id	sid	tid	token	lemma	pos
cet-3943	1	1	chemical	chemical	NOUN
cet-3943	1	2	engineering	engineering	NOUN
cet-3943	1	3	transactions	transaction	NOUN
cet-3943	1	4	vol	vol	NOUN
cet-3943	1	5	.	.	PROPN
cet-3943	2	1	51	51	NUM
cet-3943	2	2	,	,	PUNCT
cet-3943	2	3	2016	2016	NUM
cet-3943	2	4	a	a	DET
cet-3943	2	5	publication	publication	NOUN
cet-3943	2	6	of	of	ADP
cet-3943	2	7	the	the	DET
cet-3943	2	8	italian	italian	ADJ
cet-3943	2	9	association	association	NOUN
cet-3943	2	10	of	of	ADP
cet-3943	2	11	chemical	chemical	PROPN
cet-3943	2	12	engineering	engineering	NOUN
cet-3943	2	13	online	online	ADV
cet-3943	2	14	at	at	ADP
cet-3943	2	15	www.aidic.it/cet	www.aidic.it/cet	PROPN
cet-3943	2	16	guest	guest	NOUN
cet-3943	2	17	editors	editor	NOUN
cet-3943	2	18	:	:	PUNCT
cet-3943	2	19	tichun	tichun	PROPN
cet-3943	2	20	wang	wang	PROPN
cet-3943	2	21	,	,	PUNCT
cet-3943	2	22	hongyang	hongyang	PROPN
cet-3943	2	23	zhang	zhang	PROPN
cet-3943	2	24	,	,	PUNCT
cet-3943	2	25	lei	lei	PROPN
cet-3943	2	26	tian	tian	ADJ
cet-3943	2	27	copyright	copyright	NOUN
cet-3943	2	28	©	©	PROPN
cet-3943	2	29	2016	2016	NUM
cet-3943	2	30	,	,	PUNCT
cet-3943	2	31	aidic	aidic	ADJ
cet-3943	2	32	servizi	servizi	PROPN
cet-3943	2	33	s.r.l	s.r.l	NOUN
cet-3943	2	34	.	.	PUNCT
cet-3943	2	35	,	,	PUNCT
cet-3943	2	36	isbn	isbn	PROPN
cet-3943	2	37	978	978	NUM
cet-3943	2	38	-	-	SYM
cet-3943	2	39	88	88	NUM
cet-3943	2	40	-	-	PUNCT
cet-3943	2	41	95608	95608	NUM
cet-3943	2	42	-	-	PUNCT
cet-3943	2	43	43	43	NUM
cet-3943	2	44	-	-	SYM
cet-3943	2	45	3	3	NUM
cet-3943	2	46	;	;	PUNCT
cet-3943	2	47	issn	issn	PROPN
cet-3943	2	48	2283	2283	NUM
cet-3943	2	49	-	-	SYM
cet-3943	2	50	9216	9216	NUM
cet-3943	2	51	a	a	DET
cet-3943	2	52	point	point	NOUN
cet-3943	2	53	cloud	cloud	NOUN
cet-3943	2	54	registration	registration	NOUN
cet-3943	2	55	algorithm	algorithm	NOUN
cet-3943	2	56	for	for	ADP
cet-3943	2	57	free	free	ADJ
cet-3943	2	58	-	-	PUNCT
cet-3943	2	59	form	form	NOUN
cet-3943	2	60	surface	surface	NOUN
cet-3943	2	61	chunfa	chunfa	PROPN
cet-3943	2	62	sha	sha	PROPN
cet-3943	2	63	*	*	PROPN
cet-3943	2	64	,	,	PUNCT
cet-3943	2	65	zhangping	zhangpe	VERB
cet-3943	2	66	lu	lu	PROPN
cet-3943	2	67	,	,	PUNCT
cet-3943	2	68	rui	rui	PROPN
cet-3943	2	69	li	li	PROPN
cet-3943	2	70	,	,	PUNCT
cet-3943	2	71	hang	hang	PROPN
cet-3943	2	72	zheng	zheng	PROPN
cet-3943	2	73	,	,	PUNCT
cet-3943	2	74	enock	enock	PROPN
cet-3943	2	75	a.	a.	PROPN
cet-3943	2	76	duodu	duodu	PROPN
cet-3943	2	77	graphics	graphics	PROPN
cet-3943	2	78	technology	technology	PROPN
cet-3943	2	79	institute	institute	PROPN
cet-3943	2	80	,	,	PUNCT
cet-3943	2	81	jiangsu	jiangsu	PROPN
cet-3943	2	82	university	university	PROPN
cet-3943	2	83	,	,	PUNCT
cet-3943	2	84	zhenjiang	zhenjiang	PROPN
cet-3943	2	85	,	,	PUNCT
cet-3943	2	86	212013	212013	NUM
cet-3943	2	87	,	,	PUNCT
cet-3943	2	88	china	china	PROPN
cet-3943	2	89	.	.	PUNCT
cet-3943	3	1	24679598@qq.com	24679598@qq.com	NUM
cet-3943	3	2	to	to	PART
cet-3943	3	3	improve	improve	VERB
cet-3943	3	4	the	the	DET
cet-3943	3	5	searching	search	VERB
cet-3943	3	6	efficiency	efficiency	NOUN
cet-3943	3	7	of	of	ADP
cet-3943	3	8	the	the	DET
cet-3943	3	9	precise	precise	ADJ
cet-3943	3	10	position	position	NOUN
cet-3943	3	11	of	of	ADP
cet-3943	3	12	workpiece	workpiece	NOUN
cet-3943	3	13	with	with	ADP
cet-3943	3	14	free	free	ADJ
cet-3943	3	15	-	-	PUNCT
cet-3943	3	16	form	form	NOUN
cet-3943	3	17	surface	surface	NOUN
cet-3943	3	18	,	,	PUNCT
cet-3943	3	19	a	a	DET
cet-3943	3	20	new	new	ADJ
cet-3943	3	21	twostep	twostep	NOUN
cet-3943	3	22	point	point	NOUN
cet-3943	3	23	cloud	cloud	ADJ
cet-3943	3	24	registration	registration	NOUN
cet-3943	3	25	method	method	NOUN
cet-3943	3	26	is	be	AUX
cet-3943	3	27	proposed	propose	VERB
cet-3943	3	28	.	.	PUNCT
cet-3943	4	1	it	it	PRON
cet-3943	4	2	seeks	seek	VERB
cet-3943	4	3	to	to	PART
cet-3943	4	4	improve	improve	VERB
cet-3943	4	5	the	the	DET
cet-3943	4	6	preliminary	preliminary	ADJ
cet-3943	4	7	registration	registration	NOUN
cet-3943	4	8	algorithm	algorithm	NOUN
cet-3943	4	9	and	and	CCONJ
cet-3943	4	10	the	the	DET
cet-3943	4	11	iterative	iterative	NOUN
cet-3943	4	12	closest	close	ADJ
cet-3943	4	13	point	point	NOUN
cet-3943	4	14	(	(	PUNCT
cet-3943	4	15	icp	icp	NOUN
cet-3943	4	16	)	)	PUNCT
cet-3943	4	17	algorithm	algorithm	NOUN
cet-3943	4	18	.	.	PUNCT
cet-3943	5	1	firstly	firstly	ADV
cet-3943	5	2	,	,	PUNCT
cet-3943	5	3	for	for	ADP
cet-3943	5	4	preliminary	preliminary	ADJ
cet-3943	5	5	registration	registration	NOUN
cet-3943	5	6	,	,	PUNCT
cet-3943	5	7	the	the	DET
cet-3943	5	8	co	co	NOUN
cet-3943	5	9	-	-	ADJ
cet-3943	5	10	planar	planar	ADJ
cet-3943	5	11	4	4	NUM
cet-3943	5	12	-	-	PUNCT
cet-3943	5	13	points	point	NOUN
cet-3943	5	14	sets	set	NOUN
cet-3943	5	15	are	be	AUX
cet-3943	5	16	searched	search	VERB
cet-3943	5	17	based	base	VERB
cet-3943	5	18	on	on	ADP
cet-3943	5	19	the	the	DET
cet-3943	5	20	constraints	constraint	NOUN
cet-3943	5	21	of	of	ADP
cet-3943	5	22	distance	distance	NOUN
cet-3943	5	23	and	and	CCONJ
cet-3943	5	24	proportional	proportional	ADJ
cet-3943	5	25	relationship	relationship	NOUN
cet-3943	5	26	between	between	ADP
cet-3943	5	27	points	point	NOUN
cet-3943	5	28	.	.	PUNCT
cet-3943	6	1	then	then	ADV
cet-3943	6	2	the	the	DET
cet-3943	6	3	invariant	invariant	NOUN
cet-3943	6	4	of	of	ADP
cet-3943	6	5	these	these	DET
cet-3943	6	6	co	co	NOUN
cet-3943	6	7	-	-	ADJ
cet-3943	6	8	planar	planar	ADJ
cet-3943	6	9	4	4	NUM
cet-3943	6	10	-	-	PUNCT
cet-3943	6	11	points	point	NOUN
cet-3943	6	12	sets	set	NOUN
cet-3943	6	13	are	be	AUX
cet-3943	6	14	used	use	VERB
cet-3943	6	15	for	for	ADP
cet-3943	6	16	random	random	ADJ
cet-3943	6	17	sample	sample	NOUN
cet-3943	6	18	consensus	consensus	NOUN
cet-3943	6	19	algorithm	algorithm	NOUN
cet-3943	6	20	(	(	PUNCT
cet-3943	6	21	ransac	ransac	NOUN
cet-3943	6	22	)	)	PUNCT
cet-3943	6	23	to	to	PART
cet-3943	6	24	get	get	VERB
cet-3943	6	25	initial	initial	ADJ
cet-3943	6	26	position	position	NOUN
cet-3943	6	27	of	of	ADP
cet-3943	6	28	the	the	DET
cet-3943	6	29	target	target	NOUN
cet-3943	6	30	point	point	NOUN
cet-3943	6	31	cloud	cloud	NOUN
cet-3943	6	32	.	.	PUNCT
cet-3943	7	1	secondly	secondly	ADV
cet-3943	7	2	,	,	PUNCT
cet-3943	7	3	re	re	VERB
cet-3943	7	4	-	-	NOUN
cet-3943	7	5	sampling	sample	VERB
cet-3943	7	6	of	of	ADP
cet-3943	7	7	source	source	NOUN
cet-3943	7	8	data	datum	NOUN
cet-3943	7	9	,	,	PUNCT
cet-3943	7	10	matching	matching	NOUN
cet-3943	7	11	method	method	NOUN
cet-3943	7	12	based	base	VERB
cet-3943	7	13	on	on	ADP
cet-3943	7	14	double	double	ADJ
cet-3943	7	15	direction	direction	NOUN
cet-3943	7	16	normal	normal	ADJ
cet-3943	7	17	projection	projection	NOUN
cet-3943	7	18	and	and	CCONJ
cet-3943	7	19	elimination	elimination	NOUN
cet-3943	7	20	of	of	ADP
cet-3943	7	21	unreliable	unreliable	ADJ
cet-3943	7	22	point	point	NOUN
cet-3943	7	23	-	-	PUNCT
cet-3943	7	24	pairs	pair	NOUN
cet-3943	7	25	are	be	AUX
cet-3943	7	26	used	use	VERB
cet-3943	7	27	to	to	PART
cet-3943	7	28	improve	improve	VERB
cet-3943	7	29	the	the	DET
cet-3943	7	30	original	original	ADJ
cet-3943	7	31	icp	icp	PROPN
cet-3943	7	32	algorithm	algorithm	NOUN
cet-3943	7	33	to	to	PART
cet-3943	7	34	optimize	optimize	VERB
cet-3943	7	35	the	the	DET
cet-3943	7	36	preliminary	preliminary	ADJ
cet-3943	7	37	registration	registration	NOUN
cet-3943	7	38	result	result	NOUN
cet-3943	7	39	.	.	PUNCT
cet-3943	8	1	the	the	DET
cet-3943	8	2	registration	registration	NOUN
cet-3943	8	3	simulations	simulation	NOUN
cet-3943	8	4	of	of	ADP
cet-3943	8	5	two	two	NUM
cet-3943	8	6	simple	simple	ADJ
cet-3943	8	7	workpieces	workpiece	NOUN
cet-3943	8	8	were	be	AUX
cet-3943	8	9	conducted	conduct	VERB
cet-3943	8	10	.	.	PUNCT
cet-3943	9	1	the	the	DET
cet-3943	9	2	results	result	NOUN
cet-3943	9	3	show	show	VERB
cet-3943	9	4	that	that	SCONJ
cet-3943	9	5	the	the	DET
cet-3943	9	6	improved	improved	ADJ
cet-3943	9	7	algorithm	algorithm	NOUN
cet-3943	9	8	has	have	VERB
cet-3943	9	9	higher	high	ADJ
cet-3943	9	10	efficiency	efficiency	NOUN
cet-3943	9	11	and	and	CCONJ
cet-3943	9	12	better	well	ADJ
cet-3943	9	13	precision	precision	NOUN
cet-3943	9	14	than	than	ADP
cet-3943	9	15	the	the	DET
cet-3943	9	16	traditional	traditional	ADJ
cet-3943	9	17	ones	one	NOUN
cet-3943	9	18	.	.	PUNCT
cet-3943	10	1	1	1	X
cet-3943	10	2	.	.	X
cet-3943	10	3	introduction	introduction	NOUN
cet-3943	10	4	in	in	ADP
cet-3943	10	5	the	the	DET
cet-3943	10	6	field	field	NOUN
cet-3943	10	7	of	of	ADP
cet-3943	10	8	industrial	industrial	ADJ
cet-3943	10	9	manufacturing	manufacturing	NOUN
cet-3943	10	10	,	,	PUNCT
cet-3943	10	11	some	some	DET
cet-3943	10	12	workpieces	workpiece	NOUN
cet-3943	10	13	of	of	ADP
cet-3943	10	14	free	free	ADJ
cet-3943	10	15	-	-	PUNCT
cet-3943	10	16	form	form	NOUN
cet-3943	10	17	surface	surface	NOUN
cet-3943	10	18	(	(	PUNCT
cet-3943	10	19	such	such	ADJ
cet-3943	10	20	as	as	ADP
cet-3943	10	21	titanium	titanium	NOUN
cet-3943	10	22	skin	skin	NOUN
cet-3943	10	23	)	)	PUNCT
cet-3943	10	24	without	without	ADP
cet-3943	10	25	any	any	DET
cet-3943	10	26	obvious	obvious	ADJ
cet-3943	10	27	features	feature	NOUN
cet-3943	10	28	should	should	AUX
cet-3943	10	29	be	be	AUX
cet-3943	10	30	made	make	VERB
cet-3943	10	31	in	in	ADP
cet-3943	10	32	a	a	DET
cet-3943	10	33	non	non	ADJ
cet-3943	10	34	-	-	ADJ
cet-3943	10	35	binding	binding	ADJ
cet-3943	10	36	state	state	NOUN
cet-3943	10	37	with	with	ADP
cet-3943	10	38	no	no	DET
cet-3943	10	39	fixtures	fixture	NOUN
cet-3943	10	40	.	.	PUNCT
cet-3943	11	1	this	this	PRON
cet-3943	11	2	can	can	AUX
cet-3943	11	3	lead	lead	VERB
cet-3943	11	4	to	to	ADP
cet-3943	11	5	unknown	unknown	ADJ
cet-3943	11	6	position	position	NOUN
cet-3943	11	7	and	and	CCONJ
cet-3943	11	8	posture	posture	NOUN
cet-3943	11	9	of	of	ADP
cet-3943	11	10	the	the	DET
cet-3943	11	11	surface	surface	NOUN
cet-3943	11	12	.	.	PUNCT
cet-3943	12	1	thereby	thereby	ADV
cet-3943	12	2	it	it	PRON
cet-3943	12	3	is	be	AUX
cet-3943	12	4	unable	unable	ADJ
cet-3943	12	5	to	to	PART
cet-3943	12	6	get	get	VERB
cet-3943	12	7	the	the	DET
cet-3943	12	8	precise	precise	ADJ
cet-3943	12	9	position	position	NOUN
cet-3943	12	10	for	for	ADP
cet-3943	12	11	the	the	DET
cet-3943	12	12	subsequent	subsequent	ADJ
cet-3943	12	13	work	work	NOUN
cet-3943	12	14	,	,	PUNCT
cet-3943	12	15	like	like	ADP
cet-3943	12	16	drilling	drilling	NOUN
cet-3943	12	17	,	,	PUNCT
cet-3943	12	18	cutting	cut	VERB
cet-3943	12	19	and	and	CCONJ
cet-3943	12	20	other	other	ADJ
cet-3943	12	21	processes	process	NOUN
cet-3943	12	22	.	.	PUNCT
cet-3943	13	1	a	a	DET
cet-3943	13	2	traditional	traditional	ADJ
cet-3943	13	3	technique	technique	NOUN
cet-3943	13	4	is	be	AUX
cet-3943	13	5	to	to	PART
cet-3943	13	6	use	use	VERB
cet-3943	13	7	the	the	DET
cet-3943	13	8	tools	tool	NOUN
cet-3943	13	9	called	call	VERB
cet-3943	13	10	"	"	PUNCT
cet-3943	13	11	profile	profile	NOUN
cet-3943	13	12	model	model	NOUN
cet-3943	13	13	"	"	PUNCT
cet-3943	13	14	to	to	PART
cet-3943	13	15	fix	fix	VERB
cet-3943	13	16	the	the	DET
cet-3943	13	17	position	position	NOUN
cet-3943	13	18	manually	manually	ADV
cet-3943	13	19	,	,	PUNCT
cet-3943	13	20	which	which	PRON
cet-3943	13	21	leads	lead	VERB
cet-3943	13	22	to	to	ADP
cet-3943	13	23	high	high	ADJ
cet-3943	13	24	manufacturing	manufacturing	NOUN
cet-3943	13	25	costs	cost	NOUN
cet-3943	13	26	,	,	PUNCT
cet-3943	13	27	inefficiency	inefficiency	NOUN
cet-3943	13	28	,	,	PUNCT
cet-3943	13	29	poor	poor	ADJ
cet-3943	13	30	flexibility	flexibility	NOUN
cet-3943	13	31	and	and	CCONJ
cet-3943	13	32	low	low	ADJ
cet-3943	13	33	yield	yield	NOUN
cet-3943	13	34	.	.	PUNCT
cet-3943	14	1	a	a	DET
cet-3943	14	2	registration	registration	NOUN
cet-3943	14	3	process	process	NOUN
cet-3943	14	4	of	of	ADP
cet-3943	14	5	two	two	NUM
cet-3943	14	6	point	point	NOUN
cet-3943	14	7	clouds	cloud	NOUN
cet-3943	14	8	for	for	ADP
cet-3943	14	9	free	free	ADJ
cet-3943	14	10	-	-	PUNCT
cet-3943	14	11	form	form	NOUN
cet-3943	14	12	surfaces	surface	NOUN
cet-3943	14	13	,	,	PUNCT
cet-3943	14	14	where	where	SCONJ
cet-3943	14	15	one	one	NUM
cet-3943	14	16	point	point	NOUN
cet-3943	14	17	cloud	cloud	NOUN
cet-3943	14	18	is	be	AUX
cet-3943	14	19	created	create	VERB
cet-3943	14	20	from	from	ADP
cet-3943	14	21	cad	cad	PROPN
cet-3943	14	22	model	model	NOUN
cet-3943	14	23	and	and	CCONJ
cet-3943	14	24	the	the	DET
cet-3943	14	25	other	other	ADJ
cet-3943	14	26	is	be	AUX
cet-3943	14	27	scanned	scan	VERB
cet-3943	14	28	from	from	ADP
cet-3943	14	29	the	the	DET
cet-3943	14	30	corresponding	corresponding	ADJ
cet-3943	14	31	workpiece	workpiece	NOUN
cet-3943	14	32	,	,	PUNCT
cet-3943	14	33	is	be	AUX
cet-3943	14	34	proposed	propose	VERB
cet-3943	14	35	to	to	PART
cet-3943	14	36	achieve	achieve	VERB
cet-3943	14	37	the	the	DET
cet-3943	14	38	precise	precise	ADJ
cet-3943	14	39	position	position	NOUN
cet-3943	14	40	of	of	ADP
cet-3943	14	41	the	the	DET
cet-3943	14	42	workpiece	workpiece	NOUN
cet-3943	14	43	.	.	PUNCT
cet-3943	15	1	with	with	ADP
cet-3943	15	2	this	this	DET
cet-3943	15	3	method	method	NOUN
cet-3943	15	4	,	,	PUNCT
cet-3943	15	5	there	there	PRON
cet-3943	15	6	are	be	VERB
cet-3943	15	7	no	no	DET
cet-3943	15	8	"	"	PUNCT
cet-3943	15	9	profile	profile	NOUN
cet-3943	15	10	model	model	NOUN
cet-3943	15	11	"	"	PUNCT
cet-3943	15	12	tools	tool	NOUN
cet-3943	15	13	and	and	CCONJ
cet-3943	15	14	only	only	ADV
cet-3943	15	15	the	the	DET
cet-3943	15	16	key	key	NOUN
cet-3943	15	17	is	be	AUX
cet-3943	15	18	the	the	DET
cet-3943	15	19	algorithm	algorithm	NOUN
cet-3943	15	20	which	which	PRON
cet-3943	15	21	is	be	AUX
cet-3943	15	22	used	use	VERB
cet-3943	15	23	to	to	PART
cet-3943	15	24	get	get	VERB
cet-3943	15	25	the	the	DET
cet-3943	15	26	precise	precise	ADJ
cet-3943	15	27	alignment	alignment	NOUN
cet-3943	15	28	between	between	ADP
cet-3943	15	29	the	the	DET
cet-3943	15	30	two	two	NUM
cet-3943	15	31	point	point	NOUN
cet-3943	15	32	clouds	cloud	NOUN
cet-3943	15	33	.	.	PUNCT
cet-3943	16	1	currently	currently	ADV
cet-3943	16	2	,	,	PUNCT
cet-3943	16	3	there	there	PRON
cet-3943	16	4	are	be	VERB
cet-3943	16	5	usually	usually	ADV
cet-3943	16	6	two	two	NUM
cet-3943	16	7	automatic	automatic	ADJ
cet-3943	16	8	registration	registration	NOUN
cet-3943	16	9	techniques	technique	NOUN
cet-3943	16	10	used	use	VERB
cet-3943	16	11	in	in	ADP
cet-3943	16	12	engineering	engineering	NOUN
cet-3943	16	13	:	:	PUNCT
cet-3943	16	14	feature	feature	NOUN
cet-3943	16	15	-	-	PUNCT
cet-3943	16	16	based	base	VERB
cet-3943	16	17	matching	matching	NOUN
cet-3943	16	18	algorithm	algorithm	NOUN
cet-3943	16	19	,	,	PUNCT
cet-3943	16	20	for	for	ADP
cet-3943	16	21	example	example	NOUN
cet-3943	16	22	sample	sample	NOUN
cet-3943	16	23	-	-	PUNCT
cet-3943	16	24	sphere	sphere	NOUN
cet-3943	16	25	matching	match	VERB
cet-3943	16	26	algorithm	algorithm	NOUN
cet-3943	16	27	based	base	VERB
cet-3943	16	28	on	on	ADP
cet-3943	16	29	normal	normal	ADJ
cet-3943	16	30	(	(	PUNCT
cet-3943	16	31	meng	meng	PROPN
cet-3943	16	32	and	and	CCONJ
cet-3943	16	33	zhang	zhang	PROPN
cet-3943	16	34	,	,	PUNCT
cet-3943	16	35	2011	2011	NUM
cet-3943	16	36	)	)	PUNCT
cet-3943	16	37	and	and	CCONJ
cet-3943	16	38	algorithm	algorithm	NOUN
cet-3943	16	39	based	base	VERB
cet-3943	16	40	on	on	ADP
cet-3943	16	41	the	the	DET
cet-3943	16	42	boundary	boundary	NOUN
cet-3943	16	43	of	of	ADP
cet-3943	16	44	point	point	NOUN
cet-3943	16	45	cloud	cloud	NOUN
cet-3943	16	46	(	(	PUNCT
cet-3943	16	47	wang	wang	PROPN
cet-3943	16	48	and	and	CCONJ
cet-3943	16	49	zhang	zhang	PROPN
cet-3943	16	50	,	,	PUNCT
cet-3943	16	51	2012	2012	NUM
cet-3943	16	52	)	)	PUNCT
cet-3943	16	53	;	;	PUNCT
cet-3943	16	54	icp	icp	PROPN
