id	sid	tid	token	lemma	pos
asir-4275	1	1	applied	apply	VERB
asir-4275	1	2	science	science	NOUN
asir-4275	1	3	and	and	CCONJ
asir-4275	1	4	innovative	innovative	ADJ
asir-4275	1	5	research	research	NOUN
asir-4275	1	6	issn	issn	VERB
asir-4275	1	7	2474	2474	NUM
asir-4275	1	8	-	-	SYM
asir-4275	1	9	4972	4972	NUM
asir-4275	1	10	(	(	PUNCT
asir-4275	1	11	print	print	NOUN
asir-4275	1	12	)	)	PUNCT
asir-4275	1	13	issn	issn	VERB
asir-4275	1	14	2474	2474	NUM
asir-4275	1	15	-	-	SYM
asir-4275	1	16	4980	4980	NUM
asir-4275	1	17	(	(	PUNCT
asir-4275	1	18	online	online	ADJ
asir-4275	1	19	)	)	PUNCT
asir-4275	1	20	vol	vol	NOUN
asir-4275	1	21	.	.	PROPN
asir-4275	2	1	5	5	NUM
asir-4275	2	2	,	,	PUNCT
asir-4275	2	3	no	no	INTJ
asir-4275	2	4	.	.	NOUN
asir-4275	2	5	3	3	NUM
asir-4275	2	6	,	,	PUNCT
asir-4275	2	7	2021	2021	NUM
asir-4275	2	8	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	VERB
asir-4275	2	9	39	39	NUM
asir-4275	2	10	original	original	ADJ
asir-4275	2	11	paper	paper	NOUN
asir-4275	2	12	obstacle	obstacle	NOUN
asir-4275	2	13	detection	detection	NOUN
asir-4275	2	14	based	base	VERB
asir-4275	2	15	on	on	ADP
asir-4275	2	16	3d	3d	NUM
asir-4275	2	17	lidar	lidar	NOUN
asir-4275	2	18	euclidean	euclidean	PROPN
asir-4275	2	19	clustering	cluster	VERB
asir-4275	2	20	chen	chen	PROPN
asir-4275	2	21	jinming1	jinming1	PROPN
asir-4275	2	22	1	1	NUM
asir-4275	2	23	school	school	NOUN
asir-4275	2	24	of	of	ADP
asir-4275	2	25	electrical	electrical	ADJ
asir-4275	2	26	and	and	CCONJ
asir-4275	2	27	information	information	NOUN
asir-4275	2	28	engineering	engineering	NOUN
asir-4275	2	29	,	,	PUNCT
asir-4275	2	30	jiangsu	jiangsu	PROPN
asir-4275	2	31	university	university	PROPN
asir-4275	2	32	,	,	PUNCT
asir-4275	2	33	zhenjiang	zhenjiang	PROPN
asir-4275	2	34	jiangsu	jiangsu	PROPN
asir-4275	2	35	,	,	PUNCT
asir-4275	2	36	212013	212013	NUM
asir-4275	2	37	china	china	PROPN
asir-4275	2	38	received	receive	VERB
asir-4275	2	39	:	:	PUNCT
asir-4275	2	40	october	october	PROPN
asir-4275	2	41	15	15	NUM
asir-4275	2	42	,	,	PUNCT
asir-4275	2	43	2021	2021	NUM
asir-4275	2	44	accepted	accept	VERB
asir-4275	2	45	:	:	PUNCT
asir-4275	2	46	november	november	PROPN
asir-4275	2	47	1	1	NUM
asir-4275	2	48	,	,	PUNCT
asir-4275	2	49	2021	2021	NUM
asir-4275	2	50	online	online	ADV
asir-4275	2	51	published	publish	VERB
asir-4275	2	52	:	:	PUNCT
asir-4275	2	53	november	november	PROPN
asir-4275	2	54	8	8	NUM
asir-4275	2	55	,	,	PUNCT
asir-4275	2	56	2021	2021	NUM
asir-4275	2	57	doi:10.22158	doi:10.22158	NOUN
asir-4275	2	58	/	/	SYM
asir-4275	2	59	asir.v5n3p39	asir.v5n3p39	PROPN
asir-4275	2	60	url	url	PROPN
asir-4275	2	61	:	:	PUNCT
asir-4275	2	62	http://doi.org/10.22158/asir.v5n3p39	http://doi.org/10.22158/asir.v5n3p39	PROPN
asir-4275	2	63	abstract	abstract	ADJ
asir-4275	2	64	environment	environment	NOUN
asir-4275	2	65	perception	perception	NOUN
asir-4275	2	66	is	be	AUX
asir-4275	2	67	the	the	DET
asir-4275	2	68	basis	basis	NOUN
asir-4275	2	69	of	of	ADP
asir-4275	2	70	unmanned	unmanned	ADJ
asir-4275	2	71	driving	driving	NOUN
asir-4275	2	72	and	and	CCONJ
asir-4275	2	73	obstacle	obstacle	NOUN
asir-4275	2	74	detection	detection	NOUN
asir-4275	2	75	is	be	AUX
asir-4275	2	76	an	an	DET
asir-4275	2	77	important	important	ADJ
asir-4275	2	78	research	research	NOUN
asir-4275	2	79	area	area	NOUN
asir-4275	2	80	of	of	ADP
asir-4275	2	81	environment	environment	NOUN
asir-4275	2	82	perception	perception	NOUN
asir-4275	2	83	technology	technology	NOUN
asir-4275	2	84	.	.	PUNCT
asir-4275	3	1	in	in	ADP
asir-4275	3	2	order	order	NOUN
asir-4275	3	3	to	to	PART
asir-4275	3	4	quickly	quickly	ADV
asir-4275	3	5	and	and	CCONJ
asir-4275	3	6	accurately	accurately	ADV
asir-4275	3	7	identify	identify	VERB
asir-4275	3	8	the	the	DET
asir-4275	3	9	obstacles	obstacle	NOUN
asir-4275	3	10	in	in	ADP
asir-4275	3	11	the	the	DET
asir-4275	3	12	direction	direction	NOUN
asir-4275	3	13	of	of	ADP
asir-4275	3	14	vehicle	vehicle	NOUN
asir-4275	3	15	travel	travel	NOUN
asir-4275	3	16	and	and	CCONJ
asir-4275	3	17	obtain	obtain	VERB
asir-4275	3	18	their	their	PRON
asir-4275	3	19	location	location	NOUN
asir-4275	3	20	information	information	NOUN
asir-4275	3	21	,	,	PUNCT
asir-4275	3	22	combined	combine	VERB
asir-4275	3	23	with	with	ADP
asir-4275	3	24	the	the	DET
asir-4275	3	25	pcl	pcl	PROPN
asir-4275	3	26	(	(	PUNCT
asir-4275	3	27	point	point	NOUN
asir-4275	3	28	cloud	cloud	ADJ
asir-4275	3	29	library	library	NOUN
asir-4275	3	30	)	)	PUNCT
asir-4275	3	31	function	function	NOUN
asir-4275	3	32	module	module	NOUN
asir-4275	3	33	,	,	PUNCT
asir-4275	3	34	this	this	DET
asir-4275	3	35	paper	paper	NOUN
asir-4275	3	36	designed	design	VERB
asir-4275	3	37	a	a	DET
asir-4275	3	38	euclidean	euclidean	ADJ
asir-4275	3	39	distance	distance	NOUN
asir-4275	3	40	based	base	VERB
asir-4275	3	41	point	point	NOUN
asir-4275	3	42	cloud	cloud	NOUN
asir-4275	3	43	clustering	cluster	VERB
asir-4275	3	44	obstacle	obstacle	NOUN
asir-4275	3	45	detection	detection	NOUN
asir-4275	3	46	algorithm	algorithm	NOUN
asir-4275	3	47	.	.	PUNCT
asir-4275	4	1	environmental	environmental	ADJ
asir-4275	4	2	information	information	NOUN
asir-4275	4	3	was	be	AUX
asir-4275	4	4	obtained	obtain	VERB
asir-4275	4	5	by	by	ADP
asir-4275	4	6	3d	3d	PROPN
asir-4275	4	7	lidar	lidar	NOUN
asir-4275	4	8	,	,	PUNCT
asir-4275	4	9	and	and	CCONJ
asir-4275	4	10	roi	roi	NOUN
asir-4275	4	11	extraction	extraction	NOUN
asir-4275	4	12	,	,	PUNCT
asir-4275	4	13	voxel	voxel	PROPN
asir-4275	4	14	filtering	filtering	NOUN
asir-4275	4	15	sampling	sampling	NOUN
asir-4275	4	16	,	,	PUNCT
asir-4275	4	17	outlier	outlier	NOUN
asir-4275	4	18	point	point	NOUN
asir-4275	4	19	filtering	filtering	NOUN
asir-4275	4	20	,	,	PUNCT
asir-4275	4	21	ground	ground	NOUN
asir-4275	4	22	point	point	NOUN
asir-4275	4	23	cloud	cloud	NOUN
asir-4275	4	24	segmentation	segmentation	NOUN
asir-4275	4	25	,	,	PUNCT
asir-4275	4	26	euclide	euclide	ADJ
asir-4275	4	27	clustering	clustering	NOUN
asir-4275	4	28	and	and	CCONJ
asir-4275	4	29	other	other	ADJ
asir-4275	4	30	processing	processing	NOUN
asir-4275	4	31	were	be	AUX
asir-4275	4	32	carried	carry	VERB
asir-4275	4	33	out	out	ADP
asir-4275	4	34	to	to	PART
asir-4275	4	35	achieve	achieve	VERB
asir-4275	4	36	a	a	DET
asir-4275	4	37	complete	complete	ADJ
asir-4275	4	38	pcl	pcl	PROPN
asir-4275	4	39	based	base	VERB
asir-4275	4	40	3d	3d	PROPN
asir-4275	4	41	point	point	NOUN
asir-4275	4	42	cloud	cloud	NOUN
asir-4275	4	43	obstacle	obstacle	NOUN
asir-4275	4	44	detection	detection	NOUN
asir-4275	4	45	method	method	NOUN
asir-4275	4	46	.	.	PUNCT
asir-4275	5	1	the	the	DET
asir-4275	5	2	experimental	experimental	ADJ
asir-4275	5	3	results	result	NOUN
asir-4275	5	4	show	show	VERB
asir-4275	5	5	that	that	SCONJ
asir-4275	5	6	the	the	DET
asir-4275	5	7	vehicle	vehicle	NOUN
asir-4275	5	8	can	can	AUX
asir-4275	5	9	effectively	effectively	ADV
asir-4275	5	10	identify	identify	VERB
asir-4275	5	11	the	the	DET
asir-4275	5	12	obstacles	obstacle	NOUN
asir-4275	5	13	in	in	ADP
asir-4275	5	14	the	the	DET
asir-4275	5	15	area	area	NOUN
asir-4275	5	16	and	and	CCONJ
asir-4275	5	17	obtain	obtain	VERB
asir-4275	5	18	their	their	PRON
asir-4275	5	19	location	location	NOUN
asir-4275	5	20	information	information	NOUN
asir-4275	5	21	.	.	PUNCT
asir-4275	6	1	keywords	keyword	VERB
asir-4275	6	2	environment	environment	NOUN
asir-4275	6	3	sensing	sensing	NOUN
asir-4275	6	4	,	,	PUNCT
asir-4275	6	5	lidar	lidar	NOUN
asir-4275	6	6	,	,	PUNCT
asir-4275	6	7	pcl	pcl	PROPN
asir-4275	6	8	,	,	PUNCT
asir-4275	6	9	euclidean	euclidean	NOUN
asir-4275	6	10	clustering	cluster	VERB
asir-4275	6	11	1	1	NUM
asir-4275	6	12	.	.	PUNCT
asir-4275	7	1	introduction	introduction	NOUN
asir-4275	7	2	in	in	ADP
asir-4275	7	3	recent	recent	ADJ
asir-4275	7	4	years	year	NOUN
asir-4275	7	5	,	,	PUNCT
asir-4275	7	6	with	with	ADP
asir-4275	7	7	the	the	DET
asir-4275	7	8	development	development	NOUN
asir-4275	7	9	of	of	ADP
asir-4275	7	10	unmanned	unmanned	ADJ
asir-4275	7	11	driving	driving	NOUN
asir-4275	7	12	technology	technology	NOUN
asir-4275	7	13	,	,	PUNCT
asir-4275	7	14	obstacle	obstacle	NOUN
asir-4275	7	15	detection	detection	NOUN
asir-4275	7	16	has	have	AUX
asir-4275	7	17	become	become	VERB
asir-4275	7	18	an	an	DET
asir-4275	7	19	important	important	ADJ
asir-4275	7	20	research	research	NOUN
asir-4275	7	21	direction	direction	NOUN
asir-4275	7	22	of	of	ADP
asir-4275	7	23	environmental	environmental	ADJ
asir-4275	7	24	perception	perception	NOUN
asir-4275	7	25	(	(	PUNCT
asir-4275	7	26	kostavelis	kostaveli	NOUN
asir-4275	7	27	,	,	PUNCT
asir-4275	7	28	nalpantidis	nalpantidis	ADV
asir-4275	7	29	,	,	PUNCT
asir-4275	7	30	&	&	CCONJ
asir-4275	7	31	gasteratos	gasteratos	PROPN
asir-4275	7	32	,	,	PUNCT
asir-4275	7	33	2011	2011	NUM
asir-4275	7	34	)	)	PUNCT
asir-4275	7	35	.	.	PUNCT
asir-4275	8	1	it	it	PRON
asir-4275	8	2	is	be	AUX
asir-4275	8	3	of	of	ADP
asir-4275	8	4	great	great	ADJ
asir-4275	8	5	significance	significance	NOUN
asir-4275	8	6	for	for	ADP
asir-4275	8	7	the	the	DET
asir-4275	8	8	safety	safety	NOUN
asir-4275	8	9	of	of	ADP
asir-4275	8	10	intelligent	intelligent	ADJ
asir-4275	8	11	driving	driving	NOUN
asir-4275	8	12	to	to	PART
asir-4275	8	13	quickly	quickly	ADV
asir-4275	8	14	and	and	CCONJ
asir-4275	8	15	accurately	accurately	ADV
asir-4275	8	16	detect	detect	VERB
asir-4275	8	17	obstacles	obstacle	NOUN
asir-4275	8	18	in	in	ADP
asir-4275	8	19	the	the	DET
asir-4275	8	20	direction	direction	NOUN
asir-4275	8	21	of	of	ADP
asir-4275	8	22	vehicle	vehicle	NOUN
asir-4275	8	23	driving	drive	VERB
asir-4275	8	24	and	and	CCONJ
asir-4275	8	25	obtain	obtain	VERB
asir-4275	8	26	their	their	PRON
asir-4275	8	27	location	location	NOUN
asir-4275	8	28	information	information	NOUN
asir-4275	8	29	.	.	PUNCT
asir-4275	9	1	at	at	ADP
asir-4275	9	2	present	present	ADJ
asir-4275	9	3	,	,	PUNCT
asir-4275	9	4	obstacle	obstacle	NOUN
asir-4275	9	5	detection	detection	NOUN
asir-4275	9	6	methods	method	NOUN
asir-4275	9	7	are	be	AUX
asir-4275	9	8	mainly	mainly	ADV
asir-4275	9	9	based	base	VERB
asir-4275	9	10	on	on	ADP
asir-4275	9	11	vision	vision	NOUN
asir-4275	9	12	sensor	sensor	NOUN
asir-4275	9	13	and	and	CCONJ
asir-4275	9	14	laser	laser	NOUN
asir-4275	9	15	sensor	sensor	NOUN
asir-4275	9	16	.	.	PUNCT
asir-4275	10	1	visual	visual	ADJ
asir-4275	10	2	cameras	camera	NOUN
asir-4275	10	3	do	do	AUX
asir-4275	10	4	not	not	PART
asir-4275	10	5	interfere	interfere	VERB
asir-4275	10	6	with	with	ADP
asir-4275	10	7	each	each	DET
asir-4275	10	8	other	other	ADJ
asir-4275	10	9	,	,	PUNCT
asir-4275	10	10	and	and	CCONJ
asir-4275	10	11	can	can	AUX
asir-4275	10	12	detect	detect	VERB
asir-4275	10	13	obstacles	obstacle	NOUN
asir-4275	10	14	from	from	ADP
asir-4275	10	15	a	a	DET
asir-4275	10	16	wider	wide	ADJ
asir-4275	10	17	perspective	perspective	NOUN
asir-4275	10	18	without	without	ADP
asir-4275	10	19	scanning	scan	VERB
asir-4275	10	20	.	.	PUNCT
asir-4275	11	1	meanwhile	meanwhile	ADV
asir-4275	11	2	,	,	PUNCT
asir-4275	11	3	images	image	NOUN
asir-4275	11	4	contain	contain	VERB
asir-4275	11	5	rich	rich	ADJ
asir-4275	11	6	information	information	NOUN
asir-4275	11	7	and	and	CCONJ
asir-4275	11	8	high	high	ADJ
asir-4275	11	9	data	data	NOUN
asir-4275	11	10	resolution	resolution	NOUN
asir-4275	11	11	.	.	PUNCT
asir-4275	12	1	liu	liu	PROPN
asir-4275	12	2	,	,	PUNCT
asir-4275	12	3	r.	r.	PROPN
asir-4275	12	4	,	,	PUNCT
asir-4275	12	5	chen	chen	PROPN
asir-4275	12	6	,	,	PUNCT
asir-4275	12	7	f.	f.	PROPN
asir-4275	12	8	x.	x.	PROPN
asir-4275	12	9	,	,	PUNCT
asir-4275	12	10	chen	chen	PROPN
asir-4275	12	11	,	,	PUNCT
asir-4275	12	12	k.	k.	PROPN
asir-4275	12	13	y.	y.	PROPN
asir-4275	12	14	and	and	CCONJ
asir-4275	12	15	liu	liu	PROPN
asir-4275	12	16	,	,	PUNCT
asir-4275	12	17	s.	s.	PROPN
asir-4275	12	18	n.	n.	PROPN
asir-4275	12	19	(	(	PUNCT
asir-4275	12	20	2018	2018	NUM
asir-4275	12	21	)	)	PUNCT
asir-4275	12	22	proposed	propose	VERB
asir-4275	12	23	an	an	DET
asir-4275	12	24	obstacle	obstacle	NOUN
asir-4275	12	25	detection	detection	NOUN
asir-4275	12	26	method	method	NOUN
asir-4275	12	27	based	base	VERB
asir-4275	12	28	on	on	ADP
asir-4275	12	29	bar	bar	NOUN
asir-4275	12	30	graph	graph	NOUN
asir-4275	12	31	.	.	PUNCT
asir-4275	13	1	by	by	ADP
asir-4275	13	2	using	use	VERB
asir-4275	13	3	binocular	binocular	ADJ
asir-4275	13	4	vision	vision	NOUN
asir-4275	13	5	sensor	sensor	NOUN
asir-4275	13	6	to	to	PART
asir-4275	13	7	obtain	obtain	VERB
asir-4275	13	8	images	image	NOUN
asir-4275	13	9	for	for	ADP
asir-4275	13	10	image	image	NOUN
asir-4275	13	11	processing	processing	NOUN
asir-4275	13	12	,	,	PUNCT
asir-4275	13	13	the	the	DET
asir-4275	13	14	image	image	NOUN
asir-4275	13	15	is	be	AUX
asir-4275	13	16	divided	divide	VERB
asir-4275	13	17	into	into	ADP
asir-4275	13	18	several	several	ADJ
asir-4275	13	19	histogram	histogram	NOUN
asir-4275	13	20	areas	area	NOUN
asir-4275	13	21	and	and	CCONJ
asir-4275	13	22	the	the	DET
asir-4275	13	23	obstacle	obstacle	NOUN
asir-4275	13	24	depth	depth	NOUN
asir-4275	13	25	information	information	NOUN
asir-4275	13	26	in	in	ADP
asir-4275	13	27	each	each	DET
asir-4275	13	28	histogram	histogram	NOUN
asir-4275	13	29	area	area	NOUN
asir-4275	13	30	is	be	AUX
asir-4275	13	31	extracted	extract	VERB
asir-4275	13	32	.	.	PUNCT
asir-4275	14	1	huang	huang	PROPN
asir-4275	14	2	,	,	PUNCT
asir-4275	14	3	zhu	zhu	PROPN
asir-4275	14	4	,	,	PUNCT
asir-4275	14	5	wang	wang	PROPN
asir-4275	14	6	and	and	CCONJ
asir-4275	14	7	liu	liu	PROPN
asir-4275	14	8	(	(	PUNCT
asir-4275	14	9	2019	2019	NUM
asir-4275	14	10	)	)	PUNCT
asir-4275	14	11	proposed	propose	VERB
asir-4275	14	12	to	to	PART
asir-4275	14	13	use	use	VERB
asir-4275	14	14	binocular	binocular	ADJ
asir-4275	14	15	direct	direct	ADJ
asir-4275	14	16	sparse	sparse	ADJ
asir-4275	14	17	mileage	mileage	NOUN
asir-4275	14	18	calculation	calculation	NOUN
asir-4275	14	19	method	method	NOUN
asir-4275	14	20	to	to	PART
asir-4275	14	21	construct	construct	VERB
asir-4275	14	22	a	a	DET
asir-4275	14	23	three	three	NUM
asir-4275	14	24	-	-	PUNCT
asir-4275	14	25	dimesional	dimesional	ADJ
asir-4275	14	26	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-4275	14	27	applied	apply	VERB
asir-4275	14	28	science	science	NOUN
asir-4275	14	29	and	and	CCONJ
asir-4275	14	30	innovative	innovative	ADJ
asir-4275	14	31	research	research	NOUN
asir-4275	14	32	vol	vol	NOUN
asir-4275	14	33	.	.	PROPN
asir-4275	15	1	5	5	NUM
asir-4275	15	2	,	,	PUNCT
asir-4275	15	3	no	no	INTJ
asir-4275	15	4	.	.	NOUN
asir-4275	15	5	3	3	NUM
asir-4275	15	6	,	,	PUNCT
asir-4275	15	7	2021	2021	NUM
asir-4275	15	8	40	40	NUM
asir-4275	15	9	published	publish	VERB
asir-4275	15	10	by	by	ADP
asir-4275	15	11	scholink	scholink	PROPN
asir-4275	15	12	inc	inc	PROPN
asir-4275	15	13	.	.	PROPN
asir-4275	15	14	space	space	NOUN
asir-4275	15	15	model	model	PROPN
asir-4275	15	16	,	,	PUNCT
asir-4275	15	17	convert	convert	VERB
asir-4275	15	18	the	the	DET
asir-4275	15	19	constructed	construct	VERB
