
bracis-19064	179	7	set	set	VERB
bracis-19064	179	8	to	to	ADP
bracis-19064	179	9	an	an	DET
bracis-19064	179	10	invalid	invalid	ADJ
bracis-19064	179	11	state	state	NOUN
bracis-19064	179	12	(	(	PUNCT
bracis-19064	179	13	e.g.	e.g.	ADV
bracis-19064	179	14	-1.0	-1.0	PROPN
bracis-19064	179	15	)	)	PUNCT
bracis-19064	179	16	and	and	CCONJ
bracis-19064	179	17	,	,	PUNCT
bracis-19064	179	18	at	at	ADP
bracis-19064	179	19	each	each	DET
bracis-19064	179	20	time	time	NOUN
bracis-19064	179	21	step	step	NOUN
bracis-19064	179	22	,	,	PUNCT
bracis-19064	179	23	if	if	SCONJ
bracis-19064	179	24	a	a	DET
bracis-19064	179	25	cell	cell	NOUN
bracis-19064	179	26	\(\boldsymbol{m}_{c}\	\(\boldsymbol{m}_{c}\	NOUN
bracis-19064	179	27	)	)	PUNCT
bracis-19064	179	28	is	be	AUX
bracis-19064	179	29	in	in	ADP
bracis-19064	179	30	the	the	DET
bracis-19064	179	31	lidar	lidar	NOUN
bracis-19064	179	32	perceptual	perceptual	ADJ
bracis-19064	179	33	field	field	NOUN
bracis-19064	179	34	then	then	ADV
bracis-19064	179	35	it	it	PRON
bracis-19064	179	36	’s	’	VERB
bracis-19064	179	37	current	current	ADJ
bracis-19064	179	38	log	log	NOUN
bracis-19064	179	39	-	-	PUNCT
bracis-19064	179	40	odds	odd	NOUN
bracis-19064	179	41	is	be	AUX
bracis-19064	179	42	updated	update	VERB
bracis-19064	179	43	:	:	PUNCT
bracis-19064	179	44	$	$	SYM
bracis-19064	179	45	$	$	SYM
bracis-19064	179	46	\begin{aligned	\begin{aligne	VERB
bracis-19064	179	47	}	}	PUNCT
bracis-19064	179	48	l_{i	l_{i	PROPN
bracis-19064	179	49	,	,	PUNCT
bracis-19064	179	50	c	c	NOUN
bracis-19064	179	51	}	}	PUNCT
bracis-19064	179	52	=	=	SYM
bracis-19064	179	53	l_{i-1,c	l_{i-1,c	NOUN
bracis-19064	179	54	}	}	PUNCT
bracis-19064	180	1	+	+	NUM
bracis-19064	180	2	ism	ism	NOUN
bracis-19064	180	3	\left	\left	PROPN
bracis-19064	180	4	(	(	PUNCT
bracis-19064	180	5	\boldsymbol{m}_{c	\boldsymbol{m}_{c	PROPN
bracis-19064	180	6	}	}	PUNCT
bracis-19064	180	7	,	,	PUNCT
bracis-19064	180	8	\boldsymbol{x}_{i	\boldsymbol{x}_{i	ADP
bracis-19064	180	9	}	}	PUNCT
bracis-19064	180	10	,	,	PUNCT
bracis-19064	180	11	\boldsymbol{z}_{i}^{l}\right	\boldsymbol{z}_{i}^{l}\right	PROPN
bracis-19064	180	12	)	)	PUNCT
bracis-19064	180	13	l_{0	l_{0	PROPN
bracis-19064	180	14	}	}	PUNCT
bracis-19064	180	15	\end{aligned}$$	\end{aligned}$$	X
bracis-19064	180	16	(	(	PUNCT
bracis-19064	180	17	17	17	NUM
bracis-19064	180	18	)	)	PUNCT
bracis-19064	180	19	where	where	SCONJ
bracis-19064	180	20	\(l_{i-1,c}\	\(l_{i-1,c}\	ADV
bracis-19064	180	21	)	)	PUNCT
bracis-19064	180	22	is	be	AUX
bracis-19064	180	23	the	the	DET
bracis-19064	180	24	previous	previous	ADJ
bracis-19064	180	25	log	log	NOUN
bracis-19064	180	26	-	-	PUNCT
bracis-19064	180	27	odds	odd	NOUN
bracis-19064	180	28	of	of	ADP
bracis-19064	180	29	the	the	DET
bracis-19064	180	30	cell	cell	NOUN
bracis-19064	180	31	\(\boldsymbol{m}_{c}\	\(\boldsymbol{m}_{c}\	NOUN
bracis-19064	180	32	)	)	PUNCT
bracis-19064	180	33	,	,	PUNCT
bracis-19064	180	34	\(l_{0}\	\(l_{0}\	NOUN
bracis-19064	180	35	)	)	PUNCT
bracis-19064	180	36	is	be	AUX
bracis-19064	180	37	the	the	DET
bracis-19064	180	38	map	map	NOUN
bracis-19064	180	39	prior	prior	ADJ
bracis-19064	180	40	probability	probability	NOUN
bracis-19064	180	41	,	,	PUNCT
bracis-19064	180	42	\(\boldsymbol{z}_{i}^{l}\	\(\boldsymbol{z}_{i}^{l}\	PROPN
bracis-19064	180	43	)	)	PUNCT
bracis-19064	180	44	is	be	AUX
bracis-19064	180	45	a	a	DET
bracis-19064	180	46	lidar	lidar	NOUN
bracis-19064	180	47	measurement	measurement	NOUN
bracis-19064	180	48	and	and	CCONJ
bracis-19064	180	49	ism	ism	NOUN
bracis-19064	180	50	(	(	PUNCT
bracis-19064	180	51	.	.	PUNCT
bracis-19064	180	52	)	)	PUNCT
bracis-19064	181	1	is	be	AUX
bracis-19064	181	2	the	the	DET
bracis-19064	181	3	inverse	inverse	ADJ
bracis-19064	181	4	sensor	sensor	NOUN
bracis-19064	181	5	model	model	NOUN
bracis-19064	181	6	function	function	NOUN
bracis-19064	181	7	 	 	SPACE
bracis-19064	182	1	[	[	X
bracis-19064	182	2	21	21	NUM
bracis-19064	182	3	]	]	PUNCT
bracis-19064	182	4	.	.	PUNCT
bracis-19064	183	1	3.5	3.5	NUM
bracis-19064	183	2	large	large	ADJ
bracis-19064	183	3	-	-	PUNCT
bracis-19064	183	4	scale	scale	NOUN
bracis-19064	183	5	map	map	NOUN
bracis-19064	183	6	merging	merge	VERB
bracis-19064	183	7	the	the	DET
bracis-19064	183	8	mapper	mapper	NOUN
bracis-19064	183	9	module	module	NOUN
bracis-19064	183	10	merges	merge	VERB
bracis-19064	183	11	the	the	DET
bracis-19064	183	12	grids	grid	NOUN
bracis-19064	183	13	maps	map	NOUN
bracis-19064	183	14	in	in	ADP
bracis-19064	183	15	an	an	DET
bracis-19064	183	16	incremental	incremental	ADJ
bracis-19064	183	17	approach	approach	NOUN
bracis-19064	183	18	.	.	PUNCT
bracis-19064	184	1	a	a	DET
bracis-19064	184	2	first	first	ADJ
bracis-19064	184	3	map	map	NOUN
bracis-19064	184	4	is	be	AUX
bracis-19064	184	5	created	create	VERB
bracis-19064	184	6	using	use	VERB
bracis-19064	184	7	any	any	PRON
bracis-19064	184	8	of	of	ADP
bracis-19064	184	9	the	the	DET
bracis-19064	184	10	resulting	result	VERB
bracis-19064	184	11	output	output	NOUN
bracis-19064	184	12	files	file	NOUN
bracis-19064	184	13	from	from	ADP
bracis-19064	184	14	the	the	DET
bracis-19064	184	15	hypergraph	hypergraph	NOUN
bracis-19064	184	16	optimization	optimization	NOUN
bracis-19064	184	17	.	.	PUNCT
bracis-19064	185	1	while	while	SCONJ
bracis-19064	185	2	the	the	DET
bracis-19064	185	3	mapping	mapping	NOUN
bracis-19064	185	4	process	process	NOUN
bracis-19064	185	5	evolves	evolve	VERB
bracis-19064	185	6	,	,	PUNCT
bracis-19064	185	7	the	the	DET
bracis-19064	185	8	system	system	NOUN
bracis-19064	185	9	saves	save	VERB
bracis-19064	185	10	how	how	SCONJ
bracis-19064	185	11	many	many	ADJ
bracis-19064	185	12	times	time	NOUN
bracis-19064	185	13	each	each	DET
bracis-19064	185	14	cell	cell	NOUN
bracis-19064	185	15	\(\boldsymbol{m}_{c}\	\(\boldsymbol{m}_{c}\	NOUN
bracis-19064	185	16	)	)	PUNCT
bracis-19064	185	17	is	be	AUX
bracis-19064	185	18	reached	reach	VERB
bracis-19064	185	19	by	by	ADP
bracis-19064	185	20	the	the	DET
bracis-19064	185	21	lidar	lidar	NOUN
bracis-19064	185	22	rays	ray	NOUN
bracis-19064	185	23	in	in	ADP
bracis-19064	185	24	the	the	DET
bracis-19064	185	25	current	current	ADJ
bracis-19064	185	26	session	session	NOUN
bracis-19064	185	27	.	.	PUNCT
bracis-19064	186	1	after	after	SCONJ
bracis-19064	186	2	the	the	DET
bracis-19064	186	3	first	first	ADJ
bracis-19064	186	4	map	map	NOUN
bracis-19064	186	5	is	be	AUX
bracis-19064	186	6	complete	complete	ADJ
bracis-19064	186	7	,	,	PUNCT
bracis-19064	186	8	the	the	DET
bracis-19064	186	9	system	system	NOUN
bracis-19064	186	10	changes	change	VERB
bracis-19064	186	11	the	the	DET
bracis-19064	186	12	rule	rule	NOUN
bracis-19064	186	13	defined	define	VERB
bracis-19064	186	14	in	in	ADP
bracis-19064	186	15	eq	eq	PROPN
bracis-19064	186	16	.	.	PUNCT
bracis-19064	186	17	 	 	SPACE
bracis-19064	186	18	17	17	NUM
bracis-19064	187	1	and	and	CCONJ
bracis-19064	187	2	then	then	ADV
bracis-19064	187	3	only	only	ADV
bracis-19064	187	4	the	the	DET
bracis-19064	187	5	cells	cell	NOUN
bracis-19064	187	6	with	with	ADP
bracis-19064	187	7	the	the	DET
bracis-19064	187	8	hit	hit	NOUN
bracis-19064	187	9	counter	counter	NOUN
bracis-19064	187	10	below	below	ADP
bracis-19064	187	11	a	a	DET
bracis-19064	187	12	threshold	threshold	NOUN
bracis-19064	187	13	value	value	NOUN
bracis-19064	187	14	k	k	PROPN
bracis-19064	187	15	are	be	AUX
bracis-19064	187	16	updated	update	VERB
bracis-19064	187	17	:	:	PUNCT
bracis-19064	187	18	$	$	SYM
bracis-19064	187	19	$	$	SYM
bracis-19064	187	20	\begin{aligned	\begin{aligne	VERB
bracis-19064	187	21	}	}	PUNCT
bracis-19064	187	22	l_{i	l_{i	PROPN
bracis-19064	187	23	,	,	PUNCT
bracis-19064	187	24	c	c	NOUN
bracis-19064	187	25	}	}	PUNCT
bracis-19064	187	26	=	=	SYM
bracis-19064	187	27	{	{	PUNCT
bracis-19064	187	28	\left\	\left\	PROPN
bracis-19064	187	29	{	{	PUNCT
bracis-19064	187	30	\begin{array}{ll	\begin{array}{ll	PROPN
bracis-19064	187	31	}	}	PUNCT
bracis-19064	187	32	l_{i-1,i	l_{i-1,i	PROPN
bracis-19064	187	33	}	}	PUNCT
bracis-19064	187	34	+	+	NUM
bracis-19064	188	1	ism	ism	NOUN
bracis-19064	188	2	\left	\left	PROPN
bracis-19064	188	3	(	(	PUNCT
bracis-19064	188	4	\boldsymbol{m}_{c	\boldsymbol{m}_{c	PROPN
bracis-19064	188	5	}	}	PUNCT
bracis-19064	188	6	,	,	PUNCT
bracis-19064	188	7	\boldsymbol{x}_{i	\boldsymbol{x}_{i	ADP
bracis-19064	188	8	}	}	PUNCT
bracis-19064	188	9	,	,	PUNCT
bracis-19064	188	10	\boldsymbol{z}_{i}^{l}\right	\boldsymbol{z}_{i}^{l}\right	PROPN
bracis-19064	188	11	)	)	PUNCT
bracis-19064	188	12	l_{0	l_{0	PROPN
bracis-19064	188	13	}	}	PUNCT
bracis-19064	188	14	,	,	PUNCT
bracis-19064	188	15	&	&	CCONJ
bracis-19064	188	16	{	{	PUNCT
bracis-19064	188	17	}	}	PUNCT
bracis-19064	188	18	hits	hit	VERB
bracis-19064	188	19	\left	\left	PROPN
bracis-19064	188	20	(	(	PUNCT
bracis-19064	188	21	\boldsymbol{m}_{c}\right	\boldsymbol{m}_{c}\right	NOUN
bracis-19064	188	22	)	)	PUNCT
bracis-19064	188	23	<	<	X
bracis-19064	188	24	k	k	PROPN
bracis-19064	188	25	\\	\\	PROPN
bracis-19064	188	26	l_{i-1,i	l_{i-1,i	PROPN
bracis-19064	188	27	}	}	PUNCT
bracis-19064	188	28	,	,	PUNCT
bracis-19064	188	29	&	&	CCONJ
bracis-19064	188	30	{	{	PUNCT
bracis-19064	188	31	}	}	PUNCT
bracis-19064	188	32	otherwise	otherwise	ADV
bracis-19064	188	33	\end{array}\right	\end{array}\right	PROPN
bracis-19064	188	34	.	.	PUNCT
bracis-19064	188	35	}	}	PUNCT
bracis-19064	188	36	\end{aligned}$$	\end{aligned}$$	X
bracis-19064	188	37	(	(	PUNCT
bracis-19064	188	38	18	18	NUM
bracis-19064	188	39	)	)	PUNCT
bracis-19064	188	40	we	we	PRON
bracis-19064	188	41	assume	assume	VERB
bracis-19064	188	42	that	that	SCONJ
bracis-19064	188	43	the	the	DET
bracis-19064	188	44	lidar	lidar	NOUN
bracis-19064	188	45	sensor	sensor	NOUN
bracis-19064	188	46	is	be	AUX
bracis-19064	188	47	reliable	reliable	ADJ
bracis-19064	188	48	and	and	CCONJ
bracis-19064	188	49	after	after	ADP
bracis-19064	188	50	enough	enough	ADJ
bracis-19064	188	51	hits	hit	VERB
bracis-19064	188	52	the	the	DET
bracis-19064	188	53	system	system	NOUN
bracis-19064	188	54	can	can	AUX
bracis-19064	188	55	freeze	freeze	VERB
bracis-19064	188	56	the	the	DET
bracis-19064	188	57	resulting	result	VERB
bracis-19064	188	58	log	log	NOUN
bracis-19064	188	59	-	-	PUNCT
bracis-19064	188	60	odds	odd	NOUN
bracis-19064	188	61	.	.	PUNCT
bracis-19064	189	1	this	this	DET
bracis-19064	189	2	procedure	procedure	NOUN
bracis-19064	189	3	can	can	AUX
bracis-19064	189	4	unintentionally	unintentionally	ADV
bracis-19064	189	5	keep	keep	VERB
bracis-19064	189	6	the	the	DET
bracis-19064	189	7	low	low	ADJ
bracis-19064	189	8	dynamics	dynamic	NOUN
bracis-19064	189	9	fixed	fix	VERB
bracis-19064	189	10	in	in	ADP
bracis-19064	189	11	a	a	DET
bracis-19064	189	12	previous	previous	ADJ
bracis-19064	189	13	map	map	NOUN
bracis-19064	189	14	,	,	PUNCT
bracis-19064	189	15	but	but	CCONJ
bracis-19064	189	16	we	we	PRON
bracis-19064	189	17	can	can	AUX
bracis-19064	189	18	easily	easily	ADV
bracis-19064	189	19	return	return	VERB
bracis-19064	189	20	to	to	ADP
bracis-19064	189	21	the	the	DET
bracis-19064	189	22	original	original	ADJ
bracis-19064	189	23	update	update	NOUN
bracis-19064	189	24	rule	rule	NOUN
bracis-19064	189	25	defined	define	VERB
bracis-19064	189	26	in	in	ADP
bracis-19064	189	27	eq	eq	PROPN
bracis-19064	189	28	.	.	PUNCT
bracis-19064	189	29	 	 	SPACE
bracis-19064	189	30	17	17	NUM
bracis-19064	189	31	if	if	SCONJ
bracis-19064	189	32	the	the	DET
bracis-19064	189	33	difference	difference	NOUN
bracis-19064	189	34	in	in	ADP
bracis-19064	189	35	time	time	NOUN
bracis-19064	189	36	between	between	ADP
bracis-19064	189	37	the	the	DET
bracis-19064	189	38	sessions	session	NOUN
bracis-19064	189	39	are	be	AUX
bracis-19064	189	40	greater	great	ADJ
bracis-19064	189	41	than	than	ADP
bracis-19064	189	42	that	that	PRON
bracis-19064	189	43	of	of	ADP
bracis-19064	189	44	parameterized	parameterized	ADJ
bracis-19064	189	45	in	in	ADP
bracis-19064	189	46	sect	sect	NOUN
bracis-19064	189	47	.	.	PUNCT
bracis-19064	189	48	 	 	SPACE
bracis-19064	190	1	4	4	X
bracis-19064	190	2	.	.	PUNCT
bracis-19064	190	3	assuming	assume	VERB
bracis-19064	190	4	that	that	SCONJ
bracis-19064	190	5	the	the	DET
bracis-19064	190	6	main	main	ADJ
bracis-19064	190	7	changes	change	NOUN
bracis-19064	190	8	in	in	ADP
bracis-19064	190	9	the	the	DET
bracis-19064	190	10	environment	environment	NOUN
bracis-19064	190	11	infrastructure	infrastructure	NOUN
bracis-19064	190	12	takes	take	VERB
bracis-19064	190	13	a	a	DET
bracis-19064	190	14	time	time	NOUN
bracis-19064	190	15	greater	great	ADJ
bracis-19064	190	16	than	than	ADP
bracis-19064	190	17	that	that	PRON
bracis-19064	190	18	,	,	PUNCT
bracis-19064	190	19	then	then	ADV
bracis-19064	190	20	the	the	DET
bracis-19064	190	21	system	system	NOUN
bracis-19064	190	22	can	can	AUX
bracis-19064	190	23	update	update	VERB
bracis-19064	190	24	the	the	DET
bracis-19064	190	25	current	current	ADJ
bracis-19064	190	26	map	map	NOUN
bracis-19064	190	27	while	while	SCONJ
bracis-19064	190	28	discarding	discard	VERB
bracis-19064	190	29	most	most	ADJ
bracis-19064	190	30	of	of	ADP
bracis-19064	190	31	the	the	DET
bracis-19064	190	32	undesired	undesired	ADJ
bracis-19064	190	33	changes	change	NOUN
bracis-19064	190	34	in	in	ADP
bracis-19064	190	35	the	the	DET
bracis-19064	190	36	next	next	ADJ
bracis-19064	190	37	sessions	session	NOUN
bracis-19064	190	38	.	.	PUNCT
bracis-19064	191	1	4	4	NUM
