id	sid	tid	token	lemma	pos
bracis-28413	1	1	crop	crop	NOUN
bracis-28413	1	2	row	row	NOUN
bracis-28413	1	3	line	line	NOUN
bracis-28413	1	4	detection	detection	NOUN
bracis-28413	1	5	with	with	ADP
bracis-28413	1	6	 	 	SPACE
bracis-28413	1	7	auxiliary	auxiliary	ADJ
bracis-28413	1	8	segmentation	segmentation	NOUN
bracis-28413	1	9	task	task	NOUN
bracis-28413	1	10	|	|	NOUN
bracis-28413	1	11	springer	springer	NOUN
bracis-28413	1	12	nature	nature	PROPN
bracis-28413	1	13	link	link	PROPN
bracis-28413	1	14	(	(	PUNCT
bracis-28413	1	15	formerly	formerly	ADV
bracis-28413	1	16	springerlink	springerlink	NOUN
bracis-28413	1	17	)	)	PUNCT
bracis-28413	1	18	skip	skip	VERB
bracis-28413	1	19	to	to	ADP
bracis-28413	1	20	main	main	ADJ
bracis-28413	1	21	content	content	NOUN
bracis-28413	1	22	advertisement	advertisement	NOUN
bracis-28413	1	23	log	log	NOUN
bracis-28413	1	24	in	in	ADP
bracis-28413	1	25	menu	menu	NOUN
bracis-28413	1	26	find	find	VERB
bracis-28413	1	27	a	a	DET
bracis-28413	1	28	journal	journal	NOUN
bracis-28413	1	29	publish	publish	VERB
bracis-28413	1	30	with	with	ADP
bracis-28413	1	31	us	we	PRON
bracis-28413	1	32	track	track	VERB
bracis-28413	1	33	your	your	PRON
bracis-28413	1	34	research	research	NOUN
bracis-28413	1	35	search	search	NOUN
bracis-28413	1	36	cart	cart	NOUN
bracis-28413	1	37	home	home	NOUN
bracis-28413	1	38	intelligent	intelligent	ADJ
bracis-28413	1	39	systems	system	NOUN
bracis-28413	1	40	conference	conference	NOUN
bracis-28413	1	41	paper	paper	NOUN
bracis-28413	1	42	crop	crop	NOUN
bracis-28413	1	43	row	row	NOUN
bracis-28413	1	44	line	line	NOUN
bracis-28413	1	45	detection	detection	NOUN
bracis-28413	1	46	with	with	ADP
bracis-28413	1	47	 	 	SPACE
bracis-28413	1	48	auxiliary	auxiliary	ADJ
bracis-28413	1	49	segmentation	segmentation	NOUN
bracis-28413	1	50	task	task	PROPN
bracis-28413	1	51	conference	conference	PROPN
bracis-28413	1	52	paper	paper	NOUN
bracis-28413	1	53	first	first	ADV
bracis-28413	1	54	online	online	ADV
bracis-28413	1	55	:	:	PUNCT
bracis-28413	1	56	12	12	NUM
bracis-28413	1	57	october	october	NOUN
bracis-28413	1	58	2023	2023	NUM
bracis-28413	1	59	pp	pp	PROPN
bracis-28413	1	60	162–175	162–175	NUM
bracis-28413	1	61	cite	cite	VERB
bracis-28413	1	62	this	this	DET
bracis-28413	1	63	conference	conference	NOUN
bracis-28413	1	64	paper	paper	NOUN
bracis-28413	1	65	access	access	NOUN
bracis-28413	1	66	provided	provide	VERB
bracis-28413	1	67	by	by	ADP
bracis-28413	1	68	university	university	PROPN
bracis-28413	1	69	of	of	ADP
bracis-28413	1	70	notre	notre	PROPN
bracis-28413	1	71	dame	dame	PROPN
bracis-28413	1	72	hesburgh	hesburgh	PROPN
bracis-28413	1	73	library	library	PROPN
bracis-28413	1	74	download	download	PROPN
bracis-28413	1	75	book	book	NOUN
bracis-28413	1	76	pdf	pdf	PROPN
bracis-28413	1	77	download	download	NOUN
bracis-28413	1	78	book	book	NOUN
bracis-28413	1	79	epub	epub	PROPN
bracis-28413	1	80	intelligent	intelligent	ADJ
bracis-28413	1	81	systems	system	NOUN
bracis-28413	1	82	(	(	PUNCT
bracis-28413	1	83	bracis	bracis	NOUN
bracis-28413	1	84	2023	2023	NUM
bracis-28413	1	85	)	)	PUNCT
bracis-28413	1	86	crop	crop	NOUN
bracis-28413	1	87	row	row	NOUN
bracis-28413	1	88	line	line	NOUN
bracis-28413	1	89	detection	detection	NOUN
bracis-28413	1	90	with	with	ADP
bracis-28413	1	91	 	 	SPACE
bracis-28413	1	92	auxiliary	auxiliary	ADJ
bracis-28413	1	93	segmentation	segmentation	NOUN
bracis-28413	1	94	task	task	PROPN
bracis-28413	1	95	download	download	PROPN
bracis-28413	1	96	book	book	PROPN
bracis-28413	1	97	pdf	pdf	PROPN
bracis-28413	1	98	download	download	NOUN
bracis-28413	1	99	book	book	PROPN
bracis-28413	1	100	epub	epub	PROPN
bracis-28413	1	101	igor	igor	PROPN
bracis-28413	1	102	ferreira	ferreira	PROPN
bracis-28413	1	103	da	da	PROPN
bracis-28413	1	104	costa	costa	PROPN
bracis-28413	1	105	  	  	SPACE
bracis-28413	1	106	orcid	orcid	NOUN
bracis-28413	1	107	:	:	PUNCT
bracis-28413	1	108	orcid.org/0009-0004-9921-07259	orcid.org/0009-0004-9921-07259	NOUN
bracis-28413	1	109	&	&	CCONJ
bracis-28413	1	110	wouter	wouter	PROPN
bracis-28413	1	111	caarls	caarls	PROPN
bracis-28413	1	112	  	  	SPACE
bracis-28413	1	113	orcid	orcid	NOUN
bracis-28413	1	114	:	:	PUNCT
bracis-28413	1	115	orcid.org/0000-0001-9069-23789	orcid.org/0000-0001-9069-23789	NOUN
bracis-28413	1	116	  	  	SPACE
bracis-28413	1	117	part	part	NOUN
bracis-28413	1	118	of	of	ADP
bracis-28413	1	119	the	the	DET
bracis-28413	1	120	book	book	NOUN
bracis-28413	1	121	series	series	NOUN
bracis-28413	1	122	:	:	PUNCT
bracis-28413	1	123	lecture	lecture	NOUN
bracis-28413	1	124	notes	note	NOUN
bracis-28413	1	125	in	in	ADP
bracis-28413	1	126	computer	computer	NOUN
bracis-28413	1	127	science	science	NOUN
bracis-28413	1	128	(	(	PUNCT
bracis-28413	1	129	(	(	PUNCT
bracis-28413	1	130	lnai	lnai	ADJ
bracis-28413	1	131	,	,	PUNCT
bracis-28413	1	132	volume	volume	NOUN
bracis-28413	1	133	14197	14197	NUM
bracis-28413	1	134	)	)	PUNCT
bracis-28413	1	135	)	)	PUNCT
bracis-28413	1	136	included	include	VERB
bracis-28413	1	137	in	in	ADP
bracis-28413	1	138	the	the	DET
bracis-28413	1	139	following	follow	VERB
bracis-28413	1	140	conference	conference	NOUN
bracis-28413	1	141	series	series	NOUN
bracis-28413	1	142	:	:	PUNCT
bracis-28413	1	143	brazilian	brazilian	ADJ
bracis-28413	1	144	conference	conference	NOUN
bracis-28413	1	145	on	on	ADP
bracis-28413	1	146	intelligent	intelligent	ADJ
bracis-28413	1	147	systems	system	NOUN
bracis-28413	1	148	551	551	NUM
bracis-28413	1	149	accesses	access	VERB
bracis-28413	1	150	1	1	NUM
bracis-28413	1	151	citation	citation	NOUN
bracis-28413	1	152	abstract	abstract	ADJ
bracis-28413	1	153	autonomous	autonomous	ADJ
bracis-28413	1	154	robots	robot	NOUN
bracis-28413	1	155	for	for	ADP
bracis-28413	1	156	agricultural	agricultural	ADJ
bracis-28413	1	157	tasks	task	NOUN
bracis-28413	1	158	have	have	AUX
bracis-28413	1	159	been	be	AUX
bracis-28413	1	160	researched	research	VERB
bracis-28413	1	161	to	to	ADP
bracis-28413	1	162	great	great	ADJ
bracis-28413	1	163	extent	extent	NOUN
bracis-28413	1	164	in	in	ADP
bracis-28413	1	165	the	the	DET
bracis-28413	1	166	past	past	ADJ
bracis-28413	1	167	years	year	NOUN
bracis-28413	1	168	as	as	SCONJ
bracis-28413	1	169	they	they	PRON
bracis-28413	1	170	could	could	AUX
bracis-28413	1	171	result	result	VERB
bracis-28413	1	172	in	in	ADP
bracis-28413	1	173	a	a	DET
bracis-28413	1	174	great	great	ADJ
bracis-28413	1	175	improvement	improvement	NOUN
bracis-28413	1	176	of	of	ADP
bracis-28413	1	177	field	field	NOUN
bracis-28413	1	178	efficiency	efficiency	NOUN
bracis-28413	1	179	.	.	PUNCT
bracis-28413	2	1	navigating	navigate	VERB
bracis-28413	2	2	an	an	DET
bracis-28413	2	3	open	open	ADJ
bracis-28413	2	4	crop	crop	NOUN
bracis-28413	2	5	field	field	NOUN
bracis-28413	2	6	still	still	ADV
bracis-28413	2	7	is	be	AUX
bracis-28413	2	8	a	a	DET
bracis-28413	2	9	great	great	ADJ
bracis-28413	2	10	challenge	challenge	NOUN
bracis-28413	2	11	;	;	PUNCT
bracis-28413	2	12	rtk	rtk	NOUN
bracis-28413	2	13	-	-	PUNCT
bracis-28413	2	14	gnss	gnss	NOUN
bracis-28413	2	15	is	be	AUX
bracis-28413	2	16	a	a	DET
bracis-28413	2	17	excellent	excellent	ADJ
bracis-28413	2	18	tool	tool	NOUN
bracis-28413	2	19	to	to	PART
bracis-28413	2	20	track	track	VERB
bracis-28413	2	21	the	the	DET
bracis-28413	2	22	robot	robot	NOUN
bracis-28413	2	23	’s	’s	PART
bracis-28413	2	24	position	position	NOUN
bracis-28413	2	25	,	,	PUNCT
bracis-28413	2	26	but	but	CCONJ
bracis-28413	2	27	it	it	PRON
bracis-28413	2	28	needs	need	VERB
bracis-28413	2	29	precise	precise	ADJ
bracis-28413	2	30	mapping	mapping	NOUN
bracis-28413	2	31	and	and	CCONJ
bracis-28413	2	32	planning	planning	NOUN
bracis-28413	2	33	while	while	SCONJ
bracis-28413	2	34	also	also	ADV
bracis-28413	2	35	being	be	AUX
bracis-28413	2	36	expensive	expensive	ADJ
bracis-28413	2	37	and	and	CCONJ
bracis-28413	2	38	signal	signal	VERB
bracis-28413	2	39	dependent	dependent	ADJ
bracis-28413	2	40	.	.	PUNCT
bracis-28413	3	1	as	as	ADP
bracis-28413	3	2	such	such	ADJ
bracis-28413	3	3	,	,	PUNCT
bracis-28413	3	4	onboard	onboard	ADP
bracis-28413	3	5	systems	system	NOUN
bracis-28413	3	6	that	that	PRON
bracis-28413	3	7	can	can	AUX
bracis-28413	3	8	sense	sense	VERB
bracis-28413	3	9	the	the	DET
bracis-28413	3	10	field	field	NOUN
bracis-28413	3	11	directly	directly	ADV
bracis-28413	3	12	to	to	PART
bracis-28413	3	13	guide	guide	VERB
bracis-28413	3	14	the	the	DET
bracis-28413	3	15	robot	robot	NOUN
bracis-28413	3	16	are	be	AUX
bracis-28413	3	17	a	a	DET
bracis-28413	3	18	good	good	ADJ
bracis-28413	3	19	alternative	alternative	NOUN
bracis-28413	3	20	.	.	PUNCT
bracis-28413	4	1	those	those	DET
bracis-28413	4	2	systems	system	NOUN
bracis-28413	4	3	detect	detect	VERB
bracis-28413	4	4	the	the	DET
bracis-28413	4	5	rows	row	NOUN
bracis-28413	4	6	with	with	ADP
bracis-28413	4	7	adequate	adequate	ADJ
bracis-28413	4	8	image	image	NOUN
bracis-28413	4	9	techniques	technique	NOUN
bracis-28413	4	10	and	and	CCONJ
bracis-28413	4	11	estimate	estimate	VERB
bracis-28413	4	12	the	the	DET
bracis-28413	4	13	position	position	NOUN
bracis-28413	4	14	by	by	ADP
bracis-28413	4	15	applying	apply	VERB
bracis-28413	4	16	algorithms	algorithm	NOUN
bracis-28413	4	17	to	to	ADP
bracis-28413	4	18	the	the	DET
bracis-28413	4	19	obtained	obtain	VERB
bracis-28413	4	20	mask	mask	NOUN
bracis-28413	4	21	,	,	PUNCT
bracis-28413	4	22	such	such	ADJ
bracis-28413	4	23	as	as	SCONJ
bracis-28413	4	24	the	the	DET
bracis-28413	4	25	hough	hough	PROPN
bracis-28413	4	26	transform	transform	VERB
bracis-28413	4	27	or	or	CCONJ
bracis-28413	4	28	linear	linear	ADJ
bracis-28413	4	29	regression	regression	NOUN
bracis-28413	4	30	.	.	PUNCT
bracis-28413	5	1	in	in	ADP
bracis-28413	5	2	this	this	DET
bracis-28413	5	3	paper	paper	NOUN
bracis-28413	5	4	,	,	PUNCT
bracis-28413	5	5	a	a	DET
bracis-28413	5	6	direct	direct	ADJ
bracis-28413	5	7	approach	approach	NOUN
bracis-28413	5	8	is	be	AUX
bracis-28413	5	9	presented	present	VERB
bracis-28413	5	10	by	by	ADP
bracis-28413	5	11	training	train	VERB
bracis-28413	5	12	a	a	DET
bracis-28413	5	13	neural	neural	ADJ
bracis-28413	5	14	network	network	NOUN
bracis-28413	5	15	model	model	NOUN
bracis-28413	5	16	to	to	PART
bracis-28413	5	17	obtain	obtain	VERB
bracis-28413	5	18	the	the	DET
bracis-28413	5	19	position	position	NOUN
bracis-28413	5	20	of	of	ADP
bracis-28413	5	21	crop	crop	NOUN
bracis-28413	5	22	lines	line	NOUN
bracis-28413	5	23	directly	directly	ADV
bracis-28413	5	24	from	from	ADP
bracis-28413	5	25	an	an	DET
bracis-28413	5	26	rgb	rgb	PROPN
bracis-28413	5	27	image	image	NOUN
bracis-28413	5	28	.	.	PUNCT
bracis-28413	6	1	while	while	SCONJ
bracis-28413	6	2	,	,	PUNCT
bracis-28413	6	3	usually	usually	ADV
bracis-28413	6	4	,	,	PUNCT
bracis-28413	6	5	the	the	DET
bracis-28413	6	6	camera	camera	NOUN
bracis-28413	6	7	in	in	ADP
bracis-28413	6	8	such	such	ADJ
bracis-28413	6	9	systems	system	NOUN
bracis-28413	6	10	are	be	AUX
bracis-28413	6	11	looking	look	VERB
bracis-28413	6	12	down	down	ADV
bracis-28413	6	13	to	to	ADP
bracis-28413	6	14	the	the	DET
bracis-28413	6	15	field	field	NOUN
bracis-28413	6	16	,	,	PUNCT
bracis-28413	6	17	a	a	DET
bracis-28413	6	18	camera	camera	NOUN
bracis-28413	6	19	near	near	ADP
bracis-28413	6	20	the	the	DET
bracis-28413	6	21	ground	ground	NOUN
bracis-28413	6	22	is	be	AUX
bracis-28413	6	23	proposed	propose	VERB
bracis-28413	6	24	to	to	PART
bracis-28413	6	25	take	take	VERB
bracis-28413	6	26	advantage	advantage	NOUN
bracis-28413	6	27	of	of	ADP
bracis-28413	6	28	tunnels	tunnel	NOUN
bracis-28413	6	29	formed	form	VERB
bracis-28413	6	30	between	between	ADP
bracis-28413	6	31	rows	row	NOUN
bracis-28413	6	32	.	.	PUNCT
bracis-28413	7	1	a	a	DET
bracis-28413	7	2	simulation	simulation	NOUN
bracis-28413	7	3	environment	environment	NOUN
bracis-28413	7	4	for	for	ADP
bracis-28413	7	5	evaluating	evaluate	VERB
bracis-28413	7	6	both	both	CCONJ
bracis-28413	7	7	the	the	DET
bracis-28413	7	8	model	model	NOUN
bracis-28413	7	9	’s	’s	PART
bracis-28413	7	10	performance	performance	NOUN
bracis-28413	7	11	and	and	CCONJ
bracis-28413	7	12	camera	camera	NOUN
bracis-28413	7	13	placement	placement	NOUN
bracis-28413	7	14	was	be	AUX
bracis-28413	7	15	developed	develop	VERB
bracis-28413	7	16	and	and	CCONJ
bracis-28413	7	17	made	make	VERB
bracis-28413	7	18	available	available	ADJ
bracis-28413	7	19	in	in	ADP
bracis-28413	7	20	github	github	NOUN
bracis-28413	7	21	,	,	PUNCT
bracis-28413	7	22	and	and	CCONJ
bracis-28413	7	23	two	two	NUM
bracis-28413	7	24	datasets	dataset	NOUN
bracis-28413	7	25	to	to	PART
bracis-28413	7	26	train	train	VERB
bracis-28413	7	27	the	the	DET
bracis-28413	7	28	models	model	NOUN
bracis-28413	7	29	are	be	AUX
bracis-28413	7	30	proposed	propose	VERB
bracis-28413	7	31	.	.	PUNCT
bracis-28413	8	1	the	the	DET
bracis-28413	8	2	results	result	NOUN
bracis-28413	8	3	are	be	AUX
bracis-28413	8	4	shown	show	VERB
bracis-28413	8	5	across	across	ADP
bracis-28413	8	6	different	different	ADJ
bracis-28413	8	7	resolutions	resolution	NOUN
bracis-28413	8	8	and	and	CCONJ
bracis-28413	8	9	stages	stage	NOUN
bracis-28413	8	10	of	of	ADP
bracis-28413	8	11	plant	plant	NOUN
bracis-28413	8	12	growth	growth	NOUN
bracis-28413	8	13	,	,	PUNCT
bracis-28413	8	14	indicating	indicate	VERB
bracis-28413	8	15	the	the	DET
bracis-28413	8	16	system	system	NOUN
bracis-28413	8	17	’s	’s	PART
bracis-28413	8	18	capabilities	capability	NOUN
bracis-28413	8	19	and	and	CCONJ
bracis-28413	8	20	limitations	limitation	NOUN
bracis-28413	8	21	.	.	PUNCT
bracis-28413	9	1	this	this	DET
bracis-28413	9	2	study	study	NOUN
bracis-28413	9	3	was	be	AUX
bracis-28413	9	4	financed	finance	VERB
bracis-28413	9	5	in	in	ADP
bracis-28413	9	6	part	part	NOUN
bracis-28413	9	7	by	by	ADP
bracis-28413	9	8	the	the	DET
bracis-28413	9	9	coordenação	coordenação	PROPN
bracis-28413	9	10	de	de	PROPN
bracis-28413	9	11	aperfeiçoamento	aperfeiçoamento	PROPN
bracis-28413	9	12	de	de	X
bracis-28413	9	13	pessoal	pessoal	PROPN
bracis-28413	9	14	de	de	PROPN
bracis-28413	9	15	nível	nível	PROPN
bracis-28413	9	16	superior	superior	PROPN
bracis-28413	9	17	brasil	brasil	PROPN
bracis-28413	9	18	(	(	PUNCT
bracis-28413	9	19	capes	cape	NOUN
bracis-28413	9	20	)	)	PUNCT
bracis-28413	9	21	finance	finance	NOUN
bracis-28413	9	22	code	code	NOUN
bracis-28413	9	23	001	001	NUM
bracis-28413	9	24	;	;	PUNCT
bracis-28413	9	25	the	the	DET
bracis-28413	9	26	national	national	PROPN
bracis-28413	9	27	council	council	PROPN
bracis-28413	9	28	for	for	ADP
bracis-28413	9	29	scientific	scientific	ADJ
bracis-28413	9	30	and	and	CCONJ
bracis-28413	9	31	technological	technological	ADJ
bracis-28413	9	32	development	development	NOUN
bracis-28413	9	33	cnpq	cnpq	NOUN
bracis-28413	9	34	under	under	ADP
bracis-28413	9	35	project	project	NOUN
bracis-28413	9	36	number	number	NOUN
bracis-28413	9	37	314121/2021	314121/2021	NUM
bracis-28413	9	38	-	-	SYM
bracis-28413	9	39	8	8	NUM
bracis-28413	9	40	;	;	PUNCT
bracis-28413	9	41	and	and	CCONJ
bracis-28413	9	42	fundação	fundação	PROPN
bracis-28413	9	43	de	de	X
bracis-28413	9	44	apoio	apoio	NOUN
bracis-28413	9	45	a	a	DET
bracis-28413	9	46	pesquisa	pesquisa	NOUN
bracis-28413	9	47	do	do	AUX
bracis-28413	9	48	rio	rio	PROPN
bracis-28413	9	49	de	de	PROPN
bracis-28413	9	50	janeiro	janeiro	PROPN
bracis-28413	9	51	(	(	PUNCT
bracis-28413	9	52	faperj	faperj	PROPN
bracis-28413	9	53	)	)	PUNCT
bracis-28413	9	54	apq1	apq1	PROPN
bracis-28413	9	55	program	program	NOUN
bracis-28413	9	56	e-26/010.001551/2019	e-26/010.001551/2019	PROPN
bracis-28413	9	57	.	.	PUNCT
bracis-28413	10	1	access	access	NOUN
bracis-28413	10	2	provided	provide	VERB
bracis-28413	10	3	by	by	ADP
bracis-28413	10	4	university	university	PROPN
bracis-28413	10	5	of	of	ADP
bracis-28413	10	6	notre	notre	PROPN
bracis-28413	10	7	dame	dame	PROPN
bracis-28413	10	8	hesburgh	hesburgh	PROPN
bracis-28413	10	9	library	library	PROPN
bracis-28413	10	10	.	.	PUNCT
bracis-28413	11	1	download	download	PROPN
bracis-28413	11	2	conference	conference	NOUN
bracis-28413	11	3	paper	paper	NOUN
bracis-28413	11	4	pdf	pdf	NOUN
bracis-28413	11	5	similar	similar	ADJ
bracis-28413	11	6	content	content	NOUN
bracis-28413	11	7	being	be	AUX
bracis-28413	11	8	viewed	view	VERB
bracis-28413	11	9	by	by	ADP
bracis-28413	11	10	others	other	NOUN
bracis-28413	11	11	curved	curved	ADJ
bracis-28413	11	12	and	and	CCONJ
bracis-28413	11	13	straight	straight	ADJ
bracis-28413	11	14	crop	crop	NOUN
bracis-28413	11	15	row	row	NOUN
bracis-28413	11	16	detection	detection	NOUN
bracis-28413	11	17	by	by	ADP
bracis-28413	11	18	accumulation	accumulation	NOUN
bracis-28413	11	19	of	of	ADP
bracis-28413	11	20	green	green	ADJ
bracis-28413	11	21	pixels	pixel	NOUN
bracis-28413	11	22	from	from	ADP
bracis-28413	11	23	images	image	NOUN
bracis-28413	11	24	in	in	ADP
bracis-28413	11	25	maize	maize	NOUN
bracis-28413	11	26	fields	field	NOUN
bracis-28413	11	27	article	article	NOUN
bracis-28413	11	28	03	03	NUM
bracis-28413	11	29	january	january	PROPN
bracis-28413	11	30	2017	2017	NUM
bracis-28413	11	31	integrating	integrate	VERB
bracis-28413	11	32	machine	machine	NOUN
bracis-28413	11	33	vision	vision	NOUN
bracis-28413	11	34	-	-	PUNCT
bracis-28413	11	35	based	base	VERB
bracis-28413	11	36	row	row	NOUN
bracis-28413	11	37	guidance	guidance	NOUN
bracis-28413	11	38	with	with	ADP
bracis-28413	11	39	gps	gps	PROPN
bracis-28413	11	40	and	and	CCONJ
bracis-28413	11	41	compass	compass	NOUN
bracis-28413	11	42	-	-	PUNCT
bracis-28413	11	43	based	base	VERB
bracis-28413	11	44	routing	routing	NOUN
bracis-28413	11	45	to	to	PART
bracis-28413	11	46	achieve	achieve	VERB
bracis-28413	11	47	autonomous	autonomous	ADJ
bracis-28413	11	48	navigation	navigation	NOUN
bracis-28413	11	49	for	for	ADP
bracis-28413	11	50	a	a	DET
bracis-28413	11	51	rice	rice	NOUN
bracis-28413	11	52	field	field	NOUN
bracis-28413	11	53	weeding	weed	VERB
bracis-28413	11	54	robot	robot	NOUN
bracis-28413	11	55	article	article	NOUN
bracis-28413	11	56	16	16	NUM
bracis-28413	11	57	november	november	PROPN
bracis-28413	11	58	2019	2019	NUM
bracis-28413	11	59	enhancing	enhance	VERB
bracis-28413	11	60	visual	visual	ADJ
bracis-28413	11	61	autonomous	autonomous	ADJ
bracis-28413	11	62	navigation	navigation	NOUN
bracis-28413	11	63	in	in	ADP
bracis-28413	11	64	row	row	NOUN
bracis-28413	11	65	-	-	PUNCT
bracis-28413	11	66	based	base	VERB
bracis-28413	11	67	crops	crop	NOUN
bracis-28413	11	68	with	with	ADP
bracis-28413	11	69	effective	effective	ADJ
bracis-28413	11	70	synthetic	synthetic	ADJ
bracis-28413	11	71	data	data	NOUN
bracis-28413	11	72	generation	generation	NOUN
bracis-28413	11	73	article	article	NOUN
bracis-28413	11	74	open	open	VERB
bracis-28413	11	75	access	access	NOUN
bracis-28413	11	76	11	11	NUM
bracis-28413	11	77	june	june	PROPN
bracis-28413	11	78	2024	2024	NUM
bracis-28413	11	79	explore	explore	VERB
bracis-28413	11	80	related	relate	VERB
bracis-28413	11	81	subjects	subject	NOUN
bracis-28413	11	82	discover	discover	VERB
bracis-28413	11	83	the	the	DET
bracis-28413	11	84	latest	late	ADJ
bracis-28413	11	85	articles	article	NOUN
bracis-28413	11	86	,	,	PUNCT
bracis-28413	11	87	books	book	NOUN
bracis-28413	11	88	and	and	CCONJ
bracis-28413	11	89	news	news	NOUN
bracis-28413	11	90	in	in	ADP
bracis-28413	11	91	related	related	ADJ
bracis-28413	11	92	subjects	subject	NOUN
bracis-28413	11	93	,	,	PUNCT
bracis-28413	11	94	suggested	suggest	VERB
bracis-28413	11	95	using	use	VERB
bracis-28413	11	96	machine	machine	NOUN
bracis-28413	11	97	learning	learning	NOUN
bracis-28413	11	98	.	.	PUNCT
bracis-28413	12	1	agroecology	agroecology	NOUN
bracis-28413	12	2	agricultural	agricultural	ADJ
bracis-28413	12	3	geography	geography	NOUN
bracis-28413	12	4	agriculture	agriculture	NOUN
bracis-28413	12	5	agronomy	agronomy	NOUN
bracis-28413	12	6	computer	computer	NOUN
bracis-28413	12	7	vision	vision	NOUN
bracis-28413	12	8	crop	crop	NOUN
bracis-28413	12	9	waste	waste	NOUN
bracis-28413	12	10	1	1	NUM
bracis-28413	12	11	introduction	introduction	NOUN
bracis-28413	12	12	the	the	DET
bracis-28413	12	13	use	use	NOUN
bracis-28413	12	14	of	of	ADP
bracis-28413	12	15	robotics	robotic	NOUN
bracis-28413	12	16	in	in	ADP
bracis-28413	12	17	agriculture	agriculture	NOUN
bracis-28413	12	18	presents	present	VERB
bracis-28413	12	19	the	the	DET
bracis-28413	12	20	possibility	possibility	NOUN
bracis-28413	12	21	of	of	ADP
bracis-28413	12	22	improving	improve	VERB
bracis-28413	12	23	the	the	DET
bracis-28413	12	24	efficiency	efficiency	NOUN
bracis-28413	12	25	of	of	ADP
bracis-28413	12	26	the	the	DET
bracis-28413	12	27	field	field	NOUN
bracis-28413	12	28	,	,	PUNCT
bracis-28413	12	29	and	and	CCONJ
bracis-28413	12	30	at	at	ADP
bracis-28413	12	31	the	the	DET
bracis-28413	12	32	same	same	ADJ
bracis-28413	12	33	time	time	NOUN
bracis-28413	12	34	increasing	increase	VERB
bracis-28413	12	35	the	the	DET
bracis-28413	12	36	production	production	NOUN
bracis-28413	12	37	and	and	CCONJ
bracis-28413	12	38	quality	quality	NOUN
bracis-28413	12	39	of	of	ADP
bracis-28413	12	40	the	the	DET
bracis-28413	12	41	crop	crop	NOUN
bracis-28413	12	42	.	.	PUNCT
bracis-28413	13	1	autonomous	autonomous	ADJ
bracis-28413	13	2	robots	robot	NOUN
bracis-28413	13	3	are	be	AUX
bracis-28413	13	4	a	a	DET
bracis-28413	13	5	good	good	ADJ
bracis-28413	13	6	tool	tool	NOUN
bracis-28413	13	7	to	to	PART
bracis-28413	13	8	deal	deal	VERB
bracis-28413	13	9	with	with	ADP
bracis-28413	13	10	simple	simple	ADJ
bracis-28413	13	11	but	but	CCONJ
bracis-28413	13	12	long	long	ADV
bracis-28413	13	13	lasting	last	VERB
bracis-28413	13	14	tasks	task	NOUN
bracis-28413	13	15	,	,	PUNCT
bracis-28413	13	16	such	such	ADJ
bracis-28413	13	17	as	as	ADP
bracis-28413	13	18	monitoring	monitor	VERB
bracis-28413	13	19	the	the	DET
bracis-28413	13	20	state	state	NOUN
bracis-28413	13	21	of	of	ADP
bracis-28413	13	22	plants	plant	NOUN
bracis-28413	13	23	growth	growth	NOUN
bracis-28413	13	24	[	[	X
bracis-28413	13	25	1	1	NUM
bracis-28413	13	26	,	,	PUNCT
bracis-28413	13	27	2	2	NUM
bracis-28413	13	28	]	]	PUNCT
bracis-28413	13	29	,	,	PUNCT
bracis-28413	13	30	health	health	NOUN
bracis-28413	13	31	and	and	CCONJ
bracis-28413	13	32	presence	presence	NOUN
bracis-28413	13	33	of	of	ADP
bracis-28413	13	34	plagues	plague	NOUN
bracis-28413	13	35	or	or	CCONJ
bracis-28413	13	36	invasive	invasive	ADJ
bracis-28413	13	37	species	specie	NOUN
bracis-28413	13	38	[	[	X
bracis-28413	13	39	3	3	NUM
bracis-28413	13	40	,	,	PUNCT
bracis-28413	13	41	4	4	NUM
bracis-28413	13	42	]	]	PUNCT
bracis-28413	13	43	.	.	PUNCT
bracis-28413	14	1	real	real	ADJ
bracis-28413	14	2	-	-	PUNCT
bracis-28413	14	3	time	time	NOUN
bracis-28413	14	4	kinematics	kinematic	NOUN
bracis-28413	14	5	with	with	ADP
bracis-28413	14	6	global	global	ADJ
bracis-28413	14	7	navigation	navigation	NOUN
bracis-28413	14	8	satellite	satellite	NOUN
bracis-28413	14	9	system	system	NOUN
bracis-28413	14	10	(	(	PUNCT
bracis-28413	14	11	rtk	rtk	NOUN
bracis-28413	14	12	-	-	PUNCT
bracis-28413	14	13	gnss	gnss	NOUN
bracis-28413	14	14	)	)	PUNCT
bracis-28413	14	15	can	can	AUX
bracis-28413	14	16	provide	provide	VERB
bracis-28413	14	17	,	,	PUNCT
bracis-28413	14	18	in	in	ADP
bracis-28413	14	19	open	open	ADJ
bracis-28413	14	20	fields	field	NOUN
bracis-28413	14	21	,	,	PUNCT
bracis-28413	14	22	an	an	DET
