id	sid	tid	token	lemma	pos
esrj-60211	1	1	with	with	ADP
esrj-60211	1	2	the	the	DET
esrj-60211	1	3	development	development	NOUN
esrj-60211	1	4	of	of	ADP
esrj-60211	1	5	computer	computer	NOUN
esrj-60211	1	6	vision	vision	NOUN
esrj-60211	1	7	and	and	CCONJ
esrj-60211	1	8	high	high	ADJ
esrj-60211	1	9	-	-	PUNCT
esrj-60211	1	10	precision	precision	NOUN
esrj-60211	1	11	3d	3d	PROPN
esrj-60211	1	12	model	model	NOUN
esrj-60211	1	13	reconstruction	reconstruction	NOUN
esrj-60211	1	14	,	,	PUNCT
esrj-60211	1	15	used	use	VERB
esrj-60211	1	16	for	for	ADP
esrj-60211	1	17	the	the	DET
esrj-60211	1	18	measurement	measurement	NOUN
esrj-60211	1	19	and	and	CCONJ
esrj-60211	1	20	3d	3d	NUM
esrj-60211	1	21	reconstruction	reconstruction	NOUN
esrj-60211	1	22	of	of	ADP
esrj-60211	1	23	the	the	DET
esrj-60211	1	24	geological	geological	ADJ
esrj-60211	1	25	landslides	landslide	NOUN
esrj-60211	1	26	,	,	PUNCT
esrj-60211	1	27	acquiring	acquire	VERB
esrj-60211	1	28	a	a	DET
esrj-60211	1	29	high	high	ADJ
esrj-60211	1	30	-	-	PUNCT
esrj-60211	1	31	precision	precision	NOUN
esrj-60211	1	32	relative	relative	ADJ
esrj-60211	1	33	orientation	orientation	NOUN
esrj-60211	1	34	basing	base	VERB
esrj-60211	1	35	multiple	multiple	ADJ
esrj-60211	1	36	images	image	NOUN
esrj-60211	1	37	is	be	AUX
esrj-60211	1	38	crucial	crucial	ADJ
esrj-60211	1	39	and	and	CCONJ
esrj-60211	1	40	the	the	DET
esrj-60211	1	41	key	key	ADJ
esrj-60211	1	42	point	point	NOUN
esrj-60211	1	43	to	to	ADP
esrj-60211	1	44	ensuring	ensure	VERB
esrj-60211	1	45	and	and	CCONJ
esrj-60211	1	46	improving	improve	VERB
esrj-60211	1	47	the	the	DET
esrj-60211	1	48	accuracy	accuracy	NOUN
esrj-60211	1	49	of	of	ADP
esrj-60211	1	50	3d	3d	PROPN
esrj-60211	1	51	model	model	NOUN
esrj-60211	1	52	and	and	CCONJ
esrj-60211	1	53	space	space	NOUN
esrj-60211	1	54	position	position	NOUN
esrj-60211	1	55	.	.	PUNCT
esrj-60211	2	1	currently	currently	ADV
esrj-60211	2	2	,	,	PUNCT
esrj-60211	2	3	the	the	DET
esrj-60211	2	4	conventional	conventional	ADJ
esrj-60211	2	5	relative	relative	ADJ
esrj-60211	2	6	orientation	orientation	NOUN
esrj-60211	2	7	model	model	NOUN
esrj-60211	2	8	includes	include	VERB
esrj-60211	2	9	five	five	NUM
esrj-60211	2	10	independent	independent	ADJ
esrj-60211	2	11	parameters	parameter	NOUN
esrj-60211	2	12	.	.	PUNCT
esrj-60211	3	1	for	for	ADP
esrj-60211	3	2	the	the	DET
esrj-60211	3	3	linear	linear	ADJ
esrj-60211	3	4	relative	relative	ADJ
esrj-60211	3	5	orientation	orientation	NOUN
esrj-60211	3	6	model	model	NOUN
esrj-60211	3	7	,	,	PUNCT
esrj-60211	3	8	there	there	PRON
esrj-60211	3	9	are	be	VERB
esrj-60211	3	10	nine	nine	NUM
esrj-60211	3	11	parameters	parameter	NOUN
esrj-60211	3	12	to	to	PART
esrj-60211	3	13	construct	construct	VERB
esrj-60211	3	14	the	the	DET
esrj-60211	3	15	linear	linear	ADJ
esrj-60211	3	16	space	space	NOUN
esrj-60211	3	17	geometric	geometric	ADJ
esrj-60211	3	18	relationship	relationship	NOUN
esrj-60211	3	19	between	between	ADP
esrj-60211	3	20	the	the	DET
esrj-60211	3	21	imaging	imaging	NOUN
esrj-60211	3	22	and	and	CCONJ
esrj-60211	3	23	space	space	NOUN
esrj-60211	3	24	point	point	NOUN
esrj-60211	3	25	.	.	PUNCT
esrj-60211	4	1	to	to	PART
esrj-60211	4	2	eliminate	eliminate	VERB
esrj-60211	4	3	the	the	DET
esrj-60211	4	4	impact	impact	NOUN
esrj-60211	4	5	of	of	ADP
esrj-60211	4	6	more	more	ADJ
esrj-60211	4	7	parameterization	parameterization	NOUN
esrj-60211	4	8	and	and	CCONJ
esrj-60211	4	9	improve	improve	VERB
esrj-60211	4	10	the	the	DET
esrj-60211	4	11	accuracy	accuracy	NOUN
esrj-60211	4	12	and	and	CCONJ
esrj-60211	4	13	stability	stability	NOUN
esrj-60211	4	14	of	of	ADP
esrj-60211	4	15	solved	solve	VERB
esrj-60211	4	16	parameters	parameter	NOUN
esrj-60211	4	17	for	for	ADP
esrj-60211	4	18	the	the	DET
esrj-60211	4	19	conventional	conventional	ADJ
esrj-60211	4	20	direct	direct	ADJ
esrj-60211	4	21	relative	relative	ADJ
esrj-60211	4	22	orientation	orientation	NOUN
esrj-60211	4	23	model	model	NOUN
esrj-60211	4	24	,	,	PUNCT
esrj-60211	4	25	a	a	DET
esrj-60211	4	26	new	new	ADJ
esrj-60211	4	27	relative	relative	ADJ
esrj-60211	4	28	orientation	orientation	NOUN
esrj-60211	4	29	model	model	NOUN
esrj-60211	4	30	with	with	ADP
esrj-60211	4	31	seven	seven	NUM
esrj-60211	4	32	constraints	constraint	NOUN
esrj-60211	4	33	is	be	AUX
esrj-60211	4	34	proposed	propose	VERB
esrj-60211	4	35	and	and	CCONJ
esrj-60211	4	36	validated	validate	VERB
esrj-60211	4	37	in	in	ADP
esrj-60211	4	38	this	this	DET
esrj-60211	4	39	paper	paper	NOUN
esrj-60211	4	40	.	.	PUNCT
esrj-60211	5	1	the	the	DET
esrj-60211	5	2	additional	additional	ADJ
esrj-60211	5	3	constraints	constraint	NOUN
esrj-60211	5	4	are	be	AUX
esrj-60211	5	5	derived	derive	VERB
esrj-60211	5	6	from	from	ADP
esrj-60211	5	7	the	the	DET
esrj-60211	5	8	orthogonal	orthogonal	ADJ
esrj-60211	5	9	property	property	NOUN
esrj-60211	5	10	of	of	ADP
esrj-60211	5	11	the	the	DET
esrj-60211	5	12	rotation	rotation	NOUN
esrj-60211	5	13	matrix	matrix	NOUN
esrj-60211	5	14	of	of	ADP
esrj-60211	5	15	a	a	DET
esrj-60211	5	16	stereo	stereo	ADJ
esrj-60211	5	17	imaging	imaging	NOUN
esrj-60211	5	18	pair	pair	NOUN
esrj-60211	5	19	and	and	CCONJ
esrj-60211	5	20	associated	associate	VERB
esrj-60211	5	21	with	with	ADP
esrj-60211	5	22	the	the	DET
esrj-60211	5	23	least	least	ADJ
esrj-60211	5	24	squares	square	NOUN
esrj-60211	5	25	adjustment	adjustment	NOUN
esrj-60211	5	26	to	to	PART
esrj-60211	5	27	obtain	obtain	VERB
esrj-60211	5	28	a	a	DET
esrj-60211	5	29	high	high	ADJ
esrj-60211	5	30	-	-	PUNCT
esrj-60211	5	31	precision	precision	NOUN
esrj-60211	5	32	result	result	NOUN
esrj-60211	5	33	of	of	ADP
esrj-60211	5	34	the	the	DET
esrj-60211	5	35	relative	relative	ADJ
esrj-60211	5	36	orientation	orientation	NOUN
esrj-60211	5	37	.	.	PUNCT
esrj-60211	6	1	through	through	ADP
esrj-60211	6	2	the	the	DET
esrj-60211	6	3	accuracy	accuracy	NOUN
esrj-60211	6	4	assessment	assessment	NOUN
esrj-60211	6	5	using	use	VERB
esrj-60211	6	6	space	space	NOUN
esrj-60211	6	7	position	position	NOUN
esrj-60211	6	8	,	,	PUNCT
esrj-60211	6	9	it	it	PRON
esrj-60211	6	10	is	be	AUX
esrj-60211	6	11	revealed	reveal	VERB
esrj-60211	6	12	that	that	SCONJ
esrj-60211	6	13	the	the	DET
esrj-60211	6	14	new	new	ADJ
esrj-60211	6	15	proposed	propose	VERB
esrj-60211	6	16	model	model	NOUN
esrj-60211	6	17	is	be	AUX
esrj-60211	6	18	more	more	ADJ
esrj-60211	6	19	advantage	advantage	NOUN
esrj-60211	6	20	for	for	ADP
esrj-60211	6	21	the	the	DET
esrj-60211	6	22	conventional	conventional	ADJ
esrj-60211	6	23	type	type	NOUN
esrj-60211	6	24	of	of	ADP
esrj-60211	6	25	direct	direct	ADJ
esrj-60211	6	26	relative	relative	ADJ
esrj-60211	6	27	orientation	orientation	NOUN
esrj-60211	6	28	,	,	PUNCT
esrj-60211	6	29	especially	especially	ADV
esrj-60211	6	30	at	at	ADP
esrj-60211	6	31	3d	3d	PROPN
esrj-60211	6	32	model	model	NOUN
esrj-60211	6	33	reconstruction	reconstruction	NOUN
esrj-60211	6	34	and	and	CCONJ
esrj-60211	6	35	close	close	ADJ
esrj-60211	6	36	range	range	NOUN
esrj-60211	6	37	photogrammetric	photogrammetric	NOUN
esrj-60211	6	38	and	and	CCONJ
esrj-60211	6	39	applications	application	NOUN
esrj-60211	6	40	for	for	ADP
esrj-60211	6	41	the	the	DET
esrj-60211	6	42	geological	geological	ADJ
esrj-60211	6	43	landslides	landslide	NOUN
esrj-60211	6	44	measurement	measurement	NOUN
esrj-60211	6	45	.	.	PUNCT
esrj-60211	7	1	con	con	PROPN
esrj-60211	7	2	el	el	PROPN
esrj-60211	7	3	desarrollo	desarrollo	PROPN
esrj-60211	7	4	del	del	PROPN
esrj-60211	7	5	entorno	entorno	PROPN
esrj-60211	7	6	computacional	computacional	PROPN
esrj-60211	7	7	y	y	PROPN
esrj-60211	7	8	la	la	PROPN
esrj-60211	7	9	alta	alta	PROPN
esrj-60211	7	10	precisión	precisión	PROPN
esrj-60211	7	11	del	del	PROPN
esrj-60211	7	12	modelo	modelo	PROPN
esrj-60211	7	13	de	de	PROPN
esrj-60211	7	14	reconstrucción	reconstrucción	PROPN
esrj-60211	7	15	tridimensional	tridimensional	NOUN
esrj-60211	7	16	,	,	PUNCT
esrj-60211	7	17	utilizados	utilizados	AUX
esrj-60211	7	18	para	para	PROPN
esrj-60211	7	19	la	la	PROPN
esrj-60211	7	20	medida	medida	PROPN
esrj-60211	7	21	y	y	PROPN
esrj-60211	7	22	reconstrucción	reconstrucción	PROPN
esrj-60211	7	23	de	de	X
esrj-60211	7	24	despredimientos	despredimientos	PROPN
esrj-60211	7	25	geológicos	geológico	NOUN
esrj-60211	7	26	,	,	PUNCT
esrj-60211	7	27	es	es	ADP
esrj-60211	7	28	crucial	crucial	ADJ
esrj-60211	7	29	la	la	X
esrj-60211	7	30	obtención	obtención	PROPN
esrj-60211	7	31	de	de	PROPN
esrj-60211	7	32	la	la	PROPN
esrj-60211	7	33	orientación	orientación	PROPN
esrj-60211	7	34	relativa	relativa	PROPN
esrj-60211	7	35	de	de	PROPN
esrj-60211	7	36	alta	alta	PROPN
esrj-60211	7	37	precisión	precisión	X
esrj-60211	7	38	basada	basada	PROPN
esrj-60211	7	39	en	en	PROPN
esrj-60211	7	40	imágenes	imágenes	PROPN
esrj-60211	7	41	múltiples	múltiples	PROPN
esrj-60211	7	42	y	y	PROPN
esrj-60211	7	43	es	es	PROPN
esrj-60211	7	44	el	el	PROPN
esrj-60211	7	45	punto	punto	PROPN
esrj-60211	7	46	clave	clave	PROPN
esrj-60211	7	47	para	para	PROPN
esrj-60211	7	48	asegurar	asegurar	PROPN
esrj-60211	7	49	y	y	PROPN
esrj-60211	7	50	mejorar	mejorar	PROPN
esrj-60211	7	51	la	la	X
esrj-60211	7	52	exactitud	exactitud	NOUN
esrj-60211	7	53	del	del	PROPN
esrj-60211	7	54	modelo	modelo	PROPN
esrj-60211	7	55	3d	3d	PROPN
esrj-60211	7	56	y	y	PROPN
esrj-60211	7	57	la	la	PROPN
esrj-60211	7	58	posición	posición	PROPN
esrj-60211	7	59	espacial	espacial	PROPN
esrj-60211	7	60	.	.	PUNCT
esrj-60211	7	61	actualmente	actualmente	PROPN
esrj-60211	7	62	el	el	PROPN
esrj-60211	7	63	modelo	modelo	PROPN
esrj-60211	7	64	de	de	PROPN
esrj-60211	7	65	orientación	orientación	PROPN
esrj-60211	7	66	relativa	relativa	PROPN
esrj-60211	7	67	incluye	incluye	PROPN
esrj-60211	7	68	cinco	cinco	PROPN
esrj-60211	7	69	parámetros	parámetros	PROPN
esrj-60211	7	70	independientes	independiente	VERB
esrj-60211	7	71	.	.	PUNCT
esrj-60211	8	1	en	en	PROPN
esrj-60211	8	2	el	el	PROPN
esrj-60211	8	3	modelo	modelo	PROPN
esrj-60211	8	4	linear	linear	PROPN
esrj-60211	8	5	de	de	PROPN
esrj-60211	8	6	orientación	orientación	PROPN
esrj-60211	8	7	relativa	relativa	PROPN
esrj-60211	8	8	hay	hay	PROPN
esrj-60211	8	9	nueve	nueve	PROPN
esrj-60211	8	10	parámetros	parámetros	PROPN
esrj-60211	8	11	para	para	PROPN
esrj-60211	8	12	construir	construir	PROPN
esrj-60211	8	13	la	la	PROPN
esrj-60211	8	14	relación	relación	PROPN
esrj-60211	8	15	geométrica	geométrica	PROPN
esrj-60211	8	16	espacial	espacial	PROPN
esrj-60211	8	17	linear	linear	PROPN
esrj-60211	8	18	entre	entre	PROPN
esrj-60211	8	19	el	el	PROPN
esrj-60211	8	20	sondeo	sondeo	PROPN
esrj-60211	8	21	y	y	PROPN
esrj-60211	8	22	la	la	PROPN
esrj-60211	8	23	posición	posición	PROPN
esrj-60211	8	24	espacial	espacial	PROPN
esrj-60211	8	25	.	.	PUNCT
esrj-60211	9	1	para	para	PROPN
esrj-60211	9	2	eliminar	eliminar	PROPN
esrj-60211	9	3	el	el	PROPN
esrj-60211	9	4	impacto	impacto	PROPN
esrj-60211	9	5	de	de	PROPN
esrj-60211	9	6	más	más	PROPN
esrj-60211	9	7	parametrización	parametrización	PROPN
esrj-60211	9	8	y	y	PROPN
esrj-60211	9	9	mejorar	mejorar	PROPN
esrj-60211	9	10	la	la	X
esrj-60211	9	11	exactitud	exactitud	NOUN
esrj-60211	9	12	y	y	PROPN
esrj-60211	9	13	la	la	PRON
esrj-60211	9	14	estabilidad	estabilidad	PROPN
esrj-60211	9	15	de	de	X
esrj-60211	9	16	los	los	PROPN
esrj-60211	9	17	parámetros	parámetros	PROPN
esrj-60211	9	18	resueltos	resuelto	VERB
esrj-60211	9	19	el	el	PROPN
esrj-60211	9	20	modelo	modelo	PROPN
esrj-60211	9	21	de	de	PROPN
esrj-60211	9	22	orientación	orientación	PROPN
esrj-60211	9	23	relativa	relativa	PROPN
esrj-60211	9	24	convencional	convencional	PROPN
esrj-60211	9	25	,	,	PUNCT
esrj-60211	9	26	este	este	ADJ
esrj-60211	9	27	artículo	artículo	X
esrj-60211	9	28	propone	propone	PROPN
esrj-60211	9	29	y	y	PROPN
esrj-60211	9	30	valida	valida	PROPN
esrj-60211	9	31	un	un	PROPN
esrj-60211	9	32	nuevo	nuevo	PROPN
esrj-60211	9	33	modelo	modelo	PROPN
esrj-60211	9	34	de	de	PROPN
esrj-60211	9	35	orientación	orientación	PROPN
esrj-60211	9	36	relativa	relativa	PROPN
esrj-60211	9	37	con	con	PROPN
esrj-60211	9	38	siete	siete	PROPN
esrj-60211	9	39	restricciones	restricciones	PROPN
esrj-60211	9	40	.	.	PUNCT
esrj-60211	10	1	las	las	PROPN
esrj-60211	10	2	restricciones	restricciones	PROPN
esrj-60211	10	3	adicionales	adicionales	PROPN
esrj-60211	10	4	se	se	PROPN
esrj-60211	10	5	derivan	derivan	PROPN
esrj-60211	10	6	de	de	PROPN
esrj-60211	10	7	la	la	PROPN
esrj-60211	10	8	propiedad	propiedad	PROPN
esrj-60211	10	9	ortogonal	ortogonal	PROPN
esrj-60211	10	10	de	de	X
esrj-60211	10	11	la	la	X
esrj-60211	10	12	matriz	matriz	PROPN
esrj-60211	10	13	de	de	PROPN
esrj-60211	10	14	rotación	rotación	PROPN
esrj-60211	10	15	de	de	PROPN
esrj-60211	10	16	la	la	PROPN
esrj-60211	10	17	imagen	imagen	PROPN
esrj-60211	10	18	estéreo	estéreo	PROPN
esrj-60211	10	19	y	y	PROPN
esrj-60211	10	20	se	se	PROPN
esrj-60211	11	1	asocian	asocian	PROPN
esrj-60211	11	2	con	con	PROPN
esrj-60211	11	3	el	el	PROPN
esrj-60211	11	4	ajuste	ajuste	PROPN
esrj-60211	11	5	de	de	PROPN
esrj-60211	11	6	los	los	PROPN
esrj-60211	11	7	cuadrados	cuadrados	PROPN
esrj-60211	11	8	mínimos	mínimos	PROPN
esrj-60211	11	9	para	para	PROPN
esrj-60211	11	10	obtener	obtener	PROPN
esrj-60211	11	11	un	un	PROPN
esrj-60211	11	12	resultado	resultado	PROPN
esrj-60211	11	13	de	de	PROPN
esrj-60211	11	14	alta	alta	PROPN
esrj-60211	11	15	precisión	precisión	X
esrj-60211	11	16	de	de	PROPN
esrj-60211	11	17	la	la	PROPN
esrj-60211	11	18	orientación	orientación	PROPN
esrj-60211	11	19	relativa	relativa	PROPN
esrj-60211	11	20	.	.	PUNCT
esrj-60211	12	1	al	al	PROPN
esrj-60211	12	2	medir	medir	PROPN
esrj-60211	12	3	la	la	PROPN
esrj-60211	12	4	exactitud	exactitud	PROPN
esrj-60211	12	5	con	con	PROPN
esrj-60211	12	6	la	la	PROPN
esrj-60211	12	7	posición	posición	PROPN
esrj-60211	12	8	espacial	espacial	PROPN
esrj-60211	12	9	se	se	PROPN
esrj-60211	12	10	revela	revela	PROPN
esrj-60211	12	11	que	que	PROPN
esrj-60211	12	12	el	el	PROPN
esrj-60211	12	13	nuevo	nuevo	PROPN
esrj-60211	12	14	modelo	modelo	PROPN
esrj-60211	12	15	propuesto	propuesto	PROPN
esrj-60211	12	16	tiene	tiene	PROPN
esrj-60211	12	17	más	más	PROPN
esrj-60211	12	18	ventajas	ventajas	PROPN
esrj-60211	12	19	que	que	PROPN
esrj-60211	12	20	aquel	aquel	PROPN
esrj-60211	12	21	de	de	PROPN
esrj-60211	12	22	orientación	orientación	PROPN
esrj-60211	12	23	relativa	relativa	PROPN
esrj-60211	12	24	directa	directa	PROPN
esrj-60211	12	25	,	,	PUNCT
esrj-60211	12	26	especialmente	especialmente	PROPN
esrj-60211	12	27	en	en	PROPN
esrj-60211	12	28	el	el	PROPN
esrj-60211	12	29	modelo	modelo	PROPN
esrj-60211	12	30	de	de	PROPN
esrj-60211	12	31	reconstrucción	reconstrucción	PROPN
esrj-60211	13	1	3d	3d	NOUN
esrj-60211	13	2	y	y	PROPN
esrj-60211	13	3	en	en	PROPN
esrj-60211	13	4	las	las	PROPN
esrj-60211	13	5	aplicaciones	aplicaciones	PROPN
esrj-60211	13	6	fotográmetricas	fotográmetricas	PROPN
esrj-60211	13	7	de	de	PROPN
esrj-60211	13	8	rango	rango	PROPN
esrj-60211	13	9	cercano	cercano	PROPN
esrj-60211	13	10	para	para	PROPN
esrj-60211	13	11	la	la	PROPN
esrj-60211	13	12	evaluación	evaluación	PROPN
esrj-60211	13	13	de	de	PROPN
esrj-60211	13	14	desprendimientos	desprendimientos	PROPN
esrj-60211	13	15	geológicos	geológico	NOUN
esrj-60211	13	16	.	.	PUNCT
esrj-60211	14	1	abstract	abstract	ADJ
esrj-60211	14	2	resumen	resuman	NOUN
esrj-60211	14	3	keywords	keyword	NOUN
esrj-60211	14	4	:	:	PUNCT
esrj-60211	14	5	3d	3d	NUM
esrj-60211	14	6	,	,	PUNCT
esrj-60211	14	7	high	high	ADJ
esrj-60211	14	8	-	-	PUNCT
esrj-60211	14	9	precision	precision	NOUN
esrj-60211	14	10	,	,	PUNCT
esrj-60211	14	11	relative	relative	ADJ
esrj-60211	14	12	orientation	orientation	NOUN
esrj-60211	14	13	,	,	PUNCT
esrj-60211	14	14	space	space	NOUN
esrj-60211	14	15	position	position	NOUN
esrj-60211	14	16	,	,	PUNCT
esrj-60211	14	17	additional	additional	ADJ
esrj-60211	14	18	constraints	constraint	NOUN
esrj-60211	14	19	,	,	PUNCT
esrj-60211	14	20	imaging	image	VERB
esrj-60211	14	21	pair	pair	NOUN
esrj-60211	14	22	palabras	palabra	NOUN
esrj-60211	14	23	clave	clave	NOUN
esrj-60211	14	24	:	:	PUNCT
esrj-60211	14	25	3d	3d	NUM
esrj-60211	14	26	,	,	PUNCT
esrj-60211	14	27	alta	alta	PROPN
esrj-60211	14	28	precisión	precisión	PROPN
esrj-60211	14	29	,	,	PUNCT
esrj-60211	14	30	orientación	orientación	PROPN
esrj-60211	14	31	relativa	relativa	PROPN
esrj-60211	14	32	,	,	PUNCT
esrj-60211	14	33	posición	posición	PROPN
esrj-60211	14	34	espacial	espacial	PROPN
esrj-60211	14	35	,	,	PUNCT
esrj-60211	14	36	restricciones	restriccione	NOUN
esrj-60211	14	37	adicionales	adicionale	NOUN
esrj-60211	14	38	,	,	PUNCT
esrj-60211	14	39	sondeo	sondeo	NOUN
esrj-60211	14	40	estéreo	estéreo	X
esrj-60211	14	41	.	.	PUNCT
esrj-60211	15	1	the	the	DET
esrj-60211	15	2	model	model	NOUN
esrj-60211	15	3	of	of	ADP
esrj-60211	15	4	direct	direct	ADJ
esrj-60211	15	5	relative	relative	ADJ
esrj-60211	15	6	orientation	orientation	NOUN
esrj-60211	15	7	with	with	ADP
esrj-60211	15	8	seven	seven	NUM
esrj-60211	15	9	constraints	constraint	NOUN
esrj-60211	15	10	for	for	ADP
esrj-60211	15	11	geological	geological	ADJ
esrj-60211	15	12	landslides	landslide	NOUN
esrj-60211	15	13	measurement	measurement	NOUN
esrj-60211	15	14	and	and	CCONJ
esrj-60211	15	15	3d	3d	PROPN
esrj-60211	15	16	reconstruction	reconstruction	NOUN
esrj-60211	15	17	record	record	NOUN
esrj-60211	15	18	manuscript	manuscript	NOUN
esrj-60211	15	19	received	receive	VERB
esrj-60211	15	20	:	:	PUNCT
esrj-60211	15	21	19/09/2016	19/09/2016	NUM
esrj-60211	15	22	accepted	accept	VERB
esrj-60211	15	23	for	for	ADP
esrj-60211	15	24	publication	publication	NOUN
esrj-60211	15	25	:	:	PUNCT
esrj-60211	15	26	06/01/2017	06/01/2017	NUM
esrj-60211	15	27	how	how	SCONJ
esrj-60211	15	28	to	to	PART
esrj-60211	15	29	cite	cite	VERB
esrj-60211	15	30	item	item	PROPN
esrj-60211	15	31	chen	chen	PROPN
esrj-60211	15	32	,	,	PUNCT
esrj-60211	15	33	y.	y.	PROPN
esrj-60211	15	34	,	,	PUNCT
esrj-60211	15	35	xie	xie	PROPN
esrj-60211	15	36	,	,	PUNCT
esrj-60211	15	37	z.	z.	PROPN
esrj-60211	15	38	,	,	PUNCT
esrj-60211	15	39	qiu	qiu	PROPN
esrj-60211	15	40	,	,	PUNCT
esrj-60211	15	41	z.	z.	PROPN
esrj-60211	15	42	,	,	PUNCT
esrj-60211	15	43	zhang	zhang	PROPN
esrj-60211	15	44	,	,	PUNCT
esrj-60211	15	45	m.	m.	NOUN
esrj-60211	15	46	,	,	PUNCT
esrj-60211	15	47	&	&	CCONJ
esrj-60211	15	48	zhong	zhong	PROPN
esrj-60211	15	49	,	,	PUNCT
esrj-60211	15	50	s.	s.	PROPN
esrj-60211	15	51	(	(	PUNCT
esrj-60211	15	52	2016	2016	NUM
esrj-60211	15	53	)	)	PUNCT
esrj-60211	15	54	.	.	PUNCT
esrj-60211	16	1	the	the	DET
esrj-60211	16	2	model	model	NOUN
esrj-60211	16	3	of	of	ADP
esrj-60211	16	4	direct	direct	ADJ
esrj-60211	16	5	relative	relative	ADJ
esrj-60211	16	6	orientation	orientation	NOUN
esrj-60211	16	7	with	with	ADP
esrj-60211	16	8	seven	seven	NUM
esrj-60211	16	9	constraints	constraint	NOUN
esrj-60211	16	10	for	for	ADP
esrj-60211	16	11	geological	geological	ADJ
esrj-60211	16	12	landslides	landslide	NOUN
esrj-60211	16	13	measurement	measurement	NOUN
esrj-60211	16	14	and	and	CCONJ
esrj-60211	16	15	3d	3d	NUM
esrj-60211	16	16	reconstruction	reconstruction	NOUN
esrj-60211	16	17	.	.	PUNCT
esrj-60211	17	1	earth	earth	PROPN
esrj-60211	17	2	sciences	sciences	PROPN
esrj-60211	17	3	research	research	PROPN
esrj-60211	17	4	journal	journal	PROPN
esrj-60211	17	5	,	,	PUNCT
esrj-60211	17	6	20(4	20(4	NOUN
esrj-60211	17	7	)	)	PUNCT
esrj-60211	17	8	,	,	PUNCT
esrj-60211	17	9	f1	f1	NOUN
esrj-60211	17	10	-	-	PUNCT
esrj-60211	17	11	f6	f6	NOUN
esrj-60211	17	12	doi	doi	NOUN
esrj-60211	17	13	:	:	PUNCT
esrj-60211	17	14	http://dx.doi.org/10.15446	http://dx.doi.org/10.15446	NOUN
esrj-60211	17	15	/	/	SYM
esrj-60211	17	16	esrj.v20n4.60211	esrj.v20n4.60211	NOUN
esrj-60211	17	17	issn	issn	VERB
esrj-60211	17	18	1794	1794	NUM
esrj-60211	17	19	-	-	SYM
esrj-60211	17	20	6190	6190	NUM
esrj-60211	17	21	e	e	NOUN
esrj-60211	17	22	-	-	NOUN
esrj-60211	17	23	issn	issn	PROPN
esrj-60211	17	24	2339	2339	NUM
esrj-60211	17	25	-	-	SYM
esrj-60211	17	26	3459	3459	NUM
esrj-60211	17	27	http://dx.doi.org/10.15446/esrj.v20n4.60211	http://dx.doi.org/10.15446/esrj.v20n4.60211	NOUN
esrj-60211	17	28	el	el	PROPN
esrj-60211	17	29	modelo	modelo	PROPN
esrj-60211	17	30	de	de	PROPN
esrj-60211	17	31	orientación	orientación	PROPN
esrj-60211	17	32	relativa	relativa	PROPN
esrj-60211	17	33	directa	directa	PROPN
esrj-60211	17	34	con	con	PROPN
esrj-60211	17	35	siete	siete	PROPN
esrj-60211	17	36	restricciones	restriccione	VERB
esrj-60211	17	37	para	para	PROPN
esrj-60211	17	38	la	la	PROPN
esrj-60211	17	39	medida	medida	PROPN
esrj-60211	17	40	de	de	PROPN
esrj-60211	17	41	deslizamientos	deslizamientos	PROPN
esrj-60211	17	42	de	de	PROPN
esrj-60211	17	43	tierra	tierra	PROPN
esrj-60211	17	44	y	y	PROPN
esrj-60211	17	45	reconstrucción	reconstrucción	PROPN
esrj-60211	17	46	tridimensional	tridimensional	NOUN
esrj-60211	17	47	g	g	PROPN
esrj-60211	17	48	e	e	NOUN
esrj-60211	17	49	o	o	NOUN
esrj-60211	17	50	t	t	X
esrj-60211	17	51	e	e	X
esrj-60211	17	52	c	c	PROPN
esrj-60211	17	53	h	h	PROPN
esrj-60211	18	1	n	n	ADP
esrj-60211	18	2	ic	ic	PROPN
esrj-60211	18	3	s	s	PROPN
esrj-60211	18	4	earth	earth	NOUN
esrj-60211	18	5	sciences	sciences	PROPN
esrj-60211	18	6	research	research	PROPN
esrj-60211	18	7	journal	journal	PROPN
esrj-60211	18	8	earth	earth	PROPN
esrj-60211	18	9	sci	sci	PROPN
esrj-60211	18	10	.	.	PUNCT
esrj-60211	19	1	res	res	PROPN
esrj-60211	19	2	.	.	PUNCT
esrj-60211	20	1	j.	j.	PROPN
esrj-60211	20	2	vol	vol	PROPN
esrj-60211	20	3	.	.	PROPN
esrj-60211	21	1	20	20	NUM
esrj-60211	21	2	,	,	PUNCT
esrj-60211	21	3	no	no	INTJ
esrj-60211	21	4	.	.	NOUN
esrj-60211	21	5	4	4	NUM
esrj-60211	21	6	(	(	PUNCT
esrj-60211	21	7	december	december	PROPN
esrj-60211	21	8	,	,	PUNCT
esrj-60211	21	9	2016	2016	NUM
esrj-60211	21	10	):	):	PUNCT
esrj-60211	21	11	f1	f1	PROPN
esrj-60211	21	12	f6	f6	PROPN
esrj-60211	21	13	yifu	yifu	VERB
esrj-60211	21	14	chen	chen	PROPN
esrj-60211	21	15	1	1	NUM
esrj-60211	21	16	,	,	PUNCT
esrj-60211	21	17	2	2	NUM
esrj-60211	21	18	,	,	PUNCT
esrj-60211	21	19	zhong	zhong	PROPN
esrj-60211	21	20	xie1	xie1	PROPN
esrj-60211	21	21	,	,	PUNCT
esrj-60211	21	22	2	2	NUM
esrj-60211	21	23	,	,	PUNCT
esrj-60211	21	24	zhenge	zhenge	NOUN
esrj-60211	21	25	qiu	qiu	PROPN
esrj-60211	22	1	3	3	NUM
esrj-60211	22	2	*	*	NOUN
esrj-60211	22	3	,	,	PUNCT
esrj-60211	22	4	min	min	PROPN
esrj-60211	22	5	zhang2	zhang2	PROPN
esrj-60211	22	6	,	,	PUNCT
esrj-60211	22	7	saishang	saishang	PROPN
esrj-60211	22	8	zhong	zhong	PROPN
esrj-60211	22	9	2	2	NUM
esrj-60211	22	10	1	1	NUM
esrj-60211	22	11	national	national	ADJ
esrj-60211	22	12	engineering	engineering	NOUN
esrj-60211	22	13	research	research	NOUN
esrj-60211	22	14	center	center	NOUN
esrj-60211	22	15	for	for	ADP
esrj-60211	22	16	geographic	geographic	ADJ
esrj-60211	22	17	information	information	NOUN
esrj-60211	22	18	system	system	NOUN
esrj-60211	22	19	,	,	PUNCT
esrj-60211	22	20	china	china	PROPN
esrj-60211	22	21	university	university	PROPN
esrj-60211	22	22	of	of	ADP
esrj-60211	22	23	geosciences	geoscience	NOUN
esrj-60211	22	24	(	(	PUNCT
esrj-60211	22	25	wuhan	wuhan	PROPN
esrj-60211	22	26	)	)	PUNCT
esrj-60211	22	27	,	,	PUNCT
esrj-60211	22	28	wuhan	wuhan	PROPN
esrj-60211	22	29	430074	430074	PROPN
esrj-60211	22	30	,	,	PUNCT
esrj-60211	23	1	p.	p.	PROPN
esrj-60211	23	2	r.	r.	PROPN
esrj-60211	23	3	china	china	PROPN
esrj-60211	23	4	,	,	PUNCT
esrj-60211	23	5	2	2	NUM
esrj-60211	23	6	facility	facility	NOUN
esrj-60211	23	7	of	of	ADP
esrj-60211	23	8	information	information	NOUN
esrj-60211	23	9	engineering	engineering	NOUN
esrj-60211	23	10	,	,	PUNCT
esrj-60211	23	11	china	china	PROPN
esrj-60211	23	12	university	university	PROPN
esrj-60211	23	13	of	of	ADP
esrj-60211	23	14	geosciences	geoscience	NOUN
esrj-60211	23	15	(	(	PUNCT
esrj-60211	23	16	wuhan	wuhan	PROPN
esrj-60211	23	17	)	)	PUNCT
esrj-60211	23	18	,	,	PUNCT
esrj-60211	23	19	wuhan	wuhan	PROPN
esrj-60211	23	20	430074	430074	PROPN
esrj-60211	23	21	,	,	PUNCT
esrj-60211	23	22	p.	p.	PROPN
esrj-60211	23	23	r.	r.	PROPN
esrj-60211	23	24	china	china	PROPN
esrj-60211	23	25	3	3	NUM
esrj-60211	23	26	research	research	NOUN
esrj-60211	23	27	center	center	NOUN
esrj-60211	23	28	for	for	ADP
esrj-60211	23	29	ocean	ocean	NOUN
esrj-60211	23	30	mapping	mapping	NOUN
esrj-60211	23	31	and	and	CCONJ
esrj-60211	23	32	applications	application	NOUN
esrj-60211	23	33	,	,	PUNCT
esrj-60211	23	34	shanghai	shanghai	PROPN
esrj-60211	23	35	ocean	ocean	PROPN
esrj-60211	23	36	university	university	PROPN
esrj-60211	23	37	,	,	PUNCT
esrj-60211	23	38	shanghai	shanghai	PROPN