bracis-19064	191	2	experimental	experimental	ADJ
bracis-19064	191	3	methodology	methodology	NOUN
bracis-19064	191	4	in	in	ADP
bracis-19064	191	5	this	this	DET
bracis-19064	191	6	section	section	NOUN
bracis-19064	191	7	,	,	PUNCT
bracis-19064	191	8	we	we	PRON
bracis-19064	191	9	describe	describe	VERB
bracis-19064	191	10	each	each	DET
bracis-19064	191	11	one	one	NUM
bracis-19064	191	12	of	of	ADP
bracis-19064	191	13	the	the	DET
bracis-19064	191	14	recorded	record	VERB
bracis-19064	191	15	sessions	session	NOUN
bracis-19064	191	16	,	,	PUNCT
bracis-19064	191	17	and	and	CCONJ
bracis-19064	191	18	the	the	DET
bracis-19064	191	19	metrics	metric	NOUN
bracis-19064	191	20	used	use	VERB
bracis-19064	191	21	to	to	PART
bracis-19064	191	22	compare	compare	VERB
bracis-19064	191	23	the	the	DET
bracis-19064	191	24	odometry	odometry	NOUN
bracis-19064	191	25	calibration	calibration	NOUN
bracis-19064	191	26	methods	method	NOUN
bracis-19064	191	27	and	and	CCONJ
bracis-19064	191	28	to	to	PART
bracis-19064	191	29	evaluate	evaluate	VERB
bracis-19064	191	30	the	the	DET
bracis-19064	191	31	estimated	estimate	VERB
bracis-19064	191	32	av	av	PROPN
bracis-19064	191	33	poses	pose	NOUN
bracis-19064	191	34	.	.	PUNCT
bracis-19064	192	1	we	we	PRON
bracis-19064	192	2	also	also	ADV
bracis-19064	192	3	indicate	indicate	VERB
bracis-19064	192	4	all	all	DET
bracis-19064	192	5	the	the	DET
bracis-19064	192	6	experiments	experiment	NOUN
bracis-19064	192	7	that	that	PRON
bracis-19064	192	8	evaluates	evaluate	VERB
bracis-19064	192	9	the	the	DET
bracis-19064	192	10	main	main	ADJ
bracis-19064	192	11	features	feature	NOUN
bracis-19064	192	12	of	of	ADP
bracis-19064	192	13	the	the	DET
bracis-19064	192	14	new	new	ADJ
bracis-19064	192	15	proposed	propose	VERB
bracis-19064	192	16	large	large	ADJ
bracis-19064	192	17	-	-	PUNCT
bracis-19064	192	18	scale	scale	NOUN
bracis-19064	192	19	mapping	mapping	NOUN
bracis-19064	192	20	system	system	NOUN
bracis-19064	192	21	.	.	PUNCT
bracis-19064	193	1	fig	fig	NOUN
bracis-19064	193	2	.	.	PUNCT
bracis-19064	194	1	7	7	X
bracis-19064	194	2	.	.	X
bracis-19064	194	3	satellite	satellite	NOUN
bracis-19064	194	4	view	view	NOUN
bracis-19064	194	5	of	of	ADP
bracis-19064	194	6	the	the	DET
bracis-19064	194	7	environments	environment	NOUN
bracis-19064	194	8	.	.	PUNCT
bracis-19064	195	1	(	(	PUNCT
bracis-19064	195	2	a	a	X
bracis-19064	195	3	)	)	PUNCT
bracis-19064	195	4	university	university	NOUN
bracis-19064	195	5	campus	campus	NOUN
bracis-19064	195	6	beltway	beltway	NOUN
bracis-19064	195	7	(	(	PUNCT
bracis-19064	195	8	red	red	ADJ
bracis-19064	195	9	)	)	PUNCT
bracis-19064	195	10	,	,	PUNCT
bracis-19064	195	11	parking	parking	NOUN
bracis-19064	195	12	lot	lot	NOUN
bracis-19064	195	13	1	1	NUM
bracis-19064	195	14	(	(	PUNCT
bracis-19064	195	15	yellow	yellow	NOUN
bracis-19064	195	16	)	)	PUNCT
bracis-19064	195	17	,	,	PUNCT
bracis-19064	195	18	parking	parking	NOUN
bracis-19064	195	19	lot	lot	NOUN
bracis-19064	195	20	2	2	NUM
bracis-19064	195	21	(	(	PUNCT
bracis-19064	195	22	dark	dark	ADJ
bracis-19064	195	23	blue	blue	NOUN
bracis-19064	195	24	)	)	PUNCT
bracis-19064	195	25	and	and	CCONJ
bracis-19064	195	26	parking	parking	NOUN
bracis-19064	195	27	lot	lot	NOUN
bracis-19064	195	28	3	3	NUM
bracis-19064	195	29	(	(	PUNCT
bracis-19064	195	30	cyan	cyan	NOUN
bracis-19064	195	31	)	)	PUNCT
bracis-19064	195	32	.	.	PUNCT
bracis-19064	196	1	(	(	PUNCT
bracis-19064	196	2	b	b	X
bracis-19064	196	3	)	)	PUNCT
bracis-19064	196	4	route	route	NOUN
bracis-19064	196	5	from	from	ADP
bracis-19064	196	6	the	the	DET
bracis-19064	196	7	university	university	NOUN
bracis-19064	196	8	campus	campus	NOUN
bracis-19064	196	9	to	to	ADP
bracis-19064	196	10	another	another	DET
bracis-19064	196	11	city	city	NOUN
bracis-19064	196	12	(	(	PUNCT
bracis-19064	196	13	light	light	ADJ
bracis-19064	196	14	blue	blue	NOUN
bracis-19064	196	15	)	)	PUNCT
bracis-19064	196	16	.	.	PUNCT
bracis-19064	197	1	(	(	PUNCT
bracis-19064	197	2	color	color	NOUN
bracis-19064	197	3	figure	figure	NOUN
bracis-19064	197	4	online	online	ADV
bracis-19064	197	5	)	)	PUNCT
bracis-19064	197	6	full	full	ADJ
bracis-19064	197	7	size	size	NOUN
bracis-19064	197	8	image	image	NOUN
bracis-19064	197	9	we	we	PRON
bracis-19064	197	10	collected	collect	VERB
bracis-19064	197	11	data	datum	NOUN
bracis-19064	197	12	using	use	VERB
bracis-19064	197	13	the	the	DET
bracis-19064	197	14	iara	iara	PROPN
bracis-19064	197	15	platform	platform	NOUN
bracis-19064	197	16	.	.	PUNCT
bracis-19064	198	1	the	the	DET
bracis-19064	198	2	av	av	PROPN
bracis-19064	198	3	was	be	AUX
bracis-19064	198	4	conducted	conduct	VERB
bracis-19064	198	5	by	by	ADP
bracis-19064	198	6	a	a	DET
bracis-19064	198	7	human	human	NOUN
bracis-19064	198	8	along	along	ADP
bracis-19064	198	9	the	the	DET
bracis-19064	198	10	beltway	beltway	NOUN
bracis-19064	198	11	of	of	ADP
bracis-19064	198	12	the	the	DET
bracis-19064	198	13	university	university	NOUN
bracis-19064	198	14	campus	campus	NOUN
bracis-19064	198	15	and	and	CCONJ
bracis-19064	198	16	within	within	ADP
bracis-19064	198	17	parking	parking	NOUN
bracis-19064	198	18	lots	lot	NOUN
bracis-19064	198	19	in	in	ADP
bracis-19064	198	20	it	it	PRON
bracis-19064	198	21	’s	’	VERB
bracis-19064	198	22	vicinity	vicinity	NOUN
bracis-19064	198	23	.	.	PUNCT
bracis-19064	199	1	figure	figure	NOUN
bracis-19064	199	2	 	 	SPACE
bracis-19064	199	3	7(a	7(a	NUM
bracis-19064	199	4	)	)	PUNCT
bracis-19064	199	5	shows	show	VERB
bracis-19064	199	6	the	the	DET
bracis-19064	199	7	beltway	beltway	NOUN
bracis-19064	199	8	(	(	PUNCT
bracis-19064	199	9	red	red	ADJ
bracis-19064	199	10	)	)	PUNCT
bracis-19064	199	11	and	and	CCONJ
bracis-19064	199	12	the	the	DET
bracis-19064	199	13	parking	parking	NOUN
bracis-19064	199	14	lots	lot	NOUN
bracis-19064	199	15	1	1	NUM
bracis-19064	199	16	(	(	PUNCT
bracis-19064	199	17	yellow	yellow	NOUN
bracis-19064	199	18	)	)	PUNCT
bracis-19064	199	19	,	,	PUNCT
bracis-19064	199	20	2	2	NUM
bracis-19064	199	21	(	(	PUNCT
bracis-19064	199	22	dark	dark	ADJ
bracis-19064	199	23	blue	blue	NOUN
bracis-19064	199	24	)	)	PUNCT
bracis-19064	199	25	and	and	CCONJ
bracis-19064	199	26	3	3	NUM
bracis-19064	199	27	(	(	PUNCT
bracis-19064	199	28	cyan	cyan	NOUN
bracis-19064	199	29	)	)	PUNCT
bracis-19064	199	30	.	.	PUNCT
bracis-19064	200	1	log	log	PROPN
bracis-19064	200	2	ub1	ub1	PROPN
bracis-19064	200	3	was	be	AUX
bracis-19064	200	4	acquired	acquire	VERB
bracis-19064	200	5	along	along	ADP
bracis-19064	200	6	the	the	DET
bracis-19064	200	7	beltway	beltway	NOUN
bracis-19064	200	8	at	at	ADP
bracis-19064	200	9	night	night	NOUN
bracis-19064	200	10	,	,	PUNCT
bracis-19064	200	11	in	in	ADP
bracis-19064	200	12	the	the	DET
bracis-19064	200	13	clockwise	clockwise	NOUN
bracis-19064	200	14	direction	direction	NOUN
bracis-19064	200	15	and	and	CCONJ
bracis-19064	200	16	without	without	ADP
bracis-19064	200	17	moving	move	VERB
bracis-19064	200	18	obstacles	obstacle	NOUN
bracis-19064	200	19	.	.	PUNCT
bracis-19064	201	1	log	log	PROPN
bracis-19064	201	2	ub2	ub2	PROPN
bracis-19064	201	3	was	be	AUX
bracis-19064	201	4	recorded	record	VERB
bracis-19064	201	5	in	in	ADP
bracis-19064	201	6	the	the	DET
bracis-19064	201	7	morning	morning	NOUN
bracis-19064	201	8	,	,	PUNCT
bracis-19064	201	9	in	in	ADP
bracis-19064	201	10	counterclockwise	counterclockwise	NOUN
bracis-19064	201	11	direction	direction	NOUN
bracis-19064	201	12	,	,	PUNCT
bracis-19064	201	13	with	with	ADP
bracis-19064	201	14	moving	move	VERB
bracis-19064	201	15	objects	object	NOUN
bracis-19064	201	16	and	and	CCONJ
bracis-19064	201	17	many	many	ADJ
bracis-19064	201	18	parked	park	VERB
bracis-19064	201	19	vehicles	vehicle	NOUN
bracis-19064	201	20	.	.	PUNCT
bracis-19064	202	1	the	the	DET
bracis-19064	202	2	logs	log	NOUN
bracis-19064	202	3	pl1	pl1	PROPN
bracis-19064	202	4	,	,	PUNCT
bracis-19064	202	5	pl2	pl2	PROPN
bracis-19064	202	6	and	and	CCONJ
bracis-19064	202	7	pl3	pl3	NOUN
bracis-19064	202	8	are	be	AUX
bracis-19064	202	9	related	relate	VERB
bracis-19064	202	10	to	to	ADP
bracis-19064	202	11	the	the	DET
bracis-19064	202	12	parking	parking	NOUN
bracis-19064	202	13	lots	lot	NOUN
bracis-19064	202	14	.	.	PUNCT
bracis-19064	203	1	finally	finally	ADV
bracis-19064	203	2	,	,	PUNCT
bracis-19064	203	3	fig	fig	NOUN
bracis-19064	203	4	.	.	PUNCT
bracis-19064	203	5	 	 	SPACE
bracis-19064	204	1	7(b	7(b	X
bracis-19064	204	2	)	)	PUNCT
bracis-19064	204	3	shows	show	VERB
bracis-19064	204	4	the	the	DET
bracis-19064	204	5	route	route	NOUN
bracis-19064	204	6	from	from	ADP
bracis-19064	204	7	the	the	DET
bracis-19064	204	8	campus	campus	NOUN
bracis-19064	204	9	to	to	ADP
bracis-19064	204	10	another	another	DET
bracis-19064	204	11	city	city	NOUN
bracis-19064	204	12	in	in	ADP
bracis-19064	204	13	which	which	PRON
bracis-19064	204	14	the	the	DET
bracis-19064	204	15	av	av	PROPN
bracis-19064	204	16	crosses	crosse	NOUN
bracis-19064	204	17	highways	highway	NOUN
bracis-19064	204	18	,	,	PUNCT
bracis-19064	204	19	rural	rural	ADJ
bracis-19064	204	20	and	and	CCONJ
bracis-19064	204	21	urban	urban	ADJ
bracis-19064	204	22	streets	street	NOUN
bracis-19064	204	23	and	and	CCONJ
bracis-19064	204	24	a	a	DET
bracis-19064	204	25	long	long	ADJ
bracis-19064	204	26	bridge	bridge	NOUN
bracis-19064	204	27	.	.	PUNCT
bracis-19064	205	1	the	the	DET
bracis-19064	205	2	trvl	trvl	NOUN
bracis-19064	205	3	log	log	NOUN
bracis-19064	205	4	was	be	AUX
bracis-19064	205	5	recorded	record	VERB
bracis-19064	205	6	along	along	ADP
bracis-19064	205	7	this	this	DET
bracis-19064	205	8	route	route	NOUN
bracis-19064	205	9	which	which	PRON
bracis-19064	205	10	has	have	VERB
bracis-19064	205	11	about	about	ADV
bracis-19064	205	12	72	72	NUM
bracis-19064	205	13	 	 	SPACE
bracis-19064	205	14	km	km	NOUN
bracis-19064	205	15	of	of	ADP
bracis-19064	205	16	extension	extension	NOUN
bracis-19064	205	17	.	.	PUNCT
bracis-19064	206	1	4.1	4.1	NUM
bracis-19064	206	2	experiments	experiment	NOUN
bracis-19064	206	3	we	we	PRON
bracis-19064	206	4	carried	carry	VERB
bracis-19064	206	5	out	out	ADP
bracis-19064	206	6	a	a	DET
bracis-19064	206	7	series	series	NOUN
bracis-19064	206	8	of	of	ADP
bracis-19064	206	9	experiments	experiment	NOUN
bracis-19064	206	10	to	to	PART
bracis-19064	206	11	evaluate	evaluate	VERB
bracis-19064	206	12	the	the	DET
bracis-19064	206	13	odometry	odometry	NOUN
bracis-19064	206	14	calibration	calibration	NOUN
bracis-19064	206	15	and	and	CCONJ
bracis-19064	206	16	the	the	DET
bracis-19064	206	17	map	map	NOUN
bracis-19064	206	18	building	build	VERB
bracis-19064	206	19	and	and	CCONJ
bracis-19064	206	20	merging	merge	VERB
bracis-19064	206	21	proposed	propose	VERB
bracis-19064	206	22	methods	method	NOUN
bracis-19064	206	23	.	.	PUNCT
bracis-19064	207	1	the	the	DET
bracis-19064	207	2	main	main	ADJ
bracis-19064	207	3	parameters	parameter	NOUN
bracis-19064	207	4	of	of	ADP
bracis-19064	207	5	the	the	DET
bracis-19064	207	6	proposed	propose	VERB
bracis-19064	207	7	mapping	mapping	NOUN
bracis-19064	207	8	system	system	NOUN
bracis-19064	207	9	used	use	VERB
bracis-19064	207	10	in	in	ADP
bracis-19064	207	11	our	our	PRON
bracis-19064	207	12	experiments	experiment	NOUN
bracis-19064	207	13	are	be	AUX
bracis-19064	207	14	the	the	DET
bracis-19064	207	15	minimum	minimum	ADJ
bracis-19064	207	16	speed	speed	NOUN
bracis-19064	207	17	(	(	PUNCT
bracis-19064	207	18	ms	ms	NOUN
bracis-19064	207	19	)	)	PUNCT
bracis-19064	207	20	set	set	VERB
bracis-19064	207	21	to	to	ADP
bracis-19064	207	22	0.01	0.01	NUM
bracis-19064	207	23	 	 	SPACE
bracis-19064	207	24	ms	ms	NOUN
bracis-19064	207	25	in	in	ADP
bracis-19064	207	26	the	the	DET
bracis-19064	207	27	speed	speed	NOUN
bracis-19064	207	28	filtering	filtering	NOUN
bracis-19064	207	29	,	,	PUNCT
bracis-19064	207	30	the	the	DET
bracis-19064	207	31	neighbor	neighbor	NOUN
bracis-19064	207	32	distance	distance	NOUN
bracis-19064	207	33	(	(	PUNCT
bracis-19064	207	34	nd	nd	NOUN
bracis-19064	207	35	)	)	PUNCT
bracis-19064	207	36	and	and	CCONJ
bracis-19064	207	37	the	the	DET
bracis-19064	207	38	neighbor	neighbor	NOUN
bracis-19064	207	39	quantity	quantity	NOUN
bracis-19064	207	40	(	(	PUNCT
bracis-19064	207	41	nq	nq	NOUN
bracis-19064	207	42	)	)	PUNCT
bracis-19064	207	43	thresholds	threshold	NOUN
bracis-19064	207	44	used	use	VERB
bracis-19064	207	45	in	in	ADP
bracis-19064	207	46	the	the	DET
bracis-19064	207	47	gps	gps	PROPN
bracis-19064	207	48	clustering	clustering	NOUN
bracis-19064	207	49	are	be	AUX
bracis-19064	207	50	set	set	VERB
bracis-19064	207	51	to	to	ADP
bracis-19064	207	52	1.2	1.2	NUM
bracis-19064	207	53	 	 	SPACE
bracis-19064	207	54	m	m	PROPN
bracis-19064	207	55	and	and	CCONJ
bracis-19064	207	56	40	40	NUM
bracis-19064	207	57	,	,	PUNCT
bracis-19064	207	58	respectively	respectively	ADV
bracis-19064	207	59	.	.	PUNCT
bracis-19064	208	1	the	the	DET
bracis-19064	208	2	cell	cell	NOUN
bracis-19064	208	3	hits	hit	VERB
bracis-19064	208	4	threshold	threshold	NOUN
bracis-19064	208	5	(	(	PUNCT
bracis-19064	208	6	k	k	NOUN
bracis-19064	208	7	)	)	PUNCT
bracis-19064	208	8	represented	represent	VERB
bracis-19064	208	9	in	in	ADP
bracis-19064	208	10	eq	eq	PROPN
bracis-19064	208	11	.	.	PUNCT
bracis-19064	208	12	 	 	SPACE
bracis-19064	209	1	18	18	NUM
bracis-19064	209	2	is	be	AUX
bracis-19064	209	3	set	set	VERB
bracis-19064	209	4	to	to	ADP
bracis-19064	209	5	64	64	NUM
bracis-19064	209	6	.	.	PUNCT