cet-3943	16	55	algorithm	algorithm	PROPN
cet-3943	16	56	(	(	PUNCT
cet-3943	16	57	besl	besl	PROPN
cet-3943	16	58	and	and	CCONJ
cet-3943	16	59	mckay	mckay	PROPN
cet-3943	16	60	,	,	PUNCT
cet-3943	16	61	1992	1992	NUM
cet-3943	16	62	)	)	PUNCT
cet-3943	16	63	.	.	PUNCT
cet-3943	17	1	in	in	ADP
cet-3943	17	2	order	order	NOUN
cet-3943	17	3	to	to	PART
cet-3943	17	4	improve	improve	VERB
cet-3943	17	5	the	the	DET
cet-3943	17	6	accuracy	accuracy	NOUN
cet-3943	17	7	and	and	CCONJ
cet-3943	17	8	efficiency	efficiency	NOUN
cet-3943	17	9	of	of	ADP
cet-3943	17	10	the	the	DET
cet-3943	17	11	registration	registration	NOUN
cet-3943	17	12	,	,	PUNCT
cet-3943	17	13	this	this	DET
cet-3943	17	14	paper	paper	NOUN
cet-3943	17	15	intends	intend	VERB
cet-3943	17	16	to	to	PART
cet-3943	17	17	design	design	VERB
cet-3943	17	18	a	a	DET
cet-3943	17	19	new	new	ADJ
cet-3943	17	20	twosteps	twostep	NOUN
cet-3943	17	21	registration	registration	NOUN
cet-3943	17	22	method	method	NOUN
cet-3943	17	23	:	:	PUNCT
cet-3943	17	24	ransac	ransac	NOUN
cet-3943	17	25	algorithm	algorithm	NOUN
cet-3943	17	26	based	base	VERB
cet-3943	17	27	on	on	ADP
cet-3943	17	28	co	co	VERB
cet-3943	17	29	-	-	ADJ
cet-3943	17	30	planar	planar	ADJ
cet-3943	17	31	4	4	NUM
cet-3943	17	32	-	-	PUNCT
cet-3943	17	33	points	point	NOUN
cet-3943	17	34	sets	set	NOUN
cet-3943	17	35	for	for	ADP
cet-3943	17	36	the	the	DET
cet-3943	17	37	preliminary	preliminary	ADJ
cet-3943	17	38	registration	registration	NOUN
cet-3943	17	39	and	and	CCONJ
cet-3943	17	40	an	an	DET
cet-3943	17	41	improved	improved	ADJ
cet-3943	17	42	icp	icp	PROPN
cet-3943	17	43	algorithm	algorithm	NOUN
cet-3943	17	44	for	for	ADP
cet-3943	17	45	accurate	accurate	ADJ
cet-3943	17	46	registration	registration	NOUN
cet-3943	17	47	.	.	PUNCT
cet-3943	18	1	2	2	X
cet-3943	18	2	.	.	NOUN
cet-3943	18	3	ransac	ransac	NOUN
cet-3943	18	4	algorithm	algorithm	NOUN
cet-3943	18	5	based	base	VERB
cet-3943	18	6	on	on	ADP
cet-3943	18	7	co	co	VERB
cet-3943	18	8	-	-	ADJ
cet-3943	18	9	planar	planar	ADJ
cet-3943	18	10	4	4	NUM
cet-3943	18	11	-	-	PUNCT
cet-3943	18	12	points	point	NOUN
cet-3943	18	13	sets	set	NOUN
cet-3943	18	14	for	for	ADP
cet-3943	18	15	the	the	DET
cet-3943	18	16	preliminary	preliminary	ADJ
cet-3943	18	17	registration	registration	NOUN
cet-3943	18	18	ransac	ransac	NOUN
cet-3943	18	19	algorithm	algorithm	NOUN
cet-3943	18	20	(	(	PUNCT
cet-3943	18	21	fischler	fischler	NOUN
cet-3943	18	22	and	and	CCONJ
cet-3943	18	23	bolles	bolles	PROPN
cet-3943	18	24	,	,	PUNCT
cet-3943	18	25	1987	1987	NUM
cet-3943	18	26	;	;	PUNCT
cet-3943	18	27	chen	chen	PROPN
cet-3943	18	28	and	and	CCONJ
cet-3943	18	29	hung	hung	PROPN
cet-3943	18	30	,	,	PUNCT
cet-3943	18	31	1999	1999	NUM
cet-3943	18	32	)	)	PUNCT
cet-3943	18	33	is	be	AUX
cet-3943	18	34	an	an	DET
cet-3943	18	35	estimation	estimation	NOUN
cet-3943	18	36	algorithm	algorithm	NOUN
cet-3943	18	37	with	with	ADP
cet-3943	18	38	good	good	ADJ
cet-3943	18	39	robustness	robustness	NOUN
cet-3943	18	40	that	that	PRON
cet-3943	18	41	can	can	AUX
cet-3943	18	42	handle	handle	VERB
cet-3943	18	43	point	point	NOUN
cet-3943	18	44	cloud	cloud	NOUN
cet-3943	18	45	data	datum	NOUN
cet-3943	18	46	and	and	CCONJ
cet-3943	18	47	is	be	AUX
cet-3943	18	48	widely	widely	ADV
cet-3943	18	49	used	use	VERB
cet-3943	18	50	in	in	ADP
cet-3943	18	51	the	the	DET
cet-3943	18	52	field	field	NOUN
cet-3943	18	53	of	of	ADP
cet-3943	18	54	computer	computer	NOUN
cet-3943	18	55	sciences	science	NOUN
cet-3943	18	56	.	.	PUNCT
cet-3943	19	1	in	in	ADP
cet-3943	19	2	this	this	DET
cet-3943	19	3	paper	paper	NOUN
cet-3943	19	4	,	,	PUNCT
cet-3943	19	5	for	for	ADP
cet-3943	19	6	the	the	DET
cet-3943	19	7	preliminary	preliminary	ADJ
cet-3943	19	8	registration	registration	NOUN
cet-3943	19	9	,	,	PUNCT
cet-3943	19	10	co	co	VERB
cet-3943	19	11	-	-	ADJ
cet-3943	19	12	planar	planar	ADJ
cet-3943	19	13	4	4	NUM
cet-3943	19	14	-	-	PUNCT
cet-3943	19	15	points	point	NOUN
cet-3943	19	16	sets	set	NOUN
cet-3943	19	17	are	be	AUX
cet-3943	19	18	used	use	VERB
cet-3943	19	19	as	as	ADP
cet-3943	19	20	the	the	DET
cet-3943	19	21	initial	initial	ADJ
cet-3943	19	22	sample	sample	NOUN
cet-3943	19	23	to	to	PART
cet-3943	19	24	improve	improve	VERB
cet-3943	19	25	ransac	ransac	NOUN
cet-3943	19	26	.	.	PUNCT
cet-3943	20	1	2.1	2.1	NUM
cet-3943	20	2	co	co	NOUN
cet-3943	20	3	-	-	VERB
cet-3943	20	4	planar	planar	ADJ
cet-3943	20	5	4	4	NUM
cet-3943	20	6	-	-	PUNCT
cet-3943	20	7	points	point	NOUN
cet-3943	20	8	sets	set	NOUN
cet-3943	20	9	as	as	SCONJ
cet-3943	20	10	shown	show	VERB
cet-3943	20	11	in	in	ADP
cet-3943	20	12	figure	figure	NOUN
cet-3943	20	13	1	1	NUM
cet-3943	20	14	,	,	PUNCT
cet-3943	20	15	it	it	PRON
cet-3943	20	16	is	be	AUX
cet-3943	20	17	hypothesized	hypothesize	VERB
cet-3943	20	18	that	that	SCONJ
cet-3943	20	19	4	4	NUM
cet-3943	20	20	non	non	ADJ
cet-3943	20	21	-	-	ADJ
cet-3943	20	22	collinear	collinear	ADJ
cet-3943	20	23	points	point	NOUN
cet-3943	20	24	from	from	ADP
cet-3943	20	25	the	the	DET
cet-3943	20	26	target	target	NOUN
cet-3943	20	27	point	point	NOUN
cet-3943	20	28	cloud	cloud	NOUN
cet-3943	20	29	p	p	NOUN
cet-3943	20	30	is	be	AUX
cet-3943	20	31	in	in	ADP
cet-3943	20	32	the	the	DET
cet-3943	20	33	same	same	ADJ
cet-3943	20	34	plane	plane	NOUN
cet-3943	20	35	.	.	PUNCT
cet-3943	21	1	then	then	ADV
cet-3943	21	2	e	e	X
cet-3943	21	3	as	as	SCONJ
cet-3943	21	4	the	the	DET
cet-3943	21	5	intersection	intersection	NOUN
cet-3943	21	6	of	of	ADP
cet-3943	21	7	ab	ab	PROPN
cet-3943	21	8	and	and	CCONJ
cet-3943	21	9	cd	cd	PROPN
cet-3943	21	10	could	could	AUX
cet-3943	21	11	be	be	AUX
cet-3943	21	12	found	find	VERB
cet-3943	21	13	.	.	PUNCT
cet-3943	22	1	the	the	DET
cet-3943	22	2	length	length	NOUN
cet-3943	22	3	and	and	CCONJ
cet-3943	22	4	the	the	DET
cet-3943	22	5	ratio	ratio	NOUN
cet-3943	22	6	as	as	SCONJ
cet-3943	22	7	indicated	indicate	VERB
cet-3943	22	8	in	in	ADP
cet-3943	22	9	eq(1	eq(1	NOUN
cet-3943	22	10	)	)	PUNCT
cet-3943	22	11	of	of	ADP
cet-3943	22	12	the	the	DET
cet-3943	22	13	two	two	NUM
cet-3943	22	14	lines	line	NOUN
cet-3943	22	15	are	be	AUX
cet-3943	22	16	euclidean	euclidean	ADJ
cet-3943	22	17	invariant	invariant	ADJ
cet-3943	22	18	with	with	ADP
cet-3943	22	19	rigid	rigid	ADJ
cet-3943	22	20	transformation(sharp	transformation(sharp	PROPN
cet-3943	22	21	and	and	CCONJ
cet-3943	22	22	sang	sing	VERB
cet-3943	22	23	,	,	PUNCT
cet-3943	22	24	2002	2002	NUM
cet-3943	22	25	;	;	PUNCT
cet-3943	22	26	urfalıoḡlu	urfalıoḡlu	PROPN
cet-3943	22	27	and	and	CCONJ
cet-3943	22	28	mikulastik	mikulastik	PROPN
cet-3943	22	29	,	,	PUNCT
cet-3943	22	30	2006	2006	NUM
cet-3943	22	31	)	)	PUNCT
cet-3943	22	32	.	.	PUNCT
cet-3943	23	1	therefore	therefore	ADV
cet-3943	23	2	the	the	DET
cet-3943	23	3	corresponding	correspond	VERB
cet-3943	23	4	4	4	NUM
cet-3943	23	5	co	co	ADJ
cet-3943	23	6	-	-	ADJ
cet-3943	23	7	planar	planar	ADJ
cet-3943	23	8	points	point	NOUN
cet-3943	23	9	could	could	AUX
cet-3943	23	10	be	be	AUX
cet-3943	23	11	obtained	obtain	VERB
cet-3943	23	12	in	in	ADP
cet-3943	23	13	the	the	DET
cet-3943	23	14	reference	reference	NOUN
cet-3943	23	15	point	point	NOUN
cet-3943	23	16	cloud	cloud	PROPN
cet-3943	23	17	q	q	PROPN
cet-3943	23	18	based	base	VERB
cet-3943	23	19	on	on	ADP
cet-3943	23	20	the	the	DET
cet-3943	23	21	equal	equal	ADJ
cet-3943	23	22	length	length	NOUN
cet-3943	23	23	of	of	ADP
cet-3943	23	24	line	line	NOUN
cet-3943	23	25	segment	segment	NOUN
cet-3943	23	26	and	and	CCONJ
cet-3943	23	27	the	the	DET
cet-3943	23	28	same	same	ADJ
cet-3943	23	29	split	split	NOUN
cet-3943	23	30	ratio	ratio	NOUN
cet-3943	23	31	of	of	ADP
cet-3943	23	32	the	the	DET
cet-3943	23	33	intersection	intersection	NOUN
cet-3943	23	34	.	.	PUNCT
cet-3943	24	1	doi	doi	NOUN
cet-3943	24	2	:	:	PUNCT
cet-3943	24	3	10.3303	10.3303	NUM
cet-3943	24	4	/	/	SYM
cet-3943	24	5	cet1651079	cet1651079	NOUN
cet-3943	24	6	please	please	INTJ
cet-3943	24	7	cite	cite	VERB
cet-3943	24	8	this	this	DET
cet-3943	24	9	article	article	NOUN
cet-3943	24	10	as	as	ADP
cet-3943	24	11	:	:	PUNCT
cet-3943	24	12	sha	sha	PROPN
cet-3943	24	13	c.f	c.f	PROPN
cet-3943	24	14	.	.	PROPN
cet-3943	24	15	,	,	PUNCT
cet-3943	24	16	lu	lu	PROPN
cet-3943	24	17	z.p	z.p	PROPN
cet-3943	24	18	.	.	PROPN
cet-3943	24	19	,	,	PUNCT
cet-3943	24	20	li	li	PROPN
cet-3943	24	21	r.	r.	PROPN
cet-3943	24	22	,	,	PUNCT
cet-3943	24	23	zheng	zheng	PROPN
cet-3943	24	24	h.	h.	PROPN
cet-3943	24	25	,	,	PUNCT
cet-3943	24	26	duodu	duodu	PROPN
cet-3943	24	27	e.a	e.a	PROPN
cet-3943	24	28	.	.	PROPN
cet-3943	24	29	,	,	PUNCT
cet-3943	24	30	2016	2016	NUM
cet-3943	24	31	,	,	PUNCT
cet-3943	24	32	a	a	DET
cet-3943	24	33	point	point	NOUN
cet-3943	24	34	cloud	cloud	NOUN
cet-3943	24	35	registration	registration	NOUN
cet-3943	24	36	algorithm	algorithm	NOUN
cet-3943	24	37	for	for	ADP
cet-3943	24	38	free	free	ADJ
cet-3943	24	39	-	-	PUNCT
cet-3943	24	40	form	form	NOUN
cet-3943	24	41	surface	surface	NOUN
cet-3943	24	42	,	,	PUNCT
cet-3943	24	43	chemical	chemical	ADJ
cet-3943	24	44	engineering	engineering	NOUN
cet-3943	24	45	transactions	transaction	NOUN
cet-3943	24	46	,	,	PUNCT
cet-3943	24	47	51	51	NUM
cet-3943	24	48	,	,	PUNCT
cet-3943	24	49	469	469	NUM
cet-3943	24	50	-	-	ADJ
cet-3943	24	51	474	474	NUM
cet-3943	24	52	doi:10.3303	doi:10.3303	NOUN
cet-3943	24	53	/	/	SYM
cet-3943	24	54	cet1651079	cet1651079	NOUN
cet-3943	24	55	469	469	NUM
cet-3943	24	56	http://dict.youdao.com/w/workpiece/	http://dict.youdao.com/w/workpiece/	VERB
cet-3943	24	57	http://dict.youdao.com/w/workpiece/	http://dict.youdao.com/w/workpiece/	NUM
cet-3943	24	58	http://dict.youdao.com/w/workpiece/	http://dict.youdao.com/w/workpiece/	VERB
cet-3943	24	59	figure	figure	NOUN
cet-3943	24	60	1	1	NUM
cet-3943	24	61	:	:	PUNCT
cet-3943	24	62	co	co	VERB
cet-3943	24	63	-	-	ADJ
cet-3943	24	64	planar	planar	ADJ
cet-3943	24	65	4	4	NUM
cet-3943	24	66	-	-	PUNCT
cet-3943	24	67	points	point	NOUN
cet-3943	24	68	1	1	NUM
cet-3943	24	69	2	2	NUM
cet-3943	24	70	1	1	NUM
cet-3943	24	71	2	2	NUM
cet-3943	24	72	'	'	PUNCT
cet-3943	24	73	'	'	PUNCT
cet-3943	24	74	'	'	PUNCT
cet-3943	24	75	'	'	PUNCT
cet-3943	24	76	'	'	PUNCT
cet-3943	24	77	'	'	PUNCT
cet-3943	24	78	'	'	PUNCT
cet-3943	24	79	'	'	PUNCT
cet-3943	24	80	'	'	PUNCT
cet-3943	24	81	'	'	PUNCT
cet-3943	24	82	'	'	PUNCT
cet-3943	24	83	'	'	PUNCT
cet-3943	24	84	d	d	NOUN
cet-3943	24	85	a	a	DET
cet-3943	24	86	b	b	NOUN
cet-3943	24	87	a	a	DET
cet-3943	24	88	b	b	NOUN
cet-3943	25	1	d	d	X
cet-3943	25	2	c	c	PROPN
cet-3943	25	3	d	d	X
cet-3943	25	4	c	c	PROPN
cet-3943	26	1	d	d	X
cet-3943	26	2	a	a	DET
cet-3943	26	3	e	e	NOUN
cet-3943	26	4	a	a	DET
cet-3943	26	5	e	e	NOUN
cet-3943	26	6	r	r	NOUN
cet-3943	26	7	a	a	DET
cet-3943	26	8	b	b	NOUN
cet-3943	26	9	a	a	DET
cet-3943	26	10	b	b	NOUN
cet-3943	26	11	c	c	NOUN
cet-3943	26	12	e	e	X
cet-3943	26	13	c	c	NOUN
cet-3943	26	14	e	e	NOUN
cet-3943	26	15	r	r	NOUN
cet-3943	26	16	c	c	PROPN
cet-3943	26	17	d	d	X
cet-3943	26	18	c	c	NOUN
cet-3943	26	19	d	d	X
cet-3943	26	20			NOUN
cet-3943	27	1			NUM
cet-3943	27	2			PROPN
cet-3943	27	3			PROPN
cet-3943	27	4			PROPN
cet-3943	27	5			NUM
cet-3943	27	6			PROPN
cet-3943	27	7			PROPN
cet-3943	27	8			NOUN
cet-3943	27	9			PROPN
cet-3943	27	10			NUM
cet-3943	27	11			NOUN
cet-3943	27	12			NOUN
cet-3943	27	13			PROPN
cet-3943	27	14			PROPN
cet-3943	27	15			PROPN
cet-3943	27	16			PROPN
cet-3943	27	17			NUM
cet-3943	27	18			PROPN
cet-3943	27	19			PROPN
cet-3943	27	20			NUM
cet-3943	27	21			NOUN
cet-3943	27	22			NUM
cet-3943	27	23			NUM
cet-3943	27	24			X
cet-3943	27	25			CCONJ
cet-3943	27	26	(	(	PUNCT
cet-3943	27	27	1	1	NUM
cet-3943	27	28	)	)	PUNCT
cet-3943	27	29	2.2	2.2	NUM
cet-3943	27	30	searching	search	VERB
cet-3943	27	31	for	for	ADP
cet-3943	27	32	the	the	DET
cet-3943	27	33	corresponding	correspond	VERB
cet-3943	27	34	4	4	NUM
cet-3943	27	35	-	-	PUNCT
cet-3943	27	36	points	point	NOUN
cet-3943	27	37	sets	set	VERB
cet-3943	27	38	the	the	DET
cet-3943	27	39	corresponding	correspond	VERB
cet-3943	27	40	4	4	NUM
cet-3943	27	41	-	-	PUNCT
cet-3943	27	42	points	point	NOUN
cet-3943	27	43	sets	set	NOUN
cet-3943	27	44	for	for	ADP
cet-3943	27	45	preliminary	preliminary	ADJ
cet-3943	27	46	registration	registration	NOUN
cet-3943	27	47	can	can	AUX
cet-3943	27	48	be	be	AUX
cet-3943	27	49	searched	search	VERB
cet-3943	27	50	as	as	SCONJ
cet-3943	27	51	follows	follow	VERB
cet-3943	27	52	.	.	PUNCT
cet-3943	28	1	firstly	firstly	ADV
cet-3943	28	2	,	,	PUNCT
cet-3943	28	3	in	in	ADP
cet-3943	28	4	p	p	PRON
cet-3943	28	5	,	,	PUNCT
cet-3943	28	6	4	4	NUM
cet-3943	28	7	non	non	ADJ
cet-3943	28	8	-	-	ADJ
cet-3943	28	9	collinear	collinear	ADJ
cet-3943	28	10	but	but	CCONJ
cet-3943	28	11	co	co	ADJ
cet-3943	28	12	-	-	ADJ
cet-3943	28	13	planar	planar	ADJ
cet-3943	28	14	points	point	NOUN
cet-3943	28	15	{	{	PUNCT
cet-3943	28	16	𝑎	𝑎	NOUN
cet-3943	28	17	,	,	PUNCT
cet-3943	28	18	𝑏	𝑏	NOUN
cet-3943	28	19	,	,	PUNCT
cet-3943	28	20	𝑐	𝑐	NOUN
cet-3943	28	21	,	,	PUNCT
cet-3943	28	22	𝑑	𝑑	NOUN
cet-3943	28	23	}	}	PUNCT
cet-3943	28	24	with	with	ADP
cet-3943	28	25	distances	distance	NOUN
cet-3943	28	26	long	long	ADV
cet-3943	28	27	enough	enough	ADV
cet-3943	28	28	between	between	ADP
cet-3943	28	29	each	each	DET
cet-3943	28	30	other	other	ADJ
cet-3943	28	31	are	be	AUX
cet-3943	28	32	selected	select	VERB
cet-3943	28	33	randomly	randomly	ADV
cet-3943	28	34	in	in	ADP
cet-3943	28	35	the	the	DET
cet-3943	28	36	overlapping	overlap	VERB
cet-3943	28	37	region	region	NOUN
cet-3943	28	38	of	of	ADP
cet-3943	28	39	the	the	DET
cet-3943	28	40	two	two	NUM
cet-3943	28	41	point	point	NOUN
cet-3943	28	42	clouds	cloud	NOUN
cet-3943	28	43	based	base	VERB
cet-3943	28	44	on	on	ADP
cet-3943	28	45	the	the	DET
cet-3943	28	46	condition	condition	NOUN
cet-3943	28	47	0	0	PUNCT
cet-3943	28	48	<	<	X
cet-3943	28	49	𝑟𝑖	𝑟𝑖	X
cet-3943	28	50	<	<	X
cet-3943	28	51	1(𝑖	1(𝑖	NUM
cet-3943	28	52	=	=	SYM
cet-3943	28	53	1,2	1,2	NUM
cet-3943	28	54	)	)	PUNCT
cet-3943	28	55	,	,	PUNCT
cet-3943	28	56	otherwise	otherwise	ADV
cet-3943	28	57	the	the	DET
cet-3943	28	58	points	point	NOUN
cet-3943	28	59	should	should	AUX
cet-3943	28	60	be	be	AUX
cet-3943	28	61	sampled	sample	VERB
cet-3943	28	62	again	again	ADV
cet-3943	28	63	.	.	PUNCT
cet-3943	29	1	then	then	ADV
cet-3943	29	2	,	,	PUNCT
cet-3943	29	3	𝑑1	𝑑1	NOUN
cet-3943	29	4	,	,	PUNCT
cet-3943	29	5	𝑑2	𝑑2	NOUN
cet-3943	29	6	,	,	PUNCT
cet-3943	29	7	𝑟2	𝑟2	NOUN
cet-3943	29	8	and	and	CCONJ
cet-3943	29	9	𝑟2	𝑟2	NOUN
cet-3943	29	10	are	be	AUX
cet-3943	29	11	calculated	calculate	VERB
cet-3943	29	12	after	after	SCONJ
cet-3943	29	13	the	the	DET
cet-3943	29	14	intersection	intersection	NOUN
cet-3943	29	15	e	e	NOUN
cet-3943	29	16	is	be	AUX
cet-3943	29	17	obtained	obtain	VERB
cet-3943	29	18	.	.	PUNCT
cet-3943	30	1	secondly	secondly	ADV
cet-3943	30	2	,	,	PUNCT
cet-3943	30	3	all	all	DET
cet-3943	30	4	the	the	DET
cet-3943	30	5	two	two	NUM
cet-3943	30	6	points	point	NOUN
cet-3943	30	7	with	with	ADP
cet-3943	30	8	the	the	DET
cet-3943	30	9	distance	distance	NOUN
cet-3943	30	10	𝑑1	𝑑1	NOUN
cet-3943	30	11	in	in	ADP
cet-3943	30	12	q	q	PROPN
cet-3943	30	13	are	be	AUX
cet-3943	30	14	stored	store	VERB
cet-3943	30	15	in	in	ADP
cet-3943	30	16	a	a	DET
cet-3943	30	17	point	point	NOUN
cet-3943	30	18	set	set	VERB
cet-3943	30	19	s.	s.	PROPN
cet-3943	30	20	and	and	CCONJ
cet-3943	30	21	all	all	DET
cet-3943	30	22	the	the	DET
cet-3943	30	23	two	two	NUM
cet-3943	30	24	points	point	NOUN
cet-3943	30	25	with	with	ADP
cet-3943	30	26	the	the	DET
cet-3943	30	27	𝑑2	𝑑2	NOUN
cet-3943	30	28	distance	distance	NOUN
cet-3943	30	29	in	in	ADP
cet-3943	30	30	q	q	NOUN