esrj-60211	23	39	201306	201306	NUM
esrj-60211	23	40	,	,	PUNCT
esrj-60211	24	1	p.	p.	PROPN
esrj-60211	24	2	r.	r.	PROPN
esrj-60211	24	3	china	china	PROPN
esrj-60211	24	4	author	author	NOUN
esrj-60211	24	5	for	for	ADP
esrj-60211	24	6	correspondence	correspondence	NOUN
esrj-60211	24	7	:	:	PUNCT
esrj-60211	24	8	zhenge	zhenge	PROPN
esrj-60211	24	9	qiu	qiu	PROPN
esrj-60211	24	10	(	(	PUNCT
esrj-60211	24	11	e	e	NOUN
esrj-60211	24	12	-	-	NOUN
esrj-60211	24	13	mail	mail	NOUN
esrj-60211	24	14	:	:	PUNCT
esrj-60211	24	15	zhengeqiu@sina.com	zhengeqiu@sina.com	X
esrj-60211	24	16	)	)	PUNCT
esrj-60211	25	1	g2	g2	PROPN
esrj-60211	25	2	yifu	yifu	VERB
esrj-60211	25	3	chen	chen	PROPN
esrj-60211	25	4	,	,	PUNCT
esrj-60211	25	5	zhong	zhong	PROPN
esrj-60211	25	6	xie	xie	PROPN
esrj-60211	25	7	,	,	PUNCT
esrj-60211	25	8	zhenge	zhenge	PROPN
esrj-60211	25	9	qiu	qiu	PROPN
esrj-60211	25	10	,	,	PUNCT
esrj-60211	25	11	min	min	PROPN
esrj-60211	25	12	zhang	zhang	PROPN
esrj-60211	25	13	and	and	CCONJ
esrj-60211	25	14	saishang	saishang	PROPN
esrj-60211	25	15	zhong	zhong	PROPN
esrj-60211	25	16	introduction	introduction	PROPN
esrj-60211	25	17	relative	relative	ADJ
esrj-60211	25	18	orientation	orientation	NOUN
esrj-60211	25	19	is	be	AUX
esrj-60211	25	20	the	the	DET
esrj-60211	25	21	process	process	NOUN
esrj-60211	25	22	of	of	ADP
esrj-60211	25	23	recovering	recover	VERB
esrj-60211	25	24	the	the	DET
esrj-60211	25	25	position	position	NOUN
esrj-60211	25	26	and	and	CCONJ
esrj-60211	25	27	orientation	orientation	NOUN
esrj-60211	25	28	of	of	ADP
esrj-60211	25	29	one	one	NUM
esrj-60211	25	30	image	image	NOUN
esrj-60211	25	31	with	with	ADP
esrj-60211	25	32	the	the	DET
esrj-60211	25	33	other	other	ADJ
esrj-60211	25	34	in	in	ADP
esrj-60211	25	35	an	an	DET
esrj-60211	25	36	individual	individual	ADJ
esrj-60211	25	37	image	image	NOUN
esrj-60211	25	38	space	space	NOUN
esrj-60211	25	39	coordinate	coordinate	NOUN
esrj-60211	25	40	system	system	NOUN
esrj-60211	25	41	(	(	PUNCT
esrj-60211	25	42	läbe	läbe	PROPN
esrj-60211	25	43	&	&	CCONJ
esrj-60211	25	44	förstner	förstner	NOUN
esrj-60211	25	45	,	,	PUNCT
esrj-60211	25	46	2006	2006	NUM
esrj-60211	25	47	)	)	PUNCT
esrj-60211	25	48	,	,	PUNCT
esrj-60211	25	49	which	which	PRON
esrj-60211	25	50	is	be	AUX
esrj-60211	25	51	a	a	DET
esrj-60211	25	52	classic	classic	ADJ
esrj-60211	25	53	topic	topic	NOUN
esrj-60211	25	54	in	in	ADP
esrj-60211	25	55	satellite	satellite	NOUN
esrj-60211	25	56	photogrammetry	photogrammetry	NOUN
esrj-60211	25	57	,	,	PUNCT
esrj-60211	25	58	computer	computer	NOUN
esrj-60211	25	59	vision	vision	NOUN
esrj-60211	25	60	,	,	PUNCT
esrj-60211	25	61	and	and	CCONJ
esrj-60211	25	62	3d	3d	NUM
esrj-60211	25	63	model	model	NOUN
esrj-60211	25	64	reconstruction	reconstruction	NOUN
esrj-60211	25	65	.	.	PUNCT
esrj-60211	26	1	with	with	ADP
esrj-60211	26	2	the	the	DET
esrj-60211	26	3	development	development	NOUN
esrj-60211	26	4	of	of	ADP
esrj-60211	26	5	the	the	DET
esrj-60211	26	6	study	study	NOUN
esrj-60211	26	7	fields	field	NOUN
esrj-60211	26	8	,	,	PUNCT
esrj-60211	26	9	a	a	DET
esrj-60211	26	10	higher	high	ADJ
esrj-60211	26	11	accuracy	accuracy	NOUN
esrj-60211	26	12	of	of	ADP
esrj-60211	26	13	relative	relative	ADJ
esrj-60211	26	14	orientation	orientation	NOUN
esrj-60211	26	15	model	model	NOUN
esrj-60211	26	16	is	be	AUX
esrj-60211	26	17	demanded	demand	VERB
esrj-60211	26	18	and	and	CCONJ
esrj-60211	26	19	is	be	AUX
esrj-60211	26	20	a	a	DET
esrj-60211	26	21	crucial	crucial	ADJ
esrj-60211	26	22	process	process	NOUN
esrj-60211	26	23	for	for	ADP
esrj-60211	26	24	ensuring	ensure	VERB
esrj-60211	26	25	and	and	CCONJ
esrj-60211	26	26	improving	improve	VERB
esrj-60211	26	27	the	the	DET
esrj-60211	26	28	accuracy	accuracy	NOUN
esrj-60211	26	29	of	of	ADP
esrj-60211	26	30	relative	relative	ADJ
esrj-60211	26	31	orientation	orientation	NOUN
esrj-60211	26	32	.	.	PUNCT
esrj-60211	27	1	for	for	ADP
esrj-60211	27	2	the	the	DET
esrj-60211	27	3	3d	3d	PROPN
esrj-60211	27	4	measurement	measurement	NOUN
esrj-60211	27	5	and	and	CCONJ
esrj-60211	27	6	space	space	NOUN
esrj-60211	27	7	model	model	NOUN
esrj-60211	27	8	reconstruction	reconstruction	NOUN
esrj-60211	27	9	in	in	ADP
esrj-60211	27	10	the	the	DET
esrj-60211	27	11	geological	geological	ADJ
esrj-60211	27	12	landslides	landslide	NOUN
esrj-60211	27	13	,	,	PUNCT
esrj-60211	27	14	basing	base	VERB
esrj-60211	27	15	on	on	ADP
esrj-60211	27	16	multiple	multiple	ADJ
esrj-60211	27	17	images	image	NOUN
esrj-60211	27	18	,	,	PUNCT
esrj-60211	27	19	the	the	DET
esrj-60211	27	20	accuracy	accuracy	NOUN
esrj-60211	27	21	of	of	ADP
esrj-60211	27	22	relative	relative	ADJ
esrj-60211	27	23	orientation	orientation	NOUN
esrj-60211	27	24	directly	directly	ADV
esrj-60211	27	25	determined	determine	VERB
esrj-60211	27	26	the	the	DET
esrj-60211	27	27	accuracy	accuracy	NOUN
esrj-60211	27	28	of	of	ADP
esrj-60211	27	29	the	the	DET
esrj-60211	27	30	reconstructed	reconstructed	ADJ
esrj-60211	27	31	3d	3d	NUM
esrj-60211	27	32	model	model	NOUN
esrj-60211	27	33	,	,	PUNCT
esrj-60211	27	34	whose	whose	DET
esrj-60211	27	35	accuracy	accuracy	NOUN
esrj-60211	27	36	can	can	AUX
esrj-60211	27	37	reach	reach	VERB
esrj-60211	27	38	the	the	DET
esrj-60211	27	39	accuracy	accuracy	NOUN
esrj-60211	27	40	with	with	ADP
esrj-60211	27	41	the	the	DET
esrj-60211	27	42	laser	laser	NOUN
esrj-60211	27	43	scanner	scanner	NOUN
esrj-60211	27	44	in	in	ADP
esrj-60211	27	45	precision	precision	NOUN
esrj-60211	27	46	,	,	PUNCT
esrj-60211	27	47	theoretically	theoretically	ADV
esrj-60211	27	48	.	.	PUNCT
esrj-60211	28	1	therefore	therefore	ADV
esrj-60211	28	2	,	,	PUNCT
esrj-60211	28	3	the	the	DET
esrj-60211	28	4	high	high	ADJ
esrj-60211	28	5	-	-	PUNCT
esrj-60211	28	6	precision	precision	NOUN
esrj-60211	28	7	relative	relative	ADJ
esrj-60211	28	8	orientation	orientation	NOUN
esrj-60211	28	9	model	model	NOUN
esrj-60211	28	10	is	be	AUX
esrj-60211	28	11	a	a	DET
esrj-60211	28	12	key	key	ADJ
esrj-60211	28	13	point	point	NOUN
esrj-60211	28	14	for	for	ADP
esrj-60211	28	15	the	the	DET
esrj-60211	28	16	various	various	ADJ
esrj-60211	28	17	applications	application	NOUN
esrj-60211	28	18	basing	base	VERB
esrj-60211	28	19	on	on	ADP
esrj-60211	28	20	space	space	NOUN
esrj-60211	28	21	relative	relative	ADJ
esrj-60211	28	22	orientation	orientation	NOUN
esrj-60211	28	23	(	(	PUNCT
esrj-60211	28	24	horn	horn	NOUN
esrj-60211	28	25	,	,	PUNCT
esrj-60211	28	26	1990	1990	NUM
esrj-60211	28	27	;	;	PUNCT
esrj-60211	28	28	mikhail	mikhail	PROPN
esrj-60211	28	29	,	,	PUNCT
esrj-60211	28	30	bethel	bethel	PROPN
esrj-60211	28	31	&	&	CCONJ
esrj-60211	28	32	mcglone	mcglone	PROPN
esrj-60211	28	33	,	,	PUNCT
esrj-60211	28	34	2001	2001	NUM
esrj-60211	28	35	)	)	PUNCT
esrj-60211	28	36	.	.	PUNCT
esrj-60211	29	1	many	many	ADJ
esrj-60211	29	2	attentions	attention	NOUN
esrj-60211	29	3	are	be	AUX
esrj-60211	29	4	concentrated	concentrate	VERB
esrj-60211	29	5	on	on	ADP
esrj-60211	29	6	solving	solve	VERB
esrj-60211	29	7	relative	relative	ADJ
esrj-60211	29	8	direction	direction	NOUN
esrj-60211	29	9	elementary	elementary	NOUN
esrj-60211	29	10	with	with	ADP
esrj-60211	29	11	the	the	DET
esrj-60211	29	12	linear	linear	ADJ
esrj-60211	29	13	methods	method	NOUN
esrj-60211	29	14	,	,	PUNCT
esrj-60211	29	15	such	such	ADJ
esrj-60211	29	16	as	as	ADP
esrj-60211	29	17	eight	eight	NUM
esrj-60211	29	18	-	-	PUNCT
esrj-60211	29	19	point	point	NOUN
esrj-60211	29	20	algorithm	algorithm	NOUN
esrj-60211	29	21	,	,	PUNCT
esrj-60211	29	22	five	five	NUM
esrj-60211	29	23	-	-	PUNCT
esrj-60211	29	24	point	point	NOUN
esrj-60211	29	25	algorithm	algorithm	NOUN
esrj-60211	29	26	,	,	PUNCT
esrj-60211	29	27	and	and	CCONJ
esrj-60211	29	28	singular	singular	ADJ
esrj-60211	29	29	value	value	NOUN
esrj-60211	29	30	decomposition	decomposition	NOUN
esrj-60211	29	31	(	(	PUNCT
esrj-60211	29	32	longuet	longuet	NOUN
esrj-60211	29	33	-	-	PUNCT
esrj-60211	29	34	higgins	higgins	PROPN
esrj-60211	29	35	,	,	PUNCT
esrj-60211	29	36	1987	1987	NUM
esrj-60211	29	37	;	;	PUNCT
esrj-60211	29	38	philip	philip	PROPN
esrj-60211	29	39	,	,	PUNCT
esrj-60211	29	40	1996	1996	NUM
esrj-60211	29	41	;	;	PUNCT
esrj-60211	29	42	faugeras	faugera	NOUN
esrj-60211	29	43	,	,	PUNCT
esrj-60211	29	44	1993	1993	NUM
esrj-60211	29	45	;	;	PUNCT
esrj-60211	29	46	hartley	hartley	PROPN
esrj-60211	29	47	&	&	CCONJ
esrj-60211	29	48	zisserman	zisserman	PROPN
esrj-60211	29	49	,	,	PUNCT
esrj-60211	29	50	2003	2003	NUM
esrj-60211	29	51	)	)	PUNCT
esrj-60211	29	52	.	.	PUNCT
esrj-60211	30	1	longuet	longuet	PROPN
esrj-60211	30	2	-	-	PUNCT
esrj-60211	30	3	higgins	higgins	PROPN
esrj-60211	30	4	was	be	AUX
esrj-60211	30	5	the	the	DET
esrj-60211	30	6	first	first	ADJ
esrj-60211	30	7	to	to	PART
esrj-60211	30	8	discover	discover	VERB
esrj-60211	30	9	that	that	SCONJ
esrj-60211	30	10	the	the	DET
esrj-60211	30	11	position	position	NOUN
esrj-60211	30	12	and	and	CCONJ
esrj-60211	30	13	orientation	orientation	NOUN
esrj-60211	30	14	of	of	ADP
esrj-60211	30	15	one	one	NUM
esrj-60211	30	16	image	image	NOUN
esrj-60211	30	17	with	with	ADP
esrj-60211	30	18	the	the	DET
esrj-60211	30	19	other	other	ADJ
esrj-60211	30	20	is	be	AUX
esrj-60211	30	21	contained	contain	VERB
esrj-60211	30	22	in	in	ADP
esrj-60211	30	23	the	the	DET
esrj-60211	30	24	essential	essential	ADJ
esrj-60211	30	25	matrix	matrix	NOUN
esrj-60211	30	26	(	(	PUNCT
esrj-60211	30	27	longuet	longuet	NOUN
esrj-60211	30	28	-	-	PUNCT
esrj-60211	30	29	higgins	higgins	PROPN
esrj-60211	30	30	,	,	PUNCT
esrj-60211	30	31	1987	1987	NUM
esrj-60211	30	32	)	)	PUNCT
esrj-60211	30	33	.	.	PUNCT
esrj-60211	31	1	in	in	ADP
esrj-60211	31	2	that	that	DET
esrj-60211	31	3	paper	paper	NOUN
esrj-60211	31	4	,	,	PUNCT
esrj-60211	31	5	an	an	DET
esrj-60211	31	6	eight	eight	NUM
esrj-60211	31	7	-	-	PUNCT
esrj-60211	31	8	point	point	NOUN
esrj-60211	31	9	algorithm	algorithm	NOUN
esrj-60211	31	10	is	be	AUX
esrj-60211	31	11	proposed	propose	VERB
esrj-60211	31	12	to	to	PART
esrj-60211	31	13	estimate	estimate	VERB
esrj-60211	31	14	an	an	DET
esrj-60211	31	15	essential	essential	ADJ
esrj-60211	31	16	model	model	NOUN
esrj-60211	31	17	with	with	ADP
esrj-60211	31	18	the	the	DET
esrj-60211	31	19	limitation	limitation	NOUN
esrj-60211	31	20	that	that	PRON
esrj-60211	31	21	it	it	PRON
esrj-60211	31	22	will	will	AUX
esrj-60211	31	23	introduce	introduce	VERB
esrj-60211	31	24	significant	significant	ADJ
esrj-60211	31	25	error	error	NOUN
esrj-60211	31	26	because	because	SCONJ
esrj-60211	31	27	of	of	ADP
esrj-60211	31	28	noises	noise	NOUN
esrj-60211	31	29	in	in	ADP
esrj-60211	31	30	the	the	DET
esrj-60211	31	31	image	image	NOUN
esrj-60211	31	32	.	.	PUNCT
esrj-60211	32	1	to	to	PART
esrj-60211	32	2	get	get	VERB
esrj-60211	32	3	the	the	DET
esrj-60211	32	4	more	more	ADV
esrj-60211	32	5	definite	definite	ADJ
esrj-60211	32	6	essential	essential	ADJ
esrj-60211	32	7	matrix	matrix	NOUN
esrj-60211	32	8	,	,	PUNCT
esrj-60211	32	9	nistér	nistér	NOUN
esrj-60211	32	10	proposed	propose	VERB
esrj-60211	32	11	five	five	NUM
esrj-60211	32	12	-	-	PUNCT
esrj-60211	32	13	point	point	NOUN
esrj-60211	32	14	algorithm	algorithm	NOUN
esrj-60211	32	15	(	(	PUNCT
esrj-60211	32	16	nistér	nistér	PROPN
esrj-60211	32	17	,	,	PUNCT
esrj-60211	32	18	2004	2004	NUM
esrj-60211	32	19	)	)	PUNCT
esrj-60211	32	20	.	.	PUNCT
esrj-60211	33	1	the	the	DET
esrj-60211	33	2	five	five	NUM
esrj-60211	33	3	-	-	PUNCT
esrj-60211	33	4	point	point	NOUN
esrj-60211	33	5	algorithm	algorithm	NOUN
esrj-60211	33	6	estimates	estimate	VERB
esrj-60211	33	7	essential	essential	ADJ
esrj-60211	33	8	matrix	matrix	NOUN
esrj-60211	33	9	by	by	ADP
esrj-60211	33	10	calculating	calculate	VERB
esrj-60211	33	11	the	the	DET
esrj-60211	33	12	root	root	NOUN
esrj-60211	33	13	of	of	ADP
esrj-60211	33	14	polynomial	polynomial	ADJ
esrj-60211	33	15	ten	ten	NUM
esrj-60211	33	16	times	time	NOUN
esrj-60211	33	17	.	.	PUNCT
esrj-60211	34	1	there	there	PRON
esrj-60211	34	2	are	be	VERB
esrj-60211	34	3	also	also	ADV
esrj-60211	34	4	methods	method	NOUN
esrj-60211	34	5	on	on	ADP
esrj-60211	34	6	singular	singular	ADJ
esrj-60211	34	7	value	value	NOUN
esrj-60211	34	8	decomposition	decomposition	NOUN
esrj-60211	34	9	(	(	PUNCT
esrj-60211	34	10	taylor	taylor	PROPN
esrj-60211	34	11	&	&	CCONJ
esrj-60211	34	12	kriegman	kriegman	PROPN
esrj-60211	34	13	,	,	PUNCT
esrj-60211	34	14	1995	1995	NUM
esrj-60211	34	15	;	;	PUNCT
esrj-60211	34	16	ma	ma	PROPN
esrj-60211	34	17	,	,	PUNCT
esrj-60211	34	18	soatto	soatto	NOUN
esrj-60211	34	19	,	,	PUNCT
esrj-60211	34	20	kosecka	kosecka	PROPN
esrj-60211	34	21	&	&	CCONJ
esrj-60211	34	22	sastry	sastry	PROPN
esrj-60211	34	23	,	,	PUNCT
esrj-60211	34	24	2004	2004	NUM
esrj-60211	34	25	;	;	PUNCT
esrj-60211	34	26	hartley	hartley	PROPN
esrj-60211	34	27	&	&	CCONJ
esrj-60211	34	28	zisserman	zisserman	PROPN
esrj-60211	34	29	)	)	PUNCT
esrj-60211	34	30	.	.	PUNCT
esrj-60211	35	1	although	although	SCONJ
esrj-60211	35	2	homogeneous	homogeneous	ADJ
esrj-60211	35	3	algebraic	algebraic	ADJ
esrj-60211	35	4	representation	representation	NOUN
esrj-60211	35	5	and	and	CCONJ
esrj-60211	35	6	singular	singular	ADJ
esrj-60211	35	7	value	value	NOUN
esrj-60211	35	8	decomposition	decomposition	NOUN
esrj-60211	35	9	strategy	strategy	NOUN
esrj-60211	35	10	can	can	AUX
esrj-60211	35	11	calculate	calculate	VERB
esrj-60211	35	12	relative	relative	ADJ
esrj-60211	35	13	direction	direction	NOUN
esrj-60211	35	14	elementary	elementary	PROPN
esrj-60211	35	15	efficiently	efficiently	ADV
esrj-60211	35	16	,	,	PUNCT
esrj-60211	35	17	it	it	PRON
esrj-60211	35	18	is	be	AUX
esrj-60211	35	19	a	a	DET
esrj-60211	35	20	significant	significant	ADJ
esrj-60211	35	21	error	error	NOUN
esrj-60211	35	22	in	in	ADP
esrj-60211	35	23	the	the	DET
esrj-60211	35	24	result	result	NOUN
esrj-60211	35	25	because	because	SCONJ
esrj-60211	35	26	of	of	ADP
esrj-60211	35	27	unmatched	unmatched	ADJ
esrj-60211	35	28	conjugate	conjugate	ADJ
esrj-60211	35	29	points	point	NOUN
esrj-60211	35	30	.	.	PUNCT
esrj-60211	36	1	when	when	SCONJ
esrj-60211	36	2	there	there	PRON
esrj-60211	36	3	are	be	VERB
esrj-60211	36	4	outliers	outlier	NOUN
esrj-60211	36	5	among	among	ADP
esrj-60211	36	6	the	the	DET
esrj-60211	36	7	conjugate	conjugate	ADJ
esrj-60211	36	8	points	point	NOUN
esrj-60211	36	9	,	,	PUNCT
esrj-60211	36	10	the	the	DET
esrj-60211	36	11	least	least	ADJ
esrj-60211	36	12	squares	square	NOUN
esrj-60211	36	13	iterative	iterative	NOUN
esrj-60211	36	14	method	method	NOUN
esrj-60211	36	15	is	be	AUX
esrj-60211	36	16	one	one	NUM
esrj-60211	36	17	of	of	ADP
esrj-60211	36	18	the	the	DET
esrj-60211	36	19	best	good	ADJ
esrj-60211	36	20	choices	choice	NOUN
esrj-60211	36	21	for	for	ADP
esrj-60211	36	22	more	more	ADJ
esrj-60211	36	23	accuracy	accuracy	NOUN
esrj-60211	36	24	results	result	NOUN
esrj-60211	36	25	of	of	ADP
esrj-60211	36	26	relative	relative	ADJ
esrj-60211	36	27	orientation	orientation	NOUN
esrj-60211	36	28	elementary	elementary	NOUN
esrj-60211	36	29	.	.	PUNCT
esrj-60211	37	1	the	the	DET
esrj-60211	37	2	least	least	ADJ
esrj-60211	37	3	squares	square	NOUN
esrj-60211	37	4	iterative	iterative	NOUN
esrj-60211	37	5	method	method	NOUN
esrj-60211	37	6	will	will	AUX
esrj-60211	37	7	decrease	decrease	VERB
esrj-60211	37	8	the	the	DET
esrj-60211	37	9	adverse	adverse	ADJ
esrj-60211	37	10	influence	influence	NOUN
esrj-60211	37	11	of	of	ADP
esrj-60211	37	12	the	the	DET
esrj-60211	37	13	outliers	outlier	NOUN
esrj-60211	37	14	by	by	ADP
esrj-60211	37	15	the	the	DET
esrj-60211	37	16	iterative	iterative	NOUN
esrj-60211	37	17	process	process	NOUN
esrj-60211	37	18	.	.	PUNCT
esrj-60211	38	1	in	in	ADP
esrj-60211	38	2	the	the	DET
esrj-60211	38	3	calculation	calculation	NOUN
esrj-60211	38	4	process	process	NOUN
esrj-60211	38	5	for	for	ADP
esrj-60211	38	6	relative	relative	ADJ
esrj-60211	38	7	orientation	orientation	NOUN
esrj-60211	38	8	parameters	parameter	NOUN
esrj-60211	38	9	,	,	PUNCT
esrj-60211	38	10	there	there	PRON
esrj-60211	38	11	are	be	VERB
esrj-60211	38	12	two	two	NUM
esrj-60211	38	13	solving	solving	NOUN
esrj-60211	38	14	methods	method	NOUN
esrj-60211	38	15	.	.	PUNCT
esrj-60211	39	1	one	one	NUM
esrj-60211	39	2	is	be	AUX
esrj-60211	39	3	using	use	VERB
esrj-60211	39	4	iterative	iterative	ADJ
esrj-60211	39	5	calculation	calculation	NOUN
esrj-60211	39	6	with	with	ADP
esrj-60211	39	7	the	the	DET
esrj-60211	39	8	least	least	ADJ
esrj-60211	39	9	square	square	ADJ
esrj-60211	39	10	adjustment	adjustment	NOUN
esrj-60211	39	11	.	.	PUNCT
esrj-60211	40	1	the	the	DET
esrj-60211	40	2	method	method	NOUN
esrj-60211	40	3	needs	need	VERB
esrj-60211	40	4	to	to	PART
esrj-60211	40	5	give	give	VERB
esrj-60211	40	6	the	the	DET
esrj-60211	40	7	initial	initial	ADJ
esrj-60211	40	8	parameter	parameter	NOUN
esrj-60211	40	9	value	value	NOUN
esrj-60211	40	10	.	.	PUNCT
esrj-60211	41	1	however	however	ADV
esrj-60211	41	2	,	,	PUNCT
esrj-60211	41	3	the	the	DET
esrj-60211	41	4	initial	initial	ADJ
esrj-60211	41	5	value	value	NOUN
esrj-60211	41	6	can	can	AUX
esrj-60211	41	7	not	not	PART
esrj-60211	41	8	be	be	AUX
esrj-60211	41	9	provided	provide	VERB
esrj-60211	41	10	in	in	ADP
esrj-60211	41	11	some	some	DET
esrj-60211	41	12	case	case	NOUN
esrj-60211	41	13	,	,	PUNCT
esrj-60211	41	14	and	and	CCONJ
esrj-60211	41	15	the	the	DET
esrj-60211	41	16	range	range	NOUN
esrj-60211	41	17	of	of	ADP
esrj-60211	41	18	the	the	DET
esrj-60211	41	19	given	give	VERB
esrj-60211	41	20	initial	initial	ADJ
esrj-60211	41	21	value	value	NOUN
esrj-60211	41	22	will	will	AUX
esrj-60211	41	23	affect	affect	VERB
esrj-60211	41	24	the	the	DET
esrj-60211	41	25	accuracy	accuracy	NOUN
esrj-60211	41	26	of	of	ADP
esrj-60211	41	27	the	the	DET
esrj-60211	41	28	relative	relative	ADJ
esrj-60211	41	29	orientation	orientation	NOUN
esrj-60211	41	30	(	(	PUNCT
esrj-60211	41	31	stewenius	stewenius	PROPN
esrj-60211	41	32	,	,	PUNCT
esrj-60211	41	33	engels	engels	PROPN
esrj-60211	41	34	&	&	CCONJ
esrj-60211	41	35	nistér	nistér	PROPN
esrj-60211	41	36	,	,	PUNCT
esrj-60211	41	37	2006	2006	NUM
esrj-60211	41	38	)	)	PUNCT
esrj-60211	41	39	.	.	PUNCT
esrj-60211	42	1	in	in	ADP
esrj-60211	42	2	the	the	DET
esrj-60211	42	3	worst	bad	ADJ
esrj-60211	42	4	situation	situation	NOUN
esrj-60211	42	5	,	,	PUNCT
esrj-60211	42	6	the	the	DET
esrj-60211	42	7	wrong	wrong	ADJ
esrj-60211	42	8	initial	initial	ADJ
esrj-60211	42	9	value	value	NOUN
esrj-60211	42	10	will	will	AUX
esrj-60211	42	11	cause	cause	VERB
esrj-60211	42	12	the	the	DET
esrj-60211	42	13	equation	equation	NOUN
esrj-60211	42	14	does	do	AUX
esrj-60211	42	15	not	not	PART
esrj-60211	42	16	converge	converge	VERB
esrj-60211	42	17	and	and	CCONJ
esrj-60211	42	18	then	then	ADV
esrj-60211	42	19	have	have	VERB
esrj-60211	42	20	no	no	DET
esrj-60211	42	21	solution	solution	NOUN
esrj-60211	42	22	,	,	PUNCT
esrj-60211	42	23	especially	especially	ADV
esrj-60211	42	24	at	at	ADP
esrj-60211	42	25	close	close	ADJ
esrj-60211	42	26	range	range	NOUN
esrj-60211	42	27	applications	application	NOUN
esrj-60211	42	28	(	(	PUNCT
esrj-60211	42	29	li	li	PROPN
esrj-60211	42	30	,	,	PUNCT
esrj-60211	42	31	liu	liu	PROPN
esrj-60211	42	32	&	&	CCONJ
esrj-60211	42	33	tang	tang	PROPN
esrj-60211	42	34	,	,	PUNCT
esrj-60211	42	35	2007	2007	NUM
esrj-60211	42	36	;	;	PUNCT
esrj-60211	42	37	pan	pan	NOUN
esrj-60211	42	38	,	,	PUNCT
esrj-60211	42	39	1999	1999	NUM
esrj-60211	42	40	;	;	PUNCT
esrj-60211	42	41	duane	duane	PROPN
esrj-60211	42	42	,	,	PUNCT
esrj-60211	42	43	1971	1971	NUM
esrj-60211	42	44	)	)	PUNCT
esrj-60211	42	45	.	.	PUNCT
esrj-60211	43	1	for	for	ADP
esrj-60211	43	2	large	large	ADJ
esrj-60211	43	3	rotation	rotation	NOUN
esrj-60211	43	4	angle	angle	NOUN
esrj-60211	43	5	of	of	ADP
esrj-60211	43	6	close	close	ADJ
esrj-60211	43	7	range	range	NOUN
esrj-60211	43	8	images	image	NOUN
esrj-60211	43	9	,	,	PUNCT
esrj-60211	43	10	more	more	ADV
esrj-60211	43	11	strict	strict	ADJ
esrj-60211	43	12	relative	relative	ADJ
esrj-60211	43	13	orientation	orientation	NOUN
esrj-60211	43	14	method	method	NOUN
esrj-60211	43	15	is	be	AUX
esrj-60211	43	16	adopted	adopt	VERB
esrj-60211	43	17	to	to	PART
esrj-60211	43	18	restore	restore	VERB
esrj-60211	43	19	their	their	PRON
esrj-60211	43	20	relative	relative	ADJ
esrj-60211	43	21	position	position	NOUN
esrj-60211	43	22	(	(	PUNCT
esrj-60211	43	23	tang	tang	PROPN
esrj-60211	43	24	&	&	CCONJ
esrj-60211	43	25	heipke	heipke	PROPN
esrj-60211	43	26	,	,	PUNCT
esrj-60211	43	27	1994	1994	NUM
esrj-60211	43	28	;	;	PUNCT
esrj-60211	43	29	werner	werner	NOUN
esrj-60211	43	30	,	,	PUNCT
esrj-60211	43	31	2003	2003	NUM
esrj-60211	43	32	;	;	PUNCT
esrj-60211	43	33	zhang	zhang	PROPN
esrj-60211	43	34	,	,	PUNCT
esrj-60211	43	35	huang	huang	PROPN
esrj-60211	43	36	,	,	PUNCT
esrj-60211	43	37	hu	hu	PROPN
esrj-60211	43	38	,	,	PUNCT
esrj-60211	43	39	wan	wan	PROPN
esrj-60211	43	40	&	&	CCONJ
esrj-60211	43	41	lin	lin	PROPN
esrj-60211	43	42	,	,	PUNCT
esrj-60211	43	43	2011	2011	NUM
esrj-60211	43	44	)	)	PUNCT
esrj-60211	43	45	.	.	PUNCT
esrj-60211	44	1	the	the	DET
esrj-60211	44	2	other	other	ADJ
esrj-60211	44	3	method	method	NOUN
esrj-60211	44	4	is	be	AUX
esrj-60211	44	5	to	to	PART
esrj-60211	44	6	solve	solve	VERB
esrj-60211	44	7	the	the	DET
esrj-60211	44	8	equation	equation	NOUN
esrj-60211	44	9	of	of	ADP
esrj-60211	44	10	relative	relative	ADJ
esrj-60211	44	11	orientation	orientation	NOUN
esrj-60211	44	12	model	model	NOUN
esrj-60211	44	13	with	with	ADP
esrj-60211	44	14	one	one	NUM
esrj-60211	44	15	or	or	CCONJ
esrj-60211	44	16	some	some	DET
esrj-60211	44	17	accurate	accurate	ADJ
esrj-60211	44	18	parameter	parameter	NOUN
esrj-60211	44	19	value	value	NOUN
esrj-60211	44	20	directly	directly	ADV
esrj-60211	44	21	.	.	PUNCT
esrj-60211	45	1	for	for	ADP
esrj-60211	45	2	the	the	DET
esrj-60211	45	3	case	case	NOUN
esrj-60211	45	4	,	,	PUNCT
esrj-60211	45	5	it	it	PRON
esrj-60211	45	6	is	be	AUX
esrj-60211	45	7	also	also	ADV
esrj-60211	45	8	difficult	difficult	ADJ
esrj-60211	45	9	to	to	PART
esrj-60211	45	10	acquire	acquire	VERB
esrj-60211	45	11	the	the	DET
esrj-60211	45	12	few	few	ADJ
esrj-60211	45	13	specific	specific	ADJ
esrj-60211	45	14	value	value	NOUN
esrj-60211	45	15	which	which	PRON
esrj-60211	45	16	constraints	constraint	VERB
esrj-60211	45	17	its	its	PRON
esrj-60211	45	18	application	application	NOUN
esrj-60211	45	19	for	for	ADP
esrj-60211	45	20	some	some	DET
esrj-60211	45	21	fields	field	NOUN
esrj-60211	45	22	.	.	PUNCT
esrj-60211	46	1	in	in	ADP
esrj-60211	46	2	this	this	DET
esrj-60211	46	3	paper	paper	NOUN
esrj-60211	46	4	,	,	PUNCT
esrj-60211	46	5	a	a	DET
esrj-60211	46	6	new	new	ADJ
esrj-60211	46	7	relative	relative	ADJ
esrj-60211	46	8	orientation	orientation	NOUN
esrj-60211	46	9	model	model	NOUN
esrj-60211	46	10	,	,	PUNCT
esrj-60211	46	11	direct	direct	ADJ
esrj-60211	46	12	relative	relative	ADJ
esrj-60211	46	13	orientation	orientation	NOUN
esrj-60211	46	14	with	with	ADP
esrj-60211	46	15	seven	seven	NUM
esrj-60211	46	16	constraints	constraint	NOUN
esrj-60211	46	17	is	be	AUX
esrj-60211	46	18	proposed	propose	VERB
esrj-60211	46	19	to	to	PART
esrj-60211	46	20	overcome	overcome	VERB
esrj-60211	46	21	the	the	DET
esrj-60211	46	22	problems	problem	NOUN
esrj-60211	46	23	in	in	ADP
esrj-60211	46	24	the	the	DET
esrj-60211	46	25	models	model	NOUN
esrj-60211	46	26	described	describe	VERB
esrj-60211	46	27	above	above	ADV
esrj-60211	46	28	.	.	PUNCT
esrj-60211	47	1	in	in	ADP
esrj-60211	47	2	the	the	DET
esrj-60211	47	3	new	new	ADJ
esrj-60211	47	4	model	model	NOUN
esrj-60211	47	5	,	,	PUNCT
esrj-60211	47	6	the	the	DET
esrj-60211	47	7	initial	initial	ADJ
esrj-60211	47	8	value	value	NOUN
esrj-60211	47	9	is	be	AUX
esrj-60211	47	10	calculated	calculate	VERB
esrj-60211	47	11	by	by	ADP
esrj-60211	47	12	direct	direct	ADJ
esrj-60211	47	13	relative	relative	ADJ
esrj-60211	47	14	orientation	orientation	NOUN
esrj-60211	47	15	with	with	ADP
esrj-60211	47	16	a	a	DET
esrj-60211	47	17	rough	rough	ADJ
esrj-60211	47	18	bx	bx	NOUN
esrj-60211	47	19	.	.	PUNCT
esrj-60211	48	1	then	then	ADV
esrj-60211	48	2	,	,	PUNCT
esrj-60211	48	3	the	the	DET
esrj-60211	48	4	seven	seven	NUM
esrj-60211	48	5	constraints	constraint	NOUN
esrj-60211	48	6	are	be	AUX
esrj-60211	48	7	used	use	VERB
esrj-60211	48	8	to	to	PART
esrj-60211	48	9	control	control	VERB
esrj-60211	48	10	and	and	CCONJ
esrj-60211	48	11	adjust	adjust	VERB
esrj-60211	48	12	the	the	DET
esrj-60211	48	13	solved	solve	VERB
esrj-60211	48	14	parameter	parameter	NOUN
esrj-60211	48	15	result	result	NOUN
esrj-60211	48	16	during	during	ADP