bracis-19064	210	1	the	the	DET
bracis-19064	210	2	time	time	NOUN
bracis-19064	210	3	distance	distance	NOUN
bracis-19064	210	4	between	between	ADP
bracis-19064	210	5	sessions	session	NOUN
bracis-19064	210	6	(	(	PUNCT
bracis-19064	210	7	istd	istd	NOUN
bracis-19064	210	8	)	)	PUNCT
bracis-19064	210	9	is	be	AUX
bracis-19064	210	10	set	set	VERB
bracis-19064	210	11	to	to	ADP
bracis-19064	210	12	1month	1month	NUM
bracis-19064	210	13	for	for	ADP
bracis-19064	210	14	low	low	ADJ
bracis-19064	210	15	dynamics	dynamic	NOUN
bracis-19064	210	16	consideration	consideration	NOUN
bracis-19064	210	17	.	.	PUNCT
bracis-19064	211	1	odometry	odometry	NOUN
bracis-19064	211	2	bias	bias	NOUN
bracis-19064	211	3	calibration	calibration	NOUN
bracis-19064	211	4	.	.	PUNCT
bracis-19064	212	1	in	in	ADP
bracis-19064	212	2	this	this	DET
bracis-19064	212	3	experiment	experiment	NOUN
bracis-19064	212	4	,	,	PUNCT
bracis-19064	212	5	we	we	PRON
bracis-19064	212	6	compare	compare	VERB
bracis-19064	212	7	the	the	DET
bracis-19064	212	8	pso	pso	NOUN
bracis-19064	212	9	-	-	PUNCT
bracis-19064	212	10	based	base	VERB
bracis-19064	212	11	optimization	optimization	NOUN
bracis-19064	212	12	 	 	SPACE
bracis-19064	213	1	[	[	X
bracis-19064	213	2	13	13	NUM
bracis-19064	213	3	]	]	PUNCT
bracis-19064	213	4	and	and	CCONJ
bracis-19064	213	5	the	the	DET
bracis-19064	213	6	proposed	propose	VERB
bracis-19064	213	7	hypergraph	hypergraph	NOUN
bracis-19064	213	8	optimization	optimization	NOUN
bracis-19064	213	9	methods	method	NOUN
bracis-19064	213	10	for	for	ADP
bracis-19064	213	11	calibrating	calibrate	VERB
bracis-19064	213	12	odometry	odometry	NOUN
bracis-19064	213	13	biases	bias	NOUN
bracis-19064	213	14	.	.	PUNCT
bracis-19064	214	1	we	we	PRON
bracis-19064	214	2	use	use	VERB
bracis-19064	214	3	the	the	DET
bracis-19064	214	4	mean	mean	ADJ
bracis-19064	214	5	absolute	absolute	ADJ
bracis-19064	214	6	error	error	NOUN
bracis-19064	214	7	(	(	PUNCT
bracis-19064	214	8	mae	mae	PROPN
bracis-19064	214	9	)	)	PUNCT
bracis-19064	214	10	metric	metric	NOUN
bracis-19064	214	11	to	to	PART
bracis-19064	214	12	compare	compare	VERB
bracis-19064	214	13	the	the	DET
bracis-19064	214	14	paths	path	NOUN
bracis-19064	214	15	obtained	obtain	VERB
bracis-19064	214	16	by	by	ADP
bracis-19064	214	17	both	both	DET
bracis-19064	214	18	calibration	calibration	NOUN
bracis-19064	214	19	methods	method	NOUN
bracis-19064	214	20	(	(	PUNCT
bracis-19064	214	21	pso	pso	NOUN
bracis-19064	214	22	-	-	PUNCT
bracis-19064	214	23	based	base	VERB
bracis-19064	214	24	and	and	CCONJ
bracis-19064	214	25	hypergraph	hypergraph	VERB
bracis-19064	214	26	)	)	PUNCT
bracis-19064	214	27	against	against	ADP
bracis-19064	214	28	the	the	DET
bracis-19064	214	29	gps	gps	PROPN
bracis-19064	214	30	.	.	PUNCT
bracis-19064	215	1	a	a	DET
bracis-19064	215	2	better	well	ADJ
bracis-19064	215	3	odometry	odometry	NOUN
bracis-19064	215	4	calibration	calibration	NOUN
bracis-19064	215	5	should	should	AUX
bracis-19064	215	6	produce	produce	VERB
bracis-19064	215	7	lower	low	ADJ
bracis-19064	215	8	mae	mae	PROPN
bracis-19064	215	9	values	value	NOUN
bracis-19064	215	10	as	as	ADP
bracis-19064	215	11	the	the	DET
bracis-19064	215	12	resulting	result	VERB
bracis-19064	215	13	path	path	NOUN
bracis-19064	215	14	should	should	AUX
bracis-19064	215	15	better	well	ADV
bracis-19064	215	16	approximate	approximate	ADJ
bracis-19064	215	17	gps	gps	NOUN
bracis-19064	215	18	measurements	measurement	NOUN
bracis-19064	215	19	.	.	PUNCT
bracis-19064	216	1	map	map	VERB
bracis-19064	216	2	building	building	NOUN
bracis-19064	216	3	and	and	CCONJ
bracis-19064	216	4	merging	merge	VERB
bracis-19064	216	5	.	.	PUNCT
bracis-19064	217	1	in	in	ADP
bracis-19064	217	2	this	this	DET
bracis-19064	217	3	experiment	experiment	NOUN
bracis-19064	217	4	,	,	PUNCT
bracis-19064	217	5	we	we	PRON
bracis-19064	217	6	compare	compare	VERB
bracis-19064	217	7	the	the	DET
bracis-19064	217	8	estimated	estimate	VERB
bracis-19064	217	9	av	av	PROPN
bracis-19064	217	10	poses	pose	VERB
bracis-19064	217	11	with	with	ADP
bracis-19064	217	12	the	the	DET
bracis-19064	217	13	gps	gps	NOUN
bracis-19064	217	14	measurements	measurement	NOUN
bracis-19064	217	15	for	for	ADP
bracis-19064	217	16	each	each	DET
bracis-19064	217	17	log	log	NOUN
bracis-19064	217	18	using	use	VERB
bracis-19064	217	19	the	the	DET
bracis-19064	217	20	mae	mae	PROPN
bracis-19064	217	21	metric	metric	NOUN
bracis-19064	217	22	.	.	PUNCT
bracis-19064	218	1	we	we	PRON
bracis-19064	218	2	constructed	construct	VERB
bracis-19064	218	3	a	a	DET
bracis-19064	218	4	single	single	ADJ
bracis-19064	218	5	map	map	NOUN
bracis-19064	218	6	using	use	VERB
bracis-19064	218	7	all	all	DET
bracis-19064	218	8	logs	log	NOUN
bracis-19064	218	9	in	in	ADP
bracis-19064	218	10	order	order	NOUN
bracis-19064	218	11	to	to	PART
bracis-19064	218	12	verify	verify	VERB
bracis-19064	218	13	the	the	DET
bracis-19064	218	14	merging	merge	VERB
bracis-19064	218	15	capabilities	capability	NOUN
bracis-19064	218	16	of	of	ADP
bracis-19064	218	17	the	the	DET
bracis-19064	218	18	proposed	propose	VERB
bracis-19064	218	19	system	system	NOUN
bracis-19064	218	20	.	.	PUNCT
bracis-19064	219	1	we	we	PRON
bracis-19064	219	2	illustrate	illustrate	VERB
bracis-19064	219	3	same	same	ADJ
bracis-19064	219	4	obstacles	obstacle	NOUN
bracis-19064	219	5	viewed	view	VERB
bracis-19064	219	6	in	in	ADP
bracis-19064	219	7	different	different	ADJ
bracis-19064	219	8	visits	visit	NOUN
bracis-19064	219	9	to	to	ADP
bracis-19064	219	10	the	the	DET
bracis-19064	219	11	same	same	ADJ
bracis-19064	219	12	region	region	NOUN
bracis-19064	219	13	with	with	ADP
bracis-19064	219	14	different	different	ADJ
bracis-19064	219	15	colors	color	NOUN
bracis-19064	219	16	in	in	ADP
bracis-19064	219	17	order	order	NOUN
bracis-19064	219	18	to	to	PART
bracis-19064	219	19	qualitatively	qualitatively	ADV
bracis-19064	219	20	evaluate	evaluate	VERB
bracis-19064	219	21	the	the	DET
bracis-19064	219	22	results	result	NOUN
bracis-19064	219	23	of	of	ADP
bracis-19064	219	24	the	the	DET
bracis-19064	219	25	map	map	NOUN
bracis-19064	219	26	merging	merge	VERB
bracis-19064	219	27	.	.	PUNCT
bracis-19064	220	1	5	5	NUM
bracis-19064	220	2	results	result	NOUN
bracis-19064	220	3	and	and	CCONJ
bracis-19064	220	4	 	 	SPACE
bracis-19064	220	5	discussions	discussion	NOUN
bracis-19064	220	6	5.1	5.1	NUM
bracis-19064	220	7	odometry	odometry	NOUN
bracis-19064	220	8	bias	bias	NOUN
bracis-19064	220	9	calibration	calibration	NOUN
bracis-19064	220	10	table	table	NOUN
bracis-19064	220	11	 	 	SPACE
bracis-19064	220	12	1	1	NUM
bracis-19064	220	13	compare	compare	VERB
bracis-19064	220	14	the	the	DET
bracis-19064	220	15	mae	mae	PROPN
bracis-19064	220	16	results	result	NOUN
bracis-19064	220	17	of	of	ADP
bracis-19064	220	18	the	the	DET
bracis-19064	220	19	calibration	calibration	NOUN
bracis-19064	220	20	using	use	VERB
bracis-19064	220	21	both	both	DET
bracis-19064	220	22	methods	method	NOUN
bracis-19064	220	23	.	.	PUNCT
bracis-19064	221	1	in	in	ADP
bracis-19064	221	2	all	all	DET
bracis-19064	221	3	cases	case	NOUN
bracis-19064	221	4	,	,	PUNCT
bracis-19064	221	5	the	the	DET
bracis-19064	221	6	novel	novel	ADJ
bracis-19064	221	7	approach	approach	NOUN
bracis-19064	221	8	has	have	AUX
bracis-19064	221	9	found	find	VERB
bracis-19064	221	10	better	well	ADJ
bracis-19064	221	11	parameters	parameter	NOUN
bracis-19064	221	12	since	since	SCONJ
bracis-19064	221	13	it	it	PRON
bracis-19064	221	14	produces	produce	VERB
bracis-19064	221	15	lower	low	ADJ
bracis-19064	221	16	mae	mae	PROPN
bracis-19064	221	17	values	value	NOUN
bracis-19064	221	18	and	and	CCONJ
bracis-19064	221	19	the	the	DET
bracis-19064	221	20	recovered	recovered	ADJ
bracis-19064	221	21	paths	path	NOUN
bracis-19064	221	22	are	be	AUX
bracis-19064	221	23	closer	close	ADJ
bracis-19064	221	24	to	to	PART
bracis-19064	221	25	gps	gps	VERB
bracis-19064	221	26	than	than	ADP
bracis-19064	221	27	both	both	CCONJ
bracis-19064	221	28	raw	raw	ADJ
bracis-19064	221	29	odometry	odometry	NOUN
bracis-19064	221	30	and	and	CCONJ
bracis-19064	221	31	pso	pso	NOUN
bracis-19064	221	32	.	.	PUNCT
bracis-19064	222	1	figure	figure	PROPN
bracis-19064	222	2	 	 	SPACE
bracis-19064	222	3	8	8	NUM
bracis-19064	222	4	compares	compare	NOUN
bracis-19064	222	5	gps	gps	PROPN
bracis-19064	222	6	and	and	CCONJ
bracis-19064	222	7	raw	raw	ADJ
bracis-19064	222	8	odometry	odometry	NOUN
bracis-19064	222	9	with	with	ADP
bracis-19064	222	10	the	the	DET
bracis-19064	222	11	paths	path	NOUN
bracis-19064	222	12	computed	compute	VERB
bracis-19064	222	13	by	by	ADP
bracis-19064	222	14	the	the	DET
bracis-19064	222	15	two	two	NUM
bracis-19064	222	16	odometry	odometry	NOUN
bracis-19064	222	17	bias	bias	NOUN
bracis-19064	222	18	calibration	calibration	NOUN
bracis-19064	222	19	methods	method	NOUN
bracis-19064	222	20	in	in	ADP
bracis-19064	222	21	the	the	DET
bracis-19064	222	22	trvl	trvl	NOUN
bracis-19064	222	23	log	log	NOUN
bracis-19064	222	24	.	.	PUNCT
bracis-19064	223	1	table	table	NOUN
bracis-19064	223	2	1	1	NUM
bracis-19064	223	3	.	.	PUNCT
bracis-19064	223	4	odometry	odometry	NOUN
bracis-19064	223	5	bias	bias	NOUN
bracis-19064	223	6	calibration	calibration	NOUN
bracis-19064	223	7	using	use	VERB
bracis-19064	223	8	pso	pso	NOUN
bracis-19064	223	9	and	and	CCONJ
bracis-19064	223	10	hypergraph	hypergraph	VERB
bracis-19064	223	11	optimization.full	optimization.full	NUM
bracis-19064	223	12	size	size	NOUN
bracis-19064	223	13	table	table	NOUN
bracis-19064	223	14	fig	fig	NOUN
bracis-19064	223	15	.	.	PUNCT
bracis-19064	224	1	8	8	NUM
bracis-19064	224	2	.	.	X
bracis-19064	224	3	odometry	odometry	NOUN
bracis-19064	224	4	calibration	calibration	NOUN
bracis-19064	224	5	trvl	trvl	NOUN
bracis-19064	224	6	.	.	PUNCT
bracis-19064	225	1	full	full	ADJ
bracis-19064	225	2	size	size	NOUN
bracis-19064	225	3	image	image	NOUN
bracis-19064	225	4	fig	fig	NOUN
bracis-19064	225	5	.	.	PUNCT
bracis-19064	226	1	9	9	X
bracis-19064	226	2	.	.	X
bracis-19064	226	3	map	map	NOUN
bracis-19064	226	4	merging	merge	VERB
bracis-19064	226	5	.	.	PUNCT
bracis-19064	227	1	(	(	PUNCT
bracis-19064	227	2	a	a	X
bracis-19064	227	3	)	)	PUNCT
bracis-19064	227	4	errors	error	NOUN
bracis-19064	227	5	in	in	ADP
bracis-19064	227	6	the	the	DET
bracis-19064	227	7	ogm	ogm	PROPN
bracis-19064	227	8	(	(	PUNCT
bracis-19064	227	9	ub1	ub1	PROPN
bracis-19064	227	10	and	and	CCONJ
bracis-19064	227	11	ub2	ub2	PROPN
bracis-19064	227	12	)	)	PUNCT
bracis-19064	227	13	.	.	PUNCT
bracis-19064	228	1	(	(	PUNCT
bracis-19064	228	2	b	b	X
bracis-19064	228	3	)	)	PUNCT
bracis-19064	228	4	enabling	enable	VERB
bracis-19064	228	5	inter	inter	ADJ
bracis-19064	228	6	-	-	ADJ
bracis-19064	228	7	session	session	ADJ
bracis-19064	228	8	loop	loop	NOUN
bracis-19064	228	9	closures	closure	NOUN
bracis-19064	228	10	.	.	PUNCT
bracis-19064	229	1	(	(	PUNCT
bracis-19064	229	2	c	c	X
bracis-19064	229	3	)	)	PUNCT
bracis-19064	229	4	complete	complete	ADJ
bracis-19064	229	5	map	map	NOUN
bracis-19064	229	6	.	.	PUNCT
bracis-19064	230	1	full	full	ADJ
bracis-19064	230	2	size	size	NOUN
bracis-19064	230	3	image	image	NOUN
bracis-19064	230	4	5.2	5.2	NUM
bracis-19064	230	5	map	map	NOUN
bracis-19064	230	6	building	building	NOUN
bracis-19064	230	7	and	and	CCONJ
bracis-19064	230	8	 	 	SPACE
bracis-19064	230	9	merging	merging	NOUN
bracis-19064	230	10	given	give	VERB
bracis-19064	230	11	that	that	SCONJ
bracis-19064	230	12	our	our	PRON
bracis-19064	230	13	new	new	ADJ
bracis-19064	230	14	system	system	NOUN
bracis-19064	230	15	exploits	exploit	VERB
bracis-19064	230	16	all	all	DET
bracis-19064	230	17	relevant	relevant	ADJ
bracis-19064	230	18	sensor	sensor	NOUN
bracis-19064	230	19	data	datum	NOUN
bracis-19064	230	20	,	,	PUNCT
bracis-19064	230	21	additional	additional	ADJ
bracis-19064	230	22	filtering	filter	VERB
bracis-19064	230	23	strategies	strategy	NOUN
bracis-19064	230	24	and	and	CCONJ
bracis-19064	230	25	lidar	lidar	NOUN
bracis-19064	230	26	odometry	odometry	NOUN
bracis-19064	230	27	,	,	PUNCT
bracis-19064	230	28	it	it	PRON
bracis-19064	230	29	was	be	AUX
bracis-19064	230	30	capable	capable	ADJ
bracis-19064	230	31	of	of	ADP
bracis-19064	230	32	handling	handle	VERB
bracis-19064	230	33	the	the	DET
bracis-19064	230	34	trvl	trvl	NOUN
bracis-19064	230	35	dataset	dataset	VERB
bracis-19064	230	36	and	and	CCONJ
bracis-19064	230	37	providing	provide	VERB
bracis-19064	230	38	the	the	DET
bracis-19064	230	39	maps	map	NOUN
bracis-19064	230	40	in	in	ADP
bracis-19064	230	41	that	that	DET
bracis-19064	230	42	large	large	ADJ
bracis-19064	230	43	-	-	PUNCT
bracis-19064	230	44	scale	scale	NOUN
bracis-19064	230	45	context	context	NOUN
bracis-19064	230	46	.	.	PUNCT
bracis-19064	231	1	figure	figure	NOUN
bracis-19064	231	2	 	 	SPACE
bracis-19064	231	3	9(a	9(a	NUM
bracis-19064	231	4	)	)	PUNCT
bracis-19064	231	5	illustrates	illustrate	VERB
bracis-19064	231	6	the	the	DET
bracis-19064	231	7	absence	absence	NOUN
bracis-19064	231	8	of	of	ADP
bracis-19064	231	9	a	a	DET
bracis-19064	231	10	common	common	ADJ
bracis-19064	231	11	reference	reference	NOUN
bracis-19064	231	12	frame	frame	NOUN
bracis-19064	231	13	while	while	SCONJ
bracis-19064	231	14	merging	merge	VERB
bracis-19064	231	15	ub1	ub1	PROPN
bracis-19064	231	16	and	and	CCONJ
bracis-19064	231	17	ub2	ub2	PROPN
bracis-19064	231	18	without	without	ADP