cet-3943	30	31	are	be	AUX
cet-3943	30	32	stored	store	VERB
cet-3943	30	33	in	in	ADP
cet-3943	30	34	a	a	DET
cet-3943	30	35	point	point	NOUN
cet-3943	30	36	set	set	VERB
cet-3943	30	37	t.	t.	NOUN
cet-3943	30	38	thirdly	thirdly	ADV
cet-3943	30	39	,	,	PUNCT
cet-3943	30	40	the	the	DET
cet-3943	30	41	intersections	intersection	NOUN
cet-3943	30	42	𝑒1	𝑒1	NOUN
cet-3943	30	43	and	and	CCONJ
cet-3943	30	44	𝑒2	𝑒2	PROPN
cet-3943	30	45	of	of	ADP
cet-3943	30	46	every	every	DET
cet-3943	30	47	line	line	NOUN
cet-3943	30	48	segment	segment	NOUN
cet-3943	30	49	in	in	ADP
cet-3943	30	50	s	s	NOUN
cet-3943	30	51	are	be	AUX
cet-3943	30	52	calculated	calculate	VERB
cet-3943	30	53	as	as	ADP
cet-3943	30	54	𝑒1	𝑒1	NOUN
cet-3943	30	55	=	=	PUNCT
cet-3943	30	56	𝑎′	𝑎′	X
cet-3943	31	1	+	+	NUM
cet-3943	31	2	𝑟1(𝑏	𝑟1(𝑏	NUM
cet-3943	31	3	′	′	NUM
cet-3943	31	4	−	−	NOUN
cet-3943	31	5	𝑎′	𝑎′	NOUN
cet-3943	31	6	)	)	PUNCT
cet-3943	31	7	and	and	CCONJ
cet-3943	31	8	𝑒2	𝑒2	NOUN
cet-3943	31	9	=	=	PUNCT
cet-3943	32	1	𝑎	𝑎	PRON
cet-3943	32	2	′	′	NOUN
cet-3943	33	1	+	+	CCONJ
cet-3943	34	1	𝑟1(𝑎	𝑟1(𝑎	NUM
cet-3943	34	2	′	′	NOUN
cet-3943	34	3	−	−	NUM
cet-3943	34	4	𝑏′	𝑏′	NUM
cet-3943	34	5	)	)	PUNCT
cet-3943	34	6	.	.	PUNCT
cet-3943	35	1	equally	equally	ADV
cet-3943	35	2	,	,	PUNCT
cet-3943	35	3	the	the	DET
cet-3943	35	4	intersections	intersection	NOUN
cet-3943	35	5	𝑒3	𝑒3	NOUN
cet-3943	35	6	and	and	CCONJ
cet-3943	35	7	𝑒4	𝑒4	PROPN
cet-3943	35	8	of	of	ADP
cet-3943	35	9	each	each	DET
cet-3943	35	10	line	line	NOUN
cet-3943	35	11	segment	segment	NOUN
cet-3943	35	12	in	in	ADP
cet-3943	35	13	t	t	PROPN
cet-3943	35	14	are	be	AUX
cet-3943	35	15	obtained	obtain	VERB
cet-3943	35	16	as	as	ADP
cet-3943	35	17	𝑒3	𝑒3	NOUN
cet-3943	35	18	=	=	NOUN
cet-3943	35	19	𝑑	𝑑	NOUN
cet-3943	35	20	′	′	NOUN
cet-3943	36	1	+	+	CCONJ
cet-3943	36	2	𝑟2(𝑐	𝑟2(𝑐	NUM
cet-3943	36	3	′	′	NOUN
cet-3943	36	4	−	−	NOUN
cet-3943	36	5	𝑑′	𝑑′	NUM
cet-3943	36	6	)	)	PUNCT
cet-3943	36	7	and	and	CCONJ
cet-3943	36	8	𝑒4	𝑒4	NOUN
cet-3943	36	9	=	=	NOUN
cet-3943	36	10	𝑑′	𝑑′	NOUN
cet-3943	36	11	+	+	X
cet-3943	36	12	𝑟2(𝑑′	𝑟2(𝑑′	NUM
cet-3943	36	13	−	−	NOUN
cet-3943	36	14	𝑐′	𝑐′	NUM
cet-3943	36	15	)	)	PUNCT
cet-3943	36	16	.	.	PUNCT
cet-3943	37	1	if	if	SCONJ
cet-3943	37	2	two	two	NUM
cet-3943	37	3	intersections	intersection	NOUN
cet-3943	37	4	respectively	respectively	ADV
cet-3943	37	5	from	from	ADP
cet-3943	37	6	s	s	PRON
cet-3943	37	7	and	and	CCONJ
cet-3943	37	8	t	t	PROPN
cet-3943	37	9	satisfy	satisfy	NOUN
cet-3943	37	10	𝑒𝑠	𝑒𝑠	NOUN
cet-3943	37	11	=	=	SYM
cet-3943	37	12	𝑒𝑡	𝑒𝑡	PROPN
cet-3943	37	13	,	,	PUNCT
cet-3943	37	14	the	the	DET
cet-3943	37	15	four	four	NUM
cet-3943	37	16	end	end	NOUN
cet-3943	37	17	points	point	NOUN
cet-3943	37	18	of	of	ADP
cet-3943	37	19	the	the	DET
cet-3943	37	20	two	two	NUM
cet-3943	37	21	lines	line	NOUN
cet-3943	37	22	are	be	AUX
cet-3943	37	23	the	the	DET
cet-3943	37	24	corresponding	corresponding	ADJ
cet-3943	37	25	4	4	NUM
cet-3943	37	26	-	-	PUNCT
cet-3943	37	27	points	point	NOUN
cet-3943	37	28	set	set	NOUN
cet-3943	37	29	{	{	PUNCT
cet-3943	37	30	𝑎′	𝑎′	NUM
cet-3943	37	31	,	,	PUNCT
cet-3943	37	32	𝑏′	𝑏′	PROPN
cet-3943	37	33	,	,	PUNCT
cet-3943	37	34	𝑐′	𝑐′	NUM
cet-3943	37	35	,	,	PUNCT
cet-3943	37	36	𝑑′	𝑑′	NUM
cet-3943	37	37	}	}	PUNCT
cet-3943	37	38	,	,	PUNCT
cet-3943	37	39	as	as	SCONJ
cet-3943	37	40	illustrated	illustrate	VERB
cet-3943	37	41	in	in	ADP
cet-3943	37	42	figure	figure	NOUN
cet-3943	37	43	2	2	NUM
cet-3943	37	44	.	.	PUNCT
cet-3943	37	45	figure	figure	NOUN
cet-3943	37	46	2	2	NUM
cet-3943	37	47	:	:	PUNCT
cet-3943	37	48	the	the	DET
cet-3943	37	49	corresponding	correspond	VERB
cet-3943	37	50	4	4	NUM
cet-3943	37	51	-	-	PUNCT
cet-3943	37	52	points	point	NOUN
cet-3943	37	53	set	set	VERB
cet-3943	37	54	2.3	2.3	NUM
cet-3943	37	55	ransac	ransac	NOUN
cet-3943	37	56	algorithm	algorithm	NOUN
cet-3943	37	57	based	base	VERB
cet-3943	37	58	on	on	ADP
cet-3943	37	59	co	co	VERB
cet-3943	37	60	-	-	ADJ
cet-3943	37	61	planar	planar	ADJ
cet-3943	37	62	4	4	NUM
cet-3943	37	63	-	-	PUNCT
cet-3943	37	64	points	point	NOUN
cet-3943	37	65	sets	set	NOUN
cet-3943	37	66	ransac	ransac	NOUN
cet-3943	37	67	algorithm	algorithm	NOUN
cet-3943	37	68	improved	improve	VERB
cet-3943	37	69	based	base	VERB
cet-3943	37	70	on	on	ADP
cet-3943	37	71	co	co	VERB
cet-3943	37	72	-	-	ADJ
cet-3943	37	73	planar	planar	ADJ
cet-3943	37	74	4	4	NUM
cet-3943	37	75	-	-	PUNCT
cet-3943	37	76	points	point	NOUN
cet-3943	37	77	sets	set	NOUN
cet-3943	37	78	as	as	SCONJ
cet-3943	37	79	follows	follow	NOUN
cet-3943	37	80	is	be	AUX
cet-3943	37	81	used	use	VERB
cet-3943	37	82	for	for	ADP
cet-3943	37	83	the	the	DET
cet-3943	37	84	preliminary	preliminary	ADJ
cet-3943	37	85	registration	registration	NOUN
cet-3943	37	86	.	.	PUNCT
cet-3943	38	1	(	(	PUNCT
cet-3943	38	2	1	1	X
cet-3943	38	3	)	)	PUNCT
cet-3943	38	4	select	select	VERB
cet-3943	38	5	4	4	NUM
cet-3943	38	6	non	non	ADJ
cet-3943	38	7	-	-	ADJ
cet-3943	38	8	collinear	collinear	ADJ
cet-3943	38	9	points	point	NOUN
cet-3943	38	10	{	{	PUNCT
cet-3943	38	11	𝑎	𝑎	NOUN
cet-3943	38	12	,	,	PUNCT
cet-3943	38	13	𝑏	𝑏	NOUN
cet-3943	38	14	,	,	PUNCT
cet-3943	38	15	𝑐	𝑐	NOUN
cet-3943	38	16	,	,	PUNCT
cet-3943	38	17	𝑑	𝑑	NOUN
cet-3943	38	18	}	}	PUNCT
cet-3943	38	19	in	in	ADP
cet-3943	38	20	a	a	DET
cet-3943	38	21	same	same	ADJ
cet-3943	38	22	plane	plane	NOUN
cet-3943	38	23	randomly	randomly	ADV
cet-3943	38	24	in	in	ADP
cet-3943	38	25	p	p	X
cet-3943	38	26	,	,	PUNCT
cet-3943	38	27	and	and	CCONJ
cet-3943	38	28	compute	compute	NOUN
cet-3943	38	29	𝑑1	𝑑1	NOUN
cet-3943	38	30	,	,	PUNCT
cet-3943	38	31	𝑑2	𝑑2	NOUN
cet-3943	38	32	,	,	PUNCT
cet-3943	38	33	𝑟2	𝑟2	NOUN
cet-3943	38	34	and	and	CCONJ
cet-3943	38	35	𝑟2	𝑟2	NOUN
cet-3943	38	36	;	;	PUNCT
cet-3943	38	37	(	(	PUNCT
cet-3943	38	38	2	2	X
cet-3943	38	39	)	)	PUNCT
cet-3943	38	40	find	find	VERB
cet-3943	38	41	out	out	ADP
cet-3943	38	42	the	the	DET
cet-3943	38	43	corresponding	correspond	VERB
cet-3943	38	44	4	4	NUM
cet-3943	38	45	-	-	PUNCT
cet-3943	38	46	points	point	NOUN
cet-3943	38	47	set	set	NOUN
cet-3943	38	48	{	{	PUNCT
cet-3943	38	49	𝑎′	𝑎′	NUM
cet-3943	38	50	,	,	PUNCT
cet-3943	38	51	𝑏′	𝑏′	PROPN
cet-3943	38	52	,	,	PUNCT
cet-3943	38	53	𝑐′	𝑐′	NUM
cet-3943	38	54	,	,	PUNCT
cet-3943	38	55	𝑑′	𝑑′	VERB
cet-3943	38	56	}	}	PUNCT
cet-3943	38	57	in	in	ADP
cet-3943	38	58	q	q	NOUN
cet-3943	38	59	with	with	ADP
cet-3943	38	60	the	the	DET
cet-3943	38	61	method	method	NOUN
cet-3943	38	62	described	describe	VERB
cet-3943	38	63	in	in	ADP
cet-3943	38	64	the	the	DET
cet-3943	38	65	section	section	NOUN
cet-3943	38	66	2.2	2.2	NUM
cet-3943	38	67	;	;	PUNCT
cet-3943	38	68	(	(	PUNCT
cet-3943	38	69	3	3	X
cet-3943	38	70	)	)	PUNCT
cet-3943	38	71	take	take	VERB
cet-3943	38	72	the	the	DET
cet-3943	38	73	two	two	NUM
cet-3943	38	74	co	co	NOUN
cet-3943	38	75	-	-	ADJ
cet-3943	38	76	planar	planar	ADJ
cet-3943	38	77	4	4	NUM
cet-3943	38	78	-	-	PUNCT
cet-3943	38	79	points	point	NOUN
cet-3943	38	80	sets	set	NOUN
cet-3943	38	81	as	as	ADP
cet-3943	38	82	estimating	estimate	VERB
cet-3943	38	83	points	point	NOUN
cet-3943	38	84	to	to	PART
cet-3943	38	85	compute	compute	VERB
cet-3943	38	86	the	the	DET
cet-3943	38	87	euclidean	euclidean	ADJ
cet-3943	38	88	transformation	transformation	NOUN
cet-3943	38	89	matrix	matrix	NOUN
cet-3943	38	90	𝐻𝑐	𝐻𝑐	NOUN
cet-3943	38	91	between	between	ADP
cet-3943	38	92	the	the	DET
cet-3943	38	93	two	two	NUM
cet-3943	38	94	point	point	NOUN
cet-3943	38	95	clouds	cloud	NOUN
cet-3943	38	96	;	;	PUNCT
cet-3943	38	97	(	(	PUNCT
cet-3943	38	98	4	4	X
cet-3943	38	99	)	)	PUNCT
cet-3943	38	100	calculate	calculate	VERB
cet-3943	38	101	the	the	DET
cet-3943	38	102	degree	degree	NOUN
cet-3943	38	103	of	of	ADP
cet-3943	38	104	consistency	consistency	NOUN
cet-3943	38	105	between	between	ADP
cet-3943	38	106	p	p	PROPN
cet-3943	38	107	and	and	CCONJ
cet-3943	38	108	q	q	PROPN
cet-3943	38	109	based	base	VERB
cet-3943	38	110	on	on	ADP
cet-3943	38	111	𝐻𝑐.	𝐻𝑐.	PROPN
cet-3943	38	112	if	if	SCONJ
cet-3943	38	113	the	the	DET
cet-3943	38	114	number	number	NOUN
cet-3943	38	115	of	of	ADP
cet-3943	38	116	point	point	NOUN
cet-3943	38	117	-	-	PUNCT
cet-3943	38	118	pairs	pair	NOUN
cet-3943	38	119	that	that	PRON
cet-3943	38	120	are	be	AUX
cet-3943	38	121	matching	match	VERB
cet-3943	38	122	with	with	ADP
cet-3943	38	123	the	the	DET
cet-3943	38	124	error	error	NOUN
cet-3943	38	125	threshold	threshold	NOUN
cet-3943	38	126	δ	δ	PROPN
cet-3943	38	127	(	(	PUNCT
cet-3943	38	128	a	a	DET
cet-3943	38	129	given	give	VERB
cet-3943	38	130	error	error	NOUN
cet-3943	38	131	threshold	threshold	NOUN
cet-3943	38	132	)	)	PUNCT
cet-3943	38	133	is	be	AUX
cet-3943	38	134	greater	great	ADJ
cet-3943	38	135	than	than	ADP
cet-3943	38	136	n	n	PROPN
cet-3943	38	137	(	(	PUNCT
cet-3943	38	138	n	n	NOUN
cet-3943	38	139	=	=	SYM
cet-3943	38	140	λ	λ	PROPN
cet-3943	38	141	∗	∗	NOUN
cet-3943	38	142	𝑁	𝑁	PROPN
cet-3943	38	143	,	,	PUNCT
cet-3943	38	144	n	n	PRON
cet-3943	38	145	is	be	AUX
cet-3943	38	146	the	the	DET
cet-3943	38	147	point	point	NOUN
cet-3943	38	148	number	number	NOUN
cet-3943	38	149	470	470	NUM
cet-3943	38	150	http://dict.youdao.com/w/respectively/	http://dict.youdao.com/w/respectively/	NUM
cet-3943	38	151	of	of	ADP
cet-3943	38	152	p	p	NOUN
cet-3943	38	153	,	,	PUNCT
cet-3943	38	154	and	and	CCONJ
cet-3943	38	155	λ	λ	PROPN
cet-3943	38	156	is	be	AUX
cet-3943	38	157	the	the	DET
cet-3943	38	158	rate	rate	NOUN
cet-3943	38	159	of	of	ADP
cet-3943	38	160	the	the	DET
cet-3943	38	161	interior	interior	ADJ
cet-3943	38	162	points	point	NOUN
cet-3943	38	163	of	of	ADP
cet-3943	38	164	p	p	PRON
cet-3943	38	165	obtained	obtain	VERB
cet-3943	38	166	in	in	ADP
cet-3943	38	167	the	the	DET
cet-3943	38	168	pre	pre	NOUN
cet-3943	38	169	-	-	NOUN
cet-3943	38	170	processing	processing	NOUN
cet-3943	38	171	of	of	ADP
cet-3943	38	172	the	the	DET
cet-3943	38	173	point	point	NOUN
cet-3943	38	174	cloud	cloud	NOUN
cet-3943	38	175	)	)	PUNCT
cet-3943	38	176	,	,	PUNCT
cet-3943	38	177	the	the	DET
cet-3943	38	178	transformation	transformation	NOUN
cet-3943	38	179	matrix	matrix	NOUN
cet-3943	38	180	𝐻𝑐	𝐻𝑐	PROPN
cet-3943	38	181	will	will	AUX
cet-3943	38	182	be	be	AUX
cet-3943	38	183	exported	export	VERB
cet-3943	38	184	as	as	ADP
cet-3943	38	185	a	a	DET
cet-3943	38	186	satisfactory	satisfactory	ADJ
cet-3943	38	187	one	one	NUM
cet-3943	38	188	.	.	PUNCT
cet-3943	39	1	(	(	PUNCT
cet-3943	39	2	5	5	X
cet-3943	39	3	)	)	PUNCT
cet-3943	39	4	go	go	VERB
cet-3943	39	5	back	back	ADV
cet-3943	39	6	to	to	ADP
cet-3943	39	7	step	step	NOUN
cet-3943	39	8	(	(	PUNCT
cet-3943	39	9	1	1	NUM
cet-3943	39	10	)	)	PUNCT
cet-3943	39	11	and	and	CCONJ
cet-3943	39	12	do	do	VERB
cet-3943	39	13	iteration	iteration	NOUN
cet-3943	39	14	again	again	ADV
cet-3943	39	15	.	.	PUNCT
cet-3943	40	1	after	after	SCONJ
cet-3943	40	2	k	k	PROPN
cet-3943	40	3	times	time	NOUN
cet-3943	40	4	random	random	ADJ
cet-3943	40	5	sampling	sampling	NOUN
cet-3943	40	6	and	and	CCONJ
cet-3943	40	7	registration	registration	NOUN
cet-3943	40	8	,	,	PUNCT
cet-3943	40	9	transformation	transformation	NOUN
cet-3943	40	10	matrix	matrix	NOUN
cet-3943	40	11	h	h	NOUN
cet-3943	40	12	that	that	PRON
cet-3943	40	13	has	have	VERB
cet-3943	40	14	the	the	DET
cet-3943	40	15	best	good	ADJ
cet-3943	40	16	degree	degree	NOUN
cet-3943	40	17	of	of	ADP
cet-3943	40	18	consistency	consistency	NOUN
cet-3943	40	19	is	be	AUX
cet-3943	40	20	selected	select	VERB
cet-3943	40	21	as	as	ADP
cet-3943	40	22	the	the	DET
cet-3943	40	23	final	final	ADJ
cet-3943	40	24	transformation	transformation	NOUN
cet-3943	40	25	matrix	matrix	NOUN
cet-3943	40	26	for	for	ADP
cet-3943	40	27	preliminary	preliminary	ADJ
cet-3943	40	28	registration	registration	NOUN
cet-3943	40	29	;	;	PUNCT
cet-3943	40	30	k	k	PROPN
cet-3943	40	31	=	=	SYM
cet-3943	40	32	log(1−𝜎	log(1−𝜎	PROPN
cet-3943	40	33	)	)	PUNCT
cet-3943	40	34	log(1−λ4	log(1−λ4	PROPN
cet-3943	40	35	)	)	PUNCT
cet-3943	40	36	(	(	PUNCT
cet-3943	40	37	2	2	X
cet-3943	40	38	)	)	PUNCT
cet-3943	40	39	where	where	SCONJ
cet-3943	40	40	𝜎	𝜎	PROPN
cet-3943	40	41	is	be	AUX
cet-3943	40	42	the	the	DET
cet-3943	40	43	probability	probability	NOUN
cet-3943	40	44	that	that	SCONJ
cet-3943	40	45	k	k	PROPN
cet-3943	40	46	times	time	NOUN
cet-3943	40	47	sampling	sample	VERB
cet-3943	40	48	contains	contain	VERB
cet-3943	40	49	at	at	ADP
cet-3943	40	50	least	least	ADJ
cet-3943	40	51	a	a	DET
cet-3943	40	52	good	good	ADJ
cet-3943	40	53	sample	sample	NOUN
cet-3943	40	54	.	.	PUNCT
cet-3943	41	1	3	3	X
cet-3943	41	2	.	.	X
cet-3943	41	3	the	the	DET
cet-3943	41	4	improved	improve	VERB
cet-3943	41	5	icp	icp	PROPN
cet-3943	41	6	algorithm	algorithm	NOUN
cet-3943	41	7	for	for	ADP
cet-3943	41	8	accurate	accurate	ADJ
cet-3943	41	9	registration	registration	NOUN
cet-3943	41	10	the	the	DET
cet-3943	41	11	position	position	NOUN
cet-3943	41	12	obtained	obtain	VERB
cet-3943	41	13	by	by	ADP
cet-3943	41	14	preliminary	preliminary	ADJ
cet-3943	41	15	registration	registration	NOUN
cet-3943	41	16	creates	create	VERB
cet-3943	41	17	a	a	DET
cet-3943	41	18	favorable	favorable	ADJ
cet-3943	41	19	condition	condition	NOUN
cet-3943	41	20	for	for	ADP
cet-3943	41	21	the	the	DET
cet-3943	41	22	accurate	accurate	ADJ
cet-3943	41	23	registration	registration	NOUN
cet-3943	41	24	.	.	PUNCT
cet-3943	42	1	icp	icp	PROPN
cet-3943	42	2	approach	approach	NOUN
cet-3943	42	3	is	be	AUX
cet-3943	42	4	the	the	DET
cet-3943	42	5	most	most	ADV
cet-3943	42	6	widely	widely	ADV
cet-3943	42	7	accepted	accept	VERB
cet-3943	42	8	algorithm	algorithm	NOUN
cet-3943	42	9	for	for	ADP
cet-3943	42	10	accurate	accurate	ADJ
cet-3943	42	11	registration	registration	NOUN
cet-3943	42	12	.	.	PUNCT
cet-3943	43	1	it	it	PRON
cet-3943	43	2	has	have	VERB
cet-3943	43	3	simple	simple	ADJ
cet-3943	43	4	registration	registration	NOUN
cet-3943	43	5	idea	idea	NOUN
cet-3943	43	6	,	,	PUNCT
cet-3943	43	7	high	high	ADJ
cet-3943	43	8	accuracy	accuracy	NOUN
cet-3943	43	9	,	,	PUNCT
cet-3943	43	10	robust	robust	ADJ
cet-3943	43	11	and	and	CCONJ
cet-3943	43	12	stable	stable	ADJ
cet-3943	43	13	.	.	PUNCT
cet-3943	44	1	but	but	CCONJ
cet-3943	44	2	,	,	PUNCT
cet-3943	44	3	all	all	DET
cet-3943	44	4	points	point	NOUN
cet-3943	44	5	in	in	ADP
cet-3943	44	6	p	p	NOUN
cet-3943	44	7	should	should	AUX
cet-3943	44	8	be	be	AUX
cet-3943	44	9	took	take	VERB
cet-3943	44	10	into	into	ADP
cet-3943	44	11	iteration	iteration	NOUN
cet-3943	44	12	and	and	CCONJ
cet-3943	44	13	it	it	PRON
cet-3943	44	14	requires	require	VERB
cet-3943	44	15	a	a	DET
cet-3943	44	16	larger	large	ADJ
cet-3943	44	17	overlap	overlap	NOUN
cet-3943	44	18	area	area	NOUN
cet-3943	44	19	and	and	CCONJ
cet-3943	44	20	an	an	DET
cet-3943	44	21	original	original	ADJ
cet-3943	44	22	position	position	NOUN
cet-3943	44	23	as	as	ADV
cet-3943	44	24	close	close	ADJ
cet-3943	44	25	as	as	ADP
cet-3943	44	26	possible	possible	ADJ
cet-3943	44	27	between	between	ADP
cet-3943	44	28	the	the	DET
cet-3943	44	29	two	two	NUM
cet-3943	44	30	point	point	NOUN
cet-3943	44	31	clouds	cloud	NOUN
cet-3943	44	32	,	,	PUNCT
cet-3943	44	33	or	or	CCONJ
cet-3943	44	34	the	the	DET
cet-3943	44	35	results	result	NOUN
cet-3943	44	36	may	may	AUX
cet-3943	44	37	not	not	PART
cet-3943	44	38	necessarily	necessarily	ADV
cet-3943	44	39	be	be	AUX
cet-3943	44	40	a	a	DET
cet-3943	44	41	global	global	ADJ
cet-3943	44	42	optimal	optimal	ADJ
cet-3943	44	43	solution	solution	NOUN
cet-3943	44	44	but	but	CCONJ
cet-3943	44	45	a	a	DET
cet-3943	44	46	local	local	ADJ
cet-3943	44	47	one	one	NOUN
cet-3943	44	48	(	(	PUNCT
cet-3943	44	49	senin	senin	PROPN
cet-3943	44	50	and	and	CCONJ
cet-3943	44	51	colosimo	colosimo	PROPN