esrj-60211	48	17	the	the	DET
esrj-60211	48	18	bundle	bundle	NOUN
esrj-60211	48	19	block	block	NOUN
esrj-60211	48	20	adjustment	adjustment	NOUN
esrj-60211	48	21	.	.	PUNCT
esrj-60211	49	1	six	six	NUM
esrj-60211	49	2	constraints	constraint	NOUN
esrj-60211	49	3	are	be	AUX
esrj-60211	49	4	derived	derive	VERB
esrj-60211	49	5	from	from	ADP
esrj-60211	49	6	the	the	DET
esrj-60211	49	7	inherent	inherent	ADJ
esrj-60211	49	8	orthogonal	orthogonal	ADJ
esrj-60211	49	9	property	property	NOUN
esrj-60211	49	10	of	of	ADP
esrj-60211	49	11	rotation	rotation	NOUN
esrj-60211	49	12	matrix	matrix	NOUN
esrj-60211	49	13	.	.	PUNCT
esrj-60211	50	1	the	the	DET
esrj-60211	50	2	seventh	seventh	ADJ
esrj-60211	50	3	constraint	constraint	NOUN
esrj-60211	50	4	stems	stem	VERB
esrj-60211	50	5	from	from	ADP
esrj-60211	50	6	the	the	DET
esrj-60211	50	7	decomposition	decomposition	NOUN
esrj-60211	50	8	of	of	ADP
esrj-60211	50	9	baseline	baseline	NOUN
esrj-60211	50	10	.	.	PUNCT
esrj-60211	51	1	in	in	ADP
esrj-60211	51	2	the	the	DET
esrj-60211	51	3	experiment	experiment	NOUN
esrj-60211	51	4	,	,	PUNCT
esrj-60211	51	5	the	the	DET
esrj-60211	51	6	model	model	NOUN
esrj-60211	51	7	correction	correction	NOUN
esrj-60211	51	8	is	be	AUX
esrj-60211	51	9	validated	validate	VERB
esrj-60211	51	10	,	,	PUNCT
esrj-60211	51	11	and	and	CCONJ
esrj-60211	51	12	the	the	DET
esrj-60211	51	13	space	space	NOUN
esrj-60211	51	14	position	position	NOUN
esrj-60211	51	15	assesses	assess	VERB
esrj-60211	51	16	the	the	DET
esrj-60211	51	17	accuracy	accuracy	NOUN
esrj-60211	51	18	.	.	PUNCT
esrj-60211	52	1	through	through	ADP
esrj-60211	52	2	the	the	DET
esrj-60211	52	3	experimental	experimental	ADJ
esrj-60211	52	4	result	result	NOUN
esrj-60211	52	5	,	,	PUNCT
esrj-60211	52	6	it	it	PRON
esrj-60211	52	7	is	be	AUX
esrj-60211	52	8	revealed	reveal	VERB
esrj-60211	52	9	that	that	SCONJ
esrj-60211	52	10	the	the	DET
esrj-60211	52	11	proposed	propose	VERB
esrj-60211	52	12	new	new	ADJ
esrj-60211	52	13	model	model	NOUN
esrj-60211	52	14	can	can	AUX
esrj-60211	52	15	improve	improve	VERB
esrj-60211	52	16	and	and	CCONJ
esrj-60211	52	17	acquire	acquire	VERB
esrj-60211	52	18	a	a	DET
esrj-60211	52	19	higher	high	ADJ
esrj-60211	52	20	accuracy	accuracy	NOUN
esrj-60211	52	21	of	of	ADP
esrj-60211	52	22	relative	relative	ADJ
esrj-60211	52	23	orientation	orientation	NOUN
esrj-60211	52	24	,	,	PUNCT
esrj-60211	52	25	and	and	CCONJ
esrj-60211	52	26	is	be	AUX
esrj-60211	52	27	suitable	suitable	ADJ
esrj-60211	52	28	for	for	ADP
esrj-60211	52	29	large	large	ADJ
esrj-60211	52	30	oblique	oblique	ADJ
esrj-60211	52	31	angles	angle	NOUN
esrj-60211	52	32	and	and	CCONJ
esrj-60211	52	33	translation	translation	NOUN
esrj-60211	52	34	using	use	VERB
esrj-60211	52	35	the	the	DET
esrj-60211	52	36	multiple	multiple	ADJ
esrj-60211	52	37	images	image	NOUN
esrj-60211	52	38	to	to	PART
esrj-60211	52	39	measure	measure	VERB
esrj-60211	52	40	geological	geological	ADJ
esrj-60211	52	41	landslides	landslide	NOUN
esrj-60211	52	42	and	and	CCONJ
esrj-60211	52	43	perform	perform	VERB
esrj-60211	52	44	3d	3d	NUM
esrj-60211	52	45	reconstruction	reconstruction	NOUN
esrj-60211	52	46	of	of	ADP
esrj-60211	52	47	the	the	DET
esrj-60211	52	48	geological	geological	ADJ
esrj-60211	52	49	landslides	landslide	NOUN
esrj-60211	52	50	.	.	PUNCT
esrj-60211	53	1	conventional	conventional	ADJ
esrj-60211	53	2	model	model	NOUN
esrj-60211	53	3	of	of	ADP
esrj-60211	53	4	relative	relative	ADJ
esrj-60211	53	5	orientation	orientation	NOUN
esrj-60211	53	6	1	1	NUM
esrj-60211	53	7	.	.	PUNCT
esrj-60211	54	1	coplanarity	coplanarity	NOUN
esrj-60211	54	2	condition	condition	NOUN
esrj-60211	54	3	equation	equation	NOUN
esrj-60211	54	4	relative	relative	ADJ
esrj-60211	54	5	orientation	orientation	NOUN
esrj-60211	54	6	is	be	AUX
esrj-60211	54	7	the	the	DET
esrj-60211	54	8	process	process	NOUN
esrj-60211	54	9	of	of	ADP
esrj-60211	54	10	recovering	recover	VERB
esrj-60211	54	11	the	the	DET
esrj-60211	54	12	position	position	NOUN
esrj-60211	54	13	and	and	CCONJ
esrj-60211	54	14	orientation	orientation	NOUN
esrj-60211	54	15	of	of	ADP
esrj-60211	54	16	one	one	NUM
esrj-60211	54	17	image	image	NOUN
esrj-60211	54	18	with	with	ADP
esrj-60211	54	19	the	the	DET
esrj-60211	54	20	other	other	ADJ
esrj-60211	54	21	in	in	ADP
esrj-60211	54	22	an	an	DET
esrj-60211	54	23	individual	individual	ADJ
esrj-60211	54	24	image	image	NOUN
esrj-60211	54	25	space	space	NOUN
esrj-60211	54	26	coordinate	coordinate	NOUN
esrj-60211	54	27	system	system	NOUN
esrj-60211	54	28	.	.	PUNCT
esrj-60211	55	1	given	give	VERB
esrj-60211	55	2	two	two	NUM
esrj-60211	55	3	images	image	NOUN
esrj-60211	55	4	(	(	PUNCT
esrj-60211	55	5	left	left	ADJ
esrj-60211	55	6	and	and	CCONJ
esrj-60211	55	7	right	right	ADJ
esrj-60211	55	8	images	image	NOUN
esrj-60211	55	9	)	)	PUNCT
esrj-60211	55	10	with	with	ADP
esrj-60211	55	11	an	an	DET
esrj-60211	55	12	overlap	overlap	NOUN
esrj-60211	55	13	filed	file	VERB
esrj-60211	55	14	from	from	ADP
esrj-60211	55	15	different	different	ADJ
esrj-60211	55	16	viewpoints	viewpoint	NOUN
esrj-60211	55	17	,	,	PUNCT
esrj-60211	55	18	a	a	DET
esrj-60211	55	19	stereo	stereo	NOUN
esrj-60211	55	20	model	model	NOUN
esrj-60211	55	21	can	can	AUX
esrj-60211	55	22	be	be	AUX
esrj-60211	55	23	created	create	VERB
esrj-60211	55	24	and	and	CCONJ
esrj-60211	55	25	reconstruct	reconstruct	VERB
esrj-60211	55	26	the	the	DET
esrj-60211	55	27	original	original	ADJ
esrj-60211	55	28	epipolar	epipolar	ADJ
esrj-60211	55	29	geometry	geometry	NOUN
esrj-60211	55	30	,	,	PUNCT
esrj-60211	55	31	represented	represent	VERB
esrj-60211	55	32	by	by	ADP
esrj-60211	55	33	figure	figure	NOUN
esrj-60211	55	34	1	1	NUM
esrj-60211	55	35	.	.	PUNCT
esrj-60211	55	36	assuming	assume	VERB
esrj-60211	55	37	a	a	DET
esrj-60211	55	38	ground	ground	NOUN
esrj-60211	55	39	point	point	NOUN
esrj-60211	55	40	m	m	VERB
esrj-60211	55	41	is	be	AUX
esrj-60211	55	42	imaged	image	VERB
esrj-60211	55	43	at	at	ADP
esrj-60211	55	44	two	two	NUM
esrj-60211	55	45	viewpoints	viewpoint	NOUN
esrj-60211	55	46	s1	s1	NOUN
esrj-60211	55	47	and	and	CCONJ
esrj-60211	55	48	s2	s2	PROPN
esrj-60211	55	49	,	,	PUNCT
esrj-60211	55	50	the	the	DET
esrj-60211	55	51	two	two	NUM
esrj-60211	55	52	image	image	NOUN
esrj-60211	55	53	points	point	NOUN
esrj-60211	55	54	(	(	PUNCT
esrj-60211	55	55	m1	m1	PROPN
esrj-60211	55	56	and	and	CCONJ
esrj-60211	55	57	m2	m2	PROPN
esrj-60211	55	58	)	)	PUNCT
esrj-60211	55	59	are	be	AUX
esrj-60211	55	60	acquired	acquire	VERB
esrj-60211	55	61	,	,	PUNCT
esrj-60211	55	62	and	and	CCONJ
esrj-60211	55	63	the	the	DET
esrj-60211	55	64	corresponding	corresponding	ADJ
esrj-60211	55	65	imaged	image	VERB
esrj-60211	55	66	ray	ray	NOUN
esrj-60211	55	67	is	be	AUX
esrj-60211	55	68	r1	r1	NOUN
esrj-60211	55	69	and	and	CCONJ
esrj-60211	55	70	r2	r2	NOUN
esrj-60211	55	71	respectively	respectively	ADV
esrj-60211	55	72	.	.	PUNCT
esrj-60211	56	1	the	the	DET
esrj-60211	56	2	vector	vector	NOUN
esrj-60211	56	3	distance	distance	NOUN
esrj-60211	56	4	between	between	ADP
esrj-60211	56	5	the	the	DET
esrj-60211	56	6	two	two	NUM
esrj-60211	56	7	viewpoints	viewpoint	NOUN
esrj-60211	56	8	is	be	AUX
esrj-60211	56	9	called	call	VERB
esrj-60211	56	10	baseline	baseline	PROPN
esrj-60211	56	11	b.	b.	PROPN
esrj-60211	56	12	basing	base	VERB
esrj-60211	56	13	on	on	ADP
esrj-60211	56	14	the	the	DET
esrj-60211	56	15	epipolar	epipolar	ADJ
esrj-60211	56	16	geometry	geometry	NOUN
esrj-60211	56	17	,	,	PUNCT
esrj-60211	56	18	the	the	DET
esrj-60211	56	19	vectors	vector	NOUN
esrj-60211	56	20	r1	r1	NOUN
esrj-60211	56	21	,	,	PUNCT
esrj-60211	56	22	r2	r2	PROPN
esrj-60211	56	23	,	,	PUNCT
esrj-60211	56	24	and	and	CCONJ
esrj-60211	56	25	b	b	NOUN
esrj-60211	56	26	must	must	AUX
esrj-60211	56	27	be	be	AUX
esrj-60211	56	28	in	in	ADP
esrj-60211	56	29	one	one	NUM
esrj-60211	56	30	plane	plane	NOUN
esrj-60211	56	31	,	,	PUNCT
esrj-60211	56	32	coplane	coplane	PROPN
esrj-60211	56	33	,	,	PUNCT
esrj-60211	56	34	whose	whose	DET
esrj-60211	56	35	mathematical	mathematical	ADJ
esrj-60211	56	36	expression	expression	NOUN
esrj-60211	56	37	is	be	AUX
esrj-60211	56	38	represented	represent	VERB
esrj-60211	56	39	by	by	ADP
esrj-60211	56	40	equation	equation	NOUN
esrj-60211	56	41	1	1	NUM
esrj-60211	56	42	.	.	PUNCT
esrj-60211	57	1	(	(	PUNCT
esrj-60211	57	2	1)b	1)b	NUM
esrj-60211	57	3	•	•	X
esrj-60211	57	4	(	(	PUNCT
esrj-60211	57	5	r1×r2	r1×r2	PROPN
esrj-60211	57	6	)	)	PUNCT
esrj-60211	57	7	=	=	SYM
esrj-60211	57	8	0	0	PUNCT
esrj-60211	57	9	z	z	NOUN
esrj-60211	57	10	y	y	NOUN
esrj-60211	57	11	x	x	SYM
esrj-60211	57	12	b	b	X
esrj-60211	57	13	s2	s2	NOUN
esrj-60211	57	14	bx	bx	X
esrj-60211	57	15	bz	bz	PROPN
esrj-60211	57	16	by	by	ADP
esrj-60211	57	17	s1	s1	PROPN
esrj-60211	57	18	m1	m1	PROPN
esrj-60211	57	19	m2	m2	PROPN
esrj-60211	57	20	m	m	PROPN
esrj-60211	57	21	(	(	PUNCT
esrj-60211	57	22	x1	x1	PROPN
esrj-60211	57	23	y1	y1	PROPN
esrj-60211	57	24	z1	z1	PROPN
esrj-60211	57	25	)	)	PUNCT
esrj-60211	57	26	(	(	PUNCT
esrj-60211	57	27	x2	x2	PROPN
esrj-60211	57	28	y2	y2	PROPN
esrj-60211	57	29	z2	z2	PROPN
esrj-60211	57	30	)	)	PUNCT
esrj-60211	57	31	μ	μ	PROPN
esrj-60211	57	32	ν	ν	PROPN
esrj-60211	57	33	r1	r1	PROPN
esrj-60211	57	34	r2	r2	PROPN
esrj-60211	57	35	figure	figure	NOUN
esrj-60211	57	36	1	1	NUM
esrj-60211	57	37	.	.	PUNCT
esrj-60211	58	1	the	the	DET
esrj-60211	58	2	diagram	diagram	NOUN
esrj-60211	58	3	of	of	ADP
esrj-60211	58	4	the	the	DET
esrj-60211	58	5	epipolar	epipolar	ADJ
esrj-60211	58	6	geometry	geometry	NOUN
esrj-60211	58	7	relationship	relationship	NOUN
esrj-60211	58	8	in	in	ADP
esrj-60211	58	9	the	the	DET
esrj-60211	58	10	stereo	stereo	NOUN
esrj-60211	58	11	images	image	NOUN
esrj-60211	58	12	.	.	PUNCT
esrj-60211	59	1	basing	base	VERB
esrj-60211	59	2	on	on	ADP
esrj-60211	59	3	the	the	DET
esrj-60211	59	4	epipolar	epipolar	ADJ
esrj-60211	59	5	geometry	geometry	NOUN
esrj-60211	59	6	,	,	PUNCT
esrj-60211	59	7	the	the	DET
esrj-60211	59	8	mathematic	mathematic	ADJ
esrj-60211	59	9	model	model	NOUN
esrj-60211	59	10	of	of	ADP
esrj-60211	59	11	relative	relative	ADJ
esrj-60211	59	12	orientation	orientation	NOUN
esrj-60211	59	13	can	can	AUX
esrj-60211	59	14	be	be	AUX
esrj-60211	59	15	expressed	express	VERB
esrj-60211	59	16	as	as	ADP
esrj-60211	59	17	follow	follow	NOUN
esrj-60211	59	18	by	by	ADP
esrj-60211	59	19	coplanarity	coplanarity	NOUN
esrj-60211	59	20	equation	equation	NOUN
esrj-60211	59	21	3	3	NUM
esrj-60211	59	22	and	and	CCONJ
esrj-60211	59	23	equation	equation	NOUN
esrj-60211	59	24	17	17	NUM
esrj-60211	59	25	according	accord	VERB
esrj-60211	59	26	to	to	ADP
esrj-60211	59	27	equation	equation	NOUN
esrj-60211	59	28	1	1	NUM
esrj-60211	59	29	.	.	PUNCT
esrj-60211	60	1	(	(	PUNCT
esrj-60211	60	2	2	2	X
esrj-60211	60	3	)	)	PUNCT
esrj-60211	60	4	where	where	SCONJ
esrj-60211	60	5	bx	bx	X
esrj-60211	60	6	,	,	PUNCT
esrj-60211	60	7	by	by	ADV
esrj-60211	60	8	,	,	PUNCT
esrj-60211	60	9	bz	bz	PROPN
esrj-60211	60	10	are	be	AUX
esrj-60211	60	11	components	component	NOUN
esrj-60211	60	12	of	of	ADP
esrj-60211	60	13	baseline	baseline	NOUN
esrj-60211	60	14	of	of	ADP
esrj-60211	60	15	a	a	DET
esrj-60211	60	16	stereo	stereo	ADJ
esrj-60211	60	17	pair	pair	NOUN
esrj-60211	61	1	[	[	X
esrj-60211	61	2	x1	x1	PROPN
esrj-60211	61	3	y1	y1	INTJ
esrj-60211	61	4	z1]=[x	z1]=[x	PROPN
esrj-60211	61	5	y	y	PROPN
esrj-60211	61	6	-f]t	-f]t	PROPN
esrj-60211	61	7	and	and	CCONJ
esrj-60211	61	8	[	[	X
esrj-60211	61	9	x2	x2	ADJ
esrj-60211	61	10	y2	y2	PROPN
esrj-60211	61	11	z2]=r[x	z2]=r[x	NOUN
esrj-60211	61	12	’	'	PUNCT
esrj-60211	61	13	y	y	X
esrj-60211	61	14	’	'	PUNCT
esrj-60211	61	15	-f]t	-f]t	NOUN
esrj-60211	61	16	coordinates	coordinate	NOUN
esrj-60211	61	17	of	of	ADP
esrj-60211	61	18	conjugate	conjugate	ADJ
esrj-60211	61	19	points	point	NOUN
esrj-60211	61	20	in	in	ADP
esrj-60211	61	21	the	the	DET
esrj-60211	61	22	image	image	NOUN
esrj-60211	61	23	space	space	NOUN
esrj-60211	61	24	coordinate	coordinate	NOUN
esrj-60211	61	25	system	system	NOUN
esrj-60211	61	26	,	,	PUNCT
esrj-60211	61	27	(	(	PUNCT
esrj-60211	61	28	x	x	NOUN
esrj-60211	61	29	,	,	PUNCT
esrj-60211	61	30	y	y	PROPN
esrj-60211	61	31	)	)	PUNCT
esrj-60211	61	32	and	and	CCONJ
esrj-60211	61	33	(	(	PUNCT
esrj-60211	61	34	x’,y	x’,y	PROPN
esrj-60211	61	35	’	'	PUNCT
esrj-60211	61	36	)	)	PUNCT
esrj-60211	61	37	represent	represent	VERB
esrj-60211	61	38	conjugate	conjugate	ADJ
esrj-60211	61	39	points	point	NOUN
esrj-60211	61	40	in	in	ADP
esrj-60211	61	41	the	the	DET
esrj-60211	61	42	image	image	NOUN
esrj-60211	61	43	space	space	NOUN
esrj-60211	61	44	coordinates	coordinate	NOUN
esrj-60211	61	45	system	system	NOUN
esrj-60211	61	46	,	,	PUNCT
esrj-60211	61	47	the	the	DET
esrj-60211	61	48	rotation	rotation	NOUN
esrj-60211	61	49	matrix	matrix	NOUN
esrj-60211	61	50	1	1	NUM
esrj-60211	61	51	2	2	NUM
esrj-60211	61	52	3	3	NUM
esrj-60211	61	53	1	1	NUM
esrj-60211	61	54	2	2	NUM
esrj-60211	61	55	3	3	NUM
esrj-60211	61	56	1	1	NUM
esrj-60211	61	57	2	2	NUM
esrj-60211	61	58	3	3	NUM
esrj-60211	61	59	a	a	PRON
esrj-60211	61	60	a	a	DET
esrj-60211	61	61	a	a	DET
esrj-60211	61	62	r	r	NOUN
esrj-60211	61	63	b	b	PROPN
esrj-60211	61	64	b	b	PROPN
esrj-60211	61	65	b	b	PROPN
esrj-60211	61	66	c	c	NOUN
esrj-60211	61	67	c	c	PROPN
esrj-60211	61	68	c	c	PROPN
esrj-60211	61	69	�	�	PROPN
esrj-60211	61	70	�	�	PROPN
esrj-60211	61	71	�	�	PROPN
esrj-60211	61	72	�	�	PROPN
esrj-60211	61	73	=	=	SYM
esrj-60211	61	74	�	�	PROPN
esrj-60211	61	75	�	�	PROPN
esrj-60211	61	76	�	�	PROPN
esrj-60211	61	77	�	�	PROPN
esrj-60211	61	78	�	�	PROPN
esrj-60211	61	79	�	�	PROPN
esrj-60211	61	80	composes	compose	VERB
esrj-60211	61	81	of	of	ADP
esrj-60211	61	82	the	the	DET
esrj-60211	61	83	three	three	NUM
esrj-60211	61	84	angles	angle	NOUN
esrj-60211	61	85	φ	φ	PROPN
esrj-60211	61	86	,	,	PUNCT
esrj-60211	61	87	ω	ω	PROPN
esrj-60211	61	88	,	,	PUNCT
esrj-60211	61	89	κ	κ	NOUN
esrj-60211	61	90	,	,	PUNCT
esrj-60211	61	91	and	and	CCONJ
esrj-60211	61	92	f	f	X
esrj-60211	61	93	the	the	DET
esrj-60211	61	94	focal	focal	ADJ
esrj-60211	61	95	length	length	NOUN
esrj-60211	61	96	of	of	ADP
esrj-60211	61	97	image	image	NOUN
esrj-60211	61	98	,	,	PUNCT
esrj-60211	61	99	respectively	respectively	ADV
esrj-60211	61	100	.	.	PUNCT
esrj-60211	62	1	the	the	DET
esrj-60211	62	2	bx	bx	PROPN
esrj-60211	62	3	,	,	PUNCT
esrj-60211	62	4	by	by	ADV
esrj-60211	62	5	,	,	PUNCT
esrj-60211	62	6	bz	bz	PROPN
esrj-60211	62	7	represents	represent	VERB
esrj-60211	62	8	the	the	DET
esrj-60211	62	9	component	component	NOUN
esrj-60211	62	10	of	of	ADP
esrj-60211	62	11	baseline	baseline	NOUN
esrj-60211	62	12	in	in	ADP
esrj-60211	62	13	x	x	PROPN
esrj-60211	62	14	,	,	PUNCT
esrj-60211	62	15	y	y	PROPN
esrj-60211	62	16	,	,	PUNCT
esrj-60211	62	17	z	z	NOUN
esrj-60211	62	18	directions	direction	NOUN
esrj-60211	62	19	,	,	PUNCT
esrj-60211	62	20	respectively	respectively	ADV
esrj-60211	62	21	.	.	PUNCT
esrj-60211	63	1	1	1	NUM
esrj-60211	63	2	1	1	NUM
esrj-60211	63	3	1	1	NUM
esrj-60211	63	4	2	2	NUM
esrj-60211	63	5	2	2	NUM
esrj-60211	63	6	2	2	NUM
esrj-60211	63	7	f=	f=	NOUN
esrj-60211	63	8	=	=	SYM
esrj-60211	63	9	0	0	PUNCT
esrj-60211	63	10	x	x	SYM
esrj-60211	63	11	y	y	PROPN
esrj-60211	63	12	zb	zb	PROPN
esrj-60211	63	13	b	b	PROPN
esrj-60211	63	14	b	b	X
esrj-60211	63	15	x	x	SYM
esrj-60211	63	16	y	y	PROPN
esrj-60211	63	17	z	z	NOUN
esrj-60211	63	18	x	x	SYM
esrj-60211	63	19	y	y	PROPN
esrj-60211	63	20	z	z	PROPN
esrj-60211	63	21	g3the	g3the	DET
esrj-60211	63	22	model	model	NOUN
esrj-60211	63	23	of	of	ADP
esrj-60211	63	24	direct	direct	ADJ
esrj-60211	63	25	relative	relative	ADJ
esrj-60211	63	26	orientation	orientation	NOUN
esrj-60211	63	27	with	with	ADP
esrj-60211	63	28	seven	seven	NUM
esrj-60211	63	29	constraints	constraint	NOUN
esrj-60211	63	30	for	for	ADP
esrj-60211	63	31	geological	geological	ADJ
esrj-60211	63	32	landslides	landslide	NOUN
esrj-60211	63	33	measurement	measurement	NOUN
esrj-60211	63	34	and	and	CCONJ
esrj-60211	63	35	3d	3d	NUM
esrj-60211	63	36	reconstruction	reconstruction	NOUN
esrj-60211	63	37	2	2	NUM
esrj-60211	63	38	.	.	PUNCT
esrj-60211	63	39	direct	direct	ADJ
esrj-60211	63	40	relative	relative	ADJ
esrj-60211	63	41	orientation	orientation	NOUN
esrj-60211	63	42	model	model	NOUN
esrj-60211	63	43	in	in	ADP
esrj-60211	63	44	aerial	aerial	ADJ
esrj-60211	63	45	photogrammetry	photogrammetry	NOUN
esrj-60211	63	46	,	,	PUNCT
esrj-60211	63	47	the	the	DET
esrj-60211	63	48	values	value	NOUN
esrj-60211	63	49	of	of	ADP
esrj-60211	63	50	by	by	ADP
esrj-60211	63	51	,	,	PUNCT
esrj-60211	63	52	bz	bz	PROPN
esrj-60211	63	53	,	,	PUNCT
esrj-60211	63	54	φ	φ	PROPN
esrj-60211	63	55	,	,	PUNCT
esrj-60211	63	56	ω	ω	PROPN
esrj-60211	63	57	,	,	PUNCT
esrj-60211	63	58	κ	κ	PROPN
esrj-60211	63	59	are	be	AUX
esrj-60211	63	60	set	set	VERB
esrj-60211	63	61	to	to	ADP
esrj-60211	63	62	zero	zero	NUM
esrj-60211	63	63	as	as	ADP
esrj-60211	63	64	the	the	DET
esrj-60211	63	65	initial	initial	ADJ
esrj-60211	63	66	value	value	NOUN
esrj-60211	63	67	,	,	PUNCT
esrj-60211	63	68	and	and	CCONJ
esrj-60211	63	69	the	the	DET
esrj-60211	63	70	accurate	accurate	ADJ
esrj-60211	63	71	value	value	NOUN
esrj-60211	63	72	of	of	ADP
esrj-60211	63	73	bx	bx	PROPN
esrj-60211	63	74	is	be	AUX
esrj-60211	63	75	given	give	VERB
esrj-60211	63	76	to	to	PART
esrj-60211	63	77	determine	determine	VERB
esrj-60211	63	78	the	the	DET
esrj-60211	63	79	scale	scale	NOUN
esrj-60211	63	80	of	of	ADP
esrj-60211	63	81	the	the	DET
esrj-60211	63	82	stereo	stereo	NOUN
esrj-60211	63	83	model	model	NOUN
esrj-60211	63	84	;	;	PUNCT
esrj-60211	63	85	otherwise	otherwise	ADV
esrj-60211	63	86	the	the	DET
esrj-60211	63	87	model	model	NOUN
esrj-60211	63	88	scale	scale	NOUN
esrj-60211	63	89	will	will	AUX
esrj-60211	63	90	be	be	AUX
esrj-60211	63	91	any	any	DET
esrj-60211	63	92	size	size	NOUN
esrj-60211	63	93	.	.	PUNCT
esrj-60211	64	1	however	however	ADV
esrj-60211	64	2	,	,	PUNCT
esrj-60211	64	3	the	the	DET
esrj-60211	64	4	initial	initial	ADJ
esrj-60211	64	5	value	value	NOUN
esrj-60211	64	6	of	of	ADP
esrj-60211	64	7	the	the	DET
esrj-60211	64	8	baseline	baseline	ADJ
esrj-60211	64	9	components	component	NOUN
esrj-60211	64	10	(	(	PUNCT
esrj-60211	64	11	by	by	ADP
esrj-60211	64	12	,	,	PUNCT
esrj-60211	64	13	bz	bz	PROPN
esrj-60211	64	14	)	)	PUNCT
esrj-60211	64	15	and	and	CCONJ
esrj-60211	64	16	the	the	DET
esrj-60211	64	17	rotation	rotation	NOUN
esrj-60211	64	18	angles	angle	VERB
esrj-60211	64	19	is	be	AUX
esrj-60211	64	20	unknown	unknown	ADJ
esrj-60211	64	21	in	in	ADP
esrj-60211	64	22	some	some	DET
esrj-60211	64	23	cases	case	NOUN
esrj-60211	64	24	,	,	PUNCT
esrj-60211	64	25	which	which	PRON
esrj-60211	64	26	will	will	AUX
esrj-60211	64	27	result	result	VERB
esrj-60211	64	28	in	in	ADP
esrj-60211	64	29	a	a	DET
esrj-60211	64	30	low	low	ADJ
esrj-60211	64	31	accuracy	accuracy	NOUN
esrj-60211	64	32	or	or	CCONJ
esrj-60211	64	33	an	an	DET
esrj-60211	64	34	error	error	NOUN
esrj-60211	64	35	solution	solution	NOUN
esrj-60211	64	36	for	for	ADP
esrj-60211	64	37	relative	relative	ADJ
esrj-60211	64	38	orientation	orientation	NOUN
esrj-60211	64	39	.	.	PUNCT
esrj-60211	65	1	for	for	ADP
esrj-60211	65	2	this	this	DET
esrj-60211	65	3	case	case	NOUN
esrj-60211	65	4	,	,	PUNCT
esrj-60211	65	5	direct	direct	ADJ
esrj-60211	65	6	relative	relative	ADJ
esrj-60211	65	7	orientation	orientation	NOUN
esrj-60211	65	8	model	model	NOUN
esrj-60211	65	9	can	can	AUX
esrj-60211	65	10	be	be	AUX
esrj-60211	65	11	used	use	VERB
esrj-60211	65	12	to	to	PART
esrj-60211	65	13	calculate	calculate	VERB
esrj-60211	65	14	the	the	DET
esrj-60211	65	15	orientation	orientation	NOUN
esrj-60211	65	16	parameters	parameter	NOUN
esrj-60211	65	17	and	and	CCONJ
esrj-60211	65	18	perform	perform	VERB
esrj-60211	65	19	the	the	DET
esrj-60211	65	20	relative	relative	ADJ
esrj-60211	65	21	orientation	orientation	NOUN
esrj-60211	65	22	.	.	PUNCT
esrj-60211	66	1	for	for	ADP
esrj-60211	66	2	the	the	DET
esrj-60211	66	3	model	model	NOUN
esrj-60211	66	4	of	of	ADP
esrj-60211	66	5	direct	direct	ADJ
esrj-60211	66	6	relative	relative	ADJ
esrj-60211	66	7	ordination	ordination	NOUN
esrj-60211	66	8	,	,	PUNCT
esrj-60211	66	9	the	the	DET
esrj-60211	66	10	value	value	NOUN
esrj-60211	66	11	bx	bx	NOUN
esrj-60211	66	12	needs	need	VERB
esrj-60211	66	13	to	to	PART
esrj-60211	66	14	be	be	AUX
esrj-60211	66	15	fixed	fix	VERB
esrj-60211	66	16	accurately	accurately	ADV
esrj-60211	66	17	,	,	PUNCT
esrj-60211	66	18	and	and	CCONJ
esrj-60211	66	19	then	then	ADV
esrj-60211	66	20	the	the	DET
esrj-60211	66	21	model	model	NOUN
esrj-60211	66	22	derives	derive	VERB
esrj-60211	66	23	to	to	ADP
esrj-60211	66	24	a	a	DET
esrj-60211	66	25	linear	linear	ADJ
esrj-60211	66	26	mathematic	mathematic	ADJ
esrj-60211	66	27	construct	construct	NOUN
esrj-60211	66	28	for	for	ADP
esrj-60211	66	29	calculating	calculate	VERB
esrj-60211	66	30	the	the	DET
esrj-60211	66	31	other	other	ADJ
esrj-60211	66	32	parameters	parameter	NOUN
esrj-60211	66	33	of	of	ADP
esrj-60211	66	34	relative	relative	ADJ
esrj-60211	66	35	ordination	ordination	NOUN
esrj-60211	66	36	.	.	PUNCT
esrj-60211	67	1	the	the	DET
esrj-60211	67	2	direct	direct	ADJ
esrj-60211	67	3	relative	relative	ADJ
esrj-60211	67	4	orientation	orientation	NOUN
esrj-60211	67	5	can	can	AUX
esrj-60211	67	6	avoid	avoid	VERB
esrj-60211	67	7	the	the	DET
esrj-60211	67	8	iteration	iteration	NOUN
esrj-60211	67	9	calculation	calculation	NOUN
esrj-60211	67	10	in	in	ADP
esrj-60211	67	11	the	the	DET
esrj-60211	67	12	least	least	ADJ
esrj-60211	67	13	square	square	ADJ
esrj-60211	67	14	adjustment	adjustment	NOUN
esrj-60211	67	15	owing	owe	VERB
esrj-60211	67	16	to	to	ADP
esrj-60211	67	17	the	the	DET
esrj-60211	67	18	linear	linear	PROPN
esrj-60211	67	19	mathematic	mathematic	ADJ
esrj-60211	67	20	construct	construct	NOUN
esrj-60211	67	21	.	.	PUNCT
esrj-60211	68	1	however	however	ADV
esrj-60211	68	2	,	,	PUNCT
esrj-60211	68	3	two	two	NUM
esrj-60211	68	4	sets	set	NOUN
esrj-60211	68	5	of	of	ADP
esrj-60211	68	6	parameter	parameter	NOUN
esrj-60211	68	7	result	result	NOUN
esrj-60211	68	8	for	for	ADP
esrj-60211	68	9	the	the	DET
esrj-60211	68	10	relative	relative	ADJ
esrj-60211	68	11	ordination	ordination	NOUN
esrj-60211	68	12	can	can	AUX
esrj-60211	68	13	be	be	AUX
esrj-60211	68	14	acquired	acquire	VERB
esrj-60211	68	15	,	,	PUNCT
esrj-60211	68	16	and	and	CCONJ
esrj-60211	68	17	need	need	VERB
esrj-60211	68	18	to	to	PART
esrj-60211	68	19	determine	determine	VERB
esrj-60211	68	20	which	which	DET
esrj-60211	68	21	one	one	PRON
esrj-60211	68	22	is	be	AUX
esrj-60211	68	23	true	true	ADJ
esrj-60211	68	24	.	.	PUNCT
esrj-60211	69	1	according	accord	VERB
esrj-60211	69	2	to	to	ADP
esrj-60211	69	3	the	the	DET
esrj-60211	69	4	space	space	NOUN
esrj-60211	69	5	image	image	NOUN
esrj-60211	69	6	coordinate	coordinate	NOUN
esrj-60211	69	7	of	of	ADP
esrj-60211	69	8	the	the	DET
esrj-60211	69	9	left	left	ADJ
esrj-60211	69	10	and	and	CCONJ
esrj-60211	69	11	right	right	ADJ
esrj-60211	69	12	image	image	NOUN
esrj-60211	69	13	point	point	NOUN
esrj-60211	69	14	,	,	PUNCT
esrj-60211	69	15	the	the	DET
esrj-60211	69	16	coplanarity	coplanarity	NOUN
esrj-60211	69	17	condition	condition	NOUN
esrj-60211	69	18	equation	equation	NOUN
esrj-60211	69	19	eq.(2	eq.(2	NOUN
esrj-60211	69	20	)	)	PUNCT
esrj-60211	69	21	can	can	AUX
esrj-60211	69	22	be	be	AUX
esrj-60211	69	23	transformed	transform	VERB
esrj-60211	69	24	into	into	ADP
esrj-60211	69	25	the	the	DET
esrj-60211	69	26	following	follow	VERB
esrj-60211	69	27	linear	linear	ADJ
esrj-60211	69	28	form	form	NOUN
esrj-60211	69	29	of	of	ADP
esrj-60211	69	30	eq.(3	eq.(3	NOUN
esrj-60211	69	31	)	)	PUNCT
esrj-60211	69	32	.	.	PUNCT
esrj-60211	70	1	(	(	PUNCT
esrj-60211	70	2	3	3	X
esrj-60211	70	3	)	)	PUNCT
esrj-60211	70	4	in	in	ADP
esrj-60211	70	5	the	the	DET
esrj-60211	70	6	eq	eq	NOUN
esrj-60211	70	7	.	.	PUNCT
esrj-60211	71	1	(	(	PUNCT
esrj-60211	71	2	3	3	NUM
esrj-60211	71	3	)	)	PUNCT
esrj-60211	71	4	,	,	PUNCT
esrj-60211	71	5	the	the	DET
esrj-60211	71	6	l1	l1	PROPN
esrj-60211	71	7	,	,	PUNCT
esrj-60211	71	8	l2	l2	NOUN
esrj-60211	71	9	,	,	PUNCT
esrj-60211	71	10	l3	l3	PROPN
esrj-60211	71	11	,	,	PUNCT
esrj-60211	71	12	l4	l4	PROPN
esrj-60211	71	13	,	,	PUNCT
esrj-60211	71	14	l5	l5	PROPN
esrj-60211	71	15	,	,	PUNCT
esrj-60211	71	16	l6	l6	PROPN
esrj-60211	71	17	,	,	PUNCT
esrj-60211	71	18	l7	l7	PROPN
esrj-60211	71	19	,	,	PUNCT
esrj-60211	71	20	l8	l8	PROPN
esrj-60211	71	21	,	,	PUNCT
esrj-60211	71	22	l9	l9	PROPN
esrj-60211	71	23	are	be	AUX