bracis-19064	231	19	the	the	DET
bracis-19064	231	20	inter	inter	ADJ
bracis-19064	231	21	-	-	ADJ
bracis-19064	231	22	session	session	ADJ
bracis-19064	231	23	loop	loop	NOUN
bracis-19064	231	24	closures	closure	NOUN
bracis-19064	231	25	while	while	SCONJ
bracis-19064	231	26	also	also	ADV
bracis-19064	231	27	using	use	VERB
bracis-19064	231	28	18	18	NUM
bracis-19064	231	29	.	.	PUNCT
bracis-19064	232	1	red	red	ADJ
bracis-19064	232	2	pixels	pixel	NOUN
bracis-19064	232	3	are	be	AUX
bracis-19064	232	4	the	the	DET
bracis-19064	232	5	obstacles	obstacle	NOUN
bracis-19064	232	6	found	find	VERB
bracis-19064	232	7	in	in	ADP
bracis-19064	232	8	ub1	ub1	PROPN
bracis-19064	232	9	and	and	CCONJ
bracis-19064	232	10	green	green	ADJ
bracis-19064	232	11	pixels	pixel	NOUN
bracis-19064	232	12	are	be	AUX
bracis-19064	232	13	obstacles	obstacle	NOUN
bracis-19064	232	14	in	in	ADP
bracis-19064	232	15	ub2	ub2	PROPN
bracis-19064	232	16	.	.	PUNCT
bracis-19064	233	1	similar	similar	ADJ
bracis-19064	233	2	errors	error	NOUN
bracis-19064	233	3	occur	occur	VERB
bracis-19064	233	4	when	when	SCONJ
bracis-19064	233	5	we	we	PRON
bracis-19064	233	6	merge	merge	VERB
bracis-19064	233	7	the	the	DET
bracis-19064	233	8	remaining	remain	VERB
bracis-19064	233	9	logs	log	NOUN
bracis-19064	233	10	without	without	ADP
bracis-19064	233	11	using	use	VERB
bracis-19064	233	12	the	the	DET
bracis-19064	233	13	inter	inter	ADJ
bracis-19064	233	14	-	-	ADJ
bracis-19064	233	15	session	session	ADJ
bracis-19064	233	16	loop	loop	NOUN
bracis-19064	233	17	closure	closure	NOUN
bracis-19064	233	18	to	to	PART
bracis-19064	233	19	estimate	estimate	VERB
bracis-19064	233	20	a	a	DET
bracis-19064	233	21	good	good	ADJ
bracis-19064	233	22	reference	reference	NOUN
bracis-19064	233	23	frame	frame	NOUN
bracis-19064	233	24	.	.	PUNCT
bracis-19064	234	1	figure	figure	NOUN
bracis-19064	234	2	 	 	SPACE
bracis-19064	234	3	9(b	9(b	NUM
bracis-19064	234	4	)	)	PUNCT
bracis-19064	234	5	illustrates	illustrate	VERB
bracis-19064	234	6	the	the	DET
bracis-19064	234	7	removal	removal	NOUN
bracis-19064	234	8	of	of	ADP
bracis-19064	234	9	the	the	DET
bracis-19064	234	10	errors	error	NOUN
bracis-19064	234	11	after	after	ADP
bracis-19064	234	12	activating	activate	VERB
bracis-19064	234	13	the	the	DET
bracis-19064	234	14	inter	inter	ADJ
bracis-19064	234	15	-	-	ADJ
bracis-19064	234	16	session	session	ADJ
bracis-19064	234	17	loop	loop	NOUN
bracis-19064	234	18	closures	closure	NOUN
bracis-19064	234	19	between	between	ADP
bracis-19064	234	20	ub1	ub1	PROPN
bracis-19064	234	21	and	and	CCONJ
bracis-19064	234	22	ub2	ub2	PROPN
bracis-19064	234	23	.	.	PUNCT
bracis-19064	234	24	figure	figure	PROPN
bracis-19064	234	25	 	 	SPACE
bracis-19064	234	26	9(c	9(c	NUM
bracis-19064	234	27	)	)	PUNCT
bracis-19064	234	28	presents	present	VERB
bracis-19064	234	29	the	the	DET
bracis-19064	234	30	final	final	ADJ
bracis-19064	234	31	merged	merged	ADJ
bracis-19064	234	32	map	map	NOUN
bracis-19064	234	33	including	include	VERB
bracis-19064	234	34	all	all	DET
bracis-19064	234	35	parking	parking	NOUN
bracis-19064	234	36	lots	lot	NOUN
bracis-19064	234	37	.	.	PUNCT
bracis-19064	235	1	6	6	NUM
bracis-19064	235	2	conclusions	conclusion	NOUN
bracis-19064	235	3	and	and	CCONJ
bracis-19064	235	4	 	 	SPACE
bracis-19064	235	5	future	future	ADJ
bracis-19064	235	6	work	work	NOUN
bracis-19064	235	7	in	in	ADP
bracis-19064	235	8	this	this	DET
bracis-19064	235	9	work	work	NOUN
bracis-19064	235	10	,	,	PUNCT
bracis-19064	235	11	we	we	PRON
bracis-19064	235	12	presented	present	VERB
bracis-19064	235	13	a	a	DET
bracis-19064	235	14	new	new	ADJ
bracis-19064	235	15	system	system	NOUN
bracis-19064	235	16	for	for	ADP
bracis-19064	235	17	long	long	ADJ
bracis-19064	235	18	-	-	PUNCT
bracis-19064	235	19	term	term	NOUN
bracis-19064	235	20	map	map	NOUN
bracis-19064	235	21	maintenance	maintenance	NOUN
bracis-19064	235	22	.	.	PUNCT
bracis-19064	236	1	the	the	DET
bracis-19064	236	2	system	system	NOUN
bracis-19064	236	3	uses	use	VERB
bracis-19064	236	4	multi	multi	ADJ
bracis-19064	236	5	-	-	ADJ
bracis-19064	236	6	session	session	ADJ
bracis-19064	236	7	data	datum	NOUN
bracis-19064	236	8	with	with	ADP
bracis-19064	236	9	the	the	DET
bracis-19064	236	10	purpose	purpose	NOUN
bracis-19064	236	11	of	of	ADP
bracis-19064	236	12	building	build	VERB
bracis-19064	236	13	and	and	CCONJ
bracis-19064	236	14	updating	update	VERB
bracis-19064	236	15	grid	grid	NOUN
bracis-19064	236	16	maps	map	NOUN
bracis-19064	236	17	for	for	ADP
bracis-19064	236	18	posterior	posterior	ADJ
bracis-19064	236	19	autonomous	autonomous	ADJ
bracis-19064	236	20	navigation	navigation	NOUN
bracis-19064	236	21	and	and	CCONJ
bracis-19064	236	22	localization	localization	NOUN
bracis-19064	236	23	.	.	PUNCT
bracis-19064	237	1	the	the	DET
bracis-19064	237	2	system	system	NOUN
bracis-19064	237	3	deals	deal	VERB
bracis-19064	237	4	with	with	ADP
bracis-19064	237	5	different	different	ADJ
bracis-19064	237	6	types	type	NOUN
bracis-19064	237	7	of	of	ADP
bracis-19064	237	8	sensors	sensor	NOUN
bracis-19064	237	9	and	and	CCONJ
bracis-19064	237	10	can	can	AUX
bracis-19064	237	11	handle	handle	VERB
bracis-19064	237	12	typical	typical	ADJ
bracis-19064	237	13	errors	error	NOUN
bracis-19064	237	14	found	find	VERB
bracis-19064	237	15	in	in	ADP
bracis-19064	237	16	noisy	noisy	ADJ
bracis-19064	237	17	sensor	sensor	NOUN
bracis-19064	237	18	data	datum	NOUN
bracis-19064	237	19	.	.	PUNCT
bracis-19064	238	1	the	the	DET
bracis-19064	238	2	hypergraph	hypergraph	NOUN
bracis-19064	238	3	builder	builder	NOUN
bracis-19064	238	4	module	module	NOUN
bracis-19064	238	5	includes	include	VERB
bracis-19064	238	6	intra	intra	ADJ
bracis-19064	238	7	-	-	NOUN
bracis-19064	238	8	session	session	ADJ
bracis-19064	238	9	and	and	CCONJ
bracis-19064	238	10	inter	inter	ADJ
bracis-19064	238	11	-	-	ADJ
bracis-19064	238	12	session	session	ADJ
bracis-19064	238	13	loop	loop	NOUN
bracis-19064	238	14	closures	closure	NOUN
bracis-19064	238	15	in	in	ADP
bracis-19064	238	16	order	order	NOUN
bracis-19064	238	17	to	to	PART
bracis-19064	238	18	estimate	estimate	VERB
bracis-19064	238	19	the	the	DET
bracis-19064	238	20	av	av	PROPN
bracis-19064	238	21	poses	pose	VERB
bracis-19064	238	22	in	in	ADP
bracis-19064	238	23	a	a	DET
bracis-19064	238	24	global	global	ADJ
bracis-19064	238	25	coordinate	coordinate	NOUN
bracis-19064	238	26	frame	frame	NOUN
bracis-19064	238	27	.	.	PUNCT
bracis-19064	239	1	the	the	DET
bracis-19064	239	2	system	system	NOUN
bracis-19064	239	3	also	also	ADV
bracis-19064	239	4	uses	use	VERB
bracis-19064	239	5	a	a	DET
bracis-19064	239	6	new	new	ADJ
bracis-19064	239	7	odometry	odometry	NOUN
bracis-19064	239	8	bias	bias	NOUN
bracis-19064	239	9	calibration	calibration	NOUN
bracis-19064	239	10	method	method	NOUN
bracis-19064	239	11	to	to	PART
bracis-19064	239	12	turn	turn	VERB
bracis-19064	239	13	the	the	DET
bracis-19064	239	14	odometry	odometry	NOUN
bracis-19064	239	15	more	more	ADV
bracis-19064	239	16	reliable	reliable	ADJ
bracis-19064	239	17	in	in	ADP
bracis-19064	239	18	the	the	DET
bracis-19064	239	19	entire	entire	ADJ
bracis-19064	239	20	process	process	NOUN
bracis-19064	239	21	.	.	PUNCT
bracis-19064	240	1	the	the	DET
bracis-19064	240	2	mapper	mapper	PROPN
bracis-19064	240	3	module	module	NOUN
bracis-19064	240	4	uses	use	VERB
bracis-19064	240	5	a	a	DET
bracis-19064	240	6	custom	custom	NOUN
bracis-19064	240	7	method	method	NOUN
bracis-19064	240	8	to	to	PART
bracis-19064	240	9	freeze	freeze	VERB
bracis-19064	240	10	highly	highly	ADV
bracis-19064	240	11	observed	observe	VERB
bracis-19064	240	12	cells	cell	NOUN
bracis-19064	240	13	and	and	CCONJ
bracis-19064	240	14	so	so	ADV
bracis-19064	240	15	handle	handle	VERB
bracis-19064	240	16	high	high	ADJ
bracis-19064	240	17	and	and	CCONJ
bracis-19064	240	18	low	low	ADJ
bracis-19064	240	19	dynamics	dynamic	NOUN
bracis-19064	240	20	in	in	ADP
bracis-19064	240	21	the	the	DET
bracis-19064	240	22	map	map	NOUN
bracis-19064	240	23	merging	merge	VERB
bracis-19064	240	24	.	.	PUNCT
bracis-19064	241	1	we	we	PRON
bracis-19064	241	2	evaluated	evaluate	VERB
bracis-19064	241	3	the	the	DET
bracis-19064	241	4	system	system	NOUN
bracis-19064	241	5	using	use	VERB
bracis-19064	241	6	datasets	dataset	NOUN
bracis-19064	241	7	collected	collect	VERB
bracis-19064	241	8	in	in	ADP
bracis-19064	241	9	an	an	DET
bracis-19064	241	10	university	university	NOUN
bracis-19064	241	11	campus	campus	NOUN
bracis-19064	241	12	and	and	CCONJ
bracis-19064	241	13	in	in	ADP
bracis-19064	241	14	a	a	DET
bracis-19064	241	15	travel	travel	NOUN
bracis-19064	241	16	to	to	ADP
bracis-19064	241	17	another	another	DET
bracis-19064	241	18	city	city	NOUN
bracis-19064	241	19	.	.	PUNCT
bracis-19064	242	1	experiments	experiment	NOUN
bracis-19064	242	2	indicate	indicate	VERB
bracis-19064	242	3	that	that	SCONJ
bracis-19064	242	4	the	the	DET
bracis-19064	242	5	new	new	ADJ
bracis-19064	242	6	odometry	odometry	NOUN
bracis-19064	242	7	bias	bias	NOUN
bracis-19064	242	8	calibration	calibration	NOUN
bracis-19064	242	9	method	method	NOUN
bracis-19064	242	10	surpass	surpass	VERB
bracis-19064	242	11	a	a	DET
bracis-19064	242	12	previous	previous	ADJ
bracis-19064	242	13	pso	pso	NOUN
bracis-19064	242	14	-	-	PUNCT
bracis-19064	242	15	based	base	VERB
bracis-19064	242	16	and	and	CCONJ
bracis-19064	242	17	also	also	ADV
bracis-19064	242	18	shows	show	VERB
bracis-19064	242	19	that	that	SCONJ
bracis-19064	242	20	the	the	DET
bracis-19064	242	21	system	system	NOUN
bracis-19064	242	22	can	can	AUX
bracis-19064	242	23	build	build	VERB
bracis-19064	242	24	and	and	CCONJ
bracis-19064	242	25	merge	merge	VERB
bracis-19064	242	26	submaps	submap	NOUN
bracis-19064	242	27	into	into	ADP
bracis-19064	242	28	a	a	DET
bracis-19064	242	29	global	global	ADJ
bracis-19064	242	30	map	map	NOUN
bracis-19064	242	31	using	use	VERB
bracis-19064	242	32	inter	inter	ADJ
bracis-19064	242	33	-	-	ADJ
bracis-19064	242	34	session	session	ADJ
bracis-19064	242	35	loop	loop	NOUN
bracis-19064	242	36	closures	closure	NOUN
bracis-19064	242	37	.	.	PUNCT
bracis-19064	243	1	equation	equation	NOUN
bracis-19064	243	2	 	 	SPACE
bracis-19064	243	3	7	7	NUM
bracis-19064	243	4	is	be	AUX
bracis-19064	243	5	used	use	VERB
bracis-19064	243	6	in	in	ADP
bracis-19064	243	7	kümmerle	kümmerle	PROPN
bracis-19064	243	8	et	et	PROPN
bracis-19064	243	9	al	al	PROPN
bracis-19064	243	10	.	.	PUNCT
bracis-19064	243	11	 	 	SPACE
bracis-19064	244	1	[	[	X
bracis-19064	244	2	12	12	NUM
bracis-19064	244	3	]	]	PUNCT
bracis-19064	244	4	to	to	PART
bracis-19064	244	5	estimate	estimate	VERB
bracis-19064	244	6	the	the	DET
bracis-19064	244	7	2d	2d	NOUN
bracis-19064	244	8	pose	pose	VERB
bracis-19064	244	9	of	of	ADP
bracis-19064	244	10	some	some	DET
bracis-19064	244	11	laser	laser	NOUN
bracis-19064	244	12	scanner	scanner	NOUN
bracis-19064	244	13	sensors	sensor	NOUN
bracis-19064	244	14	directly	directly	ADV
bracis-19064	244	15	in	in	ADP
bracis-19064	244	16	the	the	DET
bracis-19064	244	17	hypergraph	hypergraph	NOUN
bracis-19064	244	18	optimization	optimization	NOUN
bracis-19064	244	19	.	.	PUNCT
bracis-19064	245	1	we	we	PRON
bracis-19064	245	2	did	do	AUX
bracis-19064	245	3	not	not	PART
bracis-19064	245	4	obtain	obtain	VERB
bracis-19064	245	5	same	same	ADJ
bracis-19064	245	6	quality	quality	NOUN
bracis-19064	245	7	results	result	NOUN
bracis-19064	245	8	for	for	ADP
bracis-19064	245	9	the	the	DET
bracis-19064	245	10	velodyne	velodyne	PROPN
bracis-19064	245	11	hdl-32e	hdl-32e	NOUN
bracis-19064	245	12	in	in	ADP
bracis-19064	245	13	our	our	PRON
bracis-19064	245	14	av	av	NOUN
bracis-19064	245	15	.	.	PUNCT
bracis-19064	246	1	in	in	ADP
bracis-19064	246	2	a	a	DET
bracis-19064	246	3	future	future	ADJ
bracis-19064	246	4	work	work	NOUN
bracis-19064	246	5	,	,	PUNCT
bracis-19064	246	6	we	we	PRON
bracis-19064	246	7	can	can	AUX
bracis-19064	246	8	investigate	investigate	VERB
bracis-19064	246	9	proper	proper	ADJ
bracis-19064	246	10	methods	method	NOUN
bracis-19064	246	11	to	to	PART
bracis-19064	246	12	calibrate	calibrate	VERB
bracis-19064	246	13	the	the	DET
bracis-19064	246	14	extrinsic	extrinsic	NOUN
bracis-19064	246	15	of	of	ADP
bracis-19064	246	16	our	our	PRON
bracis-19064	246	17	lidar	lidar	NOUN
bracis-19064	246	18	and	and	CCONJ
bracis-19064	246	19	cameras	camera	NOUN
bracis-19064	246	20	.	.	PUNCT
bracis-19064	247	1	references	reference	NOUN
bracis-19064	247	2	badue	badue	ADJ
bracis-19064	247	3	,	,	PUNCT
bracis-19064	247	4	c.	c.	PROPN
bracis-19064	247	5	,	,	PUNCT
bracis-19064	247	6	et	et	PROPN
bracis-19064	247	7	al	al	PROPN
bracis-19064	247	8	.	.	PROPN
bracis-19064	247	9	:	:	PUNCT
bracis-19064	247	10	self	self	NOUN
bracis-19064	247	11	-	-	PUNCT
bracis-19064	247	12	driving	drive	VERB
bracis-19064	247	13	cars	car	NOUN
bracis-19064	247	14	:	:	PUNCT
bracis-19064	247	15	a	a	DET
bracis-19064	247	16	survey	survey	NOUN
bracis-19064	247	17	.	.	PUNCT
bracis-19064	248	1	expert	expert	NOUN
bracis-19064	248	2	syst	syst	PROPN
bracis-19064	248	3	.	.	PUNCT
bracis-19064	249	1	appl	appl	PROPN
bracis-19064	249	2	.	.	PROPN
bracis-19064	250	1	165	165	NUM
bracis-19064	250	2	,	,	PUNCT
bracis-19064	250	3	113816	113816	NUM
bracis-19064	250	4	(	(	PUNCT
bracis-19064	250	5	2020	2020	NUM
bracis-19064	250	6	)	)	PUNCT
bracis-19064	250	7	article	article	NOUN
bracis-19064	250	8	  	  	SPACE
bracis-19064	250	9	google	google	PROPN