bracis-28413	14	23	accurate	accurate	ADJ
bracis-28413	14	24	position	position	NOUN
bracis-28413	14	25	of	of	ADP
bracis-28413	14	26	the	the	DET
bracis-28413	14	27	robot	robot	NOUN
bracis-28413	14	28	which	which	PRON
bracis-28413	14	29	can	can	AUX
bracis-28413	14	30	be	be	AUX
bracis-28413	14	31	used	use	VERB
bracis-28413	14	32	to	to	PART
bracis-28413	14	33	navigate	navigate	VERB
bracis-28413	14	34	[	[	X
bracis-28413	14	35	4	4	NUM
bracis-28413	14	36	,	,	PUNCT
bracis-28413	14	37	5	5	NUM
bracis-28413	14	38	]	]	PUNCT
bracis-28413	14	39	.	.	PUNCT
bracis-28413	15	1	while	while	SCONJ
bracis-28413	15	2	precise	precise	ADJ
bracis-28413	15	3	,	,	PUNCT
bracis-28413	15	4	this	this	DET
bracis-28413	15	5	system	system	NOUN
bracis-28413	15	6	does	do	AUX
bracis-28413	15	7	not	not	PART
bracis-28413	15	8	describe	describe	VERB
bracis-28413	15	9	the	the	DET
bracis-28413	15	10	crop	crop	NOUN
bracis-28413	15	11	field	field	NOUN
bracis-28413	15	12	itself	itself	PRON
bracis-28413	15	13	,	,	PUNCT
bracis-28413	15	14	thus	thus	ADV
bracis-28413	15	15	requiring	require	VERB
bracis-28413	15	16	precise	precise	ADJ
bracis-28413	15	17	mapping	mapping	NOUN
bracis-28413	15	18	and	and	CCONJ
bracis-28413	15	19	route	route	NOUN
bracis-28413	15	20	planning	planning	NOUN
bracis-28413	15	21	.	.	PUNCT
bracis-28413	16	1	rtk	rtk	NOUN
bracis-28413	16	2	-	-	PUNCT
bracis-28413	16	3	gnss	gnss	NOUN
bracis-28413	16	4	can	can	AUX
bracis-28413	16	5	also	also	ADV
bracis-28413	16	6	be	be	AUX
bracis-28413	16	7	expensive	expensive	ADJ
bracis-28413	16	8	to	to	PART
bracis-28413	16	9	deploy	deploy	VERB
bracis-28413	16	10	[	[	X
bracis-28413	16	11	5	5	NUM
bracis-28413	16	12	,	,	PUNCT
bracis-28413	16	13	6	6	NUM
bracis-28413	16	14	]	]	PUNCT
bracis-28413	16	15	in	in	ADP
bracis-28413	16	16	scale	scale	NOUN
bracis-28413	16	17	and	and	CCONJ
bracis-28413	16	18	be	be	AUX
bracis-28413	16	19	vulnerable	vulnerable	ADJ
bracis-28413	16	20	to	to	ADP
bracis-28413	16	21	an	an	DET
bracis-28413	16	22	unreliable	unreliable	ADJ
bracis-28413	16	23	or	or	CCONJ
bracis-28413	16	24	weak	weak	ADJ
bracis-28413	16	25	signal	signal	NOUN
bracis-28413	16	26	[	[	X
bracis-28413	16	27	1	1	NUM
bracis-28413	16	28	]	]	PUNCT
bracis-28413	16	29	.	.	PUNCT
bracis-28413	17	1	crops	crop	NOUN
bracis-28413	17	2	are	be	AUX
bracis-28413	17	3	not	not	PART
bracis-28413	17	4	always	always	ADV
bracis-28413	17	5	straight	straight	ADJ
bracis-28413	17	6	and	and	CCONJ
bracis-28413	17	7	plain	plain	ADJ
bracis-28413	17	8	,	,	PUNCT
bracis-28413	17	9	varying	vary	VERB
bracis-28413	17	10	widely	widely	ADV
bracis-28413	17	11	in	in	ADP
bracis-28413	17	12	topology	topology	NOUN
bracis-28413	17	13	due	due	ADP
bracis-28413	17	14	to	to	ADP
bracis-28413	17	15	the	the	DET
bracis-28413	17	16	place	place	NOUN
bracis-28413	17	17	’s	’s	PART
bracis-28413	17	18	geography	geography	NOUN
bracis-28413	17	19	,	,	PUNCT
bracis-28413	17	20	which	which	PRON
bracis-28413	17	21	makes	make	VERB
bracis-28413	17	22	navigation	navigation	NOUN
bracis-28413	17	23	even	even	ADV
bracis-28413	17	24	harder	hard	ADV
bracis-28413	17	25	[	[	X
bracis-28413	17	26	5	5	NUM
bracis-28413	17	27	]	]	PUNCT
bracis-28413	17	28	,	,	PUNCT
bracis-28413	17	29	see	see	VERB
bracis-28413	17	30	fig	fig	NOUN
bracis-28413	17	31	.	.	PUNCT
bracis-28413	17	32	 	 	SPACE
bracis-28413	18	1	1	1	NUM
bracis-28413	18	2	.	.	PUNCT
bracis-28413	19	1	as	as	SCONJ
bracis-28413	19	2	such	such	ADJ
bracis-28413	19	3	,	,	PUNCT
bracis-28413	19	4	onboard	onboard	ADJ
bracis-28413	19	5	solutions	solution	NOUN
bracis-28413	19	6	for	for	ADP
bracis-28413	19	7	navigation	navigation	NOUN
bracis-28413	19	8	gained	gain	VERB
bracis-28413	19	9	traction	traction	NOUN
bracis-28413	19	10	and	and	CCONJ
bracis-28413	19	11	different	different	ADJ
bracis-28413	19	12	techniques	technique	NOUN
bracis-28413	19	13	and	and	CCONJ
bracis-28413	19	14	sensors	sensor	NOUN
bracis-28413	19	15	have	have	AUX
bracis-28413	19	16	been	be	AUX
bracis-28413	19	17	tested	test	VERB
bracis-28413	19	18	and	and	CCONJ
bracis-28413	19	19	developed	develop	VERB
bracis-28413	19	20	.	.	PUNCT
bracis-28413	20	1	onboard	onboard	PROPN
bracis-28413	20	2	systems	system	NOUN
bracis-28413	20	3	,	,	PUNCT
bracis-28413	20	4	such	such	ADJ
bracis-28413	20	5	as	as	ADP
bracis-28413	20	6	lidar	lidar	NOUN
bracis-28413	20	7	[	[	X
bracis-28413	20	8	4	4	NUM
bracis-28413	20	9	,	,	PUNCT
bracis-28413	20	10	7	7	NUM
bracis-28413	20	11	]	]	PUNCT
bracis-28413	20	12	,	,	PUNCT
bracis-28413	20	13	depth	depth	NOUN
bracis-28413	20	14	cameras	camera	NOUN
bracis-28413	20	15	and	and	CCONJ
bracis-28413	20	16	rgb	rgb	PROPN
bracis-28413	20	17	cameras	camera	NOUN
bracis-28413	21	1	[	[	X
bracis-28413	21	2	6	6	NUM
bracis-28413	21	3	,	,	PUNCT
bracis-28413	21	4	8	8	NUM
bracis-28413	21	5	]	]	PUNCT
bracis-28413	21	6	,	,	PUNCT
bracis-28413	21	7	make	make	VERB
bracis-28413	21	8	the	the	DET
bracis-28413	21	9	robot	robot	NOUN
bracis-28413	21	10	sense	sense	VERB
bracis-28413	21	11	the	the	DET
bracis-28413	21	12	field	field	NOUN
bracis-28413	21	13	directly	directly	ADV
bracis-28413	21	14	,	,	PUNCT
bracis-28413	21	15	allowing	allow	VERB
bracis-28413	21	16	it	it	PRON
bracis-28413	21	17	to	to	PART
bracis-28413	21	18	navigate	navigate	VERB
bracis-28413	21	19	between	between	ADP
bracis-28413	21	20	plantation	plantation	NOUN
bracis-28413	21	21	rows	row	VERB
bracis-28413	21	22	accordingly	accordingly	ADV
bracis-28413	21	23	.	.	PUNCT
bracis-28413	22	1	in	in	ADP
bracis-28413	22	2	order	order	NOUN
bracis-28413	22	3	to	to	PART
bracis-28413	22	4	correctly	correctly	ADV
bracis-28413	22	5	navigate	navigate	VERB
bracis-28413	22	6	the	the	DET
bracis-28413	22	7	field	field	NOUN
bracis-28413	22	8	,	,	PUNCT
bracis-28413	22	9	an	an	DET
bracis-28413	22	10	algorithm	algorithm	NOUN
bracis-28413	22	11	to	to	PART
bracis-28413	22	12	detect	detect	VERB
bracis-28413	22	13	the	the	DET
bracis-28413	22	14	rows	row	NOUN
bracis-28413	22	15	and	and	CCONJ
bracis-28413	22	16	spaces	space	NOUN
bracis-28413	22	17	inbetween	inbetween	X
bracis-28413	22	18	must	must	AUX
bracis-28413	22	19	be	be	AUX
bracis-28413	22	20	used	use	VERB
bracis-28413	22	21	.	.	PUNCT
bracis-28413	23	1	convolutional	convolutional	ADJ
bracis-28413	23	2	neural	neural	ADJ
bracis-28413	23	3	networks	network	NOUN
bracis-28413	23	4	(	(	PUNCT
bracis-28413	23	5	cnns	cnns	PROPN
bracis-28413	23	6	)	)	PUNCT
bracis-28413	23	7	have	have	AUX
bracis-28413	23	8	already	already	ADV
bracis-28413	23	9	been	be	AUX
bracis-28413	23	10	successful	successful	ADJ
bracis-28413	23	11	at	at	ADP
bracis-28413	23	12	distinguishing	distinguish	VERB
bracis-28413	23	13	crops	crop	NOUN
bracis-28413	23	14	from	from	ADP
bracis-28413	23	15	lanes	lane	NOUN
bracis-28413	23	16	[	[	X
bracis-28413	23	17	9	9	NUM
bracis-28413	23	18	,	,	PUNCT
bracis-28413	23	19	10	10	NUM
bracis-28413	23	20	]	]	PUNCT
bracis-28413	23	21	.	.	PUNCT
bracis-28413	24	1	in	in	ADP
bracis-28413	24	2	a	a	DET
bracis-28413	24	3	similar	similar	ADJ
bracis-28413	24	4	way	way	NOUN
bracis-28413	24	5	,	,	PUNCT
bracis-28413	24	6	this	this	DET
bracis-28413	24	7	work	work	NOUN
bracis-28413	24	8	employs	employ	VERB
bracis-28413	24	9	a	a	DET
bracis-28413	24	10	cnn	cnn	NOUN
bracis-28413	24	11	,	,	PUNCT
bracis-28413	24	12	which	which	PRON
bracis-28413	24	13	is	be	AUX
bracis-28413	24	14	trained	train	VERB
bracis-28413	24	15	in	in	ADP
bracis-28413	24	16	images	image	NOUN
bracis-28413	24	17	extracted	extract	VERB
bracis-28413	24	18	from	from	ADP
bracis-28413	24	19	simulations	simulation	NOUN
bracis-28413	24	20	and	and	CCONJ
bracis-28413	24	21	previous	previous	ADJ
bracis-28413	24	22	tests	test	NOUN
bracis-28413	24	23	of	of	ADP
bracis-28413	24	24	the	the	DET
bracis-28413	24	25	robot	robot	NOUN
bracis-28413	24	26	.	.	PUNCT
bracis-28413	25	1	given	give	VERB
bracis-28413	25	2	a	a	DET
bracis-28413	25	3	segmented	segment	VERB
bracis-28413	25	4	image	image	NOUN
bracis-28413	25	5	,	,	PUNCT
bracis-28413	25	6	techniques	technique	NOUN
bracis-28413	25	7	such	such	ADJ
bracis-28413	25	8	as	as	ADP
bracis-28413	25	9	linear	linear	PROPN
bracis-28413	25	10	regression	regression	NOUN
bracis-28413	25	11	[	[	X
bracis-28413	25	12	5	5	NUM
bracis-28413	25	13	,	,	PUNCT
bracis-28413	25	14	11	11	NUM
bracis-28413	25	15	]	]	PUNCT
bracis-28413	25	16	,	,	PUNCT
bracis-28413	25	17	can	can	AUX
bracis-28413	25	18	be	be	AUX
bracis-28413	25	19	applied	apply	VERB
bracis-28413	25	20	to	to	PART
bracis-28413	25	21	extract	extract	VERB
bracis-28413	25	22	steering	steering	NOUN
bracis-28413	25	23	commands	command	NOUN
bracis-28413	25	24	to	to	PART
bracis-28413	25	25	guide	guide	VERB
bracis-28413	25	26	the	the	DET
bracis-28413	25	27	robot	robot	NOUN
bracis-28413	25	28	.	.	PUNCT
bracis-28413	26	1	this	this	DET
bracis-28413	26	2	work	work	NOUN
bracis-28413	26	3	aims	aim	VERB
bracis-28413	26	4	to	to	PART
bracis-28413	26	5	extract	extract	VERB
bracis-28413	26	6	directly	directly	ADV
bracis-28413	26	7	from	from	ADP
bracis-28413	26	8	the	the	DET
bracis-28413	26	9	image	image	NOUN
bracis-28413	26	10	,	,	PUNCT
bracis-28413	26	11	using	use	VERB
bracis-28413	26	12	a	a	DET
bracis-28413	26	13	cnn	cnn	NOUN
bracis-28413	26	14	,	,	PUNCT
bracis-28413	26	15	the	the	DET
bracis-28413	26	16	steering	steering	NOUN
bracis-28413	26	17	directions	direction	NOUN
bracis-28413	26	18	,	,	PUNCT
bracis-28413	26	19	leveraging	leverage	VERB
bracis-28413	26	20	the	the	DET
bracis-28413	26	21	model	model	NOUN
bracis-28413	26	22	’s	’s	PART
bracis-28413	26	23	capacity	capacity	NOUN
bracis-28413	26	24	of	of	ADP
bracis-28413	26	25	feature	feature	NOUN
bracis-28413	26	26	extraction	extraction	NOUN
bracis-28413	26	27	to	to	PART
bracis-28413	26	28	guide	guide	VERB
bracis-28413	26	29	the	the	DET
bracis-28413	26	30	robot	robot	NOUN
bracis-28413	26	31	more	more	ADV
bracis-28413	26	32	directly	directly	ADV
bracis-28413	26	33	.	.	PUNCT
bracis-28413	27	1	the	the	DET
bracis-28413	27	2	previously	previously	ADV
bracis-28413	27	3	developed	develop	VERB
bracis-28413	27	4	robot	robot	NOUN
bracis-28413	27	5	is	be	AUX
bracis-28413	27	6	a	a	DET
bracis-28413	27	7	differential	differential	ADJ
bracis-28413	27	8	drive	drive	NOUN
bracis-28413	27	9	design	design	NOUN
bracis-28413	27	10	,	,	PUNCT
bracis-28413	27	11	developed	develop	VERB
bracis-28413	27	12	to	to	PART
bracis-28413	27	13	work	work	VERB
bracis-28413	27	14	across	across	ADP
bracis-28413	27	15	soybean	soybean	NOUN
bracis-28413	27	16	and	and	CCONJ
bracis-28413	27	17	cotton	cotton	NOUN
bracis-28413	27	18	fields	field	NOUN
bracis-28413	27	19	,	,	PUNCT
bracis-28413	27	20	fig	fig	NOUN
bracis-28413	27	21	.	.	PUNCT
bracis-28413	27	22	 	 	SPACE
bracis-28413	28	1	2	2	X
bracis-28413	28	2	.	.	PUNCT
bracis-28413	29	1	the	the	DET
bracis-28413	29	2	original	original	ADJ
bracis-28413	29	3	hardware	hardware	NOUN
bracis-28413	29	4	has	have	VERB
bracis-28413	29	5	three	three	NUM
bracis-28413	29	6	logitech	logitech	ADJ
bracis-28413	29	7	c270	c270	NUM
bracis-28413	29	8	cameras	camera	NOUN
bracis-28413	29	9	for	for	ADP
bracis-28413	29	10	navigation	navigation	NOUN
bracis-28413	29	11	,	,	PUNCT
bracis-28413	29	12	one	one	NUM
bracis-28413	29	13	up	up	ADP
bracis-28413	29	14	top	top	NOUN
bracis-28413	29	15	looking	look	VERB
bracis-28413	29	16	down	down	ADV
bracis-28413	29	17	and	and	CCONJ
bracis-28413	29	18	one	one	NUM
bracis-28413	29	19	in	in	ADP
bracis-28413	29	20	each	each	DET
bracis-28413	29	21	front	front	ADJ
bracis-28413	29	22	wheel	wheel	NOUN
bracis-28413	29	23	,	,	PUNCT
bracis-28413	29	24	two	two	NUM
bracis-28413	29	25	intel	intel	PROPN
bracis-28413	29	26	realsense	realsense	PROPN
bracis-28413	29	27	d435i	d435i	PROPN
bracis-28413	29	28	rgb	rgb	PROPN
bracis-28413	29	29	-	-	PUNCT
bracis-28413	29	30	d	d	PROPN
bracis-28413	29	31	cameras	camera	NOUN
bracis-28413	29	32	used	use	VERB
bracis-28413	29	33	for	for	ADP
bracis-28413	29	34	plant	plant	NOUN
bracis-28413	29	35	analysis	analysis	NOUN
bracis-28413	29	36	and	and	CCONJ
bracis-28413	29	37	two	two	NUM
bracis-28413	29	38	gps	gps	NOUN
bracis-28413	29	39	modules	module	NOUN
bracis-28413	29	40	,	,	PUNCT
bracis-28413	29	41	all	all	PRON
bracis-28413	29	42	controlled	control	VERB
bracis-28413	29	43	by	by	ADP
bracis-28413	29	44	an	an	DET
bracis-28413	29	45	intel	intel	NOUN
bracis-28413	29	46	nuc7i5bnk	nuc7i5bnk	NOUN
bracis-28413	29	47	running	run	VERB
bracis-28413	29	48	ubuntu	ubuntu	ADJ
bracis-28413	29	49	18.04	18.04	NUM
bracis-28413	29	50	lts	lt	NOUN
bracis-28413	29	51	and	and	CCONJ
bracis-28413	29	52	ros	ros	PROPN
bracis-28413	29	53	melodic	melodic	PROPN
bracis-28413	29	54	.	.	PUNCT
bracis-28413	30	1	fig	fig	NOUN
bracis-28413	30	2	.	.	PUNCT
bracis-28413	31	1	1	1	X
bracis-28413	31	2	.	.	X
bracis-28413	31	3	uneven	uneven	ADJ
bracis-28413	31	4	and	and	CCONJ
bracis-28413	31	5	curved	curved	ADJ
bracis-28413	31	6	field	field	NOUN
bracis-28413	31	7	.	.	PUNCT
bracis-28413	32	1	full	full	ADJ
bracis-28413	32	2	size	size	NOUN
bracis-28413	32	3	image	image	NOUN
bracis-28413	32	4	fig	fig	NOUN
bracis-28413	32	5	.	.	PUNCT
bracis-28413	33	1	2	2	X
bracis-28413	33	2	.	.	X
bracis-28413	33	3	the	the	DET
bracis-28413	33	4	robot	robot	NOUN
bracis-28413	33	5	roaming	roam	VERB
bracis-28413	33	6	in	in	ADP
bracis-28413	33	7	a	a	DET
bracis-28413	33	8	test	test	NOUN
bracis-28413	33	9	field	field	NOUN
bracis-28413	33	10	full	full	ADJ
bracis-28413	33	11	size	size	NOUN
bracis-28413	33	12	image	image	NOUN
bracis-28413	33	13	for	for	ADP
bracis-28413	33	14	this	this	DET
bracis-28413	33	15	work	work	NOUN
bracis-28413	33	16	,	,	PUNCT
bracis-28413	33	17	simulations	simulation	NOUN
bracis-28413	33	18	and	and	CCONJ
bracis-28413	33	19	robot	robot	NOUN
bracis-28413	33	20	control	control	NOUN
bracis-28413	33	21	are	be	AUX
bracis-28413	33	22	performed	perform	VERB
bracis-28413	33	23	by	by	ADP
bracis-28413	33	24	the	the	DET
bracis-28413	33	25	nvidia	nvidia	PROPN
bracis-28413	33	26	jetson	jetson	PROPN
bracis-28413	33	27	agx	agx	PROPN
bracis-28413	33	28	orin	orin	PROPN
bracis-28413	33	29	developer	developer	PROPN
bracis-28413	33	30	kit	kit	PROPN
bracis-28413	33	31	.	.	PUNCT
bracis-28413	34	1	this	this	DET
bracis-28413	34	2	new	new	ADJ
bracis-28413	34	3	single	single	ADJ
bracis-28413	34	4	board	board	NOUN
bracis-28413	34	5	computer	computer	NOUN
bracis-28413	34	6	(	(	PUNCT
bracis-28413	34	7	sbc	sbc	NOUN
bracis-28413	34	8	)	)	PUNCT
bracis-28413	34	9	is	be	AUX
bracis-28413	34	10	replacing	replace	VERB
bracis-28413	34	11	the	the	DET
bracis-28413	34	12	robot	robot	NOUN
bracis-28413	34	13	’s	’s	PART
bracis-28413	34	14	onboard	onboard	ADP
bracis-28413	34	15	computer	computer	NOUN
bracis-28413	34	16	,	,	PUNCT
bracis-28413	34	17	improving	improve	VERB
bracis-28413	34	18	the	the	DET
bracis-28413	34	19	available	available	ADJ
bracis-28413	34	20	computational	computational	ADJ
bracis-28413	34	21	power	power	NOUN
bracis-28413	34	22	,	,	PUNCT
bracis-28413	34	23	now	now	ADV
bracis-28413	34	24	running	run	VERB
bracis-28413	34	25	ubuntu	ubuntu	ADJ
bracis-28413	34	26	20.04	20.04	NUM
bracis-28413	34	27	lts	lts	NOUN
bracis-28413	34	28	with	with	ADP
bracis-28413	34	29	ros	ros	PROPN
bracis-28413	34	30	noetic	noetic	PROPN
bracis-28413	34	31	.	.	PUNCT
bracis-28413	35	1	2	2	NUM
bracis-28413	35	2	related	relate	VERB
bracis-28413	35	3	work	work	NOUN
bracis-28413	35	4	deep	deep	ADJ
bracis-28413	35	5	learning	learning	NOUN
bracis-28413	35	6	methods	method	NOUN
bracis-28413	35	7	for	for	ADP
bracis-28413	35	8	crop	crop	NOUN
bracis-28413	35	9	field	field	NOUN
bracis-28413	35	10	navigation	navigation	NOUN
bracis-28413	35	11	have	have	AUX
bracis-28413	35	12	already	already	ADV
bracis-28413	35	13	been	be	AUX
bracis-28413	35	14	researched	research	VERB
bracis-28413	35	15	and	and	CCONJ
bracis-28413	35	16	tested	test	VERB
bracis-28413	35	17	.	.	PUNCT
bracis-28413	36	1	ponnambalam	ponnambalam	PROPN
bracis-28413	36	2	et	et	PROPN
bracis-28413	36	3	al	al	PROPN
bracis-28413	36	4	.	.	PUNCT
bracis-28413	37	1	[	[	X
bracis-28413	37	2	5	5	X
bracis-28413	37	3	]	]	X
bracis-28413	37	4	propose	propose	VERB
bracis-28413	37	5	a	a	DET
bracis-28413	37	6	resnet50	resnet50	NOUN
bracis-28413	37	7	to	to	PART
bracis-28413	37	8	generate	generate	VERB
bracis-28413	37	9	a	a	DET
bracis-28413	37	10	mask	mask	NOUN
bracis-28413	37	11	of	of	ADP
bracis-28413	37	12	the	the	DET
bracis-28413	37	13	field	field	NOUN
bracis-28413	37	14	using	use	VERB
bracis-28413	37	15	an	an	DET
bracis-28413	37	16	rgb	rgb	PROPN
bracis-28413	37	17	camera	camera	NOUN
bracis-28413	37	18	.	.	PUNCT
bracis-28413	38	1	this	this	DET
bracis-28413	38	2	work	work	NOUN
bracis-28413	38	3	addresses	address	VERB
bracis-28413	38	4	the	the	DET
bracis-28413	38	5	changing	change	VERB
bracis-28413	38	6	aspects	aspect	NOUN
bracis-28413	38	7	of	of	ADP
bracis-28413	38	8	the	the	DET
bracis-28413	38	9	field	field	NOUN
bracis-28413	38	10	across	across	ADP
bracis-28413	38	11	the	the	DET
bracis-28413	38	12	season	season	NOUN
bracis-28413	38	13	,	,	PUNCT
bracis-28413	38	14	such	such	ADJ
bracis-28413	38	15	as	as	ADP
bracis-28413	38	16	shadows	shadow	NOUN
bracis-28413	38	17	,	,	PUNCT
bracis-28413	38	18	changes	change	NOUN
bracis-28413	38	19	of	of	ADP
bracis-28413	38	20	colours	colour	NOUN
bracis-28413	38	21	,	,	PUNCT
bracis-28413	38	22	bare	bare	ADJ
bracis-28413	38	23	patches	patch	NOUN
bracis-28413	38	24	or	or	CCONJ
bracis-28413	38	25	grass	grass	NOUN
bracis-28413	38	26	across	across	ADP
bracis-28413	38	27	the	the	DET
bracis-28413	38	28	field	field	NOUN
bracis-28413	38	29	by	by	ADP
bracis-28413	38	30	a	a	DET
bracis-28413	38	31	multi	multi	ADJ
bracis-28413	38	32	-	-	ADJ
bracis-28413	38	33	roi	roi	ADJ
bracis-28413	38	34	approach	approach	NOUN
bracis-28413	38	35	with	with	ADP
bracis-28413	38	36	the	the	DET
bracis-28413	38	37	generated	generate	VERB
bracis-28413	38	38	mask	mask	NOUN
bracis-28413	38	39	.	.	PUNCT
bracis-28413	39	1	xaud	xaud	PROPN
bracis-28413	39	2	,	,	PUNCT
bracis-28413	39	3	leite	leite	PROPN
bracis-28413	39	4	and	and	CCONJ
bracis-28413	39	5	from	from	ADP
bracis-28413	39	6	[	[	X
bracis-28413	39	7	10	10	NUM
bracis-28413	39	8	]	]	PUNCT
bracis-28413	39	9	,	,	PUNCT
bracis-28413	39	10	applied	apply	VERB
bracis-28413	39	11	a	a	DET
bracis-28413	39	12	flir	flir	NOUN
bracis-28413	39	13	thermal	thermal	ADJ
bracis-28413	39	14	camera	camera	NOUN
bracis-28413	39	15	to	to	PART
bracis-28413	39	16	navigate	navigate	VERB
bracis-28413	39	17	within	within	ADP
bracis-28413	39	18	sugarcane	sugarcane	NOUN
bracis-28413	39	19	fields	field	NOUN
bracis-28413	39	20	.	.	PUNCT
bracis-28413	40	1	the	the	DET
bracis-28413	40	2	thermal	thermal	ADJ
bracis-28413	40	3	camera	camera	NOUN
bracis-28413	40	4	yielded	yield	VERB
bracis-28413	40	5	images	image	NOUN
bracis-28413	40	6	with	with	ADP
bracis-28413	40	7	more	more	ADJ
bracis-28413	40	8	visibility	visibility	NOUN
bracis-28413	40	9	and	and	CCONJ
bracis-28413	40	10	better	well	ADJ
bracis-28413	40	11	discernible	discernible	ADJ
bracis-28413	40	12	features	feature	NOUN
bracis-28413	40	13	,	,	PUNCT
bracis-28413	40	14	especially	especially	ADV
bracis-28413	40	15	in	in	ADP
bracis-28413	40	16	poor	poor	ADJ
bracis-28413	40	17	lighting	lighting	NOUN
bracis-28413	40	18	and	and	CCONJ
bracis-28413	40	19	weather	weather	NOUN
bracis-28413	40	20	conditions	condition	NOUN
bracis-28413	40	21	.	.	PUNCT
bracis-28413	41	1	the	the	DET
bracis-28413	41	2	authors	author	NOUN
bracis-28413	41	3	tested	test	VERB
bracis-28413	41	4	a	a	DET
bracis-28413	41	5	simple	simple	ADJ
bracis-28413	41	6	cnn	cnn	PROPN
bracis-28413	41	7	model	model	NOUN
bracis-28413	41	8	with	with	ADP
bracis-28413	41	9	both	both	DET
bracis-28413	41	10	cameras	camera	NOUN
bracis-28413	41	11	to	to	PART
bracis-28413	41	12	compare	compare	VERB
bracis-28413	41	13	the	the	DET
bracis-28413	41	14	performance	performance	NOUN
bracis-28413	41	15	of	of	ADP
bracis-28413	41	16	the	the	DET
bracis-28413	41	17	rgb	rgb	PROPN
bracis-28413	41	18	image	image	NOUN
bracis-28413	41	19	against	against	ADP
bracis-28413	41	20	the	the	DET
bracis-28413	41	21	thermal	thermal	ADJ
bracis-28413	41	22	camera	camera	NOUN
bracis-28413	41	23	with	with	ADP
bracis-28413	41	24	good	good	ADJ
bracis-28413	41	25	results	result	NOUN
bracis-28413	41	26	in	in	ADP
bracis-28413	41	27	favor	favor	NOUN
bracis-28413	41	28	of	of	ADP
bracis-28413	41	29	the	the	DET
bracis-28413	41	30	latter	latter	ADJ
bracis-28413	41	31	.	.	PUNCT
bracis-28413	42	1	silva	silva	PROPN
bracis-28413	42	2	et	et	PROPN
bracis-28413	42	3	al	al	PROPN
bracis-28413	42	4	.	.	PUNCT
bracis-28413	43	1	[	[	X
bracis-28413	43	2	9	9	NUM
bracis-28413	43	3	]	]	PUNCT
bracis-28413	43	4	compared	compare	VERB
bracis-28413	43	5	the	the	DET
bracis-28413	43	6	same	same	ADJ
bracis-28413	43	7	training	training	NOUN
bracis-28413	43	8	dataset	dataset	VERB
bracis-28413	43	9	with	with	ADP
bracis-28413	43	10	and	and	CCONJ
bracis-28413	43	11	without	without	ADP
bracis-28413	43	12	the	the	DET
bracis-28413	43	13	depth	depth	NOUN
bracis-28413	43	14	information	information	NOUN
bracis-28413	43	15	of	of	ADP
bracis-28413	43	16	a	a	DET
bracis-28413	43	17	rgb	rgb	PROPN
bracis-28413	43	18	-	-	PROPN
bracis-28413	43	19	d	d	PROPN
bracis-28413	43	20	camera	camera	NOUN
bracis-28413	43	21	applying	apply	VERB
bracis-28413	43	22	the	the	DET
bracis-28413	43	23	u	u	NOUN
bracis-28413	43	24	-	-	ADJ
bracis-28413	43	25	net	net	ADJ
bracis-28413	43	26	deep	deep	ADJ
bracis-28413	43	27	learning	learning	NOUN
bracis-28413	43	28	model	model	NOUN
bracis-28413	43	29	to	to	PART
bracis-28413	43	30	identify	identify	VERB
bracis-28413	43	31	the	the	DET
bracis-28413	43	32	rows	row	NOUN
bracis-28413	43	33	of	of	ADP
bracis-28413	43	34	plantation	plantation	NOUN
bracis-28413	43	35	.	.	PUNCT
bracis-28413	44	1	rgb	rgb	PROPN
bracis-28413	44	2	only	only	ADV
bracis-28413	44	3	images	image	NOUN
bracis-28413	44	4	end	end	VERB
bracis-28413	44	5	up	up	ADP
bracis-28413	44	6	being	be	AUX
bracis-28413	44	7	selected	select	VERB
bracis-28413	44	8	due	due	ADJ
bracis-28413	44	9	to	to	ADP
bracis-28413	44	10	rgb	rgb	PROPN
bracis-28413	44	11	-	-	PROPN
bracis-28413	44	12	d	d	PROPN
bracis-28413	44	13	not	not	PART
bracis-28413	44	14	increasing	increase	VERB
bracis-28413	44	15	the	the	DET
bracis-28413	44	16	results	result	NOUN
bracis-28413	44	17	seemingly	seemingly	ADV
bracis-28413	44	18	.	.	PUNCT
bracis-28413	45	1	the	the	DET
bracis-28413	45	2	obtained	obtain	VERB
bracis-28413	45	3	masks	mask	NOUN
bracis-28413	45	4	were	be	AUX
bracis-28413	45	5	post	post	NOUN
bracis-28413	45	6	processed	process	VERB
bracis-28413	45	7	by	by	ADP
bracis-28413	45	8	a	a	DET
bracis-28413	45	9	triangular	triangular	NOUN
bracis-28413	45	10	scanning	scan	VERB
bracis-28413	45	11	algorithm	algorithm	NOUN
bracis-28413	45	12	to	to	PART
bracis-28413	45	13	retrieve	retrieve	VERB
bracis-28413	45	14	the	the	DET
bracis-28413	45	15	line	line	NOUN
bracis-28413	45	16	used	use	VERB
bracis-28413	45	17	for	for	ADP
bracis-28413	45	18	control	control	NOUN
bracis-28413	45	19	.	.	PUNCT
bracis-28413	46	1	similarly	similarly	ADV
bracis-28413	46	2	to	to	PART
bracis-28413	46	3	ponnambalam	ponnambalam	VERB
bracis-28413	46	4	[	[	X
bracis-28413	46	5	5	5	NUM
bracis-28413	46	6	]	]	PUNCT
bracis-28413	46	7	,	,	PUNCT