asir-4275	15	20	three	three	NUM
asir-4275	15	21	-	-	PUNCT
asir-4275	15	22	dimesional	dimesional	ADJ
asir-4275	15	23	point	point	NOUN
asir-4275	15	24	cloud	cloud	NOUN
asir-4275	15	25	graph	graph	NOUN
asir-4275	15	26	into	into	ADP
asir-4275	15	27	a	a	DET
asir-4275	15	28	two	two	NUM
asir-4275	15	29	-	-	PUNCT
asir-4275	15	30	dimensional	dimensional	ADJ
asir-4275	15	31	grid	grid	NOUN
asir-4275	15	32	graph	graph	NOUN
asir-4275	15	33	and	and	CCONJ
asir-4275	15	34	mark	mark	VERB
asir-4275	15	35	obstacles	obstacle	NOUN
asir-4275	15	36	.	.	PUNCT
asir-4275	16	1	however	however	ADV
asir-4275	16	2	,	,	PUNCT
asir-4275	16	3	the	the	DET
asir-4275	16	4	camera	camera	NOUN
asir-4275	16	5	is	be	AUX
asir-4275	16	6	greatly	greatly	ADV
asir-4275	16	7	affected	affect	VERB
asir-4275	16	8	by	by	ADP
asir-4275	16	9	ambient	ambient	ADJ
asir-4275	16	10	light	light	NOUN
asir-4275	16	11	and	and	CCONJ
asir-4275	16	12	dust	dust	NOUN
asir-4275	16	13	,	,	PUNCT
asir-4275	16	14	and	and	CCONJ
asir-4275	16	15	the	the	DET
asir-4275	16	16	data	data	NOUN
asir-4275	16	17	processing	processing	NOUN
asir-4275	16	18	algorithm	algorithm	NOUN
asir-4275	16	19	takes	take	VERB
asir-4275	16	20	a	a	DET
asir-4275	16	21	long	long	ADJ
asir-4275	16	22	time	time	NOUN
asir-4275	16	23	and	and	CCONJ
asir-4275	16	24	has	have	VERB
asir-4275	16	25	high	high	ADJ
asir-4275	16	26	requirements	requirement	NOUN
asir-4275	16	27	on	on	ADP
asir-4275	16	28	the	the	DET
asir-4275	16	29	computer	computer	NOUN
asir-4275	16	30	,	,	PUNCT
asir-4275	16	31	so	so	CCONJ
asir-4275	16	32	the	the	DET
asir-4275	16	33	real	real	ADJ
asir-4275	16	34	-	-	PUNCT
asir-4275	16	35	time	time	NOUN
asir-4275	16	36	performance	performance	NOUN
asir-4275	16	37	of	of	ADP
asir-4275	16	38	the	the	DET
asir-4275	16	39	algorithm	algorithm	NOUN
asir-4275	16	40	may	may	AUX
asir-4275	16	41	not	not	PART
asir-4275	16	42	be	be	AUX
asir-4275	16	43	guaranteed	guarantee	VERB
asir-4275	16	44	.	.	PUNCT
asir-4275	17	1	lidar	lidar	NOUN
asir-4275	17	2	is	be	AUX
asir-4275	17	3	widely	widely	ADV
asir-4275	17	4	used	use	VERB
asir-4275	17	5	in	in	ADP
asir-4275	17	6	target	target	NOUN
asir-4275	17	7	detection	detection	NOUN
asir-4275	17	8	in	in	ADP
asir-4275	17	9	various	various	ADJ
asir-4275	17	10	environments	environment	NOUN
asir-4275	17	11	because	because	SCONJ
asir-4275	17	12	of	of	ADP
asir-4275	17	13	its	its	PRON
asir-4275	17	14	high	high	ADJ
asir-4275	17	15	accuracy	accuracy	NOUN
asir-4275	17	16	and	and	CCONJ
asir-4275	17	17	strong	strong	ADJ
asir-4275	17	18	anti	anti	ADJ
asir-4275	17	19	-	-	ADJ
asir-4275	17	20	interference	interference	ADJ
asir-4275	17	21	ability	ability	NOUN
asir-4275	17	22	(	(	PUNCT
asir-4275	17	23	zong	zong	PROPN
asir-4275	17	24	,	,	PUNCT
asir-4275	17	25	wen	wen	PROPN
asir-4275	17	26	,	,	PUNCT
asir-4275	17	27	&	&	CCONJ
asir-4275	17	28	he	he	PRON
asir-4275	17	29	,	,	PUNCT
asir-4275	17	30	2019	2019	NUM
asir-4275	17	31	)	)	PUNCT
asir-4275	17	32	.	.	PUNCT
asir-4275	18	1	pcl	pcl	PROPN
asir-4275	18	2	is	be	AUX
asir-4275	18	3	a	a	DET
asir-4275	18	4	large	large	ADJ
asir-4275	18	5	cross	cross	ADJ
asir-4275	18	6	-	-	ADJ
asir-4275	18	7	platform	platform	ADJ
asir-4275	18	8	open	open	ADJ
asir-4275	18	9	source	source	NOUN
asir-4275	18	10	c++	c++	NOUN
asir-4275	18	11	programming	programming	NOUN
asir-4275	18	12	library	library	NOUN
asir-4275	18	13	established	establish	VERB
asir-4275	18	14	on	on	ADP
asir-4275	18	15	the	the	DET
asir-4275	18	16	basis	basis	NOUN
asir-4275	18	17	of	of	ADP
asir-4275	18	18	absorbing	absorb	VERB
asir-4275	18	19	the	the	DET
asir-4275	18	20	previous	previous	ADJ
asir-4275	18	21	researches	research	NOUN
asir-4275	18	22	on	on	ADP
asir-4275	18	23	point	point	NOUN
asir-4275	18	24	cloud	cloud	NOUN
asir-4275	18	25	,	,	PUNCT
asir-4275	18	26	realizing	realize	VERB
asir-4275	18	27	a	a	DET
asir-4275	18	28	large	large	ADJ
asir-4275	18	29	number	number	NOUN
asir-4275	18	30	of	of	ADP
asir-4275	18	31	general	general	ADJ
asir-4275	18	32	algorithms	algorithm	NOUN
asir-4275	18	33	and	and	CCONJ
asir-4275	18	34	efficient	efficient	ADJ
asir-4275	18	35	data	datum	NOUN
asir-4275	18	36	structures	structure	NOUN
asir-4275	18	37	related	relate	VERB
asir-4275	18	38	to	to	PART
asir-4275	18	39	point	point	VERB
asir-4275	18	40	cloud	cloud	NOUN
asir-4275	18	41	(	(	PUNCT
asir-4275	18	42	zhu	zhu	PROPN
asir-4275	18	43	,	,	PUNCT
asir-4275	18	44	guo	guo	PROPN
asir-4275	18	45	,	,	PUNCT
asir-4275	18	46	su	su	PROPN
asir-4275	18	47	et	et	PROPN
asir-4275	18	48	al	al	PROPN
asir-4275	18	49	.	.	PROPN
asir-4275	18	50	,	,	PUNCT
asir-4275	18	51	2012	2012	NUM
asir-4275	18	52	)	)	PUNCT
asir-4275	18	53	.	.	PUNCT
asir-4275	19	1	based	base	VERB
asir-4275	19	2	on	on	ADP
asir-4275	19	3	pcl	pcl	PROPN
asir-4275	19	4	(	(	PUNCT
asir-4275	19	5	point	point	NOUN
asir-4275	19	6	cloud	cloud	NOUN
asir-4275	19	7	libray	libray	NOUN
asir-4275	19	8	)	)	PUNCT
asir-4275	19	9	,	,	PUNCT
asir-4275	19	10	this	this	DET
asir-4275	19	11	paper	paper	NOUN
asir-4275	19	12	designs	design	VERB
asir-4275	19	13	a	a	DET
asir-4275	19	14	euclian	euclian	NOUN
asir-4275	19	15	-	-	PUNCT
asir-4275	19	16	clustering	cluster	VERB
asir-4275	19	17	obstacle	obstacle	NOUN
asir-4275	19	18	detection	detection	NOUN
asir-4275	19	19	method	method	NOUN
asir-4275	19	20	,	,	PUNCT
asir-4275	19	21	which	which	PRON
asir-4275	19	22	takes	take	VERB
asir-4275	19	23	environmental	environmental	ADJ
asir-4275	19	24	data	datum	NOUN
asir-4275	19	25	collected	collect	VERB
asir-4275	19	26	by	by	ADP
asir-4275	19	27	3d	3d	PROPN
asir-4275	19	28	lidar	lidar	NOUN
asir-4275	19	29	vlp-16	vlp-16	PROPN
asir-4275	19	30	as	as	ADP
asir-4275	19	31	input	input	NOUN
asir-4275	19	32	,	,	PUNCT
asir-4275	19	33	converts	convert	NOUN
asir-4275	19	34	point	point	NOUN
asir-4275	19	35	cloud	cloud	NOUN
asir-4275	19	36	data	datum	NOUN
asir-4275	19	37	into	into	ADP
asir-4275	19	38	data	datum	NOUN
asir-4275	19	39	structure	structure	NOUN
asir-4275	19	40	under	under	ADP
asir-4275	19	41	pcl	pcl	PROPN
asir-4275	19	42	through	through	ADP
asir-4275	19	43	format	format	NOUN
asir-4275	19	44	conversion	conversion	NOUN
asir-4275	19	45	.	.	PUNCT
asir-4275	20	1	obstacles	obstacle	NOUN
asir-4275	20	2	were	be	AUX
asir-4275	20	3	detected	detect	VERB
asir-4275	20	4	by	by	ADP
asir-4275	20	5	region	region	NOUN
asir-4275	20	6	of	of	ADP
asir-4275	20	7	interest	interest	NOUN
asir-4275	20	8	extraction	extraction	NOUN
asir-4275	20	9	,	,	PUNCT
asir-4275	20	10	voxel	voxel	PROPN
asir-4275	20	11	filtering	filtering	NOUN
asir-4275	20	12	sampling	sampling	NOUN
asir-4275	20	13	,	,	PUNCT
asir-4275	20	14	statistical	statistical	ADJ
asir-4275	20	15	filtering	filtering	NOUN
asir-4275	20	16	to	to	PART
asir-4275	20	17	remove	remove	VERB
asir-4275	20	18	outliers	outlier	NOUN
asir-4275	20	19	,	,	PUNCT
asir-4275	20	20	ground	ground	NOUN
asir-4275	20	21	point	point	NOUN
asir-4275	20	22	cloud	cloud	NOUN
asir-4275	20	23	segmentation	segmentation	NOUN
asir-4275	20	24	and	and	CCONJ
asir-4275	20	25	euclidean	euclidean	ADJ
asir-4275	20	26	clustering	clustering	NOUN
asir-4275	20	27	.	.	PUNCT
asir-4275	21	1	the	the	DET
asir-4275	21	2	experimental	experimental	ADJ
asir-4275	21	3	results	result	NOUN
asir-4275	21	4	show	show	VERB
asir-4275	21	5	that	that	SCONJ
asir-4275	21	6	this	this	DET
asir-4275	21	7	method	method	NOUN
asir-4275	21	8	can	can	AUX
asir-4275	21	9	detect	detect	VERB
asir-4275	21	10	the	the	DET
asir-4275	21	11	obstacles	obstacle	NOUN
asir-4275	21	12	on	on	ADP
asir-4275	21	13	the	the	DET
asir-4275	21	14	road	road	NOUN
asir-4275	21	15	effectively	effectively	ADV
asir-4275	21	16	and	and	CCONJ
asir-4275	21	17	has	have	VERB
asir-4275	21	18	good	good	ADJ
asir-4275	21	19	real	real	ADJ
asir-4275	21	20	-	-	PUNCT
asir-4275	21	21	time	time	NOUN
asir-4275	21	22	performance	performance	NOUN
asir-4275	21	23	.	.	PUNCT
asir-4275	22	1	2	2	X
asir-4275	22	2	.	.	X
asir-4275	22	3	method	method	NOUN
asir-4275	22	4	of	of	ADP
asir-4275	22	5	obstacle	obstacle	NOUN
asir-4275	22	6	detection	detection	NOUN
asir-4275	22	7	the	the	DET
asir-4275	22	8	sensor	sensor	NOUN
asir-4275	22	9	selected	select	VERB
asir-4275	22	10	in	in	ADP
asir-4275	22	11	this	this	DET
asir-4275	22	12	paper	paper	NOUN
asir-4275	22	13	is	be	AUX
asir-4275	22	14	velodyne	velodyne	PROPN
asir-4275	22	15	’s	’s	PART
asir-4275	22	16	vlp-16	vlp-16	PROPN
asir-4275	22	17	3d	3d	PROPN
asir-4275	22	18	lidar	lidar	NOUN
asir-4275	22	19	(	(	PUNCT
asir-4275	22	20	figure	figure	NOUN
asir-4275	22	21	1	1	NUM
asir-4275	22	22	)	)	PUNCT
asir-4275	22	23	,	,	PUNCT
asir-4275	22	24	and	and	CCONJ
asir-4275	22	25	the	the	DET
asir-4275	22	26	conversion	conversion	NOUN
asir-4275	22	27	relationship	relationship	NOUN
asir-4275	22	28	between	between	ADP
asir-4275	22	29	its	its	PRON
asir-4275	22	30	polar	polar	ADJ
asir-4275	22	31	coordinates	coordinate	NOUN
asir-4275	22	32	and	and	CCONJ
asir-4275	22	33	cartesian	cartesian	ADJ
asir-4275	22	34	coordinates	coordinate	NOUN
asir-4275	22	35	is	be	AUX
asir-4275	22	36	shown	show	VERB
asir-4275	22	37	in	in	ADP
asir-4275	22	38	figure	figure	NOUN
asir-4275	22	39	2	2	NUM
asir-4275	22	40	.	.	PUNCT
asir-4275	22	41	figure	figure	NOUN
asir-4275	22	42	1	1	NUM
asir-4275	23	1	.	.	PUNCT
asir-4275	23	2	velodyne	velodyne	PROPN
asir-4275	23	3	vlp-16	vlp-16	PROPN
asir-4275	23	4	figure	figure	NOUN
asir-4275	23	5	2	2	NUM
asir-4275	23	6	.	.	PUNCT
asir-4275	23	7	vlp-16	vlp-16	PUNCT
asir-4275	23	8	coordinate	coordinate	NOUN
asir-4275	23	9	system	system	NOUN
asir-4275	23	10	transformation	transformation	NOUN
asir-4275	23	11	where	where	SCONJ
asir-4275	23	12	,	,	PUNCT
asir-4275	23	13	(	(	PUNCT
asir-4275	23	14	x	x	X
asir-4275	23	15	,	,	PUNCT
asir-4275	23	16	y	y	PROPN
asir-4275	23	17	,	,	PUNCT
asir-4275	23	18	z	z	NOUN
asir-4275	23	19	)	)	PUNCT
asir-4275	23	20	is	be	AUX
asir-4275	23	21	the	the	DET
asir-4275	23	22	cartesian	cartesian	ADJ
asir-4275	23	23	coordinate	coordinate	NOUN
asir-4275	23	24	value	value	NOUN
asir-4275	23	25	of	of	ADP
asir-4275	23	26	the	the	DET
asir-4275	23	27	laser	laser	NOUN
asir-4275	23	28	sensor	sensor	NOUN
asir-4275	23	29	,	,	PUNCT
asir-4275	23	30	r	r	NOUN
asir-4275	23	31	is	be	AUX
asir-4275	23	32	the	the	DET
asir-4275	23	33	distance	distance	NOUN
asir-4275	23	34	between	between	ADP
asir-4275	23	35	the	the	DET
asir-4275	23	36	reflected	reflect	VERB
asir-4275	23	37	object	object	NOUN
asir-4275	23	38	and	and	CCONJ
asir-4275	23	39	the	the	DET
asir-4275	23	40	lidar	lidar	NOUN
asir-4275	23	41	,	,	PUNCT
asir-4275	23	42	α	α	PROPN
asir-4275	23	43	is	be	AUX
asir-4275	23	44	the	the	DET
asir-4275	23	45	horizontal	horizontal	ADJ
asir-4275	23	46	rotation	rotation	PROPN
asir-4275	23	47	angle	angle	NOUN
asir-4275	23	48	,	,	PUNCT
asir-4275	23	49	ω	ω	PROPN
asir-4275	23	50	is	be	AUX
asir-4275	23	51	the	the	DET
asir-4275	23	52	vertical	vertical	ADJ
asir-4275	23	53	angle	angle	NOUN
asir-4275	23	54	.	.	PUNCT
asir-4275	24	1	the	the	DET
asir-4275	24	2	algorithm	algorithm	NOUN
asir-4275	24	3	flow	flow	NOUN
asir-4275	24	4	of	of	ADP
asir-4275	24	5	vlp-16	vlp-16	NOUN
asir-4275	24	6	for	for	ADP
asir-4275	24	7	euclidean	euclidean	ADJ
asir-4275	24	8	clustering	clustering	NOUN
asir-4275	24	9	obstacle	obstacle	NOUN
asir-4275	24	10	detection	detection	NOUN
asir-4275	24	11	is	be	AUX
asir-4275	24	12	shown	show	VERB
asir-4275	24	13	in	in	ADP
asir-4275	24	14	figure	figure	NOUN
asir-4275	24	15	3	3	NUM
asir-4275	24	16	:	:	PUNCT
asir-4275	24	17	(	(	PUNCT
asir-4275	24	18	1	1	X
asir-4275	24	19	)	)	PUNCT
asir-4275	24	20	the	the	DET
asir-4275	24	21	data	datum	NOUN
asir-4275	24	22	is	be	AUX
asir-4275	24	23	collected	collect	VERB
asir-4275	24	24	by	by	ADP
asir-4275	24	25	lidar	lidar	NOUN
asir-4275	24	26	and	and	CCONJ
asir-4275	24	27	converted	convert	VERB
asir-4275	24	28	into	into	ADP
asir-4275	24	29	cartesian	cartesian	ADJ
asir-4275	24	30	coordinate	coordinate	NOUN
asir-4275	24	31	representation	representation	NOUN
asir-4275	24	32	under	under	ADP
asir-4275	24	33	pcl	pcl	PROPN
asir-4275	24	34	by	by	ADP
asir-4275	24	35	data	datum	NOUN
asir-4275	24	36	type	type	NOUN
asir-4275	24	37	;	;	PUNCT
asir-4275	24	38	(	(	PUNCT
asir-4275	24	39	2	2	X
asir-4275	24	40	)	)	PUNCT
asir-4275	24	41	in	in	ADP
asir-4275	24	42	order	order	NOUN
asir-4275	24	43	to	to	PART
asir-4275	24	44	reduce	reduce	VERB
asir-4275	24	45	the	the	DET
asir-4275	24	46	interference	interference	NOUN
asir-4275	24	47	of	of	ADP
asir-4275	24	48	distant	distant	ADJ
asir-4275	24	49	obstacles	obstacle	NOUN
asir-4275	24	50	and	and	CCONJ
asir-4275	24	51	reduce	reduce	VERB
asir-4275	24	52	the	the	DET
asir-4275	24	53	number	number	NOUN
asir-4275	24	54	of	of	ADP
asir-4275	24	55	point	point	NOUN
asir-4275	24	56	clouds	cloud	NOUN
asir-4275	24	57	,	,	PUNCT
asir-4275	24	58	regions	region	NOUN
asir-4275	24	59	of	of	ADP
asir-4275	24	60	interest	interest	NOUN
asir-4275	24	61	(	(	PUNCT
asir-4275	24	62	roi	roi	NOUN
asir-4275	24	63	)	)	PUNCT
asir-4275	24	64	were	be	AUX
asir-4275	24	65	extracted	extract	VERB
asir-4275	24	66	from	from	ADP
asir-4275	24	67	the	the	DET
asir-4275	24	68	original	original	ADJ
asir-4275	24	69	data	datum	NOUN
asir-4275	24	70	;	;	PUNCT
asir-4275	24	71	(	(	PUNCT
asir-4275	24	72	3	3	X
asir-4275	24	73	)	)	PUNCT
asir-4275	24	74	in	in	ADP
asir-4275	24	75	order	order	NOUN
asir-4275	24	76	to	to	PART
asir-4275	24	77	focus	focus	VERB
asir-4275	24	78	on	on	ADP
asir-4275	24	79	object	object	NOUN
asir-4275	24	80	detection	detection	NOUN
asir-4275	24	81	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-4275	24	82	applied	apply	VERB
asir-4275	24	83	science	science	NOUN
asir-4275	24	84	and	and	CCONJ
asir-4275	24	85	innovative	innovative	ADJ
asir-4275	24	86	research	research	NOUN
asir-4275	24	87	vol	vol	NOUN
asir-4275	24	88	.	.	PROPN
asir-4275	25	1	5	5	NUM
asir-4275	25	2	,	,	PUNCT
asir-4275	25	3	no	no	INTJ
asir-4275	25	4	.	.	NOUN
asir-4275	25	5	3	3	NUM
asir-4275	25	6	,	,	PUNCT
asir-4275	25	7	2021	2021	NUM
asir-4275	25	8	41	41	NUM
asir-4275	25	9	published	publish	VERB
asir-4275	25	10	by	by	ADP
asir-4275	25	11	scholink	scholink	PROPN
asir-4275	25	12	inc	inc	PROPN
asir-4275	25	13	.	.	PROPN
asir-4275	25	14	on	on	ADP
asir-4275	25	15	road	road	NOUN
asir-4275	25	16	surface	surface	NOUN
asir-4275	25	17	,	,	PUNCT
asir-4275	25	18	ground	ground	NOUN
asir-4275	25	19	point	point	NOUN
asir-4275	25	20	cloud	cloud	NOUN
asir-4275	25	21	is	be	AUX
asir-4275	25	22	segmented	segment	VERB
asir-4275	25	23	for	for	ADP
asir-4275	25	24	point	point	NOUN
asir-4275	25	25	cloud	cloud	NOUN
asir-4275	25	26	data	datum	NOUN
asir-4275	25	27	and	and	CCONJ
asir-4275	25	28	ground	ground	NOUN
asir-4275	25	29	point	point	NOUN
asir-4275	25	30	cloud	cloud	NOUN
asir-4275	25	31	is	be	AUX
asir-4275	25	32	filtered	filter	VERB
asir-4275	25	33	;	;	PUNCT
asir-4275	25	34	(	(	PUNCT
asir-4275	25	35	4	4	X
asir-4275	25	36	)	)	PUNCT
asir-4275	25	37	in	in	ADP
asir-4275	25	38	order	order	NOUN
asir-4275	25	39	to	to	PART
asir-4275	25	40	improve	improve	VERB