bracis-19064	250	10	scholar	scholar	NOUN
bracis-19064	250	11	  	  	SPACE
bracis-19064	250	12	bergman	bergman	PROPN
bracis-19064	250	13	,	,	PUNCT
bracis-19064	250	14	w.	w.	PROPN
bracis-19064	250	15	:	:	PUNCT
bracis-19064	250	16	the	the	DET
bracis-19064	250	17	basic	basic	ADJ
bracis-19064	250	18	nature	nature	NOUN
bracis-19064	250	19	of	of	ADP
bracis-19064	250	20	vehicle	vehicle	NOUN
bracis-19064	250	21	understeer	understeer	NOUN
bracis-19064	250	22	-	-	PUNCT
bracis-19064	250	23	oversteer	oversteer	NOUN
bracis-19064	250	24	.	.	PUNCT
bracis-19064	251	1	sae	sae	PROPN
bracis-19064	251	2	trans	trans	PROPN
bracis-19064	251	3	.	.	PROPN
bracis-19064	252	1	74	74	NUM
bracis-19064	252	2	,	,	PUNCT
bracis-19064	252	3	387–422	387–422	NUM
bracis-19064	252	4	(	(	PUNCT
bracis-19064	252	5	1966	1966	NUM
bracis-19064	252	6	)	)	PUNCT
bracis-19064	252	7	google	google	NOUN
bracis-19064	252	8	scholar	scholar	NOUN
bracis-19064	252	9	  	  	SPACE
bracis-19064	252	10	bonanni	bonanni	NOUN
bracis-19064	252	11	,	,	PUNCT
bracis-19064	252	12	t.m	t.m	PROPN
bracis-19064	252	13	.	.	PROPN
bracis-19064	252	14	,	,	PUNCT
bracis-19064	252	15	corte	corte	PROPN
bracis-19064	252	16	,	,	PUNCT
bracis-19064	252	17	b.d	b.d	PROPN
bracis-19064	252	18	.	.	PROPN
bracis-19064	252	19	,	,	PUNCT
bracis-19064	252	20	grisetti	grisetti	PROPN
bracis-19064	252	21	,	,	PUNCT
bracis-19064	252	22	g.	g.	PROPN
bracis-19064	252	23	:	:	PUNCT
bracis-19064	252	24	3	3	NUM
bracis-19064	252	25	-	-	SYM
bracis-19064	252	26	d	d	NOUN
bracis-19064	252	27	map	map	NOUN
bracis-19064	252	28	merging	merge	VERB
bracis-19064	252	29	on	on	ADP
bracis-19064	252	30	pose	pose	NOUN
bracis-19064	252	31	graphs	graph	NOUN
bracis-19064	252	32	.	.	PUNCT
bracis-19064	253	1	ieee	ieee	NOUN
bracis-19064	253	2	robot	robot	NOUN
bracis-19064	253	3	.	.	PUNCT
bracis-19064	254	1	autom	autom	PROPN
bracis-19064	254	2	.	.	PUNCT
bracis-19064	255	1	lett	lett	PROPN
bracis-19064	255	2	.	.	PUNCT
bracis-19064	256	1	2(2	2(2	NUM
bracis-19064	256	2	)	)	PUNCT
bracis-19064	256	3	,	,	PUNCT
bracis-19064	256	4	1031–1038	1031–1038	NUM
bracis-19064	256	5	(	(	PUNCT
bracis-19064	256	6	2017	2017	NUM
bracis-19064	256	7	)	)	PUNCT
bracis-19064	256	8	article	article	NOUN
bracis-19064	256	9	  	  	SPACE
bracis-19064	256	10	google	google	PROPN
bracis-19064	256	11	scholar	scholar	NOUN
bracis-19064	256	12	  	  	SPACE
bracis-19064	256	13	cadena	cadena	PROPN
bracis-19064	256	14	,	,	PUNCT
bracis-19064	256	15	c.	c.	PROPN
bracis-19064	256	16	,	,	PUNCT
bracis-19064	256	17	et	et	PROPN
bracis-19064	256	18	al	al	PROPN
bracis-19064	256	19	.	.	PUNCT
bracis-19064	256	20	:	:	PUNCT
bracis-19064	257	1	past	past	ADJ
bracis-19064	257	2	,	,	PUNCT
bracis-19064	257	3	present	present	ADJ
bracis-19064	257	4	,	,	PUNCT
bracis-19064	257	5	and	and	CCONJ
bracis-19064	257	6	future	future	NOUN
bracis-19064	257	7	of	of	ADP
bracis-19064	257	8	simultaneous	simultaneous	ADJ
bracis-19064	257	9	localization	localization	NOUN
bracis-19064	257	10	and	and	CCONJ
bracis-19064	257	11	mapping	mapping	NOUN
bracis-19064	257	12	:	:	PUNCT
bracis-19064	257	13	toward	toward	ADP
bracis-19064	257	14	the	the	DET
bracis-19064	257	15	robust	robust	ADJ
bracis-19064	257	16	-	-	PUNCT
bracis-19064	257	17	perception	perception	NOUN
bracis-19064	257	18	age	age	NOUN
bracis-19064	257	19	.	.	PUNCT
bracis-19064	258	1	ieee	ieee	PROPN
bracis-19064	258	2	trans	trans	PROPN
bracis-19064	258	3	.	.	PUNCT
bracis-19064	259	1	robot	robot	PROPN
bracis-19064	259	2	.	.	PUNCT
bracis-19064	260	1	32(6	32(6	NUM
bracis-19064	260	2	)	)	PUNCT
bracis-19064	260	3	,	,	PUNCT
bracis-19064	260	4	1309–1332	1309–1332	NUM
bracis-19064	260	5	(	(	PUNCT
bracis-19064	260	6	2016	2016	NUM
bracis-19064	260	7	)	)	PUNCT
bracis-19064	260	8	article	article	NOUN
bracis-19064	260	9	  	  	SPACE
bracis-19064	260	10	google	google	PROPN
bracis-19064	260	11	scholar	scholar	NOUN
bracis-19064	260	12	  	  	SPACE
bracis-19064	260	13	cardoso	cardoso	NOUN
bracis-19064	260	14	,	,	PUNCT
bracis-19064	260	15	v.	v.	ADV
bracis-19064	260	16	,	,	PUNCT
bracis-19064	260	17	et	et	PROPN
bracis-19064	260	18	al	al	PROPN
bracis-19064	260	19	.	.	PROPN
bracis-19064	260	20	:	:	PUNCT
bracis-19064	261	1	a	a	DET
bracis-19064	261	2	model	model	ADJ
bracis-19064	261	3	-	-	PUNCT
bracis-19064	261	4	predictive	predictive	ADJ
bracis-19064	261	5	motion	motion	NOUN
bracis-19064	261	6	planner	planner	NOUN
bracis-19064	261	7	for	for	ADP
bracis-19064	261	8	the	the	DET
bracis-19064	261	9	iara	iara	PROPN
bracis-19064	261	10	autonomous	autonomous	ADJ
bracis-19064	261	11	car	car	NOUN
bracis-19064	261	12	.	.	PUNCT
bracis-19064	262	1	in	in	ADP
bracis-19064	262	2	:	:	PUNCT
bracis-19064	262	3	2017	2017	NUM
bracis-19064	262	4	ieee	ieee	NOUN
bracis-19064	262	5	international	international	ADJ
bracis-19064	262	6	conference	conference	NOUN
bracis-19064	262	7	on	on	ADP
bracis-19064	262	8	robotics	robotic	NOUN
bracis-19064	262	9	and	and	CCONJ
bracis-19064	262	10	automation	automation	NOUN
bracis-19064	262	11	(	(	PUNCT
bracis-19064	262	12	icra	icra	PROPN
bracis-19064	262	13	)	)	PUNCT
bracis-19064	262	14	,	,	PUNCT
bracis-19064	262	15	pp	pp	ADP
bracis-19064	262	16	.	.	PUNCT
bracis-19064	263	1	225–230	225–230	NUM
bracis-19064	263	2	(	(	PUNCT
bracis-19064	263	3	2017	2017	NUM
bracis-19064	263	4	)	)	PUNCT
bracis-19064	263	5	google	google	NOUN
bracis-19064	263	6	scholar	scholar	NOUN
bracis-19064	263	7	  	  	SPACE
bracis-19064	263	8	de	de	PROPN
bracis-19064	263	9	paula	paula	PROPN
bracis-19064	263	10	veronese	veronese	PROPN
bracis-19064	263	11	,	,	PUNCT
bracis-19064	263	12	l.	l.	PROPN
bracis-19064	263	13	,	,	PUNCT
bracis-19064	263	14	et	et	PROPN
bracis-19064	263	15	al	al	PROPN
bracis-19064	263	16	.	.	PUNCT
bracis-19064	263	17	:	:	PUNCT
bracis-19064	264	1	a	a	DET
bracis-19064	264	2	light	light	ADJ
bracis-19064	264	3	-	-	PUNCT
bracis-19064	264	4	weight	weight	NOUN
bracis-19064	264	5	yet	yet	CCONJ
bracis-19064	264	6	accurate	accurate	ADJ
bracis-19064	264	7	localization	localization	NOUN
bracis-19064	264	8	system	system	NOUN
bracis-19064	264	9	for	for	ADP
bracis-19064	264	10	autonomous	autonomous	ADJ
bracis-19064	264	11	cars	car	NOUN
bracis-19064	264	12	in	in	ADP
bracis-19064	264	13	large	large	ADJ
bracis-19064	264	14	-	-	PUNCT
bracis-19064	264	15	scale	scale	NOUN
bracis-19064	264	16	and	and	CCONJ
bracis-19064	264	17	complex	complex	ADJ
bracis-19064	264	18	environments	environment	NOUN
bracis-19064	264	19	.	.	PUNCT
bracis-19064	265	1	in	in	ADP
bracis-19064	265	2	:	:	PUNCT
bracis-19064	265	3	2016	2016	NUM
bracis-19064	265	4	ieee	ieee	NOUN
bracis-19064	265	5	19th	19th	ADJ
bracis-19064	265	6	international	international	ADJ
bracis-19064	265	7	conference	conference	NOUN
bracis-19064	265	8	on	on	ADP
bracis-19064	265	9	intelligent	intelligent	ADJ
bracis-19064	265	10	transportation	transportation	NOUN
bracis-19064	265	11	systems	system	NOUN
bracis-19064	265	12	(	(	PUNCT
bracis-19064	265	13	itsc	itsc	PROPN
bracis-19064	265	14	)	)	PUNCT
bracis-19064	265	15	,	,	PUNCT
bracis-19064	265	16	pp	pp	ADP
bracis-19064	265	17	.	.	PUNCT
bracis-19064	266	1	520–525	520–525	NUM
bracis-19064	266	2	(	(	PUNCT
bracis-19064	266	3	2016	2016	NUM
bracis-19064	266	4	)	)	PUNCT
bracis-19064	266	5	google	google	PROPN
bracis-19064	266	6	scholar	scholar	NOUN
bracis-19064	266	7	  	  	SPACE
bracis-19064	266	8	deutsch	deutsch	PROPN
bracis-19064	266	9	,	,	PUNCT
bracis-19064	266	10	i.	i.	PROPN
bracis-19064	266	11	,	,	PUNCT
bracis-19064	266	12	liu	liu	PROPN
bracis-19064	266	13	,	,	PUNCT
bracis-19064	266	14	m.	m.	NOUN
bracis-19064	266	15	,	,	PUNCT
bracis-19064	266	16	siegwart	siegwart	PROPN
bracis-19064	266	17	,	,	PUNCT
bracis-19064	266	18	r.	r.	PROPN
bracis-19064	266	19	:	:	PUNCT
bracis-19064	266	20	a	a	DET
bracis-19064	266	21	framework	framework	NOUN
bracis-19064	266	22	for	for	ADP
bracis-19064	266	23	multi	multi	ADJ
bracis-19064	266	24	-	-	ADJ
bracis-19064	266	25	robot	robot	NOUN
bracis-19064	266	26	pose	pose	NOUN
bracis-19064	266	27	graph	graph	NOUN
bracis-19064	266	28	slam	slam	NOUN
bracis-19064	266	29	.	.	PUNCT
bracis-19064	267	1	in	in	ADP
bracis-19064	267	2	:	:	PUNCT
bracis-19064	267	3	2016	2016	NUM
bracis-19064	267	4	ieee	ieee	NOUN
bracis-19064	267	5	international	international	ADJ
bracis-19064	267	6	conference	conference	NOUN
bracis-19064	267	7	on	on	ADP
bracis-19064	267	8	real	real	ADJ
bracis-19064	267	9	-	-	PUNCT
bracis-19064	267	10	time	time	NOUN
bracis-19064	267	11	computing	computing	NOUN
bracis-19064	267	12	and	and	CCONJ
bracis-19064	267	13	robotics	robotic	NOUN
bracis-19064	267	14	,	,	PUNCT
bracis-19064	267	15	rcar	rcar	VERB
bracis-19064	267	16	2016	2016	NUM
bracis-19064	267	17	,	,	PUNCT
bracis-19064	267	18	pp	pp	ADJ
bracis-19064	267	19	.	.	PUNCT
bracis-19064	268	1	567–572	567–572	NUM
bracis-19064	268	2	(	(	PUNCT
bracis-19064	268	3	2016	2016	NUM
bracis-19064	268	4	)	)	PUNCT
bracis-19064	268	5	google	google	PROPN
bracis-19064	268	6	scholar	scholar	NOUN
bracis-19064	268	7	  	  	SPACE
bracis-19064	268	8	ding	ding	NOUN
bracis-19064	268	9	,	,	PUNCT
bracis-19064	268	10	x.	x.	PROPN
bracis-19064	268	11	,	,	PUNCT
bracis-19064	268	12	wang	wang	PROPN
bracis-19064	268	13	,	,	PUNCT
bracis-19064	268	14	y.	y.	PROPN
bracis-19064	268	15	,	,	PUNCT
bracis-19064	268	16	yin	yin	PROPN
bracis-19064	268	17	,	,	PUNCT
bracis-19064	268	18	h.	h.	PROPN
bracis-19064	268	19	,	,	PUNCT
bracis-19064	268	20	tang	tang	PROPN
bracis-19064	268	21	,	,	PUNCT
bracis-19064	268	22	l.	l.	PROPN
bracis-19064	268	23	,	,	PUNCT
bracis-19064	268	24	xiong	xiong	PROPN
bracis-19064	268	25	,	,	PUNCT
bracis-19064	268	26	r.	r.	PROPN
bracis-19064	268	27	:	:	PUNCT
bracis-19064	268	28	multi	multi	ADJ
bracis-19064	268	29	-	-	ADJ
bracis-19064	268	30	session	session	ADJ
bracis-19064	268	31	map	map	NOUN
bracis-19064	268	32	construction	construction	NOUN
bracis-19064	268	33	in	in	ADP
bracis-19064	268	34	outdoor	outdoor	ADJ
bracis-19064	268	35	dynamic	dynamic	ADJ
bracis-19064	268	36	environment	environment	NOUN
bracis-19064	268	37	.	.	PUNCT
bracis-19064	269	1	in	in	ADP
bracis-19064	269	2	:	:	PUNCT
bracis-19064	269	3	2018	2018	NUM
bracis-19064	269	4	ieee	ieee	NOUN
bracis-19064	269	5	international	international	ADJ
bracis-19064	269	6	conference	conference	NOUN
bracis-19064	269	7	on	on	ADP
bracis-19064	269	8	real	real	ADJ
bracis-19064	269	9	-	-	PUNCT
bracis-19064	269	10	time	time	NOUN
bracis-19064	269	11	computing	computing	NOUN
bracis-19064	269	12	and	and	CCONJ
bracis-19064	269	13	robotics	robotic	NOUN
bracis-19064	269	14	,	,	PUNCT
bracis-19064	269	15	rcar	rcar	VERB
bracis-19064	269	16	2018	2018	NUM
bracis-19064	269	17	,	,	PUNCT
bracis-19064	269	18	pp	pp	ADV
bracis-19064	269	19	.	.	PUNCT
bracis-19064	270	1	384–389	384–389	NUM
bracis-19064	270	2	(	(	PUNCT
bracis-19064	270	3	2019	2019	NUM
bracis-19064	270	4	)	)	PUNCT
bracis-19064	270	5	google	google	PROPN
bracis-19064	270	6	scholar	scholar	NOUN
bracis-19064	270	7	  	  	SPACE
bracis-19064	270	8	einhorn	einhorn	PROPN
bracis-19064	270	9	,	,	PUNCT
bracis-19064	270	10	e.	e.	PROPN
bracis-19064	270	11	,	,	PUNCT
bracis-19064	270	12	gross	gross	PROPN
bracis-19064	270	13	,	,	PUNCT
bracis-19064	270	14	h.m	h.m	PROPN
bracis-19064	270	15	.	.	PROPN
bracis-19064	270	16	:	:	PUNCT
bracis-19064	270	17	generic	generic	ADJ
bracis-19064	270	18	ndt	ndt	PROPN
bracis-19064	270	19	mapping	mapping	NOUN
bracis-19064	270	20	in	in	ADP
bracis-19064	270	21	dynamic	dynamic	ADJ
bracis-19064	270	22	environments	environment	NOUN
bracis-19064	270	23	and	and	CCONJ
bracis-19064	270	24	its	its	PRON
bracis-19064	270	25	application	application	NOUN
bracis-19064	270	26	for	for	ADP
bracis-19064	270	27	lifelong	lifelong	ADJ
bracis-19064	270	28	slam	slam	NOUN
bracis-19064	270	29	.	.	PUNCT
bracis-19064	271	1	robot	robot	NOUN
bracis-19064	271	2	.	.	PUNCT
bracis-19064	272	1	auton	auton	PROPN
bracis-19064	272	2	.	.	PUNCT
bracis-19064	273	1	syst	syst	PROPN
bracis-19064	273	2	.	.	PUNCT
bracis-19064	274	1	69	69	NUM
bracis-19064	274	2	,	,	PUNCT
bracis-19064	274	3	28–39	28–39	NUM
bracis-19064	274	4	(	(	PUNCT
bracis-19064	274	5	2015	2015	NUM
bracis-19064	274	6	)	)	PUNCT
bracis-19064	274	7	article	article	NOUN
bracis-19064	274	8	  	  	SPACE
bracis-19064	274	9	google	google	PROPN
bracis-19064	274	10	scholar	scholar	NOUN
bracis-19064	274	11	  	  	SPACE
bracis-19064	274	12	guidolini	guidolini	NOUN
bracis-19064	274	13	,	,	PUNCT
bracis-19064	274	14	r.	r.	PROPN
bracis-19064	274	15	,	,	PUNCT
bracis-19064	274	16	badue	badue	ADJ
bracis-19064	274	17	,	,	PUNCT
bracis-19064	274	18	c.	c.	PROPN
bracis-19064	274	19	,	,	PUNCT
bracis-19064	274	20	berger	berger	PROPN
bracis-19064	274	21	,	,	PUNCT
bracis-19064	274	22	m.	m.	NOUN
bracis-19064	274	23	,	,	PUNCT
bracis-19064	274	24	de	de	PROPN
bracis-19064	274	25	paula	paula	PROPN
bracis-19064	274	26	veronese	veronese	PROPN
bracis-19064	274	27	,	,	PUNCT
bracis-19064	274	28	l.	l.	PROPN
bracis-19064	274	29	,	,	PUNCT
bracis-19064	274	30	de	de	PROPN
bracis-19064	274	31	souza	souza	PROPN
bracis-19064	274	32	,	,	PUNCT
bracis-19064	274	33	a.f	a.f	PROPN
bracis-19064	274	34	.	.	PROPN
bracis-19064	274	35	:	:	PUNCT
bracis-19064	275	1	a	a	DET
bracis-19064	275	2	simple	simple	ADJ
bracis-19064	275	3	yet	yet	CCONJ
bracis-19064	275	4	effective	effective	ADJ
bracis-19064	275	5	obstacle	obstacle	NOUN
bracis-19064	275	6	avoider	avoider	NOUN