bracis-28413	46	8	martins	martin	VERB
bracis-28413	46	9	et	et	NOUN
bracis-28413	46	10	al	al	PROPN
bracis-28413	46	11	.	.	PUNCT
bracis-28413	47	1	[	[	X
bracis-28413	47	2	11	11	NUM
bracis-28413	47	3	]	]	PUNCT
bracis-28413	47	4	applied	apply	VERB
bracis-28413	47	5	a	a	DET
bracis-28413	47	6	multi	multi	ADJ
bracis-28413	47	7	-	-	ADJ
bracis-28413	47	8	roi	roi	ADJ
bracis-28413	47	9	approach	approach	NOUN
bracis-28413	47	10	with	with	ADP
bracis-28413	47	11	sliding	slide	VERB
bracis-28413	47	12	windows	window	NOUN
bracis-28413	47	13	on	on	ADP
bracis-28413	47	14	a	a	DET
bracis-28413	47	15	mask	mask	NOUN
bracis-28413	47	16	generated	generate	VERB
bracis-28413	47	17	by	by	ADP
bracis-28413	47	18	the	the	DET
bracis-28413	47	19	excess	excess	NOUN
bracis-28413	47	20	of	of	ADP
bracis-28413	47	21	green	green	ADJ
bracis-28413	47	22	method	method	NOUN
bracis-28413	47	23	.	.	PUNCT
bracis-28413	48	1	this	this	PRON
bracis-28413	48	2	is	be	AUX
bracis-28413	48	3	also	also	ADV
bracis-28413	48	4	the	the	DET
bracis-28413	48	5	current	current	ADJ
bracis-28413	48	6	robot	robot	NOUN
bracis-28413	48	7	’s	’s	PART
bracis-28413	48	8	method	method	NOUN
bracis-28413	48	9	of	of	ADP
bracis-28413	48	10	row	row	NOUN
bracis-28413	48	11	navigation	navigation	NOUN
bracis-28413	48	12	and	and	CCONJ
bracis-28413	48	13	one	one	NUM
bracis-28413	48	14	possible	possible	ADJ
bracis-28413	48	15	direct	direct	ADJ
bracis-28413	48	16	comparison	comparison	NOUN
bracis-28413	48	17	which	which	PRON
bracis-28413	48	18	shows	show	VERB
bracis-28413	48	19	good	good	ADJ
bracis-28413	48	20	results	result	NOUN
bracis-28413	48	21	with	with	ADP
bracis-28413	48	22	smaller	small	ADJ
bracis-28413	48	23	plant	plant	NOUN
bracis-28413	48	24	size	size	NOUN
bracis-28413	48	25	scenarios	scenario	NOUN
bracis-28413	48	26	,	,	PUNCT
bracis-28413	48	27	but	but	CCONJ
bracis-28413	48	28	limitations	limitation	NOUN
bracis-28413	48	29	are	be	AUX
bracis-28413	48	30	observed	observe	VERB
bracis-28413	48	31	in	in	ADP
bracis-28413	48	32	testing	testing	NOUN
bracis-28413	48	33	.	.	PUNCT
bracis-28413	49	1	this	this	DET
bracis-28413	49	2	work	work	NOUN
bracis-28413	49	3	attempts	attempt	VERB
bracis-28413	49	4	to	to	PART
bracis-28413	49	5	bridge	bridge	VERB
bracis-28413	49	6	the	the	DET
bracis-28413	49	7	last	last	ADJ
bracis-28413	49	8	gap	gap	NOUN
bracis-28413	49	9	in	in	ADP
bracis-28413	49	10	all	all	DET
bracis-28413	49	11	previous	previous	ADJ
bracis-28413	49	12	examples	example	NOUN
bracis-28413	49	13	by	by	ADP
bracis-28413	49	14	obtaining	obtain	VERB
bracis-28413	49	15	directly	directly	ADV
bracis-28413	49	16	the	the	DET
bracis-28413	49	17	row	row	NOUN
bracis-28413	49	18	line	line	NOUN
bracis-28413	49	19	or	or	CCONJ
bracis-28413	49	20	the	the	DET
bracis-28413	49	21	row	row	NOUN
bracis-28413	49	22	path	path	NOUN
bracis-28413	49	23	,	,	PUNCT
bracis-28413	49	24	that	that	DET
bracis-28413	49	25	way	way	NOUN
bracis-28413	49	26	commands	command	NOUN
bracis-28413	49	27	are	be	AUX
bracis-28413	49	28	sent	send	VERB
bracis-28413	49	29	straight	straight	ADV
bracis-28413	49	30	to	to	ADP
bracis-28413	49	31	the	the	DET
bracis-28413	49	32	controller	controller	NOUN
bracis-28413	49	33	and	and	CCONJ
bracis-28413	49	34	not	not	PART
bracis-28413	49	35	derived	derive	VERB
bracis-28413	49	36	from	from	ADP
bracis-28413	49	37	a	a	DET
bracis-28413	49	38	mask	mask	NOUN
bracis-28413	49	39	by	by	ADP
bracis-28413	49	40	a	a	DET
bracis-28413	49	41	post	post	NOUN
bracis-28413	49	42	process	process	NOUN
bracis-28413	49	43	algorithm	algorithm	NOUN
bracis-28413	49	44	.	.	PUNCT
bracis-28413	50	1	the	the	DET
bracis-28413	50	2	mask	mask	NOUN
bracis-28413	50	3	,	,	PUNCT
bracis-28413	50	4	in	in	ADP
bracis-28413	50	5	this	this	DET
bracis-28413	50	6	instance	instance	NOUN
bracis-28413	50	7	,	,	PUNCT
bracis-28413	50	8	will	will	AUX
bracis-28413	50	9	be	be	AUX
bracis-28413	50	10	leveraged	leverage	VERB
bracis-28413	50	11	as	as	ADP
bracis-28413	50	12	an	an	DET
bracis-28413	50	13	auxiliary	auxiliary	ADJ
bracis-28413	50	14	task	task	NOUN
bracis-28413	50	15	[	[	X
bracis-28413	50	16	12	12	NUM
bracis-28413	50	17	]	]	PUNCT
bracis-28413	50	18	to	to	PART
bracis-28413	50	19	improve	improve	VERB
bracis-28413	50	20	the	the	DET
bracis-28413	50	21	training	training	NOUN
bracis-28413	50	22	model	model	NOUN
bracis-28413	50	23	and	and	CCONJ
bracis-28413	50	24	allow	allow	VERB
bracis-28413	50	25	the	the	DET
bracis-28413	50	26	use	use	NOUN
bracis-28413	50	27	of	of	ADP
bracis-28413	50	28	further	further	ADJ
bracis-28413	50	29	techniques	technique	NOUN
bracis-28413	50	30	on	on	ADP
bracis-28413	50	31	the	the	DET
bracis-28413	50	32	mask	mask	NOUN
bracis-28413	50	33	itself	itself	PRON
bracis-28413	50	34	.	.	PUNCT
bracis-28413	51	1	one	one	NUM
bracis-28413	51	2	of	of	ADP
bracis-28413	51	3	the	the	DET
bracis-28413	51	4	biggest	big	ADJ
bracis-28413	51	5	challenges	challenge	NOUN
bracis-28413	51	6	faced	face	VERB
bracis-28413	51	7	previously	previously	ADV
bracis-28413	51	8	were	be	AUX
bracis-28413	51	9	situations	situation	NOUN
bracis-28413	51	10	where	where	SCONJ
bracis-28413	51	11	the	the	DET
bracis-28413	51	12	soil	soil	NOUN
bracis-28413	51	13	was	be	AUX
bracis-28413	51	14	occluded	occlude	VERB
bracis-28413	51	15	by	by	ADP
bracis-28413	51	16	leaves	leave	NOUN
bracis-28413	51	17	.	.	PUNCT
bracis-28413	52	1	with	with	ADP
bracis-28413	52	2	a	a	DET
bracis-28413	52	3	bottom	bottom	ADJ
bracis-28413	52	4	camera	camera	NOUN
bracis-28413	52	5	close	close	ADV
bracis-28413	52	6	to	to	ADP
bracis-28413	52	7	the	the	DET
bracis-28413	52	8	ground	ground	NOUN
bracis-28413	52	9	,	,	PUNCT
bracis-28413	52	10	a	a	DET
bracis-28413	52	11	similar	similar	ADJ
bracis-28413	52	12	navigation	navigation	NOUN
bracis-28413	52	13	system	system	NOUN
bracis-28413	52	14	will	will	AUX
bracis-28413	52	15	be	be	AUX
bracis-28413	52	16	tested	test	VERB
bracis-28413	52	17	to	to	PART
bracis-28413	52	18	face	face	VERB
bracis-28413	52	19	this	this	DET
bracis-28413	52	20	challenge	challenge	NOUN
bracis-28413	52	21	using	use	VERB
bracis-28413	52	22	the	the	DET
bracis-28413	52	23	developed	develop	VERB
bracis-28413	52	24	tools	tool	NOUN
bracis-28413	52	25	.	.	PUNCT
bracis-28413	53	1	3	3	NUM
bracis-28413	53	2	approach	approach	VERB
bracis-28413	53	3	the	the	DET
bracis-28413	53	4	controller	controller	NOUN
bracis-28413	53	5	,	,	PUNCT
bracis-28413	53	6	which	which	PRON
bracis-28413	53	7	actuates	actuate	VERB
bracis-28413	53	8	the	the	DET
bracis-28413	53	9	robot	robot	NOUN
bracis-28413	53	10	wheels	wheel	NOUN
bracis-28413	53	11	,	,	PUNCT
bracis-28413	53	12	receives	receive	VERB
bracis-28413	53	13	two	two	NUM
bracis-28413	53	14	parameters	parameter	NOUN
bracis-28413	53	15	,	,	PUNCT
bracis-28413	53	16	an	an	DET
bracis-28413	53	17	x	x	NOUN
bracis-28413	53	18	value	value	NOUN
bracis-28413	53	19	that	that	PRON
bracis-28413	53	20	describes	describe	VERB
bracis-28413	53	21	the	the	DET
bracis-28413	53	22	vertical	vertical	ADJ
bracis-28413	53	23	offset	offset	NOUN
bracis-28413	53	24	of	of	ADP
bracis-28413	53	25	a	a	DET
bracis-28413	53	26	given	give	VERB
bracis-28413	53	27	line	line	NOUN
bracis-28413	53	28	and	and	CCONJ
bracis-28413	53	29	\(\theta	\(\theta	NOUN
bracis-28413	53	30	\	\	PROPN
bracis-28413	53	31	)	)	PUNCT
bracis-28413	53	32	,	,	PUNCT
bracis-28413	53	33	the	the	DET
bracis-28413	53	34	angle	angle	NOUN
bracis-28413	53	35	between	between	ADP
bracis-28413	53	36	the	the	DET
bracis-28413	53	37	line	line	NOUN
bracis-28413	53	38	and	and	CCONJ
bracis-28413	53	39	the	the	DET
bracis-28413	53	40	vertical	vertical	ADJ
bracis-28413	53	41	,	,	PUNCT
bracis-28413	53	42	see	see	VERB
bracis-28413	53	43	fig	fig	NOUN
bracis-28413	53	44	.	.	PUNCT
bracis-28413	53	45	 	 	SPACE
bracis-28413	54	1	3	3	X
bracis-28413	54	2	.	.	X
bracis-28413	54	3	for	for	ADP
bracis-28413	54	4	each	each	DET
bracis-28413	54	5	frame	frame	NOUN
bracis-28413	54	6	captured	capture	VERB
bracis-28413	54	7	by	by	ADP
bracis-28413	54	8	the	the	DET
bracis-28413	54	9	robot	robot	NOUN
bracis-28413	54	10	’s	’s	PART
bracis-28413	54	11	rgb	rgb	PROPN
bracis-28413	54	12	-	-	NOUN
bracis-28413	54	13	camera	camera	NOUN
bracis-28413	54	14	,	,	PUNCT
bracis-28413	54	15	the	the	DET
bracis-28413	54	16	aim	aim	NOUN
bracis-28413	54	17	is	be	AUX
bracis-28413	54	18	to	to	PART
bracis-28413	54	19	obtain	obtain	VERB
bracis-28413	54	20	a	a	DET
bracis-28413	54	21	given	give	VERB
bracis-28413	54	22	line	line	NOUN
bracis-28413	54	23	and	and	CCONJ
bracis-28413	54	24	pass	pass	VERB
bracis-28413	54	25	both	both	PRON
bracis-28413	54	26	x	x	NOUN
bracis-28413	54	27	and	and	CCONJ
bracis-28413	54	28	\(\theta	\(\theta	PROPN
bracis-28413	54	29	\	\	NOUN
bracis-28413	54	30	)	)	PUNCT
bracis-28413	54	31	values	value	NOUN
bracis-28413	54	32	to	to	ADP
bracis-28413	54	33	the	the	DET
bracis-28413	54	34	controller	controller	NOUN
bracis-28413	54	35	.	.	PUNCT
bracis-28413	55	1	during	during	ADP
bracis-28413	55	2	the	the	DET
bracis-28413	55	3	testing	testing	NOUN
bracis-28413	55	4	phase	phase	NOUN
bracis-28413	55	5	,	,	PUNCT
bracis-28413	55	6	the	the	DET
bracis-28413	55	7	effects	effect	NOUN
bracis-28413	55	8	of	of	ADP
bracis-28413	55	9	using	use	VERB
bracis-28413	55	10	a	a	DET
bracis-28413	55	11	segmentation	segmentation	NOUN
bracis-28413	55	12	job	job	NOUN
bracis-28413	55	13	as	as	SCONJ
bracis-28413	55	14	an	an	DET
bracis-28413	55	15	auxiliary	auxiliary	ADJ
bracis-28413	55	16	task	task	NOUN
bracis-28413	55	17	will	will	AUX
bracis-28413	55	18	also	also	ADV
bracis-28413	55	19	be	be	AUX
bracis-28413	55	20	evaluated	evaluate	VERB
bracis-28413	55	21	.	.	PUNCT
bracis-28413	56	1	a	a	DET
bracis-28413	56	2	second	second	ADJ
bracis-28413	56	3	approach	approach	NOUN
bracis-28413	56	4	will	will	AUX
bracis-28413	56	5	also	also	ADV
bracis-28413	56	6	test	test	VERB
bracis-28413	56	7	a	a	DET
bracis-28413	56	8	bottom	bottom	ADJ
bracis-28413	56	9	camera	camera	NOUN
bracis-28413	56	10	near	near	ADP
bracis-28413	56	11	the	the	DET
bracis-28413	56	12	ground	ground	NOUN
bracis-28413	56	13	which	which	PRON
bracis-28413	56	14	creates	create	VERB
bracis-28413	56	15	a	a	DET
bracis-28413	56	16	“	"	PUNCT
bracis-28413	56	17	tunnel	tunnel	NOUN
bracis-28413	56	18	”	"	PUNCT
bracis-28413	56	19	and	and	CCONJ
bracis-28413	56	20	“	"	PUNCT
bracis-28413	56	21	walls	wall	NOUN
bracis-28413	56	22	”	"	PUNCT
bracis-28413	56	23	effect	effect	NOUN
bracis-28413	56	24	by	by	ADP
bracis-28413	56	25	the	the	DET
bracis-28413	56	26	camera	camera	NOUN
bracis-28413	56	27	’s	’s	PART
bracis-28413	56	28	positioning	positioning	NOUN
bracis-28413	56	29	amongst	amongst	ADP
bracis-28413	56	30	the	the	DET
bracis-28413	56	31	rows	row	NOUN
bracis-28413	56	32	,	,	PUNCT
bracis-28413	56	33	see	see	VERB
bracis-28413	56	34	fig	fig	NOUN
bracis-28413	56	35	.	.	PUNCT
bracis-28413	56	36	 	 	SPACE
bracis-28413	57	1	3	3	NUM
bracis-28413	57	2	.	.	X
bracis-28413	57	3	fig	fig	NOUN
bracis-28413	57	4	.	.	PUNCT
bracis-28413	58	1	3	3	X
bracis-28413	58	2	.	.	X
bracis-28413	58	3	top	top	ADJ
bracis-28413	58	4	and	and	CCONJ
bracis-28413	58	5	bottom	bottom	ADJ
bracis-28413	58	6	camera	camera	NOUN
bracis-28413	58	7	line	line	NOUN
bracis-28413	58	8	values	value	NOUN
bracis-28413	58	9	given	give	VERB
bracis-28413	58	10	to	to	ADP
bracis-28413	58	11	the	the	DET
bracis-28413	58	12	controller	controller	NOUN
bracis-28413	58	13	full	full	ADJ
bracis-28413	58	14	size	size	NOUN
bracis-28413	58	15	image	image	NOUN
bracis-28413	58	16	3.1	3.1	NUM
bracis-28413	58	17	data	datum	NOUN
bracis-28413	58	18	annotation	annotation	NOUN
bracis-28413	58	19	and	and	CCONJ
bracis-28413	58	20	 	 	SPACE
bracis-28413	58	21	preprocessing	preprocesse	VERB
bracis-28413	58	22	the	the	DET
bracis-28413	58	23	image	image	NOUN
bracis-28413	58	24	data	datum	NOUN
bracis-28413	58	25	previously	previously	ADV
bracis-28413	58	26	obtained	obtain	VERB
bracis-28413	58	27	was	be	AUX
bracis-28413	58	28	separated	separate	VERB
bracis-28413	58	29	in	in	ADP
bracis-28413	58	30	groups	group	NOUN
bracis-28413	58	31	by	by	ADP
bracis-28413	58	32	weather	weather	NOUN
bracis-28413	58	33	condition	condition	NOUN
bracis-28413	58	34	and	and	CCONJ
bracis-28413	58	35	plant	plant	NOUN
bracis-28413	58	36	growth	growth	NOUN
bracis-28413	58	37	.	.	PUNCT
bracis-28413	59	1	these	these	PRON
bracis-28413	59	2	are	be	AUX
bracis-28413	59	3	rgb	rgb	PROPN
bracis-28413	59	4	images	image	NOUN
bracis-28413	59	5	with	with	ADP
bracis-28413	59	6	640\(\,\times	640\(\,\times	NUM
bracis-28413	59	7	\,\)480	\,\)480	NOUN
bracis-28413	59	8	resolution	resolution	NOUN
bracis-28413	59	9	and	and	CCONJ
bracis-28413	59	10	8bpc	8bpc	NUM
bracis-28413	59	11	of	of	ADP
bracis-28413	59	12	color	color	NOUN
bracis-28413	59	13	depth	depth	NOUN
bracis-28413	59	14	.	.	PUNCT
bracis-28413	60	1	one	one	NUM
bracis-28413	60	2	first	first	ADJ
bracis-28413	60	3	python	python	NOUN
bracis-28413	60	4	script	script	NOUN
bracis-28413	60	5	was	be	AUX
bracis-28413	60	6	made	make	VERB
bracis-28413	60	7	to	to	PART
bracis-28413	60	8	annotate	annotate	VERB
bracis-28413	60	9	line	line	NOUN
bracis-28413	60	10	coordinates	coordinate	NOUN
bracis-28413	60	11	for	for	ADP
bracis-28413	60	12	each	each	DET
bracis-28413	60	13	image	image	NOUN
bracis-28413	60	14	with	with	ADP
bracis-28413	60	15	opencv	opencv	PROPN
bracis-28413	60	16	and	and	CCONJ
bracis-28413	60	17	another	another	DET
bracis-28413	60	18	script	script	NOUN
bracis-28413	60	19	built	build	VERB
bracis-28413	60	20	a	a	DET
bracis-28413	60	21	mask	mask	NOUN
bracis-28413	60	22	for	for	ADP
bracis-28413	60	23	segmentation	segmentation	NOUN
bracis-28413	60	24	using	use	VERB
bracis-28413	60	25	the	the	DET
bracis-28413	60	26	line	line	NOUN
bracis-28413	60	27	and	and	CCONJ
bracis-28413	60	28	various	various	ADJ
bracis-28413	60	29	color	color	NOUN
bracis-28413	60	30	filters	filter	NOUN
bracis-28413	60	31	.	.	PUNCT
bracis-28413	61	1	after	after	ADP
bracis-28413	61	2	the	the	DET
bracis-28413	61	3	process	process	NOUN
bracis-28413	61	4	,	,	PUNCT
bracis-28413	61	5	this	this	DET
bracis-28413	61	6	base	base	NOUN
bracis-28413	61	7	mask	mask	NOUN
bracis-28413	61	8	was	be	AUX
bracis-28413	61	9	loaded	load	VERB
bracis-28413	61	10	into	into	ADP
bracis-28413	61	11	js	js	ADJ
bracis-28413	61	12	-	-	PUNCT
bracis-28413	61	13	segment	segment	NOUN
bracis-28413	61	14	annotator	annotator	NOUN
bracis-28413	61	15	tool	tool	NOUN
bracis-28413	62	1	[	[	X
bracis-28413	62	2	13	13	NUM
bracis-28413	62	3	]	]	PUNCT
bracis-28413	62	4	for	for	ADP
bracis-28413	62	5	cleaning	cleaning	NOUN
bracis-28413	62	6	and	and	CCONJ
bracis-28413	62	7	small	small	ADJ
bracis-28413	62	8	corrections	correction	NOUN
bracis-28413	62	9	,	,	PUNCT
bracis-28413	62	10	see	see	VERB
bracis-28413	62	11	fig	fig	NOUN
bracis-28413	62	12	.	.	PUNCT
bracis-28413	62	13	 	 	SPACE
bracis-28413	63	1	4	4	NUM
bracis-28413	63	2	.	.	X
bracis-28413	63	3	fig	fig	NOUN
bracis-28413	63	4	.	.	PUNCT
bracis-28413	64	1	4	4	X
bracis-28413	64	2	.	.	X
bracis-28413	64	3	masks	mask	NOUN
bracis-28413	64	4	are	be	AUX
bracis-28413	64	5	generated	generate	VERB
bracis-28413	64	6	by	by	ADP
bracis-28413	64	7	algorithm	algorithm	NOUN
bracis-28413	64	8	and	and	CCONJ
bracis-28413	64	9	then	then	ADV
bracis-28413	64	10	cleaned	clean	VERB
bracis-28413	64	11	to	to	PART
bracis-28413	64	12	improve	improve	VERB
bracis-28413	64	13	quality	quality	NOUN
bracis-28413	64	14	full	full	ADJ
bracis-28413	64	15	size	size	NOUN
bracis-28413	64	16	image	image	NOUN
bracis-28413	64	17	the	the	DET
bracis-28413	64	18	line	line	NOUN
bracis-28413	64	19	was	be	AUX
bracis-28413	64	20	defined	define	VERB
bracis-28413	64	21	with	with	ADP
bracis-28413	64	22	two	two	NUM
bracis-28413	64	23	variable	variable	ADJ
bracis-28413	64	24	x	x	NOUN
bracis-28413	64	25	values	value	NOUN
bracis-28413	64	26	and	and	CCONJ
bracis-28413	64	27	two	two	NUM
bracis-28413	64	28	fixed	fix	VERB
bracis-28413	64	29	y	y	PROPN
bracis-28413	64	30	values	value	NOUN
bracis-28413	64	31	,	,	PUNCT
bracis-28413	64	32	the	the	DET
bracis-28413	64	33	line	line	NOUN
bracis-28413	64	34	will	will	AUX
bracis-28413	64	35	always	always	ADV
bracis-28413	64	36	be	be	AUX
bracis-28413	64	37	defined	define	VERB
bracis-28413	64	38	by	by	ADP
bracis-28413	64	39	coordinates	coordinate	NOUN
bracis-28413	64	40	in	in	ADP
bracis-28413	64	41	the	the	DET
bracis-28413	64	42	form	form	NOUN
bracis-28413	64	43	of	of	ADP
bracis-28413	64	44	\(\left	\(\left	PROPN
bracis-28413	64	45	(	(	PUNCT
bracis-28413	64	46	x_0	x_0	PROPN
bracis-28413	64	47	,	,	PUNCT
bracis-28413	64	48	0\right	0\right	NUM
bracis-28413	64	49	)	)	PUNCT
bracis-28413	65	1	\	\	NOUN
bracis-28413	65	2	)	)	PUNCT
bracis-28413	65	3	and	and	CCONJ
bracis-28413	65	4	\(\left	\(\left	PROPN
bracis-28413	65	5	(	(	PUNCT
bracis-28413	65	6	x_1,480\right	x_1,480\right	ADJ
bracis-28413	65	7	)	)	PUNCT
bracis-28413	65	8	\	\	NOUN
bracis-28413	65	9	)	)	PUNCT
bracis-28413	65	10	,	,	PUNCT
bracis-28413	65	11	even	even	ADV
bracis-28413	65	12	if	if	SCONJ
bracis-28413	65	13	x	x	PRON
bracis-28413	65	14	falls	fall	VERB
bracis-28413	65	15	outside	outside	ADP
bracis-28413	65	16	of	of	ADP
bracis-28413	65	17	the	the	DET
bracis-28413	65	18	image	image	NOUN
bracis-28413	65	19	size	size	NOUN
bracis-28413	65	20	.	.	PUNCT
bracis-28413	66	1	this	this	DET
bracis-28413	66	2	special	special	ADJ
bracis-28413	66	3	case	case	NOUN
bracis-28413	66	4	is	be	AUX
bracis-28413	66	5	caused	cause	VERB
bracis-28413	66	6	by	by	ADP
bracis-28413	66	7	lines	line	NOUN
bracis-28413	66	8	that	that	PRON
bracis-28413	66	9	start	start	VERB
bracis-28413	66	10	or	or	CCONJ
bracis-28413	66	11	finish	finish	VERB
bracis-28413	66	12	in	in	ADP
bracis-28413	66	13	the	the	DET
bracis-28413	66	14	sides	side	NOUN
bracis-28413	66	15	of	of	ADP
bracis-28413	66	16	the	the	DET
bracis-28413	66	17	image	image	NOUN
bracis-28413	66	18	.	.	PUNCT
bracis-28413	67	1	the	the	DET
bracis-28413	67	2	top	top	ADJ
bracis-28413	67	3	view	view	NOUN
bracis-28413	67	4	dataset	dataset	NOUN
bracis-28413	67	5	was	be	AUX
bracis-28413	67	6	separated	separate	VERB
bracis-28413	67	7	in	in	ADP
bracis-28413	67	8	three	three	NUM
bracis-28413	67	9	sections	section	NOUN
bracis-28413	67	10	:	:	PUNCT
bracis-28413	67	11	training	training	NOUN
bracis-28413	67	12	,	,	PUNCT
bracis-28413	67	13	validation	validation	NOUN
bracis-28413	67	14	and	and	CCONJ
bracis-28413	67	15	testing	testing	NOUN
bracis-28413	67	16	,	,	PUNCT
bracis-28413	67	17	with	with	ADP
bracis-28413	67	18	an	an	DET
bracis-28413	67	19	split	split	NOUN
bracis-28413	67	20	of	of	ADP
bracis-28413	67	21	\(70\%\	\(70\%\	NOUN
bracis-28413	67	22	)	)	PUNCT
bracis-28413	67	23	,	,	PUNCT
bracis-28413	67	24	\(20\%\	\(20\%\	NUM
bracis-28413	67	25	)	)	PUNCT
bracis-28413	67	26	and	and	CCONJ
bracis-28413	67	27	\(10\%\	\(10\%\	NUM
bracis-28413	67	28	)	)	PUNCT
bracis-28413	67	29	,	,	PUNCT
bracis-28413	67	30	respectively	respectively	ADV
bracis-28413	67	31	.	.	PUNCT
bracis-28413	68	1	each	each	DET
bracis-28413	68	2	section	section	NOUN
bracis-28413	68	3	contains	contain	VERB
bracis-28413	68	4	\(50\%\	\(50\%\	X
bracis-28413	68	5	)	)	PUNCT
bracis-28413	68	6	of	of	ADP
bracis-28413	68	7	images	image	NOUN
bracis-28413	68	8	derived	derive	VERB
bracis-28413	68	9	from	from	ADP
bracis-28413	68	10	the	the	DET
bracis-28413	68	11	simulation	simulation	NOUN
bracis-28413	68	12	and	and	CCONJ
bracis-28413	68	13	also	also	ADV
bracis-28413	68	14	samples	sample	NOUN
bracis-28413	68	15	of	of	ADP
bracis-28413	68	16	every	every	DET
bracis-28413	68	17	type	type	NOUN
bracis-28413	68	18	from	from	ADP
bracis-28413	68	19	the	the	DET
bracis-28413	68	20	original	original	ADJ
bracis-28413	68	21	image	image	NOUN
bracis-28413	68	22	groups	group	NOUN
bracis-28413	68	23	.	.	PUNCT
bracis-28413	69	1	the	the	DET
bracis-28413	69	2	botton	botton	NOUN
bracis-28413	69	3	view	view	NOUN
bracis-28413	69	4	dataset	dataset	NOUN
bracis-28413	69	5	was	be	AUX
bracis-28413	69	6	only	only	ADV
bracis-28413	69	7	composed	compose	VERB
bracis-28413	69	8	by	by	ADP
bracis-28413	69	9	simulated	simulated	ADJ
bracis-28413	69	10	data	datum	NOUN
bracis-28413	69	11	due	due	ADP
bracis-28413	69	12	to	to	ADP
bracis-28413	69	13	lack	lack	NOUN
bracis-28413	69	14	of	of	ADP
bracis-28413	69	15	good	good	ADJ
bracis-28413	69	16	images	image	NOUN
bracis-28413	69	17	for	for	ADP
bracis-28413	69	18	training	training	NOUN
bracis-28413	69	19	among	among	ADP
bracis-28413	69	20	the	the	DET
bracis-28413	69	21	original	original	ADJ
bracis-28413	69	22	data	datum	NOUN
bracis-28413	69	23	.	.	PUNCT
bracis-28413	70	1	3.2	3.2	NUM
bracis-28413	70	2	network	network	NOUN
bracis-28413	70	3	model	model	NOUN
bracis-28413	70	4	a	a	DET
bracis-28413	70	5	modified	modify	VERB
bracis-28413	70	6	network	network	NOUN
bracis-28413	70	7	model	model	NOUN
bracis-28413	70	8	based	base	VERB
bracis-28413	70	9	on	on	ADP
bracis-28413	70	10	the	the	DET
bracis-28413	70	11	deeplabv3	deeplabv3	NOUN
bracis-28413	70	12	+	+	NOUN
bracis-28413	71	1	[	[	X
bracis-28413	71	2	14	14	NUM
bracis-28413	71	3	]	]	PUNCT
bracis-28413	71	4	was	be	AUX
bracis-28413	71	5	extracted	extract	VERB
bracis-28413	71	6	from	from	ADP
bracis-28413	71	7	keras	keras	PROPN
bracis-28413	71	8	code	code	PROPN
bracis-28413	71	9	examples	example	NOUN
bracis-28413	71	10	.	.	PUNCT
bracis-28413	72	1	the	the	DET
bracis-28413	72	2	deeplabv3	deeplabv3	NOUN
bracis-28413	72	3	+	+	NUM
bracis-28413	72	4	employs	employ	VERB
bracis-28413	72	5	an	an	DET
bracis-28413	72	6	encoder	encoder	NOUN
bracis-28413	72	7	-	-	PUNCT
bracis-28413	72	8	decoder	decoder	NOUN
bracis-28413	72	9	structure	structure	NOUN
bracis-28413	72	10	and	and	CCONJ
bracis-28413	72	11	this	this	DET
bracis-28413	72	12	variation	variation	NOUN
bracis-28413	72	13	has	have	AUX
bracis-28413	72	14	resnet50	resnet50	NOUN
bracis-28413	73	1	[	[	X
bracis-28413	73	2	15	15	NUM
bracis-28413	73	3	]	]	PUNCT
bracis-28413	73	4	as	as	ADP
bracis-28413	73	5	backbone	backbone	NOUN
bracis-28413	73	6	for	for	ADP
bracis-28413	73	7	early	early	ADJ
bracis-28413	73	8	feature	feature	NOUN
bracis-28413	73	9	extraction	extraction	NOUN
bracis-28413	73	10	by	by	ADP
bracis-28413	73	11	the	the	DET
bracis-28413	73	12	encoder	encoder	NOUN
bracis-28413	73	13	.	.	PUNCT
bracis-28413	74	1	the	the	DET
bracis-28413	74	2	resnet50	resnet50	NOUN
bracis-28413	74	3	was	be	AUX
bracis-28413	74	4	obtained	obtain	VERB
bracis-28413	74	5	in	in	ADP
bracis-28413	74	6	the	the	DET
bracis-28413	74	7	keras	keras	PROPN
bracis-28413	74	8	applications	application	NOUN
bracis-28413	74	9	library	library	NOUN
bracis-28413	74	10	pretrained	pretraine	VERB
bracis-28413	74	11	with	with	ADP
bracis-28413	74	12	imagenet	imagenet	NOUN
bracis-28413	74	13	weights	weight	NOUN
bracis-28413	74	14	.	.	PUNCT
bracis-28413	75	1	a	a	DET
bracis-28413	75	2	second	second	ADJ
bracis-28413	75	3	head	head	NOUN
bracis-28413	75	4	,	,	PUNCT
bracis-28413	75	5	known	know	VERB
bracis-28413	75	6	here	here	ADV
bracis-28413	75	7	as	as	ADP
bracis-28413	75	8	line	line	NOUN
bracis-28413	75	9	head	head	NOUN
bracis-28413	75	10	,	,	PUNCT
bracis-28413	75	11	was	be	AUX
bracis-28413	75	12	added	add	VERB
bracis-28413	75	13	alongside	alongside	ADP
bracis-28413	75	14	deeplabv3	deeplabv3	PROPN
bracis-28413	75	15	+	+	CCONJ
bracis-28413	75	16	responsible	responsible	ADJ