cet-3943	44	52	,	,	PUNCT
cet-3943	44	53	2013	2013	NUM
cet-3943	44	54	;	;	PUNCT
cet-3943	44	55	zhou	zhou	PROPN
cet-3943	44	56	and	and	CCONJ
cet-3943	44	57	yong	yong	PROPN
cet-3943	44	58	,	,	PUNCT
cet-3943	44	59	2011	2011	NUM
cet-3943	44	60	)	)	PUNCT
cet-3943	44	61	.	.	PUNCT
cet-3943	45	1	so	so	ADV
cet-3943	45	2	,	,	PUNCT
cet-3943	45	3	there	there	PRON
cet-3943	45	4	are	be	VERB
cet-3943	45	5	more	more	ADJ
cet-3943	45	6	things	thing	NOUN
cet-3943	45	7	need	need	VERB
cet-3943	45	8	to	to	PART
cet-3943	45	9	be	be	AUX
cet-3943	45	10	done	do	VERB
cet-3943	45	11	for	for	ADP
cet-3943	45	12	icp	icp	PROPN
cet-3943	45	13	.	.	PROPN
cet-3943	45	14	3.1	3.1	NUM
cet-3943	45	15	re	re	NOUN
cet-3943	45	16	-	-	NOUN
cet-3943	45	17	sampling	sample	VERB
cet-3943	45	18	of	of	ADP
cet-3943	45	19	source	source	NOUN
cet-3943	45	20	data	datum	NOUN
cet-3943	45	21	the	the	DET
cet-3943	45	22	accuracy	accuracy	NOUN
cet-3943	45	23	of	of	ADP
cet-3943	45	24	the	the	DET
cet-3943	45	25	algorithm	algorithm	NOUN
cet-3943	45	26	depends	depend	VERB
cet-3943	45	27	on	on	ADP
cet-3943	45	28	the	the	DET
cet-3943	45	29	matching	matching	NOUN
cet-3943	45	30	accuracy	accuracy	NOUN
cet-3943	45	31	of	of	ADP
cet-3943	45	32	point	point	NOUN
cet-3943	45	33	-	-	PUNCT
cet-3943	45	34	pairs	pair	NOUN
cet-3943	45	35	rather	rather	ADV
cet-3943	45	36	than	than	ADP
cet-3943	45	37	the	the	DET
cet-3943	45	38	number	number	NOUN
cet-3943	45	39	of	of	ADP
cet-3943	45	40	point	point	NOUN
cet-3943	45	41	-	-	PUNCT
cet-3943	45	42	pairs	pair	NOUN
cet-3943	45	43	.	.	PUNCT
cet-3943	46	1	thus	thus	ADV
cet-3943	46	2	one	one	NUM
cet-3943	46	3	can	can	AUX
cet-3943	46	4	use	use	VERB
cet-3943	46	5	re	re	ADJ
cet-3943	46	6	-	-	ADJ
cet-3943	46	7	sampling	sample	VERB
cet-3943	46	8	way	way	NOUN
cet-3943	46	9	which	which	PRON
cet-3943	46	10	extracts	extract	VERB
cet-3943	46	11	points	point	NOUN
cet-3943	46	12	from	from	ADP
cet-3943	46	13	the	the	DET
cet-3943	46	14	target	target	NOUN
cet-3943	46	15	point	point	NOUN
cet-3943	46	16	cloud	cloud	NOUN
cet-3943	46	17	to	to	PART
cet-3943	46	18	reduce	reduce	VERB
cet-3943	46	19	the	the	DET
cet-3943	46	20	number	number	NOUN
cet-3943	46	21	of	of	ADP
cet-3943	46	22	points	point	NOUN
cet-3943	46	23	that	that	PRON
cet-3943	46	24	need	need	VERB
cet-3943	46	25	to	to	PART
cet-3943	46	26	be	be	AUX
cet-3943	46	27	matched	match	VERB
cet-3943	46	28	.	.	PUNCT
cet-3943	47	1	there	there	PRON
cet-3943	47	2	are	be	VERB
cet-3943	47	3	several	several	ADJ
cet-3943	47	4	common	common	ADJ
cet-3943	47	5	methods	method	NOUN
cet-3943	47	6	for	for	ADP
cet-3943	47	7	re	re	VERB
cet-3943	47	8	-	-	NOUN
cet-3943	47	9	sampling	sample	VERB
cet-3943	47	10	:	:	PUNCT
cet-3943	47	11	random	random	ADJ
cet-3943	47	12	sampling	sampling	NOUN
cet-3943	47	13	,	,	PUNCT
cet-3943	47	14	uniformly	uniformly	ADV
cet-3943	47	15	distributed	distribute	VERB
cet-3943	47	16	sampling	sampling	NOUN
cet-3943	47	17	,	,	PUNCT
cet-3943	47	18	sampling	sample	VERB
cet-3943	47	19	based	base	VERB
cet-3943	47	20	on	on	ADP
cet-3943	47	21	feature	feature	NOUN
cet-3943	47	22	space	space	NOUN
cet-3943	47	23	.	.	PUNCT
cet-3943	48	1	it	it	PRON
cet-3943	48	2	was	be	AUX
cet-3943	48	3	shown	show	VERB
cet-3943	48	4	that	that	SCONJ
cet-3943	48	5	random	random	ADJ
cet-3943	48	6	sampling	sampling	NOUN
cet-3943	48	7	is	be	AUX
cet-3943	48	8	better	well	ADJ
cet-3943	48	9	than	than	ADP
cet-3943	48	10	the	the	DET
cet-3943	48	11	other	other	ADJ
cet-3943	48	12	two	two	NUM
cet-3943	48	13	for	for	ADP
cet-3943	48	14	the	the	DET
cet-3943	48	15	point	point	NOUN
cet-3943	48	16	cloud	cloud	NOUN
cet-3943	48	17	having	have	VERB
cet-3943	48	18	no	no	DET
cet-3943	48	19	obvious	obvious	ADJ
cet-3943	48	20	features	feature	NOUN
cet-3943	48	21	(	(	PUNCT
cet-3943	48	22	rusinkiewicz	rusinkiewicz	NOUN
cet-3943	48	23	and	and	CCONJ
cet-3943	48	24	levoy	levoy	PROPN
cet-3943	48	25	,	,	PUNCT
cet-3943	48	26	2001	2001	NUM
cet-3943	48	27	)	)	PUNCT
cet-3943	48	28	.	.	PUNCT
cet-3943	49	1	there	there	PRON
cet-3943	49	2	are	be	VERB
cet-3943	49	3	no	no	DET
cet-3943	49	4	distinctive	distinctive	ADJ
cet-3943	49	5	features	feature	NOUN
cet-3943	49	6	in	in	ADP
cet-3943	49	7	workpieces	workpiece	NOUN
cet-3943	49	8	with	with	ADP
cet-3943	49	9	free	free	ADJ
cet-3943	49	10	-	-	PUNCT
cet-3943	49	11	form	form	NOUN
cet-3943	49	12	surface	surface	NOUN
cet-3943	49	13	.	.	PUNCT
cet-3943	50	1	in	in	ADP
cet-3943	50	2	each	each	DET
cet-3943	50	3	iteration	iteration	NOUN
cet-3943	50	4	,	,	PUNCT
cet-3943	50	5	this	this	DET
cet-3943	50	6	paper	paper	NOUN
cet-3943	50	7	takes	take	VERB
cet-3943	50	8	random	random	ADJ
cet-3943	50	9	sampling	sampling	NOUN
cet-3943	50	10	as	as	ADP
cet-3943	50	11	the	the	DET
cet-3943	50	12	re	re	NOUN
cet-3943	50	13	-	-	ADJ
cet-3943	50	14	sampling	sample	VERB
cet-3943	50	15	way	way	NOUN
cet-3943	50	16	.	.	PUNCT
cet-3943	51	1	3.2	3.2	NUM
cet-3943	51	2	establishment	establishment	NOUN
cet-3943	51	3	of	of	ADP
cet-3943	51	4	matching	match	VERB
cet-3943	51	5	point	point	NOUN
cet-3943	51	6	-	-	PUNCT
cet-3943	51	7	pair	pair	NOUN
cet-3943	51	8	corresponding	corresponding	ADJ
cet-3943	51	9	points	point	NOUN
cet-3943	51	10	in	in	ADP
cet-3943	51	11	q	q	NOUN
cet-3943	51	12	matching	match	VERB
cet-3943	51	13	with	with	ADP
cet-3943	51	14	re	re	VERB
cet-3943	51	15	-	-	VERB
cet-3943	51	16	sampled	sample	VERB
cet-3943	51	17	points	point	NOUN
cet-3943	51	18	should	should	AUX
cet-3943	51	19	be	be	AUX
cet-3943	51	20	found	find	VERB
cet-3943	51	21	.	.	PUNCT
cet-3943	52	1	this	this	DET
cet-3943	52	2	paper	paper	NOUN
cet-3943	52	3	propose	propose	VERB
cet-3943	52	4	a	a	DET
cet-3943	52	5	doubledirection	doubledirection	NOUN
cet-3943	52	6	normal	normal	ADJ
cet-3943	52	7	projection	projection	NOUN
cet-3943	52	8	matching	matching	NOUN
cet-3943	52	9	method	method	NOUN
cet-3943	52	10	:	:	PUNCT
cet-3943	52	11	the	the	DET
cet-3943	52	12	re	re	VERB
cet-3943	52	13	-	-	ADJ
cet-3943	52	14	sampled	sample	VERB
cet-3943	52	15	point	point	NOUN
cet-3943	52	16	𝑝𝑖	𝑝𝑖	NOUN
cet-3943	52	17	from	from	ADP
cet-3943	52	18	p	p	NOUN
cet-3943	52	19	is	be	AUX
cet-3943	52	20	projected	project	VERB
cet-3943	52	21	onto	onto	ADP
cet-3943	52	22	the	the	DET
cet-3943	52	23	fitting	fitting	ADJ
cet-3943	52	24	surface	surface	NOUN
cet-3943	52	25	of	of	ADP
cet-3943	52	26	q	q	NOUN
cet-3943	52	27	along	along	ADP
cet-3943	52	28	its	its	PRON
cet-3943	52	29	normal	normal	ADJ
cet-3943	52	30	vector	vector	NOUN
cet-3943	52	31	.	.	PUNCT
cet-3943	53	1	firstly	firstly	ADV
cet-3943	53	2	,	,	PUNCT
cet-3943	53	3	when	when	SCONJ
cet-3943	53	4	the	the	DET
cet-3943	53	5	projection	projection	NOUN
cet-3943	53	6	intersection	intersection	NOUN
cet-3943	53	7	m	m	NOUN
cet-3943	53	8	point	point	NOUN
cet-3943	53	9	is	be	AUX
cet-3943	53	10	exactly	exactly	ADV
cet-3943	53	11	a	a	DET
cet-3943	53	12	point	point	NOUN
cet-3943	53	13	𝑞𝑖	𝑞𝑖	INTJ
cet-3943	53	14	of	of	ADP
cet-3943	53	15	q	q	NOUN
cet-3943	53	16	,	,	PUNCT
cet-3943	53	17	the	the	DET
cet-3943	53	18	point	point	NOUN
cet-3943	53	19	𝑚′	𝑚′	PRON
cet-3943	53	20	can	can	AUX
cet-3943	53	21	be	be	AUX
cet-3943	53	22	obtained	obtain	VERB
cet-3943	53	23	,	,	PUNCT
cet-3943	53	24	which	which	PRON
cet-3943	53	25	is	be	AUX
cet-3943	53	26	the	the	DET
cet-3943	53	27	projection	projection	ADJ
cet-3943	53	28	point	point	NOUN
cet-3943	53	29	of	of	ADP
cet-3943	53	30	point	point	NOUN
cet-3943	53	31	𝑞𝑖	𝑞𝑖	INTJ
cet-3943	53	32	along	along	ADP
cet-3943	53	33	its	its	PRON
cet-3943	53	34	normal	normal	ADJ
cet-3943	53	35	vector	vector	NOUN
cet-3943	53	36	onto	onto	ADP
cet-3943	53	37	the	the	DET
cet-3943	53	38	point	point	NOUN
cet-3943	53	39	cloud	cloud	NOUN
cet-3943	53	40	p.	p.	NOUN
cet-3943	54	1	if	if	SCONJ
cet-3943	54	2	‖𝑝𝑖	‖𝑝𝑖	PROPN
cet-3943	54	3	−𝑚′‖	−𝑚′‖	PROPN
cet-3943	54	4	≤	≤	NUM
cet-3943	54	5	𝑡	𝑡	PROPN
cet-3943	54	6	,	,	PUNCT
cet-3943	54	7	a	a	DET
cet-3943	54	8	set	set	NOUN
cet-3943	54	9	of	of	ADP
cet-3943	54	10	matched	match	VERB
cet-3943	54	11	point	point	NOUN
cet-3943	54	12	-	-	PUNCT
cet-3943	54	13	pair	pair	NOUN
cet-3943	54	14	(	(	PUNCT
cet-3943	54	15	𝑝𝑖	𝑝𝑖	NOUN
cet-3943	54	16	,	,	PUNCT
cet-3943	54	17	𝑞𝑖	𝑞𝑖	PROPN
cet-3943	54	18	)	)	PUNCT
cet-3943	54	19	could	could	AUX
cet-3943	54	20	be	be	AUX
cet-3943	54	21	built	build	VERB
cet-3943	54	22	,	,	PUNCT
cet-3943	54	23	for	for	ADP
cet-3943	54	24	example	example	NOUN
cet-3943	54	25	(	(	PUNCT
cet-3943	54	26	𝑝1	𝑝1	NOUN
cet-3943	54	27	,	,	PUNCT
cet-3943	54	28	𝑞1	𝑞1	PROPN
cet-3943	54	29	)	)	PUNCT
cet-3943	54	30	in	in	ADP
cet-3943	54	31	figure	figure	NOUN
cet-3943	55	1	3	3	X
cet-3943	55	2	.	.	PUNCT
cet-3943	56	1	if	if	SCONJ
cet-3943	56	2	not	not	PART
cet-3943	56	3	,	,	PUNCT
cet-3943	56	4	the	the	DET
cet-3943	56	5	point	point	NOUN
cet-3943	56	6	𝑝𝑖	𝑝𝑖	NOUN
cet-3943	56	7	should	should	AUX
cet-3943	56	8	be	be	AUX
cet-3943	56	9	deleted	delete	VERB
cet-3943	56	10	from	from	ADP
cet-3943	56	11	the	the	DET
cet-3943	56	12	matched	match	VERB
cet-3943	56	13	point	point	NOUN
cet-3943	56	14	-	-	PUNCT
cet-3943	56	15	pairs	pair	NOUN
cet-3943	56	16	.	.	PUNCT
cet-3943	57	1	secondly	secondly	ADV
cet-3943	57	2	,	,	PUNCT
cet-3943	57	3	when	when	SCONJ
cet-3943	57	4	the	the	DET
cet-3943	57	5	projection	projection	NOUN
cet-3943	57	6	intersection	intersection	NOUN
cet-3943	57	7	point	point	NOUN
cet-3943	57	8	denoted	denote	VERB
cet-3943	57	9	as	as	SCONJ
cet-3943	57	10	m	m	PROPN
cet-3943	57	11	is	be	AUX
cet-3943	57	12	not	not	PART
cet-3943	57	13	a	a	DET
cet-3943	57	14	point	point	NOUN
cet-3943	57	15	of	of	ADP
cet-3943	57	16	cloud	cloud	ADJ
cet-3943	57	17	q	q	NOUN
cet-3943	57	18	,	,	PUNCT
cet-3943	57	19	as	as	ADP
cet-3943	57	20	𝑝2	𝑝2	NOUN
cet-3943	57	21	shown	show	VERB
cet-3943	57	22	in	in	ADP
cet-3943	57	23	figure	figure	NOUN
cet-3943	57	24	3	3	NUM
cet-3943	57	25	.	.	PUNCT
cet-3943	58	1	the	the	DET
cet-3943	58	2	nearest	near	ADJ
cet-3943	58	3	point	point	NOUN
cet-3943	58	4	𝑞2	𝑞2	NOUN
cet-3943	58	5	of	of	ADP
cet-3943	58	6	the	the	DET
cet-3943	58	7	point	point	NOUN
cet-3943	58	8	m	m	VERB
cet-3943	58	9	within	within	ADP
cet-3943	58	10	the	the	DET
cet-3943	58	11	threshold	threshold	NOUN
cet-3943	58	12	range	range	NOUN
cet-3943	58	13	t	t	PROPN
cet-3943	58	14	is	be	AUX
cet-3943	58	15	found	find	VERB
cet-3943	58	16	in	in	ADP
cet-3943	58	17	q.	q.	PROPN
cet-3943	58	18	then	then	ADV
cet-3943	58	19	the	the	DET
cet-3943	58	20	point	point	NOUN
cet-3943	58	21	𝑚′	𝑚′	NUM
cet-3943	58	22	,	,	PUNCT
cet-3943	58	23	which	which	PRON
cet-3943	58	24	is	be	AUX
cet-3943	58	25	the	the	DET
cet-3943	58	26	projection	projection	ADJ
cet-3943	58	27	point	point	NOUN
cet-3943	58	28	of	of	ADP
cet-3943	58	29	the	the	DET
cet-3943	58	30	point	point	NOUN
cet-3943	58	31	𝑞2	𝑞2	NOUN
cet-3943	58	32	along	along	ADP
cet-3943	58	33	its	its	PRON
cet-3943	58	34	normal	normal	ADJ
cet-3943	58	35	vector	vector	NOUN
cet-3943	58	36	onto	onto	ADP
cet-3943	58	37	the	the	DET
cet-3943	58	38	point	point	NOUN
cet-3943	58	39	cloud	cloud	NOUN
cet-3943	58	40	p	p	NOUN
cet-3943	58	41	can	can	AUX
cet-3943	58	42	be	be	AUX
cet-3943	58	43	obtained	obtain	VERB
cet-3943	58	44	.	.	PUNCT
cet-3943	59	1	if	if	SCONJ
cet-3943	59	2	‖𝑝2	‖𝑝2	PROPN
cet-3943	59	3	−𝑚′‖	−𝑚′‖	PROPN
cet-3943	59	4	≤	≤	NUM
cet-3943	59	5	𝑡	𝑡	PROPN
cet-3943	59	6	,	,	PUNCT
cet-3943	59	7	point	point	NOUN
cet-3943	59	8	-	-	PUNCT
cet-3943	59	9	pair	pair	NOUN
cet-3943	59	10	(	(	PUNCT
cet-3943	59	11	𝑝2	𝑝2	NOUN
cet-3943	59	12	,	,	PUNCT
cet-3943	59	13	𝑞2	𝑞2	NOUN
cet-3943	59	14	)	)	PUNCT
cet-3943	59	15	could	could	AUX
cet-3943	59	16	be	be	AUX
cet-3943	59	17	used	use	VERB
cet-3943	59	18	as	as	ADP
cet-3943	59	19	matched	match	VERB
cet-3943	59	20	point	point	NOUN
cet-3943	59	21	-	-	PUNCT
cet-3943	59	22	pair	pair	NOUN
cet-3943	59	23	,	,	PUNCT
cet-3943	59	24	or	or	CCONJ
cet-3943	59	25	the	the	DET
cet-3943	59	26	point	point	NOUN
cet-3943	59	27	𝑝2	𝑝2	NOUN
cet-3943	59	28	should	should	AUX
cet-3943	59	29	be	be	AUX
cet-3943	59	30	deleted	delete	VERB
cet-3943	59	31	from	from	ADP
cet-3943	59	32	the	the	DET
cet-3943	59	33	matched	match	VERB
cet-3943	59	34	points	point	NOUN
cet-3943	59	35	.	.	PUNCT
cet-3943	60	1	t	t	PROPN
cet-3943	60	2	is	be	AUX
cet-3943	60	3	the	the	DET
cet-3943	60	4	mean	mean	ADJ
cet-3943	60	5	value	value	NOUN
cet-3943	60	6	of	of	ADP
cet-3943	60	7	all	all	DET
cet-3943	60	8	distances	distance	NOUN
cet-3943	60	9	between	between	ADP
cet-3943	60	10	the	the	DET
cet-3943	60	11	projection	projection	NOUN
cet-3943	60	12	point	point	NOUN
cet-3943	60	13	m	m	ADJ
cet-3943	60	14	and	and	CCONJ
cet-3943	60	15	its	its	PRON
cet-3943	60	16	closest	close	ADJ
cet-3943	60	17	points	point	NOUN
cet-3943	60	18	.	.	PUNCT
cet-3943	61	1	figure	figure	NOUN
cet-3943	61	2	3：matching	3：matching	NUM
cet-3943	61	3	method	method	NOUN
cet-3943	61	4	based	base	VERB
cet-3943	61	5	on	on	ADP
cet-3943	61	6	double	double	ADJ
cet-3943	61	7	-	-	PUNCT
cet-3943	61	8	direction	direction	NOUN
cet-3943	61	9	normal	normal	ADJ
cet-3943	61	10	projection	projection	NOUN
cet-3943	61	11	3.3	3.3	NUM
cet-3943	61	12	elimination	elimination	NOUN
cet-3943	61	13	of	of	ADP
cet-3943	61	14	unreliable	unreliable	ADJ
cet-3943	61	15	point	point	NOUN
cet-3943	61	16	-	-	PUNCT
cet-3943	61	17	pairs	pair	NOUN
cet-3943	61	18	due	due	ADJ
cet-3943	61	19	to	to	ADP
cet-3943	61	20	the	the	DET
cet-3943	61	21	strategy	strategy	NOUN
cet-3943	61	22	used	use	VERB
cet-3943	61	23	to	to	PART
cet-3943	61	24	search	search	VERB
cet-3943	61	25	for	for	ADP
cet-3943	61	26	the	the	DET
cet-3943	61	27	putative	putative	ADJ
cet-3943	61	28	correspondences	correspondence	NOUN
cet-3943	61	29	,	,	PUNCT
cet-3943	61	30	there	there	PRON
cet-3943	61	31	are	be	VERB
cet-3943	61	32	necessarily	necessarily	ADV
cet-3943	61	33	unreliable	unreliable	ADJ
cet-3943	61	34	pointpairs	pointpair	NOUN
cet-3943	61	35	in	in	ADP
cet-3943	61	36	the	the	DET
cet-3943	61	37	matched	match	VERB
cet-3943	61	38	point	point	NOUN
cet-3943	61	39	-	-	PUNCT
cet-3943	61	40	pair	pair	NOUN
cet-3943	61	41	sets	set	NOUN
cet-3943	61	42	established	establish	VERB
cet-3943	61	43	by	by	ADP
cet-3943	61	44	the	the	DET
cet-3943	61	45	method	method	NOUN
cet-3943	61	46	proposed	propose	VERB
cet-3943	61	47	above	above	ADV
cet-3943	61	48	.	.	PUNCT
cet-3943	62	1	commonly	commonly	ADV
cet-3943	62	2	,	,	PUNCT
cet-3943	62	3	there	there	PRON
cet-3943	62	4	are	be	VERB
cet-3943	62	5	two	two	NUM
cet-3943	62	6	constrains	constrain	NOUN
cet-3943	62	7	to	to	PART
cet-3943	62	8	exclude	exclude	VERB
cet-3943	62	9	unreliable	unreliable	ADJ
cet-3943	62	10	points	point	NOUN
cet-3943	62	11	:	:	PUNCT
cet-3943	62	12	the	the	DET
cet-3943	62	13	rigid	rigid	ADJ
cet-3943	62	14	constraints	constraint	NOUN
cet-3943	62	15	,	,	PUNCT
cet-3943	62	16	the	the	DET
cet-3943	62	17	constraints	constraint	NOUN
cet-3943	62	18	based	base	VERB
cet-3943	62	19	on	on	ADP
cet-3943	62	20	geometric	geometric	ADJ
cet-3943	62	21	consistency	consistency	NOUN
cet-3943	62	22	.	.	PUNCT
cet-3943	63	1	but	but	CCONJ
cet-3943	63	2	they	they	PRON
cet-3943	63	3	may	may	AUX
cet-3943	63	4	diminish	diminish	VERB
cet-3943	63	5	too	too	ADV
cet-3943	63	6	much	much	ADJ
cet-3943	63	7	erroneous	erroneous	ADJ
cet-3943	63	8	point	point	NOUN
cet-3943	63	9	-	-	PUNCT
cet-3943	63	10	pairs	pair	NOUN
cet-3943	63	11	or	or	CCONJ
cet-3943	63	12	be	be	AUX
cet-3943	63	13	time	time	NOUN
cet-3943	63	14	-	-	PUNCT
cet-3943	63	15	consuming	consume	VERB
cet-3943	63	16	especially	especially	ADV
cet-3943	63	17	for	for	ADP
cet-3943	63	18	the	the	DET
cet-3943	63	19	massive	massive	ADJ
cet-3943	63	20	point	point	NOUN
cet-3943	63	21	clouds	cloud	NOUN
cet-3943	63	22	(	(	PUNCT
cet-3943	63	23	xie	xie	PROPN