esrj-60211	71	24	the	the	DET
esrj-60211	71	25	polynomial	polynomial	ADJ
esrj-60211	71	26	coefficients	coefficient	NOUN
esrj-60211	71	27	which	which	PRON
esrj-60211	71	28	are	be	AUX
esrj-60211	71	29	described	describe	VERB
esrj-60211	71	30	in	in	ADP
esrj-60211	71	31	eq	eq	ADP
esrj-60211	71	32	.	.	PUNCT
esrj-60211	72	1	(	(	PUNCT
esrj-60211	72	2	4	4	NUM
esrj-60211	72	3	)	)	PUNCT
esrj-60211	72	4	,	,	PUNCT
esrj-60211	72	5	respectively	respectively	ADV
esrj-60211	72	6	.	.	PUNCT
esrj-60211	73	1	(	(	PUNCT
esrj-60211	73	2	4	4	NUM
esrj-60211	73	3	)	)	PUNCT
esrj-60211	73	4	eq	eq	NOUN
esrj-60211	73	5	.	.	PUNCT
esrj-60211	74	1	(	(	PUNCT
esrj-60211	74	2	5	5	X
esrj-60211	74	3	)	)	PUNCT
esrj-60211	74	4	is	be	AUX
esrj-60211	74	5	obtained	obtain	VERB
esrj-60211	74	6	by	by	ADP
esrj-60211	74	7	eq	eq	PROPN
esrj-60211	74	8	.	.	PUNCT
esrj-60211	75	1	(	(	PUNCT
esrj-60211	75	2	3	3	X
esrj-60211	75	3	)	)	PUNCT
esrj-60211	75	4	dividing	divide	VERB
esrj-60211	75	5	l5	l5	PROPN
esrj-60211	75	6	on	on	ADP
esrj-60211	75	7	both	both	DET
esrj-60211	75	8	sides	side	NOUN
esrj-60211	75	9	.	.	PUNCT
esrj-60211	76	1	(	(	PUNCT
esrj-60211	76	2	5	5	NUM
esrj-60211	76	3	)	)	PUNCT
esrj-60211	76	4	where	where	SCONJ
esrj-60211	76	5	0	0	NUM
esrj-60211	76	6	5	5	NUM
esrj-60211	76	7	/	/	SYM
esrj-60211	76	8	i	i	NOUN
esrj-60211	76	9	il	il	PROPN
esrj-60211	76	10	l	l	NOUN
esrj-60211	76	11	l=	l=	ADJ
esrj-60211	76	12	,	,	PUNCT
esrj-60211	76	13	0	0	NUM
esrj-60211	76	14	5	5	NUM
esrj-60211	76	15	1l	1l	NUM
esrj-60211	76	16	=	=	PUNCT
esrj-60211	76	17	.	.	PUNCT
esrj-60211	77	1	eq	eq	X
esrj-60211	77	2	.	.	PUNCT
esrj-60211	78	1	(	(	PUNCT
esrj-60211	78	2	5	5	X
esrj-60211	78	3	)	)	PUNCT
esrj-60211	78	4	is	be	AUX
esrj-60211	78	5	the	the	DET
esrj-60211	78	6	basic	basic	ADJ
esrj-60211	78	7	mathematic	mathematic	ADJ
esrj-60211	78	8	model	model	NOUN
esrj-60211	78	9	of	of	ADP
esrj-60211	78	10	direct	direct	ADJ
esrj-60211	78	11	relative	relative	ADJ
esrj-60211	78	12	orientation	orientation	NOUN
esrj-60211	78	13	.	.	PUNCT
esrj-60211	79	1	this	this	DET
esrj-60211	79	2	model	model	NOUN
esrj-60211	79	3	can	can	AUX
esrj-60211	79	4	directly	directly	ADV
esrj-60211	79	5	calculate	calculate	VERB
esrj-60211	79	6	the	the	DET
esrj-60211	79	7	eight	eight	NUM
esrj-60211	79	8	unknowns	unknown	NOUN
esrj-60211	79	9	0	0	NUM
esrj-60211	79	10	0	0	NUM
esrj-60211	79	11	0	0	NUM
esrj-60211	79	12	0	0	NUM
esrj-60211	79	13	0	0	NUM
esrj-60211	79	14	0	0	NUM
esrj-60211	79	15	0	0	NUM
esrj-60211	79	16	0	0	NUM
esrj-60211	79	17	1	1	NUM
esrj-60211	79	18	2	2	NUM
esrj-60211	79	19	3	3	NUM
esrj-60211	79	20	4	4	NUM
esrj-60211	79	21	6	6	NUM
esrj-60211	79	22	7	7	NUM
esrj-60211	79	23	8	8	NUM
esrj-60211	79	24	9	9	NUM
esrj-60211	79	25	,	,	PUNCT
esrj-60211	79	26	,	,	PUNCT
esrj-60211	79	27	,	,	PUNCT
esrj-60211	79	28	,	,	PUNCT
esrj-60211	79	29	,	,	PUNCT
esrj-60211	79	30	,	,	PUNCT
esrj-60211	79	31	,	,	PUNCT
esrj-60211	79	32	l	l	NOUN
esrj-60211	79	33	l	l	NOUN
esrj-60211	79	34	l	l	X
esrj-60211	79	35	l	l	NOUN
esrj-60211	79	36	l	l	NOUN
esrj-60211	79	37	l	l	X
esrj-60211	79	38	l	l	X
esrj-60211	79	39	l	l	NOUN
esrj-60211	79	40	with	with	ADP
esrj-60211	79	41	eight	eight	NUM
esrj-60211	79	42	or	or	CCONJ
esrj-60211	79	43	more	more	ADV
esrj-60211	79	44	conjugate	conjugate	ADJ
esrj-60211	79	45	points	point	NOUN
esrj-60211	79	46	without	without	ADP
esrj-60211	79	47	approximate	approximate	ADJ
esrj-60211	79	48	values	value	NOUN
esrj-60211	79	49	.	.	PUNCT
esrj-60211	80	1	the	the	DET
esrj-60211	80	2	baseline	baseline	PROPN
esrj-60211	80	3	parameter	parameter	NOUN
esrj-60211	80	4	bx	bx	PROPN
esrj-60211	80	5	has	have	VERB
esrj-60211	80	6	no	no	DET
esrj-60211	80	7	influence	influence	NOUN
esrj-60211	80	8	on	on	ADP
esrj-60211	80	9	building	build	VERB
esrj-60211	80	10	up	up	ADP
esrj-60211	80	11	a	a	DET
esrj-60211	80	12	stereo	stereo	NOUN
esrj-60211	80	13	model	model	NOUN
esrj-60211	80	14	;	;	PUNCT
esrj-60211	80	15	it	it	PRON
esrj-60211	80	16	can	can	AUX
esrj-60211	80	17	be	be	AUX
esrj-60211	80	18	assumed	assume	VERB
esrj-60211	80	19	to	to	PART
esrj-60211	80	20	be	be	AUX
esrj-60211	80	21	known	know	VERB
esrj-60211	80	22	.	.	PUNCT
esrj-60211	81	1	therefore	therefore	ADV
esrj-60211	81	2	,	,	PUNCT
esrj-60211	81	3	parameters	parameter	NOUN
esrj-60211	81	4	by	by	ADV
esrj-60211	81	5	and	and	CCONJ
esrj-60211	81	6	bz	bz	PROPN
esrj-60211	81	7	are	be	AUX
esrj-60211	81	8	obtained	obtain	VERB
esrj-60211	81	9	by	by	ADP
esrj-60211	81	10	the	the	DET
esrj-60211	81	11	following	follow	VERB
esrj-60211	81	12	equations	equation	NOUN
esrj-60211	81	13	:	:	PUNCT
esrj-60211	81	14	(	(	PUNCT
esrj-60211	81	15	6	6	X
esrj-60211	81	16	)	)	PUNCT
esrj-60211	81	17	the	the	DET
esrj-60211	81	18	following	follow	VERB
esrj-60211	81	19	equations	equation	NOUN
esrj-60211	81	20	can	can	AUX
esrj-60211	81	21	get	get	VERB
esrj-60211	81	22	nine	nine	NUM
esrj-60211	81	23	elements	element	NOUN
esrj-60211	81	24	of	of	ADP
esrj-60211	81	25	rotation	rotation	NOUN
esrj-60211	81	26	matrix	matrix	NOUN
esrj-60211	81	27	r	r	NOUN
esrj-60211	81	28	:	:	PUNCT
esrj-60211	81	29	(	(	PUNCT
esrj-60211	81	30	7	7	X
esrj-60211	81	31	)	)	PUNCT
esrj-60211	81	32	finally	finally	ADV
esrj-60211	81	33	,	,	PUNCT
esrj-60211	81	34	three	three	NUM
esrj-60211	81	35	rotation	rotation	NOUN
esrj-60211	81	36	angles	angle	NOUN
esrj-60211	81	37	can	can	AUX
esrj-60211	81	38	be	be	AUX
esrj-60211	81	39	decomposed	decompose	VERB
esrj-60211	81	40	by	by	ADP
esrj-60211	81	41	the	the	DET
esrj-60211	81	42	definition	definition	NOUN
esrj-60211	81	43	of	of	ADP
esrj-60211	81	44	r	r	NOUN
esrj-60211	81	45	[	[	X
esrj-60211	81	46	3	3	NUM
esrj-60211	81	47	,	,	PUNCT
esrj-60211	81	48	17	17	NUM
esrj-60211	81	49	]	]	PUNCT
esrj-60211	81	50	.	.	PUNCT
esrj-60211	82	1	(	(	PUNCT
esrj-60211	82	2	8)	8)	NUM
esrj-60211	82	3	according	accord	VERB
esrj-60211	82	4	to	to	ADP
esrj-60211	82	5	eq	eq	PROPN
esrj-60211	82	6	.	.	PUNCT
esrj-60211	83	1	(	(	PUNCT
esrj-60211	83	2	6	6	NUM
esrj-60211	83	3	)	)	PUNCT
esrj-60211	83	4	,	,	PUNCT
esrj-60211	83	5	l5	l5	PROPN
esrj-60211	83	6	can	can	AUX
esrj-60211	83	7	be	be	AUX
esrj-60211	83	8	positive	positive	ADJ
esrj-60211	83	9	or	or	CCONJ
esrj-60211	83	10	negative	negative	ADJ
esrj-60211	83	11	,	,	PUNCT
esrj-60211	83	12	which	which	PRON
esrj-60211	83	13	does	do	AUX
esrj-60211	83	14	not	not	PART
esrj-60211	83	15	affect	affect	VERB
esrj-60211	83	16	the	the	DET
esrj-60211	83	17	values	value	NOUN
esrj-60211	83	18	of	of	ADP
esrj-60211	83	19	by	by	ADP
esrj-60211	83	20	and	and	CCONJ
esrj-60211	83	21	bz	bz	PROPN
esrj-60211	83	22	.	.	PUNCT
esrj-60211	84	1	however	however	ADV
esrj-60211	84	2	,	,	PUNCT
esrj-60211	84	3	there	there	PRON
esrj-60211	84	4	are	be	VERB
esrj-60211	84	5	two	two	NUM
esrj-60211	84	6	sets	set	NOUN
esrj-60211	84	7	of	of	ADP
esrj-60211	84	8	possible	possible	ADJ
esrj-60211	84	9	solutions	solution	NOUN
esrj-60211	84	10	for	for	ADP
esrj-60211	84	11	the	the	DET
esrj-60211	84	12	rotation	rotation	NOUN
esrj-60211	84	13	angles	angle	VERB
esrj-60211	84	14	φ	φ	PROPN
esrj-60211	84	15	,	,	PUNCT
esrj-60211	84	16	ω	ω	PROPN
esrj-60211	84	17	,	,	PUNCT
esrj-60211	84	18	κ	κ	PROPN
esrj-60211	84	19	.	.	PROPN
esrj-60211	85	1	one	one	NUM
esrj-60211	85	2	of	of	ADP
esrj-60211	85	3	the	the	DET
esrj-60211	85	4	two	two	NUM
esrj-60211	85	5	solutions	solution	NOUN
esrj-60211	85	6	only	only	ADV
esrj-60211	85	7	can	can	AUX
esrj-60211	85	8	be	be	AUX
esrj-60211	85	9	used	use	VERB
esrj-60211	85	10	to	to	PART
esrj-60211	85	11	acquire	acquire	VERB
esrj-60211	85	12	the	the	DET
esrj-60211	85	13	real	real	ADJ
esrj-60211	85	14	configuration	configuration	NOUN
esrj-60211	85	15	of	of	ADP
esrj-60211	85	16	relative	relative	ADJ
esrj-60211	85	17	orientation	orientation	NOUN
esrj-60211	85	18	.	.	PUNCT
esrj-60211	86	1	therefore	therefore	ADV
esrj-60211	86	2	,	,	PUNCT
esrj-60211	86	3	the	the	DET
esrj-60211	86	4	degree	degree	NOUN
esrj-60211	86	5	of	of	ADP
esrj-60211	86	6	the	the	DET
esrj-60211	86	7	two	two	NUM
esrj-60211	86	8	angles	angle	NOUN
esrj-60211	86	9	φ	φ	PROPN
esrj-60211	86	10	and	and	CCONJ
esrj-60211	86	11	ω	ω	PROPN
esrj-60211	86	12	are	be	AUX
esrj-60211	86	13	used	use	VERB
esrj-60211	86	14	to	to	PART
esrj-60211	86	15	determine	determine	VERB
esrj-60211	86	16	and	and	CCONJ
esrj-60211	86	17	select	select	VERB
esrj-60211	86	18	a	a	DET
esrj-60211	86	19	true	true	ADJ
esrj-60211	86	20	solution	solution	NOUN
esrj-60211	86	21	,	,	PUNCT
esrj-60211	86	22	which	which	PRON
esrj-60211	86	23	should	should	AUX
esrj-60211	86	24	satisfy	satisfy	VERB
esrj-60211	86	25	the	the	DET
esrj-60211	86	26	following	follow	VERB
esrj-60211	86	27	range	range	NOUN
esrj-60211	86	28	represented	represent	VERB
esrj-60211	86	29	in	in	ADP
esrj-60211	86	30	eq	eq	ADP
esrj-60211	86	31	.	.	PUNCT
esrj-60211	87	1	(	(	PUNCT
esrj-60211	87	2	9	9	NUM
esrj-60211	87	3	)	)	PUNCT
esrj-60211	87	4	.	.	PUNCT
esrj-60211	88	1	(	(	PUNCT
esrj-60211	88	2	9	9	X
esrj-60211	88	3	)	)	SYM
esrj-60211	88	4	3	3	NUM
esrj-60211	88	5	.	.	PUNCT
esrj-60211	88	6	model	model	NOUN
esrj-60211	88	7	of	of	ADP
esrj-60211	88	8	direct	direct	ADJ
esrj-60211	88	9	relative	relative	ADJ
esrj-60211	88	10	orientation	orientation	NOUN
esrj-60211	88	11	with	with	ADP
esrj-60211	88	12	constraints	constraint	NOUN
esrj-60211	88	13	during	during	ADP
esrj-60211	88	14	the	the	DET
esrj-60211	88	15	conventional	conventional	ADJ
esrj-60211	88	16	model	model	NOUN
esrj-60211	88	17	of	of	ADP
esrj-60211	88	18	direct	direct	ADJ
esrj-60211	88	19	relative	relative	ADJ
esrj-60211	88	20	orientation	orientation	NOUN
esrj-60211	88	21	,	,	PUNCT
esrj-60211	88	22	the	the	DET
esrj-60211	88	23	eight	eight	NUM
esrj-60211	88	24	parameters	parameter	NOUN
esrj-60211	88	25	0	0	NUM
esrj-60211	88	26	0	0	NUM
esrj-60211	88	27	0	0	NUM
esrj-60211	88	28	0	0	NUM
esrj-60211	88	29	0	0	NUM
esrj-60211	88	30	0	0	NUM
esrj-60211	88	31	0	0	NUM
esrj-60211	88	32	0	0	NUM
esrj-60211	88	33	1	1	NUM
esrj-60211	88	34	2	2	NUM
esrj-60211	88	35	3	3	NUM
esrj-60211	88	36	4	4	NUM
esrj-60211	88	37	6	6	NUM
esrj-60211	88	38	7	7	NUM
esrj-60211	88	39	8	8	NUM
esrj-60211	88	40	9	9	NUM
esrj-60211	88	41	,	,	PUNCT
esrj-60211	88	42	,	,	PUNCT
esrj-60211	88	43	,	,	PUNCT
esrj-60211	88	44	,	,	PUNCT
esrj-60211	88	45	,	,	PUNCT
esrj-60211	88	46	,	,	PUNCT
esrj-60211	88	47	,	,	PUNCT
esrj-60211	88	48	l	l	NOUN
esrj-60211	88	49	l	l	NOUN
esrj-60211	89	1	l	l	X
esrj-60211	89	2	l	l	NOUN
esrj-60211	89	3	l	l	NOUN
esrj-60211	89	4	l	l	X
esrj-60211	89	5	l	l	NOUN
esrj-60211	89	6	l	l	NOUN
esrj-60211	89	7	can	can	AUX
esrj-60211	89	8	be	be	AUX
esrj-60211	89	9	calculated	calculate	VERB
esrj-60211	89	10	when	when	SCONJ
esrj-60211	89	11	the	the	DET
esrj-60211	89	12	value	value	NOUN
esrj-60211	89	13	of	of	ADP
esrj-60211	89	14	bx	bx	PROPN
esrj-60211	89	15	is	be	AUX
esrj-60211	89	16	fixed	fix	VERB
esrj-60211	89	17	.	.	PUNCT
esrj-60211	90	1	it	it	PRON
esrj-60211	90	2	is	be	AUX
esrj-60211	90	3	evident	evident	ADJ
esrj-60211	90	4	that	that	SCONJ
esrj-60211	90	5	the	the	DET
esrj-60211	90	6	eq	eq	NOUN
esrj-60211	90	7	.	.	PUNCT
esrj-60211	91	1	(	(	PUNCT
esrj-60211	91	2	3	3	X
esrj-60211	91	3	)	)	PUNCT
esrj-60211	91	4	is	be	AUX
esrj-60211	91	5	linear	linear	ADJ
esrj-60211	91	6	,	,	PUNCT
esrj-60211	91	7	so	so	SCONJ
esrj-60211	91	8	the	the	DET
esrj-60211	91	9	values	value	NOUN
esrj-60211	91	10	of	of	ADP
esrj-60211	91	11	eight	eight	NUM
esrj-60211	91	12	parameters	parameter	NOUN
esrj-60211	91	13	can	can	AUX
esrj-60211	91	14	be	be	AUX
esrj-60211	91	15	determined	determine	VERB
esrj-60211	91	16	uniquely	uniquely	ADV
esrj-60211	91	17	without	without	ADP
esrj-60211	91	18	the	the	DET
esrj-60211	91	19	parameters	parameter	NOUN
esrj-60211	91	20	correlation	correlation	NOUN
esrj-60211	91	21	.	.	PUNCT
esrj-60211	92	1	for	for	ADP
esrj-60211	92	2	the	the	DET
esrj-60211	92	3	model	model	NOUN
esrj-60211	92	4	,	,	PUNCT
esrj-60211	92	5	the	the	DET
esrj-60211	92	6	parameters	parameter	NOUN
esrj-60211	92	7	of	of	ADP
esrj-60211	92	8	rotation	rotation	NOUN
esrj-60211	92	9	r	r	NOUN
esrj-60211	92	10	and	and	CCONJ
esrj-60211	92	11	baseline	baseline	PROPN
esrj-60211	92	12	b	b	PROPN
esrj-60211	92	13	in	in	ADP
esrj-60211	92	14	the	the	DET
esrj-60211	92	15	relative	relative	ADJ
esrj-60211	92	16	orientation	orientation	NOUN
esrj-60211	92	17	are	be	AUX
esrj-60211	92	18	only	only	ADV
esrj-60211	92	19	constrained	constrain	VERB
esrj-60211	92	20	by	by	ADP
esrj-60211	92	21	the	the	DET
esrj-60211	92	22	model	model	NOUN
esrj-60211	92	23	equation	equation	NOUN
esrj-60211	92	24	,	,	PUNCT
esrj-60211	92	25	but	but	CCONJ
esrj-60211	92	26	not	not	PART
esrj-60211	92	27	constrained	constrain	VERB
esrj-60211	92	28	by	by	ADP
esrj-60211	92	29	the	the	DET
esrj-60211	92	30	relationship	relationship	NOUN
esrj-60211	92	31	among	among	ADP
esrj-60211	92	32	the	the	DET
esrj-60211	92	33	parameters	parameter	NOUN
esrj-60211	92	34	,	,	PUNCT
esrj-60211	92	35	which	which	PRON
esrj-60211	92	36	will	will	AUX
esrj-60211	92	37	decrease	decrease	VERB
esrj-60211	92	38	the	the	DET
esrj-60211	92	39	accuracy	accuracy	NOUN
esrj-60211	92	40	and	and	CCONJ
esrj-60211	92	41	stability	stability	NOUN
esrj-60211	92	42	of	of	ADP
esrj-60211	92	43	the	the	DET
esrj-60211	92	44	parameter	parameter	NOUN
esrj-60211	92	45	result	result	NOUN
esrj-60211	92	46	and	and	CCONJ
esrj-60211	92	47	then	then	ADV
esrj-60211	92	48	reduce	reduce	VERB
esrj-60211	92	49	the	the	DET
esrj-60211	92	50	accuracy	accuracy	NOUN
esrj-60211	92	51	of	of	ADP
esrj-60211	92	52	relative	relative	ADJ
esrj-60211	92	53	orientation	orientation	NOUN
esrj-60211	92	54	.	.	PUNCT
esrj-60211	93	1	in	in	ADP
esrj-60211	93	2	the	the	DET
esrj-60211	93	3	computer	computer	NOUN
esrj-60211	93	4	vision	vision	NOUN
esrj-60211	93	5	,	,	PUNCT
esrj-60211	93	6	it	it	PRON
esrj-60211	93	7	is	be	AUX
esrj-60211	93	8	well	well	ADV
esrj-60211	93	9	known	know	VERB
esrj-60211	93	10	that	that	SCONJ
esrj-60211	93	11	epipolar	epipolar	ADJ
esrj-60211	93	12	equation	equation	NOUN
esrj-60211	93	13	x’tex=0	x’tex=0	PROPN
esrj-60211	93	14	,	,	PUNCT
esrj-60211	93	15	rank	rank	NOUN
esrj-60211	93	16	-	-	PUNCT
esrj-60211	93	17	two	two	NUM
esrj-60211	93	18	constraint	constraint	NOUN
esrj-60211	93	19	det(e)=0	det(e)=0	NOUN
esrj-60211	93	20	,	,	PUNCT
esrj-60211	93	21	and	and	CCONJ
esrj-60211	93	22	trace	trace	NOUN
esrj-60211	93	23	constraint	constraint	NOUN
esrj-60211	93	24	2eete	2eete	NUM
esrj-60211	93	25	-	-	PUNCT
esrj-60211	93	26	trace(eet)e=0	trace(eet)e=0	NOUN
esrj-60211	93	27	are	be	AUX
esrj-60211	93	28	utilized	utilize	VERB
esrj-60211	93	29	to	to	PART
esrj-60211	93	30	solve	solve	VERB
esrj-60211	93	31	essential	essential	ADJ
esrj-60211	93	32	matrix	matrix	NOUN
esrj-60211	93	33	e.	e.	PROPN
esrj-60211	93	34	in	in	ADP
esrj-60211	93	35	the	the	DET
esrj-60211	93	36	epipolar	epipolar	ADJ
esrj-60211	93	37	equation	equation	NOUN
esrj-60211	93	38	,	,	PUNCT
esrj-60211	93	39	the	the	DET
esrj-60211	93	40	x	x	NOUN
esrj-60211	93	41	’	'	PUNCT
esrj-60211	93	42	and	and	CCONJ
esrj-60211	93	43	x	x	AUX
esrj-60211	93	44	represent	represent	VERB
esrj-60211	93	45	the	the	DET
esrj-60211	93	46	normalized	normalize	VERB
esrj-60211	93	47	image	image	NOUN
esrj-60211	93	48	coordinates	coordinate	NOUN
esrj-60211	93	49	of	of	ADP
esrj-60211	93	50	conjugate	conjugate	ADJ
esrj-60211	93	51	points	point	NOUN
esrj-60211	93	52	from	from	ADP
esrj-60211	93	53	the	the	DET
esrj-60211	93	54	left	left	ADJ
esrj-60211	93	55	and	and	CCONJ
esrj-60211	93	56	right	right	ADJ
esrj-60211	93	57	images	image	NOUN
esrj-60211	93	58	,	,	PUNCT
esrj-60211	93	59	respectively	respectively	ADV
esrj-60211	93	60	.	.	PUNCT
esrj-60211	94	1	the	the	DET
esrj-60211	94	2	essential	essential	ADJ
esrj-60211	94	3	matrix	matrix	NOUN
esrj-60211	94	4	e	e	NOUN
esrj-60211	94	5	can	can	AUX
esrj-60211	94	6	be	be	AUX
esrj-60211	94	7	calculated	calculate	VERB
esrj-60211	94	8	through	through	ADP
esrj-60211	94	9	the	the	DET
esrj-60211	94	10	matrix	matrix	NOUN
esrj-60211	94	11	multiplication	multiplication	NOUN
esrj-60211	94	12	between	between	ADP
esrj-60211	94	13	the	the	DET
esrj-60211	94	14	translation	translation	NOUN
esrj-60211	94	15	t	t	NOUN
esrj-60211	94	16	and	and	CCONJ
esrj-60211	94	17	rotation	rotation	PROPN
esrj-60211	94	18	r	r	NOUN
esrj-60211	94	19	,	,	PUNCT
esrj-60211	94	20	e	e	NOUN
esrj-60211	94	21	=	=	PUNCT
esrj-60211	94	22	tr	tr	VERB
esrj-60211	94	23	.	.	VERB
esrj-60211	95	1	for	for	ADP
esrj-60211	95	2	the	the	DET
esrj-60211	95	3	solving	solving	NOUN
esrj-60211	95	4	method	method	NOUN
esrj-60211	95	5	,	,	PUNCT
esrj-60211	95	6	the	the	DET
esrj-60211	95	7	nine	nine	NUM
esrj-60211	95	8	components	component	NOUN
esrj-60211	95	9	in	in	ADP
esrj-60211	95	10	the	the	DET
esrj-60211	95	11	rotation	rotation	NOUN
esrj-60211	95	12	r	r	NOUN
esrj-60211	95	13	is	be	AUX
esrj-60211	95	14	constrained	constrain	VERB
esrj-60211	95	15	by	by	ADP
esrj-60211	95	16	orthogonal	orthogonal	ADJ
esrj-60211	95	17	property	property	NOUN
esrj-60211	95	18	of	of	ADP
esrj-60211	95	19	rotation	rotation	NOUN
esrj-60211	95	20	matrix	matrix	NOUN
esrj-60211	95	21	included	include	VERB
esrj-60211	95	22	implicitly	implicitly	ADV
esrj-60211	95	23	in	in	ADP
esrj-60211	95	24	these	these	DET
esrj-60211	95	25	equations	equation	NOUN
esrj-60211	95	26	.	.	PUNCT
esrj-60211	96	1	however	however	ADV
esrj-60211	96	2	,	,	PUNCT
esrj-60211	96	3	the	the	DET
esrj-60211	96	4	elements	element	NOUN
esrj-60211	96	5	in	in	ADP
esrj-60211	96	6	the	the	DET
esrj-60211	96	7	baseline	baseline	PROPN
esrj-60211	96	8	b	b	NOUN
esrj-60211	96	9	are	be	AUX
esrj-60211	96	10	not	not	PART
esrj-60211	96	11	limited	limited	ADJ
esrj-60211	96	12	.	.	PUNCT
esrj-60211	97	1	also	also	ADV
esrj-60211	97	2	,	,	PUNCT
esrj-60211	97	3	the	the	DET
esrj-60211	97	4	solving	solving	NOUN
esrj-60211	97	5	method	method	NOUN
esrj-60211	97	6	in	in	ADP
esrj-60211	97	7	the	the	DET
esrj-60211	97	8	computer	computer	NOUN
esrj-60211	97	9	vision	vision	NOUN
esrj-60211	97	10	yields	yield	VERB
esrj-60211	97	11	nine	nine	NUM
esrj-60211	97	12	homogeneous	homogeneous	ADJ
esrj-60211	97	13	polynomial	polynomial	ADJ
esrj-60211	97	14	equations	equation	NOUN
esrj-60211	97	15	of	of	ADP
esrj-60211	97	16	degree	degree	NOUN
esrj-60211	97	17	3	3	NUM
esrj-60211	97	18	,	,	PUNCT
esrj-60211	97	19	and	and	CCONJ
esrj-60211	97	20	the	the	DET
esrj-60211	97	21	nine	nine	NUM
esrj-60211	97	22	similar	similar	ADJ
esrj-60211	97	23	polynomial	polynomial	ADJ
esrj-60211	97	24	equations	equation	NOUN
esrj-60211	97	25	are	be	AUX
esrj-60211	97	26	correlated	correlate	VERB
esrj-60211	97	27	.	.	PUNCT
esrj-60211	98	1	different	different	ADJ
esrj-60211	98	2	with	with	ADP
esrj-60211	98	3	the	the	DET
esrj-60211	98	4	conventional	conventional	ADJ
esrj-60211	98	5	model	model	NOUN
esrj-60211	98	6	of	of	ADP
esrj-60211	98	7	direct	direct	ADJ
esrj-60211	98	8	relative	relative	ADJ
esrj-60211	98	9	orientation	orientation	NOUN
esrj-60211	98	10	and	and	CCONJ
esrj-60211	98	11	the	the	DET
esrj-60211	98	12	essential	essential	ADJ
esrj-60211	98	13	matrix	matrix	NOUN
esrj-60211	98	14	in	in	ADP
esrj-60211	98	15	computer	computer	NOUN
esrj-60211	98	16	vision	vision	NOUN
esrj-60211	98	17	that	that	PRON
esrj-60211	98	18	normalized	normalize	VERB
esrj-60211	98	19	image	image	NOUN
esrj-60211	98	20	points	point	NOUN
esrj-60211	98	21	as	as	ADP
esrj-60211	98	22	observations	observation	NOUN
esrj-60211	98	23	,	,	PUNCT
esrj-60211	98	24	a	a	DET
esrj-60211	98	25	new	new	ADJ
esrj-60211	98	26	relative	relative	ADJ
esrj-60211	98	27	orientation	orientation	NOUN
esrj-60211	98	28	model	model	NOUN
esrj-60211	98	29	,	,	PUNCT
esrj-60211	98	30	direct	direct	ADJ
esrj-60211	98	31	relative	relative	ADJ
esrj-60211	98	32	orientation	orientation	NOUN
esrj-60211	98	33	model	model	NOUN
esrj-60211	98	34	with	with	ADP
esrj-60211	98	35	seven	seven	NUM
esrj-60211	98	36	constraints	constraint	NOUN
esrj-60211	98	37	,	,	PUNCT
esrj-60211	98	38	is	be	AUX
esrj-60211	98	39	proposed	propose	VERB
esrj-60211	98	40	and	and	CCONJ
esrj-60211	98	41	validated	validate	VERB
esrj-60211	98	42	.	.	PUNCT
esrj-60211	99	1	in	in	ADP
esrj-60211	99	2	the	the	DET
esrj-60211	99	3	new	new	ADJ
esrj-60211	99	4	model	model	NOUN
esrj-60211	99	5	,	,	PUNCT
esrj-60211	99	6	the	the	DET
esrj-60211	99	7	original	original	ADJ
esrj-60211	99	8	image	image	NOUN
esrj-60211	99	9	point	point	NOUN
esrj-60211	99	10	coordinate	coordinate	NOUN
esrj-60211	99	11	of	of	ADP
esrj-60211	99	12	conjugate	conjugate	ADJ
esrj-60211	99	13	points	point	NOUN
esrj-60211	99	14	and	and	CCONJ
esrj-60211	99	15	focal	focal	ADJ
esrj-60211	99	16	lengths	length	NOUN
esrj-60211	99	17	f	f	PRON
esrj-60211	99	18	are	be	AUX
esrj-60211	99	19	used	use	VERB
esrj-60211	99	20	,	,	PUNCT
esrj-60211	99	21	and	and	CCONJ
esrj-60211	99	22	the	the	DET
esrj-60211	99	23	constraint	constraint	NOUN
esrj-60211	99	24	includes	include	VERB
esrj-60211	99	25	the	the	DET
esrj-60211	99	26	components	component	NOUN
esrj-60211	99	27	relationship	relationship	NOUN
esrj-60211	99	28	in	in	ADP
esrj-60211	99	29	rotation	rotation	NOUN
esrj-60211	99	30	r	r	NOUN
esrj-60211	99	31	and	and	CCONJ
esrj-60211	99	32	baseline	baseline	PROPN
esrj-60211	99	33	b	b	PROPN
esrj-60211	99	34	for	for	ADP
esrj-60211	99	35	improving	improve	VERB
esrj-60211	99	36	and	and	CCONJ
esrj-60211	99	37	ensuring	ensure	VERB
esrj-60211	99	38	the	the	DET
esrj-60211	99	39	accuracy	accuracy	NOUN
esrj-60211	99	40	and	and	CCONJ
esrj-60211	99	41	stability	stability	NOUN
esrj-60211	99	42	of	of	ADP
esrj-60211	99	43	relative	relative	ADJ
esrj-60211	99	44	orientation	orientation	NOUN
esrj-60211	99	45	.	.	PUNCT
esrj-60211	100	1	the	the	DET
esrj-60211	100	2	seven	seven	NUM
esrj-60211	100	3	constraints	constraint	NOUN
esrj-60211	100	4	are	be	AUX
esrj-60211	100	5	represented	represent	VERB
esrj-60211	100	6	by	by	ADP
esrj-60211	100	7	eq	eq	PROPN
esrj-60211	100	8	.	.	PUNCT
esrj-60211	101	1	(	(	PUNCT
esrj-60211	101	2	10	10	NUM
esrj-60211	101	3	)	)	PUNCT
esrj-60211	101	4	.	.	PUNCT
esrj-60211	102	1	(	(	PUNCT
esrj-60211	102	2	10	10	NUM
esrj-60211	102	3	)	)	PUNCT
esrj-60211	102	4	the	the	DET
esrj-60211	102	5	proposed	propose	VERB
esrj-60211	102	6	new	new	ADJ
esrj-60211	102	7	model	model	NOUN
esrj-60211	102	8	of	of	ADP
esrj-60211	102	9	direct	direct	ADJ
esrj-60211	102	10	relative	relative	ADJ
esrj-60211	102	11	orientation	orientation	NOUN
esrj-60211	102	12	with	with	ADP
esrj-60211	102	13	seven	seven	NUM
esrj-60211	102	14	constraints	constraint	NOUN
esrj-60211	102	15	consisted	consist	VERB
esrj-60211	102	16	of	of	ADP
esrj-60211	102	17	eq	eq	PROPN
esrj-60211	102	18	.	.	PUNCT
esrj-60211	103	1	(	(	PUNCT
esrj-60211	103	2	2	2	NUM
esrj-60211	103	3	)	)	PUNCT
esrj-60211	103	4	,	,	PUNCT
esrj-60211	103	5	(	(	PUNCT
esrj-60211	103	6	3	3	X
esrj-60211	103	7	)	)	PUNCT
esrj-60211	103	8	and	and	CCONJ
esrj-60211	103	9	(	(	PUNCT
esrj-60211	103	10	10	10	NUM
esrj-60211	103	11	)	)	PUNCT
esrj-60211	103	12	.	.	PUNCT
esrj-60211	104	1	the	the	DET
esrj-60211	104	2	model	model	NOUN
esrj-60211	104	3	selects	select	VERB
esrj-60211	104	4	the	the	DET
esrj-60211	104	5	initial	initial	ADJ
esrj-60211	104	6	nine	nine	NUM
esrj-60211	104	7	parameters	parameter	NOUN
esrj-60211	104	8	of	of	ADP
esrj-60211	104	9	direct	direct	ADJ
esrj-60211	104	10	relative	relative	ADJ
esrj-60211	104	11	orientation	orientation	NOUN
esrj-60211	104	12	as	as	ADP
esrj-60211	104	13	unknowns	unknown	NOUN
esrj-60211	104	14	,	,	PUNCT
esrj-60211	104	15	and	and	CCONJ
esrj-60211	104	16	seven	seven	NUM
esrj-60211	104	17	constraints	constraint	NOUN
esrj-60211	104	18	are	be	AUX
esrj-60211	104	19	considered	consider	VERB
esrj-60211	104	20	to	to	PART
esrj-60211	104	21	improving	improve	VERB
esrj-60211	104	22	and	and	CCONJ
esrj-60211	104	23	ensuring	ensure	VERB
esrj-60211	104	24	the	the	DET
esrj-60211	104	25	accuracy	accuracy	NOUN
esrj-60211	104	26	of	of	ADP
esrj-60211	104	27	the	the	DET
esrj-60211	104	28	solved	solve	VERB
esrj-60211	104	29	parameters	parameter	NOUN
esrj-60211	104	30	.	.	PUNCT
esrj-60211	105	1	4	4	X
esrj-60211	105	2	.	.	X
esrj-60211	105	3	solution	solution	NOUN
esrj-60211	105	4	of	of	ADP
esrj-60211	105	5	direct	direct	ADJ
esrj-60211	105	6	relative	relative	ADJ
esrj-60211	105	7	orientation	orientation	NOUN
esrj-60211	105	8	with	with	ADP
esrj-60211	105	9	constraints	constraint	NOUN
esrj-60211	105	10	in	in	ADP
esrj-60211	105	11	the	the	DET
esrj-60211	105	12	process	process	NOUN
esrj-60211	105	13	of	of	ADP
esrj-60211	105	14	calculation	calculation	NOUN
esrj-60211	105	15	of	of	ADP
esrj-60211	105	16	parameters	parameter	NOUN