asir-4275	25	41	the	the	DET
asir-4275	25	42	accuracy	accuracy	NOUN
asir-4275	25	43	and	and	CCONJ
asir-4275	25	44	real	real	ADJ
asir-4275	25	45	-	-	PUNCT
asir-4275	25	46	time	time	NOUN
asir-4275	25	47	performance	performance	NOUN
asir-4275	25	48	of	of	ADP
asir-4275	25	49	clustering	clustering	NOUN
asir-4275	25	50	,	,	PUNCT
asir-4275	25	51	sampling	sample	VERB
asir-4275	25	52	under	under	ADP
asir-4275	25	53	voxel	voxel	NOUN
asir-4275	25	54	filtering	filtering	NOUN
asir-4275	25	55	and	and	CCONJ
asir-4275	25	56	statistical	statistical	ADJ
asir-4275	25	57	filtering	filtering	NOUN
asir-4275	25	58	were	be	AUX
asir-4275	25	59	used	use	VERB
asir-4275	25	60	to	to	PART
asir-4275	25	61	remove	remove	VERB
asir-4275	25	62	outliers	outlier	NOUN
asir-4275	25	63	respectively	respectively	ADV
asir-4275	25	64	.	.	PUNCT
asir-4275	26	1	(	(	PUNCT
asir-4275	26	2	5	5	X
asir-4275	26	3	)	)	PUNCT
asir-4275	26	4	kd	kd	NOUN
asir-4275	26	5	-	-	PUNCT
asir-4275	26	6	tree	tree	NOUN
asir-4275	26	7	accelerated	accelerate	VERB
asir-4275	26	8	euclidean	euclidean	ADJ
asir-4275	26	9	clustering	clustering	NOUN
asir-4275	26	10	was	be	AUX
asir-4275	26	11	performed	perform	VERB
asir-4275	26	12	on	on	ADP
asir-4275	26	13	the	the	DET
asir-4275	26	14	pre	pre	ADJ
asir-4275	26	15	-	-	ADJ
asir-4275	26	16	processed	processed	ADJ
asir-4275	26	17	data	datum	NOUN
asir-4275	26	18	,	,	PUNCT
asir-4275	26	19	and	and	CCONJ
asir-4275	26	20	the	the	DET
asir-4275	26	21	clustering	clustering	ADJ
asir-4275	26	22	results	result	NOUN
asir-4275	26	23	were	be	AUX
asir-4275	26	24	obtained	obtain	VERB
asir-4275	26	25	.	.	PUNCT
asir-4275	27	1	voxel	voxel	PROPN
asir-4275	27	2	filter	filter	PROPN
asir-4275	27	3	and	and	CCONJ
asir-4275	27	4	filter	filter	NOUN
asir-4275	27	5	outliers	outlier	NOUN
asir-4275	27	6	collecting	collect	VERB
asir-4275	27	7	environment	environment	NOUN
asir-4275	27	8	data	datum	NOUN
asir-4275	27	9	regional	regional	ADJ
asir-4275	27	10	extract	extract	NOUN
asir-4275	27	11	ground	ground	NOUN
asir-4275	27	12	point	point	NOUN
asir-4275	27	13	cloud	cloud	NOUN
asir-4275	27	14	segmentation	segmentation	NOUN
asir-4275	27	15	euclidean	euclidean	NOUN
asir-4275	27	16	cluster	cluster	NOUN
asir-4275	27	17	test	test	NOUN
asir-4275	27	18	results	result	NOUN
asir-4275	27	19	figure	figure	VERB
asir-4275	27	20	3	3	NUM
asir-4275	27	21	.	.	PUNCT
asir-4275	27	22	flow	flow	NOUN
asir-4275	27	23	chart	chart	NOUN
asir-4275	27	24	of	of	ADP
asir-4275	27	25	euclidean	euclidean	ADJ
asir-4275	27	26	clustering	clustering	ADJ
asir-4275	27	27	algorithm	algorithm	NOUN
asir-4275	27	28	2.1	2.1	NUM
asir-4275	27	29	lidar	lidar	NOUN
asir-4275	27	30	data	datum	NOUN
asir-4275	27	31	preprocessing	preprocessing	NOUN
asir-4275	27	32	because	because	SCONJ
asir-4275	27	33	of	of	ADP
asir-4275	27	34	its	its	PRON
asir-4275	27	35	high	high	ADJ
asir-4275	27	36	precision	precision	NOUN
asir-4275	27	37	and	and	CCONJ
asir-4275	27	38	strong	strong	ADJ
asir-4275	27	39	anti	anti	ADJ
asir-4275	27	40	-	-	ADJ
asir-4275	27	41	interference	interference	ADJ
asir-4275	27	42	ability	ability	NOUN
asir-4275	27	43	,	,	PUNCT
asir-4275	27	44	lidar	lidar	NOUN
asir-4275	27	45	is	be	AUX
asir-4275	27	46	widely	widely	ADV
asir-4275	27	47	used	use	VERB
asir-4275	27	48	in	in	ADP
asir-4275	27	49	environmental	environmental	ADJ
asir-4275	27	50	perception	perception	NOUN
asir-4275	27	51	in	in	ADP
asir-4275	27	52	various	various	ADJ
asir-4275	27	53	occasions	occasion	NOUN
asir-4275	27	54	,	,	PUNCT
asir-4275	27	55	scanning	scan	VERB
asir-4275	27	56	objects	object	NOUN
asir-4275	27	57	in	in	ADP
asir-4275	27	58	the	the	DET
asir-4275	27	59	environment	environment	NOUN
asir-4275	27	60	to	to	PART
asir-4275	27	61	obtain	obtain	VERB
asir-4275	27	62	the	the	DET
asir-4275	27	63	location	location	NOUN
asir-4275	27	64	information	information	NOUN
asir-4275	27	65	of	of	ADP
asir-4275	27	66	targets	target	NOUN
asir-4275	27	67	.	.	PUNCT
asir-4275	28	1	the	the	DET
asir-4275	28	2	rich	rich	ADJ
asir-4275	28	3	point	point	NOUN
asir-4275	28	4	cloud	cloud	NOUN
asir-4275	28	5	data	datum	NOUN
asir-4275	28	6	of	of	ADP
asir-4275	28	7	3d	3d	PROPN
asir-4275	28	8	lidar	lidar	NOUN
asir-4275	28	9	improves	improve	VERB
asir-4275	28	10	the	the	DET
asir-4275	28	11	accuracy	accuracy	NOUN
asir-4275	28	12	of	of	ADP
asir-4275	28	13	detection	detection	NOUN
asir-4275	28	14	,	,	PUNCT
asir-4275	28	15	but	but	CCONJ
asir-4275	28	16	it	it	PRON
asir-4275	28	17	also	also	ADV
asir-4275	28	18	brings	bring	VERB
asir-4275	28	19	some	some	DET
asir-4275	28	20	problems	problem	NOUN
asir-4275	28	21	to	to	ADP
asir-4275	28	22	algorithm	algorithm	NOUN
asir-4275	28	23	processing	processing	NOUN
asir-4275	28	24	.	.	PUNCT
asir-4275	29	1	3d	3d	NUM
asir-4275	29	2	lidar	lidar	NOUN
asir-4275	29	3	can	can	AUX
asir-4275	29	4	generate	generate	VERB
asir-4275	29	5	hundreds	hundred	NOUN
asir-4275	29	6	of	of	ADP
asir-4275	29	7	thousands	thousand	NOUN
asir-4275	29	8	or	or	CCONJ
asir-4275	29	9	millions	million	NOUN
asir-4275	29	10	of	of	ADP
asir-4275	29	11	point	point	NOUN
asir-4275	29	12	cloud	cloud	NOUN
asir-4275	29	13	data	datum	NOUN
asir-4275	29	14	per	per	ADP
asir-4275	29	15	second	second	NOUN
asir-4275	29	16	.	.	PUNCT
asir-4275	30	1	if	if	SCONJ
asir-4275	30	2	these	these	DET
asir-4275	30	3	point	point	NOUN
asir-4275	30	4	clouds	cloud	NOUN
asir-4275	30	5	are	be	AUX
asir-4275	30	6	directly	directly	ADV
asir-4275	30	7	processed	process	VERB
asir-4275	30	8	,	,	PUNCT
asir-4275	30	9	the	the	DET
asir-4275	30	10	speed	speed	NOUN
asir-4275	30	11	of	of	ADP
asir-4275	30	12	data	datum	NOUN
asir-4275	30	13	processing	processing	NOUN
asir-4275	30	14	will	will	AUX
asir-4275	30	15	be	be	AUX
asir-4275	30	16	seriously	seriously	ADV
asir-4275	30	17	reduced	reduce	VERB
asir-4275	30	18	,	,	PUNCT
asir-4275	30	19	and	and	CCONJ
asir-4275	30	20	the	the	DET
asir-4275	30	21	real	real	ADJ
asir-4275	30	22	-	-	PUNCT
asir-4275	30	23	time	time	NOUN
asir-4275	30	24	performance	performance	NOUN
asir-4275	30	25	of	of	ADP
asir-4275	30	26	the	the	DET
asir-4275	30	27	algorithm	algorithm	NOUN
asir-4275	30	28	is	be	AUX
asir-4275	30	29	difficult	difficult	ADJ
asir-4275	30	30	to	to	PART
asir-4275	30	31	meet	meet	VERB
asir-4275	30	32	the	the	DET
asir-4275	30	33	requirements	requirement	NOUN
asir-4275	30	34	of	of	ADP
asir-4275	30	35	detection	detection	NOUN
asir-4275	30	36	.	.	PUNCT
asir-4275	31	1	at	at	ADP
asir-4275	31	2	the	the	DET
asir-4275	31	3	same	same	ADJ
asir-4275	31	4	time	time	NOUN
asir-4275	31	5	,	,	PUNCT
asir-4275	31	6	the	the	DET
asir-4275	31	7	accuracy	accuracy	NOUN
asir-4275	31	8	of	of	ADP
asir-4275	31	9	target	target	NOUN
asir-4275	31	10	detection	detection	NOUN
asir-4275	31	11	will	will	AUX
asir-4275	31	12	be	be	AUX
asir-4275	31	13	affected	affect	VERB
asir-4275	31	14	by	by	ADP
asir-4275	31	15	outliers	outlier	NOUN
asir-4275	31	16	caused	cause	VERB
asir-4275	31	17	by	by	ADP
asir-4275	31	18	tree	tree	NOUN
asir-4275	31	19	branches	branch	NOUN
asir-4275	31	20	and	and	CCONJ
asir-4275	31	21	leaves	leave	NOUN
asir-4275	31	22	and	and	CCONJ
asir-4275	31	23	noise	noise	NOUN
asir-4275	31	24	caused	cause	VERB
asir-4275	31	25	by	by	ADP
asir-4275	31	26	distant	distant	ADJ
asir-4275	31	27	tree	tree	NOUN
asir-4275	31	28	rows	row	NOUN
asir-4275	31	29	.	.	PUNCT
asir-4275	32	1	therefore	therefore	ADV
asir-4275	32	2	,	,	PUNCT
asir-4275	32	3	it	it	PRON
asir-4275	32	4	is	be	AUX
asir-4275	32	5	necessary	necessary	ADJ
asir-4275	32	6	to	to	PART
asir-4275	32	7	preprocess	preprocess	VERB
asir-4275	32	8	the	the	DET
asir-4275	32	9	original	original	ADJ
asir-4275	32	10	laser	laser	NOUN
asir-4275	32	11	point	point	NOUN
asir-4275	32	12	cloud	cloud	NOUN
asir-4275	32	13	data	datum	NOUN
asir-4275	32	14	before	before	ADP
asir-4275	32	15	point	point	NOUN
asir-4275	32	16	cloud	cloud	NOUN
asir-4275	32	17	clustering	cluster	VERB
asir-4275	32	18	to	to	PART
asir-4275	32	19	identify	identify	VERB
asir-4275	32	20	the	the	DET
asir-4275	32	21	adjacent	adjacent	ADJ
asir-4275	32	22	rows	row	NOUN
asir-4275	32	23	of	of	ADP
asir-4275	32	24	fruit	fruit	NOUN
asir-4275	32	25	trees	tree	NOUN
asir-4275	32	26	in	in	ADP
asir-4275	32	27	the	the	DET
asir-4275	32	28	orchard	orchard	NOUN
asir-4275	32	29	.	.	PUNCT
asir-4275	33	1	2.1.1	2.1.1	NUM
asir-4275	33	2	region	region	NOUN
asir-4275	33	3	of	of	ADP
asir-4275	33	4	interest	interest	NOUN
asir-4275	33	5	refers	refer	VERB
asir-4275	33	6	region	region	NOUN
asir-4275	33	7	of	of	ADP
asir-4275	33	8	interest	interest	NOUN
asir-4275	33	9	(	(	PUNCT
asir-4275	33	10	roi	roi	NOUN
asir-4275	33	11	)	)	PUNCT
asir-4275	33	12	refers	refer	VERB
asir-4275	33	13	to	to	ADP
asir-4275	33	14	the	the	DET
asir-4275	33	15	effective	effective	ADJ
asir-4275	33	16	area	area	NOUN
asir-4275	33	17	where	where	SCONJ
asir-4275	33	18	the	the	DET
asir-4275	33	19	vehicle	vehicle	NOUN
asir-4275	33	20	is	be	AUX
asir-4275	33	21	driving	drive	VERB
asir-4275	33	22	and	and	CCONJ
asir-4275	33	23	the	the	DET
asir-4275	33	24	road	road	NOUN
asir-4275	33	25	segment	segment	NOUN
asir-4275	33	26	with	with	ADP
asir-4275	33	27	a	a	DET
asir-4275	33	28	certain	certain	ADJ
asir-4275	33	29	distance	distance	NOUN
asir-4275	33	30	ahead	ahead	ADV
asir-4275	33	31	.	.	PUNCT
asir-4275	34	1	accurate	accurate	ADJ
asir-4275	34	2	regional	regional	ADJ
asir-4275	34	3	data	datum	NOUN
asir-4275	34	4	extraction	extraction	NOUN
asir-4275	34	5	can	can	AUX
asir-4275	34	6	filter	filter	VERB
asir-4275	34	7	out	out	ADP
asir-4275	34	8	point	point	NOUN
asir-4275	34	9	cloud	cloud	NOUN
asir-4275	34	10	data	datum	NOUN
asir-4275	34	11	generated	generate	VERB
asir-4275	34	12	by	by	ADP
asir-4275	34	13	distant	distant	ADJ
asir-4275	34	14	obstacles	obstacle	NOUN
asir-4275	34	15	,	,	PUNCT
asir-4275	34	16	which	which	PRON
asir-4275	34	17	can	can	AUX
asir-4275	34	18	greatly	greatly	ADV
asir-4275	34	19	reduce	reduce	VERB
asir-4275	34	20	the	the	DET
asir-4275	34	21	amount	amount	NOUN
asir-4275	34	22	of	of	ADP
asir-4275	34	23	data	datum	NOUN
asir-4275	34	24	and	and	CCONJ
asir-4275	34	25	focus	focus	VERB
asir-4275	34	26	on	on	ADP
asir-4275	34	27	the	the	DET
asir-4275	34	28	target	target	NOUN
asir-4275	34	29	to	to	PART
asir-4275	34	30	be	be	AUX
asir-4275	34	31	detected	detect	VERB
asir-4275	34	32	.	.	PUNCT
asir-4275	35	1	the	the	DET
asir-4275	35	2	top	top	ADJ
asir-4275	35	3	view	view	NOUN
asir-4275	35	4	of	of	ADP
asir-4275	35	5	the	the	DET
asir-4275	35	6	vehicle	vehicle	NOUN
asir-4275	35	7	and	and	CCONJ
asir-4275	35	8	lidar	lidar	NOUN
asir-4275	35	9	is	be	AUX
asir-4275	35	10	shown	show	VERB
asir-4275	35	11	in	in	ADP
asir-4275	35	12	figure	figure	NOUN
asir-4275	35	13	4	4	NUM
asir-4275	35	14	.	.	PUNCT
asir-4275	35	15	to	to	PART
asir-4275	35	16	filter	filter	VERB
asir-4275	35	17	out	out	ADP
asir-4275	35	18	interference	interference	NOUN
asir-4275	35	19	from	from	ADP
asir-4275	35	20	distant	distant	ADJ
asir-4275	35	21	obstacles	obstacle	NOUN
asir-4275	35	22	,	,	PUNCT
asir-4275	35	23	thresholds	threshold	NOUN
asir-4275	35	24	were	be	AUX
asir-4275	35	25	set	set	VERB
asir-4275	35	26	in	in	ADP
asir-4275	35	27	the	the	DET
asir-4275	35	28	vehicle	vehicle	NOUN
asir-4275	35	29	forward	forward	ADV
asir-4275	35	30	(	(	PUNCT
asir-4275	35	31	x	x	NOUN
asir-4275	35	32	)	)	PUNCT
asir-4275	35	33	direction	direction	NOUN
asir-4275	35	34	,	,	PUNCT
asir-4275	35	35	the	the	DET
asir-4275	35	36	vehicle	vehicle	NOUN
asir-4275	35	37	on	on	ADP
asir-4275	35	38	both	both	DET
asir-4275	35	39	sides	side	NOUN
asir-4275	35	40	(	(	PUNCT
asir-4275	35	41	y	y	NOUN
asir-4275	35	42	)	)	PUNCT
asir-4275	35	43	direction	direction	NOUN
asir-4275	35	44	and	and	CCONJ
asir-4275	35	45	the	the	DET
asir-4275	35	46	vehicle	vehicle	NOUN
asir-4275	35	47	vertical	vertical	NOUN
asir-4275	35	48	(	(	PUNCT
asir-4275	35	49	z	z	NOUN
asir-4275	35	50	)	)	PUNCT
asir-4275	35	51	direction	direction	NOUN
asir-4275	35	52	respectively	respectively	ADV
asir-4275	35	53	,	,	PUNCT
asir-4275	35	54	and	and	CCONJ
asir-4275	35	55	the	the	DET
asir-4275	35	56	point	point	NOUN
asir-4275	35	57	cloud	cloud	NOUN
asir-4275	35	58	data	datum	NOUN
asir-4275	35	59	that	that	PRON
asir-4275	35	60	did	do	AUX
asir-4275	35	61	not	not	PART
asir-4275	35	62	meet	meet	VERB
asir-4275	35	63	the	the	DET
asir-4275	35	64	following	follow	VERB
asir-4275	35	65	conditions	condition	NOUN
asir-4275	35	66	were	be	AUX
asir-4275	35	67	put	put	VERB
asir-4275	35	68	into	into	ADP
asir-4275	35	69	the	the	DET
asir-4275	35	70	extract	extract	NOUN
asir-4275	35	71	indices	indice	VERB
asir-4275	35	72	filter	filter	NOUN
asir-4275	35	73	in	in	ADP
asir-4275	35	74	pcl	pcl	PROPN
asir-4275	35	75	for	for	ADP
asir-4275	35	76	filtering	filter	VERB
asir-4275	35	77	,	,	PUNCT
asir-4275	35	78	so	so	SCONJ
asir-4275	35	79	as	as	SCONJ
asir-4275	35	80	to	to	PART
asir-4275	35	81	extract	extract	VERB
asir-4275	35	82	the	the	DET
asir-4275	35	83	point	point	NOUN
asir-4275	35	84	cloud	cloud	NOUN
asir-4275	35	85	subset	subset	NOUN
asir-4275	35	86	of	of	ADP
asir-4275	35	87	the	the	DET
asir-4275	35	88	region	region	NOUN
asir-4275	35	89	of	of	ADP
asir-4275	35	90	interest	interest	NOUN
asir-4275	35	91	from	from	ADP
asir-4275	35	92	the	the	DET
asir-4275	35	93	original	original	ADJ
asir-4275	35	94	point	point	NOUN
asir-4275	35	95	cloud	cloud	NOUN
asir-4275	35	96	data	datum	NOUN
asir-4275	35	97	.	.	PUNCT
asir-4275	36	1	min	min	PROPN
asir-4275	36	2	max	max	PROPN
asir-4275	36	3	min	min	PROPN
asir-4275	36	4	max	max	PROPN
asir-4275	36	5	max	max	PROPN
asir-4275	37	1	i	i	PRON
asir-4275	37	2	i	i	PRON
asir-4275	37	3	i	i	VERB
asir-4275	37	4	x	x	VERB
asir-4275	37	5	x	x	PUNCT
asir-4275	37	6	x	x	VERB
asir-4275	37	7	y	y	VERB
asir-4275	37	8	y	y	PROPN
asir-4275	37	9	y	y	PROPN
asir-4275	37	10	z	z	PROPN
asir-4275	37	11	z	z	VERB
asir-4275	37	12			PROPN
asir-4275	37	13			NOUN
asir-4275	37	14			NUM
asir-4275	37	15			PROPN
asir-4275	37	16			ADJ
asir-4275	37	17			DET
asir-4275	37	18			PROPN
asir-4275	37	19	(	(	PUNCT
asir-4275	37	20	1	1	NUM
asir-4275	37	21	)	)	PUNCT
asir-4275	37	22	in	in	ADP
asir-4275	37	23	the	the	DET
asir-4275	37	24	formula	formula	NOUN
asir-4275	37	25	𝑥𝑖	𝑥𝑖	PRON
asir-4275	37	26	,	,	PUNCT
asir-4275	37	27	𝑦𝑖	𝑦𝑖	PROPN
asir-4275	37	28	,	,	PUNCT
asir-4275	37	29	𝑧𝑖	𝑧𝑖	INTJ
asir-4275	37	30	—	—	PUNCT
asir-4275	37	31	—	—	PUNCT
asir-4275	37	32	coordinate	coordinate	NOUN
asir-4275	37	33	value	value	NOUN
asir-4275	37	34	of	of	ADP
asir-4275	37	35	lidar	lidar	NOUN
asir-4275	37	36	at	at	ADP
asir-4275	37	37	point	point	NOUN
asir-4275	37	38	i	i	PRON
asir-4275	37	39	𝑋𝑚𝑖𝑛	𝑋𝑚𝑖𝑛	PROPN
asir-4275	37	40	,	,	PUNCT
asir-4275	37	41	𝑋𝑚𝑎𝑥	𝑋𝑚𝑎𝑥	PROPN
asir-4275	37	42	—	—	PUNCT
asir-4275	37	43	—	—	PUNCT
asir-4275	37	44	the	the	DET
asir-4275	37	45	distance	distance	NOUN
asir-4275	37	46	threshold	threshold	NOUN
asir-4275	37	47	in	in	ADP
asir-4275	37	48	the	the	DET
asir-4275	37	49	forward	forward	NOUN
asir-4275	37	50	direction(x	direction(x	NOUN
asir-4275	37	51	)	)	PUNCT