cet-3943	63	24	and	and	CCONJ
cet-3943	63	25	shang	shang	PROPN
cet-3943	63	26	,	,	PUNCT
cet-3943	63	27	2010	2010	NUM
cet-3943	63	28	)	)	PUNCT
cet-3943	63	29	.	.	PUNCT
cet-3943	64	1	in	in	ADP
cet-3943	64	2	this	this	DET
cet-3943	64	3	paper	paper	NOUN
cet-3943	64	4	,	,	PUNCT
cet-3943	64	5	a	a	DET
cet-3943	64	6	method	method	NOUN
cet-3943	64	7	using	use	VERB
cet-3943	64	8	the	the	DET
cet-3943	64	9	distance	distance	NOUN
cet-3943	64	10	and	and	CCONJ
cet-3943	64	11	the	the	DET
cet-3943	64	12	point	point	NOUN
cet-3943	64	13	curvature	curvature	NOUN
cet-3943	64	14	features	feature	NOUN
cet-3943	64	15	as	as	ADP
cet-3943	64	16	constraints	constraint	NOUN
cet-3943	64	17	to	to	PART
cet-3943	64	18	eliminate	eliminate	VERB
cet-3943	64	19	unreliable	unreliable	ADJ
cet-3943	64	20	point	point	NOUN
cet-3943	64	21	-	-	PUNCT
cet-3943	64	22	pairs	pair	NOUN
cet-3943	64	23	is	be	AUX
cet-3943	64	24	applied	apply	VERB
cet-3943	64	25	as	as	SCONJ
cet-3943	64	26	follows	follow	VERB
cet-3943	64	27	.	.	PUNCT
cet-3943	65	1	firstly	firstly	ADV
cet-3943	65	2	,	,	PUNCT
cet-3943	65	3	all	all	DET
cet-3943	65	4	the	the	DET
cet-3943	65	5	distance	distance	NOUN
cet-3943	65	6	between	between	ADP
cet-3943	65	7	the	the	DET
cet-3943	65	8	matched	match	VERB
cet-3943	65	9	points	point	NOUN
cet-3943	65	10	are	be	AUX
cet-3943	65	11	calculated	calculate	VERB
cet-3943	65	12	.	.	PUNCT
cet-3943	66	1	if	if	SCONJ
cet-3943	66	2	the	the	DET
cet-3943	66	3	distance	distance	NOUN
cet-3943	66	4	satisfies	satisfy	VERB
cet-3943	66	5	eq(3	eq(3	NOUN
cet-3943	66	6	)	)	PUNCT
cet-3943	66	7	,	,	PUNCT
cet-3943	66	8	then	then	ADV
cet-3943	66	9	the	the	DET
cet-3943	66	10	471	471	NUM
cet-3943	66	11	http://dict.youdao.com/w/mean/	http://dict.youdao.com/w/mean/	NOUN
cet-3943	66	12	http://dict.youdao.com/w/value/	http://dict.youdao.com/w/value/	NOUN
cet-3943	66	13	point	point	NOUN
cet-3943	66	14	-	-	PUNCT
cet-3943	66	15	pair	pair	NOUN
cet-3943	66	16	(	(	PUNCT
cet-3943	66	17	𝑝𝑖	𝑝𝑖	NOUN
cet-3943	66	18	,	,	PUNCT
cet-3943	66	19	𝑞𝑖	𝑞𝑖	PROPN
cet-3943	66	20	)	)	PUNCT
cet-3943	66	21	would	would	AUX
cet-3943	66	22	be	be	AUX
cet-3943	66	23	removed	remove	VERB
cet-3943	66	24	from	from	ADP
cet-3943	66	25	matched	match	VERB
cet-3943	66	26	point	point	NOUN
cet-3943	66	27	set	set	NOUN
cet-3943	66	28	.	.	PUNCT
cet-3943	67	1	|	|	ADV
cet-3943	67	2	2(𝑑𝑖−𝐷𝑚	2(𝑑𝑖−𝐷𝑚	NUM
cet-3943	67	3	)	)	PUNCT
cet-3943	68	1	𝑑𝑚𝑎𝑥−𝐷𝑚𝑖𝑛	𝑑𝑚𝑎𝑥−𝐷𝑚𝑖𝑛	PROPN
cet-3943	69	1	|	|	INTJ
cet-3943	69	2	>	>	X
cet-3943	69	3	0.8	0.8	NUM
cet-3943	69	4	(	(	PUNCT
cet-3943	69	5	3	3	NUM
cet-3943	69	6	)	)	PUNCT
cet-3943	69	7	where	where	SCONJ
cet-3943	69	8	𝑑𝑖	𝑑𝑖	PROPN
cet-3943	69	9	is	be	AUX
cet-3943	69	10	the	the	DET
cet-3943	69	11	distance	distance	NOUN
cet-3943	69	12	of	of	ADP
cet-3943	69	13	the	the	DET
cet-3943	69	14	point	point	NOUN
cet-3943	69	15	-	-	PUNCT
cet-3943	69	16	pair	pair	NOUN
cet-3943	69	17	(	(	PUNCT
cet-3943	69	18	𝑝𝑖	𝑝𝑖	NOUN
cet-3943	69	19	,	,	PUNCT
cet-3943	69	20	𝑞𝑖	𝑞𝑖	PROPN
cet-3943	69	21	)	)	PUNCT
cet-3943	69	22	,	,	PUNCT
cet-3943	69	23	𝐷𝑚	𝐷𝑚	PROPN
cet-3943	69	24	is	be	AUX
cet-3943	69	25	the	the	DET
cet-3943	69	26	mean	mean	ADJ
cet-3943	69	27	distance	distance	NOUN
cet-3943	69	28	of	of	ADP
cet-3943	69	29	all	all	DET
cet-3943	69	30	point	point	NOUN
cet-3943	69	31	-	-	PUNCT
cet-3943	69	32	pairs	pair	NOUN
cet-3943	69	33	,	,	PUNCT
cet-3943	69	34	𝑑𝑚𝑎𝑥	𝑑𝑚𝑎𝑥	NOUN
cet-3943	69	35	and	and	CCONJ
cet-3943	69	36	𝑑𝑚𝑖𝑛	𝑑𝑚𝑖𝑛	PROPN
cet-3943	69	37	are	be	AUX
cet-3943	69	38	the	the	DET
cet-3943	69	39	largest	large	ADJ
cet-3943	69	40	and	and	CCONJ
cet-3943	69	41	smallest	small	ADJ
cet-3943	69	42	distance	distance	NOUN
cet-3943	69	43	respectively	respectively	ADV
cet-3943	69	44	.	.	PUNCT
cet-3943	70	1	secondly	secondly	ADV
cet-3943	70	2	,	,	PUNCT
cet-3943	70	3	the	the	DET
cet-3943	70	4	matched	match	VERB
cet-3943	70	5	point	point	NOUN
cet-3943	70	6	-	-	PUNCT
cet-3943	70	7	pairs	pair	NOUN
cet-3943	70	8	whose	whose	DET
cet-3943	70	9	curvatures	curvature	NOUN
cet-3943	70	10	do	do	AUX
cet-3943	70	11	not	not	PART
cet-3943	70	12	satisfy	satisfy	VERB
cet-3943	70	13	eq(4	eq(4	PROPN
cet-3943	70	14	)	)	PUNCT
cet-3943	70	15	,	,	PUNCT
cet-3943	70	16	are	be	AUX
cet-3943	70	17	eliminated	eliminate	VERB
cet-3943	70	18	from	from	ADP
cet-3943	70	19	the	the	DET
cet-3943	70	20	remaining	remain	VERB
cet-3943	70	21	point	point	NOUN
cet-3943	70	22	-	-	PUNCT
cet-3943	70	23	pairs	pair	NOUN
cet-3943	70	24	after	after	ADP
cet-3943	70	25	the	the	DET
cet-3943	70	26	first	first	ADJ
cet-3943	70	27	step	step	NOUN
cet-3943	70	28	.	.	PUNCT
cet-3943	71	1	{	{	PUNCT
cet-3943	72	1	∅min	∅min	PUNCT
cet-3943	72	2	𝑖	𝑖	SYM
cet-3943	72	3	=	=	PUNCT
cet-3943	72	4	|𝑘1(𝑝𝑖)−𝑘1(𝑞𝑖)|	|𝑘1(𝑝𝑖)−𝑘1(𝑞𝑖)|	NOUN
cet-3943	72	5	|𝑘1(𝑝𝑖)+𝑘1(𝑞𝑖)|	|𝑘1(𝑝𝑖)+𝑘1(𝑞𝑖)|	X
cet-3943	72	6	≤	≤	NUM
cet-3943	72	7	𝜀1	𝜀1	PROPN
cet-3943	72	8	∅max	∅max	NOUN
cet-3943	73	1	𝑖	𝑖	X
cet-3943	73	2	=	=	PUNCT
cet-3943	73	3	|𝑘2(𝑝𝑖)−𝑘2(𝑞𝑖)|	|𝑘2(𝑝𝑖)−𝑘2(𝑞𝑖)|	NOUN
cet-3943	73	4	|𝑘2(𝑝𝑖)+𝑘2(𝑞𝑖)|	|𝑘2(𝑝𝑖)+𝑘2(𝑞𝑖)|	NOUN
cet-3943	73	5	≤	≤	NUM
cet-3943	73	6	𝜀2	𝜀2	VERB
cet-3943	73	7	𝜀1	𝜀1	NOUN
cet-3943	74	1	=	=	PUNCT
cet-3943	74	2	∑∅min	∑∅min	NOUN
cet-3943	74	3	𝑖	𝑖	PUNCT
cet-3943	74	4	𝑁	𝑁	PROPN
cet-3943	74	5	𝜀2	𝜀2	NOUN
cet-3943	74	6	=	=	PUNCT
cet-3943	75	1	∑∅max	∑∅max	ADP
cet-3943	75	2	𝑖	𝑖	SYM
cet-3943	75	3	𝑁	𝑁	PROPN
cet-3943	75	4	(	(	PUNCT
cet-3943	75	5	4	4	NUM
cet-3943	75	6	)	)	PUNCT
cet-3943	75	7	where	where	SCONJ
cet-3943	75	8	𝑘1(𝑝𝑖	𝑘1(𝑝𝑖	NUM
cet-3943	75	9	)	)	PUNCT
cet-3943	75	10	and	and	CCONJ
cet-3943	75	11	𝑘2(𝑝𝑖	𝑘2(𝑝𝑖	NUM
cet-3943	75	12	)	)	PUNCT
cet-3943	75	13	are	be	AUX
cet-3943	75	14	the	the	DET
cet-3943	75	15	minimum	minimum	ADJ
cet-3943	75	16	and	and	CCONJ
cet-3943	75	17	maximum	maximum	ADJ
cet-3943	75	18	values	value	NOUN
cet-3943	75	19	of	of	ADP
cet-3943	75	20	the	the	DET
cet-3943	75	21	normal	normal	ADJ
cet-3943	75	22	curvature	curvature	NOUN
cet-3943	75	23	at	at	ADP
cet-3943	75	24	point	point	NOUN
cet-3943	75	25	𝑝𝑖.	𝑝𝑖.	CCONJ
cet-3943	75	26	only	only	ADV
cet-3943	75	27	the	the	DET
cet-3943	75	28	remaining	remain	VERB
cet-3943	75	29	point	point	NOUN
cet-3943	75	30	-	-	PUNCT
cet-3943	75	31	pairs	pair	NOUN
cet-3943	75	32	after	after	SCONJ
cet-3943	75	33	the	the	DET
cet-3943	75	34	two	two	NUM
cet-3943	75	35	steps	step	NOUN
cet-3943	75	36	are	be	AUX
cet-3943	75	37	considered	consider	VERB
cet-3943	75	38	into	into	ADP
cet-3943	75	39	the	the	DET
cet-3943	75	40	subsequent	subsequent	ADJ
cet-3943	75	41	alignment	alignment	NOUN
cet-3943	75	42	process	process	NOUN
cet-3943	75	43	.	.	PUNCT
cet-3943	76	1	3.4	3.4	NUM
cet-3943	76	2	the	the	DET
cet-3943	76	3	improved	improve	VERB
cet-3943	76	4	icp	icp	PROPN
cet-3943	76	5	algorithm	algorithm	NOUN
cet-3943	76	6	the	the	DET
cet-3943	76	7	steps	step	NOUN
cet-3943	76	8	of	of	ADP
cet-3943	76	9	the	the	DET
cet-3943	76	10	improved	improve	VERB
cet-3943	76	11	icp	icp	PROPN
cet-3943	76	12	algorithm	algorithm	NOUN
cet-3943	76	13	can	can	AUX
cet-3943	76	14	be	be	AUX
cet-3943	76	15	shown	show	VERB
cet-3943	76	16	as	as	SCONJ
cet-3943	76	17	follows	follow	VERB
cet-3943	76	18	.	.	PUNCT
cet-3943	77	1	(	(	PUNCT
cet-3943	77	2	1	1	X
cet-3943	77	3	)	)	PUNCT
cet-3943	77	4	get	get	VERB
cet-3943	77	5	the	the	DET
cet-3943	77	6	preliminary	preliminary	ADJ
cet-3943	77	7	registration	registration	NOUN
cet-3943	77	8	with	with	ADP
cet-3943	77	9	ransac	ransac	NOUN
cet-3943	77	10	algorithm	algorithm	NOUN
cet-3943	77	11	based	base	VERB
cet-3943	77	12	on	on	ADP
cet-3943	77	13	co	co	VERB
cet-3943	77	14	-	-	ADJ
cet-3943	77	15	planar	planar	ADJ
cet-3943	77	16	4	4	NUM
cet-3943	77	17	-	-	PUNCT
cet-3943	77	18	points	point	NOUN
cet-3943	77	19	set	set	NOUN
cet-3943	77	20	;	;	PUNCT
cet-3943	77	21	(	(	PUNCT
cet-3943	77	22	2	2	X
cet-3943	77	23	)	)	PUNCT
cet-3943	77	24	re	re	NOUN
cet-3943	77	25	-	-	NOUN
cet-3943	77	26	sample	sample	VERB
cet-3943	77	27	the	the	DET
cet-3943	77	28	target	target	NOUN
cet-3943	77	29	point	point	NOUN
cet-3943	77	30	cloud	cloud	NOUN
cet-3943	77	31	p.	p.	NOUN
cet-3943	77	32	in	in	ADP
cet-3943	77	33	this	this	DET
cet-3943	77	34	study	study	NOUN
cet-3943	77	35	,	,	PUNCT
cet-3943	77	36	20	20	NUM
cet-3943	77	37	%	%	NOUN
cet-3943	77	38	points	point	NOUN
cet-3943	77	39	of	of	ADP
cet-3943	77	40	p	p	NOUN
cet-3943	77	41	is	be	AUX
cet-3943	77	42	left	leave	VERB
cet-3943	77	43	to	to	PART
cet-3943	77	44	keep	keep	VERB
cet-3943	77	45	its	its	PRON
cet-3943	77	46	characteristics	characteristic	NOUN
cet-3943	77	47	;	;	PUNCT
cet-3943	77	48	(	(	PUNCT
cet-3943	77	49	3	3	X
cet-3943	77	50	)	)	PUNCT
cet-3943	77	51	for	for	ADP
cet-3943	77	52	each	each	DET
cet-3943	77	53	point	point	NOUN
cet-3943	77	54	𝑝𝑖	𝑝𝑖	NOUN
cet-3943	77	55	of	of	ADP
cet-3943	77	56	the	the	DET
cet-3943	77	57	20	20	NUM
cet-3943	77	58	%	%	NOUN
cet-3943	77	59	points	point	NOUN
cet-3943	77	60	of	of	ADP
cet-3943	77	61	p	p	X
cet-3943	77	62	,	,	PUNCT
cet-3943	77	63	search	search	VERB
cet-3943	77	64	its	its	PRON
cet-3943	77	65	matching	matching	NOUN
cet-3943	77	66	point	point	NOUN
cet-3943	77	67	𝑞𝑖′	𝑞𝑖′	PROPN
cet-3943	77	68	in	in	ADP
cet-3943	77	69	q	q	PROPN
cet-3943	77	70	based	base	VERB
cet-3943	77	71	on	on	ADP
cet-3943	77	72	the	the	DET
cet-3943	77	73	double	double	ADJ
cet-3943	77	74	-	-	PUNCT
cet-3943	77	75	direction	direction	NOUN
cet-3943	77	76	normal	normal	ADJ
cet-3943	77	77	projection	projection	NOUN
cet-3943	77	78	.	.	PUNCT
cet-3943	78	1	and	and	CCONJ
cet-3943	78	2	then	then	ADV
cet-3943	78	3	eliminate	eliminate	VERB
cet-3943	78	4	erroneously	erroneously	ADV
cet-3943	78	5	matched	match	VERB
cet-3943	78	6	point	point	NOUN
cet-3943	78	7	-	-	PUNCT
cet-3943	78	8	pairs	pair	NOUN
cet-3943	78	9	based	base	VERB
cet-3943	78	10	on	on	ADP
cet-3943	78	11	rigid	rigid	ADJ
cet-3943	78	12	distance	distance	NOUN
cet-3943	78	13	constraint	constraint	NOUN
cet-3943	78	14	and	and	CCONJ
cet-3943	78	15	curvature	curvature	NOUN
cet-3943	78	16	features	feature	NOUN
cet-3943	78	17	constraint	constraint	NOUN
cet-3943	78	18	as	as	SCONJ
cet-3943	78	19	described	describe	VERB
cet-3943	78	20	in	in	ADP
cet-3943	78	21	section	section	NOUN
cet-3943	78	22	3.3	3.3	NUM
cet-3943	78	23	.	.	PUNCT
cet-3943	79	1	(	(	PUNCT
cet-3943	79	2	4	4	X
cet-3943	79	3	)	)	PUNCT
cet-3943	79	4	estimate	estimate	VERB
cet-3943	79	5	the	the	DET
cet-3943	79	6	transformation	transformation	NOUN
cet-3943	79	7	matrix	matrix	NOUN
cet-3943	79	8	𝐻𝑘	𝐻𝑘	PROPN
cet-3943	80	1	=	=	PUNCT
cet-3943	80	2	[	[	PUNCT
cet-3943	80	3	𝑅𝑘	𝑅𝑘	PROPN
cet-3943	80	4	𝑇𝑘	𝑇𝑘	PROPN
cet-3943	80	5	0	0	NUM
cet-3943	80	6	1	1	NUM
cet-3943	80	7	]	]	PUNCT
cet-3943	80	8	based	base	VERB
cet-3943	80	9	on	on	ADP
cet-3943	80	10	the	the	DET
cet-3943	80	11	remaining	remain	VERB
cet-3943	80	12	matched	match	VERB
cet-3943	80	13	point	point	NOUN
cet-3943	80	14	-	-	PUNCT
cet-3943	80	15	pairs	pair	NOUN
cet-3943	80	16	by	by	ADP
cet-3943	80	17	minimizing	minimize	VERB
cet-3943	80	18	the	the	DET
cet-3943	80	19	objective	objective	ADJ
cet-3943	80	20	function	function	NOUN
cet-3943	80	21	,	,	PUNCT
cet-3943	80	22	where	where	SCONJ
cet-3943	80	23	r	r	NOUN
cet-3943	80	24	is	be	AUX
cet-3943	80	25	a	a	DET
cet-3943	80	26	33	33	NUM
cet-3943	80	27	rotation	rotation	NOUN
cet-3943	80	28	matrix	matrix	NOUN
cet-3943	80	29	and	and	CCONJ
cet-3943	80	30	t	t	PROPN
cet-3943	80	31	is	be	AUX
cet-3943	80	32	a	a	DET
cet-3943	80	33	13	13	NUM
cet-3943	80	34	translation	translation	NOUN
cet-3943	80	35	matrix	matrix	NOUN
cet-3943	80	36	;	;	PUNCT
cet-3943	80	37	(	(	PUNCT
cet-3943	80	38	5	5	X
cet-3943	80	39	)	)	PUNCT
cet-3943	80	40	update	update	NOUN
cet-3943	80	41	p	p	NOUN
cet-3943	80	42	with	with	ADP
cet-3943	80	43	the	the	DET
cet-3943	80	44	equation	equation	NOUN
cet-3943	80	45	𝑃′	𝑃′	NOUN
cet-3943	80	46	=	=	SYM
cet-3943	80	47	𝐻𝑘𝑃	𝐻𝑘𝑃	PROPN
cet-3943	80	48	=	=	SYM
cet-3943	80	49	𝑅𝑘𝑃	𝑅𝑘𝑃	PROPN
cet-3943	80	50	+	+	CCONJ
cet-3943	80	51	𝑇𝑘	𝑇𝑘	PROPN
cet-3943	80	52	;	;	PUNCT
cet-3943	80	53	(	(	PUNCT
cet-3943	80	54	6	6	X
cet-3943	80	55	)	)	PUNCT
cet-3943	80	56	if	if	SCONJ
cet-3943	80	57	the	the	DET
cet-3943	80	58	difference	difference	NOUN
cet-3943	80	59	of	of	ADP
cet-3943	80	60	the	the	DET
cet-3943	80	61	registration	registration	NOUN
cet-3943	80	62	error	error	NOUN
cet-3943	80	63	between	between	ADP
cet-3943	80	64	two	two	NUM
cet-3943	80	65	adjacent	adjacent	ADJ
cet-3943	80	66	iterations	iteration	NOUN
cet-3943	80	67	meets	meet	VERB
cet-3943	80	68	the	the	DET
cet-3943	80	69	requirement	requirement	NOUN
cet-3943	80	70	as	as	ADP
cet-3943	80	71	in	in	ADP
cet-3943	80	72	eq	eq	NOUN
cet-3943	80	73	(	(	PUNCT
cet-3943	80	74	5	5	NUM
cet-3943	80	75	)	)	PUNCT
cet-3943	80	76	,	,	PUNCT
cet-3943	80	77	the	the	DET
cet-3943	80	78	iteration	iteration	NOUN
cet-3943	80	79	ends	end	VERB
cet-3943	80	80	and	and	CCONJ
cet-3943	80	81	the	the	DET
cet-3943	80	82	registration	registration	NOUN
cet-3943	80	83	is	be	AUX
cet-3943	80	84	considered	consider	VERB
cet-3943	80	85	completed	complete	VERB
cet-3943	80	86	;	;	PUNCT
cet-3943	80	87	if	if	SCONJ
cet-3943	80	88	not	not	PART
cet-3943	80	89	,	,	PUNCT
cet-3943	80	90	go	go	VERB
cet-3943	80	91	back	back	ADV
cet-3943	80	92	to	to	ADP
cet-3943	80	93	step	step	NOUN
cet-3943	80	94	(	(	PUNCT
cet-3943	80	95	2	2	NUM
cet-3943	80	96	)	)	PUNCT
cet-3943	80	97	and	and	CCONJ
cet-3943	80	98	do	do	VERB
cet-3943	80	99	iteration	iteration	NOUN
cet-3943	80	100	again	again	ADV
cet-3943	80	101	.	.	PUNCT
cet-3943	81	1	|	|	ADV
cet-3943	81	2	𝑑𝑘+1−𝑑𝑘	𝑑𝑘+1−𝑑𝑘	ADJ
cet-3943	81	3	𝑑𝑘−𝑑𝑘−1	𝑑𝑘−𝑑𝑘−1	NOUN
cet-3943	82	1	|	|	ADV
cet-3943	82	2	<	<	X
cet-3943	82	3	𝜏	𝜏	NUM
cet-3943	82	4	,	,	PUNCT
cet-3943	82	5	(	(	PUNCT
cet-3943	82	6	𝑑𝑘	𝑑𝑘	VERB
cet-3943	82	7	=	=	SYM
cet-3943	82	8	1	1	NUM
cet-3943	82	9	𝑁	𝑁	PROPN
cet-3943	82	10	∑	∑	PUNCT
cet-3943	82	11	‖𝑅𝐾𝑃𝑖−1	‖𝑅𝐾𝑃𝑖−1	PROPN
cet-3943	82	12	+	+	NUM
cet-3943	82	13	𝑇𝐾	𝑇𝐾	PROPN
cet-3943	82	14	−	−	NOUN
cet-3943	82	15	𝑃𝑖−1′‖	𝑃𝑖−1′‖	NOUN
cet-3943	82	16	2𝑁	2𝑁	NOUN
cet-3943	82	17	𝑖=1	𝑖=1	PROPN
cet-3943	82	18	)	)	PUNCT
cet-3943	82	19	(	(	PUNCT
cet-3943	82	20	5	5	X
cet-3943	82	21	)	)	PUNCT
cet-3943	82	22	where	where	SCONJ
cet-3943	82	23	τ	τ	PROPN
cet-3943	82	24	is	be	AUX
cet-3943	82	25	a	a	DET
cet-3943	82	26	given	give	VERB
cet-3943	82	27	threshold	threshold	NOUN
cet-3943	82	28	based	base	VERB
cet-3943	82	29	on	on	ADP
cet-3943	82	30	experience	experience	NOUN
cet-3943	82	31	.	.	PUNCT
cet-3943	83	1	4	4	X
cet-3943	83	2	.	.	X
cet-3943	83	3	simulation	simulation	NOUN
cet-3943	83	4	and	and	CCONJ
cet-3943	83	5	analysis	analysis	NOUN
cet-3943	83	6	two	two	NUM
cet-3943	83	7	group	group	NOUN
cet-3943	83	8	point	point	NOUN
cet-3943	83	9	clouds	cloud	NOUN
cet-3943	83	10	of	of	ADP
cet-3943	83	11	free	free	ADJ
cet-3943	83	12	-	-	PUNCT
cet-3943	83	13	form	form	NOUN
cet-3943	83	14	surface	surface	NOUN
cet-3943	83	15	(	(	PUNCT
cet-3943	83	16	where	where	SCONJ
cet-3943	83	17	the	the	DET
cet-3943	83	18	point	point	NOUN
cet-3943	83	19	number	number	NOUN
cet-3943	83	20	of	of	ADP
cet-3943	83	21	reference	reference	NOUN
cet-3943	83	22	point	point	NOUN
cet-3943	83	23	cloud	cloud	NOUN
cet-3943	83	24	is	be	AUX
cet-3943	83	25	more	more	ADJ
cet-3943	83	26	than	than	ADP
cet-3943	83	27	that	that	PRON
cet-3943	83	28	of	of	ADP
cet-3943	83	29	target	target	NOUN
cet-3943	83	30	number	number	NOUN
cet-3943	83	31	)	)	PUNCT
cet-3943	83	32	were	be	AUX
cet-3943	83	33	used	use	VERB
cet-3943	83	34	for	for	ADP
cet-3943	83	35	simulation	simulation	NOUN
cet-3943	83	36	in	in	ADP
cet-3943	83	37	the	the	DET
cet-3943	83	38	matlab	matlab	PROPN
cet-3943	83	39	software	software	NOUN
cet-3943	83	40	with	with	ADP
cet-3943	83	41	intel	intel	PROPN
cet-3943	83	42	pentium	pentium	NOUN
cet-3943	83	43	dual	dual	ADJ