bracis-19064	275	7	for	for	ADP
bracis-19064	275	8	the	the	DET
bracis-19064	275	9	iara	iara	PROPN
bracis-19064	275	10	autonomous	autonomous	ADJ
bracis-19064	275	11	car	car	NOUN
bracis-19064	275	12	.	.	PUNCT
bracis-19064	276	1	in	in	ADP
bracis-19064	276	2	:	:	PUNCT
bracis-19064	276	3	2016	2016	NUM
bracis-19064	276	4	ieee	ieee	NOUN
bracis-19064	276	5	19th	19th	ADJ
bracis-19064	276	6	international	international	ADJ
bracis-19064	276	7	conference	conference	NOUN
bracis-19064	276	8	on	on	ADP
bracis-19064	276	9	intelligent	intelligent	ADJ
bracis-19064	276	10	transportation	transportation	NOUN
bracis-19064	276	11	systems	system	NOUN
bracis-19064	276	12	(	(	PUNCT
bracis-19064	276	13	itsc	itsc	PROPN
bracis-19064	276	14	)	)	PUNCT
bracis-19064	276	15	,	,	PUNCT
bracis-19064	276	16	pp	pp	ADJ
bracis-19064	276	17	.	.	PUNCT
bracis-19064	277	1	1914–1919	1914–1919	NUM
bracis-19064	277	2	(	(	PUNCT
bracis-19064	277	3	2016	2016	NUM
bracis-19064	277	4	)	)	PUNCT
bracis-19064	277	5	google	google	PROPN
bracis-19064	277	6	scholar	scholar	NOUN
bracis-19064	277	7	  	  	SPACE
bracis-19064	277	8	guidolini	guidolini	NOUN
bracis-19064	277	9	,	,	PUNCT
bracis-19064	277	10	r.	r.	PROPN
bracis-19064	277	11	,	,	PUNCT
bracis-19064	277	12	de	de	PROPN
bracis-19064	277	13	souza	souza	PROPN
bracis-19064	277	14	,	,	PUNCT
bracis-19064	277	15	a.f	a.f	PROPN
bracis-19064	277	16	.	.	PROPN
bracis-19064	277	17	,	,	PUNCT
bracis-19064	277	18	mutz	mutz	PROPN
bracis-19064	277	19	,	,	PUNCT
bracis-19064	277	20	f.	f.	PROPN
bracis-19064	277	21	,	,	PUNCT
bracis-19064	277	22	badue	badue	ADJ
bracis-19064	277	23	,	,	PUNCT
bracis-19064	277	24	c.	c.	NOUN
bracis-19064	277	25	:	:	PUNCT
bracis-19064	277	26	neural	neural	ADJ
bracis-19064	277	27	-	-	PUNCT
bracis-19064	277	28	based	base	VERB
bracis-19064	277	29	model	model	NOUN
bracis-19064	277	30	predictive	predictive	ADJ
bracis-19064	277	31	control	control	NOUN
bracis-19064	277	32	for	for	ADP
bracis-19064	277	33	tackling	tackle	VERB
bracis-19064	277	34	steering	steering	NOUN
bracis-19064	277	35	delays	delay	NOUN
bracis-19064	277	36	of	of	ADP
bracis-19064	277	37	autonomous	autonomous	ADJ
bracis-19064	277	38	cars	car	NOUN
bracis-19064	277	39	.	.	PUNCT
bracis-19064	278	1	in	in	ADP
bracis-19064	278	2	:	:	PUNCT
bracis-19064	278	3	2017	2017	NUM
bracis-19064	278	4	international	international	ADJ
bracis-19064	278	5	joint	joint	ADJ
bracis-19064	278	6	conference	conference	NOUN
bracis-19064	278	7	on	on	ADP
bracis-19064	278	8	neural	neural	ADJ
bracis-19064	278	9	networks	network	NOUN
bracis-19064	278	10	(	(	PUNCT
bracis-19064	278	11	ijcnn	ijcnn	PROPN
bracis-19064	278	12	)	)	PUNCT
bracis-19064	278	13	,	,	PUNCT
bracis-19064	278	14	pp	pp	ADP
bracis-19064	278	15	.	.	PUNCT
bracis-19064	279	1	4324–4331	4324–4331	NUM
bracis-19064	279	2	(	(	PUNCT
bracis-19064	279	3	2017	2017	NUM
bracis-19064	279	4	)	)	PUNCT
bracis-19064	279	5	google	google	PROPN
bracis-19064	279	6	scholar	scholar	NOUN
bracis-19064	279	7	  	  	SPACE
bracis-19064	279	8	kümmerle	kümmerle	PROPN
bracis-19064	279	9	,	,	PUNCT
bracis-19064	279	10	r.	r.	PROPN
bracis-19064	279	11	,	,	PUNCT
bracis-19064	279	12	grisetti	grisetti	PROPN
bracis-19064	279	13	,	,	PUNCT
bracis-19064	279	14	g.	g.	PROPN
bracis-19064	279	15	,	,	PUNCT
bracis-19064	279	16	burgard	burgard	NOUN
bracis-19064	279	17	,	,	PUNCT
bracis-19064	279	18	w.	w.	NOUN
bracis-19064	279	19	:	:	PUNCT
bracis-19064	279	20	simultaneous	simultaneous	ADJ
bracis-19064	279	21	parameter	parameter	NOUN
bracis-19064	279	22	calibration	calibration	NOUN
bracis-19064	279	23	,	,	PUNCT
bracis-19064	279	24	localization	localization	NOUN
bracis-19064	279	25	,	,	PUNCT
bracis-19064	279	26	and	and	CCONJ
bracis-19064	279	27	mapping	mapping	NOUN
bracis-19064	279	28	.	.	PUNCT
bracis-19064	280	1	adv	adv	PROPN
bracis-19064	280	2	.	.	PUNCT
bracis-19064	280	3	robot	robot	NOUN
bracis-19064	280	4	.	.	PUNCT
bracis-19064	281	1	26(17	26(17	NUM
bracis-19064	281	2	)	)	PUNCT
bracis-19064	281	3	,	,	PUNCT
bracis-19064	281	4	2021–2041	2021–2041	NUM
bracis-19064	281	5	(	(	PUNCT
bracis-19064	281	6	2012	2012	NUM
bracis-19064	281	7	)	)	PUNCT
bracis-19064	281	8	article	article	NOUN
bracis-19064	281	9	  	  	SPACE
bracis-19064	281	10	google	google	PROPN
bracis-19064	281	11	scholar	scholar	NOUN
bracis-19064	281	12	  	  	SPACE
bracis-19064	281	13	mutz	mutz	PROPN
bracis-19064	281	14	,	,	PUNCT
bracis-19064	281	15	f.	f.	PROPN
bracis-19064	281	16	,	,	PUNCT
bracis-19064	281	17	veronese	veronese	PROPN
bracis-19064	281	18	,	,	PUNCT
bracis-19064	281	19	l.	l.	PROPN
bracis-19064	281	20	,	,	PUNCT
bracis-19064	281	21	oliveira	oliveira	PROPN
bracis-19064	281	22	-	-	PUNCT
bracis-19064	281	23	santos	santos	PROPN
bracis-19064	281	24	,	,	PUNCT
bracis-19064	281	25	t.	t.	PROPN
bracis-19064	281	26	,	,	PUNCT
bracis-19064	281	27	aguiar	aguiar	PROPN
bracis-19064	281	28	,	,	PUNCT
bracis-19064	281	29	e.	e.	PROPN
bracis-19064	281	30	,	,	PUNCT
bracis-19064	281	31	cheein	cheein	PROPN
bracis-19064	281	32	,	,	PUNCT
bracis-19064	281	33	f.a	f.a	PROPN
bracis-19064	281	34	.	.	PROPN
bracis-19064	281	35	,	,	PUNCT
bracis-19064	281	36	de	de	PROPN
bracis-19064	281	37	souza	souza	PROPN
bracis-19064	281	38	,	,	PUNCT
bracis-19064	281	39	a.	a.	NOUN
bracis-19064	281	40	:	:	PUNCT
bracis-19064	281	41	large	large	ADJ
bracis-19064	281	42	-	-	PUNCT
bracis-19064	281	43	scale	scale	NOUN
bracis-19064	281	44	mapping	mapping	NOUN
bracis-19064	281	45	in	in	ADP
bracis-19064	281	46	complex	complex	ADJ
bracis-19064	281	47	field	field	NOUN
bracis-19064	281	48	scenarios	scenario	NOUN
bracis-19064	281	49	using	use	VERB
bracis-19064	281	50	an	an	DET
bracis-19064	281	51	autonomous	autonomous	ADJ
bracis-19064	281	52	car	car	NOUN
bracis-19064	281	53	.	.	PUNCT
bracis-19064	282	1	expert	expert	NOUN
bracis-19064	282	2	syst	syst	PROPN
bracis-19064	282	3	.	.	PUNCT
bracis-19064	283	1	appl	appl	PROPN
bracis-19064	283	2	.	.	PROPN
bracis-19064	284	1	46	46	NUM
bracis-19064	284	2	,	,	PUNCT
bracis-19064	284	3	439–462	439–462	NUM
bracis-19064	284	4	(	(	PUNCT
bracis-19064	284	5	2016	2016	NUM
bracis-19064	284	6	)	)	PUNCT
bracis-19064	284	7	google	google	PROPN
bracis-19064	284	8	scholar	scholar	NOUN
bracis-19064	284	9	  	  	SPACE
bracis-19064	284	10	possatti	possatti	PROPN
bracis-19064	284	11	,	,	PUNCT
bracis-19064	284	12	l.	l.	PROPN
bracis-19064	284	13	,	,	PUNCT
bracis-19064	284	14	et	et	PROPN
bracis-19064	284	15	al	al	PROPN
bracis-19064	284	16	.	.	PUNCT
bracis-19064	284	17	:	:	PUNCT
bracis-19064	285	1	traffic	traffic	NOUN
bracis-19064	285	2	light	light	NOUN
bracis-19064	285	3	recognition	recognition	NOUN
bracis-19064	285	4	using	use	VERB
bracis-19064	285	5	deep	deep	ADJ
bracis-19064	285	6	learning	learning	NOUN
bracis-19064	285	7	and	and	CCONJ
bracis-19064	285	8	prior	prior	ADJ
bracis-19064	285	9	maps	map	NOUN
bracis-19064	285	10	for	for	ADP
bracis-19064	285	11	autonomous	autonomous	ADJ
bracis-19064	285	12	cars	car	NOUN
bracis-19064	285	13	,	,	PUNCT
bracis-19064	285	14	pp	pp	ADV
bracis-19064	285	15	.	.	PUNCT
bracis-19064	286	1	1–8	1–8	NUM
bracis-19064	286	2	(	(	PUNCT
bracis-19064	286	3	july	july	PROPN
bracis-19064	286	4	2019	2019	NUM
bracis-19064	286	5	)	)	PUNCT
bracis-19064	286	6	google	google	PROPN
bracis-19064	286	7	scholar	scholar	NOUN
bracis-19064	286	8	  	  	SPACE
bracis-19064	286	9	sarcinelli	sarcinelli	PROPN
bracis-19064	286	10	,	,	PUNCT
bracis-19064	286	11	r.	r.	PROPN
bracis-19064	286	12	,	,	PUNCT
bracis-19064	286	13	et	et	PROPN
bracis-19064	286	14	al	al	PROPN
bracis-19064	286	15	.	.	PROPN
bracis-19064	286	16	:	:	PUNCT
bracis-19064	287	1	handling	handle	VERB
bracis-19064	287	2	pedestrians	pedestrian	NOUN
bracis-19064	287	3	in	in	ADP
bracis-19064	287	4	self	self	NOUN
bracis-19064	287	5	-	-	PUNCT
bracis-19064	287	6	driving	drive	VERB
bracis-19064	287	7	cars	car	NOUN
bracis-19064	287	8	using	use	VERB
bracis-19064	287	9	image	image	NOUN
bracis-19064	287	10	tracking	tracking	NOUN
bracis-19064	287	11	and	and	CCONJ
bracis-19064	287	12	alternative	alternative	ADJ
bracis-19064	287	13	path	path	NOUN
bracis-19064	287	14	generation	generation	NOUN
bracis-19064	287	15	with	with	ADP
bracis-19064	287	16	frenét	frenét	NOUN
bracis-19064	287	17	frames	frame	NOUN
bracis-19064	287	18	.	.	PUNCT
bracis-19064	288	1	comput	comput	NOUN
bracis-19064	288	2	.	.	PUNCT
bracis-19064	289	1	graph	graph	NOUN
bracis-19064	289	2	.	.	PUNCT
bracis-19064	290	1	84	84	NUM
bracis-19064	290	2	,	,	PUNCT
bracis-19064	290	3	173–184	173–184	NUM
bracis-19064	290	4	(	(	PUNCT
bracis-19064	290	5	2019	2019	NUM
bracis-19064	290	6	)	)	PUNCT
bracis-19064	290	7	article	article	NOUN
bracis-19064	290	8	  	  	SPACE
bracis-19064	290	9	google	google	PROPN
bracis-19064	290	10	scholar	scholar	NOUN
bracis-19064	290	11	  	  	SPACE
bracis-19064	290	12	segal	segal	PROPN
bracis-19064	290	13	,	,	PUNCT
bracis-19064	290	14	a.	a.	PROPN
bracis-19064	290	15	,	,	PUNCT
bracis-19064	290	16	hähnel	hähnel	PROPN
bracis-19064	290	17	,	,	PUNCT
bracis-19064	290	18	d.	d.	PROPN
bracis-19064	290	19	,	,	PUNCT
bracis-19064	290	20	thrun	thrun	NOUN
bracis-19064	290	21	,	,	PUNCT
bracis-19064	290	22	s.	s.	PROPN
bracis-19064	290	23	:	:	PUNCT
bracis-19064	290	24	generalized	generalize	VERB
bracis-19064	290	25	-	-	PUNCT
bracis-19064	290	26	icp	icp	PROPN
bracis-19064	290	27	(	(	PUNCT
bracis-19064	290	28	june	june	PROPN
bracis-19064	290	29	2009	2009	NUM
bracis-19064	290	30	)	)	PUNCT
bracis-19064	290	31	google	google	PROPN
bracis-19064	290	32	scholar	scholar	NOUN
bracis-19064	290	33	  	  	SPACE
bracis-19064	290	34	serafin	serafin	PROPN
bracis-19064	290	35	,	,	PUNCT
bracis-19064	290	36	j.	j.	PROPN
bracis-19064	290	37	,	,	PUNCT
bracis-19064	290	38	grisetti	grisetti	PROPN
bracis-19064	290	39	,	,	PUNCT
bracis-19064	290	40	g.	g.	PROPN
bracis-19064	290	41	:	:	PUNCT
bracis-19064	290	42	nicp	nicp	NOUN
bracis-19064	290	43	:	:	PUNCT
bracis-19064	290	44	dense	dense	ADJ
bracis-19064	290	45	normal	normal	ADJ
bracis-19064	290	46	based	base	VERB
bracis-19064	290	47	point	point	NOUN
bracis-19064	290	48	cloud	cloud	ADJ
bracis-19064	290	49	registration	registration	NOUN
bracis-19064	290	50	.	.	PUNCT
bracis-19064	291	1	in	in	ADP
bracis-19064	291	2	:	:	PUNCT
bracis-19064	291	3	2015	2015	NUM
bracis-19064	291	4	ieee	ieee	NOUN
bracis-19064	291	5	/	/	SYM
bracis-19064	291	6	rsj	rsj	NOUN
bracis-19064	291	7	international	international	ADJ
bracis-19064	291	8	conference	conference	NOUN
bracis-19064	291	9	on	on	ADP
bracis-19064	291	10	intelligent	intelligent	ADJ
bracis-19064	291	11	robots	robot	NOUN
bracis-19064	291	12	and	and	CCONJ
bracis-19064	291	13	systems	system	NOUN
bracis-19064	291	14	(	(	PUNCT
bracis-19064	291	15	iros	iro	NOUN
bracis-19064	291	16	)	)	PUNCT
bracis-19064	291	17	,	,	PUNCT
bracis-19064	291	18	pp	pp	ADP
bracis-19064	291	19	.	.	PUNCT
bracis-19064	292	1	742–749	742–749	NUM
bracis-19064	292	2	(	(	PUNCT
bracis-19064	292	3	2015	2015	NUM
bracis-19064	292	4	)	)	PUNCT
bracis-19064	292	5	google	google	PROPN
bracis-19064	292	6	scholar	scholar	NOUN
bracis-19064	292	7	  	  	SPACE
bracis-19064	292	8	smith	smith	PROPN
bracis-19064	292	9	,	,	PUNCT
bracis-19064	292	10	r.	r.	PROPN
bracis-19064	292	11	,	,	PUNCT
bracis-19064	292	12	self	self	NOUN
bracis-19064	292	13	,	,	PUNCT
bracis-19064	292	14	m.	m.	NOUN
bracis-19064	292	15	,	,	PUNCT
bracis-19064	292	16	cheeseman	cheeseman	NOUN
bracis-19064	292	17	,	,	PUNCT
bracis-19064	292	18	p.	p.	NOUN
bracis-19064	292	19	:	:	PUNCT
bracis-19064	292	20	estimating	estimate	VERB
bracis-19064	292	21	uncertain	uncertain	ADJ
bracis-19064	292	22	spatial	spatial	ADJ
bracis-19064	292	23	relationships	relationship	NOUN
bracis-19064	292	24	in	in	ADP
bracis-19064	292	25	robotics	robotic	NOUN
bracis-19064	292	26	.	.	PUNCT
bracis-19064	293	1	in	in	ADP
bracis-19064	293	2	:	:	PUNCT
bracis-19064	293	3	cox	cox	PROPN
bracis-19064	293	4	i.j	i.j	PROPN
bracis-19064	293	5	.	.	PROPN
bracis-19064	293	6	,	,	PUNCT
bracis-19064	293	7	wilfong	wilfong	PROPN
bracis-19064	293	8	g.t	g.t	PROPN
bracis-19064	293	9	.	.	PROPN
bracis-19064	293	10	(	(	PUNCT
bracis-19064	293	11	eds	ed	NOUN
bracis-19064	293	12	.	.	PUNCT
bracis-19064	293	13	)	)	PUNCT
bracis-19064	293	14	autonomous	autonomous	ADJ
bracis-19064	293	15	robot	robot	NOUN
bracis-19064	293	16	vehicles	vehicle	NOUN
bracis-19064	293	17	,	,	PUNCT
bracis-19064	293	18	vol	vol	NOUN
bracis-19064	293	19	.	.	PROPN
bracis-19064	293	20	1	1	NUM
bracis-19064	293	21	,	,	PUNCT
bracis-19064	293	22	pp	pp	ADJ
bracis-19064	293	23	.	.	PUNCT
bracis-19064	294	1	167–193	167–193	NUM
bracis-19064	294	2	.	.	PUNCT
bracis-19064	294	3	springer	springer	NOUN
bracis-19064	294	4	,	,	PUNCT
bracis-19064	294	5	new	new	PROPN
bracis-19064	294	6	york	york	PROPN
bracis-19064	294	7	(	(	PUNCT
bracis-19064	294	8	july	july	PROPN
bracis-19064	294	9	1990	1990	NUM
bracis-19064	294	10	)	)	PUNCT
bracis-19064	294	11	google	google	PROPN
bracis-19064	294	12	scholar	scholar	NOUN
bracis-19064	294	13	  	  	SPACE
bracis-19064	294	14	sun	sun	NOUN
bracis-19064	294	15	,	,	PUNCT
bracis-19064	294	16	y.	y.	PROPN
bracis-19064	294	17	,	,	PUNCT
bracis-19064	294	18	sun	sun	PROPN
bracis-19064	294	19	,	,	PUNCT
bracis-19064	294	20	r.	r.	PROPN
bracis-19064	294	21	,	,	PUNCT
bracis-19064	294	22	yu	yu	PROPN
bracis-19064	294	23	,	,	PUNCT
bracis-19064	294	24	s.	s.	PROPN
bracis-19064	294	25	,	,	PUNCT
bracis-19064	294	26	peng	peng	PROPN
bracis-19064	294	27	,	,	PUNCT