asir-4275	37	52	of	of	ADP
asir-4275	37	53	vehicle	vehicle	NOUN
asir-4275	37	54	𝑌𝑚𝑖𝑛	𝑌𝑚𝑖𝑛	PROPN
asir-4275	37	55	,	,	PUNCT
asir-4275	37	56	𝑌𝑚𝑎𝑥	𝑌𝑚𝑎𝑥	PROPN
asir-4275	37	57	—	—	PUNCT
asir-4275	37	58	—	—	PUNCT
asir-4275	37	59	the	the	DET
asir-4275	37	60	distance	distance	NOUN
asir-4275	37	61	threshold	threshold	NOUN
asir-4275	37	62	on	on	ADP
asir-4275	37	63	the	the	DET
asir-4275	37	64	both	both	DET
asir-4275	37	65	sides	side	NOUN
asir-4275	37	66	direction(y	direction(y	NOUN
asir-4275	37	67	)	)	PUNCT
asir-4275	37	68	of	of	ADP
asir-4275	37	69	vehicle	vehicle	NOUN
asir-4275	37	70	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-4275	37	71	applied	apply	VERB
asir-4275	37	72	science	science	NOUN
asir-4275	37	73	and	and	CCONJ
asir-4275	37	74	innovative	innovative	ADJ
asir-4275	37	75	research	research	NOUN
asir-4275	37	76	vol	vol	NOUN
asir-4275	37	77	.	.	PROPN
asir-4275	38	1	5	5	NUM
asir-4275	38	2	,	,	PUNCT
asir-4275	38	3	no	no	INTJ
asir-4275	38	4	.	.	NOUN
asir-4275	38	5	3	3	NUM
asir-4275	38	6	,	,	PUNCT
asir-4275	38	7	2021	2021	NUM
asir-4275	38	8	42	42	NUM
asir-4275	38	9	published	publish	VERB
asir-4275	38	10	by	by	ADP
asir-4275	38	11	scholink	scholink	PROPN
asir-4275	38	12	inc	inc	PROPN
asir-4275	38	13	.	.	PUNCT
asir-4275	39	1	𝑍𝑚𝑖𝑛	𝑍𝑚𝑖𝑛	PROPN
asir-4275	39	2	,	,	PUNCT
asir-4275	39	3	𝑍𝑚𝑎𝑥——the	𝑍𝑚𝑎𝑥——the	DET
asir-4275	39	4	distance	distance	NOUN
asir-4275	39	5	threshold	threshold	NOUN
asir-4275	39	6	of	of	ADP
asir-4275	39	7	vertical	vertical	ADJ
asir-4275	39	8	direction(y	direction(y	NOUN
asir-4275	39	9	)	)	PUNCT
asir-4275	39	10	of	of	ADP
asir-4275	39	11	vehicle	vehicle	NOUN
asir-4275	39	12	according	accord	VERB
asir-4275	39	13	to	to	ADP
asir-4275	39	14	the	the	DET
asir-4275	39	15	above	above	ADJ
asir-4275	39	16	formula	formula	NOUN
asir-4275	39	17	(	(	PUNCT
asir-4275	39	18	1	1	NUM
asir-4275	39	19	)	)	PUNCT
asir-4275	39	20	,	,	PUNCT
asir-4275	39	21	point	point	VERB
asir-4275	39	22	cloud	cloud	NOUN
asir-4275	39	23	data	datum	NOUN
asir-4275	39	24	of	of	ADP
asir-4275	39	25	vehicles	vehicle	NOUN
asir-4275	39	26	in	in	ADP
asir-4275	39	27	the	the	DET
asir-4275	39	28	effective	effective	ADJ
asir-4275	39	29	driving	driving	NOUN
asir-4275	39	30	area	area	NOUN
asir-4275	39	31	can	can	AUX
asir-4275	39	32	be	be	AUX
asir-4275	39	33	extracted	extract	VERB
asir-4275	39	34	.	.	PUNCT
asir-4275	40	1	however	however	ADV
asir-4275	40	2	,	,	PUNCT
asir-4275	40	3	since	since	SCONJ
asir-4275	40	4	the	the	DET
asir-4275	40	5	3d	3d	PROPN
asir-4275	40	6	lidar	lidar	NOUN
asir-4275	40	7	itself	itself	PRON
asir-4275	40	8	has	have	VERB
asir-4275	40	9	a	a	DET
asir-4275	40	10	certain	certain	ADJ
asir-4275	40	11	angle	angle	NOUN
asir-4275	40	12	field	field	NOUN
asir-4275	40	13	of	of	ADP
asir-4275	40	14	view	view	NOUN
asir-4275	40	15	(	(	PUNCT
asir-4275	40	16	velodyne	velodyne	PROPN
asir-4275	40	17	vlp-16:-15	vlp-16:-15	PROPN
asir-4275	40	18	°	°	PROPN
asir-4275	40	19	~+15	~+15	NOUN
asir-4275	40	20	°	°	NOUN
asir-4275	40	21	)	)	PUNCT
asir-4275	40	22	,	,	PUNCT
asir-4275	40	23	the	the	DET
asir-4275	40	24	collected	collect	VERB
asir-4275	40	25	point	point	NOUN
asir-4275	40	26	cloud	cloud	NOUN
asir-4275	40	27	data	datum	NOUN
asir-4275	40	28	may	may	AUX
asir-4275	40	29	contain	contain	VERB
asir-4275	40	30	information	information	NOUN
asir-4275	40	31	of	of	ADP
asir-4275	40	32	the	the	DET
asir-4275	40	33	vehicles	vehicle	NOUN
asir-4275	40	34	itself	itself	PRON
asir-4275	40	35	.	.	PUNCT
asir-4275	41	1	the	the	DET
asir-4275	41	2	data	datum	NOUN
asir-4275	41	3	should	should	AUX
asir-4275	41	4	not	not	PART
asir-4275	41	5	affect	affect	VERB
asir-4275	41	6	subsequent	subsequent	ADJ
asir-4275	41	7	detection	detection	NOUN
asir-4275	41	8	results	result	NOUN
asir-4275	41	9	and	and	CCONJ
asir-4275	41	10	should	should	AUX
asir-4275	41	11	also	also	ADV
asir-4275	41	12	be	be	AUX
asir-4275	41	13	regarded	regard	VERB
asir-4275	41	14	as	as	ADP
asir-4275	41	15	noise	noise	NOUN
asir-4275	41	16	points	point	NOUN
asir-4275	41	17	for	for	ADP
asir-4275	41	18	filtering	filter	VERB
asir-4275	41	19	.	.	PUNCT
asir-4275	42	1	2	2	NUM
asir-4275	42	2	2	2	NUM
asir-4275	42	3	i	i	PRON
asir-4275	42	4	i	i	PRON
asir-4275	42	5	i	i	VERB
asir-4275	42	6	d	d	NOUN
asir-4275	42	7	x	x	SYM
asir-4275	42	8	y	y	NOUN
asir-4275	42	9			PROPN
asir-4275	42	10	(	(	PUNCT
asir-4275	42	11	2	2	NUM
asir-4275	42	12	)	)	PUNCT
asir-4275	42	13	in	in	ADP
asir-4275	42	14	formula	formula	NOUN
asir-4275	42	15	(	(	PUNCT
asir-4275	42	16	2	2	NUM
asir-4275	42	17	)	)	PUNCT
asir-4275	42	18	,	,	PUNCT
asir-4275	42	19	di	di	X
asir-4275	42	20	is	be	AUX
asir-4275	42	21	the	the	DET
asir-4275	42	22	distance	distance	NOUN
asir-4275	42	23	between	between	ADP
asir-4275	42	24	the	the	DET
asir-4275	42	25	detected	detect	VERB
asir-4275	42	26	object	object	NOUN
asir-4275	42	27	and	and	CCONJ
asir-4275	42	28	the	the	DET
asir-4275	42	29	lidar	lidar	NOUN
asir-4275	42	30	.	.	PUNCT
asir-4275	43	1	when	when	SCONJ
asir-4275	43	2	the	the	DET
asir-4275	43	3	reflection	reflection	NOUN
asir-4275	43	4	distance	distance	NOUN
asir-4275	43	5	di	di	NOUN
asir-4275	43	6	is	be	AUX
asir-4275	43	7	less	less	ADJ
asir-4275	43	8	than	than	ADP
asir-4275	43	9	the	the	DET
asir-4275	43	10	set	set	NOUN
asir-4275	43	11	threshold	threshold	NOUN
asir-4275	43	12	d	d	NOUN
asir-4275	43	13	,	,	PUNCT
asir-4275	43	14	the	the	DET
asir-4275	43	15	corresponding	corresponding	ADJ
asir-4275	43	16	point	point	NOUN
asir-4275	43	17	cloud	cloud	NOUN
asir-4275	43	18	data	datum	NOUN
asir-4275	43	19	is	be	AUX
asir-4275	43	20	filtered	filter	VERB
asir-4275	43	21	out	out	ADP
asir-4275	43	22	.	.	PUNCT
asir-4275	44	1	x	x	X
asir-4275	44	2	y	y	PROPN
asir-4275	44	3	z	z	PROPN
asir-4275	44	4	3d	3d	PROPN
asir-4275	44	5	lidar	lidar	NOUN
asir-4275	44	6	car	car	NOUN
asir-4275	44	7	d	d	NOUN
asir-4275	44	8	target	target	NOUN
asir-4275	44	9	z	z	NOUN
asir-4275	44	10	x	x	SYM
asir-4275	44	11	θ	θ	NOUN
asir-4275	44	12	figure	figure	NOUN
asir-4275	44	13	4	4	NUM
asir-4275	44	14	.	.	PUNCT
asir-4275	45	1	top	top	VERB
asir-4275	45	2	down	down	ADP
asir-4275	45	3	view	view	NOUN
asir-4275	45	4	figure	figure	NOUN
asir-4275	45	5	5	5	NUM
asir-4275	45	6	.	.	PUNCT
asir-4275	45	7	side	side	NOUN
asir-4275	45	8	view	view	NOUN
asir-4275	45	9	2.1.2	2.1.2	NUM
asir-4275	45	10	ground	ground	NOUN
asir-4275	45	11	point	point	NOUN
asir-4275	45	12	cloud	cloud	NOUN
asir-4275	45	13	segmentation	segmentation	NOUN
asir-4275	45	14	environmental	environmental	ADJ
asir-4275	45	15	sensing	sensing	NOUN
asir-4275	45	16	based	base	VERB
asir-4275	45	17	on	on	ADP
asir-4275	45	18	lidar	lidar	NOUN
asir-4275	45	19	is	be	AUX
asir-4275	45	20	usually	usually	ADV
asir-4275	45	21	only	only	ADV
asir-4275	45	22	interested	interested	ADJ
asir-4275	45	23	in	in	ADP
asir-4275	45	24	targets	target	NOUN
asir-4275	45	25	on	on	ADP
asir-4275	45	26	the	the	DET
asir-4275	45	27	road	road	NOUN
asir-4275	45	28	surface	surface	NOUN
asir-4275	45	29	.	.	PUNCT
asir-4275	46	1	in	in	ADP
asir-4275	46	2	order	order	NOUN
asir-4275	46	3	to	to	PART
asir-4275	46	4	quickly	quickly	ADV
asir-4275	46	5	and	and	CCONJ
asir-4275	46	6	accurately	accurately	ADV
asir-4275	46	7	detect	detect	VERB
asir-4275	46	8	the	the	DET
asir-4275	46	9	location	location	NOUN
asir-4275	46	10	of	of	ADP
asir-4275	46	11	obstacles	obstacle	NOUN
asir-4275	46	12	,	,	PUNCT
asir-4275	46	13	ground	ground	NOUN
asir-4275	46	14	and	and	CCONJ
asir-4275	46	15	non	non	ADJ
asir-4275	46	16	-	-	ADJ
asir-4275	46	17	ground	ground	ADJ
asir-4275	46	18	points	point	NOUN
asir-4275	46	19	need	need	VERB
asir-4275	46	20	to	to	PART
asir-4275	46	21	be	be	AUX
asir-4275	46	22	separated	separate	VERB
asir-4275	46	23	before	before	ADP
asir-4275	46	24	cluster	cluster	NOUN
asir-4275	46	25	detection	detection	NOUN
asir-4275	46	26	(	(	PUNCT
asir-4275	46	27	miao	miao	PROPN
asir-4275	46	28	&	&	CCONJ
asir-4275	46	29	tseng	tseng	PROPN
asir-4275	46	30	,	,	PUNCT
asir-4275	46	31	2004	2004	NUM
asir-4275	46	32	;	;	PUNCT
asir-4275	46	33	reitberger	reitberger	NOUN
asir-4275	46	34	,	,	PUNCT
asir-4275	46	35	schnoerr	schnoerr	NOUN
asir-4275	46	36	,	,	PUNCT
asir-4275	46	37	krzystek	krzystek	PROPN
asir-4275	46	38	,	,	PUNCT
asir-4275	46	39	et	et	PROPN
asir-4275	46	40	al	al	PROPN
asir-4275	46	41	.	.	PROPN
asir-4275	46	42	,	,	PUNCT
asir-4275	46	43	2009	2009	NUM
asir-4275	46	44	;	;	PUNCT
asir-4275	46	45	gamal	gamal	PROPN
asir-4275	46	46	,	,	PUNCT
asir-4275	46	47	wibisono	wibisono	PROPN
asir-4275	46	48	,	,	PUNCT
asir-4275	46	49	wicaksono	wicaksono	NOUN
asir-4275	46	50	,	,	PUNCT
asir-4275	46	51	et	et	PROPN
asir-4275	46	52	al	al	PROPN
asir-4275	46	53	.	.	PROPN
asir-4275	46	54	,	,	PUNCT
asir-4275	46	55	2020	2020	NUM
asir-4275	46	56	)	)	PUNCT
asir-4275	46	57	.	.	PUNCT
asir-4275	47	1	in	in	ADP
asir-4275	47	2	this	this	DET
asir-4275	47	3	paper	paper	NOUN
asir-4275	47	4	,	,	PUNCT
asir-4275	47	5	the	the	DET
asir-4275	47	6	ray	ray	NOUN
asir-4275	47	7	ground	ground	NOUN
asir-4275	47	8	filter	filter	NOUN
asir-4275	47	9	method	method	NOUN
asir-4275	47	10	is	be	AUX
asir-4275	47	11	adopted	adopt	VERB
asir-4275	47	12	for	for	ADP
asir-4275	47	13	ground	ground	NOUN
asir-4275	47	14	filtration	filtration	NOUN
asir-4275	47	15	,	,	PUNCT
asir-4275	47	16	and	and	CCONJ
asir-4275	47	17	the	the	DET
asir-4275	47	18	flow	flow	NOUN
asir-4275	47	19	chart	chart	NOUN
asir-4275	47	20	of	of	ADP
asir-4275	47	21	this	this	DET
asir-4275	47	22	method	method	NOUN
asir-4275	47	23	is	be	AUX
asir-4275	47	24	as	as	SCONJ
asir-4275	47	25	follows	follow	VERB
asir-4275	47	26	:	:	PUNCT
asir-4275	47	27	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-4275	47	28	applied	apply	VERB
asir-4275	47	29	science	science	NOUN
asir-4275	47	30	and	and	CCONJ
asir-4275	47	31	innovative	innovative	ADJ
asir-4275	47	32	research	research	NOUN
asir-4275	47	33	vol	vol	NOUN
asir-4275	47	34	.	.	PROPN
asir-4275	48	1	5	5	NUM
asir-4275	48	2	,	,	PUNCT
asir-4275	48	3	no	no	INTJ
asir-4275	48	4	.	.	NOUN
asir-4275	48	5	3	3	NUM
asir-4275	48	6	,	,	PUNCT
asir-4275	48	7	2021	2021	NUM
asir-4275	48	8	43	43	NUM
asir-4275	48	9	published	publish	VERB
asir-4275	48	10	by	by	ADP
asir-4275	48	11	scholink	scholink	PROPN
asir-4275	48	12	inc	inc	PROPN
asir-4275	48	13	.	.	PROPN
asir-4275	49	1	start	start	VERB
asir-4275	49	2	input	input	NOUN
asir-4275	49	3	point	point	NOUN
asir-4275	49	4	cloud	cloud	NOUN
asir-4275	49	5	data	datum	NOUN
asir-4275	49	6	calculate	calculate	VERB
asir-4275	49	7	the	the	DET
asir-4275	49	8	horizontal	horizontal	ADJ
asir-4275	49	9	angle	angle	NOUN
asir-4275	49	10	θ	θ	PROPN
asir-4275	49	11	from	from	ADP
asir-4275	49	12	each	each	DET
asir-4275	49	13	point	point	NOUN
asir-4275	49	14	to	to	ADP
asir-4275	49	15	the	the	DET
asir-4275	49	16	positive	positive	ADJ
asir-4275	49	17	x	x	NOUN
asir-4275	49	18	direction	direction	NOUN
asir-4275	49	19	differentiate	differentiate	VERB
asir-4275	49	20	360	360	NUM
asir-4275	49	21	degrees	degree	NOUN
asir-4275	49	22	,	,	PUNCT
asir-4275	49	23	and	and	CCONJ
asir-4275	49	24	each	each	DET
asir-4275	49	25	angle	angle	NOUN
asir-4275	49	26	isα	isα	NOUN
asir-4275	49	27	the	the	DET
asir-4275	49	28	rays	ray	NOUN
asir-4275	49	29	are	be	AUX
asir-4275	49	30	sorted	sort	VERB
asir-4275	49	31	by	by	ADP
asir-4275	49	32	distance	distance	NOUN
asir-4275	49	33	|zi	|zi	X
asir-4275	49	34	–	–	PUNCT
asir-4275	49	35	zi-1|	zi-1|	NOUN
asir-4275	49	36	>	>	X
asir-4275	49	37	h	h	NOUN
asir-4275	49	38	?	?	PUNCT
asir-4275	50	1	non	non	ADJ
asir-4275	50	2	-	-	ADJ
asir-4275	50	3	ground	ground	ADJ
asir-4275	50	4	points	point	NOUN
asir-4275	50	5	ground	ground	NOUN
asir-4275	50	6	points	point	NOUN
asir-4275	50	7	all	all	DET
asir-4275	50	8	points	point	NOUN
asir-4275	50	9	traversal	traversal	NOUN
asir-4275	50	10	done	do	VERB
asir-4275	50	11	?	?	PUNCT
asir-4275	51	1	filter	filter	NOUN
asir-4275	51	2	end	end	NOUN
asir-4275	52	1	no	no	INTJ
asir-4275	53	1	yes	yes	INTJ
asir-4275	53	2	yes	yes	INTJ
asir-4275	54	1	no	no	DET
asir-4275	54	2	figure	figure	NOUN
asir-4275	54	3	6	6	NUM
asir-4275	54	4	.	.	PUNCT
asir-4275	54	5	flow	flow	NOUN
asir-4275	54	6	chart	chart	NOUN
asir-4275	54	7	of	of	ADP
asir-4275	54	8	ray	ray	NOUN
asir-4275	54	9	ground	ground	NOUN
asir-4275	54	10	filter	filter	NOUN
asir-4275	54	11	in	in	ADP
asir-4275	54	12	figure	figure	NOUN
asir-4275	54	13	6	6	NUM
asir-4275	54	14	,	,	PUNCT
asir-4275	54	15	angle	angle	NOUN
asir-4275	54	16	α	α	PROPN
asir-4275	54	17	is	be	AUX
asir-4275	54	18	the	the	DET
asir-4275	54	19	horizontal	horizontal	ADJ
asir-4275	54	20	angular	angular	ADJ
asir-4275	54	21	resolution	resolution	NOUN
asir-4275	54	22	of	of	ADP
asir-4275	54	23	the	the	DET
asir-4275	54	24	laser	laser	NOUN
asir-4275	54	25	radar	radar	PROPN
asir-4275	54	26	vlp-16	vlp-16	PROPN
asir-4275	54	27	.	.	PUNCT
asir-4275	55	1	when	when	SCONJ
asir-4275	55	2	the	the	DET
asir-4275	55	3	frequency	frequency	NOUN
asir-4275	55	4	of	of	ADP
asir-4275	55	5	vlp-16	vlp-16	PROPN
asir-4275	55	6	is	be	AUX
asir-4275	55	7	10hz	10hz	ADJ
asir-4275	55	8	,	,	PUNCT
asir-4275	55	9	α	α	NOUN
asir-4275	55	10	=	=	NOUN
asir-4275	55	11	0.2	0.2	NUM
asir-4275	55	12	°	°	NUM
asir-4275	55	13	;	;	PUNCT
asir-4275	55	14	zi	zi	NOUN
asir-4275	55	15	and	and	CCONJ
asir-4275	55	16	zi+1	zi+1	NUM
asir-4275	55	17	are	be	AUX
asir-4275	55	18	the	the	DET
asir-4275	55	19	values	value	NOUN
asir-4275	55	20	in	in	ADP
asir-4275	55	21	the	the	DET
asir-4275	55	22	z	z	NOUN
asir-4275	55	23	direction	direction	NOUN
asir-4275	55	24	(	(	PUNCT
asir-4275	55	25	altitude	altitude	NOUN
asir-4275	55	26	direction	direction	NOUN
asir-4275	55	27	)	)	PUNCT
asir-4275	55	28	of	of	ADP
asir-4275	55	29	point	point	NOUN
asir-4275	55	30	i	i	PRON
asir-4275	55	31	and	and	CCONJ
asir-4275	55	32	point	point	VERB
asir-4275	55	33	i+1	i+1	ADV
asir-4275	55	34	sorted	sort	VERB
asir-4275	55	35	by	by	ADP
asir-4275	55	36	ray	ray	NOUN
asir-4275	55	37	distance	distance	NOUN
asir-4275	55	38	respectively	respectively	ADV
asir-4275	55	39	,	,	PUNCT
asir-4275	55	40	and	and	CCONJ
asir-4275	55	41	h	h	NOUN
asir-4275	55	42	is	be	AUX
asir-4275	55	43	the	the	DET
asir-4275	55	44	pre	pre	ADJ
asir-4275	55	45	-	-	ADJ
asir-4275	55	46	set	set	ADJ
asir-4275	55	47	slope	slope	NOUN
asir-4275	55	48	threshold	threshold	NOUN
asir-4275	55	49	.	.	PUNCT
asir-4275	56	1	first	first	ADV
asir-4275	56	2	of	of	ADP
asir-4275	56	3	all	all	PRON
asir-4275	56	4	,	,	PUNCT
asir-4275	56	5	the	the	DET
asir-4275	56	6	point	point	NOUN
asir-4275	56	7	cloud	cloud	NOUN
asir-4275	56	8	after	after	SCONJ
asir-4275	56	9	roi	roi	NOUN
asir-4275	56	10	extraction	extraction	NOUN
asir-4275	56	11	is	be	AUX
asir-4275	56	12	input	input	NOUN
asir-4275	56	13	,	,	PUNCT
asir-4275	56	14	and	and	CCONJ
asir-4275	56	15	angle	angle	NOUN
asir-4275	56	16	differentiation	differentiation	NOUN
asir-4275	56	17	is	be	AUX
asir-4275	56	18	performed	perform	VERB
asir-4275	56	19	for	for	ADP
asir-4275	56	20	360	360	NUM
asir-4275	56	21	°	°	NOUN
asir-4275	56	22	,	,	PUNCT
asir-4275	56	23	with	with	ADP