bracis-28413	75	17	for	for	ADP
bracis-28413	75	18	learning	learn	VERB
bracis-28413	75	19	the	the	DET
bracis-28413	75	20	line	line	NOUN
bracis-28413	75	21	directly	directly	ADV
bracis-28413	75	22	.	.	PUNCT
bracis-28413	76	1	its	its	PRON
bracis-28413	76	2	composition	composition	NOUN
bracis-28413	76	3	is	be	AUX
bracis-28413	76	4	made	make	VERB
bracis-28413	76	5	of	of	ADP
bracis-28413	76	6	a	a	DET
bracis-28413	76	7	flatten	flatten	ADJ
bracis-28413	76	8	layer	layer	NOUN
bracis-28413	76	9	,	,	PUNCT
bracis-28413	76	10	two	two	NUM
bracis-28413	76	11	fully	fully	ADV
bracis-28413	76	12	interconnected	interconnected	ADJ
bracis-28413	76	13	layers	layer	NOUN
bracis-28413	76	14	with	with	ADP
bracis-28413	76	15	25	25	NUM
bracis-28413	76	16	and	and	CCONJ
bracis-28413	76	17	20	20	NUM
bracis-28413	76	18	neurons	neuron	NOUN
bracis-28413	76	19	each	each	PRON
bracis-28413	76	20	and	and	CCONJ
bracis-28413	76	21	a	a	DET
bracis-28413	76	22	output	output	NOUN
bracis-28413	76	23	layer	layer	NOUN
bracis-28413	76	24	.	.	PUNCT
bracis-28413	77	1	the	the	DET
bracis-28413	77	2	input	input	NOUN
bracis-28413	77	3	is	be	AUX
bracis-28413	77	4	taken	take	VERB
bracis-28413	77	5	from	from	ADP
bracis-28413	77	6	the	the	DET
bracis-28413	77	7	same	same	ADJ
bracis-28413	77	8	tensor	tensor	NOUN
bracis-28413	77	9	that	that	PRON
bracis-28413	77	10	deeplab	deeplab	PROPN
bracis-28413	77	11	uses	use	VERB
bracis-28413	77	12	for	for	ADP
bracis-28413	77	13	the	the	DET
bracis-28413	77	14	atrous	atrous	ADJ
bracis-28413	77	15	convolution	convolution	NOUN
bracis-28413	77	16	section	section	NOUN
bracis-28413	77	17	of	of	ADP
bracis-28413	77	18	its	its	PRON
bracis-28413	77	19	encoder	encoder	NOUN
bracis-28413	77	20	,	,	PUNCT
bracis-28413	77	21	see	see	VERB
bracis-28413	77	22	fig	fig	NOUN
bracis-28413	77	23	.	.	PUNCT
bracis-28413	77	24	 	 	SPACE
bracis-28413	78	1	5	5	NUM
bracis-28413	78	2	.	.	PUNCT
bracis-28413	79	1	the	the	DET
bracis-28413	79	2	interconnected	interconnected	ADJ
bracis-28413	79	3	layers	layer	NOUN
bracis-28413	79	4	apply	apply	VERB
bracis-28413	79	5	relu	relu	NOUN
bracis-28413	79	6	as	as	ADP
bracis-28413	79	7	activation	activation	NOUN
bracis-28413	79	8	function	function	NOUN
bracis-28413	79	9	while	while	SCONJ
bracis-28413	79	10	the	the	DET
bracis-28413	79	11	output	output	NOUN
bracis-28413	79	12	layer	layer	NOUN
bracis-28413	79	13	uses	use	VERB
bracis-28413	79	14	a	a	DET
bracis-28413	79	15	sigmoid	sigmoid	NOUN
bracis-28413	79	16	.	.	PUNCT
bracis-28413	80	1	fig	fig	NOUN
bracis-28413	80	2	.	.	PUNCT
bracis-28413	81	1	5	5	X
bracis-28413	81	2	.	.	X
bracis-28413	81	3	multitask	multitask	ADJ
bracis-28413	81	4	proposed	propose	VERB
bracis-28413	81	5	model	model	NOUN
bracis-28413	81	6	for	for	ADP
bracis-28413	81	7	mask	mask	NOUN
bracis-28413	81	8	and	and	CCONJ
bracis-28413	81	9	line	line	NOUN
bracis-28413	81	10	generation	generation	NOUN
bracis-28413	81	11	full	full	ADJ
bracis-28413	81	12	size	size	NOUN
bracis-28413	81	13	image	image	NOUN
bracis-28413	81	14	a	a	DET
bracis-28413	81	15	custom	custom	NOUN
bracis-28413	81	16	loss	loss	NOUN
bracis-28413	81	17	function	function	NOUN
bracis-28413	81	18	(	(	PUNCT
bracis-28413	81	19	1	1	X
bracis-28413	81	20	)	)	PUNCT
bracis-28413	81	21	was	be	AUX
bracis-28413	81	22	established	establish	VERB
bracis-28413	81	23	due	due	ADJ
bracis-28413	81	24	the	the	DET
bracis-28413	81	25	multitask	multitask	ADJ
bracis-28413	81	26	nature	nature	NOUN
bracis-28413	81	27	of	of	ADP
bracis-28413	81	28	the	the	DET
bracis-28413	81	29	model	model	NOUN
bracis-28413	81	30	,	,	PUNCT
bracis-28413	81	31	it	it	PRON
bracis-28413	81	32	combine	combine	VERB
bracis-28413	81	33	the	the	DET
bracis-28413	81	34	mask	mask	NOUN
bracis-28413	81	35	’s	’s	PART
bracis-28413	81	36	sparse	sparse	ADJ
bracis-28413	81	37	categorical	categorical	ADJ
bracis-28413	81	38	cross	cross	NOUN
bracis-28413	81	39	-	-	NOUN
bracis-28413	81	40	entropy	entropy	NOUN
bracis-28413	81	41	and	and	CCONJ
bracis-28413	81	42	the	the	DET
bracis-28413	81	43	root	root	NOUN
bracis-28413	81	44	mean	mean	VERB
bracis-28413	81	45	squared	square	VERB
bracis-28413	81	46	error	error	NOUN
bracis-28413	81	47	(	(	PUNCT
bracis-28413	81	48	rmse	rmse	NOUN
bracis-28413	81	49	)	)	PUNCT
bracis-28413	81	50	used	use	VERB
bracis-28413	81	51	for	for	ADP
bracis-28413	81	52	the	the	DET
bracis-28413	81	53	two	two	NUM
bracis-28413	81	54	values	value	NOUN
bracis-28413	81	55	,	,	PUNCT
bracis-28413	81	56	\(x_0\	\(x_0\	NOUN
bracis-28413	81	57	)	)	PUNCT
bracis-28413	81	58	and	and	CCONJ
bracis-28413	81	59	\(x_1\	\(x_1\	PROPN
bracis-28413	81	60	)	)	PUNCT
bracis-28413	81	61	,	,	PUNCT
bracis-28413	81	62	needed	need	VERB
bracis-28413	81	63	to	to	PART
bracis-28413	81	64	define	define	VERB
bracis-28413	81	65	the	the	DET
bracis-28413	81	66	line	line	NOUN
bracis-28413	81	67	.	.	PUNCT
bracis-28413	82	1	$	$	SYM
bracis-28413	82	2	$	$	SYM
bracis-28413	82	3	\begin{aligned	\begin{aligne	VERB
bracis-28413	82	4	}	}	PUNCT
bracis-28413	82	5	loss	loss	NOUN
bracis-28413	82	6	=	=	SYM
bracis-28413	82	7	ce	ce	X
bracis-28413	82	8	_	_	PUNCT
bracis-28413	82	9	\textrm{mask	\textrm{mask	VERB
bracis-28413	82	10	}	}	PUNCT
bracis-28413	82	11	+	+	NUM
bracis-28413	82	12	rmse	rmse	ADJ
bracis-28413	82	13	_	_	PRON
bracis-28413	82	14	{	{	PUNCT
bracis-28413	82	15	x_0	x_0	X
bracis-28413	82	16	}	}	PUNCT
bracis-28413	82	17	+	+	CCONJ
bracis-28413	82	18	rmse	rmse	ADJ
bracis-28413	82	19	_	_	PRON
bracis-28413	82	20	{	{	PUNCT
bracis-28413	82	21	x_1	x_1	X
bracis-28413	82	22	}	}	PUNCT
bracis-28413	82	23	\end{aligned}$$	\end{aligned}$$	X
bracis-28413	82	24	(	(	PUNCT
bracis-28413	82	25	1	1	X
bracis-28413	82	26	)	)	PUNCT
bracis-28413	82	27	training	training	NOUN
bracis-28413	82	28	is	be	AUX
bracis-28413	82	29	performed	perform	VERB
bracis-28413	82	30	in	in	ADP
bracis-28413	82	31	up	up	ADP
bracis-28413	82	32	to	to	PART
bracis-28413	82	33	500	500	NUM
bracis-28413	82	34	epochs	epoch	NOUN
bracis-28413	82	35	with	with	ADP
bracis-28413	82	36	early	early	ADJ
bracis-28413	82	37	stopping	stopping	NOUN
bracis-28413	82	38	configured	configure	VERB
bracis-28413	82	39	.	.	PUNCT
bracis-28413	83	1	the	the	DET
bracis-28413	83	2	adam	adam	PROPN
bracis-28413	83	3	optimizer	optimizer	NOUN
bracis-28413	83	4	was	be	AUX
bracis-28413	83	5	chosen	choose	VERB
bracis-28413	83	6	with	with	ADP
bracis-28413	83	7	a	a	DET
bracis-28413	83	8	learning	learn	VERB
bracis-28413	83	9	rate	rate	NOUN
bracis-28413	83	10	of	of	ADP
bracis-28413	83	11	\(10^{-5}\	\(10^{-5}\	NOUN
bracis-28413	83	12	)	)	PUNCT
bracis-28413	83	13	and	and	CCONJ
bracis-28413	83	14	training	training	NOUN
bracis-28413	83	15	stopped	stop	VERB
bracis-28413	83	16	if	if	SCONJ
bracis-28413	83	17	bad	bad	ADJ
bracis-28413	83	18	values	value	NOUN
bracis-28413	83	19	(	(	PUNCT
bracis-28413	83	20	nan	nan	NOUN
bracis-28413	83	21	)	)	PUNCT
bracis-28413	83	22	were	be	AUX
bracis-28413	83	23	detected	detect	VERB
bracis-28413	83	24	.	.	PUNCT
bracis-28413	84	1	the	the	DET
bracis-28413	84	2	best	good	ADJ
bracis-28413	84	3	and	and	CCONJ
bracis-28413	84	4	the	the	DET
bracis-28413	84	5	final	final	ADJ
bracis-28413	84	6	weights	weight	NOUN
bracis-28413	84	7	are	be	AUX
bracis-28413	84	8	kept	keep	VERB
bracis-28413	84	9	to	to	PART
bracis-28413	84	10	predict	predict	VERB
bracis-28413	84	11	the	the	DET
bracis-28413	84	12	test	test	NOUN
bracis-28413	84	13	images	image	NOUN
bracis-28413	84	14	and	and	CCONJ
bracis-28413	84	15	be	be	AUX
bracis-28413	84	16	used	use	VERB
bracis-28413	84	17	in	in	ADP
bracis-28413	84	18	the	the	DET
bracis-28413	84	19	simulation	simulation	NOUN
bracis-28413	84	20	.	.	PUNCT
bracis-28413	85	1	two	two	NUM
bracis-28413	85	2	variants	variant	NOUN
bracis-28413	85	3	of	of	ADP
bracis-28413	85	4	the	the	DET
bracis-28413	85	5	model	model	NOUN
bracis-28413	85	6	were	be	AUX
bracis-28413	85	7	tested	test	VERB
bracis-28413	85	8	,	,	PUNCT
bracis-28413	85	9	the	the	DET
bracis-28413	85	10	full	full	ADJ
bracis-28413	85	11	proposed	propose	VERB
bracis-28413	85	12	model	model	NOUN
bracis-28413	85	13	and	and	CCONJ
bracis-28413	85	14	without	without	ADP
bracis-28413	85	15	the	the	DET
bracis-28413	85	16	deeplabv3	deeplabv3	ADJ
bracis-28413	85	17	+	+	NOUN
bracis-28413	85	18	decoder	decoder	NOUN
bracis-28413	85	19	alongside	alongside	ADP
bracis-28413	85	20	the	the	DET
bracis-28413	85	21	line	line	NOUN
bracis-28413	85	22	head	head	NOUN
bracis-28413	85	23	,	,	PUNCT
bracis-28413	85	24	evaluating	evaluate	VERB
bracis-28413	85	25	the	the	DET
bracis-28413	85	26	impact	impact	NOUN
bracis-28413	85	27	of	of	ADP
bracis-28413	85	28	the	the	DET
bracis-28413	85	29	auxiliary	auxiliary	ADJ
bracis-28413	85	30	task	task	NOUN
bracis-28413	85	31	.	.	PUNCT
bracis-28413	86	1	each	each	DET
bracis-28413	86	2	variant	variant	NOUN
bracis-28413	86	3	was	be	AUX
bracis-28413	86	4	tested	test	VERB
bracis-28413	86	5	with	with	ADP
bracis-28413	86	6	3	3	NUM
bracis-28413	86	7	image	image	NOUN
bracis-28413	86	8	resolutions	resolution	NOUN
bracis-28413	86	9	:	:	PUNCT
bracis-28413	86	10	\(128\,\times	\(128\,\time	NOUN
bracis-28413	86	11	\,128\	\,128\	VERB
bracis-28413	86	12	)	)	PUNCT
bracis-28413	86	13	for	for	ADP
bracis-28413	86	14	faster	fast	ADJ
bracis-28413	86	15	inference	inference	NOUN
bracis-28413	86	16	times	time	NOUN
bracis-28413	86	17	,	,	PUNCT
bracis-28413	86	18	\(512\,\times	\(512\,\time	NOUN
bracis-28413	86	19	\,512\	\,512\	VERB
bracis-28413	86	20	)	)	PUNCT
bracis-28413	86	21	for	for	ADP
bracis-28413	86	22	better	well	ADJ
bracis-28413	86	23	image	image	NOUN
bracis-28413	86	24	quality	quality	NOUN
bracis-28413	86	25	and	and	CCONJ
bracis-28413	86	26	detail	detail	NOUN
bracis-28413	86	27	,	,	PUNCT
bracis-28413	86	28	and	and	CCONJ
bracis-28413	86	29	\(256\,\times	\(256\,\time	VERB
bracis-28413	86	30	\,256\	\,256\	PROPN
bracis-28413	86	31	)	)	PUNCT
bracis-28413	86	32	as	as	ADP
bracis-28413	86	33	a	a	DET
bracis-28413	86	34	middle	middle	ADJ
bracis-28413	86	35	ground	ground	NOUN
bracis-28413	86	36	.	.	PUNCT
bracis-28413	87	1	all	all	DET
bracis-28413	87	2	listed	list	VERB
bracis-28413	87	3	configurations	configuration	NOUN
bracis-28413	87	4	were	be	AUX
bracis-28413	87	5	tested	test	VERB
bracis-28413	87	6	for	for	ADP
bracis-28413	87	7	the	the	DET
bracis-28413	87	8	top	top	NOUN
bracis-28413	87	9	and	and	CCONJ
bracis-28413	87	10	the	the	DET
bracis-28413	87	11	bottom	bottom	NOUN
bracis-28413	87	12	cameras	camera	NOUN
bracis-28413	87	13	.	.	PUNCT
bracis-28413	88	1	4	4	NUM
bracis-28413	88	2	simulation	simulation	NOUN
bracis-28413	88	3	and	and	CCONJ
bracis-28413	88	4	 	 	SPACE
bracis-28413	88	5	test	test	NOUN
bracis-28413	88	6	setup	setup	NOUN
bracis-28413	88	7	a	a	DET
bracis-28413	88	8	simulation	simulation	NOUN
bracis-28413	88	9	for	for	ADP
bracis-28413	88	10	testing	testing	NOUN
bracis-28413	88	11	was	be	AUX
bracis-28413	88	12	elaborated	elaborate	VERB
bracis-28413	88	13	using	use	VERB
bracis-28413	88	14	the	the	DET
bracis-28413	88	15	gazebo	gazebo	NOUN
bracis-28413	88	16	-	-	PUNCT
bracis-28413	88	17	sim	sim	NOUN
bracis-28413	88	18	package	package	NOUN
bracis-28413	88	19	from	from	ADP
bracis-28413	88	20	ros	ros	PROPN
bracis-28413	88	21	,	,	PUNCT
bracis-28413	88	22	and	and	CCONJ
bracis-28413	88	23	made	make	VERB
bracis-28413	88	24	avaliable	avaliable	ADJ
bracis-28413	88	25	at	at	ADP
bracis-28413	88	26	https://github.com/ifcosta/cnn_line	https://github.com/ifcosta/cnn_line	PROPN
bracis-28413	88	27	.	.	PUNCT
bracis-28413	89	1	plant	plant	NOUN
bracis-28413	89	2	models	model	NOUN
bracis-28413	89	3	were	be	AUX
bracis-28413	89	4	designed	design	VERB
bracis-28413	89	5	in	in	ADP
bracis-28413	89	6	the	the	DET
bracis-28413	89	7	blender	blender	NOUN
bracis-28413	89	8	software	software	NOUN
bracis-28413	89	9	based	base	VERB
bracis-28413	89	10	on	on	ADP
bracis-28413	89	11	real	real	ADJ
bracis-28413	89	12	image	image	NOUN
bracis-28413	89	13	data	datum	NOUN
bracis-28413	89	14	and	and	CCONJ
bracis-28413	89	15	a	a	DET
bracis-28413	89	16	simplified	simplified	ADJ
bracis-28413	89	17	version	version	NOUN
bracis-28413	89	18	of	of	ADP
bracis-28413	89	19	the	the	DET
bracis-28413	89	20	robot	robot	NOUN
bracis-28413	89	21	was	be	AUX
bracis-28413	89	22	modeled	model	VERB
bracis-28413	89	23	with	with	ADP
bracis-28413	89	24	two	two	NUM
bracis-28413	89	25	cameras	camera	NOUN
bracis-28413	89	26	,	,	PUNCT
bracis-28413	89	27	one	one	NUM
bracis-28413	89	28	at	at	ADP
bracis-28413	89	29	a	a	DET
bracis-28413	89	30	height	height	NOUN
bracis-28413	89	31	of	of	ADP
bracis-28413	89	32	1,8	1,8	NUM
bracis-28413	89	33	 	 	SPACE
bracis-28413	89	34	m	m	AUX
bracis-28413	89	35	looking	look	VERB
bracis-28413	89	36	downward	downward	ADV
bracis-28413	89	37	in	in	ADP
bracis-28413	89	38	front	front	NOUN
bracis-28413	89	39	of	of	ADP
bracis-28413	89	40	the	the	DET
bracis-28413	89	41	robot	robot	NOUN
bracis-28413	89	42	and	and	CCONJ
bracis-28413	89	43	one	one	NUM
bracis-28413	89	44	just	just	ADV
bracis-28413	89	45	0,15	0,15	NUM
bracis-28413	89	46	 	 	SPACE
bracis-28413	89	47	m	m	VERB
bracis-28413	89	48	above	above	ADP
bracis-28413	89	49	the	the	DET
bracis-28413	89	50	ground	ground	NOUN
bracis-28413	89	51	looking	look	VERB
bracis-28413	89	52	in	in	ADP
bracis-28413	89	53	front	front	NOUN
bracis-28413	89	54	slightly	slightly	ADV
bracis-28413	89	55	upward	upward	ADV
bracis-28413	89	56	.	.	PUNCT
bracis-28413	90	1	images	image	NOUN
bracis-28413	90	2	obtained	obtain	VERB
bracis-28413	90	3	with	with	ADP
bracis-28413	90	4	the	the	DET
bracis-28413	90	5	simulations	simulation	NOUN
bracis-28413	90	6	can	can	AUX
bracis-28413	90	7	be	be	AUX
bracis-28413	90	8	automatically	automatically	ADV
bracis-28413	90	9	annotated	annotate	VERB
bracis-28413	90	10	using	use	VERB
bracis-28413	90	11	simulation	simulation	NOUN
bracis-28413	90	12	tools	tool	NOUN
bracis-28413	90	13	and	and	CCONJ
bracis-28413	90	14	filters	filter	NOUN
bracis-28413	90	15	(	(	PUNCT
bracis-28413	90	16	fig	fig	NOUN
bracis-28413	90	17	.	.	PUNCT
bracis-28413	90	18	 	 	SPACE
bracis-28413	90	19	6	6	NUM
bracis-28413	90	20	)	)	PUNCT
bracis-28413	90	21	.	.	PUNCT
bracis-28413	91	1	fig	fig	NOUN
bracis-28413	91	2	.	.	PUNCT
bracis-28413	92	1	6	6	NUM
bracis-28413	92	2	.	.	X
bracis-28413	92	3	simplified	simplify	VERB
bracis-28413	92	4	robot	robot	NOUN
bracis-28413	92	5	model	model	NOUN
bracis-28413	92	6	built	build	VERB
bracis-28413	92	7	for	for	ADP
bracis-28413	92	8	the	the	DET
bracis-28413	92	9	simulations	simulation	NOUN
bracis-28413	92	10	full	full	ADJ
bracis-28413	92	11	size	size	NOUN
bracis-28413	92	12	image	image	NOUN
bracis-28413	92	13	the	the	DET
bracis-28413	92	14	simulated	simulate	VERB
bracis-28413	92	15	field	field	NOUN
bracis-28413	92	16	is	be	AUX
bracis-28413	92	17	built	build	VERB
bracis-28413	92	18	with	with	ADP
bracis-28413	92	19	five	five	NUM
bracis-28413	92	20	stages	stage	NOUN
bracis-28413	92	21	of	of	ADP
bracis-28413	92	22	plant	plant	NOUN
bracis-28413	92	23	growth	growth	NOUN
bracis-28413	92	24	,	,	PUNCT
bracis-28413	92	25	each	each	DET
bracis-28413	92	26	stage	stage	NOUN
bracis-28413	92	27	has	have	VERB
bracis-28413	92	28	six	six	NUM
bracis-28413	92	29	plant	plant	NOUN
bracis-28413	92	30	rows	row	NOUN
bracis-28413	92	31	that	that	PRON
bracis-28413	92	32	are	be	AUX
bracis-28413	92	33	50	50	NUM
bracis-28413	92	34	 	 	SPACE
bracis-28413	92	35	cm	cm	NOUN
bracis-28413	92	36	apart	apart	ADV
bracis-28413	92	37	and	and	CCONJ
bracis-28413	92	38	10	10	NUM
bracis-28413	92	39	 	 	SPACE
bracis-28413	92	40	m	m	VERB
bracis-28413	92	41	long	long	ADJ
bracis-28413	92	42	,	,	PUNCT
bracis-28413	92	43	with	with	ADP
bracis-28413	92	44	the	the	DET
bracis-28413	92	45	plants	plant	NOUN
bracis-28413	92	46	25	25	NUM
bracis-28413	92	47	 	 	SPACE
bracis-28413	92	48	cm	cm	NOUN
bracis-28413	92	49	apart	apart	ADV
bracis-28413	92	50	.	.	PUNCT
bracis-28413	93	1	there	there	PRON
bracis-28413	93	2	are	be	VERB
bracis-28413	93	3	multiple	multiple	ADJ
bracis-28413	93	4	models	model	NOUN
bracis-28413	93	5	of	of	ADP
bracis-28413	93	6	plants	plant	NOUN
bracis-28413	93	7	for	for	ADP
bracis-28413	93	8	each	each	DET
bracis-28413	93	9	stage	stage	NOUN
bracis-28413	93	10	,	,	PUNCT
bracis-28413	93	11	each	each	DET
bracis-28413	93	12	plant	plant	NOUN
bracis-28413	93	13	in	in	ADP
bracis-28413	93	14	a	a	DET
bracis-28413	93	15	given	give	VERB
bracis-28413	93	16	row	row	NOUN
bracis-28413	93	17	is	be	AUX
bracis-28413	93	18	selected	select	VERB
bracis-28413	93	19	randomly	randomly	ADV
bracis-28413	93	20	in	in	ADP
bracis-28413	93	21	the	the	DET
bracis-28413	93	22	stage	stage	NOUN
bracis-28413	93	23	of	of	ADP
bracis-28413	93	24	growth	growth	NOUN
bracis-28413	93	25	pool	pool	NOUN
bracis-28413	93	26	.	.	PUNCT
bracis-28413	94	1	there	there	PRON
bracis-28413	94	2	is	be	VERB
bracis-28413	94	3	also	also	ADV
bracis-28413	94	4	a	a	DET
bracis-28413	94	5	random	random	ADJ
bracis-28413	94	6	component	component	NOUN
bracis-28413	94	7	to	to	ADP
bracis-28413	94	8	the	the	DET
bracis-28413	94	9	plant	plant	NOUN
bracis-28413	94	10	placement	placement	NOUN
bracis-28413	94	11	;	;	PUNCT
bracis-28413	94	12	15	15	NUM
bracis-28413	94	13	%	%	NOUN
bracis-28413	94	14	of	of	ADP
bracis-28413	94	15	given	give	VERB
bracis-28413	94	16	positions	position	NOUN
bracis-28413	94	17	have	have	VERB
bracis-28413	94	18	a	a	DET
bracis-28413	94	19	missing	miss	VERB
bracis-28413	94	20	plant	plant	NOUN
bracis-28413	94	21	and	and	CCONJ
bracis-28413	94	22	every	every	DET
bracis-28413	94	23	plant	plant	NOUN
bracis-28413	94	24	in	in	ADP
bracis-28413	94	25	the	the	DET
bracis-28413	94	26	row	row	NOUN
bracis-28413	94	27	has	have	VERB
bracis-28413	94	28	a	a	DET
bracis-28413	94	29	small	small	ADJ
bracis-28413	94	30	variance	variance	NOUN
bracis-28413	94	31	in	in	ADP
bracis-28413	94	32	position	position	NOUN
bracis-28413	94	33	,	,	PUNCT
bracis-28413	94	34	see	see	VERB
bracis-28413	94	35	fig	fig	NOUN
bracis-28413	94	36	.	.	PUNCT
bracis-28413	94	37	 	 	SPACE
bracis-28413	95	1	7	7	NUM
bracis-28413	95	2	.	.	X
bracis-28413	95	3	fig	fig	NOUN
bracis-28413	95	4	.	.	PUNCT
bracis-28413	96	1	7	7	X
bracis-28413	96	2	.	.	X
bracis-28413	96	3	field	field	NOUN
bracis-28413	96	4	modelled	model	VERB
bracis-28413	96	5	for	for	ADP
bracis-28413	96	6	testing	testing	NOUN
bracis-28413	96	7	with	with	ADP
bracis-28413	96	8	five	five	NUM
bracis-28413	96	9	growth	growth	NOUN
bracis-28413	96	10	stages	stage	NOUN
bracis-28413	96	11	full	full	ADJ
bracis-28413	96	12	size	size	NOUN
bracis-28413	96	13	image	image	NOUN
bracis-28413	96	14	each	each	DET
bracis-28413	96	15	model	model	NOUN
bracis-28413	96	16	was	be	AUX
bracis-28413	96	17	tested	test	VERB
bracis-28413	96	18	by	by	ADP
bracis-28413	96	19	crossing	cross	VERB
bracis-28413	96	20	the	the	DET
bracis-28413	96	21	field	field	NOUN
bracis-28413	96	22	in	in	ADP
bracis-28413	96	23	both	both	DET
bracis-28413	96	24	directions	direction	NOUN
bracis-28413	96	25	across	across	ADP
bracis-28413	96	26	all	all	DET
bracis-28413	96	27	growth	growth	NOUN
bracis-28413	96	28	stages	stage	NOUN
bracis-28413	96	29	and	and	CCONJ
bracis-28413	96	30	the	the	DET
bracis-28413	96	31	error	error	NOUN
bracis-28413	96	32	between	between	ADP
bracis-28413	96	33	the	the	DET
bracis-28413	96	34	theoretical	theoretical	ADJ
bracis-28413	96	35	perfect	perfect	ADJ
bracis-28413	96	36	line	line	NOUN
bracis-28413	96	37	and	and	CCONJ
bracis-28413	96	38	also	also	ADV
bracis-28413	96	39	the	the	DET
bracis-28413	96	40	mean	mean	ADJ
bracis-28413	96	41	absolute	absolute	ADJ
bracis-28413	96	42	error	error	NOUN
bracis-28413	96	43	of	of	ADP
bracis-28413	96	44	the	the	DET
bracis-28413	96	45	robot	robot	NOUN
bracis-28413	96	46	position	position	NOUN
bracis-28413	96	47	were	be	AUX
bracis-28413	96	48	both	both	PRON
bracis-28413	96	49	recorded	record	VERB
bracis-28413	96	50	.	.	PUNCT
bracis-28413	97	1	the	the	DET
bracis-28413	97	2	robot	robot	NOUN
bracis-28413	97	3	also	also	ADV
bracis-28413	97	4	starts	start	VERB
bracis-28413	97	5	every	every	DET
bracis-28413	97	6	run	run	NOUN
bracis-28413	97	7	with	with	ADP
bracis-28413	97	8	a	a	DET
bracis-28413	97	9	small	small	ADJ
bracis-28413	97	10	deviation	deviation	NOUN
bracis-28413	97	11	from	from	ADP
bracis-28413	97	12	the	the	DET
bracis-28413	97	13	center	center	NOUN
bracis-28413	97	14	,	,	PUNCT
bracis-28413	97	15	randomly	randomly	ADV
bracis-28413	97	16	pointing	point	VERB
bracis-28413	97	17	inward	inward	ADV
bracis-28413	97	18	or	or	CCONJ
bracis-28413	97	19	outward	outward	ADV
bracis-28413	97	20	,	,	PUNCT
bracis-28413	97	21	and	and	CCONJ
bracis-28413	97	22	has	have	VERB
bracis-28413	97	23	a	a	DET
bracis-28413	97	24	small	small	ADJ
bracis-28413	97	25	error	error	NOUN
bracis-28413	97	26	component	component	NOUN
bracis-28413	97	27	for	for	ADP
bracis-28413	97	28	the	the	DET
bracis-28413	97	29	applied	apply	VERB
bracis-28413	97	30	velocity	velocity	NOUN
bracis-28413	97	31	as	as	SCONJ
bracis-28413	97	32	defined	define	VERB
bracis-28413	97	33	by	by	ADP
bracis-28413	97	34	$	$	SYM
bracis-28413	97	35	$	$	SYM
bracis-28413	97	36	\begin{aligned	\begin{aligne	VERB
bracis-28413	97	37	}	}	PUNCT
bracis-28413	97	38	error	error	NOUN
bracis-28413	97	39	_	_	PUNCT
bracis-28413	97	40	{	{	PUNCT
bracis-28413	97	41	t+1	t+1	NOUN
bracis-28413	97	42	}	}	PUNCT
bracis-28413	97	43	=	=	SYM
bracis-28413	97	44	\left	\left	PROPN
bracis-28413	97	45	(	(	PUNCT
bracis-28413	97	46	1	1	NUM
bracis-28413	97	47	\theta	\theta	PROPN
bracis-28413	97	48	\right	\right	PROPN
bracis-28413	97	49	)	)	PUNCT
bracis-28413	97	50	\times	\time	VERB
bracis-28413	97	51	error	error	NOUN
bracis-28413	97	52	_	_	PUNCT
bracis-28413	97	53	{	{	PUNCT
bracis-28413	97	54	t	t	NOUN
bracis-28413	97	55	}	}	PUNCT
bracis-28413	97	56	+	+	CCONJ
bracis-28413	97	57	normal	normal	ADJ
bracis-28413	97	58	\left	\left	PROPN
bracis-28413	97	59	(	(	PUNCT
bracis-28413	97	60	\mu	\mu	PROPN
bracis-28413	97	61	,	,	PUNCT
bracis-28413	97	62	\sigma	\sigma	PROPN
bracis-28413	97	63	\right	\right	PROPN
bracis-28413	97	64	)	)	PUNCT
bracis-28413	97	65	,	,	PUNCT
bracis-28413	97	66	\end{aligned}$$	\end{aligned}$$	X
bracis-28413	97	67	(	(	PUNCT
bracis-28413	97	68	2	2	NUM
bracis-28413	97	69	)	)	PUNCT
bracis-28413	97	70	with	with	ADP
bracis-28413	97	71	\(\theta	\(\theta	NOUN
bracis-28413	97	72	=	=	NOUN
bracis-28413	97	73	0.25\	0.25\	NOUN
bracis-28413	97	74	)	)	PUNCT
bracis-28413	97	75	,	,	PUNCT
bracis-28413	97	76	\(\mu	\(\mu	PROPN
bracis-28413	97	77	=	=	SYM
bracis-28413	97	78	0\	0\	PROPN
bracis-28413	97	79	)	)	PUNCT
bracis-28413	97	80	and	and	CCONJ
bracis-28413	97	81	\(\sigma	\(\sigma	NOUN
bracis-28413	97	82	=	=	SYM
bracis-28413	97	83	0.01\	0.01\	NUM
bracis-28413	97	84	)	)	PUNCT
bracis-28413	97	85	.	.	PUNCT
bracis-28413	98	1	the	the	DET
bracis-28413	98	2	tests	test	NOUN
bracis-28413	98	3	were	be	AUX
bracis-28413	98	4	designed	design	VERB
bracis-28413	98	5	this	this	DET
bracis-28413	98	6	way	way	NOUN
bracis-28413	98	7	so	so	SCONJ
bracis-28413	98	8	the	the	DET
bracis-28413	98	9	model	model	NOUN
bracis-28413	98	10	has	have	VERB
bracis-28413	98	11	to	to	PART
bracis-28413	98	12	be	be	AUX
bracis-28413	98	13	able	able	ADJ
bracis-28413	98	14	to	to	PART
bracis-28413	98	15	compensate	compensate	VERB
bracis-28413	98	16	for	for	ADP