cet-3943	83	44	cpu	cpu	NOUN
cet-3943	83	45	and	and	CCONJ
cet-3943	83	46	2	2	NUM
cet-3943	83	47	gb	gb	NOUN
cet-3943	83	48	memory	memory	NOUN
cet-3943	83	49	.	.	PUNCT
cet-3943	84	1	τ	τ	PROPN
cet-3943	84	2	and	and	CCONJ
cet-3943	84	3	δ	δ	PROPN
cet-3943	84	4	were	be	AUX
cet-3943	84	5	set	set	VERB
cet-3943	84	6	as	as	ADP
cet-3943	84	7	0.1	0.1	NUM
cet-3943	84	8	and	and	CCONJ
cet-3943	84	9	0.5	0.5	NUM
cet-3943	84	10	respectively	respectively	ADV
cet-3943	84	11	based	base	VERB
cet-3943	84	12	on	on	ADP
cet-3943	84	13	empirical	empirical	ADJ
cet-3943	84	14	experience	experience	NOUN
cet-3943	84	15	.	.	PUNCT
cet-3943	85	1	figure	figure	VERB
cet-3943	85	2	6	6	NUM
cet-3943	85	3	-	-	SYM
cet-3943	85	4	8	8	NUM
cet-3943	85	5	shows	show	VERB
cet-3943	85	6	the	the	DET
cet-3943	85	7	results	result	NOUN
cet-3943	85	8	of	of	ADP
cet-3943	85	9	the	the	DET
cet-3943	85	10	main	main	ADJ
cet-3943	85	11	registration	registration	NOUN
cet-3943	85	12	steps	step	NOUN
cet-3943	85	13	.	.	PUNCT
cet-3943	86	1	figure	figure	VERB
cet-3943	86	2	4	4	NUM
cet-3943	86	3	shows	show	VERB
cet-3943	86	4	the	the	DET
cet-3943	86	5	best	good	ADJ
cet-3943	86	6	co	co	ADJ
cet-3943	86	7	-	-	ADJ
cet-3943	86	8	planar	planar	ADJ
cet-3943	86	9	4	4	NUM
cet-3943	86	10	-	-	PUNCT
cet-3943	86	11	points	point	NOUN
cet-3943	86	12	sets	set	NOUN
cet-3943	86	13	found	find	VERB
cet-3943	86	14	in	in	ADP
cet-3943	86	15	the	the	DET
cet-3943	86	16	two	two	NUM
cet-3943	86	17	free	free	ADJ
cet-3943	86	18	-	-	PUNCT
cet-3943	86	19	form	form	NOUN
cet-3943	86	20	surfaces	surface	NOUN
cet-3943	86	21	with	with	ADP
cet-3943	86	22	ransac	ransac	NOUN
cet-3943	86	23	algorithm	algorithm	NOUN
cet-3943	86	24	for	for	ADP
cet-3943	86	25	preliminary	preliminary	ADJ
cet-3943	86	26	registration	registration	NOUN
cet-3943	86	27	.	.	PUNCT
cet-3943	87	1	the	the	DET
cet-3943	87	2	rigid	rigid	ADJ
cet-3943	87	3	matrixes	matrix	NOUN
cet-3943	87	4	were	be	AUX
cet-3943	87	5	finally	finally	ADV
cet-3943	87	6	calculated	calculate	VERB
cet-3943	87	7	based	base	VERB
cet-3943	87	8	on	on	ADP
cet-3943	87	9	these	these	DET
cet-3943	87	10	two	two	NUM
cet-3943	87	11	sets	set	NOUN
cet-3943	87	12	.	.	PUNCT
cet-3943	88	1	and	and	CCONJ
cet-3943	88	2	the	the	DET
cet-3943	88	3	preliminary	preliminary	ADJ
cet-3943	88	4	registration	registration	NOUN
cet-3943	88	5	results	result	NOUN
cet-3943	88	6	conducted	conduct	VERB
cet-3943	88	7	using	use	VERB
cet-3943	88	8	these	these	DET
cet-3943	88	9	matrixes	matrix	NOUN
cet-3943	88	10	is	be	AUX
cet-3943	88	11	displayed	display	VERB
cet-3943	88	12	in	in	ADP
cet-3943	88	13	figure	figure	NOUN
cet-3943	88	14	5	5	NUM
cet-3943	88	15	.	.	PUNCT
cet-3943	88	16	as	as	SCONJ
cet-3943	88	17	indicated	indicate	VERB
cet-3943	88	18	in	in	ADP
cet-3943	88	19	figure	figure	NOUN
cet-3943	88	20	5	5	NUM
cet-3943	88	21	,	,	PUNCT
cet-3943	88	22	the	the	DET
cet-3943	88	23	ransac	ransac	NOUN
cet-3943	88	24	algorithm	algorithm	NOUN
cet-3943	88	25	based	base	VERB
cet-3943	88	26	on	on	ADP
cet-3943	88	27	co	co	VERB
cet-3943	88	28	-	-	ADJ
cet-3943	88	29	planar	planar	ADJ
cet-3943	88	30	4	4	NUM
cet-3943	88	31	-	-	PUNCT
cet-3943	88	32	points	point	NOUN
cet-3943	88	33	proposed	propose	VERB
cet-3943	88	34	for	for	ADP
cet-3943	88	35	preliminary	preliminary	ADJ
cet-3943	88	36	registration	registration	NOUN
cet-3943	88	37	brought	bring	VERB
cet-3943	88	38	the	the	DET
cet-3943	88	39	majority	majority	NOUN
cet-3943	88	40	of	of	ADP
cet-3943	88	41	the	the	DET
cet-3943	88	42	point	point	NOUN
cet-3943	88	43	data	datum	NOUN
cet-3943	88	44	close	close	ADV
cet-3943	88	45	to	to	ADP
cet-3943	88	46	the	the	DET
cet-3943	88	47	registration	registration	NOUN
cet-3943	88	48	requirements	requirement	NOUN
cet-3943	88	49	,	,	PUNCT
cet-3943	88	50	but	but	CCONJ
cet-3943	88	51	the	the	DET
cet-3943	88	52	fine	fine	ADJ
cet-3943	88	53	registration	registration	NOUN
cet-3943	88	54	is	be	AUX
cet-3943	88	55	still	still	ADV
cet-3943	88	56	in	in	ADP
cet-3943	88	57	needs	need	NOUN
cet-3943	88	58	.	.	PUNCT
cet-3943	89	1	the	the	DET
cet-3943	89	2	accurate	accurate	ADJ
cet-3943	89	3	registration	registration	NOUN
cet-3943	89	4	took	take	VERB
cet-3943	89	5	the	the	DET
cet-3943	89	6	preliminary	preliminary	ADJ
cet-3943	89	7	registration	registration	NOUN
cet-3943	89	8	results	result	NOUN
cet-3943	89	9	as	as	ADP
cet-3943	89	10	the	the	DET
cet-3943	89	11	new	new	ADJ
cet-3943	89	12	initial	initial	ADJ
cet-3943	89	13	positions	position	NOUN
cet-3943	89	14	.	.	PUNCT
cet-3943	90	1	and	and	CCONJ
cet-3943	90	2	the	the	DET
cet-3943	90	3	results	result	NOUN
cet-3943	90	4	which	which	PRON
cet-3943	90	5	fundamentally	fundamentally	ADV
cet-3943	90	6	satisfied	satisfy	VERB
cet-3943	90	7	the	the	DET
cet-3943	90	8	registration	registration	NOUN
cet-3943	90	9	accuracy	accuracy	NOUN
cet-3943	90	10	are	be	AUX
cet-3943	90	11	shown	show	VERB
cet-3943	90	12	in	in	ADP
cet-3943	90	13	figure	figure	NOUN
cet-3943	90	14	6	6	NUM
cet-3943	90	15	.	.	PUNCT
cet-3943	91	1	in	in	ADP
cet-3943	91	2	addition	addition	NOUN
cet-3943	91	3	,	,	PUNCT
cet-3943	91	4	comparisons	comparison	NOUN
cet-3943	91	5	were	be	AUX
cet-3943	91	6	made	make	VERB
cet-3943	91	7	in	in	ADP
cet-3943	91	8	this	this	DET
cet-3943	91	9	paper	paper	NOUN
cet-3943	91	10	among	among	ADP
cet-3943	91	11	“	"	PUNCT
cet-3943	91	12	the	the	DET
cet-3943	91	13	traditional	traditional	ADJ
cet-3943	91	14	preliminary	preliminary	ADJ
cet-3943	91	15	registration	registration	NOUN
cet-3943	91	16	algorithm	algorithm	NOUN
cet-3943	91	17	”	"	PUNCT
cet-3943	91	18	based	base	VERB
cet-3943	91	19	on	on	ADP
cet-3943	91	20	features	feature	NOUN
cet-3943	91	21	(	(	PUNCT
cet-3943	91	22	ko	ko	PROPN
cet-3943	91	23	and	and	CCONJ
cet-3943	91	24	maekawa	maekawa	PROPN
cet-3943	91	25	,	,	PUNCT
cet-3943	91	26	2003	2003	NUM
cet-3943	91	27	)	)	PUNCT
cet-3943	91	28	,	,	PUNCT
cet-3943	91	29	“	"	PUNCT
cet-3943	91	30	ransac	ransac	NOUN
cet-3943	91	31	algorithm	algorithm	NOUN
cet-3943	91	32	based	base	VERB
cet-3943	91	33	on	on	ADP
cet-3943	91	34	co	co	VERB
cet-3943	91	35	-	-	ADJ
cet-3943	91	36	planar	planar	ADJ
cet-3943	91	37	4	4	NUM
cet-3943	91	38	-	-	PUNCT
cet-3943	91	39	points	point	NOUN
cet-3943	91	40	”	"	PUNCT
cet-3943	91	41	proposed	propose	VERB
cet-3943	91	42	for	for	ADP
cet-3943	91	43	preliminary	preliminary	ADJ
cet-3943	91	44	registration	registration	NOUN
cet-3943	91	45	by	by	ADP
cet-3943	91	46	this	this	DET
cet-3943	91	47	study	study	NOUN
cet-3943	91	48	,	,	PUNCT
cet-3943	91	49	“	"	PUNCT
cet-3943	91	50	the	the	DET
cet-3943	91	51	traditional	traditional	ADJ
cet-3943	91	52	preliminary	preliminary	ADJ
cet-3943	91	53	registration	registration	NOUN
cet-3943	91	54	algorithm	algorithm	NOUN
cet-3943	91	55	+	+	CCONJ
cet-3943	91	56	the	the	DET
cet-3943	91	57	traditional	traditional	ADJ
cet-3943	91	58	icp	icp	PROPN
cet-3943	91	59	algorithm	algorithm	NOUN
cet-3943	91	60	”	"	PUNCT
cet-3943	91	61	and	and	CCONJ
cet-3943	91	62	“	"	PUNCT
cet-3943	91	63	ransac	ransac	NOUN
cet-3943	91	64	algorithm	algorithm	NOUN
cet-3943	91	65	based	base	VERB
cet-3943	91	66	on	on	ADP
cet-3943	91	67	co	co	VERB
cet-3943	91	68	-	-	ADJ
cet-3943	91	69	planar	planar	ADJ
cet-3943	91	70	4	4	NUM
cet-3943	91	71	-	-	PUNCT
cet-3943	91	72	points	point	NOUN
cet-3943	91	73	+	+	CCONJ
cet-3943	91	74	the	the	DET
cet-3943	91	75	improved	improved	ADJ
cet-3943	91	76	icp	icp	PROPN
cet-3943	91	77	algorithm	algorithm	PROPN
cet-3943	91	78	”	"	PUNCT
cet-3943	91	79	both	both	PRON
cet-3943	91	80	proposed	propose	VERB
cet-3943	91	81	by	by	ADP
cet-3943	91	82	the	the	DET
cet-3943	91	83	paper	paper	NOUN
cet-3943	91	84	.	.	PUNCT
cet-3943	92	1	table	table	NOUN
cet-3943	92	2	1	1	NUM
cet-3943	92	3	and	and	CCONJ
cet-3943	92	4	table	table	NOUN
cet-3943	92	5	2	2	NUM
cet-3943	92	6	list	list	NOUN
cet-3943	92	7	the	the	DET
cet-3943	92	8	registration	registration	NOUN
cet-3943	92	9	uptime	uptime	NOUN
cet-3943	92	10	and	and	CCONJ
cet-3943	92	11	errors	error	NOUN
cet-3943	92	12	of	of	ADP
cet-3943	92	13	with	with	ADP
cet-3943	92	14	these	these	DET
cet-3943	92	15	algorithms	algorithm	NOUN
cet-3943	92	16	.	.	PUNCT
cet-3943	93	1	as	as	SCONJ
cet-3943	93	2	shown	show	VERB
cet-3943	93	3	in	in	ADP
cet-3943	93	4	the	the	DET
cet-3943	93	5	tables	table	NOUN
cet-3943	93	6	,	,	PUNCT
cet-3943	93	7	there	there	PRON
cet-3943	93	8	are	be	VERB
cet-3943	93	9	almost	almost	ADV
cet-3943	93	10	no	no	PRON
cet-3943	93	11	difference	difference	NOUN
cet-3943	93	12	in	in	ADP
cet-3943	93	13	registration	registration	NOUN
cet-3943	93	14	accuracy	accuracy	NOUN
cet-3943	93	15	between	between	ADP
cet-3943	93	16	the	the	DET
cet-3943	93	17	traditional	traditional	ADJ
cet-3943	93	18	preliminary	preliminary	ADJ
cet-3943	93	19	registration	registration	NOUN
cet-3943	93	20	algorithm	algorithm	NOUN
cet-3943	93	21	and	and	CCONJ
cet-3943	93	22	the	the	DET
cet-3943	93	23	one	one	NOUN
cet-3943	93	24	proposed	propose	VERB
cet-3943	93	25	in	in	ADP
cet-3943	93	26	this	this	DET
cet-3943	93	27	paper	paper	NOUN
cet-3943	93	28	.	.	PUNCT
cet-3943	94	1	but	but	CCONJ
cet-3943	94	2	for	for	ADP
cet-3943	94	3	traditional	traditional	ADJ
cet-3943	94	4	one	one	NUM
cet-3943	94	5	,	,	PUNCT
cet-3943	94	6	it	it	PRON
cet-3943	94	7	is	be	AUX
cet-3943	94	8	more	more	ADJ
cet-3943	94	9	time	time	NOUN
cet-3943	94	10	-	-	PUNCT
cet-3943	94	11	consuming	consume	VERB
cet-3943	94	12	in	in	ADP
cet-3943	94	13	terms	term	NOUN
cet-3943	94	14	of	of	ADP
cet-3943	94	15	the	the	DET
cet-3943	94	16	calculation	calculation	NOUN
cet-3943	94	17	on	on	ADP
cet-3943	94	18	the	the	DET
cet-3943	94	19	curvature	curvature	NOUN
cet-3943	94	20	of	of	ADP
cet-3943	94	21	every	every	DET
cet-3943	94	22	point	point	NOUN
cet-3943	94	23	of	of	ADP
cet-3943	94	24	the	the	DET
cet-3943	94	25	point	point	NOUN
cet-3943	94	26	cloud	cloud	NOUN
cet-3943	94	27	.	.	PUNCT
cet-3943	95	1	it	it	PRON
cet-3943	95	2	is	be	AUX
cet-3943	95	3	also	also	ADV
cet-3943	95	4	shown	show	VERB
cet-3943	95	5	in	in	ADP
cet-3943	95	6	tables	table	NOUN
cet-3943	95	7	that	that	SCONJ
cet-3943	95	8	the	the	DET
cet-3943	95	9	registration	registration	NOUN
cet-3943	95	10	speed	speed	NOUN
cet-3943	95	11	and	and	CCONJ
cet-3943	95	12	accuracy	accuracy	NOUN
cet-3943	95	13	of	of	ADP
cet-3943	95	14	the	the	DET
cet-3943	95	15	improved	improved	ADJ
cet-3943	95	16	icp	icp	PROPN
cet-3943	95	17	algorithm	algorithm	NOUN
cet-3943	95	18	are	be	AUX
cet-3943	95	19	better	well	ADJ
cet-3943	95	20	than	than	ADP
cet-3943	95	21	the	the	DET
cet-3943	95	22	traditional	traditional	ADJ
cet-3943	95	23	one	one	NUM
cet-3943	95	24	.	.	PUNCT
cet-3943	96	1	472	472	NUM
cet-3943	96	2	http://dict.youdao.com/w/iteration/	http://dict.youdao.com/w/iteration/	NOUN
cet-3943	96	3	http://dict.youdao.com/w/iteration/	http://dict.youdao.com/w/iteration/	X
cet-3943	96	4	figure	figure	NOUN
cet-3943	96	5	4	4	NUM
cet-3943	96	6	:	:	PUNCT
cet-3943	96	7	co	co	VERB
cet-3943	96	8	-	-	ADJ
cet-3943	96	9	planar	planar	ADJ
cet-3943	96	10	4	4	NUM
cet-3943	96	11	-	-	PUNCT
cet-3943	96	12	points	point	NOUN
cet-3943	96	13	sets	set	NOUN
cet-3943	96	14	figure	figure	VERB
cet-3943	96	15	5	5	NUM
cet-3943	96	16	:	:	PUNCT
cet-3943	96	17	the	the	DET
cet-3943	96	18	results	result	NOUN
cet-3943	96	19	of	of	ADP
cet-3943	96	20	preliminary	preliminary	ADJ
cet-3943	96	21	registration	registration	NOUN
cet-3943	96	22	figure	figure	NOUN
cet-3943	96	23	6	6	NUM
cet-3943	96	24	:	:	PUNCT
cet-3943	96	25	the	the	DET
cet-3943	96	26	results	result	NOUN
cet-3943	96	27	of	of	ADP
cet-3943	96	28	accurate	accurate	ADJ
cet-3943	96	29	registration	registration	NOUN
cet-3943	96	30	table	table	NOUN
cet-3943	96	31	1	1	NUM
cet-3943	96	32	:	:	PUNCT
cet-3943	96	33	registration	registration	NOUN
cet-3943	96	34	comparison	comparison	NOUN
cet-3943	96	35	of	of	ADP
cet-3943	96	36	the	the	DET
cet-3943	96	37	first	first	ADJ
cet-3943	96	38	group	group	NOUN
cet-3943	96	39	of	of	ADP
cet-3943	96	40	point	point	NOUN
cet-3943	96	41	cloud	cloud	NOUN
cet-3943	96	42	surfaces	surface	NOUN
cet-3943	96	43	algorithm	algorithm	VERB
cet-3943	96	44	the	the	DET
cet-3943	96	45	point	point	NOUN
cet-3943	96	46	number	number	NOUN
cet-3943	96	47	of	of	ADP
cet-3943	96	48	q	q	NOUN
cet-3943	96	49	the	the	DET
cet-3943	96	50	point	point	NOUN
cet-3943	96	51	number	number	NOUN
cet-3943	96	52	of	of	ADP
cet-3943	96	53	p	p	NOUN
cet-3943	96	54	registration	registration	NOUN
cet-3943	96	55	uptime	uptime	NOUN
cet-3943	96	56	(	(	PUNCT
cet-3943	96	57	s	s	NOUN
cet-3943	96	58	)	)	PUNCT
cet-3943	96	59	registration	registration	NOUN
cet-3943	96	60	error	error	NOUN
cet-3943	96	61	(	(	PUNCT
cet-3943	96	62	mm	mm	INTJ
cet-3943	96	63	)	)	PUNCT
cet-3943	96	64	the	the	DET
cet-3943	96	65	traditional	traditional	ADJ
cet-3943	96	66	preliminary	preliminary	ADJ
cet-3943	96	67	registration	registration	NOUN
cet-3943	96	68	algorithm	algorithm	NOUN
cet-3943	96	69	21780	21780	NUM
cet-3943	96	70	18139	18139	NUM
cet-3943	97	1	95.284	95.284	NUM
cet-3943	97	2	0.0945	0.0945	NUM
cet-3943	97	3	ransac	ransac	NOUN
cet-3943	97	4	algorithm	algorithm	NOUN
cet-3943	97	5	based	base	VERB
cet-3943	97	6	on	on	ADP
cet-3943	97	7	co	co	VERB
cet-3943	97	8	-	-	ADJ
cet-3943	97	9	planar	planar	ADJ
cet-3943	97	10	4	4	NUM
cet-3943	97	11	-	-	PUNCT
cet-3943	97	12	points	point	NOUN
cet-3943	97	13	45.250	45.250	NUM
cet-3943	97	14	0.0820	0.0820	NUM
cet-3943	97	15	traditional	traditional	ADJ
cet-3943	97	16	preliminary	preliminary	ADJ
cet-3943	97	17	registration	registration	NOUN
cet-3943	97	18	algorithm	algorithm	NOUN
cet-3943	97	19	+	+	CCONJ
cet-3943	97	20	the	the	DET
cet-3943	97	21	traditional	traditional	ADJ
cet-3943	97	22	icp	icp	PROPN
cet-3943	97	23	algorithm	algorithm	NOUN
cet-3943	97	24	103.413	103.413	NUM
cet-3943	97	25	0.0078	0.0078	NUM
cet-3943	97	26	ransac	ransac	NOUN
cet-3943	97	27	algorithm	algorithm	NOUN
cet-3943	97	28	based	base	VERB
cet-3943	97	29	on	on	ADP
cet-3943	97	30	co	co	VERB
cet-3943	97	31	-	-	ADJ
cet-3943	97	32	planar	planar	ADJ
cet-3943	97	33	4	4	NUM
cet-3943	97	34	-	-	PUNCT
cet-3943	97	35	points	point	NOUN
cet-3943	97	36	+	+	CCONJ
cet-3943	97	37	the	the	DET
cet-3943	97	38	improved	improved	ADJ
cet-3943	97	39	icp	icp	NOUN
cet-3943	97	40	proposed	propose	VERB
cet-3943	97	41	60.128	60.128	NUM
cet-3943	97	42	0.0052	0.0052	NUM
cet-3943	97	43	table	table	NOUN
cet-3943	97	44	2	2	NUM
cet-3943	97	45	:	:	PUNCT
cet-3943	97	46	registration	registration	NOUN
cet-3943	97	47	comparison	comparison	NOUN
cet-3943	97	48	of	of	ADP
cet-3943	97	49	the	the	DET
cet-3943	97	50	second	second	ADJ
cet-3943	97	51	group	group	NOUN
cet-3943	97	52	of	of	ADP
cet-3943	97	53	point	point	NOUN
cet-3943	97	54	cloud	cloud	NOUN
cet-3943	97	55	surfaces	surface	NOUN
cet-3943	97	56	algorithm	algorithm	VERB
cet-3943	97	57	the	the	DET
cet-3943	97	58	point	point	NOUN
cet-3943	97	59	number	number	NOUN
cet-3943	97	60	of	of	ADP
cet-3943	97	61	q	q	NOUN
cet-3943	97	62	the	the	DET
cet-3943	97	63	point	point	NOUN
cet-3943	97	64	number	number	NOUN
cet-3943	97	65	of	of	ADP
cet-3943	97	66	p	p	NOUN
cet-3943	97	67	registration	registration	NOUN
cet-3943	97	68	uptime	uptime	NOUN
cet-3943	97	69	(	(	PUNCT
cet-3943	97	70	s	s	NOUN
cet-3943	97	71	)	)	PUNCT
cet-3943	97	72	registration	registration	NOUN
cet-3943	97	73	error	error	NOUN
cet-3943	97	74	(	(	PUNCT
cet-3943	97	75	mm	mm	INTJ
cet-3943	97	76	)	)	PUNCT
cet-3943	97	77	the	the	DET
cet-3943	97	78	traditional	traditional	ADJ
cet-3943	97	79	preliminary	preliminary	ADJ
cet-3943	97	80	registration	registration	NOUN
cet-3943	97	81	algorithm	algorithm	NOUN
cet-3943	97	82	205.613	205.613	NUM