esrj-60211	105	17	in	in	ADP
esrj-60211	105	18	direct	direct	ADJ
esrj-60211	105	19	relative	relative	ADJ
esrj-60211	105	20	orientation	orientation	NOUN
esrj-60211	105	21	with	with	ADP
esrj-60211	105	22	constraints	constraint	NOUN
esrj-60211	105	23	,	,	PUNCT
esrj-60211	105	24	assuming	assume	VERB
esrj-60211	105	25	eq	eq	ADP
esrj-60211	105	26	.	.	PUNCT
esrj-60211	106	1	(	(	PUNCT
esrj-60211	106	2	2	2	X
esrj-60211	106	3	)	)	PUNCT
esrj-60211	106	4	is	be	AUX
esrj-60211	106	5	not	not	PART
esrj-60211	106	6	equal	equal	ADJ
esrj-60211	106	7	to	to	ADP
esrj-60211	106	8	zero	zero	NUM
esrj-60211	106	9	and	and	CCONJ
esrj-60211	106	10	an	an	DET
esrj-60211	106	11	error	error	NOUN
esrj-60211	106	12	v	v	NOUN
esrj-60211	106	13	is	be	AUX
esrj-60211	106	14	in	in	ADP
esrj-60211	106	15	the	the	DET
esrj-60211	106	16	equation	equation	NOUN
esrj-60211	106	17	,	,	PUNCT
esrj-60211	106	18	thus	thus	ADV
esrj-60211	106	19	the	the	DET
esrj-60211	106	20	eq	eq	NOUN
esrj-60211	106	21	.	.	PUNCT
esrj-60211	107	1	(	(	PUNCT
esrj-60211	107	2	2	2	X
esrj-60211	107	3	)	)	PUNCT
esrj-60211	107	4	is	be	AUX
esrj-60211	107	5	derived	derive	VERB
esrj-60211	107	6	to	to	ADP
esrj-60211	107	7	eq	eq	PROPN
esrj-60211	107	8	.	.	PUNCT
esrj-60211	108	1	(	(	PUNCT
esrj-60211	108	2	11	11	NUM
esrj-60211	108	3	)	)	PUNCT
esrj-60211	108	4	basing	base	VERB
esrj-60211	108	5	on	on	ADP
esrj-60211	108	6	the	the	DET
esrj-60211	108	7	eq	eq	NOUN
esrj-60211	108	8	.	.	PUNCT
esrj-60211	109	1	(	(	PUNCT
esrj-60211	109	2	3	3	NUM
esrj-60211	109	3	)	)	PUNCT
esrj-60211	109	4	.	.	PUNCT
esrj-60211	110	1	(	(	PUNCT
esrj-60211	110	2	11	11	NUM
esrj-60211	110	3	)	)	PUNCT
esrj-60211	110	4	/	/	SYM
esrj-60211	110	5	2	2	NUM
esrj-60211	110	6	;	;	PUNCT
esrj-60211	110	7	/	/	SYM
esrj-60211	110	8	2p	2p	NUM
esrj-60211	110	9	j	j	PROPN
esrj-60211	110	10	w	w	PROPN
esrj-60211	110	11	p	p	X
esrj-60211	110	12	�	�	PROPN
esrj-60211	110	13	<	<	X
esrj-60211	110	14	>	>	X
esrj-60211	110	15	1	1	NUM
esrj-60211	110	16	2	2	NUM
esrj-60211	110	17	3	3	NUM
esrj-60211	110	18	4	4	NUM
esrj-60211	110	19	5	5	NUM
esrj-60211	110	20	6	6	NUM
esrj-60211	110	21	7	7	NUM
esrj-60211	110	22	8	8	NUM
esrj-60211	110	23	9	9	NUM
esrj-60211	110	24	'	'	PUNCT
esrj-60211	110	25	'	'	PUNCT
esrj-60211	110	26	'	'	PUNCT
esrj-60211	110	27	'	'	PUNCT
esrj-60211	110	28	'	'	PUNCT
esrj-60211	110	29	'	'	PUNCT
esrj-60211	110	30	'	'	PUNCT
esrj-60211	110	31	'	'	PUNCT
esrj-60211	110	32	'	'	PUNCT
esrj-60211	111	1	0v	0v	NOUN
esrj-60211	111	2	l	l	PROPN
esrj-60211	111	3	yx	yx	PROPN
esrj-60211	112	1	l	l	PROPN
esrj-60211	112	2	yy	yy	X
esrj-60211	112	3	l	l	NOUN
esrj-60211	112	4	yf	yf	X
esrj-60211	112	5	l	l	NOUN
esrj-60211	112	6	fx	fx	PROPN
esrj-60211	112	7	l	l	PROPN
esrj-60211	112	8	fy	fy	PROPN
esrj-60211	112	9	l	l	X
esrj-60211	113	1	ff	ff	NOUN
esrj-60211	113	2	l	l	NOUN
esrj-60211	114	1	xx	xx	NUM
esrj-60211	115	1	l	l	NOUN
esrj-60211	115	2	xy	xy	NOUN
esrj-60211	115	3	l	l	NOUN
esrj-60211	116	1	xf=	xf=	NOUN
esrj-60211	117	1	+	+	PUNCT
esrj-60211	118	1	+	+	PUNCT
esrj-60211	119	1	+	+	PUNCT
esrj-60211	119	2	+	+	PUNCT
esrj-60211	119	3	+	+	PUNCT
esrj-60211	119	4	+	+	PUNCT
esrj-60211	119	5	+	+	CCONJ
esrj-60211	119	6	+	+	ADJ
esrj-60211	119	7	�	�	NOUN
esrj-60211	119	8	2	2	NUM
esrj-60211	119	9	2	2	NUM
esrj-60211	119	10	2	2	NUM
esrj-60211	119	11	1	1	NUM
esrj-60211	119	12	2	2	NUM
esrj-60211	119	13	3	3	NUM
esrj-60211	119	14	2	2	NUM
esrj-60211	119	15	2	2	NUM
esrj-60211	119	16	2	2	NUM
esrj-60211	119	17	1	1	NUM
esrj-60211	119	18	2	2	NUM
esrj-60211	119	19	3	3	NUM
esrj-60211	119	20	2	2	NUM
esrj-60211	119	21	2	2	NUM
esrj-60211	119	22	2	2	NUM
esrj-60211	119	23	1	1	NUM
esrj-60211	119	24	2	2	NUM
esrj-60211	119	25	3	3	NUM
esrj-60211	119	26	1	1	NUM
esrj-60211	119	27	2	2	NUM
esrj-60211	119	28	1	1	NUM
esrj-60211	119	29	2	2	NUM
esrj-60211	119	30	1	1	NUM
esrj-60211	119	31	2	2	NUM
esrj-60211	119	32	1	1	NUM
esrj-60211	119	33	3	3	NUM
esrj-60211	119	34	1	1	NUM
esrj-60211	119	35	3	3	NUM
esrj-60211	119	36	1	1	NUM
esrj-60211	119	37	3	3	NUM
esrj-60211	119	38	2	2	NUM
esrj-60211	119	39	3	3	NUM
esrj-60211	119	40	2	2	NUM
esrj-60211	119	41	3	3	NUM
esrj-60211	119	42	2	2	NUM
esrj-60211	119	43	3	3	NUM
esrj-60211	119	44	2	2	NUM
esrj-60211	119	45	2	2	NUM
esrj-60211	119	46	2	2	NUM
esrj-60211	119	47	2	2	NUM
esrj-60211	119	48	1	1	NUM
esrj-60211	119	49	1	1	NUM
esrj-60211	119	50	1	1	NUM
esrj-60211	119	51	0	0	NUM
esrj-60211	119	52	0	0	NUM
esrj-60211	119	53	0	0	NUM
esrj-60211	120	1	+	+	CCONJ
esrj-60211	121	1	+	+	X
esrj-60211	121	2	=	=	X
esrj-60211	121	3	x	x	SYM
esrj-60211	121	4	y	y	PROPN
esrj-60211	121	5	z	z	PROPN
esrj-60211	121	6	a	a	PRON
esrj-60211	121	7	a	a	DET
esrj-60211	121	8	a	a	DET
esrj-60211	121	9	b	b	PROPN
esrj-60211	121	10	b	b	PROPN
esrj-60211	121	11	b	b	PROPN
esrj-60211	121	12	c	c	NOUN
esrj-60211	121	13	c	c	NOUN
esrj-60211	121	14	c	c	PROPN
esrj-60211	121	15	a	a	DET
esrj-60211	121	16	a	a	DET
esrj-60211	121	17	b	b	PROPN
esrj-60211	121	18	b	b	PROPN
esrj-60211	121	19	c	c	NOUN
esrj-60211	121	20	c	c	PROPN
esrj-60211	121	21	a	a	DET
esrj-60211	121	22	a	a	DET
esrj-60211	121	23	b	b	PROPN
esrj-60211	121	24	b	b	PROPN
esrj-60211	121	25	c	c	NOUN
esrj-60211	121	26	c	c	PROPN
esrj-60211	121	27	a	a	DET
esrj-60211	121	28	a	a	DET
esrj-60211	121	29	b	b	PROPN
esrj-60211	121	30	b	b	PROPN
esrj-60211	121	31	c	c	NOUN
esrj-60211	121	32	c	c	PROPN
esrj-60211	121	33	b	b	PROPN
esrj-60211	121	34	b	b	PROPN
esrj-60211	121	35	b	b	PROPN
esrj-60211	121	36	b	b	PROPN
esrj-60211	121	37	�	�	PROPN
esrj-60211	121	38	+	+	CCONJ
esrj-60211	121	39	+	+	CCONJ
esrj-60211	121	40	=	=	PUNCT
esrj-60211	121	41	�	�	PROPN
esrj-60211	121	42	+	+	CCONJ
esrj-60211	121	43	+	+	CCONJ
esrj-60211	121	44	=	=	ADJ
esrj-60211	121	45	�	�	X
esrj-60211	121	46	�	�	PROPN
esrj-60211	121	47	+	+	CCONJ
esrj-60211	121	48	+	+	CCONJ
esrj-60211	121	49	=	=	ADJ
esrj-60211	121	50	�	�	PROPN
esrj-60211	121	51	�	�	PROPN
esrj-60211	121	52	×	×	NOUN
esrj-60211	121	53	+	+	CCONJ
esrj-60211	121	54	×	×	NOUN
esrj-60211	121	55	+	+	CCONJ
esrj-60211	121	56	×	×	PROPN
esrj-60211	121	57	=	=	SYM
esrj-60211	121	58	�	�	PROPN
esrj-60211	121	59	�	�	PROPN
esrj-60211	121	60	×	×	PROPN
esrj-60211	121	61	+	+	CCONJ
esrj-60211	121	62	×	×	NOUN
esrj-60211	121	63	+	+	CCONJ
esrj-60211	121	64	×	×	NOUN
esrj-60211	121	65	=	=	PUNCT
esrj-60211	121	66	�	�	PROPN
esrj-60211	121	67	×	×	NOUN
esrj-60211	121	68	+	+	CCONJ
esrj-60211	121	69	×	×	NOUN
esrj-60211	121	70	+	+	CCONJ
esrj-60211	121	71	×	×	PROPN
esrj-60211	121	72	=	=	SYM
esrj-60211	121	73	�	�	PROPN
esrj-60211	121	74	�	�	PROPN
esrj-60211	121	75	�	�	PROPN
esrj-60211	121	76	�	�	PROPN
esrj-60211	121	77	1	1	NUM
esrj-60211	121	78	2	2	NUM
esrj-60211	121	79	3	3	NUM
esrj-60211	121	80	4	4	NUM
esrj-60211	121	81	5	5	NUM
esrj-60211	121	82	6	6	NUM
esrj-60211	121	83	7	7	NUM
esrj-60211	121	84	8	8	NUM
esrj-60211	121	85	9	9	NUM
esrj-60211	121	86	'	'	PUNCT
esrj-60211	121	87	'	'	PUNCT
esrj-60211	121	88	'	'	PUNCT
esrj-60211	121	89	'	'	PUNCT
esrj-60211	121	90	'	'	PUNCT
esrj-60211	121	91	'	'	PUNCT
esrj-60211	121	92	'	'	PUNCT
esrj-60211	121	93	'	'	PUNCT
esrj-60211	121	94	'	'	PUNCT
esrj-60211	121	95	0l	0l	X
esrj-60211	122	1	yx	yx	X
esrj-60211	122	2	l	l	NOUN
esrj-60211	122	3	yy	yy	PROPN
esrj-60211	122	4	l	l	NOUN
esrj-60211	122	5	yf	yf	X
esrj-60211	122	6	l	l	NOUN
esrj-60211	122	7	fx	fx	PROPN
esrj-60211	122	8	l	l	PROPN
esrj-60211	122	9	fy	fy	PROPN
esrj-60211	122	10	l	l	X
esrj-60211	122	11	ff	ff	NOUN
esrj-60211	122	12	l	l	NOUN
esrj-60211	123	1	xx	xx	NUM
esrj-60211	124	1	l	l	NOUN
esrj-60211	124	2	xy	xy	PROPN
esrj-60211	124	3	l	l	NOUN
esrj-60211	124	4	xf+	xf+	NOUN
esrj-60211	125	1	+	+	X
esrj-60211	126	1	+	+	PUNCT
esrj-60211	127	1	+	+	PUNCT
esrj-60211	127	2	+	+	PUNCT
esrj-60211	127	3	+	+	PUNCT
esrj-60211	127	4	+	+	PUNCT
esrj-60211	127	5	+	+	CCONJ
esrj-60211	127	6	=	=	SYM
esrj-60211	127	7	1	1	NUM
esrj-60211	127	8	1	1	NUM
esrj-60211	127	9	1	1	NUM
esrj-60211	127	10	2	2	NUM
esrj-60211	127	11	2	2	NUM
esrj-60211	127	12	2	2	NUM
esrj-60211	127	13	3	3	NUM
esrj-60211	127	14	3	3	NUM
esrj-60211	127	15	3	3	NUM
esrj-60211	127	16	4	4	NUM
esrj-60211	127	17	1	1	NUM
esrj-60211	127	18	1	1	NUM
esrj-60211	127	19	5	5	NUM
esrj-60211	127	20	2	2	NUM
esrj-60211	127	21	2	2	NUM
esrj-60211	127	22	6	6	NUM
esrj-60211	127	23	3	3	NUM
esrj-60211	127	24	3	3	NUM
esrj-60211	127	25	7	7	NUM
esrj-60211	127	26	1	1	NUM
esrj-60211	127	27	1	1	NUM
esrj-60211	127	28	8	8	NUM
esrj-60211	127	29	2	2	NUM
esrj-60211	127	30	2	2	NUM
esrj-60211	127	31	9	9	NUM
esrj-60211	127	32	3	3	NUM
esrj-60211	127	33	3	3	NUM
esrj-60211	127	34	x	x	SYM
esrj-60211	127	35	z	z	NOUN
esrj-60211	127	36	x	x	X
esrj-60211	127	37	z	z	NOUN
esrj-60211	127	38	x	x	X
esrj-60211	127	39	z	z	NOUN
esrj-60211	127	40	y	y	PROPN
esrj-60211	127	41	x	x	SYM
esrj-60211	127	42	y	y	NOUN
esrj-60211	127	43	x	x	PUNCT
esrj-60211	127	44	y	y	NOUN
esrj-60211	127	45	x	x	X
esrj-60211	127	46	z	z	VERB
esrj-60211	127	47	y	y	PROPN
esrj-60211	127	48	z	z	NOUN
esrj-60211	127	49	y	y	PROPN
esrj-60211	127	50	z	z	PROPN
esrj-60211	127	51	y	y	PROPN
esrj-60211	127	52	l	l	PROPN
esrj-60211	127	53	b	b	PROPN
esrj-60211	128	1	c	c	NOUN
esrj-60211	128	2	b	b	PROPN
esrj-60211	128	3	a	a	DET
esrj-60211	128	4	l	l	NOUN
esrj-60211	128	5	b	b	PROPN
esrj-60211	128	6	c	c	PROPN
esrj-60211	128	7	b	b	PROPN
esrj-60211	128	8	a	a	DET
esrj-60211	128	9	l	l	NOUN
esrj-60211	128	10	b	b	PROPN
esrj-60211	128	11	c	c	PROPN
esrj-60211	128	12	b	b	PROPN
esrj-60211	128	13	a	a	DET
esrj-60211	128	14	l	l	NOUN
esrj-60211	128	15	b	b	PROPN
esrj-60211	128	16	a	a	DET
esrj-60211	128	17	b	b	PROPN
esrj-60211	128	18	b	b	PROPN
esrj-60211	128	19	l	l	NOUN
esrj-60211	128	20	b	b	PROPN
esrj-60211	128	21	a	a	DET
esrj-60211	128	22	b	b	PROPN
esrj-60211	128	23	b	b	PROPN
esrj-60211	128	24	l	l	NOUN
esrj-60211	128	25	b	b	PROPN
esrj-60211	128	26	a	a	DET
esrj-60211	128	27	b	b	PROPN
esrj-60211	128	28	b	b	PROPN
esrj-60211	128	29	l	l	NOUN
esrj-60211	128	30	b	b	PROPN
esrj-60211	128	31	b	b	X
esrj-60211	128	32	b	b	PROPN
esrj-60211	128	33	c	c	PROPN
esrj-60211	128	34	l	l	PROPN
esrj-60211	128	35	b	b	PROPN
esrj-60211	128	36	b	b	X
esrj-60211	128	37	b	b	PROPN
esrj-60211	128	38	c	c	PROPN
esrj-60211	128	39	l	l	PROPN
esrj-60211	128	40	b	b	PROPN
esrj-60211	128	41	b	b	X
esrj-60211	128	42	b	b	X
esrj-60211	128	43	c	c	NOUN
esrj-60211	128	44	=	=	SYM
esrj-60211	128	45	×	×	PROPN
esrj-60211	128	46	�	�	PROPN
esrj-60211	128	47	×	×	PROPN
esrj-60211	128	48	=	=	SYM
esrj-60211	128	49	×	×	PROPN
esrj-60211	128	50	�	�	PROPN
esrj-60211	128	51	×	×	PROPN
esrj-60211	128	52	=	=	SYM
esrj-60211	128	53	×	×	PROPN
esrj-60211	128	54	�	�	PROPN
esrj-60211	128	55	×	×	PROPN
esrj-60211	128	56	=	=	SYM
esrj-60211	128	57	×	×	PROPN
esrj-60211	128	58	�	�	PROPN
esrj-60211	128	59	×	×	PROPN
esrj-60211	128	60	=	=	SYM
esrj-60211	128	61	×	×	PROPN
esrj-60211	128	62	�	�	PROPN
esrj-60211	128	63	×	×	PROPN
esrj-60211	128	64	=	=	SYM
esrj-60211	128	65	×	×	PROPN
esrj-60211	128	66	�	�	PROPN
esrj-60211	128	67	×	×	PROPN
esrj-60211	128	68	=	=	SYM
esrj-60211	128	69	×	×	PROPN
esrj-60211	128	70	�	�	PROPN
esrj-60211	128	71	×	×	PROPN
esrj-60211	128	72	=	=	SYM
esrj-60211	128	73	×	×	PROPN
esrj-60211	128	74	�	�	PROPN
esrj-60211	128	75	×	×	PROPN
esrj-60211	128	76	=	=	SYM
esrj-60211	128	77	×	×	PROPN
esrj-60211	128	78	�	�	PROPN
esrj-60211	128	79	×	×	PROPN
esrj-60211	128	80	0	0	NUM
esrj-60211	128	81	0	0	NUM
esrj-60211	128	82	0	0	NUM
esrj-60211	128	83	0	0	NUM
esrj-60211	128	84	0	0	NUM
esrj-60211	128	85	0	0	NUM
esrj-60211	128	86	0	0	NUM
esrj-60211	128	87	0	0	NUM
esrj-60211	128	88	0	0	NUM
esrj-60211	128	89	1	1	NUM
esrj-60211	128	90	2	2	NUM
esrj-60211	128	91	3	3	NUM
esrj-60211	128	92	4	4	NUM
esrj-60211	128	93	5	5	NUM
esrj-60211	128	94	6	6	NUM
esrj-60211	128	95	7	7	NUM
esrj-60211	128	96	8	8	NUM
esrj-60211	128	97	9	9	NUM
esrj-60211	128	98	'	'	PUNCT
esrj-60211	128	99	'	'	PUNCT
esrj-60211	128	100	'	'	PUNCT
esrj-60211	128	101	'	'	PUNCT
esrj-60211	128	102	'	'	PUNCT
esrj-60211	128	103	'	'	PUNCT
esrj-60211	128	104	'	'	PUNCT
esrj-60211	128	105	'	'	PUNCT
esrj-60211	128	106	'	'	PUNCT
esrj-60211	128	107	0l	0l	X
esrj-60211	128	108	yx	yx	X
esrj-60211	128	109	l	l	NOUN
esrj-60211	128	110	yy	yy	PROPN
esrj-60211	128	111	l	l	NOUN
esrj-60211	128	112	yf	yf	X
esrj-60211	128	113	l	l	NOUN
esrj-60211	128	114	fx	fx	PROPN
esrj-60211	128	115	l	l	PROPN
esrj-60211	128	116	fy	fy	PROPN
esrj-60211	128	117	l	l	X
esrj-60211	128	118	ff	ff	NOUN
esrj-60211	128	119	l	l	NOUN
esrj-60211	128	120	xx	xx	NUM
esrj-60211	129	1	l	l	NOUN
esrj-60211	129	2	xy	xy	PROPN
esrj-60211	130	1	l	l	NOUN
esrj-60211	130	2	xf+	xf+	PROPN
esrj-60211	130	3	�	�	PROPN
esrj-60211	130	4	+	+	CCONJ
esrj-60211	130	5	+	+	CCONJ
esrj-60211	130	6	�	�	PROPN
esrj-60211	130	7	+	+	CCONJ
esrj-60211	130	8	+	+	CCONJ
esrj-60211	130	9	�	�	NOUN
esrj-60211	130	10	=	=	SYM
esrj-60211	130	11	2	2	NUM
esrj-60211	130	12	2	2	NUM
esrj-60211	130	13	2	2	NUM
esrj-60211	130	14	2	2	NUM
esrj-60211	130	15	2	2	NUM
esrj-60211	130	16	2	2	NUM
esrj-60211	130	17	2	2	NUM
esrj-60211	130	18	2	2	NUM
esrj-60211	130	19	22	22	NUM
esrj-60211	130	20	2	2	NUM
esrj-60211	130	21	0	0	NUM
esrj-60211	130	22	0	0	NUM
esrj-60211	130	23	0	0	NUM
esrj-60211	130	24	0	0	NUM
esrj-60211	130	25	0	0	NUM
esrj-60211	130	26	0	0	NUM
esrj-60211	130	27	0	0	NUM
esrj-60211	130	28	0	0	NUM
esrj-60211	130	29	0	0	NUM
esrj-60211	130	30	5	5	NUM
esrj-60211	130	31	1	1	NUM
esrj-60211	130	32	2	2	NUM
esrj-60211	130	33	3	3	NUM
esrj-60211	130	34	4	4	NUM
esrj-60211	130	35	5	5	NUM
esrj-60211	130	36	6	6	NUM
esrj-60211	130	37	7	7	NUM
esrj-60211	130	38	8	8	NUM
esrj-60211	130	39	9	9	NUM
esrj-60211	130	40	0	0	NUM
esrj-60211	130	41	5	5	NUM
esrj-60211	130	42	2	2	NUM
esrj-60211	130	43	1	1	NUM
esrj-60211	130	44	7	7	NUM
esrj-60211	130	45	2	2	NUM
esrj-60211	130	46	8	8	NUM
esrj-60211	130	47	3	3	NUM
esrj-60211	130	48	9	9	NUM
esrj-60211	130	49	2	2	NUM
esrj-60211	130	50	4	4	NUM
esrj-60211	130	51	7	7	NUM
esrj-60211	130	52	5	5	NUM
esrj-60211	130	53	8	8	NUM
esrj-60211	130	54	6	6	NUM
esrj-60211	130	55	9	9	NUM
esrj-60211	130	56	2	2	NUM
esrj-60211	130	57	/	/	SYM
esrj-60211	130	58	(	(	PUNCT
esrj-60211	130	59	)	)	PUNCT
esrj-60211	130	60	(	(	PUNCT
esrj-60211	130	61	1	1	NUM
esrj-60211	130	62	,	,	PUNCT
esrj-60211	130	63	2	2	NUM
esrj-60211	130	64	,	,	PUNCT
esrj-60211	130	65	,	,	PUNCT
esrj-60211	130	66	9	9	NUM
esrj-60211	130	67	)	)	PUNCT
esrj-60211	130	68	(	(	PUNCT
esrj-60211	130	69	)	)	PUNCT
esrj-60211	130	70	/	/	SYM
esrj-60211	130	71	(	(	PUNCT
esrj-60211	130	72	)	)	PUNCT
esrj-60211	130	73	/	/	SYM
esrj-60211	131	1	x	x	PUNCT
esrj-60211	131	2	i	i	PRON
esrj-60211	132	1	i	i	VERB
esrj-60211	132	2	y	y	VERB
esrj-60211	132	3	x	x	X
esrj-60211	133	1	z	z	NOUN
esrj-60211	133	2	x	x	X
esrj-60211	133	3	l	l	NOUN
esrj-60211	133	4	b	b	X
esrj-60211	133	5	l	l	NOUN
esrj-60211	133	6	l	l	NOUN
esrj-60211	133	7	l	l	NOUN
esrj-60211	133	8	l	l	NOUN
esrj-60211	133	9	l	l	NOUN
esrj-60211	133	10	l	l	NOUN
esrj-60211	133	11	l	l	NOUN
esrj-60211	133	12	l	l	NOUN
esrj-60211	133	13	l	l	NOUN
esrj-60211	133	14	l	l	X
esrj-60211	133	15	l	l	NOUN
esrj-60211	133	16	l	l	NOUN
esrj-60211	134	1	i	i	NOUN
esrj-60211	134	2	b	b	NOUN
esrj-60211	134	3	l	l	NOUN
esrj-60211	134	4	l	l	NOUN
esrj-60211	134	5	l	l	NOUN
esrj-60211	134	6	l	l	NOUN
esrj-60211	134	7	l	l	NOUN
esrj-60211	134	8	l	l	X
esrj-60211	135	1	b	b	X
esrj-60211	135	2	b	b	X
esrj-60211	135	3	l	l	NOUN
esrj-60211	135	4	l	l	NOUN
esrj-60211	135	5	l	l	NOUN
esrj-60211	135	6	l	l	NOUN
esrj-60211	135	7	l	l	NOUN
esrj-60211	135	8	l	l	NOUN
esrj-60211	135	9	b	b	X
esrj-60211	135	10	=	=	PUNCT
esrj-60211	136	1	+	+	NOUN
esrj-60211	136	2	+	+	PUNCT
esrj-60211	136	3	+	+	CCONJ
esrj-60211	136	4	+	+	CCONJ
esrj-60211	136	5	+	+	CCONJ
esrj-60211	136	6	�	�	PROPN
esrj-60211	136	7	�	�	PROPN
esrj-60211	136	8	�	�	PROPN
esrj-60211	136	9	=	=	SYM
esrj-60211	136	10	×	×	NOUN
esrj-60211	136	11	=	=	SYM
esrj-60211	136	12	=	=	SYM
esrj-60211	136	13	�	�	PROPN
esrj-60211	136	14	+	+	CCONJ
esrj-60211	136	15	+	+	PUNCT
esrj-60211	136	16	=	=	SYM
esrj-60211	137	1	+	+	PUNCT
esrj-60211	137	2	+	+	CCONJ
esrj-60211	137	3			NOUN
esrj-60211	137	4	3	3	NUM
esrj-60211	137	5	5	5	NUM
esrj-60211	137	6	6	6	NUM
esrj-60211	137	7	2	2	NUM
esrj-60211	137	8	1	1	NUM
esrj-60211	137	9	4	4	NUM
esrj-60211	137	10	1	1	NUM
esrj-60211	137	11	4	4	NUM
esrj-60211	137	12	1	1	NUM
esrj-60211	137	13	1	1	NUM
esrj-60211	137	14	1	1	NUM
esrj-60211	137	15	1	1	NUM
esrj-60211	137	16	12	12	NUM
esrj-60211	137	17	2	2	NUM
esrj-60211	137	18	2	2	NUM
esrj-60211	137	19	1	1	NUM
esrj-60211	137	20	6	6	NUM
esrj-60211	137	21	3	3	NUM
esrj-60211	137	22	4	4	NUM
esrj-60211	137	23	2	2	NUM
esrj-60211	137	24	5	5	NUM
esrj-60211	137	25	2	2	NUM
esrj-60211	137	26	5	5	NUM
esrj-60211	137	27	2	2	NUM
esrj-60211	137	28	2	2	NUM
esrj-60211	137	29	2	2	NUM
esrj-60211	137	30	2	2	NUM
esrj-60211	137	31	22	22	NUM
esrj-60211	137	32	2	2	NUM
esrj-60211	137	33	2	2	NUM
esrj-60211	137	34	2	2	NUM
esrj-60211	137	35	4	4	NUM
esrj-60211	137	36	1	1	NUM
esrj-60211	137	37	5	5	NUM
esrj-60211	137	38	3	3	NUM
esrj-60211	137	39	6	6	NUM
esrj-60211	137	40	3	3	NUM
esrj-60211	137	41	6	6	NUM
esrj-60211	137	42	3	3	NUM
esrj-60211	137	43	3	3	NUM
esrj-60211	137	44	3	3	NUM
esrj-60211	137	45	3	3	NUM
esrj-60211	137	46	32	32	NUM
esrj-60211	137	47	2	2	NUM
esrj-60211	137	48	2	2	NUM
esrj-60211	137	49	;	;	PUNCT
esrj-60211	137	50	;	;	PUNCT
esrj-60211	137	51	;	;	PUNCT
esrj-60211	137	52	;	;	PUNCT
esrj-60211	137	53	;	;	PUNCT
esrj-60211	137	54	;	;	PUNCT
esrj-60211	137	55	z	z	NOUN
esrj-60211	137	56	y	y	VERB
esrj-60211	137	57	y	y	PROPN
esrj-60211	137	58	z	z	NOUN
esrj-60211	137	59	x	x	PUNCT
esrj-60211	137	60	y	y	PROPN
esrj-60211	137	61	z	z	NOUN
esrj-60211	137	62	x	x	PUNCT
esrj-60211	137	63	x	x	PUNCT
esrj-60211	137	64	z	z	VERB
esrj-60211	137	65	y	y	PROPN
esrj-60211	137	66	y	y	PROPN
esrj-60211	137	67	z	z	NOUN
esrj-60211	137	68	x	x	PUNCT
esrj-60211	137	69	y	y	PROPN
esrj-60211	137	70	z	z	NOUN
esrj-60211	137	71	x	x	PUNCT
esrj-60211	137	72	x	x	PUNCT
esrj-60211	137	73	z	z	VERB
esrj-60211	137	74	y	y	PROPN
esrj-60211	137	75	y	y	PROPN
esrj-60211	137	76	z	z	NOUN
esrj-60211	137	77	x	x	PUNCT
esrj-60211	137	78	y	y	PROPN
esrj-60211	137	79	z	z	NOUN
esrj-60211	137	80	x	x	PUNCT
esrj-60211	137	81	x	x	PUNCT
esrj-60211	137	82	l	l	NOUN
esrj-60211	137	83	l	l	X
esrj-60211	137	84	l	l	X
esrj-60211	137	85	l	l	NOUN
esrj-60211	137	86	b	b	X
esrj-60211	137	87	l	l	NOUN
esrj-60211	137	88	b	b	X
esrj-60211	137	89	l	l	NOUN
esrj-60211	137	90	b	b	PROPN
esrj-60211	137	91	a	a	DET
esrj-60211	137	92	l	l	NOUN
esrj-60211	137	93	b	b	NOUN
esrj-60211	137	94	a	a	PROPN
esrj-60211	137	95	la	la	PROPN
esrj-60211	137	96	b	b	PROPN
esrj-60211	137	97	c	c	PROPN
esrj-60211	137	98	b	b	PROPN
esrj-60211	137	99	b	b	PROPN
esrj-60211	137	100	b	b	PROPN
esrj-60211	137	101	b	b	PROPN
esrj-60211	137	102	b	b	PROPN
esrj-60211	137	103	l	l	NOUN
esrj-60211	137	104	l	l	NOUN
esrj-60211	137	105	l	l	NOUN
esrj-60211	137	106	l	l	NOUN
esrj-60211	137	107	b	b	X
esrj-60211	137	108	l	l	NOUN
esrj-60211	137	109	b	b	X
esrj-60211	137	110	l	l	NOUN
esrj-60211	137	111	b	b	PROPN
esrj-60211	137	112	a	a	DET
esrj-60211	137	113	l	l	NOUN
esrj-60211	137	114	b	b	NOUN
esrj-60211	137	115	a	a	PROPN
esrj-60211	137	116	la	la	PROPN
esrj-60211	137	117	b	b	PROPN
esrj-60211	137	118	c	c	PROPN
esrj-60211	137	119	b	b	PROPN
esrj-60211	137	120	b	b	PROPN
esrj-60211	137	121	b	b	PROPN
esrj-60211	137	122	b	b	PROPN
esrj-60211	137	123	b	b	PROPN
esrj-60211	137	124	l	l	NOUN
esrj-60211	137	125	l	l	NOUN
esrj-60211	137	126	l	l	NOUN
esrj-60211	137	127	l	l	NOUN
esrj-60211	137	128	b	b	X
esrj-60211	137	129	l	l	NOUN
esrj-60211	137	130	b	b	X
esrj-60211	137	131	l	l	NOUN
esrj-60211	137	132	b	b	PROPN
esrj-60211	137	133	a	a	DET
esrj-60211	137	134	l	l	NOUN
esrj-60211	137	135	b	b	NOUN
esrj-60211	137	136	a	a	PROPN
esrj-60211	137	137	la	la	PROPN
esrj-60211	137	138	b	b	PROPN
esrj-60211	137	139	c	c	PROPN
esrj-60211	137	140	b	b	PROPN
esrj-60211	137	141	b	b	PROPN
esrj-60211	137	142	b	b	PROPN
esrj-60211	137	143	b	b	PROPN
esrj-60211	137	144	b	b	PROPN
esrj-60211	137	145	�	�	PROPN
esrj-60211	137	146	�	�	PROPN
esrj-60211	137	147	�	�	PROPN
esrj-60211	137	148	+	+	CCONJ
esrj-60211	137	149	+	+	PUNCT
esrj-60211	137	150	=	=	SYM
esrj-60211	137	151	=	=	SYM
esrj-60211	137	152	=	=	PUNCT
esrj-60211	138	1	+	+	CCONJ
esrj-60211	138	2	+	+	CCONJ
esrj-60211	138	3	�	�	PROPN
esrj-60211	138	4	�	�	PROPN
esrj-60211	138	5	�	�	PROPN
esrj-60211	138	6	+	+	CCONJ
esrj-60211	138	7	+	+	PUNCT
esrj-60211	138	8	=	=	SYM
esrj-60211	138	9	=	=	SYM
esrj-60211	138	10	=	=	PUNCT
esrj-60211	139	1	+	+	CCONJ
esrj-60211	139	2	+	+	CCONJ
esrj-60211	139	3	�	�	PROPN
esrj-60211	139	4	�	�	PROPN
esrj-60211	139	5	�	�	PROPN
esrj-60211	139	6	+	+	CCONJ
esrj-60211	139	7	+	+	PUNCT
esrj-60211	139	8	=	=	SYM
esrj-60211	139	9	=	=	SYM
esrj-60211	139	10	=	=	PUNCT
esrj-60211	140	1	+	+	PUNCT
esrj-60211	140	2	+	+	NUM
esrj-60211	140	3	3	3	NUM
esrj-60211	140	4	3	3	NUM
esrj-60211	140	5	2	2	NUM
esrj-60211	140	6	arcsin	arcsin	PROPN
esrj-60211	140	7	(	(	PUNCT
esrj-60211	140	8	)	)	PUNCT
esrj-60211	140	9	arccos	arccos	X
esrj-60211	140	10	cos	cos	PUNCT
esrj-60211	140	11	=	=	NOUN
esrj-60211	140	12	arccos	arccos	X
esrj-60211	140	13	cos	cos	PROPN
esrj-60211	140	14	b	b	PROPN
esrj-60211	140	15	c	c	PROPN
esrj-60211	140	16	b	b	PROPN
esrj-60211	140	17	w	w	PROPN
esrj-60211	140	18	j	j	PROPN
esrj-60211	140	19	w	w	PROPN
esrj-60211	140	20	k	k	PROPN
esrj-60211	140	21	w	w	PROPN
esrj-60211	140	22	=	=	SYM
esrj-60211	140	23	�	�	PROPN
esrj-60211	140	24	=	=	SYM
esrj-60211	140	25	g4	g4	PROPN
esrj-60211	140	26	yifu	yifu	NOUN
esrj-60211	140	27	chen	chen	PROPN
esrj-60211	140	28	,	,	PUNCT
esrj-60211	140	29	zhong	zhong	PROPN
esrj-60211	140	30	xie	xie	PROPN
esrj-60211	140	31	,	,	PUNCT
esrj-60211	140	32	zhenge	zhenge	PROPN
esrj-60211	140	33	qiu	qiu	PROPN
esrj-60211	140	34	,	,	PUNCT
esrj-60211	140	35	min	min	PROPN
esrj-60211	140	36	zhang	zhang	PROPN
esrj-60211	140	37	and	and	CCONJ
esrj-60211	140	38	saishang	saishang	PROPN
esrj-60211	140	39	zhong	zhong	PROPN
esrj-60211	140	40	then	then	ADV
esrj-60211	140	41	,	,	PUNCT
esrj-60211	140	42	differential	differential	ADJ
esrj-60211	140	43	form	form	NOUN
esrj-60211	140	44	of	of	ADP
esrj-60211	140	45	the	the	DET
esrj-60211	140	46	eq	eq	NOUN
esrj-60211	140	47	.	.	PUNCT
esrj-60211	141	1	(	(	PUNCT
esrj-60211	141	2	11	11	NUM
esrj-60211	141	3	)	)	PUNCT
esrj-60211	141	4	is	be	AUX
esrj-60211	141	5	represented	represent	VERB
esrj-60211	141	6	by	by	ADP
esrj-60211	141	7	eq	eq	PROPN
esrj-60211	141	8	.	.	PUNCT
esrj-60211	142	1	(	(	PUNCT
esrj-60211	142	2	12	12	NUM
esrj-60211	142	3	)	)	PUNCT
esrj-60211	142	4	.	.	PUNCT
esrj-60211	143	1	the	the	DET
esrj-60211	143	2	f0	f0	PROPN
esrj-60211	143	3	is	be	AUX
esrj-60211	143	4	the	the	DET
esrj-60211	143	5	approximate	approximate	ADJ
esrj-60211	143	6	value	value	NOUN
esrj-60211	143	7	of	of	ADP
esrj-60211	143	8	f	f	PROPN
esrj-60211	143	9	,	,	PUNCT
esrj-60211	143	10	and	and	CCONJ
esrj-60211	143	11	dbx	dbx	NOUN
esrj-60211	143	12	,	,	PUNCT
esrj-60211	143	13	dby	dby	PROPN
esrj-60211	143	14	…	…	SYM
esrj-60211	143	15	dc2	dc2	PROPN
esrj-60211	143	16	,	,	PUNCT
esrj-60211	143	17	dc3	dc3	PROPN
esrj-60211	143	18	is	be	AUX
esrj-60211	143	19	the	the	DET
esrj-60211	143	20	variation	variation	NOUN
esrj-60211	143	21	of	of	ADP
esrj-60211	143	22	the	the	DET
esrj-60211	143	23	12	12	NUM
esrj-60211	143	24	unknown	unknown	ADJ
esrj-60211	143	25	parameters	parameter	NOUN
esrj-60211	143	26	for	for	ADP
esrj-60211	143	27	relative	relative	ADJ
esrj-60211	143	28	orientation	orientation	NOUN
esrj-60211	143	29	.	.	PUNCT
esrj-60211	144	1	thus	thus	ADV
esrj-60211	144	2	,	,	PUNCT
esrj-60211	144	3	the	the	DET
esrj-60211	144	4	error	error	NOUN
esrj-60211	144	5	equation	equation	NOUN
esrj-60211	144	6	is	be	AUX
esrj-60211	144	7	described	describe	VERB
esrj-60211	144	8	as	as	ADP
esrj-60211	144	9	eq	eq	ADP
esrj-60211	144	10	.	.	PUNCT
esrj-60211	145	1	(	(	PUNCT
esrj-60211	145	2	13	13	NUM
esrj-60211	145	3	)	)	PUNCT
esrj-60211	145	4	.	.	PUNCT
esrj-60211	146	1	(	(	PUNCT
esrj-60211	146	2	12	12	NUM
esrj-60211	146	3	)	)	PUNCT
esrj-60211	146	4	(	(	PUNCT
esrj-60211	146	5	13	13	NUM
esrj-60211	146	6	)	)	PUNCT
esrj-60211	146	7	where	where	SCONJ
esrj-60211	146	8	v	v	NOUN
esrj-60211	146	9	,	,	PUNCT
esrj-60211	146	10	x	x	PRON
esrj-60211	146	11	,	,	PUNCT
esrj-60211	146	12	l	l	NOUN
esrj-60211	146	13	represent	represent	VERB
esrj-60211	146	14	the	the	DET
esrj-60211	146	15	observation	observation	NOUN
esrj-60211	146	16	vector	vector	NOUN
esrj-60211	146	17	,	,	PUNCT
esrj-60211	146	18	parameter	parameter	NOUN
esrj-60211	146	19	variation	variation	NOUN
esrj-60211	146	20	value	value	NOUN