bracis-19064	294	28	y.	y.	PROPN
bracis-19064	294	29	:	:	PUNCT
bracis-19064	294	30	a	a	DET
bracis-19064	294	31	grid	grid	NOUN
bracis-19064	294	32	map	map	NOUN
bracis-19064	294	33	fusion	fusion	NOUN
bracis-19064	294	34	algorithm	algorithm	NOUN
bracis-19064	294	35	based	base	VERB
bracis-19064	294	36	on	on	ADP
bracis-19064	294	37	maximum	maximum	ADJ
bracis-19064	294	38	common	common	ADJ
bracis-19064	294	39	subgraph	subgraph	NOUN
bracis-19064	294	40	.	.	PUNCT
bracis-19064	295	1	in	in	ADP
bracis-19064	295	2	:	:	PUNCT
bracis-19064	295	3	2018	2018	NUM
bracis-19064	295	4	13th	13th	NOUN
bracis-19064	295	5	world	world	NOUN
bracis-19064	295	6	congress	congress	PROPN
bracis-19064	295	7	on	on	ADP
bracis-19064	295	8	intelligent	intelligent	ADJ
bracis-19064	295	9	control	control	NOUN
bracis-19064	295	10	and	and	CCONJ
bracis-19064	295	11	automation	automation	NOUN
bracis-19064	295	12	(	(	PUNCT
bracis-19064	295	13	wcica	wcica	PROPN
bracis-19064	295	14	)	)	PUNCT
bracis-19064	295	15	,	,	PUNCT
bracis-19064	295	16	vol	vol	NOUN
bracis-19064	295	17	.	.	PROPN
bracis-19064	295	18	2018	2018	NUM
bracis-19064	295	19	-	-	PUNCT
bracis-19064	295	20	july	july	PROPN
bracis-19064	295	21	,	,	PUNCT
bracis-19064	295	22	pp	pp	X
bracis-19064	295	23	.	.	PUNCT
bracis-19064	296	1	58–63	58–63	NUM
bracis-19064	296	2	.	.	PUNCT
bracis-19064	297	1	ieee	ieee	NOUN
bracis-19064	297	2	(	(	PUNCT
bracis-19064	297	3	july	july	PROPN
bracis-19064	297	4	2018	2018	NUM
bracis-19064	297	5	)	)	PUNCT
bracis-19064	297	6	google	google	PROPN
bracis-19064	297	7	scholar	scholar	NOUN
bracis-19064	297	8	  	  	SPACE
bracis-19064	297	9	tabelini	tabelini	ADJ
bracis-19064	297	10	torres	torre	NOUN
bracis-19064	297	11	,	,	PUNCT
bracis-19064	297	12	l.	l.	PROPN
bracis-19064	297	13	,	,	PUNCT
bracis-19064	297	14	et	et	PROPN
bracis-19064	297	15	al	al	PROPN
bracis-19064	297	16	.	.	PUNCT
bracis-19064	297	17	:	:	PUNCT
bracis-19064	298	1	effortless	effortless	VERB
bracis-19064	298	2	deep	deep	ADJ
bracis-19064	298	3	training	training	NOUN
bracis-19064	298	4	for	for	ADP
bracis-19064	298	5	traffic	traffic	NOUN
bracis-19064	298	6	sign	sign	NOUN
bracis-19064	298	7	detection	detection	NOUN
bracis-19064	298	8	using	use	VERB
bracis-19064	298	9	templates	template	NOUN
bracis-19064	298	10	and	and	CCONJ
bracis-19064	298	11	arbitrary	arbitrary	ADJ
bracis-19064	298	12	natural	natural	ADJ
bracis-19064	298	13	images	image	NOUN
bracis-19064	298	14	.	.	PUNCT
bracis-19064	299	1	2019	2019	NUM
bracis-19064	299	2	international	international	ADJ
bracis-19064	299	3	joint	joint	ADJ
bracis-19064	299	4	conference	conference	NOUN
bracis-19064	299	5	on	on	ADP
bracis-19064	299	6	neural	neural	ADJ
bracis-19064	299	7	networks	network	NOUN
bracis-19064	299	8	(	(	PUNCT
bracis-19064	299	9	ijcnn	ijcnn	PROPN
bracis-19064	299	10	)	)	PUNCT
bracis-19064	299	11	,	,	PUNCT
bracis-19064	299	12	pp	pp	PROPN
bracis-19064	299	13	.	.	PUNCT
bracis-19064	300	1	1–7	1–7	NUM
bracis-19064	300	2	(	(	PUNCT
bracis-19064	300	3	july	july	PROPN
bracis-19064	300	4	2019	2019	NUM
bracis-19064	300	5	)	)	PUNCT
bracis-19064	300	6	google	google	NOUN
bracis-19064	300	7	scholar	scholar	NOUN
bracis-19064	300	8	  	  	SPACE
bracis-19064	300	9	thrun	thrun	NOUN
bracis-19064	300	10	,	,	PUNCT
bracis-19064	300	11	s.	s.	PROPN
bracis-19064	300	12	,	,	PUNCT
bracis-19064	300	13	burgard	burgard	PROPN
bracis-19064	300	14	,	,	PUNCT
bracis-19064	300	15	w.	w.	PROPN
bracis-19064	300	16	,	,	PUNCT
bracis-19064	300	17	fox	fox	PROPN
bracis-19064	300	18	,	,	PUNCT
bracis-19064	300	19	d.	d.	PROPN
bracis-19064	300	20	:	:	PUNCT
bracis-19064	300	21	probabilistic	probabilistic	ADJ
bracis-19064	300	22	robotics	robotic	NOUN
bracis-19064	300	23	(	(	PUNCT
bracis-19064	300	24	intelligent	intelligent	ADJ
bracis-19064	300	25	robotics	robotic	NOUN
bracis-19064	300	26	and	and	CCONJ
bracis-19064	300	27	autonomous	autonomous	ADJ
bracis-19064	300	28	agents	agent	NOUN
bracis-19064	300	29	)	)	PUNCT
bracis-19064	300	30	.	.	PUNCT
bracis-19064	301	1	the	the	DET
bracis-19064	301	2	mit	mit	PROPN
bracis-19064	301	3	press	press	PROPN
bracis-19064	301	4	,	,	PUNCT
bracis-19064	301	5	cambridge	cambridge	PROPN
bracis-19064	301	6	(	(	PUNCT
bracis-19064	301	7	2005	2005	NUM
bracis-19064	301	8	)	)	PUNCT
bracis-19064	301	9	google	google	PROPN
bracis-19064	301	10	scholar	scholar	NOUN
bracis-19064	301	11	  	  	SPACE
bracis-19064	301	12	uhlman	uhlman	NOUN
bracis-19064	301	13	,	,	PUNCT
bracis-19064	301	14	j.	j.	PROPN
bracis-19064	301	15	:	:	PUNCT
bracis-19064	301	16	dynamic	dynamic	ADJ
bracis-19064	301	17	map	map	NOUN
bracis-19064	301	18	building	building	NOUN
bracis-19064	301	19	and	and	CCONJ
bracis-19064	301	20	localization	localization	NOUN
bracis-19064	301	21	for	for	ADP
bracis-19064	301	22	autonomous	autonomous	ADJ
bracis-19064	301	23	vehicles	vehicle	NOUN
bracis-19064	301	24	.	.	PUNCT
bracis-19064	302	1	ph.d	ph.d	PROPN
bracis-19064	302	2	.	.	PUNCT
bracis-19064	303	1	thesis	thesis	NOUN
bracis-19064	303	2	,	,	PUNCT
bracis-19064	303	3	university	university	NOUN
bracis-19064	303	4	of	of	ADP
bracis-19064	303	5	oxford	oxford	PROPN
bracis-19064	303	6	(	(	PUNCT
bracis-19064	303	7	1994	1994	NUM
bracis-19064	303	8	)	)	PUNCT
bracis-19064	303	9	google	google	PROPN
bracis-19064	303	10	scholar	scholar	NOUN
bracis-19064	303	11	  	  	SPACE
bracis-19064	303	12	download	download	NOUN
bracis-19064	303	13	references	reference	NOUN
bracis-19064	303	14	author	author	NOUN
bracis-19064	303	15	information	information	NOUN
bracis-19064	303	16	authors	author	NOUN
bracis-19064	303	17	and	and	CCONJ
bracis-19064	303	18	affiliations	affiliation	NOUN
bracis-19064	303	19	departamento	departamento	PROPN
bracis-19064	303	20	de	de	PROPN
bracis-19064	303	21	informática	informática	PROPN
bracis-19064	303	22	,	,	PUNCT
bracis-19064	303	23	universidade	universidade	PROPN
bracis-19064	303	24	federal	federal	PROPN
bracis-19064	303	25	do	do	VERB
bracis-19064	303	26	espírito	espírito	PROPN
bracis-19064	303	27	santo	santo	PROPN
bracis-19064	303	28	,	,	PUNCT
bracis-19064	303	29	av	av	PROPN
bracis-19064	303	30	.	.	PROPN
bracis-19064	303	31	fernando	fernando	PROPN
bracis-19064	303	32	ferrari	ferrari	PROPN
bracis-19064	303	33	514	514	NUM
bracis-19064	303	34	,	,	PUNCT
bracis-19064	303	35	goiabeiras	goiabeiras	PROPN
bracis-19064	303	36	,	,	PUNCT
bracis-19064	303	37	vitória	vitória	PROPN
bracis-19064	303	38	,	,	PUNCT
bracis-19064	303	39	29075	29075	NUM
bracis-19064	303	40	-	-	SYM
bracis-19064	303	41	910	910	NUM
bracis-19064	303	42	,	,	PUNCT
bracis-19064	303	43	brazil	brazil	PROPN
bracis-19064	303	44	josias	josias	PROPN
bracis-19064	303	45	oliveira	oliveira	PROPN
bracis-19064	303	46	,	,	PUNCT
bracis-19064	303	47	 	 	SPACE
bracis-19064	303	48	pedro	pedro	PROPN
bracis-19064	303	49	azevedo	azevedo	PROPN
bracis-19064	303	50	,	,	PUNCT
bracis-19064	303	51	 	 	SPACE
bracis-19064	303	52	thiago	thiago	PROPN
bracis-19064	303	53	oliveira	oliveira	PROPN
bracis-19064	303	54	-	-	PUNCT
bracis-19064	303	55	santos	santos	PROPN
bracis-19064	303	56	,	,	PUNCT
bracis-19064	303	57	 	 	SPACE
bracis-19064	303	58	alberto	alberto	PROPN
bracis-19064	303	59	f.	f.	PROPN
bracis-19064	303	60	de	de	PROPN
bracis-19064	303	61	souza	souza	PROPN
bracis-19064	303	62	 	 	SPACE
bracis-19064	303	63	&	&	CCONJ
bracis-19064	303	64	 	 	SPACE
bracis-19064	303	65	claudine	claudine	PROPN
bracis-19064	303	66	badue	badue	ADJ
bracis-19064	303	67	coordenação	coordenação	PROPN
bracis-19064	303	68	de	de	PROPN
bracis-19064	303	69	informática	informática	PROPN
bracis-19064	303	70	,	,	PUNCT
bracis-19064	303	71	instituto	instituto	PROPN
bracis-19064	303	72	federal	federal	PROPN
bracis-19064	303	73	do	do	AUX
bracis-19064	303	74	espírito	espírito	PROPN
bracis-19064	303	75	santo	santo	PROPN
bracis-19064	303	76	,	,	PUNCT
bracis-19064	303	77	es-010	es-010	PROPN
bracis-19064	303	78	km-6.5	km-6.5	PROPN
bracis-19064	303	79	,	,	PUNCT
bracis-19064	303	80	manguinhos	manguinhos	PROPN
bracis-19064	303	81	,	,	PUNCT
bracis-19064	303	82	serra	serra	PROPN
bracis-19064	303	83	,	,	PUNCT
bracis-19064	303	84	29173	29173	NUM
bracis-19064	303	85	-	-	SYM
bracis-19064	303	86	087	087	NUM
bracis-19064	303	87	,	,	PUNCT
bracis-19064	303	88	brazil	brazil	PROPN
bracis-19064	303	89	filipe	filipe	PROPN
bracis-19064	303	90	mutz	mutz	PROPN
bracis-19064	303	91	coordenadoria	coordenadoria	PROPN
bracis-19064	303	92	de	de	PROPN
bracis-19064	303	93	engenharia	engenharia	PROPN
bracis-19064	303	94	mecânica	mecânica	PROPN
bracis-19064	303	95	,	,	PUNCT
bracis-19064	303	96	instituto	instituto	PROPN
bracis-19064	303	97	federal	federal	PROPN
bracis-19064	303	98	do	do	VERB
bracis-19064	303	99	espírito	espírito	PROPN
bracis-19064	303	100	santo	santo	PROPN
bracis-19064	303	101	,	,	PUNCT
bracis-19064	303	102	av	av	PROPN
bracis-19064	303	103	.	.	PUNCT
bracis-19064	303	104	morobá	morobá	PROPN
bracis-19064	303	105	248	248	NUM
bracis-19064	303	106	,	,	PUNCT
bracis-19064	303	107	bairro	bairro	PROPN
bracis-19064	303	108	morobá	morobá	PROPN
bracis-19064	303	109	,	,	PUNCT
bracis-19064	303	110	aracruz	aracruz	NOUN
bracis-19064	303	111	,	,	PUNCT
bracis-19064	303	112	29192	29192	NUM
bracis-19064	303	113	-	-	SYM
bracis-19064	303	114	733	733	NUM
bracis-19064	303	115	,	,	PUNCT
bracis-19064	303	116	brazil	brazil	PROPN
bracis-19064	303	117	avelino	avelino	PROPN
bracis-19064	303	118	forechi	forechi	NOUN
bracis-19064	303	119	authors	author	NOUN
bracis-19064	303	120	josias	josia	VERB
bracis-19064	303	121	oliveiraview	oliveiraview	NOUN
bracis-19064	303	122	author	author	NOUN
bracis-19064	303	123	publications	publication	NOUN
bracis-19064	303	124	search	search	NOUN
bracis-19064	303	125	author	author	NOUN
bracis-19064	303	126	on	on	ADP
bracis-19064	303	127	:	:	PUNCT
bracis-19064	303	128	pubmed	pubmed	PROPN
bracis-19064	303	129	 	 	SPACE
bracis-19064	303	130	google	google	PROPN
bracis-19064	303	131	scholar	scholar	PROPN
bracis-19064	303	132	filipe	filipe	PROPN
bracis-19064	303	133	mutzview	mutzview	PROPN
bracis-19064	303	134	author	author	NOUN
bracis-19064	303	135	publications	publication	NOUN
bracis-19064	303	136	search	search	NOUN
bracis-19064	303	137	author	author	NOUN
bracis-19064	303	138	on	on	ADP
bracis-19064	303	139	:	:	PUNCT
bracis-19064	303	140	pubmed	pubmed	PROPN
bracis-19064	303	141	 	 	SPACE
bracis-19064	303	142	google	google	PROPN
bracis-19064	303	143	scholar	scholar	NOUN
bracis-19064	303	144	avelino	avelino	PROPN
bracis-19064	303	145	forechiview	forechiview	NOUN
bracis-19064	303	146	author	author	NOUN
bracis-19064	303	147	publications	publication	NOUN
bracis-19064	303	148	search	search	NOUN
bracis-19064	303	149	author	author	NOUN
bracis-19064	303	150	on	on	ADP
bracis-19064	303	151	:	:	PUNCT
bracis-19064	303	152	pubmed	pubmed	PROPN
bracis-19064	303	153	 	 	SPACE
bracis-19064	303	154	google	google	PROPN
bracis-19064	303	155	scholar	scholar	NOUN
bracis-19064	303	156	pedro	pedro	PROPN
bracis-19064	303	157	azevedoview	azevedoview	PROPN
bracis-19064	303	158	author	author	NOUN
bracis-19064	303	159	publications	publication	NOUN
bracis-19064	303	160	search	search	NOUN
bracis-19064	303	161	author	author	NOUN
bracis-19064	303	162	on	on	ADP
bracis-19064	303	163	:	:	PUNCT
bracis-19064	303	164	pubmed	pubmed	PROPN
bracis-19064	303	165	 	 	SPACE
bracis-19064	303	166	google	google	PROPN
bracis-19064	303	167	scholar	scholar	NOUN
bracis-19064	303	168	thiago	thiago	PROPN
bracis-19064	303	169	oliveira	oliveira	PROPN
bracis-19064	303	170	-	-	PUNCT
bracis-19064	303	171	santosview	santosview	NOUN
bracis-19064	303	172	author	author	NOUN
bracis-19064	303	173	publications	publication	NOUN
bracis-19064	303	174	search	search	NOUN
bracis-19064	303	175	author	author	NOUN
bracis-19064	303	176	on	on	ADP
bracis-19064	303	177	:	:	PUNCT
bracis-19064	303	178	pubmed	pubmed	PROPN
bracis-19064	303	179	 	 	SPACE
bracis-19064	303	180	google	google	PROPN
bracis-19064	303	181	scholar	scholar	PROPN
bracis-19064	303	182	alberto	alberto	PROPN
bracis-19064	303	183	f.	f.	PROPN
bracis-19064	303	184	de	de	PROPN
bracis-19064	303	185	souzaview	souzaview	PROPN
bracis-19064	303	186	author	author	NOUN
bracis-19064	303	187	publications	publication	NOUN
bracis-19064	303	188	search	search	NOUN
bracis-19064	303	189	author	author	NOUN
bracis-19064	303	190	on	on	ADP
bracis-19064	303	191	:	:	PUNCT
bracis-19064	303	192	pubmed	pubmed	PROPN
bracis-19064	303	193	 	 	SPACE
bracis-19064	303	194	google	google	PROPN
bracis-19064	303	195	scholar	scholar	NOUN
bracis-19064	303	196	claudine	claudine	NOUN
bracis-19064	303	197	badueview	badueview	PROPN
bracis-19064	303	198	author	author	NOUN
bracis-19064	303	199	publications	publication	NOUN
bracis-19064	303	200	search	search	NOUN
bracis-19064	303	201	author	author	NOUN
bracis-19064	303	202	on	on	ADP
bracis-19064	303	203	:	:	PUNCT
bracis-19064	303	204	pubmed	pubmed	PROPN
bracis-19064	303	205	 	 	SPACE
bracis-19064	303	206	google	google	PROPN
bracis-19064	303	207	scholar	scholar	NOUN
bracis-19064	303	208	corresponding	correspond	VERB
bracis-19064	303	209	authors	author	NOUN
bracis-19064	303	210	correspondence	correspondence	NOUN
bracis-19064	303	211	to	to	ADP
bracis-19064	303	212	josias	josias	PROPN
bracis-19064	303	213	oliveira	oliveira	PROPN
bracis-19064	303	214	,	,	PUNCT
bracis-19064	303	215	alberto	alberto	PROPN
bracis-19064	303	216	f.	f.	PROPN