asir-4275	56	24	each	each	DET
asir-4275	56	25	angle	angle	NOUN
asir-4275	56	26	α	α	PRON
asir-4275	56	27	being	be	AUX
asir-4275	56	28	0.2	0.2	NUM
asir-4275	56	29	°	°	NOUN
asir-4275	56	30	.	.	PUNCT
asir-4275	57	1	after	after	ADP
asir-4275	57	2	angle	angle	NOUN
asir-4275	57	3	differentiation	differentiation	NOUN
asir-4275	57	4	,	,	PUNCT
asir-4275	57	5	360/0.2=1800	360/0.2=1800	NUM
asir-4275	57	6	rays	ray	NOUN
asir-4275	57	7	can	can	AUX
asir-4275	57	8	be	be	AUX
asir-4275	57	9	obtained	obtain	VERB
asir-4275	57	10	.	.	PUNCT
asir-4275	58	1	secondly	secondly	ADV
asir-4275	58	2	,	,	PUNCT
asir-4275	58	3	ascending	ascend	VERB
asir-4275	58	4	order	order	NOUN
asir-4275	58	5	is	be	AUX
asir-4275	58	6	carried	carry	VERB
asir-4275	58	7	out	out	ADP
asir-4275	58	8	according	accord	VERB
asir-4275	58	9	to	to	ADP
asir-4275	58	10	ray	ray	NOUN
asir-4275	58	11	distance	distance	NOUN
asir-4275	58	12	.	.	PUNCT
asir-4275	59	1	finally	finally	ADV
asir-4275	59	2	,	,	PUNCT
asir-4275	59	3	ground	ground	NOUN
asir-4275	59	4	point	point	NOUN
asir-4275	59	5	cloud	cloud	NOUN
asir-4275	59	6	is	be	AUX
asir-4275	59	7	judged	judge	VERB
asir-4275	59	8	by	by	ADP
asir-4275	59	9	comparing	compare	VERB
asir-4275	59	10	the	the	DET
asir-4275	59	11	relationship	relationship	NOUN
asir-4275	59	12	between	between	ADP
asir-4275	59	13	height	height	NOUN
asir-4275	59	14	difference	difference	NOUN
asir-4275	59	15	and	and	CCONJ
asir-4275	59	16	slope	slope	NOUN
asir-4275	59	17	threshold	threshold	NOUN
asir-4275	59	18	h	h	NOUN
asir-4275	59	19	of	of	ADP
asir-4275	59	20	the	the	DET
asir-4275	59	21	two	two	NUM
asir-4275	59	22	point	point	NOUN
asir-4275	59	23	clouds	cloud	NOUN
asir-4275	59	24	before	before	ADP
asir-4275	59	25	and	and	CCONJ
asir-4275	59	26	after	after	ADV
asir-4275	59	27	.	.	PUNCT
asir-4275	60	1	when	when	SCONJ
asir-4275	60	2	the	the	DET
asir-4275	60	3	height	height	NOUN
asir-4275	60	4	difference	difference	NOUN
asir-4275	60	5	is	be	AUX
asir-4275	60	6	greater	great	ADJ
asir-4275	60	7	than	than	ADP
asir-4275	60	8	the	the	DET
asir-4275	60	9	slope	slope	NOUN
asir-4275	60	10	threshold	threshold	NOUN
asir-4275	60	11	h	h	NOUN
asir-4275	60	12	,	,	PUNCT
asir-4275	60	13	it	it	PRON
asir-4275	60	14	is	be	AUX
asir-4275	60	15	judged	judge	VERB
asir-4275	60	16	to	to	PART
asir-4275	60	17	be	be	AUX
asir-4275	60	18	ground	ground	NOUN
asir-4275	60	19	point	point	NOUN
asir-4275	60	20	cloud	cloud	NOUN
asir-4275	60	21	and	and	CCONJ
asir-4275	60	22	filtered	filter	VERB
asir-4275	60	23	.	.	PUNCT
asir-4275	61	1	otherwise	otherwise	ADV
asir-4275	61	2	,	,	PUNCT
asir-4275	61	3	non	non	ADJ
asir-4275	61	4	-	-	ADJ
asir-4275	61	5	ground	ground	ADJ
asir-4275	61	6	point	point	NOUN
asir-4275	61	7	cloud	cloud	NOUN
asir-4275	61	8	is	be	AUX
asir-4275	61	9	considered	consider	VERB
asir-4275	61	10	.	.	PUNCT
asir-4275	62	1	the	the	DET
asir-4275	62	2	calculation	calculation	NOUN
asir-4275	62	3	of	of	ADP
asir-4275	62	4	slope	slope	NOUN
asir-4275	62	5	between	between	ADP
asir-4275	62	6	angle	angle	NOUN
asir-4275	62	7	differential	differential	NOUN
asir-4275	62	8	and	and	CCONJ
asir-4275	62	9	point	point	NOUN
asir-4275	62	10	cloud	cloud	NOUN
asir-4275	62	11	is	be	AUX
asir-4275	62	12	shown	show	VERB
asir-4275	62	13	in	in	ADP
asir-4275	62	14	figures	figure	NOUN
asir-4275	62	15	7	7	NUM
asir-4275	62	16	and	and	CCONJ
asir-4275	62	17	8	8	NUM
asir-4275	62	18	.	.	X
asir-4275	63	1	figure	figure	VERB
asir-4275	63	2	7	7	NUM
asir-4275	63	3	.	.	PUNCT
asir-4275	64	1	angle	angle	NOUN
asir-4275	64	2	differentiation	differentiation	NOUN
asir-4275	64	3	figure	figure	NOUN
asir-4275	64	4	8	8	NUM
asir-4275	64	5	.	.	PUNCT
asir-4275	65	1	slope	slope	NOUN
asir-4275	65	2	calculation	calculation	NOUN
asir-4275	65	3	2.1.3	2.1.3	NUM
asir-4275	65	4	sampling	sample	VERB
asir-4275	65	5	under	under	ADP
asir-4275	65	6	voxel	voxel	NOUN
asir-4275	65	7	filtering	filtering	NOUN
asir-4275	65	8	after	after	SCONJ
asir-4275	65	9	the	the	DET
asir-4275	65	10	original	original	ADJ
asir-4275	65	11	data	datum	NOUN
asir-4275	65	12	was	be	AUX
asir-4275	65	13	extracted	extract	VERB
asir-4275	65	14	by	by	ADP
asir-4275	65	15	roi	roi	NOUN
asir-4275	65	16	and	and	CCONJ
asir-4275	65	17	ground	ground	NOUN
asir-4275	65	18	cloud	cloud	NOUN
asir-4275	65	19	point	point	NOUN
asir-4275	65	20	segmentation	segmentation	NOUN
asir-4275	65	21	,	,	PUNCT
asir-4275	65	22	the	the	DET
asir-4275	65	23	amount	amount	NOUN
asir-4275	65	24	of	of	ADP
asir-4275	65	25	point	point	NOUN
asir-4275	65	26	cloud	cloud	NOUN
asir-4275	65	27	data	datum	NOUN
asir-4275	65	28	was	be	AUX
asir-4275	65	29	greatly	greatly	ADV
asir-4275	65	30	reduced	reduce	VERB
asir-4275	65	31	,	,	PUNCT
asir-4275	65	32	but	but	CCONJ
asir-4275	65	33	the	the	DET
asir-4275	65	34	data	datum	NOUN
asir-4275	65	35	of	of	ADP
asir-4275	65	36	lidar	lidar	NOUN
asir-4275	65	37	was	be	AUX
asir-4275	65	38	still	still	ADV
asir-4275	65	39	large	large	ADJ
asir-4275	65	40	.	.	PUNCT
asir-4275	66	1	in	in	ADP
asir-4275	66	2	order	order	NOUN
asir-4275	66	3	to	to	PART
asir-4275	66	4	reduce	reduce	VERB
asir-4275	66	5	the	the	DET
asir-4275	66	6	number	number	NOUN
asir-4275	66	7	of	of	ADP
asir-4275	66	8	reduced	reduce	VERB
asir-4275	66	9	points	point	NOUN
asir-4275	66	10	and	and	CCONJ
asir-4275	66	11	maintain	maintain	VERB
asir-4275	66	12	the	the	DET
asir-4275	66	13	shape	shape	NOUN
asir-4275	66	14	characteristics	characteristic	NOUN
asir-4275	66	15	of	of	ADP
asir-4275	66	16	the	the	DET
asir-4275	66	17	point	point	NOUN
asir-4275	66	18	cloud	cloud	NOUN
asir-4275	66	19	,	,	PUNCT
asir-4275	66	20	this	this	DET
asir-4275	66	21	paper	paper	NOUN
asir-4275	66	22	adopts	adopt	VERB
asir-4275	66	23	the	the	DET
asir-4275	66	24	voxel	voxel	PROPN
asir-4275	66	25	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	PROPN
asir-4275	66	26	applied	apply	VERB
asir-4275	66	27	science	science	NOUN
asir-4275	66	28	and	and	CCONJ
asir-4275	66	29	innovative	innovative	ADJ
asir-4275	66	30	research	research	NOUN
asir-4275	66	31	vol	vol	NOUN
asir-4275	66	32	.	.	PROPN
asir-4275	67	1	5	5	NUM
asir-4275	67	2	,	,	PUNCT
asir-4275	67	3	no	no	INTJ
asir-4275	67	4	.	.	NOUN
asir-4275	67	5	3	3	NUM
asir-4275	67	6	,	,	PUNCT
asir-4275	67	7	2021	2021	NUM
asir-4275	67	8	44	44	NUM
asir-4275	67	9	published	publish	VERB
asir-4275	67	10	by	by	ADP
asir-4275	67	11	scholink	scholink	PROPN
asir-4275	67	12	inc	inc	PROPN
asir-4275	67	13	.	.	PROPN
asir-4275	67	14	grid	grid	PROPN
asir-4275	67	15	method	method	NOUN
asir-4275	67	16	to	to	PART
asir-4275	67	17	realize	realize	VERB
asir-4275	67	18	downsampling	downsample	VERB
asir-4275	67	19	.	.	PUNCT
asir-4275	68	1	a	a	DET
asir-4275	68	2	3d	3d	PROPN
asir-4275	68	3	voxel	voxel	PROPN
asir-4275	68	4	grid	grid	PROPN
asir-4275	68	5	was	be	AUX
asir-4275	68	6	created	create	VERB
asir-4275	68	7	through	through	ADP
asir-4275	68	8	the	the	DET
asir-4275	68	9	input	input	NOUN
asir-4275	68	10	point	point	NOUN
asir-4275	68	11	cloud	cloud	NOUN
asir-4275	68	12	data	datum	NOUN
asir-4275	68	13	extracted	extract	VERB
asir-4275	68	14	from	from	ADP
asir-4275	68	15	roi	roi	NOUN
asir-4275	68	16	,	,	PUNCT
asir-4275	68	17	and	and	CCONJ
asir-4275	68	18	then	then	ADV
asir-4275	68	19	the	the	DET
asir-4275	68	20	barycenter	barycenter	NOUN
asir-4275	68	21	of	of	ADP
asir-4275	68	22	all	all	DET
asir-4275	68	23	points	point	NOUN
asir-4275	68	24	in	in	ADP
asir-4275	68	25	the	the	DET
asir-4275	68	26	voxel	voxel	PROPN
asir-4275	68	27	was	be	AUX
asir-4275	68	28	used	use	VERB
asir-4275	68	29	to	to	PART
asir-4275	68	30	approximate	approximate	VERB
asir-4275	68	31	the	the	DET
asir-4275	68	32	other	other	ADJ
asir-4275	68	33	points	point	NOUN
asir-4275	68	34	in	in	ADP
asir-4275	68	35	each	each	DET
asir-4275	68	36	voxel	voxel	PROPN
asir-4275	68	37	.	.	PUNCT
asir-4275	69	1	the	the	DET
asir-4275	69	2	outliers	outlier	NOUN
asir-4275	69	3	generated	generate	VERB
asir-4275	69	4	by	by	ADP
asir-4275	69	5	occlusion	occlusion	NOUN
asir-4275	69	6	of	of	ADP
asir-4275	69	7	branches	branch	NOUN
asir-4275	69	8	and	and	CCONJ
asir-4275	69	9	leaves	leave	NOUN
asir-4275	69	10	are	be	AUX
asir-4275	69	11	filtered	filter	VERB
asir-4275	69	12	by	by	ADP
asir-4275	69	13	statistical	statistical	ADJ
asir-4275	69	14	filter	filter	NOUN
asir-4275	69	15	in	in	ADP
asir-4275	69	16	pcl	pcl	PROPN
asir-4275	69	17	open	open	PROPN
asir-4275	69	18	source	source	NOUN
asir-4275	69	19	library	library	NOUN
asir-4275	69	20	,	,	PUNCT
asir-4275	69	21	calculating	calculate	VERB
asir-4275	69	22	the	the	DET
asir-4275	69	23	distance	distance	NOUN
asir-4275	69	24	distribution	distribution	NOUN
asir-4275	69	25	between	between	ADP
asir-4275	69	26	the	the	DET
asir-4275	69	27	midpoint	midpoint	NOUN
asir-4275	69	28	of	of	ADP
asir-4275	69	29	input	input	NOUN
asir-4275	69	30	data	datum	NOUN
asir-4275	69	31	and	and	CCONJ
asir-4275	69	32	adjacent	adjacent	ADJ
asir-4275	69	33	points	point	NOUN
asir-4275	69	34	.	.	PUNCT
asir-4275	70	1	for	for	ADP
asir-4275	70	2	each	each	DET
asir-4275	70	3	point	point	NOUN
asir-4275	70	4	,	,	PUNCT
asir-4275	70	5	calculate	calculate	VERB
asir-4275	70	6	the	the	DET
asir-4275	70	7	average	average	ADJ
asir-4275	70	8	distance	distance	NOUN
asir-4275	70	9	�	�	NOUN
asir-4275	70	10	̅	̅	NOUN
asir-4275	70	11	�	�	NOUN
asir-4275	70	12	between	between	ADP
asir-4275	70	13	the	the	DET
asir-4275	70	14	point	point	NOUN
asir-4275	70	15	and	and	CCONJ
asir-4275	70	16	all	all	DET
asir-4275	70	17	adjacent	adjacent	ADJ
asir-4275	70	18	points	point	NOUN
asir-4275	70	19	.	.	PUNCT
asir-4275	71	1	assuming	assume	VERB
asir-4275	71	2	that	that	SCONJ
asir-4275	71	3	the	the	DET
asir-4275	71	4	result	result	NOUN
asir-4275	71	5	obtained	obtain	VERB
asir-4275	71	6	is	be	AUX
asir-4275	71	7	a	a	DET
asir-4275	71	8	gaussian	gaussian	ADJ
asir-4275	71	9	distribution	distribution	NOUN
asir-4275	71	10	,	,	PUNCT
asir-4275	71	11	the	the	DET
asir-4275	71	12	points	point	NOUN
asir-4275	71	13	whose	whose	DET
asir-4275	71	14	average	average	ADJ
asir-4275	71	15	distance	distance	NOUN
asir-4275	71	16	�	�	NOUN
asir-4275	71	17	̅	̅	NOUN
asir-4275	71	18	�	�	NOUN
asir-4275	71	19	is	be	AUX
asir-4275	71	20	outside	outside	ADP
asir-4275	71	21	the	the	DET
asir-4275	71	22	standard	standard	ADJ
asir-4275	71	23	range	range	NOUN
asir-4275	71	24	are	be	AUX
asir-4275	71	25	defined	define	VERB
asir-4275	71	26	as	as	ADP
asir-4275	71	27	outliers	outlier	NOUN
asir-4275	71	28	and	and	CCONJ
asir-4275	71	29	filtered	filter	VERB
asir-4275	71	30	from	from	ADP
asir-4275	71	31	the	the	DET
asir-4275	71	32	data	datum	NOUN
asir-4275	71	33	.	.	PUNCT
asir-4275	72	1	2.2	2.2	NUM
asir-4275	72	2	point	point	NOUN
asir-4275	72	3	cloud	cloud	NOUN
asir-4275	72	4	clustering	clustering	NOUN
asir-4275	72	5	based	base	VERB
asir-4275	72	6	on	on	ADP
asir-4275	72	7	euclidean	euclidean	ADJ
asir-4275	72	8	distance	distance	NOUN
asir-4275	72	9	kd	kd	PROPN
asir-4275	72	10	tree	tree	NOUN
asir-4275	72	11	(	(	PUNCT
asir-4275	72	12	short	short	ADJ
asir-4275	72	13	for	for	ADP
asir-4275	72	14	k	k	ADJ
asir-4275	72	15	-	-	ADJ
asir-4275	72	16	dimensional	dimensional	ADJ
asir-4275	72	17	tree	tree	NOUN
asir-4275	72	18	)	)	PUNCT
asir-4275	72	19	is	be	AUX
asir-4275	72	20	a	a	DET
asir-4275	72	21	data	data	NOUN
asir-4275	72	22	structure	structure	NOUN
asir-4275	72	23	that	that	PRON
asir-4275	72	24	divides	divide	VERB
asir-4275	72	25	k	k	ADJ
asir-4275	72	26	-	-	ADJ
asir-4275	72	27	dimensional	dimensional	ADJ
asir-4275	72	28	data	datum	NOUN
asir-4275	72	29	space	space	NOUN
asir-4275	72	30	.	.	PUNCT
asir-4275	73	1	it	it	PRON
asir-4275	73	2	is	be	AUX
asir-4275	73	3	mainly	mainly	ADV
asir-4275	73	4	used	use	VERB
asir-4275	73	5	to	to	PART
asir-4275	73	6	search	search	VERB
asir-4275	73	7	key	key	ADJ
asir-4275	73	8	data	datum	NOUN
asir-4275	73	9	in	in	ADP
asir-4275	73	10	multi	multi	ADJ
asir-4275	73	11	-	-	ADJ
asir-4275	73	12	dimensional	dimensional	ADJ
asir-4275	73	13	space	space	NOUN
asir-4275	73	14	.	.	PUNCT
asir-4275	74	1	based	base	VERB
asir-4275	74	2	on	on	ADP
asir-4275	74	3	pcl	pcl	PROPN
asir-4275	74	4	’s	’s	PART
asir-4275	74	5	nearest	near	ADJ
asir-4275	74	6	neighbor	neighbor	PROPN
asir-4275	74	7	open	open	PROPN
asir-4275	74	8	source	source	NOUN
asir-4275	74	9	library	library	NOUN
asir-4275	74	10	(	(	PUNCT
asir-4275	74	11	flann	flann	PROPN
asir-4275	74	12	)	)	PUNCT
asir-4275	74	13	,	,	PUNCT
asir-4275	74	14	this	this	DET
asir-4275	74	15	paper	paper	NOUN
asir-4275	74	16	conducts	conduct	NOUN
asir-4275	74	17	fast	fast	VERB
asir-4275	74	18	nearest	near	ADJ
asir-4275	74	19	neighbor	neighbor	NOUN
asir-4275	74	20	retrieval	retrieval	NOUN
asir-4275	74	21	for	for	ADP
asir-4275	74	22	3d	3d	NUM
asir-4275	74	23	point	point	NOUN
asir-4275	74	24	cloud	cloud	NOUN
asir-4275	74	25	data	datum	NOUN
asir-4275	74	26	to	to	PART
asir-4275	74	27	improve	improve	VERB
asir-4275	74	28	the	the	DET
asir-4275	74	29	clustering	clustering	ADJ
asir-4275	74	30	speed	speed	NOUN
asir-4275	74	31	to	to	PART
asir-4275	74	32	meet	meet	VERB
asir-4275	74	33	the	the	DET
asir-4275	74	34	real	real	ADJ
asir-4275	74	35	-	-	PUNCT
asir-4275	74	36	time	time	NOUN
asir-4275	74	37	requirements	requirement	NOUN
asir-4275	74	38	of	of	ADP
asir-4275	74	39	perception	perception	NOUN
asir-4275	74	40	.	.	PUNCT
asir-4275	75	1	euclidean	euclidean	ADJ
asir-4275	75	2	clustering	clustering	NOUN
asir-4275	75	3	is	be	AUX
asir-4275	75	4	a	a	DET
asir-4275	75	5	kind	kind	NOUN
asir-4275	75	6	of	of	ADP
asir-4275	75	7	clustering	clustering	ADJ
asir-4275	75	8	method	method	NOUN
asir-4275	75	9	which	which	PRON
asir-4275	75	10	uses	use	VERB
asir-4275	75	11	kd	kd	PROPN
asir-4275	75	12	-	-	PUNCT
asir-4275	75	13	tree	tree	NOUN
asir-4275	75	14	to	to	PART
asir-4275	75	15	search	search	VERB
asir-4275	75	16	the	the	DET
asir-4275	75	17	nearest	near	ADJ
asir-4275	75	18	neighbor	neighbor	NOUN
asir-4275	75	19	and	and	CCONJ
asir-4275	75	20	takes	take	VERB
asir-4275	75	21	euclidean	euclidean	ADJ
asir-4275	75	22	distance	distance	NOUN
asir-4275	75	23	as	as	ADP
asir-4275	75	24	reference	reference	NOUN
asir-4275	75	25	(	(	PUNCT
asir-4275	75	26	gamal	gamal	PROPN
asir-4275	75	27	,	,	PUNCT
asir-4275	75	28	wibisono	wibisono	PROPN
asir-4275	75	29	,	,	PUNCT
asir-4275	75	30	wicaksono	wicaksono	NOUN
asir-4275	75	31	,	,	PUNCT
asir-4275	75	32	et	et	PROPN
asir-4275	75	33	al	al	PROPN
asir-4275	75	34	.	.	PROPN
asir-4275	75	35	,	,	PUNCT
asir-4275	75	36	2020	2020	NUM
asir-4275	75	37	)	)	PUNCT
asir-4275	75	38	.	.	PUNCT
asir-4275	76	1	the	the	DET
asir-4275	76	2	algorithm	algorithm	NOUN
asir-4275	76	3	compares	compare	VERB
asir-4275	76	4	the	the	DET
asir-4275	76	5	distance	distance	NOUN
asir-4275	76	6	between	between	ADP
asir-4275	76	7	two	two	NUM
asir-4275	76	8	points	point	NOUN
asir-4275	76	9	with	with	ADP
asir-4275	76	10	the	the	DET
asir-4275	76	11	clustering	cluster	VERB
asir-4275	76	12	radius	radius	NOUN
asir-4275	76	13	ε	ε	PROPN
asir-4275	76	14	,	,	PUNCT
asir-4275	76	15	and	and	CCONJ