bracis-28413	98	17	actuation	actuation	NOUN
bracis-28413	98	18	errors	error	NOUN
bracis-28413	98	19	while	while	SCONJ
bracis-28413	98	20	correcting	correct	VERB
bracis-28413	98	21	the	the	DET
bracis-28413	98	22	starting	starting	NOUN
bracis-28413	98	23	deviation	deviation	NOUN
bracis-28413	98	24	correctly	correctly	ADV
bracis-28413	98	25	during	during	ADP
bracis-28413	98	26	the	the	DET
bracis-28413	98	27	run	run	NOUN
bracis-28413	98	28	.	.	PUNCT
bracis-28413	99	1	5	5	NUM
bracis-28413	99	2	results	result	VERB
bracis-28413	99	3	5.1	5.1	NUM
bracis-28413	99	4	training	training	NOUN
bracis-28413	99	5	phase	phase	NOUN
bracis-28413	99	6	concerning	concern	VERB
bracis-28413	99	7	the	the	DET
bracis-28413	99	8	models	model	NOUN
bracis-28413	99	9	trained	train	VERB
bracis-28413	99	10	for	for	ADP
bracis-28413	99	11	the	the	DET
bracis-28413	99	12	bottom	bottom	ADJ
bracis-28413	99	13	camera	camera	NOUN
bracis-28413	99	14	,	,	PUNCT
bracis-28413	99	15	both	both	DET
bracis-28413	99	16	line	line	NOUN
bracis-28413	99	17	-	-	PUNCT
bracis-28413	99	18	only	only	ADV
bracis-28413	99	19	and	and	CCONJ
bracis-28413	99	20	the	the	DET
bracis-28413	99	21	variant	variant	NOUN
bracis-28413	99	22	with	with	ADP
bracis-28413	99	23	an	an	DET
bracis-28413	99	24	auxiliary	auxiliary	ADJ
bracis-28413	99	25	task	task	NOUN
bracis-28413	99	26	achieved	achieve	VERB
bracis-28413	99	27	similar	similar	ADJ
bracis-28413	99	28	results	result	NOUN
bracis-28413	99	29	with	with	ADP
bracis-28413	99	30	regards	regard	NOUN
bracis-28413	99	31	to	to	ADP
bracis-28413	99	32	the	the	DET
bracis-28413	99	33	line	line	NOUN
bracis-28413	99	34	’s	’s	PART
bracis-28413	99	35	combined	combine	VERB
bracis-28413	99	36	loss	loss	NOUN
bracis-28413	99	37	function	function	NOUN
bracis-28413	99	38	,	,	PUNCT
bracis-28413	99	39	see	see	VERB
bracis-28413	99	40	fig	fig	NOUN
bracis-28413	99	41	.	.	PUNCT
bracis-28413	99	42	 	 	SPACE
bracis-28413	99	43	8	8	NUM
bracis-28413	99	44	.	.	PUNCT
bracis-28413	100	1	the	the	DET
bracis-28413	100	2	larger	large	ADJ
bracis-28413	100	3	resolution	resolution	NOUN
bracis-28413	100	4	with	with	ADP
bracis-28413	100	5	auxiliary	auxiliary	ADJ
bracis-28413	100	6	task	task	NOUN
bracis-28413	100	7	is	be	AUX
bracis-28413	100	8	the	the	DET
bracis-28413	100	9	worst	bad	ADJ
bracis-28413	100	10	performing	performing	NOUN
bracis-28413	100	11	model	model	NOUN
bracis-28413	100	12	by	by	ADP
bracis-28413	100	13	the	the	DET
bracis-28413	100	14	final	final	ADJ
bracis-28413	100	15	loss	loss	NOUN
bracis-28413	100	16	value	value	NOUN
bracis-28413	100	17	and	and	CCONJ
bracis-28413	100	18	had	have	VERB
bracis-28413	100	19	its	its	PRON
bracis-28413	100	20	training	training	NOUN
bracis-28413	100	21	stopped	stop	VERB
bracis-28413	100	22	due	due	ADJ
bracis-28413	100	23	to	to	ADP
bracis-28413	100	24	nan	nan	PROPN
bracis-28413	100	25	values	value	NOUN
bracis-28413	100	26	found	find	VERB
bracis-28413	100	27	.	.	PUNCT
bracis-28413	101	1	both	both	DET
bracis-28413	101	2	smallest	small	ADJ
bracis-28413	101	3	resolution	resolution	NOUN
bracis-28413	101	4	models	model	NOUN
bracis-28413	101	5	were	be	AUX
bracis-28413	101	6	the	the	DET
bracis-28413	101	7	most	most	ADV
bracis-28413	101	8	unstable	unstable	ADJ
bracis-28413	101	9	,	,	PUNCT
bracis-28413	101	10	while	while	SCONJ
bracis-28413	101	11	the	the	DET
bracis-28413	101	12	best	good	ADJ
bracis-28413	101	13	model	model	NOUN
bracis-28413	101	14	,	,	PUNCT
bracis-28413	101	15	in	in	ADP
bracis-28413	101	16	general	general	ADJ
bracis-28413	101	17	,	,	PUNCT
bracis-28413	101	18	was	be	AUX
bracis-28413	101	19	the	the	DET
bracis-28413	101	20	medium	medium	ADJ
bracis-28413	101	21	resolution	resolution	NOUN
bracis-28413	101	22	one	one	NUM
bracis-28413	101	23	.	.	PUNCT
bracis-28413	102	1	also	also	ADV
bracis-28413	102	2	,	,	PUNCT
bracis-28413	102	3	the	the	DET
bracis-28413	102	4	auxiliary	auxiliary	ADJ
bracis-28413	102	5	tasks	task	NOUN
bracis-28413	102	6	had	have	VERB
bracis-28413	102	7	little	little	ADJ
bracis-28413	102	8	to	to	ADP
bracis-28413	102	9	no	no	DET
bracis-28413	102	10	discernible	discernible	ADJ
bracis-28413	102	11	impact	impact	NOUN
bracis-28413	102	12	except	except	SCONJ
bracis-28413	102	13	for	for	ADP
bracis-28413	102	14	the	the	DET
bracis-28413	102	15	high	high	ADJ
bracis-28413	102	16	resolution	resolution	NOUN
bracis-28413	102	17	which	which	PRON
bracis-28413	102	18	had	have	VERB
bracis-28413	102	19	a	a	DET
bracis-28413	102	20	negative	negative	ADJ
bracis-28413	102	21	one	one	NUM
bracis-28413	102	22	.	.	PUNCT
bracis-28413	103	1	fig	fig	NOUN
bracis-28413	103	2	.	.	PUNCT
bracis-28413	104	1	8	8	NUM
bracis-28413	104	2	.	.	X
bracis-28413	104	3	bottom	bottom	ADJ
bracis-28413	104	4	camera	camera	NOUN
bracis-28413	104	5	line	line	NOUN
bracis-28413	104	6	loss	loss	NOUN
bracis-28413	104	7	dotted	dot	VERB
bracis-28413	104	8	line	line	NOUN
bracis-28413	104	9	mark	mark	VERB
bracis-28413	104	10	the	the	DET
bracis-28413	104	11	minimum	minimum	ADJ
bracis-28413	104	12	value	value	NOUN
bracis-28413	104	13	obtained	obtain	VERB
bracis-28413	104	14	full	full	ADJ
bracis-28413	104	15	size	size	NOUN
bracis-28413	104	16	image	image	NOUN
bracis-28413	104	17	meanwhile	meanwhile	ADV
bracis-28413	104	18	,	,	PUNCT
bracis-28413	104	19	the	the	DET
bracis-28413	104	20	top	top	ADJ
bracis-28413	104	21	camera	camera	NOUN
bracis-28413	104	22	,	,	PUNCT
bracis-28413	104	23	in	in	ADP
bracis-28413	104	24	fig	fig	NOUN
bracis-28413	104	25	.	.	PUNCT
bracis-28413	104	26	 	 	SPACE
bracis-28413	104	27	9	9	NUM
bracis-28413	104	28	,	,	PUNCT
bracis-28413	104	29	has	have	VERB
bracis-28413	104	30	better	well	ADJ
bracis-28413	104	31	training	training	NOUN
bracis-28413	104	32	results	result	NOUN
bracis-28413	104	33	than	than	ADP
bracis-28413	104	34	the	the	DET
bracis-28413	104	35	bottom	bottom	ADJ
bracis-28413	104	36	one	one	NUM
bracis-28413	104	37	.	.	PUNCT
bracis-28413	105	1	this	this	DET
bracis-28413	105	2	camera	camera	NOUN
bracis-28413	105	3	position	position	NOUN
bracis-28413	105	4	also	also	ADV
bracis-28413	105	5	exhibits	exhibit	VERB
bracis-28413	105	6	a	a	DET
bracis-28413	105	7	small	small	ADJ
bracis-28413	105	8	but	but	CCONJ
bracis-28413	105	9	positive	positive	ADJ
bracis-28413	105	10	effect	effect	NOUN
bracis-28413	105	11	to	to	ADP
bracis-28413	105	12	all	all	DET
bracis-28413	105	13	resolutions	resolution	NOUN
bracis-28413	105	14	when	when	SCONJ
bracis-28413	105	15	using	use	VERB
bracis-28413	105	16	an	an	DET
bracis-28413	105	17	auxiliary	auxiliary	ADJ
bracis-28413	105	18	task	task	NOUN
bracis-28413	105	19	.	.	PUNCT
bracis-28413	106	1	the	the	DET
bracis-28413	106	2	lower	low	ADJ
bracis-28413	106	3	resolution	resolution	NOUN
bracis-28413	106	4	had	have	VERB
bracis-28413	106	5	the	the	DET
bracis-28413	106	6	worst	bad	ADJ
bracis-28413	106	7	performance	performance	NOUN
bracis-28413	106	8	,	,	PUNCT
bracis-28413	106	9	like	like	ADP
bracis-28413	106	10	with	with	ADP
bracis-28413	106	11	the	the	DET
bracis-28413	106	12	bottom	bottom	ADJ
bracis-28413	106	13	camera	camera	NOUN
bracis-28413	106	14	,	,	PUNCT
bracis-28413	106	15	but	but	CCONJ
bracis-28413	106	16	the	the	DET
bracis-28413	106	17	high	high	ADJ
bracis-28413	106	18	and	and	CCONJ
bracis-28413	106	19	medium	medium	ADJ
bracis-28413	106	20	resolution	resolution	NOUN
bracis-28413	106	21	had	have	VERB
bracis-28413	106	22	comparable	comparable	ADJ
bracis-28413	106	23	training	training	NOUN
bracis-28413	106	24	performance	performance	NOUN
bracis-28413	106	25	with	with	ADP
bracis-28413	106	26	this	this	DET
bracis-28413	106	27	camera	camera	NOUN
bracis-28413	106	28	placement	placement	NOUN
bracis-28413	106	29	.	.	PUNCT
bracis-28413	107	1	the	the	DET
bracis-28413	107	2	top	top	ADJ
bracis-28413	107	3	camera	camera	NOUN
bracis-28413	107	4	was	be	AUX
bracis-28413	107	5	considerably	considerably	ADV
bracis-28413	107	6	better	well	ADJ
bracis-28413	107	7	during	during	ADP
bracis-28413	107	8	the	the	DET
bracis-28413	107	9	training	training	NOUN
bracis-28413	107	10	phase	phase	NOUN
bracis-28413	107	11	for	for	ADP
bracis-28413	107	12	all	all	DET
bracis-28413	107	13	resolutions	resolution	NOUN
bracis-28413	107	14	in	in	ADP
bracis-28413	107	15	regards	regard	NOUN
bracis-28413	107	16	to	to	ADP
bracis-28413	107	17	the	the	DET
bracis-28413	107	18	model	model	NOUN
bracis-28413	107	19	’s	’s	PART
bracis-28413	107	20	loss	loss	NOUN
bracis-28413	107	21	.	.	PUNCT
bracis-28413	108	1	fig	fig	NOUN
bracis-28413	108	2	.	.	PUNCT
bracis-28413	109	1	9	9	X
bracis-28413	109	2	.	.	X
bracis-28413	109	3	top	top	ADJ
bracis-28413	109	4	camera	camera	NOUN
bracis-28413	109	5	line	line	NOUN
bracis-28413	109	6	loss	loss	NOUN
bracis-28413	109	7	dotted	dot	VERB
bracis-28413	109	8	line	line	NOUN
bracis-28413	109	9	mark	mark	VERB
bracis-28413	109	10	the	the	DET
bracis-28413	109	11	minimum	minimum	ADJ
bracis-28413	109	12	value	value	NOUN
bracis-28413	109	13	obtained	obtain	VERB
bracis-28413	109	14	full	full	ADJ
bracis-28413	109	15	size	size	NOUN
bracis-28413	109	16	image	image	NOUN
bracis-28413	109	17	the	the	DET
bracis-28413	109	18	bottom	bottom	ADJ
bracis-28413	109	19	camera	camera	NOUN
bracis-28413	109	20	data	datum	NOUN
bracis-28413	109	21	set	set	VERB
bracis-28413	109	22	is	be	AUX
bracis-28413	109	23	smaller	small	ADJ
bracis-28413	109	24	and	and	CCONJ
bracis-28413	109	25	composed	compose	VERB
bracis-28413	109	26	only	only	ADV
bracis-28413	109	27	by	by	ADP
bracis-28413	109	28	simulation	simulation	NOUN
bracis-28413	109	29	derived	derive	VERB
bracis-28413	109	30	images	image	NOUN
bracis-28413	109	31	,	,	PUNCT
bracis-28413	109	32	which	which	PRON
bracis-28413	109	33	could	could	AUX
bracis-28413	109	34	be	be	AUX
bracis-28413	109	35	impacting	impact	VERB
bracis-28413	109	36	its	its	PRON
bracis-28413	109	37	results	result	NOUN
bracis-28413	109	38	.	.	PUNCT
bracis-28413	110	1	the	the	DET
bracis-28413	110	2	way	way	NOUN
bracis-28413	110	3	that	that	PRON
bracis-28413	110	4	the	the	DET
bracis-28413	110	5	line	line	NOUN
bracis-28413	110	6	was	be	AUX
bracis-28413	110	7	modeled	model	VERB
bracis-28413	110	8	implied	imply	VERB
bracis-28413	110	9	that	that	SCONJ
bracis-28413	110	10	it	it	PRON
bracis-28413	110	11	had	have	VERB
bracis-28413	110	12	a	a	DET
bracis-28413	110	13	higher	high	ADJ
bracis-28413	110	14	variability	variability	NOUN
bracis-28413	110	15	at	at	ADP
bracis-28413	110	16	the	the	DET
bracis-28413	110	17	top	top	NOUN
bracis-28413	110	18	of	of	ADP
bracis-28413	110	19	the	the	DET
bracis-28413	110	20	screen	screen	NOUN
bracis-28413	110	21	with	with	ADP
bracis-28413	110	22	the	the	DET
bracis-28413	110	23	bottom	bottom	ADJ
bracis-28413	110	24	camera	camera	NOUN
bracis-28413	110	25	,	,	PUNCT
bracis-28413	110	26	i.e.	i.e.	X
bracis-28413	110	27	\(x_0\	\(x_0\	NOUN
bracis-28413	110	28	)	)	PUNCT
bracis-28413	110	29	,	,	PUNCT
bracis-28413	110	30	and	and	CCONJ
bracis-28413	110	31	that	that	PRON
bracis-28413	110	32	could	could	AUX
bracis-28413	110	33	lead	lead	VERB
bracis-28413	110	34	to	to	ADP
bracis-28413	110	35	the	the	DET
bracis-28413	110	36	higher	high	ADJ
bracis-28413	110	37	loss	loss	NOUN
bracis-28413	110	38	observed	observe	VERB
bracis-28413	110	39	.	.	PUNCT
bracis-28413	111	1	this	this	DET
bracis-28413	111	2	volatility	volatility	NOUN
bracis-28413	111	3	does	do	AUX
bracis-28413	111	4	not	not	PART
bracis-28413	111	5	happen	happen	VERB
bracis-28413	111	6	with	with	ADP
bracis-28413	111	7	the	the	DET
bracis-28413	111	8	top	top	ADJ
bracis-28413	111	9	camera	camera	NOUN
bracis-28413	111	10	and	and	CCONJ
bracis-28413	111	11	to	to	ADP
bracis-28413	111	12	the	the	DET
bracis-28413	111	13	\(x_1\	\(x_1\	NOUN
bracis-28413	111	14	)	)	PUNCT
bracis-28413	111	15	value	value	NOUN
bracis-28413	111	16	of	of	ADP
bracis-28413	111	17	the	the	DET
bracis-28413	111	18	bottom	bottom	ADJ
bracis-28413	111	19	one	one	NUM
bracis-28413	111	20	.	.	PUNCT
bracis-28413	112	1	as	as	SCONJ
bracis-28413	112	2	it	it	PRON
bracis-28413	112	3	will	will	AUX
bracis-28413	112	4	be	be	AUX
bracis-28413	112	5	shown	show	VERB
bracis-28413	112	6	later	later	ADV
bracis-28413	112	7	,	,	PUNCT
bracis-28413	112	8	the	the	DET
bracis-28413	112	9	bottom	bottom	ADJ
bracis-28413	112	10	camera	camera	NOUN
bracis-28413	112	11	model	model	NOUN
bracis-28413	112	12	can	can	AUX
bracis-28413	112	13	still	still	ADV
bracis-28413	112	14	work	work	VERB
bracis-28413	112	15	with	with	ADP
bracis-28413	112	16	this	this	DET
bracis-28413	112	17	behavior	behavior	NOUN
bracis-28413	112	18	,	,	PUNCT
bracis-28413	112	19	but	but	CCONJ
bracis-28413	112	20	a	a	DET
bracis-28413	112	21	different	different	ADJ
bracis-28413	112	22	training	training	NOUN
bracis-28413	112	23	approach	approach	NOUN
bracis-28413	112	24	for	for	ADP
bracis-28413	112	25	the	the	DET
bracis-28413	112	26	bottom	bottom	ADJ
bracis-28413	112	27	line	line	NOUN
bracis-28413	112	28	might	might	AUX
bracis-28413	112	29	bring	bring	VERB
bracis-28413	112	30	better	well	ADJ
bracis-28413	112	31	results	result	NOUN
bracis-28413	112	32	.	.	PUNCT
bracis-28413	113	1	5.2	5.2	NUM
bracis-28413	113	2	simulation	simulation	NOUN
bracis-28413	113	3	runs	run	VERB
bracis-28413	113	4	alongside	alongside	ADP
bracis-28413	113	5	the	the	DET
bracis-28413	113	6	model	model	NOUN
bracis-28413	113	7	’s	’s	PART
bracis-28413	113	8	tests	test	NOUN
bracis-28413	113	9	,	,	PUNCT
bracis-28413	113	10	a	a	DET
bracis-28413	113	11	control	control	NOUN
bracis-28413	113	12	run	run	NOUN
bracis-28413	113	13	was	be	AUX
bracis-28413	113	14	executed	execute	VERB
bracis-28413	113	15	with	with	ADP
bracis-28413	113	16	ros	ros	PROPN
bracis-28413	113	17	transforms	transform	VERB
bracis-28413	113	18	to	to	PART
bracis-28413	113	19	calculate	calculate	VERB
bracis-28413	113	20	the	the	DET
bracis-28413	113	21	theoretical	theoretical	ADJ
bracis-28413	113	22	perfect	perfect	ADJ
bracis-28413	113	23	line	line	NOUN
bracis-28413	113	24	and	and	CCONJ
bracis-28413	113	25	evaluate	evaluate	VERB
bracis-28413	113	26	the	the	DET
bracis-28413	113	27	controller	controller	NOUN
bracis-28413	113	28	performance	performance	NOUN
bracis-28413	113	29	.	.	PUNCT
bracis-28413	114	1	these	these	DET
bracis-28413	114	2	runs	run	NOUN
bracis-28413	114	3	have	have	VERB
bracis-28413	114	4	a	a	DET
bracis-28413	114	5	perfect	perfect	ADJ
bracis-28413	114	6	line	line	NOUN
bracis-28413	114	7	,	,	PUNCT
bracis-28413	114	8	but	but	CCONJ
bracis-28413	114	9	still	still	ADV
bracis-28413	114	10	have	have	VERB
bracis-28413	114	11	a	a	DET
bracis-28413	114	12	processing	processing	NOUN
bracis-28413	114	13	delay	delay	NOUN
bracis-28413	114	14	comparable	comparable	ADJ
bracis-28413	114	15	to	to	ADP
bracis-28413	114	16	the	the	DET
bracis-28413	114	17	model	model	NOUN
bracis-28413	114	18	’s	’s	PART
bracis-28413	114	19	inference	inference	PROPN
bracis-28413	114	20	times	times	PROPN
bracis-28413	114	21	.	.	PUNCT
bracis-28413	115	1	for	for	ADP
bracis-28413	115	2	the	the	DET
bracis-28413	115	3	top	top	ADJ
bracis-28413	115	4	camera	camera	NOUN
bracis-28413	115	5	,	,	PUNCT
bracis-28413	115	6	there	there	PRON
bracis-28413	115	7	is	be	VERB
bracis-28413	115	8	another	another	DET
bracis-28413	115	9	available	available	ADJ
bracis-28413	115	10	comparison	comparison	NOUN
bracis-28413	115	11	,	,	PUNCT
bracis-28413	115	12	which	which	PRON
bracis-28413	115	13	is	be	AUX
bracis-28413	115	14	the	the	DET
bracis-28413	115	15	multi	multi	NOUN
bracis-28413	115	16	-	-	NOUN
bracis-28413	115	17	roi	roi	NOUN
bracis-28413	115	18	with	with	ADP
bracis-28413	115	19	excess	excess	NOUN
bracis-28413	115	20	of	of	ADP
bracis-28413	115	21	green	green	ADJ
bracis-28413	115	22	mask	mask	NOUN
bracis-28413	115	23	[	[	X
bracis-28413	115	24	11	11	NUM
bracis-28413	115	25	]	]	PUNCT
bracis-28413	115	26	.	.	PUNCT
bracis-28413	116	1	this	this	DET
bracis-28413	116	2	algorithm	algorithm	NOUN
bracis-28413	116	3	is	be	AUX
bracis-28413	116	4	not	not	PART
bracis-28413	116	5	designed	design	VERB
bracis-28413	116	6	to	to	PART
bracis-28413	116	7	be	be	AUX
bracis-28413	116	8	used	use	VERB
bracis-28413	116	9	on	on	ADP
bracis-28413	116	10	the	the	DET
bracis-28413	116	11	bottom	bottom	ADJ
bracis-28413	116	12	camera	camera	NOUN
bracis-28413	116	13	and	and	CCONJ
bracis-28413	116	14	its	its	PRON
bracis-28413	116	15	processing	processing	NOUN
bracis-28413	116	16	time	time	NOUN
bracis-28413	116	17	depends	depend	VERB
bracis-28413	116	18	of	of	ADP
bracis-28413	116	19	the	the	DET
bracis-28413	116	20	number	number	NOUN
bracis-28413	116	21	of	of	ADP
bracis-28413	116	22	masked	mask	VERB
bracis-28413	116	23	pixels	pixel	NOUN
bracis-28413	116	24	inside	inside	ADP
bracis-28413	116	25	the	the	DET
bracis-28413	116	26	sliding	slide	VERB
bracis-28413	116	27	window	window	NOUN
bracis-28413	116	28	.	.	PUNCT
bracis-28413	117	1	as	as	ADP
bracis-28413	117	2	such	such	ADJ
bracis-28413	117	3	,	,	PUNCT
bracis-28413	117	4	the	the	DET
bracis-28413	117	5	larger	large	ADJ
bracis-28413	117	6	growth	growth	NOUN
bracis-28413	117	7	stage	stage	NOUN
bracis-28413	117	8	,	,	PUNCT
bracis-28413	117	9	having	have	VERB
bracis-28413	117	10	a	a	DET
bracis-28413	117	11	greater	great	ADJ
bracis-28413	117	12	amount	amount	NOUN
bracis-28413	117	13	of	of	ADP
bracis-28413	117	14	segmented	segment	VERB
bracis-28413	117	15	and	and	CCONJ
bracis-28413	117	16	processed	process	VERB
bracis-28413	117	17	pixels	pixel	NOUN
bracis-28413	117	18	due	due	ADP
bracis-28413	117	19	to	to	ADP
bracis-28413	117	20	the	the	DET
bracis-28413	117	21	size	size	NOUN
bracis-28413	117	22	of	of	ADP
bracis-28413	117	23	and	and	CCONJ
bracis-28413	117	24	density	density	NOUN
bracis-28413	117	25	of	of	ADP
bracis-28413	117	26	the	the	DET
bracis-28413	117	27	plants	plant	NOUN
bracis-28413	117	28	,	,	PUNCT
bracis-28413	117	29	takes	take	VERB
bracis-28413	117	30	longer	long	ADV
bracis-28413	117	31	to	to	PART
bracis-28413	117	32	process	process	VERB
bracis-28413	117	33	.	.	PUNCT
bracis-28413	118	1	it	it	PRON
bracis-28413	118	2	also	also	ADV
bracis-28413	118	3	depends	depend	VERB
bracis-28413	118	4	on	on	ADP
bracis-28413	118	5	the	the	DET
bracis-28413	118	6	cpu	cpu	NOUN
bracis-28413	118	7	’s	’s	PART
bracis-28413	118	8	single	single	ADJ
bracis-28413	118	9	thread	thread	NOUN
bracis-28413	118	10	processing	processing	NOUN
bracis-28413	118	11	power	power	NOUN
bracis-28413	118	12	,	,	PUNCT
bracis-28413	118	13	being	be	AUX
bracis-28413	118	14	less	less	ADV
bracis-28413	118	15	suitable	suitable	ADJ
bracis-28413	118	16	for	for	ADP
bracis-28413	118	17	the	the	DET
bracis-28413	118	18	jetson	jetson	PROPN
bracis-28413	118	19	’s	’s	PART
bracis-28413	118	20	hardware	hardware	NOUN
bracis-28413	118	21	,	,	PUNCT
bracis-28413	118	22	see	see	VERB
bracis-28413	118	23	fig	fig	NOUN
bracis-28413	118	24	.	.	PUNCT
bracis-28413	118	25	 	 	SPACE
bracis-28413	118	26	10	10	NUM
bracis-28413	118	27	,	,	PUNCT
bracis-28413	118	28	so	so	CCONJ
bracis-28413	118	29	this	this	DET
bracis-28413	118	30	algorithm	algorithm	NOUN
bracis-28413	118	31	can	can	AUX
bracis-28413	118	32	be	be	AUX
bracis-28413	118	33	slower	slow	ADJ
bracis-28413	118	34	depending	depend	VERB
bracis-28413	118	35	in	in	ADP
bracis-28413	118	36	plant	plant	NOUN
bracis-28413	118	37	size	size	NOUN
bracis-28413	118	38	and	and	CCONJ
bracis-28413	118	39	shape	shape	NOUN
bracis-28413	118	40	while	while	SCONJ
bracis-28413	118	41	the	the	DET
bracis-28413	118	42	cnn	cnn	PROPN
bracis-28413	118	43	based	base	VERB
bracis-28413	118	44	algorithms	algorithm	NOUN
bracis-28413	118	45	does	do	AUX
bracis-28413	118	46	not	not	PART
bracis-28413	118	47	get	get	AUX
bracis-28413	118	48	influenced	influence	VERB
bracis-28413	118	49	by	by	ADP
bracis-28413	118	50	it	it	PRON
bracis-28413	118	51	.	.	PUNCT
bracis-28413	119	1	the	the	DET
bracis-28413	119	2	growth	growth	NOUN
bracis-28413	119	3	stage	stage	NOUN
bracis-28413	119	4	1	1	NUM
bracis-28413	119	5	and	and	CCONJ
bracis-28413	119	6	2	2	NUM
bracis-28413	119	7	,	,	PUNCT
bracis-28413	119	8	which	which	PRON
bracis-28413	119	9	has	have	VERB
bracis-28413	119	10	the	the	DET
bracis-28413	119	11	smaller	small	ADJ
bracis-28413	119	12	plants	plant	NOUN
bracis-28413	119	13	,	,	PUNCT
bracis-28413	119	14	had	have	VERB
bracis-28413	119	15	similar	similar	ADJ
bracis-28413	119	16	results	result	NOUN
bracis-28413	119	17	shown	show	VERB
bracis-28413	119	18	by	by	ADP
bracis-28413	119	19	fig	fig	NOUN
bracis-28413	119	20	.	.	PUNCT
bracis-28413	119	21	 	 	SPACE
bracis-28413	120	1	11	11	NUM
bracis-28413	120	2	growth	growth	NOUN
bracis-28413	120	3	stage	stage	NOUN
bracis-28413	120	4	1	1	NUM
bracis-28413	120	5	.	.	PUNCT
bracis-28413	120	6	also	also	ADV
bracis-28413	120	7	the	the	DET
bracis-28413	120	8	growth	growth	NOUN
bracis-28413	120	9	stage	stage	NOUN
bracis-28413	120	10	3	3	NUM
bracis-28413	120	11	and	and	CCONJ
bracis-28413	120	12	4	4	NUM
bracis-28413	120	13	with	with	ADP
bracis-28413	120	14	the	the	DET
bracis-28413	120	15	medium	medium	ADJ
bracis-28413	120	16	sized	sized	ADJ
bracis-28413	120	17	plants	plant	NOUN
bracis-28413	120	18	,	,	PUNCT
bracis-28413	120	19	fig	fig	NOUN
bracis-28413	120	20	.	.	PUNCT
bracis-28413	120	21	 	 	SPACE
bracis-28413	120	22	12	12	NUM
bracis-28413	120	23	,	,	PUNCT
bracis-28413	120	24	displayed	display	VERB
bracis-28413	120	25	similar	similar	ADJ
bracis-28413	120	26	traits	trait	NOUN
bracis-28413	120	27	.	.	PUNCT
bracis-28413	121	1	evaluating	evaluate	VERB
bracis-28413	121	2	the	the	DET
bracis-28413	121	3	robot	robot	NOUN
bracis-28413	121	4	’s	’s	PART
bracis-28413	121	5	position	position	NOUN
bracis-28413	121	6	inside	inside	ADP
bracis-28413	121	7	the	the	DET
bracis-28413	121	8	plantation	plantation	NOUN
bracis-28413	121	9	row	row	NOUN
bracis-28413	121	10	can	can	AUX
bracis-28413	121	11	assess	assess	VERB
bracis-28413	121	12	the	the	DET
bracis-28413	121	13	entire	entire	ADJ
bracis-28413	121	14	performance	performance	NOUN
bracis-28413	121	15	of	of	ADP
bracis-28413	121	16	the	the	DET
bracis-28413	121	17	system	system	NOUN
bracis-28413	121	18	,	,	PUNCT
bracis-28413	121	19	i.e.	i.e.	X
bracis-28413	121	20	model	model	NOUN
bracis-28413	121	21	and	and	CCONJ
bracis-28413	121	22	controller	controller	NOUN
bracis-28413	121	23	.	.	PUNCT
bracis-28413	122	1	figures	figure	NOUN
bracis-28413	122	2	 	 	SPACE
bracis-28413	122	3	11	11	NUM
bracis-28413	122	4	and	and	CCONJ
bracis-28413	122	5	12	12	NUM
bracis-28413	122	6	show	show	NOUN
bracis-28413	122	7	that	that	SCONJ
bracis-28413	122	8	only	only	ADV
bracis-28413	122	9	the	the	DET
bracis-28413	122	10	low	low	ADJ
bracis-28413	122	11	resolution	resolution	NOUN
bracis-28413	122	12	without	without	ADP
bracis-28413	122	13	auxiliary	auxiliary	ADJ
bracis-28413	122	14	task	task	NOUN
bracis-28413	122	15	model	model	NOUN
bracis-28413	122	16	got	get	VERB
bracis-28413	122	17	consistently	consistently	ADV
bracis-28413	122	18	bad	bad	ADJ
bracis-28413	122	19	results	result	NOUN
bracis-28413	122	20	while	while	SCONJ
bracis-28413	122	21	the	the	DET
bracis-28413	122	22	high	high	ADJ
bracis-28413	122	23	resolution	resolution	NOUN
bracis-28413	122	24	with	with	ADP
bracis-28413	122	25	auxiliary	auxiliary	ADJ
bracis-28413	122	26	task	task	NOUN
bracis-28413	122	27	got	get	VERB
bracis-28413	122	28	them	they	PRON
bracis-28413	122	29	only	only	ADV