cet-3943	97	83	0.0982	0.0982	NUM
cet-3943	97	84	ransac	ransac	NOUN
cet-3943	97	85	algorithm	algorithm	NOUN
cet-3943	97	86	based	base	VERB
cet-3943	97	87	on	on	ADP
cet-3943	97	88	co	co	VERB
cet-3943	97	89	-	-	ADJ
cet-3943	97	90	planar	planar	ADJ
cet-3943	97	91	4	4	NUM
cet-3943	97	92	-	-	PUNCT
cet-3943	97	93	points	point	NOUN
cet-3943	97	94	94.339	94.339	NUM
cet-3943	97	95	0.1056	0.1056	NUM
cet-3943	97	96	the	the	DET
cet-3943	97	97	traditional	traditional	ADJ
cet-3943	97	98	preliminary	preliminary	ADJ
cet-3943	97	99	registration	registration	NOUN
cet-3943	97	100	algorithm	algorithm	NOUN
cet-3943	97	101	+	+	CCONJ
cet-3943	97	102	the	the	DET
cet-3943	97	103	traditional	traditional	ADJ
cet-3943	97	104	icp	icp	PROPN
cet-3943	97	105	algorithm	algorithm	NOUN
cet-3943	97	106	82800	82800	NUM
cet-3943	97	107	36340	36340	NUM
cet-3943	97	108	476.912	476.912	NUM
cet-3943	97	109	0.0128	0.0128	NUM
cet-3943	97	110	ransac	ransac	NOUN
cet-3943	97	111	algorithm	algorithm	NOUN
cet-3943	97	112	based	base	VERB
cet-3943	97	113	on	on	ADP
cet-3943	97	114	co	co	VERB
cet-3943	97	115	-	-	ADJ
cet-3943	97	116	planar	planar	ADJ
cet-3943	97	117	4	4	NUM
cet-3943	97	118	-	-	PUNCT
cet-3943	97	119	points	point	NOUN
cet-3943	97	120	+	+	NOUN
cet-3943	97	121	the	the	DET
cet-3943	97	122	improved	improved	ADJ
cet-3943	97	123	icp	icp	NOUN
cet-3943	97	124	proposed	propose	VERB
cet-3943	97	125	by	by	ADP
cet-3943	97	126	the	the	DET
cet-3943	97	127	paper	paper	NOUN
cet-3943	97	128	228.108	228.108	NUM
cet-3943	97	129	0.0096	0.0096	NUM
cet-3943	97	130	5	5	NUM
cet-3943	97	131	.	.	PUNCT
cet-3943	97	132	conclusions	conclusion	NOUN
cet-3943	97	133	a	a	DET
cet-3943	97	134	ransac	ransac	NOUN
cet-3943	97	135	algorithm	algorithm	NOUN
cet-3943	97	136	based	base	VERB
cet-3943	97	137	on	on	ADP
cet-3943	97	138	co	co	VERB
cet-3943	97	139	-	-	ADJ
cet-3943	97	140	planar	planar	ADJ
cet-3943	97	141	4	4	NUM
cet-3943	97	142	-	-	PUNCT
cet-3943	97	143	points	point	NOUN
cet-3943	97	144	sets	set	NOUN
cet-3943	97	145	was	be	AUX
cet-3943	97	146	proposed	propose	VERB
cet-3943	97	147	which	which	PRON
cet-3943	97	148	could	could	AUX
cet-3943	97	149	be	be	AUX
cet-3943	97	150	employed	employ	VERB
cet-3943	97	151	before	before	ADP
cet-3943	97	152	accurate	accurate	ADJ
cet-3943	97	153	registration	registration	NOUN
cet-3943	97	154	to	to	PART
cet-3943	97	155	provide	provide	VERB
cet-3943	97	156	smaller	small	ADJ
cet-3943	97	157	registration	registration	NOUN
cet-3943	97	158	error	error	NOUN
cet-3943	97	159	and	and	CCONJ
cet-3943	97	160	accelerate	accelerate	VERB
cet-3943	97	161	the	the	DET
cet-3943	97	162	convergence	convergence	NOUN
cet-3943	97	163	speed	speed	NOUN
cet-3943	97	164	.	.	PUNCT
cet-3943	98	1	the	the	DET
cet-3943	98	2	473	473	NUM
cet-3943	98	3	simulation	simulation	NOUN
cet-3943	98	4	results	result	NOUN
cet-3943	98	5	is	be	AUX
cet-3943	98	6	in	in	ADP
cet-3943	98	7	good	good	ADJ
cet-3943	98	8	agreement	agreement	NOUN
cet-3943	98	9	with	with	ADP
cet-3943	98	10	the	the	DET
cet-3943	98	11	work	work	NOUN
cet-3943	98	12	(	(	PUNCT
cet-3943	98	13	papazov	papazov	NOUN
cet-3943	98	14	and	and	CCONJ
cet-3943	98	15	burschka	burschka	NOUN
cet-3943	98	16	,	,	PUNCT
cet-3943	98	17	2010	2010	NUM
cet-3943	98	18	)	)	PUNCT
cet-3943	98	19	.	.	PUNCT
cet-3943	99	1	it	it	PRON
cet-3943	99	2	was	be	AUX
cet-3943	99	3	established	establish	VERB
cet-3943	99	4	that	that	DET
cet-3943	99	5	registration	registration	NOUN
cet-3943	99	6	algorithm	algorithm	NOUN
cet-3943	99	7	based	base	VERB
cet-3943	99	8	on	on	ADP
cet-3943	99	9	ransac	ransac	NOUN
cet-3943	99	10	framework	framework	NOUN
cet-3943	99	11	has	have	VERB
cet-3943	99	12	better	well	ADJ
cet-3943	99	13	robustness	robustness	NOUN
cet-3943	99	14	against	against	ADP
cet-3943	99	15	noise	noise	NOUN
cet-3943	99	16	,	,	PUNCT
cet-3943	99	17	and	and	CCONJ
cet-3943	99	18	could	could	AUX
cet-3943	99	19	make	make	VERB
cet-3943	99	20	good	good	ADJ
cet-3943	99	21	registration	registration	NOUN
cet-3943	99	22	accuracy	accuracy	NOUN
cet-3943	99	23	.	.	PUNCT
cet-3943	100	1	compared	compare	VERB
cet-3943	100	2	with	with	ADP
cet-3943	100	3	the	the	DET
cet-3943	100	4	traditional	traditional	ADJ
cet-3943	100	5	icp	icp	PROPN
cet-3943	100	6	algorithm	algorithm	NOUN
cet-3943	100	7	,	,	PUNCT
cet-3943	100	8	the	the	DET
cet-3943	100	9	improved	improve	VERB
cet-3943	100	10	icp	icp	PROPN
cet-3943	100	11	algorithm	algorithm	NOUN
cet-3943	100	12	proposed	propose	VERB
cet-3943	100	13	by	by	ADP
cet-3943	100	14	the	the	DET
cet-3943	100	15	paper	paper	NOUN
cet-3943	100	16	not	not	PART
cet-3943	100	17	only	only	ADV
cet-3943	100	18	reduces	reduce	VERB
cet-3943	100	19	the	the	DET
cet-3943	100	20	registration	registration	NOUN
cet-3943	100	21	time	time	NOUN
cet-3943	100	22	which	which	PRON
cet-3943	100	23	is	be	AUX
cet-3943	100	24	important	important	ADJ
cet-3943	100	25	for	for	ADP
cet-3943	100	26	the	the	DET
cet-3943	100	27	application	application	NOUN
cet-3943	100	28	in	in	ADP
cet-3943	100	29	the	the	DET
cet-3943	100	30	production	production	NOUN
cet-3943	100	31	line	line	NOUN
cet-3943	100	32	,	,	PUNCT
cet-3943	100	33	but	but	CCONJ
cet-3943	100	34	also	also	ADV
cet-3943	100	35	improves	improve	VERB
cet-3943	100	36	the	the	DET
cet-3943	100	37	accuracy	accuracy	NOUN
cet-3943	100	38	of	of	ADP
cet-3943	100	39	registration	registration	NOUN
cet-3943	100	40	as	as	ADV
cet-3943	100	41	well	well	ADV
cet-3943	100	42	.	.	PUNCT
cet-3943	101	1	the	the	DET
cet-3943	101	2	paper	paper	NOUN
cet-3943	101	3	improved	improve	VERB
cet-3943	101	4	the	the	DET
cet-3943	101	5	key	key	ADJ
cet-3943	101	6	conditions	condition	NOUN
cet-3943	101	7	about	about	ADP
cet-3943	101	8	the	the	DET
cet-3943	101	9	study	study	NOUN
cet-3943	101	10	(	(	PUNCT
cet-3943	101	11	lu	lu	PROPN
cet-3943	101	12	and	and	CCONJ
cet-3943	101	13	zheng	zheng	PROPN
cet-3943	101	14	,	,	PUNCT
cet-3943	101	15	2015	2015	NUM
cet-3943	101	16	)	)	PUNCT
cet-3943	101	17	in	in	ADP
cet-3943	101	18	detail	detail	NOUN
cet-3943	101	19	,	,	PUNCT
cet-3943	101	20	did	do	VERB
cet-3943	101	21	new	new	ADJ
cet-3943	101	22	simulations	simulation	NOUN
cet-3943	101	23	and	and	CCONJ
cet-3943	101	24	got	get	VERB
cet-3943	101	25	more	more	ADV
cet-3943	101	26	satisfying	satisfying	ADJ
cet-3943	101	27	results	result	NOUN
cet-3943	101	28	.	.	PUNCT
cet-3943	102	1	however	however	ADV
cet-3943	102	2	,	,	PUNCT
cet-3943	102	3	in	in	ADP
cet-3943	102	4	order	order	NOUN
cet-3943	102	5	to	to	PART
cet-3943	102	6	provide	provide	VERB
cet-3943	102	7	a	a	DET
cet-3943	102	8	reliable	reliable	ADJ
cet-3943	102	9	position	position	NOUN
cet-3943	102	10	and	and	CCONJ
cet-3943	102	11	orientation	orientation	NOUN
cet-3943	102	12	reference	reference	NOUN
cet-3943	102	13	for	for	ADP
cet-3943	102	14	flow	flow	NOUN
cet-3943	102	15	-	-	PUNCT
cet-3943	102	16	line	line	NOUN
cet-3943	102	17	production	production	NOUN
cet-3943	102	18	,	,	PUNCT
cet-3943	102	19	the	the	DET
cet-3943	102	20	application	application	NOUN
cet-3943	102	21	system	system	NOUN
cet-3943	102	22	and	and	CCONJ
cet-3943	102	23	the	the	DET
cet-3943	102	24	improvement	improvement	NOUN
cet-3943	102	25	of	of	ADP
cet-3943	102	26	the	the	DET
cet-3943	102	27	algorithm	algorithm	NOUN
cet-3943	102	28	require	require	VERB
cet-3943	102	29	further	further	ADJ
cet-3943	102	30	study	study	NOUN
cet-3943	102	31	.	.	PUNCT
cet-3943	103	1	acknowledgments	acknowledgment	NOUN
cet-3943	103	2	we	we	PRON
cet-3943	103	3	thank	thank	VERB
cet-3943	103	4	the	the	DET
cet-3943	103	5	support	support	NOUN
cet-3943	103	6	from	from	ADP
cet-3943	103	7	the	the	DET
cet-3943	103	8	graduate	graduate	NOUN
cet-3943	103	9	student	student	NOUN
cet-3943	103	10	innovation	innovation	NOUN
cet-3943	103	11	project	project	NOUN
cet-3943	103	12	for	for	ADP
cet-3943	103	13	common	common	ADJ
cet-3943	103	14	college	college	NOUN
cet-3943	103	15	in	in	ADP
cet-3943	103	16	jiangsu	jiangsu	PROPN
cet-3943	103	17	province	province	PROPN
cet-3943	103	18	,	,	PUNCT
cet-3943	103	19	china（no.cxlx11	china（no.cxlx11	NOUN
cet-3943	103	20	-	-	PUNCT
cet-3943	103	21	0566	0566	NUM
cet-3943	103	22	)	)	PUNCT
cet-3943	103	23	.	.	PUNCT
cet-3943	104	1	references	reference	NOUN
cet-3943	104	2	besl	besl	NOUN
cet-3943	104	3	,	,	PUNCT
cet-3943	104	4	p.	p.	PROPN
cet-3943	104	5	j.	j.	PROPN
cet-3943	104	6	,	,	PUNCT
cet-3943	104	7	mckay	mckay	PROPN
cet-3943	104	8	,	,	PUNCT
cet-3943	104	9	n.	n.	PROPN
cet-3943	104	10	d.	d.	PROPN
cet-3943	104	11	,	,	PUNCT
cet-3943	104	12	1992	1992	NUM
cet-3943	104	13	,	,	PUNCT
cet-3943	104	14	a	a	DET
cet-3943	104	15	method	method	NOUN
cet-3943	104	16	for	for	ADP
cet-3943	104	17	registration	registration	NOUN
cet-3943	104	18	of	of	ADP
cet-3943	104	19	3	3	NUM
cet-3943	104	20	-	-	PUNCT
cet-3943	104	21	d	d	NOUN
cet-3943	104	22	shapes	shape	NOUN
cet-3943	104	23	,	,	PUNCT
cet-3943	104	24	ieee	ieee	NOUN
cet-3943	104	25	transactions	transaction	NOUN
cet-3943	104	26	on	on	ADP
cet-3943	104	27	pattern	pattern	NOUN
cet-3943	104	28	analysis	analysis	NOUN
cet-3943	104	29	&	&	CCONJ
cet-3943	104	30	machine	machine	NOUN
cet-3943	104	31	intelligence	intelligence	NOUN
cet-3943	104	32	,	,	PUNCT
cet-3943	104	33	14(2	14(2	NUM
cet-3943	104	34	)	)	PUNCT
cet-3943	104	35	,	,	PUNCT
cet-3943	104	36	pp	pp	ADP
cet-3943	104	37	.	.	PUNCT
cet-3943	105	1	239	239	NUM
cet-3943	105	2	-	-	SYM
cet-3943	105	3	256	256	NUM
cet-3943	105	4	,	,	PUNCT
cet-3943	105	5	doi	doi	NOUN
cet-3943	105	6	:	:	PUNCT
cet-3943	105	7	10.1109/34.121791	10.1109/34.121791	NUM
cet-3943	105	8	chen	chen	PROPN
cet-3943	105	9	,	,	PUNCT
cet-3943	105	10	c.	c.	PROPN
cet-3943	105	11	s.	s.	PROPN
cet-3943	105	12	,	,	PUNCT
cet-3943	105	13	hung	hung	PROPN
cet-3943	105	14	,	,	PUNCT
cet-3943	105	15	y.	y.	PROPN
cet-3943	105	16	p.	p.	PROPN
cet-3943	105	17	,	,	PUNCT
cet-3943	106	1	cheng	cheng	PROPN
cet-3943	106	2	,	,	PUNCT
cet-3943	106	3	j.	j.	PROPN
cet-3943	106	4	b.	b.	PROPN
cet-3943	106	5	,	,	PUNCT
cet-3943	106	6	1999	1999	NUM
cet-3943	106	7	,	,	PUNCT
cet-3943	106	8	ransac	ransac	NOUN
cet-3943	106	9	-	-	PUNCT
cet-3943	106	10	based	base	VERB
cet-3943	106	11	darces	darce	NOUN
cet-3943	106	12	:	:	PUNCT
cet-3943	106	13	a	a	DET
cet-3943	106	14	new	new	ADJ
cet-3943	106	15	approach	approach	NOUN
cet-3943	106	16	to	to	ADP
cet-3943	106	17	fast	fast	VERB
cet-3943	106	18	automatic	automatic	ADJ
cet-3943	106	19	registration	registration	NOUN
cet-3943	106	20	of	of	ADP
cet-3943	106	21	partially	partially	ADV
cet-3943	106	22	overlapping	overlap	VERB
cet-3943	106	23	range	range	NOUN
cet-3943	106	24	images	image	NOUN
cet-3943	106	25	,	,	PUNCT
cet-3943	106	26	ieee	ieee	NOUN
cet-3943	106	27	transactions	transaction	NOUN
cet-3943	106	28	on	on	ADP
cet-3943	106	29	pattern	pattern	NOUN
cet-3943	106	30	analysis	analysis	NOUN
cet-3943	106	31	&	&	CCONJ
cet-3943	106	32	machine	machine	NOUN
cet-3943	106	33	intelligence	intelligence	NOUN
cet-3943	106	34	,	,	PUNCT
cet-3943	106	35	21(11	21(11	NUM
cet-3943	106	36	)	)	PUNCT
cet-3943	106	37	,	,	PUNCT
cet-3943	106	38	pp	pp	ADP
cet-3943	106	39	.	.	PUNCT
cet-3943	106	40	1229	1229	NUM
cet-3943	106	41	-	-	SYM
cet-3943	106	42	1234	1234	NUM
cet-3943	106	43	,	,	PUNCT
cet-3943	106	44	doi	doi	NOUN
cet-3943	106	45	:	:	PUNCT
cet-3943	106	46	10.1109/34.809117	10.1109/34.809117	NUM
cet-3943	106	47	fischler	fischler	NOUN
cet-3943	106	48	,	,	PUNCT
cet-3943	106	49	m.	m.	NOUN
cet-3943	106	50	a.	a.	PROPN
cet-3943	106	51	,	,	PUNCT
cet-3943	106	52	bolles	bolles	PROPN
cet-3943	106	53	,	,	PUNCT
cet-3943	106	54	r.	r.	PROPN
cet-3943	106	55	c.	c.	PROPN
cet-3943	106	56	,	,	PUNCT
cet-3943	106	57	1987	1987	NUM
cet-3943	106	58	,	,	PUNCT
cet-3943	106	59	random	random	ADJ
cet-3943	106	60	sample	sample	NOUN
cet-3943	106	61	consensus	consensus	NOUN
cet-3943	106	62	:	:	PUNCT
cet-3943	106	63	a	a	DET
cet-3943	106	64	paradigm	paradigm	NOUN
cet-3943	106	65	for	for	ADP
cet-3943	106	66	model	model	NOUN
cet-3943	106	67	fitting	fit	VERB
cet-3943	106	68	with	with	ADP
cet-3943	106	69	applications	application	NOUN
cet-3943	106	70	to	to	PART
cet-3943	106	71	image	image	VERB
cet-3943	106	72	analysis	analysis	NOUN
cet-3943	106	73	and	and	CCONJ
cet-3943	106	74	automated	automate	VERB
cet-3943	106	75	cartography	cartography	NOUN
cet-3943	106	76	,	,	PUNCT
cet-3943	106	77	communications	communication	NOUN
cet-3943	106	78	of	of	ADP
cet-3943	106	79	the	the	DET
cet-3943	106	80	acm	acm	NOUN
cet-3943	106	81	,	,	PUNCT
cet-3943	106	82	24(6	24(6	NUM
cet-3943	106	83	)	)	PUNCT
cet-3943	106	84	,	,	PUNCT
cet-3943	106	85	pp	pp	ADP
cet-3943	106	86	.	.	PUNCT
cet-3943	106	87	381395	381395	NUM
cet-3943	106	88	,	,	PUNCT
cet-3943	106	89	doi:10.1016	doi:10.1016	PROPN
cet-3943	106	90	/	/	SYM
cet-3943	106	91	b978	b978	PROPN
cet-3943	106	92	-	-	PUNCT
cet-3943	106	93	0	0	NUM
cet-3943	106	94	-	-	PUNCT
cet-3943	106	95	08	08	NUM
cet-3943	106	96	-	-	PUNCT
cet-3943	106	97	051581	051581	NUM
cet-3943	106	98	-	-	PUNCT
cet-3943	106	99	6.50070	6.50070	NUM
cet-3943	106	100	-	-	SYM
cet-3943	106	101	2	2	NUM
cet-3943	106	102	ko	ko	NOUN
cet-3943	106	103	,	,	PUNCT
cet-3943	106	104	k.	k.	PROPN
cet-3943	106	105	h.	h.	PROPN
cet-3943	106	106	,	,	PUNCT
cet-3943	106	107	maekawa	maekawa	PROPN
cet-3943	106	108	,	,	PUNCT
cet-3943	106	109	t.	t.	PROPN
cet-3943	106	110	,	,	PUNCT
cet-3943	106	111	patrikalakis	patrikalakis	PROPN
cet-3943	106	112	,	,	PUNCT
cet-3943	106	113	n.	n.	NOUN
cet-3943	106	114	m.	m.	NOUN
cet-3943	106	115	,	,	PUNCT
cet-3943	106	116	2003	2003	NUM
cet-3943	106	117	,	,	PUNCT
cet-3943	106	118	an	an	DET
cet-3943	106	119	algorithm	algorithm	NOUN
cet-3943	106	120	for	for	ADP
cet-3943	106	121	optimal	optimal	ADJ
cet-3943	106	122	free	free	ADJ
cet-3943	106	123	-	-	PUNCT
cet-3943	106	124	form	form	NOUN
cet-3943	106	125	object	object	NOUN
cet-3943	106	126	matching	matching	NOUN
cet-3943	106	127	,	,	PUNCT
cet-3943	106	128	computer	computer	NOUN
cet-3943	106	129	-	-	PUNCT
cet-3943	106	130	aided	aid	VERB
cet-3943	106	131	design	design	NOUN
cet-3943	106	132	,	,	PUNCT
cet-3943	106	133	35(10	35(10	NUM
cet-3943	106	134	)	)	PUNCT
cet-3943	106	135	,	,	PUNCT
cet-3943	106	136	pp	pp	ADP
cet-3943	106	137	.	.	PUNCT
cet-3943	107	1	913	913	NUM
cet-3943	107	2	-	-	SYM
cet-3943	107	3	923	923	NUM
cet-3943	107	4	,	,	PUNCT
cet-3943	107	5	doi	doi	NOUN
cet-3943	107	6	:	:	PUNCT
cet-3943	107	7	10.1016	10.1016	NUM
cet-3943	107	8	/	/	SYM
cet-3943	107	9	s0010	s0010	PROPN
cet-3943	107	10	-	-	PUNCT
cet-3943	107	11	4485(02)00205	4485(02)00205	NOUN
cet-3943	107	12	-	-	SYM
cet-3943	107	13	1	1	NUM
cet-3943	107	14	lu	lu	PROPN
cet-3943	107	15	,	,	PUNCT
cet-3943	107	16	z.	z.	PROPN
cet-3943	107	17	p.	p.	PROPN
cet-3943	107	18	,	,	PUNCT
cet-3943	107	19	zheng	zheng	PROPN
cet-3943	107	20	,	,	PUNCT
cet-3943	107	21	h.	h.	PROPN
cet-3943	107	22	,	,	PUNCT
cet-3943	107	23	sha	sha	PROPN
cet-3943	107	24	,	,	PUNCT
cet-3943	107	25	c.	c.	PROPN
cet-3943	107	26	f.	f.	PROPN
cet-3943	107	27	,	,	PUNCT
cet-3943	107	28	li	li	PROPN
cet-3943	107	29	,	,	PUNCT
cet-3943	107	30	m.	m.	PROPN
cet-3943	107	31	z.	z.	PROPN
cet-3943	107	32	,	,	PUNCT
cet-3943	107	33	2015	2015	NUM
cet-3943	107	34	,	,	PUNCT
cet-3943	107	35	point	point	VERB
cet-3943	107	36	cloud	cloud	ADJ
cet-3943	107	37	registration	registration	NOUN
cet-3943	107	38	algorithm	algorithm	NOUN
cet-3943	107	39	based	base	VERB
cet-3943	107	40	on	on	ADP
cet-3943	107	41	free	free	ADJ
cet-3943	107	42	-	-	PUNCT
cet-3943	107	43	form	form	NOUN
cet-3943	107	44	surface	surface	NOUN
cet-3943	107	45	.	.	PUNCT
cet-3943	108	1	jiangsu	jiangsu	PROPN
cet-3943	108	2	daxue	daxue	PROPN
cet-3943	108	3	xuebao	xuebao	PROPN
cet-3943	108	4	,	,	PUNCT