asir-4275	76	16	the	the	DET
asir-4275	76	17	distance	distance	NOUN
asir-4275	76	18	smaller	small	ADJ
asir-4275	76	19	than	than	ADP
asir-4275	76	20	the	the	DET
asir-4275	76	21	clustering	cluster	VERB
asir-4275	76	22	radius	radius	NOUN
asir-4275	76	23	ε	ε	PROPN
asir-4275	76	24	is	be	AUX
asir-4275	76	25	regarded	regard	VERB
asir-4275	76	26	as	as	ADP
asir-4275	76	27	the	the	DET
asir-4275	76	28	same	same	ADJ
asir-4275	76	29	class	class	NOUN
asir-4275	76	30	.	.	PUNCT
asir-4275	77	1	the	the	DET
asir-4275	77	2	calculation	calculation	NOUN
asir-4275	77	3	formula	formula	NOUN
asir-4275	77	4	of	of	ADP
asir-4275	77	5	euclidean	euclidean	ADJ
asir-4275	77	6	clustering	clustering	NOUN
asir-4275	77	7	is	be	AUX
asir-4275	77	8	as	as	SCONJ
asir-4275	77	9	follows	follow	VERB
asir-4275	77	10	:	:	PUNCT
asir-4275	77	11	𝑑𝑖𝑠𝑡(𝑋	𝑑𝑖𝑠𝑡(𝑋	NOUN
asir-4275	77	12	,	,	PUNCT
asir-4275	77	13	𝑌	𝑌	PROPN
asir-4275	77	14	)	)	PUNCT
asir-4275	77	15	=	=	PRON
asir-4275	77	16	√∑	√∑	PUNCT
asir-4275	77	17	(	(	PUNCT
asir-4275	77	18	𝑥𝑖	𝑥𝑖	NUM
asir-4275	77	19	−	−	PROPN
asir-4275	77	20	𝑦𝑖	𝑦𝑖	PROPN
asir-4275	77	21	)	)	PUNCT
asir-4275	77	22	2𝑛	2𝑛	PROPN
asir-4275	77	23	𝑖=1	𝑖=1	PUNCT
asir-4275	77	24	(	(	PUNCT
asir-4275	77	25	3	3	NUM
asir-4275	77	26	)	)	PUNCT
asir-4275	77	27	where	where	SCONJ
asir-4275	77	28	,	,	PUNCT
asir-4275	77	29	(	(	PUNCT
asir-4275	77	30	𝑥𝑖	𝑥𝑖	X
asir-4275	77	31	,	,	PUNCT
asir-4275	77	32	𝑦𝑖	𝑦𝑖	PROPN
asir-4275	77	33	)	)	PUNCT
asir-4275	77	34	is	be	AUX
asir-4275	77	35	the	the	DET
asir-4275	77	36	cartesian	cartesian	ADJ
asir-4275	77	37	coordinate	coordinate	NOUN
asir-4275	77	38	of	of	ADP
asir-4275	77	39	the	the	DET
asir-4275	77	40	data	datum	NOUN
asir-4275	77	41	at	at	ADP
asir-4275	77	42	point	point	NOUN
asir-4275	77	43	i.	i.	NOUN
asir-4275	77	44	some	some	DET
asir-4275	77	45	point	point	NOUN
asir-4275	77	46	p	p	NOUN
asir-4275	77	47	in	in	ADP
asir-4275	77	48	space	space	NOUN
asir-4275	77	49	kdtree	kdtree	NOUN
asir-4275	77	50	neighbor	neighbor	NOUN
asir-4275	77	51	search	search	NOUN
asir-4275	77	52	get	get	VERB
asir-4275	77	53	k	k	NOUN
asir-4275	77	54	points	point	NOUN
asir-4275	77	55	that	that	PRON
asir-4275	77	56	are	be	AUX
asir-4275	77	57	closest	close	ADJ
asir-4275	77	58	to	to	ADP
asir-4275	77	59	p	p	NOUN
asir-4275	77	60	update	update	NOUN
asir-4275	77	61	the	the	DET
asir-4275	77	62	value	value	NOUN
asir-4275	77	63	of	of	ADP
asir-4275	77	64	the	the	DET
asir-4275	77	65	initial	initial	ADJ
asir-4275	77	66	point	point	NOUN
asir-4275	77	67	p	p	NOUN
asir-4275	77	68	start	start	NOUN
asir-4275	77	69	put	put	VERB
asir-4275	77	70	the	the	DET
asir-4275	77	71	point	point	NOUN
asir-4275	77	72	into	into	ADP
asir-4275	77	73	set	set	NOUN
asir-4275	77	74	q	q	PROPN
asir-4275	77	75	which	which	DET
asir-4275	77	76	distance	distance	NOUN
asir-4275	77	77	less	less	ADJ
asir-4275	77	78	than	than	SCONJ
asir-4275	77	79	threshold	threshold	NOUN
asir-4275	77	80	pick	pick	VERB
asir-4275	77	81	any	any	DET
asir-4275	77	82	point	point	NOUN
asir-4275	77	83	in	in	ADP
asir-4275	77	84	q	q	NOUN
asir-4275	77	85	other	other	ADJ
asir-4275	77	86	than	than	ADP
asir-4275	77	87	p	p	X
asir-4275	77	88	the	the	DET
asir-4275	77	89	number	number	NOUN
asir-4275	77	90	of	of	ADP
asir-4275	77	91	elements	element	NOUN
asir-4275	77	92	in	in	ADP
asir-4275	77	93	q	q	PROPN
asir-4275	77	94	no	no	ADV
asir-4275	77	95	longer	long	ADV
asir-4275	77	96	increases	increase	NOUN
asir-4275	77	97	?	?	PUNCT
asir-4275	78	1	yes	yes	INTJ
asir-4275	78	2	no	no	DET
asir-4275	78	3	end	end	NOUN
asir-4275	78	4	figure	figure	NOUN
asir-4275	78	5	9	9	NUM
asir-4275	78	6	.	.	PUNCT
asir-4275	79	1	flow	flow	NOUN
asir-4275	79	2	chart	chart	NOUN
asir-4275	79	3	of	of	ADP
asir-4275	79	4	euclidean	euclidean	ADJ
asir-4275	79	5	distance	distance	NOUN
asir-4275	79	6	clustering	cluster	VERB
asir-4275	79	7	for	for	ADP
asir-4275	79	8	a	a	DET
asir-4275	79	9	certain	certain	ADJ
asir-4275	79	10	point	point	NOUN
asir-4275	79	11	p	p	NOUN
asir-4275	79	12	in	in	ADP
asir-4275	79	13	the	the	DET
asir-4275	79	14	space	space	NOUN
asir-4275	79	15	,	,	PUNCT
asir-4275	79	16	k	k	PROPN
asir-4275	79	17	points	point	VERB
asir-4275	79	18	closest	close	ADJ
asir-4275	79	19	to	to	ADP
asir-4275	79	20	p	p	NOUN
asir-4275	79	21	are	be	AUX
asir-4275	79	22	obtained	obtain	VERB
asir-4275	79	23	according	accord	VERB
asir-4275	79	24	to	to	ADP
asir-4275	79	25	kd	kd	PROPN
asir-4275	79	26	-	-	PUNCT
asir-4275	79	27	tree	tree	NOUN
asir-4275	79	28	nearest	near	ADJ
asir-4275	79	29	neighbor	neighbor	NOUN
asir-4275	79	30	search	search	NOUN
asir-4275	79	31	,	,	PUNCT
asir-4275	79	32	and	and	CCONJ
asir-4275	79	33	the	the	DET
asir-4275	79	34	euclidean	euclidean	ADJ
asir-4275	79	35	distance	distance	NOUN
asir-4275	79	36	between	between	ADP
asir-4275	79	37	two	two	NUM
asir-4275	79	38	points	point	NOUN
asir-4275	79	39	is	be	AUX
asir-4275	79	40	calculated	calculate	VERB
asir-4275	79	41	by	by	ADP
asir-4275	79	42	formula	formula	NOUN
asir-4275	79	43	(	(	PUNCT
asir-4275	79	44	3	3	NUM
asir-4275	79	45	)	)	PUNCT
asir-4275	79	46	and	and	CCONJ
asir-4275	79	47	compared	compare	VERB
asir-4275	79	48	with	with	ADP
asir-4275	79	49	the	the	DET
asir-4275	79	50	clustering	cluster	VERB
asir-4275	79	51	radius	radius	NOUN
asir-4275	79	52	ε	ε	PROPN
asir-4275	79	53	.	.	PUNCT
asir-4275	80	1	when	when	SCONJ
asir-4275	80	2	the	the	DET
asir-4275	80	3	euclidean	euclidean	ADJ
asir-4275	80	4	distance	distance	NOUN
asir-4275	80	5	is	be	AUX
asir-4275	80	6	less	less	ADJ
asir-4275	80	7	than	than	ADP
asir-4275	80	8	the	the	DET
asir-4275	80	9	set	set	VERB
asir-4275	80	10	cluster	cluster	NOUN
asir-4275	80	11	radius	radius	NOUN
asir-4275	80	12	ε	ε	PROPN
asir-4275	80	13	,	,	PUNCT
asir-4275	80	14	the	the	DET
asir-4275	80	15	point	point	NOUN
asir-4275	80	16	is	be	AUX
asir-4275	80	17	added	add	VERB
asir-4275	80	18	to	to	ADP
asir-4275	80	19	the	the	DET
asir-4275	80	20	cluster	cluster	NOUN
asir-4275	80	21	set	set	VERB
asir-4275	80	22	q.	q.	PROPN
asir-4275	80	23	when	when	SCONJ
asir-4275	80	24	the	the	DET
asir-4275	80	25	number	number	NOUN
asir-4275	80	26	of	of	ADP
asir-4275	80	27	elements	element	NOUN
asir-4275	80	28	in	in	ADP
asir-4275	80	29	q	q	PROPN
asir-4275	80	30	continues	continue	VERB
asir-4275	80	31	to	to	PART
asir-4275	80	32	increase	increase	VERB
asir-4275	80	33	,	,	PUNCT
asir-4275	80	34	points	point	VERB
asir-4275	80	35	other	other	ADJ
asir-4275	80	36	than	than	ADP
asir-4275	80	37	p	p	NOUN
asir-4275	80	38	are	be	AUX
asir-4275	80	39	selected	select	VERB
asir-4275	80	40	from	from	ADP
asir-4275	80	41	set	set	NOUN
asir-4275	80	42	q	q	PROPN
asir-4275	80	43	and	and	CCONJ
asir-4275	80	44	the	the	DET
asir-4275	80	45	above	above	ADJ
asir-4275	80	46	process	process	NOUN
asir-4275	80	47	is	be	AUX
asir-4275	80	48	repeated	repeat	VERB
asir-4275	80	49	.	.	PUNCT
asir-4275	81	1	otherwise	otherwise	ADV
asir-4275	81	2	,	,	PUNCT
asir-4275	81	3	the	the	DET
asir-4275	81	4	clustering	clustering	NOUN
asir-4275	81	5	ends	end	VERB
asir-4275	81	6	.	.	PUNCT
asir-4275	82	1	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	PROPN
asir-4275	82	2	applied	apply	VERB
asir-4275	82	3	science	science	NOUN
asir-4275	82	4	and	and	CCONJ
asir-4275	82	5	innovative	innovative	ADJ
asir-4275	82	6	research	research	NOUN
asir-4275	82	7	vol	vol	NOUN
asir-4275	82	8	.	.	PROPN
asir-4275	83	1	5	5	NUM
asir-4275	83	2	,	,	PUNCT
asir-4275	83	3	no	no	INTJ
asir-4275	83	4	.	.	NOUN
asir-4275	83	5	3	3	NUM
asir-4275	83	6	,	,	PUNCT
asir-4275	83	7	2021	2021	NUM
asir-4275	83	8	45	45	NUM
asir-4275	83	9	published	publish	VERB
asir-4275	83	10	by	by	ADP
asir-4275	83	11	scholink	scholink	PROPN
asir-4275	83	12	inc	inc	PROPN
asir-4275	83	13	.	.	PROPN
asir-4275	83	14	3	3	X
asir-4275	83	15	.	.	PUNCT
asir-4275	83	16	test	test	NOUN
asir-4275	83	17	results	result	NOUN
asir-4275	83	18	and	and	CCONJ
asir-4275	83	19	analysis	analysis	NOUN
asir-4275	83	20	3.1	3.1	NUM
asir-4275	83	21	region	region	NOUN
asir-4275	83	22	of	of	ADP
asir-4275	83	23	interest	interest	NOUN
asir-4275	83	24	extraction	extraction	NOUN
asir-4275	83	25	test	test	NOUN
asir-4275	83	26	the	the	DET
asir-4275	83	27	area	area	NOUN
asir-4275	83	28	of	of	ADP
asir-4275	83	29	interest	interest	NOUN
asir-4275	83	30	of	of	ADP
asir-4275	83	31	vehicles	vehicle	NOUN
asir-4275	83	32	is	be	AUX
asir-4275	83	33	usually	usually	ADV
asir-4275	83	34	the	the	DET
asir-4275	83	35	road	road	NOUN
asir-4275	83	36	surface	surface	NOUN
asir-4275	83	37	with	with	ADP
asir-4275	83	38	a	a	DET
asir-4275	83	39	certain	certain	ADJ
asir-4275	83	40	width	width	NOUN
asir-4275	83	41	and	and	CCONJ
asir-4275	83	42	a	a	DET
asir-4275	83	43	distance	distance	NOUN
asir-4275	83	44	in	in	ADP
asir-4275	83	45	the	the	DET
asir-4275	83	46	forward	forward	ADJ
asir-4275	83	47	direction	direction	NOUN
asir-4275	83	48	.	.	PUNCT
asir-4275	84	1	the	the	DET
asir-4275	84	2	area	area	NOUN
asir-4275	84	3	threshold	threshold	NOUN
asir-4275	84	4	set	set	VERB
asir-4275	84	5	in	in	ADP
asir-4275	84	6	this	this	DET
asir-4275	84	7	paper	paper	NOUN
asir-4275	84	8	is	be	AUX
asir-4275	84	9	x[0m,20	x[0m,20	PROPN
asir-4275	84	10	m	m	PROPN
asir-4275	84	11	]	]	X
asir-4275	84	12	,	,	PUNCT
asir-4275	84	13	y[|0.4m|,|2m|	y[|0.4m|,|2m|	PROPN
asir-4275	84	14	]	]	PUNCT
asir-4275	84	15	,	,	PUNCT
asir-4275	84	16	z[0m,3	z[0m,3	PROPN
asir-4275	84	17	m	m	NOUN
asir-4275	84	18	]	]	X
asir-4275	84	19	.	.	PUNCT
asir-4275	85	1	the	the	DET
asir-4275	85	2	effect	effect	NOUN
asir-4275	85	3	of	of	ADP
asir-4275	85	4	region	region	NOUN
asir-4275	85	5	of	of	ADP
asir-4275	85	6	interest	interest	NOUN
asir-4275	85	7	extraction	extraction	NOUN
asir-4275	85	8	is	be	AUX
asir-4275	85	9	shown	show	VERB
asir-4275	85	10	in	in	ADP
asir-4275	85	11	the	the	DET
asir-4275	85	12	figure	figure	NOUN
asir-4275	85	13	below	below	ADV
asir-4275	85	14	,	,	PUNCT
asir-4275	85	15	where	where	SCONJ
asir-4275	85	16	the	the	DET
asir-4275	85	17	number	number	NOUN
asir-4275	85	18	of	of	ADP
asir-4275	85	19	point	point	NOUN
asir-4275	85	20	clouds	cloud	NOUN
asir-4275	85	21	changes	change	VERB
asir-4275	85	22	from	from	ADP
asir-4275	85	23	20358	20358	NUM
asir-4275	85	24	to	to	ADP
asir-4275	85	25	1832	1832	NUM
asir-4275	85	26	,	,	PUNCT
asir-4275	85	27	which	which	PRON
asir-4275	85	28	can	can	AUX
asir-4275	85	29	effectively	effectively	ADV
asir-4275	85	30	reduce	reduce	VERB
asir-4275	85	31	the	the	DET
asir-4275	85	32	number	number	NOUN
asir-4275	85	33	of	of	ADP
asir-4275	85	34	point	point	NOUN
asir-4275	85	35	clouds	cloud	NOUN
asir-4275	85	36	while	while	SCONJ
asir-4275	85	37	filtering	filter	VERB
asir-4275	85	38	distant	distant	ADJ
asir-4275	85	39	obstacle	obstacle	NOUN
asir-4275	85	40	.	.	PUNCT
asir-4275	86	1	tree_1	tree_1	VERB
asir-4275	86	2	tree_2tree_3	tree_2tree_3	VERB
asir-4275	86	3	tree_4	tree_4	PROPN
asir-4275	86	4	tree_1	tree_1	PROPN
asir-4275	86	5	tree_2	tree_2	ADP
asir-4275	86	6	tree_3tree_4	tree_3tree_4	NOUN
asir-4275	86	7	(	(	PUNCT
asir-4275	86	8	a	a	PRON
asir-4275	86	9	)	)	PUNCT
asir-4275	86	10	test	test	NOUN
asir-4275	86	11	scenario	scenario	NOUN
asir-4275	86	12	1	1	NUM
asir-4275	86	13	（	（	PUNCT
asir-4275	86	14	b）test	b）t	ADJ
asir-4275	86	15	scenario	scenario	NOUN
asir-4275	86	16	2	2	NUM
asir-4275	86	17	（	（	NOUN
asir-4275	86	18	c）reconstruction	c）reconstruction	NOUN
asir-4275	86	19	of	of	ADP
asir-4275	86	20	scenario	scenario	NOUN
asir-4275	86	21	1	1	NUM
asir-4275	86	22	(	(	PUNCT
asir-4275	86	23	d	d	NOUN
asir-4275	86	24	)	)	PUNCT
asir-4275	86	25	reconstruction	reconstruction	NOUN
asir-4275	86	26	of	of	ADP
asir-4275	86	27	scenario	scenario	NOUN
asir-4275	86	28	2	2	NUM
asir-4275	86	29	(	(	PUNCT
asir-4275	86	30	e)roi	e)roi	NOUN
asir-4275	86	31	extraction	extraction	NOUN
asir-4275	86	32	of	of	ADP
asir-4275	86	33	scenario	scenario	NOUN
asir-4275	86	34	1	1	NUM
asir-4275	86	35	(	(	PUNCT
asir-4275	86	36	f	f	X
asir-4275	86	37	)	)	PUNCT
asir-4275	86	38	roi	roi	NOUN
asir-4275	86	39	extraction	extraction	NOUN
asir-4275	86	40	of	of	ADP
asir-4275	86	41	scenario	scenario	NOUN
asir-4275	86	42	2	2	NUM
asir-4275	86	43	figure	figure	NOUN
asir-4275	86	44	10	10	NUM
asir-4275	86	45	.	.	PUNCT
asir-4275	87	1	roi	roi	NOUN
asir-4275	87	2	extraction	extraction	NOUN
asir-4275	87	3	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-4275	87	4	applied	apply	VERB
asir-4275	87	5	science	science	NOUN
asir-4275	87	6	and	and	CCONJ
asir-4275	87	7	innovative	innovative	ADJ
asir-4275	87	8	research	research	NOUN
asir-4275	87	9	vol	vol	NOUN
asir-4275	87	10	.	.	PROPN
asir-4275	88	1	5	5	NUM
asir-4275	88	2	,	,	PUNCT
asir-4275	88	3	no	no	INTJ
asir-4275	88	4	.	.	NOUN
asir-4275	88	5	3	3	NUM
asir-4275	88	6	,	,	PUNCT
asir-4275	88	7	2021	2021	NUM
asir-4275	88	8	46	46	NUM
asir-4275	88	9	published	publish	VERB
asir-4275	88	10	by	by	ADP
asir-4275	88	11	scholink	scholink	PROPN
asir-4275	88	12	inc	inc	PROPN
asir-4275	88	13	.	.	PROPN
asir-4275	88	14	as	as	SCONJ
asir-4275	88	15	can	can	AUX
asir-4275	88	16	be	be	AUX
asir-4275	88	17	seen	see	VERB
asir-4275	88	18	from	from	ADP
asir-4275	88	19	figure	figure	NOUN
asir-4275	88	20	10	10	NUM
asir-4275	88	21	(	(	PUNCT
asir-4275	88	22	c	c	NOUN
asir-4275	88	23	and	and	CCONJ
asir-4275	88	24	d	d	NOUN
asir-4275	88	25	)	)	PUNCT
asir-4275	88	26	,	,	PUNCT
asir-4275	88	27	noise	noise	NOUN
asir-4275	88	28	points	point	NOUN
asir-4275	88	29	are	be	AUX
asir-4275	88	30	generated	generate	VERB
asir-4275	88	31	when	when	SCONJ
asir-4275	88	32	the	the	DET
asir-4275	88	33	laser	laser	NOUN
asir-4275	88	34	scans	scan	VERB
asir-4275	88	35	the	the	DET
asir-4275	88	36	vehicle	vehicle	NOUN
asir-4275	88	37	itself	itself	PRON
asir-4275	88	38	during	during	ADP
asir-4275	88	39	scanning	scanning	NOUN
asir-4275	88	40	,	,	PUNCT
asir-4275	88	41	but	but	CCONJ
asir-4275	88	42	the	the	DET
asir-4275	88	43	noise	noise	NOUN
asir-4275	88	44	points	point	NOUN
asir-4275	88	45	are	be	AUX
asir-4275	88	46	filtered	filter	VERB
asir-4275	88	47	out	out	ADP
asir-4275	88	48	by	by	ADP
asir-4275	88	49	formula	formula	NOUN
asir-4275	88	50	2	2	NUM
asir-4275	88	51	.	.	PUNCT
asir-4275	89	1	after	after	ADP
asir-4275	89	2	filtering	filter	VERB
asir-4275	89	3	out	out	ADP
asir-4275	89	4	the	the	DET
asir-4275	89	5	noise	noise	NOUN
asir-4275	89	6	points	point	NOUN
asir-4275	89	7	generated	generate	VERB
asir-4275	89	8	by	by	ADP
asir-4275	89	9	the	the	DET
asir-4275	89	10	vehicle	vehicle	NOUN
asir-4275	89	11	itself	itself	PRON
asir-4275	89	12	and	and	CCONJ
asir-4275	89	13	the	the	DET
asir-4275	89	14	point	point	NOUN
asir-4275	89	15	clouds	cloud	NOUN
asir-4275	89	16	in	in	ADP
asir-4275	89	17	the	the	DET
asir-4275	89	18	non	non	NOUN
asir-4275	89	19	-	-	NOUN
asir-4275	89	20	area	area	NOUN
asir-4275	89	21	of	of	ADP
asir-4275	89	22	interest	interest	NOUN
asir-4275	89	23	,	,	PUNCT
asir-4275	89	24	its	its	PRON
asir-4275	89	25	effect	effect	NOUN
asir-4275	89	26	is	be	AUX
asir-4275	89	27	shown	show	VERB
asir-4275	89	28	in	in	ADP
asir-4275	89	29	figure	figure	NOUN
asir-4275	89	30	10	10	NUM