bracis-28413	122	30	in	in	ADP
bracis-28413	122	31	the	the	DET
bracis-28413	122	32	growth	growth	NOUN
bracis-28413	122	33	stage	stage	NOUN
bracis-28413	122	34	1	1	NUM
bracis-28413	122	35	for	for	ADP
bracis-28413	122	36	the	the	DET
bracis-28413	122	37	top	top	ADJ
bracis-28413	122	38	camera	camera	NOUN
bracis-28413	122	39	.	.	PUNCT
bracis-28413	123	1	fig	fig	NOUN
bracis-28413	123	2	.	.	PUNCT
bracis-28413	124	1	10	10	NUM
bracis-28413	124	2	.	.	PUNCT
bracis-28413	124	3	processing	processing	NOUN
bracis-28413	124	4	time	time	NOUN
bracis-28413	124	5	for	for	ADP
bracis-28413	124	6	all	all	DET
bracis-28413	124	7	algorithms	algorithm	NOUN
bracis-28413	124	8	,	,	PUNCT
bracis-28413	124	9	from	from	ADP
bracis-28413	124	10	image	image	NOUN
bracis-28413	124	11	reception	reception	NOUN
bracis-28413	124	12	to	to	PART
bracis-28413	124	13	command	command	NOUN
bracis-28413	124	14	sent	send	VERB
bracis-28413	124	15	.	.	PUNCT
bracis-28413	125	1	the	the	DET
bracis-28413	125	2	multi	multi	NOUN
bracis-28413	125	3	-	-	ADJ
bracis-28413	125	4	roi	roi	NOUN
bracis-28413	125	5	is	be	AUX
bracis-28413	125	6	split	split	VERB
bracis-28413	125	7	for	for	ADP
bracis-28413	125	8	each	each	DET
bracis-28413	125	9	growth	growth	NOUN
bracis-28413	125	10	stage	stage	NOUN
bracis-28413	125	11	to	to	PART
bracis-28413	125	12	show	show	VERB
bracis-28413	125	13	the	the	DET
bracis-28413	125	14	speed	speed	NOUN
bracis-28413	125	15	decrease	decrease	NOUN
bracis-28413	125	16	observed	observe	VERB
bracis-28413	125	17	with	with	ADP
bracis-28413	125	18	bigger	big	ADJ
bracis-28413	125	19	plants	plant	NOUN
bracis-28413	125	20	full	full	ADJ
bracis-28413	125	21	size	size	NOUN
bracis-28413	125	22	image	image	NOUN
bracis-28413	125	23	fig	fig	NOUN
bracis-28413	125	24	.	.	PUNCT
bracis-28413	126	1	11	11	NUM
bracis-28413	126	2	.	.	X
bracis-28413	126	3	robot	robot	NOUN
bracis-28413	126	4	position	position	NOUN
bracis-28413	126	5	deviation	deviation	NOUN
bracis-28413	126	6	from	from	ADP
bracis-28413	126	7	the	the	DET
bracis-28413	126	8	center	center	NOUN
bracis-28413	126	9	of	of	ADP
bracis-28413	126	10	row	row	NOUN
bracis-28413	126	11	’s	’s	PART
bracis-28413	126	12	path	path	NOUN
bracis-28413	126	13	growing	grow	VERB
bracis-28413	126	14	stage	stage	NOUN
bracis-28413	126	15	1	1	NUM
bracis-28413	126	16	full	full	ADJ
bracis-28413	126	17	size	size	NOUN
bracis-28413	126	18	image	image	NOUN
bracis-28413	126	19	fig	fig	NOUN
bracis-28413	126	20	.	.	PUNCT
bracis-28413	127	1	12	12	NUM
bracis-28413	127	2	.	.	PUNCT
bracis-28413	128	1	robot	robot	NOUN
bracis-28413	128	2	position	position	NOUN
bracis-28413	128	3	deviation	deviation	NOUN
bracis-28413	128	4	from	from	ADP
bracis-28413	128	5	the	the	DET
bracis-28413	128	6	center	center	NOUN
bracis-28413	128	7	of	of	ADP
bracis-28413	128	8	row	row	NOUN
bracis-28413	128	9	’s	’s	PART
bracis-28413	128	10	path	path	NOUN
bracis-28413	128	11	growing	grow	VERB
bracis-28413	128	12	stage	stage	NOUN
bracis-28413	128	13	3	3	NUM
bracis-28413	128	14	full	full	ADJ
bracis-28413	128	15	size	size	NOUN
bracis-28413	128	16	image	image	NOUN
bracis-28413	128	17	figures	figure	NOUN
bracis-28413	128	18	 	 	SPACE
bracis-28413	128	19	12	12	NUM
bracis-28413	128	20	and	and	CCONJ
bracis-28413	128	21	13	13	NUM
bracis-28413	128	22	also	also	ADV
bracis-28413	128	23	display	display	VERB
bracis-28413	128	24	the	the	DET
bracis-28413	128	25	weaker	weak	ADJ
bracis-28413	128	26	result	result	NOUN
bracis-28413	128	27	of	of	ADP
bracis-28413	128	28	the	the	DET
bracis-28413	128	29	multi	multi	ADJ
bracis-28413	128	30	-	-	ADJ
bracis-28413	128	31	roi	roi	ADJ
bracis-28413	128	32	approach	approach	NOUN
bracis-28413	128	33	from	from	ADP
bracis-28413	128	34	growth	growth	NOUN
bracis-28413	128	35	stage	stage	NOUN
bracis-28413	128	36	3	3	NUM
bracis-28413	128	37	onward	onward	ADV
bracis-28413	128	38	,	,	PUNCT
bracis-28413	128	39	possibly	possibly	ADV
bracis-28413	128	40	due	due	ADP
bracis-28413	128	41	to	to	ADP
bracis-28413	128	42	the	the	DET
bracis-28413	128	43	high	high	ADJ
bracis-28413	128	44	processing	processing	NOUN
bracis-28413	128	45	time	time	NOUN
bracis-28413	128	46	needed	need	VERB
bracis-28413	128	47	and	and	CCONJ
bracis-28413	128	48	the	the	DET
bracis-28413	128	49	lack	lack	NOUN
bracis-28413	128	50	of	of	ADP
bracis-28413	128	51	soil	soil	NOUN
bracis-28413	128	52	visibility	visibility	NOUN
bracis-28413	128	53	.	.	PUNCT
bracis-28413	129	1	the	the	DET
bracis-28413	129	2	fifth	fifth	ADJ
bracis-28413	129	3	growth	growth	NOUN
bracis-28413	129	4	stage	stage	NOUN
bracis-28413	129	5	marks	mark	VERB
bracis-28413	129	6	failures	failure	NOUN
bracis-28413	129	7	for	for	ADP
bracis-28413	129	8	all	all	DET
bracis-28413	129	9	top	top	ADJ
bracis-28413	129	10	camera	camera	NOUN
bracis-28413	129	11	models	model	NOUN
bracis-28413	129	12	,	,	PUNCT
bracis-28413	129	13	while	while	SCONJ
bracis-28413	129	14	the	the	DET
bracis-28413	129	15	bottom	bottom	NOUN
bracis-28413	129	16	still	still	ADV
bracis-28413	129	17	has	have	VERB
bracis-28413	129	18	good	good	ADJ
bracis-28413	129	19	results	result	NOUN
bracis-28413	129	20	,	,	PUNCT
bracis-28413	129	21	in	in	ADP
bracis-28413	129	22	line	line	NOUN
bracis-28413	129	23	with	with	ADP
bracis-28413	129	24	the	the	DET
bracis-28413	129	25	previous	previous	ADJ
bracis-28413	129	26	scenarios	scenario	NOUN
bracis-28413	129	27	,	,	PUNCT
bracis-28413	129	28	see	see	VERB
bracis-28413	129	29	fig	fig	NOUN
bracis-28413	129	30	.	.	PUNCT
bracis-28413	129	31	 	 	SPACE
bracis-28413	130	1	13	13	NUM
bracis-28413	130	2	.	.	PUNCT
bracis-28413	130	3	fig	fig	NOUN
bracis-28413	130	4	.	.	PUNCT
bracis-28413	131	1	13	13	NUM
bracis-28413	131	2	.	.	X
bracis-28413	131	3	robot	robot	NOUN
bracis-28413	131	4	position	position	NOUN
bracis-28413	131	5	deviation	deviation	NOUN
bracis-28413	131	6	from	from	ADP
bracis-28413	131	7	the	the	DET
bracis-28413	131	8	center	center	NOUN
bracis-28413	131	9	of	of	ADP
bracis-28413	131	10	row	row	NOUN
bracis-28413	131	11	’s	’s	PART
bracis-28413	131	12	path	path	NOUN
bracis-28413	131	13	growing	grow	VERB
bracis-28413	131	14	stage	stage	NOUN
bracis-28413	131	15	5	5	NUM
bracis-28413	131	16	full	full	ADJ
bracis-28413	131	17	size	size	NOUN
bracis-28413	131	18	image	image	NOUN
bracis-28413	131	19	as	as	SCONJ
bracis-28413	131	20	such	such	ADJ
bracis-28413	131	21	we	we	PRON
bracis-28413	131	22	can	can	AUX
bracis-28413	131	23	conclude	conclude	VERB
bracis-28413	131	24	that	that	SCONJ
bracis-28413	131	25	the	the	DET
bracis-28413	131	26	bottom	bottom	ADJ
bracis-28413	131	27	camera	camera	NOUN
bracis-28413	131	28	is	be	AUX
bracis-28413	131	29	better	well	ADV
bracis-28413	131	30	suited	suited	ADJ
bracis-28413	131	31	to	to	ADP
bracis-28413	131	32	this	this	DET
bracis-28413	131	33	dense	dense	ADJ
bracis-28413	131	34	environment	environment	NOUN
bracis-28413	131	35	,	,	PUNCT
bracis-28413	131	36	with	with	ADP
bracis-28413	131	37	the	the	DET
bracis-28413	131	38	medium	medium	ADJ
bracis-28413	131	39	and	and	CCONJ
bracis-28413	131	40	high	high	ADJ
bracis-28413	131	41	resolution	resolution	NOUN
bracis-28413	131	42	displaying	display	VERB
bracis-28413	131	43	the	the	DET
bracis-28413	131	44	best	good	ADJ
bracis-28413	131	45	results	result	NOUN
bracis-28413	131	46	.	.	PUNCT
bracis-28413	132	1	6	6	NUM
bracis-28413	132	2	discussion	discussion	NOUN
bracis-28413	132	3	the	the	DET
bracis-28413	132	4	proposed	propose	VERB
bracis-28413	132	5	approaches	approach	NOUN
bracis-28413	132	6	displayed	display	VERB
bracis-28413	132	7	good	good	ADJ
bracis-28413	132	8	results	result	NOUN
bracis-28413	132	9	in	in	ADP
bracis-28413	132	10	the	the	DET
bracis-28413	132	11	simulation	simulation	NOUN
bracis-28413	132	12	,	,	PUNCT
bracis-28413	132	13	in	in	ADP
bracis-28413	132	14	special	special	ADJ
bracis-28413	132	15	the	the	DET
bracis-28413	132	16	medium	medium	ADJ
bracis-28413	132	17	resolution	resolution	NOUN
bracis-28413	132	18	,	,	PUNCT
bracis-28413	132	19	which	which	PRON
bracis-28413	132	20	was	be	AUX
bracis-28413	132	21	the	the	DET
bracis-28413	132	22	most	most	ADV
bracis-28413	132	23	consistent	consistent	ADJ
bracis-28413	132	24	.	.	PUNCT
bracis-28413	133	1	meanwhile	meanwhile	ADV
bracis-28413	133	2	,	,	PUNCT
bracis-28413	133	3	the	the	DET
bracis-28413	133	4	auxiliary	auxiliary	ADJ
bracis-28413	133	5	task	task	NOUN
bracis-28413	133	6	showed	show	VERB
bracis-28413	133	7	potential	potential	ADJ
bracis-28413	133	8	,	,	PUNCT
bracis-28413	133	9	improving	improve	VERB
bracis-28413	133	10	results	result	NOUN
bracis-28413	133	11	for	for	ADP
bracis-28413	133	12	the	the	DET
bracis-28413	133	13	small	small	ADJ
bracis-28413	133	14	and	and	CCONJ
bracis-28413	133	15	medium	medium	ADJ
bracis-28413	133	16	resolution	resolution	NOUN
bracis-28413	133	17	,	,	PUNCT
bracis-28413	133	18	but	but	CCONJ
bracis-28413	133	19	with	with	ADP
bracis-28413	133	20	problems	problem	NOUN
bracis-28413	133	21	at	at	ADP
bracis-28413	133	22	the	the	DET
bracis-28413	133	23	highest	high	ADJ
bracis-28413	133	24	.	.	PUNCT
bracis-28413	134	1	overall	overall	ADJ
bracis-28413	134	2	,	,	PUNCT
bracis-28413	134	3	with	with	ADP
bracis-28413	134	4	those	those	DET
bracis-28413	134	5	datasets	dataset	NOUN
bracis-28413	134	6	and	and	CCONJ
bracis-28413	134	7	this	this	DET
bracis-28413	134	8	simulated	simulated	ADJ
bracis-28413	134	9	environment	environment	NOUN
bracis-28413	134	10	,	,	PUNCT
bracis-28413	134	11	the	the	DET
bracis-28413	134	12	medium	medium	ADJ
bracis-28413	134	13	resolution	resolution	NOUN
bracis-28413	134	14	with	with	ADP
bracis-28413	134	15	auxiliary	auxiliary	ADJ
bracis-28413	134	16	task	task	NOUN
bracis-28413	134	17	had	have	VERB
bracis-28413	134	18	the	the	DET
bracis-28413	134	19	best	good	ADJ
bracis-28413	134	20	performance	performance	NOUN
bracis-28413	134	21	,	,	PUNCT
bracis-28413	134	22	followed	follow	VERB
bracis-28413	134	23	closely	closely	ADV
bracis-28413	134	24	by	by	ADP
bracis-28413	134	25	the	the	DET
bracis-28413	134	26	medium	medium	ADJ
bracis-28413	134	27	and	and	CCONJ
bracis-28413	134	28	high	high	ADJ
bracis-28413	134	29	resolutions	resolution	NOUN
bracis-28413	134	30	without	without	ADP
bracis-28413	134	31	the	the	DET
bracis-28413	134	32	auxiliary	auxiliary	ADJ
bracis-28413	134	33	task	task	NOUN
bracis-28413	134	34	.	.	PUNCT
bracis-28413	135	1	the	the	DET
bracis-28413	135	2	camera	camera	NOUN
bracis-28413	135	3	near	near	ADP
bracis-28413	135	4	the	the	DET
bracis-28413	135	5	ground	ground	NOUN
bracis-28413	135	6	delivered	deliver	VERB
bracis-28413	135	7	comparable	comparable	ADJ
bracis-28413	135	8	results	result	NOUN
bracis-28413	135	9	to	to	ADP
bracis-28413	135	10	the	the	DET
bracis-28413	135	11	top	top	ADJ
bracis-28413	135	12	camera	camera	NOUN
bracis-28413	135	13	in	in	ADP
bracis-28413	135	14	most	most	ADJ
bracis-28413	135	15	scenarios	scenario	NOUN
bracis-28413	135	16	and	and	CCONJ
bracis-28413	135	17	excellent	excellent	ADJ
bracis-28413	135	18	ones	one	NOUN
bracis-28413	135	19	when	when	SCONJ
bracis-28413	135	20	the	the	DET
bracis-28413	135	21	ground	ground	NOUN
bracis-28413	135	22	was	be	AUX
bracis-28413	135	23	occluded	occlude	VERB
bracis-28413	135	24	by	by	ADP
bracis-28413	135	25	the	the	DET
bracis-28413	135	26	plant	plant	NOUN
bracis-28413	135	27	leaves	leave	VERB
bracis-28413	135	28	.	.	PUNCT
bracis-28413	136	1	the	the	DET
bracis-28413	136	2	tunnel	tunnel	NOUN
bracis-28413	136	3	formed	form	VERB
bracis-28413	136	4	was	be	AUX
bracis-28413	136	5	enough	enough	ADJ
bracis-28413	136	6	to	to	PART
bracis-28413	136	7	guide	guide	VERB
bracis-28413	136	8	the	the	DET
bracis-28413	136	9	robot	robot	NOUN
bracis-28413	136	10	during	during	ADP
bracis-28413	136	11	the	the	DET
bracis-28413	136	12	simulations	simulation	NOUN
bracis-28413	136	13	,	,	PUNCT
bracis-28413	136	14	but	but	CCONJ
bracis-28413	136	15	tests	test	NOUN
bracis-28413	136	16	with	with	ADP
bracis-28413	136	17	objects	object	NOUN
bracis-28413	136	18	and	and	CCONJ
bracis-28413	136	19	grass	grass	NOUN
bracis-28413	136	20	on	on	ADP
bracis-28413	136	21	the	the	DET
bracis-28413	136	22	robot	robot	NOUN
bracis-28413	136	23	’s	’s	PART
bracis-28413	136	24	path	path	NOUN
bracis-28413	136	25	need	need	VERB
bracis-28413	136	26	to	to	PART
bracis-28413	136	27	be	be	AUX
bracis-28413	136	28	evaluated	evaluate	VERB
bracis-28413	136	29	.	.	PUNCT
bracis-28413	137	1	also	also	ADV
bracis-28413	137	2	,	,	PUNCT
bracis-28413	137	3	tests	test	NOUN
bracis-28413	137	4	in	in	ADP
bracis-28413	137	5	a	a	DET
bracis-28413	137	6	real	real	ADJ
bracis-28413	137	7	environment	environment	NOUN
bracis-28413	137	8	would	would	AUX
bracis-28413	137	9	improve	improve	VERB
bracis-28413	137	10	the	the	DET
bracis-28413	137	11	dataset	dataset	NOUN
bracis-28413	137	12	and	and	CCONJ
bracis-28413	137	13	test	test	VERB
bracis-28413	137	14	the	the	DET
bracis-28413	137	15	model	model	NOUN
bracis-28413	137	16	’s	’s	PART
bracis-28413	137	17	true	true	ADJ
bracis-28413	137	18	capabilities	capability	NOUN
bracis-28413	137	19	.	.	PUNCT
bracis-28413	138	1	it	it	PRON
bracis-28413	138	2	is	be	AUX
bracis-28413	138	3	important	important	ADJ
bracis-28413	138	4	to	to	PART
bracis-28413	138	5	note	note	VERB
bracis-28413	138	6	that	that	SCONJ
bracis-28413	138	7	the	the	DET
bracis-28413	138	8	controllers	controller	NOUN
bracis-28413	138	9	used	use	VERB
bracis-28413	138	10	in	in	ADP
bracis-28413	138	11	this	this	DET
bracis-28413	138	12	work	work	NOUN
bracis-28413	138	13	were	be	AUX
bracis-28413	138	14	not	not	PART
bracis-28413	138	15	modified	modify	VERB
bracis-28413	138	16	from	from	ADP
bracis-28413	138	17	those	those	PRON
bracis-28413	138	18	already	already	ADV
bracis-28413	138	19	in	in	ADP
bracis-28413	138	20	place	place	NOUN
bracis-28413	138	21	in	in	ADP
bracis-28413	138	22	the	the	DET
bracis-28413	138	23	robot	robot	NOUN
bracis-28413	138	24	.	.	PUNCT
bracis-28413	139	1	however	however	ADV
bracis-28413	139	2	,	,	PUNCT
bracis-28413	139	3	with	with	ADP
bracis-28413	139	4	the	the	DET
bracis-28413	139	5	developed	develop	VERB
bracis-28413	139	6	simulation	simulation	NOUN
bracis-28413	139	7	environment	environment	NOUN
bracis-28413	139	8	other	other	ADJ
bracis-28413	139	9	techniques	technique	NOUN
bracis-28413	139	10	could	could	AUX
bracis-28413	139	11	be	be	AUX
bracis-28413	139	12	applied	apply	VERB
bracis-28413	139	13	to	to	PART
bracis-28413	139	14	better	well	ADV
bracis-28413	139	15	actuate	actuate	VERB
bracis-28413	139	16	the	the	DET
bracis-28413	139	17	robot	robot	NOUN
bracis-28413	139	18	with	with	ADP
bracis-28413	139	19	the	the	DET
bracis-28413	139	20	given	give	VERB
bracis-28413	139	21	line	line	NOUN
bracis-28413	139	22	from	from	ADP
bracis-28413	139	23	the	the	DET
bracis-28413	139	24	network	network	NOUN
bracis-28413	139	25	.	.	PUNCT
bracis-28413	140	1	jesus	jesus	PROPN
bracis-28413	140	2	et	et	PROPN
bracis-28413	140	3	al	al	PROPN
bracis-28413	140	4	.	.	PUNCT
bracis-28413	141	1	[	[	X
bracis-28413	141	2	16	16	NUM
bracis-28413	141	3	]	]	PUNCT
bracis-28413	141	4	proposed	propose	VERB
bracis-28413	141	5	a	a	DET
bracis-28413	141	6	method	method	NOUN
bracis-28413	141	7	leveraging	leverage	VERB
bracis-28413	141	8	reinforcement	reinforcement	NOUN
bracis-28413	141	9	learning	learning	NOUN
bracis-28413	141	10	to	to	PART
bracis-28413	141	11	navigate	navigate	VERB
bracis-28413	141	12	an	an	DET
bracis-28413	141	13	indoor	indoor	ADJ
bracis-28413	141	14	area	area	NOUN
bracis-28413	141	15	,	,	PUNCT
bracis-28413	141	16	reaching	reach	VERB
bracis-28413	141	17	goals	goal	NOUN
bracis-28413	141	18	without	without	ADP
bracis-28413	141	19	hitting	hit	VERB
bracis-28413	141	20	obstacles	obstacle	NOUN
bracis-28413	141	21	.	.	PUNCT
bracis-28413	142	1	the	the	DET
bracis-28413	142	2	same	same	ADJ
bracis-28413	142	3	kind	kind	NOUN
bracis-28413	142	4	of	of	ADP
bracis-28413	142	5	controller	controller	NOUN
bracis-28413	142	6	could	could	AUX
bracis-28413	142	7	be	be	AUX
bracis-28413	142	8	used	use	VERB
bracis-28413	142	9	in	in	ADP
bracis-28413	142	10	our	our	PRON
bracis-28413	142	11	work	work	NOUN
bracis-28413	142	12	,	,	PUNCT
bracis-28413	142	13	with	with	ADP
bracis-28413	142	14	the	the	DET
bracis-28413	142	15	line	line	NOUN
bracis-28413	142	16	being	be	AUX
bracis-28413	142	17	used	use	VERB
bracis-28413	142	18	as	as	ADP
bracis-28413	142	19	input	input	NOUN
bracis-28413	142	20	to	to	ADP
bracis-28413	142	21	the	the	DET
bracis-28413	142	22	controller	controller	NOUN
bracis-28413	142	23	agent	agent	NOUN
bracis-28413	142	24	.	.	PUNCT
bracis-28413	143	1	7	7	NUM
bracis-28413	143	2	conclusion	conclusion	NOUN
bracis-28413	143	3	we	we	PRON
bracis-28413	143	4	presented	present	VERB
bracis-28413	143	5	a	a	DET
bracis-28413	143	6	neural	neural	ADJ
bracis-28413	143	7	network	network	NOUN
bracis-28413	143	8	model	model	NOUN
bracis-28413	143	9	to	to	PART
bracis-28413	143	10	extract	extract	VERB
bracis-28413	143	11	crop	crop	NOUN
bracis-28413	143	12	lines	line	NOUN
bracis-28413	143	13	from	from	ADP
bracis-28413	143	14	rgb	rgb	PROPN
bracis-28413	143	15	images	image	NOUN
bracis-28413	143	16	.	.	PUNCT
bracis-28413	144	1	the	the	DET
bracis-28413	144	2	network	network	NOUN
bracis-28413	144	3	input	input	NOUN
bracis-28413	144	4	can	can	AUX
bracis-28413	144	5	be	be	AUX
bracis-28413	144	6	taken	take	VERB
bracis-28413	144	7	from	from	ADP
bracis-28413	144	8	either	either	CCONJ
bracis-28413	144	9	a	a	DET
bracis-28413	144	10	top	top	NOUN
bracis-28413	144	11	or	or	CCONJ
bracis-28413	144	12	a	a	DET
bracis-28413	144	13	bottom	bottom	ADJ
bracis-28413	144	14	camera	camera	NOUN
bracis-28413	144	15	,	,	PUNCT
bracis-28413	144	16	and	and	CCONJ
bracis-28413	144	17	the	the	DET
bracis-28413	144	18	loss	loss	NOUN
bracis-28413	144	19	function	function	NOUN
bracis-28413	144	20	was	be	AUX
bracis-28413	144	21	augmented	augment	VERB
bracis-28413	144	22	with	with	ADP
bracis-28413	144	23	an	an	DET
bracis-28413	144	24	auxiliary	auxiliary	ADJ
bracis-28413	144	25	segmentation	segmentation	NOUN
bracis-28413	144	26	task	task	NOUN
bracis-28413	144	27	.	.	PUNCT
bracis-28413	145	1	with	with	SCONJ
bracis-28413	145	2	the	the	DET
bracis-28413	145	3	simulated	simulate	VERB
bracis-28413	145	4	environment	environment	NOUN
bracis-28413	145	5	created	create	VERB
bracis-28413	145	6	,	,	PUNCT
bracis-28413	145	7	the	the	DET
bracis-28413	145	8	top	top	NOUN
bracis-28413	145	9	and	and	CCONJ
bracis-28413	145	10	the	the	DET
bracis-28413	145	11	bottom	bottom	ADJ
bracis-28413	145	12	cameras	camera	NOUN
bracis-28413	145	13	were	be	AUX
bracis-28413	145	14	evaluated	evaluate	VERB
bracis-28413	145	15	in	in	ADP
bracis-28413	145	16	three	three	NUM
bracis-28413	145	17	image	image	NOUN
bracis-28413	145	18	resolutions	resolution	NOUN
bracis-28413	145	19	with	with	ADP
bracis-28413	145	20	and	and	CCONJ
bracis-28413	145	21	without	without	ADP
bracis-28413	145	22	the	the	DET
bracis-28413	145	23	auxiliary	auxiliary	ADJ
bracis-28413	145	24	task	task	NOUN
bracis-28413	145	25	proposed	propose	VERB
bracis-28413	145	26	.	.	PUNCT
bracis-28413	146	1	all	all	DET
bracis-28413	146	2	networks	network	NOUN
bracis-28413	146	3	configurations	configuration	NOUN
bracis-28413	146	4	trained	train	VERB
bracis-28413	146	5	successfully	successfully	ADV
bracis-28413	146	6	and	and	CCONJ
bracis-28413	146	7	were	be	AUX
bracis-28413	146	8	able	able	ADJ
bracis-28413	146	9	to	to	PART
bracis-28413	146	10	guide	guide	VERB
bracis-28413	146	11	the	the	DET
bracis-28413	146	12	robot	robot	NOUN
bracis-28413	146	13	in	in	ADP
bracis-28413	146	14	the	the	DET
bracis-28413	146	15	simulation	simulation	NOUN
bracis-28413	146	16	with	with	ADP
bracis-28413	146	17	varying	vary	VERB
bracis-28413	146	18	degrees	degree	NOUN
bracis-28413	146	19	of	of	ADP
bracis-28413	146	20	success	success	NOUN
bracis-28413	146	21	while	while	SCONJ
bracis-28413	146	22	using	use	VERB
bracis-28413	146	23	the	the	DET
bracis-28413	146	24	data	datum	NOUN
bracis-28413	146	25	set	set	VERB
bracis-28413	146	26	created	create	VERB
bracis-28413	146	27	with	with	ADP
bracis-28413	146	28	the	the	DET
bracis-28413	146	29	built	build	VERB
bracis-28413	146	30	environment	environment	NOUN
bracis-28413	146	31	.	.	PUNCT
bracis-28413	147	1	when	when	SCONJ
bracis-28413	147	2	assessing	assess	VERB
bracis-28413	147	3	the	the	DET
bracis-28413	147	4	overall	overall	ADJ
bracis-28413	147	5	performance	performance	NOUN
bracis-28413	147	6	of	of	ADP
bracis-28413	147	7	the	the	DET
bracis-28413	147	8	entire	entire	ADJ
bracis-28413	147	9	system	system	NOUN
bracis-28413	147	10	,	,	PUNCT
bracis-28413	147	11	both	both	CCONJ
bracis-28413	147	12	the	the	DET
bracis-28413	147	13	top	top	ADJ
bracis-28413	147	14	and	and	CCONJ
bracis-28413	147	15	bottom	bottom	ADJ
bracis-28413	147	16	cameras	camera	NOUN
bracis-28413	147	17	achieved	achieve	VERB
bracis-28413	147	18	less	less	ADJ
bracis-28413	147	19	than	than	ADP
bracis-28413	147	20	50	50	NUM
bracis-28413	147	21	 	 	SPACE
bracis-28413	147	22	mm	mm	NOUN
bracis-28413	147	23	of	of	ADP
bracis-28413	147	24	deviation	deviation	NOUN
bracis-28413	147	25	from	from	ADP
bracis-28413	147	26	the	the	DET
bracis-28413	147	27	center	center	NOUN
bracis-28413	147	28	of	of	ADP
bracis-28413	147	29	the	the	DET
bracis-28413	147	30	path	path	NOUN
bracis-28413	147	31	in	in	ADP
bracis-28413	147	32	all	all	PRON
bracis-28413	147	33	but	but	SCONJ
bracis-28413	147	34	one	one	NUM
bracis-28413	147	35	configuration	configuration	NOUN
bracis-28413	147	36	in	in	ADP
bracis-28413	147	37	the	the	DET
bracis-28413	147	38	first	first	ADJ
bracis-28413	147	39	four	four	NUM
bracis-28413	147	40	growth	growth	NOUN
bracis-28413	147	41	stages	stage	NOUN
bracis-28413	147	42	.	.	PUNCT
bracis-28413	148	1	however	however	ADV
bracis-28413	148	2	,	,	PUNCT
bracis-28413	148	3	the	the	DET
bracis-28413	148	4	fifth	fifth	ADJ
bracis-28413	148	5	growth	growth	NOUN
bracis-28413	148	6	stage	stage	NOUN
bracis-28413	148	7	resulted	result	VERB
bracis-28413	148	8	in	in	ADP
bracis-28413	148	9	failures	failure	NOUN
bracis-28413	148	10	for	for	ADP
bracis-28413	148	11	all	all	DET
bracis-28413	148	12	top	top	ADJ
bracis-28413	148	13	configurations	configuration	NOUN
bracis-28413	148	14	,	,	PUNCT
bracis-28413	148	15	with	with	ADP
bracis-28413	148	16	errors	error	NOUN
bracis-28413	148	17	exceeding	exceed	VERB
bracis-28413	148	18	90	90	NUM
bracis-28413	148	19	 	 	SPACE
bracis-28413	148	20	mm	mm	NOUN
bracis-28413	148	21	for	for	ADP
bracis-28413	148	22	most	most	ADJ
bracis-28413	148	23	configurations	configuration	NOUN
bracis-28413	148	24	,	,	PUNCT
bracis-28413	148	25	while	while	SCONJ
bracis-28413	148	26	the	the	DET
bracis-28413	148	27	bottom	bottom	ADJ
bracis-28413	148	28	camera	camera	NOUN
bracis-28413	148	29	remained	remain	VERB
bracis-28413	148	30	below	below	ADP
bracis-28413	148	31	50	50	NUM
bracis-28413	148	32	 	 	SPACE
bracis-28413	148	33	mm	mm	NOUN
bracis-28413	148	34	.	.	PUNCT
bracis-28413	149	1	the	the	DET
bracis-28413	149	2	processing	processing	NOUN
bracis-28413	149	3	time	time	NOUN
bracis-28413	149	4	of	of	ADP
bracis-28413	149	5	all	all	DET
bracis-28413	149	6	configurations	configuration	NOUN
bracis-28413	149	7	kept	keep	VERB
bracis-28413	149	8	below	below	ADP
bracis-28413	149	9	70	70	NUM