cet-3943	108	5	36(3	36(3	NUM
cet-3943	108	6	)	)	PUNCT
cet-3943	108	7	,	,	PUNCT
cet-3943	108	8	pp	pp	ADP
cet-3943	108	9	.	.	PUNCT
cet-3943	109	1	319	319	NUM
cet-3943	109	2	-	-	SYM
cet-3943	109	3	323	323	NUM
cet-3943	109	4	,	,	PUNCT
cet-3943	109	5	doi	doi	NOUN
cet-3943	109	6	:	:	PUNCT
cet-3943	109	7	10.3969	10.3969	NUM
cet-3943	109	8	/	/	SYM
cet-3943	109	9	j.issn.1671	j.issn.1671	NOUN
cet-3943	109	10	-	-	PUNCT
cet-3943	109	11	7775.2015.03.013	7775.2015.03.013	PROPN
cet-3943	109	12	meng	meng	PROPN
cet-3943	109	13	,	,	PUNCT
cet-3943	109	14	y.	y.	PROPN
cet-3943	109	15	,	,	PUNCT
cet-3943	109	16	zhang	zhang	PROPN
cet-3943	109	17	,	,	PUNCT
cet-3943	109	18	h.	h.	PROPN
cet-3943	109	19	,	,	PUNCT
cet-3943	109	20	2011	2011	NUM
cet-3943	109	21	,	,	PUNCT
cet-3943	109	22	registration	registration	NOUN
cet-3943	109	23	of	of	ADP
cet-3943	109	24	point	point	NOUN
cet-3943	109	25	clouds	cloud	NOUN
cet-3943	109	26	using	use	VERB
cet-3943	109	27	sample	sample	NOUN
cet-3943	109	28	-	-	PUNCT
cet-3943	109	29	sphere	sphere	NOUN
cet-3943	109	30	and	and	CCONJ
cet-3943	109	31	adaptive	adaptive	ADJ
cet-3943	109	32	distance	distance	NOUN
cet-3943	109	33	restriction	restriction	NOUN
cet-3943	109	34	,	,	PUNCT
cet-3943	109	35	visual	visual	ADJ
cet-3943	109	36	computer	computer	NOUN
cet-3943	109	37	,	,	PUNCT
cet-3943	109	38	27(6	27(6	PROPN
cet-3943	109	39	-	-	SYM
cet-3943	109	40	8)	8)	NUM
cet-3943	109	41	,	,	PUNCT
cet-3943	109	42	543	543	NUM
cet-3943	109	43	-	-	SYM
cet-3943	109	44	553	553	NUM
cet-3943	109	45	,	,	PUNCT
cet-3943	109	46	doi	doi	NOUN
cet-3943	109	47	:	:	PUNCT
cet-3943	109	48	10.1007	10.1007	NUM
cet-3943	109	49	/	/	SYM
cet-3943	109	50	s00371	s00371	PROPN
cet-3943	109	51	-	-	PUNCT
cet-3943	109	52	011	011	NUM
cet-3943	109	53	-	-	PUNCT
cet-3943	109	54	0580	0580	NUM
cet-3943	109	55	-	-	PUNCT
cet-3943	109	56	0	0	NUM
cet-3943	109	57	papazov	papazov	PROPN
cet-3943	109	58	,	,	PUNCT
cet-3943	109	59	c.	c.	PROPN
cet-3943	109	60	,	,	PUNCT
cet-3943	109	61	burschka	burschka	PROPN
cet-3943	109	62	,	,	PUNCT
cet-3943	109	63	d.	d.	PROPN
cet-3943	109	64	,	,	PUNCT
cet-3943	109	65	2010	2010	NUM
cet-3943	109	66	,	,	PUNCT
cet-3943	109	67	an	an	DET
cet-3943	109	68	efficient	efficient	ADJ
cet-3943	109	69	ransac	ransac	NOUN
cet-3943	109	70	for	for	ADP
cet-3943	109	71	3d	3d	NUM
cet-3943	109	72	object	object	NOUN
cet-3943	109	73	recognition	recognition	NOUN
cet-3943	109	74	in	in	ADP
cet-3943	109	75	noisy	noisy	ADJ
cet-3943	109	76	and	and	CCONJ
cet-3943	109	77	occluded	occluded	ADJ
cet-3943	109	78	scenes	scene	NOUN
cet-3943	109	79	,	,	PUNCT
cet-3943	109	80	computer	computer	NOUN
cet-3943	109	81	vision	vision	NOUN
cet-3943	109	82	–	–	PUNCT
cet-3943	109	83	accv	accv	NOUN
cet-3943	109	84	2010	2010	NUM
cet-3943	109	85	,	,	PUNCT
cet-3943	109	86	springer	springer	NOUN
cet-3943	109	87	berlin	berlin	PROPN
cet-3943	109	88	heidelberg	heidelberg	PROPN
cet-3943	109	89	,	,	PUNCT
cet-3943	109	90	pp	pp	PROPN
cet-3943	109	91	.	.	PUNCT
cet-3943	110	1	135	135	NUM
cet-3943	110	2	-	-	SYM
cet-3943	110	3	148	148	NUM
cet-3943	110	4	,	,	PUNCT
cet-3943	110	5	doi	doi	NOUN
cet-3943	110	6	:	:	PUNCT
cet-3943	110	7	10.1007/978	10.1007/978	NUM
cet-3943	110	8	-	-	SYM
cet-3943	110	9	3642	3642	NUM
cet-3943	110	10	-	-	PUNCT
cet-3943	110	11	19315	19315	NUM
cet-3943	110	12	-	-	PUNCT
cet-3943	110	13	6_11	6_11	NUM
cet-3943	110	14	rusinkiewicz	rusinkiewicz	PROPN
cet-3943	110	15	s.	s.	PROPN
cet-3943	110	16	,	,	PUNCT
cet-3943	110	17	levoy	levoy	PROPN
cet-3943	110	18	m.	m.	PROPN
cet-3943	110	19	,	,	PUNCT
cet-3943	110	20	2001	2001	NUM
cet-3943	110	21	,	,	PUNCT
cet-3943	110	22	efficient	efficient	ADJ
cet-3943	110	23	variants	variant	NOUN
cet-3943	110	24	of	of	ADP
cet-3943	110	25	the	the	DET
cet-3943	110	26	icp	icp	PROPN
cet-3943	110	27	algorithm	algorithm	NOUN
cet-3943	110	28	,	,	PUNCT
cet-3943	110	29	international	international	ADJ
cet-3943	110	30	conference	conference	NOUN
cet-3943	110	31	on	on	ADP
cet-3943	110	32	3d	3d	NUM
cet-3943	110	33	digital	digital	ADJ
cet-3943	110	34	imaging	imaging	NOUN
cet-3943	110	35	and	and	CCONJ
cet-3943	110	36	modeling	modeling	NOUN
cet-3943	110	37	,	,	PUNCT
cet-3943	110	38	quebec	quebec	PROPN
cet-3943	110	39	city	city	PROPN
cet-3943	110	40	,	,	PUNCT
cet-3943	110	41	canada	canada	PROPN
cet-3943	110	42	,	,	PUNCT
cet-3943	110	43	1	1	NUM
cet-3943	110	44	,	,	PUNCT
cet-3943	110	45	pp	pp	ADJ
cet-3943	110	46	.	.	PUNCT
cet-3943	111	1	145	145	NUM
cet-3943	111	2	-	-	SYM
cet-3943	111	3	152	152	NUM
cet-3943	111	4	,	,	PUNCT
cet-3943	111	5	doi:10.1109	doi:10.1109	VERB
cet-3943	111	6	/	/	SYM
cet-3943	111	7	im.2001.924423	im.2001.924423	PROPN
cet-3943	111	8	senin	senin	PROPN
cet-3943	111	9	,	,	PUNCT
cet-3943	111	10	n.	n.	NOUN
cet-3943	111	11	,	,	PUNCT
cet-3943	111	12	colosimo	colosimo	NOUN
cet-3943	111	13	,	,	PUNCT
cet-3943	111	14	b.	b.	PROPN
cet-3943	111	15	m.	m.	PROPN
cet-3943	111	16	,	,	PUNCT
cet-3943	111	17	pacella	pacella	PROPN
cet-3943	111	18	,	,	PUNCT
cet-3943	111	19	m.	m.	NOUN
cet-3943	111	20	,	,	PUNCT
cet-3943	111	21	2013	2013	NUM
cet-3943	111	22	,	,	PUNCT
cet-3943	111	23	point	point	NOUN
cet-3943	111	24	set	set	VERB
cet-3943	111	25	augmentation	augmentation	NOUN
cet-3943	111	26	through	through	ADP
cet-3943	111	27	fitting	fit	VERB
cet-3943	111	28	for	for	ADP
cet-3943	111	29	enhanced	enhanced	ADJ
cet-3943	111	30	icp	icp	PROPN
cet-3943	111	31	registration	registration	NOUN
cet-3943	111	32	of	of	ADP
cet-3943	111	33	point	point	NOUN
cet-3943	111	34	clouds	cloud	NOUN
cet-3943	111	35	in	in	ADP
cet-3943	111	36	multisensor	multisensor	NOUN
cet-3943	111	37	coordinate	coordinate	NOUN
cet-3943	111	38	metrology	metrology	NOUN
cet-3943	111	39	,	,	PUNCT
cet-3943	111	40	robotics	robotic	NOUN
cet-3943	111	41	and	and	CCONJ
cet-3943	111	42	computer	computer	NOUN
cet-3943	111	43	-	-	PUNCT
cet-3943	111	44	integrated	integrate	VERB
cet-3943	111	45	manufacturing	manufacturing	NOUN
cet-3943	111	46	,	,	PUNCT
cet-3943	111	47	29(1	29(1	NUM
cet-3943	111	48	)	)	PUNCT
cet-3943	111	49	,	,	PUNCT
cet-3943	111	50	pp	pp	ADJ
cet-3943	111	51	.	.	PUNCT
cet-3943	112	1	39	39	NUM
cet-3943	112	2	-	-	SYM
cet-3943	112	3	52	52	NUM
cet-3943	112	4	.	.	PUNCT
cet-3943	113	1	doi	doi	NOUN
cet-3943	113	2	:	:	PUNCT
cet-3943	113	3	10.1016	10.1016	NUM
cet-3943	113	4	/	/	SYM
cet-3943	113	5	j.rcim.2012.07.003	j.rcim.2012.07.003	PROPN
cet-3943	113	6	sharp	sharp	NOUN
cet-3943	113	7	,	,	PUNCT
cet-3943	113	8	g.	g.	PROPN
cet-3943	113	9	c.	c.	PROPN
cet-3943	113	10	,	,	PUNCT
cet-3943	113	11	sang	sing	VERB
cet-3943	113	12	,	,	PUNCT
cet-3943	113	13	w.	w.	PROPN
cet-3943	113	14	l.	l.	PROPN
cet-3943	113	15	,	,	PUNCT
cet-3943	113	16	wehe	wehe	ADV
cet-3943	113	17	,	,	PUNCT
cet-3943	113	18	d.	d.	PROPN
cet-3943	113	19	k.	k.	PROPN
cet-3943	113	20	,	,	PUNCT
cet-3943	113	21	2002	2002	NUM
cet-3943	113	22	,	,	PUNCT
cet-3943	113	23	icp	icp	PROPN
cet-3943	113	24	registration	registration	NOUN
cet-3943	113	25	using	use	VERB
cet-3943	113	26	invariant	invariant	ADJ
cet-3943	113	27	features	feature	NOUN
cet-3943	113	28	,	,	PUNCT
cet-3943	113	29	ieee	ieee	NOUN
cet-3943	113	30	transactions	transaction	NOUN
cet-3943	113	31	on	on	ADP
cet-3943	113	32	pattern	pattern	NOUN
cet-3943	113	33	analysis	analysis	NOUN
cet-3943	113	34	&	&	CCONJ
cet-3943	113	35	machine	machine	NOUN
cet-3943	113	36	intelligence	intelligence	NOUN
cet-3943	113	37	,	,	PUNCT
cet-3943	113	38	24(1	24(1	NUM
cet-3943	113	39	)	)	PUNCT
cet-3943	113	40	,	,	PUNCT
cet-3943	113	41	90	90	NUM
cet-3943	113	42	-	-	SYM
cet-3943	113	43	102	102	NUM
cet-3943	113	44	,	,	PUNCT
cet-3943	113	45	doi:10.1109/34.982886	doi:10.1109/34.982886	PROPN
cet-3943	113	46	urfalıoḡlu	urfalıoḡlu	NOUN
cet-3943	113	47	,	,	PUNCT
cet-3943	113	48	o.	o.	PROPN
cet-3943	113	49	,	,	PUNCT
cet-3943	113	50	mikulastik	mikulastik	PROPN
cet-3943	113	51	,	,	PUNCT
cet-3943	113	52	p.	p.	NOUN
cet-3943	113	53	,	,	PUNCT
cet-3943	113	54	stegmann	stegmann	PROPN
cet-3943	113	55	,	,	PUNCT
cet-3943	113	56	i.	i.	NOUN
cet-3943	113	57	,	,	PUNCT
cet-3943	113	58	2006	2006	NUM
cet-3943	113	59	,	,	PUNCT
cet-3943	113	60	scale	scale	NOUN
cet-3943	113	61	invariant	invariant	ADJ
cet-3943	113	62	robust	robust	ADJ
cet-3943	113	63	registration	registration	NOUN
cet-3943	113	64	of	of	ADP
cet-3943	113	65	3d	3d	NUM
cet-3943	113	66	-	-	PUNCT
cet-3943	113	67	point	point	NOUN
cet-3943	113	68	data	datum	NOUN
cet-3943	113	69	and	and	CCONJ
cet-3943	113	70	a	a	DET
cet-3943	113	71	triangle	triangle	NOUN
cet-3943	113	72	mesh	mesh	NOUN
cet-3943	113	73	by	by	ADP
cet-3943	113	74	global	global	ADJ
cet-3943	113	75	optimization	optimization	NOUN
cet-3943	113	76	,	,	PUNCT
cet-3943	113	77	advanced	advanced	ADJ
cet-3943	113	78	concepts	concept	NOUN
cet-3943	113	79	for	for	ADP
cet-3943	113	80	intelligent	intelligent	ADJ
cet-3943	113	81	vision	vision	NOUN
cet-3943	113	82	systems	system	NOUN
cet-3943	113	83	,	,	PUNCT
cet-3943	113	84	springer	springer	NOUN
cet-3943	113	85	berlin	berlin	PROPN
cet-3943	113	86	heidelberg	heidelberg	PROPN
cet-3943	113	87	,	,	PUNCT
cet-3943	113	88	doi	doi	PROPN
cet-3943	113	89	:	:	PUNCT
cet-3943	113	90	10.1007/11864349_96	10.1007/11864349_96	NUM
cet-3943	113	91	wang	wang	PROPN
cet-3943	113	92	,	,	PUNCT
cet-3943	113	93	x.	x.	PROPN
cet-3943	113	94	,	,	PUNCT
cet-3943	113	95	zhang	zhang	PROPN
cet-3943	113	96	,	,	PUNCT
cet-3943	113	97	m.	m.	NOUN
cet-3943	113	98	m.	m.	PROPN
cet-3943	113	99	,	,	PUNCT
cet-3943	113	100	xiao	xiao	PROPN
cet-3943	113	101	,	,	PUNCT
cet-3943	113	102	y.	y.	PROPN
cet-3943	113	103	u.	u.	PROPN
cet-3943	113	104	,	,	PUNCT
cet-3943	113	105	zhang	zhang	PROPN
cet-3943	113	106	,	,	PUNCT
cet-3943	113	107	m.	m.	PROPN
cet-3943	113	108	c.	c.	PROPN
cet-3943	113	109	,	,	PUNCT
cet-3943	113	110	2012	2012	NUM
cet-3943	113	111	,	,	PUNCT
cet-3943	113	112	point	point	VERB
cet-3943	113	113	cloud	cloud	NOUN
cet-3943	113	114	registration	registration	NOUN
cet-3943	113	115	based	base	VERB
cet-3943	113	116	on	on	ADP
cet-3943	113	117	improved	improved	ADJ
cet-3943	113	118	iterative	iterative	NOUN
cet-3943	113	119	closest	close	ADJ
cet-3943	113	120	point	point	NOUN
cet-3943	113	121	method	method	NOUN
cet-3943	113	122	,	,	PUNCT
cet-3943	113	123	optics	optics	PROPN
cet-3943	113	124	&	&	CCONJ
cet-3943	113	125	precision	precision	PROPN
cet-3943	113	126	engineering	engineering	NOUN
cet-3943	113	127	,	,	PUNCT
cet-3943	113	128	20(9	20(9	NUM
cet-3943	113	129	)	)	PUNCT
cet-3943	113	130	,	,	PUNCT
cet-3943	113	131	2068	2068	NUM
cet-3943	113	132	-	-	SYM
cet-3943	113	133	2076	2076	NUM
cet-3943	113	134	,	,	PUNCT
cet-3943	113	135	doi	doi	NOUN
cet-3943	113	136	:	:	PUNCT
cet-3943	113	137	10.3788	10.3788	NUM
cet-3943	113	138	/	/	SYM
cet-3943	113	139	ope.20122009.2068	ope.20122009.2068	PROPN
cet-3943	113	140	xie	xie	PROPN
cet-3943	113	141	,	,	PUNCT
cet-3943	113	142	z.	z.	PROPN
cet-3943	113	143	x.	x.	PROPN
cet-3943	113	144	,	,	PUNCT
cet-3943	113	145	shang	shang	PROPN
cet-3943	113	146	,	,	PUNCT
cet-3943	113	147	x.	x.	PROPN
cet-3943	113	148	u.	u.	PROPN
cet-3943	113	149	,	,	PUNCT
cet-3943	113	150	2010	2010	NUM
cet-3943	113	151	,	,	PUNCT
cet-3943	113	152	a	a	DET
cet-3943	113	153	survey	survey	NOUN
cet-3943	113	154	on	on	ADP
cet-3943	113	155	the	the	DET
cet-3943	113	156	icp	icp	PROPN
cet-3943	113	157	algorithm	algorithm	NOUN
cet-3943	113	158	and	and	CCONJ
cet-3943	113	159	its	its	PRON
cet-3943	113	160	variants	variant	NOUN
cet-3943	113	161	in	in	ADP
cet-3943	113	162	registration	registration	NOUN
cet-3943	113	163	of	of	ADP
cet-3943	113	164	3d	3d	NUM
cet-3943	113	165	point	point	NOUN
cet-3943	113	166	clouds	cloud	NOUN
cet-3943	113	167	,	,	PUNCT
cet-3943	113	168	periodical	periodical	NOUN
cet-3943	113	169	of	of	ADP
cet-3943	113	170	ocean	ocean	PROPN
cet-3943	113	171	university	university	PROPN
cet-3943	113	172	of	of	ADP
cet-3943	113	173	china	china	PROPN
cet-3943	113	174	,	,	PUNCT
cet-3943	113	175	40(1	40(1	PROPN
cet-3943	113	176	)	)	PUNCT
cet-3943	113	177	,	,	PUNCT
cet-3943	114	1	pp	pp	PROPN
cet-3943	114	2	.	.	PUNCT
cet-3943	115	1	99	99	NUM
cet-3943	115	2	-	-	SYM
cet-3943	115	3	103	103	NUM
cet-3943	115	4	,	,	PUNCT
cet-3943	115	5	doi	doi	NOUN
cet-3943	115	6	:	:	PUNCT
cet-3943	115	7	10.3969	10.3969	NUM
cet-3943	115	8	/	/	SYM
cet-3943	115	9	j.issn.16725174.2010.01.019	j.issn.16725174.2010.01.019	PROPN
cet-3943	115	10	zhou	zhou	PROPN
cet-3943	115	11	,	,	PUNCT
cet-3943	115	12	c.	c.	PROPN
cet-3943	115	13	y.	y.	PROPN
cet-3943	115	14	,	,	PUNCT
cet-3943	115	15	yong	yong	PROPN
cet-3943	115	16	,	,	PUNCT
cet-3943	115	17	l.	l.	PROPN
cet-3943	115	18	i.	i.	PROPN
cet-3943	115	19	,	,	PUNCT
cet-3943	115	20	zou	zou	PROPN
cet-3943	115	21	,	,	PUNCT
cet-3943	115	22	z.	z.	PROPN
cet-3943	115	23	r.	r.	PROPN
cet-3943	115	24	,	,	PUNCT
cet-3943	115	25	2011	2011	NUM
cet-3943	115	26	,	,	PUNCT
cet-3943	115	27	three	three	NUM
cet-3943	115	28	-	-	PUNCT
cet-3943	115	29	dimensional	dimensional	ADJ
cet-3943	115	30	cloud	cloud	NOUN
cet-3943	115	31	icp	icp	PROPN
cet-3943	115	32	algorithm	algorithm	NOUN
cet-3943	115	33	improvement	improvement	NOUN
cet-3943	115	34	,	,	PUNCT
cet-3943	115	35	computer	computer	NOUN
cet-3943	115	36	technology	technology	NOUN
cet-3943	115	37	&	&	CCONJ
cet-3943	115	38	development	development	PROPN
cet-3943	115	39	,	,	PUNCT
cet-3943	115	40	21(8	21(8	NUM
cet-3943	115	41	)	)	PUNCT
cet-3943	115	42	,	,	PUNCT
cet-3943	116	1	pp	pp	ADP
cet-3943	116	2	.	.	PUNCT
cet-3943	117	1	75	75	NUM
cet-3943	117	2	-	-	SYM
cet-3943	117	3	81	81	NUM
cet-3943	117	4	,	,	PUNCT
cet-3943	117	5	doi	doi	NOUN
cet-3943	117	6	:	:	PUNCT
cet-3943	117	7	10.3969	10.3969	NUM
cet-3943	117	8	/	/	SYM
cet-3943	117	9	j.issn.1673	j.issn.1673	PROPN
cet-3943	117	10	-	-	PUNCT
cet-3943	117	11	629x.2011.08.019	629x.2011.08.019	NUM
cet-3943	117	12	474	474	NUM
cet-3943	117	13	http://dict.youdao.com/w/line/	http://dict.youdao.com/w/line/	NOUN
cet-3943	117	14	http://search.cnki.com.cn/search.aspx?q=supported%20by%202011%20innovation%20project%20for%20graduate%20student%20from%20common%20college%20in%20jiangsu%20province:%20cxzz11-0293	http://search.cnki.com.cn/search.aspx?q=supported%20by%202011%20innovation%20project%20for%20graduate%20student%20from%20common%20college%20in%20jiangsu%20province:%20cxzz11-0293	NOUN
cet-3943	117	15	http://search.cnki.com.cn/search.aspx?q=supported%20by%202011%20innovation%20project%20for%20graduate%20student%20from%20common%20college%20in%20jiangsu%20province:%20cxzz11-0293	http://search.cnki.com.cn/search.aspx?q=supported%20by%202011%20innovation%20project%20for%20graduate%20student%20from%20common%20college%20in%20jiangsu%20province:%20cxzz11-0293	NOUN
cet-3943	117	16	http://dx.doi.org/10.1109/34.121791	http://dx.doi.org/10.1109/34.121791	PUNCT
cet-3943	117	17	http://dx.doi.org/10.1109/34.809117	http://dx.doi.org/10.1109/34.809117	PUNCT
cet-3943	117	18	http://dx.doi.org/10.1016/b978-0-08-051581-6.50070-2	http://dx.doi.org/10.1016/b978-0-08-051581-6.50070-2	PROPN
cet-3943	117	19	http://dx.doi.org/10.1016/s0010-4485(02)00205-1	http://dx.doi.org/10.1016/s0010-4485(02)00205-1	ADP
cet-3943	117	20	http://dx.doi.org/10.1016/j.rcim.2012.07.003	http://dx.doi.org/10.1016/j.rcim.2012.07.003	PROPN
cet-3943	117	21	http://dx.chinadoi.cn/10.3969%2fj.issn.1672-5174.2010.01.019	http://dx.chinadoi.cn/10.3969%2fj.issn.1672-5174.2010.01.019	NUM
cet-3943	117	22	http://dx.chinadoi.cn/10.3969%2fj.issn.1672-5174.2010.01.019	http://dx.chinadoi.cn/10.3969%2fj.issn.1672-5174.2010.01.019	X
cet-3943	117	23	http://dx.chinadoi.cn/10.3969%2fj.issn.1673-629x.2011.08.019	http://dx.chinadoi.cn/10.3969%2fj.issn.1673-629x.2011.08.019	NOUN