esrj-60211	146	21	,	,	PUNCT
esrj-60211	146	22	and	and	CCONJ
esrj-60211	146	23	the	the	DET
esrj-60211	146	24	free	free	ADJ
esrj-60211	146	25	vector	vector	NOUN
esrj-60211	146	26	,	,	PUNCT
esrj-60211	146	27	respectively	respectively	ADV
esrj-60211	146	28	.	.	PUNCT
esrj-60211	147	1	to	to	PART
esrj-60211	147	2	improve	improve	VERB
esrj-60211	147	3	and	and	CCONJ
esrj-60211	147	4	ensure	ensure	VERB
esrj-60211	147	5	the	the	DET
esrj-60211	147	6	accuracy	accuracy	NOUN
esrj-60211	147	7	of	of	ADP
esrj-60211	147	8	the	the	DET
esrj-60211	147	9	solved	solve	VERB
esrj-60211	147	10	parameters	parameter	NOUN
esrj-60211	147	11	,	,	PUNCT
esrj-60211	147	12	the	the	DET
esrj-60211	147	13	seven	seven	NUM
esrj-60211	147	14	independent	independent	ADJ
esrj-60211	147	15	constraints	constraint	NOUN
esrj-60211	147	16	described	describe	VERB
esrj-60211	147	17	above	above	ADV
esrj-60211	147	18	,	,	PUNCT
esrj-60211	147	19	are	be	AUX
esrj-60211	147	20	considered	consider	VERB
esrj-60211	147	21	,	,	PUNCT
esrj-60211	147	22	and	and	CCONJ
esrj-60211	147	23	its	its	PRON
esrj-60211	147	24	equation	equation	NOUN
esrj-60211	147	25	is	be	AUX
esrj-60211	147	26	expressed	express	VERB
esrj-60211	147	27	by	by	ADP
esrj-60211	147	28	eq	eq	PROPN
esrj-60211	147	29	.	.	PUNCT
esrj-60211	148	1	(	(	PUNCT
esrj-60211	148	2	14	14	NUM
esrj-60211	148	3	)	)	PUNCT
esrj-60211	148	4	.	.	PUNCT
esrj-60211	149	1	b	b	X
esrj-60211	150	1	•	•	NOUN
esrj-60211	150	2	x	x	X
esrj-60211	151	1	+	+	NUM
esrj-60211	151	2	w	w	NOUN
esrj-60211	151	3	=	=	SYM
esrj-60211	151	4	0	0	NUM
esrj-60211	151	5	(	(	PUNCT
esrj-60211	151	6	14	14	NUM
esrj-60211	151	7	)	)	PUNCT
esrj-60211	151	8	b	b	NOUN
esrj-60211	151	9	and	and	CCONJ
esrj-60211	151	10	w	w	PROPN
esrj-60211	151	11	are	be	AUX
esrj-60211	151	12	the	the	DET
esrj-60211	151	13	coefficient	coefficient	NOUN
esrj-60211	151	14	matrices	matrix	NOUN
esrj-60211	151	15	and	and	CCONJ
esrj-60211	151	16	the	the	DET
esrj-60211	151	17	observation	observation	NOUN
esrj-60211	151	18	vector	vector	NOUN
esrj-60211	151	19	of	of	ADP
esrj-60211	151	20	constraint	constraint	NOUN
esrj-60211	151	21	condition	condition	NOUN
esrj-60211	151	22	in	in	ADP
esrj-60211	151	23	the	the	DET
esrj-60211	151	24	bundle	bundle	NOUN
esrj-60211	151	25	block	block	NOUN
esrj-60211	151	26	adjustment	adjustment	NOUN
esrj-60211	151	27	,	,	PUNCT
esrj-60211	151	28	which	which	PRON
esrj-60211	151	29	are	be	AUX
esrj-60211	151	30	represented	represent	VERB
esrj-60211	151	31	by	by	ADP
esrj-60211	151	32	eq	eq	PROPN
esrj-60211	151	33	.	.	PUNCT
esrj-60211	152	1	(	(	PUNCT
esrj-60211	152	2	15	15	NUM
esrj-60211	152	3	)	)	PUNCT
esrj-60211	152	4	and	and	CCONJ
esrj-60211	152	5	eq	eq	NOUN
esrj-60211	152	6	.	.	PUNCT
esrj-60211	153	1	(	(	PUNCT
esrj-60211	153	2	16	16	NUM
esrj-60211	153	3	)	)	PUNCT
esrj-60211	153	4	,	,	PUNCT
esrj-60211	153	5	respectively	respectively	ADV
esrj-60211	153	6	.	.	PUNCT
esrj-60211	154	1	(	(	PUNCT
esrj-60211	154	2	15	15	NUM
esrj-60211	154	3	)	)	PUNCT
esrj-60211	154	4	(	(	PUNCT
esrj-60211	154	5	16	16	NUM
esrj-60211	154	6	)	)	PUNCT
esrj-60211	154	7	combining	combine	VERB
esrj-60211	154	8	the	the	DET
esrj-60211	154	9	error	error	NOUN
esrj-60211	154	10	equation	equation	NOUN
esrj-60211	154	11	of	of	ADP
esrj-60211	154	12	observation	observation	NOUN
esrj-60211	154	13	and	and	CCONJ
esrj-60211	154	14	the	the	DET
esrj-60211	154	15	equation	equation	NOUN
esrj-60211	154	16	of	of	ADP
esrj-60211	154	17	constraint	constraint	NOUN
esrj-60211	154	18	condition	condition	NOUN
esrj-60211	154	19	,	,	PUNCT
esrj-60211	154	20	the	the	DET
esrj-60211	154	21	error	error	NOUN
esrj-60211	154	22	equation	equation	NOUN
esrj-60211	154	23	with	with	ADP
esrj-60211	154	24	constraint	constraint	NOUN
esrj-60211	154	25	condition	condition	NOUN
esrj-60211	154	26	is	be	AUX
esrj-60211	154	27	expressed	express	VERB
esrj-60211	154	28	in	in	ADP
esrj-60211	154	29	eq	eq	ADP
esrj-60211	154	30	.	.	PUNCT
esrj-60211	155	1	(	(	PUNCT
esrj-60211	155	2	17	17	NUM
esrj-60211	155	3	)	)	PUNCT
esrj-60211	155	4	.	.	PUNCT
esrj-60211	156	1	(	(	PUNCT
esrj-60211	156	2	17	17	NUM
esrj-60211	156	3	)	)	PUNCT
esrj-60211	156	4	according	accord	VERB
esrj-60211	156	5	to	to	ADP
esrj-60211	156	6	the	the	DET
esrj-60211	156	7	least	least	ADJ
esrj-60211	156	8	square	square	ADJ
esrj-60211	156	9	with	with	ADP
esrj-60211	156	10	restrictions	restriction	NOUN
esrj-60211	156	11	,	,	PUNCT
esrj-60211	156	12	the	the	DET
esrj-60211	156	13	12	12	NUM
esrj-60211	156	14	unknown	unknown	ADJ
esrj-60211	156	15	parameters	parameter	NOUN
esrj-60211	156	16	can	can	AUX
esrj-60211	156	17	be	be	AUX
esrj-60211	156	18	computed	compute	VERB
esrj-60211	156	19	and	and	CCONJ
esrj-60211	156	20	express	express	ADJ
esrj-60211	156	21	by	by	ADP
esrj-60211	156	22	the	the	DET
esrj-60211	156	23	eq	eq	NOUN
esrj-60211	156	24	.	.	PUNCT
esrj-60211	157	1	(	(	PUNCT
esrj-60211	157	2	18	18	NUM
esrj-60211	157	3	)	)	PUNCT
esrj-60211	157	4	.	.	PUNCT
esrj-60211	158	1	(	(	PUNCT
esrj-60211	158	2	18	18	NUM
esrj-60211	158	3	)	)	PUNCT
esrj-60211	158	4	in	in	ADP
esrj-60211	158	5	the	the	DET
esrj-60211	158	6	eq	eq	NOUN
esrj-60211	158	7	.	.	PUNCT
esrj-60211	159	1	(	(	PUNCT
esrj-60211	159	2	18	18	NUM
esrj-60211	159	3	)	)	PUNCT
esrj-60211	159	4	,	,	PUNCT
esrj-60211	159	5	the	the	DET
esrj-60211	159	6	u	u	NOUN
esrj-60211	159	7	,	,	PUNCT
esrj-60211	159	8	k	k	PROPN
esrj-60211	159	9	,	,	PUNCT
esrj-60211	159	10	and	and	CCONJ
esrj-60211	159	11	wu	wu	PROPN
esrj-60211	159	12	can	can	AUX
esrj-60211	159	13	be	be	AUX
esrj-60211	159	14	acquired	acquire	VERB
esrj-60211	159	15	by	by	ADP
esrj-60211	159	16	the	the	DET
esrj-60211	159	17	follow	follow	NOUN
esrj-60211	159	18	eqs	eqs	PROPN
esrj-60211	159	19	.	.	PUNCT
esrj-60211	160	1	(	(	PUNCT
esrj-60211	160	2	19	19	NUM
esrj-60211	160	3	)	)	PUNCT
esrj-60211	160	4	.	.	PUNCT
esrj-60211	161	1	(	(	PUNCT
esrj-60211	161	2	19	19	NUM
esrj-60211	161	3	)	)	PUNCT
esrj-60211	161	4	5	5	NUM
esrj-60211	161	5	.	.	PUNCT
esrj-60211	162	1	experiments	experiment	NOUN
esrj-60211	162	2	and	and	CCONJ
esrj-60211	162	3	results	result	VERB
esrj-60211	162	4	data	datum	NOUN
esrj-60211	162	5	and	and	CCONJ
esrj-60211	162	6	experiment	experiment	NOUN
esrj-60211	162	7	the	the	DET
esrj-60211	162	8	indoor	indoor	ADJ
esrj-60211	162	9	close	close	ADJ
esrj-60211	162	10	range	range	NOUN
esrj-60211	162	11	images	image	NOUN
esrj-60211	162	12	with	with	ADP
esrj-60211	162	13	large	large	ADJ
esrj-60211	162	14	oblique	oblique	ADJ
esrj-60211	162	15	angles	angle	NOUN
esrj-60211	162	16	are	be	AUX
esrj-60211	162	17	used	use	VERB
esrj-60211	162	18	for	for	ADP
esrj-60211	162	19	experiments	experiment	NOUN
esrj-60211	162	20	to	to	PART
esrj-60211	162	21	validate	validate	VERB
esrj-60211	162	22	the	the	DET
esrj-60211	162	23	correctness	correctness	NOUN
esrj-60211	162	24	and	and	CCONJ
esrj-60211	162	25	accuracy	accuracy	NOUN
esrj-60211	162	26	of	of	ADP
esrj-60211	162	27	the	the	DET
esrj-60211	162	28	proposed	propose	VERB
esrj-60211	162	29	new	new	ADJ
esrj-60211	162	30	model	model	NOUN
esrj-60211	162	31	of	of	ADP
esrj-60211	162	32	direct	direct	ADJ
esrj-60211	162	33	relative	relative	ADJ
esrj-60211	162	34	orientation	orientation	NOUN
esrj-60211	162	35	with	with	ADP
esrj-60211	162	36	seven	seven	NUM
esrj-60211	162	37	constraints	constraint	NOUN
esrj-60211	162	38	.	.	PUNCT
esrj-60211	163	1	the	the	DET
esrj-60211	163	2	stereo	stereo	PROPN
esrj-60211	163	3	image	image	NOUN
esrj-60211	163	4	pair	pair	NOUN
esrj-60211	163	5	was	be	AUX
esrj-60211	163	6	acquired	acquire	VERB
esrj-60211	163	7	by	by	ADP
esrj-60211	163	8	a	a	DET
esrj-60211	163	9	non	non	ADJ
esrj-60211	163	10	-	-	ADJ
esrj-60211	163	11	calibrated	calibrate	VERB
esrj-60211	163	12	sony	sony	PROPN
esrj-60211	163	13	imx135	imx135	PROPN
esrj-60211	163	14	camera	camera	NOUN
esrj-60211	163	15	with	with	ADP
esrj-60211	163	16	a	a	DET
esrj-60211	163	17	pixel	pixel	ADJ
esrj-60211	163	18	size	size	NOUN
esrj-60211	163	19	of	of	ADP
esrj-60211	163	20	1.12	1.12	NUM
esrj-60211	163	21	μm	μm	NOUN
esrj-60211	163	22	which	which	PRON
esrj-60211	163	23	is	be	AUX
esrj-60211	163	24	shown	show	VERB
esrj-60211	163	25	in	in	ADP
esrj-60211	163	26	figure	figure	NOUN
esrj-60211	163	27	(	(	PUNCT
esrj-60211	163	28	2	2	NUM
esrj-60211	163	29	)	)	PUNCT
esrj-60211	163	30	.	.	PUNCT
esrj-60211	164	1	the	the	DET
esrj-60211	164	2	numerous	numerous	ADJ
esrj-60211	164	3	conjugate	conjugate	ADJ
esrj-60211	164	4	points	point	NOUN
esrj-60211	164	5	from	from	ADP
esrj-60211	164	6	the	the	DET
esrj-60211	164	7	left	left	ADJ
esrj-60211	164	8	and	and	CCONJ
esrj-60211	164	9	right	right	ADJ
esrj-60211	164	10	image	image	NOUN
esrj-60211	164	11	were	be	AUX
esrj-60211	164	12	detected	detect	VERB
esrj-60211	164	13	using	use	VERB
esrj-60211	164	14	surf	surf	PROPN
esrj-60211	164	15	match	match	NOUN
esrj-60211	164	16	model	model	NOUN
esrj-60211	164	17	,	,	PUNCT
esrj-60211	164	18	and	and	CCONJ
esrj-60211	164	19	the	the	DET
esrj-60211	164	20	error	error	NOUN
esrj-60211	164	21	match	match	NOUN
esrj-60211	164	22	points	point	NOUN
esrj-60211	164	23	were	be	AUX
esrj-60211	164	24	removed	remove	VERB
esrj-60211	164	25	to	to	PART
esrj-60211	164	26	obtain	obtain	VERB
esrj-60211	164	27	the	the	DET
esrj-60211	164	28	reliable	reliable	ADJ
esrj-60211	164	29	relative	relative	ADJ
esrj-60211	164	30	orientation	orientation	NOUN
esrj-60211	164	31	results	result	NOUN
esrj-60211	164	32	as	as	SCONJ
esrj-60211	164	33	is	be	AUX
esrj-60211	164	34	shown	show	VERB
esrj-60211	164	35	in	in	ADP
esrj-60211	164	36	figure	figure	NOUN
esrj-60211	164	37	3	3	NUM
esrj-60211	164	38	.	.	PUNCT
esrj-60211	164	39	from	from	ADP
esrj-60211	164	40	the	the	DET
esrj-60211	164	41	62	62	NUM
esrj-60211	164	42	high	high	ADJ
esrj-60211	164	43	-	-	PUNCT
esrj-60211	164	44	precision	precision	NOUN
esrj-60211	164	45	matched	match	VERB
esrj-60211	164	46	points	point	NOUN
esrj-60211	164	47	,	,	PUNCT
esrj-60211	164	48	the	the	DET
esrj-60211	164	49	six	six	NUM
esrj-60211	164	50	conjugate	conjugate	ADJ
esrj-60211	164	51	points	point	NOUN
esrj-60211	164	52	were	be	AUX
esrj-60211	164	53	selected	select	VERB
esrj-60211	164	54	and	and	CCONJ
esrj-60211	164	55	used	use	VERB
esrj-60211	164	56	to	to	PART
esrj-60211	164	57	validate	validate	VERB
esrj-60211	164	58	the	the	DET
esrj-60211	164	59	model	model	NOUN
esrj-60211	164	60	correctness	correctness	NOUN
esrj-60211	164	61	and	and	CCONJ
esrj-60211	164	62	assess	assess	VERB
esrj-60211	164	63	the	the	DET
esrj-60211	164	64	result	result	NOUN
esrj-60211	164	65	accuracy	accuracy	NOUN
esrj-60211	164	66	of	of	ADP
esrj-60211	164	67	the	the	DET
esrj-60211	164	68	relative	relative	ADJ
esrj-60211	164	69	orientation	orientation	NOUN
esrj-60211	164	70	.	.	PUNCT
esrj-60211	165	1	the	the	DET
esrj-60211	165	2	baseline	baseline	PROPN
esrj-60211	165	3	length	length	NOUN
esrj-60211	165	4	was	be	AUX
esrj-60211	165	5	measured	measure	VERB
esrj-60211	165	6	as	as	ADP
esrj-60211	165	7	0.55	0.55	NUM
esrj-60211	165	8	m.	m.	NOUN
esrj-60211	165	9	figure	figure	NOUN
esrj-60211	165	10	2	2	NUM
esrj-60211	165	11	.	.	PUNCT
esrj-60211	166	1	the	the	DET
esrj-60211	166	2	stereo	stereo	NOUN
esrj-60211	166	3	images	image	NOUN
esrj-60211	166	4	are	be	AUX
esrj-60211	166	5	taken	take	VERB
esrj-60211	166	6	by	by	ADP
esrj-60211	166	7	the	the	DET
esrj-60211	166	8	same	same	ADJ
esrj-60211	166	9	camera	camera	NOUN
esrj-60211	166	10	.	.	PUNCT
esrj-60211	167	1	the	the	DET
esrj-60211	167	2	first	first	ADJ
esrj-60211	167	3	image	image	NOUN
esrj-60211	167	4	above	above	ADV
esrj-60211	167	5	is	be	AUX
esrj-60211	167	6	taken	take	VERB
esrj-60211	167	7	from	from	ADP
esrj-60211	167	8	the	the	DET
esrj-60211	167	9	left	left	NOUN
esrj-60211	167	10	then	then	ADV
esrj-60211	167	11	the	the	DET
esrj-60211	167	12	other	other	ADJ
esrj-60211	167	13	is	be	AUX
esrj-60211	167	14	on	on	ADP
esrj-60211	167	15	the	the	DET
esrj-60211	167	16	right	right	NOUN
esrj-60211	167	17	.	.	PUNCT
esrj-60211	168	1	figure	figure	NOUN
esrj-60211	168	2	3	3	NUM
esrj-60211	168	3	.	.	PUNCT
esrj-60211	169	1	the	the	DET
esrj-60211	169	2	result	result	NOUN
esrj-60211	169	3	of	of	ADP
esrj-60211	169	4	feature	feature	NOUN
esrj-60211	169	5	point	point	NOUN
esrj-60211	169	6	detected	detect	VERB
esrj-60211	169	7	on	on	ADP
esrj-60211	169	8	the	the	DET
esrj-60211	169	9	stereo	stereo	NOUN
esrj-60211	169	10	pair	pair	NOUN
esrj-60211	169	11	.	.	PUNCT
esrj-60211	170	1	the	the	DET
esrj-60211	170	2	experiment	experiment	NOUN
esrj-60211	170	3	includes	include	VERB
esrj-60211	170	4	the	the	DET
esrj-60211	170	5	follow	follow	NOUN
esrj-60211	170	6	procedures	procedure	NOUN
esrj-60211	170	7	.	.	PUNCT
esrj-60211	171	1	1	1	X
esrj-60211	171	2	)	)	PUNCT
esrj-60211	171	3	the	the	DET
esrj-60211	171	4	62	62	NUM
esrj-60211	171	5	conjugate	conjugate	ADJ
esrj-60211	171	6	points	point	NOUN
esrj-60211	171	7	were	be	AUX
esrj-60211	171	8	used	use	VERB
esrj-60211	171	9	to	to	PART
esrj-60211	171	10	calculate	calculate	VERB
esrj-60211	171	11	the	the	DET
esrj-60211	171	12	parameters	parameter	NOUN
esrj-60211	171	13	of	of	ADP
esrj-60211	171	14	the	the	DET
esrj-60211	171	15	relative	relative	ADJ
esrj-60211	171	16	orientation	orientation	NOUN
esrj-60211	171	17	of	of	ADP
esrj-60211	171	18	the	the	DET
esrj-60211	171	19	stereo	stereo	ADJ
esrj-60211	171	20	image	image	NOUN
esrj-60211	171	21	pair	pair	NOUN
esrj-60211	171	22	.	.	PUNCT
esrj-60211	172	1	2	2	X
esrj-60211	172	2	)	)	PUNCT
esrj-60211	172	3	basing	base	VERB
esrj-60211	172	4	on	on	ADP
esrj-60211	172	5	the	the	DET
esrj-60211	172	6	image	image	NOUN
esrj-60211	172	7	space	space	NOUN
esrj-60211	172	8	coordinate	coordinate	NOUN
esrj-60211	172	9	of	of	ADP
esrj-60211	172	10	the	the	DET
esrj-60211	172	11	left	left	ADJ
esrj-60211	172	12	image	image	NOUN
esrj-60211	172	13	,	,	PUNCT
esrj-60211	172	14	the	the	DET
esrj-60211	172	15	space	space	NOUN
esrj-60211	172	16	coordinate	coordinate	NOUN
esrj-60211	172	17	of	of	ADP
esrj-60211	172	18	the	the	DET
esrj-60211	172	19	object	object	NOUN
esrj-60211	172	20	points	point	NOUN
esrj-60211	172	21	corresponding	correspond	VERB
esrj-60211	172	22	to	to	ADP
esrj-60211	172	23	the	the	DET
esrj-60211	172	24	selected	select	VERB
esrj-60211	172	25	six	six	NUM
esrj-60211	172	26	conjugate	conjugate	ADJ
esrj-60211	172	27	points	point	NOUN
esrj-60211	172	28	were	be	AUX
esrj-60211	172	29	calculated	calculate	VERB
esrj-60211	172	30	using	use	VERB
esrj-60211	172	31	the	the	DET
esrj-60211	172	32	result	result	NOUN
esrj-60211	172	33	of	of	ADP
esrj-60211	172	34	the	the	DET
esrj-60211	172	35	relative	relative	ADJ
esrj-60211	172	36	orientation	orientation	NOUN
esrj-60211	172	37	and	and	CCONJ
esrj-60211	172	38	the	the	DET
esrj-60211	172	39	forward	forward	ADJ
esrj-60211	172	40	intersection	intersection	NOUN
esrj-60211	172	41	in	in	ADP
esrj-60211	172	42	photogrammetry	photogrammetry	NOUN
esrj-60211	172	43	.	.	PUNCT
esrj-60211	173	1	3	3	X
esrj-60211	173	2	)	)	PUNCT
esrj-60211	173	3	the	the	DET
esrj-60211	173	4	six	six	NUM
esrj-60211	173	5	object	object	NOUN
esrj-60211	173	6	points	point	NOUN
esrj-60211	173	7	were	be	AUX
esrj-60211	173	8	linked	link	VERB
esrj-60211	173	9	to	to	ADP
esrj-60211	173	10	15	15	NUM
esrj-60211	173	11	line	line	NOUN
esrj-60211	173	12	segments	segment	NOUN
esrj-60211	173	13	during	during	ADP
esrj-60211	173	14	permutation	permutation	NOUN
esrj-60211	173	15	and	and	CCONJ
esrj-60211	173	16	combination	combination	NOUN
esrj-60211	173	17	,	,	PUNCT
esrj-60211	173	18	and	and	CCONJ
esrj-60211	173	19	the	the	DET
esrj-60211	173	20	distances	distance	NOUN
esrj-60211	173	21	of	of	ADP
esrj-60211	173	22	the	the	DET
esrj-60211	173	23	15	15	NUM
esrj-60211	173	24	line	line	NOUN
esrj-60211	173	25	segments	segment	NOUN
esrj-60211	173	26	were	be	AUX
esrj-60211	173	27	accurately	accurately	ADV
esrj-60211	173	28	measured	measure	VERB
esrj-60211	173	29	as	as	ADP
esrj-60211	173	30	a	a	DET
esrj-60211	173	31	real	real	ADJ
esrj-60211	173	32	value	value	NOUN
esrj-60211	173	33	.	.	PUNCT
esrj-60211	174	1	4	4	NUM
esrj-60211	174	2	)	)	PUNCT
esrj-60211	174	3	to	to	PART
esrj-60211	174	4	validate	validate	VERB
esrj-60211	174	5	and	and	CCONJ
esrj-60211	174	6	assess	assess	VERB
esrj-60211	174	7	the	the	DET
esrj-60211	174	8	accuracy	accuracy	NOUN
esrj-60211	174	9	of	of	ADP
esrj-60211	174	10	the	the	DET
esrj-60211	174	11	result	result	NOUN
esrj-60211	174	12	of	of	ADP
esrj-60211	174	13	relative	relative	ADJ
esrj-60211	174	14	orientation	orientation	NOUN
esrj-60211	174	15	,	,	PUNCT
esrj-60211	174	16	the	the	DET
esrj-60211	174	17	distances	distance	NOUN
esrj-60211	174	18	of	of	ADP
esrj-60211	174	19	the	the	DET
esrj-60211	174	20	15	15	NUM
esrj-60211	174	21	line	line	NOUN
esrj-60211	174	22	segments	segment	NOUN
esrj-60211	174	23	were	be	AUX
esrj-60211	174	24	calculated	calculate	VERB
esrj-60211	174	25	using	use	VERB
esrj-60211	174	26	the	the	DET
esrj-60211	174	27	space	space	NOUN
esrj-60211	174	28	coordinate	coordinate	NOUN
esrj-60211	174	29	of	of	ADP
esrj-60211	174	30	the	the	DET
esrj-60211	174	31	six	six	NUM
esrj-60211	174	32	object	object	NOUN
esrj-60211	174	33	points	point	NOUN
esrj-60211	174	34	,	,	PUNCT
esrj-60211	174	35	and	and	CCONJ
esrj-60211	174	36	compared	compare	VERB
esrj-60211	174	37	with	with	ADP
esrj-60211	174	38	the	the	DET
esrj-60211	174	39	measured	measured	ADJ
esrj-60211	174	40	true	true	ADJ
esrj-60211	174	41	value	value	NOUN
esrj-60211	174	42	.	.	PUNCT
esrj-60211	175	1	then	then	ADV
esrj-60211	175	2	,	,	PUNCT
esrj-60211	175	3	the	the	DET
esrj-60211	175	4	accuracy	accuracy	NOUN
esrj-60211	175	5	is	be	AUX
esrj-60211	175	6	assessed	assess	VERB
esrj-60211	175	7	with	with	ADP
esrj-60211	175	8	the	the	DET
esrj-60211	175	9	standard	standard	ADJ
esrj-60211	175	10	deviation	deviation	NOUN
esrj-60211	175	11	.	.	PUNCT
esrj-60211	176	1	g5the	g5the	DET
esrj-60211	176	2	model	model	NOUN
esrj-60211	176	3	of	of	ADP
esrj-60211	176	4	direct	direct	ADJ
esrj-60211	176	5	relative	relative	ADJ
esrj-60211	176	6	orientation	orientation	NOUN
esrj-60211	176	7	with	with	ADP
esrj-60211	176	8	seven	seven	NUM
esrj-60211	176	9	constraints	constraint	NOUN
esrj-60211	176	10	for	for	ADP
esrj-60211	176	11	geological	geological	ADJ
esrj-60211	176	12	landslides	landslide	NOUN
esrj-60211	176	13	measurement	measurement	NOUN
esrj-60211	176	14	and	and	CCONJ
esrj-60211	176	15	3d	3d	NUM
esrj-60211	176	16	reconstruction	reconstruction	NOUN
esrj-60211	176	17	results	result	NOUN
esrj-60211	176	18	and	and	CCONJ
esrj-60211	176	19	analysis	analysis	NOUN
esrj-60211	176	20	for	for	ADP
esrj-60211	176	21	validating	validate	VERB
esrj-60211	176	22	and	and	CCONJ
esrj-60211	176	23	assessing	assess	VERB
esrj-60211	176	24	the	the	DET
esrj-60211	176	25	accuracy	accuracy	NOUN
esrj-60211	176	26	of	of	ADP
esrj-60211	176	27	the	the	DET
esrj-60211	176	28	result	result	NOUN
esrj-60211	176	29	of	of	ADP
esrj-60211	176	30	relative	relative	ADJ
esrj-60211	176	31	orientation	orientation	NOUN
esrj-60211	176	32	,	,	PUNCT
esrj-60211	176	33	the	the	DET
esrj-60211	176	34	six	six	NUM
esrj-60211	176	35	object	object	NOUN
esrj-60211	176	36	points	point	NOUN
esrj-60211	176	37	(	(	PUNCT
esrj-60211	176	38	p1	p1	NOUN
esrj-60211	176	39	,	,	PUNCT
esrj-60211	176	40	p2	p2	NOUN
esrj-60211	176	41	,	,	PUNCT
esrj-60211	176	42	p3	p3	NOUN
esrj-60211	176	43	,	,	PUNCT
esrj-60211	176	44	p4	p4	ADJ
esrj-60211	176	45	,	,	PUNCT
esrj-60211	176	46	p5	p5	ADJ
esrj-60211	176	47	,	,	PUNCT
esrj-60211	176	48	p6	p6	PROPN
esrj-60211	176	49	)	)	PUNCT
esrj-60211	176	50	are	be	AUX
esrj-60211	176	51	selected	select	VERB
esrj-60211	176	52	and	and	CCONJ
esrj-60211	176	53	used	use	VERB
esrj-60211	176	54	to	to	PART
esrj-60211	176	55	calculate	calculate	VERB
esrj-60211	176	56	the	the	DET
esrj-60211	176	57	space	space	NOUN
esrj-60211	176	58	coordinate	coordinate	NOUN
esrj-60211	176	59	basing	base	VERB
esrj-60211	176	60	on	on	ADP
esrj-60211	176	61	the	the	DET
esrj-60211	176	62	image	image	NOUN
esrj-60211	176	63	space	space	NOUN
esrj-60211	176	64	coordinate	coordinate	NOUN
esrj-60211	176	65	of	of	ADP
esrj-60211	176	66	the	the	DET
esrj-60211	176	67	left	left	ADJ
esrj-60211	176	68	picture	picture	NOUN
esrj-60211	176	69	.	.	PUNCT
esrj-60211	177	1	the	the	DET
esrj-60211	177	2	selected	select	VERB
esrj-60211	177	3	six	six	NUM
esrj-60211	177	4	object	object	NOUN
esrj-60211	177	5	points	point	NOUN
esrj-60211	177	6	are	be	AUX
esrj-60211	177	7	illustrated	illustrate	VERB
esrj-60211	177	8	in	in	ADP
esrj-60211	177	9	figure	figure	NOUN
esrj-60211	177	10	4	4	NUM
esrj-60211	177	11	.	.	PUNCT
esrj-60211	177	12	figure	figure	VERB
esrj-60211	177	13	4	4	NUM
esrj-60211	177	14	.	.	NOUN
esrj-60211	177	15	six	six	NUM
esrj-60211	177	16	object	object	NOUN
esrj-60211	177	17	points	point	NOUN
esrj-60211	177	18	are	be	AUX
esrj-60211	177	19	selected	select	VERB
esrj-60211	177	20	for	for	ADP
esrj-60211	177	21	validating	validate	VERB
esrj-60211	177	22	the	the	DET
esrj-60211	177	23	accuracy	accuracy	NOUN
esrj-60211	177	24	of	of	ADP
esrj-60211	177	25	relative	relative	ADJ
esrj-60211	177	26	orientation	orientation	NOUN
esrj-60211	177	27	.	.	PUNCT
esrj-60211	178	1	during	during	ADP
esrj-60211	178	2	the	the	DET
esrj-60211	178	3	forward	forward	ADJ
esrj-60211	178	4	intersection	intersection	NOUN
esrj-60211	178	5	,	,	PUNCT
esrj-60211	178	6	the	the	DET
esrj-60211	178	7	space	space	NOUN
esrj-60211	178	8	coordinates	coordinate	NOUN
esrj-60211	178	9	of	of	ADP
esrj-60211	178	10	the	the	DET
esrj-60211	178	11	six	six	NUM
esrj-60211	178	12	object	object	NOUN
esrj-60211	178	13	points	point	NOUN
esrj-60211	178	14	was	be	AUX
esrj-60211	178	15	calculated	calculate	VERB
esrj-60211	178	16	with	with	ADP
esrj-60211	178	17	the	the	DET
esrj-60211	178	18	result	result	NOUN
esrj-60211	178	19	of	of	ADP
esrj-60211	178	20	relative	relative	ADJ
esrj-60211	178	21	orientation	orientation	NOUN
esrj-60211	178	22	,	,	PUNCT
esrj-60211	178	23	the	the	DET
esrj-60211	178	24	rotation	rotation	NOUN
esrj-60211	178	25	matrix	matrix	NOUN
esrj-60211	178	26	r	r	NOUN
esrj-60211	178	27	,	,	PUNCT
esrj-60211	178	28	and	and	CCONJ
esrj-60211	178	29	translation	translation	NOUN
esrj-60211	178	30	matrix	matrix	NOUN
esrj-60211	178	31	t.	t.	NOUN
esrj-60211	178	32	the	the	DET
esrj-60211	178	33	space	space	NOUN
esrj-60211	178	34	coordinates	coordinate	NOUN
esrj-60211	178	35	of	of	ADP
esrj-60211	178	36	the	the	DET
esrj-60211	178	37	six	six	NUM
esrj-60211	178	38	object	object	NOUN
esrj-60211	178	39	points	point	NOUN
esrj-60211	178	40	represent	represent	VERB
esrj-60211	178	41	in	in	ADP
esrj-60211	178	42	table	table	NOUN
esrj-60211	178	43	1	1	NUM
esrj-60211	178	44	table	table	NOUN
esrj-60211	178	45	1	1	NUM
esrj-60211	178	46	.	.	PUNCT
esrj-60211	178	47	three	three	NUM
esrj-60211	178	48	-	-	PUNCT
esrj-60211	178	49	dimensional	dimensional	ADJ
esrj-60211	178	50	coordinates	coordinate	NOUN
esrj-60211	178	51	of	of	ADP
esrj-60211	178	52	6	6	NUM
esrj-60211	178	53	object	object	NOUN
esrj-60211	178	54	points	point	NOUN
esrj-60211	178	55	(	(	PUNCT
esrj-60211	178	56	unit	unit	NOUN
esrj-60211	178	57	:	:	PUNCT
esrj-60211	178	58	m	m	X
esrj-60211	178	59	)	)	PUNCT
esrj-60211	178	60	to	to	PART
esrj-60211	178	61	validate	validate	VERB
esrj-60211	178	62	the	the	DET
esrj-60211	178	63	correctness	correctness	NOUN
esrj-60211	178	64	and	and	CCONJ
esrj-60211	178	65	assess	assess	VERB
esrj-60211	178	66	the	the	DET
esrj-60211	178	67	accuracy	accuracy	NOUN
esrj-60211	178	68	of	of	ADP
esrj-60211	178	69	the	the	DET
esrj-60211	178	70	proposed	propose	VERB
esrj-60211	178	71	new	new	ADJ
esrj-60211	178	72	model	model	NOUN
esrj-60211	178	73	,	,	PUNCT
esrj-60211	178	74	direct	direct	ADJ
esrj-60211	178	75	relative	relative	ADJ
esrj-60211	178	76	orientation	orientation	NOUN
esrj-60211	178	77	with	with	ADP
esrj-60211	178	78	seven	seven	NUM
esrj-60211	178	79	constraints	constraint	NOUN
esrj-60211	178	80	,	,	PUNCT
esrj-60211	178	81	the	the	DET
esrj-60211	178	82	distances	distance	NOUN
esrj-60211	178	83	of	of	ADP
esrj-60211	178	84	the	the	DET
esrj-60211	178	85	six	six	NUM
esrj-60211	178	86	object	object	NOUN
esrj-60211	178	87	points	point	NOUN
esrj-60211	178	88	calculated	calculate	VERB
esrj-60211	178	89	with	with	ADP
esrj-60211	178	90	their	their	PRON
esrj-60211	178	91	space	space	NOUN
esrj-60211	178	92	coordinate	coordinate	NOUN
esrj-60211	178	93	were	be	AUX
esrj-60211	178	94	compared	compare	VERB
esrj-60211	178	95	with	with	ADP
esrj-60211	178	96	the	the	DET
esrj-60211	178	97	corresponding	corresponding	ADJ