bracis-28413	149	10	 	 	SPACE
bracis-28413	149	11	ms	ms	NOUN
bracis-28413	149	12	,	,	PUNCT
bracis-28413	149	13	notably	notably	ADV
bracis-28413	149	14	the	the	DET
bracis-28413	149	15	medium	medium	ADJ
bracis-28413	149	16	resolution	resolution	NOUN
bracis-28413	149	17	which	which	PRON
bracis-28413	149	18	kept	keep	VERB
bracis-28413	149	19	between	between	ADP
bracis-28413	149	20	30	30	NUM
bracis-28413	149	21	and	and	CCONJ
bracis-28413	149	22	40	40	NUM
bracis-28413	149	23	 	 	SPACE
bracis-28413	149	24	ms	ms	NOUN
bracis-28413	149	25	,	,	PUNCT
bracis-28413	149	26	comparable	comparable	ADJ
bracis-28413	149	27	to	to	ADP
bracis-28413	149	28	the	the	DET
bracis-28413	149	29	low	low	ADJ
bracis-28413	149	30	resolution	resolution	NOUN
bracis-28413	149	31	model	model	NOUN
bracis-28413	149	32	.	.	PUNCT
bracis-28413	150	1	the	the	DET
bracis-28413	150	2	auxiliary	auxiliary	ADJ
bracis-28413	150	3	task	task	PROPN
bracis-28413	150	4	had	have	VERB
bracis-28413	150	5	a	a	DET
bracis-28413	150	6	positive	positive	ADJ
bracis-28413	150	7	impact	impact	NOUN
bracis-28413	150	8	on	on	ADP
bracis-28413	150	9	medium	medium	ADJ
bracis-28413	150	10	and	and	CCONJ
bracis-28413	150	11	low	low	ADJ
bracis-28413	150	12	resolutions	resolution	NOUN
bracis-28413	150	13	but	but	CCONJ
bracis-28413	150	14	negatively	negatively	ADV
bracis-28413	150	15	impacted	impact	VERB
bracis-28413	150	16	the	the	DET
bracis-28413	150	17	high	high	ADJ
bracis-28413	150	18	resolution	resolution	NOUN
bracis-28413	150	19	configuration	configuration	NOUN
bracis-28413	150	20	.	.	PUNCT
bracis-28413	151	1	the	the	DET
bracis-28413	151	2	bottom	bottom	ADJ
bracis-28413	151	3	camera	camera	NOUN
bracis-28413	151	4	approach	approach	NOUN
bracis-28413	151	5	is	be	AUX
bracis-28413	151	6	beneficial	beneficial	ADJ
bracis-28413	151	7	to	to	ADP
bracis-28413	151	8	scenarios	scenario	NOUN
bracis-28413	151	9	were	be	AUX
bracis-28413	151	10	the	the	DET
bracis-28413	151	11	ground	ground	NOUN
bracis-28413	151	12	is	be	AUX
bracis-28413	151	13	mostly	mostly	ADV
bracis-28413	151	14	occluded	occlude	VERB
bracis-28413	151	15	by	by	ADP
bracis-28413	151	16	dense	dense	ADJ
bracis-28413	151	17	foliage	foliage	NOUN
bracis-28413	151	18	,	,	PUNCT
bracis-28413	151	19	but	but	CCONJ
bracis-28413	151	20	can	can	AUX
bracis-28413	151	21	have	have	VERB
bracis-28413	151	22	issues	issue	NOUN
bracis-28413	151	23	in	in	ADP
bracis-28413	151	24	some	some	DET
bracis-28413	151	25	configurations	configuration	NOUN
bracis-28413	151	26	containing	contain	VERB
bracis-28413	151	27	smaller	small	ADJ
bracis-28413	151	28	plants	plant	NOUN
bracis-28413	151	29	.	.	PUNCT
bracis-28413	152	1	with	with	SCONJ
bracis-28413	152	2	the	the	DET
bracis-28413	152	3	gpu	gpu	NOUN
bracis-28413	152	4	computing	computing	NOUN
bracis-28413	152	5	performance	performance	NOUN
bracis-28413	152	6	available	available	ADJ
bracis-28413	152	7	,	,	PUNCT
bracis-28413	152	8	a	a	DET
bracis-28413	152	9	fully	fully	ADV
bracis-28413	152	10	integrated	integrate	VERB
bracis-28413	152	11	model	model	NOUN
bracis-28413	152	12	could	could	AUX
bracis-28413	152	13	be	be	AUX
bracis-28413	152	14	feasible	feasible	ADJ
bracis-28413	152	15	.	.	PUNCT
bracis-28413	153	1	this	this	DET
bracis-28413	153	2	way	way	NOUN
bracis-28413	153	3	,	,	PUNCT
bracis-28413	153	4	the	the	DET
bracis-28413	153	5	best	good	ADJ
bracis-28413	153	6	camera	camera	NOUN
bracis-28413	153	7	for	for	ADP
bracis-28413	153	8	each	each	DET
bracis-28413	153	9	situation	situation	NOUN
bracis-28413	153	10	would	would	AUX
bracis-28413	153	11	not	not	PART
bracis-28413	153	12	need	need	VERB
bracis-28413	153	13	to	to	PART
bracis-28413	153	14	be	be	AUX
bracis-28413	153	15	chosen	choose	VERB
bracis-28413	153	16	,	,	PUNCT
bracis-28413	153	17	as	as	SCONJ
bracis-28413	153	18	both	both	DET
bracis-28413	153	19	cameras	camera	NOUN
bracis-28413	153	20	could	could	AUX
bracis-28413	153	21	feed	feed	VERB
bracis-28413	153	22	directly	directly	ADV
bracis-28413	153	23	into	into	ADP
bracis-28413	153	24	the	the	DET
bracis-28413	153	25	model	model	NOUN
bracis-28413	153	26	,	,	PUNCT
bracis-28413	153	27	combining	combine	VERB
bracis-28413	153	28	channel	channel	NOUN
bracis-28413	153	29	wise	wise	ADJ
bracis-28413	153	30	or	or	CCONJ
bracis-28413	153	31	just	just	ADV
bracis-28413	153	32	as	as	ADP
bracis-28413	153	33	a	a	DET
bracis-28413	153	34	larger	large	ADJ
bracis-28413	153	35	image	image	NOUN
bracis-28413	153	36	.	.	PUNCT
bracis-28413	154	1	other	other	ADJ
bracis-28413	154	2	types	type	NOUN
bracis-28413	154	3	of	of	ADP
bracis-28413	154	4	cameras	camera	NOUN
bracis-28413	154	5	,	,	PUNCT
bracis-28413	154	6	such	such	ADJ
bracis-28413	154	7	as	as	ADP
bracis-28413	154	8	thermal	thermal	ADJ
bracis-28413	154	9	or	or	CCONJ
bracis-28413	154	10	rgb	rgb	PROPN
bracis-28413	154	11	-	-	PROPN
bracis-28413	154	12	d	d	PROPN
bracis-28413	154	13	,	,	PUNCT
bracis-28413	154	14	can	can	AUX
bracis-28413	154	15	be	be	AUX
bracis-28413	154	16	evaluated	evaluate	VERB
bracis-28413	154	17	to	to	PART
bracis-28413	154	18	take	take	VERB
bracis-28413	154	19	advantage	advantage	NOUN
bracis-28413	154	20	of	of	ADP
bracis-28413	154	21	ground	ground	NOUN
bracis-28413	154	22	’s	’s	PART
bracis-28413	154	23	temperature	temperature	NOUN
bracis-28413	154	24	as	as	SCONJ
bracis-28413	154	25	it	it	PRON
bracis-28413	154	26	is	be	AUX
bracis-28413	154	27	occluded	occlude	VERB
bracis-28413	154	28	by	by	ADP
bracis-28413	154	29	bigger	big	ADJ
bracis-28413	154	30	plants	plant	NOUN
bracis-28413	154	31	or	or	CCONJ
bracis-28413	154	32	the	the	DET
bracis-28413	154	33	depth	depth	NOUN
bracis-28413	154	34	perception	perception	NOUN
bracis-28413	154	35	possible	possible	ADJ
bracis-28413	154	36	due	due	ADP
bracis-28413	154	37	to	to	ADP
bracis-28413	154	38	the	the	DET
bracis-28413	154	39	tunnel	tunnel	NOUN
bracis-28413	154	40	seen	see	VERB
bracis-28413	154	41	by	by	ADP
bracis-28413	154	42	the	the	DET
bracis-28413	154	43	bottom	bottom	ADJ
bracis-28413	154	44	camera	camera	NOUN
bracis-28413	154	45	.	.	PUNCT
bracis-28413	155	1	other	other	ADJ
bracis-28413	155	2	types	type	NOUN
bracis-28413	155	3	of	of	ADP
bracis-28413	155	4	network	network	NOUN
bracis-28413	155	5	models	model	NOUN
bracis-28413	155	6	could	could	AUX
bracis-28413	155	7	also	also	ADV
bracis-28413	155	8	be	be	AUX
bracis-28413	155	9	evaluated	evaluate	VERB
bracis-28413	155	10	,	,	PUNCT
bracis-28413	155	11	both	both	PRON
bracis-28413	155	12	for	for	SCONJ
bracis-28413	155	13	the	the	DET
bracis-28413	155	14	line	line	NOUN
bracis-28413	155	15	head	head	NOUN
bracis-28413	155	16	and	and	CCONJ
bracis-28413	155	17	for	for	ADP
bracis-28413	155	18	the	the	DET
bracis-28413	155	19	auxiliary	auxiliary	ADJ
bracis-28413	155	20	task	task	NOUN
bracis-28413	155	21	used	use	VERB
bracis-28413	155	22	.	.	PUNCT
bracis-28413	156	1	references	reference	NOUN
bracis-28413	156	2	ahmadi	ahmadi	PROPN
bracis-28413	156	3	,	,	PUNCT
bracis-28413	156	4	a.	a.	PROPN
bracis-28413	156	5	,	,	PUNCT
bracis-28413	156	6	nardi	nardi	PROPN
bracis-28413	156	7	,	,	PUNCT
bracis-28413	156	8	l.	l.	PROPN
bracis-28413	156	9	,	,	PUNCT
bracis-28413	156	10	chebrolu	chebrolu	PROPN
bracis-28413	156	11	,	,	PUNCT
bracis-28413	156	12	n.	n.	NOUN
bracis-28413	156	13	,	,	PUNCT
bracis-28413	156	14	stachniss	stachniss	NOUN
bracis-28413	156	15	,	,	PUNCT
bracis-28413	156	16	c.	c.	NOUN
bracis-28413	156	17	:	:	PUNCT
bracis-28413	156	18	visual	visual	ADJ
bracis-28413	156	19	servoing	servoing	NOUN
bracis-28413	156	20	-	-	PUNCT
bracis-28413	156	21	based	base	VERB
bracis-28413	156	22	navigation	navigation	NOUN
bracis-28413	156	23	for	for	ADP
bracis-28413	156	24	monitoring	monitor	VERB
bracis-28413	156	25	row	row	NOUN
bracis-28413	156	26	-	-	PUNCT
bracis-28413	156	27	crop	crop	NOUN
bracis-28413	156	28	fields	field	NOUN
bracis-28413	156	29	.	.	PUNCT
bracis-28413	157	1	in	in	ADP
bracis-28413	157	2	:	:	PUNCT
bracis-28413	157	3	2020	2020	NUM
bracis-28413	157	4	ieee	ieee	PROPN
bracis-28413	157	5	international	international	ADJ
bracis-28413	157	6	conference	conference	NOUN
bracis-28413	157	7	on	on	ADP
bracis-28413	157	8	robotics	robotic	NOUN
bracis-28413	157	9	and	and	CCONJ
bracis-28413	157	10	automation	automation	NOUN
bracis-28413	157	11	(	(	PUNCT
bracis-28413	157	12	icra	icra	PROPN
bracis-28413	157	13	)	)	PUNCT
bracis-28413	157	14	(	(	PUNCT
bracis-28413	157	15	2020	2020	NUM
bracis-28413	157	16	)	)	PUNCT
bracis-28413	157	17	google	google	PROPN
bracis-28413	157	18	scholar	scholar	NOUN
bracis-28413	157	19	  	  	SPACE
bracis-28413	157	20	nakarmi	nakarmi	NOUN
bracis-28413	157	21	,	,	PUNCT
bracis-28413	157	22	a.d	a.d	PROPN
bracis-28413	157	23	.	.	PROPN
bracis-28413	157	24	,	,	PUNCT
bracis-28413	157	25	tang	tang	PROPN
bracis-28413	157	26	,	,	PUNCT
bracis-28413	157	27	l.	l.	PROPN
bracis-28413	157	28	:	:	PUNCT
bracis-28413	157	29	within	within	ADP
bracis-28413	157	30	-	-	PUNCT
bracis-28413	157	31	row	row	NOUN
bracis-28413	157	32	spacing	spacing	NOUN
bracis-28413	157	33	sensing	sensing	NOUN
bracis-28413	157	34	of	of	ADP
bracis-28413	157	35	maize	maize	NOUN
bracis-28413	157	36	plants	plant	NOUN
bracis-28413	157	37	using	use	VERB
bracis-28413	157	38	3d	3d	NUM
bracis-28413	157	39	computer	computer	NOUN
bracis-28413	157	40	vision	vision	NOUN
bracis-28413	157	41	.	.	PUNCT
bracis-28413	158	1	biosys	biosys	NOUN
bracis-28413	158	2	.	.	PUNCT
bracis-28413	159	1	eng	eng	PROPN
bracis-28413	159	2	.	.	PROPN
bracis-28413	159	3	125	125	NUM
bracis-28413	159	4	,	,	PUNCT
bracis-28413	159	5	54–64	54–64	NUM
bracis-28413	159	6	(	(	PUNCT
bracis-28413	159	7	2014	2014	NUM
bracis-28413	159	8	)	)	PUNCT
bracis-28413	159	9	article	article	NOUN
bracis-28413	159	10	  	  	SPACE
bracis-28413	159	11	google	google	PROPN
bracis-28413	159	12	scholar	scholar	NOUN
bracis-28413	159	13	  	  	SPACE
bracis-28413	159	14	mccool	mccool	PROPN
bracis-28413	159	15	,	,	PUNCT
bracis-28413	159	16	c.s	c.s	PROPN
bracis-28413	159	17	.	.	PROPN
bracis-28413	159	18	,	,	PUNCT
bracis-28413	159	19	et	et	PROPN
bracis-28413	159	20	al	al	PROPN
bracis-28413	159	21	.	.	PUNCT
bracis-28413	159	22	:	:	PUNCT
bracis-28413	160	1	efficacy	efficacy	NOUN
bracis-28413	160	2	of	of	ADP
bracis-28413	160	3	mechanical	mechanical	ADJ
bracis-28413	160	4	weeding	weed	VERB
bracis-28413	160	5	tools	tool	NOUN
bracis-28413	160	6	:	:	PUNCT
bracis-28413	160	7	a	a	DET
bracis-28413	160	8	study	study	NOUN
bracis-28413	160	9	into	into	ADP
bracis-28413	160	10	alternative	alternative	ADJ
bracis-28413	160	11	weed	weed	NOUN
bracis-28413	160	12	management	management	NOUN
bracis-28413	160	13	strategies	strategy	NOUN
bracis-28413	160	14	enabled	enable	VERB
bracis-28413	160	15	by	by	ADP
bracis-28413	160	16	robotics	robotic	NOUN
bracis-28413	160	17	.	.	PUNCT
bracis-28413	161	1	ieee	ieee	NOUN
bracis-28413	161	2	robot	robot	PROPN
bracis-28413	161	3	.	.	PUNCT
bracis-28413	162	1	automat	automat	PROPN
bracis-28413	162	2	.	.	PUNCT
bracis-28413	163	1	lett	lett	PROPN
bracis-28413	163	2	.	.	PROPN
bracis-28413	164	1	1	1	NUM
bracis-28413	164	2	(	(	PUNCT
bracis-28413	164	3	2018	2018	NUM
bracis-28413	164	4	)	)	PUNCT
bracis-28413	164	5	google	google	PROPN
bracis-28413	164	6	scholar	scholar	NOUN
bracis-28413	164	7	  	  	SPACE
bracis-28413	164	8	barbosa	barbosa	PROPN
bracis-28413	164	9	,	,	PUNCT
bracis-28413	164	10	g.b.p	g.b.p	PROPN
bracis-28413	164	11	.	.	PUNCT
bracis-28413	164	12	:	:	PUNCT
bracis-28413	165	1	robust	robust	ADJ
bracis-28413	165	2	vision	vision	NOUN
bracis-28413	165	3	-	-	PUNCT
bracis-28413	165	4	based	base	VERB
bracis-28413	165	5	autonomous	autonomous	ADJ
bracis-28413	165	6	crop	crop	NOUN
bracis-28413	165	7	row	row	NOUN
bracis-28413	165	8	navigation	navigation	NOUN
bracis-28413	165	9	for	for	ADP
bracis-28413	165	10	wheeled	wheel	VERB
bracis-28413	165	11	mobile	mobile	ADJ
bracis-28413	165	12	robots	robot	NOUN
bracis-28413	165	13	in	in	ADP
bracis-28413	165	14	sloped	slope	VERB
bracis-28413	165	15	and	and	CCONJ
bracis-28413	165	16	rough	rough	ADJ
bracis-28413	165	17	terrains	terrain	NOUN
bracis-28413	165	18	.	.	PUNCT
bracis-28413	166	1	dissertação	dissertação	PROPN
bracis-28413	166	2	de	de	PROPN
bracis-28413	166	3	mestrado	mestrado	PROPN
bracis-28413	166	4	em	em	PRON
bracis-28413	166	5	engenharia	engenharia	PROPN
bracis-28413	166	6	elétrica	elétrica	PROPN
bracis-28413	166	7	,	,	PUNCT
bracis-28413	166	8	pontifícia	pontifícia	PROPN
bracis-28413	166	9	universidade	universidade	PROPN
bracis-28413	166	10	católica	católica	PROPN
bracis-28413	166	11	do	do	VERB
bracis-28413	166	12	rio	rio	PROPN
bracis-28413	166	13	de	de	PROPN
bracis-28413	166	14	janeiro	janeiro	PROPN
bracis-28413	166	15	,	,	PUNCT
bracis-28413	166	16	rio	rio	PROPN
bracis-28413	166	17	de	de	PROPN
bracis-28413	166	18	janeiro	janeiro	PROPN
bracis-28413	166	19	(	(	PUNCT
bracis-28413	166	20	2022	2022	NUM
bracis-28413	166	21	)	)	PUNCT
bracis-28413	166	22	google	google	PROPN
bracis-28413	166	23	scholar	scholar	NOUN
bracis-28413	166	24	  	  	SPACE
bracis-28413	166	25	ponnambalam	ponnambalam	PROPN
bracis-28413	166	26	,	,	PUNCT
bracis-28413	166	27	v.r	v.r	PROPN
bracis-28413	166	28	.	.	PROPN
bracis-28413	166	29	,	,	PUNCT
bracis-28413	166	30	bakken	bakken	PROPN
bracis-28413	166	31	,	,	PUNCT
bracis-28413	166	32	m.	m.	NOUN
bracis-28413	166	33	,	,	PUNCT
bracis-28413	166	34	moore	moore	PROPN
bracis-28413	166	35	,	,	PUNCT
bracis-28413	166	36	r.j.d	r.j.d	PROPN
bracis-28413	166	37	.	.	PROPN
bracis-28413	166	38	,	,	PUNCT
bracis-28413	166	39	gjevestad	gjevestad	PROPN
bracis-28413	166	40	,	,	PUNCT
bracis-28413	166	41	j.g.o	j.g.o	NOUN
bracis-28413	166	42	.	.	PUNCT
bracis-28413	166	43	,	,	PUNCT
bracis-28413	166	44	from	from	ADP
bracis-28413	166	45	,	,	PUNCT
bracis-28413	166	46	p.j	p.j	PROPN
bracis-28413	166	47	.	.	PROPN
bracis-28413	166	48	:	:	PUNCT
bracis-28413	166	49	autonomous	autonomous	ADJ
bracis-28413	166	50	crop	crop	NOUN
bracis-28413	166	51	row	row	NOUN
bracis-28413	166	52	guidance	guidance	NOUN
bracis-28413	166	53	using	use	VERB
bracis-28413	166	54	adaptive	adaptive	ADJ
bracis-28413	166	55	multi	multi	NOUN
bracis-28413	166	56	-	-	NOUN
bracis-28413	166	57	roi	roi	NOUN
bracis-28413	166	58	in	in	ADP
bracis-28413	166	59	strawberry	strawberry	NOUN
bracis-28413	166	60	fields	field	NOUN
bracis-28413	166	61	.	.	PUNCT
bracis-28413	167	1	sensors	sensor	NOUN
bracis-28413	167	2	20(18	20(18	NUM
bracis-28413	167	3	)	)	PUNCT
bracis-28413	167	4	,	,	PUNCT
bracis-28413	167	5	5249	5249	NUM
bracis-28413	167	6	(	(	PUNCT
bracis-28413	167	7	2020	2020	NUM
bracis-28413	167	8	)	)	PUNCT
bracis-28413	167	9	article	article	NOUN
bracis-28413	167	10	  	  	SPACE
bracis-28413	167	11	google	google	PROPN
bracis-28413	167	12	scholar	scholar	NOUN
bracis-28413	167	13	  	  	SPACE
bracis-28413	167	14	ahmadi	ahmadi	PROPN
bracis-28413	167	15	,	,	PUNCT
bracis-28413	167	16	a.	a.	PROPN
bracis-28413	167	17	,	,	PUNCT
bracis-28413	167	18	halstead	halstead	PROPN
bracis-28413	167	19	,	,	PUNCT
bracis-28413	167	20	m.	m.	NOUN
bracis-28413	167	21	,	,	PUNCT
bracis-28413	167	22	mccool	mccool	PROPN
bracis-28413	167	23	,	,	PUNCT
bracis-28413	167	24	c.	c.	NOUN
bracis-28413	167	25	:	:	PUNCT
bracis-28413	167	26	towards	towards	ADP
bracis-28413	167	27	autonomous	autonomous	ADJ
bracis-28413	167	28	visual	visual	ADJ
bracis-28413	167	29	navigation	navigation	NOUN
bracis-28413	167	30	in	in	ADP
bracis-28413	167	31	arable	arable	ADJ
bracis-28413	167	32	fields	field	NOUN
bracis-28413	167	33	(	(	PUNCT
bracis-28413	167	34	2021	2021	NUM
bracis-28413	167	35	)	)	PUNCT
bracis-28413	167	36	google	google	PROPN
bracis-28413	167	37	scholar	scholar	NOUN
bracis-28413	167	38	  	  	SPACE
bracis-28413	167	39	shalal	shalal	PROPN
bracis-28413	167	40	,	,	PUNCT
bracis-28413	167	41	n.	n.	NOUN
bracis-28413	167	42	,	,	PUNCT
bracis-28413	167	43	low	low	ADJ
bracis-28413	167	44	,	,	PUNCT
bracis-28413	167	45	t.	t.	PROPN
bracis-28413	167	46	,	,	PUNCT
bracis-28413	167	47	mccarthy	mccarthy	PROPN
bracis-28413	167	48	,	,	PUNCT
bracis-28413	167	49	c.	c.	PROPN
bracis-28413	167	50	,	,	PUNCT
bracis-28413	167	51	hancock	hancock	PROPN
bracis-28413	167	52	,	,	PUNCT
bracis-28413	167	53	n.	n.	NOUN
bracis-28413	167	54	:	:	PUNCT
bracis-28413	167	55	orchard	orchard	ADJ
bracis-28413	167	56	mapping	mapping	NOUN
bracis-28413	167	57	and	and	CCONJ
bracis-28413	167	58	mobile	mobile	ADJ
bracis-28413	167	59	robot	robot	NOUN
bracis-28413	167	60	localisation	localisation	NOUN
bracis-28413	167	61	using	use	VERB
bracis-28413	167	62	on	on	ADP
bracis-28413	167	63	-	-	PUNCT
bracis-28413	167	64	board	board	NOUN
bracis-28413	167	65	camera	camera	NOUN
bracis-28413	167	66	and	and	CCONJ
bracis-28413	167	67	laser	laser	NOUN
bracis-28413	167	68	scanner	scanner	NOUN
bracis-28413	167	69	data	datum	NOUN
bracis-28413	167	70	fusion	fusion	NOUN
bracis-28413	167	71	part	part	NOUN
bracis-28413	167	72	a	a	DET
bracis-28413	167	73	:	:	PUNCT
bracis-28413	167	74	tree	tree	NOUN
bracis-28413	167	75	detection	detection	NOUN
bracis-28413	167	76	.	.	PUNCT
bracis-28413	168	1	comput	comput	NOUN
bracis-28413	168	2	.	.	PUNCT
bracis-28413	169	1	electron	electron	PROPN
bracis-28413	169	2	.	.	PUNCT
bracis-28413	170	1	agric	agric	PROPN
bracis-28413	170	2	.	.	PUNCT
bracis-28413	171	1	119	119	NUM
bracis-28413	171	2	,	,	PUNCT
bracis-28413	171	3	254–266	254–266	NUM
bracis-28413	171	4	(	(	PUNCT
bracis-28413	171	5	2015	2015	NUM
bracis-28413	171	6	)	)	PUNCT
bracis-28413	171	7	article	article	NOUN
bracis-28413	171	8	  	  	SPACE
bracis-28413	171	9	google	google	PROPN
bracis-28413	171	10	scholar	scholar	NOUN
bracis-28413	171	11	  	  	SPACE
bracis-28413	171	12	english	english	PROPN
bracis-28413	171	13	,	,	PUNCT
bracis-28413	171	14	a.	a.	PROPN
bracis-28413	171	15	,	,	PUNCT
bracis-28413	171	16	ross	ross	PROPN
bracis-28413	171	17	,	,	PUNCT
bracis-28413	171	18	p.	p.	PROPN
bracis-28413	171	19	,	,	PUNCT
bracis-28413	171	20	ball	ball	PROPN
bracis-28413	171	21	,	,	PUNCT
bracis-28413	171	22	d.	d.	PROPN
bracis-28413	171	23	,	,	PUNCT
bracis-28413	171	24	upcroft	upcroft	PROPN
bracis-28413	171	25	,	,	PUNCT
bracis-28413	171	26	b.	b.	PROPN
bracis-28413	171	27	,	,	PUNCT
bracis-28413	171	28	corke	corke	NOUN
bracis-28413	171	29	,	,	PUNCT
bracis-28413	171	30	p.	p.	NOUN
bracis-28413	171	31	:	:	PUNCT
bracis-28413	172	1	learning	learn	VERB
bracis-28413	172	2	crop	crop	NOUN
bracis-28413	172	3	models	model	NOUN
bracis-28413	172	4	for	for	ADP
bracis-28413	172	5	vision	vision	NOUN
bracis-28413	172	6	-	-	PUNCT
bracis-28413	172	7	based	base	VERB
bracis-28413	172	8	guidance	guidance	NOUN
bracis-28413	172	9	of	of	ADP
bracis-28413	172	10	agricultural	agricultural	ADJ
bracis-28413	172	11	robots	robot	NOUN
bracis-28413	172	12	.	.	PUNCT
bracis-28413	173	1	in	in	ADP
bracis-28413	173	2	:	:	PUNCT
bracis-28413	173	3	2015	2015	NUM
bracis-28413	173	4	international	international	ADJ
bracis-28413	173	5	conference	conference	NOUN
bracis-28413	173	6	on	on	ADP
bracis-28413	173	7	intelligent	intelligent	ADJ
bracis-28413	173	8	robots	robot	NOUN
bracis-28413	173	9	and	and	CCONJ
bracis-28413	173	10	systems	system	NOUN
bracis-28413	173	11	(	(	PUNCT
bracis-28413	173	12	iros	iro	NOUN
bracis-28413	173	13	)	)	PUNCT
bracis-28413	173	14	(	(	PUNCT
bracis-28413	173	15	2015	2015	NUM
bracis-28413	173	16	)	)	PUNCT
bracis-28413	173	17	google	google	PROPN
bracis-28413	173	18	scholar	scholar	NOUN
bracis-28413	173	19	  	  	SPACE
bracis-28413	173	20	de	de	X
bracis-28413	173	21	silva	silva	PROPN
bracis-28413	173	22	,	,	PUNCT
bracis-28413	173	23	r.	r.	PROPN
bracis-28413	173	24	,	,	PUNCT
bracis-28413	173	25	cielniak	cielniak	PROPN
bracis-28413	173	26	,	,	PUNCT
bracis-28413	173	27	g.	g.	PROPN
bracis-28413	173	28	,	,	PUNCT
bracis-28413	173	29	wang	wang	PROPN
bracis-28413	173	30	,	,	PUNCT
bracis-28413	173	31	g.	g.	PROPN
bracis-28413	173	32	,	,	PUNCT
bracis-28413	173	33	gao	gao	PROPN
bracis-28413	173	34	,	,	PUNCT
bracis-28413	173	35	j.	j.	PROPN
bracis-28413	173	36	:	:	PUNCT
bracis-28413	173	37	deep	deep	ADJ
bracis-28413	173	38	learning	learning	NOUN
bracis-28413	173	39	-	-	PUNCT
bracis-28413	173	40	based	base	VERB
bracis-28413	173	41	crop	crop	NOUN
bracis-28413	173	42	row	row	NOUN
bracis-28413	173	43	following	follow	VERB
bracis-28413	173	44	for	for	ADP
bracis-28413	173	45	infield	infield	NOUN
bracis-28413	173	46	navigation	navigation	NOUN
bracis-28413	173	47	of	of	ADP
bracis-28413	173	48	agri	agri	NOUN
bracis-28413	173	49	-	-	PUNCT
bracis-28413	173	50	robots	robot	NOUN
bracis-28413	173	51	(	(	PUNCT
bracis-28413	173	52	2022	2022	NUM
bracis-28413	173	53	)	)	PUNCT
bracis-28413	173	54	google	google	PROPN
bracis-28413	173	55	scholar	scholar	NOUN
bracis-28413	173	56	  	  	SPACE
bracis-28413	173	57	xaud	xaud	PROPN
bracis-28413	173	58	,	,	PUNCT
bracis-28413	173	59	m.f.s	m.f.s	PROPN
bracis-28413	173	60	.	.	PUNCT
bracis-28413	173	61	,	,	PUNCT
bracis-28413	173	62	leite	leite	PROPN
bracis-28413	173	63	,	,	PUNCT
bracis-28413	173	64	a.c	a.c	PROPN
bracis-28413	173	65	.	.	PROPN
bracis-28413	173	66	,	,	PUNCT
bracis-28413	173	67	from	from	ADP
bracis-28413	173	68	,	,	PUNCT
bracis-28413	173	69	p.j	p.j	PROPN
bracis-28413	173	70	.	.	PROPN
bracis-28413	173	71	:	:	PUNCT
bracis-28413	173	72	thermal	thermal	ADJ
bracis-28413	173	73	image	image	NOUN
bracis-28413	173	74	based	base	VERB
bracis-28413	173	75	navigation	navigation	NOUN
bracis-28413	173	76	system	system	NOUN
bracis-28413	173	77	for	for	ADP
bracis-28413	173	78	skid	skid	NOUN
bracis-28413	173	79	-	-	PUNCT
bracis-28413	173	80	steering	steer	VERB
bracis-28413	173	81	mobile	mobile	ADJ
bracis-28413	173	82	robots	robot	NOUN
bracis-28413	173	83	in	in	ADP
bracis-28413	173	84	sugarcane	sugarcane	NOUN
bracis-28413	173	85	crops	crop	NOUN
bracis-28413	173	86	.	.	PUNCT
bracis-28413	174	1	in	in	ADP
bracis-28413	174	2	:	:	PUNCT
bracis-28413	174	3	2019	2019	NUM
bracis-28413	174	4	international	international	ADJ
bracis-28413	174	5	conference	conference	NOUN
bracis-28413	174	6	on	on	ADP
bracis-28413	174	7	robotics	robotic	NOUN
bracis-28413	174	8	and	and	CCONJ
bracis-28413	174	9	automation	automation	NOUN
bracis-28413	174	10	(	(	PUNCT
bracis-28413	174	11	icra	icra	PROPN
bracis-28413	174	12	)	)	PUNCT
bracis-28413	174	13	.	.	PUNCT
bracis-28413	175	1	ieee	ieee	NOUN
bracis-28413	175	2	(	(	PUNCT
bracis-28413	175	3	2019	2019	NUM
bracis-28413	175	4	)	)	PUNCT
bracis-28413	175	5	google	google	PROPN
bracis-28413	175	6	scholar	scholar	NOUN
bracis-28413	175	7	  	  	SPACE
bracis-28413	175	8	martins	martin	NOUN
bracis-28413	175	9	,	,	PUNCT
bracis-28413	175	10	f.f	f.f	PROPN
bracis-28413	175	11	.	.	PROPN
bracis-28413	175	12	,	,	PUNCT
bracis-28413	175	13	et	et	PROPN
bracis-28413	175	14	al	al	PROPN
bracis-28413	175	15	.	.	PUNCT
bracis-28413	175	16	:	:	PUNCT
bracis-28413	175	17	sistema	sistema	X
bracis-28413	175	18	de	de	X
bracis-28413	175	19	navegação	navegação	PROPN
bracis-28413	175	20	autônoma	autônoma	PROPN
bracis-28413	175	21	para	para	NOUN
bracis-28413	175	22	o	o	PROPN
bracis-28413	175	23	robô	robô	PROPN
bracis-28413	175	24	agrícola	agrícola	PROPN
bracis-28413	175	25	soybot	soybot	PROPN
bracis-28413	175	26	.	.	PUNCT
bracis-28413	176	1	in	in	ADP
bracis-28413	176	2	:	:	PUNCT
bracis-28413	176	3	procedings	proceding	NOUN
bracis-28413	176	4	do	do	AUX
bracis-28413	176	5	xv	xv	PROPN