asir-4275	89	31	(	(	PUNCT
asir-4275	89	32	e	e	NOUN
asir-4275	89	33	and	and	CCONJ
asir-4275	89	34	f	f	PROPN
asir-4275	89	35	)	)	PUNCT
asir-4275	89	36	.	.	PUNCT
asir-4275	90	1	3.2	3.2	NUM
asir-4275	90	2	ground	ground	NOUN
asir-4275	90	3	point	point	NOUN
asir-4275	90	4	cloud	cloud	NOUN
asir-4275	90	5	segmentation	segmentation	NOUN
asir-4275	90	6	test	test	NOUN
asir-4275	90	7	when	when	SCONJ
asir-4275	90	8	an	an	DET
asir-4275	90	9	intelligent	intelligent	ADJ
asir-4275	90	10	vehicle	vehicle	NOUN
asir-4275	90	11	is	be	AUX
asir-4275	90	12	on	on	ADP
asir-4275	90	13	the	the	DET
asir-4275	90	14	road	road	NOUN
asir-4275	90	15	,	,	PUNCT
asir-4275	90	16	it	it	PRON
asir-4275	90	17	only	only	ADV
asir-4275	90	18	pays	pay	VERB
asir-4275	90	19	attention	attention	NOUN
asir-4275	90	20	to	to	ADP
asir-4275	90	21	the	the	DET
asir-4275	90	22	situation	situation	NOUN
asir-4275	90	23	on	on	ADP
asir-4275	90	24	the	the	DET
asir-4275	90	25	ground	ground	NOUN
asir-4275	90	26	.	.	PUNCT
asir-4275	91	1	point	point	NOUN
asir-4275	91	2	clouds	cloud	NOUN
asir-4275	91	3	on	on	ADP
asir-4275	91	4	the	the	DET
asir-4275	91	5	ground	ground	NOUN
asir-4275	91	6	do	do	AUX
asir-4275	91	7	not	not	PART
asir-4275	91	8	contribute	contribute	VERB
asir-4275	91	9	to	to	PART
asir-4275	91	10	obstacle	obstacle	VERB
asir-4275	91	11	detection	detection	NOUN
asir-4275	91	12	,	,	PUNCT
asir-4275	91	13	and	and	CCONJ
asir-4275	91	14	these	these	DET
asir-4275	91	15	point	point	NOUN
asir-4275	91	16	clouds	cloud	NOUN
asir-4275	91	17	also	also	ADV
asir-4275	91	18	affect	affect	VERB
asir-4275	91	19	the	the	DET
asir-4275	91	20	accuracy	accuracy	NOUN
asir-4275	91	21	of	of	ADP
asir-4275	91	22	obstacle	obstacle	NOUN
asir-4275	91	23	detection	detection	NOUN
asir-4275	91	24	on	on	ADP
asir-4275	91	25	the	the	DET
asir-4275	91	26	road	road	NOUN
asir-4275	91	27	.	.	PUNCT
asir-4275	92	1	in	in	ADP
asir-4275	92	2	this	this	DET
asir-4275	92	3	thesis	thesis	NOUN
asir-4275	92	4	,	,	PUNCT
asir-4275	92	5	we	we	PRON
asir-4275	92	6	use	use	VERB
asir-4275	92	7	the	the	DET
asir-4275	92	8	ray	ray	NOUN
asir-4275	92	9	ground	ground	NOUN
asir-4275	92	10	filter	filter	NOUN
asir-4275	92	11	method	method	NOUN
asir-4275	92	12	to	to	PART
asir-4275	92	13	distinguish	distinguish	VERB
asir-4275	92	14	the	the	DET
asir-4275	92	15	ground	ground	NOUN
asir-4275	92	16	point	point	NOUN
asir-4275	92	17	cloud	cloud	NOUN
asir-4275	92	18	and	and	CCONJ
asir-4275	92	19	non	non	ADJ
asir-4275	92	20	-	-	ADJ
asir-4275	92	21	ground	ground	ADJ
asir-4275	92	22	point	point	NOUN
asir-4275	92	23	cloud	cloud	NOUN
asir-4275	92	24	.	.	PUNCT
asir-4275	93	1	after	after	ADP
asir-4275	93	2	segmentation	segmentation	NOUN
asir-4275	93	3	,	,	PUNCT
asir-4275	93	4	the	the	DET
asir-4275	93	5	number	number	NOUN
asir-4275	93	6	of	of	ADP
asir-4275	93	7	point	point	NOUN
asir-4275	93	8	clouds	cloud	NOUN
asir-4275	93	9	changed	change	VERB
asir-4275	93	10	from	from	ADP
asir-4275	93	11	1831	1831	NUM
asir-4275	93	12	to	to	ADP
asir-4275	93	13	1303	1303	NUM
asir-4275	93	14	,	,	PUNCT
asir-4275	93	15	and	and	CCONJ
asir-4275	93	16	its	its	PRON
asir-4275	93	17	effect	effect	NOUN
asir-4275	93	18	is	be	AUX
asir-4275	93	19	shown	show	VERB
asir-4275	93	20	in	in	ADP
asir-4275	93	21	figure	figure	NOUN
asir-4275	93	22	11	11	NUM
asir-4275	93	23	.	.	PUNCT
asir-4275	94	1	(	(	PUNCT
asir-4275	94	2	a	a	X
asir-4275	94	3	)	)	PUNCT
asir-4275	94	4	before	before	ADP
asir-4275	94	5	segmentation	segmentation	NOUN
asir-4275	94	6	(	(	PUNCT
asir-4275	94	7	b	b	NOUN
asir-4275	94	8	)	)	PUNCT
asir-4275	94	9	after	after	SCONJ
asir-4275	94	10	segmentation	segmentation	NOUN
asir-4275	94	11	figure	figure	NOUN
asir-4275	94	12	11	11	NUM
asir-4275	94	13	.	.	PUNCT
asir-4275	95	1	ground	ground	NOUN
asir-4275	95	2	point	point	PROPN
asir-4275	95	3	cloud	cloud	NOUN
asir-4275	95	4	segmentation	segmentation	NOUN
asir-4275	95	5	3.3	3.3	NUM
asir-4275	95	6	point	point	NOUN
asir-4275	95	7	cloud	cloud	NOUN
asir-4275	95	8	filtering	filtering	NOUN
asir-4275	95	9	test	test	NOUN
asir-4275	95	10	according	accord	VERB
asir-4275	95	11	to	to	ADP
asir-4275	95	12	the	the	DET
asir-4275	95	13	mesh	mesh	NOUN
asir-4275	95	14	method	method	NOUN
asir-4275	96	1	,	,	PUNCT
asir-4275	96	2	it	it	PRON
asir-4275	96	3	is	be	AUX
asir-4275	96	4	found	find	VERB
asir-4275	96	5	that	that	SCONJ
asir-4275	96	6	the	the	DET
asir-4275	96	7	filtering	filter	VERB
asir-4275	96	8	effect	effect	NOUN
asir-4275	96	9	is	be	AUX
asir-4275	96	10	best	good	ADJ
asir-4275	96	11	when	when	SCONJ
asir-4275	96	12	the	the	DET
asir-4275	96	13	cube	cube	NOUN
asir-4275	96	14	with	with	ADP
asir-4275	96	15	the	the	DET
asir-4275	96	16	side	side	NOUN
asir-4275	96	17	length	length	NOUN
asir-4275	96	18	of	of	ADP
asir-4275	96	19	the	the	DET
asir-4275	96	20	subsampled	subsample	VERB
asir-4275	96	21	voxel	voxel	PROPN
asir-4275	96	22	is	be	AUX
asir-4275	96	23	0.2	0.2	NUM
asir-4275	96	24	cm	cm	NOUN
asir-4275	96	25	.	.	PUNCT
asir-4275	97	1	the	the	DET
asir-4275	97	2	number	number	NOUN
asir-4275	97	3	of	of	ADP
asir-4275	97	4	point	point	NOUN
asir-4275	97	5	clouds	cloud	NOUN
asir-4275	97	6	changed	change	VERB
asir-4275	97	7	from	from	ADP
asir-4275	97	8	1303	1303	NUM
asir-4275	97	9	to	to	ADP
asir-4275	97	10	972	972	NUM
asir-4275	97	11	,	,	PUNCT
asir-4275	97	12	which	which	PRON
asir-4275	97	13	kept	keep	VERB
asir-4275	97	14	the	the	DET
asir-4275	97	15	characteristic	characteristic	ADJ
asir-4275	97	16	shape	shape	NOUN
asir-4275	97	17	of	of	ADP
asir-4275	97	18	the	the	DET
asir-4275	97	19	object	object	NOUN
asir-4275	97	20	while	while	SCONJ
asir-4275	97	21	reducing	reduce	VERB
asir-4275	97	22	the	the	DET
asir-4275	97	23	number	number	NOUN
asir-4275	97	24	of	of	ADP
asir-4275	97	25	point	point	NOUN
asir-4275	97	26	clouds	cloud	NOUN
asir-4275	97	27	.	.	PUNCT
asir-4275	98	1	for	for	ADP
asir-4275	98	2	outliers	outlier	NOUN
asir-4275	98	3	generated	generate	VERB
asir-4275	98	4	by	by	ADP
asir-4275	98	5	object	object	NOUN
asir-4275	98	6	occlusion	occlusion	NOUN
asir-4275	98	7	,	,	PUNCT
asir-4275	98	8	the	the	DET
asir-4275	98	9	point	point	NOUN
asir-4275	98	10	cloud	cloud	NOUN
asir-4275	98	11	processed	process	VERB
asir-4275	98	12	by	by	ADP
asir-4275	98	13	downsampling	downsample	VERB
asir-4275	98	14	is	be	AUX
asir-4275	98	15	put	put	VERB
asir-4275	98	16	into	into	ADP
asir-4275	98	17	pcl	pcl	PROPN
asir-4275	98	18	statistical	statistical	ADJ
asir-4275	98	19	filter	filter	NOUN
asir-4275	98	20	for	for	ADP
asir-4275	98	21	outlier	outlier	NOUN
asir-4275	98	22	removal	removal	NOUN
asir-4275	98	23	,	,	PUNCT
asir-4275	98	24	and	and	CCONJ
asir-4275	98	25	the	the	DET
asir-4275	98	26	effect	effect	NOUN
asir-4275	98	27	is	be	AUX
asir-4275	98	28	shown	show	VERB
asir-4275	98	29	in	in	ADP
asir-4275	98	30	the	the	DET
asir-4275	98	31	figure	figure	NOUN
asir-4275	98	32	12	12	NUM
asir-4275	98	33	.	.	PUNCT
asir-4275	99	1	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	PROPN
asir-4275	99	2	applied	apply	VERB
asir-4275	99	3	science	science	NOUN
asir-4275	99	4	and	and	CCONJ
asir-4275	99	5	innovative	innovative	ADJ
asir-4275	99	6	research	research	NOUN
asir-4275	99	7	vol	vol	NOUN
asir-4275	99	8	.	.	PROPN
asir-4275	100	1	5	5	NUM
asir-4275	100	2	,	,	PUNCT
asir-4275	100	3	no	no	INTJ
asir-4275	100	4	.	.	NOUN
asir-4275	100	5	3	3	NUM
asir-4275	100	6	,	,	PUNCT
asir-4275	100	7	2021	2021	NUM
asir-4275	100	8	47	47	NUM
asir-4275	100	9	published	publish	VERB
asir-4275	100	10	by	by	ADP
asir-4275	100	11	scholink	scholink	PROPN
asir-4275	100	12	inc	inc	PROPN
asir-4275	100	13	.	.	PROPN
asir-4275	101	1	(	(	PUNCT
asir-4275	101	2	a	a	X
asir-4275	101	3	)	)	PUNCT
asir-4275	101	4	before	before	ADP
asir-4275	101	5	filtering	filter	VERB
asir-4275	101	6	(	(	PUNCT
asir-4275	101	7	b	b	NOUN
asir-4275	101	8	)	)	PUNCT
asir-4275	101	9	after	after	ADP
asir-4275	101	10	filtering	filter	VERB
asir-4275	101	11	figure	figure	NOUN
asir-4275	101	12	12	12	NUM
asir-4275	101	13	.	.	PUNCT
asir-4275	102	1	point	point	NOUN
asir-4275	102	2	cloud	cloud	NOUN
asir-4275	102	3	filtering	filter	VERB
asir-4275	102	4	3.4	3.4	NUM
asir-4275	102	5	euclidean	euclidean	ADJ
asir-4275	102	6	clustering	clustering	NOUN
asir-4275	102	7	test	test	NOUN
asir-4275	102	8	after	after	ADP
asir-4275	102	9	a	a	DET
asir-4275	102	10	series	series	NOUN
asir-4275	102	11	of	of	ADP
asir-4275	102	12	point	point	NOUN
asir-4275	102	13	cloud	cloud	NOUN
asir-4275	102	14	data	datum	NOUN
asir-4275	102	15	preprocessing	preprocesse	VERB
asir-4275	102	16	such	such	ADJ
asir-4275	102	17	as	as	ADP
asir-4275	102	18	region	region	NOUN
asir-4275	102	19	of	of	ADP
asir-4275	102	20	interest	interest	NOUN
asir-4275	102	21	extraction	extraction	NOUN
asir-4275	102	22	,	,	PUNCT
asir-4275	102	23	ground	ground	NOUN
asir-4275	102	24	point	point	NOUN
asir-4275	102	25	cloud	cloud	NOUN
asir-4275	102	26	segmentation	segmentation	NOUN
asir-4275	102	27	and	and	CCONJ
asir-4275	102	28	point	point	VERB
asir-4275	102	29	cloud	cloud	NOUN
asir-4275	102	30	filtering	filtering	NOUN
asir-4275	102	31	,	,	PUNCT
asir-4275	102	32	this	this	DET
asir-4275	102	33	paper	paper	NOUN
asir-4275	102	34	conducts	conduct	NOUN
asir-4275	102	35	clustering	cluster	VERB
asir-4275	102	36	operation	operation	NOUN
asir-4275	102	37	based	base	VERB
asir-4275	102	38	on	on	ADP
asir-4275	102	39	european	european	ADJ
asir-4275	102	40	distance	distance	NOUN
asir-4275	102	41	for	for	ADP
asir-4275	102	42	the	the	DET
asir-4275	102	43	processed	process	VERB
asir-4275	102	44	point	point	NOUN
asir-4275	102	45	cloud	cloud	NOUN
asir-4275	102	46	.	.	PUNCT
asir-4275	103	1	after	after	ADP
asir-4275	103	2	several	several	ADJ
asir-4275	103	3	experiments	experiment	NOUN
asir-4275	103	4	and	and	CCONJ
asir-4275	103	5	parameters	parameter	NOUN
asir-4275	103	6	debugging	debug	VERB
asir-4275	103	7	,	,	PUNCT
asir-4275	103	8	it	it	PRON
asir-4275	103	9	is	be	AUX
asir-4275	103	10	found	find	VERB
asir-4275	103	11	that	that	SCONJ
asir-4275	103	12	the	the	DET
asir-4275	103	13	clustering	clustering	ADJ
asir-4275	103	14	effect	effect	NOUN
asir-4275	103	15	is	be	AUX
asir-4275	103	16	better	well	ADJ
asir-4275	103	17	when	when	SCONJ
asir-4275	103	18	the	the	DET
asir-4275	103	19	clustering	clustering	ADJ
asir-4275	103	20	radius	radius	NOUN
asir-4275	103	21	threshold	threshold	NOUN
asir-4275	103	22	is	be	AUX
asir-4275	103	23	0.05	0.05	NUM
asir-4275	103	24	and	and	CCONJ
asir-4275	103	25	the	the	DET
asir-4275	103	26	minimum	minimum	ADJ
asir-4275	103	27	number	number	NOUN
asir-4275	103	28	of	of	ADP
asir-4275	103	29	clustering	clustering	ADJ
asir-4275	103	30	points	point	NOUN
asir-4275	103	31	threshold	threshold	NOUN
asir-4275	103	32	is	be	AUX
asir-4275	103	33	30	30	NUM
asir-4275	103	34	.	.	PUNCT
asir-4275	104	1	after	after	ADP
asir-4275	104	2	writing	write	VERB
asir-4275	104	3	the	the	DET
asir-4275	104	4	clustering	clustering	ADJ
asir-4275	104	5	effect	effect	NOUN
asir-4275	104	6	into	into	ADP
asir-4275	104	7	the	the	DET
asir-4275	104	8	point	point	NOUN
asir-4275	104	9	cloud	cloud	NOUN
asir-4275	104	10	file	file	NOUN
asir-4275	104	11	and	and	CCONJ
asir-4275	104	12	performing	perform	VERB
asir-4275	104	13	visual	visual	ADJ
asir-4275	104	14	operation	operation	NOUN
asir-4275	104	15	,	,	PUNCT
asir-4275	104	16	the	the	DET
asir-4275	104	17	effect	effect	NOUN
asir-4275	104	18	is	be	AUX
asir-4275	104	19	shown	show	VERB
asir-4275	104	20	in	in	ADP
asir-4275	104	21	figure	figure	NOUN
asir-4275	104	22	13	13	NUM
asir-4275	104	23	.	.	PUNCT
asir-4275	105	1	(	(	PUNCT
asir-4275	105	2	a	a	X
asir-4275	105	3	)	)	PUNCT
asir-4275	105	4	before	before	ADP
asir-4275	105	5	clustering	cluster	VERB
asir-4275	105	6	(	(	PUNCT
asir-4275	105	7	b	b	NOUN
asir-4275	105	8	)	)	PUNCT
asir-4275	105	9	after	after	ADP
asir-4275	105	10	clustering	cluster	VERB
asir-4275	105	11	figure	figure	NOUN
asir-4275	105	12	13	13	NUM
asir-4275	105	13	.	.	PUNCT
asir-4275	106	1	clustering	cluster	VERB
asir-4275	106	2	rendering	rendering	NOUN
asir-4275	106	3	of	of	ADP
asir-4275	106	4	euclidean	euclidean	ADJ
asir-4275	106	5	distance	distance	NOUN
asir-4275	106	6	www.scholink.org/ojs/index.php/asir	www.scholink.org/ojs/index.php/asir	NOUN
asir-4275	106	7	applied	apply	VERB
asir-4275	106	8	science	science	NOUN
asir-4275	106	9	and	and	CCONJ
asir-4275	106	10	innovative	innovative	ADJ
asir-4275	106	11	research	research	NOUN
asir-4275	106	12	vol	vol	NOUN
asir-4275	106	13	.	.	PROPN
asir-4275	107	1	5	5	NUM
asir-4275	107	2	,	,	PUNCT
asir-4275	107	3	no	no	INTJ
asir-4275	107	4	.	.	NOUN
asir-4275	107	5	3	3	NUM
asir-4275	107	6	,	,	PUNCT
asir-4275	107	7	2021	2021	NUM
asir-4275	107	8	48	48	NUM
asir-4275	107	9	published	publish	VERB
asir-4275	107	10	by	by	ADP
asir-4275	107	11	scholink	scholink	PROPN
asir-4275	107	12	inc	inc	PROPN
asir-4275	107	13	.	.	PROPN
asir-4275	107	14	4	4	NUM
asir-4275	107	15	.	.	X
asir-4275	107	16	conclusion	conclusion	NOUN
asir-4275	107	17	in	in	ADP
asir-4275	107	18	this	this	DET
asir-4275	107	19	paper	paper	NOUN
asir-4275	107	20	,	,	PUNCT
asir-4275	107	21	a	a	DET
asir-4275	107	22	pcl	pcl	PROPN
asir-4275	107	23	based	base	VERB
asir-4275	107	24	euclidean	euclidean	PROPN
asir-4275	107	25	clustering	clustering	NOUN
asir-4275	107	26	obstacle	obstacle	NOUN
asir-4275	107	27	detection	detection	NOUN
asir-4275	107	28	method	method	NOUN
asir-4275	107	29	is	be	AUX
asir-4275	107	30	implemented	implement	VERB
asir-4275	107	31	,	,	PUNCT
asir-4275	107	32	and	and	CCONJ
asir-4275	107	33	experimental	experimental	ADJ
asir-4275	107	34	verification	verification	NOUN
asir-4275	107	35	is	be	AUX
asir-4275	107	36	carried	carry	VERB
asir-4275	107	37	out	out	ADP
asir-4275	107	38	on	on	ADP
asir-4275	107	39	the	the	DET
asir-4275	107	40	experimental	experimental	ADJ
asir-4275	107	41	platform	platform	NOUN
asir-4275	107	42	,	,	PUNCT
asir-4275	107	43	finally	finally	ADV
asir-4275	107	44	,	,	PUNCT
asir-4275	107	45	the	the	DET
asir-4275	107	46	following	follow	VERB
asir-4275	107	47	conclusions	conclusion	NOUN
asir-4275	107	48	are	be	AUX
asir-4275	107	49	obtained	obtain	VERB
asir-4275	107	50	：	：	PUNCT
asir-4275	107	51	(	(	PUNCT
asir-4275	107	52	1	1	X
asir-4275	107	53	)	)	PUNCT
asir-4275	107	54	pcl	pcl	PROPN
asir-4275	107	55	point	point	PROPN
asir-4275	107	56	cloud	cloud	PROPN
asir-4275	107	57	library	library	NOUN
asir-4275	107	58	has	have	VERB
asir-4275	107	59	excellent	excellent	ADJ
asir-4275	107	60	point	point	NOUN
asir-4275	107	61	cloud	cloud	NOUN
asir-4275	107	62	data	datum	NOUN
asir-4275	107	63	processing	processing	NOUN
asir-4275	107	64	ability	ability	NOUN
asir-4275	107	65	and	and	CCONJ
asir-4275	107	66	can	can	AUX
asir-4275	107	67	operate	operate	VERB
asir-4275	107	68	point	point	NOUN
asir-4275	107	69	cloud	cloud	NOUN
asir-4275	107	70	data	datum	NOUN
asir-4275	107	71	directly	directly	ADV
asir-4275	107	72	,	,	PUNCT
asir-4275	107	73	which	which	PRON
asir-4275	107	74	lays	lay	VERB
asir-4275	107	75	a	a	DET