esrj-60211	178	98	measured	measure	VERB
esrj-60211	178	99	distances	distance	NOUN
esrj-60211	178	100	,	,	PUNCT
esrj-60211	178	101	and	and	CCONJ
esrj-60211	178	102	the	the	DET
esrj-60211	178	103	error	error	NOUN
esrj-60211	178	104	rates	rate	NOUN
esrj-60211	178	105	were	be	AUX
esrj-60211	178	106	calculated	calculate	VERB
esrj-60211	178	107	and	and	CCONJ
esrj-60211	178	108	represented	represent	VERB
esrj-60211	178	109	in	in	ADP
esrj-60211	178	110	table	table	NOUN
esrj-60211	178	111	2	2	NUM
esrj-60211	178	112	.	.	PUNCT
esrj-60211	179	1	the	the	DET
esrj-60211	179	2	first	first	ADJ
esrj-60211	179	3	column	column	NOUN
esrj-60211	179	4	shows	show	VERB
esrj-60211	179	5	the	the	DET
esrj-60211	179	6	line	line	NOUN
esrj-60211	179	7	segment	segment	NOUN
esrj-60211	179	8	composed	compose	VERB
esrj-60211	179	9	of	of	ADP
esrj-60211	179	10	two	two	NUM
esrj-60211	179	11	points	point	NOUN
esrj-60211	179	12	,	,	PUNCT
esrj-60211	179	13	such	such	ADJ
esrj-60211	179	14	as	as	ADP
esrj-60211	179	15	(	(	PUNCT
esrj-60211	179	16	p1	p1	NOUN
esrj-60211	179	17	,	,	PUNCT
esrj-60211	179	18	p2	p2	NOUN
esrj-60211	179	19	)	)	PUNCT
esrj-60211	179	20	,	,	PUNCT
esrj-60211	179	21	and	and	CCONJ
esrj-60211	179	22	the	the	DET
esrj-60211	179	23	calculated	calculate	VERB
esrj-60211	179	24	distance	distance	NOUN
esrj-60211	179	25	and	and	CCONJ
esrj-60211	179	26	exact	exact	ADJ
esrj-60211	179	27	distance	distance	NOUN
esrj-60211	179	28	are	be	AUX
esrj-60211	179	29	in	in	ADP
esrj-60211	179	30	the	the	DET
esrj-60211	179	31	second	second	ADJ
esrj-60211	179	32	,	,	PUNCT
esrj-60211	179	33	third	third	ADJ
esrj-60211	179	34	column	column	NOUN
esrj-60211	179	35	,	,	PUNCT
esrj-60211	179	36	respectively	respectively	ADV
esrj-60211	179	37	.	.	PUNCT
esrj-60211	180	1	table	table	NOUN
esrj-60211	180	2	2	2	NUM
esrj-60211	180	3	.	.	X
esrj-60211	180	4	error	error	NOUN
esrj-60211	180	5	rate	rate	NOUN
esrj-60211	180	6	of	of	ADP
esrj-60211	180	7	the	the	DET
esrj-60211	180	8	observed	observe	VERB
esrj-60211	180	9	distance	distance	NOUN
esrj-60211	180	10	respect	respect	NOUN
esrj-60211	180	11	to	to	ADP
esrj-60211	180	12	the	the	DET
esrj-60211	180	13	distance	distance	NOUN
esrj-60211	180	14	in	in	ADP
esrj-60211	180	15	real	real	ADJ
esrj-60211	180	16	(	(	PUNCT
esrj-60211	180	17	unit	unit	NOUN
esrj-60211	180	18	:	:	PUNCT
esrj-60211	180	19	m	m	X
esrj-60211	180	20	)	)	PUNCT
esrj-60211	180	21	in	in	ADP
esrj-60211	180	22	addition	addition	NOUN
esrj-60211	180	23	,	,	PUNCT
esrj-60211	180	24	the	the	DET
esrj-60211	180	25	curve	curve	NOUN
esrj-60211	180	26	of	of	ADP
esrj-60211	180	27	the	the	DET
esrj-60211	180	28	error	error	NOUN
esrj-60211	180	29	rates	rate	NOUN
esrj-60211	180	30	is	be	AUX
esrj-60211	180	31	calculated	calculate	VERB
esrj-60211	180	32	and	and	CCONJ
esrj-60211	180	33	shown	show	VERB
esrj-60211	180	34	in	in	ADP
esrj-60211	180	35	figure	figure	NOUN
esrj-60211	180	36	5	5	NUM
esrj-60211	180	37	.	.	PUNCT
esrj-60211	181	1	the	the	DET
esrj-60211	181	2	blue	blue	ADJ
esrj-60211	181	3	square	square	NOUN
esrj-60211	181	4	and	and	CCONJ
esrj-60211	181	5	curve	curve	NOUN
esrj-60211	181	6	represent	represent	VERB
esrj-60211	181	7	the	the	DET
esrj-60211	181	8	error	error	NOUN
esrj-60211	181	9	rate	rate	NOUN
esrj-60211	181	10	of	of	ADP
esrj-60211	181	11	each	each	DET
esrj-60211	181	12	line	line	NOUN
esrj-60211	181	13	segment	segment	NOUN
esrj-60211	181	14	and	and	CCONJ
esrj-60211	181	15	the	the	DET
esrj-60211	181	16	curve	curve	NOUN
esrj-60211	181	17	of	of	ADP
esrj-60211	181	18	error	error	NOUN
esrj-60211	181	19	rates	rate	NOUN
esrj-60211	181	20	,	,	PUNCT
esrj-60211	181	21	respectively	respectively	ADV
esrj-60211	181	22	.	.	PUNCT
esrj-60211	182	1	figure	figure	NOUN
esrj-60211	182	2	5	5	NUM
esrj-60211	182	3	.	.	PUNCT
esrj-60211	182	4	error	error	NOUN
esrj-60211	182	5	rate	rate	NOUN
esrj-60211	182	6	of	of	ADP
esrj-60211	182	7	the	the	DET
esrj-60211	182	8	distance	distance	NOUN
esrj-60211	182	9	.	.	PUNCT
esrj-60211	183	1	from	from	ADP
esrj-60211	183	2	table	table	NOUN
esrj-60211	183	3	2	2	NUM
esrj-60211	183	4	,	,	PUNCT
esrj-60211	183	5	it	it	PRON
esrj-60211	183	6	is	be	AUX
esrj-60211	183	7	evident	evident	ADJ
esrj-60211	183	8	that	that	SCONJ
esrj-60211	183	9	the	the	DET
esrj-60211	183	10	minimum	minimum	ADJ
esrj-60211	183	11	error	error	NOUN
esrj-60211	183	12	of	of	ADP
esrj-60211	183	13	distances	distance	NOUN
esrj-60211	183	14	reaches	reach	VERB
esrj-60211	183	15	0.001	0.001	NUM
esrj-60211	183	16	m	m	NOUN
esrj-60211	183	17	and	and	CCONJ
esrj-60211	183	18	the	the	DET
esrj-60211	183	19	maximum	maximum	ADJ
esrj-60211	183	20	error	error	NOUN
esrj-60211	183	21	is	be	AUX
esrj-60211	183	22	0.0057	0.0057	NUM
esrj-60211	183	23	m.	m.	NOUN
esrj-60211	183	24	in	in	ADP
esrj-60211	183	25	the	the	DET
esrj-60211	183	26	figure	figure	NOUN
esrj-60211	183	27	5	5	NUM
esrj-60211	183	28	,	,	PUNCT
esrj-60211	183	29	the	the	DET
esrj-60211	183	30	range	range	NOUN
esrj-60211	183	31	of	of	ADP
esrj-60211	183	32	error	error	NOUN
esrj-60211	183	33	rates	rate	NOUN
esrj-60211	183	34	is	be	AUX
esrj-60211	183	35	between	between	ADP
esrj-60211	183	36	the	the	DET
esrj-60211	183	37	-3	-3	PUNCT
esrj-60211	183	38	%	%	NOUN
esrj-60211	183	39	and	and	CCONJ
esrj-60211	183	40	+3	+3	ADJ
esrj-60211	183	41	%	%	NOUN
esrj-60211	183	42	.	.	PUNCT
esrj-60211	184	1	the	the	DET
esrj-60211	184	2	standard	standard	ADJ
esrj-60211	184	3	deviation	deviation	NOUN
esrj-60211	184	4	of	of	ADP
esrj-60211	184	5	the	the	DET
esrj-60211	184	6	distance	distance	NOUN
esrj-60211	184	7	accuracy	accuracy	NOUN
esrj-60211	184	8	is	be	AUX
esrj-60211	184	9	calculated	calculate	VERB
esrj-60211	184	10	and	and	CCONJ
esrj-60211	184	11	reaches	reach	VERB
esrj-60211	184	12	0.0031	0.0031	NUM
esrj-60211	184	13	m.	m.	NOUN
esrj-60211	184	14	in	in	ADP
esrj-60211	184	15	the	the	DET
esrj-60211	184	16	least	least	ADJ
esrj-60211	184	17	squares	square	NOUN
esrj-60211	184	18	adjustment	adjustment	NOUN
esrj-60211	184	19	,	,	PUNCT
esrj-60211	184	20	a	a	DET
esrj-60211	184	21	wrong	wrong	ADJ
esrj-60211	184	22	initial	initial	ADJ
esrj-60211	184	23	value	value	NOUN
esrj-60211	184	24	will	will	AUX
esrj-60211	184	25	result	result	VERB
esrj-60211	184	26	in	in	ADP
esrj-60211	184	27	a	a	DET
esrj-60211	184	28	very	very	ADV
esrj-60211	184	29	low	low	ADJ
esrj-60211	184	30	precision	precision	NOUN
esrj-60211	184	31	of	of	ADP
esrj-60211	184	32	relative	relative	ADJ
esrj-60211	184	33	orientation	orientation	NOUN
esrj-60211	184	34	,	,	PUNCT
esrj-60211	184	35	and	and	CCONJ
esrj-60211	184	36	even	even	ADV
esrj-60211	184	37	cause	cause	VERB
esrj-60211	184	38	non	non	ADJ
esrj-60211	184	39	-	-	ADJ
esrj-60211	184	40	convergence	convergence	NOUN
esrj-60211	184	41	or	or	CCONJ
esrj-60211	184	42	convergence	convergence	NOUN
esrj-60211	184	43	to	to	ADP
esrj-60211	184	44	an	an	DET
esrj-60211	184	45	error	error	NOUN
esrj-60211	184	46	result	result	NOUN
esrj-60211	184	47	.	.	PUNCT
esrj-60211	185	1	to	to	PART
esrj-60211	185	2	overcome	overcome	VERB
esrj-60211	185	3	this	this	DET
esrj-60211	185	4	problem	problem	NOUN
esrj-60211	185	5	,	,	PUNCT
esrj-60211	185	6	a	a	DET
esrj-60211	185	7	reasonable	reasonable	ADJ
esrj-60211	185	8	initial	initial	ADJ
esrj-60211	185	9	value	value	NOUN
esrj-60211	185	10	of	of	ADP
esrj-60211	185	11	parameters	parameter	NOUN
esrj-60211	185	12	(	(	PUNCT
esrj-60211	185	13	by	by	ADP
esrj-60211	185	14	,	,	PUNCT
esrj-60211	185	15	bz	bz	PROPN
esrj-60211	185	16	,	,	PUNCT
esrj-60211	185	17	a1	a1	PROPN
esrj-60211	185	18	,	,	PUNCT
esrj-60211	185	19	a2	a2	PROPN
esrj-60211	185	20	,	,	PUNCT
esrj-60211	185	21	a3	a3	NOUN
esrj-60211	185	22	…	…	SYM
esrj-60211	185	23	c2	c2	PROPN
esrj-60211	185	24	,	,	PUNCT
esrj-60211	185	25	c2	c2	PROPN
esrj-60211	185	26	,	,	PUNCT
esrj-60211	185	27	c3	c3	PROPN
esrj-60211	185	28	)	)	PUNCT
esrj-60211	185	29	is	be	AUX
esrj-60211	185	30	calculated	calculate	VERB
esrj-60211	185	31	and	and	CCONJ
esrj-60211	185	32	acquired	acquire	VERB
esrj-60211	185	33	by	by	ADP
esrj-60211	185	34	direct	direct	ADJ
esrj-60211	185	35	relative	relative	ADJ
esrj-60211	185	36	orientation	orientation	NOUN
esrj-60211	185	37	using	use	VERB
esrj-60211	185	38	a	a	DET
esrj-60211	185	39	rough	rough	ADJ
esrj-60211	185	40	bx	bx	NOUN
esrj-60211	185	41	.	.	PUNCT
esrj-60211	186	1	in	in	ADP
esrj-60211	186	2	the	the	DET
esrj-60211	186	3	procedure	procedure	NOUN
esrj-60211	186	4	,	,	PUNCT
esrj-60211	186	5	the	the	DET
esrj-60211	186	6	value	value	NOUN
esrj-60211	186	7	bx	bx	PROPN
esrj-60211	186	8	can	can	AUX
esrj-60211	186	9	be	be	AUX
esrj-60211	186	10	an	an	DET
esrj-60211	186	11	arbitrary	arbitrary	ADJ
esrj-60211	186	12	value	value	NOUN
esrj-60211	186	13	that	that	PRON
esrj-60211	186	14	is	be	AUX
esrj-60211	186	15	greater	great	ADJ
esrj-60211	186	16	than	than	ADP
esrj-60211	186	17	zero	zero	NUM
esrj-60211	186	18	.	.	PUNCT
esrj-60211	187	1	then	then	ADV
esrj-60211	187	2	,	,	PUNCT
esrj-60211	187	3	the	the	DET
esrj-60211	187	4	initial	initial	ADJ
esrj-60211	187	5	value	value	NOUN
esrj-60211	187	6	of	of	ADP
esrj-60211	187	7	parameters	parameter	NOUN
esrj-60211	187	8	in	in	ADP
esrj-60211	187	9	the	the	DET
esrj-60211	187	10	relative	relative	ADJ
esrj-60211	187	11	orientation	orientation	NOUN
esrj-60211	187	12	are	be	AUX
esrj-60211	187	13	used	use	VERB
esrj-60211	187	14	in	in	ADP
esrj-60211	187	15	the	the	DET
esrj-60211	187	16	model	model	NOUN
esrj-60211	187	17	of	of	ADP
esrj-60211	187	18	direct	direct	ADJ
esrj-60211	187	19	relative	relative	ADJ
esrj-60211	187	20	orientation	orientation	NOUN
esrj-60211	187	21	with	with	ADP
esrj-60211	187	22	seven	seven	NUM
esrj-60211	187	23	constraints	constraint	NOUN
esrj-60211	187	24	to	to	PART
esrj-60211	187	25	calculate	calculate	VERB
esrj-60211	187	26	further	far	ADV
esrj-60211	187	27	and	and	CCONJ
esrj-60211	187	28	adjust	adjust	VERB
esrj-60211	187	29	the	the	DET
esrj-60211	187	30	parameters	parameter	NOUN
esrj-60211	187	31	with	with	ADP
esrj-60211	187	32	the	the	DET
esrj-60211	187	33	least	least	ADJ
esrj-60211	187	34	squares	square	NOUN
esrj-60211	187	35	adjustment	adjustment	NOUN
esrj-60211	187	36	,	,	PUNCT
esrj-60211	187	37	improving	improve	VERB
esrj-60211	187	38	and	and	CCONJ
esrj-60211	187	39	ensuring	ensure	VERB
esrj-60211	187	40	the	the	DET
esrj-60211	187	41	accuracy	accuracy	NOUN
esrj-60211	187	42	and	and	CCONJ
esrj-60211	187	43	stability	stability	NOUN
esrj-60211	187	44	of	of	ADP
esrj-60211	187	45	relative	relative	ADJ
esrj-60211	187	46	orientation	orientation	NOUN
esrj-60211	187	47	.	.	PUNCT
esrj-60211	188	1	owing	owe	VERB
esrj-60211	188	2	to	to	ADP
esrj-60211	188	3	the	the	DET
esrj-60211	188	4	seven	seven	NUM
esrj-60211	188	5	constraints	constraint	NOUN
esrj-60211	188	6	,	,	PUNCT
esrj-60211	188	7	the	the	DET
esrj-60211	188	8	error	error	NOUN
esrj-60211	188	9	rate	rate	NOUN
esrj-60211	188	10	of	of	ADP
esrj-60211	188	11	distance	distance	NOUN
esrj-60211	188	12	used	use	VERB
esrj-60211	188	13	to	to	PART
esrj-60211	188	14	assess	assess	VERB
esrj-60211	188	15	the	the	DET
esrj-60211	188	16	accuracy	accuracy	NOUN
esrj-60211	188	17	of	of	ADP
esrj-60211	188	18	relative	relative	ADJ
esrj-60211	188	19	orientation	orientation	NOUN
esrj-60211	188	20	ranges	range	VERB
esrj-60211	188	21	for	for	ADP
esrj-60211	188	22	from	from	ADP
esrj-60211	188	23	-3	-3	INTJ
esrj-60211	188	24	%	%	NOUN
esrj-60211	188	25	to	to	ADP
esrj-60211	188	26	+3	+3	PROPN
esrj-60211	188	27	%	%	NOUN
esrj-60211	188	28	,	,	PUNCT
esrj-60211	188	29	and	and	CCONJ
esrj-60211	188	30	the	the	DET
esrj-60211	188	31	standard	standard	ADJ
esrj-60211	188	32	deviation	deviation	NOUN
esrj-60211	188	33	of	of	ADP
esrj-60211	188	34	the	the	DET
esrj-60211	188	35	distance	distance	NOUN
esrj-60211	188	36	reaches	reach	VERB
esrj-60211	188	37	0.0031	0.0031	NUM
esrj-60211	188	38	m	m	NOUN
esrj-60211	188	39	that	that	PRON
esrj-60211	188	40	describes	describe	VERB
esrj-60211	188	41	the	the	DET
esrj-60211	188	42	range	range	NOUN
esrj-60211	188	43	error	error	NOUN
esrj-60211	188	44	composed	compose	VERB
esrj-60211	188	45	of	of	ADP
esrj-60211	188	46	two	two	NUM
esrj-60211	188	47	points	point	NOUN
esrj-60211	188	48	.	.	PUNCT
esrj-60211	189	1	therefore	therefore	ADV
esrj-60211	189	2	,	,	PUNCT
esrj-60211	189	3	the	the	DET
esrj-60211	189	4	standard	standard	ADJ
esrj-60211	189	5	deviation	deviation	NOUN
esrj-60211	189	6	of	of	ADP
esrj-60211	189	7	the	the	DET
esrj-60211	189	8	point	point	NOUN
esrj-60211	189	9	can	can	AUX
esrj-60211	189	10	be	be	AUX
esrj-60211	189	11	the	the	DET
esrj-60211	189	12	half	half	NOUN
esrj-60211	189	13	of	of	ADP
esrj-60211	189	14	distance	distance	NOUN
esrj-60211	189	15	error	error	NOUN
esrj-60211	189	16	,	,	PUNCT
esrj-60211	189	17	0.0015	0.0015	NUM
esrj-60211	189	18	m.	m.	NOUN
esrj-60211	189	19	furthermore	furthermore	ADV
esrj-60211	189	20	,	,	PUNCT
esrj-60211	189	21	the	the	DET
esrj-60211	189	22	point	point	NOUN
esrj-60211	189	23	is	be	AUX
esrj-60211	189	24	three	three	NUM
esrj-60211	189	25	dimensions	dimension	NOUN
esrj-60211	189	26	;	;	PUNCT
esrj-60211	189	27	thus	thus	ADV
esrj-60211	189	28	the	the	DET
esrj-60211	189	29	standard	standard	ADJ
esrj-60211	189	30	deviation	deviation	NOUN
esrj-60211	189	31	in	in	ADP
esrj-60211	189	32	each	each	DET
esrj-60211	189	33	direction	direction	NOUN
esrj-60211	189	34	is	be	AUX
esrj-60211	189	35	0.0005	0.0005	NUM
esrj-60211	189	36	m	m	NOUN
esrj-60211	189	37	for	for	ADP
esrj-60211	189	38	the	the	DET
esrj-60211	189	39	relative	relative	ADJ
esrj-60211	189	40	orientation	orientation	NOUN
esrj-60211	189	41	.	.	PUNCT
esrj-60211	190	1	for	for	ADP
esrj-60211	190	2	a	a	DET
esrj-60211	190	3	non	non	ADJ
esrj-60211	190	4	-	-	NOUN
esrj-60211	190	5	calibration	calibration	ADJ
esrj-60211	190	6	and	and	CCONJ
esrj-60211	190	7	general	general	ADJ
esrj-60211	190	8	camera	camera	NOUN
esrj-60211	190	9	sensor	sensor	NOUN
esrj-60211	190	10	,	,	PUNCT
esrj-60211	190	11	the	the	DET
esrj-60211	190	12	accuracy	accuracy	NOUN
esrj-60211	190	13	of	of	ADP
esrj-60211	190	14	relative	relative	ADJ
esrj-60211	190	15	orientation	orientation	NOUN
esrj-60211	190	16	is	be	AUX
esrj-60211	190	17	excellent	excellent	ADJ
esrj-60211	190	18	basing	base	VERB
esrj-60211	190	19	on	on	ADP
esrj-60211	190	20	the	the	DET
esrj-60211	190	21	model	model	NOUN
esrj-60211	190	22	of	of	ADP
esrj-60211	190	23	direct	direct	ADJ
esrj-60211	190	24	relative	relative	ADJ
esrj-60211	190	25	orientation	orientation	NOUN
esrj-60211	190	26	with	with	ADP
esrj-60211	190	27	seven	seven	NUM
esrj-60211	190	28	constraints	constraint	NOUN
esrj-60211	190	29	,	,	PUNCT
esrj-60211	190	30	and	and	CCONJ
esrj-60211	190	31	the	the	DET
esrj-60211	190	32	residual	residual	ADJ
esrj-60211	190	33	error	error	NOUN
esrj-60211	190	34	may	may	AUX
esrj-60211	190	35	include	include	VERB
esrj-60211	190	36	the	the	DET
esrj-60211	190	37	image	image	NOUN
esrj-60211	190	38	distortion	distortion	NOUN
esrj-60211	190	39	,	,	PUNCT
esrj-60211	190	40	match	match	VERB
esrj-60211	190	41	error	error	NOUN
esrj-60211	190	42	of	of	ADP
esrj-60211	190	43	conjugate	conjugate	ADJ
esrj-60211	190	44	point	point	NOUN
esrj-60211	190	45	,	,	PUNCT
esrj-60211	190	46	measurement	measurement	NOUN
esrj-60211	190	47	error	error	NOUN
esrj-60211	190	48	of	of	ADP
esrj-60211	190	49	image	image	NOUN
esrj-60211	190	50	point	point	NOUN
esrj-60211	190	51	,	,	PUNCT
esrj-60211	190	52	calculation	calculation	NOUN
esrj-60211	190	53	error	error	NOUN
esrj-60211	190	54	and	and	CCONJ
esrj-60211	190	55	random	random	ADJ
esrj-60211	190	56	error	error	NOUN
esrj-60211	190	57	.	.	PUNCT
esrj-60211	191	1	the	the	DET
esrj-60211	191	2	residual	residual	ADJ
esrj-60211	191	3	error	error	NOUN
esrj-60211	191	4	is	be	AUX
esrj-60211	191	5	from	from	ADP
esrj-60211	191	6	various	various	ADJ
esrj-60211	191	7	factors	factor	NOUN
esrj-60211	191	8	and	and	CCONJ
esrj-60211	191	9	needed	need	VERB
esrj-60211	191	10	to	to	PART
esrj-60211	191	11	eliminate	eliminate	VERB
esrj-60211	191	12	with	with	ADP
esrj-60211	191	13	other	other	ADJ
esrj-60211	191	14	methods	method	NOUN
esrj-60211	191	15	to	to	PART
esrj-60211	191	16	improve	improve	VERB
esrj-60211	191	17	the	the	DET
esrj-60211	191	18	accuracy	accuracy	NOUN
esrj-60211	191	19	of	of	ADP
esrj-60211	191	20	relative	relative	ADJ
esrj-60211	191	21	orientation	orientation	NOUN
esrj-60211	191	22	further	far	ADV
esrj-60211	191	23	.	.	PUNCT
esrj-60211	192	1	g6	g6	ADJ
esrj-60211	192	2	yifu	yifu	PROPN
esrj-60211	192	3	chen	chen	PROPN
esrj-60211	192	4	,	,	PUNCT
esrj-60211	192	5	zhong	zhong	PROPN
esrj-60211	192	6	xie	xie	PROPN
esrj-60211	192	7	,	,	PUNCT
esrj-60211	192	8	zhenge	zhenge	PROPN
esrj-60211	192	9	qiu	qiu	PROPN
esrj-60211	192	10	,	,	PUNCT
esrj-60211	192	11	min	min	PROPN
esrj-60211	192	12	zhang	zhang	PROPN
esrj-60211	192	13	and	and	CCONJ
esrj-60211	192	14	saishang	saishang	PROPN
esrj-60211	192	15	zhong	zhong	PROPN
esrj-60211	192	16	conclusion	conclusion	NOUN
esrj-60211	192	17	in	in	ADP
esrj-60211	192	18	this	this	DET
esrj-60211	192	19	paper	paper	NOUN
esrj-60211	192	20	,	,	PUNCT
esrj-60211	192	21	a	a	DET
esrj-60211	192	22	new	new	ADJ
esrj-60211	192	23	relative	relative	ADJ
esrj-60211	192	24	orientation	orientation	NOUN
esrj-60211	192	25	model	model	NOUN
esrj-60211	192	26	,	,	PUNCT
esrj-60211	192	27	direct	direct	ADJ
esrj-60211	192	28	relative	relative	ADJ
esrj-60211	192	29	orientation	orientation	NOUN
esrj-60211	192	30	with	with	ADP
esrj-60211	192	31	seven	seven	NUM
esrj-60211	192	32	constraints	constraint	NOUN
esrj-60211	192	33	is	be	AUX
esrj-60211	192	34	proposed	propose	VERB
esrj-60211	192	35	and	and	CCONJ
esrj-60211	192	36	validated	validate	VERB
esrj-60211	192	37	to	to	PART
esrj-60211	192	38	improve	improve	VERB
esrj-60211	192	39	the	the	DET
esrj-60211	192	40	accuracy	accuracy	NOUN
esrj-60211	192	41	and	and	CCONJ
esrj-60211	192	42	stability	stability	NOUN
esrj-60211	192	43	of	of	ADP
esrj-60211	192	44	relative	relative	ADJ
esrj-60211	192	45	ordination	ordination	NOUN
esrj-60211	192	46	and	and	CCONJ
esrj-60211	192	47	overcome	overcome	VERB
esrj-60211	192	48	the	the	DET
esrj-60211	192	49	problems	problem	NOUN
esrj-60211	192	50	for	for	ADP
esrj-60211	192	51	the	the	DET
esrj-60211	192	52	large	large	ADJ
esrj-60211	192	53	oblique	oblique	ADJ
esrj-60211	192	54	angle	angle	NOUN
esrj-60211	192	55	and	and	CCONJ
esrj-60211	192	56	translation	translation	NOUN
esrj-60211	192	57	and	and	CCONJ
esrj-60211	192	58	without	without	ADP
esrj-60211	192	59	the	the	DET
esrj-60211	192	60	initial	initial	ADJ
esrj-60211	192	61	value	value	NOUN
esrj-60211	192	62	.	.	PUNCT
esrj-60211	193	1	the	the	DET
esrj-60211	193	2	constraints	constraint	NOUN
esrj-60211	193	3	are	be	AUX
esrj-60211	193	4	derived	derive	VERB
esrj-60211	193	5	from	from	ADP
esrj-60211	193	6	the	the	DET
esrj-60211	193	7	inherent	inherent	ADJ
esrj-60211	193	8	orthogonal	orthogonal	ADJ
esrj-60211	193	9	property	property	NOUN
esrj-60211	193	10	of	of	ADP
esrj-60211	193	11	rotation	rotation	NOUN
esrj-60211	193	12	matrix	matrix	NOUN
esrj-60211	193	13	and	and	CCONJ
esrj-60211	193	14	the	the	DET
esrj-60211	193	15	vectors	vector	NOUN
esrj-60211	193	16	in	in	ADP
esrj-60211	193	17	space	space	NOUN
esrj-60211	193	18	translation	translation	NOUN
esrj-60211	193	19	.	.	PUNCT
esrj-60211	194	1	also	also	ADV
esrj-60211	194	2	,	,	PUNCT
esrj-60211	194	3	the	the	DET
esrj-60211	194	4	procedure	procedure	NOUN
esrj-60211	194	5	for	for	ADP
esrj-60211	194	6	solving	solve	VERB
esrj-60211	194	7	direct	direct	ADJ
esrj-60211	194	8	relative	relative	ADJ
esrj-60211	194	9	orientation	orientation	NOUN
esrj-60211	194	10	with	with	ADP
esrj-60211	194	11	seven	seven	NUM
esrj-60211	194	12	constraints	constraint	NOUN
esrj-60211	194	13	consists	consist	VERB
esrj-60211	194	14	of	of	ADP
esrj-60211	194	15	the	the	DET
esrj-60211	194	16	acquirement	acquirement	NOUN
esrj-60211	194	17	of	of	ADP
esrj-60211	194	18	initial	initial	ADJ
esrj-60211	194	19	value	value	NOUN
esrj-60211	194	20	with	with	ADP
esrj-60211	194	21	direct	direct	ADJ
esrj-60211	194	22	relative	relative	ADJ
esrj-60211	194	23	orientation	orientation	NOUN
esrj-60211	194	24	,	,	PUNCT
esrj-60211	194	25	the	the	DET
esrj-60211	194	26	least	least	ADJ
esrj-60211	194	27	square	square	ADJ
esrj-60211	194	28	adjustment	adjustment	NOUN
esrj-60211	194	29	with	with	ADP
esrj-60211	194	30	seven	seven	NUM
esrj-60211	194	31	constraints	constraint	NOUN
esrj-60211	194	32	,	,	PUNCT
esrj-60211	194	33	and	and	CCONJ
esrj-60211	194	34	calculation	calculation	NOUN
esrj-60211	194	35	of	of	ADP
esrj-60211	194	36	six	six	NUM
esrj-60211	194	37	relative	relative	ADJ
esrj-60211	194	38	orientation	orientation	NOUN
esrj-60211	194	39	decompositions	decomposition	NOUN
esrj-60211	194	40	.	.	PUNCT
esrj-60211	195	1	the	the	DET
esrj-60211	195	2	rough	rough	ADJ
esrj-60211	195	3	error	error	NOUN
esrj-60211	195	4	is	be	AUX
esrj-60211	195	5	detected	detect	VERB
esrj-60211	195	6	with	with	ADP
esrj-60211	195	7	data	datum	NOUN
esrj-60211	195	8	snooping	snoop	VERB
esrj-60211	195	9	techniques	technique	NOUN
esrj-60211	195	10	and	and	CCONJ
esrj-60211	195	11	used	use	VERB
esrj-60211	195	12	to	to	PART
esrj-60211	195	13	analyze	analyze	VERB
esrj-60211	195	14	the	the	DET
esrj-60211	195	15	residues	residue	NOUN
esrj-60211	195	16	of	of	ADP
esrj-60211	195	17	observations	observation	NOUN
esrj-60211	195	18	and	and	CCONJ
esrj-60211	195	19	the	the	DET
esrj-60211	195	20	variance	variance	NOUN
esrj-60211	195	21	and	and	CCONJ
esrj-60211	195	22	covariance	covariance	NOUN
esrj-60211	195	23	matrix	matrix	NOUN
esrj-60211	195	24	of	of	ADP
esrj-60211	195	25	parameters	parameter	NOUN
esrj-60211	195	26	.	.	PUNCT
esrj-60211	196	1	during	during	ADP
esrj-60211	196	2	the	the	DET
esrj-60211	196	3	experimental	experimental	ADJ
esrj-60211	196	4	result	result	NOUN
esrj-60211	196	5	and	and	CCONJ
esrj-60211	196	6	analysis	analysis	NOUN
esrj-60211	196	7	,	,	PUNCT
esrj-60211	196	8	the	the	DET
esrj-60211	196	9	model	model	NOUN
esrj-60211	196	10	of	of	ADP
esrj-60211	196	11	direct	direct	ADJ
esrj-60211	196	12	relative	relative	ADJ
esrj-60211	196	13	orientation	orientation	NOUN
esrj-60211	196	14	with	with	ADP
esrj-60211	196	15	seven	seven	NUM
esrj-60211	196	16	can	can	AUX
esrj-60211	196	17	obtain	obtain	VERB
esrj-60211	196	18	a	a	DET
esrj-60211	196	19	high	high	ADJ
esrj-60211	196	20	accuracy	accuracy	NOUN
esrj-60211	196	21	than	than	ADP
esrj-60211	196	22	the	the	DET
esrj-60211	196	23	conventional	conventional	ADJ
esrj-60211	196	24	method	method	NOUN
esrj-60211	196	25	in	in	ADP
esrj-60211	196	26	some	some	DET
esrj-60211	196	27	cases	case	NOUN
esrj-60211	196	28	,	,	PUNCT
esrj-60211	196	29	such	such	ADJ
esrj-60211	196	30	as	as	ADP
esrj-60211	196	31	the	the	DET
esrj-60211	196	32	large	large	ADJ
esrj-60211	196	33	oblique	oblique	ADJ
esrj-60211	196	34	angle	angle	NOUN
esrj-60211	196	35	and	and	CCONJ
esrj-60211	196	36	translation	translation	NOUN
esrj-60211	196	37	and	and	CCONJ
esrj-60211	196	38	without	without	ADP
esrj-60211	196	39	the	the	DET
esrj-60211	196	40	initial	initial	ADJ
esrj-60211	196	41	value	value	NOUN
esrj-60211	196	42	.	.	PUNCT
esrj-60211	197	1	in	in	ADP
esrj-60211	197	2	the	the	DET
esrj-60211	197	3	cases	case	NOUN
esrj-60211	197	4	,	,	PUNCT
esrj-60211	197	5	some	some	DET
esrj-60211	197	6	result	result	NOUN
esrj-60211	197	7	of	of	ADP
esrj-60211	197	8	the	the	DET
esrj-60211	197	9	conventional	conventional	ADJ
esrj-60211	197	10	method	method	NOUN
esrj-60211	197	11	has	have	VERB
esrj-60211	197	12	very	very	ADV
esrj-60211	197	13	low	low	ADJ
esrj-60211	197	14	accuracy	accuracy	NOUN
esrj-60211	197	15	or	or	CCONJ
esrj-60211	197	16	wholly	wholly	ADV
esrj-60211	197	17	wrong	wrong	ADJ
esrj-60211	197	18	.	.	PUNCT
esrj-60211	198	1	however	however	ADV
esrj-60211	198	2	,	,	PUNCT
esrj-60211	198	3	the	the	DET
esrj-60211	198	4	problems	problem	NOUN
esrj-60211	198	5	can	can	AUX
esrj-60211	198	6	overcome	overcome	VERB
esrj-60211	198	7	during	during	ADP
esrj-60211	198	8	the	the	DET
esrj-60211	198	9	model	model	NOUN
esrj-60211	198	10	of	of	ADP
esrj-60211	198	11	direct	direct	ADJ
esrj-60211	198	12	relative	relative	ADJ
esrj-60211	198	13	orientation	orientation	NOUN
esrj-60211	198	14	with	with	ADP
esrj-60211	198	15	seven	seven	NUM
esrj-60211	198	16	constraints	constraint	NOUN
esrj-60211	198	17	.	.	PUNCT
esrj-60211	199	1	that	that	PRON
esrj-60211	199	2	means	mean	VERB
esrj-60211	199	3	the	the	DET
esrj-60211	199	4	proposed	propose	VERB