bracis-28413	176	6	simpósio	simpósio	VERB
bracis-28413	176	7	brasileiro	brasileiro	PROPN
bracis-28413	176	8	de	de	PROPN
bracis-28413	176	9	automação	automação	PROPN
bracis-28413	176	10	inteligente	inteligente	PROPN
bracis-28413	176	11	.	.	PUNCT
bracis-28413	177	1	sba	sba	PROPN
bracis-28413	177	2	sociedade	sociedade	PROPN
bracis-28413	177	3	brasileira	brasileira	PROPN
bracis-28413	177	4	de	de	PROPN
bracis-28413	177	5	automática	automática	PROPN
bracis-28413	177	6	(	(	PUNCT
bracis-28413	177	7	2021	2021	NUM
bracis-28413	177	8	)	)	PUNCT
bracis-28413	177	9	google	google	NOUN
bracis-28413	177	10	scholar	scholar	NOUN
bracis-28413	177	11	  	  	SPACE
bracis-28413	177	12	liebel	liebel	NOUN
bracis-28413	177	13	,	,	PUNCT
bracis-28413	177	14	l.	l.	PROPN
bracis-28413	177	15	,	,	PUNCT
bracis-28413	177	16	körner	körner	NOUN
bracis-28413	177	17	,	,	PUNCT
bracis-28413	177	18	m.	m.	NOUN
bracis-28413	177	19	:	:	PUNCT
bracis-28413	177	20	auxiliary	auxiliary	ADJ
bracis-28413	177	21	tasks	task	NOUN
bracis-28413	177	22	in	in	ADP
bracis-28413	177	23	multi	multi	ADJ
bracis-28413	177	24	-	-	ADJ
bracis-28413	177	25	task	task	ADJ
bracis-28413	177	26	learning	learning	NOUN
bracis-28413	177	27	(	(	PUNCT
bracis-28413	177	28	2018	2018	NUM
bracis-28413	177	29	)	)	PUNCT
bracis-28413	177	30	google	google	PROPN
bracis-28413	177	31	scholar	scholar	NOUN
bracis-28413	177	32	  	  	SPACE
bracis-28413	177	33	tangseng	tangseng	NOUN
bracis-28413	177	34	,	,	PUNCT
bracis-28413	177	35	p.	p.	PROPN
bracis-28413	177	36	,	,	PUNCT
bracis-28413	177	37	wu	wu	PROPN
bracis-28413	177	38	,	,	PUNCT
bracis-28413	177	39	z.	z.	PROPN
bracis-28413	177	40	,	,	PUNCT
bracis-28413	177	41	yamaguchi	yamaguchi	PROPN
bracis-28413	177	42	,	,	PUNCT
bracis-28413	177	43	k.	k.	PROPN
bracis-28413	177	44	:	:	PUNCT
bracis-28413	177	45	looking	look	VERB
bracis-28413	177	46	at	at	ADP
bracis-28413	177	47	outfit	outfit	NOUN
bracis-28413	177	48	to	to	PART
bracis-28413	177	49	parse	parse	VERB
bracis-28413	177	50	clothing	clothing	NOUN
bracis-28413	177	51	(	(	PUNCT
bracis-28413	177	52	2017	2017	NUM
bracis-28413	177	53	)	)	PUNCT
bracis-28413	177	54	google	google	PROPN
bracis-28413	177	55	scholar	scholar	NOUN
bracis-28413	177	56	  	  	SPACE
bracis-28413	177	57	chen	chen	PROPN
bracis-28413	177	58	,	,	PUNCT
bracis-28413	177	59	l.-c	l.-c	PROPN
bracis-28413	177	60	.	.	PUNCT
bracis-28413	177	61	,	,	PUNCT
bracis-28413	177	62	zhu	zhu	PROPN
bracis-28413	177	63	,	,	PUNCT
bracis-28413	177	64	y.	y.	PROPN
bracis-28413	177	65	,	,	PUNCT
bracis-28413	177	66	papandreou	papandreou	PROPN
bracis-28413	177	67	,	,	PUNCT
bracis-28413	177	68	g.	g.	PROPN
bracis-28413	177	69	,	,	PUNCT
bracis-28413	177	70	schroof	schroof	PROPN
bracis-28413	177	71	,	,	PUNCT
bracis-28413	177	72	f.	f.	PROPN
bracis-28413	177	73	,	,	PUNCT
bracis-28413	177	74	adam	adam	PROPN
bracis-28413	177	75	,	,	PUNCT
bracis-28413	177	76	h.	h.	PROPN
bracis-28413	177	77	:	:	PUNCT
bracis-28413	177	78	encoder	encoder	NOUN
bracis-28413	177	79	-	-	PUNCT
bracis-28413	177	80	decoder	decoder	NOUN
bracis-28413	177	81	with	with	ADP
bracis-28413	177	82	atrous	atrous	ADJ
bracis-28413	177	83	separable	separable	ADJ
bracis-28413	177	84	convolution	convolution	NOUN
bracis-28413	177	85	for	for	ADP
bracis-28413	177	86	semantic	semantic	ADJ
bracis-28413	177	87	image	image	NOUN
bracis-28413	177	88	segmentation	segmentation	NOUN
bracis-28413	177	89	(	(	PUNCT
bracis-28413	177	90	2018	2018	NUM
bracis-28413	177	91	)	)	PUNCT
bracis-28413	177	92	google	google	PROPN
bracis-28413	177	93	scholar	scholar	NOUN
bracis-28413	177	94	  	  	SPACE
bracis-28413	177	95	he	he	PRON
bracis-28413	177	96	,	,	PUNCT
bracis-28413	177	97	k.	k.	PROPN
bracis-28413	177	98	,	,	PUNCT
bracis-28413	177	99	zhang	zhang	PROPN
bracis-28413	177	100	,	,	PUNCT
bracis-28413	177	101	x.	x.	PROPN
bracis-28413	177	102	,	,	PUNCT
bracis-28413	177	103	ren	ren	PROPN
bracis-28413	177	104	,	,	PUNCT
bracis-28413	177	105	s.	s.	PROPN
bracis-28413	177	106	,	,	PUNCT
bracis-28413	177	107	sun	sun	PROPN
bracis-28413	177	108	,	,	PUNCT
bracis-28413	177	109	j.	j.	PROPN
bracis-28413	177	110	:	:	PUNCT
bracis-28413	177	111	deep	deep	ADJ
bracis-28413	177	112	residual	residual	ADJ
bracis-28413	177	113	learning	learning	NOUN
bracis-28413	177	114	for	for	ADP
bracis-28413	177	115	image	image	NOUN
bracis-28413	177	116	recognition	recognition	NOUN
bracis-28413	177	117	.	.	PUNCT
bracis-28413	178	1	in	in	ADP
bracis-28413	178	2	:	:	PUNCT
bracis-28413	178	3	ieee	ieee	NOUN
bracis-28413	178	4	conference	conference	NOUN
bracis-28413	178	5	on	on	ADP
bracis-28413	178	6	computer	computer	NOUN
bracis-28413	178	7	vision	vision	NOUN
bracis-28413	178	8	and	and	CCONJ
bracis-28413	178	9	pattern	pattern	NOUN
bracis-28413	178	10	recognition	recognition	NOUN
bracis-28413	178	11	(	(	PUNCT
bracis-28413	178	12	cvpr	cvpr	NOUN
bracis-28413	178	13	)	)	PUNCT
bracis-28413	178	14	,	,	PUNCT
bracis-28413	178	15	pp	pp	ADP
bracis-28413	178	16	.	.	PUNCT
bracis-28413	179	1	382–386	382–386	NUM
bracis-28413	179	2	(	(	PUNCT
bracis-28413	179	3	2016	2016	NUM
bracis-28413	179	4	)	)	PUNCT
bracis-28413	179	5	google	google	PROPN
bracis-28413	179	6	scholar	scholar	NOUN
bracis-28413	179	7	  	  	SPACE
bracis-28413	179	8	jesus	jesus	PROPN
bracis-28413	179	9	,	,	PUNCT
bracis-28413	179	10	j.c	j.c	PROPN
bracis-28413	179	11	.	.	PROPN
bracis-28413	179	12	,	,	PUNCT
bracis-28413	179	13	bottega	bottega	PROPN
bracis-28413	179	14	,	,	PUNCT
bracis-28413	179	15	j.a	j.a	PROPN
bracis-28413	179	16	.	.	PROPN
bracis-28413	179	17	,	,	PUNCT
bracis-28413	179	18	cuadros	cuadros	PROPN
bracis-28413	179	19	,	,	PUNCT
bracis-28413	179	20	m.a	m.a	PROPN
bracis-28413	179	21	.	.	PROPN
bracis-28413	179	22	,	,	PUNCT
bracis-28413	179	23	gamarra	gamarra	PROPN
bracis-28413	179	24	,	,	PUNCT
bracis-28413	179	25	d.f	d.f	PROPN
bracis-28413	179	26	.	.	PROPN
bracis-28413	179	27	:	:	PUNCT
bracis-28413	180	1	deep	deep	ADJ
bracis-28413	180	2	deterministic	deterministic	ADJ
bracis-28413	180	3	policy	policy	NOUN
bracis-28413	180	4	gradient	gradient	NOUN
bracis-28413	180	5	for	for	ADP
bracis-28413	180	6	navigation	navigation	NOUN
bracis-28413	180	7	of	of	ADP
bracis-28413	180	8	mobile	mobile	ADJ
bracis-28413	180	9	robots	robot	NOUN
bracis-28413	180	10	in	in	ADP
bracis-28413	180	11	simulated	simulated	ADJ
bracis-28413	180	12	environments	environment	NOUN
bracis-28413	180	13	.	.	PUNCT
bracis-28413	181	1	in	in	ADP
bracis-28413	181	2	:	:	PUNCT
bracis-28413	181	3	2019	2019	NUM
bracis-28413	181	4	19th	19th	ADJ
bracis-28413	181	5	international	international	ADJ
bracis-28413	181	6	conference	conference	NOUN
bracis-28413	181	7	on	on	ADP
bracis-28413	181	8	advanced	advanced	ADJ
bracis-28413	181	9	robotics	robotic	NOUN
bracis-28413	181	10	(	(	PUNCT
bracis-28413	181	11	icar	icar	ADJ
bracis-28413	181	12	)	)	PUNCT
bracis-28413	181	13	,	,	PUNCT
bracis-28413	181	14	pp	pp	ADJ
bracis-28413	181	15	.	.	PUNCT
bracis-28413	182	1	362–367	362–367	NUM
bracis-28413	182	2	(	(	PUNCT
bracis-28413	182	3	2019	2019	NUM
bracis-28413	182	4	)	)	PUNCT
bracis-28413	182	5	google	google	NOUN
bracis-28413	182	6	scholar	scholar	NOUN
bracis-28413	182	7	  	  	SPACE
bracis-28413	182	8	download	download	NOUN
bracis-28413	182	9	references	reference	NOUN
bracis-28413	182	10	author	author	NOUN
bracis-28413	182	11	information	information	NOUN
bracis-28413	182	12	authors	author	NOUN
bracis-28413	182	13	and	and	CCONJ
bracis-28413	182	14	affiliations	affiliation	NOUN
bracis-28413	182	15	pontifícia	pontifícia	PROPN
bracis-28413	182	16	universidade	universidade	PROPN
bracis-28413	182	17	católica	católica	PROPN
bracis-28413	182	18	do	do	VERB
bracis-28413	182	19	rio	rio	PROPN
bracis-28413	182	20	de	de	PROPN
bracis-28413	182	21	janeiro	janeiro	PROPN
bracis-28413	182	22	,	,	PUNCT
bracis-28413	182	23	rio	rio	PROPN
bracis-28413	182	24	de	de	PROPN
bracis-28413	182	25	janeiro	janeiro	PROPN
bracis-28413	182	26	,	,	PUNCT
bracis-28413	182	27	rj	rj	PROPN
bracis-28413	182	28	,	,	PUNCT
bracis-28413	182	29	brazil	brazil	PROPN
bracis-28413	182	30	igor	igor	PROPN
bracis-28413	182	31	ferreira	ferreira	PROPN
bracis-28413	182	32	da	da	PROPN
bracis-28413	182	33	costa	costa	PROPN
bracis-28413	182	34	 	 	SPACE
bracis-28413	182	35	&	&	CCONJ
bracis-28413	182	36	 	 	SPACE
bracis-28413	182	37	wouter	wouter	PROPN
bracis-28413	182	38	caarls	caarls	PROPN
bracis-28413	182	39	authors	authors	PROPN
bracis-28413	182	40	igor	igor	PROPN
bracis-28413	182	41	ferreira	ferreira	PROPN
bracis-28413	182	42	da	da	PROPN
bracis-28413	182	43	costaview	costaview	PROPN
bracis-28413	182	44	author	author	NOUN
bracis-28413	182	45	publications	publication	NOUN
bracis-28413	182	46	search	search	NOUN
bracis-28413	182	47	author	author	NOUN
bracis-28413	182	48	on	on	ADP
bracis-28413	182	49	:	:	PUNCT
bracis-28413	182	50	pubmed	pubmed	PROPN
bracis-28413	182	51	 	 	SPACE
bracis-28413	182	52	google	google	PROPN
bracis-28413	182	53	scholar	scholar	NOUN
bracis-28413	182	54	wouter	wouter	PROPN
bracis-28413	182	55	caarlsview	caarlsview	PROPN
bracis-28413	182	56	author	author	NOUN
bracis-28413	182	57	publications	publication	NOUN
bracis-28413	182	58	search	search	NOUN
bracis-28413	182	59	author	author	NOUN
bracis-28413	182	60	on	on	ADP
bracis-28413	182	61	:	:	PUNCT
bracis-28413	182	62	pubmed	pubmed	PROPN
bracis-28413	182	63	 	 	SPACE
bracis-28413	182	64	google	google	PROPN
bracis-28413	182	65	scholar	scholar	NOUN
bracis-28413	182	66	corresponding	correspond	VERB
bracis-28413	182	67	authors	author	NOUN
bracis-28413	182	68	correspondence	correspondence	NOUN
bracis-28413	182	69	to	to	ADP
bracis-28413	182	70	igor	igor	PROPN
bracis-28413	182	71	ferreira	ferreira	PROPN
bracis-28413	182	72	da	da	PROPN
bracis-28413	182	73	costa	costa	PROPN
bracis-28413	182	74	or	or	CCONJ
bracis-28413	182	75	wouter	wouter	PROPN
bracis-28413	182	76	caarls	caarl	NOUN
bracis-28413	182	77	.	.	PUNCT
bracis-28413	183	1	editor	editor	NOUN
bracis-28413	183	2	information	information	NOUN
bracis-28413	183	3	editors	editor	NOUN
bracis-28413	183	4	and	and	CCONJ
bracis-28413	183	5	affiliations	affiliation	NOUN
bracis-28413	183	6	federal	federal	PROPN
bracis-28413	183	7	university	university	PROPN
bracis-28413	183	8	of	of	ADP
bracis-28413	183	9	são	são	PROPN
bracis-28413	183	10	carlos	carlos	PROPN
bracis-28413	183	11	,	,	PUNCT
bracis-28413	183	12	são	são	PROPN
bracis-28413	183	13	carlos	carlos	PROPN
bracis-28413	183	14	,	,	PUNCT
bracis-28413	183	15	brazil	brazil	PROPN
bracis-28413	183	16	murilo	murilo	PROPN
bracis-28413	183	17	c.	c.	PROPN
bracis-28413	183	18	naldi	naldi	PROPN
bracis-28413	183	19	centro	centro	PROPN
bracis-28413	183	20	universitario	universitario	PROPN
bracis-28413	183	21	da	da	PROPN
bracis-28413	183	22	fei	fei	PROPN
bracis-28413	183	23	,	,	PUNCT
bracis-28413	183	24	são	são	PROPN
bracis-28413	183	25	bernardo	bernardo	PROPN
bracis-28413	183	26	do	do	AUX
bracis-28413	183	27	campo	campo	PROPN
bracis-28413	183	28	,	,	PUNCT
bracis-28413	183	29	brazil	brazil	PROPN
bracis-28413	183	30	reinaldo	reinaldo	PROPN
bracis-28413	183	31	a.	a.	PROPN
bracis-28413	183	32	c.	c.	PROPN
bracis-28413	183	33	bianchi	bianchi	PROPN
bracis-28413	183	34	rights	right	NOUN
bracis-28413	183	35	and	and	CCONJ
bracis-28413	183	36	permissions	permission	NOUN
bracis-28413	183	37	reprints	reprint	NOUN
bracis-28413	183	38	and	and	CCONJ
bracis-28413	183	39	permissions	permission	VERB
bracis-28413	183	40	copyright	copyright	NOUN
bracis-28413	183	41	information	information	NOUN
bracis-28413	183	42	©	©	ADP
bracis-28413	183	43	2023	2023	NUM
bracis-28413	183	44	the	the	DET
bracis-28413	183	45	author(s	author(s	NOUN
bracis-28413	183	46	)	)	PUNCT
bracis-28413	183	47	,	,	PUNCT
bracis-28413	183	48	under	under	ADP
bracis-28413	183	49	exclusive	exclusive	ADJ
bracis-28413	183	50	license	license	NOUN
bracis-28413	183	51	to	to	ADP
bracis-28413	183	52	springer	springer	NOUN
bracis-28413	183	53	nature	nature	PROPN
bracis-28413	183	54	switzerland	switzerland	PROPN
bracis-28413	183	55	ag	ag	PROPN
bracis-28413	183	56	about	about	ADP
bracis-28413	183	57	this	this	DET
bracis-28413	183	58	paper	paper	NOUN
bracis-28413	183	59	cite	cite	VERB
bracis-28413	183	60	this	this	DET
bracis-28413	183	61	paper	paper	NOUN
bracis-28413	183	62	da	da	PROPN
bracis-28413	183	63	costa	costa	PROPN
bracis-28413	183	64	,	,	PUNCT
bracis-28413	183	65	i.f	i.f	PROPN
bracis-28413	183	66	.	.	PROPN
bracis-28413	183	67	,	,	PUNCT
bracis-28413	183	68	caarls	caarls	PROPN
bracis-28413	183	69	,	,	PUNCT
bracis-28413	183	70	w.	w.	NOUN
bracis-28413	183	71	(	(	PUNCT
bracis-28413	183	72	2023	2023	NUM
bracis-28413	183	73	)	)	PUNCT
bracis-28413	183	74	.	.	PUNCT
bracis-28413	184	1	crop	crop	NOUN
bracis-28413	184	2	row	row	NOUN
bracis-28413	184	3	line	line	NOUN
bracis-28413	184	4	detection	detection	NOUN
bracis-28413	184	5	with	with	ADP
bracis-28413	184	6	 	 	SPACE
bracis-28413	184	7	auxiliary	auxiliary	ADJ
bracis-28413	184	8	segmentation	segmentation	NOUN
bracis-28413	184	9	task	task	NOUN
bracis-28413	184	10	.	.	PUNCT
bracis-28413	185	1	in	in	ADP
bracis-28413	185	2	:	:	PUNCT
bracis-28413	185	3	naldi	naldi	PROPN
bracis-28413	185	4	,	,	PUNCT
bracis-28413	185	5	m.c	m.c	PROPN
bracis-28413	185	6	.	.	PROPN
bracis-28413	185	7	,	,	PUNCT
bracis-28413	185	8	bianchi	bianchi	PROPN
bracis-28413	185	9	,	,	PUNCT
bracis-28413	185	10	r.a.c	r.a.c	ADP
bracis-28413	185	11	.	.	PUNCT
bracis-28413	185	12	(	(	PUNCT
bracis-28413	185	13	eds	ed	NOUN
bracis-28413	185	14	)	)	PUNCT
bracis-28413	185	15	intelligent	intelligent	ADJ
bracis-28413	185	16	systems	system	NOUN
bracis-28413	185	17	.	.	PUNCT
bracis-28413	186	1	bracis	bracis	PROPN
bracis-28413	186	2	2023	2023	NUM
bracis-28413	186	3	.	.	PUNCT
bracis-28413	187	1	lecture	lecture	NOUN
bracis-28413	187	2	notes	note	NOUN
bracis-28413	187	3	in	in	ADP
bracis-28413	187	4	computer	computer	NOUN
bracis-28413	187	5	science	science	NOUN
bracis-28413	187	6	(	(	PUNCT
bracis-28413	187	7	)	)	PUNCT
bracis-28413	187	8	,	,	PUNCT
bracis-28413	187	9	vol	vol	NOUN
bracis-28413	187	10	14197	14197	NUM
bracis-28413	187	11	.	.	PUNCT
bracis-28413	188	1	springer	springer	NOUN
bracis-28413	188	2	,	,	PUNCT
bracis-28413	188	3	cham	cham	PROPN
bracis-28413	188	4	.	.	PUNCT
bracis-28413	189	1	https://doi.org/10.1007/978-3-031-45392-2_11	https://doi.org/10.1007/978-3-031-45392-2_11	PROPN
bracis-28413	189	2	download	download	NOUN
bracis-28413	189	3	citation	citation	NOUN
bracis-28413	189	4	.ris	.ris	PUNCT
bracis-28413	190	1	.enw	.enw	PROPN
bracis-28413	190	2	.bib	.bib	PUNCT
bracis-28413	191	1	doi	doi	PROPN
bracis-28413	191	2	:	:	PUNCT
bracis-28413	191	3	https://doi.org/10.1007/978-3-031-45392-2_11	https://doi.org/10.1007/978-3-031-45392-2_11	PROPN
bracis-28413	191	4	published	publish	VERB
bracis-28413	191	5	:	:	PUNCT
bracis-28413	191	6	12	12	NUM
bracis-28413	191	7	october	october	PROPN
bracis-28413	191	8	2023	2023	NUM
bracis-28413	191	9	publisher	publisher	NOUN
bracis-28413	191	10	name	name	NOUN
bracis-28413	191	11	:	:	PUNCT
bracis-28413	191	12	springer	springer	NOUN
bracis-28413	191	13	,	,	PUNCT
bracis-28413	191	14	cham	cham	PROPN
bracis-28413	191	15	print	print	PROPN
bracis-28413	191	16	isbn	isbn	PROPN
bracis-28413	191	17	:	:	PUNCT
bracis-28413	191	18	978	978	NUM
bracis-28413	191	19	-	-	SYM
bracis-28413	191	20	3	3	NUM
bracis-28413	191	21	-	-	PUNCT
bracis-28413	191	22	031	031	NUM
bracis-28413	191	23	-	-	PUNCT
bracis-28413	191	24	45391	45391	NUM
bracis-28413	191	25	-	-	SYM
bracis-28413	191	26	5	5	NUM
bracis-28413	191	27	online	online	ADJ
bracis-28413	191	28	isbn	isbn	NOUN
bracis-28413	191	29	:	:	PUNCT
bracis-28413	191	30	978	978	NUM
bracis-28413	191	31	-	-	SYM
bracis-28413	191	32	3	3	NUM
bracis-28413	191	33	-	-	PUNCT
bracis-28413	191	34	031	031	NUM
bracis-28413	191	35	-	-	PUNCT
bracis-28413	191	36	45392	45392	NUM
bracis-28413	191	37	-	-	SYM
bracis-28413	191	38	2	2	NUM
bracis-28413	191	39	ebook	ebook	NOUN
bracis-28413	191	40	packages	package	NOUN
bracis-28413	191	41	:	:	PUNCT
bracis-28413	191	42	computer	computer	NOUN
bracis-28413	191	43	sciencecomputer	sciencecomputer	NOUN
bracis-28413	191	44	science	science	NOUN
bracis-28413	191	45	(	(	PUNCT
bracis-28413	191	46	r0	r0	NOUN
bracis-28413	191	47	)	)	PUNCT
bracis-28413	191	48	share	share	VERB
bracis-28413	191	49	this	this	DET
bracis-28413	191	50	paper	paper	NOUN
bracis-28413	191	51	anyone	anyone	PRON
bracis-28413	191	52	you	you	PRON
bracis-28413	191	53	share	share	VERB
bracis-28413	191	54	the	the	DET
bracis-28413	191	55	following	follow	VERB
bracis-28413	191	56	link	link	NOUN
bracis-28413	191	57	with	with	ADP
bracis-28413	191	58	will	will	AUX
bracis-28413	191	59	be	be	AUX
bracis-28413	191	60	able	able	ADJ
bracis-28413	191	61	to	to	PART
bracis-28413	191	62	read	read	VERB
bracis-28413	191	63	this	this	DET
bracis-28413	191	64	content	content	NOUN
bracis-28413	191	65	:	:	PUNCT
bracis-28413	191	66	get	get	VERB
bracis-28413	191	67	shareable	shareable	ADJ
bracis-28413	191	68	linksorry	linksorry	NOUN
bracis-28413	191	69	,	,	PUNCT
bracis-28413	191	70	a	a	DET
bracis-28413	191	71	shareable	shareable	ADJ
bracis-28413	191	72	link	link	NOUN
bracis-28413	191	73	is	be	AUX
bracis-28413	191	74	not	not	PART
bracis-28413	191	75	currently	currently	ADV
bracis-28413	191	76	available	available	ADJ
bracis-28413	191	77	for	for	ADP
bracis-28413	191	78	this	this	DET
bracis-28413	191	79	article	article	NOUN
bracis-28413	191	80	.	.	PUNCT
bracis-28413	192	1	copy	copy	VERB
bracis-28413	192	2	shareable	shareable	ADJ
bracis-28413	192	3	link	link	NOUN
bracis-28413	192	4	to	to	PART
bracis-28413	192	5	clipboard	clipboard	NOUN
bracis-28413	192	6	provided	provide	VERB
bracis-28413	192	7	by	by	ADP
bracis-28413	192	8	the	the	DET
bracis-28413	192	9	springer	springer	NOUN
bracis-28413	192	10	nature	nature	PROPN
bracis-28413	192	11	sharedit	sharedit	PROPN
bracis-28413	192	12	content	content	NOUN
bracis-28413	192	13	-	-	PUNCT
bracis-28413	192	14	sharing	share	VERB
bracis-28413	192	15	initiative	initiative	NOUN
bracis-28413	192	16	keywords	keyword	NOUN
bracis-28413	192	17	autonomous	autonomous	ADJ
bracis-28413	192	18	robot	robot	NOUN
bracis-28413	192	19	deep	deep	ADV
bracis-28413	192	20	learning	learn	VERB
bracis-28413	192	21	agricultural	agricultural	ADJ
bracis-28413	192	22	robot	robot	NOUN
bracis-28413	192	23	publish	publish	VERB
bracis-28413	192	24	with	with	ADP
bracis-28413	192	25	us	us	PROPN
bracis-28413	192	26	policies	policy	NOUN
bracis-28413	192	27	and	and	CCONJ
bracis-28413	192	28	ethics	ethic	NOUN
bracis-28413	192	29	search	search	NOUN
bracis-28413	192	30	search	search	NOUN
bracis-28413	192	31	by	by	ADP
bracis-28413	192	32	keyword	keyword	NOUN
bracis-28413	192	33	or	or	CCONJ
bracis-28413	192	34	author	author	NOUN
bracis-28413	192	35	search	search	NOUN
bracis-28413	192	36	navigation	navigation	NOUN
bracis-28413	192	37	find	find	VERB
bracis-28413	192	38	a	a	DET
bracis-28413	192	39	journal	journal	NOUN
bracis-28413	192	40	publish	publish	VERB
bracis-28413	192	41	with	with	ADP
bracis-28413	192	42	us	we	PRON
bracis-28413	192	43	track	track	VERB
bracis-28413	192	44	your	your	PRON
bracis-28413	192	45	research	research	NOUN
bracis-28413	192	46	discover	discover	VERB
bracis-28413	192	47	content	content	NOUN
bracis-28413	192	48	journals	journal	NOUN
bracis-28413	192	49	a	a	DET
bracis-28413	192	50	-	-	PUNCT
bracis-28413	192	51	z	z	NOUN
bracis-28413	192	52	books	book	NOUN
bracis-28413	192	53	a	a	DET
bracis-28413	192	54	-	-	PUNCT
bracis-28413	192	55	z	z	NOUN
bracis-28413	192	56	publish	publish	NOUN
bracis-28413	192	57	with	with	ADP
bracis-28413	192	58	us	us	PROPN
bracis-28413	192	59	journal	journal	PROPN
bracis-28413	192	60	finder	finder	PROPN
bracis-28413	192	61	publish	publish	VERB
bracis-28413	192	62	your	your	PRON
bracis-28413	192	63	research	research	NOUN
bracis-28413	192	64	language	language	NOUN
bracis-28413	192	65	editing	edit	VERB
bracis-28413	192	66	open	open	ADJ
bracis-28413	192	67	access	access	NOUN
bracis-28413	192	68	publishing	publishing	NOUN
bracis-28413	192	69	products	product	NOUN
bracis-28413	192	70	and	and	CCONJ
bracis-28413	192	71	services	service	NOUN
bracis-28413	192	72	our	our	PRON
bracis-28413	192	73	products	product	NOUN
bracis-28413	192	74	librarians	librarian	VERB
bracis-28413	192	75	societies	society	NOUN
bracis-28413	192	76	partners	partner	NOUN
bracis-28413	192	77	and	and	CCONJ
bracis-28413	192	78	advertisers	advertiser	NOUN
bracis-28413	192	79	our	our	PRON
bracis-28413	192	80	brands	brand	NOUN
bracis-28413	192	81	springer	springer	NOUN
bracis-28413	192	82	nature	nature	PROPN
bracis-28413	192	83	portfolio	portfolio	PROPN
bracis-28413	192	84	bmc	bmc	PROPN
bracis-28413	192	85	palgrave	palgrave	PROPN
bracis-28413	192	86	macmillan	macmillan	PROPN
bracis-28413	192	87	apress	apress	PROPN
bracis-28413	192	88	discover	discover	VERB
bracis-28413	192	89	your	your	PRON
bracis-28413	192	90	privacy	privacy	NOUN
bracis-28413	192	91	choices	choice	NOUN
bracis-28413	192	92	/	/	SYM
bracis-28413	192	93	manage	manage	NOUN
bracis-28413	192	94	cookies	cookie	NOUN
bracis-28413	192	95	your	your	PRON
bracis-28413	192	96	us	us	PROPN
bracis-28413	193	1	state	state	NOUN
bracis-28413	193	2	privacy	privacy	NOUN
bracis-28413	193	3	rights	right	NOUN
bracis-28413	193	4	accessibility	accessibility	NOUN
bracis-28413	193	5	statement	statement	NOUN
bracis-28413	193	6	terms	term	NOUN
bracis-28413	193	7	and	and	CCONJ
bracis-28413	193	8	conditions	condition	NOUN
bracis-28413	193	9	privacy	privacy	NOUN
bracis-28413	193	10	policy	policy	NOUN
bracis-28413	193	11	help	help	NOUN
bracis-28413	193	12	and	and	CCONJ
bracis-28413	193	13	support	support	VERB
bracis-28413	193	14	legal	legal	ADJ
bracis-28413	193	15	notice	notice	NOUN
bracis-28413	193	16	cancel	cancel	VERB
bracis-28413	193	17	contracts	contract	NOUN
bracis-28413	193	18	here	here	ADV
bracis-28413	193	19	129.74.145.123	129.74.145.123	NUM
bracis-28413	193	20	hesburgh	hesburgh	PROPN
bracis-28413	193	21	library	library	PROPN
bracis-28413	193	22	er	er	INTJ
bracis-28413	193	23	unit	unit	NOUN
bracis-28413	193	24	(	(	PUNCT
bracis-28413	193	25	3005732405	3005732405	NUM
bracis-28413	193	26	)	)	PUNCT
bracis-28413	193	27	northeast	northeast	ADJ
bracis-28413	193	28	research	research	NOUN
bracis-28413	193	29	libraries	library	NOUN
bracis-28413	193	30	(	(	PUNCT
bracis-28413	193	31	nerl	nerl	PROPN
bracis-28413	193	32	)	)	PUNCT
bracis-28413	193	33	(	(	PUNCT
bracis-28413	193	34	8200828607	8200828607	NUM
bracis-28413	193	35	)	)	PUNCT
bracis-28413	193	36	nerl	nerl	VERB
bracis-28413	193	37	ta	ta	X
bracis-28413	193	38	account	account	NOUN
bracis-28413	193	39	(	(	PUNCT
bracis-28413	193	40	3006206169	3006206169	NUM
bracis-28413	193	41	)	)	PUNCT
bracis-28413	193	42	university	university	NOUN
bracis-28413	193	43	of	of	ADP
bracis-28413	193	44	notre	notre	PROPN
bracis-28413	193	45	dame	dame	PROPN
bracis-28413	193	46	hesburgh	hesburgh	PROPN
bracis-28413	193	47	library	library	NOUN
bracis-28413	193	48	(	(	PUNCT
bracis-28413	193	49	3000184373	3000184373	NUM
bracis-28413	193	50	)	)	PUNCT
bracis-28413	194	1	©	©	ADP
bracis-28413	194	2	2025	2025	NUM
bracis-28413	194	3	springer	springer	NOUN
bracis-28413	194	4	nature	nature	NOUN