asir-4275	107	76	good	good	ADJ
asir-4275	107	77	foundation	foundation	NOUN
asir-4275	107	78	for	for	ADP
asir-4275	107	79	subsequent	subsequent	ADJ
asir-4275	107	80	detection	detection	NOUN
asir-4275	107	81	and	and	CCONJ
asir-4275	107	82	algorithm	algorithm	NOUN
asir-4275	107	83	design	design	NOUN
asir-4275	107	84	.	.	PUNCT
asir-4275	108	1	(	(	PUNCT
asir-4275	108	2	2	2	X
asir-4275	108	3	)	)	PUNCT
asir-4275	108	4	after	after	SCONJ
asir-4275	108	5	the	the	DET
asir-4275	108	6	point	point	NOUN
asir-4275	108	7	cloud	cloud	NOUN
asir-4275	108	8	data	datum	NOUN
asir-4275	108	9	is	be	AUX
asir-4275	108	10	processed	process	VERB
asir-4275	108	11	by	by	ADP
asir-4275	108	12	region	region	NOUN
asir-4275	108	13	of	of	ADP
asir-4275	108	14	interest	interest	NOUN
asir-4275	108	15	extraction	extraction	NOUN
asir-4275	108	16	,	,	PUNCT
asir-4275	108	17	ground	ground	NOUN
asir-4275	108	18	point	point	NOUN
asir-4275	108	19	cloud	cloud	NOUN
asir-4275	108	20	segmentation	segmentation	NOUN
asir-4275	108	21	and	and	CCONJ
asir-4275	108	22	point	point	VERB
asir-4275	108	23	cloud	cloud	NOUN
asir-4275	108	24	filtering	filtering	NOUN
asir-4275	108	25	,	,	PUNCT
asir-4275	108	26	the	the	DET
asir-4275	108	27	number	number	NOUN
asir-4275	108	28	of	of	ADP
asir-4275	108	29	point	point	NOUN
asir-4275	108	30	clouds	cloud	NOUN
asir-4275	108	31	is	be	AUX
asir-4275	108	32	greatly	greatly	ADV
asir-4275	108	33	reduced	reduce	VERB
asir-4275	108	34	and	and	CCONJ
asir-4275	108	35	interference	interference	VERB
asir-4275	108	36	such	such	ADJ
asir-4275	108	37	as	as	ADP
asir-4275	108	38	noise	noise	NOUN
asir-4275	108	39	points	point	NOUN
asir-4275	108	40	and	and	CCONJ
asir-4275	108	41	outliers	outlier	NOUN
asir-4275	108	42	are	be	AUX
asir-4275	108	43	removed	remove	VERB
asir-4275	108	44	.	.	PUNCT
asir-4275	109	1	(	(	PUNCT
asir-4275	109	2	3	3	X
asir-4275	109	3	)	)	PUNCT
asir-4275	109	4	the	the	DET
asir-4275	109	5	euclidean	euclidean	ADJ
asir-4275	109	6	clustering	clustering	NOUN
asir-4275	109	7	based	base	VERB
asir-4275	109	8	on	on	ADP
asir-4275	109	9	kd	kd	PROPN
asir-4275	109	10	-	-	PUNCT
asir-4275	109	11	tree	tree	NOUN
asir-4275	109	12	acceleration	acceleration	NOUN
asir-4275	109	13	can	can	AUX
asir-4275	109	14	get	get	VERB
asir-4275	109	15	better	well	ADJ
asir-4275	109	16	clustering	clustering	ADJ
asir-4275	109	17	effect	effect	NOUN
asir-4275	109	18	,	,	PUNCT
asir-4275	109	19	and	and	CCONJ
asir-4275	109	20	the	the	DET
asir-4275	109	21	algorithm	algorithm	NOUN
asir-4275	109	22	has	have	VERB
asir-4275	109	23	better	well	ADJ
asir-4275	109	24	real	real	ADJ
asir-4275	109	25	-	-	PUNCT
asir-4275	109	26	time	time	NOUN
asir-4275	109	27	performance	performance	NOUN
asir-4275	109	28	.	.	PUNCT
asir-4275	110	1	(	(	PUNCT
asir-4275	110	2	4	4	X
asir-4275	110	3	)	)	PUNCT
asir-4275	110	4	the	the	DET
asir-4275	110	5	effect	effect	NOUN
asir-4275	110	6	of	of	ADP
asir-4275	110	7	euclidean	euclidean	ADJ
asir-4275	110	8	clustering	clustering	NOUN
asir-4275	110	9	is	be	AUX
asir-4275	110	10	greatly	greatly	ADV
asir-4275	110	11	affected	affect	VERB
asir-4275	110	12	by	by	ADP
asir-4275	110	13	parameters	parameter	NOUN
asir-4275	110	14	.	.	PUNCT
asir-4275	111	1	in	in	ADP
asir-4275	111	2	order	order	NOUN
asir-4275	111	3	to	to	PART
asir-4275	111	4	get	get	VERB
asir-4275	111	5	better	well	ADJ
asir-4275	111	6	clustering	clustering	ADJ
asir-4275	111	7	effect	effect	NOUN
asir-4275	111	8	,	,	PUNCT
asir-4275	111	9	it	it	PRON
asir-4275	111	10	is	be	AUX
asir-4275	111	11	necessary	necessary	ADJ
asir-4275	111	12	to	to	PART
asir-4275	111	13	debug	debug	VERB
asir-4275	111	14	parameters	parameter	NOUN
asir-4275	111	15	according	accord	VERB
asir-4275	111	16	to	to	ADP
asir-4275	111	17	the	the	DET
asir-4275	111	18	actual	actual	ADJ
asir-4275	111	19	situation	situation	NOUN
asir-4275	111	20	.	.	PUNCT
asir-4275	112	1	the	the	DET
asir-4275	112	2	subsequent	subsequent	ADJ
asir-4275	112	3	research	research	NOUN
asir-4275	112	4	will	will	AUX
asir-4275	112	5	build	build	VERB
asir-4275	112	6	an	an	DET
asir-4275	112	7	adaptive	adaptive	ADJ
asir-4275	112	8	clustering	clustering	NOUN
asir-4275	112	9	radius	radius	NOUN
asir-4275	112	10	based	base	VERB
asir-4275	112	11	on	on	ADP
asir-4275	112	12	the	the	DET
asir-4275	112	13	size	size	NOUN
asir-4275	112	14	of	of	ADP
asir-4275	112	15	the	the	DET
asir-4275	112	16	distance	distance	NOUN
asir-4275	112	17	to	to	PART
asir-4275	112	18	improve	improve	VERB
asir-4275	112	19	the	the	DET
asir-4275	112	20	robustness	robustness	NOUN
asir-4275	112	21	and	and	CCONJ
asir-4275	112	22	applicability	applicability	NOUN
asir-4275	112	23	of	of	ADP
asir-4275	112	24	the	the	DET
asir-4275	112	25	algorithm	algorithm	NOUN
asir-4275	112	26	.	.	PUNCT
asir-4275	113	1	references	reference	NOUN
asir-4275	113	2	gamal	gamal	PROPN
asir-4275	113	3	,	,	PUNCT
asir-4275	113	4	a.	a.	PROPN
asir-4275	113	5	,	,	PUNCT
asir-4275	113	6	wibisono	wibisono	PROPN
asir-4275	113	7	,	,	PUNCT
asir-4275	113	8	a.	a.	NOUN
asir-4275	113	9	,	,	PUNCT
asir-4275	113	10	wicaksono	wicaksono	PROPN
asir-4275	113	11	,	,	PUNCT
asir-4275	113	12	s.	s.	PROPN
asir-4275	113	13	b.	b.	PROPN
asir-4275	113	14	,	,	PUNCT
asir-4275	113	15	et	et	PROPN
asir-4275	113	16	al	al	PROPN
asir-4275	113	17	.	.	PROPN
asir-4275	113	18	(	(	PUNCT
asir-4275	113	19	2020	2020	NUM
asir-4275	113	20	)	)	PUNCT
asir-4275	113	21	.	.	PUNCT
asir-4275	114	1	automatic	automatic	ADJ
asir-4275	114	2	lidar	lidar	NOUN
asir-4275	114	3	building	build	VERB
asir-4275	114	4	segmentation	segmentation	NOUN
asir-4275	114	5	based	base	VERB
asir-4275	114	6	on	on	ADP
asir-4275	114	7	dgcnn	dgcnn	PROPN
asir-4275	114	8	and	and	CCONJ
asir-4275	114	9	euclidean	euclidean	ADJ
asir-4275	114	10	clustering	clustering	NOUN
asir-4275	114	11	.	.	PUNCT
asir-4275	115	1	journal	journal	NOUN
asir-4275	115	2	of	of	ADP
asir-4275	115	3	big	big	ADJ
asir-4275	115	4	data	datum	NOUN
asir-4275	115	5	,	,	PUNCT
asir-4275	115	6	7(1	7(1	NUM
asir-4275	115	7	)	)	PUNCT
asir-4275	115	8	.	.	PUNCT
asir-4275	116	1	https://doi.org/10.1186/s40537-020-00374-x	https://doi.org/10.1186/s40537-020-00374-x	PROPN
asir-4275	116	2	huang	huang	PROPN
asir-4275	116	3	,	,	PUNCT
asir-4275	116	4	y.-t	y.-t	PROPN
asir-4275	116	5	.	.	PUNCT
asir-4275	116	6	,	,	PUNCT
asir-4275	116	7	zhu	zhu	PROPN
asir-4275	116	8	,	,	PUNCT
asir-4275	116	9	x.-h	x.-h	PROPN
asir-4275	116	10	.	.	PROPN
asir-4275	116	11	,	,	PUNCT
asir-4275	116	12	wang	wang	PROPN
asir-4275	116	13	,	,	PUNCT
asir-4275	116	14	j.-h	j.-h	PROPN
asir-4275	116	15	.	.	PUNCT
asir-4275	116	16	,	,	PUNCT
asir-4275	116	17	&	&	CCONJ
asir-4275	116	18	liu	liu	PROPN
asir-4275	116	19	,	,	PUNCT
asir-4275	116	20	r.	r.	PROPN
asir-4275	116	21	(	(	PUNCT
asir-4275	116	22	2019	2019	NUM
asir-4275	116	23	)	)	PUNCT
asir-4275	116	24	.	.	PUNCT
asir-4275	117	1	obstacle	obstacle	NOUN
asir-4275	117	2	detection	detection	NOUN
asir-4275	117	3	and	and	CCONJ
asir-4275	117	4	map	map	VERB
asir-4275	117	5	construction	construction	NOUN
asir-4275	117	6	of	of	ADP
asir-4275	117	7	unmanned	unmanned	ADJ
asir-4275	117	8	ship	ship	NOUN
asir-4275	117	9	based	base	VERB
asir-4275	117	10	on	on	ADP
asir-4275	117	11	binocular	binocular	ADJ
asir-4275	117	12	vision	vision	NOUN
asir-4275	117	13	.	.	PUNCT
asir-4275	118	1	computer	computer	NOUN
asir-4275	118	2	measurement	measurement	NOUN
asir-4275	118	3	and	and	CCONJ
asir-4275	118	4	control	control	NOUN
asir-4275	118	5	,	,	PUNCT
asir-4275	118	6	27(08	27(08	NUM
asir-4275	118	7	)	)	PUNCT
asir-4275	118	8	,	,	PUNCT
asir-4275	118	9	193	193	NUM
asir-4275	118	10	-	-	SYM
asir-4275	118	11	197	197	NUM
asir-4275	118	12	.	.	PUNCT
asir-4275	119	1	kostavelis	kostavelis	PROPN
asir-4275	119	2	,	,	PUNCT
asir-4275	119	3	i.	i.	PROPN
asir-4275	119	4	,	,	PUNCT
asir-4275	119	5	nalpantidis	nalpantidis	PROPN
asir-4275	119	6	,	,	PUNCT
asir-4275	119	7	l.	l.	PROPN
asir-4275	119	8	,	,	PUNCT
asir-4275	119	9	&	&	CCONJ
asir-4275	119	10	gasteratos	gasteratos	PROPN
asir-4275	119	11	,	,	PUNCT
asir-4275	119	12	a.	a.	NOUN
asir-4275	119	13	(	(	PUNCT
asir-4275	119	14	2011	2011	NUM
asir-4275	119	15	)	)	PUNCT
asir-4275	119	16	.	.	PUNCT
asir-4275	120	1	supervised	supervise	VERB
asir-4275	120	2	traversability	traversability	NOUN
asir-4275	120	3	learning	learning	NOUN
asir-4275	120	4	for	for	ADP
asir-4275	120	5	robot	robot	NOUN
asir-4275	120	6	navigation	navigation	NOUN
asir-4275	120	7	.	.	PUNCT
asir-4275	121	1	proceedings	proceeding	NOUN
asir-4275	121	2	of	of	ADP
asir-4275	121	3	the	the	DET
asir-4275	121	4	12th	12th	ADJ
asir-4275	121	5	annual	annual	ADJ
asir-4275	121	6	conference	conference	NOUN
asir-4275	121	7	on	on	ADP
asir-4275	121	8	towards	towards	ADP
asir-4275	121	9	autonomous	autonomous	ADJ
asir-4275	121	10	robotic	robotic	ADJ
asir-4275	121	11	systems	system	NOUN
asir-4275	121	12	,	,	PUNCT
asir-4275	121	13	pp	pp	ADJ
asir-4275	121	14	.	.	PUNCT
asir-4275	122	1	289	289	NUM
asir-4275	122	2	-	-	SYM
asir-4275	122	3	298	298	NUM
asir-4275	122	4	.	.	PUNCT
asir-4275	123	1	https://doi.org/10.1007/978-3-642-23232-9_26	https://doi.org/10.1007/978-3-642-23232-9_26	PROPN
asir-4275	123	2	liu	liu	PROPN
asir-4275	123	3	,	,	PUNCT
asir-4275	123	4	r.	r.	PROPN
asir-4275	123	5	,	,	PUNCT
asir-4275	123	6	chen	chen	PROPN
asir-4275	123	7	,	,	PUNCT
asir-4275	123	8	f.	f.	PROPN
asir-4275	123	9	x.	x.	PROPN
asir-4275	123	10	,	,	PUNCT
asir-4275	123	11	chen	chen	PROPN
asir-4275	123	12	,	,	PUNCT
asir-4275	123	13	k.	k.	PROPN
asir-4275	123	14	y.	y.	PROPN
asir-4275	123	15	,	,	PUNCT
asir-4275	123	16	&	&	CCONJ
asir-4275	123	17	liu	liu	PROPN
asir-4275	123	18	,	,	PUNCT
asir-4275	123	19	s.	s.	PROPN
asir-4275	123	20	n.	n.	PROPN
asir-4275	123	21	(	(	PUNCT
asir-4275	123	22	2018	2018	NUM
asir-4275	123	23	)	)	PUNCT
asir-4275	123	24	.	.	PUNCT
asir-4275	124	1	research	research	NOUN
asir-4275	124	2	on	on	ADP
asir-4275	124	3	obstacle	obstacle	NOUN
asir-4275	124	4	detection	detection	NOUN
asir-4275	124	5	method	method	NOUN
asir-4275	124	6	based	base	VERB
asir-4275	124	7	on	on	ADP
asir-4275	124	8	binocular	binocular	ADJ
asir-4275	124	9	vision	vision	NOUN
asir-4275	124	10	.	.	PUNCT
asir-4275	125	1	computer	computer	NOUN
asir-4275	125	2	measurement	measurement	NOUN
asir-4275	125	3	and	and	CCONJ
asir-4275	125	4	control	control	NOUN
asir-4275	125	5	,	,	PUNCT
asir-4275	125	6	26(12	26(12	NUM
asir-4275	125	7	)	)	PUNCT
asir-4275	125	8	,	,	PUNCT
asir-4275	125	9	67	67	NUM
asir-4275	125	10	-	-	SYM
asir-4275	125	11	71	71	NUM
asir-4275	125	12	.	.	PUNCT
asir-4275	126	1	miao	miao	NOUN
asir-4275	126	2	,	,	PUNCT
asir-4275	126	3	w.	w.	PROPN
asir-4275	126	4	,	,	PUNCT
asir-4275	126	5	&	&	CCONJ
asir-4275	126	6	tseng	tseng	PROPN
asir-4275	126	7	,	,	PUNCT
asir-4275	126	8	y.	y.	PROPN
asir-4275	126	9	h.	h.	PROPN
asir-4275	126	10	(	(	PUNCT
asir-4275	126	11	2004	2004	NUM
asir-4275	126	12	)	)	PUNCT
asir-4275	126	13	.	.	PUNCT
asir-4275	127	1	lidar	lidar	NOUN
asir-4275	127	2	data	data	PROPN
asir-4275	127	3	segmentation	segmentation	NOUN
asir-4275	127	4	and	and	CCONJ
asir-4275	127	5	classification	classification	NOUN
asir-4275	127	6	based	base	VERB
asir-4275	127	7	on	on	ADP
asir-4275	127	8	octree	octree	PROPN
asir-4275	127	9	structure	structure	NOUN
asir-4275	127	10	.	.	PUNCT
asir-4275	128	1	parameters	parameter	NOUN
asir-4275	128	2	.	.	PUNCT
asir-4275	129	1	reitberger	reitberger	NOUN
asir-4275	129	2	,	,	PUNCT
asir-4275	129	3	j.	j.	PROPN
asir-4275	129	4	,	,	PUNCT
asir-4275	129	5	schnoerr	schnoerr	PROPN
asir-4275	129	6	,	,	PUNCT
asir-4275	129	7	c.	c.	PROPN
asir-4275	129	8	,	,	PUNCT
asir-4275	129	9	krzystek	krzystek	PROPN
asir-4275	129	10	,	,	PUNCT
asir-4275	129	11	p.	p.	PROPN
asir-4275	129	12	,	,	PUNCT
asir-4275	129	13	et	et	PROPN
asir-4275	129	14	al	al	PROPN
asir-4275	129	15	.	.	PUNCT
asir-4275	130	1	(	(	PUNCT
asir-4275	130	2	2009	2009	NUM
asir-4275	130	3	)	)	PUNCT
asir-4275	130	4	.	.	PUNCT
asir-4275	131	1	3d	3d	NUM
asir-4275	131	2	segmentation	segmentation	NOUN
asir-4275	131	3	of	of	ADP
asir-4275	131	4	single	single	ADJ
asir-4275	131	5	trees	tree	NOUN
asir-4275	131	6	exploiting	exploit	VERB
asir-4275	131	7	full	full	ADJ
asir-4275	131	8	waveform	waveform	NOUN
asir-4275	131	9	lidar	lidar	NOUN
asir-4275	131	10	data	datum	NOUN
asir-4275	131	11	(	(	PUNCT
asir-4275	131	12	pp	pp	ADJ
asir-4275	131	13	.	.	PUNCT
asir-4275	132	1	561	561	NUM
asir-4275	132	2	-	-	SYM
asir-4275	132	3	574	574	NUM
asir-4275	132	4	)	)	PUNCT
asir-4275	132	5	.	.	PUNCT
asir-4275	133	1	https://doi.org/10.1016/j.isprsjprs.2009.04.002	https://doi.org/10.1016/j.isprsjprs.2009.04.002	PROPN
asir-4275	133	2	zhu	zhu	PROPN
asir-4275	133	3	,	,	PUNCT
asir-4275	133	4	d.	d.	PROPN
asir-4275	133	5	h.	h.	PROPN
asir-4275	133	6	,	,	PUNCT
asir-4275	133	7	guo	guo	PROPN
asir-4275	133	8	,	,	PUNCT
asir-4275	133	9	h.	h.	PROPN
asir-4275	133	10	,	,	PUNCT
asir-4275	133	11	su	su	PROPN
asir-4275	133	12	,	,	PUNCT
asir-4275	133	13	w.	w.	PROPN
asir-4275	133	14	,	,	PUNCT
asir-4275	133	15	et	et	PROPN
asir-4275	133	16	al	al	PROPN
asir-4275	133	17	.	.	PUNCT
asir-4275	133	18	(	(	PUNCT
asir-4275	133	19	2012	2012	NUM
asir-4275	133	20	)	)	PUNCT
asir-4275	133	21	.	.	PUNCT
asir-4275	134	1	point	point	NOUN
asir-4275	134	2	cloud	cloud	PROPN
asir-4275	134	3	library	library	PROPN
asir-4275	134	4	pcl	pcl	PROPN
asir-4275	134	5	learning	learning	PROPN
asir-4275	134	6	tutorial	tutorial	NOUN
asir-4275	134	7	.	.	PUNCT
asir-4275	135	1	beijing	beijing	PROPN
asir-4275	135	2	:	:	PUNCT
asir-4275	135	3	beihang	beihang	PROPN
asir-4275	135	4	university	university	PROPN
asir-4275	135	5	press	press	NOUN
asir-4275	135	6	.	.	PUNCT
asir-4275	136	1	zong	zong	PROPN
asir-4275	136	2	,	,	PUNCT
asir-4275	136	3	c.	c.	PROPN
asir-4275	136	4	f.	f.	PROPN
asir-4275	136	5	,	,	PUNCT
asir-4275	136	6	wen	wen	PROPN
asir-4275	136	7	,	,	PUNCT
asir-4275	136	8	l.	l.	PROPN
asir-4275	136	9	,	,	PUNCT
asir-4275	136	10	&	&	CCONJ
asir-4275	136	11	he	he	PRON
asir-4275	136	12	,	,	PUNCT
asir-4275	136	13	l.	l.	PROPN
asir-4275	136	14	(	(	PUNCT
asir-4275	136	15	2019	2019	NUM
asir-4275	136	16	)	)	PUNCT
asir-4275	136	17	.	.	PUNCT
asir-4275	137	1	three	three	NUM
asir-4275	137	2	-	-	PUNCT
asir-4275	137	3	dimensional	dimensional	ADJ
asir-4275	137	4	lidar	lidar	NOUN
asir-4275	137	5	obstacle	obstacle	NOUN
asir-4275	137	6	detection	detection	NOUN
asir-4275	137	7	technology	technology	NOUN
asir-4275	137	8	based	base	VERB
asir-4275	137	9	on	on	ADP
asir-4275	137	10	euclidean	euclidean	ADJ
asir-4275	137	11	clustering	clustering	ADJ
asir-4275	137	12	algorithm	algorithm	NOUN
asir-4275	137	13	.	.	PUNCT
asir-4275	138	1	journal	journal	PROPN
asir-4275	138	2	of	of	ADP
asir-4275	138	3	jilin	jilin	PROPN
asir-4275	138	4	university	university	PROPN
asir-4275	138	5	(	(	PUNCT
asir-4275	138	6	engineering	engineering	NOUN
asir-4275	138	7	and	and	CCONJ
asir-4275	138	8	technology	technology	NOUN
asir-4275	138	9	edition	edition	NOUN
asir-4275	138	10	)	)	PUNCT
asir-4275	138	11	,	,	PUNCT
asir-4275	138	12	6	6	NUM
asir-4275	138	13	.	.	PUNCT