bracis-19064	303	217	de	de	PROPN
bracis-19064	303	218	souza	souza	PROPN
bracis-19064	303	219	or	or	CCONJ
bracis-19064	303	220	claudine	claudine	PROPN
bracis-19064	303	221	badue	badue	PROPN
bracis-19064	303	222	.	.	PUNCT
bracis-19064	304	1	editor	editor	NOUN
bracis-19064	304	2	information	information	NOUN
bracis-19064	304	3	editors	editor	NOUN
bracis-19064	304	4	and	and	CCONJ
bracis-19064	304	5	affiliations	affiliation	NOUN
bracis-19064	304	6	universidade	universidade	PROPN
bracis-19064	304	7	federal	federal	PROPN
bracis-19064	304	8	de	de	X
bracis-19064	304	9	sergipe	sergipe	PROPN
bracis-19064	304	10	,	,	PUNCT
bracis-19064	304	11	são	são	NOUN
bracis-19064	304	12	cristóvão	cristóvão	PROPN
bracis-19064	304	13	,	,	PUNCT
bracis-19064	304	14	brazil	brazil	PROPN
bracis-19064	304	15	andré	andré	PROPN
bracis-19064	304	16	britto	britto	PROPN
bracis-19064	304	17	universidade	universidade	PROPN
bracis-19064	304	18	de	de	PROPN
bracis-19064	304	19	são	são	PROPN
bracis-19064	304	20	paulo	paulo	PROPN
bracis-19064	304	21	,	,	PUNCT
bracis-19064	304	22	são	são	PROPN
bracis-19064	304	23	paulo	paulo	PROPN
bracis-19064	304	24	,	,	PUNCT
bracis-19064	304	25	brazil	brazil	PROPN
bracis-19064	304	26	karina	karina	PROPN
bracis-19064	304	27	valdivia	valdivia	PROPN
bracis-19064	304	28	delgado	delgado	VERB
bracis-19064	304	29	rights	right	NOUN
bracis-19064	304	30	and	and	CCONJ
bracis-19064	304	31	permissions	permission	NOUN
bracis-19064	304	32	reprints	reprint	NOUN
bracis-19064	304	33	and	and	CCONJ
bracis-19064	304	34	permissions	permission	VERB
bracis-19064	304	35	copyright	copyright	NOUN
bracis-19064	304	36	information	information	NOUN
bracis-19064	304	37	©	©	PROPN
bracis-19064	304	38	2021	2021	NUM
bracis-19064	304	39	springer	springer	NOUN
bracis-19064	304	40	nature	nature	NOUN
bracis-19064	304	41	switzerland	switzerland	PROPN
bracis-19064	304	42	ag	ag	PROPN
bracis-19064	304	43	about	about	ADP
bracis-19064	304	44	this	this	DET
bracis-19064	304	45	paper	paper	NOUN
bracis-19064	304	46	cite	cite	VERB
bracis-19064	304	47	this	this	DET
bracis-19064	304	48	paper	paper	NOUN
bracis-19064	304	49	oliveira	oliveira	PROPN
bracis-19064	304	50	,	,	PUNCT
bracis-19064	304	51	j.	j.	PROPN
bracis-19064	304	52	et	et	PROPN
bracis-19064	304	53	al	al	PROPN
bracis-19064	304	54	.	.	PROPN
bracis-19064	305	1	(	(	PUNCT
bracis-19064	305	2	2021	2021	NUM
bracis-19064	305	3	)	)	PUNCT
bracis-19064	305	4	.	.	PUNCT
bracis-19064	306	1	long	long	ADJ
bracis-19064	306	2	-	-	PUNCT
bracis-19064	306	3	term	term	NOUN
bracis-19064	306	4	map	map	NOUN
bracis-19064	306	5	maintenance	maintenance	NOUN
bracis-19064	306	6	in	in	ADP
bracis-19064	306	7	 	 	SPACE
bracis-19064	306	8	complex	complex	ADJ
bracis-19064	306	9	environments	environment	NOUN
bracis-19064	306	10	.	.	PUNCT
bracis-19064	307	1	in	in	ADP
bracis-19064	307	2	:	:	PUNCT
bracis-19064	307	3	britto	britto	PROPN
bracis-19064	307	4	,	,	PUNCT
bracis-19064	307	5	a.	a.	PROPN
bracis-19064	307	6	,	,	PUNCT
bracis-19064	307	7	valdivia	valdivia	PROPN
bracis-19064	307	8	delgado	delgado	PROPN
bracis-19064	307	9	,	,	PUNCT
bracis-19064	307	10	k.	k.	PROPN
bracis-19064	307	11	(	(	PUNCT
bracis-19064	307	12	eds	eds	PROPN
bracis-19064	307	13	)	)	PUNCT
bracis-19064	307	14	intelligent	intelligent	ADJ
bracis-19064	307	15	systems	system	NOUN
bracis-19064	307	16	.	.	PUNCT
bracis-19064	308	1	bracis	bracis	PROPN
bracis-19064	308	2	2021	2021	NUM
bracis-19064	308	3	.	.	PUNCT
bracis-19064	309	1	lecture	lecture	NOUN
bracis-19064	309	2	notes	note	NOUN
bracis-19064	309	3	in	in	ADP
bracis-19064	309	4	computer	computer	NOUN
bracis-19064	309	5	science	science	NOUN
bracis-19064	309	6	(	(	PUNCT
bracis-19064	309	7	)	)	PUNCT
bracis-19064	309	8	,	,	PUNCT
bracis-19064	309	9	vol	vol	NOUN
bracis-19064	309	10	13074	13074	NUM
bracis-19064	309	11	.	.	PUNCT
bracis-19064	310	1	springer	springer	NOUN
bracis-19064	310	2	,	,	PUNCT
bracis-19064	310	3	cham	cham	PROPN
bracis-19064	310	4	.	.	PUNCT
bracis-19064	311	1	https://doi.org/10.1007/978-3-030-91699-2_11	https://doi.org/10.1007/978-3-030-91699-2_11	ADJ
bracis-19064	311	2	download	download	NOUN
bracis-19064	311	3	citation	citation	NOUN
bracis-19064	311	4	.ris	.ris	PUNCT
bracis-19064	311	5	.enw	.enw	PROPN
bracis-19064	311	6	.bib	.bib	PUNCT
bracis-19064	312	1	doi	doi	PROPN
bracis-19064	312	2	:	:	PUNCT
bracis-19064	312	3	https://doi.org/10.1007/978-3-030-91699-2_11	https://doi.org/10.1007/978-3-030-91699-2_11	PROPN
bracis-19064	312	4	published	publish	VERB
bracis-19064	312	5	:	:	PUNCT
bracis-19064	312	6	28	28	NUM
bracis-19064	312	7	november	november	PROPN
bracis-19064	312	8	2021	2021	NUM
bracis-19064	312	9	publisher	publisher	NOUN
bracis-19064	312	10	name	name	NOUN
bracis-19064	312	11	:	:	PUNCT
bracis-19064	312	12	springer	springer	NOUN
bracis-19064	312	13	,	,	PUNCT
bracis-19064	312	14	cham	cham	PROPN
bracis-19064	312	15	print	print	PROPN
bracis-19064	312	16	isbn	isbn	PROPN
bracis-19064	312	17	:	:	PUNCT
bracis-19064	312	18	978	978	NUM
bracis-19064	312	19	-	-	SYM
bracis-19064	312	20	3	3	NUM
bracis-19064	312	21	-	-	PUNCT
bracis-19064	312	22	030	030	NUM
bracis-19064	312	23	-	-	PUNCT
bracis-19064	312	24	91698	91698	NUM
bracis-19064	312	25	-	-	SYM
bracis-19064	312	26	5	5	NUM
bracis-19064	312	27	online	online	ADJ
bracis-19064	312	28	isbn	isbn	NOUN
bracis-19064	312	29	:	:	PUNCT
bracis-19064	312	30	978	978	NUM
bracis-19064	312	31	-	-	SYM
bracis-19064	312	32	3	3	NUM
bracis-19064	312	33	-	-	PUNCT
bracis-19064	312	34	030	030	NUM
bracis-19064	312	35	-	-	PUNCT
bracis-19064	312	36	91699	91699	NUM
bracis-19064	312	37	-	-	SYM
bracis-19064	312	38	2	2	NUM
bracis-19064	312	39	ebook	ebook	NOUN
bracis-19064	312	40	packages	package	NOUN
bracis-19064	312	41	:	:	PUNCT
bracis-19064	312	42	computer	computer	NOUN
bracis-19064	312	43	sciencecomputer	sciencecomputer	NOUN
bracis-19064	312	44	science	science	NOUN
bracis-19064	312	45	(	(	PUNCT
bracis-19064	312	46	r0	r0	NOUN
bracis-19064	312	47	)	)	PUNCT
bracis-19064	312	48	share	share	VERB
bracis-19064	312	49	this	this	DET
bracis-19064	312	50	paper	paper	NOUN
bracis-19064	312	51	anyone	anyone	PRON
bracis-19064	312	52	you	you	PRON
bracis-19064	312	53	share	share	VERB
bracis-19064	312	54	the	the	DET
bracis-19064	312	55	following	follow	VERB
bracis-19064	312	56	link	link	NOUN
bracis-19064	312	57	with	with	ADP
bracis-19064	312	58	will	will	AUX
bracis-19064	312	59	be	be	AUX
bracis-19064	312	60	able	able	ADJ
bracis-19064	312	61	to	to	PART
bracis-19064	312	62	read	read	VERB
bracis-19064	312	63	this	this	DET
bracis-19064	312	64	content	content	NOUN
bracis-19064	312	65	:	:	PUNCT
bracis-19064	312	66	get	get	VERB
bracis-19064	312	67	shareable	shareable	ADJ
bracis-19064	312	68	linksorry	linksorry	NOUN
bracis-19064	312	69	,	,	PUNCT
bracis-19064	312	70	a	a	DET
bracis-19064	312	71	shareable	shareable	ADJ
bracis-19064	312	72	link	link	NOUN
bracis-19064	312	73	is	be	AUX
bracis-19064	312	74	not	not	PART
bracis-19064	312	75	currently	currently	ADV
bracis-19064	312	76	available	available	ADJ
bracis-19064	312	77	for	for	ADP
bracis-19064	312	78	this	this	DET
bracis-19064	312	79	article	article	NOUN
bracis-19064	312	80	.	.	PUNCT
bracis-19064	313	1	copy	copy	VERB
bracis-19064	313	2	shareable	shareable	ADJ
bracis-19064	313	3	link	link	NOUN
bracis-19064	313	4	to	to	PART
bracis-19064	313	5	clipboard	clipboard	NOUN
bracis-19064	313	6	provided	provide	VERB
bracis-19064	313	7	by	by	ADP
bracis-19064	313	8	the	the	DET
bracis-19064	313	9	springer	springer	NOUN
bracis-19064	313	10	nature	nature	PROPN
bracis-19064	313	11	sharedit	sharedit	PROPN
bracis-19064	313	12	content	content	NOUN
bracis-19064	313	13	-	-	PUNCT
bracis-19064	313	14	sharing	share	VERB
bracis-19064	313	15	initiative	initiative	NOUN
bracis-19064	313	16	keywords	keyword	NOUN
bracis-19064	313	17	mapping	mapping	NOUN
bracis-19064	313	18	slam	slam	NOUN
bracis-19064	313	19	map	map	NOUN
bracis-19064	313	20	maintenance	maintenance	NOUN
bracis-19064	313	21	map	map	NOUN
bracis-19064	313	22	merging	merge	VERB
bracis-19064	313	23	autonomous	autonomous	ADJ
bracis-19064	313	24	vehicles	vehicle	NOUN
bracis-19064	313	25	publish	publish	VERB
bracis-19064	313	26	with	with	ADP
bracis-19064	313	27	us	us	PROPN
bracis-19064	313	28	policies	policy	NOUN
bracis-19064	313	29	and	and	CCONJ
bracis-19064	313	30	ethics	ethic	NOUN
bracis-19064	313	31	profiles	profile	NOUN
bracis-19064	313	32	alberto	alberto	PROPN
bracis-19064	313	33	f.	f.	PROPN
bracis-19064	313	34	de	de	PROPN
bracis-19064	313	35	souza	souza	PROPN
bracis-19064	313	36	view	view	PROPN
bracis-19064	313	37	author	author	NOUN
bracis-19064	313	38	profile	profile	NOUN
bracis-19064	313	39	search	search	NOUN
bracis-19064	313	40	search	search	NOUN
bracis-19064	313	41	by	by	ADP
bracis-19064	313	42	keyword	keyword	NOUN
bracis-19064	313	43	or	or	CCONJ
bracis-19064	313	44	author	author	NOUN
bracis-19064	313	45	search	search	NOUN
bracis-19064	313	46	navigation	navigation	NOUN
bracis-19064	313	47	find	find	VERB
bracis-19064	313	48	a	a	DET
bracis-19064	313	49	journal	journal	NOUN
bracis-19064	313	50	publish	publish	VERB
bracis-19064	313	51	with	with	ADP
bracis-19064	313	52	us	we	PRON
bracis-19064	313	53	track	track	VERB
bracis-19064	313	54	your	your	PRON
bracis-19064	313	55	research	research	NOUN
bracis-19064	313	56	discover	discover	VERB
bracis-19064	313	57	content	content	NOUN
bracis-19064	313	58	journals	journal	NOUN
bracis-19064	313	59	a	a	DET
bracis-19064	313	60	-	-	PUNCT
bracis-19064	313	61	z	z	NOUN
bracis-19064	313	62	books	book	NOUN
bracis-19064	313	63	a	a	DET
bracis-19064	313	64	-	-	PUNCT
bracis-19064	313	65	z	z	NOUN
bracis-19064	313	66	publish	publish	NOUN
bracis-19064	313	67	with	with	ADP
bracis-19064	313	68	us	us	PROPN
bracis-19064	313	69	journal	journal	PROPN
bracis-19064	313	70	finder	finder	PROPN
bracis-19064	313	71	publish	publish	VERB
bracis-19064	313	72	your	your	PRON
bracis-19064	313	73	research	research	NOUN
bracis-19064	313	74	language	language	NOUN
bracis-19064	313	75	editing	edit	VERB
bracis-19064	313	76	open	open	ADJ
bracis-19064	313	77	access	access	NOUN
bracis-19064	313	78	publishing	publishing	NOUN
bracis-19064	313	79	products	product	NOUN
bracis-19064	313	80	and	and	CCONJ
bracis-19064	313	81	services	service	NOUN
bracis-19064	313	82	our	our	PRON
bracis-19064	313	83	products	product	NOUN
bracis-19064	313	84	librarians	librarian	VERB
bracis-19064	313	85	societies	society	NOUN
bracis-19064	313	86	partners	partner	NOUN
bracis-19064	313	87	and	and	CCONJ
bracis-19064	313	88	advertisers	advertiser	NOUN
bracis-19064	313	89	our	our	PRON
bracis-19064	313	90	brands	brand	NOUN
bracis-19064	313	91	springer	springer	NOUN
bracis-19064	313	92	nature	nature	PROPN
bracis-19064	313	93	portfolio	portfolio	PROPN
bracis-19064	313	94	bmc	bmc	PROPN
bracis-19064	313	95	palgrave	palgrave	PROPN
bracis-19064	313	96	macmillan	macmillan	PROPN
bracis-19064	313	97	apress	apress	PROPN
bracis-19064	313	98	discover	discover	VERB
bracis-19064	313	99	your	your	PRON
bracis-19064	313	100	privacy	privacy	NOUN
bracis-19064	313	101	choices	choice	NOUN
bracis-19064	313	102	/	/	SYM
bracis-19064	313	103	manage	manage	NOUN
bracis-19064	313	104	cookies	cookie	NOUN
bracis-19064	313	105	your	your	PRON
bracis-19064	313	106	us	us	PROPN
bracis-19064	314	1	state	state	NOUN
bracis-19064	314	2	privacy	privacy	NOUN
bracis-19064	314	3	rights	right	NOUN
bracis-19064	314	4	accessibility	accessibility	NOUN
bracis-19064	314	5	statement	statement	NOUN
bracis-19064	314	6	terms	term	NOUN
bracis-19064	314	7	and	and	CCONJ
bracis-19064	314	8	conditions	condition	NOUN
bracis-19064	314	9	privacy	privacy	NOUN
bracis-19064	314	10	policy	policy	NOUN
bracis-19064	314	11	help	help	NOUN
bracis-19064	314	12	and	and	CCONJ
bracis-19064	314	13	support	support	VERB
bracis-19064	314	14	legal	legal	ADJ
bracis-19064	314	15	notice	notice	NOUN
bracis-19064	314	16	cancel	cancel	VERB
bracis-19064	314	17	contracts	contract	NOUN
bracis-19064	314	18	here	here	ADV
bracis-19064	314	19	129.74.145.123	129.74.145.123	NUM
bracis-19064	314	20	hesburgh	hesburgh	PROPN
bracis-19064	314	21	library	library	PROPN
bracis-19064	314	22	er	er	INTJ
bracis-19064	314	23	unit	unit	NOUN
bracis-19064	314	24	(	(	PUNCT
bracis-19064	314	25	3005732405	3005732405	NUM
bracis-19064	314	26	)	)	PUNCT
bracis-19064	314	27	northeast	northeast	ADJ
bracis-19064	314	28	research	research	NOUN
bracis-19064	314	29	libraries	library	NOUN
bracis-19064	314	30	(	(	PUNCT
bracis-19064	314	31	nerl	nerl	PROPN
bracis-19064	314	32	)	)	PUNCT
bracis-19064	314	33	(	(	PUNCT
bracis-19064	314	34	8200828607	8200828607	NUM
bracis-19064	314	35	)	)	PUNCT
bracis-19064	314	36	nerl	nerl	VERB
bracis-19064	314	37	ta	ta	X
bracis-19064	314	38	account	account	NOUN
bracis-19064	314	39	(	(	PUNCT
bracis-19064	314	40	3006206169	3006206169	NUM
bracis-19064	314	41	)	)	PUNCT
bracis-19064	314	42	university	university	NOUN
bracis-19064	314	43	of	of	ADP
bracis-19064	314	44	notre	notre	PROPN
bracis-19064	314	45	dame	dame	PROPN
bracis-19064	314	46	hesburgh	hesburgh	PROPN
bracis-19064	314	47	library	library	NOUN
bracis-19064	314	48	(	(	PUNCT
bracis-19064	314	49	3000184373	3000184373	NUM
bracis-19064	314	50	)	)	PUNCT
bracis-19064	315	1	©	©	ADP
bracis-19064	315	2	2025	2025	NUM
bracis-19064	315	3	springer	springer	NOUN
bracis-19064	315	4	nature	nature	NOUN