esrj-60211	199	5	model	model	NOUN
esrj-60211	199	6	can	can	AUX
esrj-60211	199	7	increase	increase	VERB
esrj-60211	199	8	the	the	DET
esrj-60211	199	9	applied	apply	VERB
esrj-60211	199	10	field	field	NOUN
esrj-60211	199	11	of	of	ADP
esrj-60211	199	12	relative	relative	ADJ
esrj-60211	199	13	orientation	orientation	NOUN
esrj-60211	199	14	such	such	ADJ
esrj-60211	199	15	as	as	ADP
esrj-60211	199	16	close	close	ADJ
esrj-60211	199	17	range	range	NOUN
esrj-60211	199	18	photography	photography	NOUN
esrj-60211	199	19	,	,	PUNCT
esrj-60211	199	20	low	low	ADJ
esrj-60211	199	21	altitude	altitude	NOUN
esrj-60211	199	22	oblique	oblique	ADJ
esrj-60211	199	23	photography	photography	NOUN
esrj-60211	199	24	and	and	CCONJ
esrj-60211	199	25	3d	3d	NUM
esrj-60211	199	26	model	model	NOUN
esrj-60211	199	27	reconstruction	reconstruction	NOUN
esrj-60211	199	28	and	and	CCONJ
esrj-60211	199	29	measurement	measurement	NOUN
esrj-60211	199	30	of	of	ADP
esrj-60211	199	31	the	the	DET
esrj-60211	199	32	geological	geological	ADJ
esrj-60211	199	33	landslides	landslide	NOUN
esrj-60211	199	34	with	with	ADP
esrj-60211	199	35	multiple	multiple	ADJ
esrj-60211	199	36	images	image	NOUN
esrj-60211	199	37	.	.	PUNCT
esrj-60211	200	1	acknowledgments	acknowledgment	NOUN
esrj-60211	200	2	this	this	DET
esrj-60211	200	3	research	research	NOUN
esrj-60211	200	4	was	be	AUX
esrj-60211	200	5	financially	financially	ADV
esrj-60211	200	6	supported	support	VERB
esrj-60211	200	7	by	by	ADP
esrj-60211	200	8	the	the	DET
esrj-60211	200	9	projects	project	NOUN
esrj-60211	200	10	"	"	PUNCT
esrj-60211	200	11	the	the	DET
esrj-60211	200	12	research	research	NOUN
esrj-60211	200	13	of	of	ADP
esrj-60211	200	14	the	the	DET
esrj-60211	200	15	trajectory	trajectory	NOUN
esrj-60211	200	16	model	model	NOUN
esrj-60211	200	17	with	with	ADP
esrj-60211	200	18	weight	weight	NOUN
esrj-60211	200	19	based	base	VERB
esrj-60211	200	20	on	on	ADP
esrj-60211	200	21	kernal	kernal	ADJ
esrj-60211	200	22	function	function	NOUN
esrj-60211	200	23	"	"	PUNCT
esrj-60211	200	24	and	and	CCONJ
esrj-60211	200	25	"	"	PUNCT
esrj-60211	200	26	the	the	DET
esrj-60211	200	27	key	key	ADJ
esrj-60211	200	28	techniques	technique	NOUN
esrj-60211	200	29	of	of	ADP
esrj-60211	200	30	marine	marine	ADJ
esrj-60211	200	31	surveying	surveying	NOUN
esrj-60211	200	32	and	and	CCONJ
esrj-60211	200	33	mapping	mapping	NOUN
esrj-60211	200	34	based	base	VERB
esrj-60211	200	35	on	on	ADP
esrj-60211	200	36	the	the	DET
esrj-60211	200	37	domestic	domestic	ADJ
esrj-60211	200	38	high	high	ADJ
esrj-60211	200	39	-	-	PUNCT
esrj-60211	200	40	resolution	resolution	NOUN
esrj-60211	200	41	satellite	satellite	NOUN
esrj-60211	200	42	"	"	PUNCT
esrj-60211	200	43	.	.	PUNCT
esrj-60211	201	1	we	we	PRON
esrj-60211	201	2	also	also	ADV
esrj-60211	201	3	thank	thank	VERB
esrj-60211	201	4	yuan	yuan	PROPN
esrj-60211	201	5	le	le	X
esrj-60211	201	6	for	for	ADP
esrj-60211	201	7	their	their	PRON
esrj-60211	201	8	support	support	NOUN
esrj-60211	201	9	during	during	ADP
esrj-60211	201	10	the	the	DET
esrj-60211	201	11	entire	entire	ADJ
esrj-60211	201	12	course	course	NOUN
esrj-60211	201	13	of	of	ADP
esrj-60211	201	14	this	this	DET
esrj-60211	201	15	study	study	NOUN
esrj-60211	201	16	.	.	PUNCT
esrj-60211	202	1	references	reference	NOUN
esrj-60211	202	2	duane	duane	PROPN
esrj-60211	202	3	,	,	PUNCT
esrj-60211	202	4	c.	c.	PROPN
esrj-60211	202	5	b.	b.	PROPN
esrj-60211	202	6	(	(	PUNCT
esrj-60211	202	7	1971	1971	NUM
esrj-60211	202	8	)	)	PUNCT
esrj-60211	202	9	.	.	PUNCT
esrj-60211	203	1	close	close	ADJ
esrj-60211	203	2	-	-	PUNCT
esrj-60211	203	3	range	range	NOUN
esrj-60211	203	4	camera	camera	NOUN
esrj-60211	203	5	calibration	calibration	NOUN
esrj-60211	203	6	.	.	PUNCT
esrj-60211	204	1	photogrammetric	photogrammetric	ADJ
esrj-60211	204	2	engineering	engineering	NOUN
esrj-60211	204	3	,	,	PUNCT
esrj-60211	204	4	37	37	NUM
esrj-60211	204	5	,	,	PUNCT
esrj-60211	204	6	855	855	NUM
esrj-60211	204	7	-	-	SYM
esrj-60211	204	8	866	866	NUM
esrj-60211	204	9	.	.	PUNCT
esrj-60211	205	1	faugeras	faugeras	PROPN
esrj-60211	205	2	,	,	PUNCT
esrj-60211	205	3	o.	o.	NOUN
esrj-60211	205	4	(	(	PUNCT
esrj-60211	205	5	1993	1993	NUM
esrj-60211	205	6	)	)	PUNCT
esrj-60211	205	7	.	.	PUNCT
esrj-60211	206	1	three	three	NUM
esrj-60211	206	2	-	-	PUNCT
esrj-60211	206	3	dimensional	dimensional	ADJ
esrj-60211	206	4	computer	computer	NOUN
esrj-60211	206	5	vision	vision	NOUN
esrj-60211	206	6	:	:	PUNCT
esrj-60211	206	7	a	a	DET
esrj-60211	206	8	geometric	geometric	ADJ
esrj-60211	206	9	viewpoint	viewpoint	NOUN
esrj-60211	206	10	.	.	PUNCT
esrj-60211	207	1	the	the	DET
esrj-60211	207	2	mit	mit	PROPN
esrj-60211	207	3	press	press	PROPN
esrj-60211	207	4	,	,	PUNCT
esrj-60211	207	5	cambridge	cambridge	PROPN
esrj-60211	207	6	,	,	PUNCT
esrj-60211	207	7	ma	ma	PROPN
esrj-60211	207	8	,	,	PUNCT
esrj-60211	207	9	usa	usa	PROPN
esrj-60211	207	10	.	.	PROPN
esrj-60211	207	11	hartley	hartley	PROPN
esrj-60211	207	12	,	,	PUNCT
esrj-60211	207	13	r.	r.	PROPN
esrj-60211	207	14	,	,	PUNCT
esrj-60211	207	15	&	&	CCONJ
esrj-60211	207	16	zisserman	zisserman	PROPN
esrj-60211	207	17	,	,	PUNCT
esrj-60211	207	18	a.	a.	NOUN
esrj-60211	207	19	(	(	PUNCT
esrj-60211	207	20	2003	2003	NUM
esrj-60211	207	21	)	)	PUNCT
esrj-60211	207	22	.	.	PUNCT
esrj-60211	208	1	multiple	multiple	ADJ
esrj-60211	208	2	view	view	NOUN
esrj-60211	208	3	geometry	geometry	NOUN
esrj-60211	208	4	in	in	ADP
esrj-60211	208	5	computer	computer	NOUN
esrj-60211	208	6	vision	vision	NOUN
esrj-60211	208	7	.	.	PUNCT
esrj-60211	209	1	cambridge	cambridge	PROPN
esrj-60211	209	2	university	university	PROPN
esrj-60211	209	3	press	press	NOUN
esrj-60211	209	4	.	.	PUNCT
esrj-60211	210	1	new	new	PROPN
esrj-60211	210	2	york	york	PROPN
esrj-60211	210	3	,	,	PUNCT
esrj-60211	210	4	usa	usa	PROPN
esrj-60211	210	5	.	.	PROPN
esrj-60211	210	6	horn	horn	PROPN
esrj-60211	210	7	,	,	PUNCT
esrj-60211	211	1	b.	b.	PROPN
esrj-60211	211	2	k.	k.	PROPN
esrj-60211	212	1	p.	p.	PROPN
esrj-60211	212	2	(	(	PUNCT
esrj-60211	212	3	1990	1990	NUM
esrj-60211	212	4	)	)	PUNCT
esrj-60211	212	5	.	.	PUNCT
esrj-60211	213	1	relative	relative	ADJ
esrj-60211	213	2	orientation	orientation	NOUN
esrj-60211	213	3	.	.	PUNCT
esrj-60211	214	1	international	international	ADJ
esrj-60211	214	2	journal	journal	PROPN
esrj-60211	214	3	of	of	ADP
esrj-60211	214	4	computer	computer	NOUN
esrj-60211	214	5	vision	vision	NOUN
esrj-60211	214	6	,	,	PUNCT
esrj-60211	214	7	4(1	4(1	NOUN
esrj-60211	214	8	):	):	PUNCT
esrj-60211	214	9	59	59	NUM
esrj-60211	214	10	-	-	SYM
esrj-60211	214	11	78	78	NUM
esrj-60211	214	12	.	.	PUNCT
esrj-60211	215	1	läbe	läbe	PROPN
esrj-60211	215	2	,	,	PUNCT
esrj-60211	215	3	t	t	PROPN
esrj-60211	215	4	,	,	PUNCT
esrj-60211	215	5	&	&	CCONJ
esrj-60211	215	6	förstner	förstner	NOUN
esrj-60211	215	7	,	,	PUNCT
esrj-60211	215	8	w.	w.	NOUN
esrj-60211	215	9	(	(	PUNCT
esrj-60211	215	10	2006	2006	NUM
esrj-60211	215	11	)	)	PUNCT
esrj-60211	215	12	.	.	PUNCT
esrj-60211	216	1	automatic	automatic	ADJ
esrj-60211	216	2	relative	relative	ADJ
esrj-60211	216	3	orientation	orientation	NOUN
esrj-60211	216	4	of	of	ADP
esrj-60211	216	5	images	image	NOUN
esrj-60211	216	6	.	.	PUNCT
esrj-60211	217	1	proceedings	proceeding	NOUN
esrj-60211	217	2	of	of	ADP
esrj-60211	217	3	the	the	DET
esrj-60211	217	4	5th	5th	ADJ
esrj-60211	217	5	turkish	turkish	ADJ
esrj-60211	217	6	-	-	PUNCT
esrj-60211	217	7	german	german	ADJ
esrj-60211	217	8	joint	joint	ADJ
esrj-60211	217	9	geodetic	geodetic	ADJ
esrj-60211	217	10	days	day	NOUN
esrj-60211	217	11	,	,	PUNCT
esrj-60211	217	12	29	29	NUM
esrj-60211	217	13	,	,	PUNCT
esrj-60211	217	14	31	31	NUM
esrj-60211	217	15	-	-	SYM
esrj-60211	217	16	39	39	NUM
esrj-60211	217	17	.	.	PUNCT
esrj-60211	218	1	li	li	PROPN
esrj-60211	218	2	,	,	PUNCT
esrj-60211	218	3	z.	z.	PROPN
esrj-60211	218	4	,	,	PUNCT
esrj-60211	218	5	liu	liu	PROPN
esrj-60211	218	6	,	,	PUNCT
esrj-60211	218	7	j.	j.	PROPN
esrj-60211	218	8	,	,	PUNCT
esrj-60211	218	9	&	&	CCONJ
esrj-60211	218	10	tang	tang	PROPN
esrj-60211	218	11	,	,	PUNCT
esrj-60211	218	12	x.	x.	NOUN
esrj-60211	218	13	(	(	PUNCT
esrj-60211	218	14	2007	2007	NUM
esrj-60211	218	15	)	)	PUNCT
esrj-60211	218	16	.	.	PUNCT
esrj-60211	219	1	a	a	DET
esrj-60211	219	2	closed	close	VERB
esrj-60211	219	3	-	-	PUNCT
esrj-60211	219	4	form	form	NOUN
esrj-60211	219	5	solution	solution	NOUN
esrj-60211	219	6	to	to	ADP
esrj-60211	219	7	3d	3d	NOUN
esrj-60211	219	8	reconstruction	reconstruction	NOUN
esrj-60211	219	9	of	of	ADP
esrj-60211	219	10	piecewise	piecewise	NOUN
esrj-60211	219	11	planar	planar	ADJ
esrj-60211	219	12	objects	object	NOUN
esrj-60211	219	13	from	from	ADP
esrj-60211	219	14	single	single	ADJ
esrj-60211	219	15	images	image	NOUN
esrj-60211	219	16	.	.	PUNCT
esrj-60211	220	1	ieee	ieee	NOUN
esrj-60211	220	2	conference	conference	NOUN
esrj-60211	220	3	on	on	ADP
esrj-60211	220	4	computer	computer	NOUN
esrj-60211	220	5	vision	vision	NOUN
esrj-60211	220	6	and	and	CCONJ
esrj-60211	220	7	pattern	pattern	NOUN
esrj-60211	220	8	recognition	recognition	NOUN
esrj-60211	220	9	,	,	PUNCT
esrj-60211	220	10	2007	2007	NUM
esrj-60211	220	11	,	,	PUNCT
esrj-60211	220	12	1	1	NUM
esrj-60211	220	13	-	-	SYM
esrj-60211	220	14	6	6	NUM
esrj-60211	220	15	.	.	PUNCT
esrj-60211	221	1	doi	doi	NOUN
esrj-60211	221	2	:	:	PUNCT
esrj-60211	221	3	10.1109	10.1109	NUM
esrj-60211	221	4	/	/	SYM
esrj-60211	221	5	cvpr.2007.383158	cvpr.2007.383158	NUM
esrj-60211	221	6	longuet	longuet	NOUN
esrj-60211	221	7	-	-	PUNCT
esrj-60211	221	8	higgins	higgins	PROPN
esrj-60211	221	9	,	,	PUNCT
esrj-60211	221	10	h.	h.	PROPN
esrj-60211	221	11	c.	c.	PROPN
esrj-60211	221	12	(	(	PUNCT
esrj-60211	221	13	1987	1987	NUM
esrj-60211	221	14	)	)	PUNCT
esrj-60211	221	15	.	.	PUNCT
esrj-60211	222	1	a	a	DET
esrj-60211	222	2	computer	computer	NOUN
esrj-60211	222	3	algorithm	algorithm	NOUN
esrj-60211	222	4	for	for	ADP
esrj-60211	222	5	reconstructing	reconstruct	VERB
esrj-60211	222	6	a	a	DET
esrj-60211	222	7	scene	scene	NOUN
esrj-60211	222	8	from	from	ADP
esrj-60211	222	9	two	two	NUM
esrj-60211	222	10	projections	projection	NOUN
esrj-60211	222	11	.	.	PUNCT
esrj-60211	223	1	in	in	ADP
esrj-60211	223	2	:	:	PUNCT
esrj-60211	223	3	fischler	fischler	NOUN
esrj-60211	223	4	,	,	PUNCT
esrj-60211	223	5	m.	m.	NOUN
esrj-60211	223	6	a.	a.	PROPN
esrj-60211	223	7	&	&	CCONJ
esrj-60211	223	8	firschein	firschein	PROPN
esrj-60211	223	9	,	,	PUNCT
esrj-60211	223	10	o.	o.	PROPN
esrj-60211	223	11	(	(	PUNCT
esrj-60211	223	12	eds	ed	NOUN
esrj-60211	223	13	.	.	PUNCT
esrj-60211	223	14	)	)	PUNCT
esrj-60211	223	15	,	,	PUNCT
esrj-60211	223	16	readings	reading	NOUN
esrj-60211	223	17	in	in	ADP
esrj-60211	223	18	computer	computer	NOUN
esrj-60211	223	19	vision	vision	NOUN
esrj-60211	223	20	:	:	PUNCT
esrj-60211	223	21	issues	issue	NOUN
esrj-60211	223	22	,	,	PUNCT
esrj-60211	223	23	problems	problem	NOUN
esrj-60211	223	24	,	,	PUNCT
esrj-60211	223	25	principles	principle	NOUN
esrj-60211	223	26	,	,	PUNCT
esrj-60211	223	27	and	and	CCONJ
esrj-60211	223	28	paradigms	paradigm	NOUN
esrj-60211	223	29	(	(	PUNCT
esrj-60211	223	30	61	61	NUM
esrj-60211	223	31	-	-	SYM
esrj-60211	223	32	67	67	NUM
esrj-60211	223	33	)	)	PUNCT
esrj-60211	223	34	.	.	PUNCT
esrj-60211	224	1	san	san	PROPN
esrj-60211	224	2	francisco	francisco	PROPN
esrj-60211	224	3	,	,	PUNCT
esrj-60211	224	4	usa	usa	PROPN
esrj-60211	224	5	.	.	PROPN
esrj-60211	224	6	ma	ma	PROPN
esrj-60211	224	7	,	,	PUNCT
esrj-60211	224	8	y.	y.	PROPN
esrj-60211	224	9	,	,	PUNCT
esrj-60211	224	10	soatto	soatto	NOUN
esrj-60211	224	11	,	,	PUNCT
esrj-60211	224	12	s.	s.	PROPN
esrj-60211	224	13	,	,	PUNCT
esrj-60211	224	14	kosecka	kosecka	PROPN
esrj-60211	224	15	,	,	PUNCT
esrj-60211	224	16	j.	j.	PROPN
esrj-60211	224	17	,	,	PUNCT
esrj-60211	224	18	&	&	CCONJ
esrj-60211	224	19	sastry	sastry	PROPN
esrj-60211	224	20	,	,	PUNCT
esrj-60211	224	21	s.s	s.s	PROPN
esrj-60211	224	22	.	.	PROPN
esrj-60211	224	23	(	(	PUNCT
esrj-60211	224	24	2004	2004	NUM
esrj-60211	224	25	)	)	PUNCT
esrj-60211	224	26	.	.	PUNCT
esrj-60211	225	1	an	an	DET
esrj-60211	225	2	invitation	invitation	NOUN
esrj-60211	225	3	to	to	ADP
esrj-60211	225	4	3	3	NUM
esrj-60211	225	5	-	-	PUNCT
esrj-60211	225	6	d	d	NOUN
esrj-60211	225	7	vision	vision	NOUN
esrj-60211	225	8	:	:	PUNCT
esrj-60211	225	9	from	from	ADP
esrj-60211	225	10	images	image	NOUN
esrj-60211	225	11	to	to	ADP
esrj-60211	225	12	geometric	geometric	ADJ
esrj-60211	225	13	models	model	NOUN
esrj-60211	225	14	.	.	PUNCT
esrj-60211	226	1	springer	springer	NOUN
esrj-60211	226	2	-	-	PUNCT
esrj-60211	226	3	verlag	verlag	PROPN
esrj-60211	226	4	,	,	PUNCT
esrj-60211	226	5	new	new	PROPN
esrj-60211	226	6	york	york	PROPN
esrj-60211	226	7	,	,	PUNCT
esrj-60211	226	8	usa	usa	PROPN
esrj-60211	226	9	.	.	PROPN
esrj-60211	226	10	mikhail	mikhail	PROPN
esrj-60211	226	11	,	,	PUNCT
esrj-60211	226	12	e.	e.	PROPN
esrj-60211	226	13	m.	m.	PROPN
esrj-60211	226	14	,	,	PUNCT
esrj-60211	226	15	bethel	bethel	PROPN
esrj-60211	226	16	,	,	PUNCT
esrj-60211	226	17	j.	j.	PROPN
esrj-60211	226	18	s.	s.	PROPN
esrj-60211	226	19	,	,	PUNCT
esrj-60211	226	20	&	&	CCONJ
esrj-60211	226	21	mcglone	mcglone	PROPN
esrj-60211	226	22	,	,	PUNCT
esrj-60211	226	23	j.	j.	PROPN
esrj-60211	226	24	c.	c.	PROPN
esrj-60211	226	25	(	(	PUNCT
esrj-60211	226	26	2001	2001	NUM
esrj-60211	226	27	)	)	PUNCT
esrj-60211	226	28	.	.	PUNCT
esrj-60211	227	1	introduction	introduction	NOUN
esrj-60211	227	2	to	to	ADP
esrj-60211	227	3	modern	modern	ADJ
esrj-60211	227	4	photogrammetry	photogrammetry	NOUN
esrj-60211	227	5	.	.	PUNCT
esrj-60211	228	1	john	john	PROPN
esrj-60211	228	2	wiley	wiley	PROPN
esrj-60211	228	3	&	&	CCONJ
esrj-60211	228	4	sons	sons	PROPN
esrj-60211	228	5	inc	inc	PROPN
esrj-60211	228	6	.	.	PROPN
esrj-60211	228	7	nistér	nistér	PROPN
esrj-60211	228	8	,	,	PUNCT
esrj-60211	228	9	d.	d.	PROPN
esrj-60211	228	10	(	(	PUNCT
esrj-60211	228	11	2004	2004	NUM
esrj-60211	228	12	)	)	PUNCT
esrj-60211	228	13	.	.	PUNCT
esrj-60211	229	1	an	an	DET
esrj-60211	229	2	efficient	efficient	ADJ
esrj-60211	229	3	solution	solution	NOUN
esrj-60211	229	4	to	to	ADP
esrj-60211	229	5	the	the	DET
esrj-60211	229	6	five	five	NUM
esrj-60211	229	7	-	-	PUNCT
esrj-60211	229	8	point	point	NOUN
esrj-60211	229	9	relative	relative	ADJ
esrj-60211	229	10	pose	pose	NOUN
esrj-60211	229	11	problem	problem	NOUN
esrj-60211	229	12	.	.	PUNCT
esrj-60211	230	1	pattern	pattern	NOUN
esrj-60211	230	2	analysis	analysis	NOUN
esrj-60211	230	3	and	and	CCONJ
esrj-60211	230	4	machine	machine	NOUN
esrj-60211	230	5	intelligence	intelligence	NOUN
esrj-60211	230	6	,	,	PUNCT
esrj-60211	230	7	ieee	ieee	NOUN
esrj-60211	230	8	transactions	transaction	NOUN
esrj-60211	230	9	,	,	PUNCT
esrj-60211	230	10	26(6	26(6	NUM
esrj-60211	230	11	):	):	PUNCT
esrj-60211	230	12	756	756	NUM
esrj-60211	230	13	-	-	SYM
esrj-60211	230	14	770	770	NUM
esrj-60211	230	15	.	.	PUNCT
esrj-60211	231	1	pan	pan	PROPN
esrj-60211	231	2	,	,	PUNCT
esrj-60211	231	3	h.	h.	PROPN
esrj-60211	231	4	(	(	PUNCT
esrj-60211	231	5	1999	1999	NUM
esrj-60211	231	6	)	)	PUNCT
esrj-60211	231	7	.	.	PUNCT
esrj-60211	232	1	a	a	DET
esrj-60211	232	2	direct	direct	ADJ
esrj-60211	232	3	closed	closed	ADJ
esrj-60211	232	4	-	-	PUNCT
esrj-60211	232	5	form	form	NOUN
esrj-60211	232	6	solution	solution	NOUN
esrj-60211	232	7	to	to	ADP
esrj-60211	232	8	general	general	ADJ
esrj-60211	232	9	relative	relative	ADJ
esrj-60211	232	10	orientation	orientation	NOUN
esrj-60211	232	11	of	of	ADP
esrj-60211	232	12	two	two	NUM
esrj-60211	232	13	stereo	stereo	NOUN
esrj-60211	232	14	views	view	NOUN
esrj-60211	232	15	.	.	PUNCT
esrj-60211	233	1	digital	digital	ADJ
esrj-60211	233	2	signal	signal	NOUN
esrj-60211	233	3	processing	processing	NOUN
esrj-60211	233	4	,	,	PUNCT
esrj-60211	233	5	9(3	9(3	NUM
esrj-60211	233	6	)	)	PUNCT
esrj-60211	233	7	,	,	PUNCT
esrj-60211	233	8	195	195	NUM
esrj-60211	233	9	-	-	SYM
esrj-60211	233	10	221	221	NUM
esrj-60211	233	11	.	.	PUNCT
esrj-60211	234	1	doi	doi	NOUN
esrj-60211	234	2	:	:	PUNCT
esrj-60211	234	3	10.1006	10.1006	NUM
esrj-60211	234	4	/	/	SYM
esrj-60211	234	5	dspr.1999.0344	dspr.1999.0344	NOUN
esrj-60211	234	6	philip	philip	PROPN
esrj-60211	234	7	,	,	PUNCT
esrj-60211	234	8	j.	j.	PROPN
esrj-60211	234	9	(	(	PUNCT
esrj-60211	234	10	1996	1996	NUM
esrj-60211	234	11	)	)	PUNCT
esrj-60211	234	12	.	.	PUNCT
esrj-60211	235	1	a	a	DET
esrj-60211	235	2	non	non	ADJ
esrj-60211	235	3	iterative	iterative	NOUN
esrj-60211	235	4	algorithm	algorithm	NOUN
esrj-60211	235	5	for	for	ADP
esrj-60211	235	6	determining	determine	VERB
esrj-60211	235	7	all	all	DET
esrj-60211	235	8	essential	essential	ADJ
esrj-60211	235	9	matrices	matrix	NOUN
esrj-60211	235	10	corresponding	correspond	VERB
esrj-60211	235	11	to	to	ADP
esrj-60211	235	12	five	five	NUM
esrj-60211	235	13	point	point	NOUN
esrj-60211	235	14	pairs	pair	NOUN
esrj-60211	235	15	.	.	PUNCT
esrj-60211	236	1	the	the	DET
esrj-60211	236	2	photogrammetric	photogrammetric	ADJ
esrj-60211	236	3	record	record	NOUN
esrj-60211	236	4	,	,	PUNCT
esrj-60211	236	5	15(88	15(88	NUM
esrj-60211	236	6	):	):	PUNCT
esrj-60211	236	7	589	589	NUM
esrj-60211	236	8	-	-	SYM
esrj-60211	236	9	599	599	NUM
esrj-60211	236	10	.	.	PUNCT
esrj-60211	237	1	doi	doi	NOUN
esrj-60211	237	2	:	:	PUNCT
esrj-60211	237	3	10.1111/0031	10.1111/0031	NUM
esrj-60211	237	4	-	-	PUNCT
esrj-60211	237	5	868x.00066	868x.00066	NUM
esrj-60211	237	6	stewenius	stewenius	NOUN
esrj-60211	237	7	,	,	PUNCT
esrj-60211	237	8	h.	h.	PROPN
esrj-60211	237	9	,	,	PUNCT
esrj-60211	237	10	engels	engels	PROPN
esrj-60211	237	11	,	,	PUNCT
esrj-60211	237	12	c.	c.	PROPN
esrj-60211	237	13	,	,	PUNCT
esrj-60211	237	14	&	&	CCONJ
esrj-60211	237	15	nistér	nistér	PROPN
esrj-60211	237	16	,	,	PUNCT
esrj-60211	237	17	d.	d.	PROPN
esrj-60211	237	18	(	(	PUNCT
esrj-60211	237	19	2006	2006	NUM
esrj-60211	237	20	)	)	PUNCT
esrj-60211	237	21	.	.	PUNCT
esrj-60211	238	1	recent	recent	ADJ
esrj-60211	238	2	developments	development	NOUN
esrj-60211	238	3	on	on	ADP
esrj-60211	238	4	direct	direct	ADJ
esrj-60211	238	5	relative	relative	ADJ
esrj-60211	238	6	orientation	orientation	NOUN
esrj-60211	238	7	.	.	PUNCT
esrj-60211	239	1	isprs	isprs	PROPN
esrj-60211	239	2	journal	journal	PROPN
esrj-60211	239	3	of	of	ADP
esrj-60211	239	4	photogrammetry	photogrammetry	NOUN
esrj-60211	239	5	and	and	CCONJ
esrj-60211	239	6	remote	remote	ADJ
esrj-60211	239	7	sensing	sensing	NOUN
esrj-60211	239	8	,	,	PUNCT
esrj-60211	239	9	60(4	60(4	NUM
esrj-60211	239	10	)	)	PUNCT
esrj-60211	239	11	,	,	PUNCT
esrj-60211	239	12	284	284	NUM
esrj-60211	239	13	-	-	SYM
esrj-60211	239	14	294	294	NUM
esrj-60211	239	15	.	.	PUNCT
esrj-60211	240	1	doi	doi	NOUN
esrj-60211	240	2	:	:	PUNCT
esrj-60211	240	3	10.1016	10.1016	NUM
esrj-60211	240	4	/	/	SYM
esrj-60211	240	5	j.isprsjprs.2006.03.005	j.isprsjprs.2006.03.005	PROPN
esrj-60211	240	6	tang	tang	PROPN
esrj-60211	240	7	,	,	PUNCT
esrj-60211	240	8	l.	l.	PROPN
esrj-60211	240	9	,	,	PUNCT
esrj-60211	240	10	&	&	CCONJ
esrj-60211	240	11	heipke	heipke	PROPN
esrj-60211	240	12	,	,	PUNCT
esrj-60211	240	13	c.	c.	PROPN
esrj-60211	240	14	(	(	PUNCT
esrj-60211	240	15	1994	1994	NUM
esrj-60211	240	16	)	)	PUNCT
esrj-60211	240	17	.	.	PUNCT
esrj-60211	241	1	approach	approach	NOUN
esrj-60211	241	2	for	for	ADP
esrj-60211	241	3	automatic	automatic	ADJ
esrj-60211	241	4	relative	relative	ADJ
esrj-60211	241	5	orientation	orientation	NOUN
esrj-60211	241	6	.	.	PUNCT
esrj-60211	242	1	in	in	ADP
esrj-60211	242	2	:	:	PUNCT
esrj-60211	242	3	proceedings	proceeding	NOUN
esrj-60211	242	4	of	of	ADP
esrj-60211	242	5	optical	optical	ADJ
esrj-60211	242	6	3d	3d	PROPN
esrj-60211	242	7	measurement	measurement	PROPN
esrj-60211	242	8	techniques	technique	NOUN
esrj-60211	242	9	ii	ii	PROPN
esrj-60211	242	10	:	:	PUNCT
esrj-60211	242	11	applications	application	NOUN
esrj-60211	242	12	in	in	ADP
esrj-60211	242	13	inspection	inspection	NOUN
esrj-60211	242	14	,	,	PUNCT
esrj-60211	242	15	quality	quality	NOUN
esrj-60211	242	16	control	control	NOUN
esrj-60211	242	17	,	,	PUNCT
esrj-60211	242	18	and	and	CCONJ
esrj-60211	242	19	robotics	robotic	NOUN
esrj-60211	242	20	.	.	PUNCT
esrj-60211	243	1	international	international	ADJ
esrj-60211	243	2	society	society	NOUN
esrj-60211	243	3	for	for	ADP
esrj-60211	243	4	optics	optic	NOUN
esrj-60211	243	5	and	and	CCONJ
esrj-60211	243	6	photonics	photonic	NOUN
esrj-60211	243	7	,	,	PUNCT
esrj-60211	243	8	347	347	NUM
esrj-60211	243	9	-	-	SYM
esrj-60211	243	10	354	354	NUM
esrj-60211	243	11	.	.	PUNCT
esrj-60211	244	1	taylor	taylor	PROPN
esrj-60211	244	2	,	,	PUNCT
esrj-60211	244	3	c.	c.	PROPN
esrj-60211	244	4	j.	j.	PROPN
esrj-60211	244	5	,	,	PUNCT
esrj-60211	244	6	&	&	CCONJ
esrj-60211	244	7	kriegman	kriegman	PROPN
esrj-60211	244	8	,	,	PUNCT
esrj-60211	244	9	d.	d.	PROPN
esrj-60211	244	10	j.	j.	PROPN
esrj-60211	244	11	(	(	PUNCT
esrj-60211	244	12	1995	1995	NUM
esrj-60211	244	13	)	)	PUNCT
esrj-60211	244	14	.	.	PUNCT
esrj-60211	245	1	structure	structure	NOUN
esrj-60211	245	2	and	and	CCONJ
esrj-60211	245	3	motion	motion	NOUN
esrj-60211	245	4	from	from	ADP
esrj-60211	245	5	line	line	NOUN
esrj-60211	245	6	segments	segment	NOUN
esrj-60211	245	7	in	in	ADP
esrj-60211	245	8	multiple	multiple	ADJ
esrj-60211	245	9	images	image	NOUN
esrj-60211	245	10	.	.	PUNCT
esrj-60211	246	1	ieee	ieee	NOUN
esrj-60211	246	2	transactions	transaction	NOUN
esrj-60211	246	3	on	on	ADP
esrj-60211	246	4	pattern	pattern	NOUN
esrj-60211	246	5	analysis	analysis	NOUN
esrj-60211	246	6	and	and	CCONJ
esrj-60211	246	7	machine	machine	NOUN
esrj-60211	246	8	intelligence	intelligence	NOUN
esrj-60211	246	9	,	,	PUNCT
esrj-60211	246	10	17(11	17(11	NUM
esrj-60211	246	11	)	)	PUNCT
esrj-60211	246	12	,	,	PUNCT
esrj-60211	247	1	1021–1032	1021–1032	NUM
esrj-60211	247	2	.	.	PUNCT
esrj-60211	247	3	doi	doi	PROPN
esrj-60211	247	4	:	:	PUNCT
esrj-60211	247	5	10.1109/34.473228	10.1109/34.473228	NUM
esrj-60211	247	6	werner	werner	PROPN
esrj-60211	247	7	,	,	PUNCT
esrj-60211	247	8	t.	t.	PROPN
esrj-60211	247	9	(	(	PUNCT
esrj-60211	247	10	2003	2003	NUM
esrj-60211	247	11	)	)	PUNCT
esrj-60211	247	12	.	.	PUNCT
esrj-60211	248	1	constraint	constraint	NOUN
esrj-60211	248	2	on	on	ADP
esrj-60211	248	3	five	five	NUM
esrj-60211	248	4	points	point	NOUN
esrj-60211	248	5	in	in	ADP
esrj-60211	248	6	two	two	NUM
esrj-60211	248	7	images	image	NOUN
esrj-60211	248	8	.	.	PUNCT
esrj-60211	249	1	computer	computer	NOUN
esrj-60211	249	2	vision	vision	NOUN
esrj-60211	249	3	and	and	CCONJ
esrj-60211	249	4	pattern	pattern	NOUN
esrj-60211	249	5	recognition	recognition	NOUN
esrj-60211	249	6	,	,	PUNCT
esrj-60211	249	7	2	2	X
esrj-60211	249	8	.	.	X
esrj-60211	249	9	doi	doi	NOUN
esrj-60211	249	10	:	:	PUNCT
esrj-60211	249	11	10.1109	10.1109	NUM
esrj-60211	249	12	/	/	SYM
esrj-60211	249	13	cvpr.2003.1211471	cvpr.2003.1211471	PROPN
esrj-60211	249	14	zhang	zhang	PROPN
esrj-60211	249	15	,	,	PUNCT
esrj-60211	249	16	y.	y.	PROPN
esrj-60211	249	17	,	,	PUNCT
esrj-60211	249	18	huang	huang	PROPN
esrj-60211	249	19	,	,	PUNCT
esrj-60211	249	20	x.	x.	PROPN
esrj-60211	249	21	,	,	PUNCT
esrj-60211	249	22	hu	hu	PROPN
esrj-60211	249	23	,	,	PUNCT
esrj-60211	249	24	x.	x.	PROPN
esrj-60211	249	25	,	,	PUNCT
esrj-60211	249	26	wan	wan	PROPN
esrj-60211	249	27	,	,	PUNCT
esrj-60211	249	28	f.	f.	PROPN
esrj-60211	249	29	,	,	PUNCT
esrj-60211	249	30	&	&	CCONJ
esrj-60211	249	31	lin	lin	PROPN
esrj-60211	249	32	,	,	PUNCT
esrj-60211	249	33	l.	l.	PROPN
esrj-60211	249	34	(	(	PUNCT
esrj-60211	249	35	2011	2011	NUM
esrj-60211	249	36	)	)	PUNCT
esrj-60211	249	37	.	.	PUNCT
esrj-60211	250	1	direct	direct	ADJ
esrj-60211	250	2	relative	relative	ADJ
esrj-60211	250	3	orientation	orientation	NOUN
esrj-60211	250	4	with	with	ADP
esrj-60211	250	5	four	four	NUM
esrj-60211	250	6	independent	independent	ADJ
esrj-60211	250	7	constraints	constraint	NOUN
esrj-60211	250	8	.	.	PUNCT
esrj-60211	251	1	isprs	isprs	NOUN
esrj-60211	251	2	journal	journal	PROPN
esrj-60211	251	3	of	of	ADP
esrj-60211	251	4	photogrammetry	photogrammetry	NOUN
esrj-60211	251	5	and	and	CCONJ
esrj-60211	251	6	remote	remote	ADJ
esrj-60211	251	7	sensing	sensing	NOUN
esrj-60211	251	8	,	,	PUNCT
esrj-60211	251	9	66(6	66(6	NUM
esrj-60211	251	10	):	):	PUNCT
esrj-60211	251	11	809	809	NUM
esrj-60211	251	12	-	-	SYM
esrj-60211	251	13	817	817	NUM
esrj-60211	251	14	.	.	PUNCT
esrj-60211	252	1	doi	doi	NOUN
esrj-60211	252	2	:	:	PUNCT
esrj-60211	253	1	http://	http://	PROPN
esrj-60211	253	2	dx.doi.org/10.1016/j.isprsjprs.2011.09.006	dx.doi.org/10.1016/j.isprsjprs.2011.09.006	X